+ python -m lidar_slam --result /working/result.json --no-model /working/61c8a180-d15f-4b3a-a76e-886bcfc1aec6 Lidar SLAM 0.0.16 ===================================================== The recording path: /working/61c8a180-d15f-4b3a-a76e-886bcfc1aec6 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 0.026502481 Adjusted end_distance from 9.223372036854776e+18 to 208.076502481 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.026502481 meters Centerline goodness : 0.161815 with order 1 Centerline is valid? [0, False] SLAMing on 0.08650248099999999 meters Centerline goodness : 0.158045 with order 1 Centerline is valid? [False, False] Translation: X:0.06, Y:0.02, Z:-0.00 [[ 0.99999073 0.00403634 -0.00149964 0.06103566] [-0.00411386 0.99842805 -0.0558972 0.01689156] [ 0.00127166 0.05590285 0.9984354 -0.00288197] [ 0. 0. 0. 1. ]] SLAMing on 0.146502481 meters Centerline goodness : 0.157801 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:0.02, Z:-0.01 [[ 0.9999037 -0.00454725 -0.0131116 0.141055 ] [ 0.00339633 0.99624592 -0.08650158 0.02031265] [ 0.01345572 0.08644872 0.99616543 -0.00546384] [ 0. 0. 0. 1. ]] SLAMing on 0.20650248099999996 meters Centerline goodness : 0.154239 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:0.02, Z:-0.01 [[ 0.99986781 0.00349086 -0.01588013 0.20799354] [-0.00467001 0.99718511 -0.07483349 0.02333069] [ 0.0155742 0.07489775 0.99706959 -0.00877628] [ 0. 0. 0. 1. ]] SLAMing on 0.26650248099999996 meters Centerline goodness : 0.152222 with order 1 Centerline is valid? [False, False] Translation: X:0.28, Y:0.02, Z:-0.01 [[ 0.99956898 0.0123828 -0.02661814 0.27507195] [-0.01470141 0.99594501 -0.08875473 0.02274714] [ 0.02541117 0.0891078 0.99569778 -0.01323547] [ 0. 0. 0. 1. ]] SLAMing on 0.32650248099999996 meters Centerline goodness : 0.151976 with order 1 Centerline is valid? [False, False] Translation: X:0.35, Y:0.02, Z:-0.02 [[ 0.99902637 0.00994645 -0.04298109 0.34553328] [-0.01457642 0.99395796 -0.10878928 0.01968844] [ 0.04163933 0.10930987 0.9931352 -0.01835411] [ 0. 0. 0. 1. ]] SLAMing on 0.38650248099999995 meters Centerline goodness : 0.160981 with order 1 Centerline is valid? [False, False] Translation: X:0.41, Y:0.02, Z:-0.02 [[ 9.99063569e-01 -9.14859259e-04 -4.32567595e-02 4.08684079e-01] [-3.43769167e-03 9.94937199e-01 -1.00439794e-01 1.68178100e-02] [ 4.31296474e-02 1.00494443e-01 9.94002364e-01 -2.00922209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.44650248099999995 meters Centerline goodness : 0.166667 with order 1 Centerline is valid? [False, False] Translation: X:0.46, Y:0.01, Z:-0.02 [[ 9.99338785e-01 -2.74170058e-03 -3.62557136e-02 4.61710243e-01] [-2.39228276e-04 9.96635527e-01 -8.19607726e-02 1.29126142e-02] [ 3.63584442e-02 8.19152523e-02 9.95975881e-01 -1.53335578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.506502481 meters Centerline goodness : 0.576894 with order 2 Centerline is valid? [False, False] Translation: X:0.51, Y:0.01, Z:-0.01 [[ 0.99949997 0.0059035 -0.03106369 0.51132486] [-0.00815676 0.99730462 -0.07291756 0.00681645] [ 0.03054949 0.07313448 0.99685409 -0.01132122] [ 0. 0. 0. 1. ]] SLAMing on 0.5665024809999999 meters Centerline goodness : 0.195436 with order 1 Centerline is valid? [False, False] Translation: X:0.55, Y:0.00, Z:-0.01 [[ 0.99958608 0.0130678 -0.0256302 0.55453958] [-0.01460957 0.99803573 -0.06091995 0.00439596] [ 0.02478376 0.06126918 0.99781354 -0.01436264] [ 0. 0. 0. 1. ]] SLAMing on 0.6265024809999998 meters Centerline goodness : 0.155188 with order 1 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.00, Z:-0.02 [[ 0.99967848 0.00900899 -0.02370185 0.60225094] [-0.01026794 0.99851279 -0.05354226 -0.00204264] [ 0.02318424 0.05376841 0.99828425 -0.01678375] [ 0. 0. 0. 1. ]] SLAMing on 0.6865024809999999 meters Centerline goodness : 0.159528 with order 1 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.01, Z:-0.02 [[ 0.99967335 0.00175397 -0.02549734 0.64030855] [-0.00309234 0.9986137 -0.0525463 -0.01345466] [ 0.02536983 0.05260798 0.99829293 -0.01578389] [ 0. 0. 0. 1. ]] SLAMing on 0.7465024809999998 meters SLAMing on 0.8065024809999999 meters Centerline goodness : 0.129773 with order 1 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.14, Z:-0.02 [[ 0.99565271 -0.08338773 -0.04149904 0.7718346 ] [ 0.08175697 0.99586701 -0.03955614 -0.14416727] [ 0.04462602 0.03599134 0.99835522 -0.01953571] [ 0. 0. 0. 1. ]] SLAMing on 0.8665024809999998 meters Centerline goodness : 0.203998 with order 1 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.22, Z:-0.02 [[ 0.9957853 -0.08270419 -0.03964405 0.83293466] [ 0.08142525 0.99613763 -0.03285968 -0.22057158] [ 0.04220857 0.02949316 0.99867342 -0.01784664] [ 0. 0. 0. 1. ]] SLAMing on 0.9265024809999999 meters Centerline goodness : 0.617944 with order 2 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.27, Z:-0.01 [[ 0.998224 -0.04826049 -0.03492531 0.87941795] [ 0.04715147 0.99837791 -0.03191048 -0.27098801] [ 0.03640868 0.03020702 0.99888035 -0.01079498] [ 0. 0. 0. 1. ]] SLAMing on 0.9865024809999998 meters Centerline goodness : 0.134376 with order 1 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.27, Z:-0.01 [[ 0.99928049 -0.02691518 -0.02672215 0.89407576] [ 0.02593504 0.99900173 -0.03637187 -0.27204424] [ 0.02767443 0.03565266 0.99898099 -0.01025536] [ 0. 0. 0. 1. ]] SLAMing on 1.0465024809999999 meters Centerline goodness : 0.115039 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.27, Z:-0.01 [[ 0.99932164 -0.02663014 -0.02543802 0.92641056] [ 0.02570538 0.99902065 -0.03601351 -0.2689541 ] [ 0.02637216 0.03533518 0.99902749 -0.00757841] [ 0. 0. 0. 1. ]] SLAMing on 1.106502481 meters Centerline goodness : 0.115036 with order 1 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.27, Z:-0.00 [[ 0.99896014 -0.04030751 -0.02130615 0.96481803] [ 0.0397664 0.99889021 -0.02523844 -0.27184702] [ 0.0222998 0.02436492 0.99945439 -0.00295624] [ 0. 0. 0. 1. ]] SLAMing on 1.166502481 meters SLAMing on 1.2265024809999998 meters SLAMing on 1.2865024809999999 meters SLAMing on 1.346502481 meters SLAMing on 1.406502481 meters Centerline goodness : 0.611461 with order 2 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.26, Z:0.02 [[ 0.99765749 -0.06157096 -0.02980851 1.21659265] [ 0.05986998 0.99669323 -0.05493808 -0.259971 ] [ 0.03309253 0.05302475 0.99804472 0.01609771] [ 0. 0. 0. 1. ]] SLAMing on 1.4665024809999998 meters SLAMing on 1.5265024809999999 meters Centerline goodness : 0.252951 with order 1 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.28, Z:0.03 [[ 0.99672309 -0.0714784 -0.03786726 1.32091065] [ 0.06911621 0.99577886 -0.06039386 -0.27621065] [ 0.04202427 0.05757871 0.99745609 0.02962279] [ 0. 0. 0. 1. ]] SLAMing on 1.586502481 meters Centerline goodness : 0.518630 with order 3 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.28, Z:0.03 [[ 0.99702087 -0.06634052 -0.03934875 1.36936285] [ 0.06383488 0.99604271 -0.06183874 -0.28209372] [ 0.04329545 0.05914269 0.99731021 0.03371448] [ 0. 0. 0. 1. ]] SLAMing on 1.6465024809999997 meters Centerline goodness : 0.390146 with order 1 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.28, Z:0.04 [[ 0.99750781 -0.05836776 -0.03964049 1.41217929] [ 0.05580526 0.99645626 -0.06293404 -0.28445037] [ 0.04317334 0.06056505 0.99723013 0.03596894] [ 0. 0. 0. 1. ]] SLAMing on 1.7065024809999998 meters Centerline goodness : 0.269819 with order 1 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.29, Z:0.04 [[ 0.9975094 -0.05668341 -0.04197599 1.45518418] [ 0.05440501 0.99708117 -0.0535652 -0.28880577] [ 0.04488973 0.05114809 0.99768171 0.03913809] [ 0. 0. 0. 1. ]] SLAMing on 1.7665024809999998 meters Centerline goodness : 0.373059 with order 1 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.29, Z:0.04 [[ 0.99760515 -0.05561749 -0.04111764 1.49416584] [ 0.05362748 0.99740607 -0.04801278 -0.29030802] [ 0.04368134 0.04569276 0.99800006 0.04085623] [ 0. 0. 0. 1. ]] SLAMing on 1.826502481 meters Centerline goodness : 0.494240 with order 3 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.29, Z:0.04 [[ 0.99762009 -0.05607405 -0.04012299 1.53392303] [ 0.05436063 0.99761257 -0.04259211 -0.29148733] [ 0.04241551 0.04030964 0.99828656 0.04298227] [ 0. 0. 0. 1. ]] SLAMing on 1.8865024809999997 meters Centerline goodness : 0.622693 with order 1 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.29, Z:0.05 [[ 0.99792991 -0.05017102 -0.04023379 1.58010099] [ 0.04840386 0.997869 -0.04375537 -0.29222151] [ 0.0423433 0.04171733 0.99823179 0.04625211] [ 0. 0. 0. 1. ]] SLAMing on 1.9465024809999998 meters Centerline goodness : 0.636395 with order 1 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.29, Z:0.05 [[ 0.99772165 -0.05564249 -0.03815012 1.62080909] [ 0.05399543 0.99761817 -0.04292403 -0.29112209] [ 0.04044766 0.0407663 0.99834969 0.05221997] [ 0. 0. 0. 1. ]] SLAMing on 2.0065024809999996 meters Centerline goodness : 0.638239 with order 1 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.29, Z:0.06 [[ 0.99785318 -0.05320989 -0.03818041 1.66671743] [ 0.05145927 0.99764007 -0.04545582 -0.29074202] [ 0.040509 0.0433935 0.99823646 0.06307341] [ 0. 0. 0. 1. ]] SLAMing on 2.0665024809999997 meters Centerline goodness : 0.633912 with order 1 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.29, Z:0.07 [[ 0.99814772 -0.04644819 -0.03928978 1.71498446] [ 0.04477887 0.99809882 -0.04235094 -0.2921187 ] [ 0.04118221 0.04051314 0.99832996 0.07235333] [ 0. 0. 0. 1. ]] SLAMing on 2.1265024809999997 meters Centerline goodness : 0.640530 with order 1 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.29, Z:0.08 [[ 0.99817774 -0.0468357 -0.03804765 1.75697812] [ 0.04547037 0.99831713 -0.03599092 -0.29224043] [ 0.03966928 0.03419529 0.99862757 0.07829447] [ 0. 0. 0. 1. ]] SLAMing on 2.1865024809999998 meters Centerline goodness : 0.659494 with order 1 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.29, Z:0.08 [[ 0.99836662 -0.04112388 -0.03966013 1.80851021] [ 0.03983523 0.99866931 -0.03275315 -0.29373854] [ 0.0409543 0.03111978 0.99867628 0.08387896] [ 0. 0. 0. 1. ]] SLAMing on 2.246502481 meters Centerline goodness : 0.663371 with order 1 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.30, Z:0.09 [[ 0.99850637 -0.03723186 -0.03998531 1.85629567] [ 0.03595506 0.99883485 -0.03218981 -0.29520925] [ 0.0411372 0.03070406 0.99868163 0.09143456] [ 0. 0. 0. 1. ]] SLAMing on 2.306502481 meters Centerline goodness : 0.663815 with order 1 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.30, Z:0.10 [[ 0.99863076 -0.03356604 -0.04012401 1.90481848] [ 0.03234555 0.99900545 -0.03068987 -0.29815912] [ 0.04111424 0.02935002 0.99872328 0.09906098] [ 0. 0. 0. 1. ]] SLAMing on 2.366502481 meters Centerline goodness : 0.146869 with order 1 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.30, Z:0.10 [[ 0.99875972 -0.03041701 -0.0394185 1.95377909] [ 0.02921728 0.99910268 -0.03066252 -0.30204458] [ 0.04031579 0.02947279 0.99875222 0.10465348] [ 0. 0. 0. 1. ]] SLAMing on 2.4265024809999995 meters Centerline goodness : 0.668731 with order 1 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.30, Z:0.11 [[ 0.99896313 -0.02508381 -0.03799307 2.00405469] [ 0.02403939 0.99932714 -0.02770166 -0.30474172] [ 0.03866237 0.02675961 0.99889396 0.10973704] [ 0. 0. 0. 1. ]] SLAMing on 2.4865024809999996 meters Centerline goodness : 0.395673 with order 3 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.31, Z:0.11 [[ 0.99914033 -0.01857692 -0.03706075 2.05073579] [ 0.01764434 0.99952332 -0.0253339 -0.3075913 ] [ 0.03751371 0.02465821 0.99899184 0.1135577 ] [ 0. 0. 0. 1. ]] SLAMing on 2.5465024809999997 meters Centerline goodness : 0.668757 with order 1 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.31, Z:0.11 [[ 0.99926421 -0.0187192 -0.03347588 2.087532 ] [ 0.01798296 0.99959268 -0.02216051 -0.30766351] [ 0.03387708 0.02154221 0.99919381 0.11324135] [ 0. 0. 0. 1. ]] SLAMing on 2.6065024809999997 meters Centerline goodness : 0.671397 with order 3 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.32, Z:0.12 [[ 0.99924609 -0.017786 -0.03450952 2.13965292] [ 0.01695235 0.99956093 -0.02430136 -0.31732947] [ 0.0349266 0.02369802 0.99910887 0.11651004] [ 0. 0. 0. 1. ]] SLAMing on 2.6665024809999998 meters Centerline goodness : 0.589876 with order 1 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.32, Z:0.12 [[ 0.99931978 -0.01533593 -0.03353792 2.18849499] [ 0.01451901 0.99959519 -0.02446753 -0.3243853 ] [ 0.03389957 0.02396395 0.9991379 0.11940773] [ 0. 0. 0. 1. ]] SLAMing on 2.726502481 meters Centerline goodness : 0.669721 with order 2 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.34, Z:0.13 [[ 0.99904716 -0.00728465 -0.04303154 2.25353593] [ 0.00662893 0.99986003 -0.01536127 -0.33580663] [ 0.04313742 0.01506138 0.99895561 0.12628137] [ 0. 0. 0. 1. ]] SLAMing on 2.786502481 meters Centerline goodness : 0.646916 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.34, Z:0.13 [[ 9.98910078e-01 -2.38293261e-04 -4.66754784e-02 2.29948120e+00] [-4.25864845e-04 9.99898817e-01 -1.42188117e-02 -3.42296580e-01] [ 4.66741438e-02 1.42231917e-02 9.98808903e-01 1.31402541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8465024809999995 meters Centerline goodness : 0.630198 with order 1 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.35, Z:0.14 [[ 0.998478 0.01408181 -0.05332345 2.3620919 ] [-0.01479567 0.99980581 -0.01301628 -0.35218203] [ 0.0531298 0.01378542 0.99849246 0.13908559] [ 0. 0. 0. 1. ]] SLAMing on 2.9065024809999995 meters Centerline goodness : 0.648037 with order 1 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.36, Z:0.14 [[ 0.99856192 0.01495536 -0.05148229 2.41525573] [-0.01555176 0.99981629 -0.01120355 -0.36087587] [ 0.05130528 0.01198808 0.99861106 0.14280624] [ 0. 0. 0. 1. ]] SLAMing on 2.9665024809999996 meters Centerline goodness : 0.640388 with order 1 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.37, Z:0.15 [[ 0.99836215 0.017688 -0.05440725 2.45900439] [-0.01842846 0.99974386 -0.01313813 -0.37246183] [ 0.05416092 0.01411925 0.99843239 0.14936731] [ 0. 0. 0. 1. ]] SLAMing on 3.0265024809999996 meters Centerline goodness : 0.645546 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.39, Z:0.16 [[ 0.99842045 0.02387554 -0.05085835 2.49392888] [-0.02471692 0.99956677 -0.01597929 -0.38562688] [ 0.0504548 0.01721112 0.99857803 0.15626595] [ 0. 0. 0. 1. ]] SLAMing on 3.0865024809999997 meters Centerline goodness : 0.604856 with order 2 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.41, Z:0.16 [[ 0.99827175 0.02577079 -0.05281458 2.53881369] [-0.02671567 0.999494 -0.01726325 -0.41158697] [ 0.05234297 0.01864439 0.99845511 0.15967069] [ 0. 0. 0. 1. ]] SLAMing on 3.1465024809999997 meters Centerline goodness : 0.567204 with order 2 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.42, Z:0.16 [[ 0.99816455 0.02658373 -0.05441366 2.56117032] [-0.02767128 0.99943013 -0.01933174 -0.42341688] [ 0.05386874 0.02080195 0.99833133 0.16072167] [ 0. 0. 0. 1. ]] SLAMing on 3.206502481 meters Centerline goodness : 0.639737 with order 3 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.45, Z:0.16 [[ 0.99827108 0.02364761 -0.05381124 2.59541807] [-0.0252935 0.99922641 -0.03011354 -0.4496349 ] [ 0.0530575 0.03142255 0.99809695 0.16230127] [ 0. 0. 0. 1. ]] SLAMing on 3.2665024809999994 meters Centerline goodness : 0.639379 with order 3 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.47, Z:0.17 [[ 0.99789801 0.02895233 -0.05797694 2.64115849] [-0.03075886 0.99906098 -0.03051316 -0.47146749] [ 0.05703908 0.03223233 0.9978515 0.16716271] [ 0. 0. 0. 1. ]] SLAMing on 3.3265024809999995 meters Centerline goodness : 0.630691 with order 1 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.49, Z:0.17 [[ 0.99740087 0.03926963 -0.06041023 2.70021035] [-0.04140669 0.99854518 -0.03453993 -0.49110558] [ 0.05896597 0.03695154 0.99757586 0.17252401] [ 0. 0. 0. 1. ]] SLAMing on 3.3865024809999995 meters Centerline goodness : 0.629239 with order 1 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.50, Z:0.18 [[ 0.99767775 0.04073857 -0.05458463 2.74479473] [-0.04288427 0.99832898 -0.03873219 -0.50272434] [ 0.05291553 0.04098307 0.99775765 0.17721924] [ 0. 0. 0. 1. ]] SLAMing on 3.4465024809999996 meters Centerline goodness : 0.631016 with order 1 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.51, Z:0.17 [[ 0.9988204 0.02751834 -0.04000681 2.73229557] [-0.02893326 0.99896036 -0.03522889 -0.50941508] [ 0.03899578 0.03634487 0.99857818 0.17412358] [ 0. 0. 0. 1. ]] SLAMing on 3.5065024809999996 meters Centerline goodness : 0.636205 with order 1 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.53, Z:0.18 [[ 0.99941789 0.00778972 -0.03321445 2.76697305] [-0.00869419 0.9995929 -0.02717427 -0.52772224] [ 0.03298925 0.02744723 0.99907876 0.17893321] [ 0. 0. 0. 1. ]] SLAMing on 3.5665024809999997 meters Centerline goodness : 0.646398 with order 1 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.54, Z:0.18 [[ 0.9996743 0.00432214 -0.02515194 2.79165741] [-0.00504597 0.99957286 -0.02878618 -0.53839643] [ 0.02501678 0.02890372 0.9992691 0.18178565] [ 0. 0. 0. 1. ]] SLAMing on 3.6265024809999997 meters Centerline goodness : 0.656896 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.54, Z:0.18 [[ 0.99945909 0.02441601 -0.02203166 2.83631888] [-0.02523336 0.9989736 -0.03761683 -0.54424422] [ 0.0210906 0.03815241 0.99904934 0.1807971 ] [ 0. 0. 0. 1. ]] SLAMing on 3.6865024809999993 meters Centerline goodness : 0.670054 with order 1 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.55, Z:0.18 [[ 0.99917182 0.03440918 -0.02171814 2.87592168] [-0.03526865 0.99855624 -0.04051607 -0.55011139] [ 0.02029266 0.04124848 0.99894283 0.1815756 ] [ 0. 0. 0. 1. ]] SLAMing on 3.7465024809999994 meters Centerline goodness : 0.674420 with order 1 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.55, Z:0.18 [[ 0.99919337 0.03665718 -0.01639717 2.90462996] [-0.03729189 0.99849385 -0.04024101 -0.55033018] [ 0.01489735 0.04082003 0.99905545 0.18136203] [ 0. 0. 0. 1. ]] SLAMing on 3.8065024809999994 meters Centerline goodness : 0.677412 with order 1 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.55, Z:0.18 [[ 0.99916017 0.03819548 -0.0148346 2.90294186] [-0.03873091 0.99853974 -0.03766045 -0.54962123] [ 0.01337448 0.03820337 0.99918048 0.18078828] [ 0. 0. 0. 1. ]] SLAMing on 3.8665024809999995 meters Centerline goodness : 0.680666 with order 1 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.55, Z:0.18 [[ 0.99921702 0.03740147 -0.01290223 2.90012722] [-0.03787176 0.99854576 -0.03836783 -0.54789374] [ 0.01144845 0.03882642 0.99918039 0.18099816] [ 0. 0. 0. 1. ]] SLAMing on 3.9265024809999995 meters Centerline goodness : 0.681950 with order 1 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.55, Z:0.18 [[ 0.99898169 0.04284434 -0.01413991 2.90299654] [-0.04331185 0.99846213 -0.03460436 -0.54740795] [ 0.01263556 0.03518155 0.99930106 0.18056532] [ 0. 0. 0. 1. ]] SLAMing on 3.9865024809999996 meters Centerline goodness : 0.682762 with order 1 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.55, Z:0.18 [[ 0.99894216 0.04343107 -0.01511002 2.90485535] [-0.04393531 0.99842756 -0.03481511 -0.54708834] [ 0.0135742 0.03544214 0.99927954 0.18076534] [ 0. 0. 0. 1. ]] SLAMing on 4.046502480999999 meters Centerline goodness : 0.686880 with order 1 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.55, Z:0.18 [[ 0.99886764 0.04550488 -0.01388339 2.90401498] [-0.04589427 0.99852084 -0.0291521 -0.54869495] [ 0.01253629 0.02975626 0.99947857 0.17937151] [ 0. 0. 0. 1. ]] SLAMing on 4.106502480999999 meters Centerline goodness : 0.689649 with order 1 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.55, Z:0.18 [[ 0.99890505 0.04500943 -0.01276116 2.90348165] [-0.04533659 0.99861687 -0.02662589 -0.54821242] [ 0.01154509 0.02717528 0.99956401 0.17773708] [ 0. 0. 0. 1. ]] SLAMing on 4.166502480999999 meters Centerline goodness : 0.689649 with order 1 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.55, Z:0.18 [[ 0.99871322 0.04912553 -0.01259329 2.90392621] [-0.04941445 0.99849567 -0.02376154 -0.54642751] [ 0.01140705 0.02435326 0.99963833 0.17759043] [ 0. 0. 0. 1. ]] SLAMing on 4.226502480999999 meters Centerline goodness : 0.692622 with order 1 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.54, Z:0.18 [[ 0.99834347 0.05548331 -0.01522888 2.9090011 ] [-0.05585263 0.99812588 -0.0250042 -0.54005524] [ 0.01381303 0.02581335 0.99957134 0.17786892] [ 0. 0. 0. 1. ]] SLAMing on 4.286502480999999 meters Centerline goodness : 0.696145 with order 1 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.54, Z:0.18 [[ 0.99805554 0.05997516 -0.0169741 2.91224981] [-0.06036709 0.99789709 -0.02360519 -0.53727139] [ 0.01552268 0.02458397 0.99957725 0.17880325] [ 0. 0. 0. 1. ]] SLAMing on 4.346502480999999 meters Centerline goodness : 0.697075 with order 1 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.53, Z:0.18 [[ 0.99803137 0.05995761 -0.01839751 2.91381271] [-0.06041885 0.99784396 -0.02563185 -0.53468193] [ 0.01682101 0.02669295 0.99950215 0.18073391] [ 0. 0. 0. 1. ]] SLAMing on 4.406502480999999 meters Centerline goodness : 0.698833 with order 1 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.53, Z:0.18 [[ 0.99809289 0.05896275 -0.01827526 2.91352661] [-0.05944298 0.99786775 -0.02695353 -0.53132797] [ 0.01664703 0.02798846 0.99946962 0.18120988] [ 0. 0. 0. 1. ]] SLAMing on 4.466502480999999 meters Centerline goodness : 0.696784 with order 1 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.53, Z:0.18 [[ 0.99811495 0.05804863 -0.01992224 2.91537248] [-0.05857925 0.99791287 -0.02717312 -0.53219113] [ 0.0183033 0.02828893 0.9994322 0.18306604] [ 0. 0. 0. 1. ]] SLAMing on 4.526502480999999 meters Centerline goodness : 0.697822 with order 1 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.54, Z:0.18 [[ 0.99818809 0.05601643 -0.02197043 2.91932772] [-0.05655456 0.99809421 -0.02468867 -0.53564984] [ 0.02054559 0.02588647 0.99945374 0.18237495] [ 0. 0. 0. 1. ]] SLAMing on 4.586502480999999 meters Centerline goodness : 0.701241 with order 1 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.53, Z:0.18 [[ 0.99823313 0.05540291 -0.02147431 2.91880553] [-0.05590768 0.99815545 -0.02366475 -0.53483837] [ 0.0201236 0.02482352 0.99948929 0.18198714] [ 0. 0. 0. 1. ]] SLAMing on 4.646502480999999 meters Centerline goodness : 0.701237 with order 1 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.54, Z:0.18 [[ 0.99804283 0.05866569 -0.02165295 2.92008992] [-0.05909306 0.99805896 -0.01965522 -0.53503063] [ 0.02045783 0.02089629 0.99957232 0.18121931] [ 0. 0. 0. 1. ]] SLAMing on 4.706502480999999 meters Centerline goodness : 0.701854 with order 1 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.53, Z:0.18 [[ 0.99798648 0.05940659 -0.02222266 2.92033048] [-0.05993773 0.99791233 -0.02405083 -0.52874838] [ 0.02074749 0.02533438 0.99946371 0.18304598] [ 0. 0. 0. 1. ]] SLAMing on 4.766502480999999 meters Centerline goodness : 0.701810 with order 1 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.53, Z:0.18 [[ 0.99801736 0.05856518 -0.0230538 2.92148125] [-0.05914408 0.99792917 -0.02528525 -0.52758445] [ 0.02152522 0.02659861 0.99941442 0.18382549] [ 0. 0. 0. 1. ]] SLAMing on 4.826502480999999 meters Centerline goodness : 0.699323 with order 1 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.53, Z:0.18 [[ 0.99831831 0.05333775 -0.02270757 2.9199686 ] [-0.05401337 0.99808165 -0.03025865 -0.52623026] [ 0.02105008 0.03143427 0.99928413 0.18478618] [ 0. 0. 0. 1. ]] SLAMing on 4.886502480999999 meters Centerline goodness : 0.700293 with order 1 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.53, Z:0.18 [[ 0.99840251 0.05204667 -0.02199039 2.91936756] [-0.05262583 0.99825904 -0.02663478 -0.53038317] [ 0.02056585 0.0277495 0.99940333 0.18360817] [ 0. 0. 0. 1. ]] SLAMing on 4.946502480999999 meters Centerline goodness : 0.699179 with order 1 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.53, Z:0.18 [[ 0.99842675 0.05136055 -0.02249705 2.92005655] [-0.05192292 0.99833385 -0.02517014 -0.53271638] [ 0.02116681 0.02629865 0.99943001 0.18417068] [ 0. 0. 0. 1. ]] SLAMing on 5.006502480999999 meters Centerline goodness : 0.701822 with order 1 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.54, Z:0.18 [[ 0.998411 0.05125138 -0.02342572 2.92308498] [-0.05179626 0.99838637 -0.02327669 -0.53530601] [ 0.02219495 0.02445307 0.99945457 0.18241943] [ 0. 0. 0. 1. ]] SLAMing on 5.066502480999999 meters Centerline goodness : 0.690584 with order 1 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.54, Z:0.18 [[ 0.99842777 0.05078497 -0.0237248 2.92330317] [-0.05133458 0.9984129 -0.02316135 -0.53540224] [ 0.0225109 0.02434284 0.99945019 0.18312449] [ 0. 0. 0. 1. ]] SLAMing on 5.126502480999999 meters Centerline goodness : 0.695844 with order 1 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.53, Z:0.18 [[ 0.99813251 0.05540056 -0.02573474 2.92859383] [-0.05591189 0.99824344 -0.01959342 -0.53475701] [ 0.02460405 0.02099571 0.99947677 0.18122793] [ 0. 0. 0. 1. ]] SLAMing on 5.186502480999999 meters Centerline goodness : 0.699386 with order 1 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.53, Z:0.18 [[ 0.99787621 0.05933501 -0.02687799 2.93122081] [-0.05983307 0.9980439 -0.01812106 -0.53272595] [ 0.0257502 0.01969077 0.99947446 0.18129945] [ 0. 0. 0. 1. ]] SLAMing on 5.2465024809999985 meters Centerline goodness : 0.701767 with order 1 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.52, Z:0.18 [[ 0.99772975 0.06130775 -0.02786953 2.93314447] [-0.06193969 0.99782835 -0.02240683 -0.52496066] [ 0.0264353 0.02408219 0.99936041 0.18192207] [ 0. 0. 0. 1. ]] SLAMing on 5.306502480999999 meters Centerline goodness : 0.703504 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.52, Z:0.18 [[ 0.99738883 0.06583425 -0.02968792 2.93756003] [-0.06652996 0.99751727 -0.02308817 -0.51846282] [ 0.02809422 0.02500302 0.99929253 0.18173997] [ 0. 0. 0. 1. ]] SLAMing on 5.366502480999999 meters Centerline goodness : 0.703410 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.52, Z:0.18 [[ 0.99744389 0.06515865 -0.0293263 2.93792645] [-0.06584572 0.99756226 -0.02310566 -0.51584154] [ 0.02774928 0.02497762 0.99930281 0.18054852] [ 0. 0. 0. 1. ]] SLAMing on 5.426502480999999 meters Centerline goodness : 0.706502 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.52, Z:0.18 [[ 0.99741537 0.06543999 -0.029668 2.94039229] [-0.06607168 0.99759732 -0.0208355 -0.51677896] [ 0.02823324 0.02274186 0.99934263 0.17804242] [ 0. 0. 0. 1. ]] SLAMing on 5.486502480999999 meters Centerline goodness : 0.710456 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.52, Z:0.18 [[ 0.99713433 0.06919622 -0.03057794 2.94379511] [-0.06973871 0.99741967 -0.01704467 -0.51815927] [ 0.02931961 0.01912829 0.99938705 0.17611923] [ 0. 0. 0. 1. ]] SLAMing on 5.546502480999999 meters Centerline goodness : 0.710741 with order 1 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.52, Z:0.18 [[ 0.99697068 0.07089939 -0.03198038 2.94710492] [-0.07148017 0.99729029 -0.01739703 -0.51672283] [ 0.03066028 0.01963029 0.99933708 0.17547564] [ 0. 0. 0. 1. ]] SLAMing on 5.606502480999999 meters Centerline goodness : 0.712243 with order 1 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.52, Z:0.17 [[ 0.99679953 0.07223303 -0.03425036 2.95210684] [-0.07283023 0.99720752 -0.01652001 -0.51915057] [ 0.03296143 0.0189616 0.99927674 0.17425457] [ 0. 0. 0. 1. ]] SLAMing on 5.666502480999998 meters Centerline goodness : 0.712947 with order 1 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.52, Z:0.17 [[ 0.99702546 0.06873262 -0.03487206 2.95318385] [-0.06942254 0.99740689 -0.0189737 -0.52063664] [ 0.03347752 0.02133817 0.99921166 0.17380432] [ 0. 0. 0. 1. ]] SLAMing on 5.726502480999999 meters Centerline goodness : 0.710522 with order 1 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.52, Z:0.17 [[ 0.99726182 0.06490057 -0.03545117 2.95410496] [-0.06565857 0.99762841 -0.02065202 -0.52309096] [ 0.03402676 0.02292314 0.999158 0.1732299 ] [ 0. 0. 0. 1. ]] SLAMing on 5.7865024809999985 meters Centerline goodness : 0.709598 with order 1 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.52, Z:0.18 [[ 0.99749471 0.06072654 -0.03628496 2.9530171 ] [-0.06170775 0.99774075 -0.02656203 -0.52240896] [ 0.03458997 0.02873455 0.99898842 0.17686683] [ 0. 0. 0. 1. ]] SLAMing on 5.846502480999999 meters Centerline goodness : 0.709723 with order 1 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.52, Z:0.18 [[ 0.99761425 0.05799786 -0.03744405 2.95326666] [-0.05922939 0.99770987 -0.03266325 -0.51955401] [ 0.0354639 0.03480312 0.99876476 0.17970505] [ 0. 0. 0. 1. ]] SLAMing on 5.906502480999999 meters Centerline goodness : 0.712714 with order 1 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.52, Z:0.18 [[ 0.99741167 0.06171761 -0.03689043 2.95364539] [-0.06270721 0.99768543 -0.02629798 -0.52177206] [ 0.035182 0.02854321 0.99897323 0.1782407 ] [ 0. 0. 0. 1. ]] SLAMing on 5.966502480999999 meters Centerline goodness : 0.712399 with order 1 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.52, Z:0.18 [[ 0.99749998 0.06031288 -0.03682597 2.95380553] [-0.06134102 0.99773914 -0.02745721 -0.52030834] [ 0.03508669 0.0296475 0.99894442 0.17788611] [ 0. 0. 0. 1. ]] SLAMing on 6.026502480999999 meters Centerline goodness : 0.710799 with order 1 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.52, Z:0.18 [[ 0.99781289 0.05528993 -0.03622792 2.9510378 ] [-0.05647079 0.99787757 -0.03242528 -0.51877977] [ 0.03435824 0.03440018 0.99881737 0.1800692 ] [ 0. 0. 0. 1. ]] SLAMing on 6.086502480999998 meters Centerline goodness : 0.712981 with order 1 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.52, Z:0.18 [[ 0.99777051 0.05567455 -0.03680161 2.95251377] [-0.0568763 0.99785354 -0.03245623 -0.51882404] [ 0.03491563 0.03447701 0.99879539 0.17964814] [ 0. 0. 0. 1. ]] SLAMing on 6.146502480999999 meters Centerline goodness : 0.714802 with order 1 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.52, Z:0.18 [[ 0.99766867 0.05673161 -0.0379309 2.95490519] [-0.05796366 0.99779892 -0.03221077 -0.51959308] [ 0.03602004 0.03433429 0.99876109 0.17942763] [ 0. 0. 0. 1. ]] SLAMing on 6.2065024809999985 meters Centerline goodness : 0.716178 with order 1 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.52, Z:0.18 [[ 0.99758152 0.05853734 -0.03747644 2.95505931] [-0.05958514 0.99784491 -0.02747983 -0.52163339] [ 0.03578708 0.02964641 0.9989196 0.17825093] [ 0. 0. 0. 1. ]] SLAMing on 6.266502480999999 meters Centerline goodness : 0.715627 with order 1 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.52, Z:0.18 [[ 0.99758156 0.05861663 -0.03735145 2.95405409] [-0.05972559 0.99778475 -0.02929911 -0.51823256] [ 0.03555129 0.03145909 0.99887258 0.17991394] [ 0. 0. 0. 1. ]] SLAMing on 6.326502480999999 meters Centerline goodness : 0.713960 with order 1 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.51, Z:0.18 [[ 0.99722794 0.06661044 -0.03315843 2.82360266] [-0.0676329 0.99723684 -0.0307323 -0.50522529] [ 0.03101972 0.03288971 0.9989775 0.17607408] [ 0. 0. 0. 1. ]] SLAMing on 6.386502480999999 meters Centerline goodness : 0.714060 with order 1 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.51, Z:0.18 [[ 0.99693756 0.07042175 -0.03400418 2.82586762] [-0.07133115 0.99710553 -0.02631407 -0.50615265] [ 0.03205267 0.02865904 0.99907522 0.17560793] [ 0. 0. 0. 1. ]] SLAMing on 6.446502480999999 meters Centerline goodness : 0.715889 with order 1 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.51, Z:0.17 [[ 0.99664625 0.07441424 -0.03404075 2.82693104] [-0.07516982 0.99693935 -0.02148108 -0.50726373] [ 0.03233806 0.02396787 0.99918957 0.17489155] [ 0. 0. 0. 1. ]] SLAMing on 6.506502480999998 meters Centerline goodness : 0.715015 with order 1 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.51, Z:0.18 [[ 0.99667032 0.07371251 -0.03485319 2.82824378] [-0.07455259 0.99694133 -0.02344985 -0.50534731] [ 0.03301803 0.02597016 0.99911729 0.17536938] [ 0. 0. 0. 1. ]] SLAMing on 6.566502480999999 meters Centerline goodness : 0.719283 with order 1 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.50, Z:0.18 [[ 0.99624159 0.07903711 -0.0354378 2.83015306] [-0.07987188 0.99654454 -0.02279176 -0.49962926] [ 0.03351395 0.02553659 0.99911195 0.17556764] [ 0. 0. 0. 1. ]] SLAMing on 6.626502480999998 meters Centerline goodness : 0.722761 with order 1 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.50, Z:0.18 [[ 0.99651253 0.07519899 -0.03616486 2.83149997] [-0.0762051 0.9967185 -0.02729477 -0.49702712] [ 0.03399364 0.02995553 0.99897302 0.17513656] [ 0. 0. 0. 1. ]] SLAMing on 6.686502480999999 meters Centerline goodness : 0.719937 with order 1 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.50, Z:0.18 [[ 0.9968811 0.07031027 -0.03584035 2.83043121] [-0.07141395 0.99698022 -0.0305039 -0.4963228 ] [ 0.03358738 0.03296826 0.99889188 0.17523714] [ 0. 0. 0. 1. ]] SLAMing on 6.7465024809999985 meters Centerline goodness : 0.721893 with order 1 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.50, Z:0.17 [[ 0.99678449 0.07188721 -0.03539647 2.83206442] [-0.07273481 0.99707983 -0.02326924 -0.4989372 ] [ 0.03362034 0.02576897 0.99910241 0.17188974] [ 0. 0. 0. 1. ]] SLAMing on 6.806502480999999 meters Centerline goodness : 0.722232 with order 1 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.50, Z:0.17 [[ 0.99682309 0.0712448 -0.03560759 2.83357656] [-0.07203698 0.99717061 -0.02148147 -0.50115339] [ 0.03397639 0.02397829 0.99913495 0.17003628] [ 0. 0. 0. 1. ]] SLAMing on 6.866502480999999 meters Centerline goodness : 0.723272 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.50, Z:0.17 [[ 0.99664345 0.07310773 -0.03683871 2.83683419] [-0.0739146 0.99704266 -0.0210372 -0.50052236] [ 0.03519179 0.02368951 0.99909977 0.16909429] [ 0. 0. 0. 1. ]] SLAMing on 6.926502480999998 meters Centerline goodness : 0.721302 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.50, Z:0.17 [[ 0.99667837 0.07150094 -0.03898505 2.83880449] [-0.07262977 0.99695596 -0.02835002 -0.49637638] [ 0.03683933 0.03108732 0.99883755 0.17217024] [ 0. 0. 0. 1. ]] SLAMing on 6.986502480999999 meters Centerline goodness : 0.721797 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.50, Z:0.17 [[ 0.99665922 0.07137407 -0.0397007 2.8398073 ] [-0.07257592 0.99692053 -0.02970179 -0.49528386] [ 0.0374585 0.03248388 0.99877007 0.17294447] [ 0. 0. 0. 1. ]] SLAMing on 7.046502480999998 meters Centerline goodness : 0.719512 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.50, Z:0.18 [[ 0.99657794 0.07181378 -0.04092905 2.84033087] [-0.07309869 0.99684866 -0.03081106 -0.49560389] [ 0.03858741 0.03369748 0.99868688 0.17574782] [ 0. 0. 0. 1. ]] SLAMing on 7.106502480999999 meters Centerline goodness : 0.721340 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.50, Z:0.17 [[ 0.99625374 0.07589668 -0.04145104 2.8424994 ] [-0.07702721 0.99667963 -0.02639191 -0.49631899] [ 0.03931035 0.0294859 0.99879191 0.17483774] [ 0. 0. 0. 1. ]] SLAMing on 7.166502480999998 meters Centerline goodness : 0.719198 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.50, Z:0.18 [[ 0.99618917 0.07636368 -0.04213938 2.84353509] [-0.07752481 0.99663437 -0.0266426 -0.49597767] [ 0.03996303 0.02980792 0.99875645 0.17543331] [ 0. 0. 0. 1. ]] SLAMing on 7.226502480999999 meters Centerline goodness : 0.720899 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.50, Z:0.18 [[ 0.99625876 0.07551918 -0.04201585 2.84324972] [-0.07667457 0.99670127 -0.02660065 -0.49516447] [ 0.03986839 0.02972268 0.99876277 0.17559103] [ 0. 0. 0. 1. ]] SLAMing on 7.2865024809999985 meters Centerline goodness : 0.720803 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.50, Z:0.18 [[ 0.99659718 0.07085748 -0.0421104 2.84149617] [-0.07218543 0.99691256 -0.03089685 -0.49526079] [ 0.03979112 0.03383147 0.99863512 0.17765593] [ 0. 0. 0. 1. ]] SLAMing on 7.346502480999998 meters Centerline goodness : 0.719912 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.50, Z:0.18 [[ 0.99699743 0.06496354 -0.04214106 2.84041001] [-0.06640124 0.99722498 -0.03366321 -0.49656133] [ 0.03983724 0.03636035 0.9985444 0.17843728] [ 0. 0. 0. 1. ]] SLAMing on 7.406502480999999 meters Centerline goodness : 0.715498 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.50, Z:0.18 [[ 0.99701514 0.06462875 -0.04223656 2.84099063] [-0.06593342 0.99736502 -0.03026219 -0.50158685] [ 0.04016946 0.03295666 0.99864922 0.17729817] [ 0. 0. 0. 1. ]] SLAMing on 7.466502480999998 meters Centerline goodness : 0.716416 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.50, Z:0.18 [[ 0.99702016 0.06499833 -0.04154535 2.83934986] [-0.06627714 0.99734468 -0.03018167 -0.50076334] [ 0.03947327 0.03284524 0.99868066 0.17806733] [ 0. 0. 0. 1. ]] SLAMing on 7.526502480999999 meters Centerline goodness : 0.716985 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.50, Z:0.18 [[ 0.99696048 0.06563867 -0.04196871 2.83993026] [-0.06695172 0.99728426 -0.03068499 -0.49953722] [ 0.03984061 0.0334016 0.99864761 0.17864911] [ 0. 0. 0. 1. ]] SLAMing on 7.586502480999998 meters Centerline goodness : 0.716583 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.50, Z:0.18 [[ 0.99687141 0.06640803 -0.04286455 2.84161472] [-0.06778699 0.99720054 -0.03155949 -0.49783213] [ 0.04064875 0.03436641 0.99858231 0.17897448] [ 0. 0. 0. 1. ]] SLAMing on 7.646502480999999 meters Centerline goodness : 0.715823 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.50, Z:0.18 [[ 0.99657054 0.07049324 -0.04333442 2.84134902] [-0.07185307 0.99694372 -0.03066531 -0.49501234] [ 0.04104028 0.03367385 0.99858989 0.18164774] [ 0. 0. 0. 1. ]] SLAMing on 7.7065024809999985 meters Centerline goodness : 0.713801 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.49, Z:0.18 [[ 0.99667691 0.06782213 -0.04511426 2.84307873] [-0.06948227 0.99692226 -0.03630739 -0.49354408] [ 0.04251296 0.03932138 0.99832183 0.18357371] [ 0. 0. 0. 1. ]] SLAMing on 7.766502480999998 meters Centerline goodness : 0.711430 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.49, Z:0.18 [[ 0.99659911 0.06866028 -0.04556301 2.8440791 ] [-0.07025879 0.99693339 -0.03446044 -0.49217173] [ 0.04305722 0.03754444 0.99836691 0.18380492] [ 0. 0. 0. 1. ]] SLAMing on 7.826502480999999 meters Centerline goodness : 0.711789 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.50, Z:0.18 [[ 0.99632629 0.07269123 -0.04527597 2.84489089] [-0.07397709 0.99688342 -0.02740158 -0.49521177] [ 0.04314301 0.0306503 0.99859864 0.18230957] [ 0. 0. 0. 1. ]] SLAMing on 7.886502480999998 meters Centerline goodness : 0.706970 with order 1 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.50, Z:0.18 [[ 0.99634601 0.07201269 -0.04592171 2.84586981] [-0.07330167 0.99694346 -0.0270296 -0.49704093] [ 0.04383487 0.03029697 0.99857929 0.18235139] [ 0. 0. 0. 1. ]] SLAMing on 7.946502480999999 meters Centerline goodness : 0.705095 with order 1 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.50, Z:0.18 [[ 0.99658937 0.06796545 -0.04680081 2.8468942 ] [-0.06943125 0.99712223 -0.0304394 -0.4980274 ] [ 0.0445973 0.03358502 0.99844035 0.18248595] [ 0. 0. 0. 1. ]] SLAMing on 8.006502480999998 meters Centerline goodness : 0.709602 with order 1 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.50, Z:0.18 [[ 0.99671087 0.06648547 -0.04633713 2.8452465 ] [-0.06799511 0.9971787 -0.03180106 -0.49563108] [ 0.04409209 0.03484716 0.99841953 0.18370881] [ 0. 0. 0. 1. ]] SLAMing on 8.066502480999999 meters Centerline goodness : 0.712824 with order 1 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.50, Z:0.19 [[ 0.99676647 0.06419557 -0.04832731 2.84684049] [-0.06599868 0.99714505 -0.03668687 -0.49622023] [ 0.0458342 0.03975778 0.99815758 0.18650051] [ 0. 0. 0. 1. ]] SLAMing on 8.126502481 meters Centerline goodness : 0.707869 with order 1 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.50, Z:0.19 [[ 0.99665891 0.06476478 -0.0497649 2.84898359] [-0.06657888 0.99714221 -0.03570258 -0.49982262] [ 0.04731041 0.03889659 0.99812263 0.18708785] [ 0. 0. 0. 1. ]] SLAMing on 8.186502480999998 meters Centerline goodness : 0.710432 with order 1 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.49, Z:0.19 [[ 0.99647232 0.06876672 -0.04810455 2.73769754] [-0.06986302 0.99732508 -0.02149047 -0.48688269] [ 0.04649805 0.02477539 0.99861109 0.18788966] [ 0. 0. 0. 1. ]] SLAMing on 8.246502480999998 meters Centerline goodness : 0.712441 with order 1 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.47, Z:0.19 [[ 0.99663636 0.06614673 -0.0483794 2.63105608] [-0.06745186 0.99738735 -0.02585944 -0.4736956 ] [ 0.04654248 0.02903574 0.99849423 0.19075882] [ 0. 0. 0. 1. ]] SLAMing on 8.306502480999999 meters Centerline goodness : 0.717309 with order 1 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.47, Z:0.19 [[ 0.99675905 0.06558878 -0.04657792 2.62778671] [-0.0667516 0.99748423 -0.0238629 -0.47084321] [ 0.04489561 0.02689471 0.99862959 0.19109569] [ 0. 0. 0. 1. ]] SLAMing on 8.366502480999998 meters Centerline goodness : 0.715323 with order 1 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.47, Z:0.19 [[ 0.99642022 0.07014573 -0.04718398 2.62991192] [-0.07120975 0.99723479 -0.02125886 -0.47006947] [ 0.04556229 0.02454271 0.99865997 0.19047292] [ 0. 0. 0. 1. ]] SLAMing on 8.426502480999998 meters Centerline goodness : 0.718074 with order 1 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.47, Z:0.19 [[ 0.99604361 0.07385633 -0.04942038 2.63427571] [-0.07511266 0.99688466 -0.02406367 -0.46790101] [ 0.04748916 0.02768056 0.99848814 0.1908003 ] [ 0. 0. 0. 1. ]] SLAMing on 8.486502480999999 meters Centerline goodness : 0.720801 with order 1 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.47, Z:0.19 [[ 0.99564765 0.07893015 -0.04955589 2.63485275] [-0.08005532 0.99656616 -0.02114322 -0.46758549] [ 0.04771688 0.02501841 0.99854753 0.19132234] [ 0. 0. 0. 1. ]] SLAMing on 8.546502481 meters Centerline goodness : 0.719976 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.47, Z:0.19 [[ 0.99586285 0.0757485 -0.05019317 2.63586826] [-0.07704289 0.99672982 -0.0243732 -0.46835625] [ 0.0481828 0.02813939 0.99844208 0.19093801] [ 0. 0. 0. 1. ]] SLAMing on 8.606502480999998 meters Centerline goodness : 0.714826 with order 1 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.46, Z:0.19 [[ 0.99632105 0.07064409 -0.04851565 2.56024999] [-0.0716242 0.99725511 -0.01876755 -0.45572514] [ 0.04705666 0.0221734 0.99864609 0.19155954] [ 0. 0. 0. 1. ]] SLAMing on 8.666502480999998 meters Centerline goodness : 0.718366 with order 1 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.43, Z:0.19 [[ 0.99694287 0.06470604 -0.04379552 2.46023489] [-0.06534866 0.99777248 -0.01340257 -0.43396002] [ 0.04283074 0.01622358 0.99895061 0.18867508] [ 0. 0. 0. 1. ]] SLAMing on 8.726502480999999 meters Centerline goodness : 0.716862 with order 1 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.42, Z:0.19 [[ 0.99737961 0.05973635 -0.04081032 2.38025222] [-0.06023583 0.99812223 -0.01112 -0.4195145 ] [ 0.04006942 0.0135491 0.99910503 0.18577357] [ 0. 0. 0. 1. ]] SLAMing on 8.786502480999998 meters Centerline goodness : 0.713335 with order 1 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.40, Z:0.18 [[ 0.99786096 0.05365145 -0.03734992 2.28000932] [-0.05399099 0.99850823 -0.00814151 -0.39858459] [ 0.0368574 0.01014065 0.99926908 0.18129063] [ 0. 0. 0. 1. ]] SLAMing on 8.846502480999998 meters Centerline goodness : 0.707850 with order 1 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.38, Z:0.18 [[ 9.97963482e-01 4.84840580e-02 -4.14509880e-02 2.17929111e+00] [-4.85502779e-02 9.98820565e-01 -5.91787503e-04 -3.81981505e-01] [ 4.13734070e-02 2.60303931e-03 9.99140363e-01 1.79948566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.906502480999999 meters Centerline goodness : 0.707321 with order 1 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.37, Z:0.18 [[ 0.99814607 0.04480858 -0.04118989 2.07331863] [-0.04465835 0.99899191 0.00456057 -0.36611812] [ 0.04135272 -0.00271264 0.99914093 0.17760374] [ 0. 0. 0. 1. ]] SLAMing on 8.966502481 meters Centerline goodness : 0.705260 with order 1 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.35, Z:0.18 [[ 0.99858191 0.0365674 -0.03869102 1.97429849] [-0.03631971 0.9993151 0.00708572 -0.35045618] [ 0.03892363 -0.00567043 0.9992261 0.1762124 ] [ 0. 0. 0. 1. ]] SLAMing on 9.026502480999998 meters Centerline goodness : 0.701094 with order 1 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.34, Z:0.18 [[ 0.99862586 0.03644314 -0.03766017 1.88100561] [-0.03616649 0.99931375 0.00800151 -0.33650009] [ 0.03792592 -0.00662848 0.99925857 0.17554754] [ 0. 0. 0. 1. ]] SLAMing on 9.086502480999998 meters Centerline goodness : 0.697721 with order 1 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.33, Z:0.17 [[ 0.99850388 0.0383967 -0.03893191 1.88403769] [-0.03815665 0.99924801 0.0068907 -0.33452603] [ 0.03916721 -0.00539488 0.99921811 0.17488542] [ 0. 0. 0. 1. ]] SLAMing on 9.146502480999999 meters Centerline goodness : 0.699493 with order 1 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.33, Z:0.18 [[ 9.98592177e-01 3.51650809e-02 -3.97124857e-02 1.88487404e+00] [-3.51806253e-02 9.99380923e-01 3.07554617e-04 -3.29782768e-01] [ 3.96987158e-02 1.08998844e-03 9.99211101e-01 1.75716402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.206502480999998 meters Centerline goodness : 0.697204 with order 1 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.33, Z:0.18 [[ 0.99873901 0.03056652 -0.03982569 1.88441669] [-0.03074539 0.99951969 -0.00388654 -0.33046258] [ 0.03968777 0.0051061 0.99919908 0.1763716 ] [ 0. 0. 0. 1. ]] SLAMing on 9.266502480999998 meters Centerline goodness : 0.698885 with order 1 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.33, Z:0.18 [[ 0.99891537 0.02537082 -0.03904359 1.88241601] [-0.02565653 0.99964746 -0.00683405 -0.33154134] [ 0.03885644 0.00782836 0.99921414 0.17683439] [ 0. 0. 0. 1. ]] SLAMing on 9.326502480999999 meters Centerline goodness : 0.699197 with order 1 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.33, Z:0.18 [[ 0.99898046 0.02455729 -0.03788125 1.88019574] [-0.02477435 0.99967917 -0.00527118 -0.33417933] [ 0.03773965 0.00620429 0.99926835 0.17683435] [ 0. 0. 0. 1. ]] SLAMing on 9.386502480999999 meters Centerline goodness : 0.701096 with order 1 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.33, Z:0.18 [[ 0.99892951 0.02571155 -0.03845443 1.88219799] [-0.0259439 0.99964797 -0.00555519 -0.33328401] [ 0.03829806 0.00654691 0.99924491 0.17558237] [ 0. 0. 0. 1. ]] SLAMing on 9.446502480999998 meters Centerline goodness : 0.705296 with order 1 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.33, Z:0.18 [[ 0.99890298 0.02622671 -0.03879431 1.88228589] [-0.02654031 0.99961892 -0.00759094 -0.33131786] [ 0.03858044 0.00861223 0.99921838 0.17673695] [ 0. 0. 0. 1. ]] SLAMing on 9.506502480999998 meters Centerline goodness : 0.706951 with order 1 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.32, Z:0.17 [[ 0.99908614 0.02236786 -0.03642189 1.79052417] [-0.02277869 0.99968107 -0.01090396 -0.31855257] [ 0.03616638 0.01172364 0.99927701 0.17163667] [ 0. 0. 0. 1. ]] SLAMing on 9.566502480999999 meters Centerline goodness : 0.705198 with order 1 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.31, Z:0.17 [[ 9.99326048e-01 1.73800930e-02 -3.23323570e-02 1.69371453e+00] [-1.74389001e-02 9.99846748e-01 -1.53770646e-03 -3.08499136e-01] [ 3.23006765e-02 2.10051087e-03 9.99475990e-01 1.69434334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.626502480999998 meters Centerline goodness : 0.702113 with order 1 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.30, Z:0.17 [[ 0.9993266 0.01785743 -0.032054 1.60553187] [-0.01772546 0.99983323 0.00439655 -0.30237976] [ 0.03212716 -0.00382541 0.99947647 0.16857966] [ 0. 0. 0. 1. ]] SLAMing on 9.686502480999998 meters Centerline goodness : 0.699532 with order 1 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.29, Z:0.16 [[ 0.99932961 0.02068854 -0.03020459 1.51714968] [-0.02042495 0.99975079 0.00900945 -0.2923523 ] [ 0.03038346 -0.00838649 0.99950313 0.16207105] [ 0. 0. 0. 1. ]] SLAMing on 9.746502480999998 meters Centerline goodness : 0.704306 with order 1 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.28, Z:0.16 [[ 0.99946275 0.02348491 -0.02286202 1.43211719] [-0.02319465 0.999648 0.01287954 -0.28070625] [ 0.02315644 -0.01234235 0.99965566 0.15920533] [ 0. 0. 0. 1. ]] SLAMing on 9.806502480999999 meters Centerline goodness : 0.702032 with order 1 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.27, Z:0.16 [[ 0.99957605 0.02217227 -0.01887067 1.35238453] [-0.02181088 0.99957877 0.01914599 -0.27064786] [ 0.01928723 -0.01872629 0.9996386 0.15818575] [ 0. 0. 0. 1. ]] SLAMing on 9.866502480999998 meters Centerline goodness : 0.703130 with order 1 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.26, Z:0.15 [[ 0.99966187 0.01859917 -0.01817167 1.26594534] [-0.0182253 0.99962315 0.02052794 -0.25743236] [ 0.01854662 -0.02018981 0.99962413 0.15347671] [ 0. 0. 0. 1. ]] SLAMing on 9.926502480999998 meters Centerline goodness : 0.700491 with order 1 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.25, Z:0.14 [[ 0.99975947 0.01819846 -0.01223974 1.16560383] [-0.01793422 0.99961092 0.02136264 -0.24799846] [ 0.01262375 -0.02113799 0.99969687 0.1441136 ] [ 0. 0. 0. 1. ]] SLAMing on 9.986502480999999 meters Centerline goodness : 0.698497 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.24, Z:0.14 [[ 0.99980338 0.0185151 -0.00709937 1.06818264] [-0.01835481 0.99958915 0.02201429 -0.23685699] [ 0.00750404 -0.02187965 0.99973245 0.13766186] [ 0. 0. 0. 1. ]] SLAMing on 10.046502480999997 meters Centerline goodness : 0.701501 with order 1 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.22, Z:0.13 [[ 0.99991552 0.01269105 -0.00281067 0.99836175] [-0.01261152 0.99956372 0.026708 -0.22414665] [ 0.0031484 -0.0266703 0.99963933 0.13271332] [ 0. 0. 0. 1. ]] SLAMing on 10.106502480999998 meters Centerline goodness : 0.700881 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.21, Z:0.12 [[ 0.99996341 0.00808581 0.00279243 0.9191723 ] [-0.00815636 0.99962207 0.02625235 -0.20711114] [-0.0025791 -0.02627416 0.99965145 0.12378637] [ 0. 0. 0. 1. ]] SLAMing on 10.166502480999998 meters Centerline goodness : 0.706170 with order 1 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.19, Z:0.12 [[ 0.99997175 -0.00286523 0.00694914 0.85784498] [ 0.00267578 0.99962857 0.02712134 -0.18730908] [-0.00702427 -0.02710198 0.99960799 0.11714606] [ 0. 0. 0. 1. ]] SLAMing on 10.226502480999999 meters Centerline goodness : 0.705766 with order 1 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.17, Z:0.11 [[ 0.99985164 -0.01274482 0.0115875 0.79536033] [ 0.0123958 0.99948173 0.02970887 -0.17123617] [-0.01196013 -0.02956083 0.99949143 0.11181198] [ 0. 0. 0. 1. ]] SLAMing on 10.286502480999998 meters Centerline goodness : 0.704838 with order 1 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.15, Z:0.10 [[ 0.99940345 -0.0299978 0.01711368 0.76623684] [ 0.02954596 0.99922338 0.02607067 -0.14764689] [-0.01788245 -0.02554948 0.9995136 0.1038406 ] [ 0. 0. 0. 1. ]] SLAMing on 10.346502480999998 meters Centerline goodness : 0.705961 with order 1 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.15, Z:0.10 [[ 0.99937912 -0.03087804 0.01696848 0.76664012] [ 0.03041074 0.99916896 0.02714002 -0.14926305] [-0.01779241 -0.02660714 0.99948761 0.10333818] [ 0. 0. 0. 1. ]] SLAMing on 10.406502480999999 meters Centerline goodness : 0.703206 with order 1 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.15, Z:0.10 [[ 0.99942876 -0.03001291 0.01553638 0.76955054] [ 0.0295921 0.99920696 0.02664123 -0.14784537] [-0.01632364 -0.02616626 0.99952432 0.10286097] [ 0. 0. 0. 1. ]] SLAMing on 10.466502480999997 meters Centerline goodness : 0.702663 with order 1 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.14, Z:0.10 [[ 0.99950575 -0.02781236 0.01465337 0.7722169 ] [ 0.02744302 0.99931494 0.02483022 -0.14455171] [-0.01533392 -0.02441582 0.99958428 0.10132356] [ 0. 0. 0. 1. ]] SLAMing on 10.526502480999998 meters Centerline goodness : 0.703544 with order 1 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.14, Z:0.10 [[ 0.99950868 -0.02775565 0.01456133 0.77190759] [ 0.02742537 0.9993726 0.02241084 -0.14242698] [-0.01517422 -0.02200048 0.9996428 0.10267009] [ 0. 0. 0. 1. ]] SLAMing on 10.586502480999998 meters Centerline goodness : 0.701561 with order 1 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.14, Z:0.10 [[ 0.99935685 -0.03233936 0.01549344 0.76989021] [ 0.03207625 0.99934186 0.01693985 -0.14102957] [-0.01603106 -0.01643199 0.99973646 0.10413476] [ 0. 0. 0. 1. ]] SLAMing on 10.646502480999999 meters Centerline goodness : 0.701811 with order 1 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.14, Z:0.10 [[ 0.99925235 -0.03556813 0.01515413 0.77058645] [ 0.03538046 0.99929602 0.01247752 -0.14037876] [-0.01558727 -0.01193203 0.99980731 0.10458191] [ 0. 0. 0. 1. ]] SLAMing on 10.706502480999998 meters Centerline goodness : 0.702720 with order 1 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.14, Z:0.10 [[ 0.99937206 -0.03193606 0.01534832 0.77047101] [ 0.03165322 0.9993308 0.01833103 -0.14171385] [-0.01592347 -0.01783369 0.99971416 0.10331862] [ 0. 0. 0. 1. ]] SLAMing on 10.766502480999998 meters Centerline goodness : 0.700745 with order 1 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.14, Z:0.10 [[ 0.99935851 -0.03223443 0.01560464 0.77018928] [ 0.03195522 0.99933038 0.01782276 -0.14046893] [-0.0161687 -0.01731268 0.99971938 0.10291179] [ 0. 0. 0. 1. ]] SLAMing on 10.826502480999999 meters Centerline goodness : 0.703646 with order 1 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.14, Z:0.10 [[ 0.99937478 -0.03154521 0.01596721 0.76906692] [ 0.03128046 0.99937332 0.01656807 -0.13962479] [-0.01647984 -0.01605825 0.99973524 0.10409082] [ 0. 0. 0. 1. ]] SLAMing on 10.886502480999997 meters Centerline goodness : 0.703206 with order 1 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.14, Z:0.10 [[ 0.99938463 -0.03113651 0.01615183 0.7685334 ] [ 0.03087827 0.9993951 0.01599872 -0.13924821] [-0.01664021 -0.01549013 0.99974155 0.1047168 ] [ 0. 0. 0. 1. ]] SLAMing on 10.946502480999998 meters Centerline goodness : 0.703494 with order 1 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.14, Z:0.10 [[ 0.99939152 -0.03088257 0.01621303 0.76845215] [ 0.03061272 0.99939286 0.01663635 -0.13889113] [-0.01671695 -0.0161299 0.99973015 0.10453261] [ 0. 0. 0. 1. ]] SLAMing on 11.006502480999998 meters Centerline goodness : 0.703089 with order 1 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.14, Z:0.10 [[ 0.999404 -0.03055285 0.0160674 0.76962385] [ 0.03027389 0.99939144 0.01732759 -0.13914426] [-0.01658703 -0.01683084 0.99972076 0.10274868] [ 0. 0. 0. 1. ]] SLAMing on 11.066502480999999 meters Centerline goodness : 0.706436 with order 1 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.14, Z:0.10 [[ 0.99954585 -0.0259911 0.01524951 0.77194569] [ 0.02565214 0.99942844 0.02201718 -0.13922521] [-0.01581305 -0.021616 0.99964128 0.10081839] [ 0. 0. 0. 1. ]] SLAMing on 11.126502480999998 meters Centerline goodness : 0.708083 with order 1 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.14, Z:0.10 [[ 0.99958388 -0.02521554 0.01400867 0.77471171] [ 0.02491184 0.99945956 0.02144718 -0.14017078] [-0.0145419 -0.02108927 0.99967183 0.10024602] [ 0. 0. 0. 1. ]] SLAMing on 11.186502480999998 meters Centerline goodness : 0.708456 with order 1 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.14, Z:0.10 [[ 0.99951354 -0.02829009 0.0131283 0.77633815] [ 0.02807922 0.999478 0.01597748 -0.13932483] [-0.01357345 -0.01560107 0.99978616 0.10101583] [ 0. 0. 0. 1. ]] SLAMing on 11.246502480999998 meters Centerline goodness : 0.708069 with order 1 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.14, Z:0.10 [[ 0.99948359 -0.02869395 0.01446389 0.77347883] [ 0.0284446 0.99944807 0.0171598 -0.13698952] [-0.01494829 -0.01673952 0.99974814 0.10117456] [ 0. 0. 0. 1. ]] SLAMing on 11.306502480999997 meters Centerline goodness : 0.709417 with order 1 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.14, Z:0.10 [[ 0.99958983 -0.02500289 0.01396498 0.77513705] [ 0.02468347 0.99943995 0.02259474 -0.13819206] [-0.01452209 -0.02224077 0.99964717 0.09940691] [ 0. 0. 0. 1. ]] SLAMing on 11.366502480999998 meters Centerline goodness : 0.710831 with order 1 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.14, Z:0.10 [[ 0.9996172 -0.02410069 0.01358714 0.77661635] [ 0.02380114 0.99947914 0.02179322 -0.13691152] [-0.0141053 -0.02146149 0.99967017 0.09838792] [ 0. 0. 0. 1. ]] SLAMing on 11.426502480999998 meters Centerline goodness : 0.707425 with order 1 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.13, Z:0.10 [[ 0.99959675 -0.02440039 0.01452419 0.77388094] [ 0.0241214 0.99952687 0.01908363 -0.13365441] [-0.01498296 -0.01872559 0.99971239 0.10068118] [ 0. 0. 0. 1. ]] SLAMing on 11.486502480999999 meters Centerline goodness : 0.708643 with order 1 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.13, Z:0.10 [[ 0.99970438 -0.01988762 0.01398676 0.77421768] [ 0.01957275 0.99955973 0.02229939 -0.1332284 ] [-0.01442408 -0.02201904 0.99965349 0.10182998] [ 0. 0. 0. 1. ]] SLAMing on 11.546502480999997 meters Centerline goodness : 0.707859 with order 1 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.13, Z:0.10 [[ 0.99970757 -0.01988431 0.01376166 0.77537675] [ 0.01957516 0.99956087 0.02224571 -0.13260047] [-0.01419795 -0.02196982 0.99965781 0.1005454 ] [ 0. 0. 0. 1. ]] SLAMing on 11.606502480999998 meters Centerline goodness : 0.706397 with order 1 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.13, Z:0.10 [[ 0.99969008 -0.02027874 0.01444019 0.77389111] [ 0.0199853 0.99959652 0.02018374 -0.12750261] [-0.01484366 -0.01988889 0.999692 0.10095319] [ 0. 0. 0. 1. ]] SLAMing on 11.666502480999998 meters Centerline goodness : 0.708892 with order 1 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.13, Z:0.10 [[ 0.99968011 -0.02060615 0.0146653 0.77386994] [ 0.02031816 0.99960293 0.01952326 -0.12638597] [-0.01506177 -0.01921904 0.99970184 0.1003128 ] [ 0. 0. 0. 1. ]] SLAMing on 11.726502480999997 meters Centerline goodness : 0.709614 with order 1 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.13, Z:0.10 [[ 0.99976156 -0.01735163 0.0132572 0.81658743] [ 0.01718545 0.99977358 0.01254787 -0.12647212] [-0.01347193 -0.01231705 0.99983338 0.09791659] [ 0. 0. 0. 1. ]] SLAMing on 11.786502480999998 meters Centerline goodness : 0.712278 with order 1 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.13, Z:0.10 [[ 0.99975375 -0.01963013 0.0103488 0.85709347] [ 0.01948938 0.99971851 0.01353021 -0.12609243] [-0.01061149 -0.01332518 0.99985491 0.09678382] [ 0. 0. 0. 1. ]] SLAMing on 11.846502480999998 meters Centerline goodness : 0.712805 with order 1 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.13, Z:0.10 [[ 0.99977415 -0.01865311 0.01018381 0.90725828] [ 0.01856796 0.99979238 0.00839243 -0.12739793] [-0.01033824 -0.00820144 0.99991292 0.09536451] [ 0. 0. 0. 1. ]] SLAMing on 11.906502480999999 meters Centerline goodness : 0.713719 with order 1 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.13, Z:0.09 [[ 9.99880059e-01 -8.85749752e-03 1.27048501e-02 9.70821217e-01] [ 8.85254429e-03 9.99960716e-01 4.46054543e-04 -1.34177800e-01] [-1.27083019e-02 -3.33530794e-04 9.99919191e-01 9.39786018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.966502480999997 meters Centerline goodness : 0.714893 with order 1 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.14, Z:0.09 [[ 9.99828351e-01 -1.25501333e-02 1.36294963e-02 1.00861415e+00] [ 1.25647000e-02 9.99920577e-01 -9.83662848e-04 -1.35791833e-01] [-1.36160688e-02 1.15474454e-03 9.99906630e-01 9.10170837e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.026502480999998 meters Centerline goodness : 0.714619 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.14, Z:0.09 [[ 0.99989353 -0.00750616 0.01251364 1.05219637] [ 0.00756025 0.99996226 -0.00428129 -0.14018366] [-0.01248104 0.00437544 0.99991254 0.09121795] [ 0. 0. 0. 1. ]] SLAMing on 12.086502480999998 meters Centerline goodness : 0.716365 with order 1 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.14, Z:0.09 [[ 0.99992349 -0.00176281 0.0122436 1.10157243] [ 0.00184581 0.99997538 -0.00677054 -0.1446035 ] [-0.01223136 0.00679262 0.99990212 0.08989267] [ 0. 0. 0. 1. ]] SLAMing on 12.146502480999997 meters Centerline goodness : 0.716096 with order 1 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.15, Z:0.09 [[ 0.99980146 0.0160811 0.01176586 1.17066063] [-0.01587125 0.99971707 -0.01771664 -0.15480127] [-0.01204743 0.01752638 0.99977382 0.08735397] [ 0. 0. 0. 1. ]] SLAMing on 12.206502480999998 meters Centerline goodness : 0.715105 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.15, Z:0.09 [[ 0.99977933 0.016231 0.01333623 1.07243267] [-0.01597595 0.99969158 -0.01901375 -0.14590418] [-0.01364073 0.0187965 0.99973027 0.08856138] [ 0. 0. 0. 1. ]] SLAMing on 12.266502480999998 meters Centerline goodness : 0.715475 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.15, Z:0.09 [[ 0.99978847 0.01605653 0.0128535 1.07350643] [-0.01581471 0.99970008 -0.01869893 -0.14655446] [-0.01314988 0.0184917 0.99974254 0.08825456] [ 0. 0. 0. 1. ]] SLAMing on 12.326502480999999 meters Centerline goodness : 0.717788 with order 1 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.14, Z:0.09 [[ 0.99981391 0.01208266 0.01503815 0.9876671 ] [-0.01193932 0.99988278 -0.00958583 -0.13508625] [-0.01515221 0.0094045 0.99984097 0.08695322] [ 0. 0. 0. 1. ]] SLAMing on 12.386502480999997 meters Centerline goodness : 0.719517 with order 1 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.12, Z:0.08 [[ 0.99981343 0.00902609 0.01707722 0.88002126] [-0.00890313 0.999934 -0.00726222 -0.12082179] [-0.01714164 0.00710882 0.9998278 0.08458142] [ 0. 0. 0. 1. ]] SLAMing on 12.446502480999998 meters Centerline goodness : 0.716391 with order 1 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.11, Z:0.08 [[ 0.99981218 0.00139216 0.01933067 0.78805511] [-0.00126855 0.99997868 -0.00640522 -0.10560369] [-0.01933918 0.00637949 0.99979263 0.08281592] [ 0. 0. 0. 1. ]] SLAMing on 12.506502480999998 meters Centerline goodness : 0.717282 with order 1 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.09, Z:0.08 [[ 0.9997563 -0.00373951 0.02175659 0.68202192] [ 0.00384204 0.9999817 -0.00467268 -0.08981888] [-0.02173872 0.00475514 0.99975238 0.07978556] [ 0. 0. 0. 1. ]] SLAMing on 12.566502480999997 meters Centerline goodness : 0.716546 with order 1 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.07, Z:0.08 [[ 0.99967476 -0.00797954 0.02422174 0.58924627] [ 0.00792541 0.99996588 0.00232992 -0.07436277] [-0.0242395 -0.0021372 0.9997039 0.07859834] [ 0. 0. 0. 1. ]] SLAMing on 12.626502480999998 meters Centerline goodness : 0.716983 with order 1 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.06, Z:0.08 [[ 0.99965172 -0.00887243 0.02485414 0.48605609] [ 0.00867597 0.99993035 0.00800106 -0.05768783] [-0.0249234 -0.00778264 0.99965907 0.07633561] [ 0. 0. 0. 1. ]] SLAMing on 12.686502480999998 meters Centerline goodness : 0.719738 with order 1 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.04, Z:0.08 [[ 0.9995619 -0.01100914 0.02747368 0.3832581 ] [ 0.01065807 0.99986009 0.01289215 -0.0429166 ] [-0.02761177 -0.01259368 0.99953939 0.07539477] [ 0. 0. 0. 1. ]] SLAMing on 12.746502480999998 meters Centerline goodness : 0.720164 with order 1 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.04, Z:0.07 [[ 0.99959772 -0.00895733 0.02691027 0.38501489] [ 0.0084867 0.99980992 0.01755256 -0.04357206] [-0.02706238 -0.01731712 0.99948374 0.07342969] [ 0. 0. 0. 1. ]] SLAMing on 12.806502480999997 meters Centerline goodness : 0.719993 with order 1 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.04, Z:0.07 [[ 0.99962359 -0.00620659 0.02672377 0.42701457] [ 0.00591444 0.99992204 0.01099739 -0.04328146] [-0.02678994 -0.0108352 0.99958236 0.07158236] [ 0. 0. 0. 1. ]] SLAMing on 12.866502480999998 meters Centerline goodness : 0.721137 with order 1 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.05, Z:0.07 [[ 0.99971446 0.00595376 0.02314197 0.49230555] [-0.00612411 0.99995462 0.00729712 -0.05156996] [-0.02309747 -0.00743676 0.99970556 0.07273167] [ 0. 0. 0. 1. ]] SLAMing on 12.926502480999998 meters Centerline goodness : 0.719970 with order 1 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.05, Z:0.07 [[ 0.99972326 0.00673849 0.02253856 0.49291067] [-0.00685979 0.99996238 0.00530883 -0.04843294] [-0.02250194 -0.00546197 0.99973188 0.07397291] [ 0. 0. 0. 1. ]] SLAMing on 12.986502480999997 meters Centerline goodness : 0.722064 with order 1 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.06, Z:0.07 [[ 0.99970043 0.0179541 0.01663458 0.56326484] [-0.0180294 0.99982783 0.00438768 -0.05825257] [-0.01655294 -0.00468628 0.99985201 0.07497324] [ 0. 0. 0. 1. ]] SLAMing on 13.046502480999997 meters Centerline goodness : 0.721634 with order 1 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.06, Z:0.07 [[ 0.99971907 0.01723117 0.01627456 0.56490946] [-0.01730136 0.99984158 0.00418167 -0.05626034] [-0.01619993 -0.00446206 0.99985882 0.07323682] [ 0. 0. 0. 1. ]] SLAMing on 13.106502480999998 meters Centerline goodness : 0.723542 with order 1 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.06, Z:0.07 [[ 0.99974264 0.0163899 0.01568543 0.56662023] [-0.0164639 0.99985388 0.00460008 -0.05679177] [-0.01560774 -0.00485714 0.99986639 0.07193819] [ 0. 0. 0. 1. ]] SLAMing on 13.166502480999998 meters Centerline goodness : 0.723982 with order 1 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.06, Z:0.07 [[ 9.99804369e-01 1.39311284e-02 1.40409309e-02 5.69135111e-01] [-1.39164574e-02 9.99902509e-01 -1.14203747e-03 -5.59461233e-02] [-1.40554719e-02 9.46414035e-04 9.99900769e-01 7.31475022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.226502480999997 meters Centerline goodness : 0.726945 with order 1 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.05, Z:0.07 [[ 0.99980238 0.01501153 0.01303297 0.57139373] [-0.01499189 0.99988633 -0.00160305 -0.05469623] [-0.01305555 0.00140735 0.99991378 0.0726911 ] [ 0. 0. 0. 1. ]] SLAMing on 13.286502480999998 meters Centerline goodness : 0.727892 with order 1 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.05, Z:0.07 [[ 0.99983061 0.01450282 0.01133217 0.57418695] [-0.01442157 0.99986994 -0.00721981 -0.0524189 ] [-0.01143541 0.00705516 0.99990972 0.0738362 ] [ 0. 0. 0. 1. ]] SLAMing on 13.346502480999998 meters Centerline goodness : 0.727212 with order 1 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.04, Z:0.08 [[ 0.99982303 0.01367964 0.01291455 0.4567243 ] [-0.01360906 0.99989206 -0.00553777 -0.04279941] [-0.01298891 0.00536103 0.99990127 0.07547461] [ 0. 0. 0. 1. ]] SLAMing on 13.406502480999997 meters Centerline goodness : 0.728646 with order 1 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.04, Z:0.07 [[ 9.99790166e-01 1.57097928e-02 1.31463660e-02 4.57908115e-01] [-1.57229779e-02 9.99875981e-01 9.00185095e-04 -4.39726673e-02] [-1.31305939e-02 -1.10669623e-03 9.99913178e-01 7.23578197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.466502480999997 meters Centerline goodness : 0.727897 with order 1 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.04, Z:0.07 [[ 0.9998565 0.01014211 0.01356906 0.45624116] [-0.0100887 0.99994111 -0.0039984 -0.04199778] [-0.01360881 0.00386093 0.99989994 0.0735458 ] [ 0. 0. 0. 1. ]] SLAMing on 13.526502480999998 meters Centerline goodness : 0.727441 with order 1 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.04, Z:0.08 [[ 0.99986626 0.0094261 0.01336476 0.45563173] [-0.00935302 0.99994102 -0.00551992 -0.04021353] [-0.013416 0.00539418 0.99989545 0.07535949] [ 0. 0. 0. 1. ]] SLAMing on 13.586502480999998 meters Centerline goodness : 0.727029 with order 1 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.03, Z:0.08 [[ 0.99990098 0.00500624 0.01315208 0.35896971] [-0.0050608 0.99997871 0.0041186 -0.02864073] [-0.01313118 -0.00418475 0.99990503 0.08004464] [ 0. 0. 0. 1. ]] SLAMing on 13.646502480999997 meters Centerline goodness : 0.729531 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.01, Z:0.08 [[ 0.99991765 0.00412089 0.01215328 0.18882058] [-0.0042111 0.9999637 0.00740674 -0.01465969] [-0.01212231 -0.00745731 0.99989871 0.08054895] [ 0. 0. 0. 1. ]] SLAMing on 13.706502480999998 meters Centerline goodness : 0.728855 with order 1 Centerline is valid? [False, False] Translation: X:0.09, Y:0.00, Z:0.09 [[ 9.99913106e-01 -5.51081602e-03 1.19754464e-02 9.27899638e-02] [ 5.36569761e-03 9.99912196e-01 1.21165241e-02 5.96865148e-04] [-1.20411669e-02 -1.20512146e-02 9.99854879e-01 8.51386241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.766502480999998 meters Centerline goodness : 0.728012 with order 1 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.01, Z:0.09 [[ 0.99988579 -0.00860579 0.01242395 -0.01314793] [ 0.00838321 0.9998054 0.01785717 0.01111352] [-0.01257521 -0.01775098 0.99976336 0.08849526] [ 0. 0. 0. 1. ]] SLAMing on 13.826502480999997 meters Centerline goodness : 0.728229 with order 1 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.01, Z:0.09 [[ 0.9999097 -0.00780268 0.01094131 -0.0099736 ] [ 0.00760919 0.99981587 0.0176159 0.01124322] [-0.01107675 -0.01753105 0.99978496 0.08791318] [ 0. 0. 0. 1. ]] SLAMing on 13.886502480999997 meters Centerline goodness : 0.729940 with order 1 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.01, Z:0.09 [[ 0.99993621 -0.00396302 0.01057672 -0.00820518] [ 0.00374032 0.99977262 0.02099325 0.01456175] [-0.01065751 -0.02095235 0.99972367 0.08589513] [ 0. 0. 0. 1. ]] SLAMing on 13.946502480999998 meters Centerline goodness : 0.731479 with order 1 Centerline is valid? [False, False] Translation: X:0.03, Y:0.02, Z:0.08 [[ 0.99991731 -0.00584897 0.01145295 0.02896488] [ 0.00560496 0.99975905 0.02122318 0.01716758] [-0.01157433 -0.02115724 0.99970916 0.08315197] [ 0. 0. 0. 1. ]] SLAMing on 14.006502480999998 meters Centerline goodness : 0.731129 with order 1 Centerline is valid? [False, False] Translation: X:0.07, Y:0.01, Z:0.08 [[ 0.999919 -0.00598489 0.01123299 0.06970458] [ 0.00585729 0.99991835 0.01135751 0.01489848] [-0.01130005 -0.0112908 0.99987241 0.08435511] [ 0. 0. 0. 1. ]] SLAMing on 14.066502480999997 meters Centerline goodness : 0.730170 with order 1 Centerline is valid? [False, False] Translation: X:0.11, Y:0.01, Z:0.08 [[ 0.99993786 -0.00474695 0.01008697 0.11080173] [ 0.00473066 0.99998747 0.0016384 0.01329563] [-0.01009462 -0.00159058 0.99994778 0.08470332] [ 0. 0. 0. 1. ]] SLAMing on 14.126502480999998 meters Centerline goodness : 0.727685 with order 1 Centerline is valid? [False, False] Translation: X:0.16, Y:0.01, Z:0.08 [[ 9.99977050e-01 -2.07385588e-03 6.44968522e-03 1.59532175e-01] [ 2.07845517e-03 9.99997590e-01 -7.06481983e-04 9.63184973e-03] [-6.44820453e-03 7.19871151e-04 9.99978951e-01 8.35819259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.186502480999998 meters Centerline goodness : 0.731349 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:0.01, Z:0.08 [[ 0.99998397 0.00104055 0.00556481 0.21308864] [-0.00104905 0.99999829 0.00152586 0.00517203] [-0.00556321 -0.00153167 0.99998335 0.08270503] [ 0. 0. 0. 1. ]] SLAMing on 14.246502480999997 meters Centerline goodness : 0.729812 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:0.00, Z:0.08 [[ 9.99966617e-01 5.94658030e-03 5.60379009e-03 2.63777495e-01] [-5.94630613e-03 9.99982318e-01 -6.55856492e-05 3.88022549e-05] [-5.60408102e-03 3.22616084e-05 9.99984296e-01 8.31032975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.306502480999997 meters Centerline goodness : 0.732086 with order 1 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.00, Z:0.08 [[ 0.99994122 0.01004682 0.00407748 0.30650334] [-0.01003759 0.99994703 -0.00227755 -0.00478364] [-0.00410014 0.00223649 0.99998909 0.08333721] [ 0. 0. 0. 1. ]] SLAMing on 14.366502480999998 meters Centerline goodness : 0.729073 with order 1 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.01, Z:0.08 [[ 0.99998497 0.00524196 0.00160897 0.35967936] [-0.00522434 0.99992842 -0.01076357 -0.01012562] [-0.00166528 0.01075501 0.99994078 0.08081378] [ 0. 0. 0. 1. ]] SLAMing on 14.426502480999998 meters Centerline goodness : 0.731292 with order 1 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.02, Z:0.08 [[ 0.99999733 0.00157153 0.00169405 0.41052348] [-0.00154189 0.99984814 -0.01735835 -0.01526005] [-0.00172107 0.01735569 0.9998479 0.07971692] [ 0. 0. 0. 1. ]] SLAMing on 14.486502480999997 meters Centerline goodness : 0.733171 with order 1 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.02, Z:0.08 [[ 9.99977121e-01 6.74648442e-03 4.93377312e-04 4.53454263e-01] [-6.73720373e-03 9.99835039e-01 -1.68672643e-02 -1.96300224e-02] [-6.07090660e-04 1.68635544e-02 9.99857616e-01 8.37996067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.546502480999997 meters Centerline goodness : 0.732745 with order 1 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.02, Z:0.08 [[ 0.99997372 0.00693189 0.00212171 0.48757736] [-0.00690151 0.99987811 -0.01400463 -0.01972604] [-0.00221853 0.01398962 0.99989968 0.08477788] [ 0. 0. 0. 1. ]] SLAMing on 14.606502480999998 meters Centerline goodness : 0.732115 with order 1 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.02, Z:0.09 [[ 9.99942961e-01 1.06685949e-02 -5.06115408e-04 5.30112530e-01] [-1.06754900e-02 9.99807089e-01 -1.64869339e-02 -2.29645096e-02] [ 3.30125355e-04 1.64913965e-02 9.99863953e-01 8.50845853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.666502480999997 meters Centerline goodness : 0.736059 with order 1 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.03, Z:0.09 [[ 0.99989658 0.01404075 -0.00311113 0.57477192] [-0.01410011 0.99970132 -0.01996159 -0.02592022] [ 0.00282993 0.02000339 0.99979591 0.08641998] [ 0. 0. 0. 1. ]] SLAMing on 14.726502480999997 meters Centerline goodness : 0.736540 with order 1 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.03, Z:0.09 [[ 0.9998205 0.01800769 -0.00589059 0.62095001] [-0.0181367 0.99957924 -0.02263624 -0.02866668] [ 0.00548049 0.02273901 0.99972641 0.08691639] [ 0. 0. 0. 1. ]] SLAMing on 14.786502480999998 meters Centerline goodness : 0.737449 with order 1 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.03, Z:0.09 [[ 0.99972264 0.02191478 -0.00862416 0.66510122] [-0.02212509 0.99944016 -0.02509695 -0.03188057] [ 0.00806933 0.0252808 0.99964782 0.08864458] [ 0. 0. 0. 1. ]] SLAMing on 14.846502480999998 meters Centerline goodness : 0.737784 with order 1 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.03, Z:0.09 [[ 0.99969719 0.02324923 -0.00806225 0.66380331] [-0.0234261 0.99947044 -0.02258444 -0.03057086] [ 0.00753291 0.02276647 0.99971243 0.08925669] [ 0. 0. 0. 1. ]] SLAMing on 14.906502480999997 meters Centerline goodness : 0.736202 with order 1 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.03, Z:0.09 [[ 0.9996244 0.02628697 -0.00774945 0.66386482] [-0.0264304 0.99946956 -0.01902705 -0.02938168] [ 0.00724517 0.01922473 0.99978894 0.08851146] [ 0. 0. 0. 1. ]] SLAMing on 14.966502480999997 meters Centerline goodness : 0.738652 with order 1 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.03, Z:0.09 [[ 0.99953841 0.02947818 -0.00734922 0.66377822] [-0.02958158 0.9994589 -0.0143818 -0.03050361] [ 0.00692129 0.01459257 0.99986957 0.08758695] [ 0. 0. 0. 1. ]] SLAMing on 15.026502480999998 meters Centerline goodness : 0.737095 with order 1 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.03, Z:0.09 [[ 0.9995185 0.03001807 -0.00785344 0.66501453] [-0.03013 0.99944015 -0.01454563 -0.03046758] [ 0.00741242 0.01477525 0.99986336 0.08725115] [ 0. 0. 0. 1. ]] SLAMing on 15.086502480999997 meters Centerline goodness : 0.735680 with order 1 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.03, Z:0.09 [[ 0.99951579 0.0300862 -0.00793818 0.66527553] [-0.03020776 0.99942088 -0.01566541 -0.02724894] [ 0.00746227 0.01589762 0.99984578 0.08738692] [ 0. 0. 0. 1. ]] SLAMing on 15.146502480999997 meters Centerline goodness : 0.737811 with order 1 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.02, Z:0.09 [[ 0.99950079 0.0305504 -0.00805278 0.6654046 ] [-0.03068429 0.99938347 -0.01706332 -0.02442971] [ 0.00752653 0.01730189 0.99982198 0.08798299] [ 0. 0. 0. 1. ]] SLAMing on 15.206502480999998 meters Centerline goodness : 0.739607 with order 1 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.02, Z:0.09 [[ 0.99951871 0.03011384 -0.00745062 0.66369715] [-0.0302468 0.99937259 -0.01842708 -0.02141765] [ 0.00689103 0.01864357 0.99980245 0.08917769] [ 0. 0. 0. 1. ]] SLAMing on 15.266502480999998 meters Centerline goodness : 0.738216 with order 1 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.02, Z:0.09 [[ 0.99957574 0.02834448 -0.00670284 0.6624203 ] [-0.02846552 0.99941964 -0.01871094 -0.01912886] [ 0.0061686 0.0188938 0.99980247 0.08870153] [ 0. 0. 0. 1. ]] SLAMing on 15.326502480999997 meters Centerline goodness : 0.737525 with order 1 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.02, Z:0.09 [[ 0.99959898 0.02754594 -0.00656485 0.66194204] [-0.02766478 0.99944126 -0.01875721 -0.01810627] [ 0.0060445 0.0189313 0.99980252 0.0888645 ] [ 0. 0. 0. 1. ]] SLAMing on 15.386502480999997 meters Centerline goodness : 0.735202 with order 1 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.02, Z:0.09 [[ 0.99976108 0.02070552 -0.00700424 0.70074889] [-0.02085106 0.99955381 -0.02138708 -0.02106285] [ 0.00655829 0.02152801 0.99974673 0.08874799] [ 0. 0. 0. 1. ]] SLAMing on 15.446502480999998 meters Centerline goodness : 0.738027 with order 1 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.03, Z:0.09 [[ 0.99980052 0.01906997 -0.00593779 0.73894846] [-0.01916781 0.99967375 -0.01688159 -0.02624338] [ 0.00561392 0.01699204 0.99983986 0.0891163 ] [ 0. 0. 0. 1. ]] SLAMing on 15.506502480999997 meters Centerline goodness : 0.735508 with order 1 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.03, Z:0.09 [[ 0.99986287 0.01625999 -0.00313977 0.77140496] [-0.01631561 0.99969419 -0.01858289 -0.0308939 ] [ 0.00283665 0.01863157 0.99982239 0.08841799] [ 0. 0. 0. 1. ]] SLAMing on 15.566502480999997 meters Centerline goodness : 0.737111 with order 1 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.03, Z:0.09 [[ 9.99869005e-01 1.61840709e-02 2.20954963e-04 8.02004515e-01] [-1.61777844e-02 9.99717974e-01 -1.73853951e-02 -3.41549610e-02] [-5.02259114e-04 1.73795431e-02 9.99848838e-01 8.87688443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.626502480999998 meters Centerline goodness : 0.736140 with order 1 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.04, Z:0.09 [[ 0.99975281 0.02218458 0.00146825 0.82041321] [-0.0221518 0.99956485 -0.01947823 -0.03664415] [-0.00189972 0.01944089 0.9998092 0.08726457] [ 0. 0. 0. 1. ]] SLAMing on 15.686502480999998 meters Centerline goodness : 0.737249 with order 1 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.04, Z:0.09 [[ 9.99673868e-01 2.54997333e-02 -1.38598528e-03 8.63648858e-01] [-2.55246800e-02 9.99415264e-01 -2.27512594e-02 -4.20761841e-02] [ 8.05023797e-04 2.27792164e-02 9.99740196e-01 8.89165872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.746502480999997 meters Centerline goodness : 0.735281 with order 1 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.05, Z:0.09 [[ 0.99955874 0.02950456 -0.00343645 0.90732961] [-0.02958329 0.9992316 -0.02571077 -0.04827212] [ 0.00267522 0.02580108 0.99966352 0.08992761] [ 0. 0. 0. 1. ]] SLAMing on 15.806502480999997 meters Centerline goodness : 0.734728 with order 1 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.05, Z:0.09 [[ 0.99955076 0.02976887 -0.00347756 0.90705702] [-0.02985043 0.99920583 -0.02639433 -0.04633989] [ 0.00268907 0.02648628 0.99964556 0.09068749] [ 0. 0. 0. 1. ]] SLAMing on 15.866502480999998 meters Centerline goodness : 0.730639 with order 1 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.05, Z:0.09 [[ 0.99952068 0.03063858 -0.004438 0.90928208] [-0.0307444 0.99918512 -0.02615122 -0.04585736] [ 0.00363314 0.02627512 0.99964815 0.09002366] [ 0. 0. 0. 1. ]] SLAMing on 15.926502480999996 meters Centerline goodness : 0.723765 with order 1 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.05, Z:0.09 [[ 0.9994629 0.03210846 -0.00655389 0.91413263] [-0.03226068 0.99917627 -0.0246178 -0.04936434] [ 0.00575805 0.02481601 0.99967545 0.08835321] [ 0. 0. 0. 1. ]] SLAMing on 15.986502480999997 meters Centerline goodness : 0.726479 with order 1 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.05, Z:0.09 [[ 0.99944661 0.03258371 -0.00669185 0.91424008] [-0.03273772 0.99916697 -0.02436417 -0.04910882] [ 0.0058924 0.02456976 0.99968075 0.08874843] [ 0. 0. 0. 1. ]] SLAMing on 16.046502480999997 meters Centerline goodness : 0.724433 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.05, Z:0.09 [[ 0.9994117 0.03343292 -0.00764808 0.91581751] [-0.0336164 0.9991152 -0.02527342 -0.04795618] [ 0.00679635 0.02551565 0.99965132 0.08930141] [ 0. 0. 0. 1. ]] SLAMing on 16.106502481 meters Centerline goodness : 0.722290 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.05, Z:0.09 [[ 0.99937265 0.03421461 -0.00914681 0.91775102] [-0.03443895 0.99907859 -0.02561105 -0.04961626] [ 0.00826211 0.02590999 0.99963014 0.0908069 ] [ 0. 0. 0. 1. ]] SLAMing on 16.166502481 meters Centerline goodness : 0.719485 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.05, Z:0.09 [[ 0.99932369 0.03539863 -0.00995481 0.91926005] [-0.03563385 0.99906363 -0.02453759 -0.05101656] [ 0.00907689 0.02487572 0.99964934 0.09071458] [ 0. 0. 0. 1. ]] SLAMing on 16.226502481 meters Centerline goodness : 0.715240 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.05, Z:0.09 [[ 0.99929627 0.03580315 -0.0111851 0.92100723] [-0.03607191 0.99904069 -0.02482958 -0.05228018] [ 0.0102854 0.02521557 0.99962912 0.09153828] [ 0. 0. 0. 1. ]] SLAMing on 16.286502481 meters Centerline goodness : 0.720094 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.05, Z:0.09 [[ 0.99922836 0.03707078 -0.01297877 0.92302097] [-0.03738925 0.99898245 -0.02522119 -0.05344218] [ 0.0120306 0.025687 0.99959764 0.09387596] [ 0. 0. 0. 1. ]] SLAMing on 16.346502480999998 meters Centerline goodness : 0.719548 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.05, Z:0.09 [[ 0.99909303 0.04040675 -0.01343209 0.92393126] [-0.0406787 0.99895928 -0.02062999 -0.05447273] [ 0.01258452 0.02115768 0.99969695 0.09395551] [ 0. 0. 0. 1. ]] SLAMing on 16.406502481 meters Centerline goodness : 0.719721 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.05, Z:0.10 [[ 0.99917987 0.03765216 -0.01489612 0.92542088] [-0.038018 0.99896201 -0.02509046 -0.05444522] [ 0.01393595 0.0256362 0.9995742 0.09571255] [ 0. 0. 0. 1. ]] SLAMing on 16.466502481 meters Centerline goodness : 0.719247 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.05, Z:0.10 [[ 0.99920309 0.03682433 -0.01539981 0.92524618] [-0.03720488 0.99898982 -0.02520178 -0.05494276] [ 0.01445622 0.02575465 0.99956376 0.09726653] [ 0. 0. 0. 1. ]] SLAMing on 16.526502480999998 meters Centerline goodness : 0.718874 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.05, Z:0.10 [[ 0.99918317 0.03715585 -0.01588847 0.92594273] [-0.0375493 0.9989763 -0.02522701 -0.05460388] [ 0.01493488 0.02580301 0.99955548 0.09765047] [ 0. 0. 0. 1. ]] SLAMing on 16.586502481 meters Centerline goodness : 0.710823 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.06, Z:0.10 [[ 0.999009 0.04103747 -0.01723224 0.92932995] [-0.04138809 0.99893264 -0.02050855 -0.05585394] [ 0.01637223 0.02120144 0.99964116 0.09642432] [ 0. 0. 0. 1. ]] SLAMing on 16.646502481 meters Centerline goodness : 0.712294 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.06, Z:0.10 [[ 0.99889719 0.04281689 -0.01926462 0.93313441] [-0.04323173 0.99883028 -0.02165863 -0.05503767] [ 0.01831473 0.02246759 0.9995798 0.09704159] [ 0. 0. 0. 1. ]] SLAMing on 16.706502480999998 meters Centerline goodness : 0.711045 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.05, Z:0.10 [[ 0.99879734 0.04445532 -0.02067837 0.93249899] [-0.04496494 0.99867895 -0.0248697 -0.05139754] [ 0.01954546 0.02576959 0.99947681 0.10305188] [ 0. 0. 0. 1. ]] SLAMing on 16.766502481 meters Centerline goodness : 0.706820 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.05, Z:0.11 [[ 0.99857394 0.04873977 -0.02178344 0.93368151] [-0.04923256 0.99852959 -0.02268939 -0.04946288] [ 0.02064554 0.02372948 0.99950521 0.10522676] [ 0. 0. 0. 1. ]] SLAMing on 16.826502481 meters Centerline goodness : 0.707399 with order 1 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.05, Z:0.11 [[ 0.99848129 0.04944406 -0.02429805 0.93801326] [-0.0500044 0.99848364 -0.02302117 -0.05017777] [ 0.02312294 0.02420122 0.99943966 0.10582261] [ 0. 0. 0. 1. ]] SLAMing on 16.886502480999997 meters Centerline goodness : 0.704134 with order 1 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.05, Z:0.11 [[ 0.99844342 0.04954052 -0.02562166 0.94032384] [-0.05010032 0.99850867 -0.02168857 -0.05305449] [ 0.02450898 0.02293846 0.99943641 0.10568978] [ 0. 0. 0. 1. ]] SLAMing on 16.946502481 meters Centerline goodness : 0.705070 with order 1 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.05, Z:0.11 [[ 0.9984552 0.04937866 -0.02547481 0.93759659] [-0.04997063 0.99848238 -0.02314906 -0.05103347] [ 0.02429308 0.02438629 0.9994074 0.10965564] [ 0. 0. 0. 1. ]] SLAMing on 17.006502481 meters Centerline goodness : 0.702315 with order 1 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.05, Z:0.11 [[ 0.9982771 0.05298294 -0.02521175 0.93742059] [-0.0534624 0.99839403 -0.01873875 -0.04931294] [ 0.02417843 0.02005434 0.99950649 0.10963171] [ 0. 0. 0. 1. ]] SLAMing on 17.066502481 meters Centerline goodness : 0.697856 with order 1 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.05, Z:0.11 [[ 0.99831792 0.05108366 -0.02741872 0.94147737] [-0.05169393 0.99841996 -0.02203 -0.05239594] [ 0.02625003 0.02341033 0.99938125 0.10934296] [ 0. 0. 0. 1. ]] SLAMing on 17.126502481 meters Centerline goodness : 0.695831 with order 1 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.05, Z:0.11 [[ 0.99828135 0.05154898 -0.02787573 0.94219961] [-0.05215569 0.99840763 -0.02149398 -0.05385955] [ 0.02672335 0.02291092 0.99938028 0.10946764] [ 0. 0. 0. 1. ]] SLAMing on 17.186502480999998 meters Centerline goodness : 0.699173 with order 1 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.05, Z:0.11 [[ 0.99827421 0.05204201 -0.0272073 0.9399687 ] [-0.05269691 0.99832368 -0.02393473 -0.05044762] [ 0.02591608 0.02532717 0.99934323 0.11177186] [ 0. 0. 0. 1. ]] SLAMing on 17.246502481 meters Centerline goodness : 0.698282 with order 1 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.05, Z:0.11 [[ 0.9980478 0.05639432 -0.02683796 0.93847989] [-0.05698558 0.99813695 -0.02180059 -0.04955362] [ 0.02555853 0.02328741 0.99940205 0.11394529] [ 0. 0. 0. 1. ]] SLAMing on 17.306502481 meters Centerline goodness : 0.695031 with order 1 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.05, Z:0.12 [[ 0.99808065 0.05612462 -0.02617343 0.93626177] [-0.05675587 0.99809879 -0.0240329 -0.04634345] [ 0.02477483 0.02547227 0.99936849 0.11590139] [ 0. 0. 0. 1. ]] SLAMing on 17.366502480999998 meters Centerline goodness : 0.693973 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.04, Z:0.12 [[ 0.99817608 0.05523733 -0.02435875 0.93241142] [-0.05583522 0.99813719 -0.02458832 -0.04375583] [ 0.02295518 0.02590355 0.99940085 0.11684287] [ 0. 0. 0. 1. ]] SLAMing on 17.426502481 meters Centerline goodness : 0.692582 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.04, Z:0.12 [[ 0.99829344 0.05332679 -0.02380024 0.93179853] [-0.05391136 0.99824178 -0.02463543 -0.04433859] [ 0.02244466 0.0258765 0.99941315 0.11575352] [ 0. 0. 0. 1. ]] SLAMing on 17.486502481 meters Centerline goodness : 0.691319 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.05, Z:0.11 [[ 0.99864418 0.04690264 -0.02258183 0.93075138] [-0.04747549 0.99854589 -0.02553786 -0.0471312 ] [ 0.0213512 0.02657532 0.99941877 0.112299 ] [ 0. 0. 0. 1. ]] SLAMing on 17.546502480999997 meters Centerline goodness : 0.692987 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.05, Z:0.11 [[ 0.99886263 0.04234938 -0.0219084 0.92849863] [-0.04293808 0.99870912 -0.02713709 -0.04629715] [ 0.02073088 0.02804693 0.99939162 0.11313155] [ 0. 0. 0. 1. ]] SLAMing on 17.606502481 meters Centerline goodness : 0.689241 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.04, Z:0.12 [[ 0.99885299 0.04262122 -0.02182047 0.92697718] [-0.04324261 0.99864811 -0.02884487 -0.04316331] [ 0.02056157 0.02975536 0.99934571 0.1157737 ] [ 0. 0. 0. 1. ]] SLAMing on 17.666502481 meters Centerline goodness : 0.690725 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.04, Z:0.12 [[ 0.99869686 0.04618704 -0.02171019 0.92715658] [-0.04672843 0.99859151 -0.02512874 -0.04315085] [ 0.02051899 0.02611048 0.99944845 0.11573159] [ 0. 0. 0. 1. ]] SLAMing on 17.726502480999997 meters Centerline goodness : 0.693400 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.04, Z:0.12 [[ 0.99873418 0.04615249 -0.01999945 0.92360478] [-0.0466205 0.99863378 -0.02360321 -0.03994595] [ 0.01888278 0.02450572 0.99952134 0.11670537] [ 0. 0. 0. 1. ]] SLAMing on 17.786502481 meters Centerline goodness : 0.695059 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.04, Z:0.12 [[ 0.99884074 0.04351523 -0.02058134 0.92316882] [-0.04412791 0.99856582 -0.03031556 -0.03693467] [ 0.01923263 0.03118862 0.99932846 0.11967599] [ 0. 0. 0. 1. ]] SLAMing on 17.846502480999998 meters Centerline goodness : 0.698935 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.03, Z:0.12 [[ 0.99871849 0.04671122 -0.01947908 0.92080502] [-0.04725991 0.99846939 -0.02872939 -0.03300031] [ 0.01810728 0.02961315 0.99939741 0.12151622] [ 0. 0. 0. 1. ]] SLAMing on 17.906502481 meters Centerline goodness : 0.696587 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.03, Z:0.12 [[ 0.99848217 0.05127787 -0.02009811 0.92251345] [-0.05180143 0.99830687 -0.02645773 -0.03056104] [ 0.01870738 0.02745868 0.99944787 0.12166568] [ 0. 0. 0. 1. ]] SLAMing on 17.966502481 meters Centerline goodness : 0.696708 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.03, Z:0.12 [[ 0.99842478 0.05201087 -0.02104332 0.92548174] [-0.05251303 0.99833039 -0.0240587 -0.03474125] [ 0.01975687 0.02512585 0.99948905 0.11938732] [ 0. 0. 0. 1. ]] SLAMing on 18.026502480999998 meters Centerline goodness : 0.693469 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.04, Z:0.12 [[ 0.99862354 0.04777613 -0.02164393 0.92749242] [-0.04832062 0.99850953 -0.02537377 -0.03818682] [ 0.02039941 0.02638469 0.9994437 0.11685299] [ 0. 0. 0. 1. ]] SLAMing on 18.086502481 meters Centerline goodness : 0.690248 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.05, Z:0.12 [[ 0.99872576 0.04452862 -0.02374983 0.93184036] [-0.04514601 0.99863871 -0.02612595 -0.04512538] [ 0.02255415 0.02716487 0.9993765 0.11505879] [ 0. 0. 0. 1. ]] SLAMing on 18.146502481 meters Centerline goodness : 0.694048 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.05, Z:0.12 [[ 0.99887921 0.04099297 -0.02366229 0.92991958] [-0.04166508 0.99872087 -0.02864706 -0.0499175 ] [ 0.02245769 0.02960085 0.99930948 0.11707502] [ 0. 0. 0. 1. ]] SLAMing on 18.206502480999998 meters Centerline goodness : 0.692712 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.05, Z:0.12 [[ 0.99900167 0.03855184 -0.02257036 0.92611695] [-0.03923523 0.99875946 -0.03066155 -0.05282347] [ 0.02136031 0.0315165 0.99927496 0.12036197] [ 0. 0. 0. 1. ]] SLAMing on 18.266502481 meters Centerline goodness : 0.697313 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.06, Z:0.12 [[ 0.99906305 0.03646831 -0.02330426 0.92758614] [-0.03722184 0.9987698 -0.03276305 -0.0559504 ] [ 0.02208078 0.03359978 0.99919142 0.11975253] [ 0. 0. 0. 1. ]] SLAMing on 18.326502481 meters Centerline goodness : 0.699162 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.06, Z:0.12 [[ 0.99903912 0.03714549 -0.02326028 0.92760348] [-0.0378588 0.99880163 -0.03101626 -0.05953729] [ 0.02208029 0.03186706 0.99924819 0.11947831] [ 0. 0. 0. 1. ]] SLAMing on 18.386502480999997 meters Centerline goodness : 0.698491 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.06, Z:0.12 [[ 0.9990396 0.03717133 -0.02319856 0.92711883] [-0.03787782 0.9988077 -0.03079674 -0.06010645] [ 0.02202615 0.03164588 0.99925642 0.12014002] [ 0. 0. 0. 1. ]] SLAMing on 18.446502481 meters Centerline goodness : 0.705145 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.06, Z:0.12 [[ 0.99911976 0.03475759 -0.02348636 0.92667128] [-0.03558663 0.9987232 -0.03585482 -0.06006175] [ 0.02221015 0.03665906 0.99908099 0.12190428] [ 0. 0. 0. 1. ]] SLAMing on 18.506502481 meters Centerline goodness : 0.705892 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.06, Z:0.12 [[ 0.99891255 0.03942878 -0.02488144 0.92975645] [-0.0402326 0.99865586 -0.03267751 -0.06446879] [ 0.02355956 0.03364302 0.99915619 0.12136768] [ 0. 0. 0. 1. ]] SLAMing on 18.566502480999997 meters Centerline goodness : 0.702863 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.07, Z:0.12 [[ 0.99878722 0.04121383 -0.02693514 0.93463554] [-0.0420121 0.99867334 -0.02977497 -0.0697346 ] [ 0.02567226 0.03087046 0.99919365 0.1192744 ] [ 0. 0. 0. 1. ]] SLAMing on 18.626502481 meters Centerline goodness : 0.704299 with order 1 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.07, Z:0.12 [[ 0.99891248 0.03774063 -0.02737694 0.93500721] [-0.03862928 0.9987187 -0.03269145 -0.07239456] [ 0.02610807 0.03371345 0.99909047 0.11950349] [ 0. 0. 0. 1. ]] SLAMing on 18.686502480999998 meters Centerline goodness : 0.701073 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.08, Z:0.12 [[ 0.99904995 0.03371231 -0.02761649 0.93439092] [-0.03467001 0.99878691 -0.03496702 -0.07562929] [ 0.02640417 0.03589126 0.99900683 0.12044292] [ 0. 0. 0. 1. ]] SLAMing on 18.746502481 meters Centerline goodness : 0.705064 with order 1 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.07, Z:0.12 [[ 0.99893671 0.03719562 -0.02723843 0.80521091] [-0.03799333 0.99884602 -0.02937908 -0.06542663] [ 0.02611422 0.03038272 0.99919715 0.12290444] [ 0. 0. 0. 1. ]] SLAMing on 18.806502481 meters Centerline goodness : 0.707078 with order 1 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.05, Z:0.12 [[ 0.9989371 0.03764623 -0.02659772 0.69900402] [-0.03824017 0.99902225 -0.02218626 -0.05101048] [ 0.02573649 0.02317978 0.99939999 0.1202916 ] [ 0. 0. 0. 1. ]] SLAMing on 18.866502480999998 meters Centerline goodness : 0.706206 with order 1 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.03, Z:0.11 [[ 0.99919604 0.02917581 -0.0274963 0.63003511] [-0.02980422 0.99929731 -0.02272854 -0.032431 ] [ 0.02681386 0.02352978 0.99936348 0.11496603] [ 0. 0. 0. 1. ]] SLAMing on 18.926502481 meters Centerline goodness : 0.706082 with order 1 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.02, Z:0.11 [[ 0.99927264 0.02685364 -0.02707549 0.52422601] [-0.02741242 0.99941434 -0.02048261 -0.0171947 ] [ 0.0265096 0.02120992 0.99942352 0.10970414] [ 0. 0. 0. 1. ]] SLAMing on 18.986502481 meters Centerline goodness : 0.708733 with order 1 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.00, Z:0.11 [[ 0.99936472 0.02550934 -0.02488832 0.44103583] [-0.02594946 0.99950965 -0.01752378 -0.00437367] [ 0.0244291 0.01815849 0.99953664 0.10572486] [ 0. 0. 0. 1. ]] SLAMing on 19.046502480999997 meters Centerline goodness : 0.708817 with order 1 Centerline is valid? [False, False] Translation: X:0.41, Y:0.02, Z:0.10 [[ 0.99959726 0.01450754 -0.0243897 0.40809385] [-0.01501244 0.99967411 -0.02064724 0.01933877] [ 0.02408221 0.02100508 0.99948929 0.09743191] [ 0. 0. 0. 1. ]] SLAMing on 19.106502481 meters Centerline goodness : 0.709743 with order 1 Centerline is valid? [False, False] Translation: X:0.37, Y:0.04, Z:0.09 [[ 9.99720296e-01 7.63460969e-04 -2.36378083e-02 3.73312356e-01] [-1.38788362e-03 9.99650201e-01 -2.64111421e-02 4.25664127e-02] [ 2.36093759e-02 2.64365613e-02 9.99371655e-01 9.01402555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.166502481 meters Centerline goodness : 0.708225 with order 1 Centerline is valid? [False, False] Translation: X:0.30, Y:0.06, Z:0.08 [[ 0.99957345 -0.01820411 -0.02283683 0.29737449] [ 0.0176023 0.99949957 -0.02628264 0.06124917] [ 0.02330385 0.02586944 0.99939367 0.08230368] [ 0. 0. 0. 1. ]] SLAMing on 19.226502480999997 meters Centerline goodness : 0.707695 with order 1 Centerline is valid? [False, False] Translation: X:0.30, Y:0.06, Z:0.08 [[ 0.99950518 -0.0217706 -0.02270305 0.29776029] [ 0.02113607 0.99938935 -0.02782424 0.05672216] [ 0.02329494 0.02733062 0.99935498 0.08141542] [ 0. 0. 0. 1. ]] SLAMing on 19.286502481 meters Centerline goodness : 0.709234 with order 1 Centerline is valid? [False, False] Translation: X:0.30, Y:0.05, Z:0.08 [[ 0.99952397 -0.02086288 -0.0227282 0.29786692] [ 0.02025294 0.99943713 -0.02674385 0.05467379] [ 0.02327336 0.02627081 0.99938391 0.08137243] [ 0. 0. 0. 1. ]] SLAMing on 19.346502480999998 meters Centerline goodness : 0.709712 with order 1 Centerline is valid? [False, False] Translation: X:0.30, Y:0.05, Z:0.08 [[ 0.99953906 -0.01926342 -0.02346451 0.29893756] [ 0.01863773 0.99947243 -0.02659874 0.0538389 ] [ 0.02396451 0.02614915 0.99937076 0.08213947] [ 0. 0. 0. 1. ]] SLAMing on 19.406502480999997 meters Centerline goodness : 0.709227 with order 1 Centerline is valid? [False, False] Translation: X:0.30, Y:0.05, Z:0.08 [[ 0.99955146 -0.01806692 -0.02388435 0.30004871] [ 0.01749327 0.9995586 -0.02401236 0.04958588] [ 0.02430763 0.02358378 0.99942631 0.08144397] [ 0. 0. 0. 1. ]] SLAMing on 19.466502481 meters Centerline goodness : 0.712689 with order 1 Centerline is valid? [False, False] Translation: X:0.30, Y:0.05, Z:0.08 [[ 0.99955835 -0.0193727 -0.02253459 0.29655411] [ 0.01889402 0.99959534 -0.02126426 0.04586616] [ 0.02293742 0.0208291 0.9995199 0.0826629 ] [ 0. 0. 0. 1. ]] SLAMing on 19.526502480999998 meters Centerline goodness : 0.709992 with order 1 Centerline is valid? [False, False] Translation: X:0.30, Y:0.04, Z:0.08 [[ 0.99955603 -0.01961012 -0.022432 0.29628985] [ 0.01919935 0.99964667 -0.01838274 0.04126173] [ 0.02278457 0.0179439 0.99957935 0.08249675] [ 0. 0. 0. 1. ]] SLAMing on 19.586502481 meters Centerline goodness : 0.708289 with order 1 Centerline is valid? [False, False] Translation: X:0.30, Y:0.04, Z:0.08 [[ 0.99956283 -0.01938456 -0.02232457 0.29726293] [ 0.01905501 0.99970769 -0.01488123 0.03612775] [ 0.02260651 0.01444933 0.99964002 0.08033161] [ 0. 0. 0. 1. ]] SLAMing on 19.646502481 meters Centerline goodness : 0.711087 with order 1 Centerline is valid? [False, False] Translation: X:0.30, Y:0.03, Z:0.08 [[ 0.99956953 -0.02025202 -0.02122779 0.29526933] [ 0.01997244 0.99971205 -0.01330089 0.0339678 ] [ 0.02149105 0.01287119 0.99968618 0.07998258] [ 0. 0. 0. 1. ]] SLAMing on 19.706502480999998 meters Centerline goodness : 0.713035 with order 1 Centerline is valid? [False, False] Translation: X:0.29, Y:0.03, Z:0.08 [[ 0.99957801 -0.02062559 -0.02045441 0.29322418] [ 0.02034315 0.99969613 -0.01392159 0.03428643] [ 0.02073533 0.01349961 0.99969386 0.08125624] [ 0. 0. 0. 1. ]] SLAMing on 19.766502481 meters Centerline goodness : 0.714762 with order 1 Centerline is valid? [False, False] Translation: X:0.29, Y:0.04, Z:0.08 [[ 0.99959218 -0.02068401 -0.01968893 0.29172787] [ 0.0203934 0.99968177 -0.01484848 0.03602961] [ 0.01998979 0.0144409 0.99969589 0.08154262] [ 0. 0. 0. 1. ]] SLAMing on 19.826502481 meters Centerline goodness : 0.714678 with order 1 Centerline is valid? [False, False] Translation: X:0.29, Y:0.03, Z:0.08 [[ 0.99966473 -0.01686239 -0.01964924 0.29225376] [ 0.01670523 0.99982736 -0.00813532 0.03246171] [ 0.01978303 0.00780435 0.99977384 0.08020645] [ 0. 0. 0. 1. ]] SLAMing on 19.886502480999997 meters Centerline goodness : 0.715232 with order 1 Centerline is valid? [False, False] Translation: X:0.29, Y:0.03, Z:0.08 [[ 0.99966639 -0.01677638 -0.01963844 0.29311559] [ 0.01663194 0.99983358 -0.00749577 0.03186086] [ 0.01976092 0.00716664 0.99977905 0.07871349] [ 0. 0. 0. 1. ]] SLAMing on 19.946502481 meters Centerline goodness : 0.714003 with order 1 Centerline is valid? [False, False] Translation: X:0.29, Y:0.03, Z:0.08 [[ 0.99959786 -0.02146 -0.01853614 0.29130216] [ 0.02126136 0.9997151 -0.01084778 0.03098705] [ 0.01876365 0.01044932 0.99976934 0.07837221] [ 0. 0. 0. 1. ]] SLAMing on 20.006502481 meters Centerline goodness : 0.716861 with order 1 Centerline is valid? [False, False] Translation: X:0.29, Y:0.03, Z:0.08 [[ 0.99967764 -0.01935488 -0.01643183 0.28755843] [ 0.01930206 0.99980803 -0.00336714 0.02691266] [ 0.01649385 0.00304889 0.99985932 0.07734363] [ 0. 0. 0. 1. ]] SLAMing on 20.066502480999997 meters Centerline goodness : 0.720136 with order 1 Centerline is valid? [False, False] Translation: X:0.28, Y:0.03, Z:0.08 [[ 9.99764898e-01 -1.55006790e-02 -1.51617099e-02 2.84630847e-01] [ 1.54882663e-02 9.99879612e-01 -9.35772683e-04 2.93412251e-02] [ 1.51743898e-02 7.00724080e-04 9.99884617e-01 7.84126590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.126502481 meters Centerline goodness : 0.719397 with order 1 Centerline is valid? [False, False] Translation: X:0.29, Y:0.03, Z:0.08 [[ 0.99982109 -0.00975896 -0.01620352 0.28724388] [ 0.0097972 0.9999494 0.00228186 0.02916717] [ 0.01618043 -0.00244021 0.99986611 0.07759034] [ 0. 0. 0. 1. ]] SLAMing on 20.186502480999998 meters Centerline goodness : 0.720021 with order 1 Centerline is valid? [False, False] Translation: X:0.29, Y:0.03, Z:0.08 [[ 0.99986511 -0.00566634 -0.01541605 0.2867127 ] [ 0.00572463 0.99997662 0.00373992 0.03359535] [ 0.0153945 -0.00382767 0.99987417 0.07640757] [ 0. 0. 0. 1. ]] SLAMing on 20.246502480999997 meters Centerline goodness : 0.719776 with order 1 Centerline is valid? [False, False] Translation: X:0.20, Y:0.05, Z:0.07 [[ 0.99985218 -0.00536226 -0.01633598 0.19808551] [ 0.00546451 0.99996572 0.00622119 0.04761376] [ 0.01630206 -0.00630954 0.9998472 0.07448898] [ 0. 0. 0. 1. ]] SLAMing on 20.306502481 meters Centerline goodness : 0.719288 with order 1 Centerline is valid? [False, False] Translation: X:0.07, Y:0.06, Z:0.07 [[ 0.99984751 -0.00402658 -0.01699231 0.07470721] [ 0.00417748 0.99995208 0.00885407 0.05816835] [ 0.01695584 -0.0089237 0.99981642 0.07235153] [ 0. 0. 0. 1. ]] SLAMing on 20.366502480999998 meters Centerline goodness : 0.718461 with order 1 Centerline is valid? [False, False] Translation: X:0.11, Y:0.06, Z:0.07 [[ 0.99984986 -0.00492651 -0.01661313 0.11159422] [ 0.0050762 0.99994679 0.00897997 0.05664695] [ 0.016568 -0.00906295 0.99982167 0.06955131] [ 0. 0. 0. 1. ]] SLAMing on 20.426502481 meters Centerline goodness : 0.718449 with order 1 Centerline is valid? [False, False] Translation: X:0.16, Y:0.05, Z:0.07 [[ 0.99982175 -0.00612948 -0.01785777 0.15679677] [ 0.0061524 0.99998032 0.00122841 0.04924698] [ 0.01784989 -0.00133806 0.99983978 0.06812989] [ 0. 0. 0. 1. ]] SLAMing on 20.486502481 meters Centerline goodness : 0.717516 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:0.04, Z:0.07 [[ 9.99832337e-01 -9.97949672e-03 -1.53527818e-02 1.92348366e-01] [ 9.98590063e-03 9.99950082e-01 3.40511516e-04 4.49012083e-02] [ 1.53486173e-02 -4.93765778e-04 9.99882081e-01 6.80749159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.546502480999997 meters Centerline goodness : 0.715134 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:0.04, Z:0.07 [[ 0.99986152 -0.0071937 -0.01500659 0.19256672] [ 0.00730632 0.99994546 0.00746326 0.04113548] [ 0.01495208 -0.00757186 0.99985954 0.06595587] [ 0. 0. 0. 1. ]] SLAMing on 20.606502481 meters Centerline goodness : 0.712727 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:0.04, Z:0.06 [[ 0.99982034 -0.00363855 -0.01860231 0.23810019] [ 0.00368035 0.99999078 0.00221322 0.03638328] [ 0.01859408 -0.00228128 0.99982451 0.06338315] [ 0. 0. 0. 1. ]] SLAMing on 20.666502481 meters Centerline goodness : 0.711430 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:0.04, Z:0.06 [[ 0.99984041 -0.00457289 -0.01726946 0.23583701] [ 0.0046139 0.99998663 0.00233574 0.03715239] [ 0.01725855 -0.00241505 0.99984814 0.06291407] [ 0. 0. 0. 1. ]] SLAMing on 20.726502480999997 meters Centerline goodness : 0.713067 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:0.04, Z:0.06 [[ 0.99983331 -0.00507232 -0.01753935 0.23552967] [ 0.00500411 0.99997975 -0.00393086 0.04059069] [ 0.01755893 0.00384244 0.99983845 0.06498809] [ 0. 0. 0. 1. ]] SLAMing on 20.786502481 meters Centerline goodness : 0.713793 with order 1 Centerline is valid? [False, False] Translation: X:0.13, Y:0.06, Z:0.07 [[ 0.99984689 -0.00935529 -0.01478785 0.13317178] [ 0.00932988 0.99995488 -0.00178662 0.05607525] [ 0.0148039 0.00164838 0.99988906 0.06721847] [ 0. 0. 0. 1. ]] SLAMing on 20.846502480999998 meters Centerline goodness : 0.718779 with order 1 Centerline is valid? [False, False] Translation: X:0.06, Y:0.07, Z:0.07 [[ 0.99980954 -0.01216889 -0.01525799 0.05604993] [ 0.01227296 0.99990193 0.00674573 0.06514628] [ 0.0151744 -0.0069317 0.99986083 0.07148653] [ 0. 0. 0. 1. ]] SLAMing on 20.906502480999997 meters Centerline goodness : 0.717759 with order 1 Centerline is valid? [False, False] Translation: X:0.05, Y:0.07, Z:0.07 [[ 0.99978872 -0.01554116 -0.01345333 0.05286425] [ 0.01565857 0.99983984 0.00866667 0.06660747] [ 0.01331648 -0.00887549 0.99987194 0.07024204] [ 0. 0. 0. 1. ]] SLAMing on 20.966502481 meters Centerline goodness : 0.716615 with order 1 Centerline is valid? [False, False] Translation: X:0.09, Y:0.07, Z:0.07 [[ 0.99973482 -0.01870444 -0.01343274 0.09328301] [ 0.0188244 0.99978354 0.00886045 0.06688619] [ 0.0132641 -0.00911097 0.99987052 0.06784175] [ 0. 0. 0. 1. ]] SLAMing on 21.026502480999998 meters Centerline goodness : 0.714782 with order 1 Centerline is valid? [False, False] Translation: X:0.14, Y:0.07, Z:0.07 [[ 0.9997463 -0.01566043 -0.01618905 0.13933921] [ 0.01572606 0.9998686 0.00393419 0.06634662] [ 0.01612531 -0.00418778 0.99986121 0.06584987] [ 0. 0. 0. 1. ]] SLAMing on 21.086502480999997 meters Centerline goodness : 0.715701 with order 1 Centerline is valid? [False, False] Translation: X:0.18, Y:0.07, Z:0.07 [[ 0.99979862 -0.00910024 -0.01788567 0.18101457] [ 0.00907675 0.99995783 -0.00139434 0.06732849] [ 0.01789761 0.00123171 0.99983907 0.06534329] [ 0. 0. 0. 1. ]] SLAMing on 21.146502481 meters Centerline goodness : 0.714071 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:0.07, Z:0.06 [[ 0.99984699 -0.00559887 -0.01657272 0.21407137] [ 0.0056379 0.99998144 0.0023091 0.06901305] [ 0.01655948 -0.00240219 0.99986 0.06440523] [ 0. 0. 0. 1. ]] SLAMing on 21.206502480999998 meters Centerline goodness : 0.711103 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:0.07, Z:0.06 [[ 9.99843535e-01 -1.91759822e-05 -1.76891317e-02 2.43845772e-01] [ 9.89343207e-05 9.99989834e-01 4.50802534e-03 7.08656536e-02] [ 1.76888654e-02 -4.50907005e-03 9.99833372e-01 6.32092409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.266502481 meters Centerline goodness : 0.710689 with order 1 Centerline is valid? [False, False] Translation: X:0.29, Y:0.07, Z:0.06 [[ 9.99771100e-01 5.87094906e-03 -2.05737594e-02 2.87823671e-01] [-5.85530338e-03 9.99982521e-01 8.20625179e-04 7.17106248e-02] [ 2.05782177e-02 -6.99971734e-04 9.99788001e-01 6.29116821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.326502481 meters Centerline goodness : 0.707548 with order 1 Centerline is valid? [False, False] Translation: X:0.31, Y:0.08, Z:0.06 [[ 0.99971764 0.00917248 -0.02192051 0.31360223] [-0.0092243 0.99995489 -0.00226386 0.07813443] [ 0.02189876 0.00246542 0.99975715 0.06200246] [ 0. 0. 0. 1. ]] SLAMing on 21.386502480999997 meters Centerline goodness : 0.710728 with order 1 Centerline is valid? [False, False] Translation: X:0.35, Y:0.08, Z:0.06 [[ 0.99975386 0.0094557 -0.02007034 0.34716756] [-0.00950335 0.99995224 -0.00228026 0.08450099] [ 0.02004782 0.00247044 0.99979597 0.06033372] [ 0. 0. 0. 1. ]] SLAMing on 21.446502481 meters Centerline goodness : 0.708692 with order 1 Centerline is valid? [False, False] Translation: X:0.38, Y:0.09, Z:0.06 [[ 0.99978292 0.00878559 -0.01889223 0.38161403] [-0.00882526 0.99995902 -0.00201725 0.08763351] [ 0.01887373 0.00218354 0.99981949 0.06004381] [ 0. 0. 0. 1. ]] SLAMing on 21.506502481 meters Centerline goodness : 0.710163 with order 1 Centerline is valid? [False, False] Translation: X:0.42, Y:0.09, Z:0.06 [[ 0.99983744 0.00499485 -0.01732472 0.42068145] [-0.00502335 0.9999861 -0.00160185 0.09049903] [ 0.01731647 0.00168862 0.99984863 0.05989919] [ 0. 0. 0. 1. ]] SLAMing on 21.566502480999997 meters Centerline goodness : 0.709685 with order 1 Centerline is valid? [False, False] Translation: X:0.46, Y:0.09, Z:0.06 [[ 9.99862857e-01 3.70021288e-04 -1.65568536e-02 4.59815833e-01] [-4.27733924e-04 9.99993845e-01 -3.48231939e-03 9.49200675e-02] [ 1.65554632e-02 3.48892374e-03 9.99856862e-01 5.75222942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.626502481 meters Centerline goodness : 0.711201 with order 1 Centerline is valid? [False, False] Translation: X:0.49, Y:0.10, Z:0.06 [[ 0.99990409 -0.00515524 -0.0128544 0.49032016] [ 0.00504067 0.99994742 -0.00892978 0.09954533] [ 0.01289976 0.00886413 0.9998775 0.05795836] [ 0. 0. 0. 1. ]] SLAMing on 21.686502480999998 meters Centerline goodness : 0.712145 with order 1 Centerline is valid? [False, False] Translation: X:0.52, Y:0.10, Z:0.06 [[ 0.99993336 -0.00556031 -0.01011705 0.52367959] [ 0.00548849 0.99995964 -0.00711325 0.10294433] [ 0.01015619 0.00705725 0.99992352 0.05863385] [ 0. 0. 0. 1. ]] SLAMing on 21.746502480999997 meters Centerline goodness : 0.712127 with order 1 Centerline is valid? [False, False] Translation: X:0.56, Y:0.11, Z:0.06 [[ 0.99994249 -0.00519082 -0.00938504 0.56119593] [ 0.00515339 0.99997869 -0.00400826 0.10541399] [ 0.00940564 0.00395967 0.99994793 0.05775312] [ 0. 0. 0. 1. ]] SLAMing on 21.806502481 meters Centerline goodness : 0.707082 with order 1 Centerline is valid? [False, False] Translation: X:0.61, Y:0.11, Z:0.06 [[ 0.99989829 -0.00289817 -0.0139643 0.60734619] [ 0.00274538 0.99993629 -0.01094892 0.10647563] [ 0.01399515 0.01090947 0.99984255 0.05523555] [ 0. 0. 0. 1. ]] SLAMing on 21.866502480999998 meters Centerline goodness : 0.710580 with order 1 Centerline is valid? [False, False] Translation: X:0.65, Y:0.11, Z:0.06 [[ 9.99927410e-01 -7.73875038e-04 -1.20240032e-02 6.51339357e-01] [ 6.07936348e-04 9.99904616e-01 -1.37981505e-02 1.07431748e-01] [ 1.20335344e-02 1.37898390e-02 9.99832503e-01 5.69520815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.926502480999996 meters Centerline goodness : 0.711052 with order 1 Centerline is valid? [False, False] Translation: X:0.69, Y:0.11, Z:0.06 [[ 0.99989215 0.00569206 -0.01353847 0.69450448] [-0.0058822 0.99988404 -0.01404629 0.10884158] [ 0.01345695 0.01412441 0.99980969 0.05919292] [ 0. 0. 0. 1. ]] SLAMing on 21.986502481 meters Centerline goodness : 0.711637 with order 1 Centerline is valid? [False, False] Translation: X:0.74, Y:0.11, Z:0.06 [[ 0.99978574 0.01439122 -0.01487818 0.73577229] [-0.01463142 0.9997623 -0.01616366 0.11085 ] [ 0.01464203 0.01637789 0.99975866 0.05932101] [ 0. 0. 0. 1. ]] SLAMing on 22.046502480999997 meters Centerline goodness : 0.710404 with order 2 Centerline is valid? [False, False] Translation: X:0.78, Y:0.11, Z:0.06 [[ 0.9996125 0.02229354 -0.01666851 0.77889931] [-0.02258955 0.9995866 -0.01778606 0.11101443] [ 0.01626511 0.0181557 0.99970286 0.0594336 ] [ 0. 0. 0. 1. ]] SLAMing on 22.106502481 meters Centerline goodness : 0.713972 with order 2 Centerline is valid? [False, False] Translation: X:0.81, Y:0.11, Z:0.06 [[ 0.99960258 0.0242452 -0.0143821 0.80694658] [-0.02448737 0.99955714 -0.01690822 0.11486049] [ 0.01396578 0.01725368 0.9997536 0.06054263] [ 0. 0. 0. 1. ]] SLAMing on 22.166502481 meters Centerline goodness : 0.714237 with order 2 Centerline is valid? [False, False] Translation: X:0.84, Y:0.12, Z:0.06 [[ 0.99965926 0.02320317 -0.01195761 0.83982364] [-0.02340514 0.99958089 -0.01703672 0.11689574] [ 0.01155729 0.01731078 0.99978336 0.06008176] [ 0. 0. 0. 1. ]] SLAMing on 22.226502480999997 meters Centerline goodness : 0.635420 with order 1 Centerline is valid? [False, False] Translation: X:0.87, Y:0.12, Z:0.06 [[ 0.99969264 0.02226723 -0.0108993 0.87429338] [-0.02243741 0.99962419 -0.01574948 0.11812551] [ 0.0105445 0.01598919 0.99981656 0.05977251] [ 0. 0. 0. 1. ]] SLAMing on 22.286502481 meters Centerline goodness : 0.709992 with order 2 Centerline is valid? [False, False] Translation: X:0.93, Y:0.12, Z:0.06 [[ 0.99965878 0.02281155 -0.01272605 0.92697122] [-0.02304454 0.99956377 -0.01847234 0.11783861] [ 0.01229912 0.0187593 0.99974838 0.05984339] [ 0. 0. 0. 1. ]] SLAMing on 22.346502480999998 meters Centerline goodness : 0.647488 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:0.12, Z:0.06 [[ 0.99967145 0.020508 -0.01537567 0.96332628] [-0.02080188 0.99959918 -0.0192032 0.1194473 ] [ 0.01497569 0.01951674 0.99969737 0.05885559] [ 0. 0. 0. 1. ]] SLAMing on 22.406502480999997 meters Centerline goodness : 0.717328 with order 3 Centerline is valid? [False, False] Translation: X:1.00, Y:0.12, Z:0.06 [[ 0.99971579 0.01947215 -0.01375398 0.99789996] [-0.01973643 0.99961799 -0.01934819 0.12268585] [ 0.01337197 0.01961414 0.9997182 0.05678182] [ 0. 0. 0. 1. ]] SLAMing on 22.466502481 meters Centerline goodness : 0.725760 with order 3 Centerline is valid? [False, False] Translation: X:1.03, Y:0.13, Z:0.06 [[ 0.99974964 0.01998757 -0.01005772 1.02741307] [-0.0201656 0.99963599 -0.01792292 0.12515664] [ 0.00969582 0.01812125 0.99978878 0.05754495] [ 0. 0. 0. 1. ]] SLAMing on 22.526502480999998 meters Centerline goodness : 0.656207 with order 3 Centerline is valid? [False, False] Translation: X:1.07, Y:0.12, Z:0.06 [[ 0.99956497 0.02751092 -0.01063065 1.06808023] [-0.02772339 0.99940776 -0.02038477 0.12491625] [ 0.01006355 0.02067062 0.99973569 0.05886386] [ 0. 0. 0. 1. ]] SLAMing on 22.586502480999997 meters Centerline goodness : 0.705941 with order 1 Centerline is valid? [False, False] Translation: X:1.12, Y:0.13, Z:0.06 [[ 0.99944138 0.03150143 -0.01116147 1.118829 ] [-0.03171586 0.99930501 -0.01958561 0.12655574] [ 0.01053674 0.01992866 0.99974588 0.0590719 ] [ 0. 0. 0. 1. ]] SLAMing on 22.646502481 meters Centerline goodness : 0.680282 with order 3 Centerline is valid? [False, False] Translation: X:1.15, Y:0.13, Z:0.06 [[ 0.99955121 0.02839844 -0.00953484 1.1530923 ] [-0.02858922 0.99938089 -0.02050611 0.13050479] [ 0.00894659 0.0207695 0.99974426 0.0589374 ] [ 0. 0. 0. 1. ]] SLAMing on 22.706502480999998 meters Centerline goodness : 0.721336 with order 2 Centerline is valid? [False, False] Translation: X:1.19, Y:0.13, Z:0.06 [[ 0.9996432 0.02536183 -0.00838174 1.1897118 ] [-0.02553096 0.99945912 -0.02072784 0.13197306] [ 0.00785151 0.02093444 0.99975002 0.05733551] [ 0. 0. 0. 1. ]] SLAMing on 22.766502480999996 meters Centerline goodness : 0.720265 with order 2 Centerline is valid? [False, False] Translation: X:1.24, Y:0.13, Z:0.06 [[ 0.99968885 0.02362846 -0.00799409 1.2411204 ] [-0.0238206 0.99940708 -0.02486082 0.13124177] [ 0.00740193 0.02504351 0.99965896 0.05778617] [ 0. 0. 0. 1. ]] SLAMing on 22.826502481 meters Centerline goodness : 0.696921 with order 3 Centerline is valid? [False, False] Translation: X:1.27, Y:0.13, Z:0.06 [[ 0.99975607 0.02134455 -0.00567533 1.27499082] [-0.02147749 0.99946916 -0.02449724 0.13325826] [ 0.00514944 0.02461315 0.99968379 0.05788004] [ 0. 0. 0. 1. ]] SLAMing on 22.886502480999997 meters Centerline goodness : 0.232587 with order 2 Centerline is valid? [False, False] Translation: X:1.31, Y:0.13, Z:0.06 [[ 0.99976005 0.02108476 -0.0059389 1.30865295] [-0.02121771 0.99950354 -0.02329127 0.1344601 ] [ 0.00544486 0.02341169 0.99971108 0.05707472] [ 0. 0. 0. 1. ]] SLAMing on 22.946502481 meters Centerline goodness : 0.711636 with order 3 Centerline is valid? [False, False] Translation: X:1.34, Y:0.14, Z:0.06 [[ 0.99977746 0.02069533 -0.00409183 1.34294743] [-0.02078209 0.99953218 -0.02243922 0.13655216] [ 0.00362553 0.02251926 0.99973984 0.05529232] [ 0. 0. 0. 1. ]] SLAMing on 23.006502481 meters Centerline goodness : 0.666088 with order 1 Centerline is valid? [False, False] Translation: X:1.38, Y:0.14, Z:0.05 [[ 0.99979817 0.01994453 -0.00241719 1.37513575] [-0.01999513 0.99953272 -0.02311986 0.1413495 ] [ 0.00195495 0.02316352 0.99972978 0.0536651 ] [ 0. 0. 0. 1. ]] SLAMing on 23.066502480999997 meters Centerline goodness : 0.586301 with order 1 Centerline is valid? [False, False] Translation: X:1.39, Y:0.15, Z:0.05 [[ 9.99735963e-01 2.29475407e-02 1.18940125e-03 1.39126216e+00] [-2.29059002e-02 9.99355118e-01 -2.76526443e-02 1.46878349e-01] [-1.82319440e-03 2.76180986e-02 9.99616885e-01 5.35151269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.126502481 meters Centerline goodness : 0.596917 with order 1 Centerline is valid? [False, False] Translation: X:1.41, Y:0.15, Z:0.06 [[ 0.99958082 0.0284578 0.00532393 1.40588707] [-0.02829124 0.99917582 -0.02910831 0.1516487 ] [-0.0061479 0.02894549 0.99956209 0.05525016] [ 0. 0. 0. 1. ]] SLAMing on 23.186502480999998 meters Centerline goodness : 0.613271 with order 1 Centerline is valid? [False, False] Translation: X:1.44, Y:0.16, Z:0.06 [[ 0.99956014 0.02836136 0.00866912 1.43644374] [-0.02811898 0.99924235 -0.02690799 0.15543982] [-0.00942569 0.02665239 0.99960032 0.05627772] [ 0. 0. 0. 1. ]] SLAMing on 23.246502480999997 meters Centerline goodness : 0.727482 with order 1 Centerline is valid? [False, False] Translation: X:1.47, Y:0.16, Z:0.06 [[ 9.99542921e-01 3.02037662e-02 1.29684527e-03 1.46603850e+00] [-3.01558561e-02 9.99155591e-01 -2.79057323e-02 1.55372909e-01] [-2.13860842e-03 2.78538697e-02 9.99609718e-01 5.54545930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.306502481 meters Centerline goodness : 0.675559 with order 2 Centerline is valid? [False, False] Translation: X:1.50, Y:0.16, Z:0.05 [[ 0.99945307 0.0322418 -0.00735056 1.50086455] [-0.03241266 0.9991755 -0.02444875 0.15511951] [ 0.00655623 0.02467363 0.99967406 0.0547809 ] [ 0. 0. 0. 1. ]] SLAMing on 23.366502480999998 meters Centerline goodness : 0.725610 with order 1 Centerline is valid? [False, False] Translation: X:1.53, Y:0.16, Z:0.05 [[ 0.99954221 0.02989465 -0.00465559 1.53352974] [-0.03000149 0.99924025 -0.02487626 0.15517802] [ 0.00390838 0.02500455 0.9996797 0.05342212] [ 0. 0. 0. 1. ]] SLAMing on 23.426502480999996 meters Centerline goodness : 0.686732 with order 2 Centerline is valid? [False, False] Translation: X:1.57, Y:0.15, Z:0.06 [[ 0.99939871 0.03451167 -0.00334082 1.57253939] [-0.03459648 0.99895112 -0.02999572 0.15373054] [ 0.00230212 0.03009326 0.99954444 0.0552059 ] [ 0. 0. 0. 1. ]] SLAMing on 23.486502481 meters Centerline goodness : 0.710176 with order 3 Centerline is valid? [False, False] Translation: X:1.62, Y:0.15, Z:0.05 [[ 0.99907555 0.04262925 -0.00554928 1.61703645] [-0.04277737 0.99863182 -0.03007628 0.15045079] [ 0.00425956 0.03028586 0.9995322 0.0526637 ] [ 0. 0. 0. 1. ]] SLAMing on 23.546502480999997 meters Centerline goodness : 0.725302 with order 1 Centerline is valid? [False, False] Translation: X:1.64, Y:0.15, Z:0.05 [[ 0.99892729 0.04613751 -0.00395065 1.63587271] [-0.04624203 0.9983977 -0.03261442 0.14737548] [ 0.00243958 0.03276212 0.9994602 0.05179643] [ 0. 0. 0. 1. ]] SLAMing on 23.606502480999996 meters Centerline goodness : 0.706145 with order 3 Centerline is valid? [False, False] Translation: X:1.66, Y:0.14, Z:0.05 [[ 9.99066815e-01 4.31902148e-02 3.21771115e-04 1.66442251e+00] [-4.31559632e-02 9.98520886e-01 -3.30696762e-02 1.41784253e-01] [-1.74958160e-03 3.30249298e-02 9.99452997e-01 5.39078933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.666502481 meters Centerline goodness : 0.702248 with order 3 Centerline is valid? [False, False] Translation: X:1.71, Y:0.14, Z:0.05 [[ 9.99287239e-01 3.76509776e-02 -2.72352659e-03 1.70867248e+00] [-3.77145623e-02 9.98861311e-01 -2.92180146e-02 1.36682052e-01] [ 1.62033853e-03 2.92999057e-02 9.99569352e-01 5.28087960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.726502480999997 meters Centerline goodness : 0.700698 with order 3 Centerline is valid? [False, False] Translation: X:1.75, Y:0.13, Z:0.05 [[ 9.99616233e-01 2.76335605e-02 -1.94234296e-03 1.74563100e+00] [-2.76829449e-02 9.99061865e-01 -3.33023323e-02 1.29261743e-01] [ 1.02025877e-03 3.33433218e-02 9.99443436e-01 5.19734696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.786502481 meters Centerline goodness : 0.673622 with order 3 Centerline is valid? [False, False] Translation: X:1.78, Y:0.12, Z:0.05 [[ 9.99823350e-01 1.87730571e-02 9.16748062e-04 1.77927937e+00] [-1.87252916e-02 9.99116607e-01 -3.76213830e-02 1.21553278e-01] [-1.62220659e-03 3.75975708e-02 9.99291645e-01 5.14690827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.846502480999998 meters Centerline goodness : 0.709056 with order 2 Centerline is valid? [False, False] Translation: X:1.82, Y:0.12, Z:0.05 [[ 0.99986087 0.01653338 0.00221157 1.82111414] [-0.01646052 0.9994241 -0.02967363 0.1171152 ] [-0.0027009 0.0296331 0.99955719 0.05224169] [ 0. 0. 0. 1. ]] SLAMing on 23.906502480999997 meters Centerline goodness : 0.152777 with order 1 Centerline is valid? [False, False] Translation: X:1.87, Y:0.11, Z:0.05 [[ 9.99803445e-01 1.97651940e-02 1.55165375e-03 1.87234387e+00] [-1.97115922e-02 9.99380612e-01 -2.91520958e-02 1.12191882e-01] [-2.12688950e-03 2.91157802e-02 9.99573783e-01 5.07777586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.966502481 meters Centerline goodness : 0.714129 with order 2 Centerline is valid? [False, False] Translation: X:1.91, Y:0.11, Z:0.05 [[ 9.99783720e-01 2.07315598e-02 1.64816901e-03 1.91484160e+00] [-2.06609580e-02 9.99169964e-01 -3.51070805e-02 1.05734777e-01] [-2.37462551e-03 3.50654348e-02 9.99382197e-01 5.04236284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.026502480999998 meters Centerline goodness : 0.720834 with order 1 Centerline is valid? [False, False] Translation: X:1.97, Y:0.10, Z:0.05 [[ 9.99819803e-01 1.89013586e-02 1.76100710e-03 1.96886421e+00] [-1.88245616e-02 9.99156844e-01 -3.64861205e-02 9.87425859e-02] [-2.44915955e-03 3.64463956e-02 9.99332608e-01 4.80107562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.086502480999997 meters Centerline goodness : 0.711449 with order 2 Centerline is valid? [False, False] Translation: X:2.00, Y:0.09, Z:0.05 [[ 0.99986005 0.01657395 0.00227568 2.0038244 ] [-0.01648059 0.99920648 -0.03626008 0.09347735] [-0.00287485 0.0362175 0.9993398 0.04663756] [ 0. 0. 0. 1. ]] SLAMing on 24.146502481 meters Centerline goodness : 0.712266 with order 2 Centerline is valid? [False, False] Translation: X:2.02, Y:0.09, Z:0.05 [[ 0.99979397 0.01996034 0.00368944 2.02264161] [-0.01980268 0.99905385 -0.03872037 0.09119701] [-0.00445882 0.03863933 0.99924327 0.04532245] [ 0. 0. 0. 1. ]] SLAMing on 24.206502480999998 meters Centerline goodness : 0.633928 with order 3 Centerline is valid? [False, False] Translation: X:2.07, Y:0.08, Z:0.04 [[ 0.99959892 0.028223 0.00233682 2.06556746] [-0.02811724 0.99891872 -0.03702446 0.08467992] [-0.00337923 0.03694391 0.99931163 0.04494089] [ 0. 0. 0. 1. ]] SLAMing on 24.266502480999996 meters Centerline goodness : 0.197986 with order 1 Centerline is valid? [False, False] Translation: X:2.10, Y:0.08, Z:0.04 [[ 0.99957575 0.02869349 0.00499959 2.09754645] [-0.02850072 0.99897713 -0.03510569 0.07956029] [-0.00600178 0.0349483 0.9993711 0.04412779] [ 0. 0. 0. 1. ]] SLAMing on 24.326502481 meters Centerline goodness : 0.631330 with order 3 Centerline is valid? [False, False] Translation: X:2.13, Y:0.07, Z:0.04 [[ 0.99969669 0.02419953 0.0045733 2.13359596] [-0.02402099 0.99907284 -0.03572759 0.07374338] [-0.00543365 0.0356069 0.9993511 0.04264701] [ 0. 0. 0. 1. ]] SLAMing on 24.386502480999997 meters Centerline goodness : 0.147056 with order 1 Centerline is valid? [False, False] Translation: X:2.18, Y:0.07, Z:0.04 [[ 0.99986707 0.01467243 0.00711057 2.17741015] [-0.01443299 0.99936329 -0.03262984 0.06573326] [-0.00758481 0.03252288 0.99944221 0.04403459] [ 0. 0. 0. 1. ]] SLAMing on 24.446502480999996 meters Centerline goodness : 0.724652 with order 3 Centerline is valid? [False, False] Translation: X:2.21, Y:0.06, Z:0.04 [[ 0.99989752 0.01145345 0.00858912 2.21146696] [-0.01116468 0.99939475 -0.0329468 0.06266308] [-0.00896128 0.03284752 0.9994202 0.0440058 ] [ 0. 0. 0. 1. ]] SLAMing on 24.506502481 meters Centerline goodness : 0.177145 with order 1 Centerline is valid? [False, False] Translation: X:2.25, Y:0.06, Z:0.04 [[ 0.99988871 0.01095492 0.01012743 2.24536565] [-0.01062273 0.99942203 -0.03229196 0.06170506] [-0.01047534 0.03218079 0.99942717 0.04128273] [ 0. 0. 0. 1. ]] SLAMing on 24.566502480999997 meters Centerline goodness : 0.706969 with order 3 Centerline is valid? [False, False] Translation: X:2.29, Y:0.06, Z:0.04 [[ 0.99983803 0.01693349 0.00609679 2.29088561] [-0.01671473 0.99927171 -0.03430258 0.05788946] [-0.00667321 0.03419511 0.9993929 0.03798923] [ 0. 0. 0. 1. ]] SLAMing on 24.626502481 meters Centerline goodness : 0.716407 with order 3 Centerline is valid? [False, False] Translation: X:2.33, Y:0.06, Z:0.04 [[ 0.99969144 0.02382279 0.00703524 2.33013951] [-0.02356072 0.99910109 -0.03524076 0.05503322] [-0.00786845 0.03506413 0.99935409 0.03951976] [ 0. 0. 0. 1. ]] SLAMing on 24.686502480999998 meters Centerline goodness : 0.713641 with order 3 Centerline is valid? [False, False] Translation: X:2.37, Y:0.05, Z:0.04 [[ 0.99975196 0.0211617 0.00694257 2.36817014] [-0.02092863 0.99926611 -0.03208183 0.05203557] [-0.00761638 0.03192857 0.99946113 0.03891181] [ 0. 0. 0. 1. ]] SLAMing on 24.746502480999997 meters Centerline goodness : 0.252633 with order 1 Centerline is valid? [False, False] Translation: X:2.41, Y:0.05, Z:0.04 [[ 0.99991464 0.01174276 0.00572817 2.41273713] [-0.01155107 0.99940756 -0.03242081 0.04772795] [-0.00610549 0.03235187 0.99945789 0.0369879 ] [ 0. 0. 0. 1. ]] SLAMing on 24.806502481 meters Centerline goodness : 0.679453 with order 3 Centerline is valid? [False, False] Translation: X:2.47, Y:0.04, Z:0.04 [[ 0.99995663 0.00726846 0.00582387 2.46570087] [-0.00705443 0.9993282 -0.03596354 0.04325844] [-0.00608136 0.0359209 0.99933613 0.03710584] [ 0. 0. 0. 1. ]] SLAMing on 24.866502480999998 meters Centerline goodness : 0.143058 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:0.04, Z:0.04 [[ 0.99991327 0.01233758 0.00460862 2.50833922] [-0.01216109 0.99925822 -0.03653929 0.04133537] [-0.005056 0.03648007 0.99932159 0.039263 ] [ 0. 0. 0. 1. ]] SLAMing on 24.926502480999996 meters Centerline goodness : 0.143111 with order 1 Centerline is valid? [False, False] Translation: X:2.55, Y:0.04, Z:0.04 [[ 0.99979542 0.01993842 0.0034014 2.55011579] [-0.01979339 0.99906775 -0.03836481 0.04082058] [-0.00416316 0.03828964 0.99925801 0.03885864] [ 0. 0. 0. 1. ]] SLAMing on 24.986502481 meters Centerline goodness : 0.712810 with order 3 Centerline is valid? [False, False] Translation: X:2.58, Y:0.04, Z:0.04 [[ 0.99978474 0.01972417 0.00643684 2.5822967 ] [-0.01947468 0.99913439 -0.0367588 0.04091182] [-0.00715631 0.03662553 0.99930344 0.03773692] [ 0. 0. 0. 1. ]] SLAMing on 25.046502480999997 meters Centerline goodness : 0.644555 with order 1 Centerline is valid? [False, False] Translation: X:2.62, Y:0.04, Z:0.04 [[ 0.9998185 0.01636153 0.00976016 2.61562723] [-0.01601596 0.99927665 -0.03449142 0.03932025] [-0.01031743 0.03432885 0.99935733 0.03933855] [ 0. 0. 0. 1. ]] SLAMing on 25.106502480999996 meters Centerline goodness : 0.237124 with order 1 Centerline is valid? [False, False] Translation: X:2.66, Y:0.04, Z:0.04 [[ 0.99993983 0.00381726 0.01028388 2.6630238 ] [-0.00344214 0.99933682 -0.03625 0.03544898] [-0.01041544 0.03621242 0.99928984 0.03825264] [ 0. 0. 0. 1. ]] SLAMing on 25.166502481 meters Centerline goodness : 0.259876 with order 1 Centerline is valid? [False, False] Translation: X:2.72, Y:0.03, Z:0.04 [[ 0.99995736 -0.00307449 0.00870829 2.72225679] [ 0.00341487 0.99921981 -0.03934607 0.03058466] [-0.00858053 0.03937413 0.9991877 0.03847376] [ 0. 0. 0. 1. ]] SLAMing on 25.226502480999997 meters Centerline goodness : 0.527055 with order 1 Centerline is valid? [False, False] Translation: X:2.78, Y:0.03, Z:0.04 [[ 0.99996355 -0.00286226 0.00804394 2.77828654] [ 0.00316712 0.99926714 -0.03814653 0.02929654] [-0.00792886 0.03817062 0.99923978 0.03797286] [ 0. 0. 0. 1. ]] SLAMing on 25.286502480999996 meters Centerline goodness : 0.711389 with order 2 Centerline is valid? [False, False] Translation: X:2.82, Y:0.03, Z:0.04 [[ 0.99997123 0.00483728 0.00584266 2.82249295] [-0.00461114 0.99926264 -0.03811705 0.02878052] [-0.00602273 0.03808901 0.9992562 0.03659563] [ 0. 0. 0. 1. ]] SLAMing on 25.346502480999998 meters Centerline goodness : 0.153339 with order 1 Centerline is valid? [False, False] Translation: X:2.87, Y:0.03, Z:0.04 [[ 0.99989174 0.01413591 0.00408583 2.86622036] [-0.01397403 0.99920824 -0.03725068 0.03058457] [-0.00460917 0.03718955 0.9992976 0.0353658 ] [ 0. 0. 0. 1. ]] SLAMing on 25.406502480999997 meters Centerline goodness : 0.430575 with order 2 Centerline is valid? [False, False] Translation: X:2.90, Y:0.03, Z:0.03 [[ 0.99988068 0.01430926 0.00581993 2.89746757] [-0.0140839 0.99921319 -0.03707625 0.03361326] [-0.00634588 0.03698985 0.99929549 0.03446669] [ 0. 0. 0. 1. ]] SLAMing on 25.466502481 meters Centerline goodness : 0.694122 with order 3 Centerline is valid? [False, False] Translation: X:2.94, Y:0.04, Z:0.03 [[ 0.9999068 0.01241127 0.00568868 2.93599439] [-0.01220114 0.99929192 -0.03559206 0.03640252] [-0.00612639 0.03551933 0.99935021 0.0321391 ] [ 0. 0. 0. 1. ]] SLAMing on 25.526502480999998 meters Centerline goodness : 0.509811 with order 1 Centerline is valid? [False, False] Translation: X:2.96, Y:0.04, Z:0.03 [[ 0.99983996 0.01716831 0.00502933 2.95714864] [-0.0169629 0.99911938 -0.03837603 0.0395973 ] [-0.00568375 0.03828458 0.99925071 0.03051592] [ 0. 0. 0. 1. ]] SLAMing on 25.586502480999997 meters Centerline goodness : 0.720444 with order 2 Centerline is valid? [False, False] Translation: X:2.99, Y:0.04, Z:0.03 [[ 0.99985917 0.015584 0.00622783 2.99213185] [-0.01532464 0.9990932 -0.03972312 0.0424042 ] [-0.00684123 0.03962209 0.99919132 0.02738067] [ 0. 0. 0. 1. ]] SLAMing on 25.646502481 meters Centerline goodness : 0.657219 with order 1 Centerline is valid? [False, False] Translation: X:3.03, Y:0.04, Z:0.03 [[ 0.99987675 0.01349002 0.00803096 3.0326884 ] [-0.01320518 0.99931667 -0.03452279 0.04350374] [-0.00849119 0.03441249 0.99937164 0.02740497] [ 0. 0. 0. 1. ]] SLAMing on 25.706502480999998 meters Centerline goodness : 0.732629 with order 1 Centerline is valid? [False, False] Translation: X:3.06, Y:0.05, Z:0.03 [[ 0.99982748 0.01419703 0.01197718 3.06432468] [-0.01381278 0.99940589 -0.03157635 0.04526708] [-0.01241836 0.03140546 0.99942958 0.02699531] [ 0. 0. 0. 1. ]] SLAMing on 25.766502480999996 meters Centerline goodness : 0.674657 with order 1 Centerline is valid? [False, False] Translation: X:3.11, Y:0.05, Z:0.03 [[ 0.99974469 0.01961513 0.01121604 3.10781299] [-0.01923566 0.9992704 -0.03299493 0.04515647] [-0.01185505 0.03277076 0.99939258 0.02698877] [ 0. 0. 0. 1. ]] SLAMing on 25.826502481 meters Centerline goodness : 0.716237 with order 1 Centerline is valid? [False, False] Translation: X:3.15, Y:0.05, Z:0.03 [[ 0.999658 0.02340044 0.01167472 3.14937042] [-0.0229562 0.99905764 -0.03683546 0.04541217] [-0.01252568 0.03655485 0.99925315 0.02756808] [ 0. 0. 0. 1. ]] SLAMing on 25.886502480999997 meters Centerline goodness : 0.731950 with order 2 Centerline is valid? [False, False] Translation: X:3.18, Y:0.05, Z:0.03 [[ 0.99972385 0.01798289 0.01512725 3.18142271] [-0.01737249 0.99906623 -0.03955836 0.04723701] [-0.01582449 0.03928464 0.99910275 0.02762475] [ 0. 0. 0. 1. ]] SLAMing on 25.946502480999996 meters Centerline goodness : 0.140401 with order 1 Centerline is valid? [False, False] Translation: X:3.22, Y:0.05, Z:0.03 [[ 0.99981665 0.01399544 0.01306899 3.22279665] [-0.01350072 0.99921644 -0.03720521 0.0450098 ] [-0.01357945 0.03702195 0.99922218 0.02529556] [ 0. 0. 0. 1. ]] SLAMing on 26.006502481 meters Centerline goodness : 0.685203 with order 3 Centerline is valid? [False, False] Translation: X:3.26, Y:0.04, Z:0.02 [[ 0.99985834 0.01134577 0.01243263 3.26016015] [-0.01089665 0.99930617 -0.03561505 0.04146588] [-0.01282809 0.03547453 0.99928825 0.02179856] [ 0. 0. 0. 1. ]] SLAMing on 26.066502480999997 meters Centerline goodness : 0.136199 with order 1 Centerline is valid? [False, False] Translation: X:3.26, Y:0.04, Z:0.02 [[ 0.99986694 0.01145824 0.0116105 3.26255806] [-0.01104972 0.99933811 -0.03465893 0.03822458] [-0.01199995 0.03452602 0.99933175 0.02063888] [ 0. 0. 0. 1. ]] SLAMing on 26.126502480999996 meters Centerline goodness : 0.514647 with order 2 Centerline is valid? [False, False] Translation: X:3.30, Y:0.04, Z:0.02 [[ 0.99991561 0.01022359 0.00801545 3.30215123] [-0.00996446 0.99944686 -0.03172832 0.03553273] [-0.00833539 0.03164577 0.99946439 0.01754717] [ 0. 0. 0. 1. ]] SLAMing on 26.186502480999998 meters Centerline goodness : 0.133051 with order 1 Centerline is valid? [False, False] Translation: X:3.34, Y:0.03, Z:0.01 [[ 0.99991917 0.00932081 0.00864746 3.33850674] [-0.00905688 0.99950665 -0.03007363 0.03458637] [-0.00892351 0.02999288 0.99951028 0.01497205] [ 0. 0. 0. 1. ]] SLAMing on 26.246502480999997 meters Centerline goodness : 0.651769 with order 1 Centerline is valid? [False, False] Translation: X:3.38, Y:0.03, Z:0.02 [[ 0.99991998 0.01074488 0.00667656 3.38068005] [-0.01049553 0.99928499 -0.03632288 0.02997436] [-0.00706207 0.0362499 0.9993178 0.01625426] [ 0. 0. 0. 1. ]] SLAMing on 26.306502481 meters Centerline goodness : 0.712756 with order 2 Centerline is valid? [False, False] Translation: X:3.43, Y:0.03, Z:0.02 [[ 0.99987624 0.01183419 0.01036582 3.43121038] [-0.01145663 0.99929489 -0.03575554 0.02713127] [-0.01078165 0.03563236 0.99930681 0.01623077] [ 0. 0. 0. 1. ]] SLAMing on 26.366502480999998 meters Centerline goodness : 0.713290 with order 2 Centerline is valid? [False, False] Translation: X:3.49, Y:0.02, Z:0.02 [[ 0.99989164 0.009477 0.01126469 3.48516181] [-0.00904929 0.9992582 -0.03743201 0.02098167] [-0.01161108 0.03732602 0.99923568 0.01542727] [ 0. 0. 0. 1. ]] SLAMing on 26.426502480999996 meters Centerline goodness : 0.659320 with order 1 Centerline is valid? [False, False] Translation: X:3.53, Y:0.02, Z:0.01 [[ 9.99954703e-01 3.21789549e-03 8.95754590e-03 3.52591362e+00] [-2.87972705e-03 9.99292006e-01 -3.75125771e-02 1.65997883e-02] [-9.07191557e-03 3.74850826e-02 9.99256008e-01 1.24606740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.486502481 meters Centerline goodness : 0.563047 with order 3 Centerline is valid? [False, False] Translation: X:3.57, Y:0.01, Z:0.01 [[ 0.99994913 -0.00484433 0.00884673 3.57337903] [ 0.00514205 0.99941043 -0.03394637 0.01279743] [-0.00867706 0.03399014 0.9993845 0.0110938 ] [ 0. 0. 0. 1. ]] SLAMing on 26.546502480999997 meters Centerline goodness : 0.647982 with order 3 Centerline is valid? [False, False] Translation: X:3.62, Y:0.01, Z:0.01 [[ 0.99991726 -0.00525268 0.01174212 3.62053923] [ 0.00564114 0.99942955 -0.03329805 0.01034911] [-0.01156052 0.03336153 0.99937649 0.01417886] [ 0. 0. 0. 1. ]] SLAMing on 26.606502480999996 meters Centerline goodness : 0.671609 with order 3 Centerline is valid? [False, False] Translation: X:3.66, Y:0.01, Z:0.01 [[ 9.99948900e-01 -1.01921250e-04 1.01087365e-02 3.66244950e+00] [ 4.76414885e-04 9.99313261e-01 -3.70510483e-02 7.51029501e-03] [-1.00980181e-02 3.70539709e-02 9.99262244e-01 1.40023530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.666502481 meters Centerline goodness : 0.605397 with order 3 Centerline is valid? [False, False] Translation: X:3.69, Y:0.00, Z:0.01 [[ 9.99989447e-01 3.31231716e-03 3.18335093e-03 3.69169555e+00] [-3.19874823e-03 9.99380716e-01 -3.50421389e-02 4.38228170e-03] [-3.29745021e-03 3.50315864e-02 9.99380766e-01 1.26448360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.726502480999997 meters Centerline goodness : 0.664803 with order 3 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.00, Z:0.01 [[ 9.99992615e-01 -1.28651080e-03 3.62135798e-03 3.73384439e+00] [ 1.39288492e-03 9.99563028e-01 -2.95264935e-02 -1.78603365e-03] [-3.58178939e-03 2.95313196e-02 9.99557438e-01 1.19198472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.786502480999996 meters Centerline goodness : 0.639118 with order 1 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.01, Z:0.01 [[ 0.99995144 -0.00808394 0.00563603 3.76870274] [ 0.00825579 0.99948016 -0.03116487 -0.00828403] [-0.00538116 0.03120989 0.99949837 0.01184396] [ 0. 0. 0. 1. ]] SLAMing on 26.846502480999998 meters Centerline goodness : 0.631185 with order 3 Centerline is valid? [False, False] Translation: X:3.82, Y:-0.02, Z:0.01 [[ 0.99996207 -0.00735364 0.0046668 3.81767486] [ 0.00749694 0.99947655 -0.03147082 -0.01700184] [-0.00443293 0.03150461 0.99949378 0.01322513] [ 0. 0. 0. 1. ]] SLAMing on 26.906502480999997 meters Centerline goodness : 0.660947 with order 3 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.02, Z:0.01 [[ 0.99996056 -0.0066436 0.00589477 3.85288207] [ 0.00680055 0.99961184 -0.027017 -0.01878758] [-0.005713 0.02705602 0.99961759 0.01144236] [ 0. 0. 0. 1. ]] SLAMing on 26.966502480999996 meters Centerline goodness : 0.707443 with order 2 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.02, Z:0.01 [[ 9.99990662e-01 -1.90832155e-03 3.87741088e-03 3.89346962e+00] [ 2.02547049e-03 9.99534624e-01 -3.04373504e-02 -2.49087810e-02] [-3.81752217e-03 3.04449198e-02 9.99529156e-01 1.18670513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.026502480999998 meters Centerline goodness : 0.137964 with order 1 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.03, Z:0.01 [[ 9.99982858e-01 -1.82517253e-03 5.56353269e-03 3.94498837e+00] [ 2.00166116e-03 9.99489582e-01 -3.18836840e-02 -2.65751824e-02] [-5.50249974e-03 3.18942738e-02 9.99476102e-01 1.12800292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.086502480999997 meters Centerline goodness : 0.650653 with order 1 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.03, Z:0.01 [[ 0.99996946 -0.00506639 0.00595034 3.98189693] [ 0.00524011 0.99954954 -0.02955088 -0.02508168] [-0.00579794 0.02958115 0.99954557 0.01236007] [ 0. 0. 0. 1. ]] SLAMing on 27.146502481 meters Centerline goodness : 0.647599 with order 1 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.02, Z:0.01 [[ 9.99956567e-01 -8.72205745e-03 3.28468622e-03 4.01941151e+00] [ 8.81935275e-03 9.99484393e-01 -3.08733895e-02 -2.26937028e-02] [-3.01371313e-03 3.09010174e-02 9.99517906e-01 1.02798513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.206502480999998 meters Centerline goodness : 0.158526 with order 1 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.02, Z:0.01 [[ 9.99987393e-01 -2.69483822e-03 4.23700748e-03 4.06329964e+00] [ 2.82603999e-03 9.99506952e-01 -3.12708491e-02 -1.95231993e-02] [-4.15064856e-03 3.12824289e-02 9.99501967e-01 9.58033213e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.266502480999996 meters Centerline goodness : 0.656721 with order 2 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.01, Z:0.01 [[ 9.99965685e-01 -3.76873281e-03 7.37740702e-03 4.09264347e+00] [ 4.00454182e-03 9.99472963e-01 -3.22142789e-02 -1.40770718e-02] [-7.25211184e-03 3.22427166e-02 9.99453758e-01 1.01907572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.326502481 meters Centerline goodness : 0.527385 with order 2 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.01, Z:0.01 [[ 0.99996106 -0.00434636 0.00768055 4.12795958] [ 0.00457071 0.99955618 -0.02943719 -0.01389632] [-0.0075492 0.02947115 0.99953712 0.00952756] [ 0. 0. 0. 