+ python -m lidar_slam --result /working/result.json --no-model /working/bf93c59f-27bf-49ef-9b80-e53a775838a6 Lidar SLAM 0.0.16 ===================================================== The recording path: /working/bf93c59f-27bf-49ef-9b80-e53a775838a6 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 0.026296757 Adjusted end_distance from 9.223372036854776e+18 to 238.266296757 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.026296757 meters Centerline goodness : 0.234673 with order 1 Centerline is valid? [0, False] SLAMing on 0.086296757 meters Centerline goodness : 0.154656 with order 1 Centerline is valid? [False, False] Translation: X:0.08, Y:0.01, Z:-0.01 [[ 0.99974499 0.01759069 -0.01416043 0.07686806] [-0.01761641 0.99984338 -0.00169376 0.01054637] [ 0.01412842 0.00194278 0.9998983 -0.00867868] [ 0. 0. 0. 1. ]] SLAMing on 0.146296757 meters Centerline goodness : 0.144154 with order 2 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.10, Z:-0.02 [[ 0.99975887 -0.00337707 -0.02169802 0.10698247] [ 0.00331609 0.99999045 -0.002846 -0.1049629 ] [ 0.02170742 0.00277336 0.99976052 -0.01535598] [ 0. 0. 0. 1. ]] SLAMing on 0.206296757 meters Centerline goodness : 0.113913 with order 1 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.23, Z:-0.04 [[ 0.99976502 -0.02149213 0.00282867 0.15320903] [ 0.02136857 0.99904242 0.03817892 -0.22655831] [-0.00364651 -0.0381095 0.99926692 -0.04417771] [ 0. 0. 0. 1. ]] SLAMing on 0.266296757 meters Centerline goodness : 0.112766 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.22, Z:-0.05 [[ 0.99975389 -0.01859301 -0.01210166 0.2077015 ] [ 0.01901082 0.99919317 0.03537789 -0.22246062] [ 0.01143412 -0.03559925 0.99930073 -0.0481607 ] [ 0. 0. 0. 1. ]] SLAMing on 0.326296757 meters Centerline goodness : 0.115924 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.24, Z:-0.05 [[ 0.9993988 -0.03206245 -0.01319203 0.23659566] [ 0.03250928 0.99885213 0.03517913 -0.240575 ] [ 0.01204896 -0.03558684 0.99929395 -0.05242616] [ 0. 0. 0. 1. ]] SLAMing on 0.386296757 meters Centerline goodness : 0.114407 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.24, Z:-0.05 [[ 0.9993867 -0.03246463 -0.01312485 0.23649687] [ 0.03289871 0.99886879 0.03433382 -0.23866193] [ 0.01199537 -0.03474456 0.99932424 -0.05264758] [ 0. 0. 0. 1. ]] SLAMing on 0.446296757 meters Centerline goodness : 0.114305 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.24, Z:-0.05 [[ 0.99936848 -0.03307947 -0.01297686 0.2363564 ] [ 0.03349557 0.99888469 0.03327788 -0.23609131] [ 0.01186157 -0.03369153 0.99936189 -0.0529259 ] [ 0. 0. 0. 1. ]] SLAMing on 0.506296757 meters Centerline goodness : 0.114684 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.23, Z:-0.05 [[ 0.99932567 -0.03418865 -0.01339166 0.23663596] [ 0.03460051 0.99889403 0.03183588 -0.2313094 ] [ 0.01228842 -0.03227777 0.99940339 -0.05239616] [ 0. 0. 0. 1. ]] SLAMing on 0.566296757 meters Centerline goodness : 0.115394 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.23, Z:-0.05 [[ 0.99915093 -0.03894771 -0.01343479 0.23700195] [ 0.03929239 0.99887829 0.02642495 -0.22760509] [ 0.01239053 -0.0269304 0.99956052 -0.05211619] [ 0. 0. 0. 1. ]] SLAMing on 0.626296757 meters Centerline goodness : 0.115907 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.22, Z:-0.05 [[ 0.99894322 -0.04360567 -0.01452527 0.24104825] [ 0.04391951 0.99879198 0.02203751 -0.22185643] [ 0.01354676 -0.02265217 0.99965162 -0.05351913] [ 0. 0. 0. 1. ]] SLAMing on 0.6862967569999999 meters Centerline goodness : 0.113868 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.21, Z:-0.06 [[ 0.99876577 -0.04652506 -0.01738814 0.24977298] [ 0.04689838 0.99866358 0.02171643 -0.21456553] [ 0.01635454 -0.0225051 0.99961295 -0.05518219] [ 0. 0. 0. 1. ]] SLAMing on 0.746296757 meters Centerline goodness : 0.115098 with order 1 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.21, Z:-0.06 [[ 0.99873597 -0.04708627 -0.01758796 0.25105643] [ 0.04744867 0.99865731 0.02078945 -0.2121468 ] [ 0.01658545 -0.0215977 0.99962916 -0.05603427] [ 0. 0. 0. 1. ]] SLAMing on 0.806296757 meters Centerline goodness : 0.114962 with order 1 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.20, Z:-0.06 [[ 0.99871348 -0.04848663 -0.0148472 0.2718157 ] [ 0.04874762 0.99865335 0.01775245 -0.20115784] [ 0.01396645 -0.01845337 0.99973217 -0.05827116] [ 0. 0. 0. 1. ]] SLAMing on 0.866296757 meters Centerline goodness : 0.113633 with order 1 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.19, Z:-0.06 [[ 0.99864575 -0.04975435 -0.01520454 0.29686849] [ 0.05000883 0.99860676 0.0168418 -0.18926037] [ 0.0143454 -0.01757935 0.99974255 -0.05937883] [ 0. 0. 0. 1. ]] SLAMing on 0.9262967569999999 meters Centerline goodness : 0.111125 with order 1 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.18, Z:-0.06 [[ 0.99860529 -0.05074954 -0.01455859 0.32078914] [ 0.05096319 0.99859234 0.01470013 -0.17799154] [ 0.01379207 -0.01542158 0.99978595 -0.06236078] [ 0. 0. 0. 1. ]] SLAMing on 0.986296757 meters Centerline goodness : 0.110492 with order 1 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.17, Z:-0.07 [[ 0.99871964 -0.04818657 -0.01539938 0.34144469] [ 0.04834621 0.99877888 0.01016784 -0.17369857] [ 0.01489062 -0.01089933 0.99982972 -0.06835802] [ 0. 0. 0. 1. ]] SLAMing on 1.046296757 meters Centerline goodness : 0.109764 with order 1 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.17, Z:-0.07 [[ 0.9989502 -0.04243641 -0.01725221 0.35940267] [ 0.04261219 0.99904212 0.00995204 -0.17012998] [ 0.01681335 -0.01067675 0.99980164 -0.07161318] [ 0. 0. 0. 1. ]] SLAMing on 1.106296757 meters SLAMing on 1.1662967569999998 meters Centerline goodness : 0.127191 with order 1 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.16, Z:-0.08 [[ 0.9986496 -0.04188413 -0.03073578 0.4300905 ] [ 0.04239645 0.99896935 0.01621044 -0.16191251] [ 0.03002514 -0.01749163 0.99939608 -0.07889518] [ 0. 0. 0. 1. ]] SLAMing on 1.2262967569999998 meters Centerline goodness : 0.605970 with order 2 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.16, Z:-0.09 [[ 0.99828474 -0.04696172 -0.03495949 0.46151856] [ 0.04746283 0.99877981 0.01364459 -0.16007826] [ 0.03427606 -0.01528046 0.99929558 -0.08687428] [ 0. 0. 0. 1. ]] SLAMing on 1.286296757 meters Centerline goodness : 0.126833 with order 1 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.16, Z:-0.10 [[ 0.99785628 -0.05269717 -0.03880522 0.48580901] [ 0.05339401 0.99842633 0.01714502 -0.15728393] [ 0.03784066 -0.01918023 0.9990997 -0.09673418] [ 0. 0. 0. 1. ]] SLAMing on 1.3462967569999997 meters Centerline goodness : 0.127413 with order 1 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.15, Z:-0.10 [[ 0.99788767 -0.05138162 -0.03975077 0.50543898] [ 0.05194203 0.99856292 0.01319532 -0.1543987 ] [ 0.03901565 -0.01523218 0.9991225 -0.10256359] [ 0. 0. 0. 1. ]] SLAMing on 1.4062967569999998 meters Centerline goodness : 0.205824 with order 2 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.15, Z:-0.11 [[ 0.99768282 -0.05195566 -0.04392722 0.53654017] [ 0.05260605 0.99852024 0.0137814 -0.14953727] [ 0.0431462 -0.01606031 0.99893967 -0.10967602] [ 0. 0. 0. 1. ]] SLAMing on 1.4662967569999998 meters Centerline goodness : 0.242804 with order 3 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.14, Z:-0.12 [[ 0.99720049 -0.05872341 -0.04628975 0.56555716] [ 0.05916905 0.99821334 0.00831521 -0.14337064] [ 0.04571874 -0.01103085 0.99889345 -0.11538226] [ 0. 0. 0. 1. ]] SLAMing on 1.526296757 meters Centerline goodness : 0.235045 with order 2 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.13, Z:-0.12 [[ 0.99678134 -0.06196187 -0.05086934 0.59448506] [ 0.06237793 0.99803057 0.00663104 -0.1348788 ] [ 0.05035829 -0.00978283 0.9986833 -0.11743856] [ 0. 0. 0. 1. ]] SLAMing on 1.586296757 meters Centerline goodness : 0.232323 with order 2 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.13, Z:-0.12 [[ 0.99687315 -0.06318591 -0.04744965 0.61287852] [ 0.06343898 0.99797831 0.00384514 -0.12566074] [ 0.04711076 -0.00684328 0.99886623 -0.11897842] [ 0. 0. 0. 1. ]] SLAMing on 1.6462967569999998 meters Centerline goodness : 0.465629 with order 2 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.12 [[ 0.99728974 -0.06030578 -0.04214729 0.6283596 ] [ 0.06058285 0.99814896 0.00532668 -0.11671737] [ 0.04174804 -0.00786564 0.99909721 -0.11941263] [ 0. 0. 0. 1. ]] SLAMing on 1.7062967569999998 meters Centerline goodness : 0.760702 with order 2 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.11, Z:-0.12 [[ 0.99778801 -0.05620221 -0.03550199 0.64147365] [ 0.05647652 0.99838097 0.00677074 -0.10973741] [ 0.03506398 -0.00876079 0.99934667 -0.12039022] [ 0. 0. 0. 1. ]] SLAMing on 1.7662967569999999 meters Centerline goodness : 0.763508 with order 2 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.10, Z:-0.12 [[ 0.99785786 -0.05666283 -0.03269591 0.66276523] [ 0.05690321 0.99835874 0.00646848 -0.1039436 ] [ 0.03227573 -0.00831513 0.99944441 -0.12266695] [ 0. 0. 0. 1. ]] SLAMing on 1.8262967569999997 meters Centerline goodness : 0.771688 with order 3 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.10, Z:-0.12 [[ 0.99766421 -0.06126054 -0.03022028 0.6928071 ] [ 0.06174678 0.99797262 0.0154269 -0.10103279] [ 0.02921396 -0.01725687 0.99942421 -0.12264307] [ 0. 0. 0. 1. ]] SLAMing on 1.8862967569999998 meters Centerline goodness : 0.776033 with order 3 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.11, Z:-0.12 [[ 0.99712303 -0.06783831 -0.03381765 0.70360118] [ 0.06868207 0.99733906 0.02444515 -0.10631818] [ 0.03206934 -0.02669749 0.99912902 -0.11591995] [ 0. 0. 0. 1. ]] SLAMing on 1.9462967569999998 meters Centerline goodness : 0.767311 with order 2 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.12, Z:-0.11 [[ 0.99618063 -0.07805827 -0.03912882 0.72072274] [ 0.07941028 0.99625251 0.03427748 -0.11549529] [ 0.03630655 -0.03725379 0.99864608 -0.11213746] [ 0. 0. 0. 1. ]] SLAMing on 2.006296757 meters Centerline goodness : 0.791106 with order 3 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.12, Z:-0.11 [[ 0.99575266 -0.08298959 -0.03986691 0.72567466] [ 0.08437788 0.99583636 0.03450109 -0.12240038] [ 0.03683769 -0.03771843 0.99860919 -0.11132715] [ 0. 0. 0. 1. ]] SLAMing on 2.066296757 meters Centerline goodness : 0.793768 with order 2 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.14, Z:-0.11 [[ 0.9951267 -0.08738905 -0.0456729 0.74512331] [ 0.08975461 0.99457403 0.05259854 -0.13670486] [ 0.04082854 -0.05644156 0.99757074 -0.10801931] [ 0. 0. 0. 1. ]] SLAMing on 2.126296757 meters Centerline goodness : 0.758655 with order 3 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.14, Z:-0.11 [[ 0.9954069 -0.08681434 -0.04035304 0.76109553] [ 0.08894689 0.99454667 0.05445521 -0.13768837] [ 0.03540548 -0.05779436 0.99770049 -0.10765853] [ 0. 0. 0. 1. ]] SLAMing on 2.186296757 meters Centerline goodness : 0.802888 with order 2 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.14, Z:-0.10 [[ 0.9955575 -0.08798388 -0.03352767 0.7736667 ] [ 0.08974055 0.99444019 0.05509397 -0.14184958] [ 0.02849388 -0.057858 0.99791811 -0.10437992] [ 0. 0. 0. 1. ]] SLAMing on 2.2462967569999996 meters Centerline goodness : 0.765980 with order 3 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.15, Z:-0.10 [[ 0.99564609 -0.08779061 -0.03133169 0.79444749] [ 0.08940468 0.99450357 0.05449272 -0.14580201] [ 0.02637553 -0.05705667 0.99802248 -0.09872211] [ 0. 0. 0. 1. ]] SLAMing on 2.3062967569999997 meters Centerline goodness : 0.771362 with order 1 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.15, Z:-0.09 [[ 0.99581948 -0.08562896 -0.03180003 0.82158817] [ 0.08730043 0.99463268 0.05553798 -0.15211342] [ 0.02687369 -0.05808196 0.99795004 -0.0922884 ] [ 0. 0. 0. 1. ]] SLAMing on 2.3662967569999998 meters Centerline goodness : 0.820557 with order 3 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.16, Z:-0.09 [[ 0.99588535 -0.08470102 -0.03221975 0.82291284] [ 0.08650434 0.99447653 0.05944273 -0.15935761] [ 0.02700693 -0.06198529 0.99771161 -0.09011745] [ 0. 0. 0. 1. ]] SLAMing on 2.426296757 meters Centerline goodness : 0.764688 with order 1 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.17, Z:-0.09 [[ 0.99571796 -0.08816869 -0.02778528 0.83945605] [ 0.0897164 0.99412744 0.06051111 -0.16575834] [ 0.02228692 -0.06274479 0.99778073 -0.08756699] [ 0. 0. 0. 1. ]] SLAMing on 2.486296757 meters Centerline goodness : 0.755117 with order 1 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.17, Z:-0.08 [[ 0.99536576 -0.09212128 -0.02758026 0.86657032] [ 0.09353885 0.99406781 0.05549484 -0.17264396] [ 0.02230439 -0.05781749 0.99807798 -0.08116233] [ 0. 0. 0. 1. ]] SLAMing on 2.546296757 meters Centerline goodness : 0.761124 with order 2 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.17, Z:-0.08 [[ 0.99537779 -0.09193554 -0.02776529 0.88362325] [ 0.09302119 0.99483063 0.04073182 -0.17464966] [ 0.02387706 -0.04312631 0.99878426 -0.07749943] [ 0. 0. 0. 1. ]] SLAMing on 2.606296757 meters Centerline goodness : 0.765299 with order 3 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.18, Z:-0.07 [[ 0.9952656 -0.09493816 -0.02081183 0.89541994] [ 0.09570803 0.99461385 0.03979025 -0.18004251] [ 0.01692213 -0.04159372 0.99899129 -0.07300644] [ 0. 0. 0. 1. ]] SLAMing on 2.6662967569999996 meters Centerline goodness : 0.785109 with order 2 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.19, Z:-0.07 [[ 0.99533547 -0.09592751 -0.01025795 0.90205479] [ 0.09624445 0.99467104 0.03696667 -0.18613887] [ 0.00665717 -0.03778151 0.99926385 -0.07161986] [ 0. 0. 0. 1. ]] SLAMing on 2.7262967569999996 meters Centerline goodness : 0.783854 with order 3 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.19, Z:-0.07 [[ 9.95573181e-01 -9.39891942e-02 -2.67677933e-04 9.08022198e-01] [ 9.39485918e-02 9.95050937e-01 3.23619255e-02 -1.91410055e-01] [-2.77531812e-03 -3.22438131e-02 9.99476180e-01 -7.26911477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7862967569999997 meters Centerline goodness : 0.782894 with order 3 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.20, Z:-0.07 [[ 0.9962147 -0.08673247 -0.00580939 0.92650672] [ 0.08685881 0.99585282 0.02706868 -0.20093651] [ 0.00343756 -0.02747081 0.9996167 -0.06826481] [ 0. 0. 0. 1. ]] SLAMing on 2.8462967569999997 meters Centerline goodness : 0.782343 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.21, Z:-0.07 [[ 0.9970143 -0.07625093 -0.01217705 0.94568988] [ 0.07654793 0.99672319 0.02613988 -0.21193089] [ 0.01014396 -0.02699397 0.99958413 -0.06531799] [ 0. 0. 0. 1. ]] SLAMing on 2.906296757 meters Centerline goodness : 0.780117 with order 2 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.22, Z:-0.07 [[ 0.99734228 -0.07088325 -0.01685071 0.96141517] [ 0.07130493 0.99711822 0.02590083 -0.22306288] [ 0.01496621 -0.02703353 0.99952249 -0.06732745] [ 0. 0. 0. 1. ]] SLAMing on 2.966296757 meters Centerline goodness : 0.779323 with order 1 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.23, Z:-0.07 [[ 0.99726116 -0.07092932 -0.02095741 0.97243074] [ 0.07136838 0.99722889 0.02100228 -0.23110472] [ 0.01940966 -0.02244045 0.99955975 -0.06625623] [ 0. 0. 0. 1. ]] SLAMing on 3.026296757 meters Centerline goodness : 0.778590 with order 1 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.24, Z:-0.07 [[ 0.99709102 -0.07293562 -0.02213343 0.97842827] [ 0.07338851 0.99709497 0.02038966 -0.23930979] [ 0.020582 -0.02195468 0.99954708 -0.06953467] [ 0. 0. 0. 1. ]] SLAMing on 3.086296757 meters Centerline goodness : 0.780004 with order 2 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.24, Z:-0.07 [[ 0.99689806 -0.07519025 -0.02325253 0.98437571] [ 0.07563107 0.99696056 0.01869717 -0.24228984] [ 0.02177601 -0.02039778 0.99955477 -0.07343915] [ 0. 0. 0. 1. ]] SLAMing on 3.146296757 meters Centerline goodness : 0.779598 with order 2 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.25, Z:-0.07 [[ 0.99655736 -0.07948589 -0.02356729 0.98590113] [ 0.07986209 0.9966858 0.01547471 -0.24513544] [ 0.02225916 -0.01730357 0.99960248 -0.07292961] [ 0. 0. 0. 1. ]] SLAMing on 3.2062967569999996 meters Centerline goodness : 0.793656 with order 1 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.25, Z:-0.07 [[ 0.99617474 -0.0841416 -0.0235812 0.98659392] [ 0.0844268 0.99636481 0.01137014 -0.24657798] [ 0.02253877 -0.01331753 0.99965726 -0.07230068] [ 0. 0. 0. 1. ]] SLAMing on 3.2662967569999997 meters Centerline goodness : 0.801198 with order 1 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.24, Z:-0.07 [[ 0.99598602 -0.08638864 -0.02342771 0.98549747] [ 0.08662767 0.99619654 0.00938593 -0.24277292] [ 0.02252777 -0.01137774 0.99968147 -0.07052773] [ 0. 0. 0. 1. ]] SLAMing on 3.3262967569999997 meters Centerline goodness : 0.781910 with order 1 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.24, Z:-0.07 [[ 0.99617299 -0.08583415 -0.01648862 0.99586853] [ 0.08598704 0.99625741 0.00879789 -0.235879 ] [ 0.01567175 -0.01018203 0.99982535 -0.06642432] [ 0. 0. 0. 1. ]] SLAMing on 3.3862967569999998 meters Centerline goodness : 0.827086 with order 1 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.23, Z:-0.06 [[ 0.99647727 -0.08139308 -0.02020462 1.00321084] [ 0.0815024 0.99666231 0.00464633 -0.23063523] [ 0.019759 -0.00627669 0.99978507 -0.06240941] [ 0. 0. 0. 1. ]] SLAMing on 3.446296757 meters Centerline goodness : 0.834039 with order 1 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.22, Z:-0.06 [[ 0.99672715 -0.07821968 -0.02041249 1.00407072] [ 0.07836902 0.99690244 0.00662043 -0.2246654 ] [ 0.01983141 -0.00819847 0.99976972 -0.06363899] [ 0. 0. 0. 1. ]] SLAMing on 3.506296757 meters Centerline goodness : 0.812387 with order 1 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.22, Z:-0.06 [[ 0.9967078 -0.07844722 -0.02048399 1.00453245] [ 0.07857468 0.9968931 0.00549215 -0.22045073] [ 0.0199895 -0.00708359 0.9997751 -0.064295 ] [ 0. 0. 0. 1. ]] SLAMing on 3.566296757 meters Centerline goodness : 0.783718 with order 3 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.22, Z:-0.07 [[ 0.99661892 -0.07939608 -0.02114228 1.00883855] [ 0.07950267 0.9968256 0.00424814 -0.21587242] [ 0.02073788 -0.00591464 0.99976745 -0.06820855] [ 0. 0. 0. 1. ]] SLAMing on 3.6262967569999995 meters Centerline goodness : 0.782567 with order 3 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.21, Z:-0.07 [[ 9.96231717e-01 -8.40303863e-02 -2.14769597e-02 1.01316685e+00] [ 8.40433542e-02 9.96462054e-01 -2.99680279e-04 -2.14193353e-01] [ 2.14261576e-02 -1.50644473e-03 9.99769299e-01 -7.19529398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6862967569999996 meters Centerline goodness : 0.776379 with order 1 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.21, Z:-0.08 [[ 9.96065733e-01 -8.57406817e-02 -2.23962183e-02 1.01939555e+00] [ 8.57207980e-02 9.96317484e-01 -1.84811453e-03 -2.10301998e-01] [ 2.24722024e-02 -7.89781479e-05 9.99747465e-01 -7.74986999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7462967569999996 meters Centerline goodness : 0.776557 with order 1 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.21, Z:-0.08 [[ 9.96042761e-01 -8.60321043e-02 -2.23001033e-02 1.02006992e+00] [ 8.60067099e-02 9.96292351e-01 -2.09714863e-03 -2.09870293e-01] [ 2.23978445e-02 1.70891198e-04 9.99749122e-01 -7.85805221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8062967569999997 meters Centerline goodness : 0.776886 with order 1 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.21, Z:-0.08 [[ 9.96069634e-01 -8.57164641e-02 -2.23153024e-02 1.02021327e+00] [ 8.56917073e-02 9.96319561e-01 -2.06505306e-03 -2.09233067e-01] [ 2.24101814e-02 1.44700283e-04 9.99748850e-01 -7.85962774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8662967569999998 meters Centerline goodness : 0.778452 with order 1 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.21, Z:-0.08 [[ 0.99644106 -0.08133115 -0.02214612 1.01948445] [ 0.08139706 0.99667956 0.00208968 -0.20881347] [ 0.02190263 -0.00388487 0.99975256 -0.0786736 ] [ 0. 0. 0. 1. ]] SLAMing on 3.926296757 meters Centerline goodness : 0.777759 with order 1 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.21, Z:-0.08 [[ 0.99678099 -0.07679459 -0.02302724 1.02325664] [ 0.07694722 0.99701821 0.00581559 -0.20619828] [ 0.02251197 -0.00756875 0.99971792 -0.08210709] [ 0. 0. 0. 1. ]] SLAMing on 3.986296757 meters Centerline goodness : 0.778461 with order 1 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.21, Z:-0.08 [[ 0.99680571 -0.07647303 -0.02302709 1.02400385] [ 0.07662288 0.99704388 0.0056957 -0.20530341] [ 0.02252346 -0.00744191 0.99971862 -0.08311206] [ 0. 0. 0. 1. ]] SLAMing on 4.0462967569999995 meters Centerline goodness : 0.778498 with order 1 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.21, Z:-0.08 [[ 0.99679758 -0.07652531 -0.02320489 1.02514093] [ 0.07667709 0.99703956 0.00572223 -0.20541209] [ 0.0226983 -0.00748319 0.99971435 -0.08411251] [ 0. 0. 0. 1. ]] SLAMing on 4.106296757 meters Centerline goodness : 0.780483 with order 1 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.21, Z:-0.09 [[ 0.996747 -0.07725903 -0.02294481 1.02557887] [ 0.07740037 0.99698581 0.00533564 -0.20554789] [ 0.02246342 -0.00709422 0.99972249 -0.08515041] [ 0. 0. 0. 1. ]] SLAMing on 4.166296757 meters Centerline goodness : 0.780780 with order 1 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.21, Z:-0.09 [[ 0.99670498 -0.07782338 -0.02286261 1.02590194] [ 0.07795796 0.99694384 0.00505389 -0.20568581] [ 0.02239943 -0.00681956 0.99972584 -0.08548355] [ 0. 0. 0. 1. ]] SLAMing on 4.226296757 meters Centerline goodness : 0.781453 with order 1 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.20, Z:-0.08 [[ 0.99684961 -0.07607445 -0.02243953 1.0242207 ] [ 0.0762281 0.99707192 0.00607201 -0.20488659] [ 0.0219119 -0.0077634 0.99972976 -0.08457437] [ 0. 0. 0. 1. ]] SLAMing on 4.286296757 meters Centerline goodness : 0.780349 with order 1 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.20, Z:-0.09 [[ 0.99704658 -0.07328516 -0.02296543 1.02724568] [ 0.0735017 0.99725688 0.00872994 -0.20430143] [ 0.02226266 -0.01039215 0.99969814 -0.08764194] [ 0. 0. 0. 1. ]] SLAMing on 4.346296757 meters Centerline goodness : 0.792047 with order 1 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.20, Z:-0.09 [[ 0.99729131 -0.069554 -0.02392254 1.03279786] [ 0.06985431 0.99748557 0.01195462 -0.20015866] [ 0.02303089 -0.01359333 0.99964234 -0.09332948] [ 0. 0. 0. 1. ]] SLAMing on 4.406296757 meters Centerline goodness : 0.789474 with order 3 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.20, Z:-0.10 [[ 0.99718817 -0.07089227 -0.02429092 1.03607727] [ 0.07115124 0.99741574 0.00996685 -0.1996339 ] [ 0.02352158 -0.01166715 0.99965525 -0.09616202] [ 0. 0. 0. 1. ]] SLAMing on 4.466296756999999 meters Centerline goodness : 0.800958 with order 2 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.20, Z:-0.10 [[ 0.99717054 -0.07110681 -0.02438739 1.03704171] [ 0.07135797 0.9974047 0.00958653 -0.19914685] [ 0.02364243 -0.01129964 0.99965662 -0.09695806] [ 0. 0. 0. 1. ]] SLAMing on 4.526296757 meters Centerline goodness : 0.785374 with order 3 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.20, Z:-0.10 [[ 0.99711419 -0.07191899 -0.02430945 1.03802093] [ 0.07215901 0.99735123 0.00914367 -0.19583713] [ 0.02358745 -0.01087143 0.99966267 -0.0985116 ] [ 0. 0. 0. 1. ]] SLAMing on 4.5862967569999995 meters Centerline goodness : 0.786168 with order 2 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.20, Z:-0.10 [[ 0.99707303 -0.07242096 -0.02450656 1.03861185] [ 0.07265725 0.99731733 0.0088918 -0.19564468] [ 0.02379686 -0.01064635 0.99966012 -0.09878941] [ 0. 0. 0. 1. ]] SLAMing on 4.646296757 meters Centerline goodness : 0.806950 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.20, Z:-0.11 [[ 0.99648313 -0.08182487 -0.01805706 1.0528601 ] [ 0.08198944 0.99659636 0.00856871 -0.20041409] [ 0.01729447 -0.01001906 0.99980024 -0.10509518] [ 0. 0. 0. 1. ]] SLAMing on 4.706296757 meters Centerline goodness : 0.786509 with order 1 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.20, Z:-0.09 [[ 0.99616389 -0.08494146 -0.02103455 1.03403307] [ 0.08449794 0.99619922 -0.02114726 -0.19767903] [ 0.02275088 0.01928876 0.99955507 -0.09372631] [ 0. 0. 0. 1. ]] SLAMing on 4.766296757 meters Centerline goodness : 0.788787 with order 1 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.20, Z:-0.09 [[ 0.9957736 -0.08950742 -0.02057575 1.03377201] [ 0.08896868 0.99570131 -0.02575808 -0.19624778] [ 0.02279284 0.02381862 0.99945643 -0.09338709] [ 0. 0. 0. 1. ]] SLAMing on 4.826296757 meters Centerline goodness : 0.790806 with order 1 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.20, Z:-0.09 [[ 0.99565879 -0.09078465 -0.02053589 1.03206965] [ 0.09020083 0.99553649 -0.02776522 -0.19602793] [ 0.02296489 0.02579233 0.99940351 -0.09038932] [ 0. 0. 0. 1. ]] SLAMing on 4.886296756999999 meters Centerline goodness : 0.791764 with order 1 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.19, Z:-0.09 [[ 0.99593989 -0.08756761 -0.02087204 1.03186081] [ 0.08704289 0.99589463 -0.02484785 -0.19373597] [ 0.02296221 0.0229302 0.99947333 -0.08988227] [ 0. 0. 0. 1. ]] SLAMing on 4.946296757 meters Centerline goodness : 0.813979 with order 2 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.20, Z:-0.09 [[ 0.99615677 -0.08606433 -0.01626693 1.04446753] [ 0.085837 0.9962081 -0.01419286 -0.19772861] [ 0.01742674 0.012742 0.99976695 -0.09480866] [ 0. 0. 0. 1. ]] SLAMing on 5.006296756999999 meters Centerline goodness : 0.800118 with order 1 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.17, Z:-0.07 [[ 0.99666116 -0.08014379 -0.01560467 1.0283769 ] [ 0.07840644 0.99276416 -0.09094916 -0.17053271] [ 0.02278077 0.08942199 0.99573327 -0.07423159] [ 0. 0. 0. 1. ]] SLAMing on 5.066296757 meters Centerline goodness : 0.804941 with order 1 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.12, Z:-0.03 [[ 0.99685746 -0.0770479 -0.01840725 1.00840053] [ 0.07109929 0.97268506 -0.22097209 -0.12259922] [ 0.03492989 0.21896893 0.97510641 -0.02879133] [ 0. 0. 0. 1. ]] SLAMing on 5.1262967569999995 meters Centerline goodness : 0.804775 with order 3 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.13, Z:-0.03 [[ 0.99659679 -0.08003351 -0.01973515 1.02172394] [ 0.07412434 0.97484551 -0.21019471 -0.13062455] [ 0.03606134 0.20801651 0.97746034 -0.03108294] [ 0. 0. 0. 1. ]] SLAMing on 5.186296757 meters Centerline goodness : 0.802513 with order 1 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.13, Z:-0.02 [[ 0.99654376 -0.08075698 -0.01946405 1.03823287] [ 0.0737943 0.96821978 -0.23896621 -0.12753848] [ 0.03814367 0.23670395 0.97083279 -0.01709366] [ 0. 0. 0. 1. ]] SLAMing on 5.246296757 meters Centerline goodness : 0.803103 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.15, Z:-0.02 [[ 0.99653371 -0.08159706 -0.01620109 1.04598735] [ 0.07582653 0.97104182 -0.22655709 -0.14538976] [ 0.03421833 0.2245433 0.97386314 -0.02180633] [ 0. 0. 0. 1. ]] SLAMing on 5.306296756999999 meters Centerline goodness : 0.802614 with order 1 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.15, Z:-0.02 [[ 0.99682462 -0.07888666 -0.01084271 1.06228458] [ 0.07446719 0.97175732 -0.22392487 -0.15193178] [ 0.02820117 0.2224064 0.97454609 -0.02265092] [ 0. 0. 0. 1. ]] SLAMing on 5.366296757 meters Centerline goodness : 0.802349 with order 1 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.17, Z:-0.02 [[ 0.99698326 -0.07707234 -0.00917836 1.08282594] [ 0.07340046 0.97465289 -0.21133888 -0.16742408] [ 0.0252341 0.21002763 0.97736975 -0.02414804] [ 0. 0. 0. 1. ]] SLAMing on 5.426296756999999 meters Centerline goodness : 0.806657 with order 1 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.18, Z:-0.03 [[ 0.99659238 -0.08199921 -0.00893055 1.10030616] [ 0.07861221 0.97701044 -0.19816841 -0.17880569] [ 0.0249749 0.19679108 0.9801273 -0.02578331] [ 0. 0. 0. 1. ]] SLAMing on 5.486296757 meters Centerline goodness : 0.806432 with order 1 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.19, Z:-0.03 [[ 0.99646448 -0.08371924 -0.00704488 1.11616233] [ 0.08096338 0.979282 -0.1856117 -0.18505495] [ 0.0224382 0.18438509 0.98259792 -0.02777211] [ 0. 0. 0. 1. ]] SLAMing on 5.5462967569999995 meters Centerline goodness : 0.808726 with order 1 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.19, Z:-0.03 [[ 0.99647972 -0.08381696 -0.00169875 1.13379696] [ 0.08219984 0.98083448 -0.1766548 -0.18619075] [ 0.01647286 0.17589329 0.9842714 -0.02589558] [ 0. 0. 0. 1. ]] SLAMing on 5.606296757 meters Centerline goodness : 0.807028 with order 1 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.19, Z:-0.03 [[ 0.99623904 -0.08656528 -0.0037728 1.15422375] [ 0.08479445 0.98296594 -0.16305786 -0.18626871] [ 0.01782368 0.16212469 0.9866093 -0.02685677] [ 0. 0. 0. 1. ]] SLAMing on 5.666296757 meters Centerline goodness : 0.806038 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.19, Z:-0.03 [[ 0.99600565 -0.08895573 -0.00772166 1.18532029] [ 0.08657857 0.98329013 -0.16013954 -0.18770541] [ 0.02183796 0.15883136 0.98706418 -0.02852885] [ 0. 0. 0. 1. ]] SLAMing on 5.726296757 meters Centerline goodness : 0.804786 with order 1 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.16, Z:-0.02 [[ 0.99698538 -0.07666771 0.01192519 1.22826293] [ 0.07737642 0.97104706 -0.22600997 -0.16239249] [ 0.00574775 0.22625136 0.97405199 -0.01648124] [ 0. 0. 0. 1. ]] SLAMing on 5.786296757 meters Centerline goodness : 0.802589 with order 1 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.17, Z:-0.02 [[ 0.99752149 -0.06953018 0.01078995 1.23292595] [ 0.0702714 0.97665103 -0.20301402 -0.1660994 ] [ 0.00357758 0.20326908 0.97911638 -0.01942798] [ 0. 0. 0. 1. ]] SLAMing on 5.846296756999999 meters Centerline goodness : 0.801901 with order 1 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.17, Z:-0.02 [[ 0.99787505 -0.06471426 0.00757996 1.24305141] [ 0.06498096 0.97988882 -0.18866736 -0.16899284] [ 0.00478196 0.18875901 0.9820118 -0.01720024] [ 0. 0. 0. 1. ]] SLAMing on 5.906296757 meters Centerline goodness : 0.805824 with order 1 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.12, Z:0.02 [[ 0.99874308 -0.04911647 0.00999129 1.24228271] [ 0.04976423 0.94791834 -0.31460189 -0.12436972] [ 0.00598121 0.31470367 0.94917113 0.02331015] [ 0. 0. 0. 1. ]] SLAMing on 5.966296756999999 meters Centerline goodness : 0.810252 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.14, Z:0.03 [[ 0.9988851 -0.04600335 0.0105945 1.21809238] [ 0.0470682 0.95330175 -0.29832928 -0.13785373] [ 0.0036244 0.29849534 0.95440421 0.03029386] [ 0. 0. 0. 1. ]] SLAMing on 6.026296757 meters Centerline goodness : 0.813106 with order 1 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.15, Z:0.03 [[ 9.98870423e-01 -4.53462064e-02 1.41985635e-02 1.20050012e+00] [ 4.75022406e-02 9.60415915e-01 -2.74490085e-01 -1.49222432e-01] [-1.18944231e-03 2.74854491e-01 9.61485098e-01 3.16806920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0862967569999995 meters Centerline goodness : 0.816032 with order 1 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.16, Z:0.04 [[ 0.99892758 -0.04328651 0.01643064 1.17500704] [ 0.04602335 0.96706657 -0.250328 -0.16005001] [-0.0050537 0.25081574 0.96802165 0.03772691] [ 0. 0. 0. 1. ]] SLAMing on 6.146296757 meters Centerline goodness : 0.818197 with order 1 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.17, Z:0.04 [[ 0.99880674 -0.04811308 0.00838046 1.15527791] [ 0.04873067 0.97049531 -0.23614439 -0.17266987] [ 0.00322844 0.236271 0.97168184 0.04123085] [ 0. 0. 0. 1. ]] SLAMing on 6.206296757 meters Centerline goodness : 0.823646 with order 1 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.19, Z:0.04 [[ 0.99863359 -0.05151929 0.0087585 1.14322361] [ 0.0521835 0.97412037 -0.2199236 -0.18695816] [ 0.00279848 0.22008015 0.97547778 0.04288446] [ 0. 0. 0. 1. ]] SLAMing on 6.266296757 meters Centerline goodness : 0.824482 with order 1 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.20, Z:0.05 [[ 9.98527721e-01 -5.33069991e-02 1.00376125e-02 1.12532252e+00] [ 5.42388525e-02 9.78694278e-01 -1.98029436e-01 -1.95487994e-01] [ 7.32601025e-04 1.98282310e-01 9.80144677e-01 4.66190995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.326296757 meters Centerline goodness : 0.828345 with order 1 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.19, Z:0.06 [[ 0.998693 -0.05106755 -0.00209898 1.12949624] [ 0.04929532 0.97325671 -0.22436878 -0.19281817] [ 0.0135008 0.22397206 0.97450205 0.06471837] [ 0. 0. 0. 1. ]] SLAMing on 6.386296756999999 meters Centerline goodness : 0.820831 with order 1 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.20, Z:0.06 [[ 0.99841792 -0.0560326 -0.00469005 1.12380343] [ 0.05375427 0.9756285 -0.21274282 -0.19810133] [ 0.01649628 0.21215414 0.97709697 0.05679041] [ 0. 0. 0. 1. ]] SLAMing on 6.446296757 meters Centerline goodness : 0.823287 with order 1 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.20, Z:0.06 [[ 0.99811064 -0.06072605 -0.0093538 1.12837674] [ 0.05774506 0.97912938 -0.1948619 -0.20226931] [ 0.02099177 0.1939536 0.98078609 0.05878086] [ 0. 0. 0. 1. ]] SLAMing on 6.506296756999999 meters Centerline goodness : 0.823094 with order 1 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.21, Z:0.06 [[ 0.99791343 -0.06250359 -0.01618883 1.125474 ] [ 0.05854951 0.98170763 -0.18116864 -0.20913202] [ 0.02721638 0.17984278 0.98331879 0.06107382] [ 0. 0. 0. 1. ]] SLAMing on 6.566296757 meters Centerline goodness : 0.821574 with order 1 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.21, Z:0.06 [[ 0.99780824 -0.06422219 -0.01594465 1.13376367] [ 0.06056303 0.98340927 -0.1709922 -0.21450327] [ 0.02666161 0.16965177 0.98514336 0.06320988] [ 0. 0. 0. 1. ]] SLAMing on 6.6262967569999995 meters Centerline goodness : 0.821692 with order 1 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.22, Z:0.07 [[ 0.99772071 -0.0647894 -0.01886068 1.14489561] [ 0.06090122 0.98494383 -0.16179215 -0.21682779] [ 0.02905913 0.16027474 0.9866446 0.06536186] [ 0. 0. 0. 1. ]] SLAMing on 6.686296757 meters Centerline goodness : 0.818701 with order 1 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.22, Z:0.06 [[ 0.9974001 -0.06781558 -0.024374 1.16155891] [ 0.06311307 0.98529812 -0.15875882 -0.21512074] [ 0.03478198 0.15680775 0.98701649 0.06188795] [ 0. 0. 0. 1. ]] SLAMing on 6.746296757 meters Centerline goodness : 0.817276 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.21, Z:0.06 [[ 0.99711239 -0.07134962 -0.02600205 1.18712465] [ 0.06611582 0.98408325 -0.16495109 -0.21330421] [ 0.03735738 0.16275563 0.98595894 0.05885157] [ 0. 0. 0. 1. ]] SLAMing on 6.806296756999999 meters Centerline goodness : 0.816209 with order 1 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.22, Z:0.06 [[ 0.99694963 -0.07270221 -0.02838701 1.20579119] [ 0.06763003 0.98625624 -0.1507475 -0.21518951] [ 0.03895654 0.14836785 0.98816465 0.05911858] [ 0. 0. 0. 1. ]] SLAMing on 6.866296757 meters Centerline goodness : 0.817517 with order 1 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.22, Z:0.06 [[ 0.99705448 -0.07147548 -0.02781388 1.22787435] [ 0.06672306 0.98718094 -0.14498902 -0.22440997] [ 0.03782049 0.14270613 0.98904225 0.05699438] [ 0. 0. 0. 1. ]] SLAMing on 6.926296756999999 meters Centerline goodness : 0.819752 with order 1 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.22, Z:0.06 [[ 0.9972852 -0.07260696 -0.01226639 1.24741733] [ 0.06973942 0.98478683 -0.15915814 -0.22179168] [ 0.02363577 0.15787061 0.98717689 0.05777268] [ 0. 0. 0. 1. ]] SLAMing on 6.986296757 meters Centerline goodness : 0.824399 with order 1 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.20, Z:0.07 [[ 9.97824868e-01 -6.42199455e-02 1.48771932e-02 1.28552174e+00] [ 6.59180677e-02 9.70045481e-01 -2.33808838e-01 -1.95025820e-01] [ 5.83636739e-04 2.34280949e-01 9.72168759e-01 7.31232816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0462967569999995 meters Centerline goodness : 0.821232 with order 1 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.19, Z:0.07 [[ 0.99771674 -0.06463793 0.01957673 1.3195462 ] [ 0.06746027 0.96764712 -0.24312171 -0.19007761] [-0.00322848 0.24388725 0.96979822 0.0736234 ] [ 0. 0. 0. 1. ]] SLAMing on 7.106296757 meters Centerline goodness : 0.819492 with order 1 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.20, Z:0.07 [[ 0.99766583 -0.06562939 0.01885951 1.3339346 ] [ 0.06821341 0.97052981 -0.23112511 -0.19683542] [-0.00313511 0.2318721 0.97274123 0.07132833] [ 0. 0. 0. 1. ]] SLAMing on 7.166296757 meters Centerline goodness : 0.824864 with order 1 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.20, Z:0.07 [[ 0.99763446 -0.06398221 0.02513501 1.35696721] [ 0.06792669 0.97369273 -0.21750501 -0.20057168] [-0.01055733 0.21869783 0.97573552 0.07452753] [ 0. 0. 0. 1. ]] SLAMing on 7.226296756999999 meters Centerline goodness : 0.828660 with order 1 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.21, Z:0.08 [[ 0.99793555 -0.05845293 0.02660608 1.37863092] [ 0.06268975 0.97657518 -0.20584198 -0.21012123] [-0.01395077 0.20708496 0.97822349 0.0777527 ] [ 0. 0. 0. 1. ]] SLAMing on 7.286296757 meters Centerline goodness : 0.830074 with order 1 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.19, Z:0.08 [[ 0.9981437 -0.04450826 0.04157129 1.41299993] [ 0.0539263 0.96311376 -0.2636358 -0.19071884] [-0.02830391 0.2653882 0.9637261 0.08354847] [ 0. 0. 0. 1. ]] SLAMing on 7.346296756999999 meters Centerline goodness : 0.828154 with order 1 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.17, Z:0.09 [[ 0.99824545 -0.03479247 0.0479114 1.4451629 ] [ 0.04810965 0.94828769 -0.31374498 -0.17218447] [-0.03451782 0.3154995 0.94829773 0.09211567] [ 0. 0. 0. 1. ]] SLAMing on 7.406296757 meters Centerline goodness : 0.825479 with order 1 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.17, Z:0.09 [[ 0.99853901 -0.02732098 0.0466199 1.47965876] [ 0.04133656 0.9418785 -0.33340094 -0.17292384] [-0.03480144 0.33484095 0.94163177 0.09429294] [ 0. 0. 0. 1. ]] SLAMing on 7.466296756999999 meters Centerline goodness : 0.823960 with order 1 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.17, Z:0.10 [[ 0.99856359 -0.02059332 0.04946381 1.50264005] [ 0.03714116 0.93143302 -0.36201252 -0.16666561] [-0.03861719 0.36332967 0.93085996 0.10275046] [ 0. 0. 0. 1. ]] SLAMing on 7.526296757 meters Centerline goodness : 0.825869 with order 1 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.18, Z:0.10 [[ 0.99866564 -0.01941568 0.04785354 1.51670456] [ 0.0345986 0.93947283 -0.34087202 -0.17668749] [-0.03833884 0.34207284 0.938891 0.10146931] [ 0. 0. 0. 1. ]] SLAMing on 7.5862967569999995 meters Centerline goodness : 0.826133 with order 1 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.19, Z:0.10 [[ 0.99834756 -0.02346886 0.05245341 1.51623524] [ 0.03930351 0.94477635 -0.32535039 -0.18734159] [-0.04192113 0.32687437 0.94413758 0.09964141] [ 0. 0. 0. 1. ]] SLAMing on 7.646296757 meters Centerline goodness : 0.826572 with order 1 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.19, Z:0.10 [[ 0.99822624 -0.0291101 0.0519324 1.52506653] [ 0.04372212 0.95050535 -0.30761656 -0.19452772] [-0.04040727 0.30934152 0.95009214 0.09713989] [ 0. 0. 0. 1. ]] SLAMing on 7.706296757 meters Centerline goodness : 0.826647 with order 1 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.20, Z:0.10 [[ 0.99815599 -0.03336945 0.05070606 1.53264096] [ 0.04653923 0.95699881 -0.28633438 -0.19881451] [-0.03897081 0.2881662 0.95678708 0.0965955 ] [ 0. 0. 0. 1. ]] SLAMing on 7.766296756999999 meters Centerline goodness : 0.824958 with order 1 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.17, Z:0.11 [[ 0.99832162 -0.02210239 0.05352963 1.57306568] [ 0.03972711 0.93390974 -0.35529475 -0.16939585] [-0.04213898 0.35682501 0.93322035 0.11343211] [ 0. 0. 0. 1. ]] SLAMing on 7.826296757 meters Centerline goodness : 0.822458 with order 1 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.15, Z:0.13 [[ 0.99851024 -0.01323337 0.05293566 1.61025977] [ 0.03350814 0.91437953 -0.40346905 -0.15118051] [-0.04306403 0.40464175 0.91346075 0.12606319] [ 0. 0. 0. 1. ]] SLAMing on 7.886296756999999 meters Centerline goodness : 0.819151 with order 1 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.15, Z:0.12 [[ 0.99875675 -0.01100662 0.04861898 1.62163519] [ 0.02878745 0.92359892 -0.38227779 -0.15220042] [-0.04069685 0.38320214 0.92276751 0.1202069 ] [ 0. 0. 0. 1. ]] SLAMing on 7.946296757 meters Centerline goodness : 0.817963 with order 1 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.16, Z:0.12 [[ 0.99882403 -0.01131827 0.04714299 1.62374468] [ 0.02770212 0.93123976 -0.36335258 -0.16266557] [-0.03978891 0.36423125 0.93045819 0.1169099 ] [ 0. 0. 0. 1. ]] SLAMing on 8.006296757 meters Centerline goodness : 0.819164 with order 1 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.16, Z:0.13 [[ 0.99904116 -0.00632529 0.0433215 1.63917244] [ 0.02269816 0.92096837 -0.38897565 -0.16140648] [-0.03743735 0.389586 0.92022888 0.13178072] [ 0. 0. 0. 1. ]] SLAMing on 8.066296757 meters Centerline goodness : 0.819254 with order 1 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.17, Z:0.13 [[ 0.99914215 -0.00509988 0.04109683 1.64129947] [ 0.01977658 0.93067377 -0.36531524 -0.1715666 ] [-0.03638468 0.36581461 0.92997625 0.13091137] [ 0. 0. 0. 1. ]] SLAMing on 8.126296757 meters Centerline goodness : 0.817943 with order 1 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.19, Z:0.13 [[ 0.99912461 -0.00690459 0.04125945 1.64215987] [ 0.02082821 0.93745226 -0.34749022 -0.18588977] [-0.03627948 0.34804539 0.93677543 0.12753742] [ 0. 0. 0. 1. ]] SLAMing on 8.186296757000001 meters Centerline goodness : 0.822371 with order 1 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.19, Z:0.13 [[ 0.99906675 -0.00833086 0.04238182 1.63768727] [ 0.02267861 0.936264 -0.3505644 -0.19020329] [-0.03676007 0.3511984 0.93557917 0.13367231] [ 0. 0. 0. 1. ]] SLAMing on 8.246296757 meters Centerline goodness : 0.824113 with order 1 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.19, Z:0.14 [[ 0.99910063 -0.00644642 0.04190918 1.66386103] [ 0.02155331 0.92837381 -0.37102226 -0.18951704] [-0.03651562 0.37159186 0.9276778 0.14415817] [ 0. 0. 0. 1. ]] SLAMing on 8.306296757 meters Centerline goodness : 0.825368 with order 1 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.19, Z:0.15 [[ 0.99914891 -0.00982619 0.04006118 1.6712316 ] [ 0.02386466 0.92986707 -0.36712085 -0.19450316] [-0.03364417 0.36776444 0.92931017 0.14747348] [ 0. 0. 0. 1. ]] SLAMing on 8.366296757 meters Centerline goodness : 0.824583 with order 1 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.19, Z:0.15 [[ 0.99904809 -0.01527538 0.04086038 1.69121515] [ 0.02982895 0.92269103 -0.38438456 -0.18937426] [-0.03182989 0.38523748 0.92226837 0.15247735] [ 0. 0. 0. 1. ]] SLAMing on 8.426296757000001 meters Centerline goodness : 0.824978 with order 1 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.19, Z:0.15 [[ 0.99876216 -0.02022582 0.04544298 1.70806907] [ 0.03648457 0.91885465 -0.39290585 -0.18820897] [-0.03380864 0.39407747 0.91845518 0.15376003] [ 0. 0. 0. 1. ]] SLAMing on 8.486296757 meters Centerline goodness : 0.823272 with order 1 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.19, Z:0.15 [[ 0.99840725 -0.02814008 0.04889885 1.72893472] [ 0.04483931 0.92180918 -0.38504191 -0.18937176] [-0.0342403 0.38662122 0.92160275 0.15109512] [ 0. 0. 0. 1. ]] SLAMing on 8.546296757 meters Centerline goodness : 0.823458 with order 1 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.18, Z:0.15 [[ 0.99801248 -0.03612972 0.05163065 1.76158532] [ 0.053157 0.92270002 -0.38183635 -0.1849744 ] [-0.03384396 0.38382198 0.92278669 0.15373583] [ 0. 0. 0. 1. ]] SLAMing on 8.606296757 meters Centerline goodness : 0.823131 with order 1 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.18, Z:0.16 [[ 0.99767217 -0.04165164 0.05399434 1.78784272] [ 0.05930251 0.92083671 -0.38541271 -0.18083715] [-0.0336669 0.38771754 0.92116321 0.15560278] [ 0. 0. 0. 1. ]] SLAMing on 8.666296757000001 meters Centerline goodness : 0.824267 with order 1 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.18, Z:0.15 [[ 0.99765389 -0.03956575 0.05586826 1.81482242] [ 0.0577661 0.92447924 -0.37683048 -0.18178996] [-0.03673946 0.37917368 0.92459587 0.15492983] [ 0. 0. 0. 1. ]] SLAMing on 8.726296757 meters Centerline goodness : 0.824756 with order 1 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.18, Z:0.16 [[ 0.99768194 -0.03866251 0.05599963 1.83049747] [ 0.05633707 0.9308519 -0.36102753 -0.18275185] [-0.03816913 0.3633455 0.93087226 0.15574819] [ 0. 0. 0. 1. ]] SLAMing on 8.786296757 meters Centerline goodness : 0.829135 with order 1 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.19, Z:0.16 [[ 0.99768063 -0.03791683 0.05653031 1.84730497] [ 0.05501685 0.9382027 -0.34168528 -0.1885226 ] [-0.04008127 0.34400291 0.93811273 0.15710799] [ 0. 0. 0. 1. ]] SLAMing on 8.846296757000001 meters Centerline goodness : 0.832192 with order 1 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.16, Z:0.19 [[ 0.99823598 -0.02880363 0.0519161 1.85968382] [ 0.04871204 0.89725201 -0.43882338 -0.15784493] [-0.03394212 0.44057823 0.89707233 0.19039621] [ 0. 0. 0. 1. ]] SLAMing on 8.906296757 meters Centerline goodness : 0.832680 with order 1 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.14, Z:0.21 [[ 0.99874026 -0.01913226 0.04638794 1.89624784] [ 0.03962508 0.86788382 -0.49518433 -0.14308969] [-0.03078535 0.49639865 0.86754864 0.21243099] [ 0. 0. 0. 1. ]] SLAMing on 8.966296757 meters Centerline goodness : 0.830351 with order 1 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.12, Z:0.24 [[ 0.99859911 -0.00335654 0.05280673 1.93763305] [ 0.03299675 0.81967129 -0.57188303 -0.11622676] [-0.04136461 0.57282433 0.81863377 0.24194073] [ 0. 0. 0. 1. ]] SLAMing on 9.026296757 meters Centerline goodness : 0.831212 with order 1 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.12, Z:0.24 [[ 0.99850167 -0.00301533 0.05463809 1.95100932] [ 0.03316115 0.82759766 -0.56034137 -0.12085638] [-0.04352875 0.56131365 0.82645764 0.24107408] [ 0. 0. 0. 1. ]] SLAMing on 9.086296757000001 meters Centerline goodness : 0.831935 with order 1 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.13, Z:0.24 [[ 0.99851727 -0.0033127 0.05433493 1.9551953 ] [ 0.03230572 0.83943042 -0.54250613 -0.12518016] [-0.04381323 0.54345707 0.83829279 0.23891214] [ 0. 0. 0. 1. ]] SLAMing on 9.146296757 meters Centerline goodness : 0.829335 with order 1 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.07, Z:0.34 [[ 0.99964533 0.01473205 0.02218524 1.96777071] [ 0.00586679 0.69076698 -0.72305363 -0.06990981] [-0.02597689 0.72292734 0.69043556 0.33939688] [ 0. 0. 0. 1. ]] SLAMing on 9.206296757 meters Centerline goodness : 0.830092 with order 1 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.04, Z:0.43 [[ 0.99969224 0.02279978 -0.0097773 2.0008968 ] [-0.0204828 0.53624543 -0.84381354 -0.03961205] [-0.01399573 0.84375411 0.5365474 0.43290485] [ 0. 0. 0. 1. ]] SLAMing on 9.266296757000001 meters Centerline goodness : 0.826842 with order 1 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.05, Z:0.44 [[ 0.99952622 0.02207611 -0.02144736 1.99336127] [-0.02999431 0.54229536 -0.83965236 -0.05064089] [-0.00690546 0.83989784 0.54270059 0.44039011] [ 0. 0. 0. 1. ]] SLAMing on 9.326296757 meters Centerline goodness : 0.825867 with order 1 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.07, Z:0.43 [[ 9.99454200e-01 1.98534726e-02 -2.64034588e-02 1.94907927e+00] [-3.30187424e-02 5.75387752e-01 -8.17213985e-01 -7.05098908e-02] [-1.03230867e-03 8.17639759e-01 5.75729242e-01 4.29171663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.386296757 meters Centerline goodness : 0.826658 with order 1 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.09, Z:0.42 [[ 0.9993611 0.01865432 -0.03048607 1.90995851] [-0.035514 0.61417879 -0.7883674 -0.09329473] [ 0.00401743 0.7889464 0.61444889 0.42063295] [ 0. 0. 0. 1. ]] SLAMing on 9.446296757 meters Centerline goodness : 0.829519 with order 1 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.10, Z:0.43 [[ 0.99912164 0.02117751 -0.03615882 1.91868589] [-0.04160215 0.60468815 -0.79537507 -0.1030059 ] [ 0.00502075 0.79618073 0.60503805 0.43069799] [ 0. 0. 0. 1. ]] SLAMing on 9.506296757000001 meters Centerline goodness : 0.831375 with order 1 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.11, Z:0.43 [[ 0.99892746 0.01991813 -0.04179951 1.92568098] [-0.04510095 0.62288902 -0.78100907 -0.11328287] [ 0.01048022 0.78205661 0.62311927 0.4305335 ] [ 0. 0. 0. 1. ]] SLAMing on 9.566296757 meters Centerline goodness : 0.834312 with order 1 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.13, Z:0.42 [[ 0.99859526 0.01511992 -0.05078275 1.90880241] [-0.04829733 0.65391119 -0.75502816 -0.13260148] [ 0.02179144 0.75642022 0.65372287 0.42393438] [ 0. 0. 0. 1. ]] SLAMing on 9.626296757 meters Centerline goodness : 0.834151 with order 1 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.14, Z:0.42 [[ 0.99857925 0.00991916 -0.05235542 1.9065682 ] [-0.04500065 0.68317355 -0.7288682 -0.14095229] [ 0.02853807 0.73018869 0.6826493 0.42006728] [ 0. 0. 0. 1. ]] SLAMing on 9.686296757000001 meters Centerline goodness : 0.831590 with order 1 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.16, Z:0.42 [[ 0.99839557 0.00478089 -0.05642185 1.91393518] [-0.04350648 0.70252566 -0.71032731 -0.15623753] [ 0.0362418 0.71164235 0.70160651 0.41983635] [ 0. 0. 0. 1. ]] SLAMing on 9.746296757 meters Centerline goodness : 0.834146 with order 1 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.17, Z:0.42 [[ 9.98301856e-01 2.21067327e-04 -5.82525154e-02 1.91005189e+00] [-4.02020888e-02 7.26294920e-01 -6.86206588e-01 -1.72030056e-01] [ 4.21568081e-02 6.87383183e-01 7.25070454e-01 4.15646036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.806296757 meters Centerline goodness : 0.836846 with order 1 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.18, Z:0.42 [[ 9.98452545e-01 1.31470587e-03 -5.55948524e-02 1.93193459e+00] [-3.82551745e-02 7.41827330e-01 -6.69498883e-01 -1.76790425e-01] [ 4.03615868e-02 6.70589654e-01 7.40729680e-01 4.19064492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.866296757 meters Centerline goodness : 0.835412 with order 1 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.17, Z:0.43 [[ 0.99896299 0.00890834 -0.0446497 1.97685653] [-0.03698539 0.73069532 -0.68170113 -0.17417609] [ 0.0265525 0.68264558 0.73026706 0.4284286 ] [ 0. 0. 0. 1. ]] SLAMing on 9.926296757000001 meters Centerline goodness : 0.837621 with order 1 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.16, Z:0.45 [[ 9.99490536e-01 2.21597193e-02 -2.29698801e-02 2.02329346e+00] [-3.19042437e-02 6.73665127e-01 -7.38347761e-01 -1.58671440e-01] [-8.87571869e-04 7.38704436e-01 6.74028908e-01 4.54544670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.986296757 meters Centerline goodness : 0.836403 with order 1 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.13, Z:0.51 [[ 0.99928493 0.03706327 -0.00747978 2.06758039] [-0.02731237 0.57076716 -0.82065759 -0.12985976] [-0.02614704 0.82027506 0.5713713 0.51221309] [ 0. 0. 0. 1. ]] SLAMing on 10.046296757 meters Centerline goodness : 0.834872 with order 1 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.15, Z:0.51 [[ 0.99913864 0.03739728 -0.01798376 2.06667618] [-0.03726268 0.61785021 -0.78541238 -0.14616616] [-0.01826102 0.78540599 0.61871154 0.50532281] [ 0. 0. 0. 1. ]] SLAMing on 10.106296757 meters Centerline goodness : 0.831025 with order 1 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.19, Z:0.48 [[ 9.99212858e-01 2.71603772e-02 -2.89133055e-02 2.02183997e+00] [-3.96436254e-02 7.09978524e-01 -7.03106591e-01 -1.91144567e-01] [ 1.43118574e-03 7.03699374e-01 7.10496406e-01 4.76857130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.166296757 meters Centerline goodness : 0.832367 with order 1 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.20, Z:0.48 [[ 0.99959693 0.01501323 -0.02409524 1.99217812] [-0.02741924 0.73056074 -0.682297 -0.1970267 ] [ 0.00735955 0.68268265 0.73067792 0.47505648] [ 0. 0. 0. 1. ]] SLAMing on 10.226296757 meters Centerline goodness : 0.827782 with order 1 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.17, Z:0.54 [[ 0.99949575 0.01466553 -0.0281631 2.034499 ] [-0.03109484 0.63168591 -0.77460056 -0.16794839] [ 0.0064303 0.7750857 0.63182341 0.53576397] [ 0. 0. 0. 1. ]] SLAMing on 10.286296757 meters Centerline goodness : 0.829577 with order 1 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.18, Z:0.54 [[ 0.99954808 0.00497294 -0.02964624 2.03477214] [-0.02622303 0.62640449 -0.77905697 -0.1758087 ] [ 0.01469634 0.77948232 0.62625181 0.54194467] [ 0. 0. 0. 1. ]] SLAMing on 10.346296757000001 meters Centerline goodness : 0.830960 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.18, Z:0.55 [[ 9.99494634e-01 -1.68427081e-03 -3.17433335e-02 2.03878630e+00] [-2.37091699e-02 6.25676013e-01 -7.79722644e-01 -1.83714734e-01] [ 2.11743064e-02 7.80081207e-01 6.25319885e-01 5.45390985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.406296757 meters Centerline goodness : 0.827953 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.19, Z:0.54 [[ 0.99946575 -0.00450343 -0.03237195 2.04425874] [-0.0217732 0.64693526 -0.76223402 -0.18927246] [ 0.02437522 0.76253163 0.64649158 0.54268052] [ 0. 0. 0. 1. ]] SLAMing on 10.466296757 meters Centerline goodness : 0.830839 with order 1 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.20, Z:0.54 [[ 0.9992963 -0.01052012 -0.03600333 2.05662174] [-0.0197554 0.66832429 -0.74360767 -0.20307746] [ 0.03188474 0.74379565 0.66764616 0.53589169] [ 0. 0. 0. 1. ]] SLAMing on 10.526296757 meters Centerline goodness : 0.834464 with order 1 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.23, Z:0.53 [[ 0.99878983 -0.01957702 -0.04511785 2.02417904] [-0.01857868 0.69920927 -0.71467561 -0.22752257] [ 0.04553804 0.71464896 0.69799939 0.52755835] [ 0. 0. 0. 1. ]] SLAMing on 10.586296757 meters Centerline goodness : 0.832903 with order 1 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.25, Z:0.52 [[ 0.99832295 -0.02185963 -0.05360448 1.99095705] [-0.02070244 0.72992121 -0.68321771 -0.25294103] [ 0.05406193 0.68318166 0.72824455 0.52003017] [ 0. 0. 0. 1. ]] SLAMing on 10.646296757 meters Centerline goodness : 0.838434 with order 1 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.26, Z:0.52 [[ 0.99922752 -0.00612201 -0.03881849 2.03093688] [-0.02171032 0.73737386 -0.67513588 -0.26204491] [ 0.03275693 0.67545711 0.73667135 0.51986325] [ 0. 0. 0. 1. ]] SLAMing on 10.706296757 meters Centerline goodness : 0.837490 with order 1 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.25, Z:0.55 [[ 0.99974892 0.01780482 -0.01360439 2.09204523] [-0.0221132 0.68590677 -0.72735336 -0.25389867] [-0.00361905 0.72747158 0.68612827 0.54889499] [ 0. 0. 0. 1. ]] SLAMing on 10.766296757000001 meters Centerline goodness : 0.842330 with order 1 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.27, Z:0.55 [[ 0.99940172 0.03292108 -0.01060197 2.11692227] [-0.03008728 0.67636818 -0.73594894 -0.26520914] [-0.0170574 0.73582762 0.67695403 0.55373993] [ 0. 0. 0. 1. ]] SLAMing on 10.826296757 meters Centerline goodness : 0.844744 with order 1 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.25, Z:0.59 [[ 0.99876595 0.04853381 -0.01053787 2.14724178] [-0.03792275 0.60826049 -0.79283103 -0.25394565] [-0.03206934 0.79225226 0.6093504 0.58826589] [ 0. 0. 0. 1. ]] SLAMing on 10.886296757 meters Centerline goodness : 0.842644 with order 1 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.32, Z:0.54 [[ 0.9986986 0.04930358 -0.01304847 2.07519286] [-0.04560643 0.74881691 -0.66120594 -0.32368096] [-0.0228289 0.66094054 0.75009096 0.54089846] [ 0. 0. 0. 1. ]] SLAMing on 10.946296757 meters Centerline goodness : 0.841630 with order 1 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.35, Z:0.53 [[ 0.99866075 0.04969067 -0.0144061 2.04571591] [-0.04828132 0.79504619 -0.60462424 -0.34874141] [-0.01859066 0.60451005 0.79638056 0.5261736 ] [ 0. 0. 0. 1. ]] SLAMing on 11.006296757000001 meters Centerline goodness : 0.843898 with order 1 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.37, Z:0.52 [[ 0.99864874 0.05032635 -0.01295944 2.00545533] [-0.04915666 0.8338675 -0.54977143 -0.37023902] [-0.01686153 0.54966559 0.8352146 0.51580432] [ 0. 0. 0. 1. ]] SLAMing on 11.066296757 meters Centerline goodness : 0.847192 with order 1 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.39, Z:0.51 [[ 0.99873068 0.05006504 -0.00552396 1.98098437] [-0.04624415 0.8679484 -0.49449678 -0.38878743] [-0.01996248 0.49412455 0.86916191 0.50917951] [ 0. 0. 0. 1. ]] SLAMing on 11.126296757 meters Centerline goodness : 0.848827 with order 1 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.40, Z:0.51 [[ 9.98905145e-01 4.67814992e-02 -4.85064012e-05 1.96543202e+00] [-4.15511573e-02 8.86746554e-01 -4.60384676e-01 -4.00761206e-01] [-2.14944725e-02 4.59882637e-01 8.87719521e-01 5.06196254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.186296757000001 meters Centerline goodness : 0.849716 with order 1 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.41, Z:0.50 [[ 9.99131452e-01 4.16500285e-02 -1.27121791e-03 1.94402962e+00] [-3.81003761e-02 9.00775927e-01 -4.32609629e-01 -4.09555875e-01] [-1.68731209e-02 4.32282320e-01 9.01580442e-01 5.04755283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.246296757 meters Centerline goodness : 0.845318 with order 1 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.42, Z:0.50 [[ 0.99917196 0.04054505 -0.00338984 1.93965066] [-0.03847039 0.91434232 -0.40311059 -0.4164684 ] [-0.01324467 0.40290721 0.91514499 0.50316656] [ 0. 0. 0. 1. ]] SLAMing on 11.306296757 meters Centerline goodness : 0.844658 with order 1 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.42, Z:0.50 [[ 0.99951127 0.03100139 -0.00401723 1.92939604] [-0.03025974 0.92723139 -0.37326438 -0.42411728] [-0.00784681 0.37320351 0.92771632 0.50288631] [ 0. 0. 0. 1. ]] SLAMing on 11.366296757 meters Centerline goodness : 0.839923 with order 1 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.43, Z:0.50 [[ 0.99968117 0.02428286 -0.0069211 1.93465867] [-0.02517018 0.93658839 -0.34952631 -0.43308316] [-0.00200528 0.34958908 0.93690098 0.50071645] [ 0. 0. 0. 1. ]] SLAMing on 11.426296757000001 meters Centerline goodness : 0.844710 with order 1 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.45, Z:0.50 [[ 0.99970738 0.02353923 -0.00557245 1.93478545] [-0.0240667 0.94465471 -0.32718232 -0.44614493] [-0.00243758 0.32722069 0.9449448 0.50111374] [ 0. 0. 0. 1. ]] SLAMing on 11.486296757 meters Centerline goodness : 0.843597 with order 1 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.46, Z:0.50 [[ 0.99957269 0.0285632 -0.00621178 1.94677283] [-0.02911774 0.95428588 -0.29747372 -0.45665223] [-0.00256899 0.29752748 0.9547098 0.50050712] [ 0. 0. 0. 1. ]] SLAMing on 11.546296757 meters Centerline goodness : 0.839188 with order 1 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.47, Z:0.50 [[ 9.99294189e-01 3.58671347e-02 -1.11656870e-02 1.96020503e+00] [-3.75565999e-02 9.60177354e-01 -2.76855470e-01 -4.69830705e-01] [ 7.91027346e-04 2.77079408e-01 9.60846697e-01 4.96415631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.606296757 meters Centerline goodness : 0.841149 with order 1 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.48, Z:0.49 [[ 9.98976459e-01 4.39488711e-02 -1.07019263e-02 1.96912044e+00] [-4.52293711e-02 9.67490477e-01 -2.48830225e-01 -4.80167130e-01] [-5.81795699e-04 2.49059579e-01 9.68487990e-01 4.93766035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.666296757 meters Centerline goodness : 0.844673 with order 1 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.49, Z:0.50 [[ 9.98745567e-01 4.87440158e-02 -1.14592311e-02 1.98278597e+00] [-5.00727851e-02 9.72677973e-01 -2.26694235e-01 -4.90412145e-01] [ 9.61543570e-05 2.26983658e-01 9.73898562e-01 4.95514149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.726296757 meters Centerline goodness : 0.842776 with order 1 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.50, Z:0.49 [[ 0.99841874 0.05540433 -0.00950707 1.99400392] [-0.05616715 0.97630497 -0.20898291 -0.49916299] [-0.00229676 0.20918644 0.97787308 0.49235614] [ 0. 0. 0. 1. ]] SLAMing on 11.786296757 meters Centerline goodness : 0.843934 with order 1 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.50, Z:0.49 [[ 0.99783844 0.06533757 -0.00703157 2.00548238] [-0.06548336 0.97964178 -0.1897733 -0.5019614 ] [-0.00551091 0.18982354 0.98180276 0.48938052] [ 0. 0. 0. 1. ]] SLAMing on 11.846296757000001 meters Centerline goodness : 0.841073 with order 1 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.50, Z:0.49 [[ 0.99740727 0.07168802 -0.00629042 2.03044893] [-0.07173772 0.98355433 -0.16575457 -0.50393988] [-0.00569564 0.16577607 0.98614697 0.48769165] [ 0. 0. 0. 1. ]] SLAMing on 11.906296757 meters Centerline goodness : 0.841413 with order 1 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.51, Z:0.48 [[ 0.9976955 0.06756053 -0.00626635 2.0526754 ] [-0.06772286 0.98589989 -0.15301967 -0.5083965 ] [-0.0041601 0.15309141 0.98820328 0.4849534 ] [ 0. 0. 0. 1. ]] SLAMing on 11.966296757 meters Centerline goodness : 0.839413 with order 1 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.52, Z:0.48 [[ 0.99829937 0.05822976 -0.00276904 2.08450817] [-0.05806852 0.98910082 -0.13530564 -0.51623046] [-0.00513996 0.13523633 0.99080004 0.48400356] [ 0. 0. 0. 1. ]] SLAMing on 12.026296757 meters Centerline goodness : 0.839235 with order 1 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.53, Z:0.48 [[ 9.98822997e-01 4.85036305e-02 -1.39189462e-04 2.11829281e+00] [-4.82280662e-02 9.92834623e-01 -1.09331905e-01 -5.26597042e-01] [-5.16480220e-03 1.09209934e-01 9.94005289e-01 4.84571091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.086296757 meters Centerline goodness : 0.839270 with order 1 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.53, Z:0.48 [[ 0.99897885 0.04499931 0.00404014 2.12743253] [-0.04435846 0.99385613 -0.1014018 -0.53184496] [-0.00857833 0.10111904 0.99483735 0.48303488] [ 0. 0. 0. 1. ]] SLAMing on 12.146296757 meters Centerline goodness : 0.843984 with order 1 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.54, Z:0.48 [[ 0.99927244 0.03675282 0.01018903 2.13369955] [-0.0355709 0.9944862 -0.09865044 -0.54094221] [-0.01375853 0.09821623 0.99506998 0.48220604] [ 0. 0. 0. 1. ]] SLAMing on 12.206296757 meters Centerline goodness : 0.846358 with order 1 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.55, Z:0.49 [[ 0.99956368 0.02927783 0.00390551 2.12404526] [-0.02876564 0.99493093 -0.09635863 -0.54537944] [-0.00670688 0.09620424 0.99533902 0.48807812] [ 0. 0. 0. 1. ]] SLAMing on 12.266296757000001 meters Centerline goodness : 0.842643 with order 1 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.55, Z:0.49 [[ 0.99964224 0.02661339 0.00266847 2.12740495] [-0.02621999 0.99476687 -0.09874915 -0.54817215] [-0.00528256 0.09864385 0.99510878 0.48657158] [ 0. 0. 0. 1. ]] SLAMing on 12.326296757 meters Centerline goodness : 0.843953 with order 1 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.55, Z:0.48 [[ 9.99529123e-01 3.06576508e-02 1.28079600e-03 2.13315889e+00] [-3.04017838e-02 9.95112256e-01 -9.39538687e-02 -5.54471056e-01] [-4.15494070e-03 9.38706895e-02 9.95575728e-01 4.81852303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.386296757 meters Centerline goodness : 0.842729 with order 1 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.56, Z:0.48 [[ 0.99942793 0.03323315 0.00627415 2.14129511] [-0.03264101 0.99639757 -0.07827161 -0.56074942] [-0.00885276 0.07802203 0.99691233 0.47831105] [ 0. 0. 0. 1. ]] SLAMing on 12.446296757 meters Centerline goodness : 0.845947 with order 1 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.57, Z:0.48 [[ 0.99910747 0.04027448 0.01273731 2.15467053] [-0.03931039 0.99687252 -0.06855558 -0.57227733] [-0.01545851 0.06799369 0.99756598 0.47668473] [ 0. 0. 0. 1. ]] SLAMing on 12.506296757000001 meters Centerline goodness : 0.845175 with order 1 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.58, Z:0.47 [[ 0.99879466 0.04573424 0.0178216 2.1635282 ] [-0.04479906 0.99775661 -0.04974728 -0.57903633] [-0.02005677 0.04888893 0.99860282 0.47167279] [ 0. 0. 0. 1. ]] SLAMing on 12.566296757 meters Centerline goodness : 0.848876 with order 1 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.58, Z:0.47 [[ 0.99782192 0.06173457 0.02324355 2.1990639 ] [-0.06088809 0.9975125 -0.03551691 -0.58465697] [-0.02537835 0.0340243 0.99909874 0.46985645] [ 0. 0. 0. 1. ]] SLAMing on 12.626296757 meters Centerline goodness : 0.845350 with order 1 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.59, Z:0.46 [[ 0.9970478 0.07059744 0.03019427 2.21077745] [-0.070092 0.9973873 -0.01748396 -0.5878474 ] [-0.0313497 0.01531597 0.99939112 0.4647539 ] [ 0. 0. 0. 1. ]] SLAMing on 12.686296757000001 meters Centerline goodness : 0.841719 with order 1 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.59, Z:0.46 [[ 0.99680194 0.07441872 0.02911598 2.21687635] [-0.07403841 0.99715809 -0.01393038 -0.58749149] [-0.03006992 0.01173013 0.99947897 0.45999435] [ 0. 0. 0. 1. ]] SLAMing on 12.746296757 meters Centerline goodness : 0.843549 with order 1 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.59, Z:0.46 [[ 0.9969641 0.0725373 0.0283006 2.22093329] [-0.07211011 0.99727097 -0.01583513 -0.58675291] [-0.029372 0.0137463 0.99947402 0.45668396] [ 0. 0. 0. 1. ]] SLAMing on 12.806296757 meters Centerline goodness : 0.844489 with order 1 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.59, Z:0.46 [[ 0.99728669 0.06704735 0.03039606 2.22805092] [-0.06675996 0.99771513 -0.0103741 -0.58654294] [-0.03102216 0.00831671 0.9994841 0.45891797] [ 0. 0. 0. 1. ]] SLAMing on 12.866296757 meters Centerline goodness : 0.841119 with order 1 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.59, Z:0.46 [[ 0.99761086 0.05827787 0.03709802 2.23724037] [-0.05795201 0.99827127 -0.00980014 -0.58947541] [-0.03760502 0.00762683 0.99926358 0.45546241] [ 0. 0. 0. 1. ]] SLAMing on 12.926296757000001 meters Centerline goodness : 0.842112 with order 1 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.59, Z:0.46 [[ 0.99811248 0.05089086 0.03437449 2.21891761] [-0.05044421 0.99863238 -0.01373874 -0.59004314] [-0.03502666 0.01197882 0.99931459 0.45796665] [ 0. 0. 0. 1. ]] SLAMing on 12.986296757 meters Centerline goodness : 0.838827 with order 1 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.59, Z:0.46 [[ 0.99873985 0.04507897 0.02205893 2.21785806] [-0.04472335 0.99886548 -0.01635761 -0.59015971] [-0.02277129 0.01535045 0.99962285 0.46421118] [ 0. 0. 0. 1. ]] SLAMing on 13.046296757 meters Centerline goodness : 0.838220 with order 1 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.59, Z:0.46 [[ 0.99897776 0.04040576 0.02026825 2.2220556 ] [-0.03995752 0.99895798 -0.02205317 -0.58976647] [-0.02113821 0.02122075 0.99955133 0.46329328] [ 0. 0. 0. 1. ]] SLAMing on 13.106296757 meters Centerline goodness : 0.839046 with order 1 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.59, Z:0.46 [[ 0.9990361 0.03900236 0.02014145 2.22312978] [-0.03855346 0.99900959 -0.02221434 -0.59171892] [-0.02098792 0.02141641 0.99955032 0.46223675] [ 0. 0. 0. 1. ]] SLAMing on 13.166296757 meters Centerline goodness : 0.837713 with order 1 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.59, Z:0.46 [[ 0.99902716 0.03907884 0.02043467 2.22283219] [-0.03864549 0.99902832 -0.02118823 -0.5948818 ] [-0.02124283 0.02037791 0.99956665 0.46215923] [ 0. 0. 0. 1. ]] SLAMing on 13.226296757 meters Centerline goodness : 0.837189 with order 1 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.60, Z:0.46 [[ 0.99891772 0.04235826 0.01921385 2.22746175] [-0.04203612 0.99897364 -0.01687118 -0.59850784] [-0.01990876 0.01604525 0.99967304 0.4586874 ] [ 0. 0. 0. 1. ]] SLAMing on 13.286296757 meters Centerline goodness : 0.838472 with order 1 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.60, Z:0.46 [[ 0.99859046 0.04994892 0.01795016 2.23239436] [-0.0497832 0.99871426 -0.00956381 -0.59953617] [-0.01840478 0.00865672 0.99979314 0.4561881 ] [ 0. 0. 0. 1. ]] SLAMing on 13.346296757000001 meters Centerline goodness : 0.842372 with order 1 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.59, Z:0.46 [[ 9.98128476e-01 5.83367965e-02 1.83402345e-02 2.23260318e+00] [-5.82895832e-02 9.98294907e-01 -3.09886966e-03 -5.94377588e-01] [-1.84897408e-02 2.02402543e-03 9.99827001e-01 4.57747656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.406296757 meters Centerline goodness : 0.843322 with order 1 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.59, Z:0.46 [[ 9.97862160e-01 6.29120501e-02 1.76970075e-02 2.23644466e+00] [-6.29208822e-02 9.98018516e-01 -5.78366045e-05 -5.90045028e-01] [-1.76655798e-02 -1.05579836e-03 9.99843394e-01 4.55415691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.466296757 meters Centerline goodness : 0.846885 with order 1 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.59, Z:0.46 [[ 9.97803673e-01 6.37788179e-02 1.78911247e-02 2.23652601e+00] [-6.37761398e-02 9.97963970e-01 -7.20790901e-04 -5.87791844e-01] [-1.79006690e-02 -4.21819063e-04 9.99839681e-01 4.55448946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.526296757 meters Centerline goodness : 0.848435 with order 1 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.58, Z:0.45 [[ 9.97732460e-01 6.50341430e-02 1.73348643e-02 2.23987385e+00] [-6.50476594e-02 9.97882135e-01 2.16434361e-04 -5.83335733e-01] [-1.72840758e-02 -1.34353594e-03 9.99849717e-01 4.53209297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.586296757 meters Centerline goodness : 0.847821 with order 1 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.58, Z:0.45 [[ 9.97821908e-01 6.38740802e-02 1.64785543e-02 2.24279406e+00] [-6.38597905e-02 9.97957909e-01 -1.39244824e-03 -5.79785627e-01] [-1.65338450e-02 3.37098329e-04 9.99863250e-01 4.51391808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.646296757 meters Centerline goodness : 0.844407 with order 1 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.58, Z:0.45 [[ 0.99798729 0.06146202 0.01561391 2.24597983] [-0.06140851 0.99810516 -0.00388367 -0.57659833] [-0.01582303 0.00291703 0.99987055 0.44920692] [ 0. 0. 0. 1. ]] SLAMing on 13.706296757 meters Centerline goodness : 0.849301 with order 1 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.58, Z:0.45 [[ 0.99836077 0.05526444 0.01488682 2.24569936] [-0.05511098 0.99842472 -0.01052918 -0.57688668] [-0.01544526 0.00969149 0.99983375 0.45038326] [ 0. 0. 0. 1. ]] SLAMing on 13.766296757000001 meters Centerline goodness : 0.853314 with order 1 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.58, Z:0.45 [[ 0.9985949 0.05096863 0.01450599 2.24646095] [-0.05075526 0.9986027 -0.01471594 -0.57601516] [-0.01523577 0.013959 0.99978649 0.4502494 ] [ 0. 0. 0. 1. ]] SLAMing on 13.826296757 meters Centerline goodness : 0.853779 with order 1 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.57, Z:0.45 [[ 0.99848293 0.05329013 0.0138563 2.24846224] [-0.05312651 0.99851665 -0.01191969 -0.57449782] [-0.01447095 0.01116547 0.99983295 0.44992372] [ 0. 0. 0. 1. ]] SLAMing on 13.886296757 meters Centerline goodness : 0.854498 with order 1 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.58, Z:0.45 [[ 0.99866919 0.04892976 0.01630145 2.25662981] [-0.04884689 0.99879144 -0.00544406 -0.57848025] [-0.01654812 0.00464054 0.9998523 0.4506584 ] [ 0. 0. 0. 1. ]] SLAMing on 13.946296757 meters Centerline goodness : 0.854199 with order 1 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.58, Z:0.46 [[ 0.9990148 0.04337617 0.00937729 2.2282822 ] [-0.0431827 0.99886831 -0.01993351 -0.5770459 ] [-0.01023132 0.01950894 0.99975733 0.45505156] [ 0. 0. 0. 1. ]] SLAMing on 14.006296757 meters Centerline goodness : 0.851940 with order 1 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.58, Z:0.45 [[ 0.99902301 0.04343493 0.00815005 2.23408932] [-0.04326887 0.99887213 -0.01955173 -0.57860143] [-0.00899009 0.01917998 0.99977563 0.45038175] [ 0. 0. 0. 1. ]] SLAMing on 14.066296757 meters Centerline goodness : 0.848729 with order 1 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.58, Z:0.45 [[ 9.99092031e-01 4.26041442e-02 -2.43779394e-05 2.23727210e+00] [-4.26027310e-02 9.99053893e-01 -8.73647934e-03 -5.79207847e-01] [-3.47855350e-04 8.72958546e-03 9.99961836e-01 4.46647757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.126296757 meters Centerline goodness : 0.846697 with order 1 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.58, Z:0.45 [[ 9.99079589e-01 4.28906149e-02 -6.08827568e-04 2.23859751e+00] [-4.28942736e-02 9.99042393e-01 -8.62426781e-03 -5.79943376e-01] [ 2.38344401e-04 8.64244515e-03 9.99962625e-01 4.46498476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.186296757000001 meters Centerline goodness : 0.853011 with order 1 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.58, Z:0.45 [[ 9.99110409e-01 4.21328575e-02 1.79235105e-03 2.24363131e+00] [-4.21352104e-02 9.99111077e-01 1.29585095e-03 -5.83221283e-01] [-1.73615989e-03 -1.37021926e-03 9.99997554e-01 4.50075608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.246296757 meters Centerline goodness : 0.859818 with order 1 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.59, Z:0.45 [[ 0.9988269 0.04747928 0.00951565 2.25291765] [-0.0475314 0.99885554 0.00532774 -0.58648905] [-0.00925181 -0.00577378 0.99994053 0.4546428 ] [ 0. 0. 0. 1. ]] SLAMing on 14.306296757 meters Centerline goodness : 0.862770 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.59, Z:0.46 [[ 0.99841272 0.05415573 0.01546634 2.26754805] [-0.05431297 0.99847454 0.00993436 -0.58692608] [-0.01490474 -0.01075862 0.99983104 0.45594967] [ 0. 0. 0. 1. ]] SLAMing on 14.366296757 meters Centerline goodness : 0.859794 with order 1 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.59, Z:0.45 [[ 0.99831241 0.05639886 0.01383849 2.27567286] [-0.05656001 0.99833246 0.01154403 -0.58636864] [-0.01316435 -0.01230726 0.9998376 0.44909209] [ 0. 0. 0. 1. ]] SLAMing on 14.426296757 meters Centerline goodness : 0.861507 with order 1 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.59, Z:0.44 [[ 0.99832652 0.05633331 0.01306556 2.28047014] [-0.05648504 0.99833664 0.01154929 -0.58817145] [-0.01239322 -0.01226797 0.99984794 0.44440281] [ 0. 0. 0. 1. ]] SLAMing on 14.486296757 meters Centerline goodness : 0.866047 with order 1 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.59, Z:0.45 [[ 0.99821242 0.05814621 0.01381971 2.27739794] [-0.05833103 0.99820777 0.01336958 -0.58651751] [-0.01301755 -0.01415179 0.99981512 0.44807284] [ 0. 0. 0. 1. ]] SLAMing on 14.546296757 meters Centerline goodness : 0.871940 with order 1 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.59, Z:0.45 [[ 0.99839146 0.05496035 0.01392312 2.27637919] [-0.05509912 0.99843292 0.00978695 -0.58740827] [-0.01336341 -0.01053836 0.99985517 0.4489328 ] [ 0. 0. 0. 1. ]] SLAMing on 14.606296757 meters Centerline goodness : 0.874686 with order 1 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.58, Z:0.45 [[ 0.9983333 0.05612422 0.01344232 2.28004654] [-0.05626696 0.99836068 0.01048706 -0.58494949] [-0.01283171 -0.01122594 0.99985465 0.44555387] [ 0. 0. 0. 1. ]] SLAMing on 14.666296757 meters Centerline goodness : 0.873115 with order 1 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.58, Z:0.44 [[ 0.99837374 0.05552719 0.01290759 2.28252575] [-0.05564382 0.99841138 0.00885918 -0.58019872] [-0.01239516 -0.009563 0.99987745 0.44347764] [ 0. 0. 0. 1. ]] SLAMing on 14.726296757 meters Centerline goodness : 0.870670 with order 1 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.58, Z:0.44 [[ 0.99837885 0.05548272 0.01270198 2.28329978] [-0.05558909 0.99842022 0.00818001 -0.5791654 ] [-0.01222806 -0.00887284 0.99988587 0.44315282] [ 0. 0. 0. 1. ]] SLAMing on 14.786296757 meters Centerline goodness : 0.875664 with order 1 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.57, Z:0.45 [[ 0.99822299 0.05802937 0.01354445 2.28035677] [-0.05816357 0.99825962 0.00973328 -0.57363798] [-0.01295606 -0.01050377 0.9998609 0.44619269] [ 0. 0. 0. 1. ]] SLAMing on 14.846296757000001 meters Centerline goodness : 0.880697 with order 1 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.56, Z:0.45 [[ 0.99809313 0.06027785 0.01329192 2.28184979] [-0.0604209 0.99811631 0.01063679 -0.56497172] [-0.01262572 -0.01141961 0.99985508 0.44552345] [ 0. 0. 0. 1. ]] SLAMing on 14.906296757 meters Centerline goodness : 0.873761 with order 1 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.56, Z:0.44 [[ 0.99828609 0.05735493 0.01163164 2.28780102] [-0.05742415 0.99833356 0.00570643 -0.55677672] [-0.01128497 -0.00636459 0.99991607 0.44058248] [ 0. 0. 0. 1. ]] SLAMing on 14.966296757 meters Centerline goodness : 0.872558 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.55, Z:0.44 [[ 0.99862547 0.05185415 0.00763658 2.30039847] [-0.05188006 0.99864808 0.00323489 -0.54675616] [-0.00745851 -0.00362663 0.99996561 0.43751933] [ 0. 0. 0. 1. ]] SLAMing on 15.026296757 meters Centerline goodness : 0.875432 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.53, Z:0.44 [[ 9.98639754e-01 5.16445133e-02 7.17535515e-03 2.30209433e+00] [-5.16617459e-02 9.98662134e-01 2.23728904e-03 -5.33015801e-01] [-7.05021178e-03 -2.60493715e-03 9.99971754e-01 4.36900758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.086296757 meters Centerline goodness : 0.879021 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.53, Z:0.44 [[ 0.99886383 0.04667011 0.00964095 2.31249945] [-0.04673803 0.99888304 0.00694445 -0.52951608] [-0.00930609 -0.00738716 0.99992941 0.43593225] [ 0. 0. 0. 1. ]] SLAMing on 15.146296757 meters Centerline goodness : 0.875931 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.53, Z:0.44 [[ 9.99197302e-01 3.88153161e-02 9.90567253e-03 2.30922123e+00] [-3.88091891e-02 9.99246311e-01 -8.10075153e-04 -5.28506428e-01] [-9.92965006e-03 4.24993789e-04 9.99950609e-01 4.39992434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.206296757 meters Centerline goodness : 0.877987 with order 1 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.53, Z:0.44 [[ 0.99941931 0.03137321 0.01329501 2.31568368] [-0.03141941 0.9995009 0.00328087 -0.52829749] [-0.01318544 -0.00369669 0.99990623 0.44235117] [ 0. 0. 0. 1. ]] SLAMing on 15.266296757000001 meters Centerline goodness : 0.876543 with order 1 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.53, Z:0.44 [[ 9.99522411e-01 2.83955793e-02 1.21918074e-02 2.32049033e+00] [-2.83975687e-02 9.99596708e-01 -9.94618672e-06 -5.26689054e-01] [-1.21871730e-02 -3.36276252e-04 9.99925677e-01 4.38661135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.326296757 meters Centerline goodness : 0.877239 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.53, Z:0.44 [[ 0.99963051 0.02456087 0.01164521 2.33935842] [-0.02468598 0.99963774 0.01072382 -0.52674996] [-0.01137761 -0.01100733 0.99987469 0.43694757] [ 0. 0. 0. 1. ]] SLAMing on 15.386296757 meters Centerline goodness : 0.880075 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.52, Z:0.44 [[ 0.9996951 0.02169875 0.01178439 2.33885488] [-0.02177817 0.99974069 0.00665317 -0.52461191] [-0.01163697 -0.00690778 0.99990843 0.43748455] [ 0. 0. 0. 1. ]] SLAMing on 15.446296757 meters Centerline goodness : 0.879326 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.52, Z:0.44 [[ 0.99968799 0.02203012 0.01177271 2.33917009] [-0.02210494 0.99973603 0.00626368 -0.52220667] [-0.01163162 -0.00652196 0.99991108 0.43699079] [ 0. 0. 0. 1. ]] SLAMing on 15.506296757 meters Centerline goodness : 0.875507 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.52, Z:0.43 [[ 0.9996247 0.02500998 0.0111789 2.34281068] [-0.02510813 0.99964665 0.00872694 -0.5204318 ] [-0.01095669 -0.00900435 0.99989943 0.43387518] [ 0. 0. 0. 1. ]] SLAMing on 15.566296757 meters Centerline goodness : 0.877419 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.52, Z:0.43 [[ 0.99958323 0.02657855 0.01126721 2.34383805] [-0.02668397 0.99960055 0.00931206 -0.52185939] [-0.01101521 -0.00960883 0.99989316 0.43208696] [ 0. 0. 0. 1. ]] SLAMing on 15.626296757 meters Centerline goodness : 0.880127 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.52, Z:0.44 [[ 0.99943067 0.03111663 0.01304165 2.33871519] [-0.03129844 0.99941236 0.01397628 -0.52291033] [-0.01259909 -0.01437651 0.99981727 0.43637304] [ 0. 0. 0. 1. ]] SLAMing on 15.686296757000001 meters Centerline goodness : 0.874021 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.52, Z:0.44 [[ 0.99928332 0.03556788 0.01295232 2.33945871] [-0.03578795 0.99921181 0.01717518 -0.51870131] [-0.01233122 -0.01762641 0.9997686 0.43591451] [ 0. 0. 0. 1. ]] SLAMing on 15.746296757 meters Centerline goodness : 0.869367 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.52, Z:0.43 [[ 0.99937626 0.03333434 0.01165858 2.34492532] [-0.03348574 0.9993541 0.01304195 -0.51677443] [-0.01121631 -0.01342421 0.99984698 0.43059395] [ 0. 0. 0. 1. ]] SLAMing on 15.806296757 meters Centerline goodness : 0.865849 with order 1 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.52, Z:0.43 [[ 0.99937864 0.03334548 0.01141957 2.34620635] [-0.03348644 0.99936245 0.01238338 -0.51566763] [-0.01099936 -0.01275809 0.99985811 0.42986245] [ 0. 0. 0. 1. ]] SLAMing on 15.866296757 meters Centerline goodness : 0.860371 with order 1 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.51, Z:0.43 [[ 0.99936653 0.0334393 0.01218032 2.37344281] [-0.03365679 0.99926933 0.01811136 -0.51297511] [-0.01156579 -0.01850984 0.99976178 0.42987058] [ 0. 0. 0. 1. ]] SLAMing on 15.926296757 meters Centerline goodness : 0.860414 with order 1 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.51, Z:0.43 [[ 0.99936882 0.03343363 0.012006 2.37423629] [-0.03363752 0.99928605 0.01720175 -0.51016624] [-0.01142231 -0.01759475 0.99977995 0.42928358] [ 0. 0. 0. 1. ]] SLAMing on 15.986296757 meters Centerline goodness : 0.858123 with order 1 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.51, Z:0.43 [[ 0.999472 0.03030642 0.01171497 2.37464594] [-0.03045511 0.99945508 0.0127291 -0.50702973] [-0.01132282 -0.01307916 0.99985035 0.42880075] [ 0. 0. 0. 1. ]] SLAMing on 16.046296757 meters Centerline goodness : 0.857510 with order 1 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.51, Z:0.43 [[ 0.99957901 0.02688098 0.01091839 2.37580366] [-0.02697808 0.99959689 0.00884532 -0.50636166] [-0.01067622 -0.00913616 0.99990127 0.42954334] [ 0. 0. 0. 1. ]] SLAMing on 16.106296757 meters Centerline goodness : 0.851267 with order 1 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.51, Z:0.43 [[ 0.99974177 0.02159231 0.00708266 2.40954616] [-0.02167477 0.99969568 0.01177957 -0.50542233] [-0.00682616 -0.01193005 0.99990553 0.42661936] [ 0. 0. 0. 1. ]] SLAMing on 16.166296757 meters Centerline goodness : 0.853130 with order 1 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.50, Z:0.43 [[ 0.99987189 0.0156427 0.00339373 2.42214218] [-0.01568962 0.99977509 0.01426916 -0.50142211] [-0.00316976 -0.01432058 0.99989243 0.42726866] [ 0. 0. 0. 1. ]] SLAMing on 16.226296757 meters Centerline goodness : 0.854969 with order 1 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.51, Z:0.43 [[ 0.99992776 0.00972607 0.00706295 2.45862959] [-0.00979485 0.9999043 0.00976967 -0.50503777] [-0.00696726 -0.00983814 0.99992733 0.42695691] [ 0. 0. 0. 1. ]] SLAMing on 16.286296757 meters Centerline goodness : 0.854946 with order 1 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.51, Z:0.42 [[ 0.99996143 0.00429822 0.00765967 2.49858345] [-0.00446304 0.99975602 0.02163286 -0.50772397] [-0.00756482 -0.02166621 0.99973664 0.42336728] [ 0. 0. 0. 1. ]] SLAMing on 16.346296757 meters Centerline goodness : 0.843506 with order 1 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.50, Z:0.42 [[ 0.99996935 0.00711997 0.00325522 2.52713138] [-0.00719339 0.99970668 0.02312613 -0.50487008] [-0.00308961 -0.02314883 0.99972726 0.41566213] [ 0. 0. 0. 1. ]] SLAMing on 16.406296757 meters Centerline goodness : 0.844182 with order 1 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.51, Z:0.41 [[ 0.99994795 0.00969666 0.00317274 2.56852607] [-0.00976919 0.99967126 0.02370535 -0.50969291] [-0.00294183 -0.02373511 0.99971395 0.41243423] [ 0. 0. 0. 1. ]] SLAMing on 16.466296757 meters Centerline goodness : 0.846885 with order 1 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.51, Z:0.41 [[ 0.99989143 0.01158288 0.00910829 2.58277156] [-0.01180049 0.9996372 0.02421203 -0.50810479] [-0.00882454 -0.02431688 0.99966535 0.41386791] [ 0. 0. 0. 1. ]] SLAMing on 16.526296757 meters Centerline goodness : 0.846919 with order 1 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.51, Z:0.42 [[ 0.99978885 0.01671738 0.01194894 2.58647989] [-0.01691805 0.99971414 0.01689453 -0.50972365] [-0.01166309 -0.01709311 0.99978588 0.4188866 ] [ 0. 0. 0. 1. ]] SLAMing on 16.586296757 meters Centerline goodness : 0.847311 with order 1 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.51, Z:0.42 [[ 0.99979863 0.01650649 0.01141223 2.58981292] [-0.01670286 0.99971028 0.01733132 -0.51273539] [-0.01112285 -0.01751845 0.99978467 0.41604923] [ 0. 0. 0. 1. ]] SLAMing on 16.646296757 meters Centerline goodness : 0.846367 with order 1 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.51, Z:0.41 [[ 0.99980209 0.01664986 0.01088874 2.5920003 ] [-0.01683783 0.99970673 0.01740517 -0.51111585] [-0.01059576 -0.01758506 0.99978923 0.41452653] [ 0. 0. 0. 1. ]] SLAMing on 16.706296757 meters Centerline goodness : 0.843147 with order 1 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.52, Z:0.41 [[ 0.99987201 0.01253487 0.0099415 2.61642491] [-0.01269841 0.9997822 0.01656222 -0.51801363] [-0.00973173 -0.01668634 0.99981341 0.41116395] [ 0. 0. 0. 1. ]] SLAMing on 16.766296757 meters Centerline goodness : 0.845437 with order 1 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.52, Z:0.41 [[ 0.99990204 0.0066894 0.01229466 2.61343181] [-0.00679398 0.99994093 0.00848352 -0.52092451] [-0.01223718 -0.00856622 0.99988843 0.40856245] [ 0. 0. 0. 1. ]] SLAMing on 16.826296757 meters Centerline goodness : 0.845702 with order 1 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.52, Z:0.41 [[ 0.99989224 0.0073877 0.01268558 2.61112177] [-0.00750812 0.99992696 0.00947162 -0.51864356] [-0.01261468 -0.00956585 0.99987467 0.41136305] [ 0. 0. 0. 1. ]] SLAMing on 16.886296757 meters Centerline goodness : 0.843755 with order 1 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.53, Z:0.41 [[ 9.99919810e-01 1.13533496e-04 1.26633583e-02 2.61051981e+00] [-1.59340103e-04 9.99993448e-01 3.61630552e-03 -5.26210281e-01] [-1.26628647e-02 -3.61803331e-03 9.99913277e-01 4.12831220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.946296757 meters Centerline goodness : 0.843747 with order 1 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.53, Z:0.41 [[ 9.99920833e-01 -3.72525281e-03 1.20187863e-02 2.61379695e+00] [ 3.70629268e-03 9.99991853e-01 1.59942935e-03 -5.32407637e-01] [-1.20246466e-02 -1.55475759e-03 9.99926493e-01 4.10318853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.006296757 meters Centerline goodness : 0.842456 with order 1 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.53, Z:0.42 [[ 9.99971388e-01 -1.20651567e-03 7.46773644e-03 2.60183693e+00] [ 1.25427011e-03 9.99978775e-01 -6.39339059e-03 -5.32709526e-01] [-7.45986421e-03 6.40257422e-03 9.99951678e-01 4.16252282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.066296757 meters Centerline goodness : 0.840469 with order 1 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.55, Z:0.42 [[ 9.99997784e-01 -1.92826069e-03 -8.45165087e-04 2.59263607e+00] [ 1.92084089e-03 9.99960364e-01 -8.69372536e-03 -5.45994060e-01] [ 8.61895357e-04 8.69208267e-03 9.99961852e-01 4.16151594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.126296757 meters Centerline goodness : 0.840252 with order 1 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.55, Z:0.42 [[ 0.99998414 -0.00274653 -0.00491627 2.57642267] [ 0.00271548 0.9999764 -0.00631055 -0.55447458] [ 0.00493349 0.0062971 0.999968 0.41664392] [ 0. 0. 0. 1. ]] SLAMing on 17.186296757 meters Centerline goodness : 0.841458 with order 1 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.57, Z:0.42 [[ 0.99998701 -0.00350408 -0.00370077 2.57284785] [ 0.00349264 0.99998912 -0.00309194 -0.56723381] [ 0.00371157 0.00307897 0.99998837 0.42067362] [ 0. 0. 0. 1. ]] SLAMing on 17.246296757 meters Centerline goodness : 0.844399 with order 1 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.58, Z:0.42 [[ 0.99996215 -0.00803413 -0.00333983 2.57074085] [ 0.00801289 0.9999479 -0.00632402 -0.58089172] [ 0.00339047 0.00629702 0.99997443 0.4233574 ] [ 0. 0. 0. 1. ]] SLAMing on 17.306296757000002 meters Centerline goodness : 0.843408 with order 1 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.59, Z:0.42 [[ 0.99997466 -0.00552775 -0.00448499 2.55952835] [ 0.00544947 0.99983581 -0.0172819 -0.58651592] [ 0.00457978 0.01725702 0.9998406 0.42294371] [ 0. 0. 0. 1. ]] SLAMing on 17.366296757 meters Centerline goodness : 0.839224 with order 1 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.59, Z:0.42 [[ 0.99987327 0.00479197 -0.01518165 2.53880685] [-0.00530258 0.99941545 -0.03377337 -0.59020249] [ 0.01501094 0.03384959 0.9993142 0.42311688] [ 0. 0. 0. 1. ]] SLAMing on 17.426296757 meters Centerline goodness : 0.837032 with order 1 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.60, Z:0.42 [[ 0.99982247 0.00966209 -0.01617638 2.5435664 ] [-0.0101169 0.99954901 -0.02827408 -0.59832591] [ 0.0158959 0.02843272 0.99946931 0.41938918] [ 0. 0. 0. 1. ]] SLAMing on 17.486296757 meters Centerline goodness : 0.838894 with order 1 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.61, Z:0.42 [[ 0.99982606 0.00996247 -0.01576677 2.54115139] [-0.01040276 0.99955116 -0.02809381 -0.60783462] [ 0.01547981 0.02825294 0.99948094 0.42168589] [ 0. 0. 0. 1. ]] SLAMing on 17.546296757 meters Centerline goodness : 0.844657 with order 1 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.62, Z:0.42 [[ 0.99983287 0.00901937 -0.01590206 2.53980454] [-0.00946005 0.99956713 -0.02785797 -0.61702149] [ 0.01564392 0.02800374 0.9994854 0.42469785] [ 0. 0. 0. 1. ]] SLAMing on 17.606296757 meters Centerline goodness : 0.844481 with order 1 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.62, Z:0.42 [[ 0.99981635 0.00967877 -0.01654046 2.54237351] [-0.01008887 0.99963921 -0.02489295 -0.62464764] [ 0.01629356 0.02505526 0.99955328 0.42365783] [ 0. 0. 0. 1. ]] SLAMing on 17.666296757 meters Centerline goodness : 0.843989 with order 1 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.64, Z:0.42 [[ 0.99982603 0.00557885 -0.0177987 2.5452498 ] [-0.00608455 0.99957568 -0.02848587 -0.64045178] [ 0.01763223 0.02858921 0.99943572 0.42349032] [ 0. 0. 0. 1. ]] SLAMing on 17.726296757 meters Centerline goodness : 0.846980 with order 1 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.64, Z:0.43 [[ 0.9998469 0.00339833 -0.01716467 2.56266819] [-0.00426461 0.99870549 -0.05068677 -0.64237238] [ 0.0169702 0.05075222 0.99856709 0.42578288] [ 0. 0. 0. 1. ]] SLAMing on 17.786296757 meters Centerline goodness : 0.841096 with order 1 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.66, Z:0.43 [[ 9.99825636e-01 5.97034438e-05 -1.86733644e-02 2.59583433e+00] [-8.26736611e-04 9.99155876e-01 -4.10713033e-02 -6.56230192e-01] [ 1.86551496e-02 4.10795799e-02 9.98981708e-01 4.25622115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.846296757 meters Centerline goodness : 0.838424 with order 1 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.66, Z:0.42 [[ 9.99849542e-01 -1.02670528e-03 -1.73158588e-02 2.63479210e+00] [ 1.89408951e-04 9.98833495e-01 -4.82867863e-02 -6.59166157e-01] [ 1.73452361e-02 4.82762414e-02 9.98683407e-01 4.21891640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.906296757 meters Centerline goodness : 0.840968 with order 1 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.67, Z:0.42 [[ 9.99889516e-01 -1.38429076e-03 -1.48000166e-02 2.65446016e+00] [ 6.45352714e-04 9.98758161e-01 -4.98168552e-02 -6.68065815e-01] [ 1.48505983e-02 4.98017999e-02 9.98648707e-01 4.20065188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.966296757 meters Centerline goodness : 0.841618 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.67, Z:0.42 [[ 0.99990217 0.0058677 -0.01269707 2.68327297] [-0.00686045 0.99680229 -0.07961241 -0.66883089] [ 0.01218933 0.07969173 0.99674503 0.42477798] [ 0. 0. 0. 1. ]] SLAMing on 18.026296757 meters Centerline goodness : 0.842656 with order 1 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.67, Z:0.43 [[ 0.99985044 0.01187708 -0.01257115 2.70579447] [-0.01305937 0.99504393 -0.09857497 -0.66838112] [ 0.01133807 0.0987244 0.99505022 0.42607372] [ 0. 0. 0. 1. ]] SLAMing on 18.086296757 meters Centerline goodness : 0.840041 with order 1 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.67, Z:0.43 [[ 0.99978875 0.01398619 -0.01506124 2.72519043] [-0.01571414 0.99246662 -0.1215034 -0.67122793] [ 0.0132484 0.12171441 0.99247674 0.42902853] [ 0. 0. 0. 1. ]] SLAMing on 18.146296757 meters Centerline goodness : 0.843235 with order 1 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.68, Z:0.43 [[ 0.99975194 0.01576528 -0.01573247 2.72725675] [-0.01752201 0.99278558 -0.11861604 -0.67830683] [ 0.01374896 0.11886228 0.99281555 0.42751522] [ 0. 0. 0. 1. ]] SLAMing on 18.206296757 meters Centerline goodness : 0.837820 with order 1 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.69, Z:0.43 [[ 0.99964501 0.01722912 -0.02032281 2.73836419] [-0.01937382 0.99368176 -0.11054959 -0.68671381] [ 0.01828973 0.11090407 0.99366281 0.4276098 ] [ 0. 0. 0. 1. ]] SLAMing on 18.266296757 meters Centerline goodness : 0.838685 with order 1 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.69, Z:0.43 [[ 0.9997872 0.01398313 -0.01516632 2.75170804] [-0.01564531 0.99316324 -0.11568064 -0.69300895] [ 0.01344506 0.11589331 0.99317067 0.43034281] [ 0. 0. 0. 1. ]] SLAMing on 18.326296757 meters Centerline goodness : 0.837481 with order 1 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.70, Z:0.43 [[ 0.99978684 0.00954914 -0.01830552 2.78504697] [-0.01153495 0.99368143 -0.11164301 -0.70162769] [ 0.01712376 0.11183037 0.99357976 0.43014596] [ 0. 0. 0. 1. ]] SLAMing on 18.386296757 meters Centerline goodness : 0.839794 with order 1 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.70, Z:0.43 [[ 0.99983856 0.01100862 -0.01420055 2.82316715] [-0.01258078 0.99318707 -0.11584974 -0.70148438] [ 0.01282845 0.11600969 0.99316523 0.43215928] [ 0. 0. 0. 1. ]] SLAMing on 18.446296757 meters Centerline goodness : 0.843029 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.71, Z:0.43 [[ 0.99988039 0.01147283 -0.01037185 2.8417775 ] [-0.01259383 0.99323733 -0.11541664 -0.70692509] [ 0.00897755 0.11553345 0.99326302 0.43396447] [ 0. 0. 0. 1. ]] SLAMing on 18.506296757 meters Centerline goodness : 0.842637 with order 1 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.71, Z:0.43 [[ 0.99991573 0.00958391 -0.00875659 2.86894362] [-0.01051542 0.99349406 -0.1133974 -0.71001744] [ 0.00761283 0.11347992 0.99351112 0.433134 ] [ 0. 0. 0. 1. ]] SLAMing on 18.566296757 meters Centerline goodness : 0.841456 with order 1 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.71, Z:0.43 [[ 0.99992997 0.00553155 -0.01046258 2.91042992] [-0.00658184 0.99464155 -0.10317393 -0.71430809] [ 0.00983581 0.10323556 0.9946083 0.43401414] [ 0. 0. 0. 1. ]] SLAMing on 18.626296757 meters Centerline goodness : 0.842444 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.72, Z:0.44 [[ 9.99923013e-01 9.49883135e-04 -1.23719467e-02 2.94133883e+00] [-2.17220807e-03 9.95068813e-01 -9.91631943e-02 -7.23039026e-01] [ 1.22167449e-02 9.91824345e-02 9.94994269e-01 4.36990504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.686296757 meters Centerline goodness : 0.845937 with order 1 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.73, Z:0.44 [[ 9.99887837e-01 -2.41289953e-03 -1.47814634e-02 2.97602620e+00] [ 1.02487332e-03 9.95646848e-01 -9.32003423e-02 -7.26175443e-01] [ 1.49420005e-02 9.31747396e-02 9.95537646e-01 4.40110145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.746296757 meters Centerline goodness : 0.842076 with order 1 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.72, Z:0.44 [[ 9.99903474e-01 2.03095331e-05 -1.38939798e-02 3.02161791e+00] [-1.26263226e-03 9.95993966e-01 -8.94115457e-02 -7.24414074e-01] [ 1.38365041e-02 8.94204581e-02 9.95897853e-01 4.43783092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.806296757 meters Centerline goodness : 0.839967 with order 1 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.72, Z:0.45 [[ 9.99914219e-01 2.07127061e-03 -1.29330973e-02 3.06614437e+00] [-3.23622748e-03 9.95871605e-01 -9.07153374e-02 -7.21072107e-01] [ 1.26918083e-02 9.07494102e-02 9.95792881e-01 4.45128692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.866296757 meters Centerline goodness : 0.839802 with order 1 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.72, Z:0.44 [[ 9.99923216e-01 2.86038143e-03 -1.20573709e-02 3.11042829e+00] [-3.97420974e-03 9.95621601e-01 -9.33907611e-02 -7.20296561e-01] [ 1.17374457e-02 9.34315087e-02 9.95556521e-01 4.44982363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.926296757 meters Centerline goodness : 0.837873 with order 1 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.72, Z:0.45 [[ 0.9999554 -0.00382066 -0.008637 3.14449918] [ 0.00315166 0.99708866 -0.07618581 -0.72126384] [ 0.00890294 0.07615519 0.99705623 0.44608572] [ 0. 0. 0. 1. ]] SLAMing on 18.986296757 meters Centerline goodness : 0.836262 with order 1 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.72, Z:0.45 [[ 0.99981876 -0.01525428 -0.01139135 3.1740008 ] [ 0.0144916 0.99782713 -0.06427297 -0.72397121] [ 0.01234704 0.06409624 0.99786734 0.45065563] [ 0. 0. 0. 1. ]] SLAMing on 19.046296757 meters Centerline goodness : 0.834639 with order 1 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.73, Z:0.45 [[ 0.99950343 -0.02634864 -0.0172812 3.19931588] [ 0.02530001 0.99797713 -0.05832292 -0.72527779] [ 0.01878297 0.05785675 0.99814818 0.45302902] [ 0. 0. 0. 1. ]] SLAMing on 19.106296757 meters Centerline goodness : 0.836295 with order 1 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.73, Z:0.46 [[ 0.99938507 -0.02959404 -0.01880611 3.21477367] [ 0.02863659 0.99837394 -0.04928908 -0.72568887] [ 0.02023419 0.04872023 0.99860749 0.45521497] [ 0. 0. 0. 1. ]] SLAMing on 19.166296757 meters Centerline goodness : 0.836321 with order 1 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.72, Z:0.46 [[ 0.99946662 -0.02737641 -0.01780445 3.24872208] [ 0.02665892 0.99886946 -0.03935865 -0.72120971] [ 0.01886182 0.03886301 0.99906651 0.45787336] [ 0. 0. 0. 1. ]] SLAMing on 19.226296757 meters Centerline goodness : 0.835609 with order 1 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.72, Z:0.45 [[ 0.9996211 -0.02156112 -0.01711066 3.27074672] [ 0.0208698 0.99899757 -0.03960179 -0.71746665] [ 0.01794737 0.03922969 0.99906903 0.4544918 ] [ 0. 0. 0. 1. ]] SLAMing on 19.286296757 meters Centerline goodness : 0.832428 with order 1 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.71, Z:0.45 [[ 0.99971449 -0.01643234 -0.01734713 3.31420807] [ 0.01576191 0.99914954 -0.03810188 -0.71334638] [ 0.01795848 0.03781758 0.99912328 0.45495529] [ 0. 0. 0. 1. ]] SLAMing on 19.346296757 meters Centerline goodness : 0.827405 with order 1 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.70, Z:0.45 [[ 0.99974891 -0.0126942 -0.01846531 3.36148991] [ 0.01194143 0.99911542 -0.0403209 -0.70347831] [ 0.01896082 0.04009028 0.99901614 0.45279936] [ 0. 0. 0. 1. ]] SLAMing on 19.406296757 meters Centerline goodness : 0.826706 with order 1 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.70, Z:0.45 [[ 0.99978359 -0.01049258 -0.0179633 3.40451515] [ 0.0097743 0.99916711 -0.03961751 -0.699643 ] [ 0.01836403 0.03943336 0.99905344 0.45474769] [ 0. 0. 0. 1. ]] SLAMing on 19.466296757 meters Centerline goodness : 0.829064 with order 1 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.70, Z:0.46 [[ 0.9998287 -0.01071118 -0.0150947 3.44494546] [ 0.01011544 0.99918778 -0.03900583 -0.69731046] [ 0.01550024 0.03884646 0.99912496 0.46126134] [ 0. 0. 0. 1. ]] SLAMing on 19.526296757 meters Centerline goodness : 0.824826 with order 1 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.69, Z:0.46 [[ 0.9997847 -0.00917798 -0.01860938 3.47572778] [ 0.00849749 0.99930401 -0.03632198 -0.69278972] [ 0.01892979 0.03615603 0.99916686 0.46002594] [ 0. 0. 0. 1. ]] SLAMing on 19.586296757 meters Centerline goodness : 0.822973 with order 1 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.68, Z:0.46 [[ 9.99887252e-01 -1.75637429e-03 -1.49129983e-02 3.54294489e+00] [ 7.88976725e-04 9.97909041e-01 -6.46291240e-02 -6.75640015e-01] [ 1.49953287e-02 6.46100712e-02 9.97797915e-01 4.62378539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.646296757 meters Centerline goodness : 0.823721 with order 1 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.66, Z:0.47 [[ 9.99956773e-01 8.85019608e-04 -9.25576563e-03 3.59226581e+00] [-1.62039875e-03 9.96813737e-01 -7.97480226e-02 -6.63460407e-01] [ 9.15569577e-03 7.97595733e-02 9.96772082e-01 4.65734657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.706296757 meters Centerline goodness : 0.823310 with order 1 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.58, Z:0.50 [[ 9.99893011e-01 1.41812298e-02 3.58594374e-03 3.62409333e+00] [-1.25857181e-02 9.58994219e-01 -2.83146055e-01 -5.83478248e-01] [-7.45425859e-03 2.83070630e-01 9.59070098e-01 5.02052399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.766296757 meters Centerline goodness : 0.822946 with order 1 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.48, Z:0.56 [[ 0.99954165 0.02975083 -0.00560159 3.63043966] [-0.0282015 0.84777169 -0.52961103 -0.4806296 ] [-0.0110075 0.52952626 0.84822213 0.5589961 ] [ 0. 0. 0. 1. ]] SLAMing on 19.826296757 meters Centerline goodness : 0.822525 with order 1 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.47, Z:0.58 [[ 0.99915053 0.03759989 -0.01686614 3.67976157] [-0.04036178 0.81029735 -0.58462734 -0.4719255 ] [-0.00831533 0.58481146 0.81112663 0.58370746] [ 0. 0. 0. 1. ]] SLAMing on 19.886296757 meters Centerline goodness : 0.822867 with order 1 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.47, Z:0.61 [[ 9.99000881e-01 3.70308743e-02 -2.50190594e-02 3.71637723e+00] [-4.45572074e-02 7.82108682e-01 -6.21546993e-01 -4.65103419e-01] [-3.44880500e-03 6.22040773e-01 7.82977255e-01 6.06256389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.946296757 meters Centerline goodness : 0.822717 with order 1 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.48, Z:0.61 [[ 0.9993712 0.0253279 -0.02481353 3.70694576] [-0.03510613 0.80504126 -0.59217914 -0.4760395 ] [ 0.00497726 0.59267788 0.80542421 0.60921261] [ 0. 0. 0. 1. ]] SLAMing on 20.006296757 meters Centerline goodness : 0.824220 with order 1 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.49, Z:0.61 [[ 0.99948803 0.01702711 -0.02708787 3.71907182] [-0.02944344 0.82079688 -0.57046084 -0.4852658 ] [ 0.01252034 0.57096634 0.82087799 0.61351882] [ 0. 0. 0. 1. ]] SLAMing on 20.066296757 meters Centerline goodness : 0.822338 with order 1 Centerline is valid? [False, False] Translation: X:3.78, Y:-0.48, Z:0.63 [[ 0.99951063 0.01725247 -0.02609329 3.7775742 ] [-0.02957108 0.79314677 -0.60831222 -0.47786271] [ 0.01020092 0.60878613 0.7932688 0.63470636] [ 0. 0. 0. 1. ]] SLAMing on 20.126296757 meters Centerline goodness : 0.825763 with order 1 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.49, Z:0.64 [[ 0.99951792 0.01039844 -0.0292539 3.79286306] [-0.02554375 0.81100848 -0.58447648 -0.48991207] [ 0.01764752 0.58494198 0.81088313 0.63901628] [ 0. 0. 0. 1. ]] SLAMing on 20.186296757 meters Centerline goodness : 0.825955 with order 1 Centerline is valid? [False, False] Translation: X:3.82, Y:-0.50, Z:0.64 [[ 9.99539842e-01 3.17675926e-03 -3.01664171e-02 3.81805323e+00] [-1.98085767e-02 8.21525094e-01 -5.69828167e-01 -4.98446665e-01] [ 2.29722618e-02 5.70163510e-01 8.21209990e-01 6.41805622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.246296757 meters Centerline goodness : 0.825226 with order 1 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.51, Z:0.64 [[ 9.99424133e-01 1.39477409e-03 -3.39036505e-02 3.82555321e+00] [-1.96708295e-02 8.37950830e-01 -5.45391112e-01 -5.11519721e-01] [ 2.76488947e-02 5.45743952e-01 8.37495718e-01 6.43629257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.306296757 meters Centerline goodness : 0.824314 with order 1 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.53, Z:0.64 [[ 9.99289891e-01 3.24097283e-03 -3.75394333e-02 3.82960843e+00] [-2.22665178e-02 8.54511828e-01 -5.18954466e-01 -5.25634776e-01] [ 3.03959724e-02 5.19421825e-01 8.53977197e-01 6.44086876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.366296757 meters Centerline goodness : 0.826454 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.54, Z:0.64 [[ 0.99942264 0.00540536 -0.03354357 3.85316717] [-0.02142894 0.86642279 -0.49885103 -0.53506119] [ 0.02636644 0.49928181 0.86603838 0.64434377] [ 0. 0. 0. 1. ]] SLAMing on 20.426296757 meters Centerline goodness : 0.825893 with order 1 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.53, Z:0.65 [[ 0.99965605 0.01532031 -0.02128524 3.91331525] [-0.02401647 0.86082052 -0.50834166 -0.53270337] [ 0.01053482 0.50867801 0.86089238 0.64954886] [ 0. 0. 0. 1. ]] SLAMing on 20.486296757 meters Centerline goodness : 0.831626 with order 1 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.53, Z:0.66 [[ 0.99962267 0.02588755 -0.00918422 3.96204005] [-0.02678482 0.84451493 -0.53486176 -0.53060215] [-0.00609005 0.53490594 0.84488967 0.65534148] [ 0. 0. 0. 1. ]] SLAMing on 20.546296757 meters Centerline goodness : 0.830744 with order 1 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.53, Z:0.67 [[ 0.99920357 0.03966962 -0.00430555 4.01685581] [-0.03509309 0.82228189 -0.56799733 -0.52517096] [-0.01899186 0.56769606 0.82301913 0.66854319] [ 0. 0. 0. 1. ]] SLAMing on 20.606296757 meters Centerline goodness : 0.828175 with order 1 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.53, Z:0.68 [[ 0.9989675 0.04475505 -0.00780552 4.02712039] [-0.04101052 0.81444185 -0.5787941 -0.53023792] [-0.01954682 0.5785166 0.81543637 0.67569514] [ 0. 0. 0. 1. ]] SLAMing on 20.666296757 meters Centerline goodness : 0.827271 with order 1 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.54, Z:0.67 [[ 0.99869366 0.05057126 -0.00731547 4.02123748] [-0.04620043 0.83251702 -0.55206968 -0.54362562] [-0.02182861 0.55168647 0.83376588 0.66941681] [ 0. 0. 0. 1. ]] SLAMing on 20.726296757 meters Centerline goodness : 0.831773 with order 1 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.56, Z:0.67 [[ 0.99818206 0.06000621 -0.00564262 4.00644425] [-0.05388259 0.84651459 -0.52963169 -0.55795269] [-0.02700463 0.52897288 0.84820896 0.67228882] [ 0. 0. 0. 1. ]] SLAMing on 20.786296757 meters Centerline goodness : 0.835347 with order 1 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.57, Z:0.68 [[ 0.99770069 0.06667705 -0.0121449 3.92783103] [-0.06278203 0.8417523 -0.53620097 -0.56953973] [-0.0255293 0.53573057 0.84400297 0.68191428] [ 0. 0. 0. 1. ]] SLAMing on 20.846296757 meters Centerline goodness : 0.834940 with order 1 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.58, Z:0.68 [[ 0.99796601 0.06206403 -0.01455672 3.89392504] [-0.06064576 0.85394452 -0.516818 -0.58313739] [-0.01964517 0.5166496 0.85597153 0.67688847] [ 0. 0. 0. 1. ]] SLAMing on 20.906296757 meters Centerline goodness : 0.833441 with order 1 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.59, Z:0.68 [[ 0.99798228 0.05904774 -0.02333938 3.87757619] [-0.06263974 0.85557792 -0.5138703 -0.59409022] [-0.01037422 0.51429543 0.85755034 0.68198744] [ 0. 0. 0. 1. ]] SLAMing on 20.966296757 meters Centerline goodness : 0.833407 with order 1 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.61, Z:0.68 [[ 0.99833349 0.05357407 -0.0214491 3.87371725] [-0.05723165 0.87148747 -0.48706686 -0.61115998] [-0.00740153 0.48748272 0.87310126 0.67823068] [ 0. 0. 0. 1. ]] SLAMing on 21.026296757 meters Centerline goodness : 0.837478 with order 1 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.63, Z:0.68 [[ 9.98485835e-01 4.91201166e-02 -2.47639032e-02 3.88280329e+00] [-5.49771198e-02 8.75638647e-01 -4.79827548e-01 -6.26682918e-01] [-1.88495445e-03 4.80462458e-01 8.77013269e-01 6.83349579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.086296757 meters Centerline goodness : 0.834991 with order 1 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.63, Z:0.69 [[ 9.98415062e-01 5.01515418e-02 -2.55379530e-02 3.92212066e+00] [-5.61964774e-02 8.63780876e-01 -5.00724029e-01 -6.31846221e-01] [-3.05288666e-03 5.01365556e-01 8.65230177e-01 6.93908576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.146296756999998 meters Centerline goodness : 0.827646 with order 1 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.65, Z:0.69 [[ 9.98607005e-01 4.55043094e-02 -2.67096995e-02 3.93043002e+00] [-5.27296813e-02 8.78928374e-01 -4.74030057e-01 -6.49552995e-01] [ 1.90550238e-03 4.74778129e-01 8.80103458e-01 6.89377310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.206296757 meters Centerline goodness : 0.830272 with order 1 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.66, Z:0.69 [[ 9.98977234e-01 3.80390097e-02 -2.44442362e-02 3.95368875e+00] [-4.50943861e-02 8.77776281e-01 -4.76943705e-01 -6.59390886e-01] [ 3.31410450e-03 4.77558201e-01 8.78593866e-01 6.91536846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.266296757 meters Centerline goodness : 0.833033 with order 1 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.67, Z:0.70 [[ 9.98701028e-01 4.52504726e-02 -2.34233059e-02 4.01111142e+00] [-5.09189825e-02 8.69408726e-01 -4.91462840e-01 -6.66162220e-01] [-1.87449922e-03 4.92017135e-01 8.70583497e-01 7.02691848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.326296757 meters Centerline goodness : 0.830897 with order 1 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.62, Z:0.74 [[ 0.99839917 0.05406934 -0.01660105 4.04910616] [-0.05254198 0.77795859 -0.62611483 -0.62161499] [-0.02093868 0.62598478 0.77955412 0.74097274] [ 0. 0. 0. 1. ]] SLAMing on 21.386296757 meters Centerline goodness : 0.828339 with order 1 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.59, Z:0.78 [[ 0.997871 0.06473543 -0.00792416 4.09232961] [-0.04988367 0.67931583 -0.73214863 -0.59154397] [-0.04201295 0.73098517 0.68109881 0.77739201] [ 0. 0. 0. 1. ]] SLAMing on 21.446296757 meters Centerline goodness : 0.823571 with order 1 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.61, Z:0.77 [[ 0.99776143 0.06514892 -0.0150912 4.10986709] [-0.05527864 0.6764845 -0.73437932 -0.60723219] [-0.03763506 0.73356959 0.67857149 0.77491853] [ 0. 0. 0. 1. ]] SLAMing on 21.506296757 meters Centerline goodness : 0.823732 with order 1 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.62, Z:0.78 [[ 0.99768123 0.06574769 -0.01759005 4.15258726] [-0.05737227 0.67340041 -0.73704838 -0.62348202] [-0.03661408 0.73634851 0.67561104 0.78048776] [ 0. 0. 0. 1. ]] SLAMing on 21.566296757 meters Centerline goodness : 0.825328 with order 1 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.65, Z:0.77 [[ 0.99794281 0.06147228 -0.01820171 4.15632164] [-0.05628865 0.70423483 -0.70773222 -0.64974438] [-0.03068763 0.70730083 0.70624628 0.77427123] [ 0. 0. 0. 1. ]] SLAMing on 21.626296757 meters Centerline goodness : 0.823957 with order 1 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.67, Z:0.77 [[ 0.99804773 0.05989457 -0.01770215 4.15613237] [-0.05605498 0.73403803 -0.67679096 -0.66992259] [-0.02754205 0.67646198 0.73596238 0.77007258] [ 0. 0. 0. 1. ]] SLAMing on 21.686296757 meters Centerline goodness : 0.820652 with order 1 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.69, Z:0.77 [[ 0.9980712 0.05978351 -0.01672768 4.16449461] [-0.05630209 0.75818911 -0.64959938 -0.69013046] [-0.02615258 0.64928823 0.76009265 0.76823589] [ 0. 0. 0. 1. ]] SLAMing on 21.746296757 meters Centerline goodness : 0.821537 with order 1 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.71, Z:0.77 [[ 0.99828432 0.05696932 -0.01352453 4.16397677] [-0.05305003 0.78225167 -0.62069962 -0.70655243] [-0.02478125 0.62035218 0.7839318 0.76774199] [ 0. 0. 0. 1. ]] SLAMing on 21.806296757 meters Centerline goodness : 0.821754 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.72, Z:0.77 [[ 0.99853045 0.05316694 -0.01049869 4.17292755] [-0.04912277 0.80613215 -0.58969307 -0.72122674] [-0.02288884 0.58934221 0.8075592 0.76836823] [ 0. 0. 0. 1. ]] SLAMing on 21.866296757 meters Centerline goodness : 0.817774 with order 1 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.74, Z:0.77 [[ 0.99848369 0.05300104 -0.01487303 4.18411547] [-0.05214303 0.82399879 -0.56418711 -0.7385907 ] [-0.01764715 0.56410715 0.82551299 0.76840453] [ 0. 0. 0. 1. ]] SLAMing on 21.926296757 meters Centerline goodness : 0.818362 with order 1 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.75, Z:0.77 [[ 0.99852862 0.05193946 -0.01558471 4.19674971] [-0.0521255 0.84009819 -0.53992404 -0.75065565] [-0.01495068 0.53994197 0.84156945 0.76886909] [ 0. 0. 0. 1. ]] SLAMing on 21.986296757 meters Centerline goodness : 0.815196 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.76, Z:0.77 [[ 0.99850894 0.05149309 -0.0181206 4.21839316] [-0.0535095 0.85760401 -0.51151939 -0.76156033] [-0.01079942 0.51172631 0.85908065 0.77000384] [ 0. 0. 0. 1. ]] SLAMing on 22.046296757 meters Centerline goodness : 0.814371 with order 1 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.77, Z:0.77 [[ 0.99861226 0.04814378 -0.02134803 4.23498771] [-0.05243491 0.87108809 -0.48831969 -0.774813 ] [-0.00491354 0.48876141 0.87240366 0.76946772] [ 0. 0. 0. 1. ]] SLAMing on 22.106296757 meters Centerline goodness : 0.813584 with order 1 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.79, Z:0.77 [[ 9.98720261e-01 4.53582293e-02 -2.23712357e-02 4.24751451e+00] [-5.05607818e-02 8.84921331e-01 -4.62987954e-01 -7.92049924e-01] [-1.20353010e-03 4.63526557e-01 8.86082210e-01 7.67531911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.166296757 meters Centerline goodness : 0.815856 with order 1 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.80, Z:0.77 [[ 9.98835822e-01 4.44138168e-02 -1.88258887e-02 4.27627367e+00] [-4.81659348e-02 8.96766994e-01 -4.39873846e-01 -8.04128686e-01] [-2.65404078e-03 4.40268521e-01 8.97862231e-01 7.69296256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.226296757 meters Centerline goodness : 0.822041 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.82, Z:0.77 [[ 0.99895314 0.04397072 -0.01261739 4.29665763] [-0.04522823 0.90800311 -0.41651502 -0.82047804] [-0.00685783 0.41664965 0.90904127 0.77415189] [ 0. 0. 0. 1. ]] SLAMing on 22.286296757 meters Centerline goodness : 0.818250 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.84, Z:0.78 [[ 0.99903725 0.04197681 -0.01274815 4.32055979] [-0.0435903 0.91707852 -0.39631663 -0.83529413] [-0.00494506 0.39649078 0.91802539 0.77652705] [ 0. 0. 0. 1. ]] SLAMing on 22.346296757 meters Centerline goodness : 0.817544 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.84, Z:0.78 [[ 9.98999409e-01 4.24410714e-02 -1.41044772e-02 4.34615211e+00] [-4.46278426e-02 9.25390766e-01 -3.76377849e-01 -8.42449629e-01] [-2.92172623e-03 3.76630701e-01 9.26358882e-01 7.75382621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.406296757 meters Centerline goodness : 0.812565 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.85, Z:0.77 [[ 9.99051995e-01 4.14676020e-02 -1.32495029e-02 4.37636724e+00] [-4.34613172e-02 9.32647036e-01 -3.58162840e-01 -8.50897744e-01] [-2.49504449e-03 3.58399141e-01 9.33565118e-01 7.73194056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.466296757 meters Centerline goodness : 0.813858 with order 1 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.87, Z:0.77 [[ 9.99016565e-01 4.28345149e-02 -1.14502285e-02 4.39585942e+00] [-4.41811633e-02 9.39967198e-01 -3.38392807e-01 -8.65501279e-01] [-3.73205256e-03 3.38565904e-01 9.40935280e-01 7.74625630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.526296757 meters Centerline goodness : 0.811198 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.87, Z:0.77 [[ 9.98906759e-01 4.53305273e-02 -1.14206325e-02 4.43102467e+00] [-4.66181539e-02 9.47836302e-01 -3.15330133e-01 -8.70759273e-01] [-3.46919112e-03 3.15517810e-01 9.48913313e-01 7.73364496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.586296757 meters Centerline goodness : 0.809807 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.88, Z:0.77 [[ 9.98861633e-01 4.63613582e-02 -1.12277167e-02 4.45876680e+00] [-4.76040438e-02 9.53772887e-01 -2.96734114e-01 -8.82120012e-01] [-3.04830479e-03 2.96930807e-01 9.54894132e-01 7.70526352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.646296756999998 meters Centerline goodness : 0.811957 with order 1 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.89, Z:0.77 [[ 0.99876961 0.04869664 -0.00937555 4.49447717] [-0.04935379 0.95759921 -0.28384496 -0.89055599] [-0.00484428 0.28395844 0.95882435 0.77253758] [ 0. 0. 0. 1. ]] SLAMing on 22.706296757 meters Centerline goodness : 0.810942 with order 1 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.90, Z:0.77 [[ 9.98551503e-01 5.27995360e-02 -1.03491314e-02 4.53369461e+00] [-5.36433484e-02 9.62111543e-01 -2.67327084e-01 -8.99499111e-01] [-4.15772727e-03 2.67495024e-01 9.63550271e-01 7.74680555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.766296757 meters Centerline goodness : 0.810243 with order 1 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.91, Z:0.78 [[ 0.99847496 0.0544361 -0.00919037 4.57535776] [-0.0549949 0.96621013 -0.25182047 -0.90615177] [-0.00482829 0.25194186 0.96773033 0.77596089] [ 0. 0. 0. 1. ]] SLAMing on 22.826296757 meters Centerline goodness : 0.815098 with order 1 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.91, Z:0.78 [[ 9.98634650e-01 5.22257481e-02 -1.14352501e-03 4.60627526e+00] [-5.10185688e-02 9.70381321e-01 -2.36129621e-01 -9.13091048e-01] [-1.12223908e-02 2.35865563e-01 9.71720893e-01 7.81454995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.886296757 meters Centerline goodness : 0.814261 with order 1 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.92, Z:0.78 [[ 9.99056433e-01 4.32177623e-02 -4.29761800e-03 4.63511579e+00] [-4.30941964e-02 9.74147479e-01 -2.21764695e-01 -9.21308407e-01] [-5.39766011e-03 2.21740647e-01 9.75090740e-01 7.84991251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.946296757 meters Centerline goodness : 0.812510 with order 1 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.92, Z:0.78 [[ 9.99413621e-01 3.37129514e-02 -5.98756152e-03 4.65585636e+00] [-3.42260538e-02 9.78513962e-01 -2.03319954e-01 -9.24342237e-01] [-9.95603175e-04 2.03405662e-01 9.79094043e-01 7.83302521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.006296757 meters Centerline goodness : 0.810740 with order 1 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.93, Z:0.79 [[ 9.99653292e-01 2.52166960e-02 -7.57721800e-03 4.68548837e+00] [-2.61942918e-02 9.81648181e-01 -1.88893374e-01 -9.27098258e-01] [ 2.67489548e-03 1.89026363e-01 9.81968370e-01 7.86777405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.066296757 meters Centerline goodness : 0.809785 with order 1 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.93, Z:0.79 [[ 0.99983483 0.01572847 -0.00910632 4.71234613] [-0.01709059 0.98411525 -0.17670619 -0.93166493] [ 0.00618235 0.17683263 0.98422152 0.79191394] [ 0. 0. 0. 1. ]] SLAMing on 23.126296757 meters Centerline goodness : 0.814082 with order 1 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.93, Z:0.80 [[ 0.99988155 0.01081475 -0.01095081 4.73894649] [-0.01244648 0.98671353 -0.16199227 -0.93437418] [ 0.00905341 0.16210938 0.98673126 0.79516393] [ 0. 0. 0. 1. ]] SLAMing on 23.186296757 meters Centerline goodness : 0.815880 with order 1 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.94, Z:0.80 [[ 0.99986804 0.01237024 -0.01052979 4.76394885] [-0.01375486 0.98953819 -0.14361398 -0.93638028] [ 0.00864309 0.14373987 0.98957776 0.79629003] [ 0. 0. 0. 1. ]] SLAMing on 23.246296757 meters Centerline goodness : 0.818328 with order 1 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.94, Z:0.80 [[ 0.99980397 0.01723273 -0.00974975 4.7964378 ] [-0.01835562 0.99132682 -0.13013153 -0.93857202] [ 0.00742267 0.13028499 0.9914488 0.8017445 ] [ 0. 0. 0. 1. ]] SLAMing on 23.306296757 meters Centerline goodness : 0.820101 with order 1 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.94, Z:0.81 [[ 0.99977844 0.01959098 -0.00769784 4.82836136] [-0.02038245 0.99236094 -0.12167297 -0.93893512] [ 0.00525535 0.12180292 0.99254039 0.80540408] [ 0. 0. 0. 1. ]] SLAMing on 23.366296757 meters Centerline goodness : 0.821420 with order 1 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.94, Z:0.81 [[ 0.99978137 0.01968616 -0.00704691 4.85372768] [-0.02032016 0.99421043 -0.10551167 -0.93908428] [ 0.00492899 0.10563179 0.9943931 0.80547519] [ 0. 0. 0. 1. ]] SLAMing on 23.426296757 meters Centerline goodness : 0.820524 with order 1 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.94, Z:0.80 [[ 9.99827351e-01 1.78675286e-02 -5.10092084e-03 4.88134337e+00] [-1.82612505e-02 9.95590138e-01 -9.20152390e-02 -9.40560396e-01] [ 3.43434156e-03 9.20925019e-02 9.95744534e-01 8.02835485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.486296757 meters Centerline goodness : 0.824504 with order 1 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.94, Z:0.80 [[ 9.99897065e-01 1.42953340e-02 -1.22612489e-03 4.90516449e+00] [-1.43475949e-02 9.96702935e-01 -7.98586662e-02 -9.43319710e-01] [ 8.04759633e-05 7.98680379e-02 9.96805442e-01 8.02177800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.546296757 meters Centerline goodness : 0.829942 with order 1 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.94, Z:0.80 [[ 9.99923600e-01 1.22718326e-02 1.48203270e-03 4.93655873e+00] [-1.21629691e-02 9.98182123e-01 -5.90297554e-02 -9.41474046e-01] [-2.20374182e-03 5.90072196e-02 9.98255123e-01 8.04451052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.606296757 meters Centerline goodness : 0.832092 with order 1 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.94, Z:0.80 [[ 9.99919455e-01 1.26148881e-02 -1.39592083e-03 4.94374901e+00] [-1.26730561e-02 9.98367680e-01 -5.56899294e-02 -9.42142161e-01] [ 6.91120010e-04 5.57031344e-02 9.98447136e-01 8.04454696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.666296757 meters Centerline goodness : 0.829845 with order 1 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.94, Z:0.80 [[ 9.99978832e-01 5.65149965e-03 -3.22429192e-03 4.96261210e+00] [-5.81229717e-03 9.98616754e-01 -5.22570230e-02 -9.44968536e-01] [ 2.92450138e-03 5.22746573e-02 9.98628463e-01 8.02143095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.726296757 meters Centerline goodness : 0.832458 with order 1 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.94, Z:0.80 [[ 9.99991116e-01 -1.10141537e-03 -4.06875861e-03 4.99542352e+00] [ 9.55687881e-04 9.99364018e-01 -3.56461314e-02 -9.44668773e-01] [ 4.10543215e-03 3.56419262e-02 9.99356192e-01 8.04195393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.786296757 meters Centerline goodness : 0.834379 with order 1 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.94, Z:0.81 [[ 9.99968375e-01 -3.19097624e-03 -7.28473773e-03 5.03170271e+00] [ 2.99678585e-03 9.99643945e-01 -2.65142009e-02 -9.44724031e-01] [ 7.36675014e-03 2.64915316e-02 9.99621893e-01 8.09333907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.846296757 meters Centerline goodness : 0.834231 with order 1 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.95, Z:0.81 [[ 9.99952298e-01 -9.04632987e-03 -3.68308026e-03 5.04325292e+00] [ 8.95764407e-03 9.99685516e-01 -2.34228318e-02 -9.50071315e-01] [ 3.89381266e-03 2.33887227e-02 9.99718863e-01 8.06427399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.906296757 meters Centerline goodness : 0.836587 with order 1 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.95, Z:0.80 [[ 9.99915155e-01 -1.21567385e-02 -4.67934383e-03 5.04729923e+00] [ 1.20318747e-02 9.99593522e-01 -2.58461839e-02 -9.53939313e-01] [ 4.99164708e-03 2.57876897e-02 9.99654980e-01 8.03931216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.966296757 meters Centerline goodness : 0.836521 with order 1 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.96, Z:0.80 [[ 0.99993753 -0.00746018 -0.00832349 5.0783457 ] [ 0.00731504 0.99982299 -0.01733447 -0.95536116] [ 0.00845134 0.0172725 0.9998151 0.80347928] [ 0. 0. 0. 1. ]] SLAMing on 24.026296757 meters Centerline goodness : 0.836893 with order 1 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.96, Z:0.80 [[ 9.99980543e-01 -5.49053503e-03 -2.96090138e-03 5.08800319e+00] [ 5.46711174e-03 9.99954151e-01 -7.86176822e-03 -9.64591935e-01] [ 3.00393094e-03 7.84542767e-03 9.99964712e-01 8.01272740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.086296757 meters Centerline goodness : 0.839181 with order 1 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.97, Z:0.80 [[ 9.99998800e-01 -1.53538900e-03 -2.04955317e-04 5.10589928e+00] [ 1.53348611e-03 9.99958482e-01 -8.98237598e-03 -9.68587681e-01] [ 2.18738249e-04 8.98205091e-03 9.99959637e-01 7.99629339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.146296756999998 meters Centerline goodness : 0.841193 with order 1 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.97, Z:0.80 [[ 9.99987575e-01 4.55488108e-03 2.02554682e-03 5.12682190e+00] [-4.54003012e-03 9.99963216e-01 -7.27696146e-03 -9.69026662e-01] [-2.05861801e-03 7.26767500e-03 9.99971471e-01 7.96415738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.206296757 meters Centerline goodness : 0.838477 with order 1 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.98, Z:0.79 [[ 9.99981707e-01 6.00961844e-03 6.85750272e-04 5.13148995e+00] [-6.00614650e-03 9.99969674e-01 -4.95745120e-03 -9.75207374e-01] [-7.15521867e-04 4.95324180e-03 9.99987477e-01 7.93857455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.266296757 meters Centerline goodness : 0.837017 with order 1 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.99, Z:0.79 [[ 9.99993445e-01 3.61470741e-03 2.07327529e-04 5.13263881e+00] [-3.61334674e-03 9.99974093e-01 -6.22547951e-03 -9.85398795e-01] [-2.29825445e-04 6.22468956e-03 9.99980600e-01 7.94033982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.326296757 meters Centerline goodness : 0.839364 with order 1 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.99, Z:0.79 [[ 9.99972728e-01 2.51153788e-03 6.94514691e-03 5.14473776e+00] [-2.51205915e-03 9.99996843e-01 6.63327036e-05 -9.89349426e-01] [-6.94495838e-03 -8.37775144e-05 9.99975880e-01 7.88155459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.386296757 meters Centerline goodness : 0.838408 with order 1 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.99, Z:0.78 [[ 9.99936701e-01 6.34152486e-03 9.29400249e-03 5.16359290e+00] [-6.31072837e-03 9.99974512e-01 -3.33917694e-03 -9.87846762e-01] [-9.31494107e-03 3.28031365e-03 9.99951235e-01 7.84568761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.446296757 meters Centerline goodness : 0.833420 with order 1 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.99, Z:0.78 [[ 9.99880818e-01 1.49507235e-02 3.85046159e-03 5.19580599e+00] [-1.49078165e-02 9.99829013e-01 -1.09408720e-02 -9.89111181e-01] [-4.01337716e-03 1.08821661e-02 9.99932733e-01 7.83493713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.506296757 meters Centerline goodness : 0.833361 with order 1 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.99, Z:0.78 [[ 9.99825988e-01 1.84767197e-02 2.57002832e-03 5.24062551e+00] [-1.84338672e-02 9.99705192e-01 -1.58025991e-02 -9.87842947e-01] [-2.86125085e-03 1.57524737e-02 9.99871828e-01 7.81079221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.566296757 meters Centerline goodness : 0.834372 with order 1 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.98, Z:0.78 [[ 9.99700636e-01 2.44638542e-02 3.98480688e-04 5.29965985e+00] [-2.44485477e-02 9.99444244e-01 -2.26599220e-02 -9.82331314e-01] [-9.52608257e-04 2.26433961e-02 9.99743152e-01 7.83042157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.626296757 meters Centerline goodness : 0.832463 with order 1 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.99, Z:0.78 [[ 9.99664878e-01 2.57368672e-02 -2.78314394e-03 5.32547739e+00] [-2.57963854e-02 9.99378434e-01 -2.40269025e-02 -9.88361286e-01] [ 2.16303683e-03 2.40906457e-02 9.99707438e-01 7.81222792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.686296757 meters Centerline goodness : 0.830326 with order 1 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.99, Z:0.78 [[ 0.99962697 0.02643147 -0.00687774 5.36680581] [-0.02653567 0.99952727 -0.01552716 -0.98871632] [ 0.00646408 0.01570388 0.99985579 0.7799529 ] [ 0. 0. 0. 1. ]] SLAMing on 24.746296757 meters Centerline goodness : 0.832123 with order 1 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.99, Z:0.78 [[ 9.99542985e-01 2.97182385e-02 -5.53598772e-03 5.42415140e+00] [-2.98602772e-02 9.99171922e-01 -2.76375591e-02 -9.85826446e-01] [ 4.71006391e-03 2.77902344e-02 9.99602680e-01 7.80279445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.806296757 meters Centerline goodness : 0.832321 with order 1 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.99, Z:0.78 [[ 9.99496107e-01 3.14944665e-02 -3.95364296e-03 5.48417562e+00] [-3.16282246e-02 9.98689268e-01 -4.02417832e-02 -9.85169477e-01] [ 2.68106730e-03 4.03465524e-02 9.99182149e-01 7.81569939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.866296757 meters Centerline goodness : 0.829212 with order 1 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.99, Z:0.78 [[ 9.99507174e-01 3.08532455e-02 -5.78673997e-03 5.53528136e+00] [-3.10736000e-02 9.98594997e-01 -4.29239191e-02 -9.85277748e-01] [ 4.45426737e-03 4.30825799e-02 9.99061585e-01 7.82938044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.926296757 meters Centerline goodness : 0.829977 with order 1 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.99, Z:0.79 [[ 0.99954653 0.02910473 -0.00772386 5.57174315] [-0.02936718 0.99890659 -0.03637565 -0.98610981] [ 0.00665671 0.03658599 0.99930834 0.78589564] [ 0. 0. 0. 1. ]] SLAMing on 24.986296757 meters Centerline goodness : 0.829605 with order 1 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.98, Z:0.79 [[ 9.99545984e-01 2.97253814e-02 -4.92220485e-03 5.63354462e+00] [-2.99067671e-02 9.98662876e-01 -4.21668864e-02 -9.83628205e-01] [ 3.66219646e-03 4.22949492e-02 9.99098456e-01 7.86306869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.046296757 meters Centerline goodness : 0.829838 with order 1 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.99, Z:0.79 [[ 9.99640109e-01 2.60744856e-02 -6.30667513e-03 5.66677304e+00] [-2.63075154e-02 9.98844178e-01 -4.02271329e-02 -9.85087580e-01] [ 5.25048395e-03 4.03785684e-02 9.99170658e-01 7.88561622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.106296757 meters Centerline goodness : 0.830993 with order 1 Centerline is valid? [False, False] Translation: X:5.70, Y:-0.98, Z:0.79 [[ 9.99790615e-01 2.01564715e-02 -3.52742685e-03 5.70089562e+00] [-2.02485639e-02 9.99392126e-01 -2.83791070e-02 -9.83554188e-01] [ 2.95325995e-03 2.84445901e-02 9.99591008e-01 7.87284025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.166296757 meters Centerline goodness : 0.826443 with order 1 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.98, Z:0.79 [[ 0.99976583 0.0207266 -0.00622016 5.73688991] [-0.02085736 0.99954585 -0.02175023 -0.97923684] [ 0.00576653 0.02187487 0.99974409 0.7899805 ] [ 0. 0. 0. 1. ]] SLAMing on 25.226296757 meters Centerline goodness : 0.824695 with order 1 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.98, Z:0.79 [[ 0.99977309 0.02007199 -0.00713381 5.73963622] [-0.02022922 0.9995377 -0.02269727 -0.97783236] [ 0.00667494 0.02283643 0.99971693 0.78883822] [ 0. 0. 0. 1. ]] SLAMing on 25.286296757 meters Centerline goodness : 0.823074 with order 1 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.97, Z:0.79 [[ 0.99968982 0.02334666 -0.00867192 5.79021537] [-0.0235457 0.99944398 -0.02360768 -0.96916881] [ 0.00811594 0.02380454 0.99968369 0.78840949] [ 0. 0. 0. 1. ]] SLAMing on 25.346296757 meters Centerline goodness : 0.823344 with order 1 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.96, Z:0.79 [[ 0.99966431 0.02373131 -0.01039631 5.82615071] [-0.02392658 0.99953165 -0.01907854 -0.96475729] [ 0.00993868 0.01932088 0.99976394 0.78767035] [ 0. 0. 0. 1. ]] SLAMing on 25.406296757 meters Centerline goodness : 0.819122 with order 1 Centerline is valid? [False, False] Translation: X:5.86, Y:-0.97, Z:0.79 [[ 0.99973043 0.01969935 -0.01228802 5.8603042 ] [-0.01993779 0.99960923 -0.01959289 -0.96548432] [ 0.01189725 0.0198326 0.99973253 0.78742941] [ 0. 0. 0. 1. ]] SLAMing on 25.466296757 meters Centerline goodness : 0.824808 with order 1 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.96, Z:0.79 [[ 0.99989422 0.0127724 -0.00695766 5.88520173] [-0.01286146 0.99983395 -0.01290952 -0.96413271] [ 0.00679162 0.01299764 0.99989246 0.78521497] [ 0. 0. 0. 1. ]] SLAMing on 25.526296757 meters Centerline goodness : 0.823795 with order 1 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.96, Z:0.79 [[ 0.99987743 0.01411862 -0.00676688 5.91151949] [-0.01419722 0.99983062 -0.01171199 -0.96065656] [ 0.00660038 0.01180662 0.99990852 0.78533605] [ 0. 0. 0. 1. ]] SLAMing on 25.586296757 meters Centerline goodness : 0.822909 with order 1 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.95, Z:0.79 [[ 9.99890243e-01 1.41949110e-02 -4.24347925e-03 5.93611938e+00] [-1.42402493e-02 9.99839711e-01 -1.08520996e-02 -9.54930174e-01] [ 4.08875448e-03 1.09113367e-02 9.99932110e-01 7.87384623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.646296756999998 meters Centerline goodness : 0.820213 with order 1 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.96, Z:0.78 [[ 9.99932404e-01 1.02818592e-02 -5.42877531e-03 5.94072056e+00] [-1.03618118e-02 9.99835137e-01 -1.49107754e-02 -9.56244752e-01] [ 5.27456981e-03 1.49660195e-02 9.99874091e-01 7.84459310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.706296757 meters Centerline goodness : 0.817691 with order 1 Centerline is valid? [False, False] Translation: X:5.98, Y:-0.95, Z:0.78 [[ 0.9999347 0.00837598 -0.00777416 5.97723347] [-0.008476 0.99988056 -0.01292406 -0.94849818] [ 0.00766498 0.01298911 0.99988626 0.78127654] [ 0. 0. 0. 1. ]] SLAMing on 25.766296757 meters Centerline goodness : 0.818074 with order 1 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.94, Z:0.79 [[ 9.99965865e-01 5.60789270e-03 -6.06799635e-03 6.00613991e+00] [-5.67453955e-03 9.99923150e-01 -1.10224387e-02 -9.41528880e-01] [ 6.00571737e-03 1.10564955e-02 9.99920840e-01 7.85645281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.826296757 meters Centerline goodness : 0.815874 with order 1 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.94, Z:0.78 [[ 9.99970569e-01 2.99349481e-03 -7.06399460e-03 6.00981514e+00] [-3.08532750e-03 9.99910408e-01 -1.30252192e-02 -9.41188167e-01] [ 7.02437080e-03 1.30466306e-02 9.99890216e-01 7.84334772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.886296757 meters Centerline goodness : 0.815151 with order 1 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.94, Z:0.78 [[ 9.99941539e-01 -3.55702447e-03 -1.02111048e-02 6.03194321e+00] [ 3.45527914e-03 9.99944382e-01 -9.96459233e-03 -9.36652391e-01] [ 1.02459812e-02 9.92872757e-03 9.99898215e-01 7.79733327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.946296757 meters Centerline goodness : 0.814603 with order 1 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.93, Z:0.78 [[ 9.99926228e-01 -4.35893300e-03 -1.13374359e-02 6.06207378e+00] [ 4.23523377e-03 9.99931494e-01 -1.09119083e-02 -9.30153566e-01] [ 1.13842235e-02 1.08630867e-02 9.99876189e-01 7.76761414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.006296757 meters Centerline goodness : 0.813993 with order 1 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.93, Z:0.77 [[ 9.99971800e-01 -6.78721924e-03 -3.21444929e-03 6.07371496e+00] [ 6.76333583e-03 9.99949869e-01 -7.38350034e-03 -9.29547165e-01] [ 3.26440159e-03 7.36155172e-03 9.99967575e-01 7.71890065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.066296757 meters Centerline goodness : 0.815408 with order 1 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.93, Z:0.77 [[ 9.99990283e-01 -4.40574668e-03 -1.50668117e-04 6.09223710e+00] [ 4.40385766e-03 9.99931712e-01 -1.08248325e-02 -9.27416750e-01] [ 1.98349298e-04 1.08240638e-02 9.99941398e-01 7.69621706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.126296757 meters Centerline goodness : 0.818894 with order 1 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.92, Z:0.77 [[ 9.99996743e-01 2.06707532e-03 -1.49696508e-03 6.13315715e+00] [-2.08392629e-03 9.99933482e-01 -1.13440731e-02 -9.18928011e-01] [ 1.47341645e-03 1.13471557e-02 9.99934533e-01 7.69961068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.186296757 meters Centerline goodness : 0.818493 with order 1 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.92, Z:0.77 [[ 9.99995930e-01 1.92733743e-03 -2.10377776e-03 6.13482949e+00] [-1.95129975e-03 9.99932564e-01 -1.14481431e-02 -9.19785304e-01] [ 2.08157145e-03 1.14522016e-02 9.99932255e-01 7.69506639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.246296757 meters Centerline goodness : 0.819066 with order 1 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.92, Z:0.77 [[ 9.99996158e-01 -6.96172854e-04 2.68309870e-03 6.14587053e+00] [ 7.11178802e-04 9.99984090e-01 -5.59587760e-03 -9.22714699e-01] [-2.67916032e-03 5.59776427e-03 9.99980743e-01 7.65989535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.306296757 meters Centerline goodness : 0.819903 with order 1 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.92, Z:0.76 [[ 9.99997121e-01 -2.39030510e-03 -2.10868802e-04 6.15590083e+00] [ 2.38949913e-03 9.99990140e-01 -3.74297812e-03 -9.20100337e-01] [ 2.19813583e-04 3.74246348e-03 9.99992973e-01 7.63818895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.366296757 meters Centerline goodness : 0.819128 with order 1 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.92, Z:0.76 [[ 9.99990967e-01 -8.70884029e-04 -4.16029296e-03 6.17997221e+00] [ 8.44137213e-04 9.99978994e-01 -6.42650590e-03 -9.21015339e-01] [ 4.16580231e-03 6.42293599e-03 9.99970696e-01 7.60384800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.426296757 meters Centerline goodness : 0.823027 with order 1 Centerline is valid? [False, False] Translation: X:6.19, Y:-0.93, Z:0.76 [[ 9.99986119e-01 -5.22410305e-03 6.85569142e-04 6.19464836e+00] [ 5.23302274e-03 9.99892087e-01 -1.37269781e-02 -9.26512348e-01] [-6.13784012e-04 1.37303752e-02 9.99905546e-01 7.61715293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.486296756999998 meters Centerline goodness : 0.824251 with order 1 Centerline is valid? [False, False] Translation: X:6.22, Y:-0.92, Z:0.76 [[ 9.99993232e-01 -3.36219320e-03 1.49399253e-03 6.22054379e+00] [ 3.37853872e-03 9.99932947e-01 -1.10764234e-02 -9.24750230e-01] [-1.45665128e-03 1.10813959e-02 9.99937538e-01 7.61956108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.546296757 meters Centerline goodness : 0.825226 with order 1 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.92, Z:0.76 [[ 9.99988436e-01 2.38985456e-03 4.17321593e-03 6.23982162e+00] [-2.34138191e-03 9.99930189e-01 -1.15816885e-02 -9.23830293e-01] [-4.20060315e-03 1.15717835e-02 9.99924222e-01 7.58881514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.606296757 meters Centerline goodness : 0.824618 with order 1 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.93, Z:0.76 [[ 9.99940941e-01 1.08676728e-02 -9.00320787e-05 6.26932178e+00] [-1.08674455e-02 9.99764343e-01 -1.87924721e-02 -9.25833975e-01] [-1.14219575e-04 1.87923406e-02 9.99823402e-01 7.58703246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.666296757 meters Centerline goodness : 0.825812 with order 1 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.92, Z:0.76 [[ 9.99928361e-01 1.19235895e-02 -1.04877129e-03 6.29955753e+00] [-1.19382352e-02 9.99811856e-01 -1.52882368e-02 -9.23506992e-01] [ 8.66283313e-04 1.52996620e-02 9.99882578e-01 7.59793386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.726296757 meters Centerline goodness : 0.824092 with order 1 Centerline is valid? [False, False] Translation: X:6.33, Y:-0.92, Z:0.76 [[ 9.99914039e-01 1.25617911e-02 -3.75700225e-03 6.33214877e+00] [-1.26062607e-02 9.99847847e-01 -1.20567577e-02 -9.21677588e-01] [ 3.60497614e-03 1.21030830e-02 9.99920257e-01 7.60838017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.786296757 meters Centerline goodness : 0.823534 with order 1 Centerline is valid? [False, False] Translation: X:6.33, Y:-0.93, Z:0.76 [[ 9.99941927e-01 9.74964794e-03 -4.59212260e-03 6.33483877e+00] [-9.81432105e-03 9.99849897e-01 -1.42780625e-02 -9.27768617e-01] [ 4.45222722e-03 1.43223019e-02 9.99887518e-01 7.59251827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.846296757 meters Centerline goodness : 0.826745 with order 1 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.93, Z:0.76 [[ 9.99911086e-01 1.21621156e-02 -5.46834988e-03 6.33824890e+00] [-1.22173721e-02 9.99873467e-01 -1.01875612e-02 -9.29809060e-01] [ 5.34375566e-03 1.02534642e-02 9.99933153e-01 7.57791936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.906296757 meters Centerline goodness : 0.822512 with order 1 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.94, Z:0.76 [[ 0.99993876 0.00888197 -0.00660165 6.3409894 ] [-0.00895933 0.99989044 -0.01178274 -0.93717479] [ 0.00649627 0.01184117 0.99990879 0.75742169] [ 0. 0. 0. 1. ]] SLAMing on 26.966296757 meters Centerline goodness : 0.822481 with order 1 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.95, Z:0.75 [[ 9.99991811e-01 4.02682411e-03 -4.02588970e-04 6.35060000e+00] [-4.03010151e-03 9.99955740e-01 -8.50152946e-03 -9.46120386e-01] [ 3.68336988e-04 8.50308231e-03 9.99963780e-01 7.54579988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.026296757 meters Centerline goodness : 0.827082 with order 1 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.95, Z:0.75 [[ 9.99993547e-01 3.59191071e-03 -5.80274040e-05 6.37717451e+00] [-3.59225851e-03 9.99961947e-01 -7.94989467e-03 -9.47106443e-01] [ 2.94698840e-05 7.95005182e-03 9.99968397e-01 7.54885955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.086296757 meters Centerline goodness : 0.827917 with order 1 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.95, Z:0.75 [[ 9.99995486e-01 2.85808961e-03 -9.27152245e-04 6.38014307e+00] [-2.86537453e-03 9.99964265e-01 -7.95351770e-03 -9.50745047e-01] [ 9.04387247e-04 7.95613843e-03 9.99967940e-01 7.53504933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.146296756999998 meters Centerline goodness : 0.827202 with order 1 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.96, Z:0.75 [[ 9.99995678e-01 2.88787982e-03 5.50768107e-04 6.39917490e+00] [-2.88012285e-03 9.99903370e-01 -1.35998524e-02 -9.55377169e-01] [-5.89989625e-04 1.35982073e-02 9.99907366e-01 7.51781237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.206296757 meters Centerline goodness : 0.829883 with order 1 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.95, Z:0.75 [[ 9.99976312e-01 6.62789669e-03 -1.85655591e-03 6.42797503e+00] [-6.64839290e-03 9.99914498e-01 -1.12603208e-02 -9.53763264e-01] [ 1.78176493e-03 1.12723972e-02 9.99934877e-01 7.49361557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.266296757 meters Centerline goodness : 0.831937 with order 1 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.95, Z:0.75 [[ 9.99924271e-01 1.18115603e-02 -3.45519457e-03 6.46884282e+00] [-1.18656513e-02 9.99800341e-01 -1.60774456e-02 -9.52768043e-01] [ 3.26460499e-03 1.61172262e-02 9.99864780e-01 7.49182577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.326296757 meters Centerline goodness : 0.832088 with order 1 Centerline is valid? [False, False] Translation: X:6.51, Y:-0.96, Z:0.75 [[ 9.99881017e-01 1.44805682e-02 -5.31639954e-03 6.51415766e+00] [-1.45909936e-02 9.99665470e-01 -2.13553472e-02 -9.55502768e-01] [ 5.00538348e-03 2.14303778e-02 9.99757813e-01 7.48211672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.386296757 meters Centerline goodness : 0.834538 with order 1 Centerline is valid? [False, False] Translation: X:6.55, Y:-0.96, Z:0.75 [[ 0.9998403 0.01635638 -0.00720007 6.54967192] [-0.01645131 0.99977582 -0.01332923 -0.95599547] [ 0.00698044 0.01344555 0.99988524 0.74897891] [ 0. 0. 0. 1. ]] SLAMing on 27.446296757 meters Centerline goodness : 0.835322 with order 1 Centerline is valid? [False, False] Translation: X:6.61, Y:-0.95, Z:0.75 [[ 0.99979935 0.01820982 -0.00834591 6.60730847] [-0.01842764 0.99947066 -0.0268109 -0.95314749] [ 0.00785327 0.02695932 0.99960568 0.74938259] [ 0. 0. 0. 1. ]] SLAMing on 27.506296757 meters Centerline goodness : 0.834279 with order 1 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.95, Z:0.75 [[ 9.99749989e-01 2.15703866e-02 -5.88881753e-03 6.67657787e+00] [-2.18700994e-02 9.98149043e-01 -5.67466806e-02 -9.53758184e-01] [ 4.65386974e-03 5.68612823e-02 9.98371242e-01 7.48419736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.566296757 meters Centerline goodness : 0.835141 with order 1 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.94, Z:0.74 [[ 9.99450255e-01 3.31054925e-02 -1.79271912e-03 6.73815188e+00] [-3.30954307e-02 9.93012576e-01 -1.13272755e-01 -9.44682481e-01] [-1.96975772e-03 1.13269815e-01 9.93562313e-01 7.44904321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.626296757 meters Centerline goodness : 0.831740 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.95, Z:0.75 [[ 9.99404775e-01 3.43353113e-02 -3.34404487e-03 6.76732991e+00] [-3.44936865e-02 9.93088783e-01 -1.12182242e-01 -9.48350296e-01] [-5.30878766e-04 1.12230817e-01 9.93682023e-01 7.45766922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.686296757 meters Centerline goodness : 0.828360 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.96, Z:0.75 [[ 9.99486156e-01 3.18890328e-02 -3.24253648e-03 6.77831873e+00] [-3.20532759e-02 9.94008040e-01 -1.04501693e-01 -9.55862230e-01] [-1.09350573e-04 1.04551929e-01 9.94519423e-01 7.47116288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.746296757 meters Centerline goodness : 0.834262 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.95, Z:0.75 [[ 9.99191061e-01 3.93579377e-02 -8.25684865e-03 6.81234732e+00] [-4.01351084e-02 9.88879763e-01 -1.43199121e-01 -9.54731149e-01] [ 2.52900846e-03 1.43414671e-01 9.89659455e-01 7.48735738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.806296757 meters Centerline goodness : 0.832498 with order 1 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.95, Z:0.75 [[ 9.98894174e-01 4.61371763e-02 -9.04377327e-03 6.83946393e+00] [-4.69514418e-02 9.88924598e-01 -1.40796668e-01 -9.54374495e-01] [ 2.44764916e-03 1.41065589e-01 9.89997227e-01 7.49110806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.866296757 meters Centerline goodness : 0.830134 with order 1 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.93, Z:0.75 [[ 0.99799031 0.05881219 -0.02358944 6.89064768] [-0.06274854 0.9690947 -0.2385751 -0.93068141] [ 0.00882927 0.23957585 0.9708375 0.75474585] [ 0. 0. 0. 1. ]] SLAMing on 27.926296757 meters Centerline goodness : 0.831102 with order 1 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.94, Z:0.76 [[ 0.99789114 0.05987259 -0.02507075 6.90157602] [-0.06400919 0.97179699 -0.22696572 -0.94034264] [ 0.01077465 0.22809184 0.97358 0.75693722] [ 0. 0. 0. 1. ]] SLAMing on 27.986296756999998 meters Centerline goodness : 0.831057 with order 1 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.93, Z:0.76 [[ 0.99755354 0.06382833 -0.02851115 6.92945962] [-0.06919956 0.95946578 -0.27319742 -0.92863783] [ 0.00991773 0.27450201 0.96153538 0.76062758] [ 0. 0. 0. 1. ]] SLAMing on 28.046296757 meters Centerline goodness : 0.827787 with order 1 Centerline is valid? [False, False] Translation: X:6.92, Y:-0.94, Z:0.77 [[ 0.99753701 0.06375526 -0.02924351 6.92038674] [-0.06911393 0.96453817 -0.25473395 -0.93663373] [ 0.01196586 0.25612767 0.9665689 0.7673255 ] [ 0. 0. 0. 1. ]] SLAMing on 28.106296757 meters Centerline goodness : 0.824536 with order 1 Centerline is valid? [False, False] Translation: X:6.92, Y:-0.95, Z:0.77 [[ 0.99743215 0.06373493 -0.03266435 6.92013001] [-0.06998423 0.96425725 -0.25555852 -0.94564301] [ 0.01520883 0.25718827 0.96624163 0.77343109] [ 0. 0. 0. 1. ]] SLAMing on 28.166296757 meters Centerline goodness : 0.823656 with order 1 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.95, Z:0.78 [[ 0.9973626 0.06247374 -0.0369443 6.92901807] [-0.06984508 0.9645515 -0.25448392 -0.95009261] [ 0.01973612 0.25639312 0.96637107 0.77559715] [ 0. 0. 0. 1. ]] SLAMing on 28.226296757 meters Centerline goodness : 0.824308 with order 1 Centerline is valid? [False, False] Translation: X:6.99, Y:-0.95, Z:0.78 [[ 0.99705636 0.06824917 -0.03493812 6.99205538] [-0.07537083 0.95605787 -0.28332419 -0.95065903] [ 0.01406622 0.2851235 0.95838757 0.77982522] [ 0. 0. 0. 1. ]] SLAMing on 28.286296757 meters Centerline goodness : 0.827385 with order 1 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.96, Z:0.79 [[ 0.99719451 0.06684343 -0.03369077 7.03160123] [-0.07339787 0.96150093 -0.26481825 -0.95887077] [ 0.01469235 0.26654813 0.96370962 0.78637146] [ 0. 0. 0. 1. ]] SLAMing on 28.346296757 meters Centerline goodness : 0.827442 with order 1 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.96, Z:0.79 [[ 0.99722389 0.06506359 -0.03621117 7.05538189] [-0.07202757 0.96620096 -0.2475232 -0.96438394] [ 0.01888252 0.24944425 0.96820505 0.7941581 ] [ 0. 0. 0. 1. ]] SLAMing on 28.406296757 meters Centerline goodness : 0.824914 with order 1 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.97, Z:0.80 [[ 0.99713548 0.06388384 -0.04049313 7.06270128] [-0.07142225 0.97148078 -0.22610609 -0.96861973] [ 0.02489378 0.22835051 0.97326068 0.79910315] [ 0. 0. 0. 1. ]] SLAMing on 28.466296757 meters Centerline goodness : 0.822111 with order 1 Centerline is valid? [False, False] Translation: X:7.08, Y:-0.97, Z:0.80 [[ 0.99724256 0.06175716 -0.04115013 7.07628996] [-0.06884886 0.97687311 -0.20243211 -0.9707706 ] [ 0.02769683 0.20470706 0.97843135 0.80325243] [ 0. 0. 0. 1. ]] SLAMing on 28.526296757 meters Centerline goodness : 0.822779 with order 1 Centerline is valid? [False, False] Translation: X:7.09, Y:-0.97, Z:0.81 [[ 0.99732648 0.06155445 -0.03938199 7.09303709] [-0.06778339 0.98061025 -0.18387209 -0.97330244] [ 0.02730024 0.18604995 0.98216094 0.80881236] [ 0. 0. 0. 1. ]] SLAMing on 28.586296757 meters Centerline goodness : 0.825380 with order 1 Centerline is valid? [False, False] Translation: X:7.12, Y:-0.98, Z:0.81 [[ 0.99743599 0.06022103 -0.03866365 7.11833237] [-0.06585084 0.98386013 -0.16638181 -0.97676555] [ 0.02801994 0.16850124 0.98530311 0.81477597] [ 0. 0. 0. 1. ]] SLAMing on 28.646296756999998 meters Centerline goodness : 0.832287 with order 1 Centerline is valid? [False, False] Translation: X:7.16, Y:-0.98, Z:0.82 [[ 0.99734718 0.06155981 -0.03884579 7.15646581] [-0.06687616 0.98564117 -0.15504538 -0.97974437] [ 0.02874344 0.15723193 0.98714332 0.82127029] [ 0. 0. 0. 1. ]] SLAMing on 28.706296757 meters Centerline goodness : 0.836064 with order 1 Centerline is valid? [False, False] Translation: X:7.18, Y:-0.98, Z:0.83 [[ 0.99754992 0.05677953 -0.04086857 7.1804647 ] [-0.06203514 0.98798173 -0.14157596 -0.98304034] [ 0.03233879 0.14376437 0.98908342 0.82726348] [ 0. 0. 0. 1. ]] SLAMing on 28.766296757 meters Centerline goodness : 0.834871 with order 1 Centerline is valid? [False, False] Translation: X:7.21, Y:-0.99, Z:0.83 [[ 0.99775168 0.05226669 -0.04194963 7.2068298 ] [-0.05731896 0.98985526 -0.13000424 -0.98670393] [ 0.03472917 0.13211646 0.99062562 0.82789167] [ 0. 0. 0. 1. ]] SLAMing on 28.826296756999998 meters Centerline goodness : 0.835478 with order 1 Centerline is valid? [False, False] Translation: X:7.23, Y:-0.99, Z:0.83 [[ 0.9977132 0.05246892 -0.04260736 7.22512429] [-0.057093 0.9916344 -0.11576529 -0.98933428] [ 0.03617684 0.11793314 0.99236234 0.83174631] [ 0. 0. 0. 1. ]] SLAMing on 28.886296757 meters Centerline goodness : 0.838653 with order 1 Centerline is valid? [False, False] Translation: X:7.26, Y:-0.99, Z:0.83 [[ 0.99777213 0.05292798 -0.04061277 7.2568759 ] [-0.05658908 0.9938638 -0.09503911 -0.989654 ] [ 0.03533333 0.09712561 0.99464475 0.83462081] [ 0. 0. 0. 1. ]] SLAMing on 28.946296757 meters Centerline goodness : 0.839293 with order 1 Centerline is valid? [False, False] Translation: X:7.27, Y:-0.99, Z:0.84 [[ 0.99809847 0.04907355 -0.03729921 7.26706687] [-0.05223241 0.99465597 -0.08905774 -0.99409921] [ 0.0327295 0.09083663 0.99532783 0.83589946] [ 0. 0. 0. 1. ]] SLAMing on 29.006296757 meters Centerline goodness : 0.841224 with order 1 Centerline is valid? [False, False] Translation: X:7.29, Y:-0.99, Z:0.84 [[ 0.99812439 0.04794389 -0.03806685 7.29440032] [-0.05056337 0.99618492 -0.07112626 -0.99273634] [ 0.03451155 0.07291764 0.99674067 0.84004191] [ 0. 0. 0. 1. ]] SLAMing on 29.066296757 meters Centerline goodness : 0.840563 with order 1 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.99, Z:0.84 [[ 0.9981669 0.04539942 -0.04002157 7.31817361] [-0.04768265 0.99717295 -0.05807293 -0.99476007] [ 0.03727195 0.05987481 0.9975098 0.84286824] [ 0. 0. 0. 1. ]] SLAMing on 29.126296757 meters Centerline goodness : 0.841441 with order 1 Centerline is valid? [False, False] Translation: X:7.34, Y:-1.00, Z:0.84 [[ 0.9982765 0.0430007 -0.03993699 7.34088861] [-0.04482752 0.99793359 -0.04603303 -0.99718571] [ 0.03787501 0.04774397 0.99814127 0.84352093] [ 0. 0. 0. 1. ]] SLAMing on 29.186296757 meters Centerline goodness : 0.841233 with order 1 Centerline is valid? [False, False] Translation: X:7.37, Y:-1.00, Z:0.84 [[ 0.99817137 0.04338497 -0.04209114 7.36596338] [-0.04469008 0.99853283 -0.03057741 -0.99873806] [ 0.04070278 0.03240255 0.99864576 0.84424506] [ 0. 0. 0. 1. ]] SLAMing on 29.246296757 meters Centerline goodness : 0.843058 with order 1 Centerline is valid? [False, False] Translation: X:7.37, Y:-1.00, Z:0.84 [[ 0.99804885 0.04390214 -0.04439709 7.37301526] [-0.04512911 0.99861563 -0.02702206 -1.00229024] [ 0.0431493 0.02897294 0.99864844 0.84368914] [ 0. 0. 0. 1. ]] SLAMing on 29.306296757 meters Centerline goodness : 0.847326 with order 1 Centerline is valid? [False, False] Translation: X:7.40, Y:-1.01, Z:0.85 [[ 0.99827903 0.04153802 -0.04139538 7.40277822] [-0.04253674 0.99881744 -0.02354448 -1.00603512] [ 0.04036844 0.02526479 0.9988654 0.84683245] [ 0. 0. 0. 1. ]] SLAMing on 29.366296757 meters Centerline goodness : 0.842136 with order 1 Centerline is valid? [False, False] Translation: X:7.40, Y:-1.01, Z:0.85 [[ 0.99824535 0.04176848 -0.04197156 7.40481396] [-0.04275583 0.99882288 -0.02290826 -1.00723384] [ 0.04096531 0.02466259 0.99885615 0.8458708 ] [ 0. 0. 0. 1. ]] SLAMing on 29.426296757 meters Centerline goodness : 0.842306 with order 1 Centerline is valid? [False, False] Translation: X:7.41, Y:-1.01, Z:0.84 [[ 0.99824704 0.04121512 -0.04247537 7.40701975] [-0.04221507 0.99884562 -0.02291973 -1.00890948] [ 0.0414817 0.02467265 0.99883459 0.84449099] [ 0. 0. 0. 1. ]] SLAMing on 29.486296756999998 meters Centerline goodness : 0.847743 with order 1 Centerline is valid? [False, False] Translation: X:7.44, Y:-1.01, Z:0.85 [[ 0.998332 0.0407586 -0.04088961 7.43582357] [-0.04156752 0.99895252 -0.01913128 -1.01106442] [ 0.04006702 0.02079905 0.9989805 0.84890215] [ 0. 0. 0. 1. ]] SLAMing on 29.546296757 meters Centerline goodness : 0.850188 with order 1 Centerline is valid? [False, False] Translation: X:7.44, Y:-1.01, Z:0.85 [[ 0.99810894 0.0450629 -0.04180761 7.44138038] [-0.04571833 0.99884391 -0.01485538 -1.00944877] [ 0.04108985 0.01673866 0.99901524 0.84508682] [ 0. 0. 0. 1. ]] SLAMing on 29.606296757 meters Centerline goodness : 0.848401 with order 1 Centerline is valid? [False, False] Translation: X:7.46, Y:-1.01, Z:0.84 [[ 0.9980362 0.04551845 -0.04303275 7.46454014] [-0.04643265 0.99871128 -0.02048855 -1.01036599] [ 0.04204468 0.02244644 0.99886356 0.84225245] [ 0. 0. 0. 1. ]] SLAMing on 29.666296757 meters Centerline goodness : 0.848761 with order 1 Centerline is valid? [False, False] Translation: X:7.47, Y:-1.01, Z:0.84 [[ 0.99804009 0.0445354 -0.0439611 7.467883 ] [-0.04549329 0.99874316 -0.02103453 -1.01222529] [ 0.04296906 0.02299324 0.99881178 0.84027008] [ 0. 0. 0. 1. ]] SLAMing on 29.726296757 meters Centerline goodness : 0.845417 with order 1 Centerline is valid? [False, False] Translation: X:7.51, Y:-1.01, Z:0.84 [[ 0.99790088 0.04411394 -0.04741099 7.50693892] [-0.0449084 0.99886578 -0.01582395 -1.01300281] [ 0.04665916 0.01791989 0.99875012 0.84042722] [ 0. 0. 0. 1. ]] SLAMing on 29.786296757 meters Centerline goodness : 0.849102 with order 1 Centerline is valid? [False, False] Translation: X:7.56, Y:-1.02, Z:0.84 [[ 0.99784288 0.04772177 -0.04508016 7.56418269] [-0.04885021 0.9985112 -0.02427035 -1.01824309] [ 0.04385482 0.02642017 0.9986885 0.84425235] [ 0. 0. 0. 1. ]] SLAMing on 29.846296757 meters Centerline goodness : 0.853144 with order 1 Centerline is valid? [False, False] Translation: X:7.63, Y:-1.02, Z:0.84 [[ 0.99765948 0.05260363 -0.04368551 7.62654861] [-0.0539744 0.99806676 -0.03081417 -1.02105467] [ 0.04198012 0.03309995 0.99857001 0.84492314] [ 0. 0. 0. 1. ]] SLAMing on 29.906296757 meters Centerline goodness : 0.849923 with order 1 Centerline is valid? [False, False] Translation: X:7.68, Y:-1.03, Z:0.85 [[ 0.99764518 0.05191715 -0.04481858 7.67701164] [-0.05333825 0.99809159 -0.03111603 -1.02898216] [ 0.04311759 0.03343331 0.99851043 0.84804984] [ 0. 0. 0. 1. ]] SLAMing on 29.966296757 meters Centerline goodness : 0.850901 with order 1 Centerline is valid? [False, False] Translation: X:7.71, Y:-1.03, Z:0.85 [[ 0.99776808 0.04791212 -0.04651109 7.71396938] [-0.04921292 0.99841687 -0.02723684 -1.03322232] [ 0.04513248 0.02946499 0.99854638 0.85116539] [ 0. 0. 0. 1. ]] SLAMing on 30.026296757 meters Centerline goodness : 0.848687 with order 1 Centerline is valid? [False, False] Translation: X:7.77, Y:-1.04, Z:0.85 [[ 0.99792324 0.04323322 -0.04775039 7.76567055] [-0.04483669 0.99844796 -0.03303536 -1.03899647] [ 0.04624805 0.03510773 0.99831286 0.85320203] [ 0. 0. 0. 1. ]] SLAMing on 30.086296757 meters Centerline goodness : 0.847353 with order 1 Centerline is valid? [False, False] Translation: X:7.82, Y:-1.04, Z:0.85 [[ 0.99789403 0.04181658 -0.04958706 7.82097455] [-0.04363207 0.99839476 -0.03611289 -1.04293809] [ 0.04799735 0.03820043 0.99811672 0.85190925] [ 0. 0. 0. 1. ]] SLAMing on 30.146296756999998 meters Centerline goodness : 0.848239 with order 1 Centerline is valid? [False, False] Translation: X:7.87, Y:-1.05, Z:0.85 [[ 0.99787265 0.04270042 -0.04926298 7.87044073] [-0.04445307 0.9983965 -0.0350478 -1.0490893 ] [ 0.04768743 0.03716313 0.99817073 0.85379329] [ 0. 0. 0. 1. ]] SLAMing on 30.206296757 meters Centerline goodness : 0.850655 with order 1 Centerline is valid? [False, False] Translation: X:7.94, Y:-1.05, Z:0.85 [[ 0.99789738 0.04999999 -0.04124103 7.93519383] [-0.05303649 0.99568434 -0.07615655 -1.04580097] [ 0.03725522 0.0781837 0.99624262 0.84978304] [ 0. 0. 0. 1. ]] SLAMing on 30.266296757 meters Centerline goodness : 0.848823 with order 1 Centerline is valid? [False, False] Translation: X:7.94, Y:-1.05, Z:0.86 [[ 0.99785081 0.04989096 -0.04248112 7.94453845] [-0.05265563 0.9963853 -0.06666117 -1.05329911] [ 0.03900178 0.06875477 0.99687093 0.85501082] [ 0. 0. 0. 1. ]] SLAMing on 30.326296756999998 meters Centerline goodness : 0.849326 with order 1 Centerline is valid? [False, False] Translation: X:8.00, Y:-1.05, Z:0.85 [[ 0.99714123 0.05950363 -0.04656906 7.99601743] [-0.06410906 0.99244452 -0.10461314 -1.05156363] [ 0.03999235 0.10729958 0.99342207 0.85102937] [ 0. 0. 0. 1. ]] SLAMing on 30.386296757 meters Centerline goodness : 0.847479 with order 1 Centerline is valid? [False, False] Translation: X:8.02, Y:-1.05, Z:0.85 [[ 0.99664403 0.06185525 -0.05361535 8.01612264] [-0.06865318 0.98833376 -0.13595265 -1.04965559] [ 0.04458048 0.13917726 0.9892635 0.85054936] [ 0. 0. 0. 1. ]] SLAMing on 30.446296757 meters Centerline goodness : 0.851036 with order 1 Centerline is valid? [False, False] Translation: X:8.03, Y:-1.05, Z:0.84 [[ 0.99646556 0.06494606 -0.05327663 8.03277582] [-0.07206836 0.98680507 -0.14498931 -1.0512664 ] [ 0.04315716 0.14831642 0.98799782 0.84499362] [ 0. 0. 0. 1. ]] SLAMing on 30.506296757 meters Centerline goodness : 0.844704 with order 1 Centerline is valid? [False, False] Translation: X:8.04, Y:-1.06, Z:0.84 [[ 0.99629004 0.07524639 -0.04176285 8.03533284] [-0.08019602 0.98782066 -0.13333769 -1.05746587] [ 0.03122103 0.13619222 0.99019035 0.84178057] [ 0. 0. 0. 1. ]] SLAMing on 30.566296757 meters Centerline goodness : 0.845549 with order 1 Centerline is valid? [False, False] Translation: X:8.04, Y:-1.07, Z:0.84 [[ 0.99634569 0.07930414 -0.03171954 8.03797725] [-0.08276346 0.98817226 -0.1290961 -1.06615471] [ 0.02110652 0.13124956 0.99112465 0.84206446] [ 0. 0. 0. 1. ]] SLAMing on 30.626296757 meters Centerline goodness : 0.842736 with order 1 Centerline is valid? [False, False] Translation: X:8.04, Y:-1.07, Z:0.84 [[ 0.99644647 0.07790667 -0.03201528 8.03736164] [-0.08141363 0.98830031 -0.12897409 -1.06941522] [ 0.02159277 0.13112226 0.99113102 0.84268226] [ 0. 0. 0. 1. ]] SLAMing on 30.686296757 meters Centerline goodness : 0.832261 with order 2 Centerline is valid? [False, False] Translation: X:8.04, Y:-1.07, Z:0.84 [[ 0.99677729 0.07340687 -0.03234926 8.03717343] [-0.07702477 0.98847614 -0.13031543 -1.0736416 ] [ 0.02241043 0.13238716 0.99094471 0.84162598] [ 0. 0. 0. 1. ]] SLAMing on 30.746296757 meters Centerline goodness : 0.841767 with order 1 Centerline is valid? [False, False] Translation: X:8.04, Y:-1.08, Z:0.84 [[ 0.99722409 0.06705914 -0.0323601 8.03568262] [-0.07076313 0.98876394 -0.13167558 -1.07991388] [ 0.02316645 0.13359997 0.99076454 0.84113545] [ 0. 0. 0. 1. ]] SLAMing on 30.806296757 meters Centerline goodness : 0.829375 with order 2 Centerline is valid? [False, False] Translation: X:8.04, Y:-1.08, Z:0.84 [[ 0.99748891 0.06299052 -0.03237398 8.03545985] [-0.06676846 0.98883083 -0.13324997 -1.08276894] [ 0.0236189 0.13507693 0.99055357 0.83987172] [ 0. 0. 0. 1. ]] SLAMing on 30.866296757 meters Centerline goodness : 0.834720 with order 1 Centerline is valid? [False, False] Translation: X:8.03, Y:-1.09, Z:0.84 [[ 0.99752808 0.0623837 -0.03234198 8.03468826] [-0.06614757 0.98895696 -0.13262212 -1.08562549] [ 0.02371137 0.13443363 0.99063887 0.8403542 ] [ 0. 0. 0. 1. ]] SLAMing on 30.926296757 meters Centerline goodness : 0.829222 with order 2 Centerline is valid? [False, False] Translation: X:8.03, Y:-1.09, Z:0.84 [[ 0.99742633 0.06377643 -0.03276095 8.03388152] [-0.06762464 0.98863356 -0.13427808 -1.08547015] [ 0.0238248 0.13614794 0.990402 0.84400188] [ 0. 0. 0. 1. ]] SLAMing on 30.986296756999998 meters Centerline goodness : 0.828811 with order 2 Centerline is valid? [False, False] Translation: X:8.04, Y:-1.09, Z:0.85 [[ 0.99702 0.06923972 -0.03401444 8.03506128] [-0.07319823 0.98830547 -0.13376968 -1.08642142] [ 0.02435448 0.13586084 0.99042854 0.84743191] [ 0. 0. 0. 1. ]] SLAMing on 31.046296757 meters Centerline goodness : 0.827246 with order 2 Centerline is valid? [False, False] Translation: X:8.04, Y:-1.09, Z:0.85 [[ 0.9962251 0.07974992 -0.03428543 8.03740083] [-0.08344532 0.98863845 -0.12502355 -1.08763372] [ 0.02392527 0.12741256 0.9915612 0.84680323] [ 0. 0. 0. 1. ]] SLAMing on 31.106296757 meters Centerline goodness : 0.822318 with order 2 Centerline is valid? [False, False] Translation: X:8.04, Y:-1.09, Z:0.85 [[ 0.99554713 0.08791869 -0.03400326 8.03797067] [-0.09134333 0.98885468 -0.11757052 -1.08944736] [ 0.02328764 0.12015296 0.99248222 0.84690863] [ 0. 0. 0. 1. ]] SLAMing on 31.166296757 meters Centerline goodness : 0.825295 with order 2 Centerline is valid? [False, False] Translation: X:8.04, Y:-1.09, Z:0.85 [[ 0.99510923 0.0921034 -0.03570122 8.04009526] [-0.09570455 0.98844118 -0.11757834 -1.09238398] [ 0.02445919 0.12042006 0.99242166 0.84932127] [ 0. 0. 0. 1. ]] SLAMing on 31.226296757 meters Centerline goodness : 0.823607 with order 2 Centerline is valid? [False, False] Translation: X:8.04, Y:-1.09, Z:0.85 [[ 0.99515097 0.09168473 -0.03561549 8.03949146] [-0.09526001 0.98857236 -0.11683412 -1.09478699] [ 0.02449658 0.11966032 0.99251263 0.84934521] [ 0. 0. 0. 1. ]] SLAMing on 31.286296757 meters Centerline goodness : 0.848088 with order 3 Centerline is valid? [False, False] Translation: X:8.04, Y:-1.10, Z:0.85 [[ 0.99522791 0.09094701 -0.03535594 8.03891241] [-0.09446586 0.98879323 -0.11560344 -1.09735095] [ 0.02444593 0.1183917 0.99266601 0.84866441] [ 0. 0. 0. 1. ]] SLAMing on 31.346296757 meters Centerline goodness : 0.817868 with order 2 Centerline is valid? [False, False] Translation: X:8.04, Y:-1.10, Z:0.85 [[ 0.99543041 0.08923399 -0.0339941 8.03598987] [-0.09256876 0.98913999 -0.11416265 -1.10123067] [ 0.02343773 0.11678776 0.9928803 0.84790803] [ 0. 0. 0. 1. ]] SLAMing on 31.406296757 meters Centerline goodness : 0.819882 with order 1 Centerline is valid? [False, False] Translation: X:8.03, Y:-1.11, Z:0.85 [[ 0.99597099 0.0834026 -0.03295132 8.03180892] [-0.08673452 0.98925251 -0.11771407 -1.10548246] [ 0.02277951 0.12009782 0.99250068 0.84925365] [ 0. 0. 0. 1. ]] SLAMing on 31.466296757 meters Centerline goodness : 0.827772 with order 3 Centerline is valid? [False, False] Translation: X:8.03, Y:-1.11, Z:0.85 [[ 0.99628693 0.08030589 -0.03103731 8.02776233] [-0.08342056 0.98958389 -0.11732321 -1.10687775] [ 0.02129228 0.11947673 0.99260866 0.84910441] [ 0. 