1. ]] SLAMing on 27.386502480999997 meters Centerline goodness : 0.654878 with order 2 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.02, Z:0.01 [[ 9.99992337e-01 -1.06946890e-03 3.76583298e-03 4.15437483e+00] [ 1.17225219e-03 9.99623915e-01 -2.73980614e-02 -1.78188535e-02] [-3.73511534e-03 2.74022659e-02 9.99617509e-01 9.88155632e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.446502480999996 meters Centerline goodness : 0.714040 with order 2 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.02, Z:0.01 [[ 9.99975673e-01 -4.12627745e-03 5.62381866e-03 4.18937986e+00] [ 4.28945158e-03 9.99560919e-01 -2.93184345e-02 -2.43700373e-02] [-5.50037335e-03 2.93418444e-02 9.99554302e-01 6.75521299e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.506502481 meters Centerline goodness : 0.701173 with order 2 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.03, Z:0.01 [[ 9.99960455e-01 -2.42931612e-03 8.55490431e-03 4.22356714e+00] [ 2.63161733e-03 9.99715270e-01 -2.37160856e-02 -2.77432036e-02] [-8.49485461e-03 2.37376610e-02 9.99682130e-01 5.25900043e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.566502480999997 meters Centerline goodness : 0.161404 with order 1 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.03, Z:0.00 [[ 9.99926678e-01 4.71977604e-03 1.11517967e-02 4.24147799e+00] [-4.46307272e-03 9.99727046e-01 -2.29328323e-02 -2.95230263e-02] [-1.12569906e-02 2.28813795e-02 9.99674808e-01 3.99523060e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.626502480999996 meters Centerline goodness : 0.710743 with order 2 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.03, Z:0.00 [[ 9.99844643e-01 1.38487478e-02 1.09042291e-02 4.27400083e+00] [-1.35188725e-02 9.99465476e-01 -2.97657942e-02 -3.46444641e-02] [-1.13106195e-02 2.96137570e-02 9.99497421e-01 2.03872795e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.686502480999998 meters Centerline goodness : 0.157843 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.04, Z:0.00 [[ 9.99839889e-01 1.23690785e-02 1.29306462e-02 4.30776688e+00] [-1.20126715e-02 9.99555473e-01 -2.72864881e-02 -3.88246804e-02] [-1.32624069e-02 2.71267877e-02 9.99544019e-01 6.40099771e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.746502480999997 meters Centerline goodness : 0.257054 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.05, Z:0.00 [[ 9.99885432e-01 6.18514343e-03 1.38154933e-02 4.34580347e+00] [-5.83051667e-03 9.99656205e-01 -2.55632078e-02 -4.57223946e-02] [-1.39688557e-02 2.54797276e-02 9.99577738e-01 5.26158379e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.806502480999995 meters Centerline goodness : 0.554191 with order 2 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.05, Z:-0.00 [[ 9.99926692e-01 -9.74800104e-04 1.20690215e-02 4.38608094e+00] [ 1.28731059e-03 9.99663374e-01 -2.59129752e-02 -4.93720902e-02] [-1.20396988e-02 2.59266122e-02 9.99591345e-01 -6.13458064e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.866502480999998 meters Centerline goodness : 0.717071 with order 2 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.05, Z:-0.00 [[ 9.99964212e-01 -1.22595105e-03 8.37086397e-03 4.44309129e+00] [ 1.44052162e-03 9.99669297e-01 -2.56752992e-02 -5.07937243e-02] [-8.33661904e-03 2.56864388e-02 9.99635287e-01 -3.98485350e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.926502480999996 meters Centerline goodness : 0.315948 with order 3 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.05, Z:-0.00 [[ 9.99968137e-01 1.28747111e-03 7.87823161e-03 4.48414977e+00] [-1.05113267e-03 9.99551448e-01 -2.99298680e-02 -5.36452426e-02] [-7.91323166e-03 2.99206333e-02 9.99520953e-01 -3.30922965e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.986502481 meters Centerline goodness : 0.543368 with order 1 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.06, Z:-0.00 [[ 9.99932792e-01 5.38014882e-03 1.02696379e-02 4.53831991e+00] [-4.97570070e-03 9.99226424e-01 -3.90101949e-02 -5.63649303e-02] [-1.04715742e-02 3.89564745e-02 9.99186038e-01 -1.01727434e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.046502480999997 meters Centerline goodness : 0.551191 with order 1 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.06, Z:-0.00 [[ 9.99918362e-01 1.03328279e-02 7.51676495e-03 4.59376129e+00] [-1.00571965e-02 9.99307432e-01 -3.58260902e-02 -6.06693876e-02] [-7.88174391e-03 3.57475678e-02 9.99329770e-01 -4.09032241e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.106502480999996 meters Centerline goodness : 0.628227 with order 1 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.07, Z:-0.01 [[ 9.99975350e-01 5.35597553e-03 4.54006102e-03 4.63118428e+00] [-5.18260352e-03 9.99287865e-01 -3.73751779e-02 -6.76709123e-02] [-4.73700842e-03 3.73507273e-02 9.99290991e-01 -5.81135425e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.166502481 meters Centerline goodness : 0.650248 with order 3 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.07, Z:-0.01 [[ 9.99982841e-01 -2.33680216e-03 5.37188474e-03 4.67752467e+00] [ 2.51198800e-03 9.99457478e-01 -3.28395909e-02 -7.33484646e-02] [-5.29223075e-03 3.28525216e-02 9.99446199e-01 -5.60686840e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.226502480999997 meters Centerline goodness : 0.544302 with order 3 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.08, Z:-0.00 [[ 9.99961564e-01 -6.63162342e-03 5.73512200e-03 4.72624345e+00] [ 6.84066829e-03 9.99283200e-01 -3.72329481e-02 -8.39981180e-02] [-5.48409617e-03 3.72707491e-02 9.99290156e-01 -2.77399416e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.286502480999996 meters Centerline goodness : 0.317490 with order 3 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.09, Z:-0.00 [[ 9.99927061e-01 -8.88470267e-03 8.18132642e-03 4.77548439e+00] [ 9.19374647e-03 9.99214559e-01 -3.85452936e-02 -9.45076197e-02] [-7.83243700e-03 3.86176991e-02 9.99223362e-01 -4.51132919e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.346502480999998 meters Centerline goodness : 0.478544 with order 3 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.10, Z:-0.00 [[ 9.99947338e-01 -7.81735213e-03 6.64900924e-03 4.83131315e+00] [ 8.03970727e-03 9.99386090e-01 -3.40999533e-02 -1.01062704e-01] [-6.37835600e-03 3.41516136e-02 9.99396310e-01 -2.01969458e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.406502480999997 meters Centerline goodness : 0.269514 with order 3 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.11, Z:-0.00 [[ 9.99969714e-01 -4.04980366e-03 6.64602147e-03 4.87350110e+00] [ 4.29723398e-03 9.99281827e-01 -3.76478823e-02 -1.08407844e-01] [-6.48878195e-03 3.76753016e-02 9.99268966e-01 -2.67942602e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.466502480999996 meters Centerline goodness : 0.517048 with order 3 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.11, Z:-0.00 [[ 9.99981405e-01 2.05995120e-03 5.73983067e-03 4.91367550e+00] [-1.82287524e-03 9.99157193e-01 -4.10070831e-02 -1.13547252e-01] [-5.81946569e-03 4.09958576e-02 9.99142369e-01 -2.09506356e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.526502480999998 meters Centerline goodness : 0.705920 with order 1 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.12, Z:-0.00 [[ 9.99954204e-01 9.45078038e-03 1.50759903e-03 4.94891381e+00] [-9.39622866e-03 9.99417220e-01 -3.28166197e-02 -1.15234857e-01] [-1.81686310e-03 3.28009511e-02 9.99460253e-01 -4.08883181e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.586502480999997 meters Centerline goodness : 0.317938 with order 2 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.12, Z:-0.01 [[ 9.99846990e-01 1.73852254e-02 -1.93653664e-03 4.98377078e+00] [-1.74488464e-02 9.99045625e-01 -4.00422011e-02 -1.23456393e-01] [ 1.23854577e-03 4.00698646e-02 9.99196113e-01 -7.19421090e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.646502480999995 meters Centerline goodness : 0.512153 with order 3 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.13, Z:-0.01 [[ 9.99860177e-01 1.66852304e-02 -1.10905789e-03 5.01943763e+00] [-1.67146084e-02 9.99193067e-01 -3.65217334e-02 -1.28911179e-01] [ 4.98789413e-04 3.65351642e-02 9.99332244e-01 -8.46358452e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.706502480999998 meters Centerline goodness : 0.703830 with order 1 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.14, Z:-0.01 [[ 9.99873290e-01 1.56016326e-02 -3.16118173e-03 5.07262868e+00] [-1.57042636e-02 9.99243845e-01 -3.55684547e-02 -1.37595104e-01] [ 2.60386543e-03 3.56135918e-02 9.99362243e-01 -7.45549772e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.766502480999996 meters Centerline goodness : 0.590456 with order 3 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.15, Z:-0.01 [[ 9.99925849e-01 1.18221820e-02 -2.92097010e-03 5.12500518e+00] [-1.19253134e-02 9.99196843e-01 -3.82551534e-02 -1.47776430e-01] [ 2.46636472e-03 3.82871502e-02 9.99263735e-01 -6.74815644e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.826502481 meters Centerline goodness : 0.701141 with order 1 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.15, Z:-0.01 [[ 9.99992947e-01 2.43296984e-03 -2.86132661e-03 5.17047124e+00] [-2.53764190e-03 9.99305899e-01 -3.71655892e-02 -1.53404903e-01] [ 2.76891780e-03 3.71725881e-02 9.99305024e-01 -7.10310443e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.886502480999997 meters Centerline goodness : 0.701418 with order 1 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.16, Z:-0.01 [[ 9.99991764e-01 -9.73070200e-04 -3.94010127e-03 5.22373577e+00] [ 8.12081814e-04 9.99172858e-01 -4.06563680e-02 -1.60195662e-01] [ 3.97640375e-03 4.06528335e-02 9.99165419e-01 -7.16086638e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.946502480999996 meters Centerline goodness : 0.699254 with order 1 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.16, Z:-0.01 [[ 9.99970566e-01 -7.03627207e-03 -3.05918947e-03 5.27182564e+00] [ 6.92150826e-03 9.99326656e-01 -3.60323232e-02 -1.64812161e-01] [ 3.31066282e-03 3.60100884e-02 9.99345943e-01 -9.90012748e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.006502481 meters Centerline goodness : 0.696809 with order 1 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.17, Z:-0.01 [[ 9.99978232e-01 -5.01583766e-03 -4.28687451e-03 5.32519337e+00] [ 4.85931637e-03 9.99348103e-01 -3.57736770e-02 -1.71043959e-01] [ 4.46351487e-03 3.57520670e-02 9.99350723e-01 -1.07946650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.066502480999997 meters Centerline goodness : 0.699750 with order 1 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.18, Z:-0.01 [[ 9.99988278e-01 -1.73515523e-03 -4.52035861e-03 5.36572672e+00] [ 1.55590072e-03 9.99223843e-01 -3.93610338e-02 -1.79067950e-01] [ 4.58514761e-03 3.93535392e-02 9.99214829e-01 -9.77771535e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.126502480999996 meters Centerline goodness : 0.699551 with order 1 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.19, Z:-0.01 [[ 9.99979767e-01 -1.18206209e-03 -6.25045105e-03 5.41960751e+00] [ 9.39862326e-04 9.99253871e-01 -3.86111036e-02 -1.88756472e-01] [ 6.29142813e-03 3.86044478e-02 9.99234764e-01 -9.53808702e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.186502480999998 meters Centerline goodness : 0.697737 with order 1 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.20, Z:-0.01 [[ 9.99946103e-01 4.17280153e-03 -9.50682705e-03 5.46559675e+00] [-4.53690221e-03 9.99244255e-01 -3.86048601e-02 -1.98127545e-01] [ 9.33855190e-03 3.86459110e-02 9.99209330e-01 -9.47124239e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.246502480999997 meters Centerline goodness : 0.696312 with order 1 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.21, Z:-0.01 [[ 0.9998823 0.01074805 -0.01094863 5.50817496] [-0.01117278 0.99915708 -0.03950067 -0.20500505] [ 0.01051484 0.03961835 0.99915956 -0.00969879] [ 0. 0. 0. 1. ]] SLAMing on 29.306502480999995 meters Centerline goodness : 0.700528 with order 1 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.21, Z:-0.01 [[ 0.99977628 0.01687733 -0.012749 5.55050154] [-0.01737238 0.99905771 -0.03977291 -0.21308748] [ 0.01206573 0.0399855 0.99912741 -0.0103424 ] [ 0. 0. 0. 1. ]] SLAMing on 29.366502480999998 meters Centerline goodness : 0.704017 with order 1 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.22, Z:-0.01 [[ 0.99970373 0.02130006 -0.01177956 5.58850087] [-0.02178589 0.99884696 -0.04278008 -0.22056084] [ 0.01085476 0.04302404 0.99901507 -0.00723796] [ 0. 0. 0. 1. ]] SLAMing on 29.426502480999996 meters Centerline goodness : 0.706189 with order 1 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.23, Z:-0.01 [[ 9.99614952e-01 2.38826073e-02 -1.41268753e-02 5.63215809e+00] [-2.44662742e-02 9.98788430e-01 -4.26974597e-02 -2.28103112e-01] [ 1.30900329e-02 4.30266511e-02 9.98988167e-01 -5.07316258e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.486502480999995 meters Centerline goodness : 0.702560 with order 1 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.24, Z:-0.01 [[ 0.9996538 0.01986599 -0.01725202 5.67260123] [-0.0205703 0.99892026 -0.0416554 -0.23632894] [ 0.01640587 0.04199586 0.99898308 -0.00647516] [ 0. 0. 0. 1. ]] SLAMing on 29.546502480999997 meters Centerline goodness : 0.705328 with order 1 Centerline is valid? [False, False] Translation: X:5.70, Y:-0.24, Z:-0.01 [[ 0.99950834 0.02236589 -0.02197389 5.69884221] [-0.02326743 0.99886058 -0.04166728 -0.24483334] [ 0.02101692 0.04215807 0.99888988 -0.00748251] [ 0. 0. 0. 1. ]] SLAMing on 29.606502480999996 meters Centerline goodness : 0.709982 with order 1 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.25, Z:-0.01 [[ 9.99257069e-01 3.13496574e-02 -2.24167007e-02 5.73933496e+00] [-3.22360286e-02 9.98665954e-01 -4.03379619e-02 -2.52945167e-01] [ 2.11222145e-02 4.10306190e-02 9.98934603e-01 -5.64142810e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.666502481 meters Centerline goodness : 0.710567 with order 1 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.25, Z:-0.00 [[ 9.99187410e-01 3.13385643e-02 -2.53458812e-02 5.74318077e+00] [-3.25044749e-02 9.98366975e-01 -4.69770397e-02 -2.53681862e-01] [ 2.38322977e-02 4.77627212e-02 9.98574356e-01 -2.08321250e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.726502480999997 meters Centerline goodness : 0.709173 with order 1 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.25, Z:-0.00 [[ 9.98976681e-01 3.69477742e-02 -2.60854757e-02 5.74428391e+00] [-3.80386903e-02 9.98365980e-01 -4.26430337e-02 -2.54802681e-01] [ 2.44672864e-02 4.35916536e-02 9.98749778e-01 -8.20326983e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.786502480999996 meters Centerline goodness : 0.709580 with order 1 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.26, Z:0.00 [[ 9.98810881e-01 3.98946625e-02 -2.80221219e-02 5.74739349e+00] [-4.10719106e-02 9.98240197e-01 -4.27738983e-02 -2.56149872e-01] [ 2.62663582e-02 4.38739572e-02 9.98691721e-01 7.08866964e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.846502480999998 meters Centerline goodness : 0.710588 with order 1 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.26, Z:0.00 [[ 9.98753767e-01 4.05215368e-02 -2.91362098e-02 5.74908844e+00] [-4.17400735e-02 9.98223888e-01 -4.25068895e-02 -2.58874809e-01] [ 2.73620162e-02 4.36700635e-02 9.98671240e-01 1.35293014e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.906502480999997 meters Centerline goodness : 0.708741 with order 1 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.26, Z:-0.00 [[ 9.98710760e-01 4.05944402e-02 -3.04780239e-02 5.75253970e+00] [-4.17684526e-02 9.98368758e-01 -3.89258232e-02 -2.64151762e-01] [ 2.88481349e-02 4.01486583e-02 9.98777188e-01 -1.07375466e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.966502480999996 meters Centerline goodness : 0.707587 with order 1 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.27, Z:0.00 [[ 9.98832321e-01 3.85301396e-02 -2.91448577e-02 5.74917360e+00] [-3.95013067e-02 9.98657310e-01 -3.35145307e-02 -2.71649739e-01] [ 2.78144056e-02 3.46266565e-02 9.99013190e-01 4.75090177e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.026502480999998 meters Centerline goodness : 0.706450 with order 1 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.27, Z:0.00 [[ 9.99029122e-01 3.32662569e-02 -2.88819833e-02 5.74642609e+00] [-3.43362697e-02 9.98711120e-01 -3.73780673e-02 -2.73935545e-01] [ 2.76013295e-02 3.83334773e-02 9.98883733e-01 3.89419565e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.086502480999997 meters Centerline goodness : 0.703416 with order 1 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.28, Z:0.00 [[ 9.98951264e-01 3.58801000e-02 -2.84427488e-02 5.74523663e+00] [-3.67683315e-02 9.98832066e-01 -3.13463652e-02 -2.76095449e-01] [ 2.72848188e-02 3.23592836e-02 9.99103806e-01 4.26805254e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.146502480999995 meters Centerline goodness : 0.703389 with order 1 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.27, Z:0.00 [[ 9.98928596e-01 3.61284216e-02 -2.89205175e-02 5.74802451e+00] [-3.70370819e-02 9.98816495e-01 -3.15256041e-02 -2.74556275e-01] [ 2.77473196e-02 3.25629591e-02 9.99084451e-01 1.57344507e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.206502480999998 meters Centerline goodness : 0.706229 with order 1 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.27, Z:0.00 [[ 9.98864458e-01 3.86633638e-02 -2.78377131e-02 5.74566024e+00] [-3.94682305e-02 9.98800827e-01 -2.89683616e-02 -2.72815324e-01] [ 2.66843166e-02 3.00341720e-02 9.99192622e-01 2.93116274e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.266502480999996 meters Centerline goodness : 0.707355 with order 1 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.27, Z:0.00 [[ 9.98881119e-01 3.98212615e-02 -2.55103285e-02 5.74204330e+00] [-4.04704298e-02 9.98856378e-01 -2.54574197e-02 -2.68442972e-01] [ 2.44674078e-02 2.64613499e-02 9.99350360e-01 2.36746284e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.326502480999995 meters Centerline goodness : 0.707003 with order 1 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.27, Z:0.00 [[ 9.98964451e-01 3.80627943e-02 -2.49248691e-02 5.74113020e+00] [-3.86981130e-02 9.98924931e-01 -2.55233064e-02 -2.66664952e-01] [ 2.39265848e-02 2.64614212e-02 9.99363453e-01 1.79036469e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.386502480999997 meters Centerline goodness : 0.702933 with order 1 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.27, Z:0.00 [[ 9.99002524e-01 3.67732160e-02 -2.53315671e-02 5.74263115e+00] [-3.74109304e-02 9.98982719e-01 -2.51783339e-02 -2.65719533e-01] [ 2.43799095e-02 2.61008966e-02 9.99361978e-01 2.32469534e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.446502480999996 meters Centerline goodness : 0.704680 with order 1 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.26, Z:-0.00 [[ 9.98966470e-01 3.82632409e-02 -2.45339844e-02 5.74229537e+00] [-3.87630513e-02 9.99043613e-01 -2.02307972e-02 -2.64884642e-01] [ 2.37364246e-02 2.11609001e-02 9.99494271e-01 -1.81013818e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.506502481 meters Centerline goodness : 0.704572 with order 1 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.26, Z:-0.00 [[ 9.99229015e-01 2.98782286e-02 -2.54689366e-02 5.78157736e+00] [-3.04873685e-02 9.99249997e-01 -2.38739226e-02 -2.64788652e-01] [ 2.47365243e-02 2.46319970e-02 9.99390499e-01 -3.86597688e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.566502480999997 meters Centerline goodness : 0.707277 with order 1 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.26, Z:0.00 [[ 9.99314470e-01 2.99496479e-02 -2.17625578e-02 5.81322766e+00] [-3.03807855e-02 9.99343099e-01 -1.97580011e-02 -2.64125567e-01] [ 2.11565168e-02 2.04056200e-02 9.99567913e-01 2.79379160e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.626502480999996 meters Centerline goodness : 0.709156 with order 1 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.26, Z:0.00 [[ 9.99416162e-01 2.76658770e-02 -2.00483154e-02 5.84753968e+00] [-2.80955061e-02 9.99374546e-01 -2.14746008e-02 -2.61346418e-01] [ 1.94416625e-02 2.20253307e-02 9.99568360e-01 2.28805854e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.686502480999998 meters Centerline goodness : 0.708064 with order 1 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.26, Z:0.00 [[ 9.99340436e-01 3.01189718e-02 -2.02864726e-02 5.86649462e+00] [-3.06962223e-02 9.99114579e-01 -2.87715035e-02 -2.57365417e-01] [ 1.94019425e-02 2.93752449e-02 9.99380138e-01 1.25210338e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.746502480999997 meters Centerline goodness : 0.708848 with order 1 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.26, Z:0.00 [[ 9.99038986e-01 3.92023785e-02 -1.96030001e-02 5.91543624e+00] [-3.96670392e-02 9.98926968e-01 -2.39047875e-02 -2.56500718e-01] [ 1.86448410e-02 2.46594076e-02 9.99522028e-01 3.28416725e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.806502480999995 meters Centerline goodness : 0.707176 with order 1 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.26, Z:0.00 [[ 9.98779834e-01 4.45998819e-02 -2.12059678e-02 5.91981644e+00] [-4.50411749e-02 9.98768391e-01 -2.08085232e-02 -2.55413208e-01] [ 2.02517927e-02 2.17382751e-02 9.99558559e-01 2.10508567e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.866502480999998 meters Centerline goodness : 0.702884 with order 1 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.26, Z:0.00 [[ 9.98590666e-01 4.73045955e-02 -2.40615435e-02 5.92556103e+00] [-4.77783283e-02 9.98667413e-01 -1.95097460e-02 -2.59189227e-01] [ 2.31065787e-02 2.06318706e-02 9.99520091e-01 1.35679707e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.926502480999996 meters Centerline goodness : 0.702216 with order 1 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.26, Z:0.00 [[ 9.98422299e-01 5.07720324e-02 -2.39815058e-02 5.92533938e+00] [-5.11548938e-02 9.98568410e-01 -1.56303385e-02 -2.57705388e-01] [ 2.31535900e-02 1.68324499e-02 9.99590206e-01 1.97717730e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.986502480999995 meters Centerline goodness : 0.703094 with order 1 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.26, Z:0.01 [[ 0.99853309 0.04813391 -0.02479501 5.92448167] [-0.04867866 0.99857534 -0.02185598 -0.25684218] [ 0.02370768 0.02303091 0.99945361 0.00597385] [ 0. 0. 0. 1. ]] SLAMing on 31.046502480999997 meters Centerline goodness : 0.705769 with order 1 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.26, Z:0.01 [[ 0.9984983 0.04858721 -0.02530656 5.92404128] [-0.0491735 0.99852344 -0.02308464 -0.25673801] [ 0.02414757 0.02429438 0.99941317 0.00844143] [ 0. 0. 0. 1. ]] SLAMing on 31.106502480999996 meters Centerline goodness : 0.701273 with order 1 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.26, Z:0.01 [[ 9.98344596e-01 5.04735536e-02 -2.75769409e-02 5.93005460e+00] [-5.10726830e-02 9.98464108e-01 -2.14710318e-02 -2.59300687e-01] [ 2.64508664e-02 2.28439169e-02 9.99389067e-01 5.61297893e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.166502481 meters Centerline goodness : 0.703666 with order 1 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.26, Z:0.01 [[ 0.99853852 0.04628966 -0.02789433 5.92943436] [-0.0469702 0.99860174 -0.02425634 -0.26304728] [ 0.02673251 0.0255311 0.99931653 0.00666279] [ 0. 0. 0. 1. ]] SLAMing on 31.226502480999997 meters Centerline goodness : 0.705059 with order 1 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.26, Z:0.01 [[ 0.99853576 0.04664376 -0.02739878 5.92795846] [-0.04731929 0.99857815 -0.02454722 -0.26186549] [ 0.02621485 0.02580777 0.99932314 0.00782692] [ 0. 0. 0. 1. ]] SLAMing on 31.286502480999996 meters Centerline goodness : 0.703527 with order 1 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.27, Z:0.01 [[ 0.99817186 0.05257966 -0.0298045 5.93413672] [-0.05320078 0.99837454 -0.02044403 -0.26580984] [ 0.02868112 0.02199228 0.99934665 0.00602181] [ 0. 0. 0. 1. ]] SLAMing on 31.346502480999998 meters Centerline goodness : 0.700697 with order 1 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.27, Z:0.01 [[ 0.99793746 0.05551187 -0.03223745 5.93897077] [-0.05619719 0.99820392 -0.0207558 -0.26629382] [ 0.03102736 0.02252464 0.9992647 0.00617589] [ 0. 0. 0. 1. ]] SLAMing on 31.406502480999997 meters Centerline goodness : 0.706382 with order 1 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.26, Z:0.01 [[ 0.99796753 0.05518429 -0.03186681 5.93741082] [-0.0559226 0.99817563 -0.02276112 -0.26275231] [ 0.03055262 0.02449693 0.99923292 0.00802112] [ 0. 0. 0. 1. ]] SLAMing on 31.466502480999996 meters Centerline goodness : 0.699100 with order 1 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.26, Z:0.01 [[ 0.9980662 0.05216159 -0.03380865 5.93939804] [-0.05310979 0.99820214 -0.027782 -0.26438483] [ 0.03229871 0.02952385 0.99904211 0.01004094] [ 0. 0. 0. 1. ]] SLAMing on 31.526502480999998 meters Centerline goodness : 0.701690 with order 1 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.27, Z:0.01 [[ 0.99805811 0.05165851 -0.03480521 5.94013097] [-0.05259287 0.99826472 -0.0264867 -0.26547895] [ 0.03337655 0.02826577 0.99904307 0.01120401] [ 0. 0. 0. 1. ]] SLAMing on 31.586502480999997 meters Centerline goodness : 0.701436 with order 1 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.27, Z:0.01 [[ 0.99826496 0.04866718 -0.03314468 5.93508983] [-0.0495001 0.99846641 -0.0247905 -0.26520928] [ 0.03188737 0.02638816 0.99914306 0.0134889 ] [ 0. 0. 0. 1. ]] SLAMing on 31.646502480999995 meters Centerline goodness : 0.701328 with order 1 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.27, Z:0.01 [[ 0.99851546 0.04336861 -0.03295506 5.93330543] [-0.04429847 0.99862503 -0.02803012 -0.26877828] [ 0.03169412 0.02944837 0.9990637 0.0146896 ] [ 0. 0. 0. 1. ]] SLAMing on 31.706502480999998 meters Centerline goodness : 0.700369 with order 1 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.27, Z:0.01 [[ 0.99854265 0.04315819 -0.03240279 5.93261552] [-0.0441074 0.99860072 -0.0291743 -0.26562132] [ 0.03109834 0.03056098 0.99904901 0.01467029] [ 0. 0. 0. 1. ]] SLAMing on 31.766502480999996 meters Centerline goodness : 0.699744 with order 1 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.26, Z:0.01 [[ 0.99842855 0.0462029 -0.03171309 5.93170651] [-0.04704689 0.99854366 -0.02640369 -0.26232612] [ 0.03044698 0.0278542 0.9991482 0.01484485] [ 0. 0. 0. 1. ]] SLAMing on 31.826502480999995 meters Centerline goodness : 0.698392 with order 1 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.26, Z:0.02 [[ 0.99820045 0.05039109 -0.0325055 5.93310206] [-0.05117767 0.99840503 -0.0238378 -0.26095703] [ 0.03125244 0.02545846 0.99918725 0.01592826] [ 0. 0. 0. 1. ]] SLAMing on 31.886502480999997 meters Centerline goodness : 0.694880 with order 1 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.26, Z:0.02 [[ 0.99808362 0.05294612 -0.03202813 5.93220213] [-0.05364164 0.9983339 -0.02126038 -0.25883691] [ 0.03084912 0.02293768 0.99926082 0.01668495] [ 0. 0. 0. 1. ]] SLAMing on 31.946502480999996 meters Centerline goodness : 0.693765 with order 1 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.26, Z:0.01 [[ 0.99810944 0.05330312 -0.03059941 5.93151364] [-0.05380724 0.99842483 -0.01589434 -0.25706304] [ 0.02970399 0.01751076 0.99940535 0.01375064] [ 0. 0. 0. 1. ]] SLAMing on 32.006502481 meters Centerline goodness : 0.692770 with order 1 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.25, Z:0.02 [[ 0.99853754 0.0462269 -0.02803326 5.92518107] [-0.04682813 0.99867832 -0.0211835 -0.25136997] [ 0.02701696 0.02246527 0.99938251 0.01564146] [ 0. 0. 0. 1. ]] SLAMing on 32.06650248099999 meters Centerline goodness : 0.693023 with order 1 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.24, Z:0.02 [[ 0.9985553 0.04738841 -0.02533069 5.92039523] [-0.04789611 0.99865553 -0.01982668 -0.24435644] [ 0.02435708 0.02101128 0.9994825 0.01623785] [ 0. 0. 0. 1. ]] SLAMing on 32.126502480999996 meters Centerline goodness : 0.693704 with order 1 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.24, Z:0.01 [[ 0.99804432 0.05678072 -0.02614345 5.92477924] [-0.05715549 0.99826967 -0.01381754 -0.24011336] [ 0.02531365 0.01528476 0.9995627 0.0137018 ] [ 0. 0. 0. 1. ]] SLAMing on 32.186502481 meters Centerline goodness : 0.693222 with order 1 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.23, Z:0.02 [[ 0.99740975 0.06660992 -0.02714617 5.92788528] [-0.06692532 0.99769867 -0.01087977 -0.23413578] [ 0.026359 0.01266835 0.99957227 0.01502492] [ 0. 0. 0. 1. ]] SLAMing on 32.24650248099999 meters Centerline goodness : 0.694800 with order 1 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.23, Z:0.02 [[ 0.99667605 0.0768798 -0.02695072 5.92885287] [-0.07711065 0.99699333 -0.00763224 -0.22639688] [ 0.02628293 0.00968506 0.99960763 0.01688194] [ 0. 0. 0. 1. ]] SLAMing on 32.306502480999995 meters Centerline goodness : 0.695708 with order 1 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.22, Z:0.02 [[ 0.99586626 0.08543504 -0.0308424 5.93678101] [-0.08576834 0.99626839 -0.00964802 -0.21952882] [ 0.02990303 0.01225344 0.99947769 0.01810048] [ 0. 0. 0. 1. ]] SLAMing on 32.366502481 meters Centerline goodness : 0.693622 with order 1 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.22, Z:0.02 [[ 0.99530262 0.09131477 -0.03216072 5.94060188] [-0.09165483 0.99574778 -0.00926023 -0.21544185] [ 0.03117837 0.01216442 0.99943981 0.01869007] [ 0. 0. 0. 1. ]] SLAMing on 32.426502481 meters Centerline goodness : 0.698118 with order 1 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.21, Z:0.02 [[ 0.99531267 0.09133624 -0.03178632 5.94021713] [-0.09171057 0.99573012 -0.01052176 -0.2126236 ] [ 0.03068958 0.01338758 0.9994393 0.01908915] [ 0. 0. 0. 1. ]] SLAMing on 32.486502480999995 meters Centerline goodness : 0.700058 with order 1 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.21, Z:0.02 [[ 0.99603726 0.08311098 -0.03165972 5.93872642] [-0.08369795 0.99633419 -0.01768696 -0.21301953] [ 0.03007369 0.02026672 0.9993422 0.01954405] [ 0. 0. 0. 1. ]] SLAMing on 32.546502481 meters Centerline goodness : 0.699634 with order 1 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.21, Z:0.02 [[ 0.99665379 0.07537451 -0.03162119 5.93717596] [-0.07617061 0.99678697 -0.02477439 -0.2119979 ] [ 0.02965223 0.0271001 0.99919284 0.0206819 ] [ 0. 0. 0. 1. ]] SLAMing on 32.606502481 meters Centerline goodness : 0.703838 with order 1 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.21, Z:0.02 [[ 0.99676075 0.07444746 -0.03042353 5.93525554] [-0.07517081 0.99689688 -0.02336572 -0.21243816] [ 0.02858961 0.025577 0.99926395 0.01996152] [ 0. 0. 0. 1. ]] SLAMing on 32.666502480999995 meters Centerline goodness : 0.707697 with order 1 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.21, Z:0.02 [[ 0.99686271 0.07253067 -0.03168671 5.93636741] [-0.07345933 0.99687072 -0.0291974 -0.21202842] [ 0.02946985 0.03143349 0.9990713 0.02266844] [ 0. 0. 0. 1. ]] SLAMing on 32.726502481 meters Centerline goodness : 0.706817 with order 1 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.21, Z:0.02 [[ 0.99663526 0.07493081 -0.03321949 5.94006306] [-0.07590731 0.99668789 -0.02917773 -0.21183755] [ 0.03092315 0.03160115 0.99902208 0.02222459] [ 0. 0. 0. 1. ]] SLAMing on 32.786502481 meters Centerline goodness : 0.701091 with order 1 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.21, Z:0.02 [[ 0.9965232 0.07569593 -0.03480852 5.94408313] [-0.07671503 0.99663307 -0.02893662 -0.21337788] [ 0.03250094 0.03150635 0.99897499 0.02065801] [ 0. 0. 0. 1. ]] SLAMing on 32.846502480999995 meters Centerline goodness : 0.706652 with order 1 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.22, Z:0.02 [[ 0.99676498 0.07226607 -0.03517365 5.94463134] [-0.07338958 0.99679711 -0.0317725 -0.21630123] [ 0.03276492 0.0342511 0.99887603 0.02001824] [ 0. 0. 0. 1. ]] SLAMing on 32.906502481 meters Centerline goodness : 0.706841 with order 1 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.22, Z:0.02 [[ 0.99702712 0.06828719 -0.03568996 5.94532572] [-0.06948602 0.99702016 -0.0335036 -0.22042749] [ 0.03329575 0.03588395 0.99880115 0.01905947] [ 0. 0. 0. 1. ]] SLAMing on 32.966502481 meters Centerline goodness : 0.706389 with order 1 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.23, Z:0.02 [[ 0.99728566 0.06420994 -0.03603321 5.94534318] [-0.06545904 0.99725427 -0.03462713 -0.22602776] [ 0.03371086 0.03689184 0.9987505 0.01852002] [ 0. 0. 0. 1. ]] SLAMing on 33.026502480999994 meters Centerline goodness : 0.703777 with order 1 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.23, Z:0.02 [[ 0.99725627 0.06435073 -0.03659113 5.94636086] [-0.06551173 0.99735551 -0.03146731 -0.2312752 ] [ 0.03446942 0.03377812 0.99883477 0.01778342] [ 0. 0. 0. 1. ]] SLAMing on 33.086502481 meters Centerline goodness : 0.702419 with order 1 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.23, Z:0.02 [[ 0.99762659 0.05756651 -0.03777952 5.9471419 ] [-0.05905615 0.99746989 -0.03957507 -0.23361103] [ 0.03540574 0.04171226 0.99850214 0.01913441] [ 0. 0. 0. 1. ]] SLAMing on 33.146502481 meters Centerline goodness : 0.700632 with order 1 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.24, Z:0.02 [[ 0.99794843 0.05247657 -0.0366761 5.94501836] [-0.0539128 0.99777064 -0.03933385 -0.23868613] [ 0.03453023 0.04123046 0.99855281 0.01758183] [ 0. 0. 0. 1. ]] SLAMing on 33.206502480999994 meters Centerline goodness : 0.698078 with order 1 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.25, Z:0.02 [[ 0.99808275 0.04886812 -0.03798337 5.94763508] [-0.05037286 0.9979402 -0.03972327 -0.24503269] [ 0.03596393 0.04156044 0.99848852 0.0156039 ] [ 0. 0. 0. 1. ]] SLAMing on 33.266502480999996 meters Centerline goodness : 0.698293 with order 1 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.25, Z:0.02 [[ 0.99831824 0.04131454 -0.04066694 5.94916335] [-0.04307346 0.99813011 -0.04337002 -0.25463936] [ 0.03879908 0.04504875 0.99823106 0.01921219] [ 0. 0. 0. 1. ]] SLAMing on 33.326502481 meters Centerline goodness : 0.694113 with order 1 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.26, Z:0.02 [[ 0.99835979 0.04120631 -0.03974636 5.94609852] [-0.04281921 0.99825674 -0.04062016 -0.25839529] [ 0.03800327 0.04225544 0.99838381 0.02097622] [ 0. 0. 0. 1. ]] SLAMing on 33.386502480999994 meters Centerline goodness : 0.692016 with order 1 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.26, Z:0.02 [[ 0.99806512 0.04688911 -0.04083416 5.94828269] [-0.04836867 0.99817943 -0.03603192 -0.26123643] [ 0.03907032 0.0379373 0.99851603 0.02145472] [ 0. 0. 0. 1. ]] SLAMing on 33.446502480999996 meters Centerline goodness : 0.695152 with order 1 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.26, Z:0.02 [[ 0.99776213 0.05206014 -0.04195799 5.95061928] [-0.0534262 0.99805504 -0.03212141 -0.26307636] [ 0.04020413 0.03429119 0.9986029 0.02178124] [ 0. 0. 0. 1. ]] SLAMing on 33.506502481 meters Centerline goodness : 0.697186 with order 1 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.26, Z:0.02 [[ 0.997843 0.05122958 -0.04104735 5.94868613] [-0.05252827 0.9981316 -0.03121038 -0.26378359] [ 0.03937176 0.03329921 0.99866963 0.02198252] [ 0. 0. 0. 1. ]] SLAMing on 33.56650248099999 meters Centerline goodness : 0.701277 with order 1 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.27, Z:0.02 [[ 0.9981723 0.04508069 -0.04024668 5.94631619] [-0.04645782 0.99834269 -0.03396389 -0.2677152 ] [ 0.03864887 0.03577159 0.99861237 0.02217791] [ 0. 0. 0. 1. ]] SLAMing on 33.626502480999996 meters Centerline goodness : 0.698610 with order 1 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.27, Z:0.02 [[ 0.99807163 0.04755665 -0.03989216 5.94677013] [-0.04871796 0.99840124 -0.02866215 -0.26929029] [ 0.03846531 0.03055034 0.99879282 0.02032972] [ 0. 0. 0. 1. ]] SLAMing on 33.686502481 meters Centerline goodness : 0.701847 with order 1 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.27, Z:0.02 [[ 0.99799339 0.05030859 -0.038448 5.9463285 ] [-0.05116717 0.9984547 -0.02168249 -0.27077683] [ 0.03729778 0.02360625 0.99902534 0.01683413] [ 0. 0. 0. 1. ]] SLAMing on 33.74650248099999 meters Centerline goodness : 0.701496 with order 1 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.27, Z:0.02 [[ 0.99807711 0.0491988 -0.0377037 5.94431575] [-0.05008568 0.99848121 -0.02294974 -0.2693559 ] [ 0.03651733 0.02479403 0.9990254 0.01817471] [ 0. 0. 0. 1. ]] SLAMing on 33.806502480999995 meters Centerline goodness : 0.703635 with order 1 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.27, Z:0.02 [[ 0.99796145 0.05225527 -0.03663785 5.94233477] [-0.05299866 0.99840181 -0.01962075 -0.26716269] [ 0.03555401 0.02152251 0.99913597 0.01890922] [ 0. 0. 0. 1. ]] SLAMing on 33.866502481 meters Centerline goodness : 0.706422 with order 1 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.27, Z:0.02 [[ 0.99792707 0.05253301 -0.03717331 5.9439735 ] [-0.05333311 0.99835869 -0.02086893 -0.26504027] [ 0.03601599 0.02280824 0.9990909 0.01832852] [ 0. 0. 0. 1. ]] SLAMing on 33.92650248099999 meters Centerline goodness : 0.706719 with order 1 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.26, Z:0.02 [[ 0.99799528 0.05142044 -0.03689647 5.94374937] [-0.05223219 0.99840599 -0.02138419 -0.26292032] [ 0.03573807 0.02326851 0.99909027 0.01775026] [ 0. 0. 0. 1. ]] SLAMing on 33.986502480999995 meters Centerline goodness : 0.709076 with order 1 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.26, Z:0.02 [[ 0.99823636 0.04845557 -0.03429605 5.9373675 ] [-0.04921407 0.99855405 -0.0216285 -0.26046519] [ 0.03319843 0.02327821 0.99917766 0.01974105] [ 0. 0. 0. 1. ]] SLAMing on 34.046502481 meters Centerline goodness : 0.709145 with order 1 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.26, Z:0.02 [[ 0.99834476 0.04706921 -0.03304904 5.9344111 ] [-0.04781541 0.99861028 -0.02216294 -0.25846981] [ 0.03195992 0.02370651 0.99920797 0.02069835] [ 0. 0. 0. 1. ]] SLAMing on 34.106502481 meters Centerline goodness : 0.709485 with order 1 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.26, Z:0.02 [[ 0.99823685 0.04975787 -0.03236288 5.9351406 ] [-0.05034762 0.99857542 -0.01767056 -0.25786536] [ 0.03143752 0.0192688 0.99931997 0.01780312] [ 0. 0. 0. 1. ]] SLAMing on 34.166502480999995 meters Centerline goodness : 0.711854 with order 1 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.25, Z:0.02 [[ 0.99818894 0.0517696 -0.03063904 5.93207206] [-0.05230094 0.99849002 -0.01680158 -0.25287855] [ 0.02972297 0.0183736 0.99938929 0.01873294] [ 0. 0. 0. 1. ]] SLAMing on 34.226502481 meters Centerline goodness : 0.713015 with order 1 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.25, Z:0.02 [[ 0.99809248 0.05365131 -0.03054393 5.93067501] [-0.05432403 0.99828889 -0.0216377 -0.24647914] [ 0.02933078 0.0232557 0.99929919 0.02276193] [ 0. 0. 0. 1. ]] SLAMing on 34.286502481 meters Centerline goodness : 0.715193 with order 1 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.24, Z:0.02 [[ 0.99726072 0.06742795 -0.03040593 5.93515842] [-0.06771502 0.9976684 -0.00851122 -0.2415294 ] [ 0.02976114 0.01054684 0.99950139 0.01804864] [ 0. 0. 0. 1. ]] SLAMing on 34.346502480999995 meters Centerline goodness : 0.715523 with order 1 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.24, Z:0.02 [[ 0.99718727 0.06787709 -0.03178439 5.93748049] [-0.06827295 0.99759996 -0.01153825 -0.23876939] [ 0.03092492 0.01367581 0.99942815 0.01927646] [ 0. 0. 0. 1. ]] SLAMing on 34.406502481 meters Centerline goodness : 0.713003 with order 1 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.23, Z:0.02 [[ 0.99744559 0.06380401 -0.03211444 5.93637041] [-0.06438659 0.99777254 -0.01744508 -0.23367274] [ 0.03092984 0.01946826 0.99933194 0.02180911] [ 0. 0. 0. 1. ]] SLAMing on 34.466502481 meters Centerline goodness : 0.712211 with order 1 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.23, Z:0.02 [[ 0.99745661 0.0642376 -0.03088435 5.9354276 ] [-0.06468375 0.99781219 -0.01366949 -0.23057529] [ 0.02993869 0.01563244 0.99942949 0.01997361] [ 0. 0. 0. 1. ]] SLAMing on 34.526502480999994 meters Centerline goodness : 0.710925 with order 1 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.23, Z:0.02 [[ 0.99746076 0.06378716 -0.03167388 5.93729703] [-0.06424761 0.99783943 -0.01373776 -0.23066022] [ 0.03072915 0.01573785 0.99940384 0.01928234] [ 0. 0. 0. 1. ]] SLAMing on 34.586502481 meters Centerline goodness : 0.710855 with order 1 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.23, Z:0.02 [[ 0.99762143 0.06195238 -0.03022217 5.93433562] [-0.06237463 0.99796507 -0.01323382 -0.22640349] [ 0.0293408 0.01508744 0.9994556 0.01957689] [ 0. 0. 0. 1. ]] SLAMing on 34.646502481 meters Centerline goodness : 0.711988 with order 1 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.22, Z:0.02 [[ 0.99790909 0.05809163 -0.02833374 5.92959741] [-0.05852712 0.99817625 -0.01478998 -0.22227269] [ 0.0274229 0.01641735 0.9994891 0.02119539] [ 0. 0. 0. 1. ]] SLAMing on 34.706502480999994 meters Centerline goodness : 0.710144 with order 1 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.22, Z:0.02 [[ 0.99827294 0.05169686 -0.02790304 5.92791741] [-0.05227098 0.99842753 -0.02025371 -0.21992466] [ 0.02681211 0.02167725 0.99940543 0.02184333] [ 0. 0. 0. 1. ]] SLAMing on 34.766502480999996 meters Centerline goodness : 0.708224 with order 1 Centerline is valid? [False, False] Translation: X:5.97, Y:-0.22, Z:0.02 [[ 0.99847585 0.04632812 -0.02999464 5.97361728] [-0.04689126 0.99873141 -0.0183516 -0.21801262] [ 0.02910639 0.01973012 0.99938158 0.02074992] [ 0. 0. 0. 1. ]] SLAMing on 34.826502481 meters Centerline goodness : 0.708378 with order 1 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.22, Z:0.02 [[ 0.99830912 0.04826736 -0.03239075 6.02367504] [-0.04893194 0.99860089 -0.02004824 -0.21801371] [ 0.03137775 0.02159928 0.99927419 0.0222092 ] [ 0. 0. 0. 1. ]] SLAMing on 34.886502480999994 meters Centerline goodness : 0.708412 with order 1 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.22, Z:0.03 [[ 0.99828815 0.04958039 -0.03102512 6.07498184] [-0.05020724 0.99854328 -0.01976224 -0.21805562] [ 0.03000011 0.0212861 0.99932322 0.02514821] [ 0. 0. 0. 1. ]] SLAMing on 34.946502480999996 meters Centerline goodness : 0.708026 with order 1 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.22, Z:0.02 [[ 0.99842177 0.04772522 -0.02960184 6.10973248] [-0.04829378 0.99865626 -0.01879851 -0.21798971] [ 0.0286649 0.02019842 0.99938498 0.02471862] [ 0. 0. 0. 1. ]] SLAMing on 35.006502481 meters Centerline goodness : 0.705077 with order 1 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.21, Z:0.02 [[ 0.99866048 0.04178378 -0.03051826 6.15562777] [-0.04235293 0.99893607 -0.01824723 -0.21178379] [ 0.02972335 0.01951533 0.99936764 0.02462069] [ 0. 0. 0. 1. ]] SLAMing on 35.06650248099999 meters Centerline goodness : 0.265941 with order 2 Centerline is valid? [False, False] Translation: X:6.19, Y:-0.20, Z:0.02 [[ 0.99880415 0.03969493 -0.02854079 6.18860454] [-0.04030116 0.99896712 -0.02098847 -0.20463423] [ 0.02767818 0.0221136 0.99937226 0.02325858] [ 0. 0. 0. 1. ]] SLAMing on 35.126502480999996 meters Centerline goodness : 0.386479 with order 1 Centerline is valid? [False, False] Translation: X:6.22, Y:-0.20, Z:0.02 [[ 0.99894792 0.03739371 -0.02654729 6.22148896] [-0.03802404 0.99899693 -0.02364974 -0.200362 ] [ 0.02563631 0.02463429 0.99936777 0.02108335] [ 0. 0. 0. 1. ]] SLAMing on 35.186502481 meters Centerline goodness : 0.653715 with order 1 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.19, Z:0.02 [[ 0.99904596 0.03602729 -0.02468215 6.26432886] [-0.03649864 0.99915458 -0.01892004 -0.19182204] [ 0.02397965 0.01980285 0.99951629 0.01989955] [ 0. 0. 0. 1. ]] SLAMing on 35.24650248099999 meters Centerline goodness : 0.653514 with order 1 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.19, Z:0.02 [[ 0.99919692 0.03371747 -0.02164804 6.29691236] [-0.03417272 0.99919496 -0.0210155 -0.187156 ] [ 0.02092202 0.02173839 0.99954475 0.01846344] [ 0. 0. 0. 1. ]] SLAMing on 35.306502480999995 meters Centerline goodness : 0.680526 with order 1 Centerline is valid? [False, False] Translation: X:6.33, Y:-0.18, Z:0.02 [[ 0.99917627 0.03538642 -0.01986427 6.32906795] [-0.03576353 0.99918038 -0.0189615 -0.18190649] [ 0.01917701 0.01965629 0.99962287 0.01776466] [ 0. 0. 0. 1. ]] SLAMing on 35.366502481 meters Centerline goodness : 0.723989 with order 2 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.18, Z:0.02 [[ 0.99898885 0.0396532 -0.02118722 6.37259112] [-0.04013775 0.99893042 -0.02295618 -0.18217545] [ 0.02025427 0.02378337 0.99951194 0.01780674] [ 0. 0. 0. 1. ]] SLAMing on 35.42650248099999 meters Centerline goodness : 0.729199 with order 3 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.18, Z:0.02 [[ 0.99878162 0.04370902 -0.02290828 6.4157833 ] [-0.04430969 0.99866885 -0.02640398 -0.18365619] [ 0.02172369 0.02738687 0.99938883 0.01873693] [ 0. 0. 0. 1. ]] SLAMing on 35.486502480999995 meters Centerline goodness : 0.550545 with order 1 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.18, Z:0.02 [[ 0.99887956 0.04218921 -0.02144071 6.45178008] [-0.04269422 0.99880779 -0.02366846 -0.1843548 ] [ 0.02041659 0.02455733 0.99948992 0.01811404] [ 0. 0. 0. 1. ]] SLAMing on 35.546502481 meters Centerline goodness : 0.715904 with order 3 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.19, Z:0.02 [[ 0.99909624 0.0376765 -0.01967679 6.48644832] [-0.03814859 0.99897913 -0.02419483 -0.18676867] [ 0.01874513 0.02492361 0.9995136 0.01728224] [ 0. 0. 0. 1. ]] SLAMing on 35.60650248099999 meters Centerline goodness : 0.725624 with order 1 Centerline is valid? [False, False] Translation: X:6.50, Y:-0.19, Z:0.02 [[ 0.99935083 0.02891138 -0.02149541 6.49979935] [-0.02945246 0.99924603 -0.0252968 -0.18884604] [ 0.02074784 0.02591347 0.99944886 0.01663147] [ 0. 0. 0. 1. ]] SLAMing on 35.666502480999995 meters Centerline goodness : 0.721400 with order 3 Centerline is valid? [False, False] Translation: X:6.52, Y:-0.19, Z:0.02 [[ 0.99951648 0.02015111 -0.02368011 6.51600807] [-0.02072603 0.99949009 -0.02428971 -0.19228282] [ 0.02317857 0.02476876 0.99942447 0.01690293] [ 0. 0. 0. 1. ]] SLAMing on 35.726502481 meters Centerline goodness : 0.630991 with order 1 Centerline is valid? [False, False] Translation: X:6.53, Y:-0.20, Z:0.02 [[ 0.99961361 0.0119198 -0.02511057 6.52907131] [-0.01250587 0.99964998 -0.0233134 -0.19524538] [ 0.02482389 0.02361842 0.9994128 0.01833636] [ 0. 0. 0. 1. ]] SLAMing on 35.786502481 meters Centerline goodness : 0.601377 with order 1 Centerline is valid? [False, False] Translation: X:6.56, Y:-0.20, Z:0.02 [[ 0.99972533 0.00667895 -0.02246464 6.56365505] [-0.00724023 0.99966129 -0.02499761 -0.19890085] [ 0.02229008 0.0251534 0.99943507 0.01717966] [ 0. 0. 0. 1. ]] SLAMing on 35.846502480999995 meters Centerline goodness : 0.660025 with order 1 Centerline is valid? [False, False] Translation: X:6.61, Y:-0.20, Z:0.02 [[ 0.99963208 0.00973919 -0.02531524 6.61024675] [-0.01044152 0.99956006 -0.02776071 -0.20344097] [ 0.02503374 0.02801483 0.99929399 0.01638365] [ 0. 0. 0. 1. ]] SLAMing on 35.906502481 meters Centerline goodness : 0.656748 with order 1 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.21, Z:0.01 [[ 0.99967148 0.0073967 -0.02454006 6.64645191] [-0.00806235 0.99959918 -0.02713806 -0.20577982] [ 0.0243295 0.02732699 0.99933043 0.01467695] [ 0. 0. 0. 1. ]] SLAMing on 35.966502481 meters Centerline goodness : 0.636476 with order 1 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.21, Z:0.02 [[ 9.99758478e-01 5.67907594e-03 -2.12304712e-02 6.67821942e+00] [-6.20399016e-03 9.99674643e-01 -2.47410217e-02 -2.07802432e-01] [ 2.10830575e-02 2.48667598e-02 9.99468433e-01 1.59710339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.026502480999994 meters Centerline goodness : 0.720999 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.21, Z:0.02 [[ 0.99974385 0.00721725 -0.02145088 6.72114276] [-0.00783448 0.9995536 -0.02883079 -0.21225271] [ 0.02123322 0.02899146 0.99935411 0.01771036] [ 0. 0. 0. 1. ]] SLAMing on 36.086502481 meters Centerline goodness : 0.529219 with order 2 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.22, Z:0.02 [[ 9.99689931e-01 5.81989575e-03 -2.42109456e-02 6.77676626e+00] [-6.57426862e-03 9.99491654e-01 -3.11963408e-02 -2.15094739e-01] [ 2.40170786e-02 3.13458371e-02 9.99220005e-01 1.57887551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.146502481 meters Centerline goodness : 0.719548 with order 1 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.22, Z:0.02 [[ 9.99667983e-01 2.92222831e-03 -2.56004950e-02 6.83152252e+00] [-3.81150322e-03 9.99388525e-01 -3.47569955e-02 -2.17334540e-01] [ 2.54832731e-02 3.48430319e-02 9.99067849e-01 1.50148964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.206502480999994 meters Centerline goodness : 0.712790 with order 2 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.22, Z:0.01 [[ 9.99687834e-01 -3.61450599e-03 -2.47218333e-02 6.87615937e+00] [ 2.82860941e-03 9.99491808e-01 -3.17509912e-02 -2.17085204e-01] [ 2.48240340e-02 3.16711512e-02 9.99190025e-01 1.46259716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.266502480999996 meters Centerline goodness : 0.712465 with order 2 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.22, Z:0.01 [[ 9.99629835e-01 -5.29953221e-03 -2.66853677e-02 6.93108034e+00] [ 4.42180847e-03 9.99450714e-01 -3.28438263e-02 -2.18566322e-01] [ 2.68447668e-02 3.27136711e-02 9.99104186e-01 1.38094518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.326502481 meters Centerline goodness : 0.648563 with order 1 Centerline is valid? [False, False] Translation: X:6.98, Y:-0.22, Z:0.02 [[ 9.99609761e-01 -7.03540734e-03 -2.70338293e-02 6.98205771e+00] [ 6.06081364e-03 9.99334663e-01 -3.59652324e-02 -2.19546453e-01] [ 2.72688727e-02 3.57873504e-02 9.98987324e-01 1.51198675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.386502480999994 meters Centerline goodness : 0.717014 with order 2 Centerline is valid? [False, False] Translation: X:7.04, Y:-0.22, Z:0.02 [[ 0.99954437 -0.00908527 -0.02878383 7.03659022] [ 0.00800928 0.9992728 -0.03727905 -0.21994547] [ 0.02910159 0.03703152 0.99889027 0.01606813] [ 0. 0. 0. 1. ]] SLAMing on 36.446502480999996 meters Centerline goodness : 0.717918 with order 3 Centerline is valid? [False, False] Translation: X:7.09, Y:-0.22, Z:0.02 [[ 0.99963778 -0.01118821 -0.02447736 7.08589861] [ 0.01022966 0.99918914 -0.03894117 -0.22008851] [ 0.0248932 0.03867667 0.99894166 0.01925337] [ 0. 0. 0. 1. ]] SLAMing on 36.506502481 meters Centerline goodness : 0.716097 with order 2 Centerline is valid? [False, False] Translation: X:7.12, Y:-0.22, Z:0.02 [[ 0.99968422 -0.01357509 -0.02114643 7.11766614] [ 0.01275387 0.99917732 -0.0384971 -0.21738728] [ 0.02165164 0.03821525 0.99903494 0.02002637] [ 0. 0. 0. 1. ]] SLAMing on 36.56650248099999 meters Centerline goodness : 0.158604 with order 1 Centerline is valid? [False, False] Translation: X:7.17, Y:-0.22, Z:0.02 [[ 0.99966963 -0.01088935 -0.02328185 7.17091788] [ 0.01000349 0.999234 -0.03783307 -0.21625285] [ 0.02367599 0.03758767 0.99901282 0.01947081] [ 0. 0. 0. 1. ]] SLAMing on 36.626502480999996 meters Centerline goodness : 0.716129 with order 1 Centerline is valid? [False, False] Translation: X:7.23, Y:-0.21, Z:0.02 [[ 9.99655312e-01 -7.01616346e-03 -2.52988192e-02 7.22654139e+00] [ 6.14341245e-03 9.99388853e-01 -3.44119088e-02 -2.14788968e-01] [ 2.55247975e-02 3.42446264e-02 9.99087479e-01 1.85909847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.686502481 meters Centerline goodness : 0.628688 with order 1 Centerline is valid? [False, False] Translation: X:7.27, Y:-0.22, Z:0.02 [[ 9.99642551e-01 -2.80496226e-03 -2.65876454e-02 7.26871445e+00] [ 1.73682231e-03 9.99193657e-01 -4.01125785e-02 -2.15406932e-01] [ 2.66787209e-02 4.00520623e-02 9.98841368e-01 1.86536595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.74650248099999 meters Centerline goodness : 0.628344 with order 1 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.22, Z:0.02 [[ 0.99955511 0.01365614 -0.02651603 7.32021287] [-0.01467916 0.99914003 -0.03877774 -0.21640535] [ 0.02596367 0.03914972 0.99889598 0.02223036] [ 0. 0. 0. 1. ]] SLAMing on 36.806502480999995 meters Centerline goodness : 0.680614 with order 2 Centerline is valid? [False, False] Translation: X:7.37, Y:-0.22, Z:0.02 [[ 0.9993164 0.02171078 -0.02992271 7.3669437 ] [-0.02280894 0.99906008 -0.03686071 -0.21771626] [ 0.02909431 0.03751801 0.99887232 0.02169209] [ 0. 0. 0. 1. ]] SLAMing on 36.866502481 meters Centerline goodness : 0.704299 with order 1 Centerline is valid? [False, False] Translation: X:7.41, Y:-0.22, Z:0.02 [[ 0.99922889 0.02263455 -0.03208261 7.41223884] [-0.02401921 0.99876674 -0.04345204 -0.22004827] [ 0.03105952 0.04418914 0.99854025 0.02136708] [ 0. 0. 0. 1. ]] SLAMing on 36.92650248099999 meters Centerline goodness : 0.703726 with order 1 Centerline is valid? [False, False] Translation: X:7.47, Y:-0.22, Z:0.02 [[ 0.9992045 0.02288247 -0.03266137 7.46776249] [-0.0241734 0.99891948 -0.03969274 -0.2210112 ] [ 0.03171781 0.0404507 0.99867799 0.02279166] [ 0. 0. 0. 1. ]] SLAMing on 36.986502480999995 meters Centerline goodness : 0.688653 with order 3 Centerline is valid? [False, False] Translation: X:7.52, Y:-0.23, Z:0.02 [[ 0.99934272 0.01652861 -0.03226337 7.52169378] [-0.01791848 0.99890245 -0.04327607 -0.22578214] [ 0.03151267 0.04382574 0.99854207 0.02455396] [ 0. 0. 0. 1. ]] SLAMing on 37.046502481 meters Centerline goodness : 0.703968 with order 1 Centerline is valid? [False, False] Translation: X:7.57, Y:-0.23, Z:0.03 [[ 0.99948276 0.00991224 -0.03059355 7.5744513 ] [-0.01136628 0.9987958 -0.04772588 -0.23043618] [ 0.03008364 0.04804893 0.99839184 0.02575457] [ 0. 0. 0. 1. ]] SLAMing on 37.10650248099999 meters Centerline goodness : 0.143239 with order 1 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.23, Z:0.03 [[ 9.99440589e-01 6.63164230e-03 -3.27800281e-02 7.63141257e+00] [-8.19587824e-03 9.98822462e-01 -4.78175331e-02 -2.33801556e-01] [ 3.24243196e-02 4.80594446e-02 9.98318062e-01 2.61747539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.166502480999995 meters Centerline goodness : 0.656090 with order 3 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.24, Z:0.03 [[ 9.99502486e-01 -7.54750468e-04 -3.15311141e-02 7.66825146e+00] [-7.83228353e-04 9.98811401e-01 -4.87357361e-02 -2.37415493e-01] [ 3.15304196e-02 4.87361854e-02 9.98313887e-01 2.60187344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.226502481 meters Centerline goodness : 0.690411 with order 3 Centerline is valid? [False, False] Translation: X:7.72, Y:-0.24, Z:0.03 [[ 9.99478340e-01 -6.43106856e-03 -3.16494698e-02 7.72352722e+00] [ 4.86410845e-03 9.98770190e-01 -4.93401169e-02 -2.43799115e-01] [ 3.19278567e-02 4.91604317e-02 9.98280454e-01 2.88628557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.28650248099999 meters Centerline goodness : 0.704705 with order 1 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.24, Z:0.03 [[ 0.99932239 -0.01445393 -0.03385035 7.77320874] [ 0.01293235 0.9989147 -0.04474576 -0.24406014] [ 0.03446037 0.04427767 0.99842474 0.02833402] [ 0. 0. 0. 1. ]] SLAMing on 37.346502480999995 meters Centerline goodness : 0.560740 with order 1 Centerline is valid? [False, False] Translation: X:7.83, Y:-0.24, Z:0.03 [[ 0.99928686 -0.01770513 -0.03335115 7.82571743] [ 0.01614902 0.99879409 -0.04636341 -0.24386282] [ 0.0341318 0.04579175 0.99836774 0.03069636] [ 0. 0. 0. 1. ]] SLAMing on 37.406502481 meters Centerline goodness : 0.711685 with order 2 Centerline is valid? [False, False] Translation: X:7.88, Y:-0.24, Z:0.03 [[ 0.99933992 -0.01922022 -0.03082694 7.87593532] [ 0.01775256 0.99872785 -0.04719659 -0.24106912] [ 0.03169485 0.04661818 0.99840983 0.03441297] [ 0. 0. 0. 1. ]] SLAMing on 37.466502481 meters Centerline goodness : 0.707508 with order 1 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.24, Z:0.04 [[ 0.99935864 -0.01892859 -0.03039763 7.92642331] [ 0.01751483 0.99878234 -0.04612006 -0.24032003] [ 0.0312336 0.04555807 0.9984733 0.03738792] [ 0. 0. 0. 1. ]] SLAMing on 37.526502480999994 meters Centerline goodness : 0.704729 with order 1 Centerline is valid? [False, False] Translation: X:7.98, Y:-0.24, Z:0.04 [[ 0.999334 -0.0185829 -0.03140419 7.98079529] [ 0.01719261 0.99888466 -0.04397547 -0.23614223] [ 0.03218636 0.04340626 0.9985389 0.03900922] [ 0. 0. 0. 1. ]] SLAMing on 37.586502481 meters Centerline goodness : 0.706793 with order 1 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.23, Z:0.04 [[ 0.99933614 -0.01641272 -0.03252548 8.02578178] [ 0.01484611 0.99874489 -0.04783548 -0.23399563] [ 0.03326977 0.04732085 0.99832553 0.03993545] [ 0. 0. 0. 1. ]] SLAMing on 37.646502481 meters Centerline goodness : 0.706666 with order 1 Centerline is valid? [False, False] Translation: X:8.07, Y:-0.23, Z:0.04 [[ 0.99927836 -0.01243833 -0.03588939 8.07468511] [ 0.01067755 0.99874941 -0.04884269 -0.23236475] [ 0.03645203 0.04842424 0.99816148 0.03861649] [ 0. 0. 0. 1. ]] SLAMing on 37.706502480999994 meters Centerline goodness : 0.706951 with order 1 Centerline is valid? [False, False] Translation: X:8.12, Y:-0.23, Z:0.04 [[ 9.99265503e-01 -5.76231333e-03 -3.78846841e-02 8.11714851e+00] [ 3.87066077e-03 9.98750867e-01 -4.98169034e-02 -2.30602880e-01] [ 3.81244217e-02 4.96336743e-02 9.98039592e-01 4.11661520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.766502480999996 meters Centerline goodness : 0.708047 with order 1 Centerline is valid? [False, False] Translation: X:8.16, Y:-0.23, Z:0.04 [[ 9.99203891e-01 5.94138552e-04 -3.98902356e-02 8.16047666e+00] [-2.56522491e-03 9.98776781e-01 -4.93797766e-02 -2.30516112e-01] [ 3.98121027e-02 4.94427924e-02 9.97983170e-01 4.32721752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.826502481 meters Centerline goodness : 0.704819 with order 1 Centerline is valid? [False, False] Translation: X:8.21, Y:-0.23, Z:0.04 [[ 9.99035248e-01 6.00033355e-03 -4.35036785e-02 8.20814892e+00] [-8.11222027e-03 9.98788676e-01 -4.85321899e-02 -2.31191170e-01] [ 4.31597721e-02 4.88382798e-02 9.97873768e-01 4.31321693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.886502480999994 meters Centerline goodness : 0.708515 with order 1 Centerline is valid? [False, False] Translation: X:8.25, Y:-0.23, Z:0.05 [[ 9.99062027e-01 6.33043114e-03 -4.28367932e-02 8.25007519e+00] [-8.56333918e-03 9.98602813e-01 -5.21449085e-02 -2.34556248e-01] [ 4.24468424e-02 5.24628240e-02 9.97720360e-01 4.59540542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.946502480999996 meters Centerline goodness : 0.711444 with order 1 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.24, Z:0.05 [[ 9.99114850e-01 -4.94303210e-03 -4.17741819e-02 8.29634403e+00] [ 2.91235675e-03 9.98817356e-01 -4.85325454e-02 -2.38169092e-01] [ 4.19646759e-02 4.83679255e-02 9.97947649e-01 4.74679436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.006502481 meters Centerline goodness : 0.708321 with order 1 Centerline is valid? [False, False] Translation: X:8.34, Y:-0.24, Z:0.05 [[ 0.99895614 -0.01477988 -0.0432224 8.33695936] [ 0.01263142 0.99869105 -0.04956451 -0.24226652] [ 0.04389838 0.04896682 0.99783525 0.04799967] [ 0. 0. 0. 1. ]] SLAMing on 38.06650248099999 meters Centerline goodness : 0.703440 with order 1 Centerline is valid? [False, False] Translation: X:8.39, Y:-0.24, Z:0.05 [[ 0.99899407 -0.01566471 -0.04201751 8.38768295] [ 0.01360633 0.99871418 -0.04883501 -0.24460337] [ 0.04272847 0.04821418 0.99792268 0.05089745] [ 0. 0. 0. 1. ]] SLAMing on 38.126502480999996 meters Centerline goodness : 0.704029 with order 1 Centerline is valid? [False, False] Translation: X:8.43, Y:-0.25, Z:0.05 [[ 9.99092122e-01 -9.93806886e-03 -4.14266430e-02 8.42770505e+00] [ 7.88275249e-03 9.98743770e-01 -4.94847830e-02 -2.49451668e-01] [ 4.18663848e-02 4.91133009e-02 9.97915372e-01 5.19435274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.186502481 meters Centerline goodness : 0.707856 with order 2 Centerline is valid? [False, False] Translation: X:8.45, Y:-0.25, Z:0.05 [[ 9.99221403e-01 -3.12174660e-03 -3.93299123e-02 8.44593628e+00] [ 1.23951989e-03 9.98856580e-01 -4.77911651e-02 -2.51723516e-01] [ 3.94341336e-02 4.77052049e-02 9.98082743e-01 5.28930003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.24650248099999 meters Centerline goodness : 0.702350 with order 1 Centerline is valid? [False, False] Translation: X:8.49, Y:-0.26, Z:0.05 [[ 9.99230292e-01 4.17755216e-03 -3.90047653e-02 8.48792120e+00] [-5.93556147e-03 9.98966413e-01 -4.50652250e-02 -2.57790702e-01] [ 3.87761882e-02 4.52620531e-02 9.98222297e-01 5.48219500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.306502480999995 meters Centerline goodness : 0.704777 with order 3 Centerline is valid? [False, False] Translation: X:8.54, Y:-0.27, Z:0.05 [[ 9.98999970e-01 7.50876349e-03 -4.40758244e-02 8.53821600e+00] [-9.45808980e-03 9.98978546e-01 -4.41860774e-02 -2.65004611e-01] [ 4.36990202e-02 4.45587631e-02 9.98050556e-01 5.45395079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.366502481 meters Centerline goodness : 0.639346 with order 1 Centerline is valid? [False, False] Translation: X:8.58, Y:-0.27, Z:0.06 [[ 0.99900384 0.00914487 -0.04367719 8.5774077 ] [-0.0111706 0.99886219 -0.04636307 -0.27403722] [ 0.04320351 0.04680479 0.99796932 0.05814954] [ 0. 0. 0. 1. ]] SLAMing on 38.42650248099999 meters Centerline goodness : 0.701420 with order 1 Centerline is valid? [False, False] Translation: X:8.62, Y:-0.29, Z:0.06 [[ 9.99068144e-01 1.53041274e-03 -4.31335370e-02 8.61608487e+00] [-3.50415943e-03 9.98948121e-01 -4.57205985e-02 -2.85892317e-01] [ 4.30181943e-02 4.58291402e-02 9.98022607e-01 5.72353547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.486502480999995 meters Centerline goodness : 0.556940 with order 1 Centerline is valid? [False, False] Translation: X:8.66, Y:-0.29, Z:0.06 [[ 9.98981813e-01 -5.73904085e-03 -4.47481835e-02 8.65715434e+00] [ 3.79247955e-03 9.99047773e-01 -4.34645102e-02 -2.94681069e-01] [ 4.49550177e-02 4.32505486e-02 9.98052321e-01 5.65462359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.546502481 meters Centerline goodness : 0.419889 with order 1 Centerline is valid? [False, False] Translation: X:8.69, Y:-0.30, Z:0.06 [[ 0.99897452 -0.01377367 -0.04313007 8.69346451] [ 0.01189303 0.99897998 -0.04356099 -0.30488643] [ 0.04368608 0.04300337 0.99811935 0.05687264] [ 0. 0. 0. 1. ]] SLAMing on 38.60650248099999 meters Centerline goodness : 0.357513 with order 2 Centerline is valid? [False, False] Translation: X:8.73, Y:-0.31, Z:0.06 [[ 0.99893021 -0.02008589 -0.04165315 8.72794597] [ 0.01829546 0.9989106 -0.04292878 -0.31376243] [ 0.04247004 0.04212079 0.99820946 0.05827353] [ 0. 0. 0. 1. ]] SLAMing on 38.666502480999995 meters Centerline goodness : 0.340320 with order 2 Centerline is valid? [False, False] Translation: X:8.75, Y:-0.32, Z:0.06 [[ 0.99884858 -0.01894214 -0.0440761 8.75231325] [ 0.01709514 0.99897509 -0.04191095 -0.32047491] [ 0.04482481 0.0411092 0.99814867 0.06006462] [ 0. 0. 0. 1. ]] SLAMing on 38.726502481 meters Centerline goodness : 0.142036 with order 1 Centerline is valid? [False, False] Translation: X:8.78, Y:-0.33, Z:0.06 [[ 0.9989879 -0.01935938 -0.04060027 8.78264022] [ 0.01774411 0.99905112 -0.03977448 -0.32816723] [ 0.04133176 0.03901381 0.9983835 0.05953866] [ 0. 0. 0. 1. ]] SLAMing on 38.78650248099999 meters Centerline goodness : 0.698359 with order 2 Centerline is valid? [False, False] Translation: X:8.81, Y:-0.34, Z:0.06 [[ 0.99919641 -0.01807516 -0.03577452 8.81232 ] [ 0.01680667 0.99923025 -0.03544646 -0.3351291 ] [ 0.03638769 0.03481673 0.99873106 0.0586706 ] [ 0. 0. 0. 1. ]] SLAMing on 38.846502480999995 meters Centerline goodness : 0.397886 with order 1 Centerline is valid? [False, False] Translation: X:8.83, Y:-0.34, Z:0.06 [[ 0.9992907 -0.0116466 -0.03581129 8.83362649] [ 0.0104542 0.99939054 -0.03330551 -0.33955131] [ 0.03617737 0.03290751 0.99880343 0.05779648] [ 0. 0. 0. 1. ]] SLAMing on 38.906502481 meters Centerline goodness : 0.671494 with order 2 Centerline is valid? [False, False] Translation: X:8.88, Y:-0.35, Z:0.06 [[ 9.99256657e-01 -4.58733880e-03 -3.82764782e-02 8.87619073e+00] [ 3.29191962e-03 9.99421896e-01 -3.38383862e-02 -3.45254780e-01] [ 3.84095786e-02 3.36872296e-02 9.98694085e-01 5.75837046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.96650248099999 meters Centerline goodness : 0.337295 with order 1 Centerline is valid? [False, False] Translation: X:8.91, Y:-0.35, Z:0.06 [[ 9.99420770e-01 -2.06515607e-03 -3.39685163e-02 8.90838166e+00] [ 1.05329508e-03 9.99555947e-01 -2.97791649e-02 -3.47241749e-01] [ 3.40149311e-02 2.97261370e-02 9.98979150e-01 5.51396938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.026502480999994 meters Centerline goodness : 0.714196 with order 3 Centerline is valid? [False, False] Translation: X:8.95, Y:-0.35, Z:0.06 [[ 9.99447583e-01 5.34620286e-04 -3.32301524e-02 8.94855591e+00] [-1.69001719e-03 9.99394566e-01 -3.47511795e-02 -3.50438640e-01] [ 3.31914550e-02 3.47881419e-02 9.98843387e-01 5.72106539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.086502481 meters Centerline goodness : 0.714930 with order 2 Centerline is valid? [False, False] Translation: X:9.00, Y:-0.35, Z:0.06 [[ 9.99399639e-01 -1.92223887e-03 -3.45928593e-02 9.00434297e+00] [ 6.88560687e-04 9.99364476e-01 -3.56394344e-02 -3.51252397e-01] [ 3.46393822e-02 3.55942186e-02 9.98765821e-01 5.81479532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.146502481 meters Centerline goodness : 0.626006 with order 1 Centerline is valid? [False, False] Translation: X:9.05, Y:-0.35, Z:0.06 [[ 0.99938151 -0.0103515 -0.0336073 9.05026141] [ 0.00926313 0.99943267 -0.03238091 -0.35267811] [ 0.03392343 0.03204957 0.99891042 0.05800563] [ 0. 0. 0. 1. ]] SLAMing on 39.206502480999994 meters Centerline goodness : 0.665120 with order 1 Centerline is valid? [False, False] Translation: X:9.08, Y:-0.36, Z:0.06 [[ 0.99934229 -0.01721062 -0.0319185 9.07877099] [ 0.01600463 0.99916239 -0.03766128 -0.35583902] [ 0.03253993 0.03712567 0.99878068 0.05820127] [ 0. 0. 0. 1. ]] SLAMing on 39.266502480999996 meters Centerline goodness : 0.710297 with order 1 Centerline is valid? [False, False] Translation: X:9.13, Y:-0.36, Z:0.06 [[ 0.99937717 -0.01754584 -0.03061739 9.12758653] [ 0.0164238 0.9991979 -0.03652145 -0.35914615] [ 0.03123363 0.03599585 0.99886373 0.06112112] [ 0. 0. 0. 1. ]] SLAMing on 39.326502481 meters Centerline goodness : 0.715547 with order 1 Centerline is valid? [False, False] Translation: X:9.15, Y:-0.36, Z:0.06 [[ 0.99948759 -0.01435776 -0.02860807 9.14674908] [ 0.01327213 0.99919781 -0.03778352 -0.36231835] [ 0.02912761 0.03738446 0.99887636 0.06050691] [ 0. 0. 0. 1. ]] SLAMing on 39.386502480999994 meters Centerline goodness : 0.653943 with order 1 Centerline is valid? [False, False] Translation: X:9.17, Y:-0.37, Z:0.06 [[ 0.99954538 -0.01155748 -0.02784701 9.16727331] [ 0.0104567 0.99917053 -0.03935615 -0.36541357] [ 0.02827877 0.03904707 0.99883714 0.06025744] [ 0. 0. 0. 1. ]] SLAMing on 39.446502480999996 meters Centerline goodness : 0.157133 with order 1 Centerline is valid? [False, False] Translation: X:9.20, Y:-0.37, Z:0.06 [[ 0.99958755 -0.01027743 -0.02681603 9.20333684] [ 0.00938328 0.99940271 -0.03325919 -0.37108727] [ 0.02714184 0.03299385 0.99908695 0.05966957] [ 0. 0. 0. 1. ]] SLAMing on 39.506502481 meters Centerline goodness : 0.702721 with order 3 Centerline is valid? [False, False] Translation: X:9.22, Y:-0.38, Z:0.06 [[ 9.99605014e-01 -8.68953075e-03 -2.67265252e-02 9.22418736e+00] [ 7.69653385e-03 9.99284328e-01 -3.70350450e-02 -3.77274266e-01] [ 2.70292150e-02 3.68147150e-02 9.98956505e-01 5.82939480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.56650248099999 meters Centerline goodness : 0.576890 with order 1 Centerline is valid? [False, False] Translation: X:9.27, Y:-0.38, Z:0.06 [[ 9.99580667e-01 -4.84783677e-03 -2.85480226e-02 9.27038814e+00] [ 3.77223422e-03 9.99285336e-01 -3.76110041e-02 -3.84954429e-01] [ 2.87099524e-02 3.74875427e-02 9.98884589e-01 5.81654268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.626502480999996 meters Centerline goodness : 0.142631 with order 2 Centerline is valid? [False, False] Translation: X:9.32, Y:-0.39, Z:0.06 [[ 9.99504071e-01 -6.52168819e-04 -3.14831258e-02 9.31891642e+00] [-4.94675732e-04 9.99336969e-01 -3.64057504e-02 -3.91568804e-01] [ 3.14859941e-02 3.64032696e-02 9.98841045e-01 5.80439500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.686502481 meters Centerline goodness : 0.526122 with order 1 Centerline is valid? [False, False] Translation: X:9.36, Y:-0.40, Z:0.06 [[ 9.99465796e-01 -2.45533492e-03 -3.25897982e-02 9.36408132e+00] [ 1.08740760e-03 9.99120142e-01 -4.19256317e-02 -3.98381012e-01] [ 3.26640653e-02 4.18677964e-02 9.98589078e-01 5.91641828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.74650248099999 meters Centerline goodness : 0.657546 with order 1 Centerline is valid? [False, False] Translation: X:9.40, Y:-0.40, Z:0.06 [[ 9.99508271e-01 -8.77587035e-03 -3.01031690e-02 9.39823760e+00] [ 7.50090067e-03 9.99080694e-01 -4.22078615e-02 -4.01779347e-01] [ 3.04459057e-02 4.19613057e-02 9.98655244e-01 6.05147569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.806502480999995 meters Centerline goodness : 0.662853 with order 1 Centerline is valid? [False, False] Translation: X:9.44, Y:-0.41, Z:0.06 [[ 0.99945306 -0.01320141 -0.03032017 9.43664556] [ 0.01200334 0.99915293 -0.03936156 -0.40623361] [ 0.03081411 0.03897609 0.99876491 0.06095604] [ 0. 0. 0. 1. ]] SLAMing on 39.866502481 meters Centerline goodness : 0.732740 with order 3 Centerline is valid? [False, False] Translation: X:9.46, Y:-0.41, Z:0.06 [[ 0.99940735 -0.01347078 -0.031678 9.46052717] [ 0.01209129 0.99898709 -0.04334276 -0.41038752] [ 0.03222977 0.04293404 0.99855792 0.05914693] [ 0. 0. 0. 1. ]] SLAMing on 39.92650248099999 meters Centerline goodness : 0.719324 with order 1 Centerline is valid? [False, False] Translation: X:9.50, Y:-0.41, Z:0.06 [[ 0.99943619 -0.01250676 -0.03115889 9.49565651] [ 0.01132498 0.99922042 -0.03781938 -0.41461887] [ 0.03160759 0.03744518 0.99879869 0.05958985] [ 0. 0. 0. 1. ]] SLAMing on 39.986502480999995 meters Centerline goodness : 0.661287 with order 1 Centerline is valid? [False, False] Translation: X:9.54, Y:-0.42, Z:0.06 [[ 9.99414052e-01 -7.45790885e-03 -3.34055753e-02 9.54040540e+00] [ 6.21431052e-03 9.99289351e-01 -3.71776156e-02 -4.19911615e-01] [ 3.36591030e-02 3.69482388e-02 9.98750165e-01 6.02956883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.046502481 meters Centerline goodness : 0.713759 with order 2 Centerline is valid? [False, False] Translation: X:9.56, Y:-0.42, Z:0.06 [[ 9.99452411e-01 -6.01007618e-03 -3.25385344e-02 9.56101665e+00] [ 4.63138010e-03 9.99094984e-01 -4.22819582e-02 -4.20208472e-01] [ 3.27632043e-02 4.21081068e-02 9.98575726e-01 5.87196221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.10650248099999 meters Centerline goodness : 0.719458 with order 1 Centerline is valid? [False, False] Translation: X:9.61, Y:-0.42, Z:0.06 [[ 9.99473841e-01 -4.35652375e-03 -3.21412828e-02 9.61158991e+00] [ 3.06784847e-03 9.99193568e-01 -4.00349988e-02 -4.23713041e-01] [ 3.22897765e-02 3.99153294e-02 9.98681199e-01 6.08222367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.166502480999995 meters Centerline goodness : 0.669353 with order 3 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.43, Z:0.06 [[ 9.99445892e-01 -3.12132826e-03 -3.31386053e-02 9.66168298e+00] [ 1.87179291e-03 9.99288458e-01 -3.76706131e-02 -4.25633960e-01] [ 3.32326081e-02 3.75877109e-02 9.98740586e-01 6.39601743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.226502481 meters Centerline goodness : 0.715609 with order 1 Centerline is valid? [False, False] Translation: X:9.71, Y:-0.42, Z:0.06 [[ 9.99507798e-01 -2.84480010e-03 -3.12421053e-02 9.71419005e+00] [ 1.63033215e-03 9.99244513e-01 -3.88296879e-02 -4.24835113e-01] [ 3.13289650e-02 3.87596408e-02 9.98757321e-01 6.41516324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.28650248099999 meters Centerline goodness : 0.712815 with order 1 Centerline is valid? [False, False] Translation: X:9.77, Y:-0.42, Z:0.07 [[ 9.99532087e-01 -1.46975342e-03 -3.05523592e-02 9.76616776e+00] [ 2.86192731e-04 9.99250559e-01 -3.87070963e-02 -4.24902884e-01] [ 3.05863519e-02 3.86802409e-02 9.98783417e-01 6.50196516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.346502480999995 meters Centerline goodness : 0.716547 with order 1 Centerline is valid? [False, False] Translation: X:9.81, Y:-0.42, Z:0.07 [[ 9.99465357e-01 4.19220362e-03 -3.24256898e-02 9.81096657e+00] [-5.44607922e-03 9.99236882e-01 -3.86780679e-02 -4.24758449e-01] [ 3.22387988e-02 3.88339818e-02 9.98725479e-01 6.57836291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.406502481 meters Centerline goodness : 0.713288 with order 1 Centerline is valid? [False, False] Translation: X:9.83, Y:-0.43, Z:0.06 [[ 9.99393741e-01 7.03699783e-03 -3.40973780e-02 9.83405556e+00] [-8.47777435e-03 9.99069149e-01 -4.22961315e-02 -4.25618814e-01] [ 3.37680006e-02 4.25595589e-02 9.98523112e-01 6.37048792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.46650248099999 meters Centerline goodness : 0.716888 with order 1 Centerline is valid? [False, False] Translation: X:9.88, Y:-0.43, Z:0.06 [[ 9.99469884e-01 9.46677067e-03 -3.11501334e-02 9.88444941e+00] [-1.07311553e-02 9.99114743e-01 -4.06764354e-02 -4.28650285e-01] [ 3.07374830e-02 4.09891491e-02 9.98686686e-01 6.44900917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.526502480999994 meters Centerline goodness : 0.714771 with order 2 Centerline is valid? [False, False] Translation: X:9.93, Y:-0.43, Z:0.06 [[ 0.99928731 0.01672473 -0.03384023 9.93113602] [-0.0180865 0.99902216 -0.04034364 -0.43088429] [ 0.0331324 0.04092694 0.99861265 0.06380527] [ 0. 0. 0. 1. ]] SLAMing on 40.586502481 meters Centerline goodness : 0.354276 with order 2 Centerline is valid? [False, False] Translation: X:9.98, Y:-0.43, Z:0.06 [[ 0.99912221 0.02033198 -0.0366253 9.97711701] [-0.02197364 0.99874562 -0.04499281 -0.43323751] [ 0.03566456 0.04575811 0.9983157 0.06308323] [ 0. 0. 0. 1. ]] SLAMing on 40.64650248099999 meters Centerline goodness : 0.699457 with order 3 Centerline is valid? [False, False] Translation: X:10.03, Y:-0.44, Z:0.07 [[ 0.99916886 0.0184464 -0.03635009 10.03222491] [-0.02001802 0.99885907 -0.04335709 -0.43612599] [ 0.03550883 0.04404871 0.99839813 0.06577876] [ 0. 0. 0. 1. ]] SLAMing on 40.706502480999994 meters Centerline goodness : 0.396977 with order 2 Centerline is valid? [False, False] Translation: X:10.09, Y:-0.44, Z:0.07 [[ 0.99927453 0.01443773 -0.03524158 10.08724927] [-0.01600821 0.99887238 -0.0446958 -0.43875762] [ 0.03455653 0.04522753 0.99837884 0.0675784 ] [ 0. 0. 0. 1. ]] SLAMing on 40.766502480999996 meters Centerline goodness : 0.699069 with order 3 Centerline is valid? [False, False] Translation: X:10.13, Y:-0.44, Z:0.07 [[ 9.99497740e-01 2.84875106e-03 -3.15618924e-02 1.01294346e+01] [-4.27715058e-03 9.98965068e-01 -4.52824414e-02 -4.41633929e-01] [ 3.14002296e-02 4.53946928e-02 9.98475512e-01 6.90590872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.826502481 meters Centerline goodness : 0.703696 with order 2 Centerline is valid? [False, False] Translation: X:10.18, Y:-0.44, Z:0.07 [[ 9.99497435e-01 -6.79588580e-03 -3.09627739e-02 1.01782267e+01] [ 5.55996554e-03 9.99191041e-01 -3.98290189e-02 -4.43892894e-01] [ 3.12083997e-02 3.96368503e-02 9.98726667e-01 6.99334572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.886502480999994 meters Centerline goodness : 0.157314 with order 1 Centerline is valid? [False, False] Translation: X:10.22, Y:-0.45, Z:0.07 [[ 9.99487637e-01 -6.88071937e-03 -3.12588959e-02 1.02173182e+01] [ 5.43500191e-03 9.98921971e-01 -4.61015817e-02 -4.49658789e-01] [ 3.15424099e-02 4.59080688e-02 9.98447558e-01 7.38466301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.946502480999996 meters Centerline goodness : 0.517187 with order 2 Centerline is valid? [False, False] Translation: X:10.26, Y:-0.45, Z:0.07 [[ 9.99409036e-01 1.49744865e-03 -3.43414622e-02 1.02626191e+01] [-3.06421306e-03 9.98954350e-01 -4.56159779e-02 -4.49599185e-01] [ 3.42372455e-02 4.56942500e-02 9.98368593e-01 7.39340403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.006502481 meters Centerline goodness : 0.713253 with order 2 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.45, Z:0.07 [[ 0.9992486 0.01353159 -0.03631997 10.30642151] [-0.015089 0.99896308 -0.04295439 -0.44981716] [ 0.03570107 0.04347015 0.99841664 0.07330673] [ 0. 0. 0. 1. ]] SLAMing on 41.06650248099999 meters Centerline goodness : 0.596006 with order 1 Centerline is valid? [False, False] Translation: X:10.35, Y:-0.45, Z:0.07 [[ 0.99908401 0.02068948 -0.03745776 10.34970201] [-0.02231315 0.99880593 -0.04346078 -0.45152486] [ 0.03651385 0.04425677 0.99835268 0.07411438] [ 0. 0. 0. 1. ]] SLAMing on 41.126502480999996 meters Centerline goodness : 0.704035 with order 3 Centerline is valid? [False, False] Translation: X:10.39, Y:-0.45, Z:0.08 [[ 0.99914913 0.01871074 -0.03675491 10.38507411] [-0.02023377 0.99893309 -0.04151231 -0.45319927] [ 0.03593897 0.04222068 0.99846172 0.07554919] [ 0. 0. 0. 1. ]] SLAMing on 41.186502481 meters Centerline goodness : 0.629844 with order 1 Centerline is valid? [False, False] Translation: X:10.42, Y:-0.46, Z:0.08 [[ 0.99927226 0.01309866 -0.03582431 10.42181712] [-0.01456729 0.99905104 -0.04104657 -0.45726926] [ 0.03525266 0.04153856 0.9985148 0.07682596] [ 0. 0. 0. 1. ]] SLAMing on 41.24650248099999 meters Centerline goodness : 0.717940 with order 2 Centerline is valid? [False, False] Translation: X:10.46, Y:-0.46, Z:0.08 [[ 9.99389960e-01 8.13427623e-03 -3.39638175e-02 1.04568311e+01] [-9.49519560e-03 9.99150450e-01 -4.01026002e-02 -4.60586079e-01] [ 3.36087580e-02 4.04006292e-02 9.98618166e-01 7.75570336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.306502480999995 meters Centerline goodness : 0.314373 with order 2 Centerline is valid? [False, False] Translation: X:10.49, Y:-0.46, Z:0.08 [[ 9.99476823e-01 1.98496032e-03 -3.22821989e-02 1.04929352e+01] [-3.29788238e-03 9.99167276e-01 -4.06679115e-02 -4.64904795e-01] [ 3.21745926e-02 4.07530979e-02 9.98651081e-01 7.73655870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.366502481 meters Centerline goodness : 0.627223 with order 1 Centerline is valid? [False, False] Translation: X:10.54, Y:-0.47, Z:0.08 [[ 9.99515163e-01 -5.73566444e-03 -3.06029574e-02 1.05374487e+01] [ 4.58224424e-03 9.99281320e-01 -3.76277271e-02 -4.66091255e-01] [ 3.07967837e-02 3.74692535e-02 9.98823114e-01 7.74553746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.42650248099999 meters Centerline goodness : 0.463416 with order 3 Centerline is valid? [False, False] Translation: X:10.59, Y:-0.46, Z:0.08 [[ 9.99479292e-01 -4.21652016e-03 -3.19900910e-02 1.05893336e+01] [ 2.98850944e-03 9.99260345e-01 -3.83383749e-02 -4.64666586e-01] [ 3.21280839e-02 3.82228091e-02 9.98752624e-01 7.85218619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.486502480999995 meters Centerline goodness : 0.600778 with order 1 Centerline is valid? [False, False] Translation: X:10.64, Y:-0.46, Z:0.08 [[ 9.99530520e-01 5.53243936e-03 -3.01352381e-02 1.06388723e+01] [-6.94409940e-03 9.98873442e-01 -4.69428028e-02 -4.64058259e-01] [ 2.98415808e-02 4.71300262e-02 9.98442908e-01 8.10102404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.546502481 meters Centerline goodness : 0.724053 with order 3 Centerline is valid? [False, False] Translation: X:10.68, Y:-0.46, Z:0.08 [[ 0.99940158 0.01396293 -0.03164668 10.68318436] [-0.01539297 0.99885011 -0.0454039 -0.46212892] [ 0.03097632 0.04586387 0.99846731 0.08207012] [ 0. 0. 0. 1. ]] SLAMing on 41.60650248099999 meters Centerline goodness : 0.242948 with order 1 Centerline is valid? [False, False] Translation: X:10.73, Y:-0.46, Z:0.08 [[ 0.99916664 0.01918042 -0.0360296 10.73169037] [-0.0208222 0.99873548 -0.04575891 -0.46265206] [ 0.03510636 0.04647099 0.99830255 0.08110986] [ 0. 0. 0. 1. ]] SLAMing on 41.666502480999995 meters Centerline goodness : 0.145936 with order 1 Centerline is valid? [False, False] Translation: X:10.79, Y:-0.46, Z:0.08 [[ 0.99916913 0.01517528 -0.03782529 10.78716652] [-0.01693733 0.99876501 -0.04670744 -0.46381516] [ 0.03706978 0.04730929 0.9981922 0.08241814] [ 0. 0. 0. 1. ]] SLAMing on 41.726502481 meters Centerline goodness : 0.654956 with order 1 Centerline is valid? [False, False] Translation: X:10.84, Y:-0.46, Z:0.08 [[ 9.99240909e-01 4.70944623e-03 -3.86707388e-02 1.08351134e+01] [-6.45392672e-03 9.98961135e-01 -4.51109524e-02 -4.64602122e-01] [ 3.84181175e-02 4.53262872e-02 9.98233227e-01 8.29684088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.78650248099999 meters Centerline goodness : 0.500301 with order 1 Centerline is valid? [False, False] Translation: X:10.88, Y:-0.47, Z:0.08 [[ 9.99257956e-01 -6.37234175e-03 -3.79859193e-02 1.08809711e+01] [ 4.65875767e-03 9.98974770e-01 -4.50300532e-02 -4.65900762e-01] [ 3.82339219e-02 4.48196718e-02 9.98263174e-01 8.35676247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.846502480999995 meters Centerline goodness : 0.646139 with order 1 Centerline is valid? [False, False] Translation: X:10.93, Y:-0.47, Z:0.09 [[ 9.99322108e-01 -8.62477567e-03 -3.57901791e-02 1.09331212e+01] [ 6.99329739e-03 9.98941593e-01 -4.54619257e-02 -4.66160602e-01] [ 3.61443975e-02 4.51808161e-02 9.98324735e-01 8.58448701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.906502481 meters Centerline goodness : 0.707784 with order 2 Centerline is valid? [False, False] Translation: X:10.99, Y:-0.46, Z:0.09 [[ 9.99327206e-01 -6.39158306e-03 -3.61148518e-02 1.09856388e+01] [ 4.84670341e-03 9.99076028e-01 -4.27036181e-02 -4.62310616e-01] [ 3.63544264e-02 4.24998494e-02 9.98434834e-01 8.84819435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.96650248099999 meters Centerline goodness : 0.173550 with order 1 Centerline is valid? [False, False] Translation: X:11.05, Y:-0.46, Z:0.09 [[ 9.99433916e-01 -1.90109557e-03 -3.35891720e-02 1.10453630e+01] [ 2.79101052e-04 9.98836312e-01 -4.82280489e-02 -4.59517972e-01] [ 3.36417708e-02 4.81913731e-02 9.98271417e-01 9.05204095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.026502480999994 meters Centerline goodness : 0.638029 with order 1 Centerline is valid? [False, False] Translation: X:11.09, Y:-0.46, Z:0.09 [[ 9.99342887e-01 4.29325644e-03 -3.59911474e-02 1.10901797e+01] [-6.09585361e-03 9.98724332e-01 -5.01253338e-02 -4.56100782e-01] [ 3.57300337e-02 5.03117925e-02 9.98094228e-01 9.10075284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.086502481 meters Centerline goodness : 0.640033 with order 1 Centerline is valid? [False, False] Translation: X:11.13, Y:-0.46, Z:0.09 [[ 9.99232788e-01 8.35256127e-03 -3.82631777e-02 1.11347170e+01] [-1.02868508e-02 9.98664115e-01 -5.06375977e-02 -4.55299001e-01] [ 3.77891089e-02 5.09923555e-02 9.97983849e-01 9.29309576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.14650248099999 meters Centerline goodness : 0.639604 with order 1 Centerline is valid? [False, False] Translation: X:11.19, Y:-0.46, Z:0.09 [[ 9.99229386e-01 6.12932269e-03 -3.87693782e-02 1.11884069e+01] [-8.17491450e-03 9.98570237e-01 -5.28266300e-02 -4.57029761e-01] [ 3.83901557e-02 5.31028574e-02 9.97850832e-01 9.30928438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.206502480999994 meters Centerline goodness : 0.700768 with order 2 Centerline is valid? [False, False] Translation: X:11.24, Y:-0.46, Z:0.09 [[ 9.99200913e-01 2.68579693e-03 -3.98788487e-02 1.12423264e+01] [-4.83672056e-03 9.98532553e-01 -5.39383659e-02 -4.60616657e-01] [ 3.96754611e-02 5.40881473e-02 9.97747628e-01 9.48886008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.266502480999996 meters Centerline goodness : 0.659833 with order 3 Centerline is valid? [False, False] Translation: X:11.30, Y:-0.46, Z:0.10 [[ 9.99155076e-01 1.16047475e-03 -4.10826897e-02 1.12958261e+01] [-3.30008564e-03 9.98638966e-01 -5.20511688e-02 -4.62373983e-01] [ 4.09663707e-02 5.21427659e-02 9.97799022e-01 9.83080501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.32650248099999 meters Centerline goodness : 0.670773 with order 2 Centerline is valid? [False, False] Translation: X:11.35, Y:-0.46, Z:0.10 [[ 9.99113115e-01 -1.51023107e-03 -4.20797101e-02 1.13496076e+01] [-7.12501769e-04 9.98607128e-01 -5.27569549e-02 -4.64092755e-01] [ 4.21007737e-02 5.27401474e-02 9.97720403e-01 1.01261776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.386502480999994 meters Centerline goodness : 0.641923 with order 1 Centerline is valid? [False, False] Translation: X:11.40, Y:-0.47, Z:0.10 [[ 9.99085321e-01 -7.63921721e-03 -4.20733133e-02 1.14047906e+01] [ 5.28359620e-03 9.98426995e-01 -5.58177405e-02 -4.66512398e-01] [ 4.24335355e-02 5.55443868e-02 9.97554117e-01 1.02830456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.446502480999996 meters Centerline goodness : 0.714412 with order 2 Centerline is valid? [False, False] Translation: X:11.45, Y:-0.47, Z:0.10 [[ 0.99905943 -0.01688485 -0.03993934 11.44970446] [ 0.0148146 0.99855926 -0.05157455 -0.46836023] [ 0.04075263 0.05093435 0.99787019 0.10415703] [ 0. 0. 0. 1. ]] SLAMing on 42.506502481 meters Centerline goodness : 0.717764 with order 2 Centerline is valid? [False, False] Translation: X:11.50, Y:-0.47, Z:0.11 [[ 0.9990175 -0.01720654 -0.04084082 11.50412192] [ 0.01514021 0.99861557 -0.05037577 -0.46667008] [ 0.04165107 0.04970793 0.99789494 0.10581123] [ 0. 0. 0. 1. ]] SLAMing on 42.56650248099999 meters Centerline goodness : 0.191926 with order 1 Centerline is valid? [False, False] Translation: X:11.55, Y:-0.47, Z:0.11 [[ 9.99030765e-01 -1.34665732e-02 -4.19068245e-02 1.15478397e+01] [ 1.12380982e-02 9.98533108e-01 -5.29654370e-02 -4.65084438e-01] [ 4.25586146e-02 5.24431481e-02 9.97716633e-01 1.07424695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.626502480999996 meters Centerline goodness : 0.181311 with order 1 Centerline is valid? [False, False] Translation: X:11.60, Y:-0.46, Z:0.11 [[ 9.99123559e-01 -1.18523486e-02 -4.01451944e-02 1.15974220e+01] [ 9.77455632e-03 9.98621884e-01 -5.15634620e-02 -4.63140199e-01] [ 4.07010177e-02 5.11258682e-02 9.97862502e-01 1.10885165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.686502481 meters Centerline goodness : 0.699809 with order 2 Centerline is valid? [False, False] Translation: X:11.64, Y:-0.46, Z:0.11 [[ 9.99102614e-01 -8.89901313e-03 -4.14098332e-02 1.16415945e+01] [ 6.66075616e-03 9.98525269e-01 -5.38787632e-02 -4.63306108e-01] [ 4.18282326e-02 5.35545924e-02 9.97688481e-01 1.12334567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.74650248099999 meters Centerline goodness : 0.712645 with order 2 Centerline is valid? [False, False] Translation: X:11.70, Y:-0.46, Z:0.11 [[ 9.98992705e-01 -7.57155096e-03 -4.42294877e-02 1.16957749e+01] [ 5.27267381e-03 9.98640267e-01 -5.18634315e-02 -4.62826216e-01] [ 4.45620340e-02 5.15779820e-02 9.97674264e-01 1.14169818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.806502480999995 meters Centerline goodness : 0.648596 with order 2 Centerline is valid? [False, False] Translation: X:11.74, Y:-0.46, Z:0.11 [[ 9.98914116e-01 -4.58281599e-03 -4.63636389e-02 1.17428139e+01] [ 2.02024735e-03 9.98475061e-01 -5.51676690e-02 -4.63750905e-01] [ 4.65457605e-02 5.50140973e-02 9.97400091e-01 1.13351612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.866502481 meters Centerline goodness : 0.690215 with order 3 Centerline is valid? [False, False] Translation: X:11.78, Y:-0.47, Z:0.12 [[ 9.98898708e-01 -2.35094902e-03 -4.68598398e-02 1.17840558e+01] [-3.43356515e-04 9.98350839e-01 -5.74063061e-02 -4.65412663e-01] [ 4.69175197e-02 5.73591746e-02 9.97250556e-01 1.15807343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.92650248099999 meters Centerline goodness : 0.719102 with order 1 Centerline is valid? [False, False] Translation: X:11.84, Y:-0.47, Z:0.12 [[ 9.98910314e-01 -1.62135998e-03 -4.66428573e-02 1.18369533e+01] [-9.04270650e-04 9.98536398e-01 -5.40762806e-02 -4.65706563e-01] [ 4.66622678e-02 5.40595321e-02 9.97446841e-01 1.19019335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.986502480999995 meters Centerline goodness : 0.644491 with order 1 Centerline is valid? [False, False] Translation: X:11.89, Y:-0.47, Z:0.12 [[ 9.98767116e-01 -3.02538164e-03 -4.95489064e-02 1.18852921e+01] [ 6.82652386e-05 9.98223889e-01 -5.95740120e-02 -4.69907590e-01] [ 4.96411362e-02 5.94971817e-02 9.96993402e-01 1.19187527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.046502481 meters Centerline goodness : 0.651367 with order 1 Centerline is valid? [False, False] Translation: X:11.94, Y:-0.47, Z:0.12 [[ 9.98815310e-01 -7.04780369e-03 -4.81487795e-02 1.19397229e+01] [ 4.14714198e-03 9.98184945e-01 -6.00800824e-02 -4.73657141e-01] [ 4.84848194e-02 5.98092263e-02 9.97031634e-01 1.21445083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.10650248099999 meters Centerline goodness : 0.721683 with order 2 Centerline is valid? [False, False] Translation: X:11.99, Y:-0.48, Z:0.12 [[ 9.98947611e-01 -5.86278446e-03 -4.54895327e-02 1.19921754e+01] [ 3.32092708e-03 9.98439041e-01 -5.57535014e-02 -4.77279907e-01] [ 4.57453961e-02 5.55437596e-02 9.97407765e-01 1.24917969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.166502480999995 meters Centerline goodness : 0.720230 with order 1 Centerline is valid? [False, False] Translation: X:12.03, Y:-0.48, Z:0.13 [[ 9.98944758e-01 -2.99812478e-03 -4.58299249e-02 1.20337256e+01] [ 3.46734778e-04 9.98330923e-01 -5.77516067e-02 -4.81256986e-01] [ 4.59265777e-02 5.76747739e-02 9.97278482e-01 1.26906716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.226502481 meters Centerline goodness : 0.623511 with order 1 Centerline is valid? [False, False] Translation: X:12.08, Y:-0.48, Z:0.13 [[ 9.98905307e-01 -5.66205628e-04 -4.67746427e-02 1.20784311e+01] [-2.22840693e-03 9.98215518e-01 -5.96725618e-02 -4.84085097e-01] [ 4.67249611e-02 5.97114716e-02 9.97121516e-01 1.28296561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.28650248099999 meters Centerline goodness : 0.715717 with order 1 Centerline is valid? [False, False] Translation: X:12.13, Y:-0.49, Z:0.13 [[ 9.98781888e-01 -1.28964421e-03 -4.93262303e-02 1.21325023e+01] [-1.58984098e-03 9.98298275e-01 -5.82925949e-02 -4.89140449e-01] [ 4.93174673e-02 5.83000089e-02 9.97080186e-01 1.30204918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.346502480999995 meters Centerline goodness : 0.221405 with order 1 Centerline is valid? [False, False] Translation: X:12.18, Y:-0.49, Z:0.13 [[ 9.98710719e-01 -7.76379609e-04 -5.07572316e-02 1.21784417e+01] [-2.30571246e-03 9.98157314e-01 -6.06354728e-02 -4.94451309e-01] [ 5.07107781e-02 6.06743282e-02 9.96868619e-01 1.31919291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.406502481 meters Centerline goodness : 0.644232 with order 1 Centerline is valid? [False, False] Translation: X:12.22, Y:-0.50, Z:0.13 [[ 9.98621666e-01 1.37744609e-04 -5.24857037e-02 1.22247392e+01] [-3.46115302e-03 9.97992686e-01 -6.32346343e-02 -4.99413952e-01] [ 5.23716382e-02 6.33291369e-02 9.96617596e-01 1.33193245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.46650248099999 meters Centerline goodness : 0.708930 with order 1 Centerline is valid? [False, False] Translation: X:12.26, Y:-0.50, Z:0.13 [[ 9.98598449e-01 -3.57938978e-03 -5.28046028e-02 1.22631045e+01] [ 4.31534067e-04 9.98227937e-01 -5.95046162e-02 -5.03193394e-01] [ 5.29240199e-02 5.93984304e-02 9.96830414e-01 1.34678325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.526502480999994 meters Centerline goodness : 0.707958 with order 1 Centerline is valid? [False, False] Translation: X:12.30, Y:-0.51, Z:0.14 [[ 9.98604784e-01 -9.83077933e-03 -5.18829480e-02 1.22994514e+01] [ 6.81120027e-03 9.98289919e-01 -5.80589740e-02 -5.06390372e-01] [ 5.23649889e-02 5.76245840e-02 9.96964049e-01 1.36936555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.586502481 meters Centerline goodness : 0.636173 with order 1 Centerline is valid? [False, False] Translation: X:12.35, Y:-0.51, Z:0.14 [[ 0.99839759 -0.02088812 -0.05259215 12.34702326] [ 0.01790201 0.99823511 -0.05662325 -0.51034429] [ 0.05368208 0.05559101 0.99700947 0.13747244] [ 0. 0. 0. 1. ]] SLAMing on 43.64650248099999 meters Centerline goodness : 0.705083 with order 3 Centerline is valid? [False, False] Translation: X:12.40, Y:-0.51, Z:0.14 [[ 0.99825971 -0.02294481 -0.05432397 12.40233217] [ 0.01996236 0.99829662 -0.05482117 -0.51308072] [ 0.0554893 0.05364133 0.99701732 0.14009136] [ 0. 0. 0. 1. ]] SLAMing on 43.706502480999994 meters Centerline goodness : 0.204224 with order 1 Centerline is valid? [False, False] Translation: X:12.45, Y:-0.51, Z:0.14 [[ 0.99839377 -0.0244146 -0.05112541 12.4529322 ] [ 0.02164088 0.99829983 -0.05412131 -0.51422671] [ 0.05235984 0.05292798 0.99722469 0.14448709] [ 0. 0. 0. 1. ]] SLAMing on 43.766502480999996 meters Centerline goodness : 0.672833 with order 2 Centerline is valid? [False, False] Translation: X:12.50, Y:-0.51, Z:0.15 [[ 0.99841761 -0.01939847 -0.05278242 12.49958189] [ 0.01651994 0.9983806 -0.0544359 -0.51480774] [ 0.05375291 0.0534778 0.99712123 0.14576205] [ 0. 0. 0. 1. ]] SLAMing on 43.82650248099999 meters Centerline goodness : 0.673375 with order 2 Centerline is valid? [False, False] Translation: X:12.54, Y:-0.52, Z:0.15 [[ 9.98508045e-01 -1.38087608e-02 -5.28299403e-02 1.25415320e+01] [ 1.08883536e-02 9.98417427e-01 -5.51732366e-02 -5.15320590e-01] [ 5.35082070e-02 5.45156895e-02 9.97078187e-01 1.48464432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.886502480999994 meters Centerline goodness : 0.677589 with order 3 Centerline is valid? [False, False] Translation: X:12.58, Y:-0.52, Z:0.15 [[ 9.98514281e-01 -6.13934335e-03 -5.41436955e-02 1.25845584e+01] [ 3.27119014e-03 9.98594279e-01 -5.29033538e-02 -5.15213453e-01] [ 5.43923764e-02 5.26476400e-02 9.97130731e-01 1.51978426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.946502480999996 meters Centerline goodness : 0.633640 with order 1 Centerline is valid? [False, False] Translation: X:12.63, Y:-0.52, Z:0.15 [[ 9.98451993e-01 -1.75107524e-03 -5.55927336e-02 1.26292099e+01] [-1.28514537e-03 9.98511156e-01 -5.45327406e-02 -5.16227278e-01] [ 5.56054557e-02 5.45197683e-02 9.96963203e-01 1.54238116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.00650248099999 meters Centerline goodness : 0.142456 with order 1 Centerline is valid? [False, False] Translation: X:12.69, Y:-0.52, Z:0.15 [[ 9.98259852e-01 -2.10331996e-03 -5.89308419e-02 1.26853631e+01] [-1.14834739e-03 9.98480757e-01 -5.50895507e-02 -5.17736535e-01] [ 5.89571826e-02 5.50613598e-02 9.96740838e-01 1.54449091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.06650248099999 meters Centerline goodness : 0.153088 with order 1 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.52, Z:0.16 [[ 9.98259446e-01 -3.99703596e-03 -5.88396289e-02 1.27399307e+01] [ 8.37209365e-04 9.98560561e-01 -5.36293374e-02 -5.17329285e-01] [ 5.89692912e-02 5.34867315e-02 9.96825859e-01 1.58173710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.126502480999996 meters Centerline goodness : 0.160200 with order 1 Centerline is valid? [False, False] Translation: X:12.80, Y:-0.52, Z:0.16 [[ 9.98233247e-01 -9.96230235e-03 -5.85759060e-02 1.27956677e+01] [ 6.72286262e-03 9.98450334e-01 -5.52424939e-02 -5.16473626e-01] [ 5.90354753e-02 5.47510963e-02 9.96753295e-01 1.61834492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.186502481 meters Centerline goodness : 0.151807 with order 1 Centerline is valid? [False, False] Translation: X:12.85, Y:-0.52, Z:0.17 [[ 0.99811871 -0.01856993 -0.05843118 12.85154877] [ 0.0151075 0.99813478 -0.05915008 -0.51545677] [ 0.0594206 0.05815605 0.99653754 0.16516934] [ 0. 0. 0. 1. ]] SLAMing on 44.24650248099999 meters Centerline goodness : 0.626270 with order 1 Centerline is valid? [False, False] Translation: X:12.91, Y:-0.51, Z:0.17 [[ 0.99789866 -0.02470435 -0.05989958 12.90851971] [ 0.02097738 0.99785132 -0.06207006 -0.51284262] [ 0.06130428 0.06068309 0.99627273 0.16795898] [ 0. 0. 0. 1. ]] SLAMing on 44.306502480999995 meters Centerline goodness : 0.643169 with order 2 Centerline is valid? [False, False] Translation: X:12.96, Y:-0.51, Z:0.17 [[ 0.99784169 -0.02492913 -0.06074944 12.9632336 ] [ 0.02132059 0.99801004 -0.05934132 -0.5086404 ] [ 0.06210788 0.05791803 0.99638753 0.17130641] [ 0. 0. 0. 1. ]] SLAMing on 44.366502481 meters Centerline goodness : 0.561315 with order 1 Centerline is valid? [False, False] Translation: X:13.02, Y:-0.51, Z:0.18 [[ 0.99774959 -0.02559573 -0.06197264 13.01581846] [ 0.02192103 0.99800149 -0.05926624 -0.50544982] [ 0.06336575 0.05777436 0.99631667 0.17500139] [ 0. 0. 0. 1. ]] SLAMing on 44.42650248099999 meters Centerline goodness : 0.559199 with order 3 Centerline is valid? [False, False] Translation: X:13.06, Y:-0.50, Z:0.18 [[ 0.99769443 -0.02684891 -0.06232951 13.0593012 ] [ 0.02284341 0.99768138 -0.06410954 -0.50412592] [ 0.06390626 0.06253791 0.99599448 0.17884563] [ 0. 0. 0. 1. ]] SLAMing on 44.486502480999995 meters Centerline goodness : 0.709032 with order 1 Centerline is valid? [False, False] Translation: X:13.12, Y:-0.50, Z:0.18 [[ 0.99734974 -0.02788226 -0.06720177 13.11707891] [ 0.02383105 0.99789277 -0.06034975 -0.50099169] [ 0.06874285 0.05858832 0.99591256 0.18102851] [ 0. 0. 0. 1. ]] SLAMing on 44.546502481 meters Centerline goodness : 0.596114 with order 3 Centerline is valid? [False, False] Translation: X:13.16, Y:-0.50, Z:0.18 [[ 0.99728279 -0.02774152 -0.06824553 13.16250765] [ 0.02333483 0.99764215 -0.06454174 -0.49895188] [ 0.06987511 0.06277386 0.99557868 0.18376191] [ 0. 0. 0. 1. ]] SLAMing on 44.60650248099999 meters Centerline goodness : 0.707426 with order 1 Centerline is valid? [False, False] Translation: X:13.21, Y:-0.50, Z:0.19 [[ 0.99726011 -0.02437513 -0.06984358 13.20681273] [ 0.01984346 0.99769719 -0.06485792 -0.4951955 ] [ 0.07126367 0.06329428 0.9954473 0.18774321] [ 0. 0. 0. 1. ]] SLAMing on 44.666502480999995 meters Centerline goodness : 0.706502 with order 1 Centerline is valid? [False, False] Translation: X:13.25, Y:-0.49, Z:0.19 [[ 0.99712486 -0.02067339 -0.07290142 13.25491682] [ 0.01615721 0.99794514 -0.06200362 -0.49043092] [ 0.07403344 0.06064746 0.99540993 0.19189342] [ 0. 0. 0. 1. ]] SLAMing on 44.726502481 meters Centerline goodness : 0.706081 with order 2 Centerline is valid? [False, False] Translation: X:13.30, Y:-0.48, Z:0.20 [[ 0.99710118 -0.02367825 -0.07230893 13.30308483] [ 0.01885124 0.99759343 -0.06672312 -0.4842823 ] [ 0.0737148 0.06516659 0.99514795 0.1961225 ] [ 0. 0. 0. 1. ]] SLAMing on 44.78650248099999 meters Centerline goodness : 0.702487 with order 3 Centerline is valid? [False, False] Translation: X:13.35, Y:-0.48, Z:0.20 [[ 0.99701903 -0.02754197 -0.07207278 13.3544341 ] [ 0.02262206 0.99741443 -0.06821066 -0.47766747] [ 0.07376509 0.06637689 0.99506423 0.20184609] [ 0. 0. 0. 1. ]] SLAMing on 44.846502480999995 meters Centerline goodness : 0.708712 with order 1 Centerline is valid? [False, False] Translation: X:13.41, Y:-0.47, Z:0.21 [[ 0.99703345 -0.02916267 -0.0712309 13.40654691] [ 0.02443261 0.99749416 -0.06639614 -0.47086646] [ 0.0729887 0.06445881 0.99524756 0.20785797] [ 0. 0. 0. 1. ]] SLAMing on 44.906502481 meters Centerline goodness : 0.709548 with order 1 Centerline is valid? [False, False] Translation: X:13.45, Y:-0.47, Z:0.21 [[ 0.99685052 -0.03019206 -0.07333132 13.45409477] [ 0.02503368 0.99721374 -0.07027146 -0.46627528] [ 0.07524864 0.06821439 0.99482885 0.21015443] [ 0. 0. 0. 1. ]] SLAMing on 44.96650248099999 meters Centerline goodness : 0.703547 with order 1 Centerline is valid? [False, False] Translation: X:13.51, Y:-0.46, Z:0.21 [[ 0.99666165 -0.03298546 -0.0746827 13.50724092] [ 0.02775598 0.99716014 -0.07000907 -0.4614461 ] [ 0.07677989 0.06770247 0.99474681 0.21493977] [ 0. 0. 0. 1. ]] SLAMing on 45.026502480999994 meters Centerline goodness : 0.701955 with order 1 Centerline is valid? [False, False] Translation: X:13.56, Y:-0.46, Z:0.22 [[ 0.99643313 -0.03157792 -0.07825504 13.55500361] [ 0.02608297 0.99718679 -0.0702722 -0.45884935] [ 0.08025394 0.06798042 0.9944536 0.2180485 ] [ 0. 0. 0. 1. ]] SLAMing on 45.086502481 meters Centerline goodness : 0.698946 with order 1 Centerline is valid? [False, False] Translation: X:13.60, Y:-0.46, Z:0.22 [[ 0.9964681 -0.02874837 -0.07889779 13.59864501] [ 0.02320516 0.99725615 -0.07029716 -0.45818586] [ 0.08070223 0.06821804 0.99440105 0.22169998] [ 0. 0. 0. 1. ]] SLAMing on 45.14650248099999 meters Centerline goodness : 0.699981 with order 1 Centerline is valid? [False, False] Translation: X:13.64, Y:-0.45, Z:0.23 [[ 0.99646394 -0.02477568 -0.08028562 13.64096166] [ 0.01911949 0.99733071 -0.07046921 -0.45418226] [ 0.08181724 0.06868501 0.99427778 0.22620146] [ 0. 0. 0. 1. ]] SLAMing on 45.206502480999994 meters Centerline goodness : 0.696543 with order 1 Centerline is valid? [False, False] Translation: X:13.69, Y:-0.45, Z:0.23 [[ 0.99629004 -0.02150153 -0.08332965 13.68757177] [ 0.01557371 0.99734439 -0.07114514 -0.44964677] [ 0.08463809 0.06958344 0.99397914 0.22910631] [ 0. 0. 0. 1. ]] SLAMing on 45.266502480999996 meters Centerline goodness : 0.695474 with order 1 Centerline is valid? [False, False] Translation: X:13.73, Y:-0.44, Z:0.24 [[ 9.96227571e-01 -1.86625642e-02 -8.47486648e-02 1.37301033e+01] [ 1.26688192e-02 9.97415849e-01 -7.07186398e-02 -4.44780172e-01] [ 8.58494526e-02 6.93781932e-02 9.93889600e-01 2.35245883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.32650248099999 meters Centerline goodness : 0.696683 with order 1 Centerline is valid? [False, False] Translation: X:13.78, Y:-0.44, Z:0.24 [[ 0.99627371 -0.02380511 -0.08289756 13.78041004] [ 0.0178401 0.99724739 -0.07196784 -0.43808779] [ 0.08438257 0.07022077 0.99395605 0.24226778] [ 0. 0. 0. 1. ]] SLAMing on 45.386502480999994 meters Centerline goodness : 0.695677 with order 1 Centerline is valid? [False, False] Translation: X:13.84, Y:-0.43, Z:0.25 [[ 0.99590362 -0.02932846 -0.08553256 13.83592664] [ 0.02325127 0.99719092 -0.07120143 -0.42992552] [ 0.08738052 0.06892102 0.99378797 0.24764092] [ 0. 0. 0. 1. ]] SLAMing on 45.446502480999996 meters Centerline goodness : 0.695941 with order 1 Centerline is valid? [False, False] Translation: X:13.89, Y:-0.42, Z:0.25 [[ 0.99546443 -0.03670978 -0.08776651 13.8901423 ] [ 0.03014382 0.99672777 -0.07500073 -0.42198603] [ 0.09023258 0.07201494 0.99331361 0.2512555 ] [ 0. 0. 0. 1. ]] SLAMing on 45.50650248099999 meters Centerline goodness : 0.695779 with order 1 Centerline is valid? [False, False] Translation: X:13.94, Y:-0.41, Z:0.26 [[ 0.99526956 -0.04134223 -0.08791658 13.93711777] [ 0.03429351 0.99618652 -0.08022701 -0.41411021] [ 0.09089807 0.07683254 0.99289189 0.2558906 ] [ 0. 0. 0. 1. ]] SLAMing on 45.56650248099999 meters Centerline goodness : 0.691257 with order 1 Centerline is valid? [False, False] Translation: X:13.99, Y:-0.41, Z:0.26 [[ 0.99524488 -0.04013049 -0.08875349 13.98892902] [ 0.03368568 0.99676603 -0.07295721 -0.40531078] [ 0.09139427 0.06962057 0.99337811 0.26252906] [ 0. 0. 0. 1. ]] SLAMing on 45.626502480999996 meters Centerline goodness : 0.693028 with order 1 Centerline is valid? [False, False] Translation: X:14.03, Y:-0.40, Z:0.27 [[ 0.99514659 -0.04025693 -0.08979225 14.03232904] [ 0.03351492 0.99659237 -0.07536837 -0.40060349] [ 0.09252037 0.0719932 0.99310471 0.2675323 ] [ 0. 0. 0. 1. ]] SLAMing on 45.68650248099999 meters Centerline goodness : 0.693347 with order 1 Centerline is valid? [False, False] Translation: X:14.08, Y:-0.40, Z:0.27 [[ 0.99498389 -0.04095402 -0.09126791 14.08073337] [ 0.03402771 0.99651214 -0.07619492 -0.39632492] [ 0.09407007 0.07270708 0.9929071 0.27077501] [ 0. 0. 0. 1. ]] SLAMing on 45.74650248099999 meters Centerline goodness : 0.693524 with order 1 Centerline is valid? [False, False] Translation: X:14.13, Y:-0.39, Z:0.28 [[ 0.99461939 -0.04143625 -0.09494892 14.12921964] [ 0.03418591 0.99646378 -0.07675451 -0.39027981] [ 0.09779358 0.07309561 0.99251874 0.27574454] [ 0. 0. 0. 1. ]] SLAMing on 45.806502480999995 meters Centerline goodness : 0.694476 with order 1 Centerline is valid? [False, False] Translation: X:14.17, Y:-0.39, Z:0.28 [[ 0.99453898 -0.03843609 -0.09703028 14.1739228 ] [ 0.03127271 0.99674568 -0.07429714 -0.38789064] [ 0.0995702 0.070857 0.99250444 0.28144385] [ 0. 0. 0. 1. ]] SLAMing on 45.866502481 meters Centerline goodness : 0.697392 with order 1 Centerline is valid? [False, False] Translation: X:14.24, Y:-0.38, Z:0.29 [[ 0.99457959 -0.0340599 -0.09824134 14.23779795] [ 0.02655823 0.99670187 -0.07668147 -0.38159539] [ 0.10052909 0.0736567 0.99220391 0.29119891] [ 0. 0. 0. 1. ]] SLAMing on 45.92650248099999 meters Centerline goodness : 0.696139 with order 1 Centerline is valid? [False, False] Translation: X:14.28, Y:-0.38, Z:0.30 [[ 0.99462345 -0.03215505 -0.09843902 14.27735691] [ 0.02453698 0.99667915 -0.07764411 -0.37838286] [ 0.10060877 0.07481125 0.99210945 0.29583244] [ 0. 0. 0. 1. ]] SLAMing on 45.986502480999995 meters Centerline goodness : 0.693720 with order 1 Centerline is valid? [False, False] Translation: X:14.33, Y:-0.37, Z:0.30 [[ 0.99423958 -0.02735419 -0.10363109 14.33009203] [ 0.01932017 0.99678561 -0.0777507 -0.37042633] [ 0.10542479 0.07530066 0.9915722 0.30281154] [ 0. 0. 0. 1. ]] SLAMing on 46.046502481 meters Centerline goodness : 0.696014 with order 1 Centerline is valid? [False, False] Translation: X:14.39, Y:-0.37, Z:0.31 [[ 9.93738639e-01 -2.05462153e-02 -1.09824266e-01 1.43920941e+01] [ 1.17548562e-02 9.96717091e-01 -8.01053300e-02 -3.69859715e-01] [ 1.11109584e-01 7.83127932e-02 9.90717804e-01 3.11797226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.10650248099999 meters Centerline goodness : 0.692401 with order 1 Centerline is valid? [False, False] Translation: X:14.47, Y:-0.37, Z:0.32 [[ 9.93176758e-01 -1.81059298e-02 -1.15204614e-01 1.44652771e+01] [ 9.22790648e-03 9.96977977e-01 -7.71346797e-02 -3.71325112e-01] [ 1.16253058e-01 7.55452736e-02 9.90342435e-01 3.22987024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.166502480999995 meters Centerline goodness : 0.692484 with order 1 Centerline is valid? [False, False] Translation: X:14.52, Y:-0.37, Z:0.33 [[ 0.99275247 -0.02510124 -0.11752642 14.51566721] [ 0.015867 0.99675958 -0.07885802 -0.37133448] [ 0.11912502 0.0764217 0.98993381 0.32812922] [ 0. 0. 0. 1. ]] SLAMing on 46.226502481 meters Centerline goodness : 0.688039 with order 1 Centerline is valid? [False, False] Translation: X:14.57, Y:-0.37, Z:0.34 [[ 0.99216758 -0.03420014 -0.12014094 14.57091622] [ 0.02521375 0.99682406 -0.07553849 -0.36862186] [ 0.1223428 0.07191764 0.98987883 0.33630355] [ 0. 0. 0. 1. ]] SLAMing on 46.28650248099999 meters Centerline goodness : 0.687056 with order 1 Centerline is valid? [False, False] Translation: X:14.62, Y:-0.36, Z:0.34 [[ 0.99162734 -0.04511669 -0.12099467 14.62427387] [ 0.03622627 0.99654802 -0.07469743 -0.36415886] [ 0.1239471 0.06968883 0.98983867 0.34461373] [ 0. 0. 0. 1. ]] SLAMing on 46.346502480999995 meters Centerline goodness : 0.686165 with order 1 Centerline is valid? [False, False] Translation: X:14.67, Y:-0.36, Z:0.35 [[ 0.99128874 -0.05438882 -0.11995206 14.67288169] [ 0.04531803 0.99599333 -0.07709456 -0.35837154] [ 0.12366453 0.07098698 0.98978176 0.35173932] [ 0. 0. 0. 1. ]] SLAMing on 46.406502481 meters Centerline goodness : 0.681671 with order 1 Centerline is valid? [False, False] Translation: X:14.67, Y:-0.35, Z:0.35 [[ 0.99174876 -0.04933629 -0.118323 14.66891223] [ 0.04089389 0.99651165 -0.07274767 -0.34890892] [ 0.12149935 0.06730872 0.99030674 0.35219501] [ 0. 0. 0. 1. ]] SLAMing on 46.46650248099999 meters Centerline goodness : 0.680631 with order 1 Centerline is valid? [False, False] Translation: X:14.67, Y:-0.34, Z:0.35 [[ 0.99183806 -0.04687643 -0.11857429 14.67079661] [ 0.03838709 0.9966007 -0.07289362 -0.33842097] [ 0.12158821 0.06774695 0.99026595 0.35197838] [ 0. 0. 0. 1. ]] SLAMing on 46.526502480999994 meters Centerline goodness : 0.682820 with order 1 Centerline is valid? [False, False] Translation: X:14.67, Y:-0.33, Z:0.35 [[ 0.99217798 -0.0411637 -0.1178491 14.66986643] [ 0.0330564 0.99700326 -0.06994122 -0.32938723] [ 0.12037497 0.06549847 0.9905654 0.35256665] [ 0. 0. 0. 1. ]] SLAMing on 46.586502481 meters Centerline goodness : 0.685097 with order 1 Centerline is valid? [False, False] Translation: X:14.67, Y:-0.32, Z:0.35 [[ 0.99258954 -0.02934971 -0.11791772 14.6706945 ] [ 0.02216644 0.99784398 -0.06177411 -0.31897446] [ 0.11947654 0.05870252 0.99110008 0.35280167] [ 0. 0. 0. 1. ]] SLAMing on 46.64650248099999 meters Centerline goodness : 0.686310 with order 1 Centerline is valid? [False, False] Translation: X:14.68, Y:-0.31, Z:0.35 [[ 9.93227381e-01 -1.65844380e-02 -1.14997068e-01 1.46813710e+01] [ 9.53012518e-03 9.98053934e-01 -6.16240261e-02 -3.10416729e-01] [ 1.15795276e-01 6.01107336e-02 9.91452547e-01 3.53992465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.706502480999994 meters Centerline goodness : 0.687319 with order 1 Centerline is valid? [False, False] Translation: X:14.65, Y:-0.30, Z:0.35 [[ 9.93578305e-01 -8.41687220e-03 -1.12833098e-01 1.46534911e+01] [ 1.30013185e-03 9.98012748e-01 -6.29989167e-02 -2.97507712e-01] [ 1.13139124e-01 6.24476590e-02 9.91614758e-01 3.50218062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.766502480999996 meters Centerline goodness : 0.692296 with order 1 Centerline is valid? [False, False] Translation: X:14.62, Y:-0.29, Z:0.35 [[ 9.93530931e-01 -3.28611373e-03 -1.13514276e-01 1.46242392e+01] [-2.76867027e-03 9.98583202e-01 -5.31406071e-02 -2.86566515e-01] [ 1.13528075e-01 5.31111204e-02 9.92114200e-01 3.46282492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.82650248099999 meters Centerline goodness : 0.440390 with order 3 Centerline is valid? [False, False] Translation: X:14.57, Y:-0.28, Z:0.34 [[ 9.93763740e-01 -8.23845853e-04 -1.11503137e-01 1.45725003e+01] [-4.78553791e-03 9.98736252e-01 -5.00299714e-02 -2.75134468e-01] [ 1.11403442e-01 5.02515740e-02 9.92503931e-01 3.39806728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.886502480999994 meters Centerline goodness : 0.323070 with order 3 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.26, Z:0.33 [[ 9.94187053e-01 -3.92848877e-05 -1.07666623e-01 1.45040205e+01] [-5.12138224e-03 9.98850726e-01 -4.76549881e-02 -2.63084422e-01] [ 1.07544757e-01 4.79293741e-02 9.93044259e-01 3.32623090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.946502480999996 meters Centerline goodness : 0.298969 with order 1 Centerline is valid? [False, False] Translation: X:14.44, Y:-0.25, Z:0.33 [[ 9.94454712e-01 3.47176372e-04 -1.05165131e-01 1.44432226e+01] [-5.10339632e-03 9.98975730e-01 -4.49604893e-02 -2.51219704e-01] [ 1.05041804e-01 4.52478698e-02 9.93437894e-01 3.25732491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.00650248099999 meters Centerline goodness : 0.696194 with order 1 Centerline is valid? [False, False] Translation: X:14.38, Y:-0.24, Z:0.32 [[ 9.94653566e-01 2.95194510e-03 -1.03225820e-01 1.43840671e+01] [-7.13161375e-03 9.99168416e-01 -4.01449436e-02 -2.40476424e-01] [ 1.03021474e-01 4.06664780e-02 9.93847480e-01 3.17963030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.06650248099999 meters Centerline goodness : 0.257951 with order 1 Centerline is valid? [False, False] Translation: X:14.31, Y:-0.23, Z:0.31 [[ 9.94726967e-01 8.62478625e-03 -1.02195277e-01 1.43138203e+01] [-1.30521996e-02 9.99001228e-01 -4.27339011e-02 -2.25012271e-01] [ 1.01724637e-01 4.38424370e-02 9.93846034e-01 3.08804510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.126502480999996 meters Centerline goodness : 0.701539 with order 2 Centerline is valid? [False, False] Translation: X:14.26, Y:-0.21, Z:0.30 [[ 0.99495943 0.01535781 -0.09909525 14.26455724] [-0.01957022 0.99893943 -0.04167758 -0.2115058 ] [ 0.09835007 0.04340681 0.99420476 0.30276751] [ 0. 0. 0. 1. ]] SLAMing on 47.18650248099999 meters Centerline goodness : 0.703816 with order 1 Centerline is valid? [False, False] Translation: X:14.23, Y:-0.20, Z:0.30 [[ 0.99492011 0.02261201 -0.09809523 14.23206096] [-0.02600358 0.99910257 -0.03343453 -0.19722084] [ 0.09725118 0.03581551 0.99461523 0.30058768] [ 0. 0. 0. 1. ]] SLAMing on 47.24650248099999 meters Centerline goodness : 0.704899 with order 1 Centerline is valid? [False, False] Translation: X:14.17, Y:-0.18, Z:0.29 [[ 0.99499431 0.02859063 -0.09575434 14.16514665] [-0.03153936 0.99906932 -0.02942391 -0.18244599] [ 0.09482398 0.03229666 0.99497002 0.29354789] [ 0. 0. 0. 1. ]] SLAMing on 47.306502480999995 meters Centerline goodness : 0.705769 with order 1 Centerline is valid? [False, False] Translation: X:14.09, Y:-0.16, Z:0.28 [[ 0.99519907 0.03040249 -0.09302954 14.08814443] [-0.03258922 0.99922497 -0.02207728 -0.16462118] [ 0.09228624 0.02500305 0.99541855 0.28392878] [ 0. 0. 0. 1. ]] SLAMing on 47.366502481 meters Centerline goodness : 0.706537 with order 1 Centerline is valid? [False, False] Translation: X:14.02, Y:-0.15, Z:0.27 [[ 0.99579426 0.03024609 -0.08648099 14.02379182] [-0.03200744 0.99930601 -0.01905305 -0.14695517] [ 0.08584469 0.02174096 0.99607129 0.27378598] [ 0. 0. 0. 1. ]] SLAMing on 47.42650248099999 meters Centerline goodness : 0.708695 with order 1 Centerline is valid? [False, False] Translation: X:13.99, Y:-0.13, Z:0.27 [[ 9.96476849e-01 2.71978943e-02 -7.93357656e-02 1.39927980e+01] [-2.82755708e-02 9.99522108e-01 -1.24919084e-02 -1.29244736e-01] [ 7.89580981e-02 1.46911616e-02 9.96769677e-01 2.65686551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.486502480999995 meters Centerline goodness : 0.709570 with order 1 Centerline is valid? [False, False] Translation: X:13.93, Y:-0.11, Z:0.26 [[ 9.96754163e-01 2.14571778e-02 -7.75933555e-02 1.39305001e+01] [-2.21631985e-02 9.99720333e-01 -8.24920389e-03 -1.05444327e-01] [ 7.73946505e-02 9.94214525e-03 9.96950963e-01 2.57985398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.546502481 meters Centerline goodness : 0.711433 with order 1 Centerline is valid? [False, False] Translation: X:13.87, Y:-0.09, Z:0.25 [[ 9.96869470e-01 1.74642859e-02 -7.71119846e-02 1.38710034e+01] [-1.78484150e-02 9.99831479e-01 -4.29501503e-03 -8.55358672e-02] [ 7.70239802e-02 5.65789606e-03 9.97013187e-01 2.49221570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.60650248099999 meters Centerline goodness : 0.713681 with order 1 Centerline is valid? [False, False] Translation: X:13.82, Y:-0.07, Z:0.24 [[ 9.97082311e-01 1.75034353e-02 -7.43000365e-02 1.38183613e+01] [-1.76097410e-02 9.99844635e-01 -7.75846228e-04 -6.82827381e-02] [ 7.42749129e-02 2.08198695e-03 9.97235630e-01 2.40554092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.666502480999995 meters Centerline goodness : 0.713659 with order 1 Centerline is valid? [False, False] Translation: X:13.78, Y:-0.05, Z:0.23 [[ 9.97535571e-01 1.99637717e-02 -6.72624079e-02 1.37789495e+01] [-1.97605348e-02 9.99797948e-01 3.68558940e-03 -5.24900348e-02] [ 6.73223957e-02 -2.34736537e-03 9.97728513e-01 2.32406732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.726502481 meters Centerline goodness : 0.719202 with order 1 Centerline is valid? [False, False] Translation: X:13.75, Y:-0.04, Z:0.22 [[ 9.97604520e-01 2.22720447e-02 -6.54918151e-02 1.37472861e+01] [-2.15150100e-02 9.99693572e-01 1.22419680e-02 -3.94912450e-02] [ 6.57444002e-02 -1.08035855e-02 9.97778010e-01 2.24333969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.78650248099999 meters Centerline goodness : 0.716902 with order 1 Centerline is valid? [False, False] Translation: X:13.72, Y:-0.03, Z:0.22 [[ 0.99783687 0.02462472 -0.0609525 13.71880131] [-0.02357038 0.9995609 0.0179567 -0.02827366] [ 0.06136791 -0.01648119 0.99797913 0.21622616] [ 0. 0. 0. 1. ]] SLAMing on 47.846502480999995 meters Centerline goodness : 0.720062 with order 1 Centerline is valid? [False, False] Translation: X:13.72, Y:-0.02, Z:0.22 [[ 0.99771862 0.03122993 -0.05985181 13.71819563] [-0.02985485 0.99927245 0.02373316 -0.01969964] [ 0.06054945 -0.02189215 0.9979251 0.21558768] [ 0. 0. 0. 1. ]] SLAMing on 47.906502481 meters Centerline goodness : 0.720327 with order 1 Centerline is valid? [False, False] Translation: X:13.74, Y:-0.01, Z:0.22 [[ 9.97592532e-01 3.41468963e-02 -6.03583399e-02 1.37408269e+01] [-3.26338182e-02 9.99132279e-01 2.58789932e-02 -1.29950873e-02] [ 6.11896531e-02 -2.38469673e-02 9.97841244e-01 2.15067725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.96650248099999 meters Centerline goodness : 0.723243 with order 1 Centerline is valid? [False, False] Translation: X:13.78, Y:-0.01, Z:0.21 [[ 9.97465055e-01 3.36313186e-02 -6.27088348e-02 1.37776390e+01] [-3.14957426e-02 9.98900016e-01 3.47386792e-02 -8.66558640e-03] [ 6.38081637e-02 -3.26755572e-02 9.97427103e-01 2.12874399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.026502480999994 meters Centerline goodness : 0.382443 with order 1 Centerline is valid? [False, False] Translation: X:13.82, Y:-0.00, Z:0.21 [[ 9.97372690e-01 3.58219169e-02 -6.29643294e-02 1.38204507e+01] [-3.33445282e-02 9.98644508e-01 3.99661014e-02 -4.74173786e-03] [ 6.43106441e-02 -3.77615822e-02 9.97215224e-01 2.13494958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.086502481 meters Centerline goodness : 0.724047 with order 1 Centerline is valid? [False, False] Translation: X:13.86, Y:0.00, Z:0.22 [[ 9.97276962e-01 3.82778865e-02 -6.30354263e-02 1.38631616e+01] [-3.55870682e-02 9.98429359e-01 4.32709456e-02 3.02264957e-04] [ 6.45927407e-02 -4.09098712e-02 9.97072796e-01 2.16052728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.14650248099999 meters Centerline goodness : 0.638092 with order 2 Centerline is valid? [False, False] Translation: X:13.91, Y:0.00, Z:0.22 [[ 9.97169873e-01 3.84972830e-02 -6.45771088e-02 1.39097294e+01] [-3.55474748e-02 9.98298486e-01 4.62223918e-02 3.37809135e-03] [ 6.62466665e-02 -4.37960234e-02 9.96841656e-01 2.16413440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.206502480999994 meters Centerline goodness : 0.621852 with order 3 Centerline is valid? [False, False] Translation: X:13.97, Y:0.00, Z:0.22 [[ 9.97112811e-01 3.45441084e-02 -6.76220858e-02 1.39659521e+01] [-3.12260289e-02 9.98284637e-01 4.95249335e-02 4.52925141e-03] [ 6.92168840e-02 -4.72703765e-02 9.96481076e-01 2.20969800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.266502480999996 meters Centerline goodness : 0.727335 with order 1 Centerline is valid? [False, False] Translation: X:14.02, Y:0.01, Z:0.22 [[ 9.97302736e-01 2.80241752e-02 -6.78372973e-02 1.40183919e+01] [-2.40222810e-02 9.97962628e-01 5.91060253e-02 6.51680844e-03] [ 6.93554852e-02 -5.73169941e-02 9.95944064e-01 2.23456189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.32650248099999 meters Centerline goodness : 0.676673 with order 3 Centerline is valid? [False, False] Translation: X:14.07, Y:0.01, Z:0.22 [[ 9.97395062e-01 1.86551257e-02 -6.96783864e-02 1.40701970e+01] [-1.41546180e-02 9.97815122e-01 6.45339339e-02 8.49717805e-03] [ 7.07300363e-02 -6.33795560e-02 9.95479931e-01 2.24352855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.386502480999994 meters Centerline goodness : 0.713353 with order 3 Centerline is valid? [False, False] Translation: X:14.11, Y:0.01, Z:0.22 [[ 9.97474548e-01 1.64674298e-02 -6.90894347e-02 1.41111505e+01] [-1.15555604e-02 9.97416424e-01 7.09009653e-02 1.25063510e-02] [ 7.00784936e-02 -6.99235412e-02 9.95087787e-01 2.23414831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.446502480999996 meters Centerline goodness : 0.675992 with order 3 Centerline is valid? [False, False] Translation: X:14.15, Y:0.02, Z:0.22 [[ 9.97426312e-01 1.96233028e-02 -6.89614271e-02 1.41521021e+01] [-1.41258175e-02 9.96749085e-01 7.93203859e-02 1.92614446e-02] [ 7.02937673e-02 -7.81421034e-02 9.94460958e-01 2.24343464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.50650248099999 meters Centerline goodness : 0.505433 with order 3 Centerline is valid? [False, False] Translation: X:14.19, Y:0.03, Z:0.23 [[ 0.99729657 0.02625309 -0.0686318 14.18727058] [-0.02081869 0.99667845 0.07873152 0.02830046] [ 0.07047078 -0.07708985 0.99453055 0.22545918] [ 0. 0. 0. 1. ]] SLAMing on 48.56650248099999 meters Centerline goodness : 0.535058 with order 2 Centerline is valid? [False, False] Translation: X:14.23, Y:0.04, Z:0.23 [[ 0.99698615 0.03233636 -0.07051938 14.22591183] [-0.0269245 0.99671464 0.07638718 0.0390818 ] [ 0.07275778 -0.07425826 0.99458133 0.22623713] [ 0. 0. 0. 1. ]] SLAMing on 48.626502480999996 meters Centerline goodness : 0.508461 with order 3 Centerline is valid? [False, False] Translation: X:14.26, Y:0.05, Z:0.23 [[ 0.99683739 0.0374756 -0.07007704 14.26055599] [-0.03225674 0.9967233 0.07417661 0.05081535] [ 0.07262723 -0.07168156 0.99477989 0.22882306] [ 0. 0. 0. 1. ]] SLAMing on 48.68650248099999 meters Centerline goodness : 0.555662 with order 3 Centerline is valid? [False, False] Translation: X:14.30, Y:0.06, Z:0.23 [[ 0.99672491 0.03868426 -0.07101401 14.2958983 ] [-0.03385143 0.99710811 0.0680404 0.06029487] [ 0.07344074 -0.06541363 0.99515201 0.2322526 ] [ 0. 0. 0. 1. ]] SLAMing on 48.74650248099999 meters Centerline goodness : 0.661181 with order 3 Centerline is valid? [False, False] Translation: X:14.34, Y:0.07, Z:0.24 [[ 0.99657611 0.03830788 -0.07327052 14.34071744] [-0.03310126 0.99692691 0.07100031 0.06711772] [ 0.07576523 -0.06833187 0.99478158 0.23518976] [ 0. 0. 0. 1. ]] SLAMing on 48.806502480999995 meters Centerline goodness : 0.609705 with order 3 Centerline is valid? [False, False] Translation: X:14.39, Y:0.08, Z:0.24 [[ 0.9964082 0.03857216 -0.07538496 14.38560965] [-0.03304931 0.99677069 0.07318431 0.07743961] [ 0.0779644 -0.07043003 0.99446527 0.2388895 ] [ 0. 0. 0. 1. ]] SLAMing on 48.86650248099999 meters Centerline goodness : 0.685824 with order 3 Centerline is valid? [False, False] Translation: X:14.43, Y:0.08, Z:0.24 [[ 0.99633873 0.03728945 -0.07693266 14.42561894] [-0.0313252 0.99651359 0.0773265 0.0769389 ] [ 0.0795479 -0.07463346 0.99403319 0.24159455] [ 0. 0. 0. 1. ]] SLAMing on 48.92650248099999 meters Centerline goodness : 0.494290 with order 1 Centerline is valid? [False, False] Translation: X:14.47, Y:0.08, Z:0.24 [[ 0.99610703 0.03864579 -0.07922935 14.47456122] [-0.03216655 0.99615549 0.0814835 0.08284562] [ 0.08207375 -0.07861776 0.99352058 0.2438181 ] [ 0. 0. 0. 1. ]] SLAMing on 48.986502480999995 meters Centerline goodness : 0.717989 with order 1 Centerline is valid? [False, False] Translation: X:14.52, Y:0.09, Z:0.24 [[ 0.99621232 0.0385867 -0.07792353 14.51960711] [-0.03163941 0.99557346 0.08850108 0.09097861] [ 0.08099356 -0.08570041 0.9930234 0.24318124] [ 0. 0. 0. 1. ]] SLAMing on 49.046502481 meters Centerline goodness : 0.714981 with order 1 Centerline is valid? [False, False] Translation: X:14.57, Y:0.10, Z:0.24 [[ 0.99616634 0.03720167 -0.0791749 14.56738987] [-0.02987552 0.99533068 0.09178391 0.10190403] [ 0.08221972 -0.08906665 0.99262634 0.24274305] [ 0. 0. 0. 1. ]] SLAMing on 49.10650248099999 meters Centerline goodness : 0.711618 with order 1 Centerline is valid? [False, False] Translation: X:14.60, Y:0.12, Z:0.24 [[ 0.99606298 0.03883769 -0.079688 14.60150484] [-0.03046241 0.99413696 0.10374848 0.11921103] [ 0.08325014 -0.10091254 0.99140611 0.24043051] [ 0. 0. 0. 1. ]] SLAMing on 49.166502480999995 meters Centerline goodness : 0.710566 with order 1 Centerline is valid? [False, False] Translation: X:14.60, Y:0.14, Z:0.23 [[ 0.99602659 0.03999274 -0.07957143 14.60471249] [-0.03140646 0.99383009 0.10637383 0.13714889] [ 0.08333466 -0.1034521 0.99113722 0.23451077] [ 0. 0. 0. 1. ]] SLAMing on 49.226502481 meters Centerline goodness : 0.709803 with order 1 Centerline is valid? [False, False] Translation: X:14.58, Y:0.15, Z:0.22 [[ 0.99624948 0.03971734 -0.07687327 14.57978158] [-0.03040365 0.99245933 0.11874384 0.15288067] [ 0.08100978 -0.11596126 0.98994465 0.22244659] [ 0. 0. 0. 1. ]] SLAMing on 49.28650248099999 meters Centerline goodness : 0.707486 with order 1 Centerline is valid? [False, False] Translation: X:14.51, Y:0.17, Z:0.21 [[ 0.99644603 0.04008238 -0.07408586 14.50897898] [-0.03032292 0.99125185 0.12845343 0.17135593] [ 0.07858647 -0.12575041 0.98894439 0.21004783] [ 0. 0. 0. 1. ]] SLAMing on 49.346502480999995 meters Centerline goodness : 0.706151 with order 1 Centerline is valid? [False, False] Translation: X:14.42, Y:0.19, Z:0.20 [[ 0.99684287 0.03775612 -0.06984812 14.42070071] [-0.02832336 0.9909221 0.13141982 0.19187294] [ 0.07417595 -0.12902658 0.98886302 0.19505636] [ 0. 0. 0. 1. ]] SLAMing on 49.406502481 meters Centerline goodness : 0.706233 with order 1 Centerline is valid? [False, False] Translation: X:14.33, Y:0.22, Z:0.18 [[ 0.99724198 0.03096348 -0.06745148 14.33371213] [-0.02201871 0.99133085 0.12953115 0.2151752 ] [ 0.07087747 -0.12768871 0.98927851 0.18390503] [ 0. 0. 0. 1. ]] SLAMing on 49.46650248099999 meters Centerline goodness : 0.702905 with order 1 Centerline is valid? [False, False] Translation: X:14.27, Y:0.24, Z:0.18 [[ 0.99733427 0.0266981 -0.06790852 14.26868453] [-0.01777091 0.99150895 0.1288185 0.23913323] [ 0.07077112 -0.12726831 0.9893403 0.17851345] [ 0. 0. 0. 1. ]] SLAMing on 49.526502480999994 meters Centerline goodness : 0.703090 with order 1 Centerline is valid? [False, False] Translation: X:14.21, Y:0.26, Z:0.17 [[ 0.99737181 0.02432729 -0.06824707 14.20830946] [-0.01577084 0.99225396 0.12322078 0.26055083] [ 0.07071605 -0.12182062 0.99002979 0.1745032 ] [ 0. 0. 0. 1. ]] SLAMing on 49.586502481 meters Centerline goodness : 0.699608 with order 1 Centerline is valid? [False, False] Translation: X:14.18, Y:0.28, Z:0.17 [[ 0.99717186 0.02475864 -0.07095978 14.17660101] [-0.01583057 0.99219029 0.12372476 0.28084701] [ 0.07346886 -0.12225152 0.98977618 0.17089704] [ 0. 0. 0. 1. ]] SLAMing on 49.64650248099999 meters Centerline goodness : 0.697253 with order 1 Centerline is valid? [False, False] Translation: X:14.18, Y:0.29, Z:0.17 [[ 0.99698346 0.02969953 -0.07170713 14.17789712] [-0.02062258 0.99204817 0.12415774 0.29493369] [ 0.07482436 -0.12230442 0.9896681 0.16985007] [ 0. 0. 0. 1. ]] SLAMing on 49.706502480999994 meters Centerline goodness : 0.694181 with order 1 Centerline is valid? [False, False] Translation: X:14.19, Y:0.32, Z:0.17 [[ 0.99688795 0.03467888 -0.07079405 14.19382763] [-0.02611975 0.99261833 0.11843399 0.31676555] [ 0.07437863 -0.11621629 0.99043505 0.16898456] [ 0. 0. 0. 1. ]] SLAMing on 49.766502480999996 meters Centerline goodness : 0.691496 with order 1 Centerline is valid? [False, False] Translation: X:14.20, Y:0.33, Z:0.17 [[ 0.99657456 0.0402658 -0.07223445 14.19759419] [-0.03151247 0.99245755 0.11846932 0.33093009] [ 0.07645988 -0.11578722 0.99032682 0.16631216] [ 0. 0. 0. 1. ]] SLAMing on 49.82650248099999 meters Centerline goodness : 0.687289 with order 1 Centerline is valid? [False, False] Translation: X:14.20, Y:0.34, Z:0.16 [[ 0.99624173 0.04620104 -0.07326575 14.20105805] [-0.03715407 0.99203429 0.12036418 0.34274679] [ 0.07824309 -0.1171897 0.99002252 0.16354123] [ 0. 0. 0. 1. ]] SLAMing on 49.886502480999994 meters Centerline goodness : 0.687678 with order 1 Centerline is valid? [False, False] Translation: X:14.20, Y:0.35, Z:0.16 [[ 0.99598194 0.05224798 -0.07273324 14.20117549] [-0.04313987 0.99164069 0.12160464 0.35453147] [ 0.07847884 -0.11797832 0.98991019 0.16145349] [ 0. 0. 0. 1. ]] SLAMing on 49.946502480999996 meters Centerline goodness : 0.690220 with order 1 Centerline is valid? [False, False] Translation: X:14.20, Y:0.37, Z:0.16 [[ 0.99581326 0.05409996 -0.07368279 14.20353699] [-0.04521472 0.99206322 0.11732941 0.36793892] [ 0.0794455 -0.11350663 0.99035582 0.15960145] [ 0. 0. 0. 1. ]] SLAMing on 50.00650248099999 meters Centerline goodness : 0.684411 with order 1 Centerline is valid? [False, False] Translation: X:14.21, Y:0.38, Z:0.16 [[ 0.99543149 0.06025931 -0.0740606 14.20517411] [-0.05126051 0.99169981 0.11791454 0.38116323] [ 0.08055133 -0.11357947 0.99025814 0.15798597] [ 0. 0. 0. 1. ]] SLAMing on 50.06650248099999 meters Centerline goodness : 0.688338 with order 1 Centerline is valid? [False, False] Translation: X:14.21, Y:0.40, Z:0.16 [[ 0.99513347 0.06553491 -0.07358362 14.20554233] [-0.05689103 0.99185314 0.11397703 0.40377797] [ 0.08045362 -0.10923611 0.9907546 0.15547565] [ 0. 0. 0. 1. ]] SLAMing on 50.126502480999996 meters Centerline goodness : 0.684677 with order 1 Centerline is valid? [False, False] Translation: X:14.21, Y:0.42, Z:0.15 [[ 0.99481896 0.07043 -0.07331342 14.2060044 ] [-0.0616772 0.99139319 0.11547927 0.41650188] [ 0.08081564 -0.11035921 0.99060067 0.15414997] [ 0. 0. 0. 1. ]] SLAMing on 50.18650248099999 meters Centerline goodness : 0.686039 with order 1 Centerline is valid? [False, False] Translation: X:14.21, Y:0.42, Z:0.15 [[ 0.99487852 0.06809256 -0.07470023 14.2089208 ] [-0.05942668 0.99185508 0.11265863 0.42257001] [ 0.08176302 -0.10764246 0.99082184 0.15321345] [ 0. 0. 0. 1. ]] SLAMing on 50.24650248099999 meters Centerline goodness : 0.685240 with order 1 Centerline is valid? [False, False] Translation: X:14.21, Y:0.43, Z:0.15 [[ 0.99549294 0.0554764 -0.07691669 14.21161299] [-0.04717678 0.99326643 0.10581182 0.42628244] [ 0.08226882 -0.10170624 0.99140692 0.15401693] [ 0. 0. 0. 1. ]] SLAMing on 50.306502480999995 meters Centerline goodness : 0.691461 with order 1 Centerline is valid? [False, False] Translation: X:14.21, Y:0.43, Z:0.15 [[ 0.99593717 0.04721396 -0.07668115 14.21076394] [-0.03999433 0.99485306 0.09310128 0.43236142] [ 0.08068215 -0.08965622 0.99269943 0.15279362] [ 0. 0. 0. 1. ]] SLAMing on 50.36650248099999 meters Centerline goodness : 0.681314 with order 1 Centerline is valid? [False, False] Translation: X:14.06, Y:0.44, Z:0.14 [[ 0.99525025 0.06114376 -0.07575212 14.0649747 ] [-0.05263646 0.99257941 0.10961531 0.44082964] [ 0.08189229 -0.10510734 0.9910833 0.13862688] [ 0. 0. 0. 1. ]] SLAMing on 50.42650248099999 meters Centerline goodness : 0.678673 with order 1 Centerline is valid? [False, False] Translation: X:14.07, Y:0.45, Z:0.14 [[ 0.99520452 0.06166479 -0.07593039 14.0654572 ] [-0.05354717 0.99306556 0.10465891 0.44889885] [ 0.08185763 -0.10009116 0.99160531 0.13775566] [ 0. 0. 0. 1. ]] SLAMing on 50.486502480999995 meters Centerline goodness : 0.676004 with order 1 Centerline is valid? [False, False] Translation: X:13.87, Y:0.43, Z:0.12 [[ 0.99195407 0.09701189 -0.08133761 13.87229469] [-0.08367052 0.98454287 0.15386549 0.42620585] [ 0.09500714 -0.14582194 0.98473834 0.12030045] [ 0. 0. 0. 1. ]] SLAMing on 50.54650248099999 meters Centerline goodness : 0.675464 with order 1 Centerline is valid? [False, False] Translation: X:13.81, Y:0.44, Z:0.12 [[ 0.99146139 0.10109374 -0.08236722 13.80897248] [-0.08718685 0.98361891 0.15777292 0.43593979] [ 0.09696781 -0.14924442 0.98403422 0.11576272] [ 0. 0. 0. 1. ]] SLAMing on 50.60650248099999 meters Centerline goodness : 0.671560 with order 1 Centerline is valid? [False, False] Translation: X:13.77, Y:0.45, Z:0.12 [[ 0.99086078 0.10424991 -0.08559712 13.77474098] [-0.08970132 0.98318481 0.15906384 0.44585425] [ 0.10074018 -0.14993195 0.98355062 0.11560547] [ 0. 0. 0. 1. ]] SLAMing on 50.666502480999995 meters Centerline goodness : 0.668998 with order 1 Centerline is valid? [False, False] Translation: X:13.74, Y:0.45, Z:0.12 [[ 0.99012035 0.10852977 -0.08878619 13.74428858] [-0.09327541 0.98255832 0.16086905 0.45405535] [ 0.10469669 -0.15099816 0.98297414 0.11716378] [ 0. 0. 0. 1. ]] SLAMing on 50.726502481 meters Centerline goodness : 0.673567 with order 1 Centerline is valid? [False, False] Translation: X:13.74, Y:0.45, Z:0.12 [[ 0.98931324 0.11749447 -0.08633863 13.74204199] [-0.10131126 0.97978986 0.17247566 0.45149946] [ 0.10485865 -0.16188538 0.9812226 0.11795834] [ 0. 0. 0. 1. ]] SLAMing on 50.78650248099999 meters Centerline goodness : 0.670004 with order 1 Centerline is valid? [False, False] Translation: X:13.74, Y:0.45, Z:0.12 [[ 0.98920114 0.11764898 -0.08740613 13.74374152] [-0.10112639 0.97954137 0.17398897 0.45288311] [ 0.10608755 -0.16327102 0.98086085 0.11982517] [ 0. 0. 0. 1. ]] SLAMing on 50.846502480999995 meters Centerline goodness : 0.664088 with order 1 Centerline is valid? [False, False] Translation: X:13.77, Y:0.45, Z:0.12 [[ 0.98873205 0.11886416 -0.09099584 13.76871801] [-0.10124147 0.97873207 0.17842003 0.4533653 ] [ 0.11026829 -0.16719705 0.97973775 0.12352043] [ 0. 0. 0. 1. ]] SLAMing on 50.906502481 meters Centerline goodness : 0.656017 with order 1 Centerline is valid? [False, False] Translation: X:13.80, Y:0.45, Z:0.13 [[ 0.98838499 0.12228774 -0.09022651 13.80230983] [-0.10460802 0.9781302 0.17977341 0.45234208] [ 0.11023736 -0.16824693 0.97956148 0.12755836] [ 0. 0. 0. 1. ]] SLAMing on 50.96650248099999 meters Centerline goodness : 0.661678 with order 1 Centerline is valid? [False, False] Translation: X:13.84, Y:0.45, Z:0.13 [[ 0.98812548 0.12263883 -0.09256217 13.84078332] [-0.10512712 0.97897286 0.17481543 0.4515959 ] [ 0.11205501 -0.16300879 0.98024069 0.13330555] [ 0. 0. 0. 1. ]] SLAMing on 51.026502480999994 meters Centerline goodness : 0.660163 with order 1 Centerline is valid? [False, False] Translation: X:13.88, Y:0.45, Z:0.14 [[ 0.98739769 0.12762175 -0.09358684 13.87839352] [-0.109867 0.9784078 0.17506407 0.44953331] [ 0.11390808 -0.16257575 0.98009901 0.13896452] [ 0. 0. 0. 1. ]] SLAMing on 51.086502481 meters Centerline goodness : 0.652889 with order 1 Centerline is valid? [False, False] Translation: X:13.91, Y:0.45, Z:0.15 [[ 0.9864612 0.13503805 -0.09305384 13.91366607] [-0.11695085 0.9770426 0.17807375 0.44957 ] [ 0.1149643 -0.16478012 0.97960743 0.14517552] [ 0. 0. 0. 1. ]] SLAMing on 51.14650248099999 meters Centerline goodness : 0.655110 with order 1 Centerline is valid? [False, False] Translation: X:13.97, Y:0.44, Z:0.13 [[ 0.99184135 0.10854212 -0.06685318 13.97486906] [-0.09253237 0.97372045 0.20810153 0.44377554] [ 0.08768409 -0.20021762 0.97581986 0.1281143 ] [ 0. 0. 0. 1. ]] SLAMing on 51.206502480999994 meters Centerline goodness : 0.654146 with order 1 Centerline is valid? [False, False] Translation: X:14.03, Y:0.44, Z:0.13 [[ 0.99242694 0.10422014 -0.06501489 14.02704717] [-0.08845903 0.97360262 0.21041137 0.44414246] [ 0.08522777 -0.20306676 0.97544868 0.1297861 ] [ 0. 0. 0. 1. ]] SLAMing on 51.266502480999996 meters Centerline goodness : 0.655696 with order 1 Centerline is valid? [False, False] Translation: X:14.10, Y:0.45, Z:0.12 [[ 0.99657411 0.06633522 -0.04939321 14.10164752] [-0.05267776 0.96953083 0.23923841 0.44777963] [ 0.06375817 -0.23581688 0.96970372 0.11800636] [ 0. 0. 0. 1. ]] SLAMing on 51.32650248099999 meters Centerline goodness : 0.653484 with order 1 Centerline is valid? [False, False] Translation: X:14.19, Y:0.46, Z:0.11 [[ 9.99034694e-01 1.65565498e-02 -4.06885818e-02 1.41913055e+01] [-5.22906887e-03 9.64489580e-01 2.64069133e-01 4.56921667e-01] [ 4.36157869e-02 -2.63601462e-01 9.63645128e-01 1.05535423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.386502480999994 meters Centerline goodness : 0.657519 with order 1 Centerline is valid? [False, False] Translation: X:14.27, Y:0.46, Z:0.09 [[ 0.99912136 -0.03311973 -0.02568269 14.2730162 ] [ 0.03926087 0.95406841 0.29700515 0.46368782] [ 0.01466631 -0.29775251 0.95453043 0.08678087] [ 0. 0. 0. 1. ]] SLAMing on 51.446502480999996 meters Centerline goodness : 0.655388 with order 1 Centerline is valid? [False, False] Translation: X:14.35, Y:0.47, Z:0.07 [[ 9.97168614e-01 -7.41191852e-02 -1.26925586e-02 1.43509899e+01] [ 7.42389788e-02 9.43453411e-01 3.23085491e-01 4.74219592e-01] [-1.19719956e-02 -3.23112994e-01 9.46284664e-01 6.81618586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.50650248099999 meters Centerline goodness : 0.661559 with order 1 Centerline is valid? [False, False] Translation: X:14.35, Y:0.48, Z:0.07 [[ 9.96930155e-01 -7.75141208e-02 -1.10375453e-02 1.43471599e+01] [ 7.70032503e-02 9.45166574e-01 3.17380919e-01 4.78014042e-01] [-1.41691840e-02 -3.17256535e-01 9.48233898e-01 7.00011633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.56650248099999 meters Centerline goodness : 0.664261 with order 1 Centerline is valid? [False, False] Translation: X:14.35, Y:0.48, Z:0.07 [[ 9.96627880e-01 -8.13180241e-02 -1.09657868e-02 1.43463198e+01] [ 8.06584953e-02 9.46346518e-01 3.12925671e-01 4.80664664e-01] [-1.50690631e-02 -3.12754931e-01 9.49714313e-01 7.13662449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.626502480999996 meters Centerline goodness : 0.669992 with order 1 Centerline is valid? [False, False] Translation: X:14.34, Y:0.48, Z:0.07 [[ 9.96353070e-01 -8.46631518e-02 -1.06165585e-02 1.43447684e+01] [ 8.38167166e-02 9.47821161e-01 3.07587069e-01 4.84200962e-01] [-1.59786919e-02 -3.07355165e-01 9.51460711e-01 7.30936284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.68650248099999 meters Centerline goodness : 0.675388 with order 1 Centerline is valid? [False, False] Translation: X:14.34, Y:0.49, Z:0.07 [[ 9.96154077e-01 -8.70881640e-02 -9.62843784e-03 1.43423835e+01] [ 8.59217837e-02 9.49421079e-01 3.02021625e-01 4.88046874e-01] [-1.71610670e-02 -3.01687366e-01 9.53252449e-01 7.43198619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.74650248099999 meters Centerline goodness : 0.669056 with order 1 Centerline is valid? [False, False] Translation: X:14.34, Y:0.49, Z:0.07 [[ 9.95741328e-01 -9.15611643e-02 -1.07592379e-02 1.43441980e+01] [ 9.06449882e-02 9.51066851e-01 2.95390135e-01 4.94173371e-01] [-1.68135102e-02 -2.95107436e-01 9.55316129e-01 7.38401399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.806502480999995 meters Centerline goodness : 0.670842 with order 1 Centerline is valid? [False, False] Translation: X:14.35, Y:0.50, Z:0.07 [[ 9.95258940e-01 -9.65127992e-02 -1.20383839e-02 1.43473017e+01] [ 9.58338828e-02 9.51994293e-01 2.90727938e-01 4.96245719e-01] [-1.65984943e-02 -2.90503264e-01 9.56730027e-01 7.28983068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.86650248099999 meters Centerline goodness : 0.677496 with order 1 Centerline is valid? [False, False] Translation: X:14.36, Y:0.50, Z:0.07 [[ 9.94696819e-01 -1.02686494e-01 -5.80703711e-03 1.43562501e+01] [ 1.00025877e-01 9.52693951e-01 2.87000103e-01 5.02253690e-01] [-2.39387052e-02 -2.86058944e-01 9.57912950e-01 7.38908431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.92650248099999 meters Centerline goodness : 0.676256 with order 1 Centerline is valid? [False, False] Translation: X:14.35, Y:0.50, Z:0.08 [[ 9.94305940e-01 -1.06426195e-01 -5.40019120e-03 1.43545041e+01] [ 1.03601085e-01 9.53561146e-01 2.82821421e-01 5.04796235e-01] [-2.49501951e-02 -2.81770485e-01 9.59157381e-01 7.61453177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.986502480999995 meters Centerline goodness : 0.679902 with order 1 Centerline is valid? [False, False] Translation: X:14.35, Y:0.51, Z:0.08 [[ 9.93766307e-01 -1.11349254e-01 -5.46544875e-03 1.43549079e+01] [ 1.08471855e-01 9.54441687e-01 2.77983675e-01 5.07319613e-01] [-2.57368226e-02 -2.76843657e-01 9.60570250e-01 7.62382843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.04650248099999 meters Centerline goodness : 0.683247 with order 1 Centerline is valid? [False, False] Translation: X:14.35, Y:0.51, Z:0.08 [[ 9.93638267e-01 -1.12514082e-01 -4.85544708e-03 1.43514141e+01] [ 1.09423989e-01 9.54356228e-01 2.77903907e-01 5.09796827e-01] [-2.66342769e-02 -2.76667259e-01 9.60596608e-01 7.92020934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.10650248099999 meters Centerline goodness : 0.684176 with order 1 Centerline is valid? [False, False] Translation: X:14.35, Y:0.52, Z:0.08 [[ 9.93078685e-01 -1.17369645e-01 -4.36951558e-03 1.43503827e+01] [ 1.14141381e-01 9.55657926e-01 2.71458420e-01 5.16334533e-01] [-2.76852161e-02 -2.70078313e-01 9.62440249e-01 7.88248689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.166502480999995 meters Centerline goodness : 0.676397 with order 1 Centerline is valid? [False, False] Translation: X:14.33, Y:0.50, Z:0.08 [[ 9.93728056e-01 -1.11671128e-01 -5.84045034e-03 1.43252749e+01] [ 1.09177642e-01 9.57594199e-01 2.66633816e-01 5.00298562e-01] [-2.41825176e-02 -2.65599150e-01 9.63780212e-01 7.77957322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.22650248099999 meters Centerline goodness : 0.674536 with order 1 Centerline is valid? [False, False] Translation: X:14.29, Y:0.47, Z:0.08 [[ 9.95077089e-01 -9.90980784e-02 -1.07607381e-03 1.42880317e+01] [ 9.56366384e-02 9.57359417e-01 2.72610675e-01 4.73132719e-01] [-2.59850047e-02 -2.71371549e-01 9.62123829e-01 7.88617410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.28650248099999 meters Centerline goodness : 0.675813 with order 1 Centerline is valid? [False, False] Translation: X:14.24, Y:0.46, Z:0.08 [[ 9.95689692e-01 -9.26849012e-02 3.39799626e-03 1.42433374e+01] [ 8.83127914e-02 9.58640872e-01 2.70570749e-01 4.56138236e-01] [-2.83352812e-02 -2.69104419e-01 9.62694096e-01 8.42217399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.346502480999995 meters Centerline goodness : 0.678543 with order 1 Centerline is valid? [False, False] Translation: X:14.27, Y:0.44, Z:0.09 [[ 9.97007974e-01 -7.71809198e-02 4.26686966e-03 1.42728572e+01] [ 7.32639973e-02 9.61127033e-01 2.66208966e-01 4.37537584e-01] [-2.46472566e-02 -2.65099854e-01 9.63905898e-01 8.97854978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.406502481 meters Centerline goodness : 0.670062 with order 1 Centerline is valid? [False, False] Translation: X:14.29, Y:0.42, Z:0.10 [[ 9.98023763e-01 -6.28313469e-02 8.89328011e-04 1.42886715e+01] [ 6.04487945e-02 9.63851789e-01 2.59491179e-01 4.23261150e-01] [-1.71613607e-02 -2.58924604e-01 9.65745068e-01 9.71567527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.46650248099999 meters Centerline goodness : 0.672875 with order 1 Centerline is valid? [False, False] Translation: X:14.33, Y:0.39, Z:0.10 [[ 9.99333576e-01 -3.65018923e-02 1.21588037e-04 1.43317619e+01] [ 3.51994925e-02 9.64548238e-01 2.61548641e-01 3.93957242e-01] [-9.66429786e-03 -2.61370059e-01 9.65190289e-01 1.02483162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.526502480999994 meters Centerline goodness : 0.670621 with order 1 Centerline is valid? [False, False] Translation: X:14.35, Y:0.38, Z:0.11 [[ 9.99718608e-01 -2.37052608e-02 8.75219766e-04 1.43460124e+01] [ 2.27059046e-02 9.66949192e-01 2.53956104e-01 3.79402807e-01] [-6.86638871e-03 -2.53864770e-01 9.67215349e-01 1.07240971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.586502481 meters Centerline goodness : 0.672070 with order 1 Centerline is valid? [False, False] Translation: X:14.35, Y:0.36, Z:0.11 [[ 9.99758238e-01 -2.18409932e-02 2.53718500e-03 1.43486990e+01] [ 2.04593996e-02 9.66317645e-01 2.56537758e-01 3.61955061e-01] [-8.05476606e-03 -2.56423828e-01 9.66530880e-01 1.06868260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.64650248099999 meters Centerline goodness : 0.672005 with order 1 Centerline is valid? [False, False] Translation: X:14.37, Y:0.34, Z:0.11 [[ 9.99965452e-01 -7.15621776e-03 4.22886464e-03 1.43698227e+01] [ 5.80415996e-03 9.65305704e-01 2.61057866e-01 3.36422172e-01] [-5.95033410e-03 -2.61024302e-01 9.65313890e-01 1.08507225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.706502480999994 meters Centerline goodness : 0.670113 with order 1 Centerline is valid? [False, False] Translation: X:14.37, Y:0.31, Z:0.11 [[ 9.99959466e-01 4.29017855e-03 7.91589597e-03 1.43689347e+01] [-6.22126310e-03 9.64772948e-01 2.63010369e-01 3.11435826e-01] [-6.50868085e-03 -2.63048955e-01 9.64760532e-01 1.08763099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.766502480999996 meters Centerline goodness : 0.666798 with order 1 Centerline is valid? [False, False] Translation: X:14.35, Y:0.29, Z:0.11 [[ 9.99907734e-01 9.79659615e-03 9.41007343e-03 1.43545153e+01] [-1.19169347e-02 9.65125374e-01 2.61516729e-01 2.91631134e-01] [-6.51992685e-03 -2.61604739e-01 9.65153071e-01 1.07742047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.82650248099999 meters Centerline goodness : 0.669942 with order 1 Centerline is valid? [False, False] Translation: X:14.35, Y:0.29, Z:0.11 [[ 9.99933850e-01 6.47542646e-03 9.50605749e-03 1.43538411e+01] [-8.69827821e-03 9.66475555e-01 2.56611264e-01 2.92955903e-01] [-7.52570483e-03 -2.56676976e-01 9.66467948e-01 1.08174392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.886502480999994 meters Centerline goodness : 0.673763 with order 1 Centerline is valid? [False, False] Translation: X:14.34, Y:0.27, Z:0.10 [[ 9.99669127e-01 1.89565778e-02 1.73863201e-02 1.43364111e+01] [-2.28954607e-02 9.63822454e-01 2.65559929e-01 2.68909359e-01] [-1.17232183e-02 -2.65870130e-01 9.63937571e-01 1.04361224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.946502480999996 meters Centerline goodness : 0.676557 with order 1 Centerline is valid? [False, False] Translation: X:14.33, Y:0.27, Z:0.10 [[ 9.99593223e-01 2.14865041e-02 1.87541808e-02 1.43332397e+01] [-2.56810312e-02 9.64125226e-01 2.64202638e-01 2.72061521e-01] [-1.24045878e-02 -2.64576793e-01 9.64284837e-01 1.04954023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.00650248099999 meters Centerline goodness : 0.672645 with order 1 Centerline is valid? [False, False] Translation: X:14.33, Y:0.28, Z:0.10 [[ 9.99709574e-01 1.55194127e-02 1.84368099e-02 1.43330289e+01] [-1.96810176e-02 9.67277216e-01 2.52957397e-01 2.77593543e-01] [-1.39077560e-02 -2.53246786e-01 9.67301731e-01 1.04545678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.06650248099999 meters Centerline goodness : 0.667809 with order 1 Centerline is valid? [False, False] Translation: X:14.33, Y:0.28, Z:0.11 [[ 9.99795914e-01 1.11341985e-02 1.68570557e-02 1.43347178e+01] [-1.49789485e-02 9.68456235e-01 2.48733093e-01 2.79429503e-01] [-1.35558770e-02 -2.48934831e-01 9.68425365e-01 1.06002115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.126502480999996 meters Centerline goodness : 0.668400 with order 1 Centerline is valid? [False, False] Translation: X:14.34, Y:0.28, Z:0.11 [[ 9.99847423e-01 7.29909157e-03 1.58699070e-02 1.43353591e+01] [-1.09449308e-02 9.69839251e-01 2.43499561e-01 2.83414814e-01] [-1.36139332e-02 -2.43636104e-01 9.69771164e-01 1.06873842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.18650248099999 meters Centerline goodness : 0.665384 with order 1 Centerline is valid? [False, False] Translation: X:14.34, Y:0.29, Z:0.11 [[ 9.99878081e-01 4.14879654e-03 1.50536052e-02 1.43355816e+01] [-7.62569912e-03 9.71015588e-01 2.38894487e-01 2.86138898e-01] [-1.36261607e-02 -2.38980155e-01 9.70928840e-01 1.08553872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.24650248099999 meters Centerline goodness : 0.667505 with order 1 Centerline is valid? [False, False] Translation: X:14.28, Y:0.27, Z:0.11 [[ 9.99800779e-01 4.86400898e-03 1.93583239e-02 1.42787540e+01] [-9.32421160e-03 9.71341010e-01 2.37507268e-01 2.70868875e-01] [-1.76482964e-02 -2.37640453e-01 9.71192851e-01 1.09692749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.306502480999995 meters Centerline goodness : 0.666112 with order 1 Centerline is valid? [False, False] Translation: X:14.08, Y:0.27, Z:0.10 [[ 0.99877925 -0.03821803 0.03129532 14.08049487] [ 0.02974757 0.97115303 0.23659433 0.27494963] [-0.03943471 -0.23537454 0.97110439 0.10492086] [ 0. 0. 0. 1. ]] SLAMing on 53.36650248099999 meters Centerline goodness : 0.664720 with order 1 Centerline is valid? [False, False] Translation: X:14.00, Y:0.26, Z:0.10 [[ 0.99812823 -0.04698916 0.03914135 13.99739064] [ 0.03634574 0.97051891 0.23826883 0.25805729] [-0.04918347 -0.23640022 0.97041018 0.10163828] [ 0. 0. 0. 1. ]] SLAMing on 53.42650248099999 meters Centerline goodness : 0.661406 with order 1 Centerline is valid? [False, False] Translation: X:13.98, Y:0.24, Z:0.10 [[ 0.99813522 -0.03737385 0.04826252 13.98395678] [ 0.02458075 0.96980488 0.24264023 0.23533188] [-0.05587363 -0.24100143 0.96891509 0.09794351] [ 0. 0. 0. 1. ]] SLAMing on 53.486502480999995 meters Centerline goodness : 0.665635 with order 1 Centerline is valid? [False, False] Translation: X:13.99, Y:0.23, Z:0.10 [[ 0.99823134 -0.03500254 0.04805211 13.98755343] [ 0.02232676 0.96985546 0.24265594 0.22751015] [-0.05509717 -0.24115392 0.96892161 0.10005879] [ 0. 0. 0. 1. ]] SLAMing on 53.54650248099999 meters Centerline goodness : 0.662630 with order 1 Centerline is valid? [False, False] Translation: X:13.99, Y:0.21, Z:0.09 [[ 0.9981606 -0.03186675 0.05157439 13.98624365] [ 0.01794816 0.96790308 0.25068206 0.20859601] [-0.05790743 -0.24929529 0.96669467 0.09450555] [ 0. 0. 0. 1. ]] SLAMing on 53.60650248099999 meters Centerline goodness : 0.665807 with order 1 Centerline is valid? [False, False] Translation: X:14.00, Y:0.19, Z:0.10 [[ 9.98485994e-01 -2.09280630e-02 5.08697996e-02 1.39998492e+01] [ 8.04880623e-03 9.70428503e-01 2.41254509e-01 1.92267274e-01] [-5.44144930e-02 -2.40479807e-01 9.69127714e-01 9.85928275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.666502480999995 meters Centerline goodness : 0.661646 with order 1 Centerline is valid? [False, False] Translation: X:14.02, Y:0.16, Z:0.09 [[ 9.98615746e-01 -2.29898826e-03 5.25481304e-02 1.40248803e+01] [-1.09387738e-02 9.68123554e-01 2.50234144e-01 1.62173222e-01] [-5.14483682e-02 -2.50462569e-01 9.66758277e-01 9.42505621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.72650248099999 meters Centerline goodness : 0.663141 with order 1 Centerline is valid? [False, False] Translation: X:14.02, Y:0.14, Z:0.09 [[ 9.98195049e-01 1.28094800e-02 5.86733505e-02 1.40237120e+01] [-2.73472902e-02 9.66767775e-01 2.54189288e-01 1.39143267e-01] [-5.34674719e-02 -2.55335046e-01 9.65373111e-01 9.28990158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.78650248099999 meters Centerline goodness : 0.661693 with order 1 Centerline is valid? [False, False] Translation: X:14.02, Y:0.11, Z:0.09 [[ 0.99758168 0.02465384 0.06498439 14.01925504] [-0.04061699 0.96549787 0.25722389 0.11022921] [-0.05640073 -0.25924132 0.96416435 0.08817234] [ 0. 0. 0. 1. ]] SLAMing on 53.846502480999995 meters Centerline goodness : 0.661664 with order 1 Centerline is valid? [False, False] Translation: X:14.02, Y:0.11, Z:0.09 [[ 0.99771115 0.02103355 0.06426554 14.01910321] [-0.03659162 0.9671558 0.25153672 0.1145133 ] [-0.05686408 -0.25331257 0.96571177 0.08975852] [ 0. 0. 0. 1. ]] SLAMing on 53.90650248099999 meters Centerline goodness : 0.656010 with order 1 Centerline is valid? [False, False] Translation: X:14.02, Y:0.12, Z:0.09 [[ 0.99781069 0.01799489 0.06363972 14.02041423] [-0.03305797 0.9691407 0.24428154 0.11827547] [-0.05728002 -0.24585054 0.96761382 0.0881526 ] [ 0. 0. 0. 1. ]] SLAMing on 53.96650248099999 meters Centerline goodness : 0.662507 with order 1 Centerline is valid? [False, False] Translation: X:14.02, Y:0.12, Z:0.09 [[ 0.99770017 0.01960686 0.0648841 14.01736638] [-0.03496125 0.96894606 0.24478816 0.11832634] [-0.05806967 -0.24649362 0.96740313 0.0903948 ] [ 0. 0. 0. 1. ]] SLAMing on 54.026502480999994 meters Centerline goodness : 0.664490 with order 1 Centerline is valid? [False, False] Translation: X:14.01, Y:0.12, Z:0.09 [[ 0.99743048 0.02278354 0.06792167 14.01192731] [-0.03874528 0.96901886 0.2439288 0.11748455] [-0.06025982 -0.24593366 0.9674117 0.09118504] [ 0. 0. 0. 1. ]] SLAMing on 54.086502481 meters Centerline goodness : 0.658059 with order 1 Centerline is valid? [False, False] Translation: X:14.01, Y:0.12, Z:0.09 [[ 0.99740428 0.02416242 0.06782983 14.01253151] [-0.03991077 0.96958429 0.24148177 0.12016234] [-0.05993195 -0.24356209 0.96803185 0.08954966] [ 0. 0. 0. 1. ]] SLAMing on 54.14650248099999 meters Centerline goodness : 0.659508 with order 1 Centerline is valid? [False, False] Translation: X:14.01, Y:0.13, Z:0.09 [[ 0.99742008 0.02276768 0.06807945 14.012048 ] [-0.03812621 0.97157059 0.23365996 0.12573375] [-0.0608241 -0.23565275 0.96993206 0.08800531] [ 0. 0. 0. 1. ]] SLAMing on 54.206502480999994 meters Centerline goodness : 0.658607 with order 1 Centerline is valid? [False, False] Translation: X:14.01, Y:0.13, Z:0.09 [[ 0.99749318 0.02050414 0.06772685 14.0120251 ] [-0.03539608 0.97333398 0.22664527 0.130212 ] [-0.06127368 -0.22847438 0.97161978 0.08783414] [ 0. 0. 0. 1. ]] SLAMing on 54.266502480999996 meters Centerline goodness : 0.657268 with order 1 Centerline is valid? [False, False] Translation: X:14.01, Y:0.14, Z:0.09 [[ 0.99753191 0.01784106 0.06791007 14.01103735] [-0.03238974 0.97504941 0.2196123 0.13534379] [-0.06229756 -0.22126986 0.97322077 0.08798174] [ 0. 0. 0. 1. ]] SLAMing on 54.32650248099999 meters Centerline goodness : 0.659041 with order 1 Centerline is valid? [False, False] Translation: X:14.01, Y:0.14, Z:0.09 [[ 0.99745749 0.01566746 0.06952033 14.00713239] [-0.03039723 0.97587529 0.21620227 0.13518092] [-0.06445584 -0.2177658 0.97387037 0.09113301] [ 0. 0. 0. 1. ]] SLAMing on 54.386502480999994 meters Centerline goodness : 0.663206 with order 1 Centerline is valid? [False, False] Translation: X:14.01, Y:0.14, Z:0.09 [[ 9.97623857e-01 1.07548971e-02 6.80512419e-02 1.40089262e+01] [-2.50231946e-02 9.76850458e-01 2.12454753e-01 1.36173639e-01] [-6.41909578e-02 -2.13652790e-01 9.74798444e-01 9.23630437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.446502480999996 meters Centerline goodness : 0.665769 with order 1 Centerline is valid? [False, False] Translation: X:14.01, Y:0.14, Z:0.09 [[ 9.97722593e-01 3.11723387e-03 6.73788604e-02 1.40102823e+01] [-1.68148281e-02 9.78888841e-01 2.03700513e-01 1.36893713e-01] [-6.53214324e-02 -2.04369567e-01 9.76711928e-01 9.16250329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.50650248099999 meters Centerline goodness : 0.665201 with order 1 Centerline is valid? [False, False] Translation: X:14.01, Y:0.14, Z:0.09 [[ 9.97722795e-01 -5.24217660e-04 6.74458955e-02 1.40086487e+01] [-1.30485653e-02 9.79578080e-01 2.00640277e-01 1.37649975e-01] [-6.61737000e-02 -2.01063450e-01 9.77340540e-01 9.48652210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.56650248099999 meters Centerline goodness : 0.666637 with order 1 Centerline is valid? [False, False] Translation: X:13.93, Y:0.12, Z:0.09 [[ 9.97123449e-01 -2.90880755e-03 7.57388030e-02 1.39305785e+01] [-1.29216996e-02 9.78110821e-01 2.07683053e-01 1.19143427e-01] [-7.46850529e-02 -2.08064316e-01 9.75259649e-01 9.29920120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.626502480999996 meters Centerline goodness : 0.669659 with order 1 Centerline is valid? [False, False] Translation: X:13.86, Y:0.09, Z:0.09 [[ 9.96507692e-01 3.69068387e-03 8.34194159e-02 1.38616563e+01] [-2.14872826e-02 9.76713399e-01 2.13469512e-01 9.45998025e-02] [-8.06890128e-02 -2.14516467e-01 9.73381718e-01 9.07292124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.68650248099999 meters Centerline goodness : 0.665451 with order 1 Centerline is valid? [False, False] Translation: X:13.81, Y:0.07, Z:0.09 [[ 0.99594712 0.01423865 0.0888065 13.8108666 ] [-0.03361595 0.9747601 0.22070959 0.06807876] [-0.08342243 -0.2228004 0.97128816 0.08770557] [ 0. 0. 0. 1. ]] SLAMing on 54.74650248099999 meters Centerline goodness : 0.664817 with order 1 Centerline is valid? [False, False] Translation: X:13.81, Y:0.08, Z:0.09 [[ 9.96065507e-01 1.16048809e-02 8.78568886e-02 1.38115555e+01] [-3.01358066e-02 9.76662578e-01 2.12654750e-01 7.58628627e-02] [-8.33387022e-02 -2.14465699e-01 9.73169628e-01 8.79751665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.806502480999995 meters Centerline goodness : 0.660261 with order 1 Centerline is valid? [False, False] Translation: X:13.86, Y:0.04, Z:0.08 [[ 0.99563441 0.03453931 0.08671312 13.86032945] [-0.05260128 0.97506884 0.21557798 0.04306141] [-0.07710535 -0.21919807 0.9726289 0.08252917] [ 0. 0. 0. 1. ]] SLAMing on 54.86650248099999 meters Centerline goodness : 0.664418 with order 1 Centerline is valid? [False, False] Translation: X:13.86, Y:0.05, Z:0.08 [[ 0.99543048 0.0356936 0.08856708 13.85609726] [-0.05404628 0.97524853 0.21440455 0.04561696] [-0.07872205 -0.21821154 0.97272121 0.0845928 ] [ 0. 0. 0. 1. ]] SLAMing on 54.92650248099999 meters Centerline goodness : 0.665338 with order 1 Centerline is valid? [False, False] Translation: X:13.85, Y:0.05, Z:0.09 [[ 0.99542322 0.03549195 0.0887296 13.85483564] [-0.05377225 0.9755665 0.21302241 0.04870857] [-0.07900105 -0.21681864 0.97301003 0.08604438] [ 0. 0. 0. 1. ]] SLAMing on 54.986502480999995 meters Centerline goodness : 0.664285 with order 1 Centerline is valid? [False, False] Translation: X:13.86, Y:0.05, Z:0.09 [[ 0.9956743 0.03082556 0.08764975 13.85609918] [-0.04847862 0.97712718 0.20705626 0.0534274 ] [-0.07926233 -0.21040973 0.9743948 0.08604908] [ 0. 0. 0. 1. ]] SLAMing on 55.04650248099999 meters Centerline goodness : 0.667373 with order 1 Centerline is valid? [False, False] Translation: X:13.86, Y:0.06, Z:0.08 [[ 0.9960782 0.02480442 0.0849291 13.86099685] [-0.04154596 0.97861724 0.20145031 0.05876084] [-0.07811622 -0.20418873 0.97580983 0.08439616] [ 0. 0. 0. 1. ]] SLAMing on 55.10650248099999 meters Centerline goodness : 0.672722 with order 1 Centerline is valid? [False, False] Translation: X:13.86, Y:0.06, Z:0.09 [[ 0.9961291 0.02051754 0.0854743 13.85891617] [-0.03715326 0.97952585 0.19786043 0.05972437] [-0.07966468 -0.20027018 0.97649649 0.08652061] [ 0. 0. 0. 1. ]] SLAMing on 55.166502480999995 meters Centerline goodness : 0.679763 with order 1 Centerline is valid? [False, False] Translation: X:13.91, Y:0.04, Z:0.08 [[ 0.99562871 0.02923559 0.08870603 13.91040319] [-0.04630318 0.97932161 0.19693958 0.03790778] [-0.08111409 -0.20018607 0.97639441 0.08326853] [ 0. 0. 0. 1. ]] SLAMing on 55.22650248099999 meters Centerline goodness : 0.683529 with order 1 Centerline is valid? [False, False] Translation: X:13.91, Y:0.04, Z:0.08 [[ 0.99552896 0.02917982 0.08983669 13.90753704] [-0.04636891 0.97957417 0.19566392 0.04177317] [-0.08229227 -0.19895473 0.97654749 0.08453235] [ 0. 0. 0. 1. ]] SLAMing on 55.28650248099999 meters Centerline goodness : 0.684627 with order 1 Centerline is valid? [False, False] Translation: X:13.91, Y:0.04, Z:0.08 [[ 0.99564179 0.02561465 0.08967341 13.9078114 ] [-0.04233024 0.98090965 0.18980099 0.0441797 ] [-0.08309983 -0.19276969 0.97771891 0.08363519] [ 0. 0. 0. 1. ]] SLAMing on 55.346502480999995 meters Centerline goodness : 0.683075 with order 1 Centerline is valid? [False, False] Translation: X:13.91, Y:0.05, Z:0.08 [[ 0.99576944 0.02231135 0.08913713 13.90887218] [-0.03837746 0.9823961 0.18282524 0.04906346] [-0.0834889 -0.18547264 0.97909627 0.08210036] [ 0. 0. 0. 1. ]] SLAMing on 55.40650248099999 meters Centerline goodness : 0.678597 with order 1 Centerline is valid? [False, False] Translation: X:13.96, Y:0.03, Z:0.08 [[ 0.99556799 0.03154893 0.08859479 13.96304481] [-0.0474172 0.98193687 0.18317096 0.03442036] [-0.08121564 -0.18656006 0.97908088 0.0770321 ] [ 0. 0. 0. 1. ]] SLAMing on 55.46650248099999 meters Centerline goodness : 0.674584 with order 1 Centerline is valid? [False, False] Translation: X:13.96, Y:0.04, Z:0.08 [[ 0.99563968 0.02913827 0.08861488 13.9618739 ] [-0.04452298 0.98321372 0.17694204 0.03921306] [-0.08197158 -0.18011592 0.98022391 0.07818254] [ 0. 0. 0. 1. ]] SLAMing on 55.526502480999994 meters Centerline goodness : 0.678060 with order 1 Centerline is valid? [False, False] Translation: X:13.96, Y:0.04, Z:0.08 [[ 0.99588075 0.02334006 0.08761721 13.96246268] [-0.03770087 0.98540137 0.16602045 0.04443861] [-0.08246319 -0.16863982 0.98222219 0.07878658] [ 0. 0. 0. 1. ]] SLAMing on 55.58650248099999 meters Centerline goodness : 0.678612 with order 1 Centerline is valid? [False, False] Translation: X:14.01, Y:0.03, Z:0.07 [[ 0.99585652 0.0289344 0.08621245 14.01486417] [-0.04313042 0.98490134 0.16765771 0.02834806] [-0.08005968 -0.17068141 0.98206838 0.07298252] [ 0. 0. 0. 1. ]] SLAMing on 55.64650248099999 meters Centerline goodness : 0.677408 with order 1 Centerline is valid? [False, False] Translation: X:14.01, Y:0.03, Z:0.07 [[ 0.99595213 0.02562814 0.08615419 14.01454737] [-0.03939337 0.98598913 0.16209131 0.03038923] [-0.080793 -0.16482909 0.98300756 0.07320086] [ 0. 0. 0. 1. ]] SLAMing on 55.706502480999994 meters Centerline goodness : 0.684938 with order 1 Centerline is valid? [False, False] Translation: X:14.07, Y:0.01, Z:0.07 [[ 9.95591524e-01 3.65673411e-02 8.63732950e-02 1.40702254e+01] [-5.05073173e-02 9.84969733e-01 1.65177592e-01 9.83771846e-03] [-7.90349759e-02 -1.68811894e-01 9.82474436e-01 6.82802857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.766502480999996 meters Centerline goodness : 0.683124 with order 1 Centerline is valid? [False, False] Translation: X:14.07, Y:0.01, Z:0.07 [[ 9.95450130e-01 3.81379886e-02 8.73185708e-02 1.40681183e+01] [-5.20639241e-02 9.85213386e-01 1.63229689e-01 1.29834203e-02] [-7.98021729e-02 -1.67033162e-01 9.82716407e-01 6.89927674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.82650248099999 meters Centerline goodness : 0.686630 with order 1 Centerline is valid? [False, False] Translation: X:14.07, Y:0.02, Z:0.07 [[ 0.99554932 0.03537896 0.08734921 14.06838314] [-0.04883171 0.98638462 0.15703769 0.01518424] [-0.08060409 -0.16060418 0.98372216 0.06733617] [ 0. 0. 0. 1. ]] SLAMing on 55.886502480999994 meters Centerline goodness : 0.683916 with order 1 Centerline is valid? [False, False] Translation: X:14.07, Y:0.02, Z:0.07 [[ 0.99559522 0.03370127 0.08748927 14.06800749] [-0.0465908 0.98762588 0.14974787 0.01993275] [-0.08135998 -0.15316446 0.98484578 0.06619589] [ 0. 0. 0. 1. ]] SLAMing on 55.946502480999996 meters Centerline goodness : 0.683374 with order 1 Centerline is valid? [False, False] Translation: X:14.07, Y:0.02, Z:0.07 [[ 0.99549287 0.03496111 0.08815705 14.06701564] [-0.04774029 0.98793881 0.14730167 0.02342804] [-0.08194394 -0.1508464 0.98515509 0.06518581] [ 0. 0. 0. 1. ]] SLAMing on 56.00650248099999 meters Centerline goodness : 0.683158 with order 1 Centerline is valid? [False, False] Translation: X:14.07, Y:0.03, Z:0.07 [[ 0.99544136 0.03570525 0.08844001 14.06605415] [-0.04832704 0.98825567 0.14496632 0.02669632] [-0.08222528 -0.14857951 0.98547609 0.06550999] [ 0. 0. 0. 1. ]] SLAMing on 56.06650248099999 meters Centerline goodness : 0.681259 with order 1 Centerline is valid? [False, False] Translation: X:14.06, Y:0.03, Z:0.06 [[ 0.9954623 0.0329595 0.08926634 14.06466779] [-0.04519066 0.98930711 0.13866958 0.02901088] [-0.08374134 -0.14207435 0.98630739 0.0645925 ] [ 0. 0. 0. 1. ]] SLAMing on 56.126502480999996 meters Centerline goodness : 0.679614 with order 1 Centerline is valid? [False, False] Translation: X:14.06, Y:0.03, Z:0.06 [[ 0.99557612 0.02969933 0.08914113 14.06470999] [-0.04137458 0.99036845 0.13213055 0.03419506] [-0.08435837 -0.1352342 0.98721597 0.06386703] [ 0. 0. 0. 1. ]] SLAMing on 56.18650248099999 meters Centerline goodness : 0.682743 with order 1 Centerline is valid? [False, False] Translation: X:14.06, Y:0.04, Z:0.07 [[ 0.99556865 0.02924132 0.08937563 14.06330003] [-0.0408434 0.99055693 0.13087696 0.03731214] [-0.08470464 -0.1339474 0.98736175 0.06587549] [ 0. 0. 0. 1. ]] SLAMing on 56.24650248099999 meters Centerline goodness : 0.688077 with order 1 Centerline is valid? [False, False] Translation: X:14.06, Y:0.04, Z:0.07 [[ 0.9957282 0.02346537 0.08930132 14.06212233] [-0.03414737 0.99218181 0.12003837 0.04109664] [-0.0857864 -0.12257499 0.98874469 0.06729168] [ 0. 0. 0. 1. ]] SLAMing on 56.306502480999995 meters Centerline goodness : 0.684767 with order 1 Centerline is valid? [False, False] Translation: X:14.06, Y:0.04, Z:0.07 [[ 0.99584766 0.02005012 0.08879997 14.06229194] [-0.03025654 0.99288978 0.11512788 0.04352913] [-0.08586026 -0.11733661 0.98937361 0.0683176 ] [ 0. 0. 0. 1. ]] SLAMing on 56.36650248099999 meters Centerline goodness : 0.687215 with order 1 Centerline is valid? [False, False] Translation: X:14.06, Y:0.05, Z:0.07 [[ 0.99589523 0.01709475 0.08888454 14.06218866] [-0.02684111 0.99360872 0.10964155 0.0464303 ] [-0.08644216 -0.11157726 0.98998902 0.06787326] [ 0. 0. 0. 1. ]] SLAMing on 56.42650248099999 meters Centerline goodness : 0.687808 with order 1 Centerline is valid? [False, False] Translation: X:14.06, Y:0.05, Z:0.07 [[ 0.99599148 0.0144017 0.08828114 14.06325078] [-0.02356429 0.99433538 0.10364299 0.0515141 ] [-0.08628843 -0.10530781 0.99068894 0.06719952] [ 0. 0. 0. 1. ]] SLAMing on 56.486502480999995 meters Centerline goodness : 0.685123 with order 1 Centerline is valid? [False, False] Translation: X:14.09, Y:0.02, Z:0.05 [[ 0.99521483 0.03162659 0.09245106 14.08598106] [-0.04230316 0.9923587 0.11590791 0.01779245] [-0.08807885 -0.11926424 0.98894801 0.05013971] [ 0. 0. 0. 1. ]] SLAMing on 56.54650248099999 meters Centerline goodness : 0.686240 with order 1 Centerline is valid? [False, False] Translation: X:14.08, Y:0.02, Z:0.05 [[ 0.99522913 0.0298553 0.0928851 14.08453465] [-0.0399655 0.99324177 0.10896579 0.02247397] [-0.08900416 -0.11215813 0.98969632 0.05029813] [ 0. 0. 0. 1. ]] SLAMing on 56.60650248099999 meters Centerline goodness : 0.687400 with order 1 Centerline is valid? [False, False] Translation: X:14.08, Y:0.03, Z:0.05 [[ 0.99528387 0.02691417 0.09319681 14.08284532] [-0.03652432 0.99401075 0.10299805 0.02623553] [-0.08986652 -0.10591625 0.99030589 0.05217825] [ 0. 0. 0. 1. ]] SLAMing on 56.666502480999995 meters Centerline goodness : 0.682746 with order 1 Centerline is valid? [False, False] Translation: X:14.08, Y:0.03, Z:0.05 [[ 0.99539742 0.02340136 0.09293201 14.0833703 ] [-0.03248873 0.99470415 0.09750969 0.02789034] [-0.090158 -0.10008014 0.99088622 0.05150035] [ 0. 0. 0. 1. ]] SLAMing on 56.72650248099999 meters Centerline goodness : 0.681686 with order 1 Centerline is valid? [False, False] Translation: X:14.08, Y:0.03, Z:0.05 [[ 0.99550715 0.02010627 0.092527 14.08411178] [-0.02853844 0.99546641 0.09073135 0.0323068 ] [-0.09028325 -0.09296428 0.99156774 0.05053426] [ 0. 0. 0. 1. ]] SLAMing on 56.78650248099999 meters Centerline goodness : 0.678868 with order 1 Centerline is valid? [False, False] Translation: X:14.08, Y:0.03, Z:0.05 [[ 0.99544624 0.02081662 0.09302393 14.08301493] [-0.02922999 0.99551123 0.09001661 0.03298762] [-0.09073253 -0.09232579 0.99158638 0.05120468] [ 0. 0. 0. 1. ]] SLAMing on 56.846502480999995 meters Centerline goodness : 0.680456 with order 1 Centerline is valid? [False, False] Translation: X:14.08, Y:0.03, Z:0.05 [[ 0.9952946 0.02190645 0.09438629 14.07961681] [-0.03042736 0.9954944 0.08980576 0.03270204] [-0.0919937 -0.09225512 0.99147675 0.05374224] [ 0. 0. 0. 1. ]] SLAMing on 56.90650248099999 meters Centerline goodness : 0.683474 with order 1 Centerline is valid? [False, False] Translation: X:14.12, Y:0.02, Z:0.05 [[ 0.99492836 0.03401853 0.09465886 14.11829806] [-0.04205774 0.99555477 0.08427247 0.01579664] [-0.09137125 -0.0878262 0.99193642 0.05004409] [ 0. 0. 0. 1. ]] SLAMing on 56.96650248099999 meters Centerline goodness : 0.680198 with order 1 Centerline is valid? [False, False] Translation: X:14.12, Y:0.02, Z:0.05 [[ 0.99515994 0.03025672 0.0934945 14.12044447] [-0.03772781 0.99614423 0.07920411 0.01758819] [-0.09073755 -0.0823481 0.99246435 0.04917738] [ 0. 0. 0. 1. ]] SLAMing on 57.026502480999994 meters Centerline goodness : 0.674508 with order 1 Centerline is valid? [False, False] Translation: X:14.13, Y:0.02, Z:0.05 [[ 0.99560779 0.0254843 0.09008705 14.12642575] [-0.03212775 0.99680838 0.07308123 0.02298966] [-0.0879371 -0.07565454 0.99324894 0.04799645] [ 0. 0. 0. 1. ]] SLAMing on 57.08650248099999 meters Centerline goodness : 0.680604 with order 1 Centerline is valid? [False, False] Translation: X:14.13, Y:0.03, Z:0.05 [[ 0.99573671 0.0230851 0.08930559 14.12592301] [-0.02918993 0.99728078 0.06766833 0.02575173] [-0.08750062 -0.06998667 0.99370293 0.05113161] [ 0. 0. 0. 1. ]] SLAMing on 57.14650248099999 meters Centerline goodness : 0.680222 with order 1 Centerline is valid? [False, False] Translation: X:14.12, Y:0.02, Z:0.06 [[ 0.99579991 0.02203459 0.08886517 14.12480195] [-0.02818475 0.99724894 0.06855785 0.02484408] [-0.08711005 -0.07077455 0.99368144 0.05540369] [ 0. 0. 0. 1. ]] SLAMing on 57.206502480999994 meters Centerline goodness : 0.680198 with order 1 Centerline is valid? [False, False] Translation: X:14.13, Y:0.03, Z:0.06 [[ 0.99609984 0.01726407 0.08652783 14.1282692 ] [-0.02282461 0.9977086 0.06369138 0.0270855 ] [-0.08522999 -0.06541794 0.99421142 0.0561524 ] [ 0. 0. 0. 1. ]] SLAMing on 57.26650248099999 meters Centerline goodness : 0.679058 with order 1 Centerline is valid? [False, False] Translation: X:14.18, Y:0.02, Z:0.05 [[ 0.99633874 0.021621 0.0827142 14.17879481] [-0.02663097 0.99784584 0.05995391 0.02004969] [-0.08123975 -0.06193716 0.99476826 0.05342982] [ 0. 0. 0. 1. ]] SLAMing on 57.32650248099999 meters Centerline goodness : 0.676363 with order 1 Centerline is valid? [False, False] Translation: X:14.23, Y:0.01, Z:0.05 [[ 9.96301124e-01 2.88426635e-02 8.09454806e-02 1.42320721e+01] [-3.36022321e-02 9.97747020e-01 5.80669859e-02 1.10230979e-02] [-7.90883055e-02 -6.05721521e-02 9.95025655e-01 5.07698356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.386502480999994 meters Centerline goodness : 0.676198 with order 1 Centerline is valid? [False, False] Translation: X:14.23, Y:0.01, Z:0.05 [[ 0.99639279 0.02649234 0.08061982 14.23084601] [-0.03078312 0.99814881 0.0524534 0.01483248] [-0.07908096 -0.05474592 0.9953638 0.0540274 ] [ 0. 0. 0. 1. ]] SLAMing on 57.446502480999996 meters Centerline goodness : 0.674919 with order 1 Centerline is valid? [False, False] Translation: X:14.23, Y:0.02, Z:0.05 [[ 0.99663114 0.02195967 0.07901991 14.23356146] [-0.02570915 0.99857575 0.04674952 0.01791715] [-0.07788076 -0.04862357 0.99577625 0.0537752 ] [ 0. 0. 0. 1. ]] SLAMing on 57.50650248099999 meters Centerline goodness : 0.671501 with order 1 Centerline is valid? [False, False] Translation: X:14.28, Y:0.01, Z:0.05 [[ 9.96701246e-01 2.30814571e-02 7.78066361e-02 1.42787900e+01] [-2.66801197e-02 9.98606460e-01 4.55336011e-02 1.05435294e-02] [-7.66472276e-02 -4.74592873e-02 9.95928119e-01 4.95206854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.56650248099999 meters Centerline goodness : 0.672966 with order 1 Centerline is valid? [False, False] Translation: X:14.28, Y:0.01, Z:0.05 [[ 9.96899259e-01 1.86715016e-02 7.64411084e-02 1.42803888e+01] [-2.18308540e-02 9.98932660e-01 4.07057081e-02 1.40604427e-02] [-7.55994830e-02 -4.22482649e-02 9.96242843e-01 5.08494056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.626502480999996 meters Centerline goodness : 0.673744 with order 1 Centerline is valid? [False, False] Translation: X:14.32, Y:0.01, Z:0.05 [[ 0.99700123 0.01592704 0.075729 14.31631606] [-0.01844767 0.99929486 0.0327027 0.01481412] [-0.07515475 -0.03400166 0.99659202 0.05229932] [ 0. 0. 0. 1. ]] SLAMing on 57.68650248099999 meters Centerline goodness : 0.673391 with order 1 Centerline is valid? [False, False] Translation: X:14.35, Y:0.01, Z:0.05 [[ 9.96760160e-01 1.62784916e-02 7.87667099e-02 1.43474783e+01] [-1.88362443e-02 9.99315496e-01 3.18391998e-02 1.29735125e-02] [-7.81944996e-02 -3.32197148e-02 9.96384499e-01 5.22437525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.74650248099999 meters Centerline goodness : 0.671241 with order 1 Centerline is valid? [False, False] Translation: X:14.41, Y:0.00, Z:0.05 [[ 9.96834804e-01 2.72790096e-02 7.46741503e-02 1.44101424e+01] [-2.95426279e-02 9.99131699e-01 2.93782581e-02 4.29101980e-03] [-7.38079008e-02 -3.14913408e-02 9.96775145e-01 4.97522647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.806502480999995 meters Centerline goodness : 0.669037 with order 1 Centerline is valid? [False, False] Translation: X:14.41, Y:0.01, Z:0.05 [[ 9.96730058e-01 2.89995817e-02 7.54202595e-02 1.44090410e+01] [-3.09705032e-02 9.99205210e-01 2.50953560e-02 8.47892299e-03] [-7.46325614e-02 -2.73490990e-02 9.96835998e-01 4.92514330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.86650248099999 meters Centerline goodness : 0.671575 with order 1 Centerline is valid? [False, False] Translation: X:14.41, Y:0.01, Z:0.05 [[ 9.96538421e-01 3.25965302e-02 7.64764137e-02 1.44074720e+01] [-3.44747165e-02 9.99132329e-01 2.33684123e-02 9.00942902e-03] [-7.56483282e-02 -2.59240233e-02 9.96797510e-01 4.87128655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.92650248099999 meters Centerline goodness : 0.673308 with order 1 Centerline is valid? [False, False] Translation: X:14.40, Y:0.01, Z:0.05 [[ 9.96308005e-01 3.57166861e-02 7.80684106e-02 1.44041256e+01] [-3.75067630e-02 9.99063239e-01 2.15844032e-02 1.16132820e-02] [-7.72243558e-02 -2.44328071e-02 9.96714321e-01 4.99434935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.986502480999995 meters Centerline goodness : 0.677140 with order 1 Centerline is valid? [False, False] Translation: X:14.40, Y:0.01, Z:0.05 [[ 9.96161075e-01 3.72426423e-02 7.92218238e-02 1.44023421e+01] [-3.90667072e-02 9.99003112e-01 2.16003294e-02 1.01159143e-02] [-7.83383952e-02 -2.46123432e-02 9.96622962e-01 4.94433479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.04650248099999 meters Centerline goodness : 0.677709 with order 1 Centerline is valid? [False, False] Translation: X:14.40, Y:0.01, Z:0.05 [[ 9.96320373e-01 3.43057775e-02 7.85418874e-02 1.44040000e+01] [-3.57470723e-02 9.99215953e-01 1.70183879e-02 9.56390558e-03] [-7.78964778e-02 -1.97634091e-02 9.96765542e-01 4.78067391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.10650248099999 meters Centerline goodness : 0.672735 with order 1 Centerline is valid? [False, False] Translation: X:14.41, Y:0.01, Z:0.05 [[ 9.96603705e-01 3.07426091e-02 7.63933697e-02 1.44073730e+01] [-3.18657176e-02 9.99400630e-01 1.35261651e-02 9.93096043e-03] [-7.59317522e-02 -1.59145558e-02 9.96986006e-01 4.82430352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.166502480999995 meters Centerline goodness : 0.677343 with order 1 Centerline is valid? [False, False] Translation: X:14.41, Y:0.01, Z:0.05 [[ 9.96746203e-01 2.74893838e-02 7.57716315e-02 1.44075452e+01] [-2.82633478e-02 9.99558533e-01 9.16090169e-03 1.03873155e-02] [-7.54863533e-02 -1.12726539e-02 9.97083115e-01 4.99195738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.22650248099999 meters Centerline goodness : 0.679849 with order 1 Centerline is valid? [False, False] Translation: X:14.41, Y:0.01, Z:0.05 [[ 9.96895405e-01 2.45064111e-02 7.48263774e-02 1.44078954e+01] [-2.50015433e-02 9.99671234e-01 5.68742505e-03 9.74634983e-03] [-7.46623987e-02 -7.54054282e-03 9.97180358e-01 5.25978811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.28650248099999 meters Centerline goodness : 0.680691 with order 1 Centerline is valid? [False, False] Translation: X:14.41, Y:0.01, Z:0.05 [[ 9.96990358e-01 2.39280088e-02 7.37406016e-02 1.44090986e+01] [-2.46442025e-02 9.99657397e-01 8.81768352e-03 5.25850570e-03] [-7.35043482e-02 -1.06084238e-02 9.97238473e-01 5.45823497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.346502480999995 meters Centerline goodness : 0.681187 with order 1 Centerline is valid? [False, False] Translation: X:14.41, Y:0.00, Z:0.06 [[ 9.97091503e-01 2.03903784e-02 7.34354644e-02 1.44093942e+01] [-2.08297928e-02 9.99769395e-01 5.22272491e-03 4.01624978e-03] [-7.33120365e-02 -6.73718014e-03 9.97286296e-01 5.50240181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.40650248099999 meters Centerline goodness : 0.684440 with order 1 Centerline is valid? [False, False] Translation: X:14.41, Y:0.00, Z:0.06 [[ 9.97180864e-01 1.78213149e-02 7.28884398e-02 1.44098778e+01] [-1.79917517e-02 9.99836720e-01 1.68237163e-03 3.87859652e-03] [-7.28465565e-02 -2.98901951e-03 9.97338681e-01 5.57243722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.46650248099999 meters Centerline goodness : 0.683736 with order 1 Centerline is valid? [False, False] Translation: X:14.41, Y:0.00, Z:0.06 [[ 9.97304240e-01 1.48633552e-02 7.18563383e-02 1.44114184e+01] [-1.48345137e-02 9.99889525e-01 -9.35057308e-04 1.70738002e-03] [-7.18622981e-02 -1.33417214e-04 9.97414554e-01 5.60523990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.526502480999994 meters Centerline goodness : 0.685410 with order 1 Centerline is valid? [False, False] Translation: X:14.41, Y:-0.00, Z:0.06 [[ 9.97428923e-01 1.42034592e-02 7.02410465e-02 1.44144793e+01] [-1.43087334e-02 9.99897129e-01 9.95805647e-04 -1.01388576e-03] [-7.02196769e-02 -1.99830576e-03 9.97529550e-01 5.58552340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.58650248099999 meters Centerline goodness : 0.685143 with order 1 Centerline is valid? [False, False] Translation: X:14.41, Y:-0.00, Z:0.06 [[ 9.97387959e-01 1.48267207e-02 7.06924852e-02 1.44132057e+01] [-1.50481504e-02 9.99883388e-01 2.60073333e-03 -3.56961509e-03] [-7.06456813e-02 -3.65773126e-03 9.97494766e-01 5.72283157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.64650248099999 meters Centerline goodness : 0.685666 with order 1 Centerline is valid? [False, False] Translation: X:14.42, Y:-0.01, Z:0.06 [[ 9.97501462e-01 1.42591128e-02 6.91918436e-02 1.44152323e+01] [-1.46131920e-02 9.99882577e-01 4.61386723e-03 -6.73249797e-03] [-6.91179292e-02 -5.61345301e-03 9.97592703e-01 5.87543609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.706502480999994 meters Centerline goodness : 0.680006 with order 1 Centerline is valid? [False, False] Translation: X:14.42, Y:-0.00, Z:0.06 [[ 9.97725048e-01 1.06234240e-02 6.65723038e-02 1.44198513e+01] [-1.06010622e-02 9.99943570e-01 -6.89163991e-04 -4.95677197e-03] [-6.65758684e-02 -1.81409560e-05 9.97781366e-01 5.82837985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.76650248099999 meters Centerline goodness : 0.685281 with order 1 Centerline is valid? [False, False] Translation: X:14.42, Y:-0.01, Z:0.06 [[ 9.97780555e-01 1.16158752e-02 6.55670308e-02 1.44209247e+01] [-1.15880243e-02 9.99932533e-01 -8.05071452e-04 -5.00032965e-03] [-6.55719588e-02 4.34922922e-05 9.97847842e-01 5.95787751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.82650248099999 meters Centerline goodness : 0.688736 with order 1 Centerline is valid? [False, False] Translation: X:14.45, Y:-0.02, Z:0.06 [[ 9.97458337e-01 2.16868836e-02 6.78715319e-02 1.44464076e+01] [-2.13760041e-02 9.99757441e-01 -5.30339821e-03 -1.76564814e-02] [-6.79700832e-02 3.83909662e-03 9.97679973e-01 5.92603877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.886502480999994 meters Centerline goodness : 0.688469 with order 1 Centerline is valid? [False, False] Translation: X:14.45, Y:-0.02, Z:0.06 [[ 9.97459415e-01 2.15045580e-02 6.79136890e-02 1.44461540e+01] [-2.10809620e-02 9.99753630e-01 -6.94787568e-03 -1.98130790e-02] [-6.80463681e-02 5.49853811e-03 9.97667008e-01 5.93140941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.94650248099999 meters Centerline goodness : 0.687640 with order 1 Centerline is valid? [False, False] Translation: X:14.45, Y:-0.02, Z:0.06 [[ 9.97503946e-01 2.07471207e-02 6.74939544e-02 1.44470641e+01] [-2.02808048e-02 9.99765536e-01 -7.58695274e-03 -1.96394630e-02] [-6.76355369e-02 6.19918359e-03 9.97690836e-01 5.91408027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.00650248099999 meters Centerline goodness : 0.689759 with order 1 Centerline is valid? [False, False] Translation: X:14.45, Y:-0.02, Z:0.06 [[ 9.97445716e-01 2.18893346e-02 6.79919112e-02 1.44452783e+01] [-2.14920208e-02 9.99747435e-01 -6.56963440e-03 -2.17065014e-02] [-6.81185437e-02 5.09157012e-03 9.97664242e-01 6.10994674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.06650248099999 meters Centerline goodness : 0.688170 with order 1 Centerline is valid? [False, False] Translation: X:14.45, Y:-0.02, Z:0.06 [[ 9.97460711e-01 2.26084739e-02 6.75350736e-02 1.44451955e+01] [-2.23417904e-02 9.99739336e-01 -4.70159421e-03 -2.41995491e-02] [-6.76237655e-02 3.18080104e-03 9.97705823e-01 6.30581870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.126502480999996 meters Centerline goodness : 0.682849 with order 1 Centerline is valid? [False, False] Translation: X:14.45, Y:-0.02, Z:0.06 [[ 9.97545759e-01 2.01298400e-02 6.70615291e-02 1.44465545e+01] [-1.95630193e-02 9.99767227e-01 -9.09832123e-03 -2.31629145e-02] [-6.72290668e-02 7.76406577e-03 9.97707358e-01 6.16742847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.18650248099999 meters Centerline goodness : 0.688017 with order 1 Centerline is valid? [False, False] Translation: X:14.45, Y:-0.03, Z:0.06 [[ 9.97609418e-01 1.99737265e-02 6.61551108e-02 1.44486946e+01] [-1.95077039e-02 9.99780187e-01 -7.68295684e-03 -2.55462320e-02] [-6.62940263e-02 6.37405579e-03 9.97779772e-01 6.07326346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.24650248099999 meters Centerline goodness : 0.684648 with order 1 Centerline is valid? [False, False] Translation: X:14.45, Y:-0.03, Z:0.06 [[ 9.97683338e-01 2.01780730e-02 6.49677082e-02 1.44505521e+01] [-1.97338952e-02 9.99777351e-01 -7.47143408e-03 -2.52227897e-02] [-6.51040023e-02 6.17205935e-03 9.97859396e-01 6.11291700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.306502480999995 meters Centerline goodness : 0.684318 with order 1 Centerline is valid? [False, False] Translation: X:14.45, Y:-0.03, Z:0.06 [[ 9.97717268e-01 2.04513057e-02 6.43583561e-02 1.44513504e+01] [-2.00255424e-02 9.99773155e-01 -7.25371168e-03 -2.55254471e-02] [-6.44921046e-02 5.94834241e-03 9.97900489e-01 6.16205353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.36650248099999 meters Centerline goodness : 0.686937 with order 1 Centerline is valid? [False, False] Translation: X:14.45, Y:-0.03, Z:0.06 [[ 9.97775188e-01 2.04661894e-02 6.34492694e-02 1.44525636e+01] [-2.00677515e-02 9.99774739e-01 -6.91063421e-03 -2.61770206e-02] [-6.35764111e-02 5.62197518e-03 9.97961138e-01 6.22815494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.42650248099999 meters Centerline goodness : 0.688017 with order 1 Centerline is valid? [False, False] Translation: X:14.45, Y:-0.03, Z:0.06 [[ 9.97793728e-01 2.02041952e-02 6.32413419e-02 1.44519435e+01] [-1.99467932e-02 9.99790001e-01 -4.69893884e-03 -2.94640009e-02] [-6.33229995e-02 3.42710973e-03 9.97987201e-01 6.45211351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.486502480999995 meters Centerline goodness : 0.689639 with order 1 Centerline is valid? [False, False] Translation: X:14.49, Y:-0.03, Z:0.06 [[ 9.97970077e-01 1.96014295e-02 6.05929871e-02 1.44901209e+01] [-1.91074839e-02 9.99779403e-01 -8.72061942e-03 -3.47273254e-02] [-6.07505571e-02 7.54513771e-03 9.98124462e-01 6.42061263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.54650248099999 meters Centerline goodness : 0.690953 with order 1 Centerline is valid? [False, False] Translation: X:14.54, Y:-0.04, Z:0.06 [[ 9.98001630e-01 2.21143399e-02 5.91920742e-02 1.45373339e+01] [-2.13001270e-02 9.99670118e-01 -1.43513027e-02 -4.01072556e-02] [-5.94899174e-02 1.30618248e-02 9.98143446e-01 6.35190722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.60650248099999 meters Centerline goodness : 0.693554 with order 1 Centerline is valid? [False, False] Translation: X:14.54, Y:-0.04, Z:0.06 [[ 9.97977239e-01 2.30124436e-02 5.92609245e-02 1.45367926e+01] [-2.22266881e-02 9.99656538e-01 -1.38845435e-02 -4.12453789e-02] [-5.95600879e-02 1.25392843e-02 9.98145962e-01 6.44693619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.666502480999995 meters Centerline goodness : 0.694692 with order 1 Centerline is valid? [False, False] Translation: X:14.54, Y:-0.04, Z:0.07 [[ 9.98015947e-01 2.30138575e-02 5.86048860e-02 1.45371334e+01] [-2.22985678e-02 9.99669025e-01 -1.28302321e-02 -4.09243411e-02] [-5.88807623e-02 1.14979712e-02 9.98198804e-01 6.63087324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.72650248099999 meters Centerline goodness : 0.692108 with order 1 Centerline is valid? [False, False] Translation: X:14.54, Y:-0.04, Z:0.07 [[ 0.99821157 0.01853769 0.05683329 14.5404664 ] [-0.01762967 0.99970947 -0.01643692 -0.04101255] [-0.05712148 0.01540558 0.99824837 0.06568107] [ 0. 0. 0. 1. ]] SLAMing on 59.78650248099999 meters Centerline goodness : 0.693943 with order 1 Centerline is valid? [False, False] Translation: X:14.58, Y:-0.04, Z:0.07 [[ 9.98333132e-01 1.55123887e-02 5.55906747e-02 1.45760822e+01] [-1.43624584e-02 9.99675764e-01 -2.10258444e-02 -4.28536347e-02] [-5.58988112e-02 2.01923784e-02 9.98232233e-01 6.52207215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.846502480999995 meters Centerline goodness : 0.695583 with order 1 Centerline is valid? [False, False] Translation: X:14.63, Y:-0.05, Z:0.06 [[ 0.99836186 0.01944403 0.05381013 14.62672902] [-0.01809215 0.99951116 -0.02549735 -0.04877617] [-0.05427959 0.02448204 0.9982256 0.06428195] [ 0. 0. 0. 1. ]] SLAMing on 59.90650248099999 meters Centerline goodness : 0.691681 with order 1 Centerline is valid? [False, False] Translation: X:14.63, Y:-0.05, Z:0.07 [[ 0.99830752 0.02296032 0.05343138 14.6271103 ] [-0.02192077 0.99956042 -0.01996125 -0.05032244] [-0.05386621 0.01875621 0.99837199 0.06535835] [ 0. 0. 0. 1. ]] SLAMing on 59.96650248099999 meters Centerline goodness : 0.689867 with order 1 Centerline is valid? [False, False] Translation: X:14.63, Y:-0.05, Z:0.07 [[ 0.99832758 0.02335582 0.05288235 14.62782796] [-0.02229373 0.9995395 -0.02058575 -0.04932948] [-0.05333879 0.01937237 0.99838854 0.06568801] [ 0. 0. 0. 1. ]] SLAMing on 60.026502480999994 meters Centerline goodness : 0.690261 with order 1 Centerline is valid? [False, False] Translation: X:14.63, Y:-0.05, Z:0.06 [[ 0.99844268 0.02249713 0.05104993 14.63162993] [-0.02144654 0.99954868 -0.02103514 -0.04830197] [-0.05150012 0.01990753 0.99847455 0.06452821] [ 0. 0. 0. 1. ]] SLAMing on 60.08650248099999 meters Centerline goodness : 0.690686 with order 1 Centerline is valid? [False, False] Translation: X:14.63, Y:-0.05, Z:0.06 [[ 0.99850045 0.02257607 0.04987147 14.63378445] [-0.02150328 0.99952792 -0.02194401 -0.04609852] [-0.05034333 0.02083871 0.99851455 0.06430329] [ 0. 0. 0. 1. ]] SLAMing on 60.14650248099999 meters Centerline goodness : 0.694284 with order 1 Centerline is valid? [False, False] Translation: X:14.63, Y:-0.05, Z:0.07 [[ 0.99838904 0.02401803 0.05140479 14.63019942] [-0.02293446 0.99950433 -0.02156631 -0.04738883] [-0.05189729 0.02035263 0.99844501 0.06607233] [ 0. 0. 0. 1. ]] SLAMing on 60.206502480999994 meters Centerline goodness : 0.694735 with order 1 Centerline is valid? [False, False] Translation: X:14.68, Y:-0.05, Z:0.07 [[ 0.99821466 0.02811894 0.05269546 14.67536086] [-0.02684373 0.99933313 -0.02475309 -0.0536894 ] [-0.05335634 0.02329436 0.9983038 0.06576323] [ 0. 0. 0. 1. ]] SLAMing on 60.26650248099999 meters Centerline goodness : 0.689195 with order 1 Centerline is valid? [False, False] Translation: X:14.68, Y:-0.06, Z:0.07 [[ 0.99815974 0.0311601 0.05202088 14.67621413] [-0.03026646 0.99938195 -0.0178789 -0.05689051] [-0.05254584 0.01627151 0.99848594 0.0670803 ] [ 0. 0. 0. 1. ]] SLAMing on 60.32650248099999 meters Centerline goodness : 0.689904 with order 1 Centerline is valid? [False, False] Translation: X:14.68, Y:-0.06, Z:0.06 [[ 0.99833536 0.02773604 0.05056901 14.67992407] [-0.02662103 0.99939029 -0.02259116 -0.05537633] [-0.05116477 0.02120735 0.99846503 0.06448322] [ 0. 0. 0. 1. ]] SLAMing on 60.386502480999994 meters Centerline goodness : 0.690055 with order 1 Centerline is valid? [False, False] Translation: X:14.67, Y:-0.06, Z:0.06 [[ 0.99857581 0.02875326 0.04493996 14.67015488] [-0.02776281 0.99936105 -0.02251048 -0.05927816] [-0.0455585 0.02123076 0.99873604 0.06339296] [ 0. 0. 0. 1. ]] SLAMing on 60.44650248099999 meters Centerline goodness : 0.687432 with order 1 Centerline is valid? [False, False] Translation: X:14.67, Y:-0.06, Z:0.06 [[ 0.99843407 0.03235645 0.04563398 14.66877751] [-0.03163847 0.99936533 -0.01636911 -0.06374362] [-0.04613466 0.01489969 0.9988241 0.06439863] [ 0. 0. 0. 1. ]] SLAMing on 60.50650248099999 meters Centerline goodness : 0.692183 with order 1 Centerline is valid? [False, False] Translation: X:14.67, Y:-0.07, Z:0.07 [[ 9.98239765e-01 3.63443572e-02 4.68663886e-02 1.46655187e+01] [-3.59150439e-02 9.99305109e-01 -9.97040453e-03 -6.70323905e-02] [-4.71961895e-02 8.26964587e-03 9.98851407e-01 6.74469664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.56650248099999 meters Centerline goodness : 0.696341 with order 1 Centerline is valid? [False, False] Translation: X:14.67, Y:-0.07, Z:0.07 [[ 9.98274444e-01 3.57490254e-02 4.65847771e-02 1.46656058e+01] [-3.53654048e-02 9.99333620e-01 -9.03349032e-03 -6.90997895e-02] [-4.68766724e-02 7.37041303e-03 9.98873493e-01 6.81889232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.62650248099999 meters Centerline goodness : 0.691964 with order 1 Centerline is valid? [False, False] Translation: X:14.67, Y:-0.07, Z:0.07 [[ 9.98490596e-01 3.14316977e-02 4.50397493e-02 1.46694879e+01] [-3.07918228e-02 9.99415780e-01 -1.48311037e-02 -6.69687009e-02] [-4.54796029e-02 1.34218616e-02 9.98875097e-01 6.50190945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.68650248099999 meters Centerline goodness : 0.693602 with order 1 Centerline is valid? [False, False] Translation: X:14.67, Y:-0.07, Z:0.07 [[ 9.98451999e-01 3.26268914e-02 4.50454332e-02 1.46693111e+01] [-3.20267520e-02 9.99389220e-01 -1.39811946e-02 -6.84649042e-02] [-4.54740833e-02 1.25168928e-02 9.98887098e-01 6.54019732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.74650248099999 meters Centerline goodness : 0.697187 with order 1 Centerline is valid? [False, False] Translation: X:14.67, Y:-0.07, Z:0.07 [[ 9.98288198e-01 3.65760312e-02 4.56384494e-02 1.46678618e+01] [-3.62030287e-02 9.99304169e-01 -8.97322780e-03 -7.02541071e-02] [-4.59348978e-02 7.30561731e-03 9.98917721e-01 6.66831843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.806502480999995 meters Centerline goodness : 0.699621 with order 1 Centerline is valid? [False, False] Translation: X:14.67, Y:-0.07, Z:0.07 [[ 9.98289307e-01 3.52788127e-02 4.66247186e-02 1.46660096e+01] [-3.46572753e-02 9.99300171e-01 -1.40727107e-02 -6.98993886e-02] [-4.70885578e-02 1.24327509e-02 9.98813343e-01 6.59196825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.86650248099999 meters Centerline goodness : 0.695468 with order 1 Centerline is valid? [False, False] Translation: X:14.67, Y:-0.07, Z:0.07 [[ 9.98267018e-01 3.55585238e-02 4.68887213e-02 1.46658476e+01] [-3.49485619e-02 9.99294309e-01 -1.37652252e-02 -7.08504483e-02] [-4.73451035e-02 1.21026770e-02 9.98805270e-01 6.54809461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.92650248099999 meters Centerline goodness : 0.697785 with order 1 Centerline is valid? [False, False] Translation: X:14.67, Y:-0.07, Z:0.07 [[ 9.98247387e-01 3.59023632e-02 4.70443846e-02 1.46651985e+01] [-3.53505524e-02 9.99296674e-01 -1.25097938e-02 -7.34322151e-02] [-4.74604283e-02 1.08248239e-02 9.98814463e-01 6.62174826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.986502480999995 meters Centerline goodness : 0.698581 with order 1 Centerline is valid? [False, False] Translation: X:14.66, Y:-0.08, Z:0.07 [[ 9.98236901e-01 3.58051095e-02 4.73400761e-02 1.46636529e+01] [-3.53275162e-02 9.99316483e-01 -1.08873039e-02 -7.70535012e-02] [-4.76975395e-02 9.19570120e-03 9.98819495e-01 6.81663861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.04650248099999 meters Centerline goodness : 0.701239 with order 1 Centerline is valid? [False, False] Translation: X:14.66, Y:-0.08, Z:0.07 [[ 9.98376868e-01 3.29615992e-02 4.64452531e-02 1.46645762e+01] [-3.23406521e-02 9.99378030e-01 -1.40582540e-02 -7.88635370e-02] [-4.68797481e-02 1.25333658e-02 9.98821908e-01 6.86580814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.10650248099999 meters Centerline goodness : 0.696657 with order 1 Centerline is valid? [False, False] Translation: X:14.67, Y:-0.08, Z:0.07 [[ 9.98445290e-01 3.27153022e-02 4.51299426e-02 1.46670973e+01] [-3.21736569e-02 9.99401900e-01 -1.26767046e-02 -7.84087697e-02] [-4.55176726e-02 1.12050008e-02 9.98900690e-01 6.86347716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.166502480999995 meters Centerline goodness : 0.695436 with order 1 Centerline is valid? [False, False] Translation: X:14.67, Y:-0.08, Z:0.07 [[ 9.98490986e-01 3.25227714e-02 4.42495131e-02 1.46690817e+01] [-3.20248645e-02 9.99416048e-01 -1.19151835e-02 -8.03433545e-02] [-4.46111883e-02 1.04801187e-02 9.98949453e-01 6.78238063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.22650248099999 meters Centerline goodness : 0.694219 with order 1 Centerline is valid? [False, False] Translation: X:14.67, Y:-0.08, Z:0.07 [[ 9.98556387e-01 3.16800103e-02 4.33764810e-02 1.46699975e+01] [-3.12885676e-02 9.99463577e-01 -9.67384641e-03 -8.32962459e-02] [-4.36596804e-02 8.30269316e-03 9.99011961e-01 6.95197224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.28650248099999 meters Centerline goodness : 0.694579 with order 1 Centerline is valid? [False, False] Translation: X:14.67, Y:-0.08, Z:0.07 [[ 9.98761246e-01 2.73798921e-02 4.15489574e-02 1.46731992e+01] [-2.68933817e-02 9.99563570e-01 -1.22235380e-02 -8.14904989e-02] [-4.18655033e-02 1.10910040e-02 9.99061694e-01 6.95765673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.346502480999995 meters Centerline goodness : 0.699295 with order 1 Centerline is valid? [False, False] Translation: X:14.67, Y:-0.08, Z:0.07 [[ 9.98780557e-01 2.73047531e-02 4.11321020e-02 1.46734328e+01] [-2.68460957e-02 9.99571547e-01 -1.16623215e-02 -8.16069902e-02] [-4.14329157e-02 1.05438637e-02 9.99085652e-01 7.06372100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.40650248099999 meters Centerline goodness : 0.700838 with order 1 Centerline is valid? [False, False] Translation: X:14.67, Y:-0.08, Z:0.07 [[ 9.98720149e-01 3.04759072e-02 4.03643791e-02 1.46746710e+01] [-3.02469979e-02 9.99522790e-01 -6.26982556e-03 -8.26821589e-02] [-4.05361954e-02 5.04089983e-03 9.99165355e-01 7.16324531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.46650248099999 meters Centerline goodness : 0.696011 with order 1 Centerline is valid? [False, False] Translation: X:14.68, Y:-0.08, Z:0.07 [[ 9.98758682e-01 3.02234589e-02 3.95933990e-02 1.46771878e+01] [-2.99341017e-02 9.99520806e-01 -7.88091251e-03 -8.16077961e-02] [-3.98126145e-02 6.68593696e-03 9.99184795e-01 6.93112941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.526502480999994 meters Centerline goodness : 0.696631 with order 1 Centerline is valid? [False, False] Translation: X:14.68, Y:-0.08, Z:0.07 [[ 9.98689035e-01 3.16829996e-02 4.02044624e-02 1.46761927e+01] [-3.13134835e-02 9.99461688e-01 -9.78775940e-03 -7.89508338e-02] [-4.04929254e-02 8.51598622e-03 9.99143534e-01 6.86100043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.58650248099999 meters Centerline goodness : 0.698237 with order 1 Centerline is valid? [False, False] Translation: X:14.67, Y:-0.08, Z:0.07 [[ 9.98512401e-01 3.59603666e-02 4.09858065e-02 1.46744067e+01] [-3.57730033e-02 9.99345909e-01 -5.29592522e-03 -7.92605332e-02] [-4.11494414e-02 3.82186162e-03 9.99145694e-01 6.99354023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.64650248099999 meters Centerline goodness : 0.699584 with order 1 Centerline is valid? [False, False] Translation: X:14.67, Y:-0.08, Z:0.07 [[ 9.98434147e-01 3.71295980e-02 4.18407278e-02 1.46719171e+01] [-3.69398504e-02 9.99303440e-01 -5.29930839e-03 -7.94312487e-02] [-4.20083444e-02 3.74542022e-03 9.99110240e-01 7.15372178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.706502480999994 meters Centerline goodness : 0.692881 with order 1 Centerline is valid? [False, False] Translation: X:14.68, Y:-0.08, Z:0.07 [[ 9.98625994e-01 3.34526855e-02 4.03365980e-02 1.46757784e+01] [-3.30370224e-02 9.99394384e-01 -1.09279596e-02 -7.67254368e-02] [-4.06777391e-02 9.58034341e-03 9.99126388e-01 6.85943362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.76650248099999 meters Centerline goodness : 0.689044 with order 1 Centerline is valid? [False, False] Translation: X:14.68, Y:-0.08, Z:0.07 [[ 9.98720376e-01 3.21999419e-02 3.89971097e-02 1.46786761e+01] [-3.18352172e-02 9.99443724e-01 -9.93791085e-03 -7.66551822e-02] [-3.92954167e-02 8.68371260e-03 9.99189904e-01 6.81738766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.82650248099999 meters Centerline goodness : 0.692563 with order 1 Centerline is valid? [False, False] Translation: X:14.68, Y:-0.08, Z:0.07 [[ 9.98811121e-01 3.06837398e-02 3.78794496e-02 1.46803915e+01] [-3.03853979e-02 9.99502733e-01 -8.42695501e-03 -7.76585812e-02] [-3.81191839e-02 7.26595423e-03 9.99246783e-01 6.93246389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.886502480999994 meters Centerline goodness : 0.691209 with order 1 Centerline is valid? [False, False] Translation: X:14.68, Y:-0.08, Z:0.07 [[ 9.98927015e-01 2.68260649e-02 3.77515695e-02 1.46794207e+01] [-2.63787580e-02 9.99576378e-01 -1.22974170e-02 -7.75965338e-02] [-3.80654684e-02 1.12883826e-02 9.99211485e-01 7.12285428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.94650248099999 meters Centerline goodness : 0.688172 with order 1 Centerline is valid? [False, False] Translation: X:14.68, Y:-0.08, Z:0.07 [[ 9.99087596e-01 2.41666845e-02 3.52128815e-02 1.46832030e+01] [-2.37870749e-02 9.99654757e-01 -1.11598265e-02 -7.76823259e-02] [-3.54704205e-02 1.03120328e-02 9.99317523e-01 7.31051137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.00650248099999 meters Centerline goodness : 0.683444 with order 1 Centerline is valid? [False, False] Translation: X:14.69, Y:-0.08, Z:0.08 [[ 9.99200525e-01 2.20544233e-02 3.33453526e-02 1.46851356e+01] [-2.17790057e-02 9.99725817e-01 -8.60037194e-03 -7.83546249e-02] [-3.35258861e-02 7.86726753e-03 9.99406885e-01 7.64160289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.06650248099999 meters Centerline goodness : 0.685967 with order 1 Centerline is valid? [False, False] Translation: X:14.69, Y:-0.08, Z:0.08 [[ 9.99370073e-01 1.67137837e-02 3.13066665e-02 1.46888580e+01] [-1.63364066e-02 9.99791245e-01 -1.22714688e-02 -7.79148770e-02] [-3.15052338e-02 1.17523003e-02 9.99434492e-01 7.63317094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.12650248099999 meters Centerline goodness : 0.685062 with order 1 Centerline is valid? [False, False] Translation: X:14.69, Y:-0.08, Z:0.08 [[ 9.99428424e-01 1.57949462e-02 2.98888860e-02 1.46908762e+01] [-1.54566696e-02 9.99814228e-01 -1.15152178e-02 -7.79208984e-02] [-3.00652157e-02 1.10466534e-02 9.99486895e-01 7.74793951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.18650248099999 meters Centerline goodness : 0.683104 with order 1 Centerline is valid? [False, False] Translation: X:14.69, Y:-0.08, Z:0.08 [[ 9.99371253e-01 1.91200778e-02 2.98583434e-02 1.46902297e+01] [-1.89113463e-02 9.99794823e-01 -7.25756753e-03 -7.80601822e-02] [-2.99909824e-02 6.68834289e-03 9.99527792e-01 7.93159650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.24650248099999 meters Centerline goodness : 0.686362 with order 1 Centerline is valid? [False, False] Translation: X:14.69, Y:-0.08, Z:0.08 [[ 9.99375531e-01 1.94533853e-02 2.94976760e-02 1.46911632e+01] [-1.92366156e-02 9.99785961e-01 -7.61478975e-03 -7.76834429e-02] [-2.96394958e-02 7.04259910e-03 9.99535843e-01 7.86695410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.306502480999995 meters Centerline goodness : 0.684852 with order 1 Centerline is valid? [False, False] Translation: X:14.69, Y:-0.07, Z:0.08 [[ 9.99365347e-01 2.23638082e-02 2.77265783e-02 1.46948198e+01] [-2.22259645e-02 9.99739084e-01 -5.26983214e-03 -7.38715792e-02] [-2.78371975e-02 4.65023769e-03 9.99601654e-01 7.79473946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.36650248099999 meters Centerline goodness : 0.680345 with order 1 Centerline is valid? [False, False] Translation: X:14.70, Y:-0.07, Z:0.08 [[ 9.99273865e-01 2.66454827e-02 2.72352935e-02 1.46970482e+01] [-2.65150150e-02 9.99635198e-01 -5.14042364e-03 -6.88641021e-02] [-2.73623271e-02 4.41454678e-03 9.99615834e-01 7.53982613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.42650248099999 meters Centerline goodness : 0.677802 with order 1 Centerline is valid? [False, False] Translation: X:14.70, Y:-0.06, Z:0.08 [[ 9.99115526e-01 3.20089829e-02 2.72688448e-02 1.46960610e+01] [-3.19719038e-02 9.99487157e-01 -1.79479001e-03 -6.41368620e-02] [-2.73123096e-02 9.21365686e-04 9.99626525e-01 7.72543543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.486502480999995 meters Centerline goodness : 0.676245 with order 1 Centerline is valid? [False, False] Translation: X:14.69, Y:-0.06, Z:0.08 [[ 9.98911852e-01 3.72077554e-02 2.81192904e-02 1.46945237e+01] [-3.71656308e-02 9.99307079e-01 -2.01940846e-03 -5.95337336e-02] [-2.81749436e-02 9.72139885e-04 9.99602535e-01 7.70266568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.54650248099999 meters Centerline goodness : 0.681940 with order 1 Centerline is valid? [False, False] Translation: X:14.69, Y:-0.06, Z:0.08 [[ 9.98651236e-01 4.26089945e-02 2.96678563e-02 1.46906188e+01] [-4.26448389e-02 9.99090129e-01 5.76219493e-04 -5.64981567e-02] [-2.96163103e-02 -1.84062326e-03 9.99559646e-01 7.95583286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.60650248099999 meters Centerline goodness : 0.677073 with order 1 Centerline is valid? [False, False] Translation: X:14.69, Y:-0.05, Z:0.08 [[ 9.98654459e-01 4.30916996e-02 2.88509555e-02 1.46926109e+01] [-4.30513960e-02 9.99070823e-01 -2.01695866e-03 -5.25584823e-02] [-2.89110620e-02 7.72170852e-04 9.99581690e-01 7.81707785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.666502480999995 meters Centerline goodness : 0.677928 with order 1 Centerline is valid? [False, False] Translation: X:14.69, Y:-0.05, Z:0.08 [[ 9.98785429e-01 4.00740305e-02 2.86659719e-02 1.46930294e+01] [-3.98740221e-02 9.99176452e-01 -7.51536876e-03 -4.96871958e-02] [-2.89435352e-02 6.36321322e-03 9.99560794e-01 7.73225759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.72650248099999 meters Centerline goodness : 0.680052 with order 1 Centerline is valid? [False, False] Translation: X:14.69, Y:-0.05, Z:0.08 [[ 9.98808520e-01 3.92354642e-02 2.90192742e-02 1.46916988e+01] [-3.90521544e-02 9.99213646e-01 -6.85705265e-03 -5.06948330e-02] [-2.92654945e-02 5.71561743e-03 9.99555332e-01 7.88357524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.78650248099999 meters Centerline goodness : 0.680955 with order 1 Centerline is valid? [False, False] Translation: X:14.69, Y:-0.05, Z:0.08 [[ 9.98916609e-01 3.60542095e-02 2.94228126e-02 1.46896212e+01] [-3.57898987e-02 9.99314551e-01 -9.46109004e-03 -5.23028271e-02] [-2.97437568e-02 8.39780050e-03 9.99522279e-01 8.09635755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.846502480999995 meters Centerline goodness : 0.681978 with order 1 Centerline is valid? [False, False] Translation: X:14.69, Y:-0.05, Z:0.08 [[ 9.99167636e-01 3.04521665e-02 2.71422410e-02 1.46929257e+01] [-3.01696179e-02 9.99486883e-01 -1.07594360e-02 -5.48258119e-02] [-2.74559620e-02 9.93160917e-03 9.99573676e-01 8.22592595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.90650248099999 meters Centerline goodness : 0.683100 with order 1 Centerline is valid? [False, False] Translation: X:14.70, Y:-0.06, Z:0.08 [[ 9.99353947e-01 2.52501814e-02 2.55757272e-02 1.46956720e+01] [-2.49297986e-02 9.99607649e-01 -1.27692126e-02 -5.59514746e-02] [-2.58881174e-02 1.21233653e-02 9.99591331e-01 8.22490807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.96650248099999 meters Centerline goodness : 0.688210 with order 1 Centerline is valid? [False, False] Translation: X:14.70, Y:-0.06, Z:0.08 [[ 9.99468802e-01 2.09820526e-02 2.49372482e-02 1.46959912e+01] [-2.06167275e-02 9.99677641e-01 -1.48177105e-02 -5.84875193e-02] [-2.52401154e-02 1.42957149e-02 9.99579196e-01 8.37514073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.026502480999994 meters Centerline goodness : 0.690759 with order 1 Centerline is valid? [False, False] Translation: X:14.73, Y:-0.06, Z:0.08 [[ 0.99941286 0.02149751 0.02667943 14.73203437] [-0.02107763 0.99965107 -0.01592083 -0.06245231] [-0.02701238 0.01534914 0.99951725 0.08429545] [ 0. 0. 0. 1. ]] SLAMing on 63.08650248099999 meters Centerline goodness : 0.694821 with order 1 Centerline is valid? [False, False] Translation: X:14.77, Y:-0.06, Z:0.08 [[ 0.99953284 0.0173805 0.02513986 14.76805956] [-0.01680239 0.99959363 -0.02302707 -0.06366311] [-0.02552987 0.02259391 0.9994187 0.08493525] [ 0. 0. 0. 1. ]] SLAMing on 63.14650248099999 meters Centerline goodness : 0.689942 with order 1 Centerline is valid? [False, False] Translation: X:14.83, Y:-0.07, Z:0.08 [[ 0.99960365 0.01842694 0.02128364 14.82766227] [-0.01804653 0.99967638 -0.01792928 -0.06838598] [-0.02160713 0.01753808 0.9996127 0.08324866] [ 0. 0. 0. 1. ]] SLAMing on 63.206502480999994 meters Centerline goodness : 0.691987 with order 1 Centerline is valid? [False, False] Translation: X:14.87, Y:-0.07, Z:0.08 [[ 0.99958687 0.01942092 0.02118772 14.87007469] [-0.01896233 0.9995861 -0.02163451 -0.07159185] [-0.02159911 0.0212238 0.99954141 0.08298519] [ 0. 0. 0. 1. ]] SLAMing on 63.26650248099999 meters Centerline goodness : 0.689637 with order 1 Centerline is valid? [False, False] Translation: X:14.91, Y:-0.07, Z:0.08 [[ 0.99955222 0.02054246 0.02175692 14.90937318] [-0.01999345 0.99948354 -0.02515772 -0.07285233] [-0.02226249 0.02471146 0.99944671 0.08339788] [ 0. 0. 0. 1. ]] SLAMing on 63.32650248099999 meters Centerline goodness : 0.692157 with order 1 Centerline is valid? [False, False] Translation: X:14.98, Y:-0.08, Z:0.08 [[ 0.99960448 0.022724 0.01656836 14.98059601] [-0.02225965 0.99936864 -0.02769183 -0.07815139] [-0.01718717 0.02731207 0.99947919 0.08444539] [ 0. 0. 0. 1. ]] SLAMing on 63.386502480999994 meters Centerline goodness : 0.693276 with order 1 Centerline is valid? [False, False] Translation: X:15.04, Y:-0.08, Z:0.08 [[ 9.99588458e-01 2.50875058e-02 1.39116013e-02 1.50441502e+01] [-2.47033328e-02 9.99326582e-01 -2.71316818e-02 -8.32269280e-02] [-1.45828992e-02 2.67768530e-02 9.99535062e-01 8.48451412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.44650248099999 meters Centerline goodness : 0.690275 with order 1 Centerline is valid? [False, False] Translation: X:15.12, Y:-0.10, Z:0.08 [[ 9.99364468e-01 3.52509668e-02 5.29437293e-03 1.51165742e+01] [-3.50852549e-02 9.98972922e-01 -2.86727331e-02 -9.63565528e-02] [-6.29967675e-03 2.84687562e-02 9.99574832e-01 8.35712131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.50650248099999 meters Centerline goodness : 0.693345 with order 1 Centerline is valid? [False, False] Translation: X:15.11, Y:-0.10, Z:0.08 [[ 9.99172126e-01 4.00535679e-02 7.12557829e-03 1.51132523e+01] [-3.98724908e-02 9.98917471e-01 -2.39597885e-02 -9.79720920e-02] [-8.07753965e-03 2.36558383e-02 9.99687529e-01 8.41178928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.56650248099999 meters Centerline goodness : 0.696388 with order 1 Centerline is valid? [False, False] Translation: X:15.11, Y:-0.10, Z:0.08 [[ 9.99200727e-01 3.90617039e-02 8.49062659e-03 1.51102740e+01] [-3.87937096e-02 9.98805209e-01 -2.97187180e-02 -9.73550509e-02] [-9.64134583e-03 2.93655817e-02 9.99522239e-01 8.38025004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.62650248099999 meters Centerline goodness : 0.696671 with order 1 Centerline is valid? [False, False] Translation: X:15.11, Y:-0.10, Z:0.08 [[ 9.99144439e-01 4.02804560e-02 9.37411143e-03 1.51092516e+01] [-3.99809549e-02 9.98743910e-01 -3.02014104e-02 -9.75653543e-02] [-1.05788633e-02 2.98007853e-02 9.99499875e-01 8.26099327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.68650248099999 meters Centerline goodness : 0.696252 with order 1 Centerline is valid? [False, False] Translation: X:15.11, Y:-0.10, Z:0.08 [[ 9.99030968e-01 4.25725884e-02 1.11669401e-02 1.51063167e+01] [-4.22175918e-02 9.98648812e-01 -3.03022310e-02 -9.77013896e-02] [-1.24418959e-02 2.98014259e-02 9.99478401e-01 8.20625495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.74650248099999 meters Centerline goodness : 0.702420 with order 1 Centerline is valid? [False, False] Translation: X:15.11, Y:-0.10, Z:0.08 [[ 9.98972173e-01 4.36415211e-02 1.22481056e-02 1.51050212e+01] [-4.32668520e-02 9.98632405e-01 -2.93478847e-02 -1.00851079e-01] [-1.35121415e-02 2.87877831e-02 9.99494215e-01 8.08193350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.80650248099999 meters Centerline goodness : 0.700068 with order 1 Centerline is valid? [False, False] Translation: X:15.11, Y:-0.10, Z:0.08 [[ 9.99125156e-01 4.01850448e-02 1.15794622e-02 1.51069704e+01] [-3.97776027e-02 9.98646955e-01 -3.34963032e-02 -1.01214862e-01] [-1.29098451e-02 3.30063959e-02 9.99371760e-01 7.88926038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.86650248099999 meters Centerline goodness : 0.703381 with order 1 Centerline is valid? [False, False] Translation: X:15.11, Y:-0.11, Z:0.08 [[ 9.99108823e-01 4.03154076e-02 1.24990815e-02 1.51050429e+01] [-3.99022125e-02 9.98700274e-01 -3.17108145e-02 -1.06130727e-01] [-1.37612705e-02 3.11838135e-02 9.99418930e-01 7.93109438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.92650248099999 meters Centerline goodness : 0.703241 with order 1 Centerline is valid? [False, False] Translation: X:15.10, Y:-0.11, Z:0.08 [[ 9.99234411e-01 3.70532384e-02 1.25558826e-02 1.51046120e+01] [-3.65968785e-02 9.98723614e-01 -3.48110765e-02 -1.07342751e-01] [-1.38297195e-02 3.43249194e-02 9.99315035e-01 7.95042231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.986502480999995 meters Centerline goodness : 0.700593 with order 1 Centerline is valid? [False, False] Translation: X:15.11, Y:-0.11, Z:0.08 [[ 9.99254044e-01 3.67550775e-02 1.18498722e-02 1.51061848e+01] [-3.63466847e-02 9.98793873e-01 -3.30108634e-02 -1.09777725e-01] [-1.30488966e-02 3.25555352e-02 9.99384742e-01 7.92540925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.04650248099999 meters Centerline goodness : 0.700297 with order 1 Centerline is valid? [False, False] Translation: X:15.11, Y:-0.11, Z:0.08 [[ 9.99252409e-01 3.66584262e-02 1.22793696e-02 1.51052454e+01] [-3.62619265e-02 9.98858589e-01 -3.10900645e-02 -1.12704426e-01] [-1.34050666e-02 3.06215483e-02 9.99441156e-01 7.98017909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.10650248099998 meters Centerline goodness : 0.701486 with order 1 Centerline is valid? [False, False] Translation: X:15.11, Y:-0.11, Z:0.08 [[ 9.99276340e-01 3.60369452e-02 1.21710492e-02 1.51060441e+01] [-3.56508841e-02 9.98896568e-01 -3.05722170e-02 -1.13845900e-01] [-1.32593486e-02 3.01161844e-02 9.99458456e-01 7.89275834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.16650248099998 meters Centerline goodness : 0.701927 with order 1 Centerline is valid? [False, False] Translation: X:15.10, Y:-0.12, Z:0.08 [[ 9.99258961e-01 3.60892348e-02 1.33826425e-02 1.51043763e+01] [-3.56845987e-02 9.98932518e-01 -2.93331578e-02 -1.17832429e-01] [-1.44269680e-02 2.88338666e-02 9.99480100e-01 7.81213646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.22650248099998 meters Centerline goodness : 0.703420 with order 1 Centerline is valid? [False, False] Translation: X:15.10, Y:-0.12, Z:0.08 [[ 9.99226826e-01 3.67376725e-02 1.40033328e-02 1.51029389e+01] [-3.63444568e-02 9.98964443e-01 -2.73700827e-02 -1.21276161e-01] [-1.49943447e-02 2.68399773e-02 9.99527281e-01 7.87570537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.28650248099999 meters Centerline goodness : 0.699884 with order 1 Centerline is valid? [False, False] Translation: X:15.10, Y:-0.12, Z:0.08 [[ 9.99213736e-01 3.72429650e-02 1.35967443e-02 1.51048764e+01] [-3.68877213e-02 9.98993904e-01 -2.55044270e-02 -1.23814189e-01] [-1.45329252e-02 2.49828209e-02 9.99582239e-01 7.69982392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.34650248099999 meters Centerline goodness : 0.700877 with order 1 Centerline is valid? [False, False] Translation: X:15.11, Y:-0.13, Z:0.08 [[ 9.99257530e-01 3.62832789e-02 1.29580942e-02 1.51065672e+01] [-3.59632079e-02 9.99061666e-01 -2.41337008e-02 -1.26204725e-01] [-1.38215849e-02 2.36497676e-02 9.99624756e-01 7.63724850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.40650248099999 meters Centerline goodness : 0.700184 with order 1 Centerline is valid? [False, False] Translation: X:15.11, Y:-0.13, Z:0.08 [[ 9.99276062e-01 3.56441381e-02 1.32983801e-02 1.51056739e+01] [-3.53614868e-02 9.99155676e-01 -2.09165074e-02 -1.31441234e-01] [-1.40327028e-02 2.04311147e-02 9.99692779e-01 7.76313919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.46650248099998 meters Centerline goodness : 0.700448 with order 1 Centerline is valid? [False, False] Translation: X:15.11, Y:-0.13, Z:0.08 [[ 9.99339779e-01 3.39703297e-02 1.28850036e-02 1.51058403e+01] [-3.37306988e-02 9.99261933e-01 -1.83801492e-02 -1.34845351e-01] [-1.34998733e-02 1.79333941e-02 9.99748042e-01 7.93216278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.52650248099998 meters Centerline goodness : 0.695345 with order 1 Centerline is valid? [False, False] Translation: X:15.11, Y:-0.14, Z:0.08 [[ 9.99544636e-01 2.80132513e-02 1.12150896e-02 1.51099755e+01] [-2.77447053e-02 9.99340547e-01 -2.34243842e-02 -1.35302475e-01] [-1.18638869e-02 2.31025583e-02 9.99662703e-01 7.69481430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.58650248099998 meters Centerline goodness : 0.694781 with order 1 Centerline is valid? [False, False] Translation: X:15.11, Y:-0.14, Z:0.08 [[ 9.99594273e-01 2.67019703e-02 9.91430665e-03 1.51126472e+01] [-2.65076065e-02 9.99463366e-01 -1.92438523e-02 -1.35520109e-01] [-1.04228351e-02 1.89732400e-02 9.99765663e-01 7.78319789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.64650248099998 meters Centerline goodness : 0.694649 with order 1 Centerline is valid? [False, False] Translation: X:15.11, Y:-0.14, Z:0.08 [[ 9.99635734e-01 2.50930785e-02 9.93663214e-03 1.51118500e+01] [-2.49213668e-02 9.99544126e-01 -1.70430409e-02 -1.39701406e-01] [-1.03597647e-02 1.67891983e-02 9.99805380e-01 7.97449014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.70650248099999 meters Centerline goodness : 0.697806 with order 1 Centerline is valid? [False, False] Translation: X:15.11, Y:-0.14, Z:0.08 [[ 9.99745004e-01 2.06083885e-02 9.23150992e-03 1.51123570e+01] [-2.04278464e-02 9.99606143e-01 -1.92421753e-02 -1.41296048e-01] [-9.62442425e-03 1.90486888e-02 9.99772233e-01 8.12319823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.76650248099999 meters Centerline goodness : 0.695486 with order 1 Centerline is valid? [False, False] Translation: X:15.24, Y:-0.18, Z:0.08 [[ 9.99296677e-01 3.70211242e-02 -5.96549332e-03 1.52406791e+01] [-3.70803517e-02 9.99260800e-01 -1.01440142e-02 -1.76503193e-01] [ 5.58554081e-03 1.03580823e-02 9.99930754e-01 7.61041708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.82650248099999 meters Centerline goodness : 0.697442 with order 1 Centerline is valid? [False, False] Translation: X:15.24, Y:-0.18, Z:0.08 [[ 9.99427449e-01 3.32431836e-02 -6.29793412e-03 1.52413786e+01] [-3.33341267e-02 9.99332714e-01 -1.49319453e-02 -1.75142836e-01] [ 5.79734620e-03 1.51333321e-02 9.99868678e-01 7.53600140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.88650248099998 meters Centerline goodness : 0.697933 with order 1 Centerline is valid? [False, False] Translation: X:15.24, Y:-0.17, Z:0.08 [[ 9.99414759e-01 3.36624917e-02 -6.08077288e-03 1.52403322e+01] [-3.37435275e-02 9.99335859e-01 -1.37555371e-02 -1.74503964e-01] [ 5.61368874e-03 1.39526735e-02 9.99886898e-01 7.67948545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.94650248099998 meters Centerline goodness : 0.699048 with order 1 Centerline is valid? [False, False] Translation: X:15.24, Y:-0.17, Z:0.08 [[ 9.99503117e-01 3.11303723e-02 -4.94152723e-03 1.52384216e+01] [-3.12167574e-02 9.99341594e-01 -1.84903155e-02 -1.73815932e-01] [ 4.36266330e-03 1.86353865e-02 9.99816828e-01 7.59197961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.00650248099998 meters Centerline goodness : 0.695800 with order 1 Centerline is valid? [False, False] Translation: X:15.24, Y:-0.17, Z:0.08 [[ 9.99542736e-01 2.97142204e-02 -5.60209008e-03 1.52397990e+01] [-2.98108653e-02 9.99392766e-01 -1.80391546e-02 -1.74270112e-01] [ 5.06266889e-03 1.81979091e-02 9.99821587e-01 7.60223495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.06650248099999 meters Centerline goodness : 0.699325 with order 1 Centerline is valid? [False, False] Translation: X:15.24, Y:-0.17, Z:0.07 [[ 9.99648638e-01 2.59115544e-02 -5.58499770e-03 1.52405350e+01] [-2.60308547e-02 9.99408644e-01 -2.24667853e-02 -1.73455752e-01] [ 4.99954565e-03 2.26042736e-02 9.99731990e-01 7.44580285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.12650248099999 meters Centerline goodness : 0.698641 with order 1 Centerline is valid? [False, False] Translation: X:15.24, Y:-0.17, Z:0.07 [[ 9.99658078e-01 2.55438226e-02 -5.58922368e-03 1.52408583e+01] [-2.56602964e-02 9.99431525e-01 -2.18672514e-02 -1.73565088e-01] [ 5.02747315e-03 2.20031957e-02 9.99745260e-01 7.42719249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.18650248099999 meters Centerline goodness : 0.695727 with order 1 Centerline is valid? [False, False] Translation: X:15.24, Y:-0.17, Z:0.07 [[ 9.99652411e-01 2.57793955e-02 -5.52088046e-03 1.52403005e+01] [-2.58948740e-02 9.99422986e-01 -2.19806961e-02 -1.72515601e-01] [ 4.95104578e-03 2.21160183e-02 9.99743151e-01 7.49964620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.24650248099998 meters Centerline goodness : 0.694806 with order 1 Centerline is valid? [False, False] Translation: X:15.24, Y:-0.17, Z:0.07 [[ 9.99727027e-01 2.27343157e-02 -5.38733299e-03 1.52412493e+01] [-2.28712628e-02 9.99376676e-01 -2.68917356e-02 -1.71480264e-01] [ 4.77260973e-03 2.70076100e-02 9.99623835e-01 7.24689176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.30650248099998 meters Centerline goodness : 0.694032 with order 1 Centerline is valid? [False, False] Translation: X:15.24, Y:-0.17, Z:0.07 [[ 9.99659687e-01 2.54479123e-02 -5.73700686e-03 1.52427083e+01] [-2.55657798e-02 9.99441817e-01 -2.15045289e-02 -1.72337994e-01] [ 5.18655919e-03 2.16438817e-02 9.99752290e-01 7.21714204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.36650248099998 meters Centerline goodness : 0.695312 with order 1 Centerline is valid? [False, False] Translation: X:15.24, Y:-0.17, Z:0.07 [[ 9.99627945e-01 2.70037860e-02 -3.84282899e-03 1.52388603e+01] [-2.70837086e-02 9.99379035e-01 -2.25392242e-02 -1.71822005e-01] [ 3.23179834e-03 2.26349164e-02 9.99738574e-01 7.23720085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.42650248099999 meters Centerline goodness : 0.693213 with order 1 Centerline is valid? [False, False] Translation: X:15.24, Y:-0.17, Z:0.07 [[ 9.99593402e-01 2.83784470e-02 -2.77375236e-03 1.52371278e+01] [-2.84348475e-02 9.99330706e-01 -2.30130326e-02 -1.71328000e-01] [ 2.11882178e-03 2.30825468e-02 9.99731317e-01 7.17177244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.48650248099999 meters Centerline goodness : 0.692098 with order 1 Centerline is valid? [False, False] Translation: X:15.24, Y:-0.17, Z:0.07 [[ 9.99503550e-01 3.13574447e-02 -3.06025144e-03 1.52382002e+01] [-3.14105498e-02 9.99322057e-01 -1.92042785e-02 -1.70858245e-01] [ 2.45597966e-03 1.92908687e-02 9.99810897e-01 7.13825856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.54650248099999 meters Centerline goodness : 0.692227 with order 1 Centerline is valid? [False, False] Translation: X:15.24, Y:-0.17, Z:0.07 [[ 9.99498523e-01 3.16017351e-02 -2.00798813e-03 1.52376352e+01] [-3.16353428e-02 9.99303328e-01 -1.98005935e-02 -1.71583280e-01] [ 1.38085611e-03 1.98541874e-02 9.99801933e-01 6.90414536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.60650248099998 meters Centerline goodness : 0.690440 with order 1 Centerline is valid? [False, False] Translation: X:15.24, Y:-0.17, Z:0.07 [[ 9.99524972e-01 3.06413164e-02 -3.30760793e-03 1.52405044e+01] [-3.06929011e-02 9.99386461e-01 -1.68715238e-02 -1.70682780e-01] [ 2.78861289e-03 1.69650294e-02 9.99852195e-01 6.94128913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.66650248099998 meters Centerline goodness : 0.690140 with order 1 Centerline is valid? [False, False] Translation: X:15.24, Y:-0.17, Z:0.07 [[ 9.99632636e-01 2.68658593e-02 -3.58041496e-03 1.52410771e+01] [-2.69376266e-02 9.99399713e-01 -2.17847891e-02 -1.69954449e-01] [ 2.99299861e-03 2.18732340e-02 9.99756272e-01 6.85219853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.72650248099998 meters Centerline goodness : 0.692589 with order 1 Centerline is valid? [False, False] Translation: X:15.15, Y:-0.40, Z:-0.10 [[ 0.99865982 0.02098763 0.04730846 15.14569584] [-0.03938967 0.90114823 0.43171788 -0.40372495] [-0.0335712 -0.43300277 0.90076722 -0.1012278 ] [ 0. 0. 0. 1. ]] SLAMing on 65.78650248099999 meters Centerline goodness : 0.687847 with order 1 Centerline is valid? [False, False] Translation: X:15.03, Y:-0.75, Z:-0.16 [[ 9.96572681e-01 -1.48065569e-02 8.13858533e-02 1.50278856e+01] [-6.02403101e-02 5.44366659e-01 8.36681568e-01 -7.52565055e-01] [-5.66921183e-02 -8.38716702e-01 5.41608989e-01 -1.63712892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.84650248099999 meters Centerline goodness : 0.694166 with order 1 Centerline is valid? [False, False] Translation: X:15.02, Y:-0.75, Z:-0.16 [[ 0.99641565 -0.01762951 0.08273487 15.02451128] [-0.05958962 0.54790408 0.83441608 -0.75005058] [-0.06004112 -0.83635538 0.54488966 -0.16303734] [ 0. 0. 0. 1. ]] SLAMing on 65.90650248099999 meters Centerline goodness : 0.695371 with order 1 Centerline is valid? [False, False] Translation: X:15.02, Y:-0.75, Z:-0.16 [[ 0.99630086 -0.02078247 0.08338277 15.02293321] [-0.05812823 0.55165777 0.83204256 -0.74926926] [-0.06329065 -0.83381161 0.54840906 -0.16204331] [ 0. 0. 0. 1. ]] SLAMing on 65.96650248099998 meters Centerline goodness : 0.692496 with order 1 Centerline is valid? [False, False] Translation: X:15.02, Y:-0.75, Z:-0.16 [[ 0.9962846 -0.02317192 0.08294615 15.02324115] [-0.05608806 0.55629142 0.82909227 -0.74712044] [-0.06535389 -0.83066414 0.55292491 -0.16419292] [ 0. 0. 0. 1. ]] SLAMing on 66.02650248099998 meters Centerline goodness : 0.692537 with order 1 Centerline is valid? [False, False] Translation: X:15.02, Y:-0.75, Z:-0.16 [[ 0.99628254 -0.02303899 0.08300781 15.02312198] [-0.05617193 0.55681396 0.82873574 -0.74664693] [-0.06531314 -0.83031766 0.55344988 -0.16496667] [ 0. 0. 0. 1. ]] SLAMing on 66.08650248099998 meters Centerline goodness : 0.692447 with order 1 Centerline is valid? [False, False] Translation: X:15.02, Y:-0.75, Z:-0.17 [[ 0.99613807 -0.02351106 0.08459419 15.02019987] [-0.05683751 0.56168418 0.8253971 -0.74612249] [-0.06692117 -0.8270176 0.55817868 -0.16588869] [ 0. 0. 0. 1. ]] SLAMing on 66.14650248099998 meters Centerline goodness : 0.690535 with order 1 Centerline is valid? [False, False] Translation: X:15.02, Y:-0.75, Z:-0.17 [[ 0.99615426 -0.02270762 0.08462301 15.01986651] [-0.05728372 0.56202078 0.82513709 -0.7453262 ] [-0.06629679 -0.82681135 0.55855861 -0.16646947] [ 0. 0. 0. 1. ]] SLAMing on 66.20650248099999 meters Centerline goodness : 0.688114 with order 1 Centerline is valid? [False, False] Translation: X:15.02, Y:-0.75, Z:-0.17 [[ 0.99619922 -0.02220417 0.08422646 15.02095073] [-0.05715145 0.56309682 0.82441233 -0.74511383] [-0.06573305 -0.82609258 0.55968761 -0.16884703] [ 0. 0. 0. 1. ]] SLAMing on 66.26650248099999 meters Centerline goodness : 0.686660 with order 1 Centerline is valid? [False, False] Translation: X:15.02, Y:-0.74, Z:-0.17 [[ 0.99615628 -0.02549486 0.08380138 15.02127382] [-0.05458575 0.56754503 0.82153091 -0.7436335 ] [-0.06850587 -0.82294754 0.56397189 -0.16969139] [ 0. 0. 0. 1. ]] SLAMing on 66.32650248099998 meters Centerline goodness : 0.689562 with order 1 Centerline is valid? [False, False] Translation: X:15.02, Y:-0.74, Z:-0.17 [[ 0.99611568 -0.02865767 0.08326035 15.02192006] [-0.05193914 0.57232201 0.81838245 -0.74190423] [-0.07110467 -0.81952807 0.56861048 -0.17143733] [ 0. 0. 0. 1. ]] SLAMing on 66.38650248099998 meters Centerline goodness : 0.689200 with order 1 Centerline is valid? [False, False] Translation: X:15.02, Y:-0.74, Z:-0.17 [[ 0.99616978 -0.02862103 0.08262327 15.0235117 ] [-0.05134569 0.57337491 0.8176826 -0.74179312] [-0.07077703 -0.81879304 0.56970919 -0.17365537] [ 0. 0. 0. 1. ]] SLAMing on 66.44650248099998 meters Centerline goodness : 0.690925 with order 1 Centerline is valid? [False, False] Translation: X:15.01, Y:-0.36, Z:0.38 [[ 0.98791083 0.13564627 0.07504855 15.00742495] [-0.1093347 0.95286445 -0.28301107 -0.36376552] [-0.10990049 0.27138429 0.95617595 0.37964024] [ 0. 0. 0. 1. ]] SLAMing on 66.50650248099998 meters Centerline goodness : 0.692040 with order 1 Centerline is valid? [False, False] Translation: X:15.00, Y:-0.37, Z:0.38 [[ 0.9877515 0.13590601 0.07665852 15.00243941] [-0.10941881 0.95355097 -0.2806565 -0.37012187] [-0.11124071 0.268831 0.95674208 0.38290366] [ 0. 0. 0. 1. ]] SLAMing on 66.56650248099999 meters Centerline goodness : 0.689807 with order 1 Centerline is valid? [False, False] Translation: X:14.86, Y:-0.60, Z:0.06 [[ 0.98484478 0.04177959 0.16833068 14.85665453] [-0.09581888 0.94005604 0.3272818 -0.60020586] [-0.14456657 -0.33845103 0.92981256 0.05829899] [ 0. 0. 0. 1. ]] SLAMing on 66.62650248099999 meters Centerline goodness : 0.689055 with order 1 Centerline is valid? [False, False] Translation: X:14.87, Y:-0.66, Z:-0.01 [[ 9.72096663e-01 -4.93012515e-02 2.29341370e-01 1.48711714e+01] [-6.40980033e-02 8.84634933e-01 4.61857642e-01 -6.57906369e-01] [-2.25653548e-01 -4.63670596e-01 8.56790555e-01 -1.16792854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.68650248099999 meters Centerline goodness : 0.693172 with order 1 Centerline is valid? [False, False] Translation: X:14.87, Y:-0.66, Z:-0.01 [[ 9.71559937e-01 -4.77616904e-02 2.31926950e-01 1.48662558e+01] [-6.66377729e-02 8.84715316e-01 4.61343925e-01 -6.57603351e-01] [-2.27223891e-01 -4.63678370e-01 8.56371224e-01 -9.41911985e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.74650248099998 meters Centerline goodness : 0.693292 with order 1 Centerline is valid? [False, False] Translation: X:14.86, Y:-0.66, Z:-0.01 [[ 9.71357030e-01 -4.73498857e-02 2.32859419e-01 1.48638780e+01] [-6.74968718e-02 8.84602866e-01 4.61434655e-01 -6.56557970e-01] [-2.27836987e-01 -4.63935079e-01 8.56069244e-01 -7.16185326e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.80650248099998 meters Centerline goodness : 0.692858 with order 1 Centerline is valid? [False, False] Translation: X:14.86, Y:-0.65, Z:-0.01 [[ 9.71142251e-01 -5.17760853e-02 2.32813157e-01 1.48645135e+01] [-6.08457003e-02 8.90065923e-01 4.51752646e-01 -6.53481441e-01] [-2.30609041e-01 -4.52881761e-01 8.61230272e-01 -1.00309209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.86650248099998 meters Centerline goodness : 0.693562 with order 1 Centerline is valid? [False, False] Translation: X:14.87, Y:-0.65, Z:-0.01 [[ 9.71100496e-01 -5.44848595e-02 2.32368731e-01 1.48656274e+01] [-5.70446256e-02 8.92391701e-01 4.47641557e-01 -6.52622984e-01] [-2.31753615e-01 -4.47960325e-01 8.63493954e-01 -1.10340856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.92650248099999 meters Centerline goodness : 0.696186 with order 1 Centerline is valid? [False, False] Translation: X:14.87, Y:-0.65, Z:-0.01 [[ 9.71124075e-01 -5.51912470e-02 2.32103333e-01 1.48655092e+01] [-5.65110127e-02 8.91972960e-01 4.48542913e-01 -6.52198416e-01] [-2.31785539e-01 -4.48707216e-01 8.63097502e-01 -9.08802864e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.98650248099999 meters Centerline goodness : 0.695635 with order 1 Centerline is valid? [False, False] Translation: X:14.86, Y:-0.65, Z:-0.01 [[ 9.70855848e-01 -5.74618004e-02 2.32673729e-01 1.48648028e+01] [-5.35592427e-02 8.94260319e-01 4.44330832e-01 -6.52141808e-01] [-2.33602933e-01 -4.43843016e-01 8.65120250e-01 -9.01016103e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.04650248099999 meters Centerline goodness : 0.695145 with order 1 Centerline is valid? [False, False] Translation: X:14.86, Y:-0.65, Z:-0.01 [[ 9.70558179e-01 -5.99767887e-02 2.33280101e-01 1.48637748e+01] [-5.05625454e-02 8.96191286e-01 4.40777277e-01 -6.51187128e-01] [-2.35499999e-01 -4.39595227e-01 8.66773204e-01 -8.24646127e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.10650248099998 meters Centerline goodness : 0.700044 with order 1 Centerline is valid? [False, False] Translation: X:14.86, Y:-0.65, Z:-0.01 [[ 9.70337308e-01 -6.33822685e-02 2.33298513e-01 1.48633358e+01] [-4.66203016e-02 8.97848250e-01 4.37829953e-01 -6.50295277e-01] [-2.37217317e-01 -4.35719185e-01 8.68260754e-01 -5.85786901e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.16650248099998 meters Centerline goodness : 0.699069 with order 1 Centerline is valid? [False, False] Translation: X:14.86, Y:-0.65, Z:-0.01 [[ 9.69834651e-01 -6.89213328e-02 2.33817449e-01 1.48630117e+01] [-3.95551599e-02 9.01988991e-01 4.29943310e-01 -6.48729197e-01] [-2.40533031e-01 -4.26222606e-01 8.72053984e-01 -5.84193104e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.22650248099998 meters Centerline goodness : 0.700507 with order 1 Centerline is valid? [False, False] Translation: X:14.86, Y:-0.65, Z:-0.01 [[ 9.69663946e-01 -7.27970623e-02 2.33350422e-01 1.48644875e+01] [-3.49161359e-02 9.03587746e-01 4.26977808e-01 -6.48231329e-01] [-2.41935312e-01 -4.22172681e-01 8.73634668e-01 -6.32636126e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.28650248099999 meters Centerline goodness : 0.700597 with order 1 Centerline is valid? [False, False] Translation: X:14.87, Y:-0.65, Z:-0.01 [[ 9.69695466e-01 -7.51410604e-02 2.32474783e-01 1.48659799e+01] [-3.26253191e-02 9.03182521e-01 4.28015096e-01 -6.47953867e-01] [-2.42128668e-01 -4.22628861e-01 8.73360495e-01 -5.42783955e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.34650248099999 meters Centerline goodness : 0.700604 with order 1 Centerline is valid? [False, False] Translation: X:14.86, Y:-0.65, Z:-0.00 [[ 9.68889043e-01 -8.16380775e-02 2.33643418e-01 1.48645991e+01] [-2.50286414e-02 9.06871499e-01 4.20663346e-01 -6.47806593e-01] [-2.46226704e-01 -4.13423884e-01 8.76614569e-01 -3.32453773e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.40650248099999 meters Centerline goodness : 0.700096 with order 1 Centerline is valid? [False, False] Translation: X:14.87, Y:-0.64, Z:-0.00 [[ 9.68822487e-01 -8.70330199e-02 2.31966037e-01 1.48673805e+01] [-1.85082412e-02 9.08228225e-01 4.18065707e-01 -6.44818285e-01] [-2.47063623e-01 -4.09324741e-01 8.78301100e-01 -2.96156559e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.46650248099998 meters Centerline goodness : 0.700951 with order 1 Centerline is valid? [False, False] Translation: X:14.87, Y:-0.64, Z:-0.00 [[ 9.68576745e-01 -9.06948983e-02 2.31589128e-01 1.48681611e+01] [-1.36618419e-02 9.10336302e-01 4.13643773e-01 -6.41521571e-01] [-2.48339370e-01 -4.03809674e-01 8.80491513e-01 -3.46345917e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.52650248099998 meters Centerline goodness : 0.705175 with order 1 Centerline is valid? [False, False] Translation: X:14.95, Y:-0.65, Z:-0.02 [[ 9.70499384e-01 -8.69343701e-02 2.24885216e-01 1.49470255e+01] [-1.35533586e-02 9.11586848e-01 4.10884077e-01 -6.47062026e-01] [-2.40722354e-01 -4.01810694e-01 8.83516222e-01 -1.56295841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.58650248099998 meters Centerline goodness : 0.700060 with order 1 Centerline is valid? [False, False] Translation: X:15.08, Y:-0.66, Z:-0.03 [[ 0.97532599 -0.07171067 0.20879845 15.08008531] [-0.02100627 0.91134013 0.41111787 -0.65714673] [-0.21976795 -0.40536002 0.88734734 -0.03255002] [ 0. 0. 0. 1. ]] SLAMing on 67.64650248099998 meters Centerline goodness : 0.700575 with order 1 Centerline is valid? [False, False] Translation: X:15.15, Y:-0.66, Z:-0.04 [[ 0.97694515 -0.06629092 0.20293764 15.14747901] [-0.0216462 0.91491406 0.40306787 -0.66139335] [-0.21239024 -0.39816803 0.89238591 -0.04116048] [ 0. 0. 0. 1. ]] SLAMing on 67.70650248099999 meters Centerline goodness : 0.699452 with order 1 Centerline is valid? [False, False] Translation: X:15.24, Y:-0.67, Z:-0.05 [[ 0.97968975 -0.0593681 0.19152919 15.23646382] [-0.02309438 0.91540268 0.40187633 -0.66752036] [-0.19918496 -0.39813736 0.89543955 -0.0519268 ] [ 0. 0. 0. 1. ]] SLAMing on 67.76650248099999 meters Centerline goodness : 0.695814 with order 1 Centerline is valid? [False, False] Translation: X:15.37, Y:-0.68, Z:-0.06 [[ 0.98335124 -0.03785307 0.17772871 15.37341399] [-0.03700308 0.91585739 0.39979496 -0.68021865] [-0.17790762 -0.39971538 0.89920882 -0.06293764] [ 0. 0. 0. 1. ]] SLAMing on 67.82650248099998 meters Centerline goodness : 0.699620 with order 1 Centerline is valid? [False, False] Translation: X:15.55, Y:-0.70, Z:-0.07 [[ 9.87767017e-01 -5.79036687e-03 1.55829365e-01 1.55502840e+01] [-5.60849533e-02 9.19246274e-01 3.89667508e-01 -7.04889210e-01] [-1.45501881e-01 -3.93640394e-01 9.07676398e-01 -6.75577296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.88650248099998 meters Centerline goodness : 0.698231 with order 1 Centerline is valid? [False, False] Translation: X:15.55, Y:-0.70, Z:-0.07 [[ 9.87794858e-01 -2.43720584e-03 1.55741384e-01 1.55505308e+01] [-5.96106316e-02 9.17841440e-01 3.92445747e-01 -7.03213912e-01] [-1.43902367e-01 -3.96939733e-01 9.06493771e-01 -6.87432242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.94650248099998 meters Centerline goodness : 0.692229 with order 1 Centerline is valid? [False, False] Translation: X:15.55, Y:-0.70, Z:-0.07 [[ 9.87859603e-01 -1.42312072e-03 1.55342778e-01 1.55518697e+01] [-6.01831598e-02 9.18364918e-01 3.91131517e-01 -7.02243814e-01] [-1.43217985e-01 -3.95732045e-01 9.07129956e-01 -7.14716653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.00650248099998 meters Centerline goodness : 0.693705 with order 1 Centerline is valid? [False, False] Translation: X:15.55, Y:-0.70, Z:-0.07 [[ 9.87573160e-01 1.62773044e-03 1.57151532e-01 1.55475635e+01] [-6.34661283e-02 9.18914926e-01 3.89316593e-01 -6.99614101e-01] [-1.43775186e-01 -3.94452417e-01 9.07599023e-01 -7.07496662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.06650248099999 meters Centerline goodness : 0.694745 with order 1 Centerline is valid? [False, False] Translation: X:15.50, Y:-0.72, Z:-0.08 [[ 9.86409762e-01 -1.42223924e-02 1.63687219e-01 1.55023288e+01] [-6.44173381e-02 8.83009534e-01 4.64913507e-01 -7.15186151e-01] [-1.51149558e-01 -4.69139517e-01 8.70093055e-01 -8.14494693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.12650248099999 meters Centerline goodness : 0.690118 with order 1 Centerline is valid? [False, False] Translation: X:15.50, Y:-0.71, Z:-0.08 [[ 9.86408225e-01 -1.33529116e-02 1.63769697e-01 1.55025237e+01] [-6.51053181e-02 8.83354046e-01 4.64162608e-01 -7.14924422e-01] [-1.50864547e-01 -4.68516093e-01 8.70478351e-01 -8.30667500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.18650248099999 meters Centerline goodness : 0.691788 with order 1 Centerline is valid? [False, False] Translation: X:15.50, Y:-0.71, Z:-0.08 [[ 9.86213135e-01 -1.51814529e-02 1.64782205e-01 1.55003887e+01] [-6.32667920e-02 8.85540622e-01 4.60233766e-01 -7.13699448e-01] [-1.52908353e-01 -4.64313827e-01 8.72371312e-01 -8.26395739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.24650248099998 meters Centerline goodness : 0.690975 with order 1 Centerline is valid? [False, False] Translation: X:15.50, Y:-0.71, Z:-0.08 [[ 0.98588988 -0.02027271 0.16616305 15.49784583] [-0.05820323 0.88919006 0.45382092 -0.71476251] [-0.15695071 -0.45708868 0.87546354 -0.08075824] [ 0. 0. 0. 1. ]] SLAMing on 68.30650248099998 meters Centerline goodness : 0.692521 with order 1 Centerline is valid? [False, False] Translation: X:15.50, Y:-0.71, Z:-0.08 [[ 0.98581946 -0.02321431 0.16619591 15.49776429] [-0.05486604 0.89136502 0.44995347 -0.7133095 ] [-0.15858658 -0.4526914 0.87745131 -0.08115786] [ 0. 0. 0. 1. ]] SLAMing on 68.36650248099998 meters Centerline goodness : 0.691059 with order 1 Centerline is valid? [False, False] Translation: X:15.50, Y:-0.71, Z:-0.08 [[ 0.98556275 -0.02892193 0.166822 15.49728364] [-0.04856679 0.89560216 0.44219684 -0.71289737] [-0.16219534 -0.44391474 0.88126748 -0.08215034] [ 0. 0. 0. 1. ]] SLAMing on 68.42650248099999 meters Centerline goodness : 0.690476 with order 1 Centerline is valid? [False, False] Translation: X:15.49, Y:-0.61, Z:0.51 [[ 0.97413419 0.1981757 0.10857701 15.48691568] [-0.07893759 0.74865713 -0.65824111 -0.61471348] [-0.21173434 0.63264437 0.74493602 0.50699647] [ 0. 0. 0. 1. ]] SLAMing on 68.48650248099999 meters Centerline goodness : 0.694836 with order 1 Centerline is valid? [False, False] Translation: X:15.48, Y:-0.62, Z:0.51 [[ 0.97404666 0.19787784 0.10989751 15.4849119 ] [-0.07830271 0.75012781 -0.65664066 -0.61775511] [-0.21237181 0.63099337 0.74615386 0.50526177] [ 0. 0. 0. 1. ]] SLAMing on 68.54650248099999 meters Centerline goodness : 0.691188 with order 1 Centerline is valid? [False, False] Translation: X:15.08, Y:-0.71, Z:-0.04 [[ 0.97520774 -0.06066059 0.21281486 15.07875395] [-0.02801486 0.92011508 0.39064487 -0.7126332 ] [-0.21951091 -0.38692188 0.89560394 -0.04250493] [ 0. 0. 0. 1. ]] SLAMing on 68.60650248099998 meters Centerline goodness : 0.686621 with order 1 Centerline is valid? [False, False] Translation: X:15.22, Y:-0.74, Z:-0.06 [[ 0.98007174 -0.04422149 0.19365907 15.22469874] [-0.03537397 0.92047054 0.38920773 -0.73734384] [-0.19546881 -0.38830199 0.90056288 -0.05644452] [ 0. 0. 0. 1. ]] SLAMing on 68.66650248099998 meters Centerline goodness : 0.690109 with order 1 Centerline is valid? [False, False] Translation: X:15.22, Y:-0.73, Z:-0.06 [[ 0.97983385 -0.04719533 0.19416031 15.22392763] [-0.03176951 0.92254777 0.38457288 -0.73467762] [-0.1972722 -0.38298591 0.90244417 -0.05687707] [ 0. 0. 0. 1. ]] SLAMing on 68.72650248099998 meters Centerline goodness : 0.689856 with order 1 Centerline is valid? [False, False] Translation: X:15.34, Y:-0.74, Z:-0.06 [[ 0.9828313 -0.03349089 0.18144143 15.33636466] [-0.03901331 0.92343101 0.38177628 -0.74480058] [-0.18033468 -0.38230031 0.90627031 -0.06451236] [ 0. 0. 0. 1. ]] SLAMing on 68.78650248099999 meters Centerline goodness : 0.692176 with order 1 Centerline is valid? [False, False] Translation: X:15.45, Y:-0.75, Z:-0.07 [[ 0.98524802 -0.02257047 0.16963757 15.4453952 ] [-0.04318213 0.92639923 0.37405851 -0.7535165 ] [-0.16559479 -0.37586572 0.91175837 -0.06965188] [ 0. 0. 0. 1. ]] SLAMing on 68.84650248099999 meters Centerline goodness : 0.690282 with order 1 Centerline is valid? [False, False] Translation: X:15.57, Y:-0.77, Z:-0.07 [[ 9.88123073e-01 -8.48579282e-03 1.53430059e-01 1.55690396e+01] [-4.92907396e-02 9.28208966e-01 3.68779797e-01 -7.67321494e-01] [-1.45544546e-01 -3.71962507e-01 9.16766425e-01 -7.42303267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.90650248099999 meters Centerline goodness : 0.692023 with order 1 Centerline is valid? [False, False] Translation: X:15.68, Y:-0.78, Z:-0.08 [[ 9.89949907e-01 2.46830978e-03 1.41396920e-01 1.56751927e+01] [-5.40818576e-02 9.30453800e-01 3.62396025e-01 -7.76121046e-01] [-1.30668796e-01 -3.66400920e-01 9.21236143e-01 -7.90881946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.96650248099998 meters Centerline goodness : 0.690140 with order 1 Centerline is valid? [False, False] Translation: X:15.79, Y:-0.79, Z:-0.08 [[ 0.99136404 0.01916328 0.12973089 15.79168373] [-0.06488502 0.93136667 0.3582542 -0.7910184 ] [-0.1139617 -0.36357792 0.92456683 -0.08119846] [ 0. 0. 0. 1. ]] SLAMing on 69.02650248099998 meters Centerline goodness : 0.691249 with order 1 Centerline is valid? [False, False] Translation: X:15.79, Y:-0.78, Z:-0.08 [[ 0.9913166 0.01995183 0.12997435 15.79012778] [-0.06536028 0.93243806 0.35536925 -0.78492712] [-0.11410276 -0.36077859 0.92564538 -0.0813502 ] [ 0. 0. 0. 1. ]] SLAMing on 69.08650248099998 meters Centerline goodness : 0.691825 with order 1 Centerline is valid? [False, False] Translation: X:15.79, Y:-0.78, Z:-0.08 [[ 0.9914098 0.01968927 0.12930172 15.79154924] [-0.06451773 0.93357571 0.35252498 -0.78096235] [-0.11377198 -0.35783897 0.92682642 -0.08437828] [ 0. 0. 0. 1. ]] SLAMing on 69.14650248099998 meters Centerline goodness : 0.690969 with order 1 Centerline is valid? [False, False] Translation: X:15.79, Y:-0.78, Z:-0.09 [[ 0.99149633 0.02052394 0.12850604 15.79236408] [-0.06461615 0.93479845 0.34925151 -0.775269 ] [-0.11295923 -0.35458516 0.9281754 -0.0862953 ] [ 0. 0. 0. 1. ]] SLAMing on 69.20650248099999 meters Centerline goodness : 0.694216 with order 1 Centerline is valid? [False, False] Translation: X:15.79, Y:-0.77, Z:-0.09 [[ 0.9913062 0.02187566 0.1297439 15.78918237] [-0.0660658 0.93552052 0.34703986 -0.77065725] [-0.11378636 -0.35259439 0.92883252 -0.08577257] [ 0. 0. 0. 1. ]] SLAMing on 69.26650248099999 meters Centerline goodness : 0.692731 with order 1 Centerline is valid? [False, False] Translation: X:15.79, Y:-0.77, Z:-0.09 [[ 0.99116893 0.02358559 0.1304909 15.78704659] [-0.06759842 0.93646112 0.34419621 -0.76604309] [-0.11408158 -0.34997757 0.92978551 -0.08642214] [ 0. 0. 0. 1. ]] SLAMing on 69.32650248099998 meters Centerline goodness : 0.691198 with order 1 Centerline is valid? [False, False] Translation: X:15.79, Y:-0.76, Z:-0.09 [[ 0.99121676 0.02416605 0.13002054 15.78835849] [-0.06770346 0.93728203 0.34193366 -0.76297496] [-0.11360273 -0.34773322 0.93068578 -0.08948214] [ 0. 0. 0. 1. ]] SLAMing on 69.38650248099998 meters Centerline goodness : 0.691344 with order 1 Centerline is valid? [False, False] Translation: X:15.79, Y:-0.76, Z:-0.09 [[ 0.99127481 0.02182238 0.12999247 15.78761522] [-0.06478305 0.93952791 0.33628926 -0.75953165] [-0.11479292 -0.34177638 0.93274407 -0.09011852] [ 0. 0. 0. 1. ]] SLAMing on 69.44650248099998 meters Centerline goodness : 0.692212 with order 1 Centerline is valid? [False, False] Translation: X:15.79, Y:-0.76, Z:-0.09 [[ 0.99134793 0.0199908 0.12972916 15.78714802] [-0.06222311 0.9418016 0.33036045 -0.75520582] [-0.11557496 -0.3355743 0.93489696 -0.09067549] [ 0. 0. 0. 1. ]] SLAMing on 69.50650248099998 meters Centerline goodness : 0.687625 with order 1 Centerline is valid? [False, False] Translation: X:15.79, Y:-0.75, Z:-0.09 [[ 0.99152578 0.0171427 0.12877408 15.78886198] [-0.05839961 0.94426718 0.32395829 -0.74994374] [-0.11604362 -0.32873335 0.93726638 -0.09362708] [ 0. 0. 0. 1. ]] SLAMing on 69.56650248099999 meters Centerline goodness : 0.689931 with order 1 Centerline is valid? [False, False] Translation: X:15.79, Y:-0.75, Z:-0.09 [[ 9.91569592e-01 1.45030224e-02 1.28761041e-01 1.57880358e+01] [-5.51876889e-02 9.46348637e-01 3.18400025e-01 -7.46884293e-01] [-1.17235073e-01 -3.22821807e-01 9.39170921e-01 -9.35300288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.62650248099999 meters Centerline goodness : 0.689894 with order 1 Centerline is valid? [False, False] Translation: X:15.79, Y:-0.74, Z:-0.09 [[ 9.91634709e-01 1.14963863e-02 1.28562969e-01 1.57873361e+01] [-5.16577245e-02 9.48127896e-01 3.13663790e-01 -7.43659926e-01] [-1.18288137e-01 -3.17681172e-01 9.40790407e-01 -9.26806022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.68650248099998 meters Centerline goodness : 0.694128 with order 1 Centerline is valid? [False, False] Translation: X:15.79, Y:-0.74, Z:-0.09 [[ 9.91845680e-01 1.00831018e-02 1.27045184e-01 1.57898398e+01] [-4.98670859e-02 9.48090119e-01 3.14067510e-01 -7.42953561e-01] [-1.17283509e-01 -3.17841876e-01 9.40861903e-01 -9.22501162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.74650248099998 meters Centerline goodness : 0.690261 with order 1 Centerline is valid? [False, False] Translation: X:15.79, Y:-0.74, Z:-0.09 [[ 9.92010089e-01 6.20666122e-03 1.26005799e-01 1.57909847e+01] [-4.52352854e-02 9.49875868e-01 3.09337364e-01 -7.40318582e-01] [-1.17769916e-01 -3.12565694e-01 9.42567204e-01 -9.20260865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.80650248099998 meters Centerline goodness : 0.693630 with order 1 Centerline is valid? [False, False] Translation: X:15.84, Y:-0.74, Z:-0.10 [[ 9.92551528e-01 5.39179555e-03 1.21706174e-01 1.58428726e+01] [-4.24733066e-02 9.51653482e-01 3.04223058e-01 -7.44982787e-01] [-1.14181796e-01 -3.07126325e-01 9.44794125e-01 -9.50288498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.86650248099998 meters Centerline goodness : 0.692163 with order 1 Centerline is valid? [False, False] Translation: X:15.93, Y:-0.75, Z:-0.10 [[ 9.93577085e-01 8.60075629e-03 1.12829971e-01 1.59255198e+01] [-4.24959017e-02 9.52483214e-01 3.01612044e-01 -7.54956057e-01] [-1.04874562e-01 -3.04469626e-01 9.46730993e-01 -9.85709024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.92650248099999 meters Centerline goodness : 0.693776 with order 1 Centerline is valid? [False, False] Translation: X:15.93, Y:-0.75, Z:-0.10 [[ 9.93663169e-01 7.62051258e-03 1.12140245e-01 1.59255131e+01] [-4.13049346e-02 9.52646533e-01 3.01261491e-01 -7.51704101e-01] [-1.04534248e-01 -3.03984393e-01 9.46924537e-01 -9.67206508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.98650248099999 meters Centerline goodness : 0.697365 with order 1 Centerline is valid? [False, False] Translation: X:15.96, Y:-0.75, Z:-0.10 [[ 9.93269428e-01 8.75208320e-03 1.15495648e-01 1.59632132e+01] [-4.31297989e-02 9.53380399e-01 2.98673126e-01 -7.53062481e-01] [-1.07497275e-01 -3.01644189e-01 9.47341079e-01 -9.76765971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.04650248099999 meters Centerline goodness : 0.694891 with order 1 Centerline is valid? [False, False] Translation: X:16.00, Y:-0.75, Z:-0.10 [[ 9.93487083e-01 7.50227763e-03 1.13697546e-01 1.59989219e+01] [-4.10915696e-02 9.54275756e-01 2.96089961e-01 -7.52583520e-01] [-1.06277463e-01 -2.98833562e-01 9.48368917e-01 -9.97979003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.10650248099998 meters Centerline goodness : 0.693790 with order 1 Centerline is valid? [False, False] Translation: X:16.04, Y:-0.76, Z:-0.10 [[ 9.94150793e-01 6.54874665e-03 1.07802206e-01 1.60443644e+01] [-3.81687461e-02 9.55050847e-01 2.93974534e-01 -7.55559861e-01] [-1.01031423e-01 -2.96369691e-01 9.49714514e-01 -1.04316291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.16650248099998 meters Centerline goodness : 0.691671 with order 1 Centerline is valid? [False, False] Translation: X:16.13, Y:-0.76, Z:-0.11 [[ 9.94780679e-01 1.25777330e-02 1.01258090e-01 1.61335968e+01] [-4.15105155e-02 9.56426956e-01 2.89005805e-01 -7.64944877e-01] [-9.32109293e-02 -2.91700667e-01 9.51957165e-01 -1.06232026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.22650248099998 meters Centerline goodness : 0.690155 with order 1 Centerline is valid? [False, False] Translation: X:16.13, Y:-0.76, Z:-0.11 [[ 9.94681790e-01 1.56897805e-02 1.01793746e-01 1.61324067e+01] [-4.50059106e-02 9.55190320e-01 2.92550716e-01 -7.63245271e-01] [-9.26423443e-02 -2.95576190e-01 9.50816550e-01 -1.05549529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.28650248099999 meters Centerline goodness : 0.691748 with order 1 Centerline is valid? [False, False] Translation: X:16.18, Y:-0.76, Z:-0.11 [[ 0.99474287 0.01632993 0.10109384 16.17667503] [-0.0446343 0.95763545 0.28450329 -0.7640537 ] [-0.09216513 -0.28751987 0.95332991 -0.10523524] [ 0. 0. 0. 1. ]] SLAMing on 70.34650248099999 meters Centerline goodness : 0.692563 with order 1 Centerline is valid? [False, False] Translation: X:16.18, Y:-0.76, Z:-0.11 [[ 9.94837691e-01 1.34297780e-02 1.00586330e-01 1.61777960e+01] [-4.10635663e-02 9.59703008e-01 2.77999856e-01 -7.59008443e-01] [-9.27995267e-02 -2.80695168e-01 9.55300199e-01 -1.07824414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.40650248099999 meters Centerline goodness : 0.693401 with order 1 Centerline is valid? [False, False] Translation: X:16.23, Y:-0.76, Z:-0.11 [[ 9.95208593e-01 1.54447319e-02 9.65469706e-02 1.62283045e+01] [-4.15994686e-02 9.60499116e-01 2.75156197e-01 -7.62828754e-01] [-8.84835662e-02 -2.77854114e-01 9.56539466e-01 -1.13162188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.46650248099998 meters Centerline goodness : 0.692455 with order 1 Centerline is valid? [False, False] Translation: X:16.22, Y:-0.76, Z:-0.11 [[ 0.99500136 0.01687521 0.09842516 16.22472452] [-0.04341156 0.96070916 0.27414111 -0.76184247] [-0.08993176 -0.27704357 0.9566395 -0.11278573] [ 0. 0. 0. 1. ]] SLAMing on 70.52650248099998 meters Centerline goodness : 0.689844 with order 1 Centerline is valid? [False, False] Translation: X:16.22, Y:-0.76, Z:-0.11 [[ 0.99476116 0.0188886 0.10046618 16.22053603] [-0.04578669 0.96101621 0.27267457 -0.7591124 ] [-0.09139919 -0.27584608 0.95684645 -0.11237585] [ 0. 0. 0. 1. ]] SLAMing on 70.58650248099998 meters Centerline goodness : 0.692360 with order 1 Centerline is valid? [False, False] Translation: X:16.22, Y:-0.76, Z:-0.11 [[ 0.99470838 0.01716219 0.1012951 16.21839505] [-0.04371405 0.96294882 0.26611774 -0.75507212] [-0.09297483 -0.26913757 0.95860349 -0.11281058] [ 0. 0. 0. 1. ]] SLAMing on 70.64650248099998 meters Centerline goodness : 0.693566 with order 1 Centerline is valid? [False, False] Translation: X:16.22, Y:-0.75, Z:-0.11 [[ 9.94706194e-01 1.51181609e-02 1.01641672e-01 1.62175952e+01] [-4.12557427e-02 9.64656099e-01 2.60262510e-01 -7.51433360e-01] [-9.41145681e-02 -2.63078033e-01 9.60173108e-01 -1.14202847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.70650248099999 meters Centerline goodness : 0.689615 with order 1 Centerline is valid? [False, False] Translation: X:16.22, Y:-0.75, Z:-0.12 [[ 9.94790637e-01 1.19985322e-02 1.01230548e-01 1.62185890e+01] [-3.75835342e-02 9.66261881e-01 2.54804741e-01 -7.49735661e-01] [-9.47579370e-02 -2.57281972e-01 9.61679219e-01 -1.15959283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.76650248099999 meters Centerline goodness : 0.689529 with order 1 Centerline is valid? [False, False] Translation: X:16.22, Y:-0.75, Z:-0.11 [[ 9.94810077e-01 1.18458362e-02 1.01057349e-01 1.62180379e+01] [-3.74632919e-02 9.66070390e-01 2.55547458e-01 -7.49700937e-01] [-9.46013394e-02 -2.58007127e-01 9.61500343e-01 -1.13894776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.82650248099998 meters Centerline goodness : 0.688683 with order 1 Centerline is valid? [False, False] Translation: X:16.22, Y:-0.75, Z:-0.11 [[ 9.94767313e-01 9.44659628e-03 1.01728831e-01 1.62164118e+01] [-3.48732049e-02 9.67310226e-01 2.51186757e-01 -7.50657876e-01] [-9.60304784e-02 -2.53419986e-01 9.62578027e-01 -1.13245472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.88650248099998 meters Centerline goodness : 0.687319 with order 1 Centerline is valid? [False, False] Translation: X:16.22, Y:-0.75, Z:-0.11 [[ 9.94815807e-01 6.82944783e-03 1.01463630e-01 1.62171046e+01] [-3.18043259e-02 9.68586289e-01 2.46635534e-01 -7.49113009e-01] [-9.65918966e-02 -2.48583910e-01 9.63782157e-01 -1.14391747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.94650248099998 meters Centerline goodness : 0.687814 with order 1 Centerline is valid? [False, False] Translation: X:16.21, Y:-0.75, Z:-0.11 [[ 9.94668790e-01 7.69261236e-03 1.02833953e-01 1.62140949e+01] [-3.30290778e-02 9.68444633e-01 2.47030508e-01 -7.49651239e-01] [-9.76886799e-02 -2.49110048e-01 9.63535732e-01 -1.12686906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.00650248099998 meters Centerline goodness : 0.689391 with order 1 Centerline is valid? [False, False] Translation: X:16.21, Y:-0.75, Z:-0.12 [[ 9.94641775e-01 6.34121526e-03 1.03186861e-01 1.62139075e+01] [-3.11747269e-02 9.70052361e-01 2.40887016e-01 -7.47720252e-01] [-9.85691412e-02 -2.42813111e-01 9.65052287e-01 -1.15246774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.06650248099999 meters Centerline goodness : 0.683263 with order 1 Centerline is valid? [False, False] Translation: X:16.21, Y:-0.75, Z:-0.12 [[ 9.94540886e-01 8.62192460e-03 1.03990807e-01 1.62124294e+01] [-3.33818838e-02 9.70496976e-01 2.38791267e-01 -7.45517354e-01] [-9.88639232e-02 -2.40959088e-01 9.65486739e-01 -1.16422356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.12650248099999 meters Centerline goodness : 0.680943 with order 1 Centerline is valid? [False, False] Translation: X:16.17, Y:-0.72, Z:-0.13 [[ 0.9934324 0.01726626 0.11311029 16.17496833] [-0.04330626 0.97174745 0.23201606 -0.72348433] [-0.10590858 -0.23539066 0.96611315 -0.12637366] [ 0. 0. 0. 1. ]] SLAMing on 71.18650248099998 meters Centerline goodness : 0.681838 with order 1 Centerline is valid? [False, False] Translation: X:16.22, Y:-0.69, Z:-0.14 [[ 9.93955584e-01 6.27015783e-03 1.09603752e-01 1.62161534e+01] [-3.10993608e-02 9.73553166e-01 2.26333961e-01 -6.92886875e-01] [-1.05285930e-01 -2.28374511e-01 9.67863604e-01 -1.37769152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.24650248099998 meters Centerline goodness : 0.681319 with order 1 Centerline is valid? [False, False] Translation: X:16.27, Y:-0.66, Z:-0.15 [[ 9.94680724e-01 -9.08910875e-03 1.02604317e-01 1.62737705e+01] [-1.35478184e-02 9.75902398e-01 2.17786516e-01 -6.61226360e-01] [-1.02111285e-01 -2.18018114e-01 9.70588166e-01 -1.48383051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.30650248099998 meters Centerline goodness : 0.681502 with order 1 Centerline is valid? [False, False] Translation: X:16.27, Y:-0.66, Z:-0.15 [[ 9.94588408e-01 -1.40421407e-02 1.02940356e-01 1.62733597e+01] [-7.77800854e-03 9.77979469e-01 2.08556132e-01 -6.59839246e-01] [-1.03602129e-01 -2.08228182e-01 9.72577824e-01 -1.49411549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.36650248099998 meters Centerline goodness : 0.676001 with order 1 Centerline is valid? [False, False] Translation: X:16.27, Y:-0.66, Z:-0.15 [[ 9.94572845e-01 -1.40768328e-02 1.03085876e-01 1.62718681e+01] [-7.99214382e-03 9.77540571e-01 2.10595721e-01 -6.61120782e-01] [-1.03735147e-01 -2.10276663e-01 9.72122803e-01 -1.46085710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.42650248099999 meters Centerline goodness : 0.678672 with order 1 Centerline is valid? [False, False] Translation: X:16.27, Y:-0.66, Z:-0.15 [[ 9.94525212e-01 -1.70136783e-02 1.03102558e-01 1.62717876e+01] [-4.64440377e-03 9.78484831e-01 2.06266490e-01 -6.61510084e-01] [-1.04393641e-01 -2.05616075e-01 9.73048816e-01 -1.45940489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.48650248099999 meters Centerline goodness : 0.680282 with order 1 Centerline is valid? [False, False] Translation: X:16.27, Y:-0.66, Z:-0.15 [[ 9.94384894e-01 -2.21682227e-02 1.03475851e-01 1.62713903e+01] [ 1.31270633e-03 9.80321158e-01 1.97404923e-01 -6.59970947e-01] [-1.05815682e-01 -1.96160641e-01 9.74845652e-01 -1.46738502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.54650248099999 meters Centerline goodness : 0.682577 with order 1 Centerline is valid? [False, False] Translation: X:16.27, Y:-0.66, Z:-0.15 [[ 9.94289080e-01 -2.46156192e-02 1.03842649e-01 1.62708157e+01] [ 4.14138969e-03 9.81202267e-01 1.92937709e-01 -6.59352599e-01] [-1.06639924e-01 -1.91405804e-01 9.75700643e-01 -1.46861365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.60650248099998 meters Centerline goodness : 0.686834 with order 1 Centerline is valid? [False, False] Translation: X:16.27, Y:-0.66, Z:-0.14 [[ 9.94206136e-01 -2.33238646e-02 1.04929293e-01 1.62677630e+01] [ 2.58067244e-03 9.81072686e-01 1.93622634e-01 -6.59624296e-01] [-1.07459292e-01 -1.92230022e-01 9.75448676e-01 -1.44192157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.66650248099998 meters Centerline goodness : 0.682131 with order 1 Centerline is valid? [False, False] Translation: X:16.27, Y:-0.66, Z:-0.15 [[ 9.94108507e-01 -2.49545670e-02 1.05477706e-01 1.62669297e+01] [ 4.75810242e-03 9.82245181e-01 1.87541366e-01 -6.56993903e-01] [-1.08284982e-01 -1.85934594e-01 9.76577027e-01 -1.45330410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.72650248099998 meters Centerline goodness : 0.682787 with order 1 Centerline is valid? [False, False] Translation: X:16.27, Y:-0.66, Z:-0.15 [[ 9.94028468e-01 -2.71668846e-02 1.05685217e-01 1.62675168e+01] [ 7.55192708e-03 9.83318263e-01 1.81736518e-01 -6.55495141e-01] [-1.08859419e-01 -1.79853145e-01 9.77651509e-01 -1.47844706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.78650248099999 meters Centerline goodness : 0.684167 with order 1 Centerline is valid? [False, False] Translation: X:16.27, Y:-0.66, Z:-0.15 [[ 9.94055314e-01 -2.68639485e-02 1.05509999e-01 1.62673294e+01] [ 7.26928414e-03 9.83295661e-01 1.81870283e-01 -6.55048518e-01] [-1.08633279e-01 -1.80022140e-01 9.77645559e-01 -1.46895603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.84650248099999 meters Centerline goodness : 0.684503 with order 1 Centerline is valid? [False, False] Translation: X:16.27, Y:-0.65, Z:-0.15 [[ 9.93951910e-01 -2.94810529e-02 1.05785005e-01 1.62663023e+01] [ 1.03087607e-02 9.84086161e-01 1.77392664e-01 -6.53014837e-01] [-1.09331282e-01 -1.75229265e-01 9.78438233e-01 -1.45977957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.90650248099999 meters Centerline goodness : 0.687686 with order 1 Centerline is valid? [False, False] Translation: X:16.26, Y:-0.65, Z:-0.14 [[ 0.99369467 -0.03541496 0.10637986 16.26470915] [ 0.01696511 0.98537219 0.16956953 -0.65231298] [-0.11082905 -0.16669559 0.97975992 -0.1441865 ] [ 0. 0. 0. 1. ]] SLAMing on 71.96650248099998 meters Centerline goodness : 0.683684 with order 1 Centerline is valid? [False, False] Translation: X:16.27, Y:-0.65, Z:-0.14 [[ 0.99355944 -0.03990382 0.10605336 16.26503651] [ 0.02180383 0.98577653 0.16664102 -0.65345626] [-0.11119453 -0.16325539 0.98029764 -0.14248687] [ 0. 0. 0. 1. ]] SLAMing on 72.02650248099998 meters Centerline goodness : 0.683880 with order 1 Centerline is valid? [False, False] Translation: X:16.27, Y:-0.65, Z:-0.14 [[ 0.99341584 -0.04358742 0.1059486 16.2655959 ] [ 0.02598614 0.98642235 0.16215938 -0.65298565] [-0.11157818 -0.1583385 0.98106026 -0.14281354] [ 0. 0. 0. 1. ]] SLAMing on 72.08650248099998 meters Centerline goodness : 0.684007 with order 1 Centerline is valid? [False, False] Translation: X:16.27, Y:-0.65, Z:-0.14 [[ 0.99325529 -0.04763728 0.10571003 16.26563702] [ 0.03035727 0.98674259 0.15942865 -0.65346579] [-0.11190334 -0.15514428 0.98153344 -0.14109203] [ 0. 0. 0. 1. ]] SLAMing on 72.14650248099998 meters Centerline goodness : 0.685973 with order 1 Centerline is valid? [False, False] Translation: X:16.26, Y:-0.65, Z:-0.14 [[ 0.99307034 -0.05126865 0.10574885 16.26480777] [ 0.0343222 0.98711999 0.15625654 -0.65249455] [-0.11239787 -0.1515442 0.98203924 -0.13892136] [ 0. 0. 0. 1. ]] SLAMing on 72.20650248099999 meters Centerline goodness : 0.689240 with order 1 Centerline is valid? [False, False] Translation: X:16.26, Y:-0.65, Z:-0.14 [[ 0.99285814 -0.05496618 0.10588409 16.26480429] [ 0.03845775 0.98762005 0.15207772 -0.65231922] [-0.11293238 -0.14691954 0.98268048 -0.13866962] [ 0. 0. 0. 1. ]] SLAMing on 72.26650248099999 meters Centerline goodness : 0.687953 with order 1 Centerline is valid? [False, False] Translation: X:16.27, Y:-0.65, Z:-0.14 [[ 0.99247338 -0.06245532 0.10533721 16.26675144] [ 0.046965 0.98852022 0.14360384 -0.65123024] [-0.11309679 -0.13757582 0.98401322 -0.139403 ] [ 0. 0. 0. 1. ]] SLAMing on 72.32650248099998 meters Centerline goodness : 0.688453 with order 1 Centerline is valid? [False, False] Translation: X:16.27, Y:-0.65, Z:-0.14 [[ 0.99230805 -0.06736464 0.10385927 16.27012631] [ 0.05247917 0.98877023 0.13992627 -0.64963028] [-0.11211904 -0.13339952 0.9846999 -0.14015731] [ 0. 0. 0. 1. ]] SLAMing on 72.38650248099998 meters Centerline goodness : 0.693888 with order 1 Centerline is valid? [False, False] Translation: X:16.34, Y:-0.67, Z:-0.15 [[ 0.99329135 -0.06012707 0.09877764 16.34060111] [ 0.04532839 0.98828058 0.14576293 -0.66635309] [-0.10638432 -0.14030763 0.98437602 -0.1469206 ] [ 0. 0. 0. 1. ]] SLAMing on 72.44650248099998 meters Centerline goodness : 0.692909 with order 1 Centerline is valid? [False, False] Translation: X:16.51, Y:-0.70, Z:-0.16 [[ 0.99599013 -0.03560554 0.08207261 16.5061765 ] [ 0.02267771 0.98790723 0.15337869 -0.69770203] [-0.08654125 -0.15090245 0.9847533 -0.15644487] [ 0. 0. 0. 1. ]] SLAMing on 72.50650248099998 meters Centerline goodness : 0.694436 with order 1 Centerline is valid? [False, False] Translation: X:16.67, Y:-0.73, Z:-0.16 [[ 9.97926208e-01 -1.08913710e-02 6.34402192e-02 1.66681814e+01] [ 6.64885211e-04 9.87272643e-01 1.59035488e-01 -7.26303327e-01] [-6.43649074e-02 -1.58663501e-01 9.85232486e-01 -1.62329958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.56650248099999 meters Centerline goodness : 0.697560 with order 1 Centerline is valid? [False, False] Translation: X:16.88, Y:-0.76, Z:-0.15 [[ 0.99864522 0.03189583 0.04111425 16.88022394] [-0.03763612 0.98835941 0.14740826 -0.76457113] [-0.03593394 -0.14875594 0.98822084 -0.15110882] [ 0. 0. 0. 1. ]] SLAMing on 72.62650248099999 meters Centerline goodness : 0.698266 with order 1 Centerline is valid? [False, False] Translation: X:16.88, Y:-0.76, Z:-0.15 [[ 0.99863119 0.03207327 0.04131639 16.87869316] [-0.03778982 0.98856473 0.14598529 -0.7597289 ] [-0.0361617 -0.1473468 0.98842362 -0.14992428] [ 0. 0. 0. 1. ]] SLAMing on 72.68650248099998 meters Centerline goodness : 0.701430 with order 1 Centerline is valid? [False, False] Translation: X:16.70, Y:-0.74, Z:-0.15 [[ 0.99737641 0.05139542 0.05097855 16.6970588 ] [-0.05777947 0.989444 0.13289887 -0.73820034] [-0.04361002 -0.13549571 0.9898177 -0.15333954] [ 0. 0. 0. 1. ]] SLAMing on 72.74650248099998 meters Centerline goodness : 0.701038 with order 1 Centerline is valid? [False, False] Translation: X:16.59, Y:-0.72, Z:-0.16 [[ 0.99641966 0.06520429 0.05381688 16.59103112] [-0.07178157 0.98877485 0.13104086 -0.72047744] [-0.04466835 -0.13443475 0.98991517 -0.15685353] [ 0. 0. 0. 1. ]] SLAMing on 72.80650248099998 meters Centerline goodness : 0.705613 with order 1 Centerline is valid? [False, False] Translation: X:16.55, Y:-0.69, Z:-0.16 [[ 0.99586916 0.07188864 0.05546752 16.55120362] [-0.07815183 0.98962748 0.12053936 -0.68941657] [-0.04622678 -0.12437632 0.99115771 -0.16220838] [ 0. 0. 0. 1. ]] SLAMing on 72.86650248099998 meters Centerline goodness : 0.704913 with order 1 Centerline is valid? [False, False] Translation: X:16.56, Y:-0.66, Z:-0.16 [[ 0.99594908 0.07419349 0.05080124 16.55795656] [-0.07913006 0.99149986 0.10327855 -0.65951348] [-0.04270682 -0.10688008 0.99335431 -0.16394324] [ 0. 0. 0. 1. ]] SLAMing on 72.92650248099999 meters Centerline goodness : 0.704997 with order 1 Centerline is valid? [False, False] Translation: X:16.59, Y:-0.63, Z:-0.16 [[ 0.99679679 0.0707431 0.03730374 16.59448499] [-0.07403709 0.99263209 0.09591691 -0.63261748] [-0.03024343 -0.09837153 0.99469009 -0.1644586 ] [ 0. 0. 0. 1. ]] SLAMing on 72.98650248099999 meters Centerline goodness : 0.705719 with order 1 Centerline is valid? [False, False] Translation: X:16.63, Y:-0.61, Z:-0.16 [[ 0.99744092 0.06719936 0.02441015 16.6331366 ] [-0.06893805 0.99447028 0.07922378 -0.60515808] [-0.01895139 -0.08070383 0.99655794 -0.16407151] [ 0. 0. 0. 1. ]] SLAMing on 73.04650248099998 meters Centerline goodness : 0.705390 with order 1 Centerline is valid? [False, False] Translation: X:16.68, Y:-0.59, Z:-0.16 [[ 9.97772559e-01 6.49792193e-02 1.50871067e-02 1.66843938e+01] [-6.59392515e-02 9.94952968e-01 7.56346941e-02 -5.86139794e-01] [-1.00962782e-02 -7.64610548e-02 9.97021450e-01 -1.60776293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.10650248099998 meters Centerline goodness : 0.705177 with order 1 Centerline is valid? [False, False] Translation: X:16.74, Y:-0.58, Z:-0.16 [[ 9.98023537e-01 6.21082959e-02 9.56971111e-03 1.67386906e+01] [-6.26590775e-02 9.95110600e-01 7.63461461e-02 -5.77508740e-01] [-4.78119192e-03 -7.67948800e-02 9.97035449e-01 -1.59104327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.16650248099998 meters Centerline goodness : 0.707662 with order 1 Centerline is valid? [False, False] Translation: X:16.83, Y:-0.55, Z:-0.15 [[ 9.98658372e-01 5.12986816e-02 -7.06401529e-03 1.68343768e+01] [-5.07964395e-02 9.96976980e-01 5.87930553e-02 -5.52873196e-01] [ 1.00586669e-02 -5.83553501e-02 9.98245199e-01 -1.52952764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.22650248099998 meters Centerline goodness : 0.708060 with order 1 Centerline is valid? [False, False] Translation: X:16.90, Y:-0.54, Z:-0.15 [[ 0.99888214 0.04404118 -0.01717088 16.8991246 ] [-0.04284698 0.99698985 0.06461721 -0.54152328] [ 0.01996501 -0.06380926 0.99776238 -0.15023158] [ 0. 0. 0. 1. ]] SLAMing on 73.28650248099999 meters Centerline goodness : 0.708558 with order 1 Centerline is valid? [False, False] Translation: X:16.97, Y:-0.52, Z:-0.14 [[ 0.99884895 0.03802833 -0.0292338 16.96588489] [-0.03633712 0.99774937 0.05635426 -0.52292481] [ 0.03131106 -0.05522712 0.99798276 -0.14479178] [ 0. 0. 0. 1. ]] SLAMing on 73.34650248099999 meters Centerline goodness : 0.712796 with order 1 Centerline is valid? [False, False] Translation: X:17.07, Y:-0.48, Z:-0.14 [[ 9.98979651e-01 4.19216468e-03 -4.49675825e-02 1.70695497e+01] [-2.16617966e-03 9.98984242e-01 4.50088027e-02 -4.79545170e-01] [ 4.51105906e-02 -4.48654701e-02 9.97974010e-01 -1.38072984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.40650248099999 meters Centerline goodness : 0.712511 with order 1 Centerline is valid? [False, False] Translation: X:17.07, Y:-0.46, Z:-0.14 [[ 9.98966663e-01 9.47547473e-03 -4.44502174e-02 1.70666941e+01] [-7.74140858e-03 9.99208339e-01 3.90226273e-02 -4.58368650e-01] [ 4.47847858e-02 -3.86381965e-02 9.98249174e-01 -1.39735456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.46650248099998 meters Centerline goodness : 0.715574 with order 1 Centerline is valid? [False, False] Translation: X:16.93, Y:-0.44, Z:-0.15 [[ 0.99912247 0.01809149 -0.03777549 16.93364848] [-0.017067 0.99948242 0.0272691 -0.44383744] [ 0.03824928 -0.02660046 0.99891411 -0.15066195] [ 0. 0. 0. 1. ]] SLAMing on 73.52650248099998 meters Centerline goodness : 0.712561 with order 1 Centerline is valid? [False, False] Translation: X:16.94, Y:-0.44, Z:-0.15 [[ 9.99098809e-01 1.64568909e-02 -3.91246691e-02 1.69366643e+01] [-1.54076777e-02 9.99517518e-01 2.69691316e-02 -4.42083714e-01] [ 3.95496202e-02 -2.63420070e-02 9.98870325e-01 -1.51001586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.58650248099998 meters Centerline goodness : 0.714590 with order 1 Centerline is valid? [False, False] Translation: X:16.74, Y:-0.43, Z:-0.16 [[ 0.99887687 0.03545146 -0.03143567 16.74269786] [-0.0346601 0.99907706 0.02537127 -0.4340678 ] [ 0.03230611 -0.02425321 0.99918372 -0.16498219] [ 0. 0. 0. 1. ]] SLAMing on 73.64650248099998 meters Centerline goodness : 0.713091 with order 1 Centerline is valid? [False, False] Translation: X:16.54, Y:-0.41, Z:-0.18 [[ 9.98380064e-01 5.33381273e-02 -1.98063787e-02 1.65410117e+01] [-5.30276560e-02 9.98466719e-01 1.58832860e-02 -4.11923324e-01] [ 2.06231946e-02 -1.48072702e-02 9.99677662e-01 -1.79107471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.70650248099999 meters Centerline goodness : 0.715442 with order 1 Centerline is valid? [False, False] Translation: X:16.37, Y:-0.39, Z:-0.19 [[ 9.97100447e-01 7.55128535e-02 -9.40785067e-03 1.63744058e+01] [-7.54338469e-02 9.97114683e-01 8.48786031e-03 -3.88571333e-01] [ 1.00216486e-02 -7.75357894e-03 9.99919721e-01 -1.88117345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.76650248099999 meters Centerline goodness : 0.712688 with order 1 Centerline is valid? [False, False] Translation: X:16.39, Y:-0.36, Z:-0.19 [[ 9.96378140e-01 8.36209064e-02 -1.54319999e-02 1.63858754e+01] [-8.35922626e-02 9.96496923e-01 2.49305339e-03 -3.63455385e-01] [ 1.55864118e-02 -1.19402811e-03 9.99877812e-01 -1.88189443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.82650248099998 meters Centerline goodness : 0.716444 with order 1 Centerline is valid? [False, False] Translation: X:16.39, Y:-0.35, Z:-0.19 [[ 9.96089342e-01 8.64279684e-02 -1.83365254e-02 1.63927353e+01] [-8.63829923e-02 9.96256759e-01 3.23233146e-03 -3.53420924e-01] [ 1.85472512e-02 -1.63572698e-03 9.99826647e-01 -1.89157960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.88650248099998 meters Centerline goodness : 0.717034 with order 1 Centerline is valid? [False, False] Translation: X:16.43, Y:-0.36, Z:-0.19 [[ 9.96020521e-01 8.68136182e-02 -2.01622774e-02 1.64343785e+01] [-8.66077278e-02 9.96183173e-01 1.08713666e-02 -3.55040153e-01] [ 2.10291041e-02 -9.08189522e-03 9.99737614e-01 -1.91221925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.94650248099998 meters Centerline goodness : 0.717008 with order 1 Centerline is valid? [False, False] Translation: X:16.51, Y:-0.35, Z:-0.18 [[ 9.96395034e-01 7.93063945e-02 -3.01236086e-02 1.65113283e+01] [-7.91179820e-02 9.96837809e-01 7.39779150e-03 -3.49800750e-01] [ 3.06150442e-02 -4.98780360e-03 9.99518805e-01 -1.83399477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.00650248099998 meters Centerline goodness : 0.716276 with order 1 Centerline is valid? [False, False] Translation: X:16.60, Y:-0.34, Z:-0.17 [[ 9.96644251e-01 6.96007569e-02 -4.30809810e-02 1.65971393e+01] [-6.94709992e-02 9.97573806e-01 4.50360888e-03 -3.40279662e-01] [ 4.32899128e-02 -1.49561710e-03 9.99061433e-01 -1.72842043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.06650248099999 meters Centerline goodness : 0.710527 with order 1 Centerline is valid? [False, False] Translation: X:16.70, Y:-0.32, Z:-0.16 [[ 9.96832040e-01 5.04440104e-02 -6.14921571e-02 1.67030423e+01] [-5.05047746e-02 9.98723659e-01 5.66724622e-04 -3.20053843e-01] [ 6.14422600e-02 2.54071827e-03 9.98107406e-01 -1.57872745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.12650248099999 meters Centerline goodness : 0.713012 with order 1 Centerline is valid? [False, False] Translation: X:16.76, Y:-0.31, Z:-0.15 [[ 9.96831837e-01 4.11284002e-02 -6.80789480e-02 1.67601947e+01] [-4.13831070e-02 9.99140625e-01 -2.33468776e-03 -3.08264030e-01] [ 6.79244207e-02 5.14460948e-03 9.97677205e-01 -1.50362072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.18650248099998 meters Centerline goodness : 0.714577 with order 1 Centerline is valid? [False, False] Translation: X:16.83, Y:-0.29, Z:-0.18 [[ 9.99284730e-01 -1.20581700e-02 -3.58417180e-02 1.68289147e+01] [ 1.39871558e-02 9.98439425e-01 5.40654572e-02 -2.87189593e-01] [ 3.51338538e-02 -5.45281095e-02 9.97893931e-01 -1.80523345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.24650248099998 meters Centerline goodness : 0.716369 with order 1 Centerline is valid? [False, False] Translation: X:16.83, Y:-0.29, Z:-0.18 [[ 0.99916141 -0.01813055 -0.03671182 16.83049803] [ 0.01996271 0.99854112 0.05017093 -0.28608051] [ 0.03574864 -0.05086173 0.99806569 -0.17991752] [ 0. 0. 0. 1. ]] SLAMing on 74.30650248099998 meters Centerline goodness : 0.715230 with order 1 Centerline is valid? [False, False] Translation: X:16.83, Y:-0.28, Z:-0.18 [[ 0.99899704 -0.02573665 -0.03664054 16.83057053] [ 0.02722162 0.99880366 0.04062314 -0.28304174] [ 0.0355512 -0.04157981 0.99850249 -0.18036533] [ 0. 0. 0. 1. ]] SLAMing on 74.36650248099998 meters Centerline goodness : 0.712868 with order 1 Centerline is valid? [False, False] Translation: X:16.98, Y:-0.32, Z:-0.17 [[ 9.98626632e-01 1.56068968e-03 -5.23680619e-02 1.69808131e+01] [ 9.23862830e-04 9.98876210e-01 4.73863215e-02 -3.17820464e-01] [ 5.23831665e-02 -4.73696235e-02 9.97502944e-01 -1.70666333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.42650248099999 meters Centerline goodness : 0.712645 with order 1 Centerline is valid? [False, False] Translation: X:16.79, Y:-0.31, Z:-0.19 [[ 9.98987562e-01 1.02077396e-02 -4.38138383e-02 1.67932557e+01] [-8.09779403e-03 9.98811277e-01 4.80672321e-02 -3.12394819e-01] [ 4.42524136e-02 -4.76637716e-02 9.97882703e-01 -1.87152381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.48650248099999 meters Centerline goodness : 0.711887 with order 1 Centerline is valid? [False, False] Translation: X:16.60, Y:-0.31, Z:-0.20 [[ 0.9991372 0.02415614 -0.03378353 16.59651108] [-0.02257719 0.99866951 0.04636239 -0.30635996] [ 0.03485852 -0.04555966 0.99835324 -0.20210361] [ 0. 0. 0. 1. ]] SLAMing on 74.54650248099998 meters Centerline goodness : 0.706476 with order 1 Centerline is valid? [False, False] Translation: X:16.60, Y:-0.30, Z:-0.20 [[ 0.99920624 0.01999972 -0.03445133 16.59686319] [-0.01862307 0.99903303 0.03982695 -0.30108864] [ 0.03521455 -0.03915375 0.9986125 -0.20183241] [ 0. 0. 0. 1. ]] SLAMing on 74.60650248099998 meters Centerline goodness : 0.705418 with order 1 Centerline is valid? [False, False] Translation: X:16.33, Y:-0.29, Z:-0.22 [[ 0.99901002 0.03645925 -0.02548912 16.32663445] [-0.03549525 0.99867347 0.03730127 -0.28760875] [ 0.02681529 -0.0363596 0.99897894 -0.219163 ] [ 0. 0. 0. 1. ]] SLAMing on 74.66650248099998 meters Centerline goodness : 0.706363 with order 1 Centerline is valid? [False, False] Translation: X:16.17, Y:-0.27, Z:-0.23 [[ 0.99879005 0.04487005 -0.02012742 16.16654785] [-0.04401404 0.99818401 0.04112725 -0.27399006] [ 0.02193625 -0.0401916 0.99895117 -0.22622696] [ 0. 0. 0. 1. ]] SLAMing on 74.72650248099998 meters Centerline goodness : 0.710278 with order 1 Centerline is valid? [False, False] Translation: X:15.86, Y:-0.25, Z:-0.24 [[ 9.97480151e-01 7.09054033e-02 -2.40266178e-03 1.58615176e+01] [-7.07804009e-02 9.96892884e-01 3.45646047e-02 -2.54326381e-01] [ 4.84601367e-03 -3.43074458e-02 9.99399577e-01 -2.42268989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.78650248099999 meters Centerline goodness : 0.707978 with order 1 Centerline is valid? [False, False] Translation: X:15.61, Y:-0.23, Z:-0.25 [[ 9.95563489e-01 9.38307220e-02 7.00968362e-03 1.56055480e+01] [-9.40200784e-02 9.94952196e-01 3.50763767e-02 -2.31131312e-01] [-3.68305836e-03 -3.55798110e-02 9.99360051e-01 -2.51858684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.84650248099999 meters Centerline goodness : 0.702350 with order 1 Centerline is valid? [False, False] Translation: X:15.35, Y:-0.20, Z:-0.26 [[ 9.92930185e-01 1.17542441e-01 1.65354599e-02 1.53487843e+01] [-1.18062961e-01 9.92384256e-01 3.51372274e-02 -2.00258615e-01] [-1.22794147e-02 -3.68410390e-02 9.99245692e-01 -2.59447361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.90650248099999 meters Centerline goodness : 0.699885 with order 1 Centerline is valid? [False, False] Translation: X:15.03, Y:-0.15, Z:-0.27 [[ 0.98928922 0.14247762 0.03173278 15.02911024] [-0.14333941 0.98931156 0.02676651 -0.14964522] [-0.02757998 -0.03102838 0.99913792 -0.2650893 ] [ 0. 0. 0. 1. ]] SLAMing on 74.96650248099998 meters Centerline goodness : 0.698626 with order 1 Centerline is valid? [False, False] Translation: X:14.82, Y:-0.11, Z:-0.27 [[ 0.98615856 0.16023855 0.04260162 14.8153627 ] [-0.16133399 0.98661684 0.02363385 -0.1088214 ] [-0.03824442 -0.03017981 0.99881257 -0.26686607] [ 0. 0. 0. 1. ]] SLAMing on 75.02650248099998 meters Centerline goodness : 0.696258 with order 1 Centerline is valid? [False, False] Translation: X:14.55, Y:-0.05, Z:-0.26 [[ 0.98196891 0.18074209 0.05540174 14.55493451] [-0.18200991 0.98311846 0.01872122 -0.05495898] [-0.05108276 -0.02846732 0.99828862 -0.26484064] [ 0. 0. 0. 1. ]] SLAMing on 75.08650248099998 meters Centerline goodness : 0.694642 with order 1 Centerline is valid? [False, False] Translation: X:14.55, Y:-0.05, Z:-0.26 [[ 0.98203972 0.18038534 0.05530938 14.55340849] [-0.18162833 0.98319704 0.0182954 -0.0532706 ] [-0.0510798 -0.02801256 0.99830163 -0.26173921] [ 0. 0. 0. 1. ]] SLAMing on 75.14650248099998 meters Centerline goodness : 0.694151 with order 1 Centerline is valid? [False, False] Translation: X:14.28, Y:0.01, Z:-0.25 [[ 9.78285258e-01 1.97878897e-01 6.16595242e-02 1.42800761e+01] [-1.98891884e-01 9.79963164e-01 1.06872080e-02 1.23877330e-02] [-5.83092895e-02 -2.27187169e-02 9.98040023e-01 -2.51160604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.20650248099999 meters Centerline goodness : 0.693584 with order 1 Centerline is valid? [False, False] Translation: X:14.28, Y:0.02, Z:-0.25 [[ 9.78552459e-01 1.97128440e-01 5.97951742e-02 1.42842548e+01] [-1.97965029e-01 9.80173547e-01 8.34655508e-03 1.62153740e-02] [-5.69643046e-02 -2.00048954e-02 9.98175772e-01 -2.53331309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.26650248099999 meters Centerline goodness : 0.696820 with order 1 Centerline is valid? [False, False] Translation: X:14.28, Y:0.02, Z:-0.25 [[ 9.78384822e-01 1.97764616e-01 6.04342395e-02 1.42828665e+01] [-1.98498788e-01 9.80080651e-01 6.33627624e-03 1.89529507e-02] [-5.79773376e-02 -1.81954398e-02 9.98152070e-01 -2.53423352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.32650248099998 meters Centerline goodness : 0.695457 with order 1 Centerline is valid? [False, False] Translation: X:13.98, Y:0.09, Z:-0.24 [[ 9.72623134e-01 2.20326746e-01 7.38942779e-02 1.39764938e+01] [-2.21213518e-01 9.75217454e-01 3.93666224e-03 9.22528879e-02] [-7.11956376e-02 -2.01753019e-02 9.97258311e-01 -2.40166925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.38650248099998 meters Centerline goodness : 0.693395 with order 1 Centerline is valid? [False, False] Translation: X:13.98, Y:0.10, Z:-0.24 [[ 9.72497414e-01 2.21122274e-01 7.31691148e-02 1.39778855e+01] [-2.21683118e-01 9.75118648e-01 -4.67328702e-04 9.95356735e-02] [-7.14519050e-02 -1.57658815e-02 9.97319438e-01 -2.41705372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.44650248099998 meters Centerline goodness : 0.687354 with order 1 Centerline is valid? [False, False] Translation: X:13.98, Y:0.11, Z:-0.24 [[ 9.73083583e-01 2.19035953e-01 7.16351254e-02 1.39789984e+01] [-2.18932960e-01 9.75694785e-01 -9.38321841e-03 1.06981960e-01] [-7.19492805e-02 -6.55263426e-03 9.97386768e-01 -2.43368347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.50650248099998 meters Centerline goodness : 0.687861 with order 1 Centerline is valid? [False, False] Translation: X:13.98, Y:0.11, Z:-0.24 [[ 9.73283826e-01 2.18355270e-01 7.09899267e-02 1.39801140e+01] [-2.18101205e-01 9.75859505e-01 -1.14057103e-02 1.12176226e-01] [-7.17666917e-02 -4.38199522e-03 9.97411821e-01 -2.42724971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.56650248099999 meters Centerline goodness : 0.690078 with order 1 Centerline is valid? [False, False] Translation: X:13.98, Y:0.12, Z:-0.24 [[ 9.73937750e-01 2.15758032e-01 6.99552053e-02 1.39799275e+01] [-2.15072518e-01 9.76445235e-01 -1.72775981e-02 1.16043736e-01] [-7.20352075e-02 1.78186289e-03 9.97400498e-01 -2.42254152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.62650248099999 meters Centerline goodness : 0.687593 with order 1 Centerline is valid? [False, False] Translation: X:13.98, Y:0.12, Z:-0.24 [[ 9.75153504e-01 2.10481328e-01 6.90887426e-02 1.39792810e+01] [-2.09437354e-01 9.77572204e-01 -2.21038444e-02 1.20223586e-01] [-7.21916809e-02 7.08487792e-03 9.97365613e-01 -2.39789312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.68650248099998 meters Centerline goodness : 0.683949 with order 1 Centerline is valid? [False, False] Translation: X:13.98, Y:0.12, Z:-0.24 [[ 9.76308565e-01 2.05684975e-01 6.71958143e-02 1.39808649e+01] [-2.04314482e-01 9.78539948e-01 -2.67425350e-02 1.23871123e-01] [-7.12543263e-02 1.23798880e-02 9.97381351e-01 -2.38257878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.74650248099998 meters Centerline goodness : 0.687973 with order 1 Centerline is valid? [False, False] Translation: X:13.98, Y:0.13, Z:-0.24 [[ 0.97748371 0.20068889 0.06518863 13.98242029] [-0.19897241 0.97948572 -0.03190146 0.12735358] [-0.0702536 0.01821242 0.99736289 -0.23680772] [ 0. 0. 0. 1. ]] SLAMing on 75.80650248099998 meters Centerline goodness : 0.688684 with order 1 Centerline is valid? [False, False] Translation: X:13.99, Y:0.13, Z:-0.24 [[ 0.97839559 0.19717262 0.0621693 13.988038 ] [-0.19543926 0.98016421 -0.03288807 0.13208209] [-0.06742075 0.02002722 0.99752361 -0.23582181] [ 0. 0. 0. 1. ]] SLAMing on 75.86650248099998 meters Centerline goodness : 0.690440 with order 1 Centerline is valid? [False, False] Translation: X:13.99, Y:0.13, Z:-0.23 [[ 0.97876474 0.1956592 0.06113146 13.98943203] [-0.1938672 0.98043692 -0.03404341 0.13497989] [-0.06659645 0.0214691 0.99754899 -0.23454161] [ 0. 0. 0. 1. ]] SLAMing on 75.92650248099999 meters Centerline goodness : 0.693363 with order 1 Centerline is valid? [False, False] Translation: X:13.99, Y:0.14, Z:-0.23 [[ 0.97910046 0.19426045 0.06020944 13.99054022] [-0.19230551 0.98064576 -0.03677608 0.14066398] [-0.06618827 0.02442887 0.99750807 -0.23309087] [ 0. 0. 0. 1. ]] SLAMing on 75.98650248099999 meters Centerline goodness : 0.690429 with order 1 Centerline is valid? [False, False] Translation: X:13.99, Y:0.15, Z:-0.23 [[ 0.97864236 0.19660149 0.06005825 13.99154496] [-0.19476993 0.98022355 -0.03502104 0.14683436] [-0.0657557 0.02257553 0.99758034 -0.23097145] [ 0. 0. 0. 1. ]] SLAMing on 76.04650248099998 meters Centerline goodness : 0.686192 with order 1 Centerline is valid? [False, False] Translation: X:13.99, Y:0.15, Z:-0.23 [[ 0.97817607 0.19918024 0.05915075 13.9943769 ] [-0.19735642 0.97969674 -0.03528101 0.15388651] [-0.06497708 0.02283726 0.9976254 -0.23094842] [ 0. 0. 0. 1. ]] SLAMing on 76.10650248099998 meters Centerline goodness : 0.684658 with order 1 Centerline is valid? [False, False] Translation: X:14.00, Y:0.16, Z:-0.23 [[ 0.97750558 0.20273515 0.05814887 13.99719861] [-0.20082148 0.97892446 -0.03711651 0.16442999] [-0.06444817 0.02460405 0.9976177 -0.23036729] [ 0. 0. 0. 1. ]] SLAMing on 76.16650248099998 meters Centerline goodness : 0.684017 with order 1 Centerline is valid? [False, False] Translation: X:14.00, Y:0.17, Z:-0.23 [[ 0.97674808 0.20635341 0.05815035 13.9980468 ] [-0.20432139 0.97812583 -0.03902078 0.17351084] [-0.06493043 0.02623211 0.99754494 -0.22983643] [ 0. 0. 0. 1. ]] SLAMing on 76.22650248099998 meters Centerline goodness : 0.682150 with order 1 Centerline is valid? [False, False] Translation: X:14.00, Y:0.18, Z:-0.23 [[ 0.97621949 0.2088061 0.05827109 13.99942996] [-0.20678629 0.97761496 -0.03883836 0.17975264] [-0.06507638 0.02586511 0.99754502 -0.23017745] [ 0. 0. 0. 1. ]] SLAMing on 76.28650248099999 meters Centerline goodness : 0.688661 with order 1 Centerline is valid? [False, False] Translation: X:14.00, Y:0.18, Z:-0.23 [[ 0.97570675 0.21093598 0.05918071 13.99878214] [-0.2090198 0.97721272 -0.03695965 0.18469696] [-0.06562826 0.02369184 0.99756284 -0.22848297] [ 0. 0. 0. 1. ]] SLAMing on 76.34650248099999 meters Centerline goodness : 0.690199 with order 1 Centerline is valid? [False, False] Translation: X:14.00, Y:0.19, Z:-0.23 [[ 0.9758131 0.21032494 0.0596004 13.99769102] [-0.20817426 0.97726036 -0.04031951 0.19219373] [-0.06672531 0.02693704 0.9974077 -0.22720265] [ 0. 0. 0. 1. ]] SLAMing on 76.40650248099998 meters Centerline goodness : 0.689649 with order 1 Centerline is valid? [False, False] Translation: X:14.00, Y:0.20, Z:-0.23 [[ 0.97595407 0.20983908 0.05900185 13.99920838] [-0.20747238 0.97726015 -0.04379281 0.19707229] [-0.0668496 0.03049851 0.99729683 -0.22854748] [ 0. 0. 0. 1. ]] SLAMing on 76.46650248099998 meters Centerline goodness : 0.684398 with order 1 Centerline is valid? [False, False] Translation: X:14.00, Y:0.20, Z:-0.23 [[ 0.97496739 0.21385379 0.06086987 13.99742864] [-0.21145539 0.97641853 -0.04351397 0.20345447] [-0.06874009 0.02955344 0.99719677 -0.22840341] [ 0. 0. 0. 1. ]] SLAMing on 76.52650248099998 meters Centerline goodness : 0.683751 with order 1 Centerline is valid? [False, False] Translation: X:14.00, Y:0.21, Z:-0.23 [[ 0.97384923 0.21829656 0.06296255 13.9951386 ] [-0.21590593 0.9754827 -0.04263948 0.20831535] [-0.07072693 0.02793044 0.9971046 -0.22814053] [ 0. 0. 0. 1. ]] SLAMing on 76.58650248099998 meters Centerline goodness : 0.685336 with order 1 Centerline is valid? [False, False] Translation: X:13.99, Y:0.21, Z:-0.23 [[ 0.97365959 0.21906451 0.06322767 13.99445724] [-0.21642015 0.97521142 -0.04609777 0.21329101] [-0.07175874 0.0311998 0.99693393 -0.22823589] [ 0. 0. 0. 1. ]] SLAMing on 76.64650248099998 meters Centerline goodness : 0.685632 with order 1 Centerline is valid? [False, False] Translation: X:13.99, Y:0.22, Z:-0.23 [[ 0.97324291 0.22075685 0.06375455 13.99374968] [-0.2178164 0.97470987 -0.04996687 0.21941273] [-0.07317272 0.03474312 0.99671394 -0.22886733] [ 0. 0. 0. 1. ]] SLAMing on 76.70650248099999 meters Centerline goodness : 0.684904 with order 1 Centerline is valid? [False, False] Translation: X:13.99, Y:0.22, Z:-0.23 [[ 0.97308109 0.22134981 0.06416732 13.99264384] [-0.21831318 0.97454076 -0.05108493 0.22144605] [-0.07384131 0.03570121 0.99663077 -0.22790365] [ 0. 0. 0. 1. ]] SLAMing on 76.76650248099999 meters Centerline goodness : 0.691252 with order 1 Centerline is valid? [False, False] Translation: X:13.99, Y:0.22, Z:-0.23 [[ 0.9731083 0.2212253 0.06418412 13.99248194] [-0.21812642 0.9745388 -0.05191329 0.22248874] [-0.07403445 0.036517 0.99658688 -0.22768746] [ 0. 0. 0. 1. ]] SLAMing on 76.82650248099998 meters Centerline goodness : 0.686137 with order 1 Centerline is valid? [False, False] Translation: X:13.99, Y:0.22, Z:-0.23 [[ 0.97391493 0.21800373 0.06296098 13.99266827] [-0.21464505 0.97508507 -0.05600543 0.22239917] [-0.0736017 0.04103026 0.99644333 -0.22710792] [ 0. 0. 0. 1. ]] SLAMing on 76.88650248099998 meters Centerline goodness : 0.690049 with order 1 Centerline is valid? [False, False] Translation: X:13.99, Y:0.22, Z:-0.23 [[ 0.97471473 0.21470281 0.06191855 13.99260193] [-0.21102029 0.97557863 -0.06096537 0.22466768] [-0.07349585 0.04635777 0.99621751 -0.22615476] [ 0. 0. 0. 1. ]] SLAMing on 76.94650248099998 meters Centerline goodness : 0.689182 with order 1 Centerline is valid? [False, False] Translation: X:13.99, Y:0.22, Z:-0.22 [[ 0.97564751 0.21063793 0.06118498 13.99150341] [-0.2067561 0.9762898 -0.06411043 0.22356191] [-0.07323836 0.04989881 0.99606539 -0.22415652] [ 0. 0. 0. 1. ]] SLAMing on 77.00650248099998 meters Centerline goodness : 0.689638 with order 1 Centerline is valid? [False, False] Translation: X:13.99, Y:0.22, Z:-0.22 [[ 0.97631097 0.20727998 0.06206368 13.98733866] [-0.20312655 0.97684846 -0.06713184 0.22327957] [-0.0745419 0.05293477 0.99581194 -0.22095211] [ 0. 0. 0. 1. ]] SLAMing on 77.06650248099999 meters Centerline goodness : 0.688036 with order 1 Centerline is valid? [False, False] Translation: X:13.99, Y:0.23, Z:-0.22 [[ 0.97717928 0.20346403 0.06101679 13.98728 ] [-0.1991613 0.97747179 -0.06988326 0.22524647] [-0.07386092 0.05613629 0.99568734 -0.21837446] [ 0. 0. 0. 1. ]] SLAMing on 77.12650248099999 meters Centerline goodness : 0.689701 with order 1 Centerline is valid? [False, False] Translation: X:13.99, Y:0.23, Z:-0.22 [[ 0.97737128 0.20266503 0.06059921 13.98804402] [-0.19833106 0.97758742 -0.07062306 0.22741232] [-0.07355385 0.05700625 0.99566064 -0.21791695] [ 0. 0. 0. 1. ]] SLAMing on 77.18650248099998 meters Centerline goodness : 0.692784 with order 1 Centerline is valid? [False, False] Translation: X:13.99, Y:0.23, Z:-0.22 [[ 0.97728453 0.20315095 0.06037083 13.9883833 ] [-0.19861399 0.97731447 -0.0735453 0.23156012] [-0.07394208 0.05988419 0.99546293 -0.21800803] [ 0. 0. 0. 1. ]] SLAMing on 77.24650248099998 meters Centerline goodness : 0.690784 with order 1 Centerline is valid? [False, False] Translation: X:13.99, Y:0.24, Z:-0.22 [[ 0.97654005 0.2066443 0.06056123 13.98951683] [-0.20224088 0.97671487 -0.07160088 0.23513114] [-0.07394697 0.05767317 0.99559312 -0.21775554] [ 0. 0. 0. 1. ]] SLAMing on 77.30650248099998 meters Centerline goodness : 0.691085 with order 1 Centerline is valid? [False, False] Translation: X:13.99, Y:0.24, Z:-0.22 [[ 0.97613954 0.20821073 0.06164329 13.98699853] [-0.20342175 0.97614776 -0.07586267 0.24125762] [-0.07596839 0.06151296 0.99521101 -0.21673052] [ 0. 0. 0. 1. ]] SLAMing on 77.36650248099998 meters Centerline goodness : 0.689456 with order 1 Centerline is valid? [False, False] Translation: X:13.99, Y:0.25, Z:-0.22 [[ 0.97577201 0.20974317 0.06226387 13.98531319] [-0.20466324 0.97562887 -0.07912823 0.24567702] [-0.07734304 0.06446799 0.99491805 -0.21588454] [ 0. 0. 0. 1. ]] SLAMing on 77.42650248099999 meters Centerline goodness : 0.691185 with order 1 Centerline is valid? [False, False] Translation: X:13.98, Y:0.25, Z:-0.22 [[ 0.97527606 0.2114977 0.06407282 13.98206806] [-0.20611511 0.9751317 -0.08145384 0.24856764] [-0.07970674 0.0662336 0.99461548 -0.21585077] [ 0. 0. 0. 1. ]] SLAMing on 77.48650248099999 meters Centerline goodness : 0.689616 with order 1 Centerline is valid? [False, False] Translation: X:13.98, Y:0.25, Z:-0.22 [[ 0.9751196 0.21189538 0.06513151 13.98013209] [-0.20642923 0.97505171 -0.08161583 0.24805895] [-0.0808006 0.06614015 0.99453343 -0.21593376] [ 0. 0. 0. 1. ]] SLAMing on 77.54650248099998 meters Centerline goodness : 0.691766 with order 1 Centerline is valid? [False, False] Translation: X:13.97, Y:0.25, Z:-0.22 [[ 0.97516291 0.21089248 0.067688 13.97378541] [-0.20493361 0.97503797 -0.08545854 0.24701658] [-0.08402093 0.06946445 0.99403982 -0.21509498] [ 0. 