0. 0. 1. ]] SLAMing on 31.526296757 meters Centerline goodness : 0.831261 with order 3 Centerline is valid? [False, False] Translation: X:8.03, Y:-1.11, Z:0.85 [[ 0.99606002 0.08270304 -0.03201008 8.0301739 ] [-0.08589933 0.9894711 -0.11648283 -1.10870988] [ 0.02203956 0.11877353 0.99267674 0.8486822 ] [ 0. 0. 0. 1. ]] SLAMing on 31.586296757 meters Centerline goodness : 0.809690 with order 2 Centerline is valid? [False, False] Translation: X:8.03, Y:-1.11, Z:0.85 [[ 0.99582941 0.08573044 -0.03121011 8.02885576] [-0.08875976 0.98950409 -0.11403228 -1.10705085] [ 0.0211065 0.1163269 0.99298669 0.8500658 ] [ 0. 0. 0. 1. ]] SLAMing on 31.646296756999998 meters Centerline goodness : 0.810482 with order 2 Centerline is valid? [False, False] Translation: X:8.03, Y:-1.11, Z:0.85 [[ 0.99574731 0.08670994 -0.03112378 8.02966206] [-0.0896996 0.98954641 -0.11292427 -1.10691312] [ 0.02100677 0.11523583 0.99311601 0.84914841] [ 0. 0. 0. 1. ]] SLAMing on 31.706296757 meters Centerline goodness : 0.807798 with order 2 Centerline is valid? [False, False] Translation: X:8.03, Y:-1.11, Z:0.85 [[ 0.99566881 0.08725025 -0.03210944 8.02930586] [-0.09039028 0.98927418 -0.11474401 -1.10834484] [ 0.0217536 0.11714941 0.99287602 0.852508 ] [ 0. 0. 0. 1. ]] SLAMing on 31.766296757 meters Centerline goodness : 0.808407 with order 2 Centerline is valid? [False, False] Translation: X:8.03, Y:-1.11, Z:0.85 [[ 0.99495268 0.09511043 -0.03198701 8.03114986] [-0.09802227 0.98940936 -0.1070549 -1.10858838] [ 0.02146621 0.10965 0.99373844 0.8517218 ] [ 0. 0. 0. 1. ]] SLAMing on 31.826296756999998 meters Centerline goodness : 0.808774 with order 2 Centerline is valid? [False, False] Translation: X:8.03, Y:-1.11, Z:0.85 [[ 0.99390261 0.10525385 -0.03285172 8.03371383] [-0.10805321 0.98909239 -0.10010365 -1.10999514] [ 0.02195709 0.10304301 0.99443452 0.85330036] [ 0. 0. 0. 1. ]] SLAMing on 31.886296757 meters Centerline goodness : 0.810379 with order 2 Centerline is valid? [False, False] Translation: X:8.04, Y:-1.11, Z:0.86 [[ 0.99365582 0.10708341 -0.03436939 8.03532724] [-0.11005161 0.98878054 -0.10100341 -1.11169377] [ 0.02316799 0.10414504 0.99429224 0.85573871] [ 0. 0. 0. 1. ]] SLAMing on 31.946296757 meters Centerline goodness : 0.811737 with order 2 Centerline is valid? [False, False] Translation: X:8.03, Y:-1.11, Z:0.86 [[ 0.99382956 0.10578739 -0.03334414 8.03399395] [-0.10864558 0.98897955 -0.10057623 -1.11042987] [ 0.02233697 0.10357832 0.99437045 0.85517197] [ 0. 0. 0. 1. ]] SLAMing on 32.006296757 meters Centerline goodness : 0.814616 with order 2 Centerline is valid? [False, False] Translation: X:8.03, Y:-1.11, Z:0.86 [[ 0.9942097 0.10200168 -0.03380423 8.03268115] [-0.10500906 0.98900063 -0.10416743 -1.11189674] [ 0.02280715 0.10711402 0.99398512 0.85728505] [ 0. 0. 0. 1. ]] SLAMing on 32.066296756999996 meters Centerline goodness : 0.812206 with order 2 Centerline is valid? [False, False] Translation: X:8.03, Y:-1.11, Z:0.86 [[ 0.99437853 0.10082025 -0.0323514 8.03119236] [-0.10362201 0.98941558 -0.10158386 -1.11158989] [ 0.02176727 0.10436513 0.99430081 0.85512563] [ 0. 0. 0. 1. ]] SLAMing on 32.126296757 meters Centerline goodness : 0.826626 with order 3 Centerline is valid? [False, False] Translation: X:8.03, Y:-1.11, Z:0.85 [[ 0.99445073 0.10092255 -0.02970497 8.02796538] [-0.1033503 0.98994447 -0.096585 -1.11076814] [ 0.01965867 0.09911904 0.99488138 0.85283333] [ 0. 0. 0. 1. ]] SLAMing on 32.186296756999994 meters Centerline goodness : 0.817957 with order 1 Centerline is valid? [False, False] Translation: X:8.03, Y:-1.11, Z:0.86 [[ 0.9947951 0.09720318 -0.03056547 8.02736408] [-0.09984661 0.98975426 -0.10206451 -1.11006872] [ 0.02033131 0.10458514 0.99430809 0.85593639] [ 0. 0. 0. 1. ]] SLAMing on 32.246296756999996 meters Centerline goodness : 0.815452 with order 1 Centerline is valid? [False, False] Translation: X:8.03, Y:-1.11, Z:0.86 [[ 0.99498117 0.09530831 -0.03047623 8.02741858] [-0.09797134 0.98984394 -0.10300772 -1.10804156] [ 0.02034922 0.10547654 0.99421356 0.85584296] [ 0. 0. 0. 1. ]] SLAMing on 32.306296757 meters Centerline goodness : 0.814084 with order 1 Centerline is valid? [False, False] Translation: X:8.02, Y:-1.10, Z:0.86 [[ 0.99471906 0.09530704 -0.03808628 8.02424288] [-0.09840818 0.99105267 -0.09016888 -1.10340743] [ 0.02915178 0.0934407 0.99519797 0.85972893] [ 0. 0. 0. 1. ]] SLAMing on 32.36629675699999 meters Centerline goodness : 0.810887 with order 2 Centerline is valid? [False, False] Translation: X:8.02, Y:-1.10, Z:0.87 [[ 0.99434644 0.09840724 -0.0398896 8.02456966] [-0.10178579 0.99034727 -0.09408473 -1.10215753] [ 0.03024593 0.09761301 0.99476474 0.86641241] [ 0. 0. 0. 1. ]] SLAMing on 32.426296756999996 meters Centerline goodness : 0.827774 with order 3 Centerline is valid? [False, False] Translation: X:8.02, Y:-1.10, Z:0.87 [[ 0.99416659 0.09997461 -0.04047051 8.02467731] [-0.10343289 0.99008597 -0.09503375 -1.10070189] [ 0.03056832 0.09866537 0.99465106 0.86894304] [ 0. 0. 0. 1. ]] SLAMing on 32.486296757 meters Centerline goodness : 0.825778 with order 3 Centerline is valid? [False, False] Translation: X:8.03, Y:-1.10, Z:0.87 [[ 0.9937006 0.10458096 -0.04027333 8.02598047] [-0.10784189 0.99010415 -0.08979921 -1.10127629] [ 0.03048351 0.09357668 0.9951453 0.86783398] [ 0. 0. 0. 1. ]] SLAMing on 32.54629675699999 meters Centerline goodness : 0.827071 with order 3 Centerline is valid? [False, False] Translation: X:8.03, Y:-1.10, Z:0.87 [[ 0.99361851 0.10555498 -0.03975423 8.02556516] [-0.10865454 0.9903365 -0.0861847 -1.10185897] [ 0.03027284 0.08995419 0.99548571 0.86732651] [ 0. 0. 0. 1. ]] SLAMing on 32.606296756999996 meters Centerline goodness : 0.832727 with order 3 Centerline is valid? [False, False] Translation: X:8.02, Y:-1.10, Z:0.87 [[ 0.99389312 0.1027833 -0.04015041 8.02406079] [-0.10605802 0.99024102 -0.09041254 -1.10099099] [ 0.03046568 0.09411868 0.99509473 0.87051191] [ 0. 0. 0. 1. ]] SLAMing on 32.666296757 meters Centerline goodness : 0.837021 with order 3 Centerline is valid? [False, False] Translation: X:8.02, Y:-1.10, Z:0.87 [[ 0.99404203 0.10144629 -0.03986341 8.02265721] [-0.10471974 0.99032062 -0.09109804 -1.1003354 ] [ 0.030236 0.09472976 0.99504375 0.87195588] [ 0. 0. 0. 1. ]] SLAMing on 32.72629675699999 meters Centerline goodness : 0.821081 with order 2 Centerline is valid? [False, False] Translation: X:8.02, Y:-1.10, Z:0.87 [[ 0.99398208 0.10267113 -0.03818714 8.02146563] [-0.10563321 0.99068159 -0.08597446 -1.09959187] [ 0.0290042 0.0894909 0.99556523 0.86970101] [ 0. 0. 0. 1. ]] SLAMing on 32.786296756999995 meters Centerline goodness : 0.823772 with order 1 Centerline is valid? [False, False] Translation: X:8.02, Y:-1.10, Z:0.87 [[ 0.99430104 0.09924976 -0.03892202 8.02081142] [-0.10242393 0.99061726 -0.09048084 -1.09963853] [ 0.02957662 0.09395174 0.99513732 0.87232833] [ 0. 0. 0. 1. ]] SLAMing on 32.846296757 meters Centerline goodness : 0.823417 with order 1 Centerline is valid? [False, False] Translation: X:8.02, Y:-1.10, Z:0.87 [[ 0.99429653 0.09918161 -0.03920995 8.02195535] [-0.10236885 0.99066623 -0.09000572 -1.09936617] [ 0.02991706 0.09350626 0.99516911 0.87174824] [ 0. 0. 0. 1. ]] SLAMing on 32.90629675699999 meters Centerline goodness : 0.825138 with order 1 Centerline is valid? [False, False] Translation: X:8.02, Y:-1.10, Z:0.87 [[ 0.9941519 0.10101231 -0.03819045 8.02094068] [-0.10397391 0.99087569 -0.08576009 -1.09924813] [ 0.02917917 0.08922937 0.9955836 0.87134538] [ 0. 0. 0. 1. ]] SLAMing on 32.966296756999995 meters Centerline goodness : 0.850068 with order 3 Centerline is valid? [False, False] Translation: X:8.02, Y:-1.10, Z:0.87 [[ 0.99386539 0.10318232 -0.03981194 8.02427321] [-0.10627014 0.99066496 -0.08537912 -1.1007662 ] [ 0.03063068 0.08908617 0.99555282 0.87158884] [ 0. 0. 0. 1. ]] SLAMing on 33.026296757 meters Centerline goodness : 0.853288 with order 3 Centerline is valid? [False, False] Translation: X:8.03, Y:-1.10, Z:0.87 [[ 0.99363458 0.10542367 -0.03970111 8.02533087] [-0.10841589 0.99065022 -0.08281386 -1.09925454] [ 0.03059937 0.08659094 0.99577391 0.87103468] [ 0. 0. 0. 1. ]] SLAMing on 33.086296757 meters Centerline goodness : 0.849522 with order 3 Centerline is valid? [False, False] Translation: X:8.02, Y:-1.10, Z:0.87 [[ 0.99340893 0.10792154 -0.03862187 8.0233823 ] [-0.1107105 0.99067873 -0.07936518 -1.09928127] [ 0.02969665 0.08311793 0.99609714 0.87219665] [ 0. 0. 0. 1. ]] SLAMing on 33.146296756999995 meters Centerline goodness : 0.849508 with order 3 Centerline is valid? [False, False] Translation: X:8.03, Y:-1.10, Z:0.87 [[ 0.99360125 0.10527908 -0.04090076 8.02647755] [-0.10842021 0.99053229 -0.08420708 -1.09967904] [ 0.03164828 0.08810273 0.99560851 0.87333415] [ 0. 0. 0. 1. ]] SLAMing on 33.206296757 meters Centerline goodness : 0.825014 with order 1 Centerline is valid? [False, False] Translation: X:8.03, Y:-1.10, Z:0.87 [[ 0.99379001 0.10355274 -0.04072153 8.02506696] [-0.10671112 0.99064322 -0.08508085 -1.10034026] [ 0.03153015 0.08889793 0.99554156 0.87483905] [ 0. 0. 0. 1. ]] SLAMing on 33.266296757 meters Centerline goodness : 0.845003 with order 3 Centerline is valid? [False, False] Translation: X:8.03, Y:-1.10, Z:0.88 [[ 0.99369918 0.10376099 -0.04237446 8.02609119] [-0.10715308 0.99036649 -0.08770655 -1.10143275] [ 0.03286573 0.09169448 0.99524468 0.87811788] [ 0. 0. 0. 1. ]] SLAMing on 33.326296756999994 meters Centerline goodness : 0.829710 with order 1 Centerline is valid? [False, False] Translation: X:8.03, Y:-1.10, Z:0.88 [[ 0.99302982 0.10889492 -0.04509621 8.03164924] [-0.11249683 0.98983307 -0.0870342 -1.10235633] [ 0.03516014 0.09150074 0.99518409 0.87885094] [ 0. 0. 0. 1. ]] SLAMing on 33.386296757 meters Centerline goodness : 0.827396 with order 1 Centerline is valid? [False, False] Translation: X:8.03, Y:-1.11, Z:0.88 [[ 0.99232448 0.1146659 -0.04630187 8.03339495] [-0.11823279 0.98946721 -0.08352038 -1.10523733] [ 0.03623724 0.08835372 0.9954298 0.88120195] [ 0. 0. 0. 1. ]] SLAMing on 33.446296757 meters Centerline goodness : 0.833786 with order 2 Centerline is valid? [False, False] Translation: X:8.04, Y:-1.11, Z:0.88 [[ 0.99206701 0.11622485 -0.04790431 8.0352016 ] [-0.11994888 0.98921686 -0.08403725 -1.10763905] [ 0.03762053 0.08911666 0.99531046 0.88349851] [ 0. 0. 0. 1. ]] SLAMing on 33.506296756999994 meters Centerline goodness : 0.832246 with order 2 Centerline is valid? [False, False] Translation: X:8.04, Y:-1.11, Z:0.88 [[ 0.99200592 0.11655544 -0.04836398 8.03617631] [-0.12032014 0.98917055 -0.08405171 -1.10742365] [ 0.03804354 0.08919896 0.99528701 0.88375484] [ 0. 0. 0. 1. ]] SLAMing on 33.566296756999996 meters Centerline goodness : 0.822009 with order 2 Centerline is valid? [False, False] Translation: X:8.04, Y:-1.11, Z:0.89 [[ 0.99194491 0.11690607 -0.0487674 8.03606807] [-0.1207569 0.98900375 -0.08537772 -1.10558438] [ 0.03824997 0.090579 0.99515445 0.88601369] [ 0. 0. 0. 1. ]] SLAMing on 33.626296757 meters Centerline goodness : 0.826656 with order 2 Centerline is valid? [False, False] Translation: X:8.03, Y:-1.10, Z:0.89 [[ 0.99162258 0.12011745 -0.0475022 8.03315941] [-0.12377242 0.98879577 -0.08344648 -1.10210319] [ 0.0369466 0.08862688 0.99537944 0.88921304] [ 0. 0. 0. 1. ]] SLAMing on 33.686296756999994 meters Centerline goodness : 0.839056 with order 3 Centerline is valid? [False, False] Translation: X:8.03, Y:-1.10, Z:0.89 [[ 0.99095678 0.1258521 -0.04653941 8.03335818] [-0.12920015 0.98856521 -0.07775695 -1.09967347] [ 0.03622137 0.08306668 0.99588551 0.88947689] [ 0. 0. 0. 1. ]] SLAMing on 33.746296756999996 meters Centerline goodness : 0.841519 with order 3 Centerline is valid? [False, False] Translation: X:8.03, Y:-1.10, Z:0.89 [[ 0.99047855 0.12972398 -0.04608623 8.03259841] [-0.13291898 0.98830052 -0.07479719 -1.09987658] [ 0.03584405 0.08021075 0.99613324 0.8912918 ] [ 0. 0. 0. 1. ]] SLAMing on 33.806296757 meters Centerline goodness : 0.827777 with order 1 Centerline is valid? [False, False] Translation: X:8.03, Y:-1.10, Z:0.89 [[ 0.99030489 0.13178425 -0.04392187 8.03028265] [-0.13465625 0.98837881 -0.07053382 -1.097507 ] [ 0.0341162 0.07576434 0.99654195 0.8904084 ] [ 0. 0. 0. 1. ]] SLAMing on 33.86629675699999 meters Centerline goodness : 0.828135 with order 1 Centerline is valid? [False, False] Translation: X:8.03, Y:-1.10, Z:0.89 [[ 0.99010466 0.13384191 -0.04217956 8.0280656 ] [-0.13646676 0.98836781 -0.06712591 -1.09546058] [ 0.03270466 0.07221779 0.99685254 0.89046886] [ 0. 0. 0. 1. ]] SLAMing on 33.926296756999996 meters Centerline goodness : 0.831372 with order 1 Centerline is valid? [False, False] Translation: X:8.03, Y:-1.09, Z:0.89 [[ 0.99002474 0.13416764 -0.04301239 8.02809932] [-0.13692083 0.98816363 -0.06917607 -1.09475153] [ 0.03322209 0.07437531 0.99667678 0.89357187] [ 0. 0. 0. 1. ]] SLAMing on 33.986296757 meters Centerline goodness : 0.833382 with order 1 Centerline is valid? [False, False] Translation: X:8.03, Y:-1.09, Z:0.89 [[ 0.99029117 0.13257493 -0.04180048 8.02565223] [-0.1352429 0.98839058 -0.06923452 -1.09405271] [ 0.03213643 0.07421556 0.99672429 0.8939686 ] [ 0. 0. 0. 1. ]] SLAMing on 34.04629675699999 meters Centerline goodness : 0.834507 with order 1 Centerline is valid? [False, False] Translation: X:8.02, Y:-1.09, Z:0.89 [[ 0.99082289 0.12948182 -0.03878745 8.02110703] [-0.13185782 0.98902149 -0.06670837 -1.09156298] [ 0.0297241 0.07121061 0.99701832 0.8923024 ] [ 0. 0. 0. 1. ]] SLAMing on 34.106296756999996 meters Centerline goodness : 0.835062 with order 1 Centerline is valid? [False, False] Translation: X:8.02, Y:-1.09, Z:0.89 [[ 0.99162418 0.12305743 -0.03922182 8.02028096] [-0.12561531 0.98951436 -0.071289 -1.09211964] [ 0.03003791 0.07561876 0.99668427 0.89285056] [ 0. 0. 0. 1. ]] SLAMing on 34.166296757 meters Centerline goodness : 0.847382 with order 3 Centerline is valid? [False, False] Translation: X:8.02, Y:-1.09, Z:0.89 [[ 0.99179567 0.12168974 -0.03915312 8.01975363] [-0.12423492 0.98971338 -0.07094436 -1.09372836] [ 0.03011717 0.07522649 0.99671156 0.89269998] [ 0. 0. 0. 1. ]] SLAMing on 34.22629675699999 meters Centerline goodness : 0.827181 with order 1 Centerline is valid? [False, False] Translation: X:8.02, Y:-1.09, Z:0.89 [[ 0.992062 0.11521819 -0.05037608 8.01982516] [-0.1184879 0.99065042 -0.0676193 -1.09239044] [ 0.04211411 0.0730515 0.9964386 0.89437492] [ 0. 0. 0. 1. ]] SLAMing on 34.286296756999995 meters Centerline goodness : 0.829925 with order 1 Centerline is valid? [False, False] Translation: X:8.02, Y:-1.09, Z:0.90 [[ 0.99185264 0.11648072 -0.05158081 8.0220237 ] [-0.11986513 0.99044016 -0.0682689 -1.0923344 ] [ 0.04313569 0.07389543 0.99633266 0.89513034] [ 0. 0. 0. 1. ]] SLAMing on 34.346296757 meters Centerline goodness : 0.830013 with order 1 Centerline is valid? [False, False] Translation: X:8.02, Y:-1.09, Z:0.90 [[ 0.99124906 0.12108094 -0.05258056 8.02386492] [-0.1244392 0.99002045 -0.06613917 -1.09346164] [ 0.04404764 0.07210348 0.99642405 0.89668409] [ 0. 0. 0. 1. ]] SLAMing on 34.40629675699999 meters Centerline goodness : 0.833718 with order 1 Centerline is valid? [False, False] Translation: X:8.03, Y:-1.09, Z:0.90 [[ 0.99060701 0.12593759 -0.05326793 8.0251392 ] [-0.12919948 0.98961496 -0.06300577 -1.09446431] [ 0.04477994 0.06929615 0.99659059 0.89838313] [ 0. 0. 0. 1. ]] SLAMing on 34.466296756999995 meters Centerline goodness : 0.834826 with order 1 Centerline is valid? [False, False] Translation: X:8.03, Y:-1.10, Z:0.90 [[ 0.99018537 0.12859584 -0.05473616 8.02683101] [-0.1319714 0.98922972 -0.06330959 -1.09616818] [ 0.04600529 0.06991184 0.99649177 0.90076102] [ 0. 0. 0. 1. ]] SLAMing on 34.526296757 meters Centerline goodness : 0.834679 with order 1 Centerline is valid? [False, False] Translation: X:8.03, Y:-1.10, Z:0.90 [[ 0.99003785 0.12959844 -0.05503913 8.02696817] [-0.13297667 0.98911931 -0.06293012 -1.09677544] [ 0.04628462 0.06962212 0.99649912 0.9019335 ] [ 0. 0. 0. 1. ]] SLAMing on 34.586296757 meters Centerline goodness : 0.836547 with order 1 Centerline is valid? [False, False] Translation: X:8.02, Y:-1.10, Z:0.90 [[ 0.99016763 0.12874028 -0.05471748 8.02465431] [-0.13211457 0.98921037 -0.06331341 -1.09823466] [ 0.04597612 0.06991987 0.99649255 0.90419644] [ 0. 0. 0. 1. ]] SLAMing on 34.646296756999995 meters Centerline goodness : 0.834287 with order 1 Centerline is valid? [False, False] Translation: X:8.03, Y:-1.10, Z:0.90 [[ 0.9903951 0.1264474 -0.05593382 8.02556664] [-0.13001612 0.98934125 -0.06557209 -1.10219217] [ 0.04704622 0.07221458 0.99627893 0.90476067] [ 0. 0. 0. 1. ]] SLAMing on 34.706296757 meters Centerline goodness : 0.832786 with order 1 Centerline is valid? [False, False] Translation: X:8.02, Y:-1.10, Z:0.90 [[ 0.99034817 0.12764558 -0.05401032 8.0249685 ] [-0.13076432 0.98966873 -0.05879193 -1.10453071] [ 0.0459478 0.0652871 0.9968081 0.9004906 ] [ 0. 0. 0. 1. ]] SLAMing on 34.766296757 meters Centerline goodness : 0.830294 with order 1 Centerline is valid? [False, False] Translation: X:8.03, Y:-1.11, Z:0.90 [[ 0.99044987 0.12616319 -0.05560487 8.02688953] [-0.12950454 0.98968517 -0.06125226 -1.10807788] [ 0.04730353 0.06786838 0.99657225 0.90086173] [ 0. 0. 0. 1. ]] SLAMing on 34.826296756999994 meters Centerline goodness : 0.840548 with order 3 Centerline is valid? [False, False] Translation: X:8.03, Y:-1.11, Z:0.90 [[ 0.99121523 0.11907643 -0.05756013 8.02694103] [-0.12296551 0.98997115 -0.06954567 -1.11075639] [ 0.04870162 0.07601264 0.99591678 0.90348798] [ 0. 0. 0. 1. ]] SLAMing on 34.886296757 meters Centerline goodness : 0.829963 with order 2 Centerline is valid? [False, False] Translation: X:8.03, Y:-1.11, Z:0.90 [[ 0.99073119 0.12297999 -0.05768556 8.02875541] [-0.1266754 0.98977956 -0.0654963 -1.11108867] [ 0.04904126 0.07219657 0.99618402 0.90250911] [ 0. 0. 0. 1. ]] SLAMing on 34.946296757 meters Centerline goodness : 0.824207 with order 2 Centerline is valid? [False, False] Translation: X:8.03, Y:-1.12, Z:0.90 [[ 0.98952979 0.13110065 -0.06036062 8.03350598] [-0.13481197 0.98891901 -0.06216852 -1.11592132] [ 0.05154143 0.06965494 0.99623876 0.90449756] [ 0. 0. 0. 1. ]] SLAMing on 35.006296756999994 meters Centerline goodness : 0.823566 with order 2 Centerline is valid? [False, False] Translation: X:8.04, Y:-1.12, Z:0.91 [[ 0.98858897 0.13772383 -0.0610246 8.03530281] [-0.14128288 0.98824304 -0.05843668 -1.11678406] [ 0.05225901 0.06639159 0.99642418 0.9059146 ] [ 0. 0. 0. 1. ]] SLAMing on 35.066296756999996 meters Centerline goodness : 0.823487 with order 2 Centerline is valid? [False, False] Translation: X:8.03, Y:-1.12, Z:0.91 [[ 0.98817713 0.14099174 -0.06022698 8.034353 ] [-0.1443109 0.98801117 -0.05484784 -1.11635434] [ 0.05177184 0.06289079 0.99667669 0.90650695] [ 0. 0. 0. 1. ]] SLAMing on 35.126296757 meters Centerline goodness : 0.824570 with order 2 Centerline is valid? [False, False] Translation: X:8.04, Y:-1.12, Z:0.91 [[ 0.98784192 0.1425369 -0.06206103 8.03628705] [-0.14607674 0.98764095 -0.05680615 -1.11568909] [ 0.05319704 0.06518117 0.99645446 0.90942265] [ 0. 0. 0. 1. ]] SLAMing on 35.186296756999994 meters Centerline goodness : 0.824789 with order 2 Centerline is valid? [False, False] Translation: X:8.03, Y:-1.12, Z:0.91 [[ 0.98818892 0.14044791 -0.06129479 8.03353025] [-0.14398187 0.98790051 -0.05763514 -1.11594634] [ 0.05245842 0.06577975 0.99645428 0.91077438] [ 0. 0. 0. 1. ]] SLAMing on 35.246296756999996 meters Centerline goodness : 0.824946 with order 2 Centerline is valid? [False, False] Translation: X:8.03, Y:-1.12, Z:0.91 [[ 0.98840503 0.13939442 -0.06020549 8.03253019] [-0.14275734 0.98818856 -0.05571096 -1.11784648] [ 0.05172858 0.06365977 0.99663012 0.90861463] [ 0. 0. 0. 1. ]] SLAMing on 35.306296757 meters Centerline goodness : 0.827584 with order 2 Centerline is valid? [False, False] Translation: X:8.03, Y:-1.12, Z:0.91 [[ 0.9886569 0.13765025 -0.06008272 8.0318811 ] [-0.14100586 0.98843985 -0.05571362 -1.11879777] [ 0.05171916 0.06355367 0.99663738 0.90857488] [ 0. 0. 0. 1. ]] SLAMing on 35.36629675699999 meters Centerline goodness : 0.826626 with order 2 Centerline is valid? [False, False] Translation: X:8.03, Y:-1.12, Z:0.91 [[ 0.98864075 0.13781257 -0.05997642 8.03148781] [-0.14110202 0.98848997 -0.05456917 -1.12052202] [ 0.05176577 0.06241209 0.9967071 0.90864401] [ 0. 0. 0. 1. ]] SLAMing on 35.426296756999996 meters Centerline goodness : 0.825330 with order 2 Centerline is valid? [False, False] Translation: X:8.03, Y:-1.12, Z:0.91 [[ 0.98856306 0.13805442 -0.06069637 8.0327115 ] [-0.1414156 0.98841706 -0.05507572 -1.12051239] [ 0.05238989 0.06302924 0.99663565 0.90922371] [ 0. 0. 0. 1. ]] SLAMing on 35.486296757 meters Centerline goodness : 0.826806 with order 2 Centerline is valid? [False, False] Translation: X:8.03, Y:-1.12, Z:0.91 [[ 0.98863723 0.13801854 -0.05955929 8.0297866 ] [-0.1413358 0.98839811 -0.05561812 -1.11700488] [ 0.05119196 0.063404 0.99667413 0.91116962] [ 0. 0. 0. 1. ]] SLAMing on 35.54629675699999 meters Centerline goodness : 0.824466 with order 2 Centerline is valid? [False, False] Translation: X:8.03, Y:-1.12, Z:0.91 [[ 0.98796203 0.14286899 -0.05932519 8.03105578] [-0.14596198 0.9879464 -0.05154628 -1.11659888] [ 0.05124575 0.05958499 0.99690697 0.91084299] [ 0. 0. 0. 1. ]] SLAMing on 35.606296756999996 meters Centerline goodness : 0.825445 with order 2 Centerline is valid? [False, False] Translation: X:8.03, Y:-1.12, Z:0.91 [[ 0.98733976 0.14636348 -0.06113863 8.03400814] [-0.14958033 0.98739025 -0.05182872 -1.11699667] [ 0.05278186 0.06031769 0.99678275 0.91284803] [ 0. 0. 0. 1. ]] SLAMing on 35.666296757 meters Centerline goodness : 0.822919 with order 2 Centerline is valid? [False, False] Translation: X:8.03, Y:-1.12, Z:0.91 [[ 0.98667757 0.15117081 -0.06012291 8.03412717] [-0.15406698 0.98694925 -0.04684601 -1.11532945] [ 0.05225651 0.05548487 0.99709111 0.91226749] [ 0. 0. 0. 1. ]] SLAMing on 35.72629675699999 meters Centerline goodness : 0.825014 with order 2 Centerline is valid? [False, False] Translation: X:8.03, Y:-1.12, Z:0.91 [[ 0.98653999 0.15202453 -0.06022778 8.03398057] [-0.15490931 0.98683313 -0.04651314 -1.11553315] [ 0.05236363 0.05521691 0.99710037 0.91305642] [ 0. 0. 0. 1. ]] SLAMing on 35.786296756999995 meters Centerline goodness : 0.822119 with order 2 Centerline is valid? [False, False] Translation: X:8.04, Y:-1.12, Z:0.92 [[ 0.98693808 0.14807512 -0.06345859 8.03618931] [-0.15148486 0.98705006 -0.05276861 -1.12070593] [ 0.05482309 0.06169237 0.99658842 0.91566735] [ 0. 0. 0. 1. ]] SLAMing on 35.846296757 meters Centerline goodness : 0.815300 with order 2 Centerline is valid? [False, False] Translation: X:8.04, Y:-1.12, Z:0.91 [[ 0.98750656 0.14444643 -0.0629764 8.03739316] [-0.14773418 0.98770635 -0.05109569 -1.12342258] [ 0.0548216 0.05976109 0.99670618 0.91126642] [ 0. 0. 0. 1. ]] SLAMing on 35.90629675699999 meters Centerline goodness : 0.816834 with order 2 Centerline is valid? [False, False] Translation: X:8.04, Y:-1.12, Z:0.91 [[ 0.98786258 0.1426515 -0.06146609 8.03588357] [-0.14574152 0.98810339 -0.04910289 -1.1230527 ] [ 0.05373025 0.05746506 0.99690061 0.9091105 ] [ 0. 0. 0. 1. ]] SLAMing on 35.966296756999995 meters Centerline goodness : 0.807701 with order 2 Centerline is valid? [False, False] Translation: X:8.03, Y:-1.12, Z:0.91 [[ 0.98834933 0.13848987 -0.06313597 8.0348679 ] [-0.14203535 0.98829802 -0.05561453 -1.12418951] [ 0.0546951 0.06393413 0.99645415 0.9134988 ] [ 0. 0. 0. 1. ]] SLAMing on 36.026296757 meters Centerline goodness : 0.808853 with order 2 Centerline is valid? [False, False] Translation: X:8.03, Y:-1.12, Z:0.92 [[ 0.98883564 0.13472086 -0.06367388 8.03365523] [-0.13855576 0.98852217 -0.06021803 -1.12379258] [ 0.05483041 0.06836812 0.99615231 0.91567594] [ 0. 0. 0. 1. ]] SLAMing on 36.08629675699999 meters Centerline goodness : 0.803328 with order 2 Centerline is valid? [False, False] Translation: X:8.03, Y:-1.12, Z:0.91 [[ 0.98869266 0.13653506 -0.06200809 8.03470903] [-0.13993759 0.98867024 -0.05430131 -1.12262224] [ 0.05389152 0.06236457 0.99659739 0.91147329] [ 0. 0. 0. 1. ]] SLAMing on 36.146296756999995 meters Centerline goodness : 0.806395 with order 2 Centerline is valid? [False, False] Translation: X:8.04, Y:-1.12, Z:0.91 [[ 0.98840497 0.13800376 -0.06332908 8.03576896] [-0.14154806 0.98838178 -0.05536798 -1.12325656] [ 0.05495232 0.0636901 0.99645563 0.91407211] [ 0. 0. 0. 1. ]] SLAMing on 36.206296757 meters Centerline goodness : 0.819402 with order 3 Centerline is valid? [False, False] Translation: X:8.03, Y:-1.12, Z:0.92 [[ 0.98797847 0.14140369 -0.06247824 8.03338351] [-0.14476744 0.98804276 -0.05304614 -1.12199127] [ 0.05423025 0.06145326 0.99663563 0.916931 ] [ 0. 0. 0. 1. ]] SLAMing on 36.266296757 meters Centerline goodness : 0.822034 with order 3 Centerline is valid? [False, False] Translation: X:8.04, Y:-1.12, Z:0.91 [[ 0.98690636 0.14893731 -0.06191539 8.03667186] [-0.15180389 0.98740917 -0.04448262 -1.12137311] [ 0.0545107 0.05329917 0.99708966 0.91431255] [ 0. 0. 0. 1. ]] SLAMing on 36.326296756999994 meters Centerline goodness : 0.800448 with order 1 Centerline is valid? [False, False] Translation: X:8.04, Y:-1.12, Z:0.92 [[ 0.9864524 0.15104243 -0.06401449 8.03964458] [-0.1540582 0.98703169 -0.04510562 -1.12360772] [ 0.05637147 0.05435651 0.9969291 0.91611418] [ 0. 0. 0. 1. ]] SLAMing on 36.386296757 meters Centerline goodness : 0.805927 with order 2 Centerline is valid? [False, False] Translation: X:8.04, Y:-1.13, Z:0.92 [[ 0.98674446 0.14807996 -0.06639053 8.04184219] [-0.1514645 0.98723728 -0.04920421 -1.12547133] [ 0.05825705 0.05860779 0.99657977 0.91823821] [ 0. 0. 0. 1. ]] SLAMing on 36.446296757 meters Centerline goodness : 0.809469 with order 1 Centerline is valid? [False, False] Translation: X:8.04, Y:-1.12, Z:0.92 [[ 0.9872875 0.14540714 -0.06418845 8.03991691] [-0.14852267 0.98780326 -0.04675184 -1.12237266] [ 0.05660751 0.05569094 0.99684207 0.91575139] [ 0. 0. 0. 1. ]] SLAMing on 36.506296756999994 meters Centerline goodness : 0.806868 with order 2 Centerline is valid? [False, False] Translation: X:8.04, Y:-1.13, Z:0.92 [[ 0.98698931 0.14628081 -0.06673842 8.04284673] [-0.14967015 0.98752333 -0.04895424 -1.12581896] [ 0.05874468 0.05830606 0.99656885 0.91820711] [ 0. 0. 0. 1. ]] SLAMing on 36.566296756999996 meters Centerline goodness : 0.805534 with order 2 Centerline is valid? [False, False] Translation: X:8.04, Y:-1.12, Z:0.92 [[ 0.9871074 0.14562348 -0.06642871 8.04288302] [-0.14900959 0.98761031 -0.04921401 -1.12298828] [ 0.05843897 0.05847803 0.99657674 0.91828112] [ 0. 0. 0. 1. ]] SLAMing on 36.626296757 meters Centerline goodness : 0.826196 with order 3 Centerline is valid? [False, False] Translation: X:8.04, Y:-1.12, Z:0.92 [[ 0.98697308 0.14716652 -0.06500886 8.0419016 ] [-0.15028422 0.98757328 -0.04597463 -1.11953276] [ 0.05743509 0.05514553 0.99682505 0.91774129] [ 0. 0. 0. 1. ]] SLAMing on 36.686296756999994 meters Centerline goodness : 0.803157 with order 2 Centerline is valid? [False, False] Translation: X:8.04, Y:-1.12, Z:0.92 [[ 0.98705787 0.1462719 -0.06573647 8.04132292] [-0.14961466 0.98752146 -0.04916121 -1.11793428] [ 0.05772527 0.05836009 0.99662525 0.920878 ] [ 0. 0. 0. 1. ]] SLAMing on 36.746296756999996 meters Centerline goodness : 0.825924 with order 3 Centerline is valid? [False, False] Translation: X:8.04, Y:-1.12, Z:0.92 [[ 0.98669231 0.14791263 -0.06752887 8.0446185 ] [-0.15142423 0.98719264 -0.05021349 -1.11746467] [ 0.05923679 0.05977077 0.99645294 0.92186686] [ 0. 0. 0. 1. ]] SLAMing on 36.806296757 meters Centerline goodness : 0.825334 with order 3 Centerline is valid? [False, False] Translation: X:8.05, Y:-1.11, Z:0.92 [[ 0.98578665 0.15414144 -0.06682135 8.04570635] [-0.15729265 0.9865373 -0.04475689 -1.11416666] [ 0.05902287 0.05463126 0.99676062 0.92193679] [ 0. 0. 0. 1. ]] SLAMing on 36.86629675699999 meters Centerline goodness : 0.806435 with order 2 Centerline is valid? [False, False] Translation: X:8.05, Y:-1.11, Z:0.93 [[ 0.98466725 0.16049066 -0.0683605 8.04812102] [-0.16364313 0.9855693 -0.04329057 -1.11218274] [ 0.06042628 0.05381354 0.99672101 0.92555404] [ 0. 0. 0. 1. ]] SLAMing on 36.926296756999996 meters Centerline goodness : 0.832893 with order 3 Centerline is valid? [False, False] Translation: X:8.05, Y:-1.11, Z:0.93 [[ 0.98394876 0.15978037 -0.07946737 8.05267894] [-0.16330343 0.98576597 -0.03996803 -1.11000297] [ 0.07195012 0.05230379 0.99603589 0.93313925] [ 0. 0. 0. 1. ]] SLAMing on 36.986296757 meters Centerline goodness : 0.811113 with order 1 Centerline is valid? [False, False] Translation: X:8.05, Y:-1.11, Z:0.93 [[ 0.98329673 0.16371509 -0.07952923 8.05342178] [-0.16702928 0.98525987 -0.03693529 -1.10936855] [ 0.0723101 0.04960206 0.99614802 0.93425155] [ 0. 0. 0. 1. ]] SLAMing on 37.04629675699999 meters Centerline goodness : 0.816049 with order 1 Centerline is valid? [False, False] Translation: X:8.05, Y:-1.11, Z:0.93 [[ 0.98281465 0.16712292 -0.07839198 8.05266752] [-0.17011217 0.98486872 -0.03309762 -1.10825579] [ 0.07167443 0.04586426 0.99637305 0.93429642] [ 0. 0. 0. 1. ]] SLAMing on 37.106296756999996 meters Centerline goodness : 0.815115 with order 1 Centerline is valid? [False, False] Translation: X:8.05, Y:-1.10, Z:0.94 [[ 0.98310647 0.16570449 -0.07774111 8.05072366] [-0.16873865 0.98506769 -0.03418935 -1.10477594] [ 0.07091493 0.0467297 0.99638718 0.9358932 ] [ 0. 0. 0. 1. ]] SLAMing on 37.166296757 meters Centerline goodness : 0.814415 with order 1 Centerline is valid? [False, False] Translation: X:8.05, Y:-1.10, Z:0.94 [[ 0.98366901 0.16138792 -0.07968201 8.0518846 ] [-0.16490674 0.98550937 -0.03971209 -1.10448777] [ 0.07211832 0.05220366 0.99602898 0.93786048] [ 0. 0. 0. 1. ]] SLAMing on 37.22629675699999 meters Centerline goodness : 0.840897 with order 3 Centerline is valid? [False, False] Translation: X:8.05, Y:-1.11, Z:0.94 [[ 0.98484045 0.15428502 -0.07928066 8.05017853] [-0.15795149 0.98654336 -0.04223174 -1.1061615 ] [ 0.07169808 0.05411403 0.99595736 0.93663713] [ 0. 0. 0. 1. ]] SLAMing on 37.286296756999995 meters Centerline goodness : 0.819050 with order 1 Centerline is valid? [False, False] Translation: X:8.05, Y:-1.11, Z:0.93 [[ 0.98562871 0.15037917 -0.07695558 8.04801502] [-0.15364566 0.98737895 -0.03841635 -1.10902755] [ 0.0702073 0.04968815 0.99629414 0.93216867] [ 0. 0. 0. 1. ]] SLAMing on 37.346296757 meters Centerline goodness : 0.817050 with order 1 Centerline is valid? [False, False] Translation: X:8.05, Y:-1.11, Z:0.93 [[ 0.98619925 0.14729704 -0.07559511 8.04504129] [-0.15038847 0.98793641 -0.0369453 -1.11173318] [ 0.06924123 0.04780406 0.99645392 0.93193116] [ 0. 0. 0. 1. ]] SLAMing on 37.40629675699999 meters Centerline goodness : 0.816393 with order 2 Centerline is valid? [False, False] Translation: X:8.05, Y:-1.12, Z:0.94 [[ 0.98636844 0.14433226 -0.07902847 8.04754093] [-0.14803782 0.98803769 -0.04320107 -1.11678318] [ 0.0718478 0.05431138 0.99593582 0.93528198] [ 0. 0. 0. 1. ]] SLAMing on 37.466296756999995 meters Centerline goodness : 0.817850 with order 2 Centerline is valid? [False, False] Translation: X:8.05, Y:-1.12, Z:0.94 [[ 0.98593258 0.14669088 -0.08011701 8.04951832] [-0.1504164 0.98770436 -0.04260277 -1.11774703] [ 0.07288249 0.05405438 0.99587462 0.9360252 ] [ 0. 0. 0. 1. ]] SLAMing on 37.526296757 meters Centerline goodness : 0.838774 with order 3 Centerline is valid? [False, False] Translation: X:8.05, Y:-1.12, Z:0.93 [[ 0.98505005 0.15203059 -0.08101291 8.0541894 ] [-0.15546693 0.98711336 -0.03791106 -1.1205311 ] [ 0.07420529 0.04993912 0.9959918 0.93320253] [ 0. 0. 0. 1. ]] SLAMing on 37.58629675699999 meters Centerline goodness : 0.837104 with order 3 Centerline is valid? [False, False] Translation: X:8.06, Y:-1.13, Z:0.94 [[ 0.98458039 0.15225105 -0.08614568 8.06115191] [-0.15639801 0.98673156 -0.04359471 -1.12609306] [ 0.07836532 0.05639551 0.9953283 0.93538121] [ 0. 0. 0. 1. ]] SLAMing on 37.646296756999995 meters Centerline goodness : 0.833543 with order 3 Centerline is valid? [False, False] Translation: X:8.07, Y:-1.13, Z:0.94 [[ 0.98423886 0.15245572 -0.08961647 8.06645329] [-0.15704155 0.98649544 -0.04652626 -1.1308685 ] [ 0.08131304 0.05986646 0.99488904 0.93593811] [ 0. 0. 0. 1. ]] SLAMing on 37.706296757 meters Centerline goodness : 0.809570 with order 2 Centerline is valid? [False, False] Translation: X:8.07, Y:-1.14, Z:0.93 [[ 0.98372364 0.15497577 -0.09094123 8.07057829] [-0.15943051 0.98623201 -0.0439129 -1.13574428] [ 0.08288371 0.05769696 0.99488761 0.933622 ] [ 0. 0. 0. 1. ]] SLAMing on 37.766296757 meters Centerline goodness : 0.806648 with order 2 Centerline is valid? [False, False] Translation: X:8.07, Y:-1.14, Z:0.94 [[ 0.98361904 0.15511548 -0.09183016 8.06989653] [-0.15960576 0.9862124 -0.04371609 -1.14035384] [ 0.083783 0.0576566 0.99481462 0.93591694] [ 0. 0. 0. 1. ]] SLAMing on 37.826296756999994 meters Centerline goodness : 0.812851 with order 2 Centerline is valid? [False, False] Translation: X:8.07, Y:-1.15, Z:0.94 [[ 0.98424999 0.15561337 -0.08388349 8.07328693] [-0.15986238 0.98604201 -0.04653143 -1.15334192] [ 0.07547174 0.05920838 0.99538856 0.93791843] [ 0. 0. 0. 1. ]] SLAMing on 37.886296757 meters Centerline goodness : 0.822862 with order 3 Centerline is valid? [False, False] Translation: X:8.10, Y:-1.17, Z:0.94 [[ 0.98524671 0.15360475 -0.07546195 8.0973585 ] [-0.15614703 0.98730811 -0.02899647 -1.16768352] [ 0.0700502 0.04035184 0.99672699 0.94423564] [ 0. 0. 0. 1. ]] SLAMing on 37.946296757 meters Centerline goodness : 0.807430 with order 2 Centerline is valid? [False, False] Translation: X:8.12, Y:-1.18, Z:0.95 [[ 0.98566273 0.1532892 -0.07050823 8.11773419] [-0.15472734 0.98783755 -0.01537613 -1.18001303] [ 0.06729368 0.02606523 0.99739268 0.94591341] [ 0. 0. 0. 1. ]] SLAMing on 38.006296756999994 meters Centerline goodness : 0.807027 with order 2 Centerline is valid? [False, False] Translation: X:8.12, Y:-1.19, Z:0.95 [[ 0.98545351 0.154625 -0.07051584 8.11742667] [-0.15592727 0.98767873 -0.01331984 -1.18655313] [ 0.06758742 0.02412143 0.99742173 0.94589418] [ 0. 0. 0. 1. ]] SLAMing on 38.066296756999996 meters Centerline goodness : 0.808658 with order 1 Centerline is valid? [False, False] Translation: X:8.12, Y:-1.19, Z:0.95 [[ 0.98490747 0.15818254 -0.07025359 8.11892785] [-0.15916393 0.98721503 -0.00856273 -1.19015755] [ 0.06800093 0.01961533 0.99749241 0.94580802] [ 0. 0. 0. 1. ]] SLAMing on 38.126296757 meters Centerline goodness : 0.810060 with order 1 Centerline is valid? [False, False] Translation: X:8.12, Y:-1.20, Z:0.95 [[ 9.84817319e-01 1.58725944e-01 -7.02916967e-02 8.11800654e+00] [-1.59614582e-01 9.87153332e-01 -7.17525017e-03 -1.19604122e+00] [ 6.82497843e-02 1.82858904e-02 9.97500673e-01 9.46860028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.186296756999994 meters Centerline goodness : 0.810603 with order 1 Centerline is valid? [False, False] Translation: X:8.12, Y:-1.20, Z:0.94 [[ 9.84265249e-01 1.61940352e-01 -7.06911736e-02 8.12203603e+00] [-1.62599762e-01 9.86685405e-01 -3.63712975e-03 -1.19893673e+00] [ 6.91609512e-02 1.50742684e-02 9.97491619e-01 9.44193114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.246296756999996 meters Centerline goodness : 0.810060 with order 1 Centerline is valid? [False, False] Translation: X:8.12, Y:-1.20, Z:0.94 [[ 9.82989943e-01 1.69784295e-01 -7.00290336e-02 8.12412351e+00] [-1.69875378e-01 9.85454362e-01 4.69642960e-03 -1.19956574e+00] [ 6.98077966e-02 7.27966549e-03 9.97533898e-01 9.44458779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.306296757 meters Centerline goodness : 0.807970 with order 2 Centerline is valid? [False, False] Translation: X:8.13, Y:-1.20, Z:0.95 [[ 9.82717019e-01 1.73838299e-01 -6.36200157e-02 8.13147692e+00] [-1.74267048e-01 9.84697685e-01 -1.21067810e-03 -1.20131892e+00] [ 6.24360199e-02 1.22766263e-02 9.97973461e-01 9.45043936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.36629675699999 meters Centerline goodness : 0.813151 with order 1 Centerline is valid? [False, False] Translation: X:8.13, Y:-1.20, Z:0.95 [[ 9.82666961e-01 1.74115312e-01 -6.36357007e-02 8.13081976e+00] [-1.74501681e-01 9.84656738e-01 -5.22047410e-04 -1.20255272e+00] [ 6.25684250e-02 1.16175355e-02 9.97973058e-01 9.46323348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.426296756999996 meters Centerline goodness : 0.809397 with order 2 Centerline is valid? [False, False] Translation: X:8.12, Y:-1.20, Z:0.94 [[ 9.83894079e-01 1.69600777e-01 -5.64625422e-02 8.12392861e+00] [-1.69795838e-01 9.85478323e-01 1.35965916e-03 -1.19678288e+00] [ 5.58732107e-02 8.24934407e-03 9.98403792e-01 9.41370352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.486296757 meters Centerline goodness : 0.810279 with order 2 Centerline is valid? [False, False] Translation: X:8.12, Y:-1.20, Z:0.94 [[ 9.83867216e-01 1.69589504e-01 -5.69622856e-02 8.12345296e+00] [-1.69741990e-01 9.85486113e-01 2.18604328e-03 -1.19996030e+00] [ 5.65062714e-02 7.51811539e-03 9.98373938e-01 9.43708731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.54629675699999 meters Centerline goodness : 0.807660 with order 2 Centerline is valid? [False, False] Translation: X:8.13, Y:-1.20, Z:0.94 [[ 9.83394640e-01 1.72376947e-01 -5.67553572e-02 8.12557568e+00] [-1.72363735e-01 9.85019830e-01 5.16494948e-03 -1.19695006e+00] [ 5.67954705e-02 4.70338170e-03 9.98374756e-01 9.43307618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.606296756999996 meters Centerline goodness : 0.804083 with order 2 Centerline is valid? [False, False] Translation: X:8.13, Y:-1.19, Z:0.94 [[ 9.83088402e-01 1.74016752e-01 -5.70557891e-02 8.12984996e+00] [-1.73875870e-01 9.84739301e-01 7.46258201e-03 -1.19390570e+00] [ 5.74836922e-02 2.58424713e-03 9.98343101e-01 9.41656215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.666296757 meters Centerline goodness : 0.814734 with order 2 Centerline is valid? [False, False] Translation: X:8.13, Y:-1.20, Z:0.94 [[ 9.83205312e-01 1.72990395e-01 -5.81518572e-02 8.13103741e+00] [-1.72888971e-01 9.84917783e-01 6.80911234e-03 -1.19784066e+00] [ 5.84527093e-02 3.35905930e-03 9.98284527e-01 9.42162757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.72629675699999 meters Centerline goodness : 0.809603 with order 2 Centerline is valid? [False, False] Translation: X:8.14, Y:-1.19, Z:0.94 [[ 9.82133849e-01 1.79103779e-01 -5.77489332e-02 8.13599538e+00] [-1.78668712e-01 9.83827926e-01 1.26532080e-02 -1.19238030e+00] [ 5.90812505e-02 -2.10921635e-03 9.98250949e-01 9.39583240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.786296756999995 meters Centerline goodness : 0.807823 with order 2 Centerline is valid? [False, False] Translation: X:8.14, Y:-1.19, Z:0.95 [[ 9.81666127e-01 1.76796829e-01 -7.12355027e-02 8.13751467e+00] [-1.76471507e-01 9.84245562e-01 1.08849269e-02 -1.18502313e+00] [ 7.20376479e-02 1.88567251e-03 9.97400131e-01 9.45691429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.846296757 meters Centerline goodness : 0.813053 with order 2 Centerline is valid? [False, False] Translation: X:8.15, Y:-1.19, Z:0.95 [[ 9.81534146e-01 1.79696336e-01 -6.55739831e-02 8.14553421e+00] [-1.79875464e-01 9.83684152e-01 3.21053186e-03 -1.18663500e+00] [ 6.50810087e-02 8.64390398e-03 9.97842545e-01 9.45406028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.90629675699999 meters Centerline goodness : 0.815160 with order 2 Centerline is valid? [False, False] Translation: X:8.15, Y:-1.18, Z:0.95 [[ 9.80822711e-01 1.78966029e-01 -7.71878855e-02 8.14536504e+00] [-1.79202603e-01 9.83804432e-01 3.90721727e-03 -1.17690609e+00] [ 7.66370430e-02 9.99998253e-03 9.97008909e-01 9.47639373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.966296756999995 meters Centerline goodness : 0.823765 with order 3 Centerline is valid? [False, False] Translation: X:8.15, Y:-1.17, Z:0.95 [[ 9.80087862e-01 1.77345209e-01 -8.93110292e-02 8.14626057e+00] [-1.77494304e-01 9.84101446e-01 6.33364253e-03 -1.16922977e+00] [ 8.90143542e-02 9.64467282e-03 9.95983647e-01 9.50884156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.026296757 meters Centerline goodness : 0.826894 with order 2 Centerline is valid? [False, False] Translation: X:8.15, Y:-1.17, Z:0.95 [[ 9.80193665e-01 1.75301697e-01 -9.21395337e-02 8.14793754e+00] [-1.76108954e-01 9.84370472e-01 -6.41060654e-04 -1.16589982e+00] [ 9.05870573e-02 1.68549605e-02 9.95745899e-01 9.54968763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.08629675699999 meters Centerline goodness : 0.831771 with order 3 Centerline is valid? [False, False] Translation: X:8.15, Y:-1.16, Z:0.95 [[ 9.81172439e-01 1.69879034e-01 -9.18790447e-02 8.14715735e+00] [-1.71022677e-01 9.85256060e-01 -4.66254105e-03 -1.16138338e+00] [ 8.97323176e-02 2.02881570e-02 9.95759259e-01 9.54499776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.146296756999995 meters Centerline goodness : 0.813025 with order 2 Centerline is valid? [False, False] Translation: X:8.15, Y:-1.16, Z:0.95 [[ 9.80844920e-01 1.72704268e-01 -9.00915010e-02 8.14720907e+00] [-1.73455169e-01 9.84841632e-01 -5.13569673e-04 -1.15723080e+00] [ 8.86371652e-02 1.61305688e-02 9.95933360e-01 9.52408345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.206296757 meters Centerline goodness : 0.811121 with order 2 Centerline is valid? [False, False] Translation: X:8.15, Y:-1.16, Z:0.95 [[ 9.81162123e-01 1.69801146e-01 -9.21328316e-02 8.14964484e+00] [-1.71017357e-01 9.85253151e-01 -5.41217126e-03 -1.15550827e+00] [ 8.98551698e-02 2.10665308e-02 9.95732017e-01 9.53230101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.266296757 meters Centerline goodness : 0.816673 with order 2 Centerline is valid? [False, False] Translation: X:8.15, Y:-1.16, Z:0.95 [[ 0.9816849 0.16562826 -0.09413842 8.15257032] [-0.16723725 0.98587175 -0.00941236 -1.15772466] [ 0.09124945 0.02498342 0.99551462 0.95241126] [ 0. 0. 0. 1. ]] SLAMing on 39.326296756999994 meters Centerline goodness : 0.813533 with order 2 Centerline is valid? [False, False] Translation: X:8.15, Y:-1.16, Z:0.95 [[ 9.81802744e-01 1.65689313e-01 -9.27923700e-02 8.15411523e+00] [-1.66958313e-01 9.85945519e-01 -6.02952559e-03 -1.15606591e+00] [ 9.04891934e-02 2.14122623e-02 9.95667224e-01 9.47959136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.386296757 meters Centerline goodness : 0.813542 with order 2 Centerline is valid? [False, False] Translation: X:8.16, Y:-1.16, Z:0.95 [[ 9.81645136e-01 1.65886946e-01 -9.40975501e-02 8.15709129e+00] [-1.67234399e-01 9.85895313e-01 -6.56416286e-03 -1.15691017e+00] [ 9.16814247e-02 2.21800258e-02 9.95541342e-01 9.47310149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.446296757 meters Centerline goodness : 0.817135 with order 2 Centerline is valid? [False, False] Translation: X:8.16, Y:-1.16, Z:0.95 [[ 0.98140761 0.16514596 -0.09780549 8.15999678] [-0.16709253 0.98586818 -0.01200067 -1.1610085 ] [ 0.09444146 0.02812011 0.99513319 0.95105093] [ 0. 0. 0. 1. ]] SLAMing on 39.506296756999994 meters Centerline goodness : 0.815569 with order 2 Centerline is valid? [False, False] Translation: X:8.16, Y:-1.16, Z:0.95 [[ 9.81088656e-01 1.67663827e-01 -9.67155101e-02 8.16103688e+00] [-1.69215171e-01 9.85546592e-01 -8.00876679e-03 -1.15945727e+00] [ 9.39748609e-02 2.42230418e-02 9.95279845e-01 9.48618730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.566296756999996 meters Centerline goodness : 0.812342 with order 2 Centerline is valid? [False, False] Translation: X:8.16, Y:-1.16, Z:0.95 [[ 9.80785130e-01 1.69825203e-01 -9.60204587e-02 8.16073222e+00] [-1.71153388e-01 9.85227854e-01 -5.70897020e-03 -1.15900565e+00] [ 9.36325035e-02 2.20335000e-02 9.95362989e-01 9.48298801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.626296757 meters Centerline goodness : 0.811979 with order 2 Centerline is valid? [False, False] Translation: X:8.16, Y:-1.16, Z:0.95 [[ 0.9811577 0.16606247 -0.09875634 8.16027396] [-0.16816334 0.98566961 -0.01328544 -1.16141569] [ 0.09513491 0.02964231 0.99502296 0.95327373] [ 0. 0. 0. 1. ]] SLAMing on 39.686296756999994 meters Centerline goodness : 0.809121 with order 2 Centerline is valid? [False, False] Translation: X:8.16, Y:-1.16, Z:0.95 [[ 0.98118756 0.16742012 -0.09613258 8.15870586] [-0.1690764 0.98555915 -0.00929167 -1.15869009] [ 0.09318873 0.02537063 0.99532517 0.95038871] [ 0. 0. 0. 1. ]] SLAMing on 39.746296756999996 meters Centerline goodness : 0.811060 with order 2 Centerline is valid? [False, False] Translation: X:8.16, Y:-1.16, Z:0.95 [[ 0.9808824 0.16848312 -0.09738149 8.1609605 ] [-0.17024399 0.98535115 -0.01000495 -1.15904169] [ 0.0942693 0.02639229 0.99519684 0.95072014] [ 0. 0. 0. 1. ]] SLAMing on 39.806296757 meters Centerline goodness : 0.807914 with order 2 Centerline is valid? [False, False] Translation: X:8.16, Y:-1.16, Z:0.95 [[ 0.98076339 0.1687288 -0.09815176 8.16142604] [-0.17063991 0.98526806 -0.01135258 -1.15864835] [ 0.09479029 0.0278828 0.9951067 0.95226984] [ 0. 0. 0. 1. ]] SLAMing on 39.86629675699999 meters Centerline goodness : 0.806007 with order 2 Centerline is valid? [False, False] Translation: X:8.16, Y:-1.16, Z:0.95 [[ 9.80464201e-01 1.71623911e-01 -9.60998606e-02 8.15933997e+00] [-1.73107516e-01 9.84876196e-01 -7.25721666e-03 -1.15638581e+00] [ 9.34009532e-02 2.37510493e-02 9.95345241e-01 9.51776102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.926296756999996 meters Centerline goodness : 0.808532 with order 2 Centerline is valid? [False, False] Translation: X:8.16, Y:-1.16, Z:0.95 [[ 9.80597386e-01 1.70809997e-01 -9.61910192e-02 8.15869398e+00] [-1.72328182e-01 9.85009954e-01 -7.64122541e-03 -1.15745089e+00] [ 9.34439137e-02 2.40693891e-02 9.95333562e-01 9.52484230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.986296757 meters Centerline goodness : 0.808898 with order 2 Centerline is valid? [False, False] Translation: X:8.16, Y:-1.16, Z:0.95 [[ 9.80729536e-01 1.70572184e-01 -9.52612547e-02 8.15940578e+00] [-1.71879454e-01 9.85101904e-01 -5.62951181e-03 -1.15710973e+00] [ 9.28818053e-02 2.18944810e-02 9.95436388e-01 9.49599958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.04629675699999 meters Centerline goodness : 0.831590 with order 3 Centerline is valid? [False, False] Translation: X:8.16, Y:-1.16, Z:0.95 [[ 0.98125506 0.1669309 -0.09629426 8.15985496] [-0.16862924 0.98563163 -0.00971935 -1.15638241] [ 0.09328821 0.02577519 0.99530546 0.95033517] [ 0. 0. 0. 1. ]] SLAMing on 40.106296756999996 meters Centerline goodness : 0.820207 with order 3 Centerline is valid? [False, False] Translation: X:8.16, Y:-1.16, Z:0.95 [[ 0.98168436 0.16503055 -0.09518784 8.15610041] [-0.1667338 0.98594948 -0.01017122 -1.15600962] [ 0.09217184 0.02585596 0.99540736 0.9520093 ] [ 0. 0. 0. 1. ]] SLAMing on 40.166296757 meters Centerline goodness : 0.826539 with order 3 Centerline is valid? [False, False] Translation: X:8.15, Y:-1.15, Z:0.95 [[ 0.98204699 0.16377 -0.09361145 8.15413354] [-0.16535272 0.98619012 -0.00935551 -1.15413224] [ 0.09078653 0.02466646 0.99556485 0.950792 ] [ 0. 0. 0. 1. ]] SLAMing on 40.22629675699999 meters Centerline goodness : 0.806523 with order 2 Centerline is valid? [False, False] Translation: X:8.16, Y:-1.15, Z:0.95 [[ 0.98195456 0.16437706 -0.09351696 8.15567104] [-0.16590928 0.98610176 -0.00879905 -1.15342933] [ 0.09077088 0.0241556 0.9955788 0.94894912] [ 0. 0. 0. 1. ]] SLAMing on 40.286296756999995 meters Centerline goodness : 0.807823 with order 2 Centerline is valid? [False, False] Translation: X:8.15, Y:-1.15, Z:0.95 [[ 0.98243016 0.1608674 -0.09461853 8.15425308] [-0.16288049 0.98654787 -0.01390128 -1.15263373] [ 0.09110945 0.02906855 0.99541654 0.95225777] [ 0. 0. 0. 1. ]] SLAMing on 40.346296757 meters Centerline goodness : 0.824539 with order 3 Centerline is valid? [False, False] Translation: X:8.15, Y:-1.15, Z:0.95 [[ 0.9825511 0.16141577 -0.09240288 8.15235794] [-0.16309174 0.98655143 -0.01083311 -1.14988463] [ 0.08941156 0.02571423 0.99566277 0.95034722] [ 0. 0. 0. 1. ]] SLAMing on 40.40629675699999 meters Centerline goodness : 0.826599 with order 3 Centerline is valid? [False, False] Translation: X:8.15, Y:-1.15, Z:0.95 [[ 0.98208051 0.16445107 -0.0920528 8.15331367] [-0.16589906 0.98610821 -0.00825273 -1.14888718] [ 0.08941685 0.02337632 0.99571993 0.94978091] [ 0. 0. 0. 1. ]] SLAMing on 40.466296756999995 meters Centerline goodness : 0.823781 with order 3 Centerline is valid? [False, False] Translation: X:8.15, Y:-1.15, Z:0.95 [[ 0.9817888 0.16577844 -0.09278071 8.15303984] [-0.1674418 0.98582726 -0.01038553 -1.14693833] [ 0.08974405 0.02573177 0.9956324 0.952742 ] [ 0. 0. 0. 1. ]] SLAMing on 40.526296757 meters Centerline goodness : 0.805835 with order 2 Centerline is valid? [False, False] Translation: X:8.15, Y:-1.15, Z:0.95 [[ 0.98128796 0.16871902 -0.09277837 8.15474241] [-0.17019961 0.98537526 -0.0082269 -1.14598569] [ 0.09003348 0.0238638 0.9956528 0.95197693] [ 0. 0. 0. 1. ]] SLAMing on 40.58629675699999 meters Centerline goodness : 0.808121 with order 2 Centerline is valid? [False, False] Translation: X:8.16, Y:-1.15, Z:0.95 [[ 9.80930726e-01 1.70453497e-01 -9.33837053e-02 8.15815236e+00] [-1.71884272e-01 9.85089061e-01 -7.43907085e-03 -1.14526412e+00] [ 9.07232509e-02 2.33484034e-02 9.95602402e-01 9.49829043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.646296756999995 meters Centerline goodness : 0.808515 with order 2 Centerline is valid? [False, False] Translation: X:8.16, Y:-1.15, Z:0.95 [[ 9.80861789e-01 1.70893740e-01 -9.33031607e-02 8.15878922e+00] [-1.72205140e-01 9.85042038e-01 -6.12974290e-03 -1.14719365e+00] [ 9.08600009e-02 2.20797145e-02 9.95618876e-01 9.48802757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.706296757 meters Centerline goodness : 0.810521 with order 2 Centerline is valid? [False, False] Translation: X:8.16, Y:-1.14, Z:0.95 [[ 0.98198287 0.16516305 -0.09181943 8.15531927] [-0.16666798 0.98597275 -0.00891781 -1.1446996 ] [ 0.08905856 0.0240605 0.99573574 0.94812711] [ 0. 0. 0. 1. ]] SLAMing on 40.766296757 meters Centerline goodness : 0.807485 with order 2 Centerline is valid? [False, False] Translation: X:8.16, Y:-1.14, Z:0.95 [[ 0.98249476 0.16183167 -0.0922743 8.15646373] [-0.16354692 0.98647096 -0.01128966 -1.14432437] [ 0.0891989 0.02618321 0.99566962 0.94677431] [ 0. 0. 0. 1. ]] SLAMing on 40.826296756999994 meters Centerline goodness : 0.806743 with order 2 Centerline is valid? [False, False] Translation: X:8.15, Y:-1.15, Z:0.95 [[ 0.9835697 0.15566824 -0.09142238 8.1540936 ] [-0.15755097 0.98741573 -0.0137066 -1.14597665] [ 0.08813821 0.02788508 0.99571787 0.9452467 ] [ 0. 0. 0. 1. ]] SLAMing on 40.886296757 meters Centerline goodness : 0.822744 with order 3 Centerline is valid? [False, False] Translation: X:8.15, Y:-1.15, Z:0.95 [[ 0.9843641 0.15036497 -0.09174803 8.15253707] [-0.15258583 0.98813258 -0.01765144 -1.14909844] [ 0.08800506 0.03137489 0.9956258 0.94561068] [ 0. 0. 0. 1. ]] SLAMing on 40.946296757 meters Centerline goodness : 0.807649 with order 2 Centerline is valid? [False, False] Translation: X:8.15, Y:-1.15, Z:0.94 [[ 0.9843871 0.15158819 -0.08945977 8.15040965] [-0.15338041 0.98807539 -0.01347132 -1.1484513 ] [ 0.0863509 0.02698237 0.99589933 0.94345288] [ 0. 0. 0. 1. ]] SLAMing on 41.006296756999994 meters Centerline goodness : 0.813961 with order 2 Centerline is valid? [False, False] Translation: X:8.15, Y:-1.15, Z:0.95 [[ 0.9840788 0.15299192 -0.09045659 8.15093942] [-0.15488509 0.98782969 -0.01425187 -1.15048472] [ 0.08717528 0.02803534 0.99579842 0.9452745 ] [ 0. 0. 0. 1. ]] SLAMing on 41.066296756999996 meters Centerline goodness : 0.817042 with order 3 Centerline is valid? [False, False] Translation: X:8.15, Y:-1.15, Z:0.95 [[ 0.98377752 0.15405461 -0.09191826 8.15228572] [-0.15615404 0.98760215 -0.01605967 -1.15128386] [ 0.08830461 0.03015255 0.99563704 0.94733022] [ 0. 0. 0. 1. ]] SLAMing on 41.126296757 meters Centerline goodness : 0.809594 with order 2 Centerline is valid? [False, False] Translation: X:8.15, Y:-1.15, Z:0.94 [[ 9.82645896e-01 1.61872401e-01 -9.05779750e-02 8.15453402e+00] [-1.63261330e-01 9.86549677e-01 -8.09149210e-03 -1.15087592e+00] [ 8.80498828e-02 2.27389522e-02 9.95856495e-01 9.44413411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.186296756999994 meters Centerline goodness : 0.808630 with order 2 Centerline is valid? [False, False] Translation: X:8.16, Y:-1.15, Z:0.94 [[ 9.81156356e-01 1.70808164e-01 -9.03148760e-02 8.15780156e+00] [-1.71623632e-01 9.85161754e-01 -1.28380009e-03 -1.15116074e+00] [ 8.87554781e-02 1.67597756e-02 9.95912433e-01 9.43165522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.246296756999996 meters Centerline goodness : 0.809365 with order 2 Centerline is valid? [False, False] Translation: X:8.16, Y:-1.15, Z:0.95 [[ 9.80420260e-01 1.73768095e-01 -9.26324032e-02 8.15971614e+00] [-1.74881651e-01 9.84581418e-01 -3.98000095e-03 -1.15230933e+00] [ 9.05125456e-02 2.01017812e-02 9.95692421e-01 9.47052784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.306296757 meters Centerline goodness : 0.807590 with order 2 Centerline is valid? [False, False] Translation: X:8.16, Y:-1.15, Z:0.94 [[ 9.80737970e-01 1.72261126e-01 -9.20822375e-02 8.16033911e+00] [-1.73332314e-01 9.84856430e-01 -3.70434328e-03 -1.15141104e+00] [ 9.00496693e-02 1.95938174e-02 9.95744515e-01 9.44698120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.36629675699999 meters Centerline goodness : 0.807278 with order 2 Centerline is valid? [False, False] Translation: X:8.16, Y:-1.15, Z:0.95 [[ 0.98102013 0.16921959 -0.0946796 8.16310827] [-0.17079124 0.98526891 -0.00869081 -1.15309197] [ 0.09181421 0.0246963 0.99546986 0.94589459] [ 0. 0. 0. 1. ]] SLAMing on 41.426296756999996 meters Centerline goodness : 0.805354 with order 2 Centerline is valid? [False, False] Translation: X:8.17, Y:-1.15, Z:0.95 [[ 0.98133273 0.16673388 -0.09584301 8.16504106] [-0.16860591 0.98561387 -0.01171987 -1.15471282] [ 0.0925101 0.02766079 0.99532746 0.94508865] [ 0. 0. 0. 1. ]] SLAMing on 41.486296757 meters Centerline goodness : 0.808775 with order 2 Centerline is valid? [False, False] Translation: X:8.16, Y:-1.16, Z:0.94 [[ 0.98193916 0.16408701 -0.09418562 8.16177089] [-0.16577536 0.98610937 -0.01033684 -1.15617485] [ 0.09118118 0.0257638 0.99550099 0.9443712 ] [ 0. 0. 0. 1. ]] SLAMing on 41.54629675699999 meters Centerline goodness : 0.810575 with order 2 Centerline is valid? [False, False] Translation: X:8.16, Y:-1.16, Z:0.94 [[ 0.98234277 0.16210258 -0.09341001 8.15965944] [-0.16375002 0.98644914 -0.01019907 -1.1572749 ] [ 0.09049093 0.02531488 0.99557549 0.94458483] [ 0. 0. 0. 1. ]] SLAMing on 41.606296756999996 meters Centerline goodness : 0.808594 with order 2 Centerline is valid? [False, False] Translation: X:8.16, Y:-1.16, Z:0.95 [[ 9.82149350e-01 1.64157499e-01 -9.18420921e-02 8.15726363e+00] [-1.65533182e-01 9.86175588e-01 -7.51494970e-03 -1.15558373e+00] [ 8.93387939e-02 2.25837167e-02 9.95745226e-01 9.45318300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.666296757 meters Centerline goodness : 0.808912 with order 2 Centerline is valid? [False, False] Translation: X:8.16, Y:-1.16, Z:0.95 [[ 0.98139607 0.16747553 -0.09388127 8.16048934] [-0.16905667 0.98556439 -0.00909268 -1.15528529] [ 0.09100323 0.02479477 0.99554188 0.94733409] [ 0. 0. 0. 1. ]] SLAMing on 41.72629675699999 meters Centerline goodness : 0.811767 with order 2 Centerline is valid? [False, False] Translation: X:8.16, Y:-1.15, Z:0.95 [[ 9.80713214e-01 1.71275567e-01 -9.41608822e-02 8.16240169e+00] [-1.72677707e-01 9.84954287e-01 -6.88932491e-03 -1.15483087e+00] [ 9.15641915e-02 2.30159372e-02 9.95533156e-01 9.47237295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.786296756999995 meters Centerline goodness : 0.812323 with order 2 Centerline is valid? [False, False] Translation: X:8.17, Y:-1.15, Z:0.94 [[ 9.79626975e-01 1.77292480e-01 -9.43311517e-02 8.16709584e+00] [-1.78339678e-01 9.83965219e-01 -2.72153569e-03 -1.15262615e+00] [ 9.23360646e-02 1.94890770e-02 9.95537155e-01 9.44335485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.846296757 meters Centerline goodness : 0.813940 with order 2 Centerline is valid? [False, False] Translation: X:8.17, Y:-1.16, Z:0.95 [[ 9.79344797e-01 1.77667287e-01 -9.65303296e-02 8.16930830e+00] [-1.78944122e-01 9.83848177e-01 -4.66545928e-03 -1.15564097e+00] [ 9.41422892e-02 2.18426284e-02 9.95319109e-01 9.46440902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.90629675699999 meters Centerline goodness : 0.823778 with order 3 Centerline is valid? [False, False] Translation: X:8.17, Y:-1.16, Z:0.95 [[ 9.79907227e-01 1.74187076e-01 -9.71632070e-02 8.17022410e+00] [-1.75659186e-01 9.84427953e-01 -6.74205283e-03 -1.15723881e+00] [ 9.44757985e-02 2.36741962e-02 9.95245626e-01 9.45363150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.966296756999995 meters Centerline goodness : 0.811374 with order 3 Centerline is valid? [False, False] Translation: X:8.17, Y:-1.16, Z:0.94 [[ 9.80964240e-01 1.68803570e-01 -9.59922649e-02 8.16946661e+00] [-1.70302592e-01 9.85362627e-01 -7.58418715e-03 -1.15666637e+00] [ 9.33069525e-02 2.37875479e-02 9.95353186e-01 9.42115721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.026296757 meters Centerline goodness : 0.804735 with order 2 Centerline is valid? [False, False] Translation: X:8.18, Y:-1.16, Z:0.94 [[ 0.9814069 0.1691208 -0.09076702 8.17594335] [-0.1714236 0.98503026 -0.01814745 -1.16279614] [ 0.08633915 0.03336965 0.99570679 0.938858 ] [ 0. 0. 0. 1. ]] SLAMing on 42.08629675699999 meters Centerline goodness : 0.805721 with order 2 Centerline is valid? [False, False] Translation: X:8.18, Y:-1.16, Z:0.94 [[ 0.98144688 0.1686199 -0.09126525 8.17667553] [-0.170968 0.98510296 -0.01849616 -1.16358482] [ 0.08678685 0.03375644 0.99565483 0.93896692] [ 0. 0. 0. 1. ]] SLAMing on 42.146296756999995 meters Centerline goodness : 0.796095 with order 2 Centerline is valid? [False, False] Translation: X:8.18, Y:-1.16, Z:0.94 [[ 0.98113068 0.17111603 -0.09001049 8.17771492] [-0.17302398 0.98482119 -0.01378117 -1.16421355] [ 0.08628606 0.02909511 0.99584547 0.93576831] [ 0. 0. 0. 1. ]] SLAMing on 42.206296757 meters Centerline goodness : 0.801497 with order 3 Centerline is valid? [False, False] Translation: X:8.18, Y:-1.17, Z:0.94 [[ 0.98076444 0.17267162 -0.09102545 8.17800731] [-0.17467185 0.98452102 -0.01442564 -1.16504295] [ 0.08712557 0.03004774 0.99574408 0.93834371] [ 0. 0. 0. 1. ]] SLAMing on 42.26629675699999 meters Centerline goodness : 0.797967 with order 2 Centerline is valid? [False, False] Translation: X:8.18, Y:-1.16, Z:0.94 [[ 0.97972349 0.17694783 -0.09397522 8.18261747] [-0.17920606 0.98367993 -0.01609306 -1.16357357] [ 0.0895939 0.03260768 0.99544446 0.94120619] [ 0. 0. 0. 1. ]] SLAMing on 42.326296756999994 meters Centerline goodness : 0.799058 with order 2 Centerline is valid? [False, False] Translation: X:8.18, Y:-1.16, Z:0.95 [[ 0.97760966 0.18118161 -0.1070167 8.18474328] [-0.18337837 0.98298115 -0.01097366 -1.15675134] [ 0.10320718 0.0303525 0.99419666 0.94671075] [ 0. 0. 0. 1. ]] SLAMing on 42.386296757 meters Centerline goodness : 0.796016 with order 2 Centerline is valid? [False, False] Translation: X:8.19, Y:-1.16, Z:0.95 [[ 9.76281573e-01 1.87608181e-01 -1.08062302e-01 8.18780181e+00] [-1.89569379e-01 9.81834094e-01 -8.07851622e-03 -1.15694260e+00] [ 1.04583657e-01 2.83722101e-02 9.94111300e-01 9.47708401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.446296757 meters Centerline goodness : 0.794688 with order 2 Centerline is valid? [False, False] Translation: X:8.19, Y:-1.16, Z:0.95 [[ 9.76152527e-01 1.88194962e-01 -1.08207673e-01 8.18823363e+00] [-1.90083747e-01 9.81740589e-01 -7.32016022e-03 -1.15855366e+00] [ 1.04854247e-01 2.77141128e-02 9.94101360e-01 9.47646779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.506296756999994 meters Centerline goodness : 0.797154 with order 2 Centerline is valid? [False, False] Translation: X:8.19, Y:-1.16, Z:0.95 [[ 0.97695619 0.18411944 -0.10796594 8.18828917] [-0.18614445 0.98248207 -0.00890029 -1.1590479 ] [ 0.10443588 0.02879245 0.99411475 0.94555377] [ 0. 0. 0. 1. ]] SLAMing on 42.566296756999996 meters Centerline goodness : 0.813643 with order 3 Centerline is valid? [False, False] Translation: X:8.19, Y:-1.16, Z:0.94 [[ 0.97875453 0.17424287 -0.10806938 8.18627961] [-0.17672927 0.98416277 -0.01379873 -1.16222679] [ 0.10395353 0.03260459 0.99404759 0.94441117] [ 0. 0. 0. 1. ]] SLAMing on 42.626296757 meters Centerline goodness : 0.809675 with order 3 Centerline is valid? [False, False] Translation: X:8.19, Y:-1.17, Z:0.94 [[ 0.98067735 0.17017719 -0.0964969 8.18687282] [-0.17249711 0.98487729 -0.01617006 -1.17189016] [ 0.09228583 0.03250305 0.99520193 0.94063595] [ 0. 0. 0. 1. ]] SLAMing on 42.686296756999994 meters Centerline goodness : 0.804989 with order 2 Centerline is valid? [False, False] Translation: X:8.19, Y:-1.17, Z:0.94 [[ 0.98085648 0.16900845 -0.09673012 8.18535392] [-0.17138928 0.98506019 -0.01679717 -1.17368826] [ 0.09244612 0.03305412 0.9951689 0.94237453] [ 0. 0. 0. 1. ]] SLAMing on 42.746296756999996 meters Centerline goodness : 0.805565 with order 2 Centerline is valid? [False, False] Translation: X:8.19, Y:-1.18, Z:0.94 [[ 0.98081085 0.16904324 -0.09713113 8.18639198] [-0.17135263 0.98508166 -0.01588703 -1.17567499] [ 0.0929965 0.03222585 0.99514479 0.94179684] [ 0. 0. 0. 1. ]] SLAMing on 42.806296757 meters Centerline goodness : 0.795208 with order 2 Centerline is valid? [False, False] Translation: X:8.19, Y:-1.18, Z:0.94 [[ 0.98003805 0.17188478 -0.09990518 8.1913458 ] [-0.17438716 0.98453362 -0.01681306 -1.17702143] [ 0.0954701 0.03389961 0.9948549 0.94270787] [ 0. 0. 0. 1. ]] SLAMing on 42.86629675699999 meters Centerline goodness : 0.796898 with order 2 Centerline is valid? [False, False] Translation: X:8.20, Y:-1.18, Z:0.94 [[ 0.97879467 0.17693862 -0.10321689 8.1984896 ] [-0.17954569 0.98361184 -0.01646479 -1.17930654] [ 0.0986121 0.0346478 0.99452259 0.94271466] [ 0. 0. 0. 1. ]] SLAMing on 42.926296756999996 meters Centerline goodness : 0.798507 with order 2 Centerline is valid? [False, False] Translation: X:8.20, Y:-1.18, Z:0.94 [[ 0.97798114 0.18150908 -0.10299197 8.1989858 ] [-0.18373927 0.98289532 -0.01251666 -1.18073593] [ 0.09895844 0.03116473 0.99460343 0.94318994] [ 0. 0. 0. 1. ]] SLAMing on 42.986296757 meters Centerline goodness : 0.799060 with order 2 Centerline is valid? [False, False] Translation: X:8.20, Y:-1.18, Z:0.94 [[ 0.97745736 0.18403132 -0.10348713 8.20348313] [-0.18597242 0.9825105 -0.00934811 -1.18386595] [ 0.09995685 0.02838313 0.99458686 0.94082881] [ 0. 0. 0. 1. ]] SLAMing on 43.04629675699999 meters Centerline goodness : 0.801334 with order 2 Centerline is valid? [False, False] Translation: X:8.21, Y:-1.19, Z:0.95 [[ 9.77491511e-01 1.83588349e-01 -1.03950296e-01 8.20580015e+00] [-1.85071099e-01 9.82713799e-01 -4.71979753e-03 -1.19116822e+00] [ 1.01286891e-01 2.38517576e-02 9.94571294e-01 9.45823583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.106296756999996 meters Centerline goodness : 0.802052 with order 1 Centerline is valid? [False, False] Translation: X:8.20, Y:-1.20, Z:0.95 [[ 9.77589896e-01 1.83479074e-01 -1.03215427e-01 8.20451319e+00] [-1.84409088e-01 9.82849427e-01 5.41025704e-04 -1.20130792e+00] [ 1.01544490e-01 1.85049615e-02 9.94658878e-01 9.51658404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.166296757 meters Centerline goodness : 0.803059 with order 1 Centerline is valid? [False, False] Translation: X:8.21, Y:-1.21, Z:0.96 [[ 0.97754219 0.18468735 -0.10149802 8.20724172] [-0.18464876 0.98275514 0.00985722 -1.21089904] [ 0.10156821 0.00910563 0.9947869 0.95841135] [ 0. 0. 0. 1. ]] SLAMing on 43.22629675699999 meters Centerline goodness : 0.799557 with order 1 Centerline is valid? [False, False] Translation: X:8.21, Y:-1.21, Z:0.96 [[ 9.77423725e-01 1.85347253e-01 -1.01435973e-01 8.20703317e+00] [-1.85188110e-01 9.82640780e-01 1.10662593e-02 -1.21415194e+00] [ 1.01726225e-01 7.96831180e-03 9.94780519e-01 9.58657985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.286296756999995 meters Centerline goodness : 0.801476 with order 1 Centerline is valid? [False, False] Translation: X:8.21, Y:-1.22, Z:0.96 [[ 9.77588656e-01 1.87339009e-01 -9.60443437e-02 8.21456641e+00] [-1.88000123e-01 9.82166540e-01 2.20022404e-03 -1.22025911e+00] [ 9.47437285e-02 1.59054344e-02 9.95374624e-01 9.56495382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.346296757 meters Centerline goodness : 0.808981 with order 3 Centerline is valid? [False, False] Translation: X:8.21, Y:-1.22, Z:0.96 [[ 9.76721711e-01 1.92361473e-01 -9.49303017e-02 8.21444028e+00] [-1.92652798e-01 9.81247566e-01 6.17354679e-03 -1.21829059e+00] [ 9.43376801e-02 1.22587511e-02 9.95464778e-01 9.55949704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.40629675699999 meters Centerline goodness : 0.799593 with order 1 Centerline is valid? [False, False] Translation: X:8.21, Y:-1.22, Z:0.96 [[ 9.74955937e-01 2.02241467e-01 -9.25165344e-02 8.21178586e+00] [-2.01776055e-01 9.79325005e-01 1.44553962e-02 -1.21648979e+00] [ 9.35272361e-02 4.57424695e-03 9.95606214e-01 9.57347107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.466296756999995 meters Centerline goodness : 0.798594 with order 1 Centerline is valid? [False, False] Translation: X:8.21, Y:-1.22, Z:0.96 [[ 9.74646084e-01 2.03678687e-01 -9.26283027e-02 8.21108608e+00] [-2.03231862e-01 9.79025744e-01 1.43319080e-02 -1.21664720e+00] [ 9.36045972e-02 4.85648435e-03 9.95597606e-01 9.57050072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.526296757 meters Centerline goodness : 0.816068 with order 3 Centerline is valid? [False, False] Translation: X:8.22, Y:-1.21, Z:0.96 [[ 9.73283108e-01 2.10374692e-01 -9.19917415e-02 8.21564671e+00] [-2.09351793e-01 9.77620390e-01 2.07412559e-02 -1.21268305e+00] [ 9.42964376e-02 -9.28477961e-04 9.95543731e-01 9.55258899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.58629675699999 meters Centerline goodness : 0.798241 with order 1 Centerline is valid? [False, False] Translation: X:8.22, Y:-1.21, Z:0.96 [[ 9.73385700e-01 2.09744283e-01 -9.23450849e-02 8.21671132e+00] [-2.08758106e-01 9.77756147e-01 2.03216723e-02 -1.21150766e+00] [ 9.45533290e-02 -5.03040166e-04 9.95519671e-01 9.55308325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.646296756999995 meters Centerline goodness : 0.801172 with order 1 Centerline is valid? [False, False] Translation: X:8.22, Y:-1.21, Z:0.95 [[ 9.73770261e-01 2.07705506e-01 -9.28972576e-02 8.21829682e+00] [-2.06817377e-01 9.78191265e-01 1.91943287e-02 -1.21346773e+00] [ 9.48580537e-02 5.21900652e-04 9.95490672e-01 9.54791040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.706296757 meters Centerline goodness : 0.800384 with order 1 Centerline is valid? [False, False] Translation: X:8.21, Y:-1.21, Z:0.95 [[ 9.75667487e-01 2.01992052e-01 -8.52769894e-02 8.21182921e+00] [-2.00909959e-01 9.79380807e-01 2.11759811e-02 -1.20675262e+00] [ 8.77960267e-02 -3.52771984e-03 9.96132227e-01 9.48647043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.76629675699999 meters Centerline goodness : 0.805283 with order 2 Centerline is valid? [False, False] Translation: X:8.21, Y:-1.20, Z:0.95 [[ 9.77651935e-01 1.92158149e-01 -8.52756674e-02 8.20871192e+00] [-1.91775749e-01 9.81356194e-01 1.27311526e-02 -1.20127528e+00] [ 8.61321991e-02 3.90716907e-03 9.96276055e-01 9.49855853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.826296756999994 meters Centerline goodness : 0.804290 with order 1 Centerline is valid? [False, False] Translation: X:8.21, Y:-1.20, Z:0.95 [[ 9.78036116e-01 1.89712828e-01 -8.63388618e-02 8.21192985e+00] [-1.89413660e-01 9.81827437e-01 1.17196356e-02 -1.20226982e+00] [ 8.69932286e-02 4.89153294e-03 9.96196894e-01 9.49452978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.886296757 meters Centerline goodness : 0.802628 with order 1 Centerline is valid? [False, False] Translation: X:8.21, Y:-1.19, Z:0.95 [[ 9.77905275e-01 1.83832630e-01 -9.95330993e-02 8.21480194e+00] [-1.83658957e-01 9.82928651e-01 1.09842501e-02 -1.19330256e+00] [ 9.98531987e-02 7.53858901e-03 9.94973622e-01 9.52107909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.946296757 meters Centerline goodness : 0.805224 with order 1 Centerline is valid? [False, False] Translation: X:8.22, Y:-1.19, Z:0.95 [[ 0.97766774 0.18430921 -0.1009748 8.21790488] [-0.18430644 0.98282352 0.00943761 -1.19135478] [ 0.10097985 0.00938346 0.99484422 0.9520994 ] [ 0. 0. 0. 1. ]] SLAMing on 44.006296756999994 meters Centerline goodness : 0.802560 with order 1 Centerline is valid? [False, False] Translation: X:8.22, Y:-1.19, Z:0.95 [[ 9.77062261e-01 1.87730092e-01 -1.00532336e-01 8.21861544e+00] [-1.87410827e-01 9.82199568e-01 1.26960996e-02 -1.19031067e+00] [ 1.01126257e-01 6.43596843e-03 9.94852782e-01 9.52015173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.066296756999996 meters Centerline goodness : 0.805570 with order 2 Centerline is valid? [False, False] Translation: X:8.22, Y:-1.19, Z:0.95 [[ 9.76682677e-01 1.89899045e-01 -1.00146397e-01 8.22088929e+00] [-1.89319124e-01 9.81795609e-01 1.53509211e-02 -1.18821077e+00] [ 1.01238418e-01 3.96664955e-03 9.94854285e-01 9.49979905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.126296757 meters Centerline goodness : 0.803527 with order 1 Centerline is valid? [False, False] Translation: X:8.22, Y:-1.19, Z:0.95 [[ 9.76802533e-01 1.88862196e-01 -1.00935044e-01 8.22240434e+00] [-1.88455422e-01 9.81987054e-01 1.36374675e-02 -1.18663627e+00] [ 1.01692508e-01 5.70064340e-03 9.94799546e-01 9.49974188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.186296756999994 meters Centerline goodness : 0.805413 with order 1 Centerline is valid? [False, False] Translation: X:8.22, Y:-1.19, Z:0.95 [[ 9.77189326e-01 1.87294261e-01 -1.00109342e-01 8.22065945e+00] [-1.86864853e-01 9.82289628e-01 1.37336871e-02 -1.18616491e+00] [ 1.00908609e-01 5.28650510e-03 9.94881654e-01 9.50039783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.246296756999996 meters Centerline goodness : 0.810656 with order 2 Centerline is valid? [False, False] Translation: X:8.22, Y:-1.18, Z:0.95 [[ 0.97804384 0.18256333 -0.10050308 8.21949899] [-0.18262369 0.98314459 0.0086781 -1.18350331] [ 0.10039336 0.00986668 0.9948989 0.95088442] [ 0. 0. 0. 1. ]] SLAMing on 44.306296757 meters Centerline goodness : 0.807640 with order 2 Centerline is valid? [False, False] Translation: X:8.22, Y:-1.18, Z:0.95 [[ 9.78473892e-01 1.81578793e-01 -9.80713243e-02 8.21613377e+00] [-1.81443486e-01 9.83346676e-01 1.03719238e-02 -1.18061882e+00] [ 9.83214321e-02 7.64574638e-03 9.95125338e-01 9.49972290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.36629675699999 meters Centerline goodness : 0.810174 with order 2 Centerline is valid? [False, False] Translation: X:8.22, Y:-1.18, Z:0.95 [[ 9.78667880e-01 1.80233905e-01 -9.86150097e-02 8.21678466e+00] [-1.80310721e-01 9.83575462e-01 8.20701184e-03 -1.17870255e+00] [ 9.84744854e-02 9.74940466e-03 9.95091817e-01 9.50350302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.426296756999996 meters Centerline goodness : 0.812354 with order 1 Centerline is valid? [False, False] Translation: X:8.22, Y:-1.18, Z:0.95 [[ 9.78374193e-01 1.81328423e-01 -9.95185474e-02 8.21897589e+00] [-1.81599991e-01 9.83351662e-01 6.39943003e-03 -1.17543448e+00] [ 9.90221275e-02 1.18115301e-02 9.95015129e-01 9.50636740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.486296757 meters Centerline goodness : 0.808195 with order 1 Centerline is valid? [False, False] Translation: X:8.22, Y:-1.17, Z:0.95 [[ 9.77125431e-01 1.88391159e-01 -9.86643956e-02 8.22339089e+00] [-1.88037710e-01 9.82076381e-01 1.29538009e-02 -1.17298101e+00] [ 9.93363541e-02 5.89513871e-03 9.95036450e-01 9.46534632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.54629675699999 meters Centerline goodness : 0.810440 with order 2 Centerline is valid? [False, False] Translation: X:8.22, Y:-1.17, Z:0.95 [[ 9.76948732e-01 1.87850443e-01 -1.01407037e-01 8.22485575e+00] [-1.88119427e-01 9.82121283e-01 6.99045839e-03 -1.16997263e+00] [ 1.00907170e-01 1.22473143e-02 9.94820459e-01 9.51159145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.606296756999996 meters Centerline goodness : 0.811934 with order 2 Centerline is valid? [False, False] Translation: X:8.23, Y:-1.17, Z:0.95 [[ 9.76737223e-01 1.88401490e-01 -1.02417164e-01 8.22595939e+00] [-1.88824942e-01 9.81994609e-01 5.63282719e-03 -1.16915319e+00] [ 1.01634336e-01 1.38371231e-02 9.94725588e-01 9.52523752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.666296757 meters Centerline goodness : 0.813354 with order 1 Centerline is valid? [False, False] Translation: X:8.23, Y:-1.17, Z:0.95 [[ 0.97606043 0.19273549 -0.10079218 8.22705522] [-0.19260545 0.98121336 0.01111278 -1.16763298] [ 0.10104046 0.00856638 0.99484544 0.94963141] [ 0. 0. 0. 1. ]] SLAMing on 44.72629675699999 meters Centerline goodness : 0.812615 with order 2 Centerline is valid? [False, False] Translation: X:8.23, Y:-1.17, Z:0.95 [[ 0.97655615 0.19017787 -0.10084876 8.22875026] [-0.19003697 0.98171428 0.01109145 -1.16897499] [ 0.10111402 0.00833357 0.99483994 0.94670184] [ 0. 0. 0. 1. ]] SLAMing on 44.786296756999995 meters Centerline goodness : 0.810847 with order 2 Centerline is valid? [False, False] Translation: X:8.23, Y:-1.17, Z:0.95 [[ 9.77674496e-01 1.82618778e-01 -1.03937296e-01 8.23061019e+00] [-1.83325770e-01 9.83048254e-01 2.79149324e-03 -1.17155331e+00] [ 1.02685157e-01 1.63252132e-02 9.94579934e-01 9.48066733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.846296757 meters Centerline goodness : 0.815213 with order 2 Centerline is valid? [False, False] Translation: X:8.23, Y:-1.17, Z:0.94 [[ 9.79396712e-01 1.74942756e-01 -1.00881680e-01 8.22631019e+00] [-1.75567927e-01 9.84463570e-01 2.71724551e-03 -1.17145567e+00] [ 9.97897016e-02 1.50503262e-02 9.94894720e-01 9.44098715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.90629675699999 meters Centerline goodness : 0.816638 with order 2 Centerline is valid? [False, False] Translation: X:8.22, Y:-1.17, Z:0.94 [[ 9.80244656e-01 1.70821943e-01 -9.97009487e-02 8.22499931e+00] [-1.71431639e-01 9.85192887e-01 2.48357505e-03 -1.17055762e+00] [ 9.86489146e-02 1.46573859e-02 9.95014348e-01 9.42055833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.966296756999995 meters Centerline goodness : 0.816460 with order 2 Centerline is valid? [False, False] Translation: X:8.22, Y:-1.17, Z:0.95 [[ 9.80644766e-01 1.67807577e-01 -1.00878442e-01 8.22284936e+00] [-1.68970476e-01 9.85616442e-01 -3.03440194e-03 -1.17035814e+00] [ 9.89182557e-02 2.00211488e-02 9.94894131e-01 9.46360918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.026296757 meters Centerline goodness : 0.818405 with order 2 Centerline is valid? [False, False] Translation: X:8.22, Y:-1.17, Z:0.94 [[ 9.79929748e-01 1.73012142e-01 -9.90176089e-02 8.22368280e+00] [-1.73624449e-01 9.84808851e-01 2.46547894e-03 -1.16828059e+00] [ 9.79399754e-02 1.47758816e-02 9.95082627e-01 9.43560643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.08629675699999 meters Centerline goodness : 0.813100 with order 2 Centerline is valid? [False, False] Translation: X:8.23, Y:-1.17, Z:0.94 [[ 9.78821738e-01 1.78951244e-01 -9.94206088e-02 8.22702829e+00] [-1.79323557e-01 9.83776132e-01 5.25209861e-03 -1.16657147e+00] [ 9.87474915e-02 1.26875890e-02 9.95031637e-01 9.42993440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.146296756999995 meters Centerline goodness : 0.813454 with order 2 Centerline is valid? [False, False] Translation: X:8.23, Y:-1.16, Z:0.95 [[ 9.76473288e-01 1.89880446e-01 -1.02202416e-01 8.23231272e+00] [-1.90332607e-01 9.81704815e-01 5.39950430e-03 -1.16266753e+00] [ 1.01357864e-01 1.41799806e-02 9.94748969e-01 9.47180463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.206296757 meters Centerline goodness : 0.837601 with order 3 Centerline is valid? [False, False] Translation: X:8.24, Y:-1.16, Z:0.95 [[ 0.97521941 0.1957709 -0.10305752 8.23737182] [-0.19597026 0.98057482 0.00828683 -1.16126763] [ 0.10267793 0.01211473 0.99464088 0.94566331] [ 0. 0. 0. 1. ]] SLAMing on 45.26629675699999 meters Centerline goodness : 0.837099 with order 3 Centerline is valid? [False, False] Translation: X:8.24, Y:-1.16, Z:0.94 [[ 9.74202589e-01 2.01666230e-01 -1.01291891e-01 8.23803674e+00] [-2.01207777e-01 9.79436328e-01 1.48293617e-02 -1.16125998e+00] [ 1.02199539e-01 5.93391362e-03 9.94746220e-01 9.43563765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.326296756999994 meters Centerline goodness : 0.806289 with order 2 Centerline is valid? [False, False] Translation: X:8.24, Y:-1.16, Z:0.95 [[ 9.74869382e-01 1.96405921e-01 -1.05139922e-01 8.24097157e+00] [-1.96820692e-01 9.80417829e-01 6.51893222e-03 -1.16460394e+00] [ 1.04361411e-01 1.43386048e-02 9.94436071e-01 9.45816797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.386296757 meters Centerline goodness : 0.808564 with order 2 Centerline is valid? [False, False] Translation: X:8.24, Y:-1.17, Z:0.94 [[ 9.76203882e-01 1.90534806e-01 -1.03549350e-01 8.23976761e+00] [-1.90934786e-01 9.81583595e-01 6.12809498e-03 -1.16508778e+00] [ 1.02809958e-01 1.37889029e-02 9.94605439e-01 9.41440781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.446296757 meters Centerline goodness : 0.825891 with order 3 Centerline is valid? [False, False] Translation: X:8.24, Y:-1.17, Z:0.94 [[ 9.77201019e-01 1.85628693e-01 -1.03054145e-01 8.23719213e+00] [-1.86176115e-01 9.82506688e-01 4.36608076e-03 -1.16728363e+00] [ 1.02061856e-01 1.49196818e-02 9.94666165e-01 9.41343595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.506296756999994 meters Centerline goodness : 0.806494 with order 2 Centerline is valid? [False, False] Translation: X:8.24, Y:-1.17, Z:0.94 [[ 9.77994288e-01 1.79792529e-01 -1.05838642e-01 8.23780209e+00] [-1.81227189e-01 9.83433050e-01 -4.01781892e-03 -1.16924213e+00] [ 1.03362845e-01 2.31102436e-02 9.94375200e-01 9.44226890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.566296756999996 meters Centerline goodness : 0.807932 with order 2 Centerline is valid? [False, False] Translation: X:8.24, Y:-1.17, Z:0.94 [[ 9.78633685e-01 1.77328420e-01 -1.04070853e-01 8.23510836e+00] [-1.78591500e-01 9.83919118e-01 -2.87145690e-03 -1.16965483e+00] [ 1.01888111e-01 2.13962742e-02 9.94565741e-01 9.42795796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.626296757 meters Centerline goodness : 0.816880 with order 3 Centerline is valid? [False, False] Translation: X:8.24, Y:-1.17, Z:0.94 [[ 9.78774220e-01 1.76624537e-01 -1.03946134e-01 8.23573814e+00] [-1.77936249e-01 9.84036108e-01 -3.41033383e-03 -1.16986431e+00] [ 1.01684401e-01 2.18337320e-02 9.94577081e-01 9.41505224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.686296756999994 meters Centerline goodness : 0.818974 with order 3 Centerline is valid? [False, False] Translation: X:8.24, Y:-1.17, Z:0.94 [[ 0.97850049 0.17633098 -0.10697742 8.2392945 ] [-0.1782165 0.98395669 -0.00825305 -1.17107117] [ 0.10380588 0.02714076 0.9942272 0.94358701] [ 0. 0. 0. 1. ]] SLAMing on 45.746296756999996 meters Centerline goodness : 0.803693 with order 2 Centerline is valid? [False, False] Translation: X:8.24, Y:-1.17, Z:0.94 [[ 9.77785283e-01 1.80559749e-01 -1.06461809e-01 8.24157520e+00] [-1.82074279e-01 9.83274014e-01 -4.60110602e-03 -1.16947300e+00] [ 1.03850355e-01 2.38828508e-02 9.94306147e-01 9.41574524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.806296757 meters Centerline goodness : 0.812991 with order 3 Centerline is valid? [False, False] Translation: X:8.25, Y:-1.17, Z:0.94 [[ 9.76323688e-01 1.88114508e-01 -1.06794136e-01 8.24500506e+00] [-1.89169558e-01 9.81944404e-01 2.55333265e-04 -1.17128897e+00] [ 1.04913936e-01 1.99529116e-02 9.94281121e-01 9.40646248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.86629675699999 meters Centerline goodness : 0.799234 with order 2 Centerline is valid? [False, False] Translation: X:8.25, Y:-1.18, Z:0.94 [[ 9.75464562e-01 1.90768982e-01 -1.09891237e-01 8.24949075e+00] [-1.91953386e-01 9.81404023e-01 -2.02730967e-04 -1.17854914e+00] [ 1.07809027e-01 2.12917518e-02 9.93943598e-01 9.41692282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.926296756999996 meters Centerline goodness : 0.810639 with order 3 Centerline is valid? [False, False] Translation: X:8.25, Y:-1.18, Z:0.94 [[ 9.76144891e-01 1.86401140e-01 -1.11336276e-01 8.25102715e+00] [-1.87889682e-01 9.82185746e-01 -2.93714009e-03 -1.18269538e+00] [ 1.08805417e-01 2.37860118e-02 9.93778450e-01 9.40669359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.986296757 meters Centerline goodness : 0.798338 with order 2 Centerline is valid? [False, False] Translation: X:8.25, Y:-1.18, Z:0.94 [[ 9.76892274e-01 1.82032677e-01 -1.12007098e-01 8.25029166e+00] [-1.83894925e-01 9.82924824e-01 -6.43793293e-03 -1.18420103e+00] [ 1.08922643e-01 2.68867039e-02 9.93686552e-01 9.41191790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.04629675699999 meters Centerline goodness : 0.795705 with order 2 Centerline is valid? [False, False] Translation: X:8.25, Y:-1.19, Z:0.94 [[ 0.97753485 0.18354357 -0.10362129 8.25494643] [-0.18574134 0.98252672 -0.01189101 -1.1943014 ] [ 0.09962817 0.03087063 0.99454574 0.93588964] [ 0. 0. 0. 1. ]] SLAMing on 46.106296756999996 meters Centerline goodness : 0.796070 with order 2 Centerline is valid? [False, False] Translation: X:8.26, Y:-1.20, Z:0.93 [[ 0.97744278 0.18268008 -0.10598866 8.26395347] [-0.18467857 0.98275522 -0.00927393 -1.2020503 ] [ 0.10246675 0.02863857 0.99432409 0.93365411] [ 0. 0. 0. 1. ]] SLAMing on 46.166296757 meters Centerline goodness : 0.793633 with order 2 Centerline is valid? [False, False] Translation: X:8.27, Y:-1.21, Z:0.94 [[ 9.77825345e-01 1.82750269e-01 -1.02273816e-01 8.27448721e+00] [-1.83614932e-01 9.82997765e-01 9.75531444e-04 -1.21093833e+00] [ 1.00713211e-01 1.78251004e-02 9.94755807e-01 9.36219691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.22629675699999 meters Centerline goodness : 0.793893 with order 2 Centerline is valid? [False, False] Translation: X:8.27, Y:-1.22, Z:0.94 [[ 9.77664563e-01 1.83894445e-01 -1.01758711e-01 8.27163299e+00] [-1.84498036e-01 9.82826545e-01 3.52942734e-03 -1.21665675e+00] [ 1.00660205e-01 1.53236864e-02 9.94802849e-01 9.39556271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.286296756999995 meters Centerline goodness : 0.790466 with order 2 Centerline is valid? [False, False] Translation: X:8.27, Y:-1.22, Z:0.94 [[ 0.97677943 0.18905988 -0.10078846 8.27013694] [-0.18910045 0.98191429 0.00923892 -1.22086271] [ 0.10071234 0.01003476 0.99486498 0.94151996] [ 0. 0. 0. 1. ]] SLAMing on 46.346296757 meters Centerline goodness : 0.789059 with order 2 Centerline is valid? [False, False] Translation: X:8.28, Y:-1.22, Z:0.94 [[ 9.75504398e-01 1.95348250e-01 -1.01144604e-01 8.27574937e+00] [-1.94783334e-01 9.80723369e-01 1.55282129e-02 -1.22422775e+00] [ 1.02228286e-01 4.55344319e-03 9.94750543e-01 9.38581916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.40629675699999 meters Centerline goodness : 0.788742 with order 2 Centerline is valid? [False, False] Translation: X:8.28, Y:-1.23, Z:0.94 [[ 9.74154165e-01 2.01986311e-01 -1.01119699e-01 8.28100798e+00] [-2.00791825e-01 9.79387739e-01 2.19613384e-02 -1.22689285e+00] [ 1.03471283e-01 -1.08972042e-03 9.94631845e-01 9.35484452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.466296756999995 meters Centerline goodness : 0.786052 with order 2 Centerline is valid? [False, False] Translation: X:8.28, Y:-1.23, Z:0.94 [[ 9.73367559e-01 2.05769407e-01 -1.01067040e-01 8.28201789e+00] [-2.04119910e-01 9.78586815e-01 2.65123957e-02 -1.23090752e+00] [ 1.04358313e-01 -5.17651070e-03 9.94526292e-01 9.36458807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.526296757 meters Centerline goodness : 0.792262 with order 2 Centerline is valid? [False, False] Translation: X:8.29, Y:-1.24, Z:0.94 [[ 9.73800406e-01 2.07056655e-01 -9.40229258e-02 8.28694337e+00] [-2.06045018e-01 9.78328804e-01 2.04499913e-02 -1.23620806e+00] [ 9.62196434e-02 -5.41254421e-04 9.95359979e-01 9.40161229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.58629675699999 meters Centerline goodness : 0.791886 with order 2 Centerline is valid? [False, False] Translation: X:8.29, Y:-1.24, Z:0.94 [[ 9.73818330e-01 2.06844333e-01 -9.43041996e-02 8.28814206e+00] [-2.05788286e-01 9.78373412e-01 2.08961170e-02 -1.23774125e+00] [ 9.65869650e-02 -9.42322187e-04 9.95324103e-01 9.39634062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.646296756999995 meters Centerline goodness : 0.789793 with order 2 Centerline is valid? [False, False] Translation: X:8.29, Y:-1.24, Z:0.94 [[ 9.74671229e-01 2.02269000e-01 -9.54109353e-02 8.28991673e+00] [-2.01566318e-01 9.79326507e-01 1.70473338e-02 -1.23908917e+00] [ 9.68866052e-02 2.61608517e-03 9.95291988e-01 9.38084882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.706296757 meters Centerline goodness : 0.790389 with order 2 Centerline is valid? [False, False] Translation: X:8.29, Y:-1.24, Z:0.94 [[ 9.75060891e-01 2.00126635e-01 -9.59457631e-02 8.29270889e+00] [-1.99433656e-01 9.79766325e-01 1.68572275e-02 -1.24364617e+00] [ 9.73780078e-02 2.69799109e-03 9.95243812e-01 9.36642408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.76629675699999 meters Centerline goodness : 0.790767 with order 1 Centerline is valid? [False, False] Translation: X:8.29, Y:-1.25, Z:0.94 [[ 9.74705270e-01 2.02448795e-01 -9.46790474e-02 8.29211451e+00] [-2.01358682e-01 9.79291801e-01 2.10297467e-02 -1.24623659e+00] [ 9.69758617e-02 -1.43335669e-03 9.95285702e-01 9.38410141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.826296756999994 meters Centerline goodness : 0.795852 with order 2 Centerline is valid? [False, False] Translation: X:8.30, Y:-1.25, Z:0.94 [[ 9.75171901e-01 2.03211879e-01 -8.80039536e-02 8.29884102e+00] [-2.02825745e-01 9.79123122e-01 1.34025942e-02 -1.24525625e+00] [ 8.88902721e-02 4.77963420e-03 9.96029957e-01 9.40836014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.886296757 meters Centerline goodness : 0.803128 with order 2 Centerline is valid? [False, False] Translation: X:8.30, Y:-1.25, Z:0.94 [[ 9.74625200e-01 2.05566493e-01 -8.85897062e-02 8.30232999e+00] [-2.04892660e-01 9.78641415e-01 1.67325772e-02 -1.24529694e+00] [ 9.01372126e-02 1.84338912e-03 9.95927650e-01 9.41282237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.946296757 meters Centerline goodness : 0.791716 with order 2 Centerline is valid? [False, False] Translation: X:8.31, Y:-1.24, Z:0.94 [[ 9.74132440e-01 2.07134146e-01 -9.03406553e-02 8.31448122e+00] [-2.06181493e-01 9.78312288e-01 1.98559459e-02 -1.24388972e+00] [ 9.24942176e-02 -7.15749787e-04 9.95712964e-01 9.36309297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.006296756999994 meters Centerline goodness : 0.795110 with order 2 Centerline is valid? [False, False] Translation: X:8.32, Y:-1.24, Z:0.94 [[ 9.74261487e-01 2.06418408e-01 -9.05869467e-02 8.31520595e+00] [-2.05515188e-01 9.78463801e-01 1.92898368e-02 -1.24371522e+00] [ 9.26178256e-02 -1.76351724e-04 9.95701716e-01 9.36321218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.066296756999996 meters Centerline goodness : 0.797090 with order 2 Centerline is valid? [False, False] Translation: X:8.32, Y:-1.24, Z:0.94 [[ 9.73191977e-01 2.05168347e-01 -1.03939046e-01 8.31650189e+00] [-2.04137536e-01 9.78725969e-01 2.05753067e-02 -1.23638563e+00] [ 1.05949245e-01 1.19413732e-03 9.94370822e-01 9.42123910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.126296757 meters Centerline goodness : 0.796625 with order 2 Centerline is valid? [False, False] Translation: X:8.32, Y:-1.23, Z:0.94 [[ 9.72564357e-01 2.07237631e-01 -1.05693598e-01 8.32141028e+00] [-2.06285204e-01 9.78287775e-01 1.99861077e-02 -1.23459355e+00] [ 1.07540628e-01 2.36524937e-03 9.94197877e-01 9.41033967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.186296756999994 meters Centerline goodness : 0.796810 with order 2 Centerline is valid? [False, False] Translation: X:8.32, Y:-1.24, Z:0.95 [[ 9.72222337e-01 2.07410549e-01 -1.08464705e-01 8.32215549e+00] [-2.06934729e-01 9.78227979e-01 1.57492413e-02 -1.23513463e+00] [ 1.09369768e-01 7.13335026e-03 9.93975537e-01 9.45710338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.246296756999996 meters Centerline goodness : 0.804573 with order 3 Centerline is valid? [False, False] Translation: X:8.32, Y:-1.23, Z:0.94 [[ 9.72582122e-01 2.06061789e-01 -1.07807958e-01 8.32273062e+00] [-2.05501890e-01 9.78519308e-01 1.63992971e-02 -1.23420699e+00] [ 1.08871437e-01 6.20507590e-03 9.94036472e-01 9.43524788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.306296757 meters Centerline goodness : 0.805637 with order 3 Centerline is valid? [False, False] Translation: X:8.32, Y:-1.23, Z:0.94 [[ 9.72950429e-01 2.04314093e-01 -1.07811015e-01 8.32493946e+00] [-2.03705115e-01 9.78888994e-01 1.67500314e-02 -1.23480390e+00] [ 1.08957284e-01 5.66470501e-03 9.94030292e-01 9.40226084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.36629675699999 meters Centerline goodness : 0.809524 with order 3 Centerline is valid? [False, False] Translation: X:8.33, Y:-1.24, Z:0.95 [[ 9.73942874e-01 1.99048517e-01 -1.08696671e-01 8.32503930e+00] [-1.98381739e-01 9.79976969e-01 1.70242754e-02 -1.24206231e+00] [ 1.09908891e-01 4.98276282e-03 9.93929176e-01 9.46656621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.426296756999996 meters Centerline goodness : 0.797841 with order 2 Centerline is valid? [False, False] Translation: X:8.34, Y:-1.25, Z:0.96 [[ 0.97543337 0.19391099 -0.10453834 8.34394631] [-0.19178963 0.98097518 0.03007373 -1.24857563] [ 0.10838115 -0.00928555 0.99406605 0.95526997] [ 0. 0. 0. 1. ]] SLAMing on 47.486296757 meters Centerline goodness : 0.796097 with order 1 Centerline is valid? [False, False] Translation: X:8.35, Y:-1.25, Z:0.95 [[ 0.97575466 0.19228766 -0.10453855 8.34532238] [-0.19014806 0.98129216 0.03015646 -1.24862828] [ 0.10838158 -0.0095475 0.99406352 0.95319041] [ 0. 0. 0. 1. ]] SLAMing on 47.54629675699999 meters Centerline goodness : 0.795798 with order 1 Centerline is valid? [False, False] Translation: X:8.34, Y:-1.25, Z:0.95 [[ 9.76230338e-01 1.89776610e-01 -1.04686033e-01 8.34269075e+00] [-1.87954886e-01 9.81803942e-01 2.70920715e-02 -1.24892052e+00] [ 1.07922602e-01 -6.77185066e-03 9.94136235e-01 9.54455632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.606296756999996 meters Centerline goodness : 0.797014 with order 1 Centerline is valid? [False, False] Translation: X:8.35, Y:-1.25, Z:0.95 [[ 0.97518214 0.19469288 -0.10542522 8.34731005] [-0.19257351 0.9808232 0.0300217 -1.24750786] [ 0.10924851 -0.00897452 0.99397395 0.95257916] [ 0. 0. 0. 1. ]] SLAMing on 47.666296757 meters Centerline goodness : 0.795245 with order 1 Centerline is valid? [False, False] Translation: X:8.35, Y:-1.25, Z:0.95 [[ 0.9738819 0.20089001 -0.10581705 8.34906283] [-0.19846153 0.97954927 0.0331097 -1.2477922 ] [ 0.11030442 -0.01124432 0.99383424 0.95355196] [ 0. 0. 0. 1. ]] SLAMing on 47.72629675699999 meters Centerline goodness : 0.810355 with order 3 Centerline is valid? [False, False] Translation: X:8.35, Y:-1.25, Z:0.95 [[ 0.97324031 0.2030667 -0.10755101 8.35252579] [-0.20078556 0.97912073 0.03174508 -1.24586194] [ 0.1117518 -0.0093009 0.99369262 0.95412708] [ 0. 0. 0. 1. ]] SLAMing on 47.786296756999995 meters Centerline goodness : 0.795273 with order 1 Centerline is valid? [False, False] Translation: X:8.36, Y:-1.25, Z:0.96 [[ 0.97134584 0.21056132 -0.11023249 8.35744737] [-0.20821988 0.97754294 0.03246972 -1.24513108] [ 0.11459386 -0.00858674 0.99337531 0.95649048] [ 0. 0. 0. 1. ]] SLAMing on 47.846296757 meters Centerline goodness : 0.799099 with order 2 Centerline is valid? [False, False] Translation: X:8.36, Y:-1.24, Z:0.96 [[ 9.70596921e-01 2.13031329e-01 -1.12068145e-01 8.36123201e+00] [-2.10808865e-01 9.77020935e-01 3.14597287e-02 -1.24370345e+00] [ 1.16194832e-01 -6.90975730e-03 9.93202404e-01 9.56978595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.90629675699999 meters Centerline goodness : 0.798781 with order 2 Centerline is valid? [False, False] Translation: X:8.36, Y:-1.24, Z:0.96 [[ 0.96949231 0.21775912 -0.11254163 8.36461606] [-0.21522952 0.97596069 0.0343071 -1.2431319 ] [ 0.11730689 -0.00903819 0.99305458 0.95611349] [ 0. 0. 0. 1. ]] SLAMing on 47.966296756999995 meters Centerline goodness : 0.795563 with order 2 Centerline is valid? [False, False] Translation: X:8.36, Y:-1.24, Z:0.96 [[ 0.96912111 0.21944523 -0.11246357 8.36415699] [-0.21694003 0.9755856 0.03420173 -1.24062322] [ 0.11722324 -0.00874777 0.99306706 0.95761692] [ 0. 0. 0. 1. ]] SLAMing on 48.026296757 meters Centerline goodness : 0.811945 with order 3 Centerline is valid? [False, False] Translation: X:8.37, Y:-1.24, Z:0.96 [[ 9.69766084e-01 2.15340177e-01 -1.14814417e-01 8.36707412e+00] [-2.13417642e-01 9.76532639e-01 2.89294752e-02 -1.23878440e+00] [ 1.18349704e-01 -3.55140175e-03 9.92965626e-01 9.57766939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.08629675699999 meters Centerline goodness : 0.809600 with order 3 Centerline is valid? [False, False] Translation: X:8.37, Y:-1.24, Z:0.95 [[ 9.70225537e-01 2.13892647e-01 -1.13632490e-01 8.36765747e+00] [-2.11780019e-01 9.76841583e-01 3.04917107e-02 -1.23711631e+00] [ 1.17522894e-01 -5.51874547e-03 9.93054839e-01 9.54809090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.146296756999995 meters Centerline goodness : 0.797981 with order 1 Centerline is valid? [False, False] Translation: X:8.37, Y:-1.24, Z:0.96 [[ 9.70864527e-01 2.09774158e-01 -1.15831225e-01 8.36954386e+00] [-2.08300128e-01 9.77749867e-01 2.48244826e-02 -1.23537576e+00] [ 1.18461499e-01 2.64493583e-05 9.92958646e-01 9.55886276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.206296757 meters Centerline goodness : 0.797505 with order 1 Centerline is valid? [False, False] Translation: X:8.37, Y:-1.23, Z:0.96 [[ 9.71451156e-01 2.06057381e-01 -1.17571288e-01 8.37095769e+00] [-2.05134767e-01 9.78528804e-01 2.00276513e-02 -1.23408389e+00] [ 1.19173737e-01 4.66207374e-03 9.92862471e-01 9.56757980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.26629675699999 meters Centerline goodness : 0.796695 with order 2 Centerline is valid? [False, False] Translation: X:8.37, Y:-1.23, Z:0.95 [[ 9.71857768e-01 2.04769476e-01 -1.16455749e-01 8.37153300e+00] [-2.03774066e-01 9.78802893e-01 2.05189255e-02 -1.23154341e+00] [ 1.18188874e-01 3.78918433e-03 9.92983903e-01 9.53951632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.326296756999994 meters Centerline goodness : 0.797326 with order 2 Centerline is valid? [False, False] Translation: X:8.37, Y:-1.23, Z:0.95 [[ 9.71726534e-01 2.05369504e-01 -1.16494245e-01 8.37194648e+00] [-2.04359872e-01 9.78677455e-01 2.06756363e-02 -1.23047205e+00] [ 1.18256436e-01 3.71568466e-03 9.92976137e-01 9.54023228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.386296757 meters Centerline goodness : 0.796791 with order 1 Centerline is valid? [False, False] Translation: X:8.38, Y:-1.23, Z:0.95 [[ 9.71227109e-01 2.07228444e-01 -1.17363853e-01 8.37583312e+00] [-2.06194295e-01 9.78285261e-01 2.10204696e-02 -1.22972690e+00] [ 1.19171367e-01 3.78410708e-03 9.92866489e-01 9.52234903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.446296757 meters Centerline goodness : 0.799457 with order 2 Centerline is valid? [False, False] Translation: X:8.38, Y:-1.23, Z:0.95 [[ 9.70360093e-01 2.10127604e-01 -1.19363644e-01 8.38055271e+00] [-2.09199581e-01 9.77660247e-01 2.03954946e-02 -1.22898285e+00] [ 1.20982746e-01 5.17985021e-03 9.92641095e-01 9.52029744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.506296756999994 meters Centerline goodness : 0.797832 with order 2 Centerline is valid? [False, False] Translation: X:8.38, Y:-1.23, Z:0.95 [[ 9.69737777e-01 2.13329945e-01 -1.18739120e-01 8.38106515e+00] [-2.12163464e-01 9.76974484e-01 2.25282711e-02 -1.22635511e+00] [ 1.20811045e-01 3.34558749e-03 9.92669884e-01 9.52008335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.566296756999996 meters Centerline goodness : 0.798004 with order 2 Centerline is valid? [False, False] Translation: X:8.38, Y:-1.23, Z:0.95 [[ 9.70144594e-01 2.10366096e-01 -1.20687913e-01 8.38317297e+00] [-2.09747046e-01 9.77590804e-01 1.79553849e-02 -1.22589684e+00] [ 1.21760598e-01 7.89461358e-03 9.92528101e-01 9.52459956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.626296757 meters Centerline goodness : 0.800282 with order 2 Centerline is valid? [False, False] Translation: X:8.38, Y:-1.23, Z:0.95 [[ 0.9712439 0.20453169 -0.12186907 8.38375737] [-0.20432888 0.97879793 0.01429421 -1.22907085] [ 0.12220881 0.01101821 0.99244325 0.95146023] [ 0. 0. 0. 1. ]] SLAMing on 48.686296756999994 meters Centerline goodness : 0.799703 with order 2 Centerline is valid? [False, False] Translation: X:8.38, Y:-1.23, Z:0.95 [[ 0.97205822 0.20019422 -0.12257686 8.38362574] [-0.20033501 0.97966226 0.01130254 -1.23149925] [ 0.12234663 0.01356971 0.99239466 0.95100072] [ 0. 0. 0. 1. ]] SLAMing on 48.746296756999996 meters Centerline goodness : 0.807493 with order 3 Centerline is valid? [False, False] Translation: X:8.39, Y:-1.23, Z:0.95 [[ 0.97280624 0.19640358 -0.12277481 8.38549962] [-0.19661301 0.98042465 0.01052778 -1.23345482] [ 0.12243915 0.01389763 0.99237871 0.94744734] [ 0. 0. 0. 1. ]] SLAMing on 48.806296757 meters Centerline goodness : 0.795252 with order 2 Centerline is valid? [False, False] Translation: X:8.39, Y:-1.24, Z:0.94 [[ 9.73403454e-01 1.99389198e-01 -1.12825808e-01 8.38843583e+00] [-1.99987627e-01 9.79779404e-01 6.10483075e-03 -1.23834997e+00] [ 1.11761640e-01 1.66213022e-02 9.93596029e-01 9.40292100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.86629675699999 meters Centerline goodness : 0.813187 with order 3 Centerline is valid? [False, False] Translation: X:8.39, Y:-1.24, Z:0.94 [[ 9.72930676e-01 2.01032404e-01 -1.13981895e-01 8.38832038e+00] [-2.01755699e-01 9.79421676e-01 5.27439696e-03 -1.24035838e+00] [ 1.12696663e-01 1.78648744e-02 9.93468826e-01 9.43091002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.926296756999996 meters Centerline goodness : 0.796064 with order 2 Centerline is valid? [False, False] Translation: X:8.39, Y:-1.24, Z:0.94 [[ 0.97196841 0.20611949 -0.11310245 8.39113716] [-0.20632327 0.97843248 0.01002896 -1.2384076 ] [ 0.11273028 0.01358784 0.99353271 0.94045998] [ 0. 0. 0. 1. ]] SLAMing on 48.986296757 meters Centerline goodness : 0.799263 with order 2 Centerline is valid? [False, False] Translation: X:8.39, Y:-1.24, Z:0.94 [[ 0.97112681 0.20892564 -0.11516423 8.39395549] [-0.20930707 0.9778094 0.00890688 -1.23854474] [ 0.11446954 0.01545498 0.99330653 0.9425057 ] [ 0. 0. 0. 1. ]] SLAMing on 49.04629675699999 meters Centerline goodness : 0.801546 with order 2 Centerline is valid? [False, False] Translation: X:8.40, Y:-1.24, Z:0.94 [[ 9.70696337e-01 2.09422722e-01 -1.17859000e-01 8.39665662e+00] [-2.10153936e-01 9.77647819e-01 6.32969740e-03 -1.24117940e+00] [ 1.16550177e-01 1.86243187e-02 9.93010167e-01 9.44487689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.106296756999996 meters Centerline goodness : 0.800976 with order 2 Centerline is valid? [False, False] Translation: X:8.40, Y:-1.24, Z:0.94 [[ 0.96979946 0.2136522 -0.11765093 8.39975751] [-0.21395257 0.97679059 0.01021989 -1.24103276] [ 0.11710382 0.01526047 0.99300242 0.94227823] [ 0. 0. 0. 1. ]] SLAMing on 49.166296757 meters Centerline goodness : 0.804264 with order 2 Centerline is valid? [False, False] Translation: X:8.40, Y:-1.24, Z:0.94 [[ 0.96963659 0.214491 -0.11746698 8.39853549] [-0.21463349 0.97662594 0.01158619 -1.24402816] [ 0.11720643 0.01397795 0.9930092 0.94345591] [ 0. 0. 0. 1. ]] SLAMing on 49.22629675699999 meters Centerline goodness : 0.798599 with order 2 Centerline is valid? [False, False] Translation: X:8.40, Y:-1.25, Z:0.94 [[ 0.96970504 0.21407915 -0.11765311 8.39920623] [-0.21413145 0.97672683 0.0123457 -1.24655943] [ 0.11755791 0.01322154 0.99297801 0.94383996] [ 0. 0. 0. 1. ]] SLAMing on 49.286296756999995 meters Centerline goodness : 0.799937 with order 1 Centerline is valid? [False, False] Translation: X:8.40, Y:-1.25, Z:0.95 [[ 0.96984791 0.21315149 -0.11815871 8.39948468] [-0.2129206 0.97695858 0.01472241 -1.25232913] [ 0.11857427 0.01087993 0.99288558 0.94760693] [ 0. 0. 0. 1. ]] SLAMing on 49.346296757 meters Centerline goodness : 0.800868 with order 1 Centerline is valid? [False, False] Translation: X:8.40, Y:-1.25, Z:0.95 [[ 0.9706475 0.20934845 -0.11839201 8.39740217] [-0.20944119 0.97775006 0.01179882 -1.25495832] [ 0.11822786 0.01334366 0.99289683 0.94877123] [ 0. 0. 0. 1. ]] SLAMing on 49.40629675699999 meters Centerline goodness : 0.798960 with order 1 Centerline is valid? [False, False] Translation: X:8.40, Y:-1.25, Z:0.95 [[ 0.96999382 0.21272048 -0.11773694 8.3993688 ] [-0.21238102 0.9770629 0.01556873 -1.2541715 ] [ 0.11834819 0.00990352 0.99292277 0.94830662] [ 0. 0. 0. 1. ]] SLAMing on 49.466296756999995 meters Centerline goodness : 0.796313 with order 2 Centerline is valid? [False, False] Translation: X:8.40, Y:-1.26, Z:0.95 [[ 0.96992587 0.21316294 -0.11749623 8.39806118] [-0.21272225 0.97697464 0.01642585 -1.25639972] [ 0.11829222 0.0090622 0.99293747 0.94956091] [ 0. 0. 0. 1. ]] SLAMing on 49.526296757 meters Centerline goodness : 0.820696 with order 3 Centerline is valid? [False, False] Translation: X:8.40, Y:-1.26, Z:0.95 [[ 0.97031031 0.2114047 -0.11749873 8.39619011] [-0.2111704 0.97734046 0.0145836 -1.25505137] [ 0.11791931 0.01066164 0.99296594 0.95086041] [ 0. 0. 0. 1. ]] SLAMing on 49.58629675699999 meters Centerline goodness : 0.794995 with order 1 Centerline is valid? [False, False] Translation: X:8.40, Y:-1.25, Z:0.95 [[ 9.69718439e-01 2.14097729e-01 -1.17508773e-01 8.39967417e+00] [-2.13520283e-01 9.76779534e-01 1.76303802e-02 -1.25454730e+00] [ 1.18554789e-01 7.99400178e-03 9.92915333e-01 9.49527900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.646296756999995 meters Centerline goodness : 0.796917 with order 2 Centerline is valid? [False, False] Translation: X:8.40, Y:-1.26, Z:0.95 [[ 9.69011408e-01 2.17259015e-01 -1.17538982e-01 8.40203722e+00] [-2.16242393e-01 9.76103182e-01 2.14896416e-02 -1.25680369e+00] [ 1.19398992e-01 4.59320276e-03 9.92835728e-01 9.49438341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.706296757 meters Centerline goodness : 0.799781 with order 2 Centerline is valid? [False, False] Translation: X:8.40, Y:-1.26, Z:0.95 [[ 9.68458729e-01 2.20101616e-01 -1.16803123e-01 8.40269351e+00] [-2.18590826e-01 9.75476769e-01 2.57511906e-02 -1.25961233e+00] [ 1.19606612e-01 5.93125802e-04 9.92821186e-01 9.50586067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.76629675699999 meters Centerline goodness : 0.802072 with order 2 Centerline is valid? [False, False] Translation: X:8.40, Y:-1.26, Z:0.95 [[ 9.68638374e-01 2.19368799e-01 -1.16692033e-01 8.40345369e+00] [-2.17806035e-01 9.75642004e-01 2.61383041e-02 -1.25854026e+00] [ 1.19583577e-01 9.76645457e-05 9.92824133e-01 9.49740998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.826296756999994 meters Centerline goodness : 0.817243 with order 2 Centerline is valid? [False, False] Translation: X:8.41, Y:-1.26, Z:0.95 [[ 9.68962095e-01 2.16472034e-01 -1.19383069e-01 8.40610735e+00] [-2.15511515e-01 9.76274286e-01 2.10548327e-02 -1.25837280e+00] [ 1.21108402e-01 5.32709120e-03 9.92624993e-01 9.51082801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.886296757 meters Centerline goodness : 0.812091 with order 2 Centerline is valid? [False, False] Translation: X:8.40, Y:-1.25, Z:0.95 [[ 9.69197607e-01 2.15970024e-01 -1.18376292e-01 8.40414880e+00] [-2.15084262e-01 9.76383203e-01 2.03617814e-02 -1.25368352e+00] [ 1.19978158e-01 5.72628766e-03 9.92760017e-01 9.51990242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.946296757 meters Centerline goodness : 0.811682 with order 2 Centerline is valid? [False, False] Translation: X:8.41, Y:-1.25, Z:0.95 [[ 0.9687904 0.21703108 -0.11976089 8.40592483] [-0.21652762 0.97612215 0.01735929 -1.24853887] [ 0.12066876 0.00911403 0.99265099 0.95411289] [ 0. 0. 0. 1. ]] SLAMing on 50.006296756999994 meters Centerline goodness : 0.817422 with order 2 Centerline is valid? [False, False] Translation: X:8.41, Y:-1.25, Z:0.96 [[ 0.96801761 0.21888616 -0.12259996 8.40899057] [-0.21889193 0.97565448 0.0135891 -1.24562921] [ 0.12258966 0.01368165 0.99236313 0.95759345] [ 0. 0. 0. 1. ]] SLAMing on 50.066296756999996 meters Centerline goodness : 0.827856 with order 3 Centerline is valid? [False, False] Translation: X:8.41, Y:-1.24, Z:0.96 [[ 9.66354799e-01 2.23749797e-01 -1.26863826e-01 8.40675768e+00] [-2.22499564e-01 9.74634234e-01 2.41257930e-02 -1.23815996e+00] [ 1.29043969e-01 4.91306995e-03 9.91626702e-01 9.62513182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.126296757 meters Centerline goodness : 0.807328 with order 2 Centerline is valid? [False, False] Translation: X:8.41, Y:-1.23, Z:0.96 [[ 9.65033843e-01 2.29444293e-01 -1.26747774e-01 8.40968565e+00] [-2.28038447e-01 9.73313116e-01 2.56913471e-02 -1.23321907e+00] [ 1.29260003e-01 4.11034605e-03 9.91602217e-01 9.62102513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.186296756999994 meters Centerline goodness : 0.834098 with order 3 Centerline is valid? [False, False] Translation: X:8.41, Y:-1.23, Z:0.96 [[ 9.64939134e-01 2.29233099e-01 -1.27846210e-01 8.41126577e+00] [-2.28255345e-01 9.73342497e-01 2.24472984e-02 -1.22877928e+00] [ 1.29583813e-01 7.52130392e-03 9.91539946e-01 9.63336353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.246296756999996 meters Centerline goodness : 0.837400 with order 3 Centerline is valid? [False, False] Translation: X:8.41, Y:-1.22, Z:0.96 [[ 9.64995271e-01 2.30750732e-01 -1.24652425e-01 8.41012921e+00] [-2.29248363e-01 9.73008152e-01 2.64636398e-02 -1.22424203e+00] [ 1.27394330e-01 3.03907713e-03 9.91847493e-01 9.59985760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.306296757 meters Centerline goodness : 0.836918 with order 3 Centerline is valid? [False, False] Translation: X:8.41, Y:-1.22, Z:0.96 [[ 9.65088040e-01 2.30271910e-01 -1.24819561e-01 8.41235022e+00] [-2.28843893e-01 9.73119635e-01 2.58582285e-02 -1.22208337e+00] [ 1.27418790e-01 3.60872730e-03 9.91842442e-01 9.58192807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.36629675699999 meters Centerline goodness : 0.838730 with order 3 Centerline is valid? [False, False] Translation: X:8.41, Y:-1.22, Z:0.96 [[ 9.65542866e-01 2.29173406e-01 -1.23314731e-01 8.40960910e+00] [-2.27875960e-01 9.73376399e-01 2.47170577e-02 -1.21664450e+00] [ 1.25696141e-01 4.23508404e-03 9.92059748e-01 9.58817424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.426296756999996 meters Centerline goodness : 0.835451 with order 3 Centerline is valid? [False, False] Translation: X:8.41, Y:-1.21, Z:0.96 [[ 9.66270038e-01 2.27093832e-01 -1.21452067e-01 8.40637391e+00] [-2.25877039e-01 9.73863122e-01 2.38784952e-02 -1.21215327e+00] [ 1.23700349e-01 4.36015895e-03 9.92310039e-01 9.58853689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.486296757 meters Centerline goodness : 0.835759 with order 3 Centerline is valid? [False, False] Translation: X:8.40, Y:-1.21, Z:0.96 [[ 9.66885488e-01 2.25321495e-01 -1.19844389e-01 8.40455279e+00] [-2.24209126e-01 9.74272821e-01 2.28634675e-02 -1.20654139e+00] [ 1.21912762e-01 4.76385086e-03 9.92529387e-01 9.58010695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.54629675699999 meters Centerline goodness : 0.838492 with order 3 Centerline is valid? [False, False] Translation: X:8.40, Y:-1.20, Z:0.96 [[ 9.67287692e-01 2.24878896e-01 -1.17405294e-01 8.40176542e+00] [-2.23512772e-01 9.74384223e-01 2.48480688e-02 -1.20290069e+00] [ 1.19985673e-01 2.20635162e-03 9.92773172e-01 9.56878082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.606296756999996 meters Centerline goodness : 0.835125 with order 3 Centerline is valid? [False, False] Translation: X:8.40, Y:-1.20, Z:0.95 [[ 9.67641850e-01 2.23612073e-01 -1.16905478e-01 8.40407242e+00] [-2.22225786e-01 9.74676457e-01 2.49299927e-02 -1.20103622e+00] [ 1.19519665e-01 1.85610756e-03 9.92830099e-01 9.53167147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.666296757 meters Centerline goodness : 0.837902 with order 3 Centerline is valid? [False, False] Translation: X:8.40, Y:-1.20, Z:0.95 [[ 9.67887211e-01 2.22936503e-01 -1.16162226e-01 8.40364612e+00] [-2.21513159e-01 9.74832030e-01 2.51879674e-02 -1.19950476e+00] [ 1.18853976e-01 1.35235012e-03 9.92910824e-01 9.52243848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.72629675699999 meters Centerline goodness : 0.832052 with order 3 Centerline is valid? [False, False] Translation: X:8.41, Y:-1.20, Z:0.95 [[ 9.67876177e-01 2.23023440e-01 -1.16087259e-01 8.40604211e+00] [-2.21581180e-01 9.74812360e-01 2.53504201e-02 -1.19713273e+00] [ 1.18817033e-01 1.18668409e-03 9.92915457e-01 9.49954835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.786296756999995 meters Centerline goodness : 0.833752 with order 3 Centerline is valid? [False, False] Translation: X:8.41, Y:-1.20, Z:0.95 [[ 9.67771620e-01 2.23111120e-01 -1.16788350e-01 8.40785137e+00] [-2.21753922e-01 9.74790890e-01 2.46560106e-02 -1.19651548e+00] [ 1.19345250e-01 2.03688745e-03 9.92850725e-01 9.49582139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.846296757 meters Centerline goodness : 0.804631 with order 2 Centerline is valid? [False, False] Translation: X:8.41, Y:-1.20, Z:0.95 [[ 9.67835996e-01 2.21388969e-01 -1.19500670e-01 8.41109290e+00] [-2.20584551e-01 9.75161028e-01 2.00854607e-02 -1.19709340e+00] [ 1.20979096e-01 6.92056982e-03 9.92630930e-01 9.50715151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.90629675699999 meters Centerline goodness : 0.828047 with order 3 Centerline is valid? [False, False] Translation: X:8.41, Y:-1.20, Z:0.95 [[ 9.67329136e-01 2.23100535e-01 -1.20417992e-01 8.41493311e+00] [-2.22192036e-01 9.74774742e-01 2.10926710e-02 -1.19847843e+00] [ 1.22086203e-01 6.35236353e-03 9.92499172e-01 9.48648287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.966296756999995 meters Centerline goodness : 0.803927 with order 2 Centerline is valid? [False, False] Translation: X:8.42, Y:-1.20, Z:0.95 [[ 9.67013422e-01 2.24197797e-01 -1.20914806e-01 8.41701855e+00] [-2.23228273e-01 9.74525036e-01 2.16816330e-02 -1.19931922e+00] [ 1.22695480e-01 6.02517322e-03 9.92426076e-01 9.47636473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.026296757 meters Centerline goodness : 0.826843 with order 3 Centerline is valid? [False, False] Translation: X:8.42, Y:-1.20, Z:0.95 [[ 0.96711454 0.22219967 -0.12376094 8.41954075] [-0.22182818 0.97493844 0.01694995 -1.20091826] [ 0.12442557 0.01106112 0.99216729 0.94953087] [ 0. 0. 0. 1. ]] SLAMing on 51.08629675699999 meters Centerline goodness : 0.821687 with order 3 Centerline is valid? [False, False] Translation: X:8.42, Y:-1.20, Z:0.95 [[ 0.96745373 0.21972659 -0.125513 8.42213324] [-0.21974963 0.97545819 0.01383522 -1.20260083] [ 0.12547265 0.0141965 0.9919955 0.94881706] [ 0. 0. 0. 1. ]] SLAMing on 51.146296756999995 meters Centerline goodness : 0.818678 with order 3 Centerline is valid? [False, False] Translation: X:8.43, Y:-1.21, Z:0.95 [[ 0.96777523 0.21749502 -0.12691343 8.42540016] [-0.21774529 0.97593101 0.01206832 -1.20508089] [ 0.12648355 0.01595538 0.99184038 0.94662978] [ 0. 0. 0. 1. ]] SLAMing on 51.206296757 meters Centerline goodness : 0.820904 with order 3 Centerline is valid? [False, False] Translation: X:8.42, Y:-1.21, Z:0.95 [[ 0.9677844 0.21741306 -0.12698395 8.42430285] [-0.21763506 0.97595279 0.0122934 -1.20769828] [ 0.12660308 0.01573879 0.99182859 0.94747392] [ 0. 0. 0. 1. ]] SLAMing on 51.26629675699999 meters Centerline goodness : 0.818547 with order 3 Centerline is valid? [False, False] Translation: X:8.43, Y:-1.21, Z:0.95 [[ 9.67980099e-01 2.15046266e-01 -1.29497612e-01 8.42660942e+00] [-2.15804655e-01 9.76401151e-01 8.31529174e-03 -1.21056145e+00] [ 1.28229790e-01 1.98971507e-02 9.91544868e-01 9.48627027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.326296756999994 meters Centerline goodness : 0.819098 with order 3 Centerline is valid? [False, False] Translation: X:8.43, Y:-1.21, Z:0.95 [[ 0.96779816 0.21569548 -0.12977746 8.4292359 ] [-0.21629521 0.97628056 0.00962567 -1.21297847] [ 0.12877542 0.01875453 0.99149642 0.94616566] [ 0. 0. 0. 1. ]] SLAMing on 51.386296757 meters Centerline goodness : 0.799467 with order 2 Centerline is valid? [False, False] Translation: X:8.43, Y:-1.22, Z:0.95 [[ 9.67210016e-01 2.16561298e-01 -1.32687565e-01 8.43364547e+00] [-2.17444607e-01 9.76040099e-01 7.97293045e-03 -1.21857961e+00] [ 1.31235012e-01 2.11406972e-02 9.91125846e-01 9.46402635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.44629675699999 meters Centerline goodness : 0.797861 with order 2 Centerline is valid? [False, False] Translation: X:8.43, Y:-1.22, Z:0.94 [[ 0.96725352 0.21676072 -0.13204327 8.43332427] [-0.21730781 0.97604742 0.01042834 -1.22234579] [ 0.13114094 0.01860719 0.9911891 0.94471355] [ 0. 0. 0. 1. ]] SLAMing on 51.506296756999994 meters Centerline goodness : 0.798870 with order 1 Centerline is valid? [False, False] Translation: X:8.43, Y:-1.23, Z:0.94 [[ 0.96737941 0.2164648 -0.1316057 8.43409611] [-0.21669161 0.97615659 0.01276948 -1.22693768] [ 0.13123191 0.01616492 0.9912199 0.9419551 ] [ 0. 0. 0. 1. ]] SLAMing on 51.566296756999996 meters Centerline goodness : 0.798726 with order 1 Centerline is valid? [False, False] Translation: X:8.44, Y:-1.23, Z:0.94 [[ 9.67687874e-01 2.18227467e-01 -1.26320824e-01 8.43981655e+00] [-2.19441967e-01 9.75615669e-01 4.39203391e-03 -1.23386505e+00] [ 1.24199037e-01 2.34699721e-02 9.91979717e-01 9.38155696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.626296757 meters Centerline goodness : 0.799086 with order 2 Centerline is valid? [False, False] Translation: X:8.44, Y:-1.24, Z:0.94 [[ 9.68190075e-01 2.15190482e-01 -1.27675509e-01 8.44176393e+00] [-2.16769391e-01 9.76221587e-01 1.56349731e-03 -1.23518914e+00] [ 1.24976037e-01 2.61623797e-02 9.91814761e-01 9.37233865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.686296756999994 meters Centerline goodness : 0.808205 with order 3 Centerline is valid? [False, False] Translation: X:8.44, Y:-1.24, Z:0.94 [[ 9.68051749e-01 2.15404647e-01 -1.28361398e-01 8.44248997e+00] [-2.17057563e-01 9.76158143e-01 1.13778256e-03 -1.23693827e+00] [ 1.25546108e-01 2.67603798e-02 9.91726806e-01 9.37608380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.746296756999996 meters Centerline goodness : 0.809585 with order 3 Centerline is valid? [False, False] Translation: X:8.45, Y:-1.25, Z:0.93 [[ 9.67975610e-01 2.20411278e-01 -1.20175233e-01 8.44755415e+00] [-2.22352892e-01 9.74962158e-01 -2.82521982e-03 -1.24593496e+00] [ 1.16543594e-01 2.94560545e-02 9.92748675e-01 9.34592002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.806296757 meters Centerline goodness : 0.800754 with order 2 Centerline is valid? [False, False] Translation: X:8.45, Y:-1.25, Z:0.93 [[ 9.67477495e-01 2.22300219e-01 -1.20705881e-01 8.45137879e+00] [-2.24045620e-01 9.74578231e-01 -9.12469585e-04 -1.24728567e+00] [ 1.17434481e-01 2.79264176e-02 9.92687895e-01 9.32027847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.86629675699999 meters Centerline goodness : 0.793452 with order 2 Centerline is valid? [False, False] Translation: X:8.46, Y:-1.25, Z:0.93 [[ 9.66762652e-01 2.23309896e-01 -1.24509697e-01 8.45530046e+00] [-2.25600359e-01 9.74209871e-01 -4.42773654e-03 -1.25045772e+00] [ 1.20309819e-01 3.23700028e-02 9.92208512e-01 9.34987053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.926296756999996 meters Centerline goodness : 0.793978 with order 2 Centerline is valid? [False, False] Translation: X:8.46, Y:-1.25, Z:0.94 [[ 9.65832402e-01 2.25254460e-01 -1.28172541e-01 8.45960341e+00] [-2.27957075e-01 9.73648618e-01 -6.62883864e-03 -1.25461351e+00] [ 1.23301841e-01 3.56201846e-02 9.91729730e-01 9.37352195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.986296757 meters Centerline goodness : 0.801463 with order 3 Centerline is valid? [False, False] Translation: X:8.46, Y:-1.26, Z:0.94 [[ 9.64767274e-01 2.30078036e-01 -1.27625248e-01 8.46085001e+00] [-2.32202063e-01 9.72665873e-01 -1.81702049e-03 -1.25663013e+00] [ 1.23718667e-01 3.13878478e-02 9.91820798e-01 9.37061146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.04629675699999 meters Centerline goodness : 0.803539 with order 3 Centerline is valid? [False, False] Translation: X:8.46, Y:-1.26, Z:0.94 [[ 9.64620864e-01 2.30514239e-01 -1.27944423e-01 8.46144144e+00] [-2.32488194e-01 9.72599086e-01 -5.08228843e-04 -1.26207971e+00] [ 1.24321475e-01 3.02358160e-02 9.91781209e-01 9.36783261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.106296756999996 meters Centerline goodness : 0.790638 with order 2 Centerline is valid? [False, False] Translation: X:8.46, Y:-1.26, Z:0.94 [[ 9.64924252e-01 2.29306306e-01 -1.27827252e-01 8.46232510e+00] [-2.31207832e-01 9.72904382e-01 -3.86003888e-05 -1.26299880e+00] [ 1.24354842e-01 2.95919082e-02 9.91796447e-01 9.35103694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.166296757 meters Centerline goodness : 0.791285 with order 1 Centerline is valid? [False, False] Translation: X:8.46, Y:-1.27, Z:0.94 [[ 9.65150380e-01 2.29502104e-01 -1.25751855e-01 8.45775520e+00] [-2.30707308e-01 9.73009862e-01 5.09388138e-03 -1.26969312e+00] [ 1.23526852e-01 2.40955103e-02 9.92048650e-01 9.43011480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.22629675699999 meters Centerline goodness : 0.793104 with order 1 Centerline is valid? [False, False] Translation: X:8.45, Y:-1.27, Z:0.95 [[ 9.66178450e-01 2.21263899e-01 -1.32444293e-01 8.45219023e+00] [-2.22466947e-01 9.74922788e-01 5.83224184e-03 -1.26657056e+00] [ 1.30413424e-01 2.38294910e-02 9.91173292e-01 9.49043623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.286296756999995 meters Centerline goodness : 0.795159 with order 1 Centerline is valid? [False, False] Translation: X:8.45, Y:-1.27, Z:0.95 [[ 9.67328172e-01 2.15675659e-01 -1.33267470e-01 8.45321219e+00] [-2.17367051e-01 9.76088088e-01 1.89970823e-03 -1.26636707e+00] [ 1.30490510e-01 2.71303156e-02 9.91078288e-01 9.47469874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.346296757 meters Centerline goodness : 0.793447 with order 1 Centerline is valid? [False, False] Translation: X:8.45, Y:-1.27, Z:0.95 [[ 9.67260782e-01 2.16130684e-01 -1.33019200e-01 8.45402422e+00] [-2.17697370e-01 9.76012225e-01 2.82712217e-03 -1.26647960e+00] [ 1.30439393e-01 2.62233657e-02 9.91109429e-01 9.46404634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.40629675699999 meters Centerline goodness : 0.790411 with order 1 Centerline is valid? [False, False] Translation: X:8.46, Y:-1.27, Z:0.95 [[ 9.65884135e-01 2.22413123e-01 -1.32665894e-01 8.45514173e+00] [-2.23468398e-01 9.74685516e-01 7.07242614e-03 -1.26705146e+00] [ 1.30880526e-01 2.28154906e-02 9.91135582e-01 9.46907020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.466296756999995 meters Centerline goodness : 0.790883 with order 1 Centerline is valid? [False, False] Translation: X:8.46, Y:-1.27, Z:0.95 [[ 0.96501105 0.22672905 -0.13171034 8.45520846] [-0.22724736 0.9737717 0.01128326 -1.26817483] [ 0.13081404 0.01904236 0.99122403 0.94712002] [ 0. 0. 0. 1. ]] SLAMing on 52.526296757 meters Centerline goodness : 0.790600 with order 1 Centerline is valid? [False, False] Translation: X:8.46, Y:-1.27, Z:0.95 [[ 0.96460244 0.22764177 -0.13312161 8.45915269] [-0.22821942 0.97354635 0.01110865 -1.26800128] [ 0.13212885 0.0196655 0.99103745 0.94593556] [ 0. 0. 0. 1. ]] SLAMing on 52.58629675699999 meters Centerline goodness : 0.792433 with order 1 Centerline is valid? [False, False] Translation: X:8.46, Y:-1.27, Z:0.95 [[ 9.64892521e-01 2.25091244e-01 -1.35337926e-01 8.46016602e+00] [-2.26182845e-01 9.74056309e-01 7.45844678e-03 -1.27004993e+00] [ 1.33505592e-01 2.34145177e-02 9.90771425e-01 9.47833390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.646296756999995 meters Centerline goodness : 0.793176 with order 1 Centerline is valid? [False, False] Translation: X:8.46, Y:-1.27, Z:0.95 [[ 0.96494623 0.22533417 -0.13454845 8.46037133] [-0.22612113 0.97405183 0.00960564 -1.27235887] [ 0.13322165 0.02115532 0.99086046 0.9458466 ] [ 0. 0. 0. 1. ]] SLAMing on 52.706296757 meters Centerline goodness : 0.795730 with order 1 Centerline is valid? [False, False] Translation: X:8.46, Y:-1.27, Z:0.94 [[ 0.96519878 0.22470263 -0.13379103 8.45995387] [-0.22544562 0.97420678 0.00976887 -1.27154856] [ 0.13253522 0.0207337 0.99096142 0.94487184] [ 0. 0. 0. 1. ]] SLAMing on 52.76629675699999 meters Centerline goodness : 0.797490 with order 1 Centerline is valid? [False, False] Translation: X:8.46, Y:-1.27, Z:0.95 [[ 9.65468215e-01 2.23252615e-01 -1.34273588e-01 8.45833364e+00] [-2.24378585e-01 9.74477739e-01 6.88379887e-03 -1.26942695e+00] [ 1.32383448e-01 2.34820285e-02 9.90920389e-01 9.47499395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.826296756999994 meters Centerline goodness : 0.793647 with order 2 Centerline is valid? [False, False] Translation: X:8.46, Y:-1.26, Z:0.95 [[ 9.65913040e-01 2.21679185e-01 -1.33679982e-01 8.45805828e+00] [-2.23039551e-01 9.74797067e-01 4.90281332e-03 -1.26399309e+00] [ 1.31397706e-01 2.50802320e-02 9.91012424e-01 9.47069452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.886296757 meters Centerline goodness : 0.790815 with order 2 Centerline is valid? [False, False] Translation: X:8.46, Y:-1.26, Z:0.95 [[ 9.65597856e-01 2.22816433e-01 -1.34065723e-01 8.45908614e+00] [-2.24236410e-01 9.74523884e-01 4.60773928e-03 -1.26242349e+00] [ 1.31676929e-01 2.56131933e-02 9.90961730e-01 9.47578213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.94629675699999 meters Centerline goodness : 0.808384 with order 3 Centerline is valid? [False, False] Translation: X:8.46, Y:-1.26, Z:0.95 [[ 9.65158398e-01 2.25503862e-01 -1.32730085e-01 8.45802605e+00] [-2.26529056e-01 9.73975340e-01 7.52489869e-03 -1.26104804e+00] [ 1.30972723e-01 2.28045016e-02 9.91123655e-01 9.47756573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.006296756999994 meters Centerline goodness : 0.793716 with order 1 Centerline is valid? [False, False] Translation: X:8.46, Y:-1.26, Z:0.94 [[ 0.96514814 0.22598399 -0.13198601 8.46023968] [-0.22677165 0.9739042 0.00923213 -1.25935045] [ 0.13062804 0.02102032 0.99120859 0.94478246] [ 0. 0. 0. 1. ]] SLAMing on 53.066296756999996 meters Centerline goodness : 0.798046 with order 1 Centerline is valid? [False, False] Translation: X:8.46, Y:-1.26, Z:0.94 [[ 0.96555328 0.2243471 -0.13181515 8.46178525] [-0.22508966 0.97429238 0.00943451 -1.26019887] [ 0.1305431 0.02056071 0.99122942 0.94221716] [ 0. 0. 0. 1. ]] SLAMing on 53.126296757 meters Centerline goodness : 0.800864 with order 1 Centerline is valid? [False, False] Translation: X:8.46, Y:-1.26, Z:0.94 [[ 9.66322917e-01 2.20476567e-01 -1.32703064e-01 8.46047741e+00] [-2.21643093e-01 9.75108762e-01 6.10258462e-03 -1.26139772e+00] [ 1.30745397e-01 2.35156502e-02 9.91137052e-01 9.43688101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.186296756999994 meters Centerline goodness : 0.799023 with order 1 Centerline is valid? [False, False] Translation: X:8.46, Y:-1.26, Z:0.94 [[ 0.96638132 0.22182016 -0.13001138 8.45976418] [-0.22231523 0.97491415 0.01087851 -1.26040244] [ 0.129163 0.01839072 0.99145282 0.94013116] [ 0. 0. 0. 1. ]] SLAMing on 53.246296756999996 meters Centerline goodness : 0.801529 with order 1 Centerline is valid? [False, False] Translation: X:8.46, Y:-1.26, Z:0.94 [[ 9.66513276e-01 2.19294765e-01 -1.33273755e-01 8.46109307e+00] [-2.20645879e-01 9.75342518e-01 4.72963886e-03 -1.26087068e+00] [ 1.31024745e-01 2.48350460e-02 9.91067978e-01 9.44153743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.306296757 meters Centerline goodness : 0.798829 with order 1 Centerline is valid? [False, False] Translation: X:8.46, Y:-1.26, Z:0.95 [[ 9.66636270e-01 2.18551836e-01 -1.33601708e-01 8.46011114e+00] [-2.20121553e-01 9.75467558e-01 3.08940084e-03 -1.25986990e+00] [ 1.30999326e-01 2.64222885e-02 9.91030292e-01 9.46069034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.36629675699999 meters Centerline goodness : 0.798523 with order 1 Centerline is valid? [False, False] Translation: X:8.46, Y:-1.26, Z:0.94 [[ 9.65969907e-01 2.22466328e-01 -1.31950263e-01 8.46097421e+00] [-2.23356035e-01 9.74702357e-01 8.20950423e-03 -1.25900246e+00] [ 1.30438571e-01 2.15417536e-02 9.91222342e-01 9.43832989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.426296756999996 meters Centerline goodness : 0.805315 with order 3 Centerline is valid? [False, False] Translation: X:8.46, Y:-1.26, Z:0.94 [[ 9.65304018e-01 2.24445799e-01 -1.33462490e-01 8.46446360e+00] [-2.25537273e-01 9.74208807e-01 7.08092694e-03 -1.25812612e+00] [ 1.31609618e-01 2.32655189e-02 9.91028569e-01 9.44030890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.486296757 meters Centerline goodness : 0.792569 with order 1 Centerline is valid? [False, False] Translation: X:8.46, Y:-1.25, Z:0.94 [[ 9.65549216e-01 2.23704152e-01 -1.32932928e-01 8.46370486e+00] [-2.24999496e-01 9.74343963e-01 5.39146079e-03 -1.25396101e+00] [ 1.30728489e-01 2.47041212e-02 9.91110372e-01 9.44588330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.54629675699999 meters Centerline goodness : 0.802145 with order 3 Centerline is valid? [False, False] Translation: X:8.46, Y:-1.25, Z:0.95 [[ 9.65544864e-01 2.23647256e-01 -1.33060211e-01 8.46264306e+00] [-2.25172629e-01 9.74311983e-01 3.66695874e-03 -1.25064881e+00] [ 1.30462263e-01 2.64209043e-02 9.91101172e-01 9.46807995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.606296756999996 meters Centerline goodness : 0.802813 with order 3 Centerline is valid? [False, False] Translation: X:8.46, Y:-1.25, Z:0.95 [[ 9.65558719e-01 2.23433758e-01 -1.33318102e-01 8.46365090e+00] [-2.24985855e-01 9.74355736e-01 3.50222439e-03 -1.25091889e+00] [ 1.30681772e-01 2.66130838e-02 9.91067111e-01 9.46235441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.666296757 meters Centerline goodness : 0.800748 with order 3 Centerline is valid? [False, False] Translation: X:8.46, Y:-1.25, Z:0.94 [[ 9.65749721e-01 2.22810846e-01 -1.32976703e-01 8.46446777e+00] [-2.24272988e-01 9.74517850e-01 4.07267991e-03 -1.25163334e+00] [ 1.30495608e-01 2.58898929e-02 9.91110796e-01 9.44423171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.72629675699999 meters Centerline goodness : 0.800665 with order 3 Centerline is valid? [False, False] Translation: X:8.46, Y:-1.26, Z:0.94 [[ 9.66114880e-01 2.21625899e-01 -1.32302679e-01 8.46363233e+00] [-2.22885255e-01 9.74829717e-01 5.40239134e-03 -1.25535128e+00] [ 1.30169893e-01 2.42689857e-02 9.91194640e-01 9.43016009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.786296756999995 meters Centerline goodness : 0.789030 with order 2 Centerline is valid? [False, False] Translation: X:8.46, Y:-1.26, Z:0.94 [[ 9.66017814e-01 2.21991082e-01 -1.32399180e-01 8.46450322e+00] [-2.23163877e-01 9.74761831e-01 6.10391651e-03 -1.25652613e+00] [ 1.30412683e-01 2.36502223e-02 9.91177683e-01 9.42278300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.846296757 meters Centerline goodness : 0.790533 with order 2 Centerline is valid? [False, False] Translation: X:8.47, Y:-1.26, Z:0.94 [[ 9.65557212e-01 2.23208142e-01 -1.33706379e-01 8.46780616e+00] [-2.24458046e-01 9.74466215e-01 5.84645042e-03 -1.25675013e+00] [ 1.31597325e-01 2.43663903e-02 9.91003745e-01 9.41998279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.90629675699999 meters Centerline goodness : 0.793367 with order 2 Centerline is valid? [False, False] Translation: X:8.47, Y:-1.26, Z:0.94 [[ 9.65082453e-01 2.23881677e-01 -1.35988435e-01 8.47062453e+00] [-2.25456321e-01 9.74245429e-01 3.91033880e-03 -1.25841992e+00] [ 1.33361565e-01 2.68856529e-02 9.90702708e-01 9.43465137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.966296756999995 meters Centerline goodness : 0.795618 with order 2 Centerline is valid? [False, False] Translation: X:8.47, Y:-1.26, Z:0.94 [[ 9.64478180e-01 2.26030322e-01 -1.36719177e-01 8.47223757e+00] [-2.27557690e-01 9.73753922e-01 4.56033778e-03 -1.25931222e+00] [ 1.34161609e-01 2.67131539e-02 9.90599349e-01 9.43761810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.026296757 meters Centerline goodness : 0.797580 with order 2 Centerline is valid? [False, False] Translation: X:8.47, Y:-1.26, Z:0.94 [[ 9.63848071e-01 2.28354962e-01 -1.37298607e-01 8.47278757e+00] [-2.29806797e-01 9.73221302e-01 5.39754662e-03 -1.26084119e+00] [ 1.34854486e-01 2.63497381e-02 9.90514997e-01 9.44974284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.08629675699999 meters Centerline goodness : 0.808060 with order 3 Centerline is valid? [False, False] Translation: X:8.47, Y:-1.26, Z:0.95 [[ 9.63661307e-01 2.28826293e-01 -1.37823848e-01 8.47361314e+00] [-2.30294522e-01 9.73105910e-01 5.41487147e-03 -1.26172959e+00] [ 1.35356266e-01 2.65219749e-02 9.90441955e-01 9.45245828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.146296756999995 meters Centerline goodness : 0.794138 with order 1 Centerline is valid? [False, False] Translation: X:8.47, Y:-1.26, Z:0.95 [[ 9.63942986e-01 2.27656323e-01 -1.37791579e-01 8.47336962e+00] [-2.29187553e-01 9.73370132e-01 4.86336321e-03 -1.26318303e+00] [ 1.35229383e-01 2.68921099e-02 9.90449306e-01 9.45023747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.206296757 meters Centerline goodness : 0.795242 with order 1 Centerline is valid? [False, False] Translation: X:8.47, Y:-1.26, Z:0.94 [[ 9.64361753e-01 2.26466083e-01 -1.36819305e-01 8.47201695e+00] [-2.27941719e-01 9.73661976e-01 4.99298942e-03 -1.26358721e+00] [ 1.34346498e-01 2.63717796e-02 9.90583438e-01 9.44378399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.26629675699999 meters Centerline goodness : 0.795624 with order 2 Centerline is valid? [False, False] Translation: X:8.48, Y:-1.27, Z:0.94 [[ 9.64651280e-01 2.24447856e-01 -1.38098037e-01 8.47528485e+00] [-2.26193031e-01 9.74077470e-01 3.12967945e-03 -1.26627519e+00] [ 1.35220636e-01 2.82177644e-02 9.90413619e-01 9.42236270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.326296756999994 meters Centerline goodness : 0.792584 with order 2 Centerline is valid? [False, False] Translation: X:8.48, Y:-1.27, Z:0.94 [[ 9.64280509e-01 2.27132248e-01 -1.36286616e-01 8.47560655e+00] [-2.28155966e-01 9.73589466e-01 8.27089811e-03 -1.26949756e+00] [ 1.34565801e-01 2.31191387e-02 9.90634923e-01 9.39259591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.386296757 meters Centerline goodness : 0.798432 with order 2 Centerline is valid? [False, False] Translation: X:8.48, Y:-1.27, Z:0.94 [[ 0.96399967 0.22840122 -0.13615255 8.47512222] [-0.22935685 0.97330227 0.00883933 -1.27018963] [ 0.1345365 0.02270641 0.99064845 0.9402391 ] [ 0. 0. 0. 1. ]] SLAMing on 54.44629675699999 meters Centerline goodness : 0.797317 with order 2 Centerline is valid? [False, False] Translation: X:8.48, Y:-1.28, Z:0.94 [[ 0.96389977 0.23491193 -0.125354 8.47720102] [-0.23559624 0.97180409 0.00955063 -1.27523553] [ 0.12406309 0.02032708 0.99206611 0.94067869] [ 0. 0. 0. 1. ]] SLAMing on 54.506296756999994 meters Centerline goodness : 0.807093 with order 3 Centerline is valid? [False, False] Translation: X:8.48, Y:-1.28, Z:0.94 [[ 0.96347567 0.23598357 -0.12659539 8.48169505] [-0.2366568 0.97154273 0.00991393 -1.27533408] [ 0.12533235 0.02040783 0.9919049 0.93908565] [ 0. 0. 0. 1. ]] SLAMing on 54.566296756999996 meters Centerline goodness : 0.797955 with order 2 Centerline is valid? [False, False] Translation: X:8.49, Y:-1.28, Z:0.94 [[ 0.96218505 0.24085958 -0.12722653 8.48685556] [-0.24113667 0.97039792 0.01345267 -1.27639762] [ 0.12670057 0.01773502 0.99178245 0.93698223] [ 0. 0. 0. 1. ]] SLAMing on 54.626296757 meters Centerline goodness : 0.802096 with order 2 Centerline is valid? [False, False] Translation: X:8.49, Y:-1.28, Z:0.94 [[ 0.96183765 0.24160519 -0.12843389 8.48850453] [-0.24191781 0.97020424 0.01339777 -1.27622827] [ 0.12784408 0.01818397 0.99162757 0.93886159] [ 0. 0. 0. 1. ]] SLAMing on 54.686296756999994 meters Centerline goodness : 0.803834 with order 1 Centerline is valid? [False, False] Translation: X:8.49, Y:-1.27, Z:0.94 [[ 0.96152783 0.24193957 -0.1301133 8.49126706] [-0.24240793 0.9700943 0.0124678 -1.27477499] [ 0.12923862 0.01955236 0.99142074 0.94035423] [ 0. 0. 0. 1. ]] SLAMing on 54.746296756999996 meters Centerline goodness : 0.806171 with order 3 Centerline is valid? [False, False] Translation: X:8.49, Y:-1.27, Z:0.94 [[ 0.96128252 0.24239608 -0.1310727 8.49387804] [-0.24298539 0.9699591 0.01172384 -1.27190745] [ 0.12997697 0.02057882 0.99130343 0.94087594] [ 0. 0. 0. 1. ]] SLAMing on 54.806296757 meters Centerline goodness : 0.807551 with order 2 Centerline is valid? [False, False] Translation: X:8.50, Y:-1.27, Z:0.94 [[ 0.96134565 0.24139898 -0.13244268 8.49553985] [-0.24232004 0.97015118 0.00936393 -1.26912273] [ 0.13074987 0.02309154 0.99114643 0.94269409] [ 0. 0. 0. 1. ]] SLAMing on 54.86629675699999 meters Centerline goodness : 0.801206 with order 2 Centerline is valid? [False, False] Translation: X:8.50, Y:-1.27, Z:0.94 [[ 0.96082843 0.24289681 -0.13345365 8.49782605] [-0.24389885 0.96975855 0.00903915 -1.26742603] [ 0.1316134 0.02386412 0.99101383 0.94369857] [ 0. 0. 0. 1. ]] SLAMing on 54.926296756999996 meters Centerline goodness : 0.798253 with order 2 Centerline is valid? [False, False] Translation: X:8.50, Y:-1.27, Z:0.94 [[ 0.96026054 0.2452783 -0.13318501 8.50121656] [-0.24587484 0.96922471 0.01220771 -1.26672163] [ 0.13208049 0.02102426 0.99101601 0.94121661] [ 0. 0. 0. 1. ]] SLAMing on 54.986296757 meters Centerline goodness : 0.794647 with order 2 Centerline is valid? [False, False] Translation: X:8.50, Y:-1.26, Z:0.94 [[ 0.96123544 0.24136078 -0.13330942 8.50187278] [-0.24226565 0.97016209 0.00963733 -1.26496771] [ 0.13165782 0.02303255 0.99102761 0.93984388] [ 0. 0. 0. 1. ]] SLAMing on 55.04629675699999 meters Centerline goodness : 0.796927 with order 2 Centerline is valid? [False, False] Translation: X:8.50, Y:-1.26, Z:0.94 [[ 9.62029735e-01 2.37437596e-01 -1.34618632e-01 8.50211892e+00] [-2.38889302e-01 9.71031218e-01 5.50225854e-03 -1.26435748e+00] [ 1.32025337e-01 2.68656146e-02 9.90882207e-01 9.40997562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.106296756999996 meters Centerline goodness : 0.799039 with order 2 Centerline is valid? [False, False] Translation: X:8.51, Y:-1.26, Z:0.94 [[ 0.96212615 0.23787228 -0.1331542 8.50515686] [-0.23886857 0.97101314 0.00867721 -1.26279194] [ 0.13135855 0.02345778 0.99105735 0.93556833] [ 0. 0. 0. 1. ]] SLAMing on 55.166296757 meters Centerline goodness : 0.799957 with order 2 Centerline is valid? [False, False] Translation: X:8.51, Y:-1.26, Z:0.94 [[ 9.62214990e-01 2.37175043e-01 -1.33754667e-01 8.50619227e+00] [-2.38224344e-01 9.71174359e-01 8.33829364e-03 -1.26452336e+00] [ 1.31876738e-01 2.38403867e-02 9.90979395e-01 9.35340548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.22629675699999 meters Centerline goodness : 0.815487 with order 3 Centerline is valid? [False, False] Translation: X:8.51, Y:-1.27, Z:0.94 [[ 9.62042039e-01 2.37389120e-01 -1.34616201e-01 8.50609196e+00] [-2.38488242e-01 9.71111285e-01 8.13823481e-03 -1.26621456e+00] [ 1.32659240e-01 2.42750571e-02 9.90864394e-01 9.37638151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.286296756999995 meters Centerline goodness : 0.801816 with order 1 Centerline is valid? [False, False] Translation: X:8.51, Y:-1.27, Z:0.94 [[ 0.96200976 0.23788474 -0.13397039 8.50767446] [-0.23869362 0.97104106 0.01022807 -1.26609297] [ 0.13252385 0.02213837 0.99093255 0.93521019] [ 0. 0. 0. 1. ]] SLAMing on 55.346296757 meters Centerline goodness : 0.814820 with order 3 Centerline is valid? [False, False] Translation: X:8.51, Y:-1.27, Z:0.94 [[ 9.61747259e-01 2.37780616e-01 -1.36024222e-01 8.51050866e+00] [-2.38885604e-01 9.71011540e-01 8.38193999e-03 -1.26781041e+00] [ 1.34074152e-01 2.44329207e-02 9.90670053e-01 9.36012941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.40629675699999 meters Centerline goodness : 0.797192 with order 1 Centerline is valid? [False, False] Translation: X:8.52, Y:-1.27, Z:0.93 [[ 9.61337061e-01 2.42216592e-01 -1.31004499e-01 8.51793117e+00] [-2.43979069e-01 9.69776820e-01 2.67101609e-03 -1.27346735e+00] [ 1.27692091e-01 2.93946089e-02 9.91378176e-01 9.32093713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.466296756999995 meters Centerline goodness : 0.795442 with order 2 Centerline is valid? [False, False] Translation: X:8.52, Y:-1.27, Z:0.93 [[ 9.60227601e-01 2.46678735e-01 -1.30814970e-01 8.52104170e+00] [-2.47931732e-01 9.68753082e-01 6.87912409e-03 -1.27404266e+00] [ 1.28424339e-01 2.58276574e-02 9.91382934e-01 9.30594136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.526296757 meters Centerline goodness : 0.803890 with order 3 Centerline is valid? [False, False] Translation: X:8.53, Y:-1.27, Z:0.93 [[ 9.59243845e-01 2.49101189e-01 -1.33416051e-01 8.52526291e+00] [-2.50609572e-01 9.68071826e-01 5.63765668e-03 -1.27495637e+00] [ 1.30560667e-01 2.80274519e-02 9.91044083e-01 9.32220668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.58629675699999 meters Centerline goodness : 0.808397 with order 3 Centerline is valid? [False, False] Translation: X:8.53, Y:-1.27, Z:0.93 [[ 9.58691770e-01 2.50033017e-01 -1.35622936e-01 8.52786969e+00] [-2.51902391e-01 9.67746394e-01 3.47877987e-03 -1.27438587e+00] [ 1.32118417e-01 3.08286642e-02 9.90754418e-01 9.34550507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.646296756999995 meters Centerline goodness : 0.809546 with order 3 Centerline is valid? [False, False] Translation: X:8.53, Y:-1.27, Z:0.93 [[ 9.58047307e-01 2.53192233e-01 -1.34309537e-01 8.52899429e+00] [-2.54545958e-01 9.67033250e-01 7.28346205e-03 -1.27306237e+00] [ 1.31725904e-01 2.72100484e-02 9.90912660e-01 9.32979119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.706296757 meters Centerline goodness : 0.795063 with order 2 Centerline is valid? [False, False] Translation: X:8.53, Y:-1.27, Z:0.94 [[ 9.57744501e-01 2.53297048e-01 -1.36257389e-01 8.53062538e+00] [-2.54959813e-01 9.66936570e-01 5.40021984e-03 -1.27452140e+00] [ 1.33120112e-01 2.95681275e-02 9.90658751e-01 9.35061272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.76629675699999 meters Centerline goodness : 0.795518 with order 2 Centerline is valid? [False, False] Translation: X:8.53, Y:-1.28, Z:0.93 [[ 9.57828162e-01 2.52390080e-01 -1.37347948e-01 8.53416337e+00] [-2.54052797e-01 9.67174261e-01 5.57900797e-03 -1.27614383e+00] [ 1.34247486e-01 2.95498993e-02 9.90507151e-01 9.32940720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.826296756999994 meters Centerline goodness : 0.796627 with order 1 Centerline is valid? [False, False] Translation: X:8.54, Y:-1.27, Z:0.93 [[ 9.58255059e-01 2.51318245e-01 -1.36331879e-01 8.53576816e+00] [-2.52829015e-01 9.67489778e-01 6.40459450e-03 -1.27475905e+00] [ 1.33509291e-01 2.83314195e-02 9.90642519e-01 9.29261111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.886296757 meters Centerline goodness : 0.798264 with order 1 Centerline is valid? [False, False] Translation: X:8.54, Y:-1.28, Z:0.93 [[ 9.58380013e-01 2.49116169e-01 -1.39459257e-01 8.53605821e+00] [-2.51297760e-01 9.67907706e-01 2.02717984e-03 -1.27753899e+00] [ 1.35488693e-01 3.31029903e-02 9.90225735e-01 9.33974913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.94629675699999 meters Centerline goodness : 0.810531 with order 3 Centerline is valid? [False, False] Translation: X:8.54, Y:-1.28, Z:0.93 [[ 9.57846773e-01 2.51429878e-01 -1.38969692e-01 8.53752963e+00] [-2.53197864e-01 9.67401070e-01 5.10022067e-03 -1.27841282e+00] [ 1.35721777e-01 3.03015993e-02 9.90283501e-01 9.32892963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.006296756999994 meters Centerline goodness : 0.794297 with order 1 Centerline is valid? [False, False] Translation: X:8.54, Y:-1.28, Z:0.93 [[ 9.57437900e-01 2.52310189e-01 -1.40186433e-01 8.54100146e+00] [-2.54171677e-01 9.67147395e-01 4.76183983e-03 -1.27839204e+00] [ 1.36782404e-01 3.10722548e-02 9.90113675e-01 9.32177441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.066296756999996 meters Centerline goodness : 0.795122 with order 2 Centerline is valid? [False, False] Translation: X:8.55, Y:-1.28, Z:0.93 [[ 9.56942872e-01 2.52938944e-01 -1.42415699e-01 8.54514673e+00] [-2.55011530e-01 9.66930497e-01 3.81216733e-03 -1.28022279e+00] [ 1.38670328e-01 3.26696190e-02 9.89799594e-01 9.32186877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.126296757 meters Centerline goodness : 0.805351 with order 3 Centerline is valid? [False, False] Translation: X:8.54, Y:-1.28, Z:0.93 [[ 9.56893878e-01 2.53157390e-01 -1.42356745e-01 8.54414073e+00] [-2.55289486e-01 9.66858724e-01 3.38926550e-03 -1.27929910e+00] [ 1.38496878e-01 3.30990128e-02 9.89809613e-01 9.33746462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.186296756999994 meters Centerline goodness : 0.791244 with order 1 Centerline is valid? [False, False] Translation: X:8.55, Y:-1.28, Z:0.93 [[ 9.56003982e-01 2.55063751e-01 -1.44909867e-01 8.54990771e+00] [-2.57489959e-01 9.66278738e-01 2.07890083e-03 -1.27900175e+00] [ 1.40553576e-01 3.53253982e-02 9.89442676e-01 9.33223522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.246296756999996 meters Centerline goodness : 0.794147 with order 1 Centerline is valid? [False, False] Translation: X:8.55, Y:-1.28, Z:0.94 [[ 9.55195339e-01 2.57414201e-01 -1.46081461e-01 8.55137664e+00] [-2.60031518e-01 9.65599360e-01 1.21913600e-03 -1.27707491e+00] [ 1.41369988e-01 3.68212710e-02 9.89271813e-01 9.35330453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.306296757 meters Centerline goodness : 0.797037 with order 2 Centerline is valid? [False, False] Translation: X:8.55, Y:-1.28, Z:0.94 [[ 9.54497629e-01 2.59787010e-01 -1.46441068e-01 8.55174502e+00] [-2.62439387e-01 9.64947669e-01 1.25031294e-03 -1.27508977e+00] [ 1.41632782e-01 3.72384834e-02 9.89218606e-01 9.37186107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.36629675699999 meters Centerline goodness : 0.800311 with order 2 Centerline is valid? [False, False] Translation: X:8.55, Y:-1.28, Z:0.94 [[ 9.53603977e-01 2.63468113e-01 -1.45684617e-01 8.55254248e+00] [-2.65578931e-01 9.64075520e-01 5.12087803e-03 -1.27669929e+00] [ 1.41800160e-01 3.38074751e-02 9.89317830e-01 9.36605792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.426296756999996 meters Centerline goodness : 0.799367 with order 2 Centerline is valid? [False, False] Translation: X:8.56, Y:-1.28, Z:0.93 [[ 9.53632283e-01 2.63504500e-01 -1.45433306e-01 8.55530957e+00] [-2.65475478e-01 9.64098695e-01 6.03959368e-03 -1.27543352e+00] [ 1.41803521e-01 3.28494249e-02 9.89349623e-01 9.33757687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.486296757 meters Centerline goodness : 0.818096 with order 3 Centerline is valid? [False, False] Translation: X:8.55, Y:-1.27, Z:0.94 [[ 9.54692645e-01 2.59279624e-01 -1.46068578e-01 8.55332104e+00] [-2.61846844e-01 9.65107927e-01 1.70854415e-03 -1.27347101e+00] [ 1.41414933e-01 3.66164616e-02 9.89272991e-01 9.35832602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.54629675699999 meters Centerline goodness : 0.803614 with order 2 Centerline is valid? [False, False] Translation: X:8.55, Y:-1.27, Z:0.94 [[ 9.55605347e-01 2.55310292e-01 -1.47088667e-01 8.55196878e+00] [-2.58504938e-01 9.66006158e-01 -2.70168478e-03 -1.27218066e+00] [ 1.41398790e-01 4.06048913e-02 9.89119621e-01 9.37864100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.606296756999996 meters Centerline goodness : 0.817881 with order 3 Centerline is valid? [False, False] Translation: X:8.55, Y:-1.27, Z:0.94 [[ 9.55110745e-01 2.57655379e-01 -1.46209337e-01 8.55317214e+00] [-2.60513169e-01 9.65470206e-01 -4.12664355e-04 -1.27024976e+00] [ 1.41054433e-01 3.84835978e-02 9.89253587e-01 9.36754833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.666296757 meters Centerline goodness : 0.818129 with order 3 Centerline is valid? [False, False] Translation: X:8.55, Y:-1.27, Z:0.94 [[ 9.53939801e-01 2.62357317e-01 -1.45490532e-01 8.55395634e+00] [-2.64746308e-01 9.64313298e-01 3.04219226e-03 -1.27049990e+00] [ 1.41096596e-01 3.56160130e-02 9.89354967e-01 9.36841652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.72629675699999 meters Centerline goodness : 0.803036 with order 2 Centerline is valid? [False, False] Translation: X:8.55, Y:-1.27, Z:0.94 [[ 9.53305004e-01 2.64327796e-01 -1.46083486e-01 8.55471627e+00] [-2.66720116e-01 9.63768308e-01 3.32091635e-03 -1.27158965e+00] [ 1.41668444e-01 3.57975582e-02 9.89266691e-01 9.37809034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.786296756999995 meters Centerline goodness : 0.805955 with order 2 Centerline is valid? [False, False] Translation: X:8.55, Y:-1.27, Z:0.94 [[ 9.53635313e-01 2.63822963e-01 -1.44834852e-01 8.55382570e+00] [-2.65970756e-01 9.63969723e-01 4.68286978e-03 -1.27156976e+00] [ 1.40851861e-01 3.40560852e-02 9.89444762e-01 9.36327485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.846296757 meters Centerline goodness : 0.825662 with order 3 Centerline is valid? [False, False] Translation: X:8.55, Y:-1.27, Z:0.93 [[ 9.54727507e-01 2.60821777e-01 -1.43064278e-01 8.55384375e+00] [-2.62762934e-01 9.64844802e-01 5.49078634e-03 -1.27133424e+00] [ 1.39466941e-01 3.23497846e-02 9.89698168e-01 9.31912244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.90629675699999 meters Centerline goodness : 0.808159 with order 2 Centerline is valid? [False, False] Translation: X:8.55, Y:-1.27, Z:0.94 [[ 9.56432116e-01 2.53112474e-01 -1.45504925e-01 8.55138566e+00] [-2.56117105e-01 9.66643721e-01 -1.98646668e-03 -1.27448002e+00] [ 1.40148622e-01 3.91662206e-02 9.89355533e-01 9.35273246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.966296756999995 meters Centerline goodness : 0.809549 with order 2 Centerline is valid? [False, False] Translation: X:8.55, Y:-1.27, Z:0.93 [[ 9.58486926e-01 2.48182689e-01 -1.40385775e-01 8.54641744e+00] [-2.50339113e-01 9.68155315e-01 2.36934730e-03 -1.27409686e+00] [ 1.36503265e-01 3.28730620e-02 9.90094046e-01 9.29316774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.026296757 meters Centerline goodness : 0.809522 with order 2 Centerline is valid? [False, False] Translation: X:8.54, Y:-1.28, Z:0.93 [[ 9.60018294e-01 2.42773692e-01 -1.39376507e-01 8.54410180e+00] [-2.45074941e-01 9.69503905e-01 6.71673158e-04 -1.27513421e+00] [ 1.35289132e-01 3.35128707e-02 9.90239233e-01 9.27428976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.08629675699999 meters Centerline goodness : 0.810010 with order 2 Centerline is valid? [False, False] Translation: X:8.54, Y:-1.28, Z:0.93 [[ 9.61534402e-01 2.42432406e-01 -1.29143808e-01 8.54150543e+00] [-2.45283042e-01 9.69430372e-01 -6.40174186e-03 -1.28038650e+00] [ 1.23643940e-01 3.78322811e-02 9.91605211e-01 9.30270735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.146296756999995 meters Centerline goodness : 0.819007 with order 3 Centerline is valid? [False, False] Translation: X:8.54, Y:-1.28, Z:0.92 [[ 9.60331164e-01 2.48768669e-01 -1.26008750e-01 8.54423990e+00] [-2.50460386e-01 9.68123643e-01 2.49122584e-03 -1.27842515e+00] [ 1.22611789e-01 2.91677983e-02 9.92026002e-01 9.24795274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.206296757 meters Centerline goodness : 0.822776 with order 3 Centerline is valid? [False, False] Translation: X:8.55, Y:-1.28, Z:0.93 [[ 9.57935579e-01 2.56634565e-01 -1.28445036e-01 8.54998172e+00] [-2.58173594e-01 9.66086580e-01 4.80780599e-03 -1.28069792e+00] [ 1.25322874e-01 2.85555480e-02 9.91704975e-01 9.26232365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.26629675699999 meters Centerline goodness : 0.814353 with order 2 Centerline is valid? [False, False] Translation: X:8.55, Y:-1.28, Z:0.93 [[ 9.56791223e-01 2.59686405e-01 -1.30818676e-01 8.55225408e+00] [-2.61505112e-01 9.65196163e-01 3.38274460e-03 -1.28169866e+00] [ 1.27144137e-01 3.09731722e-02 9.91400540e-01 9.29562270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.326296756999994 meters Centerline goodness : 0.804020 with order 2 Centerline is valid? [False, False] Translation: X:8.56, Y:-1.28, Z:0.93 [[ 9.54997058e-01 2.65930740e-01 -1.31382878e-01 8.55775578e+00] [-2.67335221e-01 9.63577006e-01 7.15768409e-03 -1.28105138e+00] [ 1.28500969e-01 2.82877036e-02 9.91305859e-01 9.27591471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.386296757 meters Centerline goodness : 0.807899 with order 2 Centerline is valid? [False, False] Translation: X:8.56, Y:-1.28, Z:0.93 [[ 9.54476013e-01 2.66830197e-01 -1.33331115e-01 8.56070323e+00] [-2.68400079e-01 9.63286314e-01 6.39340107e-03 -1.28262297e+00] [ 1.30141990e-01 2.96837337e-02 9.91050926e-01 9.28440628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.44629675699999 meters Centerline goodness : 0.808576 with order 2 Centerline is valid? [False, False] Translation: X:8.56, Y:-1.29, Z:0.93 [[ 9.55063926e-01 2.63550891e-01 -1.35623833e-01 8.55966454e+00] [-2.65695946e-01 9.64053979e-01 2.36442020e-03 -1.28544125e+00] [ 1.31371841e-01 3.37765302e-02 9.90757582e-01 9.31931711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.506296756999994 meters Centerline goodness : 0.822100 with order 3 Centerline is valid? [False, False] Translation: X:8.56, Y:-1.29, Z:0.93 [[ 9.56053760e-01 2.59825707e-01 -1.35837437e-01 8.56046801e+00] [-2.62087684e-01 9.65043223e-01 1.27447499e-03 -1.28730565e+00] [ 1.31420139e-01 3.43828526e-02 9.90730320e-01 9.29555882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.566296756999996 meters Centerline goodness : 0.819609 with order 3 Centerline is valid? [False, False] Translation: X:8.56, Y:-1.29, Z:0.93 [[ 9.56444924e-01 2.57069256e-01 -1.38305839e-01 8.56183284e+00] [-2.59974973e-01 9.65610512e-01 -3.05820577e-03 -1.28900636e+00] [ 1.32763402e-01 3.88810622e-02 9.90384846e-01 9.31220553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.62629675699999 meters Centerline goodness : 0.823748 with order 3 Centerline is valid? [False, False] Translation: X:8.56, Y:-1.29, Z:0.93 [[ 9.55963269e-01 2.58399370e-01 -1.39154564e-01 8.56321351e+00] [-2.61416702e-01 9.65219547e-01 -3.54024845e-03 -1.28927641e+00] [ 1.33399908e-01 3.97616748e-02 9.90264345e-01 9.31959185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.686296756999994 meters Centerline goodness : 0.806484 with order 2 Centerline is valid? [False, False] Translation: X:8.56, Y:-1.29, Z:0.93 [[ 9.54185035e-01 2.65434068e-01 -1.38114713e-01 8.56448658e+00] [-2.67828741e-01 9.63465669e-01 1.29193464e-03 -1.28784971e+00] [ 1.33411708e-01 3.57583450e-02 9.90415396e-01 9.32347067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.746296756999996 meters Centerline goodness : 0.805736 with order 2 Centerline is valid? [False, False] Translation: X:8.57, Y:-1.29, Z:0.94 [[ 9.53028329e-01 2.68682616e-01 -1.39809358e-01 8.56522375e+00] [-2.71364470e-01 9.62476654e-01 -1.23615370e-04 -1.28701854e+00] [ 1.34530030e-01 3.80571012e-02 9.90178432e-01 9.36381539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.806296757 meters Centerline goodness : 0.809358 with order 2 Centerline is valid? [False, False] Translation: X:8.56, Y:-1.29, Z:0.94 [[ 9.52497332e-01 2.71571646e-01 -1.37832050e-01 8.56428784e+00] [-2.73701592e-01 9.61807826e-01 3.62541823e-03 -1.28512775e+00] [ 1.33552505e-01 3.42716502e-02 9.90448980e-01 9.35802723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.86629675699999 meters Centerline goodness : 0.809850 with order 2 Centerline is valid? [False, False] Translation: X:8.57, Y:-1.29, Z:0.94 [[ 9.51573983e-01 2.74362535e-01 -1.38680042e-01 8.56593971e+00] [-2.76386310e-01 9.61034483e-01 4.83007162e-03 -1.28695774e+00] [ 1.34601493e-01 3.37330945e-02 9.90325460e-01 9.36580046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.926296756999996 meters Centerline goodness : 0.830506 with order 3 Centerline is valid? [False, False] Translation: X:8.57, Y:-1.29, Z:0.94 [[ 9.51388172e-01 2.74325652e-01 -1.40021365e-01 8.56846833e+00] [-2.76505027e-01 9.61004017e-01 4.03110808e-03 -1.28816661e+00] [ 1.35666930e-01 3.48814626e-02 9.90140277e-01 9.36363335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.986296757 meters Centerline goodness : 0.828471 with order 3 Centerline is valid? [False, False] Translation: X:8.57, Y:-1.29, Z:0.94 [[ 9.51642132e-01 2.73580916e-01 -1.39752406e-01 8.56782066e+00] [-2.75630679e-01 9.61251358e-01 4.85329957e-03 -1.28970469e+00] [ 1.35664960e-01 3.39014463e-02 9.90174586e-01 9.36088338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.04629675699999 meters Centerline goodness : 0.807146 with order 2 Centerline is valid? [False, False] Translation: X:8.57, Y:-1.29, Z:0.93 [[ 9.52135334e-01 2.71786982e-01 -1.39893324e-01 8.56885414e+00] [-2.73859803e-01 9.61758678e-01 4.58844696e-03 -1.29041661e+00] [ 1.35790698e-01 3.39423356e-02 9.90155949e-01 9.34400645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.106296756999996 meters Centerline goodness : 0.827473 with order 3 Centerline is valid? [False, False] Translation: X:8.57, Y:-1.29, Z:0.94 [[ 9.52153910e-01 2.71921806e-01 -1.39504350e-01 8.56784590e+00] [-2.73970188e-01 9.61726804e-01 4.67873329e-03 -1.28993341e+00] [ 1.35437322e-01 3.37651587e-02 9.90210405e-01 9.35046070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.166296757 meters Centerline goodness : 0.829105 with order 3 Centerline is valid? [False, False] Translation: X:8.57, Y:-1.29, Z:0.94 [[ 9.52556941e-01 2.69608315e-01 -1.41232540e-01 8.56765917e+00] [-2.72217316e-01 9.62235397e-01 8.79192345e-04 -1.29001458e+00] [ 1.36135987e-01 3.76084622e-02 9.89976059e-01 9.37432814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.22629675699999 meters Centerline goodness : 0.806495 with order 2 Centerline is valid? [False, False] Translation: X:8.57, Y:-1.29, Z:0.94 [[ 9.52716460e-01 2.69056232e-01 -1.41209389e-01 8.56983330e+00] [-2.71652931e-01 9.62394844e-01 9.21411453e-04 -1.28780095e+00] [ 1.36147100e-01 3.74821006e-02 9.89979323e-01 9.35488995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.286296756999995 meters Centerline goodness : 0.826176 with order 3 Centerline is valid? [False, False] Translation: X:8.57, Y:-1.29, Z:0.94 [[ 9.52087334e-01 2.72175017e-01 -1.39464933e-01 8.56910951e+00] [-2.74242134e-01 9.61649908e-01 4.55037914e-03 -1.28626914e+00] [ 1.35354940e-01 3.39148025e-02 9.90216555e-01 9.35039973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.346296757 meters Centerline goodness : 0.811279 with order 2 Centerline is valid? [False, False] Translation: X:8.57, Y:-1.29, Z:0.94 [[ 9.52181076e-01 2.71031981e-01 -1.41042061e-01 8.56886321e+00] [-2.73537960e-01 9.61859740e-01 1.68092998e-03 -1.28708395e+00] [ 1.36118266e-01 3.69798078e-02 9.90002178e-01 9.37565886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.40629675699999 meters Centerline goodness : 0.807106 with order 2 Centerline is valid? [False, False] Translation: X:8.57, Y:-1.29, Z:0.94 [[ 9.52479992e-01 2.69850101e-01 -1.41289728e-01 8.57100850e+00] [-2.72309382e-01 9.62207670e-01 2.00013785e-03 -1.28721365e+00] [ 1.36489797e-01 3.65694271e-02 9.89966268e-01 9.35474817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.466296756999995 meters Centerline goodness : 0.823181 with order 3 Centerline is valid? [False, False] Translation: X:8.57, Y:-1.29, Z:0.93 [[ 9.52837281e-01 2.68915490e-01 -1.40661208e-01 8.57145532e+00] [-2.71189316e-01 9.62521002e-01 3.11042508e-03 -1.28717671e+00] [ 1.36225808e-01 3.51820879e-02 9.90052903e-01 9.33779047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.526296757 meters Centerline goodness : 0.804322 with order 1 Centerline is valid? [False, False] Translation: X:8.57, Y:-1.29, Z:0.93 [[ 9.53610639e-01 2.65375928e-01 -1.42135026e-01 8.57186465e+00] [-2.68207989e-01 9.63360701e-01 -7.96790637e-04 -1.28677512e+00] [ 1.36715850e-01 3.88815776e-02 9.89846958e-01 9.34799090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.58629675699999 meters Centerline goodness : 0.823052 with order 3 Centerline is valid? [False, False] Translation: X:8.57, Y:-1.29, Z:0.93 [[ 9.54001532e-01 2.63855630e-01 -1.42342134e-01 8.57265937e+00] [-2.66676756e-01 9.63785720e-01 -7.70996975e-04 -1.28796720e+00] [ 1.36983884e-01 3.86948707e-02 9.89817217e-01 9.33733505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.646296756999995 meters Centerline goodness : 0.819307 with order 3 Centerline is valid? [False, False] Translation: X:8.57, Y:-1.29, Z:0.93 [[ 9.54818893e-01 2.61813820e-01 -1.40621494e-01 8.57151003e+00] [-2.64356274e-01 9.64424893e-01 6.21528689e-04 -1.28809689e+00] [ 1.35781594e-01 3.65807269e-02 9.90063235e-01 9.31028865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.706296757 meters Centerline goodness : 0.824625 with order 3 Centerline is valid? [False, False] Translation: X:8.57, Y:-1.29, Z:0.93 [[ 9.55382962e-01 2.58765668e-01 -1.42420940e-01 8.57282081e+00] [-2.61854323e-01 9.65102561e-01 -3.05958710e-03 -1.28816027e+00] [ 1.36659098e-01 4.02166161e-02 9.89801452e-01 9.31811977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.76629675699999 meters Centerline goodness : 0.802976 with order 1 Centerline is valid? [False, False] Translation: X:8.57, Y:-1.29, Z:0.93 [[ 9.54910694e-01 2.61468029e-01 -1.40641520e-01 8.57271395e+00] [-2.64153317e-01 9.64480602e-01 -4.40732892e-04 -1.28505620e+00] [ 1.35530781e-01 3.75717847e-02 9.90060487e-01 9.30547056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.826296756999994 meters Centerline goodness : 0.817950 with order 3 Centerline is valid? [False, False] Translation: X:8.57, Y:-1.28, Z:0.94 [[ 9.54008805e-01 2.63965999e-01 -1.42088534e-01 8.57239745e+00] [-2.67007078e-01 9.63691503e-01 -2.43027255e-03 -1.28341894e+00] [ 1.36288003e-01 4.02571456e-02 9.89850970e-01 9.35019875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.886296757 meters Centerline goodness : 0.818088 with order 3 Centerline is valid? [False, False] Translation: X:8.57, Y:-1.28, Z:0.94 [[ 9.52560241e-01 2.69072537e-01 -1.42228538e-01 8.57251125e+00] [-2.71895666e-01 9.62326639e-01 -4.31212335e-04 -1.28296091e+00] [ 1.36754284e-01 3.90820789e-02 9.89833752e-01 9.37675992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.94629675699999 meters Centerline goodness : 0.814096 with order 3 Centerline is valid? [False, False] Translation: X:8.57, Y:-1.28, Z:0.94 [[ 0.95024171 0.27423183 -0.14777546 8.57038575] [-0.27580448 0.96116018 0.01014914 -1.27763058] [ 0.1448191 0.031113 0.98896886 0.94362582] [ 0. 0. 0. 1. ]] SLAMing on 59.006296756999994 meters Centerline goodness : 0.810419 with order 3 Centerline is valid? [False, False] Translation: X:8.57, Y:-1.28, Z:0.94 [[ 0.94861567 0.27985116 -0.14768762 8.57227573] [-0.28111616 0.95959011 0.01267006 -1.27597719] [ 0.14526531 0.02949836 0.9889529 0.94453876] [ 0. 0. 0. 1. ]] SLAMing on 59.066296756999996 meters Centerline goodness : 0.813778 with order 3 Centerline is valid? [False, False] Translation: X:8.57, Y:-1.28, Z:0.95 [[ 0.94840668 0.27955929 -0.14957063 8.57316395] [-0.28129908 0.95956977 0.00983297 -1.27556554] [ 0.14627235 0.03274842 0.98870215 0.94713477] [ 0. 0. 0. 1. ]] SLAMing on 59.12629675699999 meters Centerline goodness : 0.812383 with order 3 Centerline is valid? [False, False] Translation: X:8.57, Y:-1.27, Z:0.95 [[ 9.49041683e-01 2.77757560e-01 -1.48898027e-01 8.57285859e+00] [-2.79666183e-01 9.60060642e-01 8.38987912e-03 -1.27151375e+00] [ 1.45281488e-01 3.36793979e-02 9.88816964e-01 9.46449330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.186296756999994 meters Centerline goodness : 0.795290 with order 2 Centerline is valid? [False, False] Translation: X:8.57, Y:-1.27, Z:0.94 [[ 0.94840443 0.28029764 -0.14819672 8.57491782] [-0.28185721 0.95939549 0.0108077 -1.27030645] [ 0.14520864 0.03152024 0.98889884 0.9447879 ] [ 0. 0. 0. 1. ]] SLAMing on 59.246296756999996 meters Centerline goodness : 0.818569 with order 3 Centerline is valid? [False, False] Translation: X:8.57, Y:-1.27, Z:0.95 [[ 0.94815662 0.28076877 -0.14888895 8.5745593 ] [-0.28250036 0.95921683 0.00982973 -1.26977468] [ 0.14557667 0.03274105 0.98880507 0.94695839] [ 0. 0. 0. 1. ]] SLAMing on 59.306296757 meters Centerline goodness : 0.815631 with order 3 Centerline is valid? [False, False] Translation: X:8.57, Y:-1.26, Z:0.95 [[ 0.94806422 0.28240424 -0.14636284 8.57279119] [-0.28375541 0.95882156 0.01200387 -1.26458229] [ 0.14372579 0.03015081 0.98915814 0.94639846] [ 0. 0. 0. 1. ]] SLAMing on 59.36629675699999 meters Centerline goodness : 0.822648 with order 3 Centerline is valid? [False, False] Translation: X:8.58, Y:-1.26, Z:0.95 [[ 0.94772181 0.28305429 -0.14732158 8.57524189] [-0.28468649 0.95856498 0.01033343 -1.26091147] [ 0.14414223 0.03214725 0.98903467 0.94693235] [ 0. 0. 0. 1. ]] SLAMing on 59.426296756999996 meters Centerline goodness : 0.823639 with order 3 Centerline is valid? [False, False] Translation: X:8.58, Y:-1.26, Z:0.95 [[ 0.94721275 0.28398074 -0.14880505 8.57817795] [-0.28588497 0.9582227 0.00889015 -1.25934494] [ 0.14511301 0.03412027 0.98882659 0.94757106] [ 0. 0. 0. 1. ]] SLAMing on 59.486296757 meters Centerline goodness : 0.828843 with order 3 Centerline is valid? [False, False] Translation: X:8.58, Y:-1.26, Z:0.94 [[ 0.94632354 0.28856882 -0.14560149 8.57837941] [-0.28942226 0.95707185 0.01575526 -1.25746193] [ 0.14389756 0.02723073 0.98921786 0.94441946] [ 0. 0. 0. 1. ]] SLAMing on 59.54629675699999 meters Centerline goodness : 0.828909 with order 3 Centerline is valid? [False, False] Translation: X:8.58, Y:-1.26, Z:0.94 [[ 0.94559128 0.29088404 -0.14575186 8.57989055] [-0.29163463 0.9563845 0.01667092 -1.25669041] [ 0.14424413 0.02674241 0.98918071 0.94462055] [ 0. 0. 0. 1. ]] SLAMing on 59.606296756999996 meters Centerline goodness : 0.831063 with order 3 Centerline is valid? [False, False] Translation: X:8.58, Y:-1.26, Z:0.95 [[ 0.945904 0.28827814 -0.14886686 8.58218917] [-0.28989152 0.9569937 0.01122353 -1.25643091] [ 0.14570014 0.03253886 0.98879355 0.94692863] [ 0. 0. 0. 1. ]] SLAMing on 59.666296757 meters Centerline goodness : 0.800394 with order 1 Centerline is valid? [False, False] Translation: X:8.58, Y:-1.25, Z:0.95 [[ 0.94576048 0.28909026 -0.14820233 8.58241233] [-0.29056064 0.95677992 0.01211172 -1.25418611] [ 0.14529839 0.03160697 0.98888289 0.9464729 ] [ 0. 0. 0. 1. ]] SLAMing on 59.72629675699999 meters Centerline goodness : 0.801151 with order 1 Centerline is valid? [False, False] Translation: X:8.59, Y:-1.25, Z:0.95 [[ 0.94528952 0.2902132 -0.14901013 8.58528991] [-0.29171225 0.95642851 0.01218472 -1.25375212] [ 0.1460537 0.03195 0.9887606 0.94570596] [ 0. 0. 0. 1. ]] SLAMing on 59.786296756999995 meters Centerline goodness : 0.799832 with order 1 Centerline is valid? [False, False] Translation: X:8.59, Y:-1.26, Z:0.95 [[ 0.9443963 0.29135629 -0.15240456 8.58976306] [-0.29336221 0.95595254 0.00966241 -1.25648617] [ 0.14850673 0.0355846 0.98827096 0.94729977] [ 0. 0. 0. 1. ]] SLAMing on 59.846296757 meters Centerline goodness : 0.799809 with order 1 Centerline is valid? [False, False] Translation: X:8.59, Y:-1.26, Z:0.95 [[ 0.94439995 0.29112773 -0.15281813 8.59140546] [-0.29320796 0.95600393 0.00925073 -1.25602522] [ 0.14878787 0.0360711 0.98821103 0.94651865] [ 0. 0. 0. 1. ]] SLAMing on 59.90629675699999 meters Centerline goodness : 0.801701 with order 1 Centerline is valid? [False, False] Translation: X:8.59, Y:-1.25, Z:0.94 [[ 0.94524636 0.28982355 -0.15003877 8.58971277] [-0.29150747 0.95650372 0.01113667 -1.25192604] [ 0.14674031 0.03321052 0.98861739 0.94374789] [ 0. 0. 0. 1. ]] SLAMing on 59.966296756999995 meters Centerline goodness : 0.801794 with order 1 Centerline is valid? [False, False] Translation: X:8.59, Y:-1.25, Z:0.95 [[ 9.46399271e-01 2.85447390e-01 -1.51156235e-01 8.58797000e+00] [-2.87825669e-01 9.57661585e-01 6.37749029e-03 -1.25069788e+00] [ 1.46576958e-01 3.74709924e-02 9.88489312e-01 9.45943762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.026296757 meters Centerline goodness : 0.801632 with order 1 Centerline is valid? [False, False] Translation: X:8.59, Y:-1.25, Z:0.95 [[ 9.47083029e-01 2.83415156e-01 -1.50697002e-01 8.58624736e+00] [-2.85903703e-01 9.58243421e-01 5.34956470e-03 -1.24965956e+00] [ 1.45920559e-01 3.80183491e-02 9.88565524e-01 9.46355498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.08629675699999 meters Centerline goodness : 0.803398 with order 1 Centerline is valid? [False, False] Translation: X:8.59, Y:-1.25, Z:0.94 [[ 0.9470346 0.28546627 -0.1470866 8.5873516 ] [-0.28703727 0.95785751 0.01089007 -1.24608427] [ 0.14399675 0.03190607 0.98906367 0.9404984 ] [ 0. 0. 0. 1. ]] SLAMing on 60.146296756999995 meters Centerline goodness : 0.805874 with order 1 Centerline is valid? [False, False] Translation: X:8.59, Y:-1.25, Z:0.94 [[ 9.46956682e-01 2.84586369e-01 -1.49277064e-01 8.58695097e+00] [-2.86841877e-01 9.57954798e-01 6.65905853e-03 -1.24588817e+00] [ 1.44895757e-01 3.65130733e-02 9.88772985e-01 9.44633196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.206296757 meters Centerline goodness : 0.806117 with order 1 Centerline is valid? [False, False] Translation: X:8.59, Y:-1.25, Z:0.94 [[ 9.46586752e-01 2.85599372e-01 -1.49688073e-01 8.58818578e+00] [-2.87858353e-01 9.57648708e-01 6.82061856e-03 -1.24572189e+00] [ 1.45296554e-01 3.66326551e-02 9.88709745e-01 9.44645951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.26629675699999 meters Centerline goodness : 0.806593 with order 1 Centerline is valid? [False, False] Translation: X:8.59, Y:-1.25, Z:0.94 [[ 9.46008896e-01 2.86912762e-01 -1.50825185e-01 8.59224080e+00] [-2.89188181e-01 9.57245908e-01 7.10409003e-03 -1.24660909e+00] [ 1.46415045e-01 3.68963285e-02 9.88534924e-01 9.43074307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.326296756999994 meters Centerline goodness : 0.804675 with order 1 Centerline is valid? [False, False] Translation: X:8.59, Y:-1.25, Z:0.95 [[ 9.46070240e-01 2.86399446e-01 -1.51414854e-01 8.59025798e+00] [-2.88882113e-01 9.57347000e-01 5.81766193e-03 -1.24825253e+00] [ 1.46622731e-01 3.82371261e-02 9.88453184e-01 9.45620773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.386296757 meters Centerline goodness : 0.808973 with order 1 Centerline is valid? [False, False] Translation: X:8.59, Y:-1.25, Z:0.94 [[ 9.46387346e-01 2.85176449e-01 -1.51741177e-01 8.59204287e+00] [-2.87728096e-01 9.57697246e-01 5.34113772e-03 -1.24891139e+00] [ 1.46845274e-01 3.86054149e-02 9.88405831e-01 9.43838468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.44629675699999 meters Centerline goodness : 0.809760 with order 1 Centerline is valid? [False, False] Translation: X:8.59, Y:-1.25, Z:0.94 [[ 9.46300596e-01 2.85147964e-01 -1.52334570e-01 8.59331365e+00] [-2.87730709e-01 9.57696756e-01 5.28795802e-03 -1.25018206e+00] [ 1.47398174e-01 3.88273359e-02 9.88314837e-01 9.43490115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.506296756999994 meters Centerline goodness : 0.838428 with order 3 Centerline is valid? [False, False] Translation: X:8.59, Y:-1.25, Z:0.95 [[ 9.46389937e-01 2.83883904e-01 -1.54129867e-01 8.59305029e+00] [-2.87012310e-01 9.57924730e-01 2.03626955e-03 -1.25201872e+00] [ 1.48222875e-01 4.23100641e-02 9.88048500e-01 9.45894958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.566296756999996 meters Centerline goodness : 0.843936 with order 3 Centerline is valid? [False, False] Translation: X:8.59, Y:-1.25, Z:0.95 [[ 9.46703162e-01 2.83501010e-01 -1.52906182e-01 8.59004991e+00] [-2.86609460e-01 9.58045840e-01 1.78463077e-03 -1.24924190e+00] [ 1.46997077e-01 4.21348428e-02 9.88239098e-01 9.47310508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.62629675699999 meters Centerline goodness : 0.813917 with order 1 Centerline is valid? [False, False] Translation: X:8.59, Y:-1.25, Z:0.95 [[ 9.46883895e-01 2.83260777e-01 -1.52230818e-01 8.58802550e+00] [-2.86430037e-01 9.58100461e-01 1.15805508e-03 -1.24755940e+00] [ 1.46180449e-01 4.25069352e-02 9.88344291e-01 9.48525077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.686296756999994 meters Centerline goodness : 0.840302 with order 3 Centerline is valid? [False, False] Translation: X:8.59, Y:-1.25, Z:0.95 [[ 9.46410346e-01 2.84306810e-01 -1.53222369e-01 8.58904976e+00] [-2.87660464e-01 9.57732411e-01 2.93734165e-04 -1.24844581e+00] [ 1.46829539e-01 4.37980247e-02 9.88191692e-01 9.49813100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.746296756999996 meters Centerline goodness : 0.813076 with order 1 Centerline is valid? [False, False] Translation: X:8.59, Y:-1.25, Z:0.95 [[ 9.45990050e-01 2.86114815e-01 -1.52450443e-01 8.59154931e+00] [-2.89092386e-01 9.57297268e-01 2.74456467e-03 -1.24832473e+00] [ 1.46725653e-01 4.14759315e-02 9.88307305e-01 9.47093006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.806296757 meters Centerline goodness : 0.814903 with order 1 Centerline is valid? [False, False] Translation: X:8.59, Y:-1.25, Z:0.95 [[ 9.45489917e-01 2.88240202e-01 -1.51546705e-01 8.59318722e+00] [-2.90844010e-01 9.56756442e-01 5.18382287e-03 -1.24768186e+00] [ 1.46487472e-01 3.91751991e-02 9.88436505e-01 9.45151150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.86629675699999 meters Centerline goodness : 0.811786 with order 1 Centerline is valid? [False, False] Translation: X:8.60, Y:-1.25, Z:0.95 [[ 9.44526874e-01 2.90372231e-01 -1.53469712e-01 8.59738548e+00] [-2.93233276e-01 9.56031873e-01 4.15976594e-03 -1.24814230e+00] [ 1.47929816e-01 4.10734156e-02 9.88144597e-01 9.45509422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.926296756999996 meters Centerline goodness : 0.812547 with order 1 Centerline is valid? [False, False] Translation: X:8.60, Y:-1.25, Z:0.95 [[ 9.43906738e-01 2.91527829e-01 -1.55085766e-01 8.59942075e+00] [-2.94693639e-01 9.55587999e-01 2.69001418e-03 -1.24902090e+00] [ 1.48982311e-01 4.31636662e-02 9.87897347e-01 9.46897392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.986296757 meters Centerline goodness : 0.811989 with order 1 Centerline is valid? [False, False] Translation: X:8.60, Y:-1.25, Z:0.94 [[ 9.42745419e-01 2.95913946e-01 -1.53837616e-01 8.60354908e+00] [-2.98349889e-01 9.54426773e-01 7.54172891e-03 -1.24932780e+00] [ 1.49058443e-01 3.87875055e-02 9.88067361e-01 9.42581451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.04629675699999 meters Centerline goodness : 0.825976 with order 3 Centerline is valid? [False, False] Translation: X:8.61, Y:-1.25, Z:0.94 [[ 9.42783387e-01 2.94304719e-01 -1.56665941e-01 8.60511496e+00] [-2.97477903e-01 9.54722884e-01 3.33337233e-03 -1.25195409e+00] [ 1.50553586e-01 4.34620074e-02 9.87646025e-01 9.44873515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.106296756999996 meters Centerline goodness : 0.809660 with order 1 Centerline is valid? [False, False] Translation: X:8.61, Y:-1.25, Z:0.94 [[ 9.44030760e-01 2.89361026e-01 -1.58354419e-01 8.60776336e+00] [-2.93010569e-01 9.56109151e-01 3.14070475e-04 -1.25481052e+00] [ 1.51494988e-01 4.61030261e-02 9.87382286e-01 9.42390478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.166296757 meters Centerline goodness : 0.830458 with order 3 Centerline is valid? [False, False] Translation: X:8.60, Y:-1.26, Z:0.94 [[ 9.45411620e-01 2.86357125e-01 -1.55552130e-01 8.60428354e+00] [-2.89466469e-01 9.57184134e-01 2.77420313e-03 -1.25632235e+00] [ 1.49686444e-01 4.24043620e-02 9.87823789e-01 9.39278009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.22629675699999 meters Centerline goodness : 0.812324 with order 1 Centerline is valid? [False, False] Translation: X:8.60, Y:-1.26, Z:0.94 [[ 9.47941994e-01 2.77031901e-01 -1.57032806e-01 8.60195628e+00] [-2.81043920e-01 9.59688539e-01 -3.49603977e-03 -1.25961481e+00] [ 1.49734070e-01 4.74471583e-02 9.87587199e-01 9.39490756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.286296756999995 meters Centerline goodness : 0.832038 with order 3 Centerline is valid? [False, False] Translation: X:8.60, Y:-1.26, Z:0.94 [[ 9.49824974e-01 2.70539238e-01 -1.56974648e-01 8.59936967e+00] [-2.74978076e-01 9.61425989e-01 -6.86474033e-03 -1.26021024e+00] [ 1.49062324e-01 4.96848885e-02 9.87578774e-01 9.39060822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.346296757 meters Centerline goodness : 0.808050 with order 2 Centerline is valid? [False, False] Translation: X:8.60, Y:-1.26, Z:0.94 [[ 0.95170223 0.26418209 -0.1564311 8.59729555] [-0.26878666 0.96316078 -0.0086622 -1.26134461] [ 0.1483799 0.05029043 0.98765089 0.93718992] [ 0. 0. 0. 1. ]] SLAMing on 61.40629675699999 meters Centerline goodness : 0.807090 with order 2 Centerline is valid? [False, False] Translation: X:8.60, Y:-1.27, Z:0.93 [[ 0.95175932 0.26801894 -0.14939896 8.60264926] [-0.27300753 0.96191634 -0.01355873 -1.26717808] [ 0.14007531 0.05369169 0.98868403 0.93165806] [ 0. 0. 0. 1. ]] SLAMing on 61.466296756999995 meters Centerline goodness : 0.821517 with order 3 Centerline is valid? [False, False] Translation: X:8.60, Y:-1.27, Z:0.93 [[ 0.95146738 0.26864942 -0.15012436 8.60376539] [-0.27364283 0.96173991 -0.01326473 -1.26959394] [ 0.14081702 0.05370141 0.98857813 0.93174879] [ 0. 0. 0. 1. ]] SLAMing on 61.526296757 meters Centerline goodness : 0.817785 with order 3 Centerline is valid? [False, False] Translation: X:8.61, Y:-1.27, Z:0.93 [[ 0.94886702 0.27598668 -0.15324076 8.61068951] [-0.28096085 0.9596518 -0.01137671 -1.2738107 ] [ 0.14391795 0.05384964 0.98812339 0.93249522] [ 0. 0. 0. 1. ]] SLAMing on 61.58629675699999 meters Centerline goodness : 0.799039 with order 2 Centerline is valid? [False, False] Translation: X:8.62, Y:-1.28, Z:0.93 [[ 0.94697769 0.28107487 -0.15566043 8.61667464] [-0.2860461 0.9581632 -0.01004545 -1.277494 ] [ 0.14632458 0.05403888 0.98775954 0.93234007] [ 0. 0. 0. 1. ]] SLAMing on 61.646296756999995 meters Centerline goodness : 0.795942 with order 2 Centerline is valid? [False, False] Translation: X:8.62, Y:-1.28, Z:0.93 [[ 0.94489934 0.28585347 -0.15954008 8.62347021] [-0.29100267 0.9566761 -0.0093961 -1.28434626] [ 0.14994227 0.05530495 0.98714674 0.93296228] [ 0. 0. 0. 1. ]] SLAMing on 61.706296757 meters Centerline goodness : 0.794181 with order 2 Centerline is valid? [False, False] Translation: X:8.63, Y:-1.29, Z:0.93 [[ 0.94438681 0.28658805 -0.16124778 8.62652503] [-0.29182857 0.95642546 -0.00929594 -1.28795764] [ 0.15155738 0.05583567 0.98687017 0.93260253] [ 0. 0. 0. 1. ]] SLAMing on 61.76629675699999 meters Centerline goodness : 0.794603 with order 2 Centerline is valid? [False, False] Translation: X:8.63, Y:-1.29, Z:0.93 [[ 0.9448278 0.2839009 -0.16340351 8.627712 ] [-0.28979378 0.95700187 -0.01292216 -1.29101641] [ 0.15270885 0.05956254 0.98647469 0.93337239] [ 0. 0. 0. 1. ]] SLAMing on 61.826296756999994 meters Centerline goodness : 0.793896 with order 2 Centerline is valid? [False, False] Translation: X:8.63, Y:-1.30, Z:0.93 [[ 0.94508335 0.28787787 -0.15473785 8.63202186] [-0.29342023 0.95588459 -0.01375593 -1.29935661] [ 0.14395149 0.05840371 0.98785979 0.93376576] [ 0. 0. 0. 1. ]] SLAMing on 61.886296757 meters Centerline goodness : 0.799558 with order 3 Centerline is valid? [False, False] Translation: X:8.63, Y:-1.30, Z:0.93 [[ 0.94479537 0.28847141 -0.15538971 8.63292857] [-0.29396437 0.95572653 -0.01310507 -1.30150118] [ 0.14472963 0.05806064 0.98776632 0.93399459] [ 0. 0. 0. 1. ]] SLAMing on 61.94629675699999 meters Centerline goodness : 0.800974 with order 3 Centerline is valid? [False, False] Translation: X:8.64, Y:-1.30, Z:0.93 [[ 0.94413216 0.2903455 -0.15592931 8.63503479] [-0.29566198 0.95522293 -0.01153921 -1.30333548] [ 0.14559689 0.05699691 0.98770081 0.93338919] [ 0. 0. 0. 1. ]] SLAMing on 62.006296756999994 meters Centerline goodness : 0.799791 with order 3 Centerline is valid? [False, False] Translation: X:8.64, Y:-1.30, Z:0.94 [[ 0.94362094 0.29056036 -0.15860075 8.63673787] [-0.29644521 0.95494324 -0.01427016 -1.30442593] [ 0.14730837 0.06048205 0.98723967 0.93639658] [ 0. 0. 0. 1. ]] SLAMing on 62.066296756999996 meters Centerline goodness : 0.801227 with order 3 Centerline is valid? [False, False] Translation: X:8.64, Y:-1.31, Z:0.94 [[ 0.94314535 0.29111725 -0.16039825 8.63856786] [-0.29730896 0.95465522 -0.01551737 -1.30501761] [ 0.14860765 0.06232297 0.9869304 0.93821823] [ 0. 0. 0. 1. ]] SLAMing on 62.12629675699999 meters Centerline goodness : 0.790656 with order 2 Centerline is valid? [False, False] Translation: X:8.64, Y:-1.31, Z:0.94 [[ 0.9416986 0.29551545 -0.1608551 8.64111135] [-0.30128103 0.95345798 -0.01214984 -1.30776922] [ 0.14977812 0.05990408 0.98690325 0.93823133] [ 0. 0. 0. 1. ]] SLAMing on 62.186296756999994 meters Centerline goodness : 0.789306 with order 2 Centerline is valid? [False, False] Translation: X:8.64, Y:-1.31, Z:0.94 [[ 9.39816663e-01 3.01139850e-01 -1.61429336e-01 8.64363496e+00] [-3.06326917e-01 9.51895507e-01 -7.66571484e-03 -1.31256425e+00] [ 1.51355408e-01 5.66545174e-02 9.86854501e-01 9.38486824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.246296756999996 meters Centerline goodness : 0.789775 with order 2 Centerline is valid? [False, False] Translation: X:8.65, Y:-1.32, Z:0.94 [[ 9.38383654e-01 3.04507062e-01 -1.63436735e-01 8.64667491e+00] [-3.09622983e-01 9.50839409e-01 -6.16649327e-03 -1.31736937e+00] [ 1.53524348e-01 5.63903059e-02 9.86534545e-01 9.39412252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.306296757 meters Centerline goodness : 0.787009 with order 2 Centerline is valid? [False, False] Translation: X:8.65, Y:-1.32, Z:0.94 [[ 9.38796514e-01 3.03029040e-01 -1.63812411e-01 8.64774388e+00] [-3.08108240e-01 9.51332901e-01 -5.91802580e-03 -1.31978873e+00] [ 1.54046803e-01 5.60277757e-02 9.86473756e-01 9.38070607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.36629675699999 meters Centerline goodness : 0.801979 with order 3 Centerline is valid? [False, False] Translation: X:8.64, Y:-1.33, Z:0.94 [[ 9.39140534e-01 3.03191434e-01 -1.61524029e-01 8.64284098e+00] [-3.07378390e-01 9.51586865e-01 -9.81392585e-04 -1.32910016e+00] [ 1.53406594e-01 5.05706615e-02 9.86868292e-01 9.44625297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.426296756999996 meters Centerline goodness : 0.805254 with order 3 Centerline is valid? [False, False] Translation: X:8.64, Y:-1.34, Z:0.95 [[ 9.39121105e-01 3.03476566e-01 -1.61100976e-01 8.64155763e+00] [-3.07293231e-01 9.51614007e-01 1.28486182e-03 -1.33535032e+00] [ 1.53695871e-01 4.82985986e-02 9.86937093e-01 9.46035801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.486296757 meters Centerline goodness : 0.804827 with order 3 Centerline is valid? [False, False] Translation: X:8.64, Y:-1.34, Z:0.94 [[ 0.9391581 0.30562459 -0.15676632 8.6401262 ] [-0.3068995 0.95159693 0.01661243 -1.33665652] [ 0.15425552 0.03250981 0.987496 0.94153333] [ 0. 0. 0. 1. ]] SLAMing on 62.54629675699999 meters Centerline goodness : 0.789770 with order 2 Centerline is valid? [False, False] Translation: X:8.63, Y:-1.34, Z:0.94 [[ 0.94001854 0.30312154 -0.15646876 8.63482592] [-0.30453272 0.95237636 0.01546243 -1.34267932] [ 0.15370414 0.03311488 0.98756187 0.9442471 ] [ 0. 0. 0. 1. ]] SLAMing on 62.606296756999996 meters Centerline goodness : 0.789989 with order 2 Centerline is valid? [False, False] Translation: X:8.63, Y:-1.35, Z:0.95 [[ 0.94024443 0.3031322 -0.15508475 8.63207372] [-0.30419945 0.95244969 0.01738612 -1.34699419] [ 0.15298072 0.03082949 0.98774817 0.94656122] [ 0. 0. 0. 1. ]] SLAMing on 62.666296757 meters Centerline goodness : 0.791549 with order 2 Centerline is valid? [False, False] Translation: X:8.63, Y:-1.35, Z:0.94 [[ 0.93969748 0.30643847 -0.15186872 8.63083115] [-0.30663235 0.9515566 0.02272949 -1.34558873] [ 0.15147687 0.02520902 0.98813929 0.94456282] [ 0. 0. 0. 1. ]] SLAMing on 62.72629675699999 meters Centerline goodness : 0.788570 with order 1 Centerline is valid? [False, False] Translation: X:8.63, Y:-1.35, Z:0.95 [[ 0.9392895 0.30779886 -0.15164132 8.62786644] [-0.3076465 0.95117066 0.02505989 -1.35262658] [ 0.15195018 0.02311343 0.98811786 0.94700886] [ 0. 0. 0. 1. ]] SLAMing on 62.786296756999995 meters Centerline goodness : 0.816739 with order 3 Centerline is valid? [False, False] Translation: X:8.63, Y:-1.35, Z:0.95 [[ 0.93805754 0.31188899 -0.15090827 8.63045239] [-0.31121015 0.94990735 0.02871027 -1.35170377] [ 0.15230329 0.0200323 0.98813077 0.94589322] [ 0. 0. 0. 1. ]] SLAMing on 62.846296757 meters Centerline goodness : 0.805605 with order 2 Centerline is valid? [False, False] Translation: X:8.63, Y:-1.35, Z:0.95 [[ 0.93658875 0.3168324 -0.14972891 8.63026891] [-0.31550182 0.94834408 0.03319787 -1.35297884] [ 0.15251268 0.01614699 0.9881696 0.94643657] [ 0. 0. 0. 1. ]] SLAMing on 62.90629675699999 meters Centerline goodness : 0.784759 with order 1 Centerline is valid? [False, False] Translation: X:8.63, Y:-1.35, Z:0.95 [[ 0.93657058 0.31696511 -0.14956159 8.630167 ] [-0.31557471 0.94830643 0.03357856 -1.35481216] [ 0.15247345 0.01574916 0.98818207 0.94604663] [ 0. 0. 0. 1. ]] SLAMing on 62.966296756999995 meters Centerline goodness : 0.805603 with order 3 Centerline is valid? [False, False] Translation: X:8.63, Y:-1.36, Z:0.95 [[ 0.93694498 0.31580968 -0.14966076 8.63067546] [-0.31437818 0.94869729 0.03376122 -1.3590501 ] [ 0.15264488 0.01541767 0.98816084 0.94555224] [ 0. 0. 0. 1. ]] SLAMing on 63.026296757 meters Centerline goodness : 0.786470 with order 2 Centerline is valid? [False, False] Translation: X:8.63, Y:-1.36, Z:0.95 [[ 0.93734965 0.31493041 -0.1489781 8.62944592] [-0.31334868 0.94900774 0.03459652 -1.36163493] [ 0.15227687 0.01425305 0.9882351 0.94695806] [ 0. 0. 0. 1. ]] SLAMing on 63.08629675699999 meters Centerline goodness : 0.788722 with order 2 Centerline is valid? [False, False] Translation: X:8.63, Y:-1.36, Z:0.95 [[ 0.93847411 0.31126755 -0.14959568 8.62783745] [-0.31015845 0.95016971 0.03129315 -1.36111754] [ 0.15188183 0.01703055 0.98825193 0.94773057] [ 0. 0. 0. 1. ]] SLAMing on 63.146296756999995 meters Centerline goodness : 0.786544 with order 1 Centerline is valid? [False, False] Translation: X:8.62, Y:-1.36, Z:0.95 [[ 0.93982572 0.30721901 -0.14947944 8.62414533] [-0.30638322 0.95146124 0.02916889 -1.36456745] [ 0.15118513 0.01838432 0.98833449 0.95046376] [ 0. 0. 0. 1. ]] SLAMing on 63.206296757 meters Centerline goodness : 0.787484 with order 1 Centerline is valid? [False, False] Translation: X:8.62, Y:-1.36, Z:0.95 [[ 0.9399468 0.30695538 -0.14925951 8.62452994] [-0.30608649 0.95155157 0.02933715 -1.36433201] [ 0.15103332 0.01811096 0.98836275 0.9505582 ] [ 0. 0. 0. 1. ]] SLAMing on 63.26629675699999 meters Centerline goodness : 0.787589 with order 1 Centerline is valid? [False, False] Translation: X:8.61, Y:-1.36, Z:0.95 [[ 0.93963722 0.30607901 -0.15296253 8.61410959] [-0.30401716 0.95193694 0.0372776 -1.36063852] [ 0.15702057 0.01147581 0.98752866 0.94997053] [ 0. 0. 0. 1. ]] SLAMing on 63.326296756999994 meters Centerline goodness : 0.787613 with order 1 Centerline is valid? [False, False] Translation: X:8.61, Y:-1.36, Z:0.95 [[ 0.93946015 0.30681924 -0.15256667 8.6132382 ] [-0.30480546 0.95169543 0.03700604 -1.35895528] [ 0.15655117 0.01173746 0.9876001 0.94994013] [ 0. 0. 0. 1. ]] SLAMing on 63.386296757 meters Centerline goodness : 0.786214 with order 1 Centerline is valid? [False, False] Translation: X:8.62, Y:-1.35, Z:0.95 [[ 0.93838951 0.30256884 -0.16696477 8.61816686] [-0.30080673 0.95299155 0.03636494 -1.35255832] [ 0.17011891 0.01609965 0.98529202 0.95217592] [ 0. 0. 0. 1. ]] SLAMing on 63.44629675699999 meters Centerline goodness : 0.789312 with order 1 Centerline is valid? [False, False] Translation: X:8.61, Y:-1.35, Z:0.95 [[ 0.9377383 0.30514246 -0.16593664 8.61398655] [-0.30317853 0.95218885 0.0376718 -1.35283781] [ 0.16949829 0.01498214 0.9854166 0.95394672] [ 0. 0. 0. 1. ]] SLAMing on 63.506296756999994 meters Centerline goodness : 0.787066 with order 1 Centerline is valid? [False, False] Translation: X:8.62, Y:-1.35, Z:0.95 [[ 0.93716516 0.30646579 -0.16673386 8.61735501] [-0.3043085 0.95177564 0.03898039 -1.35371593] [ 0.17063939 0.01420746 0.98523111 0.9528362 ] [ 0. 0. 0. 1. ]] SLAMing on 63.566296756999996 meters Centerline goodness : 0.780527 with order 1 Centerline is valid? [False, False] Translation: X:8.62, Y:-1.35, Z:0.95 [[ 0.93655618 0.30038768 -0.18063709 8.62304515] [-0.29786676 0.9537014 0.0415817 -1.35227 ] [ 0.18476447 0.01486219 0.98267045 0.95369223] [ 0. 0. 0. 1. ]] SLAMing on 63.62629675699999 meters Centerline goodness : 0.782865 with order 1 Centerline is valid? [False, False] Translation: X:8.62, Y:-1.35, Z:0.95 [[ 0.93807203 0.29510449 -0.18147784 8.62115992] [-0.29330868 0.95529057 0.03728208 -1.35261154] [ 0.18436618 0.01825575 0.98268807 0.95446285] [ 0. 0. 0. 1. ]] SLAMing on 63.686296756999994 meters Centerline goodness : 0.789914 with order 1 Centerline is valid? [False, False] Translation: X:8.62, Y:-1.36, Z:0.96 [[ 0.93905664 0.29222862 -0.18103886 8.6159349 ] [-0.29052447 0.9561724 0.03646738 -1.35533469] [ 0.18376117 0.01835129 0.9827996 0.95917037] [ 0. 0. 0. 1. ]] SLAMing on 63.746296756999996 meters Centerline goodness : 0.791207 with order 1 Centerline is valid? [False, False] Translation: X:8.62, Y:-1.36, Z:0.96 [[ 0.93937401 0.2908397 -0.181628 8.61654849] [-0.28931801 0.95657757 0.03541807 -1.35586962] [ 0.18404225 0.01927744 0.98272928 0.95888745] [ 0. 0. 0. 1. ]] SLAMing on 63.806296757 meters Centerline goodness : 0.791538 with order 1 Centerline is valid? [False, False] Translation: X:8.62, Y:-1.36, Z:0.96 [[ 0.93872041 0.29393843 -0.18001162 8.61597847] [-0.29175156 0.95569382 0.03911964 -1.35641657] [ 0.18353476 0.01579626 0.98288629 0.95818214] [ 0. 0. 0. 1. ]] SLAMing on 63.86629675699999 meters Centerline goodness : 0.788610 with order 1 Centerline is valid? [False, False] Translation: X:8.62, Y:-1.36, Z:0.96 [[ 0.93855305 0.29435123 -0.18020966 8.61567372] [-0.29200392 0.95557885 0.04003468 -1.36020955] [ 0.1839888 0.01504725 0.98281316 0.95872646] [ 0. 0. 0. 1. ]] SLAMing on 63.926296756999996 meters Centerline goodness : 0.789724 with order 1 Centerline is valid? [False, False] Translation: X:8.62, Y:-1.36, Z:0.96 [[ 0.93862644 0.29437251 -0.1797922 8.61559855] [-0.29195331 0.95557949 0.04038686 -1.35978043] [ 0.18369452 0.01458276 0.9828752 0.95920229] [ 0. 0. 0. 1. ]] SLAMing on 63.986296757 meters Centerline goodness : 0.789320 with order 1 Centerline is valid? [False, False] Translation: X:8.62, Y:-1.36, Z:0.96 [[ 0.93871629 0.29391389 -0.18007319 8.61676999] [-0.29150467 0.95571961 0.04031191 -1.35897566] [ 0.18394771 0.01465073 0.98282684 0.95927832] [ 0. 0. 0. 1. ]] SLAMing on 64.046296757 meters Centerline goodness : 0.789694 with order 1 Centerline is valid? [False, False] Translation: X:8.62, Y:-1.36, Z:0.96 [[ 0.93888405 0.29309362 -0.18053497 8.61761117] [-0.29065967 0.95597315 0.04040164 -1.36275897] [ 0.18442805 0.01454178 0.98273844 0.95901699] [ 0. 0. 0. 1. ]] SLAMing on 64.106296757 meters Centerline goodness : 0.791828 with order 1 Centerline is valid? [False, False] Translation: X:8.62, Y:-1.36, Z:0.96 [[ 0.93890297 0.29292478 -0.18071049 8.61869981] [-0.29050108 0.95602376 0.04034478 -1.36218344] [ 0.18458151 0.01461676 0.98270851 0.95865631] [ 0. 0. 0. 1. ]] SLAMing on 64.166296757 meters Centerline goodness : 0.792858 with order 1 Centerline is valid? [False, False] Translation: X:8.62, Y:-1.37, Z:0.96 [[ 0.93876605 0.2933329 -0.18075981 8.61848594] [-0.2907596 0.95590937 0.04118404 -1.36532569] [ 0.18487063 0.01389547 0.98266462 0.95877067] [ 0. 0. 0. 1. ]] SLAMing on 64.226296757 meters Centerline goodness : 0.790518 with order 1 Centerline is valid? [False, False] Translation: X:8.62, Y:-1.37, Z:0.96 [[ 0.93863618 0.29403386 -0.18029477 8.61800954] [-0.29130907 0.95570554 0.04202317 -1.36755813] [ 0.18466494 0.01307703 0.98271453 0.95824197] [ 0. 0. 0. 1. ]] SLAMing on 64.28629675699999 meters Centerline goodness : 0.793553 with order 1 Centerline is valid? [False, False] Translation: X:8.61, Y:-1.37, Z:0.96 [[ 0.93838489 0.29584476 -0.1786328 8.61314624] [-0.29278913 0.95517094 0.04385204 -1.37007444] [ 0.18359826 0.01115165 0.98293811 0.96008467] [ 0. 0. 0. 1. ]] SLAMing on 64.34629675699999 meters Centerline goodness : 0.795150 with order 1 Centerline is valid? [False, False] Translation: X:8.61, Y:-1.37, Z:0.96 [[ 0.93814073 0.29707582 -0.17787052 8.61116235] [-0.29386159 0.95479872 0.04477464 -1.37210231] [ 0.18313201 0.0102644 0.98303474 0.96016765] [ 0. 0. 0. 1. ]] SLAMing on 64.40629675699999 meters Centerline goodness : 0.798281 with order 1 Centerline is valid? [False, False] Translation: X:8.61, Y:-1.37, Z:0.96 [[ 0.93782337 0.29845694 -0.17723087 8.60866771] [-0.29508887 0.95437639 0.04569754 -1.37287843] [ 0.18278371 0.00944263 0.9831078 0.96132103] [ 0. 0. 0. 1. ]] SLAMing on 64.466296757 meters Centerline goodness : 0.800950 with order 1 Centerline is valid? [False, False] Translation: X:8.61, Y:-1.38, Z:0.96 [[ 9.37496428e-01 2.99829084e-01 -1.76643619e-01 8.60612049e+00] [-2.96246173e-01 9.53956740e-01 4.69546912e-02 -1.37545234e+00] [ 1.82588753e-01 8.31014103e-03 9.83154255e-01 9.62444212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.526296757 meters Centerline goodness : 0.799585 with order 1 Centerline is valid? [False, False] Translation: X:8.61, Y:-1.38, Z:0.96 [[ 9.36328965e-01 3.04100317e-01 -1.75530815e-01 8.60705433e+00] [-2.99790920e-01 9.52628626e-01 5.12260200e-02 -1.37866578e+00] [ 1.82793528e-01 4.65813831e-03 9.83140289e-01 9.61563187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.586296757 meters Centerline goodness : 0.795062 with order 1 Centerline is valid? [False, False] Translation: X:8.61, Y:-1.38, Z:0.96 [[ 9.36280929e-01 3.04380449e-01 -1.75301351e-01 8.60680565e+00] [-2.99928680e-01 9.52542645e-01 5.20124616e-02 -1.38151711e+00] [ 1.82813589e-01 3.87962686e-03 9.83139939e-01 9.61308246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.646296757 meters Centerline goodness : 0.795885 with order 1 Centerline is valid? [False, False] Translation: X:8.61, Y:-1.38, Z:0.96 [[ 9.37302520e-01 3.00903785e-01 -1.75843391e-01 8.60503473e+00] [-2.96976395e-01 9.53632982e-01 4.88790065e-02 -1.38285220e+00] [ 1.82397935e-01 6.40692032e-03 9.83203918e-01 9.61337898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.70629675699999 meters Centerline goodness : 0.795895 with order 1 Centerline is valid? [False, False] Translation: X:8.60, Y:-1.38, Z:0.96 [[ 9.37181409e-01 3.01438598e-01 -1.75572713e-01 8.60431417e+00] [-2.97386458e-01 9.53468339e-01 4.95925575e-02 -1.38488926e+00] [ 1.82352134e-01 5.73572439e-03 9.83216558e-01 9.61384807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.76629675699999 meters Centerline goodness : 0.795895 with order 1 Centerline is valid? [False, False] Translation: X:8.60, Y:-1.39, Z:0.96 [[ 9.37038676e-01 3.02171756e-01 -1.75073557e-01 8.60304281e+00] [-2.98003061e-01 9.53240053e-01 5.02750233e-02 -1.38600354e+00] [ 1.82078819e-01 5.06281461e-03 9.83270905e-01 9.61603839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.826296757 meters Centerline goodness : 0.799183 with order 1 Centerline is valid? [False, False] Translation: X:8.60, Y:-1.39, Z:0.96 [[ 9.37005034e-01 3.02718488e-01 -1.74307437e-01 8.60108238e+00] [-2.98397802e-01 9.53071173e-01 5.11281815e-02 -1.38774626e+00] [ 1.81604840e-01 4.10559258e-03 9.83363019e-01 9.62243466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.886296757 meters Centerline goodness : 0.800417 with order 1 Centerline is valid? [False, False] Translation: X:8.60, Y:-1.39, Z:0.96 [[ 9.36944300e-01 3.02889509e-01 -1.74336811e-01 8.60065506e+00] [-2.98469663e-01 9.53018835e-01 5.16813300e-02 -1.38946023e+00] [ 1.81799998e-01 3.61172172e-03 9.83328895e-01 9.62828224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.946296757 meters Centerline goodness : 0.801624 with order 1 Centerline is valid? [False, False] Translation: X:8.60, Y:-1.39, Z:0.96 [[ 9.36895408e-01 3.02998320e-01 -1.74410468e-01 8.60157864e+00] [-2.98669275e-01 9.52982183e-01 5.12017892e-02 -1.38811046e+00] [ 1.81724125e-01 4.12032698e-03 9.83340920e-01 9.61746606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.006296757 meters Centerline goodness : 0.797494 with order 1 Centerline is valid? [False, False] Translation: X:8.60, Y:-1.39, Z:0.96 [[ 9.36947242e-01 3.02464984e-01 -1.75056557e-01 8.60430456e+00] [-2.98241746e-01 9.53148396e-01 5.05964114e-02 -1.38839261e+00] [ 1.82158519e-01 4.80300503e-03 9.83257446e-01 9.59886285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.06629675699999 meters Centerline goodness : 0.798748 with order 1 Centerline is valid? [False, False] Translation: X:8.60, Y:-1.39, Z:0.96 [[ 9.36157137e-01 3.05833661e-01 -1.73423143e-01 8.59961404e+00] [-3.01345430e-01 9.52079266e-01 5.23068156e-02 -1.38645325e+00] [ 1.81109764e-01 3.29287304e-03 9.83457376e-01 9.61421852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.12629675699999 meters Centerline goodness : 0.798603 with order 1 Centerline is valid? [False, False] Translation: X:8.60, Y:-1.38, Z:0.96 [[ 9.35799099e-01 3.06903125e-01 -1.73466186e-01 8.59985146e+00] [-3.02406111e-01 9.51734790e-01 5.24541124e-02 -1.38334948e+00] [ 1.81192135e-01 3.37072346e-03 9.83441940e-01 9.61634069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.186296757 meters Centerline goodness : 0.800117 with order 1 Centerline is valid? [False, False] Translation: X:8.60, Y:-1.39, Z:0.96 [[ 9.35781977e-01 3.06701353e-01 -1.73914838e-01 8.60084395e+00] [-3.02176177e-01 9.51799960e-01 5.25965183e-02 -1.38516261e+00] [ 1.81663559e-01 3.33404689e-03 9.83355091e-01 9.61397775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.246296757 meters Centerline goodness : 0.800077 with order 1 Centerline is valid? [False, False] Translation: X:8.60, Y:-1.38, Z:0.96 [[ 9.35812720e-01 3.06642053e-01 -1.73853975e-01 8.60119379e+00] [-3.02109075e-01 9.51819292e-01 5.26321418e-02 -1.38457472e+00] [ 1.81616795e-01 3.26903575e-03 9.83363947e-01 9.61276289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.306296757 meters Centerline goodness : 0.797950 with order 1 Centerline is valid? [False, False] Translation: X:8.60, Y:-1.38, Z:0.96 [[ 9.35805534e-01 3.06556799e-01 -1.74042901e-01 8.60231335e+00] [-3.02074605e-01 9.51845628e-01 5.23529634e-02 -1.38290235e+00] [ 1.81711132e-01 3.58174779e-03 9.83345431e-01 9.60914215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.366296757 meters Centerline goodness : 0.799264 with order 1 Centerline is valid? [False, False] Translation: X:8.60, Y:-1.38, Z:0.96 [[ 9.36792606e-01 3.03048049e-01 -1.74875653e-01 8.60064821e+00] [-2.99190538e-01 9.52951510e-01 4.86666497e-02 -1.38088585e+00] [ 1.81396351e-01 6.73058300e-03 9.83387036e-01 9.61756756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.42629675699999 meters Centerline goodness : 0.797773 with order 1 Centerline is valid? [False, False] Translation: X:8.60, Y:-1.38, Z:0.96 [[ 9.36932629e-01 3.02396427e-01 -1.75253104e-01 8.60170739e+00] [-2.98611169e-01 9.53155467e-01 4.82288751e-02 -1.37995965e+00] [ 1.81627693e-01 7.14532747e-03 9.83341408e-01 9.61808712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.48629675699999 meters Centerline goodness : 0.800138 with order 1 Centerline is valid? [False, False] Translation: X:8.60, Y:-1.38, Z:0.96 [[ 9.36946893e-01 3.02299214e-01 -1.75344530e-01 8.60247649e+00] [-2.98562790e-01 9.53184235e-01 4.79591028e-02 -1.37804272e+00] [ 1.81633640e-01 7.41621966e-03 9.83338304e-01 9.61646132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.546296757 meters Centerline goodness : 0.796450 with order 1 Centerline is valid? [False, False] Translation: X:8.60, Y:-1.38, Z:0.96 [[ 9.36990764e-01 3.01999704e-01 -1.75625988e-01 8.60380678e+00] [-2.98310501e-01 9.53276853e-01 4.76873806e-02 -1.37697041e+00] [ 1.81821764e-01 7.70844124e-03 9.83301290e-01 9.61246304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.606296757 meters Centerline goodness : 0.797741 with order 1 Centerline is valid? [False, False] Translation: X:8.60, Y:-1.38, Z:0.96 [[ 0.93807602 0.29795502 -0.17673761 8.6037062 ] [-0.2949535 0.95451434 0.043644 -1.37625545] [ 0.18170253 0.01118799 0.9832899 0.9606474 ] [ 0. 0. 0. 1. ]] SLAMing on 65.666296757 meters Centerline goodness : 0.796854 with order 1 Centerline is valid? [False, False] Translation: X:8.60, Y:-1.38, Z:0.96 [[ 0.93797771 0.29854422 -0.17626445 8.60230073] [-0.29548136 0.95433459 0.04400294 -1.37549751] [ 0.18135208 0.01080908 0.98335883 0.96141032] [ 0. 0. 0. 1. ]] SLAMing on 65.726296757 meters Centerline goodness : 0.797907 with order 2 Centerline is valid? [False, False] Translation: X:8.60, Y:-1.37, Z:0.96 [[ 0.93769965 0.29968015 -0.17581571 8.60091404] [-0.29655478 0.95398212 0.04442264 -1.37469211] [ 0.18103763 0.01048389 0.98342029 0.96176067] [ 0. 0. 0. 1. ]] SLAMing on 65.78629675699999 meters Centerline goodness : 0.794088 with order 2 Centerline is valid? [False, False] Translation: X:8.60, Y:-1.37, Z:0.96 [[ 9.36401250e-01 3.04364051e-01 -1.74686069e-01 8.60218240e+00] [-3.00653231e-01 9.52525580e-01 4.79859815e-02 -1.37293716e+00] [ 1.80998157e-01 7.58579815e-03 9.83454179e-01 9.60822296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.84629675699999 meters Centerline goodness : 0.795973 with order 1 Centerline is valid? [False, False] Translation: X:8.60, Y:-1.37, Z:0.96 [[ 9.36301823e-01 3.04561996e-01 -1.74873918e-01 8.60276980e+00] [-3.00861976e-01 9.52461281e-01 4.79539340e-02 -1.37264557e+00] [ 1.81165582e-01 7.71355660e-03 9.83422357e-01 9.60545073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.90629675699999 meters Centerline goodness : 0.794252 with order 2 Centerline is valid? [False, False] Translation: X:8.60, Y:-1.37, Z:0.96 [[ 0.93730881 0.30080696 -0.17597546 8.60175775] [-0.29768499 0.95362551 0.04452002 -1.37437036] [ 0.18120662 0.01065624 0.98338731 0.96058823] [ 0. 0. 0. 1. ]] SLAMing on 65.966296757 meters Centerline goodness : 0.792879 with order 1 Centerline is valid? [False, False] Translation: X:8.60, Y:-1.37, Z:0.96 [[ 9.36351199e-01 3.04295414e-01 -1.75073511e-01 8.60373362e+00] [-3.00591454e-01 9.52546438e-01 4.79589633e-02 -1.37330252e+00] [ 1.81359342e-01 7.71916842e-03 9.83386599e-01 9.60178717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.026296757 meters Centerline goodness : 0.793711 with order 1 Centerline is valid? [False, False] Translation: X:8.60, Y:-1.37, Z:0.96 [[ 9.36243841e-01 3.04941885e-01 -1.74521967e-01 8.60236186e+00] [-3.01211740e-01 9.52341436e-01 4.81381015e-02 -1.37168269e+00] [ 1.80883824e-01 7.49906436e-03 9.83475880e-01 9.60756787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.086296757 meters Centerline goodness : 0.796697 with order 1 Centerline is valid? [False, False] Translation: X:8.60, Y:-1.37, Z:0.96 [[ 0.9372247 0.30149617 -0.17524248 8.60065974] [-0.29837128 0.95340927 0.04455716 -1.36996673] [ 0.18051162 0.01052726 0.98351651 0.96161652] [ 0. 0. 0. 1. ]] SLAMing on 66.146296757 meters Centerline goodness : 0.796622 with order 1 Centerline is valid? [False, False] Translation: X:8.60, Y:-1.37, Z:0.96 [[ 0.93738493 0.30075824 -0.17565298 8.60266216] [-0.29773013 0.95363622 0.04398568 -1.36942675] [ 0.1807381 0.01106567 0.98346901 0.96055615] [ 0. 0. 0. 1. ]] SLAMing on 66.20629675699999 meters Centerline goodness : 0.799150 with order 1 Centerline is valid? [False, False] Translation: X:8.60, Y:-1.37, Z:0.96 [[ 9.36274967e-01 3.04919096e-01 -1.74394755e-01 8.60354572e+00] [-3.01354392e-01 9.52341787e-01 4.72297651e-02 -1.36645390e+00] [ 1.80484670e-01 8.33457848e-03 9.83542484e-01 9.60284197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.26629675699999 meters Centerline goodness : 0.800521 with order 1 Centerline is valid? [False, False] Translation: X:8.60, Y:-1.37, Z:0.96 [[ 9.36188583e-01 3.05325747e-01 -1.74146848e-01 8.60228746e+00] [-3.01753103e-01 9.52212070e-01 4.72994620e-02 -1.36526288e+00] [ 1.80266474e-01 8.26813527e-03 9.83583060e-01 9.61276234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.326296757 meters Centerline goodness : 0.801615 with order 2 Centerline is valid? [False, False] Translation: X:8.60, Y:-1.36, Z:0.96 [[ 0.93631906 0.30466373 -0.1746042 8.60345343] [-0.3011685 0.95241996 0.04683741 -1.36457598] [ 0.18056619 0.00873052 0.98352409 0.96127477] [ 0. 0. 0. 1. ]] SLAMing on 66.386296757 meters Centerline goodness : 0.803145 with order 1 Centerline is valid? [False, False] Translation: X:8.61, Y:-1.37, Z:0.96 [[ 0.93657587 0.30286581 -0.17634606 8.60852709] [-0.29941942 0.95298823 0.04649126 -1.36639999] [ 0.18213633 0.00925884 0.98322969 0.96036805] [ 0. 0. 0. 1. ]] SLAMing on 66.446296757 meters Centerline goodness : 0.805640 with order 1 Centerline is valid? [False, False] Translation: X:8.61, Y:-1.37, Z:0.96 [[ 0.93669165 0.30243785 -0.1764656 8.60942179] [-0.2989705 0.95312532 0.04656998 -1.36664164] [ 0.18227835 0.0091363 0.98320452 0.96023854] [ 0. 0. 0. 1. ]] SLAMing on 66.506296757 meters Centerline goodness : 0.808483 with order 1 Centerline is valid? [False, False] Translation: X:8.61, Y:-1.37, Z:0.96 [[ 9.36731036e-01 3.02390485e-01 -1.76337633e-01 8.60861673e+00] [-2.98768053e-01 9.53148108e-01 4.73955034e-02 -1.36702162e+00] [ 1.82407831e-01 8.28721240e-03 9.83188032e-01 9.62283873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.56629675699999 meters Centerline goodness : 0.817527 with order 2 Centerline is valid? [False, False] Translation: X:8.61, Y:-1.37, Z:0.96 [[ 9.37040696e-01 3.00684410e-01 -1.77605234e-01 8.61160087e+00] [-2.97063495e-01 9.53686239e-01 4.72846461e-02 -1.37031094e+00] [ 1.83597424e-01 8.45239381e-03 9.82965179e-01 9.62233270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.62629675699999 meters Centerline goodness : 0.818531 with order 2 Centerline is valid? [False, False] Translation: X:8.61, Y:-1.37, Z:0.96 [[ 9.37161062e-01 3.00445675e-01 -1.77374010e-01 8.61166564e+00] [-2.96815657e-01 9.53762643e-01 4.72999646e-02 -1.36802583e+00] [ 1.83383774e-01 8.31969832e-03 9.83006192e-01 9.63098544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.686296757 meters Centerline goodness : 0.810027 with order 2 Centerline is valid? [False, False] Translation: X:8.61, Y:-1.37, Z:0.96 [[ 9.36181576e-01 3.04264270e-01 -1.76032133e-01 8.61111510e+00] [-2.99935869e-01 9.52575972e-01 5.13565249e-02 -1.36890865e+00] [ 1.83309935e-01 4.71931824e-03 9.83043842e-01 9.64487373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.746296757 meters Centerline goodness : 0.808962 with order 2 Centerline is valid? [False, False] Translation: X:8.61, Y:-1.36, Z:0.96 [[ 9.35251695e-01 3.07909238e-01 -1.74631520e-01 8.61351059e+00] [-3.03225264e-01 9.51411486e-01 5.35782052e-02 -1.36462116e+00] [ 1.82643659e-01 2.84358152e-03 9.83175065e-01 9.62364982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.806296757 meters Centerline goodness : 0.810895 with order 2 Centerline is valid? [False, False] Translation: X:8.61, Y:-1.36, Z:0.96 [[ 9.35220637e-01 3.07756923e-01 -1.75065805e-01 8.61460092e+00] [-3.03431326e-01 9.51452793e-01 5.16431308e-02 -1.36020771e+00] [ 1.82460380e-01 4.82272754e-03 9.83201379e-01 9.62883305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.866296757 meters Centerline goodness : 0.815023 with order 2 Centerline is valid? [False, False] Translation: X:8.62, Y:-1.36, Z:0.96 [[ 9.35070095e-01 3.07840322e-01 -1.75722094e-01 8.61696187e+00] [-3.03724005e-01 9.51418425e-01 5.05441316e-02 -1.35850870e+00] [ 1.82744760e-01 6.10871213e-03 9.83141412e-01 9.62155127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.92629675699999 meters Centerline goodness : 0.815823 with order 2 Centerline is valid? [False, False] Translation: X:8.62, Y:-1.36, Z:0.96 [[ 9.35295107e-01 3.07710786e-01 -1.74748776e-01 8.61825097e+00] [-3.03376930e-01 9.51468411e-01 5.16749507e-02 -1.35749436e+00] [ 1.82168880e-01 4.68341878e-03 9.83256103e-01 9.59655610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.98629675699999 meters Centerline goodness : 0.833268 with order 3 Centerline is valid? [False, False] Translation: X:8.62, Y:-1.36, Z:0.96 [[ 9.36329016e-01 3.05301379e-01 -1.73433104e-01 8.61777995e+00] [-3.00745817e-01 9.52251404e-01 5.26233579e-02 -1.35921245e+00] [ 1.81217901e-01 2.88650369e-03 9.83438732e-01 9.56599504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.046296757 meters Centerline goodness : 0.833346 with order 3 Centerline is valid? [False, False] Translation: X:8.62, Y:-1.36, Z:0.96 [[ 9.36680209e-01 3.04446603e-01 -1.73038873e-01 8.61659509e+00] [-2.99903693e-01 9.52525441e-01 5.24696022e-02 -1.35967531e+00] [ 1.80798121e-01 2.74775894e-03 9.83516390e-01 9.56745535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.106296757 meters Centerline goodness : 0.836586 with order 3 Centerline is valid? [False, False] Translation: X:8.62, Y:-1.36, Z:0.95 [[ 9.36874531e-01 3.03766988e-01 -1.73181205e-01 8.61854623e+00] [-2.99132635e-01 9.52743727e-01 5.29061173e-02 -1.36104176e+00] [ 1.81068439e-01 2.23775630e-03 9.83467952e-01 9.54710613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.166296757 meters Centerline goodness : 0.840917 with order 3 Centerline is valid? [False, False] Translation: X:8.62, Y:-1.36, Z:0.95 [[ 9.37584645e-01 3.01755198e-01 -1.72854953e-01 8.61726214e+00] [-2.97141677e-01 9.53383256e-01 5.26041012e-02 -1.36241636e+00] [ 1.80670579e-01 2.04161307e-03 9.83541546e-01 9.54368136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.226296757 meters Centerline goodness : 0.844261 with order 3 Centerline is valid? [False, False] Translation: X:8.62, Y:-1.36, Z:0.96 [[ 9.38491499e-01 2.97623740e-01 -1.75082312e-01 8.61802259e+00] [-2.93680430e-01 9.54665769e-01 4.86320377e-02 -1.36477464e+00] [ 1.81619139e-01 5.77749471e-03 9.83351976e-01 9.55159268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.28629675699999 meters Centerline goodness : 0.842232 with order 3 Centerline is valid? [False, False] Translation: X:8.62, Y:-1.37, Z:0.95 [[ 9.38376822e-01 2.98391110e-01 -1.74389463e-01 8.62054778e+00] [-2.94109098e-01 9.54435783e-01 5.05190583e-02 -1.36501846e+00] [ 1.81517982e-01 3.88361441e-03 9.83379957e-01 9.51956527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.34629675699999 meters Centerline goodness : 0.846041 with order 3 Centerline is valid? [False, False] Translation: X:8.62, Y:-1.37, Z:0.96 [[ 9.37887817e-01 3.01407838e-01 -1.71813150e-01 8.61859194e+00] [-2.95641171e-01 9.53485203e-01 5.88410247e-02 -1.37324634e+00] [ 1.81556442e-01 -4.39123955e-03 9.83370721e-01 9.59183805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.40629675699999 meters Centerline goodness : 0.841997 with order 3 Centerline is valid? [False, False] Translation: X:8.62, Y:-1.38, Z:0.96 [[ 0.93688331 0.30469049 -0.17150325 8.62135331] [-0.29795245 0.95240676 0.06438715 -1.37768711] [ 0.18295901 -0.00922344 0.98307728 0.96098021] [ 0. 0. 0. 1. ]] SLAMing on 67.466296757 meters Centerline goodness : 0.840834 with order 3 Centerline is valid? [False, False] Translation: X:8.62, Y:-1.38, Z:0.96 [[ 0.93568468 0.30867191 -0.17092638 8.62310867] [-0.30116788 0.9510801 0.06888078 -1.38013919] [ 0.18382624 -0.01297316 0.98287314 0.96133509] [ 0. 0. 0. 1. ]] SLAMing on 67.526296757 meters Centerline goodness : 0.843270 with order 3 Centerline is valid? [False, False] Translation: X:8.63, Y:-1.38, Z:0.96 [[ 9.35638960e-01 3.11528642e-01 -1.65920589e-01 8.63217098e+00] [-3.05440171e-01 9.50210659e-01 6.16928374e-02 -1.38342200e+00] [ 1.76878598e-01 -7.04340907e-03 9.84207474e-01 9.60236386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.586296757 meters Centerline goodness : 0.824456 with order 2 Centerline is valid? [False, False] Translation: X:8.63, Y:-1.39, Z:0.96 [[ 0.9343088 0.3160908 -0.16478373 8.63195053] [-0.30925311 0.94866526 0.06630789 -1.38656176] [ 0.17728391 -0.01099217 0.98409836 0.96094289] [ 0. 0. 0. 1. ]] SLAMing on 67.646296757 meters Centerline goodness : 0.824898 with order 2 Centerline is valid? [False, False] Translation: X:8.63, Y:-1.39, Z:0.96 [[ 0.93302321 0.32029057 -0.1639562 8.63382997] [-0.3128522 0.9472149 0.07005309 -1.388183 ] [ 0.1777391 -0.0140671 0.9839771 0.95971906] [ 0. 0. 0. 1. ]] SLAMing on 67.70629675699999 meters Centerline goodness : 0.826346 with order 2 Centerline is valid? [False, False] Translation: X:8.63, Y:-1.39, Z:0.96 [[ 0.93268806 0.32151322 -0.16346935 8.63245924] [-0.31396757 0.94679096 0.0707901 -1.39017071] [ 0.17753126 -0.01470101 0.98400535 0.95957243] [ 0. 0. 0. 1. ]] SLAMing on 67.76629675699999 meters Centerline goodness : 0.822627 with order 2 Centerline is valid? [False, False] Translation: X:8.63, Y:-1.39, Z:0.96 [[ 0.93272034 0.32128562 -0.16373245 8.63351316] [-0.31373641 0.94686919 0.07076865 -1.39081022] [ 0.17777017 -0.01463853 0.98396315 0.95908123] [ 0. 0. 0. 1. ]] SLAMing on 67.826296757 meters Centerline goodness : 0.823788 with order 2 Centerline is valid? [False, False] Translation: X:8.63, Y:-1.39, Z:0.96 [[ 0.93371344 0.31823761 -0.1640245 8.63089021] [-0.31117215 0.94793156 0.06780602 -1.39089492] [ 0.17706243 -0.01227154 0.98412312 0.95977427] [ 0. 0. 0. 1. ]] SLAMing on 67.886296757 meters Centerline goodness : 0.823082 with order 2 Centerline is valid? [False, False] Translation: X:8.63, Y:-1.39, Z:0.96 [[ 0.93460027 0.31575026 -0.16378065 8.62610993] [-0.30905149 0.94878242 0.06556753 -1.39269737] [ 0.17609516 -0.01066277 0.9843154 0.96156063] [ 0. 0. 0. 1. ]] SLAMing on 67.946296757 meters Centerline goodness : 0.819183 with order 2 Centerline is valid? [False, False] Translation: X:8.63, Y:-1.39, Z:0.96 [[ 0.93462434 0.31554684 -0.16403517 8.62807801] [-0.30887382 0.94885246 0.06539088 -1.39145297] [ 0.17627906 -0.01044974 0.98428476 0.96051095] [ 0. 0. 0. 1. ]] SLAMing on 68.006296757 meters Centerline goodness : 0.832695 with order 3 Centerline is valid? [False, False] Translation: X:8.63, Y:-1.39, Z:0.96 [[ 9.35592938e-01 3.12385437e-01 -1.64563643e-01 8.62553184e+00] [-3.06246075e-01 9.49924141e-01 6.21085140e-02 -1.39051068e+00] [ 1.75724772e-01 -7.71131746e-03 9.84409132e-01 9.61616952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.06629675699999 meters Centerline goodness : 0.829073 with order 2 Centerline is valid? [False, False] Translation: X:8.62, Y:-1.39, Z:0.96 [[ 9.36673830e-01 3.08815240e-01 -1.65152303e-01 8.62353626e+00] [-3.03265109e-01 9.51110508e-01 5.84728616e-02 -1.38838759e+00] [ 1.75135402e-01 -4.68506806e-03 9.84533210e-01 9.62689439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.12629675699999 meters Centerline goodness : 0.827538 with order 3 Centerline is valid? [False, False] Translation: X:8.63, Y:-1.39, Z:0.96 [[ 9.36908502e-01 3.07725105e-01 -1.65854509e-01 8.62660607e+00] [-3.02283144e-01 9.51467006e-01 5.77532477e-02 -1.38679948e+00] [ 1.75577217e-01 -3.97448653e-03 9.84457640e-01 9.61780516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.186296757 meters Centerline goodness : 0.814118 with order 2 Centerline is valid? [False, False] Translation: X:8.63, Y:-1.39, Z:0.96 [[ 9.37157825e-01 3.06455153e-01 -1.66794634e-01 8.63032580e+00] [-3.01165761e-01 9.51880467e-01 5.67693564e-02 -1.38611670e+00] [ 1.76165816e-01 -2.96901361e-03 9.84356028e-01 9.59903403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.246296757 meters Centerline goodness : 0.813260 with order 2 Centerline is valid? [False, False] Translation: X:8.63, Y:-1.39, Z:0.96 [[ 9.37273589e-01 3.06039161e-01 -1.66907912e-01 8.63077552e+00] [-3.00710085e-01 9.52013582e-01 5.69524705e-02 -1.38607353e+00] [ 1.76328286e-01 -3.18915405e-03 9.84326249e-01 9.60738247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.306296757 meters Centerline goodness : 0.817730 with order 1 Centerline is valid? [False, False] Translation: X:8.63, Y:-1.38, Z:0.96 [[ 9.37299799e-01 3.06137759e-01 -1.66579590e-01 8.63042597e+00] [-3.00817228e-01 9.51981707e-01 5.69194510e-02 -1.38326964e+00] [ 1.76005916e-01 -3.24057944e-03 9.84383775e-01 9.61510370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.366296757 meters Centerline goodness : 0.814219 with order 1 Centerline is valid? [False, False] Translation: X:8.63, Y:-1.38, Z:0.96 [[ 9.37270665e-01 3.06523745e-01 -1.66032808e-01 8.62901881e+00] [-3.01083716e-01 9.51854487e-01 5.76335922e-02 -1.38285012e+00] [ 1.75705138e-01 -4.02850041e-03 9.84434597e-01 9.63253686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.42629675699999 meters Centerline goodness : 0.820171 with order 1 Centerline is valid? [False, False] Translation: X:8.63, Y:-1.38, Z:0.96 [[ 9.37254226e-01 3.06719778e-01 -1.65763364e-01 8.62846601e+00] [-3.01219267e-01 9.51789571e-01 5.79962552e-02 -1.38282285e+00] [ 1.75560440e-01 -4.42611614e-03 9.84458705e-01 9.63867529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.48629675699999 meters Centerline goodness : 0.814661 with order 2 Centerline is valid? [False, False] Translation: X:8.63, Y:-1.38, Z:0.96 [[ 9.36221791e-01 3.10532951e-01 -1.64493296e-01 8.62910070e+00] [-3.04397659e-01 9.50529713e-01 6.19300327e-02 -1.38164569e+00] [ 1.75587081e-01 -7.90887182e-03 9.84432134e-01 9.64674438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.546296757 meters Centerline goodness : 0.837879 with order 3 Centerline is valid? [False, False] Translation: X:8.63, Y:-1.38, Z:0.96 [[ 9.36215392e-01 3.10489462e-01 -1.64611767e-01 8.62933195e+00] [-3.04392570e-01 9.50545932e-01 6.17057089e-02 -1.38114695e+00] [ 1.75630018e-01 -7.66323557e-03 9.84426418e-01 9.64840097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.606296757 meters Centerline goodness : 0.834604 with order 3 Centerline is valid? [False, False] Translation: X:8.63, Y:-1.38, Z:0.97 [[ 0.93519147 0.31423892 -0.16331204 8.62937553] [-0.30756062 0.94928147 0.0653541 -1.38154794] [ 0.1755659 -0.01089025 0.98440744 0.96545093] [ 0. 0. 0. 1. ]] SLAMing on 68.666296757 meters Centerline goodness : 0.824894 with order 2 Centerline is valid? [False, False] Translation: X:8.63, Y:-1.38, Z:0.97 [[ 0.93401339 0.31823816 -0.16230668 8.63065755] [-0.31100768 0.94790986 0.06885575 -1.3792151 ] [ 0.17576463 -0.01383357 0.98433502 0.96579435] [ 0. 0. 0. 1. ]] SLAMing on 68.726296757 meters Centerline goodness : 0.840705 with order 3 Centerline is valid? [False, False] Translation: X:8.63, Y:-1.37, Z:0.97 [[ 0.93339625 0.31885286 -0.16463384 8.63470796] [-0.31213136 0.94775009 0.06590738 -1.37469349] [ 0.17704649 -0.01013032 0.98415035 0.96689983] [ 0. 0. 0. 1. ]] SLAMing on 68.78629675699999 meters Centerline goodness : 0.826136 with order 2 Centerline is valid? [False, False] Translation: X:8.64, Y:-1.37, Z:0.97 [[ 9.33082217e-01 3.18855759e-01 -1.66398864e-01 8.63816152e+00] [-3.12426166e-01 9.47770196e-01 6.41992678e-02 -1.37337056e+00] [ 1.78178190e-01 -7.91583613e-03 9.83966398e-01 9.66970417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.84629675699999 meters Centerline goodness : 0.833551 with order 3 Centerline is valid? [False, False] Translation: X:8.64, Y:-1.37, Z:0.96 [[ 0.93313117 0.31999009 -0.16392855 8.63835566] [-0.31309839 0.94735482 0.06699434 -1.37010128] [ 0.17673602 -0.01118874 0.98419469 0.96389937] [ 0. 0. 0. 1. ]] SLAMing on 68.90629675699999 meters Centerline goodness : 0.812411 with order 2 Centerline is valid? [False, False] Translation: X:8.64, Y:-1.37, Z:0.96 [[ 0.93341666 0.31854605 -0.16511136 8.64039688] [-0.31196758 0.94786256 0.06505997 -1.36801931] [ 0.17722747 -0.00921867 0.98412674 0.96392595] [ 0. 0. 0. 1. ]] SLAMing on 68.966296757 meters Centerline goodness : 0.815278 with order 2 Centerline is valid? [False, False] Translation: X:8.64, Y:-1.37, Z:0.97 [[ 9.33173477e-01 3.19016118e-01 -1.65577710e-01 8.64040892e+00] [-3.12726083e-01 9.47719977e-01 6.34763041e-02 -1.36539306e+00] [ 1.77171267e-01 -7.45393480e-03 9.84151808e-01 9.65401814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.026296757 meters Centerline goodness : 0.809582 with order 2 Centerline is valid? [False, False] Translation: X:8.64, Y:-1.36, Z:0.96 [[ 0.93187106 0.32293815 -0.16530967 8.64437524] [-0.31624708 0.94637464 0.06605168 -1.36346901] [ 0.17777548 -0.00927295 0.98402738 0.96344259] [ 0. 0. 0. 1. ]] SLAMing on 69.086296757 meters Centerline goodness : 0.826688 with order 3 Centerline is valid? [False, False] Translation: X:8.65, Y:-1.36, Z:0.96 [[ 0.93052053 0.32658128 -0.16575953 8.64786723] [-0.31950035 0.94510775 0.06848993 -1.3639823 ] [ 0.17902815 -0.01077106 0.98378499 0.96280919] [ 0. 0. 0. 1. ]] SLAMing on 69.146296757 meters Centerline goodness : 0.816748 with order 2 Centerline is valid? [False, False] Translation: X:8.65, Y:-1.36, Z:0.97 [[ 9.30266833e-01 3.25118350e-01 -1.70004934e-01 8.65174952e+00] [-3.19031171e-01 9.45664264e-01 6.27551700e-02 -1.36227146e+00] [ 1.81170449e-01 -4.14217997e-03 9.83442988e-01 9.65781714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.20629675699999 meters Centerline goodness : 0.821320 with order 3 Centerline is valid? [False, False] Translation: X:8.66, Y:-1.36, Z:0.97 [[ 9.29480362e-01 3.26533220e-01 -1.71587625e-01 8.65545146e+00] [-3.20464421e-01 9.45179832e-01 6.27506139e-02 -1.36292839e+00] [ 1.82671323e-01 -3.33773441e-03 9.83168372e-01 9.65649154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.26629675699999 meters Centerline goodness : 0.814336 with order 2 Centerline is valid? [False, False] Translation: X:8.66, Y:-1.36, Z:0.97 [[ 9.28919683e-01 3.27215126e-01 -1.73316137e-01 8.65824983e+00] [-3.21268257e-01 9.44947678e-01 6.21336645e-02 -1.36422040e+00] [ 1.84105756e-01 -2.03621082e-03 9.82904331e-01 9.66086498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.326296757 meters Centerline goodness : 0.813462 with order 2 Centerline is valid? [False, False] Translation: X:8.66, Y:-1.36, Z:0.97 [[ 9.28890795e-01 3.26734431e-01 -1.74374607e-01 8.65956972e+00] [-3.21014276e-01 9.45116019e-01 6.08731890e-02 -1.36347939e+00] [ 1.84693602e-01 -5.67806513e-04 9.82795987e-01 9.66721383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.386296757 meters Centerline goodness : 0.813112 with order 2 Centerline is valid? [False, False] Translation: X:8.66, Y:-1.36, Z:0.97 [[ 9.28564539e-01 3.26933364e-01 -1.75734096e-01 8.66319542e+00] [-3.21277537e-01 9.45047364e-01 6.05493513e-02 -1.36352451e+00] [ 1.85872647e-01 2.35437038e-04 9.82573816e-01 9.65908592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.446296757 meters Centerline goodness : 0.804868 with order 2 Centerline is valid? [False, False] Translation: X:8.66, Y:-1.36, Z:0.97 [[ 9.28548950e-01 3.26407067e-01 -1.76791611e-01 8.66410928e+00] [-3.21002061e-01 9.45227590e-01 5.91817629e-02 -1.36438298e+00] [ 1.86425654e-01 1.79730772e-03 9.82467427e-01 9.66448670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.506296757 meters Centerline goodness : 0.804984 with order 2 Centerline is valid? [False, False] Translation: X:8.67, Y:-1.36, Z:0.97 [[ 9.29224909e-01 3.23284601e-01 -1.78964059e-01 8.66755501e+00] [-3.18509402e-01 9.46286814e-01 5.56149942e-02 -1.36326812e+00] [ 1.87330800e-01 5.32289722e-03 9.82282464e-01 9.65711577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.56629675699999 meters Centerline goodness : 0.804011 with order 2 Centerline is valid? [False, False] Translation: X:8.67, Y:-1.36, Z:0.96 [[ 9.29741255e-01 3.22188339e-01 -1.78257882e-01 8.66782826e+00] [-3.17385273e-01 9.46663173e-01 5.56365451e-02 -1.36317317e+00] [ 1.86675619e-01 4.84883545e-03 9.82409641e-01 9.63726209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.62629675699999 meters Centerline goodness : 0.806896 with order 2 Centerline is valid? [False, False] Translation: X:8.67, Y:-1.37, Z:0.96 [[ 9.29529361e-01 3.22952699e-01 -1.77979551e-01 8.66674644e+00] [-3.17955182e-01 9.46407231e-01 5.67261387e-02 -1.36571722e+00] [ 1.86760994e-01 3.86090901e-03 9.82397793e-01 9.64113598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.686296757 meters Centerline goodness : 0.803139 with order 2 Centerline is valid? [False, False] Translation: X:8.67, Y:-1.37, Z:0.96 [[ 9.28996490e-01 3.24540415e-01 -1.77873665e-01 8.66739080e+00] [-3.19283067e-01 9.45868015e-01 5.82410545e-02 -1.36798992e+00] [ 1.87146587e-01 2.68631425e-03 9.82328325e-01 9.63567015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.746296757 meters Centerline goodness : 0.798749 with order 2 Centerline is valid? [False, False] Translation: X:8.67, Y:-1.37, Z:0.96 [[ 9.27615363e-01 3.28113794e-01 -1.78524722e-01 8.67056456e+00] [-3.22574756e-01 9.44636352e-01 6.00640511e-02 -1.37081106e+00] [ 1.88348786e-01 1.87123201e-03 9.82100419e-01 9.62540750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.806296757 meters Centerline goodness : 0.799957 with order 2 Centerline is valid? [False, False] Translation: X:8.67, Y:-1.37, Z:0.97 [[ 9.26701834e-01 3.29463830e-01 -1.80768623e-01 8.67193774e+00] [-3.24314491e-01 9.44156588e-01 5.82103859e-02 -1.37232317e+00] [ 1.89852103e-01 4.68221262e-03 9.81801536e-01 9.65015676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.866296757 meters Centerline goodness : 0.802164 with order 2 Centerline is valid? [False, False] Translation: X:8.68, Y:-1.37, Z:0.97 [[ 0.92590978 0.32953545 -0.18465501 8.67530092] [-0.32512083 0.94409551 0.05459038 -1.37403178] [ 0.19232143 0.00948942 0.9812861 0.96770834] [ 0. 0. 0. 1. ]] SLAMing on 69.92629675699999 meters Centerline goodness : 0.814462 with order 2 Centerline is valid? [False, False] Translation: X:8.68, Y:-1.38, Z:0.97 [[ 9.24318652e-01 3.33977533e-01 -1.84645708e-01 8.67784820e+00] [-3.28926422e-01 9.42555978e-01 5.82721020e-02 -1.37650167e+00] [ 1.93500489e-01 6.87286137e-03 9.81076105e-01 9.67161847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.98629675699999 meters Centerline goodness : 0.814078 with order 3 Centerline is valid? [False, False] Translation: X:8.68, Y:-1.38, Z:0.97 [[ 9.24028670e-01 3.34802230e-01 -1.84603583e-01 8.67638251e+00] [-3.29495008e-01 9.42271135e-01 5.96502144e-02 -1.38053848e+00] [ 1.93917652e-01 5.70745067e-03 9.81001208e-01 9.68494367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.046296757 meters Centerline goodness : 0.812238 with order 2 Centerline is valid? [False, False] Translation: X:8.68, Y:-1.38, Z:0.97 [[ 9.23989573e-01 3.35056846e-01 -1.84337134e-01 8.67525222e+00] [-3.29611459e-01 9.42184748e-01 6.03671022e-02 -1.38243372e+00] [ 1.93906047e-01 4.98105867e-03 9.81007459e-01 9.69355130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.106296757 meters Centerline goodness : 0.802102 with order 2 Centerline is valid? [False, False] Translation: X:8.67, Y:-1.39, Z:0.97 [[ 9.24173570e-01 3.34819681e-01 -1.83845024e-01 8.67399822e+00] [-3.29230269e-01 9.42273315e-01 6.10608708e-02 -1.38537783e+00] [ 1.93676641e-01 4.09650372e-03 9.81056868e-01 9.69976109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.166296757 meters Centerline goodness : 0.800232 with order 2 Centerline is valid? [False, False] Translation: X:8.67, Y:-1.39, Z:0.97 [[ 9.24140784e-01 3.34982735e-01 -1.83712759e-01 8.67355246e+00] [-3.29308358e-01 9.42217161e-01 6.15046958e-02 -1.38605424e+00] [ 1.93700326e-01 3.65914925e-03 9.81053920e-01 9.70504378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.226296757 meters Centerline goodness : 0.800102 with order 2 Centerline is valid? [False, False] Translation: X:8.67, Y:-1.39, Z:0.97 [[ 9.24503776e-01 3.33987900e-01 -1.83697717e-01 8.67456983e+00] [-3.28234795e-01 9.42572073e-01 6.18045790e-02 -1.38942546e+00] [ 1.93790319e-01 3.15741588e-03 9.81037891e-01 9.69920137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.28629675699999 meters Centerline goodness : 0.799874 with order 2 Centerline is valid? [False, False] Translation: X:8.67, Y:-1.39, Z:0.97 [[ 9.24697656e-01 3.33319875e-01 -1.83935060e-01 8.67497538e+00] [-3.27517306e-01 9.42809285e-01 6.19924691e-02 -1.39264365e+00] [ 1.94079004e-01 2.91762441e-03 9.80981563e-01 9.69764828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.34629675699999 meters Centerline goodness : 0.800538 with order 2 Centerline is valid? [False, False] Translation: X:8.67, Y:-1.39, Z:0.97 [[ 9.24648813e-01 3.33776148e-01 -1.83352274e-01 8.67437954e+00] [-3.27850399e-01 9.42649845e-01 6.26529026e-02 -1.39195002e+00] [ 1.93749037e-01 2.18018419e-03 9.81048703e-01 9.70489184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.40629675699999 meters Centerline goodness : 0.800366 with order 2 Centerline is valid? [False, False] Translation: X:8.67, Y:-1.39, Z:0.97 [[ 9.24442934e-01 3.34232691e-01 -1.83558630e-01 8.67385382e+00] [-3.28265543e-01 9.42488249e-01 6.29097217e-02 -1.39354471e+00] [ 1.94028338e-01 2.09952578e-03 9.80993678e-01 9.71229239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.466296757 meters Centerline goodness : 0.802949 with order 2 Centerline is valid? [False, False] Translation: X:8.68, Y:-1.40, Z:0.97 [[ 9.24385083e-01 3.33772368e-01 -1.84684121e-01 8.67654121e+00] [-3.27811084e-01 9.42650531e-01 6.28479796e-02 -1.39564100e+00] [ 1.95069504e-01 2.44576722e-03 9.80786372e-01 9.70124948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.526296757 meters Centerline goodness : 0.808409 with order 3 Centerline is valid? [False, False] Translation: X:8.68, Y:-1.40, Z:0.97 [[ 9.24401352e-01 3.33410636e-01 -1.85255197e-01 8.67908487e+00] [-3.27276814e-01 9.42780064e-01 6.36838912e-02 -1.39849873e+00] [ 1.95887793e-01 1.76025543e-03 9.80624737e-01 9.68144809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.586296757 meters Centerline goodness : 0.809027 with order 3 Centerline is valid? [False, False] Translation: X:8.68, Y:-1.40, Z:0.97 [[ 9.25232376e-01 3.29774807e-01 -1.87599646e-01 8.67933539e+00] [-3.24350210e-01 9.44043609e-01 5.98214504e-02 -1.40022040e+00] [ 1.96829854e-01 5.49924190e-03 9.80422239e-01 9.69695512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.64629675699999 meters Centerline goodness : 0.802288 with order 2 Centerline is valid? [False, False] Translation: X:8.68, Y:-1.40, Z:0.97 [[ 9.25162097e-01 3.30435057e-01 -1.86782675e-01 8.67737861e+00] [-3.24727963e-01 9.43820411e-01 6.12762791e-02 -1.40204815e+00] [ 1.96537132e-01 3.96306684e-03 9.80488373e-01 9.71188969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.70629675699999 meters Centerline goodness : 0.799612 with order 2 Centerline is valid? [False, False] Translation: X:8.68, Y:-1.41, Z:0.97 [[ 9.25202430e-01 3.30394534e-01 -1.86654536e-01 8.67702704e+00] [-3.24557423e-01 9.43837172e-01 6.19182714e-02 -1.40537859e+00] [ 1.96628948e-01 3.29318005e-03 9.80472443e-01 9.71282674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.76629675699999 meters Centerline goodness : 0.799732 with order 2 Centerline is valid? [False, False] Translation: X:8.68, Y:-1.41, Z:0.97 [[ 9.25189589e-01 3.30922155e-01 -1.85781463e-01 8.67519947e+00] [-3.25001102e-01 9.43654283e-01 6.23769064e-02 -1.40607815e+00] [ 1.95955374e-01 2.66871594e-03 9.80609183e-01 9.71516822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.826296757 meters Centerline goodness : 0.796490 with order 2 Centerline is valid? [False, False] Translation: X:8.68, Y:-1.41, Z:0.97 [[ 9.25165775e-01 3.30954443e-01 -1.85842526e-01 8.67561955e+00] [-3.25053219e-01 9.43642615e-01 6.22817748e-02 -1.40557454e+00] [ 1.95981358e-01 2.78774502e-03 9.80603659e-01 9.71359108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.886296757 meters Centerline goodness : 0.799213 with order 2 Centerline is valid? [False, False] Translation: X:8.67, Y:-1.41, Z:0.97 [[ 9.24812373e-01 3.32427602e-01 -1.84970169e-01 8.67281816e+00] [-3.26427485e-01 9.43126218e-01 6.29128997e-02 -1.40603908e+00] [ 1.95364201e-01 2.19671923e-03 9.80728303e-01 9.71947597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.946296757 meters Centerline goodness : 0.794265 with order 2 Centerline is valid? [False, False] Translation: X:8.68, Y:-1.41, Z:0.97 [[ 9.23610944e-01 3.36142010e-01 -1.84258982e-01 8.67502700e+00] [-3.29496883e-01 9.41811039e-01 6.65114309e-02 -1.40696898e+00] [ 1.95894430e-01 -7.17925215e-04 9.80624728e-01 9.71213745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.006296757 meters Centerline goodness : 0.792811 with order 2 Centerline is valid? [False, False] Translation: X:8.68, Y:-1.40, Z:0.97 [[ 9.23309509e-01 3.37005258e-01 -1.84192853e-01 8.67580474e+00] [-3.30394646e-01 9.41502646e-01 6.64239878e-02 -1.40455431e+00] [ 1.95803292e-01 -4.73566992e-04 9.80643078e-01 9.70436055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.06629675699999 meters Centerline goodness : 0.793493 with order 2 Centerline is valid? [False, False] Translation: X:8.68, Y:-1.40, Z:0.97 [[ 9.23103516e-01 3.37686617e-01 -1.83977301e-01 8.67527325e+00] [-3.31124629e-01 9.41258569e-01 6.62479161e-02 -1.40372564e+00] [ 1.95541245e-01 -2.34268908e-04 9.80695450e-01 9.70068001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.12629675699999 meters Centerline goodness : 0.790494 with order 2 Centerline is valid? [False, False] Translation: X:8.68, Y:-1.40, Z:0.97 [[ 9.21820461e-01 3.41532557e-01 -1.83309987e-01 8.67764534e+00] [-3.34383173e-01 9.39865659e-01 6.95732476e-02 -1.40287825e+00] [ 1.96048290e-01 -2.83826820e-03 9.80590135e-01 9.69427737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.186296757 meters Centerline goodness : 0.794313 with order 3 Centerline is valid? [False, False] Translation: X:8.68, Y:-1.40, Z:0.97 [[ 9.21767108e-01 3.41760597e-01 -1.83153195e-01 8.67700318e+00] [-3.34581702e-01 9.39782229e-01 6.97455885e-02 -1.40261898e+00] [ 1.95960412e-01 -3.00948151e-03 9.80607189e-01 9.69963693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.246296757 meters Centerline goodness : 0.799511 with order 3 Centerline is valid? [False, False] Translation: X:8.68, Y:-1.40, Z:0.97 [[ 9.21750480e-01 3.41731587e-01 -1.83290959e-01 8.67700796e+00] [-3.34507890e-01 9.39792224e-01 6.99646078e-02 -1.40335075e+00] [ 1.96164534e-01 -3.17763881e-03 9.80565846e-01 9.70341062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.306296757 meters Centerline goodness : 0.797092 with order 3 Centerline is valid? [False, False] Translation: X:8.68, Y:-1.40, Z:0.97 [[ 9.23052827e-01 3.37390095e-01 -1.84773922e-01 8.67753626e+00] [-3.30840695e-01 9.41364924e-01 6.61552331e-02 -1.40207722e+00] [ 1.96259809e-01 6.59579264e-05 9.80551928e-01 9.70361821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.366296757 meters Centerline goodness : 0.789815 with order 2 Centerline is valid? [False, False] Translation: X:8.68, Y:-1.40, Z:0.97 [[ 9.23195535e-01 3.36850089e-01 -1.85045997e-01 8.67862009e+00] [-3.30298414e-01 9.41558288e-01 6.61131453e-02 -1.40268666e+00] [ 1.96501811e-01 8.50385297e-05 9.80503458e-01 9.70123886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.42629675699999 meters Centerline goodness : 0.790166 with order 2 Centerline is valid? [False, False] Translation: X:8.68, Y:-1.40, Z:0.97 [[ 9.24312789e-01 3.33241103e-01 -1.86000632e-01 8.67752671e+00] [-3.27288098e-01 9.42837322e-01 6.27716938e-02 -1.40040687e+00] [ 1.96286446e-01 2.85511366e-03 9.80542441e-01 9.71146530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.48629675699999 meters Centerline goodness : 0.791475 with order 2 Centerline is valid? [False, False] Translation: X:8.68, Y:-1.40, Z:0.97 [[ 9.24263651e-01 3.33231177e-01 -1.86262413e-01 8.67783188e+00] [-3.27316500e-01 9.42839980e-01 6.25833889e-02 -1.39949475e+00] [ 1.96470387e-01 3.12320976e-03 9.80504785e-01 9.71537658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.546296757 meters Centerline goodness : 0.790799 with order 2 Centerline is valid? [False, False] Translation: X:8.68, Y:-1.40, Z:0.97 [[ 9.23108308e-01 3.36686467e-01 -1.85777490e-01 8.68015813e+00] [-3.30021486e-01 9.41616787e-01 6.66606779e-02 -1.40167473e+00] [ 1.97374951e-01 -2.24462416e-04 9.80328046e-01 9.71976082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.606296757 meters Centerline goodness : 0.790763 with order 2 Centerline is valid? [False, False] Translation: X:8.68, Y:-1.40, Z:0.97 [[ 9.21923037e-01 3.40479306e-01 -1.84747819e-01 8.68180744e+00] [-3.33309439e-01 9.40248571e-01 6.95517304e-02 -1.39914349e+00] [ 1.97389798e-01 -2.54315050e-03 9.80321784e-01 9.71347944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.666296757 meters Centerline goodness : 0.791227 with order 2 Centerline is valid? [False, False] Translation: X:8.68, Y:-1.40, Z:0.97 [[ 9.21819977e-01 3.40744826e-01 -1.84772545e-01 8.68150579e+00] [-3.33599179e-01 9.40152788e-01 6.94573485e-02 -1.39827981e+00] [ 1.97381656e-01 -2.38720207e-03 9.80323816e-01 9.71729419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.726296757 meters Centerline goodness : 0.793709 with order 2 Centerline is valid? [False, False] Translation: X:8.68, Y:-1.40, Z:0.97 [[ 9.21890113e-01 3.40278159e-01 -1.85281931e-01 8.68315696e+00] [-3.33248035e-01 9.40323267e-01 6.88324078e-02 -1.39677188e+00] [ 1.97647076e-01 -1.71107660e-03 9.80271751e-01 9.71200021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.78629675699999 meters Centerline goodness : 0.794374 with order 2 Centerline is valid? [False, False] Translation: X:8.68, Y:-1.40, Z:0.97 [[ 9.22043628e-01 3.39977674e-01 -1.85069528e-01 8.68308168e+00] [-3.32901811e-01 9.40431294e-01 6.90316239e-02 -1.39554420e+00] [ 1.97514386e-01 -2.04018801e-03 9.80297865e-01 9.72386375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.84629675699999 meters Centerline goodness : 0.801384 with order 3 Centerline is valid? [False, False] Translation: X:8.68, Y:-1.39, Z:0.97 [[ 9.23395532e-01 3.35551745e-01 -1.86402031e-01 8.68324131e+00] [-3.29143610e-01 9.42021157e-01 6.52734530e-02 -1.39368414e+00] [ 1.97497278e-01 1.07982243e-03 9.80302841e-01 9.73096673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.90629675699999 meters Centerline goodness : 0.807577 with order 3 Centerline is valid? [False, False] Translation: X:8.68, Y:-1.40, Z:0.97 [[ 9.23842528e-01 3.34175297e-01 -1.86659731e-01 8.68458943e+00] [-3.27625963e-01 9.42510881e-01 6.58366697e-02 -1.39606542e+00] [ 1.97929816e-01 3.31858844e-04 9.80216138e-01 9.74104877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.966296757 meters Centerline goodness : 0.809731 with order 3 Centerline is valid? [False, False] Translation: X:8.68, Y:-1.40, Z:0.97 [[ 9.25327159e-01 3.31270714e-01 -1.84470493e-01 8.68495182e+00] [-3.24474751e-01 9.43533753e-01 6.67846687e-02 -1.39535223e+00] [ 1.96177942e-01 -1.94165027e-03 9.80566390e-01 9.69046965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.026296757 meters Centerline goodness : 0.801355 with order 2 Centerline is valid? [False, False] Translation: X:8.68, Y:-1.39, Z:0.97 [[ 9.26911520e-01 3.26515619e-01 -1.84993472e-01 8.68342379e+00] [-3.20445229e-01 9.45191067e-01 6.26793539e-02 -1.39278276e+00] [ 1.95319965e-01 1.18206039e-03 9.80738861e-01 9.69415393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.086296757 meters Centerline goodness : 0.799503 with order 2 Centerline is valid? [False, False] Translation: X:8.68, Y:-1.39, Z:0.97 [[ 9.27427128e-01 3.25262134e-01 -1.84617079e-01 8.68250484e+00] [-3.19375929e-01 9.45622162e-01 6.16258331e-02 -1.39116659e+00] [ 1.94622551e-01 1.80878161e-03 9.80876542e-01 9.69296051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.14629675699999 meters Centerline goodness : 0.803097 with order 2 Centerline is valid? [False, False] Translation: X:8.68, Y:-1.39, Z:0.97 [[ 9.26404184e-01 3.28973288e-01 -1.83171677e-01 8.68314252e+00] [-3.22567869e-01 9.44338916e-01 6.46063592e-02 -1.38919487e+00] [ 1.94229909e-01 -7.66304132e-04 9.80955736e-01 9.68584599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.20629675699999 meters Centerline goodness : 0.815975 with order 3 Centerline is valid? [False, False] Translation: X:8.69, Y:-1.39, Z:0.97 [[ 9.25135786e-01 3.31258318e-01 -1.85450005e-01 8.68639170e+00] [-3.25163232e-01 9.43538460e-01 6.32775412e-02 -1.38900604e+00] [ 1.95940424e-01 1.76120513e-03 9.80614220e-01 9.70272810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.26629675699999 meters Centerline goodness : 0.822553 with order 3 Centerline is valid? [False, False] Translation: X:8.69, Y:-1.39, Z:0.97 [[ 9.23168589e-01 3.35557762e-01 -1.87511985e-01 8.69009257e+00] [-3.29504245e-01 9.42014403e-01 6.35280754e-02 -1.38964627e+00] [ 1.97956329e-01 3.13887133e-03 9.80205815e-01 9.71974475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.326296757 meters Centerline goodness : 0.824354 with order 3 Centerline is valid? [False, False] Translation: X:8.69, Y:-1.39, Z:0.97 [[ 9.20875216e-01 3.41423846e-01 -1.88198285e-01 8.69373636e+00] [-3.34772943e-01 9.39908627e-01 6.70734727e-02 -1.39214154e+00] [ 1.99789674e-01 1.23739494e-03 9.79838025e-01 9.72327493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.386296757 meters Centerline goodness : 0.826061 with order 3 Centerline is valid? [False, False] Translation: X:8.70, Y:-1.39, Z:0.97 [[ 9.21144590e-01 3.38902687e-01 -1.91409544e-01 8.69642734e+00] [-3.32955535e-01 9.40806505e-01 6.34328998e-02 -1.39402447e+00] [ 2.01576924e-01 5.29999446e-03 9.79458347e-01 9.73502957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.446296757 meters Centerline goodness : 0.815365 with order 2 Centerline is valid? [False, False] Translation: X:8.70, Y:-1.40, Z:0.97 [[ 9.22959490e-01 3.33874351e-01 -1.91503779e-01 8.69589330e+00] [-3.28238810e-01 9.42597256e-01 6.13978602e-02 -1.39578051e+00] [ 2.01010107e-01 6.19123464e-03 9.79569602e-01 9.71407970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.506296757 meters Centerline goodness : 0.817541 with order 2 Centerline is valid? [False, False] Translation: X:8.69, Y:-1.40, Z:0.97 [[ 0.92597774 0.32482954 -0.19248637 8.69296817] [-0.32017103 0.94571941 0.05572529 -1.39811292] [ 0.20013932 0.01002818 0.97971613 0.97085105] [ 0. 0. 0. 1. ]] SLAMing on 72.56629675699999 meters Centerline goodness : 0.815595 with order 2 Centerline is valid? [False, False] Translation: X:8.69, Y:-1.41, Z:0.96 [[ 9.28349285e-01 3.25638524e-01 -1.79240499e-01 8.69308310e+00] [-3.20687902e-01 9.45482259e-01 5.67676543e-02 -1.40640179e+00] [ 1.87954447e-01 4.78004846e-03 9.82166115e-01 9.64822107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.62629675699999 meters Centerline goodness : 0.816390 with order 2 Centerline is valid? [False, False] Translation: X:8.69, Y:-1.41, Z:0.97 [[ 9.28688451e-01 3.25194630e-01 -1.78286884e-01 8.69124662e+00] [-3.19621686e-01 9.45646214e-01 5.99601142e-02 -1.41330007e+00] [ 1.88095024e-01 1.30008869e-03 9.82149974e-01 9.68490411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.686296757 meters Centerline goodness : 0.816589 with order 2 Centerline is valid? [False, False] Translation: X:8.69, Y:-1.42, Z:0.97 [[ 9.28669876e-01 3.25671844e-01 -1.77510877e-01 8.68931009e+00] [-3.19811592e-01 9.45482802e-01 6.15046014e-02 -1.41714998e+00] [ 1.87863798e-01 -3.47434482e-04 9.82195028e-01 9.69771449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.746296757 meters Centerline goodness : 0.829475 with order 3 Centerline is valid? [False, False] Translation: X:8.69, Y:-1.42, Z:0.97 [[ 9.27304872e-01 3.30261795e-01 -1.76161347e-01 8.68924833e+00] [-3.23398196e-01 9.43874275e-01 6.71934560e-02 -1.42080200e+00] [ 1.88465595e-01 -5.33855751e-03 9.82065283e-01 9.71746456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.806296757 meters Centerline goodness : 0.828596 with order 3 Centerline is valid? [False, False] Translation: X:8.69, Y:-1.42, Z:0.97 [[ 0.92575229 0.33495111 -0.17547209 8.69049463] [-0.32727096 0.94219124 0.07189841 -1.42478247] [ 0.18941072 -0.0091332 0.98185547 0.97181234] [ 0. 0. 0. 1. ]] SLAMing on 72.866296757 meters Centerline goodness : 0.823800 with order 3 Centerline is valid? [False, False] Translation: X:8.69, Y:-1.43, Z:0.97 [[ 0.9241574 0.33991752 -0.17432491 8.69065114] [-0.33124371 0.94035201 0.07756089 -1.42851925] [ 0.19029108 -0.01393444 0.98162882 0.97369561] [ 0. 0. 0. 1. ]] SLAMing on 72.92629675699999 meters Centerline goodness : 0.815971 with order 2 Centerline is valid? [False, False] Translation: X:8.69, Y:-1.43, Z:0.97 [[ 0.92252064 0.34487776 -0.17324838 8.69069943] [-0.33538607 0.93847833 0.08230801 -1.43247987] [ 0.19097605 -0.01782574 0.98143282 0.97401472] [ 0. 0. 0. 1. ]] SLAMing on 72.98629675699999 meters Centerline goodness : 0.830952 with order 3 Centerline is valid? [False, False] Translation: X:8.70, Y:-1.44, Z:0.97 [[ 0.9224441 0.34766819 -0.16799914 8.69999303] [-0.33947095 0.93752367 0.07621573 -1.436771 ] [ 0.18400095 -0.01327392 0.98283643 0.97427733] [ 0. 0. 0. 1. ]] SLAMing on 73.046296757 meters Centerline goodness : 0.836664 with order 3 Centerline is valid? [False, False] Translation: X:8.70, Y:-1.44, Z:0.98 [[ 0.92219431 0.34869167 -0.16724767 8.69723889] [-0.34013991 0.93711291 0.07825748 -1.4417239 ] [ 0.18401768 -0.01528099 0.98280414 0.97612573] [ 0. 0. 0. 1. ]] SLAMing on 73.106296757 meters Centerline goodness : 0.836176 with order 3 Centerline is valid? [False, False] Translation: X:8.70, Y:-1.45, Z:0.98 [[ 0.92238308 0.34793953 -0.16777228 8.6988928 ] [-0.3391433 0.93737381 0.07944914 -1.44641823] [ 0.18490884 -0.0163837 0.9826191 0.97650184] [ 0. 0. 0. 1. ]] SLAMing on 73.166296757 meters Centerline goodness : 0.801199 with order 3 Centerline is valid? [False, False] Translation: X:8.70, Y:-1.45, Z:0.98 [[ 0.92363631 0.34406345 -0.16886775 8.69838859] [-0.33591738 0.93885545 0.07556423 -1.44527988] [ 0.1845413 -0.01306826 0.98273787 0.97616153] [ 0. 0. 0. 1. ]] SLAMing on 73.226296757 meters Centerline goodness : 0.792688 with order 3 Centerline is valid? [False, False] Translation: X:8.70, Y:-1.45, Z:0.98 [[ 0.92506857 0.33960651 -0.17004575 8.69762789] [-0.33198443 0.94050974 0.07230329 -1.44693651] [ 0.18448435 -0.01043296 0.98278008 0.97684342] [ 0. 0. 0. 1. ]] SLAMing on 73.28629675699999 meters Centerline goodness : 0.808716 with order 1 Centerline is valid? [False, False] Translation: X:8.70, Y:-1.45, Z:0.98 [[ 0.9255319 0.33832982 -0.17006951 8.69853196] [-0.33048286 0.94095467 0.07338522 -1.45030865] [ 0.18485611 -0.0117153 0.98269577 0.97825314] [ 0. 0. 0. 1. ]] SLAMing on 73.34629675699999 meters Centerline goodness : 0.821840 with order 3 Centerline is valid? [False, False] Translation: X:8.69, Y:-1.45, Z:0.98 [[ 0.92678937 0.33480162 -0.17020383 8.69478338] [-0.3273909 0.94223728 0.0707397 -1.45054507] [ 0.18405616 -0.00983762 0.9828665 0.98062383] [ 0. 0. 0. 1. ]] SLAMing on 73.40629675699999 meters Centerline goodness : 0.795536 with order 3 Centerline is valid? [False, False] Translation: X:8.70, Y:-1.45, Z:0.98 [[ 0.92684857 0.3345161 -0.17044267 8.69557475] [-0.3269494 0.94233071 0.07153265 -1.45251306] [ 0.18454219 -0.0105738 0.98276771 0.9812565 ] [ 0. 0. 0. 1. ]] SLAMing on 73.466296757 meters Centerline goodness : 0.807578 with order 2 Centerline is valid? [False, False] Translation: X:8.67, Y:-1.44, Z:0.97 [[ 0.92699846 0.33419964 -0.17024823 8.67052809] [-0.32696138 0.94245929 0.06976203 -1.44245045] [ 0.18376647 -0.0090047 0.98292868 0.97287521] [ 0. 0. 0. 1. ]] SLAMing on 73.526296757 meters Centerline goodness : 0.822848 with order 3 Centerline is valid? [False, False] Translation: X:8.67, Y:-1.44, Z:0.97 [[ 0.92677815 0.33491365 -0.17004442 8.66928588] [-0.32761891 0.942203 0.07013815 -1.44266048] [ 0.18370659 -0.00929273 0.9829372 0.97363428] [ 0. 0. 0. 1. ]] SLAMing on 73.586296757 meters Centerline goodness : 0.841478 with order 3 Centerline is valid? [False, False] Translation: X:8.67, Y:-1.44, Z:0.97 [[ 0.92485445 0.34121351 -0.1679809 8.6671906 ] [-0.33327182 0.93989975 0.07428563 -1.44149904] [ 0.18323247 -0.01272009 0.98298731 0.97369025] [ 0. 0. 0. 1. ]] SLAMing on 73.64629675699999 meters Centerline goodness : 0.831485 with order 3 Centerline is valid? [False, False] Translation: X:8.67, Y:-1.44, Z:0.97 [[ 0.92311409 0.34689088 -0.16591292 8.66536091] [-0.33827865 0.93776245 0.07854391 -1.44095954] [ 0.18283308 -0.01638019 0.98300751 0.97413258] [ 0. 0. 0. 1. ]] SLAMing on 73.70629675699999 meters Centerline goodness : 0.839364 with order 3 Centerline is valid? [False, False] Translation: X:8.67, Y:-1.44, Z:0.97 [[ 0.92285845 0.3476319 -0.16578405 8.66521879] [-0.33906947 0.93749295 0.0783509 -1.44058628] [ 0.18265865 -0.01609448 0.98304465 0.97319092] [ 0. 0. 0. 1. ]] SLAMing on 73.76629675699999 meters Centerline goodness : 0.810469 with order 2 Centerline is valid? [False, False] Translation: X:8.66, Y:-1.44, Z:0.97 [[ 0.92336982 0.34606956 -0.16620482 8.66250881] [-0.33800202 0.93811101 0.07551409 -1.43904529] [ 0.1820517 -0.01354987 0.9831956 0.97322556] [ 0. 0. 0. 1. ]] SLAMing on 73.826296757 meters Centerline goodness : 0.815308 with order 3 Centerline is valid? [False, False] Translation: X:8.66, Y:-1.44, Z:0.98 [[ 0.92312343 0.34730561 -0.16499074 8.65866241] [-0.33901899 0.93763114 0.07690236 -1.43968384] [ 0.18140907 -0.01505538 0.98329247 0.97581221] [ 0. 0. 0. 1. ]] SLAMing on 73.886296757 meters Centerline goodness : 0.813002 with order 3 Centerline is valid? [False, False] Translation: X:8.66, Y:-1.44, Z:0.98 [[ 0.92428009 0.34368332 -0.1660966 8.65786496] [-0.33601576 0.93901147 0.07314965 -1.43876865] [ 0.18110693 -0.01179969 0.98339262 0.97566235] [ 0. 0. 0. 1. ]] SLAMing on 73.946296757 meters Centerline goodness : 0.810241 with order 3 Centerline is valid? [False, False] Translation: X:8.64, Y:-1.44, Z:0.97 [[ 0.92488924 0.34069102 -0.16884759 8.6431267 ] [-0.33192743 0.94002865 0.07855139 -1.43580294] [ 0.18548333 -0.01660618 0.98250708 0.97474816] [ 0. 0. 0. 1. ]] SLAMing on 74.006296757 meters Centerline goodness : 0.827234 with order 3 Centerline is valid? [False, False] Translation: X:8.64, Y:-1.44, Z:0.98 [[ 0.92613885 0.3371661 -0.16907353 8.6407105 ] [-0.32898487 0.94134167 0.07513203 -1.43501227] [ 0.18448793 -0.01396006 0.98273563 0.97516916] [ 0. 0. 0. 1. ]] SLAMing on 74.06629675699999 meters Centerline goodness : 0.810290 with order 1 Centerline is valid? [False, False] Translation: X:8.64, Y:-1.43, Z:0.98 [[ 0.92605106 0.33760335 -0.16868142 8.63927307] [-0.32939687 0.94118134 0.07533523 -1.43467193] [ 0.18419323 -0.01420114 0.98278745 0.97596095] [ 0. 0. 0. 1. ]] SLAMing on 74.12629675699999 meters Centerline goodness : 0.811047 with order 1 Centerline is valid? [False, False] Translation: X:8.64, Y:-1.43, Z:0.98 [[ 0.92450745 0.34262391 -0.16701746 8.6389288 ] [-0.33389726 0.93931913 0.07869051 -1.4315513 ] [ 0.18384394 -0.01698329 0.98280872 0.97579807] [ 0. 0. 0. 1. ]] SLAMing on 74.186296757 meters Centerline goodness : 0.809043 with order 1 Centerline is valid? [False, False] Translation: X:8.64, Y:-1.43, Z:0.98 [[ 0.9242385 0.34328246 -0.16715364 8.63935628] [-0.33465708 0.93909024 0.07819304 -1.42935243] [ 0.18381465 -0.01632987 0.98282527 0.97505975] [ 0. 0. 0. 1. ]] SLAMing on 74.246296757 meters Centerline goodness : 0.809351 with order 1 Centerline is valid? [False, False] Translation: X:8.64, Y:-1.43, Z:0.97 [[ 0.92385002 0.34448611 -0.16682462 8.63876403] [-0.33597846 0.93865963 0.07769537 -1.42674181] [ 0.18335651 -0.0157294 0.98292064 0.97401792] [ 0. 0. 0. 1. ]] SLAMing on 74.306296757 meters Centerline goodness : 0.811197 with order 1 Centerline is valid? [False, False] Translation: X:8.64, Y:-1.42, Z:0.97 [[ 0.92351818 0.34551724 -0.16652931 8.63845271] [-0.33706465 0.93828513 0.07751407 -1.42441297] [ 0.18303442 -0.01545451 0.98298502 0.97334517] [ 0. 0. 0. 1. ]] SLAMing on 74.366296757 meters Centerline goodness : 0.811061 with order 2 Centerline is valid? [False, False] Translation: X:8.64, Y:-1.42, Z:0.97 [[ 0.92455298 0.34209732 -0.16784282 8.63863685] [-0.33427387 0.93958702 0.0737374 -1.42294258] [ 0.1829283 -0.01206866 0.98305218 0.97259211] [ 0. 0. 0. 1. ]] SLAMing on 74.42629675699999 meters Centerline goodness : 0.811492 with order 1 Centerline is valid? [False, False] Translation: X:8.61, Y:-1.41, Z:0.96 [[ 0.92529161 0.33996062 -0.1681137 8.61238563] [-0.33264267 0.94039068 0.07081112 -1.41401481] [ 0.18216555 -0.00959915 0.98322102 0.96457606] [ 0. 0. 0. 1. ]] SLAMing on 74.48629675699999 meters Centerline goodness : 0.808932 with order 1 Centerline is valid? [False, False] Translation: X:8.61, Y:-1.41, Z:0.97 [[ 9.26463290e-01 3.36268798e-01 -1.69083020e-01 8.61163062e+00] [-3.29478772e-01 9.41740709e-01 6.75882770e-02 -1.41297509e+00] [ 1.81960192e-01 -6.90879166e-03 9.83281627e-01 9.65143254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.546296757 meters Centerline goodness : 0.808886 with order 1 Centerline is valid? [False, False] Translation: X:8.61, Y:-1.41, Z:0.97 [[ 9.27809442e-01 3.32191854e-01 -1.69759273e-01 8.60973647e+00] [-3.25976726e-01 9.43202812e-01 6.40907907e-02 -1.41192519e+00] [ 1.81407863e-01 -4.12646864e-03 9.83399288e-01 9.66328253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.606296757 meters Centerline goodness : 0.809915 with order 1 Centerline is valid? [False, False] Translation: X:8.61, Y:-1.41, Z:0.97 [[ 9.29397236e-01 3.26920331e-01 -1.71300541e-01 8.61103526e+00] [-3.21421384e-01 9.45051802e-01 5.97108534e-02 -1.41156250e+00] [ 1.81408577e-01 -4.35444959e-04 9.83407717e-01 9.65598296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.666296757 meters Centerline goodness : 0.807335 with order 1 Centerline is valid? [False, False] Translation: X:8.61, Y:-1.41, Z:0.96 [[ 9.29818637e-01 3.25613588e-01 -1.71502461e-01 8.61286157e+00] [-3.20252657e-01 9.45502907e-01 5.88429150e-02 -1.41148426e+00] [ 1.81316129e-01 2.10879914e-04 9.83424841e-01 9.64274450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.726296757 meters Centerline goodness : 0.810981 with order 1 Centerline is valid? [False, False] Translation: X:8.61, Y:-1.41, Z:0.96 [[ 9.29549730e-01 3.26984904e-01 -1.70347209e-01 8.60996934e+00] [-3.21650407e-01 9.45029555e-01 5.88230906e-02 -1.40798761e+00] [ 1.80217409e-01 1.13260977e-04 9.83626795e-01 9.64984137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.78629675699999 meters Centerline goodness : 0.809847 with order 1 Centerline is valid? [False, False] Translation: X:8.61, Y:-1.40, Z:0.96 [[ 9.28149665e-01 3.31522545e-01 -1.69206978e-01 8.61121285e+00] [-3.25728651e-01 9.43444741e-01 6.17484214e-02 -1.40484416e+00] [ 1.80108427e-01 -2.19621606e-03 9.83644311e-01 9.64037726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.84629675699999 meters Centerline goodness : 0.808005 with order 1 Centerline is valid? [False, False] Translation: X:8.59, Y:-1.39, Z:0.95 [[ 9.26814201e-01 3.35067438e-01 -1.69544242e-01 8.59195717e+00] [-3.28942547e-01 9.42187940e-01 6.38645991e-02 -1.39362052e+00] [ 1.81141487e-01 -3.42030266e-03 9.83451098e-01 9.54933924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.90629675699999 meters Centerline goodness : 0.807679 with order 1 Centerline is valid? [False, False] Translation: X:8.59, Y:-1.39, Z:0.95 [[ 9.26392428e-01 3.36647977e-01 -1.68716355e-01 8.59025822e+00] [-3.30554548e-01 9.41624504e-01 6.38512727e-02 -1.39033406e+00] [ 1.80362856e-01 -3.38137696e-03 9.83594330e-01 9.54749949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.966296757 meters Centerline goodness : 0.809890 with order 1 Centerline is valid? [False, False] Translation: X:8.59, Y:-1.39, Z:0.96 [[ 9.25998408e-01 3.38209874e-01 -1.67752882e-01 8.58679931e+00] [-3.32013999e-01 9.41061795e-01 6.45709083e-02 -1.38816112e+00] [ 1.79704347e-01 -4.09625292e-03 9.83712137e-01 9.56772139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.026296757 meters Centerline goodness : 0.803905 with order 1 Centerline is valid? [False, False] Translation: X:8.56, Y:-1.38, Z:0.95 [[ 9.26496402e-01 3.38079597e-01 -1.65247095e-01 8.56072706e+00] [-3.32298294e-01 9.41113274e-01 6.23189309e-02 -1.37663909e+00] [ 1.76584994e-01 -2.82693745e-03 9.84281336e-01 9.48403224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.086296757 meters Centerline goodness : 0.805401 with order 1 Centerline is valid? [False, False] Translation: X:8.53, Y:-1.37, Z:0.94 [[ 9.27547770e-01 3.36936129e-01 -1.61645226e-01 8.53234537e+00] [-3.31709641e-01 9.41526709e-01 5.91284241e-02 -1.36605146e+00] [ 1.72115800e-01 -1.22515808e-03 9.85075962e-01 9.41216734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.14629675699999 meters Centerline goodness : 0.804264 with order 1 Centerline is valid? [False, False] Translation: X:8.53, Y:-1.36, Z:0.94 [[ 9.27465074e-01 3.37246814e-01 -1.61471739e-01 8.53174360e+00] [-3.32036837e-01 9.41415547e-01 5.90618846e-02 -1.36321147e+00] [ 1.71930438e-01 -1.16326989e-03 9.85108406e-01 9.42278765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.20629675699999 meters Centerline goodness : 0.805511 with order 2 Centerline is valid? [False, False] Translation: X:8.53, Y:-1.36, Z:0.94 [[ 9.27549249e-01 3.36844206e-01 -1.61828217e-01 8.53423381e+00] [-3.31783262e-01 9.41560359e-01 5.81717838e-02 -1.35949227e+00] [ 1.71965862e-01 -2.65300744e-04 9.85102874e-01 9.41014317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.26629675699999 meters Centerline goodness : 0.800679 with order 2 Centerline is valid? [False, False] Translation: X:8.53, Y:-1.36, Z:0.94 [[ 9.27579239e-01 3.36727687e-01 -1.61898798e-01 8.53455305e+00] [-3.31759876e-01 9.41602039e-01 5.76279958e-02 -1.35666953e+00] [ 1.71849180e-01 2.56992789e-04 9.85123238e-01 9.41318011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.326296757 meters Centerline goodness : 0.800324 with order 2 Centerline is valid? [False, False] Translation: X:8.54, Y:-1.35, Z:0.94 [[ 9.28167846e-01 3.35661805e-01 -1.60734574e-01 8.53500762e+00] [-3.30895906e-01 9.41982167e-01 5.63692946e-02 -1.35230496e+00] [ 1.70330121e-01 8.66245576e-04 9.85386675e-01 9.39854248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.386296757 meters Centerline goodness : 0.800947 with order 2 Centerline is valid? [False, False] Translation: X:8.54, Y:-1.35, Z:0.94 [[ 9.28319298e-01 3.35063108e-01 -1.61108644e-01 8.53640123e+00] [-3.30390902e-01 9.42194574e-01 5.57784585e-02 -1.35020456e+00] [ 1.70484994e-01 1.44861082e-03 9.85359208e-01 9.39804489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.446296757 meters Centerline goodness : 0.801815 with order 2 Centerline is valid? [False, False] Translation: X:8.54, Y:-1.35, Z:0.94 [[ 9.29323496e-01 3.31804196e-01 -1.62061148e-01 8.53562930e+00] [-3.27681823e-01 9.43337683e-01 5.23320036e-02 -1.34677429e+00] [ 1.70242366e-01 4.47113186e-03 9.85392077e-01 9.40908473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.506296757 meters Centerline goodness : 0.814776 with order 2 Centerline is valid? [False, False] Translation: X:8.54, Y:-1.34, Z:0.94 [[ 9.28811413e-01 3.27719738e-01 -1.72942568e-01 8.53786301e+00] [-3.23476069e-01 9.44751092e-01 5.29962960e-02 -1.33698516e+00] [ 1.80755612e-01 6.71921764e-03 9.83505089e-01 9.41188534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.56629675699999 meters Centerline goodness : 0.816573 with order 2 Centerline is valid? [False, False] Translation: X:8.54, Y:-1.33, Z:0.95 [[ 0.92754896 0.32344648 -0.1871772 8.54104389] [-0.31888638 0.94620531 0.054836 -1.33234483] [ 0.19484457 0.00882519 0.98079443 0.94762349] [ 0. 0. 0. 1. ]] SLAMing on 75.62629675699999 meters Centerline goodness : 0.820468 with order 2 Centerline is valid? [False, False] Translation: X:8.54, Y:-1.33, Z:0.95 [[ 9.25868929e-01 3.28517424e-01 -1.86662872e-01 8.54271700e+00] [-3.23528423e-01 9.44470711e-01 5.74842246e-02 -1.32966358e+00] [ 1.95182185e-01 7.16788729e-03 9.80740810e-01 9.48484230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.686296757 meters Centerline goodness : 0.819793 with order 3 Centerline is valid? [False, False] Translation: X:8.55, Y:-1.33, Z:0.95 [[ 0.92509892 0.32953032 -0.18868428 8.54724154] [-0.32483955 0.944099 0.05618128 -1.32743085] [ 0.19665008 0.00931887 0.98042945 0.94875503] [ 0. 0. 0. 1. ]] SLAMing on 75.746296757 meters Centerline goodness : 0.822779 with order 3 Centerline is valid? [False, False] Translation: X:8.55, Y:-1.33, Z:0.95 [[ 0.92421966 0.33152873 -0.18949067 8.5501828 ] [-0.32685592 0.94339351 0.05633725 -1.32513145] [ 0.19744168 0.00986815 0.98026496 0.94907593] [ 0. 0. 0. 1. ]] SLAMing on 75.806296757 meters Centerline goodness : 0.819841 with order 3 Centerline is valid? [False, False] Translation: X:8.55, Y:-1.33, Z:0.95 [[ 0.92496137 0.32741324 -0.19299488 8.5526005 ] [-0.32377913 0.94475713 0.05100035 -1.32501105] [ 0.19903148 0.01531436 0.97987343 0.95100183] [ 0. 0. 0. 1. ]] SLAMing on 75.866296757 meters Centerline goodness : 0.807243 with order 2 Centerline is valid? [False, False] Translation: X:8.55, Y:-1.32, Z:0.95 [[ 0.92670008 0.32229516 -0.1932687 8.5542602 ] [-0.31908137 0.94649004 0.04841152 -1.32264711] [ 0.19852969 0.01680548 0.97995078 0.94850784] [ 0. 0. 0. 1. ]] SLAMing on 75.92629675699999 meters Centerline goodness : 0.807885 with order 2 Centerline is valid? [False, False] Translation: X:8.56, Y:-1.32, Z:0.95 [[ 0.92826893 0.31669735 -0.19498612 8.55618786] [-0.31414906 0.94832077 0.0446999 -1.32331012] [ 0.19906573 0.01976118 0.97978688 0.94718543] [ 0. 0. 0. 1. ]] SLAMing on 75.98629675699999 meters Centerline goodness : 0.810644 with order 2 Centerline is valid? [False, False] Translation: X:8.55, Y:-1.32, Z:0.95 [[ 0.93039207 0.31035958 -0.19505774 8.55410093] [-0.30835938 0.95037166 0.04133047 -1.32262779] [ 0.19820466 0.02169434 0.97992054 0.94698026] [ 0. 0. 0. 1. ]] SLAMing on 76.046296757 meters Centerline goodness : 0.821168 with order 2 Centerline is valid? [False, False] Translation: X:8.55, Y:-1.32, Z:0.94 [[ 0.93167317 0.30800897 -0.19265404 8.55319328] [-0.30564351 0.95119062 0.04264323 -1.32037065] [ 0.19638521 0.0191539 0.98033973 0.94355329] [ 0. 0. 0. 1. ]] SLAMing on 76.106296757 meters Centerline goodness : 0.821749 with order 3 Centerline is valid? [False, False] Translation: X:8.55, Y:-1.32, Z:0.94 [[ 0.93310878 0.31228486 -0.17828677 8.54973319] [-0.30996022 0.94984423 0.04148018 -1.32389904] [ 0.18229829 0.01655629 0.98310387 0.94013915] [ 0. 0. 0. 1. ]] SLAMing on 76.166296757 meters Centerline goodness : 0.811907 with order 2 Centerline is valid? [False, False] Translation: X:8.55, Y:-1.32, Z:0.94 [[ 0.93418853 0.30842817 -0.17934286 8.54747861] [-0.30698014 0.9510164 0.03648277 -1.32120961] [ 0.18181032 0.02097291 0.98310994 0.94289936] [ 0. 0. 0. 1. ]] SLAMing on 76.226296757 meters Centerline goodness : 0.806932 with order 2 Centerline is valid? [False, False] Translation: X:8.55, Y:-1.32, Z:0.94 [[ 0.93197545 0.31693224 -0.17599921 8.55016253] [-0.31413705 0.94834453 0.04427827 -1.31914856] [ 0.1809411 0.01402161 0.98339398 0.93898177] [ 0. 0. 0. 1. ]] SLAMing on 76.28629675699999 meters Centerline goodness : 0.808347 with order 2 Centerline is valid? [False, False] Translation: X:8.55, Y:-1.32, Z:0.94 [[ 0.93064445 0.31890086 -0.17945235 8.55241562] [-0.31671 0.94761338 0.04151699 -1.32112782] [ 0.18329125 0.0181968 0.98289023 0.94302881] [ 0. 0. 0. 1. ]] SLAMing on 76.34629675699999 meters Centerline goodness : 0.808623 with order 2 Centerline is valid? [False, False] Translation: X:8.56, Y:-1.32, Z:0.94 [[ 0.92850159 0.32495146 -0.17969795 8.55802209] [-0.32215742 0.94559905 0.04535449 -1.32121755] [ 0.18466022 0.01577931 0.98267574 0.94097223] [ 0. 0. 0. 1. ]] SLAMing on 76.40629675699999 meters Centerline goodness : 0.828975 with order 3 Centerline is valid? [False, False] Translation: X:8.56, Y:-1.32, Z:0.94 [[ 0.92606833 0.33121902 -0.18080765 8.56130452] [-0.3282442 0.9434216 0.04702578 -1.31948668] [ 0.18615368 0.01579998 0.98239359 0.94309976] [ 0. 0. 0. 1. ]] SLAMing on 76.466296757 meters Centerline goodness : 0.827017 with order 3 Centerline is valid? [False, False] Translation: X:8.56, Y:-1.32, Z:0.95 [[ 0.92601282 0.32941799 -0.18434762 8.56350994] [-0.32748434 0.94393431 0.04173766 -1.31814588] [ 0.18776118 0.02172135 0.9819745 0.94621611] [ 0. 0. 0. 1. ]] SLAMing on 76.526296757 meters Centerline goodness : 0.807759 with order 2 Centerline is valid? [False, False] Translation: X:8.57, Y:-1.32, Z:0.95 [[ 0.92595194 0.32912344 -0.18517768 8.56584905] [-0.32733961 0.94401573 0.04102524 -1.31746903] [ 0.18831301 0.02262859 0.98184834 0.94552097] [ 0. 0. 0. 1. ]] SLAMing on 76.586296757 meters Centerline goodness : 0.809661 with order 2 Centerline is valid? [False, False] Translation: X:8.57, Y:-1.32, Z:0.94 [[ 0.92633262 0.3278205 -0.18558448 8.56711708] [-0.32621153 0.94444878 0.04003182 -1.31671078] [ 0.18839829 0.02345701 0.98181253 0.94481794] [ 0. 0. 0. 1. ]] SLAMing on 76.64629675699999 meters Centerline goodness : 0.808625 with order 2 Centerline is valid? [False, False] Translation: X:8.57, Y:-1.32, Z:0.95 [[ 0.9282804 0.32137075 -0.18712655 8.56615498] [-0.32078472 0.94653255 0.03425333 -1.31535427] [ 0.18812939 0.02823065 0.98173844 0.94556729] [ 0. 0. 0. 1. ]] SLAMing on 76.70629675699999 meters Centerline goodness : 0.808870 with order 2 Centerline is valid? [False, False] Translation: X:8.56, Y:-1.32, Z:0.94 [[ 0.9291186 0.31976962 -0.18570409 8.56491003] [-0.31890842 0.94712725 0.03531843 -1.31563436] [ 0.18717917 0.02640759 0.98197077 0.94377669] [ 0. 0. 0. 1. ]] SLAMing on 76.76629675699999 meters Centerline goodness : 0.806987 with order 2 Centerline is valid? [False, False] Translation: X:8.56, Y:-1.31, Z:0.94 [[ 0.92952881 0.31891312 -0.18512324 8.56366419] [-0.31806828 0.94741924 0.03506204 -1.31496238] [ 0.18657107 0.02629065 0.98208963 0.94382055] [ 0. 0. 0. 1. ]] SLAMing on 76.826296757 meters Centerline goodness : 0.808685 with order 2 Centerline is valid? [False, False] Translation: X:8.56, Y:-1.32, Z:0.94 [[ 0.92932731 0.3193058 -0.18545769 8.56456915] [-0.3185635 0.94726943 0.03461093 -1.31513687] [ 0.18672987 0.02691517 0.98204253 0.94365853] [ 0. 0. 0. 1. ]] SLAMing on 76.886296757 meters Centerline goodness : 0.806219 with order 2 Centerline is valid? [False, False] Translation: X:8.56, Y:-1.31, Z:0.94 [[ 0.9280615 0.32404694 -0.18356316 8.56455216] [-0.32257001 0.94575414 0.03870013 -1.31413392] [ 0.18614628 0.02329587 0.98224583 0.94311776] [ 0. 0. 0. 1. ]] SLAMing on 76.946296757 meters Centerline goodness : 0.805315 with order 2 Centerline is valid? [False, False] Translation: X:8.57, Y:-1.31, Z:0.94 [[ 0.9271264 0.32584 -0.18510791 8.5671389 ] [-0.32459837 0.94509443 0.03784737 -1.31411271] [ 0.18727664 0.02499643 0.98198912 0.94412529] [ 0. 0. 0. 1. ]] SLAMing on 77.006296757 meters Centerline goodness : 0.820200 with order 3 Centerline is valid? [False, False] Translation: X:8.57, Y:-1.32, Z:0.94 [[ 0.9255795 0.33011137 -0.18528104 8.56948923] [-0.32842768 0.94365543 0.04061643 -1.31590225] [ 0.18824941 0.02325768 0.98184583 0.94401432] [ 0. 0. 0. 1. ]] SLAMing on 77.06629675699999 meters Centerline goodness : 0.819108 with order 3 Centerline is valid? [False, False] Translation: X:8.57, Y:-1.32, Z:0.95 [[ 0.92386315 0.33425166 -0.18642076 8.57167433] [-0.33249318 0.94218894 0.04157272 -1.31714977] [ 0.18953933 0.02357613 0.98159004 0.9455186 ] [ 0. 0. 0. 1. ]] SLAMing on 77.12629675699999 meters Centerline goodness : 0.804114 with order 2 Centerline is valid? [False, False] Translation: X:8.57, Y:-1.32, Z:0.95 [[ 0.92357185 0.33474359 -0.18698069 8.57191576] [-0.33310477 0.94199466 0.04107633 -1.31718333] [ 0.18988485 0.02434722 0.98150444 0.94649772] [ 0. 0. 0. 1. ]] SLAMing on 77.186296757 meters Centerline goodness : 0.810013 with order 2 Centerline is valid? [False, False] Translation: X:8.57, Y:-1.32, Z:0.94 [[ 0.92410473 0.33298386 -0.18748917 8.57359264] [-0.33138508 0.94261497 0.04075465 -1.31871954] [ 0.19030074 0.02446955 0.98142084 0.94481352] [ 0. 0. 0. 1. ]] SLAMing on 77.246296757 meters Centerline goodness : 0.810451 with order 3 Centerline is valid? [False, False] Translation: X:8.57, Y:-1.32, Z:0.95 [[ 0.92457461 0.33052889 -0.18950581 8.57495131] [-0.32948022 0.94339948 0.03794997 -1.321188 ] [ 0.19132324 0.02735084 0.98114594 0.94514251] [ 0. 0. 0. 1. ]] SLAMing on 77.306296757 meters Centerline goodness : 0.811166 with order 3 Centerline is valid? [False, False] Translation: X:8.57, Y:-1.32, Z:0.94 [[ 0.92620117 0.32719452 -0.18733698 8.57205957] [-0.32599134 0.94460502 0.03809193 -1.32108534] [ 0.18942292 0.02578944 0.98155686 0.9427634 ] [ 0. 0. 0. 1. ]] SLAMing on 77.366296757 meters Centerline goodness : 0.807597 with order 3 Centerline is valid? [False, False] Translation: X:8.57, Y:-1.32, Z:0.94 [[ 0.9276007 0.32183128 -0.18968808 8.57198599] [-0.32147536 0.94632487 0.03350856 -1.32309004] [ 0.19029065 0.02989749 0.98127244 0.94388384] [ 0. 0. 0. 1. ]] SLAMing on 77.42629675699999 meters Centerline goodness : 0.800250 with order 2 Centerline is valid? [False, False] Translation: X:8.58, Y:-1.33, Z:0.94 [[ 0.92713823 0.32266461 -0.19053147 8.57514268] [-0.32215128 0.94605795 0.0345384 -1.32639647] [ 0.19139813 0.02935809 0.98107332 0.94208091] [ 0. 0. 0. 1. ]] SLAMing on 77.48629675699999 meters Centerline goodness : 0.796652 with order 2 Centerline is valid? [False, False] Translation: X:8.58, Y:-1.33, Z:0.94 [[ 0.92606817 0.32628607 -0.18956569 8.57767641] [-0.32510587 0.94490618 0.03819006 -1.32711064] [ 0.19158268 0.02626232 0.98112505 0.9398168 ] [ 0. 0. 0. 1. ]] SLAMing on 77.546296757 meters Centerline goodness : 0.796556 with order 2 Centerline is valid? [False, False] Translation: X:8.58, Y:-1.33, Z:0.95 [[ 0.92500634 0.32749682 -0.1926372 8.57736243] [-0.32695755 0.94437158 0.03551175 -1.32929842] [ 0.19355109 0.03013559 0.98062726 0.94515033] [ 0. 0. 0. 1. ]] SLAMing on 77.606296757 meters Centerline goodness : 0.796502 with order 2 Centerline is valid? [False, False] Translation: X:8.58, Y:-1.33, Z:0.94 [[ 0.92292502 0.33325224 -0.19274947 8.58089088] [-0.33202246 0.94243876 0.03962658 -1.33187789] [ 0.19486022 0.02742479 0.98044754 0.94441671] [ 0. 0. 0. 1. ]] SLAMing on 77.666296757 meters Centerline goodness : 0.803496 with order 3 Centerline is valid? [False, False] Translation: X:8.59, Y:-1.33, Z:0.94 [[ 0.92195325 0.33506829 -0.19424584 8.58624454] [-0.33366449 0.94180401 0.04090487 -1.33491375] [ 0.19664744 0.02710056 0.98009966 0.94232396] [ 0. 0. 0. 1. ]] SLAMing on 77.726296757 meters Centerline goodness : 0.810966 with order 3 Centerline is valid? [False, False] Translation: X:8.58, Y:-1.34, Z:0.94 [[ 0.92474145 0.32630124 -0.19591005 8.58482949] [-0.3257481 0.94477199 0.03597314 -1.33949201] [ 0.19682841 0.03055147 0.97996183 0.94127671] [ 0. 0. 0. 1. ]] SLAMing on 77.78629675699999 meters Centerline goodness : 0.793457 with order 2 Centerline is valid? [False, False] Translation: X:8.57, Y:-1.34, Z:0.94 [[ 0.92950861 0.31752528 -0.18759384 8.57289896] [-0.31548257 0.9480251 0.04146284 -1.34318312] [ 0.19100917 0.02064252 0.98137118 0.94320066] [ 0. 0. 0. 1. ]] SLAMing on 77.84629675699999 meters Centerline goodness : 0.801108 with order 3 Centerline is valid? [False, False] Translation: X:8.59, Y:-1.36, Z:0.96 [[ 9.32440334e-01 3.12624773e-01 -1.81165050e-01 8.58698284e+00] [-3.07355627e-01 9.49873813e-01 5.72036532e-02 -1.36093607e+00] [ 1.89967216e-01 2.34310388e-03 9.81787638e-01 9.58616278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.90629675699999 meters Centerline goodness : 0.794788 with order 2 Centerline is valid? [False, False] Translation: X:8.59, Y:-1.38, Z:0.97 [[ 0.93552049 0.31136759 -0.16688808 8.59392072] [-0.30099343 0.94984177 0.08487379 -1.3782589 ] [ 0.18494421 -0.02916896 0.98231604 0.97214557] [ 0. 0. 0. 1. ]] SLAMing on 77.966296757 meters Centerline goodness : 0.803146 with order 3 Centerline is valid? [False, False] Translation: X:8.60, Y:-1.38, Z:0.97 [[ 0.93619397 0.30927608 -0.16700046 8.59535318] [-0.29884094 0.95050906 0.08500949 -1.37981998] [ 0.18502685 -0.0296788 0.98228521 0.97014199] [ 0. 0. 0. 1. ]] SLAMing on 78.026296757 meters Centerline goodness : 0.794714 with order 2 Centerline is valid? [False, False] Translation: X:8.59, Y:-1.39, Z:0.98 [[ 0.93599166 0.31226603 -0.16251008 8.59458266] [-0.2994137 0.94897607 0.09897398 -1.39013318] [ 0.1851244 -0.04398108 0.98173042 0.98483144] [ 0. 0. 0. 1. ]] SLAMing on 78.086296757 meters Centerline goodness : 0.804889 with order 3 Centerline is valid? [False, False] Translation: X:8.60, Y:-1.39, Z:0.98 [[ 0.9349116 0.31617431 -0.16116484 8.59610664] [-0.30276335 0.94753194 0.10255522 -1.38982867] [ 0.18513416 -0.04708526 0.9815846 0.98308686] [ 0. 0. 0. 1. ]] SLAMing on 78.14629675699999 meters Centerline goodness : 0.792882 with order 2 Centerline is valid? [False, False] Translation: X:8.60, Y:-1.39, Z:0.98 [[ 0.93247334 0.32311811 -0.16151829 8.60049171] [-0.30921064 0.9451147 0.10557931 -1.3885042 ] [ 0.1867679 -0.04850672 0.98120581 0.98272196] [ 0. 0. 0. 1. ]] SLAMing on 78.20629675699999 meters Centerline goodness : 0.804494 with order 3 Centerline is valid? [False, False] Translation: X:8.60, Y:-1.39, Z:0.99 [[ 0.93077569 0.32639936 -0.16468175 8.6040932 ] [-0.31293542 0.94420415 0.10271294 -1.38676407] [ 0.18901862 -0.04406795 0.98098419 0.98592897] [ 0. 0. 0. 1. ]] SLAMing on 78.26629675699999 meters Centerline goodness : 0.791738 with order 2 Centerline is valid? [False, False] Translation: X:8.61, Y:-1.38, Z:0.99 [[ 0.92736673 0.33554974 -0.16552137 8.60833015] [-0.32178505 0.9409997 0.10475656 -1.3813121 ] [ 0.1909066 -0.04388545 0.98062671 0.98815053] [ 0. 0. 0. 1. ]] SLAMing on 78.326296757 meters Centerline goodness : 0.791844 with order 2 Centerline is valid? [False, False] Translation: X:8.61, Y:-1.38, Z:0.99 [[ 0.92584299 0.33967176 -0.16564378 8.611043 ] [-0.32547342 0.93944807 0.10725846 -1.38148158] [ 0.1920464 -0.04539185 0.98033553 0.98802267] [ 0. 0. 0. 1. ]] SLAMing on 78.386296757 meters Centerline goodness : 0.792398 with order 2 Centerline is valid? [False, False] Translation: X:8.61, Y:-1.38, Z:0.99 [[ 0.92504343 0.34094918 -0.16747627 8.61411927] [-0.32682418 0.93905941 0.10655226 -1.38227882] [ 0.19359908 -0.04383017 0.98010118 0.98876942] [ 0. 0. 0. 1. ]] SLAMing on 78.446296757 meters Centerline goodness : 0.791629 with order 2 Centerline is valid? [False, False] Translation: X:8.62, Y:-1.38, Z:0.99 [[ 0.92509395 0.34093681 -0.16722222 8.61704348] [-0.3267447 0.93904187 0.10694985 -1.38070827] [ 0.19349181 -0.04429968 0.98010125 0.98607095] [ 0. 0. 0. 1. ]] SLAMing on 78.506296757 meters Centerline goodness : 0.792202 with order 2 Centerline is valid? [False, False] Translation: X:8.62, Y:-1.38, Z:0.99 [[ 0.92648361 0.3360416 -0.169423 8.61886933] [-0.32249511 0.94097094 0.10281334 -1.38079331] [ 0.19397168 -0.04061678 0.98016594 0.98572761] [ 0. 0. 0. 1. ]] SLAMing on 78.56629675699999 meters Centerline goodness : 0.812684 with order 3 Centerline is valid? [False, False] Translation: X:8.62, Y:-1.38, Z:0.99 [[ 0.92921958 0.32667066 -0.17273462 8.62044174] [-0.31438702 0.94452663 0.09502767 -1.38058722] [ 0.1941952 -0.03399605 0.98037365 0.98537683] [ 0. 0. 0. 1. ]] SLAMing on 78.62629675699999 meters Centerline goodness : 0.816037 with order 3 Centerline is valid? [False, False] Translation: X:8.62, Y:-1.38, Z:0.98 [[ 0.93199088 0.31852239 -0.17302165 8.61897883] [-0.30702819 0.94740727 0.0902948 -1.37877849] [ 0.19268289 -0.0310314 0.98077029 0.98396779] [ 0. 0. 0. 1. ]] SLAMing on 78.686296757 meters Centerline goodness : 0.801645 with order 2 Centerline is valid? [False, False] Translation: X:8.62, Y:-1.38, Z:0.98 [[ 0.93360467 0.31564737 -0.16955545 8.61609834] [-0.30388258 0.9482524 0.09204765 -1.37679113] [ 0.18983597 -0.03441117 0.98121261 0.98028916] [ 0. 0. 0. 1. ]] SLAMing on 78.746296757 meters Centerline goodness : 0.801389 with order 2 Centerline is valid? [False, False] Translation: X:8.62, Y:-1.38, Z:0.98 [[ 0.93431686 0.31374133 -0.1691697 8.6164886 ] [-0.30209084 0.94888999 0.09137242 -1.37629631] [ 0.18919074 -0.03426617 0.98134229 0.97870363] [ 0. 0. 0. 1. ]] SLAMing on 78.806296757 meters Centerline goodness : 0.803342 with order 2 Centerline is valid? [False, False] Translation: X:8.62, Y:-1.37, Z:0.98 [[ 0.93396741 0.31465307 -0.16940578 8.61764462] [-0.30334407 0.94865618 0.0896316 -1.37202646] [ 0.1889107 -0.03232475 0.9814621 0.97898771] [ 0. 0. 0. 1. ]] SLAMing on 78.866296757 meters Centerline goodness : 0.800678 with order 2 Centerline is valid? [False, False] Translation: X:8.62, Y:-1.37, Z:0.98 [[ 0.93250055 0.31875478 -0.16981789 8.6198777 ] [-0.30724985 0.94727651 0.09091067 -1.36990189] [ 0.18984271 -0.03259773 0.98127322 0.9800622 ] [ 0. 0. 0. 1. ]] SLAMing on 78.92629675699999 meters Centerline goodness : 0.797653 with order 2 Centerline is valid? [False, False] Translation: X:8.63, Y:-1.37, Z:0.98 [[ 0.92925546 0.32748977 -0.1709817 8.6268095 ] [-0.31527437 0.9442271 0.09506447 -1.37025323] [ 0.19257819 -0.03443303 0.98067732 0.97942878] [ 0. 0. 0. 1. ]] SLAMing on 78.98629675699999 meters Centerline goodness : 0.797379 with order 2 Centerline is valid? [False, False] Translation: X:8.63, Y:-1.37, Z:0.98 [[ 0.9261127 0.33514743 -0.17318042 8.63161692] [-0.3225341 0.94154239 0.09731234 -1.37250792] [ 0.19567069 -0.0342656 0.98007084 0.98177514] [ 0. 0. 0. 1. ]] SLAMing on 79.046296757 meters Centerline goodness : 0.798415 with order 2 Centerline is valid? [False, False] Translation: X:8.63, Y:-1.38, Z:0.98 [[ 0.92425978 0.33981445 -0.17398273 8.63495218] [-0.32671346 0.93981954 0.09998778 -1.3751292 ] [ 0.19748966 -0.03557218 0.97965936 0.98202591] [ 0. 0. 0. 1. ]] SLAMing on 79.106296757 meters Centerline goodness : 0.809157 with order 3 Centerline is valid? [False, False] Translation: X:8.64, Y:-1.38, Z:0.98 [[ 0.92469649 0.33739167 -0.17636114 8.63827081] [-0.32464017 0.9407847 0.0976366 -1.37791861] [ 0.19885964 -0.03303031 0.9794712 0.98134069] [ 0. 0. 0. 1. ]] SLAMing on 79.166296757 meters Centerline goodness : 0.813353 with order 3 Centerline is valid? [False, False] Translation: X:8.64, Y:-1.38, Z:0.98 [[ 0.92645105 0.33021492 -0.18068359 8.64055445] [-0.31854833 0.94352595 0.09102604 -1.38151549] [ 0.20053781 -0.02677471 0.97932002 0.98249958] [ 0. 0. 0. 1. ]] SLAMing on 79.226296757 meters Centerline goodness : 0.813601 with order 3 Centerline is valid? [False, False] Translation: X:8.64, Y:-1.38, Z:0.98 [[ 0.92844013 0.32401723 -0.18169139 8.64209711] [-0.31276288 0.94571623 0.0883187 -1.38409841] [ 0.20044528 -0.02517231 0.97938146 0.97977182] [ 0. 0. 0. 1. ]] SLAMing on 79.28629675699999 meters Centerline goodness : 0.807588 with order 3 Centerline is valid? [False, False] Translation: X:8.64, Y:-1.39, Z:0.98 [[ 0.92988687 0.31920663 -0.18280464 8.64151854] [-0.3085192 0.94741525 0.08497203 -1.3859228 ] [ 0.20031554 -0.02261563 0.97947038 0.97954183] [ 0. 0. 0. 1. ]] SLAMing on 79.34629675699999 meters Centerline goodness : 0.797075 with order 2 Centerline is valid? [False, False] Translation: X:8.64, Y:-1.39, Z:0.98 [[ 0.93048692 0.31614964 -0.18504998 8.64457476] [-0.30607286 0.94851567 0.08147037 -1.3853459 ] [ 0.20127964 -0.01916834 0.97934625 0.9792844 ] [ 0. 0. 0. 1. ]] SLAMing on 79.40629675699999 meters Centerline goodness : 0.795649 with order 2 Centerline is valid? [False, False] Translation: X:8.65, Y:-1.38, Z:0.98 [[ 0.93032684 0.31642909 -0.18537694 8.6459643 ] [-0.30647537 0.94843732 0.08086713 -1.38323841] [ 0.20140712 -0.01841939 0.97933442 0.97826955] [ 0. 0. 0. 1. ]] SLAMing on 79.466296757 meters Centerline goodness : 0.793608 with order 2 Centerline is valid? [False, False] Translation: X:8.65, Y:-1.39, Z:0.98 [[ 0.92904695 0.31864618 -0.18797973 8.65019915] [-0.30881108 0.94772958 0.08027682 -1.38649947] [ 0.20373385 -0.01653071 0.97888674 0.97917448] [ 0. 0. 0. 1. ]] SLAMing on 79.526296757 meters Centerline goodness : 0.810285 with order 3 Centerline is valid? [False, False] Translation: X:8.65, Y:-1.39, Z:0.98 [[ 0.92776783 0.32298312 -0.18689238 8.65182594] [-0.31239715 0.94619516 0.08439635 -1.38748593] [ 0.20409526 -0.01991557 0.97874843 0.97870773] [ 0. 0. 0. 1. ]] SLAMing on 79.586296757 meters Centerline goodness : 0.811588 with order 3 Centerline is valid? [False, False] Translation: X:8.65, Y:-1.39, Z:0.98 [[ 0.92652963 0.32681108 -0.1863796 8.65439542] [-0.31552599 0.94481282 0.08815942 -1.38991358] [ 0.20490531 -0.02287471 0.97851447 0.97780171] [ 0. 0. 0. 1. ]] SLAMing on 79.64629675699999 meters Centerline goodness : 0.815321 with order 3 Centerline is valid? [False, False] Translation: X:8.65, Y:-1.39, Z:0.98 [[ 0.92603727 0.32869122 -0.18551833 8.6520188 ] [-0.31734505 0.94415019 0.08872727 -1.38987104] [ 0.20432105 -0.02329143 0.9786268 0.97781096] [ 0. 0. 0. 1. ]] SLAMing on 79.70629675699999 meters Centerline goodness : 0.796290 with order 2 Centerline is valid? [False, False] Translation: X:8.66, Y:-1.39, Z:0.98 [[ 0.92585523 0.33129238 -0.18176206 8.66105601] [-0.32162991 0.94338063 0.08116146 -1.39436457] [ 0.19835898 -0.01668365 0.97998743 0.97747128] [ 0. 0. 0. 1. ]] SLAMing on 79.76629675699999 meters Centerline goodness : 0.799178 with order 2 Centerline is valid? [False, False] Translation: X:8.66, Y:-1.40, Z:0.98 [[ 0.92558356 0.33236341 -0.18118951 8.65934978] [-0.32246179 0.94298099 0.08249396 -1.39702538] [ 0.19827624 -0.01792836 0.9799822 0.97819618] [ 0. 0. 0. 1. ]] SLAMing on 79.826296757 meters Centerline goodness : 0.793290 with order 2 Centerline is valid? [False, False] Translation: X:8.66, Y:-1.40, Z:0.98 [[ 0.92560055 0.33216881 -0.18145936 8.66049801] [-0.32216964 0.94304238 0.08293242 -1.399312 ] [ 0.19867143 -0.0183016 0.97989526 0.97786562] [ 0. 0. 0. 1. ]] SLAMing on 79.886296757 meters Centerline goodness : 0.802794 with order 3 Centerline is valid? [False, False] Translation: X:8.66, Y:-1.40, Z:0.97 [[ 0.9297329 0.32652201 -0.17023544 8.66229903] [-0.3179423 0.94504136 0.07622023 -1.40280597] [ 0.18576711 -0.01673941 0.98245121 0.97308893] [ 0. 0. 0. 1. ]] SLAMing on 79.946296757 meters Centerline goodness : 0.808912 with order 3 Centerline is valid? [False, False] Translation: X:8.66, Y:-1.40, Z:0.97 [[ 0.93340197 0.32049842 -0.16137386 8.65834726] [-0.31123156 0.9469225 0.08045302 -1.40271177] [ 0.17859361 -0.02487037 0.98360855 0.97243153] [ 0. 0. 0. 1. ]] SLAMing on 80.006296757 meters Centerline goodness : 0.797997 with order 3 Centerline is valid? [False, False] Translation: X:8.66, Y:-1.40, Z:0.97 [[ 0.93597443 0.31185336 -0.16339936 8.65719399] [-0.30380509 0.94995061 0.07277568 -1.40314811] [ 0.17791666 -0.01847462 0.98387212 0.97211613] [ 0. 0. 0. 1. ]] SLAMing on 80.06629675699999 meters Centerline goodness : 0.793497 with order 2 Centerline is valid? [False, False] Translation: X:8.66, Y:-1.41, Z:0.97 [[ 0.93633973 0.31045318 -0.16397175 8.65893534] [-0.3022299 0.95039224 0.07356406 -1.40746852] [ 0.17867568 -0.01932378 0.98371825 0.97290992] [ 0. 0. 0. 1. ]] SLAMing on 80.12629675699999 meters Centerline goodness : 0.791179 with order 2 Centerline is valid? [False, False] Translation: X:8.66, Y:-1.41, Z:0.97 [[ 0.93644072 0.30995509 -0.1643369 8.6612093 ] [-0.30179817 0.95056384 0.07311807 -1.40626977] [ 0.17887603 -0.01887416 0.98369057 0.97166015] [ 0. 0. 0. 1. ]] SLAMing on 80.186296757 meters Centerline goodness : 0.793491 with order 2 Centerline is valid? [False, False] Translation: X:8.66, Y:-1.41, Z:0.97 [[ 0.93639745 0.30978744 -0.16489864 8.66277905] [-0.30169188 0.95062904 0.07270786 -1.40684853] [ 0.17928142 -0.01833488 0.98362696 0.9706898 ] [ 0. 0. 0. 1. ]] SLAMing on 80.246296757 meters Centerline goodness : 0.794031 with order 2 Centerline is valid? [False, False] Translation: X:8.66, Y:-1.41, Z:0.97 [[ 0.93634134 0.30997295 -0.16486862 8.66386261] [-0.30196165 0.95057724 0.07226394 -1.40527137] [ 0.17912023 -0.01787971 0.98366471 0.96942915] [ 0. 0. 0. 1. ]] SLAMing on 80.306296757 meters Centerline goodness : 0.795246 with order 1 Centerline is valid? [False, False] Translation: X:8.66, Y:-1.40, Z:0.97 [[ 0.93612012 0.31080231 -0.16456319 8.66302776] [-0.30279816 0.95030648 0.07232482 -1.40400953] [ 0.17886418 -0.01787529 0.98371138 0.96961928] [ 0. 0. 0. 1. ]] SLAMing on 80.366296757 meters Centerline goodness : 0.793948 with order 1 Centerline is valid? [False, False] Translation: X:8.66, Y:-1.40, Z:0.97 [[ 0.93612254 0.31056634 -0.16499434 8.66474835] [-0.30258694 0.95038888 0.07212571 -1.40433313] [ 0.1792086 -0.01759337 0.98365378 0.96871217] [ 0. 0. 0. 1. ]] SLAMing on 80.42629675699999 meters Centerline goodness : 0.792731 with order 2 Centerline is valid? [False, False] Translation: X:8.67, Y:-1.41, Z:0.97 [[ 0.93518445 0.31371047 -0.16436483 8.66693952] [-0.30509451 0.94928923 0.07594278 -1.40550054] [ 0.17985381 -0.0208737 0.98347186 0.96892836] [ 0. 0. 0. 1. ]] SLAMing on 80.48629675699999 meters Centerline goodness : 0.792994 with order 2 Centerline is valid? [False, False] Translation: X:8.67, Y:-1.41, Z:0.96 [[ 0.93872291 0.30906055 -0.15258073 8.66918131] [-0.30218287 0.95089472 0.06696828 -1.4054066 ] [ 0.16578547 -0.01675737 0.98601946 0.96302655] [ 0. 0. 0. 1. ]] SLAMing on 80.546296757 meters Centerline goodness : 0.795571 with order 1 Centerline is valid? [False, False] Translation: X:8.67, Y:-1.41, Z:0.96 [[ 0.94009252 0.30423418 -0.15384281 8.66891413] [-0.29786122 0.95249663 0.06347342 -1.40535202] [ 0.16584554 -0.01384707 0.98605452 0.96436215] [ 0. 0. 0. 1. ]] SLAMing on 80.606296757 meters Centerline goodness : 0.804697 with order 2 Centerline is valid? [False, False] Translation: X:8.67, Y:-1.41, Z:0.96 [[ 0.94137934 0.29957658 -0.15510903 8.66921409] [-0.29373985 0.95401165 0.05982195 -1.40509843] [ 0.16589708 -0.01075345 0.98608444 0.96491491] [ 0. 0. 0. 1. ]] SLAMing on 80.666296757 meters Centerline goodness : 0.797337 with order 1 Centerline is valid? [False, False] Translation: X:8.67, Y:-1.41, Z:0.97 [[ 0.94156585 0.29880035 -0.15547381 8.67072033] [-0.29294356 0.95425439 0.05985503 -1.40560237] [ 0.16624627 -0.0108124 0.98602498 0.96515737] [ 0. 0. 0. 1. ]] SLAMing on 80.726296757 meters Centerline goodness : 0.808736 with order 3 Centerline is valid? [False, False] Translation: X:8.67, Y:-1.41, Z:0.96 [[ 0.9416461 0.29817154 -0.15619331 8.67299108] [-0.29235329 0.95445572 0.05953002 -1.40562374] [ 0.16682975 -0.01039259 0.98593094 0.96462879] [ 0. 0. 0. 1. ]] SLAMing on 80.78629675699999 meters Centerline goodness : 0.803954 with order 2 Centerline is valid? [False, False] Translation: X:8.67, Y:-1.41, Z:0.96 [[ 0.94167916 0.29791627 -0.15648086 8.67419715] [-0.29213935 0.9545388 0.05924754 -1.40523739] [ 0.16701786 -0.01007795 0.98590236 0.96403214] [ 0. 0. 0. 1. ]] SLAMing on 80.84629675699999 meters Centerline goodness : 0.796252 with order 2 Centerline is valid? [False, False] Translation: X:8.67, Y:-1.40, Z:0.96 [[ 0.94167845 0.29802739 -0.15627339 8.67363916] [-0.29223911 0.95450275 0.05933635 -1.40449015] [ 0.16684724 -0.01020657 0.98592993 0.96482587] [ 0. 0. 0. 1. ]] SLAMing on 80.90629675699999 meters Centerline goodness : 0.797305 with order 2 Centerline is valid? [False, False] Translation: X:8.67, Y:-1.40, Z:0.97 [[ 0.941631 0.298295 -0.15604859 8.67283012] [-0.29247866 0.95441683 0.05953785 -1.40485458] [ 0.16669524 -0.01042181 0.98595339 0.96549069] [ 0. 0. 0. 1. ]] SLAMing on 80.966296757 meters Centerline goodness : 0.795282 with order 2 Centerline is valid? [False, False] Translation: X:8.68, Y:-1.40, Z:0.96 [[ 0.94048526 0.30230913 -0.155231 8.675211 ] [-0.29595505 0.95311577 0.06309463 -1.40370212] [ 0.16702719 -0.01339817 0.98586125 0.96469694] [ 0. 0. 0. 1. ]] SLAMing on 81.026296757 meters Centerline goodness : 0.792955 with order 2 Centerline is valid? [False, False] Translation: X:8.65, Y:-1.40, Z:0.96 [[ 0.9400099 0.30342769 -0.15592636 8.65284844] [-0.29701035 0.95276054 0.06349963 -1.39580175] [ 0.16782804 -0.01337854 0.9857255 0.95660941] [ 0. 0. 0. 1. ]] SLAMing on 81.086296757 meters Centerline goodness : 0.793499 with order 2 Centerline is valid? [False, False] Translation: X:8.65, Y:-1.40, Z:0.96 [[ 0.93989246 0.30377578 -0.15595656 8.65318729] [-0.29736936 0.95265114 0.06346076 -1.39680231] [ 0.16785004 -0.01326959 0.98572323 0.95574526] [ 0. 0. 0. 1. ]] SLAMing on 81.14629675699999 meters Centerline goodness : 0.794021 with order 2 Centerline is valid? [False, False] Translation: X:8.65, Y:-1.40, Z:0.96 [[ 0.93858174 0.30861714 -0.1543366 8.65252123] [-0.30155353 0.95103183 0.06785228 -1.3968166 ] [ 0.16771939 -0.01714416 0.98568569 0.9562548 ] [ 0. 0. 0. 1. ]] SLAMing on 81.20629675699999 meters Centerline goodness : 0.792856 with order 2 Centerline is valid? [False, False] Translation: X:8.65, Y:-1.40, Z:0.96 [[ 0.93860286 0.30850955 -0.1544232 8.6530859 ] [-0.3014728 0.9510699 0.0676771 -1.39752783] [ 0.16774629 -0.01696752 0.98568417 0.95555061] [ 0. 0. 0. 1. ]] SLAMing on 81.26629675699999 meters Centerline goodness : 0.794021 with order 2 Centerline is valid? [False, False] Translation: X:8.65, Y:-1.40, Z:0.96 [[ 0.9396501 0.30526319 -0.15450592 8.64939542] [-0.29868653 0.95215532 0.06470399 -1.39831389] [ 0.16686538 -0.01465027 0.98587084 0.9571208 ] [ 0. 0. 0. 1. ]] SLAMing on 81.326296757 meters Centerline goodness : 0.798831 with order 1 Centerline is valid? [False, False] Translation: X:8.64, Y:-1.40, Z:0.95 [[ 0.9439377 0.29584959 -0.14647401 8.63907938] [-0.28959857 0.95508571 0.06280095 -1.3951684 ] [ 0.15847487 -0.01686152 0.98721903 0.95388699] [ 0. 0. 0. 1. ]] SLAMing on 81.386296757 meters Centerline goodness : 0.799223 with order 2 Centerline is valid? [False, False] Translation: X:8.64, Y:-1.40, Z:0.96 [[ 0.94435577 0.29461077 -0.14627604 8.63953737] [-0.28802077 0.95542637 0.06484196 -1.39997015] [ 0.15885912 -0.01910334 0.98711643 0.9568862 ] [ 0. 0. 0. 1. ]] SLAMing on 81.446296757 meters Centerline goodness : 0.795270 with order 2 Centerline is valid? [False, False] Translation: X:8.64, Y:-1.40, Z:0.96 [[ 0.94566714 0.28963845 -0.14772686 8.64119013] [-0.28354384 0.95700199 0.06123785 -1.40061333] [ 0.15911174 -0.01602358 0.98713054 0.95654868] [ 0. 0. 0. 1. ]] SLAMing on 81.506296757 meters Centerline goodness : 0.793967 with order 2 Centerline is valid? [False, False] Translation: X:8.64, Y:-1.40, Z:0.96 [[ 0.94572246 0.28919457 -0.14824146 8.64339713] [-0.28315966 0.95714471 0.06078324 -1.39955752] [ 0.15946671 -0.01550807 0.98708149 0.95548785] [ 0. 0. 0. 1. ]] SLAMing on 81.56629675699999 meters Centerline goodness : 0.792201 with order 2 Centerline is valid? [False, False] Translation: X:8.64, Y:-1.40, Z:0.95 [[ 0.94567479 0.28922349 -0.14848894 8.64459386] [-0.28329556 0.95714767 0.06009956 -1.39808415] [ 0.15950805 -0.01476838 0.98708615 0.95437485] [ 0. 0. 0. 1. ]] SLAMing on 81.62629675699999 meters Centerline goodness : 0.795051 with order 1 Centerline is valid? [False, False] Translation: X:8.64, Y:-1.40, Z:0.95 [[ 0.9455097 0.28976837 -0.14847798 8.64440055] [-0.28395053 0.95699353 0.05945983 -1.39548892] [ 0.15932204 -0.01405945 0.98712655 0.95413582] [ 0. 0. 0. 1. ]] SLAMing on 81.686296757 meters Centerline goodness : 0.792283 with order 2 Centerline is valid? [False, False] Translation: X:8.65, Y:-1.39, Z:0.95 [[ 0.94429071 0.29427331 -0.14737122 8.64544661] [-0.28806755 0.95558086 0.06230817 -1.39185266] [ 0.15916075 -0.01638416 0.98711672 0.95304321] [ 0. 0. 0. 1. ]] SLAMing on 81.746296757 meters Centerline goodness : 0.796002 with order 2 Centerline is valid? [False, False] Translation: X:8.65, Y:-1.39, Z:0.95 [[ 0.94384197 0.29771771 -0.1432707 8.65416203] [-0.29296495 0.95461425 0.0536952 -1.39227992] [ 0.15275427 -0.00870649 0.98822585 0.95129895] [ 0. 0. 0. 1. ]] SLAMing on 81.806296757 meters Centerline goodness : 0.793164 with order 2 Centerline is valid? [False, False] Translation: X:8.66, Y:-1.39, Z:0.95 [[ 0.94259441 0.30185206 -0.14283245 8.65620208] [-0.2965899 0.95328343 0.05731604 -1.39175192] [ 0.15346077 -0.01166311 0.98808591 0.95100299] [ 0. 0. 0. 1. ]] SLAMing on 81.866296757 meters Centerline goodness : 0.792085 with order 1 Centerline is valid? [False, False] Translation: X:8.66, Y:-1.39, Z:0.95 [[ 0.94235598 0.30252958 -0.14297226 8.65695625] [-0.29727227 0.95307041 0.05732364 -1.38891305] [ 0.15360473 -0.01151759 0.98806525 0.95094575] [ 0. 0. 0. 1. ]] SLAMing on 81.92629675699999 meters Centerline goodness : 0.801043 with order 2 Centerline is valid? [False, False] Translation: X:8.66, Y:-1.39, Z:0.95 [[ 9.43585565e-01 2.97870693e-01 -1.44635166e-01 8.65745678e+00] [-2.93149066e-01 9.54572565e-01 5.34307418e-02 -1.39023259e+00] [ 1.53980213e-01 -8.01681296e-03 9.88041408e-01 9.51115023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.98629675699999 meters Centerline goodness : 0.788998 with order 2 Centerline is valid? [False, False] Translation: X:8.66, Y:-1.39, Z:0.95 [[ 9.44235900e-01 2.95443766e-01 -1.45366939e-01 8.66097522e+00] [-2.90867661e-01 9.55333883e-01 5.22797877e-02 -1.38995919e+00] [ 1.54319700e-01 -7.08191069e-03 9.87995585e-01 9.49780554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.046296757 meters Centerline goodness : 0.789119 with order 2 Centerline is valid? [False, False] Translation: X:8.65, Y:-1.38, Z:0.95 [[ 0.94767485 0.28839943 -0.13688738 8.64943722] [-0.2840621 0.95746674 0.05065738 -1.38393869] [ 0.14567467 -0.00912221 0.98929049 0.94688081] [ 0. 0. 0. 1. ]] SLAMing on 82.106296757 meters Centerline goodness : 0.792901 with order 2 Centerline is valid? [False, False] Translation: X:8.65, Y:-1.39, Z:0.95 [[ 0.94791664 0.28788503 -0.13629472 8.64773163] [-0.28340567 0.95760946 0.05162693 -1.38502767] [ 0.14537974 -0.01031133 0.9893222 0.94989074] [ 0. 0. 0. 1. ]] SLAMing on 82.166296757 meters Centerline goodness : 0.791958 with order 2 Centerline is valid? [False, False] Translation: X:8.65, Y:-1.39, Z:0.95 [[ 0.94747493 0.28947649 -0.13599493 8.65035743] [-0.28460838 0.95709901 0.05440171 -1.38681116] [ 0.14590863 -0.01283896 0.98921476 0.94964057] [ 0. 0. 0. 1. ]] SLAMing on 82.226296757 meters Centerline goodness : 0.789219 with order 2 Centerline is valid? [False, False] Translation: X:8.66, Y:-1.39, Z:0.95 [[ 0.94657153 0.29211286 -0.13664706 8.65637993] [-0.28676595 0.95625863 0.05774704 -1.38723957] [ 0.14753858 -0.01547599 0.98893522 0.94832901] [ 0. 0. 0. 1. ]] SLAMing on 82.28629675699999 meters Centerline goodness : 0.785535 with order 2 Centerline is valid? [False, False] Translation: X:8.66, Y:-1.39, Z:0.95 [[ 0.94537527 0.29650494 -0.13546371 8.65671531] [-0.29067435 0.95484834 0.06142535 -1.38620163] [ 0.14756021 -0.01869418 0.98887639 0.94852938] [ 0. 0. 0. 1. ]] SLAMing on 82.34629675699999 meters Centerline goodness : 0.787301 with order 2 Centerline is valid? [False, False] Translation: X:8.66, Y:-1.39, Z:0.95 [[ 0.94404164 0.30130495 -0.13416675 8.65648239] [-0.29493737 0.95326737 0.06552306 -1.38507594] [ 0.1476392 -0.02228571 0.98879018 0.94945639] [ 0. 0. 0. 1. ]] SLAMing on 82.40629675699999 meters Centerline goodness : 0.787482 with order 2 Centerline is valid? [False, False] Translation: X:8.66, Y:-1.38, Z:0.95 [[ 0.94268646 0.30582335 -0.13347028 8.65780619] [-0.2989531 0.95174896 0.06928896 -1.38462527] [ 0.14822038 -0.02541641 0.9886277 0.94934587] [ 0. 0. 0. 1. ]] SLAMing on 82.466296757 meters Centerline goodness : 0.788439 with order 2 Centerline is valid? [False, False] Translation: X:8.66, Y:-1.38, Z:0.95 [[ 0.94237126 0.30720865 -0.13251134 8.65506894] [-0.30020773 0.95127088 0.07042041 -1.38466107] [ 0.14768793 -0.02658124 0.98867675 0.95099381] [ 0. 0. 0. 1. ]] SLAMing on 82.526296757 meters Centerline goodness : 0.787025 with order 2 Centerline is valid? [False, False] Translation: X:8.66, Y:-1.39, Z:0.95 [[ 0.94134835 0.31066543 -0.13172042 8.65639071] [-0.30302261 0.95002154 0.07507575 -1.38755736] [ 0.14846068 -0.03075817 0.98843986 0.95195636] [ 0. 0. 0. 1. ]] SLAMing on 82.586296757 meters Centerline goodness : 0.791647 with order 2 Centerline is valid? [False, False] Translation: X:8.66, Y:-1.39, Z:0.95 [[ 0.94148263 0.3101669 -0.13193539 8.65588929] [-0.30233853 0.95014735 0.07623265 -1.39081033] [ 0.1490029 -0.03188257 0.98832264 0.95436586] [ 0. 0. 0. 1. ]] SLAMing on 82.64629675699999 meters Centerline goodness : 0.789969 with order 2 Centerline is valid? [False, False] Translation: X:8.66, Y:-1.39, Z:0.95 [[ 0.94283998 0.3054713 -0.13319181 8.6563252 ] [-0.29823446 0.95179145 0.07175818 -1.38823077] [ 0.14869089 -0.02793409 0.9884891 0.95430125] [ 0. 0. 0. 1. ]] SLAMing on 82.70629675699999 meters Centerline goodness : 0.790045 with order 2 Centerline is valid? [False, False] Translation: X:8.66, Y:-1.39, Z:0.95 [[ 0.94289176 0.30528843 -0.13324449 8.65698385] [-0.29805526 0.95185105 0.07171228 -1.38755282] [ 0.14872184 -0.0279027 0.98848533 0.9543586 ] [ 0. 0. 0. 1. ]] SLAMing on 82.76629675699999 meters Centerline goodness : 0.791051 with order 2 Centerline is valid? [False, False] Translation: X:8.66, Y:-1.39, Z:0.95 [[ 0.94306096 0.30448134 -0.13389225 8.65829184] [-0.29728619 0.95212344 0.07128727 -1.38692156] [ 0.14918759 -0.02742393 0.98842855 0.95480158] [ 0. 0. 0. 1. ]] SLAMing on 82.826296757 meters Centerline goodness : 0.799596 with order 2 Centerline is valid? [False, False] Translation: X:8.67, Y:-1.39, Z:0.95 [[ 0.94308352 0.30572128 -0.13087392 8.67070196] [-0.29989093 0.95191454 0.062643 -1.38876811] [ 0.14373208 -0.01982968 0.98941795 0.95322063] [ 0. 0. 0. 1. ]] SLAMing on 82.886296757 meters Centerline goodness : 0.803084 with order 3 Centerline is valid? [False, False] Translation: X:8.67, Y:-1.39, Z:0.95 [[ 0.94196363 0.30941715 -0.13025183 8.67284851] [-0.30316888 0.95065937 0.06584365 -1.38746906] [ 0.14419828 -0.02253402 0.98929221 0.95243392] [ 0. 0. 0. 1. ]] SLAMing on 82.946296757 meters Centerline goodness : 0.791906 with order 2 Centerline is valid? [False, False] Translation: X:8.67, Y:-1.38, Z:0.95 [[ 0.94143705 0.31090627 -0.13051273 8.6735336 ] [-0.30469375 0.95018497 0.06565242 -1.38291843] [ 0.14442299 -0.0220412 0.98927053 0.95233228] [ 0. 0. 0. 1. ]] SLAMing on 83.006296757 meters Centerline goodness : 0.793658 with order 2 Centerline is valid? [False, False] Translation: X:8.68, Y:-1.38, Z:0.95 [[ 0.94123877 0.31104096 -0.13161726 8.67664227] [-0.3050301 0.95018171 0.06411985 -1.38010352] [ 0.14500421 -0.02020487 0.98922472 0.94991195] [ 0. 0. 0. 1. ]] SLAMing on 83.06629675699999 meters Centerline goodness : 0.794656 with order 2 Centerline is valid? [False, False] Translation: X:8.68, Y:-1.38, Z:0.95 [[ 0.94012192 0.3145863 -0.13117252 8.67974794] [-0.30824887 0.94896891 0.06663818 -1.37770105] [ 0.1454421 -0.02221423 0.98911735 0.94801132] [ 0. 0. 0. 1. ]] SLAMing on 83.12629675699999 meters Centerline goodness : 0.794041 with order 2 Centerline is valid? [False, False] Translation: X:8.68, Y:-1.37, Z:0.95 [[ 0.94094232 0.31212974 -0.1311586 8.67581819] [-0.30623636 0.94983856 0.06345074 -1.37470879] [ 0.14438436 -0.01953795 0.98932877 0.95012194] [ 0. 0. 0. 1. ]] SLAMing on 83.186296757 meters Centerline goodness : 0.791245 with order 1 Centerline is valid? [False, False] Translation: X:8.68, Y:-1.37, Z:0.95 [[ 0.94167309 0.30320685 -0.14600479 8.67833091] [-0.29726091 0.95281447 0.06148611 -1.3707526 ] [ 0.15775848 -0.0144983 0.98737129 0.95458104] [ 0. 0. 0. 1. ]] SLAMing on 83.246296757 meters Centerline goodness : 0.789634 with order 2 Centerline is valid? [False, False] Translation: X:8.68, Y:-1.37, Z:0.95 [[ 0.94197878 0.3019358 -0.14666546 8.68052537] [-0.29601242 0.95322213 0.06119004 -1.37309911] [ 0.15828023 -0.01422492 0.98729176 0.95368341] [ 0. 0. 0. 1. ]] SLAMing on 83.306296757 meters Centerline goodness : 0.787749 with order 2 Centerline is valid? [False, False] Translation: X:8.68, Y:-1.38, Z:0.95 [[ 0.9454357 0.29630096 -0.13548826 8.67725585] [-0.2894568 0.95476167 0.06815358 -1.37593729] [ 0.14955297 -0.02521683 0.9884321 0.95339921] [ 0. 0. 0. 1. ]] SLAMing on 83.366296757 meters Centerline goodness : 0.792906 with order 2 Centerline is valid? [False, False] Translation: X:8.68, Y:-1.38, Z:0.95 [[ 0.94544801 0.29624498 -0.13552484 8.67694135] [-0.28928444 0.95475947 0.06891207 -1.37777035] [ 0.14980848 -0.02594755 0.9883745 0.95457573] [ 0. 0. 0. 1. ]] SLAMing on 83.42629675699999 meters Centerline goodness : 0.792654 with order 2 Centerline is valid? [False, False] Translation: X:8.68, Y:-1.38, Z:0.95 [[ 0.94606162 0.29651769 -0.13055528 8.68390968] [-0.29116975 0.95486578 0.0587496 -1.37969716] [ 0.14208306 -0.017567 0.98969884 0.9538658 ] [ 0. 0. 0. 1. ]] SLAMing on 83.48629675699999 meters Centerline goodness : 0.790303 with order 2 Centerline is valid? [False, False] Translation: X:8.68, Y:-1.38, Z:0.95 [[ 0.94581873 0.29758118 -0.12989373 8.68269572] [-0.29221755 0.95452951 0.05901117 -1.37731974] [ 0.14154801 -0.01785664 0.98977033 0.95426487] [ 0. 0. 0. 1. ]] SLAMing on 83.546296757 meters Centerline goodness : 0.789630 with order 2 Centerline is valid? [False, False] Translation: X:8.69, Y:-1.38, Z:0.95 [[ 0.94459735 0.30292942 -0.12637094 8.69419379] [-0.29862177 0.95294271 0.0522038 -1.3788819 ] [ 0.13623833 -0.01157446 0.99060847 0.95080522] [ 0. 0. 0. 1. ]] SLAMing on 83.606296757 meters Centerline goodness : 0.790566 with order 2 Centerline is valid? [False, False] Translation: X:8.69, Y:-1.38, Z:0.95 [[ 0.94394806 0.3049288 -0.12641392 8.69390414] [-0.30061082 0.95230614 0.05240376 -1.37647845] [ 0.13636416 -0.01146503 0.99059243 0.95051196] [ 0. 0. 0. 1. ]] SLAMing on 83.666296757 meters Centerline goodness : 0.789604 with order 2 Centerline is valid? [False, False] Translation: X:8.70, Y:-1.37, Z:0.95 [[ 0.94256665 0.30948157 -0.12565534 8.69534759] [-0.30474626 0.95079797 0.05579375 -1.37418756] [ 0.13673998 -0.01429633 0.99050381 0.95011278] [ 0. 0. 0. 1. ]] SLAMing on 83.726296757 meters Centerline goodness : 0.793564 with order 2 Centerline is valid? [False, False] Translation: X:8.70, Y:-1.37, Z:0.95 [[ 0.94239195 0.30997295 -0.12575444 8.69548372] [-0.30523975 0.95063934 0.05579916 -1.37375707] [ 0.13684335 -0.01419943 0.99049093 0.94997881] [ 0. 0. 0. 1. ]] SLAMing on 83.78629675699999 meters Centerline goodness : 0.793680 with order 1 Centerline is valid? [False, False] Translation: X:8.70, Y:-1.37, Z:0.95 [[ 0.94247492 0.3095629 -0.12614212 8.69629719] [-0.30481289 0.95077306 0.05585415 -1.37426765] [ 0.1372229 -0.01419139 0.99043853 0.95023478] [ 0. 0. 0. 1. ]] SLAMing on 83.84629675699999 meters Centerline goodness : 0.814969 with order 3 Centerline is valid? [False, False] Translation: X:8.70, Y:-1.37, Z:0.95 [[ 0.94376035 0.30518908 -0.12718504 8.69572626] [-0.30087631 0.95222697 0.05231859 -1.37391233] [ 0.13707608 -0.01110924 0.99049822 0.9511471 ] [ 0. 0. 0. 1. ]] SLAMing on 83.90629675699999 meters Centerline goodness : 0.792266 with order 2 Centerline is valid? [False, False] Translation: X:8.69, Y:-1.38, Z:0.95 [[ 0.9450447 0.30089271 -0.1278831 8.69378103] [-0.29674952 0.95360535 0.05075988 -1.37794435] [ 0.13722329 -0.0100211 0.99048945 0.95465995] [ 0. 0. 0. 1. ]] SLAMing on 83.966296757 meters Centerline goodness : 0.792708 with order 2 Centerline is valid? [False, False] Translation: X:8.69, Y:-1.38, Z:0.96 [[ 9.46230725e-01 2.96756005e-01 -1.28776119e-01 8.69329941e+00] [-2.93060477e-01 9.54928261e-01 4.71971722e-02 -1.37686083e+00] [ 1.36978000e-01 -6.92022354e-03 9.90549917e-01 9.55160869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.026296757 meters Centerline goodness : 0.789924 with order 2 Centerline is valid? [False, False] Translation: X:8.69, Y:-1.38, Z:0.95 [[ 9.46361669e-01 2.96249839e-01 -1.28979160e-01 8.69444126e+00] [-2.92576941e-01 9.55086750e-01 4.69897124e-02 -1.37671482e+00] [ 1.37106981e-01 -6.73293467e-03 9.90533363e-01 9.54673524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.086296757 meters Centerline goodness : 0.789594 with order 2 Centerline is valid? [False, False] Translation: X:8.69, Y:-1.38, Z:0.95 [[ 9.46308676e-01 2.96326936e-01 -1.29190696e-01 8.69487873e+00] [-2.92622624e-01 9.55061842e-01 4.72109988e-02 -1.37730804e+00] [ 1.37374995e-01 -6.87205726e-03 9.90495273e-01 9.54912442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.14629675699999 meters Centerline goodness : 0.788316 with order 2 Centerline is valid? [False, False] Translation: X:8.70, Y:-1.38, Z:0.95 [[ 0.94523763 0.30013074 -0.12824727 8.69602627] [-0.29601989 0.95384851 0.0504504 -1.37571998] [ 0.13747018 -0.00972388 0.99045817 0.95460891] [ 0. 0. 0. 1. ]] SLAMing on 84.20629675699999 meters Centerline goodness : 0.800395 with order 2 Centerline is valid? [False, False] Translation: X:8.70, Y:-1.37, Z:0.95 [[ 0.94480316 0.30136634 -0.12855084 8.69629777] [-0.29727306 0.95346221 0.05038389 -1.37266987] [ 0.13775238 -0.00938816 0.99042221 0.95499245] [ 0. 0. 0. 1. ]] SLAMing on 84.26629675699999 meters Centerline goodness : 0.807901 with order 3 Centerline is valid? [False, False] Translation: X:8.70, Y:-1.37, Z:0.95 [[ 0.94351856 0.30571911 -0.12770492 8.69768798] [-0.30117354 0.95204004 0.05398388 -1.372941 ] [ 0.1380841 -0.01247345 0.99034196 0.95400632] [ 0. 0. 0. 1. ]] SLAMing on 84.326296757 meters Centerline goodness : 0.805066 with order 2 Centerline is valid? [False, False] Translation: X:8.70, Y:-1.37, Z:0.95 [[ 0.94226144 0.31011852 -0.12637202 8.69774279] [-0.30506604 0.95056095 0.05803963 -1.37270939] [ 0.13812347 -0.0161367 0.99028355 0.95441556] [ 0. 0. 0. 1. ]] SLAMing on 84.386296757 meters Centerline goodness : 0.803377 with order 2 Centerline is valid? [False, False] Translation: X:8.70, Y:-1.37, Z:0.96 [[ 0.94329545 0.30673254 -0.12692057 8.69555932] [-0.30203901 0.95169682 0.05518697 -1.37267465] [ 0.13771754 -0.01372265 0.99037648 0.95638278] [ 0. 0. 0. 1. ]] SLAMing on 84.446296757 meters Centerline goodness : 0.790882 with order 2 Centerline is valid? [False, False] Translation: X:8.69, Y:-1.37, Z:0.96 [[ 0.94447805 0.30290348 -0.12732125 8.69370358] [-0.29865726 0.95296023 0.0516783 -1.37028337] [ 0.13698562 -0.0107836 0.99051434 0.9577174 ] [ 0. 0. 0. 1. ]] SLAMing on 84.50629675699999 meters Centerline goodness : 0.787085 with order 2 Centerline is valid? [False, False] Translation: X:8.69, Y:-1.37, Z:0.96 [[ 0.94471017 0.30215864 -0.12736893 8.69362197] [-0.29784309 0.95319057 0.05212706 -1.37186697] [ 0.1371575 -0.01130901 0.99048469 0.95912285] [ 0. 0. 0. 1. ]] SLAMing on 84.56629675699999 meters Centerline goodness : 0.788229 with order 2 Centerline is valid? [False, False] Translation: X:8.69, Y:-1.37, Z:0.96 [[ 0.9446773 0.30217888 -0.12756455 8.69377254] [-0.297818 0.9531813 0.05243893 -1.37299876] [ 0.13743808 -0.01154684 0.99044305 0.95943944] [ 0. 0. 0. 1. ]] SLAMing on 84.62629675699999 meters Centerline goodness : 0.788234 with order 2 Centerline is valid? [False, False] Translation: X:8.69, Y:-1.37, Z:0.96 [[ 0.94453833 0.30289897 -0.12688404 8.69289087] [-0.29853782 0.95295021 0.05254583 -1.37076088] [ 0.13683025 -0.01175186 0.9905248 0.95957327] [ 0. 0. 0. 1. ]] SLAMing on 84.686296757 meters Centerline goodness : 0.795358 with order 3 Centerline is valid? [False, False] Translation: X:8.69, Y:-1.37, Z:0.96 [[ 0.9433623 0.30691717 -0.12597391 8.69464158] [-0.30211589 0.95162053 0.05607462 -1.36984221] [ 0.13708962 -0.01483996 0.99044748 0.9587034 ] [ 0. 0. 0. 1. ]] SLAMing on 84.746296757 meters Centerline goodness : 0.795815 with order 2 Centerline is valid? [False, False] Translation: X:8.69, Y:-1.37, Z:0.96 [[ 0.9431172 0.30776428 -0.1257422 8.69355732] [-0.30297815 0.95134816 0.05604388 -1.37027875] [ 0.13687291 -0.0147588 0.99047866 0.95866778] [ 0. 0. 0. 1. ]] SLAMing on 84.806296757 meters Centerline goodness : 0.786428 with order 2 Centerline is valid? [False, False] Translation: X:8.70, Y:-1.37, Z:0.96 [[ 0.94194074 0.31172595 -0.12479816 8.69506281] [-0.30654813 0.95001013 0.05923673 -1.36896365] [ 0.13702514 -0.01754085 0.99041225 0.95784115] [ 0. 0. 0. 1. ]] SLAMing on 84.866296757 meters Centerline goodness : 0.786999 with order 2 Centerline is valid? [False, False] Translation: X:8.70, Y:-1.37, Z:0.96 [[ 0.94058508 0.3162577 -0.12361542 8.69650205] [-0.31073257 0.94846072 0.06218953 -1.36609873] [ 0.13691229 -0.0200832 0.99037957 0.95617187] [ 0. 0. 0. 1. ]] SLAMing on 84.92629675699999 meters Centerline goodness : 0.785451 with order 2 Centerline is valid? [False, False] Translation: X:8.69, Y:-1.36, Z:0.96 [[ 0.94015025 0.31798769 -0.12247994 8.69344172] [-0.31248074 0.94787689 0.06233131 -1.36430063] [ 0.13591649 -0.02032818 0.99051172 0.9566634 ] [ 0. 0. 0. 1. ]] SLAMing on 84.98629675699999 meters Centerline goodness : 0.783527 with order 2 Centerline is valid? [False, False] Translation: X:8.69, Y:-1.36, Z:0.96 [[ 0.94010951 0.318289 -0.12200909 8.69324039] [-0.31286514 0.94778403 0.06181292 -1.36100255] [ 0.13531264 -0.01993852 0.99060231 0.95628952] [ 0. 0. 0. 1. ]] SLAMing on 85.046296757 meters Centerline goodness : 0.786134 with order 2 Centerline is valid? [False, False] Translation: X:8.69, Y:-1.36, Z:0.96 [[ 0.94028077 0.31782323 -0.12190349 8.69337851] [-0.3124637 0.94794787 0.0613292 -1.35951233] [ 0.13505 -0.01957625 0.99064538 0.95648246] [ 0. 0. 0. 1. ]] SLAMing on 85.106296757 meters Centerline goodness : 0.786003 with order 2 Centerline is valid? [False, False] Translation: X:8.69, Y:-1.36, Z:0.96 [[ 0.94151373 0.31371169 -0.12303197 8.69331281] [-0.30887919 0.94938814 0.05705966 -1.35818529] [ 0.13470538 -0.01572044 0.99076098 0.95602488] [ 0. 0. 0. 1. ]] SLAMing on 85.166296757 meters Centerline goodness : 0.786671 with order 2 Centerline is valid? [False, False] Translation: X:8.70, Y:-1.35, Z:0.96 [[ 0.94255336 0.30525226 -0.135699 8.69577874] [-0.30019002 0.95218512 0.05682831 -1.35219805] [ 0.14655754 -0.01282823 0.98911896 0.95798953] [ 0. 0. 0. 1. ]] SLAMing on 85.226296757 meters Centerline goodness : 0.784826 with order 2 Centerline is valid? [False, False] Translation: X:8.70, Y:-1.35, Z:0.96 [[ 0.94340885 0.29656251 -0.14842647 8.69907906] [-0.29134406 0.95496288 0.0562543 -1.34766867] [ 0.15842469 -0.00982763 0.98732215 0.96165635] [ 0. 0. 0. 1. ]] SLAMing on 85.28629675699999 meters Centerline goodness : 0.794688 with order 3 Centerline is valid? [False, False] Translation: X:8.70, Y:-1.35, Z:0.96 [[ 9.44047840e-01 2.92460577e-01 -1.52448310e-01 8.70286567e+00] [-2.88035234e-01 9.56268818e-01 5.08493013e-02 -1.34972876e+00] [ 1.60652981e-01 -4.09368845e-03 9.87002463e-01 9.63081949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.34629675699999 meters Centerline goodness : 0.791391 with order 2 Centerline is valid? [False, False] Translation: X:8.71, Y:-1.35, Z:0.96 [[ 9.42876809e-01 2.87861107e-01 -1.67688122e-01 8.71045395e+00] [-2.83296119e-01 9.57671953e-01 5.10660380e-02 -1.34688382e+00] [ 1.75290138e-01 -6.43588695e-04 9.84516609e-01 9.63807938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.40629675699999 meters Centerline goodness : 0.786604 with order 2 Centerline is valid? [False, False] Translation: X:8.71, Y:-1.35, Z:0.96 [[ 9.41763628e-01 2.91427116e-01 -1.67784104e-01 8.71360476e+00] [-2.86391845e-01 9.56588893e-01 5.40129763e-02 -1.34695217e+00] [ 1.76241256e-01 -2.81545728e-03 9.84342975e-01 9.63026202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.466296757 meters Centerline goodness : 0.780258 with order 2 Centerline is valid? [False, False] Translation: X:8.72, Y:-1.35, Z:0.96 [[ 9.41839957e-01 2.93881498e-01 -1.63006628e-01 8.72240027e+00] [-2.90328633e-01 9.55832495e-01 4.57550615e-02 -1.34943531e+00] [ 1.69253598e-01 4.23154621e-03 9.85563450e-01 9.61687564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.526296757 meters Centerline goodness : 0.792188 with order 3 Centerline is valid? [False, False] Translation: X:8.72, Y:-1.35, Z:0.96 [[ 9.41691561e-01 2.94600733e-01 -1.62565103e-01 8.72151794e+00] [-2.91015592e-01 9.55612074e-01 4.59944426e-02 -1.34836359e+00] [ 1.68899172e-01 3.99640113e-03 9.85625232e-01 9.62049449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.586296757 meters Centerline goodness : 0.792185 with order 3 Centerline is valid? [False, False] Translation: X:8.72, Y:-1.35, Z:0.96 [[ 9.41737001e-01 2.94506129e-01 -1.62473260e-01 8.72128936e+00] [-2.90831793e-01 9.55643337e-01 4.65046362e-02 -1.35028464e+00] [ 1.68962389e-01 3.45725292e-03 9.85616436e-01 9.62530713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.64629675699999 meters Centerline goodness : 0.791272 with order 3 Centerline is valid? [False, False] Translation: X:8.72, Y:-1.35, Z:0.96 [[ 9.43051901e-01 2.89272182e-01 -1.64239814e-01 8.72265534e+00] [-2.86049521e-01 9.57228186e-01 4.34726632e-02 -1.35333849e+00] [ 1.69790411e-01 5.98374239e-03 9.85462029e-01 9.63364494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.70629675699999 meters Centerline goodness : 0.784248 with order 2 Centerline is valid? [False, False] Translation: X:8.73, Y:-1.36, Z:0.96 [[ 9.44618799e-01 2.82579650e-01 -1.66865411e-01 8.72787276e+00] [-2.79681232e-01 9.59211915e-01 4.11206722e-02 -1.35954233e+00] [ 1.71679155e-01 7.82576377e-03 9.85121833e-01 9.64031891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.76629675699999 meters Centerline goodness : 0.782238 with order 2 Centerline is valid? [False, False] Translation: X:8.72, Y:-1.36, Z:0.96 [[ 9.48807187e-01 2.73703815e-01 -1.57642457e-01 8.72364555e+00] [-2.69934006e-01 9.61813943e-01 4.52721972e-02 -1.36380553e+00] [ 1.64013886e-01 -4.01525909e-04 9.86457948e-01 9.59935874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.826296757 meters Centerline goodness : 0.788703 with order 2 Centerline is valid? [False, False] Translation: X:8.72, Y:-1.37, Z:0.96 [[ 9.50928702e-01 2.65508948e-01 -1.58869763e-01 8.72139649e+00] [-2.62685566e-01 9.64096766e-01 3.89065465e-02 -1.36821291e+00] [ 1.63495861e-01 4.73544186e-03 9.86532655e-01 9.60112518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.886296757 meters Centerline goodness : 0.784436 with order 2 Centerline is valid? [False, False] Translation: X:8.72, Y:-1.38, Z:0.96 [[ 9.51918777e-01 2.61107532e-01 -1.60229521e-01 8.72188905e+00] [-2.58520662e-01 9.65290762e-01 3.71592945e-02 -1.37567146e+00] [ 1.64370648e-01 6.05001169e-03 9.86380093e-01 9.60980325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.946296757 meters Centerline goodness : 0.780844 with order 1 Centerline is valid? [False, False] Translation: X:8.72, Y:-1.38, Z:0.96 [[ 9.51965861e-01 2.60978190e-01 -1.60160495e-01 8.72299993e+00] [-2.58199426e-01 9.65332281e-01 3.82967889e-02 -1.38133730e+00] [ 1.64602722e-01 4.89611218e-03 9.86347795e-01 9.59644692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.00629675699999 meters Centerline goodness : 0.780022 with order 1 Centerline is valid? [False, False] Translation: X:8.72, Y:-1.39, Z:0.96 [[ 9.51092865e-01 2.65138483e-01 -1.58505352e-01 8.72271498e+00] [-2.61064514e-01 9.64206471e-01 4.63810460e-02 -1.39176982e+00] [ 1.65129286e-01 -2.73255930e-03 9.86268144e-01 9.63996175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.06629675699999 meters Centerline goodness : 0.779940 with order 1 Centerline is valid? [False, False] Translation: X:8.72, Y:-1.39, Z:0.96 [[ 9.49631404e-01 2.71532654e-01 -1.56429583e-01 8.72027235e+00] [-2.66721626e-01 9.62403297e-01 5.13757631e-02 -1.39428153e+00] [ 1.64498544e-01 -7.06488525e-03 9.86352025e-01 9.63608837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.12629675699999 meters Centerline goodness : 0.782555 with order 1 Centerline is valid? [False, False] Translation: X:8.72, Y:-1.40, Z:0.96 [[ 0.94803017 0.27802419 -0.15472991 8.71819336] [-0.27253513 0.96051137 0.05605808 -1.39510543] [ 0.16420534 -0.01097542 0.98636512 0.96364501] [ 0. 0. 0. 1. ]] SLAMing on 86.186296757 meters Centerline goodness : 0.785250 with order 1 Centerline is valid? [False, False] Translation: X:8.72, Y:-1.39, Z:0.96 [[ 0.9475772 0.28003016 -0.1538849 8.71597132] [-0.2745529 0.9599281 0.05620273 -1.39471829] [ 0.16345689 -0.01100688 0.98648907 0.96254262] [ 0. 0. 0. 1. ]] SLAMing on 86.246296757 meters Centerline goodness : 0.786813 with order 1 Centerline is valid? [False, False] Translation: X:8.72, Y:-1.39, Z:0.96 [[ 0.94744068 0.28067918 -0.15354266 8.71621545] [-0.27530209 0.95974449 0.05567115 -1.39389186] [ 0.16298745 -0.0104745 0.98657254 0.96042626] [ 0. 0. 0. 1. ]] SLAMing on 86.306296757 meters Centerline goodness : 0.786944 with order 1 Centerline is valid? [False, False] Translation: X:8.71, Y:-1.39, Z:0.96 [[ 9.48274652e-01 2.77857207e-01 -1.53527058e-01 8.71251076e+00] [-2.72925878e-01 9.60588117e-01 5.27440540e-02 -1.39462849e+00] [ 1.62131583e-01 -8.11434222e-03 9.86735784e-01 9.61543139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.366296757 meters Centerline goodness : 0.788256 with order 1 Centerline is valid? [False, False] Translation: X:8.71, Y:-1.40, Z:0.96 [[ 9.49227863e-01 2.74074660e-01 -1.54432977e-01 8.71190642e+00] [-2.69626597e-01 9.61693742e-01 4.94635724e-02 -1.39512676e+00] [ 1.62073939e-01 -5.31296308e-03 9.86764314e-01 9.61802339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.42629675699999 meters Centerline goodness : 0.787244 with order 1 Centerline is valid? [False, False] Translation: X:8.71, Y:-1.40, Z:0.96 [[ 9.50127898e-01 2.70126945e-01 -1.55847399e-01 8.71244069e+00] [-2.66169933e-01 9.62821863e-01 4.61262049e-02 -1.39634694e+00] [ 1.62513214e-01 -2.34390231e-03 9.86703583e-01 9.61677360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.48629675699999 meters Centerline goodness : 0.786914 with order 1 Centerline is valid? [False, False] Translation: X:8.71, Y:-1.40, Z:0.96 [[ 9.50084321e-01 2.70050284e-01 -1.56245409e-01 8.71329501e+00] [-2.65991725e-01 9.62842042e-01 4.67290515e-02 -1.39863925e+00] [ 1.63058842e-01 -2.83655333e-03 9.86612268e-01 9.61877498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.546296757 meters Centerline goodness : 0.786815 with order 1 Centerline is valid? [False, False] Translation: X:8.71, Y:-1.40, Z:0.96 [[ 9.50030671e-01 2.70249326e-01 -1.56227479e-01 8.71335407e+00] [-2.66121835e-01 9.62784954e-01 4.71625080e-02 -1.40072372e+00] [ 1.63159103e-01 -3.23028571e-03 9.86594482e-01 9.61610327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.606296757 meters Centerline goodness : 0.785774 with order 1 Centerline is valid? [False, False] Translation: X:8.71, Y:-1.40, Z:0.96 [[ 9.49992377e-01 2.70482984e-01 -1.56055883e-01 8.71352543e+00] [-2.66406700e-01 9.62720216e-01 4.68748964e-02 -1.39964428e+00] [ 1.62917015e-01 -2.95646151e-03 9.86635346e-01 9.60872011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.666296757 meters Centerline goodness : 0.788446 with order 1 Centerline is valid? [False, False] Translation: X:8.71, Y:-1.40, Z:0.96 [[ 9.49721549e-01 2.71830374e-01 -1.55361601e-01 8.71064608e+00] [-2.67783406e-01 9.62340927e-01 4.68186637e-02 -1.39867022e+00] [ 1.62237562e-01 -2.86143521e-03 9.86747580e-01 9.61375777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.726296757 meters Centerline goodness : 0.788114 with order 1 Centerline is valid? [False, False] Translation: X:8.71, Y:-1.40, Z:0.96 [[ 9.49584350e-01 2.72426868e-01 -1.55155290e-01 8.71052582e+00] [-2.68433800e-01 9.62173121e-01 4.65422342e-02 -1.39599943e+00] [ 1.61965605e-01 -2.54685308e-03 9.86793117e-01 9.61025568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.78629675699999 meters Centerline goodness : 0.787910 with order 1 Centerline is valid? [False, False] Translation: X:8.71, Y:-1.40, Z:0.96 [[ 9.49269749e-01 2.74050361e-01 -1.54218491e-01 8.70773369e+00] [-2.69955375e-01 9.61709749e-01 4.73123079e-02 -1.39537609e+00] [ 1.61279382e-01 -3.28003194e-03 9.86903340e-01 9.61736933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.84629675699999 meters Centerline goodness : 0.785510 with order 1 Centerline is valid? [False, False] Translation: X:8.71, Y:-1.40, Z:0.96 [[ 9.49308383e-01 2.73773925e-01 -1.54471458e-01 8.70935380e+00] [-2.69661339e-01 9.61788290e-01 4.73924812e-02 -1.39665788e+00] [ 1.61543665e-01 -3.33509942e-03 9.86859930e-01 9.60578894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.90629675699999 meters Centerline goodness : 0.784457 with order 1 Centerline is valid? [False, False] Translation: X:8.71, Y:-1.40, Z:0.96 [[ 9.50448906e-01 2.69421373e-01 -1.55109641e-01 8.70782180e+00] [-2.65727421e-01 9.63021814e-01 4.44738444e-02 -1.39978765e+00] [ 1.61356172e-01 -1.05323190e-03 9.86895677e-01 9.61750695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.966296757 meters Centerline goodness : 0.785521 with order 1 Centerline is valid? [False, False] Translation: X:8.71, Y:-1.40, Z:0.96 [[ 9.51611945e-01 2.64593029e-01 -1.56285749e-01 8.70861356e+00] [-2.61492074e-01 9.64357263e-01 4.04594074e-02 -1.39988329e+00] [ 1.61420574e-01 2.36582912e-03 9.86882871e-01 9.61252635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.026296757 meters Centerline goodness : 0.787386 with order 1 Centerline is valid? [False, False] Translation: X:8.71, Y:-1.40, Z:0.96 [[ 9.52925676e-01 2.59000962e-01 -1.57642500e-01 8.71045466e+00] [-2.56497333e-01 9.65859869e-01 3.63844866e-02 -1.40195775e+00] [ 1.61684182e-01 5.76316932e-03 9.86825725e-01 9.60127023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.086296757 meters Centerline goodness : 0.788437 with order 1 Centerline is valid? [False, False] Translation: X:8.71, Y:-1.40, Z:0.96 [[ 9.53230467e-01 2.57450844e-01 -1.58337424e-01 8.71328330e+00] [-2.54959351e-01 9.66273653e-01 3.62071497e-02 -1.40446852e+00] [ 1.62318842e-01 5.85584854e-03 9.86720985e-01 9.59265839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.14629675699999 meters Centerline goodness : 0.792380 with order 1 Centerline is valid? [False, False] Translation: X:8.71, Y:-1.41, Z:0.96 [[ 9.54123458e-01 2.53874370e-01 -1.58733208e-01 8.71093350e+00] [-2.51748332e-01 9.67205717e-01 3.37027976e-02 -1.40744847e+00] [ 1.62083943e-01 7.80419053e-03 9.86746112e-01 9.60603700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.20629675699999 meters Centerline goodness : 0.794891 with order 1 Centerline is valid? [False, False] Translation: X:8.71, Y:-1.41, Z:0.96 [[ 9.54014558e-01 2.54353105e-01 -1.58621313e-01 8.71033583e+00] [-2.52100505e-01 9.67085595e-01 3.45077914e-02 -1.40895574e+00] [ 1.62177550e-01 7.06757768e-03 9.86736283e-01 9.61303588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.26629675699999 meters Centerline goodness : 0.792126 with order 1 Centerline is valid? [False, False] Translation: X:8.71, Y:-1.41, Z:0.96 [[ 9.52989952e-01 2.58250096e-01 -1.58483563e-01 8.71358874e+00] [-2.55531026e-01 9.66067105e-01 3.76595689e-02 -1.40858671e+00] [ 1.62831344e-01 4.60827656e-03 9.86643156e-01 9.59595348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.326296757 meters Centerline goodness : 0.796566 with order 1 Centerline is valid? [False, False] Translation: X:8.71, Y:-1.41, Z:0.96 [[ 9.52767215e-01 2.59232763e-01 -1.58218233e-01 8.71262938e+00] [-2.56539768e-01 9.65803004e-01 3.75753244e-02 -1.40757741e+00] [ 1.62548400e-01 4.78873152e-03 9.86688951e-01 9.59316337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.386296757 meters Centerline goodness : 0.798135 with order 1 Centerline is valid? [False, False] Translation: X:8.71, Y:-1.41, Z:0.96 [[ 9.52326249e-01 2.61202772e-01 -1.57631937e-01 8.71003316e+00] [-2.58462338e-01 9.65273259e-01 3.80099450e-02 -1.40512431e+00] [ 1.62086196e-01 4.54405063e-03 9.86766141e-01 9.60245436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.446296757 meters Centerline goodness : 0.800635 with order 1 Centerline is valid? [False, False] Translation: X:8.71, Y:-1.40, Z:0.96 [[ 9.50901498e-01 2.67426755e-01 -1.55785981e-01 8.70622295e+00] [-2.63987148e-01 9.63578077e-01 4.27559884e-02 -1.40326269e+00] [ 1.61546052e-01 4.68763592e-04 9.86865063e-01 9.62954331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.50629675699999 meters Centerline goodness : 0.796804 with order 1 Centerline is valid? [False, False] Translation: X:8.71, Y:-1.40, Z:0.96 [[ 9.50781843e-01 2.67656389e-01 -1.56121567e-01 8.70721236e+00] [-2.64226182e-01 9.63514221e-01 4.27185139e-02 -1.40303695e+00] [ 1.61859233e-01 6.35418100e-04 9.86813653e-01 9.62468713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.56629675699999 meters Centerline goodness : 0.796500 with order 1 Centerline is valid? [False, False] Translation: X:8.71, Y:-1.40, Z:0.96 [[ 9.50929622e-01 2.66827885e-01 -1.56638863e-01 8.71014000e+00] [-2.63550938e-01 9.63742855e-01 4.17206424e-02 -1.40149592e+00] [ 1.62091816e-01 1.60892453e-03 9.86774369e-01 9.60410710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.62629675699999 meters Centerline goodness : 0.795135 with order 1 Centerline is valid? [False, False] Translation: X:8.71, Y:-1.40, Z:0.96 [[ 9.52144534e-01 2.61668866e-01 -1.57956294e-01 8.71093081e+00] [-2.58980787e-01 9.65144893e-01 3.77397400e-02 -1.40187322e+00] [ 1.62326025e-01 4.97395801e-03 9.86724643e-01 9.60574484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.686296757 meters Centerline goodness : 0.797423 with order 1 Centerline is valid? [False, False] Translation: X:8.71, Y:-1.40, Z:0.96 [[ 9.53392090e-01 2.56292026e-01 -1.59241702e-01 8.71155329e+00] [-2.54175755e-01 9.66564761e-01 3.38710688e-02 -1.40342214e+00] [ 1.62598302e-01 8.18297079e-03 9.86658417e-01 9.60882288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.746296757 meters Centerline goodness : 0.800667 with order 1 Centerline is valid? [False, False] Translation: X:8.71, Y:-1.40, Z:0.96 [[ 0.9543522 0.25252926 -0.15950187 8.70893333] [-0.25085233 0.96753205 0.03090044 -1.40280464] [ 0.16212643 0.01052151 0.9867139 0.96284438] [ 0. 0. 0. 1. ]] SLAMing on 87.806296757 meters Centerline goodness : 0.802968 with order 1 Centerline is valid? [False, False] Translation: X:8.71, Y:-1.41, Z:0.96 [[ 0.95446499 0.25194752 -0.15974674 8.70956162] [-0.25016258 0.96769052 0.03152366 -1.40513901] [ 0.16252772 0.00987443 0.98665457 0.96357976] [ 0. 0. 0. 1. ]] SLAMing on 87.866296757 meters Centerline goodness : 0.798451 with order 1 Centerline is valid? [False, False] Translation: X:8.71, Y:-1.41, Z:0.96 [[ 0.95454312 0.25121311 -0.16043504 8.7119992 ] [-0.24943962 0.96788001 0.03143501 -1.40722674] [ 0.16317876 0.01001279 0.98654571 0.9624956 ] [ 0. 0. 0. 1. ]] SLAMing on 87.92629675699999 meters Centerline goodness : 0.800065 with order 1 Centerline is valid? [False, False] Translation: X:8.71, Y:-1.41, Z:0.96 [[ 0.95449399 0.25141366 -0.16041321 8.71252713] [-0.24967807 0.96782544 0.03122131 -1.40661099] [ 0.16310145 0.01025111 0.98655605 0.96165835] [ 0. 0. 0. 1. ]] SLAMing on 87.98629675699999 meters Centerline goodness : 0.798876 with order 1 Centerline is valid? [False, False] Translation: X:8.71, Y:-1.41, Z:0.96 [[ 0.95427012 0.25283698 -0.15950548 8.70937759] [-0.25102789 0.96745966 0.03173033 -1.4058785 ] [ 0.16233771 0.00976102 0.98668698 0.96268592] [ 0. 0. 0. 1. ]] SLAMing on 88.046296757 meters Centerline goodness : 0.802716 with order 1 Centerline is valid? [False, False] Translation: X:8.71, Y:-1.40, Z:0.96 [[ 0.95387149 0.25456087 -0.15914755 8.70784395] [-0.25269326 0.96701017 0.03220948 -1.40362148] [ 0.16209657 0.00949181 0.98672925 0.96328768] [ 0. 0. 0. 1. ]] SLAMing on 88.106296757 meters Centerline goodness : 0.797504 with order 1 Centerline is valid? [False, False] Translation: X:8.71, Y:-1.40, Z:0.96 [[ 9.52825901e-01 2.58829373e-01 -1.58524946e-01 8.70949748e+00] [-2.56410233e-01 9.65901517e-01 3.58894438e-02 -1.40418379e+00] [ 1.62408728e-01 6.45102690e-03 9.86702483e-01 9.62290535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.166296757 meters Centerline goodness : 0.796455 with order 1 Centerline is valid? [False, False] Translation: X:8.71, Y:-1.41, Z:0.96 [[ 9.52837358e-01 2.58889269e-01 -1.58358189e-01 8.70989640e+00] [-2.56434240e-01 9.65887074e-01 3.61059576e-02 -1.40502913e+00] [ 1.62303573e-01 6.20535679e-03 9.86721361e-01 9.61651404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.226296757 meters Centerline goodness : 0.796274 with order 1 Centerline is valid? [False, False] Translation: X:8.71, Y:-1.41, Z:0.96 [[ 0.9537403 0.25548376 -0.15845344 8.70748981] [-0.25352563 0.96677247 0.03279859 -1.40554133] [ 0.16156793 0.00889067 0.98682154 0.96176696] [ 0. 0. 0. 1. ]] SLAMing on 88.28629675699999 meters Centerline goodness : 0.797746 with order 1 Centerline is valid? [False, False] Translation: X:8.70, Y:-1.41, Z:0.96 [[ 0.95464073 0.25207897 -0.15848428 8.70437704] [-0.25057653 0.96764029 0.02972664 -1.40531882] [ 0.16084924 0.01133418 0.98691391 0.96312354] [ 0. 0. 0. 1. ]] SLAMing on 88.34629675699999 meters Centerline goodness : 0.797989 with order 1 Centerline is valid? [False, False] Translation: X:8.70, Y:-1.40, Z:0.96 [[ 0.95562795 0.24787298 -0.1591672 8.70339482] [-0.24692464 0.96868508 0.02602782 -1.40485718] [ 0.16063449 0.01442939 0.98690848 0.96359996] [ 0. 0. 0. 1. ]] SLAMing on 88.40629675699999 meters Centerline goodness : 0.796834 with order 1 Centerline is valid? [False, False] Translation: X:8.70, Y:-1.40, Z:0.96 [[ 0.95654511 0.24402925 -0.1595969 8.70228554] [-0.24368852 0.96960378 0.02200935 -1.4036904 ] [ 0.16011669 0.01783899 0.98693689 0.96310529] [ 0. 0. 0. 1. ]] SLAMing on 88.466296757 meters Centerline goodness : 0.796919 with order 1 Centerline is valid? [False, False] Translation: X:8.70, Y:-1.41, Z:0.96 [[ 0.95685779 0.24247158 -0.16009593 8.70482229] [-0.24217853 0.96999032 0.02164123 -1.40575257] [ 0.16053888 0.01806421 0.9868642 0.9620666 ] [ 0. 0. 0. 1. ]] SLAMing on 88.526296757 meters Centerline goodness : 0.796898 with order 1 Centerline is valid? [False, False] Translation: X:8.71, Y:-1.40, Z:0.96 [[ 0.95693012 0.24220982 -0.16005982 8.70543115] [-0.24194338 0.97005321 0.02145139 -1.40480754] [ 0.16046228 0.01819794 0.9868742 0.96174161] [ 0. 0. 0. 1. ]] SLAMing on 88.586296757 meters Centerline goodness : 0.800642 with order 1 Centerline is valid? [False, False] Translation: X:8.70, Y:-1.40, Z:0.96 [[ 0.95671846 0.24371472 -0.15903752 8.70136431] [-0.24331481 0.96969132 0.02228582 -1.4042477 ] [ 0.15964868 0.01737493 0.98702098 0.96388697] [ 0. 0. 0. 1. ]] SLAMing on 88.64629675699999 meters Centerline goodness : 0.798548 with order 1 Centerline is valid? [False, False] Translation: X:8.70, Y:-1.40, Z:0.96 [[ 0.95661256 0.24436173 -0.15868129 8.70038117] [-0.24397492 0.96952696 0.02221946 -1.40105288] [ 0.15927537 0.01745884 0.98707981 0.96459697] [ 0. 0. 0. 1. ]] SLAMing on 88.70629675699999 meters Centerline goodness : 0.798629 with order 1 Centerline is valid? [False, False] Translation: X:8.70, Y:-1.40, Z:0.96 [[ 0.95565482 0.24844333 -0.15811319 8.70204672] [-0.24757687 0.96853333 0.02547297 -1.39824433] [ 0.15946649 0.0148018 0.98709237 0.96434276] [ 0. 0. 0. 1. ]] SLAMing on 88.76629675699999 meters Centerline goodness : 0.794296 with order 1 Centerline is valid? [False, False] Translation: X:8.70, Y:-1.40, Z:0.96 [[ 0.9547296 0.25229468 -0.15760326 8.70416222] [-0.25100732 0.96756984 0.02835351 -1.39555587] [ 0.1596456 0.01248964 0.98709538 0.96342088] [ 0. 0. 0. 1. ]] SLAMing on 88.826296757 meters Centerline goodness : 0.792641 with order 1 Centerline is valid? [False, False] Translation: X:8.70, Y:-1.39, Z:0.97 [[ 0.95457487 0.25339012 -0.15678094 8.70116874] [-0.25210402 0.96728415 0.02837134 -1.39178861] [ 0.15884073 0.01244254 0.98722581 0.96529194] [ 0. 0. 0. 1. ]] SLAMing on 88.886296757 meters Centerline goodness : 0.793604 with order 1 Centerline is valid? [False, False] Translation: X:8.70, Y:-1.39, Z:0.97 [[ 0.95379021 0.25650386 -0.15649283 8.7036637 ] [-0.25482556 0.96648864 0.0310426 -1.38844527] [ 0.15921109 0.01027025 0.98719114 0.96512351] [ 0. 0. 0. 1. ]] SLAMing on 88.946296757 meters Centerline goodness : 0.792027 with order 1 Centerline is valid? [False, False] Translation: X:8.71, Y:-1.39, Z:0.96 [[ 0.95391412 0.25575034 -0.15697015 8.70641614] [-0.25423744 0.9666768 0.0299881 -1.38532604] [ 0.15940886 0.01130162 0.98714796 0.96357625] [ 0. 0. 0. 1. ]] SLAMing on 89.00629675699999 meters Centerline goodness : 0.791236 with order 1 Centerline is valid? [False, False] Translation: X:8.71, Y:-1.38, Z:0.96 [[ 0.95506169 0.25080907 -0.15796194 8.70678691] [-0.2499635 0.96791872 0.02552661 -1.38265632] [ 0.15929662 0.01510523 0.9871152 0.96359063] [ 0. 0. 0. 1. ]] SLAMing on 89.06629675699999 meters Centerline goodness : 0.792506 with order 1 Centerline is valid? [False, False] Translation: X:8.70, Y:-1.38, Z:0.96 [[ 0.957271 0.24265893 -0.15731774 8.7047385 ] [-0.24273868 0.96990557 0.01900327 -1.3804075 ] [ 0.15719467 0.01999583 0.98736518 0.96314262] [ 0. 0. 0. 1. ]] SLAMing on 89.12629675699999 meters Centerline goodness : 0.791343 with order 1 Centerline is valid? [False, False] Translation: X:8.70, Y:-1.37, Z:0.96 [[ 0.96030509 0.2350067 -0.15028633 8.69768965] [-0.23523857 0.97179777 0.01648979 -1.37482963] [ 0.14992313 0.01951791 0.98850499 0.9580493 ] [ 0. 0. 0. 1. ]] SLAMing on 89.186296757 meters Centerline goodness : 0.794650 with order 1 Centerline is valid? [False, False] Translation: X:8.70, Y:-1.37, Z:0.96 [[ 0.96048205 0.23404846 -0.15065043 8.6986044 ] [-0.23435465 0.97201994 0.01597296 -1.37345323] [ 0.15017367 0.01996389 0.98845805 0.95858827] [ 0. 0. 0. 1. ]] SLAMing on 89.246296757 meters Centerline goodness : 0.795954 with order 1 Centerline is valid? [False, False] Translation: X:8.70, Y:-1.37, Z:0.96 [[ 0.96058758 0.23345861 -0.15089261 8.70019017] [-0.23392594 0.97214025 0.01489906 -1.36821153] [ 0.15016709 0.02098584 0.98843788 0.95837868] [ 0. 0. 0. 1. ]] SLAMing on 89.306296757 meters Centerline goodness : 0.796640 with order 1 Centerline is valid? [False, False] Translation: X:8.70, Y:-1.37, Z:0.96 [[ 0.96058146 0.23337014 -0.15106829 8.70068509] [-0.2339255 0.9721488 0.01433791 -1.36632092] [ 0.1502069 0.02156599 0.98841934 0.95829535] [ 0. 0. 0. 1. ]] SLAMing on 89.366296757 meters Centerline goodness : 0.793736 with order 1 Centerline is valid? [False, False] Translation: X:8.70, Y:-1.36, Z:0.96 [[ 0.95974326 0.23725779 -0.15033831 8.70244536] [-0.2374561 0.97125133 0.01689558 -1.36081495] [ 0.15002489 0.01948332 0.98849023 0.95756484] [ 0. 0. 0. 1. ]] SLAMing on 89.42629675699999 meters Centerline goodness : 0.792133 with order 1 Centerline is valid? [False, False] Translation: X:8.71, Y:-1.36, Z:0.96 [[ 0.95892979 0.24050348 -0.15037198 8.70580992] [-0.24030774 0.97049588 0.01974694 -1.35850235] [ 0.1506846 0.01719962 0.98843226 0.95673742] [ 0. 0. 0. 1. ]] SLAMing on 89.48629675699999 meters Centerline goodness : 0.788376 with order 1 Centerline is valid? [False, False] Translation: X:8.71, Y:-1.36, Z:0.96 [[ 0.9580977 0.24388149 -0.15023519 8.7087336 ] [-0.24334208 0.96968528 0.02225043 -1.35638169] [ 0.15110732 0.01524045 0.98839987 0.9553266 ] [ 0. 0. 0. 1. ]] SLAMing on 89.546296757 meters Centerline goodness : 0.787452 with order 1 Centerline is valid? [False, False] Translation: X:8.70, Y:-1.35, Z:0.96 [[ 0.95761664 0.24656201 -0.14892126 8.70478973] [-0.24581692 0.96902692 0.02368263 -1.35187232] [ 0.15014794 0.01392849 0.98856542 0.95831426] [ 0. 0. 0. 1. ]] SLAMing on 89.606296757 meters Centerline goodness : 0.789871 with order 3 Centerline is valid? [False, False] Translation: X:8.70, Y:-1.35, Z:0.96 [[ 0.95650294 0.25128944 -0.1481747 8.70416016] [-0.24991504 0.96785904 0.02813094 -1.35177356] [ 0.15048124 0.01012376 0.98856103 0.96036952] [ 0. 0. 0. 1. ]] SLAMing on 89.666296757 meters Centerline goodness : 0.788461 with order 3 Centerline is valid? [False, False] Translation: X:8.71, Y:-1.35, Z:0.96 [[ 9.55560509e-01 2.54961435e-01 -1.47982361e-01 8.70677158e+00] [-2.53087884e-01 9.66924543e-01 3.16773042e-02 -1.35238133e+00] [ 1.51164268e-01 7.18296169e-03 9.88482559e-01 9.59546181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.726296757 meters Centerline goodness : 0.792264 with order 3 Centerline is valid? [False, False] Translation: X:8.71, Y:-1.35, Z:0.96 [[ 9.55679976e-01 2.54242925e-01 -1.48446348e-01 8.70872139e+00] [-2.52368645e-01 9.67113460e-01 3.16484314e-02 -1.35306178e+00] [ 1.51610851e-01 7.21743161e-03 9.88413911e-01 9.59024123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.78629675699999 meters Centerline goodness : 0.784718 with order 1 Centerline is valid? [False, False] Translation: X:8.71, Y:-1.36, Z:0.96 [[ 9.56139376e-01 2.52317083e-01 -1.48773599e-01 8.71046475e+00] [-2.50385321e-01 9.67620984e-01 3.18876401e-02 -1.35502280e+00] [ 1.52002253e-01 6.76169707e-03 9.88357018e-01 9.59885432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.84629675699999 meters Centerline goodness : 0.789710 with order 3 Centerline is valid? [False, False] Translation: X:8.71, Y:-1.36, Z:0.96 [[ 0.95725858 0.24746158 -0.14972898 8.71013565] [-0.24604878 0.96884754 0.02818583 -1.35530965] [ 0.15203947 0.00985951 0.98832525 0.96095126] [ 0. 0. 0. 1. ]] SLAMing on 89.90629675699999 meters Centerline goodness : 0.788730 with order 1 Centerline is valid? [False, False] Translation: X:8.71, Y:-1.36, Z:0.96 [[ 9.59818195e-01 2.44262603e-01 -1.38147792e-01 8.70576883e+00] [-2.41343719e-01 9.69704779e-01 3.77604398e-02 -1.35632086e+00] [ 1.43186037e-01 -2.90205536e-03 9.89691536e-01 9.63608689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.966296757 meters Centerline goodness : 0.789549 with order 1 Centerline is valid? [False, False] Translation: X:8.71, Y:-1.36, Z:0.97 [[ 9.59847678e-01 2.44049352e-01 -1.38319735e-01 8.70545141e+00] [-2.40915573e-01 9.69753168e-01 3.92234646e-02 -1.35970081e+00] [ 1.43708462e-01 -4.32517322e-03 9.89610616e-01 9.65887186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.026296757 meters Centerline goodness : 0.793123 with order 1 Centerline is valid? [False, False] Translation: X:8.71, Y:-1.36, Z:0.97 [[ 0.95910688 0.24741889 -0.13746957 8.7067742 ] [-0.24356323 0.96886528 0.04446369 -1.36242851] [ 0.14419065 -0.0091629 0.9895075 0.96772781] [ 0. 