0. 0. 1. ]] SLAMing on 77.60650248099998 meters Centerline goodness : 0.692150 with order 1 Centerline is valid? [False, False] Translation: X:13.97, Y:0.24, Z:-0.22 [[ 0.97592392 0.2071863 0.06816403 13.97154336] [-0.20105977 0.97570381 -0.08704626 0.24224147] [-0.0845427 0.07124548 0.99386952 -0.2154701 ] [ 0. 0. 0. 1. ]] SLAMing on 77.66650248099998 meters Centerline goodness : 0.694148 with order 1 Centerline is valid? [False, False] Translation: X:13.97, Y:0.24, Z:-0.22 [[ 0.9774126 0.20010499 0.06798978 13.96917959] [-0.19352726 0.97672195 -0.09252805 0.23852924] [-0.08492243 0.0772802 0.9933861 -0.21570424] [ 0. 0. 0. 1. ]] SLAMing on 77.72650248099998 meters Centerline goodness : 0.693191 with order 1 Centerline is valid? [False, False] Translation: X:13.97, Y:0.23, Z:-0.22 [[ 0.97885994 0.19296416 0.06780892 13.96696221] [-0.1859729 0.97769472 -0.09760693 0.2337239 ] [-0.08513107 0.08293289 0.9929123 -0.21616518] [ 0. 0. 0. 1. ]] SLAMing on 77.78650248099999 meters Centerline goodness : 0.689967 with order 1 Centerline is valid? [False, False] Translation: X:13.96, Y:0.23, Z:-0.21 [[ 0.97963727 0.18847789 0.06918753 13.96229871] [-0.18133237 0.97851499 -0.09811722 0.22803525] [-0.08619396 0.08357335 0.99276689 -0.21421857] [ 0. 0. 0. 1. ]] SLAMing on 77.84650248099999 meters Centerline goodness : 0.691245 with order 1 Centerline is valid? [False, False] Translation: X:13.96, Y:0.23, Z:-0.21 [[ 0.98121332 0.18056238 0.06795324 13.96155137] [-0.17297601 0.97935528 -0.10460654 0.22700274] [-0.08543837 0.09088705 0.99218941 -0.21290379] [ 0. 0. 0. 1. ]] SLAMing on 77.90650248099998 meters Centerline goodness : 0.689114 with order 1 Centerline is valid? [False, False] Translation: X:13.96, Y:0.23, Z:-0.21 [[ 0.98197786 0.17598141 0.06892046 13.95812604] [-0.16802077 0.97985048 -0.107991 0.22670164] [-0.08653615 0.09446471 0.99176001 -0.21138883] [ 0. 0. 0. 1. ]] SLAMing on 77.96650248099998 meters Centerline goodness : 0.687904 with order 1 Centerline is valid? [False, False] Translation: X:13.96, Y:0.23, Z:-0.21 [[ 0.98211412 0.17507413 0.06928861 13.95719869] [-0.16703489 0.97996155 -0.10851133 0.2279864 ] [-0.0868977 0.09499689 0.99167756 -0.21045173] [ 0. 0. 0. 1. ]] SLAMing on 78.02650248099998 meters Centerline goodness : 0.682365 with order 1 Centerline is valid? [False, False] Translation: X:13.95, Y:0.23, Z:-0.21 [[ 0.98080269 0.18099061 0.0725843 13.95381704] [-0.17309623 0.97946794 -0.10334529 0.23276368] [-0.08979852 0.08879727 0.99199358 -0.20953994] [ 0. 0. 0. 1. ]] SLAMing on 78.08650248099998 meters Centerline goodness : 0.678860 with order 1 Centerline is valid? [False, False] Translation: X:13.95, Y:0.24, Z:-0.21 [[ 0.97996323 0.18446005 0.07514355 13.95031848] [-0.17621849 0.9787803 -0.10457612 0.24135304] [-0.09283914 0.08923907 0.99167398 -0.20817928] [ 0. 0. 0. 1. ]] SLAMing on 78.14650248099998 meters Centerline goodness : 0.677524 with order 1 Centerline is valid? [False, False] Translation: X:13.95, Y:0.25, Z:-0.21 [[ 0.97914209 0.18765898 0.07787729 13.94623599] [-0.17927546 0.97834189 -0.10347687 0.24588752] [-0.09560898 0.08735707 0.99157837 -0.20646103] [ 0. 0. 0. 1. ]] SLAMing on 78.20650248099999 meters Centerline goodness : 0.673490 with order 1 Centerline is valid? [False, False] Translation: X:13.94, Y:0.26, Z:-0.20 [[ 0.97821968 0.19034382 0.08279787 13.9382852 ] [-0.18130481 0.97773298 -0.105673 0.25527253] [-0.10106841 0.08835976 0.99094789 -0.2031874 ] [ 0. 0. 0. 1. ]] SLAMing on 78.26650248099999 meters Centerline goodness : 0.671158 with order 1 Centerline is valid? [False, False] Translation: X:13.93, Y:0.26, Z:-0.20 [[ 0.97800007 0.19067126 0.08461876 13.9346557 ] [-0.1811917 0.97746116 -0.1083478 0.26011331] [-0.10337036 0.09063194 0.99050513 -0.2017663 ] [ 0. 0. 0. 1. ]] SLAMing on 78.32650248099998 meters Centerline goodness : 0.657322 with order 1 Centerline is valid? [False, False] Translation: X:13.92, Y:0.27, Z:-0.20 [[ 0.97622396 0.19472316 0.09523476 13.92014529] [-0.18387505 0.97656067 -0.11188929 0.26779814] [-0.11478996 0.09171771 0.98914667 -0.19953374] [ 0. 0. 0. 1. ]] SLAMing on 78.38650248099998 meters Centerline goodness : 0.644667 with order 1 Centerline is valid? [False, False] Translation: X:13.91, Y:0.27, Z:-0.20 [[ 0.97545422 0.19673443 0.09891724 13.91319414] [-0.1851802 0.9759591 -0.11494402 0.27164383] [-0.11915262 0.09380511 0.98843475 -0.19761861] [ 0. 0. 0. 1. ]] SLAMing on 78.44650248099998 meters Centerline goodness : 0.621857 with order 1 Centerline is valid? [False, False] Translation: X:13.90, Y:0.27, Z:-0.20 [[ 0.97382401 0.20114179 0.10587155 13.90111107] [-0.18800316 0.97453624 -0.12220445 0.2731355 ] [-0.12775608 0.09910144 0.98684208 -0.19719603] [ 0. 0. 0. 1. ]] SLAMing on 78.50650248099998 meters Centerline goodness : 0.597300 with order 1 Centerline is valid? [False, False] Translation: X:13.88, Y:0.27, Z:-0.20 [[ 0.97110373 0.20660837 0.11945935 13.88165663] [-0.19104877 0.97297166 -0.12971707 0.27337354] [-0.14303119 0.10314617 0.98432868 -0.19752683] [ 0. 0. 0. 1. ]] SLAMing on 78.56650248099999 meters Centerline goodness : 0.578671 with order 1 Centerline is valid? [False, False] Translation: X:13.86, Y:0.27, Z:-0.20 [[ 0.96874761 0.2112872 0.1299453 13.86260481] [-0.19318693 0.97126224 -0.1390269 0.26794298] [-0.15558557 0.10957824 0.9817259 -0.19967379] [ 0. 0. 0. 1. ]] SLAMing on 78.62650248099999 meters Centerline goodness : 0.594390 with order 1 Centerline is valid? [False, False] Translation: X:13.85, Y:0.26, Z:-0.21 [[ 0.96796423 0.21142359 0.13544489 13.85091199] [-0.19185134 0.97076561 -0.14424696 0.25643646] [-0.16198246 0.11364062 0.98022829 -0.20555426] [ 0. 0. 0. 1. ]] SLAMing on 78.68650248099998 meters Centerline goodness : 0.604648 with order 1 Centerline is valid? [False, False] Translation: X:13.85, Y:0.24, Z:-0.22 [[ 0.96948651 0.20541227 0.1337973 13.85182621] [-0.18516934 0.97127893 -0.14943074 0.24389012] [-0.1606494 0.12009593 0.97967787 -0.21603002] [ 0. 0. 0. 1. ]] SLAMing on 78.74650248099998 meters Centerline goodness : 0.643509 with order 1 Centerline is valid? [False, False] Translation: X:13.85, Y:0.23, Z:-0.23 [[ 0.97019765 0.20212053 0.13365553 13.85062394] [-0.18146441 0.97157552 -0.15202527 0.22724723] [-0.16058387 0.12324084 0.97929797 -0.22648593] [ 0. 0. 0. 1. ]] SLAMing on 78.80650248099998 meters Centerline goodness : 0.663896 with order 1 Centerline is valid? [False, False] Translation: X:13.84, Y:0.21, Z:-0.24 [[ 0.97070741 0.20341649 0.12786261 13.83781142] [-0.18297251 0.97077274 -0.15531048 0.20996304] [-0.15571825 0.12736569 0.97955592 -0.23605315] [ 0. 0. 0. 1. ]] SLAMing on 78.86650248099998 meters Centerline goodness : 0.671471 with order 1 Centerline is valid? [False, False] Translation: X:13.83, Y:0.19, Z:-0.25 [[ 0.97188475 0.20195285 0.12105816 13.82754273] [-0.18161436 0.9701907 -0.16045632 0.19420678] [-0.14985411 0.13395915 0.97959108 -0.24698904] [ 0. 0. 0. 1. ]] SLAMing on 78.92650248099999 meters Centerline goodness : 0.677698 with order 1 Centerline is valid? [False, False] Translation: X:13.82, Y:0.18, Z:-0.26 [[ 0.97366273 0.19726548 0.11431193 13.81664828] [-0.17681071 0.96985945 -0.16766221 0.18030041] [-0.14394047 0.14303487 0.97919465 -0.25765467] [ 0. 0. 0. 1. ]] SLAMing on 78.98650248099999 meters Centerline goodness : 0.685214 with order 1 Centerline is valid? [False, False] Translation: X:13.88, Y:0.16, Z:-0.27 [[ 0.9764812 0.19148762 0.09908057 13.88464905] [-0.17375348 0.97100475 -0.16419348 0.1556259 ] [-0.12764872 0.14311625 0.98143953 -0.27121052] [ 0. 0. 0. 1. ]] SLAMing on 79.04650248099998 meters Centerline goodness : 0.700709 with order 1 Centerline is valid? [False, False] Translation: X:13.93, Y:0.13, Z:-0.29 [[ 0.97881492 0.18796104 0.08119114 13.93166184] [-0.17342709 0.97189482 -0.15919643 0.13089084] [-0.10883198 0.1417431 0.98390269 -0.28712778] [ 0. 0. 0. 1. ]] SLAMing on 79.10650248099998 meters Centerline goodness : 0.720772 with order 3 Centerline is valid? [False, False] Translation: X:13.98, Y:0.11, Z:-0.31 [[ 0.97972009 0.19017473 0.06310405 13.98241027] [-0.17919596 0.97250822 -0.14871639 0.10561305] [-0.08965131 0.13439244 0.98686439 -0.3056365 ] [ 0. 0. 0. 1. ]] SLAMing on 79.16650248099998 meters Centerline goodness : 0.743687 with order 3 Centerline is valid? [False, False] Translation: X:14.04, Y:0.07, Z:-0.32 [[ 0.98013542 0.1938183 0.04205976 14.03751002] [-0.1850378 0.96997806 -0.15780864 0.07224914] [-0.07138324 0.14689119 0.98657357 -0.32366691] [ 0. 0. 0. 1. ]] SLAMing on 79.22650248099998 meters Centerline goodness : 0.634083 with order 3 Centerline is valid? [False, False] Translation: X:14.07, Y:0.04, Z:-0.33 [[ 0.98145371 0.18809679 0.03698928 14.06950988] [-0.17995782 0.97051784 -0.1603443 0.04446966] [-0.066059 0.150714 0.98636783 -0.332457 ] [ 0. 0. 0. 1. ]] SLAMing on 79.28650248099999 meters Centerline goodness : 0.572477 with order 1 Centerline is valid? [False, False] Translation: X:14.11, Y:0.01, Z:-0.34 [[ 9.82305654e-01 1.85365472e-01 2.67440466e-02 1.41102149e+01] [-1.79092208e-01 9.71482156e-01 -1.55397559e-01 1.09768584e-02] [-5.47867059e-02 1.47858251e-01 9.87489926e-01 -3.41139319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.34650248099999 meters Centerline goodness : 0.347310 with order 3 Centerline is valid? [False, False] Translation: X:14.12, Y:0.00, Z:-0.35 [[ 9.83229849e-01 1.80795546e-01 2.39172542e-02 1.41154518e+01] [-1.74803951e-01 9.71679790e-01 -1.59003034e-01 3.53759227e-03] [-5.19869528e-02 1.52155698e-01 9.86988349e-01 -3.46437961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.40650248099998 meters Centerline goodness : 0.681980 with order 2 Centerline is valid? [False, False] Translation: X:14.16, Y:-0.03, Z:-0.36 [[ 0.98336185 0.18106666 0.0146403 14.15626951] [-0.17661552 0.97181403 -0.15615521 -0.0257383 ] [-0.04250215 0.15097137 0.98762402 -0.35756275] [ 0. 0. 0. 1. ]] SLAMing on 79.46650248099998 meters Centerline goodness : 0.684619 with order 1 Centerline is valid? [False, False] Translation: X:14.21, Y:-0.06, Z:-0.37 [[ 9.83695304e-01 1.79809960e-01 -3.45345562e-03 1.42107242e+01] [-1.78301419e-01 9.72573799e-01 -1.49361337e-01 -5.79093665e-02] [-2.34979156e-02 1.47541802e-01 9.88776651e-01 -3.74203901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.52650248099998 meters Centerline goodness : 0.313343 with order 1 Centerline is valid? [False, False] Translation: X:14.27, Y:-0.10, Z:-0.39 [[ 9.85179203e-01 1.70703725e-01 -1.67980983e-02 1.42679183e+01] [-1.71390191e-01 9.75726167e-01 -1.36322592e-01 -9.57992236e-02] [-6.88043011e-03 1.37181212e-01 9.90522072e-01 -3.90543271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.58650248099998 meters Centerline goodness : 0.723277 with order 3 Centerline is valid? [False, False] Translation: X:14.32, Y:-0.14, Z:-0.40 [[ 9.86388375e-01 1.62357909e-01 -2.60361710e-02 1.43202562e+01] [-1.64347958e-01 9.78515395e-01 -1.24488436e-01 -1.36995747e-01] [ 5.26511198e-03 1.27072938e-01 9.91879401e-01 -4.04413393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.64650248099998 meters Centerline goodness : 0.715599 with order 1 Centerline is valid? [False, False] Translation: X:14.39, Y:-0.18, Z:-0.41 [[ 0.98665402 0.15872556 -0.03633227 14.38990297] [-0.16184076 0.98049884 -0.11148805 -0.18178744] [ 0.01792775 0.11588018 0.99310139 -0.41431974] [ 0. 0. 0. 1. ]] SLAMing on 79.70650248099999 meters Centerline goodness : 0.622511 with order 1 Centerline is valid? [False, False] Translation: X:14.46, Y:-0.23, Z:-0.41 [[ 0.98723727 0.15452109 -0.0385461 14.46304293] [-0.15782657 0.98164347 -0.10708348 -0.22537465] [ 0.02129187 0.1118004 0.99350256 -0.4079536 ] [ 0. 0. 0. 1. ]] SLAMing on 79.76650248099999 meters Centerline goodness : 0.715580 with order 1 Centerline is valid? [False, False] Translation: X:14.66, Y:-0.27, Z:-0.37 [[ 0.99001799 0.12404852 -0.06690555 14.66301729] [-0.12985283 0.98736668 -0.09080352 -0.27417616] [ 0.05479627 0.09858499 0.99361882 -0.37323831] [ 0. 0. 0. 1. ]] SLAMing on 79.82650248099998 meters Centerline goodness : 0.707984 with order 1 Centerline is valid? [False, False] Translation: X:14.88, Y:-0.31, Z:-0.32 [[ 0.99118623 0.0874626 -0.09949951 14.87936074] [-0.09360973 0.99386637 -0.05888004 -0.31474843] [ 0.09373941 0.06767521 0.99329401 -0.32304675] [ 0. 0. 0. 1. ]] SLAMing on 79.88650248099998 meters Centerline goodness : 0.706370 with order 1 Centerline is valid? [False, False] Translation: X:15.11, Y:-0.34, Z:-0.27 [[ 0.99071457 0.04474888 -0.12838294 15.11055155] [-0.04726186 0.9987447 -0.01659337 -0.34211723] [ 0.12747925 0.02250691 0.99158584 -0.26966458] [ 0. 0. 0. 1. ]] SLAMing on 79.94650248099998 meters Centerline goodness : 0.707642 with order 1 Centerline is valid? [False, False] Translation: X:15.27, Y:-0.35, Z:-0.23 [[ 9.87969058e-01 2.34583359e-02 -1.52862185e-01 1.52740791e+01] [-2.36127258e-02 9.99720856e-01 8.05595877e-04 -3.46140967e-01] [ 1.52838412e-01 2.81358906e-03 9.88247187e-01 -2.30938590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.00650248099998 meters Centerline goodness : 0.706534 with order 1 Centerline is valid? [False, False] Translation: X:15.46, Y:-0.33, Z:-0.19 [[ 9.84292947e-01 -1.49027577e-02 -1.75912766e-01 1.54632118e+01] [ 1.79972773e-02 9.99709865e-01 1.60088397e-02 -3.31622330e-01] [ 1.75623152e-01 -1.89233389e-02 9.84275579e-01 -1.87648595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.06650248099999 meters Centerline goodness : 0.701652 with order 1 Centerline is valid? [False, False] Translation: X:15.54, Y:-0.31, Z:-0.18 [[ 9.82633001e-01 -2.67539055e-02 -1.83620841e-01 1.55418338e+01] [ 2.97122333e-02 9.99468962e-01 1.33782349e-02 -3.13496542e-01] [ 1.83165412e-01 -1.86016804e-02 9.82906104e-01 -1.77799107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.12650248099999 meters Centerline goodness : 0.700370 with order 1 Centerline is valid? [False, False] Translation: X:15.58, Y:-0.30, Z:-0.17 [[ 9.81393711e-01 -3.09562065e-02 -1.89494322e-01 1.55827394e+01] [ 3.41913573e-02 9.99319658e-01 1.38264687e-02 -2.97809612e-01] [ 1.88937386e-01 -2.00482775e-02 9.81784463e-01 -1.73059747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.18650248099998 meters Centerline goodness : 0.701294 with order 1 Centerline is valid? [False, False] Translation: X:15.59, Y:-0.30, Z:-0.17 [[ 9.82732535e-01 -3.38409472e-02 -1.81910844e-01 1.55887044e+01] [ 3.60370315e-02 9.99311889e-01 8.77958900e-03 -2.95515554e-01] [ 1.81488560e-01 -1.51835146e-02 9.83275833e-01 -1.66945493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.24650248099998 meters Centerline goodness : 0.701922 with order 1 Centerline is valid? [False, False] Translation: X:15.58, Y:-0.29, Z:-0.16 [[ 9.82953851e-01 -3.23009406e-02 -1.80992750e-01 1.55830156e+01] [ 3.47254072e-02 9.99344410e-01 1.02418929e-02 -2.94396037e-01] [ 1.80543270e-01 -1.63523550e-02 9.83431100e-01 -1.63201485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.30650248099998 meters Centerline goodness : 0.701898 with order 1 Centerline is valid? [False, False] Translation: X:15.58, Y:-0.29, Z:-0.16 [[ 9.83381907e-01 -3.01960814e-02 -1.79020172e-01 1.55750246e+01] [ 3.29306131e-02 9.99381675e-01 1.23224031e-02 -2.94053628e-01] [ 1.78537391e-01 -1.80128722e-02 9.83768233e-01 -1.58716850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.36650248099998 meters Centerline goodness : 0.705186 with order 1 Centerline is valid? [False, False] Translation: X:15.58, Y:-0.29, Z:-0.16 [[ 9.84662129e-01 -3.08134912e-02 -1.71729495e-01 1.55835413e+01] [ 3.27834544e-02 9.99425077e-01 8.64644840e-03 -2.91176528e-01] [ 1.71364337e-01 -1.41437164e-02 9.85106197e-01 -1.55138482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.42650248099999 meters Centerline goodness : 0.706998 with order 1 Centerline is valid? [False, False] Translation: X:15.58, Y:-0.29, Z:-0.15 [[ 9.84953361e-01 -2.63739131e-02 -1.70796056e-01 1.55771461e+01] [ 2.90978118e-02 9.99485884e-01 1.34642080e-02 -2.90867623e-01] [ 1.70353143e-01 -1.82314084e-02 9.85214404e-01 -1.49953362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.48650248099999 meters Centerline goodness : 0.705711 with order 1 Centerline is valid? [False, False] Translation: X:15.58, Y:-0.29, Z:-0.15 [[ 9.84753651e-01 -2.78031745e-02 -1.71718461e-01 1.55767987e+01] [ 3.03747902e-02 9.99462083e-01 1.23659792e-02 -2.87072814e-01] [ 1.71282277e-01 -1.73933554e-02 9.85068451e-01 -1.47553219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.54650248099998 meters Centerline goodness : 0.705655 with order 1 Centerline is valid? [False, False] Translation: X:15.57, Y:-0.28, Z:-0.14 [[ 9.84751370e-01 -2.75962244e-02 -1.71764919e-01 1.55731696e+01] [ 3.02217249e-02 9.99462677e-01 1.26887885e-02 -2.80724730e-01] [ 1.71322463e-01 -1.76863340e-02 9.85056246e-01 -1.43520113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.60650248099998 meters Centerline goodness : 0.711984 with order 1 Centerline is valid? [False, False] Translation: X:15.60, Y:-0.26, Z:-0.14 [[ 0.98545872 -0.03376081 -0.16652721 15.59550428] [ 0.03697296 0.99918453 0.01622585 -0.26351551] [ 0.16584362 -0.02214691 0.98590335 -0.13591561] [ 0. 0. 0. 1. ]] SLAMing on 80.66650248099998 meters Centerline goodness : 0.713721 with order 1 Centerline is valid? [False, False] Translation: X:15.59, Y:-0.25, Z:-0.14 [[ 9.85464020e-01 -3.80930629e-02 -1.65558402e-01 1.55932180e+01] [ 4.06456855e-02 9.99100881e-01 1.20564576e-02 -2.50277435e-01] [ 1.64950278e-01 -1.86104400e-02 9.86126289e-01 -1.36341411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.72650248099998 meters Centerline goodness : 0.714246 with order 1 Centerline is valid? [False, False] Translation: X:15.59, Y:-0.24, Z:-0.14 [[ 9.85320728e-01 -4.18029921e-02 -1.65516079e-01 1.55918247e+01] [ 4.36988540e-02 9.99014083e-01 7.82769181e-03 -2.36971248e-01] [ 1.65025672e-01 -1.49456500e-02 9.86176026e-01 -1.35599077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.78650248099999 meters Centerline goodness : 0.712241 with order 1 Centerline is valid? [False, False] Translation: X:15.59, Y:-0.22, Z:-0.13 [[ 9.85419951e-01 -3.99674198e-02 -1.65378734e-01 1.55901167e+01] [ 4.21150497e-02 9.99067616e-01 9.49853306e-03 -2.22952356e-01] [ 1.64844905e-01 -1.63249776e-02 9.86184391e-01 -1.34983925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.84650248099999 meters Centerline goodness : 0.709091 with order 1 Centerline is valid? [False, False] Translation: X:15.62, Y:-0.21, Z:-0.13 [[ 0.98641675 -0.03445769 -0.16060715 15.61987358] [ 0.03755002 0.99916249 0.01625789 -0.20801916] [ 0.15991243 -0.02206786 0.9868845 -0.12566867] [ 0. 0. 0. 1. ]] SLAMing on 80.90650248099998 meters Centerline goodness : 0.710285 with order 1 Centerline is valid? [False, False] Translation: X:15.65, Y:-0.20, Z:-0.12 [[ 0.98697372 -0.02546447 -0.1588535 15.65186717] [ 0.02850549 0.99945086 0.01689408 -0.19795589] [ 0.15833607 -0.02120221 0.98715761 -0.12334852] [ 0. 0. 0. 1. ]] SLAMing on 80.96650248099998 meters Centerline goodness : 0.712861 with order 1 Centerline is valid? [False, False] Translation: X:15.71, Y:-0.19, Z:-0.12 [[ 9.86871425e-01 -1.37886544e-02 -1.60918190e-01 1.57102327e+01] [ 1.70453667e-02 9.99676536e-01 1.88753741e-02 -1.88655079e-01] [ 1.60605873e-01 -2.13704769e-02 9.86787240e-01 -1.17607919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.02650248099998 meters Centerline goodness : 0.715212 with order 1 Centerline is valid? [False, False] Translation: X:15.72, Y:-0.18, Z:-0.12 [[ 9.86610316e-01 -9.38084013e-04 -1.63092624e-01 1.57191163e+01] [ 5.62881001e-03 9.99583587e-01 2.83013942e-02 -1.76903847e-01] [ 1.62998161e-01 -2.88404649e-02 9.86204759e-01 -1.22510176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.08650248099998 meters Centerline goodness : 0.713123 with order 1 Centerline is valid? [False, False] Translation: X:15.75, Y:-0.17, Z:-0.12 [[ 9.85388361e-01 -3.52740354e-04 -1.70322207e-01 1.57506305e+01] [ 4.99135381e-03 9.99628169e-01 2.68069139e-02 -1.65382421e-01] [ 1.70249420e-01 -2.72653594e-02 9.85023723e-01 -1.22315461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.14650248099998 meters Centerline goodness : 0.714801 with order 1 Centerline is valid? [False, False] Translation: X:15.77, Y:-0.15, Z:-0.12 [[ 9.85567914e-01 -4.94331569e-03 -1.69208303e-01 1.57680741e+01] [ 9.02408520e-03 9.99686475e-01 2.33563183e-02 -1.46878926e-01] [ 1.69039795e-01 -2.45461881e-02 9.85303523e-01 -1.19507600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.20650248099999 meters Centerline goodness : 0.720558 with order 1 Centerline is valid? [False, False] Translation: X:15.77, Y:-0.13, Z:-0.12 [[ 9.86868408e-01 -6.78598850e-03 -1.61383693e-01 1.57735955e+01] [ 1.09283555e-02 9.99632846e-01 2.47940278e-02 -1.29391755e-01] [ 1.61156188e-01 -2.62321011e-02 9.86580235e-01 -1.15329141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.26650248099997 meters Centerline goodness : 0.719191 with order 1 Centerline is valid? [False, False] Translation: X:15.80, Y:-0.13, Z:-0.11 [[ 9.87220555e-01 -4.30881107e-03 -1.59301632e-01 1.58032197e+01] [ 8.12539371e-03 9.99695157e-01 2.33146271e-02 -1.25389380e-01] [ 1.59152611e-01 -2.43110676e-02 9.86954618e-01 -1.11609291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.32650248099998 meters Centerline goodness : 0.723068 with order 1 Centerline is valid? [False, False] Translation: X:15.81, Y:-0.11, Z:-0.11 [[ 9.88277610e-01 -2.64436022e-03 -1.52644595e-01 1.58139335e+01] [ 5.81135952e-03 9.99776940e-01 2.03051155e-02 -1.08035483e-01] [ 1.52556852e-01 -2.09541636e-02 9.88072533e-01 -1.12843483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.38650248099998 meters Centerline goodness : 0.721921 with order 1 Centerline is valid? [False, False] Translation: X:15.82, Y:-0.09, Z:-0.11 [[ 9.88098223e-01 7.83699477e-04 -1.53822263e-01 1.58172180e+01] [ 2.60978724e-03 9.99757681e-01 2.18579265e-02 -9.47909709e-02] [ 1.53802119e-01 -2.19992217e-02 9.87856742e-01 -1.13876093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.44650248099998 meters Centerline goodness : 0.726603 with order 1 Centerline is valid? [False, False] Translation: X:15.84, Y:-0.09, Z:-0.11 [[ 9.87949820e-01 2.72818057e-04 -1.54774286e-01 1.58363834e+01] [ 3.62835645e-03 9.99682801e-01 2.49225225e-02 -8.61744174e-02] [ 1.54731991e-01 -2.51837778e-02 9.87635453e-01 -1.11382934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.50650248099998 meters Centerline goodness : 0.726549 with order 1 Centerline is valid? [False, False] Translation: X:15.86, Y:-0.08, Z:-0.11 [[ 9.87883344e-01 3.10743655e-04 -1.55197947e-01 1.58560533e+01] [ 4.09269523e-03 9.99598067e-01 2.80527178e-02 -7.96755582e-02] [ 1.55144285e-01 -2.83479905e-02 9.87485009e-01 -1.08867431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.56650248099999 meters Centerline goodness : 0.728373 with order 1 Centerline is valid? [False, False] Translation: X:15.87, Y:-0.07, Z:-0.11 [[ 9.88610111e-01 1.00897874e-03 -1.50495948e-01 1.58709555e+01] [ 3.87344594e-03 9.99475692e-01 3.21455668e-02 -7.27247921e-02] [ 1.50449476e-01 -3.23623703e-02 9.88087867e-01 -1.06162421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.62650248099999 meters Centerline goodness : 0.729321 with order 1 Centerline is valid? [False, False] Translation: X:15.87, Y:-0.07, Z:-0.11 [[ 9.88474914e-01 2.25670231e-03 -1.51367932e-01 1.58748355e+01] [ 2.62873457e-03 9.99482253e-01 3.20673740e-02 -6.52696874e-02] [ 1.51361928e-01 -3.20957009e-02 9.87957202e-01 -1.08265906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.68650248099998 meters Centerline goodness : 0.661184 with order 3 Centerline is valid? [False, False] Translation: X:15.88, Y:-0.06, Z:-0.11 [[ 9.88377887e-01 5.12576015e-03 -1.51930506e-01 1.58777862e+01] [-6.45701135e-05 9.99445440e-01 3.32987632e-02 -5.65014721e-02] [ 1.52016933e-01 -3.29019511e-02 9.87830104e-01 -1.10017754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.74650248099998 meters Centerline goodness : 0.733149 with order 1 Centerline is valid? [False, False] Translation: X:15.89, Y:-0.05, Z:-0.11 [[ 9.88847676e-01 1.36468901e-02 -1.48303865e-01 1.58863774e+01] [-8.94765655e-03 9.99437919e-01 3.23076545e-02 -4.94594984e-02] [ 1.48661405e-01 -3.06203770e-02 9.88413971e-01 -1.08389930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.80650248099998 meters Centerline goodness : 0.738139 with order 3 Centerline is valid? [False, False] Translation: X:15.89, Y:-0.04, Z:-0.11 [[ 9.88602323e-01 2.00324428e-02 -1.49211759e-01 1.58908092e+01] [-1.46846325e-02 9.99212674e-01 3.68564047e-02 -4.35717995e-02] [ 1.49832604e-01 -3.42452074e-02 9.88118139e-01 -1.10733955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.86650248099998 meters Centerline goodness : 0.139271 with order 1 Centerline is valid? [False, False] Translation: X:15.89, Y:-0.04, Z:-0.11 [[ 0.98847211 0.0240963 -0.14947325 15.89146636] [-0.01842844 0.99906187 0.03918893 -0.03668437] [ 0.15027733 -0.0359826 0.98798885 -0.11050306] [ 0. 0. 0. 1. ]] SLAMing on 81.92650248099999 meters Centerline goodness : 0.141449 with order 1 Centerline is valid? [False, False] Translation: X:15.90, Y:-0.03, Z:-0.11 [[ 0.98868092 0.02404317 -0.14809443 15.90186001] [-0.0197605 0.99934482 0.03032251 -0.03219609] [ 0.14872645 -0.02705286 0.98850826 -0.10888187] [ 0. 0. 0. 1. ]] SLAMing on 81.98650248099999 meters Centerline goodness : 0.137101 with order 1 Centerline is valid? [False, False] Translation: X:15.92, Y:-0.03, Z:-0.11 [[ 0.98917808 0.02320304 -0.14487354 15.91777719] [-0.0186575 0.99929248 0.03265628 -0.02738729] [ 0.14552877 -0.0295999 0.98891113 -0.10603116] [ 0. 0. 0. 1. ]] SLAMing on 82.04650248099998 meters Centerline goodness : 0.170340 with order 1 Centerline is valid? [False, False] Translation: X:15.94, Y:-0.03, Z:-0.11 [[ 9.89433490e-01 2.10128289e-02 -1.43456718e-01 1.59377592e+01] [-1.59180951e-02 9.99204308e-01 3.65700036e-02 -2.79217277e-02] [ 1.44111010e-01 -3.39000286e-02 9.88980690e-01 -1.05834993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.10650248099998 meters Centerline goodness : 0.377982 with order 3 Centerline is valid? [False, False] Translation: X:15.96, Y:-0.03, Z:-0.11 [[ 9.89613121e-01 1.59379447e-02 -1.42870055e-01 1.59581061e+01] [-1.05966331e-02 9.99218924e-01 3.80690607e-02 -2.95503732e-02] [ 1.43365205e-01 -3.61597005e-02 9.89009046e-01 -1.05511299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.16650248099998 meters Centerline goodness : 0.138365 with order 1 Centerline is valid? [False, False] Translation: X:15.99, Y:-0.03, Z:-0.10 [[ 9.89971102e-01 1.10846600e-02 -1.40834465e-01 1.59933232e+01] [-5.10391001e-03 9.99072466e-01 4.27569711e-02 -3.16008125e-02] [ 1.41177783e-01 -4.16093594e-02 9.89109445e-01 -9.99339977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.22650248099998 meters Centerline goodness : 0.739194 with order 2 Centerline is valid? [False, False] Translation: X:16.03, Y:-0.03, Z:-0.10 [[ 9.90348564e-01 8.06178054e-03 -1.38364483e-01 1.60286149e+01] [-1.24916695e-03 9.98785549e-01 4.92530963e-02 -2.88594780e-02] [ 1.38593514e-01 -4.86048929e-02 9.89155904e-01 -9.58895612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.28650248099999 meters Centerline goodness : 0.466054 with order 3 Centerline is valid? [False, False] Translation: X:16.06, Y:-0.02, Z:-0.09 [[ 9.90699705e-01 4.09431636e-03 -1.36004897e-01 1.60587935e+01] [ 1.86062437e-03 9.99046078e-01 4.36288020e-02 -2.46697025e-02] [ 1.36053789e-01 -4.34760953e-02 9.89747036e-01 -9.44274801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.34650248099999 meters Centerline goodness : 0.158613 with order 1 Centerline is valid? [False, False] Translation: X:16.10, Y:-0.02, Z:-0.09 [[ 9.90536373e-01 1.96890370e-03 -1.37236355e-01 1.61001570e+01] [ 4.44728810e-03 9.98911620e-01 4.64305641e-02 -1.86655281e-02] [ 1.37178407e-01 -4.66014922e-02 9.89449537e-01 -9.07782537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.40650248099998 meters Centerline goodness : 0.622519 with order 3 Centerline is valid? [False, False] Translation: X:16.13, Y:-0.01, Z:-0.09 [[ 9.89658552e-01 1.10958157e-03 -1.43438904e-01 1.61283415e+01] [ 5.93218878e-03 9.98798004e-01 4.86554836e-02 -1.36352582e-02] [ 1.43320478e-01 -4.90032221e-02 9.88462404e-01 -9.10095406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.46650248099998 meters Centerline goodness : 0.156674 with order 1 Centerline is valid? [False, False] Translation: X:16.16, Y:-0.01, Z:-0.09 [[ 9.89745168e-01 6.09340267e-03 -1.42714304e-01 1.61609249e+01] [ 1.02309030e-03 9.98761730e-01 4.97389251e-02 -9.20900175e-03] [ 1.42840664e-01 -4.93748704e-02 9.88513362e-01 -8.74712836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.52650248099998 meters Centerline goodness : 0.229301 with order 1 Centerline is valid? [False, False] Translation: X:16.19, Y:-0.00, Z:-0.08 [[ 9.89847551e-01 1.00953301e-02 -1.41774149e-01 1.61948675e+01] [-3.21388829e-03 9.98809089e-01 4.86834031e-02 -3.81454950e-03] [ 1.42096784e-01 -4.77335011e-02 9.88701177e-01 -8.29198883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.58650248099998 meters Centerline goodness : 0.224850 with order 1 Centerline is valid? [False, False] Translation: X:16.24, Y:0.00, Z:-0.08 [[ 9.89902055e-01 8.95251408e-03 -1.41470048e-01 1.62363242e+01] [-1.50043814e-03 9.98609521e-01 5.26951049e-02 2.23751404e-03] [ 1.41745090e-01 -5.19507256e-02 9.88539049e-01 -7.75823181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.64650248099998 meters Centerline goodness : 0.732934 with order 1 Centerline is valid? [False, False] Translation: X:16.28, Y:0.01, Z:-0.07 [[ 9.89727436e-01 2.64800621e-03 -1.42942616e-01 1.62799572e+01] [ 4.76694532e-03 9.98661295e-01 5.15062485e-02 7.20416336e-03] [ 1.42887647e-01 -5.16585468e-02 9.88389860e-01 -7.23815416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.70650248099999 meters Centerline goodness : 0.733349 with order 1 Centerline is valid? [False, False] Translation: X:16.32, Y:0.01, Z:-0.07 [[ 9.89606347e-01 -2.76596704e-03 -1.43776312e-01 1.63217751e+01] [ 1.04084185e-02 9.98570346e-01 5.24302245e-02 1.01217579e-02] [ 1.43425741e-01 -5.33817670e-02 9.88220342e-01 -6.57604137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.76650248099997 meters Centerline goodness : 0.733219 with order 1 Centerline is valid? [False, False] Translation: X:16.36, Y:0.01, Z:-0.06 [[ 9.89357725e-01 -4.78901021e-03 -1.45424748e-01 1.63627956e+01] [ 1.36882160e-02 9.98089110e-01 6.02557919e-02 1.18594766e-02] [ 1.44858291e-01 -6.16051385e-02 9.87532725e-01 -6.20495262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.82650248099998 meters Centerline goodness : 0.732755 with order 1 Centerline is valid? [False, False] Translation: X:16.41, Y:0.01, Z:-0.06 [[ 9.89216893e-01 -8.54658985e-03 -1.46208393e-01 1.64057203e+01] [ 1.78824125e-02 9.97874825e-01 6.26582202e-02 1.43714443e-02] [ 1.45362161e-01 -6.45971287e-02 9.87267468e-01 -5.68997228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.88650248099998 meters Centerline goodness : 0.645935 with order 3 Centerline is valid? [False, False] Translation: X:16.45, Y:0.02, Z:-0.05 [[ 9.88785919e-01 -8.78472848e-03 -1.49081302e-01 1.64513546e+01] [ 1.88181770e-02 9.97640480e-01 6.60253675e-02 1.90506230e-02] [ 1.48149527e-01 -6.80903920e-02 9.86618171e-01 -5.08459604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.94650248099998 meters Centerline goodness : 0.729418 with order 1 Centerline is valid? [False, False] Translation: X:16.51, Y:0.03, Z:-0.04 [[ 9.88196794e-01 -2.79873850e-03 -1.53164168e-01 1.65070489e+01] [ 1.34605269e-02 9.97552222e-01 6.86176267e-02 2.59842523e-02] [ 1.52597214e-01 -6.98693891e-02 9.85815581e-01 -4.38290993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.00650248099998 meters Centerline goodness : 0.726060 with order 1 Centerline is valid? [False, False] Translation: X:16.55, Y:0.03, Z:-0.04 [[ 9.88309992e-01 6.10265005e-03 -1.52335542e-01 1.65519188e+01] [ 3.93745640e-03 9.97843534e-01 6.55192955e-02 3.34473705e-02] [ 1.52406877e-01 -6.53531890e-02 9.86154706e-01 -3.70221601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.06650248099999 meters Centerline goodness : 0.726489 with order 1 Centerline is valid? [False, False] Translation: X:16.61, Y:0.04, Z:-0.03 [[ 9.88052536e-01 1.21011458e-02 -1.53641621e-01 1.66052639e+01] [-1.56149028e-03 9.97647484e-01 6.85350957e-02 4.01222893e-02] [ 1.54109530e-01 -6.74763652e-02 9.85747023e-01 -2.77987514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.12650248099999 meters Centerline goodness : 0.722167 with order 1 Centerline is valid? [False, False] Translation: X:16.66, Y:0.04, Z:-0.02 [[ 9.87841724e-01 1.72357780e-02 -1.54504553e-01 1.66558900e+01] [-5.68537648e-03 9.97175594e-01 7.48899938e-02 4.36270822e-02] [ 1.55358957e-01 -7.31010440e-02 9.85149649e-01 -2.01178281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.18650248099998 meters Centerline goodness : 0.723016 with order 1 Centerline is valid? [False, False] Translation: X:16.71, Y:0.04, Z:-0.01 [[ 9.87648751e-01 1.82315934e-02 -1.55619904e-01 1.67072504e+01] [-6.14340142e-03 9.96949444e-01 7.78078758e-02 4.44900568e-02] [ 1.56563738e-01 -7.58908158e-02 9.84747876e-01 -1.26951432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.24650248099998 meters Centerline goodness : 0.720806 with order 1 Centerline is valid? [False, False] Translation: X:16.76, Y:0.05, Z:-0.00 [[ 9.87499473e-01 1.93775411e-02 -1.56426663e-01 1.67592323e+01] [-6.91468876e-03 9.96784793e-01 7.98264603e-02 4.65162883e-02] [ 1.57470559e-01 -7.77469458e-02 9.84458448e-01 -4.82068703e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.30650248099998 meters Centerline goodness : 0.718850 with order 1 Centerline is valid? [False, False] Translation: X:16.81, Y:0.05, Z:0.00 [[ 9.87259984e-01 1.84961101e-02 -1.58036761e-01 1.68134767e+01] [-6.02278894e-03 9.96852941e-01 7.90439086e-02 4.92425710e-02] [ 1.59001414e-01 -7.70850659e-02 9.84264417e-01 2.58525018e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.36650248099998 meters Centerline goodness : 0.715915 with order 1 Centerline is valid? [False, False] Translation: X:16.87, Y:0.05, Z:0.01 [[ 9.86992572e-01 1.96999977e-02 -1.59554294e-01 1.68651179e+01] [-6.36983840e-03 9.96476477e-01 8.36304736e-02 4.94689386e-02] [ 1.60639621e-01 -8.15263212e-02 9.83640367e-01 9.25810889e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.42650248099999 meters Centerline goodness : 0.714101 with order 1 Centerline is valid? [False, False] Translation: X:16.92, Y:0.05, Z:0.02 [[ 9.86749136e-01 2.17636009e-02 -1.60787089e-01 1.69165076e+01] [-7.63926268e-03 9.96095941e-01 8.79461080e-02 4.89965224e-02] [ 1.62073391e-01 -8.55524513e-02 9.83063067e-01 1.60653420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.48650248099999 meters Centerline goodness : 0.711673 with order 1 Centerline is valid? [False, False] Translation: X:16.97, Y:0.05, Z:0.02 [[ 9.86517359e-01 2.17979344e-02 -1.62198491e-01 1.69681733e+01] [-7.17964901e-03 9.95900350e-01 9.01717523e-02 4.74995516e-02] [ 1.63499092e-01 -8.77914707e-02 9.82629485e-01 2.36919794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.54650248099998 meters Centerline goodness : 0.709944 with order 1 Centerline is valid? [False, False] Translation: X:17.01, Y:0.05, Z:0.03 [[ 9.86307314e-01 2.08411142e-02 -1.63595631e-01 1.70131156e+01] [-4.93288425e-03 9.95267175e-01 9.70511067e-02 4.88276988e-02] [ 1.64844015e-01 -9.49152180e-02 9.81742101e-01 2.92135242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.60650248099998 meters Centerline goodness : 0.712390 with order 1 Centerline is valid? [False, False] Translation: X:17.07, Y:0.05, Z:0.04 [[ 9.86137184e-01 1.70643926e-02 -1.65052295e-01 1.70657621e+01] [-1.23050471e-03 9.95422656e-01 9.55626615e-02 5.10733138e-02] [ 1.65927512e-01 -9.40347964e-02 9.81644293e-01 3.67845106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.66650248099998 meters Centerline goodness : 0.710489 with order 1 Centerline is valid? [False, False] Translation: X:17.12, Y:0.05, Z:0.04 [[ 9.85778145e-01 1.75077946e-02 -1.67137448e-01 1.71186465e+01] [-1.08743524e-03 9.95202095e-01 9.78345913e-02 5.37594187e-02] [ 1.68048407e-01 -9.62614508e-02 9.81067514e-01 4.36760209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.72650248099998 meters Centerline goodness : 0.710371 with order 1 Centerline is valid? [False, False] Translation: X:17.19, Y:0.06, Z:0.05 [[ 9.84717185e-01 1.73281816e-02 -1.73296856e-01 1.71897595e+01] [ 8.29330263e-04 9.94560222e-01 1.04159858e-01 6.26781409e-02] [ 1.74159060e-01 -1.02711723e-01 9.79346172e-01 5.43868833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.78650248099999 meters Centerline goodness : 0.709795 with order 1 Centerline is valid? [False, False] Translation: X:17.24, Y:0.07, Z:0.06 [[ 9.84471859e-01 1.73850528e-02 -1.74679473e-01 1.72435898e+01] [ 1.04912849e-03 9.94483365e-01 1.04889161e-01 6.55591523e-02] [ 1.75539333e-01 -1.03443689e-01 9.79022648e-01 6.34759489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.84650248099999 meters Centerline goodness : 0.710877 with order 1 Centerline is valid? [False, False] Translation: X:17.29, Y:0.07, Z:0.07 [[ 9.84338171e-01 1.85982375e-02 -1.75306789e-01 1.72856920e+01] [ 1.10565143e-03 9.93748704e-01 1.11634634e-01 6.90806867e-02] [ 1.76287102e-01 -1.10080060e-01 9.78164218e-01 7.06356772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.90650248099998 meters Centerline goodness : 0.708022 with order 1 Centerline is valid? [False, False] Translation: X:17.34, Y:0.07, Z:0.08 [[ 9.83949644e-01 2.13349074e-02 -1.77166361e-01 1.73383577e+01] [-9.29730635e-04 9.93426517e-01 1.14467862e-01 7.26677667e-02] [ 1.78443922e-01 -1.12465895e-01 9.77501503e-01 7.93558761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.96650248099998 meters Centerline goodness : 0.709745 with order 1 Centerline is valid? [False, False] Translation: X:17.39, Y:0.07, Z:0.09 [[ 9.83571154e-01 2.12748103e-02 -1.79262844e-01 1.73912094e+01] [-6.19934509e-04 9.93423345e-01 1.14497478e-01 7.43201833e-02] [ 1.80519807e-01 -1.12505285e-01 9.77115735e-01 8.77696357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.02650248099998 meters Centerline goodness : 0.713467 with order 1 Centerline is valid? [False, False] Translation: X:17.44, Y:0.08, Z:0.10 [[ 9.83389453e-01 2.41601114e-02 -1.79892947e-01 1.74412133e+01] [-2.18627413e-03 9.92606346e-01 1.21358404e-01 7.67996515e-02] [ 1.81494913e-01 -1.18949280e-01 9.76171432e-01 9.56451187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.08650248099998 meters Centerline goodness : 0.710999 with order 1 Centerline is valid? [False, False] Translation: X:17.50, Y:0.08, Z:0.10 [[ 9.82680001e-01 2.32603838e-02 -1.83844962e-01 1.75012987e+01] [-8.84177537e-04 9.92668190e-01 1.20868036e-01 7.88400331e-02] [ 1.85308483e-01 -1.18612050e-01 9.75495745e-01 1.04754596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.14650248099998 meters Centerline goodness : 0.709295 with order 1 Centerline is valid? [False, False] Translation: X:17.57, Y:0.09, Z:0.12 [[ 9.81547432e-01 2.06286944e-02 -1.90102854e-01 1.75701402e+01] [ 2.91957118e-03 9.92431290e-01 1.22766486e-01 8.63695222e-02] [ 1.91196533e-01 -1.21056148e-01 9.74058158e-01 1.18669105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.20650248099999 meters Centerline goodness : 0.707291 with order 1 Centerline is valid? [False, False] Translation: X:17.62, Y:0.09, Z:0.13 [[ 9.80942274e-01 2.51680051e-02 -1.92662467e-01 1.76235136e+01] [-3.86012568e-04 9.91825710e-01 1.27599417e-01 8.90380793e-02] [ 1.94299011e-01 -1.25093292e-01 9.72933483e-01 1.28950086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.26650248099997 meters Centerline goodness : 0.706462 with order 1 Centerline is valid? [False, False] Translation: X:17.67, Y:0.09, Z:0.14 [[ 9.80581707e-01 3.09415261e-02 -1.93654686e-01 1.76665972e+01] [-6.52632467e-03 9.92076655e-01 1.25464411e-01 9.06009292e-02] [ 1.96002353e-01 -1.21764253e-01 9.73014154e-01 1.36814827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.32650248099998 meters Centerline goodness : 0.709830 with order 1 Centerline is valid? [False, False] Translation: X:17.73, Y:0.09, Z:0.15 [[ 9.80423095e-01 3.74109328e-02 -1.93315745e-01 1.77274055e+01] [-1.29087160e-02 9.91884666e-01 1.26483890e-01 9.32183667e-02] [ 1.96478803e-01 -1.21512269e-01 9.72949561e-01 1.50000937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.38650248099998 meters Centerline goodness : 0.711752 with order 1 Centerline is valid? [False, False] Translation: X:17.78, Y:0.09, Z:0.16 [[ 9.80471943e-01 3.63932161e-02 -1.93262263e-01 1.77794423e+01] [-1.17445209e-02 9.91809542e-01 1.27184508e-01 9.32770334e-02] [ 1.96308010e-01 -1.22431069e-01 9.72868850e-01 1.61584219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.44650248099998 meters Centerline goodness : 0.710257 with order 1 Centerline is valid? [False, False] Translation: X:17.83, Y:0.09, Z:0.17 [[ 9.80223157e-01 3.30391889e-02 -1.95117846e-01 1.78330581e+01] [-8.03716509e-03 9.91797799e-01 1.27563829e-01 8.93733357e-02] [ 1.97732056e-01 -1.23472824e-01 9.72448711e-01 1.71650753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.50650248099998 meters Centerline goodness : 0.714415 with order 1 Centerline is valid? [False, False] Translation: X:17.90, Y:0.09, Z:0.19 [[ 9.79541032e-01 2.93961826e-02 -1.99085991e-01 1.79001223e+01] [-2.56172522e-03 9.91015185e-01 1.33724870e-01 9.13619127e-02] [ 2.01228241e-01 -1.30478994e-01 9.70815342e-01 1.85324505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.56650248099999 meters Centerline goodness : 0.713381 with order 1 Centerline is valid? [False, False] Translation: X:17.96, Y:0.09, Z:0.20 [[ 9.78351372e-01 2.89933302e-02 -2.04909685e-01 1.79632279e+01] [-1.42754828e-03 9.91059594e-01 1.33412309e-01 9.10217463e-02] [ 2.06945777e-01 -1.30231597e-01 9.69645903e-01 1.95719378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.62650248099997 meters Centerline goodness : 0.714321 with order 1 Centerline is valid? [False, False] Translation: X:18.00, Y:0.09, Z:0.20 [[ 9.78284011e-01 3.25775103e-02 -2.04692697e-01 1.80012768e+01] [-5.26791578e-03 9.91159720e-01 1.32569449e-01 9.12799996e-02] [ 2.07201939e-01 -1.28612269e-01 9.69807321e-01 2.02339078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.68650248099998 meters Centerline goodness : 0.710109 with order 1 Centerline is valid? [False, False] Translation: X:18.06, Y:0.10, Z:0.22 [[ 9.77067089e-01 4.05068119e-02 -2.09043301e-01 1.80571542e+01] [-1.18743807e-02 9.90576405e-01 1.36445537e-01 9.54631101e-02] [ 2.12600336e-01 -1.30834184e-01 9.68340598e-01 2.15308195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.74650248099998 meters Centerline goodness : 0.713758 with order 1 Centerline is valid? [False, False] Translation: X:18.10, Y:0.10, Z:0.23 [[ 9.77090328e-01 4.11559396e-02 -2.08807760e-01 1.81039386e+01] [-1.24601939e-02 9.90503469e-01 1.36921952e-01 9.80057735e-02] [ 2.12459962e-01 -1.31183330e-01 9.68324170e-01 2.28477315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.80650248099998 meters Centerline goodness : 0.711694 with order 1 Centerline is valid? [False, False] Translation: X:18.16, Y:0.10, Z:0.24 [[ 9.76314666e-01 3.91527658e-02 -2.12783301e-01 1.81590212e+01] [-1.03380488e-02 9.90808337e-01 1.34877587e-01 9.80229370e-02] [ 2.16108300e-01 -1.29483202e-01 9.67745474e-01 2.40658487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.86650248099998 meters Centerline goodness : 0.714159 with order 1 Centerline is valid? [False, False] Translation: X:18.23, Y:0.10, Z:0.26 [[ 9.75585163e-01 3.41587026e-02 -2.16948779e-01 1.82289567e+01] [-3.86859405e-03 9.90350028e-01 1.38534678e-01 1.01992471e-01] [ 2.19587394e-01 -1.34313089e-01 9.66302939e-01 2.58149339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.92650248099999 meters Centerline goodness : 0.716935 with order 1 Centerline is valid? [False, False] Translation: X:18.30, Y:0.11, Z:0.28 [[ 9.74112487e-01 2.44830224e-02 -2.24734163e-01 1.83035161e+01] [ 5.97023428e-03 9.90985227e-01 1.33838099e-01 1.05323193e-01] [ 2.25984997e-01 -1.31715079e-01 9.65184914e-01 2.77653042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.98650248099999 meters Centerline goodness : 0.717353 with order 1 Centerline is valid? [False, False] Translation: X:18.37, Y:0.11, Z:0.29 [[ 9.72617354e-01 1.82832143e-02 -2.31692054e-01 1.83651477e+01] [ 1.36190615e-02 9.90704317e-01 1.35349462e-01 1.06579646e-01] [ 2.32012941e-01 -1.34798664e-01 9.63327211e-01 2.92997333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.04650248099998 meters Centerline goodness : 0.717152 with order 1 Centerline is valid? [False, False] Translation: X:18.44, Y:0.12, Z:0.31 [[ 9.70718983e-01 1.35048878e-02 -2.39838017e-01 1.84371380e+01] [ 2.03865602e-02 9.90184987e-01 1.38268146e-01 1.15520815e-01] [ 2.39351300e-01 -1.39108987e-01 9.60916045e-01 3.11695350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.10650248099998 meters Centerline goodness : 0.718149 with order 1 Centerline is valid? [False, False] Translation: X:18.48, Y:0.12, Z:0.32 [[ 9.70493832e-01 1.42673860e-02 -2.40703478e-01 1.84829453e+01] [ 2.10143716e-02 9.89445150e-01 1.43376050e-01 1.17639203e-01] [ 2.40208491e-01 -1.44203804e-01 9.59950595e-01 3.20610239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.16650248099998 meters Centerline goodness : 0.720867 with order 1 Centerline is valid? [False, False] Translation: X:18.53, Y:0.12, Z:0.33 [[ 9.70073694e-01 1.65423000e-02 -2.42246527e-01 1.85341575e+01] [ 1.93732901e-02 9.89222725e-01 1.45131238e-01 1.19410148e-01] [ 2.42036574e-01 -1.45481108e-01 9.59298465e-01 3.33272657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.22650248099998 meters Centerline goodness : 0.719067 with order 1 Centerline is valid? [False, False] Translation: X:18.58, Y:0.12, Z:0.34 [[ 9.69940903e-01 1.99472942e-02 -2.42521648e-01 1.85771528e+01] [ 1.79728389e-02 9.88040058e-01 1.53146400e-01 1.21816452e-01] [ 2.42675960e-01 -1.52901760e-01 9.57981957e-01 3.43171605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.28650248099999 meters Centerline goodness : 0.720668 with order 1 Centerline is valid? [False, False] Translation: X:18.63, Y:0.12, Z:0.36 [[ 9.69545423e-01 2.51410531e-02 -2.43617732e-01 1.86305781e+01] [ 1.39665846e-02 9.87422645e-01 1.57484774e-01 1.22267115e-01] [ 2.44512998e-01 -1.56091149e-01 9.56999972e-01 3.55741475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.34650248099999 meters Centerline goodness : 0.720974 with order 1 Centerline is valid? [False, False] Translation: X:18.66, Y:0.12, Z:0.36 [[ 9.69850225e-01 2.65955662e-02 -2.42246192e-01 1.86637926e+01] [ 1.18815419e-02 9.87684972e-01 1.56003926e-01 1.22366234e-01] [ 2.43411936e-01 -1.54178701e-01 9.57590496e-01 3.64041923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.40650248099998 meters Centerline goodness : 0.723186 with order 1 Centerline is valid? [False, False] Translation: X:18.72, Y:0.12, Z:0.38 [[ 9.68554343e-01 2.85162391e-02 -2.47162514e-01 1.87216111e+01] [ 1.15887753e-02 9.87161224e-01 1.59306051e-01 1.22708575e-01] [ 2.48532059e-01 -1.57160879e-01 9.55788823e-01 3.76983629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.46650248099998 meters Centerline goodness : 0.721479 with order 1 Centerline is valid? [False, False] Translation: X:18.78, Y:0.12, Z:0.39 [[ 9.67463870e-01 2.66144655e-02 -2.51605506e-01 1.87795263e+01] [ 1.41157798e-02 9.87225183e-01 1.58704705e-01 1.23986395e-01] [ 2.52615132e-01 -1.57092676e-01 9.54729012e-01 3.90127017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.52650248099998 meters Centerline goodness : 0.723968 with order 1 Centerline is valid? [False, False] Translation: X:18.83, Y:0.12, Z:0.40 [[ 9.67368434e-01 2.47751555e-02 -2.52159682e-01 1.88298604e+01] [ 1.64258058e-02 9.86982335e-01 1.59987697e-01 1.24584598e-01] [ 2.52840872e-01 -1.58908974e-01 9.54368604e-01 4.04190495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.58650248099998 meters Centerline goodness : 0.727385 with order 3 Centerline is valid? [False, False] Translation: X:18.89, Y:0.13, Z:0.42 [[ 0.96649535 0.02146349 -0.25578517 18.88568418] [ 0.01996246 0.98719459 0.15826668 0.1286475 ] [ 0.2559067 -0.15807011 0.95369052 0.42005743] [ 0. 0. 0. 1. ]] SLAMing on 85.64650248099998 meters Centerline goodness : 0.540380 with order 1 Centerline is valid? [False, False] Translation: X:18.94, Y:0.13, Z:0.43 [[ 0.96575323 0.02077754 -0.25862906 18.93772002] [ 0.02135478 0.98704155 0.15903759 0.12846667] [ 0.25858204 -0.15911404 0.95279486 0.43353404] [ 0. 0. 0. 1. ]] SLAMing on 85.70650248099999 meters Centerline goodness : 0.473641 with order 2 Centerline is valid? [False, False] Translation: X:18.99, Y:0.13, Z:0.45 [[ 0.9652903 0.02151338 -0.26029177 18.98989506] [ 0.02124057 0.98683436 0.16033337 0.13151719] [ 0.26031417 -0.16029699 0.95212468 0.44781346] [ 0. 0. 0. 1. ]] SLAMing on 85.76650248099997 meters Centerline goodness : 0.559731 with order 1 Centerline is valid? [False, False] Translation: X:19.06, Y:0.14, Z:0.47 [[ 0.96365754 0.02062542 -0.26634327 19.05876945] [ 0.02451571 0.98597981 0.1650539 0.13943746] [ 0.26601339 -0.16558503 0.94964123 0.4690618 ] [ 0. 0. 0. 1. ]] SLAMing on 85.82650248099998 meters Centerline goodness : 0.558678 with order 1 Centerline is valid? [False, False] Translation: X:19.14, Y:0.16, Z:0.50 [[ 9.60262522e-01 7.52862414e-03 -2.78996789e-01 1.91445336e+01] [ 3.94030098e-02 9.85966788e-01 1.62224831e-01 1.56995203e-01] [ 2.76302898e-01 -1.66771738e-01 9.46490304e-01 4.97477690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.88650248099998 meters Centerline goodness : 0.653159 with order 3 Centerline is valid? [False, False] Translation: X:19.19, Y:0.16, Z:0.51 [[ 9.58969576e-01 4.27055130e-03 -2.83476832e-01 1.91925845e+01] [ 4.42059596e-02 9.85404579e-01 1.64388711e-01 1.64448410e-01] [ 2.80041399e-01 -1.70175138e-01 9.44784228e-01 5.09727238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.94650248099998 meters Centerline goodness : 0.242840 with order 1 Centerline is valid? [False, False] Translation: X:19.25, Y:0.17, Z:0.53 [[ 9.56400856e-01 3.94523673e-03 -2.92030544e-01 1.92536798e+01] [ 4.80852443e-02 9.84136079e-01 1.70774666e-01 1.73253022e-01] [ 2.88071541e-01 -1.77371397e-01 9.41038881e-01 5.25815508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.00650248099998 meters Centerline goodness : 0.512730 with order 1 Centerline is valid? [False, False] Translation: X:19.29, Y:0.19, Z:0.53 [[ 9.55472993e-01 3.39420456e-03 -2.95059043e-01 1.92907592e+01] [ 4.95006931e-02 9.83919909e-01 1.71613791e-01 1.87634127e-01] [ 2.90896960e-01 -1.78577969e-01 9.39940885e-01 5.32727041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.06650248099999 meters Centerline goodness : 0.460277 with order 1 Centerline is valid? [False, False] Translation: X:19.29, Y:0.19, Z:0.53 [[ 9.54912704e-01 6.05609612e-03 -2.96824950e-01 1.92945775e+01] [ 4.78176999e-02 9.83601287e-01 1.73902204e-01 1.93771550e-01] [ 2.93010571e-01 -1.80254910e-01 9.38963776e-01 5.30491333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.12650248099997 meters Centerline goodness : 0.299723 with order 3 Centerline is valid? [False, False] Translation: X:19.30, Y:0.20, Z:0.53 [[ 9.54484142e-01 1.40284940e-02 -2.97931577e-01 1.92986676e+01] [ 4.14066854e-02 9.82988286e-01 1.78939978e-01 2.01147053e-01] [ 2.95373509e-01 -1.83131730e-01 9.37665857e-01 5.27012469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.18650248099998 meters Centerline goodness : 0.237764 with order 1 Centerline is valid? [False, False] Translation: X:19.31, Y:0.21, Z:0.52 [[ 0.95388615 0.02135788 -0.29940785 19.30618534] [ 0.03558063 0.98238789 0.18343406 0.20833197] [ 0.2980524 -0.18562833 0.93632627 0.52280629] [ 0. 0. 0. 1. ]] SLAMing on 86.24650248099998 meters Centerline goodness : 0.231746 with order 1 Centerline is valid? [False, False] Translation: X:19.34, Y:0.21, Z:0.53 [[ 0.95428913 0.03002516 -0.29737308 19.33754159] [ 0.02753223 0.98188036 0.18749114 0.21007819] [ 0.29761424 -0.1871081 0.9361711 0.53191765] [ 0. 0. 0. 1. ]] SLAMing on 86.30650248099998 meters Centerline goodness : 0.243948 with order 1 Centerline is valid? [False, False] Translation: X:19.38, Y:0.21, Z:0.55 [[ 0.95432184 0.03389968 -0.2968512 19.3826715 ] [ 0.02503469 0.98097621 0.19250699 0.20955755] [ 0.29772989 -0.19114521 0.93531835 0.54741791] [ 0. 0. 0. 1. ]] SLAMing on 86.36650248099998 meters Centerline goodness : 0.297067 with order 3 Centerline is valid? [False, False] Translation: X:19.43, Y:0.21, Z:0.56 [[ 0.95360094 0.03819829 -0.29864049 19.42990009] [ 0.02365288 0.97934816 0.20079272 0.20727976] [ 0.30014295 -0.19853984 0.93300383 0.56127452] [ 0. 0. 0. 1. ]] SLAMing on 86.42650248099999 meters Centerline goodness : 0.509768 with order 3 Centerline is valid? [False, False] Translation: X:19.48, Y:0.20, Z:0.58 [[ 0.95326511 0.04003786 -0.29947053 19.47657041] [ 0.02327851 0.97850173 0.20492066 0.20208806] [ 0.30123702 -0.20231494 0.93183954 0.57674153] [ 0. 0. 0. 1. ]] SLAMing on 86.48650248099999 meters Centerline goodness : 0.529495 with order 3 Centerline is valid? [False, False] Translation: X:19.52, Y:0.20, Z:0.59 [[ 0.95341337 0.03995081 -0.29900982 19.52348032] [ 0.02386922 0.9780937 0.20679213 0.198813 ] [ 0.30072113 -0.20429551 0.93157402 0.59339916] [ 0. 0. 0. 1. ]] SLAMing on 86.54650248099998 meters Centerline goodness : 0.562302 with order 3 Centerline is valid? [False, False] Translation: X:19.56, Y:0.19, Z:0.61 [[ 0.95304232 0.0372466 -0.3005379 19.56422965] [ 0.02815203 0.97721369 0.21038266 0.1948137 ] [ 0.30152579 -0.20896433 0.93027744 0.60790984] [ 0. 0. 0. 1. ]] SLAMing on 86.60650248099998 meters Centerline goodness : 0.649280 with order 3 Centerline is valid? [False, False] Translation: X:19.61, Y:0.19, Z:0.63 [[ 0.95340336 0.03357785 -0.29982423 19.60838994] [ 0.03147976 0.97729101 0.20955025 0.19067179] [ 0.30005177 -0.20922431 0.9306955 0.62689153] [ 0. 0. 0. 1. ]] SLAMing on 86.66650248099998 meters Centerline goodness : 0.207157 with order 1 Centerline is valid? [False, False] Translation: X:19.65, Y:0.19, Z:0.64 [[ 0.95332318 0.02829206 -0.30062347 19.64728826] [ 0.03779311 0.97659155 0.21175604 0.18685906] [ 0.29957735 -0.21323344 0.92993812 0.64229731] [ 0. 0. 0. 1. ]] SLAMing on 86.72650248099998 meters Centerline goodness : 0.641006 with order 3 Centerline is valid? [False, False] Translation: X:19.69, Y:0.18, Z:0.66 [[ 0.95364401 0.02403151 -0.29997597 19.69184575] [ 0.0418449 0.97653392 0.21125934 0.18176436] [ 0.29801359 -0.21401867 0.93026013 0.65958354] [ 0. 0. 0. 1. ]] SLAMing on 86.78650248099999 meters Centerline goodness : 0.628042 with order 1 Centerline is valid? [False, False] Translation: X:19.73, Y:0.18, Z:0.67 [[ 9.53808983e-01 1.94663420e-02 -2.99782398e-01 1.97299730e+01] [ 4.74469766e-02 9.75612202e-01 2.14311959e-01 1.77455602e-01] [ 2.96643236e-01 -2.18636440e-01 9.29624063e-01 6.73987436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.84650248099999 meters Centerline goodness : 0.228336 with order 1 Centerline is valid? [False, False] Translation: X:19.75, Y:0.17, Z:0.68 [[ 9.54292010e-01 1.61266508e-02 -2.98440432e-01 1.97539764e+01] [ 5.07627815e-02 9.75289459e-01 2.15020026e-01 1.69435085e-01] [ 2.94533360e-01 -2.20341559e-01 9.29892304e-01 6.81588371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.90650248099998 meters Centerline goodness : 0.653160 with order 2 Centerline is valid? [False, False] Translation: X:19.75, Y:0.16, Z:0.68 [[ 9.54178399e-01 8.48262356e-03 -2.99118085e-01 1.97549550e+01] [ 5.71900460e-02 9.76003003e-01 2.10112914e-01 1.62682238e-01] [ 2.93722458e-01 -2.17591781e-01 9.30795861e-01 6.83313281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.96650248099998 meters Centerline goodness : 0.337601 with order 3 Centerline is valid? [False, False] Translation: X:19.76, Y:0.16, Z:0.68 [[ 9.53801500e-01 5.09358749e-03 -3.00394329e-01 1.97577200e+01] [ 6.01342884e-02 9.76386628e-01 2.07492216e-01 1.61323794e-01] [ 2.94357886e-01 -2.15970386e-01 9.30972732e-01 6.83967000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.02650248099998 meters Centerline goodness : 0.311025 with order 1 Centerline is valid? [False, False] Translation: X:19.76, Y:0.15, Z:0.69 [[ 9.53630418e-01 -1.90076612e-03 -3.00974107e-01 1.97587734e+01] [ 6.62825030e-02 9.76756551e-01 2.03846191e-01 1.53097439e-01] [ 2.93590967e-01 -2.14343246e-01 9.31590746e-01 6.85453341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.08650248099998 meters Centerline goodness : 0.163104 with order 1 Centerline is valid? [False, False] Translation: X:19.76, Y:0.15, Z:0.69 [[ 9.53677156e-01 -8.16819598e-03 -3.00721072e-01 1.97575379e+01] [ 7.14856879e-02 9.77151614e-01 2.00161237e-01 1.47470529e-01] [ 2.92215125e-01 -2.12386452e-01 9.32471081e-01 6.86852266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.14650248099998 meters Centerline goodness : 0.307944 with order 1 Centerline is valid? [False, False] Translation: X:19.76, Y:0.15, Z:0.69 [[ 9.53472435e-01 -1.29235923e-02 -3.01203081e-01 1.97579264e+01] [ 7.53723481e-02 9.77572311e-01 1.96650413e-01 1.47026418e-01] [ 2.91906362e-01 -2.10203132e-01 9.33062334e-01 6.87681320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.20650248099999 meters Centerline goodness : 0.273336 with order 1 Centerline is valid? [False, False] Translation: X:19.76, Y:0.15, Z:0.69 [[ 9.52960598e-01 -1.54439386e-02 -3.02700485e-01 1.97636180e+01] [ 7.76327676e-02 9.77822781e-01 1.94514170e-01 1.47902764e-01] [ 2.92983366e-01 -2.08863816e-01 9.33025538e-01 6.86044789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.26650248099997 meters Centerline goodness : 0.260683 with order 1 Centerline is valid? [False, False] Translation: X:19.79, Y:0.16, Z:0.70 [[ 9.51881184e-01 -1.62189403e-02 -3.06037838e-01 1.97934285e+01] [ 7.82347826e-02 9.78372277e-01 1.91486309e-01 1.55209812e-01] [ 2.96313231e-01 -2.06215018e-01 9.32563046e-01 6.95696796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.32650248099998 meters Centerline goodness : 0.248611 with order 1 Centerline is valid? [False, False] Translation: X:19.80, Y:0.16, Z:0.70 [[ 9.50886875e-01 -1.13380353e-02 -3.09330890e-01 1.98038001e+01] [ 7.38093512e-02 9.78808342e-01 1.91014159e-01 1.60060589e-01] [ 3.00609930e-01 -2.04464369e-01 9.31572859e-01 6.98152903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.38650248099998 meters Centerline goodness : 0.268712 with order 1 Centerline is valid? [False, False] Translation: X:19.82, Y:0.17, Z:0.70 [[ 9.51397385e-01 -5.84026476e-03 -3.07910549e-01 1.98197587e+01] [ 6.76804600e-02 9.79342250e-01 1.90546880e-01 1.67828381e-01] [ 3.00436966e-01 -2.02125331e-01 9.32138927e-01 6.97584903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.44650248099998 meters Centerline goodness : 0.577579 with order 3 Centerline is valid? [False, False] Translation: X:19.83, Y:0.17, Z:0.70 [[ 9.50847156e-01 1.81805918e-03 -3.09655262e-01 1.98320126e+01] [ 6.02619635e-02 9.79778089e-01 1.90796729e-01 1.74337933e-01] [ 3.03740321e-01 -2.00078961e-01 9.31509649e-01 6.99430044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.50650248099998 meters Centerline goodness : 0.578850 with order 3 Centerline is valid? [False, False] Translation: X:19.84, Y:0.18, Z:0.70 [[ 9.49855134e-01 8.02305743e-03 -3.12587357e-01 1.98396991e+01] [ 5.52678865e-02 9.79624150e-01 1.93085437e-01 1.83998014e-01] [ 3.07767259e-01 -2.00679237e-01 9.30057610e-01 6.98099374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.56650248099999 meters Centerline goodness : 0.565028 with order 3 Centerline is valid? [False, False] Translation: X:19.86, Y:0.19, Z:0.70 [[ 9.48528793e-01 1.76282722e-02 -3.16199894e-01 1.98587023e+01] [ 4.61040429e-02 9.80125986e-01 1.92944214e-01 1.94415433e-01] [ 3.13317005e-01 -1.97591236e-01 9.28864984e-01 6.99789900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.62650248099997 meters Centerline goodness : 0.542591 with order 3 Centerline is valid? [False, False] Translation: X:19.89, Y:0.21, Z:0.71 [[ 0.94827762 0.02462445 -0.31648569 19.89184698] [ 0.03902711 0.98037991 0.19321521 0.21077582] [ 0.31503403 -0.19557318 0.92871131 0.7093134 ] [ 0. 0. 0. 1. ]] SLAMing on 87.68650248099998 meters Centerline goodness : 0.594486 with order 1 Centerline is valid? [False, False] Translation: X:19.93, Y:0.23, Z:0.72 [[ 0.94776888 0.02379704 -0.31806893 19.92717621] [ 0.03793827 0.98172281 0.1864967 0.22777595] [ 0.31669359 -0.18882275 0.92954351 0.71873729] [ 0. 0. 0. 1. ]] SLAMing on 87.74650248099998 meters Centerline goodness : 0.548973 with order 3 Centerline is valid? [False, False] Translation: X:19.98, Y:0.25, Z:0.74 [[ 0.94653571 0.02312036 -0.32176948 19.97936589] [ 0.0386942 0.98209079 0.18439206 0.24657825] [ 0.32027005 -0.18698428 0.92868938 0.73536556] [ 0. 0. 0. 1. ]] SLAMing on 87.80650248099998 meters Centerline goodness : 0.716538 with order 1 Centerline is valid? [False, False] Translation: X:20.04, Y:0.26, Z:0.75 [[ 9.44812146e-01 1.91940364e-02 -3.27049841e-01 2.00362750e+01] [ 4.21759255e-02 9.82849156e-01 1.79523613e-01 2.64730778e-01] [ 3.24886443e-01 -1.83409720e-01 9.27798294e-01 7.54800144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.86650248099998 meters Centerline goodness : 0.716306 with order 1 Centerline is valid? [False, False] Translation: X:20.10, Y:0.29, Z:0.78 [[ 9.43108074e-01 1.10764317e-02 -3.32301781e-01 2.00973036e+01] [ 4.83118600e-02 9.84272486e-01 1.69922448e-01 2.91582235e-01] [ 3.28957634e-01 -1.76309350e-01 9.27740205e-01 7.75939757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.92650248099999 meters Centerline goodness : 0.718703 with order 1 Centerline is valid? [False, False] Translation: X:20.16, Y:0.32, Z:0.80 [[ 9.41206807e-01 1.21805192e-03 -3.37828748e-01 2.01639314e+01] [ 5.70944316e-02 9.85035620e-01 1.62619352e-01 3.16565017e-01] [ 3.32971429e-01 -1.72346582e-01 9.27052686e-01 8.02675682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.98650248099997 meters Centerline goodness : 0.714210 with order 1 Centerline is valid? [False, False] Translation: X:20.28, Y:0.37, Z:0.85 [[ 0.93314123 -0.02830069 -0.35839436 20.27968193] [ 0.08912018 0.98399043 0.15433867 0.3698168 ] [ 0.34828873 -0.17595994 0.9207242 0.85031923] [ 0. 0. 0. 1. ]] SLAMing on 88.04650248099998 meters Centerline goodness : 0.709654 with order 1 Centerline is valid? [False, False] Translation: X:20.28, Y:0.38, Z:0.85 [[ 0.93235573 -0.03145037 -0.36017172 20.28164655] [ 0.09126792 0.98441864 0.15030007 0.37880678] [ 0.34983276 -0.17300525 0.92069877 0.85079636] [ 0. 0. 0. 1. ]] SLAMing on 88.10650248099998 meters Centerline goodness : 0.711046 with order 1 Centerline is valid? [False, False] Translation: X:20.28, Y:0.39, Z:0.85 [[ 0.93234196 -0.02867174 -0.36043917 20.28054775] [ 0.08857226 0.98459032 0.15078748 0.38591675] [ 0.35056158 -0.1725104 0.92051439 0.85057359] [ 0. 0. 0. 1. ]] SLAMing on 88.16650248099998 meters Centerline goodness : 0.712415 with order 1 Centerline is valid? [False, False] Translation: X:20.28, Y:0.39, Z:0.85 [[ 0.93271088 -0.02495232 -0.35976076 20.2760051 ] [ 0.08444412 0.98497975 0.15061236 0.39324567] [ 0.35059894 -0.17085746 0.9208084 0.85167313] [ 0. 0. 0. 1. ]] SLAMing on 88.22650248099998 meters Centerline goodness : 0.710517 with order 1 Centerline is valid? [False, False] Translation: X:20.28, Y:0.40, Z:0.85 [[ 0.93243051 -0.02646361 -0.36037899 20.2761318 ] [ 0.0844013 0.9856783 0.1459956 0.4008964 ] [ 0.35135418 -0.1665472 0.92131008 0.8512359 ] [ 0. 0. 0. 1. ]] SLAMing on 88.28650248099999 meters Centerline goodness : 0.709532 with order 1 Centerline is valid? [False, False] Translation: X:20.28, Y:0.41, Z:0.85 [[ 0.93206476 -0.02798876 -0.36120897 20.27659855] [ 0.08504103 0.98605743 0.14303415 0.40643877] [ 0.35216944 -0.16403467 0.92144957 0.85143318] [ 0. 0. 0. 1. ]] SLAMing on 88.34650248099999 meters Centerline goodness : 0.708395 with order 1 Centerline is valid? [False, False] Translation: X:20.28, Y:0.41, Z:0.85 [[ 0.93175795 -0.02919369 -0.36190448 20.27689008] [ 0.08591393 0.98618279 0.14164146 0.40971069] [ 0.35276893 -0.16306819 0.9213918 0.85209474] [ 0. 0. 0. 1. ]] SLAMing on 88.40650248099998 meters Centerline goodness : 0.711217 with order 1 Centerline is valid? [False, False] Translation: X:20.27, Y:0.41, Z:0.85 [[ 0.9315364 -0.03449088 -0.36200871 20.27470934] [ 0.08966905 0.98653936 0.13674634 0.41231784] [ 0.35241934 -0.15984517 0.92209009 0.85375168] [ 0. 0. 0. 1. ]] SLAMing on 88.46650248099998 meters Centerline goodness : 0.713542 with order 1 Centerline is valid? [False, False] Translation: X:20.28, Y:0.41, Z:0.85 [[ 0.93106159 -0.04051716 -0.36260539 20.27559977] [ 0.09446008 0.98669958 0.13229225 0.41332264] [ 0.35242248 -0.15742397 0.92250533 0.85460963] [ 0. 0. 0. 1. ]] SLAMing on 88.52650248099998 meters Centerline goodness : 0.713702 with order 1 Centerline is valid? [False, False] Translation: X:20.27, Y:0.42, Z:0.86 [[ 0.9306061 -0.04571569 -0.36315612 20.27423034] [ 0.09866465 0.98677445 0.12861369 0.41543214] [ 0.35247352 -0.15551935 0.92280884 0.85675995] [ 0. 0. 0. 1. ]] SLAMing on 88.58650248099998 meters Centerline goodness : 0.714554 with order 1 Centerline is valid? [False, False] Translation: X:20.27, Y:0.42, Z:0.86 [[ 0.93032853 -0.05098506 -0.36316573 20.27378323] [ 0.10234026 0.98704133 0.12359563 0.41728358] [ 0.35215806 -0.15215102 0.92349054 0.85702475] [ 0. 0. 0. 1. ]] SLAMing on 88.64650248099998 meters Centerline goodness : 0.714461 with order 1 Centerline is valid? [False, False] Translation: X:20.27, Y:0.42, Z:0.86 [[ 0.92967919 -0.05678228 -0.36396755 20.27387646] [ 0.10695271 0.98709382 0.1191927 0.41905141] [ 0.35250209 -0.14973828 0.92375361 0.8587437 ] [ 0. 0. 0. 1. ]] SLAMing on 88.70650248099999 meters Centerline goodness : 0.714715 with order 1 Centerline is valid? [False, False] Translation: X:20.33, Y:0.41, Z:0.88 [[ 0.92915855 -0.05362679 -0.36577117 20.33342332] [ 0.10396777 0.98739469 0.11934164 0.41022933] [ 0.35476061 -0.14891572 0.92302168 0.88264498] [ 0. 0. 0. 1. ]] SLAMing on 88.76650248099997 meters Centerline goodness : 0.716653 with order 1 Centerline is valid? [False, False] Translation: X:20.47, Y:0.39, Z:0.94 [[ 0.92398905 -0.03629927 -0.38069226 20.46564253] [ 0.08864769 0.98870023 0.12088609 0.39478903] [ 0.37200245 -0.14544492 0.91676603 0.94199652] [ 0. 0. 0. 1. ]] SLAMing on 88.82650248099998 meters Centerline goodness : 0.715603 with order 1 Centerline is valid? [False, False] Translation: X:20.54, Y:0.39, Z:0.97 [[ 0.92241309 -0.03379687 -0.38472309 20.53518768] [ 0.08616589 0.98906326 0.11970507 0.38819983] [ 0.37646982 -0.14356753 0.91523704 0.9726107 ] [ 0. 0. 0. 1. ]] SLAMing on 88.88650248099998 meters Centerline goodness : 0.715747 with order 1 Centerline is valid? [False, False] Translation: X:20.54, Y:0.39, Z:0.97 [[ 0.92208185 -0.03901314 -0.38502343 20.53523072] [ 0.08993275 0.98927011 0.11513799 0.39015819] [ 0.37640027 -0.14079287 0.91569657 0.973085 ] [ 0. 0. 0. 1. ]] SLAMing on 88.94650248099998 meters Centerline goodness : 0.657783 with order 3 Centerline is valid? [False, False] Translation: X:20.53, Y:0.39, Z:0.97 [[ 0.92206329 -0.04452035 -0.38447006 20.53492059] [ 0.09370494 0.98948788 0.11015043 0.39161624] [ 0.37552453 -0.13759241 0.91654223 0.97227783] [ 0. 0. 0. 1. ]] SLAMing on 89.00650248099998 meters Centerline goodness : 0.640402 with order 3 Centerline is valid? [False, False] Translation: X:20.53, Y:0.40, Z:0.97 [[ 0.92212554 -0.04950219 -0.38371085 20.53397654] [ 0.0964481 0.98988155 0.10407825 0.39501701] [ 0.37467619 -0.1329814 0.91756945 0.97111877] [ 0. 0. 0. 1. ]] SLAMing on 89.06650248099999 meters Centerline goodness : 0.636256 with order 3 Centerline is valid? [False, False] Translation: X:20.72, Y:0.39, Z:1.10 [[ 0.91297506 -0.0243239 -0.40728969 20.72247114] [ 0.05626144 0.99619089 0.066621 0.39278316] [ 0.40411779 -0.08373802 0.91086594 1.09796053] [ 0. 0. 0. 1. ]] SLAMing on 89.12650248099997 meters Centerline goodness : 0.638001 with order 3 Centerline is valid? [False, False] Translation: X:20.92, Y:0.37, Z:1.23 [[ 9.00843365e-01 3.28144960e-03 -4.34131851e-01 2.09166444e+01] [ 1.46113648e-02 9.99175783e-01 3.78716650e-02 3.72054927e-01] [ 4.33898306e-01 -4.04596970e-02 9.00052928e-01 1.22518789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.18650248099998 meters Centerline goodness : 0.579731 with order 1 Centerline is valid? [False, False] Translation: X:20.68, Y:0.38, Z:1.10 [[ 9.07543815e-01 2.25077275e-02 -4.19353821e-01 2.06760732e+01] [-8.03093125e-03 9.99310292e-01 3.62552599e-02 3.75723229e-01] [ 4.19880613e-01 -2.95354351e-02 9.07098633e-01 1.09805216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.24650248099998 meters Centerline goodness : 0.581143 with order 1 Centerline is valid? [False, False] Translation: X:20.48, Y:0.39, Z:1.00 [[ 9.11736304e-01 3.21157150e-02 -4.09518611e-01 2.04820286e+01] [-2.00666192e-02 9.99230955e-01 3.36872392e-02 3.87080045e-01] [ 4.10285562e-01 -2.24962249e-02 9.11679591e-01 1.00031560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.30650248099998 meters Centerline goodness : 0.718727 with order 2 Centerline is valid? [False, False] Translation: X:20.26, Y:0.40, Z:0.89 [[ 9.17607541e-01 4.37085381e-02 -3.95077162e-01 2.02565236e+01] [-3.47496286e-02 9.98951444e-01 2.98073064e-02 4.03819821e-01] [ 3.95965735e-01 -1.36226245e-02 9.18164234e-01 8.89852194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.36650248099998 meters Centerline goodness : 0.696936 with order 3 Centerline is valid? [False, False] Translation: X:20.26, Y:0.40, Z:0.89 [[ 9.17614781e-01 4.26451085e-02 -3.95176554e-01 2.02554350e+01] [-3.29915288e-02 9.98968677e-01 3.11952039e-02 4.03056466e-01] [ 3.96099322e-01 -1.55877016e-02 9.18075351e-01 8.91587761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.42650248099999 meters Centerline goodness : 0.695588 with order 3 Centerline is valid? [False, False] Translation: X:19.99, Y:0.42, Z:0.77 [[ 9.22365079e-01 5.26830098e-02 -3.82710284e-01 1.99947255e+01] [-4.70367967e-02 9.98602328e-01 2.41025074e-02 4.22205674e-01] [ 3.83445173e-01 -4.22984535e-03 9.23553955e-01 7.72258494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.48650248099997 meters Centerline goodness : 0.729800 with order 2 Centerline is valid? [False, False] Translation: X:19.71, Y:0.45, Z:0.65 [[ 9.26736887e-01 6.89247208e-02 -3.69334705e-01 1.97125220e+01] [-6.55069241e-02 9.97613891e-01 2.18029224e-02 4.47412073e-01] [ 3.69956193e-01 3.98840804e-03 9.29040639e-01 6.47681508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.54650248099998 meters Centerline goodness : 0.733248 with order 1 Centerline is valid? [False, False] Translation: X:19.46, Y:0.47, Z:0.54 [[ 9.28864156e-01 8.48886221e-02 -3.60562478e-01 1.94588559e+01] [-8.47201031e-02 9.96271389e-01 1.63040769e-02 4.73324072e-01] [ 3.60602112e-01 1.54026177e-02 9.32592556e-01 5.39218268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.60650248099998 meters Centerline goodness : 0.700196 with order 3 Centerline is valid? [False, False] Translation: X:19.32, Y:0.49, Z:0.48 [[ 9.30529123e-01 9.54563837e-02 -3.53558525e-01 1.93189647e+01] [-9.64679313e-02 9.95225979e-01 1.48050550e-02 4.94413325e-01] [ 3.53283866e-01 2.03305247e-02 9.35295237e-01 4.79343544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.66650248099998 meters Centerline goodness : 0.363815 with order 1 Centerline is valid? [False, False] Translation: X:19.22, Y:0.52, Z:0.44 [[ 9.32218235e-01 1.02981260e-01 -3.46935184e-01 1.92187779e+01] [-1.04430526e-01 9.94425440e-01 1.45708615e-02 5.16252086e-01] [ 3.46501698e-01 2.26474009e-02 9.37775916e-01 4.35181157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.72650248099998 meters Centerline goodness : 0.656276 with order 3 Centerline is valid? [False, False] Translation: X:19.13, Y:0.54, Z:0.40 [[ 9.33090287e-01 1.14049887e-01 -3.41079374e-01 1.91342084e+01] [-1.16018298e-01 9.93138382e-01 1.46938633e-02 5.39357448e-01] [ 3.40414851e-01 2.58607474e-02 9.39919651e-01 3.97932584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.78650248099999 meters Centerline goodness : 0.680842 with order 3 Centerline is valid? [False, False] Translation: X:19.07, Y:0.57, Z:0.37 [[ 9.33659019e-01 1.22683429e-01 -3.36496081e-01 1.90655349e+01] [-1.27727167e-01 9.91783230e-01 7.19695290e-03 5.66742729e-01] [ 3.34614117e-01 3.62601911e-02 9.41657364e-01 3.68185112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.84650248099999 meters Centerline goodness : 0.208893 with order 1 Centerline is valid? [False, False] Translation: X:19.07, Y:0.58, Z:0.36 [[ 9.32973698e-01 1.28380801e-01 -3.36271390e-01 1.90685316e+01] [-1.34272163e-01 9.90927634e-01 5.78011175e-03 5.81583292e-01] [ 3.33962669e-01 3.97591948e-02 9.41747388e-01 3.64923167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.90650248099998 meters Centerline goodness : 0.215532 with order 1 Centerline is valid? [False, False] Translation: X:19.08, Y:0.59, Z:0.37 [[ 9.30616035e-01 1.37264617e-01 -3.39281918e-01 1.90762320e+01] [-1.42085998e-01 9.89796287e-01 1.07182253e-02 5.92060731e-01] [ 3.37291215e-01 3.82326574e-02 9.40623676e-01 3.65216941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.96650248099998 meters Centerline goodness : 0.611160 with order 3 Centerline is valid? [False, False] Translation: X:19.10, Y:0.61, Z:0.38 [[ 9.26652057e-01 1.32242697e-01 -3.51891795e-01 1.90955651e+01] [-1.40747810e-01 9.90044453e-01 1.42629323e-03 6.10444869e-01] [ 3.48577136e-01 4.82063220e-02 9.36039599e-01 3.75557223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.02650248099998 meters Centerline goodness : 0.663539 with order 3 Centerline is valid? [False, False] Translation: X:19.11, Y:0.63, Z:0.38 [[ 9.23924628e-01 1.28961274e-01 -3.60183663e-01 1.91074204e+01] [-1.39613196e-01 9.90199594e-01 -3.59446944e-03 6.29215006e-01] [ 3.56190170e-01 5.36074111e-02 9.32874487e-01 3.82974670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.08650248099998 meters Centerline goodness : 0.241249 with order 1 Centerline is valid? [False, False] Translation: X:19.11, Y:0.64, Z:0.38 [[ 9.21775118e-01 1.33368969e-01 -3.64065037e-01 1.91146061e+01] [-1.44846597e-01 9.89444908e-01 -4.27050597e-03 6.44217473e-01] [ 3.59652744e-01 5.66700277e-02 9.31363738e-01 3.84569484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.14650248099998 meters Centerline goodness : 0.738155 with order 3 Centerline is valid? [False, False] Translation: X:19.04, Y:0.67, Z:0.35 [[ 9.22450939e-01 1.34546911e-01 -3.61913516e-01 1.90411650e+01] [-1.46078344e-01 9.89262546e-01 -4.55326054e-03 6.69561034e-01] [ 3.57414860e-01 5.70678867e-02 9.32200555e-01 3.49723837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.20650248099999 meters Centerline goodness : 0.235050 with order 1 Centerline is valid? [False, False] Translation: X:18.93, Y:0.70, Z:0.30 [[ 9.24676367e-01 1.37999294e-01 -3.54865907e-01 1.89266299e+01] [-1.49231357e-01 9.88792809e-01 -4.33402858e-03 7.00690451e-01] [ 3.50290764e-01 5.69646946e-02 9.34907164e-01 2.97884814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.26650248099997 meters Centerline goodness : 0.348013 with order 3 Centerline is valid? [False, False] Translation: X:18.78, Y:0.73, Z:0.23 [[ 9.27166294e-01 1.43974758e-01 -3.45881386e-01 1.87804902e+01] [-1.54803789e-01 9.87938187e-01 -3.73160588e-03 7.32493303e-01] [ 3.41172172e-01 5.70035681e-02 9.38270826e-01 2.34706244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.32650248099998 meters Centerline goodness : 0.278849 with order 3 Centerline is valid? [False, False] Translation: X:18.64, Y:0.77, Z:0.17 [[ 9.27996573e-01 1.50823653e-01 -3.40697205e-01 1.86395433e+01] [-1.60785298e-01 9.86988881e-01 -1.01831610e-03 7.65389353e-01] [ 3.36110767e-01 5.57240955e-02 9.40172526e-01 1.73349433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.38650248099998 meters Centerline goodness : 0.555814 with order 2 Centerline is valid? [False, False] Translation: X:18.51, Y:0.79, Z:0.12 [[ 9.28323464e-01 1.57889078e-01 -3.36580727e-01 1.85131058e+01] [-1.66126891e-01 9.86094658e-01 4.37958769e-03 7.93683046e-01] [ 3.32591946e-01 5.18494358e-02 9.41644431e-01 1.21424945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.44650248099998 meters Centerline goodness : 0.476977 with order 3 Centerline is valid? [False, False] Translation: X:18.51, Y:0.80, Z:0.12 [[ 9.28486104e-01 1.58032333e-01 -3.36064482e-01 1.85130251e+01] [-1.66841115e-01 9.85980100e-01 2.69912038e-03 7.96799151e-01] [ 3.31779440e-01 5.35632771e-02 9.41835112e-01 1.20249858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.50650248099998 meters Centerline goodness : 0.151831 with order 3 Centerline is valid? [False, False] Translation: X:18.36, Y:0.83, Z:0.06 [[ 9.29547003e-01 1.70100230e-01 -3.27121201e-01 1.83613423e+01] [-1.79215819e-01 9.83807067e-01 2.31192903e-03 8.30620849e-01] [ 3.22217409e-01 5.64762473e-02 9.44979563e-01 5.91214757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.56650248099999 meters Centerline goodness : 0.520060 with order 3 Centerline is valid? [False, False] Translation: X:18.36, Y:0.83, Z:0.06 [[ 9.29018699e-01 1.74702341e-01 -3.26195262e-01 1.83622706e+01] [-1.83598599e-01 9.82994812e-01 3.57136887e-03 8.34480446e-01] [ 3.21272176e-01 5.65711246e-02 9.45295666e-01 5.73270972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.62650248099997 meters Centerline goodness : 0.729601 with order 1 Centerline is valid? [False, False] Translation: X:18.19, Y:0.88, Z:-0.01 [[ 9.28907724e-01 1.90357092e-01 -3.17639131e-01 1.81916088e+01] [-1.99494073e-01 9.79891534e-01 3.83365094e-03 8.79280627e-01] [ 3.11981658e-01 5.98060160e-02 9.48203926e-01 -1.27911568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.68650248099998 meters Centerline goodness : 0.192100 with order 1 Centerline is valid? [False, False] Translation: X:18.07, Y:0.92, Z:-0.06 [[ 9.28122090e-01 2.02236759e-01 -3.12553484e-01 1.80701777e+01] [-2.11725869e-01 9.77322251e-01 3.65706586e-03 9.16808115e-01] [ 3.06205067e-01 6.27814542e-02 9.49893123e-01 -6.21925808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.74650248099998 meters Centerline goodness : 0.727379 with order 1 Centerline is valid? [False, False] Translation: X:18.04, Y:0.95, Z:-0.08 [[ 9.26962675e-01 2.04000813e-01 -3.14839432e-01 1.80365214e+01] [-2.13418123e-01 9.76949828e-01 4.66245362e-03 9.50498953e-01] [ 3.08533473e-01 6.28705203e-02 9.49133496e-01 -7.71595857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.80650248099998 meters Centerline goodness : 0.727834 with order 1 Centerline is valid? [False, False] Translation: X:18.03, Y:0.98, Z:-0.08 [[ 9.25819803e-01 1.98907118e-01 -3.21393297e-01 1.80314832e+01] [-2.09698530e-01 9.77765513e-01 1.06246133e-03 9.79764004e-01] [ 3.14458613e-01 6.64120543e-02 9.46945204e-01 -8.05163115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.86650248099998 meters Centerline goodness : 0.728782 with order 1 Centerline is valid? [False, False] Translation: X:18.05, Y:1.01, Z:-0.08 [[ 9.25848365e-01 1.88524975e-01 -3.27510516e-01 1.80479010e+01] [-2.01380739e-01 9.79497823e-01 -5.46005566e-03 1.01107745e+00] [ 3.19766481e-01 7.10094936e-02 9.44831757e-01 -7.83126013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.92650248099999 meters Centerline goodness : 0.728267 with order 1 Centerline is valid? [False, False] Translation: X:17.91, Y:1.06, Z:-0.13 [[ 9.25679098e-01 1.91474906e-01 -3.26275295e-01 1.79072544e+01] [-2.05824639e-01 9.78540917e-01 -9.68978212e-03 1.05765589e+00] [ 3.17418376e-01 7.61251235e-02 9.45225127e-01 -1.32109541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.98650248099997 meters Centerline goodness : 0.727620 with order 1 Centerline is valid? [False, False] Translation: X:17.69, Y:1.11, Z:-0.22 [[ 9.29004994e-01 1.95642916e-01 -3.14123496e-01 1.76931057e+01] [-2.10772417e-01 9.77426320e-01 -1.45869139e-02 1.11406694e+00] [ 3.04178746e-01 7.97598843e-02 9.49270062e-01 -2.17264068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.04650248099998 meters Centerline goodness : 0.728905 with order 1 Centerline is valid? [False, False] Translation: X:17.57, Y:1.15, Z:-0.26 [[ 9.31614609e-01 1.96249304e-01 -3.05909187e-01 1.75705991e+01] [-2.09526553e-01 9.77742848e-01 -1.08419253e-02 1.14660218e+00] [ 2.96972800e-01 7.41965935e-02 9.51998961e-01 -2.64134677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.10650248099998 meters Centerline goodness : 0.729854 with order 1 Centerline is valid? [False, False] Translation: X:17.35, Y:1.20, Z:-0.34 [[ 9.33850376e-01 2.01986552e-01 -2.95169287e-01 1.73531537e+01] [-2.15986645e-01 9.76277057e-01 -1.52603056e-02 1.20374440e+00] [ 2.85084627e-01 7.80034664e-02 9.55323094e-01 -3.42438766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.16650248099998 meters Centerline goodness : 0.729077 with order 1 Centerline is valid? [False, False] Translation: X:17.14, Y:1.26, Z:-0.42 [[ 0.93375608 0.21166439 -0.28861352 17.13667514] [-0.22696414 0.9736934 -0.02021018 1.26247548] [ 0.27674331 0.0843763 0.95723236 -0.41989942] [ 0. 0. 0. 1. ]] SLAMing on 91.22650248099998 meters Centerline goodness : 0.728706 with order 1 Centerline is valid? [False, False] Translation: X:16.99, Y:1.30, Z:-0.47 [[ 9.33080974e-01 2.19601742e-01 -2.84842011e-01 1.69874230e+01] [-2.33830990e-01 9.72137223e-01 -1.65011465e-02 1.30311506e+00] [ 2.73281841e-01 8.20017952e-02 9.58432440e-01 -4.70969063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.28650248099999 meters Centerline goodness : 0.730075 with order 1 Centerline is valid? [False, False] Translation: X:16.98, Y:1.30, Z:-0.47 [[ 9.33077240e-01 2.20776251e-01 -2.83944908e-01 1.69846752e+01] [-2.34987668e-01 9.71857487e-01 -1.65475474e-02 1.30259326e+00] [ 2.72300679e-01 8.21636917e-02 9.58697798e-01 -4.70815657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.34650248099997 meters Centerline goodness : 0.729906 with order 1 Centerline is valid? [False, False] Translation: X:16.99, Y:1.30, Z:-0.47 [[ 9.32143449e-01 2.25292379e-01 -2.83464168e-01 1.69863239e+01] [-2.38846586e-01 9.70960376e-01 -1.37206304e-02 1.30480810e+00] [ 2.72141322e-01 8.04940446e-02 9.58884670e-01 -4.71393816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.40650248099998 meters Centerline goodness : 0.728850 with order 1 Centerline is valid? [False, False] Translation: X:16.99, Y:1.31, Z:-0.47 [[ 9.32042460e-01 2.24879631e-01 -2.84123222e-01 1.69885431e+01] [-2.39249987e-01 9.70818646e-01 -1.64499324e-02 1.30732541e+00] [ 2.72132867e-01 8.33085127e-02 9.58646647e-01 -4.73212769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.46650248099998 meters Centerline goodness : 0.729259 with order 1 Centerline is valid? [False, False] Translation: X:16.99, Y:1.31, Z:-0.47 [[ 0.93202101 0.22528313 -0.28387381 16.98731419] [-0.24021604 0.97054399 -0.01845612 1.30997019] [ 0.27135417 0.08539253 0.95868401 -0.4734132 ] [ 0. 0. 0. 1. ]] SLAMing on 91.52650248099998 meters Centerline goodness : 0.726929 with order 1 Centerline is valid? [False, False] Translation: X:16.77, Y:1.38, Z:-0.55 [[ 0.93006258 0.24412571 -0.27456554 16.76903855] [-0.25918479 0.96563322 -0.01938398 1.37580429] [ 0.26039748 0.08919153 0.96137299 -0.54770851] [ 0. 0. 0. 1. ]] SLAMing on 91.58650248099998 meters Centerline goodness : 0.727139 with order 1 Centerline is valid? [False, False] Translation: X:16.77, Y:1.38, Z:-0.55 [[ 0.9300769 0.2431326 -0.27539697 16.7711406 ] [-0.25872585 0.96571821 -0.02119615 1.37885467] [ 0.26080239 0.09096636 0.96109689 -0.54803073] [ 0. 0. 0. 1. ]] SLAMing on 91.64650248099998 meters Centerline goodness : 0.726775 with order 1 Centerline is valid? [False, False] Translation: X:16.77, Y:1.38, Z:-0.55 [[ 0.93041976 0.24267905 -0.27463784 16.76864453] [-0.25833218 0.96581112 -0.02175678 1.37991959] [ 0.25996837 0.09119073 0.96130156 -0.54721275] [ 0. 0. 0. 1. ]] SLAMing on 91.70650248099999 meters Centerline goodness : 0.727426 with order 1 Centerline is valid? [False, False] Translation: X:16.77, Y:1.38, Z:-0.55 [[ 0.93052954 0.24116508 -0.27559786 16.76951816] [-0.2569982 0.96615491 -0.02228463 1.3817487 ] [ 0.26089595 0.09156466 0.96101468 -0.54548131] [ 0. 0. 0. 1. ]] SLAMing on 91.76650248099997 meters Centerline goodness : 0.726421 with order 1 Centerline is valid? [False, False] Translation: X:16.77, Y:1.38, Z:-0.55 [[ 0.93063101 0.23836411 -0.27768412 16.77462172] [-0.25467269 0.96673776 -0.02366256 1.38471181] [ 0.26280742 0.09273968 0.96038097 -0.54520553] [ 0. 0. 0. 1. ]] SLAMing on 91.82650248099998 meters Centerline goodness : 0.725404 with order 1 Centerline is valid? [False, False] Translation: X:16.77, Y:1.39, Z:-0.55 [[ 0.93169032 0.23328883 -0.27844116 16.77391646] [-0.25099389 0.96754816 -0.0291997 1.38628889] [ 0.26259327 0.09709211 0.96000932 -0.54562694] [ 0. 0. 0. 1. ]] SLAMing on 91.88650248099998 meters Centerline goodness : 0.723525 with order 1 Centerline is valid? [False, False] Translation: X:16.77, Y:1.39, Z:-0.54 [[ 0.93095742 0.23638 -0.27828544 16.77471846] [-0.25286138 0.96719595 -0.02435413 1.38642823] [ 0.26339972 0.0930403 0.96018961 -0.54358366] [ 0. 0. 0. 1. ]] SLAMing on 91.94650248099998 meters Centerline goodness : 0.722443 with order 1 Centerline is valid? [False, False] Translation: X:16.77, Y:1.39, Z:-0.54 [[ 0.93182112 0.23170995 -0.27932043 16.77452187] [-0.24958526 0.96789708 -0.02970579 1.3898561 ] [ 0.26347031 0.09739475 0.95973833 -0.54310976] [ 0. 0. 0. 1. ]] SLAMing on 92.00650248099998 meters Centerline goodness : 0.720364 with order 1 Centerline is valid? [False, False] Translation: X:16.77, Y:1.39, Z:-0.54 [[ 0.9319602 0.23143441 -0.27908475 16.77298115] [-0.24942602 0.96792099 -0.03025926 1.39012594] [ 0.26312895 0.09781143 0.9597896 -0.54258769] [ 0. 0. 0. 1. ]] SLAMing on 92.06650248099999 meters Centerline goodness : 0.719230 with order 1 Centerline is valid? [False, False] Translation: X:16.57, Y:1.45, Z:-0.61 [[ 0.92994509 0.24315147 -0.2758251 16.56767111] [-0.26056514 0.96505717 -0.02775746 1.45258476] [ 0.25943772 0.09768332 0.96080697 -0.60643189] [ 0. 0. 0. 1. ]] SLAMing on 92.12650248099997 meters Centerline goodness : 0.717982 with order 1 Centerline is valid? [False, False] Translation: X:16.36, Y:1.52, Z:-0.67 [[ 0.92799397 0.25378181 -0.27280394 16.36296112] [-0.27178159 0.96190096 -0.02968692 1.52016179] [ 0.25487637 0.10169238 0.96161151 -0.66839329] [ 0. 0. 0. 1. ]] SLAMing on 92.18650248099998 meters Centerline goodness : 0.717387 with order 1 Centerline is valid? [False, False] Translation: X:16.11, Y:1.60, Z:-0.75 [[ 0.92523402 0.27214224 -0.26434939 16.10735666] [-0.28995002 0.95656931 -0.03006894 1.60046034] [ 0.24468549 0.10446892 0.96395812 -0.74565538] [ 0. 0. 0. 1. ]] SLAMing on 92.24650248099998 meters Centerline goodness : 0.717495 with order 1 Centerline is valid? [False, False] Translation: X:15.85, Y:1.69, Z:-0.82 [[ 0.92472044 0.2828442 -0.25473766 15.85260486] [-0.30045596 0.95325015 -0.03225473 1.69484875] [ 0.23370565 0.10636406 0.96647212 -0.82234879] [ 0. 0. 0. 1. ]] SLAMing on 92.30650248099998 meters Centerline goodness : 0.716367 with order 1 Centerline is valid? [False, False] Translation: X:15.85, Y:1.69, Z:-0.82 [[ 0.92605131 0.27824954 -0.25496308 15.85084883] [-0.29660836 0.9543271 -0.03582276 1.69428594] [ 0.23335051 0.10879789 0.966287 -0.82252817] [ 0. 0. 0. 1. ]] SLAMing on 92.36650248099998 meters Centerline goodness : 0.715308 with order 1 Centerline is valid? [False, False] Translation: X:15.85, Y:1.69, Z:-0.82 [[ 0.92622603 0.27876832 -0.25375887 15.84823134] [-0.29688783 0.95425813 -0.03534184 1.694404 ] [ 0.23229928 0.10807245 0.96662164 -0.82210603] [ 0. 0. 0. 1. ]] SLAMing on 92.42650248099999 meters Centerline goodness : 0.714118 with order 1 Centerline is valid? [False, False] Translation: X:15.85, Y:1.70, Z:-0.82 [[ 0.92713875 0.27430704 -0.25528294 15.8495068 ] [-0.29401568 0.95488785 -0.041761 1.69720371] [ 0.23231124 0.11377543 0.9659641 -0.82347952] [ 0. 0. 0. 1. ]] SLAMing on 92.48650248099997 meters Centerline goodness : 0.709692 with order 1 Centerline is valid? [False, False] Translation: X:15.84, Y:1.70, Z:-0.83 [[ 0.92494063 0.27993482 -0.25714068 15.83673573] [-0.29904444 0.95349611 -0.03765094 1.70181329] [ 0.23464283 0.11172137 0.96564024 -0.82793242] [ 0. 0. 0. 1. ]] SLAMing on 92.54650248099998 meters Centerline goodness : 0.708880 with order 1 Centerline is valid? [False, False] Translation: X:15.84, Y:1.71, Z:-0.83 [[ 0.92475937 0.28029596 -0.25739907 15.83833662] [-0.29994511 0.95313005 -0.03969926 1.70539018] [ 0.23420725 0.11391785 0.96548935 -0.82907923] [ 0. 0. 0. 1. ]] SLAMing on 92.60650248099998 meters Centerline goodness : 0.708947 with order 1 Centerline is valid? [False, False] Translation: X:15.60, Y:1.79, Z:-0.90 [[ 0.92139394 0.30131272 -0.24544624 15.59978328] [-0.32116983 0.9459822 -0.04435783 1.78825916] [ 0.21882219 0.11970096 0.96839482 -0.89951152] [ 0. 0. 0. 1. ]] SLAMing on 92.66650248099998 meters Centerline goodness : 0.708205 with order 1 Centerline is valid? [False, False] Translation: X:15.38, Y:1.87, Z:-0.96 [[ 0.91831607 0.31874308 -0.23473059 15.38159027] [-0.33747326 0.9403352 -0.04337644 1.87288093] [ 0.2068995 0.11904858 0.97109219 -0.96124769] [ 0. 0. 0. 1. ]] SLAMing on 92.72650248099998 meters Centerline goodness : 0.707219 with order 1 Centerline is valid? [False, False] Translation: X:15.16, Y:1.97, Z:-1.02 [[ 0.9160972 0.33281568 -0.22360599 15.15732771] [-0.35184149 0.93471019 -0.0502437 1.97489112] [ 0.19228491 0.12470198 0.97338375 -1.02320907] [ 0. 0. 0. 1. ]] SLAMing on 92.78650248099999 meters Centerline goodness : 0.706233 with order 1 Centerline is valid? [False, False] Translation: X:14.91, Y:2.09, Z:-1.08 [[ 0.91454818 0.34288832 -0.21454422 14.91445992] [-0.36271512 0.92997552 -0.05986041 2.09192393] [ 0.17899544 0.13256367 0.9748782 -1.08441966] [ 0. 0. 0. 1. ]] SLAMing on 92.84650248099997 meters Centerline goodness : 0.708294 with order 1 Centerline is valid? [False, False] Translation: X:14.68, Y:2.20, Z:-1.14 [[ 0.91062156 0.3605272 -0.20196165 14.68402443] [-0.38010767 0.92250746 -0.06706822 2.20272391] [ 0.16213121 0.13784094 0.97709434 -1.14115981] [ 0. 0. 0. 1. ]] SLAMing on 92.90650248099998 meters Centerline goodness : 0.709587 with order 1 Centerline is valid? [False, False] Translation: X:14.41, Y:2.33, Z:-1.20 [[ 0.90670245 0.3766661 -0.18977176 14.41199209] [-0.39519077 0.91591032 -0.07023211 2.33333839] [ 0.14735986 0.13867567 0.97931309 -1.19879349] [ 0. 0. 0. 1. ]] SLAMing on 92.96650248099998 meters Centerline goodness : 0.707124 with order 1 Centerline is valid? [False, False] Translation: X:14.16, Y:2.46, Z:-1.25 [[ 0.90304877 0.38909158 -0.18196334 14.16124097] [-0.40795183 0.90951096 -0.07978167 2.46399636] [ 0.13445528 0.14627902 0.98006338 -1.25164608] [ 0. 0. 0. 1. ]] SLAMing on 93.02650248099998 meters Centerline goodness : 0.708685 with order 1 Centerline is valid? [False, False] Translation: X:13.87, Y:2.61, Z:-1.31 [[ 0.89863487 0.40581537 -0.16664112 13.87398667] [-0.42304997 0.90217453 -0.0843199 2.60999765] [ 0.11612107 0.14627032 0.98240567 -1.30683666] [ 0. 0. 0. 1. ]] SLAMing on 93.08650248099998 meters Centerline goodness : 0.708768 with order 1 Centerline is valid? [False, False] Translation: X:13.55, Y:2.77, Z:-1.37 [[ 0.88695572 0.43831896 -0.14555428 13.55172144] [-0.45334817 0.88646088 -0.0930728 2.77137395] [ 0.0882326 0.14853822 0.98496264 -1.36670892] [ 0. 0. 0. 1. ]] SLAMing on 93.14650248099998 meters Centerline goodness : 0.708118 with order 1 Centerline is valid? [False, False] Translation: X:13.27, Y:2.93, Z:-1.40 [[ 0.87965048 0.45699757 -0.13178868 13.26933438] [-0.47057835 0.8764874 -0.10161622 2.93049034] [ 0.06907275 0.15140365 0.98605572 -1.40411892] [ 0. 0. 0. 1. ]] SLAMing on 93.20650248099999 meters Centerline goodness : 0.708113 with order 1 Centerline is valid? [False, False] Translation: X:13.00, Y:3.09, Z:-1.43 [[ 0.87249464 0.47404298 -0.11847516 12.9982766 ] [-0.48567989 0.86793483 -0.10394316 3.09085032] [ 0.05355519 0.14823085 0.98750162 -1.43404997] [ 0. 0. 0. 1. ]] SLAMing on 93.26650248099997 meters Centerline goodness : 0.706663 with order 1 Centerline is valid? [False, False] Translation: X:12.72, Y:3.27, Z:-1.46 [[ 0.86188503 0.49490094 -0.11057687 12.71869872] [-0.50579639 0.85462399 -0.11742168 3.26520901] [ 0.03638954 0.15713337 0.98690674 -1.45821437] [ 0. 0. 0. 1. ]] SLAMing on 93.32650248099998 meters Centerline goodness : 0.707159 with order 1 Centerline is valid? [False, False] Translation: X:12.72, Y:3.27, Z:-1.46 [[ 0.86374743 0.49096166 -0.11356506 12.72105289] [-0.50252462 0.85597839 -0.12153188 3.26749188] [ 0.03754175 0.16204209 0.98606946 -1.45776183] [ 0. 0. 0. 1. ]] SLAMing on 93.38650248099998 meters Centerline goodness : 0.706507 with order 1 Centerline is valid? [False, False] Translation: X:12.73, Y:3.27, Z:-1.46 [[ 0.86406076 0.49021922 -0.11438583 12.72568488] [-0.50185041 0.85663218 -0.11969746 3.26862573] [ 0.03930859 0.16083045 0.98619897 -1.45733416] [ 0. 0. 0. 1. ]] SLAMing on 93.44650248099998 meters Centerline goodness : 0.704627 with order 1 Centerline is valid? [False, False] Translation: X:12.72, Y:3.27, Z:-1.46 [[ 0.86560683 0.48700635 -0.11640291 12.7243789 ] [-0.49918253 0.85752894 -0.12434196 3.27135737] [ 0.03926354 0.16573755 0.98538796 -1.45516061] [ 0. 0. 0. 1. ]] SLAMing on 93.50650248099998 meters Centerline goodness : 0.704908 with order 1 Centerline is valid? [False, False] Translation: X:12.71, Y:3.28, Z:-1.46 [[ 0.86683524 0.48448281 -0.11778403 12.70992593] [-0.4970949 0.85807642 -0.12884687 3.28226988] [ 0.03864361 0.17023885 0.98464481 -1.45615423] [ 0. 0. 0. 1. ]] SLAMing on 93.56650248099999 meters Centerline goodness : 0.702336 with order 1 Centerline is valid? [False, False] Translation: X:12.70, Y:3.29, Z:-1.46 [[ 0.86698512 0.48416777 -0.11797615 12.6958719 ] [-0.49662134 0.85905489 -0.12406423 3.28941345] [ 0.04128009 0.16615132 0.98523586 -1.45741183] [ 0. 0. 0. 1. ]] SLAMing on 93.62650248099997 meters Centerline goodness : 0.703222 with order 1 Centerline is valid? [False, False] Translation: X:12.69, Y:3.29, Z:-1.46 [[ 0.86748318 0.48344081 -0.1172941 12.6940552 ] [-0.49572105 0.85980139 -0.12248349 3.28725635] [ 0.04163612 0.16439753 0.98551504 -1.4560627 ] [ 0. 0. 0. 1. ]] SLAMing on 93.68650248099998 meters Centerline goodness : 0.704678 with order 1 Centerline is valid? [False, False] Translation: X:12.67, Y:3.30, Z:-1.46 [[ 0.8722593 0.4747332 -0.11743982 12.6691165 ] [-0.48730212 0.86396815 -0.12686875 3.30327798] [ 0.04123545 0.16789112 0.98494274 -1.45811241] [ 0. 0. 0. 1. ]] SLAMing on 93.74650248099998 meters Centerline goodness : 0.702319 with order 1 Centerline is valid? [False, False] Translation: X:12.66, Y:3.31, Z:-1.46 [[ 0.87159287 0.47557403 -0.11897569 12.65661388] [-0.48819769 0.86410706 -0.12240101 3.31146235] [ 0.044597 0.1647675 0.98532369 -1.45925151] [ 0. 0. 0. 1. ]] SLAMing on 93.80650248099998 meters Centerline goodness : 0.706764 with order 1 Centerline is valid? [False, False] Translation: X:12.36, Y:3.49, Z:-1.48 [[ 0.86685934 0.48580465 -0.11202104 12.35911771] [-0.49726661 0.85864371 -0.12432573 3.49326905] [ 0.03578814 0.16347725 0.98589776 -1.47549612] [ 0. 0. 0. 1. ]] SLAMing on 93.86650248099998 meters Centerline goodness : 0.700035 with order 1 Centerline is valid? [False, False] Translation: X:11.97, Y:3.72, Z:-1.50 [[ 0.8511479 0.51622771 -0.09516405 11.96827599] [-0.52457407 0.8431198 -0.11819921 3.71608817] [ 0.01921699 0.1505256 0.98841932 -1.50032287] [ 0. 0. 0. 1. ]] SLAMing on 93.92650248099999 meters Centerline goodness : 0.700598 with order 1 Centerline is valid? [False, False] Translation: X:11.95, Y:3.73, Z:-1.50 [[ 0.85418918 0.5110779 -0.09570906 11.9542487 ] [-0.51962112 0.84571034 -0.12152331 3.72851016] [ 0.01883426 0.15353635 0.98796349 -1.50143262] [ 0. 0. 0. 1. ]] SLAMing on 93.98650248099997 meters Centerline goodness : 0.697879 with order 1 Centerline is valid? [False, False] Translation: X:11.94, Y:3.74, Z:-1.50 [[ 0.85588145 0.50802648 -0.09682997 11.93898837] [-0.51682737 0.84702048 -0.12428106 3.74119181] [ 0.0188789 0.15641423 0.9875111 -1.501549 ] [ 0. 0. 0. 1. ]] SLAMing on 94.04650248099998 meters Centerline goodness : 0.697718 with order 1 Centerline is valid? [False, False] Translation: X:11.94, Y:3.74, Z:-1.50 [[ 0.8557431 0.5081449 -0.09742949 11.94087046] [-0.5170645 0.84667753 -0.12562433 3.74454638] [ 0.018656 0.15787949 0.98728214 -1.50147548] [ 0. 0. 0. 1. ]] SLAMing on 94.10650248099998 meters Centerline goodness : 0.698159 with order 1 Centerline is valid? [False, False] Translation: X:11.92, Y:3.76, Z:-1.50 [[ 0.85352027 0.51208711 -0.09628057 11.92476637] [-0.52082713 0.84396801 -0.1282852 3.75809453] [ 0.01556452 0.15963955 0.98705266 -1.50281981] [ 0. 0. 0. 1. ]] SLAMing on 94.16650248099998 meters Centerline goodness : 0.697877 with order 1 Centerline is valid? [False, False] Translation: X:11.92, Y:3.76, Z:-1.50 [[ 0.85114218 0.51647956 -0.09383953 11.92391033] [-0.52476032 0.84176727 -0.12670621 3.76093805] [ 0.01354988 0.15708826 0.98749161 -1.50289909] [ 0. 0. 0. 1. ]] SLAMing on 94.22650248099998 meters Centerline goodness : 0.695099 with order 1 Centerline is valid? [False, False] Translation: X:11.91, Y:3.77, Z:-1.50 [[ 0.8500705 0.51769619 -0.09680291 11.910599 ] [-0.52647875 0.84022512 -0.12977624 3.77120289] [ 0.01415157 0.16128363 0.98680663 -1.5034853 ] [ 0. 0. 0. 1. ]] SLAMing on 94.28650248099999 meters Centerline goodness : 0.692773 with order 1 Centerline is valid? [False, False] Translation: X:11.90, Y:3.78, Z:-1.50 [[ 0.84883641 0.51902677 -0.10043884 11.899102 ] [-0.52837629 0.83911069 -0.12927393 3.78066017] [ 0.01718267 0.16280192 0.98650914 -1.50331697] [ 0. 0. 0. 1. ]] SLAMing on 94.34650248099997 meters Centerline goodness : 0.693940 with order 1 Centerline is valid? [False, False] Translation: X:11.90, Y:3.78, Z:-1.50 [[ 0.84868272 0.51922112 -0.10073264 11.89928432] [-0.52863008 0.83882909 -0.13006148 3.78215468] [ 0.0169668 0.16363123 0.98637566 -1.50291541] [ 0. 0. 0. 1. ]] SLAMing on 94.40650248099998 meters Centerline goodness : 0.696537 with order 1 Centerline is valid? [False, False] Translation: X:11.90, Y:3.79, Z:-1.50 [[ 0.8486094 0.51930557 -0.10091491 11.89927786] [-0.52876829 0.83851326 -0.13152801 3.78542608] [ 0.01631526 0.16497651 0.98616254 -1.50174441] [ 0. 0. 0. 1. ]] SLAMing on 94.46650248099998 meters Centerline goodness : 0.698217 with order 1 Centerline is valid? [False, False] Translation: X:11.89, Y:3.80, Z:-1.50 [[ 0.8508304 0.51531174 -0.10267146 11.88537465] [-0.52524993 0.83938782 -0.1397877 3.79681225] [ 0.01414693 0.17286381 0.98484413 -1.50180845] [ 0. 0. 0. 1. ]] SLAMing on 94.52650248099998 meters Centerline goodness : 0.696414 with order 1 Centerline is valid? [False, False] Translation: X:11.89, Y:3.80, Z:-1.50 [[ 0.85188842 0.51342614 -0.10334274 11.88712158] [-0.52349202 0.840634 -0.13889055 3.79601754] [ 0.01556338 0.17241835 0.98490085 -1.5011395 ] [ 0. 0. 0. 1. ]] SLAMing on 94.58650248099998 meters Centerline goodness : 0.698839 with order 1 Centerline is valid? [False, False] Translation: X:11.89, Y:3.80, Z:-1.50 [[ 0.85229188 0.51273777 -0.10343371 11.88723327] [-0.52282094 0.84112844 -0.13842407 3.79530085] [ 0.01602578 0.17205502 0.98495698 -1.50066115] [ 0. 0. 0. 1. ]] SLAMing on 94.64650248099998 meters Centerline goodness : 0.700425 with order 1 Centerline is valid? [False, False] Translation: X:11.87, Y:3.81, Z:-1.50 [[ 0.85738165 0.50397327 -0.10443963 11.87301511] [-0.51449073 0.84475278 -0.14728211 3.80829618] [ 0.01399942 0.1800102 0.98356512 -1.50210528] [ 0. 0. 0. 1. ]] SLAMing on 94.70650248099999 meters Centerline goodness : 0.703403 with order 1 Centerline is valid? [False, False] Translation: X:11.87, Y:3.81, Z:-1.50 [[ 0.86015295 0.49898991 -0.10557443 11.87308399] [-0.50980123 0.84741835 -0.14827286 3.80888358] [ 0.01547905 0.18135931 0.98329507 -1.49956797] [ 0. 0. 0. 1. ]] SLAMing on 94.76650248099997 meters Centerline goodness : 0.705982 with order 1 Centerline is valid? [False, False] Translation: X:11.86, Y:3.82, Z:-1.50 [[ 0.86144734 0.4966887 -0.10587167 11.85969986] [-0.50765732 0.84790124 -0.15279897 3.82033626] [ 0.0138752 0.1853748 0.98256993 -1.49908635] [ 0. 0. 0. 1. ]] SLAMing on 94.82650248099998 meters Centerline goodness : 0.702905 with order 1 Centerline is valid? [False, False] Translation: X:11.85, Y:3.83, Z:-1.50 [[ 0.86163071 0.49575569 -0.10871441 11.84816069] [-0.50729539 0.84782476 -0.15441687 3.8308148 ] [ 0.01561773 0.18820064 0.98200642 -1.49897334] [ 0. 0. 0. 1. ]] SLAMing on 94.88650248099998 meters Centerline goodness : 0.705064 with order 1 Centerline is valid? [False, False] Translation: X:11.84, Y:3.84, Z:-1.50 [[ 0.86112732 0.49556623 -0.113463 11.83921687] [-0.5080687 0.84680318 -0.15745024 3.84365825] [ 0.01805381 0.1932317 0.98098704 -1.49822191] [ 0. 0. 0. 1. ]] SLAMing on 94.94650248099998 meters Centerline goodness : 0.705267 with order 1 Centerline is valid? [False, False] Translation: X:11.83, Y:3.86, Z:-1.50 [[ 0.86091994 0.49599856 -0.11314723 11.82537727] [-0.50851002 0.84567057 -0.16204583 3.85528945] [ 0.01531078 0.19704498 0.98027489 -1.49695464] [ 0. 0. 0. 1. ]] SLAMing on 95.00650248099998 meters Centerline goodness : 0.701493 with order 1 Centerline is valid? [False, False] Translation: X:11.82, Y:3.87, Z:-1.49 [[ 0.85748232 0.5016409 -0.11436988 11.81611543] [-0.51426473 0.84253558 -0.16020483 3.86887808] [ 0.01599539 0.19618921 0.98043559 -1.49377164] [ 0. 0. 0. 1. ]] SLAMing on 95.06650248099999 meters Centerline goodness : 0.699478 with order 1 Centerline is valid? [False, False] Translation: X:11.80, Y:3.88, Z:-1.49 [[ 0.85622891 0.50319485 -0.11690595 11.80384181] [-0.51635763 0.84051302 -0.1640508 3.88014025] [ 0.01571146 0.20083032 0.97950004 -1.49334989] [ 0. 0. 0. 1. ]] SLAMing on 95.12650248099997 meters Centerline goodness : 0.700572 with order 1 Centerline is valid? [False, False] Translation: X:11.79, Y:3.89, Z:-1.49 [[ 0.85508073 0.50488628 -0.11801185 11.79174069] [-0.51824547 0.83929629 -0.164327 3.89138987] [ 0.01608046 0.20167196 0.97932111 -1.49188652] [ 0. 0. 0. 1. ]] SLAMing on 95.18650248099998 meters Centerline goodness : 0.696904 with order 1 Centerline is valid? [False, False] Translation: X:11.78, Y:3.90, Z:-1.49 [[ 0.85475121 0.50524803 -0.11884776 11.77836877] [-0.51878021 0.83884358 -0.16495013 3.90236954] [ 0.01635395 0.20264719 0.97911525 -1.49096247] [ 0. 0. 0. 1. ]] SLAMing on 95.24650248099998 meters Centerline goodness : 0.696854 with order 1 Centerline is valid? [False, False] Translation: X:11.76, Y:3.91, Z:-1.49 [[ 0.85383413 0.50606928 -0.1219064 11.7645492 ] [-0.52028334 0.83709925 -0.16902688 3.91186361] [ 0.01650845 0.20774679 0.97804332 -1.4899579 ] [ 0. 0. 0. 1. ]] SLAMing on 95.30650248099998 meters Centerline goodness : 0.695663 with order 1 Centerline is valid? [False, False] Translation: X:11.76, Y:3.91, Z:-1.49 [[ 0.85315818 0.5076496 -0.12005417 11.76088273] [-0.52143935 0.83649315 -0.16846426 3.91341273] [ 0.01490368 0.20632763 0.97836945 -1.48725047] [ 0. 0. 0. 1. ]] SLAMing on 95.36650248099998 meters Centerline goodness : 0.697806 with order 1 Centerline is valid? [False, False] Translation: X:11.76, Y:3.91, Z:-1.49 [[ 0.85479036 0.50460242 -0.12128409 11.75847607] [-0.51877089 0.83732455 -0.17252351 3.9144181 ] [ 0.01449837 0.21039009 0.97751 -1.48640706] [ 0. 0. 0. 1. ]] SLAMing on 95.42650248099999 meters Centerline goodness : 0.701843 with order 1 Centerline is valid? [False, False] Translation: X:11.76, Y:3.91, Z:-1.49 [[ 0.8569377 0.50070809 -0.12226687 11.75665894] [-0.51520123 0.83903518 -0.1748933 3.9134404 ] [ 0.01501571 0.2128647 0.9769663 -1.48588943] [ 0. 0. 0. 1. ]] SLAMing on 95.48650248099997 meters Centerline goodness : 0.698068 with order 1 Centerline is valid? [False, False] Translation: X:11.75, Y:3.92, Z:-1.49 [[ 0.85755406 0.49822338 -0.12796286 11.74504473] [-0.51398339 0.83986906 -0.17447362 3.91690003] [ 0.02054522 0.21539135 0.97631166 -1.48727096] [ 0. 0. 0. 1. ]] SLAMing on 95.54650248099998 meters Centerline goodness : 0.700763 with order 1 Centerline is valid? [False, False] Translation: X:11.73, Y:3.93, Z:-1.49 [[ 0.85754987 0.49864633 -0.1263331 11.72739882] [-0.51407888 0.83945325 -0.176185 3.92533882] [ 0.01819673 0.2160326 0.97621657 -1.48973302] [ 0. 0. 0. 1. ]] SLAMing on 95.60650248099998 meters Centerline goodness : 0.700646 with order 1 Centerline is valid? [False, False] Translation: X:11.72, Y:3.93, Z:-1.49 [[ 0.85662055 0.50062098 -0.12481934 11.72376576] [-0.51570456 0.83819904 -0.17740119 3.92781863] [ 0.01581269 0.21633541 0.97619104 -1.48854936] [ 0. 0. 0. 1. ]] SLAMing on 95.66650248099998 meters Centerline goodness : 0.701756 with order 1 Centerline is valid? [False, False] Translation: X:11.71, Y:3.94, Z:-1.49 [[ 8.53712544e-01 5.06361854e-01 -1.21542443e-01 1.17074650e+01] [-5.20642142e-01 8.34598921e-01 -1.79934436e-01 3.93866323e+00] [ 1.03272574e-02 2.16892403e-01 9.76140888e-01 -1.48950420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.72650248099998 meters Centerline goodness : 0.702350 with order 1 Centerline is valid? [False, False] Translation: X:11.69, Y:3.95, Z:-1.49 [[ 8.51978122e-01 5.09434999e-01 -1.20868777e-01 1.16919942e+01] [-5.23539380e-01 8.31686593e-01 -1.84943041e-01 3.94730746e+00] [ 6.30848341e-03 2.20846989e-01 9.75288065e-01 -1.49129726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.78650248099999 meters Centerline goodness : 0.701175 with order 1 Centerline is valid? [False, False] Translation: X:11.70, Y:3.99, Z:-1.47 [[ 0.85692648 0.49584287 -0.14077234 11.69830802] [-0.51493741 0.83558814 -0.19139468 3.99025407] [ 0.02272601 0.23650011 0.97136565 -1.47487614] [ 0. 0. 0. 1. ]] SLAMing on 95.84650248099997 meters Centerline goodness : 0.700650 with order 1 Centerline is valid? [False, False] Translation: X:11.40, Y:3.79, Z:-1.84 [[ 8.63785423e-01 4.38814636e-01 2.47621602e-01 1.14020798e+01] [-5.03818594e-01 7.58502927e-01 4.13328120e-01 3.78525322e+00] [-6.44728107e-03 -4.81783173e-01 8.76266744e-01 -1.84379488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.90650248099998 meters Centerline goodness : 0.702022 with order 1 Centerline is valid? [False, False] Translation: X:10.36, Y:4.79, Z:-2.07 [[ 0.43980386 -0.89342977 0.09141014 10.35824602] [ 0.72214301 0.41231396 0.55543377 4.79274377] [-0.53393074 -0.17827072 0.82652133 -2.07077619] [ 0. 0. 0. 1. ]] SLAMing on 95.96650248099998 meters Centerline goodness : 0.704088 with order 1 Centerline is valid? [False, False] Translation: X:10.32, Y:4.73, Z:-2.03 [[ 0.43292141 -0.8965328 0.09385087 10.32272867] [ 0.72511994 0.40820448 0.5545901 4.73262314] [-0.53551856 -0.1720408 0.82681427 -2.02564497] [ 0. 0. 0. 1. ]] SLAMing on 96.02650248099998 meters Centerline goodness : 0.703203 with order 1 Centerline is valid? [False, False] Translation: X:10.27, Y:4.65, Z:-1.96 [[ 0.42873859 -0.89783098 0.10041297 10.27168107] [ 0.72724855 0.40893307 0.5512561 4.64706459] [-0.53599699 -0.16331957 0.82827166 -1.96051225] [ 0. 0. 0. 1. ]] SLAMing on 96.08650248099998 meters Centerline goodness : 0.701921 with order 1 Centerline is valid? [False, False] Translation: X:10.23, Y:4.57, Z:-1.90 [[ 0.4238101 -0.89975074 0.10408464 10.22602163] [ 0.72845951 0.40688708 0.55117116 4.57488632] [-0.53826736 -0.15777046 0.82787483 -1.90467504] [ 0. 0. 0. 1. ]] SLAMing on 96.14650248099998 meters Centerline goodness : 0.703231 with order 1 Centerline is valid? [False, False] Translation: X:10.18, Y:4.51, Z:-1.85 [[ 0.41960376 -0.90084548 0.1114007 10.17906728] [ 0.72995512 0.4078322 0.54848739 4.50501501] [-0.53953518 -0.14882986 0.82870469 -1.84760239] [ 0. 0. 0. 1. ]] SLAMing on 96.20650248099997 meters Centerline goodness : 0.702540 with order 1 Centerline is valid? [False, False] Translation: X:10.13, Y:4.43, Z:-1.78 [[ 0.42021713 -0.89998327 0.11596412 10.12722334] [ 0.73163268 0.41162837 0.54339277 4.42808819] [-0.53677853 -0.14349981 0.83143046 -1.7831218 ] [ 0. 0. 0. 1. ]] SLAMing on 96.26650248099997 meters Centerline goodness : 0.700301 with order 1 Centerline is valid? [False, False] Translation: X:10.08, Y:4.36, Z:-1.73 [[ 0.42313367 -0.89867637 0.11549323 10.07915177] [ 0.73144413 0.41402612 0.54182272 4.35601244] [-0.53474049 -0.14478659 0.83251994 -1.72596395] [ 0. 0. 0. 1. ]] SLAMing on 96.32650248099998 meters Centerline goodness : 0.703636 with order 1 Centerline is valid? [False, False] Translation: X:10.03, Y:4.28, Z:-1.66 [[ 0.42653859 -0.8959052 0.12417204 10.02979803] [ 0.73029202 0.42213248 0.53710123 4.28064215] [-0.53360884 -0.13841255 0.83432822 -1.66450285] [ 0. 0. 0. 1. ]] SLAMing on 96.38650248099998 meters Centerline goodness : 0.708148 with order 1 Centerline is valid? [False, False] Translation: X:9.99, Y:4.21, Z:-1.61 [[ 0.42620303 -0.89564735 0.12714872 9.98646384] [ 0.73073922 0.42371459 0.535244 4.21113867] [-0.53326464 -0.13521005 0.83507309 -1.6117227 ] [ 0. 0. 0. 1. ]] SLAMing on 96.44650248099998 meters Centerline goodness : 0.708642 with order 1 Centerline is valid? [False, False] Translation: X:9.93, Y:4.13, Z:-1.54 [[ 0.42367043 -0.89642007 0.13013238 9.93302567] [ 0.73360831 0.42383641 0.53120763 4.12621386] [-0.53134002 -0.12959077 0.83718816 -1.54441715] [ 0. 0. 0. 1. ]] SLAMing on 96.50650248099998 meters Centerline goodness : 0.709325 with order 1 Centerline is valid? [False, False] Translation: X:9.88, Y:4.05, Z:-1.48 [[ 0.42233616 -0.89655434 0.13350089 9.88259279] [ 0.73629762 0.42522166 0.52635763 4.04695816] [-0.52867568 -0.12400348 0.83971731 -1.47998718] [ 0. 0. 0. 1. ]] SLAMing on 96.56650248099999 meters Centerline goodness : 0.711328 with order 1 Centerline is valid? [False, False] Translation: X:9.84, Y:3.97, Z:-1.42 [[ 0.41873842 -0.89772149 0.13694621 9.83621556] [ 0.73990127 0.42470821 0.52169824 3.96950226] [-0.5265019 -0.11712842 0.84206691 -1.41801707] [ 0. 0. 0. 1. ]] SLAMing on 96.62650248099997 meters Centerline goodness : 0.709882 with order 1 Centerline is valid? [False, False] Translation: X:9.79, Y:3.90, Z:-1.36 [[ 0.41251916 -0.90069923 0.13626751 9.79228952] [ 0.74400913 0.41944359 0.52011296 3.89806412] [-0.52562187 -0.11317229 0.84315697 -1.36237289] [ 0. 0. 0. 1. ]] SLAMing on 96.68650248099998 meters Centerline goodness : 0.708891 with order 1 Centerline is valid? [False, False] Translation: X:9.73, Y:3.80, Z:-1.29 [[ 0.4037954 -0.90385534 0.14140297 9.73490724] [ 0.74912472 0.41539548 0.51600267 3.80446343] [-0.52512992 -0.10243104 0.84483516 -1.29106642] [ 0. 0. 0. 1. ]] SLAMing on 96.74650248099998 meters Centerline goodness : 0.712508 with order 1 Centerline is valid? [False, False] Translation: X:9.68, Y:3.72, Z:-1.23 [[ 0.39186012 -0.90857855 0.14467434 9.6821449 ] [ 0.75484498 0.40740659 0.51403204 3.72245465] [-0.52597976 -0.09222196 0.84548235 -1.22673735] [ 0. 0. 0. 1. ]] SLAMing on 96.80650248099998 meters Centerline goodness : 0.713094 with order 1 Centerline is valid? [False, False] Translation: X:9.62, Y:3.64, Z:-1.16 [[ 0.38521861 -0.91075927 0.14874198 9.62430285] [ 0.75819023 0.40424049 0.51160258 3.63585582] [-0.52607432 -0.08430412 0.84624974 -1.15821884] [ 0. 0. 0. 1. ]] SLAMing on 96.86650248099998 meters Centerline goodness : 0.711874 with order 1 Centerline is valid? [False, False] Translation: X:9.57, Y:3.55, Z:-1.09 [[ 0.38069515 -0.91181433 0.153837 9.57004202] [ 0.76156454 0.40352534 0.50713584 3.55466108] [-0.52449085 -0.07590735 0.8480256 -1.093392 ] [ 0. 0. 0. 1. ]] SLAMing on 96.92650248099999 meters Centerline goodness : 0.713251 with order 1 Centerline is valid? [False, False] Translation: X:9.51, Y:3.46, Z:-1.02 [[ 0.3787891 -0.91245494 0.15474104 9.50916586] [ 0.76425046 0.40269362 0.50374506 3.46133276] [-0.5219579 -0.07255223 0.84988006 -1.01972476] [ 0. 0. 0. 1. ]] SLAMing on 96.98650248099997 meters Centerline goodness : 0.711850 with order 1 Centerline is valid? [False, False] Translation: X:9.46, Y:3.38, Z:-0.96 [[ 0.37766794 -0.91239396 0.15781063 9.45602724] [ 0.76806156 0.40387908 0.49695386 3.38039033] [-0.51715411 -0.06647526 0.8533069 -0.95603661] [ 0. 0. 0. 1. ]] SLAMing on 97.04650248099998 meters Centerline goodness : 0.709070 with order 1 Centerline is valid? [False, False] Translation: X:9.40, Y:3.30, Z:-0.89 [[ 0.37908213 -0.91138668 0.1602219 9.40312847] [ 0.77014384 0.40671895 0.49138393 3.30046352] [-0.51300605 -0.06288096 0.85607872 -0.8911953 ] [ 0. 0. 0. 1. ]] SLAMing on 97.10650248099998 meters Centerline goodness : 0.708763 with order 1 Centerline is valid? [False, False] Translation: X:9.34, Y:3.21, Z:-0.82 [[ 0.38217562 -0.90973669 0.16223732 9.34491767] [ 0.77099067 0.41069002 0.48673103 3.21137 ] [-0.50942632 -0.06093327 0.85835421 -0.82312787] [ 0. 0. 0. 1. ]] SLAMing on 97.16650248099998 meters Centerline goodness : 0.709967 with order 1 Centerline is valid? [False, False] Translation: X:9.39, Y:3.24, Z:-0.84 [[ 0.42301442 -0.8914967 0.1621494 9.39342392] [ 0.76126772 0.44671065 0.47002239 3.2409422 ] [-0.49145728 -0.07538714 0.86763271 -0.83688807] [ 0. 0. 0. 1. ]] SLAMing on 97.22650248099998 meters Centerline goodness : 0.706315 with order 1 Centerline is valid? [False, False] Translation: X:9.49, Y:3.34, Z:-0.89 [[ 0.46740529 -0.869972 0.15710192 9.48914534] [ 0.74904718 0.48411195 0.45228745 3.34498078] [-0.46953234 -0.0937248 0.87792656 -0.89128298] [ 0. 0. 0. 1. ]] SLAMing on 97.28650248099999 meters Centerline goodness : 0.701228 with order 1 Centerline is valid? [False, False] Translation: X:9.60, Y:3.46, Z:-0.96 [[ 0.51127209 -0.84550672 0.15401051 9.60457813] [ 0.73438968 0.52290102 0.43271967 3.45697722] [-0.44639964 -0.10813376 0.88827611 -0.95785981] [ 0. 0. 0. 1. ]] SLAMing on 97.34650248099997 meters Centerline goodness : 0.700779 with order 1 Centerline is valid? [False, False] Translation: X:9.71, Y:3.54, Z:-1.00 [[ 0.55299973 -0.81869102 0.15471363 9.70803181] [ 0.7110042 0.56050513 0.42462574 3.53529815] [-0.43435507 -0.12481588 0.89205194 -1.00314836] [ 0. 0. 0. 1. ]] SLAMing on 97.40650248099998 meters Centerline goodness : 0.702905 with order 1 Centerline is valid? [False, False] Translation: X:9.80, Y:3.59, Z:-1.05 [[ 0.58020692 -0.80090096 0.14804588 9.80153062] [ 0.69468391 0.58151983 0.42337802 3.58791756] [-0.42517548 -0.14280177 0.89377484 -1.04761664] [ 0. 0. 0. 1. ]] SLAMing on 97.46650248099998 meters Centerline goodness : 0.702485 with order 1 Centerline is valid? [False, False] Translation: X:9.74, Y:3.51, Z:-1.00 [[ 0.57760232 -0.80220126 0.15115788 9.7386181 ] [ 0.69756809 0.58122048 0.41902447 3.50676351] [-0.42399801 -0.13658659 0.8953043 -0.99517425] [ 0. 0. 0. 1. ]] SLAMing on 97.52650248099998 meters Centerline goodness : 0.700157 with order 1 Centerline is valid? [False, False] Translation: X:9.68, Y:3.42, Z:-0.94 [[ 0.57473128 -0.80463382 0.14915887 9.67544714] [ 0.70131518 0.57821907 0.41691693 3.42459516] [-0.42171197 -0.13500782 0.8966225 -0.94345776] [ 0. 0. 0. 1. ]] SLAMing on 97.58650248099998 meters Centerline goodness : 0.701599 with order 1 Centerline is valid? [False, False] Translation: X:9.61, Y:3.34, Z:-0.89 [[ 0.57462663 -0.80530968 0.14587859 9.61381602] [ 0.70264847 0.57683614 0.41658757 3.34153944] [-0.41963004 -0.13688094 0.89731502 -0.89262312] [ 0. 0. 0. 1. ]] SLAMing on 97.64650248099998 meters Centerline goodness : 0.699065 with order 1 Centerline is valid? [False, False] Translation: X:9.61, Y:3.31, Z:-0.87 [[ 0.58354563 -0.79962915 0.14166058 9.60748868] [ 0.69983729 0.58366947 0.41177387 3.31360735] [-0.41194935 -0.14114948 0.90020806 -0.87428042] [ 0. 0. 0. 1. ]] SLAMing on 97.70650248099997 meters Centerline goodness : 0.697381 with order 1 Centerline is valid? [False, False] Translation: X:9.56, Y:3.25, Z:-0.83 [[ 0.58871833 -0.79590835 0.14121131 9.55587115] [ 0.69712849 0.58834426 0.40971074 3.2491767 ] [-0.40917306 -0.14276179 0.90121944 -0.83261575] [ 0. 0. 0. 1. ]] SLAMing on 97.76650248099997 meters Centerline goodness : 0.692842 with order 1 Centerline is valid? [False, False] Translation: X:9.55, Y:3.23, Z:-0.81 [[ 0.60812671 -0.78097914 0.14231472 9.55045039] [ 0.6866976 0.60747155 0.39928025 3.22687319] [-0.39828169 -0.14508581 0.90571618 -0.81344264] [ 0. 0. 0. 1. ]] SLAMing on 97.82650248099998 meters Centerline goodness : 0.686259 with order 1 Centerline is valid? [False, False] Translation: X:9.52, Y:3.19, Z:-0.79 [[ 0.62256669 -0.77055563 0.13658234 9.52366202] [ 0.67855586 0.618479 0.39628989 3.18914916] [-0.38983671 -0.15403814 0.90790946 -0.78829089] [ 0. 0. 0. 1. ]] SLAMing on 97.88650248099998 meters Centerline goodness : 0.685958 with order 1 Centerline is valid? [False, False] Translation: X:9.62, Y:3.25, Z:-0.83 [[ 0.64773279 -0.75118687 0.127124 9.62063889] [ 0.66428236 0.63855317 0.38855991 3.25327831] [-0.37305654 -0.16723677 0.91261201 -0.82861832] [ 0. 0. 0. 1. ]] SLAMing on 97.94650248099998 meters Centerline goodness : 0.681020 with order 1 Centerline is valid? [False, False] Translation: X:9.61, Y:3.22, Z:-0.81 [[ 0.66194231 -0.73978171 0.12064579 9.60859679] [ 0.65465885 0.64898764 0.38760397 3.22230809] [-0.36503995 -0.17758963 0.91389702 -0.81284235] [ 0. 0. 0. 1. ]] SLAMing on 98.00650248099998 meters Centerline goodness : 0.681966 with order 1 Centerline is valid? [False, False] Translation: X:9.69, Y:3.27, Z:-0.85 [[ 0.67970635 -0.72503387 0.11101876 9.69268374] [ 0.64314688 0.66189672 0.38503873 3.26522888] [-0.35264907 -0.19031191 0.91619867 -0.84527926] [ 0. 0. 0. 1. ]] SLAMing on 98.06650248099999 meters Centerline goodness : 0.681037 with order 1 Centerline is valid? [False, False] Translation: X:9.72, Y:3.26, Z:-0.85 [[ 0.68978769 -0.71638348 0.10482202 9.7239606 ] [ 0.63497797 0.6681466 0.3877926 3.26050841] [-0.34784468 -0.20093489 0.91576703 -0.85172702] [ 0. 0. 0. 1. ]] SLAMing on 98.12650248099997 meters Centerline goodness : 0.680678 with order 1 Centerline is valid? [False, False] Translation: X:9.76, Y:3.26, Z:-0.86 [[ 0.69954662 -0.70818362 0.09544884 9.76088016] [ 0.62846969 0.67329888 0.38947974 3.25858851] [-0.34008877 -0.21247254 0.9160759 -0.85835095] [ 0. 0. 0. 1. ]] SLAMing on 98.18650248099998 meters Centerline goodness : 0.685778 with order 1 Centerline is valid? [False, False] Translation: X:9.68, Y:3.19, Z:-0.82 [[ 0.69497972 -0.71258992 0.09601461 9.6815921 ] [ 0.63366142 0.67009096 0.38658933 3.19183136] [-0.33981818 -0.20783099 0.91724036 -0.81715606] [ 0. 0. 0. 1. ]] SLAMing on 98.24650248099998 meters Centerline goodness : 0.685822 with order 1 Centerline is valid? [False, False] Translation: X:9.63, Y:3.14, Z:-0.79 [[ 0.69485366 -0.71252363 0.0974088 9.63067529] [ 0.63423228 0.67100781 0.3840546 3.14297495] [-0.33901005 -0.20508194 0.91815771 -0.7901284 ] [ 0. 0. 0. 1. ]] SLAMing on 98.30650248099998 meters Centerline goodness : 0.687266 with order 1 Centerline is valid? [False, False] Translation: X:9.60, Y:3.11, Z:-0.77 [[ 0.6970999 -0.71061639 0.09526846 9.59591603] [ 0.63308269 0.67244604 0.3834353 3.10984144] [-0.33653831 -0.2069799 0.918641 -0.77002637] [ 0. 0. 0. 1. ]] SLAMing on 98.36650248099998 meters Centerline goodness : 0.689298 with order 1 Centerline is valid? [False, False] Translation: X:9.59, Y:3.09, Z:-0.76 [[ 0.70304738 -0.70477618 0.09494689 9.58650118] [ 0.62906058 0.67860133 0.37918732 3.08645817] [-0.33167327 -0.20685931 0.9204358 -0.75786018] [ 0. 0. 0. 1. ]] SLAMing on 98.42650248099999 meters Centerline goodness : 0.691076 with order 1 Centerline is valid? [False, False] Translation: X:9.61, Y:3.09, Z:-0.76 [[ 0.71202053 -0.69642059 0.08958308 9.61476221] [ 0.62274336 0.68526784 0.37762242 3.09229387] [-0.32437243 -0.21308764 0.92161607 -0.76077774] [ 0. 0. 0. 1. ]] SLAMing on 98.48650248099997 meters Centerline goodness : 0.686399 with order 1 Centerline is valid? [False, False] Translation: X:9.64, Y:3.10, Z:-0.77 [[ 0.72049966 -0.68865066 0.08148928 9.64483097] [ 0.61787946 0.69087568 0.37538749 3.10091192] [-0.3148098 -0.22011601 0.9232788 -0.76601093] [ 0. 0. 0. 1. ]] SLAMing on 98.54650248099998 meters Centerline goodness : 0.692253 with order 1 Centerline is valid? [False, False] Translation: X:9.67, Y:3.10, Z:-0.77 [[ 0.73391891 -0.67471664 0.0782336 9.67392746] [ 0.60624534 0.70263368 0.37252181 3.10442384] [-0.30631622 -0.22597205 0.92471996 -0.76783886] [ 0. 0. 0. 1. ]] SLAMing on 98.60650248099998 meters Centerline goodness : 0.693442 with order 1 Centerline is valid? [False, False] Translation: X:9.75, Y:3.14, Z:-0.79 [[ 0.74776836 -0.66037357 0.0689146 9.74998748] [ 0.59580996 0.71319637 0.36927149 3.14302596] [-0.29300677 -0.23506953 0.92676283 -0.78680885] [ 0. 0. 0. 1. ]] SLAMing on 98.66650248099998 meters Centerline goodness : 0.690785 with order 1 Centerline is valid? [False, False] Translation: X:9.83, Y:3.18, Z:-0.80 [[ 0.76219504 -0.64456017 0.06000756 9.8277354 ] [ 0.58402298 0.72466156 0.36576329 3.18179769] [-0.27924162 -0.24373717 0.9287714 -0.80318686] [ 0. 0. 0. 1. ]] SLAMing on 98.72650248099998 meters Centerline goodness : 0.691047 with order 1 Centerline is valid? [False, False] Translation: X:9.93, Y:3.23, Z:-0.83 [[ 0.77785688 -0.6264678 0.04976704 9.93474817] [ 0.57147929 0.73807458 0.35868836 3.22818025] [-0.2614385 -0.25056738 0.93212977 -0.82818379] [ 0. 0. 0. 1. ]] SLAMing on 98.78650248099999 meters Centerline goodness : 0.686149 with order 1 Centerline is valid? [False, False] Translation: X:10.01, Y:3.24, Z:-0.84 [[ 0.79862255 -0.60077225 0.0357033 10.01487055] [ 0.55140145 0.75418485 0.35659733 3.2429237 ] [-0.24116066 -0.26509982 0.93357572 -0.84146071] [ 0. 0. 0. 1. ]] SLAMing on 98.84650248099997 meters Centerline goodness : 0.686552 with order 1 Centerline is valid? [False, False] Translation: X:10.08, Y:3.24, Z:-0.84 [[ 0.82239021 -0.56835986 0.02532605 10.0790969 ] [ 0.52376141 0.77373836 0.35637472 3.2358527 ] [-0.22214482 -0.27981427 0.93399981 -0.84363722] [ 0. 0. 0. 1. ]] SLAMing on 98.90650248099998 meters Centerline goodness : 0.687533 with order 1 Centerline is valid? [False, False] Translation: X:10.05, Y:3.22, Z:-0.83 [[ 0.82494827 -0.56468096 0.02440821 10.04959658] [ 0.52049889 0.77581766 0.35663407 3.21669262] [-0.22032079 -0.28150021 0.93392525 -0.83469337] [ 0. 0. 0. 1. ]] SLAMing on 98.96650248099998 meters Centerline goodness : 0.687586 with order 1 Centerline is valid? [False, False] Translation: X:10.02, Y:3.20, Z:-0.82 [[ 0.82725045 -0.5613566 0.02313981 10.02202473] [ 0.51815499 0.77821219 0.35482559 3.20024794] [-0.21719137 -0.28153962 0.93464611 -0.82043595] [ 0. 0. 0. 1. ]] SLAMing on 99.02650248099998 meters Centerline goodness : 0.685268 with order 1 Centerline is valid? [False, False] Translation: X:9.99, Y:3.18, Z:-0.81 [[ 0.82808941 -0.56011493 0.0232206 9.99181281] [ 0.51879498 0.78137972 0.34683931 3.1782678 ] [-0.21241398 -0.27516723 0.93763708 -0.80541423] [ 0. 0. 0. 1. ]] SLAMing on 99.08650248099998 meters Centerline goodness : 0.686147 with order 1 Centerline is valid? [False, False] Translation: X:9.97, Y:3.16, Z:-0.79 [[ 0.82847218 -0.5597084 0.01898296 9.97043118] [ 0.52010204 0.78153244 0.34452999 3.16003535] [-0.20767213 -0.27556043 0.93858337 -0.79274424] [ 0. 0. 0. 1. ]] SLAMing on 99.14650248099998 meters Centerline goodness : 0.688093 with order 1 Centerline is valid? [False, False] Translation: X:9.95, Y:3.14, Z:-0.78 [[ 0.8284673 -0.55978804 0.01671163 9.94518322] [ 0.52138375 0.78183692 0.34189181 3.13923253] [-0.20445272 -0.27453301 0.93959071 -0.78014312] [ 0. 0. 0. 1. ]] SLAMing on 99.20650248099997 meters Centerline goodness : 0.694154 with order 1 Centerline is valid? [False, False] Translation: X:9.92, Y:3.12, Z:-0.76 [[ 0.82987445 -0.55775698 0.01468146 9.91942653] [ 0.52053171 0.78342542 0.3395458 3.1167315 ] [-0.20088587 -0.27413821 0.94047494 -0.76495867] [ 0. 0. 0. 1. ]] SLAMing on 99.26650248099997 meters Centerline goodness : 0.695453 with order 1 Centerline is valid? [False, False] Translation: X:9.90, Y:3.10, Z:-0.75 [[ 8.30935232e-01 -5.56282740e-01 9.80575517e-03 9.89634166e+00] [ 5.20879683e-01 7.84004883e-01 3.37669511e-01 3.09599920e+00] [-1.95527481e-01 -2.75473875e-01 9.41213657e-01 -7.53522484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.32650248099998 meters Centerline goodness : 0.696995 with order 1 Centerline is valid? [False, False] Translation: X:9.87, Y:3.08, Z:-0.74 [[ 8.33915226e-01 -5.51839220e-01 7.67274168e-03 9.87127748e+00] [ 5.18208481e-01 7.87725193e-01 3.33090064e-01 3.07542291e+00] [-1.89856173e-01 -2.73792796e-01 9.42863796e-01 -7.42377691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.38650248099998 meters Centerline goodness : 0.698530 with order 1 Centerline is valid? [False, False] Translation: X:9.85, Y:3.06, Z:-0.73 [[ 8.38319669e-01 -5.45145130e-01 6.07619090e-03 9.84595994e+00] [ 5.12986459e-01 7.92541520e-01 3.29731455e-01 3.05528507e+00] [-1.84567130e-01 -2.73303361e-01 9.44055214e-01 -7.30434300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.44650248099998 meters Centerline goodness : 0.699538 with order 1 Centerline is valid? [False, False] Translation: X:9.83, Y:3.04, Z:-0.73 [[ 8.39894863e-01 -5.42714548e-01 6.12689204e-03 9.83364619e+00] [ 5.11008136e-01 7.94529678e-01 3.28014140e-01 3.04369281e+00] [-1.82886043e-01 -2.72366500e-01 9.44652944e-01 -7.27021409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.50650248099998 meters Centerline goodness : 0.698872 with order 1 Centerline is valid? [False, False] Translation: X:9.82, Y:3.03, Z:-0.72 [[ 8.39920022e-01 -5.42641187e-01 8.65439692e-03 9.81903200e+00] [ 5.10089774e-01 7.94780230e-01 3.28835533e-01 3.02935318e+00] [-1.85318048e-01 -2.71781029e-01 9.44347549e-01 -7.23921271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.56650248099997 meters Centerline goodness : 0.697571 with order 1 Centerline is valid? [False, False] Translation: X:9.81, Y:3.02, Z:-0.72 [[ 0.83816129 -0.54533132 0.0099697 9.80759662] [ 0.51255078 0.79376493 0.32745829 3.01602517] [-0.18648687 -0.26935289 0.94481304 -0.71973316] [ 0. 0. 0. 1. ]] SLAMing on 99.62650248099997 meters Centerline goodness : 0.700286 with order 1 Centerline is valid? [False, False] Translation: X:9.80, Y:3.00, Z:-0.72 [[ 0.83438685 -0.55105166 0.01185992 9.79585945] [ 0.5176721 0.79086949 0.32640625 3.00180585] [-0.18924636 -0.26620954 0.94515517 -0.71683561] [ 0. 0. 0. 1. ]] SLAMing on 99.68650248099998 meters Centerline goodness : 0.700184 with order 1 Centerline is valid? [False, False] Translation: X:9.79, Y:2.99, Z:-0.71 [[ 0.83013377 -0.55744037 0.01175432 9.78792644] [ 0.5242597 0.78755144 0.32390508 2.98981607] [-0.1898149 -0.26272223 0.94601656 -0.71277751] [ 0. 0. 0. 1. ]] SLAMing on 99.74650248099998 meters Centerline goodness : 0.701277 with order 1 Centerline is valid? [False, False] Translation: X:9.79, Y:2.99, Z:-0.71 [[ 0.8275862 -0.56116848 0.01382068 9.78802664] [ 0.52741923 0.78577169 0.32309721 2.98613318] [-0.19217187 -0.2601015 0.94626486 -0.71013343] [ 0. 0. 0. 1. ]] SLAMing on 99.80650248099998 meters Centerline goodness : 0.701159 with order 1 Centerline is valid? [False, False] Translation: X:9.78, Y:2.98, Z:-0.71 [[ 0.82678477 -0.56234038 0.0141506 9.77594521] [ 0.52869912 0.78542248 0.3218521 2.97603128] [-0.19210464 -0.258621 0.94668421 -0.70751696] [ 0. 0. 0. 1. ]] SLAMing on 99.86650248099998 meters Centerline goodness : 0.700706 with order 1 Centerline is valid? [False, False] Translation: X:9.76, Y:2.97, Z:-0.71 [[ 0.82788811 -0.56071795 0.0140233 9.76248681] [ 0.52732515 0.78661712 0.32118794 2.96852141] [-0.19112681 -0.25851284 0.94691164 -0.70621311] [ 0. 0. 0. 1. ]] SLAMing on 99.92650248099999 meters Centerline goodness : 0.702871 with order 1 Centerline is valid? [False, False] Translation: X:9.76, Y:2.97, Z:-0.71 [[ 0.82805009 -0.56033366 0.01895353 9.75676631] [ 0.52571137 0.78774615 0.32106627 2.96548511] [-0.19483481 -0.25589487 0.94686705 -0.7076192 ] [ 0. 0. 0. 1. ]] SLAMing on 99.98650248099997 meters Centerline goodness : 0.704956 with order 1 Centerline is valid? [False, False] Translation: X:9.74, Y:2.96, Z:-0.71 [[ 0.83017517 -0.55712733 0.02045302 9.74138124] [ 0.52192231 0.78956572 0.32277404 2.95728933] [-0.19597524 -0.25728411 0.94625504 -0.70689055] [ 0. 0. 0. 1. ]] SLAMing on 100.04650248099998 meters Centerline goodness : 0.704269 with order 1 Centerline is valid? [False, False] Translation: X:9.73, Y:2.95, Z:-0.71 [[ 0.83143986 -0.55522803 0.02072695 9.72870709] [ 0.52062993 0.7915733 0.31993154 2.94941893] [-0.19404186 -0.25521277 0.94721391 -0.70518011] [ 0. 0. 0. 1. ]] SLAMing on 100.10650248099998 meters Centerline goodness : 0.703221 with order 1 Centerline is valid? [False, False] Translation: X:9.71, Y:2.94, Z:-0.70 [[ 0.83122719 -0.55541193 0.02406117 9.71421605] [ 0.52051562 0.79274341 0.31720871 2.9406841 ] [-0.19525584 -0.25114829 0.94805047 -0.70300941] [ 0. 0. 0. 1. ]] SLAMing on 100.16650248099998 meters Centerline goodness : 0.703893 with order 1 Centerline is valid? [False, False] Translation: X:9.70, Y:2.93, Z:-0.70 [[ 0.83116391 -0.55558455 0.02218935 9.70357909] [ 0.52157718 0.79287425 0.31513118 2.93321549] [-0.19267538 -0.25035221 0.94878869 -0.70142838] [ 0. 0. 0. 1. ]] SLAMing on 100.22650248099998 meters Centerline goodness : 0.700883 with order 1 Centerline is valid? [False, False] Translation: X:9.69, Y:2.93, Z:-0.70 [[ 0.83121965 -0.55551499 0.02184027 9.69130556] [ 0.52206352 0.7934651 0.31283034 2.92621328] [-0.19111143 -0.24862872 0.94955789 -0.69897117] [ 0. 0. 0. 1. ]] SLAMing on 100.28650248099999 meters Centerline goodness : 0.700818 with order 1 Centerline is valid? [False, False] Translation: X:9.68, Y:2.92, Z:-0.70 [[ 0.82998633 -0.55715827 0.0264074 9.67574946] [ 0.52318261 0.79404181 0.30947949 2.9181774 ] [-0.19339764 -0.24304785 0.95053937 -0.6951214 ] [ 0. 0. 0. 1. ]] SLAMing on 100.34650248099997 meters Centerline goodness : 0.699823 with order 1 Centerline is valid? [False, False] Translation: X:9.66, Y:2.91, Z:-0.69 [[ 0.82989743 -0.55720128 0.02823114 9.66121083] [ 0.52337725 0.79505121 0.30654497 2.91102843] [-0.19325245 -0.23962534 0.95143743 -0.6914838 ] [ 0. 0. 0. 1. ]] SLAMing on 100.40650248099998 meters Centerline goodness : 0.698868 with order 1 Centerline is valid? [False, False] Translation: X:9.65, Y:2.90, Z:-0.69 [[ 0.82816724 -0.55974409 0.02873279 9.64953563] [ 0.52683285 0.79492007 0.30091399 2.90363497] [-0.1912751 -0.23406973 0.95321834 -0.68812925] [ 0. 0. 0. 1. ]] SLAMing on 100.46650248099998 meters Centerline goodness : 0.698028 with order 1 Centerline is valid? [False, False] Translation: X:9.64, Y:2.90, Z:-0.68 [[ 0.82714486 -0.56127444 0.02832631 9.63786214] [ 0.5288853 0.79447667 0.29847474 2.89619456] [-0.19003083 -0.23190048 0.95399709 -0.68408461] [ 0. 0. 0. 1. ]] SLAMing on 100.52650248099998 meters Centerline goodness : 0.695829 with order 1 Centerline is valid? [False, False] Translation: X:9.62, Y:2.89, Z:-0.68 [[ 0.82528338 -0.56386768 0.03099322 9.62475408] [ 0.53179777 0.79446592 0.29328321 2.88829675] [-0.18999598 -0.22555964 0.95552309 -0.67927865] [ 0. 0. 0. 1. ]] SLAMing on 100.58650248099998 meters Centerline goodness : 0.695385 with order 1 Centerline is valid? [False, False] Translation: X:9.61, Y:2.88, Z:-0.68 [[ 0.82525954 -0.56388074 0.03138808 9.61114853] [ 0.53219067 0.79507357 0.29091426 2.88035098] [-0.18899678 -0.22337533 0.95623411 -0.67587783] [ 0. 0. 0. 1. ]] SLAMing on 100.64650248099998 meters Centerline goodness : 0.695393 with order 1 Centerline is valid? [False, False] Translation: X:9.60, Y:2.87, Z:-0.67 [[ 0.8255015 -0.5634385 0.03292923 9.59682467] [ 0.53211382 0.79640363 0.28739545 2.87277102] [-0.18815462 -0.21972328 0.9572458 -0.67135477] [ 0. 0. 0. 1. ]] SLAMing on 100.70650248099997 meters Centerline goodness : 0.694524 with order 1 Centerline is valid? [False, False] Translation: X:9.58, Y:2.86, Z:-0.67 [[ 0.82497641 -0.56417901 0.03340604 9.58487268] [ 0.53357246 0.79698189 0.28305529 2.86368078] [-0.18631786 -0.2156894 0.95852164 -0.66780307] [ 0. 0. 0. 1. ]] SLAMing on 100.76650248099997 meters Centerline goodness : 0.695616 with order 1 Centerline is valid? [False, False] Translation: X:9.57, Y:2.86, Z:-0.66 [[ 0.82521738 -0.5637941 0.03394835 9.56935457] [ 0.53327481 0.79753116 0.28206741 2.85705051] [-0.18610281 -0.21466313 0.95879377 -0.66470568] [ 0. 0. 0. 1. ]] SLAMing on 100.82650248099998 meters Centerline goodness : 0.693979 with order 1 Centerline is valid? [False, False] Translation: X:9.55, Y:2.85, Z:-0.66 [[ 0.82588242 -0.56263457 0.03688601 9.55445196] [ 0.53258343 0.79990456 0.27660004 2.84733764] [-0.18513003 -0.20879423 0.96027696 -0.66142608] [ 0. 0. 0. 1. ]] SLAMing on 100.88650248099998 meters Centerline goodness : 0.697165 with order 1 Centerline is valid? [False, False] Translation: X:9.54, Y:2.84, Z:-0.66 [[ 0.82685235 -0.56133536 0.034897 9.54173088] [ 0.53229015 0.80108577 0.27373123 2.84090845] [-0.18161051 -0.20775999 0.96117293 -0.66006562] [ 0. 0. 0. 1. ]] SLAMing on 100.94650248099998 meters Centerline goodness : 0.695785 with order 1 Centerline is valid? [False, False] Translation: X:9.53, Y:2.83, Z:-0.66 [[ 0.82670908 -0.56146569 0.03617147 9.52772264] [ 0.53288896 0.80201488 0.26981753 2.83333432] [-0.18050334 -0.20378522 0.96223185 -0.65550874] [ 0. 0. 0. 1. ]] SLAMing on 101.00650248099998 meters Centerline goodness : 0.694946 with order 1 Centerline is valid? [False, False] Translation: X:9.52, Y:2.83, Z:-0.65 [[ 0.82657745 -0.56181304 0.03370203 9.51582964] [ 0.53435233 0.8021604 0.26647002 2.82692861] [-0.17674076 -0.20224935 0.96325381 -0.65099094] [ 0. 0. 0. 1. ]] SLAMing on 101.06650248099997 meters Centerline goodness : 0.699168 with order 1 Centerline is valid? [False, False] Translation: X:9.50, Y:2.82, Z:-0.65 [[ 0.82563338 -0.56330109 0.03195951 9.5043517 ] [ 0.53671489 0.80160819 0.26336561 2.81945768] [-0.17397314 -0.20029029 0.96416656 -0.64708186] [ 0. 0. 0. 1. ]] SLAMing on 101.12650248099997 meters Centerline goodness : 0.698303 with order 1 Centerline is valid? [False, False] Translation: X:9.49, Y:2.81, Z:-0.64 [[ 0.82469142 -0.56456124 0.03398029 9.49086294] [ 0.53856336 0.80222281 0.25765881 2.81057529] [-0.17272394 -0.19418847 0.96563827 -0.64327028] [ 0. 0. 0. 1. ]] SLAMing on 101.18650248099998 meters Centerline goodness : 0.702368 with order 1 Centerline is valid? [False, False] Translation: X:9.49, Y:2.81, Z:-0.64 [[ 0.82436452 -0.56511823 0.03262707 9.48971541] [ 0.53907817 0.8013491 0.25929587 2.81161693] [-0.1726785 -0.19616578 0.96524667 -0.64069408] [ 0. 0. 0. 1. ]] SLAMing on 101.24650248099998 meters Centerline goodness : 0.698640 with order 1 Centerline is valid? [False, False] Translation: X:9.48, Y:2.80, Z:-0.64 [[ 0.82370852 -0.56624847 0.02944371 9.48014449] [ 0.54157661 0.80107341 0.25490424 2.80392871] [-0.16792571 -0.19402077 0.96651792 -0.63788866] [ 0. 0. 0. 1. ]] SLAMing on 101.30650248099998 meters Centerline goodness : 0.698939 with order 1 Centerline is valid? [False, False] Translation: X:9.47, Y:2.80, Z:-0.64 [[ 0.82418649 -0.56570662 0.0263182 9.46892664] [ 0.54210369 0.80153728 0.25231247 2.79812006] [-0.16382985 -0.19368534 0.96728784 -0.63519985] [ 0. 0. 0. 1. ]] SLAMing on 101.36650248099998 meters Centerline goodness : 0.700189 with order 1 Centerline is valid? [False, False] Translation: X:9.46, Y:2.79, Z:-0.63 [[ 0.82515705 -0.56435875 0.02480018 9.4568051 ] [ 0.54160553 0.8028409 0.24921867 2.79154093] [-0.16055933 -0.19221262 0.96812964 -0.6328149 ] [ 0. 0. 0. 1. ]] SLAMing on 101.42650248099999 meters Centerline goodness : 0.696750 with order 1 Centerline is valid? [False, False] Translation: X:9.44, Y:2.78, Z:-0.63 [[ 0.8255642 -0.56363689 0.02751722 9.44186211] [ 0.54075103 0.80410178 0.24699929 2.78442332] [-0.16134456 -0.18903381 0.96862488 -0.63062323] [ 0. 0. 0. 1. ]] SLAMing on 101.48650248099997 meters Centerline goodness : 0.697510 with order 1 Centerline is valid? [False, False] Translation: X:9.43, Y:2.78, Z:-0.63 [[ 0.82751626 -0.56086542 0.02543256 9.42840229] [ 0.5387977 0.80606078 0.24487358 2.77990481] [-0.15784131 -0.18893386 0.9692214 -0.62805152] [ 0. 0. 0. 1. ]] SLAMing on 101.54650248099998 meters Centerline goodness : 0.698313 with order 1 Centerline is valid? [False, False] Translation: X:9.41, Y:2.77, Z:-0.63 [[ 0.82859233 -0.55912541 0.02852239 9.4118511 ] [ 0.53689254 0.80801966 0.24259149 2.7727787 ] [-0.15868572 -0.18569598 0.96970915 -0.62633326] [ 0. 0. 0. 1. ]] SLAMing on 101.60650248099998 meters Centerline goodness : 0.695494 with order 1 Centerline is valid? [False, False] Translation: X:9.40, Y:2.77, Z:-0.62 [[ 0.82987025 -0.55721443 0.02876532 9.39678254] [ 0.53489741 0.80918368 0.24311837 2.76634789] [-0.15874549 -0.18637021 0.96957001 -0.62342623] [ 0. 0. 0. 1. ]] SLAMing on 101.66650248099998 meters Centerline goodness : 0.694217 with order 1 Centerline is valid? [False, False] Translation: X:9.38, Y:2.76, Z:-0.62 [[ 0.82991444 -0.55709401 0.02980407 9.38303492] [ 0.53515854 0.81005587 0.23961391 2.75911499] [-0.15763044 -0.18290914 0.97041068 -0.62134636] [ 0. 0. 0. 1. ]] SLAMing on 101.72650248099998 meters Centerline goodness : 0.693887 with order 1 Centerline is valid? [False, False] Translation: X:9.37, Y:2.75, Z:-0.62 [[ 0.82951567 -0.55785544 0.02647764 9.37305623] [ 0.53706952 0.80981495 0.23612726 2.75332048] [-0.15316687 -0.18165093 0.97136134 -0.61989831] [ 0. 0. 0. 1. ]] SLAMing on 101.78650248099999 meters Centerline goodness : 0.689807 with order 1 Centerline is valid? [False, False] Translation: X:9.36, Y:2.75, Z:-0.62 [[ 0.8282379 -0.55975477 0.02639277 9.36033101] [ 0.53944219 0.80916506 0.23292494 2.74665205] [-0.15173695 -0.17867989 0.97213651 -0.61718221] [ 0. 0. 0. 1. ]] SLAMing on 101.84650248099997 meters Centerline goodness : 0.691027 with order 1 Centerline is valid? [False, False] Translation: X:9.35, Y:2.74, Z:-0.61 [[ 0.82813436 -0.55999029 0.02458347 9.34728966] [ 0.54040458 0.80927959 0.2302812 2.74119702] [-0.14885014 -0.17741875 0.97281356 -0.61361888] [ 0. 0. 0. 1. ]] SLAMing on 101.90650248099998 meters Centerline goodness : 0.691805 with order 1 Centerline is valid? [False, False] Translation: X:9.33, Y:2.74, Z:-0.61 [[ 0.82757771 -0.56079275 0.0250324 9.33288278] [ 0.54139912 0.80915248 0.22838402 2.73553245] [-0.14833113 -0.175453 0.97324926 -0.61094293] [ 0. 0. 0. 1. ]] SLAMing on 101.96650248099998 meters Centerline goodness : 0.692517 with order 1 Centerline is valid? [False, False] Translation: X:9.32, Y:2.73, Z:-0.61 [[ 0.82705157 -0.56141309 0.02830261 9.31661839] [ 0.5421123 0.80990929 0.22396696 2.7289754 ] [-0.14866053 -0.16988903 0.97418569 -0.60707092] [ 0. 0. 0. 1. ]] SLAMing on 102.02650248099998 meters Centerline goodness : 0.693219 with order 1 Centerline is valid? [False, False] Translation: X:9.30, Y:2.72, Z:-0.60 [[ 0.82817346 -0.55968883 0.02961639 9.30173733] [ 0.54013761 0.81111619 0.22436998 2.72154492] [-0.14959971 -0.16982033 0.97405389 -0.60483194] [ 0. 0. 0. 1. ]] SLAMing on 102.08650248099998 meters Centerline goodness : 0.691402 with order 1 Centerline is valid? [False, False] Translation: X:9.29, Y:2.71, Z:-0.60 [[ 0.82984544 -0.55714644 0.0307311 9.28528346] [ 0.53773994 0.81321443 0.22252653 2.71447727] [-0.14897083 -0.16813728 0.97444217 -0.60196316] [ 0. 0. 0. 1. ]] SLAMing on 102.14650248099998 meters Centerline goodness : 0.690797 with order 1 Centerline is valid? [False, False] Translation: X:9.27, Y:2.71, Z:-0.60 [[ 0.83121125 -0.55499083 0.0327573 9.26932188] [ 0.53554609 0.81512279 0.22082848 2.70576365] [-0.149259 -0.16601207 0.9747624 -0.59899646] [ 0. 0. 0. 1. ]] SLAMing on 102.20650248099997 meters Centerline goodness : 0.691184 with order 1 Centerline is valid? [False, False] Translation: X:9.26, Y:2.70, Z:-0.60 [[ 0.83289104 -0.55250075 0.03217812 9.25612694] [ 0.53335991 0.81683675 0.21978382 2.69940329] [-0.14771499 -0.16589345 0.97501777 -0.59623348] [ 0. 0. 0. 1. ]] SLAMing on 102.26650248099997 meters Centerline goodness : 0.690070 with order 1 Centerline is valid? [False, False] Translation: X:9.25, Y:2.69, Z:-0.60 [[ 0.83418227 -0.55075279 0.02848336 9.24600386] [ 0.53279973 0.81816918 0.21615651 2.69299005] [-0.14235301 -0.165138 0.97594316 -0.59602298] [ 0. 0. 0. 1. ]] SLAMing on 102.32650248099998 meters Centerline goodness : 0.691922 with order 1 Centerline is valid? [False, False] Translation: X:9.23, Y:2.69, Z:-0.59 [[ 0.83525373 -0.54912776 0.02845884 9.23125036] [ 0.53141837 0.81944477 0.21472027 2.68661854] [-0.14122931 -0.16422236 0.97626088 -0.5931671 ] [ 0. 0. 0. 1. ]] SLAMing on 102.38650248099998 meters Centerline goodness : 0.692340 with order 1 Centerline is valid? [False, False] Translation: X:9.23, Y:2.69, Z:-0.59 [[ 0.83518079 -0.5491773 0.02961979 9.2287352 ] [ 0.53129936 0.81956443 0.21455798 2.6862204 ] [-0.1421057 -0.16345773 0.97626203 -0.59139729] [ 0. 0. 0. 1. ]] SLAMing on 102.44650248099998 meters Centerline goodness : 0.690396 with order 1 Centerline is valid? [False, False] Translation: X:9.22, Y:2.68, Z:-0.59 [[ 0.83585692 -0.54836308 0.02532068 9.21732847] [ 0.53168937 0.82019218 0.21116631 2.68367845] [-0.13656363 -0.16304208 0.97712213 -0.58755894] [ 0. 0. 0. 1. ]] SLAMing on 102.50650248099998 meters Centerline goodness : 0.695183 with order 1 Centerline is valid? [False, False] Translation: X:9.21, Y:2.68, Z:-0.59 [[ 0.83375703 -0.5513293 0.02975249 9.21360981] [ 0.53451611 0.81948676 0.20672197 2.68492941] [-0.13835365 -0.15645271 0.97794725 -0.58791808] [ 0. 0. 0. 1. ]] SLAMing on 102.56650248099997 meters Centerline goodness : 0.695248 with order 1 Centerline is valid? [False, False] Translation: X:9.20, Y:2.68, Z:-0.59 [[ 0.83309055 -0.55223353 0.03159518 9.19933652] [ 0.53536012 0.81936509 0.20501316 2.67701956] [-0.13910312 -0.15387973 0.97824912 -0.5855097 ] [ 0. 0. 0. 1. ]] SLAMing on 102.62650248099997 meters Centerline goodness : 0.696730 with order 1 Centerline is valid? [False, False] Translation: X:9.19, Y:2.67, Z:-0.58 [[ 0.8329191 -0.5526068 0.02952102 9.18615893] [ 0.53603378 0.81889725 0.2051221 2.67006252] [-0.13752655 -0.15502585 0.97829108 -0.58191691] [ 0. 0. 0. 1. ]] SLAMing on 102.68650248099998 meters Centerline goodness : 0.698548 with order 1 Centerline is valid? [False, False] Translation: X:9.18, Y:2.67, Z:-0.58 [[ 0.83267569 -0.5529058 0.03076304 9.18362828] [ 0.53610987 0.81880353 0.2052973 2.66925398] [-0.13869896 -0.1544537 0.97821606 -0.58047646] [ 0. 0. 0. 1. ]] SLAMing on 102.74650248099998 meters Centerline goodness : 0.698709 with order 1 Centerline is valid? [False, False] Translation: X:9.17, Y:2.66, Z:-0.58 [[ 0.83326542 -0.55211868 0.02887396 9.17071271] [ 0.53618789 0.81974882 0.20128194 2.66410983] [-0.13480092 -0.15223941 0.97910769 -0.57750457] [ 0. 0. 0. 1. ]] SLAMing on 102.80650248099998 meters Centerline goodness : 0.696088 with order 1 Centerline is valid? [False, False] Translation: X:9.16, Y:2.66, Z:-0.58 [[ 0.83359835 -0.55159938 0.02918779 9.15657859] [ 0.53619596 0.82075133 0.19713228 2.65786045] [-0.13269396 -0.14867877 0.97994231 -0.57576137] [ 0. 0. 0. 1. ]] SLAMing on 102.86650248099998 meters Centerline goodness : 0.700710 with order 1 Centerline is valid? [False, False] Translation: X:9.15, Y:2.66, Z:-0.57 [[ 0.83344324 -0.55173915 0.03092367 9.15308398] [ 0.53608228 0.82083821 0.19707976 2.65762814] [-0.13411995 -0.14767716 0.97989964 -0.57473158] [ 0. 0. 0. 1. ]] SLAMing on 102.92650248099997 meters Centerline goodness : 0.700194 with order 1 Centerline is valid? [False, False] Translation: X:9.14, Y:2.65, Z:-0.57 [[ 0.83488741 -0.54978019 0.02654721 9.14040535] [ 0.53474814 0.82159839 0.1975361 2.65218657] [-0.13041258 -0.15072433 0.97993609 -0.57185583] [ 0. 0. 0. 1. ]] SLAMing on 102.98650248099997 meters Centerline goodness : 0.701305 with order 1 Centerline is valid? [False, False] Translation: X:9.12, Y:2.64, Z:-0.57 [[ 0.83454733 -0.5501256 0.02987604 9.12472593] [ 0.53518507 0.82236897 0.19309639 2.6439207 ] [-0.13079639 -0.14515887 0.98072484 -0.57004651] [ 0. 0. 0. 1. ]] SLAMing on 103.04650248099998 meters Centerline goodness : 0.702875 with order 1 Centerline is valid? [False, False] Translation: X:9.11, Y:2.64, Z:-0.57 [[ 0.83490839 -0.54943265 0.03243063 9.10933783] [ 0.53435222 0.82329331 0.19145713 2.63518578] [-0.13189272 -0.14251978 0.98096505 -0.56783611] [ 0. 0. 0. 1. ]] SLAMing on 103.10650248099998 meters Centerline goodness : 0.705967 with order 1 Centerline is valid? [False, False] Translation: X:9.09, Y:2.63, Z:-0.57 [[ 0.83603632 -0.54770847 0.03253761 9.09487578] [ 0.53263246 0.82439964 0.19148863 2.62682035] [-0.13170394 -0.14276086 0.98095536 -0.56608652] [ 0. 0. 0. 1. ]] SLAMing on 103.16650248099998 meters Centerline goodness : 0.708889 with order 1 Centerline is valid? [False, False] Translation: X:9.08, Y:2.62, Z:-0.56 [[ 0.8381253 -0.54449566 0.03271799 9.0801781 ] [ 0.52971493 0.82675539 0.18941388 2.61838583] [-0.13018481 -0.14142136 0.98135209 -0.564356 ] [ 0. 0. 0. 1. ]] SLAMing on 103.22650248099998 meters Centerline goodness : 0.707472 with order 1 Centerline is valid? [False, False] Translation: X:9.07, Y:2.61, Z:-0.56 [[ 0.84115431 -0.53994172 0.03037039 9.067892 ] [ 0.52559895 0.82944728 0.18911094 2.60888274] [-0.12729952 -0.14310884 0.98148596 -0.56265847] [ 0. 0. 0. 1. ]] SLAMing on 103.28650248099999 meters Centerline goodness : 0.710093 with order 1 Centerline is valid? [False, False] Translation: X:9.06, Y:2.61, Z:-0.56 [[ 0.84163165 -0.53908694 0.03227135 9.0635829 ] [ 0.52440998 0.83007195 0.18967003 2.60766311] [-0.12903618 -0.14270888 0.9813174 -0.56054858] [ 0. 0. 0. 1. ]] SLAMing on 103.34650248099997 meters Centerline goodness : 0.706916 with order 1 Centerline is valid? [False, False] Translation: X:9.05, Y:2.60, Z:-0.56 [[ 0.84276925 -0.53735921 0.03138597 9.05144189] [ 0.52342023 0.83172082 0.18512628 2.59974459] [-0.12558368 -0.13959069 0.98221341 -0.55950492] [ 0. 0. 0. 1. ]] SLAMing on 103.40650248099998 meters Centerline goodness : 0.705174 with order 1 Centerline is valid? [False, False] Translation: X:9.04, Y:2.59, Z:-0.56 [[ 0.84531114 -0.53365118 0.02579727 9.04105271] [ 0.52036112 0.83328519 0.18670858 2.59254846] [-0.12113373 -0.14440295 0.98207658 -0.55794735] [ 0. 0. 0. 1. ]] SLAMing on 103.46650248099998 meters Centerline goodness : 0.706283 with order 1 Centerline is valid? [False, False] Translation: X:9.03, Y:2.58, Z:-0.56 [[ 0.84663939 -0.53139011 0.02874538 9.02566239] [ 0.51739136 0.83457071 0.18920335 2.58420568] [-0.12453084 -0.14531439 0.98151709 -0.55678991] [ 0. 0. 0. 1. ]] SLAMing on 103.52650248099998 meters Centerline goodness : 0.704394 with order 1 Centerline is valid? [False, False] Translation: X:9.01, Y:2.58, Z:-0.56 [[ 0.84783285 -0.52946573 0.02907755 9.01295369] [ 0.51567186 0.83603729 0.18741446 2.57802301] [-0.12353945 -0.14390166 0.98185046 -0.55515384] [ 0. 0. 0. 1. ]] SLAMing on 103.58650248099998 meters Centerline goodness : 0.701244 with order 1 Centerline is valid? [False, False] Translation: X:9.00, Y:2.57, Z:-0.55 [[ 0.84796745 -0.5291812 0.03030608 8.9991826 ] [ 0.51548872 0.83663499 0.1852384 2.57121655] [-0.12337981 -0.14145369 0.98222618 -0.55312003] [ 0. 0. 0. 1. ]] SLAMing on 103.64650248099998 meters Centerline goodness : 0.700301 with order 1 Centerline is valid? [False, False] Translation: X:8.99, Y:2.57, Z:-0.55 [[ 0.84996637 -0.52625388 0.02477942 8.98986241] [ 0.51361553 0.8381897 0.18340424 2.56532122] [-0.11728705 -0.14316034 0.98272522 -0.55097647] [ 0. 0. 0. 1. ]] SLAMing on 103.70650248099997 meters Centerline goodness : 0.696104 with order 1 Centerline is valid? [False, False] Translation: X:8.98, Y:2.56, Z:-0.55 [[ 0.85271284 -0.52202067 0.01937091 8.97730072] [ 0.50983286 0.83973763 0.18684532 2.55928171] [-0.1138036 -0.14944947 0.98219835 -0.54841159] [ 0. 0. 0. 1. ]] SLAMing on 103.76650248099997 meters Centerline goodness : 0.697226 with order 1 Centerline is valid? [False, False] Translation: X:8.96, Y:2.55, Z:-0.55 [[ 0.85286416 -0.52164248 0.02262405 8.96145273] [ 0.50922284 0.84057127 0.18474859 2.55304138] [-0.11538984 -0.14604477 0.98252537 -0.54610378] [ 0. 0. 0. 1. ]] SLAMing on 103.82650248099998 meters Centerline goodness : 0.695232 with order 1 Centerline is valid? [False, False] Translation: X:8.95, Y:2.55, Z:-0.54 [[ 0.85280916 -0.521798 0.02105689 8.94914671] [ 0.51008597 0.84095448 0.1805765 2.54773238] [-0.11193234 -0.14325647 0.98333551 -0.54378128] [ 0. 0. 0. 1. ]] SLAMing on 103.88650248099998 meters Centerline goodness : 0.695076 with order 1 Centerline is valid? [False, False] Translation: X:8.94, Y:2.54, Z:-0.54 [[ 0.85385735 -0.5203039 0.01454211 8.93903709] [ 0.50949654 0.8411851 0.1811654 2.54139805] [-0.10649367 -0.14728025 0.98334512 -0.5410631 ] [ 0. 0. 0. 1. ]] SLAMing on 103.94650248099998 meters Centerline goodness : 0.696025 with order 1 Centerline is valid? [False, False] Translation: X:8.92, Y:2.54, Z:-0.54 [[ 0.85397166 -0.52013881 0.01371236 8.9249067 ] [ 0.50960436 0.84141572 0.17978592 2.5350002 ] [-0.10505143 -0.14654421 0.98361018 -0.53885857] [ 0. 0. 0. 1. ]] SLAMing on 104.00650248099998 meters Centerline goodness : 0.696068 with order 1 Centerline is valid? [False, False] Translation: X:8.92, Y:2.53, Z:-0.54 [[ 0.85351704 -0.52085633 0.01474261 8.92189187] [ 0.51010406 0.84100105 0.18030828 2.53405574] [-0.10631326 -0.14637592 0.98349966 -0.53611478] [ 0. 0. 0. 1. ]] SLAMing on 104.06650248099997 meters Centerline goodness : 0.695027 with order 1 Centerline is valid? [False, False] Translation: X:8.91, Y:2.53, Z:-0.53 [[ 0.85350912 -0.52097307 0.0104516 8.91086915] [ 0.51106385 0.8408514 0.17827695 2.52797799] [-0.10166573 -0.14681957 0.98392484 -0.53279908] [ 0. 0. 0. 1. ]] SLAMing on 104.12650248099997 meters Centerline goodness : 0.694134 with order 1 Centerline is valid? [False, False] Translation: X:8.90, Y:2.52, Z:-0.53 [[ 8.54664009e-01 -5.19142818e-01 6.33773551e-03 8.90000926e+00] [ 5.09923860e-01 8.41656721e-01 1.77740319e-01 2.52044750e+00] [-9.76068079e-02 -1.48676491e-01 9.84057017e-01 -5.28874027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.18650248099998 meters Centerline goodness : 0.692703 with order 1 Centerline is valid? [False, False] Translation: X:8.89, Y:2.51, Z:-0.53 [[ 8.55408783e-01 -5.17940116e-01 3.72156640e-03 8.88815639e+00] [ 5.09233248e-01 8.42298360e-01 1.76677594e-01 2.51296649e+00] [-9.46430826e-02 -1.49236420e-01 9.84261743e-01 -5.25580935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.24650248099998 meters Centerline goodness : 0.693866 with order 1 Centerline is valid? [False, False] Translation: X:8.87, Y:2.50, Z:-0.52 [[ 8.56639503e-01 -5.15910826e-01 2.18660573e-03 8.87475613e+00] [ 5.07570383e-01 8.43534773e-01 1.75560227e-01 2.50458243e+00] [-9.24178996e-02 -1.49281969e-01 9.84466264e-01 -5.22316684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.30650248099998 meters Centerline goodness : 0.689748 with order 1 Centerline is valid? [False, False] Translation: X:8.86, Y:2.50, Z:-0.52 [[ 8.58811007e-01 -5.12292281e-01 -5.22211810e-04 8.86190191e+00] [ 5.04594415e-01 8.45729312e-01 1.73569604e-01 2.49801170e+00] [-8.84767185e-02 -1.49326992e-01 9.84821466e-01 -5.19746800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.36650248099998 meters Centerline goodness : 0.690100 with order 1 Centerline is valid? [False, False] Translation: X:8.85, Y:2.49, Z:-0.52 [[ 8.61760775e-01 -5.07311498e-01 -1.84679582e-03 8.84835023e+00] [ 4.99857684e-01 8.48465991e-01 1.73918826e-01 2.49066686e+00] [-8.66640765e-02 -1.50799557e-01 9.84758260e-01 -5.16149849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.42650248099997 meters Centerline goodness : 0.691942 with order 1 Centerline is valid? [False, False] Translation: X:8.83, Y:2.48, Z:-0.51 [[ 8.64135343e-01 -5.03257225e-01 -1.50812176e-03 8.83287550e+00] [ 4.95886481e-01 8.50960423e-01 1.73098113e-01 2.48215830e+00] [-8.58295240e-02 -1.50328054e-01 9.84903431e-01 -5.12478406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.48650248099997 meters Centerline goodness : 0.692927 with order 1 Centerline is valid? [False, False] Translation: X:8.82, Y:2.48, Z:-0.51 [[ 8.66273599e-01 -4.99536215e-01 -5.79845339e-03 8.82158872e+00] [ 4.93011662e-01 8.52969286e-01 1.71414405e-01 2.47514236e+00] [-8.06818003e-02 -1.51350479e-01 9.85181953e-01 -5.09257509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.54650248099998 meters Centerline goodness : 0.694064 with order 1 Centerline is valid? [False, False] Translation: X:8.81, Y:2.47, Z:-0.51 [[ 8.67530174e-01 -4.97352945e-01 -5.60761355e-03 8.80680147e+00] [ 4.90912153e-01 8.54373807e-01 1.70442529e-01 2.46614488e+00] [-7.99790957e-02 -1.50616883e-01 9.85351663e-01 -5.06361742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.60650248099998 meters Centerline goodness : 0.691032 with order 1 Centerline is valid? [False, False] Translation: X:8.79, Y:2.46, Z:-0.50 [[ 8.68219321e-01 -4.96137885e-01 -6.51220408e-03 8.79430104e+00] [ 4.90046628e-01 8.55354819e-01 1.67995344e-01 2.45657125e+00] [-7.77786096e-02 -1.49048087e-01 9.85766278e-01 -5.02860538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.66650248099998 meters Centerline goodness : 0.692121 with order 1 Centerline is valid? [False, False] Translation: X:8.78, Y:2.45, Z:-0.50 [[ 0.86942802 -0.49393099 -0.01127344 8.78296523] [ 0.48858021 0.85617277 0.16809987 2.44805039] [-0.07337773 -0.15165871 0.98570551 -0.4996125 ] [ 0. 0. 0. 1. ]] SLAMing on 104.72650248099998 meters Centerline goodness : 0.694901 with order 1 Centerline is valid? [False, False] Translation: X:8.77, Y:2.44, Z:-0.50 [[ 8.69922011e-01 -4.93113559e-01 -8.64367165e-03 8.76798033e+00] [ 4.87391489e-01 8.56883916e-01 1.67927043e-01 2.43961182e+00] [-7.54004786e-02 -1.50296283e-01 9.85761531e-01 -4.97715303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.78650248099999 meters Centerline goodness : 0.692881 with order 1 Centerline is valid? [False, False] Translation: X:8.76, Y:2.43, Z:-0.50 [[ 0.86994004 -0.49303891 -0.01081451 8.757796 ] [ 0.48785757 0.85717758 0.16505028 2.43070768] [-0.07210626 -0.14885979 0.98622586 -0.49544777] [ 0. 0. 0. 1. ]] SLAMing on 104.84650248099997 meters Centerline goodness : 0.695234 with order 1 Centerline is valid? [False, False] Translation: X:8.75, Y:2.42, Z:-0.49 [[ 0.86947801 -0.49380811 -0.0127098 8.74530493] [ 0.48895501 0.85670527 0.16425307 2.42205807] [-0.07022095 -0.14902895 0.98633635 -0.49276127] [ 0. 0. 0. 1. ]] SLAMing on 104.90650248099998 meters Centerline goodness : 0.697708 with order 1 Centerline is valid? [False, False] Translation: X:8.73, Y:2.41, Z:-0.49 [[ 0.86951879 -0.49368972 -0.0144062 8.73482502] [ 0.48907069 0.85658169 0.16455295 2.41198641] [-0.06889801 -0.15012753 0.98626304 -0.49019827] [ 0. 0. 0. 1. ]] SLAMing on 104.96650248099998 meters Centerline goodness : 0.698135 with order 1 Centerline is valid? [False, False] Translation: X:8.73, Y:2.41, Z:-0.49 [[ 0.86988701 -0.49305936 -0.01374956 8.73257196] [ 0.48833864 0.85696463 0.16473311 2.41198021] [-0.06944032 -0.15001363 0.98624234 -0.48891512] [ 0. 0. 0. 1. ]] SLAMing on 105.02650248099998 meters Centerline goodness : 0.697740 with order 1 Centerline is valid? [False, False] Translation: X:8.73, Y:2.41, Z:-0.49 [[ 0.87105461 -0.49103175 -0.01231606 8.73008675] [ 0.48613705 0.85824362 0.16458631 2.41151728] [-0.07024693 -0.14935095 0.98628579 -0.48913774] [ 0. 0. 0. 1. ]] SLAMing on 105.08650248099998 meters Centerline goodness : 0.697911 with order 1 Centerline is valid? [False, False] Translation: X:8.72, Y:2.40, Z:-0.49 [[ 0.87250985 -0.48846314 -0.01141576 8.71603239] [ 0.48350782 0.85982374 0.16408326 2.40379077] [-0.07033308 -0.14868387 0.98638044 -0.48758954] [ 0. 0. 0. 1. ]] SLAMing on 105.14650248099998 meters Centerline goodness : 0.699441 with order 1 Centerline is valid? [False, False] Translation: X:8.71, Y:2.40, Z:-0.49 [[ 0.87372294 -0.4861328 -0.01682608 8.70751406] [ 0.48200995 0.86062691 0.16427941 2.39519888] [-0.06538063 -0.15164502 0.98627033 -0.4852609 ] [ 0. 0. 0. 1. ]] SLAMing on 105.20650248099997 meters Centerline goodness : 0.700191 with order 1 Centerline is valid? [False, False] Translation: X:8.71, Y:2.39, Z:-0.48 [[ 0.87343274 -0.48664345 -0.0171291 8.70818583] [ 0.48250242 0.86018804 0.16513012 2.39357071] [-0.06562525 -0.15249488 0.98612303 -0.48456207] [ 0. 0. 0. 1. ]] SLAMing on 105.26650248099997 meters Centerline goodness : 0.703538 with order 1 Centerline is valid? [False, False] Translation: X:8.70, Y:2.38, Z:-0.48 [[ 0.87307146 -0.48723765 -0.01859294 8.69638048] [ 0.48341901 0.85999102 0.16346715 2.38334684] [-0.06365759 -0.15170669 0.98637356 -0.48223875] [ 0. 0. 0. 1. ]] SLAMing on 105.32650248099998 meters Centerline goodness : 0.701969 with order 1 Centerline is valid? [False, False] Translation: X:8.69, Y:2.37, Z:-0.48 [[ 0.87277296 -0.48759058 -0.02286459 8.68789755] [ 0.48440247 0.8593889 0.16372223 2.37300766] [-0.06017984 -0.153968 0.98624147 -0.4790791 ] [ 0. 0. 0. 1. ]] SLAMing on 105.38650248099998 meters Centerline goodness : 0.703266 with order 1 Centerline is valid? [False, False] Translation: X:8.68, Y:2.36, Z:-0.48 [[ 0.87311067 -0.48682268 -0.02610447 8.67772567] [ 0.48415405 0.85955185 0.16360158 2.3648725 ] [-0.05720681 -0.15548087 0.98618106 -0.47718445] [ 0. 0. 0. 1. ]] SLAMing on 105.44650248099998 meters Centerline goodness : 0.701590 with order 1 Centerline is valid? [False, False] Translation: X:8.67, Y:2.36, Z:-0.48 [[ 0.87201381 -0.48894623 -0.02288014 8.67452813] [ 0.48592793 0.85911513 0.16060897 2.3640434 ] [-0.05887248 -0.15117134 0.98675289 -0.47600409] [ 0. 0. 0. 1. ]] SLAMing on 105.50650248099998 meters Centerline goodness : 0.706419 with order 1 Centerline is valid? [False, False] Translation: X:8.67, Y:2.36, Z:-0.48 [[ 0.87237669 -0.48834016 -0.02197279 8.67238143] [ 0.48520609 0.85956037 0.16040892 2.36406345] [-0.05944718 -0.15059833 0.98680605 -0.47521327] [ 0. 0. 0. 1. ]] SLAMing on 105.56650248099997 meters Centerline goodness : 0.703822 with order 1 Centerline is valid? [False, False] Translation: X:8.67, Y:2.36, Z:-0.47 [[ 0.8749455 -0.48342034 -0.02784149 8.66684231] [ 0.48146937 0.86241217 0.15630895 2.35962446] [-0.05155209 -0.15016663 0.98731574 -0.46964593] [ 0. 0. 0. 1. ]] SLAMing on 105.62650248099997 meters Centerline goodness : 0.707312 with order 1 Centerline is valid? [False, False] Translation: X:8.65, Y:2.35, Z:-0.47 [[ 0.87569152 -0.4821059 -0.02717084 8.65401609] [ 0.48010106 0.86327046 0.15577898 2.35169542] [-0.05164618 -0.14945908 0.98741818 -0.46794472] [ 0. 0. 0. 1. ]] SLAMing on 105.68650248099998 meters Centerline goodness : 0.709314 with order 1 Centerline is valid? [False, False] Translation: X:8.64, Y:2.34, Z:-0.47 [[ 0.8762569 -0.48117017 -0.02547759 8.64143624] [ 0.47897717 0.86406511 0.15483007 2.34282563] [-0.05248532 -0.14787411 0.98761255 -0.46574134] [ 0. 0. 0. 1. ]] SLAMing on 105.74650248099998 meters Centerline goodness : 0.708989 with order 1 Centerline is valid? [False, False] Translation: X:8.63, Y:2.33, Z:-0.46 [[ 0.8758045 -0.48182288 -0.02851671 8.63138953] [ 0.48017479 0.86376711 0.15276957 2.33299174] [-0.04897608 -0.14748928 0.98785032 -0.46294658] [ 0. 0. 0. 1. ]] SLAMing on 105.80650248099998 meters Centerline goodness : 0.708001 with order 1 Centerline is valid? [False, False] Translation: X:8.63, Y:2.32, Z:-0.46 [[ 0.87444851 -0.48382954 -0.03533824 8.62605365] [ 0.48322233 0.86228271 0.15154112 2.3243419 ] [-0.04284851 -0.14959113 0.98781906 -0.46079608] [ 0. 0. 0. 1. ]] SLAMing on 105.86650248099998 meters Centerline goodness : 0.488871 with order 3 Centerline is valid? [False, False] Translation: X:8.61, Y:2.32, Z:-0.46 [[ 0.87263666 -0.4871644 -0.03429437 8.6138404 ] [ 0.48649681 0.86099914 0.14832849 2.31503325] [-0.04273293 -0.14612098 0.98834334 -0.45907296] [ 0. 0. 0. 1. ]] SLAMing on 105.92650248099997 meters Centerline goodness : 0.712280 with order 1 Centerline is valid? [False, False] Translation: X:8.61, Y:2.31, Z:-0.46 [[ 0.87039906 -0.49129513 -0.03216471 8.61250598] [ 0.49034404 0.85911975 0.14654684 2.31246296] [-0.04436442 -0.14332601 0.98868066 -0.45652784] [ 0. 0. 0. 1. ]] SLAMing on 105.98650248099997 meters Centerline goodness : 0.712230 with order 1 Centerline is valid? [False, False] Translation: X:8.61, Y:2.30, Z:-0.45 [[ 0.86988647 -0.49165674 -0.03963814 8.60563593] [ 0.49169742 0.85796527 0.14875902 2.30484796] [-0.03913022 -0.14889343 0.98807873 -0.45328353] [ 0. 0. 0. 1. ]] SLAMing on 106.04650248099998 meters Centerline goodness : 0.712698 with order 1 Centerline is valid? [False, False] Translation: X:8.59, Y:2.30, Z:-0.45 [[ 0.86958949 -0.49210298 -0.040605 8.59346366] [ 0.4924163 0.85816185 0.14520478 2.29529524] [-0.03661004 -0.14626312 0.98856806 -0.45168323] [ 0. 0. 0. 1. ]] SLAMing on 106.10650248099998 meters Centerline goodness : 0.715067 with order 1 Centerline is valid? [False, False] Translation: X:8.59, Y:2.29, Z:-0.45 [[ 0.86862211 -0.49403396 -0.0377635 8.59193484] [ 0.49399129 0.85760747 0.14311545 2.29222469] [-0.03831764 -0.14296809 0.98898528 -0.45102983] [ 0. 0. 0. 1. ]] SLAMing on 106.16650248099998 meters Centerline goodness : 0.714275 with order 1 Centerline is valid? [False, False] Translation: X:8.59, Y:2.29, Z:-0.45 [[ 0.87124591 -0.48930267 -0.03890319 8.59012484] [ 0.48933489 0.8596141 0.1470203 2.29134809] [-0.0384957 -0.14712752 0.98836814 -0.45067357] [ 0. 0. 0. 1. ]] SLAMing on 106.22650248099998 meters Centerline goodness : 0.713546 with order 1 Centerline is valid? [False, False] Translation: X:8.58, Y:2.28, Z:-0.45 [[ 0.87523862 -0.48205453 -0.03975921 8.57615181] [ 0.48239304 0.86391658 0.14472421 2.28194078] [-0.03541632 -0.14584778 0.9886729 -0.45012199] [ 0. 0. 0. 1. ]] SLAMing on 106.28650248099997 meters Centerline goodness : 0.667642 with order 3 Centerline is valid? [False, False] Translation: X:8.58, Y:2.28, Z:-0.45 [[ 0.87692382 -0.47906594 -0.03873561 8.57534604] [ 0.47928997 0.86562265 0.14483977 2.28116639] [-0.03585738 -0.14557904 0.98869661 -0.45232977] [ 0. 0. 0. 1. ]] SLAMing on 106.34650248099997 meters Centerline goodness : 0.512649 with order 3 Centerline is valid? [False, False] Translation: X:8.58, Y:2.28, Z:-0.45 [[ 0.8788355 -0.47539538 -0.04058822 8.57595038] [ 0.47582692 0.86699716 0.14800222 2.28124716] [-0.0351697 -0.14938258 0.9881538 -0.45303714] [ 0. 0. 0. 1. ]] SLAMing on 106.40650248099998 meters Centerline goodness : 0.483095 with order 3 Centerline is valid? [False, False] Translation: X:8.57, Y:2.28, Z:-0.45 [[ 0.87806257 -0.47704225 -0.03790528 8.57455149] [ 0.47720637 0.86693139 0.14388902 2.28179794] [-0.03577987 -0.1444322 0.9888676 -0.45387542] [ 0. 0. 0. 1. ]] SLAMing on 106.46650248099998 meters Centerline goodness : 0.570676 with order 3 Centerline is valid? [False, False] Translation: X:8.57, Y:2.28, Z:-0.45 [[ 0.87791575 -0.47733994 -0.03755691 8.57372296] [ 0.47748969 0.86695598 0.14279681 2.28384845] [-0.03560243 -0.14329661 0.9890392 -0.4542123 ] [ 0. 0. 0. 1. ]] SLAMing on 106.52650248099998 meters Centerline goodness : 0.366021 with order 1 Centerline is valid? [False, False] Translation: X:8.57, Y:2.28, Z:-0.45 [[ 0.87761735 -0.4779086 -0.03729826 8.57261893] [ 0.47802062 0.86669215 0.1426219 2.28401287] [-0.03583412 -0.1429968 0.98907423 -0.4529017 ] [ 0. 0. 0. 1. ]] SLAMing on 106.58650248099998 meters Centerline goodness : 0.652919 with order 3 Centerline is valid? [False, False] Translation: X:8.57, Y:2.28, Z:-0.45 [[ 0.87601078 -0.48101562 -0.03505843 8.57118152] [ 0.48089077 0.86561955 0.13945203 2.28398394] [-0.03673134 -0.13902075 0.98960802 -0.45211261] [ 0. 0. 0. 1. ]] SLAMing on 106.64650248099998 meters Centerline goodness : 0.721473 with order 1 Centerline is valid? [False, False] Translation: X:8.56, Y:2.28, Z:-0.45 [[ 0.87710721 -0.47862988 -0.03995473 8.56079561] [ 0.4790912 0.86599174 0.14328271 2.27522748] [-0.03397892 -0.14481626 0.98887496 -0.44979482] [ 0. 0. 0. 1. ]] SLAMing on 106.70650248099997 meters Centerline goodness : 0.720876 with order 1 Centerline is valid? [False, False] Translation: X:8.56, Y:2.28, Z:-0.45 [[ 0.87488868 -0.48285595 -0.03768181 8.55995445] [ 0.4830686 0.86437731 0.13963018 2.27538877] [-0.03484996 -0.14036376 0.98948648 -0.44907469] [ 0. 0. 0. 1. ]] SLAMing on 106.76650248099997 meters Centerline goodness : 0.720101 with order 1 Centerline is valid? [False, False] Translation: X:8.55, Y:2.27, Z:-0.45 [[ 0.87402956 -0.48378288 -0.0450162 8.55375468] [ 0.48505168 0.86341546 0.13870329 2.268709 ] [-0.02823459 -0.14306596 0.98931034 -0.44687818] [ 0. 0. 0. 1. ]] SLAMing on 106.82650248099998 meters Centerline goodness : 0.661273 with order 3 Centerline is valid? [False, False] Translation: X:8.55, Y:2.26, Z:-0.45 [[ 0.873608 -0.48373374 -0.05301637 8.5486217 ] [ 0.4861551 0.86274639 0.13900316 2.26117509] [-0.02150084 -0.14720846 0.98887177 -0.44520844] [ 0. 0. 0. 1. ]] SLAMing on 106.88650248099998 meters Centerline goodness : 0.718819 with order 1 Centerline is valid? [False, False] Translation: X:8.55, Y:2.26, Z:-0.44 [[ 0.87364213 -0.48370959 -0.05267318 8.54746172] [ 0.48607209 0.86272949 0.1393978 2.26049463] [-0.02198535 -0.14738675 0.98883456 -0.44422064] [ 0. 0. 0. 1. ]] SLAMing on 106.94650248099998 meters Centerline goodness : 0.721570 with order 1 Centerline is valid? [False, False] Translation: X:8.55, Y:2.26, Z:-0.45 [[ 0.87404106 -0.48306412 -0.05197377 8.54590263] [ 0.48536389 0.86335827 0.13796516 2.26347873] [-0.02177403 -0.14581341 0.98907247 -0.44533295] [ 0. 0. 0. 1. ]] SLAMing on 107.00650248099998 meters Centerline goodness : 0.368036 with order 1 Centerline is valid? [False, False] Translation: X:8.54, Y:2.27, Z:-0.45 [[ 0.87585675 -0.47970703 -0.05249879 8.54319925] [ 0.48208381 0.86489083 0.13985367 2.26542019] [-0.02168306 -0.14780059 0.98877946 -0.44511023] [ 0. 0. 0. 1. ]] SLAMing on 107.06650248099997 meters Centerline goodness : 0.654625 with order 3 Centerline is valid? [False, False] Translation: X:8.54, Y:2.27, Z:-0.45 [[ 0.8759721 -0.47967752 -0.05081692 8.54175865] [ 0.48186648 0.86543006 0.13724253 2.26827162] [-0.02185367 -0.14470759 0.9892331 -0.44738913] [ 0. 0. 0. 1. ]] SLAMing on 107.12650248099997 meters Centerline goodness : 0.459764 with order 2 Centerline is valid? [False, False] Translation: X:8.53, Y:2.27, Z:-0.45 [[ 0.87801573 -0.47554991 -0.05422792 8.52881141] [ 0.47830466 0.86757797 0.13613637 2.26526223] [-0.01769269 -0.14546734 0.98920484 -0.4451214 ] [ 0. 0. 0. 1. ]] SLAMing on 107.18650248099998 meters Centerline goodness : 0.720838 with order 1 Centerline is valid? [False, False] Translation: X:8.52, Y:2.26, Z:-0.44 [[ 0.88023046 -0.47092147 -0.05854316 8.5203887 ] [ 0.47441231 0.87032657 0.13215374 2.26130768] [-0.01128237 -0.14409934 0.98949891 -0.4404046 ] [ 0. 0. 0. 1. ]] SLAMing on 107.24650248099998 meters Centerline goodness : 0.722663 with order 1 Centerline is valid? [False, False] Translation: X:8.52, Y:2.26, Z:-0.44 [[ 0.88040081 -0.47067535 -0.05795794 8.51821966] [ 0.47408833 0.87054888 0.13185181 2.26146379] [-0.01160418 -0.14355962 0.98957363 -0.43880292] [ 0. 0. 0. 1. ]] SLAMing on 107.30650248099998 meters Centerline goodness : 0.722564 with order 1 Centerline is valid? [False, False] Translation: X:8.52, Y:2.26, Z:-0.44 [[ 0.87999158 -0.4714301 -0.05803857 8.51862939] [ 0.47485342 0.87022552 0.13123173 2.26150553] [-0.01135994 -0.14304263 0.98965133 -0.43839547] [ 0. 0. 0. 1. ]] SLAMing on 107.36650248099998 meters Centerline goodness : 0.722717 with order 1 Centerline is valid? [False, False] Translation: X:8.52, Y:2.26, Z:-0.44 [[ 0.87972862 -0.47183868 -0.05870109 8.51880248] [ 0.47534136 0.86981179 0.13220456 2.25962246] [-0.01132032 -0.14420719 0.98948276 -0.43619944] [ 0. 0. 0. 1. ]] SLAMing on 107.42650248099997 meters Centerline goodness : 0.722891 with order 1 Centerline is valid? [False, False] Translation: X:8.51, Y:2.25, Z:-0.43 [[ 0.88085091 -0.46953486 -0.06032153 8.50618988] [ 0.47330903 0.87110318 0.13098782 2.25162127] [-0.00895707 -0.14393147 0.98954712 -0.43357856] [ 0. 0. 0. 1. ]] SLAMing on 107.48650248099997 meters Centerline goodness : 0.723124 with order 1 Centerline is valid? [False, False] Translation: X:8.51, Y:2.25, Z:-0.43 [[ 0.88080623 -0.46963084 -0.06022671 8.50656528] [ 0.47339441 0.87112466 0.13053565 2.25152617] [-0.00883859 -0.1434876 0.98961265 -0.43384575] [ 0. 0. 0. 1. ]] SLAMing on 107.54650248099998 meters Centerline goodness : 0.717842 with order 1 Centerline is valid? [False, False] Translation: X:8.50, Y:2.25, Z:-0.43 [[ 8.83309316e-01 -4.64148098e-01 -6.58118242e-02 8.50160945e+00] [ 4.68788592e-01 8.74144159e-01 1.26922200e-01 2.24687126e+00] [-1.38167600e-03 -1.42963394e-01 9.89727012e-01 -4.30202990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.60650248099998 meters Centerline goodness : 0.718314 with order 1 Centerline is valid? [False, False] Translation: X:8.50, Y:2.25, Z:-0.43 [[ 8.83663904e-01 -4.63660299e-01 -6.44766052e-02 8.50035208e+00] [ 4.68116748e-01 8.74586564e-01 1.26352888e-01 2.24549659e+00] [-2.19444538e-03 -1.41836065e-01 9.89887728e-01 -4.30374585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.66650248099998 meters Centerline goodness : 0.723332 with order 1 Centerline is valid? [False, False] Translation: X:8.50, Y:2.24, Z:-0.43 [[ 8.84339898e-01 -4.62451047e-01 -6.38903241e-02 8.49843740e+00] [ 4.66834260e-01 8.75136025e-01 1.27289872e-01 2.24376764e+00] [-2.95261014e-03 -1.42393704e-01 9.89805696e-01 -4.29093241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.72650248099998 meters Centerline goodness : 0.721227 with order 1 Centerline is valid? [False, False] Translation: X:8.50, Y:2.24, Z:-0.43 [[ 8.82927400e-01 -4.65433074e-01 -6.17354036e-02 8.49785564e+00] [ 4.69494830e-01 8.74193273e-01 1.23938393e-01 2.24343699e+00] [-3.71635267e-03 -1.38413056e-01 9.90367616e-01 -4.29171751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.78650248099997 meters Centerline goodness : 0.497086 with order 3 Centerline is valid? [False, False] Translation: X:8.49, Y:2.23, Z:-0.43 [[ 8.81472662e-01 -4.67551475e-01 -6.63442898e-02 8.49016281e+00] [ 4.72234872e-01 8.72853155e-01 1.22969893e-01 2.23213511e+00] [ 4.14067846e-04 -1.39724686e-01 9.90190305e-01 -4.26202217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.84650248099997 meters Centerline goodness : 0.571076 with order 3 Centerline is valid? [False, False] Translation: X:8.48, Y:2.22, Z:-0.42 [[ 8.78992152e-01 -4.71508115e-01 -7.10837077e-02 8.48485726e+00] [ 4.76809758e-01 8.70693100e-01 1.20606716e-01 2.22075688e+00] [ 5.02504837e-03 -1.39905762e-01 9.90152072e-01 -4.24164377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.90650248099998 meters Centerline goodness : 0.621078 with order 3 Centerline is valid? [False, False] Translation: X:8.48, Y:2.21, Z:-0.42 [[ 8.77233045e-01 -4.74458229e-01 -7.31544540e-02 8.47520280e+00] [ 4.80016015e-01 8.69071799e-01 1.19577733e-01 2.20985199e+00] [ 6.84183343e-03 -1.40012848e-01 9.90126048e-01 -4.21862431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.96650248099998 meters Centerline goodness : 0.506590 with order 3 Centerline is valid? [False, False] Translation: X:8.48, Y:2.21, Z:-0.42 [[ 8.76905077e-01 -4.74976557e-01 -7.37207987e-02 8.47656626e+00] [ 4.80612357e-01 8.68676761e-01 1.20051853e-01 2.20833614e+00] [ 7.01772887e-03 -1.40705206e-01 9.90026665e-01 -4.21185262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.02650248099998 meters Centerline goodness : 0.230806 with order 1 Centerline is valid? [False, False] Translation: X:8.48, Y:2.21, Z:-0.42 [[ 8.77080969e-01 -4.74537359e-01 -7.44531284e-02 8.47720572e+00] [ 4.80292407e-01 8.68630261e-01 1.21658020e-01 2.20627627e+00] [ 6.94096461e-03 -1.42463207e-01 9.89775761e-01 -4.20021471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.08650248099998 meters Centerline goodness : 0.234369 with order 1 Centerline is valid? [False, False] Translation: X:8.48, Y:2.21, Z:-0.42 [[ 8.77500834e-01 -4.73805928e-01 -7.41635266e-02 8.47619632e+00] [ 4.79532393e-01 8.68931481e-01 1.22502104e-01 2.20512875e+00] [ 6.40080013e-03 -1.43059511e-01 9.89693390e-01 -4.19360209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.14650248099998 meters Centerline goodness : 0.400091 with order 3 Centerline is valid? [False, False] Translation: X:8.48, Y:2.20, Z:-0.42 [[ 8.77742637e-01 -4.73501345e-01 -7.32416470e-02 8.47517013e+00] [ 4.79099761e-01 8.69152154e-01 1.22629330e-01 2.20348064e+00] [ 5.59298250e-03 -1.42727047e-01 9.89746285e-01 -4.19106686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.20650248099997 meters Centerline goodness : 0.503911 with order 1 Centerline is valid? [False, False] Translation: X:8.48, Y:2.20, Z:-0.42 [[ 8.78647832e-01 -4.71734064e-01 -7.37899705e-02 8.47541656e+00] [ 4.77432162e-01 8.69978137e-01 1.23274374e-01 2.20396623e+00] [ 6.04293947e-03 -1.43544467e-01 9.89625418e-01 -4.19731438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.26650248099997 meters Centerline goodness : 0.647873 with order 3 Centerline is valid? [False, False] Translation: X:8.47, Y:2.20, Z:-0.42 [[ 8.79556052e-01 -4.70174178e-01 -7.29204647e-02 8.47492425e+00] [ 4.75762598e-01 8.70901552e-01 1.23208917e-01 2.20366115e+00] [ 5.57689463e-03 -1.43061978e-01 9.89698019e-01 -4.21474715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.32650248099998 meters Centerline goodness : 0.525735 with order 3 Centerline is valid? [False, False] Translation: X:8.47, Y:2.20, Z:-0.42 [[ 8.80262020e-01 -4.68981248e-01 -7.20788876e-02 8.47298536e+00] [ 4.74462636e-01 8.71567707e-01 1.23510883e-01 2.20316342e+00] [ 4.89734263e-03 -1.42920679e-01 9.89722029e-01 -4.21285101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.38650248099998 meters Centerline goodness : 0.725714 with order 3 Centerline is valid? [False, False] Translation: X:8.47, Y:2.20, Z:-0.42 [[ 8.80561606e-01 -4.68505830e-01 -7.15090589e-02 8.47262539e+00] [ 4.73910733e-01 8.71861207e-01 1.23558300e-01 2.20241383e+00] [ 4.45819067e-03 -1.42689605e-01 9.89757446e-01 -4.21864505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.44650248099998 meters Centerline goodness : 0.639871 with order 3 Centerline is valid? [False, False] Translation: X:8.47, Y:2.20, Z:-0.42 [[ 8.80938705e-01 -4.67871584e-01 -7.10153444e-02 8.47187024e+00] [ 4.73212421e-01 8.72237597e-01 1.23578230e-01 2.20277246e+00] [ 4.12351099e-03 -1.42470189e-01 9.89790504e-01 -4.22656998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.50650248099998 meters Centerline goodness : 0.226812 with order 1 Centerline is valid? [False, False] Translation: X:8.47, Y:2.20, Z:-0.42 [[ 8.81502247e-01 -4.66892741e-01 -7.04624513e-02 8.47120337e+00] [ 4.72167219e-01 8.72699149e-01 1.24315375e-01 2.20141674e+00] [ 3.45057490e-03 -1.42854342e-01 9.89737708e-01 -4.22966405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.56650248099997 meters Centerline goodness : 0.723650 with order 1 Centerline is valid? [False, False] Translation: X:8.47, Y:2.20, Z:-0.42 [[ 8.81496751e-01 -4.66981364e-01 -6.99420005e-02 8.47097474e+00] [ 4.72181386e-01 8.72656087e-01 1.24563609e-01 2.20013927e+00] [ 2.86642856e-03 -1.42827727e-01 9.89743413e-01 -4.23091955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.62650248099997 meters Centerline goodness : 0.719060 with order 3 Centerline is valid? [False, False] Translation: X:8.47, Y:2.20, Z:-0.42 [[ 8.82112758e-01 -4.65931056e-01 -6.91761040e-02 8.47084806e+00] [ 4.71033297e-01 8.73216144e-01 1.24984793e-01 2.19940097e+00] [ 2.17139427e-03 -1.42834929e-01 9.89744143e-01 -4.24915176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.68650248099998 meters Centerline goodness : 0.724640 with order 3 Centerline is valid? [False, False] Translation: X:8.47, Y:2.20, Z:-0.43 [[ 8.81952559e-01 -4.66142635e-01 -6.97905917e-02 8.47243465e+00] [ 4.71330259e-01 8.73074757e-01 1.24852936e-01 2.20108790e+00] [ 2.73312749e-03 -1.43008784e-01 9.89717645e-01 -4.26476434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.74650248099998 meters Centerline goodness : 0.484045 with order 1 Centerline is valid? [False, False] Translation: X:8.47, Y:2.20, Z:-0.43 [[ 8.81413220e-01 -4.67150703e-01 -6.98638375e-02 8.47341147e+00] [ 4.72338658e-01 8.72529305e-01 1.24855134e-01 2.20063109e+00] [ 2.63208195e-03 -1.43048357e-01 9.89712200e-01 -4.26833428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.80650248099998 meters Centerline goodness : 0.708335 with order 3 Centerline is valid? [False, False] Translation: X:8.47, Y:2.20, Z:-0.43 [[ 8.80885265e-01 -4.68118387e-01 -7.00451681e-02 8.47421239e+00] [ 4.73324238e-01 8.71897019e-01 1.25537858e-01 2.19891898e+00] [ 2.30559385e-03 -1.43738525e-01 9.89613016e-01 -4.26207792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.86650248099998 meters Centerline goodness : 0.470055 with order 1 Centerline is valid? [False, False] Translation: X:8.48, Y:2.20, Z:-0.43 [[ 8.80260967e-01 -4.69190157e-01 -7.07193472e-02 8.47603476e+00] [ 4.74482621e-01 8.71239240e-01 1.25731574e-01 2.19897676e+00] [ 2.62145332e-03 -1.44231698e-01 9.89540472e-01 -4.26638384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.92650248099997 meters Centerline goodness : 0.720868 with order 1 Centerline is valid? [False, False] Translation: X:8.48, Y:2.20, Z:-0.43 [[ 8.79545065e-01 -4.70454790e-01 -7.12233767e-02 8.47753859e+00] [ 4.75807880e-01 8.70473837e-01 1.26024446e-01 2.19850888e+00] [ 2.70928187e-03 -1.44732823e-01 9.89467063e-01 -4.26759492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.98650248099997 meters Centerline goodness : 0.724029 with order 1 Centerline is valid? [False, False] Translation: X:8.48, Y:2.20, Z:-0.43 [[ 8.79244228e-01 -4.70884472e-01 -7.20930033e-02 8.47803320e+00] [ 4.76362025e-01 8.70043183e-01 1.26901857e-01 2.19854682e+00] [ 2.96791194e-03 -1.45920095e-01 9.89291927e-01 -4.25717153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.04650248099998 meters Centerline goodness : 0.722427 with order 1 Centerline is valid? [False, False] Translation: X:8.48, Y:2.20, Z:-0.42 [[ 8.78637538e-01 -4.71856924e-01 -7.31240022e-02 8.47882018e+00] [ 4.77474865e-01 8.69439596e-01 1.26856385e-01 2.20006324e+00] [ 3.71883941e-03 -1.46375655e-01 9.89222087e-01 -4.24916639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.10650248099998 meters Centerline goodness : 0.722627 with order 1 Centerline is valid? [False, False] Translation: X:8.48, Y:2.20, Z:-0.43 [[ 8.78036497e-01 -4.72963945e-01 -7.31916417e-02 8.47981200e+00] [ 4.78576321e-01 8.68979113e-01 1.25857085e-01 2.20102946e+00] [ 4.07614470e-03 -1.45534900e-01 9.89344721e-01 -4.25540445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.16650248099998 meters Centerline goodness : 0.720537 with order 1 Centerline is valid? [False, False] Translation: X:8.48, Y:2.21, Z:-0.43 [[ 8.79282490e-01 -4.70335482e-01 -7.51454369e-02 8.48109980e+00] [ 4.76265026e-01 8.70134857e-01 1.26637099e-01 2.20565465e+00] [ 5.82474301e-03 -1.47138927e-01 9.89098685e-01 -4.28027111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.22650248099998 meters Centerline goodness : 0.720371 with order 1 Centerline is valid? [False, False] Translation: X:8.48, Y:2.21, Z:-0.43 [[ 8.81597386e-01 -4.65769289e-01 -7.64527215e-02 8.47932789e+00] [ 4.71957942e-01 8.72091558e-01 1.29274964e-01 2.20782399e+00] [ 6.46146503e-03 -1.50050939e-01 9.88657152e-01 -4.28348008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.28650248099997 meters Centerline goodness : 0.717905 with order 1 Centerline is valid? [False, False] Translation: X:8.48, Y:2.21, Z:-0.43 [[ 8.83453309e-01 -4.62047374e-01 -7.76046043e-02 8.47848750e+00] [ 4.68463966e-01 8.73690671e-01 1.31172118e-01 2.20971789e+00] [ 7.19468584e-03 -1.52239403e-01 9.88317459e-01 -4.29111735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.34650248099997 meters Centerline goodness : 0.719191 with order 1 Centerline is valid? [False, False] Translation: X:8.48, Y:2.21, Z:-0.43 [[ 8.85014522e-01 -4.58594510e-01 -8.02519292e-02 8.48011966e+00] [ 4.65487232e-01 8.74742629e-01 1.34710689e-01 2.20996707e+00] [ 8.42220113e-03 -1.56577164e-01 9.87629818e-01 -4.29247824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.40650248099998 meters Centerline goodness : 0.718192 with order 1 Centerline is valid? [False, False] Translation: X:8.48, Y:2.21, Z:-0.43 [[ 0.88620829 -0.45591304 -0.0823296 8.47898714] [ 0.4632001 0.87538132 0.13839513 2.20974521] [ 0.00897365 -0.16078199 0.98694915 -0.42668782] [ 0. 0. 0. 1. ]] SLAMing on 109.46650248099998 meters Centerline goodness : 0.717376 with order 1 Centerline is valid? [False, False] Translation: X:8.48, Y:2.21, Z:-0.43 [[ 0.88544945 -0.45725814 -0.08303171 8.48039301] [ 0.46462763 0.87485279 0.13694433 2.21221856] [ 0.01002162 -0.15983611 0.98709269 -0.42700858] [ 0. 0. 0. 1. ]] SLAMing on 109.52650248099998 meters Centerline goodness : 0.715305 with order 1 Centerline is valid? [False, False] Translation: X:8.48, Y:2.21, Z:-0.43 [[ 0.88493491 -0.45818834 -0.08338851 8.48188396] [ 0.46559257 0.87450587 0.13587878 2.21371541] [ 0.01066567 -0.15906895 0.98720986 -0.42797083] [ 0. 0. 0. 1. ]] SLAMing on 109.58650248099998 meters Centerline goodness : 0.715776 with order 1 Centerline is valid? [False, False] Translation: X:8.48, Y:2.21, Z:-0.43 [[ 0.88572309 -0.45616335 -0.0860791 8.48210063] [ 0.46407142 0.87469028 0.13983787 2.21289103] [ 0.01150364 -0.16380448 0.98642575 -0.42515224] [ 0. 0. 0. 1. ]] SLAMing on 109.64650248099998 meters Centerline goodness : 0.716656 with order 1 Centerline is valid? [False, False] Translation: X:8.48, Y:2.22, Z:-0.43 [[ 0.88393096 -0.45972483 -0.08555196 8.4825157 ] [ 0.46746625 0.87338246 0.13666888 2.21580455] [ 0.0118895 -0.16079851 0.98691564 -0.42520999] [ 0. 0. 0. 1. ]] SLAMing on 109.70650248099997 meters Centerline goodness : 0.713384 with order 1 Centerline is valid? [False, False] Translation: X:8.47, Y:2.21, Z:-0.42 [[ 0.88416235 -0.45792143 -0.09254674 8.47473454] [ 0.46684118 0.87355297 0.13771172 2.20876002] [ 0.01778333 -0.16496415 0.98613923 -0.42338578] [ 0. 0. 0. 1. ]] SLAMing on 109.76650248099997 meters Centerline goodness : 0.712270 with order 1 Centerline is valid? [False, False] Translation: X:8.48, Y:2.21, Z:-0.42 [[ 0.88405573 -0.45797598 -0.0932924 8.47507832] [ 0.46703066 0.87334753 0.13837074 2.20849695] [ 0.01810621 -0.16589786 0.98597671 -0.4223234 ] [ 0. 0. 0. 1. ]] SLAMing on 109.82650248099998 meters Centerline goodness : 0.712446 with order 1 Centerline is valid? [False, False] Translation: X:8.46, Y:2.20, Z:-0.42 [[ 0.88466236 -0.45698395 -0.09240224 8.46202784] [ 0.46589543 0.87401951 0.13795412 2.20207758] [ 0.01771854 -0.1650926 0.9861189 -0.42280084] [ 0. 0. 0. 1. ]] SLAMing on 109.88650248099998 meters Centerline goodness : 0.713634 with order 1 Centerline is valid? [False, False] Translation: X:8.46, Y:2.20, Z:-0.42 [[ 0.88441727 -0.4574704 -0.09234133 8.46227851] [ 0.46636338 0.87379269 0.13780979 2.20115089] [ 0.01764328 -0.16494597 0.98614479 -0.42227792] [ 0. 0. 0. 1. ]] SLAMing on 109.94650248099998 meters Centerline goodness : 0.713598 with order 1 Centerline is valid? [False, False] Translation: X:8.46, Y:2.20, Z:-0.42 [[ 0.88445502 -0.45722393 -0.09319654 8.46290875] [ 0.46625936 0.87386518 0.13770208 2.2027024 ] [ 0.01848053 -0.16524505 0.98607938 -0.42217946] [ 0. 0. 0. 1. ]] SLAMing on 110.00650248099998 meters Centerline goodness : 0.715517 with order 1 Centerline is valid? [False, False] Translation: X:8.46, Y:2.20, Z:-0.42 [[ 0.88486377 -0.45655115 -0.09261292 8.46233173] [ 0.4654902 0.87434231 0.13727491 2.20285398] [ 0.01830238 -0.16458001 0.98619392 -0.42288171] [ 0. 0. 0. 1. ]] SLAMing on 110.06650248099997 meters Centerline goodness : 0.715210 with order 1 Centerline is valid? [False, False] Translation: X:8.46, Y:2.20, Z:-0.42 [[ 0.88547176 -0.45552962 -0.0918288 8.4618547 ] [ 0.46433433 0.87510498 0.13632648 2.20403071] [ 0.01825909 -0.16335251 0.98639878 -0.42466755] [ 0. 0. 0. 1. ]] SLAMing on 110.12650248099997 meters Centerline goodness : 0.713820 with order 1 Centerline is valid? [False, False] Translation: X:8.46, Y:2.20, Z:-0.43 [[ 0.88579229 -0.4550089 -0.0913177 8.46155927] [ 0.46372864 0.87548978 0.13591683 2.20400557] [ 0.01810435 -0.16274071 0.98650276 -0.42537795] [ 0. 0. 0. 1. ]] SLAMing on 110.18650248099998 meters Centerline goodness : 0.718714 with order 1 Centerline is valid? [False, False] Translation: X:8.46, Y:2.20, Z:-0.42 [[ 0.88616514 -0.45439824 -0.09073907 8.46090017] [ 0.46304858 0.87569362 0.13691861 2.20114893] [ 0.01724405 -0.1633491 0.98641762 -0.42474609] [ 0. 0. 0. 1. ]] SLAMing on 110.24650248099998 meters Centerline goodness : 0.714427 with order 1 Centerline is valid? [False, False] Translation: X:8.46, Y:2.20, Z:-0.42 [[ 0.88803283 -0.44918977 -0.09811343 8.45773967] [ 0.45902818 0.87835837 0.13334055 2.19605195] [ 0.02628354 -0.16344761 0.98620183 -0.42021121] [ 0. 0. 0. 1. ]] SLAMing on 110.30650248099998 meters Centerline goodness : 0.718580 with order 1 Centerline is valid? [False, False] Translation: X:8.46, Y:2.19, Z:-0.42 [[ 0.88684825 -0.45197688 -0.09600562 8.45742432] [ 0.46137105 0.87754754 0.1305644 2.19433991] [ 0.0252374 -0.16008502 0.98678055 -0.42020469] [ 0. 0. 0. 1. ]] SLAMing on 110.36650248099998 meters Centerline goodness : 0.718203 with order 1 Centerline is valid? [False, False] Translation: X:8.45, Y:2.19, Z:-0.42 [[ 0.88642403 -0.451686 -0.10115433 8.44872483] [ 0.46191424 0.87727105 0.13050189 2.1860112 ] [ 0.02979389 -0.16240463 0.98627433 -0.41857554] [ 0. 0. 0. 1. ]] SLAMing on 110.42650248099997 meters Centerline goodness : 0.720200 with order 1 Centerline is valid? [False, False] Translation: X:8.45, Y:2.18, Z:-0.42 [[ 0.88465317 -0.45540431 -0.09997844 8.44983303] [ 0.46534644 0.87574239 0.12856113 2.18353281] [ 0.02900807 -0.16025663 0.98664905 -0.41783727] [ 0. 0. 0. 1. ]] SLAMing on 110.48650248099997 meters Centerline goodness : 0.721466 with order 1 Centerline is valid? [False, False] Translation: X:8.45, Y:2.18, Z:-0.42 [[ 0.88388488 -0.45683224 -0.1002588 8.45003523] [ 0.46683649 0.87478983 0.1296397 2.18080236] [ 0.02848178 -0.16139103 0.98647946 -0.41560169] [ 0. 0. 0. 1. ]] SLAMing on 110.54650248099998 meters Centerline goodness : 0.723806 with order 1 Centerline is valid? [False, False] Translation: X:8.45, Y:2.18, Z:-0.42 [[ 0.88208387 -0.46052525 -0.09921965 8.45112755] [ 0.47024455 0.87337617 0.12682323 2.18060025] [ 0.02825077 -0.15852623 0.98695052 -0.41545683] [ 0. 0. 0. 1. ]] SLAMing on 110.60650248099998 meters Centerline goodness : 0.724879 with order 1 Centerline is valid? [False, False] Translation: X:8.45, Y:2.18, Z:-0.41 [[ 0.88188892 -0.46069502 -0.10016006 8.45153344] [ 0.47061471 0.87291289 0.12862689 2.17844308] [ 0.02817324 -0.16057143 0.98662206 -0.41320545] [ 0. 0. 0. 1. ]] SLAMing on 110.66650248099998 meters Centerline goodness : 0.724704 with order 1 Centerline is valid? [False, False] Translation: X:8.45, Y:2.18, Z:-0.41 [[ 0.88014792 -0.46431136 -0.09876543 8.45235081] [ 0.47386362 0.87171291 0.12477928 2.17965992] [ 0.02815866 -0.15662557 0.98725656 -0.41385537] [ 0. 0. 0. 1. ]] SLAMing on 110.72650248099998 meters Centerline goodness : 0.724076 with order 1 Centerline is valid? [False, False] Translation: X:8.45, Y:2.18, Z:-0.41 [[ 0.88028433 -0.46391946 -0.09938931 8.45269076] [ 0.47357483 0.87186381 0.1248214 2.18074978] [ 0.02874687 -0.1569466 0.98718863 -0.41375942] [ 0. 0. 0. 1. ]] SLAMing on 110.78650248099997 meters Centerline goodness : 0.725975 with order 1 Centerline is valid? [False, False] Translation: X:8.45, Y:2.18, Z:-0.42 [[ 0.88082811 -0.46304356 -0.09865344 8.45236797] [ 0.47256804 0.87252636 0.12400481 2.18165934] [ 0.0286581 -0.15584739 0.98736534 -0.41545671] [ 0. 0. 0. 1. ]] SLAMing on 110.84650248099997 meters Centerline goodness : 0.723596 with order 1 Centerline is valid? [False, False] Translation: X:8.45, Y:2.18, Z:-0.42 [[ 0.88297569 -0.45906616 -0.09804184 8.45110893] [ 0.46855788 0.87456194 0.12487962 2.18076755] [ 0.02841565 -0.15620395 0.987316 -0.41685519] [ 0. 0. 0. 1. ]] SLAMing on 110.90650248099998 meters Centerline goodness : 0.721463 with order 1 Centerline is valid? [False, False] Translation: X:8.45, Y:2.18, Z:-0.42 [[ 0.88665422 -0.45163515 -0.09934782 8.44966282] [ 0.46152566 0.87770331 0.1289611 2.18140148] [ 0.02895455 -0.16019547 0.98666055 -0.41861811] [ 0. 0. 0. 1. ]] SLAMing on 110.96650248099998 meters Centerline goodness : 0.725057 with order 1 Centerline is valid? [False, False] Translation: X:8.44, Y:2.18, Z:-0.42 [[ 0.88956898 -0.44652154 -0.09636154 8.44396926] [ 0.45602133 0.88038581 0.1302512 2.17850261] [ 0.02667536 -0.15981035 0.98678725 -0.41912408] [ 0. 0. 0. 1. ]] SLAMing on 111.02650248099998 meters Centerline goodness : 0.724227 with order 1 Centerline is valid? [False, False] Translation: X:8.44, Y:2.18, Z:-0.42 [[ 0.89130173 -0.44271402 -0.09790573 8.44306182] [ 0.45261128 0.88155684 0.13416623 2.17731739] [ 0.0269122 -0.16389584 0.98611049 -0.41795386] [ 0. 0. 0. 1. ]] SLAMing on 111.08650248099998 meters Centerline goodness : 0.722300 with order 1 Centerline is valid? [False, False] Translation: X:8.44, Y:2.18, Z:-0.42 [[ 0.88972472 -0.44630022 -0.0959481 8.44364787] [ 0.455731 0.8805642 0.13006134 2.17789117] [ 0.02644206 -0.15944531 0.98685258 -0.41924147] [ 0. 0. 0. 1. ]] SLAMing on 111.14650248099997 meters Centerline goodness : 0.722937 with order 1 Centerline is valid? [False, False] Translation: X:8.44, Y:2.17, Z:-0.42 [[ 0.88946437 -0.44674635 -0.09628511 8.44407625] [ 0.45626472 0.88007466 0.13149562 2.17473586] [ 0.0259929 -0.16089217 0.98662966 -0.41749371] [ 0. 0. 0. 1. ]] SLAMing on 111.20650248099997 meters Centerline goodness : 0.720917 with order 1 Centerline is valid? [False, False] Translation: X:8.45, Y:2.17, Z:-0.42 [[ 0.88923045 -0.44698415 -0.09733646 8.44556974] [ 0.45670349 0.87965989 0.13274185 2.17359315] [ 0.02628948 -0.16249199 0.98635958 -0.41680231] [ 0. 0. 0. 1. ]] SLAMing on 111.26650248099997 meters Centerline goodness : 0.723948 with order 1 Centerline is valid? [False, False] Translation: X:8.45, Y:2.17, Z:-0.42 [[ 0.88943323 -0.44638765 -0.09821709 8.4466206 ] [ 0.45629286 0.87967388 0.13405485 2.17231493] [ 0.02655858 -0.16404859 0.98609467 -0.4163167 ] [ 0. 0. 0. 1. ]] SLAMing on 111.32650248099998 meters Centerline goodness : 0.722738 with order 1 Centerline is valid? [False, False] Translation: X:8.45, Y:2.17, Z:-0.42 [[ 0.889133 -0.44703256 -0.09800207 8.44775486] [ 0.45688344 0.87943491 0.1336105 2.17159742] [ 0.0264582 -0.16357302 0.98617637 -0.41715094] [ 0. 0. 0. 1. ]] SLAMing on 111.38650248099998 meters Centerline goodness : 0.722876 with order 1 Centerline is valid? [False, False] Translation: X:8.45, Y:2.17, Z:-0.42 [[ 0.89001438 -0.44455606 -0.10121419 8.45034701] [ 0.45507276 0.87979659 0.13735625 2.17250155] [ 0.02798535 -0.16830886 0.98533697 -0.41712653] [ 0. 0. 0. 1. ]] SLAMing on 111.44650248099998 meters Centerline goodness : 0.725251 with order 1 Centerline is valid? [False, False] Translation: X:8.45, Y:2.17, Z:-0.42 [[ 0.89018037 -0.44438287 -0.10051258 8.44923274] [ 0.45479276 0.87988755 0.13770058 2.17076543] [ 0.02724799 -0.16829075 0.98536073 -0.41636603] [ 0. 0. 0. 1. ]] SLAMing on 111.50650248099998 meters Centerline goodness : 0.725179 with order 1 Centerline is valid? [False, False] Translation: X:8.45, Y:2.17, Z:-0.41 [[ 0.89017691 -0.4441661 -0.10149649 8.44950457] [ 0.4547688 0.8797673 0.13854545 2.17088068] [ 0.0277561 -0.1694874 0.98514142 -0.41496554] [ 0. 0. 0. 1. ]] SLAMing on 111.56650248099997 meters Centerline goodness : 0.724153 with order 1 Centerline is valid? [False, False] Translation: X:8.45, Y:2.17, Z:-0.42 [[ 0.88965625 -0.44499913 -0.10240862 8.45166874] [ 0.45575201 0.87923311 0.13870563 2.1712825 ] [ 0.02831717 -0.17007327 0.98502448 -0.41556994] [ 0. 0. 0. 1. ]] SLAMing on 111.62650248099997 meters Centerline goodness : 0.725922 with order 1 Centerline is valid? [False, False] Translation: X:8.46, Y:2.17, Z:-0.42 [[ 0.88771615 -0.44902814 -0.10165511 8.45500568] [ 0.45950984 0.87780457 0.13531389 2.17153208] [ 0.02847358 -0.16683185 0.98557414 -0.41745876] [ 0. 0. 0. 1. ]] SLAMing on 111.68650248099998 meters Centerline goodness : 0.728030 with order 1 Centerline is valid? [False, False] Translation: X:8.45, Y:2.17, Z:-0.42 [[ 0.88653639 -0.45180308 -0.09963535 8.45440306] [ 0.46187496 0.87679887 0.13377319 2.16855017] [ 0.02692102 -0.16461387 0.98599063 -0.41685596] [ 0. 0. 0. 1. ]] SLAMing on 111.74650248099998 meters Centerline goodness : 0.728053 with order 1 Centerline is valid? [False, False] Translation: X:8.46, Y:2.17, Z:-0.42 [[ 0.88648697 -0.45175062 -0.10031061 8.45533558] [ 0.46197019 0.87655154 0.13505904 2.16653523] [ 0.02691442 -0.16606859 0.98574684 -0.41581493] [ 0. 0. 0. 1. ]] SLAMing on 111.80650248099998 meters Centerline goodness : 0.727849 with order 1 Centerline is valid? [False, False] Translation: X:8.46, Y:2.17, Z:-0.42 [[ 0.88648403 -0.45161289 -0.10095476 8.45636048] [ 0.4619658 0.87641767 0.13593993 2.16516168] [ 0.02708631 -0.16714622 0.98555998 -0.41517039] [ 0. 0. 0. 1. ]] SLAMing on 111.86650248099998 meters Centerline goodness : 0.725047 with order 1 Centerline is valid? [False, False] Translation: X:8.45, Y:2.16, Z:-0.41 [[ 0.88617081 -0.45058164 -0.10806239 8.45164644] [ 0.46208727 0.87663502 0.13411335 2.15606922] [ 0.03430226 -0.16878159 0.98505641 -0.41470832] [ 0. 0. 0. 1. ]] SLAMing on 111.92650248099997 meters Centerline goodness : 0.725300 with order 1 Centerline is valid? [False, False] Translation: X:8.45, Y:2.15, Z:-0.41 [[ 0.88622197 -0.45055948 -0.10773474 8.4518844 ] [ 0.46203088 0.87657095 0.13472506 2.15429232] [ 0.03373549 -0.16917308 0.98500882 -0.41489032] [ 0. 0. 0. 1. ]] SLAMing on 111.98650248099997 meters Centerline goodness : 0.727361 with order 1 Centerline is valid? [False, False] Translation: X:8.45, Y:2.15, Z:-0.41 [[ 0.88712104 -0.44894632 -0.10706752 8.45039905] [ 0.46036566 0.87724683 0.13602004 2.15173434] [ 0.03285895 -0.16995645 0.9849036 -0.41427702] [ 0. 0. 0. 1. ]] SLAMing on 112.04650248099998 meters Centerline goodness : 0.727725 with order 1 Centerline is valid? [False, False] Translation: X:8.45, Y:2.15, Z:-0.41 [[ 0.88776535 -0.44798322 -0.10575307 8.44817504] [ 0.45918333 0.87789542 0.13583191 2.15139756] [ 0.03198972 -0.16914691 0.98507156 -0.41480396] [ 0. 0. 0. 1. ]] SLAMing on 112.10650248099998 meters Centerline goodness : 0.728028 with order 1 Centerline is valid? [False, False] Translation: X:8.45, Y:2.15, Z:-0.42 [[ 0.88836064 -0.44706497 -0.10463408 8.44679503] [ 0.45807512 0.87852523 0.13550131 2.1501669 ] [ 0.03134579 -0.1683043 0.98523657 -0.41510311] [ 0. 0. 0. 1. ]] SLAMing on 112.16650248099998 meters Centerline goodness : 0.725248 with order 1 Centerline is valid? [False, False] Translation: X:8.45, Y:2.15, Z:-0.41 [[ 0.8885228 -0.44662362 -0.1051407 8.44686471] [ 0.45774628 0.87859104 0.13618414 2.14891779] [ 0.03155262 -0.16913048 0.98508848 -0.41379505] [ 0. 0. 0. 1. ]] SLAMing on 112.22650248099998 meters Centerline goodness : 0.725929 with order 1 Centerline is valid? [False, False] Translation: X:8.45, Y:2.15, Z:-0.41 [[ 0.88816541 -0.44725421 -0.10547929 8.448844 ] [ 0.458438 0.87817882 0.13651583 2.14744915] [ 0.0315724 -0.16960435 0.98500637 -0.4143047 ] [ 0. 0. 0. 1. ]] SLAMing on 112.28650248099997 meters Centerline goodness : 0.726740 with order 1 Centerline is valid? [False, False] Translation: X:8.45, Y:2.14, Z:-0.41 [[ 0.8863859 -0.44887164 -0.11328849 8.44553025] [ 0.46127805 0.87709866 0.13386748 2.1385179 ] [ 0.03927586 -0.17091574 0.98450252 -0.41298985] [ 0. 0. 0. 1. ]] SLAMing on 112.34650248099997 meters Centerline goodness : 0.726034 with order 1 Centerline is valid? [False, False] Translation: X:8.44, Y:2.13, Z:-0.41 [[ 0.88533169 -0.4501151 -0.1165513 8.43545597] [ 0.46308771 0.8760871 0.13424297 2.13016368] [ 0.0416843 -0.17282303 0.98407043 -0.41058905] [ 0. 0. 0. 1. ]] SLAMing on 112.40650248099998 meters Centerline goodness : 0.728313 with order 1 Centerline is valid? [False, False] Translation: X:8.44, Y:2.13, Z:-0.41 [[ 0.88312568 -0.45476913 -0.11521314 8.43613734] [ 0.46732356 0.87434101 0.13090643 2.1290183 ] [ 0.04120337 -0.16944864 0.98467733 -0.40922054] [ 0. 0. 0. 1. ]] SLAMing on 112.46650248099998 meters Centerline goodness : 0.727524 with order 1 Centerline is valid? [False, False] Translation: X:8.44, Y:2.13, Z:-0.41 [[ 0.882526 -0.45576934 -0.11585407 8.4365357 ] [ 0.46843263 0.87371357 0.13113152 2.12852846] [ 0.04145755 -0.1699968 0.98457217 -0.40747007] [ 0. 0. 0. 1. ]] SLAMing on 112.52650248099998 meters Centerline goodness : 0.725618 with order 1 Centerline is valid? [False, False] Translation: X:8.44, Y:2.13, Z:-0.41 [[ 0.88222654 -0.45623022 -0.1163199 8.43677173] [ 0.4689617 0.87345405 0.13096923 2.12898158] [ 0.04184796 -0.17009411 0.98453885 -0.40667838] [ 0. 0. 0. 1. ]] SLAMing on 112.58650248099998 meters Centerline goodness : 0.725870 with order 1 Centerline is valid? [False, False] Translation: X:8.44, Y:2.13, Z:-0.41 [[ 0.88190787 -0.45675122 -0.11669114 8.4373017 ] [ 0.46952041 0.87322604 0.13048703 2.12961985] [ 0.04229763 -0.16986641 0.98455894 -0.40629813] [ 0. 0. 0. 1. ]] SLAMing on 112.64650248099997 meters Centerline goodness : 0.726603 with order 1 Centerline is valid? [False, False] Translation: X:8.44, Y:2.13, Z:-0.41 [[ 0.88209193 -0.45631937 -0.11698916 8.43665739] [ 0.46914794 0.87341167 0.1305843 2.13022006] [ 0.04259156 -0.17007258 0.98451068 -0.40552199] [ 0. 0. 0. 1. ]] SLAMing on 112.70650248099997 meters Centerline goodness : 0.648019 with order 3 Centerline is valid? [False, False] Translation: X:8.44, Y:2.13, Z:-0.41 [[ 0.88192567 -0.45665904 -0.11691725 8.43692077] [ 0.46943872 0.87336985 0.12981676 2.13117293] [ 0.04283001 -0.16937421 0.98462072 -0.40605725] [ 0. 0. 0. 1. ]] SLAMing on 112.76650248099997 meters Centerline goodness : 0.721350 with order 1 Centerline is valid? [False, False] Translation: X:8.44, Y:2.13, Z:-0.41 [[ 0.88215943 -0.45621596 -0.11688345 8.43705381] [ 0.46897162 0.87369735 0.12930028 2.13158813] [ 0.04313191 -0.16887848 0.98469269 -0.40645114] [ 0. 0. 0. 1. ]] SLAMing on 112.82650248099998 meters Centerline goodness : 0.720007 with order 1 Centerline is valid? [False, False] Translation: X:8.44, Y:2.13, Z:-0.41 [[ 0.88338377 -0.45318275 -0.11940901 8.43817563] [ 0.46655408 0.87447926 0.13271517 2.13180268] [ 0.04427648 -0.17294919 0.98393504 -0.40587407] [ 0. 0. 0. 1. ]] SLAMing on 112.88650248099998 meters Centerline goodness : 0.718677 with order 1 Centerline is valid? [False, False] Translation: X:8.44, Y:2.13, Z:-0.41 [[ 0.88310569 -0.45375449 -0.11929459 8.4388554 ] [ 0.46704024 0.87442032 0.13138692 2.13339925] [ 0.04469621 -0.1717439 0.98412717 -0.40699671] [ 0. 0. 0. 1. ]] SLAMing on 112.94650248099998 meters Centerline goodness : 0.714675 with order 1 Centerline is valid? [False, False] Translation: X:8.44, Y:2.13, Z:-0.41 [[ 0.88276291 -0.45408296 -0.12057487 8.43962301] [ 0.4675918 0.87411041 0.13148722 2.13487885] [ 0.04568964 -0.17245187 0.98395773 -0.40591054] [ 0. 0. 0. 1. ]] SLAMing on 113.00650248099998 meters Centerline goodness : 0.716158 with order 1 Centerline is valid? [False, False] Translation: X:8.44, Y:2.14, Z:-0.40 [[ 0.88281158 -0.4532223 -0.12342306 8.44129212] [ 0.46735284 0.87387216 0.13389837 2.13671514] [ 0.04717025 -0.17588915 0.98327919 -0.40472583] [ 0. 0. 0. 1. ]] SLAMing on 113.06650248099997 meters Centerline goodness : 0.714787 with order 1 Centerline is valid? [False, False] Translation: X:8.44, Y:2.14, Z:-0.40 [[ 0.88250392 -0.45365958 -0.1240154 8.44086897] [ 0.46788527 0.87360428 0.13378691 2.13760554] [ 0.04764667 -0.17609245 0.98321983 -0.40313103] [ 0. 0. 0. 1. ]] SLAMing on 113.12650248099997 meters Centerline goodness : 0.707430 with order 1 Centerline is valid? [False, False] Translation: X:8.44, Y:2.14, Z:-0.40 [[ 0.88354325 -0.4509323 -0.12653609 8.44229228] [ 0.46577057 0.87431517 0.13649453 2.13940902] [ 0.04908263 -0.17953561 0.98252627 -0.40340166] [ 0. 0. 0. 1. ]] SLAMing on 113.18650248099998 meters Centerline goodness : 0.706901 with order 1 Centerline is valid? [False, False] Translation: X:8.44, Y:2.14, Z:-0.40 [[ 0.8849973 -0.44766856 -0.12795563 8.44087317] [ 0.46296773 0.8752776 0.13982133 2.13911615] [ 0.04940309 -0.18298083 0.98187441 -0.40197944] [ 0. 0. 0. 1. ]] SLAMing on 113.24650248099998 meters Centerline goodness : 0.705326 with order 1 Centerline is valid? [False, False] Translation: X:8.44, Y:2.14, Z:-0.40 [[ 0.88545012 -0.44684995 -0.12768405 8.43984211] [ 0.46209493 0.87578037 0.13956012 2.14034505] [ 0.04946075 -0.18257567 0.98194692 -0.40242208] [ 0. 0. 0. 1. ]] SLAMing on 113.30650248099998 meters Centerline goodness : 0.701277 with order 1 Centerline is valid? [False, False] Translation: X:8.44, Y:2.14, Z:-0.40 [[ 0.8871268 -0.44288016 -0.12985839 8.43986635] [ 0.45873829 0.87702278 0.14279435 2.14139962] [ 0.05064798 -0.18624771 0.9811965 -0.40203738] [ 0. 0. 0. 1. ]] SLAMing on 113.36650248099998 meters Centerline goodness : 0.699418 with order 1 Centerline is valid? [False, False] Translation: X:8.44, Y:2.14, Z:-0.40 [[ 0.887811 -0.44167698 -0.12927903 8.43785836] [ 0.45744503 0.8776827 0.14288851 2.14150966] [ 0.0503554 -0.18599604 0.9812593 -0.40159649] [ 0. 0. 0. 1. ]] SLAMing on 113.42650248099997 meters Centerline goodness : 0.698669 with order 1 Centerline is valid? [False, False] Translation: X:8.43, Y:2.14, Z:-0.40 [[ 0.88978279 -0.43570645 -0.13581783 8.43266944] [ 0.45258411 0.88071934 0.13964625 2.13996397] [ 0.05877262 -0.18572382 0.98084272 -0.39851805] [ 0. 0. 0. 1. ]] SLAMing on 113.48650248099997 meters Centerline goodness : 0.694100 with order 1 Centerline is valid? [False, False] Translation: X:8.43, Y:2.14, Z:-0.40 [[ 0.89047595 -0.43361814 -0.1379416 8.43317808] [ 0.45102198 0.88124703 0.14136073 2.14316433] [ 0.06026405 -0.18809303 0.9803006 -0.39844615] [ 0. 0. 0. 1. ]] SLAMing on 113.54650248099998 meters Centerline goodness : 0.692478 with order 1 Centerline is valid? [False, False] Translation: X:8.43, Y:2.14, Z:-0.40 [[ 0.88999016 -0.43448212 -0.13835754 8.43434017] [ 0.45192809 0.88085518 0.14090829 2.14338397] [ 0.06065082 -0.18793465 0.98030712 -0.39831 ] [ 0. 0. 0. 1. ]] SLAMing on 113.60650248099998 meters Centerline goodness : 0.692903 with order 1 Centerline is valid? [False, False] Translation: X:8.44, Y:2.15, Z:-0.40 [[ 0.89029756 -0.43279678 -0.14162347 8.43639862] [ 0.45108069 0.88079097 0.14399124 2.14545586] [ 0.06242173 -0.19207866 0.97939232 -0.39732785] [ 0. 0. 0. 1. ]] SLAMing on 113.66650248099998 meters Centerline goodness : 0.692160 with order 1 Centerline is valid? [False, False] Translation: X:8.44, Y:2.15, Z:-0.40 [[ 0.89091248 -0.4306423 -0.14429885 8.43727751] [ 0.44970911 0.88088962 0.14763195 2.145579 ] [ 0.0635348 -0.19641965 0.97845932 -0.39547093] [ 0. 0. 0. 1. ]] SLAMing on 113.72650248099998 meters Centerline goodness : 0.692353 with order 1 Centerline is valid? [False, False] Translation: X:8.44, Y:2.15, Z:-0.39 [[ 0.88996794 -0.43233261 -0.14507091 8.43797639] [ 0.45143156 0.88026828 0.14607295 2.14850501] [ 0.06454922 -0.19548983 0.97857914 -0.39480378] [ 0. 0. 0. 1. ]] SLAMing on 113.78650248099997 meters Centerline goodness : 0.691722 with order 1 Centerline is valid? [False, False] Translation: X:8.44, Y:2.15, Z:-0.39 [[ 0.88938138 -0.43335729 -0.14560982 8.43841497] [ 0.4525169 0.87979766 0.14554909 2.15050817] [ 0.06503242 -0.19533955 0.97857715 -0.39466436] [ 0. 0. 0. 1. ]] SLAMing on 113.84650248099997 meters Centerline goodness : 0.691623 with order 1 Centerline is valid? [False, False] Translation: X:8.44, Y:2.15, Z:-0.39 [[ 0.89005847 -0.43130752 -0.14754577 8.43781957] [ 0.4510465 0.88012502 0.14811146 2.15244219] [ 0.06597713 -0.19837786 0.97790247 -0.39344735] [ 0. 0. 0. 1. ]] SLAMing on 113.90650248099998 meters Centerline goodness : 0.692478 with order 1 Centerline is valid? [False, False] Translation: X:8.44, Y:2.15, Z:-0.39 [[ 0.89155297 -0.42765106 -0.1491572 8.4385469 ] [ 0.44788928 0.88140611 0.15006154 2.15481497] [ 0.06729409 -0.20059372 0.97736056 -0.39482136] [ 0. 0. 0. 1. ]] SLAMing on 113.96650248099998 meters Centerline goodness : 0.692855 with order 1 Centerline is valid? [False, False] Translation: X:8.44, Y:2.15, Z:-0.39 [[ 0.89334529 -0.42370863 -0.14968364 8.43626165] [ 0.44432413 0.88265019 0.15331248 2.15430274] [ 0.06715847 -0.20346903 0.97677535 -0.39426656] [ 0. 0. 0. 1. ]] SLAMing on 114.02650248099998 meters Centerline goodness : 0.694225 with order 1 Centerline is valid? [False, False] Translation: X:8.43, Y:2.16, Z:-0.40 [[ 0.89577494 -0.41853063 -0.14973097 8.43369138] [ 0.43937379 0.88473215 0.15556251 2.15640618] [ 0.06736413 -0.20513687 0.97641228 -0.3959731 ] [ 0. 0. 0. 1. ]] SLAMing on 114.08650248099998 meters Centerline goodness : 0.695163 with order 1 Centerline is valid? [False, False] Translation: X:8.43, Y:2.16, Z:-0.40 [[ 0.89747513 -0.4144811 -0.15081049 8.43341993] [ 0.43574108 0.88616797 0.15759455 2.15819362] [ 0.06832347 -0.20715151 0.97592016 -0.3971452 ] [ 0. 0. 0. 1. ]] SLAMing on 114.14650248099997 meters Centerline goodness : 0.696271 with order 1 Centerline is valid? [False, False] Translation: X:8.43, Y:2.16, Z:-0.40 [[ 0.89809589 -0.41359563 -0.14954073 8.43100906] [ 0.43452868 0.88694819 0.15654948 2.15964926] [ 0.0678867 -0.20557618 0.97628368 -0.39779849] [ 0. 0. 0. 1. ]] SLAMing on 114.20650248099997 meters Centerline goodness : 0.694620 with order 1 Centerline is valid? [False, False] Translation: X:8.43, Y:2.16, Z:-0.40 [[ 0.89869457 -0.41269807 -0.14841962 8.42907688] [ 0.43331179 0.8877917 0.15513472 2.16156486] [ 0.06774191 -0.2037307 0.97668052 -0.39886164] [ 0. 0. 0. 1. ]] SLAMing on 114.26650248099997 meters Centerline goodness : 0.692734 with order 1 Centerline is valid? [False, False] Translation: X:8.43, Y:2.16, Z:-0.40 [[ 0.90018947 -0.40883753 -0.15003595 8.4287404 ] [ 0.43004656 0.88884375 0.15816683 2.16230889] [ 0.06869398 -0.20690256 0.97594696 -0.3985274 ] [ 0. 0. 0. 1. ]] SLAMing on 114.32650248099998 meters Centerline goodness : 0.697504 with order 1 Centerline is valid? [False, False] Translation: X:8.43, Y:2.16, Z:-0.40 [[ 0.90047595 -0.40853528 -0.1491375 8.42660531] [ 0.42951245 0.88922358 0.15748171 2.16223863] [ 0.06827975 -0.2058649 0.97619543 -0.39755805] [ 0. 0. 0. 1. ]] SLAMing on 114.38650248099998 meters Centerline goodness : 0.697672 with order 1 Centerline is valid? [False, False] Translation: X:8.43, Y:2.16, Z:-0.40 [[ 0.9000367 -0.40925073 -0.14982582 8.42666921] [ 0.43036114 0.8888164 0.1574633 2.16275348] [ 0.06872567 -0.20620196 0.97609299 -0.3960789 ] [ 0. 0. 0. 1. ]] SLAMing on 114.44650248099998 meters Centerline goodness : 0.699208 with order 1 Centerline is valid? [False, False] Translation: X:8.43, Y:2.16, Z:-0.40 [[ 0.89854666 -0.41288286 -0.14880066 8.427385 ] [ 0.43351596 0.88783414 0.15431932 2.16205373] [ 0.0683945 -0.20317057 0.97675172 -0.39537308] [ 0. 0. 0. 1. ]] SLAMing on 114.50650248099997 meters Centerline goodness : 0.701556 with order 1 Centerline is valid? [False, False] Translation: X:8.43, Y:2.16, Z:-0.40 [[ 0.89691282 -0.41685147 -0.14758812 8.42818306] [ 0.43697038 0.88668431 0.15115497 2.16202722] [ 0.0678549 -0.20006446 0.97743027 -0.39557234] [ 0. 0. 0. 1. ]] SLAMing on 114.56650248099997 meters Centerline goodness : 0.703710 with order 1 Centerline is valid? [False, False] Translation: X:8.43, Y:2.16, Z:-0.39 [[ 0.8965378 -0.41744113 -0.14819878 8.42903974] [ 0.43774653 0.88613046 0.15215381 2.16059653] [ 0.0678082 -0.20128514 0.97718286 -0.39461858] [ 0. 0. 0. 1. ]] SLAMing on 114.62650248099997 meters Centerline goodness : 0.707585 with order 1 Centerline is valid? [False, False] Translation: X:8.43, Y:2.16, Z:-0.39 [[ 0.89562333 -0.42012574 -0.1461274 8.42765435] [ 0.4398527 0.88540689 0.15028055 2.15729128] [ 0.06624548 -0.1988693 0.97778451 -0.39294709] [ 0. 0. 0. 1. ]] SLAMing on 114.68650248099998 meters Centerline goodness : 0.708479 with order 1 Centerline is valid? [False, False] Translation: X:8.43, Y:2.16, Z:-0.39 [[ 0.8959437 -0.41929152 -0.14655888 8.4281959 ] [ 0.43916328 0.88562798 0.15099236 2.15617637] [ 0.06648683 -0.19964394 0.97761025 -0.39252835] [ 0. 0. 0. 1. ]] SLAMing on 114.74650248099998 meters Centerline goodness : 0.704998 with order 1 Centerline is valid? [False, False] Translation: X:8.43, Y:2.16, Z:-0.39 [[ 0.89729602 -0.41589307 -0.14796215 8.42915899] [ 0.43624801 0.88667089 0.15330492 2.15753026] [ 0.06743528 -0.20210809 0.97703879 -0.39416628] [ 0. 0. 0. 1. ]] SLAMing on 114.80650248099998 meters Centerline goodness : 0.705638 with order 1 Centerline is valid? [False, False] Translation: X:8.43, Y:2.16, Z:-0.40 [[ 0.89770156 -0.41547732 -0.14666457 8.42871709] [ 0.43552672 0.88714108 0.15263412 2.15644862] [ 0.06669615 -0.20089623 0.97733941 -0.39560429] [ 0. 0. 0. 1. ]] SLAMing on 114.86650248099998 meters Centerline goodness : 0.701924 with order 1 Centerline is valid? [False, False] Translation: X:8.43, Y:2.16, Z:-0.40 [[ 0.89835652 -0.41406672 -0.1466435 8.42800873] [ 0.43417737 0.88767888 0.15335002 2.1555573 ] [ 0.0666752 -0.20143228 0.9772305 -0.39506205] [ 0. 0. 0. 1. ]] SLAMing on 114.92650248099997 meters Centerline goodness : 0.703089 with order 1 Centerline is valid? [False, False] Translation: X:8.43, Y:2.16, Z:-0.40 [[ 0.89817796 -0.41442961 -0.14671215 8.42943099] [ 0.43454491 0.88751168 0.15327664 2.15506931] [ 0.06668637 -0.20142272 0.97723171 -0.39604755] [ 0. 0. 0. 1. ]] SLAMing on 114.98650248099997 meters Centerline goodness : 0.702556 with order 1 Centerline is valid? [False, False] Translation: X:8.43, Y:2.15, Z:-0.40 [[ 0.8968009 -0.41798514 -0.14503991 8.43044503] [ 0.43755934 0.88643843 0.1508931 2.1515725 ] [ 0.06549788 -0.19878464 0.97785208 -0.39577431] [ 0. 0. 0. 1. ]] SLAMing on 115.04650248099998 meters Centerline goodness : 0.702638 with order 1 Centerline is valid? [False, False] Translation: X:8.43, Y:2.15, Z:-0.39 [[ 0.89667258 -0.4178222 -0.14629725 8.43149693] [ 0.43783161 0.88584549 0.15356189 2.14789971] [ 0.06543519 -0.20174829 0.97724913 -0.39316524] [ 0. 0. 0. 1. ]] SLAMing on 115.10650248099998 meters Centerline goodness : 0.704882 with order 1 Centerline is valid? [False, False] Translation: X:8.43, Y:2.14, Z:-0.39 [[ 0.89540136 -0.42109837 -0.14468094 8.43158214] [ 0.44064101 0.88471062 0.15206121 2.14365982] [ 0.06396804 -0.19990816 0.9777243 -0.39167146] [ 0. 0. 0. 1. ]] SLAMing on 115.16650248099998 meters Centerline goodness : 0.701732 with order 1 Centerline is valid? [False, False] Translation: X:8.44, Y:2.14, Z:-0.39 [[ 0.89366861 -0.42481175 -0.14453859 8.43536305] [ 0.44409495 0.88346948 0.14920239 2.14225263] [ 0.0643125 -0.19752635 0.97818569 -0.39201638] [ 0. 0. 0. 1. ]] SLAMing on 115.22650248099998 meters Centerline goodness : 0.701348 with order 1 Centerline is valid? [False, False] Translation: X:8.44, Y:2.14, Z:-0.39 [[ 0.89364319 -0.42462403 -0.1452456 8.43574419] [ 0.44419736 0.88303917 0.15142831 2.13887227] [ 0.06395746 -0.19984058 0.97773881 -0.38983188] [ 0. 0. 0. 1. ]] SLAMing on 115.28650248099997 meters Centerline goodness : 0.700688 with order 1 Centerline is valid? [False, False] Translation: X:8.44, Y:2.14, Z:-0.39 [[ 0.89230038 -0.42773143 -0.14438094 8.43690077] [ 0.44693654 0.88206953 0.14900021 2.13667315] [ 0.06362195 -0.19748206 0.97823979 -0.38867859] [ 0. 0. 0. 1. ]] SLAMing on 115.34650248099997 meters Centerline goodness : 0.701978 with order 1 Centerline is valid? [False, False] Translation: X:8.44, Y:2.14, Z:-0.39 [[ 0.89249274 -0.42737989 -0.14423296 8.43715699] [ 0.44659256 0.88215756 0.1495096 2.13524518] [ 0.0633388 -0.1978496 0.9781839 -0.38875316] [ 0. 0. 0. 1. ]] SLAMing on 115.40650248099998 meters Centerline goodness : 0.699226 with order 1 Centerline is valid? [False, False] Translation: X:8.44, Y:2.13, Z:-0.39 [[ 0.89315428 -0.42594431 -0.14438448 8.43847516] [ 0.44519638 0.88288238 0.14939505 2.13462496] [ 0.06384054 -0.19771228 0.97817904 -0.38993223] [ 0. 0. 0. 1. ]] SLAMing on 115.46650248099998 meters Centerline goodness : 0.700427 with order 1 Centerline is valid? [False, False] Translation: X:8.44, Y:2.13, Z:-0.39 [[ 0.89453515 -0.42346159 -0.14313335 8.43646199] [ 0.44252588 0.88413709 0.14990814 2.13328826] [ 0.06306916 -0.19743831 0.97828441 -0.3907577 ] [ 0. 0. 0. 1. ]] SLAMing on 115.52650248099998 meters Centerline goodness : 0.700572 with order 1 Centerline is valid? [False, False] Translation: X:8.44, Y:2.13, Z:-0.39 [[ 0.89508237 -0.42225069 -0.14328959 8.43671776] [ 0.44138408 0.8846451 0.15027688 2.13275481] [ 0.06330591 -0.19775593 0.97820496 -0.39094826] [ 0. 0. 0. 1. ]] SLAMing on 115.58650248099998 meters Centerline goodness : 0.702502 with order 1 Centerline is valid? [False, False] Translation: X:8.44, Y:2.13, Z:-0.39 [[ 0.89519379 -0.42201594 -0.14328514 8.43669898] [ 0.44117031 0.88470146 0.15057253 2.13207123] [ 0.06322056 -0.19800475 0.97816015 -0.39072905] [ 0. 0. 0. 1. ]] SLAMing on 115.64650248099997 meters Centerline goodness : 0.698777 with order 1 Centerline is valid? [False, False] Translation: X:8.44, Y:2.13, Z:-0.39 [[ 0.89361118 -0.42577221 -0.14204607 8.4387872 ] [ 0.44439512 0.88372038 0.14680353 2.13239476] [ 0.06302414 -0.19430986 0.9789135 -0.39231862] [ 0. 0. 0. 1. ]] SLAMing on 115.70650248099997 meters Centerline goodness : 0.700195 with order 1 Centerline is valid? [False, False] Translation: X:8.44, Y:2.13, Z:-0.39 [[ 0.89273059 -0.42701811 -0.14383195 8.44154869] [ 0.44608086 0.88260933 0.14836657 2.13052512] [ 0.06359221 -0.19661206 0.97841695 -0.39052529] [ 0. 0. 0. 1. ]] SLAMing on 115.76650248099997 meters Centerline goodness : 0.703212 with order 1 Centerline is valid? [False, False] Translation: X:8.44, Y:2.13, Z:-0.39 [[ 0.89208274 -0.42859042 -0.14317342 8.44136426] [ 0.44743889 0.88209277 0.1473458 2.12885978] [ 0.06314124 -0.195506 0.97866776 -0.38931045] [ 0. 0. 0. 1. ]] SLAMing on 115.82650248099998 meters Centerline goodness : 0.701036 with order 1 Centerline is valid? [False, False] Translation: X:8.44, Y:2.13, Z:-0.39 [[ 0.89031386 -0.43240935 -0.14270031 8.44351779] [ 0.45093052 0.88080734 0.14436099 2.12891574] [ 0.06326844 -0.19287451 0.97918156 -0.3893133 ] [ 0. 0. 0. 1. ]] SLAMing on 115.88650248099998 meters Centerline goodness : 0.701936 with order 1 Centerline is valid? [False, False] Translation: X:8.44, Y:2.13, Z:-0.39 [[ 0.89033936 -0.43222883 -0.14308759 8.44254358] [ 0.45088521 0.88068392 0.14525278 2.12907634] [ 0.06323251 -0.19384034 0.97899314 -0.38787084] [ 0. 0. 0. 1. ]] SLAMing on 115.94650248099998 meters Centerline goodness : 0.701303 with order 1 Centerline is valid? [False, False] Translation: X:8.44, Y:2.13, Z:-0.39 [[ 0.88896884 -0.43571596 -0.14101774 8.44281442] [ 0.45363979 0.88001534 0.14065544 2.13053604] [ 0.06281195 -0.18900956 0.97996431 -0.38949058] [ 0. 0. 0. 1. ]] SLAMing on 116.00650248099997 meters Centerline goodness : 0.698173 with order 1 Centerline is valid? [False, False] Translation: X:8.44, Y:2.13, Z:-0.39 [[ 0.8890036 -0.43537836 -0.14183893 8.44441221] [ 0.45346374 0.88010308 0.14067413 2.13142856] [ 0.06358641 -0.18937862 0.9798431 -0.39020757] [ 0. 0. 0. 1. ]] SLAMing on 116.06650248099997 meters Centerline goodness : 0.699639 with order 1 Centerline is valid? [False, False] Translation: X:8.45, Y:2.13, Z:-0.39 [[ 0.88907885 -0.43513426 -0.14211606 8.44516078] [ 0.45324117 0.88030065 0.14015421 2.13277852] [ 0.06411896 -0.189021 0.97987745 -0.39115553] [ 0. 0. 0. 1. ]] SLAMing on 116.12650248099997 meters Centerline goodness : 0.697671 with order 1 Centerline is valid? [False, False] Translation: X:8.45, Y:2.13, Z:-0.39 [[ 0.88917354 -0.43477069 -0.14263539 8.44700387] [ 0.45291159 0.88063513 0.13911456 2.13443416] [ 0.0651268 -0.18829821 0.97995014 -0.39264334] [ 0. 0. 0. 1. ]] SLAMing on 116.18650248099998 meters Centerline goodness : 0.697794 with order 1 Centerline is valid? [False, False] Translation: X:8.45, Y:2.14, Z:-0.39 [[ 0.88941038 -0.43430789 -0.14256869 8.44669467] [ 0.45240625 0.88097598 0.13859981 2.13610606] [ 0.0654046 -0.18777107 0.98003279 -0.39336105] [ 0. 0. 0. 1. ]] SLAMing on 116.24650248099998 meters Centerline goodness : 0.697267 with order 1 Centerline is valid? [False, False] Translation: X:8.45, Y:2.14, Z:-0.39 [[ 0.889593 -0.43420262 -0.14174763 8.4456747 ] [ 0.45211543 0.88119862 0.13813262 2.13606486] [ 0.06493027 -0.18696811 0.98021783 -0.39378771] [ 0. 0. 0. 1. ]] SLAMing on 116.30650248099998 meters Centerline goodness : 0.699511 with order 1 Centerline is valid? [False, False] Translation: X:8.45, Y:2.14, Z:-0.39 [[ 0.89069224 -0.43123883 -0.14387632 8.44674492] [ 0.44980154 0.88187178 0.14135325 2.1361996 ] [ 0.06592346 -0.19061803 0.97944824 -0.39356701] [ 0. 0. 0. 1. ]] SLAMing on 116.36650248099998 meters Centerline goodness : 0.699052 with order 1 Centerline is valid? [False, False] Translation: X:8.45, Y:2.14, Z:-0.39 [[ 0.8904513 -0.43173008 -0.14389446 8.44743087] [ 0.45020721 0.88186383 0.14010586 2.13800893] [ 0.06640741 -0.18953977 0.97962479 -0.39453749] [ 0. 0. 0. 1. ]] SLAMing on 116.42650248099997 meters Centerline goodness : 0.702612 with order 1 Centerline is valid? [False, False] Translation: X:8.45, Y:2.14, Z:-0.40 [[ 0.88938919 -0.43461463 -0.14176388 8.4470989 ] [ 0.45243651 0.88124527 0.13677713 2.13769909] [ 0.06548341 -0.18578726 0.98040554 -0.39537175] [ 0. 0. 0. 1. ]] SLAMing on 116.48650248099997 meters Centerline goodness : 0.704470 with order 1 Centerline is valid? [False, False] Translation: X:8.45, Y:2.14, Z:-0.40 [[ 0.88881765 -0.43529784 -0.14324448 8.44962489] [ 0.45337282 0.88080786 0.13649395 2.13947928] [ 0.06675534 -0.18626139 0.98022978 -0.39552402] [ 0. 0. 0. 1. ]] SLAMing on 116.54650248099998 meters Centerline goodness : 0.704348 with order 1 Centerline is valid? [False, False] Translation: X:8.45, Y:2.14, Z:-0.40 [[ 0.88864363 -0.43584589 -0.14265644 8.44878222] [ 0.45377683 0.88066493 0.13607303 2.13933658] [ 0.06632566 -0.18565462 0.98037405 -0.39527034] [ 0. 0. 0. 1. ]] SLAMing on 116.60650248099998 meters Centerline goodness : 0.705659 with order 1 Centerline is valid? [False, False] Translation: X:8.45, Y:2.14, Z:-0.40 [[ 0.88882906 -0.43538911 -0.14289583 8.44952794] [ 0.45333905 0.88095839 0.13563191 2.14032758] [ 0.06683263 -0.18533384 0.98040031 -0.39604709] [ 0. 0. 0. 1. ]] SLAMing on 116.66650248099998 meters Centerline goodness : 0.703947 with order 1 Centerline is valid? [False, False] Translation: X:8.45, Y:2.14, Z:-0.40 [[ 0.88919369 -0.43477038 -0.1425107 8.44916394] [ 0.45263987 0.88134909 0.13542869 2.14136864] [ 0.0667213 -0.18492836 0.98048446 -0.39726221] [ 0. 0. 0. 1. ]] SLAMing on 116.72650248099998 meters Centerline goodness : 0.704322 with order 1 Centerline is valid? [False, False] Translation: X:8.45, Y:2.14, Z:-0.40 [[ 0.88923714 -0.43453142 -0.14296768 8.44903138] [ 0.45249806 0.88140041 0.13556848 2.14193062] [ 0.06710301 -0.18524513 0.98039861 -0.39645373] [ 0. 0. 0. 1. ]] SLAMing on 116.78650248099997 meters Centerline goodness : 0.706144 with order 1 Centerline is valid? [False, False] Translation: X:8.45, Y:2.14, Z:-0.40 [[ 0.88861198 -0.43570037 -0.14329668 8.45072756] [ 0.45363488 0.88100185 0.1343545 2.14350256] [ 0.06770633 -0.18439339 0.98051768 -0.39734641] [ 0. 0. 0. 1. ]] SLAMing on 116.84650248099997 meters Centerline goodness : 0.708220 with order 1 Centerline is valid? [False, False] Translation: X:8.45, Y:2.14, Z:-0.40 [[ 0.88813719 -0.43664344 -0.14336958 8.45190489] [ 0.45453363 0.88064825 0.13363321 2.14462357] [ 0.0679081 -0.18385092 0.98060559 -0.39839004] [ 0. 0. 0. 1. ]] SLAMing on 116.90650248099998 meters Centerline goodness : 0.710661 with order 1 Centerline is valid? [False, False] Translation: X:8.45, Y:2.15, Z:-0.40 [[ 0.88767473 -0.43703593 -0.14502818 8.45288285] [ 0.45525585 0.88022351 0.13397268 2.14864054] [ 0.06910634 -0.18494909 0.98031533 -0.39857508] [ 0. 0. 0. 1. ]] SLAMing on 116.96650248099998 meters Centerline goodness : 0.710305 with order 1 Centerline is valid? [False, False] Translation: X:8.45, Y:2.15, Z:-0.40 [[ 0.88750944 -0.43749031 -0.14466935 8.45174468] [ 0.4555628 0.88022962 0.13288476 2.15041642] [ 0.06920645 -0.18384246 0.9805164 -0.39829185] [ 0. 0. 0. 1. ]] SLAMing on 117.02650248099998 meters Centerline goodness : 0.711397 with order 1 Centerline is valid? [False, False] Translation: X:8.45, Y:2.15, Z:-0.40 [[ 0.88722307 -0.43794864 -0.14503869 8.4520054 ] [ 0.45602144 0.88012907 0.13197451 2.15232604] [ 0.06985471 -0.18323158 0.98058478 -0.39812383] [ 0. 0. 0. 1. ]] SLAMing on 117.08650248099998 meters Centerline goodness : 0.710158 with order 1 Centerline is valid? [False, False] Translation: X:8.45, Y:2.16, Z:-0.40 [[ 0.88704517 -0.43842206 -0.14469608 8.45074051] [ 0.45633691 0.88015579 0.1306997 2.15502957] [ 0.07005347 -0.1819667 0.98080611 -0.39820887] [ 0. 0. 0. 1. ]] SLAMing on 117.14650248099997 meters Centerline goodness : 0.707460 with order 1 Centerline is valid? [False, False] Translation: X:8.45, Y:2.16, Z:-0.40 [[ 0.88787363 -0.43584512 -0.14737518 8.45168771] [ 0.45445908 0.8807519 0.13320299 2.15742997] [ 0.0717451 -0.18524341 0.98007016 -0.39745563] [ 0. 0. 0. 1. ]] SLAMing on 117.20650248099997 meters Centerline goodness : 0.708319 with order 1 Centerline is valid? [False, False] Translation: X:8.45, Y:2.16, Z:-0.40 [[ 0.88768464 -0.4359776 -0.14811992 8.45274804] [ 0.45471898 0.88064084 0.13305019 2.15813633] [ 0.07243355 -0.18545955 0.97997864 -0.39714519] [ 0. 0. 0. 1. ]] SLAMing on 117.26650248099997 meters Centerline goodness : 0.707654 with order 1 Centerline is valid? [False, False] Translation: X:8.45, Y:2.16, Z:-0.40 [[ 0.88865364 -0.43303422 -0.15091746 8.45358023] [ 0.45259803 0.88118568 0.13662657 2.15825597] [ 0.07382232 -0.18971864 0.97905929 -0.39522211] [ 0. 0. 0. 1. ]] SLAMing on 117.32650248099998 meters Centerline goodness : 0.709938 with order 1 Centerline is valid? [False, False] Translation: X:8.45, Y:2.16, Z:-0.40 [[ 0.88985111 -0.42996362 -0.15263119 8.45367665] [ 0.45004984 0.88215159 0.13879378 2.15985956] [ 0.07496757 -0.19219745 0.97848863 -0.39512824] [ 0. 0. 0. 1. ]] SLAMing on 117.38650248099998 meters Centerline goodness : 0.708856 with order 1 Centerline is valid? [False, False] Translation: X:8.46, Y:2.16, Z:-0.40 [[ 0.88967267 -0.42994005 -0.15373385 8.45555859] [ 0.45011949 0.88236083 0.13722908 2.16310095] [ 0.07664845 -0.19128756 0.97853671 -0.39586182] [ 0. 0. 0. 1. ]] SLAMing on 117.44650248099998 meters Centerline goodness : 0.708951 with order 1 Centerline is valid? [False, False] Translation: X:8.45, Y:2.16, Z:-0.40 [[ 0.88985071 -0.42956002 -0.15376576 8.45486422] [ 0.44976012 0.88252154 0.13737384 2.16350284] [ 0.07669129 -0.19139991 0.97851138 -0.39547062] [ 0. 0. 0. 1. ]] SLAMing on 117.50650248099997 meters Centerline goodness : 0.706299 with order 1 Centerline is valid? [False, False] Translation: X:8.46, Y:2.17, Z:-0.39 [[ 0.89065267 -0.42667939 -0.15710674 8.45637562] [ 0.44777524 0.88310195 0.140101 2.16532654] [ 0.07896306 -0.19512984 0.97759357 -0.39364069] [ 0. 0. 0. 1. ]] SLAMing on 117.56650248099997 meters Centerline goodness : 0.703963 with order 1 Centerline is valid? [False, False] Translation: X:8.46, Y:2.16, Z:-0.39 [[ 0.890384 -0.42674758 -0.15843874 8.45749205] [ 0.44814633 0.88283717 0.14058238 2.16489802] [ 0.07988242 -0.19617605 0.97730945 -0.39180386] [ 0. 0. 0. 1. ]] SLAMing on 117.62650248099997 meters Centerline goodness : 0.700811 with order 1 Centerline is valid? [False, False] Translation: X:8.46, Y:2.17, Z:-0.39 [[ 0.88953683 -0.42791743 -0.1600341 8.45859566] [ 0.44962781 0.88207735 0.14062142 2.16540196] [ 0.0809881 -0.19704371 0.97704386 -0.38937837] [ 0. 0. 0. 1. ]] SLAMing on 117.68650248099998 meters Centerline goodness : 0.695806 with order 1 Centerline is valid? [False, False] Translation: X:8.46, Y:2.17, Z:-0.39 [[ 0.88817665 -0.42995029 -0.16212646 8.46139829] [ 0.45206602 0.88082546 0.1406514 2.16502131] [ 0.08233201 -0.19821516 0.97669452 -0.38682235] [ 0. 0. 0. 1. ]] SLAMing on 117.74650248099998 meters Centerline goodness : 0.690331 with order 1 Centerline is valid? [False, False] Translation: X:8.46, Y:2.17, Z:-0.39 [[ 0.88572575 -0.43467875 -0.16292412 8.46447994] [ 0.45657887 0.8791216 0.13667826 2.16778588] [ 0.08381898 -0.19544717 0.97712578 -0.38592824] [ 0. 0. 0. 1. ]] SLAMing on 117.80650248099998 meters Centerline goodness : 0.687878 with order 1 Centerline is valid? [False, False] Translation: X:8.47, Y:2.17, Z:-0.38 [[ 0.88487961 -0.43483035 -0.16706481 8.46640993] [ 0.45774676 0.87817768 0.13882314 2.16771432] [ 0.08634807 -0.19931514 0.9761237 -0.38003519] [ 0. 0. 0. 1. ]] SLAMing on 117.86650248099997 meters Centerline goodness : 0.683540 with order 1 Centerline is valid? [False, False] Translation: X:8.47, Y:2.17, Z:-0.37 [[ 0.8847964 -0.43285613 -0.17254247 8.46884652] [ 0.45728515 0.8777604 0.142923 2.16768837] [ 0.08958585 -0.20535886 0.97457792 -0.37384536] [ 0. 0. 0. 1. ]] SLAMing on 117.92650248099997 meters Centerline goodness : 0.676732 with order 1 Centerline is valid? [False, False] Translation: X:8.47, Y:2.17, Z:-0.37 [[ 0.88352552 -0.43415877 -0.17575217 8.47215737] [ 0.4591633 0.87693069 0.14199166 2.1697324 ] [ 0.09247555 -0.2061522 0.97414041 -0.3706115 ] [ 0. 0. 0. 1. ]] SLAMing on 117.98650248099997 meters Centerline goodness : 0.669628 with order 1 Centerline is valid? [False, False] Translation: X:8.47, Y:2.17, Z:-0.36 [[ 0.88257495 -0.43086877 -0.18818488 8.46898442] [ 0.45819556 0.87795805 0.13873175 2.1683569 ] [ 0.10544325 -0.20866665 0.97228594 -0.36150275] [ 0. 0. 0. 1. ]] SLAMing on 118.04650248099998 meters Centerline goodness : 0.663072 with order 1 Centerline is valid? [False, False] Translation: X:8.47, Y:2.17, Z:-0.36 [[ 0.88260872 -0.42845033 -0.19347394 8.47184397] [ 0.45726007 0.87797276 0.14169353 2.17008351] [ 0.10915621 -0.21352785 0.97081964 -0.35674951] [ 0. 0. 0. 1. ]] SLAMing on 118.10650248099998 meters Centerline goodness : 0.658657 with order 1 Centerline is valid? [False, False] Translation: X:8.47, Y:2.17, Z:-0.35 [[ 0.88303904 -0.4252303 -0.19854782 8.47334939] [ 0.45555057 0.87833363 0.14492662 2.17168394] [ 0.11276404 -0.21842443 0.96931679 -0.35129219] [ 0. 0. 0. 1. ]] SLAMing on 118.16650248099998 meters Centerline goodness : 0.653164 with order 1 Centerline is valid? [False, False] Translation: X:8.47, Y:2.17, Z:-0.35 [[ 0.88217786 -0.42547831 -0.20181782 8.47391542] [ 0.4564981 0.87789012 0.14463202 2.17380655] [ 0.11563608 -0.21972062 0.96868527 -0.34569639] [ 0. 0. 0. 1. ]] SLAMing on 118.22650248099998 meters Centerline goodness : 0.648615 with order 1 Centerline is valid? [False, False] Translation: X:8.48, Y:2.18, Z:-0.34 [[ 0.88175643 -0.42344055 -0.20785499 8.47650687] [ 0.45606507 0.87781866 0.14642079 2.17805312] [ 0.12045849 -0.22390287 0.9671387 -0.3396217 ] [ 0. 0. 0. 1. ]] SLAMing on 118.28650248099997 meters Centerline goodness : 0.646076 with order 1 Centerline is valid? [False, False] Translation: X:8.48, Y:2.18, Z:-0.33 [[ 0.88051156 -0.42390841 -0.21213449 8.47758101] [ 0.45743992 0.87721021 0.14577713 2.18192717] [ 0.12429039 -0.22539723 0.96630636 -0.33313398] [ 0. 0. 0. 1. ]] SLAMing on 118.34650248099997 meters Centerline goodness : 0.638622 with order 1 Centerline is valid? [False, False] Translation: X:8.48, Y:2.19, Z:-0.32 [[ 0.8805481 -0.42033689 -0.21897932 8.47814546] [ 0.45575625 0.87774754 0.14780224 2.18709175] [ 0.13008182 -0.22994818 0.96447009 -0.32402889] [ 0. 0. 0. 1. ]] SLAMing on 118.40650248099998 meters Centerline goodness : 0.636338 with order 1 Centerline is valid? [False, False] Translation: X:8.48, Y:2.19, Z:-0.32 [[ 0.87935664 -0.42047881 -0.22344903 8.4798319 ] [ 0.45647883 0.87795199 0.14431694 2.19306486] [ 0.1354953 -0.22890581 0.96397259 -0.31609 ] [ 0. 0. 0. 1. ]] SLAMing on 118.46650248099998 meters Centerline goodness : 0.631367 with order 1 Centerline is valid? [False, False] Translation: X:8.48, Y:2.20, Z:-0.31 [[ 0.87783127 -0.42083541 -0.22871339 8.48179913] [ 0.45805836 0.87716621 0.14409016 2.19713151] [ 0.13998142 -0.23125093 0.96277111 -0.308945 ] [ 0. 0. 0. 1. ]] SLAMing on 118.52650248099998 meters Centerline goodness : 0.626776 with order 1 Centerline is valid? [False, False] Translation: X:8.48, Y:2.20, Z:-0.30 [[ 0.8755249 -0.42240786 -0.23457995 8.48494132] [ 0.46075908 0.876065 0.14216604 2.20117914] [ 0.14545523 -0.23255475 0.96164498 -0.29954687] [ 0. 0. 0. 1. ]] SLAMing on 118.58650248099998 meters Centerline goodness : 0.621368 with order 1 Centerline is valid? [False, False] Translation: X:8.49, Y:2.20, Z:-0.29 [[ 0.87320118 -0.42404892 -0.24021285 8.48634017] [ 0.4637053 0.87458181 0.14171822 2.20189283] [ 0.14999033 -0.23513649 0.9603196 -0.28788738] [ 0. 0. 0. 1. ]] SLAMing on 118.64650248099997 meters Centerline goodness : 0.616007 with order 1 Centerline is valid? [False, False] Translation: X:8.49, Y:2.20, Z:-0.28 [[ 0.87063708 -0.4253282 -0.24715784 8.48712819] [ 0.46682521 0.87280075 0.14245378 2.20475712] [ 0.15512994 -0.23940505 0.95844662 -0.27526978] [ 0. 0. 0. 1. ]] SLAMing on 118.70650248099997 meters Centerline goodness : 0.616760 with order 1 Centerline is valid? [False, False] Translation: X:8.49, Y:2.21, Z:-0.26 [[ 0.86635553 -0.43222975 -0.25021098 8.48620112] [ 0.47389482 0.86959427 0.13867052 2.20556268] [ 0.15764451 -0.23871166 0.95820924 -0.26417179] [ 0. 0. 0. 1. ]] SLAMing on 118.76650248099997 meters Centerline goodness : 0.609568 with order 1 Centerline is valid? [False, False] Translation: X:8.49, Y:2.21, Z:-0.25 [[ 0.86321301 -0.4337764 -0.258266 8.48934355] [ 0.47748758 0.86762364 0.13868967 2.20760638] [ 0.16391738 -0.24303753 0.95606687 -0.2507438 ] [ 0. 0. 0. 1. ]] SLAMing on 118.82650248099998 meters Centerline goodness : 0.609002 with order 1 Centerline is valid? [False, False] Translation: X:8.49, Y:2.21, Z:-0.24 [[ 0.86104723 -0.43433652 -0.2644796 8.48850183] [ 0.47966704 0.86640646 0.1387782 2.21154225] [ 0.1688704 -0.24635673 0.95435379 -0.23955507] [ 0. 0. 0. 1. ]] SLAMing on 118.88650248099998 meters Centerline goodness : 0.604395 with order 1 Centerline is valid? [False, False] Translation: X:8.49, Y:2.22, Z:-0.23 [[ 0.85865085 -0.43631545 -0.268975 8.48956921] [ 0.48244194 0.86520933 0.13661113 2.21512425] [ 0.17311413 -0.24706608 0.95340959 -0.23183281] [ 0. 0. 0. 1. ]] SLAMing on 118.94650248099998 meters Centerline goodness : 0.599424 with order 1 Centerline is valid? [False, False] Translation: X:8.49, Y:2.22, Z:-0.22 [[ 0.8579471 -0.4327123 -0.27692388 8.48839611] [ 0.48131241 0.86549355 0.13877777 2.21823214] [ 0.17962498 -0.25235089 0.95081749 -0.21805096] [ 0. 0. 0. 1. ]] SLAMing on 119.00650248099997 meters Centerline goodness : 0.591322 with order 1 Centerline is valid? [False, False] Translation: X:8.49, Y:2.22, Z:-0.21 [[ 0.85710586 -0.42906562 -0.28508286 8.48860516] [ 0.48002496 0.86605287 0.13974427 2.22429607] [ 0.18693737 -0.25662252 0.9482612 -0.20666629] [ 0. 0. 0. 1. ]] SLAMing on 119.06650248099997 meters Centerline goodness : 0.591973 with order 1 Centerline is valid? [False, False] Translation: X:8.49, Y:2.23, Z:-0.20 [[ 0.8562758 -0.4263235 -0.29161622 8.48707981] [ 0.47887067 0.86683382 0.13885969 2.23161836] [ 0.19358365 -0.25854865 0.94640264 -0.19629167] [ 0. 0. 0. 1. ]] SLAMing on 119.12650248099997 meters Centerline goodness : 0.584392 with order 1 Centerline is valid? [False, False] Translation: X:8.49, Y:2.24, Z:-0.18 [[ 0.85686881 -0.41755148 -0.30236832 8.48695646] [ 0.47370645 0.86912515 0.14220997 2.23888727] [ 0.20341593 -0.26508911 0.94252306 -0.18213181] [ 0. 0. 0. 1. ]] SLAMing on 119.18650248099998 meters Centerline goodness : 0.578616 with order 1 Centerline is valid? [False, False] Translation: X:8.48, Y:2.25, Z:-0.17 [[ 0.8565379 -0.4136323 -0.30862785 8.48157675] [ 0.47115859 0.87077494 0.14057236 2.24604754] [ 0.21060012 -0.26581822 0.94073815 -0.16736078] [ 0. 0. 0. 1. ]] SLAMing on 119.24650248099998 meters Centerline goodness : 0.569283 with order 1 Centerline is valid? [False, False] Translation: X:8.48, Y:2.25, Z:-0.15 [[ 0.8553178 -0.40938101 -0.31755101 8.48053843] [ 0.46950851 0.87160364 0.14095691 2.25333254] [ 0.21907353 -0.26965586 0.93770598 -0.15305183] [ 0. 0. 0. 1. ]] SLAMing on 119.30650248099998 meters Centerline goodness : 0.562455 with order 1 Centerline is valid? [False, False] Translation: X:8.48, Y:2.26, Z:-0.14 [[ 0.85373159 -0.40627768 -0.3257005 8.47940699] [ 0.46899693 0.87171489 0.14196841 2.25959446] [ 0.22623938 -0.27395545 0.93475352 -0.14016856] [ 0. 0. 0. 1. ]] SLAMing on 119.36650248099997 meters Centerline goodness : 0.556315 with order 1 Centerline is valid? [False, False] Translation: X:8.48, Y:2.26, Z:-0.13 [[ 0.85254962 -0.40477877 -0.33062561 8.47963091] [ 0.46914661 0.87150262 0.14277478 2.26328574] [ 0.23034889 -0.27683447 0.93289982 -0.13376407] [ 0. 0. 0. 1. ]] SLAMing on 119.42650248099997 meters Centerline goodness : 0.556569 with order 1 Centerline is valid? [False, False] Translation: X:8.48, Y:2.27, Z:-0.13 [[ 0.85175076 -0.40247506 -0.33546156 8.47928086] [ 0.46880192 0.8713358 0.14490919 2.26589462] [ 0.23397733 -0.28069154 0.93084202 -0.1273415 ] [ 0. 0. 0. 1. ]] SLAMing on 119.48650248099997 meters Centerline goodness : 0.543358 with order 1 Centerline is valid? [False, False] Translation: X:8.47, Y:2.28, Z:-0.11 [[ 0.84986895 -0.39980248 -0.34333766 8.47223917] [ 0.46832422 0.87171445 0.14417473 2.27621464] [ 0.24165099 -0.28332297 0.92808022 -0.11068215] [ 0. 0. 0. 1. ]] SLAMing on 119.54650248099998 meters Centerline goodness : 0.533151 with order 1 Centerline is valid? [False, False] Translation: X:8.47, Y:2.29, Z:-0.10 [[ 0.84920313 -0.39650196 -0.34876961 8.46776672] [ 0.46614756 0.87318603 0.14231169 2.28670541] [ 0.24811388 -0.28342963 0.92634073 -0.10095546] [ 0. 0. 0. 1. ]] SLAMing on 119.60650248099998 meters Centerline goodness : 0.526708 with order 1 Centerline is valid? [False, False] Translation: X:8.46, Y:2.29, Z:-0.09 [[ 0.8493271 -0.39371281 -0.35161584 8.4629244 ] [ 0.46410482 0.87431582 0.14205123 2.29178586] [ 0.25149591 -0.28383457 0.92530414 -0.09399654] [ 0. 0. 0. 1. ]] SLAMing on 119.66650248099998 meters Centerline goodness : 0.519129 with order 1 Centerline is valid? [False, False] Translation: X:8.45, Y:2.30, Z:-0.08 [[ 0.85111233 -0.38644711 -0.35533988 8.45422864] [ 0.45851439 0.87683762 0.14463866 2.29897502] [ 0.25568019 -0.2860322 0.92347887 -0.08457358] [ 0. 0. 0. 1. ]] SLAMing on 119.72650248099998 meters Centerline goodness : 0.509374 with order 1 Centerline is valid? [False, False] Translation: X:8.45, Y:2.31, Z:-0.08 [[ 0.85273209 -0.387426 -0.35035565 8.4478076 ] [ 0.45742508 0.87771681 0.14274275 2.31337126] [ 0.25221079 -0.28198278 0.92567566 -0.07616244] [ 0. 0. 0. 1. ]] SLAMing on 119.78650248099997 meters Centerline goodness : 0.502873 with order 1 Centerline is valid? [False, False] Translation: X:8.44, Y:2.32, Z:-0.07 [[ 0.85248399 -0.38766405 -0.35069592 8.44257533] [ 0.45719305 0.87818246 0.1406061 2.31818889] [ 0.25346708 -0.28020019 0.9258738 -0.07147139] [ 0. 0. 0. 1. ]] SLAMing on 119.84650248099997 meters Centerline goodness : 0.502545 with order 1 Centerline is valid? [False, False] Translation: X:8.44, Y:2.32, Z:-0.07 [[ 0.85331963 -0.38611065 -0.35037719 8.43618674] [ 0.45516274 0.87942852 0.13939998 2.32418611] [ 0.25430788 -0.27843139 0.9261768 -0.06842655] [ 0. 0. 0. 1. ]] SLAMing on 119.90650248099998 meters Centerline goodness : 0.493799 with order 1 Centerline is valid? [False, False] Translation: X:8.43, Y:2.33, Z:-0.07 [[ 0.85620145 -0.3832586 -0.34645623 8.42641468] [ 0.45031387 0.88232596 0.13681492 2.33335953] [ 0.25325183 -0.27315518 0.92803543 -0.06603553] [ 0. 0. 0. 1. ]] SLAMing on 119.96650248099998 meters Centerline goodness : 0.488547 with order 1 Centerline is valid? [False, False] Translation: X:8.42, Y:2.34, Z:-0.06 [[ 0.85909617 -0.38119321 -0.34153404 8.41621153] [ 0.44652878 0.88434852 0.1361607 2.33815144] [ 0.25013159 -0.26947992 0.92995417 -0.06398473] [ 0. 0. 0. 1. ]] SLAMing on 120.02650248099998 meters Centerline goodness : 0.484773 with order 1 Centerline is valid? [False, False] Translation: X:8.41, Y:2.34, Z:-0.06 [[ 0.86118592 -0.38101731 -0.33642922 8.40581334] [ 0.44424324 0.88584002 0.13392309 2.34375446] [ 0.24699545 -0.26478909 0.93213732 -0.06353979] [ 0. 0. 0. 1. ]] SLAMing on 120.08650248099998 meters Centerline goodness : 0.482860 with order 1 Centerline is valid? [False, False] Translation: X:8.40, Y:2.35, Z:-0.06 [[ 0.86193345 -0.38086413 -0.33468379 8.40058492] [ 0.44337184 0.88639372 0.13314494 2.34692451] [ 0.24595148 -0.26315144 0.93287683 -0.06274165] [ 0. 0. 0. 1. ]] SLAMing on 120.14650248099997 meters Centerline goodness : 0.481551 with order 1 Centerline is valid? [False, False] Translation: X:8.39, Y:2.35, Z:-0.06 [[ 0.86538319 -0.37949356 -0.32725612 8.38943836] [ 0.44038557 0.88755363 0.1353111 2.34895994] [ 0.23910766 -0.26121483 0.93519749 -0.06295209] [ 0. 0. 0. 1. ]] SLAMing on 120.20650248099997 meters Centerline goodness : 0.479303 with order 1 Centerline is valid? [False, False] Translation: X:8.38, Y:2.35, Z:-0.06 [[ 0.86635591 -0.38051723 -0.32347191 8.38386091] [ 0.44051523 0.88739213 0.13594684 2.34746625] [ 0.23531631 -0.26027265 0.93642105 -0.06220686] [ 0. 0. 0. 1. ]] SLAMing on 120.26650248099997 meters Centerline goodness : 0.486096 with order 1 Centerline is valid? [False, False] Translation: X:8.37, Y:2.35, Z:-0.06 [[ 0.86895437 -0.3841103 -0.31205382 8.37450557] [ 0.44016334 0.88808135 0.13254337 2.34639865] [ 0.2262179 -0.2525288 0.94077344 -0.06404968] [ 0. 0. 0. 1. ]] SLAMing on 120.32650248099998 meters Centerline goodness : 0.485797 with order 1 Centerline is valid? [False, False] Translation: X:8.37, Y:2.34, Z:-0.06 [[ 0.87098565 -0.3804672 -0.31085159 8.37146607] [ 0.43691049 0.88918305 0.13587765 2.3443281 ] [ 0.22470698 -0.2541618 0.94069578 -0.06362121] [ 0. 0. 0. 1. ]] SLAMing on 120.38650248099998 meters Centerline goodness : 0.489198 with order 1 Centerline is valid? [False, False] Translation: X:8.36, Y:2.34, Z:-0.06 [[ 0.87465617 -0.37752462 -0.30405878 8.36428226] [ 0.43239194 0.8911661 0.13733242 2.34265506] [ 0.2191205 -0.25159121 0.94270253 -0.06495142] [ 0. 0. 0. 1. ]] SLAMing on 120.44650248099998 meters Centerline goodness : 0.498339 with order 1 Centerline is valid? [False, False] Translation: X:8.36, Y:2.34, Z:-0.07 [[ 0.87672211 -0.3760879 -0.29986036 8.35955288] [ 0.42997209 0.89221574 0.13811258 2.3416841 ] [ 0.21559766 -0.25001793 0.94393256 -0.06592052] [ 0. 0. 0. 1. ]] SLAMing on 120.50650248099997 meters Centerline goodness : 0.500987 with order 1 Centerline is valid? [False, False] Translation: X:8.35, Y:2.34, Z:-0.07 [[ 0.88033834 -0.37260845 -0.29354278 8.35293549] [ 0.42526593 0.8941051 0.1404456 2.33926864] [ 0.21012688 -0.24847339 0.94557267 -0.06786733] [ 0. 0. 0. 1. ]] SLAMing on 120.56650248099997 meters Centerline goodness : 0.501374 with order 1 Centerline is valid? [False, False] Translation: X:8.35, Y:2.34, Z:-0.07 [[ 0.88436846 -0.36662847 -0.28892212 8.34664922] [ 0.41938946 0.89583413 0.14694795 2.33621435] [ 0.20495099 -0.25112702 0.94600756 -0.06936951] [ 0. 0. 0. 1. ]] SLAMing on 120.62650248099997 meters Centerline goodness : 0.508124 with order 1 Centerline is valid? [False, False] Translation: X:8.34, Y:2.33, Z:-0.07 [[ 0.88669016 -0.3642598 -0.28477247 8.34174546] [ 0.41637284 0.89685916 0.14925588 2.33424391] [ 0.20103288 -0.25091524 0.94690407 -0.07042546] [ 0. 0. 0. 1. ]] SLAMing on 120.68650248099998 meters Centerline goodness : 0.512793 with order 1 Centerline is valid? [False, False] Translation: X:8.34, Y:2.33, Z:-0.07 [[ 0.88728594 -0.36705197 -0.27927856 8.33837301] [ 0.41762419 0.89636258 0.1487419 2.33001512] [ 0.19573885 -0.24861008 0.9486197 -0.07198198] [ 0. 0. 0. 1. ]] SLAMing on 120.74650248099998 meters Centerline goodness : 0.521856 with order 1 Centerline is valid? [False, False] Translation: X:8.33, Y:2.33, Z:-0.07 [[ 0.88899334 -0.36622088 -0.27490562 8.33452317] [ 0.41639803 0.89629543 0.15253588 2.32509087] [ 0.19053482 -0.25007353 0.94929432 -0.07309308] [ 0. 0. 0. 1. ]] SLAMing on 120.80650248099998 meters Centerline goodness : 0.530263 with order 1 Centerline is valid? [False, False] Translation: X:8.33, Y:2.32, Z:-0.07 [[ 0.89199904 -0.36233617 -0.27027802 8.32979915] [ 0.41236189 0.89718943 0.15814172 2.31950079] [ 0.18519012 -0.25251462 0.94970574 -0.07419329] [ 0. 0. 0. 1. ]] SLAMing on 120.86650248099997 meters Centerline goodness : 0.535151 with order 1 Centerline is valid? [False, False] Translation: X:8.33, Y:2.32, Z:-0.08 [[ 0.89355617 -0.36178374 -0.2658381 8.32670682] [ 0.41095453 0.89752873 0.15987045 2.31656017] [ 0.1807588 -0.2521006 0.950669 -0.07659594] [ 0. 0. 0. 1. ]] SLAMing on 120.92650248099997 meters Centerline goodness : 0.536788 with order 1 Centerline is valid? [False, False] Translation: X:8.33, Y:2.31, Z:-0.08 [[ 0.89517537 -0.359869 -0.26297408 8.32516063] [ 0.4085999 0.89829015 0.16161971 2.31424944] [ 0.1780651 -0.25212916 0.95116965 -0.07889123] [ 0. 0. 0. 1. ]] SLAMing on 120.98650248099997 meters Centerline goodness : 0.536305 with order 1 Centerline is valid? [False, False] Translation: X:8.32, Y:2.31, Z:-0.08 [[ 0.89816746 -0.35377184 -0.26103774 8.32363188] [ 0.40284517 0.90002829 0.16632754 2.31242724] [ 0.17609935 -0.25454778 0.9508914 -0.08202647] [ 0. 0. 0. 1. ]] SLAMing on 121.04650248099998 meters Centerline goodness : 0.536420 with order 1 Centerline is valid? [False, False] Translation: X:8.32, Y:2.31, Z:-0.08 [[ 0.90013791 -0.35093368 -0.25806453 8.32120327] [ 0.39971679 0.90090285 0.16911696 2.30935324] [ 0.17314223 -0.25538131 0.95121089 -0.08356639] [ 0. 0. 0. 1. ]] SLAMing on 121.10650248099998 meters Centerline goodness : 0.534854 with order 1 Centerline is valid? [False, False] Translation: X:8.32, Y:2.31, Z:-0.08 [[ 0.90160155 -0.34906737 -0.25547331 8.3194137 ] [ 0.39749292 0.90153193 0.17099577 2.30601669] [ 0.1706283 -0.25571888 0.9515744 -0.08456172] [ 0. 0. 0. 1. ]] SLAMing on 121.16650248099998 meters Centerline goodness : 0.533231 with order 1 Centerline is valid? [False, False] Translation: X:8.32, Y:2.30, Z:-0.09 [[ 0.90288553 -0.3474748 -0.25309877 8.31799712] [ 0.39541236 0.90228812 0.17182903 2.30343243] [ 0.16866176 -0.25522032 0.95205872 -0.08574529] [ 0. 0. 0. 1. ]] SLAMing on 121.22650248099997 meters Centerline goodness : 0.531028 with order 1 Centerline is valid? [False, False] Translation: X:8.32, Y:2.30, Z:-0.09 [[ 0.90406617 -0.3448073 -0.25253177 8.31724416] [ 0.39280537 0.90319932 0.17301714 2.30235676] [ 0.16842895 -0.25561478 0.9519941 -0.0857989 ] [ 0. 0. 0. 1. ]] SLAMing on 121.28650248099997 meters Centerline goodness : 0.531808 with order 1 Centerline is valid? [False, False] Translation: X:8.32, Y:2.30, Z:-0.09 [[ 0.90432643 -0.3447626 -0.25165942 8.31845255] [ 0.39238041 0.90354283 0.17218585 2.30206336] [ 0.16802182 -0.25445844 0.95237575 -0.08757132] [ 0. 0. 0. 1. ]] SLAMing on 121.34650248099997 meters Centerline goodness : 0.532311 with order 1 Centerline is valid? [False, False] Translation: X:8.32, Y:2.30, Z:-0.09 [[ 0.90523682 -0.3442054 -0.2491364 8.3171926 ] [ 0.3911246 0.90411728 0.1720276 2.30054728] [ 0.16603569 -0.25316909 0.95306745 -0.08929558] [ 0. 0. 0. 1. ]] SLAMing on 121.40650248099998 meters Centerline goodness : 0.538388 with order 1 Centerline is valid? [False, False] Translation: X:8.31, Y:2.30, Z:-0.09 [[ 0.9069933 -0.3398964 -0.24866361 8.31462567] [ 0.38726312 0.90515357 0.17528345 2.29863033] [ 0.16550054 -0.25527916 0.95259757 -0.08802564] [ 0. 0. 0. 1. ]] SLAMing on 121.46650248099998 meters Centerline goodness : 0.536335 with order 1 Centerline is valid? [False, False] Translation: X:8.32, Y:2.30, Z:-0.09 [[ 0.907076 -0.34032104 -0.24777957 8.31500531] [ 0.38716849 0.90550818 0.1736534 2.2990831 ] [ 0.16526853 -0.25344927 0.95312632 -0.08898888] [ 0. 0. 0. 1. ]] SLAMing on 121.52650248099998 meters Centerline goodness : 0.538129 with order 1 Centerline is valid? [False, False] Translation: X:8.31, Y:2.30, Z:-0.09 [[ 0.9076218 -0.33950245 -0.24690231 8.31482079] [ 0.3859594 0.90620029 0.17273208 2.29976259] [ 0.16509998 -0.25206966 0.95352131 -0.09013053] [ 0. 0. 0. 1. ]] SLAMing on 121.58650248099998 meters Centerline goodness : 0.542457 with order 1 Centerline is valid? [False, False] Translation: X:8.32, Y:2.30, Z:-0.09 [[ 0.90788635 -0.33850967 -0.24729248 8.3157723 ] [ 0.38505095 0.90660875 0.17261616 2.29995693] [ 0.16576529 -0.25193607 0.95344118 -0.09029434] [ 0. 0. 0. 1. ]] SLAMing on 121.64650248099997 meters Centerline goodness : 0.544228 with order 1 Centerline is valid? [False, False] Translation: X:8.20, Y:2.24, Z:-0.09 [[ 0.91347509 -0.32328474 -0.24708345 8.20470762] [ 0.36638835 0.91764653 0.15389743 2.24333083] [ 0.17698258 -0.23110996 0.95669502 -0.08717893] [ 0. 0. 0. 1. ]] SLAMing on 121.70650248099997 meters Centerline goodness : 0.548833 with order 1 Centerline is valid? [False, False] Translation: X:8.13, Y:2.19, Z:-0.07 [[ 0.92059968 -0.2988363 -0.25138237 8.13235861] [ 0.33708624 0.93311146 0.12520331 2.18929136] [ 0.19715248 -0.19999967 0.95975572 -0.0689404 ] [ 0. 0. 0. 1. ]] SLAMing on 121.76650248099997 meters Centerline goodness : 0.551074 with order 1 Centerline is valid? [False, False] Translation: X:8.09, Y:2.15, Z:-0.05 [[ 0.92287532 -0.28986779 -0.25353068 8.08830799] [ 0.32354008 0.94067715 0.10221699 2.15489789] [ 0.2088611 -0.17636087 0.96191158 -0.05400663] [ 0. 0. 0. 1. ]] SLAMing on 121.82650248099998 meters Centerline goodness : 0.550515 with order 1 Centerline is valid? [False, False] Translation: X:8.07, Y:2.13, Z:-0.03 [[ 0.92439617 -0.27774416 -0.26143815 8.07169392] [ 0.3071971 0.94839033 0.07864937 2.12660537] [ 0.22610101 -0.15301621 0.96201059 -0.03077006] [ 0. 0. 0. 1. ]] SLAMing on 121.88650248099998 meters Centerline goodness : 0.559086 with order 1 Centerline is valid? [False, False] Translation: X:8.06, Y:2.10, Z:-0.01 [[ 0.92480401 -0.26760436 -0.27041717 8.05863117] [ 0.29274394 0.95451587 0.05657245 2.1021754 ] [ 0.24297845 -0.13148142 0.96107966 -0.00975817] [ 0. 0. 0. 1. ]] SLAMing on 121.94650248099998 meters Centerline goodness : 0.558147 with order 1 Centerline is valid? [False, False] Translation: X:8.07, Y:2.08, Z:0.01 [[ 0.92643185 -0.25727113 -0.2748374 8.07445307] [ 0.27817982 0.95972407 0.03931542 2.08461627] [ 0.25365335 -0.11287728 0.96068658 0.01096112] [ 0. 0. 0. 1. ]] SLAMing on 122.00650248099997 meters Centerline goodness : 0.555562 with order 1 Centerline is valid? [False, False] Translation: X:8.08, Y:2.07, Z:0.03 [[ 0.92770249 -0.24776565 -0.27924949 8.08498714] [ 0.26514811 0.96386619 0.02566031 2.07032916] [ 0.2628014 -0.09784761 0.95987565 0.0275383 ] [ 0. 0. 0. 1. ]] SLAMing on 122.06650248099997 meters Centerline goodness : 0.555124 with order 1 Centerline is valid? [False, False] Translation: X:8.11, Y:2.05, Z:0.04 [[ 0.9305437 -0.23101032 -0.28411731 8.10588916] [ 0.24680791 0.96884549 0.02059798 2.05427444] [ 0.27050743 -0.08928973 0.95856824 0.04235732] [ 0. 0. 0. 1. ]] SLAMing on 122.12650248099997 meters Centerline goodness : 0.552674 with order 1 Centerline is valid? [False, False] Translation: X:8.13, Y:2.05, Z:0.05 [[ 0.93313158 -0.22104181 -0.28355946 8.13332169] [ 0.23535493 0.971761 0.0169887 2.04531164] [ 0.27179681 -0.08258981 0.95880416 0.05374066] [ 0. 0. 0. 1. ]] SLAMing on 122.18650248099998 meters Centerline goodness : 0.556411 with order 1 Centerline is valid? [False, False] Translation: X:8.16, Y:2.03, Z:0.08 [[ 9.34066652e-01 -2.09984324e-01 -2.88835721e-01 8.15797010e+00] [ 2.18326917e-01 9.75869723e-01 -3.41180882e-03 2.03021881e+00] [ 2.82582462e-01 -5.98737556e-02 9.57372595e-01 7.96473104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.24650248099998 meters Centerline goodness : 0.557401 with order 1 Centerline is valid? [False, False] Translation: X:8.18, Y:2.02, Z:0.09 [[ 0.93657866 -0.191811 -0.29330694 8.17823021] [ 0.19799485 0.98016394 -0.00875695 2.01686818] [ 0.28916856 -0.04987169 0.95597822 0.09177717] [ 0. 0. 0. 1. ]] SLAMing on 122.30650248099998 meters Centerline goodness : 0.561197 with order 1 Centerline is valid? [False, False] Translation: X:8.21, Y:2.00, Z:0.13 [[ 0.93670829 -0.17494099 -0.30327089 8.20750884] [ 0.17277995 0.98436767 -0.03416696 1.99517166] [ 0.30450726 -0.02039466 0.95229165 0.12619236] [ 0. 0. 0. 1. ]] SLAMing on 122.36650248099997 meters Centerline goodness : 0.561059 with order 1 Centerline is valid? [False, False] Translation: X:8.23, Y:1.98, Z:0.14 [[ 9.37275155e-01 -1.60516160e-01 -3.09434720e-01 8.23202889e+00] [ 1.54878418e-01 9.87002853e-01 -4.28724187e-02 1.98215531e+00] [ 3.12294667e-01 -7.74150694e-03 9.49953741e-01 1.38819999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.42650248099997 meters Centerline goodness : 0.560492 with order 1 Centerline is valid? [False, False] Translation: X:8.27, Y:1.97, Z:0.16 [[ 9.38742818e-01 -1.46599986e-01 -3.11881973e-01 8.27475074e+00] [ 1.38494252e-01 9.89193893e-01 -4.81121964e-02 1.96957577e+00] [ 3.15564990e-01 1.97111833e-03 9.48901919e-01 1.59018407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.48650248099997 meters Centerline goodness : 0.558998 with order 1 Centerline is valid? [False, False] Translation: X:8.31, Y:1.96, Z:0.18 [[ 0.93954714 -0.13752405 -0.3135894 8.3075608 ] [ 0.1267345 0.99043055 -0.05464146 1.95636957] [ 0.31810303 0.01159564 0.94798523 0.17665121] [ 0. 0. 0. 1. ]] SLAMing on 122.54650248099998 meters Centerline goodness : 0.560775 with order 1 Centerline is valid? [False, False] Translation: X:8.33, Y:1.94, Z:0.19 [[ 0.93987432 -0.13178065 -0.3150716 8.32943849] [ 0.11875352 0.99109212 -0.06028274 1.94317788] [ 0.32020908 0.01924234 0.94715145 0.18870696] [ 0. 0. 0. 1. ]] SLAMing on 122.60650248099998 meters Centerline goodness : 0.564041 with order 1 Centerline is valid? [False, False] Translation: X:8.36, Y:1.93, Z:0.20 [[ 0.94016118 -0.1220926 -0.3181043 8.35848358] [ 0.10739584 0.99219238 -0.06340672 1.92816235] [ 0.32336215 0.02544946 0.945933 0.20210547] [ 0. 0. 0. 1. ]] SLAMing on 122.66650248099998 meters Centerline goodness : 0.558400 with order 1 Centerline is valid? [False, False] Translation: X:8.38, Y:1.91, Z:0.21 [[ 0.93982674 -0.11506956 -0.32169038 8.3835654 ] [ 0.09814609 0.99281876 -0.06839776 1.91192175] [ 0.32725074 0.03270939 0.94437125 0.21459173] [ 0. 0. 0. 1. ]] SLAMing on 122.72650248099997 meters Centerline goodness : 0.552322 with order 1 Centerline is valid? [False, False] Translation: X:8.41, Y:1.89, Z:0.23 [[ 0.93833234 -0.10521692 -0.32933543 8.40748801] [ 0.08340649 0.99332254 -0.07971001 1.8911002 ] [ 0.33552315 0.04732577 0.94084244 0.23177356] [ 0. 0. 0. 1. ]] SLAMing on 122.78650248099997 meters Centerline goodness : 0.553401 with order 1 Centerline is valid? [False, False] Translation: X:8.42, Y:1.87, Z:0.27 [[ 0.93141106 -0.09849588 -0.35038837 8.42185937] [ 0.06244235 0.99165671 -0.11277372 1.86544963] [ 0.35857272 0.08315962 0.92979034 0.27274754] [ 0. 0. 0. 1. ]] SLAMing on 122.84650248099997 meters Centerline goodness : 0.556945 with order 1 Centerline is valid? [False, False] Translation: X:8.41, Y:1.84, Z:0.32 [[ 0.92390987 -0.09806326 -0.3698299 8.40680761] [ 0.04100323 0.98640753 -0.15911922 1.84092294] [ 0.38040675 0.13184759 0.91537256 0.31860281] [ 0. 0. 0. 1. ]] SLAMing on 122.90650248099998 meters Centerline goodness : 0.551921 with order 1 Centerline is valid? [False, False] Translation: X:8.38, Y:1.82, Z:0.36 [[ 0.91566546 -0.10240586 -0.38867698 8.38403193] [ 0.02018077 0.97749308 -0.21000004 1.81587683] [ 0.40143429 0.18444599 0.89712328 0.35882778] [ 0. 0. 0. 1. ]] SLAMing on 122.96650248099998 meters Centerline goodness : 0.553145 with order 1 Centerline is valid? [False, False] Translation: X:8.36, Y:1.80, Z:0.38 [[ 9.09695987e-01 -1.00816191e-01 -4.02851470e-01 8.35777328e+00] [ 1.14079776e-04 9.70144561e-01 -2.42527356e-01 1.79549553e+00] [ 4.15274846e-01 2.20580205e-01 8.82548115e-01 3.84107706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.02650248099998 meters Centerline goodness : 0.547397 with order 1 Centerline is valid? [False, False] Translation: X:8.33, Y:1.77, Z:0.41 [[ 0.90322767 -0.10383522 -0.41641087 8.32924124] [-0.01935635 0.95944506 -0.28123036 1.77257463] [ 0.42872497 0.26207524 0.86458746 0.4098025 ] [ 0. 0. 0. 1. ]] SLAMing on 123.08650248099998 meters Centerline goodness : 0.557814 with order 1 Centerline is valid? [False, False] Translation: X:8.29, Y:1.75, Z:0.43 [[ 0.89759875 -0.10988191 -0.42689864 8.28602495] [-0.03372762 0.94847576 -0.31504949 1.75415359] [ 0.43952125 0.29718631 0.8476446 0.42567564] [ 0. 0. 0. 1. ]] SLAMing on 123.14650248099997 meters Centerline goodness : 0.558976 with order 1 Centerline is valid? [False, False] Translation: X:8.26, Y:1.72, Z:0.46 [[ 0.88940639 -0.11649957 -0.44202277 8.26301957] [-0.0555276 0.93228341 -0.35744136 1.72372088] [ 0.45373226 0.34245509 0.82270988 0.45627502] [ 0. 0. 0. 1. ]] SLAMing on 123.20650248099997 meters Centerline goodness : 0.557259 with order 1 Centerline is valid? [False, False] Translation: X:8.22, Y:1.70, Z:0.48 [[ 0.88028342 -0.13618875 -0.45448182 8.22340987] [-0.06536756 0.91396781 -0.40048711 1.69764054] [ 0.46992359 0.38225053 0.79564838 0.47995229] [ 0. 0. 0. 1. ]] SLAMing on 123.26650248099997 meters Centerline goodness : 0.554954 with order 1 Centerline is valid? [False, False] Translation: X:8.19, Y:1.66, Z:0.50 [[ 0.87085942 -0.15233168 -0.46733172 8.18823541] [-0.08043372 0.89378484 -0.44122451 1.66427392] [ 0.48490648 0.42183375 0.76610834 0.50139252] [ 0. 0. 0. 1. ]] SLAMing on 123.32650248099998 meters Centerline goodness : 0.555536 with order 1 Centerline is valid? [False, False] Translation: X:8.19, Y:1.65, Z:0.52 [[ 0.8672224 -0.16009186 -0.47148267 8.18693789] [-0.08658804 0.88398678 -0.45942342 1.64650389] [ 0.4903344 0.43924704 0.7527511 0.51611893] [ 0. 0. 0. 1. ]] SLAMing on 123.38650248099998 meters Centerline goodness : 0.557332 with order 1 Centerline is valid? [False, False] Translation: X:8.20, Y:1.62, Z:0.53 [[ 0.8656157 -0.16368119 -0.47319967 8.19803311] [-0.09599404 0.87327914 -0.47767006 1.62143324] [ 0.49142101 0.45890305 0.74021172 0.53423722] [ 0. 0. 0. 1. ]] SLAMing on 123.44650248099998 meters Centerline goodness : 0.560260 with order 1 Centerline is valid? [False, False] Translation: X:8.22, Y:1.60, Z:0.55 [[ 0.86499884 -0.16197431 -0.47491193 8.21738611] [-0.10311716 0.86888257 -0.48415899 1.6039757 ] [ 0.49106401 0.46776853 0.73488008 0.54611769] [ 0. 0. 0. 1. ]] SLAMing on 123.50650248099997 meters Centerline goodness : 0.562246 with order 1 Centerline is valid? [False, False] Translation: X:8.25, Y:1.59, Z:0.56 [[ 0.86495135 -0.15807466 -0.47631036 8.24929448] [-0.11178545 0.86456893 -0.48992304 1.58697273] [ 0.48924756 0.47700416 0.73013961 0.56402386] [ 0. 0. 0. 1. ]] SLAMing on 123.56650248099997 meters Centerline goodness : 0.560653 with order 1 Centerline is valid? [False, False] Translation: X:8.28, Y:1.57, Z:0.59 [[ 0.86383263 -0.15752582 -0.4785173 8.28400527] [-0.12153649 0.8566359 -0.50140185 1.56578384] [ 0.48889884 0.49128459 0.7208449 0.58604814] [ 0. 0. 0. 1. ]] SLAMing on 123.62650248099997 meters Centerline goodness : 0.563565 with order 1 Centerline is valid? [False, False] Translation: X:8.33, Y:1.54, Z:0.62 [[ 0.86144656 -0.15149975 -0.4847243 8.32579849] [-0.13873524 0.84795751 -0.51158636 1.53661289] [ 0.48853081 0.50795265 0.70945172 0.61600472] [ 0. 0. 0. 1. ]] SLAMing on 123.68650248099998 meters Centerline goodness : 0.560473 with order 1 Centerline is valid? [False, False] Translation: X:8.34, Y:1.50, Z:0.65 [[ 0.85488231 -0.15758823 -0.49430981 8.3438719 ] [-0.15746705 0.82900116 -0.53662017 1.50163368] [ 0.49434843 0.53658459 0.68388347 0.65210644] [ 0. 0. 0. 1. ]] SLAMing on 123.74650248099998 meters Centerline goodness : 0.562094 with order 1 Centerline is valid? [False, False] Translation: X:8.36, Y:1.46, Z:0.69 [[ 0.84750713 -0.17032844 -0.50271253 8.36182173] [-0.17348635 0.80620291 -0.56563182 1.46135951] [ 0.50163148 0.56659076 0.65371306 0.68871917] [ 0. 0. 0. 1. ]] SLAMing on 123.80650248099998 meters Centerline goodness : 0.562418 with order 1 Centerline is valid? [False, False] Translation: X:8.35, Y:1.42, Z:0.71 [[ 0.83703601 -0.20026969 -0.50917852 8.34818197] [-0.18009332 0.77790635 -0.60202002 1.42350082] [ 0.51665957 0.59561209 0.6150684 0.71424157] [ 0. 0. 0. 1. ]] SLAMing on 123.86650248099997 meters Centerline goodness : 0.558622 with order 1 Centerline is valid? [False, False] Translation: X:8.35, Y:1.39, Z:0.74 [[ 0.8271934 -0.22337993 -0.51560886 8.35169979] [-0.19075015 0.75147399 -0.63158627 1.38516524] [ 0.52855034 0.62079646 0.57900457 0.74461525] [ 0. 0. 0. 1. ]] SLAMing on 123.92650248099997 meters Centerline goodness : 0.558965 with order 1 Centerline is valid? [False, False] Translation: X:8.35, Y:1.34, Z:0.77 [[ 0.81590818 -0.2464049 -0.52304729 8.34525169] [-0.20417785 0.72356486 -0.65936735 1.34404797] [ 0.54092999 0.64477788 0.54005206 0.77314285] [ 0. 0. 0. 1. ]] SLAMing on 123.98650248099997 meters Centerline goodness : 0.556578 with order 1 Centerline is valid? [False, False] Translation: X:8.34, Y:1.30, Z:0.80 [[ 0.80448663 -0.27569906 -0.52610958 8.34254736] [-0.21398999 0.69174059 -0.68971243 1.30121286] [ 0.55408442 0.66744661 0.49749922 0.80492194] [ 0. 0. 0. 1. ]] SLAMing on 124.04650248099998 meters Centerline goodness : 0.549892 with order 1 Centerline is valid? [False, False] Translation: X:8.31, Y:1.27, Z:0.81 [[ 0.79183697 -0.30659951 -0.52819595 8.30990279] [-0.22272048 0.66033139 -0.7171876 1.27261621] [ 0.56867373 0.6855357 0.45458881 0.81257633] [ 0. 0. 0. 1. ]] SLAMing on 124.10650248099998 meters Centerline goodness : 0.549498 with order 1 Centerline is valid? [False, False] Translation: X:8.29, Y:1.24, Z:0.83 [[ 0.77889774 -0.3346736 -0.53038844 8.29271808] [-0.23129979 0.63279551 -0.73896566 1.23781393] [ 0.58293972 0.69825742 0.41547306 0.83255705] [ 0. 0. 0. 1. ]] SLAMing on 124.16650248099998 meters Centerline goodness : 0.548320 with order 1 Centerline is valid? [False, False] Translation: X:8.29, Y:1.20, Z:0.86 [[ 0.76654485 -0.36534821 -0.52813793 8.28562162] [-0.2396775 0.60021806 -0.76308124 1.19730355] [ 0.59578829 0.71151877 0.37252832 0.85881557] [ 0. 0. 0. 1. ]] SLAMing on 124.22650248099997 meters Centerline goodness : 0.546722 with order 1 Centerline is valid? [False, False] Translation: X:8.29, Y:1.19, Z:0.87 [[ 0.75891472 -0.38418371 -0.52578639 8.2907241 ] [-0.23253409 0.59430683 -0.76988784 1.18750705] [ 0.60825681 0.70654247 0.36169239 0.87046237] [ 0. 0. 0. 1. ]] SLAMing on 124.28650248099997 meters Centerline goodness : 0.544250 with order 1 Centerline is valid? [False, False] Translation: X:8.29, Y:1.19, Z:0.87 [[ 0.753706 -0.39518826 -0.52512237 8.29154205] [-0.22257143 0.59831609 -0.7697271 1.18831058] [ 0.61837628 0.69702517 0.36299682 0.87332939] [ 0. 0. 0. 1. ]] SLAMing on 124.34650248099997 meters Centerline goodness : 0.545610 with order 1 Centerline is valid? [False, False] Translation: X:8.29, Y:1.19, Z:0.88 [[ 0.74821604 -0.40465219 -0.52576551 8.2938594 ] [-0.2138762 0.60304771 -0.76849882 1.18868444] [ 0.62803641 0.68745187 0.36466449 0.87757032] [ 0. 0. 0. 1. ]] SLAMing on 124.40650248099998 meters Centerline goodness : 0.542294 with order 1 Centerline is valid? [False, False] Translation: X:8.30, Y:1.19, Z:0.88 [[ 0.74213176 -0.41399331 -0.52711478 8.29763896] [-0.2061791 0.60730013 -0.76725272 1.18992084] [ 0.63775437 0.67808266 0.36533994 0.88369864] [ 0. 0. 0. 1. ]] SLAMing on 124.46650248099998 meters Centerline goodness : 0.546356 with order 1 Centerline is valid? [False, False] Translation: X:8.30, Y:1.19, Z:0.89 [[ 0.73791682 -0.42106933 -0.52742714 8.29803871] [-0.19785968 0.61218553 -0.7655589 1.19333554] [ 0.64523664 0.66927535 0.36842935 0.88914297] [ 0. 0. 0. 1. ]] SLAMing on 124.52650248099998 meters Centerline goodness : 0.543979 with order 1 Centerline is valid? [False, False] Translation: X:8.30, Y:1.20, Z:0.90 [[ 0.73343506 -0.42733794 -0.52863531 8.30202638] [-0.19171704 0.61606705 -0.76400652 1.19697565] [ 0.65216377 0.66169757 0.36991721 0.89812863] [ 0. 0. 0. 1. ]] SLAMing on 124.58650248099998 meters Centerline goodness : 0.554611 with order 1 Centerline is valid? [False, False] Translation: X:8.31, Y:1.20, Z:0.91 [[ 0.73234359 -0.42910338 -0.52871841 8.31181763] [-0.18690782 0.61996047 -0.76204624 1.19753537] [ 0.65478114 0.65690128 0.3738213 0.91227294] [ 0. 0. 0. 1. ]] SLAMing on 124.64650248099997 meters Centerline goodness : 0.557812 with order 1 Centerline is valid? [False, False] Translation: X:8.31, Y:1.20, Z:0.91 [[ 0.73254808 -0.42875998 -0.52871371 8.31104598] [-0.18699647 0.62007067 -0.76193483 1.19970799] [ 0.65452703 0.6570215 0.37405497 0.91439951] [ 0. 0. 0. 1. ]] SLAMing on 124.70650248099997 meters Centerline goodness : 0.564058 with order 1 Centerline is valid? [False, False] Translation: X:8.31, Y:1.20, Z:0.92 [[ 0.7313486 -0.42979774 -0.52953104 8.3132482 ] [-0.18801223 0.61929002 -0.76231967 1.20066315] [ 0.65557656 0.65707973 0.37210965 0.91850869] [ 0. 0. 0. 1. ]] SLAMing on 124.76650248099997 meters Centerline goodness : 0.558550 with order 1 Centerline is valid? [False, False] Translation: X:8.36, Y:1.18, Z:0.96 [[ 0.73145947 -0.42451845 -0.53362078 8.36260608] [-0.19924601 0.615352 -0.76265519 1.18302009] [ 0.65212581 0.66417317 0.36552144 0.95556802] [ 0. 0. 0. 1. ]] SLAMing on 124.82650248099998 meters Centerline goodness : 0.554568 with order 1 Centerline is valid? [False, False] Translation: X:8.39, Y:1.18, Z:0.98 [[ 0.73228669 -0.42117535 -0.53513318 8.39105632] [-0.20342426 0.61464339 -0.7621234 1.17536072] [ 0.64990366 0.66695189 0.36441789 0.97864426] [ 0. 0. 0. 1. ]] SLAMing on 124.88650248099998 meters Centerline goodness : 0.558040 with order 1 Centerline is valid? [False, False] Translation: X:8.43, Y:1.15, Z:1.01 [[ 0.73484285 -0.41643393 -0.53533987 8.43438131] [-0.2131719 0.60750033 -0.76518043 1.15467796] [ 0.64386624 0.67640678 0.35764526 1.01402409] [ 0. 0. 0. 1. ]] SLAMing on 124.94650248099998 meters Centerline goodness : 0.566488 with order 1 Centerline is valid? [False, False] Translation: X:8.47, Y:1.13, Z:1.04 [[ 0.73857315 -0.41187057 -0.53373433 8.47368667] [-0.22069557 0.60035737 -0.7686771 1.13194532] [ 0.63702682 0.68551707 0.35250983 1.04454934] [ 0. 0. 0. 1. ]] SLAMing on 125.00650248099997 meters Centerline goodness : 0.568892 with order 1 Centerline is valid? [False, False] Translation: X:8.51, Y:1.11, Z:1.07 [[ 0.74098205 -0.41121583 -0.53089278 8.50996463] [-0.22220002 0.59590422 -0.77170287 1.11311396] [ 0.63369768 0.68978236 0.35018216 1.07128469] [ 0. 0. 0. 1. ]] SLAMing on 125.06650248099997 meters Centerline goodness : 0.572907 with order 1 Centerline is valid? [False, False] Translation: X:8.54, Y:1.10, Z:1.09 [[ 0.74326606 -0.40811574 -0.5300916 8.54260062] [-0.22228123 0.59669751 -0.77106624 1.10301565] [ 0.63098861 0.69093677 0.35278853 1.09073618] [ 0. 0. 0. 1. ]] SLAMing on 125.12650248099997 meters Centerline goodness : 0.570720 with order 1 Centerline is valid? [False, False] Translation: X:8.59, Y:1.08, Z:1.12 [[ 0.73984514 -0.40983378 -0.53354049 8.58943299] [-0.22536906 0.59624979 -0.77051604 1.08293899] [ 0.6339069 0.69030606 0.34876866 1.1225198 ] [ 0. 0. 0. 1. ]] SLAMing on 125.18650248099998 meters Centerline goodness : 0.574713 with order 1 Centerline is valid? [False, False] Translation: X:8.63, Y:1.07, Z:1.15 [[ 0.73602392 -0.41170358 -0.53737227 8.63380629] [-0.22750205 0.59720565 -0.76914772 1.06711964] [ 0.63758263 0.68836442 0.34589423 1.15360653] [ 0. 0. 0. 1. ]] SLAMing on 125.24650248099998 meters Centerline goodness : 0.569494 with order 1 Centerline is valid? [False, False] Translation: X:8.69, Y:1.04, Z:1.19 [[ 0.73409358 -0.41201619 -0.5397678 8.68617268] [-0.23805833 0.58828828 -0.77281636 1.03652723] [ 0.63595192 0.69581575 0.33377476 1.18979875] [ 0. 0. 0. 1. ]] SLAMing on 125.30650248099998 meters Centerline goodness : 0.567590 with order 1 Centerline is valid? [False, False] Translation: X:8.74, Y:1.00, Z:1.23 [[ 0.73268951 -0.40830171 -0.54447753 8.74325494] [-0.25139384 0.58108129 -0.77404501 1.0043363 ] [ 0.63242961 0.70401296 0.32310763 1.22844925] [ 0. 0. 0. 1. ]] SLAMing on 125.36650248099997 meters Centerline goodness : 0.571002 with order 1 Centerline is valid? [False, False] Translation: X:8.79, Y:0.97, Z:1.26 [[ 0.73215541 -0.40523116 -0.54748165 8.79402654] [-0.26514147 0.57082269 -0.77708523 0.96718833] [ 0.6274141 0.71410725 0.31048734 1.26479228] [ 0. 0. 0. 1. ]] SLAMing on 125.42650248099997 meters Centerline goodness : 0.568713 with order 1 Centerline is valid? [False, False] Translation: X:8.83, Y:0.91, Z:1.31 [[ 0.72326616 -0.42409603 -0.54500332 8.8265616 ] [-0.28255347 0.53838426 -0.79391809 0.91222696] [ 0.63011872 0.72820666 0.2695653 1.31366813] [ 0. 0. 0. 1. ]] SLAMing on 125.48650248099997 meters Centerline goodness : 0.563831 with order 1 Centerline is valid? [False, False] Translation: X:8.84, Y:0.91, Z:1.32 [[ 0.72109232 -0.42808274 -0.54476696 8.84020168] [-0.27803771 0.54139591 -0.79346424 0.90540835] [ 0.63460295 0.72362672 0.27137328 1.32334174] [ 0. 0. 0. 1. ]] SLAMing on 125.54650248099998 meters Centerline goodness : 0.563729 with order 1 Centerline is valid? [False, False] Translation: X:8.88, Y:0.88, Z:1.36 [[ 0.71711221 -0.43281672 -0.54627811 8.8845988 ] [-0.28569446 0.53237625 -0.79684014 0.87658011] [ 0.63571122 0.72749242 0.25812017 1.36254022] [ 0. 0. 0. 1. ]] SLAMing on 125.60650248099998 meters Centerline goodness : 0.565450 with order 1 Centerline is valid? [False, False] Translation: X:8.90, Y:0.87, Z:1.37 [[ 0.71320774 -0.43699044 -0.54806393 8.89905244] [-0.2822754 0.53662908 -0.79520427 0.86952088] [ 0.6416037 0.72185081 0.25937636 1.37138557] [ 0. 0. 0. 1. ]] SLAMing on 125.66650248099998 meters Centerline goodness : 0.559566 with order 1 Centerline is valid? [False, False] Translation: X:8.91, Y:0.86, Z:1.38 [[ 0.70785001 -0.44547701 -0.54817752 8.91277412] [-0.27769164 0.53807254 -0.79584251 0.86338058] [ 0.64948881 0.71556144 0.25716941 1.38256695] [ 0. 0. 0. 1. ]] SLAMing on 125.72650248099997 meters Centerline goodness : 0.554669 with order 1 Centerline is valid? [False, False] Translation: X:8.95, Y:0.85, Z:1.41 [[ 0.70775915 -0.44384442 -0.54961725 8.94888857] [-0.28005688 0.53797409 -0.79507988 0.84847417] [ 0.64857161 0.71664915 0.25645441 1.40895675] [ 0. 0. 0. 1. ]] SLAMing on 125.78650248099997 meters Centerline goodness : 0.554392 with order 1 Centerline is valid? [False, False] Translation: X:8.99, Y:0.82, Z:1.45 [[ 0.707286 -0.44141187 -0.55217939 8.99081307] [-0.29021702 0.53093455 -0.79616743 0.82090173] [ 0.64460887 0.72336994 0.24741734 1.44714055] [ 0. 0. 0. 1. ]] SLAMing on 125.84650248099997 meters Centerline goodness : 0.548078 with order 1 Centerline is valid? [False, False] Translation: X:9.02, Y:0.79, Z:1.48 [[ 0.70707205 -0.44490336 -0.54964545 9.02442367] [-0.29659505 0.51901728 -0.80165606 0.79410677] [ 0.64193496 0.72985071 0.23502648 1.4790964 ] [ 0. 0. 0. 1. ]] SLAMing on 125.90650248099998 meters Centerline goodness : 0.547498 with order 1 Centerline is valid? [False, False] Translation: X:9.02, Y:0.75, Z:1.51 [[ 0.69525102 -0.47139693 -0.54259649 9.02487101] [-0.30635209 0.48855196 -0.81698555 0.75208597] [ 0.65021106 0.7342356 0.19525281 1.50974592] [ 0. 0. 0. 1. ]] SLAMing on 125.96650248099998 meters Centerline goodness : 0.548167 with order 1 Centerline is valid? [False, False] Translation: X:9.05, Y:0.73, Z:1.53 [[ 0.69489591 -0.47503551 -0.53987122 9.04639127] [-0.31066775 0.47876159 -0.82114121 0.72976588] [ 0.64854084 0.73832825 0.18511126 1.52759611] [ 0. 0. 0. 1. ]] SLAMing on 126.02650248099998 meters Centerline goodness : 0.546256 with order 1 Centerline is valid? [False, False] Translation: X:9.07, Y:0.70, Z:1.56 [[ 0.69207649 -0.48291967 -0.5364874 9.07099093] [-0.31635112 0.46513126 -0.82678587 0.70089832] [ 0.64880822 0.74191745 0.16913423 1.55516362] [ 0. 0. 0. 1. ]] SLAMing on 126.08650248099997 meters Centerline goodness : 0.545591 with order 1 Centerline is valid? [False, False] Translation: X:9.08, Y:0.69, Z:1.57 [[ 0.68939495 -0.4860407 -0.53712106 9.08474381] [-0.31438299 0.46726142 -0.82633534 0.69026983] [ 0.65260856 0.73853314 0.16932473 1.56558658] [ 0. 0. 0. 1. ]] SLAMing on 126.14650248099997 meters Centerline goodness : 0.542474 with order 1 Centerline is valid? [False, False] Translation: X:9.09, Y:0.68, Z:1.57 [[ 0.68845212 -0.48874054 -0.53587906 9.09463445] [-0.31695086 0.46183568 -0.82840205 0.68098574] [ 0.65236173 0.74016248 0.16304501 1.57146411] [ 0. 0. 0. 1. ]] SLAMing on 126.20650248099997 meters Centerline goodness : 0.543918 with order 1 Centerline is valid? [False, False] Translation: X:9.12, Y:0.66, Z:1.60 [[ 0.68604789 -0.49399557 -0.53414106 9.12441722] [-0.3215945 0.45264487 -0.83167878 0.65604557] [ 0.65262185 0.7423483 0.1516698 1.59808863] [ 0. 0. 0. 1. ]] SLAMing on 126.26650248099997 meters Centerline goodness : 0.546719 with order 1 Centerline is valid? [False, False] Translation: X:9.16, Y:0.64, Z:1.62 [[ 0.68896014 -0.4908761 -0.53326783 9.15827425] [-0.32420288 0.44932698 -0.83246487 0.63768826] [ 0.64824874 0.74642208 0.15042494 1.62124501] [ 0. 0. 0. 1. ]] SLAMing on 126.32650248099998 meters Centerline goodness : 0.539834 with order 1 Centerline is valid? [False, False] Translation: X:9.16, Y:0.59, Z:1.65 [[ 0.68150207 -0.5108277 -0.52403243 9.16179099] [-0.33559401 0.41819169 -0.84409263 0.59325244] [ 0.65033191 0.75111302 0.11356779 1.64508471] [ 0. 0. 0. 1. ]] SLAMing on 126.38650248099998 meters Centerline goodness : 0.544150 with order 1 Centerline is valid? [False, False] Translation: X:8.10, Y:-1.00, Z:-0.20 [[ 0.57012159 0.52614653 -0.63097639 8.10256158] [-0.47988442 -0.41011091 -0.7755772 -0.99823004] [-0.66683755 0.74496904 0.01867644 -0.19632725] [ 0. -0. -0. 1. ]] SLAMing on 126.44650248099998 meters Centerline goodness : 0.548040 with order 1 Centerline is valid? [False, False] Translation: X:6.88, Y:-2.09, Z:-0.39 [[ 0.56372155 -0.12943363 0.81576035 6.88485747] [-0.51094428 0.72135019 0.46753593 -2.09033333] [-0.64896376 -0.68036816 0.34050727 -0.38823306] [ 0. 0. 0. 1. ]] SLAMing on 126.50650248099997 meters Centerline goodness : 0.543602 with order 1 Centerline is valid? [False, False] Translation: X:6.90, Y:-2.05, Z:-0.33 [[ 0.58126952 -0.09460336 0.80819301 6.89719416] [-0.49294431 0.74928393 0.44224372 -2.04853729] [-0.64740378 -0.65545694 0.38890172 -0.33456974] [ 0. 0. 0. 1. ]] SLAMing on 126.56650248099997 meters Centerline goodness : 0.538703 with order 1 Centerline is valid? [False, False] Translation: X:6.90, Y:-2.00, Z:-0.27 [[ 0.59814708 -0.06109487 0.79905412 6.89932013] [-0.47849805 0.77261376 0.41726203 -2.00237846] [-0.64285277 -0.6319299 0.43290289 -0.26928553] [ 0. 0. 0. 1. ]] SLAMing on 126.62650248099997 meters Centerline goodness : 0.542230 with order 1 Centerline is valid? [False, False] Translation: X:6.90, Y:-1.96, Z:-0.20 [[ 0.61106986 -0.02794677 0.79108318 6.89728702] [-0.46838295 0.79288365 0.3898114 -1.958604 ] [-0.63813089 -0.60873188 0.47141751 -0.20488526] [ 0. 0. 0. 1. ]] SLAMing on 126.68650248099998 meters Centerline goodness : 0.544162 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:-1.95, Z:-0.16 [[ 6.22109697e-01 4.92258723e-03 7.82914614e-01 6.91044576e+00] [-4.74082771e-01 7.98179972e-01 3.71691080e-01 -1.94659647e+00] [-6.23077083e-01 -6.02398955e-01 4.98889214e-01 -1.61759318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.74650248099998 meters Centerline goodness : 0.547987 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:-1.95, Z:-0.16 [[ 6.21220129e-01 3.88997068e-03 7.83626454e-01 6.91002464e+00] [-4.74223763e-01 7.97961633e-01 3.71979913e-01 -1.94666294e+00] [-6.23856854e-01 -6.02695695e-01 4.97554545e-01 -1.58635108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.80650248099998 meters Centerline goodness : 0.545683 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:-1.95, Z:-0.16 [[ 6.20719308e-01 3.99858581e-03 7.84022673e-01 6.90941674e+00] [-4.71353973e-01 8.00997704e-01 3.69090925e-01 -1.94670545e+00] [-6.26524519e-01 -5.98654066e-01 4.99079489e-01 -1.58058861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.86650248099997 meters Centerline goodness : 0.544722 with order 1 Centerline is valid? [False, False] Translation: X:6.89, Y:-1.93, Z:-0.13 [[ 6.24289859e-01 3.93016219e-04 7.81192689e-01 6.88782449e+00] [-4.67568781e-01 8.01286879e-01 3.73254300e-01 -1.93053665e+00] [-6.25812756e-01 -5.98280188e-01 5.00419035e-01 -1.29244848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.92650248099997 meters Centerline goodness : 0.543104 with order 1 Centerline is valid? [False, False] Translation: X:6.88, Y:-1.93, Z:-0.13 [[ 6.22867836e-01 3.88620375e-04 7.82326983e-01 6.88468819e+00] [-4.64298104e-01 8.05029789e-01 3.69261844e-01 -1.93099717e+00] [-6.29653023e-01 -5.93234260e-01 5.01607598e-01 -1.30697942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.98650248099997 meters Centerline goodness : 0.545075 with order 1 Centerline is valid? [False, False] Translation: X:6.88, Y:-1.93, Z:-0.13 [[ 6.22542058e-01 -2.26608516e-04 7.82586311e-01 6.88412039e+00] [-4.64076372e-01 8.05093015e-01 3.69402706e-01 -1.93169546e+00] [-6.30138482e-01 -5.93148537e-01 5.01099099e-01 -1.30941311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.04650248099998 meters Centerline goodness : 0.548368 with order 1 Centerline is valid? [False, False] Translation: X:6.88, Y:-1.93, Z:-0.13 [[ 6.20879229e-01 -1.54097146e-03 7.83904719e-01 6.88194841e+00] [-4.64462525e-01 8.04847550e-01 3.69452275e-01 -1.93233818e+00] [-6.31493108e-01 -5.93479609e-01 4.98997403e-01 -1.29417493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.10650248099998 meters Centerline goodness : 0.551254 with order 1 Centerline is valid? [False, False] Translation: X:6.88, Y:-1.93, Z:-0.12 [[ 6.18072587e-01 -3.09626342e-03 7.86114935e-01 6.87893425e+00] [-4.66461366e-01 8.03478421e-01 3.69913802e-01 -1.93361508e+00] [-6.32771737e-01 -5.95325826e-01 4.95163699e-01 -1.23621887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.16650248099998 meters Centerline goodness : 0.553080 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:-1.96, Z:-0.15 [[ 6.18918775e-01 -5.29799533e-04 7.85454817e-01 6.91113097e+00] [-4.65217151e-01 8.05477407e-01 3.67122799e-01 -1.96114551e+00] [-6.32860610e-01 -5.92626245e-01 4.98278618e-01 -1.49988841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22650248099997 meters Centerline goodness : 0.558088 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:-1.96, Z:-0.15 [[ 6.18143677e-01 -1.35963439e-03 7.86063958e-01 6.90940907e+00] [-4.64443484e-01 8.06151389e-01 3.66622678e-01 -1.96256526e+00] [-6.34185025e-01 -5.91707773e-01 4.97685910e-01 -1.51765014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.28650248099997 meters Centerline goodness : 0.559344 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:-1.96, Z:-0.15 [[ 6.15984854e-01 -2.71191809e-04 7.87757949e-01 6.90592730e+00] [-4.66066003e-01 8.06079691e-01 3.64716346e-01 -1.96215328e+00] [-6.35094592e-01 -5.91806944e-01 4.96406487e-01 -1.51784778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.34650248099997 meters Centerline goodness : 0.567300 with order 1 Centerline is valid? [False, False] Translation: X:6.90, Y:-1.96, Z:-0.15 [[ 6.13850970e-01 -1.48678460e-04 7.89421918e-01 6.90302137e+00] [-4.70342356e-01 8.03059463e-01 3.65887369e-01 -1.96096344e+00] [-6.34007141e-01 -5.95898881e-01 4.92888900e-01 -1.50517147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.40650248099998 meters Centerline goodness : 0.567752 with order 1 Centerline is valid? [False, False] Translation: X:6.90, Y:-1.96, Z:-0.15 [[ 6.11078779e-01 5.51958951e-03 7.91550541e-01 6.89588564e+00] [-4.73847615e-01 8.03566181e-01 3.60208037e-01 -1.95822870e+00] [-6.34075045e-01 -5.95189824e-01 4.93657685e-01 -1.50599724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.46650248099998 meters Centerline goodness : 0.563289 with order 1 Centerline is valid? [False, False] Translation: X:6.87, Y:-1.94, Z:-0.13 [[ 6.15319571e-01 6.32715176e-03 7.88252367e-01 6.87482290e+00] [-4.75714322e-01 8.00328718e-01 3.64924412e-01 -1.94209728e+00] [-6.28552074e-01 -5.99528072e-01 4.95467840e-01 -1.26321674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.52650248099998 meters Centerline goodness : 0.564165 with order 1 Centerline is valid? [False, False] Translation: X:6.85, Y:-1.92, Z:-0.10 [[ 6.17785602e-01 5.23519584e-03 7.86329156e-01 6.84950075e+00] [-4.76826824e-01 7.97649504e-01 3.69312130e-01 -1.92293501e+00] [-6.25281640e-01 -6.03098551e-01 4.95272661e-01 -9.71916415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.58650248099997 meters Centerline goodness : 0.568079 with order 1 Centerline is valid? [False, False] Translation: X:6.82, Y:-1.90, Z:-0.07 [[ 0.61813905 0.00722912 0.78603553 6.82241536] [-0.47791709 0.79737207 0.36850105 -1.90238558] [-0.62409884 -0.60344471 0.49634174 -0.06505797] [ 0. 0. 0. 1. ]] SLAMing on 127.64650248099997 meters Centerline goodness : 0.571010 with order 1 Centerline is valid? [False, False] Translation: X:6.80, Y:-1.88, Z:-0.03 [[ 6.19421714e-01 5.39660988e-03 7.85039882e-01 6.79640686e+00] [-4.79162399e-01 7.94710071e-01 3.72611457e-01 -1.88416145e+00] [-6.21868262e-01 -6.06965221e-01 4.94846527e-01 -3.12582350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.70650248099997 meters Centerline goodness : 0.566457 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:-1.87, Z:0.00 [[ 6.21653292e-01 3.01812663e-03 7.83286714e-01 6.77134303e+00] [-4.79689399e-01 7.92008043e-01 3.77652408e-01 -1.86637791e+00] [-6.19229574e-01 -6.10503195e-01 4.93802170e-01 1.36994515e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.76650248099997 meters Centerline goodness : 0.564231 with order 1 Centerline is valid? [False, False] Translation: X:6.75, Y:-1.85, Z:0.03 [[ 6.26240769e-01 9.23496526e-04 7.79629172e-01 6.74679584e+00] [-4.77515066e-01 7.90932466e-01 3.82629318e-01 -1.85037224e+00] [-6.16280667e-01 -6.11902754e-01 4.95755140e-01 3.19399724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.82650248099998 meters Centerline goodness : 0.554920 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-1.83, Z:0.06 [[ 6.31138270e-01 -1.97498970e-03 7.75667831e-01 6.72246995e+00] [-4.74533392e-01 7.90048479e-01 3.88125574e-01 -1.83449848e+00] [-6.13581734e-01 -6.13041190e-01 4.97692632e-01 6.34917810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.88650248099998 meters Centerline goodness : 0.547662 with order 1 Centerline is valid? [False, False] Translation: X:6.70, Y:-1.82, Z:0.10 [[ 6.36137236e-01 -4.46666908e-03 7.71563002e-01 6.69831419e+00] [-4.72038720e-01 7.88757730e-01 3.93752067e-01 -1.81797310e+00] [-6.10335042e-01 -6.14687964e-01 4.99649722e-01 9.53208305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.94650248099998 meters Centerline goodness : 0.552596 with order 1 Centerline is valid? [False, False] Translation: X:6.67, Y:-1.80, Z:0.13 [[ 0.63982539 -0.0090121 0.76846747 6.67455537] [-0.46996178 0.78659018 0.40051443 -1.79957343] [-0.60807844 -0.61740964 0.49904503 0.12695627] [ 0. 0. 0. 1. ]] SLAMing on 128.00650248099998 meters Centerline goodness : 0.548934 with order 1 Centerline is valid? [False, False] Translation: X:6.71, Y:-1.82, Z:0.13 [[ 0.64933321 0.01543406 0.7603474 6.71321543] [-0.47179475 0.79232205 0.38682746 -1.81765441] [-0.59646969 -0.60990783 0.52176273 0.13447991] [ 0. 0. 0. 1. ]] SLAMing on 128.066502481 meters Centerline goodness : 0.545182 with order 1 Centerline is valid? [False, False] Translation: X:6.70, Y:-1.81, Z:0.16 [[ 0.65615556 0.01465026 0.75448343 6.69889313] [-0.47070352 0.78941628 0.39403063 -1.80642878] [-0.58982885 -0.6136834 0.52487581 0.16273115] [ 0. 0. 0. 1. ]] SLAMing on 128.126502481 meters Centerline goodness : 0.542180 with order 1 Centerline is valid? [False, False] Translation: X:6.69, Y:-1.80, Z:0.19 [[ 0.66460073 0.0159629 0.74702815 6.68558687] [-0.47031787 0.78580753 0.40163122 -1.79635047] [-0.58060914 -0.61826509 0.52975589 0.18827972] [ 0. 0. 0. 1. ]] SLAMing on 128.18650248099996 meters Centerline goodness : 0.544838 with order 1 Centerline is valid? [False, False] Translation: X:6.69, Y:-1.80, Z:0.19 [[ 0.66607397 0.01484527 0.74573795 6.68744655] [-0.46856566 0.78622542 0.40285955 -1.79813122] [-0.58033757 -0.61776145 0.53064027 0.18743579] [ 0. 0. 0. 1. ]] SLAMing on 128.24650248099996 meters Centerline goodness : 0.543391 with order 1 Centerline is valid? [False, False] Translation: X:6.68, Y:-1.80, Z:0.20 [[ 0.66545667 0.01604459 0.74626402 6.67989045] [-0.4714279 0.78417258 0.40352088 -1.79738103] [-0.57872546 -0.62033534 0.52939674 0.19643682] [ 0. 0. 0. 1. ]] SLAMing on 128.30650248099997 meters Centerline goodness : 0.543082 with order 1 Centerline is valid? [False, False] Translation: X:6.68, Y:-1.80, Z:0.20 [[ 0.6665283 0.01578764 0.74531254 6.68111145] [-0.47098855 0.78388181 0.40459745 -1.79836044] [-0.5778493 -0.62070932 0.52991521 0.19545826] [ 0. 0. 0. 1. ]] SLAMing on 128.36650248099997 meters Centerline goodness : 0.542816 with order 1 Centerline is valid? [False, False] Translation: X:6.68, Y:-1.80, Z:0.20 [[ 0.66706262 0.01501578 0.74485032 6.68217023] [-0.47068803 0.78347279 0.4057378 -1.7994564 ] [-0.57747749 -0.62124464 0.52969316 0.19722903] [ 0. 0. 0. 1. ]] SLAMing on 128.42650248099997 meters Centerline goodness : 0.543169 with order 1 Centerline is valid? [False, False] Translation: X:6.68, Y:-1.80, Z:0.20 [[ 0.66707579 0.01374401 0.74486307 6.68270102] [-0.46985556 0.7836667 0.40632777 -1.79912534] [-0.5781398 -0.62102947 0.52922279 0.19995024] [ 0. 0. 0. 1. ]] SLAMing on 128.48650248099997 meters Centerline goodness : 0.539237 with order 1 Centerline is valid? [False, False] Translation: X:6.69, Y:-1.80, Z:0.20 [[ 0.66869888 0.01228522 0.74343182 6.68570614] [-0.46664185 0.78536351 0.40675488 -1.79906695] [-0.57886716 -0.61891294 0.5309045 0.2020437 ] [ 0. 0. 0. 1. ]] SLAMing on 128.54650248099998 meters Centerline goodness : 0.539085 with order 1 Centerline is valid? [False, False] Translation: X:6.68, Y:-1.80, Z:0.21 [[ 0.67090575 0.00991656 0.74147632 6.68106526] [-0.46472099 0.78481769 0.40999462 -1.80199404] [-0.577858 -0.61964736 0.53114714 0.2096525 ] [ 0. 0. 0. 1. ]] SLAMing on 128.60650248099998 meters Centerline goodness : 0.542830 with order 1 Centerline is valid? [False, False] Translation: X:6.68, Y:-1.80, Z:0.21 [[ 0.670152 0.00953301 0.74216267 6.6800937 ] [-0.46273258 0.7871723 0.40772334 -1.80142184] [-0.58032307 -0.61665946 0.53193632 0.21438582] [ 0. 0. 0. 1. ]] SLAMing on 128.66650248099998 meters Centerline goodness : 0.545199 with order 1 Centerline is valid? [False, False] Translation: X:6.71, Y:-1.83, Z:0.20 [[ 0.67151601 0.01142789 0.74090192 6.71177054] [-0.46540638 0.78455514 0.40971958 -1.83365747] [-0.57659618 -0.61995374 0.53215995 0.19641101] [ 0. 0. 0. 1. ]] SLAMing on 128.72650248099998 meters Centerline goodness : 0.545132 with order 1 Centerline is valid? [False, False] Translation: X:6.74, Y:-1.87, Z:0.18 [[ 0.67438254 0.01337448 0.73826101 6.74268622] [-0.46582435 0.78346618 0.4113252 -1.86503613] [-0.57290127 -0.62129049 0.53458607 0.17674936] [ 0. 0. 0. 1. ]] SLAMing on 128.78650248099999 meters Centerline goodness : 0.543762 with order 1 Centerline is valid? [False, False] Translation: X:6.79, Y:-1.91, Z:0.15 [[ 0.68348858 0.02253674 0.72961323 6.79467821] [-0.46471667 0.78423429 0.41111433 -1.91099034] [-0.56292253 -0.62005538 0.54648838 0.15358457] [ 0. 0. 0. 1. ]] SLAMing on 128.846502481 meters Centerline goodness : 0.547589 with order 1 Centerline is valid? [False, False] Translation: X:6.79, Y:-1.91, Z:0.16 [[ 0.68332171 0.02161201 0.72979748 6.79460928] [-0.46183758 0.78697264 0.40912114 -1.91234086] [-0.56548872 -0.61660927 0.54773673 0.1557326 ] [ 0. 0. 0. 1. ]] SLAMing on 128.90650248099996 meters Centerline goodness : 0.552606 with order 1 Centerline is valid? [False, False] Translation: X:6.79, Y:-1.91, Z:0.16 [[ 0.68334083 0.02075885 0.72980435 6.79488889] [-0.46159459 0.78674723 0.40982829 -1.91320492] [-0.56566399 -0.61692614 0.54719868 0.15725734] [ 0. 0. 0. 1. ]] SLAMing on 128.96650248099996 meters Centerline goodness : 0.554505 with order 1 Centerline is valid? [False, False] Translation: X:6.80, Y:-1.91, Z:0.16 [[ 0.68326844 0.01973624 0.72990049 6.79520929] [-0.45840397 0.78967952 0.40776471 -1.91381223] [-0.56833972 -0.61320204 0.54861026 0.16032783] [ 0. 0. 0. 1. ]] SLAMing on 129.02650248099997 meters Centerline goodness : 0.559940 with order 1 Centerline is valid? [False, False] Translation: X:6.80, Y:-1.91, Z:0.16 [[ 0.68363507 0.01820856 0.72959684 6.79608692] [-0.45387535 0.79346249 0.40548051 -1.91493497] [-0.57152451 -0.60834672 0.55070319 0.16188621] [ 0. 0. 0. 1. ]] SLAMing on 129.08650248099997 meters Centerline goodness : 0.559895 with order 1 Centerline is valid? [False, False] Translation: X:6.80, Y:-1.92, Z:0.16 [[ 0.68413987 0.01717286 0.72914863 6.79694921] [-0.44690846 0.79992943 0.40048189 -1.91567479] [-0.57639003 -0.59984832 0.55493831 0.1628364 ] [ 0. 0. 0. 1. ]] SLAMing on 129.14650248099997 meters Centerline goodness : 0.568022 with order 1 Centerline is valid? [False, False] Translation: X:6.80, Y:-1.92, Z:0.16 [[ 0.68427137 0.01528723 0.7290672 6.79767612] [-0.44288156 0.80298726 0.39883254 -1.91632973] [-0.57933463 -0.59580011 0.55623162 0.16457653] [ 0. 0. 0. 1. ]] SLAMing on 129.20650248099997 meters Centerline goodness : 0.570135 with order 1 Centerline is valid? [False, False] Translation: X:6.80, Y:-1.92, Z:0.17 [[ 0.68388197 0.01376229 0.72946285 6.79763434] [-0.43912553 0.80621047 0.3964763 -1.91755753] [-0.58264416 -0.59146875 0.55739617 0.16774348] [ 0. 0. 0. 1. ]] SLAMing on 129.26650248099997 meters Centerline goodness : 0.572188 with order 1 Centerline is valid? [False, False] Translation: X:6.83, Y:-1.94, Z:0.14 [[ 0.68454154 0.00924843 0.72891519 6.82754017] [-0.43549691 0.80705912 0.39874556 -1.93766427] [-0.58458988 -0.59039821 0.55649315 0.14288344] [ 0. 0. 0. 