0. 0. 1. ]] SLAMing on 90.086296757 meters Centerline goodness : 0.793370 with order 1 Centerline is valid? [False, False] Translation: X:8.70, Y:-1.36, Z:0.97 [[ 0.96037706 0.2487485 -0.12569838 8.70127967] [-0.24308768 0.96822201 0.05877512 -1.36380175] [ 0.13632416 -0.02589055 0.99032591 0.96917565] [ 0. 0. 0. 1. ]] SLAMing on 90.14629675699999 meters Centerline goodness : 0.795494 with order 1 Centerline is valid? [False, False] Translation: X:8.70, Y:-1.37, Z:0.98 [[ 0.95974989 0.25243549 -0.12311159 8.70155991] [-0.2453057 0.96689793 0.07023894 -1.37118031] [ 0.13676715 -0.03721184 0.98990405 0.98038426] [ 0. 0. 0. 1. ]] SLAMing on 90.20629675699999 meters Centerline goodness : 0.795910 with order 1 Centerline is valid? [False, False] Translation: X:8.70, Y:-1.37, Z:0.98 [[ 0.9590855 0.25546067 -0.12204444 8.70113181] [-0.24806907 0.96601823 0.07259826 -1.36797814] [ 0.13644315 -0.03935249 0.98986597 0.98107374] [ 0. 0. 0. 1. ]] SLAMing on 90.26629675699999 meters Centerline goodness : 0.797173 with order 1 Centerline is valid? [False, False] Translation: X:8.71, Y:-1.37, Z:0.98 [[ 0.95776417 0.26347909 -0.11518057 8.70997719] [-0.25688906 0.9639743 0.06900413 -1.36597338] [ 0.12921226 -0.03650105 0.99094494 0.97917976] [ 0. 0. 0. 1. ]] SLAMing on 90.326296757 meters Centerline goodness : 0.795473 with order 1 Centerline is valid? [False, False] Translation: X:8.72, Y:-1.37, Z:0.98 [[ 0.95705683 0.26745177 -0.11185606 8.7217794 ] [-0.26188607 0.96310061 0.0620718 -1.36804378] [ 0.12432985 -0.03011269 0.9917839 0.97716685] [ 0. 0. 0. 1. ]] SLAMing on 90.386296757 meters Centerline goodness : 0.796823 with order 1 Centerline is valid? [False, False] Translation: X:8.72, Y:-1.37, Z:0.98 [[ 0.95591655 0.27159785 -0.11161614 8.7246821 ] [-0.26569767 0.96186265 0.06499988 -1.36634806] [ 0.12501323 -0.03247831 0.99162334 0.97530065] [ 0. 0. 0. 1. ]] SLAMing on 90.446296757 meters Centerline goodness : 0.794026 with order 1 Centerline is valid? [False, False] Translation: X:8.73, Y:-1.37, Z:0.97 [[ 0.95495227 0.27512414 -0.11123337 8.72737604] [-0.26884818 0.96076157 0.06824851 -1.36564433] [ 0.12564556 -0.03526918 0.99144807 0.97419561] [ 0. 0. 0. 1. ]] SLAMing on 90.50629675699999 meters Centerline goodness : 0.789911 with order 1 Centerline is valid? [False, False] Translation: X:8.73, Y:-1.36, Z:0.97 [[ 0.95596935 0.27106543 -0.11245502 8.72778852] [-0.26527163 0.96205284 0.06391639 -1.36426856] [ 0.1255132 -0.03127098 0.99159899 0.97360337] [ 0. 0. 0. 1. ]] SLAMing on 90.56629675699999 meters Centerline goodness : 0.794045 with order 1 Centerline is valid? [False, False] Translation: X:8.73, Y:-1.37, Z:0.97 [[ 0.95725558 0.26611991 -0.11332232 8.72738278] [-0.26075262 0.96353418 0.06008291 -1.3655824 ] [ 0.12517918 -0.02796561 0.99173993 0.97402454] [ 0. 0. 0. 1. ]] SLAMing on 90.62629675699999 meters Centerline goodness : 0.788162 with order 1 Centerline is valid? [False, False] Translation: X:8.73, Y:-1.37, Z:0.97 [[ 0.9578255 0.26406445 -0.11331498 8.72882931] [-0.25871368 0.96409833 0.05984676 -1.36703553] [ 0.12505019 -0.02800662 0.99175505 0.97394284] [ 0. 0. 0. 1. ]] SLAMing on 90.686296757 meters Centerline goodness : 0.791021 with order 1 Centerline is valid? [False, False] Translation: X:8.73, Y:-1.37, Z:0.97 [[ 0.95970135 0.25662535 -0.11452834 8.72613298] [-0.25204206 0.96625842 0.05309866 -1.36833468] [ 0.12429043 -0.02209289 0.9919999 0.97491606] [ 0. 0. 0. 1. ]] SLAMing on 90.746296757 meters Centerline goodness : 0.790866 with order 1 Centerline is valid? [False, False] Translation: X:8.73, Y:-1.37, Z:0.98 [[ 0.96003923 0.2552802 -0.11470269 8.72708848] [-0.25053806 0.96658504 0.05425901 -1.37293855] [ 0.12472115 -0.02335339 0.99191696 0.97625735] [ 0. 0. 0. 1. ]] SLAMing on 90.806296757 meters Centerline goodness : 0.792021 with order 1 Centerline is valid? [False, False] Translation: X:8.73, Y:-1.38, Z:0.98 [[ 0.96029616 0.25423924 -0.11486377 8.72823721] [-0.24913977 0.9667885 0.05700324 -1.3781426 ] [ 0.12554143 -0.02612286 0.99174439 0.97988982] [ 0. 0. 0. 1. ]] SLAMing on 90.866296757 meters Centerline goodness : 0.790519 with order 1 Centerline is valid? [False, False] Translation: X:8.73, Y:-1.38, Z:0.98 [[ 0.96027363 0.25472567 -0.11397098 8.72633086] [-0.24954877 0.96663371 0.05783327 -1.3797016 ] [ 0.12489981 -0.02709445 0.99179934 0.98082333] [ 0. 0. 0. 1. ]] SLAMing on 90.92629675699999 meters Centerline goodness : 0.788886 with order 1 Centerline is valid? [False, False] Translation: X:8.73, Y:-1.38, Z:0.98 [[ 0.96009938 0.25538037 -0.1139739 8.72646031] [-0.25025124 0.9664727 0.05748766 -1.37781136] [ 0.12483388 -0.02667176 0.9918191 0.98037683] [ 0. 0. 0. 1. ]] SLAMing on 90.98629675699999 meters Centerline goodness : 0.786249 with order 1 Centerline is valid? [False, False] Translation: X:8.73, Y:-1.38, Z:0.98 [[ 0.95901258 0.25955509 -0.11369269 8.72915415] [-0.2540792 0.96528828 0.06051692 -1.3768325 ] [ 0.1254537 -0.02914954 0.99167115 0.97853468] [ 0. 0. 0. 1. ]] SLAMing on 91.046296757 meters Centerline goodness : 0.783218 with order 1 Centerline is valid? [False, False] Translation: X:8.74, Y:-1.38, Z:0.97 [[ 0.95795886 0.26506911 -0.10978703 8.73920934] [-0.26066546 0.96397593 0.05295214 -1.37747955] [ 0.11986803 -0.02210829 0.99254364 0.97488515] [ 0. 0. 0. 1. ]] SLAMing on 91.106296757 meters Centerline goodness : 0.782728 with order 1 Centerline is valid? [False, False] Translation: X:8.74, Y:-1.38, Z:0.97 [[ 0.95673351 0.26988413 -0.1087361 8.74019445] [-0.26506753 0.9625539 0.05682596 -1.37742045] [ 0.12000078 -0.02554489 0.9924451 0.97368794] [ 0. 0. 0. 1. ]] SLAMing on 91.166296757 meters Centerline goodness : 0.781788 with order 1 Centerline is valid? [False, False] Translation: X:8.74, Y:-1.38, Z:0.97 [[ 0.95571891 0.27365015 -0.10824489 8.74247048] [-0.26839412 0.96139183 0.06074819 -1.37906065] [ 0.12068951 -0.0290059 0.99226645 0.97283035] [ 0. 0. 0. 1. ]] SLAMing on 91.226296757 meters Centerline goodness : 0.781495 with order 1 Centerline is valid? [False, False] Translation: X:8.74, Y:-1.38, Z:0.97 [[ 0.95603313 0.27209877 -0.10937511 8.74392226] [-0.26690453 0.96185979 0.05989746 -1.38492568] [ 0.12150155 -0.02807124 0.99219422 0.97216707] [ 0. 0. 0. 1. ]] SLAMing on 91.28629675699999 meters Centerline goodness : 0.783580 with order 1 Centerline is valid? [False, False] Translation: X:8.75, Y:-1.39, Z:0.97 [[ 0.95613175 0.27158857 -0.10978038 8.74540386] [-0.26632678 0.96199303 0.06032791 -1.38811237] [ 0.12199233 -0.02844397 0.99212339 0.97172615] [ 0. 0. 0. 1. ]] SLAMing on 91.34629675699999 meters Centerline goodness : 0.786675 with order 1 Centerline is valid? [False, False] Translation: X:8.74, Y:-1.39, Z:0.98 [[ 0.95676463 0.2697877 -0.1087016 8.73862781] [-0.26467945 0.96251548 0.05923466 -1.39041572] [ 0.12060775 -0.02790255 0.99230803 0.97575273] [ 0. 0. 0. 1. ]] SLAMing on 91.40629675699999 meters Centerline goodness : 0.789013 with order 1 Centerline is valid? [False, False] Translation: X:8.74, Y:-1.39, Z:0.98 [[ 0.95766617 0.26641523 -0.10907994 8.73672547] [-0.26167629 0.96353346 0.05593564 -1.39109426] [ 0.12000428 -0.02502403 0.99245794 0.97624234] [ 0. 0. 0. 1. ]] SLAMing on 91.466296757 meters Centerline goodness : 0.789803 with order 1 Centerline is valid? [False, False] Translation: X:8.74, Y:-1.39, Z:0.98 [[ 0.95776493 0.26613791 -0.10888961 8.73763183] [-0.26138223 0.9636037 0.05610032 -1.39185984] [ 0.11985685 -0.02526912 0.99246955 0.97530025] [ 0. 0. 0. 1. ]] SLAMing on 91.526296757 meters Centerline goodness : 0.792628 with order 1 Centerline is valid? [False, False] Translation: X:8.74, Y:-1.39, Z:0.97 [[ 0.957799 0.26618351 -0.10847771 8.73742179] [-0.26146907 0.96359481 0.05584779 -1.39200717] [ 0.11939432 -0.02512739 0.9925289 0.97446025] [ 0. 0. 0. 1. ]] SLAMing on 91.586296757 meters Centerline goodness : 0.795423 with order 1 Centerline is valid? [False, False] Translation: X:8.74, Y:-1.39, Z:0.97 [[ 0.95774988 0.26652123 -0.10808144 8.73645502] [-0.26181748 0.9634995 0.05585988 -1.39115918] [ 0.11902425 -0.02520219 0.99257145 0.97484389] [ 0. 0. 0. 1. ]] SLAMing on 91.64629675699999 meters Centerline goodness : 0.795595 with order 1 Centerline is valid? [False, False] Translation: X:8.74, Y:-1.39, Z:0.97 [[ 0.9576144 0.26702856 -0.10802968 8.73727765] [-0.26240604 0.96337637 0.0552182 -1.38862651] [ 0.11881807 -0.02453011 0.99261299 0.97328617] [ 0. 0. 0. 1. ]] SLAMing on 91.70629675699999 meters Centerline goodness : 0.791607 with order 1 Centerline is valid? [False, False] Translation: X:8.74, Y:-1.39, Z:0.97 [[ 0.95666507 0.27059286 -0.10757068 8.74069051] [-0.26566197 0.96231594 0.05806683 -1.38852025] [ 0.11922945 -0.02697307 0.99250027 0.97029083] [ 0. 0. 0. 1. ]] SLAMing on 91.76629675699999 meters Centerline goodness : 0.791140 with order 1 Centerline is valid? [False, False] Translation: X:8.74, Y:-1.39, Z:0.97 [[ 0.95645052 0.27129291 -0.10771515 8.74183492] [-0.26641641 0.96213443 0.05761624 -1.387252 ] [ 0.11926734 -0.02641 0.99251086 0.96840116] [ 0. 0. 0. 1. ]] SLAMing on 91.826296757 meters Centerline goodness : 0.790330 with order 1 Centerline is valid? [False, False] Translation: X:8.74, Y:-1.39, Z:0.97 [[ 0.95690328 0.26964604 -0.10782917 8.73865225] [-0.26505513 0.96265612 0.0551269 -1.38691038] [ 0.11866716 -0.02417044 0.99263986 0.96942967] [ 0. 0. 0. 1. ]] SLAMing on 91.886296757 meters Centerline goodness : 0.787505 with order 1 Centerline is valid? [False, False] Translation: X:8.74, Y:-1.39, Z:0.97 [[ 0.95682339 0.27020569 -0.10713492 8.73757999] [-0.2655804 0.96248486 0.05558734 -1.38682324] [ 0.11813575 -0.02473433 0.99268936 0.96953785] [ 0. 0. 0. 1. ]] SLAMing on 91.946296757 meters Centerline goodness : 0.786671 with order 1 Centerline is valid? [False, False] Translation: X:8.74, Y:-1.39, Z:0.97 [[ 0.95693242 0.26975863 -0.10728759 8.73870494] [-0.26511599 0.96260761 0.0556786 -1.38874143] [ 0.11829564 -0.024837 0.99266775 0.96869468] [ 0. 0. 0. 1. ]] SLAMing on 92.00629675699999 meters Centerline goodness : 0.785968 with order 1 Centerline is valid? [False, False] Translation: X:8.74, Y:-1.39, Z:0.97 [[ 0.95807685 0.26557011 -0.10752335 8.73739744] [-0.26130991 0.96384244 0.05220046 -1.39028977] [ 0.11749845 -0.02191514 0.99283122 0.96869841] [ 0. 0. 0. 1. ]] SLAMing on 92.06629675699999 meters Centerline goodness : 0.785192 with order 1 Centerline is valid? [False, False] Translation: X:8.74, Y:-1.39, Z:0.97 [[ 0.95905467 0.26202747 -0.1074977 8.7350292 ] [-0.25812648 0.96486896 0.04897558 -1.38851265] [ 0.11655414 -0.01922226 0.99299831 0.97027675] [ 0. 0. 0. 1. ]] SLAMing on 92.12629675699999 meters Centerline goodness : 0.789015 with order 1 Centerline is valid? [False, False] Translation: X:8.73, Y:-1.39, Z:0.97 [[ 0.95995549 0.25860018 -0.10775619 8.73254029] [-0.25503702 0.96584262 0.04587104 -1.38810725] [ 0.11593779 -0.01655234 0.99311855 0.97222085] [ 0. 0. 0. 1. ]] SLAMing on 92.186296757 meters Centerline goodness : 0.788462 with order 1 Centerline is valid? [False, False] Translation: X:8.73, Y:-1.39, Z:0.97 [[ 0.96000897 0.25825521 -0.10810659 8.7338153 ] [-0.25470343 0.96593849 0.0457055 -1.38797868] [ 0.116228 -0.01634257 0.9930881 0.97178008] [ 0. 0. 0. 1. ]] SLAMing on 92.246296757 meters Centerline goodness : 0.785303 with order 1 Centerline is valid? [False, False] Translation: X:8.74, Y:-1.39, Z:0.97 [[ 0.95951462 0.25965391 -0.10913997 8.74151815] [-0.25587746 0.9655398 0.04753547 -1.38683398] [ 0.11772175 -0.01768452 0.99288914 0.96784924] [ 0. 0. 0. 1. ]] SLAMing on 92.306296757 meters Centerline goodness : 0.783669 with order 1 Centerline is valid? [False, False] Translation: X:8.74, Y:-1.39, Z:0.97 [[ 0.95957493 0.25924106 -0.10959023 8.7432853 ] [-0.25552939 0.96566299 0.04690106 -1.38673525] [ 0.11798591 -0.01700156 0.99286972 0.96642202] [ 0. 0. 0. 1. ]] SLAMing on 92.366296757 meters Centerline goodness : 0.784188 with order 1 Centerline is valid? [False, False] Translation: X:8.74, Y:-1.39, Z:0.97 [[ 0.95956276 0.25933936 -0.10946414 8.74336954] [-0.25568598 0.96564415 0.04643345 -1.38539405] [ 0.11774543 -0.01656736 0.9929056 0.96590904] [ 0. 0. 0. 1. ]] SLAMing on 92.42629675699999 meters Centerline goodness : 0.783601 with order 1 Centerline is valid? [False, False] Translation: X:8.74, Y:-1.38, Z:0.97 [[ 0.9584947 0.26356029 -0.10873764 8.74417694] [-0.25951947 0.96444102 0.05003156 -1.38369951] [ 0.11805738 -0.01973545 0.99281064 0.96629614] [ 0. 0. 0. 1. ]] SLAMing on 92.48629675699999 meters Centerline goodness : 0.782030 with order 1 Centerline is valid? [False, False] Translation: X:8.74, Y:-1.38, Z:0.97 [[ 0.95806334 0.26548728 -0.1078478 8.74156601] [-0.26142558 0.96390379 0.05045935 -1.38212723] [ 0.11735122 -0.02014908 0.99288605 0.96687308] [ 0. 0. 0. 1. ]] SLAMing on 92.546296757 meters Centerline goodness : 0.781631 with order 1 Centerline is valid? [False, False] Translation: X:8.74, Y:-1.38, Z:0.97 [[ 0.95692895 0.26988089 -0.10701066 8.74280442] [-0.26545447 0.96261437 0.0539213 -1.38011265] [ 0.11756233 -0.02319239 0.99279465 0.9661106 ] [ 0. 0. 0. 1. ]] SLAMing on 92.606296757 meters Centerline goodness : 0.780524 with order 1 Centerline is valid? [False, False] Translation: X:8.74, Y:-1.38, Z:0.97 [[ 0.95665178 0.2710073 -0.10664153 8.74176554] [-0.26659764 0.96229907 0.05390922 -1.37806231] [ 0.11723083 -0.02314197 0.99283502 0.96631253] [ 0. 0. 0. 1. ]] SLAMing on 92.666296757 meters Centerline goodness : 0.779395 with order 1 Centerline is valid? [False, False] Translation: X:8.74, Y:-1.38, Z:0.97 [[ 0.95672929 0.27069883 -0.10672963 8.742548 ] [-0.2663247 0.96239327 0.05357558 -1.37629556] [ 0.11721872 -0.02283259 0.99284362 0.96629264] [ 0. 0. 0. 1. ]] SLAMing on 92.726296757 meters Centerline goodness : 0.779833 with order 1 Centerline is valid? [False, False] Translation: X:8.74, Y:-1.38, Z:0.97 [[ 0.95685005 0.27010274 -0.10715635 8.74386412] [-0.26577284 0.96257279 0.05308876 -1.37509271] [ 0.1174852 -0.02231873 0.9928238 0.96620323] [ 0. 0. 0. 1. ]] SLAMing on 92.78629675699999 meters Centerline goodness : 0.783871 with order 1 Centerline is valid? [False, False] Translation: X:8.74, Y:-1.37, Z:0.97 [[ 0.95693222 0.2699674 -0.10676297 8.74347304] [-0.2656923 0.96261679 0.05269269 -1.37176485] [ 0.11699714 -0.02205723 0.99288728 0.96700835] [ 0. 0. 0. 1. ]] SLAMing on 92.84629675699999 meters Centerline goodness : 0.785244 with order 1 Centerline is valid? [False, False] Translation: X:8.74, Y:-1.37, Z:0.97 [[ 0.95700411 0.26971501 -0.10675643 8.74384874] [-0.26552832 0.96270347 0.05193018 -1.3673495 ] [ 0.11678114 -0.02135054 0.99292815 0.96756759] [ 0. 0. 0. 1. ]] SLAMing on 92.90629675699999 meters Centerline goodness : 0.789311 with order 1 Centerline is valid? [False, False] Translation: X:8.74, Y:-1.36, Z:0.97 [[ 0.95785372 0.2663582 -0.10756193 8.74235999] [-0.26262064 0.96371461 0.04779698 -1.36414427] [ 0.11639012 -0.01753453 0.99304878 0.96862345] [ 0. 0. 0. 1. ]] SLAMing on 92.966296757 meters Centerline goodness : 0.791011 with order 1 Centerline is valid? [False, False] Translation: X:8.75, Y:-1.36, Z:0.97 [[ 0.95710079 0.26892577 -0.10787499 8.74694951] [-0.26494585 0.96296917 0.04994067 -1.3604207 ] [ 0.11731062 -0.01921723 0.99290932 0.96704956] [ 0. 0. 0. 1. ]] SLAMing on 93.026296757 meters Centerline goodness : 0.790371 with order 1 Centerline is valid? [False, False] Translation: X:8.75, Y:-1.36, Z:0.96 [[ 0.95619524 0.2720435 -0.1080879 8.75112041] [-0.26785187 0.96206382 0.05185161 -1.35722206] [ 0.11809335 -0.02062872 0.9927882 0.96471636] [ 0. 0. 0. 1. ]] SLAMing on 93.086296757 meters Centerline goodness : 0.790507 with order 1 Centerline is valid? [False, False] Translation: X:8.75, Y:-1.35, Z:0.96 [[ 0.95609239 0.27249212 -0.10786741 8.75381283] [-0.26833238 0.96194102 0.05164496 -1.35449341] [ 0.11783494 -0.02043304 0.99282295 0.96218627] [ 0. 0. 0. 1. ]] SLAMing on 93.14629675699999 meters Centerline goodness : 0.787174 with order 1 Centerline is valid? [False, False] Translation: X:8.76, Y:-1.35, Z:0.96 [[ 0.95520576 0.27574635 -0.1074519 8.7565165 ] [-0.27125459 0.96095323 0.05467931 -1.35289215] [ 0.11833387 -0.02308317 0.99270553 0.9612921 ] [ 0. 0. 0. 1. ]] SLAMing on 93.20629675699999 meters Centerline goodness : 0.788997 with order 1 Centerline is valid? [False, False] Translation: X:8.77, Y:-1.35, Z:0.96 [[ 0.95530007 0.27682374 -0.10378051 8.76765745] [-0.27352226 0.96080854 0.04508343 -1.35456872] [ 0.11219337 -0.01468193 0.99357792 0.95863499] [ 0. 0. 0. 1. ]] SLAMing on 93.26629675699999 meters Centerline goodness : 0.790252 with order 1 Centerline is valid? [False, False] Translation: X:8.77, Y:-1.36, Z:0.96 [[ 0.9552925 0.27695155 -0.10350878 8.76660581] [-0.27352691 0.96075333 0.0462175 -1.35514754] [ 0.11224642 -0.0158388 0.99355416 0.96108812] [ 0. 0. 0. 1. ]] SLAMing on 93.326296757 meters Centerline goodness : 0.790764 with order 1 Centerline is valid? [False, False] Translation: X:8.77, Y:-1.36, Z:0.96 [[ 0.95537151 0.27660111 -0.10371648 8.76721497] [-0.27313893 0.96084999 0.04650192 -1.35597789] [ 0.11251846 -0.0160976 0.99351923 0.96168355] [ 0. 0. 0. 1. ]] SLAMing on 93.386296757 meters Centerline goodness : 0.788035 with order 1 Centerline is valid? [False, False] Translation: X:8.77, Y:-1.35, Z:0.96 [[ 0.95545476 0.2761609 -0.10412188 8.76934428] [-0.27275253 0.9609864 0.0459478 -1.35377797] [ 0.11274869 -0.01550154 0.99350261 0.9608149 ] [ 0. 0. 0. 1. ]] SLAMing on 93.446296757 meters Centerline goodness : 0.790372 with order 1 Centerline is valid? [False, False] Translation: X:8.77, Y:-1.35, Z:0.96 [[ 0.95556919 0.27560139 -0.10455331 8.77089261] [-0.27225816 0.96115792 0.0452874 -1.35192637] [ 0.11297351 -0.01480975 0.99348762 0.96061815] [ 0. 0. 0. 1. ]] SLAMing on 93.50629675699999 meters Centerline goodness : 0.805171 with order 3 Centerline is valid? [False, False] Translation: X:8.77, Y:-1.35, Z:0.96 [[ 0.95473915 0.27862053 -0.1041334 8.77244929] [-0.27496099 0.96024256 0.04827723 -1.35059213] [ 0.11344435 -0.01745953 0.99339093 0.96103256] [ 0. 0. 0. 1. ]] SLAMing on 93.56629675699999 meters Centerline goodness : 0.805820 with order 3 Centerline is valid? [False, False] Translation: X:8.77, Y:-1.35, Z:0.96 [[ 0.95463304 0.27885271 -0.10448413 8.77302138] [-0.27523911 0.96018507 0.04783369 -1.34754168] [ 0.11366266 -0.0169055 0.99337556 0.96172833] [ 0. 0. 0. 1. ]] SLAMing on 93.62629675699999 meters Centerline goodness : 0.799052 with order 2 Centerline is valid? [False, False] Translation: X:8.78, Y:-1.34, Z:0.96 [[ 0.95476941 0.2781115 -0.10521108 8.77565866] [-0.27456692 0.96041435 0.04708802 -1.34468519] [ 0.11414195 -0.01607072 0.99333446 0.96097411] [ 0. 0. 0. 1. ]] SLAMing on 93.686296757 meters Centerline goodness : 0.788882 with order 2 Centerline is valid? [False, False] Translation: X:8.78, Y:-1.35, Z:0.96 [[ 0.95511949 0.27637568 -0.10659848 8.78012753] [-0.27291938 0.96093439 0.04604457 -1.34579466] [ 0.11515975 -0.01488527 0.99323545 0.95885487] [ 0. 0. 0. 1. ]] SLAMing on 93.746296757 meters Centerline goodness : 0.788714 with order 2 Centerline is valid? [False, False] Translation: X:8.78, Y:-1.35, Z:0.96 [[ 0.95519564 0.2760599 -0.10673438 8.78034527] [-0.2725579 0.96101971 0.04640381 -1.34729235] [ 0.11538407 -0.01523342 0.99320414 0.95965709] [ 0. 0. 0. 1. ]] SLAMing on 93.806296757 meters Centerline goodness : 0.792588 with order 2 Centerline is valid? [False, False] Translation: X:8.78, Y:-1.34, Z:0.96 [[ 0.95486058 0.27234383 -0.1186175 8.78322267] [-0.26856136 0.96211064 0.04709464 -1.34106697] [ 0.12694909 -0.01311273 0.99182256 0.9593963 ] [ 0. 0. 0. 1. ]] SLAMing on 93.866296757 meters Centerline goodness : 0.793855 with order 2 Centerline is valid? [False, False] Translation: X:8.79, Y:-1.34, Z:0.97 [[ 9.54075486e-01 2.68065507e-01 -1.33719300e-01 8.78709045e+00] [-2.64569061e-01 9.63380605e-01 4.36007023e-02 -1.33512576e+00] [ 1.40510425e-01 -6.22037149e-03 9.90059659e-01 9.66030039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.92629675699999 meters Centerline goodness : 0.792822 with order 2 Centerline is valid? [False, False] Translation: X:8.79, Y:-1.33, Z:0.97 [[ 9.53733434e-01 2.68637482e-01 -1.35005330e-01 8.78736491e+00] [-2.65348929e-01 9.63231492e-01 4.21312038e-02 -1.33434912e+00] [ 1.41359406e-01 -4.35841785e-03 9.89948747e-01 9.68760160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.98629675699999 meters Centerline goodness : 0.795465 with order 2 Centerline is valid? [False, False] Translation: X:8.79, Y:-1.33, Z:0.97 [[ 9.54093801e-01 2.60559902e-01 -1.47694128e-01 8.78886140e+00] [-2.57837955e-01 9.65455219e-01 3.76272417e-02 -1.32729364e+00] [ 1.52396217e-01 2.18123387e-03 9.88317072e-01 9.69214502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.046296757 meters Centerline goodness : 0.796191 with order 2 Centerline is valid? [False, False] Translation: X:8.79, Y:-1.33, Z:0.97 [[ 9.55059404e-01 2.56662111e-01 -1.48277089e-01 8.78806436e+00] [-2.54495543e-01 9.66485439e-01 3.37329965e-02 -1.32558565e+00] [ 1.51965629e-01 5.51884282e-03 9.88370371e-01 9.69745597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.106296757 meters Centerline goodness : 0.795817 with order 2 Centerline is valid? [False, False] Translation: X:8.79, Y:-1.33, Z:0.97 [[ 9.55200553e-01 2.56009411e-01 -1.48496077e-01 8.78862196e+00] [-2.53921650e-01 9.66655578e-01 3.31781504e-02 -1.32534234e+00] [ 1.52038480e-01 6.01458120e-03 9.88356275e-01 9.69450298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.166296757 meters Centerline goodness : 0.796687 with order 2 Centerline is valid? [False, False] Translation: X:8.79, Y:-1.32, Z:0.97 [[ 9.55693794e-01 2.55301781e-01 -1.46527722e-01 8.78757480e+00] [-2.52884123e-01 9.66855444e-01 3.52160619e-02 -1.32421527e+00] [ 1.50661849e-01 3.39876277e-03 9.88579514e-01 9.67112396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.226296757 meters Centerline goodness : 0.794755 with order 2 Centerline is valid? [False, False] Translation: X:8.79, Y:-1.32, Z:0.96 [[ 9.56777389e-01 2.51717508e-01 -1.45654809e-01 8.78806072e+00] [-2.49386247e-01 9.67794582e-01 3.43532653e-02 -1.32274591e+00] [ 1.49611253e-01 3.45587873e-03 9.88738858e-01 9.64088737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.28629675699999 meters Centerline goodness : 0.796469 with order 2 Centerline is valid? [False, False] Translation: X:8.79, Y:-1.32, Z:0.97 [[ 9.57462270e-01 2.48490404e-01 -1.46691922e-01 8.78779316e+00] [-2.46766053e-01 9.68606490e-01 3.01327612e-02 -1.32146599e+00] [ 1.49574450e-01 7.34760457e-03 9.88723165e-01 9.65117198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.34629675699999 meters Centerline goodness : 0.796998 with order 2 Centerline is valid? [False, False] Translation: X:8.79, Y:-1.32, Z:0.96 [[ 9.57745604e-01 2.47940535e-01 -1.45769852e-01 8.78660941e+00] [-2.46282862e-01 9.68745835e-01 2.96016797e-02 -1.31910145e+00] [ 1.48553393e-01 7.54973775e-03 9.88875569e-01 9.64767814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.40629675699999 meters Centerline goodness : 0.797658 with order 2 Centerline is valid? [False, False] Translation: X:8.79, Y:-1.32, Z:0.96 [[ 9.57370122e-01 2.50389400e-01 -1.44040265e-01 8.78675585e+00] [-2.48114746e-01 9.68139443e-01 3.38392090e-02 -1.31967070e+00] [ 1.47924041e-01 3.34186619e-03 9.88993079e-01 9.62540380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.466296757 meters Centerline goodness : 0.797737 with order 2 Centerline is valid? [False, False] Translation: X:8.79, Y:-1.32, Z:0.96 [[ 9.57349477e-01 2.50387038e-01 -1.44181517e-01 8.78714736e+00] [-2.48131534e-01 9.68139496e-01 3.37143520e-02 -1.31993735e+00] [ 1.48029458e-01 3.49956373e-03 9.88976760e-01 9.62549859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.526296757 meters Centerline goodness : 0.791349 with order 2 Centerline is valid? [False, False] Translation: X:8.79, Y:-1.32, Z:0.96 [[ 9.57112943e-01 2.51070039e-01 -1.44563655e-01 8.78884166e+00] [-2.48859967e-01 9.67960907e-01 3.34723703e-02 -1.31902081e+00] [ 1.48335876e-01 3.93926767e-03 9.88929194e-01 9.62004152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.586296757 meters Centerline goodness : 0.801477 with order 2 Centerline is valid? [False, False] Translation: X:8.79, Y:-1.32, Z:0.96 [[ 9.56822227e-01 2.51373283e-01 -1.45954440e-01 8.79059520e+00] [-2.49364640e-01 9.67874109e-01 3.22022613e-02 -1.31935963e+00] [ 1.49360311e-01 5.58403687e-03 9.88767069e-01 9.62961525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.64629675699999 meters Centerline goodness : 0.791517 with order 2 Centerline is valid? [False, False] Translation: X:8.79, Y:-1.32, Z:0.96 [[ 9.55826993e-01 2.55614661e-01 -1.45106528e-01 8.79045076e+00] [-2.52909782e-01 9.66777964e-01 3.71080847e-02 -1.32245219e+00] [ 1.49771165e-01 1.22995149e-03 9.88719923e-01 9.64405139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.70629675699999 meters Centerline goodness : 0.797340 with order 2 Centerline is valid? [False, False] Translation: X:8.79, Y:-1.32, Z:0.96 [[ 9.55647054e-01 2.55687038e-01 -1.46160349e-01 8.79349770e+00] [-2.52913592e-01 9.66759027e-01 3.75725902e-02 -1.32452563e+00] [ 1.50908661e-01 1.05980380e-03 9.88547142e-01 9.63139550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.76629675699999 meters Centerline goodness : 0.802201 with order 3 Centerline is valid? [False, False] Translation: X:8.80, Y:-1.33, Z:0.96 [[ 9.55907560e-01 2.53747251e-01 -1.47827837e-01 8.79548261e+00] [-2.51390959e-01 9.67262425e-01 3.47273097e-02 -1.32621995e+00] [ 1.51800272e-01 3.96648394e-03 9.88403230e-01 9.62904658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.826296757 meters Centerline goodness : 0.811553 with order 3 Centerline is valid? [False, False] Translation: X:8.80, Y:-1.33, Z:0.96 [[ 9.57166533e-01 2.48172711e-01 -1.49139310e-01 8.79501709e+00] [-2.46467576e-01 9.68683262e-01 3.01076618e-02 -1.32760908e+00] [ 1.51940653e-01 7.93995806e-03 9.88357726e-01 9.63343826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.886296757 meters Centerline goodness : 0.800719 with order 2 Centerline is valid? [False, False] Translation: X:8.79, Y:-1.33, Z:0.96 [[ 9.58594606e-01 2.43370653e-01 -1.47875309e-01 8.79459725e+00] [-2.41636624e-01 9.69907306e-01 2.98590057e-02 -1.32898669e+00] [ 1.50692149e-01 7.10940877e-03 9.88555174e-01 9.59359587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.946296757 meters Centerline goodness : 0.791619 with order 2 Centerline is valid? [False, False] Translation: X:8.80, Y:-1.33, Z:0.96 [[ 0.95986832 0.23736969 -0.14936012 8.79579104] [-0.23620667 0.97136185 0.02574028 -1.33143438] [ 0.15119268 0.01057257 0.98844777 0.95820097] [ 0. 0. 0. 1. ]] SLAMing on 95.00629675699999 meters Centerline goodness : 0.793093 with order 2 Centerline is valid? [False, False] Translation: X:8.79, Y:-1.33, Z:0.96 [[ 0.96007048 0.23674355 -0.14905424 8.79446817] [-0.23548863 0.97152196 0.02627148 -1.33395312] [ 0.15102908 0.0098781 0.98847997 0.95837404] [ 0. 0. 0. 1. ]] SLAMing on 95.06629675699999 meters Centerline goodness : 0.793297 with order 2 Centerline is valid? [False, False] Translation: X:8.79, Y:-1.34, Z:0.96 [[ 9.59183327e-01 2.41302117e-01 -1.47447056e-01 8.79368322e+00] [-2.39311020e-01 9.70436124e-01 3.13682152e-02 -1.33579456e+00] [ 1.50657167e-01 5.19783645e-03 9.88572405e-01 9.57760377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.12629675699999 meters Centerline goodness : 0.794536 with order 2 Centerline is valid? [False, False] Translation: X:8.80, Y:-1.34, Z:0.95 [[ 0.95821104 0.24801204 -0.14255394 8.80199819] [-0.24691157 0.96869866 0.02564324 -1.34281041] [ 0.14445164 0.01062658 0.9894548 0.95386411] [ 0. 0. 0. 1. ]] SLAMing on 95.186296757 meters Centerline goodness : 0.818905 with order 3 Centerline is valid? [False, False] Translation: X:8.80, Y:-1.34, Z:0.95 [[ 9.57001392e-01 2.52972479e-01 -1.41962176e-01 8.80240806e+00] [-2.51391276e-01 9.67442987e-01 2.92658925e-02 -1.34373884e+00] [ 1.44743777e-01 7.68055278e-03 9.89439360e-01 9.54312369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.246296757 meters Centerline goodness : 0.794863 with order 1 Centerline is valid? [False, False] Translation: X:8.80, Y:-1.35, Z:0.95 [[ 9.56068248e-01 2.56739075e-01 -1.41486934e-01 8.80390173e+00] [-2.54639552e-01 9.66470658e-01 3.30630674e-02 -1.34587765e+00] [ 1.45231551e-01 4.41762045e-03 9.89387832e-01 9.53279093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.306296757 meters Centerline goodness : 0.792490 with order 1 Centerline is valid? [False, False] Translation: X:8.80, Y:-1.35, Z:0.96 [[ 9.55637080e-01 2.57329094e-01 -1.43316116e-01 8.80394728e+00] [-2.55425647e-01 9.66304102e-01 3.18452654e-02 -1.34873476e+00] [ 1.46681664e-01 6.17409541e-03 9.89164481e-01 9.56626439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.366296757 meters Centerline goodness : 0.793394 with order 1 Centerline is valid? [False, False] Translation: X:8.80, Y:-1.35, Z:0.96 [[ 9.55553822e-01 2.57964379e-01 -1.42727967e-01 8.80293356e+00] [-2.55879371e-01 9.66142022e-01 3.30959390e-02 -1.34966973e+00] [ 1.46433060e-01 4.89619131e-03 9.89208465e-01 9.57798722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.42629675699999 meters Centerline goodness : 0.794998 with order 1 Centerline is valid? [False, False] Translation: X:8.80, Y:-1.35, Z:0.96 [[ 9.55652000e-01 2.57606257e-01 -1.42717454e-01 8.80316701e+00] [-2.55431679e-01 9.66240522e-01 3.36735891e-02 -1.35197947e+00] [ 1.46573914e-01 4.27432610e-03 9.89190486e-01 9.58064795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.48629675699999 meters Centerline goodness : 0.793862 with order 1 Centerline is valid? [False, False] Translation: X:8.80, Y:-1.36, Z:0.96 [[ 9.55834622e-01 2.56658540e-01 -1.43201149e-01 8.80408024e+00] [-2.54355489e-01 9.66495928e-01 3.44805312e-02 -1.35610617e+00] [ 1.47253050e-01 3.46631278e-03 9.89092778e-01 9.58962983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.546296757 meters Centerline goodness : 0.795167 with order 1 Centerline is valid? [False, False] Translation: X:8.81, Y:-1.36, Z:0.96 [[ 9.55992088e-01 2.55781275e-01 -1.43718709e-01 8.80581928e+00] [-2.53386592e-01 9.66730274e-01 3.50401456e-02 -1.35766176e+00] [ 1.47899840e-01 2.91829198e-03 9.88998039e-01 9.59754939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.606296757 meters Centerline goodness : 0.796921 with order 1 Centerline is valid? [False, False] Translation: X:8.81, Y:-1.36, Z:0.96 [[ 9.55091578e-01 2.59626447e-01 -1.42808216e-01 8.80606074e+00] [-2.56534946e-01 9.65707885e-01 3.99762756e-02 -1.36024602e+00] [ 1.48289919e-01 -1.54570618e-03 9.88942724e-01 9.61549735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.666296757 meters Centerline goodness : 0.797333 with order 1 Centerline is valid? [False, False] Translation: X:8.81, Y:-1.36, Z:0.96 [[ 9.54224179e-01 2.62955118e-01 -1.42516041e-01 8.80871161e+00] [-2.59402708e-01 9.64798285e-01 4.32955523e-02 -1.36086317e+00] [ 1.48884019e-01 -4.34461579e-03 9.88845121e-01 9.60571009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.726296757 meters Centerline goodness : 0.792698 with order 1 Centerline is valid? [False, False] Translation: X:8.81, Y:-1.36, Z:0.96 [[ 9.53385450e-01 2.66150639e-01 -1.42197121e-01 8.81119854e+00] [-2.62097569e-01 9.63902995e-01 4.68602278e-02 -1.36284636e+00] [ 1.49536111e-01 -7.40633955e-03 9.88728526e-01 9.59810928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.78629675699999 meters Centerline goodness : 0.803743 with order 3 Centerline is valid? [False, False] Translation: X:8.81, Y:-1.36, Z:0.96 [[ 9.53399064e-01 2.65930995e-01 -1.42516424e-01 8.81280360e+00] [-2.61856598e-01 9.63963191e-01 4.69690082e-02 -1.36373435e+00] [ 1.49871102e-01 -7.46134237e-03 9.88677390e-01 9.59137201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.84629675699999 meters Centerline goodness : 0.787223 with order 1 Centerline is valid? [False, False] Translation: X:8.82, Y:-1.37, Z:0.96 [[ 0.95255587 0.26919741 -0.14202136 8.81521267] [-0.26455039 0.96302203 0.05100649 -1.36596546] [ 0.15050051 -0.01101473 0.98854857 0.95866314] [ 0. 0. 0. 1. ]] SLAMing on 95.90629675699999 meters Centerline goodness : 0.791545 with order 1 Centerline is valid? [False, False] Translation: X:8.82, Y:-1.37, Z:0.96 [[ 9.53428937e-01 2.69082840e-01 -1.36263303e-01 8.82221542e+00] [-2.65844855e-01 9.63110294e-01 4.17740930e-02 -1.36808163e+00] [ 1.42477281e-01 -3.60373110e-03 9.89791512e-01 9.58790134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.966296757 meters Centerline goodness : 0.791013 with order 1 Centerline is valid? [False, False] Translation: X:8.82, Y:-1.37, Z:0.96 [[ 9.53424865e-01 2.68958527e-01 -1.36536944e-01 8.82310758e+00] [-2.65572619e-01 9.63141106e-01 4.27831013e-02 -1.37154613e+00] [ 1.43011224e-01 -4.52999862e-03 9.89710700e-01 9.59164948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.026296757 meters Centerline goodness : 0.791136 with order 1 Centerline is valid? [False, False] Translation: X:8.82, Y:-1.37, Z:0.96 [[ 9.53419725e-01 2.69110501e-01 -1.36273134e-01 8.82339694e+00] [-2.65698629e-01 9.63097482e-01 4.29822990e-02 -1.37106425e+00] [ 1.42811300e-01 -4.77258679e-03 9.89738428e-01 9.58715898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.086296757 meters Centerline goodness : 0.792901 with order 1 Centerline is valid? [False, False] Translation: X:8.82, Y:-1.37, Z:0.96 [[ 9.53141700e-01 2.70515577e-01 -1.35433459e-01 8.82116866e+00] [-2.67008914e-01 9.62699561e-01 4.37698055e-02 -1.36948879e+00] [ 1.42222145e-01 -5.55688604e-03 9.89819166e-01 9.60049192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.14629675699999 meters Centerline goodness : 0.790128 with order 1 Centerline is valid? [False, False] Translation: X:8.82, Y:-1.37, Z:0.96 [[ 9.52994287e-01 2.71200132e-01 -1.35101358e-01 8.82015711e+00] [-2.67660832e-01 9.62505349e-01 4.40582806e-02 -1.36861496e+00] [ 1.41984391e-01 -5.82594789e-03 9.89851752e-01 9.60811937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.20629675699999 meters Centerline goodness : 0.790077 with order 1 Centerline is valid? [False, False] Translation: X:8.82, Y:-1.37, Z:0.96 [[ 9.52403412e-01 2.72476562e-01 -1.36690397e-01 8.82468895e+00] [-2.69081415e-01 9.62152995e-01 4.30906779e-02 -1.36652110e+00] [ 1.43258275e-01 -4.25886300e-03 9.89676174e-01 9.59808201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.26629675699999 meters Centerline goodness : 0.788763 with order 1 Centerline is valid? [False, False] Translation: X:8.83, Y:-1.36, Z:0.96 [[ 9.52331140e-01 2.65834019e-01 -1.49658527e-01 8.82570666e+00] [-2.62496693e-01 9.64018553e-01 4.19966140e-02 -1.36052399e+00] [ 1.55437725e-01 -7.09814816e-04 9.87845438e-01 9.63471552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.326296757 meters Centerline goodness : 0.789196 with order 2 Centerline is valid? [False, False] Translation: X:8.82, Y:-1.36, Z:0.96 [[ 9.52252515e-01 2.66298669e-01 -1.49332402e-01 8.82462943e+00] [-2.62972490e-01 9.63890317e-01 4.19633861e-02 -1.36010258e+00] [ 1.55114851e-01 -6.89426284e-04 9.87896203e-01 9.64406383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.386296757 meters Centerline goodness : 0.787311 with order 2 Centerline is valid? [False, False] Translation: X:8.83, Y:-1.36, Z:0.96 [[ 9.51630947e-01 2.68735555e-01 -1.48928646e-01 8.82792313e+00] [-2.64923966e-01 9.63207263e-01 4.52444468e-02 -1.36107182e+00] [ 1.55607945e-01 -3.60124834e-03 9.87812330e-01 9.61452283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.446296757 meters Centerline goodness : 0.788383 with order 1 Centerline is valid? [False, False] Translation: X:8.83, Y:-1.36, Z:0.96 [[ 9.51923031e-01 2.67622342e-01 -1.49066512e-01 8.82763617e+00] [-2.63841836e-01 9.63517652e-01 4.49579898e-02 -1.36283989e+00] [ 1.55659978e-01 -3.46656380e-03 9.87804613e-01 9.61399941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.50629675699999 meters Centerline goodness : 0.790860 with order 1 Centerline is valid? [False, False] Translation: X:8.83, Y:-1.37, Z:0.96 [[ 9.52116271e-01 2.66847914e-01 -1.49220634e-01 8.82845486e+00] [-2.62952901e-01 9.63729511e-01 4.56201916e-02 -1.36601637e+00] [ 1.55981982e-01 -4.19772803e-03 9.87750981e-01 9.61621762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.56629675699999 meters Centerline goodness : 0.792066 with order 1 Centerline is valid? [False, False] Translation: X:8.83, Y:-1.37, Z:0.96 [[ 9.52249337e-01 2.66439442e-01 -1.49101387e-01 8.82813132e+00] [-2.62327657e-01 9.63835345e-01 4.69641104e-02 -1.36921523e+00] [ 1.56222278e-01 -5.60812538e-03 9.87706003e-01 9.63431278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.62629675699999 meters Centerline goodness : 0.793137 with order 1 Centerline is valid? [False, False] Translation: X:8.83, Y:-1.37, Z:0.96 [[ 9.52286719e-01 2.66193293e-01 -1.49302162e-01 8.82900473e+00] [-2.62001506e-01 9.63900609e-01 4.74428701e-02 -1.37016061e+00] [ 1.56541419e-01 -6.06182374e-03 9.87652792e-01 9.63838082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.686296757 meters Centerline goodness : 0.795012 with order 1 Centerline is valid? [False, False] Translation: X:8.83, Y:-1.37, Z:0.96 [[ 9.51714159e-01 2.68165670e-01 -1.49423335e-01 8.83193637e+00] [-2.63585870e-01 9.63337668e-01 5.00302494e-02 -1.37241932e+00] [ 1.57361523e-01 -8.22861693e-03 9.87506780e-01 9.63212788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.746296757 meters Centerline goodness : 0.795923 with order 1 Centerline is valid? [False, False] Translation: X:8.83, Y:-1.37, Z:0.96 [[ 0.95134608 0.27012502 -0.1482333 8.83186683] [-0.2652816 0.96277272 0.05190729 -1.37138015] [ 0.15673643 -0.01005823 0.98758925 0.96313997] [ 0. 0. 0. 1. ]] SLAMing on 96.806296757 meters Centerline goodness : 0.795825 with order 1 Centerline is valid? [False, False] Translation: X:8.83, Y:-1.37, Z:0.96 [[ 0.95035308 0.27358151 -0.14826392 8.83481127] [-0.26828655 0.96176767 0.0550026 -1.37137344] [ 0.15764314 -0.01249467 0.9874171 0.96244984] [ 0. 0. 0. 1. ]] SLAMing on 96.866296757 meters Centerline goodness : 0.794522 with order 1 Centerline is valid? [False, False] Translation: X:8.84, Y:-1.37, Z:0.96 [[ 0.94925365 0.27746503 -0.14809007 8.83665766] [-0.2716216 0.96061022 0.05873421 -1.37356369] [ 0.15855353 -0.0155292 0.98722825 0.96230433] [ 0. 0. 0. 1. ]] SLAMing on 96.92629675699999 meters Centerline goodness : 0.793736 with order 1 Centerline is valid? [False, False] Translation: X:8.85, Y:-1.38, Z:0.96 [[ 0.94902712 0.28065671 -0.14345498 8.84717948] [-0.27603532 0.95976269 0.05157603 -1.37547399] [ 0.1521579 -0.00934841 0.98831199 0.96060055] [ 0. 0. 0. 1. ]] SLAMing on 96.98629675699999 meters Centerline goodness : 0.795645 with order 2 Centerline is valid? [False, False] Translation: X:8.85, Y:-1.37, Z:0.95 [[ 0.95026105 0.28336799 -0.12925373 8.84810211] [-0.27910248 0.95893862 0.05038378 -1.37480214] [ 0.13822355 -0.01180271 0.99033073 0.95396789] [ 0. 0. 0. 1. ]] SLAMing on 97.046296757 meters Centerline goodness : 0.797037 with order 1 Centerline is valid? [False, False] Translation: X:8.85, Y:-1.37, Z:0.95 [[ 0.95003848 0.28418575 -0.12909433 8.84785359] [-0.27989381 0.95869442 0.05064053 -1.37404275] [ 0.13815333 -0.01197775 0.99033842 0.95391044] [ 0. 0. 0. 1. ]] SLAMing on 97.106296757 meters Centerline goodness : 0.794931 with order 1 Centerline is valid? [False, False] Translation: X:8.85, Y:-1.37, Z:0.95 [[ 0.94987294 0.28492046 -0.12869238 8.84732535] [-0.28063983 0.9584762 0.05064246 -1.37363225] [ 0.13777765 -0.01198769 0.99039064 0.95330649] [ 0. 0. 0. 1. ]] SLAMing on 97.166296757 meters Centerline goodness : 0.797108 with order 1 Centerline is valid? [False, False] Translation: X:8.85, Y:-1.37, Z:0.95 [[ 0.94974187 0.28552287 -0.12832413 8.84704387] [-0.28127397 0.95829859 0.05048536 -1.37235691] [ 0.13738756 -0.01185383 0.99044644 0.95263375] [ 0. 0. 0. 1. ]] SLAMing on 97.226296757 meters Centerline goodness : 0.798379 with order 1 Centerline is valid? [False, False] Translation: X:8.85, Y:-1.37, Z:0.95 [[ 0.95151265 0.28551634 -0.11447315 8.84743444] [-0.28195998 0.95829925 0.0464878 -1.37229178] [ 0.12297256 -0.01195688 0.99233804 0.94625319] [ 0. 0. 0. 1. ]] SLAMing on 97.28629675699999 meters Centerline goodness : 0.799460 with order 1 Centerline is valid? [False, False] Translation: X:8.85, Y:-1.37, Z:0.95 [[ 0.95136435 0.28616871 -0.11407605 8.84626967] [-0.28256794 0.95809892 0.04692363 -1.37268932] [ 0.12272421 -0.01240723 0.99236325 0.94678008] [ 0. 0. 0. 1. ]] SLAMing on 97.34629675699999 meters Centerline goodness : 0.799294 with order 1 Centerline is valid? [False, False] Translation: X:8.85, Y:-1.37, Z:0.95 [[ 0.95121498 0.28674945 -0.11386315 8.84627528] [-0.28313323 0.95792318 0.04710375 -1.37235525] [ 0.12257912 -0.01256735 0.99237917 0.94633518] [ 0. 0. 0. 1. ]] SLAMing on 97.40629675699999 meters Centerline goodness : 0.802182 with order 1 Centerline is valid? [False, False] Translation: X:8.85, Y:-1.37, Z:0.95 [[ 0.95108209 0.2872759 -0.11364597 8.84574328] [-0.28359539 0.95775808 0.04767717 -1.37401273] [ 0.12254185 -0.01311543 0.99237668 0.94640116] [ 0. 0. 0. 1. ]] SLAMing on 97.466296757 meters Centerline goodness : 0.800335 with order 1 Centerline is valid? [False, False] Translation: X:8.85, Y:-1.37, Z:0.95 [[ 0.95199398 0.28384434 -0.11462918 8.84561217] [-0.28056443 0.95881966 0.04414139 -1.37386234] [ 0.122438 -0.00986147 0.99242717 0.94588574] [ 0. 0. 0. 1. ]] SLAMing on 97.526296757 meters Centerline goodness : 0.799328 with order 1 Centerline is valid? [False, False] Translation: X:8.85, Y:-1.38, Z:0.94 [[ 0.95221381 0.2829716 -0.11496053 8.84735815] [-0.27966116 0.9590757 0.04431063 -1.37663526] [ 0.1227945 -0.0100432 0.9923813 0.94482376] [ 0. 0. 0. 1. ]] SLAMing on 97.586296757 meters Centerline goodness : 0.798100 with order 1 Centerline is valid? [False, False] Translation: X:8.85, Y:-1.38, Z:0.94 [[ 9.53149220e-01 2.79530611e-01 -1.15625261e-01 8.84585478e+00] [-2.76579390e-01 9.60109429e-01 4.11548942e-02 -1.37926445e+00] [ 1.22516956e-01 -7.24719121e-03 9.92439960e-01 9.44888303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.64629675699999 meters Centerline goodness : 0.798971 with order 1 Centerline is valid? [False, False] Translation: X:8.85, Y:-1.38, Z:0.94 [[ 9.53215747e-01 2.79243467e-01 -1.15770575e-01 8.84618557e+00] [-2.76232296e-01 9.60189557e-01 4.16140917e-02 -1.38327987e+00] [ 1.22782161e-01 -7.68763578e-03 9.92403870e-01 9.44501674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.70629675699999 meters Centerline goodness : 0.797929 with order 1 Centerline is valid? [False, False] Translation: X:8.85, Y:-1.38, Z:0.94 [[ 9.53110893e-01 2.79708037e-01 -1.15512071e-01 8.84638782e+00] [-2.76617631e-01 9.60048683e-01 4.22990936e-02 -1.38464655e+00] [ 1.22728608e-01 -8.36305141e-03 9.92405032e-01 9.43850708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.76629675699999 meters Centerline goodness : 0.795961 with order 1 Centerline is valid? [False, False] Translation: X:8.84, Y:-1.39, Z:0.94 [[ 9.53768000e-01 2.77382784e-01 -1.15695262e-01 8.84345602e+00] [-2.74578492e-01 9.60739332e-01 3.98319829e-02 -1.38740187e+00] [ 1.22201695e-01 -6.22304027e-03 9.92485778e-01 9.44360350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.826296757 meters Centerline goodness : 0.794222 with order 1 Centerline is valid? [False, False] Translation: X:8.84, Y:-1.39, Z:0.94 [[ 9.54366522e-01 2.75404170e-01 -1.15486295e-01 8.83985568e+00] [-2.72888761e-01 9.61319581e-01 3.73682741e-02 -1.38879238e+00] [ 1.21310615e-01 -4.14811774e-03 9.92605928e-01 9.44861577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.886296757 meters Centerline goodness : 0.794004 with order 1 Centerline is valid? [False, False] Translation: X:8.84, Y:-1.39, Z:0.94 [[ 9.54361439e-01 2.75323980e-01 -1.15719274e-01 8.84117637e+00] [-2.72764979e-01 9.61341310e-01 3.77114192e-02 -1.39075998e+00] [ 1.21628576e-01 -4.42615897e-03 9.92565816e-01 9.43880038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.946296757 meters Centerline goodness : 0.792133 with order 1 Centerline is valid? [False, False] Translation: X:8.84, Y:-1.39, Z:0.94 [[ 9.55245792e-01 2.72038917e-01 -1.16190812e-01 8.83954592e+00] [-2.69876445e-01 9.62285276e-01 3.42600766e-02 -1.39181274e+00] [ 1.21128782e-01 -1.36963066e-03 9.92635856e-01 9.43560457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.00629675699999 meters Centerline goodness : 0.792468 with order 1 Centerline is valid? [False, False] Translation: X:8.84, Y:-1.39, Z:0.94 [[ 9.56073980e-01 2.68940402e-01 -1.16591617e-01 8.83777426e+00] [-2.67165425e-01 9.63155464e-01 3.08899245e-02 -1.39235866e+00] [ 1.20603401e-01 1.61619586e-03 9.92699455e-01 9.43368626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.06629675699999 meters Centerline goodness : 0.790811 with order 1 Centerline is valid? [False, False] Translation: X:8.84, Y:-1.39, Z:0.94 [[ 9.56062816e-01 2.69115390e-01 -1.16278969e-01 8.83816126e+00] [-2.67318617e-01 9.63106963e-01 3.10762643e-02 -1.39289933e+00] [ 1.20352186e-01 1.37267242e-03 9.92730309e-01 9.42295042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.12629675699999 meters Centerline goodness : 0.792308 with order 1 Centerline is valid? [False, False] Translation: X:8.83, Y:-1.39, Z:0.94 [[ 9.56754270e-01 2.66681560e-01 -1.16199017e-01 8.83400256e+00] [-2.65162403e-01 9.63778630e-01 2.86295673e-02 -1.39496647e+00] [ 1.19625108e-01 3.42014992e-03 9.92813243e-01 9.43890213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.186296757 meters Centerline goodness : 0.792092 with order 1 Centerline is valid? [False, False] Translation: X:8.83, Y:-1.40, Z:0.94 [[ 9.57622896e-01 2.63343499e-01 -1.16655861e-01 8.83212038e+00] [-2.62144394e-01 9.64684153e-01 2.57837570e-02 -1.39751517e+00] [ 1.19326045e-01 5.88956397e-03 9.92837654e-01 9.44336891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.246296757 meters Centerline goodness : 0.791563 with order 1 Centerline is valid? [False, False] Translation: X:8.83, Y:-1.40, Z:0.94 [[ 9.57743240e-01 2.62777516e-01 -1.16943849e-01 8.83445247e+00] [-2.61586511e-01 9.64837918e-01 2.56960835e-02 -1.39825600e+00] [ 1.19584213e-01 5.98068322e-03 9.92806047e-01 9.42599560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.306296757 meters Centerline goodness : 0.791251 with order 1 Centerline is valid? [False, False] Translation: X:8.83, Y:-1.40, Z:0.94 [[ 9.58530359e-01 2.59896223e-01 -1.16933759e-01 8.83092900e+00] [-2.58984195e-01 9.65602997e-01 2.31956806e-02 -1.40113702e+00] [ 1.18940058e-01 8.05023133e-03 9.92868801e-01 9.43793927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.366296757 meters Centerline goodness : 0.791464 with order 1 Centerline is valid? [False, False] Translation: X:8.83, Y:-1.40, Z:0.94 [[ 0.95943136 0.25623466 -0.11762342 8.83041959] [-0.25570627 0.96655132 0.01982031 -1.40186706] [ 0.11876773 0.01106082 0.99286046 0.94343218] [ 0. 0. 0. 1. ]] SLAMing on 98.42629675699999 meters Centerline goodness : 0.787785 with order 1 Centerline is valid? [False, False] Translation: X:8.83, Y:-1.40, Z:0.94 [[ 0.95952733 0.25571878 -0.11796274 8.8318661 ] [-0.25518292 0.96668835 0.0198824 -1.40329331] [ 0.11911751 0.01102437 0.99281896 0.94276786] [ 0. 0. 0. 1. ]] SLAMing on 98.48629675699999 meters Centerline goodness : 0.787270 with order 1 Centerline is valid? [False, False] Translation: X:8.83, Y:-1.41, Z:0.94 [[ 0.96035595 0.25250804 -0.11813607 8.82884578] [-0.25230777 0.9674995 0.0168969 -1.40565908] [ 0.1185632 0.01357961 0.99285365 0.94366623] [ 0. 0. 0. 1. ]] SLAMing on 98.546296757 meters Centerline goodness : 0.789376 with order 1 Centerline is valid? [False, False] Translation: X:8.83, Y:-1.41, Z:0.94 [[ 0.96027786 0.25307378 -0.11755891 8.8276309 ] [-0.25280751 0.96735975 0.01742051 -1.40584716] [ 0.11813043 0.01299124 0.9929131 0.94404221] [ 0. 0. 0. 1. ]] SLAMing on 98.606296757 meters Centerline goodness : 0.790636 with order 1 Centerline is valid? [False, False] Translation: X:8.83, Y:-1.41, Z:0.94 [[ 0.95917047 0.25774544 -0.11644438 8.82745881] [-0.2569974 0.96616947 0.0216538 -1.40578669] [ 0.11808617 0.00915622 0.99296114 0.94439645] [ 0. 0. 0. 1. ]] SLAMing on 98.666296757 meters Centerline goodness : 0.788717 with order 1 Centerline is valid? [False, False] Translation: X:8.83, Y:-1.41, Z:0.94 [[ 0.95907104 0.25818531 -0.1162888 8.82700578] [-0.25744566 0.96605138 0.02159787 -1.40555154] [ 0.11791721 0.00922416 0.99298059 0.94424606] [ 0. 0. 0. 1. ]] SLAMing on 98.726296757 meters Centerline goodness : 0.787166 with order 1 Centerline is valid? [False, False] Translation: X:8.83, Y:-1.41, Z:0.94 [[ 0.9591008 0.25810465 -0.11622239 8.82730934] [-0.25738442 0.96607157 0.02142408 -1.40560149] [ 0.1178088 0.00936598 0.99299213 0.94366796] [ 0. 0. 0. 1. ]] SLAMing on 98.78629675699999 meters Centerline goodness : 0.786380 with order 1 Centerline is valid? [False, False] Translation: X:8.83, Y:-1.40, Z:0.94 [[ 0.95904496 0.25836105 -0.11611348 8.82826722] [-0.25767664 0.96600017 0.02112877 -1.40114814] [ 0.11762449 0.00965629 0.9930112 0.9434161 ] [ 0. 0. 0. 1. ]] SLAMing on 98.84629675699999 meters Centerline goodness : 0.786000 with order 1 Centerline is valid? [False, False] Translation: X:8.83, Y:-1.40, Z:0.94 [[ 0.95913119 0.25790992 -0.11640379 8.8298806 ] [-0.25729653 0.96611446 0.02052665 -1.39953984] [ 0.11775341 0.01026254 0.99298984 0.94246662] [ 0. 0. 0. 1. ]] SLAMing on 98.90629675699999 meters Centerline goodness : 0.787993 with order 1 Centerline is valid? [False, False] Translation: X:8.83, Y:-1.40, Z:0.94 [[ 0.95923702 0.25736491 -0.11673751 8.83081304] [-0.25677126 0.9662578 0.02035637 -1.39996166] [ 0.11803755 0.01044825 0.99295416 0.9424954 ] [ 0. 0. 0. 1. ]] SLAMing on 98.966296757 meters Centerline goodness : 0.792855 with order 1 Centerline is valid? [False, False] Translation: X:8.83, Y:-1.40, Z:0.94 [[ 0.95924317 0.25734307 -0.11673507 8.83071215] [-0.25669841 0.96626806 0.02078377 -1.40011679] [ 0.11814593 0.01002902 0.9929456 0.94335637] [ 0. 0. 0. 1. ]] SLAMing on 99.026296757 meters Centerline goodness : 0.793318 with order 1 Centerline is valid? [False, False] Translation: X:8.83, Y:-1.40, Z:0.94 [[ 0.95914567 0.25772227 -0.11669968 8.83122801] [-0.25707122 0.96616735 0.02085777 -1.39817915] [ 0.11812693 0.00999449 0.99294821 0.94313255] [ 0. 0. 0. 1. ]] SLAMing on 99.086296757 meters Centerline goodness : 0.794176 with order 1 Centerline is valid? [False, False] Translation: X:8.83, Y:-1.40, Z:0.94 [[ 0.95907419 0.25809063 -0.11647285 8.83107537] [-0.2574324 0.9660698 0.02092155 -1.39589979] [ 0.11792056 0.00991856 0.9929735 0.94345504] [ 0. 0. 0. 1. ]] SLAMing on 99.14629675699999 meters Centerline goodness : 0.793530 with order 1 Centerline is valid? [False, False] Translation: X:8.83, Y:-1.40, Z:0.94 [[ 0.959184 0.25764306 -0.11655943 8.83137235] [-0.25699486 0.96618854 0.02081697 -1.39620721] [ 0.11798173 0.00998787 0.99296553 0.94374481] [ 0. 0. 0. 1. ]] SLAMing on 99.20629675699999 meters Centerline goodness : 0.789393 with order 1 Centerline is valid? [False, False] Translation: X:8.84, Y:-1.39, Z:0.94 [[ 9.58619233e-01 2.59691336e-01 -1.16660090e-01 8.83591917e+00] [-2.58767448e-01 9.65659468e-01 2.32636988e-02 -1.39437759e+00] [ 1.18695301e-01 7.88680469e-03 9.92899403e-01 9.42183454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.26629675699999 meters Centerline goodness : 0.787914 with order 1 Centerline is valid? [False, False] Translation: X:8.82, Y:-1.39, Z:0.94 [[ 9.60415651e-01 2.53863963e-01 -1.14694665e-01 8.81645397e+00] [-2.52957990e-01 9.67212549e-01 2.26305026e-02 -1.38833148e+00] [ 1.16679189e-01 7.27824315e-03 9.93142988e-01 9.39775997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.326296757 meters Centerline goodness : 0.787490 with order 1 Centerline is valid? [False, False] Translation: X:8.82, Y:-1.39, Z:0.94 [[ 9.60401862e-01 2.53927970e-01 -1.14668436e-01 8.81666107e+00] [-2.53024271e-01 9.67195613e-01 2.26133486e-02 -1.38604727e+00] [ 1.16648970e-01 7.29599547e-03 9.93146407e-01 9.40296770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.386296757 meters Centerline goodness : 0.787569 with order 1 Centerline is valid? [False, False] Translation: X:8.81, Y:-1.38, Z:0.94 [[ 9.60198574e-01 2.54991622e-01 -1.14008648e-01 8.81445753e+00] [-2.54014217e-01 9.66920604e-01 2.32663431e-02 -1.38385352e+00] [ 1.16170034e-01 6.61950816e-03 9.93207282e-01 9.42184179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.446296757 meters Centerline goodness : 0.790111 with order 1 Centerline is valid? [False, False] Translation: X:8.82, Y:-1.38, Z:0.94 [[ 9.60198226e-01 2.54697850e-01 -1.14666347e-01 8.81659351e+00] [-2.53836120e-01 9.66990092e-01 2.23021452e-02 -1.38127996e+00] [ 1.16561530e-01 7.69198031e-03 9.93153686e-01 9.41029629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.50629675699999 meters Centerline goodness : 0.787770 with order 1 Centerline is valid? [False, False] Translation: X:8.82, Y:-1.38, Z:0.94 [[ 9.59465696e-01 2.57524528e-01 -1.14484475e-01 8.81994476e+00] [-2.56322075e-01 9.66258748e-01 2.53579308e-02 -1.38079278e+00] [ 1.17151914e-01 5.01483340e-03 9.93101344e-01 9.39761351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.56629675699999 meters Centerline goodness : 0.785224 with order 1 Centerline is valid? [False, False] Translation: X:8.82, Y:-1.38, Z:0.94 [[ 9.59416133e-01 2.57690663e-01 -1.14526001e-01 8.81965284e+00] [-2.56494357e-01 9.66214088e-01 2.53176149e-02 -1.37913368e+00] [ 1.17180749e-01 5.08514475e-03 9.93097585e-01 9.40712918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.62629675699999 meters Centerline goodness : 0.784648 with order 1 Centerline is valid? [False, False] Translation: X:8.82, Y:-1.38, Z:0.94 [[ 9.59498895e-01 2.57232335e-01 -1.14862513e-01 8.82036049e+00] [-2.56034852e-01 9.66336028e-01 2.53147419e-02 -1.37864020e+00] [ 1.17507555e-01 5.11933971e-03 9.93058793e-01 9.41452288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.686296757 meters Centerline goodness : 0.782139 with order 1 Centerline is valid? [False, False] Translation: X:8.82, Y:-1.38, Z:0.94 [[ 9.59652519e-01 2.56310505e-01 -1.15637225e-01 8.82313963e+00] [-2.55157201e-01 9.66578340e-01 2.49221765e-02 -1.37811265e+00] [ 1.18160253e-01 5.58904128e-03 9.92978810e-01 9.40597424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.746296757 meters Centerline goodness : 0.788553 with order 1 Centerline is valid? [False, False] Translation: X:8.82, Y:-1.38, Z:0.94 [[ 9.59470695e-01 2.57002716e-01 -1.15609639e-01 8.82263474e+00] [-2.55786795e-01 9.66397141e-01 2.54888439e-02 -1.37791845e+00] [ 1.18275527e-01 5.11562028e-03 9.92967638e-01 9.41476560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.806296757 meters Centerline goodness : 0.788673 with order 1 Centerline is valid? [False, False] Translation: X:8.82, Y:-1.38, Z:0.94 [[ 9.59401071e-01 2.57243211e-01 -1.15652562e-01 8.82265578e+00] [-2.56016166e-01 9.66333499e-01 2.55986444e-02 -1.37730041e+00] [ 1.18344023e-01 5.04955882e-03 9.92959815e-01 9.41759220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.866296757 meters Centerline goodness : 0.793967 with order 1 Centerline is valid? [False, False] Translation: X:8.82, Y:-1.38, Z:0.94 [[ 9.58244945e-01 2.61998785e-01 -1.14556807e-01 8.82182408e+00] [-2.60263499e-01 9.65067732e-01 3.01194762e-02 -1.37601014e+00] [ 1.18446344e-01 9.53119604e-04 9.92959997e-01 9.43835869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.92629675699999 meters Centerline goodness : 0.794287 with order 1 Centerline is valid? [False, False] Translation: X:8.82, Y:-1.38, Z:0.95 [[ 9.58044882e-01 2.62765644e-01 -1.14473667e-01 8.82048589e+00] [-2.60970055e-01 9.64859563e-01 3.06701006e-02 -1.37598405e+00] [ 1.18510061e-01 4.90866089e-04 9.92952730e-01 9.45530168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.98629675699999 meters Centerline goodness : 0.793768 with order 1 Centerline is valid? [False, False] Translation: X:8.82, Y:-1.37, Z:0.94 [[ 9.57997937e-01 2.62853742e-01 -1.14664135e-01 8.82176658e+00] [-2.61130647e-01 9.64835022e-01 3.00693445e-02 -1.37319875e+00] [ 1.18535812e-01 1.13594961e-03 9.92949128e-01 9.44662943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.046296757 meters Centerline goodness : 0.788950 with order 1 Centerline is valid? [False, False] Translation: X:8.82, Y:-1.37, Z:0.94 [[ 9.57942259e-01 2.63218278e-01 -1.14292461e-01 8.82185347e+00] [-2.61564498e-01 9.64734926e-01 2.95048319e-02 -1.36968332e+00] [ 1.18028140e-01 1.63092472e-03 9.93008912e-01 9.44168371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.106296757 meters Centerline goodness : 0.790695 with order 1 Centerline is valid? [False, False] Translation: X:8.82, Y:-1.37, Z:0.94 [[ 9.57883519e-01 2.63525810e-01 -1.14075901e-01 8.82123783e+00] [-2.61908128e-01 9.64650490e-01 2.92158395e-02 -1.36889315e+00] [ 1.17742502e-01 1.89203451e-03 9.93042357e-01 9.44222896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.166296757 meters Centerline goodness : 0.792885 with order 1 Centerline is valid? [False, False] Translation: X:8.82, Y:-1.37, Z:0.94 [[ 9.57809296e-01 2.63940040e-01 -1.13740968e-01 8.82074430e+00] [-2.62342642e-01 9.64537012e-01 2.90635557e-02 -1.36667749e+00] [ 1.17378410e-01 2.00176222e-03 9.93085244e-01 9.44425931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.226296757 meters Centerline goodness : 0.792052 with order 1 Centerline is valid? [False, False] Translation: X:8.82, Y:-1.37, Z:0.94 [[ 9.56864700e-01 2.67818487e-01 -1.12619729e-01 8.82138532e+00] [-2.65821515e-01 9.63468474e-01 3.26714082e-02 -1.36520730e+00] [ 1.17255565e-01 -1.32537038e-03 9.93100889e-01 9.44579353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.28629675699999 meters Centerline goodness : 0.792869 with order 1 Centerline is valid? [False, False] Translation: X:8.82, Y:-1.37, Z:0.94 [[ 9.56919954e-01 2.67539273e-01 -1.12813738e-01 8.82227354e+00] [-2.65565113e-01 9.63546326e-01 3.24599455e-02 -1.36581330e+00] [ 1.17385573e-01 -1.10217651e-03 9.93085803e-01 9.43952909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.34629675699999 meters Centerline goodness : 0.791050 with order 1 Centerline is valid? [False, False] Translation: X:8.82, Y:-1.36, Z:0.94 [[ 9.57025880e-01 2.67027848e-01 -1.13126449e-01 8.82400144e+00] [-2.65107516e-01 9.63688621e-01 3.19725869e-02 -1.36466259e+00] [ 1.17556243e-01 -6.07921342e-04 9.93066040e-01 9.43014725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.40629675699999 meters Centerline goodness : 0.791937 with order 1 Centerline is valid? [False, False] Translation: X:8.82, Y:-1.36, Z:0.94 [[ 9.57102520e-01 2.66629098e-01 -1.13418211e-01 8.82445869e+00] [-2.64731712e-01 9.63799144e-01 3.17542261e-02 -1.36336680e+00] [ 1.17778975e-01 -3.66652742e-04 9.93039767e-01 9.43883490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.466296757 meters Centerline goodness : 0.791074 with order 1 Centerline is valid? [False, False] Translation: X:8.83, Y:-1.36, Z:0.94 [[ 9.57201901e-01 2.66141121e-01 -1.13725215e-01 8.82542773e+00] [-2.64268032e-01 9.63934069e-01 3.15201082e-02 -1.36348968e+00] [ 1.18012407e-01 -1.17168692e-04 9.93012114e-01 9.43706453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.526296757 meters Centerline goodness : 0.792606 with order 1 Centerline is valid? [False, False] Translation: X:8.83, Y:-1.36, Z:0.94 [[ 9.56334944e-01 2.69521439e-01 -1.13056046e-01 8.82704493e+00] [-2.67241592e-01 9.62988392e-01 3.51466707e-02 -1.36276203e+00] [ 1.18344441e-01 -3.39871163e-03 9.92966788e-01 9.43832670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.586296757 meters Centerline goodness : 0.791556 with order 1 Centerline is valid? [False, False] Translation: X:8.83, Y:-1.36, Z:0.94 [[ 9.56255110e-01 2.69803909e-01 -1.13057579e-01 8.82699439e+00] [-2.67552227e-01 9.62910135e-01 3.49267509e-02 -1.36084462e+00] [ 1.18287663e-01 -3.15007699e-03 9.92974373e-01 9.44234737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.64629675699999 meters Centerline goodness : 0.791684 with order 1 Centerline is valid? [False, False] Translation: X:8.83, Y:-1.36, Z:0.94 [[ 9.57145603e-01 2.66401339e-01 -1.13589703e-01 8.82584751e+00] [-2.64554949e-01 9.63862189e-01 3.13106902e-02 -1.35996022e+00] [ 1.17826029e-01 8.18284645e-05 9.93034249e-01 9.44323182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.70629675699999 meters Centerline goodness : 0.793591 with order 1 Centerline is valid? [False, False] Translation: X:8.82, Y:-1.36, Z:0.94 [[ 9.56880365e-01 2.68008955e-01 -1.12031992e-01 8.82488077e+00] [-2.65981934e-01 9.63414874e-01 3.29452637e-02 -1.35748772e+00] [ 1.16762914e-01 -1.72618994e-03 9.93158317e-01 9.44557858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.76629675699999 meters Centerline goodness : 0.793908 with order 1 Centerline is valid? [False, False] Translation: X:8.82, Y:-1.36, Z:0.95 [[ 9.57425258e-01 2.66112471e-01 -1.11897397e-01 8.82137792e+00] [-2.64326410e-01 9.63941980e-01 3.07799878e-02 -1.35689078e+00] [ 1.16053537e-01 1.07899392e-04 9.93242954e-01 9.46604314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.826296757 meters Centerline goodness : 0.792843 with order 1 Centerline is valid? [False, False] Translation: X:8.82, Y:-1.36, Z:0.95 [[ 9.57566244e-01 2.65475701e-01 -1.12203126e-01 8.82357668e+00] [-2.63730443e-01 9.64117428e-01 3.03946946e-02 -1.35661757e+00] [ 1.16246042e-01 4.86446601e-04 9.93220329e-01 9.45087245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.886296757 meters Centerline goodness : 0.794134 with order 1 Centerline is valid? [False, False] Translation: X:8.82, Y:-1.36, Z:0.95 [[ 9.57739393e-01 2.64830043e-01 -1.12251071e-01 8.82402179e+00] [-2.63045911e-01 9.64295095e-01 3.06890678e-02 -1.35730108e+00] [ 1.16370545e-01 1.35056101e-04 9.93205859e-01 9.45725313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.946296757 meters Centerline goodness : 0.796629 with order 1 Centerline is valid? [False, False] Translation: X:8.82, Y:-1.36, Z:0.95 [[ 9.58791731e-01 2.60572688e-01 -1.13226719e-01 8.82354076e+00] [-2.59148121e-01 9.65449298e-01 2.73843759e-02 -1.35887811e+00] [ 1.16450277e-01 3.08657836e-03 9.93191727e-01 9.46498349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.00629675699999 meters Centerline goodness : 0.798108 with order 1 Centerline is valid? [False, False] Translation: X:8.83, Y:-1.36, Z:0.95 [[ 9.59083226e-01 2.59149819e-01 -1.14020776e-01 8.82634300e+00] [-2.57731213e-01 9.65831728e-01 2.72707759e-02 -1.35976275e+00] [ 1.17192099e-01 3.23176905e-03 9.93104006e-01 9.46131364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.06629675699999 meters Centerline goodness : 0.799970 with order 1 Centerline is valid? [False, False] Translation: X:8.83, Y:-1.37, Z:0.95 [[ 9.59533838e-01 2.57695948e-01 -1.13523621e-01 8.83326632e+00] [-2.55516390e-01 9.66220647e-01 3.36011408e-02 -1.36511502e+00] [ 1.18347745e-01 -3.23428575e-03 9.92966943e-01 9.51492378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.12629675699999 meters Centerline goodness : 0.802057 with order 1 Centerline is valid? [False, False] Translation: X:8.83, Y:-1.37, Z:0.95 [[ 9.59722336e-01 2.56856000e-01 -1.13833354e-01 8.83439117e+00] [-2.54543866e-01 9.66440206e-01 3.46518163e-02 -1.36806043e+00] [ 1.18913657e-01 -4.28054000e-03 9.92895372e-01 9.52826565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.186296757 meters Centerline goodness : 0.799374 with order 1 Centerline is valid? [False, False] Translation: X:8.84, Y:-1.37, Z:0.95 [[ 9.59124387e-01 2.59212046e-01 -1.13532046e-01 8.83780462e+00] [-2.56459313e-01 9.65789077e-01 3.84717867e-02 -1.36999409e+00] [ 1.19620361e-01 -7.78287817e-03 9.92789200e-01 9.52293244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.246296757 meters Centerline goodness : 0.797330 with order 1 Centerline is valid? [False, False] Translation: X:8.84, Y:-1.37, Z:0.95 [[ 0.95841225 0.26201581 -0.11310916 8.84064003] [-0.25885583 0.96500077 0.04203783 -1.37209105] [ 0.120165 -0.01101061 0.99269287 0.95129189] [ 0. 0. 0. 1. ]] SLAMing on 101.306296757 meters Centerline goodness : 0.798378 with order 1 Centerline is valid? [False, False] Translation: X:8.84, Y:-1.38, Z:0.95 [[ 0.95755661 0.26573483 -0.1116707 8.84013859] [-0.26203991 0.96392031 0.04682654 -1.37626033] [ 0.12008509 -0.01557688 0.99264139 0.95246418] [ 0. 0. 0. 1. ]] SLAMing on 101.36629675699999 meters Centerline goodness : 0.797492 with order 1 Centerline is valid? [False, False] Translation: X:8.84, Y:-1.38, Z:0.95 [[ 0.95720594 0.26772643 -0.1099061 8.83903339] [-0.26390024 0.96334144 0.04826927 -1.37515196] [ 0.11880006 -0.01719939 0.99276922 0.95137692] [ 0. 0. 0. 1. ]] SLAMing on 101.42629675699999 meters Centerline goodness : 0.796676 with order 1 Centerline is valid? [False, False] Translation: X:8.84, Y:-1.38, Z:0.95 [[ 0.95718354 0.26773091 -0.11009008 8.84045192] [-0.26388749 0.96333905 0.04838659 -1.37598164] [ 0.11900866 -0.01726346 0.99274313 0.95027897] [ 0. 0. 0. 1. ]] SLAMing on 101.48629675699999 meters Centerline goodness : 0.797095 with order 1 Centerline is valid? [False, False] Translation: X:8.84, Y:-1.38, Z:0.94 [[ 0.95950204 0.26458395 -0.09670149 8.84001716] [-0.26137045 0.96420103 0.04474221 -1.3787473 ] [ 0.10507774 -0.01765533 0.99430728 0.94451482] [ 0. 0. 0. 1. ]] SLAMing on 101.546296757 meters Centerline goodness : 0.797332 with order 1 Centerline is valid? [False, False] Translation: X:8.84, Y:-1.38, Z:0.94 [[ 0.95953498 0.26462078 -0.09627284 8.83974601] [-0.26137064 0.96418128 0.04516463 -1.3792586 ] [ 0.10477597 -0.01817415 0.99432977 0.94455636] [ 0. 0. 0. 1. ]] SLAMing on 101.606296757 meters Centerline goodness : 0.795771 with order 1 Centerline is valid? [False, False] Translation: X:8.84, Y:-1.38, Z:0.94 [[ 0.96038852 0.26119224 -0.09712104 8.8393076 ] [-0.25829096 0.96517295 0.04155657 -1.38007358] [ 0.10459285 -0.01482497 0.99440462 0.94389812] [ 0. 0. 0. 1. ]] SLAMing on 101.666296757 meters Centerline goodness : 0.797849 with order 1 Centerline is valid? [False, False] Translation: X:8.84, Y:-1.38, Z:0.94 [[ 0.96033235 0.26144419 -0.09699851 8.83905559] [-0.25849835 0.96509781 0.0420098 -1.38172533] [ 0.10459627 -0.01526942 0.99439754 0.94391502] [ 0. 0. 0. 1. ]] SLAMing on 101.726296757 meters Centerline goodness : 0.795482 with order 1 Centerline is valid? [False, False] Translation: X:8.84, Y:-1.38, Z:0.94 [[ 0.96034147 0.26132364 -0.09723279 8.84004037] [-0.25839881 0.96513485 0.04177048 -1.38112214] [ 0.10475837 -0.01498909 0.99438474 0.94333072] [ 0. 0. 0. 1. ]] SLAMing on 101.78629675699999 meters Centerline goodness : 0.792577 with order 1 Centerline is valid? [False, False] Translation: X:8.84, Y:-1.38, Z:0.94 [[ 0.96033308 0.26133666 -0.09728061 8.84036958] [-0.25839587 0.96512935 0.04191563 -1.38144254] [ 0.10484246 -0.01511606 0.99437395 0.94328203] [ 0. 0. 0. 1. ]] SLAMing on 101.84629675699999 meters Centerline goodness : 0.791025 with order 1 Centerline is valid? [False, False] Translation: X:8.84, Y:-1.39, Z:0.94 [[ 0.96099627 0.25825479 -0.09894761 8.84336474] [-0.25555239 0.96599627 0.03929619 -1.38522872] [ 0.10573145 -0.01247719 0.99431644 0.94122606] [ 0. 0. 0. 1. ]] SLAMing on 101.90629675699999 meters Centerline goodness : 0.791424 with order 1 Centerline is valid? [False, False] Translation: X:8.84, Y:-1.38, Z:0.94 [[ 0.96103933 0.25809518 -0.09894587 8.84464164] [-0.25542263 0.96604227 0.03900777 -1.38467266] [ 0.10565361 -0.01221499 0.99432797 0.93984197] [ 0. 0. 0. 1. ]] SLAMing on 101.966296757 meters Centerline goodness : 0.792494 with order 1 Centerline is valid? [False, False] Translation: X:8.85, Y:-1.38, Z:0.94 [[ 0.96095373 0.25843533 -0.09888941 8.84533185] [-0.25577584 0.96595284 0.03890803 -1.38426087] [ 0.10557772 -0.0120953 0.99433749 0.93872287] [ 0. 0. 0. 1. ]] SLAMing on 102.026296757 meters Centerline goodness : 0.793888 with order 1 Centerline is valid? [False, False] Translation: X:8.85, Y:-1.39, Z:0.94 [[ 0.96075856 0.25913639 -0.09895115 8.84510242] [-0.2564336 0.96576082 0.03934255 -1.3866531 ] [ 0.10575823 -0.01242429 0.99431425 0.9384296 ] [ 0. 0. 0. 1. ]] SLAMing on 102.086296757 meters Centerline goodness : 0.792431 with order 1 Centerline is valid? [False, False] Translation: X:8.85, Y:-1.39, Z:0.94 [[ 0.96048617 0.26014351 -0.09895291 8.84599531] [-0.25742654 0.96548918 0.03952502 -1.38566009] [ 0.10582014 -0.01249013 0.99430684 0.93710961] [ 0. 0. 0. 1. ]] SLAMing on 102.14629675699999 meters Centerline goodness : 0.791904 with order 1 Centerline is valid? [False, False] Translation: X:8.84, Y:-1.39, Z:0.94 [[ 0.96024231 0.26130936 -0.09824523 8.84421399] [-0.25851271 0.96516189 0.04041921 -1.38655084] [ 0.10538447 -0.01341459 0.99434107 0.93756176] [ 0. 0. 0. 1. ]] SLAMing on 102.20629675699999 meters Centerline goodness : 0.793663 with order 1 Centerline is valid? [False, False] Translation: X:8.84, Y:-1.39, Z:0.94 [[ 0.96090227 0.25886263 -0.0982699 8.84072378] [-0.25637304 0.96585451 0.03738887 -1.38767472] [ 0.104593 -0.0107333 0.99445719 0.93863218] [ 0. 0. 0. 1. ]] SLAMing on 102.26629675699999 meters Centerline goodness : 0.794717 with order 1 Centerline is valid? [False, False] Translation: X:8.84, Y:-1.39, Z:0.94 [[ 0.96076977 0.25938554 -0.09818648 8.84020712] [-0.25683947 0.9657083 0.03796004 -1.38854939] [ 0.10466579 -0.0112527 0.99444379 0.93924694] [ 0. 0. 0. 1. ]] SLAMing on 102.326296757 meters Centerline goodness : 0.790194 with order 1 Centerline is valid? [False, False] Translation: X:8.84, Y:-1.39, Z:0.94 [[ 0.96065842 0.25995512 -0.09776883 8.83938578] [-0.25737743 0.96555026 0.03833476 -1.388379 ] [ 0.10436604 -0.01166312 0.99447056 0.93951518] [ 0. 0. 0. 1. ]] SLAMing on 102.386296757 meters Centerline goodness : 0.794467 with order 1 Centerline is valid? [False, False] Translation: X:8.84, Y:-1.39, Z:0.94 [[ 9.61417080e-01 2.57088561e-01 -9.78911085e-02 8.83717957e+00] [-2.54850710e-01 9.66349256e-01 3.49318178e-02 -1.38728303e+00] [ 1.03577571e-01 -8.63642781e-03 9.94583882e-01 9.39913411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.446296757 meters Centerline goodness : 0.794099 with order 1 Centerline is valid? [False, False] Translation: X:8.84, Y:-1.39, Z:0.94 [[ 9.61558579e-01 2.56539949e-01 -9.79405630e-02 8.83817665e+00] [-2.54342406e-01 9.66498193e-01 3.45135317e-02 -1.38714458e+00] [ 1.03513477e-01 -8.27634402e-03 9.94593617e-01 9.39005034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.50629675699999 meters Centerline goodness : 0.790048 with order 1 Centerline is valid? [False, False] Translation: X:8.84, Y:-1.39, Z:0.94 [[ 9.61619012e-01 2.56274005e-01 -9.80434101e-02 8.83935405e+00] [-2.54136742e-01 9.66573547e-01 3.39130584e-02 -1.38583620e+00] [ 1.03457202e-01 -7.69500892e-03 9.94604139e-01 9.37921868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.56629675699999 meters Centerline goodness : 0.791142 with order 1 Centerline is valid? [False, False] Translation: X:8.84, Y:-1.38, Z:0.94 [[ 9.61562249e-01 2.56638205e-01 -9.76466777e-02 8.83918582e+00] [-2.54539493e-01 9.66478885e-01 3.35888511e-02 -1.38339664e+00] [ 1.02993635e-01 -7.44283542e-03 9.94654169e-01 9.37451407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.62629675699999 meters Centerline goodness : 0.790637 with order 1 Centerline is valid? [False, False] Translation: X:8.84, Y:-1.38, Z:0.94 [[ 9.61622639e-01 2.56287660e-01 -9.79721177e-02 8.84087048e+00] [-2.54250751e-01 9.66576789e-01 3.29524895e-02 -1.38148828e+00] [ 1.03142891e-01 -6.77837539e-03 9.94643452e-01 9.36429028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.686296757 meters Centerline goodness : 0.791868 with order 1 Centerline is valid? [False, False] Translation: X:8.84, Y:-1.38, Z:0.94 [[ 9.61717170e-01 2.55803334e-01 -9.83094055e-02 8.84188097e+00] [-2.53763820e-01 9.66705463e-01 3.29313155e-02 -1.38238256e+00] [ 1.03460180e-01 -6.72324128e-03 9.94610873e-01 9.36362607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.746296757 meters Centerline goodness : 0.789694 with order 1 Centerline is valid? [False, False] Translation: X:8.85, Y:-1.38, Z:0.94 [[ 9.62062323e-01 2.54213298e-01 -9.90539570e-02 8.84501965e+00] [-2.52194323e-01 9.67127071e-01 3.26075433e-02 -1.38408021e+00] [ 1.04087034e-01 -6.38964324e-03 9.94547667e-01 9.35088466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.806296757 meters Centerline goodness : 0.790215 with order 1 Centerline is valid? [False, False] Translation: X:8.85, Y:-1.39, Z:0.93 [[ 9.62312221e-01 2.53299638e-01 -9.89670829e-02 8.84583750e+00] [-2.51260386e-01 9.67364948e-01 3.27608978e-02 -1.38601677e+00] [ 1.04035610e-01 -6.65970483e-03 9.94551276e-01 9.34592671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.86629675699999 meters Centerline goodness : 0.791376 with order 1 Centerline is valid? [False, False] Translation: X:8.85, Y:-1.39, Z:0.94 [[ 9.62494134e-01 2.52530967e-01 -9.91622526e-02 8.84631558e+00] [-2.50396253e-01 9.67559520e-01 3.36198052e-02 -1.39027866e+00] [ 1.04435423e-01 -7.52900879e-03 9.94503171e-01 9.35489296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.92629675699999 meters Centerline goodness : 0.790572 with order 1 Centerline is valid? [False, False] Translation: X:8.85, Y:-1.39, Z:0.94 [[ 9.62459158e-01 2.52784476e-01 -9.88553361e-02 8.84552738e+00] [-2.50609323e-01 9.67489631e-01 3.40408717e-02 -1.39035365e+00] [ 1.04246517e-01 -7.98887985e-03 9.94519402e-01 9.36343503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.98629675699999 meters Centerline goodness : 0.794553 with order 1 Centerline is valid? [False, False] Translation: X:8.85, Y:-1.39, Z:0.94 [[ 0.96151758 0.25657085 -0.09826155 8.84688726] [-0.25402427 0.96645815 0.03781941 -1.39048598] [ 0.10466904 -0.01140321 0.99444173 0.93639524] [ 0. 0. 0. 1. ]] SLAMing on 103.046296757 meters Centerline goodness : 0.792464 with order 1 Centerline is valid? [False, False] Translation: X:8.85, Y:-1.39, Z:0.94 [[ 0.96130206 0.25754869 -0.09781116 8.84575467] [-0.25502511 0.96619932 0.03769717 -1.38850247] [ 0.10421393 -0.01129406 0.99449077 0.93644442] [ 0. 0. 0. 1. ]] SLAMing on 103.106296757 meters Centerline goodness : 0.790842 with order 1 Centerline is valid? [False, False] Translation: X:8.85, Y:-1.39, Z:0.93 [[ 0.96129039 0.25744382 -0.09820114 8.84775175] [-0.25499416 0.96623648 0.03694635 -1.38634084] [ 0.10439714 -0.01047546 0.99448052 0.93481889] [ 0. 0. 0. 1. ]] SLAMing on 103.166296757 meters Centerline goodness : 0.790572 with order 1 Centerline is valid? [False, False] Translation: X:8.85, Y:-1.38, Z:0.93 [[ 0.96111002 0.25800675 -0.09848877 8.84893122] [-0.25558783 0.96609079 0.03665314 -1.38322226] [ 0.10460585 -0.01005517 0.99446293 0.93430642] [ 0. 0. 0. 1. ]] SLAMing on 103.226296757 meters Centerline goodness : 0.788257 with order 1 Centerline is valid? [False, False] Translation: X:8.85, Y:-1.38, Z:0.93 [[ 0.9610896 0.25807442 -0.09851075 8.84930684] [-0.2557086 0.96607781 0.03614929 -1.38141578] [ 0.10449826 -0.00955266 0.99447919 0.93392015] [ 0. 0. 0. 1. ]] SLAMing on 103.28629675699999 meters Centerline goodness : 0.788145 with order 1 Centerline is valid? [False, False] Translation: X:8.85, Y:-1.38, Z:0.93 [[ 0.96016003 0.26162961 -0.09819704 8.85160166] [-0.2589435 0.9650887 0.03939612 -1.38014324] [ 0.10507604 -0.01239909 0.99438689 0.93339569] [ 0. 0. 0. 1. ]] SLAMing on 103.34629675699999 meters Centerline goodness : 0.789295 with order 2 Centerline is valid? [False, False] Translation: X:8.85, Y:-1.38, Z:0.93 [[ 0.95972332 0.26367986 -0.09697462 8.84946169] [-0.26090823 0.96451537 0.04045974 -1.37619418] [ 0.10420193 -0.01352868 0.99446414 0.93460863] [ 0. 0. 0. 1. ]] SLAMing on 103.40629675699999 meters Centerline goodness : 0.787153 with order 2 Centerline is valid? [False, False] Translation: X:8.85, Y:-1.37, Z:0.94 [[ 0.9595544 0.26439543 -0.0966975 8.84860534] [-0.26163408 0.96431991 0.04043169 -1.37299443] [ 0.10393728 -0.01349705 0.99449227 0.93568293] [ 0. 0. 0. 1. ]] SLAMing on 103.466296757 meters Centerline goodness : 0.788280 with order 1 Centerline is valid? [False, False] Translation: X:8.85, Y:-1.37, Z:0.94 [[ 0.95941346 0.26506213 -0.09626978 8.84783631] [-0.26234475 0.96414079 0.04009696 -1.36839705] [ 0.10344581 -0.01321369 0.99454732 0.9363245 ] [ 0. 0. 0. 1. ]] SLAMing on 103.526296757 meters Centerline goodness : 0.789538 with order 2 Centerline is valid? [False, False] Translation: X:8.85, Y:-1.36, Z:0.94 [[ 9.59337320e-01 2.60228229e-01 -1.09330580e-01 8.85123278e+00] [-2.57666206e-01 9.65517937e-01 3.71919295e-02 -1.35930851e+00] [ 1.15239026e-01 -7.50881017e-03 9.93309410e-01 9.37431090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.586296757 meters Centerline goodness : 0.793125 with order 2 Centerline is valid? [False, False] Translation: X:8.86, Y:-1.35, Z:0.94 [[ 9.59451589e-01 2.52699438e-01 -1.24882515e-01 8.85516700e+00] [-2.50509328e-01 9.67544659e-01 3.32025547e-02 -1.35213903e+00] [ 1.29219678e-01 -5.72008860e-04 9.91615827e-01 9.42509292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.64629675699999 meters Centerline goodness : 0.794390 with order 2 Centerline is valid? [False, False] Translation: X:8.86, Y:-1.35, Z:0.94 [[ 9.59362059e-01 2.52649700e-01 -1.25668485e-01 8.85683875e+00] [-2.50521738e-01 9.67557813e-01 3.27221365e-02 -1.35147422e+00] [ 1.29858763e-01 9.03110430e-05 9.91532498e-01 9.42583248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.70629675699999 meters Centerline goodness : 0.793763 with order 2 Centerline is valid? [False, False] Translation: X:8.86, Y:-1.35, Z:0.94 [[ 9.59847501e-01 2.51050573e-01 -1.25165428e-01 8.85774066e+00] [-2.48986533e-01 9.67973917e-01 3.21279203e-02 -1.34749728e+00] [ 1.29222602e-01 3.26601864e-04 9.91615557e-01 9.41051742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.76629675699999 meters Centerline goodness : 0.803478 with order 3 Centerline is valid? [False, False] Translation: X:8.86, Y:-1.35, Z:0.94 [[ 9.60381011e-01 2.48757163e-01 -1.25651054e-01 8.86008279e+00] [-2.46791749e-01 9.68565346e-01 3.12250378e-02 -1.34681307e+00] [ 1.29468708e-01 1.02170998e-03 9.91582982e-01 9.39026948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.826296757 meters Centerline goodness : 0.806059 with order 2 Centerline is valid? [False, False] Translation: X:8.86, Y:-1.35, Z:0.94 [[ 9.61310417e-01 2.45565202e-01 -1.24819924e-01 8.85999529e+00] [-2.43457395e-01 9.69379958e-01 3.21091039e-02 -1.34711321e+00] [ 1.28882811e-01 -4.78482624e-04 9.91659716e-01 9.36724922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.886296757 meters Centerline goodness : 0.811987 with order 3 Centerline is valid? [False, False] Translation: X:8.86, Y:-1.35, Z:0.94 [[ 9.62884919e-01 2.39445067e-01 -1.24574043e-01 8.85745847e+00] [-2.37802259e-01 9.70906562e-01 2.81164359e-02 -1.34589977e+00] [ 1.27682098e-01 2.55109664e-03 9.91811864e-01 9.37052759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.946296757 meters Centerline goodness : 0.813333 with order 3 Centerline is valid? [False, False] Translation: X:8.87, Y:-1.35, Z:0.95 [[ 0.9644862 0.23553377 -0.11954167 8.8749657 ] [-0.23220928 0.97179214 0.04121765 -1.35189871] [ 0.12587781 -0.01199517 0.99197323 0.94633256] [ 0. 0. 0. 1. ]] SLAMing on 104.00629675699999 meters Centerline goodness : 0.801341 with order 2 Centerline is valid? [False, False] Translation: X:8.89, Y:-1.36, Z:0.96 [[ 0.96537443 0.23461309 -0.11405659 8.89156698] [-0.22921026 0.9716136 0.05856345 -1.36228338] [ 0.12455869 -0.03039271 0.99174665 0.95816588] [ 0. 0. 0. 1. ]] SLAMing on 104.06629675699999 meters Centerline goodness : 0.801512 with order 2 Centerline is valid? [False, False] Translation: X:8.90, Y:-1.37, Z:0.97 [[ 0.96541194 0.23581568 -0.11122386 8.9030464 ] [-0.22885842 0.97080633 0.07182543 -1.36808167] [ 0.12491439 -0.04388661 0.99119643 0.96651358] [ 0. 0. 0. 1. ]] SLAMing on 104.12629675699999 meters Centerline goodness : 0.798221 with order 2 Centerline is valid? [False, False] Translation: X:8.91, Y:-1.37, Z:0.97 [[ 0.96444011 0.2399611 -0.1107878 8.90533203] [-0.23250842 0.96961388 0.0760839 -1.36823475] [ 0.12567857 -0.04761927 0.9909275 0.96636775] [ 0. 0. 0. 1. ]] SLAMing on 104.186296757 meters Centerline goodness : 0.801901 with order 2 Centerline is valid? [False, False] Translation: X:8.92, Y:-1.37, Z:0.96 [[ 0.96383163 0.24369942 -0.10788509 8.91807445] [-0.23742023 0.96903456 0.06785023 -1.36881822] [ 0.12107945 -0.03978209 0.99184533 0.96215724] [ 0. 0. 0. 1. ]] SLAMing on 104.246296757 meters Centerline goodness : 0.795242 with order 2 Centerline is valid? [False, False] Translation: X:8.93, Y:-1.37, Z:0.96 [[ 0.96361385 0.2457618 -0.10511654 8.93002616] [-0.24068639 0.96882557 0.05871177 -1.36993757] [ 0.1162687 -0.03127535 0.99272526 0.95934043] [ 0. 0. 0. 1. ]] SLAMing on 104.306296757 meters Centerline goodness : 0.794914 with order 2 Centerline is valid? [False, False] Translation: X:8.93, Y:-1.37, Z:0.96 [[ 0.96277925 0.24902226 -0.10509061 8.93253199] [-0.24348845 0.96787096 0.06276287 -1.37344127] [ 0.1173435 -0.03483844 0.99248012 0.95903828] [ 0. 0. 0. 1. ]] SLAMing on 104.36629675699999 meters Centerline goodness : 0.794287 with order 2 Centerline is valid? [False, False] Translation: X:8.93, Y:-1.38, Z:0.96 [[ 0.96186657 0.252614 -0.10487546 8.93453602] [-0.2466119 0.96680022 0.06693205 -1.37667835] [ 0.11830159 -0.03851616 0.99223044 0.95894221] [ 0. 0. 0. 1. ]] SLAMing on 104.42629675699999 meters Centerline goodness : 0.805142 with order 3 Centerline is valid? [False, False] Translation: X:8.94, Y:-1.38, Z:0.96 [[ 0.96118232 0.25560098 -0.1039071 8.93501126] [-0.24911906 0.96583662 0.07140954 -1.38119632] [ 0.11860963 -0.04275235 0.99202016 0.95981877] [ 0. 0. 0. 1. ]] SLAMing on 104.48629675699999 meters Centerline goodness : 0.804857 with order 3 Centerline is valid? [False, False] Translation: X:8.94, Y:-1.38, Z:0.96 [[ 0.9618424 0.24587571 -0.12001808 8.93825633] [-0.23948663 0.96870393 0.06525992 -1.3799398 ] [ 0.13230781 -0.03402703 0.99062445 0.9629834 ] [ 0. 0. 0. 1. ]] SLAMing on 104.546296757 meters Centerline goodness : 0.803851 with order 3 Centerline is valid? [False, False] Translation: X:8.94, Y:-1.38, Z:0.96 [[ 0.962596 0.24253811 -0.12076511 8.93980702] [-0.23631352 0.96958926 0.06365989 -1.38313605] [ 0.1325325 -0.03274033 0.99063778 0.96073885] [ 0. 0. 0. 1. ]] SLAMing on 104.606296757 meters Centerline goodness : 0.793263 with order 1 Centerline is valid? [False, False] Translation: X:8.94, Y:-1.39, Z:0.96 [[ 0.96285322 0.24016835 -0.12342141 8.9421508 ] [-0.23441232 0.97031885 0.0594323 -1.38565363] [ 0.13403187 -0.02829308 0.99057305 0.96176882] [ 0. 0. 0. 1. ]] SLAMing on 104.666296757 meters Centerline goodness : 0.795075 with order 2 Centerline is valid? [False, False] Translation: X:8.95, Y:-1.39, Z:0.96 [[ 0.96194124 0.24260272 -0.12574966 8.94575723] [-0.23688236 0.96975528 0.05883401 -1.38869367] [ 0.13621969 -0.02680699 0.9903159 0.96277106] [ 0. 0. 0. 1. ]] SLAMing on 104.726296757 meters Centerline goodness : 0.788559 with order 1 Centerline is valid? [False, False] Translation: X:8.95, Y:-1.39, Z:0.96 [[ 0.96006754 0.24916875 -0.1272213 8.95005487] [-0.24297785 0.96802846 0.06231107 -1.39209422] [ 0.13867981 -0.02891087 0.98991518 0.96315564] [ 0. 0. 0. 1. ]] SLAMing on 104.78629675699999 meters Centerline goodness : 0.789987 with order 1 Centerline is valid? [False, False] Translation: X:8.96, Y:-1.40, Z:0.96 [[ 0.95910733 0.25551393 -0.12176112 8.95916844] [-0.25020008 0.9664937 0.0573572 -1.39516835] [ 0.13233692 -0.02454707 0.99090079 0.96121199] [ 0. 0. 0. 1. ]] SLAMing on 104.84629675699999 meters Centerline goodness : 0.787016 with order 1 Centerline is valid? [False, False] Translation: X:8.96, Y:-1.39, Z:0.96 [[ 0.95806432 0.25927051 -0.12203095 8.96301141] [-0.25355385 0.96542606 0.06052241 -1.39475064] [ 0.13350354 -0.02704295 0.9906793 0.9596653 ] [ 0. 0. 0. 1. ]] SLAMing on 104.90629675699999 meters Centerline goodness : 0.787967 with order 1 Centerline is valid? [False, False] Translation: X:8.97, Y:-1.39, Z:0.96 [[ 0.95803039 0.2588023 -0.12328483 8.96693598] [-0.25312444 0.96557398 0.05995758 -1.3948148 ] [ 0.13455778 -0.02623478 0.9905584 0.95784643] [ 0. 0. 0. 1. ]] SLAMing on 104.966296757 meters Centerline goodness : 0.785629 with order 1 Centerline is valid? [False, False] Translation: X:8.97, Y:-1.40, Z:0.96 [[ 0.95898059 0.25470664 -0.12442171 8.96634474] [-0.24935041 0.96672616 0.05713933 -1.39707238] [ 0.13483549 -0.0237709 0.99058283 0.95962119] [ 0. 0. 0. 1. ]] SLAMing on 105.026296757 meters Centerline goodness : 0.786648 with order 1 Centerline is valid? [False, False] Translation: X:8.97, Y:-1.40, Z:0.96 [[ 0.96017011 0.24955313 -0.12568451 8.96665926] [-0.24451291 0.96812452 0.05429878 -1.39939447] [ 0.13522869 -0.02140458 0.99058318 0.96146846] [ 0. 0. 0. 1. ]] SLAMing on 105.086296757 meters Centerline goodness : 0.787425 with order 1 Centerline is valid? [False, False] Translation: X:8.97, Y:-1.41, Z:0.97 [[ 0.96157984 0.24362012 -0.12654426 8.96752212] [-0.23851491 0.96962104 0.05427399 -1.40609802] [ 0.13592222 -0.02200608 0.99047508 0.967248 ] [ 0. 0. 0. 1. ]] SLAMing on 105.14629675699999 meters Centerline goodness : 0.788073 with order 1 Centerline is valid? [False, False] Translation: X:8.97, Y:-1.41, Z:0.97 [[ 0.96253529 0.23967479 -0.12681406 8.96586437] [-0.23485528 0.97064353 0.05190508 -1.40944557] [ 0.13553159 -0.02017751 0.99056754 0.96865422] [ 0. 0. 0. 1. ]] SLAMing on 105.20629675699999 meters Centerline goodness : 0.785465 with order 1 Centerline is valid? [False, False] Translation: X:8.97, Y:-1.41, Z:0.97 [[ 0.96250343 0.23987134 -0.12668423 8.96582029] [-0.2349981 0.97058617 0.05232956 -1.41066887] [ 0.13551032 -0.02059682 0.99056182 0.9686054 ] [ 0. 0. 0. 1. ]] SLAMing on 105.26629675699999 meters Centerline goodness : 0.785833 with order 1 Centerline is valid? [False, False] Translation: X:8.96, Y:-1.41, Z:0.97 [[ 0.96224901 0.24116053 -0.12616833 8.96422117] [-0.2362505 0.9702589 0.05275766 -1.41146396] [ 0.13513901 -0.02095867 0.99060496 0.96853623] [ 0. 0. 0. 1. ]] SLAMing on 105.326296757 meters Centerline goodness : 0.783305 with order 1 Centerline is valid? [False, False] Translation: X:8.97, Y:-1.41, Z:0.97 [[ 0.96105058 0.24630659 -0.12535889 8.96512595] [-0.24099822 0.96890155 0.05612173 -1.40977268] [ 0.13528357 -0.02372455 0.99052284 0.96709969] [ 0. 0. 0. 1. ]] SLAMing on 105.386296757 meters Centerline goodness : 0.783655 with order 1 Centerline is valid? [False, False] Translation: X:8.96, Y:-1.41, Z:0.97 [[ 0.95979398 0.25171848 -0.12423096 8.96478854] [-0.24597091 0.96742643 0.05987001 -1.40835953] [ 0.1352547 -0.02690567 0.99044548 0.96663888] [ 0. 0. 0. 1. ]] SLAMing on 105.446296757 meters Centerline goodness : 0.784670 with order 1 Centerline is valid? [False, False] Translation: X:8.96, Y:-1.41, Z:0.97 [[ 0.95946144 0.25335566 -0.12346923 8.96223766] [-0.24757304 0.96698618 0.0603765 -1.40679752] [ 0.13468977 -0.02736127 0.99050998 0.96759104] [ 0. 0. 0. 1. ]] SLAMing on 105.50629675699999 meters Centerline goodness : 0.786957 with order 1 Centerline is valid? [False, False] Translation: X:8.96, Y:-1.41, Z:0.97 [[ 0.95954495 0.25286135 -0.12383308 8.96355854] [-0.24708366 0.96712001 0.0602375 -1.40683698] [ 0.13499319 -0.02720346 0.99047302 0.96728222] [ 0. 0. 0. 1. ]] SLAMing on 105.56629675699999 meters Centerline goodness : 0.786574 with order 1 Centerline is valid? [False, False] Translation: X:8.96, Y:-1.41, Z:0.97 [[ 0.96038976 0.24937925 -0.12434427 8.96232768] [-0.24404731 0.96810676 0.05665879 -1.40532145] [ 0.13450806 -0.02406864 0.99062015 0.96760478] [ 0. 0. 0. 1. ]] SLAMing on 105.62629675699999 meters Centerline goodness : 0.786543 with order 1 Centerline is valid? [False, False] Translation: X:8.96, Y:-1.41, Z:0.97 [[ 0.96224992 0.24149434 -0.12552119 8.9602192 ] [-0.2370385 0.97023708 0.04952534 -1.40523244] [ 0.13374541 -0.0179024 0.99085401 0.96833084] [ 0. 0. 0. 1. ]] SLAMing on 105.686296757 meters Centerline goodness : 0.788331 with order 1 Centerline is valid? [False, False] Translation: X:8.96, Y:-1.41, Z:0.97 [[ 0.96325493 0.23705804 -0.12626724 8.96003073] [-0.23302888 0.97138152 0.04599441 -1.40581676] [ 0.133557 -0.01488043 0.99092941 0.96865079] [ 0. 0. 0. 1. ]] SLAMing on 105.746296757 meters Centerline goodness : 0.787532 with order 1 Centerline is valid? [False, False] Translation: X:8.96, Y:-1.41, Z:0.97 [[ 0.96329304 0.23704094 -0.12600837 8.95978671] [-0.23297679 0.97138033 0.04628251 -1.40670363] [ 0.1333729 -0.0152266 0.99094895 0.96884997] [ 0. 0. 0. 1. ]] SLAMing on 105.806296757 meters Centerline goodness : 0.785314 with order 1 Centerline is valid? [False, False] Translation: X:8.96, Y:-1.41, Z:0.97 [[ 0.9632643 0.2371681 -0.12598883 8.95981294] [-0.23308621 0.9713473 0.04642448 -1.40747265] [ 0.13338932 -0.01535279 0.99094479 0.96890725] [ 0. 0. 0. 1. ]] SLAMing on 105.86629675699999 meters Centerline goodness : 0.783695 with order 1 Centerline is valid? [False, False] Translation: X:8.96, Y:-1.41, Z:0.97 [[ 0.9632206 0.23736421 -0.12595356 8.96053439] [-0.23330185 0.97130168 0.04629568 -1.40751427] [ 0.13332784 -0.01520775 0.9909553 0.96796757] [ 0. 0. 0. 1. ]] SLAMing on 105.92629675699999 meters Centerline goodness : 0.784423 with order 1 Centerline is valid? [False, False] Translation: X:8.96, Y:-1.40, Z:0.97 [[ 0.96281113 0.23932536 -0.12537182 8.95995743] [-0.23513816 0.97080473 0.04741536 -1.40496904] [ 0.13305925 -0.01617234 0.99097613 0.96805075] [ 0. 0. 0. 1. ]] SLAMing on 105.98629675699999 meters Centerline goodness : 0.783044 with order 1 Centerline is valid? [False, False] Translation: X:8.96, Y:-1.40, Z:0.97 [[ 0.96254924 0.24054417 -0.12504984 8.95874235] [-0.23636839 0.97050449 0.04744496 -1.40306185] [ 0.13277404 -0.01611028 0.9910154 0.96825634] [ 0. 0. 0. 1. ]] SLAMing on 106.046296757 meters Centerline goodness : 0.782515 with order 1 Centerline is valid? [False, False] Translation: X:8.96, Y:-1.40, Z:0.97 [[ 0.96223776 0.24205607 -0.12452851 8.95664096] [-0.23785669 0.97012442 0.04777872 -1.40169822] [ 0.13237328 -0.01635455 0.991065 0.96896378] [ 0. 0. 0. 1. ]] SLAMing on 106.106296757 meters Centerline goodness : 0.783664 with order 1 Centerline is valid? [False, False] Translation: X:8.96, Y:-1.40, Z:0.97 [[ 0.96204526 0.24304438 -0.12409009 8.95527435] [-0.23881116 0.96987163 0.04814814 -1.40017066] [ 0.13205359 -0.01668659 0.99110212 0.96968195] [ 0. 0. 0. 1. ]] SLAMing on 106.166296757 meters Centerline goodness : 0.785565 with order 1 Centerline is valid? [False, False] Translation: X:8.95, Y:-1.40, Z:0.97 [[ 0.96203319 0.24308731 -0.12409955 8.95464277] [-0.2388155 0.96985608 0.04843905 -1.40020173] [ 0.13213362 -0.01696308 0.99108676 0.97096183] [ 0. 0. 0. 1. ]] SLAMing on 106.226296757 meters Centerline goodness : 0.783897 with order 1 Centerline is valid? [False, False] Translation: X:8.95, Y:-1.40, Z:0.97 [[ 0.96300385 0.23879399 -0.12490404 8.9541597 ] [-0.23501229 0.97097772 0.0444014 -1.39990809] [ 0.13188183 -0.01340473 0.99117481 0.97113647] [ 0. 0. 0. 1. ]] SLAMing on 106.28629675699999 meters Centerline goodness : 0.784594 with order 1 Centerline is valid? [False, False] Translation: X:8.95, Y:-1.40, Z:0.97 [[ 0.96396055 0.23448872 -0.12567855 8.95404465] [-0.23119378 0.97206855 0.04040015 -1.39866015] [ 0.13164154 -0.00988805 0.99124807 0.97114163] [ 0. 0. 0. 1. ]] SLAMing on 106.34629675699999 meters Centerline goodness : 0.782034 with order 1 Centerline is valid? [False, False] Translation: X:8.95, Y:-1.40, Z:0.97 [[ 9.64808033e-01 2.30843011e-01 -1.25924435e-01 8.95258296e+00] [-2.27953614e-01 9.72965240e-01 3.70916738e-02 -1.39723550e+00] [ 1.31082452e-01 -7.08141487e-03 9.91346178e-01 9.71895124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.40629675699999 meters Centerline goodness : 0.781757 with order 1 Centerline is valid? [False, False] Translation: X:8.95, Y:-1.40, Z:0.97 [[ 9.65640660e-01 2.27193989e-01 -1.26178474e-01 8.95040274e+00] [-2.24690118e-01 9.73839545e-01 3.39247817e-02 -1.39839827e+00] [ 1.30585095e-01 -4.40809229e-03 9.91427305e-01 9.72896107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.466296757 meters Centerline goodness : 0.781203 with order 1 Centerline is valid? [False, False] Translation: X:8.95, Y:-1.40, Z:0.97 [[ 9.65631531e-01 2.27179544e-01 -1.26274308e-01 8.95093070e+00] [-2.24659341e-01 9.73842468e-01 3.40444943e-02 -1.39821418e+00] [ 1.30705497e-01 -4.50573436e-03 9.91411000e-01 9.72785734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.526296757 meters Centerline goodness : 0.778701 with order 1 Centerline is valid? [False, False] Translation: X:8.95, Y:-1.40, Z:0.97 [[ 9.65552329e-01 2.27576894e-01 -1.26164402e-01 8.95087417e+00] [-2.25080968e-01 9.73750508e-01 3.38896171e-02 -1.39653132e+00] [ 1.30565145e-01 -4.32499292e-03 9.91430299e-01 9.72588550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.586296757 meters Centerline goodness : 0.778756 with order 1 Centerline is valid? [False, False] Translation: X:8.95, Y:-1.39, Z:0.97 [[ 9.65109653e-01 2.29751160e-01 -1.25609566e-01 8.94881878e+00] [-2.27169036e-01 9.73236770e-01 3.47047406e-02 -1.39341229e+00] [ 1.30221303e-01 -4.95927615e-03 9.91472550e-01 9.73667466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.64629675699999 meters Centerline goodness : 0.777409 with order 1 Centerline is valid? [False, False] Translation: X:8.95, Y:-1.39, Z:0.98 [[ 9.64657736e-01 2.32042720e-01 -1.24866443e-01 8.94599580e+00] [-2.29390668e-01 9.72689933e-01 3.54149209e-02 -1.38933061e+00] [ 1.29674107e-01 -5.52008068e-03 9.91541303e-01 9.75301412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.70629675699999 meters Centerline goodness : 0.776852 with order 1 Centerline is valid? [False, False] Translation: X:8.95, Y:-1.39, Z:0.98 [[ 9.64368050e-01 2.33365699e-01 -1.24638337e-01 8.94538387e+00] [-2.30688058e-01 9.72372454e-01 3.57047815e-02 -1.38547356e+00] [ 1.29527156e-01 -5.67997460e-03 9.91559607e-01 9.75898486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.76629675699999 meters Centerline goodness : 0.777638 with order 1 Centerline is valid? [False, False] Translation: X:8.95, Y:-1.38, Z:0.98 [[ 9.64367131e-01 2.33413842e-01 -1.24555266e-01 8.94570422e+00] [-2.30774650e-01 9.72362434e-01 3.54169238e-02 -1.38230302e+00] [ 1.29379662e-01 -5.41071931e-03 9.91580369e-01 9.76025264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.826296757 meters Centerline goodness : 0.775110 with order 1 Centerline is valid? [False, False] Translation: X:8.95, Y:-1.38, Z:0.98 [[ 9.64660644e-01 2.31733352e-01 -1.25417284e-01 8.94868565e+00] [-2.29175946e-01 9.72768070e-01 3.46506508e-02 -1.38180469e+00] [ 1.30031640e-01 -4.68349450e-03 9.91498783e-01 9.75350395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.886296757 meters Centerline goodness : 0.776269 with order 1 Centerline is valid? [False, False] Translation: X:8.95, Y:-1.38, Z:0.98 [[ 9.65877953e-01 2.25564455e-01 -1.27281011e-01 8.95159640e+00] [-2.23538301e-01 9.74228001e-01 3.01733280e-02 -1.38205068e+00] [ 1.30806755e-01 -6.91571249e-04 9.91407643e-01 9.75032092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.946296757 meters Centerline goodness : 0.777117 with order 1 Centerline is valid? [False, False] Translation: X:8.95, Y:-1.38, Z:0.98 [[ 9.67694219e-01 2.16737457e-01 -1.28812941e-01 8.95049490e+00] [-2.15567861e-01 9.76215041e-01 2.31233957e-02 -1.38375720e+00] [ 1.30760836e-01 5.39155380e-03 9.91399281e-01 9.76367522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.00629675699999 meters Centerline goodness : 0.776116 with order 1 Centerline is valid? [False, False] Translation: X:8.95, Y:-1.39, Z:0.98 [[ 9.68697158e-01 2.11641797e-01 -1.29744234e-01 8.95130365e+00] [-2.10884023e-01 9.77312338e-01 1.97109793e-02 -1.38570642e+00] [ 1.30972308e-01 8.26701646e-03 9.91351558e-01 9.76388392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.06629675699999 meters Centerline goodness : 0.777428 with order 1 Centerline is valid? [False, False] Translation: X:8.95, Y:-1.39, Z:0.98 [[ 9.68685414e-01 2.11769533e-01 -1.29623432e-01 8.95094093e+00] [-2.10871636e-01 9.77293024e-01 2.07725534e-02 -1.38887728e+00] [ 1.31079070e-01 7.21183573e-03 9.91345685e-01 9.77009648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.12629675699999 meters Centerline goodness : 0.776625 with order 1 Centerline is valid? [False, False] Translation: X:8.95, Y:-1.39, Z:0.98 [[ 9.67826080e-01 2.16150449e-01 -1.28808628e-01 8.95017320e+00] [-2.14528142e-01 9.76358063e-01 2.65067913e-02 -1.39372185e+00] [ 1.31492797e-01 1.97911168e-03 9.91315150e-01 9.79665468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.186296757 meters Centerline goodness : 0.778505 with order 1 Centerline is valid? [False, False] Translation: X:8.95, Y:-1.39, Z:0.98 [[ 9.67678345e-01 2.17041742e-01 -1.28419250e-01 8.94903730e+00] [-2.15371407e-01 9.76161004e-01 2.69230554e-02 -1.39344203e+00] [ 1.31201291e-01 1.60497679e-03 9.91354450e-01 9.79990089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.246296757 meters Centerline goodness : 0.775131 with order 1 Centerline is valid? [False, False] Translation: X:8.95, Y:-1.39, Z:0.98 [[ 9.66638271e-01 2.22127554e-01 -1.27553134e-01 8.94968881e+00] [-2.20049056e-01 9.75016798e-01 3.03423175e-02 -1.39310678e+00] [ 1.31106313e-01 -1.26209867e-03 9.91367511e-01 9.78337934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.306296757 meters Centerline goodness : 0.774206 with order 1 Centerline is valid? [False, False] Translation: X:8.95, Y:-1.39, Z:0.98 [[ 9.66341462e-01 2.23821630e-01 -1.26838707e-01 8.94773457e+00] [-2.21704930e-01 9.74628819e-01 3.07504263e-02 -1.39082606e+00] [ 1.30503270e-01 -1.59464517e-03 9.91446596e-01 9.78654104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.36629675699999 meters Centerline goodness : 0.776015 with order 1 Centerline is valid? [False, False] Translation: X:8.96, Y:-1.39, Z:0.98 [[ 9.65986243e-01 2.27878065e-01 -1.22238154e-01 8.95833892e+00] [-2.26715314e-01 9.73676902e-01 2.35256641e-02 -1.39118483e+00] [ 1.24381450e-01 4.98779367e-03 9.92221939e-01 9.76579399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.42629675699999 meters Centerline goodness : 0.777766 with order 1 Centerline is valid? [False, False] Translation: X:8.96, Y:-1.39, Z:0.98 [[ 9.65799786e-01 2.28874392e-01 -1.21849440e-01 8.95714901e+00] [-2.27661099e-01 9.73445175e-01 2.39773944e-02 -1.39142799e+00] [ 1.24101561e-01 4.58301511e-03 9.92258937e-01 9.76802845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.48629675699999 meters Centerline goodness : 0.776192 with order 1 Centerline is valid? [False, False] Translation: X:8.96, Y:-1.39, Z:0.98 [[ 9.64814658e-01 2.33367682e-01 -1.21128856e-01 8.95781849e+00] [-2.31665442e-01 9.72388148e-01 2.81498107e-02 -1.39214317e+00] [ 1.24353520e-01 9.02020054e-04 9.92237566e-01 9.76714553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.546296757 meters Centerline goodness : 0.774363 with order 1 Centerline is valid? [False, False] Translation: X:8.96, Y:-1.39, Z:0.98 [[ 9.64637546e-01 2.34361065e-01 -1.20620464e-01 8.95655834e+00] [-2.32629588e-01 9.72149424e-01 2.84424346e-02 -1.39147671e+00] [ 1.23926914e-01 6.23248533e-04 9.92291153e-01 9.76845109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.606296757 meters Centerline goodness : 0.773566 with order 1 Centerline is valid? [False, False] Translation: X:8.95, Y:-1.39, Z:0.98 [[ 9.65100580e-01 2.32618123e-01 -1.20289979e-01 8.95395108e+00] [-2.31098189e-01 9.72565890e-01 2.66311121e-02 -1.39089355e+00] [ 1.23184810e-01 2.09709466e-03 9.92381532e-01 9.77872820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.666296757 meters Centerline goodness : 0.773165 with order 1 Centerline is valid? [False, False] Translation: X:8.95, Y:-1.39, Z:0.98 [[ 9.65974577e-01 2.28692594e-01 -1.20800720e-01 8.95310440e+00] [-2.27600474e-01 9.73484122e-01 2.29496823e-02 -1.39068197e+00] [ 1.22846005e-01 5.32549136e-03 9.92411456e-01 9.77860987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.726296757 meters Centerline goodness : 0.772675 with order 1 Centerline is valid? [False, False] Translation: X:8.95, Y:-1.39, Z:0.98 [[ 9.66870731e-01 2.24736760e-01 -1.21055265e-01 8.95204310e+00] [-2.24056955e-01 9.74383406e-01 1.93767495e-02 -1.39119267e+00] [ 1.22308909e-01 8.38846219e-03 9.92456631e-01 9.77597951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.78629675699999 meters Centerline goodness : 0.772415 with order 1 Centerline is valid? [False, False] Translation: X:8.95, Y:-1.39, Z:0.98 [[ 9.66951201e-01 2.24532456e-01 -1.20791353e-01 8.95152929e+00] [-2.23736282e-01 9.74438477e-01 2.02911686e-02 -1.39401188e+00] [ 1.22259768e-01 7.40483832e-03 9.92470512e-01 9.78300862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.84629675699999 meters Centerline goodness : 0.772135 with order 1 Centerline is valid? [False, False] Translation: X:8.95, Y:-1.40, Z:0.98 [[ 9.66940251e-01 2.24751341e-01 -1.20471518e-01 8.95130836e+00] [-2.23886762e-01 9.74392290e-01 2.08418688e-02 -1.39562119e+00] [ 1.22070757e-01 6.81913638e-03 9.92497975e-01 9.77940963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.90629675699999 meters Centerline goodness : 0.776233 with order 1 Centerline is valid? [False, False] Translation: X:8.95, Y:-1.40, Z:0.98 [[ 9.66843617e-01 2.25505280e-01 -1.19836511e-01 8.94977184e+00] [-2.24581370e-01 9.74221688e-01 2.13379952e-02 -1.39627070e+00] [ 1.21559158e-01 6.28254327e-03 9.92564306e-01 9.78019392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.966296757 meters Centerline goodness : 0.775390 with order 1 Centerline is valid? [False, False] Translation: X:8.95, Y:-1.39, Z:0.98 [[ 9.66797447e-01 2.25762133e-01 -1.19725332e-01 8.95019877e+00] [-2.24874105e-01 9.74160320e-01 2.10548713e-02 -1.39463249e+00] [ 1.21385060e-01 6.56733092e-03 9.92583768e-01 9.77205604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.026296757 meters Centerline goodness : 0.777301 with order 1 Centerline is valid? [False, False] Translation: X:8.95, Y:-1.39, Z:0.98 [[ 9.66696957e-01 2.26480892e-01 -1.19178010e-01 8.94882037e+00] [-2.25608000e-01 9.73992978e-01 2.09454076e-02 -1.39462677e+00] [ 1.20822280e-01 6.63965066e-03 9.92651949e-01 9.76771003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.086296757 meters Centerline goodness : 0.777669 with order 1 Centerline is valid? [False, False] Translation: X:8.95, Y:-1.39, Z:0.98 [[ 9.65845175e-01 2.30532585e-01 -1.18312406e-01 8.94945905e+00] [-2.29208405e-01 9.73059668e-01 2.48674560e-02 -1.39379639e+00] [ 1.20857789e-01 3.10008546e-03 9.92664991e-01 9.76914311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.14629675699999 meters Centerline goodness : 0.777625 with order 1 Centerline is valid? [False, False] Translation: X:8.95, Y:-1.39, Z:0.98 [[ 9.65773743e-01 2.30931892e-01 -1.18116630e-01 8.94917632e+00] [-2.29603765e-01 9.72965126e-01 2.49193473e-02 -1.39327475e+00] [ 1.20678034e-01 3.05357163e-03 9.92687004e-01 9.76685609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.20629675699999 meters Centerline goodness : 0.775082 with order 1 Centerline is valid? [False, False] Translation: X:8.95, Y:-1.39, Z:0.98 [[ 9.66807592e-01 2.25842170e-01 -1.19492235e-01 8.95107904e+00] [-2.25010037e-01 9.74138889e-01 2.05890272e-02 -1.39410219e+00] [ 1.21051904e-01 6.98132438e-03 9.92621629e-01 9.75272288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.26629675699999 meters Centerline goodness : 0.776578 with order 1 Centerline is valid? [False, False] Translation: X:8.95, Y:-1.40, Z:0.98 [[ 0.96788078 0.22059969 -0.12059264 8.95208337] [-0.22016337 0.97531316 0.01709789 -1.39579869] [ 0.12138737 0.01000137 0.99255482 0.97542469] [ 0. 0. 0. 1. ]] SLAMing on 108.326296757 meters Centerline goodness : 0.779585 with order 1 Centerline is valid? [False, False] Translation: X:8.95, Y:-1.40, Z:0.98 [[ 0.96907058 0.21459015 -0.12187406 8.95383527] [-0.2145922 0.97661365 0.01326516 -1.39828719] [ 0.12187044 0.01329835 0.99245693 0.97531282] [ 0. 0. 0. 1. ]] SLAMing on 108.386296757 meters Centerline goodness : 0.781514 with order 1 Centerline is valid? [False, False] Translation: X:8.96, Y:-1.40, Z:0.98 [[ 0.97009759 0.20911 -0.12322206 8.95509665] [-0.20947749 0.97776118 0.01011211 -1.40244642] [ 0.12259629 0.01600252 0.9923276 0.97591919] [ 0. 0. 0. 1. ]] SLAMing on 108.446296757 meters Centerline goodness : 0.779893 with order 1 Centerline is valid? [False, False] Translation: X:8.96, Y:-1.40, Z:0.98 [[ 0.97021617 0.20841834 -0.12346007 8.9562765 ] [-0.20878789 0.97790897 0.01008248 -1.40244222] [ 0.12283408 0.01599479 0.99229832 0.97584078] [ 0. 0. 0. 1. ]] SLAMing on 108.50629675699999 meters Centerline goodness : 0.781413 with order 1 Centerline is valid? [False, False] Translation: X:8.96, Y:-1.40, Z:0.98 [[ 0.96933853 0.21292966 -0.12265308 8.95595838] [-0.21284659 0.97698628 0.01393325 -1.40097904] [ 0.12279718 0.01260026 0.9923518 0.97675131] [ 0. 0. 0. 1. ]] SLAMing on 108.56629675699999 meters Centerline goodness : 0.786246 with order 1 Centerline is valid? [False, False] Translation: X:8.96, Y:-1.40, Z:0.98 [[ 0.96836248 0.2177482 -0.12190087 8.95558634] [-0.21726549 0.97595743 0.01740126 -1.39906223] [ 0.12275915 0.00963413 0.99238973 0.97716448] [ 0. 0. 0. 1. ]] SLAMing on 108.62629675699999 meters Centerline goodness : 0.783232 with order 1 Centerline is valid? [False, False] Translation: X:8.96, Y:-1.39, Z:0.98 [[ 9.67377319e-01 2.22323433e-01 -1.21463632e-01 8.95700735e+00] [-2.21517875e-01 9.74945648e-01 2.02685825e-02 -1.39480474e+00] [ 1.22926620e-01 7.29899846e-03 9.92388921e-01 9.76266585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.686296757 meters Centerline goodness : 0.781565 with order 1 Centerline is valid? [False, False] Translation: X:8.96, Y:-1.39, Z:0.98 [[ 9.66410644e-01 2.26779209e-01 -1.20920048e-01 8.95822604e+00] [-2.25616018e-01 9.73935048e-01 2.34080153e-02 -1.39128833e+00] [ 1.23076724e-01 4.65974456e-03 9.92386219e-01 9.75735267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.746296757 meters Centerline goodness : 0.783274 with order 1 Centerline is valid? [False, False] Translation: X:8.96, Y:-1.39, Z:0.98 [[ 9.66396051e-01 2.26737948e-01 -1.21113893e-01 8.95868821e+00] [-2.25613437e-01 9.73942968e-01 2.31013566e-02 -1.39031531e+00] [ 1.23195979e-01 4.99986183e-03 9.92369766e-01 9.75631975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.806296757 meters Centerline goodness : 0.782829 with order 1 Centerline is valid? [False, False] Translation: X:8.96, Y:-1.39, Z:0.98 [[ 9.66448620e-01 2.26360186e-01 -1.21400703e-01 8.95968704e+00] [-2.25265090e-01 9.74029458e-01 2.28528603e-02 -1.38948885e+00] [ 1.23420839e-01 5.26122514e-03 9.92340474e-01 9.75445504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.86629675699999 meters Centerline goodness : 0.783818 with order 1 Centerline is valid? [False, False] Translation: X:8.96, Y:-1.39, Z:0.98 [[ 9.67360646e-01 2.22202315e-01 -1.21817537e-01 8.95786979e+00] [-2.21492658e-01 9.74966860e-01 1.95096120e-02 -1.38875292e+00] [ 1.23103142e-01 8.10885919e-03 9.92360752e-01 9.77227770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.92629675699999 meters Centerline goodness : 0.787568 with order 1 Centerline is valid? [False, False] Translation: X:8.96, Y:-1.39, Z:0.98 [[ 9.67460996e-01 2.21729036e-01 -1.21882958e-01 8.95794831e+00] [-2.20918694e-01 9.75081054e-01 2.02945672e-02 -1.39157637e+00] [ 1.23345658e-01 7.29202167e-03 9.92336977e-01 9.78094080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.98629675699999 meters Centerline goodness : 0.789673 with order 1 Centerline is valid? [False, False] Translation: X:8.96, Y:-1.39, Z:0.98 [[ 9.67589931e-01 2.21158034e-01 -1.21896879e-01 8.95825163e+00] [-2.20287097e-01 9.75214427e-01 2.07464564e-02 -1.39390628e+00] [ 1.23463841e-01 6.77824723e-03 9.92325922e-01 9.78294772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.046296757 meters Centerline goodness : 0.793092 with order 1 Centerline is valid? [False, False] Translation: X:8.96, Y:-1.39, Z:0.98 [[ 9.67438276e-01 2.22046784e-01 -1.21484190e-01 8.95699275e+00] [-2.21102650e-01 9.75016386e-01 2.13697401e-02 -1.39450537e+00] [ 1.23194158e-01 6.18657198e-03 9.92363303e-01 9.78618267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.106296757 meters Centerline goodness : 0.805562 with order 3 Centerline is valid? [False, False] Translation: X:8.95, Y:-1.39, Z:0.98 [[ 9.67001294e-01 2.24345413e-01 -1.20737868e-01 8.95448163e+00] [-2.23330847e-01 9.74493339e-01 2.20468801e-02 -1.39294194e+00] [ 1.22604365e-01 5.64512881e-03 9.92439571e-01 9.79035307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.166296757 meters Centerline goodness : 0.807418 with order 3 Centerline is valid? [False, False] Translation: X:8.95, Y:-1.39, Z:0.98 [[ 9.65843752e-01 2.29844117e-01 -1.19655875e-01 8.95426809e+00] [-2.28456162e-01 9.73223358e-01 2.53786636e-02 -1.39086879e+00] [ 1.22285029e-01 2.82429829e-03 9.92491005e-01 9.77757208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.226296757 meters Centerline goodness : 0.810814 with order 3 Centerline is valid? [False, False] Translation: X:8.95, Y:-1.39, Z:0.98 [[ 9.64508626e-01 2.36047819e-01 -1.18340768e-01 8.95212541e+00] [-2.34192408e-01 9.71741123e-01 2.95483585e-02 -1.38863671e+00] [ 1.21971416e-01 -7.85137265e-04 9.92533303e-01 9.78795506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.28629675699999 meters Centerline goodness : 0.818732 with order 3 Centerline is valid? [False, False] Translation: X:8.95, Y:-1.39, Z:0.98 [[ 9.64153894e-01 2.37531338e-01 -1.18262980e-01 8.95140650e+00] [-2.35665112e-01 9.71379554e-01 2.97273914e-02 -1.38643654e+00] [ 1.21939428e-01 -7.91321646e-04 9.92537228e-01 9.78946288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.34629675699999 meters Centerline goodness : 0.818276 with order 3 Centerline is valid? [False, False] Translation: X:8.95, Y:-1.39, Z:0.98 [[ 9.64194138e-01 2.37221548e-01 -1.18556324e-01 8.95250746e+00] [-2.35385312e-01 9.71455447e-01 2.94630164e-02 -1.38642180e+00] [ 1.22161449e-01 -5.01650321e-04 9.92510115e-01 9.78330388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.40629675699999 meters Centerline goodness : 0.801935 with order 2 Centerline is valid? [False, False] Translation: X:8.95, Y:-1.39, Z:0.98 [[ 9.65160304e-01 2.32835780e-01 -1.19386297e-01 8.95256686e+00] [-2.31441222e-01 9.72511707e-01 2.56113289e-02 -1.38652846e+00] [ 1.22067805e-01 2.91187259e-03 9.92517492e-01 9.78006830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.466296757 meters Centerline goodness : 0.814254 with order 2 Centerline is valid? [False, False] Translation: X:8.95, Y:-1.39, Z:0.98 [[ 9.65491798e-01 2.31416345e-01 -1.19465739e-01 8.95312689e+00] [-2.29932751e-01 9.72852483e-01 2.62483635e-02 -1.39020879e+00] [ 1.22296841e-01 2.12650647e-03 9.92491290e-01 9.78938156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.526296757 meters Centerline goodness : 0.824839 with order 3 Centerline is valid? [False, False] Translation: X:8.95, Y:-1.39, Z:0.97 [[ 9.69558621e-01 2.16897570e-01 -1.13628893e-01 8.94643551e+00] [-2.15824609e-01 9.76188526e-01 2.18105531e-02 -1.39256212e+00] [ 1.15653877e-01 3.37730155e-03 9.93283834e-01 9.72365729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.586296757 meters Centerline goodness : 0.823881 with order 3 Centerline is valid? [False, False] Translation: X:8.95, Y:-1.40, Z:0.97 [[ 9.71028370e-01 2.09470164e-01 -1.15005018e-01 8.95043358e+00] [-2.08911849e-01 9.77786305e-01 1.70229581e-02 -1.39694681e+00] [ 1.16016134e-01 7.49613575e-03 9.93219042e-01 9.69580606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.64629675699999 meters Centerline goodness : 0.801578 with order 2 Centerline is valid? [False, False] Translation: X:8.95, Y:-1.40, Z:0.97 [[ 0.97200189 0.20450599 -0.11571358 8.9513676 ] [-0.20427135 0.97881404 0.0140104 -1.40206335] [ 0.11612729 0.01001884 0.99318381 0.96853824] [ 0. 0. 0. 1. ]] SLAMing on 109.70629675699999 meters Centerline goodness : 0.811794 with order 2 Centerline is valid? [False, False] Translation: X:8.95, Y:-1.41, Z:0.97 [[ 0.97206791 0.20427804 -0.11556151 8.95151812] [-0.2039288 0.97887135 0.01496418 -1.40568636] [ 0.1161767 0.00902012 0.9931876 0.96857687] [ 0. 0. 0. 1. ]] SLAMing on 109.76629675699999 meters Centerline goodness : 0.811841 with order 1 Centerline is valid? [False, False] Translation: X:8.95, Y:-1.41, Z:0.97 [[ 9.72028669e-01 2.04715624e-01 -1.15116379e-01 8.95059384e+00] [-2.04211735e-01 9.78791343e-01 1.62810826e-02 -1.41069063e+00] [ 1.16007908e-01 7.68243649e-03 9.93218579e-01 9.68670643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.826296757 meters Centerline goodness : 0.812526 with order 1 Centerline is valid? [False, False] Translation: X:8.95, Y:-1.41, Z:0.97 [[ 9.71782527e-01 2.06229387e-01 -1.14490874e-01 8.94879240e+00] [-2.05608683e-01 9.78480765e-01 1.73338129e-02 -1.41339002e+00] [ 1.15601859e-01 6.69562123e-03 9.93273064e-01 9.68440979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.886296757 meters Centerline goodness : 0.816127 with order 1 Centerline is valid? [False, False] Translation: X:8.95, Y:-1.42, Z:0.97 [[ 9.70794389e-01 2.11393191e-01 -1.13451194e-01 8.94850124e+00] [-2.10258537e-01 9.77397949e-01 2.20135539e-02 -1.41691399e+00] [ 1.15540480e-01 2.48344751e-03 9.93299668e-01 9.67625093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.946296757 meters Centerline goodness : 0.817643 with order 1 Centerline is valid? [False, False] Translation: X:8.95, Y:-1.42, Z:0.97 [[ 9.69842933e-01 2.16468004e-01 -1.12010213e-01 8.94611258e+00] [-2.14746661e-01 9.76286567e-01 2.73570913e-02 -1.42295241e+00] [ 1.15276001e-01 -2.47826244e-03 9.93330409e-01 9.68732413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.00629675699999 meters Centerline goodness : 0.816287 with order 1 Centerline is valid? [False, False] Translation: X:8.94, Y:-1.43, Z:0.97 [[ 9.69706996e-01 2.17618792e-01 -1.10952255e-01 8.94387806e+00] [-2.15778198e-01 9.76026911e-01 2.84822375e-02 -1.42656808e+00] [ 1.14490657e-01 -3.67834718e-03 9.93417515e-01 9.68324528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.06629675699999 meters Centerline goodness : 0.817246 with order 1 Centerline is valid? [False, False] Translation: X:8.94, Y:-1.43, Z:0.97 [[ 9.69563799e-01 2.18697166e-01 -1.10079925e-01 8.94197216e+00] [-2.16784977e-01 9.75782656e-01 2.91972963e-02 -1.42929415e+00] [ 1.13799448e-01 -4.44496747e-03 9.93493799e-01 9.67674744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.12629675699999 meters Centerline goodness : 0.820324 with order 1 Centerline is valid? [False, False] Translation: X:8.94, Y:-1.43, Z:0.97 [[ 9.69465174e-01 2.19330477e-01 -1.09687819e-01 8.94130498e+00] [-2.17383269e-01 9.75638777e-01 2.95548735e-02 -1.43054756e+00] [ 1.13497974e-01 -4.80812395e-03 9.93526593e-01 9.67165520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.186296757 meters Centerline goodness : 0.819009 with order 1 Centerline is valid? [False, False] Translation: X:8.94, Y:-1.43, Z:0.97 [[ 9.69312385e-01 2.20294344e-01 -1.09105008e-01 8.93994056e+00] [-2.18350467e-01 9.75421272e-01 2.96043049e-02 -1.43119022e+00] [ 1.12945006e-01 -4.87269007e-03 9.93589293e-01 9.66289759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.246296757 meters Centerline goodness : 0.819330 with order 1 Centerline is valid? [False, False] Translation: X:8.94, Y:-1.43, Z:0.97 [[ 9.69141509e-01 2.21413432e-01 -1.08355098e-01 8.93795915e+00] [-2.19468309e-01 9.75167146e-01 2.97102437e-02 -1.43103815e+00] [ 1.12242579e-01 -5.01292021e-03 9.93668191e-01 9.65884745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.306296757 meters Centerline goodness : 0.818150 with order 1 Centerline is valid? [False, False] Translation: X:8.94, Y:-1.43, Z:0.97 [[ 9.69102863e-01 2.21621360e-01 -1.08275636e-01 8.93779795e+00] [-2.19654911e-01 9.75118897e-01 2.99141448e-02 -1.43081688e+00] [ 1.12211232e-01 -5.20660824e-03 9.93670736e-01 9.66097117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.36629675699999 meters Centerline goodness : 0.815996 with order 1 Centerline is valid? [False, False] Translation: X:8.94, Y:-1.43, Z:0.96 [[ 9.69083508e-01 2.21706656e-01 -1.08274248e-01 8.93846136e+00] [-2.19813689e-01 9.75102733e-01 2.92677601e-02 -1.42997072e+00] [ 1.12067373e-01 -4.56274167e-03 9.93690135e-01 9.64551287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.42629675699999 meters Centerline goodness : 0.817127 with order 1 Centerline is valid? [False, False] Translation: X:8.94, Y:-1.43, Z:0.96 [[ 9.69024767e-01 2.21723356e-01 -1.08764670e-01 8.94055352e+00] [-2.19946882e-01 9.75103604e-01 2.82193443e-02 -1.42659482e+00] [ 1.12313709e-01 -3.42279363e-03 9.93666904e-01 9.62671332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.48629675699999 meters Centerline goodness : 0.819777 with order 1 Centerline is valid? [False, False] Translation: X:8.94, Y:-1.42, Z:0.96 [[ 9.68999313e-01 2.21897731e-01 -1.08635763e-01 8.94045564e+00] [-2.20213462e-01 9.75066363e-01 2.74156567e-02 -1.42266422e+00] [ 1.12010551e-01 -2.64269491e-03 9.93703503e-01 9.62398391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.546296757 meters Centerline goodness : 0.820311 with order 1 Centerline is valid? [False, False] Translation: X:8.95, Y:-1.42, Z:0.96 [[ 9.69955344e-01 2.22383366e-01 -9.86522658e-02 8.94689125e+00] [-2.21500909e-01 9.74956091e-01 1.99491328e-02 -1.41936274e+00] [ 1.00617983e-01 2.50179864e-03 9.94921988e-01 9.58324210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.606296757 meters Centerline goodness : 0.818915 with order 1 Centerline is valid? [False, False] Translation: X:8.94, Y:-1.41, Z:0.96 [[ 9.69674997e-01 2.23907398e-01 -9.79585474e-02 8.94494041e+00] [-2.22972875e-01 9.74608498e-01 2.05273636e-02 -1.41430092e+00] [ 1.00067461e-01 1.93722763e-03 9.94978769e-01 9.60109775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.666296757 meters Centerline goodness : 0.815858 with order 1 Centerline is valid? [False, False] Translation: X:8.94, Y:-1.41, Z:0.96 [[ 9.69533654e-01 2.24582750e-01 -9.78114649e-02 8.94420128e+00] [-2.23674431e-01 9.74452541e-01 2.02976505e-02 -1.41070509e+00] [ 9.98711327e-02 2.19866850e-03 9.94997951e-01 9.60815878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.726296757 meters Centerline goodness : 0.814238 with order 1 Centerline is valid? [False, False] Translation: X:8.95, Y:-1.41, Z:0.96 [[ 9.69021324e-01 2.26341886e-01 -9.88282536e-02 8.95060395e+00] [-2.25266682e-01 9.74047511e-01 2.20537384e-02 -1.40798363e+00] [ 1.01255099e-01 8.92170028e-04 9.94860095e-01 9.58147041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.78629675699999 meters Centerline goodness : 0.816309 with order 1 Centerline is valid? [False, False] Translation: X:8.95, Y:-1.40, Z:0.96 [[ 9.69163194e-01 2.25316605e-01 -9.97754043e-02 8.95341890e+00] [-2.24338403e-01 9.74283611e-01 2.10648300e-02 -1.40493433e+00] [ 1.01955797e-01 1.96819693e-03 9.94786983e-01 9.57719625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.84629675699999 meters Centerline goodness : 0.819111 with order 1 Centerline is valid? [False, False] Translation: X:8.96, Y:-1.40, Z:0.96 [[ 9.69390131e-01 2.23986978e-01 -1.00561462e-01 8.95550184e+00] [-2.23083421e-01 9.74588210e-01 2.02881065e-02 -1.40358753e+00] [ 1.02550287e-01 2.76650473e-03 9.94723974e-01 9.58069249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.90629675699999 meters Centerline goodness : 0.816997 with order 1 Centerline is valid? [False, False] Translation: X:8.96, Y:-1.40, Z:0.96 [[ 9.69536371e-01 2.22986136e-01 -1.01372624e-01 8.95825801e+00] [-2.22237627e-01 9.74811968e-01 1.87633685e-02 -1.39862035e+00] [ 1.03003218e-01 4.33704309e-03 9.94671568e-01 9.57159659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.966296757 meters Centerline goodness : 0.815069 with order 1 Centerline is valid? [False, False] Translation: X:8.96, Y:-1.39, Z:0.96 [[ 9.69670797e-01 2.22029954e-01 -1.02182409e-01 8.96081731e+00] [-2.21435723e-01 9.75022092e-01 1.72667298e-02 -1.39313917e+00] [ 1.03463838e-01 5.88379202e-03 9.94615813e-01 9.56678374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.026296757 meters Centerline goodness : 0.817400 with order 1 Centerline is valid? [False, False] Translation: X:8.96, Y:-1.39, Z:0.96 [[ 0.97045656 0.21811521 -0.10314952 8.96032126] [-0.21799212 0.97586915 0.0126033 -1.38958814] [ 0.10340941 0.01025483 0.99458601 0.95710549] [ 0. 0. 0. 1. ]] SLAMing on 111.086296757 meters Centerline goodness : 0.821219 with order 1 Centerline is valid? [False, False] Translation: X:8.96, Y:-1.39, Z:0.96 [[ 9.69791447e-01 2.20938138e-01 -1.03396749e-01 8.96370411e+00] [-2.20561231e-01 9.75254551e-01 1.52086877e-02 -1.38590250e+00] [ 1.04198329e-01 8.05605899e-03 9.94523910e-01 9.56747405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.14629675699999 meters Centerline goodness : 0.820053 with order 1 Centerline is valid? [False, False] Translation: X:8.97, Y:-1.38, Z:0.96 [[ 9.68997476e-01 2.24390527e-01 -1.03405917e-01 8.96566884e+00] [-2.23714953e-01 9.74483993e-01 1.82363999e-02 -1.38230336e+00] [ 1.04859486e-01 5.46242434e-03 9.94472046e-01 9.57525945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.20629675699999 meters Centerline goodness : 0.819521 with order 1 Centerline is valid? [False, False] Translation: X:8.97, Y:-1.38, Z:0.96 [[ 9.69116447e-01 2.23332055e-01 -1.04575833e-01 8.96868332e+00] [-2.22819364e-01 9.74716515e-01 1.67106739e-02 -1.37848853e+00] [ 1.05663820e-01 7.10693150e-03 9.94376513e-01 9.56809191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.26629675699999 meters Centerline goodness : 0.819127 with order 1 Centerline is valid? [False, False] Translation: X:8.97, Y:-1.38, Z:0.96 [[ 9.69193291e-01 2.22728037e-01 -1.05150302e-01 8.97064520e+00] [-2.22292867e-01 9.74848801e-01 1.59904898e-02 -1.37635171e+00] [ 1.06067176e-01 7.87628660e-03 9.94327772e-01 9.56180549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.326296757 meters Centerline goodness : 0.819698 with order 1 Centerline is valid? [False, False] Translation: X:8.98, Y:-1.37, Z:0.95 [[ 9.68813582e-01 2.24173987e-01 -1.05575881e-01 8.97549428e+00] [-2.23550022e-01 9.74528792e-01 1.78611583e-02 -1.37362160e+00] [ 1.06890743e-01 6.29735783e-03 9.94250830e-01 9.54753316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.386296757 meters Centerline goodness : 0.821149 with order 1 Centerline is valid? [False, False] Translation: X:8.98, Y:-1.37, Z:0.96 [[ 9.68923601e-01 2.23561849e-01 -1.05863854e-01 8.97561206e+00] [-2.23034683e-01 9.74663210e-01 1.69457390e-02 -1.36978973e+00] [ 1.06970024e-01 7.19218455e-03 9.94236233e-01 9.56039808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.446296757 meters Centerline goodness : 0.820213 with order 2 Centerline is valid? [False, False] Translation: X:8.98, Y:-1.37, Z:0.96 [[ 9.69153774e-01 2.22364832e-01 -1.06277206e-01 8.97697913e+00] [-2.21891731e-01 9.74933269e-01 1.64067505e-02 -1.36752096e+00] [ 1.07261469e-01 7.68136913e-03 9.94201174e-01 9.56901156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.50629675699999 meters Centerline goodness : 0.818180 with order 2 Centerline is valid? [False, False] Translation: X:8.98, Y:-1.37, Z:0.96 [[ 9.69316966e-01 2.20974488e-01 -1.07679597e-01 8.98094047e+00] [-2.20575392e-01 9.75242706e-01 1.57531055e-02 -1.36624484e+00] [ 1.08494776e-01 8.48171678e-03 9.94060835e-01 9.56419653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.56629675699999 meters Centerline goodness : 0.817796 with order 2 Centerline is valid? [False, False] Translation: X:8.98, Y:-1.37, Z:0.96 [[ 0.96950496 0.21967174 -0.10864836 8.9838947 ] [-0.21935987 0.97552927 0.01496323 -1.36513944] [ 0.10927666 0.00932617 0.99396762 0.95583103] [ 0. 0. 0. 1. ]] SLAMing on 111.62629675699999 meters Centerline goodness : 0.821652 with order 2 Centerline is valid? [False, False] Translation: X:8.99, Y:-1.37, Z:0.96 [[ 9.68925768e-01 2.21837804e-01 -1.09411359e-01 8.98757900e+00] [-2.21085368e-01 9.75067107e-01 1.91153479e-02 -1.36722041e+00] [ 1.10923924e-01 5.66789749e-03 9.93812738e-01 9.57808105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.686296757 meters Centerline goodness : 0.819568 with order 2 Centerline is valid? [False, False] Translation: X:8.99, Y:-1.37, Z:0.96 [[ 9.68113554e-01 2.25461187e-01 -1.09194323e-01 8.98901974e+00] [-2.24307026e-01 9.74249385e-01 2.29018430e-02 -1.36630022e+00] [ 1.11545979e-01 2.32146921e-03 9.93756562e-01 9.58766554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.746296757 meters Centerline goodness : 0.834502 with order 3 Centerline is valid? [False, False] Translation: X:8.99, Y:-1.37, Z:0.96 [[ 9.66440602e-01 2.32773870e-01 -1.08668709e-01 8.99171237e+00] [-2.30842726e-01 9.72522233e-01 3.02017074e-02 -1.36501878e+00] [ 1.12712904e-01 -4.10277515e-03 9.93619126e-01 9.60317506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.806296757 meters Centerline goodness : 0.847907 with order 3 Centerline is valid? [False, False] Translation: X:8.99, Y:-1.37, Z:0.96 [[ 9.65580055e-01 2.36338975e-01 -1.08623414e-01 8.99389546e+00] [-2.34015867e-01 9.71643554e-01 3.38434220e-02 -1.36510447e+00] [ 1.13541760e-01 -7.25893094e-03 9.93506707e-01 9.60379290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.86629675699999 meters Centerline goodness : 0.817082 with order 3 Centerline is valid? [False, False] Translation: X:8.99, Y:-1.36, Z:0.96 [[ 9.65461414e-01 2.36679652e-01 -1.08935766e-01 8.99433160e+00] [-2.34407815e-01 9.71564601e-01 3.33946506e-02 -1.36122727e+00] [ 1.13741968e-01 -6.70585180e-03 9.93487693e-01 9.60972102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.92629675699999 meters Centerline goodness : 0.818609 with order 2 Centerline is valid? [False, False] Translation: X:9.00, Y:-1.36, Z:0.96 [[ 9.65481920e-01 2.36404030e-01 -1.09351713e-01 8.99538813e+00] [-2.34213114e-01 9.71636861e-01 3.26500803e-02 -1.35831213e+00] [ 1.13968765e-01 -5.91145703e-03 9.93466746e-01 9.61089526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.98629675699999 meters Centerline goodness : 0.833415 with order 3 Centerline is valid? [False, False] Translation: X:9.00, Y:-1.36, Z:0.96 [[ 9.65478844e-01 2.36251356e-01 -1.09708244e-01 8.99525854e+00] [-2.34074444e-01 9.71675261e-01 3.25014298e-02 -1.35729540e+00] [ 1.14279294e-01 -5.69954661e-03 9.93432312e-01 9.62471046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.046296757 meters Centerline goodness : 0.811902 with order 2 Centerline is valid? [False, False] Translation: X:9.00, Y:-1.36, Z:0.96 [[ 9.65424870e-01 2.36356657e-01 -1.09956129e-01 8.99539747e+00] [-2.34178925e-01 9.71650064e-01 3.25020722e-02 -1.35657147e+00] [ 1.14520961e-01 -5.62890072e-03 9.93404885e-01 9.63219859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.106296757 meters Centerline goodness : 0.813895 with order 2 Centerline is valid? [False, False] Translation: X:9.00, Y:-1.36, Z:0.96 [[ 9.64552754e-01 2.39922869e-01 -1.09886311e-01 8.99786055e+00] [-2.37375248e-01 9.70754339e-01 3.59027200e-02 -1.35505521e+00] [ 1.15286496e-01 -8.54577724e-03 9.93295522e-01 9.63086513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.166296757 meters Centerline goodness : 0.814672 with order 2 Centerline is valid? [False, False] Translation: X:9.00, Y:-1.35, Z:0.96 [[ 9.64460373e-01 2.39877315e-01 -1.10792882e-01 9.00024513e+00] [-2.37394096e-01 9.70772456e-01 3.52828799e-02 -1.35377919e+00] [ 1.16018241e-01 -7.72736339e-03 9.93217023e-01 9.62159161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.226296757 meters Centerline goodness : 0.816228 with order 2 Centerline is valid? [False, False] Translation: X:9.00, Y:-1.35, Z:0.96 [[ 9.64310595e-01 2.40449484e-01 -1.10856310e-01 8.99949483e+00] [-2.37914916e-01 9.70627860e-01 3.57498301e-02 -1.35434143e+00] [ 1.16196251e-01 -8.09957019e-03 9.93193248e-01 9.63264754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.28629675699999 meters Centerline goodness : 0.819444 with order 3 Centerline is valid? [False, False] Translation: X:9.01, Y:-1.36, Z:0.96 [[ 9.64202577e-01 2.42782667e-01 -1.06630048e-01 9.01079636e+00] [-2.41170245e-01 9.70079907e-01 2.79622446e-02 -1.35601322e+00] [ 1.10228415e-01 -1.24527348e-03 9.93905501e-01 9.61336967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.34629675699999 meters Centerline goodness : 0.817169 with order 3 Centerline is valid? [False, False] Translation: X:9.01, Y:-1.36, Z:0.96 [[ 9.64104415e-01 2.43227366e-01 -1.06504105e-01 9.01018435e+00] [-2.41535990e-01 9.69967352e-01 2.87002028e-02 -1.35771589e+00] [ 1.10286179e-01 -1.94541780e-03 9.93897970e-01 9.61902375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.40629675699999 meters Centerline goodness : 0.786053 with order 2 Centerline is valid? [False, False] Translation: X:9.01, Y:-1.36, Z:0.96 [[ 9.64801222e-01 2.40590718e-01 -1.06182426e-01 9.00670358e+00] [-2.39164722e-01 9.70626643e-01 2.61563513e-02 -1.35975633e+00] [ 1.09356467e-01 1.59410667e-04 9.94002584e-01 9.62770632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.466296757 meters Centerline goodness : 0.814750 with order 3 Centerline is valid? [False, False] Translation: X:9.00, Y:-1.36, Z:0.96 [[ 9.64814071e-01 2.40815223e-01 -1.05554905e-01 9.00497861e+00] [-2.39246713e-01 9.70570177e-01 2.74689065e-02 -1.36322690e+00] [ 1.09063373e-01 -1.24872339e-03 9.94034014e-01 9.64037188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.526296757 meters Centerline goodness : 0.793811 with order 2 Centerline is valid? [False, False] Translation: X:9.00, Y:-1.36, Z:0.97 [[ 9.65611591e-01 2.37709364e-01 -1.05302013e-01 9.00173011e+00] [-2.36426465e-01 9.71335748e-01 2.46858396e-02 -1.36445689e+00] [ 1.08151665e-01 1.05924975e-03 9.94133842e-01 9.65138874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.586296757 meters Centerline goodness : 0.792108 with order 2 Centerline is valid? [False, False] Translation: X:9.00, Y:-1.37, Z:0.97 [[ 9.66548489e-01 2.33785730e-01 -1.05490526e-01 9.00005882e+00] [-2.32827726e-01 9.72280723e-01 2.14812817e-02 -1.36695578e+00] [ 1.07588422e-01 3.79841889e-03 9.94188264e-01 9.65205097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.64629675699999 meters Centerline goodness : 0.808808 with order 3 Centerline is valid? [False, False] Translation: X:9.00, Y:-1.37, Z:0.96 [[ 9.67500820e-01 2.29478072e-01 -1.06216651e-01 9.00003756e+00] [-2.28918446e-01 9.73286534e-01 1.75973644e-02 -1.36689225e+00] [ 1.07417445e-01 7.28948624e-03 9.94187284e-01 9.64762644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.70629675699999 meters Centerline goodness : 0.800773 with order 3 Centerline is valid? [False, False] Translation: X:9.00, Y:-1.37, Z:0.97 [[ 9.67555549e-01 2.29357202e-01 -1.05978931e-01 8.99949496e+00] [-2.28725636e-01 9.73320008e-01 1.82413186e-02 -1.36931497e+00] [ 1.07335192e-01 6.59060947e-03 9.94201046e-01 9.65191773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.76629675699999 meters Centerline goodness : 0.780029 with order 2 Centerline is valid? [False, False] Translation: X:9.00, Y:-1.37, Z:0.97 [[ 9.66824426e-01 2.32646338e-01 -1.05480855e-01 9.00057770e+00] [-2.31550731e-01 9.72558219e-01 2.26885365e-02 -1.37285343e+00] [ 1.07864678e-01 2.48833790e-03 9.94162471e-01 9.65738222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.826296757 meters Centerline goodness : 0.784616 with order 3 Centerline is valid? [False, False] Translation: X:9.00, Y:-1.37, Z:0.96 [[ 9.66836590e-01 2.32477857e-01 -1.05740506e-01 9.00199243e+00] [-2.31434697e-01 9.72597046e-01 2.22028862e-02 -1.37144018e+00] [ 1.08004583e-01 3.00545906e-03 9.94145853e-01 9.64654797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.886296757 meters Centerline goodness : 0.785975 with order 2 Centerline is valid? [False, False] Translation: X:9.00, Y:-1.37, Z:0.96 [[ 9.66730307e-01 2.33004086e-01 -1.05553824e-01 9.00146679e+00] [-2.31949919e-01 9.72471438e-01 2.23279620e-02 -1.37131255e+00] [ 1.07850586e-01 2.89808345e-03 9.94162890e-01 9.64674608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.946296757 meters Centerline goodness : 0.785534 with order 3 Centerline is valid? [False, False] Translation: X:9.00, Y:-1.37, Z:0.97 [[ 9.66643354e-01 2.33492574e-01 -1.05270341e-01 9.00043939e+00] [-2.32380016e-01 9.72355770e-01 2.28863460e-02 -1.37193428e+00] [ 1.07704015e-01 2.33978920e-03 9.94180251e-01 9.65391243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.00629675699999 meters Centerline goodness : 0.806659 with order 3 Centerline is valid? [False, False] Translation: X:9.00, Y:-1.37, Z:0.97 [[ 9.66492119e-01 2.34310796e-01 -1.04840044e-01 8.99942128e+00] [-2.33142110e-01 9.72160099e-01 2.34413702e-02 -1.37155106e+00] [ 1.07413874e-01 1.78672963e-03 9.94212788e-01 9.65771199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.06629675699999 meters Centerline goodness : 0.792096 with order 3 Centerline is valid? [False, False] Translation: X:9.00, Y:-1.37, Z:0.97 [[ 9.66414198e-01 2.34826855e-01 -1.04402803e-01 8.99796699e+00] [-2.33618238e-01 9.72036267e-01 2.38330573e-02 -1.37110305e+00] [ 1.07079953e-01 1.35779384e-03 9.94249486e-01 9.66777275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.12629675699999 meters Centerline goodness : 0.812737 with order 3 Centerline is valid? [False, False] Translation: X:9.00, Y:-1.37, Z:0.97 [[ 9.66315795e-01 2.35498548e-01 -1.03798937e-01 8.99576710e+00] [-2.34245108e-01 9.71874327e-01 2.42800666e-02 -1.37092080e+00] [ 1.06597443e-01 8.52181389e-04 9.94301895e-01 9.68182673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.186296757 meters Centerline goodness : 0.788384 with order 1 Centerline is valid? [False, False] Translation: X:8.99, Y:-1.37, Z:0.97 [[ 9.66202122e-01 2.36124268e-01 -1.03434956e-01 8.99451987e+00] [-2.34864042e-01 9.71722583e-01 2.43742288e-02 -1.36943237e+00] [ 1.06265429e-01 7.42720196e-04 9.94337522e-01 9.68888329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.246296757 meters Centerline goodness : 0.790091 with order 1 Centerline is valid? [False, False] Translation: X:8.99, Y:-1.37, Z:0.97 [[ 9.65325487e-01 2.40256226e-01 -1.02096277e-01 8.99405480e+00] [-2.38653290e-01 9.70706318e-01 2.78181839e-02 -1.36641600e+00] [ 1.05788993e-01 -2.48798961e-03 9.94385488e-01 9.69339393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.306296757 meters Centerline goodness : 0.789658 with order 1 Centerline is valid? [False, False] Translation: X:8.99, Y:-1.36, Z:0.97 [[ 9.65319766e-01 2.40451009e-01 -1.01691016e-01 8.99311021e+00] [-2.38909206e-01 9.70659173e-01 2.72609911e-02 -1.36405414e+00] [ 1.05262251e-01 -2.02065353e-03 9.94442445e-01 9.69479966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.36629675699999 meters Centerline goodness : 0.792660 with order 1 Centerline is valid? [False, False] Translation: X:8.99, Y:-1.36, Z:0.97 [[ 9.65357459e-01 2.40135166e-01 -1.02078789e-01 8.99406192e+00] [-2.38592218e-01 9.70737505e-01 2.72479248e-02 -1.36401210e+00] [ 1.05634894e-01 -1.94878283e-03 9.94403073e-01 9.69728267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.42629675699999 meters Centerline goodness : 0.796165 with order 1 Centerline is valid? [False, False] Translation: X:8.99, Y:-1.36, Z:0.97 [[ 9.66250136e-01 2.31658458e-01 -1.12672237e-01 8.99354899e+00] [-2.29942162e-01 9.72796289e-01 2.81776889e-02 -1.35769016e+00] [ 1.16134734e-01 -1.31859800e-03 9.93232594e-01 9.71904348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.48629675699999 meters Centerline goodness : 0.798771 with order 1 Centerline is valid? [False, False] Translation: X:8.99, Y:-1.35, Z:0.98 [[ 9.66789353e-01 2.23196344e-01 -1.24505983e-01 8.99471660e+00] [-2.21380050e-01 9.74773504e-01 2.84163626e-02 -1.35251174e+00] [ 1.27707561e-01 9.05038030e-05 9.91811863e-01 9.76718468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.546296757 meters Centerline goodness : 0.802509 with order 1 Centerline is valid? [False, False] Translation: X:8.99, Y:-1.35, Z:0.98 [[ 9.66934072e-01 2.22623639e-01 -1.24407459e-01 8.99418763e+00] [-2.20873923e-01 9.74904316e-01 2.78618756e-02 -1.35105416e+00] [ 1.27488081e-01 5.37766667e-04 9.91839957e-01 9.77305285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.606296757 meters Centerline goodness : 0.812171 with order 1 Centerline is valid? [False, False] Translation: X:8.99, Y:-1.35, Z:0.98 [[ 9.67146480e-01 2.22311616e-01 -1.23309492e-01 8.99261778e+00] [-2.20590350e-01 9.74975539e-01 2.76151246e-02 -1.34716337e+00] [ 1.26362902e-01 4.93013484e-04 9.91983959e-01 9.77617931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.666296757 meters Centerline goodness : 0.816016 with order 1 Centerline is valid? [False, False] Translation: X:8.99, Y:-1.34, Z:0.98 [[ 9.67269824e-01 2.22138116e-01 -1.22652946e-01 8.99117388e+00] [-2.20473326e-01 9.75014901e-01 2.71561189e-02 -1.34374901e+00] [ 1.25620859e-01 7.74408504e-04 9.92078021e-01 9.78661443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.726296757 meters Centerline goodness : 0.813105 with order 1 Centerline is valid? [False, False] Translation: X:8.99, Y:-1.34, Z:0.98 [[ 9.66843597e-01 2.24375564e-01 -1.21938776e-01 8.98986053e+00] [-2.22525596e-01 9.74502516e-01 2.87611836e-02 -1.34191486e+00] [ 1.25282951e-01 -6.73067248e-04 9.92120824e-01 9.80254584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.78629675699999 meters Centerline goodness : 0.814958 with order 2 Centerline is valid? [False, False] Translation: X:8.99, Y:-1.34, Z:0.98 [[ 9.65889767e-01 2.28464368e-01 -1.21905663e-01 8.99209763e+00] [-2.26287067e-01 9.73547837e-01 3.16033629e-02 -1.34010707e+00] [ 1.25901237e-01 -2.93968979e-03 9.92038425e-01 9.79814147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.84629675699999 meters Centerline goodness : 0.816483 with order 2 Centerline is valid? [False, False] Translation: X:9.00, Y:-1.34, Z:0.98 [[ 9.65699019e-01 2.28469148e-01 -1.23398755e-01 8.99529769e+00] [-2.26514213e-01 9.73550773e-01 2.98363005e-02 -1.33779376e+00] [ 1.26951627e-01 -8.61314379e-04 9.91908535e-01 9.79637267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.90629675699999 meters Centerline goodness : 0.818291 with order 2 Centerline is valid? [False, False] Translation: X:9.00, Y:-1.34, Z:0.98 [[ 9.65914107e-01 2.26987441e-01 -1.24445326e-01 8.99703090e+00] [-2.25292902e-01 9.73896860e-01 2.77130853e-02 -1.33534245e+00] [ 1.27487434e-01 1.26818852e-03 9.91839375e-01 9.79770461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.966296757 meters Centerline goodness : 0.817681 with order 2 Centerline is valid? [False, False] Translation: X:8.99, Y:-1.33, Z:0.98 [[ 9.66437204e-01 2.25221252e-01 -1.23590124e-01 8.99474076e+00] [-2.23609318e-01 9.74306339e-01 2.69449443e-02 -1.33270566e+00] [ 1.26483215e-01 1.59530669e-03 9.91967465e-01 9.80833511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.026296757 meters Centerline goodness : 0.837653 with order 3 Centerline is valid? [False, False] Translation: X:9.00, Y:-1.33, Z:0.98 [[ 9.67304337e-01 2.21150066e-01 -1.24157033e-01 8.99560363e+00] [-2.19940704e-01 9.75229228e-01 2.35380226e-02 -1.33150710e+00] [ 1.26287003e-01 4.53875391e-03 9.91983363e-01 9.79596042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.086296757 meters Centerline goodness : 0.840985 with order 3 Centerline is valid? [False, False] Translation: X:9.00, Y:-1.33, Z:0.98 [[ 9.68453866e-01 2.15696517e-01 -1.24788311e-01 8.99832682e+00] [-2.14722675e-01 9.76441368e-01 2.13641588e-02 -1.33203373e+00] [ 1.26456644e-01 6.10467789e-03 9.91953351e-01 9.75842102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.14629675699999 meters Centerline goodness : 0.820558 with order 2 Centerline is valid? [False, False] Translation: X:9.00, Y:-1.33, Z:0.97 [[ 9.69640478e-01 2.10005796e-01 -1.25279320e-01 9.00074519e+00] [-2.09273715e-01 9.77670038e-01 1.91261398e-02 -1.33394720e+00] [ 1.26498438e-01 7.67218937e-03 9.91937136e-01 9.71813745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.20629675699999 meters Centerline goodness : 0.820404 with order 1 Centerline is valid? [False, False] Translation: X:9.01, Y:-1.34, Z:0.98 [[ 9.70711102e-01 2.06145070e-01 -1.23386247e-01 9.00808218e+00] [-2.04576004e-01 9.78521261e-01 2.53929119e-02 -1.34048300e+00] [ 1.25970689e-01 5.92683796e-04 9.92033787e-01 9.77818132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.26629675699999 meters Centerline goodness : 0.815199 with order 3 Centerline is valid? [False, False] Translation: X:9.01, Y:-1.34, Z:0.98 [[ 9.70959051e-01 2.05605603e-01 -1.22330934e-01 9.00617800e+00] [-2.03865641e-01 9.78634428e-01 2.67105960e-02 -1.34196961e+00] [ 1.25209112e-01 -9.95820634e-04 9.92129874e-01 9.77698355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.326296757 meters Centerline goodness : 0.813758 with order 1 Centerline is valid? [False, False] Translation: X:9.01, Y:-1.34, Z:0.98 [[ 9.70514270e-01 2.06943485e-01 -1.23597919e-01 9.01029814e+00] [-2.05163694e-01 9.78352445e-01 2.70989289e-02 -1.34380245e+00] [ 1.26530273e-01 -9.42091626e-04 9.91962299e-01 9.75752235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.386296757 meters Centerline goodness : 0.812530 with order 1 Centerline is valid? [False, False] Translation: X:9.01, Y:-1.34, Z:0.98 [[ 9.69683358e-01 2.09580218e-01 -1.25659529e-01 9.01388864e+00] [-2.07950015e-01 9.77791113e-01 2.61023206e-02 -1.34395620e+00] [ 1.28339301e-01 8.19915133e-04 9.91729979e-01 9.76648938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.446296757 meters Centerline goodness : 0.810494 with order 1 Centerline is valid? [False, False] Translation: X:9.02, Y:-1.34, Z:0.98 [[ 9.68993881e-01 2.12083377e-01 -1.26773416e-01 9.01540450e+00] [-2.10554392e-01 9.77249559e-01 2.54980043e-02 -1.34347865e+00] [ 1.29296968e-01 1.98528935e-03 9.91603929e-01 9.78145777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.50629675699999 meters Centerline goodness : 0.808340 with order 1 Centerline is valid? [False, False] Translation: X:9.02, Y:-1.34, Z:0.98 [[ 9.67451577e-01 2.17357125e-01 -1.29589065e-01 9.01987301e+00] [-2.15922034e-01 9.76085486e-01 2.51952019e-02 -1.34447437e+00] [ 1.31966362e-01 3.60599664e-03 9.91247636e-01 9.80275556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.56629675699999 meters Centerline goodness : 0.818504 with order 2 Centerline is valid? [False, False] Translation: X:9.02, Y:-1.35, Z:0.98 [[ 9.66931591e-01 2.19120919e-01 -1.30496441e-01 9.02053852e+00] [-2.17731039e-01 9.75688509e-01 2.50025404e-02 -1.34666259e+00] [ 1.32802458e-01 4.23737964e-03 9.91133468e-01 9.81509097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.62629675699999 meters Centerline goodness : 0.832164 with order 3 Centerline is valid? [False, False] Translation: X:9.02, Y:-1.35, Z:0.98 [[ 9.66287370e-01 2.20567516e-01 -1.32810728e-01 9.02457178e+00] [-2.19255536e-01 9.75357086e-01 2.46082110e-02 -1.34948429e+00] [ 1.34965656e-01 5.34088383e-03 9.90835883e-01 9.81712903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.686296757 meters Centerline goodness : 0.809090 with order 1 Centerline is valid? [False, False] Translation: X:9.02, Y:-1.35, Z:0.98 [[ 9.66246517e-01 2.20806421e-01 -1.32710941e-01 9.02332230e+00] [-2.19558628e-01 9.75300383e-01 2.41489316e-02 -1.35018530e+00] [ 1.34765270e-01 5.80401104e-03 9.90860553e-01 9.82777400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.746296757 meters Centerline goodness : 0.821535 with order 3 Centerline is valid? [False, False] Translation: X:9.05, Y:-1.36, Z:0.99 [[ 9.66037179e-01 2.21814680e-01 -1.32553448e-01 9.04683047e+00] [-2.19900130e-01 9.75088289e-01 2.90991679e-02 -1.36370850e+00] [ 1.35705938e-01 1.03764236e-03 9.90748617e-01 9.92018515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.806296757 meters Centerline goodness : 0.811525 with order 2 Centerline is valid? [False, False] Translation: X:9.05, Y:-1.37, Z:0.99 [[ 9.65958617e-01 2.22094722e-01 -1.32657015e-01 9.04674929e+00] [-2.20000701e-01 9.75025072e-01 3.04269640e-02 -1.36653955e+00] [ 1.36101584e-01 -2.06551883e-04 9.90694865e-01 9.93198607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.86629675699999 meters Centerline goodness : 0.806291 with order 1 Centerline is valid? [False, False] Translation: X:9.05, Y:-1.37, Z:0.99 [[ 9.66077934e-01 2.21184050e-01 -1.33308072e-01 9.05004022e+00] [-2.19032458e-01 9.75231935e-01 3.07807704e-02 -1.36932724e+00] [ 1.36814504e-01 -5.37828521e-04 9.90596539e-01 9.91723659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.92629675699999 meters Centerline goodness : 0.806789 with order 2 Centerline is valid? [False, False] Translation: X:9.05, Y:-1.37, Z:0.99 [[ 9.67003881e-01 2.16675287e-01 -1.33997441e-01 9.05030061e+00] [-2.14913714e-01 9.76241556e-01 2.76499610e-02 -1.37385583e+00] [ 1.36804934e-01 2.06026818e-03 9.90595864e-01 9.90915104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.98629675699999 meters Centerline goodness : 0.811748 with order 3 Centerline is valid? [False, False] Translation: X:9.05, Y:-1.38, Z:0.99 [[ 9.67166904e-01 2.16029973e-01 -1.33862732e-01 9.05037651e+00] [-2.14117217e-01 9.76386312e-01 2.86982183e-02 -1.37783022e+00] [ 1.36901414e-01 9.06348713e-04 9.90584263e-01 9.91698119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.046296757 meters Centerline goodness : 0.816896 with order 3 Centerline is valid? [False, False] Translation: X:9.05, Y:-1.38, Z:0.99 [[ 9.67075777e-01 2.16689744e-01 -1.33454100e-01 9.04968837e+00] [-2.14542445e-01 9.76240188e-01 3.04406844e-02 -1.38036202e+00] [ 1.36879439e-01 -8.06879675e-04 9.90587385e-01 9.92931844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.106296757 meters Centerline goodness : 0.802826 with order 3 Centerline is valid? [False, False] Translation: X:9.05, Y:-1.39, Z:0.99 [[ 9.66317463e-01 2.20593557e-01 -1.32548268e-01 9.04953962e+00] [-2.17743679e-01 9.75348933e-01 3.58071144e-02 -1.38508755e+00] [ 1.37179631e-01 -5.73949230e-03 9.90529559e-01 9.94605151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.166296757 meters Centerline goodness : 0.828842 with order 3 Centerline is valid? [False, False] Translation: X:9.05, Y:-1.39, Z:0.99 [[ 0.96544512 0.22459005 -0.13219314 9.05071637] [-0.22119255 0.97440784 0.04004019 -1.388312 ] [ 0.13780266 -0.00941647 0.99041494 0.99467397] [ 0. 0. 0. 1. ]] SLAMing on 115.22629675699999 meters Centerline goodness : 0.819181 with order 3 Centerline is valid? [False, False] Translation: X:9.05, Y:-1.39, Z:0.99 [[ 0.96439115 0.22961527 -0.13124992 9.05144242] [-0.22579059 0.97320331 0.04351922 -1.38702264] [ 0.13772554 -0.01233455 0.99039363 0.99322428] [ 0. 0. 0. 1. ]] SLAMing on 115.28629675699999 meters Centerline goodness : 0.805594 with order 3 Centerline is valid? [False, False] Translation: X:9.05, Y:-1.39, Z:0.99 [[ 0.96318894 0.23504709 -0.13046045 9.05191091] [-0.2307649 0.97186203 0.04724149 -1.3864309 ] [ 0.13789353 -0.01539679 0.99032738 0.9922108 ] [ 0. 0. 0. 1. ]] SLAMing on 115.34629675699999 meters Centerline goodness : 0.818193 with order 3 Centerline is valid? [False, False] Translation: X:9.05, Y:-1.39, Z:0.99 [[ 0.96213371 0.23952359 -0.13010446 9.05428976] [-0.23481026 0.97072004 0.05066304 -1.38665993] [ 0.13843 -0.01819476 0.99020507 0.99027191] [ 0. 0. 0. 1. ]] SLAMing on 115.40629675699999 meters Centerline goodness : 0.812544 with order 3 Centerline is valid? [False, False] Translation: X:9.05, Y:-1.39, Z:0.99 [[ 0.9625909 0.2376055 -0.13023971 9.05190902] [-0.23326696 0.97123539 0.04783656 -1.38574161] [ 0.13785965 -0.01566642 0.99032787 0.99056055] [ 0. 0. 0. 1. ]] SLAMing on 115.466296757 meters Centerline goodness : 0.803232 with order 1 Centerline is valid? [False, False] Translation: X:9.05, Y:-1.39, Z:0.99 [[ 0.96324398 0.23476431 -0.13056325 9.04972702] [-0.23078242 0.97196182 0.04505224 -1.38644693] [ 0.13747915 -0.01326459 0.99041584 0.99150954] [ 0. 0. 0. 1. ]] SLAMing on 115.526296757 meters Centerline goodness : 0.820038 with order 3 Centerline is valid? [False, False] Translation: X:9.05, Y:-1.39, Z:0.99 [[ 0.96322993 0.23458114 -0.13099536 9.05090508] [-0.23052848 0.97200091 0.04550653 -1.38820488] [ 0.13800259 -0.01363508 0.99033801 0.99150972] [ 0. 0. 0. 1. ]] SLAMing on 115.586296757 meters Centerline goodness : 0.807339 with order 2 Centerline is valid? [False, False] Translation: X:9.05, Y:-1.39, Z:0.99 [[ 0.96393009 0.23135505 -0.13158125 9.049737 ] [-0.22769347 0.97280784 0.04243326 -1.38811188] [ 0.13782042 -0.0109425 0.99039679 0.99206712] [ 0. 0. 0. 1. ]] SLAMing on 115.64629675699999 meters Centerline goodness : 0.810227 with order 3 Centerline is valid? [False, False] Translation: X:9.05, Y:-1.39, Z:0.99 [[ 0.96393299 0.23089211 -0.13237081 9.05142548] [-0.22713631 0.97291263 0.04301303 -1.39210099] [ 0.1387166 -0.01139546 0.99026655 0.99224373] [ 0. 0. 0. 1. ]] SLAMing on 115.70629675699999 meters Centerline goodness : 0.813270 with order 3 Centerline is valid? [False, False] Translation: X:9.05, Y:-1.39, Z:0.99 [[ 0.96397208 0.23058904 -0.1326142 9.05269456] [-0.22682333 0.9729843 0.04304334 -1.39311238] [ 0.13895686 -0.01141259 0.99023267 0.99157879] [ 0. 0. 0. 1. ]] SLAMing on 115.76629675699999 meters Centerline goodness : 0.817325 with order 1 Centerline is valid? [False, False] Translation: X:9.05, Y:-1.39, Z:0.99 [[ 9.64535814e-01 2.27901534e-01 -1.33159885e-01 9.05157059e+00] [-2.24594672e-01 9.73649308e-01 3.95506990e-02 -1.39234611e+00] [ 1.38664695e-01 -8.24106497e-03 9.90305098e-01 9.91131046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.826296757 meters Centerline goodness : 0.817103 with order 1 Centerline is valid? [False, False] Translation: X:9.05, Y:-1.39, Z:0.99 [[ 0.96362878 0.23205817 -0.13254655 9.05334887] [-0.2283037 0.97263697 0.04306668 -1.39257965] [ 0.13891365 -0.01123942 0.99024071 0.98978653] [ 0. 0. 0. 1. ]] SLAMing on 115.886296757 meters Centerline goodness : 0.816181 with order 1 Centerline is valid? [False, False] Translation: X:9.05, Y:-1.39, Z:0.99 [[ 0.96341388 0.23301418 -0.13243148 9.0527481 ] [-0.22924059 0.97240729 0.04327612 -1.39137613] [ 0.13886128 -0.01133414 0.99024698 0.99010778] [ 0. 0. 0. 1. ]] SLAMing on 115.946296757 meters Centerline goodness : 0.812813 with order 1 Centerline is valid? [False, False] Translation: X:9.05, Y:-1.39, Z:0.99 [[ 0.96334994 0.23313423 -0.13268504 9.0530045 ] [-0.22932102 0.97237631 0.04354528 -1.39294053] [ 0.13917169 -0.01152188 0.99020124 0.99029361] [ 0. 0. 0. 1. ]] SLAMing on 116.00629675699999 meters Centerline goodness : 0.808559 with order 1 Centerline is valid? [False, False] Translation: X:9.05, Y:-1.39, Z:0.99 [[ 0.96339608 0.23274321 -0.13303606 9.05456029] [-0.22889856 0.97246831 0.04371311 -1.39448403] [ 0.13954728 -0.01166128 0.99014674 0.98959925] [ 0. 0. 0. 1. ]] SLAMing on 116.06629675699999 meters Centerline goodness : 0.806673 with order 1 Centerline is valid? [False, False] Translation: X:9.06, Y:-1.40, Z:0.99 [[ 0.96345071 0.23244852 -0.13315563 9.05546663] [-0.2285776 0.97253676 0.04386958 -1.39574497] [ 0.13969617 -0.01182978 0.99012375 0.9890827 ] [ 0. 0. 0. 1. ]] SLAMing on 116.12629675699999 meters Centerline goodness : 0.810596 with order 1 Centerline is valid? [False, False] Translation: X:9.05, Y:-1.40, Z:0.99 [[ 9.64170595e-01 2.29396378e-01 -1.33238001e-01 9.05343821e+00] [-2.26021364e-01 9.73295267e-01 4.01331112e-02 -1.39574956e+00] [ 1.38886306e-01 -8.58053108e-03 9.90271159e-01 9.88431357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.186296757 meters Centerline goodness : 0.812464 with order 1 Centerline is valid? [False, False] Translation: X:9.05, Y:-1.40, Z:0.99 [[ 0.96407744 0.23027983 -0.13238535 9.05073329] [-0.22680713 0.97307857 0.04094656 -1.39613312] [ 0.13825051 -0.00944971 0.99035221 0.98981389] [ 0. 0. 0. 1. ]] SLAMing on 116.246296757 meters Centerline goodness : 0.815590 with order 1 Centerline is valid? [False, False] Translation: X:9.05, Y:-1.39, Z:0.99 [[ 9.66088046e-01 2.29378531e-01 -1.18572246e-01 9.05014667e+00] [-2.26651986e-01 9.73303818e-01 3.61739460e-02 -1.39488785e+00] [ 1.23704347e-01 -8.07258168e-03 9.92286283e-01 9.86473665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.306296757 meters Centerline goodness : 0.814514 with order 1 Centerline is valid? [False, False] Translation: X:9.05, Y:-1.39, Z:0.99 [[ 9.66017436e-01 2.29743481e-01 -1.18440898e-01 9.04991013e+00] [-2.26997374e-01 9.73216335e-01 3.63614869e-02 -1.39461791e+00] [ 1.23622431e-01 -8.24005755e-03 9.92295115e-01 9.86549038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.36629675699999 meters Centerline goodness : 0.812217 with order 1 Centerline is valid? [False, False] Translation: X:9.05, Y:-1.39, Z:0.98 [[ 9.66092553e-01 2.28996727e-01 -1.19271449e-01 9.05363084e+00] [-2.26336576e-01 9.73399262e-01 3.55756998e-02 -1.39252816e+00] [ 1.24245460e-01 -7.37392720e-03 9.92224113e-01 9.84598886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.42629675699999 meters Centerline goodness : 0.814619 with order 1 Centerline is valid? [False, False] Translation: X:9.06, Y:-1.39, Z:0.98 [[ 9.66358912e-01 2.27374944e-01 -1.20212675e-01 9.05728115e+00] [-2.24813261e-01 9.73785929e-01 3.46404638e-02 -1.39329066e+00] [ 1.24937785e-01 -6.44971745e-03 9.92143614e-01 9.82774004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.48629675699999 meters Centerline goodness : 0.814347 with order 1 Centerline is valid? [False, False] Translation: X:9.06, Y:-1.39, Z:0.98 [[ 9.66444068e-01 2.26875408e-01 -1.20471623e-01 9.05866326e+00] [-2.24344185e-01 9.73904213e-01 3.43550546e-02 -1.39315312e+00] [ 1.25122138e-01 -6.17513073e-03 9.92122129e-01 9.82084998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.546296757 meters Centerline goodness : 0.816483 with order 1 Centerline is valid? [False, False] Translation: X:9.06, Y:-1.39, Z:0.98 [[ 9.66319711e-01 2.27657033e-01 -1.19993716e-01 9.05757209e+00] [-2.25115922e-01 9.73720800e-01 3.45054342e-02 -1.38948326e+00] [ 1.24695781e-01 -6.33078523e-03 9.92174825e-01 9.82995405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.606296757 meters Centerline goodness : 0.816797 with order 1 Centerline is valid? [False, False] Translation: X:9.06, Y:-1.39, Z:0.98 [[ 9.66231364e-01 2.28058054e-01 -1.19943632e-01 9.05730704e+00] [-2.25544399e-01 9.73628411e-01 3.43138585e-02 -1.38724291e+00] [ 1.24606080e-01 -6.10251193e-03 9.92187525e-01 9.83351262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.666296757 meters Centerline goodness : 0.814228 with order 1 Centerline is valid? [False, False] Translation: X:9.06, Y:-1.39, Z:0.98 [[ 9.66111576e-01 2.28729565e-01 -1.19629466e-01 9.05605314e+00] [-2.26227167e-01 9.73471170e-01 3.42804548e-02 -1.38544131e+00] [ 1.24296790e-01 -6.05530897e-03 9.92226608e-01 9.84140258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.72629675699999 meters Centerline goodness : 0.814006 with order 1 Centerline is valid? [False, False] Translation: X:9.06, Y:-1.38, Z:0.98 [[ 9.65286448e-01 2.32305070e-01 -1.19400286e-01 9.05889422e+00] [-2.29468303e-01 9.72605959e-01 3.71745534e-02 -1.38247278e+00] [ 1.24765267e-01 -8.48551160e-03 9.92150001e-01 9.82950803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.78629675699999 meters Centerline goodness : 0.807525 with order 1 Centerline is valid? [False, False] Translation: X:9.06, Y:-1.38, Z:0.98 [[ 0.96447487 0.23572635 -0.11925315 9.0620936 ] [-0.23259613 0.97176197 0.03972041 -1.379905 ] [ 0.12524882 -0.01057151 0.99206904 0.98105645] [ 0. 0. 0. 1. ]] SLAMing on 116.84629675699999 meters Centerline goodness : 0.809030 with order 1 Centerline is valid? [False, False] Translation: X:9.06, Y:-1.38, Z:0.98 [[ 9.65211734e-01 2.32456322e-01 -1.19709507e-01 9.06063666e+00] [-2.29769103e-01 9.72580053e-01 3.59749881e-02 -1.37719125e+00] [ 1.24789692e-01 -7.21793471e-03 9.92156960e-01 9.81732722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.90629675699999 meters Centerline goodness : 0.809720 with order 1 Centerline is valid? [False, False] Translation: X:9.06, Y:-1.37, Z:0.98 [[ 9.65917698e-01 2.29581732e-01 -1.19562657e-01 9.05945837e+00] [-2.27176546e-01 9.73275210e-01 3.35586486e-02 -1.37475045e+00] [ 1.24071823e-01 -5.25306107e-03 9.92259335e-01 9.82547147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.966296757 meters Centerline goodness : 0.812916 with order 1 Centerline is valid? [False, False] Translation: X:9.06, Y:-1.37, Z:0.98 [[ 9.66036320e-01 2.29016238e-01 -1.19688723e-01 9.06026427e+00] [-2.26626905e-01 9.73409067e-01 3.33921280e-02 -1.37308697e+00] [ 1.24153428e-01 -5.13332362e-03 9.92249755e-01 9.82957260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.026296757 meters Centerline goodness : 0.819169 with order 1 Centerline is valid? [False, False] Translation: X:9.06, Y:-1.37, Z:0.98 [[ 9.66191499e-01 2.28147221e-01 -1.20095098e-01 9.06129873e+00] [-2.25780383e-01 9.73614279e-01 3.31429500e-02 -1.37241561e+00] [ 1.24487774e-01 -4.90731934e-03 9.92209006e-01 9.83660847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.086296757 meters Centerline goodness : 0.819455 with order 1 Centerline is valid? [False, False] Translation: X:9.06, Y:-1.37, Z:0.98 [[ 9.66281652e-01 2.27545595e-01 -1.20510463e-01 9.06265855e+00] [-2.25226611e-01 9.73757194e-01 3.27093443e-02 -1.37105875e+00] [ 1.24790798e-01 -4.46427594e-03 9.92173033e-01 9.83586266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.14629675699999 meters Centerline goodness : 0.822561 with order 1 Centerline is valid? [False, False] Translation: X:9.07, Y:-1.37, Z:0.98 [[ 9.65685198e-01 2.30034876e-01 -1.20565556e-01 9.06620536e+00] [-2.27392290e-01 9.73158670e-01 3.54252556e-02 -1.36847671e+00] [ 1.25478460e-01 -6.79396719e-03 9.92073081e-01 9.82973755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.20629675699999 meters Centerline goodness : 0.822488 with order 1 Centerline is valid? [False, False] Translation: X:9.07, Y:-1.37, Z:0.98 [[ 9.65768942e-01 2.29186710e-01 -1.21506387e-01 9.06852483e+00] [-2.26662886e-01 9.73365957e-01 3.43896766e-02 -1.36592907e+00] [ 1.26151838e-01 -5.67149313e-03 9.91994732e-01 9.82778621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.26629675699999 meters Centerline goodness : 0.817030 with order 1 Centerline is valid? [False, False] Translation: X:9.07, Y:-1.36, Z:0.98 [[ 9.65896268e-01 2.28108311e-01 -1.22519374e-01 9.07192954e+00] [-2.25767113e-01 9.73627258e-01 3.28507827e-02 -1.36150887e+00] [ 1.26781739e-01 -4.06960305e-03 9.91922290e-01 9.81515250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.326296757 meters Centerline goodness : 0.815238 with order 1 Centerline is valid? [False, False] Translation: X:9.08, Y:-1.36, Z:0.98 [[ 9.65554363e-01 2.27895511e-01 -1.25572322e-01 9.07849335e+00] [-2.25798968e-01 9.73684502e-01 3.08758188e-02 -1.36040713e+00] [ 1.29304285e-01 -1.45818069e-03 9.91603890e-01 9.80390157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.386296757 meters Centerline goodness : 0.813712 with order 1 Centerline is valid? [False, False] Translation: X:9.08, Y:-1.36, Z:0.98 [[ 9.65496874e-01 2.27247112e-01 -1.27179153e-01 9.08255330e+00] [-2.25355039e-01 9.73837043e-01 2.92663519e-02 -1.35849005e+00] [ 1.30502465e-01 4.03891742e-04 9.91447903e-01 9.79058962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.446296757 meters Centerline goodness : 0.814556 with order 1 Centerline is valid? [False, False] Translation: X:9.08, Y:-1.36, Z:0.98 [[ 9.66335286e-01 2.22719746e-01 -1.28810056e-01 9.08486665e+00] [-2.21283971e-01 9.74875004e-01 2.55368525e-02 -1.35877269e+00] [ 1.31261265e-01 3.82643908e-03 9.91340425e-01 9.78119509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.50629675699999 meters Centerline goodness : 0.815409 with order 1 Centerline is valid? [False, False] Translation: X:9.08, Y:-1.36, Z:0.98 [[ 9.67273916e-01 2.19428172e-01 -1.27406629e-01 9.08221827e+00] [-2.17907240e-01 9.75624972e-01 2.59296957e-02 -1.36027897e+00] [ 1.29990794e-01 2.68170853e-03 9.91511574e-01 9.78069772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.56629675699999 meters Centerline goodness : 0.815322 with order 1 Centerline is valid? [False, False] Translation: X:9.09, Y:-1.36, Z:0.98 [[ 9.67503835e-01 2.17818927e-01 -1.28418240e-01 9.08519146e+00] [-2.16251947e-01 9.75986176e-01 2.61931113e-02 -1.36252574e+00] [ 1.31039782e-01 2.42875874e-03 9.91374136e-01 9.78380208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.62629675699999 meters Centerline goodness : 0.816914 with order 1 Centerline is valid? [False, False] Translation: X:9.09, Y:-1.36, Z:0.98 [[ 9.68689659e-01 2.11563207e-01 -1.29928262e-01 9.08751841e+00] [-2.10487562e-01 9.77346356e-01 2.21153116e-02 -1.36462829e+00] [ 1.31663700e-01 5.92540952e-03 9.91276732e-01 9.76222888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.686296757 meters Centerline goodness : 0.816510 with order 1 Centerline is valid? [False, False] Translation: X:9.10, Y:-1.37, Z:0.99 [[ 9.69613382e-01 2.09488528e-01 -1.26350486e-01 9.09899559e+00] [-2.06823353e-01 9.77787187e-01 3.40046799e-02 -1.37398269e+00] [ 1.30667477e-01 -6.83916159e-03 9.91402661e-01 9.85052182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.746296757 meters Centerline goodness : 0.812958 with order 1 Centerline is valid? [False, False] Translation: X:9.10, Y:-1.38, Z:0.99 [[ 0.96876004 0.21393894 -0.12543566 9.09864139] [-0.21057533 0.97677341 0.03964504 -1.37654883] [ 0.13100383 -0.01199288 0.99130932 0.98772259] [ 0. 0. 0. 1. ]] SLAMing on 117.806296757 meters Centerline goodness : 0.812949 with order 1 Centerline is valid? [False, False] Translation: X:9.10, Y:-1.38, Z:0.99 [[ 0.96760224 0.21936761 -0.12499504 9.10470022] [-0.21452566 0.9753791 0.05113065 -1.38216865] [ 0.13313396 -0.02265949 0.99083899 0.9939394 ] [ 0. 0. 0. 1. ]] SLAMing on 117.86629675699999 meters Centerline goodness : 0.809729 with order 1 Centerline is valid? [False, False] Translation: X:9.11, Y:-1.38, Z:0.99 [[ 0.9667715 0.22269035 -0.12554629 9.10885414] [-0.2173989 0.97455698 0.05455657 -1.38395368] [ 0.13450123 -0.02545012 0.99058655 0.99257892] [ 0. 0. 0. 1. ]] SLAMing on 117.92629675699999 meters Centerline goodness : 0.809102 with order 1 Centerline is valid? [False, False] Translation: X:9.11, Y:-1.38, Z:0.99 [[ 0.96777432 0.22486615 -0.11334938 9.11417913] [-0.2198312 0.9739704 0.05528028 -1.3822977 ] [ 0.12282961 -0.0285811 0.99201613 0.98567247] [ 0. 0. 0. 1. ]] SLAMing on 117.98629675699999 meters Centerline goodness : 0.811058 with order 1 Centerline is valid? [False, False] Translation: X:9.13, Y:-1.38, Z:0.98 [[ 0.96761283 0.22724666 -0.10992895 9.12642557] [-0.22330855 0.97361098 0.04706334 -1.38313321] [ 0.11772302 -0.02099101 0.99282459 0.98327125] [ 0. 0. 0. 1. ]] SLAMing on 118.046296757 meters Centerline goodness : 0.811405 with order 1 Centerline is valid? [False, False] Translation: X:9.13, Y:-1.38, Z:0.98 [[ 0.9675437 0.22731944 -0.110386 9.12734758] [-0.22336641 0.9735954 0.047111 -1.38414996] [ 0.11818055 -0.02092543 0.99277162 0.98305507] [ 0. 0. 0. 1. ]] SLAMing on 118.106296757 meters Centerline goodness : 0.811472 with order 1 Centerline is valid? [False, False] Translation: X:9.13, Y:-1.39, Z:0.98 [[ 0.96674109 0.23083272 -0.11012688 9.12934536] [-0.22641072 0.97268164 0.05127003 -1.38700834] [ 0.11895319 -0.02463094 0.99259431 0.98272051] [ 0. 0. 0. 1. ]] SLAMing on 118.166296757 meters Centerline goodness : 0.809285 with order 1 Centerline is valid? [False, False] Translation: X:9.14, Y:-1.39, Z:0.98 [[ 0.96712398 0.23093057 -0.10650011 9.14078653] [-0.22756979 0.97281784 0.04286545 -1.39028633] [ 0.11350415 -0.01722 0.99338828 0.98270288] [ 0. 0. 0. 1. ]] SLAMing on 118.22629675699999 meters Centerline goodness : 0.810078 with order 2 Centerline is valid? [False, False] Translation: X:9.14, Y:-1.39, Z:0.98 [[ 0.9678663 0.22741584 -0.10731664 9.13951235] [-0.22436695 0.97369008 0.03983854 -1.39156232] [ 0.11355306 -0.01448007 0.99342641 0.98402 ] [ 0. 0. 0. 1. ]] SLAMing on 118.28629675699999 meters Centerline goodness : 0.823976 with order 3 Centerline is valid? [False, False] Translation: X:9.14, Y:-1.40, Z:0.98 [[ 0.96831317 0.22490488 -0.10856983 9.14301495] [-0.22183094 0.97427402 0.03976393 -1.3959522 ] [ 0.11471986 -0.01441979 0.99329322 0.98389939] [ 0. 0. 0. 1. ]] SLAMing on 118.34629675699999 meters Centerline goodness : 0.809742 with order 1 Centerline is valid? [False, False] Translation: X:9.15, Y:-1.40, Z:0.98 [[ 0.96876333 0.22231937 -0.10987135 9.14716608] [-0.21924611 0.97487142 0.03945709 -1.39967022] [ 0.11588251 -0.01413571 0.99316234 0.98330211] [ 0. 0. 0. 1. ]] SLAMing on 118.40629675699999 meters Centerline goodness : 0.809400 with order 1 Centerline is valid? [False, False] Translation: X:9.15, Y:-1.40, Z:0.98 [[ 0.96971209 0.21737438 -0.11138603 9.14845716] [-0.21466098 0.97602692 0.03594612 -1.40275289] [ 0.11652953 -0.01094715 0.99312689 0.98369151] [ 0. 0. 0. 1. ]] SLAMing on 118.466296757 meters Centerline goodness : 0.811186 with order 1 Centerline is valid? [False, False] Translation: X:9.15, Y:-1.40, Z:0.98 [[ 0.96978495 0.21678151 -0.11190591 9.14977077] [-0.21401406 0.97615502 0.03632289 -1.40452017] [ 0.11711165 -0.01127596 0.99305474 0.98407781] [ 0. 0. 0. 1. ]] SLAMing on 118.526296757 meters Centerline goodness : 0.809175 with order 1 Centerline is valid? [False, False] Translation: X:9.15, Y:-1.41, Z:0.98 [[ 0.96893149 0.22084467 -0.11135256 9.15047573] [-0.21759624 0.97519075 0.04068006 -1.4071827 ] [ 0.11757397 -0.01518629 0.992948 0.98431712] [ 0. 0. 0. 1. ]] SLAMing on 118.586296757 meters Centerline goodness : 0.808255 with order 1 Centerline is valid? [False, False] Translation: X:9.15, Y:-1.41, Z:0.99 [[ 0.96789494 0.22574011 -0.11054769 9.15003948] [-0.22197169 0.97399338 0.04544737 -1.40975587] [ 0.11793201 -0.01944982 0.99283118 0.98506827] [ 0. 0. 0. 1. ]] SLAMing on 118.64629675699999 meters Centerline goodness : 0.807965 with order 1 Centerline is valid? [False, False] Translation: X:9.15, Y:-1.41, Z:0.98 [[ 0.9678104 0.22599868 -0.11075934 9.15119775] [-0.22228898 0.97394491 0.04493236 -1.40954417] [ 0.11802815 -0.01886543 0.99283103 0.98339962] [ 0. 0. 0. 1. ]] SLAMing on 118.70629675699999 meters Centerline goodness : 0.804765 with order 1 Centerline is valid? [False, False] Translation: X:9.15, Y:-1.41, Z:0.98 [[ 0.96756161 0.22694041 -0.11100714 9.15226961] [-0.22324683 0.97373155 0.04480767 -1.40966355] [ 0.11825983 -0.01857219 0.99280899 0.98171103] [ 0. 0. 0. 1. ]] SLAMing on 118.76629675699999 meters Centerline goodness : 0.800609 with order 1 Centerline is valid? [False, False] Translation: X:9.12, Y:-1.40, Z:0.98 [[ 0.96772561 0.22905535 -0.10507513 9.11796359] [-0.22577637 0.97326179 0.0422673 -1.40216251] [ 0.11194716 -0.01717967 0.99356565 0.97543875] [ 0. 