1. ]] SLAMing on 129.32650248099998 meters Centerline goodness : 0.577193 with order 1 Centerline is valid? [False, False] Translation: X:6.84, Y:-1.94, Z:0.13 [[ 6.86097970e-01 5.17505524e-03 7.27490752e-01 6.83989757e+00] [-4.28045266e-01 8.11442200e-01 3.97918089e-01 -1.93826609e+00] [-5.88257449e-01 -5.84409766e-01 5.58944004e-01 1.34785303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.38650248099998 meters Centerline goodness : 0.578218 with order 1 Centerline is valid? [False, False] Translation: X:6.88, Y:-1.96, Z:0.10 [[ 6.89286684e-01 5.43615571e-03 7.24468299e-01 6.87844392e+00] [-4.25280327e-01 8.12594688e-01 3.98530447e-01 -1.96351929e+00] [-5.86532618e-01 -5.82803845e-01 5.62422588e-01 1.04454281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.44650248099998 meters Centerline goodness : 0.577368 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:-1.99, Z:0.08 [[ 6.92491391e-01 6.70520999e-03 7.21394977e-01 6.90913214e+00] [-4.26470790e-01 8.10331881e-01 4.01851848e-01 -1.98792450e+00] [-5.81874848e-01 -5.85932831e-01 5.64007428e-01 7.75691226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.50650248099998 meters Centerline goodness : 0.580909 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:-1.99, Z:0.08 [[ 0.69103624 0.00819484 0.72277365 6.90690809] [-0.42873797 0.80969006 0.40073154 -1.98733471] [-0.58193871 -0.58680053 0.56303861 0.07910168] [ 0. 0. 0. 1. ]] SLAMing on 129.566502481 meters Centerline goodness : 0.593874 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:-1.99, Z:0.08 [[ 0.69016928 0.01008643 0.72357766 6.90547467] [-0.43062592 0.80931547 0.39946186 -1.98610897] [-0.58157345 -0.5872876 0.56290816 0.07966772] [ 0. 0. 0. 1. ]] SLAMing on 129.626502481 meters Centerline goodness : 0.590972 with order 1 Centerline is valid? [False, False] Translation: X:6.90, Y:-1.98, Z:0.08 [[ 0.68931487 0.01185902 0.72436481 6.90402838] [-0.43219708 0.80918011 0.39803672 -1.98496996] [-0.58142127 -0.58744098 0.56290532 0.07999569] [ 0. 0. 0. 1. ]] SLAMing on 129.68650248099996 meters Centerline goodness : 0.602540 with order 1 Centerline is valid? [False, False] Translation: X:6.90, Y:-1.98, Z:0.08 [[ 0.68808092 0.01316919 0.72551445 6.90231429] [-0.4333526 0.80941385 0.39630133 -1.9837639 ] [-0.58202248 -0.58709096 0.56264913 0.08169672] [ 0. 0. 0. 1. ]] SLAMing on 129.74650248099996 meters Centerline goodness : 0.605629 with order 1 Centerline is valid? [False, False] Translation: X:6.90, Y:-1.98, Z:0.08 [[ 0.68765013 0.01503094 0.72588661 6.90134814] [-0.4324017 0.81161714 0.39281853 -1.98298871] [-0.58323758 -0.58399632 0.56460803 0.08162228] [ 0. 0. 0. 1. ]] SLAMing on 129.80650248099997 meters Centerline goodness : 0.618557 with order 1 Centerline is valid? [False, False] Translation: X:6.90, Y:-1.98, Z:0.08 [[ 0.68727231 0.0161132 0.72622113 6.90017768] [-0.4298698 0.81492214 0.38873366 -1.98335842] [-0.58554994 -0.57934641 0.567 0.08087947] [ 0. 0. 0. 1. ]] SLAMing on 129.86650248099997 meters Centerline goodness : 0.617196 with order 1 Centerline is valid? [False, False] Translation: X:6.90, Y:-1.98, Z:0.08 [[ 0.68703277 0.01655178 0.72643789 6.89965347] [-0.42707785 0.8180278 0.38527267 -1.98344592] [-0.58786945 -0.57494048 0.5690808 0.08129722] [ 0. 0. 0. 1. ]] SLAMing on 129.92650248099997 meters Centerline goodness : 0.625719 with order 1 Centerline is valid? [False, False] Translation: X:6.90, Y:-1.98, Z:0.08 [[ 0.68683893 0.01623693 0.72662828 6.89963815] [-0.42362616 0.82131524 0.38207611 -1.9831577 ] [-0.59058713 -0.57024349 0.57098966 0.08307543] [ 0. 0. 0. 1. ]] SLAMing on 129.98650248099997 meters Centerline goodness : 0.632040 with order 1 Centerline is valid? [False, False] Translation: X:6.90, Y:-1.98, Z:0.08 [[ 0.6882781 0.01560628 0.72527905 6.90152895] [-0.41839954 0.82527329 0.37929649 -1.9838604 ] [-0.59263401 -0.56451789 0.57454719 0.08165204] [ 0. 0. 0. 1. ]] SLAMing on 130.04650248099998 meters Centerline goodness : 0.629381 with order 1 Centerline is valid? [False, False] Translation: X:6.90, Y:-1.98, Z:0.08 [[ 0.68886797 0.01559693 0.72471902 6.90228195] [-0.41477869 0.82840684 0.37643161 -1.98357701] [-0.59449101 -0.55990968 0.57713221 0.08069307] [ 0. 0. 0. 1. ]] SLAMing on 130.10650248099998 meters Centerline goodness : 0.630839 with order 1 Centerline is valid? [False, False] Translation: X:6.90, Y:-1.98, Z:0.08 [[ 0.68912945 0.0155341 0.72447173 6.90285701] [-0.41131572 0.83149008 0.37342151 -1.98282118] [-0.5965903 -0.55532237 0.57939372 0.08116789] [ 0. 0. 0. 1. ]] SLAMing on 130.16650248099998 meters Centerline goodness : 0.629967 with order 1 Centerline is valid? [False, False] Translation: X:6.90, Y:-1.98, Z:0.08 [[ 0.68949934 0.01525365 0.72412567 6.90373522] [-0.41043844 0.83198412 0.37328636 -1.98217275] [-0.59676708 -0.55458971 0.57991318 0.08175587] [ 0. 0. 0. 1. ]] SLAMing on 130.22650248099998 meters Centerline goodness : 0.630244 with order 1 Centerline is valid? [False, False] Translation: X:6.90, Y:-1.98, Z:0.08 [[ 0.68972324 0.01540447 0.72390922 6.90427741] [-0.40984191 0.83250861 0.37277207 -1.98075851] [-0.5969183 -0.5537979 0.58051394 0.08188634] [ 0. 0. 0. 1. ]] SLAMing on 130.28650248099999 meters Centerline goodness : 0.633497 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:-1.98, Z:0.08 [[ 0.69034571 0.01596388 0.7233035 6.90534862] [-0.40914217 0.83314825 0.37211111 -1.97902997] [-0.59667871 -0.55281927 0.58169182 0.08150084] [ 0. 0. 0. 1. ]] SLAMing on 130.346502481 meters Centerline goodness : 0.629409 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:-1.98, Z:0.08 [[ 0.69173845 0.01579283 0.72197542 6.90753703] [-0.40767976 0.83375017 0.37236792 -1.97764858] [-0.59606638 -0.55191598 0.58317547 0.08000041] [ 0. 0. 0. 1. ]] SLAMing on 130.40650248099996 meters Centerline goodness : 0.624835 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:-1.98, Z:0.08 [[ 0.69315465 0.01795184 0.72056531 6.90857502] [-0.40374718 0.83780692 0.36751569 -1.9771351 ] [-0.59709702 -0.54567142 0.58797776 0.07580633] [ 0. 0. 0. 1. ]] SLAMing on 130.46650248099996 meters Centerline goodness : 0.619529 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:-1.98, Z:0.07 [[ 0.69404497 0.01831077 0.71969875 6.90999017] [-0.40367467 0.83764061 0.36797414 -1.97623319] [-0.59611101 -0.54591475 0.58875185 0.07482944] [ 0. 0. 0. 1. ]] SLAMing on 130.52650248099997 meters Centerline goodness : 0.620247 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:-1.97, Z:0.07 [[ 0.69425522 0.01951155 0.71946437 6.91025971] [-0.40456797 0.8373369 0.36768421 -1.97477682] [-0.59525998 -0.54633892 0.58921926 0.0739879 ] [ 0. 0. 0. 1. ]] SLAMing on 130.58650248099997 meters Centerline goodness : 0.621611 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:-1.97, Z:0.08 [[ 0.69325988 0.01995416 0.72041139 6.9095718 ] [-0.40826628 0.83462269 0.36976155 -1.97310297] [-0.59389341 -0.55046053 0.58675704 0.0772607 ] [ 0. 0. 0. 1. ]] SLAMing on 130.64650248099997 meters Centerline goodness : 0.615338 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:-1.97, Z:0.08 [[ 0.69303267 0.02128118 0.720592 6.90929498] [-0.40860448 0.83509693 0.3683144 -1.97133092] [-0.593926 -0.54969103 0.58744504 0.07722557] [ 0. 0. 0. 1. ]] SLAMing on 130.70650248099997 meters Centerline goodness : 0.606292 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:-1.97, Z:0.08 [[ 0.69309746 0.02208283 0.72050556 6.90954988] [-0.41130215 0.83296876 0.37012645 -1.96992307] [-0.59198518 -0.55287919 0.58641125 0.07665296] [ 0. 0. 0. 1. ]] SLAMing on 130.76650248099997 meters Centerline goodness : 0.599721 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:-1.97, Z:0.07 [[ 0.69478594 0.02318285 0.71884286 6.91145246] [-0.41355281 0.83060251 0.37292566 -1.96928245] [-0.5884272 -0.55638299 0.58667828 0.07188392] [ 0. 0. 0. 1. ]] SLAMing on 130.82650248099998 meters Centerline goodness : 0.595510 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:-1.97, Z:0.07 [[ 0.6951424 0.02346114 0.71848912 6.91213309] [-0.41379507 0.8303426 0.3732356 -1.9687961 ] [-0.58783559 -0.55675915 0.58691445 0.07182769] [ 0. 0. 0. 1. ]] SLAMing on 130.88650248099998 meters Centerline goodness : 0.590814 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:-1.97, Z:0.07 [[ 0.69529135 0.02371018 0.71833681 6.91241883] [-0.41285921 0.83128363 0.37217577 -1.96785662] [-0.58831727 -0.55534256 0.58777328 0.07196258] [ 0. 0. 0. 1. ]] SLAMing on 130.94650248099998 meters Centerline goodness : 0.584675 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:-1.97, Z:0.07 [[ 0.69571013 0.02335529 0.71794286 6.9132995 ] [-0.41228202 0.83143949 0.37246733 -1.96692696] [-0.58822696 -0.55512422 0.58806984 0.07198221] [ 0. 0. 0. 1. ]] SLAMing on 131.00650248099998 meters Centerline goodness : 0.579790 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:-1.97, Z:0.07 [[ 0.69607469 0.02302752 0.7176 6.91416812] [-0.41120235 0.83210894 0.37216575 -1.96572011] [-0.58855132 -0.55413396 0.58867894 0.07185114] [ 0. 0. 0. 1. ]] SLAMing on 131.066502481 meters Centerline goodness : 0.586384 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:-1.97, Z:0.07 [[ 0.69550671 0.02197231 0.71818357 6.91386516] [-0.41014989 0.83282751 0.37171952 -1.96566519] [-0.5899555 -0.55309634 0.58824906 0.07461646] [ 0. 0. 0. 1. ]] SLAMing on 131.12650248099996 meters Centerline goodness : 0.584217 with order 1 Centerline is valid? [False, False] Translation: X:6.92, Y:-1.97, Z:0.07 [[ 0.69651139 0.02103244 0.71723742 6.91523974] [-0.40845357 0.8334417 0.37221044 -1.96609503] [-0.58994709 -0.55220699 0.58909241 0.07231348] [ 0. 0. 0. 1. ]] SLAMing on 131.18650248099996 meters Centerline goodness : 0.588987 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:-1.97, Z:0.07 [[ 0.69607184 0.02171726 0.71764361 6.91452884] [-0.40895216 0.83354324 0.3714348 -1.96513987] [-0.59012043 -0.55202721 0.5890873 0.07125737] [ 0. 0. 0. 1. ]] SLAMing on 131.24650248099996 meters Centerline goodness : 0.592312 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:-1.96, Z:0.07 [[ 0.69579165 0.02166104 0.71791697 6.91464432] [-0.41447315 0.82843595 0.37670397 -1.96314046] [-0.58658843 -0.55966478 0.58539674 0.07058873] [ 0. 0. 0. 1. ]] SLAMing on 131.30650248099997 meters Centerline goodness : 0.595257 with order 1 Centerline is valid? [False, False] Translation: X:6.92, Y:-1.96, Z:0.07 [[ 0.69610494 0.02389377 0.71754233 6.91504155] [-0.41738281 0.82666299 0.3773856 -1.95991776] [-0.58414852 -0.56218982 0.58541704 0.06706195] [ 0. 0. 0. 1. ]] SLAMing on 131.36650248099997 meters Centerline goodness : 0.596265 with order 1 Centerline is valid? [False, False] Translation: X:6.92, Y:-1.96, Z:0.06 [[ 0.69720522 0.02669827 0.71637426 6.91629066] [-0.41986661 0.82517874 0.37787838 -1.95639969] [-0.58104811 -0.56424042 0.58652864 0.06158259] [ 0. 0. 0. 1. ]] SLAMing on 131.42650248099997 meters Centerline goodness : 0.595183 with order 1 Centerline is valid? [False, False] Translation: X:6.92, Y:-1.95, Z:0.06 [[ 0.69794721 0.02834906 0.71558789 6.91730092] [-0.42420433 0.82142158 0.38120502 -1.95376722] [-0.57699253 -0.56961646 0.58533469 0.05714166] [ 0. 0. 0. 1. ]] SLAMing on 131.48650248099997 meters Centerline goodness : 0.590004 with order 1 Centerline is valid? [False, False] Translation: X:6.92, Y:-1.95, Z:0.06 [[ 0.6978389 0.02992134 0.7156295 6.91725487] [-0.42786858 0.81868075 0.3830017 -1.95136171] [-0.57441217 -0.57346887 0.58410968 0.05506621] [ 0. 0. 0. 1. ]] SLAMing on 131.54650248099998 meters Centerline goodness : 0.591262 with order 1 Centerline is valid? [False, False] Translation: X:6.92, Y:-1.95, Z:0.06 [[ 0.69727176 0.03048716 0.71615824 6.9169356 ] [-0.4312877 0.81585873 0.38518236 -1.94935922] [-0.57254084 -0.57744702 0.58202399 0.05598985] [ 0. 0. 0. 1. ]] SLAMing on 131.60650248099998 meters Centerline goodness : 0.600283 with order 1 Centerline is valid? [False, False] Translation: X:6.92, Y:-1.95, Z:0.06 [[ 0.69644372 0.03043762 0.71696562 6.91602893] [-0.4312933 0.81627428 0.38429466 -1.94838718] [-0.57354358 -0.57686207 0.58161664 0.05769166] [ 0. 0. 0. 1. ]] SLAMing on 131.66650248099998 meters Centerline goodness : 0.594946 with order 1 Centerline is valid? [False, False] Translation: X:6.92, Y:-1.95, Z:0.06 [[ 0.69745752 0.02979242 0.71600657 6.91737779] [-0.42782386 0.81885993 0.38266848 -1.94870131] [-0.57490847 -0.57321971 0.58386593 0.05563258] [ 0. 0. 0. 1. ]] SLAMing on 131.72650248099998 meters Centerline goodness : 0.591383 with order 1 Centerline is valid? [False, False] Translation: X:6.92, Y:-1.95, Z:0.06 [[ 0.69708295 0.02918698 0.71639618 6.91680011] [-0.42722473 0.81933235 0.38232648 -1.94897336] [-0.5758076 -0.57257543 0.58361201 0.05534821] [ 0. 0. 0. 1. ]] SLAMing on 131.78650248099999 meters Centerline goodness : 0.595004 with order 1 Centerline is valid? [False, False] Translation: X:6.92, Y:-1.95, Z:0.06 [[ 0.69610386 0.02835864 0.71738079 6.91564159] [-0.42785719 0.81878093 0.38280023 -1.94956306] [-0.57652202 -0.57340524 0.58209002 0.05721098] [ 0. 0. 0. 1. ]] SLAMing on 131.846502481 meters Centerline goodness : 0.589392 with order 1 Centerline is valid? [False, False] Translation: X:6.92, Y:-1.95, Z:0.06 [[ 0.69584187 0.02799887 0.71764904 6.91550693] [-0.42855513 0.81803317 0.38361731 -1.94997061] [-0.57631987 -0.57448916 0.58122079 0.05828842] [ 0. 0. 0. 1. ]] SLAMing on 131.90650248099996 meters Centerline goodness : 0.586918 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:-1.95, Z:0.06 [[ 0.69496372 0.0279042 0.71850316 6.91421154] [-0.42844858 0.81855497 0.38262197 -1.94959187] [-0.57745757 -0.57375004 0.58082152 0.05852677] [ 0. 0. 0. 1. ]] SLAMing on 131.96650248099996 meters Centerline goodness : 0.580535 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:-1.95, Z:0.06 [[ 0.69519697 0.02779338 0.71828177 6.91443469] [-0.42808874 0.81872999 0.38265027 -1.95015575] [-0.57744369 -0.57350564 0.58107664 0.05751549] [ 0. 0. 0. 1. ]] SLAMing on 132.02650248099997 meters Centerline goodness : 0.572662 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:-1.95, Z:0.05 [[ 0.69558014 0.02791277 0.71790608 6.91458571] [-0.42841723 0.81826383 0.38327925 -1.95061284] [-0.57673819 -0.57416477 0.58112638 0.05376193] [ 0. 0. 0. 1. ]] SLAMing on 132.08650248099997 meters Centerline goodness : 0.567903 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:-1.95, Z:0.05 [[ 0.6959955 0.02825677 0.71748994 6.91491518] [-0.4285191 0.81812507 0.38346153 -1.95130502] [-0.57616113 -0.57434564 0.58151994 0.05158819] [ 0. 0. 0. 1. ]] SLAMing on 132.14650248099997 meters Centerline goodness : 0.565004 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:-1.95, Z:0.05 [[ 0.69617128 0.02926784 0.71727884 6.91485132] [-0.4290191 0.81807285 0.3830136 -1.95129231] [-0.57557637 -0.5743694 0.58207529 0.04905503] [ 0. 0. 0. 1. ]] SLAMing on 132.20650248099997 meters Centerline goodness : 0.560894 with order 1 Centerline is valid? [False, False] Translation: X:6.92, Y:-1.95, Z:0.05 [[ 0.6967326 0.02983001 0.71671044 6.915595 ] [-0.42908156 0.81801137 0.38307495 -1.95099102] [-0.57485016 -0.57442804 0.58273469 0.04711722] [ 0. 0. 0. 1. ]] SLAMing on 132.26650248099997 meters Centerline goodness : 0.561895 with order 1 Centerline is valid? [False, False] Translation: X:6.92, Y:-1.95, Z:0.05 [[ 0.69743436 0.02905965 0.71605925 6.91695 ] [-0.43097959 0.81531193 0.3866821 -1.95162662] [-0.5725748 -0.57829231 0.58115067 0.04694331] [ 0. 0. 0. 1. ]] SLAMing on 132.32650248099998 meters Centerline goodness : 0.559953 with order 1 Centerline is valid? [False, False] Translation: X:6.92, Y:-1.95, Z:0.05 [[ 0.69830307 0.0289481 0.71521663 6.91814901] [-0.42983893 0.81592926 0.38664963 -1.9520105 ] [-0.57237341 -0.57742657 0.58220893 0.04546891] [ 0. 0. 0. 1. ]] SLAMing on 132.38650248099998 meters Centerline goodness : 0.553573 with order 1 Centerline is valid? [False, False] Translation: X:6.92, Y:-1.95, Z:0.05 [[ 0.69831651 0.02937203 0.71518622 6.91840388] [-0.43066232 0.81531949 0.38701951 -1.95144241] [-0.57173772 -0.57826587 0.58200049 0.04621909] [ 0. 0. 0. 1. ]] SLAMing on 132.44650248099998 meters Centerline goodness : 0.550126 with order 1 Centerline is valid? [False, False] Translation: X:6.92, Y:-1.95, Z:0.05 [[ 0.69846499 0.02979564 0.71502369 6.91874138] [-0.43123938 0.81488318 0.38729575 -1.95133153] [-0.57112105 -0.5788589 0.58201642 0.04639594] [ 0. 0. 0. 1. ]] SLAMing on 132.50650248099998 meters Centerline goodness : 0.548595 with order 1 Centerline is valid? [False, False] Translation: X:6.92, Y:-1.95, Z:0.05 [[ 0.69772549 0.03099354 0.71569444 6.91769596] [-0.43274273 0.81441205 0.38660929 -1.9506026 ] [-0.57088779 -0.57945873 0.58164828 0.04722362] [ 0. 0. 0. 1. ]] SLAMing on 132.566502481 meters Centerline goodness : 0.543382 with order 1 Centerline is valid? [False, False] Translation: X:6.92, Y:-1.95, Z:0.05 [[ 0.69766172 0.03297842 0.7156679 6.91747671] [-0.43481218 0.81341339 0.38638973 -1.95047427] [-0.56939133 -0.58075045 0.5818268 0.04540511] [ 0. 0. 0. 1. ]] SLAMing on 132.62650248099996 meters Centerline goodness : 0.542084 with order 1 Centerline is valid? [False, False] Translation: X:6.92, Y:-1.95, Z:0.04 [[ 0.69702377 0.03520919 0.71618306 6.91605428] [-0.43874086 0.81094535 0.38713577 -1.95134753] [-0.56715458 -0.5840616 0.58069589 0.0421377 ] [ 0. 0. 0. 1. ]] SLAMing on 132.68650248099996 meters Centerline goodness : 0.540464 with order 1 Centerline is valid? [False, False] Translation: X:6.92, Y:-1.95, Z:0.04 [[ 0.69698053 0.03564183 0.71620374 6.91603452] [-0.43948147 0.81043989 0.38735412 -1.95168363] [-0.56663407 -0.58473656 0.58052475 0.04232922] [ 0. 0. 0. 1. ]] SLAMing on 132.74650248099996 meters Centerline goodness : 0.539891 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:-1.95, Z:0.04 [[ 0.69611425 0.03612683 0.71702148 6.91497028] [-0.44168541 0.80890737 0.38805009 -1.95198071] [-0.56598494 -0.58682512 0.57904864 0.04465857] [ 0. 0. 0. 1. ]] SLAMing on 132.80650248099997 meters Centerline goodness : 0.536062 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:-1.95, Z:0.05 [[ 0.69598704 0.03632805 0.71713479 6.91466398] [-0.43954937 0.81129163 0.38548962 -1.95304942] [-0.56780137 -0.58351192 0.58061643 0.04590266] [ 0. 0. 0. 1. ]] SLAMing on 132.86650248099997 meters Centerline goodness : 0.540534 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:-1.95, Z:0.05 [[ 0.69574376 0.0351295 0.71743052 6.91419246] [-0.43686088 0.81353224 0.3838201 -1.95468264] [-0.57016945 -0.58045777 0.58135668 0.04778004] [ 0. 0. 0. 1. ]] SLAMing on 132.92650248099997 meters Centerline goodness : 0.541015 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:-1.96, Z:0.05 [[ 0.69633086 0.033378 0.71694438 6.91492984] [-0.43558821 0.81356823 0.3851878 -1.95721294] [-0.57042637 -0.58051067 0.58105173 0.04817757] [ 0. 0. 0. 1. ]] SLAMing on 132.98650248099997 meters Centerline goodness : 0.534407 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:-1.96, Z:0.05 [[ 0.69657072 0.03190456 0.71677844 6.9149949 ] [-0.43191189 0.81636894 0.38339781 -1.95841984] [-0.57292351 -0.57664882 0.58243866 0.04788874] [ 0. 0. 0. 1. ]] SLAMing on 133.04650248099998 meters Centerline goodness : 0.531867 with order 1 Centerline is valid? [False, False] Translation: X:6.92, Y:-1.96, Z:0.05 [[ 0.69704271 0.03085621 0.71636538 6.91568138] [-0.42857151 0.81890294 0.38173872 -1.96002157] [-0.5748547 -0.57310198 0.58403441 0.04851736] [ 0. 0. 0. 1. ]] SLAMing on 133.10650248099998 meters Centerline goodness : 0.535325 with order 1 Centerline is valid? [False, False] Translation: X:6.92, Y:-1.96, Z:0.05 [[ 0.69712415 0.03099433 0.71628017 6.91587968] [-0.4285947 0.81891014 0.38169721 -1.96069222] [-0.57473865 -0.57308422 0.58416604 0.04828553] [ 0. 0. 0. 1. ]] SLAMing on 133.16650248099998 meters Centerline goodness : 0.534385 with order 1 Centerline is valid? [False, False] Translation: X:6.92, Y:-1.96, Z:0.05 [[ 0.69701945 0.03150739 0.71635967 6.91554446] [-0.42914088 0.81869424 0.38154664 -1.96138736] [-0.574458 -0.57336465 0.58416692 0.04731602] [ 0. 0. 0. 1. ]] SLAMing on 133.22650248099998 meters Centerline goodness : 0.536975 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:-1.96, Z:0.05 [[ 0.69685423 0.03333453 0.71643771 6.91498588] [-0.431984 0.81690785 0.38216671 -1.96246772] [-0.57252424 -0.57580412 0.58366567 0.0454769 ] [ 0. 0. 0. 1. ]] SLAMing on 133.28650248099999 meters Centerline goodness : 0.535588 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:-1.96, Z:0.04 [[ 0.69656345 0.03522705 0.7166299 6.91434457] [-0.43653971 0.81346438 0.384329 -1.96261152] [-0.56941412 -0.58054694 0.58200756 0.04326144] [ 0. 0. 0. 1. ]] SLAMing on 133.346502481 meters Centerline goodness : 0.531922 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:-1.96, Z:0.04 [[ 0.69620636 0.03847775 0.71680972 6.91351423] [-0.44128658 0.81053623 0.38509371 -1.96121293] [-0.56618271 -0.5844232 0.58128019 0.03978422] [ 0. 0. 0. 1. ]] SLAMing on 133.40650248099996 meters Centerline goodness : 0.526564 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:-1.96, Z:0.04 [[ 0.69545008 0.03966568 0.7174788 6.91282832] [-0.44832127 0.8042608 0.39009307 -1.96073318] [-0.56156677 -0.59295126 0.57710621 0.03972805] [ 0. 0. 0. 1. ]] SLAMing on 133.46650248099996 meters Centerline goodness : 0.528315 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:-1.96, Z:0.04 [[ 0.69477284 0.04216959 0.71799194 6.91153002] [-0.44994269 0.80429366 0.3881537 -1.95984067] [-0.56110808 -0.59273387 0.57777529 0.03793877] [ 0. 0. 0. 1. ]] SLAMing on 133.52650248099997 meters Centerline goodness : 0.523892 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:-1.96, Z:0.04 [[ 0.69448863 0.04206202 0.71827315 6.91110396] [-0.45019015 0.80413638 0.38819263 -1.95997816] [-0.56126141 -0.59295486 0.57739948 0.03788566] [ 0. 0. 0. 1. ]] SLAMing on 133.58650248099997 meters Centerline goodness : 0.525380 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:-1.96, Z:0.04 [[ 0.69475139 0.04207641 0.71801816 6.91122597] [-0.44861745 0.80565197 0.38686856 -1.96207538] [-0.56219471 -0.59089295 0.57860404 0.03814223] [ 0. 0. 0. 1. ]] SLAMing on 133.64650248099997 meters Centerline goodness : 0.526975 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:-1.96, Z:0.04 [[ 0.69472707 0.04212312 0.71803895 6.91122567] [-0.44655475 0.80785001 0.38466507 -1.96272637] [-0.56386448 -0.58788094 0.58004555 0.03970478] [ 0. 0. 0. 1. ]] SLAMing on 133.70650248099997 meters Centerline goodness : 0.527365 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:-1.96, Z:0.04 [[ 0.695002 0.04118602 0.71782723 6.9112449 ] [-0.44266249 0.81122993 0.38204177 -1.9639316 ] [-0.56658816 -0.58327498 0.58203793 0.03978753] [ 0. 0. 0. 1. ]] SLAMing on 133.76650248099997 meters Centerline goodness : 0.526947 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:-1.96, Z:0.04 [[ 0.69569104 0.03925662 0.71726766 6.91195751] [-0.43578271 0.81684411 0.37796711 -1.96494401] [-0.57105815 -0.57552118 0.58537848 0.03999241] [ 0. 0. 0. 1. ]] SLAMing on 133.82650248099998 meters Centerline goodness : 0.531148 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:-1.97, Z:0.04 [[ 0.69564782 0.03719521 0.71741942 6.91210922] [-0.42934115 0.82220836 0.3736838 -1.96600338] [-0.575969 -0.56797 0.58793689 0.04352922] [ 0. 0. 0. 1. ]] SLAMing on 133.88650248099998 meters Centerline goodness : 0.536757 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:-1.97, Z:0.05 [[ 0.6961632 0.03514276 0.71702286 6.91269943] [-0.42175888 0.82827345 0.36889367 -1.96824799] [-0.58092706 -0.55922095 0.59143527 0.0457274 ] [ 0. 0. 0. 1. ]] SLAMing on 133.94650248099998 meters Centerline goodness : 0.543321 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:-1.97, Z:0.05 [[ 0.69633914 0.03362427 0.71692482 6.91306179] [-0.41572006 0.833166 0.36470707 -1.96947578] [-0.58505438 -0.55199984 0.59414438 0.04850042] [ 0. 0. 0. 1. ]] SLAMing on 134.00650248099998 meters Centerline goodness : 0.541917 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:-1.97, Z:0.05 [[ 0.69655531 0.03246348 0.71676832 6.91341976] [-0.41211223 0.8358592 0.3626333 -1.97126646] [-0.58734505 -0.54798314 0.59560076 0.05030039] [ 0. 0. 0. 1. ]] SLAMing on 134.066502481 meters Centerline goodness : 0.545881 with order 1 Centerline is valid? [False, False] Translation: X:6.90, Y:-1.96, Z:0.07 [[ 0.69939946 0.03675982 0.71378506 6.89984567] [-0.4126293 0.83620353 0.36124883 -1.96497798] [-0.58359015 -0.54718586 0.60000848 0.06829035] [ 0. 0. 0. 1. ]] SLAMing on 134.12650248099996 meters Centerline goodness : 0.542972 with order 1 Centerline is valid? [False, False] Translation: X:6.88, Y:-1.96, Z:0.09 [[ 0.70468967 0.04346505 0.70818307 6.88324252] [-0.41397377 0.83580439 0.36063381 -1.9557656 ] [-0.57622755 -0.54730413 0.60697611 0.08978352] [ 0. 0. 0. 1. ]] SLAMing on 134.18650248099996 meters Centerline goodness : 0.536453 with order 1 Centerline is valid? [False, False] Translation: X:6.88, Y:-1.96, Z:0.09 [[ 0.7077809 0.04449411 0.70502942 6.8767287 ] [-0.41651865 0.83236942 0.36561369 -1.95651044] [-0.57057727 -0.55243228 0.6076678 0.09429155] [ 0. 0. 0. 1. ]] SLAMing on 134.24650248099996 meters Centerline goodness : 0.532741 with order 1 Centerline is valid? [False, False] Translation: X:6.87, Y:-1.95, Z:0.11 [[ 0.71259303 0.0544512 0.69946139 6.86523273] [-0.42276799 0.82896632 0.36617219 -1.94965223] [-0.55989142 -0.55664163 0.61373584 0.1125919 ] [ 0. 0. 0. 1. ]] SLAMing on 134.30650248099997 meters Centerline goodness : 0.530557 with order 1 Centerline is valid? [False, False] Translation: X:6.85, Y:-1.94, Z:0.13 [[ 0.7163694 0.06623875 0.69456988 6.85429873] [-0.43263422 0.82317525 0.36770932 -1.94140412] [-0.54739613 -0.5639104 0.61835471 0.13034667] [ 0. 0. 0. 1. ]] SLAMing on 134.36650248099997 meters Centerline goodness : 0.526827 with order 1 Centerline is valid? [False, False] Translation: X:6.85, Y:-1.94, Z:0.14 [[ 0.71449941 0.07085394 0.69603901 6.8468089 ] [-0.43695886 0.82216029 0.36485534 -1.93709142] [-0.5464042 -0.56482933 0.6183933 0.13516895] [ 0. 0. 0. 1. ]] SLAMing on 134.42650248099997 meters Centerline goodness : 0.527085 with order 1 Centerline is valid? [False, False] Translation: X:6.84, Y:-1.93, Z:0.16 [[ 0.71749325 0.08094761 0.69184602 6.83513824] [-0.44447248 0.81794768 0.36524759 -1.93132802] [-0.53632793 -0.5695692 0.62285093 0.15620283] [ 0. 0. 0. 1. ]] SLAMing on 134.48650248099997 meters Centerline goodness : 0.524983 with order 1 Centerline is valid? [False, False] Translation: X:6.84, Y:-1.93, Z:0.16 [[ 0.71802356 0.07979342 0.69142981 6.8359622 ] [-0.44464552 0.8168531 0.36747976 -1.93494958] [-0.53547412 -0.57130029 0.62199956 0.15969257] [ 0. 0. 0. 1. ]] SLAMing on 134.54650248099998 meters Centerline goodness : 0.519342 with order 1 Centerline is valid? [False, False] Translation: X:6.84, Y:-1.94, Z:0.16 [[ 0.71887694 0.07559743 0.69101445 6.83584664] [-0.43997233 0.81910008 0.36810244 -1.94046076] [-0.53818239 -0.5686476 0.62209294 0.1614696 ] [ 0. 0. 0. 1. ]] SLAMing on 134.60650248099998 meters Centerline goodness : 0.518753 with order 1 Centerline is valid? [False, False] Translation: X:6.84, Y:-1.94, Z:0.16 [[ 0.71962124 0.07550226 0.69024972 6.83651464] [-0.43671695 0.82205563 0.36538042 -1.94136952] [-0.53983662 -0.56437927 0.62454181 0.16086936] [ 0. 0. 0. 1. ]] SLAMing on 134.66650248099998 meters Centerline goodness : 0.520554 with order 1 Centerline is valid? [False, False] Translation: X:6.84, Y:-1.95, Z:0.17 [[ 0.72092545 0.07227387 0.68923362 6.83776849] [-0.42991464 0.82668474 0.3629955 -1.94671155] [-0.54354383 -0.55800432 0.62704967 0.16543093] [ 0. 0. 0. 1. ]] SLAMing on 134.72650248099998 meters Centerline goodness : 0.521366 with order 1 Centerline is valid? [False, False] Translation: X:6.84, Y:-1.95, Z:0.17 [[ 0.72115267 0.07095567 0.68913287 6.83771714] [-0.4249497 0.83092518 0.35913939 -1.94892399] [-0.54713488 -0.55184113 0.62937651 0.1696396 ] [ 0. 0. 0. 1. ]] SLAMing on 134.78650248099999 meters Centerline goodness : 0.528667 with order 1 Centerline is valid? [False, False] Translation: X:6.84, Y:-1.95, Z:0.18 [[ 0.72038977 0.06897909 0.69013076 6.83663876] [-0.42304166 0.83221283 0.35840976 -1.95109546] [-0.54961289 -0.55014879 0.62869864 0.17500884] [ 0. 0. 0. 1. ]] SLAMing on 134.846502481 meters Centerline goodness : 0.525442 with order 1 Centerline is valid? [False, False] Translation: X:6.84, Y:-1.95, Z:0.18 [[ 0.71990683 0.06848774 0.69068342 6.83562178] [-0.42061288 0.83462505 0.35564847 -1.95167762] [-0.55210412 -0.5465441 0.6296591 0.17729302] [ 0. 0. 0. 1. ]] SLAMing on 134.90650248099996 meters Centerline goodness : 0.529897 with order 1 Centerline is valid? [False, False] Translation: X:6.83, Y:-1.95, Z:0.18 [[ 0.71973046 0.06825973 0.69088977 6.83456733] [-0.41575666 0.83935543 0.35018403 -1.95281178] [-0.55599862 -0.53928013 0.63248911 0.17911427] [ 0. 0. 0. 1. ]] SLAMing on 134.96650248099996 meters Centerline goodness : 0.533837 with order 1 Centerline is valid? [False, False] Translation: X:6.83, Y:-1.95, Z:0.18 [[ 0.71949913 0.06759328 0.69119617 6.83393724] [-0.41344376 0.8413645 0.34809486 -1.95416691] [-0.55801905 -0.53622469 0.63330705 0.18102126] [ 0. 0. 0. 1. ]] SLAMing on 135.02650248099997 meters Centerline goodness : 0.534553 with order 1 Centerline is valid? [False, False] Translation: X:6.83, Y:-1.96, Z:0.18 [[ 0.71977492 0.06780889 0.69088785 6.83354983] [-0.41064487 0.84401537 0.34497659 -1.95641419] [-0.55972748 -0.53201505 0.63534647 0.17992475] [ 0. 0. 0. 1. ]] SLAMing on 135.08650248099997 meters Centerline goodness : 0.540194 with order 1 Centerline is valid? [False, False] Translation: X:6.83, Y:-1.96, Z:0.18 [[ 0.72007845 0.0680306 0.69054968 6.83361743] [-0.41050335 0.84411652 0.34489751 -1.95844301] [-0.55944081 -0.53182623 0.6357569 0.17825702] [ 0. 0. 0. 1. ]] SLAMing on 135.14650248099997 meters Centerline goodness : 0.542094 with order 1 Centerline is valid? [False, False] Translation: X:6.83, Y:-1.96, Z:0.18 [[ 0.71974869 0.06907465 0.69078978 6.83280083] [-0.41145054 0.84389309 0.34431512 -1.95928514] [-0.55916928 -0.53204618 0.63581175 0.17864611] [ 0. 0. 0. 1. ]] SLAMing on 135.20650248099997 meters Centerline goodness : 0.544376 with order 1 Centerline is valid? [False, False] Translation: X:6.82, Y:-1.95, Z:0.19 [[ 0.71690741 0.07294177 0.6933421 6.82351376] [-0.41446726 0.8442735 0.33973393 -1.95333195] [-0.56058957 -0.53092537 0.6354979 0.18559519] [ 0. 0. 0. 1. ]] SLAMing on 135.26650248099997 meters Centerline goodness : 0.547850 with order 1 Centerline is valid? [False, False] Translation: X:6.82, Y:-1.95, Z:0.19 [[ 0.71654645 0.07462293 0.6935363 6.82244996] [-0.41344676 0.84622106 0.33611264 -1.95290549] [-0.56180331 -0.52758065 0.6372093 0.18633358] [ 0. 0. 0. 1. ]] SLAMing on 135.32650248099998 meters Centerline goodness : 0.554772 with order 1 Centerline is valid? [False, False] Translation: X:6.82, Y:-1.95, Z:0.19 [[ 0.71573867 0.07585679 0.6942362 6.82092116] [-0.41236819 0.84818721 0.33246193 -1.95212057] [-0.56362277 -0.52423678 0.63836131 0.18879653] [ 0. 0. 0. 1. ]] SLAMing on 135.38650248099998 meters Centerline goodness : 0.556622 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-1.95, Z:0.20 [[ 0.71425379 0.07797304 0.69552982 6.81052934] [-0.41109456 0.8510176 0.32675726 -1.94737131] [-0.56642986 -0.51931614 0.63989684 0.19546824] [ 0. 0. 0. 1. ]] SLAMing on 135.44650248099998 meters Centerline goodness : 0.561935 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-1.95, Z:0.20 [[ 0.71438099 0.07730017 0.69547428 6.80998897] [-0.40747665 0.85394359 0.32364041 -1.9493291 ] [-0.56887835 -0.51459209 0.64153909 0.19627412] [ 0. 0. 0. 1. ]] SLAMing on 135.50650248099998 meters Centerline goodness : 0.570337 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-1.95, Z:0.20 [[ 0.71406396 0.07538605 0.69600977 6.8081535 ] [-0.40129605 0.85871654 0.31869639 -1.95165993] [-0.57364984 -0.50687558 0.64343066 0.19758608] [ 0. 0. 0. 1. ]] SLAMing on 135.566502481 meters Centerline goodness : 0.569385 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-1.95, Z:0.20 [[ 0.71449157 0.0731907 0.69580523 6.80812875] [-0.39448742 0.86349608 0.31425182 -1.95489069] [-0.57782477 -0.49901668 0.64583348 0.19944532] [ 0. 0. 0. 1. ]] SLAMing on 135.62650248099996 meters Centerline goodness : 0.571225 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-1.96, Z:0.20 [[ 0.71438252 0.07221333 0.69601928 6.80723827] [-0.38863385 0.86809772 0.30882047 -1.95687862] [-0.5819118 -0.4911126 0.64821838 0.20151021] [ 0. 0. 0. 1. ]] SLAMing on 135.68650248099996 meters Centerline goodness : 0.582557 with order 1 Centerline is valid? [False, False] Translation: X:6.80, Y:-1.96, Z:0.21 [[ 0.71275262 0.06987028 0.69792682 6.80488352] [-0.38301416 0.87235001 0.30381839 -1.9587158 ] [-0.58760859 -0.48386321 0.64853106 0.20664313] [ 0. 0. 0. 1. ]] SLAMing on 135.74650248099996 meters Centerline goodness : 0.588247 with order 1 Centerline is valid? [False, False] Translation: X:6.80, Y:-1.96, Z:0.21 [[ 0.71246576 0.06979146 0.69822754 6.80404321] [-0.38021805 0.87470561 0.30054008 -1.95909581] [-0.58976841 -0.47960323 0.64973377 0.20703195] [ 0. 0. 0. 1. ]] SLAMing on 135.80650248099997 meters Centerline goodness : 0.587976 with order 1 Centerline is valid? [False, False] Translation: X:6.62, Y:-1.87, Z:0.35 [[ 0.70515962 0.06927451 0.70565639 6.62420896] [-0.40979605 0.85198431 0.32586798 -1.87432744] [-0.57863383 -0.51896414 0.62917335 0.34694375] [ 0. 0. 0. 1. ]] SLAMing on 135.86650248099997 meters Centerline goodness : 0.590262 with order 1 Centerline is valid? [False, False] Translation: X:6.46, Y:-1.78, Z:0.47 [[ 0.69719467 0.07391044 0.7130616 6.45737993] [-0.43549681 0.83376284 0.33938482 -1.78246885] [-0.56944018 -0.54715334 0.61348277 0.47112851] [ 0. 0. 0. 1. ]] SLAMing on 135.92650248099997 meters Centerline goodness : 0.597465 with order 1 Centerline is valid? [False, False] Translation: X:6.27, Y:-1.68, Z:0.61 [[ 0.69207023 0.07576732 0.71784268 6.27144335] [-0.46835514 0.80385239 0.36669442 -1.67941903] [-0.5492561 -0.5899836 0.59180832 0.61263428] [ 0. 0. 0. 1. ]] SLAMing on 135.98650248099997 meters Centerline goodness : 0.600609 with order 1 Centerline is valid? [False, False] Translation: X:6.09, Y:-1.56, Z:0.74 [[ 0.68685406 0.08258965 0.72208756 6.09446708] [-0.48921408 0.78728788 0.37529638 -1.56093871] [-0.53749519 -0.61102925 0.5811559 0.74287647] [ 0. 0. 0. 1. ]] SLAMing on 136.04650248099998 meters Centerline goodness : 0.599162 with order 1 Centerline is valid? [False, False] Translation: X:6.09, Y:-1.56, Z:0.74 [[ 0.68706418 0.08476213 0.72163577 6.09441142] [-0.48925306 0.78824625 0.3732282 -1.55846248] [-0.53719108 -0.60949424 0.5830459 0.73922763] [ 0. 0. 0. 1. ]] SLAMing on 136.10650248099998 meters Centerline goodness : 0.600650 with order 1 Centerline is valid? [False, False] Translation: X:6.09, Y:-1.56, Z:0.74 [[ 0.68703049 0.0871108 0.72138812 6.09424582] [-0.48995536 0.78868122 0.37138346 -1.55522636] [-0.53659376 -0.60859973 0.58452845 0.73616778] [ 0. 0. 0. 1. ]] SLAMing on 136.16650248099998 meters Centerline goodness : 0.597165 with order 1 Centerline is valid? [False, False] Translation: X:6.09, Y:-1.55, Z:0.73 [[ 0.6866437 0.08844164 0.72159442 6.09407449] [-0.49298904 0.78613795 0.37275854 -1.5533138 ] [-0.53430538 -0.61169045 0.58339743 0.73461731] [ 0. 0. 0. 1. ]] SLAMing on 136.22650248099998 meters Centerline goodness : 0.591909 with order 1 Centerline is valid? [False, False] Translation: X:6.09, Y:-1.55, Z:0.73 [[ 0.68654088 0.09004719 0.72149367 6.0943059 ] [-0.49631053 0.78320662 0.37451736 -1.55131479] [-0.53135438 -0.61520638 0.58239473 0.73237437] [ 0. 0. 0. 1. ]] SLAMing on 136.28650248099999 meters Centerline goodness : 0.594599 with order 1 Centerline is valid? [False, False] Translation: X:6.09, Y:-1.55, Z:0.73 [[ 0.6863214 0.092899 0.72134091 6.09392045] [-0.49769388 0.78321249 0.37266472 -1.5484176 ] [-0.53034303 -0.61477473 0.58377076 0.7303223 ] [ 0. 0. 0. 1. ]] SLAMing on 136.346502481 meters Centerline goodness : 0.592038 with order 1 Centerline is valid? [False, False] Translation: X:6.09, Y:-1.55, Z:0.73 [[ 0.68640782 0.09455151 0.7210439 6.09408115] [-0.4983125 0.78329618 0.37166081 -1.54635794] [-0.52964984 -0.61441607 0.58477682 0.72891991] [ 0. 0. 0. 1. ]] SLAMing on 136.40650248099996 meters Centerline goodness : 0.591808 with order 1 Centerline is valid? [False, False] Translation: X:6.09, Y:-1.54, Z:0.73 [[ 0.6869655 0.09607893 0.72031051 6.09492384] [-0.49832725 0.78373254 0.3707199 -1.54432382] [-0.52891242 -0.61362215 0.58627597 0.72660426] [ 0. 0. 0. 1. ]] SLAMing on 136.46650248099996 meters Centerline goodness : 0.595758 with order 1 Centerline is valid? [False, False] Translation: X:6.10, Y:-1.54, Z:0.73 [[ 0.68785857 0.09736832 0.71928437 6.09581053] [-0.49593078 0.78663327 0.36777815 -1.54316914] [-0.53000307 -0.60969461 0.58938038 0.72664634] [ 0. 0. 0. 1. ]] SLAMing on 136.52650248099997 meters Centerline goodness : 0.596439 with order 1 Centerline is valid? [False, False] Translation: X:6.10, Y:-1.54, Z:0.73 [[ 0.68850998 0.09855607 0.71849892 6.09629785] [-0.49357673 0.78955406 0.364673 -1.54213818] [-0.531353 -0.60571535 0.59226083 0.72609481] [ 0. 0. 0. 1. ]] SLAMing on 136.58650248099997 meters Centerline goodness : 0.599130 with order 1 Centerline is valid? [False, False] Translation: X:6.11, Y:-1.54, Z:0.70 [[ 0.69037665 0.07965892 0.71905114 6.11204574] [-0.48063079 0.79337143 0.37357171 -1.54462877] [-0.54071631 -0.6035033 0.58601164 0.70464698] [ 0. 0. 0. 1. ]] SLAMing on 136.64650248099997 meters Centerline goodness : 0.598467 with order 1 Centerline is valid? [False, False] Translation: X:6.10, Y:-1.57, Z:0.66 [[ 0.65895279 -0.01672174 0.7519984 6.10462606] [-0.46337641 0.77849492 0.42335325 -1.57244141] [-0.59250614 -0.62742812 0.50524294 0.66374745] [ 0. 0. 0. 1. ]] SLAMing on 136.70650248099997 meters Centerline goodness : 0.599628 with order 1 Centerline is valid? [False, False] Translation: X:6.01, Y:-1.50, Z:0.77 [[ 0.66352476 -0.01515593 0.7480008 6.01313334] [-0.45213921 0.78844017 0.41705184 -1.49793532] [-0.59607468 -0.61492471 0.51629698 0.76627466] [ 0. 0. 0. 1. ]] SLAMing on 136.76650248099997 meters Centerline goodness : 0.600919 with order 1 Centerline is valid? [False, False] Translation: X:6.01, Y:-1.50, Z:0.77 [[ 0.66359057 -0.01575784 0.74792997 6.01392354] [-0.45008423 0.79018075 0.41597904 -1.49863601] [-0.5975548 -0.61267126 0.51726414 0.7698997 ] [ 0. 0. 0. 1. ]] SLAMing on 136.82650248099998 meters Centerline goodness : 0.599199 with order 1 Centerline is valid? [False, False] Translation: X:5.92, Y:-1.40, Z:0.89 [[ 6.80495824e-01 -3.45754694e-03 7.32743801e-01 5.92072360e+00] [-4.31591600e-01 8.06232078e-01 4.04621461e-01 -1.40452165e+00] [-5.92160556e-01 -5.91589284e-01 5.47145314e-01 8.91499527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.88650248099998 meters Centerline goodness : 0.600844 with order 1 Centerline is valid? [False, False] Translation: X:5.92, Y:-1.40, Z:0.89 [[ 6.78838494e-01 -4.06375849e-03 7.34276368e-01 5.91710885e+00] [-4.28756174e-01 8.09613962e-01 4.00865783e-01 -1.40498983e+00] [-5.96109421e-01 -5.86948651e-01 5.47854761e-01 8.94969211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.94650248099998 meters Centerline goodness : 0.596591 with order 1 Centerline is valid? [False, False] Translation: X:5.92, Y:-1.41, Z:0.90 [[ 6.79377229e-01 -4.02562125e-03 7.33778151e-01 5.91791662e+00] [-4.25864260e-01 8.12182407e-01 3.98747250e-01 -1.40578532e+00] [-5.97566910e-01 -5.83389691e-01 5.50063865e-01 8.95313082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.00650248099998 meters Centerline goodness : 0.589013 with order 1 Centerline is valid? [False, False] Translation: X:5.92, Y:-1.41, Z:0.89 [[ 6.80611483e-01 -3.78091990e-03 7.32634775e-01 5.91924722e+00] [-4.22964539e-01 8.14484961e-01 3.97133789e-01 -1.40714973e+00] [-5.98221538e-01 -5.80172347e-01 5.52748623e-01 8.94077622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.066502481 meters Centerline goodness : 0.588404 with order 1 Centerline is valid? [False, False] Translation: X:5.92, Y:-1.41, Z:0.89 [[ 6.81209182e-01 -3.46922738e-03 7.32080607e-01 5.91984146e+00] [-4.19772551e-01 8.17422254e-01 3.94476697e-01 -1.40874822e+00] [-5.99787509e-01 -5.76028492e-01 5.55379258e-01 8.93927975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.12650248099996 meters Centerline goodness : 0.586585 with order 1 Centerline is valid? [False, False] Translation: X:5.92, Y:-1.41, Z:0.90 [[ 6.81140918e-01 -4.75447482e-03 7.32136903e-01 5.92041880e+00] [-4.19787216e-01 8.16749845e-01 3.95851466e-01 -1.40987188e+00] [-5.99854768e-01 -5.76972344e-01 5.54325872e-01 8.96538788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.18650248099996 meters Centerline goodness : 0.583310 with order 1 Centerline is valid? [False, False] Translation: X:5.92, Y:-1.41, Z:0.90 [[ 6.80380241e-01 -4.38791347e-03 7.32846146e-01 5.91942476e+00] [-4.17416439e-01 8.19606148e-01 3.92440159e-01 -1.41073143e+00] [-6.02367201e-01 -5.72910558e-01 5.55812241e-01 8.98414357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.24650248099996 meters Centerline goodness : 0.582419 with order 1 Centerline is valid? [False, False] Translation: X:5.92, Y:-1.41, Z:0.90 [[ 6.79942125e-01 -4.70437401e-03 7.33250691e-01 5.91922688e+00] [-4.15368412e-01 8.21598699e-01 3.90441621e-01 -1.41165638e+00] [-6.04274597e-01 -5.70046881e-01 5.56685517e-01 9.00993825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.30650248099997 meters Centerline goodness : 0.580002 with order 1 Centerline is valid? [False, False] Translation: X:5.92, Y:-1.41, Z:0.90 [[ 6.79614117e-01 -5.80644173e-03 7.33546820e-01 5.91930166e+00] [-4.15516961e-01 8.21036043e-01 3.91465797e-01 -1.41270381e+00] [-6.04541402e-01 -5.70846828e-01 5.55575011e-01 9.03109206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.36650248099997 meters Centerline goodness : 0.576725 with order 1 Centerline is valid? [False, False] Translation: X:5.92, Y:-1.41, Z:0.90 [[ 0.67957203 -0.00635961 0.73358123 5.91959889] [-0.40986026 0.82605373 0.38684598 -1.41470576] [-0.6084377 -0.56355549 0.55875645 0.90450814] [ 0. 0. 0. 1. ]] SLAMing on 137.42650248099997 meters Centerline goodness : 0.574147 with order 1 Centerline is valid? [False, False] Translation: X:5.92, Y:-1.42, Z:0.90 [[ 0.67964421 -0.00656761 0.73351252 5.91985297] [-0.4066409 0.82887527 0.38419912 -1.41562083] [-0.61051366 -0.5593949 0.56066962 0.90494776] [ 0. 0. 0. 1. ]] SLAMing on 137.48650248099997 meters Centerline goodness : 0.572803 with order 1 Centerline is valid? [False, False] Translation: X:5.92, Y:-1.42, Z:0.90 [[ 0.6798025 -0.00742627 0.73335763 5.9203242 ] [-0.40564958 0.82925691 0.38442347 -1.41599494] [-0.61099671 -0.55881825 0.56071845 0.90442119] [ 0. 0. 0. 1. ]] SLAMing on 137.54650248099998 meters Centerline goodness : 0.568914 with order 1 Centerline is valid? [False, False] Translation: X:5.92, Y:-1.42, Z:0.90 [[ 6.80139449e-01 -5.67996855e-03 7.33060754e-01 5.92016034e+00] [-4.03024443e-01 8.32396077e-01 3.80378849e-01 -1.41509425e+00] [-6.12357436e-01 -5.54152062e-01 5.63856243e-01 9.01550956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.60650248099998 meters Centerline goodness : 0.571522 with order 1 Centerline is valid? [False, False] Translation: X:5.92, Y:-1.41, Z:0.90 [[ 6.79370533e-01 -4.15882410e-03 7.33783608e-01 5.91866866e+00] [-4.03960207e-01 8.32696846e-01 3.78724325e-01 -1.41357522e+00] [-6.12594343e-01 -5.53713524e-01 5.64029701e-01 9.00932998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.66650248099998 meters Centerline goodness : 0.573059 with order 1 Centerline is valid? [False, False] Translation: X:5.92, Y:-1.41, Z:0.90 [[ 6.77836887e-01 -2.50241104e-03 7.35208061e-01 5.91657117e+00] [-4.09171338e-01 8.29535403e-01 3.80065561e-01 -1.40980804e+00] [-6.10832196e-01 -5.58448523e-01 5.61265781e-01 9.01786316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.72650248099998 meters Centerline goodness : 0.573151 with order 1 Centerline is valid? [False, False] Translation: X:5.91, Y:-1.41, Z:0.90 [[ 6.76118407e-01 5.60093627e-04 7.36792770e-01 5.91392395e+00] [-4.11754635e-01 8.29557694e-01 3.77216321e-01 -1.40559219e+00] [-6.11000835e-01 -5.58420736e-01 5.61109848e-01 9.01769122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.78650248099999 meters Centerline goodness : 0.569785 with order 1 Centerline is valid? [False, False] Translation: X:5.91, Y:-1.40, Z:0.90 [[ 6.75446827e-01 2.83414985e-03 7.37403249e-01 5.91231278e+00] [-4.13001975e-01 8.29891757e-01 3.75112038e-01 -1.40342876e+00] [-6.10901754e-01 -5.57917234e-01 5.61718263e-01 9.00191806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.84650248099996 meters Centerline goodness : 0.574726 with order 1 Centerline is valid? [False, False] Translation: X:5.91, Y:-1.40, Z:0.90 [[ 6.75363832e-01 4.54851638e-03 7.37470681e-01 5.91157203e+00] [-4.14055946e-01 8.29838004e-01 3.74067588e-01 -1.40140776e+00] [-6.10279745e-01 -5.57985840e-01 5.62325915e-01 8.97619037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.90650248099996 meters Centerline goodness : 0.574034 with order 1 Centerline is valid? [False, False] Translation: X:5.91, Y:-1.40, Z:0.90 [[ 0.67504812 0.00613307 0.73774821 5.91057686] [-0.41203256 0.83262268 0.37009275 -1.40036028] [-0.61199609 -0.5538067 0.5645874 0.89624815] [ 0. 0. 0. 1. ]] SLAMing on 137.96650248099996 meters Centerline goodness : 0.579133 with order 1 Centerline is valid? [False, False] Translation: X:5.83, Y:-1.34, Z:1.00 [[ 0.68403059 0.01551498 0.72928831 5.8321866 ] [-0.39931046 0.84463908 0.35656133 -1.33803394] [-0.61045336 -0.5351113 0.58395427 0.99726428] [ 0. 0. 0. 1. ]] SLAMing on 138.02650248099997 meters Centerline goodness : 0.578401 with order 1 Centerline is valid? [False, False] Translation: X:5.86, Y:-1.35, Z:0.95 [[ 0.6827643 -0.01416283 0.73050142 5.86448734] [-0.37745357 0.84922414 0.36925217 -1.34661503] [-0.62558909 -0.52784257 0.57447412 0.95239617] [ 0. 0. 0. 1. ]] SLAMing on 138.08650248099997 meters Centerline goodness : 0.579176 with order 1 Centerline is valid? [False, False] Translation: X:5.87, Y:-1.35, Z:0.95 [[ 0.68323671 -0.01442118 0.73005454 5.86519866] [-0.37332061 0.85235958 0.36621698 -1.34706319] [-0.62755026 -0.52275729 0.57697962 0.95132694] [ 0. 0. 0. 1. ]] SLAMing on 138.14650248099997 meters Centerline goodness : 0.584501 with order 1 Centerline is valid? [False, False] Translation: X:5.87, Y:-1.35, Z:0.95 [[ 0.68265577 -0.01493508 0.73058746 5.86516813] [-0.37132429 0.85399988 0.36442074 -1.34586451] [-0.62936426 -0.52005879 0.57744219 0.95448514] [ 0. 0. 0. 1. ]] SLAMing on 138.20650248099997 meters Centerline goodness : 0.586659 with order 1 Centerline is valid? [False, False] Translation: X:5.87, Y:-1.35, Z:0.95 [[ 0.68272037 -0.01435961 0.73053864 5.86522014] [-0.36849933 0.85658118 0.36121591 -1.34537398] [-0.63095257 -0.51581246 0.57951391 0.9542625 ] [ 0. 0. 0. 1. ]] SLAMing on 138.26650248099997 meters Centerline goodness : 0.589679 with order 1 Centerline is valid? [False, False] Translation: X:5.86, Y:-1.35, Z:0.96 [[ 0.68249905 -0.01393904 0.73075355 5.86496502] [-0.36565045 0.85919238 0.35789413 -1.34576245] [-0.63284658 -0.51146277 0.58130117 0.95521817] [ 0. 0. 0. 1. ]] SLAMing on 138.32650248099998 meters Centerline goodness : 0.594963 with order 1 Centerline is valid? [False, False] Translation: X:5.86, Y:-1.34, Z:0.96 [[ 0.68195242 -0.0126116 0.7312878 5.85505201] [-0.36490045 0.86065873 0.35512561 -1.34220841] [-0.63386794 -0.50902602 0.58232633 0.96146248] [ 0. 0. 0. 1. ]] SLAMing on 138.38650248099998 meters Centerline goodness : 0.594210 with order 1 Centerline is valid? [False, False] Translation: X:5.85, Y:-1.34, Z:0.96 [[ 0.68153653 -0.01157926 0.73169248 5.85418383] [-0.36333997 0.8625664 0.35208418 -1.34213726] [-0.63521022 -0.50581135 0.5836633 0.96182736] [ 0. 0. 0. 1. ]] SLAMing on 138.44650248099998 meters Centerline goodness : 0.592745 with order 1 Centerline is valid? [False, False] Translation: X:5.85, Y:-1.34, Z:0.96 [[ 0.68143928 -0.01180172 0.7317795 5.85417632] [-0.36349457 0.86237346 0.35239709 -1.34268389] [-0.63522611 -0.50613509 0.58336529 0.96268161] [ 0. 0. 0. 1. ]] SLAMing on 138.50650248099998 meters Centerline goodness : 0.590684 with order 1 Centerline is valid? [False, False] Translation: X:5.85, Y:-1.34, Z:0.96 [[ 0.6812677 -0.0115475 0.73194329 5.85402649] [-0.36133081 0.86427735 0.34994959 -1.34359563] [-0.63664305 -0.50288301 0.58463177 0.96423878] [ 0. 0. 0. 1. ]] SLAMing on 138.566502481 meters Centerline goodness : 0.587654 with order 1 Centerline is valid? [False, False] Translation: X:5.85, Y:-1.34, Z:0.96 [[ 0.68091311 -0.01137476 0.73227587 5.85337002] [-0.35861647 0.86662434 0.34692431 -1.34438455] [-0.63855428 -0.49883149 0.5860167 0.96482841] [ 0. 0. 0. 1. ]] SLAMing on 138.62650248099996 meters Centerline goodness : 0.587983 with order 1 Centerline is valid? [False, False] Translation: X:5.85, Y:-1.34, Z:0.97 [[ 0.68093695 -0.01117037 0.73225685 5.85352069] [-0.35652166 0.86834218 0.34478132 -1.34424214] [-0.63970085 -0.49583977 0.5873038 0.96573631] [ 0. 0. 0. 1. ]] SLAMing on 138.68650248099996 meters Centerline goodness : 0.586042 with order 1 Centerline is valid? [False, False] Translation: X:5.85, Y:-1.35, Z:0.97 [[ 0.68121923 -0.01064786 0.73200204 5.85374008] [-0.35348824 0.87082351 0.34163209 -1.34538531] [-0.64108223 -0.49148046 0.58945782 0.9654847 ] [ 0. 0. 0. 1. ]] SLAMing on 138.74650248099996 meters Centerline goodness : 0.588116 with order 1 Centerline is valid? [False, False] Translation: X:5.85, Y:-1.35, Z:0.97 [[ 0.68127135 -0.01087357 0.73195021 5.8539907 ] [-0.35054747 0.87294316 0.33924433 -1.34675773] [-0.64263973 -0.48770074 0.59089946 0.96671481] [ 0. 0. 0. 1. ]] SLAMing on 138.80650248099997 meters Centerline goodness : 0.592554 with order 1 Centerline is valid? [False, False] Translation: X:5.85, Y:-1.35, Z:0.97 [[ 0.68169112 -0.01139271 0.73155138 5.8549029 ] [-0.34778897 0.8746414 0.33770587 -1.34765441] [-0.64369251 -0.4846366 0.59227301 0.96768415] [ 0. 0. 0. 1. ]] SLAMing on 138.86650248099997 meters Centerline goodness : 0.588949 with order 1 Centerline is valid? [False, False] Translation: X:5.86, Y:-1.35, Z:0.97 [[ 0.68208108 -0.01195082 0.73117889 5.85575715] [-0.34395916 0.87711678 0.33519882 -1.34943446] [-0.64533518 -0.48012845 0.59415417 0.96831482] [ 0. 0. 0. 1. ]] SLAMing on 138.92650248099997 meters Centerline goodness : 0.591269 with order 1 Centerline is valid? [False, False] Translation: X:5.86, Y:-1.35, Z:0.97 [[ 0.68231821 -0.01277123 0.73094375 5.85654516] [-0.34117423 0.8787246 0.33383114 -1.35129442] [-0.64656168 -0.47715823 0.59521258 0.9697038 ] [ 0. 0. 0. 1. ]] SLAMing on 138.98650248099997 meters Centerline goodness : 0.593289 with order 1 Centerline is valid? [False, False] Translation: X:5.86, Y:-1.35, Z:0.97 [[ 0.68236379 -0.01326278 0.73089243 5.85708881] [-0.3417312 0.87807263 0.33497499 -1.35213931] [-0.64621934 -0.47834355 0.59463267 0.97191732] [ 0. 0. 0. 1. ]] SLAMing on 139.04650248099998 meters Centerline goodness : 0.592459 with order 1 Centerline is valid? [False, False] Translation: X:5.86, Y:-1.35, Z:0.97 [[ 0.68217583 -0.01250659 0.7310812 5.8568872 ] [-0.3431981 0.87739545 0.3352496 -1.35158752] [-0.64564015 -0.47960485 0.59424573 0.97312917] [ 0. 0. 0. 1. ]] SLAMing on 139.10650248099998 meters Centerline goodness : 0.588736 with order 1 Centerline is valid? [False, False] Translation: X:5.86, Y:-1.35, Z:0.97 [[ 0.68173677 -0.01167018 0.73150447 5.85624689] [-0.34409503 0.87726153 0.33468016 -1.35116715] [-0.64562651 -0.47987082 0.59404579 0.973809 ] [ 0. 0. 0. 1. ]] SLAMing on 139.16650248099998 meters Centerline goodness : 0.587506 with order 1 Centerline is valid? [False, False] Translation: X:5.86, Y:-1.35, Z:0.97 [[ 0.68217805 -0.01195243 0.7310884 5.85690733] [-0.34357697 0.87736719 0.33493534 -1.35237196] [-0.64543627 -0.47967067 0.59441406 0.97320979] [ 0. 0. 0. 1. ]] SLAMing on 139.22650248099998 meters Centerline goodness : 0.586127 with order 1 Centerline is valid? [False, False] Translation: X:5.86, Y:-1.35, Z:0.97 [[ 0.68219326 -0.01255211 0.73106416 5.85733715] [-0.34332844 0.87727178 0.33543973 -1.35337054] [-0.64555243 -0.47982984 0.5941594 0.9739667 ] [ 0. 0. 0. 1. ]] SLAMing on 139.28650248099999 meters Centerline goodness : 0.592490 with order 1 Centerline is valid? [False, False] Translation: X:5.86, Y:-1.35, Z:0.98 [[ 0.68167573 -0.01250662 0.73154753 5.85696843] [-0.3405151 0.87954587 0.33233798 -1.35400602] [-0.64758603 -0.47564972 0.59530638 0.97547319] [ 0. 0. 0. 1. ]] SLAMing on 139.34650248099996 meters Centerline goodness : 0.590982 with order 1 Centerline is valid? [False, False] Translation: X:5.86, Y:-1.36, Z:0.98 [[ 0.68176668 -0.01332593 0.7314483 5.85756547] [-0.33736309 0.88144827 0.33050734 -1.35515092] [-0.64913815 -0.47209255 0.59644638 0.97527529] [ 0. 0. 0. 1. ]] SLAMing on 139.40650248099996 meters Centerline goodness : 0.595049 with order 1 Centerline is valid? [False, False] Translation: X:5.86, Y:-1.36, Z:0.98 [[ 0.68085605 -0.01455884 0.73227254 5.85727237] [-0.33339079 0.88405663 0.32755834 -1.35618763] [-0.65213927 -0.46715299 0.59706152 0.97763928] [ 0. 0. 0. 1. ]] SLAMing on 139.46650248099996 meters Centerline goodness : 0.597781 with order 1 Centerline is valid? [False, False] Translation: X:5.86, Y:-1.36, Z:0.98 [[ 0.68088322 -0.01540204 0.73223003 5.85772103] [-0.32874776 0.8869729 0.32435166 -1.35774533] [-0.65446387 -0.46156458 0.59886158 0.97701155] [ 0. 0. 0. 1. ]] SLAMing on 139.52650248099997 meters Centerline goodness : 0.599693 with order 1 Centerline is valid? [False, False] Translation: X:5.86, Y:-1.36, Z:0.97 [[ 0.68148702 -0.0165811 0.73164234 5.85884449] [-0.32467939 0.88911787 0.32257202 -1.35939125] [-0.65586487 -0.45737784 0.60053874 0.97495503] [ 0. 0. 0. 1. ]] SLAMing on 139.58650248099997 meters Centerline goodness : 0.598346 with order 1 Centerline is valid? [False, False] Translation: X:5.86, Y:-1.36, Z:0.97 [[ 0.68170704 -0.01678815 0.73143262 5.85916871] [-0.32050228 0.89185212 0.31918347 -1.36070511] [-0.65768823 -0.45201544 0.60260123 0.97321674] [ 0. 0. 0. 1. ]] SLAMing on 139.64650248099997 meters Centerline goodness : 0.601419 with order 1 Centerline is valid? [False, False] Translation: X:5.86, Y:-1.36, Z:0.97 [[ 0.68228825 -0.01738714 0.73087648 5.86027275] [-0.31972719 0.89194858 0.31969087 -1.36023284] [-0.65746275 -0.45180241 0.60300689 0.97209915] [ 0. 0. 0. 1. ]] SLAMing on 139.70650248099997 meters Centerline goodness : 0.597798 with order 1 Centerline is valid? [False, False] Translation: X:5.86, Y:-1.36, Z:0.97 [[ 0.68231987 -0.01657482 0.73086583 5.86023921] [-0.31961363 0.89237179 0.31862159 -1.35775807] [-0.65748515 -0.45099652 0.60358547 0.97082534] [ 0. 0. 0. 1. ]] SLAMing on 139.76650248099997 meters Centerline goodness : 0.596051 with order 1 Centerline is valid? [False, False] Translation: X:5.86, Y:-1.35, Z:0.97 [[ 0.68094302 -0.01468887 0.73218908 5.85837093] [-0.32017823 0.89321157 0.31568813 -1.35372679] [-0.65863686 -0.44939663 0.60352312 0.97130775] [ 0. 0. 0. 1. ]] SLAMing on 139.82650248099998 meters Centerline goodness : 0.593905 with order 1 Centerline is valid? [False, False] Translation: X:5.86, Y:-1.35, Z:0.97 [[ 0.68106773 -0.0134895 0.73209615 5.8582399 ] [-0.32232979 0.89221975 0.31630274 -1.34984277] [-0.65745741 -0.45139999 0.60331401 0.96881108] [ 0. 0. 0. 1. ]] SLAMing on 139.88650248099998 meters Centerline goodness : 0.589927 with order 1 Centerline is valid? [False, False] Translation: X:5.86, Y:-1.35, Z:0.96 [[ 0.68137695 -0.01154328 0.73184165 5.85759502] [-0.32424338 0.89165158 0.31594888 -1.34671543] [-0.65619485 -0.45257509 0.603808 0.96391606] [ 0. 0. 0. 1. ]] SLAMing on 139.94650248099998 meters Centerline goodness : 0.586276 with order 1 Centerline is valid? [False, False] Translation: X:5.86, Y:-1.34, Z:0.96 [[ 0.68242001 -0.01049132 0.73088499 5.85813285] [-0.32525693 0.89109384 0.31648015 -1.34465467] [-0.65460741 -0.4536978 0.60468789 0.95861954] [ 0. 0. 0. 1. ]] SLAMing on 140.00650248099998 meters Centerline goodness : 0.584838 with order 1 Centerline is valid? [False, False] Translation: X:5.86, Y:-1.34, Z:0.95 [[ 0.6829997 -0.00912472 0.73036166 5.85823195] [-0.32728265 0.89010286 0.3171797 -1.3412975 ] [-0.65299118 -0.45566833 0.60495362 0.95462057] [ 0. 0. 0. 1. ]] SLAMing on 140.066502481 meters Centerline goodness : 0.580801 with order 1 Centerline is valid? [False, False] Translation: X:5.86, Y:-1.34, Z:0.95 [[ 0.68329112 -0.00714304 0.7301111 5.85859135] [-0.32707425 0.89101773 0.31481716 -1.33592327] [-0.65279069 -0.45391231 0.6064882 0.95288677] [ 0. 0. 0. 1. ]] SLAMing on 140.12650248099996 meters Centerline goodness : 0.579239 with order 1 Centerline is valid? [False, False] Translation: X:5.86, Y:-1.33, Z:0.95 [[ 6.83353622e-01 -4.73788852e-03 7.30072174e-01 5.85841303e+00] [-3.26965739e-01 8.92106586e-01 3.11832079e-01 -1.33037383e+00] [-6.52779620e-01 -4.51800168e-01 6.08075139e-01 9.50805266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.18650248099996 meters Centerline goodness : 0.579201 with order 1 Centerline is valid? [False, False] Translation: X:5.86, Y:-1.33, Z:0.95 [[ 6.83965488e-01 -2.69196841e-03 7.29509400e-01 5.85872806e+00] [-3.26606585e-01 8.93045719e-01 3.09511684e-01 -1.32590907e+00] [-6.52318443e-01 -4.49957884e-01 6.09933236e-01 9.47438020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.24650248099996 meters Centerline goodness : 0.579292 with order 1 Centerline is valid? [False, False] Translation: X:5.88, Y:-1.36, Z:0.94 [[ 0.68590333 0.00981951 0.72762642 5.876376 ] [-0.34111214 0.88758457 0.30957412 -1.3635813 ] [-0.64279012 -0.46054012 0.61214676 0.94400337] [ 0. 0. 0. 1. ]] SLAMing on 140.30650248099997 meters Centerline goodness : 0.576139 with order 1 Centerline is valid? [False, False] Translation: X:5.88, Y:-1.36, Z:0.94 [[ 0.68627007 0.00985946 0.72727999 5.87692411] [-0.34034064 0.88804215 0.30911064 -1.36306203] [-0.64280763 -0.45965632 0.61279232 0.94316995] [ 0. 0. 0. 1. ]] SLAMing on 140.36650248099997 meters Centerline goodness : 0.572977 with order 1 Centerline is valid? [False, False] Translation: X:5.92, Y:-1.41, Z:0.92 [[ 0.69322421 0.02671392 0.72022674 5.92074155] [-0.35117925 0.88517669 0.30518087 -1.40597441] [-0.62937535 -0.46448745 0.62300729 0.92457958] [ 0. 0. 0. 1. ]] SLAMing on 140.42650248099997 meters Centerline goodness : 0.568251 with order 1 Centerline is valid? [False, False] Translation: X:5.88, Y:-1.37, Z:0.94 [[ 0.69066631 0.01873832 0.72293079 5.88466928] [-0.34539727 0.8868226 0.30699577 -1.37060054] [-0.63535878 -0.46172996 0.61897066 0.94160861] [ 0. 0. 0. 1. ]] SLAMing on 140.48650248099997 meters Centerline goodness : 0.566486 with order 1 Centerline is valid? [False, False] Translation: X:5.88, Y:-1.37, Z:0.94 [[ 0.69094964 0.01940389 0.72264243 5.88496745] [-0.34360245 0.88831697 0.30468067 -1.36758838] [-0.63602354 -0.45882071 0.62044952 0.93943649] [ 0. 0. 0. 1. ]] SLAMing on 140.54650248099998 meters Centerline goodness : 0.566456 with order 1 Centerline is valid? [False, False] Translation: X:5.80, Y:-1.32, Z:1.00 [[ 0.68550008 0.02518682 0.72763676 5.79805324] [-0.35344515 0.88525144 0.30233493 -1.31796785] [-0.63652664 -0.4644303 0.6157421 0.99948619] [ 0. 0. 0. 1. ]] SLAMing on 140.60650248099998 meters Centerline goodness : 0.562292 with order 1 Centerline is valid? [False, False] Translation: X:5.71, Y:-1.26, Z:1.06 [[ 0.67662476 0.02516942 0.73589771 5.70713623] [-0.36177862 0.88182934 0.3024785 -1.26031412] [-0.64132298 -0.4708965 0.60577333 1.060443 ] [ 0. 0. 0. 1. ]] SLAMing on 140.66650248099998 meters Centerline goodness : 0.558037 with order 1 Centerline is valid? [False, False] Translation: X:5.62, Y:-1.21, Z:1.12 [[ 0.66616198 0.02952312 0.74522252 5.62461153] [-0.37501894 0.87696406 0.30049098 -1.21186377] [-0.64466194 -0.47964823 0.59527184 1.11609593] [ 0. 0. 0. 1. ]] SLAMing on 140.72650248099998 meters Centerline goodness : 0.556326 with order 1 Centerline is valid? [False, False] Translation: X:5.62, Y:-1.21, Z:1.11 [[ 0.66358146 0.03273666 0.74738742 5.62000547] [-0.37974068 0.87550491 0.29881125 -1.20818231] [-0.64455928 -0.48209902 0.59340027 1.11331155] [ 0. 0. 0. 1. ]] SLAMing on 140.78650248099999 meters Centerline goodness : 0.552504 with order 1 Centerline is valid? [False, False] Translation: X:5.62, Y:-1.21, Z:1.11 [[ 0.66156661 0.03602402 0.74902062 5.61580578] [-0.38180125 0.87586804 0.29509825 -1.20525612] [-0.6454126 -0.48120416 0.59319906 1.10796294] [ 0. 0. 0. 1. ]] SLAMing on 140.84650248099996 meters Centerline goodness : 0.551849 with order 1 Centerline is valid? [False, False] Translation: X:5.61, Y:-1.20, Z:1.10 [[ 0.65906669 0.04008144 0.7510157 5.61033406] [-0.38071296 0.87896467 0.28719115 -1.20323759] [-0.64860523 -0.47519953 0.59455586 1.10285899] [ 0. 0. 0. 1. ]] SLAMing on 140.90650248099996 meters Centerline goodness : 0.547643 with order 1 Centerline is valid? [False, False] Translation: X:5.61, Y:-1.20, Z:1.10 [[ 0.65641206 0.04266806 0.75319496 5.60521243] [-0.38239927 0.87944951 0.283442 -1.2023557 ] [-0.65030301 -0.47407595 0.59359749 1.09931327] [ 0. 0. 0. 1. ]] SLAMing on 140.96650248099996 meters Centerline goodness : 0.544765 with order 1 Centerline is valid? [False, False] Translation: X:5.60, Y:-1.20, Z:1.10 [[ 0.65373241 0.04539342 0.75536307 5.60000624] [-0.38465676 0.87955285 0.28004636 -1.20107978] [-0.65166948 -0.4736309 0.59245309 1.09522095] [ 0. 0. 0. 1. ]] SLAMing on 141.02650248099997 meters Centerline goodness : 0.543384 with order 1 Centerline is valid? [False, False] Translation: X:5.60, Y:-1.20, Z:1.09 [[ 0.65197893 0.04838477 0.75669174 5.59576099] [-0.3832171 0.8821504 0.27377969 -1.20076258] [-0.65426916 -0.4684758 0.59368535 1.09044101] [ 0. 0. 0. 1. ]] SLAMing on 141.08650248099997 meters Centerline goodness : 0.542046 with order 1 Centerline is valid? [False, False] Translation: X:5.59, Y:-1.20, Z:1.09 [[ 0.64988573 0.05117493 0.7583071 5.59113058] [-0.38157452 0.88484453 0.26730328 -1.20003437] [-0.65730466 -0.46306726 0.59457489 1.08599621] [ 0. 0. 0. 1. ]] SLAMing on 141.14650248099997 meters Centerline goodness : 0.541089 with order 1 Centerline is valid? [False, False] Translation: X:5.58, Y:-1.20, Z:1.08 [[ 0.6465772 0.05364406 0.76096007 5.58481586] [-0.38286381 0.88561166 0.26288265 -1.20043136] [-0.65981302 -0.461318 0.59315468 1.08291156] [ 0. 0. 0. 1. ]] SLAMing on 141.20650248099997 meters Centerline goodness : 0.539762 with order 1 Centerline is valid? [False, False] Translation: X:5.58, Y:-1.20, Z:1.08 [[ 0.64315027 0.05735939 0.76358866 5.5777679 ] [-0.38442116 0.88660877 0.25718721 -1.20067247] [-0.6622523 -0.45894966 0.59227283 1.07868099] [ 0. 0. 0. 1. ]] SLAMing on 141.26650248099997 meters Centerline goodness : 0.542103 with order 1 Centerline is valid? [False, False] Translation: X:5.57, Y:-1.20, Z:1.07 [[ 0.63915047 0.06166777 0.76660535 5.56987436] [-0.38804324 0.88645825 0.25221858 -1.19986364] [-0.66400988 -0.45868165 0.59050997 1.07421925] [ 0. 0. 0. 1. ]] SLAMing on 141.32650248099998 meters Centerline goodness : 0.534040 with order 1 Centerline is valid? [False, False] Translation: X:5.56, Y:-1.20, Z:1.07 [[ 0.63475079 0.06656102 0.76984483 5.56106532] [-0.3919456 0.88634091 0.24653283 -1.19934667] [-0.66593549 -0.4582242 0.58869389 1.06941218] [ 0. 0. 0. 1. ]] SLAMing on 141.38650248099998 meters Centerline goodness : 0.532171 with order 1 Centerline is valid? [False, False] Translation: X:5.55, Y:-1.20, Z:1.06 [[ 0.63062332 0.07066097 0.77286561 5.55295017] [-0.3971964 0.88492637 0.24318788 -1.19949566] [-0.66674527 -0.46033939 0.58612149 1.06495279] [ 0. 0. 0. 1. ]] SLAMing on 141.44650248099998 meters Centerline goodness : 0.533278 with order 1 Centerline is valid? [False, False] Translation: X:5.55, Y:-1.20, Z:1.06 [[ 0.6272229 0.07527601 0.7751935 5.54507041] [-0.40011988 0.8850741 0.23779806 -1.20067899] [-0.6682032 -0.45932272 0.58525817 1.05805654] [ 0. 0. 0. 1. ]] SLAMing on 141.50650248099998 meters Centerline goodness : 0.536889 with order 1 Centerline is valid? [False, False] Translation: X:5.54, Y:-1.20, Z:1.05 [[ 0.62478676 0.0794726 0.77674038 5.5384642 ] [-0.4009484 0.88628154 0.23183056 -1.20129431] [-0.66998648 -0.45627747 0.58560138 1.04988622] [ 0. 0. 0. 1. ]] SLAMing on 141.566502481 meters Centerline goodness : 0.534129 with order 1 Centerline is valid? [False, False] Translation: X:5.53, Y:-1.20, Z:1.04 [[ 0.62184181 0.08282375 0.77875092 5.53158488] [-0.40264899 0.88670585 0.22721473 -1.20190057] [-0.67170422 -0.45485489 0.58473967 1.04362108] [ 0. 0. 0. 1. ]] SLAMing on 141.62650248099996 meters Centerline goodness : 0.528682 with order 1 Centerline is valid? [False, False] Translation: X:5.52, Y:-1.20, Z:1.04 [[ 0.61874891 0.08622468 0.78084255 5.52449031] [-0.40162275 0.88896634 0.22008637 -1.20262547] [-0.67516587 -0.44978233 0.58467675 1.03945307] [ 0. 0. 0. 1. ]] SLAMing on 141.68650248099996 meters Centerline goodness : 0.528080 with order 1 Centerline is valid? [False, False] Translation: X:5.52, Y:-1.20, Z:1.03 [[ 0.61576466 0.08888301 0.78290082 5.51736633] [-0.40066867 0.89088312 0.21399037 -1.20420116] [-0.67845302 -0.44545154 0.58418698 1.03461281] [ 0. 0. 0. 1. ]] SLAMing on 141.74650248099996 meters Centerline goodness : 0.529393 with order 1 Centerline is valid? [False, False] Translation: X:5.51, Y:-1.21, Z:1.03 [[ 0.61287258 0.09279738 0.78471387 5.509514 ] [-0.39905928 0.89348261 0.20601094 -1.20569626] [-0.68201092 -0.43940581 0.58462265 1.02805333] [ 0. 0. 0. 1. ]] SLAMing on 141.80650248099997 meters Centerline goodness : 0.529322 with order 1 Centerline is valid? [False, False] Translation: X:5.50, Y:-1.21, Z:1.02 [[ 0.6085577 0.09652957 0.78761639 5.49982034] [-0.40132048 0.89371208 0.20055071 -1.2072245 ] [-0.6845432 -0.43813327 0.58261466 1.02177329] [ 0. 0. 0. 1. ]] SLAMing on 141.86650248099997 meters Centerline goodness : 0.522842 with order 1 Centerline is valid? [False, False] Translation: X:5.49, Y:-1.21, Z:1.01 [[ 0.60458447 0.10154668 0.7900417 5.49013236] [-0.40516824 0.89314773 0.19525835 -1.20905783] [-0.68579612 -0.43814997 0.58112674 1.01347201] [ 0. 0. 0. 1. ]] SLAMing on 141.92650248099997 meters Centerline goodness : 0.523238 with order 1 Centerline is valid? [False, False] Translation: X:5.48, Y:-1.21, Z:1.01 [[ 0.59959145 0.10762946 0.79303594 5.47911441] [-0.41160604 0.89128521 0.1902397 -1.20961175] [-0.68634581 -0.44048448 0.57870792 1.00530039] [ 0. 0. 0. 1. ]] SLAMing on 141.98650248099997 meters Centerline goodness : 0.518027 with order 1 Centerline is valid? [False, False] Translation: X:5.47, Y:-1.21, Z:1.00 [[ 0.59690652 0.11201831 0.79445233 5.47280062] [-0.41443727 0.89091705 0.18576481 -1.20902792] [-0.68698206 -0.44013488 0.57821876 1.00023917] [ 0. 0. 0. 1. ]] SLAMing on 142.04650248099998 meters Centerline goodness : 0.517540 with order 1 Centerline is valid? [False, False] Translation: X:5.46, Y:-1.21, Z:0.99 [[ 0.59185927 0.11784129 0.79738073 5.46055176] [-0.41877108 0.89022018 0.17927302 -1.21124434] [-0.68871865 -0.44002439 0.57623359 0.99149344] [ 0. 0. 0. 1. ]] SLAMing on 142.10650248099998 meters Centerline goodness : 0.522818 with order 1 Centerline is valid? [False, False] Translation: X:5.49, Y:-1.21, Z:0.96 [[ 0.59743017 0.1092501 0.79444422 5.48590098] [-0.40913301 0.89356728 0.18479093 -1.21186437] [-0.68970093 -0.43543303 0.57854187 0.95523387] [ 0. 0. 0. 1. ]] SLAMing on 142.16650248099998 meters Centerline goodness : 0.511590 with order 1 Centerline is valid? [False, False] Translation: X:5.52, Y:-1.22, Z:0.91 [[ 0.60289226 0.0988149 0.79167957 5.5170579 ] [-0.39765365 0.89747654 0.19080732 -1.21959736] [-0.69165923 -0.42985053 0.58037576 0.90912322] [ 0. 0. 0. 1. ]] SLAMing on 142.22650248099998 meters Centerline goodness : 0.535463 with order 1 Centerline is valid? [False, False] Translation: X:5.56, Y:-1.22, Z:0.86 [[ 0.60971164 0.08294064 0.78827189 5.56078922] [-0.37644339 0.9054915 0.19589672 -1.22040317] [-0.69752569 -0.41618025 0.58331116 0.85508562] [ 0. 0. 0. 1. ]] SLAMing on 142.28650248099999 meters Centerline goodness : 0.553838 with order 1 Centerline is valid? [False, False] Translation: X:5.56, Y:-1.21, Z:0.84 [[ 0.61029833 0.0867064 0.78741219 5.55792131] [-0.37779015 0.90553132 0.19310006 -1.21424352] [-0.69628339 -0.41532521 0.58540107 0.83855238] [ 0. 0. 0. 1. ]] SLAMing on 142.34650248099996 meters Centerline goodness : 0.515393 with order 1 Centerline is valid? [False, False] Translation: X:5.58, Y:-1.21, Z:0.79 [[ 0.6046664 0.06090083 0.79414711 5.57511627] [-0.35818828 0.9113497 0.20283707 -1.21153036] [-0.71139279 -0.40710295 0.57287651 0.79263559] [ 0. 0. 0. 1. ]] SLAMing on 142.40650248099996 meters Centerline goodness : 0.577739 with order 1 Centerline is valid? [False, False] Translation: X:5.58, Y:-1.19, Z:0.77 [[ 0.61048098 0.05938431 0.78980154 5.58204541] [-0.34907924 0.91528208 0.20100346 -1.19485393] [-0.71095475 -0.39841211 0.57949214 0.76720519] [ 0. 0. 0. 1. ]] SLAMing on 142.46650248099996 meters Centerline goodness : 0.578159 with order 1 Centerline is valid? [False, False] Translation: X:5.51, Y:-1.16, Z:0.81 [[ 0.60982132 0.07229532 0.78923466 5.51229717] [-0.36028483 0.91227253 0.19481701 -1.15600445] [-0.70591274 -0.40315284 0.58237015 0.80592517] [ 0. 0. 0. 1. ]] SLAMing on 142.52650248099997 meters Centerline goodness : 0.582449 with order 1 Centerline is valid? [False, False] Translation: X:5.46, Y:-1.12, Z:0.83 [[ 0.61211118 0.07927661 0.78678785 5.46158854] [-0.36373207 0.91168692 0.19111762 -1.11888345] [-0.70215303 -0.40316521 0.5868892 0.8289796 ] [ 0. 0. 0. 1. ]] SLAMing on 142.58650248099997 meters Centerline goodness : 0.587334 with order 1 Centerline is valid? [False, False] Translation: X:5.41, Y:-1.08, Z:0.86 [[ 0.61532822 0.08901247 0.78322919 5.41358936] [-0.37228804 0.9086245 0.18921719 -1.0832628 ] [-0.69481854 -0.40801753 0.59224057 0.85723507] [ 0. 0. 0. 1. ]] SLAMing on 142.64650248099997 meters Centerline goodness : 0.595548 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:-1.05, Z:0.88 [[ 0.6206992 0.10251107 0.77731846 5.36469638] [-0.38274217 0.90487786 0.18629143 -1.04931246] [-0.68428133 -0.4131435 0.60089227 0.87957056] [ 0. 0. 0. 1. ]] SLAMing on 142.70650248099997 meters Centerline goodness : 0.604024 with order 1 Centerline is valid? [False, False] Translation: X:5.38, Y:-1.04, Z:0.85 [[ 0.62680415 0.10358686 0.77226053 5.37582265] [-0.37668083 0.90789487 0.18395233 -1.03552579] [-0.68207632 -0.40619783 0.60809145 0.85408377] [ 0. 0. 0. 1. ]] SLAMing on 142.76650248099997 meters Centerline goodness : 0.615145 with order 1 Centerline is valid? [False, False] Translation: X:5.39, Y:-1.03, Z:0.83 [[ 0.63377869 0.10280016 0.76665292 5.38908446] [-0.37109001 0.91003323 0.18474773 -1.02742577] [-0.67868754 -0.40158642 0.61490778 0.83058025] [ 0. 0. 0. 1. ]] SLAMing on 142.82650248099998 meters Centerline goodness : 0.629965 with order 1 Centerline is valid? [False, False] Translation: X:5.44, Y:-1.03, Z:0.78 [[ 0.64135092 0.0979321 0.76097194 5.43639279] [-0.35634325 0.91637943 0.18239583 -1.02827398] [-0.67947663 -0.38814695 0.62261823 0.77849774] [ 0. 0. 0. 1. ]] SLAMing on 142.88650248099998 meters Centerline goodness : 0.636225 with order 1 Centerline is valid? [False, False] Translation: X:5.48, Y:-1.03, Z:0.73 [[ 0.6509723 0.09551506 0.75306835 5.48454496] [-0.34462286 0.92111232 0.18107232 -1.02940031] [-0.6763654 -0.37739763 0.63253528 0.72972146] [ 0. 0. 0. 1. ]] SLAMing on 142.94650248099998 meters Centerline goodness : 0.644578 with order 1 Centerline is valid? [False, False] Translation: X:5.50, Y:-1.03, Z:0.71 [[ 0.65724517 0.09310019 0.7479045 5.50243525] [-0.34225593 0.92098821 0.18612253 -1.03268642] [-0.67148319 -0.37830288 0.63717914 0.70680707] [ 0. 0. 0. 1. ]] SLAMing on 143.00650248099998 meters Centerline goodness : 0.655566 with order 1 Centerline is valid? [False, False] Translation: X:5.56, Y:-1.04, Z:0.65 [[ 0.6672804 0.09081452 0.73924935 5.56128317] [-0.32998856 0.92585405 0.18412449 -1.03608456] [-0.66771582 -0.3668065 0.64777201 0.65301633] [ 0. 0. 0. 1. ]] SLAMing on 143.066502481 meters Centerline goodness : 0.655138 with order 1 Centerline is valid? [False, False] Translation: X:5.60, Y:-1.04, Z:0.61 [[ 0.67536239 0.08981132 0.73199697 5.60393074] [-0.32112469 0.929334 0.18225598 -1.03821345] [-0.66390103 -0.35815114 0.65647787 0.61487462] [ 0. 0. 0. 1. ]] SLAMing on 143.12650248099996 meters Centerline goodness : 0.664686 with order 1 Centerline is valid? [False, False] Translation: X:5.63, Y:-1.04, Z:0.59 [[ 0.6843618 0.08676482 0.72396188 5.63134326] [-0.31301431 0.93170883 0.18422999 -1.03880931] [-0.65853699 -0.3526904 0.66478456 0.59132698] [ 0. 0. 0. 1. ]] SLAMing on 143.18650248099996 meters Centerline goodness : 0.669533 with order 3 Centerline is valid? [False, False] Translation: X:5.67, Y:-1.05, Z:0.55 [[ 0.69171558 0.08120442 0.71759 5.6730423 ] [-0.30260953 0.93480685 0.18591295 -1.04580071] [-0.65571109 -0.34574845 0.67119369 0.55472474] [ 0. 0. 0. 1. ]] SLAMing on 143.24650248099996 meters Centerline goodness : 0.672482 with order 3 Centerline is valid? [False, False] Translation: X:5.74, Y:-1.05, Z:0.50 [[ 0.70248665 0.06730061 0.70850768 5.74027217] [-0.27820859 0.94227275 0.18633854 -1.04711039] [-0.65506678 -0.32801326 0.68065764 0.49711383] [ 0. 0. 0. 1. ]] SLAMing on 143.30650248099997 meters Centerline goodness : 0.675030 with order 3 Centerline is valid? [False, False] Translation: X:5.81, Y:-1.04, Z:0.44 [[ 0.71397083 0.05502379 0.69801005 5.81082974] [-0.25182278 0.9503786 0.18266311 -1.04312676] [-0.653323 -0.30619096 0.69239884 0.43803425] [ 0. 0. 0. 1. ]] SLAMing on 143.36650248099997 meters Centerline goodness : 0.679371 with order 3 Centerline is valid? [False, False] Translation: X:5.89, Y:-1.03, Z:0.37 [[ 0.72537372 0.03273155 0.68757662 5.88940002] [-0.21421228 0.96000495 0.18028755 -1.03094931] [-0.65417587 -0.2780632 0.70337386 0.36832968] [ 0. 0. 0. 1. ]] SLAMing on 143.42650248099997 meters Centerline goodness : 0.679525 with order 3 Centerline is valid? [False, False] Translation: X:5.93, Y:-1.01, Z:0.33 [[ 0.73176624 0.02400146 0.68113295 5.93204488] [-0.19267507 0.96589878 0.17296202 -1.01046885] [-0.65375414 -0.25780511 0.71143661 0.3261334 ] [ 0. 0. 0. 1. ]] SLAMing on 143.48650248099997 meters Centerline goodness : 0.685636 with order 1 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.99, Z:0.30 [[ 0.74015795 0.01502842 0.67226509 5.96394944] [-0.16986444 0.97150478 0.16530136 -0.99055613] [-0.65062453 -0.23654305 0.72161978 0.29525516] [ 0. 0. 0. 1. ]] SLAMing on 143.54650248099998 meters Centerline goodness : 0.688264 with order 1 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.96, Z:0.29 [[ 0.7470253 0.00892474 0.6647357 5.96473277] [-0.15506167 0.97466901 0.16117131 -0.96454556] [-0.64645887 -0.22347407 0.7294863 0.28801318] [ 0. 0. 0. 1. ]] SLAMing on 143.60650248099998 meters Centerline goodness : 0.690004 with order 1 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.93, Z:0.38 [[ 0.75507785 0.01732187 0.65540628 5.84552893] [-0.1640335 0.97284982 0.16326741 -0.93323147] [-0.63478378 -0.23078819 0.73741872 0.3825092 ] [ 0. 0. 0. 1. ]] SLAMing on 143.66650248099998 meters Centerline goodness : 0.695308 with order 1 Centerline is valid? [False, False] Translation: X:5.69, Y:-0.89, Z:0.51 [[ 0.76677311 0.0264951 0.6413712 5.68521242] [-0.17486978 0.96998079 0.1689906 -0.88912794] [-0.61764032 -0.24173389 0.74838838 0.50702904] [ 0. 0. 0. 1. ]] SLAMing on 143.72650248099998 meters Centerline goodness : 0.695805 with order 1 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.85, Z:0.61 [[ 0.77209595 0.03953483 0.63427505 5.544078 ] [-0.19199672 0.96593594 0.17350796 -0.84932598] [-0.60580946 -0.25574353 0.75338579 0.61453199] [ 0. 0. 0. 1. ]] SLAMing on 143.78650248099999 meters Centerline goodness : 0.697008 with order 1 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.80, Z:0.74 [[ 0.77680475 0.06023819 0.62685385 5.36550234] [-0.21573163 0.96063864 0.17502362 -0.79977104] [-0.59163692 -0.27119138 0.75922394 0.74416117] [ 0. 0. 0. 1. ]] SLAMing on 143.84650248099996 meters Centerline goodness : 0.701533 with order 1 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.76, Z:0.84 [[ 0.78272352 0.07870413 0.61737311 5.2299269 ] [-0.23512502 0.95585263 0.17624405 -0.75601738] [-0.57624658 -0.28311023 0.76667365 0.83565536] [ 0. 0. 0. 1. ]] SLAMing on 143.90650248099996 meters Centerline goodness : 0.703756 with order 1 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.71, Z:0.91 [[ 0.7858261 0.08894833 0.61201759 5.12305662] [-0.2485938 0.95156603 0.1808956 -0.71288815] [-0.56628479 -0.29429626 0.76987742 0.90619319] [ 0. 0. 0. 1. ]] SLAMing on 143.96650248099996 meters Centerline goodness : 0.706557 with order 1 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.67, Z:0.96 [[ 0.78738233 0.10168725 0.60802037 5.03260953] [-0.26138182 0.94832498 0.17988685 -0.67336126] [-0.5583087 -0.3005652 0.77327353 0.96391895] [ 0. 0. 0. 1. ]] SLAMing on 144.02650248099997 meters Centerline goodness : 0.709356 with order 1 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.64, Z:1.01 [[ 0.78925866 0.11290166 0.60359256 4.95845573] [-0.27502836 0.94384338 0.18308216 -0.6419051 ] [-0.54902656 -0.31050425 0.77598772 1.01174059] [ 0. 0. 0. 1. ]] SLAMing on 144.08650248099997 meters Centerline goodness : 0.711189 with order 1 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.62, Z:1.02 [[ 0.78946715 0.11855057 0.60223532 4.93386705] [-0.28400707 0.94037215 0.18719027 -0.61926045] [-0.54413381 -0.31881966 0.77606212 1.018681 ] [ 0. 0. 0. 1. ]] SLAMing on 144.14650248099997 meters Centerline goodness : 0.712634 with order 1 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.61, Z:1.01 [[ 0.79012354 0.12120365 0.6008448 4.93738592] [-0.28910756 0.93805799 0.19095554 -0.61271535] [-0.54048275 -0.32458724 0.77622259 1.0116187 ] [ 0. 0. 0. 1. ]] SLAMing on 144.20650248099997 meters Centerline goodness : 0.711107 with order 1 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.62, Z:0.99 [[ 0.78934598 0.12750702 0.60056214 4.96952444] [-0.29938099 0.93395292 0.19519983 -0.62060329] [-0.53600741 -0.33387709 0.77538516 0.98599222] [ 0. 0. 0. 1. ]] SLAMing on 144.26650248099997 meters Centerline goodness : 0.708727 with order 1 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.63, Z:0.95 [[ 0.79234382 0.1302441 0.59600986 5.02475239] [-0.30126381 0.93305177 0.19660753 -0.62759816] [-0.53050108 -0.33533696 0.77853563 0.94966837] [ 0. 0. 0. 1. ]] SLAMing on 144.32650248099998 meters Centerline goodness : 0.703641 with order 1 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.63, Z:0.92 [[ 0.79495195 0.12960556 0.59266668 5.06997567] [-0.29871742 0.93390417 0.19644571 -0.63348299] [-0.52803343 -0.33320476 0.78112438 0.92118312] [ 0. 0. 0. 1. ]] SLAMing on 144.38650248099998 meters Centerline goodness : 0.702043 with order 1 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.64, Z:0.89 [[ 0.79841955 0.12627671 0.5887108 5.11539709] [-0.29089279 0.93697684 0.19353499 -0.64015856] [-0.52716943 -0.32577384 0.78483361 0.89236581] [ 0. 0. 0. 1. ]] SLAMing on 144.44650248099998 meters Centerline goodness : 0.703126 with order 1 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.65, Z:0.86 [[ 0.8032878 0.11464176 0.58445357 5.17130341] [-0.27663936 0.94084169 0.19567214 -0.64866357] [-0.52744608 -0.31886391 0.78748107 0.8574291 ] [ 0. 0. 0. 1. ]] SLAMing on 144.50650248099998 meters Centerline goodness : 0.703394 with order 1 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.66, Z:0.82 [[ 0.80917054 0.09740353 0.5794442 5.23232466] [-0.2560891 0.9460337 0.19859157 -0.66165302] [-0.52883022 -0.3090838 0.79044659 0.81762481] [ 0. 0. 0. 1. ]] SLAMing on 144.566502481 meters Centerline goodness : 0.698766 with order 1 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.67, Z:0.78 [[ 0.81363553 0.08781714 0.5747046 5.29160732] [-0.24143323 0.95029401 0.19659934 -0.66862762] [-0.52887354 -0.29871299 0.79439494 0.78036017] [ 0. 0. 0. 1. ]] SLAMing on 144.62650248099996 meters Centerline goodness : 0.700905 with order 1 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.67, Z:0.74 [[ 0.82124404 0.07235698 0.56597058 5.36634221] [-0.22097458 0.95485119 0.19856846 -0.67424857] [-0.52604987 -0.28813827 0.8001549 0.73550517] [ 0. 0. 0. 1. ]] SLAMing on 144.68650248099996 meters Centerline goodness : 0.701197 with order 1 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.68, Z:0.71 [[ 0.82247824 0.07014052 0.56445536 5.41211991] [-0.21747098 0.95574886 0.19811739 -0.68396234] [-0.52558151 -0.2856999 0.80133616 0.70701718] [ 0. 0. 0. 1. ]] SLAMing on 144.74650248099996 meters Centerline goodness : 0.701862 with order 1 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.69, Z:0.67 [[ 0.82742053 0.06184273 0.55816731 5.47664553] [-0.20413833 0.95904789 0.1963535 -0.68788607] [-0.52316614 -0.27641026 0.80616038 0.66950038] [ 0. 0. 0. 1. ]] SLAMing on 144.80650248099997 meters Centerline goodness : 0.698460 with order 1 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.69, Z:0.63 [[ 0.83277519 0.05353448 0.55101682 5.54537298] [-0.19180174 0.96157013 0.19645603 -0.69317853] [-0.51932415 -0.2692897 0.81103976 0.62967045] [ 0. 0. 0. 1. ]] SLAMing on 144.86650248099997 meters Centerline goodness : 0.698348 with order 1 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.70, Z:0.59 [[ 0.83738315 0.04596262 0.54468054 5.6066188 ] [-0.17888414 0.96463166 0.1936136 -0.69793454] [-0.51651711 -0.25956347 0.81598828 0.59432527] [ 0. 0. 0. 1. ]] SLAMing on 144.92650248099997 meters Centerline goodness : 0.697759 with order 1 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.70, Z:0.56 [[ 0.84039716 0.03841601 0.54060783 5.66641227] [-0.1697507 0.96595281 0.19524311 -0.70408513] [-0.51470119 -0.25585031 0.81830514 0.55832769] [ 0. 0. 0. 1. ]] SLAMing on 144.98650248099997 meters Centerline goodness : 0.697634 with order 1 Centerline is valid? [False, False] Translation: X:5.73, Y:-0.71, Z:0.52 [[ 0.84522076 0.03010177 0.53356888 5.73059412] [-0.15658881 0.96854154 0.19340951 -0.70619217] [-0.51096166 -0.24702465 0.82334501 0.52269802] [ 0. 0. 0. 1. ]] SLAMing on 145.04650248099998 meters Centerline goodness : 0.695818 with order 1 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.71, Z:0.49 [[ 0.84785913 0.02847701 0.52945629 5.78173167] [-0.15288848 0.96927399 0.19269934 -0.71283385] [-0.50770071 -0.24432966 0.82616161 0.49166868] [ 0. 0. 0. 1. ]] SLAMing on 145.10650248099998 meters Centerline goodness : 0.692465 with order 1 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.72, Z:0.46 [[ 0.85015488 0.02784821 0.52579574 5.83285285] [-0.15132731 0.96939198 0.19333709 -0.71774251] [-0.50431808 -0.24393373 0.82834752 0.46147487] [ 0. 0. 0. 1. ]] SLAMing on 145.16650248099998 meters Centerline goodness : 0.692287 with order 1 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.72, Z:0.43 [[ 0.85176817 0.02645994 0.52325027 5.88145803] [-0.14795674 0.97021974 0.19178755 -0.72192751] [-0.50259306 -0.24077693 0.83031722 0.43291861] [ 0. 0. 0. 1. ]] SLAMing on 145.22650248099998 meters Centerline goodness : 0.692042 with order 1 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.73, Z:0.41 [[ 0.85318691 0.02428304 0.52103975 5.93089662] [-0.14315432 0.97145993 0.18913604 -0.72511066] [-0.50157644 -0.23595749 0.83231312 0.40577834] [ 0. 0. 0. 1. ]] SLAMing on 145.28650248099999 meters Centerline goodness : 0.691504 with order 1 Centerline is valid? [False, False] Translation: X:5.97, Y:-0.73, Z:0.38 [[ 0.8548216 0.02095245 0.51849882 5.97251063] [-0.13867343 0.97206951 0.18934239 -0.72675532] [-0.50004971 -0.23375598 0.83385156 0.38368228] [ 0. 0. 0. 1. ]] SLAMing on 145.34650248099996 meters Centerline goodness : 0.690318 with order 1 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.73, Z:0.36 [[ 0.85586884 0.01920617 0.5168362 6.0176662 ] [-0.13533501 0.97280782 0.18796111 -0.72966845] [-0.49917228 -0.23081609 0.83519517 0.35973765] [ 0. 0. 0. 1. ]] SLAMing on 145.40650248099996 meters Centerline goodness : 0.691045 with order 1 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.73, Z:0.34 [[ 0.8568981 0.01773027 0.51518083 6.06164854] [-0.13414482 0.9726452 0.18964831 -0.73279725] [-0.49772564 -0.23161812 0.83583625 0.33677979] [ 0. 0. 0. 1. ]] SLAMing on 145.46650248099996 meters Centerline goodness : 0.688705 with order 1 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.74, Z:0.32 [[ 0.85748925 0.0212831 0.5140615 6.09422109] [-0.1371488 0.97244707 0.18851233 -0.73886479] [-0.49588547 -0.23215021 0.83678186 0.31741931] [ 0. 0. 0. 1. ]] SLAMing on 145.52650248099997 meters Centerline goodness : 0.689217 with order 1 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.75, Z:0.30 [[ 0.85764594 0.02462165 0.51365087 6.12690805] [-0.14077371 0.97193885 0.1884612 -0.74504831] [-0.49459701 -0.23394152 0.8370455 0.29695608] [ 0. 0. 0. 1. ]] SLAMing on 145.58650248099997 meters Centerline goodness : 0.687770 with order 1 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.75, Z:0.27 [[ 0.85940044 0.02137766 0.51085603 6.16674954] [-0.13755723 0.97195567 0.19073593 -0.75018895] [-0.49245192 -0.23419048 0.83823978 0.2731515 ] [ 0. 0. 0. 1. ]] SLAMing on 145.64650248099997 meters Centerline goodness : 0.688919 with order 1 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.75, Z:0.25 [[ 0.85985417 0.01532172 0.51030975 6.2016222 ] [-0.13208007 0.97219672 0.19336076 -0.75406242] [-0.49315885 -0.23366381 0.8379711 0.25320467] [ 0. 0. 0. 1. ]] SLAMing on 145.70650248099997 meters Centerline goodness : 0.686623 with order 1 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.76, Z:0.23 [[ 0.8605035 0.00921696 0.50936114 6.23872071] [-0.12655452 0.97236216 0.1962034 -0.75878913] [-0.49347511 -0.23329567 0.83788749 0.23439977] [ 0. 0. 0. 1. ]] SLAMing on 145.76650248099997 meters Centerline goodness : 0.686192 with order 1 Centerline is valid? [False, False] Translation: X:6.29, Y:-0.76, Z:0.21 [[ 0.86197222 0.00650881 0.50691374 6.28790029] [-0.12083936 0.97373405 0.19297627 -0.76120497] [-0.49234312 -0.22759531 0.84011822 0.20691892] [ 0. 0. 0. 1. ]] SLAMing on 145.82650248099998 meters Centerline goodness : 0.689265 with order 1 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.77, Z:0.18 [[ 8.62981019e-01 4.08805986e-03 5.05219803e-01 6.33520398e+00] [-1.16571218e-01 9.74597976e-01 1.91232674e-01 -7.65478187e-01] [-4.91604427e-01 -2.23924256e-01 8.41536104e-01 1.80316667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.88650248099998 meters Centerline goodness : 0.686459 with order 1 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.77, Z:0.15 [[ 8.64586089e-01 2.18438244e-03 5.02479972e-01 6.38370988e+00] [-1.14585997e-01 9.74499935e-01 1.92924662e-01 -7.69478741e-01] [-4.89245279e-01 -2.24377148e-01 8.42789388e-01 1.51471071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.94650248099998 meters Centerline goodness : 0.687861 with order 1 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.77, Z:0.13 [[ 8.64716777e-01 1.90781552e-03 5.02256166e-01 6.43020780e+00] [-1.15378324e-01 9.74004644e-01 1.94943056e-01 -7.72837323e-01] [-4.88827923e-01 -2.26520005e-01 8.42458277e-01 1.26179139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.00650248099998 meters Centerline goodness : 0.689367 with order 1 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.78, Z:0.10 [[ 8.64524434e-01 1.26850299e-03 5.02589189e-01 6.47367038e+00] [-1.15831938e-01 9.73579292e-01 1.96790052e-01 -7.76237376e-01] [-4.89060798e-01 -2.28345689e-01 8.41830020e-01 1.02644089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.06650248099996 meters Centerline goodness : 0.688537 with order 1 Centerline is valid? [False, False] Translation: X:6.52, Y:-0.78, Z:0.08 [[ 8.64730514e-01 -7.80025827e-04 5.02235532e-01 6.51895434e+00] [-1.13574177e-01 9.73790625e-01 1.97060208e-01 -7.79004942e-01] [-4.89225964e-01 -2.27444962e-01 8.41977877e-01 7.67787465e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.12650248099996 meters Centerline goodness : 0.689119 with order 1 Centerline is valid? [False, False] Translation: X:6.57, Y:-0.78, Z:0.05 [[ 8.67500490e-01 -3.08449485e-03 4.97426765e-01 6.57258156e+00] [-1.07558711e-01 9.75161430e-01 1.93626725e-01 -7.81051824e-01] [-4.85668636e-01 -2.21473860e-01 8.45621254e-01 4.74955678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.18650248099996 meters Centerline goodness : 0.689711 with order 1 Centerline is valid? [False, False] Translation: X:6.64, Y:-0.78, Z:0.01 [[ 0.87103119 -0.01486007 0.49100289 6.64129238] [-0.09426066 0.97591155 0.19675259 -0.78040503] [-0.48209915 -0.2176599 0.84864868 0.010486 ] [ 0. 0. 0. 1. ]] SLAMing on 146.24650248099996 meters Centerline goodness : 0.690333 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.78, Z:-0.03 [[ 0.87569053 -0.02947087 0.48197258 6.72134422] [-0.07685035 0.9769076 0.19936288 -0.77591646] [-0.47671808 -0.21161994 0.85320389 -0.03102762] [ 0. 0. 0. 1. ]] SLAMing on 146.30650248099997 meters Centerline goodness : 0.693865 with order 1 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.77, Z:-0.02 [[ 0.87597811 -0.0279995 0.48153752 6.70992596] [-0.0749732 0.97827716 0.19326876 -0.77206022] [-0.47648859 -0.20540161 0.85485017 -0.02369614] [ 0. 0. 0. 1. ]] SLAMing on 146.36650248099997 meters Centerline goodness : 0.692513 with order 1 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.77, Z:-0.02 [[ 0.87834084 -0.02813326 0.47720634 6.69932077] [-0.07160564 0.97926083 0.18952799 -0.76991751] [-0.47264152 -0.20064084 0.85811028 -0.01653717] [ 0. 0. 0. 1. ]] SLAMing on 146.42650248099997 meters Centerline goodness : 0.693604 with order 1 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.77, Z:-0.02 [[ 0.87809705 -0.02849992 0.47763304 6.69852068] [-0.06876753 0.98034449 0.18492084 -0.76728948] [-0.47351514 -0.19522409 0.85887773 -0.01655018] [ 0. 0. 0. 1. ]] SLAMing on 146.48650248099997 meters Centerline goodness : 0.692119 with order 1 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.77, Z:-0.01 [[ 0.87719643 -0.02772615 0.47933045 6.69536579] [-0.06985179 0.98033992 0.18453824 -0.76635526] [-0.47502331 -0.19535837 0.85801396 -0.01144556] [ 0. 0. 0. 1. ]] SLAMing on 146.54650248099998 meters Centerline goodness : 0.695752 with order 1 Centerline is valid? [False, False] Translation: X:6.69, Y:-0.77, Z:-0.01 [[ 0.87698916 -0.02701879 0.47974994 6.69449304] [-0.0704302 0.98040677 0.18396235 -0.76611923] [-0.47532053 -0.19512188 0.85790317 -0.0107015 ] [ 0. 0. 0. 1. ]] SLAMing on 146.60650248099998 meters Centerline goodness : 0.691737 with order 1 Centerline is valid? [False, False] Translation: X:6.69, Y:-0.77, Z:-0.01 [[ 0.87672485 -0.02552151 0.48031468 6.69320519] [-0.07179608 0.98046033 0.18314709 -0.76558316] [-0.47560368 -0.19505432 0.85776159 -0.01081307] [ 0. 0. 0. 1. ]] SLAMing on 146.66650248099998 meters Centerline goodness : 0.691902 with order 1 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.77, Z:-0.03 [[ 0.87775239 -0.02815167 0.47828676 6.73166084] [-0.07022266 0.97993241 0.18655094 -0.7685917 ] [-0.47394042 -0.19733211 0.85816113 -0.03140316] [ 0. 0. 0. 1. ]] SLAMing on 146.72650248099998 meters Centerline goodness : 0.696055 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.77, Z:-0.06 [[ 0.87872567 -0.02851567 0.47647461 6.78486109] [-0.06828845 0.98043552 0.18461548 -0.77075235] [-0.47241707 -0.19476408 0.85958657 -0.05731511] [ 0. 0. 0. 1. ]] SLAMing on 146.78650248099999 meters Centerline goodness : 0.698421 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.77, Z:-0.06 [[ 0.87827542 -0.02966823 0.47723379 6.78362037] [-0.06551585 0.9811932 0.18156977 -0.77296409] [-0.4736454 -0.19073464 0.85981413 -0.05546705] [ 0. 0. 0. 1. ]] SLAMing on 146.84650248099996 meters Centerline goodness : 0.697904 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.77, Z:-0.06 [[ 0.87857509 -0.03102918 0.47659522 6.78494901] [-0.06149265 0.98223256 0.17730722 -0.7728823 ] [-0.47362905 -0.18508481 0.86105699 -0.05764253] [ 0. 0. 0. 1. ]] SLAMing on 146.90650248099996 meters Centerline goodness : 0.696087 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.77, Z:-0.06 [[ 0.87837437 -0.03276527 0.47684893 6.78485116] [-0.0583265 0.98284408 0.17497293 -0.77388738] [-0.47440118 -0.18150467 0.86139397 -0.05728323] [ 0. 0. 0. 1. ]] SLAMing on 146.96650248099996 meters Centerline goodness : 0.697394 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.77, Z:-0.05 [[ 0.87788354 -0.03350645 0.47770054 6.78341742] [-0.05549745 0.98370893 0.17098765 -0.77283458] [-0.47564747 -0.1766184 0.86172236 -0.05431685] [ 0. 0. 0. 1. ]] SLAMing on 147.02650248099997 meters Centerline goodness : 0.693021 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.77, Z:-0.05 [[ 0.87766883 -0.03479237 0.47800305 6.78296795] [-0.05219049 0.98449206 0.16748592 -0.77230609] [-0.47641744 -0.17194439 0.86224217 -0.0511334 ] [ 0. 0. 0. 1. ]] SLAMing on 147.08650248099997 meters Centerline goodness : 0.692111 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.77, Z:-0.05 [[ 0.87814413 -0.03636881 0.47701174 6.78495374] [-0.04775377 0.98546214 0.16304584 -0.77110724] [-0.4760068 -0.16595685 0.86364104 -0.0538506 ] [ 0. 0. 0. 1. ]] SLAMing on 147.14650248099997 meters Centerline goodness : 0.692494 with order 1 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.77, Z:-0.06 [[ 0.87830941 -0.03691362 0.47666546 6.78560126] [-0.04442144 0.986401 0.15823971 -0.76976575] [-0.47602448 -0.16015759 0.86472553 -0.05594332] [ 0. 0. 0. 1. ]] SLAMing on 147.20650248099997 meters Centerline goodness : 0.690166 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.77, Z:-0.05 [[ 0.87803336 -0.03681585 0.47718132 6.7846488 ] [-0.04495609 0.98628421 0.15881562 -0.76918408] [-0.47648333 -0.16089762 0.86433535 -0.05270574] [ 0. 0. 0. 1. ]] SLAMing on 147.26650248099997 meters Centerline goodness : 0.694635 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.77, Z:-0.04 [[ 0.87793938 -0.03559405 0.47744687 6.77142221] [-0.04521765 0.98661063 0.15669978 -0.76751382] [-0.47663173 -0.15916193 0.86457485 -0.04338124] [ 0. 0. 0. 1. ]] SLAMing on 147.32650248099998 meters Centerline goodness : 0.695160 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.77, Z:-0.04 [[ 0.87779276 -0.03679619 0.47762528 6.77126565] [-0.04148218 0.98746169 0.15231101 -0.76656923] [-0.47724113 -0.15351044 0.86526033 -0.04314536] [ 0. 0. 0. 1. ]] SLAMing on 147.38650248099998 meters Centerline goodness : 0.690913 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.77, Z:-0.04 [[ 0.87818795 -0.03755468 0.47683914 6.77279953] [-0.04046421 0.98750625 0.15229594 -0.7656761 ] [-0.47660105 -0.15303938 0.86569647 -0.04465851] [ 0. 0. 0. 1. ]] SLAMing on 147.44650248099998 meters Centerline goodness : 0.691313 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.76, Z:-0.04 [[ 0.87809917 -0.03739192 0.47701541 6.77237809] [-0.04024121 0.98763854 0.15149506 -0.76414522] [-0.47678349 -0.15222336 0.86573988 -0.04362361] [ 0. 0. 0. 1. ]] SLAMing on 147.50650248099998 meters Centerline goodness : 0.688043 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.76, Z:-0.04 [[ 0.8780643 -0.03678443 0.47712681 6.77204754] [-0.04038989 0.98778698 0.15048432 -0.76217467] [-0.47683513 -0.15140601 0.86585477 -0.04327193] [ 0. 0. 0. 1. ]] SLAMing on 147.56650248099996 meters Centerline goodness : 0.683735 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.76, Z:-0.04 [[ 0.87776584 -0.03599588 0.47773574 6.77080508] [-0.04064991 0.98798181 0.14912926 -0.75973003] [-0.47736226 -0.15032048 0.86575345 -0.04246637] [ 0. 0. 0. 1. ]] SLAMing on 147.62650248099996 meters Centerline goodness : 0.665985 with order 3 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.76, Z:-0.04 [[ 0.87813224 -0.03610926 0.47705335 6.77202645] [-0.03989935 0.9881463 0.14823947 -0.75876561] [-0.47675132 -0.14920797 0.86628238 -0.0446724 ] [ 0. 0. 0. 1. ]] SLAMing on 147.68650248099996 meters Centerline goodness : 0.635828 with order 3 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.76, Z:-0.04 [[ 0.87802464 -0.03645027 0.47722542 6.77187339] [-0.03955304 0.98815909 0.14824696 -0.75862509] [-0.47697828 -0.1490402 0.86618632 -0.04445806] [ 0. 0. 0. 1. ]] SLAMing on 147.74650248099996 meters Centerline goodness : 0.602812 with order 3 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.76, Z:-0.04 [[ 0.87764346 -0.03639561 0.47793025 6.77073102] [-0.03962947 0.9881891 0.14802639 -0.75829535] [-0.47767297 -0.14885451 0.86583536 -0.0434105 ] [ 0. 0. 0. 1. ]] SLAMing on 147.80650248099997 meters Centerline goodness : 0.602771 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.76, Z:-0.04 [[ 0.87642048 -0.0359133 0.48020555 6.76790206] [-0.04080915 0.98808849 0.14837707 -0.76084099] [-0.47981428 -0.14963749 0.8645154 -0.0434235 ] [ 0. 0. 0. 1. ]] SLAMing on 147.86650248099997 meters Centerline goodness : 0.604884 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.76, Z:-0.05 [[ 0.87556609 -0.03694706 0.48168344 6.78334763] [-0.0386016 0.98853247 0.14599136 -0.76095991] [-0.48155367 -0.14641884 0.86409929 -0.05422829] [ 0. 0. 0. 1. ]] SLAMing on 147.92650248099997 meters Centerline goodness : 0.594267 with order 1 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.76, Z:-0.07 [[ 0.87680561 -0.03754047 0.47937735 6.80343575] [-0.03769857 0.98851223 0.1463639 -0.76314986] [-0.47936494 -0.14640453 0.86531784 -0.06681127] [ 0. 0. 0. 1. ]] SLAMing on 147.98650248099997 meters Centerline goodness : 0.289224 with order 1 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.76, Z:-0.09 [[ 0.87594913 -0.03743593 0.48094872 6.83805442] [-0.03635983 0.98902487 0.14320534 -0.76245929] [-0.48103127 -0.1429278 0.86497431 -0.08866787] [ 0. 0. 0. 1. ]] SLAMing on 148.04650248099998 meters Centerline goodness : 0.361239 with order 3 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.76, Z:-0.11 [[ 0.87429902 -0.03663488 0.48400321 6.86894715] [-0.03673561 0.98929358 0.1412399 -0.75983938] [-0.48399557 -0.14126606 0.8635926 -0.10894355] [ 0. 0. 0. 1. ]] SLAMing on 148.10650248099998 meters Centerline goodness : 0.378044 with order 3 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.76, Z:-0.13 [[ 0.87184887 -0.03326308 0.48864416 6.89453988] [-0.03908718 0.98978339 0.13711688 -0.75636764] [-0.4882128 -0.13864492 0.86164137 -0.12841666] [ 0. 0. 0. 1. ]] SLAMing on 148.16650248099998 meters Centerline goodness : 0.373114 with order 3 Centerline is valid? [False, False] Translation: X:6.92, Y:-0.75, Z:-0.15 [[ 0.86982234 -0.03022552 0.49243834 6.92174666] [-0.04157644 0.99008043 0.13420932 -0.75166006] [-0.49161011 -0.1372121 0.85993741 -0.14750162] [ 0. 0. 0. 1. ]] SLAMing on 148.22650248099998 meters Centerline goodness : 0.421677 with order 2 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.75, Z:-0.16 [[ 0.8692867 -0.0285283 0.49348432 6.9394668 ] [-0.04214246 0.99042114 0.13149133 -0.74818931] [-0.49250852 -0.13510031 0.85975768 -0.15953596] [ 0. 0. 0. 1. ]] SLAMing on 148.28650248099999 meters Centerline goodness : 0.357403 with order 1 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.75, Z:-0.17 [[ 0.86924308 -0.02893421 0.49353751 6.95932453] [-0.04060101 0.99073588 0.12959157 -0.74750124] [-0.49271495 -0.1326847 0.86001555 -0.17113845] [ 0. 0. 0. 1. ]] SLAMing on 148.34650248099996 meters Centerline goodness : 0.357817 with order 3 Centerline is valid? [False, False] Translation: X:6.98, Y:-0.75, Z:-0.18 [[ 0.86849309 -0.030881 0.49473842 6.97666463] [-0.03748574 0.99110825 0.1276685 -0.74748793] [-0.49428187 -0.12942485 0.85961308 -0.18355884] [ 0. 0. 0. 1. ]] SLAMing on 148.40650248099996 meters Centerline goodness : 0.293885 with order 3 Centerline is valid? [False, False] Translation: X:6.98, Y:-0.75, Z:-0.19 [[ 0.86846906 -0.03189807 0.49471608 6.97792897] [-0.0369351 0.99099086 0.12873583 -0.74952901] [-0.49436554 -0.13007547 0.85946674 -0.18549984] [ 0. 0. 0. 1. ]] SLAMing on 148.46650248099996 meters Centerline goodness : 0.605619 with order 1 Centerline is valid? [False, False] Translation: X:6.98, Y:-0.75, Z:-0.19 [[ 0.868723 -0.0343903 0.49410289 6.98108598] [-0.03252099 0.9914734 0.12618588 -0.74953691] [-0.49422944 -0.12568929 0.86019734 -0.18993397] [ 0. 0. 0. 1. ]] SLAMing on 148.52650248099997 meters Centerline goodness : 0.577993 with order 1 Centerline is valid? [False, False] Translation: X:6.98, Y:-0.75, Z:-0.19 [[ 0.86871181 -0.03735417 0.49390733 6.9835972 ] [-0.02785645 0.99188963 0.12401202 -0.75086907] [-0.49453393 -0.12148921 0.86062568 -0.19210326] [ 0. 0. 0. 1. ]] SLAMing on 148.58650248099997 meters Centerline goodness : 0.267681 with order 3 Centerline is valid? [False, False] Translation: X:6.99, Y:-0.75, Z:-0.19 [[ 0.86870482 -0.03945404 0.49375633 6.98557823] [-0.02620574 0.99176594 0.12535379 -0.75328305] [-0.49463642 -0.12183469 0.86051793 -0.19292061] [ 0. 0. 0. 1. ]] SLAMing on 148.64650248099997 meters Centerline goodness : 0.193604 with order 1 Centerline is valid? [False, False] Translation: X:6.99, Y:-0.76, Z:-0.19 [[ 0.86870567 -0.04005661 0.49370631 6.98710533] [-0.02645836 0.99154927 0.12700391 -0.75517415] [-0.49462148 -0.12339168 0.86030465 -0.19406764] [ 0. 0. 0. 1. ]] SLAMing on 148.70650248099997 meters Centerline goodness : 0.248697 with order 1 Centerline is valid? [False, False] Translation: X:6.99, Y:-0.76, Z:-0.20 [[ 0.8686463 -0.03983879 0.49382839 6.98760761] [-0.02656291 0.99158298 0.12671859 -0.75650872] [-0.49472014 -0.12319115 0.86027665 -0.19570867] [ 0. 0. 0. 1. ]] SLAMing on 148.76650248099997 meters Centerline goodness : 0.243371 with order 1 Centerline is valid? [False, False] Translation: X:6.99, Y:-0.76, Z:-0.20 [[ 0.86851255 -0.03969921 0.49407482 6.98790829] [-0.02687151 0.99155045 0.12690793 -0.75734382] [-0.49493825 -0.12349767 0.86010723 -0.19660176] [ 0. 0. 0. 1. ]] SLAMing on 148.82650248099998 meters Centerline goodness : 0.168116 with order 1 Centerline is valid? [False, False] Translation: X:6.99, Y:-0.76, Z:-0.20 [[ 0.86832209 -0.0391488 0.49445336 6.98797621] [-0.02759192 0.99152404 0.12695969 -0.75813765] [-0.49523271 -0.12388482 0.85988203 -0.19857201] [ 0. 0. 0. 1. ]] SLAMing on 148.88650248099998 meters Centerline goodness : 0.680467 with order 1 Centerline is valid? [False, False] Translation: X:6.99, Y:-0.76, Z:-0.20 [[ 0.86773259 -0.03931711 0.49547382 6.98698497] [-0.02512273 0.99212264 0.12272536 -0.7583205 ] [-0.496396 -0.11894045 0.8599094 -0.19932809] [ 0. 0. 0. 1. ]] SLAMing on 148.94650248099998 meters Centerline goodness : 0.685178 with order 1 Centerline is valid? [False, False] Translation: X:6.98, Y:-0.76, Z:-0.20 [[ 0.87126892 -0.04174961 0.48902704 6.98132568] [-0.02092047 0.99231094 0.12198906 -0.76146318] [-0.49035988 -0.11651595 0.86369626 -0.195097 ] [ 0. 0. 0. 1. ]] SLAMing on 149.00650248099998 meters Centerline goodness : 0.688415 with order 3 Centerline is valid? [False, False] Translation: X:6.98, Y:-0.76, Z:-0.19 [[ 0.8740173 -0.047311 0.483586 6.97602838] [-0.01563854 0.99199375 0.12531498 -0.76270995] [-0.48564307 -0.11709004 0.86627982 -0.18882622] [ 0. 0. 0. 1. ]] SLAMing on 149.06650248099996 meters Centerline goodness : 0.695726 with order 3 Centerline is valid? [False, False] Translation: X:6.97, Y:-0.76, Z:-0.18 [[ 8.77264883e-01 -5.38594161e-02 4.76975354e-01 6.97180825e+00] [-5.76601927e-03 9.92430893e-01 1.22668968e-01 -7.64251283e-01] [-4.79971955e-01 -1.10363427e-01 8.70314217e-01 -1.84009796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.12650248099996 meters Centerline goodness : 0.668576 with order 3 Centerline is valid? [False, False] Translation: X:6.98, Y:-0.77, Z:-0.18 [[ 8.77394882e-01 -5.92538916e-02 4.76095785e-01 6.97533681e+00] [ 1.44138328e-03 9.92665021e-01 1.20888706e-01 -7.66038217e-01] [-4.79766759e-01 -1.05380895e-01 8.71044617e-01 -1.83886718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.18650248099996 meters Centerline goodness : 0.702990 with order 2 Centerline is valid? [False, False] Translation: X:6.97, Y:-0.77, Z:-0.18 [[ 0.87560328 -0.06576836 0.47853256 6.9719164 ] [ 0.00958035 0.9928569 0.11892604 -0.76763168] [-0.48293592 -0.09954752 0.86997884 -0.18303715] [ 0. 0. 0. 1. ]] SLAMing on 149.24650248099996 meters Centerline goodness : 0.603762 with order 3 Centerline is valid? [False, False] Translation: X:6.97, Y:-0.77, Z:-0.18 [[ 0.8781301 -0.07171916 0.47301574 6.96647514] [ 0.0160767 0.99256514 0.12064822 -0.76729009] [-0.47815172 -0.0983403 0.87275433 -0.17622421] [ 0. 0. 0. 1. ]] SLAMing on 149.30650248099997 meters Centerline goodness : 0.623669 with order 3 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.77, Z:-0.17 [[ 0.8817331 -0.07493367 0.46575927 6.96120524] [ 0.02026163 0.99240833 0.12130612 -0.76758529] [-0.47131329 -0.09752258 0.87655755 -0.16941318] [ 0. 0. 0. 1. ]] SLAMing on 149.36650248099997 meters Centerline goodness : 0.616313 with order 1 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.77, Z:-0.16 [[ 0.88405436 -0.07580594 0.46119556 6.95277431] [ 0.02338053 0.99269661 0.11835033 -0.76534655] [-0.46679893 -0.09384513 0.87937014 -0.16073702] [ 0. 0. 0. 1. ]] SLAMing on 149.42650248099997 meters Centerline goodness : 0.687433 with order 3 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.76, Z:-0.15 [[ 0.88769042 -0.07553674 0.4542025 6.94749797] [ 0.0239267 0.99268628 0.1183278 -0.76192125] [-0.45981869 -0.09417089 0.88300545 -0.15393919] [ 0. 0. 0. 1. ]] SLAMing on 149.48650248099997 meters Centerline goodness : 0.720357 with order 1 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.76, Z:-0.15 [[ 0.89163008 -0.07396547 0.44668212 6.94060532] [ 0.02256017 0.99259828 0.1193302 -0.75928895] [-0.45220222 -0.09632117 0.88669915 -0.15006671] [ 0. 0. 0. 1. ]] SLAMing on 149.54650248099998 meters Centerline goodness : 0.718880 with order 1 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.76, Z:-0.14 [[ 0.89444115 -0.07205914 0.44134172 6.93155019] [ 0.02190236 0.99280643 0.11771016 -0.75564566] [-0.44664899 -0.09561838 0.88958519 -0.14234966] [ 0. 0. 0. 1. ]] SLAMing on 149.60650248099998 meters Centerline goodness : 0.719703 with order 1 Centerline is valid? [False, False] Translation: X:6.92, Y:-0.75, Z:-0.13 [[ 0.89650983 -0.06975904 0.4374972 6.92161599] [ 0.02039272 0.99297638 0.11654202 -0.75016332] [-0.44255424 -0.09555931 0.89163567 -0.13328065] [ 0. 0. 0. 1. ]] SLAMing on 149.66650248099998 meters Centerline goodness : 0.712170 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:-0.74, Z:-0.13 [[ 0.89995372 -0.06663192 0.43086366 6.91398366] [ 0.01916073 0.99334221 0.11359632 -0.74452172] [-0.4355642 -0.09397577 0.89523873 -0.1257819 ] [ 0. 0. 0. 1. ]] SLAMing on 149.72650248099998 meters Centerline goodness : 0.719514 with order 1 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.74, Z:-0.12 [[ 0.90279756 -0.06340643 0.42536595 6.90482284] [ 0.01747448 0.99366332 0.11103083 -0.73855299] [-0.42971061 -0.09280532 0.89818481 -0.11737581] [ 0. 0. 0. 1. ]] SLAMing on 149.78650248099999 meters Centerline goodness : 0.716006 with order 1 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.73, Z:-0.11 [[ 0.90568031 -0.06121637 0.41951845 6.89765806] [ 0.01631007 0.99381904 0.10980753 -0.73321119] [-0.42364744 -0.09260814 0.90108078 -0.10879133] [ 0. 0. 0. 1. ]] SLAMing on 149.84650248099996 meters Centerline goodness : 0.718501 with order 1 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.73, Z:-0.10 [[ 0.90736717 -0.06025077 0.41599839 6.88587908] [ 0.01667047 0.99405324 0.10761156 -0.73119315] [-0.42000823 -0.09070831 0.90297569 -0.10022973] [ 0. 0. 0. 1. ]] SLAMing on 149.90650248099996 meters Centerline goodness : 0.719440 with order 1 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.73, Z:-0.09 [[ 0.91036601 -0.05964342 0.40948307 6.87909548] [ 0.01776203 0.99427833 0.10533331 -0.72736223] [-0.41342258 -0.08861861 0.90621659 -0.09223227] [ 0. 0. 0. 1. ]] SLAMing on 149.96650248099996 meters Centerline goodness : 0.721659 with order 1 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.72, Z:-0.08 [[ 0.91334468 -0.06025031 0.4027051 6.87252488] [ 0.01959645 0.99435033 0.10432349 -0.72410181] [-0.40671547 -0.08739171 0.90936528 -0.08476831] [ 0. 0. 0. 1. ]] SLAMing on 150.02650248099997 meters Centerline goodness : 0.720344 with order 1 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.72, Z:-0.08 [[ 0.91727151 -0.05985167 0.39373944 6.87077093] [ 0.02137098 0.99461584 0.10140318 -0.72336319] [-0.39768863 -0.08459965 0.91361187 -0.07632409] [ 0. 0. 0. 1. ]] SLAMing on 150.08650248099997 meters Centerline goodness : 0.723472 with order 1 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.72, Z:-0.08 [[ 0.91784354 -0.06033421 0.39233023 6.8731747 ] [ 0.02189904 0.99457226 0.10171749 -0.72303634] [-0.39633781 -0.08476909 0.91418299 -0.07646507] [ 0. 0. 0. 1. ]] SLAMing on 150.14650248099997 meters Centerline goodness : 0.723628 with order 1 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.72, Z:-0.08 [[ 0.91847691 -0.0586982 0.39109421 6.87468669] [ 0.01873201 0.99427089 0.10523548 -0.72166737] [-0.39503072 -0.08933038 0.9143144 -0.0759959 ] [ 0. 0. 0. 1. ]] SLAMing on 150.20650248099997 meters Centerline goodness : 0.718376 with order 1 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.72, Z:-0.07 [[ 0.92164764 -0.05263968 0.38444075 6.86846347] [ 0.01500775 0.99484999 0.10024103 -0.71733569] [-0.38773753 -0.08661732 0.91769115 -0.0677995 ] [ 0. 0. 0. 1. ]] SLAMing on 150.26650248099997 meters Centerline goodness : 0.711843 with order 1 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.71, Z:-0.07 [[ 0.92242901 -0.05098502 0.38278616 6.87109865] [ 0.01408252 0.99502784 0.09859653 -0.71369637] [-0.38590983 -0.08555771 0.91856055 -0.07046032] [ 0. 0. 0. 1. ]] SLAMing on 150.32650248099998 meters Centerline goodness : 0.714505 with order 1 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.71, Z:-0.06 [[ 0.92608616 -0.04505208 0.37461277 6.86897659] [ 0.00900561 0.9952023 0.09742316 -0.71070663] [-0.37720461 -0.08684862 0.92204881 -0.06247279] [ 0. 0. 0. 1. ]] SLAMing on 150.38650248099998 meters Centerline goodness : 0.712604 with order 1 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.71, Z:-0.06 [[ 0.92633832 -0.04458468 0.37404482 6.86958738] [ 0.00894174 0.99529374 0.0964905 -0.71010169] [-0.37658646 -0.08603823 0.9223774 -0.06197505] [ 0. 0. 0. 1. ]] SLAMing on 150.44650248099998 meters Centerline goodness : 0.716024 with order 1 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.71, Z:-0.06 [[ 0.92662367 -0.0456046 0.37321414 6.87108372] [ 0.00987155 0.99522553 0.09710151 -0.71047442] [-0.37586052 -0.08629235 0.92264972 -0.0604556 ] [ 0. 0. 0. 1. ]] SLAMing on 150.50650248099998 meters Centerline goodness : 0.712982 with order 1 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.71, Z:-0.05 [[ 0.92965652 -0.04918693 0.36512929 6.86606427] [ 0.01476806 0.99522662 0.09646699 -0.71158236] [-0.3681313 -0.08428891 0.92594531 -0.05316887] [ 0. 0. 0. 1. ]] SLAMing on 150.56650248099996 meters Centerline goodness : 0.714656 with order 1 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.71, Z:-0.05 [[ 0.93201113 -0.05178993 0.35871026 6.85815702] [ 0.01917099 0.99539676 0.09390293 -0.71149565] [-0.36192226 -0.08064174 0.92871373 -0.04662369] [ 0. 0. 0. 1. ]] SLAMing on 150.62650248099996 meters Centerline goodness : 0.710207 with order 1 Centerline is valid? [False, False] Translation: X:6.85, Y:-0.71, Z:-0.04 [[ 0.93392428 -0.05253801 0.35358903 6.84876799] [ 0.02072994 0.99543594 0.0931534 -0.71158208] [-0.35686932 -0.07966834 0.9307509 -0.03846538] [ 0. 0. 0. 1. ]] SLAMing on 150.68650248099996 meters Centerline goodness : 0.709130 with order 1 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.71, Z:-0.03 [[ 0.93545302 -0.05136625 0.34969865 6.83770432] [ 0.02048199 0.99559893 0.09145086 -0.70938945] [-0.35285709 -0.07838546 0.93238811 -0.02914648] [ 0. 0. 0. 1. ]] SLAMing on 150.74650248099996 meters Centerline goodness : 0.707259 with order 1 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.71, Z:-0.03 [[ 0.93553265 -0.0506867 0.34958478 6.83768295] [ 0.02029467 0.99572946 0.09006089 -0.70713928] [-0.35265675 -0.0771602 0.93256609 -0.02904172] [ 0. 0. 0. 1. ]] SLAMing on 150.80650248099997 meters Centerline goodness : 0.694804 with order 1 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.70, Z:-0.02 [[ 0.93722376 -0.04559193 0.34573545 6.82456577] [ 0.01575267 0.99593991 0.0886315 -0.70019646] [-0.34837261 -0.07762129 0.93413674 -0.0197758 ] [ 0. 0. 0. 1. ]] SLAMing on 150.86650248099997 meters Centerline goodness : 0.692072 with order 1 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.70, Z:-0.01 [[ 0.93976953 -0.04043741 0.33940837 6.82038549] [ 0.0127604 0.99643573 0.08338466 -0.69678128] [-0.34157049 -0.07403138 0.93693594 -0.01194478] [ 0. 0. 0. 1. ]] SLAMing on 150.92650248099997 meters Centerline goodness : 0.681888 with order 1 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.69, Z:-0.01 [[ 0.94033847 -0.03931102 0.33796185 6.82297245] [ 0.0103603 0.9961506 0.08704389 -0.69326693] [-0.34008268 -0.07834933 0.93712601 -0.01092105] [ 0. 0. 0. 1. ]] SLAMing on 150.98650248099997 meters Centerline goodness : 0.632530 with order 3 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.69, Z:-0.01 [[ 0.94093947 -0.04081024 0.33610629 6.82725082] [ 0.0121246 0.99613383 0.08700802 -0.6907038 ] [-0.33835766 -0.07779413 0.93779644 -0.01047097] [ 0. 0. 0. 1. ]] SLAMing on 151.04650248099998 meters Centerline goodness : 0.632240 with order 1 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.69, Z:-0.01 [[ 0.94117076 -0.04396194 0.33505963 6.83014117] [ 0.01698605 0.99640301 0.08302113 -0.68792122] [-0.3375042 -0.07244572 0.93853212 -0.01075459] [ 0. 0. 0. 1. ]] SLAMing on 151.10650248099998 meters Centerline goodness : 0.626993 with order 1 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.69, Z:-0.01 [[ 0.94182187 -0.05279781 0.33193969 6.83937756] [ 0.0267692 0.99623099 0.08250592 -0.68546514] [-0.33504474 -0.06882012 0.93968549 -0.01085597] [ 0. 0. 0. 1. ]] SLAMing on 151.16650248099998 meters Centerline goodness : 0.619035 with order 1 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.68, Z:-0.01 [[ 0.9418429 -0.05691213 0.33119927 6.84153114] [ 0.03242941 0.99634792 0.07898831 -0.68390984] [-0.33448509 -0.06365398 0.94024885 -0.00953643] [ 0. 0. 0. 1. ]] SLAMing on 151.22650248099998 meters Centerline goodness : 0.663755 with order 3 Centerline is valid? [False, False] Translation: X:6.85, Y:-0.68, Z:-0.01 [[ 0.94205288 -0.06300783 0.32949414 6.84607608] [ 0.03972992 0.99624563 0.07691666 -0.68074951] [-0.33310345 -0.05936878 0.94101936 -0.00738564] [ 0. 0. 0. 1. ]] SLAMing on 151.28650248099999 meters Centerline goodness : 0.657177 with order 1 Centerline is valid? [False, False] Translation: X:6.85, Y:-0.68, Z:-0.01 [[ 9.42400368e-01 -6.88970265e-02 3.27314446e-01 6.85174355e+00] [ 4.71427408e-02 9.96147207e-01 7.39479867e-02 -6.77358583e-01] [-3.31148167e-01 -5.42581098e-02 9.42017489e-01 -6.46707727e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.34650248099996 meters Centerline goodness : 0.633285 with order 3 Centerline is valid? [False, False] Translation: X:6.85, Y:-0.68, Z:-0.01 [[ 0.94260798 -0.07024784 0.32642832 6.85393597] [ 0.0487584 0.9960978 0.07356488 -0.67676207] [-0.3303223 -0.05342672 0.9423549 -0.0069168 ] [ 0. 0. 0. 1. ]] SLAMing on 151.40650248099996 meters Centerline goodness : 0.638162 with order 3 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.68, Z:-0.00 [[ 9.42950192e-01 -6.91027685e-02 3.25683502e-01 6.85505850e+00] [ 4.62677100e-02 9.95929446e-01 7.73552720e-02 -6.75058940e-01] [-3.29703253e-01 -5.78735387e-02 9.42309089e-01 -4.33774082e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.46650248099996 meters Centerline goodness : 0.621903 with order 1 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.67, Z:-0.00 [[ 9.43346540e-01 -6.59948784e-02 3.25179922e-01 6.85556533e+00] [ 4.22234355e-02 9.95929631e-01 7.96326016e-02 -6.70923954e-01] [-3.29111663e-01 -6.13909257e-02 9.42293302e-01 -1.33258212e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.52650248099997 meters Centerline goodness : 0.628167 with order 3 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.67, Z:-0.00 [[ 9.45090113e-01 -6.17937205e-02 3.20914653e-01 6.86392292e+00] [ 3.93165054e-02 9.96327710e-01 7.60612058e-02 -6.65258487e-01] [-3.24436266e-01 -5.92674509e-02 9.44048981e-01 -1.14334514e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.58650248099997 meters Centerline goodness : 0.147355 with order 1 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.66, Z:-0.00 [[ 9.46003542e-01 -5.82721844e-02 3.18875606e-01 6.86742551e+00] [ 3.47647413e-02 9.96274127e-01 7.89257655e-02 -6.60386795e-01] [-3.22286692e-01 -6.35784258e-02 9.44504670e-01 -1.19446616e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.64650248099997 meters Centerline goodness : 0.146970 with order 1 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.66, Z:-0.00 [[ 9.46311050e-01 -5.52431047e-02 3.18502113e-01 6.86828842e+00] [ 3.06959021e-02 9.96193590e-01 8.15848763e-02 -6.58301205e-01] [-3.21796765e-01 -6.74279603e-02 9.44404740e-01 -3.21624508e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.70650248099997 meters Centerline goodness : 0.607258 with order 3 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.66, Z:0.00 [[ 9.46642604e-01 -5.18288468e-02 3.18090476e-01 6.86896716e+00] [ 2.63820919e-02 9.96133807e-01 8.37939399e-02 -6.55444010e-01] [-3.21203620e-01 -7.09310213e-02 9.44350054e-01 1.07748028e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.76650248099997 meters Centerline goodness : 0.624529 with order 3 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.65, Z:0.00 [[ 9.46706370e-01 -5.14150200e-02 3.17967837e-01 6.86911593e+00] [ 2.61395842e-02 9.96185396e-01 8.32549023e-02 -6.53902423e-01] [-3.21035468e-01 -7.05063992e-02 9.44439027e-01 1.71573438e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.82650248099998 meters Centerline goodness : 0.601353 with order 3 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.65, Z:0.00 [[ 9.46807852e-01 -5.07236293e-02 3.17776660e-01 6.86966956e+00] [ 2.56875552e-02 9.96260941e-01 8.24880964e-02 -6.51231580e-01] [-3.20772570e-01 -6.99374719e-02 9.44570648e-01 2.61910005e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.88650248099998 meters Centerline goodness : 0.610470 with order 3 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.65, Z:0.00 [[ 9.46710931e-01 -5.20221441e-02 3.17855486e-01 6.86995564e+00] [ 2.81600095e-02 9.96459816e-01 7.92139462e-02 -6.50073601e-01] [-3.20851098e-01 -6.60418953e-02 9.44824344e-01 3.06548338e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.94650248099998 meters Centerline goodness : 0.613444 with order 3 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.65, Z:0.00 [[ 9.46572862e-01 -5.44782489e-02 3.17855214e-01 6.87066700e+00] [ 3.16884015e-02 9.96570700e-01 7.64374619e-02 -6.49726593e-01] [-3.20929372e-01 -6.22813035e-02 9.45053108e-01 3.53121895e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.00650248099998 meters Centerline goodness : 0.621685 with order 3 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.65, Z:0.00 [[ 9.46488379e-01 -5.74529661e-02 3.17582910e-01 6.87192567e+00] [ 3.57917865e-02 9.96643159e-01 7.36298929e-02 -6.50660257e-01] [-3.20747090e-01 -5.83229784e-02 9.45367513e-01 4.18440047e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.06650248099996 meters Centerline goodness : 0.627189 with order 3 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.65, Z:0.00 [[ 9.46247566e-01 -6.05858359e-02 3.17718273e-01 6.87262630e+00] [ 3.98096075e-02 9.96646734e-01 7.14876455e-02 -6.53998106e-01] [-3.20984017e-01 -5.49967708e-02 9.45486444e-01 4.60716782e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.12650248099996 meters Centerline goodness : 0.621526 with order 3 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.66, Z:0.01 [[ 9.46318539e-01 -6.19966255e-02 3.17234363e-01 6.87391333e+00] [ 4.05294014e-02 9.96446659e-01 7.38337618e-02 -6.57035805e-01] [-3.20684565e-01 -5.70129388e-02 9.45468632e-01 5.41221722e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.18650248099996 meters Centerline goodness : 0.623724 with order 3 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.66, Z:0.00 [[ 9.46395558e-01 -6.14426331e-02 3.17112364e-01 6.87450550e+00] [ 3.98319049e-02 9.96448069e-01 7.41934340e-02 -6.57999579e-01] [-3.20544642e-01 -5.75851468e-02 9.45481403e-01 4.92949618e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.24650248099996 meters Centerline goodness : 0.630368 with order 2 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.66, Z:0.01 [[ 0.94604647 -0.06055205 0.31832298 6.8721974 ] [ 0.03856786 0.99644321 0.07492294 -0.66004391] [-0.32172751 -0.05860355 0.94501695 0.00799258] [ 0. 0. 0. 1. ]] SLAMing on 152.30650248099997 meters Centerline goodness : 0.631043 with order 3 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.66, Z:0.01 [[ 0.94611972 -0.05970519 0.31826526 6.87225416] [ 0.03765753 0.99647313 0.07498803 -0.66055963] [-0.32161995 -0.05896257 0.94503123 0.00882943] [ 0. 0. 0. 1. ]] SLAMing on 152.36650248099997 meters Centerline goodness : 0.634156 with order 2 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.66, Z:0.01 [[ 0.94620085 -0.05917813 0.31812246 6.87272439] [ 0.03731458 0.99653072 0.07439191 -0.66125887] [-0.32142118 -0.05851908 0.94512642 0.00809541] [ 0. 0. 0. 1. ]] SLAMing on 152.42650248099997 meters Centerline goodness : 0.629406 with order 3 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.66, Z:0.01 [[ 0.94616119 -0.05931224 0.31821544 6.87251157] [ 0.03730137 0.99649855 0.07482809 -0.66157449] [-0.32153945 -0.05892956 0.94506068 0.00973027] [ 0. 0. 0. 1. ]] SLAMing on 152.48650248099997 meters Centerline goodness : 0.627836 with order 1 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.66, Z:0.01 [[ 0.94609892 -0.06093937 0.3180931 6.87279507] [ 0.03971036 0.99655516 0.07280735 -0.66355122] [-0.32143415 -0.05625136 0.94525968 0.01181437] [ 0. 0. 0. 1. ]] SLAMing on 152.54650248099998 meters Centerline goodness : 0.635503 with order 1 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.67, Z:0.01 [[ 0.94567299 -0.06305389 0.31894639 6.87184837] [ 0.04297508 0.99664811 0.06961099 -0.66529881] [-0.32226656 -0.05212249 0.94521294 0.01250338] [ 0. 0. 0. 1. ]] SLAMing on 152.60650248099998 meters Centerline goodness : 0.640308 with order 1 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.67, Z:0.01 [[ 0.94540636 -0.06527906 0.319289 6.87197678] [ 0.04636508 0.99670909 0.0664927 -0.6669852 ] [-0.32257883 -0.04805876 0.94532177 0.01195908] [ 0. 0. 0. 1. ]] SLAMing on 152.66650248099998 meters Centerline goodness : 0.646327 with order 1 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.67, Z:0.01 [[ 0.9449349 -0.06724824 0.32027444 6.87107435] [ 0.0494524 0.99676303 0.06338707 -0.66903011] [-0.32350039 -0.04405831 0.94520176 0.01189148] [ 0. 0. 0. 1. ]] SLAMing on 152.72650248099998 meters Centerline goodness : 0.653049 with order 1 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.67, Z:0.01 [[ 0.94469433 -0.0665257 0.32113386 6.86963931] [ 0.04825068 0.9967477 0.0645438 -0.67035673] [-0.32438326 -0.04547923 0.94483181 0.01351008] [ 0. 0. 0. 1. ]] SLAMing on 152.78650248099996 meters Centerline goodness : 0.655093 with order 1 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.67, Z:0.01 [[ 0.94459188 -0.06555675 0.32163409 6.86865791] [ 0.04730678 0.99681248 0.06424127 -0.67023012] [-0.32482032 -0.04546631 0.94468226 0.01442021] [ 0. 0. 0. 1. ]] SLAMing on 152.84650248099996 meters Centerline goodness : 0.659044 with order 1 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.67, Z:0.01 [[ 0.94462161 -0.06538897 0.32158094 6.86878827] [ 0.04738208 0.99685545 0.06351499 -0.67016048] [-0.32472289 -0.04476046 0.94474946 0.01419446] [ 0. 0. 0. 1. ]] SLAMing on 152.90650248099996 meters Centerline goodness : 0.660345 with order 1 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.67, Z:0.01 [[ 0.94497392 -0.06562387 0.32049617 6.87061003] [ 0.047926 0.9968742 0.06280863 -0.66871018] [-0.32361611 -0.04399242 0.94516521 0.01336009] [ 0. 0. 0. 1. ]] SLAMing on 152.96650248099996 meters Centerline goodness : 0.659762 with order 1 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.67, Z:0.01 [[ 0.94509206 -0.06594016 0.32008263 6.87129789] [ 0.04845041 0.99688015 0.06230994 -0.66721762] [-0.32319274 -0.0433805 0.94533834 0.01367415] [ 0. 0. 0. 1. ]] SLAMing on 153.02650248099997 meters Centerline goodness : 0.662717 with order 1 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.67, Z:0.02 [[ 0.94506347 -0.06716583 0.31991215 6.87165733] [ 0.04955116 0.99678924 0.06289596 -0.66771488] [-0.32310944 -0.04358866 0.94535724 0.01507804] [ 0. 0. 0. 1. ]] SLAMing on 153.08650248099997 meters Centerline goodness : 0.663856 with order 1 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.67, Z:0.02 [[ 0.94492 -0.07083405 0.31954457 6.87280059] [ 0.05434325 0.99670333 0.0602436 -0.66838071] [-0.32275844 -0.03956029 0.94565426 0.01625907] [ 0. 0. 0. 1. ]] SLAMing on 153.14650248099997 meters Centerline goodness : 0.667215 with order 1 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.67, Z:0.02 [[ 0.94480652 -0.07448144 0.3190504 6.8743983 ] [ 0.05950617 0.99663083 0.05644463 -0.66714879] [-0.32217954 -0.03434379 0.94605541 0.01581749] [ 0. 0. 0. 1. ]] SLAMing on 153.20650248099997 meters Centerline goodness : 0.666536 with order 1 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.67, Z:0.02 [[ 0.94458704 -0.07591264 0.31936281 6.87403181] [ 0.06102047 0.99654198 0.05639664 -0.66713958] [-0.32253966 -0.03378387 0.94595286 0.01671065] [ 0. 0. 0. 1. ]] SLAMing on 153.26650248099997 meters Centerline goodness : 0.672453 with order 1 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.67, Z:0.02 [[ 0.94428275 -0.07633438 0.32016113 6.87315175] [ 0.06177477 0.99655118 0.05540417 -0.66571094] [-0.3232862 -0.03253932 0.94574163 0.0158876 ] [ 0. 0. 0. 1. ]] SLAMing on 153.32650248099998 meters Centerline goodness : 0.675816 with order 1 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.66, Z:0.01 [[ 0.94425743 -0.07558277 0.32041402 6.87283135] [ 0.0612856 0.99663188 0.0544883 -0.66354594] [-0.3234532 -0.03181422 0.9457092 0.01480091] [ 0. 0. 0. 1. ]] SLAMing on 153.38650248099998 meters Centerline goodness : 0.678425 with order 1 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.66, Z:0.01 [[ 0.94404463 -0.07382299 0.32144969 6.87119581] [ 0.05994379 0.99680028 0.0528766 -0.66037114] [-0.32432466 -0.03064895 0.94544918 0.01320886] [ 0. 0. 0. 1. ]] SLAMing on 153.44650248099998 meters Centerline goodness : 0.680566 with order 1 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.66, Z:0.01 [[ 0.94398524 -0.07067159 0.32233118 6.86944404] [ 0.0555844 0.99689438 0.05578502 -0.65841594] [-0.32527256 -0.03474365 0.94498182 0.01219892] [ 0. 0. 0. 1. ]] SLAMing on 153.50650248099998 meters Centerline goodness : 0.682054 with order 1 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.66, Z:0.01 [[ 0.9437357 -0.06981429 0.32324741 6.86809049] [ 0.05520117 0.99700481 0.05416861 -0.65646246] [-0.32606097 -0.03327722 0.94476287 0.01101765] [ 0. 0. 0. 1. ]] SLAMing on 153.56650248099996 meters Centerline goodness : 0.680377 with order 1 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.66, Z:0.01 [[ 0.9434576 -0.06956099 0.32411267 6.86711247] [ 0.05537747 0.99706884 0.05279274 -0.6560475 ] [-0.32683496 -0.03185917 0.94454428 0.0091833 ] [ 0. 0. 0. 1. ]] SLAMing on 153.62650248099996 meters Centerline goodness : 0.685133 with order 1 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.66, Z:0.01 [[ 0.94323273 -0.06979172 0.32471701 6.86669043] [ 0.05590284 0.99708541 0.05191879 -0.65561468] [-0.32739409 -0.0308189 0.94438515 0.00738898] [ 0. 0. 0. 1. ]] SLAMing on 153.68650248099996 meters Centerline goodness : 0.684796 with order 1 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.66, Z:0.01 [[ 0.94331248 -0.07010911 0.32441683 6.86714729] [ 0.05621322 0.99706262 0.05202116 -0.65536162] [-0.32711106 -0.03083569 0.94448267 0.00779659] [ 0. 0. 0. 1. ]] SLAMing on 153.74650248099996 meters Centerline goodness : 0.686685 with order 1 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.65, Z:0.01 [[ 0.94291101 -0.07198132 0.32517307 6.86631672] [ 0.05964763 0.99707656 0.04775451 -0.65432355] [-0.32765988 -0.02563245 0.94444798 0.00771188] [ 0. 0. 0. 1. ]] SLAMing on 153.80650248099997 meters Centerline goodness : 0.687217 with order 1 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.65, Z:0.01 [[ 0.94251198 -0.07393856 0.32588996 6.86535851] [ 0.06287951 0.99703503 0.04435435 -0.65496182] [-0.3282032 -0.02131271 0.94436668 0.00882667] [ 0. 0. 0. 1. ]] SLAMing on 153.86650248099997 meters Centerline goodness : 0.688364 with order 1 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.66, Z:0.01 [[ 9.42767452e-01 -7.50730375e-02 3.24890091e-01 6.86761208e+00] [ 6.41254839e-02 9.96958547e-01 4.42897082e-02 -6.55387438e-01] [-3.27226916e-01 -2.09211611e-02 9.44714163e-01 6.83976686e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.92650248099997 meters Centerline goodness : 0.690506 with order 1 Centerline is valid? [False, False] Translation: X:6.85, Y:-0.66, Z:0.01 [[ 0.94329536 -0.07413091 0.32357144 6.85464444] [ 0.06347153 0.99704005 0.0433879 -0.65775721] [-0.32583007 -0.02039003 0.94520845 0.01121127] [ 0. 0. 0. 1. ]] SLAMing on 153.98650248099997 meters Centerline goodness : 0.687526 with order 1 Centerline is valid? [False, False] Translation: X:6.85, Y:-0.66, Z:0.01 [[ 0.94319357 -0.07489636 0.32369185 6.85435336] [ 0.06381348 0.99695872 0.04473426 -0.66035015] [-0.32605785 -0.02153716 0.94510445 0.01288265] [ 0. 0. 0. 1. ]] SLAMing on 154.04650248099998 meters Centerline goodness : 0.686603 with order 1 Centerline is valid? [False, False] Translation: X:6.85, Y:-0.66, Z:0.01 [[ 0.94318642 -0.07509922 0.32366569 6.85423809] [ 0.0637186 0.99692407 0.0456326 -0.66251867] [-0.32609709 -0.02241652 0.94507047 0.0141966 ] [ 0. 0. 0. 1. ]] SLAMing on 154.10650248099998 meters Centerline goodness : 0.688168 with order 1 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.66, Z:0.02 [[ 0.94455651 -0.07193156 0.32037298 6.84155724] [ 0.06138917 0.99719154 0.04289999 -0.66342125] [-0.32255909 -0.02085404 0.94631958 0.01787789] [ 0. 0. 0. 1. ]] SLAMing on 154.16650248099998 meters Centerline goodness : 0.687537 with order 1 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.66, Z:0.01 [[ 0.94501293 -0.06887999 0.31969689 6.84298122] [ 0.05834299 0.99739438 0.0424328 -0.66130258] [-0.32178665 -0.02144748 0.94656926 0.01359417] [ 0. 0. 0. 1. ]] SLAMing on 154.22650248099998 meters Centerline goodness : 0.691392 with order 1 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.66, Z:0.02 [[ 0.94434561 -0.06285237 0.32289464 6.83676185] [ 0.05084816 0.99766996 0.04548755 -0.66109068] [-0.32500128 -0.02653737 0.94534117 0.01674692] [ 0. 0. 0. 1. ]] SLAMing on 154.28650248099996 meters Centerline goodness : 0.691041 with order 1 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.66, Z:0.02 [[ 0.944226 -0.06174601 0.32345739 6.83550578] [ 0.04994282 0.99775248 0.04467335 -0.66051044] [-0.32548882 -0.02602736 0.9451876 0.01744181] [ 0. 0. 0. 1. ]] SLAMing on 154.34650248099996 meters Centerline goodness : 0.693295 with order 1 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.66, Z:0.01 [[ 0.94442278 -0.06168046 0.32289494 6.83691418] [ 0.05018631 0.9977785 0.04381098 -0.66008628] [-0.32487991 -0.02517118 0.94542025 0.01490033] [ 0. 0. 0. 1. ]] SLAMing on 154.40650248099996 meters Centerline goodness : 0.694082 with order 1 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.66, Z:0.01 [[ 0.94426324 -0.06401255 0.32290763 6.83761725] [ 0.0539857 0.99774331 0.0399228 -0.66106056] [-0.32473449 -0.02026524 0.94558809 0.01353232] [ 0. 0. 0. 1. ]] SLAMing on 154.46650248099996 meters Centerline goodness : 0.697579 with order 1 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.67, Z:0.02 [[ 0.94461933 -0.06676538 0.3213047 6.82465931] [ 0.05704775 0.99758675 0.03957565 -0.6668649 ] [-0.3231716 -0.01905421 0.94614854 0.01884825] [ 0. 0. 0. 1. ]] SLAMing on 154.52650248099997 meters Centerline goodness : 0.697136 with order 1 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.67, Z:0.02 [[ 0.9443295 -0.06983413 0.32150427 6.82501604] [ 0.0612629 0.99744624 0.03671311 -0.66943254] [-0.32324705 -0.01497298 0.94619615 0.01901626] [ 0. 0. 0. 1. ]] SLAMing on 154.58650248099997 meters Centerline goodness : 0.699510 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.68, Z:0.02 [[ 0.94567629 -0.07217439 0.31699717 6.81455738] [ 0.06433247 0.99730928 0.03515017 -0.67600751] [-0.31868116 -0.01284748 0.9477749 0.02436759] [ 0. 0. 0. 1. ]] SLAMing on 154.64650248099997 meters Centerline goodness : 0.698777 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.68, Z:0.03 [[ 0.94790653 -0.06966124 0.31083843 6.81003727] [ 0.06247521 0.99749987 0.03302815 -0.68027239] [-0.31236208 -0.0118879 0.94988874 0.03124601] [ 0. 0. 0. 1. ]] SLAMing on 154.70650248099997 meters Centerline goodness : 0.701365 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.68, Z:0.03 [[ 0.94769993 -0.07244383 0.31083232 6.81035874] [ 0.06614893 0.99733549 0.03076087 -0.68239754] [-0.31223254 -0.00859085 0.94996686 0.03249777] [ 0. 0. 0. 1. ]] SLAMing on 154.76650248099997 meters Centerline goodness : 0.699741 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.68, Z:0.03 [[ 9.47339545e-01 -7.56046738e-02 3.11177957e-01 6.81012392e+00] [ 7.06298348e-02 9.97130517e-01 2.72425852e-02 -6.83659839e-01] [-3.12344703e-01 -3.82953064e-03 9.49961115e-01 3.40737194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.82650248099998 meters Centerline goodness : 0.694965 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.68, Z:0.04 [[ 9.47128139e-01 -7.84533850e-02 3.11116305e-01 6.81048203e+00] [ 7.47237507e-02 9.96917601e-01 2.39093655e-02 -6.84173024e-01] [-3.12033091e-01 6.02544339e-04 9.50071043e-01 3.55764147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.88650248099998 meters Centerline goodness : 0.696062 with order 1 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.69, Z:0.04 [[ 9.49040377e-01 -7.94708895e-02 3.04970064e-01 6.80135333e+00] [ 7.53753297e-02 9.96836755e-01 2.52000872e-02 -6.87479956e-01] [-3.06008042e-01 -9.28681103e-04 9.52028474e-01 4.21801225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.94650248099998 meters Centerline goodness : 0.695575 with order 1 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.69, Z:0.04 [[ 9.48933533e-01 -8.10788590e-02 3.04879269e-01 6.80170930e+00] [ 7.75084694e-02 9.96707158e-01 2.38176030e-02 -6.88561484e-01] [-3.05806454e-01 1.02940338e-03 9.52093143e-01 4.29376686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.00650248099998 meters Centerline goodness : 0.695288 with order 1 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.69, Z:0.04 [[ 9.48562881e-01 -8.35201319e-02 3.05373293e-01 6.80137248e+00] [ 8.11554837e-02 9.96491561e-01 2.04537441e-02 -6.89701358e-01] [-3.06010209e-01 5.38105489e-03 9.52013023e-01 4.35239808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.06650248099996 meters Centerline goodness : 0.693422 with order 1 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.69, Z:0.04 [[ 0.94836515 -0.08529617 0.30549649 6.80140076] [ 0.08415198 0.99630896 0.01693812 -0.68964609] [-0.30581365 0.00964462 0.95204254 0.04400374] [ 0. 0. 0. 1. ]] SLAMing on 155.12650248099996 meters Centerline goodness : 0.693424 with order 1 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.69, Z:0.04 [[ 0.9485736 -0.08603835 0.30464 6.80317949] [ 0.08502672 0.99624018 0.01661226 -0.68988021] [-0.3049239 0.01014459 0.95232269 0.0428479 ] [ 0. 0. 0. 1. ]] SLAMing on 155.18650248099996 meters Centerline goodness : 0.695131 with order 1 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.69, Z:0.04 [[ 0.94873914 -0.08581674 0.30418667 6.80380566] [ 0.08495617 0.99625478 0.01608912 -0.68831497] [-0.30442814 0.01057816 0.95247657 0.04276474] [ 0. 0. 0. 1. ]] SLAMing on 155.24650248099996 meters Centerline goodness : 0.698513 with order 1 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.69, Z:0.05 [[ 0.94886438 -0.08548935 0.30388807 6.80358636] [ 0.08463095 0.99628357 0.01602019 -0.68746551] [-0.30412824 0.01051735 0.95257304 0.04503637] [ 0. 0. 0. 1. ]] SLAMing on 155.30650248099997 meters Centerline goodness : 0.698757 with order 1 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.69, Z:0.05 [[ 0.948859 -0.08498679 0.30404579 6.80270905] [ 0.08430248 0.99632117 0.0154022 -0.68661544] [-0.30423624 0.0110173 0.9525329 0.04679462] [ 0. 0. 0. 1. ]] SLAMing on 155.36650248099997 meters Centerline goodness : 0.697014 with order 1 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.69, Z:0.05 [[ 0.94897546 -0.08577273 0.30346106 6.80362087] [ 0.08520395 0.99624849 0.01514032 -0.68653702] [-0.30362125 0.01148829 0.95272355 0.04743041] [ 0. 0. 0. 1. ]] SLAMing on 155.42650248099997 meters Centerline goodness : 0.698196 with order 1 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.69, Z:0.05 [[ 0.94881294 -0.08808741 0.30330614 6.8045384 ] [ 0.08881326 0.99598273 0.01142861 -0.68645421] [-0.3030944 0.01609399 0.95282463 0.04688071] [ 0. 0. 0. 1. ]] SLAMing on 155.48650248099997 meters Centerline goodness : 0.701475 with order 1 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.69, Z:0.05 [[ 0.9483374 -0.09021245 0.30416752 6.80329546] [ 0.09178509 0.99573676 0.00915489 -0.68909351] [-0.30369667 0.01923612 0.95257457 0.04895039] [ 0. 0. 0. 1. ]] SLAMing on 155.54650248099998 meters Centerline goodness : 0.697986 with order 1 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.69, Z:0.05 [[ 0.94831686 -0.09054005 0.30413424 6.80324112] [ 0.09188621 0.99572016 0.00991441 -0.69035773] [-0.30373024 0.01854374 0.95257759 0.04991638] [ 0. 0. 0. 1. ]] SLAMing on 155.60650248099998 meters Centerline goodness : 0.698164 with order 1 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.69, Z:0.05 [[ 0.94823889 -0.09149972 0.30409014 6.80355059] [ 0.09262512 0.99564297 0.01075442 -0.69266943] [-0.30374924 0.01796862 0.95258256 0.05038344] [ 0. 0. 0. 1. ]] SLAMing on 155.66650248099998 meters Centerline goodness : 0.698031 with order 1 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.69, Z:0.05 [[ 0.94823263 -0.09281477 0.30371088 6.80444805] [ 0.09381293 0.9955253 0.01133632 -0.69415005] [-0.30340404 0.01774254 0.9526968 0.050642 ] [ 0. 0. 0. 1. ]] SLAMing on 155.72650248099998 meters Centerline goodness : 0.696038 with order 1 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.69, Z:0.05 [[ 0.94817786 -0.09363335 0.30363062 6.80448778] [ 0.09470202 0.99544223 0.01123812 -0.69379027] [-0.303299 0.0180987 0.95272355 0.05177227] [ 0. 0. 0. 1. ]] SLAMing on 155.78650248099996 meters Centerline goodness : 0.691744 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.69, Z:0.05 [[ 0.94802168 -0.09638518 0.30325696 6.80581835] [ 0.09891102 0.99507125 0.00705781 -0.69220296] [-0.30244255 0.0233045 0.95288268 0.05124258] [ 0. 0. 0. 1. ]] SLAMing on 155.84650248099996 meters Centerline goodness : 0.690975 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.69, Z:0.05 [[ 9.48092186e-01 -9.77637221e-02 3.02594551e-01 6.80763962e+00] [ 1.00576868e-01 9.94909270e-01 6.31171642e-03 -6.91074160e-01] [-3.01671180e-01 2.44499231e-02 9.53098473e-01 4.94727776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.90650248099996 meters Centerline goodness : 0.690238 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.69, Z:0.05 [[ 9.48287435e-01 -9.86674996e-02 3.01688026e-01 6.80921273e+00] [ 1.01461323e-01 9.94818663e-01 6.43635899e-03 -6.88110124e-01] [-3.00759939e-01 2.45061479e-02 9.53384974e-01 4.92811379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.96650248099996 meters Centerline goodness : 0.691096 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.69, Z:0.05 [[ 9.48236646e-01 -9.93955347e-02 3.01608673e-01 6.80923908e+00] [ 1.02226732e-01 9.94740380e-01 6.42427930e-03 -6.87406007e-01] [-3.00660871e-01 2.47407320e-02 9.53410162e-01 5.04734709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.02650248099997 meters Centerline goodness : 0.690887 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.69, Z:0.05 [[ 9.48398950e-01 -9.99146244e-02 3.00926070e-01 6.81070398e+00] [ 1.02866482e-01 9.94676699e-01 6.06223902e-03 -6.85098933e-01] [-2.99929857e-01 2.52057849e-02 9.53628203e-01 4.92937039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.08650248099997 meters Centerline goodness : 0.690159 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.68, Z:0.05 [[ 0.94911799 -0.09797338 0.29929293 6.81329515] [ 0.10024618 0.99493217 0.00778972 -0.67997473] [-0.29853935 0.02260961 0.95412948 0.04650126] [ 0. 0. 0. 1. ]] SLAMing on 156.14650248099997 meters Centerline goodness : 0.689633 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.68, Z:0.05 [[ 0.94938216 -0.09585853 0.29913985 6.81296973] [ 0.09724123 0.99520758 0.01029635 -0.67839415] [-0.29869324 0.01931355 0.95415373 0.04648936] [ 0. 0. 0. 1. ]] SLAMing on 156.20650248099997 meters Centerline goodness : 0.688945 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.68, Z:0.05 [[ 0.95012645 -0.09086045 0.29833555 6.8128532 ] [ 0.08989455 0.99580639 0.01698835 -0.67614847] [-0.29862802 0.01067765 0.95430985 0.04737892] [ 0. 0. 0. 1. ]] SLAMing on 156.26650248099997 meters Centerline goodness : 0.689469 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.67, Z:0.05 [[ 0.95055394 -0.0864989 0.29827027 6.81231724] [ 0.0850158 0.99621756 0.01796902 -0.6706521 ] [-0.29869638 0.00827716 0.9543123 0.04526698] [ 0. 0. 0. 1. ]] SLAMing on 156.32650248099998 meters Centerline goodness : 0.688248 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.67, Z:0.04 [[ 9.50614012e-01 -8.15544798e-02 2.99469310e-01 6.80955193e+00] [ 7.98015962e-02 9.96646420e-01 1.81002347e-02 -6.65603310e-01] [-2.99941171e-01 6.69179223e-03 9.53934229e-01 4.38489343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.38650248099998 meters Centerline goodness : 0.690247 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.67, Z:0.04 [[ 9.50899773e-01 -7.95792952e-02 2.99093225e-01 6.80966092e+00] [ 7.65826675e-02 9.96826052e-01 2.17466428e-02 -6.65387483e-01] [-2.99874502e-01 2.22647930e-03 9.53976062e-01 4.42401121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.44650248099998 meters Centerline goodness : 0.691372 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.67, Z:0.05 [[ 9.50577277e-01 -8.01848669e-02 2.99955375e-01 6.80789836e+00] [ 7.73000846e-02 9.96776197e-01 2.14920728e-02 -6.65988630e-01] [-3.00711718e-01 2.75669981e-03 9.53711101e-01 4.63411497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.50650248099998 meters Centerline goodness : 0.693245 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.67, Z:0.05 [[ 0.9502625 -0.08340664 0.30007416 6.80824454] [ 0.08159762 0.99649218 0.01857843 -0.66726006] [-0.30057112 0.00683095 0.95373494 0.04705727] [ 0. 