0. 0. 1. ]] SLAMing on 118.826296757 meters Centerline goodness : 0.802579 with order 1 Centerline is valid? [False, False] Translation: X:9.12, Y:-1.40, Z:0.98 [[ 0.96745802 0.23057897 -0.10420321 9.11571465] [-0.2272743 0.97289376 0.04270981 -1.40235318] [ 0.11122664 -0.01763723 0.99363855 0.97525564] [ 0. 0. 0. 1. ]] SLAMing on 118.886296757 meters Centerline goodness : 0.803577 with order 1 Centerline is valid? [False, False] Translation: X:9.12, Y:-1.40, Z:0.98 [[ 0.96742654 0.23071679 -0.10419048 9.11578072] [-0.2274209 0.97286255 0.04264027 -1.40211252] [ 0.11120084 -0.01755623 0.99364287 0.97506264] [ 0. 0. 0. 1. ]] SLAMing on 118.946296757 meters Centerline goodness : 0.868006 with order 3 Centerline is valid? [False, False] Translation: X:9.11, Y:-1.40, Z:0.98 [[ 0.96806179 0.2281068 -0.10403682 9.11260207] [-0.22516464 0.97352553 0.03935637 -1.40193945] [ 0.11025996 -0.01467398 0.99379445 0.97566831] [ 0. 0. 0. 1. ]] SLAMing on 119.00629675699999 meters Centerline goodness : 0.860211 with order 3 Centerline is valid? [False, False] Translation: X:9.11, Y:-1.40, Z:0.97 [[ 0.96891877 0.22415436 -0.10464819 9.11262022] [-0.2216459 0.97449295 0.03516515 -1.40122297] [ 0.10986135 -0.01087733 0.9938874 0.97448245] [ 0. 0. 0. 1. ]] SLAMing on 119.06629675699999 meters Centerline goodness : 0.860454 with order 3 Centerline is valid? [False, False] Translation: X:9.11, Y:-1.40, Z:0.97 [[ 9.69896879e-01 2.19738142e-01 -1.04953292e-01 9.11203915e+00] [-2.17664320e-01 9.75532417e-01 3.09636413e-02 -1.40098397e+00] [ 1.09189232e-01 -7.18695205e-03 9.93995000e-01 9.73866813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.12629675699999 meters Centerline goodness : 0.841923 with order 3 Centerline is valid? [False, False] Translation: X:9.12, Y:-1.40, Z:0.97 [[ 9.70910291e-01 2.14467546e-01 -1.06474774e-01 9.11504118e+00] [-2.12896749e-01 9.76727613e-01 2.60411870e-02 -1.40110670e+00] [ 1.09581842e-01 -2.61552314e-03 9.93974335e-01 9.71660861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.186296757 meters Centerline goodness : 0.838073 with order 2 Centerline is valid? [False, False] Translation: X:9.13, Y:-1.40, Z:0.97 [[ 9.70745304e-01 2.16628411e-01 -1.03564894e-01 9.13148133e+00] [-2.15898991e-01 9.76243491e-01 1.83377232e-02 -1.40151038e+00] [ 1.05077026e-01 4.55829748e-03 9.94453639e-01 9.67001885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.246296757 meters Centerline goodness : 0.829756 with order 2 Centerline is valid? [False, False] Translation: X:9.14, Y:-1.40, Z:0.96 [[ 0.97051771 0.21962565 -0.09929732 9.14269407] [-0.2197486 0.97550697 0.00983349 -1.40028243] [ 0.09902491 0.01227687 0.99500922 0.96450202] [ 0. 0. 0. 1. ]] SLAMing on 119.306296757 meters Centerline goodness : 0.205587 with order 1 Centerline is valid? [False, False] Translation: X:9.16, Y:-1.40, Z:0.96 [[ 9.70429732e-01 2.21303851e-01 -9.63884916e-02 9.15511342e+00] [-2.22343571e-01 9.74968376e-01 -4.72576639e-05 -1.40049312e+00] [ 9.39652728e-02 2.14772216e-02 9.95343788e-01 9.62117723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.36629675699999 meters Centerline goodness : 0.218090 with order 1 Centerline is valid? [False, False] Translation: X:9.16, Y:-1.40, Z:0.96 [[ 9.70487884e-01 2.20564058e-01 -9.74923801e-02 9.16062450e+00] [-2.21752436e-01 9.75102006e-01 -1.39084324e-03 -1.39880442e+00] [ 9.47582454e-02 2.29689693e-02 9.95235300e-01 9.59103280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.42629675699999 meters Centerline goodness : 0.668545 with order 1 Centerline is valid? [False, False] Translation: X:9.17, Y:-1.40, Z:0.96 [[ 9.70792150e-01 2.18508890e-01 -9.90780790e-02 9.16938876e+00] [-2.19895408e-01 9.75518329e-01 -3.16224169e-03 -1.39636186e+00] [ 9.59615041e-02 2.48566940e-02 9.95074638e-01 9.55545873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.48629675699999 meters Centerline goodness : 0.177705 with order 1 Centerline is valid? [False, False] Translation: X:9.18, Y:-1.39, Z:0.95 [[ 9.71241581e-01 2.15819257e-01 -1.00557640e-01 9.17683096e+00] [-2.17398847e-01 9.76070595e-01 -4.89241248e-03 -1.39478097e+00] [ 9.70954789e-02 2.66128295e-02 9.94919205e-01 9.53681127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.546296757 meters Centerline goodness : 0.491679 with order 1 Centerline is valid? [False, False] Translation: X:9.21, Y:-1.40, Z:0.96 [[ 9.72478049e-01 2.12313900e-01 -9.59648472e-02 9.21471728e+00] [-2.14026723e-01 9.76796642e-01 -7.80271099e-03 -1.40044657e+00] [ 9.20815165e-02 2.81270070e-02 9.95354141e-01 9.55248285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.606296757 meters Centerline goodness : 0.246306 with order 3 Centerline is valid? [False, False] Translation: X:9.25, Y:-1.41, Z:0.96 [[ 9.73663139e-01 2.08757892e-01 -9.16527951e-02 9.25346666e+00] [-2.10461281e-01 9.77558688e-01 -9.22285904e-03 -1.40688193e+00] [ 8.76706415e-02 2.82693225e-02 9.95748314e-01 9.59623282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.666296757 meters Centerline goodness : 0.204205 with order 1 Centerline is valid? [False, False] Translation: X:9.30, Y:-1.41, Z:0.96 [[ 9.74443131e-01 2.05175117e-01 -9.14535730e-02 9.29824881e+00] [-2.06721088e-01 9.78369907e-01 -7.66272959e-03 -1.41491487e+00] [ 8.79032222e-02 2.63722763e-02 9.95779858e-01 9.64780067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.72629675699999 meters Centerline goodness : 0.267093 with order 3 Centerline is valid? [False, False] Translation: X:9.31, Y:-1.41, Z:0.96 [[ 9.74925802e-01 2.01925339e-01 -9.35191869e-02 9.30581725e+00] [-2.03587574e-01 9.79019940e-01 -8.48858683e-03 -1.41449026e+00] [ 8.98430880e-02 2.73150867e-02 9.95581290e-01 9.62766390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.78629675699999 meters Centerline goodness : 0.283708 with order 3 Centerline is valid? [False, False] Translation: X:9.36, Y:-1.42, Z:0.97 [[ 9.74321370e-01 2.03121385e-01 -9.71574551e-02 9.36033074e+00] [-2.04896770e-01 9.78746216e-01 -8.55327971e-03 -1.42081235e+00] [ 9.33551375e-02 2.82408920e-02 9.95232270e-01 9.65121340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.84629675699999 meters SLAMing on 119.90629675699999 meters Centerline goodness : 0.302507 with order 2 Centerline is valid? [False, False] Translation: X:9.44, Y:-1.43, Z:0.97 [[ 9.72861415e-01 2.09098385e-01 -9.90885106e-02 9.44089615e+00] [-2.10689776e-01 9.77536005e-01 -5.76004091e-03 -1.42761702e+00] [ 9.56581715e-02 2.64806576e-02 9.95061952e-01 9.71685612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.966296757 meters Centerline goodness : 0.311670 with order 1 Centerline is valid? [False, False] Translation: X:9.47, Y:-1.43, Z:0.98 [[ 9.72660280e-01 2.08743805e-01 -1.01774276e-01 9.47268094e+00] [-2.10536472e-01 9.77560349e-01 -7.08230676e-03 -1.42990701e+00] [ 9.80121086e-02 2.83158754e-02 9.94782307e-01 9.75011115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.026296757 meters Centerline goodness : 0.171027 with order 1 Centerline is valid? [False, False] Translation: X:9.53, Y:-1.44, Z:0.98 [[ 9.72447923e-01 2.08418227e-01 -1.04436011e-01 9.52867216e+00] [-2.10346925e-01 9.77596608e-01 -7.68392531e-03 -1.43790510e+00] [ 1.00494820e-01 2.94400109e-02 9.94501924e-01 9.81971724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.086296757 meters Centerline goodness : 0.167036 with order 1 Centerline is valid? [False, False] Translation: X:9.59, Y:-1.45, Z:0.99 [[ 9.72028645e-01 2.07406043e-01 -1.10195488e-01 9.58989395e+00] [-2.09312539e-01 9.77831017e-01 -5.89607616e-03 -1.44790426e+00] [ 1.06529684e-01 2.87964522e-02 9.93892444e-01 9.87872336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.14629675699999 meters Centerline goodness : 0.135948 with order 1 Centerline is valid? [False, False] Translation: X:9.65, Y:-1.46, Z:0.99 [[ 9.72359605e-01 2.03912439e-01 -1.13738808e-01 9.64905019e+00] [-2.06027989e-01 9.78520774e-01 -7.04012892e-03 -1.45823569e+00] [ 1.09860217e-01 3.02789148e-02 9.93485742e-01 9.94907393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.20629675699999 meters Centerline goodness : 0.121530 with order 1 Centerline is valid? [False, False] Translation: X:9.71, Y:-1.47, Z:1.00 [[ 9.73401006e-01 1.97850557e-01 -1.15523325e-01 9.70615273e+00] [-1.99979764e-01 9.79774846e-01 -7.02459155e-03 -1.46904388e+00] [ 1.11797029e-01 2.99400718e-02 9.93279929e-01 1.00260288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.26629675699999 meters Centerline goodness : 0.441757 with order 1 Centerline is valid? [False, False] Translation: X:9.76, Y:-1.48, Z:1.01 [[ 9.74561274e-01 1.91088992e-01 -1.17112425e-01 9.76229669e+00] [-1.93356711e-01 9.81094161e-01 -8.21149859e-03 -1.48046501e+00] [ 1.13329189e-01 3.06470818e-02 9.93084715e-01 1.01064081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.326296757 meters Centerline goodness : 0.451275 with order 1 Centerline is valid? [False, False] Translation: X:9.82, Y:-1.49, Z:1.02 [[ 0.9750706 0.18729251 -0.11899094 9.81721503] [-0.19003276 0.98170424 -0.01201358 -1.49140298] [ 0.11456386 0.03432627 0.99282266 1.01968077] [ 0. 0. 0. 1. ]] SLAMing on 120.386296757 meters Centerline goodness : 0.463795 with order 1 Centerline is valid? [False, False] Translation: X:9.85, Y:-1.50, Z:1.03 [[ 0.97480602 0.18683391 -0.12184543 9.84985722] [-0.19003074 0.9816626 -0.0150621 -1.49641019] [ 0.11679699 0.037837 0.9924348 1.02535857] [ 0. 0. 0. 1. ]] SLAMing on 120.446296757 meters Centerline goodness : 0.482388 with order 1 Centerline is valid? [False, False] Translation: X:9.90, Y:-1.50, Z:1.03 [[ 0.97443383 0.19018078 -0.11962431 9.89871749] [-0.1929043 0.98115009 -0.01150757 -1.50494369] [ 0.11518088 0.03428941 0.99275254 1.02902142] [ 0. 0. 0. 1. ]] SLAMing on 120.50629675699999 meters Centerline goodness : 0.502850 with order 1 Centerline is valid? [False, False] Translation: X:9.95, Y:-1.51, Z:1.03 [[ 0.97280942 0.19230553 -0.12907521 9.94719822] [-0.19525503 0.98069652 -0.01047887 -1.51100572] [ 0.12456847 0.03539653 0.99157944 1.03489559] [ 0. 0. 0. 1. ]] SLAMing on 120.56629675699999 meters Centerline goodness : 0.512360 with order 1 Centerline is valid? [False, False] Translation: X:10.00, Y:-1.52, Z:1.04 [[ 0.97208806 0.19650253 -0.12818562 9.99612451] [-0.19981498 0.9797422 -0.01338635 -1.51846436] [ 0.1229584 0.03862612 0.99165985 1.03703218] [ 0. 0. 0. 1. ]] SLAMing on 120.62629675699999 meters Centerline goodness : 0.528431 with order 3 Centerline is valid? [False, False] Translation: X:10.05, Y:-1.53, Z:1.04 [[ 0.97187447 0.19914099 -0.12570954 10.04505699] [-0.20255358 0.97915867 -0.01484396 -1.52547872] [ 0.12013355 0.03988938 0.99195603 1.04116391] [ 0. 0. 0. 1. ]] SLAMing on 120.686296757 meters Centerline goodness : 0.542286 with order 3 Centerline is valid? [False, False] Translation: X:10.10, Y:-1.54, Z:1.05 [[ 0.97113768 0.20229885 -0.12635975 10.10205243] [-0.20554337 0.97856098 -0.01305129 -1.53622891] [ 0.12101046 0.03864701 0.99189862 1.04756232] [ 0. 0. 0. 1. ]] SLAMing on 120.746296757 meters Centerline goodness : 0.380774 with order 1 Centerline is valid? [False, False] Translation: X:10.16, Y:-1.55, Z:1.05 [[ 0.97106443 0.20167477 -0.12791077 10.1603799 ] [-0.20477154 0.97874338 -0.01140255 -1.54911109] [ 0.12289222 0.03726509 0.99172013 1.05487109] [ 0. 0. 0. 1. ]] SLAMing on 120.806296757 meters Centerline goodness : 0.552748 with order 1 Centerline is valid? [False, False] Translation: X:10.18, Y:-1.55, Z:1.05 [[ 0.97183221 0.20190029 -0.12156657 10.17554596] [-0.20474695 0.97875008 -0.01126753 -1.55394271] [ 0.11670838 0.03584053 0.99251933 1.05382351] [ 0. 0. 0. 1. ]] SLAMing on 120.86629675699999 meters Centerline goodness : 0.556144 with order 1 Centerline is valid? [False, False] Translation: X:10.23, Y:-1.57, Z:1.06 [[ 0.97242663 0.19838294 -0.12259962 10.23256237] [-0.20123276 0.97947952 -0.0111914 -1.56853102] [ 0.11786363 0.03555388 0.99239311 1.06065834] [ 0. 0. 0. 1. ]] SLAMing on 120.92629675699999 meters Centerline goodness : 0.569992 with order 2 Centerline is valid? [False, False] Translation: X:10.29, Y:-1.58, Z:1.07 [[ 0.97319904 0.19494838 -0.1219785 10.28629134] [-0.19774142 0.98019127 -0.01110907 -1.58110613] [ 0.11739657 0.03493153 0.99247057 1.06672863] [ 0. 0. 0. 1. ]] SLAMing on 120.98629675699999 meters Centerline goodness : 0.558926 with order 1 Centerline is valid? [False, False] Translation: X:10.33, Y:-1.59, Z:1.07 [[ 0.97396501 0.19337157 -0.1183199 10.333761 ] [-0.19639497 0.98042003 -0.01433799 -1.59255398] [ 0.11323064 0.03720213 0.99287201 1.07145543] [ 0. 0. 0. 1. ]] SLAMing on 121.046296757 meters Centerline goodness : 0.553096 with order 1 Centerline is valid? [False, False] Translation: X:10.38, Y:-1.60, Z:1.07 [[ 0.97421698 0.19529371 -0.11296745 10.37910508] [-0.19807245 0.98009009 -0.01381031 -1.6028251 ] [ 0.10802121 0.03582997 0.99350271 1.07424121] [ 0. 0. 0. 1. ]] SLAMing on 121.106296757 meters Centerline goodness : 0.556456 with order 2 Centerline is valid? [False, False] Translation: X:10.43, Y:-1.61, Z:1.08 [[ 0.97349525 0.19952174 -0.11179478 10.42712942] [-0.20214004 0.9792771 -0.01248092 -1.61171423] [ 0.10698785 0.03474832 0.99365293 1.07724454] [ 0. 0. 0. 1. ]] SLAMing on 121.166296757 meters Centerline goodness : 0.561282 with order 1 Centerline is valid? [False, False] Translation: X:10.47, Y:-1.62, Z:1.08 [[ 0.97214342 0.20491976 -0.11377637 10.46530911] [-0.20759545 0.97814041 -0.01206097 -1.61620974] [ 0.10881773 0.03534445 0.99343317 1.08057511] [ 0. 0. 0. 1. ]] SLAMing on 121.22629675699999 meters Centerline goodness : 0.565369 with order 1 Centerline is valid? [False, False] Translation: X:10.50, Y:-1.62, Z:1.08 [[ 0.97114097 0.20987219 -0.11330882 10.49730832] [-0.21315802 0.97685975 -0.01756961 -1.61708186] [ 0.10699945 0.04121525 0.99340446 1.08078594] [ 0. 0. 0. 1. ]] SLAMing on 121.28629675699999 meters Centerline goodness : 0.579420 with order 2 Centerline is valid? [False, False] Translation: X:10.54, Y:-1.62, Z:1.09 [[ 0.96989031 0.21427746 -0.11574956 10.53612265] [-0.21819042 0.97565562 -0.02211471 -1.62118549] [ 0.10819303 0.04670428 0.99303221 1.0855808 ] [ 0. 0. 0. 1. ]] SLAMing on 121.34629675699999 meters Centerline goodness : 0.567836 with order 1 Centerline is valid? [False, False] Translation: X:10.58, Y:-1.63, Z:1.09 [[ 0.9679013 0.22205629 -0.1177203 10.57800331] [-0.22583263 0.97396884 -0.01960403 -1.62501761] [ 0.11030271 0.04555985 0.99285327 1.09077375] [ 0. 0. 0. 1. ]] SLAMing on 121.40629675699999 meters Centerline goodness : 0.571051 with order 1 Centerline is valid? [False, False] Translation: X:10.60, Y:-1.63, Z:1.09 [[ 0.96731377 0.22618379 -0.11465149 10.60375967] [-0.23008719 0.97292437 -0.02186442 -1.62710707] [ 0.10660185 0.04752959 0.99316513 1.08862235] [ 0. 0. 0. 1. ]] SLAMing on 121.466296757 meters Centerline goodness : 0.573537 with order 1 Centerline is valid? [False, False] Translation: X:10.66, Y:-1.64, Z:1.09 [[ 0.96591527 0.23118866 -0.11644526 10.65661077] [-0.23537773 0.97162178 -0.02341878 -1.63855747] [ 0.10772659 0.05002918 0.99292098 1.09111023] [ 0. 0. 0. 1. ]] SLAMing on 121.526296757 meters Centerline goodness : 0.576890 with order 1 Centerline is valid? [False, False] Translation: X:10.71, Y:-1.65, Z:1.09 [[ 0.9650301 0.23509499 -0.11596227 10.70719873] [-0.23902485 0.97078557 -0.0210357 -1.64907222] [ 0.10762911 0.04801795 0.99303084 1.09411864] [ 0. 0. 0. 1. ]] SLAMing on 121.586296757 meters Centerline goodness : 0.577250 with order 1 Centerline is valid? [False, False] Translation: X:10.74, Y:-1.65, Z:1.10 [[ 0.96650068 0.23047464 -0.11295077 10.73988008] [-0.23362588 0.97220581 -0.01532334 -1.6546856 ] [ 0.10627975 0.04119825 0.99348242 1.09605375] [ 0. 0. 0. 1. ]] SLAMing on 121.64629675699999 meters Centerline goodness : 0.579349 with order 1 Centerline is valid? [False, False] Translation: X:10.78, Y:-1.66, Z:1.10 [[ 0.96703179 0.22794427 -0.11353822 10.77851632] [-0.23134003 0.97271533 -0.01751201 -1.66249003] [ 0.10644861 0.0432006 0.99337928 1.10095989] [ 0. 0. 0. 1. ]] SLAMing on 121.70629675699999 meters Centerline goodness : 0.581744 with order 1 Centerline is valid? [False, False] Translation: X:10.80, Y:-1.66, Z:1.10 [[ 0.96863326 0.22201617 -0.11161736 10.80301688] [-0.22498945 0.97425139 -0.01462765 -1.66466354] [ 0.10549579 0.03928155 0.9936436 1.10134981] [ 0. 0. 0. 1. ]] SLAMing on 121.76629675699999 meters Centerline goodness : 0.585278 with order 1 Centerline is valid? [False, False] Translation: X:10.84, Y:-1.67, Z:1.10 [[ 9.70609635e-01 2.14850742e-01 -1.08425526e-01 1.08392532e+01] [-2.17136934e-01 9.76093964e-01 -9.59818107e-03 -1.67059050e+00] [ 1.03771325e-01 3.28592734e-02 9.94058238e-01 1.10245819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.826296757 meters Centerline goodness : 0.585994 with order 1 Centerline is valid? [False, False] Translation: X:10.88, Y:-1.67, Z:1.11 [[ 0.97176165 0.20997358 -0.10765866 10.88425199] [-0.21250561 0.97708012 -0.01248196 -1.67497615] [ 0.10257025 0.03500756 0.99410956 1.10798843] [ 0. 0. 0. 1. ]] SLAMing on 121.886296757 meters Centerline goodness : 0.589424 with order 1 Centerline is valid? [False, False] Translation: X:10.92, Y:-1.68, Z:1.11 [[ 0.97122872 0.21167443 -0.10912701 10.92084902] [-0.21417671 0.97672596 -0.01160718 -1.67785801] [ 0.10413024 0.03464569 0.99396004 1.10978133] [ 0. 0. 0. 1. ]] SLAMing on 121.946296757 meters Centerline goodness : 0.593179 with order 1 Centerline is valid? [False, False] Translation: X:10.95, Y:-1.68, Z:1.11 [[ 0.97105827 0.21344258 -0.10718254 10.94845648] [-0.21625909 0.976217 -0.01524413 -1.67882867] [ 0.10137967 0.03798214 0.99412249 1.10882416] [ 0. 0. 0. 1. ]] SLAMing on 122.00629675699999 meters Centerline goodness : 0.586913 with order 1 Centerline is valid? [False, False] Translation: X:10.98, Y:-1.68, Z:1.11 [[ 0.97087787 0.21441971 -0.106866 10.97861568] [-0.21791244 0.97571997 -0.02201617 -1.68037258] [ 0.09955059 0.04466245 0.99402965 1.10783071] [ 0. 0. 0. 1. ]] SLAMing on 122.06629675699999 meters Centerline goodness : 0.577638 with order 1 Centerline is valid? [False, False] Translation: X:10.99, Y:-1.68, Z:1.11 [[ 0.97026533 0.21555805 -0.11009047 10.98861884] [-0.21934693 0.97536615 -0.02340525 -1.67917579] [ 0.10233333 0.0468573 0.99364595 1.1075104 ] [ 0. 0. 0. 1. ]] SLAMing on 122.12629675699999 meters Centerline goodness : 0.563029 with order 1 Centerline is valid? [False, False] Translation: X:11.01, Y:-1.68, Z:1.11 [[ 0.96944403 0.22110821 -0.10625171 11.01400925] [-0.22476217 0.97412803 -0.02359147 -1.68066192] [ 0.0982865 0.04675198 0.99405936 1.10644909] [ 0. 0. 0. 1. ]] SLAMing on 122.186296757 meters Centerline goodness : 0.529081 with order 1 Centerline is valid? [False, False] Translation: X:11.04, Y:-1.68, Z:1.11 [[ 0.9686676 0.22591642 -0.10317391 11.04049539] [-0.22962081 0.97294853 -0.02540554 -1.6830157 ] [ 0.09464337 0.0483004 0.99433883 1.10543546] [ 0. 0. 0. 1. ]] SLAMing on 122.246296757 meters Centerline goodness : 0.502035 with order 1 Centerline is valid? [False, False] Translation: X:11.09, Y:-1.69, Z:1.11 [[ 0.96686384 0.23040034 -0.10995455 11.08634263] [-0.23412355 0.97195635 -0.02206841 -1.69078979] [ 0.10178645 0.0470801 0.99369159 1.11078353] [ 0. 0. 0. 1. ]] SLAMing on 122.306296757 meters Centerline goodness : 0.482206 with order 1 Centerline is valid? [False, False] Translation: X:11.14, Y:-1.70, Z:1.12 [[ 0.96670287 0.23026258 -0.11164547 11.14274641] [-0.23417939 0.97191751 -0.02315953 -1.70432792] [ 0.10317741 0.04853345 0.9934782 1.11621097] [ 0. 0. 0. 1. ]] SLAMing on 122.36629675699999 meters Centerline goodness : 0.535653 with order 1 Centerline is valid? [False, False] Translation: X:11.20, Y:-1.72, Z:1.13 [[ 0.9687116 0.22124836 -0.11245885 11.1962607 ] [-0.22560165 0.97383362 -0.02742201 -1.71523136] [ 0.10344913 0.05193492 0.99327793 1.12521797] [ 0. 0. 0. 1. ]] SLAMing on 122.42629675699999 meters Centerline goodness : 0.514094 with order 2 Centerline is valid? [False, False] Translation: X:11.24, Y:-1.73, Z:1.13 [[ 0.97199732 0.20810418 -0.10915059 11.24154174] [-0.21170018 0.97707945 -0.02233323 -1.72550104] [ 0.10200116 0.04481504 0.99377431 1.12802253] [ 0. 0. 0. 1. ]] SLAMing on 122.48629675699999 meters Centerline goodness : 0.476082 with order 1 Centerline is valid? [False, False] Translation: X:11.28, Y:-1.74, Z:1.13 [[ 0.97484649 0.19646656 -0.10523888 11.28483861] [-0.19933928 0.9797759 -0.01740797 -1.73535166] [ 0.09969043 0.03794834 0.99429459 1.12892141] [ 0. 0. 0. 1. ]] SLAMing on 122.546296757 meters Centerline goodness : 0.505794 with order 2 Centerline is valid? [False, False] Translation: X:11.31, Y:-1.74, Z:1.13 [[ 0.97709612 0.18780265 -0.10006665 11.31029166] [-0.19024018 0.98161812 -0.01531443 -1.74212768] [ 0.09535115 0.03400037 0.99486287 1.12796187] [ 0. 0. 0. 1. ]] SLAMing on 122.606296757 meters Centerline goodness : 0.113057 with order 1 Centerline is valid? [False, False] Translation: X:11.37, Y:-1.75, Z:1.13 [[ 0.97799695 0.18297267 -0.10021457 11.3659636 ] [-0.18522597 0.98260209 -0.0135819 -1.75426372] [ 0.09598593 0.0318454 0.99487314 1.1338712 ] [ 0. 0. 0. 1. ]] SLAMing on 122.666296757 meters Centerline goodness : 0.112359 with order 1 Centerline is valid? [False, False] Translation: X:11.37, Y:-1.75, Z:1.13 [[ 0.97799031 0.18248705 -0.1011604 11.36894655] [-0.18476119 0.98269063 -0.01350672 -1.75463057] [ 0.09694457 0.03189995 0.99477844 1.13412686] [ 0. 0. 0. 1. ]] SLAMing on 122.72629675699999 meters Centerline goodness : 0.390054 with order 1 Centerline is valid? [False, False] Translation: X:11.40, Y:-1.76, Z:1.13 [[ 9.79420400e-01 1.77845229e-01 -9.54293135e-02 1.13966700e+01] [-1.79467199e-01 9.83726171e-01 -8.62239295e-03 -1.76018482e+00] [ 9.23428617e-02 2.55713791e-02 9.95398865e-01 1.13186962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.78629675699999 meters Centerline goodness : 0.116939 with order 1 Centerline is valid? [False, False] Translation: X:11.41, Y:-1.76, Z:1.13 [[ 9.79139475e-01 1.78000642e-01 -9.79880578e-02 1.14090538e+01] [-1.79544278e-01 9.83724300e-01 -7.09609914e-03 -1.76104346e+00] [ 9.51301233e-02 2.45412659e-02 9.95162291e-01 1.12955077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.84629675699999 meters Centerline goodness : 0.401182 with order 2 Centerline is valid? [False, False] Translation: X:11.42, Y:-1.76, Z:1.13 [[ 9.78350893e-01 1.81471923e-01 -9.94860358e-02 1.14204701e+01] [-1.82642838e-01 9.83175583e-01 -2.71414219e-03 -1.76120281e+00] [ 9.73197007e-02 2.08257953e-02 9.95035257e-01 1.12670550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.90629675699999 meters Centerline goodness : 0.352833 with order 2 Centerline is valid? [False, False] Translation: X:11.43, Y:-1.76, Z:1.13 [[ 9.77628198e-01 1.84610451e-01 -1.00807182e-01 1.14280162e+01] [-1.85428446e-01 9.82656940e-01 1.27633638e-03 -1.76196291e+00] [ 9.92945021e-02 1.74447366e-02 9.94905163e-01 1.12676946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.966296757 meters Centerline goodness : 0.394857 with order 3 Centerline is valid? [False, False] Translation: X:11.43, Y:-1.76, Z:1.13 [[ 9.77555927e-01 1.84537584e-01 -1.01638035e-01 1.14306192e+01] [-1.85331707e-01 9.82674624e-01 1.65579483e-03 -1.76325890e+00] [ 1.00182675e-01 1.72181186e-02 9.94820068e-01 1.12715953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.026296757 meters Centerline goodness : 0.218713 with order 2 Centerline is valid? [False, False] Translation: X:11.45, Y:-1.77, Z:1.13 [[ 9.78551001e-01 1.83285622e-01 -9.40442406e-02 1.14538561e+01] [-1.83131431e-01 9.83034044e-01 1.03415222e-02 -1.76964312e+00] [ 9.43441425e-02 7.10274953e-03 9.95514306e-01 1.12569020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.086296757 meters Centerline goodness : 0.324527 with order 3 Centerline is valid? [False, False] Translation: X:11.48, Y:-1.78, Z:1.13 [[ 9.79521846e-01 1.81739609e-01 -8.66467951e-02 1.14769640e+01] [-1.80746079e-01 9.83341523e-01 1.92433099e-02 -1.77511378e+00] [ 8.87006631e-02 -3.18817394e-03 9.96053225e-01 1.12580011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.14629675699999 meters Centerline goodness : 0.357066 with order 3 Centerline is valid? [False, False] Translation: X:11.50, Y:-1.78, Z:1.13 [[ 9.81121953e-01 1.76320258e-01 -7.94410424e-02 1.14960237e+01] [-1.75086705e-01 9.84300667e-01 2.22899617e-02 -1.77989787e+00] [ 8.21240428e-02 -7.96010036e-03 9.96590326e-01 1.12513236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.20629675699999 meters Centerline goodness : 0.413081 with order 1 Centerline is valid? [False, False] Translation: X:11.52, Y:-1.78, Z:1.12 [[ 0.98220378 0.17351662 -0.07188688 11.51687546] [-0.17186117 0.98470435 0.02865449 -1.78360026] [ 0.07575936 -0.01578999 0.9970011 1.12401932] [ 0. 0. 0. 1. ]] SLAMing on 123.26629675699999 meters Centerline goodness : 0.473929 with order 1 Centerline is valid? [False, False] Translation: X:11.52, Y:-1.78, Z:1.13 [[ 0.98155478 0.1771201 -0.07196314 11.51969489] [-0.17511885 0.98398476 0.03327728 -1.78423794] [ 0.07670471 -0.02006137 0.99685201 1.12597689] [ 0. 0. 0. 1. ]] SLAMing on 123.326296757 meters Centerline goodness : 0.516980 with order 1 Centerline is valid? [False, False] Translation: X:11.52, Y:-1.78, Z:1.12 [[ 0.98152599 0.17704856 -0.07252951 11.52269704] [-0.17508864 0.98401301 0.03259407 -1.783085 ] [ 0.07714071 -0.01929283 0.99683354 1.12436197] [ 0. 0. 0. 1. ]] SLAMing on 123.386296757 meters Centerline goodness : 0.540680 with order 1 Centerline is valid? [False, False] Translation: X:11.53, Y:-1.78, Z:1.12 [[ 0.98091149 0.18012629 -0.07326096 11.52874093] [-0.17788174 0.98338795 0.03614178 -1.78230072] [ 0.07855403 -0.02242011 0.99665772 1.12316502] [ 0. 0. 0. 1. ]] SLAMing on 123.446296757 meters Centerline goodness : 0.562308 with order 2 Centerline is valid? [False, False] Translation: X:11.53, Y:-1.78, Z:1.12 [[ 0.98090731 0.17993798 -0.07377781 11.53029956] [-0.17769901 0.98342916 0.0359187 -1.78206828] [ 0.07901839 -0.02212267 0.99662765 1.1235545 ] [ 0. 0. 0. 1. ]] SLAMing on 123.50629675699999 meters Centerline goodness : 0.628808 with order 1 Centerline is valid? [False, False] Translation: X:11.56, Y:-1.78, Z:1.12 [[ 9.76041795e-01 1.98215004e-01 -8.97397755e-02 1.15588527e+01] [-1.97353402e-01 9.80158515e-01 1.84640113e-02 -1.78262186e+00] [ 9.16190492e-02 -3.11196757e-04 9.95794082e-01 1.12391062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.56629675699999 meters Centerline goodness : 0.656859 with order 3 Centerline is valid? [False, False] Translation: X:11.56, Y:-1.78, Z:1.12 [[ 9.75223646e-01 2.02387512e-01 -8.93204134e-02 1.15608834e+01] [-2.01186838e-01 9.79298075e-01 2.23413544e-02 -1.78209781e+00] [ 9.19929200e-02 -3.81772553e-03 9.95752343e-01 1.12331307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.62629675699999 meters Centerline goodness : 0.681016 with order 3 Centerline is valid? [False, False] Translation: X:11.56, Y:-1.78, Z:1.12 [[ 9.75103414e-01 2.02847033e-01 -8.95902520e-02 1.15617230e+01] [-2.01662142e-01 9.79203961e-01 2.21807076e-02 -1.78109565e+00] [ 9.22264204e-02 -3.56152162e-03 9.95731692e-01 1.12287994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.686296757 meters Centerline goodness : 0.771978 with order 3 Centerline is valid? [False, False] Translation: X:11.57, Y:-1.78, Z:1.12 [[ 9.75862711e-01 1.96525185e-01 -9.52356036e-02 1.15704182e+01] [-1.96531899e-01 9.80452350e-01 9.40223234e-03 -1.77817951e+00] [ 9.52217468e-02 9.54154611e-03 9.95410357e-01 1.12074161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.746296757 meters Centerline goodness : 0.768149 with order 3 Centerline is valid? [False, False] Translation: X:11.57, Y:-1.78, Z:1.12 [[ 9.75848675e-01 1.96646316e-01 -9.51293301e-02 1.15704713e+01] [-1.96556971e-01 9.80437230e-01 1.04017319e-02 -1.78094627e+00] [ 9.53137991e-02 8.54781668e-03 9.95410576e-01 1.12143171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.806296757 meters Centerline goodness : 0.745978 with order 3 Centerline is valid? [False, False] Translation: X:11.57, Y:-1.78, Z:1.12 [[ 9.75814837e-01 1.96767347e-01 -9.52261214e-02 1.15709530e+01] [-1.96643040e-01 9.80415873e-01 1.07810167e-02 -1.78168072e+00] [ 9.54825530e-02 8.20527794e-03 9.95397285e-01 1.12163517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.86629675699999 meters Centerline goodness : 0.788526 with order 1 Centerline is valid? [False, False] Translation: X:11.57, Y:-1.78, Z:1.12 [[ 9.76592205e-01 1.92340487e-01 -9.62953925e-02 1.15722605e+01] [-1.92611860e-01 9.81253112e-01 6.55753136e-03 -1.78219204e+00] [ 9.57514324e-02 1.21436007e-02 9.95331199e-01 1.12054562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.92629675699999 meters Centerline goodness : 0.802718 with order 1 Centerline is valid? [False, False] Translation: X:11.57, Y:-1.78, Z:1.12 [[ 9.76736939e-01 1.91456099e-01 -9.65894083e-02 1.15739247e+01] [-1.91716684e-01 9.81427695e-01 6.66275171e-03 -1.78405815e+00] [ 9.60711448e-02 1.20100454e-02 9.95302011e-01 1.11995652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.98629675699999 meters Centerline goodness : 0.799744 with order 1 Centerline is valid? [False, False] Translation: X:11.57, Y:-1.79, Z:1.12 [[ 9.76730790e-01 1.91495776e-01 -9.65729347e-02 1.15737166e+01] [-1.91707724e-01 9.81425897e-01 7.16636051e-03 -1.78596349e+00] [ 9.61515068e-02 1.15141726e-02 9.95300111e-01 1.12054891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.046296757 meters Centerline goodness : 0.829859 with order 1 Centerline is valid? [False, False] Translation: X:11.57, Y:-1.79, Z:1.12 [[ 9.76663041e-01 1.91840766e-01 -9.65734189e-02 1.15736942e+01] [-1.92011183e-01 9.81363207e-01 7.61330595e-03 -1.78705839e+00] [ 9.62341425e-02 1.11075419e-02 9.95296746e-01 1.12071093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.106296757 meters Centerline goodness : 0.831809 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:-1.79, Z:1.12 [[ 9.75947649e-01 1.95385030e-01 -9.66999316e-02 1.15763859e+01] [-1.95190201e-01 9.80697243e-01 1.15630117e-02 -1.78828744e+00] [ 9.70925957e-02 7.58998510e-03 9.95246412e-01 1.11991352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.166296757 meters Centerline goodness : 0.843781 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:-1.79, Z:1.12 [[ 9.75870628e-01 1.95683888e-01 -9.68727698e-02 1.15767914e+01] [-1.95489169e-01 9.80637368e-01 1.15904101e-02 -1.78804243e+00] [ 9.72651145e-02 7.62683650e-03 9.95229285e-01 1.11964419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.22629675699999 meters Centerline goodness : 0.832215 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:-1.79, Z:1.12 [[ 9.75130470e-01 1.99555428e-01 -9.64271668e-02 1.15777169e+01] [-1.98977819e-01 9.79878744e-01 1.56676623e-02 -1.79024228e+00] [ 9.76134981e-02 3.90885244e-03 9.95216723e-01 1.11948320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.28629675699999 meters Centerline goodness : 0.830668 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:-1.79, Z:1.12 [[ 9.74268914e-01 2.04171541e-01 -9.54676126e-02 1.15773285e+01] [-2.03183684e-01 9.78935115e-01 2.00606735e-02 -1.79112916e+00] [ 9.75524170e-02 -1.47029405e-04 9.95230378e-01 1.11993869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.34629675699999 meters Centerline goodness : 0.785985 with order 1 Centerline is valid? [False, False] Translation: X:11.57, Y:-1.79, Z:1.12 [[ 9.74063060e-01 2.05584361e-01 -9.45316147e-02 1.15749144e+01] [-2.04548048e-01 9.78639104e-01 2.06300995e-02 -1.78946199e+00] [ 9.67535605e-02 -7.58760559e-04 9.95308079e-01 1.12107837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.40629675699999 meters Centerline goodness : 0.783044 with order 1 Centerline is valid? [False, False] Translation: X:11.57, Y:-1.79, Z:1.12 [[ 9.73985684e-01 2.06028561e-01 -9.43616436e-02 1.15738803e+01] [-2.04931894e-01 9.78545001e-01 2.12744064e-02 -1.78981414e+00] [ 9.67202499e-02 -1.38325695e-03 9.95310645e-01 1.12238552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.466296757 meters Centerline goodness : 0.784557 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:-1.79, Z:1.12 [[ 9.74042701e-01 2.05494316e-01 -9.49363117e-02 1.15750653e+01] [-2.04377456e-01 9.78657179e-01 2.14472016e-02 -1.79087536e+00] [ 9.73173809e-02 -1.48764830e-03 9.95252287e-01 1.12263829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.526296757 meters Centerline goodness : 0.785081 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:-1.79, Z:1.12 [[ 9.74155978e-01 2.04643248e-01 -9.56100022e-02 1.15770658e+01] [-2.03544971e-01 9.78835893e-01 2.12070534e-02 -1.79120363e+00] [ 9.79263822e-02 -1.19804273e-03 9.95192940e-01 1.12213812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.586296757 meters Centerline goodness : 0.784410 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:-1.79, Z:1.12 [[ 9.74209762e-01 2.04235486e-01 -9.59333447e-02 1.15780326e+01] [-2.03139978e-01 9.78921145e-01 2.11551706e-02 -1.79156649e+00] [ 9.82318162e-02 -1.12167621e-03 9.95162927e-01 1.12195289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.64629675699999 meters Centerline goodness : 0.784329 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:-1.79, Z:1.12 [[ 9.75133228e-01 1.99143232e-01 -9.72479323e-02 1.15800522e+01] [-1.98440791e-01 9.79966456e-01 1.69410159e-02 -1.79237924e+00] [ 9.86734002e-02 2.77820907e-03 9.95115994e-01 1.12070379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.70629675699999 meters Centerline goodness : 0.786307 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:-1.79, Z:1.12 [[ 9.76031366e-01 1.94324141e-01 -9.79841910e-02 1.15801255e+01] [-1.93957249e-01 9.80919166e-01 1.33482347e-02 -1.79356433e+00] [ 9.87084551e-02 5.97644843e-03 9.95098449e-01 1.12103962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.76629675699999 meters Centerline goodness : 0.787662 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:-1.80, Z:1.12 [[ 9.76801603e-01 1.89975177e-01 -9.88335042e-02 1.15798157e+01] [-1.89843855e-01 9.81754689e-01 1.08185844e-02 -1.79683639e+00] [ 9.90855186e-02 8.19532288e-03 9.95045173e-01 1.12251174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.826296757 meters Centerline goodness : 0.787999 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:-1.80, Z:1.12 [[ 9.77498833e-01 1.86030070e-01 -9.94426740e-02 1.15796150e+01] [-1.86232305e-01 9.82478415e-01 7.32751038e-03 -1.79814570e+00] [ 9.90634180e-02 1.13568056e-02 9.95016313e-01 1.12209024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.886296757 meters Centerline goodness : 0.790073 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:-1.80, Z:1.12 [[ 9.77458446e-01 1.86237474e-01 -9.94514416e-02 1.15797712e+01] [-1.86417592e-01 9.82441504e-01 7.56122860e-03 -1.79877108e+00] [ 9.91134080e-02 1.11487115e-02 9.95013688e-01 1.12182730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.946296757 meters Centerline goodness : 0.793288 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:-1.80, Z:1.12 [[ 9.77265745e-01 1.87641711e-01 -9.87028512e-02 1.15773501e+01] [-1.87734202e-01 9.82183661e-01 8.43356936e-03 -1.79928416e+00] [ 9.85268171e-02 1.02880626e-02 9.95081214e-01 1.12264943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.00629675699999 meters Centerline goodness : 0.793719 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:-1.80, Z:1.12 [[ 9.76418485e-01 1.92209731e-01 -9.82973139e-02 1.15778403e+01] [-1.91847896e-01 9.81335771e-01 1.32094403e-02 -1.80140873e+00] [ 9.90016533e-02 5.96019114e-03 9.95069419e-01 1.12328110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.06629675699999 meters Centerline goodness : 0.789453 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:-1.80, Z:1.12 [[ 9.75700396e-01 1.95875790e-01 -9.81906905e-02 1.15803995e+01] [-1.95162701e-01 9.80625095e-01 1.69098589e-02 -1.80229295e+00] [ 9.96004871e-02 2.66420437e-03 9.95023942e-01 1.12201043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.12629675699999 meters Centerline goodness : 0.791142 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:-1.80, Z:1.12 [[ 9.75661690e-01 1.96008922e-01 -9.83095621e-02 1.15805680e+01] [-1.95266363e-01 9.80599171e-01 1.72137584e-02 -1.80355381e+00] [ 9.97763253e-02 2.40174606e-03 9.95006993e-01 1.12200491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.186296757 meters Centerline goodness : 0.794245 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:-1.81, Z:1.12 [[ 9.76313058e-01 1.92722038e-01 -9.83413923e-02 1.15777841e+01] [-1.92249285e-01 9.81241182e-01 1.43511619e-02 -1.80505845e+00] [ 9.92624092e-02 4.89483561e-03 9.95049252e-01 1.12355482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.246296757 meters Centerline goodness : 0.794293 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:-1.81, Z:1.12 [[ 9.76302289e-01 1.92879846e-01 -9.81387078e-02 1.15770728e+01] [-1.92306770e-01 9.81214709e-01 1.53558420e-02 -1.80745715e+00] [ 9.92569760e-02 3.88079422e-03 9.95054266e-01 1.12446399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.306296757 meters Centerline goodness : 0.794121 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:-1.81, Z:1.13 [[ 9.76267576e-01 1.93062070e-01 -9.81257206e-02 1.15765609e+01] [-1.92418424e-01 9.81181357e-01 1.60715768e-02 -1.80955386e+00] [ 9.93819395e-02 3.19103717e-03 9.95044244e-01 1.12517760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.36629675699999 meters Centerline goodness : 0.796672 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:-1.81, Z:1.13 [[ 9.76270461e-01 1.92905155e-01 -9.84052228e-02 1.15769469e+01] [-1.92230270e-01 9.81213061e-01 1.63845352e-02 -1.81045072e+00] [ 9.97171512e-02 2.92072475e-03 9.95011537e-01 1.12568629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.42629675699999 meters Centerline goodness : 0.798526 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:-1.81, Z:1.13 [[ 9.76975151e-01 1.89051328e-01 -9.88895854e-02 1.15757712e+01] [-1.88735509e-01 9.81946804e-01 1.26246294e-02 -1.81027742e+00] [ 9.94910153e-02 6.33002703e-03 9.95018326e-01 1.12621289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.48629675699999 meters Centerline goodness : 0.801823 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:-1.81, Z:1.13 [[ 9.77030901e-01 1.88601960e-01 -9.91963700e-02 1.15762230e+01] [-1.88190910e-01 9.82038715e-01 1.35699706e-02 -1.81284066e+00] [ 9.99739987e-02 5.40957455e-03 9.94975344e-01 1.12740443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.546296757 meters Centerline goodness : 0.802822 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:-1.81, Z:1.13 [[ 9.77142383e-01 1.87558847e-01 -1.00072184e-01 1.15790687e+01] [-1.87143128e-01 9.82238367e-01 1.36103049e-02 -1.81462201e+00] [ 1.00847472e-01 5.42861580e-03 9.94887088e-01 1.12650507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.606296757 meters Centerline goodness : 0.805389 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:-1.82, Z:1.13 [[ 9.77235474e-01 1.86192934e-01 -1.01700633e-01 1.15833034e+01] [-1.85767602e-01 9.82497899e-01 1.37214035e-02 -1.81727064e+00] [ 1.02475487e-01 5.48364049e-03 9.94720415e-01 1.12593738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.666296757 meters Centerline goodness : 0.803472 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:-1.82, Z:1.13 [[ 9.77221918e-01 1.86329231e-01 -1.01581205e-01 1.15829360e+01] [-1.85853922e-01 9.82474664e-01 1.42075702e-02 -1.81913253e+00] [ 1.02448246e-01 4.99531641e-03 9.94725793e-01 1.12615931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.72629675699999 meters Centerline goodness : 0.802821 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:-1.82, Z:1.13 [[ 9.77019947e-01 1.87812951e-01 -1.00788481e-01 1.15797664e+01] [-1.87259960e-01 9.82195778e-01 1.50053953e-02 -1.81886118e+00] [ 1.01812228e-01 4.21307636e-03 9.94794713e-01 1.12776897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.78629675699999 meters Centerline goodness : 0.801753 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:-1.82, Z:1.13 [[ 9.76766758e-01 1.89480884e-01 -1.00118404e-01 1.15775526e+01] [-1.88869114e-01 9.81877695e-01 1.56412994e-02 -1.81860277e+00] [ 1.01267755e-01 3.63137282e-03 9.94852580e-01 1.12812298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.84629675699999 meters Centerline goodness : 0.803700 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:-1.82, Z:1.13 [[ 9.76631936e-01 1.90250464e-01 -9.99741089e-02 1.15773144e+01] [-1.89641979e-01 9.81728683e-01 1.56432928e-02 -1.81791349e+00] [ 1.01123594e-01 3.68154852e-03 9.94867059e-01 1.12747372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.90629675699999 meters Centerline goodness : 0.800056 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:-1.82, Z:1.13 [[ 9.76490445e-01 1.91138201e-01 -9.96624231e-02 1.15767279e+01] [-1.90510069e-01 9.81556936e-01 1.58712236e-02 -1.81792799e+00] [ 1.00857940e-01 3.48859688e-03 9.94894721e-01 1.12685527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.966296757 meters Centerline goodness : 0.803223 with order 1 Centerline is valid? [False, False] Translation: X:11.57, Y:-1.82, Z:1.13 [[ 9.76392098e-01 1.91896696e-01 -9.91671795e-02 1.15740935e+01] [-1.91074455e-01 9.81413898e-01 1.78133102e-02 -1.82190234e+00] [ 1.00742364e-01 1.55553946e-03 9.94911331e-01 1.12982318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.026296757 meters Centerline goodness : 0.807456 with order 1 Centerline is valid? [False, False] Translation: X:11.57, Y:-1.82, Z:1.13 [[ 9.77095344e-01 1.88117234e-01 -9.94816360e-02 1.15723143e+01] [-1.87560388e-01 9.82138448e-01 1.50056455e-02 -1.82366073e+00] [ 1.00527560e-01 3.99686790e-03 9.94926246e-01 1.13139981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.086296757 meters Centerline goodness : 0.808103 with order 1 Centerline is valid? [False, False] Translation: X:11.57, Y:-1.83, Z:1.13 [[ 9.77921122e-01 1.83351999e-01 -1.00261277e-01 1.15727557e+01] [-1.83130584e-01 9.83021486e-01 1.14868746e-02 -1.82559250e+00] [ 1.00665131e-01 7.12764887e-03 9.94894833e-01 1.13139247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.14629675699999 meters Centerline goodness : 0.807132 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:-1.83, Z:1.13 [[ 9.78117028e-01 1.81566636e-01 -1.01590532e-01 1.15763577e+01] [-1.81144805e-01 9.83364594e-01 1.34400679e-02 -1.83046271e+00] [ 1.02340800e-01 5.25663772e-03 9.94735507e-01 1.13380414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.20629675699999 meters Centerline goodness : 0.807430 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:-1.83, Z:1.13 [[ 9.78820785e-01 1.77415082e-01 -1.02145773e-01 1.15761833e+01] [-1.77385419e-01 9.84096118e-01 9.44687432e-03 -1.83051359e+00] [ 1.02197277e-01 8.87237385e-03 9.94724584e-01 1.13326739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.26629675699999 meters Centerline goodness : 0.805015 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:-1.83, Z:1.13 [[ 9.79468761e-01 1.73630395e-01 -1.02437458e-01 1.15752462e+01] [-1.73982722e-01 9.84733042e-01 5.55407940e-03 -1.83086933e+00] [ 1.01837906e-01 1.23823005e-02 9.94723941e-01 1.13271387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.326296757 meters Centerline goodness : 0.811592 with order 1 Centerline is valid? [False, False] Translation: X:11.57, Y:-1.83, Z:1.13 [[ 9.79361076e-01 1.74577946e-01 -1.01854918e-01 1.15734118e+01] [-1.74850848e-01 9.84574699e-01 6.31206213e-03 -1.83180706e+00] [ 1.01385722e-01 1.16276308e-02 9.94779239e-01 1.13345048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.386296757 meters Centerline goodness : 0.811258 with order 1 Centerline is valid? [False, False] Translation: X:11.57, Y:-1.83, Z:1.13 [[ 9.79054424e-01 1.76729368e-01 -1.01089886e-01 1.15706232e+01] [-1.76944736e-01 9.84196574e-01 6.90387119e-03 -1.83020217e+00] [ 1.00712437e-01 1.11280576e-02 9.94853342e-01 1.13397968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.446296757 meters Centerline goodness : 0.810367 with order 1 Centerline is valid? [False, False] Translation: X:11.57, Y:-1.83, Z:1.13 [[ 9.78083229e-01 1.82784106e-01 -9.97154371e-02 1.15681818e+01] [-1.82568513e-01 9.83127491e-01 1.13611174e-02 -1.82991398e+00] [ 1.00109619e-01 7.09278063e-03 9.94951133e-01 1.13442739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.50629675699999 meters Centerline goodness : 0.809734 with order 1 Centerline is valid? [False, False] Translation: X:11.57, Y:-1.83, Z:1.13 [[ 9.77978619e-01 1.83441281e-01 -9.95345064e-02 1.15676044e+01] [-1.83247542e-01 9.83003407e-01 1.11642278e-02 -1.82865347e+00] [ 9.98907392e-02 7.32107756e-03 9.94971478e-01 1.13408754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.56629675699999 meters Centerline goodness : 0.809290 with order 1 Centerline is valid? [False, False] Translation: X:11.57, Y:-1.83, Z:1.13 [[ 9.77129345e-01 1.88356744e-01 -9.86913386e-02 1.15675969e+01] [-1.87778943e-01 9.82093765e-01 1.51955459e-02 -1.82889228e+00] [ 9.97863319e-02 3.68414148e-03 9.95002068e-01 1.13340106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.62629675699999 meters Centerline goodness : 0.808503 with order 1 Centerline is valid? [False, False] Translation: X:11.57, Y:-1.83, Z:1.13 [[ 9.77084869e-01 1.88976255e-01 -9.79445427e-02 1.15656971e+01] [-1.88328461e-01 9.81977351e-01 1.59019906e-02 -1.83020824e+00] [ 9.91844212e-02 2.90815060e-03 9.95064819e-01 1.13403657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.686296757 meters Centerline goodness : 0.811904 with order 1 Centerline is valid? [False, False] Translation: X:11.56, Y:-1.83, Z:1.14 [[ 9.77812154e-01 1.85323781e-01 -9.76651799e-02 1.15624352e+01] [-1.84919396e-01 9.82664287e-01 1.32557879e-02 -1.83234188e+00] [ 9.84286971e-02 5.09851558e-03 9.95131045e-01 1.13615980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.746296757 meters Centerline goodness : 0.812176 with order 1 Centerline is valid? [False, False] Translation: X:11.56, Y:-1.83, Z:1.14 [[ 9.78655905e-01 1.80810617e-01 -9.76736412e-02 1.15609177e+01] [-1.80698101e-01 9.83487050e-01 1.00706498e-02 -1.83490032e+00] [ 9.78816417e-02 7.79374054e-03 9.95167545e-01 1.13694832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.806296757 meters Centerline goodness : 0.811365 with order 1 Centerline is valid? [False, False] Translation: X:11.56, Y:-1.84, Z:1.14 [[ 9.78736789e-01 1.80508764e-01 -9.74211651e-02 1.15607402e+01] [-1.80312671e-01 9.83549095e-01 1.08866093e-02 -1.83661830e+00] [ 9.77836272e-02 6.91114546e-03 9.95183701e-01 1.13771158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.86629675699999 meters Centerline goodness : 0.814418 with order 1 Centerline is valid? [False, False] Translation: X:11.56, Y:-1.84, Z:1.14 [[ 9.79390715e-01 1.77214019e-01 -9.68969440e-02 1.15577326e+01] [-1.77338634e-01 9.84122118e-01 7.39366937e-03 -1.83688457e+00] [ 9.66686875e-02 9.94228059e-03 9.95266957e-01 1.13790448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.92629675699999 meters Centerline goodness : 0.812029 with order 1 Centerline is valid? [False, False] Translation: X:11.56, Y:-1.84, Z:1.14 [[ 9.78787759e-01 1.80905010e-01 -9.61660022e-02 1.15582769e+01] [-1.80600889e-01 9.83484109e-01 1.19300331e-02 -1.83922302e+00] [ 9.67359378e-02 5.69069516e-03 9.95293813e-01 1.13838752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.98629675699999 meters Centerline goodness : 0.807632 with order 1 Centerline is valid? [False, False] Translation: X:11.56, Y:-1.84, Z:1.14 [[ 9.78077383e-01 1.84976496e-01 -9.56468912e-02 1.15600690e+01] [-1.84403077e-01 9.82738098e-01 1.48773421e-02 -1.83740416e+00] [ 9.67478026e-02 3.08638915e-03 9.95304143e-01 1.13613777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.046296757 meters Centerline goodness : 0.807021 with order 1 Centerline is valid? [False, False] Translation: X:11.56, Y:-1.84, Z:1.14 [[ 9.77233775e-01 1.89758156e-01 -9.48999047e-02 1.15598434e+01] [-1.88839323e-01 9.81830814e-01 1.86537702e-02 -1.83705213e+00] [ 9.67153557e-02 -3.08260570e-04 9.95312034e-01 1.13587012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.106296757 meters Centerline goodness : 0.804872 with order 1 Centerline is valid? [False, False] Translation: X:11.56, Y:-1.84, Z:1.14 [[ 9.76408461e-01 1.94444125e-01 -9.39042063e-02 1.15589282e+01] [-1.93155022e-01 9.80905270e-01 2.27153740e-02 -1.83620736e+00] [ 9.65280019e-02 -4.04141432e-03 9.95322064e-01 1.13657331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.166296757 meters Centerline goodness : 0.806581 with order 1 Centerline is valid? [False, False] Translation: X:11.56, Y:-1.83, Z:1.14 [[ 9.75944710e-01 1.97173577e-01 -9.30295841e-02 1.15553003e+01] [-1.95854629e-01 9.80358658e-01 2.31919191e-02 -1.83251462e+00] [ 9.57751919e-02 -4.41375603e-03 9.95393204e-01 1.13746671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22629675699999 meters Centerline goodness : 0.804087 with order 1 Centerline is valid? [False, False] Translation: X:11.55, Y:-1.83, Z:1.14 [[ 9.75817852e-01 1.97972427e-01 -9.26630325e-02 1.15541503e+01] [-1.96693348e-01 9.80199214e-01 2.28304262e-02 -1.83039781e+00] [ 9.53480265e-02 -4.05213528e-03 9.95435751e-01 1.13719758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.28629675699999 meters Centerline goodness : 0.803595 with order 1 Centerline is valid? [False, False] Translation: X:11.56, Y:-1.83, Z:1.14 [[ 9.75788730e-01 1.98117742e-01 -9.26591346e-02 1.15550779e+01] [-1.96928458e-01 9.80173258e-01 2.18990021e-02 -1.82612874e+00] [ 9.51605867e-02 -3.12157896e-03 9.95457040e-01 1.13579169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.34629675699999 meters Centerline goodness : 0.803407 with order 1 Centerline is valid? [False, False] Translation: X:11.55, Y:-1.83, Z:1.14 [[ 9.75770771e-01 1.98316327e-01 -9.24231355e-02 1.15540602e+01] [-1.97119008e-01 9.80132684e-01 2.20004212e-02 -1.82511172e+00] [ 9.49499786e-02 -3.24901118e-03 9.95476743e-01 1.13674015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.40629675699999 meters Centerline goodness : 0.804452 with order 1 Centerline is valid? [False, False] Translation: X:11.55, Y:-1.82, Z:1.14 [[ 9.76512263e-01 1.94442568e-01 -9.28218074e-02 1.15527934e+01] [-1.93618303e-01 9.80913777e-01 1.78917703e-02 -1.82192149e+00] [ 9.45291114e-02 5.00467663e-04 9.95521972e-01 1.13749472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.466296757 meters Centerline goodness : 0.801994 with order 1 Centerline is valid? [False, False] Translation: X:11.55, Y:-1.82, Z:1.14 [[ 9.77384474e-01 1.89628185e-01 -9.35988338e-02 1.15535915e+01] [-1.89269184e-01 9.81842072e-01 1.27797299e-02 -1.81865490e+00] [ 9.43226699e-02 5.22466539e-03 9.95527969e-01 1.13631603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.526296757 meters Centerline goodness : 0.801168 with order 1 Centerline is valid? [False, False] Translation: X:11.55, Y:-1.82, Z:1.14 [[ 9.77567412e-01 1.88584580e-01 -9.37966490e-02 1.15546775e+01] [-1.88270012e-01 9.82040628e-01 1.22722078e-02 -1.81775977e+00] [ 9.44264693e-02 5.66218577e-03 9.95515736e-01 1.13625839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.586296757 meters Centerline goodness : 0.802736 with order 1 Centerline is valid? [False, False] Translation: X:11.56, Y:-1.82, Z:1.14 [[ 9.77714777e-01 1.87770004e-01 -9.38948331e-02 1.15555662e+01] [-1.87523134e-01 9.82192569e-01 1.15252670e-02 -1.81532379e+00] [ 9.43869068e-02 6.33902954e-03 9.95515408e-01 1.13605047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.64629675699999 meters Centerline goodness : 0.802432 with order 1 Centerline is valid? [False, False] Translation: X:11.56, Y:-1.81, Z:1.14 [[ 9.77734406e-01 1.87585234e-01 -9.40596150e-02 1.15557574e+01] [-1.87340981e-01 9.82227626e-01 1.14999029e-02 -1.81491751e+00] [ 9.45451643e-02 6.37736977e-03 9.95500146e-01 1.13655570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.70629675699999 meters Centerline goodness : 0.797742 with order 1 Centerline is valid? [False, False] Translation: X:11.56, Y:-1.81, Z:1.13 [[ 9.77136656e-01 1.90516236e-01 -9.43796541e-02 1.15596062e+01] [-1.90064723e-01 9.81674092e-01 1.38339657e-02 -1.81171345e+00] [ 9.52856563e-02 4.42056778e-03 9.95440155e-01 1.13467581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.76629675699999 meters Centerline goodness : 0.799812 with order 1 Centerline is valid? [False, False] Translation: X:11.56, Y:-1.81, Z:1.13 [[ 9.77050292e-01 1.90894208e-01 -9.45099318e-02 1.15599630e+01] [-1.90511246e-01 9.81597032e-01 1.31427422e-02 -1.80771448e+00] [ 9.52795420e-02 5.16408475e-03 9.95437161e-01 1.13436191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.826296757 meters Centerline goodness : 0.800508 with order 1 Centerline is valid? [False, False] Translation: X:11.56, Y:-1.81, Z:1.14 [[ 9.76842402e-01 1.92342239e-01 -9.37197106e-02 1.15562173e+01] [-1.91937823e-01 9.81315661e-01 1.33957653e-02 -1.80519374e+00] [ 9.45451912e-02 4.90280567e-03 9.95508498e-01 1.13671353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.886296757 meters Centerline goodness : 0.799846 with order 1 Centerline is valid? [False, False] Translation: X:11.56, Y:-1.80, Z:1.14 [[ 9.76061316e-01 1.96557354e-01 -9.31102224e-02 1.15567293e+01] [-1.95873648e-01 9.80490043e-01 1.65163211e-02 -1.80125300e+00] [ 9.45400504e-02 2.11689681e-03 9.95518808e-01 1.13672465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.946296757 meters Centerline goodness : 0.800856 with order 1 Centerline is valid? [False, False] Translation: X:11.56, Y:-1.80, Z:1.14 [[ 9.75294443e-01 2.00393185e-01 -9.29694642e-02 1.15590117e+01] [-1.99490863e-01 9.79715556e-01 1.89953882e-02 -1.79705322e+00] [ 9.48901767e-02 2.04621042e-05 9.95487747e-01 1.13525016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.006296757 meters Centerline goodness : 0.797792 with order 1 Centerline is valid? [False, False] Translation: X:11.56, Y:-1.79, Z:1.13 [[ 9.75292205e-01 2.00324900e-01 -9.31399408e-02 1.15598104e+01] [-1.99519599e-01 9.79728956e-01 1.79750567e-02 -1.79498483e+00] [ 9.48527483e-02 1.05231095e-03 9.95490758e-01 1.13394235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.066296757 meters Centerline goodness : 0.797408 with order 1 Centerline is valid? [False, False] Translation: X:11.56, Y:-1.79, Z:1.13 [[ 9.75306191e-01 2.00225632e-01 -9.32069225e-02 1.15601542e+01] [-1.99459750e-01 9.79748715e-01 1.75574638e-02 -1.79294311e+00] [ 9.48348168e-02 1.46712626e-03 9.95491941e-01 1.13384948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.126296757 meters Centerline goodness : 0.799122 with order 1 Centerline is valid? [False, False] Translation: X:11.56, Y:-1.79, Z:1.14 [[ 9.75190894e-01 2.00970773e-01 -9.28087750e-02 1.15585648e+01] [-2.00208819e-01 9.79596133e-01 1.75454888e-02 -1.78887775e+00] [ 9.44412476e-02 1.47093435e-03 9.95529350e-01 1.13528852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.186296757 meters Centerline goodness : 0.797531 with order 1 Centerline is valid? [False, False] Translation: X:11.56, Y:-1.79, Z:1.14 [[ 9.75156087e-01 2.01203843e-01 -9.26694090e-02 1.15574628e+01] [-2.00478403e-01 9.79547672e-01 1.71687923e-02 -1.78580150e+00] [ 9.42285309e-02 1.83596273e-03 9.95548900e-01 1.13654389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.246296757 meters Centerline goodness : 0.798006 with order 1 Centerline is valid? [False, False] Translation: X:11.56, Y:-1.78, Z:1.14 [[ 9.75175869e-01 2.01051294e-01 -9.27922461e-02 1.15577510e+01] [-2.00394814e-01 9.79577351e-01 1.64357204e-02 -1.78297620e+00] [ 9.42016054e-02 2.56736693e-03 9.95549831e-01 1.13653911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.306296757 meters Centerline goodness : 0.793960 with order 1 Centerline is valid? [False, False] Translation: X:11.56, Y:-1.78, Z:1.14 [[ 9.74458404e-01 2.04725367e-01 -9.22948692e-02 1.15591202e+01] [-2.03826698e-01 9.78819444e-01 1.91617502e-02 -1.77846718e+00] [ 9.42629089e-02 1.39829976e-04 9.95547329e-01 1.13607465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.36629675700001 meters Centerline goodness : 0.792675 with order 1 Centerline is valid? [False, False] Translation: X:11.56, Y:-1.77, Z:1.14 [[ 9.74357686e-01 2.05238750e-01 -9.22179757e-02 1.15587900e+01] [-2.04387176e-01 9.78711728e-01 1.86878501e-02 -1.77466916e+00] [ 9.40902853e-02 6.39521287e-04 9.95563463e-01 1.13632056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.42629675700002 meters Centerline goodness : 0.792229 with order 1 Centerline is valid? [False, False] Translation: X:11.56, Y:-1.77, Z:1.14 [[ 9.74355860e-01 2.05165618e-01 -9.23998250e-02 1.15594445e+01] [-2.04389243e-01 9.78726191e-01 1.78908028e-02 -1.77175225e+00] [ 9.41047064e-02 1.45352174e-03 9.95561244e-01 1.13587185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.48629675700002 meters Centerline goodness : 0.792141 with order 1 Centerline is valid? [False, False] Translation: X:11.56, Y:-1.77, Z:1.13 [[ 9.74568160e-01 2.03779595e-01 -9.32243424e-02 1.15625364e+01] [-2.03146611e-01 9.79012126e-01 1.63313146e-02 -1.76785387e+00] [ 9.45957504e-02 3.02223002e-03 9.95511180e-01 1.13451958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.546296757 meters Centerline goodness : 0.790174 with order 1 Centerline is valid? [False, False] Translation: X:11.56, Y:-1.76, Z:1.13 [[ 9.75518139e-01 1.98608042e-01 -9.44415530e-02 1.15640692e+01] [-1.98450486e-01 9.80047461e-01 1.11524950e-02 -1.76345643e+00] [ 9.47721794e-02 7.86251087e-03 9.95467938e-01 1.13404434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.606296757 meters Centerline goodness : 0.789718 with order 1 Centerline is valid? [False, False] Translation: X:11.57, Y:-1.76, Z:1.13 [[ 9.75718057e-01 1.97249786e-01 -9.52197184e-02 1.15663685e+01] [-1.97156855e-01 9.80315973e-01 1.04769506e-02 -1.76262640e+00] [ 9.54119872e-02 8.55067033e-03 9.95401145e-01 1.13378110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.666296757 meters Centerline goodness : 0.788251 with order 1 Centerline is valid? [False, False] Translation: X:11.57, Y:-1.76, Z:1.13 [[ 9.75922500e-01 1.96092090e-01 -9.55152634e-02 1.15677543e+01] [-1.96084754e-01 9.80540393e-01 9.55545136e-03 -1.76090952e+00] [ 9.55303223e-02 9.40370692e-03 9.95382101e-01 1.13324070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.726296757 meters Centerline goodness : 0.790928 with order 1 Centerline is valid? [False, False] Translation: X:11.57, Y:-1.76, Z:1.13 [[ 9.75971625e-01 1.95858295e-01 -9.54930115e-02 1.15678582e+01] [-1.95889959e-01 9.80583333e-01 9.13509951e-03 -1.75838375e+00] [ 9.54280406e-02 9.79052421e-03 9.95388183e-01 1.13365209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.786296757 meters Centerline goodness : 0.789670 with order 1 Centerline is valid? [False, False] Translation: X:11.57, Y:-1.76, Z:1.13 [[ 9.75393140e-01 1.98779825e-01 -9.53666789e-02 1.15709421e+01] [-1.98510958e-01 9.80020292e-01 1.23946303e-02 -1.75753002e+00] [ 9.59250829e-02 6.84169342e-03 9.95365043e-01 1.13242958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.846296757 meters Centerline goodness : 0.789653 with order 1 Centerline is valid? [False, False] Translation: X:11.57, Y:-1.76, Z:1.13 [[ 9.74676282e-01 2.02234355e-01 -9.54327577e-02 1.15739550e+01] [-2.01673903e-01 9.79328750e-01 1.55831982e-02 -1.75649839e+00] [ 9.66115013e-02 4.05772308e-03 9.95313897e-01 1.13118168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.906296757 meters Centerline goodness : 0.788250 with order 1 Centerline is valid? [False, False] Translation: X:11.57, Y:-1.76, Z:1.13 [[ 9.73893036e-01 2.06140871e-01 -9.50699477e-02 1.15749982e+01] [-2.05197625e-01 9.78522272e-01 1.97001780e-02 -1.75637334e+00] [ 9.70890731e-02 3.22261344e-04 9.95275644e-01 1.13206673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.966296757 meters Centerline goodness : 0.791850 with order 1 Centerline is valid? [False, False] Translation: X:11.57, Y:-1.76, Z:1.13 [[ 9.73054599e-01 2.10442533e-01 -9.42267860e-02 1.15744945e+01] [-2.09139412e-01 9.77600769e-01 2.36102203e-02 -1.75508001e+00] [ 9.70847730e-02 -3.26749887e-03 9.95270752e-01 1.13324171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.026296757 meters Centerline goodness : 0.796070 with order 3 Centerline is valid? [False, False] Translation: X:11.58, Y:-1.76, Z:1.13 [[ 9.72162062e-01 2.14650900e-01 -9.39463446e-02 1.15750666e+01] [-2.12964834e-01 9.76666046e-01 2.77383171e-02 -1.75514926e+00] [ 9.77082597e-02 -6.95887185e-03 9.95190771e-01 1.13439737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.086296757 meters Centerline goodness : 0.800695 with order 3 Centerline is valid? [False, False] Translation: X:11.58, Y:-1.75, Z:1.13 [[ 9.71401781e-01 2.18082303e-01 -9.39078726e-02 1.15772453e+01] [-2.16086148e-01 9.75880477e-01 3.10495024e-02 -1.75437723e+00] [ 9.84142065e-02 -9.86935147e-03 9.95096598e-01 1.13413384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.14629675700002 meters Centerline goodness : 0.803580 with order 3 Centerline is valid? [False, False] Translation: X:11.58, Y:-1.75, Z:1.13 [[ 9.71531437e-01 2.17255206e-01 -9.44819719e-02 1.15791128e+01] [-2.15269827e-01 9.76067354e-01 3.08451409e-02 -1.75425186e+00] [ 9.89220358e-02 -9.62790630e-03 9.95048609e-01 1.13389116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.20629675700002 meters Centerline goodness : 0.797072 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:-1.76, Z:1.13 [[ 9.72465497e-01 2.12609344e-01 -9.54364881e-02 1.15789021e+01] [-2.10946401e-01 9.77116180e-01 2.73054204e-02 -1.75550151e+00] [ 9.90579243e-02 -6.42159551e-03 9.95060948e-01 1.13486511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.26629675700002 meters Centerline goodness : 0.798512 with order 2 Centerline is valid? [False, False] Translation: X:11.58, Y:-1.76, Z:1.14 [[ 9.72806152e-01 2.10978269e-01 -9.55843162e-02 1.15795698e+01] [-2.09249550e-01 9.77464837e-01 2.78768456e-02 -1.75825267e+00] [ 9.93117167e-02 -7.11779171e-03 9.95030914e-01 1.13619791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.326296757 meters Centerline goodness : 0.799701 with order 2 Centerline is valid? [False, False] Translation: X:11.58, Y:-1.76, Z:1.14 [[ 9.72822844e-01 2.10841545e-01 -9.57160213e-02 1.15803943e+01] [-2.08990881e-01 9.77485138e-01 2.90794955e-02 -1.76012745e+00] [ 9.96921540e-02 -8.28542196e-03 9.94983832e-01 1.13731794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.386296757 meters Centerline goodness : 0.800419 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:-1.76, Z:1.14 [[ 9.72892184e-01 2.10459957e-01 -9.58509555e-02 1.15808862e+01] [-2.08445477e-01 9.77552666e-01 3.06800912e-02 -1.76493668e+00] [ 1.00156288e-01 -9.86872278e-03 9.94922774e-01 1.13851600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.446296757 meters Centerline goodness : 0.799053 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:-1.77, Z:1.14 [[ 9.72902296e-01 2.10315539e-01 -9.60650659e-02 1.15820609e+01] [-2.08264751e-01 9.77580716e-01 3.10118972e-02 -1.76633994e+00] [ 1.00433640e-01 -1.01645789e-02 9.94891836e-01 1.13786751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.506296757 meters Centerline goodness : 0.798467 with order 1 Centerline is valid? [False, False] Translation: X:11.59, Y:-1.77, Z:1.14 [[ 0.9722444 0.21334115 -0.09605407 11.58501852] [-0.21090502 0.97688131 0.03495689 -1.77018356] [ 0.10129117 -0.01372835 0.9947621 1.13657417] [ 0. 0. 0. 1. ]] SLAMing on 129.566296757 meters Centerline goodness : 0.796150 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:-1.77, Z:1.14 [[ 0.97213915 0.21387867 -0.09592382 11.58472884] [-0.21141556 0.97675987 0.03526506 -1.77196231] [ 0.10123698 -0.01400276 0.99476379 1.13607026] [ 0. 0. 0. 1. ]] SLAMing on 129.626296757 meters Centerline goodness : 0.799327 with order 2 Centerline is valid? [False, False] Translation: X:11.59, Y:-1.77, Z:1.13 [[ 0.97260126 0.21749182 -0.08212243 11.58676588] [-0.21541045 0.97594832 0.03351451 -1.76903118] [ 0.08743638 -0.01490622 0.99605857 1.12807746] [ 0. 0. 0. 1. ]] SLAMing on 129.686296757 meters Centerline goodness : 0.805381 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:-1.77, Z:1.13 [[ 0.97228833 0.21911037 -0.08152327 11.5842973 ] [-0.21702409 0.97558307 0.03373735 -1.76787922] [ 0.08692493 -0.01510992 0.99610027 1.12893559] [ 0. 0. 0. 1. ]] SLAMing on 129.746296757 meters Centerline goodness : 0.810089 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:-1.77, Z:1.13 [[ 0.9721195 0.21998337 -0.08118493 11.58339384] [-0.21791594 0.97538852 0.03361368 -1.766003 ] [ 0.0865813 -0.01498502 0.99613208 1.12885578] [ 0. 0. 0. 1. ]] SLAMing on 129.806296757 meters Centerline goodness : 0.806708 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:-1.77, Z:1.13 [[ 0.97204288 0.22031091 -0.08121416 11.58324636] [-0.21823638 0.9753138 0.03370289 -1.76561727] [ 0.08663441 -0.01503677 0.99612669 1.12911249] [ 0. 0. 0. 1. ]] SLAMing on 129.86629675700001 meters Centerline goodness : 0.808362 with order 2 Centerline is valid? [False, False] Translation: X:11.58, Y:-1.77, Z:1.13 [[ 0.97205771 0.22012243 -0.08154711 11.58391004] [-0.21802747 0.97535466 0.03387192 -1.76699887] [ 0.08699332 -0.01514595 0.99609375 1.12909859] [ 0. 0. 0. 1. ]] SLAMing on 129.92629675700002 meters Centerline goodness : 0.806527 with order 1 Centerline is valid? [False, False] Translation: X:11.59, Y:-1.77, Z:1.13 [[ 0.97218381 0.21941445 -0.08195087 11.58558805] [-0.21734081 0.97551968 0.03353103 -1.7675735 ] [ 0.08730188 -0.01478705 0.99607215 1.12812035] [ 0. 0. 0. 1. ]] SLAMing on 129.98629675700002 meters Centerline goodness : 0.806383 with order 1 Centerline is valid? [False, False] Translation: X:11.59, Y:-1.77, Z:1.13 [[ 0.97232829 0.21862957 -0.08233353 11.58604975] [-0.216464 0.97568158 0.03447892 -1.77179723] [ 0.08786942 -0.01570258 0.99600823 1.12957386] [ 0. 0. 0. 1. ]] SLAMing on 130.046296757 meters Centerline goodness : 0.808602 with order 2 Centerline is valid? [False, False] Translation: X:11.59, Y:-1.77, Z:1.13 [[ 0.9723778 0.21826986 -0.08270233 11.58672632] [-0.2160739 0.97575871 0.03474203 -1.77278032] [ 0.08828065 -0.01591257 0.99596853 1.13010078] [ 0. 0. 0. 1. ]] SLAMing on 130.106296757 meters Centerline goodness : 0.807398 with order 2 Centerline is valid? [False, False] Translation: X:11.59, Y:-1.77, Z:1.13 [[ 0.97234664 0.21853324 -0.08237249 11.5860824 ] [-0.21634615 0.97569945 0.03471193 -1.77148673] [ 0.0879565 -0.01593106 0.99599692 1.1302505 ] [ 0. 0. 0. 1. ]] SLAMing on 130.166296757 meters Centerline goodness : 0.813118 with order 1 Centerline is valid? [False, False] Translation: X:11.59, Y:-1.77, Z:1.13 [[ 0.97226549 0.2188326 -0.0825355 11.58650929] [-0.21667125 0.97563825 0.03440316 -1.77081577] [ 0.08805333 -0.01556593 0.99599413 1.12967076] [ 0. 0. 0. 1. ]] SLAMing on 130.226296757 meters Centerline goodness : 0.810362 with order 1 Centerline is valid? [False, False] Translation: X:11.59, Y:-1.77, Z:1.13 [[ 0.97229403 0.21859434 -0.0828302 11.58793614] [-0.21651243 0.97570682 0.03344495 -1.76871927] [ 0.08812887 -0.01458456 0.99600231 1.12826526] [ 0. 0. 0. 1. ]] SLAMing on 130.286296757 meters Centerline goodness : 0.813751 with order 2 Centerline is valid? [False, False] Translation: X:11.59, Y:-1.77, Z:1.13 [[ 0.97233239 0.21836674 -0.08298004 11.58883732] [-0.21635217 0.97576928 0.0326504 -1.76653352] [ 0.08809913 -0.01379413 0.9960162 1.12739669] [ 0. 0. 0. 1. ]] SLAMing on 130.346296757 meters Centerline goodness : 0.812646 with order 2 Centerline is valid? [False, False] Translation: X:11.59, Y:-1.77, Z:1.13 [[ 0.97227782 0.21876829 -0.08256072 11.58713587] [-0.21675509 0.97567762 0.03271724 -1.76557106] [ 0.08771014 -0.01391479 0.99604885 1.12854459] [ 0. 0. 0. 1. ]] SLAMing on 130.406296757 meters Centerline goodness : 0.813832 with order 2 Centerline is valid? [False, False] Translation: X:11.58, Y:-1.76, Z:1.13 [[ 0.97212573 0.21962431 -0.08207762 11.58499267] [-0.21759356 0.97548046 0.03302888 -1.76479877] [ 0.08731906 -0.01424866 0.99607849 1.12992911] [ 0. 0. 0. 1. ]] SLAMing on 130.466296757 meters Centerline goodness : 0.822262 with order 3 Centerline is valid? [False, False] Translation: X:11.59, Y:-1.76, Z:1.13 [[ 0.97211771 0.2195872 -0.08227158 11.58594271] [-0.21760708 0.97549791 0.03241894 -1.762999 ] [ 0.08737454 -0.01361214 0.99608253 1.12905066] [ 0. 0. 0. 1. ]] SLAMing on 130.526296757 meters Centerline goodness : 0.822302 with order 2 Centerline is valid? [False, False] Translation: X:11.59, Y:-1.76, Z:1.13 [[ 0.97209835 0.21946559 -0.08282297 11.5873861 ] [-0.21750037 0.97553028 0.03215988 -1.76284846] [ 0.0878543 -0.01324854 0.99604523 1.12846517] [ 0. 0. 0. 1. ]] SLAMing on 130.586296757 meters Centerline goodness : 0.826810 with order 2 Centerline is valid? [False, False] Translation: X:11.59, Y:-1.76, Z:1.13 [[ 9.72813617e-01 2.16129207e-01 -8.31975478e-02 1.15864251e+01] [-2.14491233e-01 9.76317173e-01 2.82540062e-02 -1.76239224e+00] [ 8.73337106e-02 -9.64073728e-03 9.96132461e-01 1.12777222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.64629675700002 meters Centerline goodness : 0.814204 with order 1 Centerline is valid? [False, False] Translation: X:11.59, Y:-1.76, Z:1.13 [[ 9.72764068e-01 2.16494707e-01 -8.28257835e-02 1.15852209e+01] [-2.14823954e-01 9.76231428e-01 2.86856804e-02 -1.76324864e+00] [ 8.70674308e-02 -1.01114368e-02 9.96151104e-01 1.12835464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.70629675700002 meters Centerline goodness : 0.817491 with order 2 Centerline is valid? [False, False] Translation: X:11.58, Y:-1.76, Z:1.12 [[ 9.74145624e-01 2.15211663e-01 -6.87331298e-02 1.15847296e+01] [-2.14037574e-01 9.76528088e-01 2.40999876e-02 -1.76245109e+00] [ 7.23064302e-02 -8.76542511e-03 9.97343946e-01 1.12203792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.76629675700002 meters Centerline goodness : 0.815360 with order 2 Centerline is valid? [False, False] Translation: X:11.58, Y:-1.76, Z:1.12 [[ 9.74040184e-01 2.15856525e-01 -6.82032370e-02 1.15832097e+01] [-2.14667372e-01 9.76382485e-01 2.43959656e-02 -1.76195446e+00] [ 7.18584744e-02 -9.12164116e-03 9.97373127e-01 1.12265356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.826296757 meters Centerline goodness : 0.817498 with order 2 Centerline is valid? [False, False] Translation: X:11.58, Y:-1.76, Z:1.12 [[ 9.74022590e-01 2.15947763e-01 -6.81656599e-02 1.15832092e+01] [-2.14763284e-01 9.76362817e-01 2.43388863e-02 -1.76163266e+00] [ 7.18103438e-02 -9.06714415e-03 9.97377091e-01 1.12250677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.886296757 meters Centerline goodness : 0.820879 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:-1.76, Z:1.12 [[ 9.74091393e-01 2.15587687e-01 -6.83220914e-02 1.15838204e+01] [-2.14421614e-01 9.76445021e-01 2.40518781e-02 -1.76112391e+00] [ 7.18980547e-02 -8.77899432e-03 9.97373350e-01 1.12227249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.946296757 meters Centerline goodness : 0.822241 with order 2 Centerline is valid? [False, False] Translation: X:11.59, Y:-1.76, Z:1.12 [[ 9.74228098e-01 2.14786058e-01 -6.88952947e-02 1.15858730e+01] [-2.13665985e-01 9.76628358e-01 2.33216057e-02 -1.76036380e+00] [ 7.22942543e-02 -7.99998256e-03 9.97351263e-01 1.12118801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.006296757 meters Centerline goodness : 0.821085 with order 2 Centerline is valid? [False, False] Translation: X:11.59, Y:-1.76, Z:1.12 [[ 9.74433350e-01 2.13710095e-01 -6.93371672e-02 1.15882547e+01] [-2.12690977e-01 9.76875218e-01 2.18485135e-02 -1.75734537e+00] [ 7.24030082e-02 -6.54253039e-03 9.97353999e-01 1.11925808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.066296757 meters Centerline goodness : 0.819968 with order 2 Centerline is valid? [False, False] Translation: X:11.59, Y:-1.76, Z:1.12 [[ 9.74504457e-01 2.13450302e-01 -6.91377724e-02 1.15877283e+01] [-2.12445487e-01 9.76932830e-01 2.16601348e-02 -1.75678085e+00] [ 7.21663220e-02 -6.41989017e-03 9.97371950e-01 1.11970151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.126296757 meters Centerline goodness : 0.818424 with order 2 Centerline is valid? [False, False] Translation: X:11.59, Y:-1.76, Z:1.12 [[ 9.74647019e-01 2.12832362e-01 -6.90331330e-02 1.15875017e+01] [-2.11819511e-01 9.77066538e-01 2.17594708e-02 -1.75775543e+00] [ 7.20810839e-02 -6.58523890e-03 9.97377036e-01 1.12020260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.186296757 meters Centerline goodness : 0.817416 with order 2 Centerline is valid? [False, False] Translation: X:11.59, Y:-1.76, Z:1.12 [[ 9.74701169e-01 2.12582042e-01 -6.90398950e-02 1.15873375e+01] [-2.11552873e-01 9.77119460e-01 2.19759527e-02 -1.75818077e+00] [ 7.21319178e-02 -6.81439864e-03 9.97371822e-01 1.12089991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.246296757 meters Centerline goodness : 0.818231 with order 2 Centerline is valid? [False, False] Translation: X:11.59, Y:-1.76, Z:1.12 [[ 9.74741305e-01 2.12249212e-01 -6.94957522e-02 1.15886594e+01] [-2.11199936e-01 9.77190786e-01 2.21980821e-02 -1.75932674e+00] [ 7.26221341e-02 -6.95988912e-03 9.97335242e-01 1.12072701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.306296757 meters Centerline goodness : 0.812557 with order 2 Centerline is valid? [False, False] Translation: X:11.59, Y:-1.76, Z:1.12 [[ 9.74804655e-01 2.11943595e-01 -6.95398985e-02 1.15889885e+01] [-2.10867156e-01 9.77254456e-01 2.25559257e-02 -1.76108751e+00] [ 7.27387596e-02 -7.32394070e-03 9.97324136e-01 1.12073167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.36629675700001 meters Centerline goodness : 0.825959 with order 3 Centerline is valid? [False, False] Translation: X:11.59, Y:-1.76, Z:1.12 [[ 9.74978236e-01 2.10935448e-01 -7.01689187e-02 1.15911463e+01] [-2.09832131e-01 9.77470997e-01 2.28238021e-02 -1.76297970e+00] [ 7.34024319e-02 -7.52901656e-03 9.97273983e-01 1.12041807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.42629675700002 meters Centerline goodness : 0.828092 with order 3 Centerline is valid? [False, False] Translation: X:11.59, Y:-1.76, Z:1.12 [[ 9.75054720e-01 2.10443468e-01 -7.05821548e-02 1.15920178e+01] [-2.09288205e-01 9.77572401e-01 2.34659080e-02 -1.76479022e+00] [ 7.39374136e-02 -8.10853183e-03 9.97229919e-01 1.12128201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.48629675700002 meters Centerline goodness : 0.823004 with order 2 Centerline is valid? [False, False] Translation: X:11.59, Y:-1.77, Z:1.12 [[ 0.97436022 0.21378512 -0.0701291 11.59303525] [-0.21226363 0.97679496 0.02856152 -1.76680832] [ 0.07460778 -0.01294336 0.99712895 1.1234317 ] [ 0. 0. 0. 1. ]] SLAMing on 131.546296757 meters Centerline goodness : 0.822216 with order 2 Centerline is valid? [False, False] Translation: X:11.59, Y:-1.76, Z:1.13 [[ 0.97425195 0.21448745 -0.06948577 11.59116352] [-0.21296885 0.97663859 0.02865902 -1.76298112] [ 0.07400948 -0.0131228 0.99717119 1.12524576] [ 0. 0. 0. 1. ]] SLAMing on 131.606296757 meters Centerline goodness : 0.816262 with order 2 Centerline is valid? [False, False] Translation: X:11.59, Y:-1.76, Z:1.13 [[ 0.97408788 0.21526405 -0.06938435 11.59004673] [-0.21376782 0.97647156 0.02840098 -1.75851885] [ 0.07386555 -0.01283291 0.99718564 1.12682137] [ 0. 0. 0. 1. ]] SLAMing on 131.666296757 meters Centerline goodness : 0.815318 with order 2 Centerline is valid? [False, False] Translation: X:11.59, Y:-1.75, Z:1.13 [[ 0.97411108 0.21507033 -0.06965881 11.59123834] [-0.21365545 0.97652893 0.02725068 -1.75351494] [ 0.07388465 -0.01166221 0.9971986 1.12618316] [ 0. 0. 0. 1. ]] SLAMing on 131.726296757 meters Centerline goodness : 0.817082 with order 2 Centerline is valid? [False, False] Translation: X:11.60, Y:-1.75, Z:1.13 [[ 0.97362196 0.21714526 -0.07005866 11.59517017] [-0.21550791 0.97603404 0.03023086 -1.75173989] [ 0.07494412 -0.01433523 0.99708469 1.12595353] [ 0. 0. 0. 1. ]] SLAMing on 131.786296757 meters Centerline goodness : 0.818243 with order 2 Centerline is valid? [False, False] Translation: X:11.60, Y:-1.75, Z:1.13 [[ 9.74135107e-01 2.09454027e-01 -8.47927078e-02 1.15969441e+01] [-2.07970420e-01 9.77787716e-01 2.60669522e-02 -1.74576929e+00] [ 8.83690962e-02 -7.75835821e-03 9.96057584e-01 1.13195978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.846296757 meters Centerline goodness : 0.819367 with order 2 Centerline is valid? [False, False] Translation: X:11.60, Y:-1.74, Z:1.13 [[ 9.74492006e-01 2.01826011e-01 -9.81406744e-02 1.15982964e+01] [-2.00589177e-01 9.79419018e-01 2.24135845e-02 -1.73726078e+00] [ 1.00644487e-01 -2.15590178e-03 9.94920117e-01 1.13429336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.906296757 meters Centerline goodness : 0.827042 with order 2 Centerline is valid? [False, False] Translation: X:11.60, Y:-1.74, Z:1.13 [[ 9.74525853e-01 2.02475540e-01 -9.64521511e-02 1.15971176e+01] [-2.00963903e-01 9.79273445e-01 2.52394655e-02 -1.73558204e+00] [ 9.95634046e-02 -5.21311096e-03 9.95017564e-01 1.13304195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.966296757 meters Centerline goodness : 0.827883 with order 2 Centerline is valid? [False, False] Translation: X:11.60, Y:-1.73, Z:1.13 [[ 9.74685273e-01 2.01328025e-01 -9.72401357e-02 1.15983048e+01] [-1.99984021e-01 9.79517850e-01 2.34770795e-02 -1.73413304e+00] [ 9.99750427e-02 -3.43629038e-03 9.94984011e-01 1.13320181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.026296757 meters Centerline goodness : 0.830955 with order 2 Centerline is valid? [False, False] Translation: X:11.60, Y:-1.73, Z:1.13 [[ 9.74445363e-01 2.03612360e-01 -9.48590655e-02 1.15955010e+01] [-2.01913962e-01 9.79023443e-01 2.72736140e-02 -1.73186486e+00] [ 9.84224938e-02 -7.42327697e-03 9.95117032e-01 1.13311828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.086296757 meters Centerline goodness : 0.830428 with order 2 Centerline is valid? [False, False] Translation: X:11.60, Y:-1.73, Z:1.13 [[ 9.74121184e-01 2.04999901e-01 -9.51995749e-02 1.15966444e+01] [-2.03301667e-01 9.78735131e-01 2.73125592e-02 -1.72954230e+00] [ 9.87742403e-02 -7.25151021e-03 9.95083446e-01 1.13353215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.14629675700002 meters Centerline goodness : 0.831141 with order 2 Centerline is valid? [False, False] Translation: X:11.60, Y:-1.73, Z:1.14 [[ 9.73743604e-01 2.06329586e-01 -9.61846999e-02 1.15979403e+01] [-2.04757337e-01 9.78466128e-01 2.60474304e-02 -1.72669225e+00] [ 9.94878265e-02 -5.66899577e-03 9.95022630e-01 1.13512507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.20629675700002 meters Centerline goodness : 0.828592 with order 2 Centerline is valid? [False, False] Translation: X:11.60, Y:-1.72, Z:1.13 [[ 9.73838761e-01 2.05868593e-01 -9.62090976e-02 1.15996182e+01] [-2.04307320e-01 9.78563738e-01 2.59138967e-02 -1.72406806e+00] [ 9.94815916e-02 -5.57973407e-03 9.95023758e-01 1.13364202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.26629675700002 meters Centerline goodness : 0.829877 with order 2 Centerline is valid? [False, False] Translation: X:11.60, Y:-1.72, Z:1.13 [[ 9.73895812e-01 2.05304130e-01 -9.68357475e-02 1.16016558e+01] [-2.03761128e-01 9.78684044e-01 2.56699286e-02 -1.72451209e+00] [ 1.00041743e-01 -5.26847482e-03 9.94969292e-01 1.13243390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.326296757 meters Centerline goodness : 0.826753 with order 2 Centerline is valid? [False, False] Translation: X:11.60, Y:-1.72, Z:1.13 [[ 9.74527076e-01 2.01707142e-01 -9.80367593e-02 1.16047575e+01] [-2.00455291e-01 9.79443103e-01 2.25584831e-02 -1.72372381e+00] [ 1.00571635e-01 -2.33186551e-03 9.94927087e-01 1.12997332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.386296757 meters Centerline goodness : 0.825543 with order 2 Centerline is valid? [False, False] Translation: X:11.60, Y:-1.72, Z:1.13 [[ 9.74947260e-01 1.99938595e-01 -9.74802484e-02 1.16044875e+01] [-1.98692973e-01 9.79805261e-01 2.24221565e-02 -1.72310867e+00] [ 9.99947147e-02 -2.49177965e-03 9.94984848e-01 1.12869771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.446296757 meters Centerline goodness : 0.834251 with order 3 Centerline is valid? [False, False] Translation: X:11.61, Y:-1.72, Z:1.13 [[ 9.75192734e-01 1.98543454e-01 -9.78755714e-02 1.16051055e+01] [-1.97397208e-01 9.80090928e-01 2.13568603e-02 -1.72227126e+00] [ 1.00167224e-01 -1.50669044e-03 9.94969475e-01 1.12856879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.506296757 meters Centerline goodness : 0.835694 with order 3 Centerline is valid? [False, False] Translation: X:11.61, Y:-1.72, Z:1.13 [[ 9.75464565e-01 1.96186279e-01 -9.98990848e-02 1.16081309e+01] [-1.95434475e-01 9.80563209e-01 1.73539326e-02 -1.72180386e+00] [ 1.01361971e-01 2.59557891e-03 9.94846226e-01 1.12839380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.566296757 meters Centerline goodness : 0.825965 with order 3 Centerline is valid? [False, False] Translation: X:11.61, Y:-1.72, Z:1.13 [[ 9.75516342e-01 1.95588869e-01 -1.00562721e-01 1.16098591e+01] [-1.94868689e-01 9.80681449e-01 1.70319993e-02 -1.72273779e+00] [ 1.01951265e-01 2.98153204e-03 9.94784927e-01 1.12747345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.626296757 meters Centerline goodness : 0.829271 with order 3 Centerline is valid? [False, False] Translation: X:11.61, Y:-1.72, Z:1.13 [[ 9.75386051e-01 1.95693985e-01 -1.01616517e-01 1.16123012e+01] [-1.94979229e-01 9.80659741e-01 1.70168354e-02 -1.72451729e+00] [ 1.02981319e-01 3.21512630e-03 9.94678094e-01 1.12674093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.686296757 meters Centerline goodness : 0.821299 with order 2 Centerline is valid? [False, False] Translation: X:11.61, Y:-1.73, Z:1.13 [[ 9.75044731e-01 1.97076625e-01 -1.02218277e-01 1.16136907e+01] [-1.96325941e-01 9.80383344e-01 1.74534944e-02 -1.72576942e+00] [ 1.03652772e-01 3.05016172e-03 9.94608868e-01 1.12671348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.746296757 meters Centerline goodness : 0.828498 with order 3 Centerline is valid? [False, False] Translation: X:11.62, Y:-1.73, Z:1.13 [[ 9.73841820e-01 2.02096192e-01 -1.03871264e-01 1.16175907e+01] [-2.01206233e-01 9.79362946e-01 1.90859135e-02 -1.72710858e+00] [ 1.05584857e-01 2.31288498e-03 9.94407607e-01 1.12721473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.806296757 meters Centerline goodness : 0.825867 with order 2 Centerline is valid? [False, False] Translation: X:11.62, Y:-1.73, Z:1.13 [[ 9.73286679e-01 2.03998213e-01 -1.05345953e-01 1.16200412e+01] [-2.03181714e-01 9.78965497e-01 1.85404048e-02 -1.72752718e+00] [ 1.06912263e-01 3.35924225e-03 9.94262784e-01 1.12818852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.86629675700001 meters Centerline goodness : 0.823104 with order 2 Centerline is valid? [False, False] Translation: X:11.62, Y:-1.73, Z:1.13 [[ 9.72487893e-01 2.06888797e-01 -1.07071579e-01 1.16231358e+01] [-2.06220906e-01 9.78350836e-01 1.73948329e-02 -1.72532391e+00] [ 1.08352365e-01 5.16413360e-03 9.94099138e-01 1.12976311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.92629675700002 meters Centerline goodness : 0.824054 with order 2 Centerline is valid? [False, False] Translation: X:11.62, Y:-1.72, Z:1.13 [[ 9.71821200e-01 2.09186920e-01 -1.08648000e-01 1.16247700e+01] [-2.08815144e-01 9.77841365e-01 1.49164281e-02 -1.72092356e+00] [ 1.09360831e-01 8.19124673e-03 9.93968366e-01 1.13293220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.98629675700002 meters Centerline goodness : 0.827336 with order 2 Centerline is valid? [False, False] Translation: X:11.62, Y:-1.72, Z:1.14 [[ 9.71433351e-01 2.10584614e-01 -1.09413730e-01 1.16248963e+01] [-2.10424381e-01 9.77521814e-01 1.31408755e-02 -1.71763374e+00] [ 1.09721574e-01 1.02578317e-02 9.93909429e-01 1.13555355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.046296757 meters Centerline goodness : 0.816296 with order 2 Centerline is valid? [False, False] Translation: X:11.63, Y:-1.72, Z:1.13 [[ 9.70985307e-01 2.12845085e-01 -1.09016069e-01 1.16267095e+01] [-2.12448045e-01 9.77051325e-01 1.53797755e-02 -1.71537653e+00] [ 1.09787804e-01 8.22671460e-03 9.93921003e-01 1.13437659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.106296757 meters Centerline goodness : 0.819358 with order 2 Centerline is valid? [False, False] Translation: X:11.63, Y:-1.71, Z:1.13 [[ 9.70858908e-01 2.13155134e-01 -1.09534783e-01 1.16284168e+01] [-2.12812066e-01 9.76978772e-01 1.49500507e-02 -1.71325832e+00] [ 1.10199838e-01 8.79593367e-03 9.93870528e-01 1.13420040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.166296757 meters Centerline goodness : 0.820627 with order 2 Centerline is valid? [False, False] Translation: X:11.63, Y:-1.71, Z:1.13 [[ 9.70900782e-01 2.13132375e-01 -1.09207423e-01 1.16277248e+01] [-2.12830301e-01 9.76980816e-01 1.45515349e-02 -1.71171799e+00] [ 1.09794960e-01 9.11455216e-03 9.93912467e-01 1.13468712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.226296757 meters Centerline goodness : 0.817293 with order 2 Centerline is valid? [False, False] Translation: X:11.63, Y:-1.71, Z:1.13 [[ 9.71006089e-01 2.12825732e-01 -1.08868648e-01 1.16286652e+01] [-2.12478264e-01 9.77051913e-01 1.49179857e-02 -1.70954438e+00] [ 1.09545252e-01 8.64676642e-03 9.93944199e-01 1.13334066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.286296757 meters Centerline goodness : 0.821241 with order 2 Centerline is valid? [False, False] Translation: X:11.63, Y:-1.71, Z:1.13 [[ 9.71498855e-01 2.09480473e-01 -1.10941003e-01 1.16316999e+01] [-2.09665997e-01 9.77720658e-01 1.01234877e-02 -1.70764383e+00] [ 1.10589983e-01 1.34255993e-02 9.93775432e-01 1.13317277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.346296757 meters Centerline goodness : 0.824420 with order 2 Centerline is valid? [False, False] Translation: X:11.63, Y:-1.71, Z:1.13 [[ 9.71936832e-01 2.06921314e-01 -1.11903374e-01 1.16322972e+01] [-2.07443282e-01 9.78221374e-01 7.08723691e-03 -1.70759122e+00] [ 1.10932773e-01 1.63252566e-02 9.93693819e-01 1.13346181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.406296757 meters Centerline goodness : 0.825085 with order 2 Centerline is valid? [False, False] Translation: X:11.63, Y:-1.71, Z:1.13 [[ 9.71764050e-01 2.07758525e-01 -1.11852699e-01 1.16340382e+01] [-2.08163792e-01 9.78059833e-01 8.17306192e-03 -1.70786937e+00] [ 1.11096655e-01 1.53413942e-02 9.93691187e-01 1.13162498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.466296757 meters Centerline goodness : 0.824947 with order 2 Centerline is valid? [False, False] Translation: X:11.64, Y:-1.71, Z:1.13 [[ 9.71411527e-01 2.09180414e-01 -1.12263977e-01 1.16361597e+01] [-2.09582787e-01 9.77755349e-01 8.33868366e-03 -1.70729379e+00] [ 1.11510993e-01 1.54283037e-02 9.93643430e-01 1.13060453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.526296757 meters Centerline goodness : 0.825654 with order 2 Centerline is valid? [False, False] Translation: X:11.64, Y:-1.71, Z:1.13 [[ 9.71385430e-01 2.09272704e-01 -1.12317769e-01 1.16355212e+01] [-2.09678597e-01 9.77734964e-01 8.32019170e-03 -1.70767409e+00] [ 1.11558198e-01 1.54685192e-02 9.93637506e-01 1.13158268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.586296757 meters Centerline goodness : 0.823405 with order 2 Centerline is valid? [False, False] Translation: X:11.64, Y:-1.71, Z:1.13 [[ 9.71595376e-01 2.08454193e-01 -1.12023544e-01 1.16351966e+01] [-2.08871181e-01 9.77909348e-01 8.13248767e-03 -1.70758004e+00] [ 1.11244122e-01 1.54970026e-02 9.93672274e-01 1.13118380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.64629675700002 meters Centerline goodness : 0.821778 with order 2 Centerline is valid? [False, False] Translation: X:11.63, Y:-1.71, Z:1.13 [[ 9.72257489e-01 2.04972188e-01 -1.12702159e-01 1.16347822e+01] [-2.05718933e-01 9.78597884e-01 5.08930715e-03 -1.70856578e+00] [ 1.11333261e-01 1.82368510e-02 9.93615782e-01 1.13143151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.70629675700002 meters Centerline goodness : 0.816600 with order 2 Centerline is valid? [False, False] Translation: X:11.64, Y:-1.71, Z:1.13 [[ 9.72554523e-01 2.02783902e-01 -1.14089392e-01 1.16362823e+01] [-2.03815460e-01 9.79005676e-01 2.67285051e-03 -1.71031577e+00] [ 1.12236174e-01 2.06536891e-02 9.93466892e-01 1.13149610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.76629675700002 meters Centerline goodness : 0.815822 with order 2 Centerline is valid? [False, False] Translation: X:11.64, Y:-1.71, Z:1.13 [[ 9.72486516e-01 2.02719035e-01 -1.14782265e-01 1.16378372e+01] [-2.03765288e-01 9.79016134e-01 2.66775653e-03 -1.71227388e+00] [ 1.12914494e-01 2.07942840e-02 9.93387092e-01 1.13081238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.826296757 meters Centerline goodness : 0.814537 with order 2 Centerline is valid? [False, False] Translation: X:11.64, Y:-1.71, Z:1.13 [[ 9.72391864e-01 2.02780438e-01 -1.15473620e-01 1.16406575e+01] [-2.03767216e-01 9.79013741e-01 3.31895593e-03 -1.71421870e+00] [ 1.13723280e-01 2.03024124e-02 9.93305002e-01 1.12860421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.886296757 meters Centerline goodness : 0.809568 with order 2 Centerline is valid? [False, False] Translation: X:11.64, Y:-1.72, Z:1.13 [[ 9.72639193e-01 2.01415243e-01 -1.15779534e-01 1.16410459e+01] [-2.02392955e-01 9.79298588e-01 3.37143371e-03 -1.71749545e+00] [ 1.14061792e-01 2.01537734e-02 9.93269215e-01 1.12785595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.946296757 meters Centerline goodness : 0.806006 with order 2 Centerline is valid? [False, False] Translation: X:11.64, Y:-1.72, Z:1.13 [[ 9.73041633e-01 1.97992578e-01 -1.18274764e-01 1.16443923e+01] [-1.99393053e-01 9.79919594e-01 -7.90828381e-06 -1.72130360e+00] [ 1.15898193e-01 2.35908613e-02 9.92980906e-01 1.12719818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.006296757 meters Centerline goodness : 0.808600 with order 2 Centerline is valid? [False, False] Translation: X:11.64, Y:-1.72, Z:1.13 [[ 9.72956776e-01 1.98429782e-01 -1.18240149e-01 1.16445825e+01] [-1.99668314e-01 9.79862547e-01 1.39776578e-03 -1.72477257e+00] [ 1.16136452e-01 2.22488456e-02 9.92984045e-01 1.12638003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.066296757 meters Centerline goodness : 0.820063 with order 3 Centerline is valid? [False, False] Translation: X:11.65, Y:-1.73, Z:1.13 [[ 9.72272882e-01 2.00928343e-01 -1.19637970e-01 1.16469257e+01] [-2.02157672e-01 9.79351151e-01 1.89724256e-03 -1.72725193e+00] [ 1.17548793e-01 2.23410959e-02 9.92815772e-01 1.12693239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.126296757 meters Centerline goodness : 0.803170 with order 2 Centerline is valid? [False, False] Translation: X:11.65, Y:-1.73, Z:1.13 [[ 9.72067497e-01 2.01415021e-01 -1.20485561e-01 1.16478881e+01] [-2.02727642e-01 9.79234175e-01 1.39038047e-03 -1.72791207e+00] [ 1.18263622e-01 2.30742099e-02 9.92714106e-01 1.12771954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.186296757 meters Centerline goodness : 0.813695 with order 2 Centerline is valid? [False, False] Translation: X:11.65, Y:-1.73, Z:1.13 [[ 9.71354329e-01 2.03742286e-01 -1.22310456e-01 1.16494350e+01] [-2.05238388e-01 9.78711941e-01 3.74548722e-04 -1.72956365e+00] [ 1.19783016e-01 2.47389814e-02 9.92491820e-01 1.13011094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.246296757 meters Centerline goodness : 0.812848 with order 2 Centerline is valid? [False, False] Translation: X:11.65, Y:-1.73, Z:1.13 [[ 9.70498918e-01 2.06525070e-01 -1.24415619e-01 1.16538011e+01] [-2.08122334e-01 9.78102790e-01 1.62742080e-04 -1.73024787e+00] [ 1.21724874e-01 2.57357279e-02 9.92230179e-01 1.13026278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.306296757 meters Centerline goodness : 0.798136 with order 2 Centerline is valid? [False, False] Translation: X:11.66, Y:-1.73, Z:1.13 [[ 9.69878746e-01 2.08854429e-01 -1.25359668e-01 1.16553006e+01] [-2.10491361e-01 9.77595699e-01 1.92203337e-04 -1.73086329e+00] [ 1.22591215e-01 2.62007131e-02 9.92111343e-01 1.13117286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.36629675700001 meters Centerline goodness : 0.798292 with order 2 Centerline is valid? [False, False] Translation: X:11.65, Y:-1.73, Z:1.13 [[ 9.69645199e-01 2.09719463e-01 -1.25721658e-01 1.16541848e+01] [-2.11510246e-01 9.77375350e-01 -9.16791951e-04 -1.73084212e+00] [ 1.22684981e-01 2.74803818e-02 9.92065131e-01 1.13345345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.42629675700002 meters Centerline goodness : 0.798545 with order 2 Centerline is valid? [False, False] Translation: X:11.66, Y:-1.73, Z:1.13 [[ 9.69524980e-01 2.09902598e-01 -1.26341651e-01 1.16551926e+01] [-2.11781704e-01 9.77315881e-01 -1.47622928e-03 -1.73077169e+00] [ 1.23165837e-01 2.81880912e-02 9.91985689e-01 1.13373624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.48629675700002 meters Centerline goodness : 0.802685 with order 3 Centerline is valid? [False, False] Translation: X:11.65, Y:-1.73, Z:1.13 [[ 9.69536277e-01 2.10059003e-01 -1.25994536e-01 1.16537331e+01] [-2.11824164e-01 9.77307593e-01 -6.26635851e-04 -1.73277934e+00] [ 1.23003786e-01 2.72962334e-02 9.92030738e-01 1.13448352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.546296757 meters Centerline goodness : 0.803064 with order 2 Centerline is valid? [False, False] Translation: X:11.65, Y:-1.74, Z:1.13 [[ 9.70134259e-01 2.06842294e-01 -1.26711427e-01 1.16537851e+01] [-2.08875967e-01 9.77938042e-01 -2.83149987e-03 -1.73542502e+00] [ 1.23330251e-01 2.92139068e-02 9.91935581e-01 1.13402045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.606296757 meters Centerline goodness : 0.805864 with order 2 Centerline is valid? [False, False] Translation: X:11.65, Y:-1.74, Z:1.13 [[ 9.70726976e-01 2.04831653e-01 -1.25431784e-01 1.16523898e+01] [-2.06742050e-01 9.78392860e-01 -2.26623821e-03 -1.73599261e+00] [ 1.22257364e-01 2.81319228e-02 9.92099658e-01 1.13211501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.666296757 meters Centerline goodness : 0.801693 with order 2 Centerline is valid? [False, False] Translation: X:11.65, Y:-1.74, Z:1.13 [[ 9.70877064e-01 2.04397074e-01 -1.24978246e-01 1.16507386e+01] [-2.06318313e-01 9.78481765e-01 -2.48769855e-03 -1.73599171e+00] [ 1.21780456e-01 2.82005503e-02 9.92156363e-01 1.13297541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.726296757 meters Centerline goodness : 0.802024 with order 2 Centerline is valid? [False, False] Translation: X:11.65, Y:-1.74, Z:1.13 [[ 9.70803646e-01 2.04042960e-01 -1.26121974e-01 1.16512470e+01] [-2.06212942e-01 9.78497888e-01 -4.25517300e-03 -1.73595660e+00] [ 1.22541847e-01 3.01389207e-02 9.92005616e-01 1.13470845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.786296757 meters Centerline goodness : 0.806569 with order 2 Centerline is valid? [False, False] Translation: X:11.65, Y:-1.73, Z:1.14 [[ 9.70467064e-01 2.05660150e-01 -1.26085609e-01 1.16507957e+01] [-2.07849487e-01 9.78151293e-01 -4.31722242e-03 -1.73434333e+00] [ 1.22442921e-01 3.03965514e-02 9.92009970e-01 1.13600009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.846296757 meters Centerline goodness : 0.805221 with order 2 Centerline is valid? [False, False] Translation: X:11.65, Y:-1.73, Z:1.14 [[ 9.69214741e-01 2.11347636e-01 -1.26312958e-01 1.16527231e+01] [-2.13197664e-01 9.77008404e-01 -1.15507949e-03 -1.73364530e+00] [ 1.23164698e-01 2.80491476e-02 9.91989769e-01 1.13662936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.906296757 meters Centerline goodness : 0.816975 with order 3 Centerline is valid? [False, False] Translation: X:11.66, Y:-1.73, Z:1.14 [[ 9.67703918e-01 2.17498708e-01 -1.27449753e-01 1.16554533e+01] [-2.19033868e-01 9.75715175e-01 2.01537098e-03 -1.73467387e+00] [ 1.24792999e-01 2.59655300e-02 9.91842981e-01 1.13815284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.966296757 meters Centerline goodness : 0.812461 with order 3 Centerline is valid? [False, False] Translation: X:11.66, Y:-1.73, Z:1.14 [[ 9.67206252e-01 2.19472724e-01 -1.27842833e-01 1.16580669e+01] [-2.20860703e-01 9.75299460e-01 3.39304381e-03 -1.73431846e+00] [ 1.25429726e-01 2.49536847e-02 9.91788635e-01 1.13703833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.026296757 meters Centerline goodness : 0.802922 with order 2 Centerline is valid? [False, False] Translation: X:11.66, Y:-1.73, Z:1.14 [[ 9.68306491e-01 2.13728785e-01 -1.29238329e-01 1.16586176e+01] [-2.15745100e-01 9.76448337e-01 -1.64242427e-03 -1.73364209e+00] [ 1.25843519e-01 2.94729064e-02 9.91612201e-01 1.13739432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.086296757 meters Centerline goodness : 0.801973 with order 2 Centerline is valid? [False, False] Translation: X:11.66, Y:-1.73, Z:1.14 [[ 9.69766825e-01 2.06614929e-01 -1.29855982e-01 1.16579371e+01] [-2.09203153e-01 9.77850820e-01 -6.46639249e-03 -1.73345743e+00] [ 1.25643725e-01 3.34371738e-02 9.91511780e-01 1.13701631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.14629675700002 meters Centerline goodness : 0.802326 with order 2 Centerline is valid? [False, False] Translation: X:11.66, Y:-1.74, Z:1.14 [[ 9.70946269e-01 2.01442603e-01 -1.29167412e-01 1.16552262e+01] [-2.04081391e-01 9.78926024e-01 -7.39086771e-03 -1.73677186e+00] [ 1.24956506e-01 3.35368006e-02 9.91595258e-01 1.14152349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.20629675700002 meters Centerline goodness : 0.803181 with order 2 Centerline is valid? [False, False] Translation: X:11.64, Y:-1.74, Z:1.14 [[ 9.74263024e-01 1.92919222e-01 -1.16592172e-01 1.16374086e+01] [-1.93486081e-01 9.81081190e-01 6.54491527e-03 -1.73909867e+00] [ 1.15649027e-01 1.61824935e-02 9.93158310e-01 1.14402233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.26629675700002 meters Centerline goodness : 0.803866 with order 2 Centerline is valid? [False, False] Translation: X:11.64, Y:-1.74, Z:1.14 [[ 9.75523694e-01 1.86755665e-01 -1.16085500e-01 1.16382320e+01] [-1.87527876e-01 9.82249731e-01 4.33142711e-03 -1.73963075e+00] [ 1.14833870e-01 1.75438575e-02 9.93229780e-01 1.13995911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.326296757 meters Centerline goodness : 0.802684 with order 2 Centerline is valid? [False, False] Translation: X:11.63, Y:-1.74, Z:1.14 [[ 9.76167255e-01 1.84304301e-01 -1.14583656e-01 1.16349156e+01] [-1.84961350e-01 9.82733260e-01 4.96365490e-03 -1.74138067e+00] [ 1.13519993e-01 1.63481904e-02 9.93401202e-01 1.13975092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.386296757 meters Centerline goodness : 0.801810 with order 2 Centerline is valid? [False, False] Translation: X:11.63, Y:-1.74, Z:1.14 [[ 9.76319434e-01 1.83724285e-01 -1.14217997e-01 1.16344010e+01] [-1.84364089e-01 9.82845157e-01 5.02793855e-03 -1.74179989e+00] [ 1.13182360e-01 1.61488228e-02 9.93442987e-01 1.13942927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.446296757 meters Centerline goodness : 0.805930 with order 2 Centerline is valid? [False, False] Translation: X:11.63, Y:-1.74, Z:1.14 [[ 9.75853432e-01 1.87208290e-01 -1.12530596e-01 1.16327319e+01] [-1.87368515e-01 9.82246180e-01 9.24565704e-03 -1.74184570e+00] [ 1.12263612e-01 1.20622845e-02 9.93605245e-01 1.13909598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.506296757 meters Centerline goodness : 0.806084 with order 2 Centerline is valid? [False, False] Translation: X:11.64, Y:-1.74, Z:1.14 [[ 9.74912619e-01 1.91131534e-01 -1.14079452e-01 1.16351334e+01] [-1.91440493e-01 9.81468754e-01 8.34397917e-03 -1.74031288e+00] [ 1.13560216e-01 1.37047760e-02 9.93436589e-01 1.14078719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.566296757 meters Centerline goodness : 0.809900 with order 2 Centerline is valid? [False, False] Translation: X:11.64, Y:-1.74, Z:1.14 [[ 9.73396199e-01 1.97810769e-01 -1.15631913e-01 1.16396714e+01] [-1.97909631e-01 9.80161420e-01 1.07409962e-02 -1.73863444e+00] [ 1.15462625e-01 1.24294243e-02 9.93234057e-01 1.14120932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.626296757 meters Centerline goodness : 0.829365 with order 3 Centerline is valid? [False, False] Translation: X:11.64, Y:-1.74, Z:1.14 [[ 9.71834564e-01 2.04708536e-01 -1.16756134e-01 1.16415896e+01] [-2.04545336e-01 9.78763889e-01 1.35076031e-02 -1.74041716e+00] [ 1.17041809e-01 1.07547670e-02 9.93068754e-01 1.14343784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.686296757 meters Centerline goodness : 0.817288 with order 2 Centerline is valid? [False, False] Translation: X:11.64, Y:-1.74, Z:1.15 [[ 0.97116688 0.20675125 -0.11869629 11.64383904] [-0.20680519 0.97830857 0.01199838 -1.73963431] [ 0.11860228 0.01289458 0.99285811 1.14558853] [ 0. 0. 0. 1. ]] SLAMing on 135.746296757 meters Centerline goodness : 0.816928 with order 2 Centerline is valid? [False, False] Translation: X:11.65, Y:-1.74, Z:1.15 [[ 9.70060747e-01 2.11501101e-01 -1.19370981e-01 1.16460492e+01] [-2.11262639e-01 9.77317350e-01 1.47950732e-02 -1.73941199e+00] [ 1.19792505e-01 1.08665086e-02 9.92739480e-01 1.14636058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.806296757 meters Centerline goodness : 0.810486 with order 2 Centerline is valid? [False, False] Translation: X:11.65, Y:-1.74, Z:1.15 [[ 0.96942995 0.21336573 -0.12116364 11.64806089] [-0.21326643 0.97689463 0.01393961 -1.73977702] [ 0.12133835 0.01232666 0.99253466 1.14835333] [ 0. 0. 0. 1. ]] SLAMing on 135.86629675700001 meters Centerline goodness : 0.813202 with order 2 Centerline is valid? [False, False] Translation: X:11.65, Y:-1.74, Z:1.15 [[ 0.96906117 0.21429088 -0.12247394 11.64871804] [-0.21438281 0.97666866 0.01258332 -1.73883924] [ 0.12231295 0.0140623 0.99239196 1.15091472] [ 0. 0. 0. 1. ]] SLAMing on 135.92629675700002 meters Centerline goodness : 0.810933 with order 2 Centerline is valid? [False, False] Translation: X:11.65, Y:-1.74, Z:1.15 [[ 0.96884768 0.21529093 -0.12240914 11.6486153 ] [-0.21537897 0.97644833 0.01267108 -1.73764886] [ 0.12225417 0.01408801 0.99239883 1.15150362] [ 0. 0. 0. 1. ]] SLAMing on 135.98629675700002 meters Centerline goodness : 0.810446 with order 2 Centerline is valid? [False, False] Translation: X:11.65, Y:-1.74, Z:1.15 [[ 9.68735352e-01 2.15125467e-01 -1.23583381e-01 1.16504947e+01] [-2.15398954e-01 9.76460706e-01 1.13039746e-02 -1.73680515e+00] [ 1.23106089e-01 1.56691713e-02 9.92269806e-01 1.15200934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.046296757 meters Centerline goodness : 0.811550 with order 2 Centerline is valid? [False, False] Translation: X:11.65, Y:-1.74, Z:1.15 [[ 9.68677784e-01 2.14979843e-01 -1.24286037e-01 1.16520897e+01] [-2.15332700e-01 9.76481594e-01 1.07482408e-02 -1.73631381e+00] [ 1.23673682e-01 1.63512658e-02 9.92188216e-01 1.15180955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.106296757 meters Centerline goodness : 0.810505 with order 2 Centerline is valid? [False, False] Translation: X:11.65, Y:-1.74, Z:1.15 [[ 9.68622926e-01 2.15275659e-01 -1.24201519e-01 1.16525588e+01] [-2.15616332e-01 9.76417836e-01 1.08538921e-02 -1.73509864e+00] [ 1.23609157e-01 1.62665473e-02 9.92197650e-01 1.15158464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.166296757 meters Centerline goodness : 0.811754 with order 2 Centerline is valid? [False, False] Translation: X:11.65, Y:-1.74, Z:1.15 [[ 9.68625212e-01 2.14668175e-01 -1.25230877e-01 1.16546999e+01] [-2.15138191e-01 9.76533228e-01 9.92031875e-03 -1.73510019e+00] [ 1.24421689e-01 1.73328734e-02 9.92078029e-01 1.15125144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.226296757 meters Centerline goodness : 0.812684 with order 2 Centerline is valid? [False, False] Translation: X:11.65, Y:-1.73, Z:1.15 [[ 9.69031113e-01 2.13257489e-01 -1.24498776e-01 1.16536498e+01] [-2.13724679e-01 9.76845291e-01 9.74877274e-03 -1.73454791e+00] [ 1.23695042e-01 1.71615969e-02 9.92171868e-01 1.15066026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.286296757 meters Centerline goodness : 0.810001 with order 2 Centerline is valid? [False, False] Translation: X:11.65, Y:-1.73, Z:1.15 [[ 9.69320248e-01 2.11717679e-01 -1.24875462e-01 1.16526536e+01] [-2.12352444e-01 9.77157382e-01 8.36008446e-03 -1.73467971e+00] [ 1.23792957e-01 1.84140104e-02 9.92137202e-01 1.15210992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.346296757 meters Centerline goodness : 0.816256 with order 2 Centerline is valid? [False, False] Translation: X:11.65, Y:-1.73, Z:1.15 [[ 9.69426977e-01 2.10948765e-01 -1.25347339e-01 1.16541618e+01] [-2.11697299e-01 9.77306720e-01 7.47182159e-03 -1.73351579e+00] [ 1.24078968e-01 1.92923077e-02 9.92084783e-01 1.15138057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.406296757 meters Centerline goodness : 0.817902 with order 2 Centerline is valid? [False, False] Translation: X:11.65, Y:-1.73, Z:1.15 [[ 9.69218491e-01 2.11848118e-01 -1.25442785e-01 1.16548736e+01] [-2.12572116e-01 9.77114716e-01 7.74128557e-03 -1.73265818e+00] [ 1.24211968e-01 1.91626411e-02 9.92070653e-01 1.15130854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.466296757 meters Centerline goodness : 0.816000 with order 2 Centerline is valid? [False, False] Translation: X:11.66, Y:-1.73, Z:1.15 [[ 9.68699616e-01 2.13075676e-01 -1.27357021e-01 1.16573738e+01] [-2.14052948e-01 9.76802863e-01 6.12389789e-03 -1.73269904e+00] [ 1.25707556e-01 2.13289283e-02 9.91838035e-01 1.15281589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.526296757 meters Centerline goodness : 0.814657 with order 2 Centerline is valid? [False, False] Translation: X:11.66, Y:-1.73, Z:1.15 [[ 9.68380976e-01 2.14387194e-01 -1.27579059e-01 1.16576543e+01] [-2.15440876e-01 9.76500561e-01 5.64645157e-03 -1.73094154e+00] [ 1.25791549e-01 2.20178279e-02 9.91812332e-01 1.15370180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.586296757 meters Centerline goodness : 0.818852 with order 2 Centerline is valid? [False, False] Translation: X:11.66, Y:-1.73, Z:1.15 [[ 9.67733354e-01 2.16944316e-01 -1.28169103e-01 1.16589735e+01] [-2.17999022e-01 9.75931079e-01 5.91231862e-03 -1.73039507e+00] [ 1.26366855e-01 2.22191912e-02 9.91734705e-01 1.15434843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.64629675700002 meters Centerline goodness : 0.819451 with order 2 Centerline is valid? [False, False] Translation: X:11.66, Y:-1.73, Z:1.16 [[ 9.67636268e-01 2.16890217e-01 -1.28991030e-01 1.16593176e+01] [-2.18172409e-01 9.75900865e-01 4.27793437e-03 -1.72976933e+00] [ 1.26810300e-01 2.40027993e-02 9.91636533e-01 1.15565923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.70629675700002 meters Centerline goodness : 0.817270 with order 2 Centerline is valid? [False, False] Translation: X:11.66, Y:-1.73, Z:1.15 [[ 9.67581135e-01 2.17178851e-01 -1.28918941e-01 1.16600717e+01] [-2.18453978e-01 9.75837607e-01 4.33871325e-03 -1.72882386e+00] [ 1.26746227e-01 2.39647983e-02 9.91645644e-01 1.15490893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.76629675700002 meters Centerline goodness : 0.817988 with order 2 Centerline is valid? [False, False] Translation: X:11.66, Y:-1.73, Z:1.16 [[ 9.67664524e-01 2.16447158e-01 -1.29522190e-01 1.16608368e+01] [-2.17889630e-01 9.75968492e-01 3.10016995e-03 -1.72745100e+00] [ 1.27080600e-01 2.52216177e-02 9.91571677e-01 1.15532183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.826296757 meters Centerline goodness : 0.818184 with order 2 Centerline is valid? [False, False] Translation: X:11.66, Y:-1.73, Z:1.16 [[ 9.67833668e-01 2.15698096e-01 -1.29508001e-01 1.16596560e+01] [-2.17283442e-01 9.76106642e-01 1.93125815e-03 -1.72616262e+00] [ 1.26830189e-01 2.62708077e-02 9.91576496e-01 1.15671333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.886296757 meters Centerline goodness : 0.820898 with order 2 Centerline is valid? [False, False] Translation: X:11.66, Y:-1.72, Z:1.16 [[ 9.68103483e-01 2.14450079e-01 -1.29563919e-01 1.16600113e+01] [-2.16228759e-01 9.76342667e-01 3.46910990e-04 -1.72314204e+00] [ 1.26573177e-01 2.76795997e-02 9.91571011e-01 1.15663234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.946296757 meters Centerline goodness : 0.819968 with order 2 Centerline is valid? [False, False] Translation: X:11.66, Y:-1.72, Z:1.15 [[ 9.67972535e-01 2.15051940e-01 -1.29544720e-01 1.16623557e+01] [-2.16751784e-01 9.76226236e-01 1.00021130e-03 -1.72098212e+00] [ 1.26680052e-01 2.71108720e-02 9.91573076e-01 1.15482049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.006296757 meters Centerline goodness : 0.818171 with order 2 Centerline is valid? [False, False] Translation: X:11.66, Y:-1.72, Z:1.16 [[ 9.67825414e-01 2.15325724e-01 -1.30187560e-01 1.16634922e+01] [-2.17073978e-01 9.76154844e-01 7.79921620e-04 -1.72093894e+00] [ 1.27251155e-01 2.75055036e-02 9.91489078e-01 1.15519874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.066296757 meters Centerline goodness : 0.816659 with order 2 Centerline is valid? [False, False] Translation: X:11.67, Y:-1.72, Z:1.15 [[ 9.67848479e-01 2.15757232e-01 -1.29298640e-01 1.16651593e+01] [-2.17200044e-01 9.76122483e-01 3.00662996e-03 -1.72011748e+00] [ 1.26860012e-01 2.51737080e-02 9.91601141e-01 1.15218499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.126296757 meters Centerline goodness : 0.818148 with order 2 Centerline is valid? [False, False] Translation: X:11.66, Y:-1.72, Z:1.15 [[ 9.67866291e-01 2.16092162e-01 -1.28604119e-01 1.16641510e+01] [-2.17458769e-01 9.76063274e-01 3.48831230e-03 -1.71926983e+00] [ 1.26279554e-01 2.45898734e-02 9.91689877e-01 1.15218395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.186296757 meters Centerline goodness : 0.817485 with order 2 Centerline is valid? [False, False] Translation: X:11.66, Y:-1.72, Z:1.15 [[ 9.68511229e-01 2.12590666e-01 -1.29580892e-01 1.16645817e+01] [-2.14502140e-01 9.76723179e-01 -8.14162447e-04 -1.71794935e+00] [ 1.26391578e-01 2.85839041e-02 9.91568520e-01 1.15239463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.246296757 meters Centerline goodness : 0.818446 with order 2 Centerline is valid? [False, False] Translation: X:11.66, Y:-1.72, Z:1.15 [[ 9.68756301e-01 2.11540402e-01 -1.29467710e-01 1.16646495e+01] [-2.13586795e-01 9.76922105e-01 -1.97005482e-03 -1.71608786e+00] [ 1.26063121e-01 2.95610962e-02 9.91581681e-01 1.15211208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.306296757 meters Centerline goodness : 0.819927 with order 2 Centerline is valid? [False, False] Translation: X:11.66, Y:-1.72, Z:1.15 [[ 9.68567512e-01 2.12208151e-01 -1.29787042e-01 1.16643548e+01] [-2.14309591e-01 9.76763119e-01 -2.28228981e-03 -1.71570394e+00] [ 1.26286876e-01 3.00251597e-02 9.91539265e-01 1.15347978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.36629675700001 meters Centerline goodness : 0.820816 with order 2 Centerline is valid? [False, False] Translation: X:11.67, Y:-1.71, Z:1.15 [[ 9.68329525e-01 2.12924141e-01 -1.30388809e-01 1.16655279e+01] [-2.15183212e-01 9.76568042e-01 -3.32348642e-03 -1.71424031e+00] [ 1.26625894e-01 3.12757128e-02 9.91457368e-01 1.15390698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.42629675700002 meters Centerline goodness : 0.825199 with order 2 Centerline is valid? [False, False] Translation: X:11.67, Y:-1.71, Z:1.15 [[ 9.67628370e-01 2.16526000e-01 -1.29660437e-01 1.16655660e+01] [-2.18382071e-01 9.75863341e-01 -9.95056540e-05 -1.71446433e+00] [ 1.26509322e-01 2.84117994e-02 9.91558451e-01 1.15390710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.48629675700002 meters Centerline goodness : 0.819778 with order 2 Centerline is valid? [False, False] Translation: X:11.67, Y:-1.72, Z:1.15 [[ 9.67517044e-01 2.16917756e-01 -1.29836270e-01 1.16665236e+01] [-2.18716775e-01 9.75788298e-01 4.12835227e-04 -1.71527432e+00] [ 1.26782265e-01 2.79979452e-02 9.91535361e-01 1.15324615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.546296757 meters Centerline goodness : 0.820475 with order 2 Centerline is valid? [False, False] Translation: X:11.67, Y:-1.72, Z:1.15 [[ 9.68451736e-01 2.12605375e-01 -1.30000726e-01 1.16662901e+01] [-2.14679984e-01 9.76682408e-01 -1.99439986e-03 -1.71764952e+00] [ 1.26545402e-01 2.98400337e-02 9.91511893e-01 1.15152786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.606296757 meters Centerline goodness : 0.823460 with order 2 Centerline is valid? [False, False] Translation: X:11.66, Y:-1.72, Z:1.15 [[ 9.70165224e-01 2.05525036e-01 -1.28603645e-01 1.16632791e+01] [-2.07647297e-01 9.78198620e-01 -3.17160267e-03 -1.72126586e+00] [ 1.25148064e-01 2.97811779e-02 9.91691002e-01 1.14883888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.666296757 meters Centerline goodness : 0.819293 with order 2 Centerline is valid? [False, False] Translation: X:11.66, Y:-1.72, Z:1.15 [[ 9.71391871e-01 2.00071588e-01 -1.27942146e-01 1.16609376e+01] [-2.02312041e-01 9.79310175e-01 -4.62810210e-03 -1.72403651e+00] [ 1.24369094e-01 3.03799374e-02 9.91770834e-01 1.14761454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.726296757 meters Centerline goodness : 0.817524 with order 2 Centerline is valid? [False, False] Translation: X:11.66, Y:-1.73, Z:1.14 [[ 9.72943489e-01 1.92474575e-01 -1.27806516e-01 1.16601736e+01] [-1.94936966e-01 9.80791314e-01 -6.92657110e-03 -1.72899899e+00] [ 1.24018332e-01 3.16533767e-02 9.91774933e-01 1.14464644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.786296757 meters Centerline goodness : 0.830941 with order 3 Centerline is valid? [False, False] Translation: X:11.66, Y:-1.74, Z:1.14 [[ 9.74431120e-01 1.92448193e-01 -1.15964154e-01 1.16612138e+01] [-1.94462638e-01 9.80890282e-01 -6.20781133e-03 -1.73759975e+00] [ 1.12553429e-01 2.85997797e-02 9.93234000e-01 1.14090685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.846296757 meters Centerline goodness : 0.826930 with order 2 Centerline is valid? [False, False] Translation: X:11.67, Y:-1.75, Z:1.15 [[ 9.74600266e-01 1.94261534e-01 -1.11430596e-01 1.16716742e+01] [-1.94196845e-01 9.80894711e-01 1.15391512e-02 -1.75072286e+00] [ 1.11543296e-01 1.03934103e-02 9.93705223e-01 1.15052246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.906296757 meters Centerline goodness : 0.818696 with order 2 Centerline is valid? [False, False] Translation: X:11.67, Y:-1.75, Z:1.15 [[ 9.74010051e-01 1.96787567e-01 -1.12156468e-01 1.16744342e+01] [-1.96541970e-01 9.80404492e-01 1.33524193e-02 -1.75392522e+00] [ 1.12586295e-01 9.03806244e-03 9.93600845e-01 1.14912993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.966296757 meters Centerline goodness : 0.817364 with order 2 Centerline is valid? [False, False] Translation: X:11.68, Y:-1.75, Z:1.15 [[ 9.73689862e-01 1.97671027e-01 -1.13376441e-01 1.16773356e+01] [-1.97446130e-01 9.80223210e-01 1.33222899e-02 -1.75499243e+00] [ 1.13767650e-01 9.41396087e-03 9.93462782e-01 1.14855107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.026296757 meters Centerline goodness : 0.815415 with order 2 Centerline is valid? [False, False] Translation: X:11.68, Y:-1.76, Z:1.15 [[ 9.72731804e-01 2.02890645e-01 -1.12375371e-01 1.16769718e+01] [-2.02068117e-01 9.79191349e-01 1.87824142e-02 -1.75900478e+00] [ 1.13847768e-01 4.43722803e-03 9.93488297e-01 1.14869743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.086296757 meters Centerline goodness : 0.817295 with order 2 Centerline is valid? [False, False] Translation: X:11.68, Y:-1.76, Z:1.15 [[ 9.71751412e-01 2.08184756e-01 -1.11167897e-01 1.16762869e+01] [-2.06758586e-01 9.78089294e-01 2.43355622e-02 -1.76363072e+00] [ 1.13798423e-01 -6.63199652e-04 9.93503638e-01 1.14885001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.14629675700002 meters Centerline goodness : 0.814564 with order 2 Centerline is valid? [False, False] Translation: X:11.67, Y:-1.77, Z:1.15 [[ 9.71502224e-01 2.09924140e-01 -1.10069448e-01 1.16736685e+01] [-2.08323823e-01 9.77714963e-01 2.59737453e-02 -1.76659347e+00] [ 1.13069062e-01 -2.30346318e-03 9.93584461e-01 1.14934877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.20629675700002 meters Centerline goodness : 0.812386 with order 2 Centerline is valid? [False, False] Translation: X:11.67, Y:-1.77, Z:1.15 [[ 9.71419130e-01 2.10505329e-01 -1.09692208e-01 1.16727151e+01] [-2.08733625e-01 9.77585169e-01 2.75229348e-02 -1.77223706e+00] [ 1.13027200e-01 -3.83985305e-03 9.93584474e-01 1.14952073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.26629675700002 meters Centerline goodness : 0.814277 with order 1 Centerline is valid? [False, False] Translation: X:11.67, Y:-1.78, Z:1.15 [[ 9.71415451e-01 2.10646688e-01 -1.09453158e-01 1.16728526e+01] [-2.08698281e-01 9.77547240e-01 2.90933072e-02 -1.77805161e+00] [ 1.13124041e-01 -5.41900224e-03 9.93566095e-01 1.14914266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.326296757 meters Centerline goodness : 0.814758 with order 1 Centerline is valid? [False, False] Translation: X:11.67, Y:-1.78, Z:1.15 [[ 9.72051749e-01 2.07762352e-01 -1.09316977e-01 1.16702346e+01] [-2.06128373e-01 9.78175026e-01 2.61670112e-02 -1.77883200e+00] [ 1.12367657e-01 -2.90235828e-03 9.93662461e-01 1.14963567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.386296757 meters Centerline goodness : 0.816344 with order 1 Centerline is valid? [False, False] Translation: X:11.67, Y:-1.78, Z:1.15 [[ 9.72757202e-01 2.04329376e-01 -1.09512247e-01 1.16685826e+01] [-2.03001532e-01 9.78902114e-01 2.32600100e-02 -1.78141911e+00] [ 1.11954473e-01 -3.95188294e-04 9.93713258e-01 1.14981579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.446296757 meters Centerline goodness : 0.812795 with order 1 Centerline is valid? [False, False] Translation: X:11.67, Y:-1.79, Z:1.15 [[ 9.72930718e-01 2.03223080e-01 -1.10028169e-01 1.16707817e+01] [-2.01890226e-01 9.79132382e-01 2.32403787e-02 -1.78521120e+00] [ 1.12455125e-01 -3.97666471e-04 9.93656725e-01 1.14842286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.506296757 meters Centerline goodness : 0.813306 with order 1 Centerline is valid? [False, False] Translation: X:11.67, Y:-1.79, Z:1.15 [[ 9.72920600e-01 2.03202057e-01 -1.10156393e-01 1.16716483e+01] [-2.01839478e-01 9.79136623e-01 2.35010395e-02 -1.78731455e+00] [ 1.12633619e-01 -6.30736453e-04 9.93636387e-01 1.14749599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.566296757 meters Centerline goodness : 0.811364 with order 1 Centerline is valid? [False, False] Translation: X:11.67, Y:-1.79, Z:1.15 [[ 9.72831699e-01 2.03763555e-01 -1.09904045e-01 1.16713937e+01] [-2.02390273e-01 9.79019847e-01 2.36287192e-02 -1.78786701e+00] [ 1.12412913e-01 -7.43257499e-04 9.93661303e-01 1.14677503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.626296757 meters Centerline goodness : 0.811532 with order 1 Centerline is valid? [False, False] Translation: X:11.67, Y:-1.79, Z:1.15 [[ 9.72719818e-01 2.04481434e-01 -1.09560484e-01 1.16704944e+01] [-2.03064333e-01 9.78869761e-01 2.40596895e-02 -1.78816082e+00] [ 1.12165204e-01 -1.15551023e-03 9.93688901e-01 1.14689407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.686296757 meters Centerline goodness : 0.809814 with order 1 Centerline is valid? [False, False] Translation: X:11.67, Y:-1.79, Z:1.15 [[ 9.72473030e-01 2.05921353e-01 -1.09053207e-01 1.16689707e+01] [-2.04437984e-01 9.78566963e-01 2.47347742e-02 -1.78859115e+00] [ 1.11809284e-01 -1.75928301e-03 9.93728126e-01 1.14697933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.746296757 meters Centerline goodness : 0.804582 with order 1 Centerline is valid? [False, False] Translation: X:11.67, Y:-1.79, Z:1.15 [[ 9.72279717e-01 2.06904675e-01 -1.08915595e-01 1.16684070e+01] [-2.05378091e-01 9.78358833e-01 2.51760439e-02 -1.78962426e+00] [ 1.11767575e-01 -2.10927997e-03 9.93732137e-01 1.14679630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.806296757 meters Centerline goodness : 0.805851 with order 1 Centerline is valid? [False, False] Translation: X:11.67, Y:-1.79, Z:1.15 [[ 9.72188015e-01 2.07497843e-01 -1.08605288e-01 1.16675870e+01] [-2.05913884e-01 9.78231893e-01 2.57261645e-02 -1.79172024e+00] [ 1.11579280e-01 -2.64733213e-03 9.93752009e-01 1.14674045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.86629675700001 meters Centerline goodness : 0.803494 with order 3 Centerline is valid? [False, False] Translation: X:11.67, Y:-1.79, Z:1.15 [[ 9.72046209e-01 2.08540794e-01 -1.07874488e-01 1.16656168e+01] [-2.06910049e-01 9.78008540e-01 2.62207392e-02 -1.79137204e+00] [ 1.10970264e-01 -3.16745455e-03 9.93818679e-01 1.14718478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.92629675700002 meters Centerline goodness : 0.806812 with order 1 Centerline is valid? [False, False] Translation: X:11.66, Y:-1.79, Z:1.15 [[ 9.71939679e-01 2.09289038e-01 -1.07384163e-01 1.16643519e+01] [-2.07653178e-01 9.77848306e-01 2.63220137e-02 -1.79031033e+00] [ 1.10514330e-01 -3.28474691e-03 9.93869103e-01 1.14736381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.98629675700002 meters Centerline goodness : 0.805808 with order 1 Centerline is valid? [False, False] Translation: X:11.66, Y:-1.79, Z:1.15 [[ 9.71758405e-01 2.10264635e-01 -1.07118561e-01 1.16634316e+01] [-2.08634504e-01 9.77639141e-01 2.63316178e-02 -1.78865160e+00] [ 1.10259906e-01 -3.23934310e-03 9.93897510e-01 1.14743804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.046296757 meters Centerline goodness : 0.805245 with order 1 Centerline is valid? [False, False] Translation: X:11.66, Y:-1.79, Z:1.15 [[ 9.71749026e-01 2.10082192e-01 -1.07560699e-01 1.16648407e+01] [-2.08510188e-01 9.77680189e-01 2.57865999e-02 -1.78723099e+00] [ 1.10577270e-01 -2.63060163e-03 9.93864049e-01 1.14673880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.106296757 meters Centerline goodness : 0.805181 with order 1 Centerline is valid? [False, False] Translation: X:11.67, Y:-1.79, Z:1.15 [[ 9.71818857e-01 2.09520795e-01 -1.08023822e-01 1.16657300e+01] [-2.07966048e-01 9.77801236e-01 2.55903305e-02 -1.78705407e+00] [ 1.10987533e-01 -2.40387844e-03 9.93818891e-01 1.14714903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.166296757 meters Centerline goodness : 0.807472 with order 3 Centerline is valid? [False, False] Translation: X:11.67, Y:-1.79, Z:1.15 [[ 9.71980532e-01 2.08600195e-01 -1.08350377e-01 1.16667175e+01] [-2.07079183e-01 9.77998775e-01 2.52311079e-02 -1.78704913e+00] [ 1.11229750e-01 -2.08703814e-03 9.93792527e-01 1.14725516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.226296757 meters Centerline goodness : 0.802080 with order 3 Centerline is valid? [False, False] Translation: X:11.67, Y:-1.79, Z:1.15 [[ 9.72088792e-01 2.07863570e-01 -1.08793917e-01 1.16679265e+01] [-2.06367014e-01 9.78156142e-01 2.49643235e-02 -1.78688929e+00] [ 1.11606611e-01 -1.81606345e-03 9.93750807e-01 1.14733506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.286296757 meters Centerline goodness : 0.800576 with order 3 Centerline is valid? [False, False] Translation: X:11.67, Y:-1.79, Z:1.15 [[ 9.72127841e-01 2.07377106e-01 -1.09371828e-01 1.16696314e+01] [-2.05939598e-01 9.78260341e-01 2.44046603e-02 -1.78527214e+00] [ 1.12055089e-01 -1.20045952e-03 9.93701271e-01 1.14696312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.346296757 meters Centerline goodness : 0.798702 with order 3 Centerline is valid? [False, False] Translation: X:11.67, Y:-1.78, Z:1.15 [[ 9.72139953e-01 2.07252677e-01 -1.09499953e-01 1.16701829e+01] [-2.05856647e-01 9.78287105e-01 2.40287770e-02 -1.78399774e+00] [ 1.12102420e-01 -8.18040991e-04 9.93696321e-01 1.14671022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.406296757 meters Centerline goodness : 0.802685 with order 2 Centerline is valid? [False, False] Translation: X:11.67, Y:-1.78, Z:1.15 [[ 9.72148128e-01 2.07332946e-01 -1.09275185e-01 1.16692831e+01] [-2.05943662e-01 9.78270109e-01 2.39750475e-02 -1.78341499e+00] [ 1.11871464e-01 -8.02765770e-04 9.93722361e-01 1.14752190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.466296757 meters Centerline goodness : 0.803514 with order 3 Centerline is valid? [False, False] Translation: X:11.67, Y:-1.78, Z:1.15 [[ 9.72142960e-01 2.07242443e-01 -1.09492625e-01 1.16703923e+01] [-2.05890190e-01 9.78289516e-01 2.36400485e-02 -1.78201967e+00] [ 1.12014708e-01 -4.38049443e-04 9.93706452e-01 1.14691496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.526296757 meters Centerline goodness : 0.797905 with order 2 Centerline is valid? [False, False] Translation: X:11.67, Y:-1.78, Z:1.15 [[ 9.72018801e-01 2.07775616e-01 -1.09584411e-01 1.16708448e+01] [-2.06432437e-01 9.78176466e-01 2.35892007e-02 -1.78034705e+00] [ 1.12094153e-01 -3.07369580e-04 9.93697543e-01 1.14668640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.586296757 meters Centerline goodness : 0.797699 with order 2 Centerline is valid? [False, False] Translation: X:11.67, Y:-1.78, Z:1.15 [[ 9.71930871e-01 2.08145324e-01 -1.09662697e-01 1.16708449e+01] [-2.06808212e-01 9.78097888e-01 2.35560125e-02 -1.77969823e+00] [ 1.12163926e-01 -2.15669406e-04 9.93689694e-01 1.14683734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.64629675700002 meters Centerline goodness : 0.797509 with order 2 Centerline is valid? [False, False] Translation: X:11.67, Y:-1.78, Z:1.15 [[ 9.72030339e-01 2.07498012e-01 -1.10007251e-01 1.16726764e+01] [-2.06226408e-01 9.78235363e-01 2.29400098e-02 -1.77894019e+00] [ 1.12372990e-01 3.88014838e-04 9.93666021e-01 1.14568088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.70629675700002 meters Centerline goodness : 0.798398 with order 2 Centerline is valid? [False, False] Translation: X:11.67, Y:-1.78, Z:1.14 [[ 9.72968714e-01 2.02627998e-01 -1.10787079e-01 1.16734895e+01] [-2.01782448e-01 9.79247796e-01 1.89102522e-02 -1.78009798e+00] [ 1.12319749e-01 3.95580423e-03 9.93664242e-01 1.14475934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.766296757 meters Centerline goodness : 0.801500 with order 2 Centerline is valid? [False, False] Translation: X:11.67, Y:-1.78, Z:1.14 [[ 9.73967525e-01 1.97189366e-01 -1.11819561e-01 1.16747826e+01] [-1.96693420e-01 9.80341563e-01 1.55601354e-02 -1.78294673e+00] [ 1.12689656e-01 6.83910535e-03 9.93606697e-01 1.14494617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.826296757 meters Centerline goodness : 0.804253 with order 2 Centerline is valid? [False, False] Translation: X:11.68, Y:-1.78, Z:1.15 [[ 9.74032062e-01 1.96789120e-01 -1.11962421e-01 1.16752754e+01] [-1.96250864e-01 9.80424504e-01 1.59182107e-02 -1.78462295e+00] [ 1.12903232e-01 6.46787439e-03 9.93584937e-01 1.14514032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.886296757 meters Centerline goodness : 0.804162 with order 2 Centerline is valid? [False, False] Translation: X:11.67, Y:-1.79, Z:1.15 [[ 9.74892143e-01 1.92317501e-01 -1.12246551e-01 1.16743043e+01] [-1.92107082e-01 9.81290617e-01 1.27903672e-02 -1.78680428e+00] [ 1.12606299e-01 9.09412880e-03 9.93598067e-01 1.14582855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.946296757 meters Centerline goodness : 0.807965 with order 2 Centerline is valid? [False, False] Translation: X:11.67, Y:-1.79, Z:1.15 [[ 9.75657429e-01 1.88382736e-01 -1.12269882e-01 1.16728112e+01] [-1.88513348e-01 9.82024212e-01 9.54805401e-03 -1.78806092e+00] [ 1.12050431e-01 1.18487415e-02 9.93631878e-01 1.14619403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.006296757 meters Centerline goodness : 0.805897 with order 2 Centerline is valid? [False, False] Translation: X:11.67, Y:-1.79, Z:1.14 [[ 9.75706865e-01 1.88067672e-01 -1.12368431e-01 1.16743837e+01] [-1.88227465e-01 9.82081601e-01 9.28170739e-03 -1.78782312e+00] [ 1.12100558e-01 1.20945993e-02 9.93623261e-01 1.14480532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.066296757 meters Centerline goodness : 0.803157 with order 2 Centerline is valid? [False, False] Translation: X:11.68, Y:-1.79, Z:1.14 [[ 9.75043209e-01 1.91690768e-01 -1.12006206e-01 1.16767522e+01] [-1.91483672e-01 9.81413562e-01 1.27052387e-02 -1.78771716e+00] [ 1.12359887e-01 9.05920279e-03 9.93626281e-01 1.14329294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.126296757 meters Centerline goodness : 0.801205 with order 2 Centerline is valid? [False, False] Translation: X:11.68, Y:-1.79, Z:1.14 [[ 9.74308921e-01 1.95527581e-01 -1.11763554e-01 1.16788056e+01] [-1.94977209e-01 9.80678223e-01 1.59408545e-02 -1.78834218e+00] [ 1.12720960e-01 6.26002895e-03 9.93606963e-01 1.14176318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.186296757 meters Centerline goodness : 0.801104 with order 2 Centerline is valid? [False, False] Translation: X:11.68, Y:-1.79, Z:1.14 [[ 9.73519341e-01 1.99692144e-01 -1.11279561e-01 1.16799835e+01] [-1.98745833e-01 9.79854125e-01 1.96465453e-02 -1.78850304e+00] [ 1.12960998e-01 2.99005731e-03 9.93594924e-01 1.14114532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.246296757 meters Centerline goodness : 0.796213 with order 1 Centerline is valid? [False, False] Translation: X:11.68, Y:-1.79, Z:1.14 [[ 9.72570970e-01 2.05020543e-01 -1.09873949e-01 1.16781784e+01] [-2.03600545e-01 9.78757074e-01 2.41124291e-02 -1.78815963e+00] [ 1.12483448e-01 -1.08065274e-03 9.93653011e-01 1.14194404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.306296757 meters Centerline goodness : 0.795259 with order 1 Centerline is valid? [False, False] Translation: X:11.68, Y:-1.79, Z:1.14 [[ 9.72401812e-01 2.06155095e-01 -1.09246481e-01 1.16759198e+01] [-2.04602850e-01 9.78516617e-01 2.53555416e-02 -1.79082278e+00] [ 1.12126671e-01 -2.30363317e-03 9.93691251e-01 1.14308872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.36629675700001 meters Centerline goodness : 0.801188 with order 3 Centerline is valid? [False, False] Translation: X:11.68, Y:-1.79, Z:1.14 [[ 9.72331083e-01 2.06644993e-01 -1.08950047e-01 1.16752325e+01] [-2.05003211e-01 9.78411000e-01 2.61839213e-02 -1.79251006e+00] [ 1.12008701e-01 -3.12433088e-03 9.93702314e-01 1.14350333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.42629675700002 meters Centerline goodness : 0.797678 with order 2 Centerline is valid? [False, False] Translation: X:11.67, Y:-1.79, Z:1.14 [[ 9.73020660e-01 2.03320833e-01 -1.09047851e-01 1.16731630e+01] [-2.02015703e-01 9.79112105e-01 2.30030757e-02 -1.79285073e+00] [ 1.11447075e-01 -3.53089602e-04 9.93770308e-01 1.14413375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.48629675700002 meters Centerline goodness : 0.797471 with order 2 Centerline is valid? [False, False] Translation: X:11.67, Y:-1.80, Z:1.14 [[ 9.73974617e-01 1.98405059e-01 -1.09585025e-01 1.16728556e+01] [-1.97434719e-01 9.80117162e-01 1.97453771e-02 -1.79593925e+00] [ 1.11323746e-01 2.40439244e-03 9.93781285e-01 1.14458677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.546296757 meters Centerline goodness : 0.798155 with order 1 Centerline is valid? [False, False] Translation: X:11.68, Y:-1.80, Z:1.14 [[ 9.74992752e-01 1.92700318e-01 -1.10705564e-01 1.16752421e+01] [-1.92171422e-01 9.81238489e-01 1.55297039e-02 -1.79798702e+00] [ 1.11621139e-01 6.13309694e-03 9.93731909e-01 1.14290533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.606296757 meters Centerline goodness : 0.796473 with order 1 Centerline is valid? [False, False] Translation: X:11.68, Y:-1.80, Z:1.14 [[ 9.75839631e-01 1.87896344e-01 -1.11498784e-01 1.16765247e+01] [-1.87777813e-01 9.82142337e-01 1.16586282e-02 -1.79889445e+00] [ 1.11698290e-01 9.56004639e-03 9.93696180e-01 1.14175448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.666296757 meters Centerline goodness : 0.793185 with order 2 Centerline is valid? [False, False] Translation: X:11.68, Y:-1.80, Z:1.14 [[ 9.75950641e-01 1.87361741e-01 -1.11426763e-01 1.16765951e+01] [-1.87140479e-01 9.82253176e-01 1.25355385e-02 -1.80242247e+00] [ 1.11797972e-01 8.61839096e-03 9.93693583e-01 1.14261892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.726296757 meters Centerline goodness : 0.793357 with order 2 Centerline is valid? [False, False] Translation: X:11.68, Y:-1.80, Z:1.14 [[ 9.75874207e-01 1.87742421e-01 -1.11455445e-01 1.16767450e+01] [-1.87454876e-01 9.82185212e-01 1.31483119e-02 -1.80335481e+00] [ 1.11938385e-01 8.06176812e-03 9.93682447e-01 1.14282287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.786296757 meters Centerline goodness : 0.793718 with order 1 Centerline is valid? [False, False] Translation: X:11.68, Y:-1.80, Z:1.14 [[ 9.74997646e-01 1.92545955e-01 -1.10930816e-01 1.16775047e+01] [-1.91828413e-01 9.81277626e-01 1.72069959e-02 -1.80246249e+00] [ 1.12167065e-01 4.50290190e-03 9.93679160e-01 1.14257715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.846296757 meters Centerline goodness : 0.791840 with order 2 Centerline is valid? [False, False] Translation: X:11.68, Y:-1.80, Z:1.14 [[ 9.74175768e-01 1.96744509e-01 -1.10784342e-01 1.16795590e+01] [-1.95675858e-01 9.80453382e-01 2.05456819e-02 -1.80160380e+00] [ 1.12661133e-01 1.66271577e-03 9.93632077e-01 1.14147598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.906296757 meters Centerline goodness : 0.789954 with order 2 Centerline is valid? [False, False] Translation: X:11.68, Y:-1.80, Z:1.14 [[ 9.73379685e-01 2.00820316e-01 -1.10468047e-01 1.16811250e+01] [-1.99379678e-01 9.79627113e-01 2.40512875e-02 -1.80089264e+00] [ 1.13047481e-01 -1.38595110e-03 9.93588620e-01 1.14082669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.966296757 meters Centerline goodness : 0.789672 with order 2 Centerline is valid? [False, False] Translation: X:11.68, Y:-1.80, Z:1.14 [[ 9.72395393e-01 2.06060932e-01 -1.09481013e-01 1.16806297e+01] [-2.04292072e-01 9.78530407e-01 2.72578664e-02 -1.79708402e+00] [ 1.12747282e-01 -4.13932074e-03 9.93615075e-01 1.14042138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.026296757 meters Centerline goodness : 0.791124 with order 2 Centerline is valid? [False, False] Translation: X:11.68, Y:-1.80, Z:1.14 [[ 9.72146754e-01 2.07310952e-01 -1.09329124e-01 1.16792911e+01] [-2.05532445e-01 9.78266153e-01 2.74180257e-02 -1.79534668e+00] [ 1.12637038e-01 -4.18366266e-03 9.93627392e-01 1.14127418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.086296757 meters Centerline goodness : 0.786918 with order 1 Centerline is valid? [False, False] Translation: X:11.68, Y:-1.80, Z:1.14 [[ 9.72150285e-01 2.07159225e-01 -1.09585032e-01 1.16797625e+01] [-2.05331448e-01 9.78296626e-01 2.78335887e-02 -1.79616640e+00] [ 1.12972652e-01 -4.55717776e-03 9.93587647e-01 1.14186019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.14629675700002 meters Centerline goodness : 0.787687 with order 2 Centerline is valid? [False, False] Translation: X:11.68, Y:-1.80, Z:1.14 [[ 9.73122598e-01 2.01971704e-01 -1.10633811e-01 1.16806802e+01] [-2.00440766e-01 9.79389188e-01 2.49061727e-02 -1.79861426e+00] [ 1.13383900e-01 -2.06123381e-03 9.93549114e-01 1.14298256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.20629675700002 meters Centerline goodness : 0.787222 with order 1 Centerline is valid? [False, False] Translation: X:11.68, Y:-1.80, Z:1.14 [[ 9.73965603e-01 1.97274785e-01 -1.11685555e-01 1.16812001e+01] [-1.96119502e-01 9.80347603e-01 2.13475536e-02 -1.80025038e+00] [ 1.13702000e-01 1.11193257e-03 9.93514277e-01 1.14330817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.266296757 meters Centerline goodness : 0.792923 with order 1 Centerline is valid? [False, False] Translation: X:11.68, Y:-1.80, Z:1.14 [[ 9.74904151e-01 1.92067439e-01 -1.12569958e-01 1.16813177e+01] [-1.91252315e-01 9.81374039e-01 1.80982780e-02 -1.80415376e+00] [ 1.13949324e-01 3.88517874e-03 9.93478967e-01 1.14420739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.326296757 meters Centerline goodness : 0.790665 with order 1 Centerline is valid? [False, False] Translation: X:11.68, Y:-1.81, Z:1.15 [[ 9.75035528e-01 1.91326703e-01 -1.12693443e-01 1.16820117e+01] [-1.90407478e-01 9.81521930e-01 1.89656035e-02 -1.80724227e+00] [ 1.14239712e-01 2.96553698e-03 9.93448788e-01 1.14508841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.386296757 meters Centerline goodness : 0.789819 with order 1 Centerline is valid? [False, False] Translation: X:11.68, Y:-1.81, Z:1.15 [[ 9.74990789e-01 1.91573863e-01 -1.12660624e-01 1.16822914e+01] [-1.90601579e-01 9.81474966e-01 1.94404007e-02 -1.80781832e+00] [ 1.14297855e-01 2.51908112e-03 9.93443332e-01 1.14503753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.446296757 meters Centerline goodness : 0.788100 with order 1 Centerline is valid? [False, False] Translation: X:11.68, Y:-1.81, Z:1.15 [[ 9.74791281e-01 1.92640199e-01 -1.12568701e-01 1.16816657e+01] [-1.91642056e-01 9.81266658e-01 1.97248273e-02 -1.80671158e+00] [ 1.14259707e-01 2.34530759e-03 9.93448146e-01 1.14531543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.506296757 meters Centerline goodness : 0.788737 with order 1 Centerline is valid? [False, False] Translation: X:11.68, Y:-1.81, Z:1.14 [[ 9.73948383e-01 1.97025123e-01 -1.12274881e-01 1.16831838e+01] [-1.95664573e-01 9.80398285e-01 2.31209162e-02 -1.80526137e+00] [ 1.14629502e-01 -5.50362309e-04 9.93408161e-01 1.14454551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.566296757 meters Centerline goodness : 0.788702 with order 1 Centerline is valid? [False, False] Translation: X:11.68, Y:-1.80, Z:1.15 [[ 9.72958364e-01 2.02214396e-01 -1.11630459e-01 1.16827796e+01] [-2.00441033e-01 9.79333515e-01 2.70047790e-02 -1.80337937e+00] [ 1.14784205e-01 -3.89920101e-03 9.93382798e-01 1.14523169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.626296757 meters Centerline goodness : 0.790651 with order 1 Centerline is valid? [False, False] Translation: X:11.68, Y:-1.80, Z:1.15 [[ 9.71911269e-01 2.07608193e-01 -1.10848196e-01 1.16820052e+01] [-2.05394405e-01 9.78183200e-01 3.11571168e-02 -1.80176346e+00] [ 1.14898316e-01 -7.51435368e-03 9.93348837e-01 1.14619463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.686296757 meters Centerline goodness : 0.790230 with order 1 Centerline is valid? [False, False] Translation: X:11.68, Y:-1.80, Z:1.15 [[ 9.70965787e-01 2.12302107e-01 -1.10241809e-01 1.16819494e+01] [-2.09619309e-01 9.77137872e-01 3.55151324e-02 -1.80216336e+00] [ 1.15261384e-01 -1.13751667e-02 9.93270063e-01 1.14713557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.746296757 meters Centerline goodness : 0.801281 with order 2 Centerline is valid? [False, False] Translation: X:11.68, Y:-1.80, Z:1.15 [[ 9.70897539e-01 2.12633132e-01 -1.10204897e-01 1.16816339e+01] [-2.09945661e-01 9.77065547e-01 3.55771991e-02 -1.80162628e+00] [ 1.15242300e-01 -1.14047751e-02 9.93271938e-01 1.14740177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.806296757 meters Centerline goodness : 0.799318 with order 2 Centerline is valid? [False, False] Translation: X:11.68, Y:-1.80, Z:1.15 [[ 0.97077016 0.21347597 -0.10969641 11.67950872] [-0.21071961 0.97687344 0.03627013 -1.80107905] [ 0.11490231 -0.01209477 0.99330316 1.14918588] [ 0. 0. 0. 1. ]] SLAMing on 141.86629675700001 meters Centerline goodness : 0.792515 with order 2 Centerline is valid? [False, False] Translation: X:11.68, Y:-1.80, Z:1.15 [[ 9.71537673e-01 2.09885300e-01 -1.09830371e-01 1.16767428e+01] [-2.07492309e-01 9.77682865e-01 3.29113555e-02 -1.80019478e+00] [ 1.14286881e-01 -9.18566450e-03 9.93405321e-01 1.15104786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.92629675700002 meters Centerline goodness : 0.790616 with order 1 Centerline is valid? [False, False] Translation: X:11.68, Y:-1.80, Z:1.15 [[ 9.72531071e-01 2.04667055e-01 -1.10881527e-01 1.16781885e+01] [-2.02738471e-01 9.78817538e-01 2.85191001e-02 -1.79893863e+00] [ 1.14369704e-01 -5.25575975e-03 9.93424354e-01 1.15059763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.98629675700002 meters Centerline goodness : 0.794026 with order 1 Centerline is valid? [False, False] Translation: X:11.68, Y:-1.80, Z:1.15 [[ 9.73478852e-01 1.99498347e-01 -1.11979171e-01 1.16801953e+01] [-1.98078633e-01 9.79897686e-01 2.37777146e-02 -1.79710821e+00] [ 1.14471746e-01 -9.66421123e-04 9.93426034e-01 1.14929364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.046296757 meters Centerline goodness : 0.792475 with order 1 Centerline is valid? [False, False] Translation: X:11.68, Y:-1.79, Z:1.15 [[ 9.74378902e-01 1.94458045e-01 -1.13012492e-01 1.16815008e+01] [-1.93528572e-01 9.80905876e-01 1.92446111e-02 -1.79494452e+00] [ 1.14596887e-01 3.11960314e-03 9.93407178e-01 1.14884110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.106296757 meters Centerline goodness : 0.794068 with order 1 Centerline is valid? [False, False] Translation: X:11.68, Y:-1.79, Z:1.15 [[ 9.74496829e-01 1.93466526e-01 -1.13695354e-01 1.16831461e+01] [-1.92546797e-01 9.81101468e-01 1.91217151e-02 -1.79481841e+00] [ 1.15246090e-01 3.25762548e-03 9.93331630e-01 1.14952071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.166296757 meters Centerline goodness : 0.795165 with order 1 Centerline is valid? [False, False] Translation: X:11.68, Y:-1.79, Z:1.15 [[ 9.73805101e-01 1.97078953e-01 -1.13417422e-01 1.16842425e+01] [-1.95751751e-01 9.80387620e-01 2.28334544e-02 -1.79440680e+00] [ 1.15693029e-01 -3.36754934e-05 9.93285015e-01 1.15026452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.226296757 meters Centerline goodness : 0.798072 with order 2 Centerline is valid? [False, False] Translation: X:11.68, Y:-1.79, Z:1.15 [[ 9.73004755e-01 2.01354000e-01 -1.12775497e-01 1.16843331e+01] [-1.99630883e-01 9.79513118e-01 2.64870159e-02 -1.79261134e+00] [ 1.15798345e-01 -3.25852034e-03 9.93267399e-01 1.15102728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.286296757 meters Centerline goodness : 0.799748 with order 2 Centerline is valid? [False, False] Translation: X:11.68, Y:-1.79, Z:1.15 [[ 9.72099970e-01 2.06290818e-01 -1.11650112e-01 1.16838487e+01] [-2.04199236e-01 9.78470151e-01 2.99805921e-02 -1.78960255e+00] [ 1.15431022e-01 -6.34526518e-03 9.93295231e-01 1.15082773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.346296757 meters Centerline goodness : 0.794655 with order 1 Centerline is valid? [False, False] Translation: X:11.68, Y:-1.79, Z:1.15 [[ 9.71163300e-01 2.11265844e-01 -1.10492476e-01 1.16840302e+01] [-2.08860655e-01 9.77387110e-01 3.30403427e-02 -1.78540207e+00] [ 1.14974218e-01 -9.01003727e-03 9.93327614e-01 1.14957022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.406296757 meters Centerline goodness : 0.793828 with order 1 Centerline is valid? [False, False] Translation: X:11.68, Y:-1.78, Z:1.15 [[ 0.97028188 0.21583911 -0.10939176 11.68371202] [-0.21309915 0.97635644 0.03628849 -1.7821432 ] [ 0.11463782 -0.01189877 0.99333609 1.14947561] [ 0. 0. 0. 1. ]] SLAMing on 142.466296757 meters Centerline goodness : 0.799619 with order 2 Centerline is valid? [False, False] Translation: X:11.68, Y:-1.78, Z:1.15 [[ 0.97019696 0.21652029 -0.10879719 11.68181098] [-0.21380721 0.97620663 0.03615383 -1.77987112] [ 0.11403657 -0.01181471 0.9934063 1.15021504] [ 0. 0. 0. 1. ]] SLAMing on 142.526296757 meters Centerline goodness : 0.794842 with order 1 Centerline is valid? [False, False] Translation: X:11.68, Y:-1.78, Z:1.15 [[ 0.97022943 0.2165578 -0.10843234 11.68092287] [-0.21385588 0.97619808 0.0360966 -1.77835891] [ 0.11366844 -0.01183309 0.99344827 1.15086968] [ 0. 0. 0. 1. ]] SLAMing on 142.586296757 meters Centerline goodness : 0.799060 with order 1 Centerline is valid? [False, False] Translation: X:11.68, Y:-1.78, Z:1.15 [[ 9.71090585e-01 2.12603951e-01 -1.08547855e-01 1.16789614e+01] [-2.10246062e-01 9.77096217e-01 3.28568934e-02 -1.77718537e+00] [ 1.13047204e-01 -9.08526080e-03 9.93548080e-01 1.15266561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.64629675700002 meters Centerline goodness : 0.799086 with order 1 Centerline is valid? [False, False] Translation: X:11.67, Y:-1.78, Z:1.15 [[ 9.74432911e-01 2.00096923e-01 -1.02184754e-01 1.16723488e+01] [-1.98154971e-01 9.79744010e-01 2.89185629e-02 -1.77542068e+00] [ 1.05901416e-01 -7.93078245e-03 9.94345007e-01 1.14601613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.70629675700002 meters Centerline goodness : 0.800578 with order 1 Centerline is valid? [False, False] Translation: X:11.68, Y:-1.78, Z:1.14 [[ 9.74739414e-01 1.98163489e-01 -1.03025755e-01 1.16759647e+01] [-1.96293865e-01 9.80142907e-01 2.80820219e-02 -1.77590299e+00] [ 1.06544794e-01 -7.14933003e-03 9.94282200e-01 1.14444670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.766296757 meters Centerline goodness : 0.803046 with order 1 Centerline is valid? [False, False] Translation: X:11.68, Y:-1.78, Z:1.14 [[ 9.75674292e-01 1.93082346e-01 -1.03821401e-01 1.16765013e+01] [-1.91668813e-01 9.81177823e-01 2.35190625e-02 -1.77539728e+00] [ 1.06408372e-01 -3.04762001e-03 9.94317842e-01 1.14410727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.826296757 meters Centerline goodness : 0.803331 with order 1 Centerline is valid? [False, False] Translation: X:11.68, Y:-1.77, Z:1.14 [[ 9.75659424e-01 1.93280526e-01 -1.03592115e-01 1.16768620e+01] [-1.91926995e-01 9.81140267e-01 2.29739960e-02 -1.77173566e+00] [ 1.06078821e-01 -2.53267238e-03 9.94354499e-01 1.14343372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.886296757 meters Centerline goodness : 0.801761 with order 1 Centerline is valid? [False, False] Translation: X:11.68, Y:-1.77, Z:1.14 [[ 9.74960033e-01 1.96854266e-01 -1.03447244e-01 1.16785023e+01] [-1.95129273e-01 9.80415683e-01 2.66393535e-02 -1.77210175e+00] [ 1.06665371e-01 -5.78671952e-03 9.94278136e-01 1.14353204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.946296757 meters Centerline goodness : 0.801048 with order 2 Centerline is valid? [False, False] Translation: X:11.68, Y:-1.77, Z:1.14 [[ 9.74078463e-01 2.01652026e-01 -1.02506629e-01 1.16786972e+01] [-1.99605115e-01 9.79418424e-01 2.99557833e-02 -1.77013994e+00] [ 1.06437526e-01 -8.71843582e-03 9.94281168e-01 1.14280469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.006296757 meters Centerline goodness : 0.802631 with order 2 Centerline is valid? [False, False] Translation: X:11.68, Y:-1.77, Z:1.14 [[ 0.97328314 0.20564393 -0.10212985 11.68038513] [-0.20325878 0.97855695 0.03334925 -1.76908026] [ 0.10679794 -0.01169947 0.99421191 1.14191292] [ 0. 0. 0. 1. ]] SLAMing on 143.066296757 meters Centerline goodness : 0.800772 with order 2 Centerline is valid? [False, False] Translation: X:11.68, Y:-1.77, Z:1.14 [[ 0.97244248 0.20971287 -0.10186332 11.68239446] [-0.20698593 0.97765306 0.03676028 -1.76871924] [ 0.10729609 -0.01466298 0.99411898 1.14074574] [ 0. 0. 0. 1. ]] SLAMing on 143.126296757 meters Centerline goodness : 0.813212 with order 3 Centerline is valid? [False, False] Translation: X:11.68, Y:-1.77, Z:1.14 [[ 0.97240846 0.21000505 -0.10158575 11.68193929] [-0.20728837 0.97759058 0.03671763 -1.76882053] [ 0.10702016 -0.01464699 0.99414896 1.14037578] [ 0. 0. 0. 1. ]] SLAMing on 143.186296757 meters Centerline goodness : 0.803060 with order 2 Centerline is valid? [False, False] Translation: X:11.68, Y:-1.77, Z:1.14 [[ 0.97256802 0.20942092 -0.10126363 11.68167397] [-0.20670039 0.97771313 0.0367693 -1.76960394] [ 0.10670704 -0.01482941 0.99417991 1.1407332 ] [ 0. 0. 0. 1. ]] SLAMing on 143.246296757 meters Centerline goodness : 0.803352 with order 2 Centerline is valid? [False, False] Translation: X:11.68, Y:-1.77, Z:1.14 [[ 0.97342255 0.20540701 -0.10127443 11.6794894 ] [-0.20300607 0.97860147 0.03358112 -1.77142885] [ 0.1060051 -0.01212929 0.99429161 1.14192053] [ 0. 0. 0. 1. ]] SLAMing on 143.306296757 meters Centerline goodness : 0.801495 with order 2 Centerline is valid? [False, False] Translation: X:11.68, Y:-1.77, Z:1.14 [[ 0.97351669 0.20498873 -0.10121697 11.67989377] [-0.20252497 0.97868125 0.03415626 -1.77256853] [ 0.1060608 -0.01275272 0.99427787 1.14240474] [ 0. 0. 0. 1. ]] SLAMing on 143.36629675700001 meters Centerline goodness : 0.804124 with order 3 Centerline is valid? [False, False] Translation: X:11.68, Y:-1.77, Z:1.14 [[ 0.97355721 0.20475334 -0.10130364 11.68083473] [-0.20231136 0.9787333 0.03392994 -1.77230184] [ 0.10609652 -0.01253786 0.99427679 1.14157041] [ 0. 0. 0. 1. ]] SLAMing on 143.42629675700002 meters Centerline goodness : 0.806683 with order 2 Centerline is valid? [False, False] Translation: X:11.68, Y:-1.77, Z:1.14 [[ 0.97353531 0.20457198 -0.10187888 11.68257695] [-0.20211928 0.97877218 0.03395307 -1.77316436] [ 0.10666206 -0.01246283 0.99421722 1.14102021] [ 0. 0. 0. 1. ]] SLAMing on 143.48629675700002 meters Centerline goodness : 0.810865 with order 3 Centerline is valid? [False, False] Translation: X:11.69, Y:-1.77, Z:1.14 [[ 0.97279588 0.20797666 -0.10204844 11.68553831] [-0.20516178 0.97801088 0.03746157 -1.77303231] [ 0.10759562 -0.01550602 0.99407381 1.14044477] [ 0. 0. 0. 1. ]] SLAMing on 143.546296757 meters Centerline goodness : 0.808435 with order 1 Centerline is valid? [False, False] Translation: X:11.69, Y:-1.77, Z:1.14 [[ 0.9726677 0.20825005 -0.10271061 11.6872264 ] [-0.20556749 0.97797454 0.03616369 -1.76950706] [ 0.10797945 -0.01406129 0.99405368 1.13898195] [ 0. 0. 0. 1. ]] SLAMing on 143.606296757 meters Centerline goodness : 0.807972 with order 2 Centerline is valid? [False, False] Translation: X:11.69, Y:-1.77, Z:1.14 [[ 0.97257433 0.20834803 -0.10339376 11.68938318] [-0.20577497 0.97797047 0.03507728 -1.76633039] [ 0.10842432 -0.01283942 0.99402179 1.13745027] [ 0. 0. 0. 1. ]] SLAMing on 143.666296757 meters Centerline goodness : 0.811522 with order 3 Centerline is valid? [False, False] Translation: X:11.69, Y:-1.77, Z:1.14 [[ 0.97254782 0.20814231 -0.10405538 11.69144476] [-0.20562895 0.97802368 0.03444435 -1.76518239] [ 0.10893796 -0.01210198 0.99397488 1.13633503] [ 0. 0. 0. 1. ]] SLAMing on 143.726296757 meters Centerline goodness : 0.808585 with order 3 Centerline is valid? [False, False] Translation: X:11.69, Y:-1.76, Z:1.14 [[ 9.72473217e-01 2.08406822e-01 -1.04223019e-01 1.16917759e+01] [-2.05932226e-01 9.77972423e-01 3.40860432e-02 -1.76405098e+00] [ 1.09031003e-01 -1.16848857e-02 9.93969670e-01 1.13604470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.786296757 meters Centerline goodness : 0.802960 with order 2 Centerline is valid? [False, False] Translation: X:11.69, Y:-1.77, Z:1.14 [[ 0.97176982 0.21154811 -0.10445482 11.69458788] [-0.2086722 0.97725257 0.03785922 -1.76624924] [ 0.11008779 -0.01499363 0.99380877 1.13570699] [ 0. 0. 0. 1. ]] SLAMing on 143.846296757 meters Centerline goodness : 0.803803 with order 2 Centerline is valid? [False, False] Translation: X:11.70, Y:-1.77, Z:1.14 [[ 0.9717333 0.21160501 -0.10467908 11.69540282] [-0.20875598 0.9772451 0.03758936 -1.76554209] [ 0.11025122 -0.01467445 0.99379542 1.13513474] [ 0. 0. 0. 1. ]] SLAMing on 143.906296757 meters Centerline goodness : 0.801619 with order 2 Centerline is valid? [False, False] Translation: X:11.70, Y:-1.77, Z:1.13 [[ 9.72204694e-01 2.11709695e-01 -9.99851861e-02 1.17041062e+01] [-2.10043031e-01 9.77318330e-01 2.70334537e-02 -1.76592342e+00] [ 1.03440599e-01 -5.28085906e-03 9.94621614e-01 1.13378555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.966296757 meters Centerline goodness : 0.806569 with order 3 Centerline is valid? [False, False] Translation: X:11.70, Y:-1.77, Z:1.13 [[ 9.72164682e-01 2.11848433e-01 -1.00080328e-01 1.17040351e+01] [-2.10184084e-01 9.77288559e-01 2.70133762e-02 -1.76510919e+00] [ 1.03530101e-01 -5.22615819e-03 9.94612591e-01 1.13426932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.026296757 meters Centerline goodness : 0.807653 with order 2 Centerline is valid? [False, False] Translation: X:11.71, Y:-1.76, Z:1.13 [[ 9.72184432e-01 2.11383799e-01 -1.00867830e-01 1.17065727e+01] [-2.09819327e-01 9.77394494e-01 2.59971712e-02 -1.76357855e+00] [ 1.04083043e-01 -4.11002483e-03 9.94560118e-01 1.13262307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.086296757 meters Centerline goodness : 0.802848 with order 3 Centerline is valid? [False, False] Translation: X:11.71, Y:-1.76, Z:1.13 [[ 9.72208297e-01 2.11136203e-01 -1.01155973e-01 1.17074777e+01] [-2.09594537e-01 9.77449115e-01 2.57557410e-02 -1.76320114e+00] [ 1.04312786e-01 -3.83820568e-03 9.94537134e-01 1.13234701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.14629675700002 meters Centerline goodness : 0.808490 with order 3 Centerline is valid? [False, False] Translation: X:11.71, Y:-1.76, Z:1.13 [[ 9.72296719e-01 2.10675229e-01 -1.01267162e-01 1.17076266e+01] [-2.09158244e-01 9.77549460e-01 2.54927779e-02 -1.76173756e+00] [ 1.04364356e-01 -3.60568254e-03 9.94532594e-01 1.13300976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.20629675700002 meters Centerline goodness : 0.813519 with order 3 Centerline is valid? [False, False] Translation: X:11.71, Y:-1.76, Z:1.13 [[ 9.72338952e-01 2.10216616e-01 -1.01813244e-01 1.17087859e+01] [-2.08713998e-01 9.77649046e-01 2.53142274e-02 -1.76182716e+00] [ 1.04859092e-01 -3.36416021e-03 9.94481399e-01 1.13313485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.266296757 meters Centerline goodness : 0.812901 with order 3 Centerline is valid? [False, False] Translation: X:11.71, Y:-1.76, Z:1.13 [[ 9.72490976e-01 2.08977208e-01 -1.02906888e-01 1.17124088e+01] [-2.07506059e-01 9.77916268e-01 2.49200226e-02 -1.76258790e+00] [ 1.05842037e-01 -2.88069431e-03 9.94378783e-01 1.13226445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.326296757 meters Centerline goodness : 0.805050 with order 3 Centerline is valid? [False, False] Translation: X:11.71, Y:-1.76, Z:1.13 [[ 9.72590040e-01 2.08473798e-01 -1.02991699e-01 1.17132269e+01] [-2.06946327e-01 9.78022010e-01 2.54197801e-02 -1.76382181e+00] [ 1.06027507e-01 -3.40927116e-03 9.94357353e-01 1.13249420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.386296757 meters Centerline goodness : 0.802521 with order 2 Centerline is valid? [False, False] Translation: X:11.72, Y:-1.76, Z:1.14 [[ 9.72767680e-01 1.99518514e-01 -1.17963568e-01 1.17171669e+01] [-1.98407273e-01 9.79890136e-01 2.12102879e-02 -1.76135678e+00] [ 1.19823181e-01 2.77214722e-03 9.92791378e-01 1.13585460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.446296757 meters Centerline goodness : 0.805146 with order 1 Centerline is valid? [False, False] Translation: X:11.72, Y:-1.77, Z:1.14 [[ 9.72923693e-01 1.98953059e-01 -1.17631489e-01 1.17164114e+01] [-1.97645754e-01 9.80008435e-01 2.27952522e-02 -1.76591354e+00] [ 1.19815036e-01 1.07132320e-03 9.92795653e-01 1.13528294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.506296757 meters Centerline goodness : 0.807845 with order 2 Centerline is valid? [False, False] Translation: X:11.72, Y:-1.77, Z:1.14 [[ 9.72259894e-01 2.02647695e-01 -1.16810147e-01 1.17165254e+01] [-2.00754862e-01 9.79244910e-01 2.78727734e-02 -1.77000396e+00] [ 1.20034095e-01 -3.64937475e-03 9.92763062e-01 1.13655773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.566296757 meters Centerline goodness : 0.809180 with order 3 Centerline is valid? [False, False] Translation: X:11.71, Y:-1.77, Z:1.14 [[ 9.71353279e-01 2.07659060e-01 -1.15544462e-01 1.17144582e+01] [-2.05134265e-01 9.78161674e-01 3.34615125e-02 -1.77321390e+00] [ 1.19969751e-01 -8.80082158e-03 9.92738538e-01 1.13893520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.626296757 meters Centerline goodness : 0.812049 with order 2 Centerline is valid? [False, False] Translation: X:11.71, Y:-1.77, Z:1.14 [[ 9.71306691e-01 2.08009505e-01 -1.15305498e-01 1.17139808e+01] [-2.05497325e-01 9.78087740e-01 3.33949340e-02 -1.77233159e+00] [ 1.19725358e-01 -8.74175148e-03 9.92768563e-01 1.13884474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.686296757 meters Centerline goodness : 0.817376 with order 3 Centerline is valid? [False, False] Translation: X:11.71, Y:-1.77, Z:1.14 [[ 0.97054924 0.21196881 -0.11447006 11.71460578] [-0.20906813 0.97720401 0.03691673 -1.77201718] [ 0.11968579 -0.01189746 0.99274053 1.13828922] [ 0. 0. 0. 1. ]] SLAMing on 144.746296757 meters Centerline goodness : 0.806839 with order 2 Centerline is valid? [False, False] Translation: X:11.71, Y:-1.77, Z:1.14 [[ 9.70503121e-01 2.12273688e-01 -1.14295994e-01 1.17143384e+01] [-2.09425981e-01 9.77142611e-01 3.65113222e-02 -1.76995054e+00] [ 1.19433879e-01 -1.14978014e-02 9.92775578e-01 1.13807745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.806296757 meters Centerline goodness : 0.805757 with order 2 Centerline is valid? [False, False] Translation: X:11.72, Y:-1.77, Z:1.14 [[ 9.70426358e-01 2.12381699e-01 -1.14746233e-01 1.17168921e+01] [-2.09663532e-01 9.77132550e-01 3.54003264e-02 -1.76573920e+00] [ 1.19640661e-01 -1.02953093e-02 9.92763879e-01 1.13591190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.86629675700001 meters Centerline goodness : 0.803449 with order 2 Centerline is valid? [False, False] Translation: X:11.72, Y:-1.76, Z:1.14 [[ 9.70451733e-01 2.12125277e-01 -1.15005652e-01 1.17180065e+01] [-2.09458195e-01 9.77193154e-01 3.49400258e-02 -1.76469823e+00] [ 1.19794398e-01 -9.81873246e-03 9.92750167e-01 1.13522614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.92629675700002 meters Centerline goodness : 0.804215 with order 2 Centerline is valid? [False, False] Translation: X:11.72, Y:-1.76, Z:1.13 [[ 9.70645717e-01 2.10889431e-01 -1.15639700e-01 1.17201357e+01] [-2.08290288e-01 9.77466966e-01 3.42562012e-02 -1.76471416e+00] [ 1.20258258e-01 -9.16400852e-03 9.92700344e-01 1.13458472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.98629675700002 meters Centerline goodness : 0.817366 with order 3 Centerline is valid? [False, False] Translation: X:11.72, Y:-1.76, Z:1.13 [[ 9.70953928e-01 2.09240654e-01 -1.16046625e-01 1.17217471e+01] [-2.06699064e-01 9.77825554e-01 3.36553481e-02 -1.76456022e+00] [ 1.20515423e-01 -8.69106356e-03 9.92673410e-01 1.13454880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.046296757 meters Centerline goodness : 0.808335 with order 3 Centerline is valid? [False, False] Translation: X:11.72, Y:-1.77, Z:1.14 [[ 9.71019326e-01 2.08906649e-01 -1.16101161e-01 1.17215421e+01] [-2.06318982e-01 9.77893510e-01 3.40111860e-02 -1.76526568e+00] [ 1.20639735e-01 -9.07164568e-03 9.92654905e-01 1.13571273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.106296757 meters Centerline goodness : 0.804844 with order 3 Centerline is valid? [False, False] Translation: X:11.72, Y:-1.77, Z:1.14 [[ 9.71129961e-01 2.08022444e-01 -1.16761557e-01 1.17227965e+01] [-2.05392553e-01 9.78079986e-01 3.42555138e-02 -1.76584993e+00] [ 1.21328058e-01 -9.28460154e-03 9.92569040e-01 1.13684391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.166296757 meters Centerline goodness : 0.804033 with order 2 Centerline is valid? [False, False] Translation: X:11.73, Y:-1.77, Z:1.14 [[ 9.71197518e-01 2.07157854e-01 -1.17732770e-01 1.17251711e+01] [-2.04525019e-01 9.78265282e-01 3.41548506e-02 -1.76610457e+00] [ 1.22249327e-01 -9.09180904e-03 9.92457778e-01 1.13698185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.226296757 meters Centerline goodness : 0.802982 with order 2 Centerline is valid? [False, False] Translation: X:11.73, Y:-1.77, Z:1.14 [[ 9.70819291e-01 2.08641320e-01 -1.18231571e-01 1.17290471e+01] [-2.05705512e-01 9.77927410e-01 3.66500011e-02 -1.76654392e+00] [ 1.23268599e-01 -1.12596422e-02 9.92309464e-01 1.13648730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.286296757 meters Centerline goodness : 0.803440 with order 2 Centerline is valid? [False, False] Translation: X:11.73, Y:-1.77, Z:1.14 [[ 9.70851960e-01 2.08203258e-01 -1.18734473e-01 1.17304479e+01] [-2.05329030e-01 9.78027567e-01 3.60841653e-02 -1.76564446e+00] [ 1.23638428e-01 -1.06527485e-02 9.92270154e-01 1.13601806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.346296757 meters Centerline goodness : 0.804129 with order 2 Centerline is valid? [False, False] Translation: X:11.73, Y:-1.76, Z:1.14 [[ 9.70798003e-01 2.08411315e-01 -1.18810607e-01 1.17302089e+01] [-2.05561964e-01 9.77985767e-01 3.58903668e-02 -1.76426121e+00] [ 1.23675042e-01 -1.04193546e-02 9.92268069e-01 1.13649874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.406296757 meters Centerline goodness : 0.803095 with order 2 Centerline is valid? [False, False] Translation: X:11.73, Y:-1.76, Z:1.14 [[ 9.70673008e-01 2.09032694e-01 -1.18740235e-01 1.17297296e+01] [-2.06217315e-01 9.77856200e-01 3.56604850e-02 -1.76245985e+00] [ 1.23565082e-01 -1.01283778e-02 9.92284781e-01 1.13666968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.466296757 meters Centerline goodness : 0.806725 with order 3 Centerline is valid? [False, False] Translation: X:11.74, Y:-1.76, Z:1.14 [[ 9.70688740e-01 2.11710676e-01 -1.13762736e-01 1.17403436e+01] [-2.09784565e-01 9.77323896e-01 2.87826080e-02 -1.76263785e+00] [ 1.17276626e-01 -4.07328738e-03 9.93090933e-01 1.13610459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.526296757 meters Centerline goodness : 0.804296 with order 2 Centerline is valid? [False, False] Translation: X:11.74, Y:-1.76, Z:1.14 [[ 9.70696263e-01 2.11637174e-01 -1.13835282e-01 1.17403707e+01] [-2.09656172e-01 9.77337865e-01 2.92401594e-02 -1.76470912e+00] [ 1.17443836e-01 -4.51704410e-03 9.93069253e-01 1.13652476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.586296757 meters Centerline goodness : 0.806230 with order 3 Centerline is valid? [False, False] Translation: X:11.74, Y:-1.77, Z:1.14 [[ 9.70155324e-01 2.14196663e-01 -1.13659299e-01 1.17423961e+01] [-2.11797064e-01 9.76758840e-01 3.29267862e-02 -1.76802212e+00] [ 1.18070533e-01 -7.87139122e-03 9.92974013e-01 1.13643404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.64629675700002 meters Centerline goodness : 0.795171 with order 3 Centerline is valid? [False, False] Translation: X:11.74, Y:-1.77, Z:1.14 [[ 9.70175100e-01 2.14035260e-01 -1.13794477e-01 1.17434691e+01] [-2.11626828e-01 9.76793852e-01 3.29826787e-02 -1.76889007e+00] [ 1.18213202e-01 -7.91700932e-03 9.92956676e-01 1.13562232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.70629675700002 meters Centerline goodness : 0.793195 with order 2 Centerline is valid? [False, False] Translation: X:11.74, Y:-1.77, Z:1.14 [[ 9.70099915e-01 2.14670007e-01 -1.13238433e-01 1.17420359e+01] [-2.12244123e-01 9.76652407e-01 3.32040345e-02 -1.76834892e+00] [ 1.17722499e-01 -8.17703901e-03 9.93012865e-01 1.13604250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.766296757 meters Centerline goodness : 0.796163 with order 2 Centerline is valid? [False, False] Translation: X:11.74, Y:-1.77, Z:1.14 [[ 9.70768583e-01 2.11449311e-01 -1.13567366e-01 1.17404308e+01] [-2.09415234e-01 9.77375977e-01 2.96894003e-02 -1.76763585e+00] [ 1.17275818e-01 -5.03880074e-03 9.93086599e-01 1.13639975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.826296757 meters Centerline goodness : 0.796385 with order 2 Centerline is valid? [False, False] Translation: X:11.74, Y:-1.77, Z:1.14 [[ 9.70859649e-01 2.10826327e-01 -1.13946490e-01 1.17424307e+01] [-2.08827758e-01 9.77512297e-01 2.93373109e-02 -1.76700922e+00] [ 1.17569173e-01 -4.68722132e-03 9.93053634e-01 1.13535073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.886296757 meters Centerline goodness : 0.795905 with order 2 Centerline is valid? [False, False] Translation: X:11.74, Y:-1.77, Z:1.14 [[ 9.70873499e-01 2.10511102e-01 -1.14410333e-01 1.17434697e+01] [-2.08474401e-01 9.77579151e-01 2.96213959e-02 -1.76748116e+00] [ 1.18080789e-01 -4.90700271e-03 9.92991867e-01 1.13585924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.946296757 meters Centerline goodness : 0.797993 with order 2 Centerline is valid? [False, False] Translation: X:11.74, Y:-1.77, Z:1.14 [[ 9.70964896e-01 2.10032187e-01 -1.14514848e-01 1.17436252e+01] [-2.07981577e-01 9.77681551e-01 2.97060492e-02 -1.76756827e+00] [ 1.18198281e-01 -5.02655227e-03 9.92977291e-01 1.13661058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.006296757 meters Centerline goodness : 0.796614 with order 2 Centerline is valid? [False, False] Translation: X:11.74, Y:-1.77, Z:1.14 [[ 9.71017268e-01 2.09587154e-01 -1.14885556e-01 1.17445589e+01] [-2.07582240e-01 9.77779221e-01 2.92815317e-02 -1.76545700e+00] [ 1.18469742e-01 -4.58467196e-03 9.92947079e-01 1.13694228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.066296757 meters Centerline goodness : 0.796082 with order 2 Centerline is valid? [False, False] Translation: X:11.75, Y:-1.77, Z:1.14 [[ 9.71024389e-01 2.09412906e-01 -1.15142829e-01 1.17454564e+01] [-2.07462504e-01 9.77818780e-01 2.88052735e-02 -1.76530778e+00] [ 1.18621016e-01 -4.08280359e-03 9.92931209e-01 1.13618540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.126296757 meters Centerline goodness : 0.796063 with order 2 Centerline is valid? [False, False] Translation: X:11.74, Y:-1.76, Z:1.14 [[ 9.70873908e-01 2.10309477e-01 -1.14777086e-01 1.17449552e+01] [-2.08344101e-01 9.77625674e-01 2.89961427e-02 -1.76300374e+00] [ 1.18307190e-01 -4.23846953e-03 9.92967998e-01 1.13613241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.186296757 meters Centerline goodness : 0.791472 with order 2 Centerline is valid? [False, False] Translation: X:11.74, Y:-1.76, Z:1.14 [[ 9.70662114e-01 2.11645000e-01 -1.14111591e-01 1.17425830e+01] [-2.09597137e-01 9.77333808e-01 2.97937646e-02 -1.76244943e+00] [ 1.17830817e-01 -5.00221571e-03 9.93021086e-01 1.13741795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.246296757 meters Centerline goodness : 0.794741 with order 2 Centerline is valid? [False, False] Translation: X:11.74, Y:-1.76, Z:1.14 [[ 9.70509162e-01 2.12275590e-01 -1.14241154e-01 1.17423409e+01] [-2.10178072e-01 9.77195252e-01 3.02426440e-02 -1.76288530e+00] [ 1.18055688e-01 -5.33977773e-03 9.92992619e-01 1.13797965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.306296757 meters Centerline goodness : 0.797692 with order 2 Centerline is valid? [False, False] Translation: X:11.74, Y:-1.76, Z:1.14 [[ 9.70411825e-01 2.12668753e-01 -1.14336743e-01 1.17421825e+01] [-2.10522735e-01 9.77107782e-01 3.06685510e-02 -1.76230272e+00] [ 1.18241564e-01 -5.69064079e-03 9.92968554e-01 1.13880546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.36629675700001 meters Centerline goodness : 0.809531 with order 2 Centerline is valid? [False, False] Translation: X:11.74, Y:-1.76, Z:1.14 [[ 9.70380245e-01 2.12657648e-01 -1.14625062e-01 1.17429140e+01] [-2.10508175e-01 9.77110466e-01 3.06829814e-02 -1.76315123e+00] [ 1.18526318e-01 -5.64464636e-03 9.92934867e-01 1.13852647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.42629675700002 meters Centerline goodness : 0.806173 with order 3 Centerline is valid? [False, False] Translation: X:11.74, Y:-1.76, Z:1.14 [[ 9.70318113e-01 2.13015869e-01 -1.14485807e-01 1.17423802e+01] [-2.10882400e-01 9.77033114e-01 3.05762455e-02 -1.76174731e+00] [ 1.18369650e-01 -5.52564313e-03 9.92954225e-01 1.13890245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.48629675700002 meters Centerline goodness : 0.807683 with order 3 Centerline is valid? [False, False] Translation: X:11.75, Y:-1.76, Z:1.14 [[ 9.70529478e-01 2.14859381e-01 -1.09123683e-01 1.17525702e+01] [-2.13633820e-01 9.76644432e-01 2.29400159e-02 -1.76091452e+00] [ 1.11503916e-01 1.04854766e-03 9.93763441e-01 1.13826258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.546296757 meters Centerline goodness : 0.792881 with order 2 Centerline is valid? [False, False] Translation: X:11.75, Y:-1.76, Z:1.14 [[ 9.70581240e-01 2.14576010e-01 -1.09220848e-01 1.17526575e+01] [-2.13369514e-01 9.76706533e-01 2.27552066e-02 -1.75993570e+00] [ 1.11559437e-01 1.21862252e-03 9.93757016e-01 1.13887640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.606296757 meters Centerline goodness : 0.794387 with order 2 Centerline is valid? [False, False] Translation: X:11.75, Y:-1.76, Z:1.14 [[ 9.70686581e-01 2.13768780e-01 -1.09865689e-01 1.17549403e+01] [-2.12640584e-01 9.76882270e-01 2.20229845e-02 -1.75768159e+00] [ 1.12033670e-01 1.98448864e-03 9.93702430e-01 1.13823731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.666296757 meters Centerline goodness : 0.809971 with order 3 Centerline is valid? [False, False] Translation: X:11.76, Y:-1.76, Z:1.14 [[ 9.71535136e-01 2.09371002e-01 -1.10829886e-01 1.17558681e+01] [-2.08694178e-01 9.77818881e-01 1.78037925e-02 -1.75604637e+00] [ 1.12099153e-01 5.83254205e-03 9.93679909e-01 1.13764250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.726296757 meters Centerline goodness : 0.797218 with order 2 Centerline is valid? [False, False] Translation: X:11.76, Y:-1.76, Z:1.14 [[ 9.71621118e-01 2.08666937e-01 -1.11402481e-01 1.17577682e+01] [-2.07966080e-01 9.77970306e-01 1.80052841e-02 -1.75776896e+00] [ 1.12705426e-01 5.67362297e-03 9.93612247e-01 1.13743082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.786296757 meters Centerline goodness : 0.814574 with order 3 Centerline is valid? [False, False] Translation: X:11.76, Y:-1.75, Z:1.14 [[ 9.71453680e-01 2.02290372e-01 -1.23920755e-01 1.17589524e+01] [-2.02055473e-01 9.79265347e-01 1.45933532e-02 -1.75279465e+00] [ 1.24303396e-01 1.08621001e-02 9.92184802e-01 1.13971494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.846296757 meters Centerline goodness : 0.809856 with order 2 Centerline is valid? [False, False] Translation: X:11.76, Y:-1.76, Z:1.14 [[ 9.70661770e-01 2.06539784e-01 -1.23113956e-01 1.17583935e+01] [-2.05665310e-01 9.78419839e-01 1.99097487e-02 -1.75674067e+00] [ 1.24569292e-01 5.99463812e-03 9.92192802e-01 1.14160952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.906296757 meters Centerline goodness : 0.814718 with order 2 Centerline is valid? [False, False] Translation: X:11.76, Y:-1.76, Z:1.14 [[ 9.69911111e-01 2.10467971e-01 -1.22375119e-01 1.17586583e+01] [-2.09001282e-01 9.77599638e-01 2.48477587e-02 -1.76098405e+00] [ 1.24863529e-01 1.47643943e-03 9.92172827e-01 1.14255240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.966296757 meters Centerline goodness : 0.806716 with order 2 Centerline is valid? [False, False] Translation: X:11.76, Y:-1.76, Z:1.14 [[ 9.69753584e-01 2.11195373e-01 -1.22370343e-01 1.17592168e+01] [-2.09694441e-01 9.77443061e-01 2.51655407e-02 -1.76173443e+00] [ 1.24924888e-01 1.25600728e-03 9.92165407e-01 1.14210326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.026296757 meters Centerline goodness : 0.807755 with order 2 Centerline is valid? [False, False] Translation: X:11.76, Y:-1.76, Z:1.14 [[ 9.69704662e-01 2.11784033e-01 -1.21739029e-01 1.17583783e+01] [-2.10264270e-01 9.77315960e-01 2.53466174e-02 -1.76042990e+00] [ 1.24345505e-01 1.01863507e-03 9.92238458e-01 1.14242476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.086296757 meters Centerline goodness : 0.810740 with order 2 Centerline is valid? [False, False] Translation: X:11.77, Y:-1.76, Z:1.14 [[ 9.69837407e-01 2.14579157e-01 -1.15633858e-01 1.17666611e+01] [-2.13919482e-01 9.76681130e-01 1.82325331e-02 -1.76266780e+00] [ 1.16849729e-01 7.05374244e-03 9.93124557e-01 1.14113500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.14629675700002 meters Centerline goodness : 0.808395 with order 2 Centerline is valid? [False, False] Translation: X:11.77, Y:-1.76, Z:1.14 [[ 9.69811337e-01 2.14753990e-01 -1.15527897e-01 1.17671325e+01] [-2.14112323e-01 9.76641646e-01 1.80833573e-02 -1.76186678e+00] [ 1.16712828e-01 7.19850142e-03 9.93139616e-01 1.14029910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.20629675700002 meters Centerline goodness : 0.809375 with order 2 Centerline is valid? [False, False] Translation: X:11.77, Y:-1.76, Z:1.14 [[ 9.69602068e-01 2.16231903e-01 -1.14523337e-01 1.17681235e+01] [-2.15425888e-01 9.76325120e-01 1.95178702e-02 -1.76195806e+00] [ 1.16032397e-01 5.74672433e-03 9.93228804e-01 1.13837326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.266296757 meters Centerline goodness : 0.808073 with order 2 Centerline is valid? [False, False] Translation: X:11.77, Y:-1.76, Z:1.14 [[ 9.70324911e-01 2.12942777e-01 -1.14564133e-01 1.17660802e+01] [-2.12505730e-01 9.77026227e-01 1.61575420e-02 -1.76275303e+00] [ 1.15372795e-01 8.66746928e-03 9.93284447e-01 1.13843926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.326296757 meters Centerline goodness : 0.809097 with order 2 Centerline is valid? [False, False] Translation: X:11.76, Y:-1.76, Z:1.14 [[ 9.70350890e-01 2.13206889e-01 -1.13850658e-01 1.17645948e+01] [-2.12636687e-01 9.76978674e-01 1.72716239e-02 -1.76466889e+00] [ 1.14912094e-01 7.44929102e-03 9.93347733e-01 1.13960393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.386296757 meters Centerline goodness : 0.809734 with order 1 Centerline is valid? [False, False] Translation: X:11.76, Y:-1.77, Z:1.14 [[ 9.70360203e-01 2.13381834e-01 -1.13442805e-01 1.17636596e+01] [-2.12678476e-01 9.76948804e-01 1.84092596e-02 -1.76746448e+00] [ 1.14756014e-01 6.26322994e-03 9.93373962e-01 1.14049134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.446296757 meters Centerline goodness : 0.810435 with order 2 Centerline is valid? [False, False] Translation: X:11.76, Y:-1.77, Z:1.14 [[ 9.70296127e-01 2.13569001e-01 -1.13638493e-01 1.17642453e+01] [-2.12819438e-01 9.76910083e-01 1.88301895e-02 -1.76887551e+00] [ 1.15036135e-01 5.91362031e-03 9.93343705e-01 1.14025131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.506296757 meters Centerline goodness : 0.813357 with order 2 Centerline is valid? [False, False] Translation: X:11.77, Y:-1.77, Z:1.14 [[ 9.69575425e-01 2.16840943e-01 -1.13593580e-01 1.17674733e+01] [-2.15704575e-01 9.76202840e-01 2.23506447e-02 -1.77071081e+00] [ 1.15736910e-01 2.83201906e-03 9.93275867e-01 1.13845212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.566296757 meters Centerline goodness : 0.814232 with order 2 Centerline is valid? [False, False] Translation: X:11.77, Y:-1.77, Z:1.14 [[ 9.68745115e-01 2.20700244e-01 -1.13244441e-01 1.17696557e+01] [-2.19159330e-01 9.75341601e-01 2.60374694e-02 -1.77255396e+00] [ 1.16198490e-01 -4.05095395e-04 9.93225929e-01 1.13696539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.626296757 meters Centerline goodness : 0.808959 with order 1 Centerline is valid? [False, False] Translation: X:11.77, Y:-1.77, Z:1.14 [[ 9.68601569e-01 2.21570702e-01 -1.12771563e-01 1.17687821e+01] [-2.20010408e-01 9.75144112e-01 2.62560774e-02 -1.77214908e+00] [ 1.15786103e-01 -6.20760026e-04 9.93273977e-01 1.13670822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.686296757 meters Centerline goodness : 0.805230 with order 1 Centerline is valid? [False, False] Translation: X:11.78, Y:-1.77, Z:1.13 [[ 9.68525355e-01 2.25043664e-01 -1.06367221e-01 1.17779208e+01] [-2.24297762e-01 9.74333840e-01 1.90809565e-02 -1.77265584e+00] [ 1.07931231e-01 5.37753942e-03 9.94143818e-01 1.13368851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.746296757 meters Centerline goodness : 0.821387 with order 3 Centerline is valid? [False, False] Translation: X:11.78, Y:-1.78, Z:1.14 [[ 9.68387690e-01 2.25949490e-01 -1.05698205e-01 1.17758703e+01] [-2.25064116e-01 9.74130620e-01 2.03882105e-02 -1.77506056e+00] [ 1.07570564e-01 4.04518112e-03 9.94189223e-01 1.13508491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.806296757 meters Centerline goodness : 0.807617 with order 2 Centerline is valid? [False, False] Translation: X:11.77, Y:-1.78, Z:1.14 [[ 9.69048747e-01 2.23033689e-01 -1.05832410e-01 1.17738541e+01] [-2.22441855e-01 9.74788609e-01 1.75154185e-02 -1.77548674e+00] [ 1.07070756e-01 6.56826330e-03 9.94229707e-01 1.13577662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.86629675700001 meters Centerline goodness : 0.808728 with order 2 Centerline is valid? [False, False] Translation: X:11.77, Y:-1.78, Z:1.14 [[ 9.69849165e-01 2.19310379e-01 -1.06280544e-01 1.17730132e+01] [-2.19052426e-01 9.75609176e-01 1.42397196e-02 -1.77711126e+00] [ 1.06811193e-01 9.47063094e-03 9.94234216e-01 1.13553699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.92629675700002 meters Centerline goodness : 0.807846 with order 2 Centerline is valid? [False, False] Translation: X:11.77, Y:-1.78, Z:1.13 [[ 9.70747950e-01 2.14978674e-01 -1.06923275e-01 1.17735084e+01] [-2.15092595e-01 9.76536095e-01 1.06032940e-02 -1.77896081e+00] [ 1.06693919e-01 1.27052788e-02 9.94210734e-01 1.13425142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.98629675700002 meters Centerline goodness : 0.811870 with order 3 Centerline is valid? [False, False] Translation: X:11.77, Y:-1.78, Z:1.13 [[ 9.70865238e-01 2.14391151e-01 -1.07037955e-01 1.17742903e+01] [-2.14457844e-01 9.76671035e-01 1.10237730e-02 -1.78194646e+00] [ 1.06904270e-01 1.22525310e-02 9.94193820e-01 1.13390499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.046296757 meters Centerline goodness : 0.811078 with order 1 Centerline is valid? [False, False] Translation: X:11.77, Y:-1.79, Z:1.13 [[ 9.71540071e-01 2.11408798e-01 -1.06846673e-01 1.17714553e+01] [-2.11689497e-01 9.77297007e-01 8.83842146e-03 -1.78601133e+00] [ 1.06289454e-01 1.40314379e-02 9.94236225e-01 1.13479063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.106296757 meters Centerline goodness : 0.810014 with order 1 Centerline is valid? [False, False] Translation: X:11.77, Y:-1.79, Z:1.13 [[ 9.71439661e-01 2.11739468e-01 -1.07104543e-01 1.17728123e+01] [-2.11986501e-01 9.77229241e-01 9.20507322e-03 -1.78733861e+00] [ 1.06614769e-01 1.37625441e-02 9.94205152e-01 1.13354851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.166296757 meters Centerline goodness : 0.808462 with order 1 Centerline is valid? [False, False] Translation: X:11.77, Y:-1.79, Z:1.13 [[ 9.70475808e-01 2.16395058e-01 -1.06535842e-01 1.17731838e+01] [-2.16160844e-01 9.76259095e-01 1.38805287e-02 -1.79038815e+00] [ 1.07010262e-01 9.55816017e-03 9.94211972e-01 1.13370519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.226296757 meters Centerline goodness : 0.810823 with order 1 Centerline is valid? [False, False] Translation: X:11.77, Y:-1.79, Z:1.13 [[ 9.70241489e-01 2.17735438e-01 -1.05937396e-01 1.17712167e+01] [-2.17427816e-01 9.75967414e-01 1.45860201e-02 -1.79040578e+00] [ 1.06567340e-01 8.88177487e-03 9.94265818e-01 1.13443203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.286296757 meters Centerline goodness : 0.808801 with order 1 Centerline is valid? [False, False] Translation: X:11.77, Y:-1.79, Z:1.13 [[ 9.69095271e-01 2.23365760e-01 -1.04700017e-01 1.17700085e+01] [-2.22595779e-01 9.74723059e-01 1.91331420e-02 -1.79055196e+00] [ 1.06327209e-01 4.76394435e-03 9.94319782e-01 1.13482073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.346296757 meters Centerline goodness : 0.809890 with order 1 Centerline is valid? [False, False] Translation: X:11.77, Y:-1.79, Z:1.13 [[ 9.68898835e-01 2.24419115e-01 -1.04264606e-01 1.17689577e+01] [-2.23628956e-01 9.74482057e-01 1.93600300e-02 -1.79059124e+00] [ 1.05948748e-01 4.55867434e-03 9.94361142e-01 1.13444768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.406296757 meters Centerline goodness : 0.807549 with order 1 Centerline is valid? [False, False] Translation: X:11.77, Y:-1.79, Z:1.13 [[ 9.68989662e-01 2.23859718e-01 -1.04622476e-01 1.17702901e+01] [-2.23063317e-01 9.74610823e-01 1.94036320e-02 -1.79180869e+00] [ 1.06309889e-01 4.53551772e-03 9.94322702e-01 1.13404223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.466296757 meters Centerline goodness : 0.807388 with order 1 Centerline is valid? [False, False] Translation: X:11.77, Y:-1.79, Z:1.13 [[ 9.69850028e-01 2.19886348e-01 -1.05075765e-01 1.17690619e+01] [-2.19413654e-01 9.75497722e-01 1.61815922e-02 -1.79283586e+00] [ 1.06059280e-01 7.36133975e-03 9.94332560e-01 1.13490495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.526296757 meters Centerline goodness : 0.805478 with order 1 Centerline is valid? [False, False] Translation: X:11.77, Y:-1.80, Z:1.13 [[ 9.71022586e-01 2.14077153e-01 -1.06236107e-01 1.17704706e+01] [-2.13993684e-01 9.76757361e-01 1.23191062e-02 -1.79543822e+00] [ 1.06404138e-01 1.07717255e-02 9.94264617e-01 1.13475472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.586296757 meters Centerline goodness : 0.807012 with order 1 Centerline is valid? [False, False] Translation: X:11.77, Y:-1.80, Z:1.13 [[ 9.72344674e-01 2.07037675e-01 -1.08079772e-01 1.17741552e+01] [-2.07421713e-01 9.78220518e-01 7.80074927e-03 -1.79850563e+00] [ 1.07340899e-01 1.48330744e-02 9.94111619e-01 1.13370191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.64629675700002 meters Centerline goodness : 0.808185 with order 1 Centerline is valid? [False, False] Translation: X:11.78, Y:-1.80, Z:1.13 [[ 9.73386466e-01 2.01457815e-01 -1.09240727e-01 1.17756169e+01] [-2.02200756e-01 9.79334437e-01 4.34907963e-03 -1.80206072e+00] [ 1.07859362e-01 1.78552223e-02 9.94005809e-01 1.13361410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.70629675700002 meters Centerline goodness : 0.810200 with order 1 Centerline is valid? [False, False] Translation: X:11.78, Y:-1.80, Z:1.13 [[ 9.74301638e-01 1.96140842e-01 -1.10747859e-01 1.17783875e+01] [-1.97281865e-01 9.80346581e-01 6.67818326e-04 -1.80372110e+00] [ 1.08702272e-01 2.11978877e-02 9.93848311e-01 1.13278983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.766296757 meters Centerline goodness : 0.813577 with order 1 Centerline is valid? [False, False] Translation: X:11.78, Y:-1.81, Z:1.13 [[ 9.74967507e-01 1.92361633e-01 -1.11513954e-01 1.17779199e+01] [-1.93844589e-01 9.81029041e-01 -2.50934400e-03 -1.80598326e+00] [ 1.08915726e-01 2.40629054e-02 9.93759700e-01 1.13310856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.826296757 meters Centerline goodness : 0.815006 with order 1 Centerline is valid? [False, False] Translation: X:11.78, Y:-1.81, Z:1.13 [[ 9.74822012e-01 1.93291313e-01 -1.11177843e-01 1.17763636e+01] [-1.94668330e-01 9.80867881e-01 -1.56265682e-03 -1.80714803e+00] [ 1.08748727e-01 2.31661173e-02 9.93799298e-01 1.13432853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.886296757 meters Centerline goodness : 0.814210 with order 1 Centerline is valid? [False, False] Translation: X:11.77, Y:-1.81, Z:1.14 [[ 9.73873734e-01 1.98714826e-01 -1.09919828e-01 1.17743728e+01] [-1.99548730e-01 9.79881749e-01 3.47311980e-03 -1.80807306e+00] [ 1.08398593e-01 1.85519818e-02 9.93934389e-01 1.13609373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.946296757 meters Centerline goodness : 0.807950 with order 1 Centerline is valid? [False, False] Translation: X:11.77, Y:-1.81, Z:1.14 [[ 9.72967611e-01 2.03444223e-01 -1.09290787e-01 1.17747012e+01] [-2.03829339e-01 9.78975716e-01 7.75554179e-03 -1.80897652e+00] [ 1.08570847e-01 1.47307779e-02 9.93979565e-01 1.13628965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.006296757 meters Centerline goodness : 0.804695 with order 1 Centerline is valid? [False, False] Translation: X:11.78, Y:-1.81, Z:1.13 [[ 9.72888478e-01 2.03558741e-01 -1.09780913e-01 1.17770349e+01] [-2.04010759e-01 9.78942030e-01 7.21883490e-03 -1.80715875e+00] [ 1.08938607e-01 1.53733661e-02 9.93929595e-01 1.13465042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.066296757 meters Centerline goodness : 0.805769 with order 1 Centerline is valid? [False, False] Translation: X:11.78, Y:-1.81, Z:1.13 [[ 9.73005901e-01 2.02899185e-01 -1.09961073e-01 1.17779918e+01] [-2.03351521e-01 9.79079293e-01 7.20400322e-03 -1.80920182e+00] [ 1.09122296e-01 1.53512138e-02 9.93909787e-01 1.13425419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.126296757 meters Centerline goodness : 0.803439 with order 1 Centerline is valid? [False, False] Translation: X:11.78, Y:-1.81, Z:1.13 [[ 9.73827535e-01 1.98836848e-01 -1.10108311e-01 1.17767246e+01] [-1.99647890e-01 9.79860638e-01 3.72168320e-03 -1.80912631e+00] [ 1.08630807e-01 1.83586143e-02 9.93912626e-01 1.13471218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.186296757 meters Centerline goodness : 0.807394 with order 1 Centerline is valid? [False, False] Translation: X:11.78, Y:-1.81, Z:1.14 [[ 9.73903651e-01 1.98822160e-01 -1.09459701e-01 1.17752609e+01] [-1.99453128e-01 9.79893221e-01 5.26547782e-03 -1.81202444e+00] [ 1.08305713e-01 1.67040117e-02 9.93977288e-01 1.13690665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.246296757 meters Centerline goodness : 0.805119 with order 1 Centerline is valid? [False, False] Translation: X:11.77, Y:-1.81, Z:1.14 [[ 9.74577373e-01 1.95441476e-01 -1.09551693e-01 1.17737144e+01] [-1.96432164e-01 9.80515799e-01 1.78100260e-03 -1.81113751e+00] [ 1.07765248e-01 1.97837514e-02 9.93979504e-01 1.13719489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.306296757 meters Centerline goodness : 0.801480 with order 1 Centerline is valid? [False, False] Translation: X:11.77, Y:-1.81, Z:1.14 [[ 9.73954823e-01 1.98987502e-01 -1.08701318e-01 1.17746961e+01] [-1.99555573e-01 9.79869711e-01 5.73786437e-03 -1.81154047e+00] [ 1.07654892e-01 1.61035331e-02 9.94057896e-01 1.13714218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.36629675700001 meters Centerline goodness : 0.801147 with order 1 Centerline is valid? [False, False] Translation: X:11.77, Y:-1.81, Z:1.14 [[ 9.73935054e-01 1.99163873e-01 -1.08555343e-01 1.17746161e+01] [-1.99734952e-01 9.79833395e-01 5.69794810e-03 -1.81059153e+00] [ 1.07500976e-01 1.61328649e-02 9.94074077e-01 1.13709709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.42629675700002 meters Centerline goodness : 0.795696 with order 1 Centerline is valid? [False, False] Translation: X:11.77, Y:-1.81, Z:1.14 [[ 9.73767209e-01 2.00411284e-01 -1.07762422e-01 1.17726285e+01] [-2.00952424e-01 9.79583076e-01 5.92619815e-03 -1.80840224e+00] [ 1.06749921e-01 1.58843824e-02 9.94159012e-01 1.13762702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.48629675700002 meters Centerline goodness : 0.793016 with order 1 Centerline is valid? [False, False] Translation: X:11.78, Y:-1.81, Z:1.14 [[ 9.73341790e-01 2.02293480e-01 -1.08088425e-01 1.17775259e+01] [-2.02598532e-01 9.79226983e-01 8.26745322e-03 -1.80729408e+00] [ 1.07515554e-01 1.38514985e-02 9.94106907e-01 1.13555952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.546296757 meters Centerline goodness : 0.792133 with order 1 Centerline is valid? [False, False] Translation: X:11.78, Y:-1.81, Z:1.14 [[ 9.73415114e-01 2.01730672e-01 -1.08479267e-01 1.17790204e+01] [-2.02049622e-01 9.79341304e-01 8.15845290e-03 -1.80768418e+00] [ 1.07884037e-01 1.39766336e-02 9.94065233e-01 1.13521423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.606296757 meters Centerline goodness : 0.791321 with order 1 Centerline is valid? [False, False] Translation: X:11.78, Y:-1.81, Z:1.14 [[ 9.73739863e-01 2.00190531e-01 -1.08417848e-01 1.17800447e+01] [-2.00562437e-01 9.79651631e-01 7.57568278e-03 -1.80776827e+00] [ 1.07728302e-01 1.43678036e-02 9.94076546e-01 1.13502655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.666296757 meters Centerline goodness : 0.792644 with order 1 Centerline is valid? [False, False] Translation: X:11.78, Y:-1.81, Z:1.14 [[ 9.73934690e-01 1.99348626e-01 -1.08218966e-01 1.17804657e+01] [-1.99702301e-01 9.79826595e-01 7.67043771e-03 -1.80870898e+00] [ 1.07564912e-01 1.41410710e-02 9.94097490e-01 1.13518296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.726296757 meters Centerline goodness : 0.791488 with order 1 Centerline is valid? [False, False] Translation: X:11.78, Y:-1.81, Z:1.14 [[ 9.74028926e-01 1.98719057e-01 -1.08528278e-01 1.17819541e+01] [-1.99046239e-01 9.79958094e-01 7.92009437e-03 -1.81013970e+00] [ 1.07927038e-01 1.38877445e-02 9.94061811e-01 1.13504507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.786296757 meters Centerline goodness : 0.791317 with order 1 Centerline is valid? [False, False] Translation: X:11.78, Y:-1.81, Z:1.14 [[ 9.74012976e-01 1.98849095e-01 -1.08433207e-01 1.17819732e+01] [-1.99153685e-01 9.79934601e-01 8.12329965e-03 -1.80981495e+00] [ 1.07872762e-01 1.36826734e-02 9.94070547e-01 1.13533801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.846296757 meters Centerline goodness : 0.791202 with order 1 Centerline is valid? [False, False] Translation: X:11.78, Y:-1.81, Z:1.13 [[ 9.73973845e-01 1.99001615e-01 -1.08504867e-01 1.17828706e+01] [-1.99334247e-01 9.79899853e-01 7.88269049e-03 -1.80854235e+00] [ 1.07892571e-01 1.39512016e-02 9.94064664e-01 1.13459940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.906296757 meters Centerline goodness : 0.789296 with order 1 Centerline is valid? [False, False] Translation: X:11.78, Y:-1.81, Z:1.13 [[ 9.73342214e-01 2.02282155e-01 -1.08105802e-01 1.17849578e+01] [-2.02247500e-01 9.79268086e-01 1.14002075e-02 -1.80945587e+00] [ 1.08170621e-01 1.07678251e-02 9.94074027e-01 1.13377652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.966296757 meters Centerline goodness : 0.786500 with order 1 Centerline is valid? [False, False] Translation: X:11.79, Y:-1.81, Z:1.13 [[ 9.73215892e-01 2.02718615e-01 -1.08425048e-01 1.17857710e+01] [-2.02655380e-01 9.79180001e-01 1.17184803e-02 -1.80960794e+00] [ 1.08543193e-01 1.05683082e-02 9.94035556e-01 1.13372094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.026296757 meters Centerline goodness : 0.786070 with order 1 Centerline is valid? [False, False] Translation: X:11.79, Y:-1.81, Z:1.13 [[ 9.72464613e-01 2.06469300e-01 -1.08087949e-01 1.17872464e+01] [-2.05998249e-01 9.78427552e-01 1.56284179e-02 -1.81064579e+00] [ 1.08983016e-01 7.06784486e-03 9.94018485e-01 1.13363406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.086296757 meters Centerline goodness : 0.785585 with order 1 Centerline is valid? [False, False] Translation: X:11.79, Y:-1.81, Z:1.13 [[ 9.72197202e-01 2.08049661e-01 -1.07461338e-01 1.17850542e+01] [-2.07511622e-01 9.78096914e-01 1.62897070e-02 -1.80905829e+00] [ 1.08496671e-01 6.46266896e-03 9.94075805e-01 1.13477058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.14629675700002 meters Centerline goodness : 0.784220 with order 1 Centerline is valid? [False, False] Translation: X:11.78, Y:-1.81, Z:1.14 [[ 9.71793562e-01 2.10295878e-01 -1.06737605e-01 1.17828461e+01] [-2.09629894e-01 9.77623307e-01 1.75493050e-02 -1.80641513e+00] [ 1.08039717e-01 5.32109112e-03 9.94132338e-01 1.13627704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.20629675700002 meters Centerline goodness : 0.784490 with order 1 Centerline is valid? [False, False] Translation: X:11.78, Y:-1.80, Z:1.14 [[ 9.71354668e-01 2.12634853e-01 -1.06096791e-01 1.17806161e+01] [-2.11850613e-01 9.77122383e-01 1.87394259e-02 -1.80314166e+00] [ 1.07654204e-01 4.27404139e-03 9.94179212e-01 1.13805559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.266296757 meters Centerline goodness : 0.782974 with order 1 Centerline is valid? [False, False] Translation: X:11.78, Y:-1.80, Z:1.14 [[ 9.70525154e-01 2.16580877e-01 -1.05705482e-01 1.17817187e+01] [-2.15456510e-01 9.76263753e-01 2.20811299e-02 -1.80126975e+00] [ 1.07978781e-01 1.34464232e-03 9.94152290e-01 1.13830569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.326296757 meters Centerline goodness : 0.778342 with order 1 Centerline is valid? [False, False] Translation: X:11.78, Y:-1.80, Z:1.14 [[ 9.69723827e-01 2.20149777e-01 -1.05687152e-01 1.17849153e+01] [-2.18760153e-01 9.75465717e-01 2.47109300e-02 -1.79801303e+00] [ 1.08534300e-01 -8.42640022e-04 9.94092348e-01 1.13668705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.386296757 meters Centerline goodness : 0.777236 with order 1 Centerline is valid? [False, False] Translation: X:11.79, Y:-1.79, Z:1.14 [[ 9.69542352e-01 2.20839150e-01 -1.05913635e-01 1.17854019e+01] [-2.19476994e-01 9.75310113e-01 2.44955813e-02 -1.79469584e+00] [ 1.08708223e-01 -5.03897210e-04 9.94073573e-01 1.13687055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.446296757 meters Centerline goodness : 0.775256 with order 1 Centerline is valid? [False, False] Translation: X:11.79, Y:-1.79, Z:1.14 [[ 9.69537106e-01 2.20601734e-01 -1.06455038e-01 1.17868492e+01] [-2.19271680e-01 9.75363964e-01 2.41881634e-02 -1.79276220e+00] [ 1.09168359e-01 -1.08746850e-04 9.94023268e-01 1.13696437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.506296757 meters Centerline goodness : 0.777153 with order 1 Centerline is valid? [False, False] Translation: X:11.79, Y:-1.79, Z:1.14 [[ 9.69605293e-01 2.20013908e-01 -1.07048849e-01 1.17888287e+01] [-2.18719852e-01 9.75496686e-01 2.38294174e-02 -1.79107156e+00] [ 1.09668601e-01 3.08579228e-04 9.93968160e-01 1.13673132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.566296757 meters Centerline goodness : 0.779773 with order 1 Centerline is valid? [False, False] Translation: X:11.79, Y:-1.79, Z:1.14 [[ 9.70394429e-01 2.16160359e-01 -1.07746698e-01 1.17878782e+01] [-2.15228095e-01 9.76351798e-01 2.03478201e-02 -1.79006474e+00] [ 1.09597074e-01 3.44470523e-03 9.93970128e-01 1.13814026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.626296757 meters Centerline goodness : 0.782528 with order 1 Centerline is valid? [False, False] Translation: X:11.79, Y:-1.79, Z:1.14 [[ 9.70541065e-01 2.15334536e-01 -1.08079036e-01 1.17888549e+01] [-2.14410099e-01 9.76533968e-01 2.02415110e-02 -1.79026157e+00] [ 1.09901546e-01 3.52801920e-03 9.93936217e-01 1.13844936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.686296757 meters Centerline goodness : 0.785337 with order 2 Centerline is valid? [False, False] Translation: X:11.79, Y:-1.79, Z:1.14 [[ 9.70458732e-01 2.15451270e-01 -1.08584531e-01 1.17902838e+01] [-2.14584045e-01 9.76505840e-01 1.97492530e-02 -1.78714769e+00] [ 1.10288430e-01 4.13467278e-03 9.93891024e-01 1.13821350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.746296757 meters Centerline goodness : 0.786952 with order 1 Centerline is valid? [False, False] Translation: X:11.79, Y:-1.78, Z:1.14 [[ 9.70305629e-01 2.15981757e-01 -1.08898428e-01 1.17906483e+01] [-2.15131633e-01 9.76387605e-01 1.96373453e-02 -1.78474295e+00] [ 1.10568383e-01 4.37326994e-03 9.93858897e-01 1.13869531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.806296757 meters Centerline goodness : 0.791551 with order 3 Centerline is valid? [False, False] Translation: X:11.79, Y:-1.78, Z:1.14 [[ 9.69394047e-01 2.20307505e-01 -1.08350287e-01 1.17913342e+01] [-2.19166826e-01 9.75428503e-01 2.24752838e-02 -1.78149102e+00] [ 1.10639432e-01 1.95938214e-03 9.93858681e-01 1.13873112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.86629675700001 meters Centerline goodness : 0.784881 with order 3 Centerline is valid? [False, False] Translation: X:11.79, Y:-1.78, Z:1.14 [[ 9.68466504e-01 2.24602621e-01 -1.07825287e-01 1.17925477e+01] [-2.23126302e-01 9.74450067e-01 2.57239173e-02 -1.77835711e+00] [ 1.10848017e-01 -8.54094763e-04 9.93837003e-01 1.13865047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.92629675700002 meters Centerline goodness : 0.784002 with order 3 Centerline is valid? [False, False] Translation: X:11.79, Y:-1.78, Z:1.14 [[ 9.68336630e-01 2.25062487e-01 -1.08032625e-01 1.17931078e+01] [-2.23636164e-01 9.74344273e-01 2.53002778e-02 -1.77551953e+00] [ 1.10955113e-01 -3.39184033e-04 9.93825361e-01 1.13862585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.98629675700002 meters Centerline goodness : 0.783533 with order 3 Centerline is valid? [False, False] Translation: X:11.79, Y:-1.77, Z:1.14 [[ 9.68302415e-01 2.25113689e-01 -1.08232432e-01 1.17933482e+01] [-2.23709986e-01 9.74332499e-01 2.51002643e-02 -1.77358526e+00] [ 1.11104789e-01 -9.19706508e-05 9.93808693e-01 1.13925144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.046296757 meters Centerline goodness : 0.781506 with order 2 Centerline is valid? [False, False] Translation: X:11.79, Y:-1.77, Z:1.14 [[ 9.68332321e-01 2.24824023e-01 -1.08566451e-01 1.17945012e+01] [-2.23459463e-01 9.74399335e-01 2.47346947e-02 -1.77145419e+00] [ 1.11348031e-01 3.08796343e-04 9.93781425e-01 1.13925409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.106296757 meters Centerline goodness : 0.781942 with order 2 Centerline is valid? [False, False] Translation: X:11.79, Y:-1.77, Z:1.14 [[ 9.69107360e-01 2.21058510e-01 -1.09380344e-01 1.17936531e+01] [-2.20085310e-01 9.75253608e-01 2.10441427e-02 -1.76930506e+00] [ 1.11325562e-01 3.67897345e-03 9.93777180e-01 1.14061977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.166296757 meters Centerline goodness : 0.795651 with order 3 Centerline is valid? [False, False] Translation: X:11.79, Y:-1.77, Z:1.14 [[ 9.69178960e-01 2.20661539e-01 -1.09547383e-01 1.17936451e+01] [-2.19684992e-01 9.75343583e-01 2.10570420e-02 -1.76892140e+00] [ 1.11492816e-01 3.65787385e-03 9.93758508e-01 1.14166811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.226296757 meters Centerline goodness : 0.797970 with order 2 Centerline is valid? [False, False] Translation: X:11.80, Y:-1.76, Z:1.14 [[ 9.69265325e-01 2.20040174e-01 -1.10032044e-01 1.17953244e+01] [-2.19150510e-01 9.75480568e-01 2.02661313e-02 -1.76455059e+00] [ 1.11793484e-01 4.47032022e-03 9.93721406e-01 1.14200129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.286296757 meters Centerline goodness : 0.794048 with order 2 Centerline is valid? [False, False] Translation: X:11.80, Y:-1.77, Z:1.14 [[ 9.68515166e-01 2.23339238e-01 -1.09990718e-01 1.17974929e+01] [-2.22026822e-01 9.74740279e-01 2.41966448e-02 -1.76605903e+00] [ 1.12616443e-01 9.86072111e-04 9.93638045e-01 1.14217007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.346296757 meters Centerline goodness : 0.805012 with order 2 Centerline is valid? [False, False] Translation: X:11.80, Y:-1.76, Z:1.14 [[ 9.68452635e-01 2.23575986e-01 -1.10060310e-01 1.17972789e+01] [-2.22315033e-01 9.74685408e-01 2.37567181e-02 -1.76338795e+00] [ 1.12585610e-01 1.46080521e-03 9.93640955e-01 1.14283033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.406296757 meters Centerline goodness : 0.820949 with order 3 Centerline is valid? [False, False] Translation: X:11.80, Y:-1.75, Z:1.15 [[ 9.67587171e-01 2.19954876e-01 -1.24076262e-01 1.17999605e+01] [-2.18719945e-01 9.75500808e-01 2.36592094e-02 -1.75428218e+00] [ 1.26240452e-01 4.24560572e-03 9.91990586e-01 1.14888258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.466296757 meters Centerline goodness : 0.803541 with order 2 Centerline is valid? [False, False] Translation: X:11.80, Y:-1.75, Z:1.15 [[ 9.66854617e-01 2.22971774e-01 -1.24401521e-01 1.18020057e+01] [-2.21753915e-01 9.74813849e-01 2.37310330e-02 -1.75020449e+00] [ 1.26559676e-01 4.64206549e-03 9.91948134e-01 1.14939366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.526296757 meters Centerline goodness : 0.795817 with order 2 Centerline is valid? [False, False] Translation: X:11.80, Y:-1.75, Z:1.15 [[ 9.66674984e-01 2.23356485e-01 -1.25105380e-01 1.18024911e+01] [-2.22482751e-01 9.74708409e-01 2.10936906e-02 -1.74712444e+00] [ 1.26652678e-01 7.44304598e-03 9.91919200e-01 1.15117116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.586296757 meters Centerline goodness : 0.795169 with order 2 Centerline is valid? [False, False] Translation: X:11.80, Y:-1.74, Z:1.15 [[ 9.66373912e-01 2.25931749e-01 -1.22785612e-01 1.18006075e+01] [-2.24652746e-01 9.74134688e-01 2.43465120e-02 -1.74437534e+00] [ 1.25110374e-01 4.05629085e-03 9.92134538e-01 1.15054048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.64629675700002 meters Centerline goodness : 0.795251 with order 2 Centerline is valid? [False, False] Translation: X:11.80, Y:-1.74, Z:1.15 [[ 9.65982983e-01 2.27148642e-01 -1.23613795e-01 1.18040865e+01] [-2.25968990e-01 9.73846907e-01 2.36689081e-02 -1.74246885e+00] [ 1.25757272e-01 5.06912183e-03 9.92048090e-01 1.14945221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.70629675700002 meters Centerline goodness : 0.823335 with order 3 Centerline is valid? [False, False] Translation: X:11.80, Y:-1.74, Z:1.15 [[ 9.65661825e-01 2.28800752e-01 -1.23074997e-01 1.18036775e+01] [-2.27599887e-01 9.73460880e-01 2.39208551e-02 -1.73910919e+00] [ 1.25281804e-01 4.91239880e-03 9.92109035e-01 1.15045625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.766296757 meters Centerline goodness : 0.799615 with order 2 Centerline is valid? [False, False] Translation: X:11.80, Y:-1.74, Z:1.15 [[ 9.64789120e-01 2.33129040e-01 -1.21790007e-01 1.18048574e+01] [-2.31481821e-01 9.72444706e-01 2.77030784e-02 -1.73658387e+00] [ 1.24892440e-01 1.46454396e-03 9.92169206e-01 1.14920291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.826296757 meters Centerline goodness : 0.794706 with order 2 Centerline is valid? [False, False] Translation: X:11.81, Y:-1.73, Z:1.15 [[ 9.64152168e-01 2.35426147e-01 -1.22413753e-01 1.18066852e+01] [-2.33870791e-01 9.71889099e-01 2.71299272e-02 -1.73374341e+00] [ 1.25359686e-01 2.47162318e-03 9.92108280e-01 1.15016464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.886296757 meters Centerline goodness : 0.797809 with order 2 Centerline is valid? [False, False] Translation: X:11.81, Y:-1.73, Z:1.15 [[ 9.63290471e-01 2.39251096e-01 -1.21780056e-01 1.18068779e+01] [-2.37486262e-01 9.70957251e-01 2.90222664e-02 -1.73111196e+00] [ 1.25186838e-01 9.64217719e-04 9.92132716e-01 1.15114584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.946296757 meters Centerline goodness : 0.799498 with order 2 Centerline is valid? [False, False] Translation: X:11.81, Y:-1.73, Z:1.15 [[ 9.62322746e-01 2.43026091e-01 -1.21955940e-01 1.18098533e+01] [-2.41017486e-01 9.70019555e-01 3.11870949e-02 -1.72996110e+00] [ 1.25878924e-01 -6.18536816e-04 9.92045419e-01 1.15034202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.006296757 meters Centerline goodness : 0.802126 with order 2 Centerline is valid? [False, False] Translation: X:11.81, Y:-1.73, Z:1.15 [[ 9.62280662e-01 2.42705754e-01 -1.22922106e-01 1.18129170e+01] [-2.40828550e-01 9.70099763e-01 3.01340263e-02 -1.72927408e+00] [ 1.26560407e-01 6.05761740e-04 9.91958717e-01 1.14926418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.066296757 meters Centerline goodness : 0.798760 with order 2 Centerline is valid? [False, False] Translation: X:11.81, Y:-1.73, Z:1.15 [[ 9.63570594e-01 2.37500047e-01 -1.22985518e-01 1.18110022e+01] [-2.36047359e-01 9.71381113e-01 2.64646307e-02 -1.72933061e+00] [ 1.25751160e-01 3.52986670e-03 9.92055536e-01 1.14956948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.126296757 meters Centerline goodness : 0.798070 with order 2 Centerline is valid? [False, False] Translation: X:11.81, Y:-1.73, Z:1.15 [[ 9.64946100e-01 2.31292795e-01 -1.24026882e-01 1.18130565e+01] [-2.30182597e-01 9.72865917e-01 2.34068455e-02 -1.73170142e+00] [ 1.26075361e-01 5.96248545e-03 9.92002748e-01 1.14658418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.186296757 meters Centerline goodness : 0.797712 with order 2 Centerline is valid? [False, False] Translation: X:11.81, Y:-1.74, Z:1.14 [[ 9.66156196e-01 2.26282249e-01 -1.23848897e-01 1.18124323e+01] [-2.25358264e-01 9.74036366e-01 2.16058198e-02 -1.73507782e+00] [ 1.25522343e-01 7.03577569e-03 9.92065844e-01 1.14444983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.246296757 meters Centerline goodness : 0.794021 with order 2 Centerline is valid? [False, False] Translation: X:11.82, Y:-1.74, Z:1.14 [[ 9.67624575e-01 2.18942319e-01 -1.25566485e-01 1.18151866e+01] [-2.18546241e-01 9.75676886e-01 1.70925171e-02 -1.74006566e+00] [ 1.26254593e-01 1.09029438e-02 9.91937953e-01 1.14109124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.306296757 meters Centerline goodness : 0.814191 with order 3 Centerline is valid? [False, False] Translation: X:11.82, Y:-1.75, Z:1.14 [[ 9.68313678e-01 2.15997040e-01 -1.25355096e-01 1.18163578e+01] [-2.15468208e-01 9.76346309e-01 1.79258753e-02 -1.74573228e+00] [ 1.26261921e-01 9.65216760e-03 9.91949980e-01 1.13737473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.36629675700001 meters Centerline goodness : 0.788090 with order 2 Centerline is valid? [False, False] Translation: X:11.82, Y:-1.75, Z:1.14 [[ 9.68712463e-01 2.13659255e-01 -1.26277021e-01 1.18182218e+01] [-2.13225743e-01 9.76853305e-01 1.70998236e-02 -1.75178860e+00] [ 1.27007661e-01 1.03606994e-02 9.91847624e-01 1.13513462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.42629675700002 meters Centerline goodness : 0.783936 with order 2 Centerline is valid? [False, False] Translation: X:11.82, Y:-1.76, Z:1.13 [[ 0.96845436 0.21306144 -0.12923222 11.82359889] [-0.21296912 0.97694841 0.01469575 -1.75606755] [ 0.1293843 0.01329031 0.99150546 1.13419899] [ 0. 0. 0. 1. ]] SLAMing on 152.48629675700002 meters Centerline goodness : 0.783506 with order 2 Centerline is valid? [False, False] Translation: X:11.83, Y:-1.76, Z:1.13 [[ 0.96711971 0.22185481 -0.1243379 11.83177461] [-0.2219541 0.97496735 0.01323015 -1.76159022] [ 0.12416056 0.01480217 0.99215173 1.128042 ] [ 0. 0. 0. 1. ]] SLAMing on 152.546296757 meters Centerline goodness : 0.782642 with order 2 Centerline is valid? [False, False] Translation: X:11.84, Y:-1.76, Z:1.13 [[ 0.96530084 0.22774341 -0.12777805 11.83827413] [-0.22806796 0.97356774 0.01228258 -1.76280872] [ 0.12719786 0.0172857 0.99172673 1.12973621] [ 0. 0. 0. 1. ]] SLAMing on 152.606296757 meters Centerline goodness : 0.780819 with order 2 Centerline is valid? [False, False] Translation: X:11.84, Y:-1.76, Z:1.13 [[ 0.96379777 0.23362248 -0.12850832 11.84149426] [-0.23369425 0.97219849 0.01473386 -1.76261256] [ 0.12837776 0.01583119 0.99159897 1.13042584] [ 0. 0. 0. 1. ]] SLAMing on 152.666296757 meters Centerline goodness : 0.778108 with order 2 Centerline is valid? [False, False] Translation: X:11.84, Y:-1.76, Z:1.13 [[ 0.96268837 0.23841238 -0.12802594 11.84278711] [-0.23810231 0.97107423 0.01794786 -1.76170272] [ 0.12860169 0.01320507 0.99160841 1.13060006] [ 0. 0. 0. 1. ]] SLAMing on 152.726296757 meters Centerline goodness : 0.776784 with order 2 Centerline is valid? [False, False] Translation: X:11.85, Y:-1.76, Z:1.13 [[ 0.9623459 0.23897579 -0.12954125 11.84573728] [-0.23886067 0.97091099 0.016656 -1.76086166] [ 0.1297534 0.01491347 0.99143413 1.13109458] [ 0. 0. 0. 1. ]] SLAMing on 152.786296757 meters Centerline goodness : 0.778791 with order 2 Centerline is valid? [False, False] Translation: X:11.85, Y:-1.76, Z:1.13 [[ 0.96288949 0.23668693 -0.12970402 11.84691941] [-0.23687062 0.97143693 0.01423384 -1.75779711] [ 0.12936824 0.01701746 0.99145059 1.13056916] [ 0. 0. 0. 1. ]] SLAMing on 152.846296757 meters Centerline goodness : 0.788075 with order 2 Centerline is valid? [False, False] Translation: X:11.85, Y:-1.76, Z:1.13 [[ 9.63549810e-01 2.32950117e-01 -1.31552299e-01 1.18510291e+01] [-2.33573663e-01 9.72278138e-01 1.08888050e-02 -1.75725453e+00] [ 1.30441973e-01 2.02352463e-02 9.91249427e-01 1.12875479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.906296757 meters Centerline goodness : 0.786918 with order 2 Centerline is valid? [False, False] Translation: X:11.85, Y:-1.76, Z:1.13 [[ 9.64951438e-01 2.27053452e-01 -1.31588194e-01 1.18514923e+01] [-2.27928508e-01 9.73640108e-01 8.57528125e-03 -1.75779574e+00] [ 1.30066591e-01 2.17179708e-02 9.91267376e-01 1.12658555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.966296757 meters Centerline goodness : 0.784367 with order 2 Centerline is valid? [False, False] Translation: X:11.85, Y:-1.76, Z:1.12 [[ 9.66343555e-01 2.21657495e-01 -1.30568331e-01 1.18505451e+01] [-2.22564897e-01 9.74886773e-01 7.78753774e-03 -1.75824212e+00] [ 1.29015505e-01 2.15344903e-02 9.91408728e-01 1.12408683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.026296757 meters Centerline goodness : 0.782031 with order 3 Centerline is valid? [False, False] Translation: X:11.85, Y:-1.76, Z:1.12 [[ 9.67373904e-01 2.18171536e-01 -1.28797948e-01 1.18492819e+01] [-2.18916254e-01 9.75706444e-01 8.52111450e-03 -1.75743272e+00] [ 1.27528053e-01 1.99528605e-02 9.91634247e-01 1.12145807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.086296757 meters Centerline goodness : 0.782541 with order 2 Centerline is valid? [False, False] Translation: X:11.85, Y:-1.76, Z:1.12 [[ 9.68099407e-01 2.15645634e-01 -1.27595061e-01 1.18475476e+01] [-2.16467709e-01 9.76260541e-01 7.55564471e-03 -1.75502189e+00] [ 1.26195365e-01 2.03055954e-02 9.91797566e-01 1.12089056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.14629675700002 meters Centerline goodness : 0.779459 with order 3 Centerline is valid? [False, False] Translation: X:11.85, Y:-1.75, Z:1.12 [[ 9.67767333e-01 2.17952193e-01 -1.26187287e-01 1.18462667e+01] [-2.18479010e-01 9.75792233e-01 9.82039089e-03 -1.75303818e+00] [ 1.25272951e-01 1.80654200e-02 9.91957826e-01 1.12142453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.20629675700002 meters Centerline goodness : 0.789421 with order 3 Centerline is valid? [False, False] Translation: X:11.85, Y:-1.75, Z:1.12 [[ 9.67071345e-01 2.20721290e-01 -1.26708819e-01 1.18509576e+01] [-2.21035579e-01 9.75194934e-01 1.17522180e-02 -1.75153829e+00] [ 1.26159763e-01 1.66419238e-02 9.91870335e-01 1.11903231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.266296757 meters Centerline goodness : 0.786355 with order 3 Centerline is valid? [False, False] Translation: X:11.85, Y:-1.75, Z:1.12 [[ 0.96594558 0.22540318 -0.1270533 11.85343591] [-0.22554742 0.97413948 0.01344005 -1.74948023] [ 0.12679706 0.01567419 0.99180483 1.11960194] [ 0. 0. 0. 1. ]] SLAMing on 153.326296757 meters Centerline goodness : 0.794338 with order 3 Centerline is valid? [False, False] Translation: X:11.86, Y:-1.75, Z:1.12 [[ 0.96477513 0.22898119 -0.1295244 11.85846248] [-0.22930123 0.97327343 0.01263996 -1.74915341] [ 0.12895697 0.01750539 0.99149567 1.12063588] [ 0. 0. 0. 1. ]] SLAMing on 153.386296757 meters Centerline goodness : 0.783893 with order 2 Centerline is valid? [False, False] Translation: X:11.86, Y:-1.75, Z:1.12 [[ 0.96292599 0.23566289 -0.13128797 11.86484927] [-0.23571267 0.97170099 0.01538607 -1.74791352] [ 0.13119858 0.01613059 0.99122487 1.12045724] [ 0. 0. 0. 1. ]] SLAMing on 153.446296757 meters Centerline goodness : 0.787731 with order 2 Centerline is valid? [False, False] Translation: X:11.87, Y:-1.75, Z:1.12 [[ 0.9626407 0.23554162 -0.13357781 11.86880692] [-0.23589739 0.97168578 0.01338561 -1.74917992] [ 0.13294853 0.01862512 0.99094793 1.12083374] [ 0. 0. 0. 1. ]] SLAMing on 153.506296757 meters Centerline goodness : 0.804308 with order 3 Centerline is valid? [False, False] Translation: X:11.87, Y:-1.75, Z:1.12 [[ 9.63484192e-01 2.31543428e-01 -1.34483653e-01 1.18700967e+01] [-2.32253824e-01 9.72597440e-01 1.06009779e-02 -1.74997177e+00] [ 1.33253043e-01 2.10204679e-02 9.90859105e-01 1.11969714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.566296757 meters Centerline goodness : 0.786294 with order 2 Centerline is valid? [False, False] Translation: X:11.87, Y:-1.75, Z:1.12 [[ 9.63971247e-01 2.29966029e-01 -1.33697644e-01 1.18694161e+01] [-2.30584092e-01 9.72989593e-01 1.10556809e-02 -1.74964156e+00] [ 1.32628847e-01 2.01711913e-02 9.90960500e-01 1.11876138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.626296757 meters Centerline goodness : 0.784659 with order 2 Centerline is valid? [False, False] Translation: X:11.87, Y:-1.75, Z:1.12 [[ 9.64215272e-01 2.27677099e-01 -1.35838312e-01 1.18733840e+01] [-2.28777436e-01 9.73448574e-01 7.66536013e-03 -1.74897722e+00] [ 1.33976838e-01 2.36856834e-02 9.90701365e-01 1.11821887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.686296757 meters Centerline goodness : 0.782157 with order 2 Centerline is valid? [False, False] Translation: X:11.88, Y:-1.75, Z:1.12 [[ 9.63981968e-01 2.28354386e-01 -1.36356295e-01 1.18751548e+01] [-2.29449642e-01 9.73288932e-01 7.84327221e-03 -1.74925107e+00] [ 1.34505118e-01 2.37261300e-02 9.90628812e-01 1.11774757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.746296757 meters Centerline goodness : 0.783023 with order 2 Centerline is valid? [False, False] Translation: X:11.87, Y:-1.75, Z:1.12 [[ 9.63432287e-01 2.31272609e-01 -1.35318912e-01 1.18747667e+01] [-2.31853517e-01 9.72680701e-01 1.16705015e-02 -1.75000804e+00] [ 1.34321161e-01 2.01304275e-02 9.90733360e-01 1.11761316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.806296757 meters Centerline goodness : 0.780550 with order 2 Centerline is valid? [False, False] Translation: X:11.88, Y:-1.75, Z:1.12 [[ 9.63003644e-01 2.32174871e-01 -1.36816707e-01 1.18770089e+01] [-2.32906889e-01 9.72438420e-01 1.08581877e-02 -1.75040605e+00] [ 1.35566821e-01 2.14090793e-02 9.90536869e-01 1.11893390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.86629675700001 meters Centerline goodness : 0.778976 with order 3 Centerline is valid? [False, False] Translation: X:11.88, Y:-1.75, Z:1.12 [[ 9.62407448e-01 2.34056076e-01 -1.37802965e-01 1.18793245e+01] [-2.34870360e-01 9.71969407e-01 1.05539213e-02 -1.75029643e+00] [ 1.36410476e-01 2.22086595e-02 9.90403432e-01 1.11936999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.92629675700002 meters Centerline goodness : 0.796801 with order 3 Centerline is valid? [False, False] Translation: X:11.88, Y:-1.75, Z:1.12 [[ 9.61922118e-01 2.34767631e-01 -1.39964277e-01 1.18844030e+01] [-2.35728863e-01 9.71768341e-01 9.90927258e-03 -1.75177040e+00] [ 1.38339230e-01 2.34616715e-02 9.90106968e-01 1.11876980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.98629675700002 meters Centerline goodness : 0.799066 with order 3 Centerline is valid? [False, False] Translation: X:11.88, Y:-1.75, Z:1.12 [[ 9.61804842e-01 2.35309015e-01 -1.39861047e-01 1.18843273e+01] [-2.36268199e-01 9.71636978e-01 9.94588977e-03 -1.75225306e+00] [ 1.38234522e-01 2.34787127e-02 9.90121188e-01 1.11893001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.046296757 meters Centerline goodness : 0.804949 with order 3 Centerline is valid? [False, False] Translation: X:11.89, Y:-1.75, Z:1.12 [[ 9.61501675e-01 2.35518068e-01 -1.41583080e-01 1.18878229e+01] [-2.36656974e-01 9.71551735e-01 8.98349724e-03 -1.75387009e+00] [ 1.39671063e-01 2.48689756e-02 9.89885614e-01 1.11871975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.106296757 meters Centerline goodness : 0.788551 with order 2 Centerline is valid? [False, False] Translation: X:11.89, Y:-1.75, Z:1.12 [[ 9.60515671e-01 2.38691620e-01 -1.42954384e-01 1.18911372e+01] [-2.39843264e-01 9.70766331e-01 9.37763604e-03 -1.75470032e+00] [ 1.41013666e-01 2.52792797e-02 9.89684851e-01 1.11910226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.166296757 meters Centerline goodness : 0.816567 with order 3 Centerline is valid? [False, False] Translation: X:11.89, Y:-1.76, Z:1.12 [[ 9.59880616e-01 2.40861608e-01 -1.43578860e-01 1.18923354e+01] [-2.41977714e-01 9.70231278e-01 9.90221201e-03 -1.75522014e+00] [ 1.41689764e-01 2.52379430e-02 9.89589338e-01 1.12011709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.226296757 meters Centerline goodness : 0.821099 with order 3 Centerline is valid? [False, False] Translation: X:11.90, Y:-1.76, Z:1.12 [[ 9.59186833e-01 2.42462448e-01 -1.45508009e-01 1.18969054e+01] [-2.43630401e-01 9.69816459e-01 1.00131935e-02 -1.75840688e+00] [ 1.43543885e-01 2.58456512e-02 9.89306401e-01 1.11925784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.286296757 meters Centerline goodness : 0.792974 with order 2 Centerline is valid? [False, False] Translation: X:11.90, Y:-1.76, Z:1.12 [[ 9.58721065e-01 2.43679724e-01 -1.46540481e-01 1.18998507e+01] [-2.44827847e-01 9.69510464e-01 1.04300741e-02 -1.76020018e+00] [ 1.44614127e-01 2.58776585e-02 9.89149686e-01 1.11858712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.346296757 meters Centerline goodness : 0.786224 with order 2 Centerline is valid? [False, False] Translation: X:11.91, Y:-1.77, Z:1.11 [[ 9.58925585e-01 2.45351233e-01 -1.42353414e-01 1.19103489e+01] [-2.47382543e-01 9.68911468e-01 3.52765873e-03 -1.76685454e+00] [ 1.38793370e-01 3.18329872e-02 9.89809609e-01 1.11139520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.406296757 meters Centerline goodness : 0.782986 with order 2 Centerline is valid? [False, False] Translation: X:11.91, Y:-1.77, Z:1.11 [[ 9.60215341e-01 2.39555494e-01 -1.43525831e-01 1.19104829e+01] [-2.41986413e-01 9.70279491e-01 5.34512557e-04 -1.77153035e+00] [ 1.39388216e-01 3.42180540e-02 9.89646427e-01 1.11062196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.466296757 meters Centerline goodness : 0.781593 with order 2 Centerline is valid? [False, False] Translation: X:11.92, Y:-1.78, Z:1.10 [[ 9.60976901e-01 2.41646881e-01 -1.34648361e-01 1.19152558e+01] [-2.44402094e-01 9.69665429e-01 -4.07090359e-03 -1.77704016e+00] [ 1.29580139e-01 3.68203856e-02 9.90885082e-01 1.10401987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.526296757 meters Centerline goodness : 0.779471 with order 2 Centerline is valid? [False, False] Translation: X:11.92, Y:-1.78, Z:1.10 [[ 9.61110781e-01 2.40567999e-01 -1.35621182e-01 1.19160932e+01] [-2.43435835e-01 9.69905503e-01 -4.72330116e-03 -1.78028060e+00] [ 1.30403456e-01 3.75546714e-02 9.90749507e-01 1.10430926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.586296757 meters Centerline goodness : 0.780264 with order 2 Centerline is valid? [False, False] Translation: X:11.92, Y:-1.78, Z:1.11 [[ 9.60233830e-01 2.42285288e-01 -1.38740156e-01 1.19212343e+01] [-2.45493378e-01 9.69378220e-01 -6.23442929e-03 -1.78283251e+00] [ 1.32981175e-01 4.00462994e-02 9.90309195e-01 1.10511689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.64629675700002 meters Centerline goodness : 0.784549 with order 3 Centerline is valid? [False, False] Translation: X:11.92, Y:-1.78, Z:1.11 [[ 9.58374778e-01 2.48860545e-01 -1.39950757e-01 1.19248647e+01] [-2.51719347e-01 9.67796154e-01 -2.82381144e-03 -1.78472083e+00] [ 1.34741070e-01 3.79345829e-02 9.90154438e-01 1.10624348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.70629675700002 meters Centerline goodness : 0.780216 with order 3 Centerline is valid? [False, False] Translation: X:11.93, Y:-1.79, Z:1.11 [[ 9.56403486e-01 2.55525376e-01 -1.41418368e-01 1.19293505e+01] [-2.58030942e-01 9.66136441e-01 6.41257275e-04 -1.78682757e+00] [ 1.36793296e-01 3.58770140e-02 9.89949713e-01 1.10687613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.766296757 meters Centerline goodness : 0.776879 with order 2 Centerline is valid? [False, False] Translation: X:11.94, Y:-1.79, Z:1.11 [[ 9.55231458e-01 2.58335141e-01 -1.44207549e-01 1.19358232e+01] [-2.60874715e-01 9.65371731e-01 1.34325922e-03 -1.79043686e+00] [ 1.39560903e-01 3.63369798e-02 9.89546552e-01 1.10569339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.826296757 meters Centerline goodness : 0.778906 with order 3 Centerline is valid? [False, False] Translation: X:11.94, Y:-1.80, Z:1.11 [[ 9.55679584e-01 2.55565527e-01 -1.46160164e-01 1.19409407e+01] [-2.57945861e-01 9.66155449e-01 2.75337292e-03 -1.79666682e+00] [ 1.41917106e-01 3.50700671e-02 9.89257108e-01 1.10736655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.886296757 meters Centerline goodness : 0.775236 with order 2 Centerline is valid? [False, False] Translation: X:11.94, Y:-1.80, Z:1.11 [[ 9.55696561e-01 2.55447680e-01 -1.46255142e-01 1.19399204e+01] [-2.57490888e-01 9.66267208e-01 5.11134286e-03 -1.80146638e+00] [ 1.42627228e-01 3.27744736e-02 9.89233697e-01 1.11085309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.946296757 meters Centerline goodness : 0.774426 with order 2 Centerline is valid? [False, False] Translation: X:11.94, Y:-1.80, Z:1.11 [[ 9.56668766e-01 2.51162937e-01 -1.47316161e-01 1.19390335e+01] [-2.53537809e-01 9.67321597e-01 2.73989156e-03 -1.80420325e+00] [ 1.43190264e-01 3.47290481e-02 9.89085659e-01 1.11294269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.006296757 meters Centerline goodness : 0.768797 with order 2 Centerline is valid? [False, False] Translation: X:11.94, Y:-1.81, Z:1.12 [[ 9.56892258e-01 2.49820772e-01 -1.48144485e-01 1.19407933e+01] [-2.51710675e-01 9.67782938e-01 6.15807073e-03 -1.81159447e+00] [ 1.44910119e-01 3.13969381e-02 9.88946556e-01 1.11722266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.066296757 meters Centerline goodness : 0.771256 with order 3 Centerline is valid? [False, False] Translation: X:11.94, Y:-1.81, Z:1.12 [[ 9.57094149e-01 2.48860886e-01 -1.48455548e-01 1.19415020e+01] [-2.50709370e-01 9.68041023e-01 6.43341000e-03 -1.81484413e+00] [ 1.45312085e-01 3.10618179e-02 9.88898155e-01 1.11729474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.126296757 meters Centerline goodness : 0.767937 with order 2 Centerline is valid? [False, False] Translation: X:11.94, Y:-1.82, Z:1.12 [[ 9.57252167e-01 2.47813971e-01 -1.49186204e-01 1.19435859e+01] [-2.49523837e-01 9.68340023e-01 7.44675718e-03 -1.81894629e+00] [ 1.46308383e-01 3.00970896e-02 9.88781079e-01 1.11779296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.186296757 meters Centerline goodness : 0.772154 with order 2 Centerline is valid? [False, False] Translation: X:11.95, Y:-1.82, Z:1.12 [[ 9.57452681e-01 2.46692315e-01 -1.49757355e-01 1.19459647e+01] [-2.48366333e-01 9.68635426e-01 7.71850908e-03 -1.82265692e+00] [ 1.46964376e-01 2.98045779e-02 9.88692652e-01 1.11686338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.246296757 meters Centerline goodness : 0.769868 with order 2 Centerline is valid? [False, False] Translation: X:11.95, Y:-1.83, Z:1.12 [[ 0.95668175 0.2498312 -0.14948046 11.94835095] [-0.25086827 0.96794452 0.01218657 -1.82730191] [ 0.14773337 0.02584124 0.98868958 1.11677133] [ 0. 0. 0. 1. ]] SLAMing on 155.306296757 meters Centerline goodness : 0.776480 with order 3 Centerline is valid? [False, False] Translation: X:11.95, Y:-1.83, Z:1.12 [[ 0.95556975 0.25474742 -0.14829095 11.94821638] [-0.25491441 0.96679227 0.01820304 -1.83106864] [ 0.14800373 0.02040722 0.98877623 1.11875276] [ 0. 0. 0. 1. ]] SLAMing on 155.36629675700001 meters Centerline goodness : 0.771406 with order 2 Centerline is valid? [False, False] Translation: X:11.95, Y:-1.83, Z:1.12 [[ 0.95527688 0.25607696 -0.14788734 11.9463524 ] [-0.25603163 0.96646823 0.01967136 -1.83387389] [ 0.1479658 0.01907224 0.98880856 1.12004815] [ 0. 0. 0. 1. ]] SLAMing on 155.42629675700002 meters Centerline goodness : 0.776021 with order 3 Centerline is valid? [False, False] Translation: X:11.95, Y:-1.84, Z:1.13 [[ 9.54507097e-01 2.59311053e-01 -1.47220851e-01 1.19482871e+01] [-2.58043283e-01 9.65728000e-01 2.79838008e-02 -1.84193669e+00] [ 1.49431807e-01 1.12786154e-02 9.88707706e-01 1.12600036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.48629675700002 meters Centerline goodness : 0.771242 with order 1 Centerline is valid? [False, False] Translation: X:11.95, Y:-1.85, Z:1.13 [[ 9.54596347e-01 2.58614522e-01 -1.47865966e-01 1.19497080e+01] [-2.57080896e-01 9.65932546e-01 2.97275953e-02 -1.84749201e+00] [ 1.50516537e-01 9.63566129e-03 9.88560532e-01 1.12746272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.546296757 meters Centerline goodness : 0.770203 with order 1 Centerline is valid? [False, False] Translation: X:11.95, Y:-1.85, Z:1.13 [[ 0.95570925 0.25362186 -0.14931774 11.95072033] [-0.25252978 0.96722481 0.0265495 -1.8504239 ] [ 0.15115735 0.01233358 0.98843277 1.12782274] [ 0. 0. 0. 1. ]] SLAMing on 155.606296757 meters Centerline goodness : 0.769856 with order 1 Centerline is valid? [False, False] Translation: X:11.95, Y:-1.85, Z:1.13 [[ 0.95675962 0.24897382 -0.15040968 11.95036479] [-0.24823907 0.96840277 0.02394673 -1.85424087] [ 0.15161926 0.01442629 0.98833369 1.12924323] [ 0. 0. 0. 1. ]] SLAMing on 155.666296757 meters Centerline goodness : 0.768921 with order 1 Centerline is valid? [False, False] Translation: X:11.95, Y:-1.86, Z:1.13 [[ 0.95768265 0.24499828 -0.15106222 11.94868448] [-0.24468096 0.96937669 0.02097748 -1.85540815] [ 0.15157564 0.01687228 0.98830165 1.13070981] [ 0. 0. 0. 1. ]] SLAMing on 155.726296757 meters Centerline goodness : 0.769717 with order 1 Centerline is valid? [False, False] Translation: X:11.95, Y:-1.86, Z:1.13 [[ 0.9576362 0.24515036 -0.15110994 11.94840103] [-0.24467229 0.96935526 0.02204195 -1.85735523] [ 0.1518828 0.01586425 0.98827119 1.13208609] [ 0. 0. 0. 1. ]] SLAMing on 155.786296757 meters Centerline goodness : 0.767614 with order 1 Centerline is valid? [False, False] Translation: X:11.95, Y:-1.86, Z:1.13 [[ 0.95754045 0.24537681 -0.15134897 11.94950107] [-0.24494119 0.96929261 0.02180943 -1.85618578] [ 0.15205296 0.01618819 0.98823977 1.13135909] [ 0. 0. 0. 1. ]] SLAMing on 155.846296757 meters Centerline goodness : 0.765242 with order 1 Centerline is valid? [False, False] Translation: X:11.95, Y:-1.86, Z:1.13 [[ 0.95662021 0.24916053 -0.15098612 11.95159452] [-0.24821607 0.96837223 0.02537737 -1.85634447] [ 0.1525338 0.01320068 0.98821009 1.13083316] [ 0. 0. 0. 1. ]] SLAMing on 155.906296757 meters Centerline goodness : 0.766945 with order 1 Centerline is valid? [False, False] Translation: X:11.95, Y:-1.86, Z:1.13 [[ 9.55528682e-01 2.53807339e-01 -1.50155826e-01 1.19514976e+01] [-2.52266524e-01 9.67206666e-01 2.95443137e-02 -1.85706070e+00] [ 1.52730279e-01 9.64884916e-03 9.88220806e-01 1.13154870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.966296757 meters Centerline goodness : 0.761307 with order 1 Centerline is valid? [False, False] Translation: X:11.95, Y:-1.86, Z:1.13 [[ 9.54509350e-01 2.58009913e-01 -1.49475033e-01 1.19526677e+01] [-2.55927578e-01 9.66120862e-01 3.33399744e-02 -1.85644709e+00] [ 1.53012992e-01 6.43146588e-03 9.88203249e-01 1.13153618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.026296757 meters Centerline goodness : 0.758723 with order 1 Centerline is valid? [False, False] Translation: X:11.95, Y:-1.86, Z:1.13 [[ 9.54402600e-01 2.58435110e-01 -1.49422124e-01 1.19519598e+01] [-2.56262684e-01 9.66010684e-01 3.39528405e-02 -1.85680807e+00] [ 1.53117974e-01 5.88663518e-03 9.88190383e-01 1.13261836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.086296757 meters Centerline goodness : 0.758424 with order 1 Centerline is valid? [False, False] Translation: X:11.95, Y:-1.86, Z:1.13 [[ 9.54389447e-01 2.58555750e-01 -1.49297379e-01 1.19511420e+01] [-2.56158167e-01 9.65986093e-01 3.54099176e-02 -1.85920027e+00] [ 1.53374630e-01 4.44889129e-03 9.88158100e-01 1.13474494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.14629675700002 meters Centerline goodness : 0.760776 with order 1 Centerline is valid? [False, False] Translation: X:11.95, Y:-1.86, Z:1.14 [[ 9.54387318e-01 2.58420745e-01 -1.49544528e-01 1.19518499e+01] [-2.55927397e-01 9.66024617e-01 3.60223117e-02 -1.85979173e+00] [ 1.53772608e-01 3.89330438e-03 9.88098592e-01 1.13552006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.20629675700002 meters Centerline goodness : 0.766168 with order 1 Centerline is valid? [False, False] Translation: X:11.95, Y:-1.86, Z:1.14 [[ 9.55077679e-01 2.55615148e-01 -1.49958401e-01 1.19492462e+01] [-2.53540552e-01 9.66757524e-01 3.31221625e-02 -1.85851163e+00] [ 1.53439939e-01 6.38629762e-03 9.88137339e-01 1.13738623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.266296757 meters Centerline goodness : 0.766366 with order 1 Centerline is valid? [False, False] Translation: X:11.95, Y:-1.86, Z:1.14 [[ 9.54305831e-01 2.59044455e-01 -1.48984398e-01 1.19499837e+01] [-2.55972359e-01 9.65865384e-01 3.97770344e-02 -1.86125213e+00] [ 1.54202893e-01 1.76431781e-04 9.88039188e-01 1.14249488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.326296757 meters Centerline goodness : 0.764862 with order 1 Centerline is valid? [False, False] Translation: X:11.95, Y:-1.86, Z:1.14 [[ 9.53822041e-01 2.61188384e-01 -1.48337931e-01 1.19517310e+01] [-2.57439386e-01 9.65279363e-01 4.42799530e-02 -1.86377185e+00] [ 1.54752953e-01 -4.04716918e-03 9.87944909e-01 1.14472771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.386296757 meters Centerline goodness : 0.765486 with order 1 Centerline is valid? [False, False] Translation: X:11.95, Y:-1.86, Z:1.14 [[ 9.54805627e-01 2.57144364e-01 -1.49073778e-01 1.19515261e+01] [-2.53982166e-01 9.66372857e-01 4.02064790e-02 -1.86183116e+00] [ 1.54399723e-01 -5.27291129e-04 9.88008324e-01 1.14453669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.446296757 meters Centerline goodness : 0.767069 with order 1 Centerline is valid? [False, False] Translation: X:11.95, Y:-1.86, Z:1.14 [[ 9.53908211e-01 2.60532636e-01 -1.48935791e-01 1.19545025e+01] [-2.56868298e-01 9.65459036e-01 4.36752572e-02 -1.86217152e+00] [ 1.55170235e-01 -3.40530343e-03 9.87881877e-01 1.14387149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.506296757 meters Centerline goodness : 0.769062 with order 1 Centerline is valid? [False, False] Translation: X:11.96, Y:-1.86, Z:1.14 [[ 9.52829753e-01 2.64932708e-01 -1.48074717e-01 1.19552946e+01] [-2.60736294e-01 9.64244449e-01 4.74260165e-02 -1.86279529e+00] [ 1.55344927e-01 -6.58046675e-03 9.87838373e-01 1.14343504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.566296757 meters Centerline goodness : 0.769034 with order 1 Centerline is valid? [False, False] Translation: X:11.96, Y:-1.86, Z:1.14 [[ 9.51723023e-01 2.69543343e-01 -1.46866177e-01 1.19559302e+01] [-2.64834677e-01 9.62939043e-01 5.10978715e-02 -1.86227352e+00] [ 1.55196267e-01 -9.73576406e-03 9.87835681e-01 1.14261816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.626296757 meters Centerline goodness : 0.768840 with order 1 Centerline is valid? [False, False] Translation: X:11.95, Y:-1.86, Z:1.14 [[ 9.51553219e-01 2.70565750e-01 -1.46084383e-01 1.19543809e+01] [-2.65834936e-01 9.62649109e-01 5.13661316e-02 -1.86180964e+00] [ 1.54525917e-01 -1.00432752e-02 9.87937687e-01 1.14250695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.686296757 meters Centerline goodness : 0.770796 with order 1 Centerline is valid? [False, False] Translation: X:11.95, Y:-1.86, Z:1.14 [[ 9.52314401e-01 2.67911692e-01 -1.46015777e-01 1.19514562e+01] [-2.63571348e-01 9.63411392e-01 4.86686147e-02 -1.86128963e+00] [ 1.53712154e-01 -7.86224749e-03 9.88084389e-01 1.14362800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.746296757 meters Centerline goodness : 0.774171 with order 1 Centerline is valid? [False, False] Translation: X:11.95, Y:-1.86, Z:1.14 [[ 9.52613912e-01 2.67017993e-01 -1.45698748e-01 1.19511646e+01] [-2.62586547e-01 9.63653037e-01 4.92049694e-02 -1.86331485e+00] [ 1.53541653e-01 -8.61480735e-03 9.88104623e-01 1.14469772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.806296757 meters Centerline goodness : 0.778692 with order 1 Centerline is valid? [False, False] Translation: X:11.95, Y:-1.86, Z:1.14 [[ 9.53148295e-01 2.64974849e-01 -1.45933741e-01 1.19537335e+01] [-2.60595622e-01 9.64218807e-01 4.87033310e-02 -1.86488601e+00] [ 1.53617215e-01 -8.39180284e-03 9.88094797e-01 1.14379031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.86629675700001 meters Centerline goodness : 0.779515 with order 1 Centerline is valid? [False, False] Translation: X:11.96, Y:-1.87, Z:1.14 [[ 9.53702471e-01 2.63058941e-01 -1.45779255e-01 1.19558687e+01] [-2.58725626e-01 9.64743876e-01 4.82732161e-02 -1.86606724e+00] [ 1.53338344e-01 -8.32145652e-03 9.88138708e-01 1.14304536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.92629675700002 meters Centerline goodness : 0.780806 with order 1 Centerline is valid? [False, False] Translation: X:11.97, Y:-1.88, Z:1.16 [[ 0.95510843 0.26284944 -0.13666771 11.96692411] [-0.25598625 0.96443188 0.06589525 -1.87549397] [ 0.14912722 -0.02795205 0.98842286 1.15672081] [ 0. 0. 0. 1. ]] SLAMing on 156.98629675700002 meters Centerline goodness : 0.781206 with order 1 Centerline is valid? [False, False] Translation: X:11.97, Y:-1.88, Z:1.16 [[ 0.95445619 0.26648869 -0.1341535 11.96563195] [-0.25877671 0.96322808 0.07229294 -1.8787918 ] [ 0.14848567 -0.03428464 0.98832007 1.16037067] [ 0. 0. 0. 1. ]] SLAMing on 157.046296757 meters Centerline goodness : 0.781230 with order 1 Centerline is valid? [False, False] Translation: X:11.97, Y:-1.88, Z:1.16 [[ 0.95278871 0.27375696 -0.1313423 11.96607268] [-0.2648246 0.9608397 0.08157814 -1.88110065] [ 0.14853148 -0.04294406 0.9879748 1.16348697] [ 0. 0. 0. 1. ]] SLAMing on 157.106296757 meters Centerline goodness : 0.780611 with order 1 Centerline is valid? [False, False] Translation: X:11.97, Y:-1.88, Z:1.16 [[ 0.95056153 0.28247822 -0.12899161 11.96721099] [-0.27254317 0.95797639 0.08945091 -1.88059037] [ 0.14883885 -0.04987282 0.98760301 1.16341345] [ 0. 0. 0. 1. ]] SLAMing on 157.166296757 meters Centerline goodness : 0.778763 with order 1 Centerline is valid? [False, False] Translation: X:11.97, Y:-1.88, Z:1.16 [[ 0.94856534 0.28950858 -0.12809597 11.97235277] [-0.27874654 0.95559614 0.0955844 -1.88065217] [ 0.15008052 -0.05496174 0.9871449 1.16057014] [ 0. 0. 0. 1. ]] SLAMing on 157.226296757 meters Centerline goodness : 0.780505 with order 1 Centerline is valid? [False, False] Translation: X:11.97, Y:-1.88, Z:1.16 [[ 0.94849906 0.28976874 -0.12799848 11.9733457 ] [-0.2791841 0.95557978 0.09446439 -1.87778555] [ 0.14968558 -0.05386425 0.98726535 1.15854022] [ 0. 0. 0. 1. ]] SLAMing on 157.286296757 meters Centerline goodness : 0.782880 with order 1 Centerline is valid? [False, False] Translation: X:11.98, Y:-1.87, Z:1.16 [[ 0.94863276 0.2827398 -0.14196513 11.97846697] [-0.27195666 0.95802071 0.09075181 -1.87320461] [ 0.16166469 -0.04748177 0.9857028 1.15863945] [ 0. 0. 0. 1. ]] SLAMing on 157.346296757 meters Centerline goodness : 0.786381 with order 1 Centerline is valid? [False, False] Translation: X:11.98, Y:-1.87, Z:1.16 [[ 0.94991215 0.27824591 -0.14228884 11.97748436] [-0.26810349 0.95950224 0.08646369 -1.87155899] [ 0.16058463 -0.04398477 0.98604154 1.15833957] [ 0. 0. 0. 1. ]] SLAMing on 157.406296757 meters Centerline goodness : 0.789759 with order 1 Centerline is valid? [False, False] Translation: X:11.98, Y:-1.87, Z:1.16 [[ 0.95028532 0.27695924 -0.1423074 11.9787904 ] [-0.26681651 0.95986839 0.08638069 -1.87304424] [ 0.16052031 -0.04411634 0.98604613 1.15808026] [ 0. 0. 0. 1. ]] SLAMing on 157.466296757 meters Centerline goodness : 0.788811 with order 1 Centerline is valid? [False, False] Translation: X:11.98, Y:-1.87, Z:1.16 [[ 0.95044876 0.2766282 -0.14185906 11.97928677] [-0.26654629 0.95996774 0.0861105 -1.8716778 ] [ 0.16000071 -0.04403161 0.98613437 1.15785143] [ 0. 0. 0. 1. ]] SLAMing on 157.526296757 meters Centerline goodness : 0.791262 with order 3 Centerline is valid? [False, False] Translation: X:11.99, Y:-1.87, Z:1.16 [[ 0.95025085 0.27983266 -0.13681012 11.98911312] [-0.27129532 0.95933949 0.07788835 -1.87066357] [ 0.15304306 -0.03689752 0.98753045 1.15503762] [ 0. 0. 0. 1. ]] SLAMing on 157.586296757 meters Centerline goodness : 0.793472 with order 3 Centerline is valid? [False, False] Translation: X:11.99, Y:-1.87, Z:1.15 [[ 0.94905883 0.28428996 -0.13589167 11.99011561] [-0.27544359 0.95795052 0.08038424 -1.86668399] [ 0.15302993 -0.03885888 0.98745725 1.15398493] [ 0. 0. 0. 1. ]] SLAMing on 157.64629675700002 meters Centerline goodness : 0.790502 with order 3 Centerline is valid? [False, False] Translation: X:12.00, Y:-1.86, Z:1.15 [[ 0.94725972 0.29152679 -0.13308326 12.00344755] [-0.28391833 0.95603639 0.07338127 -1.86352051] [ 0.14862504 -0.03172634 0.98838456 1.14869811] [ 0. 0. 0. 1. ]] SLAMing on 157.70629675700002 meters Centerline goodness : 0.789203 with order 3 Centerline is valid? [False, False] Translation: X:12.01, Y:-1.86, Z:1.14 [[ 0.94570584 0.29630197 -0.13358744 12.00726789] [-0.28865194 0.95458211 0.07384481 -1.85773969] [ 0.14940055 -0.03127519 0.98828201 1.14392689] [ 0. 0. 0. 1. ]] SLAMing on 157.766296757 meters Centerline goodness : 0.791425 with order 3 Centerline is valid? [False, False] Translation: X:12.01, Y:-1.85, Z:1.14 [[ 0.94431911 0.30077872 -0.13339256 12.01016729] [-0.2928481 0.95313252 0.0760157 -1.85368568] [ 0.15000469 -0.03271932 0.98814373 1.14187399] [ 0. 0. 0. 1. ]] SLAMing on 157.826296757 meters Centerline goodness : 0.790155 with order 3 Centerline is valid? [False, False] Translation: X:12.01, Y:-1.85, Z:1.14 [[ 0.94408229 0.30154893 -0.13332995 12.0101874 ] [-0.29370655 0.95290973 0.07549509 -1.85062705] [ 0.14981687 -0.0321137 0.98819209 1.14159309] [ 0. 0. 0. 1. ]] SLAMing on 157.886296757 meters Centerline goodness : 0.791294 with order 3 Centerline is valid? [False, False] Translation: X:12.01, Y:-1.85, Z:1.14 [[ 0.9448043 0.2992458 -0.13340461 12.00720082] [-0.29180369 0.95371221 0.07268858 -1.84778356] [ 0.14898136 -0.02974852 0.98839242 1.14336146] [ 0. 0. 0. 1. ]] SLAMing on 157.946296757 meters Centerline goodness : 0.793800 with order 3 Centerline is valid? [False, False] Translation: X:12.01, Y:-1.85, Z:1.14 [[ 0.94598713 0.29500235 -0.13446921 12.00738275] [-0.28806559 0.95513158 0.06886126 -1.84641181] [ 0.14875002 -0.02640591 0.98852221 1.14351844] [ 0. 0. 0. 1. ]] SLAMing on 158.006296757 meters Centerline goodness : 0.796790 with order 3 Centerline is valid? [False, False] Translation: X:12.01, Y:-1.85, Z:1.14 [[ 0.94659466 0.2921268 -0.13645691 12.01375409] [-0.28533501 0.95605703 0.06737131 -1.84798819] [ 0.15014156 -0.02483739 0.98835248 1.14125601] [ 0. 0. 0. 1. ]] SLAMing on 158.066296757 meters Centerline goodness : 0.790653 with order 3 Centerline is valid? [False, False] Translation: X:12.02, Y:-1.85, Z:1.14 [[ 0.94738166 0.28871258 -0.13824991 12.01917208] [-0.28223348 0.95715424 0.06480761 -1.84956385] [ 0.15103726 -0.02237879 0.98827473 1.13807791] [ 0. 0. 0. 1. ]] SLAMing on 158.126296757 meters Centerline goodness : 0.794663 with order 3 Centerline is valid? [False, False] Translation: X:12.02, Y:-1.85, Z:1.14 [[ 0.94847703 0.2845817 -0.13930034 12.01912119] [-0.27864227 0.95846553 0.06084664 -1.84943134] [ 0.15083041 -0.01889668 0.98837903 1.13767277] [ 0. 0. 0. 1. ]] SLAMing on 158.186296757 meters Centerline goodness : 0.795082 with order 3 Centerline is valid? [False, False] Translation: X:12.02, Y:-1.85, Z:1.14 [[ 0.94856932 0.28399406 -0.13987004 12.02111878] [-0.27806759 0.9586449 0.06064963 -1.85087697] [ 0.15130983 -0.01863705 0.98831068 1.13689087] [ 0. 0. 0. 1. ]] SLAMing on 158.246296757 meters Centerline goodness : 0.794710 with order 2 Centerline is valid? [False, False] Translation: X:12.03, Y:-1.85, Z:1.13 [[ 0.94807619 0.2851127 -0.14093365 12.0257902 ] [-0.27900904 0.95830132 0.06174571 -1.85364897] [ 0.15266139 -0.01921788 0.98809168 1.13450672] [ 0. 0. 0. 1. ]] SLAMing on 158.306296757 meters Centerline goodness : 0.794669 with order 3 Centerline is valid? [False, False] Translation: X:12.03, Y:-1.86, Z:1.13 [[ 0.94784123 0.28546147 -0.14180534 12.02846338] [-0.27935675 0.95820505 0.06166753 -1.85622253] [ 0.1534823 -0.01883674 0.98797184 1.13235938] [ 0. 0. 0. 1. ]] SLAMing on 158.36629675700001 meters Centerline goodness : 0.792174 with order 3 Centerline is valid? [False, False] Translation: X:12.04, Y:-1.86, Z:1.13 [[ 9.47360894e-01 2.89013228e-01 -1.37763167e-01 1.20387218e+01] [-2.84224346e-01 9.57253555e-01 5.36856815e-02 -1.85910845e+00] [ 1.47390153e-01 -1.17040692e-02 9.89009180e-01 1.12909569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.42629675700002 meters Centerline goodness : 0.794541 with order 3 Centerline is valid? [False, False] Translation: X:12.05, Y:-1.86, Z:1.13 [[ 9.46605767e-01 2.93586071e-01 -1.33209386e-01 1.20488596e+01] [-2.89853293e-01 9.55914323e-01 4.70412203e-02 -1.86270286e+00] [ 1.41147407e-01 -5.91831119e-03 9.89970900e-01 1.12608284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.48629675700002 meters Centerline goodness : 0.794759 with order 2 Centerline is valid? [False, False] Translation: X:12.05, Y:-1.87, Z:1.13 [[ 9.47359149e-01 2.91010143e-01 -1.33505576e-01 1.20462170e+01] [-2.87597799e-01 9.56712190e-01 4.46014677e-02 -1.86527129e+00] [ 1.40705892e-01 -3.85769860e-03 9.90043923e-01 1.12659190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.546296757 meters Centerline goodness : 0.796793 with order 3 Centerline is valid? [False, False] Translation: X:12.05, Y:-1.87, Z:1.13 [[ 9.48579416e-01 2.86508096e-01 -1.34574154e-01 1.20458288e+01] [-2.83436397e-01 9.58076527e-01 4.18709628e-02 -1.87009779e+00] [ 1.40928708e-01 -1.57472011e-03 9.90018495e-01 1.12683902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.606296757 meters Centerline goodness : 0.801400 with order 1 Centerline is valid? [False, False] Translation: X:12.05, Y:-1.87, Z:1.13 [[ 9.49957308e-01 2.81205635e-01 -1.36031263e-01 1.20470619e+01] [-2.78553404e-01 9.59646695e-01 3.85515567e-02 -1.87410060e+00] [ 1.41382867e-01 1.26963832e-03 9.89954177e-01 1.12641378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.666296757 meters Centerline goodness : 0.801313 with order 1 Centerline is valid? [False, False] Translation: X:12.05, Y:-1.88, Z:1.13 [[ 9.50970652e-01 2.77334389e-01 -1.36895785e-01 1.20463402e+01] [-2.75081404e-01 9.60765527e-01 3.54939950e-02 -1.87650125e+00] [ 1.41368457e-01 3.90373719e-03 9.89949352e-01 1.12664133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.726296757 meters Centerline goodness : 0.800968 with order 1 Centerline is valid? [False, False] Translation: X:12.05, Y:-1.88, Z:1.13 [[ 9.51013969e-01 2.76879740e-01 -1.37513782e-01 1.20484695e+01] [-2.74641935e-01 9.60895716e-01 3.53727385e-02 -1.87715172e+00] [ 1.41930398e-01 4.12708263e-03 9.89868036e-01 1.12566545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.786296757 meters Centerline goodness : 0.798585 with order 1 Centerline is valid? [False, False] Translation: X:12.05, Y:-1.88, Z:1.12 [[ 9.50202405e-01 2.79663780e-01 -1.37490217e-01 1.20515530e+01] [-2.77009168e-01 9.60096781e-01 3.84719546e-02 -1.87877466e+00] [ 1.42763127e-01 1.52990675e-03 9.89755702e-01 1.12466903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.846296757 meters Centerline goodness : 0.800767 with order 1 Centerline is valid? [False, False] Translation: X:12.05, Y:-1.88, Z:1.12 [[ 9.50172593e-01 2.79612533e-01 -1.37800127e-01 1.20519715e+01] [-2.76943067e-01 9.60111738e-01 3.85744405e-02 -1.87988139e+00] [ 1.43089417e-01 1.51041382e-03 9.89708612e-01 1.12481066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.906296757 meters Centerline goodness : 0.801812 with order 1 Centerline is valid? [False, False] Translation: X:12.05, Y:-1.88, Z:1.12 [[ 9.50138018e-01 2.79638795e-01 -1.37985113e-01 1.20524967e+01] [-2.76997459e-01 9.60103680e-01 3.83839947e-02 -1.87890542e+00] [ 1.43213668e-01 1.75143291e-03 9.89690243e-01 1.12472858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.966296757 meters Centerline goodness : 0.800364 with order 1 Centerline is valid? [False, False] Translation: X:12.05, Y:-1.88, Z:1.12 [[ 9.48932816e-01 2.84136908e-01 -1.37086571e-01 1.20534443e+01] [-2.81047631e-01 9.58783042e-01 4.18008059e-02 -1.87587897e+00] [ 1.43313432e-01 -1.13830041e-03 9.89676697e-01 1.12475187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.026296757 meters Centerline goodness : 0.805009 with order 2 Centerline is valid? [False, False] Translation: X:12.05, Y:-1.87, Z:1.13 [[ 9.47690799e-01 2.88700509e-01 -1.36140242e-01 1.20532116e+01] [-2.85142039e-01 9.57410292e-01 4.53822613e-02 -1.87350793e+00] [ 1.43443951e-01 -4.18904511e-03 9.89649577e-01 1.12598963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.086296757 meters Centerline goodness : 0.807116 with order 2 Centerline is valid? [False, False] Translation: X:12.06, Y:-1.86, Z:1.13 [[ 9.46878690e-01 2.84116687e-01 -1.50660064e-01 1.20572562e+01] [-2.81074368e-01 9.58785075e-01 4.15737865e-02 -1.86491521e+00] [ 1.56262427e-01 2.98134996e-03 9.87711074e-01 1.12849327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.14629675700002 meters Centerline goodness : 0.812432 with order 2 Centerline is valid? [False, False] Translation: X:12.06, Y:-1.86, Z:1.13 [[ 9.45121491e-01 2.82628725e-01 -1.63909641e-01 1.20608659e+01] [-2.79798364e-01 9.59200109e-01 4.05958826e-02 -1.85556180e+00] [ 1.68695708e-01 7.49360834e-03 9.85639693e-01 1.13169863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.20629675700002 meters Centerline goodness : 0.826644 with order 3 Centerline is valid? [False, False] Translation: X:12.06, Y:-1.85, Z:1.13 [[ 9.45043287e-01 2.82192123e-01 -1.65108425e-01 1.20629161e+01] [-2.79708414e-01 9.59308818e-01 3.85978676e-02 -1.85360026e+00] [ 1.69281982e-01 9.70556002e-03 9.85519869e-01 1.13217265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.266296757 meters Centerline goodness : 0.816621 with order 2 Centerline is valid? [False, False] Translation: X:12.06, Y:-1.85, Z:1.13 [[ 9.45540927e-01 2.80919663e-01 -1.64427788e-01 1.20612627e+01] [-2.78831327e-01 9.59660161e-01 3.61312281e-02 -1.84782165e+00] [ 1.67944770e-01 1.16840633e-02 9.85727162e-01 1.13339799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.326296757 meters Centerline goodness : 0.812351 with order 2 Centerline is valid? [False, False] Translation: X:12.06, Y:-1.85, Z:1.13 [[ 0.94593518 0.27956403 -0.16447061 12.06376108] [-0.27760307 0.9600483 0.03526746 -1.8457723 ] [ 0.16775924 0.01229681 0.9857513 1.13093579] [ 0. 0. 0. 1. ]] SLAMing on 159.386296757 meters Centerline goodness : 0.809624 with order 2 Centerline is valid? [False, False] Translation: X:12.06, Y:-1.84, Z:1.13 [[ 9.46372772e-01 2.78879185e-01 -1.63110322e-01 1.20632570e+01] [-2.76756903e-01 9.60263041e-01 3.60625679e-02 -1.84412318e+00] [ 1.66685914e-01 1.10132753e-02 9.85948535e-01 1.12935171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.446296757 meters Centerline goodness : 0.809251 with order 2 Centerline is valid? [False, False] Translation: X:12.06, Y:-1.84, Z:1.13 [[ 9.46743094e-01 2.77614557e-01 -1.63118582e-01 1.20636019e+01] [-2.75689080e-01 9.60617158e-01 3.47880287e-02 -1.84188796e+00] [ 1.66352172e-01 1.20346858e-02 9.85992962e-01 1.12899460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.506296757 meters Centerline goodness : 0.811956 with order 2 Centerline is valid? [False, False] Translation: X:12.06, Y:-1.83, Z:1.13 [[ 9.46816192e-01 2.79942987e-01 -1.58653784e-01 1.20603905e+01] [-2.77403136e-01 9.59986086e-01 3.83954983e-02 -1.83436454e+00] [ 1.63053976e-01 7.65757780e-03 9.86587433e-01 1.12715585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.566296757 meters Centerline goodness : 0.812521 with order 2 Centerline is valid? [False, False] Translation: X:12.06, Y:-1.83, Z:1.13 [[ 9.46829768e-01 2.79968413e-01 -1.58527844e-01 1.20599456e+01] [-2.77832923e-01 9.59956948e-01 3.59377941e-02 -1.82909800e+00] [ 1.62241353e-01 1.00172811e-02 9.86700257e-01 1.12845898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.626296757 meters Centerline goodness : 0.817058 with order 2 Centerline is valid? [False, False] Translation: X:12.06, Y:-1.83, Z:1.13 [[ 9.46480500e-01 2.81002613e-01 -1.58783482e-01 1.20615585e+01] [-2.79075569e-01 9.59639298e-01 3.47741868e-02 -1.82502887e+00] [ 1.62146506e-01 1.13995007e-02 9.86700847e-01 1.12860218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.686296757 meters Centerline goodness : 0.812723 with order 2 Centerline is valid? [False, False] Translation: X:12.06, Y:-1.82, Z:1.13 [[ 9.45716483e-01 2.84591621e-01 -1.56932923e-01 1.20612441e+01] [-2.82172712e-01 9.58612217e-01 3.79628410e-02 -1.82225580e+00] [ 1.61241724e-01 8.38010410e-03 9.86879365e-01 1.12795605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.746296757 meters Centerline goodness : 0.819748 with order 2 Centerline is valid? [False, False] Translation: X:12.06, Y:-1.82, Z:1.13 [[ 9.45388250e-01 2.85208929e-01 -1.57787588e-01 1.20638007e+01] [-2.82981473e-01 9.58415550e-01 3.68933519e-02 -1.82036441e+00] [ 1.61748391e-01 9.77242261e-03 9.86783643e-01 1.12755366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.806296757 meters Centerline goodness : 0.820861 with order 2 Centerline is valid? [False, False] Translation: X:12.06, Y:-1.82, Z:1.13 [[ 9.45522591e-01 2.84988103e-01 -1.57381101e-01 1.20645026e+01] [-2.82721120e-01 9.58484727e-01 3.70917333e-02 -1.81903205e+00] [ 1.61418085e-01 9.42388956e-03 9.86841118e-01 1.12641437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.86629675700001 meters Centerline goodness : 0.815342 with order 2 Centerline is valid? [False, False] Translation: X:12.06, Y:-1.82, Z:1.13 [[ 9.46611032e-01 2.80912993e-01 -1.58162719e-01 1.20649308e+01] [-2.79076438e-01 9.59660766e-01 3.41695139e-02 -1.82013201e+00] [ 1.61381216e-01 1.17942494e-02 9.86821665e-01 1.12527063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.92629675700002 meters Centerline goodness : 0.814493 with order 2 Centerline is valid? [False, False] Translation: X:12.06, Y:-1.82, Z:1.12 [[ 0.94755223 0.2774001 -0.15872604 12.06479707] [-0.27589536 0.96065857 0.03188836 -1.82169703] [ 0.16132737 0.01357589 0.98680757 1.12443155] [ 0. 0. 0. 1. ]] SLAMing on 159.98629675700002 meters Centerline goodness : 0.817080 with order 3 Centerline is valid? [False, False] Translation: X:12.07, Y:-1.82, Z:1.12 [[ 0.94824759 0.27441142 -0.15976511 12.06589328] [-0.27332899 0.96147882 0.02915034 -1.82223616] [ 0.16160995 0.0160267 0.98672457 1.12361375] [ 0. 0. 0. 1. ]] SLAMing on 160.046296757 meters Centerline goodness : 0.835028 with order 3 Centerline is valid? [False, False] Translation: X:12.07, Y:-1.83, Z:1.12 [[ 0.94824424 0.27822405 -0.15304979 12.07077205] [-0.27785761 0.96031697 0.02421695 -1.82770355] [ 0.15371405 0.01956246 0.98792171 1.11787568] [ 0. 0. 0. 1. ]] SLAMing on 160.106296757 meters Centerline goodness : 0.814960 with order 2 Centerline is valid? [False, False] Translation: X:12.07, Y:-1.83, Z:1.12 [[ 0.94796679 0.27893942 -0.15346584 12.07254465] [-0.2784987 0.96011623 0.02480515 -1.82978926] [ 0.15426418 0.01922558 0.98784257 1.11666133] [ 0. 0. 0. 1. ]] SLAMing on 160.166296757 meters Centerline goodness : 0.817592 with order 2 Centerline is valid? [False, False] Translation: X:12.08, Y:-1.83, Z:1.12 [[ 0.9476764 0.27918927 -0.15479922 12.07512421] [-0.27880445 0.96003176 0.0246395 -1.83196804] [ 0.15549125 0.01980844 0.98763865 1.1162743 ] [ 0. 0. 0. 1. ]] SLAMing on 160.226296757 meters Centerline goodness : 0.816648 with order 2 Centerline is valid? [False, False] Translation: X:12.08, Y:-1.83, Z:1.12 [[ 0.94781801 0.27742416 -0.15708867 12.07747244] [-0.27760884 0.96045999 0.02121188 -1.83356838] [ 0.15676207 0.0235042 0.98735668 1.11675936] [ 0. 0. 0. 1. ]] SLAMing on 160.286296757 meters Centerline goodness : 0.829258 with order 3 Centerline is valid? [False, False] Translation: X:12.08, Y:-1.83, Z:1.12 [[ 0.94718817 0.2791472 -0.15783352 12.08000707] [-0.27924848 0.95996698 0.02199303 -1.83493522] [ 0.15765426 0.02324324 0.98722079 1.11594708] [ 0. 0. 0. 1. ]] SLAMing on 160.346296757 meters Centerline goodness : 0.806823 with order 2 Centerline is valid? [False, False] Translation: X:12.08, Y:-1.84, Z:1.12 [[ 0.94674358 0.27989883 -0.15916418 12.08231999] [-0.28000937 0.95974058 0.02219838 -1.83821021] [ 0.15896963 0.02355129 0.98700253 1.11569529] [ 0. 0. 0. 1. ]] SLAMing on 160.406296757 meters Centerline goodness : 0.804554 with order 2 Centerline is valid? [False, False] Translation: X:12.08, Y:-1.84, Z:1.12 [[ 0.94761092 0.27588364 -0.16100235 12.08297174] [-0.27658316 0.96081184 0.01850309 -1.84055207] [ 0.15979766 0.02699681 0.98678056 1.11610467] [ 0. 0. 0. 1. ]] SLAMing on 160.466296757 meters Centerline goodness : 0.804701 with order 2 Centerline is valid? [False, False] Translation: X:12.08, Y:-1.85, Z:1.12 [[ 0.94750198 0.27686485 -0.15995576 12.07976616] [-0.27706318 0.96061079 0.02151497 -1.84642085] [ 0.15961197 0.02393237 0.98688969 1.11895811] [ 0. 0. 0. 1. ]] SLAMing on 160.526296757 meters Centerline goodness : 0.815896 with order 3 Centerline is valid? [False, False] Translation: X:12.08, Y:-1.85, Z:1.12 [[ 0.94729912 0.27770981 -0.15969231 12.07888077] [-0.27762262 0.96040731 0.02331271 -1.85085558] [ 0.15984383 0.02225009 0.98689153 1.11966831] [ 0. 0. 0. 1. ]] SLAMing on 160.586296757 meters Centerline goodness : 0.805519 with order 2 Centerline is valid? [False, False] Translation: X:12.08, Y:-1.85, Z:1.12 [[ 0.94713171 0.27848476 -0.15933535 12.07851868] [-0.27825208 0.96020247 0.02422805 -1.85391206] [ 0.15974134 0.02138824 0.98692717 1.1189002 ] [ 0. 0. 0. 1. ]] SLAMing on 160.64629675700002 meters Centerline goodness : 0.809769 with order 2 Centerline is valid? [False, False] Translation: X:12.08, Y:-1.86, Z:1.12 [[ 0.94593252 0.28322094 -0.1581062 12.07789754] [-0.2822578 0.95890041 0.0289922 -1.85914772] [ 0.1598193 0.01720204 0.98699639 1.11869308] [ 0. 0. 0. 1. ]] SLAMing on 160.70629675700002 meters Centerline goodness : 0.810386 with order 3 Centerline is valid? [False, False] Translation: X:12.08, Y:-1.86, Z:1.12 [[ 0.94446612 0.28901018 -0.15638689 12.07580347] [-0.28724075 0.95724408 0.0343004 -1.86218803] [ 0.15961359 0.01252512 0.98710011 1.11970823] [ 0. 0. 0. 1. ]] SLAMing on 160.766296757 meters Centerline goodness : 0.801873 with order 3 Centerline is valid? [False, False] Translation: X:12.08, Y:-1.86, Z:1.12 [[ 9.43272292e-01 2.93618810e-01 -1.55001217e-01 1.20751559e+01] [-2.91146230e-01 9.55885713e-01 3.89406899e-02 -1.86465194e+00] [ 1.59597167e-01 8.39634600e-03 9.87146517e-01 1.12017421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.826296757 meters Centerline goodness : 0.800982 with order 2 Centerline is valid? [False, False] Translation: X:12.07, Y:-1.86, Z:1.12 [[ 9.44217543e-01 2.90265763e-01 -1.55560336e-01 1.20735484e+01] [-2.88280603e-01 9.56881037e-01 3.56787724e-02 -1.86467493e+00] [ 1.59209061e-01 1.11565045e-02 9.87181851e-01 1.12038720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.886296757 meters Centerline goodness : 0.799779 with order 2 Centerline is valid? [False, False] Translation: X:12.07, Y:-1.87, Z:1.12 [[ 0.94564514 0.28493624 -0.15673738 12.07386334] [-0.28335027 0.95845359 0.03285341 -1.86969649] [ 0.15958664 0.01334391 0.98709374 1.12062343] [ 0. 0. 0. 1. ]] SLAMing on 160.946296757 meters Centerline goodness : 0.799995 with order 2 Centerline is valid? [False, False] Translation: X:12.07, Y:-1.88, Z:1.12 [[ 9.50195067e-01 2.74540692e-01 -1.47501671e-01 1.20703564e+01] [-2.71776669e-01 9.61570645e-01 3.89786798e-02 -1.87569190e+00] [ 1.52534511e-01 3.05016352e-03 9.88293438e-01 1.11991552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.006296757 meters Centerline goodness : 0.797250 with order 1 Centerline is valid? [False, False] Translation: X:12.07, Y:-1.88, Z:1.12 [[ 9.52180874e-01 2.67237237e-01 -1.48107535e-01 1.20715594e+01] [-2.64411886e-01 9.63628261e-01 3.88191784e-02 -1.88449836e+00] [ 1.53094537e-01 2.19851352e-03 9.88209102e-01 1.12487898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.066296757 meters Centerline goodness : 0.796828 with order 1 Centerline is valid? [False, False] Translation: X:12.07, Y:-1.89, Z:1.12 [[ 9.53428247e-01 2.62384110e-01 -1.48758718e-01 1.20716865e+01] [-2.59876553e-01 9.64955424e-01 3.64034056e-02 -1.88940105e+00] [ 1.53097207e-01 3.95086758e-03 9.88203236e-01 1.12498927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.126296757 meters Centerline goodness : 0.799451 with order 3 Centerline is valid? [False, False] Translation: X:12.07, Y:-1.89, Z:1.13 [[ 9.53391675e-01 2.62531127e-01 -1.48733725e-01 1.20718196e+01] [-2.59794156e-01 9.64920252e-01 3.78933268e-02 -1.89469919e+00] [ 1.53464361e-01 2.51297023e-03 9.88150988e-01 1.12507357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.186296757 meters Centerline goodness : 0.800493 with order 3 Centerline is valid? [False, False] Translation: X:12.07, Y:-1.90, Z:1.12 [[ 9.52548586e-01 2.65729550e-01 -1.48455375e-01 1.20723274e+01] [-2.62595868e-01 9.64047590e-01 4.06897318e-02 -1.89905190e+00] [ 1.53930510e-01 2.24821541e-04 9.88081650e-01 1.12404453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.246296757 meters Centerline goodness : 0.793551 with order 1 Centerline is valid? [False, False] Translation: X:12.07, Y:-1.90, Z:1.12 [[ 9.51147647e-01 2.71404576e-01 -1.47165583e-01 1.20724996e+01] [-2.67728285e-01 9.62460542e-01 4.46236603e-02 -1.89846634e+00] [ 1.53752132e-01 -3.04330042e-03 9.88104762e-01 1.12264870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.306296757 meters Centerline goodness : 0.792502 with order 1 Centerline is valid? [False, False] Translation: X:12.07, Y:-1.90, Z:1.12 [[ 9.50642495e-01 2.73543935e-01 -1.46466934e-01 1.20703948e+01] [-2.69829161e-01 9.61853832e-01 4.50491868e-02 -1.89772542e+00] [ 1.53202713e-01 -3.30462153e-03 9.88189257e-01 1.12225570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.36629675700001 meters Centerline goodness : 0.791482 with order 1 Centerline is valid? [False, False] Translation: X:12.07, Y:-1.90, Z:1.12 [[ 9.50492276e-01 2.74292192e-01 -1.46041864e-01 1.20689563e+01] [-2.70466137e-01 9.61637801e-01 4.58345713e-02 -1.89946189e+00] [ 1.53011442e-01 -4.06602725e-03 9.88216052e-01 1.12276232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.42629675700002 meters Centerline goodness : 0.796195 with order 1 Centerline is valid? [False, False] Translation: X:12.07, Y:-1.90, Z:1.12 [[ 9.51342728e-01 2.71120050e-01 -1.46427225e-01 1.20666118e+01] [-2.67740786e-01 9.62544502e-01 4.26960418e-02 -1.89896221e+00] [ 1.52518474e-01 -1.41402844e-03 9.88299608e-01 1.12375579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.48629675700002 meters Centerline goodness : 0.794505 with order 1 Centerline is valid? [False, False] Translation: X:12.06, Y:-1.90, Z:1.13 [[ 9.52420138e-01 2.66986547e-01 -1.47017225e-01 1.20649583e+01] [-2.64000895e-01 9.63699853e-01 3.98261340e-02 -1.90001048e+00] [ 1.52313520e-01 8.81466805e-04 9.88331834e-01 1.12547044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.546296757 meters Centerline goodness : 0.796816 with order 1 Centerline is valid? [False, False] Translation: X:12.07, Y:-1.90, Z:1.13 [[ 9.52644093e-01 2.65863399e-01 -1.47600425e-01 1.20662117e+01] [-2.62719071e-01 9.64010710e-01 4.07681282e-02 -1.90197370e+00] [ 1.53127144e-01 -6.00699311e-05 9.88206494e-01 1.12766860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.606296757 meters Centerline goodness : 0.798234 with order 1 Centerline is valid? [False, False] Translation: X:12.07, Y:-1.90, Z:1.13 [[ 9.53762753e-01 2.61216815e-01 -1.48668714e-01 1.20664221e+01] [-2.58688057e-01 9.65273074e-01 3.64469735e-02 -1.89920892e+00] [ 1.53026469e-01 3.69705496e-03 9.88215175e-01 1.12795062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.666296757 meters Centerline goodness : 0.798677 with order 1 Centerline is valid? [False, False] Translation: X:12.07, Y:-1.90, Z:1.13 [[ 9.53901453e-01 2.60621043e-01 -1.48824362e-01 1.20669922e+01] [-2.58071946e-01 9.65434631e-01 3.65355207e-02 -1.89842777e+00] [ 1.53202119e-01 3.55610663e-03 9.88188476e-01 1.12909746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.726296757 meters Centerline goodness : 0.797572 with order 2 Centerline is valid? [False, False] Translation: X:12.07, Y:-1.90, Z:1.13 [[ 9.53817109e-01 2.61074902e-01 -1.48569236e-01 1.20661819e+01] [-2.58520913e-01 9.65312194e-01 3.65965122e-02 -1.89585764e+00] [ 1.52970126e-01 3.50187514e-03 9.88224609e-01 1.13017064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.786296757 meters Centerline goodness : 0.798003 with order 2 Centerline is valid? [False, False] Translation: X:12.07, Y:-1.89, Z:1.13 [[ 9.53545963e-01 2.61967389e-01 -1.48738641e-01 1.20660679e+01] [-2.59422837e-01 9.65069719e-01 3.66091510e-02 -1.89352153e+00] [ 1.53133562e-01 3.67769200e-03 9.88198658e-01 1.13065356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.846296757 meters Centerline goodness : 0.798588 with order 3 Centerline is valid? [False, False] Translation: X:12.07, Y:-1.89, Z:1.13 [[ 9.52277561e-01 2.66738367e-01 -1.48384937e-01 1.20676767e+01] [-2.63663608e-01 9.63768751e-01 4.03893120e-02 -1.89250551e+00] [ 1.53782144e-01 6.61872156e-04 9.88104556e-01 1.13050072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.906296757 meters Centerline goodness : 0.795315 with order 1 Centerline is valid? [False, False] Translation: X:12.07, Y:-1.89, Z:1.13 [[ 9.51106706e-01 2.71244265e-01 -1.47724683e-01 1.20692732e+01] [-2.67693816e-01 9.62508237e-01 4.37940035e-02 -1.89018782e+00] [ 1.54065097e-01 -2.10778615e-03 9.88058451e-01 1.12980699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.966296757 meters Centerline goodness : 0.799112 with order 2 Centerline is valid? [False, False] Translation: X:12.07, Y:-1.89, Z:1.13 [[ 9.51055439e-01 2.71589076e-01 -1.47420913e-01 1.20684495e+01] [-2.68071574e-01 9.62411313e-01 4.36130166e-02 -1.88804379e+00] [ 1.53724373e-01 -1.95904055e-03 9.88111825e-01 1.13027885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.026296757 meters Centerline goodness : 0.801819 with order 1 Centerline is valid? [False, False] Translation: X:12.06, Y:-1.89, Z:1.13 [[ 9.51971996e-01 2.68343379e-01 -1.47448806e-01 1.20645906e+01] [-2.65257243e-01 9.63323208e-01 4.05831513e-02 -1.88707986e+00] [ 1.52931076e-01 4.77840152e-04 9.88236742e-01 1.13287794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.086296757 meters Centerline goodness : 0.803134 with order 2 Centerline is valid? [False, False] Translation: X:12.06, Y:-1.88, Z:1.13 [[ 9.52611965e-01 2.66347916e-01 -1.46932748e-01 1.20619660e+01] [-2.63499877e-01 9.63875498e-01 3.88823736e-02 -1.88392497e+00] [ 1.51981115e-01 1.67694692e-03 9.88381975e-01 1.13485951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.14629675700002 meters Centerline goodness : 0.812165 with order 3 Centerline is valid? [False, False] Translation: X:12.06, Y:-1.88, Z:1.14 [[ 9.52687135e-01 2.66409060e-01 -1.46333304e-01 1.20606538e+01] [-2.63409203e-01 9.63859896e-01 3.98709611e-02 -1.88332626e+00] [ 1.51666789e-01 5.60987387e-04 9.88431520e-01 1.13742788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.20629675700002 meters Centerline goodness : 0.807274 with order 2 Centerline is valid? [False, False] Translation: X:12.06, Y:-1.88, Z:1.14 [[ 9.52772476e-01 2.65997073e-01 -1.46527017e-01 1.20614280e+01] [-2.62917005e-01 9.63973834e-01 4.03620613e-02 -1.88377838e+00] [ 1.51984401e-01 6.85834563e-05 9.88382890e-01 1.13841570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.266296757 meters Centerline goodness : 0.805530 with order 2 Centerline is valid? [False, False] Translation: X:12.06, Y:-1.88, Z:1.14 [[ 9.52971427e-01 2.65920065e-01 -1.45368423e-01 1.20616082e+01] [-2.62635006e-01 9.63993822e-01 4.16984873e-02 -1.88235044e+00] [ 1.51222726e-01 -1.55863037e-03 9.88498487e-01 1.13668745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.326296757 meters Centerline goodness : 0.806196 with order 2 Centerline is valid? [False, False] Translation: X:12.06, Y:-1.88, Z:1.14 [[ 9.52181361e-01 2.68978847e-01 -1.44917341e-01 1.20639221e+01] [-2.65140496e-01 9.63133383e-01 4.55478175e-02 -1.88495943e+00] [ 1.51826128e-01 -4.94632720e-03 9.88394840e-01 1.13614792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.386296757 meters Centerline goodness : 0.806235 with order 2 Centerline is valid? [False, False] Translation: X:12.06, Y:-1.89, Z:1.14 [[ 9.51663637e-01 2.71270899e-01 -1.44043121e-01 1.20642042e+01] [-2.67121070e-01 9.62477613e-01 4.77826249e-02 -1.88602687e+00] [ 1.51600315e-01 -6.99603409e-03 9.88417118e-01 1.13560553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.446296757 meters Centerline goodness : 0.801873 with order 2 Centerline is valid? [False, False] Translation: X:12.06, Y:-1.89, Z:1.14 [[ 9.51503982e-01 2.72157232e-01 -1.43424589e-01 1.20627756e+01] [-2.67969313e-01 9.62224653e-01 4.81265473e-02 -1.88516653e+00] [ 1.51104663e-01 -7.35921292e-03 9.88490376e-01 1.13594929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.506296757 meters Centerline goodness : 0.804787 with order 2 Centerline is valid? [False, False] Translation: X:12.06, Y:-1.89, Z:1.14 [[ 9.51316160e-01 2.73183340e-01 -1.42717999e-01 1.20613280e+01] [-2.68922844e-01 9.61929034e-01 4.87138270e-02 -1.88555356e+00] [ 1.50592393e-01 -7.96212073e-03 9.88563875e-01 1.13589228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.566296757 meters Centerline goodness : 0.799729 with order 1 Centerline is valid? [False, False] Translation: X:12.06, Y:-1.89, Z:1.14 [[ 9.51294440e-01 2.73457670e-01 -1.42336893e-01 1.20612462e+01] [-2.69158242e-01 9.61848121e-01 4.90105368e-02 -1.88666630e+00] [ 1.50308780e-01 -8.31230330e-03 9.88604155e-01 1.13507679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.626296757 meters Centerline goodness : 0.810967 with order 3 Centerline is valid? [False, False] Translation: X:12.06, Y:-1.89, Z:1.13 [[ 9.51278766e-01 2.73810695e-01 -1.41761816e-01 1.20602948e+01] [-2.69488643e-01 9.61745004e-01 4.92180792e-02 -1.88793895e+00] [ 1.49815155e-01 -8.61691406e-03 9.88676473e-01 1.13454336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.686296757 meters Centerline goodness : 0.799768 with order 2 Centerline is valid? [False, False] Translation: X:12.06, Y:-1.89, Z:1.13 [[ 9.51121727e-01 2.74740696e-01 -1.41014217e-01 1.20583074e+01] [-2.70379506e-01 9.61475881e-01 4.95888316e-02 -1.88809954e+00] [ 1.49205839e-01 -9.03766079e-03 9.88764855e-01 1.13483374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.746296757 meters Centerline goodness : 0.802509 with order 2 Centerline is valid? [False, False] Translation: X:12.06, Y:-1.89, Z:1.13 [[ 9.50971826e-01 2.75450094e-01 -1.40640790e-01 1.20575826e+01] [-2.71123874e-01 9.61274395e-01 4.94305842e-02 -1.88691085e+00] [ 1.48810050e-01 -8.87601696e-03 9.88825963e-01 1.13452003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.806296757 meters Centerline goodness : 0.801581 with order 2 Centerline is valid? [False, False] Translation: X:12.06, Y:-1.88, Z:1.13 [[ 9.50668913e-01 2.76891154e-01 -1.39856739e-01 1.20555698e+01] [-2.72584228e-01 9.60860159e-01 4.94529371e-02 -1.88489573e+00] [ 1.48075850e-01 -8.89062864e-03 9.88936044e-01 1.13438964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.86629675700001 meters Centerline goodness : 0.800399 with order 2 Centerline is valid? [False, False] Translation: X:12.06, Y:-1.89, Z:1.13 [[ 0.94953998 0.28116029 -0.1390062 12.05614029] [-0.27628348 0.9595793 0.05361908 -1.88654453] [ 0.14846303 -0.01250834 0.98883885 1.13455949] [ 0. 0. 0. 1. ]] SLAMing on 162.92629675700002 meters Centerline goodness : 0.802049 with order 2 Centerline is valid? [False, False] Translation: X:12.06, Y:-1.88, Z:1.13 [[ 0.94940582 0.28147623 -0.13928292 12.05713582] [-0.27664717 0.95949227 0.05330039 -1.88485282] [ 0.14864368 -0.01207148 0.98881714 1.13396827] [ 0. 0. 0. 1. ]] SLAMing on 162.98629675700002 meters Centerline goodness : 0.800324 with order 2 Centerline is valid? [False, False] Translation: X:12.06, Y:-1.88, Z:1.13 [[ 9.49493830e-01 2.81006577e-01 -1.39630836e-01 1.20584844e+01] [-2.76287884e-01 9.59639604e-01 5.25055865e-02 -1.88376887e+00] [ 1.48749695e-01 -1.12754223e-02 9.88810595e-01 1.13294974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.046296757 meters Centerline goodness : 0.802756 with order 2 Centerline is valid? [False, False] Translation: X:12.06, Y:-1.88, Z:1.13 [[ 9.49607867e-01 2.80503326e-01 -1.39867020e-01 1.20596361e+01] [-2.75868577e-01 9.59793476e-01 5.18942336e-02 -1.88323811e+00] [ 1.48799959e-01 -1.06942567e-02 9.88809489e-01 1.13203008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.106296757 meters Centerline goodness : 0.800727 with order 2 Centerline is valid? [False, False] Translation: X:12.06, Y:-1.88, Z:1.13 [[ 9.49776203e-01 2.80017754e-01 -1.39696895e-01 1.20597781e+01] [-2.75423026e-01 9.59936980e-01 5.16057372e-02 -1.88193085e+00] [ 1.48550738e-01 -1.05381598e-02 9.88848636e-01 1.13205813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.166296757 meters Centerline goodness : 0.804267 with order 2 Centerline is valid? [False, False] Translation: X:12.06, Y:-1.88, Z:1.13 [[ 9.50753969e-01 2.76596765e-01 -1.39861074e-01 1.20570523e+01] [-2.72468599e-01 9.60954795e-01 4.82363326e-02 -1.87953712e+00] [ 1.47742183e-01 -7.75313380e-03 9.88995519e-01 1.13364053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.226296757 meters Centerline goodness : 0.805242 with order 3 Centerline is valid? [False, False] Translation: X:12.06, Y:-1.88, Z:1.13 [[ 9.51159813e-01 2.75041451e-01 -1.40168509e-01 1.20585297e+01] [-2.70960145e-01 9.61403267e-01 4.77949570e-02 -1.87933625e+00] [ 1.47904057e-01 -7.48056283e-03 9.88973423e-01 1.13384258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.286296757 meters Centerline goodness : 0.818658 with order 3 Centerline is valid? [False, False] Translation: X:12.06, Y:-1.88, Z:1.13 [[ 9.51480102e-01 2.73610752e-01 -1.40793363e-01 1.20608216e+01] [-2.69654766e-01 9.61817949e-01 4.68245651e-02 -1.87830114e+00] [ 1.48229288e-01 -6.58704076e-03 9.88931084e-01 1.13310568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.346296757 meters Centerline goodness : 0.815348 with order 3 Centerline is valid? [False, False] Translation: X:12.06, Y:-1.88, Z:1.13 [[ 9.51706420e-01 2.72171363e-01 -1.42048019e-01 1.20641707e+01] [-2.68320696e-01 9.62232311e-01 4.59672084e-02 -1.87729519e+00] [ 1.49194151e-01 -5.63286404e-03 9.88791877e-01 1.13276493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.406296757 meters Centerline goodness : 0.813872 with order 3 Centerline is valid? [False, False] Translation: X:12.07, Y:-1.87, Z:1.13 [[ 9.51766926e-01 2.71727002e-01 -1.42492650e-01 1.20653546e+01] [-2.67975036e-01 9.62361913e-01 4.52650820e-02 -1.87468283e+00] [ 1.49429244e-01 -4.89733502e-03 9.88760293e-01 1.13279906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.466296757 meters Centerline goodness : 0.812979 with order 3 Centerline is valid? [False, False] Translation: X:12.06, Y:-1.87, Z:1.13 [[ 9.51623658e-01 2.72257866e-01 -1.42436193e-01 1.20644847e+01] [-2.68508984e-01 9.62212106e-01 4.52856328e-02 -1.87244283e+00] [ 1.49383199e-01 -4.84948214e-03 9.88767487e-01 1.13403496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.526296757 meters Centerline goodness : 0.804202 with order 3 Centerline is valid? [False, False] Translation: X:12.06, Y:-1.87, Z:1.13 [[ 9.51449538e-01 2.72912037e-01 -1.42347450e-01 1.20639850e+01] [-2.69191951e-01 9.62027824e-01 4.51459798e-02 -1.86954802e+00] [ 1.49263088e-01 -4.63533389e-03 9.88786652e-01 1.13467095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.586296757 meters Centerline goodness : 0.802526 with order 3 Centerline is valid? [False, False] Translation: X:12.07, Y:-1.87, Z:1.14 [[ 9.50452585e-01 2.76635188e-01 -1.41819801e-01 1.20653041e+01] [-2.72405867e-01 9.60943700e-01 4.88082801e-02 -1.86917104e+00] [ 1.49782932e-01 -7.75741020e-03 9.88688473e-01 1.13509329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.64629675700002 meters Centerline goodness : 0.799029 with order 3 Centerline is valid? [False, False] Translation: X:12.07, Y:-1.87, Z:1.14 [[ 9.50390532e-01 2.76801224e-01 -1.41911660e-01 1.20652585e+01] [-2.72616932e-01 9.60898521e-01 4.85184607e-02 -1.86760788e+00] [ 1.49792674e-01 -7.42396414e-03 9.88689557e-01 1.13547868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.70629675700002 meters Centerline goodness : 0.798344 with order 3 Centerline is valid? [False, False] Translation: X:12.06, Y:-1.86, Z:1.14 [[ 9.50207642e-01 2.77581566e-01 -1.41611831e-01 1.20642404e+01] [-2.73464364e-01 9.60676400e-01 4.81466130e-02 -1.86487723e+00] [ 1.49407756e-01 -7.02349039e-03 9.88750723e-01 1.13588883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.766296757 meters Centerline goodness : 0.794077 with order 3 Centerline is valid? [False, False] Translation: X:12.07, Y:-1.86, Z:1.14 [[ 9.49085973e-01 2.81784937e-01 -1.40829914e-01 1.20652232e+01] [-2.77220271e-01 9.59427603e-01 5.14548039e-02 -1.86238643e+00] [ 1.49615296e-01 -9.79412565e-03 9.88695776e-01 1.13606186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.826296757 meters Centerline goodness : 0.793503 with order 3 Centerline is valid? [False, False] Translation: X:12.07, Y:-1.86, Z:1.14 [[ 9.49000530e-01 2.82078505e-01 -1.40818007e-01 1.20655060e+01] [-2.77605141e-01 9.59347341e-01 5.08730219e-02 -1.85969168e+00] [ 1.49443567e-01 -9.18672205e-03 9.88727579e-01 1.13572402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.886296757 meters Centerline goodness : 0.790722 with order 3 Centerline is valid? [False, False] Translation: X:12.07, Y:-1.86, Z:1.13 [[ 9.49055833e-01 2.81789867e-01 -1.41023035e-01 1.20667322e+01] [-2.77358949e-01 9.59435150e-01 5.05589445e-02 -1.85952667e+00] [ 1.49549455e-01 -8.86926055e-03 9.88714467e-01 1.13486851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.946296757 meters Centerline goodness : 0.789176 with order 3 Centerline is valid? [False, False] Translation: X:12.07, Y:-1.86, Z:1.13 [[ 9.49125726e-01 2.81613388e-01 -1.40905129e-01 1.20670846e+01] [-2.77241921e-01 9.59489924e-01 5.01597699e-02 -1.85720903e+00] [ 1.49322715e-01 -8.54311937e-03 9.88751608e-01 1.13490517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.006296757 meters Centerline goodness : 0.785721 with order 3 Centerline is valid? [False, False] Translation: X:12.07, Y:-1.85, Z:1.13 [[ 9.49104682e-01 2.81592128e-01 -1.41089246e-01 1.20678521e+01] [-2.77347552e-01 9.59503561e-01 4.93077235e-02 -1.85396314e+00] [ 1.49260301e-01 -7.66743432e-03 9.88768210e-01 1.13449674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.066296757 meters Centerline goodness : 0.788689 with order 3 Centerline is valid? [False, False] Translation: X:12.07, Y:-1.85, Z:1.13 [[ 9.49140628e-01 2.81252916e-01 -1.41523377e-01 1.20693109e+01] [-2.77122071e-01 9.59609427e-01 4.85088286e-02 -1.85157688e+00] [ 1.49450417e-01 -6.82244859e-03 9.88745684e-01 1.13395245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.126296757 meters Centerline goodness : 0.790229 with order 2 Centerline is valid? [False, False] Translation: X:12.07, Y:-1.85, Z:1.13 [[ 9.49154349e-01 2.80949596e-01 -1.42032902e-01 1.20712765e+01] [-2.76880364e-01 9.59701930e-01 4.80569501e-02 -1.84955580e+00] [ 1.49810831e-01 -6.28734162e-03 9.88694687e-01 1.13361990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.186296757 meters Centerline goodness : 0.790929 with order 3 Centerline is valid? [False, False] Translation: X:12.07, Y:-1.85, Z:1.13 [[ 9.49311669e-01 2.80227263e-01 -1.42407989e-01 1.20725148e+01] [-2.76184005e-01 9.59914542e-01 4.78170274e-02 -1.84910782e+00] [ 1.50099135e-01 -6.06245329e-03 9.88652364e-01 1.13360348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.246296757 meters Centerline goodness : 0.797871 with order 3 Centerline is valid? [False, False] Translation: X:12.07, Y:-1.85, Z:1.13 [[ 9.50447919e-01 2.75600795e-01 -1.43850458e-01 1.20736186e+01] [-2.72084100e-01 9.61268530e-01 4.39665246e-02 -1.84914762e+00] [ 1.50396127e-01 -2.64846952e-03 9.88622269e-01 1.13338467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.306296757 meters Centerline goodness : 0.804337 with order 3 Centerline is valid? [False, False] Translation: X:12.07, Y:-1.85, Z:1.13 [[ 9.51624404e-01 2.70790057e-01 -1.45202404e-01 1.20741012e+01] [-2.67731036e-01 9.62638397e-01 4.05882999e-02 -1.85153675e+00] [ 1.50768318e-01 2.50373371e-04 9.88569093e-01 1.13367177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.36629675700001 meters Centerline goodness : 0.796317 with order 3 Centerline is valid? [False, False] Translation: X:12.07, Y:-1.85, Z:1.13 [[ 9.52758502e-01 2.66182067e-01 -1.46281732e-01 1.20742990e+01] [-2.63565382e-01 9.63918196e-01 3.73497004e-02 -1.85376625e+00] [ 1.50945443e-01 2.96955591e-03 9.88537635e-01 1.13383019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.42629675700002 meters Centerline goodness : 0.799759 with order 3 Centerline is valid? [False, False] Translation: X:12.09, Y:-1.87, Z:1.15 [[ 0.95513944 0.26346092 -0.13526639 12.09333814] [-0.25812453 0.96449312 0.05589952 -1.87081102] [ 0.14519084 -0.01847626 0.98923114 1.14540881] [ 0. 0. 0. 1. ]] SLAMing on 164.48629675700002 meters Centerline goodness : 0.793297 with order 3 Centerline is valid? [False, False] Translation: X:12.10, Y:-1.89, Z:1.16 [[ 0.95729831 0.2604021 -0.12558143 12.10495002] [-0.25282705 0.96474029 0.07317556 -1.88593172] [ 0.14020854 -0.03830046 0.98938094 1.15909364] [ 0. 0. 0. 1. ]] SLAMing on 164.546296757 meters Centerline goodness : 0.792362 with order 3 Centerline is valid? [False, False] Translation: X:12.11, Y:-1.89, Z:1.17 [[ 0.95803624 0.25852893 -0.12381173 12.10703623] [-0.25011925 0.96494563 0.07950023 -1.89298193] [ 0.1400247 -0.0451964 0.98911595 1.16719309] [ 0. 0. 0. 1. ]] SLAMing on 164.606296757 meters Centerline goodness : 0.790025 with order 3 Centerline is valid? [False, False] Translation: X:12.11, Y:-1.90, Z:1.17 [[ 0.95803355 0.25832073 -0.12426634 12.10853931] [-0.24975571 0.96496229 0.08043545 -1.89591738] [ 0.14069048 -0.04602363 0.98898332 1.16744062] [ 0. 0. 0. 1. ]] SLAMing on 164.666296757 meters Centerline goodness : 0.788039 with order 1 Centerline is valid? [False, False] Translation: X:12.11, Y:-1.90, Z:1.17 [[ 0.95800836 0.25819667 -0.12471753 12.11019679] [-0.24948376 0.96495878 0.08131669 -1.89860845] [ 0.14134298 -0.04678707 0.98885445 1.16769281] [ 0. 0. 0. 1. ]] SLAMing on 164.726296757 meters Centerline goodness : 0.790518 with order 3 Centerline is valid? [False, False] Translation: X:12.11, Y:-1.90, Z:1.17 [[ 0.95883146 0.25465553 -0.12566936 12.11103312] [-0.24646015 0.966073 0.07720329 -1.89695763] [ 0.14106602 -0.04305246 0.98906363 1.16606955] [ 0. 0. 0. 1. ]] SLAMing on 164.786296757 meters Centerline goodness : 0.791199 with order 3 Centerline is valid? [False, False] Translation: X:12.11, Y:-1.90, Z:1.17 [[ 0.95956884 0.25174661 -0.12590189 12.10885329] [-0.24401316 0.96696507 0.07373009 -1.8959101 ] [ 0.14030403 -0.04002737 0.98929904 1.16642594] [ 0. 0. 0. 1. ]] SLAMing on 164.846296757 meters Centerline goodness : 0.800196 with order 3 Centerline is valid? [False, False] Translation: X:12.11, Y:-1.89, Z:1.17 [[ 0.9594226 0.25242357 -0.12566067 12.10848942] [-0.24474607 0.96680182 0.07344112 -1.89396691] [ 0.14002724 -0.03970611 0.9893512 1.16592445] [ 0. 0. 0. 1. ]] SLAMing on 164.906296757 meters Centerline goodness : 0.791984 with order 2 Centerline is valid? [False, False] Translation: X:12.11, Y:-1.89, Z:1.16 [[ 0.95828483 0.25707077 -0.12491916 12.10973237] [-0.24895222 0.96544836 0.07702118 -1.89327761] [ 0.14040289 -0.04270932 0.98917286 1.16480086] [ 0. 0. 0. 1. ]] SLAMing on 164.966296757 meters Centerline goodness : 0.806759 with order 2 Centerline is valid? [False, False] Translation: X:12.12, Y:-1.89, Z:1.16 [[ 0.95737522 0.26187102 -0.12188621 12.12050179] [-0.2550921 0.96448569 0.06852284 -1.89302478] [ 0.13550165 -0.03450986 0.99017593 1.16048946] [ 0. 0. 0. 1. ]] SLAMing on 165.026296757 meters Centerline goodness : 0.792921 with order 1 Centerline is valid? [False, False] Translation: X:12.12, Y:-1.89, Z:1.16 [[ 0.95719313 0.26261956 -0.12170571 12.12017484] [-0.25585131 0.96428393 0.06853177 -1.89189384] [ 0.13535664 -0.03445958 0.99019751 1.16012833] [ 0. 0. 0. 1. ]] SLAMing on 165.086296757 meters Centerline goodness : 0.801688 with order 3 Centerline is valid? [False, False] Translation: X:12.13, Y:-1.89, Z:1.16 [[ 0.95761727 0.26221298 -0.11922048 12.13335149] [-0.25690792 0.96468453 0.05815564 -1.89321208] [ 0.13025932 -0.02506215 0.99116315 1.15742901] [ 0. 0. 0. 1. ]] SLAMing on 165.14629675700002 meters Centerline goodness : 0.803985 with order 3 Centerline is valid? [False, False] Translation: X:12.14, Y:-1.89, Z:1.15 [[ 0.96025313 0.25758987 -0.10752392 12.13646306] [-0.25348969 0.96602225 0.05043792 -1.89222191] [ 0.1168628 -0.02117697 0.99292226 1.15006635] [ 0. 0. 0. 1. ]] SLAMing on 165.20629675700002 meters Centerline goodness : 0.792519 with order 3 Centerline is valid? [False, False] Translation: X:12.14, Y:-1.89, Z:1.15 [[ 0.96045445 0.25662582 -0.10802984 12.13808644] [-0.25248801 0.96627528 0.05061517 -1.89394694] [ 0.11737572 -0.02133733 0.99285833 1.15009605] [ 0. 0. 0. 1. ]] SLAMing on 165.266296757 meters Centerline goodness : 0.791732 with order 3 Centerline is valid? [False, False] Translation: X:12.14, Y:-1.89, Z:1.15 [[ 0.96136287 0.25300168 -0.1084969 12.13632752] [-0.24923474 0.96729201 0.04720391 -1.89392997] [ 0.11689085 -0.01833889 0.99297543 1.15087356] [ 0. 0. 0. 1. ]] SLAMing on 165.326296757 meters Centerline goodness : 0.790493 with order 3 Centerline is valid? [False, False] Translation: X:12.14, Y:-1.89, Z:1.15 [[ 0.96143541 0.25268989 -0.10858068 12.13614611] [-0.24890085 0.96737026 0.04736188 -1.89426787] [ 0.11700559 -0.01850957 0.99295875 1.15196519] [ 0. 0. 0. 1. ]] SLAMing on 165.386296757 meters Centerline goodness : 0.789327 with order 2 Centerline is valid? [False, False] Translation: X:12.14, Y:-1.89, Z:1.15 [[ 0.96133746 0.25309906 -0.108495 12.135603 ] [-0.24936157 0.96727124 0.04695904 -1.89170209] [ 0.11682938 -0.018089 0.99298725 1.15238119] [ 0. 0. 0. 1. ]] SLAMing on 165.446296757 meters Centerline goodness : 0.791418 with order 2 Centerline is valid? [False, False] Translation: X:12.14, Y:-1.89, Z:1.15 [[ 0.96097157 0.25427501 -0.10898557 12.13665745] [-0.25065386 0.96698519 0.04595962 -1.88708231] [ 0.11707381 -0.01684823 0.99298029 1.15117204] [ 0. 0. 0. 1. ]] SLAMing on 165.506296757 meters Centerline goodness : 0.792190 with order 2 Centerline is valid? [False, False] Translation: X:12.14, Y:-1.88, Z:1.15 [[ 0.95986586 0.25859871 -0.10855523 12.13897002] [-0.254736 0.96580366 0.04829977 -1.88259777] [ 0.1173333 -0.01870838 0.99291636 1.14922468] [ 0. 0. 0. 1. ]] SLAMing on 165.566296757 meters Centerline goodness : 0.790846 with order 2 Centerline is valid? [False, False] Translation: X:12.14, Y:-1.88, Z:1.15 [[ 0.95973941 0.25888791 -0.10898306 12.14021924] [-0.25511666 0.96574408 0.0474749 -1.88017311] [ 0.11754042 -0.01776014 0.99290927 1.14809062] [ 0. 0. 0. 1. ]] SLAMing on 165.626296757 meters Centerline goodness : 0.791395 with order 2 Centerline is valid? [False, False] Translation: X:12.14, Y:-1.88, Z:1.15 [[ 0.95986204 0.25807739 -0.10982223 12.14211851] [-0.25429201 0.96596404 0.04742416 -1.88139016] [ 0.11832343 -0.01759373 0.99281923 1.14830275] [ 0. 0. 0. 1. ]] SLAMing on 165.686296757 meters Centerline goodness : 0.792223 with order 2 Centerline is valid? [False, False] Translation: X:12.14, Y:-1.88, Z:1.15 [[ 0.96011662 0.2570054 -0.1101104 12.14342165] [-0.25319478 0.96624676 0.04753523 -1.88316756] [ 0.11861063 -0.01775999 0.992782 1.14828645] [ 0. 0. 0. 1. ]] SLAMing on 165.746296757 meters Centerline goodness : 0.791050 with order 2 Centerline is valid? [False, False] Translation: X:12.14, Y:-1.89, Z:1.15 [[ 0.96029637 0.25608683 -0.11068163 12.14460948] [-0.2522147 0.96648441 0.04791278 -1.88576682] [ 0.1192419 -0.01809493 0.99270033 1.14893911] [ 0. 0. 0. 1. ]] SLAMing on 165.806296757 meters Centerline goodness : 0.798312 with order 3 Centerline is valid? [False, False] Translation: X:12.14, Y:-1.89, Z:1.15 [[ 0.96110303 0.25284953 -0.11112192 12.14296549] [-0.24935396 0.96738788 0.04453417 -1.88503344] [ 0.11875844 -0.01509323 0.99280845 1.14949577] [ 0. 0. 0. 1. ]] SLAMing on 165.86629675700001 meters Centerline goodness : 0.791176 with order 1 Centerline is valid? [False, False] Translation: X:12.14, Y:-1.89, Z:1.15 [[ 0.96096443 0.25343928 -0.11097698 12.14212122] [-0.24991178 0.96722923 0.04485209 -1.88512905] [ 0.11870746 -0.01536681 0.99281035 1.15020296] [ 0. 0. 0. 1. ]] SLAMing on 165.92629675700002 meters Centerline goodness : 0.791900 with order 1 Centerline is valid? [False, False] Translation: X:12.14, Y:-1.88, Z:1.15 [[ 0.96063786 0.2547547 -0.11079235 12.14116062] [-0.25126892 0.9668893 0.04459836 -1.8832259 ] [ 0.11848558 -0.0150042 0.99284241 1.14997967] [ 0. 0. 0. 1. ]] SLAMing on 165.98629675700002 meters Centerline goodness : 0.798723 with order 3 Centerline is valid? [False, False] Translation: X:12.14, Y:-1.88, Z:1.15 [[ 0.95950859 0.25929258 -0.11004831 12.14224228] [-0.25544564 0.96563261 0.0479706 -1.88179003] [ 0.11870466 -0.01791684 0.99276794 1.14903382] [ 0. 0. 0. 1. ]] SLAMing on 166.046296757 meters Centerline goodness : 0.788165 with order 2 Centerline is valid? [False, False] Translation: X:12.14, Y:-1.88, Z:1.15 [[ 0.95939321 0.25966591 -0.11017383 12.14306172] [-0.25590349 0.96554618 0.04726494 -1.8804446 ] [ 0.11865101 -0.0171518 0.99278787 1.14745207] [ 0. 0. 0. 1. ]] SLAMing on 166.106296757 meters Centerline goodness : 0.791700 with order 2 Centerline is valid? [False, False] Translation: X:12.14, Y:-1.88, Z:1.15 [[ 0.95951076 0.25913858 -0.11039158 12.14438509] [-0.25540631 0.96569303 0.04695302 -1.88162365] [ 0.11877172 -0.01685722 0.99277848 1.14620036] [ 0. 0. 0. 1. ]] SLAMing on 166.166296757 meters Centerline goodness : 0.792837 with order 3 Centerline is valid? [False, False] Translation: X:12.14, Y:-1.88, Z:1.15 [[ 0.96045239 0.25542965 -0.11084628 12.14311019] [-0.25211331 0.96673265 0.04320715 -1.8810765 ] [ 0.1181951 -0.01355259 0.9928979 1.14614683] [ 0. 0. 0. 1. ]] SLAMing on 166.226296757 meters Centerline goodness : 0.793602 with order 2 Centerline is valid? [False, False] Translation: X:12.14, Y:-1.88, Z:1.15 [[ 9.61355077e-01 2.51915946e-01 -1.11062019e-01 1.21410120e+01] [-2.48979520e-01 9.67691070e-01 3.97893525e-02 -1.88118531e+00] [ 1.17497296e-01 -1.05995279e-02 9.93016634e-01 1.14668683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.286296757 meters Centerline goodness : 0.794881 with order 2 Centerline is valid? [False, False] Translation: X:12.14, Y:-1.88, Z:1.15 [[ 9.61416706e-01 2.51764489e-01 -1.10871818e-01 1.21412255e+01] [-2.48809371e-01 9.67727946e-01 3.99564726e-02 -1.88275664e+00] [ 1.17353377e-01 -1.08288731e-02 9.93031178e-01 1.14606172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.346296757 meters Centerline goodness : 0.790575 with order 1 Centerline is valid? [False, False] Translation: X:12.14, Y:-1.88, Z:1.15 [[ 9.61446702e-01 2.51602620e-01 -1.10979104e-01 1.21423794e+01] [-2.48643247e-01 9.67769939e-01 3.99734974e-02 -1.88325519e+00] [ 1.17459677e-01 -1.08381826e-02 9.93018508e-01 1.14507661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.406296757 meters Centerline goodness : 0.789640 with order 1 Centerline is valid? [False, False] Translation: X:12.14, Y:-1.88, Z:1.14 [[ 9.62342702e-01 2.47854354e-01 -1.11645616e-01 1.21419110e+01] [-2.45317002e-01 9.68769132e-01 3.61377507e-02 -1.88304569e+00] [ 1.17115725e-01 -7.38833291e-03 9.93090791e-01 1.14450383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.466296757 meters Centerline goodness : 0.790636 with order 1 Centerline is valid? [False, False] Translation: X:12.15, Y:-1.88, Z:1.14 [[ 9.62724096e-01 2.45898310e-01 -1.12678019e-01 1.21455750e+01] [-2.43412147e-01 9.69271922e-01 3.55312258e-02 -1.88465208e+00] [ 1.17952708e-01 -6.77956883e-03 9.92996071e-01 1.14334055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.526296757 meters Centerline goodness : 0.795370 with order 2 Centerline is valid? [False, False] Translation: X:12.15, Y:-1.89, Z:1.14 [[ 9.62918132e-01 2.44927724e-01 -1.13133021e-01 1.21473537e+01] [-2.42436865e-01 9.69517876e-01 3.54887850e-02 -1.88592281e+00] [ 1.18376674e-01 -6.74517954e-03 9.92945852e-01 1.14299146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.586296757 meters Centerline goodness : 0.791968 with order 1 Centerline is valid? [False, False] Translation: X:12.15, Y:-1.89, Z:1.14 [[ 9.63798157e-01 2.41110515e-01 -1.13836865e-01 1.21467900e+01] [-2.38974210e-01 9.70489876e-01 3.22602949e-02 -1.88704703e+00] [ 1.18255821e-01 -3.88833789e-03 9.92975549e-01 1.14331221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.64629675700002 meters Centerline goodness : 0.794839 with order 3 Centerline is valid? [False, False] Translation: X:12.15, Y:-1.89, Z:1.14 [[ 9.63933832e-01 2.40322688e-01 -1.14352843e-01 1.21484925e+01] [-2.38148224e-01 9.70684350e-01 3.25163915e-02 -1.88930020e+00] [ 1.18814941e-01 -4.11072358e-03 9.92907907e-01 1.14315318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.70629675700002 meters Centerline goodness : 0.790664 with order 1 Centerline is valid? [False, False] Translation: X:12.15, Y:-1.89, Z:1.14 [[ 9.63832741e-01 2.40906711e-01 -1.13975457e-01 1.21472349e+01] [-2.38652482e-01 9.70536260e-01 3.32319183e-02 -1.89058764e+00] [ 1.18623106e-01 -4.82948512e-03 9.92927608e-01 1.14398453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.766296757 meters Centerline goodness : 0.796611 with order 3 Centerline is valid? [False, False] Translation: X:12.14, Y:-1.89, Z:1.15 [[ 9.63487319e-01 2.42684941e-01 -1.13120316e-01 1.21439243e+01] [-2.40320767e-01 9.70087467e-01 3.42963019e-02 -1.89105997e+00] [ 1.18059796e-01 -5.85889094e-03 9.92989203e-01 1.14571442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.826296757 meters Centerline goodness : 0.791700 with order 1 Centerline is valid? [False, False] Translation: X:12.15, Y:-1.89, Z:1.15 [[ 9.62475254e-01 2.46922794e-01 -1.12563402e-01 1.21451071e+01] [-2.44113686e-01 9.68989625e-01 3.83094641e-02 -1.89134074e+00] [ 1.18532249e-01 -9.39364413e-03 9.92905769e-01 1.14573839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.886296757 meters Centerline goodness : 0.791672 with order 1 Centerline is valid? [False, False] Translation: X:12.15, Y:-1.89, Z:1.15 [[ 9.62408598e-01 2.47086271e-01 -1.12774402e-01 1.21456741e+01] [-2.44293425e-01 9.68949988e-01 3.81659964e-02 -1.89198293e+00] [ 1.18703050e-01 -9.18123810e-03 9.92887351e-01 1.14507983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.946296757 meters Centerline goodness : 0.801781 with order 3 Centerline is valid? [False, False] Translation: X:12.15, Y:-1.89, Z:1.14 [[ 9.63316199e-01 2.43178593e-01 -1.13516839e-01 1.21454447e+01] [-2.40822594e-01 9.69965115e-01 3.42367318e-02 -1.89207677e+00] [ 1.18433014e-01 -5.64337869e-03 9.92946007e-01 1.14443080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.006296757 meters Centerline goodness : 0.789222 with order 1 Centerline is valid? [False, False] Translation: X:12.15, Y:-1.89, Z:1.15 [[ 9.64272326e-01 2.38998228e-01 -1.14274794e-01 1.21450312e+01] [-2.37027977e-01 9.71016664e-01 3.07306912e-02 -1.89183276e+00] [ 1.18307310e-01 -2.54643180e-03 9.92973764e-01 1.14506900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.066296757 meters Centerline goodness : 0.791333 with order 1 Centerline is valid? [False, False] Translation: X:12.14, Y:-1.89, Z:1.15 [[ 9.65180939e-01 2.35190726e-01 -1.14503616e-01 1.21429251e+01] [-2.33479743e-01 9.71949051e-01 2.83240446e-02 -1.89379552e+00] [ 1.17953234e-01 -6.03553044e-04 9.93018968e-01 1.14729355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.126296757 meters Centerline goodness : 0.793032 with order 1 Centerline is valid? [False, False] Translation: X:12.14, Y:-1.89, Z:1.15 [[ 9.65218238e-01 2.35083744e-01 -1.14408852e-01 1.21428728e+01] [-2.33341947e-01 9.71974715e-01 2.85777884e-02 -1.89411241e+00] [ 1.17920685e-01 -8.87418210e-04 9.93022620e-01 1.14776608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.186296757 meters Centerline goodness : 0.792429 with order 1 Centerline is valid? [False, False] Translation: X:12.14, Y:-1.89, Z:1.15 [[ 9.65167315e-01 2.35305450e-01 -1.14382685e-01 1.21434177e+01] [-2.33613156e-01 9.71921356e-01 2.81739244e-02 -1.89116851e+00] [ 1.17800452e-01 -4.71250982e-04 9.93037175e-01 1.14739955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.246296757 meters Centerline goodness : 0.789368 with order 1 Centerline is valid? [False, False] Translation: X:12.14, Y:-1.89, Z:1.15 [[ 9.64168509e-01 2.39746122e-01 -1.13582055e-01 1.21438699e+01] [-2.37725788e-01 9.70830692e-01 3.12124545e-02 -1.88786281e+00] [ 1.17752010e-01 -3.09268219e-03 9.93038217e-01 1.14721051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.306296757 meters Centerline goodness : 0.788100 with order 1 Centerline is valid? [False, False] Translation: X:12.14, Y:-1.88, Z:1.15 [[ 9.63956401e-01 2.40654019e-01 -1.13462331e-01 1.21439211e+01] [-2.38662820e-01 9.70606852e-01 3.10225175e-02 -1.88361930e+00] [ 1.17593010e-01 -2.82511441e-03 9.93057855e-01 1.14730853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.36629675700001 meters Centerline goodness : 0.788956 with order 1 Centerline is valid? [False, False] Translation: X:12.15, Y:-1.88, Z:1.15 [[ 9.64077155e-01 2.39771140e-01 -1.14302406e-01 1.21467542e+01] [-2.37875072e-01 9.70827620e-01 3.01526633e-02 -1.88206598e+00] [ 1.18197671e-01 -1.87980078e-03 9.92988307e-01 1.14618324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.42629675700002 meters Centerline goodness : 0.788828 with order 1 Centerline is valid? [False, False] Translation: X:12.15, Y:-1.88, Z:1.15 [[ 9.64187319e-01 2.39102864e-01 -1.14772096e-01 1.21481904e+01] [-2.37213284e-01 9.70992666e-01 3.00516218e-02 -1.88181437e+00] [ 1.18628292e-01 -1.74992691e-03 9.92937191e-01 1.14640897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.48629675700002 meters Centerline goodness : 0.794345 with order 3 Centerline is valid? [False, False] Translation: X:12.15, Y:-1.88, Z:1.15 [[ 9.64320560e-01 2.38367206e-01 -1.15182167e-01 1.21496592e+01] [-2.36494689e-01 9.71173856e-01 2.98597267e-02 -1.88138116e+00] [ 1.18979489e-01 -1.55437747e-03 9.92895496e-01 1.14642282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.546296757 meters Centerline goodness : 0.793743 with order 3 Centerline is valid? [False, False] Translation: X:12.15, Y:-1.88, Z:1.15 [[ 9.65217891e-01 2.34440626e-01 -1.15723879e-01 1.21489240e+01] [-2.33016922e-01 9.72128401e-01 2.58744261e-02 -1.87967366e+00] [ 1.18564486e-01 1.99116299e-03 9.92944358e-01 1.14651724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.606296757 meters Centerline goodness : 0.790983 with order 1 Centerline is valid? [False, False] Translation: X:12.15, Y:-1.88, Z:1.15 [[ 9.65352313e-01 2.34099385e-01 -1.15292628e-01 1.21480729e+01] [-2.32638211e-01 9.72211410e-01 2.61617646e-02 -1.88024120e+00] [ 1.18213261e-01 1.56615069e-03 9.92986995e-01 1.14746340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.666296757 meters Centerline goodness : 0.792485 with order 1 Centerline is valid? [False, False] Translation: X:12.15, Y:-1.88, Z:1.15 [[ 9.65266686e-01 2.34652139e-01 -1.14885151e-01 1.21470493e+01] [-2.33160549e-01 9.72078591e-01 2.64456301e-02 -1.87813198e+00] [ 1.17882920e-01 1.25959925e-03 9.93026702e-01 1.14848151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.726296757 meters Centerline goodness : 0.788056 with order 1 Centerline is valid? [False, False] Translation: X:12.15, Y:-1.88, Z:1.15 [[ 9.64982884e-01 2.35917715e-01 -1.14677223e-01 1.21463012e+01] [-2.34413071e-01 9.71772312e-01 2.66286672e-02 -1.87592986e+00] [ 1.17722325e-01 1.18563204e-03 9.93045844e-01 1.14878973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.786296757 meters Centerline goodness : 0.789108 with order 1 Centerline is valid? [False, False] Translation: X:12.15, Y:-1.87, Z:1.15 [[ 9.64062825e-01 2.39821496e-01 -1.14317622e-01 1.21488102e+01] [-2.38002411e-01 9.70816209e-01 2.95083049e-02 -1.87386957e+00] [ 1.18058126e-01 -1.23999015e-03 9.93005912e-01 1.14708419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.846296757 meters Centerline goodness : 0.787420 with order 1 Centerline is valid? [False, False] Translation: X:12.15, Y:-1.87, Z:1.14 [[ 9.63209435e-01 2.43342873e-01 -1.14069406e-01 1.21521375e+01] [-2.41233023e-01 9.69934157e-01 3.21614765e-02 -1.87132734e+00] [ 1.18466080e-01 -3.46092987e-03 9.92952068e-01 1.14499782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.906296757 meters Centerline goodness : 0.788833 with order 1 Centerline is valid? [False, False] Translation: X:12.15, Y:-1.87, Z:1.14 [[ 9.63216360e-01 2.43165411e-01 -1.14388929e-01 1.21534949e+01] [-2.41142116e-01 9.69981140e-01 3.14176431e-02 -1.87060392e+00] [ 1.18594788e-01 -2.67799941e-03 9.92939124e-01 1.14359315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.966296757 meters Centerline goodness : 0.790193 with order 1 Centerline is valid? [False, False] Translation: X:12.15, Y:-1.87, Z:1.14 [[ 9.63202837e-01 2.43352954e-01 -1.14103612e-01 1.21529404e+01] [-2.41334910e-01 9.69934047e-01 3.13911655e-02 -1.86942877e+00] [ 1.18312111e-01 -2.69887484e-03 9.92972789e-01 1.14390541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.026296757 meters Centerline goodness : 0.794925 with order 3 Centerline is valid? [False, False] Translation: X:12.15, Y:-1.87, Z:1.15 [[ 9.63164454e-01 2.43452736e-01 -1.14214713e-01 1.21525441e+01] [-2.41284915e-01 9.69904970e-01 3.26487246e-02 -1.87153135e+00] [ 1.18725839e-01 -3.88780374e-03 9.92919463e-01 1.14594746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.086296757 meters Centerline goodness : 0.795104 with order 3 Centerline is valid? [False, False] Translation: X:12.15, Y:-1.87, Z:1.15 [[ 9.63118854e-01 2.43775433e-01 -1.13910544e-01 1.21516545e+01] [-2.41528699e-01 9.69820813e-01 3.33388420e-02 -1.87305752e+00] [ 1.18600007e-01 -4.59660187e-03 9.92931473e-01 1.14670394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.14629675700002 meters Centerline goodness : 0.793835 with order 3 Centerline is valid? [False, False] Translation: X:12.15, Y:-1.87, Z:1.15 [[ 9.63096931e-01 2.43826693e-01 -1.13986165e-01 1.21527143e+01] [-2.41625441e-01 9.69809726e-01 3.29581959e-02 -1.87190317e+00] [ 1.18580980e-01 -4.19997984e-03 9.92935502e-01 1.14548733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.20629675700002 meters Centerline goodness : 0.788018 with order 1 Centerline is valid? [False, False] Translation: X:12.15, Y:-1.87, Z:1.15 [[ 9.63154031e-01 2.43560155e-01 -1.14073501e-01 1.21530839e+01] [-2.41349903e-01 9.69876408e-01 3.30148161e-02 -1.87295316e+00] [ 1.18678291e-01 -4.26672485e-03 9.92923591e-01 1.14554797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.266296757 meters Centerline goodness : 0.786820 with order 1 Centerline is valid? [False, False] Translation: X:12.15, Y:-1.87, Z:1.15 [[ 9.63226191e-01 2.43181763e-01 -1.14271325e-01 1.21539267e+01] [-2.41045398e-01 9.69973933e-01 3.23679709e-02 -1.87128976e+00] [ 1.18711506e-01 -3.63310041e-03 9.92922141e-01 1.14513081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.326296757 meters Centerline goodness : 0.786895 with order 1 Centerline is valid? [False, False] Translation: X:12.15, Y:-1.87, Z:1.14 [[ 9.63207657e-01 2.43259960e-01 -1.14261112e-01 1.21541963e+01] [-2.41199711e-01 9.69956464e-01 3.17357488e-02 -1.86879453e+00] [ 1.18548341e-01 -3.00836911e-03 9.92943725e-01 1.14480226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.386296757 meters Centerline goodness : 0.787759 with order 1 Centerline is valid? [False, False] Translation: X:12.15, Y:-1.87, Z:1.14 [[ 9.63178774e-01 2.43306499e-01 -1.14405406e-01 1.21547591e+01] [-2.41284624e-01 9.69945829e-01 3.14136858e-02 -1.86746827e+00] [ 1.18610200e-01 -2.65272997e-03 9.92937351e-01 1.14455056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.446296757 meters Centerline goodness : 0.791682 with order 1 Centerline is valid? [False, False] Translation: X:12.16, Y:-1.87, Z:1.14 [[ 9.62451834e-01 2.46146120e-01 -1.14448918e-01 1.21582348e+01] [-2.43815272e-01 9.69219986e-01 3.41574552e-02 -1.86611402e+00] [ 1.19333904e-01 -4.97051128e-03 9.92841736e-01 1.14326152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.506296757 meters Centerline goodness : 0.795217 with order 2 Centerline is valid? [False, False] Translation: X:12.16, Y:-1.86, Z:1.14 [[ 9.62445522e-01 2.45874591e-01 -1.15083894e-01 1.21602777e+01] [-2.43660526e-01 9.69293957e-01 3.31477611e-02 -1.86240399e+00] [ 1.19700315e-01 -3.86151202e-03 9.92802560e-01 1.14246177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.566296757 meters Centerline goodness : 0.793941 with order 2 Centerline is valid? [False, False] Translation: X:12.16, Y:-1.86, Z:1.14 [[ 9.62612488e-01 2.45122019e-01 -1.15292645e-01 1.21609145e+01] [-2.42969177e-01 9.69486419e-01 3.25892852e-02 -1.86096544e+00] [ 1.19763005e-01 -3.35829385e-03 9.92796829e-01 1.14280445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.626296757 meters Centerline goodness : 0.792846 with order 2 Centerline is valid? [False, False] Translation: X:12.16, Y:-1.86, Z:1.14 [[ 9.63610967e-01 2.40776535e-01 -1.16105832e-01 1.21609038e+01] [-2.39080724e-01 9.70580541e-01 2.85275280e-02 -1.85751728e+00] [ 1.19558821e-01 2.69227560e-04 9.92827083e-01 1.14343907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.686296757 meters Centerline goodness : 0.795537 with order 3 Centerline is valid? [False, False] Translation: X:12.16, Y:-1.86, Z:1.14 [[ 9.64750728e-01 2.35764740e-01 -1.16923140e-01 1.21609903e+01] [-2.34525027e-01 9.71802594e-01 2.44485075e-02 -1.85590307e+00] [ 1.19390306e-01 3.83468704e-03 9.92839992e-01 1.14411979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.746296757 meters Centerline goodness : 0.793937 with order 2 Centerline is valid? [False, False] Translation: X:12.16, Y:-1.85, Z:1.14 [[ 9.65925165e-01 2.30199357e-01 -1.18308206e-01 1.21632350e+01] [-2.29508450e-01 9.73108923e-01 1.96187609e-02 -1.85315098e+00] [ 1.19642997e-01 8.20247809e-03 9.92783094e-01 1.14336205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.806296757 meters Centerline goodness : 0.793353 with order 3 Centerline is valid? [False, False] Translation: X:12.17, Y:-1.85, Z:1.14 [[ 9.66272942e-01 2.28589799e-01 -1.18588804e-01 1.21652596e+01] [-2.27916081e-01 9.73487567e-01 1.93963109e-02 -1.85258988e+00] [ 1.19878525e-01 8.28616520e-03 9.92753987e-01 1.14396308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.86629675700001 meters Centerline goodness : 0.798218 with order 3 Centerline is valid? [False, False] Translation: X:12.17, Y:-1.85, Z:1.15 [[ 9.65616583e-01 2.31500913e-01 -1.18287540e-01 1.21669703e+01] [-2.30373805e-01 9.72823106e-01 2.33048268e-02 -1.85213971e+00] [ 1.20467941e-01 4.74682347e-03 9.92705869e-01 1.14558617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.92629675700002 meters Centerline goodness : 0.801734 with order 2 Centerline is valid? [False, False] Translation: X:12.17, Y:-1.85, Z:1.14 [[ 9.64842996e-01 2.34622376e-01 -1.18449706e-01 1.21711196e+01] [-2.33189157e-01 9.72083325e-01 2.60158906e-02 -1.84798780e+00] [ 1.21246894e-01 2.51993724e-03 9.92619182e-01 1.14469144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.986296757 meters Centerline goodness : 0.801981 with order 2 Centerline is valid? [False, False] Translation: X:12.17, Y:-1.85, Z:1.14 [[ 9.63686884e-01 2.39240564e-01 -1.18623534e-01 1.21747480e+01] [-2.37501468e-01 9.70960233e-01 2.87971901e-02 -1.84510118e+00] [ 1.22068190e-01 4.21788889e-04 9.92521627e-01 1.14358944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.046296757 meters Centerline goodness : 0.808351 with order 3 Centerline is valid? [False, False] Translation: X:12.18, Y:-1.84, Z:1.14 [[ 9.62866860e-01 2.42804220e-01 -1.18040335e-01 1.21753166e+01] [-2.40840043e-01 9.70074476e-01 3.08477654e-02 -1.84232467e+00] [ 1.21997883e-01 -1.27345178e-03 9.92529544e-01 1.14422584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.106296757 meters Centerline goodness : 0.806203 with order 2 Centerline is valid? [False, False] Translation: X:12.18, Y:-1.84, Z:1.15 [[ 9.61968832e-01 2.46226304e-01 -1.18273296e-01 1.21767000e+01] [-2.44114048e-01 9.69209966e-01 3.22548075e-02 -1.83984899e+00] [ 1.22573640e-01 -2.15594644e-03 9.92457080e-01 1.14548020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.166296757 meters Centerline goodness : 0.808574 with order 2 Centerline is valid? [False, False] Translation: X:12.18, Y:-1.84, Z:1.15 [[ 9.61185602e-01 2.48028912e-01 -1.20846588e-01 1.21814093e+01] [-2.46139097e-01 9.68752560e-01 3.05617808e-02 -1.83893950e+00] [ 1.24650647e-01 3.69526350e-04 9.92200625e-01 1.14636432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.226296757 meters Centerline goodness : 0.810565 with order 2 Centerline is valid? [False, False] Translation: X:12.18, Y:-1.84, Z:1.15 [[ 9.60901621e-01 2.48359278e-01 -1.22416274e-01 1.21843417e+01] [-2.46646594e-01 9.68665624e-01 2.91953226e-02 -1.83772226e+00] [ 1.25831366e-01 2.13972423e-03 9.92049338e-01 1.14669191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.286296757 meters Centerline goodness : 0.812079 with order 3 Centerline is valid? [False, False] Translation: X:12.19, Y:-1.84, Z:1.15 [[ 9.60787507e-01 2.47184724e-01 -1.25646642e-01 1.21880940e+01] [-2.46095812e-01 9.68939249e-01 2.43635519e-02 -1.83638219e+00] [ 1.27766261e-01 7.51291615e-03 9.91775851e-01 1.14867987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.346296757 meters Centerline goodness : 0.813637 with order 3 Centerline is valid? [False, False] Translation: X:12.19, Y:-1.84, Z:1.15 [[ 9.59993947e-01 2.48685720e-01 -1.28712995e-01 1.21917686e+01] [-2.48019962e-01 9.68517769e-01 2.14343325e-02 -1.83504862e+00] [ 1.29991235e-01 1.13465627e-02 9.91450218e-01 1.15176763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.406296757 meters Centerline goodness : 0.815463 with order 3 Centerline is valid? [False, False] Translation: X:12.19, Y:-1.83, Z:1.15 [[ 9.58094098e-01 2.56005709e-01 -1.28517613e-01 1.21937610e+01] [-2.54918856e-01 9.66636155e-01 2.51181333e-02 -1.83181729e+00] [ 1.30660157e-01 8.69602762e-03 9.91389077e-01 1.15343161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.466296757 meters Centerline goodness : 0.815669 with order 3 Centerline is valid? [False, False] Translation: X:12.20, Y:-1.83, Z:1.16 [[ 9.55548882e-01 2.64457931e-01 -1.30339314e-01 1.21984450e+01] [-2.63110609e-01 9.64365997e-01 2.77674352e-02 -1.82882770e+00] [ 1.33038121e-01 7.76051467e-03 9.91080538e-01 1.15653886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.526296757 meters Centerline goodness : 0.811270 with order 2 Centerline is valid? [False, False] Translation: X:12.20, Y:-1.82, Z:1.16 [[ 9.54360179e-01 2.60854406e-01 -1.45435992e-01 1.22026862e+01] [-2.59719263e-01 9.65304438e-01 2.70785337e-02 -1.82486966e+00] [ 1.47453564e-01 1.19298544e-02 9.88997030e-01 1.16195316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.586296757 meters Centerline goodness : 0.810161 with order 2 Centerline is valid? [False, False] Translation: X:12.21, Y:-1.83, Z:1.16 [[ 0.95455352 0.25964739 -0.14632435 12.20552814] [-0.25859944 0.96562173 0.02647648 -1.82615037] [ 0.14816852 0.01256618 0.98888229 1.16023462] [ 0. 0. 0. 1. ]] SLAMing on 169.64629675700002 meters Centerline goodness : 0.811484 with order 2 Centerline is valid? [False, False] Translation: X:12.20, Y:-1.83, Z:1.16 [[ 0.95626547 0.25364133 -0.14567922 12.20272691] [-0.25276988 0.96720919 0.02477441 -1.82927302] [ 0.14718609 0.01313241 0.98902163 1.15915489] [ 0. 0. 0. 1. ]] SLAMing on 169.70629675700002 meters Centerline goodness : 0.813769 with order 3 Centerline is valid? [False, False] Translation: X:12.20, Y:-1.83, Z:1.16 [[ 0.95757563 0.24869469 -0.14560172 12.20211521] [-0.24807756 0.96847477 0.02267491 -1.83151833] [ 0.14665072 0.01440757 0.98908341 1.15730751] [ 0. 0. 0. 1. ]] SLAMing on 169.766296757 meters Centerline goodness : 0.814514 with order 3 Centerline is valid? [False, False] Translation: X:12.20, Y:-1.84, Z:1.15 [[ 0.95863693 0.25144885 -0.13337433 12.20277985] [-0.25120015 0.96774932 0.01896703 -1.83618169] [ 0.13384215 0.01532116 0.99088422 1.15139772] [ 0. 0. 0. 1. ]] SLAMing on 169.826296757 meters Centerline goodness : 0.817805 with order 3 Centerline is valid? [False, False] Translation: X:12.20, Y:-1.84, Z:1.15 [[ 0.95905751 0.24830797 -0.13620515 12.20457158] [-0.24871411 0.96847134 0.01430209 -1.83829116] [ 0.13546211 0.02015962 0.99057741 1.15334368] [ 0. 0. 0. 1. ]] SLAMing on 169.886296757 meters Centerline goodness : 0.817179 with order 2 Centerline is valid? [False, False] Translation: X:12.21, Y:-1.84, Z:1.16 [[ 0.95653299 0.25512875 -0.14125845 12.21264392] [-0.25576315 0.96663873 0.01395628 -1.84325691] [ 0.14010654 0.02277906 0.98987437 1.15594989] [ 0. 0. 0. 1. ]] SLAMing on 169.946296757 meters Centerline goodness : 0.817212 with order 3 Centerline is valid? [False, False] Translation: X:12.22, Y:-1.85, Z:1.16 [[ 0.95332149 0.26422579 -0.14616043 12.22254962] [-0.26485006 0.96416454 0.01553008 -1.84726381] [ 0.14502615 0.02390544 0.98913899 1.15726372] [ 0. 0. 0. 1. ]] SLAMing on 170.006296757 meters Centerline goodness : 0.811054 with order 2 Centerline is valid? [False, False] Translation: X:12.22, Y:-1.85, Z:1.16 [[ 0.9512154 0.27122764 -0.14705386 12.22441972] [-0.27140933 0.96227213 0.01921789 -1.85042449] [ 0.14671825 0.02163143 0.98894178 1.15974201] [ 0. 0. 0. 1. ]] SLAMing on 170.066296757 meters Centerline goodness : 0.809519 with order 3 Centerline is valid? [False, False] Translation: X:12.22, Y:-1.85, Z:1.16 [[ 0.95104121 0.27205776 -0.14664648 12.22337999] [-0.27212877 0.96205361 0.01996959 -1.85204341] [ 0.14651466 0.02091482 0.98898737 1.16006291] [ 0. 0. 0. 1. ]] SLAMing on 170.126296757 meters Centerline goodness : 0.807547 with order 3 Centerline is valid? [False, False] Translation: X:12.22, Y:-1.86, Z:1.16 [[ 0.9500526 0.27608593 -0.14552185 12.22329464] [-0.27544427 0.96099332 0.02494603 -1.85570055] [ 0.14673278 0.01638312 0.98904049 1.16140007] [ 0. 0. 0. 1. ]] SLAMing on 170.186296757 meters Centerline goodness : 0.808192 with order 3 Centerline is valid? [False, False] Translation: X:12.22, Y:-1.86, Z:1.16 [[ 0.95000381 0.2763062 -0.14542231 12.22317938] [-0.27561346 0.96093565 0.02529628 -1.85588322] [ 0.146731 0.01604878 0.98904623 1.16173876] [ 0. 0. 0. 1. ]] SLAMing on 170.246296757 meters Centerline goodness : 0.808582 with order 3 Centerline is valid? [False, False] Translation: X:12.22, Y:-1.86, Z:1.16 [[ 0.95014291 0.27593165 -0.1452246 12.2232103 ] [-0.27518677 0.96104996 0.02559724 -1.85850827] [ 0.14663118 0.01564285 0.98906754 1.16143799] [ 0. 0. 0. 1. ]] SLAMing on 170.306296757 meters Centerline goodness : 0.814935 with order 3 Centerline is valid? [False, False] Translation: X:12.22, Y:-1.86, Z:1.16 [[ 0.95010272 0.27608906 -0.1451883 12.2235593 ] [-0.27527961 0.96101145 0.02604099 -1.86005407] [ 0.14671725 0.01522577 0.98906128 1.16120185] [ 0. 0. 0. 1. ]] SLAMing on 170.36629675700001 meters Centerline goodness : 0.806991 with order 3 Centerline is valid? [False, False] Translation: X:12.22, Y:-1.86, Z:1.16 [[ 0.95011381 0.27600647 -0.14527279 12.22418285] [-0.27519666 0.96103507 0.0260458 -1.8603416 ] [ 0.14680106 0.01523211 0.98904875 1.16078122] [ 0. 0. 0. 1. ]] SLAMing on 170.42629675700002 meters Centerline goodness : 0.802889 with order 3 Centerline is valid? [False, False] Translation: X:12.23, Y:-1.86, Z:1.16 [[ 0.94927953 0.27904459 -0.14492238 12.22677109] [-0.27776599 0.96019878 0.02939996 -1.86263624] [ 0.14735819 0.01234573 0.98900614 1.159725 ] [ 0. 0. 0. 1. ]] SLAMing on 170.486296757 meters Centerline goodness : 0.799202 with order 3 Centerline is valid? [False, False] Translation: X:12.23, Y:-1.86, Z:1.16 [[ 9.49032468e-01 2.80055772e-01 -1.44589558e-01 1.22263157e+01] [-2.78738390e-01 9.59907390e-01 2.97104629e-02 -1.86262900e+00] [ 1.47113172e-01 1.21064668e-02 9.89045574e-01 1.15931231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.546296757 meters Centerline goodness : 0.794547 with order 3 Centerline is valid? [False, False] Translation: X:12.23, Y:-1.87, Z:1.16 [[ 9.48514063e-01 2.82106621e-01 -1.44003221e-01 1.22277742e+01] [-2.80495776e-01 9.59328480e-01 3.17960130e-02 -1.86574126e+00] [ 1.47116257e-01 1.02333296e-02 9.89066270e-01 1.15758764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.606296757 meters Centerline goodness : 0.793319 with order 3 Centerline is valid? [False, False] Translation: X:12.23, Y:-1.87, Z:1.16 [[ 9.48432479e-01 2.82583944e-01 -1.43604134e-01 1.22268976e+01] [-2.80868538e-01 9.59195516e-01 3.25088706e-02 -1.86737067e+00] [ 1.46930926e-01 9.50141426e-03 9.89101120e-01 1.15782746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.666296757 meters Centerline goodness : 0.801270 with order 3 Centerline is valid? [False, False] Translation: X:12.22, Y:-1.87, Z:1.16 [[ 9.49399355e-01 2.79331320e-01 -1.43578825e-01 1.22240811e+01] [-2.77943704e-01 9.60127333e-01 3.00466483e-02 -1.86928991e+00] [ 1.46246924e-01 1.13805618e-02 9.89182653e-01 1.15885134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.726296757 meters Centerline goodness : 0.792490 with order 3 Centerline is valid? [False, False] Translation: X:12.22, Y:-1.87, Z:1.16 [[ 0.9504484 0.27543176 -0.14417066 12.22282105] [-0.27448433 0.96121748 0.02681983 -1.87037274] [ 0.14596639 0.01408172 0.98918932 1.15935543] [ 0. 0. 0. 1. ]] SLAMing on 170.786296757 meters Centerline goodness : 0.794135 with order 3 Centerline is valid? [False, False] Translation: X:12.22, Y:-1.87, Z:1.16 [[ 0.95065774 0.27466709 -0.14424924 12.22370496] [-0.2737003 0.96143879 0.02689984 -1.871444 ] [ 0.14607531 0.01390852 0.98917569 1.15938176] [ 0. 0. 0. 1. ]] SLAMing on 170.846296757 meters Centerline goodness : 0.793252 with order 3 Centerline is valid? [False, False] Translation: X:12.22, Y:-1.87, Z:1.16 [[ 0.95083262 0.27400218 -0.14436115 12.22463732] [-0.27302849 0.96162961 0.02690625 -1.87215981] [ 0.14619432 0.01383137 0.9891592 1.15926281] [ 0. 0. 0. 1. ]] SLAMing on 170.906296757 meters Centerline goodness : 0.793544 with order 3 Centerline is valid? [False, False] Translation: X:12.23, Y:-1.87, Z:1.16 [[ 0.95099965 0.27312856 -0.14491534 12.2263227 ] [-0.27214654 0.9618784 0.02694808 -1.87455055] [ 0.14675122 0.01381059 0.98907702 1.15885703] [ 0. 0. 0. 1. ]] SLAMing on 170.966296757 meters Centerline goodness : 0.790249 with order 3 Centerline is valid? [False, False] Translation: X:12.23, Y:-1.88, Z:1.16 [[ 0.95110075 0.27228521 -0.14583595 12.23003824] [-0.27136211 0.96211035 0.02657585 -1.87552694] [ 0.14754649 0.01429804 0.98895177 1.15687742] [ 0. 0. 0. 1. ]] SLAMing on 171.026296757 meters Centerline goodness : 0.788264 with order 3 Centerline is valid? [False, False] Translation: X:12.23, Y:-1.88, Z:1.16 [[ 0.95102583 0.27226921 -0.1463535 12.23272323] [-0.27137764 0.96211041 0.0264148 -1.87504573] [ 0.14800016 0.01459591 0.98887962 1.15528694] [ 0. 0. 0. 1. ]] SLAMing on 171.086296757 meters Centerline goodness : 0.786139 with order 3 Centerline is valid? [False, False] Translation: X:12.23, Y:-1.88, Z:1.16 [[ 0.95086083 0.27305611 -0.14595907 12.23168777] [-0.27204834 0.96189868 0.02721447 -1.87645581] [ 0.14782892 0.01383075 0.98891624 1.15576236] [ 0. 0. 0. 1. ]] SLAMing on 171.14629675700002 meters Centerline goodness : 0.785195 with order 1 Centerline is valid? [False, False] Translation: X:12.23, Y:-1.88, Z:1.16 [[ 9.50723626e-01 2.74084242e-01 -1.44922098e-01 1.22287444e+01] [-2.72816957e-01 9.61630543e-01 2.89414238e-02 -1.87868100e+00] [ 1.47293904e-01 1.20219104e-02 9.89019706e-01 1.15809238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.20629675700002 meters Centerline goodness : 0.786591 with order 1 Centerline is valid? [False, False] Translation: X:12.23, Y:-1.88, Z:1.16 [[ 9.50654520e-01 2.74851831e-01 -1.43918223e-01 1.22259445e+01] [-2.73392893e-01 9.61427883e-01 3.02117680e-02 -1.87983591e+00] [ 1.46670752e-01 1.06252655e-02 9.89128300e-01 1.16029647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.266296757 meters Centerline goodness : 0.788843 with order 2 Centerline is valid? [False, False] Translation: X:12.23, Y:-1.88, Z:1.16 [[ 9.50765058e-01 2.74497545e-01 -1.43864180e-01 1.22261289e+01] [-2.72954567e-01 9.61535439e-01 3.07474213e-02 -1.88060664e+00] [ 1.46770599e-01 1.00348111e-02 9.89119656e-01 1.16144842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.326296757 meters Centerline goodness : 0.790428 with order 3 Centerline is valid? [False, False] Translation: X:12.23, Y:-1.88, Z:1.16 [[ 9.51140833e-01 2.72710918e-01 -1.44775244e-01 1.22300662e+01] [-2.71289715e-01 9.62034528e-01 2.98572701e-02 -1.88066318e+00] [ 1.47421187e-01 1.08775661e-02 9.89013990e-01 1.15977508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.386296757 meters Centerline goodness : 0.791216 with order 3 Centerline is valid? [False, False] Translation: X:12.24, Y:-1.88, Z:1.16 [[ 9.52124784e-01 2.69487874e-01 -1.44342240e-01 1.22389917e+01] [-2.67405117e-01 9.62983734e-01 3.40122166e-02 -1.88339984e+00] [ 1.48165109e-01 6.21397908e-03 9.88943116e-01 1.16350233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.446296757 meters Centerline goodness : 0.790580 with order 3 Centerline is valid? [False, False] Translation: X:12.24, Y:-1.88, Z:1.16 [[ 9.52787976e-01 2.66683433e-01 -1.45172378e-01 1.22431435e+01] [-2.64582961e-01 9.63765115e-01 3.39508464e-02 -1.88347469e+00] [ 1.48966201e-01 6.06217939e-03 9.88823706e-01 1.16453152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.506296757 meters Centerline goodness : 0.789001 with order 1 Centerline is valid? [False, False] Translation: X:12.26, Y:-1.89, Z:1.18 [[ 9.54469227e-01 2.62686011e-01 -1.41366735e-01 1.22588251e+01] [-2.58723274e-01 9.64853155e-01 4.60505974e-02 -1.89057399e+00] [ 1.48494988e-01 -7.37901360e-03 9.88885630e-01 1.17517992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.566296757 meters Centerline goodness : 0.793222 with order 3 Centerline is valid? [False, False] Translation: X:12.25, Y:-1.89, Z:1.18 [[ 0.9556265 0.26027378 -0.1379694 12.25477523] [-0.25383272 0.96521384 0.06269922 -1.89419475] [ 0.14948894 -0.02489589 0.98844992 1.18078997] [ 0. 0. 0. 1. ]] SLAMing on 171.626296757 meters Centerline goodness : 0.804307 with order 3 Centerline is valid? [False, False] Translation: X:12.25, Y:-1.89, Z:1.18 [[ 0.9568493 0.25681799 -0.13595563 12.25207443] [-0.25048507 0.96612696 0.06209613 -1.89056395] [ 0.1472978 -0.02536179 0.98876698 1.1800161 ] [ 0. 0. 0. 1. ]] SLAMing on 171.686296757 meters Centerline goodness : 0.803686 with order 1 Centerline is valid? [False, False] Translation: X:12.25, Y:-1.89, Z:1.18 [[ 0.95707565 0.25576121 -0.13635395 12.25331794] [-0.24972133 0.96645756 0.059992 -1.88679329] [ 0.14712394 -0.02336639 0.98884203 1.17983833] [ 0. 0. 0. 1. ]] SLAMing on 171.746296757 meters Centerline goodness : 0.807163 with order 3 Centerline is valid? [False, False] Translation: X:12.25, Y:-1.88, Z:1.18 [[ 0.95625933 0.2593012 -0.13539196 12.25380477] [-0.25289671 0.96545054 0.0628371 -1.88439092] [ 0.14700798 -0.02584838 0.98879751 1.17990245] [ 0. 0. 0. 1. ]] SLAMing on 171.806296757 meters Centerline goodness : 0.805988 with order 3 Centerline is valid? [False, False] Translation: X:12.26, Y:-1.88, Z:1.18 [[ 0.95449161 0.26534098 -0.1361614 12.25796404] [-0.25867563 0.96378587 0.06483602 -1.88170155] [ 0.14843408 -0.0266638 0.98856278 1.17995474] [ 0. 0. 0. 1. ]] SLAMing on 171.86629675700001 meters Centerline goodness : 0.813269 with order 3 Centerline is valid? [False, False] Translation: X:12.27, Y:-1.88, Z:1.18 [[ 0.95176762 0.27175018 -0.1424438 12.26875775] [-0.26572465 0.96217304 0.06011202 -1.877216 ] [ 0.15339103 -0.01936184 0.98797586 1.17983258] [ 0. 0. 0. 1. ]] SLAMing on 171.92629675700002 meters Centerline goodness : 0.807973 with order 3 Centerline is valid? [False, False] Translation: X:12.27, Y:-1.88, Z:1.18 [[ 0.95037318 0.27488819 -0.14569591 12.27442434] [-0.26916058 0.96134368 0.05805949 -1.87570893] [ 0.15602371 -0.01596259 0.98762432 1.18152806] [ 0. 0. 0. 1. ]] SLAMing on 171.986296757 meters Centerline goodness : 0.804990 with order 3 Centerline is valid? [False, False] Translation: X:12.28, Y:-1.87, Z:1.18 [[ 0.94843825 0.27989371 -0.14874273 12.27991321] [-0.27444793 0.95994762 0.05638184 -1.87306018] [ 0.15856615 -0.01265256 0.98726728 1.18372365] [ 0. 0. 0. 1. ]] SLAMing on 172.046296757 meters Centerline goodness : 0.807488 with order 3 Centerline is valid? [False, False] Translation: X:12.28, Y:-1.87, Z:1.18 [[ 0.94698693 0.28417564 -0.14986648 12.28486886] [-0.27841605 0.95867399 0.05855501 -1.87203372] [ 0.16031301 -0.01372559 0.98697079 1.1832682 ] [ 0. 0. 0. 1. ]] SLAMing on 172.106296757 meters Centerline goodness : 0.800869 with order 2 Centerline is valid? [False, False] Translation: X:12.29, Y:-1.87, Z:1.18 [[ 9.46523941e-01 2.84307000e-01 -1.52518715e-01 1.22885823e+01] [-2.78950015e-01 9.58677258e-01 5.58999444e-02 -1.87239245e+00] [ 1.62108969e-01 -1.03655379e-02 9.86718419e-01 1.18440704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.166296757 meters Centerline goodness : 0.802780 with order 2 Centerline is valid? [False, False] Translation: X:12.29, Y:-1.87, Z:1.19 [[ 9.46399479e-01 2.83990877e-01 -1.53873997e-01 1.22908878e+01] [-2.79009896e-01 9.58795954e-01 5.35144550e-02 -1.86994148e+00] [ 1.62731383e-01 -7.71368437e-03 9.86640257e-01 1.18514063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.226296757 meters Centerline goodness : 0.812558 with order 3 Centerline is valid? [False, False] Translation: X:12.29, Y:-1.87, Z:1.19 [[ 9.46167147e-01 2.84497793e-01 -1.54365590e-01 1.22920520e+01] [-2.79604776e-01 9.58651247e-01 5.29995746e-02 -1.86947200e+00] [ 1.63061027e-01 -6.98510013e-03 9.86591258e-01 1.18524575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.286296757 meters Centerline goodness : 0.806072 with order 3 Centerline is valid? [False, False] Translation: X:12.29, Y:-1.87, Z:1.19 [[ 9.45146556e-01 2.86788056e-01 -1.56366870e-01 1.22946506e+01] [-2.82188334e-01 9.57983924e-01 5.13472963e-02 -1.86872643e+00] [ 1.64522739e-01 -4.40581372e-03 9.86363451e-01 1.18745887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.346296757 meters Centerline goodness : 0.805093 with order 2 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.87, Z:1.19 [[ 9.43872706e-01 2.89882796e-01 -1.58342286e-01 1.22985324e+01] [-2.85375266e-01 9.57057584e-01 5.10072435e-02 -1.86949607e+00] [ 1.66328808e-01 -2.95737302e-03 9.86065911e-01 1.18851945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.406296757 meters Centerline goodness : 0.799074 with order 2 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.87, Z:1.19 [[ 9.42534521e-01 2.92995364e-01 -1.60568967e-01 1.23044691e+01] [-2.88477542e-01 9.56111715e-01 5.12942105e-02 -1.87095968e+00] [ 1.68550837e-01 -2.02602316e-03 9.85690880e-01 1.18768689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.466296757 meters Centerline goodness : 0.801207 with order 2 Centerline is valid? [False, False] Translation: X:12.31, Y:-1.87, Z:1.19 [[ 9.41081575e-01 2.95775514e-01 -1.63958272e-01 1.23087404e+01] [-2.91624463e-01 9.55256554e-01 4.93972586e-02 -1.87367571e+00] [ 1.71232713e-01 1.32739319e-03 9.85229717e-01 1.18999994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.526296757 meters Centerline goodness : 0.800439 with order 1 Centerline is valid? [False, False] Translation: X:12.31, Y:-1.88, Z:1.19 [[ 9.40288342e-01 2.97484119e-01 -1.65411708e-01 1.23108757e+01] [-2.93454475e-01 9.54723249e-01 4.88670533e-02 -1.87511789e+00] [ 1.72459575e-01 2.59168521e-03 9.85013187e-01 1.19098624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.586296757 meters Centerline goodness : 0.800621 with order 1 Centerline is valid? [False, False] Translation: X:12.31, Y:-1.88, Z:1.19 [[ 9.39034768e-01 3.00108010e-01 -1.67776299e-01 1.23146140e+01] [-2.96177785e-01 9.53896535e-01 4.85810794e-02 -1.87866792e+00] [ 1.74620801e-01 4.07228983e-03 9.84627337e-01 1.19189513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.64629675700002 meters Centerline goodness : 0.798743 with order 1 Centerline is valid? [False, False] Translation: X:12.32, Y:-1.88, Z:1.19 [[ 9.38814156e-01 3.00093012e-01 -1.69033031e-01 1.23175532e+01] [-2.96180438e-01 9.53899234e-01 4.85118571e-02 -1.88191326e+00] [ 1.75798548e-01 4.52065890e-03 9.84415783e-01 1.19090078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.70629675700002 meters Centerline goodness : 0.798543 with order 1 Centerline is valid? [False, False] Translation: X:12.32, Y:-1.88, Z:1.19 [[ 9.39344136e-01 2.98188632e-01 -1.69458354e-01 1.23182867e+01] [-2.94404091e-01 9.54493105e-01 4.76355214e-02 -1.88493343e+00] [ 1.75951201e-01 5.14308489e-03 9.84385455e-01 1.18960869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.766296757 meters Centerline goodness : 0.796232 with order 2 Centerline is valid? [False, False] Translation: X:12.32, Y:-1.89, Z:1.19 [[ 9.39472262e-01 2.98082733e-01 -1.68933578e-01 1.23170788e+01] [-2.93935264e-01 9.54535271e-01 4.96435022e-02 -1.89074632e+00] [ 1.76050930e-01 3.01684267e-03 9.84376437e-01 1.19145467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.826296757 meters Centerline goodness : 0.795142 with order 2 Centerline is valid? [False, False] Translation: X:12.32, Y:-1.89, Z:1.19 [[ 9.39313919e-01 2.98633077e-01 -1.68842079e-01 1.23176977e+01] [-2.94397376e-01 9.54364549e-01 5.01845819e-02 -1.89086457e+00] [ 1.76123670e-01 2.56758860e-03 9.84364699e-01 1.19119583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.886296757 meters Centerline goodness : 0.796007 with order 2 Centerline is valid? [False, False] Translation: X:12.32, Y:-1.89, Z:1.19 [[ 9.39235959e-01 2.98748463e-01 -1.69071491e-01 1.23188095e+01] [-2.94461279e-01 9.54328954e-01 5.04856600e-02 -1.89188550e+00] [ 1.76432332e-01 2.36706012e-03 9.84309925e-01 1.19072276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.946296757 meters Centerline goodness : 0.812878 with order 3 Centerline is valid? [False, False] Translation: X:12.32, Y:-1.89, Z:1.19 [[ 9.39115606e-01 2.99364117e-01 -1.68650540e-01 1.23185821e+01] [-2.95012893e-01 9.54136932e-01 5.08930974e-02 -1.89373088e+00] [ 1.76151276e-01 1.95958170e-03 9.84361157e-01 1.18969793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.006296757 meters Centerline goodness : 0.808677 with order 3 Centerline is valid? [False, False] Translation: X:12.32, Y:-1.89, Z:1.19 [[ 9.39033622e-01 3.00102632e-01 -1.67792333e-01 1.23165044e+01] [-2.95652654e-01 9.53906107e-01 5.15038519e-02 -1.89427885e+00] [ 1.75514573e-01 1.24439997e-03 9.84476047e-01 1.19049688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.066296757 meters Centerline goodness : 0.791944 with order 1 Centerline is valid? [False, False] Translation: X:12.31, Y:-1.90, Z:1.19 [[ 9.38910691e-01 3.00867476e-01 -1.67109173e-01 1.23141491e+01] [-2.96268341e-01 9.53665911e-01 5.24061107e-02 -1.89504094e+00] [ 1.75133616e-01 3.04499903e-04 9.84544628e-01 1.19230988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.126296757 meters Centerline goodness : 0.797637 with order 3 Centerline is valid? [False, False] Translation: X:12.31, Y:-1.89, Z:1.19 [[ 9.38832656e-01 3.01358653e-01 -1.66661954e-01 1.23131702e+01] [-2.96683782e-01 9.53510841e-01 5.28754082e-02 -1.89445325e+00] [ 1.74848442e-01 -1.95260923e-04 9.84595340e-01 1.19308035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.186296757 meters Centerline goodness : 0.793377 with order 1 Centerline is valid? [False, False] Translation: X:12.31, Y:-1.89, Z:1.19 [[ 9.38853635e-01 3.01358156e-01 -1.66544631e-01 1.23138012e+01] [-2.96733080e-01 9.53511017e-01 5.25948590e-02 -1.89302479e+00] [ 1.74652030e-01 4.04268262e-05 9.84630218e-01 1.19248559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.246296757 meters Centerline goodness : 0.792864 with order 1 Centerline is valid? [False, False] Translation: X:12.31, Y:-1.89, Z:1.19 [[ 9.38950148e-01 3.01006481e-01 -1.66636484e-01 1.23147928e+01] [-2.96448306e-01 9.53622011e-01 5.21867992e-02 -1.89240301e+00] [ 1.74616783e-01 3.98300456e-04 9.84636390e-01 1.19186979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.306296757 meters Centerline goodness : 0.803733 with order 3 Centerline is valid? [False, False] Translation: X:12.32, Y:-1.89, Z:1.19 [[ 9.38257944e-01 3.03738671e-01 -1.65574307e-01 1.23167596e+01] [-2.98745143e-01 9.52753211e-01 5.48876836e-02 -1.89139737e+00] [ 1.74422964e-01 -2.03428524e-03 9.84668722e-01 1.19099067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.36629675700001 meters Centerline goodness : 0.792713 with order 1 Centerline is valid? [False, False] Translation: X:12.32, Y:-1.89, Z:1.19 [[ 9.38141027e-01 3.04095565e-01 -1.65581704e-01 1.23181615e+01] [-2.99187410e-01 9.52640304e-01 5.44366109e-02 -1.88715071e+00] [ 1.74293737e-01 -1.52925667e-03 9.84692518e-01 1.19041826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.42629675700002 meters Centerline goodness : 0.810211 with order 3 Centerline is valid? [False, False] Translation: X:12.32, Y:-1.88, Z:1.19 [[ 9.38067911e-01 3.04270348e-01 -1.65674833e-01 1.23195545e+01] [-2.99496352e-01 9.52585426e-01 5.36930226e-02 -1.88383133e+00] [ 1.74156626e-01 -7.48693476e-04 9.84717680e-01 1.18943824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.486296757 meters Centerline goodness : 0.794050 with order 2 Centerline is valid? [False, False] Translation: X:12.32, Y:-1.88, Z:1.19 [[ 9.37922540e-01 3.05150957e-01 -1.64876325e-01 1.23184513e+01] [-3.00358637e-01 9.52303455e-01 5.38778112e-02 -1.88007361e+00] [ 1.73453160e-01 -1.01118525e-03 9.84841601e-01 1.19028244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.546296757 meters Centerline goodness : 0.797899 with order 2 Centerline is valid? [False, False] Translation: X:12.32, Y:-1.88, Z:1.19 [[ 9.38215937e-01 3.04203519e-01 -1.64957798e-01 1.23196026e+01] [-2.99439956e-01 9.52606617e-01 5.36315730e-02 -1.88014600e+00] [ 1.73454804e-01 -9.23040566e-04 9.84841398e-01 1.19011255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.606296757 meters Centerline goodness : 0.796990 with order 2 Centerline is valid? [False, False] Translation: X:12.32, Y:-1.88, Z:1.19 [[ 9.38489247e-01 3.03511458e-01 -1.64677647e-01 1.23206216e+01] [-2.98518969e-01 9.52824918e-01 5.48734909e-02 -1.88216295e+00] [ 1.73563699e-01 -2.33877966e-03 9.84819868e-01 1.19138410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.666296757 meters Centerline goodness : 0.798686 with order 1 Centerline is valid? [False, False] Translation: X:12.32, Y:-1.88, Z:1.19 [[ 9.41438894e-01 2.95260568e-01 -1.62831218e-01 1.23166760e+01] [-2.90798223e-01 9.55416432e-01 5.11452371e-02 -1.87988933e+00] [ 1.70672793e-01 -7.99086565e-04 9.85327437e-01 1.18879708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.726296757 meters Centerline goodness : 0.806349 with order 3 Centerline is valid? [False, False] Translation: X:12.32, Y:-1.88, Z:1.19 [[ 9.43090608e-01 2.89521871e-01 -1.63576255e-01 1.23158610e+01] [-2.85698667e-01 9.57168271e-01 4.69592577e-02 -1.87853036e+00] [ 1.70165733e-01 2.44668311e-03 9.85412420e-01 1.18903181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.786296757 meters Centerline goodness : 0.800381 with order 3 Centerline is valid? [False, False] Translation: X:12.32, Y:-1.88, Z:1.19 [[ 9.43480887e-01 2.88203218e-01 -1.63654273e-01 1.23163970e+01] [-2.84430612e-01 9.57565668e-01 4.65533894e-02 -1.87831273e+00] [ 1.70126550e-01 2.62605193e-03 9.85418724e-01 1.18850589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.846296757 meters Centerline goodness : 0.799112 with order 3 Centerline is valid? [False, False] Translation: X:12.32, Y:-1.88, Z:1.19 [[ 9.42957026e-01 2.90043251e-01 -1.63422643e-01 1.23196090e+01] [-2.85981138e-01 9.57012894e-01 4.83850165e-02 -1.87592758e+00] [ 1.70431324e-01 1.11080221e-03 9.85368931e-01 1.18692247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.906296757 meters Centerline goodness : 0.799349 with order 3 Centerline is valid? [False, False] Translation: X:12.32, Y:-1.87, Z:1.19 [[ 9.41602952e-01 2.94278709e-01 -1.63657945e-01 1.23231597e+01] [-2.89893982e-01 9.55719622e-01 5.06110934e-02 -1.87480139e+00] [ 1.71304877e-01 -2.12101493e-04 9.85218044e-01 1.18640008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.966296757 meters Centerline goodness : 0.802860 with order 3 Centerline is valid? [False, False] Translation: X:12.32, Y:-1.87, Z:1.19 [[ 9.40382806e-01 2.98461180e-01 -1.63098443e-01 1.23247055e+01] [-2.93705315e-01 9.54419597e-01 5.31076294e-02 -1.87340327e+00] [ 1.71514916e-01 -2.03862218e-03 9.85179414e-01 1.18625049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.026296757 meters Centerline goodness : 0.802291 with order 3 Centerline is valid? [False, False] Translation: X:12.33, Y:-1.87, Z:1.18 [[ 9.38196419e-01 3.05235617e-01 -1.63152375e-01 1.23297736e+01] [-2.99931568e-01 9.52266797e-01 5.68243065e-02 -1.87250658e+00] [ 1.72709392e-01 -4.37781317e-03 9.84963096e-01 1.18489043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.086296757 meters Centerline goodness : 0.805719 with order 3 Centerline is valid? [False, False] Translation: X:12.33, Y:-1.87, Z:1.18 [[ 9.36746298e-01 3.09667123e-01 -1.63133831e-01 1.23338918e+01] [-3.03849351e-01 9.50821051e-01 6.01240400e-02 -1.87241655e+00] [ 1.73729520e-01 -6.75286316e-03 9.84770254e-01 1.18335462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.14629675700002 meters Centerline goodness : 0.808004 with order 3 Centerline is valid? [False, False] Translation: X:12.34, Y:-1.87, Z:1.18 [[ 9.36735813e-01 3.09300649e-01 -1.63887535e-01 1.23361146e+01] [-3.03514153e-01 9.50943063e-01 5.98869799e-02 -1.87341095e+00] [ 1.74370796e-01 -6.35609240e-03 9.84659548e-01 1.18241516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.20629675700002 meters Centerline goodness : 0.816765 with order 3 Centerline is valid? [False, False] Translation: X:12.34, Y:-1.87, Z:1.18 [[ 9.37859161e-01 3.05389771e-01 -1.64794665e-01 1.23369884e+01] [-3.00050945e-01 9.52219008e-01 5.69946671e-02 -1.87400392e+00] [ 1.74326201e-01 -4.00617562e-03 9.84679809e-01 1.18119324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.266296757 meters Centerline goodness : 0.807020 with order 3 Centerline is valid? [False, False] Translation: X:12.34, Y:-1.87, Z:1.18 [[ 9.39382814e-01 2.99831172e-01 -1.66316556e-01 1.23384736e+01] [-2.95069282e-01 9.53991825e-01 5.32326695e-02 -1.87459833e+00] [ 1.74625448e-01 -9.30948154e-04 9.84634494e-01 1.18007716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.326296757 meters Centerline goodness : 0.809188 with order 3 Centerline is valid? [False, False] Translation: X:12.34, Y:-1.88, Z:1.18 [[ 9.40612889e-01 2.95662251e-01 -1.66826932e-01 1.23380993e+01] [-2.91298701e-01 9.55292031e-01 5.06182008e-02 -1.87547858e+00] [ 1.74334330e-01 9.84336662e-04 9.84686027e-01 1.17938692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.386296757 meters Centerline goodness : 0.811448 with order 3 Centerline is valid? [False, False] Translation: X:12.34, Y:-1.88, Z:1.18 [[ 9.40692016e-01 2.95025488e-01 -1.67506695e-01 1.23398073e+01] [-2.90754406e-01 9.55488000e-01 5.00455491e-02 -1.87579685e+00] [ 1.74815350e-01 1.62586131e-03 9.84599893e-01 1.17895453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.446296757 meters Centerline goodness : 0.810718 with order 3 Centerline is valid? [False, False] Translation: X:12.34, Y:-1.88, Z:1.17 [[ 9.39512940e-01 3.04028960e-01 -1.57739742e-01 1.23449179e+01] [-3.00201879e-01 9.52660408e-01 4.81350035e-02 -1.87863742e+00] [ 1.64906842e-01 2.13030826e-03 9.86306846e-01 1.17399264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.506296757 meters Centerline goodness : 0.809115 with order 3 Centerline is valid? [False, False] Translation: X:12.35, Y:-1.88, Z:1.18 [[ 9.36657446e-01 3.11684325e-01 -1.59767675e-01 1.23509357e+01] [-3.07718797e-01 9.50181945e-01 4.96327895e-02 -1.87719914e+00] [ 1.67278123e-01 2.67459481e-03 9.85906119e-01 1.17557009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.566296757 meters Centerline goodness : 0.806219 with order 3 Centerline is valid? [False, False] Translation: X:12.36, Y:-1.88, Z:1.18 [[ 9.32908564e-01 3.20651718e-01 -1.63902679e-01 1.23610335e+01] [-3.16600857e-01 9.47187310e-01 5.09911560e-02 -1.87767900e+00] [ 1.71596939e-01 4.32164241e-03 9.85157761e-01 1.17564947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.626296757 meters Centerline goodness : 0.804618 with order 1 Centerline is valid? [False, False] Translation: X:12.37, Y:-1.88, Z:1.17 [[ 9.30600137e-01 3.26736901e-01 -1.65004190e-01 1.23670840e+01] [-3.22116746e-01 9.45112870e-01 5.47947455e-02 -1.87999395e+00] [ 1.73851049e-01 2.15861520e-03 9.84769594e-01 1.17434431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.686296757 meters Centerline goodness : 0.803193 with order 3 Centerline is valid? [False, False] Translation: X:12.37, Y:-1.88, Z:1.17 [[ 9.31214121e-01 3.23562597e-01 -1.67772186e-01 1.23708079e+01] [-3.19420782e-01 9.46192018e-01 5.18751274e-02 -1.88374002e+00] [ 1.75529554e-01 5.28307180e-03 9.84459986e-01 1.17313500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.746296757 meters Centerline goodness : 0.802189 with order 3 Centerline is valid? [False, False] Translation: X:12.37, Y:-1.89, Z:1.17 [[ 9.33061464e-01 3.16222141e-01 -1.71463877e-01 1.23743631e+01] [-3.13130262e-01 9.48618815e-01 4.55168301e-02 -1.88637392e+00] [ 1.77047289e-01 1.12205286e-02 9.84138383e-01 1.17214036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.806296757 meters Centerline goodness : 0.797457 with order 3 Centerline is valid? [False, False] Translation: X:12.38, Y:-1.90, Z:1.17 [[ 0.93668579 0.30883775 -0.16504236 12.37813284] [-0.30770898 0.95090743 0.0330187 -1.89626337] [ 0.16713743 0.01985687 0.98573363 1.16647789] [ 0. 