0. 0. 1. ]] SLAMing on 156.56650248099996 meters Centerline goodness : 0.694640 with order 1 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.67, Z:0.05 [[ 9.51899543e-01 -8.39742289e-02 2.94678788e-01 6.79877730e+00] [ 8.12097177e-02 9.96462322e-01 2.16291848e-02 -6.71295478e-01] [-2.95452604e-01 3.34197003e-03 9.55351553e-01 5.15037495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.62650248099996 meters Centerline goodness : 0.697707 with order 1 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.67, Z:0.05 [[ 0.95152379 -0.08633671 0.29520916 6.79852668] [ 0.08494741 0.99623081 0.01755298 -0.67171351] [-0.29561193 0.00837517 0.9552714 0.05114643] [ 0. 0. 0. 1. ]] SLAMing on 156.68650248099996 meters Centerline goodness : 0.700146 with order 1 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.67, Z:0.05 [[ 0.95149899 -0.08611131 0.29535489 6.79792954] [ 0.0846784 0.99625175 0.01766393 -0.67113362] [-0.29576889 0.00820297 0.95522431 0.05253949] [ 0. 0. 0. 1. ]] SLAMing on 156.74650248099996 meters Centerline goodness : 0.702814 with order 1 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.67, Z:0.05 [[ 9.51860257e-01 -8.35287559e-02 2.94932193e-01 6.79778469e+00] [ 8.10146402e-02 9.96496779e-01 2.07556858e-02 -6.70367166e-01] [-2.95632677e-01 4.13731306e-03 9.55292732e-01 5.34836054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.80650248099997 meters Centerline goodness : 0.707722 with order 1 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.67, Z:0.05 [[ 9.51810399e-01 -8.21046354e-02 2.95492459e-01 6.79621799e+00] [ 8.00102285e-02 9.96609229e-01 1.91939580e-02 -6.68596695e-01] [-2.96066425e-01 5.37341034e-03 9.55152238e-01 5.48546532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.86650248099997 meters Centerline goodness : 0.708673 with order 1 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.67, Z:0.06 [[ 9.52216110e-01 -8.02469232e-02 2.94694607e-01 6.79689296e+00] [ 7.68231167e-02 9.96774863e-01 2.31965782e-02 -6.69193504e-01] [-2.95605631e-01 5.51202703e-04 9.55309901e-01 5.57144577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.92650248099997 meters Centerline goodness : 0.709116 with order 1 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.67, Z:0.06 [[ 9.52184105e-01 -7.95360086e-02 2.94990600e-01 6.79620514e+00] [ 7.63435545e-02 9.96831214e-01 2.23426001e-02 -6.67926785e-01] [-2.95832879e-01 1.24636228e-03 9.55238899e-01 5.60597014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.98650248099997 meters Centerline goodness : 0.707572 with order 1 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.67, Z:0.06 [[ 9.52084323e-01 -8.03827898e-02 2.95083121e-01 6.79625166e+00] [ 7.83899052e-02 9.96749302e-01 1.85970980e-02 -6.67530940e-01] [-2.95618782e-01 5.42553242e-03 9.55290584e-01 5.58762342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.04650248099998 meters Centerline goodness : 0.708043 with order 1 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.67, Z:0.06 [[ 9.54231969e-01 -7.94327375e-02 2.88325839e-01 6.78777094e+00] [ 7.64604602e-02 9.96839162e-01 2.15750625e-02 -6.71736063e-01] [-2.89128254e-01 1.45791199e-03 9.57289260e-01 6.03048041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.10650248099998 meters Centerline goodness : 0.708892 with order 1 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.67, Z:0.06 [[ 9.54297588e-01 -8.07479011e-02 2.87742750e-01 6.78887927e+00] [ 7.76484421e-02 9.96733871e-01 2.21880379e-02 -6.72842629e-01] [-2.88594582e-01 1.16878521e-03 9.57450678e-01 6.08299787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.16650248099998 meters Centerline goodness : 0.709720 with order 1 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.67, Z:0.06 [[ 9.54154298e-01 -8.40048222e-02 2.87285164e-01 6.79012578e+00] [ 8.20832035e-02 9.96449095e-01 1.87496201e-02 -6.72187933e-01] [-2.87840100e-01 5.69125596e-03 9.57661572e-01 6.11959926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.22650248099998 meters Centerline goodness : 0.709387 with order 1 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.67, Z:0.06 [[ 9.54099564e-01 -8.65838899e-02 2.86700631e-01 6.79093080e+00] [ 8.46801948e-02 9.96225918e-01 1.90574336e-02 -6.72338508e-01] [-2.87268666e-01 6.09517619e-03 9.57830654e-01 6.37350355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.28650248099996 meters Centerline goodness : 0.710425 with order 1 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.67, Z:0.06 [[ 0.95395901 -0.09023068 0.28604307 6.79269335] [ 0.08974544 0.99585426 0.01483392 -0.671301 ] [-0.28619569 0.01152011 0.95810193 0.06392934] [ 0. 0. 0. 1. ]] SLAMing on 157.34650248099996 meters Centerline goodness : 0.708182 with order 1 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.67, Z:0.07 [[ 0.95400588 -0.09162122 0.2854441 6.7935101 ] [ 0.09137416 0.99571519 0.01421347 -0.66912286] [-0.28552329 0.01252248 0.95828996 0.06528276] [ 0. 0. 0. 1. ]] SLAMing on 157.40650248099996 meters Centerline goodness : 0.709530 with order 1 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.67, Z:0.07 [[ 0.95443999 -0.09090332 0.2842198 6.79534037] [ 0.08920098 0.99583325 0.01895566 -0.67005487] [-0.28475866 0.00726065 0.95857174 0.06549025] [ 0. 0. 0. 1. ]] SLAMing on 157.46650248099996 meters Centerline goodness : 0.707684 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.67, Z:0.07 [[ 9.55687060e-01 -8.95548316e-02 2.80432123e-01 6.78299144e+00] [ 8.72010053e-02 9.95971759e-01 2.08863761e-02 -6.71682027e-01] [-2.81172951e-01 4.49312371e-03 9.59646593e-01 7.08626647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.52650248099997 meters Centerline goodness : 0.709240 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.67, Z:0.07 [[ 9.55682030e-01 -8.96558472e-02 2.80416988e-01 6.78312608e+00] [ 8.76063234e-02 9.95957148e-01 1.98618242e-02 -6.70379254e-01] [-2.81064033e-01 5.58471291e-03 9.59672767e-01 7.03074706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.58650248099997 meters Centerline goodness : 0.707294 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.67, Z:0.07 [[ 9.56004168e-01 -8.67443000e-02 2.80234646e-01 6.78281189e+00] [ 8.38557693e-02 9.96228234e-01 2.23050787e-02 -6.67779912e-01] [-2.81112504e-01 2.17554355e-03 9.59672354e-01 6.99982143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.64650248099997 meters Centerline goodness : 0.707405 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.67, Z:0.07 [[ 9.56272282e-01 -8.25267927e-02 2.80593393e-01 6.78148336e+00] [ 7.86795714e-02 9.96587221e-01 2.49687052e-02 -6.65347945e-01] [-2.81696377e-01 -1.79991282e-03 9.59501908e-01 6.96723157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.70650248099997 meters Centerline goodness : 0.704000 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.66, Z:0.07 [[ 9.56639526e-01 -7.85932844e-02 2.80470878e-01 6.78103186e+00] [ 7.39588978e-02 9.96893362e-01 2.70870139e-02 -6.61994211e-01] [-2.81728414e-01 -5.16919106e-03 9.59480266e-01 6.88130678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.76650248099997 meters Centerline goodness : 0.704558 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.66, Z:0.07 [[ 0.95685385 -0.07485506 0.28076222 6.78004516] [ 0.0695606 0.99716219 0.02879059 -0.65920116] [-0.28212059 -0.0080184 0.95934544 0.06771054] [ 0. 0. 0. 1. ]] SLAMing on 157.82650248099998 meters Centerline goodness : 0.703249 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.66, Z:0.07 [[ 0.95697853 -0.07107523 0.28131905 6.77844491] [ 0.06495286 0.99740544 0.03104064 -0.65770764] [-0.28279537 -0.01143274 0.95911213 0.06748739] [ 0. 0. 0. 1. ]] SLAMing on 157.88650248099998 meters Centerline goodness : 0.703727 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.66, Z:0.07 [[ 0.9568527 -0.06847191 0.28239069 6.77587795] [ 0.062172 0.99757701 0.03122113 -0.65689647] [-0.28384423 -0.01231723 0.95879129 0.06895065] [ 0. 0. 0. 1. ]] SLAMing on 157.94650248099998 meters Centerline goodness : 0.704232 with order 1 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.66, Z:0.07 [[ 0.95742159 -0.06658679 0.28090942 6.76106943] [ 0.0607847 0.99771996 0.02932756 -0.65983839] [-0.28222177 -0.01100384 0.95928608 0.07469256] [ 0. 0. 0. 1. ]] SLAMing on 158.00650248099998 meters Centerline goodness : 0.702036 with order 1 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.66, Z:0.08 [[ 0.95741825 -0.06764208 0.28066857 6.76165675] [ 0.06163085 0.99764203 0.03019962 -0.66145224] [-0.28204952 -0.01161582 0.95932953 0.07504355] [ 0. 0. 0. 1. ]] SLAMing on 158.06650248099996 meters Centerline goodness : 0.702708 with order 1 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.67, Z:0.08 [[ 0.9580836 -0.06828859 0.278231 6.7486798 ] [ 0.06224724 0.9975946 0.0305008 -0.6666637 ] [-0.2796446 -0.01190321 0.9600298 0.08032342] [ 0. 0. 0. 1. ]] SLAMing on 158.12650248099996 meters Centerline goodness : 0.704328 with order 1 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.67, Z:0.08 [[ 0.95791239 -0.07165258 0.27797439 6.74928812] [ 0.06639023 0.99739202 0.02831081 -0.66716415] [-0.27927798 -0.00866449 0.9601712 0.08172451] [ 0. 0. 0. 1. ]] SLAMing on 158.18650248099996 meters Centerline goodness : 0.703888 with order 1 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.67, Z:0.08 [[ 9.57651489e-01 -7.54324586e-02 2.77873298e-01 6.75001759e+00] [ 7.12489193e-02 9.97141748e-01 2.51381474e-02 -6.68781389e-01] [-2.78975298e-01 -4.27541214e-03 9.60288761e-01 8.24654985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.24650248099996 meters Centerline goodness : 0.705723 with order 1 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.67, Z:0.08 [[ 9.57791969e-01 -7.76374687e-02 2.76779636e-01 6.75227809e+00] [ 7.34666146e-02 9.96973566e-01 2.54237293e-02 -6.69233685e-01] [-2.77915815e-01 -4.01658093e-03 9.60597037e-01 8.23364331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.30650248099997 meters Centerline goodness : 0.704757 with order 1 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.67, Z:0.08 [[ 9.57803762e-01 -7.85604135e-02 2.76478235e-01 6.75248190e+00] [ 7.41559208e-02 9.96898029e-01 2.63669992e-02 -6.70091838e-01] [-2.77692009e-01 -4.75191300e-03 9.60658403e-01 8.40750439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.36650248099997 meters Centerline goodness : 0.704904 with order 1 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.67, Z:0.08 [[ 9.57796132e-01 -7.90258471e-02 2.76372004e-01 6.75250805e+00] [ 7.47149490e-02 9.96863035e-01 2.61106641e-02 -6.69867354e-01] [-2.77568452e-01 -4.35957294e-03 9.60695971e-01 8.49459496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.42650248099997 meters Centerline goodness : 0.705139 with order 1 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.67, Z:0.08 [[ 9.58002854e-01 -7.87910298e-02 2.75721788e-01 6.75355182e+00] [ 7.44304702e-02 9.96880376e-01 2.62606325e-02 -6.68347459e-01] [-2.76930742e-01 -4.63565852e-03 9.60878699e-01 8.45065715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.48650248099997 meters Centerline goodness : 0.704446 with order 1 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.67, Z:0.09 [[ 9.58932939e-01 -7.57290315e-02 2.73336298e-01 6.73995796e+00] [ 7.12846492e-02 9.97112650e-01 2.61698764e-02 -6.69626392e-01] [-2.74528899e-01 -5.61047443e-03 9.61562482e-01 9.00101456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.54650248099998 meters Centerline goodness : 0.698677 with order 1 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.67, Z:0.09 [[ 9.59019602e-01 -7.53515743e-02 2.73136490e-01 6.74003068e+00] [ 7.09194603e-02 9.97141084e-01 2.60785287e-02 -6.69148079e-01] [-2.74320674e-01 -5.63912776e-03 9.61621739e-01 9.05267727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.60650248099998 meters Centerline goodness : 0.699018 with order 1 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.67, Z:0.09 [[ 9.59050035e-01 -7.43129780e-02 2.73314125e-01 6.73968800e+00] [ 6.99156890e-02 9.97219007e-01 2.58079240e-02 -6.67578004e-01] [-2.74471904e-01 -5.64214509e-03 9.61578567e-01 8.98624835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.66650248099998 meters Centerline goodness : 0.694256 with order 1 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.67, Z:0.10 [[ 9.60095607e-01 -7.17346011e-02 2.70315692e-01 6.72780291e+00] [ 6.75556879e-02 9.97408615e-01 2.47443645e-02 -6.68453702e-01] [-2.71390227e-01 -5.49559318e-03 9.62453710e-01 9.55913408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.72650248099998 meters Centerline goodness : 0.691586 with order 1 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.67, Z:0.10 [[ 9.60046695e-01 -7.19091189e-02 2.70443011e-01 6.72713685e+00] [ 6.77115577e-02 9.97395871e-01 2.48318529e-02 -6.68926362e-01] [-2.71524379e-01 -5.52762075e-03 9.62415688e-01 9.73272742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.78650248099996 meters Centerline goodness : 0.690884 with order 1 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.67, Z:0.10 [[ 9.61159211e-01 -6.91823297e-02 2.67183039e-01 6.71405932e+00] [ 6.48582282e-02 9.97581621e-01 2.49863809e-02 -6.69897659e-01] [-2.68265505e-01 -6.68687162e-03 9.63321807e-01 1.03894333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.84650248099996 meters Centerline goodness : 0.689864 with order 1 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.67, Z:0.10 [[ 9.61091996e-01 -6.83451325e-02 2.67639905e-01 6.71305955e+00] [ 6.42296291e-02 9.97643791e-01 2.41126771e-02 -6.69404365e-01] [-2.68657273e-01 -5.98408915e-03 9.63217245e-01 1.04228734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.90650248099996 meters Centerline goodness : 0.690311 with order 1 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.67, Z:0.11 [[ 9.60907497e-01 -6.68199268e-02 2.68685466e-01 6.71059763e+00] [ 6.25514856e-02 9.97742794e-01 2.44259918e-02 -6.69131378e-01] [-2.69711131e-01 -6.66444358e-03 9.62918216e-01 1.06133657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.96650248099996 meters Centerline goodness : 0.690332 with order 1 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.67, Z:0.11 [[ 9.60801855e-01 -6.56239238e-02 2.69357190e-01 6.70930080e+00] [ 6.14710200e-02 9.97824277e-01 2.38333130e-02 -6.68816562e-01] [-2.70335179e-01 -6.34143007e-03 9.62745385e-01 1.06219038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.02650248099997 meters Centerline goodness : 0.693047 with order 1 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.67, Z:0.11 [[ 9.60543612e-01 -6.49631267e-02 2.70436242e-01 6.70765381e+00] [ 6.09993749e-02 9.97871728e-01 2.30453861e-02 -6.69664111e-01] [-2.71357780e-01 -5.63965675e-03 9.62462025e-01 1.05767325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.08650248099997 meters Centerline goodness : 0.692035 with order 1 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.67, Z:0.11 [[ 9.60463094e-01 -6.42616312e-02 2.70889438e-01 6.70700579e+00] [ 6.01305229e-02 9.97913122e-01 2.35312865e-02 -6.70855683e-01] [-2.71836284e-01 -6.31220872e-03 9.62322810e-01 1.05675014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.14650248099997 meters Centerline goodness : 0.692694 with order 1 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.67, Z:0.10 [[ 9.60368714e-01 -6.42711587e-02 2.71221591e-01 6.70696889e+00] [ 6.02001435e-02 9.97914068e-01 2.33121521e-02 -6.71805234e-01] [-2.72154140e-01 -6.06068284e-03 9.62234583e-01 1.04291215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.20650248099997 meters Centerline goodness : 0.692564 with order 1 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.67, Z:0.10 [[ 9.60363103e-01 -6.53466745e-02 2.70984359e-01 6.70784937e+00] [ 6.12473476e-02 9.97844371e-01 2.35663732e-02 -6.73521411e-01] [-2.71940201e-01 -6.03520208e-03 9.62295227e-01 1.03590178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.26650248099997 meters Centerline goodness : 0.695199 with order 1 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.67, Z:0.10 [[ 9.60140623e-01 -6.82930122e-02 2.71046210e-01 6.70851007e+00] [ 6.54556005e-02 9.97664819e-01 1.95057316e-02 -6.73334845e-01] [-2.71745374e-01 -9.86752796e-04 9.62368681e-01 1.02499436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.32650248099998 meters Centerline goodness : 0.696098 with order 1 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.67, Z:0.10 [[ 9.60131594e-01 -6.99102228e-02 2.70665631e-01 6.70911962e+00] [ 6.69254128e-02 9.97552398e-01 2.02534292e-02 -6.74470096e-01] [-2.71419071e-01 -1.33154821e-03 9.62460345e-01 1.04056994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.38650248099998 meters Centerline goodness : 0.700408 with order 1 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.67, Z:0.10 [[ 9.60122824e-01 -7.05496467e-02 2.70530794e-01 6.70921971e+00] [ 6.75815471e-02 9.97507558e-01 2.02831623e-02 -6.74620287e-01] [-2.71287481e-01 -1.19143747e-03 9.62497628e-01 1.04963426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.44650248099998 meters Centerline goodness : 0.699264 with order 1 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.67, Z:0.11 [[ 9.60320694e-01 -7.16029592e-02 2.69549960e-01 6.71075770e+00] [ 6.85355139e-02 9.97432104e-01 2.07865656e-02 -6.74984455e-01] [-2.70346163e-01 -1.48802411e-03 9.62762036e-01 1.06037024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.50650248099998 meters Centerline goodness : 0.701019 with order 1 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.68, Z:0.11 [[ 9.60310483e-01 -7.31616593e-02 2.69167508e-01 6.71153522e+00] [ 7.01018926e-02 9.97319281e-01 2.09756039e-02 -6.75749719e-01] [-2.69980555e-01 -1.27394060e-03 9.62864932e-01 1.06866338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.56650248099996 meters Centerline goodness : 0.701062 with order 1 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.68, Z:0.11 [[ 9.60286446e-01 -7.50660188e-02 2.68728553e-01 6.71265106e+00] [ 7.21538708e-02 9.97178441e-01 2.07117235e-02 -6.75984496e-01] [-2.69525066e-01 -4.99382118e-04 9.62993245e-01 1.06927476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.62650248099996 meters Centerline goodness : 0.703254 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.68, Z:0.10 [[ 9.60493841e-01 -7.66664594e-02 2.67532866e-01 6.71556619e+00] [ 7.36420021e-02 9.97056482e-01 2.13360728e-02 -6.77649699e-01] [-2.68381140e-01 -7.91510596e-04 9.63312482e-01 1.04930799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.68650248099996 meters Centerline goodness : 0.702980 with order 1 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.68, Z:0.11 [[ 9.61478339e-01 -7.65377973e-02 2.64010168e-01 6.70348925e+00] [ 7.33601139e-02 9.97065268e-01 2.18893801e-02 -6.80033254e-01] [-2.64910733e-01 -1.67834887e-03 9.64271480e-01 1.08227783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.74650248099996 meters Centerline goodness : 0.705936 with order 1 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.68, Z:0.11 [[ 9.61423513e-01 -7.71196105e-02 2.64040517e-01 6.70364615e+00] [ 7.40011009e-02 9.97020902e-01 2.17522118e-02 -6.80423305e-01] [-2.64931437e-01 -1.37379890e-03 9.64266274e-01 1.08140998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.80650248099997 meters Centerline goodness : 0.705754 with order 1 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.68, Z:0.11 [[ 9.61365842e-01 -7.72233426e-02 2.64220123e-01 6.70366045e+00] [ 7.42316612e-02 9.97013442e-01 2.13039306e-02 -6.80775705e-01] [-2.65076175e-01 -8.67372516e-04 9.64227084e-01 1.07417915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.86650248099997 meters Centerline goodness : 0.705085 with order 1 Centerline is valid? [False, False] Translation: X:6.69, Y:-0.68, Z:0.11 [[ 9.62715883e-01 -7.39010652e-02 2.60224445e-01 6.69209310e+00] [ 7.07826184e-02 9.97263297e-01 2.13479908e-02 -6.80840395e-01] [-2.61089927e-01 -2.13268224e-03 9.65312127e-01 1.12365832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.92650248099997 meters Centerline goodness : 0.702986 with order 1 Centerline is valid? [False, False] Translation: X:6.69, Y:-0.68, Z:0.11 [[ 9.62712666e-01 -7.23368463e-02 2.60675477e-01 6.69109269e+00] [ 6.95034485e-02 9.97379516e-01 2.00841241e-02 -6.79113246e-01] [-2.61445203e-01 -1.21739602e-03 9.65217553e-01 1.12010061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.98650248099997 meters Centerline goodness : 0.707146 with order 1 Centerline is valid? [False, False] Translation: X:6.69, Y:-0.68, Z:0.11 [[ 9.62602099e-01 -6.75249588e-02 2.62369167e-01 6.68713675e+00] [ 6.40334261e-02 9.97708627e-01 2.18452633e-02 -6.77682725e-01] [-2.63243082e-01 -4.22789965e-03 9.64720273e-01 1.13168675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.04650248099998 meters Centerline goodness : 0.706602 with order 1 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.68, Z:0.11 [[ 0.96260436 -0.06238666 0.26362995 6.68397581] [ 0.0580437 0.99801975 0.02423853 -0.67616334] [-0.26462005 -0.00803006 0.96431932 0.1140434 ] [ 0. 0. 0. 1. ]] SLAMing on 160.10650248099998 meters Centerline goodness : 0.705287 with order 1 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.68, Z:0.11 [[ 0.96247099 -0.05978642 0.26471718 6.68190328] [ 0.05561799 0.99818206 0.02322113 -0.6753274 ] [-0.26562425 -0.00762663 0.96404647 0.11325647] [ 0. 0. 0. 1. ]] SLAMing on 160.16650248099998 meters Centerline goodness : 0.705848 with order 1 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.67, Z:0.11 [[ 0.96245775 -0.05901106 0.26493918 6.68175229] [ 0.05505557 0.99823339 0.02233779 -0.67488967] [-0.26578931 -0.00691281 0.96400636 0.11186592] [ 0. 0. 0. 1. ]] SLAMing on 160.22650248099998 meters Centerline goodness : 0.705537 with order 1 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.68, Z:0.11 [[ 9.62421224e-01 -5.94642514e-02 2.64970547e-01 6.68194617e+00] [ 5.55538879e-02 9.98208093e-01 2.22343816e-02 -6.75931247e-01] [-2.65817896e-01 -6.67869666e-03 9.64000125e-01 1.11333516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.28650248099996 meters Centerline goodness : 0.707112 with order 1 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.68, Z:0.11 [[ 9.62142504e-01 -6.22291033e-02 2.65347583e-01 6.68168397e+00] [ 5.94821012e-02 9.98060074e-01 1.83839083e-02 -6.76419850e-01] [-2.65976843e-01 -1.90450783e-03 9.63977537e-01 1.11525628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.34650248099996 meters Centerline goodness : 0.707857 with order 1 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.68, Z:0.11 [[ 9.62050225e-01 -6.61801590e-02 2.64725428e-01 6.68343012e+00] [ 6.45503148e-02 9.97803787e-01 1.48613167e-02 -6.76894941e-01] [-2.65127559e-01 2.79077658e-03 9.64209308e-01 1.11233192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.40650248099996 meters Centerline goodness : 0.709801 with order 1 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.68, Z:0.11 [[ 9.61585126e-01 -6.96666506e-02 2.65519498e-01 6.68201745e+00] [ 6.88136461e-02 9.97550894e-01 1.25258262e-02 -6.79569908e-01] [-2.65741845e-01 6.22671665e-03 9.64024118e-01 1.14407658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.46650248099996 meters Centerline goodness : 0.709071 with order 1 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.68, Z:0.11 [[ 9.61579469e-01 -6.98612895e-02 2.65488843e-01 6.68211744e+00] [ 6.90373923e-02 9.97536435e-01 1.24458815e-02 -6.79999530e-01] [-2.65704279e-01 6.36095331e-03 9.64033596e-01 1.14273803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.52650248099997 meters Centerline goodness : 0.710028 with order 1 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.68, Z:0.11 [[ 9.61529115e-01 -6.92904334e-02 2.65820609e-01 6.68146876e+00] [ 6.85132969e-02 9.97575518e-01 1.22071433e-02 -6.80266478e-01] [-2.66021970e-01 6.47472261e-03 9.63945221e-01 1.14362233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.58650248099997 meters Centerline goodness : 0.711476 with order 1 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.68, Z:0.11 [[ 9.61493978e-01 -6.77739412e-02 2.66338175e-01 6.68058506e+00] [ 6.70898314e-02 9.97678602e-01 1.16774175e-02 -6.80561024e-01] [-2.66511322e-01 6.64081665e-03 9.63808910e-01 1.13440309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.64650248099997 meters Centerline goodness : 0.709858 with order 1 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.68, Z:0.11 [[ 9.61443338e-01 -6.66078773e-02 2.66814725e-01 6.67938704e+00] [ 6.56303491e-02 9.97764580e-01 1.25897053e-02 -6.83573249e-01] [-2.67056856e-01 5.40685528e-03 9.63665607e-01 1.14452138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.70650248099997 meters Centerline goodness : 0.709981 with order 1 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.69, Z:0.12 [[ 9.63808732e-01 -6.26676570e-02 2.59124475e-01 6.67525648e+00] [ 6.19041365e-02 9.98020222e-01 1.11137384e-02 -6.87133610e-01] [-2.59307938e-01 5.32935882e-03 9.65779991e-01 1.21452263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.76650248099997 meters Centerline goodness : 0.709131 with order 1 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.69, Z:0.12 [[ 0.96355093 -0.06535701 0.25941872 6.67552832] [ 0.06543191 0.99782205 0.00835596 -0.69092177] [-0.25939984 0.00892286 0.96572879 0.12062872] [ 0. 0. 0. 1. ]] SLAMing on 160.82650248099998 meters Centerline goodness : 0.711710 with order 1 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.70, Z:0.13 [[ 0.96470801 -0.06679374 0.25470975 6.66387474] [ 0.06668853 0.99773272 0.00905871 -0.69797509] [-0.25473732 0.00824721 0.96697512 0.12676587] [ 0. 0. 0. 1. ]] SLAMing on 160.88650248099998 meters Centerline goodness : 0.713458 with order 1 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.71, Z:0.13 [[ 0.96553523 -0.0708548 0.25044225 6.65284416] [ 0.07075157 0.99744942 0.00942712 -0.70583521] [-0.25047144 0.00861697 0.96808564 0.13408965] [ 0. 0. 0. 1. ]] SLAMing on 160.94650248099998 meters Centerline goodness : 0.712547 with order 1 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.71, Z:0.14 [[ 9.65011852e-01 -7.80972942e-02 2.50305691e-01 6.65405084e+00] [ 7.92824509e-02 9.96837778e-01 5.36075888e-03 -7.11331088e-01] [-2.49932829e-01 1.46716528e-02 9.68152015e-01 1.36316997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.00650248099996 meters Centerline goodness : 0.712066 with order 1 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.71, Z:0.14 [[ 9.64765673e-01 -8.17902957e-02 2.50075078e-01 6.65498737e+00] [ 8.38382309e-02 9.96476315e-01 2.47063914e-03 -7.12564734e-01] [-2.49395967e-01 1.85822643e-02 9.68223296e-01 1.37018635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.06650248099996 meters Centerline goodness : 0.713783 with order 1 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.71, Z:0.14 [[ 9.64515040e-01 -8.55365526e-02 2.49788381e-01 6.65627852e+00] [ 8.84114249e-02 9.96084000e-01 -2.90476131e-04 -7.14146213e-01] [-2.48785363e-01 2.23643153e-02 9.68300408e-01 1.37089087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.12650248099996 meters Centerline goodness : 0.712083 with order 1 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.72, Z:0.14 [[ 9.64302111e-01 -8.83020835e-02 2.49648115e-01 6.65696080e+00] [ 9.16302741e-02 9.95791616e-01 -1.71758664e-03 -7.16500783e-01] [-2.48445834e-01 2.45315977e-02 9.68335101e-01 1.38157141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.18650248099996 meters Centerline goodness : 0.715728 with order 1 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.72, Z:0.14 [[ 9.63883032e-01 -9.12462277e-02 2.50207167e-01 6.65618021e+00] [ 9.52549422e-02 9.95445141e-01 -3.93277478e-03 -7.18730209e-01] [-2.48708658e-01 2.76242041e-02 9.68184335e-01 1.40353722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.24650248099996 meters Centerline goodness : 0.715901 with order 1 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.72, Z:0.14 [[ 9.63703138e-01 -9.39702344e-02 2.49891690e-01 6.65805035e+00] [ 9.87401205e-02 9.95091423e-01 -6.59161477e-03 -7.19260504e-01] [-2.48045662e-01 3.10266954e-02 9.68251359e-01 1.38281639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.30650248099997 meters Centerline goodness : 0.148053 with order 1 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.72, Z:0.14 [[ 0.96367963 -0.09439477 0.24982235 6.65855629] [ 0.09923971 0.99504005 -0.00683971 -0.71956575] [-0.24793761 0.03138359 0.96826753 0.13752589] [ 0. 0. 0. 1. ]] SLAMing on 161.36650248099997 meters Centerline goodness : 0.460934 with order 2 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.72, Z:0.14 [[ 0.96373179 -0.0937514 0.2498634 6.6585913 ] [ 0.09862877 0.99509937 -0.00704275 -0.71882893] [-0.24797865 0.03143104 0.96825548 0.13661793] [ 0. 0. 0. 1. ]] SLAMing on 161.42650248099997 meters Centerline goodness : 0.458373 with order 2 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.72, Z:0.14 [[ 9.63964998e-01 -9.09214365e-02 2.50009550e-01 6.65786546e+00] [ 9.47290737e-02 9.95497903e-01 -3.21352507e-03 -7.19368224e-01] [-2.48591804e-01 2.67808988e-02 9.68238038e-01 1.36645491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.48650248099997 meters Centerline goodness : 0.493652 with order 2 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.72, Z:0.14 [[ 9.64220656e-01 -8.81655778e-02 2.50010716e-01 6.65713137e+00] [ 9.10959867e-02 9.95842105e-01 -1.50543482e-04 -7.18392892e-01] [-2.48957925e-01 2.29201300e-02 9.68243058e-01 1.37176996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.54650248099998 meters Centerline goodness : 0.582074 with order 3 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.72, Z:0.14 [[ 9.64217142e-01 -8.59644065e-02 2.50789599e-01 6.65551760e+00] [ 8.93250267e-02 9.96000469e-01 -2.02613216e-03 -7.15588971e-01] [-2.49612383e-01 2.43554190e-02 9.68039499e-01 1.36019287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.60650248099998 meters Centerline goodness : 0.342858 with order 1 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.71, Z:0.14 [[ 9.64313329e-01 -8.44876236e-02 2.50921592e-01 6.65496300e+00] [ 8.77806739e-02 9.96137937e-01 -1.93983604e-03 -7.14473892e-01] [-2.49788625e-01 2.38966762e-02 9.68005471e-01 1.35849335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.66650248099998 meters Centerline goodness : 0.232893 with order 1 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.72, Z:0.14 [[ 9.64739935e-01 -8.23237804e-02 2.49999305e-01 6.65587356e+00] [ 8.43539345e-02 9.96432458e-01 2.60191785e-03 -7.15391447e-01] [-2.49321622e-01 1.85782510e-02 9.68242520e-01 1.36494534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.72650248099998 meters Centerline goodness : 0.421810 with order 3 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.72, Z:0.14 [[ 9.64636984e-01 -8.26963638e-02 2.50273450e-01 6.65475993e+00] [ 8.46266586e-02 9.96408038e-01 3.05792247e-03 -7.17403100e-01] [-2.49627356e-01 1.82300207e-02 9.68170362e-01 1.38939571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.78650248099996 meters Centerline goodness : 0.223505 with order 1 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.72, Z:0.14 [[ 9.64559402e-01 -8.37229735e-02 2.50231139e-01 6.65481652e+00] [ 8.55255815e-02 9.96329175e-01 3.68114601e-03 -7.19411396e-01] [-2.49620781e-01 1.78504797e-02 9.68179129e-01 1.40250106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.84650248099996 meters Centerline goodness : 0.643288 with order 3 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.72, Z:0.14 [[ 9.64356797e-01 -8.69795447e-02 2.49901034e-01 6.65593833e+00] [ 8.95255093e-02 9.95983827e-01 1.18321382e-03 -7.21401074e-01] [-2.49000303e-01 2.12314770e-02 9.68270661e-01 1.40739327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.90650248099996 meters Centerline goodness : 0.630421 with order 1 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.73, Z:0.15 [[ 9.65673015e-01 -9.00684910e-02 2.43645838e-01 6.64748142e+00] [ 9.16515897e-02 9.95779301e-01 4.85488298e-03 -7.26039262e-01] [-2.43054755e-01 1.76422989e-02 9.69852120e-01 1.46305186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.96650248099996 meters Centerline goodness : 0.460916 with order 2 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.73, Z:0.15 [[ 9.65382983e-01 -9.44970431e-02 2.43117265e-01 6.64912288e+00] [ 9.68577729e-02 9.95295683e-01 2.25263058e-03 -7.28063910e-01] [-2.42186431e-01 2.13731456e-02 9.69994289e-01 1.47082570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.02650248099997 meters Centerline goodness : 0.729897 with order 1 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.73, Z:0.15 [[ 9.65255883e-01 -9.86174005e-02 2.41982829e-01 6.65172410e+00] [ 1.01661079e-01 9.94819087e-01 -9.29101081e-05 -7.28963575e-01] [-2.40719974e-01 2.46899176e-02 9.70280528e-01 1.47776328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.08650248099997 meters Centerline goodness : 0.147242 with order 1 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.73, Z:0.15 [[ 9.65383682e-01 -1.00359970e-01 2.40753450e-01 6.65411891e+00] [ 1.03383385e-01 9.94641579e-01 7.29613031e-05 -7.28821952e-01] [-2.39470714e-01 2.48194710e-02 9.70586303e-01 1.47725079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.14650248099997 meters Centerline goodness : 0.658310 with order 3 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.73, Z:0.15 [[ 9.65694238e-01 -1.01711491e-01 2.38933906e-01 6.65712559e+00] [ 1.04802711e-01 9.94493005e-01 -2.34408742e-04 -7.27446014e-01] [-2.37594256e-01 2.52672882e-02 9.71035804e-01 1.47880175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.20650248099997 meters Centerline goodness : 0.146825 with order 1 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.73, Z:0.15 [[ 9.65936892e-01 -1.01481608e-01 2.38049163e-01 6.65827692e+00] [ 1.04421516e-01 9.94533096e-01 2.61389775e-04 -7.26678863e-01] [-2.36774297e-01 2.46049684e-02 9.71253071e-01 1.48180004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.26650248099997 meters Centerline goodness : 0.719987 with order 1 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.73, Z:0.15 [[ 9.66182054e-01 -1.01478811e-01 2.37053348e-01 6.65890517e+00] [ 1.04193523e-01 9.94556453e-01 1.08201220e-03 -7.25363385e-01] [-2.35872738e-01 2.36540026e-02 9.71496032e-01 1.50609120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.32650248099998 meters Centerline goodness : 0.716348 with order 1 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.73, Z:0.16 [[ 9.68605908e-01 -9.79514699e-02 2.28490930e-01 6.65553457e+00] [ 1.00567745e-01 9.94930194e-01 1.94156892e-04 -7.26695266e-01] [-2.27351543e-01 2.27907560e-02 9.73546022e-01 1.57632914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.38650248099998 meters Centerline goodness : 0.712142 with order 1 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.72, Z:0.16 [[ 9.68988282e-01 -9.76930206e-02 2.26975294e-01 6.65799999e+00] [ 9.96726812e-02 9.95016475e-01 2.75142257e-03 -7.24890212e-01] [-2.26112952e-01 1.99571399e-02 9.73896630e-01 1.57513850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.44650248099998 meters Centerline goodness : 0.711678 with order 1 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.72, Z:0.16 [[ 9.69086563e-01 -9.75296352e-02 2.26625690e-01 6.65842129e+00] [ 9.97807164e-02 9.95008276e-01 1.52958219e-03 -7.21548427e-01] [-2.25643616e-01 2.11305761e-02 9.73980727e-01 1.57400703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.50650248099996 meters Centerline goodness : 0.706153 with order 1 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.72, Z:0.16 [[ 9.69470751e-01 -9.54875916e-02 2.25850799e-01 6.65942420e+00] [ 9.73000311e-02 9.95250206e-01 3.11936513e-03 -7.16126212e-01] [-2.25075915e-01 1.89511565e-02 9.74156910e-01 1.56314036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.56650248099996 meters Centerline goodness : 0.703845 with order 1 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.71, Z:0.15 [[ 0.97016615 -0.09189835 0.22434871 6.66159094] [ 0.09263169 0.99567385 0.00727729 -0.71059108] [-0.22404691 0.01372162 0.97448176 0.15470269] [ 0. 0. 0. 1. ]] SLAMing on 162.62650248099996 meters Centerline goodness : 0.701725 with order 1 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.70, Z:0.16 [[ 0.97083394 -0.08730825 0.2232907 6.66198966] [ 0.08690317 0.99614853 0.01165938 -0.70378211] [-0.22344866 0.00808534 0.97468217 0.15567093] [ 0. 0. 0. 1. ]] SLAMing on 162.68650248099996 meters Centerline goodness : 0.698919 with order 1 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.70, Z:0.15 [[ 9.71516149e-01 -8.24093981e-02 2.22182498e-01 6.66312836e+00] [ 8.08835708e-02 9.96595544e-01 1.59740022e-02 -6.97075231e-01] [-2.22742496e-01 2.45191278e-03 9.74874232e-01 1.54515948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.74650248099996 meters Centerline goodness : 0.698069 with order 1 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.69, Z:0.15 [[ 9.72008861e-01 -7.91961518e-02 2.21193903e-01 6.66525917e+00] [ 7.71204282e-02 9.96858948e-01 1.80188192e-02 -6.89260809e-01] [-2.21926143e-01 -4.55883354e-04 9.75063372e-01 1.51033823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.80650248099997 meters Centerline goodness : 0.694254 with order 1 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.68, Z:0.15 [[ 9.72526448e-01 -7.52858840e-02 2.20282418e-01 6.66646636e+00] [ 7.19598548e-02 9.97140080e-01 2.30963074e-02 -6.83918371e-01] [-2.21391254e-01 -6.61027901e-03 9.75162662e-01 1.50231603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.86650248099997 meters Centerline goodness : 0.693800 with order 1 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.68, Z:0.15 [[ 0.97274407 -0.07459072 0.21955683 6.66754448] [ 0.07061677 0.99716712 0.02590389 -0.68060086] [-0.22086704 -0.00969346 0.97525575 0.15105522] [ 0. 0. 0. 1. ]] SLAMing on 162.92650248099997 meters Centerline goodness : 0.691270 with order 1 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.68, Z:0.15 [[ 0.97288257 -0.07647581 0.21829098 6.67033381] [ 0.07269951 0.99703317 0.02529118 -0.6771306 ] [-0.21957751 -0.0087357 0.97555595 0.15035253] [ 0. 0. 0. 1. ]] SLAMing on 162.98650248099997 meters Centerline goodness : 0.689324 with order 1 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.67, Z:0.15 [[ 0.9730565 -0.07808742 0.21694102 6.67350736] [ 0.07428163 0.99690724 0.02565531 -0.6735934 ] [-0.21827343 -0.00884933 0.97584753 0.14873201] [ 0. 0. 0. 1. ]] SLAMing on 163.04650248099998 meters Centerline goodness : 0.688902 with order 1 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.67, Z:0.15 [[ 0.9732703 -0.07673996 0.21646224 6.67444568] [ 0.07237763 0.9969836 0.028021 -0.67168382] [-0.21795964 -0.01160498 0.97588879 0.14814537] [ 0. 0. 0. 1. ]] SLAMing on 163.10650248099998 meters Centerline goodness : 0.688985 with order 1 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.67, Z:0.15 [[ 0.97337987 -0.07321439 0.21718952 6.67264336] [ 0.0681881 0.9972044 0.03055756 -0.66910472] [-0.21881959 -0.01493437 0.97565104 0.14889408] [ 0. 0. 0. 1. ]] SLAMing on 163.16650248099998 meters Centerline goodness : 0.687502 with order 1 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.67, Z:0.15 [[ 0.97373096 -0.06995494 0.21668946 6.67298593] [ 0.06424965 0.99737904 0.03327212 -0.66688516] [-0.21844908 -0.01847587 0.97567343 0.14874173] [ 0. 0. 0. 1. ]] SLAMing on 163.22650248099998 meters Centerline goodness : 0.683592 with order 1 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.66, Z:0.15 [[ 0.97412387 -0.06372896 0.21684398 6.67209218] [ 0.05665954 0.99764438 0.03867033 -0.66396876] [-0.2187976 -0.02538341 0.97544005 0.14818928] [ 0. 0. 0. 1. ]] SLAMing on 163.28650248099996 meters Centerline goodness : 0.684686 with order 1 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.66, Z:0.15 [[ 0.97422156 -0.05926128 0.21767051 6.67052428] [ 0.05183173 0.99786682 0.03968971 -0.6602103 ] [-0.21955824 -0.02738433 0.97521499 0.14693411] [ 0. 0. 0. 1. ]] SLAMing on 163.34650248099996 meters Centerline goodness : 0.681446 with order 1 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.66, Z:0.15 [[ 0.97430471 -0.05648327 0.21803663 6.66971527] [ 0.04886646 0.99799707 0.04017356 -0.65838558] [-0.21986906 -0.02848661 0.97511338 0.14656159] [ 0. 0. 0. 1. ]] SLAMing on 163.40650248099996 meters Centerline goodness : 0.679044 with order 1 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.66, Z:0.15 [[ 0.97434976 -0.05640878 0.21785451 6.67007195] [ 0.04883921 0.99800618 0.03998006 -0.65822193] [-0.21967537 -0.02831472 0.97516204 0.14675162] [ 0. 0. 0. 1. ]] SLAMing on 163.46650248099996 meters Centerline goodness : 0.679455 with order 1 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.66, Z:0.15 [[ 0.97430745 -0.05706116 0.21787386 6.67028774] [ 0.04942251 0.99796239 0.04035445 -0.65922191] [-0.21973259 -0.02854976 0.9751423 0.14715192] [ 0. 0. 0. 1. ]] SLAMing on 163.52650248099997 meters Centerline goodness : 0.681210 with order 1 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.66, Z:0.15 [[ 0.97418759 -0.05772459 0.21823476 6.66982872] [ 0.050548 0.9979858 0.03833069 -0.66042874] [-0.22000781 -0.02630995 0.97514325 0.14749423] [ 0. 0. 0. 1. ]] SLAMing on 163.58650248099997 meters Centerline goodness : 0.682501 with order 1 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.66, Z:0.15 [[ 0.97404658 -0.06043333 0.21813086 6.67053974] [ 0.05394259 0.99790941 0.03559512 -0.66150081] [-0.21982597 -0.02290476 0.97527017 0.14748442] [ 0. 0. 0. 1. ]] SLAMing on 163.64650248099997 meters Centerline goodness : 0.680900 with order 1 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.66, Z:0.15 [[ 0.97385064 -0.06308725 0.21825428 6.67066106] [ 0.05751517 0.99783816 0.03179631 -0.66119844] [-0.21978839 -0.01841193 0.97537381 0.14792259] [ 0. 0. 0. 1. ]] SLAMing on 163.70650248099997 meters Centerline goodness : 0.682053 with order 1 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.66, Z:0.15 [[ 0.97392166 -0.06328883 0.2178787 6.67147867] [ 0.05760907 0.99781562 0.03232929 -0.66275871] [-0.21944885 -0.0189344 0.97544025 0.14822541] [ 0. 0. 0. 1. ]] SLAMing on 163.76650248099997 meters Centerline goodness : 0.683394 with order 1 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.66, Z:0.15 [[ 0.97394055 -0.06344651 0.21774835 6.67135184] [ 0.05789382 0.99781638 0.0317928 -0.66138513] [-0.21929001 -0.01835802 0.97548699 0.14920522] [ 0. 0. 0. 1. ]] SLAMing on 163.82650248099998 meters Centerline goodness : 0.687694 with order 1 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.66, Z:0.15 [[ 0.97364669 -0.06324256 0.21911754 6.66955332] [ 0.05853135 0.99789471 0.02793275 -0.6612355 ] [-0.22042277 -0.01437139 0.97529855 0.14830506] [ 0. 0. 0. 1. ]] SLAMing on 163.88650248099998 meters Centerline goodness : 0.687959 with order 1 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.66, Z:0.15 [[ 0.97359113 -0.06238862 0.21960866 6.66870954] [ 0.05757455 0.99794116 0.02825982 -0.66129463] [-0.22091961 -0.01486964 0.97517866 0.14840411] [ 0. 0. 0. 1. ]] SLAMing on 163.94650248099998 meters Centerline goodness : 0.690082 with order 1 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.66, Z:0.15 [[ 0.9736454 -0.06124593 0.21968974 6.66876762] [ 0.05641431 0.99800896 0.0282055 -0.66067321] [-0.2209798 -0.01506851 0.97516197 0.14739282] [ 0. 0. 0. 1. ]] SLAMing on 164.00650248099996 meters Centerline goodness : 0.692066 with order 1 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.66, Z:0.15 [[ 0.97355767 -0.060998 0.220147 6.66834802] [ 0.05634872 0.99803666 0.02734316 -0.66056699] [-0.22138265 -0.01421515 0.97508341 0.14634384] [ 0. 0. 0. 1. ]] SLAMing on 164.06650248099996 meters Centerline goodness : 0.691262 with order 1 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.66, Z:0.15 [[ 0.97368269 -0.06164898 0.21941155 6.6698423 ] [ 0.05706615 0.99800063 0.02716997 -0.66108199] [-0.22064787 -0.01393396 0.975254 0.14598511] [ 0. 0. 0. 1. ]] SLAMing on 164.12650248099996 meters Centerline goodness : 0.692942 with order 1 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.66, Z:0.15 [[ 0.9756763 -0.05835874 0.21130551 6.66629077] [ 0.0549238 0.99824608 0.02209379 -0.66276971] [-0.21222427 -0.00995069 0.97717032 0.15147929] [ 0. 0. 0. 1. ]] SLAMing on 164.18650248099996 meters Centerline goodness : 0.692265 with order 1 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.66, Z:0.15 [[ 0.97587737 -0.05828499 0.21039538 6.66758296] [ 0.05475959 0.99824494 0.02254823 -0.66227652] [-0.21134035 -0.01048315 0.97735631 0.15202443] [ 0. 0. 0. 1. ]] SLAMing on 164.24650248099996 meters Centerline goodness : 0.694479 with order 1 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.66, Z:0.15 [[ 0.97595349 -0.05699388 0.21039602 6.66676987] [ 0.0534627 0.99831772 0.02243811 -0.66093373] [-0.21132091 -0.01065022 0.97735871 0.15366085] [ 0. 0. 0. 1. ]] SLAMing on 164.30650248099997 meters Centerline goodness : 0.695631 with order 1 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.66, Z:0.15 [[ 0.97605551 -0.05676161 0.20998514 6.66711636] [ 0.05349663 0.99834294 0.02120085 -0.65871612] [-0.21084058 -0.00945971 0.97747469 0.15390053] [ 0. 0. 0. 1. ]] SLAMing on 164.36650248099997 meters Centerline goodness : 0.695556 with order 1 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.66, Z:0.15 [[ 0.97636459 -0.05682131 0.20852706 6.66957819] [ 0.05363625 0.99834176 0.02090165 -0.65681254] [-0.20936893 -0.00922302 0.97779322 0.15337516] [ 0. 0. 0. 1. ]] SLAMing on 164.42650248099997 meters Centerline goodness : 0.696775 with order 1 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.66, Z:0.15 [[ 0.97642535 -0.05786504 0.20795473 6.67049445] [ 0.05471447 0.9982838 0.0208754 -0.65765735] [-0.2088058 -0.00900513 0.97791566 0.15386851] [ 0. 0. 0. 1. ]] SLAMing on 164.48650248099997 meters Centerline goodness : 0.696908 with order 1 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.66, Z:0.15 [[ 0.97640418 -0.05851802 0.20787139 6.67058683] [ 0.05525708 0.99824142 0.02146455 -0.65942309] [-0.20876189 -0.00947171 0.97792063 0.15461668] [ 0. 0. 0. 1. ]] SLAMing on 164.54650248099998 meters Centerline goodness : 0.696183 with order 1 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.66, Z:0.16 [[ 0.97658748 -0.05921299 0.20681082 6.67229342] [ 0.05569282 0.99818743 0.02280712 -0.66005124] [-0.20778644 -0.01075527 0.97811508 0.15541919] [ 0. 0. 0. 1. ]] SLAMing on 164.60650248099998 meters Centerline goodness : 0.695739 with order 1 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.66, Z:0.16 [[ 9.76387736e-01 -6.30798454e-02 2.06610557e-01 6.67327606e+00] [ 6.04730944e-02 9.97990607e-01 1.89143556e-02 -6.60599261e-01] [-2.07388510e-01 -5.97336512e-03 9.78240423e-01 1.55266105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.66650248099998 meters Centerline goodness : 0.695853 with order 1 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.66, Z:0.16 [[ 9.76268312e-01 -6.75259972e-02 2.05767887e-01 6.67545070e+00] [ 6.55734431e-02 9.97714575e-01 1.63018487e-02 -6.61958660e-01] [-2.06398418e-01 -2.42206949e-03 9.78465036e-01 1.55295569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.72650248099998 meters Centerline goodness : 0.696314 with order 1 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.66, Z:0.16 [[ 9.76235869e-01 -6.99112571e-02 2.05124219e-01 6.67679571e+00] [ 6.80261233e-02 9.97551411e-01 1.62366573e-02 -6.62607681e-01] [-2.05757079e-01 -1.89700184e-03 9.78601260e-01 1.55758398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.78650248099996 meters Centerline goodness : 0.695950 with order 1 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.66, Z:0.16 [[ 9.76153511e-01 -7.02083602e-02 2.05414479e-01 6.67552122e+00] [ 6.83049718e-02 9.97530480e-01 1.63515308e-02 -6.63009431e-01] [-2.06055218e-01 -1.93077394e-03 9.78538461e-01 1.58251030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.84650248099996 meters Centerline goodness : 0.694081 with order 1 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.66, Z:0.16 [[ 9.76296761e-01 -7.04504403e-02 2.04649384e-01 6.67655770e+00] [ 6.85062954e-02 9.97512930e-01 1.65783582e-02 -6.62216440e-01] [-2.05308359e-01 -2.16562627e-03 9.78694941e-01 1.58660949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.90650248099996 meters Centerline goodness : 0.696922 with order 1 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.66, Z:0.16 [[ 9.76202079e-01 -7.17158144e-02 2.04661532e-01 6.67663167e+00] [ 6.98053467e-02 9.97423356e-01 1.65488043e-02 -6.63357005e-01] [-2.05321003e-01 -1.86850797e-03 9.78692901e-01 1.59175332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.96650248099996 meters Centerline goodness : 0.695470 with order 1 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.66, Z:0.16 [[ 9.76170207e-01 -7.25334673e-02 2.04525362e-01 6.67690015e+00] [ 7.04816587e-02 9.97362893e-01 1.73088241e-02 -6.64671137e-01] [-2.05241476e-01 -2.48107168e-03 9.78708221e-01 1.59685319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.02650248099997 meters Centerline goodness : 0.695706 with order 1 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.67, Z:0.15 [[ 9.77229480e-01 -6.94161380e-02 2.00509209e-01 6.73207036e+00] [ 6.77470969e-02 9.97587004e-01 1.51822295e-02 -6.66971276e-01] [-2.01079273e-01 -1.25260545e-03 9.79574171e-01 1.50153406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.08650248099997 meters Centerline goodness : 0.695172 with order 1 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.67, Z:0.15 [[ 9.77440576e-01 -6.83201813e-02 1.99855631e-01 6.73366622e+00] [ 6.66041816e-02 9.97662084e-01 1.53051719e-02 -6.66282136e-01] [-2.00434038e-01 -1.64867531e-03 9.79705812e-01 1.48332646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.14650248099997 meters Centerline goodness : 0.692850 with order 1 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.67, Z:0.15 [[ 9.77664744e-01 -6.54547350e-02 1.99718115e-01 6.73388462e+00] [ 6.30694860e-02 9.97841547e-01 1.82889828e-02 -6.65819761e-01] [-2.00484133e-01 -5.28437484e-03 9.79682697e-01 1.47088106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.20650248099997 meters Centerline goodness : 0.694070 with order 1 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.67, Z:0.15 [[ 9.77583596e-01 -6.41128463e-02 2.00548888e-01 6.73215384e+00] [ 6.16740439e-02 9.97926883e-01 1.83915222e-02 -6.65367229e-01] [-2.01312259e-01 -5.61058950e-03 9.79511049e-01 1.47631016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.26650248099997 meters Centerline goodness : 0.694975 with order 1 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.67, Z:0.15 [[ 9.77351838e-01 -6.34740965e-02 2.01877251e-01 6.72924439e+00] [ 6.11349902e-02 9.97970647e-01 1.78073070e-02 -6.65817661e-01] [-2.02597873e-01 -5.06224050e-03 9.79248934e-01 1.49574095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.32650248099998 meters Centerline goodness : 0.695641 with order 1 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.66, Z:0.15 [[ 9.77433596e-01 -6.28095152e-02 2.01689194e-01 6.72974162e+00] [ 6.07333726e-02 9.98018104e-01 1.64718517e-02 -6.63585394e-01] [-2.02324056e-01 -3.85087628e-03 9.79311057e-01 1.48256015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.38650248099998 meters Centerline goodness : 0.695929 with order 1 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.66, Z:0.15 [[ 9.77621479e-01 -6.13518182e-02 2.01226733e-01 6.73080154e+00] [ 5.92808711e-02 9.98108133e-01 1.63074547e-02 -6.62167279e-01] [-2.01846531e-01 -4.01362193e-03 9.79408938e-01 1.46683687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.44650248099998 meters Centerline goodness : 0.699752 with order 1 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.66, Z:0.15 [[ 9.77395389e-01 -6.12124487e-02 2.02364248e-01 6.72833539e+00] [ 5.89898372e-02 9.98113787e-01 1.70019855e-02 -6.64214333e-01] [-2.03023279e-01 -4.68022821e-03 9.79162726e-01 1.48951955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.50650248099996 meters Centerline goodness : 0.702206 with order 1 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.67, Z:0.15 [[ 9.77168937e-01 -6.31798027e-02 2.02852609e-01 6.72797229e+00] [ 6.15065725e-02 9.98000645e-01 1.45483548e-02 -6.65848537e-01] [-2.03366197e-01 -1.73943165e-03 9.79101202e-01 1.49017418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.56650248099996 meters Centerline goodness : 0.704162 with order 1 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.67, Z:0.15 [[ 9.76986970e-01 -6.57198440e-02 2.02922062e-01 6.72821216e+00] [ 6.48671792e-02 9.97834841e-01 1.08571799e-02 -6.66353148e-01] [-2.03196236e-01 2.55565849e-03 9.79134699e-01 1.49025692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.62650248099996 meters Centerline goodness : 0.704430 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.67, Z:0.15 [[ 9.78571665e-01 -6.48518183e-02 1.95427067e-01 6.72009761e+00] [ 6.33287610e-02 9.97893976e-01 1.40385251e-02 -6.71060517e-01] [-1.95925917e-01 -1.36154886e-03 9.80617755e-01 1.52667593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.68650248099996 meters Centerline goodness : 0.706227 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.67, Z:0.15 [[ 9.78569458e-01 -6.54352227e-02 1.95243558e-01 6.72055193e+00] [ 6.38534697e-02 9.97855511e-01 1.43914727e-02 -6.72437933e-01] [-1.95766569e-01 -1.61607703e-03 9.80649192e-01 1.52776717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.74650248099996 meters Centerline goodness : 0.707409 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.67, Z:0.15 [[ 9.78433670e-01 -6.62246695e-02 1.95657475e-01 6.71961027e+00] [ 6.44340723e-02 9.97801432e-01 1.55097796e-02 -6.73789573e-01] [-1.96254439e-01 -2.56828264e-03 9.80549641e-01 1.54608908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.80650248099997 meters Centerline goodness : 0.709504 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.67, Z:0.16 [[ 9.78400806e-01 -6.59253105e-02 1.95922732e-01 6.71867863e+00] [ 6.41460428e-02 9.97821380e-01 1.54200810e-02 -6.73953028e-01] [-1.96512465e-01 -2.51935173e-03 9.80498090e-01 1.56085088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.86650248099997 meters Centerline goodness : 0.708041 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.67, Z:0.16 [[ 9.78331099e-01 -6.60612134e-02 1.96224810e-01 6.71793826e+00] [ 6.43588559e-02 9.97813380e-01 1.50464785e-02 -6.73723458e-01] [-1.96789730e-01 -2.09163357e-03 9.80443485e-01 1.56973977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.92650248099997 meters Centerline goodness : 0.711827 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.67, Z:0.16 [[ 9.78444241e-01 -6.71772664e-02 1.95279500e-01 6.71965691e+00] [ 6.54165367e-02 9.97738285e-01 1.54593644e-02 -6.73595479e-01] [-1.95876351e-01 -2.35161749e-03 9.80625782e-01 1.56977324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.98650248099997 meters Centerline goodness : 0.708708 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.68, Z:0.16 [[ 9.78435963e-01 -6.86221217e-02 1.94818047e-01 6.72093301e+00] [ 6.67936509e-02 9.97639360e-01 1.59472877e-02 -6.76045122e-01] [-1.95452489e-01 -2.59079115e-03 9.80709749e-01 1.56582976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.04650248099998 meters Centerline goodness : 0.710254 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.68, Z:0.16 [[ 9.78466421e-01 -6.96485041e-02 1.94300150e-01 6.72180788e+00] [ 6.76975847e-02 9.97566594e-01 1.66711536e-02 -6.77428118e-01] [-1.94988460e-01 -3.15851311e-03 9.80800451e-01 1.57172430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.10650248099998 meters Centerline goodness : 0.713209 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.68, Z:0.16 [[ 9.78464321e-01 -6.97142622e-02 1.94287145e-01 6.72189052e+00] [ 6.77812587e-02 9.97562303e-01 1.65876990e-02 -6.76589098e-01] [-1.94969932e-01 -3.06144440e-03 9.80804442e-01 1.57100770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.16650248099998 meters Centerline goodness : 0.714201 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.68, Z:0.16 [[ 9.78131225e-01 -6.98589903e-02 1.95905663e-01 6.71923032e+00] [ 6.86529024e-02 9.97556568e-01 1.29488198e-02 -6.76023284e-01] [-1.96331573e-01 7.83847465e-04 9.80537250e-01 1.57331350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.22650248099998 meters Centerline goodness : 0.716498 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.68, Z:0.16 [[ 9.78311545e-01 -6.85905000e-02 1.95452974e-01 6.71987087e+00] [ 6.68245084e-02 9.97642421e-01 1.56232178e-02 -6.75159613e-01] [-1.96063783e-01 -2.22332542e-03 9.80588624e-01 1.57266352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.28650248099996 meters Centerline goodness : 0.715084 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.67, Z:0.16 [[ 9.78318138e-01 -6.81823707e-02 1.95562739e-01 6.72013912e+00] [ 6.66111559e-02 9.97672073e-01 1.46078191e-02 -6.73307120e-01] [-1.96103479e-01 -1.26443435e-03 9.80582392e-01 1.55806019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.34650248099996 meters Centerline goodness : 0.717501 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.67, Z:0.15 [[ 9.78198625e-01 -6.85983823e-02 1.96014571e-01 6.71980186e+00] [ 6.72923043e-02 9.97644344e-01 1.33232370e-02 -6.72751263e-01] [-1.96466781e-01 1.57500016e-04 9.80510469e-01 1.54885532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.40650248099996 meters Centerline goodness : 0.716250 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.67, Z:0.15 [[ 9.78283565e-01 -6.86488029e-02 1.95572517e-01 6.72056403e+00] [ 6.72430182e-02 9.97640818e-01 1.38266274e-02 -6.72407949e-01] [-1.96060307e-01 -3.75476094e-04 9.80591768e-01 1.54942600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.46650248099996 meters Centerline goodness : 0.714364 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.67, Z:0.16 [[ 9.78233328e-01 -6.80846340e-02 1.96020503e-01 6.71943522e+00] [ 6.65551498e-02 9.97679020e-01 1.43869909e-02 -6.72929523e-01] [-1.96545077e-01 -1.02766001e-03 9.80494251e-01 1.56308459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.52650248099997 meters Centerline goodness : 0.715458 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.67, Z:0.16 [[ 9.78244634e-01 -6.74520232e-02 1.96182724e-01 6.71868938e+00] [ 6.57650084e-02 9.97720752e-01 1.51084494e-02 -6.73512495e-01] [-1.96754670e-01 -1.87780112e-03 9.80450954e-01 1.57620679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.58650248099997 meters Centerline goodness : 0.716682 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.67, Z:0.16 [[ 9.78413205e-01 -6.62246468e-02 1.95759791e-01 6.71973730e+00] [ 6.44524989e-02 9.97801691e-01 1.54162839e-02 -6.72604727e-01] [-1.96350388e-01 -2.46628803e-03 9.80530694e-01 1.56123393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.64650248099997 meters Centerline goodness : 0.717322 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.67, Z:0.15 [[ 9.78531565e-01 -6.59908468e-02 1.95246470e-01 6.72106903e+00] [ 6.43483162e-02 9.97818476e-01 1.47507281e-02 -6.71565875e-01] [-1.95793948e-01 -1.87027148e-03 9.80643275e-01 1.54466192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.70650248099997 meters Centerline goodness : 0.713147 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.67, Z:0.15 [[ 9.78578638e-01 -6.64990681e-02 1.94837684e-01 6.72230809e+00] [ 6.50840123e-02 9.97786249e-01 1.36628169e-02 -6.70674432e-01] [-1.95314927e-01 -6.89322477e-04 9.80740335e-01 1.52862287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.76650248099997 meters Centerline goodness : 0.711728 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.67, Z:0.15 [[ 9.78695846e-01 -6.69673093e-02 1.94087147e-01 6.72353089e+00] [ 6.56282965e-02 9.97755123e-01 1.33282127e-02 -6.70318699e-01] [-1.94544000e-01 -3.06657621e-04 9.80893745e-01 1.52870342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.82650248099998 meters Centerline goodness : 0.710192 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.67, Z:0.15 [[ 9.79008630e-01 -6.55644035e-02 1.92985523e-01 6.72466760e+00] [ 6.33091247e-02 9.97834557e-01 1.78368203e-02 -6.71398873e-01] [-1.93737084e-01 -5.24465647e-03 9.81039467e-01 1.54522418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.88650248099998 meters Centerline goodness : 0.710669 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.67, Z:0.16 [[ 9.78924242e-01 -6.59940579e-02 1.93266946e-01 6.72383668e+00] [ 6.36964074e-02 9.97805438e-01 1.80852059e-02 -6.72849191e-01] [-1.94036326e-01 -5.39363634e-03 9.80979517e-01 1.55987477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.94650248099998 meters Centerline goodness : 0.709298 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.68, Z:0.16 [[ 9.78871500e-01 -6.74072267e-02 1.93046241e-01 6.72398286e+00] [ 6.49627611e-02 9.97707322e-01 1.89720771e-02 -6.75342856e-01] [-1.93882504e-01 -6.03040874e-03 9.81006223e-01 1.57502143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.00650248099996 meters Centerline goodness : 0.708995 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.68, Z:0.16 [[ 9.78762805e-01 -6.85597765e-02 1.93191429e-01 6.72372958e+00] [ 6.60392734e-02 9.97627165e-01 1.94641711e-02 -6.78018689e-01] [-1.94067477e-01 -6.29258513e-03 9.80968000e-01 1.58602446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.06650248099996 meters Centerline goodness : 0.709361 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.68, Z:0.16 [[ 9.78555383e-01 -7.10747083e-02 1.93333255e-01 6.72422689e+00] [ 6.91073152e-02 9.97465905e-01 1.69099873e-02 -6.80027686e-01] [-1.94045203e-01 -3.18661690e-03 9.80987413e-01 1.58050554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.12650248099996 meters Centerline goodness : 0.710352 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.68, Z:0.16 [[ 9.78510092e-01 -7.02719970e-02 1.93855218e-01 6.72384609e+00] [ 6.81410239e-02 9.97519611e-01 1.76472704e-02 -6.82446757e-01] [-1.94614490e-01 -4.05853917e-03 9.80871413e-01 1.56900550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.18650248099996 meters Centerline goodness : 0.708977 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.68, Z:0.15 [[ 9.78606056e-01 -6.83710579e-02 1.94050472e-01 6.72415798e+00] [ 6.60898028e-02 9.97647437e-01 1.82134546e-02 -6.83280331e-01] [-1.94839229e-01 -4.99903952e-03 9.80822453e-01 1.54635400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.24650248099996 meters Centerline goodness : 0.709075 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.68, Z:0.15 [[ 9.78589037e-01 -6.68519327e-02 1.94664625e-01 6.72310752e+00] [ 6.44757351e-02 9.97747322e-01 1.85246256e-02 -6.83688543e-01] [-1.95464515e-01 -5.57685071e-03 9.80694918e-01 1.54350880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.30650248099997 meters Centerline goodness : 0.710463 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.68, Z:0.15 [[ 9.78545605e-01 -6.62586166e-02 1.95085352e-01 6.72246532e+00] [ 6.39545640e-02 9.97788787e-01 1.80928356e-02 -6.84259495e-01] [-1.95852783e-01 -5.22806614e-03 9.80619373e-01 1.54048573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.36650248099997 meters Centerline goodness : 0.708875 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.69, Z:0.15 [[ 9.78432076e-01 -6.55469920e-02 1.95893503e-01 6.72072109e+00] [ 6.32921862e-02 9.97837088e-01 1.77551295e-02 -6.85277635e-01] [-1.96633598e-01 -4.97366010e-03 9.80464426e-01 1.54935357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.42650248099997 meters Centerline goodness : 0.710467 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.69, Z:0.16 [[ 9.78364404e-01 -6.41358612e-02 1.96696933e-01 6.71868971e+00] [ 6.18149748e-02 9.97926696e-01 1.79225826e-02 -6.85690786e-01] [-1.97438600e-01 -5.37600093e-03 9.80300514e-01 1.56386324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.48650248099997 meters Centerline goodness : 0.710771 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.69, Z:0.16 [[ 9.78391578e-01 -6.31211018e-02 1.96889934e-01 6.71801527e+00] [ 6.07875633e-02 9.97990585e-01 1.78791532e-02 -6.86660896e-01] [-1.97622852e-01 -5.52435357e-03 9.80262562e-01 1.56873898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.54650248099998 meters Centerline goodness : 0.710631 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.69, Z:0.16 [[ 9.78440555e-01 -6.21678881e-02 1.96949828e-01 6.71829366e+00] [ 5.98345942e-02 9.98049919e-01 1.77814936e-02 -6.87556505e-01] [-1.97671198e-01 -5.61372140e-03 9.80252306e-01 1.55487780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.60650248099998 meters Centerline goodness : 0.712055 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.69, Z:0.16 [[ 9.78202840e-01 -6.26037088e-02 1.97989845e-01 6.71651681e+00] [ 6.06634499e-02 9.98032328e-01 1.58561985e-02 -6.90024356e-01] [-1.98592922e-01 -3.49983136e-03 9.80075815e-01 1.56037972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.66650248099998 meters Centerline goodness : 0.715313 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.69, Z:0.16 [[ 9.77975024e-01 -6.55284439e-02 1.98168804e-01 6.71617226e+00] [ 6.41512058e-02 9.97850636e-01 1.33690185e-02 -6.92836947e-01] [-1.98618919e-01 -3.61798416e-04 9.80076729e-01 1.57560765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.72650248099995 meters Centerline goodness : 0.714608 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.70, Z:0.16 [[ 9.77695517e-01 -6.93738050e-02 1.98239128e-01 6.71699685e+00] [ 6.85659034e-02 9.97586546e-01 1.09453573e-02 -6.96608680e-01] [-1.98520008e-01 2.89121815e-03 9.80092571e-01 1.57307433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.78650248099996 meters Centerline goodness : 0.714603 with order 1 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.70, Z:0.16 [[ 9.78752262e-01 -7.39561617e-02 1.91244595e-01 6.70971735e+00] [ 7.29236889e-02 9.97259923e-01 1.24410869e-02 -7.04290746e-01] [-1.91640666e-01 1.76951948e-03 9.81463562e-01 1.61604297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.84650248099996 meters Centerline goodness : 0.714941 with order 1 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.71, Z:0.16 [[ 9.78464214e-01 -7.92580113e-02 1.90593676e-01 6.71191208e+00] [ 7.88073249e-02 9.96840156e-01 9.95532066e-03 -7.07324327e-01] [-1.90780469e-01 5.27925276e-03 9.81618532e-01 1.61722148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.90650248099996 meters Centerline goodness : 0.715055 with order 1 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.71, Z:0.16 [[ 0.97808581 -0.08391816 0.19054103 6.71223713] [ 0.0838334 0.99644336 0.00852015 -0.71040616] [-0.19057834 0.00764026 0.98164226 0.1645583 ] [ 0. 0. 0. 1. ]] SLAMing on 167.96650248099996 meters Centerline goodness : 0.714981 with order 1 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.71, Z:0.17 [[ 0.9780629 -0.08502004 0.19016982 6.71288041] [ 0.08492143 0.99634982 0.00868274 -0.71124034] [-0.19021387 0.00765723 0.98171281 0.16546556] [ 0. 0. 0. 1. ]] SLAMing on 168.02650248099997 meters Centerline goodness : 0.715263 with order 1 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.71, Z:0.17 [[ 0.9781581 -0.08498834 0.18969373 6.71350006] [ 0.08482363 0.99635531 0.00900222 -0.71108133] [-0.18976744 0.00728492 0.98180204 0.16592105] [ 0. 0. 0. 1. ]] SLAMing on 168.08650248099997 meters Centerline goodness : 0.714594 with order 1 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.71, Z:0.16 [[ 0.97829095 -0.08427996 0.18932432 6.71471035] [ 0.08417012 0.99641398 0.00863522 -0.70995115] [-0.18937317 0.00748769 0.98187664 0.16385974] [ 0. 0. 0. 1. ]] SLAMing on 168.14650248099997 meters Centerline goodness : 0.716671 with order 1 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.71, Z:0.16 [[ 9.78506415e-01 -8.08216728e-02 1.89718351e-01 6.71373211e+00] [ 7.99096348e-02 9.96724172e-01 1.24649232e-02 -7.11007099e-01] [-1.90104303e-01 2.96331680e-03 9.81759427e-01 1.63585183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.20650248099997 meters Centerline goodness : 0.717448 with order 1 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.71, Z:0.16 [[ 9.78621786e-01 -8.00759140e-02 1.89439298e-01 6.71392040e+00] [ 7.90106696e-02 9.96786622e-01 1.31811995e-02 -7.11012248e-01] [-1.89886055e-01 2.06831677e-03 9.81803956e-01 1.63981556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.26650248099997 meters Centerline goodness : 0.718682 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.71, Z:0.16 [[ 9.78798109e-01 -7.99706082e-02 1.88570844e-01 6.71595883e+00] [ 7.90392183e-02 9.96793558e-01 1.24661355e-02 -7.09890870e-01] [-1.88963127e-01 2.70266227e-03 9.81980464e-01 1.62034738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.32650248099998 meters Centerline goodness : 0.718431 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.71, Z:0.16 [[ 9.78985093e-01 -8.16171587e-02 1.86887207e-01 6.71944565e+00] [ 8.07787079e-02 9.96658486e-01 1.21104225e-02 -7.08596753e-01] [-1.87251139e-01 3.24058395e-03 9.82306729e-01 1.60647212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.38650248099998 meters Centerline goodness : 0.718181 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.71, Z:0.16 [[ 9.78961960e-01 -8.29513116e-02 1.86420389e-01 6.72045202e+00] [ 8.20976384e-02 9.96548284e-01 1.23083225e-02 -7.09385607e-01] [-1.86797910e-01 3.25529413e-03 9.82392968e-01 1.61015961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.44650248099998 meters Centerline goodness : 0.716385 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.71, Z:0.16 [[ 9.79033197e-01 -8.29327634e-02 1.86054176e-01 6.72078177e+00] [ 8.20925121e-02 9.96549679e-01 1.22293632e-02 -7.07487039e-01] [-1.86426444e-01 3.30070212e-03 9.82463377e-01 1.61658044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.50650248099996 meters Centerline goodness : 0.715809 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.71, Z:0.16 [[ 9.79255714e-01 -8.12831218e-02 1.85610618e-01 6.72089885e+00] [ 8.00281965e-02 9.96690652e-01 1.42559678e-02 -7.05392312e-01] [-1.86155137e-01 8.93845038e-04 9.82519957e-01 1.62213637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.56650248099996 meters Centerline goodness : 0.712600 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.70, Z:0.16 [[ 9.79267598e-01 -8.04387849e-02 1.85915499e-01 6.71976353e+00] [ 7.93266923e-02 9.96758265e-01 1.34252615e-02 -7.04183574e-01] [-1.86392722e-01 1.60113804e-03 9.82474015e-01 1.63215505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.62650248099996 meters Centerline goodness : 0.713687 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.70, Z:0.16 [[ 9.79462074e-01 -7.82416008e-02 1.85828679e-01 6.71951280e+00] [ 7.65588918e-02 9.96933037e-01 1.62251907e-02 -7.03175417e-01] [-1.86528234e-01 -1.66512123e-03 9.82448190e-01 1.63325487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.68650248099996 meters Centerline goodness : 0.713039 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.70, Z:0.16 [[ 9.79479061e-01 -7.70383325e-02 1.86241415e-01 6.71874322e+00] [ 7.54285742e-02 9.97027212e-01 1.57247778e-02 -7.02131951e-01] [-1.86899169e-01 -1.35416619e-03 9.82378169e-01 1.62722914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.74650248099996 meters Centerline goodness : 0.713574 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.70, Z:0.16 [[ 9.79575035e-01 -7.65223770e-02 1.85949124e-01 6.71971868e+00] [ 7.49634785e-02 9.97067193e-01 1.54106647e-02 -7.01578991e-01] [-1.86583032e-01 -1.15650922e-03 9.82438514e-01 1.61136354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.80650248099997 meters Centerline goodness : 0.711140 with order 1 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.70, Z:0.16 [[ 0.98136969 -0.07269229 0.17784644 6.71217371] [ 0.07023938 0.99732848 0.02005828 -0.70324444] [-0.1788294 -0.00719276 0.9838538 0.16349407] [ 0. 0. 0. 1. ]] SLAMing on 168.86650248099997 meters Centerline goodness : 0.711631 with order 1 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.70, Z:0.16 [[ 9.81348247e-01 -7.31695317e-02 1.77769055e-01 6.71216054e+00] [ 7.09179882e-02 9.97301262e-01 1.89955604e-02 -7.02421022e-01] [-1.78679199e-01 -6.03423614e-03 9.83888882e-01 1.63851456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.92650248099997 meters Centerline goodness : 0.709393 with order 1 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.70, Z:0.16 [[ 9.81461970e-01 -7.31452467e-02 1.77150148e-01 6.71265609e+00] [ 7.09035365e-02 9.97302958e-01 1.89604488e-02 -7.00566316e-01] [-1.78059233e-01 -6.04838742e-03 9.84001182e-01 1.64891479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.98650248099997 meters Centerline goodness : 0.707665 with order 1 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.70, Z:0.17 [[ 0.98179799 -0.07158699 0.17592048 6.71407728] [ 0.06870125 0.9973847 0.02244774 -0.69972059] [-0.17706736 -0.00995319 0.98414841 0.1658131 ] [ 0. 0. 0. 1. ]] SLAMing on 169.04650248099998 meters Centerline goodness : 0.708119 with order 1 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.70, Z:0.17 [[ 0.9817874 -0.07167127 0.17594523 6.7135259 ] [ 0.06916731 0.99739788 0.02033123 -0.69780701] [-0.17694456 -0.00779129 0.98418998 0.16663668] [ 0. 0. 0. 1. ]] SLAMing on 169.10650248099998 meters Centerline goodness : 0.703204 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.70, Z:0.17 [[ 0.98205789 -0.07225754 0.1741871 6.71631962] [ 0.06976997 0.9973551 0.02037048 -0.69525742] [-0.17519832 -0.00785196 0.98450185 0.16668931] [ 0. 0. 0. 1. ]] SLAMing on 169.16650248099998 meters Centerline goodness : 0.700955 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.70, Z:0.17 [[ 0.98201859 -0.07291643 0.17413412 6.71576391] [ 0.0704226 0.99730728 0.02046571 -0.69592651] [-0.17515751 -0.00783473 0.98450925 0.16863945] [ 0. 0. 0. 1. ]] SLAMing on 169.22650248099995 meters Centerline goodness : 0.702231 with order 1 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.70, Z:0.17 [[ 9.81698212e-01 -7.52844037e-02 1.74931067e-01 6.71405888e+00] [ 7.34590289e-02 9.97155102e-01 1.68959691e-02 -6.96947589e-01] [-1.75705409e-01 -3.73647640e-03 9.84435700e-01 1.70726218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.28650248099996 meters Centerline goodness : 0.700024 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.70, Z:0.17 [[ 9.81862938e-01 -7.58208632e-02 1.73771021e-01 6.71583024e+00] [ 7.37768896e-02 9.97108663e-01 1.82012275e-02 -6.97466927e-01] [-1.74648623e-01 -5.05082529e-03 9.84617869e-01 1.71313268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.34650248099996 meters Centerline goodness : 0.699102 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.70, Z:0.17 [[ 9.81968751e-01 -7.59673756e-02 1.73107856e-01 6.71729638e+00] [ 7.39360934e-02 9.97097589e-01 1.81618203e-02 -6.98290363e-01] [-1.73985132e-01 -5.03542141e-03 9.84735405e-01 1.70386311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.40650248099996 meters Centerline goodness : 0.699243 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.70, Z:0.17 [[ 9.82013160e-01 -7.64397387e-02 1.72647386e-01 6.71730200e+00] [ 7.43854701e-02 9.97060776e-01 1.83469598e-02 -6.98935847e-01] [-1.73542374e-01 -5.17449895e-03 9.84812809e-01 1.72328746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.46650248099996 meters Centerline goodness : 0.696812 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.70, Z:0.17 [[ 9.82056537e-01 -7.74167577e-02 1.71963959e-01 6.71762213e+00] [ 7.53087617e-02 9.96983805e-01 1.87585349e-02 -6.98836112e-01] [-1.72897507e-01 -5.47154902e-03 9.84924624e-01 1.74774431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.52650248099997 meters Centerline goodness : 0.696039 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.70, Z:0.17 [[ 9.82129335e-01 -7.78825417e-02 1.71336741e-01 6.71849510e+00] [ 7.59512528e-02 9.96952490e-01 1.78084426e-02 -6.98063903e-01] [-1.72201557e-01 -4.47695374e-03 9.85051562e-01 1.74966475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.58650248099997 meters Centerline goodness : 0.690418 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.70, Z:0.18 [[ 0.98243022 -0.07465874 0.17104657 6.71779696] [ 0.07215163 0.99717601 0.02083622 -0.69723529] [-0.17211914 -0.00812885 0.9850426 0.17634856] [ 0. 0. 0. 1. ]] SLAMing on 169.64650248099997 meters Centerline goodness : 0.695479 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.70, Z:0.18 [[ 0.9826175 -0.07081776 0.17160333 6.71508285] [ 0.06764107 0.99741385 0.0242962 -0.69767222] [-0.17288014 -0.01226644 0.98486648 0.17958372] [ 0. 0. 0. 1. ]] SLAMing on 169.70650248099997 meters Centerline goodness : 0.691313 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.70, Z:0.18 [[ 0.98268197 -0.07074992 0.17126179 6.71517258] [ 0.06748389 0.99741147 0.02482507 -0.69858871] [-0.17257485 -0.01283774 0.98491274 0.18072798] [ 0. 0. 0. 1. ]] SLAMing on 169.76650248099997 meters Centerline goodness : 0.691728 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.70, Z:0.18 [[ 0.98244724 -0.0739088 0.17127436 6.71527392] [ 0.07118779 0.99722066 0.02198309 -0.69994448] [-0.17242308 -0.00940458 0.98497809 0.18188232] [ 0. 0. 0. 1. ]] SLAMing on 169.82650248099998 meters Centerline goodness : 0.689630 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.70, Z:0.18 [[ 9.82210605e-01 -7.79912239e-02 1.70820653e-01 6.71669228e+00] [ 7.57913580e-02 9.96935502e-01 1.93720384e-02 -7.02497947e-01] [-1.71808023e-01 -6.08069229e-03 9.85111683e-01 1.82060331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.88650248099998 meters Centerline goodness : 0.687887 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.71, Z:0.18 [[ 9.82003534e-01 -8.22636214e-02 1.70005162e-01 6.71860767e+00] [ 8.04478703e-02 9.96604242e-01 1.75534732e-02 -7.05895129e-01] [-1.70871878e-01 -3.56101949e-03 9.85286821e-01 1.82947017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.94650248099998 meters Centerline goodness : 0.688079 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.71, Z:0.18 [[ 9.81787031e-01 -8.60014324e-02 1.69404782e-01 6.72008980e+00] [ 8.45316838e-02 9.96294200e-01 1.58827717e-02 -7.08422175e-01] [-1.70142942e-01 -1.27342784e-03 9.85418570e-01 1.83772024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.00650248099996 meters Centerline goodness : 0.688837 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.71, Z:0.19 [[ 9.81624634e-01 -8.73870906e-02 1.69636594e-01 6.71903895e+00] [ 8.56983930e-02 9.96171514e-01 1.72655946e-02 -7.11153780e-01] [-1.70495933e-01 -2.41074954e-03 9.85355431e-01 1.86729712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.06650248099996 meters Centerline goodness : 0.689997 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.71, Z:0.19 [[ 9.81497862e-01 -8.76599920e-02 1.70228296e-01 6.71730044e+00] [ 8.59031577e-02 9.96146732e-01 1.76730248e-02 -7.13164316e-01] [-1.71121578e-01 -2.72288789e-03 9.85246158e-01 1.89284323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.12650248099996 meters Centerline goodness : 0.687625 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.71, Z:0.19 [[ 9.81544219e-01 -8.58039681e-02 1.70905309e-01 6.71598053e+00] [ 8.40502470e-02 9.96308113e-01 1.74842756e-02 -7.12464366e-01] [-1.71774566e-01 -2.79695627e-03 9.85132314e-01 1.89043627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.18650248099996 meters Centerline goodness : 0.691194 with order 1 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.71, Z:0.19 [[ 9.81729403e-01 -8.09188337e-02 1.72219398e-01 6.71319580e+00] [ 7.86524495e-02 9.96702366e-01 1.99546089e-02 -7.12196441e-01] [-1.73266185e-01 -6.04454881e-03 9.84856483e-01 1.88508696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.24650248099996 meters Centerline goodness : 0.692076 with order 1 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.71, Z:0.19 [[ 0.98193747 -0.07585602 0.17333399 6.7107034 ] [ 0.07288494 0.9970646 0.02345124 -0.71304159] [-0.1746041 -0.01039422 0.98458385 0.18835244] [ 0. 0. 0. 1. ]] SLAMing on 170.30650248099997 meters Centerline goodness : 0.691751 with order 1 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.71, Z:0.19 [[ 0.98205733 -0.07394783 0.17347946 6.71098737] [ 0.07075338 0.99719206 0.02453494 -0.71450214] [-0.17480664 -0.01182046 0.98453183 0.18653463] [ 0. 0. 0. 1. ]] SLAMing on 170.36650248099997 meters Centerline goodness : 0.695142 with order 1 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.72, Z:0.19 [[ 0.9816819 -0.07638443 0.17454531 6.70992657] [ 0.07340712 0.99702609 0.02346001 -0.72000952] [-0.17581821 -0.0102174 0.98436963 0.18727433] [ 0. 0. 0. 1. ]] SLAMing on 170.42650248099997 meters Centerline goodness : 0.695106 with order 1 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.72, Z:0.19 [[ 0.98150572 -0.08123276 0.1733429 6.7132489 ] [ 0.07872338 0.99666861 0.02131436 -0.72165771] [-0.17449685 -0.00727403 0.98463086 0.18644863] [ 0. 0. 0. 1. ]] SLAMing on 170.48650248099997 meters Centerline goodness : 0.694500 with order 1 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.72, Z:0.19 [[ 9.80855447e-01 -8.82068091e-02 1.73614949e-01 6.71425178e+00] [ 8.69112447e-02 9.96102134e-01 1.50656552e-02 -7.24037692e-01] [-1.74267114e-01 3.11861384e-04 9.84698368e-01 1.86686854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.54650248099998 meters Centerline goodness : 0.693573 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.73, Z:0.19 [[ 9.80829414e-01 -9.23385238e-02 1.71602031e-01 6.71799898e+00] [ 9.05717289e-02 9.95725188e-01 1.81138774e-02 -7.27579902e-01] [-1.72541073e-01 -2.22433120e-03 9.84999812e-01 1.88639851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.60650248099998 meters Centerline goodness : 0.695906 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.73, Z:0.19 [[ 9.80376337e-01 -9.80278845e-02 1.71034416e-01 6.71955505e+00] [ 9.66660460e-02 9.95183511e-01 1.62928040e-02 -7.30052036e-01] [-1.71807780e-01 5.60141235e-04 9.85130333e-01 1.90853721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.66650248099998 meters Centerline goodness : 0.699831 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.73, Z:0.19 [[ 9.79965504e-01 -1.02361638e-01 1.70849951e-01 6.72076318e+00] [ 1.01587280e-01 9.94737826e-01 1.32921490e-02 -7.30885218e-01] [-1.71311515e-01 4.33033436e-03 9.85207396e-01 1.91253972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.72650248099995 meters Centerline goodness : 0.702317 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.73, Z:0.19 [[ 9.79996610e-01 -1.02854631e-01 1.70374793e-01 6.72213167e+00] [ 1.02009062e-01 9.94688669e-01 1.37332569e-02 -7.30354709e-01] [-1.70882405e-01 3.92122758e-03 9.85283628e-01 1.90375800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.78650248099996 meters Centerline goodness : 0.704497 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.73, Z:0.19 [[ 9.79990109e-01 -1.01921073e-01 1.70972167e-01 6.72104304e+00] [ 1.00959191e-01 9.94787297e-01 1.43343832e-02 -7.31099040e-01] [-1.71541916e-01 3.21365789e-03 9.85171581e-01 1.90517202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.84650248099996 meters Centerline goodness : 0.706632 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.73, Z:0.19 [[ 9.79950094e-01 -9.97465085e-02 1.72477384e-01 6.71861925e+00] [ 9.86812597e-02 9.95009602e-01 1.47614952e-02 -7.31792542e-01] [-1.73089061e-01 2.55475690e-03 9.84902863e-01 1.89905089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.90650248099996 meters Centerline goodness : 0.707775 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.73, Z:0.19 [[ 9.80294586e-01 -9.64795778e-02 1.72378116e-01 6.71926544e+00] [ 9.48518004e-02 9.95334486e-01 1.76747755e-02 -7.31437626e-01] [-1.73279138e-01 -9.76112078e-04 9.84872270e-01 1.87234910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.96650248099996 meters Centerline goodness : 0.710432 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.73, Z:0.18 [[ 9.80557289e-01 -9.37524032e-02 1.72388773e-01 6.72036896e+00] [ 9.20448068e-02 9.95594134e-01 1.78905880e-02 -7.29878385e-01] [-1.73306537e-01 -1.67525517e-03 9.84866508e-01 1.82979071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.02650248099997 meters Centerline goodness : 0.712734 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.73, Z:0.18 [[ 9.80573176e-01 -9.21201344e-02 1.73176576e-01 6.71962908e+00] [ 9.06820836e-02 9.95747881e-01 1.62147209e-02 -7.29374914e-01] [-1.73933911e-01 -1.95707614e-04 9.84757308e-01 1.80653629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.08650248099997 meters Centerline goodness : 0.712658 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.73, Z:0.18 [[ 9.80804891e-01 -8.86243407e-02 1.73687914e-01 6.71812585e+00] [ 8.66300772e-02 9.96058498e-01 1.90446427e-02 -7.28822520e-01] [-1.74691142e-01 -3.63248133e-03 9.84616580e-01 1.80705977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.14650248099997 meters Centerline goodness : 0.713025 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.73, Z:0.18 [[ 9.81108336e-01 -8.48677599e-02 1.73850214e-01 6.71683066e+00] [ 8.24372910e-02 9.96371441e-01 2.11670655e-02 -7.26783604e-01] [-1.75015790e-01 -6.43544373e-03 9.84544594e-01 1.81059608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.20650248099997 meters Centerline goodness : 0.714876 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.73, Z:0.18 [[ 9.81192254e-01 -8.38745013e-02 1.73858647e-01 6.71687606e+00] [ 8.16522581e-02 9.96462030e-01 1.99080843e-02 -7.25893776e-01] [-1.74913320e-01 -5.33770700e-03 9.84569367e-01 1.80069868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.26650248099997 meters Centerline goodness : 0.462593 with order 3 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.73, Z:0.18 [[ 9.81180127e-01 -8.43911100e-02 1.73676997e-01 6.71715052e+00] [ 8.22209876e-02 9.96420086e-01 1.96652294e-02 -7.25324579e-01] [-1.74714819e-01 -5.01523800e-03 9.84606307e-01 1.80433562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.32650248099998 meters Centerline goodness : 0.717825 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.73, Z:0.18 [[ 9.80867501e-01 -8.68993716e-02 1.74205177e-01 6.71652282e+00] [ 8.54195376e-02 9.96216771e-01 1.59889792e-02 -7.25398690e-01] [-1.74935551e-01 -8.02544444e-04 9.84579559e-01 1.81053545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.38650248099998 meters Centerline goodness : 0.657445 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.73, Z:0.18 [[ 9.80638383e-01 -9.02239364e-02 1.73804494e-01 6.71814087e+00] [ 8.92239143e-02 9.95919083e-01 1.35747059e-02 -7.27378650e-01] [-1.74319976e-01 2.19563961e-03 9.84686613e-01 1.80538101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.44650248099998 meters Centerline goodness : 0.628139 with order 3 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.73, Z:0.18 [[ 9.80705103e-01 -9.16155671e-02 1.72696522e-01 6.72076273e+00] [ 9.03908463e-02 9.95794008e-01 1.49595859e-02 -7.29591445e-01] [-1.73340693e-01 9.39242602e-04 9.84861474e-01 1.79933749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.50650248099996 meters Centerline goodness : 0.640493 with order 3 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.73, Z:0.18 [[ 9.80474753e-01 -9.43229263e-02 1.72546933e-01 6.72163221e+00] [ 9.35470734e-02 9.95534603e-01 1.26411591e-02 -7.30583567e-01] [-1.72968794e-01 3.74692329e-03 9.84920178e-01 1.80056719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.56650248099996 meters Centerline goodness : 0.668454 with order 3 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.73, Z:0.18 [[ 9.80441854e-01 -9.51096761e-02 1.72301831e-01 6.72242522e+00] [ 9.43873755e-02 9.95458330e-01 1.23990899e-02 -7.30890047e-01] [-1.72698566e-01 4.10653092e-03 9.84966163e-01 1.79685931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.62650248099996 meters Centerline goodness : 0.722339 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.73, Z:0.18 [[ 9.80361480e-01 -9.50101448e-02 1.72813312e-01 6.72123578e+00] [ 9.44123127e-02 9.95464487e-01 1.16948769e-02 -7.29815148e-01] [-1.73140647e-01 4.85049765e-03 9.84885165e-01 1.80351182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.68650248099996 meters Centerline goodness : 0.456499 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.73, Z:0.18 [[ 9.80535123e-01 -9.49515415e-02 1.71857721e-01 6.72362454e+00] [ 9.45197774e-02 9.95465347e-01 1.07123934e-02 -7.28234439e-01] [-1.72095564e-01 5.74007561e-03 9.85063535e-01 1.77864912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.74650248099996 meters Centerline goodness : 0.395867 with order 3 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.73, Z:0.18 [[ 9.80687908e-01 -9.41692556e-02 1.71415803e-01 6.72502679e+00] [ 9.37645861e-02 9.95539301e-01 1.04739412e-02 -7.25962458e-01] [-1.71637492e-01 5.80106432e-03 9.85143096e-01 1.75705050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.80650248099997 meters Centerline goodness : 0.719524 with order 2 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.73, Z:0.18 [[ 9.80810511e-01 -9.16493226e-02 1.72078886e-01 6.72333496e+00] [ 9.06576893e-02 9.95788842e-01 1.36295530e-02 -7.26135271e-01] [-1.72603374e-01 2.23226526e-03 9.84988879e-01 1.76430359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.86650248099997 meters Centerline goodness : 0.669696 with order 3 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.73, Z:0.18 [[ 9.80866369e-01 -9.09095729e-02 1.72152887e-01 6.72334584e+00] [ 8.99125802e-02 9.95856847e-01 1.35966037e-02 -7.25808815e-01] [-1.72675693e-01 2.14225898e-03 9.84976404e-01 1.75831325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.92650248099997 meters Centerline goodness : 0.141059 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.73, Z:0.17 [[ 9.80978093e-01 -9.06569692e-02 1.71648753e-01 6.72481320e+00] [ 8.97398921e-02 9.95878934e-01 1.31110634e-02 -7.25530164e-01] [-1.72129986e-01 2.54207454e-03 9.85070965e-01 1.73961355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.98650248099997 meters Centerline goodness : 0.722148 with order 3 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.72, Z:0.17 [[ 9.81009320e-01 -9.01676133e-02 1.71728025e-01 6.72519869e+00] [ 8.93202747e-02 9.95922357e-01 1.26707333e-02 -7.24536432e-01] [-1.72170270e-01 2.90868695e-03 9.85062911e-01 1.72465676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.04650248099998 meters Centerline goodness : 0.136546 with order 1 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.72, Z:0.17 [[ 9.81303469e-01 -8.77332320e-02 1.71307859e-01 6.72587585e+00] [ 8.62172825e-02 9.96143271e-01 1.62838431e-02 -7.24994314e-01] [-1.72075805e-01 -1.20969361e-03 9.85082968e-01 1.71739930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.10650248099998 meters Centerline goodness : 0.722919 with order 1 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.72, Z:0.17 [[ 9.81458693e-01 -8.68312725e-02 1.70877628e-01 6.72679475e+00] [ 8.53696175e-02 9.96222515e-01 1.58974317e-02 -7.23684806e-01] [-1.71612534e-01 -1.01491479e-03 9.85164001e-01 1.70491234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.16650248099998 meters Centerline goodness : 0.605470 with order 1 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.72, Z:0.17 [[ 9.81800078e-01 -8.42552025e-02 1.70204784e-01 6.72764664e+00] [ 8.22165504e-02 9.96433294e-01 1.90034219e-02 -7.22440482e-01] [-1.71198851e-01 -4.66391091e-03 9.85225457e-01 1.69877533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.22650248099995 meters Centerline goodness : 0.723310 with order 1 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.72, Z:0.17 [[ 9.81924788e-01 -8.52064866e-02 1.69007587e-01 6.73010978e+00] [ 8.33042510e-02 9.96355615e-01 1.83272975e-02 -7.21662693e-01] [-1.69953263e-01 -3.91697722e-03 9.85444339e-01 1.68814036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.28650248099996 meters Centerline goodness : 0.723075 with order 1 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.72, Z:0.17 [[ 9.81818247e-01 -8.68149227e-02 1.68807874e-01 6.73070461e+00] [ 8.49700342e-02 9.96218440e-01 1.81359835e-02 -7.21834747e-01] [-1.69743991e-01 -3.46262867e-03 9.85482109e-01 1.69237068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.34650248099996 meters Centerline goodness : 0.723467 with order 1 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.72, Z:0.17 [[ 9.81924540e-01 -8.80513484e-02 1.67544494e-01 6.73361395e+00] [ 8.62051113e-02 9.96109783e-01 1.82751169e-02 -7.21851274e-01] [-1.68501858e-01 -3.50159398e-03 9.85695117e-01 1.67890222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.40650248099996 meters Centerline goodness : 0.724375 with order 1 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.72, Z:0.17 [[ 9.81717923e-01 -9.15259321e-02 1.66891950e-01 6.73584058e+00] [ 9.02337863e-02 9.95802693e-01 1.53251512e-02 -7.22103002e-01] [-1.67594102e-01 1.43169272e-05 9.85856083e-01 1.66916567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.46650248099996 meters Centerline goodness : 0.724021 with order 1 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.73, Z:0.17 [[ 9.81661664e-01 -9.39668024e-02 1.65863251e-01 6.73734253e+00] [ 9.23918271e-02 9.95574104e-01 1.72033308e-02 -7.25037241e-01] [-1.66745700e-01 -1.56344147e-03 9.85998695e-01 1.69429092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.52650248099997 meters Centerline goodness : 0.723584 with order 1 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.73, Z:0.17 [[ 9.81407176e-01 -9.86319651e-02 1.64656278e-01 6.74038190e+00] [ 9.74317837e-02 9.95123518e-01 1.53698144e-02 -7.26932258e-01] [-1.65369290e-01 9.58708766e-04 9.86231250e-01 1.69637266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.58650248099997 meters Centerline goodness : 0.722430 with order 1 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.73, Z:0.17 [[ 9.81405111e-01 -1.00241785e-01 1.63693593e-01 6.74255026e+00] [ 9.90214245e-02 9.94962717e-01 1.56188577e-02 -7.27611394e-01] [-1.64434684e-01 8.80745941e-04 9.86387580e-01 1.69266661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.64650248099997 meters Centerline goodness : 0.723624 with order 1 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.73, Z:0.17 [[ 9.81361568e-01 -1.01656726e-01 1.63080911e-01 6.74402674e+00] [ 1.00554466e-01 9.94818156e-01 1.50211883e-02 -7.26671338e-01] [-1.63762856e-01 1.65729700e-03 9.86498343e-01 1.68768302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.70650248099997 meters Centerline goodness : 0.723008 with order 1 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.73, Z:0.17 [[ 9.81397659e-01 -1.02460084e-01 1.62359372e-01 6.74548668e+00] [ 1.01472101e-01 9.94734331e-01 1.43883304e-02 -7.25851652e-01] [-1.62978671e-01 2.35427291e-03 9.86626784e-01 1.68257426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.76650248099997 meters Centerline goodness : 0.724190 with order 1 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.72, Z:0.17 [[ 9.81509519e-01 -1.02804850e-01 1.61462774e-01 6.74718699e+00] [ 1.01873908e-01 9.94698008e-01 1.40562979e-02 -7.24131373e-01] [-1.62051755e-01 2.65245366e-03 9.86778695e-01 1.67570298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.82650248099998 meters Centerline goodness : 0.724343 with order 1 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.72, Z:0.17 [[ 9.81565243e-01 -1.02143706e-01 1.61543605e-01 6.74659862e+00] [ 1.01223543e-01 9.94766067e-01 1.39379136e-02 -7.23209232e-01] [-1.62121767e-01 2.67104450e-03 9.86767145e-01 1.68212687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.88650248099998 meters Centerline goodness : 0.722028 with order 1 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.72, Z:0.17 [[ 9.81924502e-01 -9.90456180e-02 1.61289298e-01 6.74612130e+00] [ 9.77026839e-02 9.95082873e-01 1.62561247e-02 -7.20522930e-01] [-1.62106315e-01 -2.03889867e-04 9.86773277e-01 1.68302591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.94650248099998 meters Centerline goodness : 0.722277 with order 1 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.72, Z:0.17 [[ 9.82468994e-01 -9.48663141e-02 1.60483824e-01 6.74650987e+00] [ 9.30487708e-02 9.95483665e-01 1.88201759e-02 -7.17601939e-01] [-1.61544426e-01 -3.55741673e-03 9.86859029e-01 1.67827028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.00650248099996 meters Centerline goodness : 0.721314 with order 1 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.71, Z:0.17 [[ 9.82857953e-01 -9.12355089e-02 1.60207134e-01 6.74638415e+00] [ 8.91008004e-02 9.95812173e-01 2.04734961e-02 -7.13998250e-01] [-1.61404124e-01 -5.84795461e-03 9.86871071e-01 1.66723179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.06650248099996 meters Centerline goodness : 0.719270 with order 1 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.71, Z:0.17 [[ 9.83012020e-01 -8.97564984e-02 1.60097279e-01 6.74623049e+00] [ 8.76769137e-02 9.95947747e-01 2.00210916e-02 -7.12749398e-01] [-1.61245547e-01 -5.64413839e-03 9.86898180e-01 1.66379585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.12650248099996 meters Centerline goodness : 0.716922 with order 1 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.71, Z:0.17 [[ 9.84811718e-01 -8.39342709e-02 1.51989862e-01 6.74013991e+00] [ 8.19350426e-02 9.96449217e-01 1.93805585e-02 -7.12457496e-01] [-1.53076872e-01 -6.63290532e-03 9.88192024e-01 1.71912353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.18650248099996 meters Centerline goodness : 0.715427 with order 1 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.71, Z:0.17 [[ 9.84886119e-01 -8.42003450e-02 1.51359292e-01 6.74137569e+00] [ 8.23211784e-02 9.96431330e-01 1.86501662e-02 -7.11120258e-01] [-1.52389491e-01 -5.90821451e-03 9.88302856e-01 1.71116430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.24650248099996 meters Centerline goodness : 0.716277 with order 1 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.71, Z:0.17 [[ 9.84606749e-01 -8.71322624e-02 1.51517390e-01 6.74073176e+00] [ 8.54712219e-02 9.96187751e-01 1.74537765e-02 -7.14470297e-01] [-1.52460555e-01 -4.23472971e-03 9.88300484e-01 1.73986933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.30650248099997 meters Centerline goodness : 0.714472 with order 1 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.72, Z:0.18 [[ 9.84465816e-01 -8.96971139e-02 1.50935367e-01 6.74129749e+00] [ 8.80205149e-02 9.95960213e-01 1.77663372e-02 -7.17468990e-01] [-1.51919209e-01 -4.20494292e-03 9.88383970e-01 1.76414721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.36650248099997 meters Centerline goodness : 0.712169 with order 1 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.72, Z:0.18 [[ 9.84478318e-01 -9.09373230e-02 1.50109443e-01 6.74293378e+00] [ 8.90748925e-02 9.95841807e-01 1.90986497e-02 -7.20123727e-01] [-1.51222039e-01 -5.43122396e-03 9.88484900e-01 1.76887918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.42650248099997 meters Centerline goodness : 0.711903 with order 1 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.72, Z:0.18 [[ 9.84465251e-01 -9.21813193e-02 1.49434846e-01 6.74420190e+00] [ 9.01647868e-02 9.95721410e-01 2.02283058e-02 -7.22437875e-01] [-1.50660147e-01 -6.44030308e-03 9.88564637e-01 1.77720395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.48650248099997 meters Centerline goodness : 0.708780 with order 1 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.72, Z:0.18 [[ 0.9845081 -0.09360317 0.14826409 6.74657369] [ 0.0914589 0.99558252 0.02123 -0.72358933] [-0.14959633 -0.00734103 0.9887199 0.17781258] [ 0. 0. 0. 1. ]] SLAMing on 173.54650248099998 meters Centerline goodness : 0.708006 with order 1 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.72, Z:0.18 [[ 9.84200392e-01 -9.77061520e-02 1.47658713e-01 6.74808446e+00] [ 9.60564661e-02 9.95208025e-01 1.82795504e-02 -7.24426802e-01] [-1.48737161e-01 -3.80716652e-03 9.88869437e-01 1.78815192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.60650248099998 meters Centerline goodness : 0.703225 with order 1 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.72, Z:0.18 [[ 9.84287882e-01 -9.84957127e-02 1.46546787e-01 6.75025396e+00] [ 9.67931968e-02 9.95128433e-01 1.87210762e-02 -7.24080991e-01] [-1.47676821e-01 -4.24219645e-03 9.89026572e-01 1.78475691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.66650248099998 meters Centerline goodness : 0.703897 with order 1 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.72, Z:0.18 [[ 0.98457566 -0.09646815 0.14596118 6.75081896] [ 0.09415492 0.99529894 0.02269099 -0.72423854] [-0.14746396 -0.00859803 0.98903006 0.17885968] [ 0. 0. 0. 1. ]] SLAMing on 173.72650248099995 meters Centerline goodness : 0.704446 with order 1 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.72, Z:0.18 [[ 0.98488773 -0.09397658 0.14548046 6.75120053] [ 0.09111437 0.99549496 0.0262289 -0.72359027] [-0.14728996 -0.01257717 0.98901339 0.17882627] [ 0. 0. 0. 1. ]] SLAMing on 173.78650248099996 meters Centerline goodness : 0.704260 with order 1 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.72, Z:0.18 [[ 0.98533738 -0.08964623 0.14516819 6.75086079] [ 0.08630579 0.99584185 0.02916026 -0.72127351] [-0.14717867 -0.01620383 0.98897719 0.17857554] [ 0. 0. 0. 1. ]] SLAMing on 173.84650248099996 meters Centerline goodness : 0.703312 with order 1 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.72, Z:0.18 [[ 0.98577408 -0.08550045 0.14470359 6.75077361] [ 0.08188725 0.99616695 0.03075526 -0.71699117] [-0.14677852 -0.01846836 0.98899696 0.17793795] [ 0. 0. 0. 1. ]] SLAMing on 173.90650248099996 meters Centerline goodness : 0.702865 with order 1 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.71, Z:0.18 [[ 0.9861581 -0.08107235 0.14463568 6.75020934] [ 0.07714044 0.99648718 0.03259832 -0.71390832] [-0.14677043 -0.02098984 0.98894786 0.17704579] [ 0. 0. 0. 1. ]] SLAMing on 173.96650248099996 meters Centerline goodness : 0.702827 with order 1 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.71, Z:0.18 [[ 0.98647397 -0.07735762 0.14451612 6.75021825] [ 0.07312846 0.99673051 0.03435862 -0.71076428] [-0.14670153 -0.02332565 0.98890575 0.175429 ] [ 0. 0. 0. 1. ]] SLAMing on 174.02650248099997 meters Centerline goodness : 0.702654 with order 1 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.71, Z:0.18 [[ 0.98655632 -0.07620879 0.14456434 6.74934329] [ 0.07205113 0.99682846 0.03378837 -0.708875 ] [-0.14668082 -0.02291811 0.98891835 0.17645834] [ 0. 0. 0. 1. ]] SLAMing on 174.08650248099997 meters Centerline goodness : 0.704581 with order 1 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.71, Z:0.18 [[ 0.98654942 -0.0760053 0.14471845 6.74917725] [ 0.07190698 0.99685363 0.03335002 -0.70900885] [-0.14679789 -0.02249517 0.98891069 0.17623889] [ 0. 0. 0. 1. ]] SLAMing on 174.14650248099997 meters Centerline goodness : 0.708480 with order 1 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.71, Z:0.18 [[ 0.98652741 -0.0763488 0.14468772 6.74897597] [ 0.07214428 0.9968113 0.03409438 -0.71086142] [-0.14682942 -0.02319665 0.9888898 0.17736396] [ 0. 0. 0. 1. ]] SLAMing on 174.20650248099997 meters Centerline goodness : 0.713287 with order 1 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.71, Z:0.18 [[ 0.98625467 -0.07965963 0.1447621 6.74925097] [ 0.07587922 0.9966206 0.03145985 -0.71232259] [-0.14677897 -0.02004299 0.98896623 0.17801227] [ 0. 0. 0. 1. ]] SLAMing on 174.26650248099997 meters Centerline goodness : 0.717305 with order 1 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.72, Z:0.18 [[ 0.98583392 -0.08472145 0.14475412 6.75045362] [ 0.08130117 0.99625607 0.02939334 -0.71726564] [-0.14670242 -0.01720827 0.98903098 0.17832469] [ 0. 0. 0. 1. ]] SLAMing on 174.32650248099998 meters Centerline goodness : 0.718887 with order 1 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.72, Z:0.18 [[ 0.98555333 -0.0884298 0.14444651 6.75158175] [ 0.08539123 0.99597849 0.0271143 -0.71859186] [-0.14626333 -0.01438812 0.98914105 0.17898949] [ 0. 0. 0. 1. ]] SLAMing on 174.38650248099998 meters Centerline goodness : 0.718402 with order 1 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.72, Z:0.18 [[ 0.98525879 -0.09214226 0.14413506 6.75279667] [ 0.08964894 0.99569111 0.0237126 -0.71895338] [-0.14569893 -0.01044149 0.98927387 0.17905155] [ 0. 0. 0. 1. ]] SLAMing on 174.44650248099998 meters Centerline goodness : 0.718179 with order 1 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.72, Z:0.18 [[ 0.98516321 -0.09406908 0.1435425 6.75368219] [ 0.09165097 0.99551666 0.02338105 -0.71878784] [-0.14509839 -0.00987834 0.98936792 0.18023788] [ 0. 0. 0. 1. ]] SLAMing on 174.50650248099996 meters Centerline goodness : 0.718950 with order 1 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.72, Z:0.18 [[ 0.98517307 -0.0954691 0.14254706 6.75541001] [ 0.09311505 0.99538712 0.02311006 -0.71799423] [-0.1440958 -0.00949413 0.9895182 0.18062563] [ 0. 0. 0. 1. ]] SLAMing on 174.56650248099996 meters Centerline goodness : 0.719372 with order 1 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.72, Z:0.18 [[ 0.98524892 -0.09586196 0.141757 6.75584917] [ 0.09340677 0.99534139 0.02388915 -0.71822134] [-0.14338667 -0.01029569 0.98961319 0.18278567] [ 0. 0. 0. 1. ]] SLAMing on 174.62650248099996 meters Centerline goodness : 0.717618 with order 1 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.72, Z:0.18 [[ 0.98531162 -0.0957141 0.14142076 6.75633617] [ 0.09327349 0.99535597 0.02380237 -0.71799595] [-0.14304222 -0.01026194 0.98966338 0.1827631 ] [ 0. 0. 0. 1. ]] SLAMing on 174.68650248099996 meters Centerline goodness : 0.716804 with order 1 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.72, Z:0.18 [[ 0.98571027 -0.09299444 0.1404539 6.75728789] [ 0.08996163 0.99555705 0.0278039 -0.7184283 ] [-0.14241548 -0.01477113 0.98969674 0.18311119] [ 0. 0. 0. 1. ]] SLAMing on 174.74650248099996 meters Centerline goodness : 0.716634 with order 1 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.72, Z:0.18 [[ 0.98607407 -0.08946526 0.14019238 6.75758028] [ 0.08607166 0.99583421 0.03009818 -0.71702265] [-0.14230111 -0.01761244 0.98966671 0.18158514] [ 0. 0. 0. 1. ]] SLAMing on 174.80650248099997 meters Centerline goodness : 0.714200 with order 1 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.71, Z:0.18 [[ 0.98676099 -0.08077878 0.14063265 6.75509737] [ 0.07647227 0.99642985 0.03577074 -0.71471112] [-0.14302008 -0.02454267 0.98941544 0.18144693] [ 0. 0. 0. 1. ]] SLAMing on 174.86650248099997 meters Centerline goodness : 0.712652 with order 1 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.71, Z:0.18 [[ 0.98717991 -0.07575534 0.14048827 6.75421458] [ 0.07117235 0.9967637 0.03737151 -0.71093705] [-0.1428647 -0.02689352 0.98937678 0.18111317] [ 0. 0. 0. 1. ]] SLAMing on 174.92650248099997 meters Centerline goodness : 0.712608 with order 1 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.71, Z:0.18 [[ 0.98725217 -0.07396473 0.14093394 6.75290579] [ 0.06956793 0.99693176 0.03587992 -0.70884837] [-0.14315537 -0.02561805 0.98936861 0.18101577] [ 0. 0. 0. 1. ]] SLAMing on 174.98650248099997 meters Centerline goodness : 0.711549 with order 1 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.71, Z:0.18 [[ 0.98723866 -0.07421968 0.14089451 6.75313709] [ 0.06990042 0.99692679 0.03536818 -0.7089908 ] [-0.14308653 -0.02506825 0.98939266 0.18068082] [ 0. 0. 0. 1. ]] SLAMing on 175.04650248099998 meters Centerline goodness : 0.712292 with order 1 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.71, Z:0.18 [[ 0.9870189 -0.07739093 0.14072789 6.75328399] [ 0.07336011 0.99673881 0.03361614 -0.71049291] [-0.14287054 -0.02285595 0.98947745 0.18254219] [ 0. 0. 0. 1. ]] SLAMing on 175.10650248099998 meters Centerline goodness : 0.713161 with order 1 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.71, Z:0.18 [[ 0.98667497 -0.08181845 0.14063516 6.75362475] [ 0.0781341 0.99644407 0.03153226 -0.71307701] [-0.14271499 -0.02012369 0.98955923 0.18454683] [ 0. 0. 0. 1. ]] SLAMing on 175.16650248099998 meters Centerline goodness : 0.716969 with order 1 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.72, Z:0.19 [[ 0.9862231 -0.08810441 0.14000577 6.75560458] [ 0.08471494 0.99595352 0.02999927 -0.71674602] [-0.14208231 -0.0177254 0.98969613 0.18616745] [ 0. 0. 0. 1. ]] SLAMing on 175.22650248099995 meters Centerline goodness : 0.718592 with order 1 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.72, Z:0.19 [[ 0.98581898 -0.09305822 0.13964637 6.75739539] [ 0.09009564 0.99555606 0.02740268 -0.71950841] [-0.14157584 -0.01443255 0.9898222 0.18627937] [ 0. 0. 0. 1. ]] SLAMing on 175.28650248099996 meters Centerline goodness : 0.721811 with order 1 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.72, Z:0.19 [[ 0.98541445 -0.09745614 0.1395015 6.75786487] [ 0.09476468 0.99516471 0.02582355 -0.72100681] [-0.14134363 -0.01222709 0.98988508 0.18847015] [ 0. 0. 0. 1. ]] SLAMing on 175.34650248099996 meters Centerline goodness : 0.720103 with order 1 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.72, Z:0.19 [[ 0.9853537 -0.10015942 0.13800788 6.76160284] [ 0.09744353 0.99489312 0.02631433 -0.72254633] [-0.13993872 -0.01248094 0.9900815 0.1871752 ] [ 0. 0. 0. 1. ]] SLAMing on 175.40650248099996 meters Centerline goodness : 0.722230 with order 1 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.72, Z:0.19 [[ 0.98522607 -0.10149485 0.13794339 6.76267627] [ 0.09890174 0.99476934 0.02554227 -0.72270165] [-0.13981426 -0.01152207 0.99011071 0.1857982 ] [ 0. 0. 0. 1. ]] SLAMing on 175.46650248099996 meters Centerline goodness : 0.722149 with order 1 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.72, Z:0.19 [[ 0.98549374 -0.09942382 0.13753909 6.76286402] [ 0.09635525 0.99493002 0.0288082 -0.72232713] [-0.13970599 -0.01513769 0.99007731 0.18599122] [ 0. 0. 0. 1. ]] SLAMing on 175.52650248099997 meters Centerline goodness : 0.721708 with order 1 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.72, Z:0.19 [[ 0.98588033 -0.09606651 0.13715393 6.76292983] [ 0.09259505 0.99520593 0.03148525 -0.72061142] [-0.13952109 -0.01834091 0.99004923 0.18548275] [ 0. 0. 0. 1. ]] SLAMing on 175.58650248099997 meters Centerline goodness : 0.722176 with order 1 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.72, Z:0.18 [[ 0.98627327 -0.09197057 0.13713659 6.76229769] [ 0.08810207 0.99553 0.03402992 -0.71860056] [-0.13965334 -0.02148078 0.98996743 0.18480242] [ 0. 0. 0. 1. ]] SLAMing on 175.64650248099997 meters Centerline goodness : 0.720119 with order 1 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.72, Z:0.18 [[ 0.98672127 -0.08703477 0.13713529 6.76147727] [ 0.08276188 0.99589819 0.03656868 -0.7164811 ] [-0.13975554 -0.02473352 0.98987708 0.18409134] [ 0. 0. 0. 1. ]] SLAMing on 175.70650248099997 meters Centerline goodness : 0.720187 with order 1 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.71, Z:0.18 [[ 0.98711678 -0.0815015 0.13768792 6.76023069] [ 0.07700885 0.99631906 0.03765598 -0.71252462] [-0.14025012 -0.02656766 0.9897596 0.18172946] [ 0. 0. 0. 1. ]] SLAMing on 175.76650248099997 meters Centerline goodness : 0.719627 with order 1 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.71, Z:0.18 [[ 0.9876461 -0.07284005 0.13874262 6.75717352] [ 0.06755595 0.99681296 0.04242774 -0.70886112] [-0.14139088 -0.0325307 0.98941921 0.18084252] [ 0. 0. 0. 1. ]] SLAMing on 175.82650248099998 meters Centerline goodness : 0.719127 with order 1 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.71, Z:0.18 [[ 0.98775421 -0.07078303 0.13903733 6.75604342] [ 0.06565771 0.99699476 0.04111582 -0.70646141] [-0.14152979 -0.03148345 0.98943323 0.1808102 ] [ 0. 0. 0. 1. ]] SLAMing on 175.88650248099998 meters Centerline goodness : 0.713742 with order 1 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.70, Z:0.18 [[ 0.98789586 -0.06945211 0.13870176 6.75617571] [ 0.06439924 0.99709811 0.04059665 -0.70461956] [-0.14111879 -0.03117297 0.98950176 0.18071815] [ 0. 0. 0. 1. ]] SLAMing on 175.94650248099995 meters Centerline goodness : 0.713061 with order 1 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.70, Z:0.18 [[ 0.98792493 -0.06999087 0.13822307 6.75717406] [ 0.06504113 0.99708004 0.04001316 -0.70429546] [-0.14062002 -0.03053981 0.98959251 0.18020101] [ 0. 0. 0. 1. ]] SLAMing on 176.00650248099996 meters Centerline goodness : 0.713733 with order 1 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.70, Z:0.18 [[ 0.98773872 -0.07395998 0.13748503 6.75897502] [ 0.06947477 0.99689184 0.03714716 -0.70440441] [-0.13980511 -0.02713995 0.98980703 0.18062766] [ 0. 0. 0. 1. ]] SLAMing on 176.06650248099996 meters Centerline goodness : 0.711871 with order 1 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.71, Z:0.18 [[ 0.98741043 -0.07865696 0.13723604 6.76021259] [ 0.07470926 0.99663605 0.03369128 -0.70609536] [-0.13942444 -0.02301432 0.98996524 0.18085026] [ 0. 0. 0. 1. ]] SLAMing on 176.12650248099996 meters Centerline goodness : 0.711241 with order 1 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.71, Z:0.18 [[ 0.9873726 -0.08076665 0.13627945 6.76193106] [ 0.07666156 0.99643862 0.03511522 -0.7081391 ] [-0.13863025 -0.02422441 0.99004789 0.18188435] [ 0. 0. 0. 1. ]] SLAMing on 176.18650248099996 meters Centerline goodness : 0.713730 with order 1 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.71, Z:0.18 [[ 0.98733544 -0.08135203 0.13620052 6.76186473] [ 0.07715715 0.99637568 0.03580896 -0.70935201] [-0.13862001 -0.02484661 0.99003391 0.18282394] [ 0. 0. 0. 1. ]] SLAMing on 176.24650248099996 meters Centerline goodness : 0.714134 with order 1 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.71, Z:0.18 [[ 0.98707638 -0.08306634 0.13704087 6.76103082] [ 0.07945171 0.9963362 0.0316482 -0.70962647] [-0.13916768 -0.02035106 0.99005969 0.18210977] [ 0. 0. 0. 1. ]] SLAMing on 176.30650248099997 meters Centerline goodness : 0.715535 with order 1 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.71, Z:0.18 [[ 0.98714434 -0.08032234 0.13818238 6.7585133 ] [ 0.07641633 0.99651802 0.03335236 -0.71197539] [-0.14038017 -0.0223642 0.98984506 0.18280351] [ 0. 0. 0. 1. ]] SLAMing on 176.36650248099997 meters Centerline goodness : 0.714813 with order 1 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.71, Z:0.18 [[ 0.98718646 -0.07919425 0.13853217 6.75804843] [ 0.07523971 0.99660051 0.03356195 -0.71409971] [-0.14071914 -0.02270878 0.98978909 0.18218194] [ 0. 0. 0. 1. ]] SLAMing on 176.42650248099997 meters Centerline goodness : 0.709413 with order 1 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.72, Z:0.18 [[ 0.98707211 -0.08075456 0.13844618 6.75900275] [ 0.0772532 0.99654521 0.03048906 -0.71559017] [-0.14043001 -0.0193995 0.98990054 0.18083977] [ 0. 0. 0. 1. ]] SLAMing on 176.48650248099997 meters Centerline goodness : 0.711506 with order 1 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.72, Z:0.18 [[ 0.98696004 -0.08223712 0.13837246 6.75846343] [ 0.07876288 0.9964295 0.03040834 -0.71922269] [-0.14037909 -0.01911321 0.98991333 0.18331997] [ 0. 0. 0. 1. ]] SLAMing on 176.54650248099998 meters Centerline goodness : 0.707851 with order 1 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.72, Z:0.18 [[ 0.98694088 -0.08266268 0.13825552 6.75881567] [ 0.07909183 0.996381 0.03113482 -0.72103721] [-0.14032886 -0.01979334 0.98990708 0.1835026 ] [ 0. 0. 0. 1. ]] SLAMing on 176.60650248099998 meters Centerline goodness : 0.707111 with order 1 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.72, Z:0.18 [[ 0.98631449 -0.08823823 0.13927575 6.75774519] [ 0.08552148 0.99601292 0.0253838 -0.72468218] [-0.14096027 -0.01312534 0.98992824 0.18476424] [ 0. 0. 0. 1. ]] SLAMing on 176.66650248099998 meters Centerline goodness : 0.707943 with order 1 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.73, Z:0.19 [[ 0.98592118 -0.09201228 0.13961795 6.75784326] [ 0.0896784 0.99570679 0.0229299 -0.7277857 ] [-0.14112837 -0.01008636 0.98993992 0.18545801] [ 0. 0. 0. 1. ]] SLAMing on 176.72650248099995 meters Centerline goodness : 0.711009 with order 1 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.73, Z:0.19 [[ 0.98548565 -0.09581176 0.14013615 6.75745234] [ 0.09389231 0.99537618 0.02026043 -0.73060243] [-0.14142937 -0.00680865 0.98992493 0.18668086] [ 0. 0. 0. 1. ]] SLAMing on 176.78650248099996 meters Centerline goodness : 0.707218 with order 1 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.73, Z:0.19 [[ 9.85229726e-01 -9.78911857e-02 1.40498054e-01 6.75768673e+00] [ 9.62958634e-02 9.95187712e-01 1.81252202e-02 -7.33181119e-01] [-1.41596236e-01 -4.32812432e-03 9.89915033e-01 1.86286517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.84650248099996 meters Centerline goodness : 0.709831 with order 1 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.73, Z:0.19 [[ 9.85223345e-01 -9.73528596e-02 1.40916218e-01 6.75745977e+00] [ 9.57014652e-02 9.95238801e-01 1.84650538e-02 -7.34764302e-01] [-1.42042914e-01 -4.70631357e-03 9.89849312e-01 1.85303671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.90650248099996 meters Centerline goodness : 0.710767 with order 1 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.74, Z:0.19 [[ 9.85292591e-01 -9.43615597e-02 1.42458437e-01 6.75399283e+00] [ 9.26997921e-02 9.95526434e-01 1.82720569e-02 -7.35624245e-01] [-1.43545319e-01 -4.79745482e-03 9.89632116e-01 1.85845200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.96650248099996 meters Centerline goodness : 0.711202 with order 1 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.74, Z:0.19 [[ 9.85437658e-01 -9.20447862e-02 1.42969858e-01 6.75282691e+00] [ 9.04164445e-02 9.95743908e-01 1.78587704e-02 -7.35074315e-01] [-1.44005172e-01 -4.67187871e-03 9.89565907e-01 1.85145612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.02650248099997 meters Centerline goodness : 0.713521 with order 1 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.74, Z:0.18 [[ 9.85421915e-01 -9.08324623e-02 1.43851009e-01 6.75151872e+00] [ 8.92512802e-02 9.95856784e-01 1.74204987e-02 -7.35564527e-01] [-1.44837350e-01 -4.32765449e-03 9.89446013e-01 1.84242454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.08650248099997 meters Centerline goodness : 0.716809 with order 1 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.74, Z:0.18 [[ 9.85157418e-01 -9.29087410e-02 1.44335813e-01 6.75117948e+00] [ 9.16716866e-02 9.95673082e-01 1.52123745e-02 -7.38341928e-01] [-1.45124646e-01 -1.75507625e-03 9.89411824e-01 1.84575311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.14650248099997 meters Centerline goodness : 0.716877 with order 1 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.74, Z:0.18 [[ 9.84866087e-01 -9.58639648e-02 1.44391447e-01 6.75205447e+00] [ 9.49552621e-02 9.95394182e-01 1.31878683e-02 -7.40350592e-01] [-1.44990648e-01 7.22443431e-04 9.89432762e-01 1.84353724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.20650248099997 meters Centerline goodness : 0.716552 with order 1 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.74, Z:0.18 [[ 9.84488539e-01 -9.95798264e-02 1.44451286e-01 6.75346970e+00] [ 9.91491434e-02 9.95020351e-01 1.01955375e-02 -7.42535088e-01] [-1.44747239e-01 4.28483149e-03 9.89459386e-01 1.83202719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.26650248099997 meters Centerline goodness : 0.575665 with order 3 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.74, Z:0.18 [[ 0.98412637 -0.10176802 0.14539105 6.75249688] [ 0.10177034 0.99478009 0.0074415 -0.74404824] [-0.14538943 0.00747312 0.98934628 0.18348945] [ 0. 0. 0. 1. ]] SLAMing on 177.32650248099998 meters Centerline goodness : 0.594671 with order 3 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.75, Z:0.18 [[ 9.84170284e-01 -1.00866865e-01 1.45721406e-01 6.75149230e+00] [ 1.00718912e-01 9.94879359e-01 8.41195562e-03 -7.45070904e-01] [-1.45823707e-01 6.39810471e-03 9.89289902e-01 1.84415037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.38650248099998 meters Centerline goodness : 0.671244 with order 3 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.75, Z:0.18 [[ 9.84208727e-01 -1.00255115e-01 1.45883835e-01 6.75158364e+00] [ 1.00023332e-01 9.94944911e-01 8.94191471e-03 -7.46634307e-01] [-1.46042852e-01 5.79107673e-03 9.89261315e-01 1.83553187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.44650248099995 meters Centerline goodness : 0.655766 with order 3 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.75, Z:0.18 [[ 9.84307594e-01 -1.00463743e-01 1.45071007e-01 6.75406504e+00] [ 1.00136149e-01 9.94927649e-01 9.57726866e-03 -7.47462417e-01] [-1.45297324e-01 5.09987370e-03 9.89374893e-01 1.81362907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.50650248099996 meters Centerline goodness : 0.716724 with order 3 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.75, Z:0.18 [[ 9.84284535e-01 -1.00886304e-01 1.44934148e-01 6.75485500e+00] [ 1.00402069e-01 9.94889723e-01 1.06706615e-02 -7.49403236e-01] [-1.45270018e-01 4.04872126e-03 9.89383763e-01 1.80925339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.56650248099996 meters Centerline goodness : 0.533305 with order 1 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.75, Z:0.18 [[ 9.84186467e-01 -1.02425243e-01 1.44520129e-01 6.75667935e+00] [ 1.01938198e-01 9.94732206e-01 1.07908359e-02 -7.50972337e-01] [-1.44864081e-01 4.11192691e-03 9.89443020e-01 1.79720370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.62650248099996 meters Centerline goodness : 0.658248 with order 3 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.75, Z:0.18 [[ 0.98380462 -0.10669557 0.14402961 6.75874739] [ 0.10660792 0.99426609 0.00834849 -0.75213363] [-0.14409451 0.00714141 0.98953816 0.17951604] [ 0. 0. 0. 1. ]] SLAMing on 177.68650248099996 meters Centerline goodness : 0.728026 with order 3 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.75, Z:0.18 [[ 0.98380526 -0.10832622 0.14280283 6.76135895] [ 0.10818479 0.99409205 0.00877764 -0.75252047] [-0.14291001 0.0068136 0.98971223 0.17921837] [ 0. 0. 0. 1. ]] SLAMing on 177.74650248099996 meters Centerline goodness : 0.603829 with order 3 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.75, Z:0.18 [[ 0.98387149 -0.10949518 0.14144858 6.76428588] [ 0.10935087 0.99396411 0.0088164 -0.75202766] [-0.14156017 0.00679332 0.98990634 0.17815133] [ 0. 0. 0. 1. ]] SLAMing on 177.80650248099997 meters Centerline goodness : 0.366279 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.75, Z:0.18 [[ 9.84357833e-01 -1.07262084e-01 1.39765884e-01 6.76664323e+00] [ 1.06588839e-01 9.94226909e-01 1.23155358e-02 -7.50221102e-01] [-1.40279993e-01 2.77458919e-03 9.90107987e-01 1.77648569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.86650248099997 meters Centerline goodness : 0.710706 with order 3 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.75, Z:0.18 [[ 9.84460083e-01 -1.06285776e-01 1.39791558e-01 6.76628426e+00] [ 1.05811084e-01 9.94327109e-01 1.08450020e-02 -7.47472510e-01] [-1.40151205e-01 4.11502480e-03 9.90121561e-01 1.77078704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.92650248099997 meters Centerline goodness : 0.149915 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.75, Z:0.18 [[ 9.84888089e-01 -1.02815935e-01 1.39371215e-01 6.76618071e+00] [ 1.01962235e-01 9.94699745e-01 1.32709841e-02 -7.45625059e-01] [-1.39996980e-01 1.14016643e-03 9.90151274e-01 1.76554054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.98650248099997 meters Centerline goodness : 0.718499 with order 3 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.75, Z:0.18 [[ 9.84908366e-01 -1.02423346e-01 1.39516911e-01 6.76608612e+00] [ 1.01664020e-01 9.94739278e-01 1.25775582e-02 -7.45095242e-01] [-1.40071187e-01 1.79610769e-03 9.90139807e-01 1.75807968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.04650248099998 meters Centerline goodness : 0.718477 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.75, Z:0.18 [[ 9.85001828e-01 -1.02362264e-01 1.38900561e-01 6.76689584e+00] [ 1.01388888e-01 9.94747165e-01 1.40844029e-02 -7.46244722e-01] [-1.39612651e-01 2.09810807e-04 9.90206172e-01 1.76585874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.10650248099998 meters Centerline goodness : 0.720687 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.75, Z:0.18 [[ 9.84943101e-01 -1.04034936e-01 1.38071793e-01 6.76824385e+00] [ 1.02770180e-01 9.94571937e-01 1.62773863e-02 -7.49005478e-01] [-1.39015748e-01 -1.84263633e-03 9.90288456e-01 1.78416683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.16650248099998 meters Centerline goodness : 0.720116 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.75, Z:0.18 [[ 9.84473205e-01 -1.08683723e-01 1.37841780e-01 6.76981165e+00] [ 1.07978384e-01 9.94073304e-01 1.26069263e-02 -7.50206970e-01] [-1.38395002e-01 2.47275153e-03 9.90374025e-01 1.78257550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.22650248099995 meters Centerline goodness : 0.717281 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.75, Z:0.18 [[ 9.84451357e-01 -1.10331458e-01 1.36683921e-01 6.77258362e+00] [ 1.09712206e-01 9.93889999e-01 1.20789824e-02 -7.48940709e-01] [-1.37181473e-01 3.10472384e-03 9.90541066e-01 1.77043331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.28650248099996 meters Centerline goodness : 0.719626 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.75, Z:0.18 [[ 9.84710191e-01 -1.09134821e-01 1.35777134e-01 6.77301618e+00] [ 1.07877272e-01 9.94025492e-01 1.66076925e-02 -7.49268954e-01] [-1.36778410e-01 -1.70649727e-03 9.90600199e-01 1.79290760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.34650248099996 meters Centerline goodness : 0.721901 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.75, Z:0.18 [[ 9.84736445e-01 -1.08769774e-01 1.35879613e-01 6.77246460e+00] [ 1.07562196e-01 9.94066042e-01 1.62196816e-02 -7.48317141e-01] [-1.36837521e-01 -1.35660195e-03 9.90592576e-01 1.79693599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.40650248099996 meters Centerline goodness : 0.723073 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.75, Z:0.18 [[ 9.85095633e-01 -1.06367453e-01 1.35176028e-01 6.77282164e+00] [ 1.04665237e-01 9.94313205e-01 1.96580382e-02 -7.47706919e-01] [-1.36498286e-01 -5.21681660e-03 9.90626571e-01 1.80280816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.46650248099996 meters Centerline goodness : 0.723058 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.75, Z:0.18 [[ 0.98554939 -0.10272199 0.13468705 6.77302742] [ 0.10060334 0.99467304 0.02246121 -0.74537873] [-0.13627684 -0.00858666 0.99063358 0.17948899] [ 0. 0. 0. 1. ]] SLAMing on 178.52650248099997 meters Centerline goodness : 0.723577 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.74, Z:0.18 [[ 0.98613669 -0.09790889 0.13397118 6.77411361] [ 0.09546662 0.99512986 0.02454952 -0.74191616] [-0.13572234 -0.01141941 0.9906811 0.17671019] [ 0. 0. 0. 1. ]] SLAMing on 178.58650248099997 meters Centerline goodness : 0.722843 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.74, Z:0.18 [[ 0.98659346 -0.09417137 0.1332858 6.77475786] [ 0.09128016 0.99544125 0.02765228 -0.73958257] [-0.13528224 -0.01511521 0.9906918 0.17584557] [ 0. 0. 0. 1. ]] SLAMing on 178.64650248099997 meters Centerline goodness : 0.721580 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.74, Z:0.18 [[ 0.9867173 -0.09360416 0.13276761 6.77567248] [ 0.09077757 0.9954997 0.02719878 -0.73756259] [-0.13471603 -0.01478518 0.99077393 0.17504127] [ 0. 0. 0. 1. ]] SLAMing on 178.70650248099997 meters Centerline goodness : 0.719295 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.74, Z:0.18 [[ 0.98677564 -0.09467389 0.1315701 6.77787889] [ 0.09184506 0.99539574 0.027419 -0.73677093] [-0.13356018 -0.01497234 0.9909276 0.1750807 ] [ 0. 0. 0. 1. ]] SLAMing on 178.76650248099997 meters Centerline goodness : 0.720492 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.74, Z:0.18 [[ 0.98672049 -0.09666346 0.13053293 6.77986926] [ 0.09381912 0.99520157 0.02778132 -0.73722445] [-0.13259202 -0.01516591 0.99105467 0.17580462] [ 0. 0. 0. 1. ]] SLAMing on 178.82650248099998 meters Centerline goodness : 0.720996 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.74, Z:0.18 [[ 0.98666404 -0.09804668 0.12992658 6.78116416] [ 0.09514282 0.99505881 0.02838691 -0.73839127] [-0.13206783 -0.01564677 0.99111718 0.17627772] [ 0. 0. 0. 1. ]] SLAMing on 178.88650248099998 meters Centerline goodness : 0.720440 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.74, Z:0.18 [[ 0.98668579 -0.09894015 0.12908137 6.78239437] [ 0.09597376 0.99496081 0.02901751 -0.73793292] [-0.1313019 -0.01624274 0.99120935 0.17722888] [ 0. 0. 0. 1. ]] SLAMing on 178.94650248099995 meters Centerline goodness : 0.719697 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.74, Z:0.18 [[ 0.98669715 -0.09903743 0.1289198 6.78259899] [ 0.09596956 0.99493777 0.02981069 -0.73889246] [-0.13121955 -0.01704175 0.99120684 0.17767191] [ 0. 0. 0. 1. ]] SLAMing on 179.00650248099996 meters Centerline goodness : 0.719237 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.74, Z:0.18 [[ 0.98665165 -0.0986147 0.12959035 6.78137333] [ 0.09563625 0.99499311 0.02902441 -0.73819894] [-0.13180374 -0.01624345 0.99114274 0.17753577] [ 0. 0. 0. 1. ]] SLAMing on 179.06650248099996 meters Centerline goodness : 0.718087 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.74, Z:0.18 [[ 0.98702813 -0.09480929 0.1295634 6.78092635] [ 0.09128855 0.99528214 0.03286133 -0.73807889] [-0.1320677 -0.0206074 0.99102647 0.17704502] [ 0. 0. 0. 1. ]] SLAMing on 179.12650248099996 meters Centerline goodness : 0.717885 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.74, Z:0.18 [[ 0.98710861 -0.09198656 0.13097736 6.77805099] [ 0.08856281 0.99556471 0.03174183 -0.73655093] [-0.13331626 -0.01973291 0.99087708 0.17628603] [ 0. 0. 0. 1. ]] SLAMing on 179.18650248099996 meters Centerline goodness : 0.718741 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.74, Z:0.18 [[ 0.98720912 -0.08991699 0.13165522 6.77669447] [ 0.08655423 0.99576292 0.03105746 -0.73511116] [-0.13388998 -0.01926489 0.99080893 0.1753787 ] [ 0. 0. 0. 1. ]] SLAMing on 179.24650248099996 meters Centerline goodness : 0.719639 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.73, Z:0.17 [[ 0.98729675 -0.08969485 0.13114864 6.77792365] [ 0.08635829 0.99578413 0.03092253 -0.73453726] [-0.13336933 -0.01920395 0.99088033 0.17426361] [ 0. 0. 0. 1. ]] SLAMing on 179.30650248099997 meters Centerline goodness : 0.717473 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.73, Z:0.17 [[ 0.98705336 -0.09218355 0.13125496 6.77830363] [ 0.08940348 0.99563133 0.02693105 -0.73383008] [-0.13316415 -0.01484773 0.99098277 0.17370674] [ 0. 0. 0. 1. ]] SLAMing on 179.36650248099997 meters Centerline goodness : 0.717925 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.74, Z:0.17 [[ 0.98708845 -0.09328387 0.13020952 6.78064193] [ 0.09037658 0.99551189 0.02807418 -0.73529229] [-0.13224399 -0.01594381 0.99108896 0.17336472] [ 0. 0. 0. 1. ]] SLAMing on 179.42650248099997 meters Centerline goodness : 0.714684 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.74, Z:0.17 [[ 0.98708354 -0.09459749 0.12929577 6.78245529] [ 0.09160801 0.99537599 0.02888968 -0.73633762] [-0.1314308 -0.016672 0.99118514 0.17366408] [ 0. 0. 0. 1. ]] SLAMing on 179.48650248099997 meters Centerline goodness : 0.716014 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.74, Z:0.17 [[ 0.98718038 -0.09434335 0.12874093 6.78312807] [ 0.09135133 0.99539741 0.02896427 -0.73631778] [-0.13088098 -0.01683231 0.99125519 0.17395661] [ 0. 0. 0. 1. ]] SLAMing on 179.54650248099998 meters Centerline goodness : 0.715914 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.73, Z:0.18 [[ 0.98758644 -0.09139449 0.12775006 6.78352025] [ 0.08794458 0.99559825 0.03240176 -0.73437813] [-0.13014908 -0.02076461 0.99127698 0.17516009] [ 0. 0. 0. 1. ]] SLAMing on 179.60650248099998 meters Centerline goodness : 0.714397 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.73, Z:0.17 [[ 0.98758971 -0.09154382 0.12761777 6.78403994] [ 0.08831799 0.99561842 0.03072277 -0.73198432] [-0.12987108 -0.01907055 0.99134748 0.17401727] [ 0. 0. 0. 1. ]] SLAMing on 179.66650248099998 meters Centerline goodness : 0.711782 with order 1 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.73, Z:0.17 [[ 0.98785874 -0.09033891 0.12638822 6.78586299] [ 0.08671607 0.99565646 0.03388994 -0.73072968] [-0.12890083 -0.02251858 0.99140178 0.17410362] [ 0. 0. 0. 1. ]] SLAMing on 179.72650248099995 meters Centerline goodness : 0.708478 with order 1 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.73, Z:0.17 [[ 0.98829208 -0.08845232 0.12431798 6.78972121] [ 0.08451218 0.99574898 0.03662863 -0.72801985] [-0.12702939 -0.0256934 0.99156613 0.17209635] [ 0. 0. 0. 1. ]] SLAMing on 179.78650248099996 meters Centerline goodness : 0.707047 with order 1 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.73, Z:0.17 [[ 0.98859856 -0.08574039 0.12377992 6.78981002] [ 0.08142693 0.99589607 0.03950542 -0.72582759] [-0.12665914 -0.02897598 0.991523 0.17255941] [ 0. 0. 0. 1. ]] SLAMing on 179.84650248099996 meters Centerline goodness : 0.704742 with order 1 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.72, Z:0.17 [[ 0.98895064 -0.08299443 0.12283549 6.7909703 ] [ 0.07832524 0.99602696 0.04237285 -0.7238401 ] [-0.12586417 -0.03228354 0.99152205 0.17219145] [ 0. 0. 0. 1. ]] SLAMing on 179.90650248099996 meters Centerline goodness : 0.704744 with order 1 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.72, Z:0.17 [[ 0.98903446 -0.08282339 0.12227478 6.79161201] [ 0.07831421 0.99607528 0.0412422 -0.72102566] [-0.12521071 -0.03121411 0.99163903 0.17229698] [ 0. 0. 0. 1. ]] SLAMing on 179.96650248099996 meters Centerline goodness : 0.703779 with order 1 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.72, Z:0.17 [[ 0.98909004 -0.0831556 0.1215979 6.79283858] [ 0.07874987 0.99606699 0.04060789 -0.71914917] [-0.12449643 -0.03058904 0.99174843 0.17185053] [ 0. 0. 0. 1. ]] SLAMing on 180.02650248099997 meters Centerline goodness : 0.701359 with order 1 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.72, Z:0.17 [[ 0.98914245 -0.08414109 0.12048853 6.79542537] [ 0.07995098 0.99602746 0.03920645 -0.71694025] [-0.12330876 -0.02914759 0.9919402 0.17017829] [ 0. 0. 0. 1. ]] SLAMing on 180.08650248099997 meters Centerline goodness : 0.701391 with order 1 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.72, Z:0.17 [[ 0.98913065 -0.08502304 0.11996516 6.79678271] [ 0.08092614 0.99597131 0.03862776 -0.71655037] [-0.12276611 -0.02849958 0.99202634 0.16952193] [ 0. 0. 0. 1. ]] SLAMing on 180.14650248099997 meters Centerline goodness : 0.702875 with order 1 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.72, Z:0.17 [[ 0.98914354 -0.08512641 0.11978541 6.79680764] [ 0.08090139 0.99593068 0.03971199 -0.71758476] [-0.1226785 -0.02959005 0.99200525 0.17068793] [ 0. 0. 0. 1. ]] SLAMing on 180.20650248099997 meters Centerline goodness : 0.702709 with order 1 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.72, Z:0.17 [[ 0.98914201 -0.08483813 0.12000244 6.79657119] [ 0.08059059 0.99595136 0.03982513 -0.71808865] [-0.12289528 -0.02972164 0.99197448 0.17051212] [ 0. 0. 0. 1. ]] SLAMing on 180.26650248099997 meters Centerline goodness : 0.700293 with order 1 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.72, Z:0.17 [[ 0.98910167 -0.08506674 0.1201729 6.79658551] [ 0.08081067 0.99593193 0.03986511 -0.71974527] [-0.12307523 -0.02971939 0.99195224 0.17036188] [ 0. 0. 0. 1. ]] SLAMing on 180.32650248099998 meters Centerline goodness : 0.702500 with order 1 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.72, Z:0.17 [[ 0.98912059 -0.08541574 0.11976898 6.79753194] [ 0.08113819 0.99589358 0.04015675 -0.72055658] [-0.12270718 -0.03000203 0.99198933 0.17009707] [ 0. 0. 0. 1. ]] SLAMing on 180.38650248099998 meters Centerline goodness : 0.702565 with order 1 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.72, Z:0.17 [[ 0.98908032 -0.08575498 0.11985908 6.79725877] [ 0.0813951 0.99584573 0.04081824 -0.72227204] [-0.12286152 -0.03061657 0.99195145 0.17093119] [ 0. 0. 0. 1. ]] SLAMing on 180.44650248099995 meters Centerline goodness : 0.704455 with order 1 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.72, Z:0.17 [[ 0.98906768 -0.08542905 0.12019564 6.7964537 ] [ 0.0809806 0.9958543 0.04142903 -0.72389019] [-0.12323659 -0.0312426 0.9918854 0.17174469] [ 0. 0. 0. 1. ]] SLAMing on 180.50650248099996 meters Centerline goodness : 0.703973 with order 1 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.72, Z:0.17 [[ 0.98878599 -0.08809847 0.12058576 6.79645643] [ 0.08412143 0.99574233 0.03769338 -0.72370761] [-0.12339308 -0.02712684 0.99198704 0.17132571] [ 0. 0. 0. 1. ]] SLAMing on 180.56650248099996 meters Centerline goodness : 0.704860 with order 1 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.72, Z:0.17 [[ 0.98847873 -0.09125858 0.12075462 6.796601 ] [ 0.08771941 0.99555391 0.03431801 -0.72458583] [-0.12334955 -0.0233301 0.99208901 0.17192009] [ 0. 0. 0. 1. ]] SLAMing on 180.62650248099996 meters Centerline goodness : 0.706558 with order 1 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.73, Z:0.17 [[ 0.98821601 -0.09417286 0.12066725 6.79776118] [ 0.09104433 0.99535812 0.03119539 -0.72522027] [-0.12304488 -0.01984171 0.99220273 0.17105749] [ 0. 0. 0. 1. ]] SLAMing on 180.68650248099996 meters Centerline goodness : 0.710806 with order 1 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.73, Z:0.17 [[ 0.98819993 -0.09390488 0.12100735 6.79727794] [ 0.09060537 0.99535646 0.03249897 -0.72820242] [-0.12349726 -0.02115156 0.99211947 0.17156068] [ 0. 0. 0. 1. ]] SLAMing on 180.74650248099996 meters Centerline goodness : 0.712100 with order 1 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.73, Z:0.17 [[ 0.98789131 -0.09639671 0.12156661 6.79695621] [ 0.09342512 0.99517649 0.02992496 -0.730527 ] [-0.1238649 -0.01820524 0.99213208 0.17167502] [ 0. 0. 0. 1. ]] SLAMing on 180.80650248099997 meters Centerline goodness : 0.712723 with order 1 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.73, Z:0.17 [[ 0.98758505 -0.10036271 0.1208433 6.79943725] [ 0.09767674 0.99482524 0.02796407 -0.73266519] [-0.12302451 -0.01581331 0.99227764 0.17133894] [ 0. 0. 0. 1. ]] SLAMing on 180.86650248099997 meters Centerline goodness : 0.712634 with order 1 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.73, Z:0.17 [[ 0.98707202 -0.10579378 0.12040139 6.80228746] [ 0.10362656 0.99432331 0.02413879 -0.73430689] [-0.12227164 -0.01134994 0.99243177 0.16971551] [ 0. 0. 0. 1. ]] SLAMing on 180.92650248099997 meters Centerline goodness : 0.715942 with order 1 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.74, Z:0.17 [[ 0.98667008 -0.10945398 0.12042419 6.80297342] [ 0.10764341 0.99395796 0.02145851 -0.73543882] [-0.1220453 -0.00820959 0.99249058 0.17028219] [ 0. 0. 0. 1. ]] SLAMing on 180.98650248099997 meters Centerline goodness : 0.717114 with order 1 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.74, Z:0.17 [[ 0.98666492 -0.11011584 0.11986178 6.80371611] [ 0.10819247 0.99387627 0.02245754 -0.73618661] [-0.12160071 -0.00918992 0.99253655 0.17136731] [ 0. 0. 0. 1. ]] SLAMing on 181.04650248099998 meters Centerline goodness : 0.716736 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.73, Z:0.17 [[ 0.98679059 -0.11001736 0.11891392 6.8052945 ] [ 0.10813579 0.99388865 0.02218097 -0.73455161] [-0.12062749 -0.00902912 0.99265678 0.17091275] [ 0. 0. 0. 1. ]] SLAMing on 181.10650248099998 meters Centerline goodness : 0.719724 with order 1 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.73, Z:0.17 [[ 0.98690034 -0.10907305 0.11887302 6.80496726] [ 0.10732322 0.99400147 0.02104307 -0.73225592] [-0.12045518 -0.00800958 0.99268645 0.17063848] [ 0. 0. 0. 1. ]] SLAMing on 181.16650248099998 meters Centerline goodness : 0.720203 with order 1 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.73, Z:0.17 [[ 0.98728038 -0.10587171 0.11861126 6.80451347] [ 0.10384143 0.99432357 0.0231861 -0.72984607] [-0.12039273 -0.01057441 0.99267002 0.17055764] [ 0. 0. 0. 1. ]] SLAMing on 181.22650248099995 meters Centerline goodness : 0.719041 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.73, Z:0.17 [[ 0.98747064 -0.10442851 0.11830651 6.8054842 ] [ 0.10258421 0.99449 0.02158982 -0.72683921] [-0.11990924 -0.00918293 0.99274239 0.16824683] [ 0. 0. 0. 1. ]] SLAMing on 181.28650248099996 meters Centerline goodness : 0.721517 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.72, Z:0.17 [[ 0.98796385 -0.10100393 0.11715643 6.80699211] [ 0.09882939 0.99480914 0.02423907 -0.72471764] [-0.11899653 -0.01236883 0.99281763 0.16705131] [ 0. 0. 0. 1. ]] SLAMing on 181.34650248099996 meters Centerline goodness : 0.721734 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.72, Z:0.17 [[ 0.98801644 -0.10015397 0.11744232 6.80607107] [ 0.09809566 0.99490671 0.02319206 -0.72261706] [-0.11916693 -0.01139356 0.99280886 0.16704983] [ 0. 0. 0. 1. ]] SLAMing on 181.40650248099996 meters Centerline goodness : 0.721581 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.72, Z:0.17 [[ 0.98804242 -0.1004205 0.11699531 6.8073748 ] [ 0.09844682 0.99488695 0.02254291 -0.72199066] [-0.11866087 -0.01075554 0.99287659 0.16579377] [ 0. 0. 0. 1. ]] SLAMing on 181.46650248099996 meters Centerline goodness : 0.722422 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.72, Z:0.16 [[ 0.98806371 -0.10197639 0.11545958 6.81071091] [ 0.10008963 0.99473433 0.02203794 -0.72077253] [-0.11709896 -0.01021858 0.99306768 0.16471237] [ 0. 0. 0. 1. ]] SLAMing on 181.52650248099997 meters Centerline goodness : 0.721788 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.72, Z:0.17 [[ 9.87669262e-01 -1.05426128e-01 1.15735731e-01 6.81070377e+00] [ 1.03999789e-01 9.94408739e-01 1.83112763e-02 -7.19918209e-01] [-1.17019110e-01 -6.04899320e-03 9.93111241e-01 1.65237699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.58650248099997 meters Centerline goodness : 0.427376 with order 3 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.72, Z:0.17 [[ 9.87548431e-01 -1.06347678e-01 1.15923544e-01 6.80928806e+00] [ 1.04864644e-01 9.94308122e-01 1.88352207e-02 -7.20274031e-01] [-1.17266803e-01 -6.44441155e-03 9.93079537e-01 1.68228480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.64650248099997 meters Centerline goodness : 0.503339 with order 3 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.72, Z:0.17 [[ 0.98794566 -0.10440951 0.11428927 6.81216524] [ 0.10253054 0.9944818 0.02221339 -0.71895078] [-0.11597788 -0.01022748 0.99319914 0.16701303] [ 0. 0. 0. 1. ]] SLAMing on 181.70650248099997 meters Centerline goodness : 0.563619 with order 3 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.72, Z:0.17 [[ 0.98792066 -0.1045456 0.11438088 6.81215385] [ 0.10286386 0.99448368 0.02052409 -0.71593863] [-0.11589562 -0.00851052 0.99322494 0.16621182] [ 0. 0. 0. 1. ]] SLAMing on 181.76650248099997 meters Centerline goodness : 0.727242 with order 3 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.71, Z:0.17 [[ 0.98791664 -0.10477494 0.11420563 6.81188743] [ 0.10316219 0.9944643 0.01995773 -0.71381099] [-0.1156645 -0.00793487 0.99325664 0.16717345] [ 0. 0. 0. 