0. 0. 1. ]] SLAMing on 174.86629675700001 meters Centerline goodness : 0.794224 with order 3 Centerline is valid? [False, False] Translation: X:12.38, Y:-1.90, Z:1.17 [[ 0.93729776 0.30563754 -0.16750702 12.38029109] [-0.30503958 0.95186914 0.02993322 -1.89973235] [ 0.16859348 0.02303993 0.98541636 1.16651827] [ 0. 0. 0. 1. ]] SLAMing on 174.92629675700002 meters Centerline goodness : 0.791394 with order 3 Centerline is valid? [False, False] Translation: X:12.38, Y:-1.90, Z:1.17 [[ 0.93697602 0.30469815 -0.17098241 12.38493841] [-0.30465692 0.95207558 0.02713402 -1.90340593] [ 0.17105586 0.02666705 0.98490038 1.16687029] [ 0. 0. 0. 1. ]] SLAMing on 174.986296757 meters Centerline goodness : 0.789016 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.90, Z:1.17 [[ 0.93563945 0.3073328 -0.17356664 12.38886211] [-0.30760087 0.95115921 0.02603562 -1.90445356] [ 0.17309111 0.0290293 0.98447792 1.1686276 ] [ 0. 0. 0. 1. ]] SLAMing on 175.046296757 meters Centerline goodness : 0.790207 with order 3 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.91, Z:1.17 [[ 0.93419489 0.31218651 -0.17268322 12.38942432] [-0.31170372 0.94968593 0.03061741 -1.90660635] [ 0.17355317 0.02522337 0.98450144 1.16897859] [ 0. 0. 0. 1. ]] SLAMing on 175.106296757 meters Centerline goodness : 0.784561 with order 3 Centerline is valid? [False, False] Translation: X:12.40, Y:-1.91, Z:1.17 [[ 0.9314564 0.31956722 -0.17397058 12.39527392] [-0.31846553 0.94728878 0.03498115 -1.91019619] [ 0.1759792 0.02282022 0.98412934 1.16829584] [ 0. 0. 0. 1. ]] SLAMing on 175.166296757 meters Centerline goodness : 0.780878 with order 3 Centerline is valid? [False, False] Translation: X:12.40, Y:-1.92, Z:1.17 [[ 0.92909196 0.32519966 -0.17616273 12.40167611] [-0.32352633 0.94541671 0.038961 -1.91690928] [ 0.17921729 0.02079493 0.98358972 1.1673226 ] [ 0. 0. 0. 1. ]] SLAMing on 175.226296757 meters Centerline goodness : 0.780826 with order 3 Centerline is valid? [False, False] Translation: X:12.41, Y:-1.92, Z:1.17 [[ 0.92953159 0.32201628 -0.17965671 12.40619411] [-0.32079146 0.94644069 0.03664496 -1.92370195] [ 0.1818347 0.02356969 0.9830466 1.16636099] [ 0. 0. 0. 1. ]] SLAMing on 175.286296757 meters Centerline goodness : 0.782503 with order 3 Centerline is valid? [False, False] Translation: X:12.41, Y:-1.93, Z:1.16 [[ 0.93196874 0.31318903 -0.18261133 12.40742367] [-0.31281505 0.94928785 0.03161191 -1.93125407] [ 0.18325122 0.02766226 0.98267685 1.16469113] [ 0. 0. 0. 1. ]] SLAMing on 175.346296757 meters Centerline goodness : 0.779329 with order 2 Centerline is valid? [False, False] Translation: X:12.41, Y:-1.95, Z:1.18 [[ 9.35675403e-01 3.08267615e-01 -1.71705033e-01 1.24114511e+01] [-3.03326596e-01 9.51299461e-01 5.49755585e-02 -1.95069991e+00] [ 1.80290089e-01 6.43425341e-04 9.83613272e-01 1.17573769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.406296757 meters Centerline goodness : 0.780097 with order 3 Centerline is valid? [False, False] Translation: X:12.41, Y:-1.96, Z:1.19 [[ 9.36909510e-01 3.05309973e-01 -1.70253899e-01 1.24062092e+01] [-2.99638708e-01 9.52244662e-01 5.87090065e-02 -1.96055031e+00] [ 1.80047812e-01 -3.99036815e-03 9.83649766e-01 1.18523635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.466296757 meters Centerline goodness : 0.783814 with order 3 Centerline is valid? [False, False] Translation: X:12.40, Y:-1.97, Z:1.20 [[ 0.93682947 0.30903723 -0.1638491 12.40200853] [-0.30130819 0.9508999 0.07073016 -1.97074622] [ 0.17766234 -0.01689302 0.9839465 1.19586694] [ 0. 0. 0. 1. ]] SLAMing on 175.526296757 meters Centerline goodness : 0.785729 with order 3 Centerline is valid? [False, False] Translation: X:12.40, Y:-1.97, Z:1.20 [[ 0.93630316 0.31105503 -0.16303729 12.39925318] [-0.30324299 0.95023174 0.0714376 -1.96990055] [ 0.17714423 -0.01744733 0.98403024 1.19658009] [ 0. 0. 0. 1. ]] SLAMing on 175.586296757 meters Centerline goodness : 0.782982 with order 3 Centerline is valid? [False, False] Translation: X:12.40, Y:-1.97, Z:1.20 [[ 0.93408817 0.31867613 -0.16101187 12.39684465] [-0.31023888 0.94763511 0.07575974 -1.96724809] [ 0.17672332 -0.02081413 0.98404047 1.19636197] [ 0. 0. 0. 1. ]] SLAMing on 175.64629675700002 meters Centerline goodness : 0.782084 with order 3 Centerline is valid? [False, False] Translation: X:12.40, Y:-1.96, Z:1.19 [[ 0.93219102 0.32474773 -0.15987122 12.3974839 ] [-0.31585419 0.94551897 0.07893039 -1.96467581] [ 0.17679373 -0.0230822 0.98397723 1.19446426] [ 0. 0. 0. 1. ]] SLAMing on 175.70629675700002 meters Centerline goodness : 0.786620 with order 2 Centerline is valid? [False, False] Translation: X:12.40, Y:-1.97, Z:1.19 [[ 0.93204055 0.32486912 -0.1605007 12.39925255] [-0.31602973 0.94549142 0.07855689 -1.9651634 ] [ 0.17727275 -0.02249522 0.98390464 1.19317844] [ 0. 0. 0. 1. ]] SLAMing on 175.766296757 meters Centerline goodness : 0.797054 with order 3 Centerline is valid? [False, False] Translation: X:12.40, Y:-1.97, Z:1.19 [[ 0.93372087 0.31889956 -0.16269114 12.40195135] [-0.31064994 0.94759676 0.07454528 -1.96816809] [ 0.17793805 -0.01906449 0.983857 1.19233976] [ 0. 0. 0. 1. ]] SLAMing on 175.826296757 meters Centerline goodness : 0.788214 with order 3 Centerline is valid? [False, False] Translation: X:12.40, Y:-1.97, Z:1.19 [[ 0.93656909 0.30918931 -0.16504639 12.4011607 ] [-0.30187147 0.95089445 0.06836203 -1.97291874] [ 0.1780785 -0.01420297 0.98391378 1.1942758 ] [ 0. 0. 0. 1. ]] SLAMing on 175.886296757 meters Centerline goodness : 0.789002 with order 2 Centerline is valid? [False, False] Translation: X:12.40, Y:-1.98, Z:1.20 [[ 9.39168296e-01 3.00324761e-01 -1.66637181e-01 1.23986206e+01] [-2.93566439e-01 9.53766908e-01 6.44005542e-02 -1.97994081e+00] [ 1.78274109e-01 -1.15638750e-02 9.83912912e-01 1.19912017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.946296757 meters Centerline goodness : 0.800748 with order 3 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.99, Z:1.20 [[ 9.40261429e-01 2.97552366e-01 -1.65441939e-01 1.23922956e+01] [-2.90791691e-01 9.54626124e-01 6.42585032e-02 -1.98555156e+00] [ 1.77055466e-01 -1.23106509e-02 9.84123879e-01 1.20352219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.006296757 meters Centerline goodness : 0.781591 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.99, Z:1.20 [[ 0.940064 0.29880858 -0.16429581 12.38919975] [-0.2918815 0.95421753 0.06537656 -1.98672398] [ 0.17630902 -0.01350324 0.98424224 1.20467555] [ 0. 0. 0. 1. ]] SLAMing on 176.066296757 meters Centerline goodness : 0.783158 with order 1 Centerline is valid? [False, False] Translation: X:12.35, Y:-1.97, Z:1.19 [[ 9.39345800e-01 3.03486153e-01 -1.59767404e-01 1.23549710e+01] [-2.97422056e-01 9.52783888e-01 6.11799263e-02 -1.97388859e+00] [ 1.70791069e-01 -9.95075705e-03 9.85257019e-01 1.19299511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.126296757 meters Centerline goodness : 0.789954 with order 2 Centerline is valid? [False, False] Translation: X:12.32, Y:-1.96, Z:1.18 [[ 9.37457299e-01 3.10633520e-01 -1.57100694e-01 1.23243560e+01] [-3.05058495e-01 9.50500642e-01 5.90579647e-02 -1.96020013e+00] [ 1.67669694e-01 -7.43941878e-03 9.85815159e-01 1.18051747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.186296757 meters Centerline goodness : 0.784611 with order 1 Centerline is valid? [False, False] Translation: X:12.33, Y:-1.96, Z:1.18 [[ 9.35804660e-01 3.16116397e-01 -1.56013017e-01 1.23251759e+01] [-3.10230668e-01 9.48677286e-01 6.13868087e-02 -1.95758845e+00] [ 1.67411383e-01 -9.04603914e-03 9.85845626e-01 1.17744364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.246296757 meters Centerline goodness : 0.793612 with order 2 Centerline is valid? [False, False] Translation: X:12.33, Y:-1.96, Z:1.18 [[ 9.34639165e-01 3.19916587e-01 -1.55251434e-01 1.23274255e+01] [-3.13561632e-01 9.47374645e-01 6.45010506e-02 -1.95747170e+00] [ 1.67716228e-01 -1.16043149e-02 9.85767014e-01 1.17580085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.306296757 meters Centerline goodness : 0.785164 with order 1 Centerline is valid? [False, False] Translation: X:12.33, Y:-1.96, Z:1.18 [[ 9.35974943e-01 3.15448218e-01 -1.56343623e-01 1.23273706e+01] [-3.09642543e-01 9.48904384e-01 6.08437741e-02 -1.95841404e+00] [ 1.67548209e-01 -8.53761106e-03 9.85826915e-01 1.17541659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.36629675700001 meters Centerline goodness : 0.785628 with order 1 Centerline is valid? [False, False] Translation: X:12.33, Y:-1.96, Z:1.18 [[ 9.37390062e-01 3.10724867e-01 -1.57321097e-01 1.23271737e+01] [-3.05448775e-01 9.50483068e-01 5.72973326e-02 -1.96000774e+00] [ 1.67334745e-01 -5.65641381e-03 9.85883912e-01 1.17520563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.42629675700002 meters Centerline goodness : 0.789354 with order 1 Centerline is valid? [False, False] Translation: X:12.31, Y:-1.96, Z:1.17 [[ 9.43267346e-01 2.96893294e-01 -1.48664341e-01 1.23140716e+01] [-2.91999246e-01 9.54879172e-01 5.42421194e-02 -1.96129410e+00] [ 1.58060604e-01 -7.75494453e-03 9.87398960e-01 1.17246511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.486296757 meters Centerline goodness : 0.789809 with order 1 Centerline is valid? [False, False] Translation: X:12.31, Y:-1.96, Z:1.17 [[ 9.44456524e-01 2.93358202e-01 -1.48131156e-01 1.23096062e+01] [-2.88829179e-01 9.55983468e-01 5.17041083e-02 -1.96322795e+00] [ 1.56778761e-01 -6.04768217e-03 9.87615232e-01 1.17428723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.546296757 meters Centerline goodness : 0.794466 with order 1 Centerline is valid? [False, False] Translation: X:12.31, Y:-1.96, Z:1.18 [[ 9.44296387e-01 2.94485879e-01 -1.46909496e-01 1.23061078e+01] [-2.89849364e-01 9.55630091e-01 5.25211813e-02 -1.96336500e+00] [ 1.55857881e-01 -7.01393791e-03 9.87754588e-01 1.17576550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.606296757 meters Centerline goodness : 0.794819 with order 1 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.96, Z:1.18 [[ 9.42804167e-01 3.00282989e-01 -1.44742631e-01 1.23028697e+01] [-2.95057773e-01 9.53788273e-01 5.68228958e-02 -1.96151437e+00] [ 1.55116773e-01 -1.08654247e-02 9.87836388e-01 1.17737311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.666296757 meters Centerline goodness : 0.790488 with order 1 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.96, Z:1.17 [[ 9.41227406e-01 3.05714048e-01 -1.43631097e-01 1.23035054e+01] [-3.00321533e-01 9.52050162e-01 5.83735107e-02 -1.95591210e+00] [ 1.54589612e-01 -1.18072367e-02 9.87908215e-01 1.17410618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.726296757 meters Centerline goodness : 0.792172 with order 1 Centerline is valid? [False, False] Translation: X:12.31, Y:-1.95, Z:1.17 [[ 9.39477781e-01 3.10720677e-01 -1.44340432e-01 1.23074973e+01] [-3.05434415e-01 9.50444188e-01 5.80143415e-02 -1.94941663e+00] [ 1.55213780e-01 -1.04166494e-02 9.87825985e-01 1.16748274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.786296757 meters Centerline goodness : 0.792813 with order 1 Centerline is valid? [False, False] Translation: X:12.31, Y:-1.95, Z:1.16 [[ 9.38389615e-01 3.13916781e-01 -1.44503235e-01 1.23122211e+01] [-3.08421337e-01 9.49382890e-01 5.95685009e-02 -1.94610419e+00] [ 1.55888451e-01 -1.13305818e-02 9.87709678e-01 1.16416316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.846296757 meters Centerline goodness : 0.792766 with order 1 Centerline is valid? [False, False] Translation: X:12.31, Y:-1.95, Z:1.16 [[ 9.38450611e-01 3.13533959e-01 -1.44937598e-01 1.23132196e+01] [-3.08065277e-01 9.49512848e-01 5.93391628e-02 -1.94577612e+00] [ 1.56224955e-01 -1.10366322e-02 9.87659838e-01 1.16413105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.906296757 meters Centerline goodness : 0.793044 with order 1 Centerline is valid? [False, False] Translation: X:12.31, Y:-1.94, Z:1.16 [[ 9.39652482e-01 3.09405265e-01 -1.46019159e-01 1.23129739e+01] [-3.04438235e-01 9.50896880e-01 5.57896484e-02 -1.94439884e+00] [ 1.56110774e-01 -7.96906633e-03 9.87707406e-01 1.16463791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.966296757 meters Centerline goodness : 0.795977 with order 1 Centerline is valid? [False, False] Translation: X:12.29, Y:-1.94, Z:1.16 [[ 9.43600677e-01 2.98238545e-01 -1.43775981e-01 1.22937598e+01] [-2.93695515e-01 9.54464422e-01 5.23508408e-02 -1.93935362e+00] [ 1.52842097e-01 -7.17192814e-03 9.88224598e-01 1.16287933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.026296757 meters Centerline goodness : 0.795346 with order 1 Centerline is valid? [False, False] Translation: X:12.29, Y:-1.94, Z:1.17 [[ 9.44923857e-01 2.94145525e-01 -1.43517643e-01 1.22901966e+01] [-2.89919194e-01 9.55744003e-01 5.00026235e-02 -1.94170151e+00] [ 1.51874174e-01 -5.64015259e-03 9.88383743e-01 1.16546982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.086296757 meters Centerline goodness : 0.793841 with order 1 Centerline is valid? [False, False] Translation: X:12.29, Y:-1.94, Z:1.17 [[ 9.44971689e-01 2.94171487e-01 -1.43149027e-01 1.22890074e+01] [-2.89857591e-01 9.55731806e-01 5.05894396e-02 -1.94214829e+00] [ 1.51694049e-01 -6.31275605e-03 9.88407337e-01 1.16696477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.14629675700002 meters Centerline goodness : 0.793372 with order 1 Centerline is valid? [False, False] Translation: X:12.29, Y:-1.94, Z:1.17 [[ 9.44815974e-01 2.94870007e-01 -1.42739111e-01 1.22877241e+01] [-2.90580115e-01 9.55517017e-01 5.05017516e-02 -1.93972233e+00] [ 1.51281101e-01 -6.23771436e-03 9.88471102e-01 1.16768172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.20629675700002 meters Centerline goodness : 0.791243 with order 1 Centerline is valid? [False, False] Translation: X:12.29, Y:-1.94, Z:1.16 [[ 9.43817381e-01 2.98172164e-01 -1.42485477e-01 1.22915377e+01] [-2.93577348e-01 9.54478974e-01 5.27468329e-02 -1.93798417e+00] [ 1.51727029e-01 -7.95286936e-03 9.88390439e-01 1.16489287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.266296757 meters Centerline goodness : 0.787767 with order 1 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.93, Z:1.16 [[ 9.43827023e-01 2.97493369e-01 -1.43834095e-01 1.22962830e+01] [-2.93256743e-01 9.54709164e-01 5.03080102e-02 -1.93416280e+00] [ 1.52286028e-01 -5.30174139e-03 9.88322244e-01 1.16062925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.326296757 meters Centerline goodness : 0.788007 with order 1 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.93, Z:1.16 [[ 9.43904072e-01 2.97064063e-01 -1.44215276e-01 1.22979516e+01] [-2.92929055e-01 9.54846582e-01 4.96041619e-02 -1.93325466e+00] [ 1.52439077e-01 -4.57672592e-03 9.88302272e-01 1.15937266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.386296757 meters Centerline goodness : 0.789180 with order 1 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.93, Z:1.16 [[ 9.43910455e-01 2.97042003e-01 -1.44218934e-01 1.22981031e+01] [-2.92902361e-01 9.54853302e-01 4.96324343e-02 -1.93359617e+00] [ 1.52450843e-01 -4.60650729e-03 9.88300319e-01 1.15921913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.446296757 meters Centerline goodness : 0.792807 with order 1 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.93, Z:1.16 [[ 9.43806431e-01 2.97781738e-01 -1.43371743e-01 1.22957225e+01] [-2.93530536e-01 9.54618007e-01 5.04409152e-02 -1.93390943e+00] [ 1.51885631e-01 -5.52247578e-03 9.88382647e-01 1.16054114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.506296757 meters Centerline goodness : 0.794812 with order 1 Centerline is valid? [False, False] Translation: X:12.29, Y:-1.94, Z:1.16 [[ 9.43723227e-01 2.98423824e-01 -1.42582228e-01 1.22936297e+01] [-2.94036028e-01 9.54410683e-01 5.14107295e-02 -1.93580212e+00] [ 1.51424188e-01 -6.59318758e-03 9.88446885e-01 1.16148205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.566296757 meters Centerline goodness : 0.796173 with order 1 Centerline is valid? [False, False] Translation: X:12.29, Y:-1.94, Z:1.16 [[ 9.43638973e-01 2.98980290e-01 -1.41972794e-01 1.22920729e+01] [-2.94503104e-01 9.54231222e-01 5.20643461e-02 -1.93657515e+00] [ 1.51041086e-01 -7.31851754e-03 9.88500394e-01 1.16214235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.626296757 meters Centerline goodness : 0.800377 with order 1 Centerline is valid? [False, False] Translation: X:12.29, Y:-1.94, Z:1.16 [[ 9.43523374e-01 2.99576104e-01 -1.41484278e-01 1.22907726e+01] [-2.95073220e-01 9.54042145e-01 5.23008564e-02 -1.93686165e+00] [ 1.50650051e-01 -7.59885897e-03 9.88557949e-01 1.16232779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.686296757 meters Centerline goodness : 0.798181 with order 1 Centerline is valid? [False, False] Translation: X:12.29, Y:-1.93, Z:1.16 [[ 9.43258210e-01 3.00671196e-01 -1.40928284e-01 1.22898062e+01] [-2.96236391e-01 9.53700193e-01 5.19609674e-02 -1.93464579e+00] [ 1.50026498e-01 -7.26452275e-03 9.88655287e-01 1.16156295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.746296757 meters Centerline goodness : 0.795183 with order 1 Centerline is valid? [False, False] Translation: X:12.29, Y:-1.93, Z:1.16 [[ 9.42098884e-01 3.04646380e-01 -1.40143769e-01 1.22917749e+01] [-2.99811272e-01 9.52415795e-01 5.49304455e-02 -1.93313371e+00] [ 1.50209501e-01 -9.73322979e-03 9.88606277e-01 1.16012654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.806296757 meters Centerline goodness : 0.794468 with order 2 Centerline is valid? [False, False] Translation: X:12.29, Y:-1.93, Z:1.16 [[ 9.42049497e-01 3.04727710e-01 -1.40298850e-01 1.22927361e+01] [-3.00022801e-01 9.52398457e-01 5.40693781e-02 -1.93081141e+00] [ 1.50096846e-01 -8.84317650e-03 9.88631749e-01 1.15893844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.86629675700001 meters Centerline goodness : 0.794973 with order 2 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.93, Z:1.16 [[ 9.42174609e-01 3.03995622e-01 -1.41044913e-01 1.22952021e+01] [-2.99415272e-01 9.52641083e-01 5.31550713e-02 -1.92910807e+00] [ 1.50524088e-01 -7.85035751e-03 9.88575172e-01 1.15783255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.92629675700002 meters Centerline goodness : 0.796752 with order 2 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.93, Z:1.16 [[ 9.42274626e-01 3.03457524e-01 -1.41534665e-01 1.22968585e+01] [-2.98982482e-01 9.52818820e-01 5.24001217e-02 -1.92689438e+00] [ 1.50758103e-01 -7.05891976e-03 9.88545480e-01 1.15730648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.986296757 meters Centerline goodness : 0.794806 with order 2 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.93, Z:1.16 [[ 9.42260753e-01 3.03540206e-01 -1.41449696e-01 1.22966009e+01] [-2.99067247e-01 9.52792413e-01 5.23965506e-02 -1.92648438e+00] [ 1.50676657e-01 -7.06824187e-03 9.88557831e-01 1.15751442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.046296757 meters Centerline goodness : 0.793743 with order 2 Centerline is valid? [False, False] Translation: X:12.29, Y:-1.92, Z:1.16 [[ 9.41978332e-01 3.04773447e-01 -1.40676823e-01 1.22937925e+01] [-3.00300825e-01 9.52397443e-01 5.25216627e-02 -1.92381254e+00] [ 1.49987454e-01 -7.22890227e-03 9.88661472e-01 1.15901494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.106296757 meters Centerline goodness : 0.794238 with order 2 Centerline is valid? [False, False] Translation: X:12.29, Y:-1.92, Z:1.16 [[ 9.40756508e-01 3.09075823e-01 -1.39460850e-01 1.22936783e+01] [-3.04107480e-01 9.50980165e-01 5.61726530e-02 -1.92242196e+00] [ 1.49986111e-01 -1.04337011e-02 9.88633048e-01 1.15967811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.166296757 meters Centerline goodness : 0.799871 with order 2 Centerline is valid? [False, False] Translation: X:12.29, Y:-1.92, Z:1.16 [[ 9.40591668e-01 3.09554839e-01 -1.39510272e-01 1.22937640e+01] [-3.04644111e-01 9.50828940e-01 5.58237560e-02 -1.91990330e+00] [ 1.49930918e-01 -1.00063771e-02 9.88645838e-01 1.15967336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.226296757 meters Centerline goodness : 0.793357 with order 2 Centerline is valid? [False, False] Translation: X:12.29, Y:-1.92, Z:1.16 [[ 9.40654302e-01 3.09248188e-01 -1.39767816e-01 1.22947998e+01] [-3.04367192e-01 9.50931394e-01 5.55886321e-02 -1.91989708e+00] [ 1.50100288e-01 -9.74894820e-03 9.88622709e-01 1.15909892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.286296757 meters Centerline goodness : 0.797502 with order 2 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.92, Z:1.16 [[ 9.40687129e-01 3.09008960e-01 -1.40075651e-01 1.22952563e+01] [-3.04126241e-01 9.51010002e-01 5.55626272e-02 -1.91982325e+00] [ 1.50382694e-01 -9.66636717e-03 9.88580602e-01 1.15948560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.346296757 meters Centerline goodness : 0.800973 with order 2 Centerline is valid? [False, False] Translation: X:12.29, Y:-1.92, Z:1.16 [[ 9.41593574e-01 3.05734612e-01 -1.41166176e-01 1.22947656e+01] [-3.01332920e-01 9.52094439e-01 5.21023029e-02 -1.91840603e+00] [ 1.50333008e-01 -6.52117772e-03 9.88613909e-01 1.15973766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.406296757 meters Centerline goodness : 0.796635 with order 2 Centerline is valid? [False, False] Translation: X:12.29, Y:-1.92, Z:1.16 [[ 9.41596945e-01 3.05717957e-01 -1.41179759e-01 1.22946708e+01] [-3.01270931e-01 9.52097802e-01 5.23984917e-02 -1.91925162e+00] [ 1.50436098e-01 -6.80490235e-03 9.88596315e-01 1.16004345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.466296757 meters Centerline goodness : 0.794148 with order 2 Centerline is valid? [False, False] Translation: X:12.29, Y:-1.92, Z:1.16 [[ 9.41527894e-01 3.05970952e-01 -1.41092173e-01 1.22948074e+01] [-3.01512229e-01 9.52015936e-01 5.24979391e-02 -1.91823284e+00] [ 1.50384842e-01 -6.88725839e-03 9.88603543e-01 1.16003456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.526296757 meters Centerline goodness : 0.793288 with order 2 Centerline is valid? [False, False] Translation: X:12.29, Y:-1.92, Z:1.16 [[ 9.41383810e-01 3.06553748e-01 -1.40788217e-01 1.22943017e+01] [-3.02139538e-01 9.51830047e-01 5.22614679e-02 -1.91639331e+00] [ 1.50027404e-01 -6.66041283e-03 9.88659404e-01 1.15976990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.586296757 meters Centerline goodness : 0.791608 with order 2 Centerline is valid? [False, False] Translation: X:12.29, Y:-1.91, Z:1.16 [[ 9.41244369e-01 3.07118099e-01 -1.40490251e-01 1.22933914e+01] [-3.02721594e-01 9.51648504e-01 5.21992402e-02 -1.91473156e+00] [ 1.49728669e-01 -6.60280829e-03 9.88705077e-01 1.16016293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.64629675700002 meters Centerline goodness : 0.795055 with order 2 Centerline is valid? [False, False] Translation: X:12.29, Y:-1.91, Z:1.16 [[ 9.40930903e-01 3.08150256e-01 -1.40329808e-01 1.22927035e+01] [-3.03800812e-01 9.51317049e-01 5.19705642e-02 -1.91148691e+00] [ 1.49512881e-01 -6.26840035e-03 9.88739908e-01 1.16049444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.70629675700002 meters Centerline goodness : 0.796384 with order 2 Centerline is valid? [False, False] Translation: X:12.29, Y:-1.91, Z:1.16 [[ 9.40695699e-01 3.09029647e-01 -1.39972424e-01 1.22910900e+01] [-3.04673068e-01 9.51031127e-01 5.20971821e-02 -1.90924592e+00] [ 1.49217706e-01 -6.36176748e-03 9.88783902e-01 1.16173788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.766296757 meters Centerline goodness : 0.831305 with order 3 Centerline is valid? [False, False] Translation: X:12.29, Y:-1.91, Z:1.16 [[ 9.40649742e-01 3.09120020e-01 -1.40081674e-01 1.22912476e+01] [-3.04783930e-01 9.51002924e-01 5.19633886e-02 -1.90730232e+00] [ 1.49281005e-01 -6.18470511e-03 9.88775470e-01 1.16225503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.826296757 meters Centerline goodness : 0.793505 with order 2 Centerline is valid? [False, False] Translation: X:12.29, Y:-1.91, Z:1.16 [[ 9.40963441e-01 3.07815816e-01 -1.40844688e-01 1.22934516e+01] [-3.03523791e-01 9.51428571e-01 5.15459342e-02 -1.90759766e+00] [ 1.49870314e-01 -5.75312611e-03 9.88688925e-01 1.16197791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.886296757 meters Centerline goodness : 0.795622 with order 2 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.91, Z:1.16 [[ 9.43014819e-01 3.00479908e-01 -1.42950605e-01 1.22963223e+01] [-2.96868031e-01 9.53787140e-01 4.64700305e-02 -1.90970620e+00] [ 1.50307759e-01 -1.38446269e-03 9.88638286e-01 1.16078458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.946296757 meters Centerline goodness : 0.790972 with order 2 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.91, Z:1.16 [[ 9.43176337e-01 2.99875083e-01 -1.43154924e-01 1.22965125e+01] [-2.96073048e-01 9.53974996e-01 4.76702984e-02 -1.91282291e+00] [ 1.50861352e-01 -2.57718275e-03 9.88551572e-01 1.16244852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.006296757 meters Centerline goodness : 0.792321 with order 2 Centerline is valid? [False, False] Translation: X:12.29, Y:-1.91, Z:1.16 [[ 9.44062340e-01 2.96941794e-01 -1.43428966e-01 1.22933360e+01] [-2.93514090e-01 9.54895508e-01 4.49894215e-02 -1.91200887e+00] [ 1.50318915e-01 -3.74396093e-04 9.88637488e-01 1.16462234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.066296757 meters Centerline goodness : 0.790261 with order 2 Centerline is valid? [False, False] Translation: X:12.29, Y:-1.91, Z:1.16 [[ 9.42858465e-01 3.01185581e-01 -1.42496179e-01 1.22939404e+01] [-2.97227494e-01 9.53558508e-01 4.88056183e-02 -1.91171962e+00] [ 1.50577993e-01 -3.66300801e-03 9.88591347e-01 1.16495646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.126296757 meters Centerline goodness : 0.809187 with order 3 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.91, Z:1.16 [[ 9.41700265e-01 3.05073477e-01 -1.41882993e-01 1.22959208e+01] [-3.00631097e-01 9.52306041e-01 5.22890837e-02 -1.91170832e+00] [ 1.51068044e-01 -6.58620421e-03 9.88501425e-01 1.16422266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.186296757 meters Centerline goodness : 0.788306 with order 2 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.91, Z:1.16 [[ 9.41306020e-01 3.06219504e-01 -1.42030250e-01 1.22961649e+01] [-3.01865615e-01 9.51942804e-01 5.17884933e-02 -1.90887491e+00] [ 1.51063321e-01 -5.87477185e-03 9.88506631e-01 1.16363969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.246296757 meters Centerline goodness : 0.792623 with order 2 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.91, Z:1.16 [[ 9.39969955e-01 3.10736867e-01 -1.41064109e-01 1.22970887e+01] [-3.05956445e-01 9.50457982e-01 5.49570661e-02 -1.90646105e+00] [ 1.51152694e-01 -8.49851783e-03 9.88473894e-01 1.16320179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.306296757 meters Centerline goodness : 0.804614 with order 2 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.91, Z:1.16 [[ 9.39993893e-01 3.10545589e-01 -1.41325578e-01 1.22972519e+01] [-3.05786094e-01 9.50522351e-01 5.47916546e-02 -1.90525108e+00] [ 1.51348427e-01 -8.28842427e-03 9.88445727e-01 1.16402260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.36629675700001 meters Centerline goodness : 0.810525 with order 3 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.90, Z:1.16 [[ 9.41138277e-01 3.06684470e-01 -1.42138594e-01 1.22957612e+01] [-3.02449644e-01 9.51797867e-01 5.10395299e-02 -1.90377131e+00] [ 1.50940242e-01 -5.04548812e-03 9.88530013e-01 1.16497822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.42629675700002 meters Centerline goodness : 0.803262 with order 2 Centerline is valid? [False, False] Translation: X:12.29, Y:-1.90, Z:1.17 [[ 9.42496388e-01 3.02096919e-01 -1.42961568e-01 1.22947379e+01] [-2.98397015e-01 9.53275521e-01 4.71699421e-02 -1.90276525e+00] [ 1.50531657e-01 -1.79819507e-03 9.88603554e-01 1.16585837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.486296757 meters Centerline goodness : 0.794600 with order 2 Centerline is valid? [False, False] Translation: X:12.29, Y:-1.90, Z:1.17 [[ 9.43942049e-01 2.97463304e-01 -1.43139762e-01 1.22940922e+01] [-2.94318766e-01 9.54732243e-01 4.31602562e-02 -1.90113987e+00] [ 1.49498739e-01 1.38793740e-03 9.88760942e-01 1.16550579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.546296757 meters Centerline goodness : 0.792681 with order 2 Centerline is valid? [False, False] Translation: X:12.29, Y:-1.90, Z:1.17 [[ 9.44012957e-01 2.97382903e-01 -1.42838881e-01 1.22938075e+01] [-2.94237565e-01 9.54757430e-01 4.31567507e-02 -1.90104805e+00] [ 1.49210562e-01 1.28803269e-03 9.88804606e-01 1.16552399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.606296757 meters Centerline goodness : 0.792638 with order 2 Centerline is valid? [False, False] Translation: X:12.29, Y:-1.90, Z:1.16 [[ 9.44015743e-01 2.97636954e-01 -1.42290268e-01 1.22937559e+01] [-2.94590020e-01 9.54677470e-01 4.25164542e-02 -1.89848536e+00] [ 1.48495780e-01 1.78109066e-03 9.88911437e-01 1.16449309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.666296757 meters Centerline goodness : 0.794403 with order 3 Centerline is valid? [False, False] Translation: X:12.29, Y:-1.90, Z:1.16 [[ 9.43884892e-01 2.98091174e-01 -1.42207466e-01 1.22938321e+01] [-2.95054828e-01 9.54535583e-01 4.24790496e-02 -1.89723863e+00] [ 1.48404716e-01 1.86366616e-03 9.88924955e-01 1.16435668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.726296757 meters Centerline goodness : 0.813526 with order 3 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.90, Z:1.16 [[ 9.43801402e-01 2.98308449e-01 -1.42305947e-01 1.22952155e+01] [-2.95317246e-01 9.54466985e-01 4.21959536e-02 -1.89701026e+00] [ 1.48413737e-01 2.20080002e-03 9.88922909e-01 1.16288741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.786296757 meters Centerline goodness : 0.792889 with order 2 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.90, Z:1.16 [[ 9.43791770e-01 2.98401824e-01 -1.42174001e-01 1.22961852e+01] [-2.95434609e-01 9.54437502e-01 4.20410121e-02 -1.89699202e+00] [ 1.48241313e-01 2.32515938e-03 9.88948485e-01 1.16145219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.846296757 meters Centerline goodness : 0.812707 with order 3 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.90, Z:1.16 [[ 9.43794253e-01 2.98578815e-01 -1.41785399e-01 1.22955809e+01] [-2.95529051e-01 9.54383474e-01 4.26000587e-02 -1.89806813e+00] [ 1.48037116e-01 1.69601376e-03 9.88980352e-01 1.16198458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.906296757 meters Centerline goodness : 0.796091 with order 3 Centerline is valid? [False, False] Translation: X:12.29, Y:-1.90, Z:1.17 [[ 9.44841754e-01 2.95463987e-01 -1.41333270e-01 1.22916668e+01] [-2.92534995e-01 9.55351604e-01 4.15522552e-02 -1.90181813e+00] [ 1.47300162e-01 2.08462181e-03 9.89089640e-01 1.16547324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.966296757 meters Centerline goodness : 0.795171 with order 3 Centerline is valid? [False, False] Translation: X:12.29, Y:-1.91, Z:1.17 [[ 9.45470737e-01 2.93608337e-01 -1.40993723e-01 1.22916796e+01] [-2.90205989e-01 9.55925004e-01 4.45855389e-02 -1.90895303e+00] [ 1.47870111e-01 -1.23709948e-03 9.89006016e-01 1.16988086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.026296757 meters Centerline goodness : 0.793218 with order 2 Centerline is valid? [False, False] Translation: X:12.29, Y:-1.91, Z:1.17 [[ 9.45648579e-01 2.93105644e-01 -1.40846892e-01 1.22917914e+01] [-2.89484878e-01 9.56076145e-01 4.60098944e-02 -1.91284023e+00] [ 1.48146113e-01 -2.73614593e-03 9.88961699e-01 1.17123321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.086296757 meters Centerline goodness : 0.792898 with order 2 Centerline is valid? [False, False] Translation: X:12.29, Y:-1.92, Z:1.18 [[ 9.44621747e-01 2.97133211e-01 -1.39289661e-01 1.22914829e+01] [-2.92503546e-01 9.54789718e-01 5.30873843e-02 -1.91786340e+00] [ 1.48766361e-01 -9.40477786e-03 9.88827649e-01 1.17574325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.14629675700002 meters Centerline goodness : 0.791520 with order 2 Centerline is valid? [False, False] Translation: X:12.29, Y:-1.92, Z:1.18 [[ 0.94350178 0.30133997 -0.13783543 12.29149153] [-0.29586175 0.95339854 0.05913577 -1.92111138] [ 0.14923207 -0.01501447 0.9886882 1.17883521] [ 0. 0. 0. 1. ]] SLAMing on 180.20629675700002 meters Centerline goodness : 0.792744 with order 3 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.92, Z:1.18 [[ 9.41935256e-01 2.99333817e-01 -1.52175027e-01 1.22959494e+01] [-2.93585724e-01 9.54081046e-01 5.94708415e-02 -1.91610615e+00] [ 1.62988943e-01 -1.13412669e-02 9.86562710e-01 1.18155272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.266296757 meters Centerline goodness : 0.789593 with order 2 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.92, Z:1.18 [[ 0.94150814 0.30069296 -0.15213864 12.29993438] [-0.29470591 0.95363752 0.06102373 -1.91757878] [ 0.16343452 -0.01261818 0.98647349 1.17885423] [ 0. 0. 0. 1. ]] SLAMing on 180.326296757 meters Centerline goodness : 0.791850 with order 2 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.92, Z:1.18 [[ 0.94168086 0.30000101 -0.15243541 12.30141966] [-0.29397329 0.95385286 0.0611918 -1.92066053] [ 0.16375855 -0.01281121 0.98641726 1.17782836] [ 0. 0. 0. 1. ]] SLAMing on 180.386296757 meters Centerline goodness : 0.795408 with order 2 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.93, Z:1.18 [[ 0.94169502 0.30015387 -0.1520465 12.29997636] [-0.29378619 0.95377404 0.06328312 -1.92531874] [ 0.16401268 -0.01492423 0.98634533 1.18019443] [ 0. 0. 0. 1. ]] SLAMing on 180.446296757 meters Centerline goodness : 0.793201 with order 2 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.93, Z:1.18 [[ 0.94253054 0.29747564 -0.15213291 12.2970184 ] [-0.29152145 0.95464434 0.06057574 -1.92563003] [ 0.16325263 -0.01274448 0.98650198 1.18093968] [ 0. 0. 0. 1. ]] SLAMing on 180.506296757 meters Centerline goodness : 0.802178 with order 3 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.93, Z:1.18 [[ 0.94243258 0.29811286 -0.15149109 12.29540616] [-0.2921182 0.95443989 0.06092168 -1.92580392] [ 0.16275068 -0.01316127 0.98657944 1.18126254] [ 0. 0. 0. 1. ]] SLAMing on 180.566296757 meters Centerline goodness : 0.792782 with order 2 Centerline is valid? [False, False] Translation: X:12.29, Y:-1.92, Z:1.18 [[ 0.94226338 0.29876831 -0.1512522 12.29445795] [-0.2927744 0.95423461 0.06098731 -1.92477852] [ 0.16255115 -0.01318334 0.98661204 1.18168686] [ 0. 0. 0. 1. ]] SLAMing on 180.626296757 meters Centerline goodness : 0.793520 with order 3 Centerline is valid? [False, False] Translation: X:12.29, Y:-1.92, Z:1.18 [[ 0.94219509 0.29910197 -0.15101795 12.29346139] [-0.29314164 0.95413202 0.06082823 -1.92376513] [ 0.16228491 -0.0130424 0.98665774 1.18222439] [ 0. 0. 0. 1. ]] SLAMing on 180.686296757 meters Centerline goodness : 0.793999 with order 3 Centerline is valid? [False, False] Translation: X:12.29, Y:-1.92, Z:1.18 [[ 0.94218134 0.29901286 -0.15128 12.29377077] [-0.29307855 0.95416325 0.0606421 -1.92307247] [ 0.16247858 -0.01279894 0.98662906 1.1825273 ] [ 0. 0. 0. 1. ]] SLAMing on 180.746296757 meters Centerline goodness : 0.813827 with order 3 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.92, Z:1.18 [[ 9.42127223e-01 2.98687131e-01 -1.52257329e-01 1.22966232e+01] [-2.92810947e-01 9.54274084e-01 6.01890525e-02 -1.92112664e+00] [ 1.63272918e-01 -1.21231323e-02 9.86506454e-01 1.18194195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.806296757 meters Centerline goodness : 0.787174 with order 1 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.92, Z:1.18 [[ 9.42258479e-01 2.97548271e-01 -1.53668429e-01 1.23008947e+01] [-2.91833123e-01 9.54645960e-01 5.90298193e-02 -1.91990190e+00] [ 1.64263165e-01 -1.07758102e-02 9.86357691e-01 1.18026967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.86629675700001 meters Centerline goodness : 0.781332 with order 2 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.92, Z:1.18 [[ 9.42382277e-01 2.96464476e-01 -1.54998253e-01 1.23047165e+01] [-2.90824271e-01 9.54991863e-01 5.84104827e-02 -1.91980594e+00] [ 1.65338704e-01 -9.96774960e-03 9.86186472e-01 1.17929021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.92629675700002 meters Centerline goodness : 0.782631 with order 3 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.92, Z:1.18 [[ 9.43316298e-01 2.92957002e-01 -1.55982555e-01 1.23041227e+01] [-2.87861047e-01 9.56101287e-01 5.48301623e-02 -1.91827862e+00] [ 1.65198001e-01 -6.82088420e-03 9.86236836e-01 1.17959061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.986296757 meters Centerline goodness : 0.781762 with order 2 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.92, Z:1.18 [[ 9.43346041e-01 2.92698433e-01 -1.56287790e-01 1.23039979e+01] [-2.87436316e-01 9.56173780e-01 5.57859071e-02 -1.92077507e+00] [ 1.65766735e-01 -7.70262791e-03 9.86134909e-01 1.18132785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.046296757 meters Centerline goodness : 0.779380 with order 3 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.92, Z:1.18 [[ 9.43176797e-01 2.93266726e-01 -1.56243903e-01 1.23038140e+01] [-2.87900763e-01 9.55994971e-01 5.64514532e-02 -1.92157288e+00] [ 1.65923718e-01 -8.26096179e-03 9.86103989e-01 1.18172635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.106296757 meters Centerline goodness : 0.783121 with order 2 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.93, Z:1.18 [[ 0.94202415 0.29737001 -0.15543994 12.30368027] [-0.29115303 0.95467337 0.06187625 -1.92621535] [ 0.16679451 -0.01303211 0.98590555 1.18403128] [ 0. 0. 0. 1. ]] SLAMing on 181.166296757 meters Centerline goodness : 0.785799 with order 1 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.93, Z:1.19 [[ 0.94183622 0.29825382 -0.15488448 12.30174576] [-0.29196279 0.95439002 0.06242936 -1.92622159] [ 0.16644 -0.01357772 0.9859581 1.18504872] [ 0. 0. 0. 1. ]] SLAMing on 181.226296757 meters Centerline goodness : 0.786871 with order 2 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.92, Z:1.18 [[ 0.94166396 0.29884237 -0.15479735 12.30165646] [-0.29259715 0.95420995 0.06221149 -1.92442555] [ 0.1663006 -0.01328906 0.98598555 1.18484658] [ 0. 0. 0. 1. ]] SLAMing on 181.286296757 meters Centerline goodness : 0.799756 with order 3 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.92, Z:1.18 [[ 9.41529298e-01 2.99190037e-01 -1.54944835e-01 1.23032117e+01] [-2.93124393e-01 9.54115958e-01 6.11623135e-02 -1.92086204e+00] [ 1.66134495e-01 -1.21679994e-02 9.86028027e-01 1.18306159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.346296757 meters Centerline goodness : 0.789173 with order 2 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.92, Z:1.18 [[ 9.41568051e-01 2.99068004e-01 -1.54944939e-01 1.23037786e+01] [-2.93145751e-01 9.54164227e-01 6.03008897e-02 -1.91794964e+00] [ 1.65876985e-01 -1.13559406e-02 9.86081066e-01 1.18254542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.406296757 meters Centerline goodness : 0.788221 with order 2 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.92, Z:1.18 [[ 9.41675683e-01 2.98721060e-01 -1.54960110e-01 1.23040861e+01] [-2.92888086e-01 9.54278550e-01 5.97412550e-02 -1.91679675e+00] [ 1.65721081e-01 -1.08709170e-02 9.86112745e-01 1.18228458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.466296757 meters Centerline goodness : 0.788358 with order 2 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.92, Z:1.18 [[ 9.41677974e-01 2.98729048e-01 -1.54930790e-01 1.23046777e+01] [-2.92892489e-01 9.54275701e-01 5.97651738e-02 -1.91640522e+00] [ 1.65700282e-01 -1.09014831e-02 9.86115903e-01 1.18190523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.526296757 meters Centerline goodness : 0.791082 with order 2 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.92, Z:1.18 [[ 9.41785551e-01 2.98444896e-01 -1.54824478e-01 1.23049622e+01] [-2.92568820e-01 9.54361195e-01 5.99849630e-02 -1.91759940e+00] [ 1.65660680e-01 -1.11961565e-02 9.86119255e-01 1.18173490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.586296757 meters Centerline goodness : 0.791483 with order 2 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.92, Z:1.18 [[ 9.41976736e-01 2.97935016e-01 -1.54643316e-01 1.23049809e+01] [-2.92049048e-01 9.54518437e-01 6.00158926e-02 -1.91908569e+00] [ 1.65490732e-01 -1.13701416e-02 9.86145799e-01 1.18155616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.64629675700002 meters Centerline goodness : 0.804809 with order 3 Centerline is valid? [False, False] Translation: X:12.31, Y:-1.92, Z:1.18 [[ 9.42125767e-01 2.97544741e-01 -1.54486784e-01 1.23054135e+01] [-2.91640545e-01 9.54637747e-01 6.01046154e-02 -1.91944776e+00] [ 1.65362728e-01 -1.15714969e-02 9.86164930e-01 1.18147634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.70629675700002 meters Centerline goodness : 0.793025 with order 1 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.92, Z:1.18 [[ 9.42176051e-01 2.97478193e-01 -1.54308174e-01 1.23049428e+01] [-2.91566720e-01 9.54657092e-01 6.01555005e-02 -1.91973027e+00] [ 1.65206342e-01 -1.16859437e-02 9.86189791e-01 1.18175168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.766296757 meters Centerline goodness : 0.793058 with order 2 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.92, Z:1.18 [[ 9.42149720e-01 2.97596409e-01 -1.54240988e-01 1.23045622e+01] [-2.91661838e-01 9.54618441e-01 6.03075843e-02 -1.91965345e+00] [ 1.65188612e-01 -1.18325634e-02 9.86191012e-01 1.18229426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.826296757 meters Centerline goodness : 0.804006 with order 3 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.92, Z:1.18 [[ 9.41990637e-01 2.98435779e-01 -1.53589472e-01 1.23025195e+01] [-2.92452935e-01 9.54350829e-01 6.07105898e-02 -1.91875833e+00] [ 1.64696452e-01 -1.22711154e-02 9.86267965e-01 1.18324837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.886296757 meters Centerline goodness : 0.796004 with order 2 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.92, Z:1.18 [[ 9.41770707e-01 2.99233162e-01 -1.53386602e-01 1.23021521e+01] [-2.93276415e-01 9.54103085e-01 6.06320648e-02 -1.91608710e+00] [ 1.64489754e-01 -1.21168300e-02 9.86304366e-01 1.18333547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.946296757 meters Centerline goodness : 0.796858 with order 3 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.91, Z:1.18 [[ 9.41679779e-01 2.99310150e-01 -1.53794110e-01 1.23038620e+01] [-2.93519207e-01 9.54092502e-01 5.96152072e-02 -1.91373250e+00] [ 1.64577243e-01 -1.09969101e-02 9.86302894e-01 1.18165941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.006296757 meters Centerline goodness : 0.797556 with order 2 Centerline is valid? [False, False] Translation: X:12.31, Y:-1.91, Z:1.18 [[ 9.41565717e-01 2.99440297e-01 -1.54238480e-01 1.23056461e+01] [-2.93783696e-01 9.54062172e-01 5.87921038e-02 -1.91100949e+00] [ 1.64757825e-01 -1.00438786e-02 9.86282911e-01 1.18043162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.066296757 meters Centerline goodness : 0.813492 with order 3 Centerline is valid? [False, False] Translation: X:12.31, Y:-1.91, Z:1.18 [[ 9.41432987e-01 2.99767022e-01 -1.54413934e-01 1.23055914e+01] [-2.94141162e-01 9.53962404e-01 5.86234406e-02 -1.90947078e+00] [ 1.64878462e-01 -9.77054686e-03 9.86265496e-01 1.18091058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.126296757 meters Centerline goodness : 0.794393 with order 2 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.91, Z:1.18 [[ 9.41217404e-01 3.00525332e-01 -1.54254085e-01 1.23048097e+01] [-2.94881925e-01 9.53722914e-01 5.87984133e-02 -1.90800158e+00] [ 1.64786068e-01 -9.85534834e-03 9.86280094e-01 1.18157668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.186296757 meters Centerline goodness : 0.799707 with order 3 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.91, Z:1.18 [[ 9.40969225e-01 3.01408375e-01 -1.54045150e-01 1.23037110e+01] [-2.95670471e-01 9.53438520e-01 5.94471211e-02 -1.90761590e+00] [ 1.64790440e-01 -1.03913093e-02 9.86273862e-01 1.18263348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.246296757 meters Centerline goodness : 0.799915 with order 2 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.91, Z:1.18 [[ 9.40815291e-01 3.01964212e-01 -1.53896728e-01 1.23025073e+01] [-2.96111104e-01 9.53255134e-01 6.01902368e-02 -1.90862249e+00] [ 1.64878143e-01 -1.10573653e-02 9.86251962e-01 1.18394580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.306296757 meters Centerline goodness : 0.800444 with order 3 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.91, Z:1.18 [[ 9.40815155e-01 3.01696677e-01 -1.54421370e-01 1.23034398e+01] [-2.95797143e-01 9.53338670e-01 6.04105124e-02 -1.91011431e+00] [ 1.65441515e-01 -1.11577254e-02 9.86156484e-01 1.18427585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.36629675700001 meters Centerline goodness : 0.799623 with order 3 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.91, Z:1.19 [[ 9.41476576e-01 2.99491042e-01 -1.54683457e-01 1.23023404e+01] [-2.93868994e-01 9.54050020e-01 5.85625642e-02 -1.90907675e+00] [ 1.65114719e-01 -9.67861052e-03 9.86226878e-01 1.18516804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.42629675700002 meters Centerline goodness : 0.804581 with order 3 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.91, Z:1.19 [[ 9.41512116e-01 2.99141505e-01 -1.55142824e-01 1.23031783e+01] [-2.93497850e-01 9.54159735e-01 5.86362775e-02 -1.90893748e+00] [ 1.65571580e-01 -9.67268048e-03 9.86150339e-01 1.18589652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.486296757 meters Centerline goodness : 0.807206 with order 3 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.91, Z:1.19 [[ 9.41602836e-01 2.98626758e-01 -1.55583286e-01 1.23039104e+01] [-2.92949956e-01 9.54320113e-01 5.87660302e-02 -1.91010178e+00] [ 1.66025368e-01 -9.75614405e-03 9.86073220e-01 1.18632265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.546296757 meters Centerline goodness : 0.799930 with order 2 Centerline is valid? [False, False] Translation: X:12.31, Y:-1.91, Z:1.18 [[ 9.41663661e-01 2.97952417e-01 -1.56505291e-01 1.23071157e+01] [-2.92354576e-01 9.54537905e-01 5.81909757e-02 -1.91005093e+00] [ 1.66728375e-01 -9.04128903e-03 9.85961411e-01 1.18478453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.606296757 meters Centerline goodness : 0.807913 with order 3 Centerline is valid? [False, False] Translation: X:12.31, Y:-1.91, Z:1.18 [[ 9.41455889e-01 2.98520015e-01 -1.56673576e-01 1.23078141e+01] [-2.92930940e-01 9.54362104e-01 5.81759251e-02 -1.90954582e+00] [ 1.66890002e-01 -8.87552933e-03 9.85935572e-01 1.18410935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.666296757 meters Centerline goodness : 0.803249 with order 2 Centerline is valid? [False, False] Translation: X:12.31, Y:-1.91, Z:1.18 [[ 9.41343607e-01 2.98897300e-01 -1.56628914e-01 1.23072959e+01] [-2.93230958e-01 9.54240008e-01 5.86652496e-02 -1.91048339e+00] [ 1.66996461e-01 -9.29571125e-03 9.85913674e-01 1.18461591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.726296757 meters Centerline goodness : 0.799410 with order 2 Centerline is valid? [False, False] Translation: X:12.31, Y:-1.91, Z:1.18 [[ 9.42465260e-01 2.94874618e-01 -1.57506170e-01 1.23066080e+01] [-2.89669289e-01 9.55512109e-01 5.55725965e-02 -1.91262408e+00] [ 1.66886001e-01 -6.75054127e-03 9.85953089e-01 1.18469635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.786296757 meters Centerline goodness : 0.800005 with order 2 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.92, Z:1.19 [[ 9.43617927e-01 2.90941027e-01 -1.57919367e-01 1.23049533e+01] [-2.86134488e-01 9.56729400e-01 5.28763616e-02 -1.91551565e+00] [ 1.66470004e-01 -4.70890543e-03 9.86035275e-01 1.18518841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.846296757 meters Centerline goodness : 0.802037 with order 2 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.92, Z:1.19 [[ 9.44601265e-01 2.87572318e-01 -1.58210655e-01 1.23030682e+01] [-2.83175818e-01 9.57755455e-01 5.01592001e-02 -1.91760266e+00] [ 1.65951515e-01 -2.57901219e-03 9.86130541e-01 1.18532784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.906296757 meters Centerline goodness : 0.801995 with order 2 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.92, Z:1.19 [[ 9.44286958e-01 2.89346009e-01 -1.56847151e-01 1.22985436e+01] [-2.84695616e-01 9.57214898e-01 5.18463585e-02 -1.92023505e+00] [ 1.65137967e-01 -4.30414386e-03 9.86261084e-01 1.18731491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.966296757 meters Centerline goodness : 0.799924 with order 2 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.92, Z:1.19 [[ 9.44016993e-01 2.90452970e-01 -1.56425667e-01 1.22973997e+01] [-2.85755294e-01 9.56878176e-01 5.22309076e-02 -1.91939250e+00] [ 1.64850929e-01 -4.60740202e-03 9.86307732e-01 1.18751925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.026296757 meters Centerline goodness : 0.818719 with order 3 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.92, Z:1.19 [[ 9.43776331e-01 2.91432981e-01 -1.56054652e-01 1.22965910e+01] [-2.86726363e-01 9.56579776e-01 5.23748572e-02 -1.91917501e+00] [ 1.64542485e-01 -4.68516763e-03 9.86358870e-01 1.18701839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.086296757 meters Centerline goodness : 0.793580 with order 1 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.92, Z:1.19 [[ 9.43560517e-01 2.92261773e-01 -1.55809519e-01 1.22966211e+01] [-2.87552661e-01 9.56326810e-01 5.24642657e-02 -1.91822777e+00] [ 1.64338119e-01 -4.69976802e-03 9.86392870e-01 1.18625947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.14629675700002 meters Centerline goodness : 0.813008 with order 3 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.92, Z:1.18 [[ 9.43670035e-01 2.91526932e-01 -1.56521288e-01 1.22994493e+01] [-2.86886969e-01 9.56553665e-01 5.19706863e-02 -1.91879122e+00] [ 1.64871866e-01 -4.13926142e-03 9.86306309e-01 1.18454336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.20629675700002 meters Centerline goodness : 0.806298 with order 2 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.92, Z:1.18 [[ 9.44761628e-01 2.87456604e-01 -1.57461635e-01 1.22985054e+01] [-2.83310401e-01 9.57792687e-01 4.86660543e-02 -1.92097218e+00] [ 1.64804981e-01 -1.36730162e-03 9.86325225e-01 1.18479334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.266296757 meters Centerline goodness : 0.802420 with order 2 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.92, Z:1.19 [[ 9.44920895e-01 2.87046056e-01 -1.57254775e-01 1.22982658e+01] [-2.82791334e-01 9.57914482e-01 4.92839338e-02 -1.92269780e+00] [ 1.64783385e-01 -2.09913114e-03 9.86327547e-01 1.18546135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.326296757 meters Centerline goodness : 0.800378 with order 2 Centerline is valid? [False, False] Translation: X:12.29, Y:-1.92, Z:1.18 [[ 9.47621504e-01 2.81481300e-01 -1.50936285e-01 1.22888824e+01] [-2.77563613e-01 9.59563411e-01 4.68668513e-02 -1.92195224e+00] [ 1.58025079e-01 -2.51761563e-03 9.87431889e-01 1.18238819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.386296757 meters Centerline goodness : 0.793821 with order 1 Centerline is valid? [False, False] Translation: X:12.29, Y:-1.92, Z:1.18 [[ 9.48640457e-01 2.77848790e-01 -1.51265771e-01 1.22873284e+01] [-2.74436127e-01 9.60624767e-01 4.34150830e-02 -1.92187597e+00] [ 1.57372474e-01 3.27488150e-04 9.87539264e-01 1.18229470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.446296757 meters Centerline goodness : 0.793723 with order 1 Centerline is valid? [False, False] Translation: X:12.29, Y:-1.92, Z:1.18 [[ 9.48739132e-01 2.77582971e-01 -1.51134888e-01 1.22877654e+01] [-2.74188757e-01 9.60701593e-01 4.32778915e-02 -1.92137495e+00] [ 1.57208733e-01 3.80057837e-04 9.87565324e-01 1.18184904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.506296757 meters Centerline goodness : 0.800339 with order 2 Centerline is valid? [False, False] Translation: X:12.29, Y:-1.92, Z:1.18 [[ 9.48695432e-01 2.77775983e-01 -1.51054563e-01 1.22872946e+01] [-2.74326354e-01 9.60645877e-01 4.36411480e-02 -1.92177449e+00] [ 1.57232406e-01 3.60896524e-05 9.87561628e-01 1.18247333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.566296757 meters Centerline goodness : 0.792603 with order 1 Centerline is valid? [False, False] Translation: X:12.29, Y:-1.92, Z:1.18 [[ 9.48685410e-01 2.77875794e-01 -1.50933879e-01 1.22876760e+01] [-2.74536290e-01 9.60616768e-01 4.29563919e-02 -1.91965854e+00] [ 1.56926156e-01 6.84724721e-04 9.87610102e-01 1.18158803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.626296757 meters Centerline goodness : 0.791377 with order 1 Centerline is valid? [False, False] Translation: X:12.29, Y:-1.92, Z:1.18 [[ 9.48612629e-01 2.77899170e-01 -1.51347716e-01 1.22896075e+01] [-2.74667917e-01 9.60609136e-01 4.22802938e-02 -1.91684551e+00] [ 1.57135657e-01 1.46274112e-03 9.87575944e-01 1.18042254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.686296757 meters Centerline goodness : 0.787882 with order 1 Centerline is valid? [False, False] Translation: X:12.29, Y:-1.92, Z:1.18 [[ 9.48607241e-01 2.77846068e-01 -1.51478924e-01 1.22899723e+01] [-2.74632718e-01 9.60624272e-01 4.21648896e-02 -1.91651247e+00] [ 1.57229680e-01 1.60314903e-03 9.87560761e-01 1.18033714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.746296757 meters Centerline goodness : 0.798171 with order 2 Centerline is valid? [False, False] Translation: X:12.29, Y:-1.92, Z:1.18 [[ 9.48624859e-01 2.77791705e-01 -1.51468299e-01 1.22906776e+01] [-2.74599720e-01 9.60639781e-01 4.20262334e-02 -1.91533205e+00] [ 1.57181013e-01 1.72602290e-03 9.87568301e-01 1.18011242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.806296757 meters Centerline goodness : 0.797648 with order 2 Centerline is valid? [False, False] Translation: X:12.29, Y:-1.91, Z:1.18 [[ 9.48636991e-01 2.77764526e-01 -1.51442155e-01 1.22907358e+01] [-2.74559182e-01 9.60647800e-01 4.21077244e-02 -1.91431312e+00] [ 1.57178605e-01 1.63488928e-03 9.87568840e-01 1.18064620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.86629675700001 meters Centerline goodness : 0.799303 with order 2 Centerline is valid? [False, False] Translation: X:12.29, Y:-1.91, Z:1.18 [[ 9.48674255e-01 2.77760038e-01 -1.51216793e-01 1.22903717e+01] [-2.74396605e-01 9.60650297e-01 4.30988375e-02 -1.91452747e+00] [ 1.57237592e-01 6.06617147e-04 9.87560617e-01 1.18262686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.92629675700002 meters Centerline goodness : 0.799882 with order 2 Centerline is valid? [False, False] Translation: X:12.29, Y:-1.92, Z:1.19 [[ 9.48703502e-01 2.77944101e-01 -1.50694198e-01 1.22891593e+01] [-2.74306678e-01 9.60596502e-01 4.48353385e-02 -1.91526842e+00] [ 1.57218038e-01 -1.19901766e-03 9.87563188e-01 1.18584294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.986296757 meters Centerline goodness : 0.801764 with order 2 Centerline is valid? [False, False] Translation: X:12.29, Y:-1.91, Z:1.18 [[ 9.49756653e-01 2.74479372e-01 -1.50410689e-01 1.22895538e+01] [-2.71212057e-01 9.61592744e-01 4.22304907e-02 -1.91037832e+00] [ 1.56225225e-01 6.84502716e-04 9.87721221e-01 1.18493083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.046296757 meters Centerline goodness : 0.807155 with order 3 Centerline is valid? [False, False] Translation: X:12.29, Y:-1.91, Z:1.19 [[ 9.49834321e-01 2.74422374e-01 -1.50023745e-01 1.22887281e+01] [-2.71362176e-01 9.61607471e-01 4.09101664e-02 -1.90526243e+00] [ 1.55490619e-01 1.85288996e-03 9.87835631e-01 1.18624359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.106296757 meters Centerline goodness : 0.811080 with order 3 Centerline is valid? [False, False] Translation: X:12.29, Y:-1.90, Z:1.19 [[ 9.48825799e-01 2.78281523e-01 -1.49295002e-01 1.22895853e+01] [-2.74707336e-01 9.60498823e-01 4.44734813e-02 -1.90347101e+00] [ 1.55773822e-01 -1.18515426e-03 9.87792039e-01 1.18716743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.166296757 meters Centerline goodness : 0.811581 with order 2 Centerline is valid? [False, False] Translation: X:12.29, Y:-1.90, Z:1.19 [[ 9.47906147e-01 2.81399718e-01 -1.49292113e-01 1.22930811e+01] [-2.77465189e-01 9.59585554e-01 4.69960916e-02 -1.89974419e+00] [ 1.56483242e-01 -3.12451965e-03 9.87675672e-01 1.18664115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.226296757 meters Centerline goodness : 0.816031 with order 3 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.90, Z:1.19 [[ 9.46894841e-01 2.84820496e-01 -1.49222804e-01 1.22969897e+01] [-2.80489105e-01 9.58566415e-01 4.97623352e-02 -1.89635672e+00] [ 1.57213301e-01 -5.26432771e-03 9.87550639e-01 1.18576522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.286296757 meters Centerline goodness : 0.815822 with order 3 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.89, Z:1.18 [[ 9.46891107e-01 2.84364316e-01 -1.50113848e-01 1.22996272e+01] [-2.80239179e-01 9.58708888e-01 4.84073334e-02 -1.89188860e+00] [ 1.57680799e-01 -3.76869202e-03 9.87482943e-01 1.18496668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.346296757 meters Centerline goodness : 0.818321 with order 3 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.89, Z:1.18 [[ 9.47001119e-01 2.83603873e-01 -1.50856633e-01 1.23021116e+01] [-2.79663985e-01 9.58938303e-01 4.71739937e-02 -1.88765805e+00] [ 1.58040931e-01 -2.48465784e-03 9.87429436e-01 1.18441194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.406296757 meters Centerline goodness : 0.818619 with order 3 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.89, Z:1.19 [[ 9.47109072e-01 2.83066494e-01 -1.51187849e-01 1.23023480e+01] [-2.79205800e-01 9.59098297e-01 4.66323606e-02 -1.88540387e+00] [ 1.58204068e-01 -1.95340731e-03 9.87404505e-01 1.18547194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.466296757 meters Centerline goodness : 0.811685 with order 3 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.88, Z:1.19 [[ 9.47232525e-01 2.82617195e-01 -1.51254964e-01 1.23021815e+01] [-2.78805421e-01 9.59231311e-01 4.62907085e-02 -1.88256571e+00] [ 1.58171048e-01 -1.67736068e-03 9.87410303e-01 1.18690611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.526296757 meters Centerline goodness : 0.813496 with order 2 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.88, Z:1.19 [[ 9.47452579e-01 2.81847098e-01 -1.51313662e-01 1.23019617e+01] [-2.78023449e-01 9.59457643e-01 4.63032803e-02 -1.88048865e+00] [ 1.58229495e-01 -1.80141601e-03 9.87400720e-01 1.18900805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.586296757 meters Centerline goodness : 0.814757 with order 3 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.88, Z:1.19 [[ 9.48457455e-01 2.77360102e-01 -1.53296544e-01 1.23044199e+01] [-2.74324380e-01 9.60760951e-01 4.10430109e-02 -1.87781638e+00] [ 1.58665027e-01 3.12542991e-03 9.87327525e-01 1.18853441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.64629675700002 meters Centerline goodness : 0.813602 with order 1 Centerline is valid? [False, False] Translation: X:12.31, Y:-1.87, Z:1.19 [[ 9.48812843e-01 2.76396246e-01 -1.52837508e-01 1.23068134e+01] [-2.73419373e-01 9.61038175e-01 4.05890645e-02 -1.87370846e+00] [ 1.58101345e-01 3.27730985e-03 9.87417452e-01 1.18608673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.70629675700002 meters Centerline goodness : 0.817822 with order 3 Centerline is valid? [False, False] Translation: X:12.31, Y:-1.87, Z:1.19 [[ 9.47884977e-01 2.80365580e-01 -1.51357893e-01 1.23059759e+01] [-2.77133708e-01 9.59891827e-01 4.24804421e-02 -1.86851247e+00] [ 1.57197258e-01 1.67980126e-03 9.87565795e-01 1.18738003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.766296757 meters Centerline goodness : 0.818912 with order 3 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.86, Z:1.19 [[ 9.46814371e-01 2.84807508e-01 -1.49757238e-01 1.23048812e+01] [-2.81300004e-01 9.58584727e-01 4.45603916e-02 -1.86326487e+00] [ 1.56246136e-01 -6.37073532e-05 9.87718149e-01 1.18890825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.826296757 meters Centerline goodness : 0.823799 with order 3 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.86, Z:1.19 [[ 9.45983266e-01 2.88514678e-01 -1.47901792e-01 1.23029533e+01] [-2.84745669e-01 9.57473600e-01 4.65210702e-02 -1.85862158e+00] [ 1.55034073e-01 -1.89375927e-03 9.87907308e-01 1.19042249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.886296757 meters Centerline goodness : 0.848789 with order 3 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.86, Z:1.19 [[ 9.46039224e-01 2.88986705e-01 -1.46616750e-01 1.23007749e+01] [-2.85220060e-01 9.57330515e-01 4.65596633e-02 -1.85534066e+00] [ 1.53815812e-01 -2.22922949e-03 9.88097023e-01 1.19143934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.946296757 meters Centerline goodness : 0.843117 with order 3 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.85, Z:1.19 [[ 9.46779533e-01 2.86440897e-01 -1.46833677e-01 1.23017757e+01] [-2.83022293e-01 9.58097889e-01 4.41227434e-02 -1.85232943e+00] [ 1.53319594e-01 -2.17306437e-04 9.88176631e-01 1.19049425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.006296757 meters Centerline goodness : 0.822688 with order 3 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.85, Z:1.19 [[ 9.47760616e-01 2.83506054e-01 -1.46198948e-01 1.22995874e+01] [-2.80462660e-01 9.58968930e-01 4.14642812e-02 -1.84755158e+00] [ 1.51955624e-01 1.70513326e-03 9.88385846e-01 1.19158841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.066296757 meters Centerline goodness : 0.827865 with order 3 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.84, Z:1.19 [[ 9.48468021e-01 2.80960356e-01 -1.46525393e-01 1.23004885e+01] [-2.78436017e-01 9.59707071e-01 3.78909197e-02 -1.84153664e+00] [ 1.51267302e-01 4.85962127e-03 9.88480949e-01 1.19158539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.126296757 meters Centerline goodness : 0.825132 with order 3 Centerline is valid? [False, False] Translation: X:12.30, Y:-1.84, Z:1.19 [[ 9.47817278e-01 2.83136824e-01 -1.46546736e-01 1.23025559e+01] [-2.80652718e-01 9.59064862e-01 3.77973854e-02 -1.83678926e+00] [ 1.51249657e-01 5.30372488e-03 9.88481366e-01 1.19173411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.186296757 meters Centerline goodness : 0.822467 with order 3 Centerline is valid? [False, False] Translation: X:12.31, Y:-1.83, Z:1.19 [[ 9.46177695e-01 2.87941350e-01 -1.47775328e-01 1.23067809e+01] [-2.85539846e-01 9.57625707e-01 3.76829140e-02 -1.83254047e+00] [ 1.52363922e-01 6.54101182e-03 9.88302813e-01 1.19288031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.246296757 meters Centerline goodness : 0.823719 with order 3 Centerline is valid? [False, False] Translation: X:12.31, Y:-1.83, Z:1.19 [[ 9.43365296e-01 2.97330129e-01 -1.47162198e-01 1.23118220e+01] [-2.94247570e-01 9.54770261e-01 4.28032372e-02 -1.82881002e+00] [ 1.53232782e-01 2.92303061e-03 9.88185797e-01 1.19195307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.306296757 meters Centerline goodness : 0.807900 with order 1 Centerline is valid? [False, False] Translation: X:12.32, Y:-1.82, Z:1.19 [[ 9.39666821e-01 3.02528902e-01 -1.59695113e-01 1.23157091e+01] [-2.99246802e-01 9.53123245e-01 4.48043635e-02 -1.82200785e+00] [ 1.65763739e-01 5.68707787e-03 9.86149096e-01 1.19372579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.36629675700001 meters Centerline goodness : 0.825347 with order 3 Centerline is valid? [False, False] Translation: X:12.33, Y:-1.82, Z:1.19 [[ 9.37113688e-01 3.07314330e-01 -1.65456451e-01 1.23273179e+01] [-3.04620022e-01 9.51544681e-01 4.20637834e-02 -1.82121161e+00] [ 1.70366010e-01 1.09828006e-02 9.85319644e-01 1.19226179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.42629675700002 meters Centerline goodness : 0.806204 with order 1 Centerline is valid? [False, False] Translation: X:12.33, Y:-1.82, Z:1.19 [[ 9.37298143e-01 3.06726757e-01 -1.65501928e-01 1.23297588e+01] [-3.03926856e-01 9.51741354e-01 4.26246518e-02 -1.82165824e+00] [ 1.70589150e-01 1.03484735e-02 9.85287903e-01 1.18983595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.486296757 meters Centerline goodness : 0.817338 with order 3 Centerline is valid? [False, False] Translation: X:12.33, Y:-1.82, Z:1.19 [[ 0.93954436 0.29842402 -0.16792707 12.33115938] [-0.29659606 0.95430673 0.03646163 -1.82436868] [ 0.17113495 0.01554919 0.98512489 1.18832374] [ 0. 0. 0. 1. ]] SLAMing on 185.546296757 meters Centerline goodness : 0.823583 with order 3 Centerline is valid? [False, False] Translation: X:12.33, Y:-1.83, Z:1.19 [[ 0.94149487 0.291563 -0.16905157 12.3326873 ] [-0.29021647 0.9563856 0.03318121 -1.82699917] [ 0.1713529 0.01782161 0.98504851 1.1853419 ] [ 0. 0. 0. 1. ]] SLAMing on 185.606296757 meters Centerline goodness : 0.802473 with order 1 Centerline is valid? [False, False] Translation: X:12.33, Y:-1.83, Z:1.18 [[ 0.9441905 0.28313201 -0.16834654 12.33166065] [-0.28191615 0.95891885 0.03158997 -1.83244457] [ 0.17037481 0.01763266 0.98522156 1.1802393 ] [ 0. 0. 0. 1. ]] SLAMing on 185.666296757 meters Centerline goodness : 0.803827 with order 2 Centerline is valid? [False, False] Translation: X:12.33, Y:-1.84, Z:1.18 [[ 0.94713506 0.27915673 -0.1581351 12.33286607] [-0.27825752 0.96009079 0.02825655 -1.84464798] [ 0.15971206 0.01723951 0.9870131 1.17673549] [ 0. 0. 0. 1. ]] SLAMing on 185.726296757 meters Centerline goodness : 0.814623 with order 3 Centerline is valid? [False, False] Translation: X:12.34, Y:-1.85, Z:1.17 [[ 0.94770456 0.28033257 -0.15254412 12.3391479 ] [-0.28034661 0.95964979 0.02186468 -1.85404498] [ 0.15251831 0.02204397 0.98805477 1.16998293] [ 0. 0. 0. 1. ]] SLAMing on 185.786296757 meters Centerline goodness : 0.809736 with order 2 Centerline is valid? [False, False] Translation: X:12.35, Y:-1.86, Z:1.17 [[ 0.94601322 0.28432876 -0.15561538 12.34578606] [-0.28431074 0.95845982 0.02285105 -1.85892859] [ 0.1556483 0.02262573 0.98755338 1.1695535 ] [ 0. 0. 0. 1. ]] SLAMing on 185.846296757 meters Centerline goodness : 0.807033 with order 2 Centerline is valid? [False, False] Translation: X:12.36, Y:-1.87, Z:1.17 [[ 0.94235606 0.29177833 -0.16380009 12.35874596] [-0.29236225 0.95607531 0.02107886 -1.86508412] [ 0.16275557 0.02802517 0.98626833 1.17096485] [ 0. 0. 0. 1. ]] SLAMing on 185.906296757 meters Centerline goodness : 0.805157 with order 1 Centerline is valid? [False, False] Translation: X:12.37, Y:-1.87, Z:1.17 [[ 0.93917006 0.30018591 -0.16687724 12.36591957] [-0.30046085 0.95348693 0.02420647 -1.87071049] [ 0.16638171 0.02740609 0.98568049 1.17191408] [ 0. 0. 0. 1. ]] SLAMing on 185.966296757 meters Centerline goodness : 0.804184 with order 3 Centerline is valid? [False, False] Translation: X:12.37, Y:-1.88, Z:1.17 [[ 0.9375728 0.30321169 -0.17035232 12.37175422] [-0.30360893 0.95248536 0.02435671 -1.87566618] [ 0.16964333 0.0288843 0.98508215 1.17291233] [ 0. 0. 0. 1. ]] SLAMing on 186.026296757 meters Centerline goodness : 0.804909 with order 2 Centerline is valid? [False, False] Translation: X:12.37, Y:-1.88, Z:1.17 [[ 0.93826343 0.29962601 -0.17287568 12.3727743 ] [-0.30054979 0.95352517 0.02143775 -1.881499 ] [ 0.17126462 0.03184349 0.98471032 1.17355467] [ 0. 0. 0. 1. ]] SLAMing on 186.086296757 meters Centerline goodness : 0.807538 with order 3 Centerline is valid? [False, False] Translation: X:12.37, Y:-1.89, Z:1.17 [[ 0.94000117 0.29320238 -0.17444243 12.37466988] [-0.29437273 0.95548717 0.01972224 -1.88862173] [ 0.17246011 0.03281217 0.98446984 1.17068133] [ 0. 0. 0. 1. ]] SLAMing on 186.14629675700002 meters Centerline goodness : 0.805358 with order 3 Centerline is valid? [False, False] Translation: X:12.38, Y:-1.90, Z:1.17 [[ 0.94238963 0.29122672 -0.16458671 12.37861583] [-0.29234709 0.95614431 0.0179231 -1.89922938] [ 0.16258834 0.0312259 0.98619976 1.16613928] [ 0. 0. 0. 1. ]] SLAMing on 186.20629675700002 meters Centerline goodness : 0.803560 with order 3 Centerline is valid? [False, False] Translation: X:12.38, Y:-1.90, Z:1.17 [[ 0.94335677 0.2866419 -0.16707611 12.38035034] [-0.28842576 0.95739961 0.01402026 -1.90229417] [ 0.1639774 0.03496295 0.98584431 1.16656603] [ 0. 0. 0. 1. ]] SLAMing on 186.266296757 meters Centerline goodness : 0.801847 with order 3 Centerline is valid? [False, False] Translation: X:12.38, Y:-1.90, Z:1.17 [[ 0.94295936 0.28757806 -0.16770962 12.37958115] [-0.28958748 0.95706477 0.01288893 -1.90168723] [ 0.16421554 0.03641287 0.98575218 1.16900183] [ 0. 0. 0. 1. ]] SLAMing on 186.326296757 meters Centerline goodness : 0.803697 with order 2 Centerline is valid? [False, False] Translation: X:12.38, Y:-1.90, Z:1.17 [[ 0.94118606 0.29366825 -0.16711598 12.37910594] [-0.29532295 0.95527279 0.01543506 -1.89928818] [ 0.16417414 0.03482592 0.98581642 1.1717851 ] [ 0. 0. 0. 1. ]] SLAMing on 186.386296757 meters Centerline goodness : 0.804254 with order 2 Centerline is valid? [False, False] Translation: X:12.38, Y:-1.90, Z:1.17 [[ 0.93806155 0.30326821 -0.16753785 12.38216622] [-0.30442352 0.95233968 0.01937683 -1.89790469] [ 0.16542932 0.0328258 0.9856752 1.17441557] [ 0. 0. 0. 1. ]] SLAMing on 186.446296757 meters Centerline goodness : 0.803828 with order 2 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.90, Z:1.18 [[ 0.93487475 0.31321058 -0.16705785 12.38614674] [-0.31337592 0.94927134 0.0260664 -1.89787397] [ 0.1667475 0.02798309 0.98560246 1.17511578] [ 0. 0. 0. 1. ]] SLAMing on 186.506296757 meters Centerline goodness : 0.803911 with order 2 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.90, Z:1.18 [[ 0.9330991 0.31735009 -0.16915968 12.39162457] [-0.31738495 0.94789601 0.0275673 -1.89977244] [ 0.16909427 0.02796571 0.98520305 1.17543359] [ 0. 0. 0. 1. ]] SLAMing on 186.566296757 meters Centerline goodness : 0.826093 with order 3 Centerline is valid? [False, False] Translation: X:12.40, Y:-1.90, Z:1.17 [[ 0.93393476 0.31334529 -0.17199008 12.39585386] [-0.31408458 0.94910121 0.02361701 -1.89993522] [ 0.17063627 0.03196268 0.98481554 1.17465852] [ 0. 0. 0. 1. ]] SLAMing on 186.626296757 meters Centerline goodness : 0.813747 with order 2 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.90, Z:1.17 [[ 0.93656501 0.30574394 -0.17136691 12.392028 ] [-0.30695262 0.95151328 0.02006415 -1.89938274] [ 0.16919238 0.03381014 0.98500295 1.17459939] [ 0. 0. 0. 1. ]] SLAMing on 186.686296757 meters Centerline goodness : 0.806087 with order 2 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.90, Z:1.17 [[ 0.93931619 0.29552136 -0.17421888 12.39371629] [-0.29794082 0.95449972 0.01271054 -1.90134742] [ 0.17004811 0.0399677 0.98462492 1.17327124] [ 0. 0. 0. 1. ]] SLAMing on 186.746296757 meters Centerline goodness : 0.797955 with order 3 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.90, Z:1.17 [[ 9.41070472e-01 2.89970487e-01 -1.74078955e-01 1.23917722e+01] [-2.92758199e-01 9.56133989e-01 1.00215589e-02 -1.90291380e+00] [ 1.69348762e-01 4.15320481e-02 9.84680702e-01 1.17243398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.806296757 meters Centerline goodness : 0.797180 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.90, Z:1.17 [[ 9.41246069e-01 2.89688757e-01 -1.73597987e-01 1.23901318e+01] [-2.92496487e-01 9.56216802e-01 9.75868579e-03 -1.90239556e+00] [ 1.68824294e-01 4.15914769e-02 9.84768250e-01 1.17366429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.86629675700001 meters Centerline goodness : 0.801451 with order 3 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.90, Z:1.18 [[ 0.93949335 0.29545603 -0.17337239 12.39088804] [-0.29789394 0.95451851 0.01239457 -1.90098086] [ 0.1691492 0.04000197 0.98477835 1.17575041] [ 0. 0. 0. 1. ]] SLAMing on 186.92629675700002 meters Centerline goodness : 0.804115 with order 3 Centerline is valid? [False, False] Translation: X:12.40, Y:-1.90, Z:1.18 [[ 0.93659572 0.30282678 -0.17630769 12.39931481] [-0.30514662 0.95219543 0.01447046 -1.9003769 ] [ 0.17226142 0.04024673 0.98422874 1.17572511] [ 0. 0. 0. 1. ]] SLAMing on 186.986296757 meters Centerline goodness : 0.802399 with order 3 Centerline is valid? [False, False] Translation: X:12.40, Y:-1.90, Z:1.18 [[ 0.93384654 0.31197112 -0.17494187 12.40205059] [-0.31303388 0.94948224 0.02220982 -1.90180292] [ 0.17303302 0.03402217 0.98432823 1.17523712] [ 0. 0. 0. 1. ]] SLAMing on 187.046296757 meters Centerline goodness : 0.792536 with order 1 Centerline is valid? [False, False] Translation: X:12.41, Y:-1.90, Z:1.17 [[ 0.93408633 0.31027725 -0.17666566 12.40582196] [-0.3115082 0.95000149 0.02144336 -1.90431117] [ 0.17448603 0.03500285 0.98403731 1.17393684] [ 0. 0. 0. 1. ]] SLAMing on 187.106296757 meters Centerline goodness : 0.806823 with order 3 Centerline is valid? [False, False] Translation: X:12.41, Y:-1.91, Z:1.17 [[ 0.93630232 0.30325272 -0.17713201 12.40554702] [-0.30490323 0.95220366 0.01849889 -1.90732521] [ 0.17427559 0.03668757 0.98401323 1.17176469] [ 0. 0. 0. 1. ]] SLAMing on 187.166296757 meters Centerline goodness : 0.790648 with order 1 Centerline is valid? [False, False] Translation: X:12.40, Y:-1.91, Z:1.17 [[ 0.93798036 0.29775516 -0.17758017 12.40479871] [-0.29957181 0.95391995 0.01713093 -1.91267588] [ 0.17449809 0.03712954 0.98395722 1.17431404] [ 0. 0. 0. 1. ]] SLAMing on 187.226296757 meters Centerline goodness : 0.795474 with order 3 Centerline is valid? [False, False] Translation: X:12.40, Y:-1.92, Z:1.18 [[ 0.9393389 0.29385259 -0.17689853 12.40058507] [-0.29576093 0.95512644 0.01609192 -1.91835981] [ 0.17368911 0.0372039 0.98409754 1.17692257] [ 0. 0. 0. 1. ]] SLAMing on 187.286296757 meters Centerline goodness : 0.793019 with order 3 Centerline is valid? [False, False] Translation: X:12.40, Y:-1.92, Z:1.18 [[ 0.93927506 0.29469484 -0.17583317 12.39796031] [-0.29620883 0.95495009 0.01818372 -1.9229706 ] [ 0.17327055 0.03500383 0.98425202 1.17843288] [ 0. 0. 0. 1. ]] SLAMing on 187.346296757 meters Centerline goodness : 0.790869 with order 3 Centerline is valid? [False, False] Translation: X:12.40, Y:-1.92, Z:1.18 [[ 0.93790749 0.30009753 -0.17398566 12.39675148] [-0.30087471 0.95339755 0.02252836 -1.92386409] [ 0.17263821 0.03121837 0.98449046 1.17836995] [ 0. 0. 0. 1. ]] SLAMing on 187.406296757 meters Centerline goodness : 0.789453 with order 3 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.92, Z:1.18 [[ 0.93606552 0.30687416 -0.17207437 12.39480129] [-0.3069729 0.9513434 0.0267091 -1.92216572] [ 0.17189814 0.0278207 0.98472181 1.17841505] [ 0. 0. 0. 1. ]] SLAMing on 187.466296757 meters Centerline goodness : 0.786011 with order 3 Centerline is valid? [False, False] Translation: X:12.40, Y:-1.92, Z:1.18 [[ 0.93477532 0.31135123 -0.17104242 12.39545229] [-0.31080333 0.94997927 0.03067034 -1.92268325] [ 0.172036 0.02449068 0.98478618 1.17843463] [ 0. 0. 0. 1. ]] SLAMing on 187.526296757 meters Centerline goodness : 0.784262 with order 1 Centerline is valid? [False, False] Translation: X:12.40, Y:-1.92, Z:1.18 [[ 0.93197461 0.32053324 -0.16935694 12.39815787] [-0.31895819 0.94703925 0.03717961 -1.92121369] [ 0.17230497 0.01936733 0.98485324 1.17635508] [ 0. 0. 0. 1. ]] SLAMing on 187.586296757 meters Centerline goodness : 0.783560 with order 1 Centerline is valid? [False, False] Translation: X:12.40, Y:-1.92, Z:1.18 [[ 0.93028546 0.32607752 -0.16805481 12.39904304] [-0.32391294 0.94520138 0.04092371 -1.91991801] [ 0.17218994 0.01636439 0.98492783 1.17520773] [ 0. 0. 0. 1. ]] SLAMing on 187.64629675700002 meters Centerline goodness : 0.783164 with order 1 Centerline is valid? [False, False] Translation: X:12.40, Y:-1.92, Z:1.17 [[ 0.93027085 0.32624315 -0.16781405 12.39914267] [-0.32402477 0.94515002 0.04122376 -1.92110485] [ 0.17205842 0.01602665 0.98495637 1.17474796] [ 0. 0. 0. 1. ]] SLAMing on 187.70629675700002 meters Centerline goodness : 0.782263 with order 1 Centerline is valid? [False, False] Translation: X:12.40, Y:-1.92, Z:1.17 [[ 0.93162937 0.32177308 -0.16890472 12.40006686] [-0.31992841 0.94664752 0.03878509 -1.92457765] [ 0.17237323 0.01790409 0.98486898 1.17490495] [ 0. 0. 0. 1. ]] SLAMing on 187.766296757 meters Centerline goodness : 0.780227 with order 3 Centerline is valid? [False, False] Translation: X:12.40, Y:-1.93, Z:1.18 [[ 0.93288385 0.3178801 -0.16935161 12.39810416] [-0.31632716 0.94793582 0.03680766 -1.92860624] [ 0.17223488 0.01923324 0.98486813 1.17604916] [ 0. 0. 0. 1. ]] SLAMing on 187.826296757 meters Centerline goodness : 0.781318 with order 1 Centerline is valid? [False, False] Translation: X:12.40, Y:-1.93, Z:1.18 [[ 0.93396162 0.3143094 -0.17007436 12.39673295] [-0.31314521 0.94908419 0.03434067 -1.93140165] [ 0.17220848 0.02118511 0.98483269 1.17655397] [ 0. 0. 0. 1. ]] SLAMing on 187.886296757 meters Centerline goodness : 0.782189 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.93, Z:1.18 [[ 0.93364188 0.31567837 -0.16929266 12.39455561] [-0.31428279 0.94865803 0.03569699 -1.93442678] [ 0.17186961 0.01987756 0.98491914 1.17689402] [ 0. 0. 0. 1. ]] SLAMing on 187.946296757 meters Centerline goodness : 0.780828 with order 3 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.94, Z:1.18 [[ 0.93222453 0.3204771 -0.16808289 12.39495127] [-0.31835126 0.94712042 0.0401918 -1.9374229 ] [ 0.17207529 0.01604162 0.98495318 1.17634329] [ 0. 0. 0. 1. ]] SLAMing on 188.006296757 meters Centerline goodness : 0.773942 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.94, Z:1.18 [[ 0.93165288 0.32219599 -0.16796621 12.39473827] [-0.31996725 0.94654421 0.04092694 -1.9381769 ] [ 0.17217394 0.01561399 0.98494281 1.1756743 ] [ 0. 0. 0. 1. ]] SLAMing on 188.066296757 meters Centerline goodness : 0.774459 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.94, Z:1.18 [[ 0.93121311 0.32343049 -0.16803232 12.3944346 ] [-0.32112436 0.94612783 0.0414883 -1.93925749] [ 0.17239863 0.01532482 0.98490805 1.17542504] [ 0. 0. 0. 1. ]] SLAMing on 188.126296757 meters Centerline goodness : 0.775506 with order 1 Centerline is valid? [False, False] Translation: X:12.40, Y:-1.94, Z:1.18 [[ 0.93117192 0.32321578 -0.16867252 12.39546181] [-0.32080028 0.94620857 0.04214868 -1.94228422] [ 0.1732225 0.01486253 0.98477057 1.17575421] [ 0. 0. 0. 1. ]] SLAMing on 188.186296757 meters Centerline goodness : 0.774305 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.95, Z:1.18 [[ 0.93242376 0.31905557 -0.16967461 12.39378846] [-0.31701131 0.94758842 0.03974955 -1.94537639] [ 0.17346401 0.01672535 0.98469818 1.17766211] [ 0. 0. 0. 1. ]] SLAMing on 188.246296757 meters Centerline goodness : 0.774478 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.95, Z:1.18 [[ 0.93384063 0.31433087 -0.17069789 12.39275139] [-0.31263045 0.9491356 0.03746739 -1.94960653] [ 0.17379261 0.01837678 0.9846108 1.17931565] [ 0. 0. 0. 1. ]] SLAMing on 188.306296757 meters Centerline goodness : 0.772737 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.95, Z:1.18 [[ 0.93623505 0.30599747 -0.17271216 12.39143226] [-0.30531243 0.95174142 0.03118635 -1.95367628] [ 0.17392026 0.02353342 0.9844785 1.17962135] [ 0. 0. 0. 1. ]] SLAMing on 188.36629675700001 meters Centerline goodness : 0.774343 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.96, Z:1.18 [[ 0.93740171 0.30188368 -0.1736211 12.39076906] [-0.30162852 0.95299952 0.02849831 -1.95794487] [ 0.174064 0.02565472 0.9844001 1.17939514] [ 0. 0. 0. 1. ]] SLAMing on 188.42629675700002 meters Centerline goodness : 0.773561 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.96, Z:1.18 [[ 0.93716631 0.30253442 -0.17375909 12.3912968 ] [-0.30219958 0.95280252 0.02903041 -1.95933056] [ 0.17434079 0.0253036 0.98436021 1.17882129] [ 0. 0. 0. 1. ]] SLAMing on 188.486296757 meters Centerline goodness : 0.770735 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.96, Z:1.18 [[ 0.93568999 0.30761956 -0.17278439 12.3914783 ] [-0.30653869 0.95126557 0.03358351 -1.96148115] [ 0.17469479 0.02154134 0.98438697 1.17904417] [ 0. 0. 0. 1. ]] SLAMing on 188.546296757 meters Centerline goodness : 0.773350 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.96, Z:1.18 [[ 0.93519659 0.30913343 -0.17275375 12.39070152] [-0.30796172 0.95078265 0.03423344 -1.96181599] [ 0.17483397 0.02118654 0.98436996 1.17926998] [ 0. 0. 0. 1. ]] SLAMing on 188.606296757 meters Centerline goodness : 0.774132 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.96, Z:1.18 [[ 0.93513735 0.30934672 -0.17269263 12.39019247] [-0.3080323 0.95073007 0.0350491 -1.96436248] [ 0.1750264 0.02041918 0.98435198 1.17980691] [ 0. 0. 0. 1. ]] SLAMing on 188.666296757 meters Centerline goodness : 0.780549 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.96, Z:1.18 [[ 0.93637881 0.30496956 -0.1737478 12.39004406] [-0.30421316 0.95207861 0.03163339 -1.96487778] [ 0.17506879 0.02323553 0.98428199 1.18000546] [ 0. 0. 0. 1. ]] SLAMing on 188.726296757 meters Centerline goodness : 0.776869 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.97, Z:1.18 [[ 0.93769418 0.30038385 -0.17464012 12.38928296] [-0.30016501 0.95346725 0.02830497 -1.96558129] [ 0.17501599 0.02587945 0.98422541 1.1809659 ] [ 0. 0. 0. 1. ]] SLAMing on 188.786296757 meters Centerline goodness : 0.781486 with order 1 Centerline is valid? [False, False] Translation: X:12.38, Y:-1.96, Z:1.18 [[ 0.94124631 0.29430009 -0.16565879 12.37642271] [-0.29369945 0.95546755 0.02867741 -1.96133513] [ 0.16672136 0.02166139 0.98576608 1.18047315] [ 0. 0. 0. 1. ]] SLAMing on 188.846296757 meters Centerline goodness : 0.781849 with order 1 Centerline is valid? [False, False] Translation: X:12.38, Y:-1.96, Z:1.18 [[ 0.94142636 0.29359235 -0.16589134 12.37716929] [-0.29302158 0.95568191 0.02846839 -1.95984152] [ 0.16689746 0.02180885 0.98573303 1.18143696] [ 0. 0. 0. 1. ]] SLAMing on 188.906296757 meters Centerline goodness : 0.780389 with order 1 Centerline is valid? [False, False] Translation: X:12.38, Y:-1.96, Z:1.18 [[ 0.94151089 0.29291451 -0.16660831 12.37947643] [-0.29251552 0.95586551 0.02749164 -1.95736068] [ 0.16730783 0.02285184 0.98563983 1.18085409] [ 0. 0. 0. 1. ]] SLAMing on 188.966296757 meters Centerline goodness : 0.780670 with order 1 Centerline is valid? [False, False] Translation: X:12.38, Y:-1.95, Z:1.18 [[ 0.94149844 0.29241938 -0.1675458 12.38274662] [-0.29226115 0.95598055 0.02616493 -1.95347978] [ 0.16782166 0.02433289 0.98551702 1.17938527] [ 0. 0. 0. 1. ]] SLAMing on 189.026296757 meters Centerline goodness : 0.778113 with order 1 Centerline is valid? [False, False] Translation: X:12.38, Y:-1.95, Z:1.18 [[ 0.94045458 0.29602855 -0.16706968 12.38489661] [-0.29540636 0.95492701 0.02914592 -1.95145205] [ 0.16816738 0.02194303 0.9855142 1.17909638] [ 0. 0. 0. 1. ]] SLAMing on 189.086296757 meters Centerline goodness : 0.781017 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.95, Z:1.18 [[ 0.93940525 0.29942528 -0.16691997 12.38782243] [-0.29829235 0.95392381 0.03241979 -1.95084576] [ 0.16893624 0.01933563 0.9854373 1.17883063] [ 0. 0. 0. 1. ]] SLAMing on 189.14629675700002 meters Centerline goodness : 0.780834 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.95, Z:1.18 [[ 0.93952409 0.29844107 -0.16801015 12.39133212] [-0.29742488 0.95421614 0.03178051 -1.95076619] [ 0.16980261 0.02011184 0.98527285 1.17749246] [ 0. 0. 0. 1. ]] SLAMing on 189.20629675700002 meters Centerline goodness : 0.780758 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.95, Z:1.18 [[ 0.94068784 0.29418888 -0.16899494 12.39055228] [-0.29373085 0.95546968 0.02828202 -1.9507528 ] [ 0.1697898 0.02303448 0.98521106 1.17826522] [ 0. 0. 0. 1. ]] SLAMing on 189.266296757 meters Centerline goodness : 0.786549 with order 2 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.95, Z:1.18 [[ 0.94168671 0.29071122 -0.1694495 12.38829144] [-0.29071401 0.95647402 0.02535396 -1.95056693] [ 0.16944472 0.02538586 0.98521269 1.17965799] [ 0. 0. 0. 1. ]] SLAMing on 189.326296757 meters Centerline goodness : 0.783498 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.95, Z:1.18 [[ 0.94147883 0.29184171 -0.16865948 12.38553909] [-0.29168492 0.9561537 0.02626802 -1.94996335] [ 0.16893049 0.02446465 0.9853243 1.18158937] [ 0. 0. 0. 1. ]] SLAMing on 189.386296757 meters Centerline goodness : 0.783068 with order 1 Centerline is valid? [False, False] Translation: X:12.38, Y:-1.95, Z:1.18 [[ 0.94133445 0.29241964 -0.16846428 12.3845845 ] [-0.29223093 0.95598117 0.02647815 -1.94914888] [ 0.16879141 0.02430567 0.98535207 1.18238331] [ 0. 0. 0. 1. ]] SLAMing on 189.446296757 meters Centerline goodness : 0.784450 with order 2 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.95, Z:1.18 [[ 0.94130892 0.29239793 -0.16864449 12.38532764] [-0.29229558 0.95597456 0.0259988 -1.94724491] [ 0.16882184 0.02482114 0.985334 1.1822138 ] [ 0. 0. 0. 1. ]] SLAMing on 189.506296757 meters Centerline goodness : 0.789262 with order 3 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.94, Z:1.18 [[ 0.94133949 0.29226876 -0.16869778 12.38570924] [-0.29225654 0.95600076 0.02546884 -1.94421175] [ 0.16871895 0.02532821 0.98533872 1.18256377] [ 0. 0. 0. 1. ]] SLAMing on 189.566296757 meters Centerline goodness : 0.785480 with order 3 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.94, Z:1.18 [[ 0.94128714 0.29223087 -0.16905517 12.38672555] [-0.29231482 0.95599638 0.02495912 -1.94215369] [ 0.16890995 0.02592364 0.98529051 1.18242963] [ 0. 0. 0. 1. ]] SLAMing on 189.626296757 meters Centerline goodness : 0.776760 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.94, Z:1.18 [[ 0.94030168 0.29546871 -0.16891119 12.39007823] [-0.29507003 0.95506403 0.02804246 -1.94144727] [ 0.16960667 0.02347226 0.98523227 1.18164871] [ 0. 0. 0. 1. ]] SLAMing on 189.686296757 meters Centerline goodness : 0.767801 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.94, Z:1.18 [[ 0.9403947 0.29474748 -0.16965177 12.39237117] [-0.29443654 0.95527318 0.02757298 -1.94060268] [ 0.17019085 0.0240222 0.98511827 1.18129044] [ 0. 0. 0. 1. ]] SLAMing on 189.746296757 meters Centerline goodness : 0.768219 with order 2 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.94, Z:1.18 [[ 0.94060032 0.29397564 -0.16985102 12.39295559] [-0.29361796 0.9555185 0.02780094 -1.94194421] [ 0.17046859 0.02372173 0.98507753 1.18188111] [ 0. 0. 0. 1. ]] SLAMing on 189.806296757 meters Centerline goodness : 0.770582 with order 2 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.94, Z:1.18 [[ 0.94073156 0.29371974 -0.16956662 12.39244566] [-0.29323453 0.95561639 0.02847507 -1.94451407] [ 0.17040433 0.0229354 0.98510727 1.18222544] [ 0. 0. 0. 1. ]] SLAMing on 189.86629675700001 meters Centerline goodness : 0.778838 with order 3 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.95, Z:1.18 [[ 0.9406546 0.29466593 -0.16834762 12.38901392] [-0.29385183 0.95537041 0.03030652 -1.94873272] [ 0.16976463 0.02096129 0.98526169 1.18387028] [ 0. 0. 0. 1. ]] SLAMing on 189.92629675700002 meters Centerline goodness : 0.773084 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.95, Z:1.18 [[ 0.94042279 0.29605967 -0.16719342 12.38599216] [-0.29502208 0.95496801 0.0315923 -1.95137573] [ 0.16901757 0.01961563 0.98541782 1.18438975] [ 0. 0. 0. 1. ]] SLAMing on 189.986296757 meters Centerline goodness : 0.773508 with order 1 Centerline is valid? [False, False] Translation: X:12.38, Y:-1.95, Z:1.18 [[ 0.94005192 0.29787924 -0.16604318 12.38327132] [-0.29668289 0.95442112 0.03255127 -1.95179665] [ 0.16817147 0.01866229 0.98558109 1.18459329] [ 0. 0. 0. 1. ]] SLAMing on 190.046296757 meters Centerline goodness : 0.775441 with order 1 Centerline is valid? [False, False] Translation: X:12.38, Y:-1.95, Z:1.18 [[ 0.93985547 0.29883893 -0.16542973 12.38212854] [-0.29758803 0.95412772 0.03288874 -1.95172274] [ 0.16766952 0.01831925 0.98567304 1.18422668] [ 0. 0. 0. 1. ]] SLAMing on 190.106296757 meters Centerline goodness : 0.779472 with order 1 Centerline is valid? [False, False] Translation: X:12.38, Y:-1.95, Z:1.18 [[ 0.94112066 0.29399899 -0.16690268 12.3836299 ] [-0.29338252 0.95555798 0.02890741 -1.95243224] [ 0.16798393 0.02176097 0.98554952 1.18318981] [ 0. 0. 0. 1. ]] SLAMing on 190.166296757 meters Centerline goodness : 0.778219 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.96, Z:1.18 [[ 0.94293006 0.28700769 -0.16884755 12.38668406] [-0.28702825 0.95760047 0.02482199 -1.95602232] [ 0.1688126 0.02505862 0.98532958 1.18271479] [ 0. 0. 0. 1. ]] SLAMing on 190.226296757 meters Centerline goodness : 0.776987 with order 1 Centerline is valid? [False, False] Translation: X:12.38, Y:-1.96, Z:1.18 [[ 0.94706844 0.27741605 -0.16156023 12.38478969] [-0.2767113 0.96056505 0.02730641 -1.95902635] [ 0.16276434 0.0188445 0.986485 1.18089328] [ 0. 0. 0. 1. ]] SLAMing on 190.286296757 meters Centerline goodness : 0.788537 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.96, Z:1.18 [[ 0.9484598 0.27145133 -0.16351818 12.38860944] [-0.27132768 0.96219947 0.02352599 -1.96085195] [ 0.16372326 0.02205355 0.98625977 1.18016316] [ 0. 0. 0. 1. ]] SLAMing on 190.346296757 meters Centerline goodness : 0.779429 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.96, Z:1.18 [[ 0.94865759 0.27064644 -0.16370486 12.38957132] [-0.27037772 0.96244626 0.02435344 -1.96451452] [ 0.16414831 0.02115907 0.98620871 1.18071155] [ 0. 0. 0. 1. ]] SLAMing on 190.406296757 meters Centerline goodness : 0.777666 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.96, Z:1.18 [[ 0.94861559 0.27077495 -0.16373571 12.39035583] [-0.27049873 0.96241073 0.02441372 -1.9638928 ] [ 0.16419163 0.02113107 0.9862021 1.18044059] [ 0. 0. 0. 1. ]] SLAMing on 190.466296757 meters Centerline goodness : 0.774572 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.96, Z:1.18 [[ 0.94846062 0.27130507 -0.16375594 12.3909494 ] [-0.27103942 0.96225896 0.0243992 -1.96411028] [ 0.16419525 0.02124263 0.9861991 1.17942482] [ 0. 0. 0. 1. ]] SLAMing on 190.526296757 meters Centerline goodness : 0.774454 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.97, Z:1.18 [[ 0.94830326 0.27192401 -0.16364066 12.39118638] [-0.27164817 0.96208474 0.02449936 -1.96501744] [ 0.16409814 0.02121986 0.98621576 1.17824498] [ 0. 0. 0. 1. ]] SLAMing on 190.586296757 meters Centerline goodness : 0.774419 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.97, Z:1.18 [[ 0.94824282 0.27219332 -0.16354315 12.39128515] [-0.27183231 0.96201928 0.02502204 -1.9662427 ] [ 0.16414249 0.02072935 0.98621881 1.17818364] [ 0. 0. 0. 1. ]] SLAMing on 190.64629675700002 meters Centerline goodness : 0.773836 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.97, Z:1.18 [[ 0.94842601 0.2717304 -0.16325038 12.39061237] [-0.27111423 0.96218293 0.02647814 -1.97079913] [ 0.16427165 0.01914695 0.98622929 1.17983663] [ 0. 0. 0. 1. ]] SLAMing on 190.70629675700002 meters Centerline goodness : 0.778884 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.97, Z:1.18 [[ 0.94958138 0.26723067 -0.16396028 12.39042368] [-0.26694315 0.96340836 0.0242011 -1.97322899] [ 0.16442798 0.02078715 0.98617003 1.18158826] [ 0. 0. 0. 1. ]] SLAMing on 190.766296757 meters Centerline goodness : 0.778346 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.97, Z:1.18 [[ 0.94973099 0.26661446 -0.16409687 12.39100199] [-0.26624276 0.96359028 0.02466896 -1.97472863] [ 0.16469925 0.02026073 0.98613572 1.18240518] [ 0. 0. 0. 1. ]] SLAMing on 190.826296757 meters Centerline goodness : 0.776162 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.97, Z:1.18 [[ 0.95068702 0.26277492 -0.16475293 12.3899564 ] [-0.26292573 0.96458114 0.02129041 -1.97402414] [ 0.16451215 0.02307726 0.98610506 1.18350061] [ 0. 0. 0. 1. ]] SLAMing on 190.886296757 meters Centerline goodness : 0.775688 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.97, Z:1.18 [[ 0.95068415 0.26273825 -0.16482799 12.39103262] [-0.26293222 0.96458488 0.02103918 -1.97144044] [ 0.16451839 0.02333698 0.98609791 1.18366005] [ 0. 0. 0. 1. ]] SLAMing on 190.946296757 meters Centerline goodness : 0.773518 with order 1 Centerline is valid? [False, False] Translation: X:12.40, Y:-1.97, Z:1.18 [[ 0.94972565 0.26594137 -0.16521613 12.39589887] [-0.26569448 0.96375832 0.02400706 -1.96974032] [ 0.16561289 0.02109689 0.98596516 1.18263775] [ 0. 0. 0. 1. ]] SLAMing on 191.006296757 meters Centerline goodness : 0.772281 with order 1 Centerline is valid? [False, False] Translation: X:12.40, Y:-1.97, Z:1.18 [[ 0.94877551 0.26924227 -0.16532887 12.3998869 ] [-0.26861349 0.96288125 0.02657992 -1.96882002] [ 0.16634851 0.01919119 0.98588025 1.18086588] [ 0. 0. 0. 1. ]] SLAMing on 191.066296757 meters Centerline goodness : 0.770369 with order 1 Centerline is valid? [False, False] Translation: X:12.40, Y:-1.97, Z:1.18 [[ 0.94770651 0.27327283 -0.16484641 12.40169958] [-0.27205675 0.96180221 0.03035828 -1.96932365] [ 0.16684573 0.01607684 0.98585193 1.18105185] [ 0. 0. 0. 1. ]] SLAMing on 191.126296757 meters Centerline goodness : 0.770867 with order 1 Centerline is valid? [False, False] Translation: X:12.40, Y:-1.97, Z:1.18 [[ 9.46586540e-01 2.77556441e-01 -1.64122956e-01 1.24023708e+01] [-2.75600889e-01 9.60633515e-01 3.50342701e-02 -1.97019980e+00] [ 1.67385999e-01 1.20694640e-02 9.85817557e-01 1.18300322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.186296757 meters Centerline goodness : 0.780022 with order 1 Centerline is valid? [False, False] Translation: X:12.40, Y:-1.97, Z:1.18 [[ 9.46295222e-01 2.79012555e-01 -1.63332015e-01 1.23999168e+01] [-2.76943540e-01 9.60220013e-01 3.57743135e-02 -1.97012595e+00] [ 1.66816152e-01 1.13806844e-02 9.85922335e-01 1.18384318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.246296757 meters Centerline goodness : 0.777997 with order 1 Centerline is valid? [False, False] Translation: X:12.40, Y:-1.97, Z:1.18 [[ 9.46207053e-01 2.79471891e-01 -1.63057277e-01 1.23993393e+01] [-2.77287612e-01 9.60094265e-01 3.64771575e-02 -1.97186214e+00] [ 1.66744697e-01 1.06988193e-02 9.85942058e-01 1.18420481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.306296757 meters Centerline goodness : 0.778871 with order 1 Centerline is valid? [False, False] Translation: X:12.40, Y:-1.97, Z:1.18 [[ 9.46116207e-01 2.79862711e-01 -1.62914046e-01 1.23991363e+01] [-2.77582409e-01 9.59986377e-01 3.70696994e-02 -1.97312958e+00] [ 1.66769691e-01 1.01498299e-02 9.85943635e-01 1.18444512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.36629675700001 meters Centerline goodness : 0.779186 with order 1 Centerline is valid? [False, False] Translation: X:12.40, Y:-1.97, Z:1.18 [[ 9.46045210e-01 2.80171708e-01 -1.62795193e-01 1.23991811e+01] [-2.77822421e-01 9.59900344e-01 3.74971036e-02 -1.97427461e+00] [ 1.66772790e-01 9.75419955e-03 9.85947104e-01 1.18432448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.42629675700002 meters Centerline goodness : 0.778056 with order 1 Centerline is valid? [False, False] Translation: X:12.40, Y:-1.97, Z:1.18 [[ 9.45761250e-01 2.81347316e-01 -1.62417197e-01 1.23980302e+01] [-2.78956174e-01 9.59558638e-01 3.78242436e-02 -1.97480423e+00] [ 1.66490574e-01 9.53457594e-03 9.85996948e-01 1.18410339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.486296757 meters Centerline goodness : 0.776928 with order 1 Centerline is valid? [False, False] Translation: X:12.40, Y:-1.97, Z:1.18 [[ 9.45570976e-01 2.82047560e-01 -1.62310516e-01 1.23981634e+01] [-2.79685230e-01 9.59350977e-01 3.77077626e-02 -1.97308355e+00] [ 1.66348134e-01 9.74048804e-03 9.86018976e-01 1.18362999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.546296757 meters Centerline goodness : 0.776492 with order 1 Centerline is valid? [False, False] Translation: X:12.40, Y:-1.97, Z:1.18 [[ 9.44430575e-01 2.86199344e-01 -1.61681245e-01 1.23995851e+01] [-2.83286179e-01 9.58145954e-01 4.12949275e-02 -1.97264408e+00] [ 1.66732812e-01 6.80186983e-03 9.85978653e-01 1.18356499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.606296757 meters Centerline goodness : 0.776614 with order 1 Centerline is valid? [False, False] Translation: X:12.38, Y:-1.97, Z:1.18 [[ 9.43450314e-01 2.88272652e-01 -1.63708228e-01 1.23831182e+01] [-2.84109405e-01 9.57548261e-01 4.88177601e-02 -1.96752292e+00] [ 1.70831354e-01 4.53916011e-04 9.85300179e-01 1.18288387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.666296757 meters Centerline goodness : 0.778529 with order 1 Centerline is valid? [False, False] Translation: X:12.38, Y:-1.97, Z:1.18 [[ 9.43329829e-01 2.88627985e-01 -1.63776436e-01 1.23830998e+01] [-2.84480789e-01 9.57441136e-01 4.87560454e-02 -1.96623270e+00] [ 1.70878656e-01 5.98217608e-04 9.85291899e-01 1.18324469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.726296757 meters Centerline goodness : 0.776728 with order 1 Centerline is valid? [False, False] Translation: X:12.38, Y:-1.96, Z:1.18 [[ 9.43197234e-01 2.89126278e-01 -1.63661155e-01 1.23826825e+01] [-2.85008069e-01 9.57290652e-01 4.86313411e-02 -1.96398685e+00] [ 1.70731892e-01 7.75803305e-04 9.85317217e-01 1.18368223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.786296757 meters Centerline goodness : 0.777585 with order 1 Centerline is valid? [False, False] Translation: X:12.38, Y:-1.96, Z:1.18 [[ 9.42971207e-01 2.90025144e-01 -1.63372944e-01 1.23815708e+01] [-2.85904220e-01 9.57018721e-01 4.87231496e-02 -1.96176195e+00] [ 1.70481904e-01 7.64487028e-04 9.85360511e-01 1.18450540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.846296757 meters Centerline goodness : 0.776262 with order 1 Centerline is valid? [False, False] Translation: X:12.38, Y:-1.96, Z:1.19 [[ 9.42582057e-01 2.91345305e-01 -1.63269648e-01 1.23809477e+01] [-2.87260444e-01 9.56617363e-01 4.86277580e-02 -1.95786112e+00] [ 1.70354049e-01 1.06525955e-03 9.85382344e-01 1.18514521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.906296757 meters Centerline goodness : 0.775471 with order 1 Centerline is valid? [False, False] Translation: X:12.38, Y:-1.96, Z:1.19 [[ 9.42468017e-01 2.91715827e-01 -1.63266388e-01 1.23808581e+01] [-2.87661691e-01 9.56504185e-01 4.84819072e-02 -1.95645858e+00] [ 1.70307923e-01 1.27283839e-03 9.85390071e-01 1.18529878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.966296757 meters Centerline goodness : 0.775312 with order 1 Centerline is valid? [False, False] Translation: X:12.38, Y:-1.95, Z:1.19 [[ 9.41280509e-01 2.95680794e-01 -1.62984267e-01 1.23829742e+01] [-2.91116585e-01 9.55285940e-01 5.17678063e-02 -1.95437195e+00] [ 1.71003324e-01 -1.28060396e-03 9.85269619e-01 1.18560374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.026296757 meters Centerline goodness : 0.775772 with order 1 Centerline is valid? [False, False] Translation: X:12.38, Y:-1.95, Z:1.19 [[ 9.40149931e-01 2.99532298e-01 -1.62476181e-01 1.23849065e+01] [-2.94430910e-01 9.54077550e-01 5.51948086e-02 -1.95335068e+00] [ 1.71547504e-01 -4.05338576e-03 9.85167511e-01 1.18551751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.086296757 meters Centerline goodness : 0.774335 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.95, Z:1.19 [[ 9.40120675e-01 2.99452345e-01 -1.62792538e-01 1.23856291e+01] [-2.94397838e-01 9.54104092e-01 5.49116891e-02 -1.95228213e+00] [ 1.71764460e-01 -3.69784302e-03 9.85131106e-01 1.18566052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.14629675700002 meters Centerline goodness : 0.774889 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.95, Z:1.19 [[ 9.40191132e-01 2.99154057e-01 -1.62933991e-01 1.23855969e+01] [-2.94106424e-01 9.54197869e-01 5.48437536e-02 -1.95145794e+00] [ 1.71877999e-01 -3.64367720e-03 9.85111505e-01 1.18662801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.20629675700002 meters Centerline goodness : 0.776215 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.95, Z:1.19 [[ 9.40201199e-01 2.99153396e-01 -1.62877102e-01 1.23856771e+01] [-2.94153972e-01 9.54198996e-01 5.45684616e-02 -1.94908649e+00] [ 1.71741508e-01 -3.39438650e-03 9.85136200e-01 1.18696157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.266296757 meters Centerline goodness : 0.774490 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.95, Z:1.19 [[ 9.40227408e-01 2.99082775e-01 -1.62855505e-01 1.23862412e+01] [-2.94182279e-01 9.54222890e-01 5.39950335e-02 -1.94706435e+00] [ 1.71549435e-01 -2.85840679e-03 9.85171366e-01 1.18641480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.326296757 meters Centerline goodness : 0.776186 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.94, Z:1.19 [[ 9.40131692e-01 2.99592498e-01 -1.62470725e-01 1.23856318e+01] [-2.94768419e-01 9.54063971e-01 5.36052011e-02 -1.94344701e+00] [ 1.71067182e-01 -2.50470960e-03 9.85256183e-01 1.18664470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.386296757 meters Centerline goodness : 0.774934 with order 1 Centerline is valid? [False, False] Translation: X:12.38, Y:-1.94, Z:1.19 [[ 9.39909131e-01 3.00444274e-01 -1.62185276e-01 1.23847396e+01] [-2.95686121e-01 9.53796963e-01 5.33016983e-02 -1.93958436e+00] [ 1.70706014e-01 -2.14281770e-03 9.85319677e-01 1.18732632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.446296757 meters Centerline goodness : 0.775122 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.94, Z:1.19 [[ 9.39686128e-01 3.01053729e-01 -1.62347260e-01 1.23864621e+01] [-2.96355158e-01 9.53605667e-01 5.30080426e-02 -1.93544202e+00] [ 1.70773536e-01 -1.69847427e-03 9.85308842e-01 1.18671827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.506296757 meters Centerline goodness : 0.777265 with order 1 Centerline is valid? [False, False] Translation: X:12.37, Y:-1.92, Z:1.18 [[ 9.39223875e-01 3.02679029e-01 -1.61999747e-01 1.23652930e+01] [-2.98060337e-01 9.53091792e-01 5.26884364e-02 -1.92401808e+00] [ 1.70348314e-01 -1.20053820e-03 9.85383180e-01 1.17798811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.566296757 meters Centerline goodness : 0.776186 with order 1 Centerline is valid? [False, False] Translation: X:12.37, Y:-1.92, Z:1.18 [[ 9.38985082e-01 3.03676012e-01 -1.61517478e-01 1.23665289e+01] [-2.99017273e-01 9.52774210e-01 5.30092053e-02 -1.92028511e+00] [ 1.69987311e-01 -1.47833722e-03 9.85445142e-01 1.17720800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.626296757 meters Centerline goodness : 0.775954 with order 1 Centerline is valid? [False, False] Translation: X:12.37, Y:-1.92, Z:1.18 [[ 9.39190815e-01 3.02788678e-01 -1.61986513e-01 1.23683910e+01] [-2.98244555e-01 9.53057403e-01 5.22663497e-02 -1.91931326e+00] [ 1.70208104e-01 -7.76480141e-04 9.85407834e-01 1.17646931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.686296757 meters Centerline goodness : 0.775423 with order 1 Centerline is valid? [False, False] Translation: X:12.37, Y:-1.92, Z:1.18 [[ 9.40627472e-01 2.97462652e-01 -1.63511249e-01 1.23704811e+01] [-2.93608797e-01 9.54728664e-01 4.78231311e-02 -1.91748317e+00] [ 1.70334472e-01 3.02459032e-03 9.85381662e-01 1.17563430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.746296757 meters Centerline goodness : 0.775547 with order 1 Centerline is valid? [False, False] Translation: X:12.37, Y:-1.92, Z:1.18 [[ 9.42122941e-01 2.91894686e-01 -1.64929853e-01 1.23719355e+01] [-2.88668330e-01 9.56429099e-01 4.37489941e-02 -1.91729424e+00] [ 1.70513810e-01 6.39309429e-03 9.85334547e-01 1.17568934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.806296757 meters Centerline goodness : 0.774264 with order 1 Centerline is valid? [False, False] Translation: X:12.37, Y:-1.92, Z:1.18 [[ 9.43473681e-01 2.86993215e-01 -1.65808044e-01 1.23722947e+01] [-2.84407275e-01 9.57883063e-01 3.96552553e-02 -1.91610110e+00] [ 1.70205506e-01 9.74332421e-03 9.85360418e-01 1.17534369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.86629675700001 meters Centerline goodness : 0.775418 with order 1 Centerline is valid? [False, False] Translation: X:12.37, Y:-1.92, Z:1.17 [[ 9.43795219e-01 2.85747894e-01 -1.66128641e-01 1.23740763e+01] [-2.83262236e-01 9.58249846e-01 3.89838312e-02 -1.91566601e+00] [ 1.70332292e-01 1.02652168e-02 9.85333210e-01 1.17470232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.92629675700002 meters Centerline goodness : 0.773385 with order 1 Centerline is valid? [False, False] Translation: X:12.38, Y:-1.91, Z:1.17 [[ 9.43810271e-01 2.85692584e-01 -1.66138253e-01 1.23752028e+01] [-2.83286455e-01 9.58261471e-01 3.85193050e-02 -1.91281057e+00] [ 1.70208566e-01 1.07098010e-02 9.85349859e-01 1.17438933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.986296757 meters Centerline goodness : 0.772798 with order 1 Centerline is valid? [False, False] Translation: X:12.37, Y:-1.91, Z:1.17 [[ 9.43720325e-01 2.86271604e-01 -1.65651796e-01 1.23737340e+01] [-2.83873770e-01 9.58088773e-01 3.84913645e-02 -1.91192859e+00] [ 1.69728111e-01 1.06991167e-02 9.85432848e-01 1.17481591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.046296757 meters Centerline goodness : 0.773353 with order 1 Centerline is valid? [False, False] Translation: X:12.38, Y:-1.91, Z:1.17 [[ 9.43610284e-01 2.86424784e-01 -1.66013478e-01 1.23753293e+01] [-2.84085368e-01 9.58038129e-01 3.81896081e-02 -1.90997509e+00] [ 1.69985692e-01 1.11258931e-02 9.85383722e-01 1.17415241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.106296757 meters Centerline goodness : 0.773115 with order 1 Centerline is valid? [False, False] Translation: X:12.38, Y:-1.91, Z:1.17 [[ 9.43451162e-01 2.86834688e-01 -1.66210009e-01 1.23760919e+01] [-2.84501768e-01 9.57914084e-01 3.82014485e-02 -1.90939176e+00] [ 1.70172409e-01 1.12458405e-02 9.85350132e-01 1.17370647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.166296757 meters Centerline goodness : 0.774753 with order 1 Centerline is valid? [False, False] Translation: X:12.38, Y:-1.91, Z:1.17 [[ 9.43314571e-01 2.87335978e-01 -1.66119405e-01 1.23756588e+01] [-2.84935033e-01 9.57767956e-01 3.86337979e-02 -1.90984040e+00] [ 1.70204723e-01 1.08894138e-02 9.85348554e-01 1.17406177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.226296757 meters Centerline goodness : 0.776101 with order 1 Centerline is valid? [False, False] Translation: X:12.38, Y:-1.91, Z:1.17 [[ 9.42899663e-01 2.88834353e-01 -1.65876287e-01 1.23750377e+01] [-2.86308369e-01 9.57323994e-01 3.94751567e-02 -1.90898750e+00] [ 1.70199131e-01 1.02706573e-02 9.85356164e-01 1.17439988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.286296757 meters Centerline goodness : 0.776141 with order 1 Centerline is valid? [False, False] Translation: X:12.38, Y:-1.91, Z:1.17 [[ 9.41512873e-01 2.93972236e-01 -1.64723511e-01 1.23751599e+01] [-2.90792113e-01 9.55789786e-01 4.36558383e-02 -1.90905299e+00] [ 1.70274654e-01 6.79776405e-03 9.85373195e-01 1.17433574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.346296757 meters Centerline goodness : 0.773874 with order 1 Centerline is valid? [False, False] Translation: X:12.37, Y:-1.91, Z:1.17 [[ 9.41007272e-01 2.95829238e-01 -1.64287479e-01 1.23744978e+01] [-2.92592786e-01 9.55218417e-01 4.41275074e-02 -1.90774762e+00] [ 1.69984632e-01 6.54502576e-03 9.85424978e-01 1.17380809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.406296757 meters Centerline goodness : 0.781433 with order 3 Centerline is valid? [False, False] Translation: X:12.37, Y:-1.91, Z:1.17 [[ 9.40732048e-01 2.97032297e-01 -1.63691870e-01 1.23726354e+01] [-2.93745216e-01 9.54847190e-01 4.45038327e-02 -1.90694944e+00] [ 1.69519798e-01 6.21752220e-03 9.85507169e-01 1.17430668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.466296757 meters Centerline goodness : 0.786038 with order 3 Centerline is valid? [False, False] Translation: X:12.37, Y:-1.91, Z:1.17 [[ 9.40681770e-01 2.97351399e-01 -1.63401205e-01 1.23721536e+01] [-2.94030866e-01 9.54749372e-01 4.47156140e-02 -1.90623043e+00] [ 1.69303448e-01 5.98183505e-03 9.85545818e-01 1.17467825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.526296757 meters Centerline goodness : 0.777443 with order 1 Centerline is valid? [False, False] Translation: X:12.37, Y:-1.91, Z:1.17 [[ 9.40811571e-01 2.96756976e-01 -1.63734190e-01 1.23738448e+01] [-2.93461773e-01 9.54933187e-01 4.45285953e-02 -1.90668021e+00] [ 1.69569383e-01 6.15670788e-03 9.85499020e-01 1.17385468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.586296757 meters Centerline goodness : 0.779080 with order 1 Centerline is valid? [False, False] Translation: X:12.38, Y:-1.91, Z:1.17 [[ 9.41080568e-01 2.95575811e-01 -1.64323778e-01 1.23759211e+01] [-2.92276812e-01 9.55299304e-01 4.44691453e-02 -1.90807073e+00] [ 1.70122394e-01 6.17898136e-03 9.85403568e-01 1.17365661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.64629675700002 meters Centerline goodness : 0.781782 with order 1 Centerline is valid? [False, False] Translation: X:12.38, Y:-1.91, Z:1.17 [[ 9.41382012e-01 2.94561586e-01 -1.64418309e-01 1.23767105e+01] [-2.91223397e-01 9.55614367e-01 4.46107002e-02 -1.90988868e+00] [ 1.70261097e-01 5.88674786e-03 9.85381401e-01 1.17399210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.70629675700002 meters Centerline goodness : 0.782946 with order 1 Centerline is valid? [False, False] Translation: X:12.38, Y:-1.91, Z:1.17 [[ 9.41410829e-01 2.94495283e-01 -1.64372077e-01 1.23765820e+01] [-2.91110359e-01 9.55636491e-01 4.48737690e-02 -1.90963926e+00] [ 1.70295068e-01 5.60576219e-03 9.85377169e-01 1.17480600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.766296757 meters Centerline goodness : 0.785886 with order 1 Centerline is valid? [False, False] Translation: X:12.38, Y:-1.91, Z:1.18 [[ 9.41289736e-01 2.94871926e-01 -1.64390327e-01 1.23766313e+01] [-2.91460592e-01 9.55520963e-01 4.50600902e-02 -1.90926921e+00] [ 1.70365359e-01 5.49870171e-03 9.85365622e-01 1.17510620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.826296757 meters Centerline goodness : 0.789331 with order 1 Centerline is valid? [False, False] Translation: X:12.38, Y:-1.91, Z:1.17 [[ 9.40462955e-01 2.97517432e-01 -1.64355738e-01 1.23801758e+01] [-2.93646839e-01 9.54711101e-01 4.79400411e-02 -1.91092731e+00] [ 1.71175245e-01 3.17671029e-03 9.85235476e-01 1.17393090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.886296757 meters Centerline goodness : 0.791263 with order 3 Centerline is valid? [False, False] Translation: X:12.38, Y:-1.91, Z:1.17 [[ 9.39560232e-01 3.00467678e-01 -1.64151595e-01 1.23838966e+01] [-2.96084463e-01 9.53791836e-01 5.11382860e-02 -1.91294707e+00] [ 1.71931853e-01 5.55236981e-04 9.85108689e-01 1.17223899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.946296757 meters Centerline goodness : 0.783860 with order 2 Centerline is valid? [False, False] Translation: X:12.38, Y:-1.91, Z:1.17 [[ 9.39266589e-01 3.01644118e-01 -1.63673765e-01 1.23829733e+01] [-2.97215643e-01 9.53420553e-01 5.14986535e-02 -1.91314357e+00] [ 1.71584197e-01 2.75438616e-04 9.85169421e-01 1.17166287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.006296757 meters Centerline goodness : 0.785490 with order 2 Centerline is valid? [False, False] Translation: X:12.38, Y:-1.91, Z:1.17 [[ 9.39120456e-01 3.02529963e-01 -1.62875381e-01 1.23812171e+01] [-2.98020862e-01 9.53139818e-01 5.20389619e-02 -1.91337573e+00] [ 1.70986356e-01 -3.30592221e-04 9.85273341e-01 1.17191489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.066296757 meters Centerline goodness : 0.784438 with order 2 Centerline is valid? [False, False] Translation: X:12.38, Y:-1.91, Z:1.17 [[ 9.39171353e-01 3.02504222e-01 -1.62629532e-01 1.23811504e+01] [-2.97988495e-01 9.53147940e-01 5.20755258e-02 -1.91340115e+00] [ 1.70763070e-01 -4.46112508e-04 9.85312019e-01 1.17184372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.126296757 meters Centerline goodness : 0.785597 with order 2 Centerline is valid? [False, False] Translation: X:12.38, Y:-1.91, Z:1.17 [[ 9.39224538e-01 3.02366268e-01 -1.62578925e-01 1.23815606e+01] [-2.97863853e-01 9.53191732e-01 5.19869804e-02 -1.91288598e+00] [ 1.70687996e-01 -4.01062704e-04 9.85325046e-01 1.17173885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.186296757 meters Centerline goodness : 0.789030 with order 1 Centerline is valid? [False, False] Translation: X:12.38, Y:-1.91, Z:1.17 [[ 9.39416371e-01 3.01524551e-01 -1.63033207e-01 1.23835279e+01] [-2.97082436e-01 9.53458413e-01 5.15662789e-02 -1.91319857e+00] [ 1.70993882e-01 -7.90413584e-06 9.85272090e-01 1.17094348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.246296757 meters Centerline goodness : 0.793382 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.91, Z:1.17 [[ 9.39553814e-01 3.00946174e-01 -1.63309617e-01 1.23850333e+01] [-2.96577594e-01 9.53641031e-01 5.10931921e-02 -1.91234558e+00] [ 1.71115052e-01 4.29169763e-04 9.85250960e-01 1.17028778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.306296757 meters Centerline goodness : 0.791499 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.91, Z:1.17 [[ 9.39553448e-01 3.00763772e-01 -1.63647403e-01 1.23863830e+01] [-2.96474004e-01 9.53698195e-01 5.06252727e-02 -1.91059222e+00] [ 1.71296480e-01 9.52051124e-04 9.85219067e-01 1.16984809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.36629675700001 meters Centerline goodness : 0.795000 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.91, Z:1.17 [[ 9.39517053e-01 3.00628177e-01 -1.64104862e-01 1.23880250e+01] [-2.96502084e-01 9.53739355e-01 4.96765257e-02 -1.90837192e+00] [ 1.71447429e-01 1.98549058e-03 9.85191269e-01 1.16869530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.42629675700002 meters Centerline goodness : 0.790238 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.91, Z:1.17 [[ 9.39502363e-01 3.00707590e-01 -1.64043455e-01 1.23881187e+01] [-2.96626390e-01 9.53713791e-01 4.94245921e-02 -1.90707172e+00] [ 1.71312856e-01 2.22509685e-03 9.85214167e-01 1.16871276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.486296757 meters Centerline goodness : 0.793168 with order 2 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.91, Z:1.17 [[ 9.39612244e-01 3.00433397e-01 -1.63916458e-01 1.23886620e+01] [-2.96384097e-01 9.53799929e-01 4.92154740e-02 -1.90616058e+00] [ 1.71129478e-01 2.33876935e-03 9.85245772e-01 1.16846133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.546296757 meters Centerline goodness : 0.784242 with order 2 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.91, Z:1.17 [[ 9.39918647e-01 2.99199578e-01 -1.64415780e-01 1.23907412e+01] [-2.95231346e-01 9.54186403e-01 4.86493558e-02 -1.90611268e+00] [ 1.71439169e-01 2.81425547e-03 9.85190688e-01 1.16799325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.606296757 meters Centerline goodness : 0.783870 with order 2 Centerline is valid? [False, False] Translation: X:12.40, Y:-1.91, Z:1.17 [[ 9.40560388e-01 2.95908800e-01 -1.66685751e-01 1.23955884e+01] [-2.92476460e-01 9.55196742e-01 4.53509005e-02 -1.90543395e+00] [ 1.72637417e-01 6.09639778e-03 9.84966576e-01 1.16617760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.666296757 meters Centerline goodness : 0.784076 with order 2 Centerline is valid? [False, False] Translation: X:12.40, Y:-1.91, Z:1.16 [[ 9.41380017e-01 2.91681851e-01 -1.69485578e-01 1.24019898e+01] [-2.88791306e-01 9.56469343e-01 4.20235357e-02 -1.90694696e+00] [ 1.74365262e-01 9.38584476e-03 9.84636309e-01 1.16298029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.726296757 meters Centerline goodness : 0.784987 with order 2 Centerline is valid? [False, False] Translation: X:12.40, Y:-1.91, Z:1.16 [[ 9.42152249e-01 2.88989309e-01 -1.69806708e-01 1.24047173e+01] [-2.86166785e-01 9.57284437e-01 4.14134869e-02 -1.90733489e+00] [ 1.74521374e-01 9.57522989e-03 9.84606828e-01 1.16051723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.786296757 meters Centerline goodness : 0.787992 with order 1 Centerline is valid? [False, False] Translation: X:12.41, Y:-1.91, Z:1.16 [[ 9.42426641e-01 2.87972636e-01 -1.70011137e-01 1.24058067e+01] [-2.85108391e-01 9.57593508e-01 4.15677661e-02 -1.90843261e+00] [ 1.74771941e-01 9.29703161e-03 9.84565048e-01 1.16104183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.846296757 meters Centerline goodness : 0.792838 with order 2 Centerline is valid? [False, False] Translation: X:12.41, Y:-1.91, Z:1.17 [[ 9.42252947e-01 2.88424217e-01 -1.70208270e-01 1.24123308e+01] [-2.84518305e-01 9.57495516e-01 4.74517642e-02 -1.91265170e+00] [ 1.76659893e-01 3.71580369e-03 9.84264941e-01 1.16525170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.906296757 meters Centerline goodness : 0.790809 with order 1 Centerline is valid? [False, False] Translation: X:12.42, Y:-1.91, Z:1.16 [[ 9.42364990e-01 2.87518324e-01 -1.71118203e-01 1.24160723e+01] [-2.83727410e-01 9.57764596e-01 4.67518573e-02 -1.91102620e+00] [ 1.77332972e-01 4.49361093e-03 9.84140653e-01 1.16414480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.966296757 meters Centerline goodness : 0.791336 with order 1 Centerline is valid? [False, False] Translation: X:12.42, Y:-1.91, Z:1.16 [[ 9.42095209e-01 2.94898013e-01 -1.59661451e-01 1.24190390e+01] [-2.91399150e-01 9.55521522e-01 4.54439979e-02 -1.91324668e+00] [ 1.65961297e-01 3.71263829e-03 9.86125278e-01 1.15934240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.026296757 meters Centerline goodness : 0.801878 with order 3 Centerline is valid? [False, False] Translation: X:12.42, Y:-1.92, Z:1.16 [[ 9.41214515e-01 2.97939221e-01 -1.59208849e-01 1.24211794e+01] [-2.93489763e-01 9.54583535e-01 5.13228379e-02 -1.91544926e+00] [ 1.67269232e-01 -1.57963273e-03 9.85909990e-01 1.16385674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.086296757 meters Centerline goodness : 0.801381 with order 3 Centerline is valid? [False, False] Translation: X:12.42, Y:-1.92, Z:1.16 [[ 9.41132786e-01 2.97952017e-01 -1.59667387e-01 1.24221047e+01] [-2.93479929e-01 9.54579566e-01 5.14527370e-02 -1.91513930e+00] [ 1.67745672e-01 -1.56468450e-03 9.85829063e-01 1.16431529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.14629675700002 meters Centerline goodness : 0.806379 with order 3 Centerline is valid? [False, False] Translation: X:12.43, Y:-1.92, Z:1.17 [[ 9.40168179e-01 3.00946806e-01 -1.59733575e-01 1.24255332e+01] [-2.95453214e-01 9.53615054e-01 5.76691150e-02 -1.91785694e+00] [ 1.69679678e-01 -7.02486866e-03 9.85474230e-01 1.16894385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.20629675700002 meters Centerline goodness : 0.807563 with order 3 Centerline is valid? [False, False] Translation: X:12.43, Y:-1.92, Z:1.17 [[ 9.40095040e-01 3.00814043e-01 -1.60412678e-01 1.24272135e+01] [-2.95349202e-01 9.53659674e-01 5.74636763e-02 -1.91678796e+00] [ 1.70264983e-01 -6.64356053e-03 9.85375917e-01 1.16896106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.266296757 meters Centerline goodness : 0.799696 with order 3 Centerline is valid? [False, False] Translation: X:12.43, Y:-1.92, Z:1.17 [[ 9.39533708e-01 3.02035655e-01 -1.61402832e-01 1.24331099e+01] [-2.95963862e-01 9.53248782e-01 6.10094334e-02 -1.91811399e+00] [ 1.72284078e-01 -9.55101355e-03 9.85001002e-01 1.17031746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.326296757 meters Centerline goodness : 0.800746 with order 3 Centerline is valid? [False, False] Translation: X:12.43, Y:-1.92, Z:1.17 [[ 0.93890842 0.30427357 -0.1608371 12.43469865] [-0.29753162 0.95249285 0.06505621 -1.92019239] [ 0.17299108 -0.0132277 0.98483456 1.17246499] [ 0. 0. 0. 1. ]] SLAMing on 195.386296757 meters Centerline goodness : 0.789475 with order 2 Centerline is valid? [False, False] Translation: X:12.44, Y:-1.92, Z:1.17 [[ 9.38714237e-01 3.04200649e-01 -1.62103506e-01 1.24374863e+01] [-2.97696148e-01 9.52539117e-01 6.36100092e-02 -1.91866460e+00] [ 1.73760137e-01 -1.14540319e-02 9.84721392e-01 1.17240436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.446296757 meters Centerline goodness : 0.788234 with order 2 Centerline is valid? [False, False] Translation: X:12.44, Y:-1.92, Z:1.17 [[ 9.38074005e-01 3.05438603e-01 -1.63476059e-01 1.24402262e+01] [-2.99138189e-01 9.52162310e-01 6.24762221e-02 -1.91702278e+00] [ 1.74738392e-01 -9.70538748e-03 9.84567062e-01 1.17335827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.506296757 meters Centerline goodness : 0.792664 with order 3 Centerline is valid? [False, False] Translation: X:12.44, Y:-1.92, Z:1.17 [[ 9.37549898e-01 3.06795049e-01 -1.63942021e-01 1.24416946e+01] [-3.00576452e-01 9.51733522e-01 6.21055599e-02 -1.91570053e+00] [ 1.75082795e-01 -8.94995049e-03 9.84513034e-01 1.17372059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.566296757 meters Centerline goodness : 0.793232 with order 3 Centerline is valid? [False, False] Translation: X:12.44, Y:-1.91, Z:1.17 [[ 9.37498721e-01 3.06940766e-01 -1.63961928e-01 1.24423072e+01] [-3.00788767e-01 9.51690075e-01 6.17423587e-02 -1.91274489e+00] [ 1.74992186e-01 -8.56547627e-03 9.84532563e-01 1.17388399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.626296757 meters Centerline goodness : 0.790047 with order 2 Centerline is valid? [False, False] Translation: X:12.45, Y:-1.92, Z:1.18 [[ 0.93708668 0.31184087 -0.1569198 12.44883544] [-0.3029377 0.9497806 0.07839368 -1.92009015] [ 0.17348574 -0.02592475 0.9844951 1.1848653 ] [ 0. 0. 0. 1. ]] SLAMing on 195.686296757 meters Centerline goodness : 0.796944 with order 3 Centerline is valid? [False, False] Translation: X:12.45, Y:-1.92, Z:1.19 [[ 0.93704778 0.31168719 -0.1574565 12.45020056] [-0.30284498 0.94984619 0.07795598 -1.91792679] [ 0.17385734 -0.02536357 0.98444417 1.18513718] [ 0. 0. 0. 1. ]] SLAMing on 195.746296757 meters Centerline goodness : 0.817056 with order 3 Centerline is valid? [False, False] Translation: X:12.46, Y:-1.93, Z:1.20 [[ 0.9381377 0.31230362 -0.14954631 12.46361645] [-0.30106222 0.94903215 0.09327115 -1.92573371] [ 0.17105318 -0.04247843 0.98434567 1.19633503] [ 0. 0. 0. 1. ]] SLAMing on 195.806296757 meters Centerline goodness : 0.791126 with order 2 Centerline is valid? [False, False] Translation: X:12.46, Y:-1.92, Z:1.20 [[ 0.93809317 0.31255178 -0.14930702 12.46372879] [-0.30134927 0.94895551 0.09312388 -1.92381538] [ 0.17079175 -0.04236532 0.98439594 1.19658656] [ 0. 0. 0. 1. ]] SLAMing on 195.86629675700001 meters Centerline goodness : 0.781812 with order 2 Centerline is valid? [False, False] Translation: X:12.46, Y:-1.93, Z:1.20 [[ 0.93713563 0.31692088 -0.14607524 12.46165971] [-0.30457822 0.94713117 0.1008695 -1.92703696] [ 0.17032006 -0.05003706 0.98411756 1.20226232] [ 0. 0. 0. 1. ]] SLAMing on 195.92629675700002 meters Centerline goodness : 0.779095 with order 2 Centerline is valid? [False, False] Translation: X:12.47, Y:-1.93, Z:1.20 [[ 0.93646265 0.31809247 -0.14783401 12.46559443] [-0.30580898 0.94681721 0.10009017 -1.92726124] [ 0.17180971 -0.04852174 0.98393448 1.20206084] [ 0. 0. 0. 1. ]] SLAMing on 195.986296757 meters Centerline goodness : 0.778970 with order 2 Centerline is valid? [False, False] Translation: X:12.47, Y:-1.93, Z:1.20 [[ 0.93482708 0.32278497 -0.14801418 12.46822178] [-0.31018455 0.94517309 0.10214392 -1.92616341] [ 0.17286954 -0.04957519 0.98369631 1.20258084] [ 0. 0. 0. 1. ]] SLAMing on 196.046296757 meters Centerline goodness : 0.778422 with order 2 Centerline is valid? [False, False] Translation: X:12.47, Y:-1.92, Z:1.20 [[ 0.9331682 0.32081278 -0.16209958 12.47370547] [-0.30781798 0.94612727 0.10045533 -1.92023492] [ 0.18559419 -0.04384456 0.98164782 1.20368885] [ 0. 0. 0. 1. ]] SLAMing on 196.106296757 meters Centerline goodness : 0.778211 with order 2 Centerline is valid? [False, False] Translation: X:12.48, Y:-1.92, Z:1.20 [[ 0.93293772 0.32107909 -0.16289697 12.47634868] [-0.30822089 0.94609019 0.09956528 -1.91929676] [ 0.18608356 -0.04267996 0.9816065 1.20297789] [ 0. 0. 0. 1. ]] SLAMing on 196.166296757 meters Centerline goodness : 0.778481 with order 2 Centerline is valid? [False, False] Translation: X:12.48, Y:-1.92, Z:1.20 [[ 0.93283895 0.32106781 -0.16348382 12.4784387 ] [-0.30835124 0.94614014 0.0986831 -1.91802782] [ 0.18636257 -0.041645 0.98159803 1.20232541] [ 0. 0. 0. 1. ]] SLAMing on 196.226296757 meters Centerline goodness : 0.776927 with order 1 Centerline is valid? [False, False] Translation: X:12.48, Y:-1.92, Z:1.20 [[ 0.93235248 0.32192872 -0.16456232 12.48258332] [-0.30922442 0.94588023 0.09844211 -1.91776217] [ 0.18734759 -0.04089605 0.981442 1.20085356] [ 0. 0. 0. 1. ]] SLAMing on 196.286296757 meters Centerline goodness : 0.784466 with order 2 Centerline is valid? [False, False] Translation: X:12.48, Y:-1.92, Z:1.20 [[ 0.93216862 0.32184782 -0.16575777 12.48393541] [-0.30929485 0.94596662 0.09738511 -1.91816887] [ 0.1881445 -0.03951132 0.98134627 1.20167038] [ 0. 0. 0. 1. ]] SLAMing on 196.346296757 meters Centerline goodness : 0.779261 with order 1 Centerline is valid? [False, False] Translation: X:12.49, Y:-1.92, Z:1.20 [[ 0.93202076 0.32159285 -0.16707885 12.4864966 ] [-0.30912442 0.94609786 0.09664854 -1.91889855] [ 0.18915442 -0.03843029 0.98119505 1.20161919] [ 0. 0. 0. 1. ]] SLAMing on 196.406296757 meters Centerline goodness : 0.781713 with order 2 Centerline is valid? [False, False] Translation: X:12.49, Y:-1.92, Z:1.20 [[ 0.93219439 0.32063642 -0.16794613 12.48860163] [-0.30812998 0.94642798 0.09659193 -1.92125765] [ 0.1899198 -0.03829322 0.98105255 1.20059633] [ 0. 0. 0. 1. ]] SLAMing on 196.466296757 meters Centerline goodness : 0.783460 with order 3 Centerline is valid? [False, False] Translation: X:12.49, Y:-1.92, Z:1.20 [[ 0.93337305 0.31631234 -0.16959146 12.48936055] [-0.30431667 0.94799207 0.09328662 -1.92279005] [ 0.19027907 -0.03546171 0.98108937 1.20100589] [ 0. 0. 0. 1. ]] SLAMing on 196.526296757 meters Centerline goodness : 0.789634 with order 3 Centerline is valid? [False, False] Translation: X:12.49, Y:-1.92, Z:1.20 [[ 0.93451442 0.31267216 -0.17005565 12.48866995] [-0.30108124 0.94926423 0.09081578 -1.92285371] [ 0.18982332 -0.03366809 0.98124083 1.20225739] [ 0. 0. 0. 1. ]] SLAMing on 196.586296757 meters Centerline goodness : 0.788462 with order 3 Centerline is valid? [False, False] Translation: X:12.49, Y:-1.93, Z:1.21 [[ 0.93479184 0.31271843 -0.16843813 12.48652703] [-0.3005927 0.94911944 0.09389528 -1.92635351] [ 0.18923068 -0.03714127 0.98122998 1.20648188] [ 0. 0. 0. 1. ]] SLAMing on 196.64629675700002 meters Centerline goodness : 0.770018 with order 1 Centerline is valid? [False, False] Translation: X:12.49, Y:-1.93, Z:1.21 [[ 0.9361059 0.30668851 -0.17218568 12.48962514] [-0.29559632 0.9513082 0.08738144 -1.92787385] [ 0.19060053 -0.03090083 0.98118121 1.20684358] [ 0. 0. 0. 1. ]] SLAMing on 196.70629675700002 meters Centerline goodness : 0.770230 with order 1 Centerline is valid? [False, False] Translation: X:12.49, Y:-1.93, Z:1.21 [[ 0.93757688 0.30203399 -0.17240961 12.48944883] [-0.29137596 0.95285012 0.08471546 -1.92841859] [ 0.18986746 -0.02919125 0.98137568 1.20524076] [ 0. 0. 0. 1. ]] SLAMing on 196.766296757 meters Centerline goodness : 0.769110 with order 1 Centerline is valid? [False, False] Translation: X:12.49, Y:-1.93, Z:1.20 [[ 0.93788353 0.30049348 -0.17343054 12.49138437] [-0.28997531 0.9533664 0.08370679 -1.92916726] [ 0.1904962 -0.02821664 0.98128233 1.20495331] [ 0. 0. 0. 1. ]] SLAMing on 196.826296757 meters Centerline goodness : 0.767966 with order 3 Centerline is valid? [False, False] Translation: X:12.50, Y:-1.93, Z:1.20 [[ 0.93630548 0.30601545 -0.17229799 12.49935958] [-0.29666182 0.95176788 0.07829221 -1.93452414] [ 0.18794632 -0.02219119 0.98192858 1.20287642] [ 0. 0. 0. 1. ]] SLAMing on 196.886296757 meters Centerline goodness : 0.769713 with order 2 Centerline is valid? [False, False] Translation: X:12.50, Y:-1.94, Z:1.20 [[ 0.93445497 0.31115119 -0.17314403 12.50417024] [-0.30102063 0.95002831 0.08266075 -1.93817595] [ 0.19021172 -0.02512282 0.98142159 1.2019059 ] [ 0. 0. 0. 1. ]] SLAMing on 196.946296757 meters Centerline goodness : 0.766331 with order 2 Centerline is valid? [False, False] Translation: X:12.51, Y:-1.94, Z:1.20 [[ 0.93346728 0.31307845 -0.17498778 12.50784592] [-0.30282694 0.94940661 0.08320419 -1.94150251] [ 0.19218399 -0.02467738 0.98104859 1.202047 ] [ 0. 0. 0. 1. ]] SLAMing on 197.006296757 meters Centerline goodness : 0.773399 with order 2 Centerline is valid? [False, False] Translation: X:12.51, Y:-1.94, Z:1.20 [[ 0.93310457 0.31255666 -0.17783193 12.51105951] [-0.30264498 0.94964801 0.08108439 -1.94440625] [ 0.19422121 -0.02184027 0.9807146 1.2030367 ] [ 0. 0. 0. 1. ]] SLAMing on 197.066296757 meters Centerline goodness : 0.772130 with order 2 Centerline is valid? [False, False] Translation: X:12.51, Y:-1.95, Z:1.20 [[ 0.93303583 0.31288962 -0.17760693 12.51066212] [-0.30273041 0.94950841 0.08238982 -1.94856284] [ 0.1944182 -0.02310564 0.98064657 1.20323867] [ 0. 0. 0. 1. ]] SLAMing on 197.126296757 meters Centerline goodness : 0.798121 with order 3 Centerline is valid? [False, False] Translation: X:12.51, Y:-1.96, Z:1.21 [[ 0.93387228 0.31249969 -0.17385771 12.51078696] [-0.30107828 0.94941088 0.08927956 -1.95639998] [ 0.19296223 -0.03103092 0.98071538 1.21015835] [ 0. 0. 0. 1. ]] SLAMing on 197.186296757 meters Centerline goodness : 0.800469 with order 3 Centerline is valid? [False, False] Translation: X:12.52, Y:-1.97, Z:1.23 [[ 0.93691627 0.31116395 -0.15926361 12.52167999] [-0.29659213 0.94877567 0.10889368 -1.97387136] [ 0.18498922 -0.05478793 0.98121214 1.22689414] [ 0. 0. 0. 1. ]] SLAMing on 197.246296757 meters Centerline goodness : 0.786954 with order 3 Centerline is valid? [False, False] Translation: X:12.52, Y:-1.99, Z:1.25 [[ 0.94008406 0.30894082 -0.14421352 12.52258525] [-0.2897356 0.94685635 0.13970089 -1.98917068] [ 0.17970879 -0.08954678 0.97963571 1.24996269] [ 0. 0. 0. 1. ]] SLAMing on 197.306296757 meters Centerline goodness : 0.780078 with order 2 Centerline is valid? [False, False] Translation: X:12.52, Y:-2.01, Z:1.27 [[ 0.94268192 0.30869969 -0.12670954 12.51862443] [-0.28555987 0.94274414 0.17230508 -2.00530073] [ 0.1726452 -0.12624572 0.9768601 1.27426119] [ 0. 0. 0. 1. ]] SLAMing on 197.36629675700001 meters Centerline goodness : 0.778879 with order 2 Centerline is valid? [False, False] Translation: X:12.51, Y:-2.01, Z:1.29 [[ 0.94159402 0.31424133 -0.12104991 12.51280314] [-0.28965176 0.93911519 0.18483648 -2.01136362] [ 0.17176307 -0.1389786 0.9752858 1.28667166] [ 0. 0. 0. 1. ]] SLAMing on 197.42629675700002 meters Centerline goodness : 0.780374 with order 2 Centerline is valid? [False, False] Translation: X:12.52, Y:-2.02, Z:1.29 [[ 0.94035049 0.32028036 -0.11472336 12.52114438] [-0.29692505 0.93724633 0.18276987 -2.01701338] [ 0.16606165 -0.1378035 0.97643931 1.2889614 ] [ 0. 0. 0. 1. ]] SLAMing on 197.486296757 meters Centerline goodness : 0.783703 with order 2 Centerline is valid? [False, False] Translation: X:12.52, Y:-2.02, Z:1.28 [[ 0.9369618 0.32721477 -0.12260945 12.5207252 ] [-0.30488134 0.93696979 0.17068973 -2.01543731] [ 0.17073355 -0.12254842 0.97766658 1.28471684] [ 0. 0. 0. 1. ]] SLAMing on 197.546296757 meters Centerline goodness : 0.781416 with order 2 Centerline is valid? [False, False] Translation: X:12.53, Y:-2.02, Z:1.28 [[ 0.93510473 0.33189525 -0.12419614 12.52881495] [-0.3112523 0.93677863 0.15989935 -2.01759581] [ 0.16941413 -0.1108663 0.97928929 1.28012242] [ 0. 0. 0. 1. ]] SLAMing on 197.606296757 meters Centerline goodness : 0.785998 with order 2 Centerline is valid? [False, False] Translation: X:12.54, Y:-2.02, Z:1.28 [[ 0.9344402 0.33326812 -0.12551442 12.5363143 ] [-0.31464697 0.9377084 0.14731001 -2.02107647] [ 0.16678966 -0.09815967 0.98109423 1.27674165] [ 0. 0. 0. 1. ]] SLAMing on 197.666296757 meters Centerline goodness : 0.784211 with order 2 Centerline is valid? [False, False] Translation: X:12.53, Y:-2.02, Z:1.28 [[ 0.93544213 0.33031802 -0.12584923 12.53397931] [-0.31213534 0.93898972 0.14446397 -2.02356615] [ 0.16589018 -0.0958557 0.98147447 1.27656854] [ 0. 0. 0. 1. ]] SLAMing on 197.726296757 meters Centerline goodness : 0.784775 with order 2 Centerline is valid? [False, False] Translation: X:12.53, Y:-2.03, Z:1.28 [[ 0.93668857 0.32665694 -0.12613397 12.5308118 ] [-0.30901512 0.94054667 0.14100215 -2.02546911] [ 0.16469422 -0.0930978 0.98194125 1.27700287] [ 0. 0. 0. 1. ]] SLAMing on 197.786296757 meters Centerline goodness : 0.786674 with order 1 Centerline is valid? [False, False] Translation: X:12.53, Y:-2.03, Z:1.28 [[ 0.9376006 0.32385077 -0.12659299 12.52803984] [-0.30662879 0.94174818 0.13816352 -2.02710085] [ 0.16396308 -0.09072515 0.98228563 1.27773651] [ 0. 0. 0. 1. ]] SLAMing on 197.846296757 meters Centerline goodness : 0.788106 with order 1 Centerline is valid? [False, False] Translation: X:12.53, Y:-2.03, Z:1.28 [[ 0.9384862 0.32093742 -0.12744731 12.52706951] [-0.30421987 0.94304646 0.13458696 -2.02649232] [ 0.16338273 -0.087536 0.98267163 1.27699591] [ 0. 0. 0. 1. ]] SLAMing on 197.906296757 meters Centerline goodness : 0.789061 with order 1 Centerline is valid? [False, False] Translation: X:12.53, Y:-2.02, Z:1.28 [[ 0.93923308 0.31832845 -0.12848431 12.52657689] [-0.30217147 0.94426733 0.13058182 -2.02466811] [ 0.16289144 -0.08382247 0.98307689 1.2754981 ] [ 0. 0. 0. 1. ]] SLAMing on 197.966296757 meters Centerline goodness : 0.789979 with order 1 Centerline is valid? [False, False] Translation: X:12.52, Y:-2.02, Z:1.27 [[ 0.93972695 0.3167624 -0.1287433 12.52282991] [-0.3014973 0.9452395 0.12498664 -2.02259107] [ 0.16128432 -0.07863756 0.98377005 1.27162326] [ 0. 0. 0. 1. ]] SLAMing on 198.026296757 meters Centerline goodness : 0.790324 with order 1 Centerline is valid? [False, False] Translation: X:12.53, Y:-2.02, Z:1.27 [[ 0.93967903 0.3166919 -0.12926549 12.52500282] [-0.30150936 0.94533587 0.12422644 -2.0229331 ] [ 0.16154081 -0.07775822 0.98379786 1.26914199] [ 0. 0. 0. 1. ]] SLAMing on 198.086296757 meters Centerline goodness : 0.793076 with order 1 Centerline is valid? [False, False] Translation: X:12.52, Y:-2.02, Z:1.26 [[ 0.94033579 0.31430199 -0.13031834 12.52474852] [-0.29986991 0.94652181 0.11905673 -2.02133917] [ 0.16076892 -0.07287476 0.98429804 1.26465365] [ 0. 0. 0. 1. ]] SLAMing on 198.14629675700002 meters Centerline goodness : 0.796072 with order 1 Centerline is valid? [False, False] Translation: X:12.53, Y:-2.02, Z:1.26 [[ 0.94134289 0.31079236 -0.13145979 12.52515401] [-0.2969434 0.947966 0.11482628 -2.02168246] [ 0.16030654 -0.06905479 0.9846488 1.2622536 ] [ 0. 0. 0. 1. ]] SLAMing on 198.20629675700002 meters Centerline goodness : 0.792668 with order 1 Centerline is valid? [False, False] Translation: X:12.52, Y:-2.02, Z:1.26 [[ 0.94249934 0.30697483 -0.1321418 12.52391311] [-0.29368649 0.94944521 0.11091459 -2.02272845] [ 0.15950939 -0.06572867 0.98500584 1.26143936] [ 0. 0. 0. 1. ]] SLAMing on 198.266296757 meters Centerline goodness : 0.793128 with order 1 Centerline is valid? [False, False] Translation: X:12.52, Y:-2.02, Z:1.26 [[ 0.94461324 0.29994825 -0.13317983 12.52037359] [-0.28770498 0.95209059 0.1036791 -2.02236166] [ 0.15789763 -0.05962015 0.98565398 1.26132774] [ 0. 0. 0. 1. ]] SLAMing on 198.326296757 meters Centerline goodness : 0.785806 with order 3 Centerline is valid? [False, False] Translation: X:12.52, Y:-2.02, Z:1.26 [[ 0.94694272 0.2917695 -0.13479629 12.51870826] [-0.28060925 0.95502064 0.09588549 -2.02188856] [ 0.1567097 -0.05297298 0.98622307 1.26098252] [ 0. 0. 0. 1. ]] SLAMing on 198.386296757 meters Centerline goodness : 0.796079 with order 1 Centerline is valid? [False, False] Translation: X:12.52, Y:-2.02, Z:1.26 [[ 0.94837716 0.28631742 -0.13639319 12.52066592] [-0.2756966 0.95686409 0.09166515 -2.02376573] [ 0.15675508 -0.04933 0.98640478 1.25970779] [ 0. 0. 0. 1. ]] SLAMing on 198.446296757 meters Centerline goodness : 0.796060 with order 1 Centerline is valid? [False, False] Translation: X:12.52, Y:-2.02, Z:1.26 [[ 0.94972492 0.28108195 -0.13789673 12.52268879] [-0.27110283 0.9586228 0.08686533 -2.02439506] [ 0.15660723 -0.04511397 0.98663008 1.25748429] [ 0. 0. 0. 1. ]] SLAMing on 198.506296757 meters Centerline goodness : 0.798672 with order 1 Centerline is valid? [False, False] Translation: X:12.52, Y:-2.02, Z:1.26 [[ 0.9508091 0.27667431 -0.13933189 12.52388952] [-0.26733719 0.96009445 0.08215515 -2.02383033] [ 0.156502 -0.04086527 0.98683188 1.2556543 ] [ 0. 0. 0. 1. ]] SLAMing on 198.566296757 meters Centerline goodness : 0.796376 with order 1 Centerline is valid? [False, False] Translation: X:12.53, Y:-2.02, Z:1.25 [[ 0.95075497 0.27651605 -0.14001381 12.52618974] [-0.26728367 0.96018143 0.08130842 -2.02333284] [ 0.15692174 -0.03988098 0.98680549 1.25363612] [ 0. 0. 0. 1. ]] SLAMing on 198.626296757 meters Centerline goodness : 0.797658 with order 1 Centerline is valid? [False, False] Translation: X:12.53, Y:-2.02, Z:1.25 [[ 0.95055825 0.27693411 -0.1405223 12.52812429] [-0.26786958 0.96011542 0.08015153 -2.02241792] [ 0.15711432 -0.03854704 0.98682785 1.25056753] [ 0. 0. 0. 1. ]] SLAMing on 198.686296757 meters Centerline goodness : 0.792811 with order 1 Centerline is valid? [False, False] Translation: X:12.53, Y:-2.02, Z:1.25 [[ 0.95130967 0.27362203 -0.14191862 12.52948785] [-0.26521451 0.96123015 0.07548418 -2.02100536] [ 0.15707059 -0.03416995 0.98699607 1.24742997] [ 0. 0. 0. 1. ]] SLAMing on 198.746296757 meters Centerline goodness : 0.795521 with order 1 Centerline is valid? [False, False] Translation: X:12.53, Y:-2.02, Z:1.25 [[ 0.95227271 0.26980644 -0.14276262 12.5280128 ] [-0.26181835 0.96239652 0.07241612 -2.02245886] [ 0.15693258 -0.03158202 0.98710422 1.24858439] [ 0. 0. 0. 1. ]] SLAMing on 198.806296757 meters Centerline goodness : 0.800666 with order 1 Centerline is valid? [False, False] Translation: X:12.53, Y:-2.02, Z:1.25 [[ 0.95406851 0.26264666 -0.14411807 12.52508173] [-0.25568987 0.96455954 0.06517356 -2.02194892] [ 0.15612807 -0.02533052 0.98741197 1.24895405] [ 0. 0. 0. 1. ]] SLAMing on 198.86629675700001 meters Centerline goodness : 0.807662 with order 1 Centerline is valid? [False, False] Translation: X:12.52, Y:-2.02, Z:1.25 [[ 0.9550671 0.25847265 -0.14504735 12.5248303 ] [-0.25208933 0.96577262 0.0611082 -2.02116328] [ 0.15587756 -0.02179755 0.98753585 1.24856834] [ 0. 0. 0. 1. ]] SLAMing on 198.92629675700002 meters Centerline goodness : 0.805479 with order 1 Centerline is valid? [False, False] Translation: X:12.53, Y:-2.02, Z:1.25 [[ 0.95515421 0.257945 -0.14541253 12.52607702] [-0.25158219 0.96591866 0.06088958 -2.02161587] [ 0.15616284 -0.02157573 0.98749565 1.24813521] [ 0. 0. 0. 1. ]] SLAMing on 198.986296757 meters Centerline goodness : 0.800569 with order 1 Centerline is valid? [False, False] Translation: X:12.53, Y:-2.02, Z:1.25 [[ 0.95617832 0.25323101 -0.14695946 12.52819173] [-0.24756863 0.96725479 0.05592801 -2.01934507] [ 0.15630995 -0.0170946 0.98756011 1.24624126] [ 0. 0. 0. 1. ]] SLAMing on 199.046296757 meters Centerline goodness : 0.803489 with order 1 Centerline is valid? [False, False] Translation: X:12.53, Y:-2.02, Z:1.25 [[ 0.9571836 0.24872614 -0.1481042 12.52839454] [-0.24375048 0.96848857 0.05114279 -2.01737323] [ 0.15615778 -0.01285257 0.9876485 1.2456101 ] [ 0. 0. 0. 1. ]] SLAMing on 199.106296757 meters Centerline goodness : 0.800762 with order 1 Centerline is valid? [False, False] Translation: X:12.53, Y:-2.01, Z:1.25 [[ 9.57965880e-01 2.45013193e-01 -1.49231055e-01 1.25285363e+01] [-2.40650327e-01 9.69477755e-01 4.69073764e-02 -2.01473198e+00] [ 1.56169114e-01 -9.02316386e-03 9.87689116e-01 1.24520704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.166296757 meters Centerline goodness : 0.796702 with order 1 Centerline is valid? [False, False] Translation: X:12.53, Y:-2.01, Z:1.24 [[ 9.58034709e-01 2.44376993e-01 -1.49831179e-01 1.25311807e+01] [-2.40161144e-01 9.69647404e-01 4.58970222e-02 -2.01344807e+00] [ 1.56499590e-01 -7.98731280e-03 9.87645726e-01 1.24325960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.226296757 meters Centerline goodness : 0.793315 with order 1 Centerline is valid? [False, False] Translation: X:12.53, Y:-2.01, Z:1.24 [[ 9.57878987e-01 2.45038523e-01 -1.49746346e-01 1.25307792e+01] [-2.40866057e-01 9.69482883e-01 4.56780355e-02 -2.01242956e+00] [ 1.56369397e-01 -7.68521851e-03 9.87668745e-01 1.24283121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.286296757 meters Centerline goodness : 0.794128 with order 1 Centerline is valid? [False, False] Translation: X:12.53, Y:-2.01, Z:1.24 [[ 9.57675122e-01 2.46302272e-01 -1.48975000e-01 1.25281522e+01] [-2.42089996e-01 9.69159624e-01 4.60657893e-02 -2.01234884e+00] [ 1.55726663e-01 -8.05070326e-03 9.87767378e-01 1.24330653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.346296757 meters Centerline goodness : 0.793183 with order 1 Centerline is valid? [False, False] Translation: X:12.52, Y:-2.01, Z:1.24 [[ 9.57412447e-01 2.47867905e-01 -1.48063868e-01 1.25249231e+01] [-2.43534417e-01 9.68752545e-01 4.70052642e-02 -2.01231434e+00] [ 1.55088345e-01 -8.94477725e-03 9.87860110e-01 1.24453924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.406296757 meters Centerline goodness : 0.792167 with order 1 Centerline is valid? [False, False] Translation: X:12.52, Y:-2.01, Z:1.24 [[ 9.57273972e-01 2.48515946e-01 -1.47872804e-01 1.25245501e+01] [-2.44185135e-01 9.68586643e-01 4.70482167e-02 -2.01163184e+00] [ 1.54919855e-01 -8.92969259e-03 9.87886683e-01 1.24418957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.466296757 meters Centerline goodness : 0.793002 with order 1 Centerline is valid? [False, False] Translation: X:12.53, Y:-2.01, Z:1.24 [[ 9.57131556e-01 2.48993195e-01 -1.47991802e-01 1.25250087e+01] [-2.44749010e-01 9.68469584e-01 4.65251126e-02 -2.01100201e+00] [ 1.54909995e-01 -8.30980643e-03 9.87893638e-01 1.24284867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.526296757 meters Centerline goodness : 0.792362 with order 1 Centerline is valid? [False, False] Translation: X:12.53, Y:-2.01, Z:1.24 [[ 9.57010249e-01 2.49515789e-01 -1.47896093e-01 1.25251038e+01] [-2.45380144e-01 9.68340798e-01 4.58768417e-02 -2.00866418e+00] [ 1.54660817e-01 -7.61384318e-03 9.87938288e-01 1.24169201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.586296757 meters Centerline goodness : 0.788500 with order 1 Centerline is valid? [False, False] Translation: X:12.52, Y:-2.01, Z:1.24 [[ 9.56944250e-01 2.49989621e-01 -1.47522516e-01 1.25236182e+01] [-2.45790454e-01 9.68214776e-01 4.63379007e-02 -2.00847168e+00] [ 1.54417474e-01 -8.08316157e-03 9.87972624e-01 1.24290182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.64629675700002 meters Centerline goodness : 0.792077 with order 1 Centerline is valid? [False, False] Translation: X:12.52, Y:-2.01, Z:1.25 [[ 9.56879164e-01 2.50643997e-01 -1.46832734e-01 1.25209654e+01] [-2.46332702e-01 9.68038035e-01 4.71440627e-02 -2.00857393e+00] [ 1.53956047e-01 -8.94146716e-03 9.88037239e-01 1.24504755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.70629675700002 meters Centerline goodness : 0.791966 with order 1 Centerline is valid? [False, False] Translation: X:12.52, Y:-2.01, Z:1.24 [[ 9.56840610e-01 2.50688164e-01 -1.47008472e-01 1.25217562e+01] [-2.46476000e-01 9.68032651e-01 4.65012753e-02 -2.00617509e+00] [ 1.53966320e-01 -8.26024859e-03 9.88041568e-01 1.24432886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.766296757 meters Centerline goodness : 0.789520 with order 1 Centerline is valid? [False, False] Translation: X:12.52, Y:-2.00, Z:1.24 [[ 9.56665247e-01 2.51386282e-01 -1.46957624e-01 1.25217935e+01] [-2.47294762e-01 9.67858124e-01 4.57815681e-02 -2.00323751e+00] [ 1.53742989e-01 -7.45578429e-03 9.88082742e-01 1.24319933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.826296757 meters Centerline goodness : 0.794084 with order 1 Centerline is valid? [False, False] Translation: X:12.52, Y:-2.00, Z:1.24 [[ 9.56643223e-01 2.51300051e-01 -1.47248183e-01 1.25224723e+01] [-2.47253699e-01 9.67883251e-01 4.54710876e-02 -2.00234172e+00] [ 1.53945937e-01 -7.09194980e-03 9.88053821e-01 1.24304555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.886296757 meters Centerline goodness : 0.792247 with order 1 Centerline is valid? [False, False] Translation: X:12.52, Y:-2.00, Z:1.24 [[ 9.57444376e-01 2.47799371e-01 -1.47972091e-01 1.25214383e+01] [-2.44300845e-01 9.68804160e-01 4.16605002e-02 -1.99991888e+00] [ 1.53679423e-01 -3.73790478e-03 9.88113689e-01 1.24336629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.946296757 meters Centerline goodness : 0.792102 with order 1 Centerline is valid? [False, False] Translation: X:12.52, Y:-2.00, Z:1.24 [[ 9.57558390e-01 2.47124221e-01 -1.48362894e-01 1.25224326e+01] [-2.43598804e-01 9.68976127e-01 4.17718488e-02 -2.00040881e+00] [ 1.54082938e-01 -3.85796071e-03 9.88050385e-01 1.24398128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.006296757 meters Centerline goodness : 0.795237 with order 1 Centerline is valid? [False, False] Translation: X:12.52, Y:-2.00, Z:1.24 [[ 9.57658966e-01 2.46381846e-01 -1.48947276e-01 1.25243377e+01] [-2.42907204e-01 9.69166718e-01 4.13758760e-02 -2.00014429e+00] [ 1.54549007e-01 -3.44361233e-03 9.87979122e-01 1.24353401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.066296757 meters Centerline goodness : 0.794041 with order 1 Centerline is valid? [False, False] Translation: X:12.53, Y:-2.00, Z:1.24 [[ 9.57666352e-01 2.46207402e-01 -1.49188045e-01 1.25250258e+01] [-2.42799519e-01 9.69212599e-01 4.09307994e-02 -1.99884233e+00] [ 1.54672399e-01 -2.97526373e-03 9.87961334e-01 1.24330139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.126296757 meters Centerline goodness : 0.795988 with order 1 Centerline is valid? [False, False] Translation: X:12.52, Y:-2.00, Z:1.24 [[ 9.57495037e-01 2.47063636e-01 -1.48871803e-01 1.25233664e+01] [-2.43692774e-01 9.68995343e-01 4.07658857e-02 -1.99641519e+00] [ 1.54327852e-01 -2.75415066e-03 9.88015855e-01 1.24403349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.186296757 meters Centerline goodness : 0.795191 with order 1 Centerline is valid? [False, False] Translation: X:12.52, Y:-1.99, Z:1.24 [[ 9.57311959e-01 2.47751158e-01 -1.48906603e-01 1.25231368e+01] [-2.44450614e-01 9.68821101e-01 4.03679454e-02 -1.99327180e+00] [ 1.54265064e-01 -2.24440637e-03 9.88026949e-01 1.24406073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.246296757 meters Centerline goodness : 0.791361 with order 1 Centerline is valid? [False, False] Translation: X:12.53, Y:-1.99, Z:1.24 [[ 9.56256271e-01 2.51909114e-01 -1.48713626e-01 1.25250558e+01] [-2.48234295e-01 9.67741414e-01 4.30846926e-02 -1.98972626e+00] [ 1.54769762e-01 -4.28418518e-03 9.87941277e-01 1.24353575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.306296757 meters Centerline goodness : 0.789262 with order 1 Centerline is valid? [False, False] Translation: X:12.53, Y:-1.99, Z:1.24 [[ 9.56275716e-01 2.51532158e-01 -1.49225762e-01 1.25262860e+01] [-2.47968367e-01 9.67842684e-01 4.23347212e-02 -1.98713826e+00] [ 1.55075605e-01 -3.48039742e-03 9.87896474e-01 1.24349582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.36629675700001 meters Centerline goodness : 0.783221 with order 1 Centerline is valid? [False, False] Translation: X:12.53, Y:-1.98, Z:1.24 [[ 9.57297831e-01 2.46815630e-01 -1.50542045e-01 1.25270066e+01] [-2.43900198e-01 9.69062325e-01 3.78272907e-02 -1.98379302e+00] [ 1.55220991e-01 5.05251253e-04 9.87879643e-01 1.24378671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.42629675700002 meters Centerline goodness : 0.783041 with order 1 Centerline is valid? [False, False] Translation: X:12.52, Y:-1.98, Z:1.24 [[ 9.60125043e-01 2.40179172e-01 -1.43086922e-01 1.25188637e+01] [-2.37388294e-01 9.70727950e-01 3.65245743e-02 -1.97753595e+00] [ 1.47670916e-01 -1.10099815e-03 9.89035939e-01 1.23932259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.486296757 meters Centerline goodness : 0.789619 with order 1 Centerline is valid? [False, False] Translation: X:12.52, Y:-1.97, Z:1.24 [[ 9.61141211e-01 2.35510277e-01 -1.44022504e-01 1.25183909e+01] [-2.33268221e-01 9.71869008e-01 3.25049118e-02 -1.97485152e+00] [ 1.47626249e-01 2.35406306e-03 9.89040418e-01 1.24080475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.546296757 meters Centerline goodness : 0.786620 with order 1 Centerline is valid? [False, False] Translation: X:12.52, Y:-1.97, Z:1.24 [[ 9.61994790e-01 2.31445479e-01 -1.44910364e-01 1.25181695e+01] [-2.29768897e-01 9.72829734e-01 2.84352400e-02 -1.97186092e+00] [ 1.47554319e-01 5.94134184e-03 9.89036108e-01 1.24125609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.606296757 meters Centerline goodness : 0.785946 with order 1 Centerline is valid? [False, False] Translation: X:12.52, Y:-1.97, Z:1.24 [[ 9.62060442e-01 2.31018218e-01 -1.45156082e-01 1.25185467e+01] [-2.29405677e-01 9.72928526e-01 2.79842715e-02 -1.96871662e+00] [ 1.47691369e-01 6.37706858e-03 9.89012938e-01 1.24225514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.666296757 meters Centerline goodness : 0.785649 with order 1 Centerline is valid? [False, False] Translation: X:12.52, Y:-1.97, Z:1.24 [[ 9.61186592e-01 2.34696464e-01 -1.45044490e-01 1.25208835e+01] [-2.32702894e-01 9.72059878e-01 3.08051317e-02 -1.96522940e+00] [ 1.48221785e-01 4.14279314e-03 9.88945468e-01 1.24200711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.726296757 meters Centerline goodness : 0.787487 with order 1 Centerline is valid? [False, False] Translation: X:12.52, Y:-1.96, Z:1.24 [[ 9.60326948e-01 2.38048764e-01 -1.45275387e-01 1.25248267e+01] [-2.35788241e-01 9.71249405e-01 3.28405119e-02 -1.96211486e+00] [ 1.48916277e-01 2.71659939e-03 9.88846076e-01 1.23974543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.786296757 meters Centerline goodness : 0.790429 with order 1 Centerline is valid? [False, False] Translation: X:12.53, Y:-1.96, Z:1.24 [[ 9.60291163e-01 2.37927757e-01 -1.45709523e-01 1.25261623e+01] [-2.35752854e-01 9.71277040e-01 3.22723270e-02 -1.96009165e+00] [ 1.49202796e-01 3.36060534e-03 9.88800906e-01 1.23929862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.846296757 meters Centerline goodness : 0.790656 with order 1 Centerline is valid? [False, False] Translation: X:12.53, Y:-1.96, Z:1.24 [[ 9.60209081e-01 2.37995145e-01 -1.46139767e-01 1.25269355e+01] [-2.35918980e-01 9.71257685e-01 3.16345576e-02 -1.95739714e+00] [ 1.49468243e-01 4.10135524e-03 9.88758021e-01 1.23933976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.906296757 meters Centerline goodness : 0.797330 with order 1 Centerline is valid? [False, False] Translation: X:12.53, Y:-1.96, Z:1.24 [[ 9.60288039e-01 2.37284012e-01 -1.46775954e-01 1.25275397e+01] [-2.35130742e-01 9.71433348e-01 3.21058283e-02 -1.95819144e+00] [ 1.50201256e-01 3.68069598e-03 9.88648590e-01 1.24143488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.966296757 meters Centerline goodness : 0.794186 with order 1 Centerline is valid? [False, False] Translation: X:12.53, Y:-1.96, Z:1.24 [[ 9.61201925e-01 2.33206908e-01 -1.47327516e-01 1.25255921e+01] [-2.31452631e-01 9.72408333e-01 2.91841357e-02 -1.95792487e+00] [ 1.50068447e-01 6.04749393e-03 9.88657114e-01 1.24390616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.026296757 meters Centerline goodness : 0.799398 with order 1 Centerline is valid? [False, False] Translation: X:12.52, Y:-1.96, Z:1.25 [[ 9.62197604e-01 2.28552763e-01 -1.48119567e-01 1.25248141e+01] [-2.27249206e-01 9.73492268e-01 2.58960117e-02 -1.95754805e+00] [ 1.50111858e-01 8.74297352e-03 9.88630361e-01 1.24576672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.086296757 meters Centerline goodness : 0.801282 with order 1 Centerline is valid? [False, False] Translation: X:12.52, Y:-1.96, Z:1.25 [[ 9.62977807e-01 2.25087296e-01 -1.48355834e-01 1.25223494e+01] [-2.24233976e-01 9.74271533e-01 2.26738787e-02 -1.95604894e+00] [ 1.49642467e-01 1.14319765e-02 9.88674083e-01 1.24747058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.14629675700002 meters Centerline goodness : 0.799861 with order 1 Centerline is valid? [False, False] Translation: X:12.52, Y:-1.96, Z:1.25 [[ 9.62993811e-01 2.25197288e-01 -1.48084779e-01 1.25214653e+01] [-2.24261303e-01 9.74252656e-01 2.32083914e-02 -1.95623655e+00] [ 1.49498456e-01 1.08601483e-02 9.88702316e-01 1.24864552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.206296757 meters Centerline goodness : 0.795513 with order 1 Centerline is valid? [False, False] Translation: X:12.52, Y:-1.96, Z:1.25 [[ 9.62905360e-01 2.25687048e-01 -1.47914244e-01 1.25212263e+01] [-2.24741245e-01 9.74139900e-01 2.32986943e-02 -1.95511407e+00] [ 1.49347381e-01 1.08079937e-02 9.88725719e-01 1.24862572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.266296757 meters Centerline goodness : 0.798382 with order 1 Centerline is valid? [False, False] Translation: X:12.52, Y:-1.95, Z:1.25 [[ 9.62665348e-01 2.26767139e-01 -1.47824533e-01 1.25210094e+01] [-2.25835209e-01 9.73887227e-01 2.32836146e-02 -1.95326663e+00] [ 1.49244384e-01 1.09696555e-02 9.88739491e-01 1.24822340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.326296757 meters Centerline goodness : 0.798256 with order 1 Centerline is valid? [False, False] Translation: X:12.52, Y:-1.95, Z:1.25 [[ 9.61592421e-01 2.31836024e-01 -1.46942418e-01 1.25212139e+01] [-2.30365022e-01 9.72724364e-01 2.71894929e-02 -1.95298306e+00] [ 1.49237974e-01 7.70518303e-03 9.88771287e-01 1.24774689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.386296757 meters Centerline goodness : 0.800549 with order 1 Centerline is valid? [False, False] Translation: X:12.52, Y:-1.95, Z:1.25 [[ 9.60428659e-01 2.37218613e-01 -1.45959314e-01 1.25210882e+01] [-2.35177118e-01 9.71447103e-01 3.13408549e-02 -1.95370140e+00] [ 1.49226386e-01 4.22563549e-03 9.88794028e-01 1.24719426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.446296757 meters Centerline goodness : 0.797648 with order 1 Centerline is valid? [False, False] Translation: X:12.52, Y:-1.95, Z:1.25 [[ 9.59997457e-01 2.39496355e-01 -1.45073702e-01 1.25182644e+01] [-2.37341020e-01 9.70891042e-01 3.22463010e-02 -1.95301607e+00] [ 1.48573629e-01 3.47557339e-03 9.88895241e-01 1.24763168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.506296757 meters Centerline goodness : 0.797880 with order 1 Centerline is valid? [False, False] Translation: X:12.52, Y:-1.95, Z:1.25 [[ 9.59786021e-01 2.40949628e-01 -1.44062731e-01 1.25152031e+01] [-2.38625130e-01 9.70534995e-01 3.34644636e-02 -1.95368552e+00] [ 1.47881172e-01 2.25826352e-03 9.89002558e-01 1.24914685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.566296757 meters Centerline goodness : 0.795926 with order 1 Centerline is valid? [False, False] Translation: X:12.51, Y:-1.96, Z:1.25 [[ 9.59722686e-01 2.41470745e-01 -1.43611438e-01 1.25136599e+01] [-2.38987160e-01 9.70407417e-01 3.45627244e-02 -1.95522707e+00] [ 1.47707491e-01 1.15065892e-03 9.89030421e-01 1.25068888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.626296757 meters Centerline goodness : 0.795230 with order 1 Centerline is valid? [False, False] Translation: X:12.51, Y:-1.96, Z:1.25 [[ 9.59898514e-01 2.40863353e-01 -1.43456222e-01 1.25137792e+01] [-2.38329589e-01 9.70558759e-01 3.48525746e-02 -1.95599011e+00] [ 1.47627401e-01 7.34927753e-04 9.89042775e-01 1.25137224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.686296757 meters Centerline goodness : 0.799091 with order 1 Centerline is valid? [False, False] Translation: X:12.51, Y:-1.96, Z:1.25 [[ 9.60797325e-01 2.37135102e-01 -1.43650421e-01 1.25114819e+01] [-2.35084214e-01 9.71469775e-01 3.13350989e-02 -1.95535699e+00] [ 1.46982694e-01 3.66326698e-03 9.89132280e-01 1.25240630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.746296757 meters Centerline goodness : 0.795943 with order 1 Centerline is valid? [False, False] Translation: X:12.51, Y:-1.95, Z:1.25 [[ 9.60947293e-01 2.36312074e-01 -1.44003135e-01 1.25130600e+01] [-2.34313609e-01 9.71668898e-01 3.09303280e-02 -1.95472088e+00] [ 1.47232578e-01 4.01947942e-03 9.89093733e-01 1.25208963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.806296757 meters Centerline goodness : 0.793980 with order 1 Centerline is valid? [False, False] Translation: X:12.52, Y:-1.95, Z:1.25 [[ 9.60145570e-01 2.39588175e-01 -1.43937455e-01 1.25161444e+01] [-2.37159138e-01 9.70873551e-01 3.40601150e-02 -1.95335136e+00] [ 1.47905469e-01 1.43341436e-03 9.89000464e-01 1.25130863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.86629675700001 meters Centerline goodness : 0.793672 with order 1 Centerline is valid? [False, False] Translation: X:12.52, Y:-1.95, Z:1.25 [[ 9.60042430e-01 2.39674431e-01 -1.44480793e-01 1.25176741e+01] [-2.37350084e-01 9.70850708e-01 3.33742602e-02 -1.95120909e+00] [ 1.48268237e-01 2.25182256e-03 9.88944619e-01 1.25043816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.92629675700002 meters Centerline goodness : 0.792457 with order 1 Centerline is valid? [False, False] Translation: X:12.52, Y:-1.95, Z:1.25 [[ 9.59933865e-01 2.39896017e-01 -1.44833962e-01 1.25181971e+01] [-2.37568359e-01 9.70795797e-01 3.34184894e-02 -1.94944641e+00] [ 1.48621164e-01 2.32842702e-03 9.88891464e-01 1.25118296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.986296757 meters Centerline goodness : 0.789264 with order 1 Centerline is valid? [False, False] Translation: X:12.52, Y:-1.95, Z:1.25 [[ 9.59987813e-01 2.39510624e-01 -1.45113952e-01 1.25184248e+01] [-2.37147543e-01 9.70891407e-01 3.36291325e-02 -1.94876120e+00] [ 1.48944424e-01 2.12985973e-03 9.88843275e-01 1.25283903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.046296757 meters Centerline goodness : 0.795883 with order 1 Centerline is valid? [False, False] Translation: X:12.52, Y:-1.95, Z:1.25 [[ 9.60137419e-01 2.38850830e-01 -1.45211633e-01 1.25189902e+01] [-2.36471839e-01 9.71054222e-01 3.36863166e-02 -1.94930207e+00] [ 1.49054374e-01 1.99496891e-03 9.88826989e-01 1.25319489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.106296757 meters Centerline goodness : 0.798652 with order 1 Centerline is valid? [False, False] Translation: X:12.52, Y:-1.95, Z:1.25 [[ 9.61222360e-01 2.34139413e-01 -1.45706247e-01 1.25187320e+01] [-2.32316473e-01 9.72188299e-01 2.96473801e-02 -1.94706542e+00] [ 1.48595529e-01 5.35223680e-03 9.88883574e-01 1.25345095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.166296757 meters Centerline goodness : 0.796874 with order 1 Centerline is valid? [False, False] Translation: X:12.51, Y:-1.94, Z:1.25 [[ 9.63984371e-01 2.28013328e-01 -1.36908925e-01 1.25074678e+01] [-2.26187282e-01 9.73653234e-01 2.89601989e-02 -1.94240158e+00] [ 1.39905129e-01 3.04987851e-03 9.90160216e-01 1.24997829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.226296757 meters Centerline goodness : 0.792171 with order 1 Centerline is valid? [False, False] Translation: X:12.51, Y:-1.94, Z:1.25 [[ 9.64054527e-01 2.27625245e-01 -1.37060634e-01 1.25081168e+01] [-2.25869004e-01 9.73742385e-01 2.84422534e-02 -1.94000468e+00] [ 1.39935923e-01 3.53786562e-03 9.90154241e-01 1.25028847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.286296757 meters Centerline goodness : 0.787019 with order 1 Centerline is valid? [False, False] Translation: X:12.51, Y:-1.94, Z:1.25 [[ 9.63996998e-01 2.27652107e-01 -1.37420180e-01 1.25094187e+01] [-2.25978971e-01 9.73733514e-01 2.78666235e-02 -1.93741094e+00] [ 1.40154530e-01 4.19072957e-03 9.90120773e-01 1.24969071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.346296757 meters Centerline goodness : 0.781780 with order 1 Centerline is valid? [False, False] Translation: X:12.51, Y:-1.93, Z:1.25 [[ 9.63133056e-01 2.31265821e-01 -1.37443939e-01 1.25131120e+01] [-2.29316914e-01 9.72887239e-01 3.00694668e-02 -1.93300266e+00] [ 1.40671494e-01 2.55732229e-03 9.90053024e-01 1.24757872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.406296757 meters Centerline goodness : 0.783059 with order 1 Centerline is valid? [False, False] Translation: X:12.52, Y:-1.93, Z:1.25 [[ 9.62077385e-01 2.35639278e-01 -1.37409011e-01 1.25158767e+01] [-2.33448547e-01 9.71839830e-01 3.20799008e-02 -1.92571806e+00] [ 1.41098834e-01 1.21458689e-03 9.89994770e-01 1.24625019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.466296757 meters Centerline goodness : 0.798771 with order 3 Centerline is valid? [False, False] Translation: X:12.52, Y:-1.92, Z:1.25 [[ 9.61871533e-01 2.36619356e-01 -1.37165722e-01 1.25150707e+01] [-2.34490463e-01 9.71601010e-01 3.17127641e-02 -1.92078219e+00] [ 1.40774208e-01 1.66044856e-03 9.90040335e-01 1.24707225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.526296757 meters Centerline goodness : 0.786256 with order 1 Centerline is valid? [False, False] Translation: X:12.52, Y:-1.92, Z:1.25 [[ 9.61046690e-01 2.40163977e-01 -1.36786414e-01 1.25165829e+01] [-2.37612623e-01 9.70731747e-01 3.49301668e-02 -1.91800081e+00] [ 1.41171882e-01 -1.06734257e-03 9.89984525e-01 1.24764404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.586296757 meters Centerline goodness : 0.788312 with order 2 Centerline is valid? [False, False] Translation: X:12.52, Y:-1.91, Z:1.25 [[ 9.60273930e-01 2.43579806e-01 -1.36172161e-01 1.25173523e+01] [-2.40670547e-01 9.69874829e-01 3.76895713e-02 -1.91249837e+00] [ 1.41250370e-01 -3.41968413e-03 9.89967999e-01 1.24920843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.64629675700002 meters Centerline goodness : 0.786631 with order 2 Centerline is valid? [False, False] Translation: X:12.52, Y:-1.91, Z:1.25 [[ 9.60379181e-01 2.42947137e-01 -1.36559578e-01 1.25185077e+01] [-2.40176607e-01 9.70036526e-01 3.66651956e-02 -1.90736891e+00] [ 1.41375482e-01 -2.41407454e-03 9.89953103e-01 1.24973784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.706296757 meters Centerline goodness : 0.796034 with order 3 Centerline is valid? [False, False] Translation: X:12.52, Y:-1.91, Z:1.25 [[ 9.60411839e-01 2.42732935e-01 -1.36710720e-01 1.25190101e+01] [-2.40019257e-01 9.70091087e-01 3.62496855e-02 -1.90535716e+00] [ 1.41420843e-01 -2.00142171e-03 9.89947544e-01 1.24995536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.766296757 meters Centerline goodness : 0.789363 with order 2 Centerline is valid? [False, False] Translation: X:12.52, Y:-1.90, Z:1.25 [[ 9.60485861e-01 2.42242132e-01 -1.37060790e-01 1.25195607e+01] [-2.39668145e-01 9.70215319e-01 3.52337244e-02 -1.90003324e+00] [ 1.41513571e-01 -9.92388827e-04 9.89935818e-01 1.25101152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.826296757 meters Centerline goodness : 0.792485 with order 2 Centerline is valid? [False, False] Translation: X:12.52, Y:-1.90, Z:1.25 [[ 9.60074959e-01 2.43886754e-01 -1.37023080e-01 1.25240722e+01] [-2.41009287e-01 9.69799232e-01 3.74696418e-02 -1.89710207e+00] [ 1.42023227e-01 -2.94983008e-03 9.89858930e-01 1.25024894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.886296757 meters Centerline goodness : 0.793098 with order 2 Centerline is valid? [False, False] Translation: X:12.53, Y:-1.89, Z:1.25 [[ 9.59468866e-01 2.45724191e-01 -1.37982308e-01 1.25305552e+01] [-2.42712943e-01 9.69333627e-01 3.85064535e-02 -1.89259558e+00] [ 1.43212858e-01 -3.45565120e-03 9.89685877e-01 1.24726979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.946296757 meters Centerline goodness : 0.795178 with order 3 Centerline is valid? [False, False] Translation: X:12.54, Y:-1.89, Z:1.25 [[ 9.58483798e-01 2.49099690e-01 -1.38773752e-01 1.25356007e+01] [-2.45952612e-01 9.68470064e-01 3.96616723e-02 -1.88937331e+00] [ 1.44277934e-01 -3.88330361e-03 9.89529584e-01 1.24542228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.006296757 meters Centerline goodness : 0.783894 with order 2 Centerline is valid? [False, False] Translation: X:12.54, Y:-1.89, Z:1.25 [[ 9.57906365e-01 2.51113213e-01 -1.39131410e-01 1.25381839e+01] [-2.47966904e-01 9.67950968e-01 3.97911714e-02 -1.88525132e+00] [ 1.44664472e-01 -3.61623135e-03 9.89474160e-01 1.24525177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.066296757 meters Centerline goodness : 0.788330 with order 2 Centerline is valid? [False, False] Translation: X:12.54, Y:-1.88, Z:1.25 [[ 9.57767940e-01 2.51411251e-01 -1.39545534e-01 1.25397670e+01] [-2.48549986e-01 9.67879079e-01 3.78549021e-02 -1.88015322e+00] [ 1.44580351e-01 -1.57217123e-03 9.89491814e-01 1.24532742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.126296757 meters Centerline goodness : 0.790786 with order 2 Centerline is valid? [False, False] Translation: X:12.54, Y:-1.88, Z:1.25 [[ 9.57767789e-01 2.50830443e-01 -1.40587876e-01 1.25415944e+01] [-2.48422313e-01 9.68029585e-01 3.47142301e-02 -1.87537974e+00] [ 1.44800609e-01 1.67699404e-03 9.89459434e-01 1.24605865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.186296757 meters Centerline goodness : 0.788610 with order 2 Centerline is valid? [False, False] Translation: X:12.54, Y:-1.87, Z:1.25 [[ 9.57414314e-01 2.53242393e-01 -1.38658289e-01 1.25405324e+01] [-2.50534770e-01 9.67402655e-01 3.69382098e-02 -1.87105735e+00] [ 1.43492718e-01 -6.26448285e-04 9.89651175e-01 1.24587526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.246296757 meters Centerline goodness : 0.789853 with order 2 Centerline is valid? [False, False] Translation: X:12.54, Y:-1.87, Z:1.24 [[ 9.57536135e-01 2.53258840e-01 -1.37784290e-01 1.25422433e+01] [-2.50479378e-01 9.67397625e-01 3.74421891e-02 -1.86633546e+00] [ 1.42774760e-01 -1.34012583e-03 9.89754299e-01 1.24355492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.306296757 meters Centerline goodness : 0.794485 with order 3 Centerline is valid? [False, False] Translation: X:12.54, Y:-1.86, Z:1.24 [[ 9.58136892e-01 2.51571130e-01 -1.36695511e-01 1.25405520e+01] [-2.48980023e-01 9.67838696e-01 3.60167557e-02 -1.86097227e+00] [ 1.41359981e-01 -4.74530995e-04 9.89958146e-01 1.24402850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.36629675700001 meters Centerline goodness : 0.790188 with order 2 Centerline is valid? [False, False] Translation: X:12.54, Y:-1.86, Z:1.24 [[ 9.58585746e-01 2.50350647e-01 -1.35786307e-01 1.25396904e+01] [-2.47889321e-01 9.68155228e-01 3.50191298e-02 -1.85606529e+00] [ 1.40229285e-01 9.11367797e-05 9.90119053e-01 1.24399293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.42629675700002 meters Centerline goodness : 0.805037 with order 3 Centerline is valid? [False, False] Translation: X:12.54, Y:-1.85, Z:1.24 [[ 9.57756741e-01 2.54118199e-01 -1.34632708e-01 1.25413331e+01] [-2.51279084e-01 9.67169861e-01 3.79642302e-02 -1.85221903e+00] [ 1.39860099e-01 -2.53011392e-03 9.90168042e-01 1.24281317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.486296757 meters Centerline goodness : 0.789666 with order 2 Centerline is valid? [False, False] Translation: X:12.54, Y:-1.85, Z:1.24 [[ 9.56373547e-01 2.59601688e-01 -1.34002244e-01 1.25436653e+01] [-2.56452428e-01 9.65705659e-01 4.05552996e-02 -1.84816624e+00] [ 1.39934949e-01 -4.42081496e-03 9.90150830e-01 1.24232721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.546296757 meters Centerline goodness : 0.815425 with order 3 Centerline is valid? [False, False] Translation: X:12.55, Y:-1.84, Z:1.24 [[ 9.54959664e-01 2.64746883e-01 -1.34019137e-01 1.25461688e+01] [-2.61368220e-01 9.64301762e-01 4.25295834e-02 -1.84483869e+00] [ 1.40494464e-01 -5.58569339e-03 9.90065708e-01 1.24285633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.606296757 meters Centerline goodness : 0.814251 with order 3 Centerline is valid? [False, False] Translation: X:12.55, Y:-1.84, Z:1.24 [[ 9.54166748e-01 2.66453522e-01 -1.36265686e-01 1.25510297e+01] [-2.63354206e-01 9.63843478e-01 4.06240452e-02 -1.84220743e+00] [ 1.42163213e-01 -2.87597143e-03 9.89839052e-01 1.24332954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.666296757 meters Centerline goodness : 0.818550 with order 3 Centerline is valid? [False, False] Translation: X:12.55, Y:-1.84, Z:1.24 [[ 9.54098163e-01 2.66424981e-01 -1.36800677e-01 1.25521320e+01] [-2.63570912e-01 9.63855070e-01 3.89073077e-02 -1.83902609e+00] [ 1.42221905e-01 -1.06471157e-03 9.89834227e-01 1.24421646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.726296757 meters Centerline goodness : 0.819741 with order 3 Centerline is valid? [False, False] Translation: X:12.55, Y:-1.84, Z:1.25 [[ 9.53839464e-01 2.66494412e-01 -1.38459400e-01 1.25546965e+01] [-2.63991225e-01 9.63834868e-01 3.64825914e-02 -1.83632824e+00] [ 1.43174405e-01 1.75353135e-03 9.89695920e-01 1.24568144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.786296757 meters Centerline goodness : 0.798152 with order 2 Centerline is valid? [False, False] Translation: X:12.56, Y:-1.83, Z:1.25 [[ 9.53652490e-01 2.66496667e-01 -1.39737090e-01 1.25575001e+01] [-2.64314538e-01 9.63826564e-01 3.42954683e-02 -1.83285152e+00] [ 1.43821947e-01 4.22858562e-03 9.89594547e-01 1.24632332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.846296757 meters Centerline goodness : 0.799709 with order 1 Centerline is valid? [False, False] Translation: X:12.56, Y:-1.83, Z:1.25 [[ 9.52784208e-01 2.69640669e-01 -1.39628661e-01 1.25600681e+01] [-2.67257938e-01 9.62955989e-01 3.59020447e-02 -1.82963227e+00] [ 1.44136907e-01 3.10996681e-03 9.89552869e-01 1.24604676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.906296757 meters Centerline goodness : 0.805865 with order 1 Centerline is valid? [False, False] Translation: X:12.56, Y:-1.83, Z:1.24 [[ 9.51923131e-01 2.72929108e-01 -1.39111661e-01 1.25631126e+01] [-2.70312159e-01 9.62032688e-01 3.77418127e-02 -1.82553731e+00] [ 1.44130804e-01 1.67626887e-03 9.89557225e-01 1.24456350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.966296757 meters Centerline goodness : 0.837102 with order 3 Centerline is valid? [False, False] Translation: X:12.56, Y:-1.82, Z:1.25 [[ 9.51006441e-01 2.76529100e-01 -1.38269322e-01 1.25633699e+01] [-2.73639160e-01 9.61005541e-01 3.98743072e-02 -1.82167995e+00] [ 1.43903991e-01 -8.48217239e-05 9.89591650e-01 1.24544121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.026296757 meters Centerline goodness : 0.816346 with order 1 Centerline is valid? [False, False] Translation: X:12.57, Y:-1.82, Z:1.25 [[ 9.50392794e-01 2.78012180e-01 -1.39509016e-01 1.25660011e+01] [-2.75354225e-01 9.60575630e-01 3.83993368e-02 -1.81925991e+00] [ 1.44684444e-01 1.91994394e-03 9.89475985e-01 1.24641555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.086296757 meters Centerline goodness : 0.812959 with order 1 Centerline is valid? [False, False] Translation: X:12.57, Y:-1.82, Z:1.25 [[ 9.49577444e-01 2.81445629e-01 -1.38170311e-01 1.25657330e+01] [-2.78506048e-01 9.59577176e-01 4.05712402e-02 -1.81509176e+00] [ 1.44003675e-01 -4.42674371e-05 9.89577152e-01 1.24694966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.14629675700002 meters Centerline goodness : 0.813531 with order 1 Centerline is valid? [False, False] Translation: X:12.56, Y:-1.81, Z:1.25 [[ 9.49071114e-01 2.83983157e-01 -1.36446276e-01 1.25628880e+01] [-2.80861682e-01 9.58828006e-01 4.20186944e-02 -1.81056299e+00] [ 1.42761112e-01 -1.55619847e-03 9.89755951e-01 1.24908412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.206296757 meters Centerline goodness : 0.816185 with order 1 Centerline is valid? [False, False] Translation: X:12.56, Y:-1.81, Z:1.25 [[ 9.49196319e-01 2.83733640e-01 -1.36093974e-01 1.25608716e+01] [-2.80889747e-01 9.58903115e-01 4.00719983e-02 -1.80535606e+00] [ 1.41870710e-01 1.91208795e-04 9.89885178e-01 1.25172651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.266296757 meters Centerline goodness : 0.819270 with order 1 Centerline is valid? [False, False] Translation: X:12.56, Y:-1.80, Z:1.25 [[ 9.49090026e-01 2.83720639e-01 -1.36860223e-01 1.25627352e+01] [-2.81214795e-01 9.58903217e-01 3.77207998e-02 -1.80109611e+00] [ 1.41937877e-01 2.68668461e-03 9.89871921e-01 1.25222787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.326296757 meters Centerline goodness : 0.817997 with order 1 Centerline is valid? [False, False] Translation: X:12.56, Y:-1.79, Z:1.25 [[ 9.47634454e-01 2.82256486e-01 -1.49399522e-01 1.25630493e+01] [-2.80105893e-01 9.59305405e-01 3.56907252e-02 -1.79351838e+00] [ 1.53393707e-01 8.02592557e-03 9.88132559e-01 1.25457838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.386296757 meters Centerline goodness : 0.819755 with order 1 Centerline is valid? [False, False] Translation: X:12.57, Y:-1.79, Z:1.25 [[ 9.47137719e-01 2.83093615e-01 -1.50957433e-01 1.25672640e+01] [-2.81398672e-01 9.59025812e-01 3.29284054e-02 -1.78813348e+00] [ 1.54093896e-01 1.12914862e-02 9.87991687e-01 1.25468375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.446296757 meters Centerline goodness : 0.819970 with order 1 Centerline is valid? [False, False] Translation: X:12.57, Y:-1.78, Z:1.26 [[ 0.94689758 0.28322084 -0.15222 12.57022219] [-0.28188164 0.95895578 0.03076615 -1.78468211] [ 0.15468586 0.01377563 0.98786766 1.255029 ] [ 0. 