1. ]] SLAMing on 181.82650248099998 meters Centerline goodness : 0.653396 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.71, Z:0.17 [[ 9.87951093e-01 -1.04897586e-01 1.13794263e-01 6.81229221e+00] [ 1.03467451e-01 9.94462291e-01 1.84184323e-02 -7.09791692e-01] [-1.15096152e-01 -6.42250797e-03 9.93333593e-01 1.67235516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.88650248099998 meters Centerline goodness : 0.725940 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.71, Z:0.17 [[ 9.88119872e-01 -1.03730910e-01 1.13397606e-01 6.81337826e+00] [ 1.02435375e-01 9.94590805e-01 1.72082988e-02 -7.06968101e-01] [-1.14569249e-01 -5.38793575e-03 9.93400653e-01 1.65274263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.94650248099995 meters Centerline goodness : 0.726844 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.70, Z:0.17 [[ 0.98851827 -0.1003575 0.11296016 6.81317978] [ 0.09879358 0.99491935 0.01937284 -0.70360019] [-0.11433046 -0.00799067 0.99341064 0.16513261] [ 0. 0. 0. 1. ]] SLAMing on 182.00650248099996 meters Centerline goodness : 0.726078 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.70, Z:0.17 [[ 0.98894695 -0.09658675 0.11249412 6.81266944] [ 0.09467453 0.99526003 0.0222309 -0.70123566] [-0.11410811 -0.01133485 0.99340367 0.16581734] [ 0. 0. 0. 1. ]] SLAMing on 182.06650248099996 meters Centerline goodness : 0.726843 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.70, Z:0.17 [[ 0.9889707 -0.09594049 0.11283781 6.81108361] [ 0.09417247 0.99533632 0.02090826 -0.69851802] [-0.11431752 -0.01005144 0.99339341 0.16725859] [ 0. 0. 0. 1. ]] SLAMing on 182.12650248099996 meters Centerline goodness : 0.153413 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.70, Z:0.17 [[ 0.98895621 -0.09629913 0.11265922 6.81132711] [ 0.09462049 0.99530915 0.02016596 -0.69716355] [-0.11407271 -0.00928338 0.99342903 0.16733688] [ 0. 0. 0. 1. ]] SLAMing on 182.18650248099996 meters Centerline goodness : 0.729350 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.70, Z:0.17 [[ 0.98893349 -0.09748442 0.11183626 6.81339654] [ 0.09591021 0.99520124 0.01938365 -0.69652807] [-0.11318919 -0.0084429 0.99353758 0.16618726] [ 0. 0. 0. 1. ]] SLAMing on 182.24650248099996 meters Centerline goodness : 0.149345 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.70, Z:0.17 [[ 0.98888518 -0.09855678 0.11132237 6.81441954] [ 0.09697828 0.99509507 0.01951975 -0.69690532] [-0.11270015 -0.00850694 0.99359263 0.16642804] [ 0. 0. 0. 1. ]] SLAMing on 182.30650248099997 meters Centerline goodness : 0.676779 with order 3 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.70, Z:0.17 [[ 0.98882934 -0.09995354 0.11057047 6.81538653] [ 0.09834809 0.99495322 0.01989334 -0.69700619] [-0.11200085 -0.00879673 0.99366917 0.16776981] [ 0. 0. 0. 1. ]] SLAMing on 182.36650248099997 meters Centerline goodness : 0.143233 with order 1 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.70, Z:0.17 [[ 0.98885379 -0.10070852 0.10966297 6.81669747] [ 0.09900383 0.99486766 0.02089437 -0.69705644] [-0.11120438 -0.00980442 0.99374919 0.16876206] [ 0. 0. 0. 1. ]] SLAMing on 182.42650248099997 meters Centerline goodness : 0.667496 with order 3 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.70, Z:0.17 [[ 0.98885141 -0.10165207 0.1088106 6.81769685] [ 0.09990047 0.99476633 0.02144403 -0.69665012] [-0.11042095 -0.01033473 0.99383118 0.17015444] [ 0. 0. 0. 1. ]] SLAMing on 182.48650248099997 meters Centerline goodness : 0.148920 with order 1 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.70, Z:0.17 [[ 0.98908698 -0.10001881 0.10818125 6.81758649] [ 0.09775479 0.99486964 0.02604603 -0.69757147] [-0.11023134 -0.01518655 0.99378993 0.17237214] [ 0. 0. 0. 1. ]] SLAMing on 182.54650248099998 meters Centerline goodness : 0.708487 with order 3 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.70, Z:0.17 [[ 0.98915282 -0.09938175 0.10816641 6.81671166] [ 0.09706254 0.99492511 0.02651205 -0.69672061] [-0.11025229 -0.01572556 0.99377922 0.17405823] [ 0. 0. 0. 1. ]] SLAMing on 182.60650248099998 meters Centerline goodness : 0.723763 with order 1 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.70, Z:0.17 [[ 0.98945559 -0.09583566 0.10859628 6.81511042] [ 0.09316778 0.9952165 0.02939194 -0.69513698] [-0.1108936 -0.01896434 0.99365133 0.17446829] [ 0. 0. 0. 1. ]] SLAMing on 182.66650248099995 meters Centerline goodness : 0.723380 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.69, Z:0.17 [[ 0.98974527 -0.09223775 0.10907104 6.81422404] [ 0.0892708 0.99549995 0.03178966 -0.69394521] [-0.11151242 -0.02172681 0.9935255 0.17331826] [ 0. 0. 0. 1. ]] SLAMing on 182.72650248099995 meters Centerline goodness : 0.723492 with order 1 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.69, Z:0.17 [[ 0.99007272 -0.08910847 0.10870001 6.81524291] [ 0.08588124 0.99572413 0.03402743 -0.69160171] [-0.11126736 -0.02435434 0.99349204 0.17106328] [ 0. 0. 0. 1. ]] SLAMing on 182.78650248099996 meters Centerline goodness : 0.723690 with order 1 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.69, Z:0.17 [[ 0.99015681 -0.08905791 0.10797306 6.81709229] [ 0.08595143 0.99574932 0.03310047 -0.68925619] [-0.11046196 -0.02349422 0.99360262 0.16948189] [ 0. 0. 0. 1. ]] SLAMing on 182.84650248099996 meters Centerline goodness : 0.721196 with order 1 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.69, Z:0.17 [[ 0.99025562 -0.08876232 0.10730819 6.81899176] [ 0.08574354 0.99578914 0.03243494 -0.68674769] [-0.10973533 -0.02291789 0.9936966 0.16748689] [ 0. 0. 0. 1. ]] SLAMing on 182.90650248099996 meters Centerline goodness : 0.720779 with order 1 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.69, Z:0.17 [[ 0.99050497 -0.08720677 0.10627743 6.81990448] [ 0.08379534 0.99582664 0.03616124 -0.68560564] [-0.10898741 -0.02691234 0.99367876 0.16876136] [ 0. 0. 0. 1. ]] SLAMing on 182.96650248099996 meters Centerline goodness : 0.721081 with order 1 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.68, Z:0.17 [[ 0.9904455 -0.08915166 0.10521264 6.8220508 ] [ 0.08578623 0.99565936 0.03609933 -0.68449358] [-0.10797426 -0.02672863 0.99379431 0.16889284] [ 0. 0. 0. 1. ]] SLAMing on 183.02650248099997 meters Centerline goodness : 0.720937 with order 1 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.68, Z:0.17 [[ 0.99002899 -0.09400504 0.10490787 6.82319544] [ 0.09113206 0.99532898 0.03186187 -0.68333272] [-0.10741302 -0.02198371 0.99397141 0.16919332] [ 0. 0. 0. 1. ]] SLAMing on 183.08650248099997 meters Centerline goodness : 0.719865 with order 1 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.69, Z:0.17 [[ 0.99065715 -0.09621427 0.09665004 6.81700745] [ 0.09311829 0.99500188 0.03605881 -0.68571009] [-0.09963634 -0.02672203 0.99466504 0.1711484 ] [ 0. 0. 0. 1. ]] SLAMing on 183.14650248099997 meters Centerline goodness : 0.721959 with order 1 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.69, Z:0.17 [[ 0.9905633 -0.09753352 0.09628898 6.81803066] [ 0.09441746 0.99486647 0.03641494 -0.68682483] [-0.09934636 -0.02697995 0.99468708 0.17128424] [ 0. 0. 0. 1. ]] SLAMing on 183.20650248099997 meters Centerline goodness : 0.720657 with order 1 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.69, Z:0.17 [[ 0.99056919 -0.09786681 0.09588938 6.81868702] [ 0.09475763 0.99483212 0.03646969 -0.68622443] [-0.09896301 -0.02703951 0.99472367 0.17144831] [ 0. 0. 0. 1. ]] SLAMing on 183.26650248099997 meters Centerline goodness : 0.723025 with order 1 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.69, Z:0.17 [[ 0.99068782 -0.09752218 0.09501086 6.82148714] [ 0.094436 0.99486287 0.03646531 -0.68525651] [-0.09807896 -0.0271533 0.99480813 0.16868748] [ 0. 0. 0. 1. ]] SLAMing on 183.32650248099998 meters Centerline goodness : 0.720827 with order 1 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.69, Z:0.17 [[ 0.99072075 -0.09704116 0.09515989 6.82235874] [ 0.09399867 0.99492265 0.03596072 -0.68567382] [-0.0981664 -0.02668213 0.99481225 0.16644047] [ 0. 0. 0. 1. ]] SLAMing on 183.38650248099998 meters Centerline goodness : 0.722151 with order 1 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.69, Z:0.17 [[ 0.99085306 -0.09575321 0.09508698 6.82282954] [ 0.09261559 0.99501833 0.03688998 -0.68648442] [-0.09814563 -0.02774601 0.9947852 0.16541394] [ 0. 0. 0. 1. ]] SLAMing on 183.44650248099995 meters Centerline goodness : 0.721589 with order 1 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.69, Z:0.16 [[ 0.9908684 -0.09561345 0.09506779 6.82429253] [ 0.09260012 0.99506573 0.03562868 -0.68628572] [-0.09800528 -0.02650004 0.99483301 0.16245865] [ 0. 0. 0. 1. ]] SLAMing on 183.50650248099996 meters Centerline goodness : 0.723277 with order 1 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.69, Z:0.16 [[ 0.9905725 -0.09744667 0.09628219 6.82423108] [ 0.09494192 0.9950224 0.03027312 -0.68698846] [-0.09875295 -0.0208465 0.9948936 0.15915934] [ 0. 0. 0. 1. ]] SLAMing on 183.56650248099996 meters Centerline goodness : 0.720291 with order 1 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.69, Z:0.16 [[ 0.99207431 -0.08773719 0.08994856 6.82037549] [ 0.08548682 0.9959293 0.02858026 -0.69331899] [-0.09208996 -0.02066433 0.99553625 0.16130413] [ 0. 0. 0. 1. ]] SLAMing on 183.62650248099996 meters Centerline goodness : 0.719877 with order 1 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.70, Z:0.16 [[ 0.99207995 -0.08608434 0.09147054 6.81777055] [ 0.08383627 0.99608189 0.02814861 -0.698167 ] [-0.0935353 -0.02025712 0.99540986 0.16140801] [ 0. 0. 0. 1. ]] SLAMing on 183.68650248099996 meters Centerline goodness : 0.721249 with order 1 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.70, Z:0.16 [[ 0.99188291 -0.08712085 0.09261882 6.81592742] [ 0.08507437 0.99603983 0.02582659 -0.70148162] [-0.09450206 -0.01773747 0.99536664 0.16187333] [ 0. 0. 0. 1. ]] SLAMing on 183.74650248099996 meters Centerline goodness : 0.722983 with order 1 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.71, Z:0.16 [[ 0.99136523 -0.09158294 0.09384853 6.81576628] [ 0.09003134 0.99572494 0.02064474 -0.70832856] [-0.09533803 -0.01201717 0.99537242 0.16034718] [ 0. 0. 0. 1. ]] SLAMing on 183.80650248099997 meters Centerline goodness : 0.724393 with order 1 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.71, Z:0.16 [[ 0.99103207 -0.09449645 0.09447676 6.81597074] [ 0.09318383 0.9954822 0.01822005 -0.71270461] [-0.09577166 -0.00925295 0.99536032 0.15961426] [ 0. 0. 0. 1. ]] SLAMing on 183.86650248099997 meters Centerline goodness : 0.723744 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.72, Z:0.16 [[ 9.90465796e-01 -9.82965867e-02 9.65157356e-02 6.81338013e+00] [ 9.72886409e-02 9.95141565e-01 1.51058058e-02 -7.23297992e-01] [-9.75316694e-02 -5.57189920e-03 9.95216824e-01 1.60952325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.92650248099997 meters Centerline goodness : 0.723036 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.73, Z:0.16 [[ 9.90292857e-01 -9.90297236e-02 9.75354919e-02 6.81159678e+00] [ 9.80258227e-02 9.95070168e-01 1.50432593e-02 -7.29473114e-01] [-9.85443881e-02 -5.33623543e-03 9.95118349e-01 1.62342793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.98650248099997 meters Centerline goodness : 0.722966 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.73, Z:0.16 [[ 9.90084609e-01 -9.97601465e-02 9.88958086e-02 6.80994033e+00] [ 9.89663163e-02 9.95006999e-01 1.29127567e-02 -7.34815540e-01] [-9.96902003e-02 -2.99736777e-03 9.95014010e-01 1.61966731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.04650248099998 meters Centerline goodness : 0.725511 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.74, Z:0.16 [[ 9.89891023e-01 -1.00078669e-01 1.00498873e-01 6.80732504e+00] [ 9.95215178e-02 9.94979427e-01 1.05549397e-02 -7.39613062e-01] [-1.01050635e-01 -4.46439634e-04 9.94881184e-01 1.62386669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.10650248099998 meters Centerline goodness : 0.725309 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.74, Z:0.16 [[ 9.89902194e-01 -9.92123981e-02 1.01244978e-01 6.80533751e+00] [ 9.86106285e-02 9.95065917e-01 1.09437365e-02 -7.43980507e-01] [-1.01831181e-01 -8.49397849e-04 9.94801331e-01 1.63951479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.16650248099995 meters Centerline goodness : 0.413879 with order 3 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.75, Z:0.16 [[ 9.89725085e-01 -1.00498219e-01 1.01707245e-01 6.80479979e+00] [ 1.00131770e-01 9.94936017e-01 8.71494388e-03 -7.46685585e-01] [-1.02068037e-01 1.55872785e-03 9.94776199e-01 1.64204164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.22650248099995 meters Centerline goodness : 0.597873 with order 3 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.75, Z:0.17 [[ 9.89393131e-01 -1.02593655e-01 1.02838580e-01 6.80272213e+00] [ 1.02455485e-01 9.94715436e-01 6.63893242e-03 -7.50980236e-01] [-1.02976235e-01 3.96786248e-03 9.94675903e-01 1.66014811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.28650248099996 meters Centerline goodness : 0.639062 with order 1 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.75, Z:0.17 [[ 9.89396203e-01 -1.03091877e-01 1.02309426e-01 6.80340748e+00] [ 1.02779012e-01 9.94669260e-01 8.33898725e-03 -7.53756810e-01] [-1.02623723e-01 2.26469942e-03 9.94717670e-01 1.67333851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.34650248099996 meters Centerline goodness : 0.247378 with order 1 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.76, Z:0.17 [[ 9.89884510e-01 -1.06100083e-01 9.41882671e-02 6.79531717e+00] [ 1.05878621e-01 9.94351825e-01 7.35977186e-03 -7.60240009e-01] [-9.44371477e-02 2.68719971e-03 9.95527199e-01 1.71495661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.40650248099996 meters Centerline goodness : 0.240886 with order 1 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.76, Z:0.17 [[ 9.88987516e-01 -1.13577805e-01 9.48882274e-02 6.79489344e+00] [ 1.13973398e-01 9.93483006e-01 1.25781400e-03 -7.63116933e-01] [-9.44127011e-02 9.57077136e-03 9.95487138e-01 1.73803375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.46650248099996 meters Centerline goodness : 0.648578 with order 1 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.76, Z:0.18 [[ 9.88493638e-01 -1.18192103e-01 9.43978476e-02 6.79595237e+00] [ 1.18780229e-01 9.92920378e-01 -6.16051768e-04 -7.64756727e-01] [-9.36567341e-02 1.18215612e-02 9.95534362e-01 1.76085608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.52650248099997 meters Centerline goodness : 0.675193 with order 3 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.77, Z:0.18 [[ 9.87988433e-01 -1.22140984e-01 9.46595802e-02 6.79642717e+00] [ 1.23039384e-01 9.92394924e-01 -3.69107228e-03 -7.66587431e-01] [-9.34888558e-02 1.52935931e-02 9.95502858e-01 1.76585699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.58650248099997 meters Centerline goodness : 0.156412 with order 1 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.77, Z:0.18 [[ 9.87871204e-01 -1.23138412e-01 9.45907771e-02 6.79614767e+00] [ 1.23964999e-01 9.92282382e-01 -2.89009391e-03 -7.67646839e-01] [-9.35048801e-02 1.45809861e-02 9.95512045e-01 1.78292022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.64650248099997 meters Centerline goodness : 0.733762 with order 3 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.77, Z:0.18 [[ 9.87877587e-01 -1.24061033e-01 9.33098746e-02 6.79846327e+00] [ 1.24809576e-01 9.92178260e-01 -2.20687497e-03 -7.67529237e-01] [-9.23062418e-02 1.38260882e-02 9.95634670e-01 1.78566835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.70650248099997 meters Centerline goodness : 0.679308 with order 1 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.77, Z:0.18 [[ 9.87807016e-01 -1.24842946e-01 9.30136418e-02 6.79833275e+00] [ 1.25596141e-01 9.92078867e-01 -2.26527583e-03 -7.66904433e-01] [-9.19940646e-02 1.39198098e-02 9.95662257e-01 1.80081098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.76650248099997 meters Centerline goodness : 0.566561 with order 3 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.77, Z:0.18 [[ 9.88155789e-01 -1.22989063e-01 9.17705171e-02 6.79982496e+00] [ 1.23330583e-01 9.92363702e-01 1.96199185e-03 -7.67524676e-01] [-9.13110336e-02 9.37935774e-03 9.95778250e-01 1.80787825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.82650248099998 meters Centerline goodness : 0.620481 with order 3 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.77, Z:0.18 [[ 9.88230985e-01 -1.23214047e-01 9.06521910e-02 6.80240926e+00] [ 1.23549530e-01 9.92336544e-01 1.92304008e-03 -7.65286153e-01] [-9.01944275e-02 9.29962780e-03 9.95880757e-01 1.79344429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.88650248099998 meters Centerline goodness : 0.517941 with order 3 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.76, Z:0.18 [[ 9.88650644e-01 -1.20714969e-01 8.94304189e-02 6.80367493e+00] [ 1.20755244e-01 9.92669820e-01 4.97992051e-03 -7.64117639e-01] [-8.93760288e-02 5.87579047e-03 9.95980623e-01 1.79544611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.94650248099995 meters Centerline goodness : 0.633306 with order 3 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.76, Z:0.18 [[ 9.89157878e-01 -1.17079063e-01 8.86520451e-02 6.80416560e+00] [ 1.16877493e-01 9.93118176e-01 7.47926991e-03 -7.60989704e-01] [-8.89176232e-02 2.96325004e-03 9.96034575e-01 1.78952697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.00650248099996 meters Centerline goodness : 0.729051 with order 3 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.76, Z:0.18 [[ 9.89575895e-01 -1.14068525e-01 8.79085885e-02 6.80515666e+00] [ 1.13631648e-01 9.93472877e-01 9.97451255e-03 -7.58937492e-01] [-8.84725763e-02 1.18660628e-04 9.96078606e-01 1.77854914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.06650248099996 meters Centerline goodness : 0.677292 with order 3 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.76, Z:0.18 [[ 9.89883023e-01 -1.12247193e-01 8.67880694e-02 6.80685456e+00] [ 1.11476006e-01 9.93672724e-01 1.36973758e-02 -7.59570993e-01] [-8.77764293e-02 -3.88401247e-03 9.96132628e-01 1.77781691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.12650248099996 meters Centerline goodness : 0.671039 with order 3 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.76, Z:0.18 [[ 9.89927594e-01 -1.12400706e-01 8.60781076e-02 6.80770839e+00] [ 1.11665168e-01 9.93656505e-01 1.33281487e-02 -7.57345228e-01] [-8.70301649e-02 -3.58197581e-03 9.96199237e-01 1.78283814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.18650248099996 meters Centerline goodness : 0.730527 with order 3 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.75, Z:0.18 [[ 9.89908974e-01 -1.12624898e-01 8.59991556e-02 6.80767284e+00] [ 1.12056391e-01 9.93636167e-01 1.14250560e-02 -7.53691395e-01] [-8.67386171e-02 -1.67301045e-03 9.96229699e-01 1.77976706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.24650248099996 meters Centerline goodness : 0.534552 with order 3 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.75, Z:0.18 [[ 9.90302083e-01 -1.09807883e-01 8.51117660e-02 6.80850800e+00] [ 1.08976298e-01 9.93940478e-01 1.43698689e-02 -7.52147693e-01] [-8.61739543e-02 -4.95534591e-03 9.96267782e-01 1.77876056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.30650248099997 meters Centerline goodness : 0.578678 with order 3 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.75, Z:0.18 [[ 0.99071682 -0.10632226 0.08470985 6.80791248] [ 0.10524793 0.99429964 0.0170616 -0.75017796] [-0.086041 -0.00798768 0.99625958 0.17878849] [ 0. 0. 0. 1. ]] SLAMing on 185.36650248099997 meters Centerline goodness : 0.136590 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.75, Z:0.18 [[ 0.9911426 -0.10322834 0.08354788 6.8089541 ] [ 0.10181276 0.99458102 0.02104168 -0.74956921] [-0.08526723 -0.01234907 0.99628159 0.1792969 ] [ 0. 0. 0. 1. ]] SLAMing on 185.42650248099997 meters Centerline goodness : 0.487252 with order 2 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.75, Z:0.18 [[ 0.99124339 -0.10240818 0.08336127 6.80869437] [ 0.10104485 0.99467222 0.02042357 -0.74809705] [-0.08500868 -0.0118215 0.99631008 0.17973524] [ 0. 0. 0. 1. ]] SLAMing on 185.48650248099997 meters Centerline goodness : 0.517946 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.75, Z:0.18 [[ 0.99163946 -0.09880457 0.08299897 6.80875141] [ 0.0971376 0.99498401 0.02389776 -0.74830885] [-0.08494386 -0.01563564 0.99626305 0.17932055] [ 0. 0. 0. 1. ]] SLAMing on 185.54650248099998 meters Centerline goodness : 0.725598 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.75, Z:0.18 [[ 0.99190027 -0.09620938 0.08293131 6.80794331] [ 0.09446777 0.99522186 0.02468396 -0.74751719] [-0.08490989 -0.01664969 0.99624952 0.17980964] [ 0. 0. 0. 1. ]] SLAMing on 185.60650248099998 meters Centerline goodness : 0.726640 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.75, Z:0.18 [[ 0.99196048 -0.09570917 0.0827899 6.80851536] [ 0.09403108 0.99528126 0.0239453 -0.7472455 ] [-0.08469102 -0.01596797 0.99627931 0.17869413] [ 0. 0. 0. 1. ]] SLAMing on 185.66650248099995 meters Centerline goodness : 0.726911 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.75, Z:0.18 [[ 0.99199713 -0.09548506 0.08260932 6.80940296] [ 0.093839 0.9953078 0.02359309 -0.74737609] [-0.08447448 -0.0156523 0.9963027 0.17743458] [ 0. 0. 0. 1. ]] SLAMing on 185.72650248099995 meters Centerline goodness : 0.727700 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.75, Z:0.18 [[ 0.99169305 -0.09802286 0.08328516 6.80809617] [ 0.09658759 0.9951008 0.02110073 -0.74944589] [-0.08494549 -0.01288113 0.99630233 0.1790589 ] [ 0. 0. 0. 1. ]] SLAMing on 185.78650248099996 meters Centerline goodness : 0.729456 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.75, Z:0.18 [[ 0.99137567 -0.10196289 0.08232771 6.81073127] [ 0.10063399 0.99471957 0.02014382 -0.75383211] [-0.08394691 -0.01168513 0.99640171 0.17943176] [ 0. 0. 0. 1. ]] SLAMing on 185.84650248099996 meters Centerline goodness : 0.728569 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.76, Z:0.18 [[ 0.99140074 -0.1024412 0.08142715 6.81293603] [ 0.10098482 0.9946487 0.02181813 -0.7571146 ] [-0.08322648 -0.0134076 0.99644046 0.17900126] [ 0. 0. 0. 1. ]] SLAMing on 185.90650248099996 meters Centerline goodness : 0.727443 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.76, Z:0.18 [[ 0.99140463 -0.10218881 0.08169646 6.81259481] [ 0.10067509 0.99466606 0.02244886 -0.76023444] [-0.08355472 -0.0140311 0.9964044 0.17915451] [ 0. 0. 0. 1. ]] SLAMing on 185.96650248099996 meters Centerline goodness : 0.731562 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.76, Z:0.18 [[ 0.99140982 -0.10165175 0.08230124 6.81049658] [ 0.10007133 0.9947117 0.02311617 -0.76150439] [-0.08421581 -0.01468161 0.99633937 0.18133413] [ 0. 0. 0. 1. ]] SLAMing on 186.02650248099997 meters Centerline goodness : 0.733661 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.76, Z:0.18 [[ 0.99145057 -0.10158119 0.08189649 6.81136381] [ 0.09997549 0.9947127 0.02348498 -0.76246741] [-0.08384911 -0.01509655 0.9963641 0.18113947] [ 0. 0. 0. 1. ]] SLAMing on 186.08650248099997 meters Centerline goodness : 0.731864 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.76, Z:0.18 [[ 0.9912599 -0.10329178 0.08206478 6.81182306] [ 0.1019785 0.99458457 0.02004775 -0.7632674 ] [-0.08369113 -0.01150369 0.99642534 0.18013456] [ 0. 0. 0. 1. ]] SLAMing on 186.14650248099997 meters Centerline goodness : 0.734785 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.76, Z:0.18 [[ 0.99126058 -0.10321914 0.08214788 6.81228994] [ 0.1019117 0.99459311 0.01996392 -0.76395565] [-0.08376437 -0.01141761 0.99642018 0.17907206] [ 0. 0. 0. 1. ]] SLAMing on 186.20650248099997 meters Centerline goodness : 0.735778 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.77, Z:0.18 [[ 0.99124108 -0.10301337 0.08264 6.81055973] [ 0.10159774 0.99460034 0.0211675 -0.7662599 ] [-0.0843743 -0.01258606 0.99635464 0.18131168] [ 0. 0. 0. 1. ]] SLAMing on 186.26650248099997 meters Centerline goodness : 0.738048 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.77, Z:0.18 [[ 0.99092238 -0.1054903 0.08333447 6.80976739] [ 0.10431094 0.99437463 0.01839371 -0.76747576] [-0.08480604 -0.00953404 0.99635186 0.18182503] [ 0. 0. 0. 1. ]] SLAMing on 186.32650248099998 meters Centerline goodness : 0.594171 with order 3 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.77, Z:0.18 [[ 9.90571403e-01 -1.08625995e-01 8.34786769e-02 6.81054085e+00] [ 1.07693686e-01 9.94061651e-01 1.56045896e-02 -7.69945295e-01] [-8.46780155e-02 -6.46733374e-03 9.96387378e-01 1.81509353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.38650248099998 meters Centerline goodness : 0.631141 with order 3 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.77, Z:0.18 [[ 9.90250997e-01 -1.11291933e-01 8.37679403e-02 6.81196500e+00] [ 1.10626289e-01 9.93782696e-01 1.25609323e-02 -7.71675484e-01] [-8.46450599e-02 -3.17153935e-03 9.96406120e-01 1.79236557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.44650248099995 meters Centerline goodness : 0.348682 with order 3 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.77, Z:0.18 [[ 9.90253240e-01 -1.11559765e-01 8.33842926e-02 6.81271749e+00] [ 1.10741965e-01 9.93745100e-01 1.43837683e-02 -7.74746558e-01] [-8.44673821e-02 -5.00943271e-03 9.96413653e-01 1.79860432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.50650248099996 meters Centerline goodness : 0.159690 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.78, Z:0.18 [[ 9.90253116e-01 -1.11898530e-01 8.29306036e-02 6.81396370e+00] [ 1.10975530e-01 9.93699568e-01 1.56716203e-02 -7.77627111e-01] [-8.41617362e-02 -6.31560309e-03 9.96432093e-01 1.79692713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.56650248099996 meters Centerline goodness : 0.154379 with order 1 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.78, Z:0.18 [[ 0.99028552 -0.11222371 0.08210015 6.81611466] [ 0.1112087 0.99365426 0.0168477 -0.77979384] [-0.08346988 -0.00755378 0.99648167 0.1788934 ] [ 0. 0. 0. 1. ]] SLAMing on 186.62650248099996 meters Centerline goodness : 0.741052 with order 1 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.78, Z:0.18 [[ 0.99034853 -0.112046 0.08158116 6.81754445] [ 0.11100591 0.99367108 0.01718941 -0.78037229] [-0.08299084 -0.00796751 0.99651846 0.17776067] [ 0. 0. 0. 1. ]] SLAMing on 186.68650248099996 meters Centerline goodness : 0.739100 with order 1 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.78, Z:0.18 [[ 0.99035639 -0.11214502 0.0813493 6.81768553] [ 0.11102155 0.99365099 0.01821895 -0.78282995] [-0.08287598 -0.00901172 0.99651912 0.17871531] [ 0. 0. 0. 1. ]] SLAMing on 186.74650248099996 meters Centerline goodness : 0.737071 with order 1 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.79, Z:0.18 [[ 0.99035938 -0.11260206 0.0806788 6.81847833] [ 0.11129651 0.99357548 0.0205148 -0.78589106] [-0.08247048 -0.01133776 0.99652901 0.18037517] [ 0. 0. 0. 1. ]] SLAMing on 186.80650248099997 meters Centerline goodness : 0.735328 with order 1 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.79, Z:0.18 [[ 0.99035185 -0.11341581 0.07962457 6.82070217] [ 0.1119699 0.99345889 0.02240949 -0.78944798] [-0.08164533 -0.01327772 0.996573 0.18066038] [ 0. 0. 0. 1. ]] SLAMing on 186.86650248099997 meters Centerline goodness : 0.734652 with order 1 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.79, Z:0.18 [[ 0.9903457 -0.11373228 0.07924879 6.82151843] [ 0.11223214 0.99341236 0.02314781 -0.79134155] [-0.08135938 -0.01403007 0.99658608 0.18093669] [ 0. 0. 0. 1. ]] SLAMing on 186.92650248099997 meters Centerline goodness : 0.286444 with order 3 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.79, Z:0.18 [[ 0.99040393 -0.11293829 0.07965551 6.82032739] [ 0.1113761 0.99349321 0.02380364 -0.79292563] [-0.08182556 -0.0147035 0.9965382 0.18180408] [ 0. 0. 0. 1. ]] SLAMing on 186.98650248099997 meters Centerline goodness : 0.159450 with order 1 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.80, Z:0.18 [[ 0.99044048 -0.1124887 0.07983705 6.81950675] [ 0.1108348 0.99352768 0.02486761 -0.79524394] [-0.08211765 -0.01578116 0.99649769 0.18309183] [ 0. 0. 0. 1. ]] SLAMing on 187.04650248099998 meters Centerline goodness : 0.637956 with order 3 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.80, Z:0.18 [[ 0.99031676 -0.1135677 0.07984413 6.81951694] [ 0.11198951 0.99341981 0.0239882 -0.79807955] [-0.08204302 -0.01481421 0.99651868 0.18398274] [ 0. 0. 0. 1. ]] SLAMing on 187.10650248099998 meters Centerline goodness : 0.568707 with order 3 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.80, Z:0.19 [[ 0.98991402 -0.11749607 0.07915118 6.82141735] [ 0.11609136 0.99299182 0.02213702 -0.80081716] [-0.08119748 -0.01272498 0.9966168 0.18501391] [ 0. 0. 0. 1. ]] SLAMing on 187.16650248099995 meters Centerline goodness : 0.502686 with order 2 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.80, Z:0.19 [[ 0.98930113 -0.12264296 0.07900615 6.82259079] [ 0.12138755 0.99239307 0.02051965 -0.80481579] [-0.08092175 -0.01070975 0.99666292 0.18679284] [ 0. 0. 0. 1. ]] SLAMing on 187.22650248099995 meters Centerline goodness : 0.660304 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.81, Z:0.19 [[ 0.98912074 -0.12835303 0.07187261 6.81443849] [ 0.12712849 0.99165582 0.02137952 -0.81291473] [-0.07401702 -0.01200988 0.99718466 0.19148079] [ 0. 0. 0. 1. ]] SLAMing on 187.28650248099996 meters Centerline goodness : 0.669954 with order 1 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.82, Z:0.20 [[ 0.98847589 -0.1336212 0.07113928 6.8158988 ] [ 0.1324066 0.9909613 0.02154514 -0.81884516] [-0.07337516 -0.01187754 0.99723368 0.19538203] [ 0. 0. 0. 1. ]] SLAMing on 187.34650248099996 meters Centerline goodness : 0.675433 with order 3 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.82, Z:0.20 [[ 0.98799084 -0.13729263 0.07088612 6.81704421] [ 0.13625034 0.99048528 0.01935836 -0.82060945] [-0.07286941 -0.00946762 0.99729655 0.19636854] [ 0. 0. 0. 1. ]] SLAMing on 187.40650248099996 meters Centerline goodness : 0.161006 with order 1 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.82, Z:0.20 [[ 0.98792524 -0.13830108 0.06983211 6.81925906] [ 0.13718468 0.99033208 0.02056064 -0.82231118] [-0.07200053 -0.01073248 0.99734685 0.19667985] [ 0. 0. 0. 1. ]] SLAMing on 187.46650248099996 meters Centerline goodness : 0.159031 with order 1 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.82, Z:0.20 [[ 0.987939 -0.1387907 0.06865625 6.82186661] [ 0.13760839 0.99024934 0.02168344 -0.82395393] [-0.07099627 -0.01197424 0.99740471 0.19630169] [ 0. 0. 0. 1. ]] SLAMing on 187.52650248099997 meters Centerline goodness : 0.161684 with order 1 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.83, Z:0.20 [[ 0.98903917 -0.13606445 0.05734097 6.8174418 ] [ 0.13497294 0.99059345 0.02251502 -0.82504488] [-0.05986509 -0.01452876 0.99810074 0.20034716] [ 0. 0. 0. 1. ]] SLAMing on 187.58650248099997 meters Centerline goodness : 0.600613 with order 3 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.82, Z:0.20 [[ 0.98949819 -0.13297866 0.05665693 6.81778899] [ 0.1317032 0.99095606 0.02569727 -0.82388631] [-0.05956171 -0.0179655 0.99806295 0.20028718] [ 0. 0. 0. 1. ]] SLAMing on 187.64650248099997 meters Centerline goodness : 0.541755 with order 3 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.82, Z:0.20 [[ 0.98995302 -0.12982633 0.05601909 6.81830142] [ 0.12843551 0.99132906 0.02776713 -0.82138006] [-0.05913825 -0.02029331 0.99804351 0.19921653] [ 0. 0. 0. 1. ]] SLAMing on 187.70650248099997 meters Centerline goodness : 0.468817 with order 3 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.82, Z:0.20 [[ 0.99094878 -0.12214682 0.05568363 6.81704908] [ 0.12046113 0.9921794 0.03269805 -0.81604946] [-0.05924211 -0.02569438 0.99791291 0.19812484] [ 0. 0. 0. 1. ]] SLAMing on 187.76650248099997 meters Centerline goodness : 0.703585 with order 3 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.81, Z:0.20 [[ 0.99150246 -0.11763029 0.05555164 6.81621749] [ 0.11592526 0.99270996 0.03298881 -0.80972325] [-0.05902715 -0.02626864 0.99791069 0.1965734 ] [ 0. 0. 0. 1. ]] SLAMing on 187.82650248099998 meters Centerline goodness : 0.737093 with order 3 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.80, Z:0.19 [[ 0.99200267 -0.11385622 0.05447446 6.81798834] [ 0.11217549 0.99314078 0.03298561 -0.80208003] [-0.05785642 -0.02661111 0.99797018 0.19338505] [ 0. 0. 0. 1. ]] SLAMing on 187.88650248099998 meters Centerline goodness : 0.656661 with order 3 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.80, Z:0.19 [[ 0.99270345 -0.10843716 0.05273755 6.81965034] [ 0.10647948 0.99356456 0.03862104 -0.79713177] [-0.05658612 -0.03272377 0.9978613 0.19300935] [ 0. 0. 0. 1. ]] SLAMing on 187.94650248099995 meters Centerline goodness : 0.690870 with order 1 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.79, Z:0.19 [[ 0.99274702 -0.10848227 0.05181647 6.82143343] [ 0.10658895 0.99357638 0.03801023 -0.7948125 ] [-0.05560705 -0.03221148 0.997933 0.19212543] [ 0. 0. 0. 1. ]] SLAMing on 188.00650248099996 meters Centerline goodness : 0.724920 with order 1 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.79, Z:0.19 [[ 0.99296799 -0.10734054 0.04992581 6.82532147] [ 0.10547791 0.99367366 0.03856263 -0.78899549] [-0.05374929 -0.03302539 0.99800818 0.1894474 ] [ 0. 0. 0. 1. ]] SLAMing on 188.06650248099996 meters Centerline goodness : 0.482880 with order 1 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.78, Z:0.19 [[ 0.99304669 -0.10737707 0.04825396 6.82764553] [ 0.10551775 0.99363013 0.03956221 -0.78295753] [-0.05219466 -0.03419547 0.99805129 0.18953603] [ 0. 0. 0. 1. ]] SLAMing on 188.12650248099996 meters Centerline goodness : 0.301709 with order 3 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.78, Z:0.19 [[ 0.99326454 -0.10601379 0.04676146 6.8287318 ] [ 0.10402988 0.99364415 0.04300107 -0.77998089] [-0.05102296 -0.03784685 0.9979801 0.19157845] [ 0. 0. 0. 1. ]] SLAMing on 188.18650248099996 meters Centerline goodness : 0.727225 with order 1 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.78, Z:0.19 [[ 0.99363238 -0.10278233 0.04615723 6.82719984] [ 0.10063372 0.99382749 0.04668795 -0.77663479] [-0.05067102 -0.04174569 0.99784255 0.19481762] [ 0. 0. 0. 1. ]] SLAMing on 188.24650248099996 meters Centerline goodness : 0.678930 with order 3 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.77, Z:0.20 [[ 0.99397865 -0.09985064 0.04512539 6.82695245] [ 0.09767518 0.99405581 0.04808958 -0.77066027] [-0.04965893 -0.04339239 0.99782318 0.19642925] [ 0. 0. 0. 1. ]] SLAMing on 188.30650248099997 meters Centerline goodness : 0.724116 with order 1 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.76, Z:0.19 [[ 0.99430949 -0.09751079 0.04289859 6.8306218 ] [ 0.09537326 0.99421821 0.04933661 -0.76467823] [-0.04746141 -0.04496448 0.99786052 0.19475421] [ 0. 0. 0. 1. ]] SLAMing on 188.36650248099997 meters Centerline goodness : 0.720551 with order 1 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.76, Z:0.19 [[ 0.99460127 -0.09514214 0.04142809 6.83256276] [ 0.09295109 0.99431477 0.05194443 -0.76140694] [-0.04613466 -0.04781321 0.9977903 0.19454252] [ 0. 0. 0. 1. ]] SLAMing on 188.42650248099997 meters Centerline goodness : 0.720624 with order 1 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.76, Z:0.19 [[ 0.99489211 -0.09246125 0.0405045 6.83312587] [ 0.09020505 0.99443745 0.05438015 -0.7580352 ] [-0.04530725 -0.05044867 0.99769844 0.1949706 ] [ 0. 0. 0. 1. ]] SLAMing on 188.48650248099997 meters Centerline goodness : 0.719071 with order 1 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.75, Z:0.20 [[ 0.99520047 -0.08958479 0.03937755 6.83377048] [ 0.08727134 0.9945528 0.05699509 -0.75462452] [-0.04426895 -0.05328501 0.9975976 0.19593609] [ 0. 0. 0. 1. ]] SLAMing on 188.54650248099998 meters Centerline goodness : 0.719438 with order 1 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.75, Z:0.20 [[ 0.99548712 -0.0868444 0.0382551 6.83465903] [ 0.08448296 0.99464461 0.05953759 -0.75092965] [-0.04322074 -0.056037 0.99749277 0.19648285] [ 0. 0. 0. 1. ]] SLAMing on 188.60650248099998 meters Centerline goodness : 0.720079 with order 1 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.75, Z:0.20 [[ 0.99575303 -0.08383804 0.03804056 6.83338691] [ 0.08134894 0.9947027 0.06284017 -0.74932479] [-0.04310745 -0.05947873 0.99729837 0.19847206] [ 0. 0. 0. 1. ]] SLAMing on 188.66650248099995 meters Centerline goodness : 0.719582 with order 1 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.75, Z:0.20 [[ 0.99581415 -0.08303626 0.03819906 6.83236489] [ 0.08054746 0.99478088 0.06263473 -0.74725619] [-0.04320065 -0.05929571 0.99730523 0.1994103 ] [ 0. 0. 0. 1. ]] SLAMing on 188.72650248099995 meters Centerline goodness : 0.718605 with order 1 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.75, Z:0.20 [[ 0.99582127 -0.08307885 0.03791972 6.8329291 ] [ 0.08062005 0.99479464 0.06232207 -0.74657033] [-0.04289998 -0.05900456 0.99733548 0.19921673] [ 0. 0. 0. 1. ]] SLAMing on 188.78650248099996 meters Centerline goodness : 0.718043 with order 1 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.75, Z:0.20 [[ 0.9958148 -0.08371997 0.03665847 6.83531109] [ 0.08132068 0.99471598 0.06266627 -0.74630425] [-0.04171119 -0.05942291 0.99736107 0.19900564] [ 0. 0. 0. 1. ]] SLAMing on 188.84650248099996 meters Centerline goodness : 0.716418 with order 1 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.75, Z:0.20 [[ 0.99578073 -0.0845378 0.03569458 6.83731333] [ 0.0821675 0.99460387 0.0633376 -0.74666852] [-0.04085639 -0.06013742 0.99735362 0.19893218] [ 0. 0. 0. 1. ]] SLAMing on 188.90650248099996 meters Centerline goodness : 0.717130 with order 1 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.75, Z:0.20 [[ 0.99547218 -0.08818041 0.03548743 6.8381661 ] [ 0.08593165 0.99445862 0.06056234 -0.74830193] [-0.04063119 -0.05723863 0.99753338 0.199449 ] [ 0. 0. 0. 1. ]] SLAMing on 188.96650248099996 meters Centerline goodness : 0.719818 with order 1 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.75, Z:0.20 [[ 0.99547741 -0.08812829 0.03547007 6.83761189] [ 0.08582101 0.99437812 0.06202338 -0.750395 ] [-0.04073668 -0.0586988 0.99744422 0.20114486] [ 0. 0. 0. 1. ]] SLAMing on 189.02650248099997 meters Centerline goodness : 0.720723 with order 1 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.75, Z:0.20 [[ 0.99544479 -0.08862002 0.03515912 6.83887655] [ 0.08633357 0.99433852 0.06194695 -0.75138405] [-0.0404498 -0.05862936 0.99745998 0.200267 ] [ 0. 0. 0. 1. ]] SLAMing on 189.08650248099997 meters Centerline goodness : 0.723130 with order 1 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.75, Z:0.20 [[ 0.99522995 -0.09061978 0.03613026 6.83751783] [ 0.08839935 0.99434029 0.05893159 -0.75264702] [-0.04126614 -0.0554566 0.99760797 0.20047882] [ 0. 0. 0. 1. ]] SLAMing on 189.14650248099997 meters Centerline goodness : 0.722847 with order 1 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.76, Z:0.20 [[ 0.99527336 -0.08953551 0.03760752 6.83379754] [ 0.08718587 0.99438016 0.06005592 -0.75571778] [-0.04277331 -0.05649321 0.99748632 0.20278996] [ 0. 0. 0. 1. ]] SLAMing on 189.20650248099997 meters Centerline goodness : 0.722066 with order 1 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.76, Z:0.20 [[ 0.9950817 -0.09176462 0.0373051 6.8359451 ] [ 0.08957335 0.99436562 0.05668895 -0.75675552] [-0.04229695 -0.05306859 0.99769469 0.20063336] [ 0. 0. 0. 1. ]] SLAMing on 189.26650248099997 meters Centerline goodness : 0.722240 with order 1 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.76, Z:0.20 [[ 0.99477162 -0.09501984 0.03742537 6.83699169] [ 0.09296578 0.99424394 0.05325739 -0.75948102] [-0.04227046 -0.04949967 0.99787925 0.19980372] [ 0. 0. 0. 1. ]] SLAMing on 189.32650248099998 meters Centerline goodness : 0.722091 with order 1 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.76, Z:0.20 [[ 0.99444673 -0.09817099 0.03792304 6.83657321] [ 0.09618481 0.99405282 0.05106333 -0.7636164 ] [-0.04271044 -0.04713215 0.99797514 0.20073331] [ 0. 0. 0. 1. ]] SLAMing on 189.38650248099998 meters Centerline goodness : 0.722291 with order 1 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.77, Z:0.20 [[ 0.99445919 -0.09803655 0.037944 6.83534066] [ 0.09594282 0.99394554 0.05354664 -0.76794409] [-0.0429638 -0.04960949 0.99784418 0.20379129] [ 0. 0. 0. 1. ]] SLAMing on 189.44650248099995 meters Centerline goodness : 0.724340 with order 1 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.77, Z:0.20 [[ 0.99417897 -0.10072358 0.03824825 6.83505917] [ 0.09873889 0.99382346 0.05065143 -0.77049984] [-0.04311381 -0.04658 0.99798372 0.20439504] [ 0. 0. 0. 1. ]] SLAMing on 189.50650248099996 meters Centerline goodness : 0.724774 with order 1 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.77, Z:0.20 [[ 0.99400117 -0.10228571 0.0387209 6.83501125] [ 0.10041059 0.99380584 0.04761996 -0.7723067 ] [-0.04335189 -0.04344631 0.99811474 0.20362001] [ 0. 0. 0. 1. ]] SLAMing on 189.56650248099996 meters Centerline goodness : 0.726977 with order 1 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.77, Z:0.20 [[ 0.99402514 -0.10190661 0.0391032 6.83393305] [ 0.09997569 0.9938064 0.04851501 -0.77481881] [-0.04380501 -0.04431577 0.99805673 0.20460721] [ 0. 0. 0. 1. ]] SLAMing on 189.62650248099996 meters Centerline goodness : 0.728147 with order 1 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.78, Z:0.20 [[ 0.99373284 -0.10471144 0.03912243 6.83510496] [ 0.10289802 0.99363672 0.04580459 -0.77742474] [-0.04366975 -0.0414919 0.99818404 0.20380366] [ 0. 0. 0. 1. ]] SLAMing on 189.68650248099996 meters Centerline goodness : 0.583207 with order 3 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.78, Z:0.20 [[ 0.9933487 -0.10833089 0.0390227 6.83664025] [ 0.10666094 0.99338231 0.04260309 -0.77904837] [-0.04337969 -0.03815753 0.99832971 0.20288803] [ 0. 0. 0. 1. ]] SLAMing on 189.74650248099996 meters Centerline goodness : 0.563814 with order 1 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.78, Z:0.20 [[ 0.99306949 -0.11109024 0.03836595 6.83895494] [ 0.10956681 0.99318376 0.03976347 -0.77947135] [-0.04252177 -0.03528426 0.99847229 0.20187717] [ 0. 0. 0. 1. ]] SLAMing on 189.80650248099997 meters Centerline goodness : 0.492596 with order 1 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.78, Z:0.20 [[ 0.99324893 -0.10924223 0.03902174 6.83735352] [ 0.10765799 0.99335748 0.04062857 -0.78066529] [-0.04320089 -0.03615328 0.99841205 0.20214938] [ 0. 0. 0. 1. ]] SLAMing on 189.86650248099997 meters Centerline goodness : 0.730485 with order 1 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.78, Z:0.20 [[ 0.99334511 -0.10843078 0.0388364 6.83723703] [ 0.10684028 0.99343346 0.04092809 -0.78029999] [-0.04301924 -0.03650642 0.99840704 0.20242862] [ 0. 0. 0. 1. ]] SLAMing on 189.92650248099997 meters Centerline goodness : 0.604693 with order 3 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.78, Z:0.20 [[ 0.99381034 -0.10404732 0.03892505 6.83629673] [ 0.10232475 0.99378175 0.04390311 -0.77992749] [-0.04325101 -0.03964836 0.99827719 0.20195097] [ 0. 0. 0. 1. ]] SLAMing on 189.98650248099997 meters Centerline goodness : 0.491650 with order 3 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.78, Z:0.20 [[ 0.993965 -0.10235933 0.03944802 6.83502346] [ 0.10064436 0.99398175 0.04325508 -0.7792513 ] [-0.04363817 -0.03902381 0.99828496 0.20151164] [ 0. 0. 0. 1. ]] SLAMing on 190.04650248099998 meters Centerline goodness : 0.613193 with order 3 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.78, Z:0.20 [[ 0.99399667 -0.10204452 0.03946563 6.83458104] [ 0.10036265 0.99404359 0.04248143 -0.77722351] [-0.04356555 -0.03826552 0.99831748 0.20163497] [ 0. 0. 0. 1. ]] SLAMing on 190.10650248099998 meters Centerline goodness : 0.306957 with order 3 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.78, Z:0.20 [[ 0.9938655 -0.10380008 0.03816951 6.83737641] [ 0.102161 0.99385334 0.04264578 -0.77793065] [-0.04236153 -0.03848473 0.99836087 0.20152082] [ 0. 0. 0. 1. ]] SLAMing on 190.16650248099995 meters Centerline goodness : 0.487525 with order 1 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.78, Z:0.20 [[ 0.99371616 -0.10576104 0.03664405 6.84064592] [ 0.10417641 0.99363958 0.04275116 -0.77817623] [-0.04093238 -0.03866508 0.99841352 0.20129485] [ 0. 0. 0. 1. ]] SLAMing on 190.22650248099995 meters Centerline goodness : 0.494132 with order 1 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.78, Z:0.20 [[ 0.99363102 -0.106933 0.03553483 6.84265625] [ 0.1053808 0.9935013 0.04301232 -0.77775949] [-0.03990334 -0.03899369 0.9984424 0.20156278] [ 0. 0. 0. 1. ]] SLAMing on 190.28650248099996 meters Centerline goodness : 0.556663 with order 3 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.78, Z:0.20 [[ 0.99355911 -0.10780418 0.03490769 6.84379889] [ 0.10625362 0.99338317 0.04358941 -0.77897241] [-0.03937583 -0.03959959 0.99843949 0.2021089 ] [ 0. 0. 0. 1. ]] SLAMing on 190.34650248099996 meters Centerline goodness : 0.632430 with order 3 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.78, Z:0.20 [[ 0.99351165 -0.10816858 0.03513067 6.84271824] [ 0.10654952 0.99328457 0.04508848 -0.78035447] [-0.03977191 -0.04105278 0.9983651 0.20426202] [ 0. 0. 0. 1. ]] SLAMing on 190.40650248099996 meters Centerline goodness : 0.470638 with order 2 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.78, Z:0.20 [[ 0.99346424 -0.10872103 0.03476405 6.84345564] [ 0.10710458 0.99321064 0.04540078 -0.78124624] [-0.03946404 -0.04138066 0.99836378 0.2045172 ] [ 0. 0. 0. 1. ]] SLAMing on 190.46650248099996 meters Centerline goodness : 0.733604 with order 1 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.78, Z:0.20 [[ 0.99340322 -0.10925118 0.03484566 6.84346153] [ 0.10766783 0.99319159 0.04447584 -0.78052793] [-0.03946745 -0.04043069 0.99840256 0.20428183] [ 0. 0. 0. 1. ]] SLAMing on 190.52650248099997 meters Centerline goodness : 0.379862 with order 3 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.78, Z:0.20 [[ 0.99380134 -0.10590641 0.03380426 6.84460544] [ 0.10424071 0.99340606 0.04773123 -0.77908949] [-0.0386364 -0.04391158 0.99828804 0.20399261] [ 0. 0. 0. 1. ]] SLAMing on 190.58650248099997 meters Centerline goodness : 0.142401 with order 1 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.77, Z:0.20 [[ 0.99394072 -0.10439184 0.03441198 6.84372678] [ 0.10279434 0.9936697 0.04531939 -0.77492933] [-0.03892512 -0.04150743 0.99837967 0.20201006] [ 0. 0. 0. 1. ]] SLAMing on 190.64650248099997 meters Centerline goodness : 0.734129 with order 1 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.77, Z:0.20 [[ 0.99405185 -0.10321941 0.03473719 6.84304911] [ 0.10165057 0.99383549 0.0442514 -0.77320147] [-0.03909066 -0.04045713 0.99841632 0.20119088] [ 0. 0. 0. 1. ]] SLAMing on 190.70650248099997 meters Centerline goodness : 0.589546 with order 3 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.77, Z:0.20 [[ 0.99401962 -0.10365275 0.03436703 6.84317334] [ 0.10208992 0.99378021 0.04448078 -0.77333274] [-0.03876383 -0.04070624 0.99841893 0.20226461] [ 0. 0. 0. 1. ]] SLAMing on 190.76650248099997 meters Centerline goodness : 0.735266 with order 1 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.77, Z:0.20 [[ 0.99388336 -0.10507087 0.03399972 6.84374001] [ 0.10349273 0.99360006 0.04525688 -0.77475418] [-0.03853731 -0.04146134 0.99839663 0.2034272 ] [ 0. 0. 0. 1. ]] SLAMing on 190.82650248099998 meters Centerline goodness : 0.228451 with order 1 Centerline is valid? [False, False] Translation: X:6.85, Y:-0.78, Z:0.20 [[ 0.99344154 -0.10935161 0.03340848 6.84579497] [ 0.10788867 0.9932395 0.04284076 -0.77613704] [-0.03786733 -0.03895539 0.99852318 0.20362066] [ 0. 0. 0. 1. ]] SLAMing on 190.88650248099995 meters Centerline goodness : 0.420129 with order 3 Centerline is valid? [False, False] Translation: X:6.85, Y:-0.78, Z:0.20 [[ 0.99284139 -0.11463688 0.03353148 6.84723791] [ 0.11329745 0.9927779 0.03944262 -0.77785016] [-0.03781089 -0.03536124 0.99865906 0.20326872] [ 0. 0. 0. 1. ]] SLAMing on 190.94650248099995 meters Centerline goodness : 0.480759 with order 1 Centerline is valid? [False, False] Translation: X:6.85, Y:-0.78, Z:0.20 [[ 0.99278184 -0.11542572 0.03257492 6.84883782] [ 0.11405681 0.99262155 0.04115213 -0.77862736] [-0.03708458 -0.0371397 0.99862174 0.20420215] [ 0. 0. 0. 1. ]] SLAMing on 191.00650248099996 meters Centerline goodness : 0.649428 with order 2 Centerline is valid? [False, False] Translation: X:6.85, Y:-0.78, Z:0.20 [[ 0.99263116 -0.11686475 0.03203147 6.85003183] [ 0.11551075 0.99244768 0.04129001 -0.77927705] [-0.0366149 -0.03728577 0.99863363 0.20452166] [ 0. 0. 0. 1. ]] SLAMing on 191.06650248099996 meters Centerline goodness : 0.309624 with order 3 Centerline is valid? [False, False] Translation: X:6.85, Y:-0.78, Z:0.20 [[ 0.99259571 -0.11742207 0.03107746 6.85159898] [ 0.11610919 0.99238432 0.04113411 -0.77730854] [-0.03567083 -0.03722116 0.9986702 0.20457233] [ 0. 0. 0. 1. ]] SLAMing on 191.12650248099996 meters Centerline goodness : 0.250410 with order 1 Centerline is valid? [False, False] Translation: X:6.85, Y:-0.78, Z:0.20 [[ 0.9928901 -0.11528584 0.02963838 6.85349162] [ 0.11389233 0.99247105 0.04505275 -0.77675659] [-0.03460918 -0.04135685 0.99854485 0.20487934] [ 0. 0. 0. 1. ]] SLAMing on 191.18650248099996 meters Centerline goodness : 0.449142 with order 1 Centerline is valid? [False, False] Translation: X:6.85, Y:-0.78, Z:0.21 [[ 0.99326797 -0.1121705 0.02892271 6.85381781] [ 0.11069407 0.99267509 0.04840447 -0.77543109] [-0.03414041 -0.04487704 0.99840898 0.2051781 ] [ 0. 0. 0. 1. ]] SLAMing on 191.24650248099996 meters Centerline goodness : 0.728927 with order 1 Centerline is valid? [False, False] Translation: X:6.85, Y:-0.77, Z:0.21 [[ 0.9937009 -0.10848359 0.02810393 6.85428017] [ 0.10691904 0.99289587 0.05221208 -0.77461486] [-0.03356843 -0.04887835 0.99824049 0.20532984] [ 0. 0. 0. 1. ]] SLAMing on 191.30650248099997 meters Centerline goodness : 0.728601 with order 1 Centerline is valid? [False, False] Translation: X:6.85, Y:-0.77, Z:0.20 [[ 0.99386106 -0.10702367 0.02803802 6.8540131 ] [ 0.1054891 0.99308871 0.05144777 -0.77203232] [-0.03335036 -0.04817423 0.99828202 0.20472841] [ 0. 0. 0. 1. ]] SLAMing on 191.36650248099997 meters Centerline goodness : 0.728482 with order 1 Centerline is valid? [False, False] Translation: X:6.85, Y:-0.77, Z:0.20 [[ 0.99428238 -0.10306144 0.02794438 6.85341506] [ 0.10144551 0.99336777 0.05412285 -0.77065234] [-0.03333703 -0.05097857 0.99814319 0.20427748] [ 0. 0. 0. 1. ]] SLAMing on 191.42650248099997 meters Centerline goodness : 0.725954 with order 1 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.77, Z:0.20 [[ 0.99435967 -0.10264522 0.02669853 6.85672525] [ 0.10112082 0.99344715 0.05326661 -0.76779488] [-0.03199115 -0.05026639 0.99822335 0.20141619] [ 0. 0. 0. 1. ]] SLAMing on 191.48650248099997 meters Centerline goodness : 0.723514 with order 1 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.77, Z:0.20 [[ 0.99441384 -0.1022427 0.02622097 6.85711093] [ 0.10074995 0.99349712 0.05303704 -0.76639856] [-0.03147311 -0.050099 0.99824823 0.2016807 ] [ 0. 0. 0. 1. ]] SLAMing on 191.54650248099998 meters Centerline goodness : 0.722752 with order 1 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.77, Z:0.20 [[ 0.9944503 -0.10207733 0.025472 6.85727653] [ 0.10061586 0.99349949 0.05324668 -0.7653343 ] [-0.0307417 -0.05038829 0.99825646 0.20326113] [ 0. 0. 0. 1. ]] SLAMing on 191.60650248099998 meters Centerline goodness : 0.721806 with order 1 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.76, Z:0.20 [[ 0.99449308 -0.10175526 0.02508753 6.85732994] [ 0.10031923 0.99353957 0.05305829 -0.76359528] [-0.03032441 -0.05024934 0.99827623 0.20379849] [ 0. 0. 0. 1. ]] SLAMing on 191.66650248099995 meters Centerline goodness : 0.719960 with order 1 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.76, Z:0.20 [[ 0.9944924 -0.10191283 0.02446717 6.85874303] [ 0.10050904 0.9935225 0.05301861 -0.76389226] [-0.02971197 -0.05026743 0.99829374 0.20326354] [ 0. 0. 0. 1. ]] SLAMing on 191.72650248099995 meters Centerline goodness : 0.720362 with order 1 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.77, Z:0.20 [[ 0.99447311 -0.10216852 0.02418324 6.85960884] [ 0.10075856 0.99346047 0.05370286 -0.76563438] [-0.02951184 -0.05096938 0.99826408 0.20307127] [ 0. 0. 0. 1. ]] SLAMing on 191.78650248099996 meters Centerline goodness : 0.719213 with order 1 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.77, Z:0.20 [[ 0.99446491 -0.10237996 0.02361949 6.85989532] [ 0.10096765 0.9933812 0.05476616 -0.76630433] [-0.02907011 -0.05207822 0.99821981 0.20461185] [ 0. 0. 0. 1. ]] SLAMing on 191.84650248099996 meters Centerline goodness : 0.719208 with order 1 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.77, Z:0.20 [[ 0.99413302 -0.10558412 0.02348461 6.86078911] [ 0.10424896 0.99317886 0.05222942 -0.76747581] [-0.02883902 -0.04947475 0.99835893 0.20476108] [ 0. 0. 0. 1. ]] SLAMing on 191.90650248099996 meters Centerline goodness : 0.718444 with order 1 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.77, Z:0.21 [[ 0.99412067 -0.10578177 0.02311536 6.86116782] [ 0.10443745 0.99310845 0.05318299 -0.76927826] [-0.02858185 -0.0504562 0.99831721 0.20561112] [ 0. 0. 0. 1. ]] SLAMing on 191.96650248099996 meters Centerline goodness : 0.716486 with order 1 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.77, Z:0.20 [[ 0.99424022 -0.10466513 0.02305631 6.86218999] [ 0.10336125 0.99328858 0.05190611 -0.76714511] [-0.02833433 -0.04922401 0.99838578 0.20297842] [ 0. 0. 0. 1. ]] SLAMing on 192.02650248099997 meters Centerline goodness : 0.718110 with order 1 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.77, Z:0.20 [[ 0.99457231 -0.10133603 0.02359918 6.86070989] [ 0.09997556 0.99357456 0.05305165 -0.76747296] [-0.02882359 -0.05040436 0.99831288 0.20266335] [ 0. 0. 0. 1. ]] SLAMing on 192.08650248099997 meters Centerline goodness : 0.716970 with order 1 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.77, Z:0.20 [[ 0.99510283 -0.09561109 0.02507763 6.8566211 ] [ 0.09409634 0.99399374 0.05587784 -0.7673996 ] [-0.03026955 -0.05324448 0.99812263 0.20303637] [ 0. 0. 0. 1. ]] SLAMing on 192.14650248099997 meters Centerline goodness : 0.631322 with order 3 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.77, Z:0.20 [[ 0.9951681 -0.09479324 0.02558705 6.85542272] [ 0.09326367 0.99409297 0.05550716 -0.76716858] [-0.03069761 -0.05285262 0.99813038 0.20313812] [ 0. 0. 0. 1. ]] SLAMing on 192.20650248099997 meters Centerline goodness : 0.643313 with order 3 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.77, Z:0.20 [[ 0.99485891 -0.09810993 0.02510365 6.8578845 ] [ 0.09671547 0.99396487 0.05176827 -0.76771294] [-0.03003113 -0.04907422 0.99834355 0.20129218] [ 0. 0. 0. 1. ]] SLAMing on 192.26650248099997 meters Centerline goodness : 0.644750 with order 2 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.77, Z:0.20 [[ 0.99485357 -0.09833746 0.02441547 6.85975862] [ 0.09694543 0.99388677 0.0528269 -0.76975614] [-0.02946108 -0.05018807 0.99830517 0.20080906] [ 0. 0. 0. 1. ]] SLAMing on 192.32650248099998 meters Centerline goodness : 0.723139 with order 1 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.77, Z:0.20 [[ 0.99488154 -0.09808758 0.02428074 6.85938362] [ 0.09667689 0.99386613 0.05370002 -0.77112871] [-0.02939911 -0.05107777 0.99826187 0.20205135] [ 0. 0. 0. 1. ]] SLAMing on 192.38650248099995 meters Centerline goodness : 0.725518 with order 1 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.77, Z:0.20 [[ 0.99490727 -0.09773869 0.0246306 6.85897972] [ 0.09630076 0.993885 0.05402572 -0.77317436] [-0.02976039 -0.05137863 0.99823572 0.20190364] [ 0. 0. 0. 1. ]] SLAMing on 192.44650248099995 meters Centerline goodness : 0.639092 with order 1 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.77, Z:0.20 [[ 0.99490924 -0.09788103 0.02397731 6.86030768] [ 0.09644778 0.99381668 0.05501117 -0.77386208] [-0.0292136 -0.05241856 0.99819781 0.2019535 ] [ 0. 0. 0. 1. ]] SLAMing on 192.50650248099996 meters Centerline goodness : 0.662743 with order 3 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.77, Z:0.20 [[ 0.99464002 -0.10053036 0.02418417 6.86070625] [ 0.09918231 0.99372787 0.05165058 -0.77437498] [-0.02922493 -0.04897509 0.99837235 0.20149677] [ 0. 0. 0. 1. ]] SLAMing on 192.56650248099996 meters Centerline goodness : 0.637431 with order 2 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.78, Z:0.20 [[ 0.99461485 -0.10081248 0.02404447 6.86100767] [ 0.0994631 0.99368565 0.05192227 -0.77514342] [-0.02912706 -0.04925112 0.99836163 0.2017328 ] [ 0. 0. 0. 1. ]] SLAMing on 192.62650248099996 meters Centerline goodness : 0.635752 with order 2 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.78, Z:0.20 [[ 0.99462407 -0.10084077 0.0235391 6.86097812] [ 0.09948692 0.99362932 0.05294449 -0.77559589] [-0.02872811 -0.05031803 0.99831998 0.20347958] [ 0. 0. 0. 1. ]] SLAMing on 192.68650248099996 meters Centerline goodness : 0.552130 with order 1 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.77, Z:0.20 [[ 0.99431684 -0.10395187 0.02297889 6.8639489 ] [ 0.10276379 0.99354989 0.04793975 -0.77342815] [-0.0278141 -0.0453059 0.99858588 0.20039659] [ 0. 0. 0. 1. ]] SLAMing on 192.74650248099996 meters Centerline goodness : 0.705488 with order 3 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.77, Z:0.20 [[ 0.99433319 -0.10390669 0.0224703 6.86471483] [ 0.10273747 0.99354511 0.048095 -0.77270527] [-0.02732265 -0.04551391 0.99858998 0.20053459] [ 0. 0. 0. 1. ]] SLAMing on 192.80650248099997 meters Centerline goodness : 0.649287 with order 3 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.77, Z:0.20 [[ 0.99441789 -0.10306869 0.02258123 6.86336851] [ 0.10186846 0.99358724 0.04906339 -0.7726261 ] [-0.02749332 -0.0464892 0.99854037 0.20226734] [ 0. 0. 0. 1. ]] SLAMing on 192.86650248099997 meters Centerline goodness : 0.634576 with order 2 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.77, Z:0.20 [[ 0.99434758 -0.10385707 0.02205917 6.86397354] [ 0.10266168 0.99347109 0.0497571 -0.77379504] [-0.02708278 -0.04721122 0.99851771 0.20342592] [ 0. 0. 0. 1. ]] SLAMing on 192.92650248099997 meters Centerline goodness : 0.674741 with order 3 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.77, Z:0.20 [[ 0.99421985 -0.10541423 0.02036491 6.86789436] [ 0.104288 0.99328281 0.05013244 -0.77384758] [-0.02551279 -0.04771885 0.99853493 0.20257849] [ 0. 0. 0. 1. ]] SLAMing on 192.98650248099997 meters Centerline goodness : 0.582643 with order 3 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.77, Z:0.20 [[ 0.99413337 -0.10638002 0.01954815 6.86954758] [ 0.10529177 0.99317666 0.05013738 -0.77380409] [-0.02474838 -0.04778498 0.99855101 0.20262923] [ 0. 0. 0. 1. ]] SLAMing on 193.04650248099998 meters Centerline goodness : 0.695093 with order 3 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.77, Z:0.20 [[ 0.99422392 -0.10557605 0.0193002 6.86915291] [ 0.10449649 0.9932525 0.05029858 -0.7723369 ] [-0.0244803 -0.04799124 0.99854772 0.20338461] [ 0. 0. 0. 1. ]] SLAMing on 193.10650248099998 meters Centerline goodness : 0.700074 with order 3 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.77, Z:0.20 [[ 0.99468217 -0.10129747 0.01860648 6.86936094] [ 0.10019284 0.99355883 0.05293627 -0.76952037] [-0.02384894 -0.05079053 0.99842453 0.20295362] [ 0. 0. 0. 1. ]] SLAMing on 193.16650248099995 meters Centerline goodness : 0.698646 with order 3 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.77, Z:0.20 [[ 0.99468323 -0.1013587 0.01821207 6.86984241] [ 0.1003026 0.99361189 0.05171845 -0.7672597 ] [-0.02333785 -0.04961676 0.99849563 0.20274752] [ 0. 0. 0. 1. ]] SLAMing on 193.22650248099995 meters Centerline goodness : 0.585430 with order 1 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.77, Z:0.20 [[ 0.9946096 -0.10227172 0.01709491 6.87086883] [ 0.10125339 0.99347618 0.05246743 -0.76615695] [-0.02234932 -0.05045369 0.99847631 0.2046103 ] [ 0. 0. 0. 1. ]] SLAMing on 193.28650248099996 meters Centerline goodness : 0.705820 with order 3 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.77, Z:0.21 [[ 0.99447745 -0.10373244 0.01594303 6.87264213] [ 0.10274496 0.99325892 0.05366745 -0.76748756] [-0.02140261 -0.051733 0.99843158 0.20602565] [ 0. 0. 0. 1. ]] SLAMing on 193.34650248099996 meters Centerline goodness : 0.667731 with order 3 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.77, Z:0.21 [[ 0.99428888 -0.10570182 0.01472207 6.87443957] [ 0.10474626 0.99297233 0.05508328 -0.76896185] [-0.02044101 -0.05322662 0.99837322 0.20789214] [ 0. 0. 0. 1. ]] SLAMing on 193.40650248099996 meters Centerline goodness : 0.704401 with order 3 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.77, Z:0.21 [[ 0.99418127 -0.1068555 0.01362031 6.87634126] [ 0.10594774 0.99281804 0.05556446 -0.76869456] [-0.01945986 -0.0537981 0.9983622 0.20846313] [ 0. 0. 0. 1. ]] SLAMing on 193.46650248099996 meters Centerline goodness : 0.698270 with order 3 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.77, Z:0.21 [[ 0.9938886 -0.10973506 0.01198607 6.8794337 ] [ 0.1088979 0.9924568 0.05630931 -0.769462 ] [-0.01807476 -0.05465993 0.99834142 0.20959896] [ 0. 0. 0. 1. ]] SLAMing on 193.52650248099997 meters Centerline goodness : 0.678471 with order 3 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.77, Z:0.21 [[ 0.99385631 -0.11010914 0.01120809 6.88024706] [ 0.10931925 0.99242764 0.05600615 -0.76720133] [-0.01729 -0.0544368 0.99836751 0.21024867] [ 0. 0. 0. 1. ]] SLAMing on 193.58650248099997 meters Centerline goodness : 0.649820 with order 3 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.77, Z:0.21 [[ 0.99417899 -0.10722253 0.0105577 6.88012407] [ 0.10641341 0.99253836 0.05952969 -0.76612707] [-0.01686185 -0.05805969 0.9981707 0.2112929 ] [ 0. 0. 0. 1. ]] SLAMing on 193.64650248099997 meters Centerline goodness : 0.686254 with order 3 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.76, Z:0.21 [[ 0.99427949 -0.10627602 0.01066341 6.8796276 ] [ 0.10547776 0.9926926 0.05861602 -0.76403709] [-0.01681496 -0.05715596 0.99822365 0.21087945] [ 0. 0. 0. 1. ]] SLAMing on 193.70650248099997 meters Centerline goodness : 0.677179 with order 3 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.76, Z:0.21 [[ 0.99445327 -0.10464676 0.01057113 6.87949732] [ 0.10387477 0.99292638 0.05750866 -0.76188368] [-0.01651445 -0.05609161 0.99828904 0.21001476] [ 0. 0. 0. 1. ]] SLAMing on 193.76650248099997 meters Centerline goodness : 0.643773 with order 3 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.76, Z:0.21 [[ 0.99500398 -0.09932907 0.0100405 6.87901282] [ 0.0985469 0.99328887 0.06054525 -0.75921207] [-0.01598702 -0.05925331 0.99811495 0.20992587] [ 0. 0. 0. 1. ]] SLAMing on 193.82650248099998 meters Centerline goodness : 0.710206 with order 1 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.76, Z:0.21 [[ 0.9951783 -0.0974949 0.01071879 6.87705099] [ 0.0966931 0.99353467 0.05949209 -0.75804741] [-0.01644967 -0.05816881 0.99817123 0.20999431] [ 0. 0. 0. 1. ]] SLAMing on 193.88650248099995 meters Centerline goodness : 0.323107 with order 3 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.76, Z:0.21 [[ 0.99514622 -0.0979106 0.00987491 6.87803366] [ 0.09713132 0.99339197 0.06113829 -0.7597357 ] [-0.01579574 -0.05988238 0.99808046 0.21146032] [ 0. 0. 0. 1. ]] SLAMing on 193.94650248099995 meters Centerline goodness : 0.339988 with order 1 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.76, Z:0.21 [[ 0.99471669 -0.1022276 0.00939312 6.88066965] [ 0.10153221 0.993194 0.05706921 -0.76005381] [-0.01516324 -0.05581399 0.99832604 0.20976265] [ 0. 0. 0. 1. ]] SLAMing on 194.00650248099996 meters Centerline goodness : 0.303884 with order 3 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.76, Z:0.21 [[ 0.99443898 -0.10491315 0.00918359 6.88200463] [ 0.10426903 0.99307377 0.05415219 -0.76207754] [-0.01480126 -0.05289348 0.99849046 0.20916976] [ 0. 0. 0. 1. ]] SLAMing on 194.06650248099996 meters Centerline goodness : 0.297821 with order 3 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.76, Z:0.21 [[ 0.99484146 -0.10104775 0.00893457 6.88021957] [ 0.10035476 0.99321478 0.0587649 -0.76312457] [-0.01481201 -0.05756513 0.99823187 0.21183376] [ 0. 0. 0. 1. ]] SLAMing on 194.12650248099996 meters Centerline goodness : 0.461028 with order 3 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.76, Z:0.21 [[ 0.99492697 -0.10011494 0.00986531 6.87801251] [ 0.09938344 0.99336309 0.0579025 -0.76377679] [-0.01559674 -0.05662831 0.9982735 0.21230374] [ 0. 0. 0. 1. ]] SLAMing on 194.18650248099996 meters Centerline goodness : 0.529839 with order 3 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.76, Z:0.21 [[ 0.99499739 -0.09945526 0.00942588 6.87850731] [ 0.09874992 0.99342714 0.05788765 -0.76356168] [-0.01512116 -0.05666725 0.9982786 0.21227384] [ 0. 0. 0. 1. ]] SLAMing on 194.24650248099996 meters Centerline goodness : 0.462745 with order 2 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.77, Z:0.21 [[ 0.99501746 -0.09932 0.00870619 6.87960697] [ 0.09863689 0.99336188 0.05918558 -0.76580178] [-0.01452671 -0.05803193 0.99820903 0.21289747] [ 0. 0. 0. 1. ]] SLAMing on 194.30650248099997 meters Centerline goodness : 0.619309 with order 2 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.77, Z:0.21 [[ 0.99461854 -0.10320105 0.00913823 6.8796416 ] [ 0.10252335 0.99311113 0.05673843 -0.76908063] [-0.01493074 -0.05549621 0.99834726 0.21351035] [ 0. 0. 0. 1. ]] SLAMing on 194.36650248099997 meters Centerline goodness : 0.595541 with order 1 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.77, Z:0.21 [[ 0.99413239 -0.10783437 0.00851651 6.88166162] [ 0.10720656 0.99270364 0.0551928 -0.77259169] [-0.01440605 -0.05395592 0.99843939 0.21442958] [ 0. 0. 0. 1. ]] SLAMing on 194.42650248099997 meters Centerline goodness : 0.622404 with order 1 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.78, Z:0.22 [[ 0.993661 -0.11212844 0.00806387 6.8830114 ] [ 0.11153654 0.99229511 0.05394448 -0.77659335] [-0.01405045 -0.05270311 0.99851138 0.21602526] [ 0. 0. 0. 1. ]] SLAMing on 194.48650248099997 meters Centerline goodness : 0.231780 with order 1 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.78, Z:0.22 [[ 0.99351773 -0.11344941 0.00719411 6.88503737] [ 0.11289435 0.99211196 0.054486 -0.7780274 ] [-0.01331877 -0.05332063 0.99848862 0.2160616 ] [ 0. 0. 0. 1. ]] SLAMing on 194.54650248099998 meters Centerline goodness : 0.707843 with order 1 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.78, Z:0.22 [[ 0.99355858 -0.1130871 0.00725587 6.88502984] [ 0.11253539 0.99217786 0.05402657 -0.77790653] [-0.01330882 -0.05286202 0.99851314 0.21564572] [ 0. 0. 0. 1. ]] SLAMing on 194.60650248099998 meters Centerline goodness : 0.709986 with order 1 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.78, Z:0.22 [[ 0.99377672 -0.11110285 0.00799878 6.88330465] [ 0.11052857 0.99245747 0.05302464 -0.77557447] [-0.01382964 -0.05181056 0.99856117 0.21507323] [ 0. 0. 0. 1. ]] SLAMing on 194.66650248099995 meters Centerline goodness : 0.708764 with order 1 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.77, Z:0.21 [[ 0.99422805 -0.10704017 0.00727885 6.88377401] [ 0.10646784 0.99272984 0.05614322 -0.77388211] [-0.01323551 -0.0550442 0.99839619 0.21460739] [ 0. 0. 0. 1. ]] SLAMing on 194.72650248099995 meters Centerline goodness : 0.712086 with order 1 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.77, Z:0.21 [[ 0.99431392 -0.10617403 0.00817994 6.88179386] [ 0.10556411 0.99286896 0.05538449 -0.77331232] [-0.01400201 -0.05420606 0.99843159 0.21478613] [ 0. 0. 0. 1. ]] SLAMing on 194.78650248099996 meters Centerline goodness : 0.713228 with order 1 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.77, Z:0.22 [[ 0.99436339 -0.10564698 0.00895289 6.87957071] [ 0.10498849 0.99290176 0.05588839 -0.7743187 ] [-0.01479377 -0.05463341 0.99839688 0.21635108] [ 0. 0. 0. 1. ]] SLAMing on 194.84650248099996 meters Centerline goodness : 0.712164 with order 1 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.77, Z:0.21 [[ 0.99398813 -0.10912143 0.00895036 6.88096582] [ 0.10852097 0.99275284 0.05162357 -0.77320706] [-0.01451874 -0.05034191 0.99862651 0.21495482] [ 0. 0. 0. 1. ]] SLAMing on 194.90650248099996 meters Centerline goodness : 0.713801 with order 1 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.77, Z:0.21 [[ 0.99343012 -0.11415006 0.00814597 6.88474167] [ 0.11363318 0.99236039 0.04804545 -0.77473386] [-0.01356813 -0.04680414 0.99881193 0.21307734] [ 0. 0. 0. 1. ]] SLAMing on 194.96650248099996 meters Centerline goodness : 0.641565 with order 3 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.77, Z:0.21 [[ 0.99296648 -0.1181099 0.00822354 6.88479843] [ 0.1176341 0.99206151 0.04445413 -0.7737446 ] [-0.01340873 -0.04317409 0.99897758 0.21400023] [ 0. 0. 0. 1. ]] SLAMing on 195.02650248099997 meters Centerline goodness : 0.719780 with order 1 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.77, Z:0.22 [[ 0.99305052 -0.11736094 0.00877969 6.88263441] [ 0.11686286 0.99215601 0.04437932 -0.77279983] [-0.01391922 -0.04304488 0.99897617 0.21564331] [ 0. 0. 0. 1. ]] SLAMing on 195.08650248099997 meters Centerline goodness : 0.721506 with order 1 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.77, Z:0.22 [[ 0.99348655 -0.11367625 0.00788558 6.88347194] [ 0.11318445 0.99245645 0.04711128 -0.77134432] [-0.01318153 -0.04591189 0.99885852 0.21509844] [ 0. 0. 0. 1. ]] SLAMing on 195.14650248099997 meters Centerline goodness : 0.719075 with order 1 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.77, Z:0.21 [[ 0.99392764 -0.10977654 0.00754726 6.88350288] [ 0.10926792 0.99275657 0.04994907 -0.77036111] [-0.01297583 -0.04882109 0.99872325 0.21441837] [ 0. 0. 0. 1. ]] SLAMing on 195.20650248099997 meters Centerline goodness : 0.719819 with order 1 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.77, Z:0.22 [[ 0.9943234 -0.10605125 0.00860851 6.88037939] [ 0.10548075 0.99311332 0.05098763 -0.77072842] [-0.01395653 -0.04979016 0.99866218 0.21505254] [ 0. 0. 0. 1. ]] SLAMing on 195.26650248099997 meters Centerline goodness : 0.717726 with order 1 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.77, Z:0.22 [[ 0.99448513 -0.10449434 0.00895874 6.87923881] [ 0.10391135 0.99328974 0.0507732 -0.76968199] [-0.01420413 -0.04956228 0.99867003 0.2151268 ] [ 0. 0. 0. 1. ]] SLAMing on 195.32650248099998 meters Centerline goodness : 0.719195 with order 1 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.77, Z:0.21 [[ 0.99408297 -0.10832209 0.00808567 6.88296639] [ 0.10782094 0.99303279 0.04754501 -0.77100254] [-0.01317951 -0.04639188 0.99883637 0.21289826] [ 0. 0. 0. 1. ]] SLAMing on 195.38650248099995 meters Centerline goodness : 0.717974 with order 1 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.77, Z:0.21 [[ 9.93581986e-01 -1.12916352e-01 6.68844943e-03 6.88652724e+00] [ 1.12495068e-01 9.92592561e-01 4.58788285e-02 -7.73160703e-01] [-1.18193751e-02 -4.48319599e-02 9.98924621e-01 2.13251198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.44650248099995 meters Centerline goodness : 0.716751 with order 1 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.78, Z:0.21 [[ 9.93467627e-01 -1.13961314e-01 5.90707064e-03 6.88764054e+00] [ 1.13559533e-01 9.92410462e-01 4.71774004e-02 -7.75050863e-01] [-1.12386372e-02 -4.61984158e-02 9.98869060e-01 2.14668260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.50650248099996 meters Centerline goodness : 0.717454 with order 1 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.78, Z:0.22 [[ 9.93468250e-01 -1.13978535e-01 5.45243361e-03 6.88820991e+00] [ 1.13593170e-01 9.92386399e-01 4.76006941e-02 -7.75344084e-01] [-1.08363783e-02 -4.66704191e-02 9.98851563e-01 2.15140903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.56650248099996 meters Centerline goodness : 0.717181 with order 1 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.78, Z:0.22 [[ 9.93486470e-01 -1.13845779e-01 4.87576266e-03 6.88897214e+00] [ 1.13480689e-01 9.92367381e-01 4.82608991e-02 -7.75721255e-01] [-1.03328475e-02 -4.73932454e-02 9.98822863e-01 2.15611996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.62650248099996 meters Centerline goodness : 0.716891 with order 1 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.77, Z:0.22 [[ 9.93352268e-01 -1.15068120e-01 3.25562861e-03 6.89161664e+00] [ 1.14774845e-01 9.92197899e-01 4.86833018e-02 -7.74875139e-01] [-8.83212391e-03 -4.79860040e-02 9.98808959e-01 2.16332699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.68650248099996 meters Centerline goodness : 0.713703 with order 1 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.78, Z:0.22 [[ 9.93280574e-01 -1.15706353e-01 2.39619937e-03 6.89273165e+00] [ 1.15447627e-01 9.92083120e-01 4.94259890e-02 -7.75528361e-01] [-8.09612989e-03 -4.88172391e-02 9.98774915e-01 2.17421358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.74650248099996 meters Centerline goodness : 0.711567 with order 1 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.78, Z:0.22 [[ 9.93329691e-01 -1.15291240e-01 2.01345525e-03 6.89284096e+00] [ 1.15047185e-01 9.92100344e-01 5.00105293e-02 -7.75751925e-01] [-7.76332557e-03 -4.94453012e-02 9.98746661e-01 2.18308468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.80650248099997 meters Centerline goodness : 0.711949 with order 1 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.77, Z:0.22 [[ 9.93403407e-01 -1.14663082e-01 1.43107864e-03 6.89430131e+00] [ 1.14446532e-01 9.92155090e-01 5.03017843e-02 -7.74935046e-01] [-7.18760956e-03 -4.98061819e-02 9.98733039e-01 2.17351370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.86650248099997 meters Centerline goodness : 0.710964 with order 1 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.78, Z:0.22 [[ 9.93452787e-01 -1.14236695e-01 1.23968662e-03 6.89549144e+00] [ 1.14029547e-01 9.92198244e-01 5.03974820e-02 -7.75479889e-01] [-6.98725667e-03 -4.99261580e-02 9.98728470e-01 2.16004415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.92650248099997 meters Centerline goodness : 0.710190 with order 1 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.77, Z:0.22 [[ 9.93507957e-01 -1.13757675e-01 1.06365858e-03 6.89607428e+00] [ 1.13558139e-01 9.92238970e-01 5.06594064e-02 -7.74872291e-01] [-6.81829978e-03 -5.02097362e-02 9.98715422e-01 2.15431154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.98650248099997 meters Centerline goodness : 0.709808 with order 1 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.78, Z:0.22 [[ 9.93917780e-01 -1.10121802e-01 7.97016849e-04 6.89582037e+00] [ 1.09914512e-01 9.92441825e-01 5.45712748e-02 -7.75302476e-01] [-6.80047996e-03 -5.41517566e-02 9.98509560e-01 2.15630933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.04650248099998 meters Centerline goodness : 0.709765 with order 1 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.78, Z:0.22 [[ 9.93989035e-01 -1.09473881e-01 1.12605782e-03 6.89453154e+00] [ 1.09249631e-01 9.92514399e-01 5.45864914e-02 -7.75504047e-01] [-7.09342366e-03 -5.41353525e-02 9.98508411e-01 2.16525857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.10650248099998 meters Centerline goodness : 0.709668 with order 1 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.77, Z:0.22 [[ 9.93879995e-01 -1.10464088e-01 4.90531278e-04 6.89611450e+00] [ 1.10277578e-01 9.92441030e-01 5.38484796e-02 -7.74503780e-01] [-6.43514653e-03 -5.34648320e-02 9.98548998e-01 2.15834698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.16650248099995 meters Centerline goodness : 0.706434 with order 1 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.78, Z:0.22 [[ 9.93774424e-01 -1.11410508e-01 -3.04335305e-04 6.89762015e+00] [ 1.11259827e-01 9.92280735e-01 5.47740346e-02 -7.75956089e-01] [-5.80041696e-03 -5.44668950e-02 9.98498729e-01 2.16399760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.22650248099995 meters Centerline goodness : 0.708390 with order 1 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.78, Z:0.22 [[ 9.93665486e-01 -1.12373665e-01 -1.02996521e-03 6.89895045e+00] [ 1.12255699e-01 9.92110840e-01 5.58098572e-02 -7.77758382e-01] [-5.24971857e-03 -5.55719483e-02 9.98440884e-01 2.17220493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.28650248099996 meters Centerline goodness : 0.705365 with order 1 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.78, Z:0.22 [[ 9.93611570e-01 -1.12843909e-01 -1.51639193e-03 6.89949069e+00] [ 1.12744512e-01 9.91965134e-01 5.73920537e-02 -7.79527710e-01] [-4.97213575e-03 -5.71963735e-02 9.98350566e-01 2.18548829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.34650248099996 meters Centerline goodness : 0.704012 with order 1 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.78, Z:0.22 [[ 9.93232228e-01 -1.16136962e-01 -1.39533188e-03 6.90091259e+00] [ 1.16043613e-01 9.91787935e-01 5.37640347e-02 -7.80793647e-01] [-4.86011831e-03 -5.35620914e-02 9.98552693e-01 2.17243524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.40650248099996 meters Centerline goodness : 0.704739 with order 1 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.78, Z:0.22 [[ 9.93654825e-01 -1.12457976e-01 -1.81441330e-03 6.90084325e+00] [ 1.12370769e-01 9.91939534e-01 5.85557044e-02 -7.82238669e-01] [-4.78526771e-03 -5.83880452e-02 9.98282494e-01 2.17891843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.46650248099996 meters Centerline goodness : 0.704388 with order 1 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.78, Z:0.22 [[ 9.93885841e-01 -1.10411159e-01 -5.58421530e-04 6.89816922e+00] [ 1.10251250e-01 9.92147707e-01 5.90558090e-02 -7.82424580e-01] [-5.96638368e-03 -5.87562990e-02 9.98254526e-01 2.18036842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.52650248099997 meters Centerline goodness : 0.705130 with order 1 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.78, Z:0.22 [[ 9.94005454e-01 -1.09329394e-01 -4.90425561e-04 6.89811262e+00] [ 1.09167730e-01 9.92270981e-01 5.89975243e-02 -7.82556247e-01] [-5.96352854e-03 -5.86973996e-02 9.98258009e-01 2.17506638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.58650248099997 meters Centerline goodness : 0.702359 with order 1 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.78, Z:0.22 [[ 9.94033656e-01 -1.09072793e-01 -4.66163223e-04 6.89938839e+00] [ 1.08914509e-01 9.92342127e-01 5.82643421e-02 -7.82591153e-01] [-5.89246112e-03 -5.79674889e-02 9.98301081e-01 2.15235999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.64650248099997 meters Centerline goodness : 0.612555 with order 1 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.78, Z:0.21 [[ 9.93705731e-01 -1.12021381e-01 -3.61290716e-04 6.90111271e+00] [ 1.11877104e-01 9.92251613e-01 5.40393324e-02 -7.82663752e-01] [-5.69506933e-03 -5.37396145e-02 9.98538742e-01 2.12990751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.70650248099997 meters Centerline goodness : 0.703671 with order 1 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.78, Z:0.21 [[ 9.93746411e-01 -1.11660392e-01 1.63760075e-04 6.90002571e+00] [ 1.11482815e-01 9.92246596e-01 5.49388352e-02 -7.84772470e-01] [-6.29698227e-03 -5.45770138e-02 9.98489708e-01 2.13663564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.76650248099997 meters Centerline goodness : 0.615218 with order 1 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.79, Z:0.21 [[ 9.93884149e-01 -1.10427790e-01 2.24142196e-05 6.89977928e+00] [ 1.10253497e-01 9.92326810e-01 5.59613199e-02 -7.85580148e-01] [-6.20192713e-03 -5.56165976e-02 9.98432937e-01 2.14208799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.82650248099998 meters Centerline goodness : 0.706264 with order 1 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.79, Z:0.21 [[ 9.93915823e-01 -1.10142280e-01 -1.19598426e-04 6.90003647e+00] [ 1.09972146e-01 9.92319041e-01 5.66484575e-02 -7.87196252e-01] [-6.12071045e-03 -5.63169508e-02 9.98394180e-01 2.14465347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.88650248099995 meters Centerline goodness : 0.616946 with order 1 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.79, Z:0.21 [[ 9.93590374e-01 -1.13039868e-01 3.95883821e-04 6.89970235e+00] [ 1.12854315e-01 9.92148198e-01 5.39059946e-02 -7.89044545e-01] [-6.48630194e-03 -5.35158002e-02 9.98545936e-01 2.14868304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.94650248099995 meters Centerline goodness : 0.622562 with order 2 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.79, Z:0.22 [[ 9.93546441e-01 -1.13425374e-01 -3.92421690e-04 6.90154164e+00] [ 1.13271244e-01 9.92003768e-01 5.56610271e-02 -7.92225995e-01] [-5.92408904e-03 -5.53462655e-02 9.98449646e-01 2.15066128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.00650248099996 meters Centerline goodness : 0.621920 with order 2 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.79, Z:0.22 [[ 9.93564134e-01 -1.13264158e-01 -1.24150225e-03 6.90329363e+00] [ 1.13150002e-01 9.91937113e-01 5.70775000e-02 -7.93871463e-01] [-5.23334282e-03 -5.68506329e-02 9.98368979e-01 2.15061682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.06650248099996 meters Centerline goodness : 0.229911 with order 1 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.80, Z:0.22 [[ 9.93641645e-01 -1.12588530e-01 -3.21474416e-04 6.90152979e+00] [ 1.12424232e-01 9.92029143e-01 5.69119567e-02 -7.95630181e-01] [-6.08872158e-03 -5.65862318e-02 9.98379149e-01 2.15288468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.12650248099996 meters Centerline goodness : 0.334836 with order 3 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.80, Z:0.21 [[ 9.94082965e-01 -1.08616684e-01 -1.21397679e-03 6.90317001e+00] [ 1.08488231e-01 9.92225816e-01 6.09773190e-02 -7.96782498e-01] [-5.41861506e-03 -6.07482163e-02 9.98138414e-01 2.14002554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.18650248099996 meters Centerline goodness : 0.461589 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:-0.79, Z:0.21 [[ 9.94226942e-01 -1.07282344e-01 -1.81272401e-03 6.90548023e+00] [ 1.07198542e-01 9.92440781e-01 5.97475484e-02 -7.94902988e-01] [-4.61083581e-03 -5.95969437e-02 9.98211874e-01 2.10739445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.24650248099996 meters Centerline goodness : 0.233650 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:-0.80, Z:0.21 [[ 9.94209693e-01 -1.07430068e-01 -2.42235892e-03 6.90682943e+00] [ 1.07379383e-01 9.92376954e-01 6.04784993e-02 -7.96973858e-01] [-4.09331610e-03 -6.03884216e-02 9.98166561e-01 2.10722948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.30650248099997 meters Centerline goodness : 0.646306 with order 3 Centerline is valid? [False, False] Translation: X:6.91, Y:-0.80, Z:0.21 [[ 9.94175742e-01 -1.07719727e-01 -3.32473207e-03 6.90807995e+00] [ 1.07718156e-01 9.92248906e-01 6.19589097e-02 -7.97942031e-01] [-3.37523507e-03 -6.19561790e-02 9.98073163e-01 2.11881181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.36650248099997 meters Centerline goodness : 0.229715 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:-0.80, Z:0.21 [[ 9.94073052e-01 -1.08639156e-01 -4.03746682e-03 6.90889306e+00] [ 1.08677217e-01 9.92081717e-01 6.29533978e-02 -7.99367382e-01] [-2.83370700e-03 -6.30190569e-02 9.98008301e-01 2.13409831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.42650248099997 meters Centerline goodness : 0.570819 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:-0.80, Z:0.21 [[ 9.93943594e-01 -1.09792407e-01 -4.66473231e-03 6.91100882e+00] [ 1.09869300e-01 9.91995088e-01 6.22453372e-02 -7.99405992e-01] [-2.20667388e-03 -6.23808651e-02 9.98049978e-01 2.12138586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.48650248099997 meters Centerline goodness : 0.644069 with order 3 Centerline is valid? [False, False] Translation: X:6.91, Y:-0.80, Z:0.21 [[ 9.93972382e-01 -1.09508266e-01 -5.18107181e-03 6.91172862e+00] [ 1.09616972e-01 9.91987363e-01 6.28107634e-02 -7.99446333e-01] [-1.73874001e-03 -6.30000975e-02 9.98012006e-01 2.12401781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.54650248099998 meters Centerline goodness : 0.279752 with order 2 Centerline is valid? [False, False] Translation: X:6.91, Y:-0.80, Z:0.21 [[ 9.94082963e-01 -1.08496084e-01 -5.25951689e-03 6.91108473e+00] [ 1.08610874e-01 9.92063684e-01 6.33508141e-02 -7.98834657e-01] [-1.65553952e-03 -6.35472057e-02 9.97977461e-01 2.13231269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.60650248099995 meters Centerline goodness : 0.285379 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:-0.80, Z:0.21 [[ 9.94114067e-01 -1.08179168e-01 -5.87278418e-03 6.91211549e+00] [ 1.08334081e-01 9.92124887e-01 6.28644202e-02 -7.98412646e-01] [-9.74085330e-04 -6.31306271e-02 9.98004797e-01 2.12962855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.66650248099995 meters Centerline goodness : 0.339843 with order 1 Centerline is valid? [False, False] Translation: X:6.92, Y:-0.80, Z:0.21 [[ 9.94069618e-01 -1.08496886e-01 -7.34986733e-03 6.91534656e+00] [ 1.08743993e-01 9.92144130e-01 6.18447253e-02 -7.95848507e-01] [ 5.82167583e-04 -6.22772164e-02 9.98058720e-01 2.11466018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.72650248099995 meters Centerline goodness : 0.632875 with order 3 Centerline is valid? [False, False] Translation: X:6.92, Y:-0.79, Z:0.21 [[ 9.93883192e-01 -1.10034487e-01 -9.41343078e-03 6.91923787e+00] [ 1.10403558e-01 9.92050421e-01 6.03905370e-02 -7.92171096e-01] [ 2.69355622e-03 -6.10604159e-02 9.98130438e-01 2.10792801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.78650248099996 meters Centerline goodness : 0.363833 with order 1 Centerline is valid? [False, False] Translation: X:6.92, Y:-0.79, Z:0.21 [[ 9.93655548e-01 -1.11902695e-01 -1.12445428e-02 6.92194276e+00] [ 1.12380884e-01 9.91820700e-01 6.05164106e-02 -7.91037427e-01] [ 4.38062084e-03 -6.13961387e-02 9.98103864e-01 2.12285280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.84650248099996 meters Centerline goodness : 0.384331 with order 3 Centerline is valid? [False, False] Translation: X:6.92, Y:-0.79, Z:0.21 [[ 9.93317178e-01 -1.14696137e-01 -1.28755858e-02 6.92466056e+00] [ 1.15269868e-01 9.91485063e-01 6.05823937e-02 -7.90597224e-01] [ 5.81738446e-03 -6.16616995e-02 9.98080154e-01 2.13692651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.90650248099996 meters Centerline goodness : 0.407810 with order 3 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.79, Z:0.22 [[ 9.93071022e-01 -1.16659138e-01 -1.41630305e-02 6.92613315e+00] [ 1.17312902e-01 9.91208736e-01 6.11794402e-02 -7.90725049e-01] [ 6.90137882e-03 -6.24170354e-02 9.98026295e-01 2.15872286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.96650248099996 meters Centerline goodness : 0.260416 with order 1 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.79, Z:0.22 [[ 0.99300609 -0.1170766 -0.01523038 6.92740258] [ 0.11779732 0.99114316 0.0613109 -0.78918758] [ 0.00791742 -0.06267619 0.99800251 0.21681735] [ 0. 0. 0. 1. ]] SLAMing on 198.02650248099997 meters Centerline goodness : 0.618947 with order 1 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.79, Z:0.22 [[ 0.99332029 -0.11428469 -0.01593113 6.92745124] [ 0.11507598 0.99130706 0.0637795 -0.78693755] [ 0.00850362 -0.06518676 0.99783685 0.21737256] [ 0. 0. 0. 1. ]] SLAMing on 198.08650248099997 meters Centerline goodness : 0.622416 with order 1 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.78, Z:0.22 [[ 0.99338516 -0.11361058 -0.01669025 6.9294365 ] [ 0.11443875 0.99147544 0.06229145 -0.78373554] [ 0.00947101 -0.06378942 0.99791844 0.21540356] [ 0. 0. 0. 1. ]] SLAMing on 198.14650248099997 meters Centerline goodness : 0.571976 with order 3 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.78, Z:0.22 [[ 0.99371588 -0.11053678 -0.01761735 6.93042219] [ 0.11146128 0.9916221 0.06528399 -0.78254562] [ 0.01025348 -0.06683739 0.9977112 0.21529361] [ 0. 0. 0. 1. ]] SLAMing on 198.20650248099997 meters Centerline goodness : 0.618960 with order 1 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.78, Z:0.22 [[ 0.99376141 -0.11005359 -0.01806836 6.93102435] [ 0.11099869 0.99173793 0.06430525 -0.78057073] [ 0.01084205 -0.06590964 0.99776669 0.21502413] [ 0. 0. 0. 1. ]] SLAMing on 198.26650248099997 meters Centerline goodness : 0.694083 with order 1 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.78, Z:0.21 [[ 0.99377851 -0.10981733 -0.01855851 6.931691 ] [ 0.11079326 0.99177215 0.06413161 -0.77848831] [ 0.01136305 -0.06578878 0.99776887 0.21498809] [ 0. 0. 0. 1. ]] SLAMing on 198.32650248099998 meters Centerline goodness : 0.692162 with order 1 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.78, Z:0.22 [[ 0.99365888 -0.11078148 -0.01922212 6.93291957] [ 0.11179173 0.99169983 0.06351425 -0.77747731] [ 0.01202637 -0.06526037 0.9977958 0.21514307] [ 0. 0. 0. 1. ]] SLAMing on 198.38650248099995 meters Centerline goodness : 0.693816 with order 1 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.78, Z:0.22 [[ 0.99356754 -0.11150575 -0.01974856 6.93367357] [ 0.11255278 0.99159411 0.06381996 -0.77653895] [ 0.01246627 -0.0656322 0.99776601 0.21578017] [ 0. 0. 0. 1. ]] SLAMing on 198.44650248099995 meters Centerline goodness : 0.598019 with order 1 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.77, Z:0.22 [[ 0.99333652 -0.11337287 -0.02071609 6.93480015] [ 0.11446461 0.99144757 0.06268625 -0.77363306] [ 0.013432 -0.0646398 0.99781826 0.21697024] [ 0. 0. 0. 1. ]] SLAMing on 198.50650248099996 meters Centerline goodness : 0.597805 with order 1 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.77, Z:0.22 [[ 0.9931104 -0.11514702 -0.02174603 6.93700409] [ 0.11628648 0.99130322 0.06160661 -0.77169873] [ 0.01446309 -0.06371093 0.99786359 0.21672807] [ 0. 0. 0. 1. ]] SLAMing on 198.56650248099996 meters Centerline goodness : 0.695445 with order 1 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.77, Z:0.22 [[ 0.99334818 -0.11273979 -0.02343357 6.9388536 ] [ 0.11405067 0.99132712 0.06529158 -0.76993497] [ 0.01586938 -0.06752988 0.99759104 0.21758182] [ 0. 0. 0. 1. ]] SLAMing on 198.62650248099996 meters Centerline goodness : 0.694024 with order 1 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.77, Z:0.22 [[ 0.99364548 -0.1099057 -0.02427732 6.93931462] [ 0.11131519 0.99149539 0.06742275 -0.76646771] [ 0.0166607 -0.06969675 0.99742909 0.21775211] [ 0. 0. 0. 1. ]] SLAMing on 198.68650248099996 meters Centerline goodness : 0.695104 with order 1 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.76, Z:0.22 [[ 0.99401417 -0.10639281 -0.02482752 6.93945274] [ 0.10789227 0.99169805 0.06995886 -0.76418562] [ 0.01717828 -0.0722188 0.99724087 0.21764558] [ 0. 0. 0. 1. ]] SLAMing on 198.74650248099996 meters Centerline goodness : 0.696658 with order 1 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.76, Z:0.22 [[ 0.99426871 -0.10374791 -0.02580906 6.9404945 ] [ 0.10537123 0.99178508 0.07252076 -0.76159516] [ 0.01807316 -0.07482465 0.99703291 0.21760505] [ 0. 0. 0. 1. ]] SLAMing on 198.80650248099997 meters Centerline goodness : 0.698849 with order 1 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.76, Z:0.22 [[ 0.99455215 -0.10089074 -0.02621239 6.94006565] [ 0.10260365 0.99186576 0.07533126 -0.75915058] [ 0.01839894 -0.07761035 0.99681398 0.21832448] [ 0. 0. 0. 1. ]] SLAMing on 198.86650248099997 meters Centerline goodness : 0.700055 with order 1 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.75, Z:0.22 [[ 0.99456234 -0.10059042 -0.02696899 6.94100901] [ 0.10233374 0.99200726 0.07382003 -0.75459589] [ 0.01932784 -0.07617846 0.99690685 0.21804528] [ 0. 0. 0. 1. ]] SLAMing on 198.92650248099997 meters Centerline goodness : 0.699211 with order 1 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.75, Z:0.22 [[ 0.99488444 -0.09698491 -0.02826451 6.94198238] [ 0.09888209 0.99219111 0.07602061 -0.75010009] [ 0.02067095 -0.07842658 0.99670557 0.21841745] [ 0. 0. 0. 1. ]] SLAMing on 198.98650248099997 meters Centerline goodness : 0.697020 with order 1 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.74, Z:0.22 [[ 0.99489768 -0.09665724 -0.02891347 6.94260463] [ 0.09854837 0.99242648 0.07333419 -0.74425273] [ 0.02160621 -0.07580939 0.99688821 0.2180621 ] [ 0. 0. 0. 1. ]] SLAMing on 199.04650248099998 meters Centerline goodness : 0.695603 with order 1 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.74, Z:0.22 [[ 0.99510367 -0.09409976 -0.03023105 6.94452002] [ 0.09614368 0.99251153 0.07534758 -0.74067239] [ 0.02291448 -0.07788518 0.99669896 0.21749696] [ 0. 0. 0. 1. ]] SLAMing on 199.10650248099995 meters Centerline goodness : 0.697362 with order 1 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.74, Z:0.22 [[ 0.99516473 -0.0927347 -0.03236422 6.94795064] [ 0.09498316 0.99251802 0.07672144 -0.73517249] [ 0.02500733 -0.07942453 0.99652716 0.21695857] [ 0. 0. 0. 1. ]] SLAMing on 199.16650248099995 meters Centerline goodness : 0.698173 with order 1 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.73, Z:0.22 [[ 0.99502573 -0.09380131 -0.03354265 6.94960315] [ 0.09612805 0.99244499 0.07623865 -0.73167765] [ 0.02613795 -0.07908381 0.99652524 0.217532 ] [ 0. 0. 0. 1. ]] SLAMing on 199.22650248099995 meters Centerline goodness : 0.699320 with order 1 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.73, Z:0.22 [[ 0.99482193 -0.09590805 -0.03363008 6.94844636] [ 0.09823615 0.99223883 0.07623488 -0.729983 ] [ 0.02605753 -0.07914382 0.99652258 0.22024398] [ 0. 0. 0. 1. ]] SLAMing on 199.28650248099996 meters Centerline goodness : 0.699082 with order 1 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.73, Z:0.22 [[ 0.99450564 -0.09873367 -0.03478777 6.95048458] [ 0.10112723 0.99200211 0.07553216 -0.72781466] [ 0.02705197 -0.07863515 0.99653635 0.22090694] [ 0. 0. 0. 1. ]] SLAMing on 199.34650248099996 meters Centerline goodness : 0.697406 with order 1 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.72, Z:0.22 [[ 0.99407221 -0.10212088 -0.03730648 6.95578947] [ 0.10463834 0.99180674 0.07328164 -0.72052148] [ 0.02951724 -0.07675093 0.99661328 0.21945764] [ 0. 0. 0. 1. ]] SLAMing on 199.40650248099996 meters Centerline goodness : 0.698443 with order 1 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.72, Z:0.22 [[ 0.99399653 -0.10259871 -0.03800523 6.95697152] [ 0.10514803 0.99180323 0.07259648 -0.71855109] [ 0.03024541 -0.07615682 0.99663702 0.21939899] [ 0. 0. 0. 1. ]] SLAMing on 199.46650248099996 meters Centerline goodness : 0.700517 with order 1 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.71, Z:0.22 [[ 0.99421578 -0.1002916 -0.03842618 6.95712371] [ 0.10290555 0.99197295 0.07348546 -0.7120657 ] [ 0.03074776 -0.07701467 0.99655573 0.21874217] [ 0. 0. 0. 1. ]] SLAMing on 199.52650248099997 meters Centerline goodness : 0.699306 with order 1 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.70, Z:0.22 [[ 0.99441599 -0.09780289 -0.03964141 6.95818077] [ 0.10052151 0.99220501 0.07365217 -0.70304924] [ 0.03212901 -0.07722571 0.99649582 0.21843864] [ 0. 0. 0. 1. ]] SLAMing on 199.58650248099997 meters Centerline goodness : 0.702041 with order 1 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.69, Z:0.22 [[ 0.99463653 -0.09512642 -0.04060967 6.96017791] [ 0.09787001 0.99259228 0.07198627 -0.69313979] [ 0.03346104 -0.07557464 0.99657856 0.21599842] [ 0. 0. 0. 1. ]] SLAMing on 199.64650248099997 meters Centerline goodness : 0.701789 with order 1 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.68, Z:0.22 [[ 0.99523642 -0.08783947 -0.04229299 6.9981832 ] [ 0.09084422 0.99301215 0.07532733 -0.67739038] [ 0.03538074 -0.07881058 0.99626156 0.21696811] [ 0. 0. 0. 1. ]] SLAMing on 199.70650248099997 meters Centerline goodness : 0.700342 with order 1 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.67, Z:0.22 [[ 0.99534577 -0.08665348 -0.04216612 7.03396339] [ 0.08950602 0.99343342 0.07126504 -0.66508408] [ 0.03571387 -0.07470748 0.99656576 0.21904141] [ 0. 0. 0. 1. ]] SLAMing on 199.76650248099997 meters Centerline goodness : 0.697294 with order 1 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.65, Z:0.22 [[ 0.99538103 -0.08570759 -0.04325282 7.0714398 ] [ 0.08852487 0.99374492 0.06807625 -0.6525728 ] [ 0.03714761 -0.07159076 0.9967421 0.22029673] [ 0. 0. 0. 1. ]] SLAMing on 199.82650248099998 meters Centerline goodness : 0.701111 with order 1 Centerline is valid? [False, False] Translation: X:7.11, Y:-0.64, Z:0.22 [[ 0.99549643 -0.08294211 -0.04590722 7.10936131] [ 0.08593345 0.99400782 0.06755659 -0.64074136] [ 0.04002885 -0.07119731 0.99665874 0.22206626] [ 0. 0. 0. 1. ]] SLAMing on 199.88650248099995 meters Centerline goodness : 0.697739 with order 1 Centerline is valid? [False, False] Translation: X:7.15, Y:-0.63, Z:0.22 [[ 0.99537269 -0.08221188 -0.04974351 7.14663664] [ 0.08538912 0.99419032 0.06553095 -0.62949055] [ 0.04406709 -0.06947527 0.99660989 0.22308754] [ 0. 0. 0. 1. ]] SLAMing on 199.94650248099995 meters Centerline goodness : 0.697267 with order 1 Centerline is valid? [False, False] Translation: X:7.18, Y:-0.61, Z:0.22 [[ 0.99531076 -0.08226055 -0.05088896 7.18475104] [ 0.08535676 0.99441971 0.06199737 -0.61301884] [ 0.04550504 -0.06605037 0.99677813 0.22431104] [ 0. 0. 0. 1. ]] SLAMing on 200.00650248099996 meters Centerline goodness : 0.695857 with order 1 Centerline is valid? [False, False] Translation: X:7.22, Y:-0.60, Z:0.23 [[ 0.99532446 -0.08043256 -0.0534774 7.22183868] [ 0.08360758 0.99468769 0.06005146 -0.5991105 ] [ 0.04836321 -0.0642418 0.99676175 0.22605236] [ 0. 0. 0. 1. ]] SLAMing on 200.06650248099996 meters Centerline goodness : 0.693934 with order 1 Centerline is valid? [False, False] Translation: X:7.26, Y:-0.59, Z:0.23 [[ 0.99555339 -0.07775135 -0.05318055 7.25602309] [ 0.08080559 0.99504568 0.05791846 -0.58625438] [ 0.04841384 -0.0619582 0.99690385 0.23009324] [ 0. 0. 0. 1. ]] SLAMing on 200.12650248099996 meters Centerline goodness : 0.692379 with order 1 Centerline is valid? [False, False] Translation: X:7.29, Y:-0.57, Z:0.23 [[ 0.99561049 -0.07662569 -0.05374255 7.29211833] [ 0.07956171 0.99532238 0.05480225 -0.57341995] [ 0.0492919 -0.05883754 0.99704987 0.23258529] [ 0. 0. 0. 1. ]] SLAMing on 200.18650248099996 meters Centerline goodness : 0.692238 with order 1 Centerline is valid? [False, False] Translation: X:7.33, Y:-0.56, Z:0.23 [[ 0.99555017 -0.07675361 -0.05466942 7.32771743] [ 0.07956808 0.99550792 0.05131173 -0.56131151] [ 0.05048548 -0.05543335 0.99718522 0.23475382] [ 0. 0. 0. 1. ]] SLAMing on 200.24650248099996 meters Centerline goodness : 0.691671 with order 1 Centerline is valid? [False, False] Translation: X:7.36, Y:-0.55, Z:0.24 [[ 0.9956303 -0.07701549 -0.05281015 7.35827156] [ 0.07975765 0.99545983 0.05194647 -0.55201994] [ 0.0485697 -0.0559315 0.99725255 0.23667575] [ 0. 0. 0. 1. ]] SLAMing on 200.30650248099997 meters Centerline goodness : 0.692571 with order 1 Centerline is valid? [False, False] Translation: X:7.39, Y:-0.54, Z:0.24 [[ 0.99549529 -0.07872155 -0.05283979 7.39240149] [ 0.08124088 0.99556893 0.04735423 -0.5415661 ] [ 0.04887786 -0.05143367 0.99747959 0.23975141] [ 0. 0. 0. 1. ]] SLAMing on 200.36650248099997 meters Centerline goodness : 0.691398 with order 1 Centerline is valid? [False, False] Translation: X:7.41, Y:-0.54, Z:0.24 [[ 0.99493723 -0.08494101 -0.05371156 7.414334 ] [ 0.08762388 0.99491115 0.0497379 -0.53727837] [ 0.04921344 -0.0541925 0.99731701 0.23939807] [ 0. 0. 0. 1. ]] SLAMing on 200.42650248099997 meters Centerline goodness : 0.691948 with order 1 Centerline is valid? [False, False] Translation: X:7.42, Y:-0.53, Z:0.24 [[ 0.99453332 -0.08864875 -0.05518038 7.41711326] [ 0.09118866 0.99480057 0.04534822 -0.5346655 ] [ 0.05087341 -0.05013214 0.99744607 0.240831 ] [ 0. 0. 0. 1. ]] SLAMing on 200.48650248099997 meters Centerline goodness : 0.689300 with order 1 Centerline is valid? [False, False] Translation: X:7.42, Y:-0.53, Z:0.24 [[ 0.99412521 -0.09229262 -0.05654323 7.42044638] [ 0.09462381 0.99470774 0.04003553 -0.53139043] [ 0.05254901 -0.04515066 0.99759712 0.24254284] [ 0. 0. 0. 1. ]] SLAMing on 200.54650248099998 meters Centerline goodness : 0.691662 with order 1 Centerline is valid? [False, False] Translation: X:7.42, Y:-0.53, Z:0.25 [[ 0.99451313 -0.08726312 -0.05769554 7.42196496] [ 0.08976398 0.99506557 0.04227232 -0.53071338] [ 0.05372203 -0.04721935 0.99743886 0.24631651] [ 0. 0. 0. 1. ]] SLAMing on 200.60650248099995 meters Centerline goodness : 0.689856 with order 1 Centerline is valid? [False, False] Translation: X:7.43, Y:-0.53, Z:0.25 [[ 0.99486476 -0.08224249 -0.05899392 7.43127434] [ 0.08467143 0.99560877 0.03992412 -0.52884154] [ 0.05545141 -0.0447142 0.99745966 0.25096701] [ 0. 0. 0. 1. ]] SLAMing on 200.66650248099995 meters Centerline goodness : 0.687579 with order 1 Centerline is valid? [False, False] Translation: X:7.43, Y:-0.53, Z:0.25 [[ 0.99497017 -0.08001391 -0.06026724 7.43343174] [ 0.08250992 0.99578196 0.04012968 -0.52961677] [ 0.0568021 -0.04490048 0.99737529 0.25176514] [ 0. 0. 0. 1. ]] SLAMing on 200.72650248099995 meters Centerline goodness : 0.683386 with order 1 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.53, Z:0.25 [[ 0.99526148 -0.07501789 -0.06186197 7.43616903] [ 0.07776618 0.99603169 0.04328157 -0.53044075] [ 0.0583696 -0.04788725 0.99714583 0.25205675] [ 0. 0. 0. 1. ]] SLAMing on 200.78650248099996 meters Centerline goodness : 0.677190 with order 1 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.53, Z:0.25 [[ 0.99529519 -0.07341336 -0.06322951 7.43795933] [ 0.07619367 0.99617654 0.04274145 -0.52979143] [ 0.05984996 -0.04735805 0.99708335 0.25351476] [ 0. 0. 0. 1. ]] SLAMing on 200.84650248099996 meters Centerline goodness : 0.674843 with order 1 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.53, Z:0.25 [[ 0.99539151 -0.07169766 -0.06368037 7.43836918] [ 0.0744804 0.99631841 0.0424535 -0.52985901] [ 0.06040211 -0.0470008 0.99706695 0.25466853] [ 0. 0. 0. 1. ]] SLAMing on 200.90650248099996 meters Centerline goodness : 0.671066 with order 1 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.53, Z:0.26 [[ 0.99542156 -0.0702927 -0.06476768 7.43965129] [ 0.07310978 0.99643065 0.04220085 -0.52950932] [ 0.06157009 -0.04674279 0.99700764 0.25632865] [ 0. 0. 0. 1. ]] SLAMing on 200.96650248099996 meters Centerline goodness : 0.673457 with order 1 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.53, Z:0.26 [[ 0.99543817 -0.06913279 -0.06575333 7.44057622] [ 0.07207987 0.99644743 0.04355463 -0.53100982] [ 0.06250869 -0.04809543 0.99688489 0.25789348] [ 0. 0. 0. 1. ]] SLAMing on 201.02650248099997 meters Centerline goodness : 0.671990 with order 1 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.53, Z:0.26 [[ 0.99542195 -0.06913798 -0.06599298 7.44015649] [ 0.07218265 0.99637928 0.04492204 -0.53382557] [ 0.06264822 -0.04947993 0.99680838 0.25978855] [ 0. 0. 0. 1. ]] SLAMing on 201.08650248099997 meters Centerline goodness : 0.677410 with order 1 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.54, Z:0.26 [[ 0.99529864 -0.06993096 -0.06700949 7.44255959] [ 0.07306869 0.99628501 0.04557562 -0.53594055] [ 0.06357341 -0.05025765 0.99671089 0.25955941] [ 0. 0. 0. 1. ]] SLAMing on 201.14650248099997 meters Centerline goodness : 0.679602 with order 1 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.54, Z:0.26 [[ 0.9951985 -0.07016855 -0.06823722 7.44459879] [ 0.07339061 0.99624577 0.04591496 -0.53606224] [ 0.06475926 -0.05070247 0.99661201 0.2602788 ] [ 0. 0. 0. 1. ]] SLAMing on 201.20650248099997 meters Centerline goodness : 0.679857 with order 1 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.53, Z:0.26 [[ 0.995214 -0.06941429 -0.06878045 7.44560425] [ 0.07265233 0.99630751 0.04574911 -0.53477994] [ 0.06535084 -0.05052722 0.99658229 0.260461 ] [ 0. 0. 0. 1. ]] SLAMing on 201.26650248099997 meters Centerline goodness : 0.679379 with order 1 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.53, Z:0.26 [[ 0.99519695 -0.06912024 -0.06932109 7.44620936] [ 0.0723365 0.99636416 0.04500983 -0.53355762] [ 0.06595796 -0.04980809 0.9965785 0.26131146] [ 0. 0. 0. 1. ]] SLAMing on 201.32650248099998 meters Centerline goodness : 0.680039 with order 1 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.53, Z:0.26 [[ 0.99516618 -0.06873567 -0.07014042 7.44768575] [ 0.071937 0.99643011 0.04418257 -0.53154347] [ 0.0668531 -0.04901469 0.99655819 0.26150797] [ 0. 0. 0. 1. ]] SLAMing on 201.38650248099995 meters Centerline goodness : 0.678164 with order 1 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.53, Z:0.26 [[ 0.99506964 -0.06902981 -0.07121304 7.44943599] [ 0.07235846 0.99635079 0.04526979 -0.5332099 ] [ 0.06782821 -0.05019946 0.99643331 0.2622284 ] [ 0. 0. 0. 1. ]] SLAMing on 201.44650248099995 meters Centerline goodness : 0.675344 with order 1 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.54, Z:0.26 [[ 0.99499706 -0.06941004 -0.0718547 7.45025298] [ 0.07284545 0.99626584 0.04634563 -0.53588637] [ 0.06836953 -0.05134806 0.99633779 0.26313062] [ 0. 0. 0. 1. ]] SLAMing on 201.50650248099996 meters Centerline goodness : 0.677722 with order 1 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.54, Z:0.26 [[ 0.99499018 -0.06919284 -0.07215873 7.45017759] [ 0.07266921 0.9962614 0.04671631 -0.53723535] [ 0.06865652 -0.05172599 0.9962985 0.26447625] [ 0. 0. 0. 1. ]] SLAMing on 201.56650248099996 meters Centerline goodness : 0.676350 with order 1 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.54, Z:0.27 [[ 0.99499604 -0.06940141 -0.0718772 7.44931 ] [ 0.07296855 0.99616642 0.0482499 -0.54001291] [ 0.06825304 -0.05325323 0.99624576 0.26517306] [ 0. 0. 0. 1. ]] SLAMing on 201.62650248099996 meters Centerline goodness : 0.670496 with order 1 Centerline is valid? [False, False] Translation: X:7.45, Y:-0.54, Z:0.27 [[ 0.99474098 -0.07046402 -0.07433168 7.4539857 ] [ 0.07422173 0.99603419 0.0490614 -0.54111988] [ 0.07057984 -0.05432041 0.99602599 0.26535148] [ 0. 0. 0. 1. ]] SLAMing on 201.68650248099996 meters Centerline goodness : 0.666627 with order 1 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.54, Z:0.27 [[ 0.99424484 -0.07503827 -0.07646208 7.45866132] [ 0.07855643 0.99593425 0.04408912 -0.53864728] [ 0.07284283 -0.04984197 0.99609723 0.26534484] [ 0. 0. 0. 1. ]] SLAMing on 201.74650248099996 meters Centerline goodness : 0.663305 with order 1 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.54, Z:0.27 [[ 0.99425807 -0.07453503 -0.07678166 7.45871715] [ 0.07792207 0.99607013 0.04210032 -0.53935819] [ 0.07334197 -0.04784157 0.99615869 0.26983784] [ 0. 0. 0. 1. ]] SLAMing on 201.80650248099997 meters Centerline goodness : 0.662861 with order 1 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.54, Z:0.27 [[ 0.99424745 -0.07426897 -0.07717595 7.45871857] [ 0.07767841 0.99608693 0.0421532 -0.53997486] [ 0.07374328 -0.04790561 0.99612599 0.27128581] [ 0. 0. 0. 1. ]] SLAMing on 201.86650248099997 meters Centerline goodness : 0.662261 with order 1 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.54, Z:0.28 [[ 0.99470362 -0.06846995 -0.07665885 7.46148022] [ 0.07080302 0.99709335 0.02813881 -0.54014991] [ 0.07450937 -0.03341746 0.99666024 0.27804776] [ 0. 0. 0. 1. ]] SLAMing on 201.92650248099997 meters Centerline goodness : 0.659460 with order 1 Centerline is valid? [False, False] Translation: X:7.48, Y:-0.54, Z:0.29 [[ 0.99503651 -0.06403612 -0.07616901 7.4805903 ] [ 0.06564656 0.99766529 0.01882795 -0.54366425] [ 0.07478551 -0.02373473 0.99691714 0.28574278] [ 0. 0. 0. 1. ]] SLAMing on 201.98650248099997 meters Centerline goodness : 0.660892 with order 1 Centerline is valid? [False, False] Translation: X:7.49, Y:-0.55, Z:0.29 [[ 0.99555539 -0.05766554 -0.07445902 7.49279391] [ 0.05879806 0.99818385 0.01310678 -0.54923618] [ 0.07356798 -0.01742658 0.99713794 0.29274722] [ 0. 0. 0. 1. ]] SLAMing on 202.04650248099998 meters Centerline goodness : 0.661833 with order 1 Centerline is valid? [False, False] Translation: X:7.49, Y:-0.55, Z:0.29 [[ 0.9957808 -0.05354914 -0.07451903 7.49373988] [ 0.05500863 0.99832949 0.01767138 -0.55045502] [ 0.07344826 -0.02169601 0.99706301 0.29109622] [ 0. 0. 0. 1. ]] SLAMing on 202.10650248099995 meters Centerline goodness : 0.654751 with order 1 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.55, Z:0.29 [[ 0.99574114 -0.05382741 -0.07484786 7.49596186] [ 0.05516248 0.99835104 0.01588425 -0.54849723] [ 0.07386943 -0.01994539 0.99706845 0.28891133] [ 0. 0. 0. 1. ]] SLAMing on 202.16650248099995 meters Centerline goodness : 0.656956 with order 1 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.55, Z:0.29 [[ 0.99577962 -0.05326283 -0.07473965 7.496101 ] [ 0.05467681 0.99835937 0.01700038 -0.54971283] [ 0.07371154 -0.02101516 0.99705816 0.28849887] [ 0. 0. 0. 1. ]] SLAMing on 202.22650248099995 meters Centerline goodness : 0.657121 with order 1 Centerline is valid? [False, False] Translation: X:7.49, Y:-0.55, Z:0.29 [[ 0.99589055 -0.05423008 -0.07253347 7.49322079] [ 0.05533237 0.99837976 0.01327351 -0.55364118] [ 0.07169612 -0.01723242 0.99727765 0.29197274] [ 0. 0. 0. 1. ]] SLAMing on 202.28650248099996 meters Centerline goodness : 0.656623 with order 1 Centerline is valid? [False, False] Translation: X:7.49, Y:-0.56, Z:0.30 [[ 9.96140501e-01 -5.12355037e-02 -7.12672835e-02 7.49184993e+00] [ 5.12802532e-02 9.98683578e-01 -1.20278246e-03 -5.58234439e-01] [ 7.12350908e-02 -2.45646402e-03 9.97456529e-01 2.98140391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.34650248099996 meters Centerline goodness : 0.663381 with order 1 Centerline is valid? [False, False] Translation: X:7.49, Y:-0.56, Z:0.30 [[ 9.95945578e-01 -5.47826362e-02 -7.13531260e-02 7.49345523e+00] [ 5.44849819e-02 9.98495880e-01 -6.11269312e-03 -5.63646072e-01] [ 7.15806717e-02 2.20023591e-03 9.97432387e-01 3.00182168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.40650248099996 meters Centerline goodness : 0.665945 with order 1 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.57, Z:0.30 [[ 9.95756822e-01 -5.79558453e-02 -7.14805729e-02 7.49557453e+00] [ 5.73676674e-02 9.98300439e-01 -1.02559285e-02 -5.70617722e-01] [ 7.19534784e-02 6.11173706e-03 9.97389264e-01 3.01684475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.46650248099996 meters Centerline goodness : 0.666992 with order 1 Centerline is valid? [False, False] Translation: X:7.51, Y:-0.57, Z:0.30 [[ 9.95364458e-01 -6.62773020e-02 -6.96915764e-02 7.51285455e+00] [ 6.58340531e-02 9.97793175e-01 -8.64039835e-03 -5.72291772e-01] [ 7.01104416e-02 4.01226647e-03 9.97531166e-01 3.01379112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.52650248099997 meters Centerline goodness : 0.668183 with order 1 Centerline is valid? [False, False] Translation: X:7.52, Y:-0.58, Z:0.30 [[ 0.99472558 -0.07380987 -0.07122582 7.51531249] [ 0.07293405 0.9972266 -0.0148233 -0.57519687] [ 0.07212239 0.00955033 0.99735007 0.30252427] [ 0. 0. 0. 1. ]] SLAMing on 202.58650248099997 meters Centerline goodness : 0.668256 with order 1 Centerline is valid? [False, False] Translation: X:7.52, Y:-0.58, Z:0.30 [[ 0.99402512 -0.08201364 -0.0720266 7.51730356] [ 0.08067924 0.99651359 -0.02124935 -0.57873676] [ 0.07351823 0.01531133 0.99717633 0.30240963] [ 0. 0. 0. 1. ]] SLAMing on 202.64650248099997 meters Centerline goodness : 0.670051 with order 1 Centerline is valid? [False, False] Translation: X:7.52, Y:-0.58, Z:0.30 [[ 0.99363781 -0.08672623 -0.07185031 7.51627442] [ 0.08515128 0.99606168 -0.02470603 -0.58114129] [ 0.07371 0.0184307 0.99710939 0.30333721] [ 0. 0. 0. 1. ]] SLAMing on 202.70650248099997 meters Centerline goodness : 0.673601 with order 1 Centerline is valid? [False, False] Translation: X:7.52, Y:-0.58, Z:0.30 [[ 0.99361543 -0.08735608 -0.07139527 7.51518548] [ 0.08583671 0.99601806 -0.02408497 -0.58327797] [ 0.07321495 0.01780286 0.99715727 0.30255186] [ 0. 0. 0. 1. ]] SLAMing on 202.76650248099997 meters Centerline goodness : 0.676703 with order 1 Centerline is valid? [False, False] Translation: X:7.51, Y:-0.58, Z:0.30 [[ 0.99360933 -0.08748519 -0.07132203 7.51470627] [ 0.08597381 0.99600833 -0.0239982 -0.58330455] [ 0.07313682 0.01771301 0.99716461 0.30287293] [ 0. 0. 0. 1. ]] SLAMing on 202.82650248099998 meters Centerline goodness : 0.681662 with order 1 Centerline is valid? [False, False] Translation: X:7.51, Y:-0.58, Z:0.30 [[ 0.99359366 -0.08777108 -0.07118908 7.51389571] [ 0.08618144 0.99596303 -0.02510795 -0.57943786] [ 0.07310545 0.01881192 0.99714678 0.30431113] [ 0. 0. 0. 1. ]] SLAMing on 202.88650248099995 meters Centerline goodness : 0.680702 with order 1 Centerline is valid? [False, False] Translation: X:7.52, Y:-0.58, Z:0.30 [[ 0.99361427 -0.0867503 -0.0721461 7.51681297] [ 0.08513939 0.9960524 -0.02511755 -0.57667728] [ 0.07404026 0.01881468 0.99707775 0.30390932] [ 0. 0. 0. 1. ]] SLAMing on 202.94650248099995 meters Centerline goodness : 0.676683 with order 1 Centerline is valid? [False, False] Translation: X:7.52, Y:-0.58, Z:0.30 [[ 0.9936457 -0.0856308 -0.07304518 7.52010164] [ 0.08406932 0.99616611 -0.02419576 -0.57716497] [ 0.07483704 0.01790116 0.99703509 0.30230416] [ 0. 0. 0. 1. ]] SLAMing on 203.00650248099996 meters Centerline goodness : 0.679971 with order 1 Centerline is valid? [False, False] Translation: X:7.54, Y:-0.57, Z:0.30 [[ 0.99444805 -0.07557312 -0.07322423 7.53637199] [ 0.07399314 0.9969685 -0.02405883 -0.57484033] [ 0.07482045 0.01850716 0.99702527 0.30339262] [ 0. 0. 0. 1. ]] SLAMing on 203.06650248099996 meters Centerline goodness : 0.681952 with order 1 Centerline is valid? [False, False] Translation: X:7.54, Y:-0.57, Z:0.30 [[ 0.99476765 -0.07035296 -0.07407952 7.53856134] [ 0.06901572 0.9974057 -0.02046225 -0.57258649] [ 0.07532692 0.01524253 0.99704239 0.30341224] [ 0. 0. 0. 1. ]] SLAMing on 203.12650248099996 meters Centerline goodness : 0.682917 with order 1 Centerline is valid? [False, False] Translation: X:7.54, Y:-0.57, Z:0.31 [[ 0.99508658 -0.06526061 -0.07445633 7.54276402] [ 0.06389519 0.99774443 -0.0205781 -0.57142259] [ 0.07563133 0.01571958 0.99701193 0.3071551 ] [ 0. 0. 0. 1. ]] SLAMing on 203.18650248099996 meters Centerline goodness : 0.684193 with order 1 Centerline is valid? [False, False] Translation: X:7.55, Y:-0.57, Z:0.31 [[ 0.99516089 -0.06295634 -0.07544075 7.54800636] [ 0.0614212 0.99785827 -0.02250151 -0.57229921] [ 0.07669579 0.01775896 0.99689637 0.31036811] [ 0. 0. 0. 1. ]] SLAMing on 203.24650248099996 meters Centerline goodness : 0.684044 with order 1 Centerline is valid? [False, False] Translation: X:7.55, Y:-0.57, Z:0.31 [[ 0.99515781 -0.06292648 -0.07550619 7.54855991] [ 0.06130125 0.99783897 -0.0236547 -0.57059444] [ 0.07683153 0.01891154 0.99686472 0.31141002] [ 0. 0. 0. 1. ]] SLAMing on 203.30650248099997 meters Centerline goodness : 0.688152 with order 1 Centerline is valid? [False, False] Translation: X:7.55, Y:-0.57, Z:0.31 [[ 0.99481867 -0.06682405 -0.0766183 7.55086219] [ 0.06481488 0.99749255 -0.02841921 -0.56735296] [ 0.07832527 0.02330596 0.9966554 0.3129003 ] [ 0. 0. 0. 1. ]] SLAMing on 203.36650248099997 meters Centerline goodness : 0.689408 with order 1 Centerline is valid? [False, False] Translation: X:7.55, Y:-0.57, Z:0.31 [[ 0.99478067 -0.06751051 -0.07650984 7.54976559] [ 0.06551891 0.99745132 -0.02825134 -0.56827817] [ 0.07822211 0.02309105 0.9966685 0.31319952] [ 0. 0. 0. 1. ]] SLAMing on 203.42650248099997 meters Centerline goodness : 0.687303 with order 1 Centerline is valid? [False, False] Translation: X:7.55, Y:-0.57, Z:0.31 [[ 0.99496878 -0.06401672 -0.07706485 7.55025438] [ 0.06257673 0.99782004 -0.02095995 -0.57323708] [ 0.07823864 0.01603203 0.99680574 0.31273374] [ 0. 0. 0. 1. ]] SLAMing on 203.48650248099997 meters Centerline goodness : 0.685630 with order 1 Centerline is valid? [False, False] Translation: X:7.55, Y:-0.58, Z:0.31 [[ 0.99464933 -0.06785646 -0.07789868 7.55162512] [ 0.06648446 0.99758547 -0.02007595 -0.58047712] [ 0.07907288 0.01478948 0.99675912 0.31342931] [ 0. 0. 0. 1. ]] SLAMing on 203.54650248099998 meters Centerline goodness : 0.685563 with order 1 Centerline is valid? [False, False] Translation: X:7.55, Y:-0.58, Z:0.31 [[ 0.99472768 -0.06655513 -0.07802088 7.55287041] [ 0.06520763 0.99767732 -0.01969614 -0.58350057] [ 0.07915054 0.01450474 0.99675714 0.31245238] [ 0. 0. 0. 1. ]] SLAMing on 203.60650248099995 meters Centerline goodness : 0.683988 with order 1 Centerline is valid? [False, False] Translation: X:7.55, Y:-0.59, Z:0.31 [[ 9.95455424e-01 -5.56414804e-02 -7.72821047e-02 7.55190525e+00] [ 5.49684779e-02 9.98429571e-01 -1.08101334e-02 -5.86884666e-01] [ 7.77622305e-02 6.51292631e-03 9.96950659e-01 3.10823867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.66650248099995 meters Centerline goodness : 0.689542 with order 1 Centerline is valid? [False, False] Translation: X:7.55, Y:-0.59, Z:0.31 [[ 9.95751136e-01 -4.94048251e-02 -7.77099625e-02 7.55317948e+00] [ 4.90633179e-02 9.98775808e-01 -6.29892899e-03 -5.89057546e-01] [ 7.79260281e-02 2.45945710e-03 9.96956110e-01 3.09760500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.72650248099995 meters Centerline goodness : 0.683754 with order 1 Centerline is valid? [False, False] Translation: X:7.56, Y:-0.59, Z:0.31 [[ 9.95945221e-01 -4.42295022e-02 -7.83381692e-02 7.55518965e+00] [ 4.41601935e-02 9.99021033e-01 -2.61774400e-03 -5.91413749e-01] [ 7.83772602e-02 -8.52299081e-04 9.96923407e-01 3.08365922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.78650248099996 meters Centerline goodness : 0.676973 with order 1 Centerline is valid? [False, False] Translation: X:7.56, Y:-0.59, Z:0.31 [[ 9.95817208e-01 -4.30055127e-02 -8.06139807e-02 7.56022035e+00] [ 4.29407953e-02 9.99074397e-01 -2.53707542e-03 -5.91357579e-01] [ 8.06484724e-02 -9.35165085e-04 9.96742168e-01 3.07488397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.84650248099996 meters Centerline goodness : 0.680482 with order 1 Centerline is valid? [False, False] Translation: X:7.56, Y:-0.59, Z:0.31 [[ 9.95991151e-01 -3.77259248e-02 -8.11072244e-02 7.56054129e+00] [ 3.80710626e-02 9.99271353e-01 2.71252812e-03 -5.93846764e-01] [ 8.09457932e-02 -5.78949222e-03 9.96701691e-01 3.07770352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.90650248099996 meters Centerline goodness : 0.676710 with order 1 Centerline is valid? [False, False] Translation: X:7.56, Y:-0.59, Z:0.31 [[ 9.96224692e-01 -3.17246908e-02 -8.08078420e-02 7.55854437e+00] [ 3.23135580e-02 9.99459833e-01 5.98964327e-03 -5.93611324e-01] [ 8.05741727e-02 -8.57821941e-03 9.96711702e-01 3.09569446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.96650248099996 meters Centerline goodness : 0.677664 with order 1 Centerline is valid? [False, False] Translation: X:7.56, Y:-0.59, Z:0.31 [[ 9.96302616e-01 -3.07627972e-02 -8.02168753e-02 7.55721858e+00] [ 3.12132210e-02 9.99503209e-01 4.36690236e-03 -5.92981679e-01] [ 8.00426861e-02 -6.85458330e-03 9.96767868e-01 3.10183648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.02650248099997 meters Centerline goodness : 0.676191 with order 1 Centerline is valid? [False, False] Translation: X:7.56, Y:-0.59, Z:0.31 [[ 9.96337659e-01 -2.95597712e-02 -8.02339591e-02 7.55645011e+00] [ 3.00405102e-02 9.99537200e-01 4.79099684e-03 -5.93022906e-01] [ 8.00552061e-02 -7.18371965e-03 9.96764545e-01 3.11398754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.08650248099997 meters Centerline goodness : 0.674735 with order 1 Centerline is valid? [False, False] Translation: X:7.56, Y:-0.59, Z:0.31 [[ 9.96326735e-01 -2.86158351e-02 -8.07104090e-02 7.55635563e+00] [ 2.90832924e-02 9.99566306e-01 4.62192185e-03 -5.91765847e-01] [ 8.05431453e-02 -6.95226873e-03 9.96726877e-01 3.12743289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.14650248099997 meters Centerline goodness : 0.669376 with order 1 Centerline is valid? [False, False] Translation: X:7.56, Y:-0.59, Z:0.31 [[ 9.96282319e-01 -2.75401328e-02 -8.16277083e-02 7.55861146e+00] [ 2.78066509e-02 9.99611051e-01 2.12983508e-03 -5.86860528e-01] [ 8.15373034e-02 -4.39171022e-03 9.96660615e-01 3.12027892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.20650248099997 meters Centerline goodness : 0.668048 with order 1 Centerline is valid? [False, False] Translation: X:7.56, Y:-0.59, Z:0.31 [[ 9.96078869e-01 -2.84991410e-02 -8.37537250e-02 7.56200359e+00] [ 2.89840052e-02 9.99569389e-01 4.57873548e-03 -5.89271031e-01] [ 8.35871697e-02 -6.98830006e-03 9.96475965e-01 3.12783321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.26650248099997 meters Centerline goodness : 0.664894 with order 1 Centerline is valid? [False, False] Translation: X:7.56, Y:-0.59, Z:0.31 [[ 9.96068642e-01 -2.87177651e-02 -8.38006542e-02 7.56180855e+00] [ 2.91831004e-02 9.99564691e-01 4.33298748e-03 -5.89402763e-01] [ 8.36397413e-02 -6.76151587e-03 9.96473118e-01 3.13278751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.32650248099998 meters Centerline goodness : 0.665215 with order 1 Centerline is valid? [False, False] Translation: X:7.56, Y:-0.59, Z:0.32 [[ 0.9958632 -0.02986618 -0.08581661 7.56423939] [ 0.0307107 0.99949185 0.00853741 -0.594075 ] [ 0.08551803 -0.01113758 0.99627437 0.31513622] [ 0. 0. 0. 1. ]] SLAMing on 204.38650248099995 meters Centerline goodness : 0.665149 with order 1 Centerline is valid? [False, False] Translation: X:7.56, Y:-0.60, Z:0.32 [[ 0.99582292 -0.03079357 -0.08595619 7.56269951] [ 0.03206247 0.99939576 0.01342056 -0.60024995] [ 0.08549099 -0.01612047 0.99620852 0.31772665] [ 0. 0. 0. 1. ]] SLAMing on 204.44650248099995 meters Centerline goodness : 0.668464 with order 1 Centerline is valid? [False, False] Translation: X:7.56, Y:-0.60, Z:0.32 [[ 0.99565135 -0.0355559 -0.08610552 7.56341477] [ 0.03664347 0.99926695 0.01108268 -0.60326063] [ 0.08564835 -0.01418969 0.99622438 0.31767604] [ 0. 0. 0. 1. ]] SLAMing on 204.50650248099996 meters Centerline goodness : 0.664496 with order 1 Centerline is valid? [False, False] Translation: X:7.57, Y:-0.60, Z:0.32 [[ 0.99531833 -0.04062726 -0.08769752 7.56735423] [ 0.04146248 0.99911022 0.00772266 -0.60241849] [ 0.08730574 -0.01132266 0.99611721 0.31681816] [ 0. 0. 0. 1. ]] SLAMing on 204.56650248099996 meters Centerline goodness : 0.659728 with order 1 Centerline is valid? [False, False] Translation: X:7.58, Y:-0.61, Z:0.32 [[ 9.94998045e-01 -4.07183762e-02 -9.12189878e-02 7.57792659e+00] [ 4.13344598e-02 9.99133477e-01 4.87413775e-03 -6.07701059e-01] [ 9.09414775e-02 -8.62024511e-03 9.95818929e-01 3.18033596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.62650248099996 meters Centerline goodness : 0.661437 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.61, Z:0.32 [[ 9.94823293e-01 -3.89858486e-02 -9.38441275e-02 7.59172806e+00] [ 3.91989466e-02 9.99231334e-01 4.27768515e-04 -6.14499602e-01] [ 9.37553158e-02 -4.10414502e-03 9.95586810e-01 3.20458479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.68650248099996 meters Centerline goodness : 0.659127 with order 1 Centerline is valid? [False, False] Translation: X:7.61, Y:-0.62, Z:0.33 [[ 9.94832994e-01 -3.66716784e-02 -9.46704872e-02 7.61091812e+00] [ 3.59463684e-02 9.99309924e-01 -9.35601869e-03 -6.16781725e-01] [ 9.49482582e-02 5.90461588e-03 9.95464697e-01 3.26135566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.74650248099996 meters Centerline goodness : 0.664071 with order 1 Centerline is valid? [False, False] Translation: X:7.63, Y:-0.62, Z:0.33 [[ 0.99537295 -0.029318 -0.09150485 7.62673883] [ 0.0280309 0.99948966 -0.01531984 -0.62236703] [ 0.09190729 0.012684 0.99568678 0.33251024] [ 0. 0. 0. 1. ]] SLAMing on 204.80650248099997 meters Centerline goodness : 0.667526 with order 1 Centerline is valid? [False, False] Translation: X:7.65, Y:-0.63, Z:0.34 [[ 0.99583766 -0.02282419 -0.08824066 7.64710218] [ 0.02090231 0.99952508 -0.0226431 -0.628436 ] [ 0.08871556 0.02070442 0.99584179 0.33767673] [ 0. 0. 0. 1. ]] SLAMing on 204.86650248099997 meters Centerline goodness : 0.675172 with order 1 Centerline is valid? [False, False] Translation: X:7.65, Y:-0.63, Z:0.34 [[ 0.99579124 -0.02635981 -0.08777791 7.64603983] [ 0.02410275 0.99935354 -0.02667489 -0.62998187] [ 0.08842432 0.02444693 0.99578285 0.33970145] [ 0. 0. 0. 1. ]] SLAMing on 204.92650248099997 meters Centerline goodness : 0.677162 with order 1 Centerline is valid? [False, False] Translation: X:7.67, Y:-0.63, Z:0.34 [[ 0.99617196 -0.02157748 -0.08471035 7.67330979] [ 0.0184911 0.99914226 -0.0370516 -0.62977054] [ 0.08543717 0.03534338 0.99571649 0.34464521] [ 0. 0. 0. 1. ]] SLAMing on 204.98650248099997 meters Centerline goodness : 0.676734 with order 1 Centerline is valid? [False, False] Translation: X:7.72, Y:-0.63, Z:0.35 [[ 0.99613714 -0.01594827 -0.08635074 7.72082986] [ 0.01239755 0.99906154 -0.04150105 -0.63185882] [ 0.08693158 0.0402702 0.99540003 0.35331763] [ 0. 0. 0. 1. ]] SLAMing on 205.04650248099998 meters Centerline goodness : 0.675953 with order 1 Centerline is valid? [False, False] Translation: X:7.74, Y:-0.64, Z:0.35 [[ 9.95949533e-01 -1.16689080e-02 -8.91535971e-02 7.73971418e+00] [ 7.67794605e-03 9.98958493e-01 -4.49775227e-02 -6.37094005e-01] [ 8.95855817e-02 4.41108263e-02 9.95001838e-01 3.54971071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.10650248099995 meters Centerline goodness : 0.677044 with order 1 Centerline is valid? [False, False] Translation: X:7.75, Y:-0.64, Z:0.36 [[ 9.95747310e-01 -9.22510522e-03 -9.16634731e-02 7.75303468e+00] [ 4.68422963e-03 9.98756651e-01 -4.96307415e-02 -6.40915925e-01] [ 9.20073522e-02 4.89903046e-02 9.94552461e-01 3.58968138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.16650248099995 meters Centerline goodness : 0.677846 with order 1 Centerline is valid? [False, False] Translation: X:7.79, Y:-0.64, Z:0.36 [[ 9.95949945e-01 -5.57171541e-03 -8.97366367e-02 7.78544748e+00] [ 1.07810812e-04 9.98151284e-01 -6.07783055e-02 -6.43748293e-01] [ 8.99093786e-02 6.05224754e-02 9.94109317e-01 3.63997815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.22650248099995 meters Centerline goodness : 0.680748 with order 1 Centerline is valid? [False, False] Translation: X:7.81, Y:-0.65, Z:0.37 [[ 9.96282770e-01 -1.19080035e-03 -8.61349163e-02 7.81077597e+00] [-4.90925800e-03 9.97494515e-01 -7.05733079e-02 -6.46021613e-01] [ 8.60031453e-02 7.07338293e-02 9.93780753e-01 3.69634556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.28650248099996 meters Centerline goodness : 0.682992 with order 1 Centerline is valid? [False, False] Translation: X:7.84, Y:-0.65, Z:0.37 [[ 9.96762121e-01 -6.56784675e-04 -8.04042402e-02 7.83517400e+00] [-4.93427112e-03 9.97582385e-01 -6.93183763e-02 -6.49344124e-01] [ 8.02553810e-02 6.94906681e-02 9.94349094e-01 3.72325395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.34650248099996 meters Centerline goodness : 0.683966 with order 1 Centerline is valid? [False, False] Translation: X:7.87, Y:-0.65, Z:0.37 [[ 9.96873412e-01 -3.07562280e-03 -7.89553104e-02 7.86980519e+00] [-2.61448664e-03 9.97411079e-01 -7.18630887e-02 -6.51316065e-01] [ 7.89719252e-02 7.18448300e-02 9.94284545e-01 3.74259658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.40650248099996 meters Centerline goodness : 0.684879 with order 1 Centerline is valid? [False, False] Translation: X:7.90, Y:-0.65, Z:0.37 [[ 9.97081663e-01 -3.55988681e-03 -7.62593291e-02 7.90025804e+00] [-1.77668810e-03 9.97559606e-01 -6.97973935e-02 -6.53939756e-01] [ 7.63216971e-02 6.97291902e-02 9.94642066e-01 3.73184244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.46650248099996 meters Centerline goodness : 0.684420 with order 1 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.66, Z:0.37 [[ 9.97141160e-01 -1.06755898e-02 -7.48033378e-02 7.91926419e+00] [ 5.57975937e-03 9.97669467e-01 -6.80036799e-02 -6.55108287e-01] [ 7.53549855e-02 6.73918837e-02 9.94876857e-01 3.72114057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.52650248099997 meters Centerline goodness : 0.686270 with order 1 Centerline is valid? [False, False] Translation: X:7.94, Y:-0.66, Z:0.37 [[ 0.99714947 -0.0179125 -0.07329441 7.93812172] [ 0.01308536 0.99774587 -0.06581762 -0.65762933] [ 0.07430816 0.06467092 0.99513616 0.37030073] [ 0. 0. 0. 1. ]] SLAMing on 205.58650248099997 meters Centerline goodness : 0.689976 with order 1 Centerline is valid? [False, False] Translation: X:7.96, Y:-0.66, Z:0.37 [[ 0.99677659 -0.02520196 -0.07616617 7.96167576] [ 0.02020158 0.99763341 -0.06572278 -0.65797886] [ 0.07764226 0.06397226 0.99492675 0.37106314] [ 0. 0. 0. 1. ]] SLAMing on 205.64650248099997 meters Centerline goodness : 0.690583 with order 1 Centerline is valid? [False, False] Translation: X:7.99, Y:-0.66, Z:0.37 [[ 0.99690787 -0.02709365 -0.07376067 7.99133215] [ 0.02230034 0.9976328 -0.06504991 -0.66118876] [ 0.0753485 0.06320388 0.99515219 0.37072677] [ 0. 0. 0. 1. ]] SLAMing on 205.70650248099997 meters Centerline goodness : 0.689180 with order 1 Centerline is valid? [False, False] Translation: X:8.02, Y:-0.66, Z:0.37 [[ 0.99714028 -0.02775998 -0.07028979 8.01610579] [ 0.02333614 0.99774101 -0.06299446 -0.66357915] [ 0.07187973 0.06117402 0.99553556 0.37233072] [ 0. 0. 0. 1. ]] SLAMing on 205.76650248099997 meters Centerline goodness : 0.689194 with order 1 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.66, Z:0.38 [[ 0.99699273 -0.02742257 -0.07248101 8.05291334] [ 0.0226238 0.99754863 -0.06621847 -0.66092846] [ 0.07411922 0.06437954 0.99516914 0.37544105] [ 0. 0. 0. 1. ]] SLAMing on 205.82650248099995 meters Centerline goodness : 0.687742 with order 1 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.66, Z:0.38 [[ 0.99697141 -0.02399121 -0.07397592 8.05789466] [ 0.0191792 0.99769532 -0.06508607 -0.65545101] [ 0.07536692 0.06347016 0.99513384 0.3750434 ] [ 0. 0. 0. 1. ]] SLAMing on 205.88650248099995 meters Centerline goodness : 0.684052 with order 1 Centerline is valid? [False, False] Translation: X:8.07, Y:-0.65, Z:0.38 [[ 0.99692171 -0.01821929 -0.07625724 8.07081524] [ 0.01303999 0.99760869 -0.06787387 -0.65138689] [ 0.0773115 0.06667054 0.99477534 0.37836566] [ 0. 0. 0. 1. ]] SLAMing on 205.94650248099995 meters Centerline goodness : 0.679485 with order 1 Centerline is valid? [False, False] Translation: X:8.07, Y:-0.65, Z:0.38 [[ 9.97001387e-01 -1.00395264e-02 -7.67296664e-02 8.07138324e+00] [ 5.51148467e-03 9.98242862e-01 -5.89984014e-02 -6.52370668e-01] [ 7.71871579e-02 5.83985937e-02 9.95304851e-01 3.78218100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.00650248099996 meters Centerline goodness : 0.674251 with order 1 Centerline is valid? [False, False] Translation: X:8.07, Y:-0.65, Z:0.38 [[ 9.96895683e-01 -1.00912644e-02 -7.80843371e-02 8.07278966e+00] [ 5.47194967e-03 9.98234264e-01 -5.91473664e-02 -6.52231830e-01] [ 7.85433325e-02 5.85364806e-02 9.95190648e-01 3.79903710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.06650248099996 meters Centerline goodness : 0.671924 with order 1 Centerline is valid? [False, False] Translation: X:8.07, Y:-0.65, Z:0.38 [[ 9.96923346e-01 -6.58254176e-03 -7.81057743e-02 8.07277069e+00] [ 2.33292114e-03 9.98517832e-01 -5.43755160e-02 -6.54375283e-01] [ 7.83479375e-02 5.40260068e-02 9.95461095e-01 3.79558671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.12650248099996 meters Centerline goodness : 0.664078 with order 1 Centerline is valid? [False, False] Translation: X:8.10, Y:-0.65, Z:0.38 [[ 9.96955706e-01 -8.64747148e-03 -7.74889815e-02 8.10002288e+00] [ 5.50000352e-03 9.99154644e-01 -4.07400037e-02 -6.51355890e-01] [ 7.77757737e-02 4.01897895e-02 9.96160484e-01 3.82487973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.18650248099996 meters Centerline goodness : 0.665449 with order 1 Centerline is valid? [False, False] Translation: X:8.12, Y:-0.65, Z:0.38 [[ 9.97162369e-01 -9.10730022e-03 -7.47279498e-02 8.11951405e+00] [ 6.52741179e-03 9.99376609e-01 -3.46956313e-02 -6.50790896e-01] [ 7.49973486e-02 3.41093978e-02 9.96600194e-01 3.81387432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.24650248099996 meters Centerline goodness : 0.662492 with order 1 Centerline is valid? [False, False] Translation: X:8.15, Y:-0.66, Z:0.38 [[ 9.97351853e-01 -8.10544809e-03 -7.22743576e-02 8.15447554e+00] [ 6.90484400e-03 9.99834251e-01 -1.68461637e-02 -6.55770959e-01] [ 7.23989239e-02 1.63025095e-02 9.97242510e-01 3.76910907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.30650248099997 meters Centerline goodness : 0.661872 with order 1 Centerline is valid? [False, False] Translation: X:8.18, Y:-0.65, Z:0.38 [[ 9.97403243e-01 7.78915698e-03 -7.15967922e-02 8.18264361e+00] [-9.03042484e-03 9.99814205e-01 -1.70296069e-02 -6.53983091e-01] [ 7.14508436e-02 1.76319346e-02 9.97288269e-01 3.77467256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.36650248099997 meters Centerline goodness : 0.658799 with order 1 Centerline is valid? [False, False] Translation: X:8.22, Y:-0.65, Z:0.38 [[ 9.97364995e-01 8.02745205e-03 -7.21014972e-02 8.21834393e+00] [-8.62329577e-03 9.99931164e-01 -7.95647643e-03 -6.51897747e-01] [ 7.20326638e-02 8.55726362e-03 9.97365564e-01 3.81221232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.42650248099997 meters Centerline goodness : 0.664026 with order 1 Centerline is valid? [False, False] Translation: X:8.25, Y:-0.65, Z:0.38 [[ 9.97544788e-01 1.09280983e-02 -6.91734914e-02 8.25191609e+00] [-1.13919079e-02 9.99915175e-01 -6.31408134e-03 -6.49940995e-01] [ 6.90986228e-02 7.08659698e-03 9.97584663e-01 3.81276422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.48650248099997 meters Centerline goodness : 0.667558 with order 1 Centerline is valid? [False, False] Translation: X:8.28, Y:-0.65, Z:0.37 [[ 9.98116868e-01 8.07461417e-03 -6.08072311e-02 8.28441438e+00] [-7.54159544e-03 9.99931149e-01 8.99012497e-03 -6.53746403e-01] [ 6.08756362e-02 -8.51461183e-03 9.98109041e-01 3.74597066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.54650248099998 meters Centerline goodness : 0.668090 with order 1 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.65, Z:0.37 [[ 0.99833659 0.01202291 -0.05638703 8.31006228] [-0.01115251 0.99981415 0.01572562 -0.65250496] [ 0.05656562 -0.0150706 0.99828513 0.37319908] [ 0. 0. 0. 1. ]] SLAMing on 206.60650248099995 meters Centerline goodness : 0.670807 with order 1 Centerline is valid? [False, False] Translation: X:8.35, Y:-0.65, Z:0.37 [[ 9.98495430e-01 9.64652208e-03 -5.39798278e-02 8.34926811e+00] [-8.26188855e-03 9.99632581e-01 2.58155661e-02 -6.51099118e-01] [ 5.42090250e-02 -2.53307495e-02 9.98208262e-01 3.70271857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.66650248099995 meters Centerline goodness : 0.667812 with order 1 Centerline is valid? [False, False] Translation: X:8.38, Y:-0.65, Z:0.37 [[ 0.99872523 0.01042864 -0.04938789 8.37825538] [-0.00900374 0.99953926 0.0289863 -0.65091034] [ 0.04966742 -0.02850468 0.99835897 0.36800563] [ 0. 0. 0. 1. ]] SLAMing on 206.72650248099995 meters Centerline goodness : 0.670058 with order 1 Centerline is valid? [False, False] Translation: X:8.41, Y:-0.65, Z:0.37 [[ 0.99881965 0.009906 -0.04755181 8.40904038] [-0.00847958 0.99951075 0.0301059 -0.64992512] [ 0.04782677 -0.02966714 0.99841497 0.36630822] [ 0. 0. 0. 1. ]] SLAMing on 206.78650248099996 meters Centerline goodness : 0.673035 with order 1 Centerline is valid? [False, False] Translation: X:8.45, Y:-0.65, Z:0.37 [[ 9.98840356e-01 5.65125883e-03 -4.78121927e-02 8.44868501e+00] [-3.88306552e-03 9.99307927e-01 3.69944381e-02 -6.47505623e-01] [ 4.79881683e-02 -3.67658799e-02 9.98171030e-01 3.66803356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.84650248099996 meters Centerline goodness : 0.673540 with order 1 Centerline is valid? [False, False] Translation: X:8.49, Y:-0.65, Z:0.37 [[ 9.98965320e-01 1.87624581e-03 -4.54397328e-02 8.48709453e+00] [ 1.99160270e-04 9.98958559e-01 4.56262809e-02 -6.47067780e-01] [ 4.54780161e-02 -4.55881221e-02 9.97924583e-01 3.65928785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.90650248099996 meters Centerline goodness : 0.677496 with order 1 Centerline is valid? [False, False] Translation: X:8.52, Y:-0.65, Z:0.37 [[ 9.99141698e-01 4.64486569e-03 -4.11617823e-02 8.52058901e+00] [-2.72217414e-03 9.98907861e-01 4.66441211e-02 -6.47120225e-01] [ 4.13334836e-02 -4.64920368e-02 9.98063141e-01 3.65427318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.96650248099996 meters Centerline goodness : 0.677532 with order 1 Centerline is valid? [False, False] Translation: X:8.54, Y:-0.65, Z:0.37 [[ 9.99088665e-01 1.02146959e-02 -4.14427163e-02 8.53782032e+00] [-8.46224627e-03 9.99071516e-01 4.22433060e-02 -6.47322951e-01] [ 4.18357399e-02 -4.18541098e-02 9.98247466e-01 3.66057349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.02650248099997 meters Centerline goodness : 0.678394 with order 1 Centerline is valid? [False, False] Translation: X:8.57, Y:-0.65, Z:0.37 [[ 0.99921432 0.01211548 -0.03773531 8.56556713] [-0.01036992 0.99888231 0.04611513 -0.64708134] [ 0.03825184 -0.04568759 0.99822314 0.36608037] [ 0. 0. 0. 1. ]] SLAMing on 207.08650248099997 meters Centerline goodness : 0.680584 with order 1 Centerline is valid? [False, False] Translation: X:8.61, Y:-0.65, Z:0.36 [[ 9.99549793e-01 8.57764962e-03 -2.87512655e-02 8.60553796e+00] [-6.87703808e-03 9.98249941e-01 5.87346750e-02 -6.48059610e-01] [ 2.92047546e-02 -5.85105086e-02 9.97859510e-01 3.60303510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.14650248099997 meters Centerline goodness : 0.681520 with order 1 Centerline is valid? [False, False] Translation: X:8.64, Y:-0.65, Z:0.36 [[ 9.99660514e-01 7.18873360e-03 -2.50435459e-02 8.63761187e+00] [-5.74024083e-03 9.98332565e-01 5.74381421e-02 -6.48181468e-01] [ 2.54146949e-02 -5.72748867e-02 9.98034910e-01 3.58421676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.20650248099997 meters Centerline goodness : 0.681177 with order 1 Centerline is valid? [False, False] Translation: X:8.67, Y:-0.65, Z:0.36 [[ 9.99755969e-01 7.18684850e-03 -2.08890207e-02 8.66669449e+00] [-5.95477226e-03 9.98272161e-01 5.84571046e-02 -6.48713996e-01] [ 2.12730502e-02 -5.83184499e-02 9.98071348e-01 3.57960138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.26650248099997 meters Centerline goodness : 0.677764 with order 1 Centerline is valid? [False, False] Translation: X:8.70, Y:-0.65, Z:0.36 [[ 9.99822392e-01 7.68900272e-03 -1.72064873e-02 8.69690620e+00] [-6.65371809e-03 9.98209883e-01 5.94370105e-02 -6.46361526e-01] [ 1.76326970e-02 -5.93119669e-02 9.98083753e-01 3.57003498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.32650248099995 meters Centerline goodness : 0.678019 with order 1 Centerline is valid? [False, False] Translation: X:8.74, Y:-0.64, Z:0.36 [[ 9.99847425e-01 9.72780603e-04 -1.74407499e-02 8.73684500e+00] [ 1.36475727e-04 9.97982612e-01 6.34876961e-02 -6.42002886e-01] [ 1.74673248e-02 -6.34803897e-02 9.97830212e-01 3.56782269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.38650248099995 meters Centerline goodness : 0.675595 with order 1 Centerline is valid? [False, False] Translation: X:8.78, Y:-0.64, Z:0.36 [[ 9.99854564e-01 -4.45361066e-03 -1.64625394e-02 8.78406215e+00] [ 5.52441498e-03 9.97831848e-01 6.55826507e-02 -6.38786333e-01] [ 1.61347665e-02 -6.56640586e-02 9.97711331e-01 3.56573635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.44650248099995 meters Centerline goodness : 0.675962 with order 1 Centerline is valid? [False, False] Translation: X:8.83, Y:-0.64, Z:0.35 [[ 0.99982365 -0.01576515 -0.01020389 8.83406222] [ 0.01653099 0.99666404 0.07992196 -0.63681774] [ 0.00890987 -0.08007654 0.9967489 0.35161277] [ 0. 0. 0. 1. ]] SLAMing on 207.50650248099996 meters Centerline goodness : 0.675768 with order 1 Centerline is valid? [False, False] Translation: X:8.75, Y:-0.65, Z:0.35 [[ 9.99905374e-01 -1.34974606e-02 -2.65745309e-03 8.75164350e+00] [ 1.36621684e-02 9.96931389e-01 7.70788661e-02 -6.48323551e-01] [ 1.60892944e-03 -7.71078790e-02 9.97021457e-01 3.48375804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.56650248099996 meters Centerline goodness : 0.674132 with order 1 Centerline is valid? [False, False] Translation: X:8.75, Y:-0.65, Z:0.35 [[ 9.99953850e-01 -9.55194268e-03 1.02849351e-03 8.74553403e+00] [ 9.44793900e-03 9.97139962e-01 7.49842176e-02 -6.49133764e-01] [-1.74179693e-03 -7.49710399e-02 9.97184190e-01 3.48105949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.62650248099996 meters Centerline goodness : 0.671442 with order 1 Centerline is valid? [False, False] Translation: X:8.74, Y:-0.64, Z:0.35 [[ 9.99968512e-01 -6.44092152e-03 4.63574230e-03 8.73995800e+00] [ 6.11605295e-03 9.97735916e-01 6.69748960e-02 -6.39575360e-01] [-5.05662664e-03 -6.69444346e-02 9.97743892e-01 3.47462810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.68650248099996 meters Centerline goodness : 0.671665 with order 1 Centerline is valid? [False, False] Translation: X:8.69, Y:-0.65, Z:0.35 [[ 9.99978433e-01 -3.44455030e-03 5.59180807e-03 8.68537060e+00] [ 3.05625497e-03 9.97679129e-01 6.80221640e-02 -6.46329344e-01] [-5.81313597e-03 -6.80036069e-02 9.97668140e-01 3.45197388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.74650248099996 meters Centerline goodness : 0.670737 with order 1 Centerline is valid? [False, False] Translation: X:8.62, Y:-0.65, Z:0.34 [[ 9.99960732e-01 -6.00299473e-03 6.51907973e-03 8.61896799e+00] [ 5.54288933e-03 9.97639943e-01 6.84384402e-02 -6.51156744e-01] [-6.91452993e-03 -6.83996182e-02 9.97634042e-01 3.41291199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.80650248099997 meters Centerline goodness : 0.670620 with order 1 Centerline is valid? [False, False] Translation: X:8.57, Y:-0.66, Z:0.34 [[ 9.99921734e-01 -4.32904006e-03 1.17382397e-02 8.57110594e+00] [ 3.56073311e-03 9.97898280e-01 6.47019675e-02 -6.57317354e-01] [-1.19936666e-02 -6.46551067e-02 9.97835592e-01 3.39492828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.86650248099997 meters Centerline goodness : 0.668810 with order 1 Centerline is valid? [False, False] Translation: X:8.49, Y:-0.67, Z:0.33 [[ 0.99976952 -0.01348406 0.01670563 8.49228281] [ 0.01235685 0.99775416 0.06583263 -0.66713582] [-0.0175558 -0.06561103 0.99769083 0.33495594] [ 0. 0. 0. 1. ]] SLAMing on 207.92650248099997 meters Centerline goodness : 0.667180 with order 1 Centerline is valid? [False, False] Translation: X:8.41, Y:-0.68, Z:0.33 [[ 0.99943927 -0.02377769 0.0235749 8.41169754] [ 0.02215488 0.99751647 0.06685839 -0.67924987] [-0.02510609 -0.0662986 0.99748392 0.3297428 ] [ 0. 0. 0. 1. ]] SLAMing on 207.98650248099997 meters Centerline goodness : 0.662002 with order 1 Centerline is valid? [False, False] Translation: X:8.35, Y:-0.69, Z:0.32 [[ 0.99916294 -0.02386894 0.03322201 8.35116196] [ 0.02183193 0.99793653 0.06038248 -0.69028392] [-0.03459472 -0.05960664 0.9976223 0.32483286] [ 0. 0. 0. 1. ]] SLAMing on 208.04650248099998 meters Centerline goodness : 0.656581 with order 1 Centerline is valid? [False, False] Translation: X:8.26, Y:-0.70, Z:0.32 [[ 0.99869927 -0.02586766 0.04393903 8.26360483] [ 0.023284 0.9980259 0.05832808 -0.70329732] [-0.0453611 -0.05722913 0.99733003 0.31726604] [ 0. 0. 0. 1. ]] Total time of SLAM: 8649.79 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%| | 0/6936 [00:00