0. 0. 1. ]] SLAMing on 204.506296757 meters Centerline goodness : 0.820139 with order 1 Centerline is valid? [False, False] Translation: X:12.57, Y:-1.78, Z:1.26 [[ 0.94688235 0.28269343 -0.15329133 12.57319911] [-0.28190462 0.95905345 0.02731788 -1.77850227] [ 0.15473717 0.01734672 0.98780337 1.25526744] [ 0. 0. 0. 1. ]] SLAMing on 204.566296757 meters Centerline goodness : 0.824051 with order 1 Centerline is valid? [False, False] Translation: X:12.58, Y:-1.78, Z:1.25 [[ 0.94703441 0.2817984 -0.15399831 12.57609323] [-0.2812594 0.95928665 0.02573481 -1.7756977 ] [ 0.15498055 0.01894172 0.98773592 1.25403145] [ 0. 0. 0. 1. ]] SLAMing on 204.626296757 meters Centerline goodness : 0.820163 with order 1 Centerline is valid? [False, False] Translation: X:12.58, Y:-1.77, Z:1.25 [[ 0.94746181 0.28037569 -0.15396623 12.57820501] [-0.27993929 0.9596932 0.02495913 -1.77358968] [ 0.15475827 0.01945337 0.98776082 1.25176048] [ 0. 0. 0. 1. ]] SLAMing on 204.686296757 meters Centerline goodness : 0.817250 with order 1 Centerline is valid? [False, False] Translation: X:12.58, Y:-1.77, Z:1.25 [[ 0.94892545 0.27490957 -0.15480706 12.58124037] [-0.27499242 0.96121025 0.02130782 -1.77141814] [ 0.15465985 0.02235124 0.98771491 1.24830562] [ 0. 0. 0. 1. ]] SLAMing on 204.746296757 meters Centerline goodness : 0.818930 with order 1 Centerline is valid? [False, False] Translation: X:12.58, Y:-1.77, Z:1.25 [[ 0.95022599 0.26981144 -0.15579586 12.58285565] [-0.27050817 0.96256544 0.01712034 -1.76925336] [ 0.15458298 0.02587586 0.9876409 1.24670331] [ 0. 0. 0. 1. ]] SLAMing on 204.806296757 meters Centerline goodness : 0.818412 with order 1 Centerline is valid? [False, False] Translation: X:12.58, Y:-1.77, Z:1.25 [[ 9.51859730e-01 2.63663718e-01 -1.56347365e-01 1.25825115e+01] [-2.65022148e-01 9.64161615e-01 1.24755957e-02 -1.76752578e+00] [ 1.54033490e-01 2.95604973e-02 9.87623340e-01 1.24578552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.86629675700001 meters Centerline goodness : 0.817020 with order 1 Centerline is valid? [False, False] Translation: X:12.58, Y:-1.77, Z:1.24 [[ 9.52814946e-01 2.59949972e-01 -1.56747218e-01 1.25835731e+01] [-2.61724871e-01 9.65095014e-01 9.57626738e-03 -1.76630708e+00] [ 1.53765309e-01 3.19002346e-02 9.87592327e-01 1.24416255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.92629675700002 meters Centerline goodness : 0.815461 with order 1 Centerline is valid? [False, False] Translation: X:12.59, Y:-1.77, Z:1.24 [[ 9.52895417e-01 2.63097884e-01 -1.50896745e-01 1.25907787e+01] [-2.65579475e-01 9.64081353e-01 3.83241869e-03 -1.76836572e+00] [ 1.46485039e-01 3.64231841e-02 9.88542101e-01 1.23964453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.986296757 meters Centerline goodness : 0.814772 with order 1 Centerline is valid? [False, False] Translation: X:12.59, Y:-1.77, Z:1.24 [[ 9.52409285e-01 2.64355859e-01 -1.51764732e-01 1.25946422e+01] [-2.66906258e-01 9.63715437e-01 3.68876438e-03 -1.76785190e+00] [ 1.47233162e-01 3.69937434e-02 9.88409763e-01 1.23802121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.046296757 meters Centerline goodness : 0.813842 with order 1 Centerline is valid? [False, False] Translation: X:12.60, Y:-1.77, Z:1.24 [[ 9.51769625e-01 2.65705510e-01 -1.53411742e-01 1.25993365e+01] [-2.68442643e-01 9.63291080e-01 2.97365422e-03 -1.76739677e+00] [ 1.48570279e-01 3.83520198e-02 9.88157879e-01 1.23709836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.106296757 meters Centerline goodness : 0.816586 with order 1 Centerline is valid? [False, False] Translation: X:12.60, Y:-1.77, Z:1.24 [[ 9.50852846e-01 2.68060058e-01 -1.54992488e-01 1.26030272e+01] [-2.71018757e-01 9.62571739e-01 2.11674586e-03 -1.76624387e+00] [ 1.49758804e-01 3.99931576e-02 9.87913381e-01 1.23778977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.166296757 meters Centerline goodness : 0.815128 with order 1 Centerline is valid? [False, False] Translation: X:12.61, Y:-1.77, Z:1.24 [[ 9.49909595e-01 2.70361394e-01 -1.56768870e-01 1.26081611e+01] [-2.73522206e-01 9.61864573e-01 1.46508396e-03 -1.76516752e+00] [ 1.51186524e-01 4.14880698e-02 9.87634231e-01 1.23720555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.226296757 meters Centerline goodness : 0.816135 with order 1 Centerline is valid? [False, False] Translation: X:12.61, Y:-1.76, Z:1.24 [[ 9.49125422e-01 2.71981917e-01 -1.58703400e-01 1.26136887e+01] [-2.75339605e-01 9.61346637e-01 8.63767378e-04 -1.76496878e+00] [ 1.52803909e-01 4.28775080e-02 9.87325926e-01 1.23606613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.286296757 meters Centerline goodness : 0.814722 with order 1 Centerline is valid? [False, False] Translation: X:12.61, Y:-1.76, Z:1.24 [[ 9.49116072e-01 2.71476162e-01 -1.59622605e-01 1.26149360e+01] [-2.75177848e-01 9.61392674e-01 -1.13095016e-03 -1.76329016e+00] [ 1.53152977e-01 4.49980079e-02 9.87177464e-01 1.23698498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.346296757 meters Centerline goodness : 0.816568 with order 1 Centerline is valid? [False, False] Translation: X:12.62, Y:-1.76, Z:1.24 [[ 9.49968127e-01 2.67307473e-01 -1.61577454e-01 1.26172333e+01] [-2.71837950e-01 9.62323091e-01 -6.19662357e-03 -1.76149187e+00] [ 1.53833311e-01 4.98094787e-02 9.86840579e-01 1.23703446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.406296757 meters Centerline goodness : 0.821263 with order 1 Centerline is valid? [False, False] Translation: X:12.62, Y:-1.76, Z:1.23 [[ 9.51186726e-01 2.67847332e-01 -1.53302376e-01 1.26236870e+01] [-2.72738705e-01 9.62020354e-01 -1.14208989e-02 -1.76428425e+00] [ 1.44420949e-01 5.26748990e-02 9.88113326e-01 1.23109715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.466296757 meters Centerline goodness : 0.820723 with order 1 Centerline is valid? [False, False] Translation: X:12.62, Y:-1.76, Z:1.23 [[ 0.95255395 0.26290915 -0.15336151 12.62273486] [-0.26815673 0.96327031 -0.01422242 -1.76392356] [ 0.14398938 0.05467255 0.9880678 1.23001619] [ 0. 0. 0. 1. ]] SLAMing on 205.526296757 meters Centerline goodness : 0.820391 with order 1 Centerline is valid? [False, False] Translation: X:12.62, Y:-1.76, Z:1.23 [[ 0.95302564 0.26105492 -0.15359839 12.62476968] [-0.26635792 0.96376279 -0.01465447 -1.76439409] [ 0.14420679 0.05487824 0.98802469 1.22754622] [ 0. 0. 0. 1. ]] SLAMing on 205.586296757 meters Centerline goodness : 0.821361 with order 1 Centerline is valid? [False, False] Translation: X:12.63, Y:-1.76, Z:1.23 [[ 0.95264225 0.26156963 -0.15509376 12.62935786] [-0.2670463 0.96356349 -0.01522079 -1.76446343] [ 0.14546139 0.05591718 0.98778249 1.22610988] [ 0. 0. 0. 1. ]] SLAMing on 205.64629675700002 meters Centerline goodness : 0.820405 with order 1 Centerline is valid? [False, False] Translation: X:12.64, Y:-1.76, Z:1.22 [[ 9.50937245e-01 2.67192818e-01 -1.55969078e-01 1.26352810e+01] [-2.72333693e-01 9.62125821e-01 -1.21764007e-02 -1.76369184e+00] [ 1.46808430e-01 5.40546280e-02 9.87686885e-01 1.22434439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.706296757 meters Centerline goodness : 0.820698 with order 1 Centerline is valid? [False, False] Translation: X:12.64, Y:-1.76, Z:1.22 [[ 9.50116440e-01 2.68971894e-01 -1.57901456e-01 1.26402632e+01] [-2.74285778e-01 9.61567389e-01 -1.24686976e-02 -1.76473137e+00] [ 1.48479162e-01 5.51568384e-02 9.87376150e-01 1.22368173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.766296757 meters Centerline goodness : 0.821995 with order 1 Centerline is valid? [False, False] Translation: X:12.64, Y:-1.77, Z:1.22 [[ 0.9499005 0.26897904 -0.15918327 12.64261657] [-0.27446332 0.96150816 -0.01311258 -1.76639701] [ 0.149529 0.05614561 0.98716197 1.22351888] [ 0. 0. 0. 1. ]] SLAMing on 205.826296757 meters Centerline goodness : 0.823665 with order 1 Centerline is valid? [False, False] Translation: X:12.64, Y:-1.77, Z:1.22 [[ 0.95030018 0.26676635 -0.16051567 12.64369238] [-0.27265166 0.9619893 -0.01541623 -1.76824451] [ 0.15030182 0.05841491 0.98691289 1.2233812 ] [ 0. 0. 0. 1. ]] SLAMing on 205.886296757 meters Centerline goodness : 0.823271 with order 1 Centerline is valid? [False, False] Translation: X:12.64, Y:-1.77, Z:1.22 [[ 0.95047935 0.26659935 -0.15973039 12.64064873] [-0.27217926 0.96214865 -0.01372661 -1.77267637] [ 0.15002487 0.05652215 0.98706524 1.22386631] [ 0. 0. 0. 1. ]] SLAMing on 205.946296757 meters Centerline goodness : 0.820934 with order 1 Centerline is valid? [False, False] Translation: X:12.64, Y:-1.78, Z:1.22 [[ 0.95130529 0.27048685 -0.14783476 12.64287807] [-0.27534651 0.96125627 -0.0130647 -1.77945078] [ 0.13857326 0.0531343 0.98892578 1.22056258] [ 0. 0. 0. 1. ]] SLAMing on 206.006296757 meters Centerline goodness : 0.820610 with order 1 Centerline is valid? [False, False] Translation: X:12.64, Y:-1.78, Z:1.22 [[ 0.95091202 0.27159636 -0.14832984 12.64439967] [-0.27643681 0.96094879 -0.0126535 -1.78093371] [ 0.13910074 0.0530362 0.98885699 1.22009287] [ 0. 0. 0. 1. ]] SLAMing on 206.066296757 meters Centerline goodness : 0.820278 with order 1 Centerline is valid? [False, False] Translation: X:12.65, Y:-1.78, Z:1.22 [[ 9.49585796e-01 2.75010966e-01 -1.50518385e-01 1.26498674e+01] [-2.79974964e-01 9.59926925e-01 -1.24225221e-02 -1.78237276e+00] [ 1.41070321e-01 5.39376300e-02 9.88529158e-01 1.21982398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.126296757 meters Centerline goodness : 0.818184 with order 1 Centerline is valid? [False, False] Translation: X:12.65, Y:-1.78, Z:1.22 [[ 9.48656284e-01 2.77229666e-01 -1.52298942e-01 1.26547751e+01] [-2.82303557e-01 9.59245907e-01 -1.23285177e-02 -1.78347530e+00] [ 1.42674305e-01 5.46900586e-02 9.88257578e-01 1.21897293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.186296757 meters Centerline goodness : 0.818471 with order 1 Centerline is valid? [False, False] Translation: X:12.66, Y:-1.79, Z:1.22 [[ 9.47269801e-01 2.80424179e-01 -1.55055488e-01 1.26604364e+01] [-2.85714940e-01 9.58233194e-01 -1.24947341e-02 -1.78622305e+00] [ 1.45075490e-01 5.61375537e-02 9.87826745e-01 1.21921425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.246296757 meters Centerline goodness : 0.815443 with order 1 Centerline is valid? [False, False] Translation: X:12.66, Y:-1.79, Z:1.22 [[ 9.46216175e-01 2.82763189e-01 -1.57225726e-01 1.26648956e+01] [-2.88131572e-01 9.57515811e-01 -1.19861456e-02 -1.79032499e+00] [ 1.47156878e-01 5.66431804e-02 9.87489951e-01 1.21893446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.306296757 meters Centerline goodness : 0.813527 with order 1 Centerline is valid? [False, False] Translation: X:12.66, Y:-1.80, Z:1.22 [[ 9.46227417e-01 2.82910149e-01 -1.56893351e-01 1.26626102e+01] [-2.88042033e-01 9.57560030e-01 -1.05155380e-02 -1.79538889e+00] [ 1.47259850e-01 5.51419703e-02 9.87559568e-01 1.21952932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.36629675700001 meters Centerline goodness : 0.811573 with order 1 Centerline is valid? [False, False] Translation: X:12.66, Y:-1.80, Z:1.22 [[ 9.46671069e-01 2.80493033e-01 -1.58548246e-01 1.26633535e+01] [-2.86006514e-01 9.58144537e-01 -1.26221827e-02 -1.80022601e+00] [ 1.48371702e-01 5.72948863e-02 9.87270548e-01 1.21943474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.42629675700002 meters Centerline goodness : 0.812840 with order 1 Centerline is valid? [False, False] Translation: X:12.66, Y:-1.80, Z:1.22 [[ 9.46696875e-01 2.80317083e-01 -1.58705261e-01 1.26627162e+01] [-2.85704898e-01 9.58245726e-01 -1.17405526e-02 -1.80458289e+00] [ 1.48787561e-01 5.64576149e-02 9.87256198e-01 1.21920289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.486296757 meters Centerline goodness : 0.814326 with order 1 Centerline is valid? [False, False] Translation: X:12.66, Y:-1.81, Z:1.22 [[ 9.46606702e-01 2.80030207e-01 -1.59746157e-01 1.26648536e+01] [-2.85534429e-01 9.58291647e-01 -1.21329759e-02 -1.80643673e+00] [ 1.49685808e-01 5.70981840e-02 9.87083561e-01 1.21852678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.546296757 meters Centerline goodness : 0.813503 with order 1 Centerline is valid? [False, False] Translation: X:12.67, Y:-1.81, Z:1.22 [[ 0.94653128 0.27875381 -0.16240335 12.66826684] [-0.28480445 0.95847185 -0.01476963 -1.80973947] [ 0.15154195 0.06023311 0.98661391 1.21852879] [ 0. 0. 0. 1. ]] SLAMing on 206.606296757 meters Centerline goodness : 0.811103 with order 1 Centerline is valid? [False, False] Translation: X:12.67, Y:-1.81, Z:1.22 [[ 0.94599004 0.27988647 -0.16360445 12.67074902] [-0.28600567 0.95811612 -0.0146376 -1.81288421] [ 0.15265519 0.06063883 0.98641742 1.21801104] [ 0. 0. 0. 1. ]] SLAMing on 206.666296757 meters Centerline goodness : 0.810634 with order 1 Centerline is valid? [False, False] Translation: X:12.67, Y:-1.81, Z:1.22 [[ 0.94573382 0.28065848 -0.16376311 12.67134145] [-0.28663557 0.95794325 -0.01359313 -1.81491341] [ 0.15306074 0.05979581 0.98640604 1.21763936] [ 0. 0. 0. 1. ]] SLAMing on 206.726296757 meters Centerline goodness : 0.813201 with order 1 Centerline is valid? [False, False] Translation: X:12.67, Y:-1.82, Z:1.22 [[ 0.94585233 0.280382 -0.16355215 12.67052106] [-0.28629247 0.95805038 -0.01326987 -1.81597622] [ 0.15297057 0.05937509 0.98644544 1.21770521] [ 0. 0. 0. 1. ]] SLAMing on 206.786296757 meters Centerline goodness : 0.811273 with order 1 Centerline is valid? [False, False] Translation: X:12.67, Y:-1.82, Z:1.21 [[ 0.94724117 0.28328637 -0.14994329 12.67029372] [-0.28849966 0.95738087 -0.01377722 -1.81987271] [ 0.13964994 0.05630894 0.9885986 1.21301393] [ 0. 0. 0. 1. ]] SLAMing on 206.846296757 meters Centerline goodness : 0.814679 with order 1 Centerline is valid? [False, False] Translation: X:12.67, Y:-1.82, Z:1.21 [[ 0.94850882 0.27797225 -0.15186327 12.67167755] [-0.28374572 0.958743 -0.01732724 -1.82288465] [ 0.14078135 0.05952559 0.98824962 1.21197027] [ 0. 0. 0. 1. ]] SLAMing on 206.906296757 meters Centerline goodness : 0.816404 with order 1 Centerline is valid? [False, False] Translation: X:12.67, Y:-1.82, Z:1.21 [[ 0.94883071 0.27546352 -0.15440248 12.67441578] [-0.281871 0.9592262 -0.02082888 -1.82497786] [ 0.14236931 0.06328466 0.98778845 1.21225595] [ 0. 0. 0. 1. ]] SLAMing on 206.966296757 meters Centerline goodness : 0.816814 with order 1 Centerline is valid? [False, False] Translation: X:12.68, Y:-1.83, Z:1.21 [[ 0.94813665 0.27673152 -0.15638595 12.67768527] [-0.28330852 0.9587987 -0.02100808 -1.82809375] [ 0.14412905 0.064224 0.98747258 1.21254222] [ 0. 0. 0. 1. ]] SLAMing on 207.026296757 meters Centerline goodness : 0.821211 with order 1 Centerline is valid? [False, False] Translation: X:12.68, Y:-1.83, Z:1.21 [[ 0.94632578 0.28070669 -0.16022255 12.68366429] [-0.28773432 0.95745743 -0.02200502 -1.8325198 ] [ 0.14722932 0.06692545 0.98683561 1.21441895] [ 0. 0. 0. 1. ]] SLAMing on 207.086296757 meters Centerline goodness : 0.819537 with order 1 Centerline is valid? [False, False] Translation: X:12.69, Y:-1.84, Z:1.22 [[ 0.94407414 0.28610648 -0.16391188 12.69020465] [-0.29345545 0.95571956 -0.02200047 -1.83696293] [ 0.15035932 0.06887091 0.98622963 1.21606373] [ 0. 0. 0. 1. ]] SLAMing on 207.14629675700002 meters Centerline goodness : 0.820472 with order 1 Centerline is valid? [False, False] Translation: X:12.69, Y:-1.84, Z:1.22 [[ 0.94259531 0.28939911 -0.16662003 12.69370144] [-0.29710544 0.9545726 -0.02279279 -1.83873385] [ 0.1524547 0.0709881 0.9857577 1.21875936] [ 0. 0. 0. 1. ]] SLAMing on 207.206296757 meters Centerline goodness : 0.821935 with order 1 Centerline is valid? [False, False] Translation: X:12.70, Y:-1.84, Z:1.22 [[ 0.9423988 0.28836829 -0.16949404 12.69725745] [-0.29679648 0.95458315 -0.02613148 -1.8399182 ] [ 0.15426067 0.07493151 0.98518471 1.21975145] [ 0. 0. 0. 1. ]] SLAMing on 207.266296757 meters Centerline goodness : 0.817567 with order 1 Centerline is valid? [False, False] Translation: X:12.70, Y:-1.84, Z:1.22 [[ 0.94320171 0.28453338 -0.17149722 12.69866974] [-0.29356649 0.95548973 -0.02929317 -1.842266 ] [ 0.15552895 0.07797521 0.98474901 1.21966389] [ 0. 0. 0. 1. ]] SLAMing on 207.326296757 meters Centerline goodness : 0.815483 with order 1 Centerline is valid? [False, False] Translation: X:12.70, Y:-1.85, Z:1.21 [[ 0.94590991 0.28290195 -0.15881098 12.6987644 ] [-0.29127626 0.95611353 -0.03170262 -1.84678419] [ 0.14287259 0.07624569 0.98679989 1.2145111 ] [ 0. 0. 0. 1. ]] SLAMing on 207.386296757 meters Centerline goodness : 0.813718 with order 1 Centerline is valid? [False, False] Translation: X:12.70, Y:-1.85, Z:1.21 [[ 0.94740668 0.27713175 -0.16005806 12.69909311] [-0.28612587 0.95752616 -0.03571617 -1.84736733] [ 0.1433617 0.07963449 0.98646124 1.21373597] [ 0. 0. 0. 1. ]] SLAMing on 207.446296757 meters Centerline goodness : 0.815900 with order 1 Centerline is valid? [False, False] Translation: X:12.70, Y:-1.85, Z:1.21 [[ 0.94717529 0.27897141 -0.1582211 12.69698657] [-0.28739383 0.95725599 -0.03264597 -1.84650502] [ 0.1423508 0.07639323 0.98686388 1.21373378] [ 0. 0. 0. 1. ]] SLAMing on 207.506296757 meters Centerline goodness : 0.815040 with order 1 Centerline is valid? [False, False] Translation: X:12.70, Y:-1.84, Z:1.21 [[ 0.94684645 0.2807976 -0.15695385 12.69594077] [-0.28887248 0.95687281 -0.03077526 -1.84471991] [ 0.14154326 0.07447909 0.98712632 1.21395924] [ 0. 0. 0. 1. ]] SLAMing on 207.566296757 meters Centerline goodness : 0.815531 with order 1 Centerline is valid? [False, False] Translation: X:12.69, Y:-1.84, Z:1.22 [[ 0.94576324 0.28491001 -0.15607106 12.69485031] [-0.29257588 0.95583003 -0.02807675 -1.84381547] [ 0.14117806 0.07221659 0.98734671 1.21588058] [ 0. 0. 0. 1. ]] SLAMing on 207.626296757 meters Centerline goodness : 0.814007 with order 1 Centerline is valid? [False, False] Translation: X:12.69, Y:-1.84, Z:1.22 [[ 0.94463016 0.2892527 -0.15494105 12.6940839 ] [-0.29641794 0.95473579 -0.02481863 -1.84298366] [ 0.14074891 0.06937174 0.98761192 1.21706177] [ 0. 0. 0. 1. ]] SLAMing on 207.686296757 meters Centerline goodness : 0.816403 with order 1 Centerline is valid? [False, False] Translation: X:12.69, Y:-1.84, Z:1.22 [[ 0.94380667 0.29247935 -0.15389868 12.69345082] [-0.29914657 0.95396299 -0.02158594 -1.84351951] [ 0.1405002 0.06641122 0.98785082 1.21747675] [ 0. 0. 0. 1. ]] SLAMing on 207.746296757 meters Centerline goodness : 0.817634 with order 1 Centerline is valid? [False, False] Translation: X:12.69, Y:-1.84, Z:1.22 [[ 0.94375713 0.2925665 -0.15403675 12.69332785] [-0.29927856 0.95391607 -0.02182845 -1.84312978] [ 0.14055186 0.06670065 0.98782397 1.21812622] [ 0. 0. 0. 1. ]] SLAMing on 207.806296757 meters Centerline goodness : 0.816800 with order 1 Centerline is valid? [False, False] Translation: X:12.69, Y:-1.84, Z:1.22 [[ 0.94403239 0.29203027 -0.15336614 12.69156069] [-0.29868867 0.9541013 -0.02181264 -1.84256292] [ 0.13995688 0.06640057 0.98792866 1.21873585] [ 0. 0. 0. 1. ]] SLAMing on 207.86629675700001 meters Centerline goodness : 0.812607 with order 1 Centerline is valid? [False, False] Translation: X:12.69, Y:-1.84, Z:1.22 [[ 0.94493066 0.28842642 -0.15464881 12.69139909] [-0.2956589 0.95495319 -0.02549925 -1.84280066] [ 0.14032771 0.06981832 0.98764039 1.2195438 ] [ 0. 0. 0. 1. ]] SLAMing on 207.92629675700002 meters Centerline goodness : 0.811416 with order 1 Centerline is valid? [False, False] Translation: X:12.69, Y:-1.84, Z:1.22 [[ 0.94560159 0.28505831 -0.15677819 12.69440416] [-0.29304652 0.95562902 -0.02994841 -1.84165056] [ 0.14128474 0.07426257 0.98717967 1.21909579] [ 0. 0. 0. 1. ]] SLAMing on 207.986296757 meters Centerline goodness : 0.809203 with order 1 Centerline is valid? [False, False] Translation: X:12.70, Y:-1.84, Z:1.22 [[ 0.9453984 0.28527497 -0.15760731 12.69692068] [-0.29341873 0.95549497 -0.03057468 -1.84084069] [ 0.1418708 0.07515019 0.98702843 1.21854687] [ 0. 0. 0. 1. ]] SLAMing on 208.046296757 meters Centerline goodness : 0.805959 with order 1 Centerline is valid? [False, False] Translation: X:12.70, Y:-1.84, Z:1.22 [[ 0.94513039 0.28611026 -0.15770057 12.69748307] [-0.29426748 0.95523451 -0.03055631 -1.83988396] [ 0.14189856 0.07528585 0.9870141 1.21904825] [ 0. 0. 0. 1. ]] SLAMing on 208.106296757 meters Centerline goodness : 0.804676 with order 1 Centerline is valid? [False, False] Translation: X:12.70, Y:-1.84, Z:1.22 [[ 0.94563041 0.28405322 -0.15842 12.69953267] [-0.29241866 0.95576262 -0.03176702 -1.83913224] [ 0.14238839 0.07636482 0.98686066 1.21793258] [ 0. 0. 0. 1. ]] SLAMing on 208.166296757 meters Centerline goodness : 0.802267 with order 1 Centerline is valid? [False, False] Translation: X:12.70, Y:-1.84, Z:1.22 [[ 0.94599935 0.2828044 -0.15845156 12.70194146] [-0.2911331 0.95616092 -0.03158827 -1.83883331] [ 0.14257189 0.07601298 0.98686133 1.21531751] [ 0. 0. 0. 1. ]] SLAMing on 208.226296757 meters Centerline goodness : 0.799110 with order 1 Centerline is valid? [False, False] Translation: X:12.70, Y:-1.84, Z:1.21 [[ 0.9463551 0.28148323 -0.15867961 12.70321461] [-0.28990771 0.9565119 -0.03222586 -1.83853241] [ 0.14270789 0.07649955 0.98680407 1.21422459] [ 0. 0. 0. 1. ]] SLAMing on 208.286296757 meters Centerline goodness : 0.798778 with order 1 Centerline is valid? [False, False] Translation: X:12.71, Y:-1.84, Z:1.21 [[ 0.94602719 0.28173241 -0.16018554 12.7066446 ] [-0.2904048 0.95633143 -0.03309461 -1.83921046] [ 0.14386664 0.07782705 0.98653198 1.21383802] [ 0. 0. 0. 1. ]] SLAMing on 208.346296757 meters Centerline goodness : 0.820499 with order 3 Centerline is valid? [False, False] Translation: X:12.71, Y:-1.84, Z:1.21 [[ 0.94530342 0.28288889 -0.16240481 12.71056916] [-0.29193884 0.95581964 -0.03435875 -1.84025235] [ 0.14551 0.07989171 0.98612583 1.21460003] [ 0. 0. 0. 1. ]] SLAMing on 208.406296757 meters Centerline goodness : 0.817190 with order 3 Centerline is valid? [False, False] Translation: X:12.71, Y:-1.84, Z:1.21 [[ 0.94493052 0.28307647 -0.16423771 12.71403568] [-0.29236822 0.95566678 -0.0349547 -1.84208413] [ 0.14706167 0.08104765 0.98580127 1.21451166] [ 0. 0. 0. 1. ]] SLAMing on 208.466296757 meters Centerline goodness : 0.803828 with order 1 Centerline is valid? [False, False] Translation: X:12.71, Y:-1.85, Z:1.21 [[ 0.94466757 0.28383524 -0.1644407 12.71399455] [-0.29298667 0.9555173 -0.03384518 -1.84513921] [ 0.14751947 0.08015138 0.98580615 1.21463988] [ 0. 0. 0. 1. ]] SLAMing on 208.526296757 meters Centerline goodness : 0.799925 with order 1 Centerline is valid? [False, False] Translation: X:12.72, Y:-1.85, Z:1.21 [[ 0.94529227 0.28032827 -0.166849 12.71722337] [-0.29000864 0.95633572 -0.0362902 -1.84854215] [ 0.14939049 0.0826925 0.98531438 1.21398578] [ 0. 0. 0. 1. ]] SLAMing on 208.586296757 meters Centerline goodness : 0.801481 with order 1 Centerline is valid? [False, False] Translation: X:12.72, Y:-1.85, Z:1.21 [[ 0.94609664 0.27798582 -0.16620782 12.7156012 ] [-0.28746546 0.9571328 -0.03550227 -1.85055557] [ 0.14921383 0.08136759 0.98545144 1.21345352] [ 0. 0. 0. 1. ]] SLAMing on 208.64629675700002 meters Centerline goodness : 0.801358 with order 1 Centerline is valid? [False, False] Translation: X:12.72, Y:-1.85, Z:1.21 [[ 0.94648392 0.27665508 -0.16622319 12.71525088] [-0.28613539 0.95752761 -0.03560074 -1.85138144] [ 0.14931417 0.08125787 0.9854453 1.21342622] [ 0. 0. 0. 1. ]] SLAMing on 208.706296757 meters Centerline goodness : 0.818855 with order 3 Centerline is valid? [False, False] Translation: X:12.71, Y:-1.85, Z:1.21 [[ 0.94702383 0.27500697 -0.16588259 12.71354824] [-0.28448679 0.9580071 -0.03591177 -1.85212853] [ 0.14904072 0.08120071 0.98549141 1.21421383] [ 0. 0. 0. 1. ]] SLAMing on 208.766296757 meters Centerline goodness : 0.821651 with order 3 Centerline is valid? [False, False] Translation: X:12.71, Y:-1.85, Z:1.21 [[ 0.94771241 0.27309909 -0.1651002 12.71233579] [-0.28240397 0.95864483 -0.03532836 -1.85221295] [ 0.14862431 0.08010608 0.98564387 1.21371057] [ 0. 0. 0. 1. ]] SLAMing on 208.826296757 meters Centerline goodness : 0.824785 with order 3 Centerline is valid? [False, False] Translation: X:12.71, Y:-1.85, Z:1.21 [[ 0.94834207 0.27082721 -0.16522695 12.71108681] [-0.28012789 0.95930956 -0.03540541 -1.85404255] [ 0.14891505 0.07986112 0.98561986 1.21455697] [ 0. 0. 0. 1. ]] SLAMing on 208.886296757 meters Centerline goodness : 0.817315 with order 2 Centerline is valid? [False, False] Translation: X:12.71, Y:-1.86, Z:1.21 [[ 0.9483835 0.27036638 -0.16574307 12.71161155] [-0.27966443 0.95945437 -0.03514431 -1.85511966] [ 0.14952107 0.07968273 0.98554255 1.21493909] [ 0. 0. 0. 1. ]] SLAMing on 208.946296757 meters Centerline goodness : 0.816069 with order 2 Centerline is valid? [False, False] Translation: X:12.71, Y:-1.86, Z:1.22 [[ 0.94731958 0.27405323 -0.16577226 12.71288838] [-0.28294028 0.95859892 -0.03213888 -1.85635861] [ 0.15010134 0.07734943 0.98564022 1.21579302] [ 0. 0. 0. 1. ]] SLAMing on 209.006296757 meters Centerline goodness : 0.833187 with order 3 Centerline is valid? [False, False] Translation: X:12.72, Y:-1.86, Z:1.22 [[ 0.9463175 0.27628487 -0.16777921 12.7159087 ] [-0.28555938 0.95777746 -0.03343928 -1.85654287] [ 0.15145637 0.0795551 0.9852573 1.21770784] [ 0. 0. 0. 1. ]] SLAMing on 209.066296757 meters Centerline goodness : 0.818317 with order 1 Centerline is valid? [False, False] Translation: X:12.72, Y:-1.86, Z:1.22 [[ 0.94432094 0.28268189 -0.16837137 12.71935938] [-0.29162947 0.956045 -0.03049931 -1.85705433] [ 0.152349 0.07790319 0.98525168 1.21851785] [ 0. 0. 0. 1. ]] SLAMing on 209.126296757 meters Centerline goodness : 0.817756 with order 1 Centerline is valid? [False, False] Translation: X:12.72, Y:-1.86, Z:1.22 [[ 0.94286216 0.28651015 -0.17006731 12.72173157] [-0.29564702 0.95480934 -0.030528 -1.85762166] [ 0.15363527 0.07906359 0.98495947 1.22127116] [ 0. 0. 0. 1. ]] SLAMing on 209.186296757 meters Centerline goodness : 0.818035 with order 1 Centerline is valid? [False, False] Translation: X:12.72, Y:-1.86, Z:1.22 [[ 0.94285027 0.28592327 -0.17111764 12.7228127 ] [-0.29539621 0.95483294 -0.0321734 -1.85752158] [ 0.15418964 0.0808822 0.98472515 1.22232144] [ 0. 0. 0. 1. ]] SLAMing on 209.246296757 meters Centerline goodness : 0.819288 with order 2 Centerline is valid? [False, False] Translation: X:12.72, Y:-1.86, Z:1.22 [[ 0.94337135 0.28456387 -0.17051067 12.72231618] [-0.29396096 0.95527757 -0.03212035 -1.85719813] [ 0.15374473 0.08042489 0.98483217 1.22170129] [ 0. 0. 0. 1. ]] SLAMing on 209.306296757 meters Centerline goodness : 0.821925 with order 2 Centerline is valid? [False, False] Translation: X:12.72, Y:-1.86, Z:1.22 [[ 0.94436993 0.28053126 -0.17166142 12.72271034] [-0.29049364 0.95622038 -0.03544042 -1.85735561] [ 0.15420401 0.08333542 0.98451833 1.22184507] [ 0. 0. 0. 1. ]] SLAMing on 209.36629675700001 meters Centerline goodness : 0.819169 with order 1 Centerline is valid? [False, False] Translation: X:12.72, Y:-1.86, Z:1.22 [[ 0.94757554 0.27076643 -0.16966476 12.71732079] [-0.28101007 0.95890689 -0.03912697 -1.85661873] [ 0.15209843 0.08475326 0.98472481 1.22070885] [ 0. 0. 0. 1. ]] SLAMing on 209.42629675700002 meters Centerline goodness : 0.845396 with order 3 Centerline is valid? [False, False] Translation: X:12.72, Y:-1.86, Z:1.22 [[ 0.94861809 0.26791781 -0.16835606 12.71524445] [-0.27793594 0.95982309 -0.03861677 -1.85735201] [ 0.15124591 0.08342477 0.98496953 1.21937884] [ 0. 0. 0. 1. ]] SLAMing on 209.486296757 meters Centerline goodness : 0.816495 with order 1 Centerline is valid? [False, False] Translation: X:12.71, Y:-1.86, Z:1.22 [[ 0.94958447 0.26539909 -0.16689115 12.7134836 ] [-0.27507998 0.96069295 -0.03741745 -1.8591133 ] [ 0.15040059 0.08143945 0.98526508 1.2174849 ] [ 0. 0. 0. 1. ]] SLAMing on 209.546296757 meters Centerline goodness : 0.837535 with order 3 Centerline is valid? [False, False] Translation: X:12.71, Y:-1.86, Z:1.22 [[ 0.94972062 0.26504509 -0.16667889 12.71226898] [-0.2746558 0.96082659 -0.03710073 -1.86069304] [ 0.15031614 0.08101465 0.98531299 1.21824709] [ 0. 0. 0. 1. ]] SLAMing on 209.606296757 meters Centerline goodness : 0.832772 with order 3 Centerline is valid? [False, False] Translation: X:12.71, Y:-1.86, Z:1.22 [[ 0.94919427 0.26672826 -0.16699187 12.71284967] [-0.27630382 0.96037429 -0.03657089 -1.86164274] [ 0.15062021 0.08085337 0.9852798 1.21900963] [ 0. 0. 0. 1. ]] SLAMing on 209.666296757 meters Centerline goodness : 0.833951 with order 3 Centerline is valid? [False, False] Translation: X:12.71, Y:-1.86, Z:1.22 [[ 0.94775022 0.27195281 -0.16676686 12.71369813] [-0.28102268 0.95913427 -0.03298047 -1.86405785] [ 0.15098268 0.07812252 0.98544462 1.21962389] [ 0. 0. 0. 1. ]] SLAMing on 209.726296757 meters Centerline goodness : 0.835470 with order 3 Centerline is valid? [False, False] Translation: X:12.72, Y:-1.87, Z:1.22 [[ 0.9458129 0.2762748 -0.17061708 12.7201285 ] [-0.28573525 0.95773547 -0.03313801 -1.86864674] [ 0.15425084 0.08009367 0.98478002 1.22070903] [ 0. 0. 0. 1. ]] SLAMing on 209.786296757 meters Centerline goodness : 0.810032 with order 2 Centerline is valid? [False, False] Translation: X:12.72, Y:-1.87, Z:1.22 [[ 0.94462482 0.27889089 -0.1729272 12.72394768] [-0.28860124 0.95687033 -0.03329418 -1.8713781 ] [ 0.15618346 0.08135751 0.98437172 1.22156788] [ 0. 0. 0. 1. ]] SLAMing on 209.846296757 meters Centerline goodness : 0.806238 with order 2 Centerline is valid? [False, False] Translation: X:12.73, Y:-1.88, Z:1.22 [[ 0.9428232 0.28254902 -0.17677801 12.73061551] [-0.29283101 0.95554123 -0.03451015 -1.87532152] [ 0.15916787 0.08430305 0.98364556 1.2225347 ] [ 0. 0. 0. 1. ]] SLAMing on 209.906296757 meters Centerline goodness : 0.808391 with order 2 Centerline is valid? [False, False] Translation: X:12.73, Y:-1.88, Z:1.22 [[ 0.94218122 0.28341509 -0.17880278 12.73337083] [-0.29403997 0.95513536 -0.03545336 -1.87768186] [ 0.16073284 0.08597866 0.98324596 1.22338676] [ 0. 0. 0. 1. ]] SLAMing on 209.966296757 meters Centerline goodness : 0.811198 with order 2 Centerline is valid? [False, False] Translation: X:12.73, Y:-1.88, Z:1.22 [[ 0.94346974 0.28571434 -0.16802429 12.73390914] [-0.29576949 0.95451603 -0.03767692 -1.88460626] [ 0.14961705 0.08524349 0.98506258 1.2227002 ] [ 0. 0. 0. 1. ]] SLAMing on 210.026296757 meters Centerline goodness : 0.811259 with order 2 Centerline is valid? [False, False] Translation: X:12.73, Y:-1.89, Z:1.22 [[ 0.94441426 0.2831504 -0.16705556 12.73065091] [-0.29318869 0.95528625 -0.03832196 -1.88553513] [ 0.14873501 0.08517061 0.98520245 1.22324054] [ 0. 0. 0. 1. ]] SLAMing on 210.086296757 meters Centerline goodness : 0.814032 with order 2 Centerline is valid? [False, False] Translation: X:12.73, Y:-1.89, Z:1.22 [[ 0.94490891 0.28070086 -0.16838702 12.73070602] [-0.29119789 0.95579418 -0.04075867 -1.88771332] [ 0.14950234 0.08754718 0.98487793 1.22398326] [ 0. 0. 0. 1. ]] SLAMing on 210.14629675700002 meters Centerline goodness : 0.807040 with order 2 Centerline is valid? [False, False] Translation: X:12.73, Y:-1.89, Z:1.22 [[ 0.94469021 0.28149672 -0.16828549 12.73091058] [-0.2918153 0.95565528 -0.0395829 -1.88913213] [ 0.14968046 0.08650186 0.98494324 1.22373146] [ 0. 0. 0. 1. ]] SLAMing on 210.206296757 meters Centerline goodness : 0.806881 with order 2 Centerline is valid? [False, False] Translation: X:12.73, Y:-1.89, Z:1.22 [[ 0.94429366 0.28244108 -0.16892758 12.73262785] [-0.29269329 0.95542286 -0.03870147 -1.89143809] [ 0.15046638 0.08598952 0.98486835 1.22318258] [ 0. 0. 0. 1. ]] SLAMing on 210.266296757 meters Centerline goodness : 0.805406 with order 2 Centerline is valid? [False, False] Translation: X:12.73, Y:-1.89, Z:1.22 [[ 0.94393324 0.28342256 -0.16929764 12.73279666] [-0.2936387 0.95515385 -0.03817645 -1.89300476] [ 0.15088523 0.08574836 0.9848253 1.22396471] [ 0. 0. 0. 1. ]] SLAMing on 210.326296757 meters Centerline goodness : 0.805735 with order 2 Centerline is valid? [False, False] Translation: X:12.73, Y:-1.89, Z:1.22 [[ 0.94363024 0.28408572 -0.16987431 12.73401862] [-0.29436909 0.95492681 -0.03823124 -1.89347261] [ 0.15135658 0.0860819 0.98472387 1.22401792] [ 0. 0. 0. 1. ]] SLAMing on 210.386296757 meters Centerline goodness : 0.805960 with order 2 Centerline is valid? [False, False] Translation: X:12.73, Y:-1.89, Z:1.22 [[ 0.94261169 0.28826843 -0.16847702 12.73294616] [-0.29786632 0.95399391 -0.03422395 -1.89446859] [ 0.15086036 0.08244352 0.98511127 1.22440359] [ 0. 0. 0. 1. ]] SLAMing on 210.446296757 meters Centerline goodness : 0.808463 with order 2 Centerline is valid? [False, False] Translation: X:12.74, Y:-1.90, Z:1.23 [[ 0.94159574 0.28980025 -0.17150302 12.73685792] [-0.30001127 0.95324161 -0.03638233 -1.89682042] [ 0.15294021 0.08571029 0.98451157 1.22605854] [ 0. 0. 0. 1. ]] SLAMing on 210.506296757 meters Centerline goodness : 0.809838 with order 2 Centerline is valid? [False, False] Translation: X:12.74, Y:-1.90, Z:1.23 [[ 0.94099184 0.29199677 -0.17109135 12.73553037] [-0.30206192 0.95262707 -0.03550015 -1.89688275] [ 0.15262032 0.08508553 0.9846154 1.22755006] [ 0. 0. 0. 1. ]] SLAMing on 210.566296757 meters Centerline goodness : 0.809068 with order 2 Centerline is valid? [False, False] Translation: X:12.74, Y:-1.90, Z:1.23 [[ 0.93956874 0.29652031 -0.17113239 12.73689708] [-0.30617255 0.95142266 -0.03245449 -1.89796774] [ 0.15319582 0.08288926 0.98471336 1.22839854] [ 0. 0. 0. 1. ]] SLAMing on 210.626296757 meters Centerline goodness : 0.809108 with order 3 Centerline is valid? [False, False] Translation: X:12.74, Y:-1.90, Z:1.23 [[ 0.93843625 0.30076871 -0.16992818 12.73569381] [-0.30989024 0.95031949 -0.02934102 -1.89752296] [ 0.1526612 0.08019376 0.98501955 1.22972012] [ 0. 0. 0. 1. ]] SLAMing on 210.686296757 meters Centerline goodness : 0.808017 with order 3 Centerline is valid? [False, False] Translation: X:12.74, Y:-1.90, Z:1.23 [[ 0.93867639 0.30022448 -0.16956382 12.7350655 ] [-0.3093535 0.95048545 -0.02962793 -1.89609625] [ 0.15227291 0.0802662 0.98507375 1.23002071] [ 0. 0. 0. 1. ]] SLAMing on 210.746296757 meters Centerline goodness : 0.811972 with order 3 Centerline is valid? [False, False] Translation: X:12.73, Y:-1.90, Z:1.23 [[ 0.93937532 0.29818247 -0.16929628 12.7337406 ] [-0.30734579 0.95111987 -0.0301588 -1.89546719] [ 0.15202823 0.08036293 0.98510366 1.23041001] [ 0. 0. 0. 1. ]] SLAMing on 210.806296757 meters Centerline goodness : 0.812923 with order 3 Centerline is valid? [False, False] Translation: X:12.73, Y:-1.89, Z:1.23 [[ 0.94130446 0.29197731 -0.16939648 12.73193378] [-0.30165518 0.95281273 -0.03394208 -1.89387172] [ 0.15149281 0.08304916 0.98496333 1.23002697] [ 0. 0. 0. 1. ]] SLAMing on 210.86629675700001 meters Centerline goodness : 0.813487 with order 3 Centerline is valid? [False, False] Translation: X:12.73, Y:-1.89, Z:1.23 [[ 0.94320418 0.28625005 -0.16860245 12.73040368] [-0.29603316 0.9545169 -0.03552266 -1.89330483] [ 0.15076552 0.08341704 0.98504383 1.22801582] [ 0. 0. 0. 1. ]] SLAMing on 210.92629675700002 meters Centerline goodness : 0.813377 with order 3 Centerline is valid? [False, False] Translation: X:12.73, Y:-1.89, Z:1.23 [[ 0.9444998 0.28303329 -0.16677016 12.7279596 ] [-0.29250836 0.95563058 -0.03477134 -1.89326495] [ 0.14952922 0.08162319 0.9853825 1.22603724] [ 0. 0. 0. 1. ]] SLAMing on 210.986296757 meters Centerline goodness : 0.813388 with order 3 Centerline is valid? [False, False] Translation: X:12.73, Y:-1.89, Z:1.22 [[ 0.94518972 0.28146839 -0.16550512 12.72691881] [-0.29074566 0.95618606 -0.03428088 -1.89158934] [ 0.14860471 0.08052183 0.98561294 1.22480325] [ 0. 0. 0. 1. ]] SLAMing on 211.046296757 meters Centerline goodness : 0.812247 with order 3 Centerline is valid? [False, False] Translation: X:12.73, Y:-1.89, Z:1.23 [[ 0.94576875 0.27992313 -0.16481662 12.72520632] [-0.28919562 0.95663922 -0.03474611 -1.89038348] [ 0.14794381 0.08052603 0.98571202 1.22515411] [ 0. 0. 0. 1. ]] SLAMing on 211.106296757 meters Centerline goodness : 0.812883 with order 3 Centerline is valid? [False, False] Translation: X:12.73, Y:-1.89, Z:1.23 [[ 0.94580833 0.27994169 -0.16455772 12.72516967] [-0.28921517 0.95662793 -0.03489398 -1.88905148] [ 0.14765223 0.08059561 0.98575005 1.22517087] [ 0. 0. 0. 1. ]] SLAMing on 211.166296757 meters Centerline goodness : 0.836756 with order 3 Centerline is valid? [False, False] Translation: X:12.72, Y:-1.89, Z:1.23 [[ 0.94515672 0.28288268 -0.16326714 12.72471916] [-0.29165409 0.95598806 -0.03201109 -1.88759874] [ 0.14702605 0.07787303 0.98606244 1.22525282] [ 0. 0. 0. 1. ]] SLAMing on 211.226296757 meters Centerline goodness : 0.833424 with order 3 Centerline is valid? [False, False] Translation: X:12.73, Y:-1.89, Z:1.22 [[ 0.94462058 0.28390662 -0.16458734 12.72866958] [-0.29286922 0.9556 -0.0325002 -1.88723728] [ 0.14805264 0.07890293 0.98582693 1.22429444] [ 0. 0. 0. 1. ]] SLAMing on 211.286296757 meters Centerline goodness : 0.831310 with order 3 Centerline is valid? [False, False] Translation: X:12.73, Y:-1.89, Z:1.22 [[ 0.94440343 0.28470149 -0.1644604 12.72880836] [-0.29358959 0.95539545 -0.03201079 -1.88724023] [ 0.1480112 0.07851496 0.98586413 1.22433989] [ 0. 0. 0. 1. ]] SLAMing on 211.346296757 meters Centerline goodness : 0.818237 with order 3 Centerline is valid? [False, False] Translation: X:12.73, Y:-1.89, Z:1.22 [[ 0.94412855 0.28692688 -0.16215501 12.72591941] [-0.29524685 0.95497306 -0.02925313 -1.88560271] [ 0.14646015 0.07549448 0.98633159 1.22476866] [ 0. 0. 0. 1. ]] SLAMing on 211.406296757 meters Centerline goodness : 0.837826 with order 3 Centerline is valid? [False, False] Translation: X:12.72, Y:-1.88, Z:1.23 [[ 0.94378983 0.28827929 -0.16172759 12.72432016] [-0.29661921 0.95453988 -0.02950711 -1.88268545] [ 0.14586914 0.07582002 0.9863942 1.22711393] [ 0. 0. 0. 1. ]] SLAMing on 211.466296757 meters Centerline goodness : 0.835933 with order 3 Centerline is valid? [False, False] Translation: X:12.72, Y:-1.88, Z:1.23 [[ 0.94312846 0.29146423 -0.15986653 12.72161043] [-0.29927664 0.95379433 -0.02664341 -1.88096831] [ 0.14471418 0.07297248 0.98677901 1.22871496] [ 0. 0. 0. 1. ]] SLAMing on 211.526296757 meters Centerline goodness : 0.835668 with order 3 Centerline is valid? [False, False] Translation: X:12.72, Y:-1.88, Z:1.23 [[ 0.94271604 0.29342372 -0.15871039 12.72038654] [-0.300824 0.95337112 -0.02425743 -1.87958326] [ 0.1441922 0.07061176 0.98702715 1.22961482] [ 0. 0. 0. 1. ]] SLAMing on 211.586296757 meters Centerline goodness : 0.836353 with order 3 Centerline is valid? [False, False] Translation: X:12.72, Y:-1.88, Z:1.23 [[ 0.9425413 0.2939152 -0.15883878 12.72051475] [-0.30131121 0.95322057 -0.02412665 -1.87932669] [ 0.1443172 0.07060027 0.9870097 1.23013299] [ 0. 0. 0. 1. ]] SLAMing on 211.64629675700002 meters Centerline goodness : 0.825030 with order 3 Centerline is valid? [False, False] Translation: X:12.72, Y:-1.88, Z:1.23 [[ 0.94183208 0.29641568 -0.15839851 12.72229767] [-0.30343815 0.95260644 -0.02159298 -1.87906862] [ 0.14449094 0.06840111 0.98713913 1.22907817] [ 0. 0. 0. 1. ]] SLAMing on 211.706296757 meters Centerline goodness : 0.833056 with order 3 Centerline is valid? [False, False] Translation: X:12.72, Y:-1.88, Z:1.23 [[ 0.94081638 0.29999679 -0.15769104 12.72280498] [-0.30656744 0.95166802 -0.01855733 -1.87859361] [ 0.14450239 0.06580198 0.98731411 1.22937697] [ 0. 0. 0. 1. ]] SLAMing on 211.766296757 meters Centerline goodness : 0.837200 with order 3 Centerline is valid? [False, False] Translation: X:12.72, Y:-1.88, Z:1.23 [[ 0.94011314 0.30188335 -0.1582837 12.72346301] [-0.3084595 0.95106387 -0.01817295 -1.87903034] [ 0.1450518 0.06590874 0.98722642 1.2306382 ] [ 0. 0. 0. 1. ]] SLAMing on 211.826296757 meters Centerline goodness : 0.831923 with order 3 Centerline is valid? [False, False] Translation: X:12.73, Y:-1.88, Z:1.23 [[ 0.93943334 0.30340911 -0.15939862 12.72650903] [-0.3100676 0.95054225 -0.01809713 -1.87947438] [ 0.14602429 0.0664254 0.98704842 1.23021513] [ 0. 0. 0. 1. ]] SLAMing on 211.886296757 meters Centerline goodness : 0.830182 with order 3 Centerline is valid? [False, False] Translation: X:12.73, Y:-1.88, Z:1.23 [[ 0.93831176 0.30573706 -0.16154224 12.73059797] [-0.31265039 0.94968556 -0.01862959 -1.88042083] [ 0.14771858 0.06798661 0.98668994 1.23078525] [ 0. 0. 0. 1. ]] SLAMing on 211.946296757 meters Centerline goodness : 0.815078 with order 3 Centerline is valid? [False, False] Translation: X:12.73, Y:-1.88, Z:1.23 [[ 0.93763877 0.30702112 -0.16300787 12.73305535] [-0.31413629 0.94918409 -0.01918193 -1.88106355] [ 0.14883522 0.06919241 0.98643828 1.23150173] [ 0. 0. 0. 1. ]] SLAMing on 212.006296757 meters Centerline goodness : 0.810108 with order 3 Centerline is valid? [False, False] Translation: X:12.74, Y:-1.88, Z:1.23 [[ 0.9369534 0.30826557 -0.16459241 12.7367362 ] [-0.31551226 0.94872722 -0.01920109 -1.88293093] [ 0.15023426 0.06992145 0.98617476 1.2308017 ] [ 0. 0. 0. 1. ]] SLAMing on 212.066296757 meters Centerline goodness : 0.803619 with order 1 Centerline is valid? [False, False] Translation: X:12.74, Y:-1.89, Z:1.23 [[ 0.93683292 0.30814575 -0.16550007 12.73888286] [-0.31540723 0.94876855 -0.01888146 -1.88531261] [ 0.15120303 0.06988869 0.98602901 1.22977118] [ 0. 0. 0. 1. ]] SLAMing on 212.126296757 meters Centerline goodness : 0.801374 with order 1 Centerline is valid? [False, False] Translation: X:12.74, Y:-1.89, Z:1.23 [[ 0.93734571 0.305695 -0.16713348 12.73954057] [-0.31355611 0.94931002 -0.02220474 -1.88573697] [ 0.1518736 0.07321924 0.9856842 1.2306616 ] [ 0. 0. 0. 1. ]] SLAMing on 212.186296757 meters Centerline goodness : 0.799264 with order 1 Centerline is valid? [False, False] Translation: X:12.74, Y:-1.89, Z:1.23 [[ 0.93702591 0.30647816 -0.16749205 12.74052959] [-0.31434252 0.94905501 -0.02198585 -1.88629354] [ 0.15222099 0.07325118 0.98562824 1.23062169] [ 0. 0. 0. 1. ]] SLAMing on 212.246296757 meters Centerline goodness : 0.818092 with order 3 Centerline is valid? [False, False] Translation: X:12.74, Y:-1.89, Z:1.23 [[ 0.93675003 0.30681095 -0.16842334 12.74220443] [-0.31481815 0.94888705 -0.02242551 -1.88666348] [ 0.15293434 0.07402982 0.98545963 1.23084943] [ 0. 0. 0. 1. ]] SLAMing on 212.306296757 meters Centerline goodness : 0.808694 with order 3 Centerline is valid? [False, False] Translation: X:12.75, Y:-1.89, Z:1.23 [[ 0.93555041 0.30902041 -0.17103163 12.74655889] [-0.31727538 0.94806548 -0.02254275 -1.89076381] [ 0.15518301 0.075354 0.98500762 1.23119206] [ 0. 0. 0. 1. ]] SLAMing on 212.36629675700001 meters Centerline goodness : 0.808426 with order 3 Centerline is valid? [False, False] Translation: X:12.75, Y:-1.89, Z:1.23 [[ 0.93517166 0.3097569 -0.17176911 12.74774787] [-0.3180436 0.94781335 -0.02231856 -1.89245216] [ 0.15589173 0.07550175 0.98488439 1.23129176] [ 0. 0. 0. 1. ]] SLAMing on 212.42629675700002 meters Centerline goodness : 0.805728 with order 3 Centerline is valid? [False, False] Translation: X:12.75, Y:-1.89, Z:1.23 [[ 0.93471226 0.31110051 -0.17184141 12.74834379] [-0.31920265 0.9474537 -0.02100372 -1.89466427] [ 0.15627751 0.07448467 0.98490069 1.2308974 ] [ 0. 0. 0. 1. ]] SLAMing on 212.486296757 meters Centerline goodness : 0.806004 with order 3 Centerline is valid? [False, False] Translation: X:12.75, Y:-1.90, Z:1.23 [[ 0.93421791 0.31192615 -0.17302881 12.74910496] [-0.32016345 0.94712493 -0.02120686 -1.89694563] [ 0.15726492 0.07520933 0.98468843 1.23204415] [ 0. 0. 0. 1. ]] SLAMing on 212.546296757 meters Centerline goodness : 0.806396 with order 3 Centerline is valid? [False, False] Translation: X:12.75, Y:-1.90, Z:1.23 [[ 0.93373977 0.31328285 -0.1731586 12.74758922] [-0.32136025 0.94674522 -0.02002674 -1.90024824] [ 0.15766305 0.07434605 0.98469032 1.23356875] [ 0. 0. 0. 1. ]] SLAMing on 212.606296757 meters Centerline goodness : 0.805429 with order 3 Centerline is valid? [False, False] Translation: X:12.75, Y:-1.90, Z:1.24 [[ 0.93360861 0.31366984 -0.17316521 12.74572212] [-0.32160562 0.94668093 -0.01910615 -1.90297858] [ 0.15793918 0.07352857 0.98470745 1.23515431] [ 0. 0. 0. 1. ]] SLAMing on 212.666296757 meters Centerline goodness : 0.804320 with order 3 Centerline is valid? [False, False] Translation: X:12.75, Y:-1.90, Z:1.24 [[ 0.93396284 0.3108412 -0.17632687 12.74806321] [-0.31964949 0.94725106 -0.02323009 -1.90479417] [ 0.15980494 0.07805883 0.98405752 1.23651847] [ 0. 0. 0. 1. ]] SLAMing on 212.726296757 meters Centerline goodness : 0.803342 with order 3 Centerline is valid? [False, False] Translation: X:12.75, Y:-1.91, Z:1.24 [[ 0.93382713 0.3110164 -0.17673624 12.74683497] [-0.31982143 0.94719882 -0.02299226 -1.90703554] [ 0.16025339 0.07799484 0.98398966 1.2380522 ] [ 0. 0. 0. 1. ]] SLAMing on 212.786296757 meters Centerline goodness : 0.802254 with order 3 Centerline is valid? [False, False] Translation: X:12.75, Y:-1.91, Z:1.24 [[ 0.93342464 0.31109154 -0.17871903 12.74991868] [-0.32017017 0.94706419 -0.02367441 -1.90917038] [ 0.16189348 0.07931878 0.98361529 1.23829936] [ 0. 0. 0. 1. ]] SLAMing on 212.846296757 meters Centerline goodness : 0.804010 with order 3 Centerline is valid? [False, False] Translation: X:12.75, Y:-1.91, Z:1.24 [[ 0.93363221 0.31070652 -0.1783041 12.74848008] [-0.31968021 0.94723956 -0.02327618 -1.90978338] [ 0.16166463 0.07873169 0.98370009 1.23874697] [ 0. 0. 0. 1. ]] SLAMing on 212.906296757 meters Centerline goodness : 0.802964 with order 3 Centerline is valid? [False, False] Translation: X:12.74, Y:-1.91, Z:1.24 [[ 0.93538654 0.30538802 -0.17829801 12.74412211] [-0.31485712 0.94876154 -0.02676815 -1.91010458] [ 0.16098762 0.08117696 0.98361237 1.24039203] [ 0. 0. 0. 1. ]] SLAMing on 212.966296757 meters Centerline goodness : 0.804608 with order 2 Centerline is valid? [False, False] Translation: X:12.74, Y:-1.91, Z:1.24 [[ 0.93573558 0.30455027 -0.17789901 12.74245517] [-0.31395156 0.94906546 -0.02663031 -1.91069048] [ 0.16072754 0.0807706 0.98368835 1.24088996] [ 0. 0. 0. 1. ]] SLAMing on 213.026296757 meters Centerline goodness : 0.805022 with order 2 Centerline is valid? [False, False] Translation: X:12.74, Y:-1.91, Z:1.24 [[ 0.93548699 0.30536644 -0.17780726 12.74307648] [-0.31464181 0.94885883 -0.0258352 -1.911143 ] [ 0.16082479 0.08011409 0.98372614 1.24049979] [ 0. 0. 0. 1. ]] SLAMing on 213.086296757 meters Centerline goodness : 0.803824 with order 2 Centerline is valid? [False, False] Translation: X:12.74, Y:-1.91, Z:1.24 [[ 0.93436067 0.30870738 -0.17796036 12.74486037] [-0.31772015 0.94788425 -0.02386124 -1.91201129] [ 0.16131968 0.0788366 0.98374832 1.24049364] [ 0. 0. 0. 1. ]] SLAMing on 213.14629675700002 meters Centerline goodness : 0.804428 with order 2 Centerline is valid? [False, False] Translation: X:12.75, Y:-1.91, Z:1.24 [[ 0.93317118 0.31112807 -0.17997465 12.74942083] [-0.32028194 0.94703065 -0.02350361 -1.9138635 ] [ 0.16312888 0.07957552 0.98339041 1.24023364] [ 0. 0. 0. 1. ]] SLAMing on 213.206296757 meters Centerline goodness : 0.820118 with order 3 Centerline is valid? [False, False] Translation: X:12.75, Y:-1.91, Z:1.24 [[ 0.93225071 0.31325538 -0.1810516 12.7512017 ] [-0.32251756 0.94627347 -0.02342965 -1.91466246] [ 0.16398486 0.08023463 0.98319447 1.24116836] [ 0. 0. 0. 1. ]] SLAMing on 213.266296757 meters Centerline goodness : 0.825763 with order 3 Centerline is valid? [False, False] Translation: X:12.75, Y:-1.91, Z:1.24 [[ 0.93103123 0.31740781 -0.18009201 12.74982728] [-0.32614524 0.94510008 -0.02037433 -1.91463583] [ 0.163738 0.07770529 0.98343874 1.24312415] [ 0. 0. 0. 1. ]] SLAMing on 213.326296757 meters Centerline goodness : 0.817036 with order 3 Centerline is valid? [False, False] Translation: X:12.75, Y:-1.91, Z:1.25 [[ 0.92972294 0.32182002 -0.17901715 12.74788082] [-0.33015701 0.94375293 -0.01807623 -1.91281554] [ 0.16313066 0.07590966 0.98367988 1.24594235] [ 0. 0. 0. 1. ]] SLAMing on 213.386296757 meters Centerline goodness : 0.807825 with order 2 Centerline is valid? [False, False] Translation: X:12.75, Y:-1.91, Z:1.25 [[ 0.92862351 0.32552651 -0.17801931 12.74688597] [-0.33343674 0.94264295 -0.01562711 -1.91141918] [ 0.16272161 0.07386988 0.9839029 1.24769035] [ 0. 0. 0. 1. ]] SLAMing on 213.446296757 meters Centerline goodness : 0.808940 with order 2 Centerline is valid? [False, False] Translation: X:12.75, Y:-1.91, Z:1.25 [[ 0.92720234 0.3301124 -0.17697918 12.74550242] [-0.33769542 0.94115572 -0.01370109 -1.90788835] [ 0.16204206 0.07246874 0.98411923 1.25068357] [ 0. 0. 0. 1. ]] SLAMing on 213.506296757 meters Centerline goodness : 0.809299 with order 3 Centerline is valid? [False, False] Translation: X:12.75, Y:-1.91, Z:1.25 [[ 0.92668816 0.33138271 -0.1772979 12.74690552] [-0.33897485 0.94069864 -0.01349547 -1.9061386 ] [ 0.16231173 0.07260562 0.9840647 1.25126627] [ 0. 0. 0. 1. ]] SLAMing on 213.566296757 meters Centerline goodness : 0.812964 with order 2 Centerline is valid? [False, False] Translation: X:12.75, Y:-1.90, Z:1.25 [[ 9.26157874e-01 3.34023276e-01 -1.75100096e-01 1.27458724e+01] [-3.40941353e-01 9.40029996e-01 -1.01291759e-02 -1.90404422e+00] [ 1.61215962e-01 6.90800796e-02 9.84498530e-01 1.25089845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.626296757 meters Centerline goodness : 0.814179 with order 2 Centerline is valid? [False, False] Translation: X:12.75, Y:-1.90, Z:1.25 [[ 9.26278764e-01 3.33851803e-01 -1.74787373e-01 1.27458018e+01] [-3.40714065e-01 9.40114425e-01 -9.93954383e-03 -1.90344954e+00] [ 1.61001796e-01 6.87593047e-02 9.84556032e-01 1.25071051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.686296757 meters Centerline goodness : 0.810050 with order 2 Centerline is valid? [False, False] Translation: X:12.75, Y:-1.90, Z:1.25 [[ 9.26249959e-01 3.33951161e-01 -1.74750209e-01 1.27452814e+01] [-3.40815837e-01 9.40077303e-01 -9.96135240e-03 -1.90328314e+00] [ 1.60952100e-01 6.87843411e-02 9.84562408e-01 1.25139618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.746296757 meters Centerline goodness : 0.814024 with order 2 Centerline is valid? [False, False] Translation: X:12.75, Y:-1.90, Z:1.25 [[ 9.26026492e-01 3.33891512e-01 -1.76043727e-01 1.27485379e+01] [-3.40931590e-01 9.40029768e-01 -1.04731028e-02 -1.90353913e+00] [ 1.61989464e-01 6.97172385e-02 9.84326633e-01 1.25065659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.806296757 meters Centerline goodness : 0.811052 with order 2 Centerline is valid? [False, False] Translation: X:12.75, Y:-1.90, Z:1.25 [[ 9.25427891e-01 3.35085556e-01 -1.76920571e-01 1.27500525e+01] [-3.42165682e-01 9.39584025e-01 -1.02228379e-02 -1.90409035e+00] [ 1.62806217e-01 6.99966470e-02 9.84172040e-01 1.25150498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.86629675700001 meters Centerline goodness : 0.811885 with order 2 Centerline is valid? [False, False] Translation: X:12.75, Y:-1.91, Z:1.25 [[ 9.24668788e-01 3.36495558e-01 -1.78208787e-01 1.27530942e+01] [-3.43572762e-01 9.39077867e-01 -9.51399798e-03 -1.90649294e+00] [ 1.64150510e-01 7.00249822e-02 9.83946702e-01 1.25115494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.92629675700002 meters Centerline goodness : 0.811960 with order 2 Centerline is valid? [False, False] Translation: X:12.75, Y:-1.91, Z:1.25 [[ 9.24369697e-01 3.37443022e-01 -1.77968732e-01 1.27536877e+01] [-3.44336922e-01 9.38808296e-01 -8.43018038e-03 -1.90723290e+00] [ 1.64233817e-01 6.90738088e-02 9.84000032e-01 1.25064703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.986296757 meters Centerline goodness : 0.808640 with order 2 Centerline is valid? [False, False] Translation: X:12.75, Y:-1.91, Z:1.25 [[ 9.24555820e-01 3.36829512e-01 -1.78164015e-01 1.27530064e+01] [-3.43822677e-01 9.38991476e-01 -8.99854545e-03 -1.90734668e+00] [ 1.64263516e-01 6.95764864e-02 9.83959659e-01 1.25163753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.046296757 meters Centerline goodness : 0.809313 with order 2 Centerline is valid? [False, False] Translation: X:12.75, Y:-1.91, Z:1.25 [[ 9.25317667e-01 3.34788054e-01 -1.78056661e-01 1.27505776e+01] [-3.41948220e-01 9.39663034e-01 -1.02370276e-02 -1.90756468e+00] [ 1.63886028e-01 7.03586608e-02 9.83966986e-01 1.25299206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.106296757 meters Centerline goodness : 0.803808 with order 2 Centerline is valid? [False, False] Translation: X:12.75, Y:-1.91, Z:1.25 [[ 9.25468839e-01 3.34098907e-01 -1.78564686e-01 1.27509549e+01] [-3.41355918e-01 9.39873662e-01 -1.06600122e-02 -1.90770296e+00] [ 1.64266747e-01 7.08196216e-02 9.83870427e-01 1.25339027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.166296757 meters Centerline goodness : 0.801495 with order 2 Centerline is valid? [False, False] Translation: X:12.75, Y:-1.91, Z:1.25 [[ 9.26257570e-01 3.31831019e-01 -1.78703914e-01 1.27516612e+01] [-3.39224347e-01 9.40633652e-01 -1.16264674e-02 -1.90724124e+00] [ 1.64236893e-01 7.13898219e-02 9.83834202e-01 1.25234189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.226296757 meters Centerline goodness : 0.798599 with order 2 Centerline is valid? [False, False] Translation: X:12.75, Y:-1.91, Z:1.25 [[ 9.26458677e-01 3.31069003e-01 -1.79074384e-01 1.27520725e+01] [-3.38442281e-01 9.40917921e-01 -1.14144175e-02 -1.90973140e+00] [ 1.64715337e-01 7.11813292e-02 9.83769321e-01 1.25186184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.286296757 meters Centerline goodness : 0.796693 with order 2 Centerline is valid? [False, False] Translation: X:12.75, Y:-1.91, Z:1.25 [[ 9.27281771e-01 3.28462280e-01 -1.79613609e-01 1.27521424e+01] [-3.35966270e-01 9.41795003e-01 -1.21998768e-02 -1.91273047e+00] [ 1.65152001e-01 7.16568377e-02 9.83661585e-01 1.25084526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.346296757 meters Centerline goodness : 0.797876 with order 2 Centerline is valid? [False, False] Translation: X:12.75, Y:-1.92, Z:1.25 [[ 0.92799099 0.32527767 -0.18173376 12.7540047 ] [-0.33333759 0.94269064 -0.0148463 -1.9156727 ] [ 0.16648954 0.07435592 0.98323569 1.25045753] [ 0. 0. 0. 1. ]] SLAMing on 214.406296757 meters Centerline goodness : 0.795393 with order 2 Centerline is valid? [False, False] Translation: X:12.76, Y:-1.92, Z:1.25 [[ 0.92776604 0.32546206 -0.1825503 12.75577313] [-0.33349039 0.94264543 -0.01427407 -1.91859071] [ 0.16743454 0.07412177 0.98309289 1.24980029] [ 0. 0. 0. 1. ]] SLAMing on 214.466296757 meters Centerline goodness : 0.797322 with order 2 Centerline is valid? [False, False] Translation: X:12.76, Y:-1.92, Z:1.25 [[ 9.26315695e-01 3.29077851e-01 -1.83431190e-01 1.27578424e+01] [-3.36831043e-01 9.41489510e-01 -1.19311065e-02 -1.92222958e+00] [ 1.68772279e-01 7.28372903e-02 9.82960145e-01 1.25035621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.526296757 meters Centerline goodness : 0.794920 with order 2 Centerline is valid? [False, False] Translation: X:12.76, Y:-1.92, Z:1.25 [[ 9.24008853e-01 3.35225073e-01 -1.83934203e-01 1.27611772e+01] [-3.42438010e-01 9.39506450e-01 -7.99000635e-03 -1.92482984e+00] [ 1.70128920e-01 7.03688992e-02 9.82906083e-01 1.25072001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.586296757 meters Centerline goodness : 0.796021 with order 2 Centerline is valid? [False, False] Translation: X:12.76, Y:-1.92, Z:1.25 [[ 9.21926452e-01 3.41484341e-01 -1.82866240e-01 1.27616028e+01] [-3.48037922e-01 9.37471877e-01 -4.01058423e-03 -1.92438522e+00] [ 1.70062406e-01 6.73418500e-02 9.83129622e-01 1.25191064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.64629675700002 meters Centerline goodness : 0.797161 with order 2 Centerline is valid? [False, False] Translation: X:12.76, Y:-1.92, Z:1.26 [[ 9.20239905e-01 3.45022507e-01 -1.84710547e-01 1.27636171e+01] [-3.51937813e-01 9.36010055e-01 -4.99529693e-03 -1.92288503e+00] [ 1.71167440e-01 6.96034977e-02 9.82780271e-01 1.25520571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.706296757 meters Centerline goodness : 0.797016 with order 2 Centerline is valid? [False, False] Translation: X:12.76, Y:-1.92, Z:1.26 [[ 9.19591242e-01 3.46450057e-01 -1.85268196e-01 1.27642379e+01] [-3.53423150e-01 9.35450440e-01 -4.95484588e-03 -1.92240890e+00] [ 1.71592609e-01 7.00345025e-02 9.82675503e-01 1.25654596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.766296757 meters Centerline goodness : 0.794581 with order 2 Centerline is valid? [False, False] Translation: X:12.77, Y:-1.92, Z:1.26 [[ 9.19262574e-01 3.39570521e-01 -1.99118509e-01 1.27654003e+01] [-3.47791969e-01 9.37547261e-01 -6.77350140e-03 -1.91712518e+00] [ 1.84382931e-01 7.54784447e-02 9.79952009e-01 1.26213470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.826296757 meters Centerline goodness : 0.797326 with order 2 Centerline is valid? [False, False] Translation: X:12.76, Y:-1.92, Z:1.26 [[ 9.19871629e-01 3.38284095e-01 -1.98494477e-01 1.27640730e+01] [-3.46341590e-01 9.38087341e-01 -6.29627393e-03 -1.91835558e+00] [ 1.84075227e-01 7.45386564e-02 9.80081782e-01 1.26171420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.886296757 meters Centerline goodness : 0.795228 with order 2 Centerline is valid? [False, False] Translation: X:12.76, Y:-1.92, Z:1.26 [[ 9.22195821e-01 3.31444302e-01 -1.99247439e-01 1.27648083e+01] [-3.39980217e-01 9.40387128e-01 -9.24669190e-03 -1.92099622e+00] [ 1.84304963e-01 7.62674481e-02 9.79905586e-01 1.25864270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.946296757 meters Centerline goodness : 0.793892 with order 2 Centerline is valid? [False, False] Translation: X:12.76, Y:-1.92, Z:1.26 [[ 9.24709475e-01 3.25061926e-01 -1.98108886e-01 1.27620160e+01] [-3.33561209e-01 9.42673301e-01 -1.01964702e-02 -1.92439562e+00] [ 1.83437473e-01 7.55102120e-02 9.80126982e-01 1.25568385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.006296757 meters Centerline goodness : 0.790014 with order 2 Centerline is valid? [False, False] Translation: X:12.76, Y:-1.93, Z:1.25 [[ 0.92687316 0.31756806 -0.20014165 12.76352188] [-0.32680455 0.94498777 -0.01403225 -1.9293913 ] [ 0.18467522 0.07841332 0.97966648 1.25308537] [ 0. 0. 0. 1. ]] SLAMing on 215.066296757 meters Centerline goodness : 0.797498 with order 3 Centerline is valid? [False, False] Translation: X:12.76, Y:-1.93, Z:1.25 [[ 0.92865338 0.31068906 -0.20267019 12.76256302] [-0.32085578 0.94694655 -0.01854183 -1.93492443] [ 0.18615709 0.08224684 0.9790715 1.25380469] [ 0. 0. 0. 1. ]] SLAMing on 215.126296757 meters Centerline goodness : 0.790972 with order 2 Centerline is valid? [False, False] Translation: X:12.76, Y:-1.94, Z:1.25 [[ 0.92923881 0.30806827 -0.20398328 12.76140589] [-0.31850611 0.94771729 -0.01964186 -1.94058925] [ 0.18726745 0.0832219 0.97877731 1.25453925] [ 0. 0. 0. 1. ]] SLAMing on 215.186296757 meters Centerline goodness : 0.799029 with order 3 Centerline is valid? [False, False] Translation: X:12.77, Y:-1.95, Z:1.25 [[ 0.92906175 0.31400332 -0.19556631 12.76654117] [-0.32350825 0.94605665 -0.01786714 -1.95188209] [ 0.17940647 0.07986699 0.98052771 1.25394452] [ 0. 0. 0. 1. ]] SLAMing on 215.246296757 meters Centerline goodness : 0.793108 with order 3 Centerline is valid? [False, False] Translation: X:12.77, Y:-1.96, Z:1.25 [[ 9.27580265e-01 3.19143674e-01 -1.94273436e-01 1.27662938e+01] [-3.27624395e-01 9.44727683e-01 -1.23231443e-02 -1.95945734e+00] [ 1.79602640e-01 7.50794225e-02 9.80870008e-01 1.25303270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.306296757 meters Centerline goodness : 0.785506 with order 2 Centerline is valid? [False, False] Translation: X:12.76, Y:-1.96, Z:1.25 [[ 9.25679650e-01 3.25972897e-01 -1.91986603e-01 1.27630890e+01] [-3.33370478e-01 9.42772482e-01 -6.64624846e-03 -1.96385769e+00] [ 1.78833190e-01 7.01549626e-02 9.81375041e-01 1.25325189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.36629675700001 meters Centerline goodness : 0.786621 with order 2 Centerline is valid? [False, False] Translation: X:12.76, Y:-1.97, Z:1.25 [[ 9.24127370e-01 3.31633853e-01 -1.89756666e-01 1.27584144e+01] [-3.38189940e-01 9.41075040e-01 -2.30947192e-03 -1.96579478e+00] [ 1.77809363e-01 6.63080416e-02 9.81828434e-01 1.25476882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.42629675700002 meters Centerline goodness : 0.786742 with order 2 Centerline is valid? [False, False] Translation: X:12.75, Y:-1.97, Z:1.26 [[ 9.21613768e-01 3.40147589e-01 -1.86889487e-01 1.27524519e+01] [-3.45537693e-01 9.38396495e-01 3.96496226e-03 -1.96863157e+00] [ 1.76725112e-01 6.09231984e-02 9.82372943e-01 1.25670926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.486296757 meters Centerline goodness : 0.795602 with order 3 Centerline is valid? [False, False] Translation: X:12.75, Y:-1.97, Z:1.26 [[ 9.19239080e-01 3.47642229e-01 -1.84782017e-01 1.27500166e+01] [-3.52007962e-01 9.35946591e-01 9.71460538e-03 -1.97076201e+00] [ 1.76323306e-01 5.61146963e-02 9.82731516e-01 1.25724650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.546296757 meters Centerline goodness : 0.795375 with order 2 Centerline is valid? [False, False] Translation: X:12.75, Y:-1.97, Z:1.26 [[ 9.18532651e-01 3.49706667e-01 -1.84399069e-01 1.27485900e+01] [-3.53759654e-01 9.35265122e-01 1.15437472e-02 -1.97468005e+00] [ 1.76498943e-01 5.46296421e-02 9.82783661e-01 1.25722029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.606296757 meters Centerline goodness : 0.794779 with order 3 Centerline is valid? [False, False] Translation: X:12.75, Y:-1.98, Z:1.26 [[ 9.19495974e-01 3.46807846e-01 -1.85071531e-01 1.27462282e+01] [-3.51181401e-01 9.36257399e-01 9.68019241e-03 -1.97985876e+00] [ 1.76631757e-01 5.60927814e-02 9.82677375e-01 1.25741588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.666296757 meters Centerline goodness : 0.783290 with order 2 Centerline is valid? [False, False] Translation: X:12.74, Y:-1.98, Z:1.26 [[ 9.20526416e-01 3.44022926e-01 -1.85146819e-01 1.27416745e+01] [-3.48595225e-01 9.37236475e-01 8.31621817e-03 -1.98465855e+00] [ 1.76387321e-01 5.68859984e-02 9.82675682e-01 1.25947738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.726296757 meters Centerline goodness : 0.791437 with order 3 Centerline is valid? [False, False] Translation: X:12.72, Y:-1.98, Z:1.26 [[ 9.22747747e-01 3.39333849e-01 -1.82726940e-01 1.27159459e+01] [-3.43358503e-01 9.39149729e-01 1.01353820e-02 -1.98345946e+00] [ 1.75047234e-01 5.33884477e-02 9.83111458e-01 1.25982503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.786296757 meters Centerline goodness : 0.784544 with order 2 Centerline is valid? [False, False] Translation: X:12.70, Y:-1.99, Z:1.26 [[ 0.92353388 0.33564266 -0.18555102 12.69940569] [-0.3385645 0.94079531 0.01668143 -1.98500677] [ 0.18016452 0.04741512 0.98249303 1.26197138] [ 0. 0. 0. 1. ]] SLAMing on 215.846296757 meters Centerline goodness : 0.783066 with order 1 Centerline is valid? [False, False] Translation: X:12.69, Y:-1.99, Z:1.26 [[ 0.92407517 0.33197358 -0.18941651 12.68521616] [-0.33393751 0.94232877 0.02241036 -1.98576398] [ 0.18593228 0.04254442 0.98164106 1.26173686] [ 0. 0. 0. 1. ]] SLAMing on 215.906296757 meters Centerline goodness : 0.784909 with order 1 Centerline is valid? [False, False] Translation: X:12.67, Y:-1.99, Z:1.26 [[ 0.92401798 0.33023719 -0.19270229 12.67368406] [-0.33050639 0.94327112 0.03170359 -1.98675837] [ 0.19224021 0.03439465 0.98074498 1.26364415] [ 0. 0. 0. 1. ]] SLAMing on 215.966296757 meters Centerline goodness : 0.783955 with order 1 Centerline is valid? [False, False] Translation: X:12.66, Y:-1.99, Z:1.26 [[ 0.92407414 0.32832618 -0.19567549 12.65950241] [-0.32715537 0.94415611 0.03922492 -1.98614579] [ 0.19762678 0.02776955 0.97988393 1.26440643] [ 0. 0. 0. 1. ]] SLAMing on 216.026296757 meters Centerline goodness : 0.785729 with order 1 Centerline is valid? [False, False] Translation: X:12.64, Y:-1.99, Z:1.27 [[ 0.92498435 0.32346517 -0.19943478 12.64256257] [-0.32139906 0.94594086 0.04357225 -1.98590871] [ 0.20274761 0.02379451 0.97894189 1.26520011] [ 0. 0. 0. 1. ]] SLAMing on 216.086296757 meters Centerline goodness : 0.786123 with order 1 Centerline is valid? [False, False] Translation: X:12.62, Y:-1.98, Z:1.26 [[ 0.92536322 0.3210281 -0.20160323 12.62074373] [-0.31845184 0.94682246 0.04599627 -1.9815922 ] [ 0.20564856 0.02163767 0.97838667 1.26286308] [ 0. 0. 0. 1. ]] SLAMing on 216.14629675700002 meters Centerline goodness : 0.788692 with order 1 Centerline is valid? [False, False] Translation: X:12.62, Y:-1.98, Z:1.26 [[ 0.92644104 0.31747783 -0.20227414 12.61891356] [-0.31536705 0.94797388 0.04346433 -1.98444701] [ 0.20554956 0.02352346 0.97836395 1.26335688] [ 0. 0. 0. 1. ]] SLAMing on 216.206296757 meters Centerline goodness : 0.787859 with order 1 Centerline is valid? [False, False] Translation: X:12.59, Y:-1.98, Z:1.26 [[ 0.9269569 0.31604948 -0.20214753 12.59059999] [-0.31401419 0.94844712 0.042932 -1.97991729] [ 0.20529488 0.02368108 0.97841362 1.25782334] [ 0. 0. 0. 1. ]] SLAMing on 216.266296757 meters Centerline goodness : 0.793608 with order 1 Centerline is valid? [False, False] Translation: X:12.59, Y:-1.98, Z:1.26 [[ 0.92778294 0.31338014 -0.20251345 12.58841126] [-0.31178009 0.94928623 0.0406057 -1.98295505] [ 0.20496825 0.02546638 0.97843726 1.25763968] [ 0. 0. 0. 1. ]] SLAMing on 216.326296757 meters Centerline goodness : 0.787738 with order 1 Centerline is valid? [False, False] Translation: X:12.56, Y:-1.98, Z:1.25 [[ 0.92728475 0.31362134 -0.20441294 12.56247181] [-0.31141167 0.94926742 0.04375083 -1.98152688] [ 0.20776374 0.0230871 0.97790655 1.25371182] [ 0. 0. 0. 1. ]] SLAMing on 216.386296757 meters Centerline goodness : 0.791241 with order 1 Centerline is valid? [False, False] Translation: X:12.54, Y:-1.98, Z:1.25 [[ 0.9296266 0.31014415 -0.19901003 12.53647275] [-0.3078134 0.95045855 0.04335273 -1.97748858] [ 0.20259638 0.0209561 0.97903807 1.24863362] [ 0. 0. 0. 1. ]] SLAMing on 216.446296757 meters Centerline goodness : 0.793595 with order 1 Centerline is valid? [False, False] Translation: X:12.51, Y:-1.97, Z:1.24 [[ 0.93074939 0.3083432 -0.19654528 12.50678108] [-0.30655266 0.95100222 0.04025211 -1.97058373] [ 0.19932646 0.02278685 0.97966817 1.2400931 ] [ 0. 0. 0. 1. ]] SLAMing on 216.506296757 meters Centerline goodness : 0.795845 with order 1 Centerline is valid? [False, False] Translation: X:12.50, Y:-1.97, Z:1.24 [[ 0.93051006 0.3095952 -0.19570855 12.50461729] [-0.3076494 0.95061371 0.0410538 -1.97157506] [ 0.19875329 0.02200864 0.9798024 1.24029763] [ 0. 0. 0. 1. ]] SLAMing on 216.566296757 meters Centerline goodness : 0.793698 with order 1 Centerline is valid? [False, False] Translation: X:12.48, Y:-1.96, Z:1.23 [[ 0.93180527 0.31010686 -0.1886072 12.47562618] [-0.30800196 0.95049622 0.04113069 -1.96286784] [ 0.19202534 0.01976559 0.9811909 1.23406057] [ 0. 0. 0. 1. ]] SLAMing on 216.626296757 meters Centerline goodness : 0.797497 with order 1 Centerline is valid? [False, False] Translation: X:12.45, Y:-1.96, Z:1.23 [[ 0.93293385 0.30859353 -0.18548441 12.45074314] [-0.30640971 0.9510136 0.04106358 -1.955916 ] [ 0.18907015 0.01852462 0.98178884 1.22771118] [ 0. 0. 0. 1. ]] SLAMing on 216.686296757 meters Centerline goodness : 0.801318 with order 1 Centerline is valid? [False, False] Translation: X:12.45, Y:-1.96, Z:1.23 [[ 0.93320631 0.30736917 -0.18614561 12.45336451] [-0.30526064 0.95140225 0.04061639 -1.95718996] [ 0.18958357 0.01891946 0.98168229 1.22670758] [ 0. 0. 0. 1. ]] SLAMing on 216.746296757 meters Centerline goodness : 0.802702 with order 1 Centerline is valid? [False, False] Translation: X:12.44, Y:-1.96, Z:1.23 [[ 9.33479598e-01 3.04642760e-01 -1.89231682e-01 1.24393679e+01] [-3.01120613e-01 9.52386628e-01 4.78130392e-02 -1.95573053e+00] [ 1.94787620e-01 1.23490635e-02 9.80767701e-01 1.22797008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.806296757 meters Centerline goodness : 0.804484 with order 1 Centerline is valid? [False, False] Translation: X:12.42, Y:-1.95, Z:1.22 [[ 9.35530450e-01 3.00286467e-01 -1.86039821e-01 1.24171112e+01] [-2.96726974e-01 9.53786902e-01 4.73671691e-02 -1.94905537e+00] [ 1.91666065e-01 1.08896044e-02 9.81399784e-01 1.22333941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.86629675700001 meters Centerline goodness : 0.808831 with order 1 Centerline is valid? [False, False] Translation: X:12.42, Y:-1.95, Z:1.22 [[ 9.35610406e-01 3.00032247e-01 -1.86047892e-01 1.24173180e+01] [-2.96389166e-01 9.53871837e-01 4.77700773e-02 -1.95003848e+00] [ 1.91798409e-01 1.04483983e-02 9.81378725e-01 1.22387161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.92629675700002 meters Centerline goodness : 0.803500 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.94, Z:1.22 [[ 9.36720139e-01 2.98816108e-01 -1.82385072e-01 1.23948259e+01] [-2.94851089e-01 9.54279218e-01 4.91325760e-02 -1.94277354e+00] [ 1.88727889e-01 7.75296386e-03 9.81998816e-01 1.21867891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.986296757 meters Centerline goodness : 0.805235 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-1.94, Z:1.22 [[ 9.36455843e-01 3.00106491e-01 -1.81621993e-01 1.23924775e+01] [-2.96082695e-01 9.53877084e-01 4.95332864e-02 -1.94162102e+00] [ 1.88110318e-01 7.38939384e-03 9.82120107e-01 1.21929161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.046296757 meters Centerline goodness : 0.812212 with order 1 Centerline is valid? [False, False] Translation: X:12.36, Y:-1.93, Z:1.21 [[ 9.36909463e-01 3.02231077e-01 -1.75661705e-01 1.23590529e+01] [-2.98752333e-01 9.53193645e-01 4.65716404e-02 -1.92948999e+00] [ 1.81515018e-01 8.84593353e-03 9.83348386e-01 1.21086824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.106296757 meters Centerline goodness : 0.810741 with order 1 Centerline is valid? [False, False] Translation: X:12.35, Y:-1.92, Z:1.21 [[ 9.37844049e-01 3.03459113e-01 -1.68407559e-01 1.23506960e+01] [-2.99566533e-01 9.52832421e-01 4.86854106e-02 -1.92327990e+00] [ 1.75238214e-01 4.78994580e-03 9.84514411e-01 1.20789068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.166296757 meters Centerline goodness : 0.813509 with order 1 Centerline is valid? [False, False] Translation: X:12.33, Y:-1.91, Z:1.20 [[ 9.38185306e-01 3.03088119e-01 -1.67170345e-01 1.23281964e+01] [-2.99345253e-01 9.52948220e-01 4.77714307e-02 -1.91275142e+00] [ 1.73783635e-01 5.22319474e-03 9.84770007e-01 1.19961916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.226296757 meters Centerline goodness : 0.811209 with order 1 Centerline is valid? [False, False] Translation: X:12.33, Y:-1.91, Z:1.20 [[ 9.38320939e-01 3.02345216e-01 -1.67753349e-01 1.23302265e+01] [-2.98764767e-01 9.53178325e-01 4.68048519e-02 -1.91012766e+00] [ 1.74050079e-01 6.20081750e-03 9.84717279e-01 1.19909668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.286296757 meters Centerline goodness : 0.804258 with order 1 Centerline is valid? [False, False] Translation: X:12.33, Y:-1.91, Z:1.20 [[ 9.38405347e-01 3.01829677e-01 -1.68208947e-01 1.23312353e+01] [-2.98324167e-01 9.53338436e-01 4.63521040e-02 -1.90813037e+00] [ 1.74350495e-01 6.68373174e-03 9.84660973e-01 1.19969964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.346296757 meters Centerline goodness : 0.802470 with order 1 Centerline is valid? [False, False] Translation: X:12.32, Y:-1.90, Z:1.20 [[ 9.41675021e-01 2.95949245e-01 -1.60194255e-01 1.23204063e+01] [-2.92379292e-01 9.55197062e-01 4.59665271e-02 -1.90167389e+00] [ 1.66620840e-01 3.55195242e-03 9.86014644e-01 1.19541789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.406296757 meters Centerline goodness : 0.808027 with order 1 Centerline is valid? [False, False] Translation: X:12.32, Y:-1.90, Z:1.20 [[ 9.42882304e-01 2.91364591e-01 -1.61491910e-01 1.23211117e+01] [-2.88418221e-01 9.56586141e-01 4.19271346e-02 -1.89944886e+00] [ 1.66697005e-01 7.04485607e-03 9.85983001e-01 1.19565761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.466296757 meters Centerline goodness : 0.809669 with order 1 Centerline is valid? [False, False] Translation: X:12.31, Y:-1.90, Z:1.20 [[ 9.43439813e-01 2.87594749e-01 -1.64956298e-01 1.23089657e+01] [-2.83444786e-01 9.57751838e-01 4.86874662e-02 -1.89745312e+00] [ 1.71989457e-01 8.22308614e-04 9.85098447e-01 1.19707056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.526296757 meters Centerline goodness : 0.807599 with order 1 Centerline is valid? [False, False] Translation: X:12.31, Y:-1.90, Z:1.20 [[ 9.43737806e-01 2.86167615e-01 -1.65731863e-01 1.23120258e+01] [-2.82100127e-01 9.58178605e-01 4.80965543e-02 -1.89810196e+00] [ 1.72564402e-01 1.36244309e-03 9.84997295e-01 1.19607876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.586296757 meters Centerline goodness : 0.803721 with order 1 Centerline is valid? [False, False] Translation: X:12.31, Y:-1.90, Z:1.20 [[ 9.43690024e-01 2.86214916e-01 -1.65922154e-01 1.23127463e+01] [-2.82177579e-01 9.58164130e-01 4.79303059e-02 -1.89704256e+00] [ 1.72699025e-01 1.58816022e-03 9.84973362e-01 1.19599272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.64629675700002 meters Centerline goodness : 0.802067 with order 1 Centerline is valid? [False, False] Translation: X:12.31, Y:-1.90, Z:1.20 [[ 9.43341295e-01 2.87599704e-01 -1.65510156e-01 1.23108942e+01] [-2.83509798e-01 9.57749800e-01 4.83478490e-02 -1.89584961e+00] [ 1.72422146e-01 1.31522827e-03 9.85022271e-01 1.19679114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.706296757 meters Centerline goodness : 0.797842 with order 1 Centerline is valid? [False, False] Translation: X:12.29, Y:-1.89, Z:1.19 [[ 9.44696548e-01 2.86075841e-01 -1.60340407e-01 1.22896243e+01] [-2.81744582e-01 9.58205467e-01 4.96213052e-02 -1.88865078e+00] [ 1.67834511e-01 -1.70203480e-03 9.85813715e-01 1.19254139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.766296757 meters Centerline goodness : 0.801871 with order 1 Centerline is valid? [False, False] Translation: X:12.29, Y:-1.89, Z:1.19 [[ 9.44283248e-01 2.87914911e-01 -1.59480884e-01 1.22867813e+01] [-2.83552849e-01 9.57653987e-01 4.99662197e-02 -1.88700647e+00] [ 1.67113524e-01 -1.96100518e-03 9.85935710e-01 1.19317327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.826296757 meters Centerline goodness : 0.805066 with order 1 Centerline is valid? [False, False] Translation: X:12.26, Y:-1.88, Z:1.19 [[ 9.44893296e-01 2.88982535e-01 -1.53836775e-01 1.22644815e+01] [-2.84408669e-01 9.57322065e-01 5.14409682e-02 -1.87827824e+00] [ 1.62136881e-01 -4.85371346e-03 9.86756339e-01 1.18665977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.886296757 meters Centerline goodness : 0.805498 with order 1 Centerline is valid? [False, False] Translation: X:12.26, Y:-1.88, Z:1.19 [[ 9.44432469e-01 2.90934662e-01 -1.52984749e-01 1.22620096e+01] [-2.86382446e-01 9.56730797e-01 5.14905536e-02 -1.87665924e+00] [ 1.61345608e-01 -4.81720395e-03 9.86886209e-01 1.18617034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.946296757 meters Centerline goodness : 0.805998 with order 1 Centerline is valid? [False, False] Translation: X:12.26, Y:-1.88, Z:1.19 [[ 9.44334468e-01 2.91257928e-01 -1.52974613e-01 1.22621190e+01] [-2.86694305e-01 9.56632228e-01 5.15863805e-02 -1.87669402e+00] [ 1.61365387e-01 -4.85784671e-03 9.86882776e-01 1.18592969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.006296757 meters Centerline goodness : 0.801289 with order 1 Centerline is valid? [False, False] Translation: X:12.26, Y:-1.88, Z:1.18 [[ 9.44189702e-01 2.91805150e-01 -1.52825267e-01 1.22623764e+01] [-2.87181896e-01 9.56463604e-01 5.19993608e-02 -1.87963799e+00] [ 1.61345486e-01 -5.20861112e-03 9.86884241e-01 1.18457406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.066296757 meters Centerline goodness : 0.802773 with order 1 Centerline is valid? [False, False] Translation: X:12.26, Y:-1.88, Z:1.18 [[ 9.44994081e-01 2.89071839e-01 -1.53047895e-01 1.22601955e+01] [-2.84835632e-01 9.57302411e-01 4.94040214e-02 -1.88193933e+00] [ 1.60794431e-01 -3.09301370e-03 9.86983072e-01 1.18431010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.126296757 meters Centerline goodness : 0.807087 with order 1 Centerline is valid? [False, False] Translation: X:12.26, Y:-1.89, Z:1.18 [[ 9.46052361e-01 2.85401114e-01 -1.53398612e-01 1.22582858e+01] [-2.81500629e-01 9.58407249e-01 4.70419013e-02 -1.88744780e+00] [ 1.60444152e-01 -1.32229618e-03 9.87044034e-01 1.18427903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.186296757 meters Centerline goodness : 0.814651 with order 1 Centerline is valid? [False, False] Translation: X:12.26, Y:-1.89, Z:1.18 [[ 9.47245084e-01 2.81000722e-01 -1.54160130e-01 1.22578333e+01] [-2.77457809e-01 9.59707347e-01 4.44856393e-02 -1.89423723e+00] [ 1.60449106e-01 6.34128678e-04 9.87043911e-01 1.18363824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.246296757 meters Centerline goodness : 0.812861 with order 1 Centerline is valid? [False, False] Translation: X:12.26, Y:-1.90, Z:1.18 [[ 9.48150832e-01 2.77783033e-01 -1.54423400e-01 1.22559443e+01] [-2.74633284e-01 9.60639839e-01 4.18050107e-02 -1.89897848e+00] [ 1.59957993e-01 2.77234971e-03 9.87119929e-01 1.18271651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.306296757 meters Centerline goodness : 0.819490 with order 1 Centerline is valid? [False, False] Translation: X:12.25, Y:-1.90, Z:1.18 [[ 9.48817296e-01 2.75639224e-01 -1.54171191e-01 1.22519512e+01] [-2.72805634e-01 9.61250996e-01 3.96687254e-02 -1.90380026e+00] [ 1.59131468e-01 4.42039687e-03 9.87247505e-01 1.18252509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.36629675700001 meters Centerline goodness : 0.819763 with order 1 Centerline is valid? [False, False] Translation: X:12.25, Y:-1.91, Z:1.18 [[ 9.49609959e-01 2.72808288e-01 -1.54326161e-01 1.22501378e+01] [-2.70326053e-01 9.62047555e-01 3.72602679e-02 -1.90948490e+00] [ 1.58634015e-01 6.33566040e-03 9.87317127e-01 1.18109962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.42629675700002 meters Centerline goodness : 0.823022 with order 1 Centerline is valid? [False, False] Translation: X:12.25, Y:-1.92, Z:1.18 [[ 9.50469204e-01 2.69429273e-01 -1.54971478e-01 1.22494194e+01] [-2.67328723e-01 9.62982619e-01 3.46385589e-02 -1.91640119e+00] [ 1.58567482e-01 8.50544384e-03 9.87311507e-01 1.17937309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.486296757 meters Centerline goodness : 0.821956 with order 1 Centerline is valid? [False, False] Translation: X:12.25, Y:-1.92, Z:1.18 [[ 9.51296858e-01 2.66190171e-01 -1.55489811e-01 1.22485562e+01] [-2.64471130e-01 9.63861642e-01 3.20274337e-02 -1.92310752e+00] [ 1.58396053e-01 1.06549691e-02 9.87318167e-01 1.17751347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.546296757 meters Centerline goodness : 0.822733 with order 1 Centerline is valid? [False, False] Translation: X:12.25, Y:-1.93, Z:1.18 [[ 0.9518877 0.2642886 -0.15511721 12.24528185] [-0.26290704 0.96436291 0.02973326 -1.92792415] [ 0.15744745 0.01247868 0.98744852 1.17607303] [ 0. 0. 0. 1. ]] SLAMing on 218.606296757 meters Centerline goodness : 0.824873 with order 1 Centerline is valid? [False, False] Translation: X:12.24, Y:-1.93, Z:1.18 [[ 0.95237654 0.26284743 -0.15456442 12.23998433] [-0.26176401 0.96473457 0.02769142 -1.93270444] [ 0.15639226 0.01408675 0.98759457 1.17596478] [ 0. 0. 0. 1. ]] SLAMing on 218.666296757 meters Centerline goodness : 0.826687 with order 1 Centerline is valid? [False, False] Translation: X:12.24, Y:-1.94, Z:1.18 [[ 0.95300957 0.26051769 -0.1546069 12.23681635] [-0.259853 0.96532827 0.02485464 -1.93505869] [ 0.15572148 0.01648835 0.98766338 1.17550036] [ 0. 0. 0. 1. ]] SLAMing on 218.726296757 meters Centerline goodness : 0.826823 with order 1 Centerline is valid? [False, False] Translation: X:12.23, Y:-1.94, Z:1.18 [[ 0.95268744 0.26204965 -0.154002 12.23442986] [-0.26105667 0.96494577 0.02700156 -1.94269756] [ 0.15567932 0.0144792 0.98770152 1.1758591 ] [ 0. 0. 0. 1. ]] SLAMing on 218.786296757 meters Centerline goodness : 0.832357 with order 1 Centerline is valid? [False, False] Translation: X:12.23, Y:-1.95, Z:1.17 [[ 0.9533506 0.25967881 -0.15391407 12.23153174] [-0.258997 0.96555915 0.02482108 -1.94831125] [ 0.15505865 0.01620009 0.98777243 1.17494139] [ 0. 0. 0. 1. ]] SLAMing on 218.846296757 meters Centerline goodness : 0.829328 with order 1 Centerline is valid? [False, False] Translation: X:12.23, Y:-1.95, Z:1.17 [[ 0.95513676 0.25247193 -0.15482794 12.22840772] [-0.2526766 0.96737033 0.0186862 -1.95356456] [ 0.1544937 0.02127352 0.98776472 1.17468711] [ 0. 0. 0. 1. ]] SLAMing on 218.906296757 meters Centerline goodness : 0.827629 with order 1 Centerline is valid? [False, False] Translation: X:12.23, Y:-1.96, Z:1.17 [[ 9.57179548e-01 2.43491121e-01 -1.56586674e-01 1.22279957e+01] [-2.44653356e-01 9.69535006e-01 1.21081623e-02 -1.95955004e+00] [ 1.54764492e-01 2.67197700e-02 9.87589999e-01 1.17463761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.966296757 meters Centerline goodness : 0.833695 with order 1 Centerline is valid? [False, False] Translation: X:12.23, Y:-1.96, Z:1.17 [[ 9.58424455e-01 2.37613692e-01 -1.57994614e-01 1.22308950e+01] [-2.39320895e-01 9.70904085e-01 8.41235362e-03 -1.96429445e+00] [ 1.55396506e-01 2.97488069e-02 9.87404139e-01 1.17308797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.026296757 meters Centerline goodness : 0.833125 with order 1 Centerline is valid? [False, False] Translation: X:12.23, Y:-1.96, Z:1.17 [[ 9.59413486e-01 2.33019422e-01 -1.58832341e-01 1.22314622e+01] [-2.35321221e-01 9.71907575e-01 4.42597568e-03 -1.96493572e+00] [ 1.55401694e-01 3.31302796e-02 9.87295649e-01 1.17203643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.086296757 meters Centerline goodness : 0.832670 with order 1 Centerline is valid? [False, False] Translation: X:12.23, Y:-1.97, Z:1.17 [[ 9.60228174e-01 2.29470258e-01 -1.59076255e-01 1.22292411e+01] [-2.32275266e-01 9.72649592e-01 9.86307755e-04 -1.96528511e+00] [ 1.54951783e-01 3.60023989e-02 9.87265806e-01 1.17239747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.14629675700002 meters Centerline goodness : 0.831680 with order 1 Centerline is valid? [False, False] Translation: X:12.23, Y:-1.97, Z:1.17 [[ 9.60267906e-01 2.28874357e-01 -1.59693701e-01 1.22308254e+01] [-2.31581600e-01 9.72813993e-01 1.70200003e-03 -1.96784573e+00] [ 1.55741811e-01 3.53477469e-02 9.87165146e-01 1.17326619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.206296757 meters Centerline goodness : 0.832379 with order 1 Centerline is valid? [False, False] Translation: X:12.23, Y:-1.97, Z:1.17 [[ 9.60369965e-01 2.28032129e-01 -1.60283744e-01 1.22329617e+01] [-2.30767328e-01 9.73007662e-01 1.59092155e-03 -1.96876246e+00] [ 1.56320092e-01 3.54603779e-02 9.87069699e-01 1.17292862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.266296757 meters Centerline goodness : 0.834230 with order 1 Centerline is valid? [False, False] Translation: X:12.24, Y:-1.97, Z:1.17 [[ 9.61486621e-01 2.21782615e-01 -1.62345154e-01 1.22368482e+01] [-2.25244980e-01 9.74297527e-01 -3.00459198e-03 -1.96903321e+00] [ 1.57506116e-01 3.94563059e-02 9.86729458e-01 1.17228781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.326296757 meters Centerline goodness : 0.836955 with order 1 Centerline is valid? [False, False] Translation: X:12.24, Y:-1.97, Z:1.17 [[ 9.61647159e-01 2.20421891e-01 -1.63245005e-01 1.22404477e+01] [-2.23992617e-01 9.74584317e-01 -3.56608558e-03 -1.96924535e+00] [ 1.58309979e-01 3.99949920e-02 9.86579116e-01 1.17125210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.386296757 meters Centerline goodness : 0.835461 with order 1 Centerline is valid? [False, False] Translation: X:12.24, Y:-1.97, Z:1.17 [[ 9.61587367e-01 2.20792019e-01 -1.63096966e-01 1.22397131e+01] [-2.24348162e-01 9.74502836e-01 -3.48203983e-03 -1.96781470e+00] [ 1.58169649e-01 3.99387901e-02 9.86603900e-01 1.17190023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.446296757 meters Centerline goodness : 0.839740 with order 1 Centerline is valid? [False, False] Translation: X:12.22, Y:-1.96, Z:1.17 [[ 9.62931494e-01 2.19298660e-01 -1.57070161e-01 1.22155125e+01] [-2.22168993e-01 9.75007896e-01 -7.35948848e-04 -1.95932377e+00] [ 1.52983254e-01 3.56047877e-02 9.87587172e-01 1.17054003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.506296757 meters Centerline goodness : 0.838915 with order 1 Centerline is valid? [False, False] Translation: X:12.21, Y:-1.95, Z:1.17 [[ 9.62931947e-01 2.19364633e-01 -1.56975232e-01 1.22149805e+01] [-2.22302651e-01 9.74976981e-01 -1.19035922e-03 -1.95499007e+00] [ 1.52786115e-01 3.60422451e-02 9.87601822e-01 1.17157701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.566296757 meters Centerline goodness : 0.839944 with order 1 Centerline is valid? [False, False] Translation: X:12.22, Y:-1.95, Z:1.17 [[ 9.62925802e-01 2.19390012e-01 -1.56977456e-01 1.22151044e+01] [-2.22470681e-01 9.74937097e-01 -2.11047738e-03 -1.95079865e+00] [ 1.52580127e-01 3.69551145e-02 9.87599931e-01 1.17129263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.626296757 meters Centerline goodness : 0.839605 with order 1 Centerline is valid? [False, False] Translation: X:12.22, Y:-1.95, Z:1.17 [[ 9.62992561e-01 2.18784859e-01 -1.57411919e-01 1.22166274e+01] [-2.22102969e-01 9.75016618e-01 -3.58698494e-03 -1.94542454e+00] [ 1.52694459e-01 3.84158945e-02 9.87526517e-01 1.17074117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.686296757 meters Centerline goodness : 0.837332 with order 1 Centerline is valid? [False, False] Translation: X:12.20, Y:-1.94, Z:1.17 [[ 9.63116012e-01 2.16192200e-01 -1.60213858e-01 1.22026386e+01] [-2.18726814e-01 9.75784366e-01 1.85796915e-03 -1.93835760e+00] [ 1.56735857e-01 3.32536269e-02 9.87080578e-01 1.17031650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.746296757 meters Centerline goodness : 0.834531 with order 1 Centerline is valid? [False, False] Translation: X:12.19, Y:-1.93, Z:1.17 [[ 9.64198997e-01 2.11116792e-01 -1.60468049e-01 1.21880643e+01] [-2.12699035e-01 9.77089347e-01 7.45178240e-03 -1.93382129e+00] [ 1.58364817e-01 2.69463979e-02 9.87012906e-01 1.17153139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.806296757 meters Centerline goodness : 0.838855 with order 1 Centerline is valid? [False, False] Translation: X:12.19, Y:-1.93, Z:1.17 [[ 9.65241114e-01 2.05138007e-01 -1.61950580e-01 1.21907386e+01] [-2.07439717e-01 9.78243932e-01 2.75187048e-03 -1.93214752e+00] [ 1.58991686e-01 3.09387640e-02 9.86795033e-01 1.17116981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.86629675700001 meters Centerline goodness : 0.840738 with order 1 Centerline is valid? [False, False] Translation: X:12.19, Y:-1.93, Z:1.17 [[ 9.66225827e-01 1.99384264e-01 -1.63259199e-01 1.21931837e+01] [-2.02441337e-01 9.79292063e-01 -2.13538694e-03 -1.93133087e+00] [ 1.59452675e-01 3.51136766e-02 9.86580901e-01 1.16989395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.92629675700002 meters Centerline goodness : 0.837199 with order 1 Centerline is valid? [False, False] Translation: X:12.19, Y:-1.93, Z:1.17 [[ 9.68056163e-01 1.90550576e-01 -1.62965464e-01 1.21945383e+01] [-1.94529732e-01 9.80858322e-01 -8.66801914e-03 -1.93123047e+00] [ 1.58194336e-01 4.00927575e-02 9.86593697e-01 1.16782450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.986296757 meters Centerline goodness : 0.838246 with order 1 Centerline is valid? [False, False] Translation: X:12.19, Y:-1.93, Z:1.17 [[ 0.96893577 0.18550535 -0.16355807 12.19473791] [-0.19008466 0.98168598 -0.01266719 -1.93183905] [ 0.15821283 0.04336357 0.98645238 1.16760921] [ 0. 0. 0. 1. ]] SLAMing on 220.046296757 meters Centerline goodness : 0.840820 with order 1 Centerline is valid? [False, False] Translation: X:12.21, Y:-1.94, Z:1.18 [[ 9.69795576e-01 1.82422790e-01 -1.61921172e-01 1.22055150e+01] [-1.85525461e-01 9.82630810e-01 -4.12248291e-03 -1.94006155e+00] [ 1.58356698e-01 3.40384658e-02 9.86795085e-01 1.17664229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.106296757 meters Centerline goodness : 0.838953 with order 1 Centerline is valid? [False, False] Translation: X:12.22, Y:-1.95, Z:1.19 [[ 0.97049184 0.18333317 -0.15663502 12.22332475] [-0.18306138 0.9829666 0.01628508 -1.95324721] [ 0.15695258 0.01286929 0.98752229 1.19326035] [ 0. 0. 0. 1. ]] SLAMing on 220.166296757 meters Centerline goodness : 0.838005 with order 1 Centerline is valid? [False, False] Translation: X:12.23, Y:-2.00, Z:1.28 [[ 0.97459788 0.19132317 -0.11642343 12.23483728] [-0.17579778 0.97559078 0.13159701 -2.00190959] [ 0.13875918 -0.10778719 0.98444289 1.28101144] [ 0. 0. 0. 1. ]] SLAMing on 220.226296757 meters Centerline goodness : 0.838102 with order 1 Centerline is valid? [False, False] Translation: X:12.25, Y:-2.02, Z:1.32 [[ 0.97564633 0.19132223 -0.10728486 12.25471499] [-0.17245154 0.97129488 0.16384971 -2.01798778] [ 0.13555333 -0.14135793 0.9806341 1.31567047] [ 0. 0. 0. 1. ]] SLAMing on 220.286296757 meters Centerline goodness : 0.839501 with order 1 Centerline is valid? [False, False] Translation: X:12.28, Y:-2.04, Z:1.37 [[ 0.97806676 0.18995836 -0.08544727 12.28041391] [-0.16705512 0.96041598 0.22292091 -2.04142516] [ 0.12441061 -0.20375713 0.97108446 1.3689091 ] [ 0. 0. 0. 1. ]] SLAMing on 220.346296757 meters Centerline goodness : 0.838949 with order 1 Centerline is valid? [False, False] Translation: X:12.29, Y:-2.06, Z:1.44 [[ 0.98204999 0.18361583 -0.0431629 12.28716172] [-0.16201588 0.93832593 0.3054428 -2.05804443] [ 0.09658501 -0.29296703 0.95123165 1.44423225] [ 0. 0. 0. 1. ]] SLAMing on 220.406296757 meters Centerline goodness : 0.840773 with order 1 Centerline is valid? [False, False] Translation: X:12.29, Y:-2.07, Z:1.53 [[ 0.98046859 0.19460697 -0.02845106 12.28516441] [-0.16887718 0.907177 0.38537046 -2.07444857] [ 0.10080592 -0.3730389 0.92232323 1.53326634] [ 0. 0. 0. 1. ]] SLAMing on 220.466296757 meters Centerline goodness : 0.837757 with order 1 Centerline is valid? [False, False] Translation: X:12.30, Y:-2.08, Z:1.57 [[ 0.9808004 0.19405818 -0.01928702 12.3005399 ] [-0.16892688 0.89484727 0.41317316 -2.07638791] [ 0.09743857 -0.40198231 0.91044821 1.56600537] [ 0. 0. 0. 1. ]] SLAMing on 220.526296757 meters Centerline goodness : 0.835887 with order 1 Centerline is valid? [False, False] Translation: X:12.21, Y:-2.06, Z:1.63 [[ 9.79444114e-01 2.01389358e-01 -1.14696686e-02 1.22138572e+01] [-1.71999794e-01 8.63510807e-01 4.74094039e-01 -2.06220079e+00] [ 1.05381677e-01 -4.62375836e-01 8.80399505e-01 1.62797844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.586296757 meters Centerline goodness : 0.838966 with order 1 Centerline is valid? [False, False] Translation: X:12.22, Y:-2.06, Z:1.65 [[ 9.79569181e-01 2.01013680e-01 -6.14167087e-03 1.22151638e+01] [-1.72654554e-01 8.56246273e-01 4.86860067e-01 -2.05803031e+00] [ 1.03124316e-01 -4.75852729e-01 8.73458388e-01 1.64733091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.64629675700002 meters Centerline goodness : 0.839373 with order 1 Centerline is valid? [False, False] Translation: X:12.24, Y:-2.06, Z:1.67 [[ 9.79212297e-01 2.02838000e-01 -1.50944231e-04 1.22417348e+01] [-1.75765736e-01 8.48890317e-01 4.98489354e-01 -2.05789641e+00] [ 1.01240719e-01 -4.88100375e-01 8.66895808e-01 1.66762389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.706296757 meters Centerline goodness : 0.838910 with order 1 Centerline is valid? [False, False] Translation: X:12.23, Y:-2.05, Z:1.66 [[ 9.78423981e-01 2.06268020e-01 -1.18329258e-02 1.22343264e+01] [-1.75041308e-01 8.58003621e-01 4.82897843e-01 -2.05134661e+00] [ 1.09759075e-01 -4.70407579e-01 8.75596742e-01 1.65553016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.766296757 meters Centerline goodness : 0.837089 with order 1 Centerline is valid? [False, False] Translation: X:12.21, Y:-2.04, Z:1.63 [[ 0.97761094 0.20898914 -0.02450304 12.20756346] [-0.17477611 0.87132837 0.45851956 -2.04106654] [ 0.1171758 -0.44397119 0.88834645 1.63459459] [ 0. 0. 0. 1. ]] SLAMing on 220.826296757 meters Centerline goodness : 0.839948 with order 1 Centerline is valid? [False, False] Translation: X:12.18, Y:-2.03, Z:1.62 [[ 0.97693296 0.21077727 -0.0342774 12.18010594] [-0.1750967 0.88253209 0.43643814 -2.03232322] [ 0.12224214 -0.42036894 0.89908109 1.61503197] [ 0. 0. 0. 1. ]] SLAMing on 220.886296757 meters Centerline goodness : 0.835260 with order 1 Centerline is valid? [False, False] Translation: X:12.14, Y:-2.02, Z:1.60 [[ 0.97508232 0.21734122 -0.04446638 12.14448201] [-0.17979465 0.89164279 0.41550815 -2.01964927] [ 0.12995517 -0.39715984 0.90850191 1.59527486] [ 0. 0. 0. 1. ]] SLAMing on 220.946296757 meters Centerline goodness : 0.831271 with order 1 Centerline is valid? [False, False] Translation: X:12.11, Y:-2.01, Z:1.58 [[ 0.97373568 0.22093059 -0.05503177 12.11062454] [-0.18215337 0.90093698 0.39386889 -2.00864278] [ 0.13659784 -0.37349997 0.91751774 1.57689795] [ 0. 0. 0. 1. ]] SLAMing on 221.006296757 meters Centerline goodness : 0.830261 with order 1 Centerline is valid? [False, False] Translation: X:12.10, Y:-2.00, Z:1.57 [[ 0.97146542 0.2281588 -0.06479578 12.10002024] [-0.18817283 0.90771585 0.37502391 -2.0025352 ] [ 0.14438116 -0.35212995 0.92474785 1.5652415 ] [ 0. 0. 0. 1. ]] SLAMing on 221.066296757 meters Centerline goodness : 0.827384 with order 1 Centerline is valid? [False, False] Translation: X:12.08, Y:-2.00, Z:1.55 [[ 0.96923991 0.23425712 -0.07548244 12.08370647] [-0.19370512 0.91526902 0.35321516 -1.99522697] [ 0.15182991 -0.3277289 0.93249206 1.5516164 ] [ 0. 0. 0. 1. ]] SLAMing on 221.126296757 meters Centerline goodness : 0.827665 with order 1 Centerline is valid? [False, False] Translation: X:12.07, Y:-1.99, Z:1.54 [[ 0.96704863 0.23956591 -0.08616912 12.06769703] [-0.19877268 0.92194725 0.33241945 -1.98809013] [ 0.15907975 -0.30433771 0.93918699 1.53850368] [ 0. 0. 0. 1. ]] SLAMing on 221.186296757 meters Centerline goodness : 0.822325 with order 1 Centerline is valid? [False, False] Translation: X:12.05, Y:-1.98, Z:1.53 [[ 0.9647168 0.24484633 -0.09680788 12.05335231] [-0.20398033 0.92752809 0.31318312 -1.98139185] [ 0.16647377 -0.28238612 0.94474577 1.52690772] [ 0. 0. 0. 1. ]] SLAMing on 221.246296757 meters Centerline goodness : 0.818704 with order 1 Centerline is valid? [False, False] Translation: X:12.04, Y:-1.98, Z:1.52 [[ 0.96262029 0.24926408 -0.10596975 12.03921447] [-0.20830414 0.93137484 0.29858047 -1.97515627] [ 0.17312294 -0.26534568 0.94848306 1.51601338] [ 0. 0. 0. 1. ]] SLAMing on 221.306296757 meters Centerline goodness : 0.816466 with order 1 Centerline is valid? [False, False] Translation: X:12.03, Y:-1.97, Z:1.50 [[ 0.96078013 0.25290617 -0.11375418 12.02590501] [-0.21225366 0.93465121 0.28526393 -1.97037141] [ 0.17846548 -0.24993117 0.95167457 1.50493975] [ 0. 0. 0. 1. ]] SLAMing on 221.36629675700001 meters Centerline goodness : 0.815791 with order 1 Centerline is valid? [False, False] Translation: X:12.01, Y:-1.96, Z:1.49 [[ 0.95951377 0.25456911 -0.12053171 12.00645848] [-0.21517529 0.93864538 0.26952632 -1.96457721] [ 0.1817496 -0.23267877 0.95542016 1.49109459] [ 0. 0. 0. 1. ]] SLAMing on 221.42629675700002 meters Centerline goodness : 0.814151 with order 1 Centerline is valid? [False, False] Translation: X:12.00, Y:-1.96, Z:1.48 [[ 0.95665588 0.25967396 -0.13182932 11.99703642] [-0.22069834 0.94180171 0.25357797 -1.96127113] [ 0.19000467 -0.21349234 0.95828975 1.48156118] [ 0. 0. 0. 1. ]] SLAMing on 221.486296757 meters Centerline goodness : 0.818300 with order 1 Centerline is valid? [False, False] Translation: X:11.99, Y:-1.96, Z:1.47 [[ 0.95352901 0.26551071 -0.14243063 11.98729478] [-0.22704507 0.94394012 0.23964054 -1.95767414] [ 0.19807312 -0.19616603 0.96035719 1.47223613] [ 0. 0. 0. 1. ]] SLAMing on 221.546296757 meters Centerline goodness : 0.823686 with order 1 Centerline is valid? [False, False] Translation: X:11.98, Y:-1.95, Z:1.46 [[ 0.95202857 0.26918597 -0.14553529 11.98210946] [-0.23428708 0.94712679 0.21922686 -1.95450131] [ 0.19685317 -0.17461319 0.96475855 1.46027866] [ 0. 0. 0. 1. ]] SLAMing on 221.606296757 meters Centerline goodness : 0.822749 with order 1 Centerline is valid? [False, False] Translation: X:11.97, Y:-1.95, Z:1.45 [[ 0.9510592 0.27131072 -0.14790839 11.96629077] [-0.23806258 0.94848275 0.20906142 -1.95133503] [ 0.19700916 -0.16361834 0.96665218 1.45071065] [ 0. 0. 0. 1. ]] SLAMing on 221.666296757 meters Centerline goodness : 0.823543 with order 1 Centerline is valid? [False, False] Translation: X:11.96, Y:-1.95, Z:1.44 [[ 0.95090311 0.27124675 -0.14902507 11.9593947 ] [-0.23958021 0.94997536 0.20037 -1.94830409] [ 0.19591986 -0.154829 0.96831988 1.44039275] [ 0. 0. 0. 1. ]] SLAMing on 221.726296757 meters Centerline goodness : 0.818811 with order 1 Centerline is valid? [False, False] Translation: X:11.95, Y:-1.95, Z:1.43 [[ 0.95135211 0.26804703 -0.15192085 11.95168092] [-0.23849527 0.95283652 0.18767679 -1.94520536] [ 0.19506194 -0.1423143 0.97041099 1.42863902] [ 0. 0. 0. 1. ]] SLAMing on 221.786296757 meters Centerline goodness : 0.823231 with order 1 Centerline is valid? [False, False] Translation: X:11.95, Y:-1.95, Z:1.42 [[ 0.95331154 0.26028148 -0.15313611 11.95036293] [-0.23256421 0.95624159 0.17752723 -1.94646395] [ 0.19264217 -0.13362478 0.97212829 1.42161456] [ 0. 0. 0. 1. ]] SLAMing on 221.846296757 meters Centerline goodness : 0.821827 with order 1 Centerline is valid? [False, False] Translation: X:11.95, Y:-1.95, Z:1.42 [[ 0.95542067 0.25163293 -0.15444163 11.94956503] [-0.22541342 0.95951576 0.16887363 -1.94987835] [ 0.19068334 -0.12653214 0.97346262 1.41808852] [ 0. 0. 0. 1. ]] SLAMing on 221.906296757 meters Centerline goodness : 0.824041 with order 1 Centerline is valid? [False, False] Translation: X:11.95, Y:-1.95, Z:1.42 [[ 0.95729234 0.24367693 -0.15560504 11.94784572] [-0.21889772 0.96245291 0.16052473 -1.95073228] [ 0.18887869 -0.1196075 0.97468912 1.41547928] [ 0. 0. 0. 1. ]] SLAMing on 221.966296757 meters Centerline goodness : 0.824557 with order 1 Centerline is valid? [False, False] Translation: X:11.95, Y:-1.95, Z:1.41 [[ 0.95908984 0.23567779 -0.15685236 11.94690067] [-0.21233042 0.96529165 0.15207838 -1.95220155] [ 0.18724977 -0.1125523 0.97584297 1.41215458] [ 0. 0. 0. 1. ]] SLAMing on 222.026296757 meters Centerline goodness : 0.831209 with order 1 Centerline is valid? [False, False] Translation: X:11.94, Y:-1.95, Z:1.41 [[ 0.95920154 0.23537072 -0.15663021 11.93873393] [-0.21340627 0.96615042 0.14495219 -1.94797259] [ 0.18544585 -0.10561249 0.97696256 1.40570382] [ 0. 0. 0. 1. ]] SLAMing on 222.086296757 meters Centerline goodness : 0.831047 with order 1 Centerline is valid? [False, False] Translation: X:11.94, Y:-1.95, Z:1.40 [[ 0.96009377 0.23110569 -0.15751228 11.93879587] [-0.21007982 0.96770557 0.13932841 -1.94507175] [ 0.1846251 -0.10067819 0.97763872 1.40257664] [ 0. 0. 0. 1. ]] SLAMing on 222.14629675700002 meters Centerline goodness : 0.830670 with order 1 Centerline is valid? [False, False] Translation: X:11.94, Y:-1.94, Z:1.40 [[ 0.9610166 0.22639327 -0.15872358 11.94031409] [-0.2062478 0.96930859 0.13380101 -1.94271881] [ 0.18414378 -0.0958486 0.97821476 1.39945715] [ 0. 0. 0. 1. ]] SLAMing on 222.206296757 meters Centerline goodness : 0.828667 with order 1 Centerline is valid? [False, False] Translation: X:11.94, Y:-1.94, Z:1.40 [[ 0.96192046 0.22155421 -0.16007109 11.94210407] [-0.20243288 0.97096969 0.12743149 -1.93938538] [ 0.18365716 -0.09017531 0.97884547 1.39527282] [ 0. 0. 0. 1. ]] SLAMing on 222.266296757 meters Centerline goodness : 0.823945 with order 1 Centerline is valid? [False, False] Translation: X:11.95, Y:-1.94, Z:1.39 [[ 0.96284972 0.21603727 -0.16201335 11.94563039] [-0.19801375 0.97278181 0.12035822 -1.93524542] [ 0.1836055 -0.08380601 0.97942104 1.39038643] [ 0. 0. 0. 1. ]] SLAMing on 222.326296757 meters Centerline goodness : 0.819223 with order 1 Centerline is valid? [False, False] Translation: X:11.95, Y:-1.93, Z:1.39 [[ 0.96381068 0.21086132 -0.16311489 11.94724547] [-0.193849 0.9743657 0.11416675 -1.93166937] [ 0.18300691 -0.07841548 0.97997933 1.38693662] [ 0. 0. 0. 1. ]] SLAMing on 222.386296757 meters Centerline goodness : 0.816518 with order 1 Centerline is valid? [False, False] Translation: X:11.95, Y:-1.93, Z:1.38 [[ 0.96473642 0.20571443 -0.1642109 11.94849023] [-0.18960535 0.9758413 0.10855218 -1.92832325] [ 0.18257453 -0.07358898 0.98043419 1.38479552] [ 0. 0. 0. 1. ]] SLAMing on 222.446296757 meters Centerline goodness : 0.821329 with order 1 Centerline is valid? [False, False] Translation: X:11.95, Y:-1.92, Z:1.38 [[ 0.9662864 0.19674295 -0.16608074 11.95003618] [-0.18246294 0.97837596 0.09740512 -1.92267531] [ 0.18165317 -0.06381766 0.98128968 1.37896911] [ 0. 0. 0. 1. ]] SLAMing on 222.506296757 meters Centerline goodness : 0.817257 with order 1 Centerline is valid? [False, False] Translation: X:11.96, Y:-1.92, Z:1.37 [[ 0.96732092 0.18985285 -0.16806585 11.95574207] [-0.17664351 0.98010805 0.09047254 -1.91995998] [ 0.18189916 -0.05782824 0.9816153 1.37420314] [ 0. 0. 0. 1. ]] SLAMing on 222.566296757 meters Centerline goodness : 0.818725 with order 1 Centerline is valid? [False, False] Translation: X:11.96, Y:-1.92, Z:1.37 [[ 0.96899738 0.17921714 -0.17007438 11.95983819] [-0.16766408 0.98258163 0.08013799 -1.91697411] [ 0.18147406 -0.04913814 0.9821673 1.36974597] [ 0. 0. 0. 1. ]] SLAMing on 222.626296757 meters Centerline goodness : 0.817971 with order 1 Centerline is valid? [False, False] Translation: X:11.96, Y:-1.92, Z:1.37 [[ 0.96985236 0.17267114 -0.17196243 11.96460994] [-0.16198659 0.98398073 0.07444646 -1.91554445] [ 0.18206247 -0.04434646 0.98228644 1.367457 ] [ 0. 0. 0. 1. ]] SLAMing on 222.686296757 meters Centerline goodness : 0.821540 with order 1 Centerline is valid? [False, False] Translation: X:12.00, Y:-1.93, Z:1.39 [[ 0.97206408 0.16772985 -0.16418927 11.99530113] [-0.15329497 0.98340381 0.09704432 -1.9278607 ] [ 0.17774158 -0.06916391 0.98164366 1.39149937] [ 0. 0. 0. 1. ]] SLAMing on 222.746296757 meters Centerline goodness : 0.821869 with order 1 Centerline is valid? [False, False] Translation: X:12.02, Y:-1.95, Z:1.43 [[ 0.97478961 0.16790916 -0.14694124 12.01664296] [-0.14656416 0.97840718 0.14573381 -1.94720864] [ 0.16823841 -0.12052348 0.97835062 1.43472961] [ 0. 0. 0. 1. ]] SLAMing on 222.806296757 meters Centerline goodness : 0.825701 with order 1 Centerline is valid? [False, False] Translation: X:12.05, Y:-1.98, Z:1.51 [[ 0.97941616 0.16842646 -0.11124981 12.05130821] [-0.13908136 0.96253182 0.23278504 -1.97683491] [ 0.14628864 -0.21252065 0.9661442 1.51237763] [ 0. 0. 0. 1. ]] SLAMing on 222.86629675700001 meters Centerline goodness : 0.824040 with order 1 Centerline is valid? [False, False] Translation: X:12.06, Y:-1.98, Z:1.54 [[ 0.98049164 0.16499871 -0.10682493 12.06235066] [-0.13416906 0.95897415 0.24973434 -1.98417282] [ 0.14364819 -0.23052983 0.96240386 1.53529767] [ 0. 0. 0. 1. ]] SLAMing on 222.92629675700002 meters Centerline goodness : 0.826758 with order 1 Centerline is valid? [False, False] Translation: X:12.06, Y:-1.98, Z:1.52 [[ 0.9810803 0.1593455 -0.10995661 12.05811888] [-0.13023157 0.96342923 0.23418766 -1.97928385] [ 0.14325217 -0.21543708 0.96595325 1.52104466] [ 0. 0. 0. 1. ]] SLAMing on 222.986296757 meters Centerline goodness : 0.825564 with order 1 Centerline is valid? [False, False] Translation: X:12.06, Y:-1.98, Z:1.52 [[ 0.98079294 0.15984066 -0.1117863 12.06239525] [-0.1305283 0.9637295 0.23278276 -1.97846101] [ 0.1449399 -0.21372041 0.96608282 1.51975989] [ 0. 0. 0. 1. ]] SLAMing on 223.046296757 meters Centerline goodness : 0.824740 with order 1 Centerline is valid? [False, False] Translation: X:11.99, Y:-1.97, Z:1.53 [[ 0.97821619 0.16690248 -0.12343684 11.98695786] [-0.13293219 0.96035259 0.24505496 -1.97017034] [ 0.15944318 -0.223308 0.96161916 1.53256698] [ 0. 0. 0. 1. ]] SLAMing on 223.106296757 meters Centerline goodness : 0.824626 with order 1 Centerline is valid? [False, False] Translation: X:11.90, Y:-1.97, Z:1.56 [[ 0.9747728 0.17871592 -0.13371094 11.90338707] [-0.13672137 0.95161662 0.27519642 -1.9669928 ] [ 0.17642353 -0.24997284 0.95204428 1.55887994] [ 0. 0. 0. 1. ]] SLAMing on 223.166296757 meters Centerline goodness : 0.829425 with order 1 Centerline is valid? [False, False] Translation: X:11.83, Y:-1.96, Z:1.57 [[ 0.97121844 0.18698686 -0.14754879 11.82724075] [-0.13841115 0.94718385 0.28928378 -1.95881393] [ 0.1938481 -0.26053535 0.94580349 1.57364548] [ 0. 0. 0. 1. ]] SLAMing on 223.226296757 meters Centerline goodness : 0.833611 with order 1 Centerline is valid? [False, False] Translation: X:11.75, Y:-1.95, Z:1.59 [[ 0.96725176 0.1987103 -0.15791848 11.7504761 ] [-0.14199953 0.93933532 0.31222635 -1.95114406] [ 0.210381 -0.27957713 0.93679051 1.5944499 ] [ 0. 0. 0. 1. ]] SLAMing on 223.286296757 meters Centerline goodness : 0.837244 with order 1 Centerline is valid? [False, False] Translation: X:11.68, Y:-1.94, Z:1.61 [[ 0.96276151 0.20944448 -0.17094819 11.68400636] [-0.14619438 0.93522049 0.32247455 -1.94087946] [ 0.22741476 -0.28547442 0.9310139 1.6059553 ] [ 0. 0. 0. 1. ]] SLAMing on 223.346296757 meters Centerline goodness : 0.840098 with order 1 Centerline is valid? [False, False] Translation: X:11.69, Y:-1.94, Z:1.60 [[ 0.96080171 0.20881055 -0.18236837 11.69069777] [-0.14640105 0.94075621 0.30585042 -1.93511123] [ 0.23542897 -0.26716269 0.93445027 1.59716726] [ 0. 0. 0. 1. ]] SLAMing on 223.406296757 meters Centerline goodness : 0.841289 with order 1 Centerline is valid? [False, False] Translation: X:11.70, Y:-1.94, Z:1.62 [[ 0.96108299 0.21348479 -0.17533892 11.69780784] [-0.14775215 0.93350146 0.3267175 -1.93919846] [ 0.23342835 -0.28809593 0.92871521 1.62005809] [ 0. 0. 0. 1. ]] SLAMing on 223.466296757 meters Centerline goodness : 0.843287 with order 1 Centerline is valid? [False, False] Translation: X:11.71, Y:-1.94, Z:1.62 [[ 0.96216131 0.21077791 -0.17267973 11.71451331] [-0.14844524 0.93690879 0.31649003 -1.94087895] [ 0.22849427 -0.27888098 0.93274636 1.61826693] [ 0. 0. 0. 1. ]] SLAMing on 223.526296757 meters Centerline goodness : 0.843636 with order 1 Centerline is valid? [False, False] Translation: X:11.72, Y:-1.95, Z:1.66 [[ 0.96271382 0.21993945 -0.15750789 11.72448552] [-0.15227824 0.92182007 0.3564535 -1.95333463] [ 0.22359212 -0.31917768 0.92094092 1.66424445] [ 0. 0. 0. 1. ]] SLAMing on 223.586296757 meters Centerline goodness : 0.852204 with order 1 Centerline is valid? [False, False] Translation: X:11.72, Y:-1.95, Z:1.64 [[ 0.96155782 0.22124775 -0.162653 11.71662623] [-0.15842006 0.93076038 0.32952724 -1.94648957] [ 0.22429813 -0.29109199 0.93003 1.64340099] [ 0. 0. 0. 1. ]] SLAMing on 223.64629675700002 meters Centerline goodness : 0.848878 with order 1 Centerline is valid? [False, False] Translation: X:11.70, Y:-1.94, Z:1.62 [[ 0.95903187 0.22504001 -0.17208968 11.70201108] [-0.16575918 0.93835793 0.30332868 -1.93651522] [ 0.22974281 -0.26237643 0.93721761 1.62265392] [ 0. 0. 0. 1. ]] SLAMing on 223.706296757 meters Centerline goodness : 0.843105 with order 1 Centerline is valid? [False, False] Translation: X:11.71, Y:-1.93, Z:1.61 [[ 0.95958155 0.22301483 -0.17166137 11.71375247] [-0.16802414 0.94330661 0.28625255 -1.93394967] [ 0.22576787 -0.24583941 0.9426515 1.61216383] [ 0. 0. 0. 1. ]] SLAMing on 223.766296757 meters Centerline goodness : 0.844236 with order 1 Centerline is valid? [False, False] Translation: X:11.72, Y:-1.93, Z:1.60 [[ 0.96006057 0.21962635 -0.17334352 11.72301805] [-0.16941016 0.94936843 0.2645747 -1.9300558 ] [ 0.22267444 -0.22464159 0.94865813 1.59817672] [ 0. 0. 0. 1. ]] SLAMing on 223.826296757 meters Centerline goodness : 0.844743 with order 1 Centerline is valid? [False, False] Translation: X:11.75, Y:-1.93, Z:1.60 [[ 0.96026128 0.21617267 -0.17654363 11.75081848] [-0.16725518 0.95208193 0.25605802 -1.93260858] [ 0.22343675 -0.21635477 0.95040341 1.60031879] [ 0. 0. 0. 1. ]] SLAMing on 223.886296757 meters Centerline goodness : 0.846163 with order 1 Centerline is valid? [False, False] Translation: X:11.77, Y:-1.93, Z:1.60 [[ 0.96093697 0.21428822 -0.17515907 11.77369533] [-0.16753172 0.95411989 0.24817001 -1.93313289] [ 0.22030266 -0.20913104 0.95274915 1.59937488] [ 0. 0. 0. 1. ]] SLAMing on 223.946296757 meters Centerline goodness : 0.843452 with order 1 Centerline is valid? [False, False] Translation: X:11.79, Y:-1.93, Z:1.59 [[ 0.96165702 0.21209294 -0.17387453 11.79139511] [-0.16856329 0.95719253 0.23530592 -1.93223914] [ 0.21633812 -0.19697473 0.95624201 1.59346301] [ 0. 0. 0. 1. ]] SLAMing on 224.006296757 meters Centerline goodness : 0.845508 with order 1 Centerline is valid? [False, False] Translation: X:11.80, Y:-1.93, Z:1.58 [[ 0.96195446 0.20940017 -0.17548557 11.79900216] [-0.17051396 0.96200822 0.21322565 -1.92689342] [ 0.21346804 -0.17519062 0.96111375 1.57935938] [ 0. 0. 0. 1. ]] SLAMing on 224.066296757 meters Centerline goodness : 0.838320 with order 1 Centerline is valid? [False, False] Translation: X:11.81, Y:-1.92, Z:1.57 [[ 0.96228124 0.2090634 -0.17408997 11.81032526] [-0.1739492 0.96481956 0.1971418 -1.92297777] [ 0.20918054 -0.15942304 0.96479417 1.56916272] [ 0. 0. 0. 1. ]] SLAMing on 224.126296757 meters Centerline goodness : 0.836544 with order 1 Centerline is valid? [False, False] Translation: X:11.80, Y:-1.92, Z:1.56 [[ 0.96199315 0.20974502 -0.17486053 11.80265023] [-0.17637731 0.9661043 0.18850341 -1.91671417] [ 0.20847116 -0.15049755 0.96637998 1.55865111] [ 0. 0. 0. 1. ]] SLAMing on 224.186296757 meters Centerline goodness : 0.834942 with order 1 Centerline is valid? [False, False] Translation: X:11.80, Y:-1.91, Z:1.55 [[ 0.96218881 0.20823638 -0.17558559 11.79920231] [-0.17641097 0.96757235 0.18078418 -1.91201645] [ 0.20753761 -0.14297329 0.96772247 1.55029063] [ 0. 0. 0. 1. ]] SLAMing on 224.246296757 meters Centerline goodness : 0.834699 with order 1 Centerline is valid? [False, False] Translation: X:11.81, Y:-1.91, Z:1.54 [[ 0.96235528 0.20783213 -0.17515172 11.81083308] [-0.17969279 0.97000829 0.16369001 -1.90837061] [ 0.20391866 -0.12605444 0.97083853 1.53909007] [ 0. 0. 0. 1. ]] SLAMing on 224.306296757 meters Centerline goodness : 0.830630 with order 1 Centerline is valid? [False, False] Translation: X:11.82, Y:-1.91, Z:1.53 [[ 0.9626268 0.20697842 -0.1746699 11.82240125] [-0.18240387 0.97220542 0.14678368 -1.90612224] [ 0.20019608 -0.10943744 0.97362466 1.52890572] [ 0. 0. 0. 1. ]] SLAMing on 224.36629675700001 meters Centerline goodness : 0.820801 with order 1 Centerline is valid? [False, False] Translation: X:11.84, Y:-1.90, Z:1.52 [[ 0.96278382 0.20691462 -0.17387828 11.83747502] [-0.18538506 0.97372801 0.13223518 -1.9043955 ] [ 0.19667154 -0.09507945 0.97584845 1.51945653] [ 0. 0. 0. 1. ]] SLAMing on 224.42629675700002 meters Centerline goodness : 0.820559 with order 1 Centerline is valid? [False, False] Translation: X:11.84, Y:-1.90, Z:1.52 [[ 0.96239279 0.20910646 -0.17342029 11.83537997] [-0.18787702 0.97340507 0.13109077 -1.90179643] [ 0.19622012 -0.09357913 0.97608433 1.51628327] [ 0. 0. 0. 1. ]] SLAMing on 224.486296757 meters Centerline goodness : 0.816628 with order 1 Centerline is valid? [False, False] Translation: X:11.83, Y:-1.90, Z:1.51 [[ 0.96207132 0.21105583 -0.1728416 11.83343545] [-0.18999957 0.97305664 0.1306175 -1.90028006] [ 0.19575225 -0.09282352 0.9762504 1.51407966] [ 0. 0. 0. 1. ]] SLAMing on 224.546296757 meters Centerline goodness : 0.819080 with order 1 Centerline is valid? [False, False] Translation: X:11.83, Y:-1.90, Z:1.51 [[ 0.9624963 0.20876384 -0.17325857 11.83142144] [-0.18853576 0.97393047 0.12614954 -1.8995558 ] [ 0.19507726 -0.08875303 0.97676392 1.51120564] [ 0. 0. 0. 1. ]] SLAMing on 224.606296757 meters Centerline goodness : 0.818026 with order 1 Centerline is valid? [False, False] Translation: X:11.83, Y:-1.90, Z:1.51 [[ 0.96299553 0.20600021 -0.17379164 11.82959009] [-0.18654194 0.97485756 0.12188047 -1.89956641] [ 0.19452949 -0.08495092 0.97721114 1.50929003] [ 0. 0. 0. 1. ]] SLAMing on 224.666296757 meters Centerline goodness : 0.814646 with order 1 Centerline is valid? [False, False] Translation: X:11.83, Y:-1.90, Z:1.51 [[ 0.96359142 0.20259502 -0.17449019 11.82900799] [-0.18404704 0.97595512 0.11678306 -1.8976772 ] [ 0.19395426 -0.08041675 0.977709 1.50632857] [ 0. 0. 0. 1. ]] SLAMing on 224.726296757 meters Centerline goodness : 0.812739 with order 1 Centerline is valid? [False, False] Translation: X:11.83, Y:-1.90, Z:1.50 [[ 0.96404332 0.19996968 -0.17502171 11.82747776] [-0.18231498 0.97685405 0.11188125 -1.89584064] [ 0.19334353 -0.07594929 0.97818709 1.50313466] [ 0. 0. 0. 1. ]] SLAMing on 224.786296757 meters Centerline goodness : 0.813013 with order 1 Centerline is valid? [False, False] Translation: X:11.83, Y:-1.89, Z:1.50 [[ 0.96396171 0.2002073 -0.17519949 11.82803401] [-0.18269757 0.97687246 0.11109362 -1.89442223] [ 0.19338931 -0.07508147 0.97824503 1.50152811] [ 0. 0. 0. 1. ]] SLAMing on 224.846296757 meters Centerline goodness : 0.813550 with order 1 Centerline is valid? [False, False] Translation: X:11.83, Y:-1.89, Z:1.50 [[ 0.96466032 0.19674792 -0.17527328 11.82612475] [-0.18002857 0.97784433 0.10681844 -1.89292656] [ 0.19240629 -0.07148932 0.97870787 1.50027704] [ 0. 0. 0. 1. ]] SLAMing on 224.906296757 meters Centerline goodness : 0.815940 with order 1 Centerline is valid? [False, False] Translation: X:11.82, Y:-1.89, Z:1.50 [[ 0.96621738 0.18820096 -0.17608056 11.82470802] [-0.17302003 0.98002456 0.09806084 -1.89212512] [ 0.19101842 -0.06428262 0.9794793 1.49781152] [ 0. 0. 0. 1. ]] SLAMing on 224.966296757 meters Centerline goodness : 0.814371 with order 1 Centerline is valid? [False, False] Translation: X:11.82, Y:-1.89, Z:1.50 [[ 0.96689493 0.18389895 -0.17690498 11.82483105] [-0.16955287 0.98110588 0.093183 -1.89059094] [ 0.19069877 -0.06010342 0.9798069 1.4960997 ] [ 0. 0. 0. 1. ]] SLAMing on 225.026296757 meters Centerline goodness : 0.818685 with order 1 Centerline is valid? [False, False] Translation: X:11.83, Y:-1.89, Z:1.49 [[ 0.96756148 0.17940667 -0.17787079 11.8260371 ] [-0.1662136 0.9822788 0.08661061 -1.88643881] [ 0.19025723 -0.05423654 0.98023496 1.49150813] [ 0. 0. 0. 1. ]] SLAMing on 225.086296757 meters Centerline goodness : 0.817135 with order 1 Centerline is valid? [False, False] Translation: X:11.83, Y:-1.88, Z:1.49 [[ 0.9683221 0.17443207 -0.1786778 11.82734305] [-0.16226917 0.98344291 0.08067683 -1.88302402] [ 0.18979204 -0.04912726 0.98059446 1.48831805] [ 0. 0. 0. 1. ]] SLAMing on 225.14629675700002 meters Centerline goodness : 0.815506 with order 1 Centerline is valid? [False, False] Translation: X:11.83, Y:-1.88, Z:1.49 [[ 0.96911053 0.16925654 -0.17937951 11.8283367 ] [-0.15803296 0.98456477 0.07521827 -1.87970469] [ 0.18934194 -0.04454694 0.9809002 1.48640793] [ 0. 0. 0. 1. ]] SLAMing on 225.206296757 meters Centerline goodness : 0.818896 with order 1 Centerline is valid? [False, False] Translation: X:11.83, Y:-1.88, Z:1.48 [[ 0.96985902 0.16401195 -0.18020425 11.82981432] [-0.15371852 0.98564841 0.06976985 -1.87723613] [ 0.18906112 -0.03996618 0.98115167 1.48416696] [ 0. 0. 0. 1. ]] SLAMing on 225.266296757 meters Centerline goodness : 0.814928 with order 1 Centerline is valid? [False, False] Translation: X:11.85, Y:-1.88, Z:1.49 [[ 0.97115177 0.15881062 -0.177886 11.85064292] [-0.146721 0.98599768 0.07925609 -1.88413651] [ 0.18798189 -0.05087008 0.98085424 1.49336988] [ 0. 0. 0. 1. ]] SLAMing on 225.326296757 meters Centerline goodness : 0.813834 with order 1 Centerline is valid? [False, False] Translation: X:11.86, Y:-1.89, Z:1.50 [[ 0.97192313 0.154761 -0.17724124 11.86407391] [-0.14140301 0.9862318 0.08574394 -1.88974084] [ 0.18807077 -0.05827408 0.98042517 1.50068407] [ 0. 0. 0. 1. ]] SLAMing on 225.386296757 meters Centerline goodness : 0.813385 with order 1 Centerline is valid? [False, False] Translation: X:11.87, Y:-1.89, Z:1.50 [[ 0.97227159 0.15253716 -0.17725795 11.86734222] [-0.13928113 0.98659497 0.08503603 -1.88945122] [ 0.18785295 -0.05798943 0.98048381 1.50035245] [ 0. 0. 0. 1. ]] SLAMing on 225.446296757 meters Centerline goodness : 0.810241 with order 1 Centerline is valid? [False, False] Translation: X:11.87, Y:-1.89, Z:1.50 [[ 0.9732842 0.15920712 -0.16544172 11.8681708 ] [-0.14596552 0.98524139 0.08940616 -1.8939356 ] [ 0.17723412 -0.06286882 0.98215863 1.50047371] [ 0. 0. 0. 1. ]] SLAMing on 225.506296757 meters Centerline goodness : 0.814843 with order 1 Centerline is valid? [False, False] Translation: X:11.78, Y:-1.90, Z:1.53 [[ 0.96988201 0.17308753 -0.17137561 11.78493819] [-0.1511888 0.97943719 0.13358419 -1.90279251] [ 0.19097341 -0.10365083 0.9761074 1.53474929] [ 0. 0. 0. 1. ]] SLAMing on 225.566296757 meters Centerline goodness : 0.813615 with order 1 Centerline is valid? [False, False] Translation: X:11.79, Y:-1.90, Z:1.53 [[ 0.9707306 0.16788517 -0.17174593 11.78593713] [-0.14712612 0.9808957 0.1272695 -1.89877749] [ 0.18983151 -0.09827609 0.97688577 1.53095667] [ 0. 0. 0. 1. ]] SLAMing on 225.626296757 meters Centerline goodness : 0.816027 with order 1 Centerline is valid? [False, False] Translation: X:11.79, Y:-1.90, Z:1.52 [[ 0.97162657 0.17425076 -0.15993275 11.78593182] [-0.15502608 0.97987098 0.12577667 -1.90392038] [ 0.17863014 -0.0974142 0.97908209 1.52489475] [ 0. 0. 0. 1. ]] SLAMing on 225.686296757 meters Centerline goodness : 0.817864 with order 1 Centerline is valid? [False, False] Translation: X:11.79, Y:-1.91, Z:1.52 [[ 0.97228855 0.17784344 -0.15174543 11.79228866] [-0.16003937 0.97947944 0.1225048 -1.90882449] [ 0.17041821 -0.09482478 0.9807986 1.51731309] [ 0. 0. 0. 1. ]] SLAMing on 225.746296757 meters Centerline goodness : 0.820443 with order 1 Centerline is valid? [False, False] Translation: X:11.79, Y:-1.91, Z:1.52 [[ 0.97367656 0.18035903 -0.13937208 11.79144107] [-0.16365999 0.9787846 0.12327254 -1.91253727] [ 0.15864856 -0.09721795 0.98253718 1.51696769] [ 0. 0. 0. 1. ]] SLAMing on 225.806296757 meters Centerline goodness : 0.818610 with order 1 Centerline is valid? [False, False] Translation: X:11.78, Y:-1.92, Z:1.51 [[ 0.97495378 0.18524063 -0.12308958 11.78278891] [-0.17035015 0.97777794 0.12219296 -1.91680957] [ 0.14298938 -0.09816415 0.98484407 1.51180476] [ 0. 0. 0. 1. ]] SLAMing on 225.86629675700001 meters Centerline goodness : 0.817670 with order 1 Centerline is valid? [False, False] Translation: X:11.78, Y:-1.92, Z:1.50 [[ 0.97541884 0.19121561 -0.1095202 11.78094449] [-0.1779583 0.9766635 0.12024661 -1.92183027] [ 0.12995741 -0.09780078 0.98668439 1.50385235] [ 0. 0. 0. 1. ]] SLAMing on 225.92629675700002 meters Centerline goodness : 0.818756 with order 1 Centerline is valid? [False, False] Translation: X:11.78, Y:-1.92, Z:1.50 [[ 0.97569851 0.19071943 -0.107882 11.7808451 ] [-0.17751366 0.97663926 0.12109776 -1.92150201] [ 0.12845749 -0.09900437 0.98676077 1.50108424] [ 0. 0. 0. 1. ]] SLAMing on 225.986296757 meters Centerline goodness : 0.814778 with order 1 Centerline is valid? [False, False] Translation: X:11.78, Y:-1.92, Z:1.50 [[ 0.9761754 0.18820555 -0.10798265 11.78269909] [-0.17521737 0.97727185 0.11932561 -1.92042052] [ 0.12798614 -0.09756229 0.98696563 1.49833655] [ 0. 0. 0. 1. ]] SLAMing on 226.046296757 meters Centerline goodness : 0.817305 with order 1 Centerline is valid? [False, False] Translation: X:11.79, Y:-1.92, Z:1.49 [[ 0.9761481 0.19075332 -0.10367284 11.78869055] [-0.17916161 0.97747185 0.11157915 -1.92242427] [ 0.12262138 -0.09034358 0.98833296 1.48783969] [ 0. 0. 0. 1. ]] SLAMing on 226.106296757 meters Centerline goodness : 0.816871 with order 1 Centerline is valid? [False, False] Translation: X:11.73, Y:-1.92, Z:1.51 [[ 0.9721078 0.20322949 -0.11706494 11.72865457] [-0.18781077 0.97350275 0.13045882 -1.91739811] [ 0.14047612 -0.10483398 0.98451831 1.5083089 ] [ 0. 0. 0. 1. ]] SLAMing on 226.166296757 meters Centerline goodness : 0.817085 with order 1 Centerline is valid? [False, False] Translation: X:11.64, Y:-1.93, Z:1.56 [[ 0.96727877 0.22363404 -0.11983156 11.63827253] [-0.19787464 0.96055719 0.19538554 -1.92767012] [ 0.15879992 -0.16528066 0.97337808 1.56314129] [ 0. 0. 0. 1. ]] SLAMing on 226.226296757 meters Centerline goodness : 0.818982 with order 1 Centerline is valid? [False, False] Translation: X:11.51, Y:-1.93, Z:1.62 [[ 0.96278916 0.24209307 -0.12011655 11.51490643] [-0.20322996 0.94154404 0.26868643 -1.93394066] [ 0.17814214 -0.2342771 0.95570896 1.62359445] [ 0. 0. 0. 1. ]] SLAMing on 226.286296757 meters Centerline goodness : 0.820173 with order 1 Centerline is valid? [False, False] Translation: X:11.43, Y:-1.93, Z:1.67 [[ 0.95681948 0.26500077 -0.11946163 11.42888011] [-0.21540583 0.92234431 0.32075115 -1.9341716 ] [ 0.19518405 -0.28116821 0.93959971 1.67301607] [ 0. 0. 0. 1. ]] SLAMing on 226.346296757 meters Centerline goodness : 0.824736 with order 1 Centerline is valid? [False, False] Translation: X:11.43, Y:-1.93, Z:1.66 [[ 0.95557123 0.26836043 -0.12192746 11.43376877] [-0.22190017 0.9272167 0.30171096 -1.93019923] [ 0.19402046 -0.26125059 0.94557083 1.65745636] [ 0. 0. 0. 1. ]] SLAMing on 226.406296757 meters Centerline goodness : 0.823386 with order 1 Centerline is valid? [False, False] Translation: X:11.43, Y:-1.92, Z:1.64 [[ 0.95258715 0.27321608 -0.13390552 11.42686064] [-0.22731008 0.93157967 0.28370662 -1.9230978 ] [ 0.20225687 -0.23981721 0.9495156 1.64437267] [ 0. 0. 0. 1. ]] SLAMing on 226.466296757 meters Centerline goodness : 0.825098 with order 1 Centerline is valid? [False, False] Translation: X:11.45, Y:-1.93, Z:1.66 [[ 0.95348012 0.27210432 -0.12974936 11.45361733] [-0.22686769 0.93112541 0.28554602 -1.92907736] [ 0.19851123 -0.24282651 0.94954125 1.65584554] [ 0. 0. 0. 1. ]] SLAMing on 226.526296757 meters Centerline goodness : 0.822936 with order 1 Centerline is valid? [False, False] Translation: X:11.47, Y:-1.93, Z:1.65 [[ 0.95454125 0.2686775 -0.1290868 11.46878231] [-0.22695122 0.93583992 0.26962344 -1.92885527] [ 0.19324633 -0.22807029 0.95427449 1.64715123] [ 0. 0. 0. 1. ]] SLAMing on 226.586296757 meters Centerline goodness : 0.824739 with order 1 Centerline is valid? [False, False] Translation: X:11.48, Y:-1.93, Z:1.64 [[ 0.95566469 0.26489535 -0.12859028 11.4847949 ] [-0.22631957 0.94015352 0.25473676 -1.92915178] [ 0.18837319 -0.21434043 0.95842252 1.64061161] [ 0. 0. 0. 1. ]] SLAMing on 226.64629675700002 meters Centerline goodness : 0.824132 with order 1 Centerline is valid? [False, False] Translation: X:11.52, Y:-1.94, Z:1.66 [[ 0.95580764 0.26554409 -0.12616688 11.51892609] [-0.22485737 0.93676649 0.26815612 -1.94102437] [ 0.18939618 -0.22793611 0.95507812 1.66379587] [ 0. 0. 0. 1. ]] SLAMing on 226.706296757 meters Centerline goodness : 0.818388 with order 1 Centerline is valid? [False, False] Translation: X:11.51, Y:-1.93, Z:1.65 [[ 0.95603949 0.26189347 -0.1319102 11.50680818] [-0.22330641 0.94178186 0.25135865 -1.93377804] [ 0.19005983 -0.21085241 0.95886314 1.64897453] [ 0. 0. 0. 1. ]] SLAMing on 226.766296757 meters Centerline goodness : 0.818604 with order 1 Centerline is valid? [False, False] Translation: X:11.52, Y:-1.93, Z:1.64 [[ 0.95663199 0.2595804 -0.1321864 11.52300347] [-0.22401235 0.94563015 0.23580094 -1.93301056] [ 0.18620875 -0.19596334 0.96276927 1.63967632] [ 0. 0. 0. 1. ]] SLAMing on 226.826296757 meters Centerline goodness : 0.816528 with order 1 Centerline is valid? [False, False] Translation: X:11.54, Y:-1.93, Z:1.63 [[ 0.9573322 0.25699432 -0.13217022 11.53993054] [-0.22425955 0.94911197 0.22112014 -1.93211306] [ 0.18227096 -0.182045 0.96624889 1.63209578] [ 0. 0. 0. 1. ]] SLAMing on 226.886296757 meters Centerline goodness : 0.815122 with order 1 Centerline is valid? [False, False] Translation: X:11.55, Y:-1.93, Z:1.62 [[ 0.95805052 0.2542559 -0.13226162 11.55439498] [-0.22479162 0.95291017 0.20354591 -1.92972527] [ 0.17778619 -0.16527596 0.97009068 1.62087999] [ 0. 0. 0. 1. ]] SLAMing on 226.946296757 meters Centerline goodness : 0.811775 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:-1.93, Z:1.62 [[ 0.95864641 0.2534515 -0.12945808 11.57542492] [-0.2253695 0.95383255 0.19852469 -1.93250889] [ 0.17379771 -0.16113908 0.97150839 1.62415976] [ 0. 0. 0. 1. ]] SLAMing on 227.006296757 meters Centerline goodness : 0.810400 with order 1 Centerline is valid? [False, False] Translation: X:11.57, Y:-1.93, Z:1.62 [[ 0.95859939 0.25286292 -0.13094867 11.57134774] [-0.22590616 0.95526268 0.19089164 -1.92719875] [ 0.1733598 -0.1534065 0.97283751 1.61580045] [ 0. 0. 0. 1. ]] SLAMing on 227.066296757 meters Centerline goodness : 0.805349 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:-1.93, Z:1.61 [[ 0.9580634 0.25525609 -0.13022618 11.58429828] [-0.23080643 0.95672033 0.17724165 -1.9251061 ] [ 0.16983204 -0.13975169 0.97551348 1.60563951] [ 0. 0. 0. 1. ]] SLAMing on 227.126296757 meters Centerline goodness : 0.805093 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:-1.92, Z:1.60 [[ 0.9574537 0.25764735 -0.13000097 11.58109307] [-0.23365893 0.95648535 0.17475489 -1.92193696] [ 0.16936916 -0.13694383 0.97599205 1.60061379] [ 0. 0. 0. 1. ]] SLAMing on 227.186296757 meters Centerline goodness : 0.803680 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:-1.92, Z:1.59 [[ 0.95654666 0.26103183 -0.12992643 11.57549288] [-0.23761845 0.95610227 0.17148157 -1.91856693] [ 0.1689851 -0.13315721 0.9765824 1.59443467] [ 0. 0. 0. 1. ]] SLAMing on 227.246296757 meters Centerline goodness : 0.821421 with order 3 Centerline is valid? [False, False] Translation: X:11.57, Y:-1.92, Z:1.59 [[ 0.95573822 0.26407269 -0.12973079 11.57099757] [-0.2412416 0.95576756 0.16825834 -1.91524665] [ 0.16842491 -0.12951446 0.9771689 1.5877339 ] [ 0. 0. 0. 1. ]] SLAMing on 227.306296757 meters Centerline goodness : 0.806933 with order 1 Centerline is valid? [False, False] Translation: X:11.56, Y:-1.91, Z:1.58 [[ 0.95436796 0.26784615 -0.13206151 11.55633537] [-0.24603694 0.95585766 0.16062986 -1.91003655] [ 0.1692561 -0.12080798 0.97813997 1.58039735] [ 0. 0. 0. 1. ]] SLAMing on 227.36629675700001 meters Centerline goodness : 0.806563 with order 1 Centerline is valid? [False, False] Translation: X:11.56, Y:-1.91, Z:1.58 [[ 0.95536243 0.26374764 -0.13311578 11.55638811] [-0.24244884 0.95739492 0.15688699 -1.91121158] [ 0.16882295 -0.11761017 0.97860445 1.57982999] [ 0. 0. 0. 1. ]] SLAMing on 227.42629675700002 meters Centerline goodness : 0.808782 with order 1 Centerline is valid? [False, False] Translation: X:11.56, Y:-1.91, Z:1.58 [[ 0.95741201 0.25513987 -0.13515136 11.55712506] [-0.23510954 0.96063744 0.14798385 -1.9110955 ] [ 0.16758803 -0.10990614 0.97971164 1.5764428 ] [ 0. 0. 0. 1. ]] SLAMing on 227.486296757 meters Centerline goodness : 0.806793 with order 1 Centerline is valid? [False, False] Translation: X:11.56, Y:-1.91, Z:1.57 [[ 0.95829352 0.25131718 -0.13606325 11.55696727] [-0.23192508 0.96207991 0.1435723 -1.91047132] [ 0.16698591 -0.10602793 0.9802417 1.57486739] [ 0. 0. 0. 1. ]] SLAMing on 227.546296757 meters Centerline goodness : 0.808633 with order 1 Centerline is valid? [False, False] Translation: X:11.56, Y:-1.91, Z:1.57 [[ 0.95929456 0.24686129 -0.1371621 11.55794543] [-0.22819982 0.96371657 0.13847461 -1.90939326] [ 0.16636941 -0.10153757 0.98082177 1.57237728] [ 0. 0. 0. 1. ]] SLAMing on 227.606296757 meters Centerline goodness : 0.808062 with order 1 Centerline is valid? [False, False] Translation: X:11.56, Y:-1.91, Z:1.57 [[ 0.96022874 0.24275242 -0.13795662 11.55794348] [-0.22478569 0.96518218 0.13377126 -1.90812217] [ 0.16562657 -0.09744033 0.98136294 1.57056582] [ 0. 0. 0. 1. ]] SLAMing on 227.666296757 meters Centerline goodness : 0.809856 with order 1 Centerline is valid? [False, False] Translation: X:11.56, Y:-1.90, Z:1.57 [[ 0.96133947 0.23760458 -0.13917791 11.56060288] [-0.22044043 0.96694786 0.12813214 -1.90480967] [ 0.16502257 -0.09249805 0.9819428 1.56742229] [ 0. 0. 0. 1. ]] SLAMing on 227.726296757 meters Centerline goodness : 0.807283 with order 1 Centerline is valid? [False, False] Translation: X:11.59, Y:-1.92, Z:1.59 [[ 0.96285511 0.23536619 -0.13233592 11.58667871] [-0.21523278 0.96494282 0.15020055 -1.91527345] [ 0.16304873 -0.11613834 0.97975864 1.59034049] [ 0. 0. 0. 1. ]] SLAMing on 227.786296757 meters Centerline goodness : 0.805263 with order 1 Centerline is valid? [False, False] Translation: X:11.59, Y:-1.91, Z:1.59 [[ 0.96400525 0.22943864 -0.13435692 11.59146946] [-0.20977521 0.96680737 0.14586939 -1.91226926] [ 0.16336533 -0.11243411 0.98013792 1.59003775] [ 0. 0. 0. 1. ]] SLAMing on 227.846296757 meters Centerline goodness : 0.804988 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:-1.91, Z:1.59 [[ 0.96509014 0.22143703 -0.13988089 11.58266009] [-0.20098966 0.96856534 0.14657536 -1.90534127] [ 0.16794099 -0.11334383 0.97925941 1.58707495] [ 0. 0. 0. 1. ]] SLAMing on 227.906296757 meters Centerline goodness : 0.802645 with order 1 Centerline is valid? [False, False] Translation: X:11.59, Y:-1.91, Z:1.59 [[ 0.96610145 0.22374943 -0.12877955 11.58509642] [-0.20446215 0.96770184 0.14747332 -1.91039444] [ 0.15761728 -0.11614364 0.98064644 1.58561441] [ 0. 0. 0. 1. ]] SLAMing on 227.966296757 meters Centerline goodness : 0.801127 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:-1.91, Z:1.58 [[ 0.96854869 0.21428291 -0.12647637 11.58245671] [-0.19529576 0.96962968 0.14723396 -1.91432602] [ 0.15418496 -0.11790296 0.9809821 1.58355033] [ 0. 0. 0. 1. ]] SLAMing on 228.026296757 meters Centerline goodness : 0.805172 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:-1.92, Z:1.58 [[ 0.97083257 0.21146893 -0.11298235 11.5781167 ] [-0.19416967 0.96990464 0.14691197 -1.9222953 ] [ 0.14064942 -0.12068918 0.98267587 1.58489648] [ 0. 0. 0. 1. ]] SLAMing on 228.086296757 meters Centerline goodness : 0.809901 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:-1.93, Z:1.58 [[ 0.97067562 0.2158326 -0.10585426 11.58424589] [-0.19983887 0.96923159 0.14371693 -1.92762369] [ 0.1336161 -0.11834873 0.98394122 1.58285803] [ 0. 0. 0. 1. ]] SLAMing on 228.14629675700002 meters Centerline goodness : 0.810199 with order 1 Centerline is valid? [False, False] Translation: X:11.59, Y:-1.93, Z:1.58 [[ 0.97007106 0.21738238 -0.10819911 11.58928173] [-0.20115234 0.96900976 0.14338 -1.92729877] [ 0.13601428 -0.11732428 0.98373529 1.5817404 ] [ 0. 0. 0. 1. ]] SLAMing on 228.206296757 meters Centerline goodness : 0.809446 with order 1 Centerline is valid? [False, False] Translation: X:11.60, Y:-1.93, Z:1.58 [[ 0.96848836 0.22194672 -0.11300416 11.59795721] [-0.20545369 0.96842368 0.14122449 -1.92675787] [ 0.14078022 -0.11355715 0.98350684 1.57850662] [ 0. 0. 0. 1. ]] SLAMing on 228.266296757 meters Centerline goodness : 0.812009 with order 1 Centerline is valid? [False, False] Translation: X:11.60, Y:-1.93, Z:1.58 [[ 0.96752017 0.224522 -0.11616624 11.60375632] [-0.20782844 0.96807808 0.14011489 -1.92607385] [ 0.14391687 -0.11142133 0.98329712 1.57755734] [ 0. 0. 0. 1. ]] SLAMing on 228.326296757 meters Centerline goodness : 0.810562 with order 1 Centerline is valid? [False, False] Translation: X:11.61, Y:-1.92, Z:1.58 [[ 0.96631718 0.22863921 -0.11813219 11.60804893] [-0.21168125 0.96719849 0.14042125 -1.923888 ] [ 0.14636308 -0.1106851 0.98301915 1.57714808] [ 0. 0. 0. 1. ]] SLAMing on 228.386296757 meters Centerline goodness : 0.814418 with order 1 Centerline is valid? [False, False] Translation: X:11.61, Y:-1.92, Z:1.58 [[ 0.96689067 0.22538918 -0.1196752 11.61167193] [-0.2085295 0.96814795 0.13858211 -1.92485056] [ 0.1470982 -0.10903794 0.98309351 1.57502633] [ 0. 0. 0. 1. ]] SLAMing on 228.446296757 meters Centerline goodness : 0.810788 with order 1 Centerline is valid? [False, False] Translation: X:11.61, Y:-1.93, Z:1.57 [[ 0.96862828 0.21853482 -0.11832915 11.60950186] [-0.20202794 0.96972841 0.1371551 -1.92722402] [ 0.1447203 -0.10894652 0.9834565 1.57397195] [ 0. 0. 0. 1. ]] SLAMing on 228.506296757 meters Centerline goodness : 0.815523 with order 1 Centerline is valid? [False, False] Translation: X:11.61, Y:-1.93, Z:1.57 [[ 0.96969931 0.21218427 -0.12108297 11.61335007] [-0.19610684 0.97163673 0.1321521 -1.92926252] [ 0.14568925 -0.1044026 0.98380625 1.57238105] [ 0. 0. 0. 1. ]] SLAMing on 228.566296757 meters Centerline goodness : 0.816475 with order 1 Centerline is valid? [False, False] Translation: X:11.62, Y:-1.93, Z:1.57 [[ 0.96966893 0.21668617 -0.11308964 11.61888214] [-0.20191997 0.97087884 0.12892866 -1.93271927] [ 0.1377334 -0.10218306 0.98518431 1.56876129] [ 0. 0. 0. 1. ]] SLAMing on 228.626296757 meters Centerline goodness : 0.816010 with order 1 Centerline is valid? [False, False] Translation: X:11.62, Y:-1.93, Z:1.57 [[ 0.96936483 0.21798082 -0.1132086 11.62190121] [-0.20307301 0.97051381 0.1298626 -1.92875959] [ 0.13817806 -0.10289463 0.98504798 1.56656341] [ 0. 0. 0. 1. ]] SLAMing on 228.686296757 meters Centerline goodness : 0.816258 with order 1 Centerline is valid? [False, False] Translation: X:11.63, Y:-1.93, Z:1.56 [[ 0.96885866 0.21923797 -0.11509826 11.62667122] [-0.20426127 0.97038312 0.12897264 -1.92678683] [ 0.13996511 -0.10144614 0.98494591 1.5645544 ] [ 0. 0. 0. 1. ]] SLAMing on 228.746296757 meters Centerline goodness : 0.817950 with order 1 Centerline is valid? [False, False] Translation: X:11.63, Y:-1.93, Z:1.56 [[ 0.96786245 0.22843359 -0.10516829 11.62924709] [-0.21496104 0.96853274 0.12544355 -1.92727859] [ 0.13051445 -0.09880502 0.98651079 1.55661046] [ 0. 0. 0. 1. ]] SLAMing on 228.806296757 meters Centerline goodness : 0.819478 with order 1 Centerline is valid? [False, False] Translation: X:11.63, Y:-1.93, Z:1.56 [[ 0.96752964 0.2286468 -0.10773597 11.63370121] [-0.21517208 0.96872861 0.12355508 -1.92643299] [ 0.13261739 -0.09636143 0.98647205 1.55596276] [ 0. 0. 0. 1. ]] SLAMing on 228.86629675700001 meters Centerline goodness : 0.820180 with order 1 Centerline is valid? [False, False] Translation: X:11.63, Y:-1.93, Z:1.56 [[ 0.96667934 0.23218759 -0.10779604 11.6338556 ] [-0.21844894 0.96774486 0.12549878 -1.92537062] [ 0.13345833 -0.09776915 0.98622009 1.55752638] [ 0. 0. 0. 1. ]] SLAMing on 228.92629675700002 meters Centerline goodness : 0.820556 with order 1 Centerline is valid? [False, False] Translation: X:11.64, Y:-1.93, Z:1.56 [[ 0.96564656 0.23483687 -0.11125806 11.6397842 ] [-0.22084949 0.9672831 0.12485555 -1.92587915] [ 0.13693873 -0.09599505 0.9859172 1.55717888] [ 0. 0. 0. 1. ]] SLAMing on 228.986296757 meters Centerline goodness : 0.821649 with order 1 Centerline is valid? [False, False] Translation: X:11.64, Y:-1.93, Z:1.56 [[ 0.96518943 0.23556381 -0.11366203 11.64363193] [-0.22138701 0.96719942 0.1245515 -1.9287748 ] [ 0.13927368 -0.0950525 0.98568142 1.55705099] [ 0. 0. 0. 1. ]] SLAMing on 229.046296757 meters Centerline goodness : 0.823175 with order 1 Centerline is valid? [False, False] Translation: X:11.65, Y:-1.93, Z:1.56 [[ 0.9642556 0.23668147 -0.11913443 11.6500998 ] [-0.22263422 0.96747666 0.12009548 -1.92930343] [ 0.14368416 -0.08927934 0.98558818 1.55828251] [ 0. 0. 0. 1. ]] SLAMing on 229.106296757 meters Centerline goodness : 0.821208 with order 1 Centerline is valid? [False, False] Translation: X:11.66, Y:-1.93, Z:1.55 [[ 0.96332408 0.23777764 -0.12437246 11.65829341] [-0.22415595 0.96784501 0.11414963 -1.93012525] [ 0.14751549 -0.08208426 0.98564768 1.5530416 ] [ 0. 0. 0. 1. ]] SLAMing on 229.166296757 meters Centerline goodness : 0.820294 with order 1 Centerline is valid? [False, False] Translation: X:11.66, Y:-1.93, Z:1.55 [[ 0.96285626 0.23806706 -0.12740445 11.6627681 ] [-0.22448587 0.96799227 0.11223664 -1.93228369] [ 0.15004637 -0.07946725 0.98548011 1.55295991] [ 0. 0. 0. 1. ]] SLAMing on 229.226296757 meters Centerline goodness : 0.820768 with order 1 Centerline is valid? [False, False] Translation: X:11.63, Y:-1.92, Z:1.54 [[ 0.96356228 0.23524094 -0.12731623 11.62922106] [-0.22302201 0.96934039 0.10315223 -1.92196093] [ 0.14767839 -0.07099928 0.98648375 1.54098315] [ 0. 0. 0. 1. ]] SLAMing on 229.286296757 meters Centerline goodness : 0.822602 with order 1 Centerline is valid? [False, False] Translation: X:11.63, Y:-1.92, Z:1.54 [[ 0.96337186 0.23599661 -0.1273588 11.62874052] [-0.22380138 0.96917655 0.10300371 -1.92106441] [ 0.14774169 -0.0707278 0.98649378 1.54075553] [ 0. 0. 0. 1. ]] SLAMing on 229.346296757 meters Centerline goodness : 0.820975 with order 1 Centerline is valid? [False, False] Translation: X:11.63, Y:-1.92, Z:1.54 [[ 0.96277674 0.23820759 -0.12774231 11.62767321] [-0.22597376 0.96865504 0.10316628 -1.91967104] [ 0.14831323 -0.07045968 0.9864272 1.54060879] [ 0. 0. 0. 1. ]] SLAMing on 229.406296757 meters Centerline goodness : 0.819245 with order 1 Centerline is valid? [False, False] Translation: X:11.63, Y:-1.92, Z:1.54 [[ 0.96274266 0.23799676 -0.12839046 11.63015543] [-0.22594259 0.96882179 0.10165769 -1.9175257 ] [ 0.14858167 -0.06886132 0.98649967 1.5376571 ] [ 0. 0. 0. 1. ]] SLAMing on 229.466296757 meters Centerline goodness : 0.820123 with order 1 Centerline is valid? [False, False] Translation: X:11.63, Y:-1.92, Z:1.54 [[ 0.96167796 0.24284306 -0.12729004 11.63007555] [-0.23011686 0.9672809 0.10683582 -1.91790589] [ 0.14906956 -0.07345007 0.986095 1.53975896] [ 0. 0. 0. 1. ]] SLAMing on 229.526296757 meters Centerline goodness : 0.820195 with order 1 Centerline is valid? [False, False] Translation: X:11.62, Y:-1.91, Z:1.53 [[ 0.96061229 0.24738312 -0.12659237 11.6184182 ] [-0.23534179 0.96646064 0.10280113 -1.91328972] [ 0.1477778 -0.06895956 0.98661355 1.53499346] [ 0. 0. 0. 1. ]] SLAMing on 229.586296757 meters Centerline goodness : 0.819437 with order 1 Centerline is valid? [False, False] Translation: X:11.61, Y:-1.91, Z:1.53 [[ 0.95984488 0.25111923 -0.12504776 11.60508007] [-0.23977008 0.96576788 0.09900861 -1.90783601] [ 0.14563007 -0.0650502 0.98719823 1.53272287] [ 0. 0. 0. 1. ]] SLAMing on 229.64629675700002 meters Centerline goodness : 0.816111 with order 1 Centerline is valid? [False, False] Translation: X:11.59, Y:-1.90, Z:1.53 [[ 0.95914797 0.25411356 -0.12434419 11.59491141] [-0.24349684 0.96529194 0.09444973 -1.90116424] [ 0.1440294 -0.06031385 0.98773365 1.5286419 ] [ 0. 0. 0. 1. ]] SLAMing on 229.706296757 meters Centerline goodness : 0.812341 with order 1 Centerline is valid? [False, False] Translation: X:11.59, Y:-1.90, Z:1.52 [[ 0.95961589 0.25171106 -0.12561402 11.59381893] [-0.24211617 0.9663563 0.08680591 -1.89500285] [ 0.14323791 -0.05288714 0.98827418 1.52158209] [ 0. 0. 0. 1. ]] SLAMing on 229.766296757 meters Centerline goodness : 0.811244 with order 1 Centerline is valid? [False, False] Translation: X:11.60, Y:-1.89, Z:1.52 [[ 0.9606927 0.24658425 -0.12753725 11.59774851] [-0.23783424 0.96800207 0.0800429 -1.89108972] [ 0.14319364 -0.0465639 0.9885987 1.51614546] [ 0. 0. 0. 1. ]] SLAMing on 229.826296757 meters Centerline goodness : 0.806179 with order 1 Centerline is valid? [False, False] Translation: X:11.62, Y:-1.90, Z:1.53 [[ 0.96214932 0.24289728 -0.12357019 11.61970907] [-0.23224808 0.96805291 0.09452186 -1.89933794] [ 0.14258159 -0.0622452 0.98782388 1.5295014 ] [ 0. 0. 0. 1. ]] SLAMing on 229.886296757 meters Centerline goodness : 0.809054 with order 1 Centerline is valid? [False, False] Translation: X:11.62, Y:-1.90, Z:1.53 [[ 0.96331067 0.2377845 -0.12446318 11.62086514] [-0.22759647 0.96952068 0.09071662 -1.89823168] [ 0.14224063 -0.05906091 0.98806853 1.53023212] [ 0. 0. 0. 1. ]] SLAMing on 229.946296757 meters Centerline goodness : 0.807200 with order 1 Centerline is valid? [False, False] Translation: X:11.64, Y:-1.91, Z:1.55 [[ 0.9644822 0.23567598 -0.11929338 11.63715092] [-0.22366451 0.96890206 0.10584413 -1.90589393] [ 0.14052852 -0.07540309 0.98720115 1.54526826] [ 0. 0. 0. 1. ]] SLAMing on 230.006296757 meters Centerline goodness : 0.808124 with order 1 Centerline is valid? [False, False] Translation: X:11.65, Y:-1.91, Z:1.56 [[ 0.96537483 0.23371828 -0.11587584 11.65036984] [-0.22018264 0.96823079 0.11852736 -1.91147288] [ 0.13989657 -0.08890948 0.98616634 1.55756632] [ 0. 0. 0. 1. ]] SLAMing on 230.066296757 meters Centerline goodness : 0.807475 with order 1 Centerline is valid? [False, False] Translation: X:11.63, Y:-1.91, Z:1.56 [[ 0.96589647 0.23108843 -0.11679964 11.63163553] [-0.21604565 0.96790687 0.12837665 -1.91063266] [ 0.14271753 -0.0987645 0.98482348 1.5647009 ] [ 0. 0. 0. 1. ]] SLAMing on 230.126296757 meters Centerline goodness : 0.807526 with order 1 Centerline is valid? [False, False] Translation: X:11.63, Y:-1.91, Z:1.56 [[ 0.96713891 0.22518588 -0.11804087 11.63437212] [-0.21067581 0.96969107 0.1237535 -1.91154101] [ 0.14233072 -0.09481847 0.98526718 1.56283863] [ 0. 0. 0. 1. ]] SLAMing on 230.186296757 meters Centerline goodness : 0.808205 with order 1 Centerline is valid? [False, False] Translation: X:11.60, Y:-1.90, Z:1.55 [[ 0.96881897 0.21907262 -0.11574537 11.6049529 ] [-0.20603362 0.97179158 0.11476616 -1.90057777] [ 0.1376225 -0.08734019 0.98662644 1.55181115] [ 0. 0. 0. 1. ]] SLAMing on 230.246296757 meters Centerline goodness : 0.809715 with order 1 Centerline is valid? [False, False] Translation: X:11.57, Y:-1.89, Z:1.55 [[ 0.96987875 0.21707755 -0.11051037 11.5737905 ] [-0.20496501 0.97242081 0.11129742 -1.8895037 ] [ 0.13162276 -0.08529425 0.98762358 1.54557903] [ 0. 0. 0. 1. ]] SLAMing on 230.306296757 meters Centerline goodness : 0.806800 with order 1 Centerline is valid? [False, False] Translation: X:11.55, Y:-1.87, Z:1.54 [[ 0.96989029 0.21857218 -0.10741988 11.5454599 ] [-0.20702047 0.97223717 0.10907526 -1.87481492] [ 0.12827841 -0.08355292 0.9882123 1.53807476] [ 0. 0. 0. 1. ]] SLAMing on 230.36629675700001 meters Centerline goodness : 0.807471 with order 1 Centerline is valid? [False, False] Translation: X:11.37, Y:-1.86, Z:1.58 [[ 0.96436455 0.241592 -0.10786249 11.36623972] [-0.22003182 0.95871954 0.18011897 -1.85826821] [ 0.14692518 -0.14996717 0.97771307 1.58459448] [ 0. 0. 0. 1. ]] SLAMing on 230.426296757 meters Centerline goodness : 0.809245 with order 1 Centerline is valid? [False, False] Translation: X:11.37, Y:-1.85, Z:1.58 [[ 0.96443018 0.24110186 -0.10837121 11.36609107] [-0.22007191 0.95945833 0.17609109 -1.85193454] [ 0.14643355 -0.14597811 0.97839032 1.58016195] [ 0. 0. 0. 1. ]] SLAMing on 230.486296757 meters Centerline goodness : 0.808304 with order 1 Centerline is valid? [False, False] Translation: X:11.34, Y:-1.84, Z:1.57 [[ 0.96540005 0.23743646 -0.10782706 11.33990641] [-0.21735692 0.96111421 0.1703392 -1.83935761] [ 0.14407885 -0.14100852 0.97946816 1.57112346] [ 0. 0. 0. 1. ]] SLAMing on 230.546296757 meters Centerline goodness : 0.808111 with order 1 Centerline is valid? [False, False] Translation: X:11.34, Y:-1.84, Z:1.57 [[ 0.9658175 0.23553311 -0.10826218 11.34171185] [-0.21551924 0.96167165 0.16952612 -1.83853171] [ 0.14404169 -0.14039871 0.97956123 1.56974447] [ 0. 0. 0. 1. ]] SLAMing on 230.606296757 meters Centerline goodness : 0.810041 with order 1 Centerline is valid? [False, False] Translation: X:11.34, Y:-1.84, Z:1.57 [[ 0.96597951 0.23449761 -0.10906166 11.34481568] [-0.2144059 0.96195849 0.16931032 -1.83849196] [ 0.14461566 -0.14016683 0.97950986 1.56772217] [ 0. 0. 0. 1. ]] SLAMing on 230.666296757 meters Centerline goodness : 0.807974 with order 1 Centerline is valid? [False, False] Translation: X:11.34, Y:-1.84, Z:1.57 [[ 0.96719507 0.23074226 -0.10626245 11.34204039] [-0.21078064 0.96240817 0.17129515 -1.84088047] [ 0.14179288 -0.14327775 0.97947244 1.56542199] [ 0. 0. 0. 1. ]] SLAMing on 230.726296757 meters Centerline goodness : 0.808662 with order 1 Centerline is valid? [False, False] Translation: X:11.34, Y:-1.85, Z:1.56 [[ 0.96943477 0.22226227 -0.10390245 11.33825196] [-0.20270924 0.96416444 0.17116043 -1.84608488] [ 0.13822156 -0.14486688 0.97974915 1.56436308] [ 0. 0. 0. 1. ]] SLAMing on 230.786296757 meters Centerline goodness : 0.807762 with order 1 Centerline is valid? [False, False] Translation: X:11.34, Y:-1.85, Z:1.56 [[ 0.97192312 0.21174527 -0.1026128 11.33601802] [-0.19281467 0.96666651 0.16845878 -1.85135731] [ 0.13486271 -0.14394373 0.98035313 1.56240898] [ 0. 0. 0. 1. ]] SLAMing on 230.846296757 meters Centerline goodness : 0.807068 with order 1 Centerline is valid? [False, False] Translation: X:11.33, Y:-1.86, Z:1.56 [[ 0.9733185 0.20567093 -0.1017377 11.33434144] [-0.18714172 0.96808675 0.16669139 -1.85625341] [ 0.1327745 -0.14320445 0.98074636 1.56099301] [ 0. 0. 0. 1. ]] SLAMing on 230.906296757 meters Centerline goodness : 0.809076 with order 1 Centerline is valid? [False, False] Translation: X:11.34, Y:-1.86, Z:1.56 [[ 0.97368839 0.20270816 -0.10411683 11.3386113 ] [-0.18402293 0.96890184 0.16542305 -1.86174731] [ 0.13441159 -0.14191062 0.98071143 1.55950202] [ 0. 0. 0. 1. ]] SLAMing on 230.966296757 meters Centerline goodness : 0.807974 with order 1 Centerline is valid? [False, False] Translation: X:11.34, Y:-1.87, Z:1.56 [[ 0.9729039 0.20462085 -0.10764896 11.34317744] [-0.18560325 0.96882235 0.16411793 -1.86557361] [ 0.13787467 -0.13969098 0.98054934 1.56008879] [ 0. 0. 0. 1. ]] SLAMing on 231.026296757 meters Centerline goodness : 0.810204 with order 1 Centerline is valid? [False, False] Translation: X:11.35, Y:-1.87, Z:1.56 [[ 0.97135905 0.20818915 -0.11453766 11.35256743] [-0.18897525 0.96906146 0.15877103 -1.86811379] [ 0.14404844 -0.1325789 0.98064922 1.5580233 ] [ 0. 0. 0. 1. ]] SLAMing on 231.086296757 meters Centerline goodness : 0.807308 with order 1 Centerline is valid? [False, False] Translation: X:11.36, Y:-1.87, Z:1.56 [[ 0.96931741 0.21422654 -0.12054351 11.36192737] [-0.19459708 0.96837208 0.15616492 -1.87033383] [ 0.15018564 -0.12791597 0.98034778 1.55568198] [ 0. 0. 0. 1. ]] SLAMing on 231.14629675700002 meters Centerline goodness : 0.809254 with order 1 Centerline is valid? [False, False] Translation: X:11.37, Y:-1.87, Z:1.55 [[ 0.96789596 0.21689112 -0.12702621 11.37279613] [-0.19762753 0.96895113 0.14858355 -1.87241814] [ 0.15530864 -0.11870955 0.98070754 1.54856333] [ 0. 0. 0. 1. ]] SLAMing on 231.206296757 meters Centerline goodness : 0.812617 with order 1 Centerline is valid? [False, False] Translation: X:11.38, Y:-1.87, Z:1.54 [[ 0.96560792 0.22289413 -0.13386393 11.38276727] [-0.20401108 0.96870727 0.14137084 -1.8714756 ] [ 0.16118569 -0.10919907 0.98086428 1.54408157] [ 0. 0. 0. 1. ]] SLAMing on 231.266296757 meters Centerline goodness : 0.811998 with order 1 Centerline is valid? [False, False] Translation: X:11.38, Y:-1.88, Z:1.54 [[ 0.96511566 0.23151533 -0.12228005 11.38367989] [-0.21442463 0.96690326 0.1382757 -1.87528695] [ 0.15024592 -0.10723219 0.98281607 1.53747546] [ 0. 0. 0. 1. ]] SLAMing on 231.326296757 meters Centerline goodness : 0.817875 with order 1 Centerline is valid? [False, False] Translation: X:11.27, Y:-1.86, Z:1.57 [[ 0.95841362 0.25104362 -0.13572193 11.26637561] [-0.22527441 0.95747818 0.18024146 -1.86127937] [ 0.17519925 -0.14217119 0.97421382 1.57317937] [ 0. 0. 0. 1. ]] SLAMing on 231.386296757 meters Centerline goodness : 0.818081 with order 1 Centerline is valid? [False, False] Translation: X:11.24, Y:-1.85, Z:1.56 [[ 0.95891306 0.24797977 -0.13781068 11.23868196] [-0.22317299 0.95926151 0.17323736 -1.84740091] [ 0.17515584 -0.13536394 0.97519077 1.56274801] [ 0. 0. 0. 1. ]] SLAMing on 231.446296757 meters Centerline goodness : 0.815926 with order 1 Centerline is valid? [False, False] Translation: X:11.23, Y:-1.83, Z:1.55 [[ 0.96085722 0.23870768 -0.14061313 11.22513977] [-0.21467156 0.96234303 0.16676931 -1.83425458] [ 0.17512719 -0.13005585 0.975918 1.55364478] [ 0. 0. 0. 1. ]] SLAMing on 231.506296757 meters Centerline goodness : 0.815937 with order 1 Centerline is valid? [False, False] Translation: X:11.22, Y:-1.83, Z:1.55 [[ 0.96216348 0.2290506 -0.14757121 11.21996663] [-0.20379684 0.96445435 0.16821013 -1.82800041] [ 0.18085432 -0.1317711 0.97464255 1.55333186] [ 0. 0. 0. 1. ]] SLAMing on 231.566296757 meters Centerline goodness : 0.812164 with order 1 Centerline is valid? [False, False] Translation: X:11.16, Y:-1.81, Z:1.54 [[ 0.96508185 0.21628308 -0.14777906 11.15889771] [-0.19116474 0.96721872 0.16716456 -1.80888948] [ 0.17908954 -0.13307733 0.97479093 1.53787566] [ 0. 0. 0. 1. ]] SLAMing on 231.626296757 meters Centerline goodness : 0.813576 with order 1 Centerline is valid? [False, False] Translation: X:11.16, Y:-1.81, Z:1.54 [[ 0.96666842 0.21702332 -0.13584197 11.15816651] [-0.19352994 0.96672862 0.16727802 -1.81380712] [ 0.16762555 -0.13541289 0.97650654 1.53814378] [ 0. 0. 0. 1. ]] SLAMing on 231.686296757 meters Centerline goodness : 0.815949 with order 1 Centerline is valid? [False, False] Translation: X:11.16, Y:-1.82, Z:1.54 [[ 0.9678806 0.21938763 -0.12278522 11.15779739] [-0.19739541 0.96559795 0.16927979 -1.81891173] [ 0.15569905 -0.13960539 0.97788964 1.5366788 ] [ 0. 0. 0. 1. ]] SLAMing on 231.746296757 meters Centerline goodness : 0.813498 with order 1 Centerline is valid? [False, False] Translation: X:11.16, Y:-1.82, Z:1.54 [[ 0.96897818 0.22157217 -0.10948546 11.156785 ] [-0.20105171 0.96432666 0.17219844 -1.82453197] [ 0.14373413 -0.14484429 0.97895895 1.53576665] [ 0. 0. 0. 1. ]] SLAMing on 231.806296757 meters Centerline goodness : 0.814571 with order 1 Centerline is valid? [False, False] Translation: X:11.16, Y:-1.83, Z:1.53 [[ 0.96958909 0.21848535 -0.11027762 11.16026603] [-0.19792718 0.96505074 0.17176117 -1.82739377] [ 0.1439508 -0.14471082 0.97894686 1.53300365] [ 0. 0. 0. 1. ]] SLAMing on 231.86629675700001 meters Centerline goodness : 0.813283 with order 1 Centerline is valid? [False, False] Translation: X:11.16, Y:-1.83, Z:1.53 [[ 0.97093619 0.21280072 -0.10953889 11.15918779] [-0.19258932 0.9663866 0.17031235 -1.82942733] [ 0.1420995 -0.14426641 0.97928287 1.5319509 ] [ 0. 0. 0. 1. ]] SLAMing on 231.926296757 meters Centerline goodness : 0.818238 with order 1 Centerline is valid? [False, False] Translation: X:11.16, Y:-1.83, Z:1.53 [[ 0.97161812 0.20798879 -0.1126894 11.1628167 ] [-0.18805087 0.96812267 0.16545503 -1.83206161] [ 0.14350995 -0.13956776 0.979758 1.53191476] [ 0. 0. 0. 1. ]] SLAMing on 231.986296757 meters Centerline goodness : 0.819206 with order 1 Centerline is valid? [False, False] Translation: X:11.17, Y:-1.84, Z:1.53 [[ 0.97189024 0.20518962 -0.11544079 11.16699914] [-0.18530914 0.96915074 0.16250346 -1.83519401] [ 0.14522355 -0.13654329 0.97993166 1.53104815] [ 0. 0. 0. 1. ]] SLAMing on 232.046296757 meters Centerline goodness : 0.818803 with order 1 Centerline is valid? [False, False] Translation: X:11.17, Y:-1.84, Z:1.52 [[ 0.97172618 0.21119434 -0.10557071 11.16844737] [-0.19309984 0.96814639 0.15938953 -1.84359364] [ 0.13587007 -0.13449729 0.98155479 1.52407917] [ 0. 0. 0. 1. ]] SLAMing on 232.106296757 meters Centerline goodness : 0.818805 with order 1 Centerline is valid? [False, False] Translation: X:11.18, Y:-1.85, Z:1.52 [[ 0.96945684 0.21833153 -0.11173535 11.17753619] [-0.20050633 0.96789186 0.15160001 -1.8454476 ] [ 0.14124679 -0.12456603 0.98210623 1.51742704] [ 0. 0. 0. 1. ]] SLAMing on 232.166296757 meters Centerline goodness : 0.818812 with order 1 Centerline is valid? [False, False] Translation: X:11.16, Y:-1.84, Z:1.51 [[ 0.96754252 0.22590165 -0.11326919 11.15957025] [-0.20909215 0.96735301 0.14320833 -1.83693734] [ 0.14192229 -0.11487645 0.98318943 1.50584143] [ 0. 0. 0. 1. ]] SLAMing on 232.226296757 meters Centerline goodness : 0.815440 with order 1 Centerline is valid? [False, False] Translation: X:11.14, Y:-1.83, Z:1.49 [[ 0.9645672 0.23766257 -0.11457148 11.14154445] [-0.22142629 0.96532547 0.13826474 -1.82848122] [ 0.14345912 -0.1079965 0.98374602 1.49457751] [ 0. 0. 0. 1. ]] SLAMing on 232.286296757 meters Centerline goodness : 0.815998 with order 1 Centerline is valid? [False, False] Translation: X:11.11, Y:-1.82, Z:1.48 [[ 0.96366145 0.24146392 -0.11424445 11.10559526] [-0.22595533 0.96494312 0.13352513 -1.81554543] [ 0.1424809 -0.10285888 0.98443854 1.48393328] [ 0. 0. 0. 1. ]] SLAMing on 232.346296757 meters Centerline goodness : 0.814997 with order 1 Centerline is valid? [False, False] Translation: X:11.11, Y:-1.82, Z:1.48 [[ 0.96158226 0.25108902 -0.11096782 11.11078438] [-0.23692093 0.96325161 0.12654967 -1.81580355] [ 0.13866516 -0.09539732 0.9857339 1.48018658] [ 0. 0. 0. 1. ]] SLAMing on 232.406296757 meters Centerline goodness : 0.816023 with order 1 Centerline is valid? [False, False] Translation: X:11.12, Y:-1.81, Z:1.47 [[ 0.96081217 0.25521113 -0.10820005 11.12170774] [-0.24279241 0.9631444 0.11577875 -1.81307857] [ 0.13376029 -0.08497148 0.98736418 1.47401289] [ 0. 0. 0. 1. ]] SLAMing on 232.466296757 meters Centerline goodness : 0.811351 with order 1 Centerline is valid? [False, False] Translation: X:11.11, Y:-1.81, Z:1.47 [[ 0.95932317 0.26059385 -0.10858127 11.1149443 ] [-0.24861083 0.9620562 0.11243009 -1.80578213] [ 0.13375987 -0.08086231 0.98770926 1.46732514] [ 0. 0. 0. 1. ]] SLAMing on 232.526296757 meters Centerline goodness : 0.805791 with order 1 Centerline is valid? [False, False] Translation: X:11.12, Y:-1.80, Z:1.46 [[ 0.95927623 0.26050385 -0.10921016 11.11720996] [-0.24872512 0.96224524 0.11054373 -1.80193318] [ 0.13388402 -0.07887866 0.98785284 1.46413187] [ 0. 0. 0. 1. ]] SLAMing on 232.586296757 meters Centerline goodness : 0.803841 with order 1 Centerline is valid? [False, False] Translation: X:11.12, Y:-1.80, Z:1.46 [[ 0.96030661 0.25609015 -0.11058504 11.11824479] [-0.24491554 0.9638223 0.10518053 -1.79874216] [ 0.13352003 -0.07392156 0.98828539 1.46202616] [ 0. 0. 0. 1. ]] SLAMing on 232.64629675700002 meters Centerline goodness : 0.803540 with order 1 Centerline is valid? [False, False] Translation: X:11.13, Y:-1.80, Z:1.46 [[ 0.96147998 0.25237107 -0.10892696 11.13255356] [-0.24330713 0.96576991 0.08994516 -1.79785918] [ 0.12789793 -0.05997776 0.98997211 1.45638736] [ 0. 0. 0. 1. ]] SLAMing on 232.706296757 meters Centerline goodness : 0.799138 with order 1 Centerline is valid? [False, False] Translation: X:11.13, Y:-1.80, Z:1.46 [[ 0.96144662 0.2523342 -0.10930619 11.13338885] [-0.24331751 0.96581783 0.08940088 -1.79539136] [ 0.12812877 -0.05935806 0.98997962 1.45629394] [ 0. 0. 0. 1. ]] SLAMing on 232.766296757 meters Centerline goodness : 0.800085 with order 1 Centerline is valid? [False, False] Translation: X:11.14, Y:-1.80, Z:1.46 [[ 0.96085447 0.2543871 -0.10975373 11.13954788] [-0.24465354 0.96496977 0.09475226 -1.79780301] [ 0.13001278 -0.06419149 0.98943223 1.45903141] [ 0. 0. 0. 1. ]] SLAMing on 232.826296757 meters Centerline goodness : 0.797039 with order 1 Centerline is valid? [False, False] Translation: X:11.14, Y:-1.80, Z:1.46 [[ 0.96195599 0.24961129 -0.11106247 11.14117352] [-0.2404967 0.96653856 0.08924433 -1.79585194] [ 0.12962255 -0.05913896 0.98979825 1.45599806] [ 0. 0. 0. 1. ]] SLAMing on 232.886296757 meters Centerline goodness : 0.799771 with order 1 Centerline is valid? [False, False] Translation: X:11.17, Y:-1.81, Z:1.47 [[ 0.96472113 0.24341882 -0.10030163 11.16724861] [-0.23273502 0.96660063 0.10732019 -1.81492523] [ 0.12307537 -0.08019035 0.98915214 1.4743677 ] [ 0. 0. 0. 1. ]] SLAMing on 232.946296757 meters Centerline goodness : 0.803556 with order 1 Centerline is valid? [False, False] Translation: X:11.17, Y:-1.81, Z:1.47 [[ 0.96558772 0.23979073 -0.10070135 11.16584293] [-0.22962731 0.96783416 0.10280242 -1.813812 ] [ 0.12211327 -0.07614098 0.98959128 1.47290095] [ 0. 0. 0. 1. ]] SLAMing on 233.006296757 meters Centerline goodness : 0.799227 with order 1 Centerline is valid? [False, False] Translation: X:11.19, Y:-1.83, Z:1.49 [[ 0.96596748 0.24226124 -0.09064397 11.18546612] [-0.23027192 0.9650306 0.12526282 -1.82774662] [ 0.11782053 -0.10012705 0.98797414 1.48944054] [ 0. 0. 0. 1. ]] SLAMing on 233.066296757 meters Centerline goodness : 0.798469 with order 1 Centerline is valid? [False, False] Translation: X:11.18, Y:-1.83, Z:1.49 [[ 0.96577337 0.2432553 -0.09004809 11.18383882] [-0.23138442 0.96482897 0.12476501 -1.82649196] [ 0.11723076 -0.099659 0.98809161 1.48801349] [ 0. 0. 0. 1. ]] SLAMing on 233.126296757 meters Centerline goodness : 0.797864 with order 1 Centerline is valid? [False, False] Translation: X:11.18, Y:-1.82, Z:1.49 [[ 0.9651505 0.24639181 -0.08817925 11.17721814] [-0.23482609 0.9641295 0.12373768 -1.82344685] [ 0.11550417 -0.0987187 0.9883893 1.48580444] [ 0. 0. 0. 1. ]] SLAMing on 233.186296757 meters Centerline goodness : 0.798418 with order 1 Centerline is valid? [False, False] Translation: X:11.17, Y:-1.82, Z:1.49 [[ 0.96487025 0.24775068 -0.0874357 11.17457109] [-0.23628206 0.96380065 0.12352772 -1.82095611] [ 0.11487466 -0.09852874 0.98848161 1.48571643] [ 0. 0. 0. 1. ]] SLAMing on 233.246296757 meters Centerline goodness : 0.800325 with order 1 Centerline is valid? [False, False] Translation: X:11.17, Y:-1.82, Z:1.48 [[ 0.96461993 0.24892765 -0.08685286 11.17282354] [-0.2376561 0.96361767 0.12231341 -1.81688978] [ 0.11414014 -0.09734484 0.98868398 1.4836739 ] [ 0. 0. 0. 1. ]] SLAMing on 233.306296757 meters Centerline goodness : 0.796836 with order 1 Centerline is valid? [False, False] Translation: X:11.17, Y:-1.81, Z:1.48 [[ 0.96474066 0.24829189 -0.08733043 11.17403614] [-0.23732432 0.96407964 0.11927957 -1.81241445] [ 0.11380964 -0.09434822 0.98901253 1.47948156] [ 0. 0. 0. 1. ]] SLAMing on 233.36629675700001 meters Centerline goodness : 0.797017 with order 1 Centerline is valid? [False, False] Translation: X:11.18, Y:-1.81, Z:1.47 [[ 0.96591799 0.24294671 -0.08932715 11.17753945] [-0.23262672 0.96608895 0.11205781 -1.80791253] [ 0.11352204 -0.08745877 0.98967859 1.47391822] [ 0. 0. 0. 1. ]] SLAMing on 233.426296757 meters Centerline goodness : 0.792464 with order 1 Centerline is valid? [False, False] Translation: X:11.20, Y:-1.81, Z:1.49 [[ 0.96755701 0.23702478 -0.08747965 11.19595667] [-0.22556472 0.96636553 0.12352417 -1.81483546] [ 0.11381561 -0.09978435 0.98847817 1.48785009] [ 0. 0. 0. 1. ]] SLAMing on 233.486296757 meters Centerline goodness : 0.797114 with order 1 Centerline is valid? [False, False] Translation: X:11.19, Y:-1.81, Z:1.49 [[ 0.97116551 0.22281309 -0.08480496 11.19208181] [-0.21182719 0.96967579 0.12189385 -1.81455774] [ 0.10939286 -0.10041511 0.98891355 1.48934125] [ 0. 0. 0. 1. ]] SLAMing on 233.546296757 meters Centerline goodness : 0.796869 with order 1 Centerline is valid? [False, False] Translation: X:11.19, Y:-1.81, Z:1.49 [[ 0.97282496 0.21579562 -0.08392757 11.19147835] [-0.20507031 0.97131039 0.12042546 -1.81458222] [ 0.10750701 -0.09994184 0.98916827 1.48815966] [ 0. 0. 0. 1. ]] SLAMing on 233.606296757 meters Centerline goodness : 0.796208 with order 1 Centerline is valid? [False, False] Translation: X:11.19, Y:-1.81, Z:1.49 [[ 0.97460208 0.20879516 -0.08096517 11.18837243] [-0.19825855 0.97257644 0.12160848 -1.814613 ] [ 0.10413608 -0.10246784 0.98927045 1.4874819 ] [ 0. 0. 0. 1. ]] SLAMing on 233.666296757 meters Centerline goodness : 0.796723 with order 1 Centerline is valid? [False, False] Translation: X:11.19, Y:-1.81, Z:1.48 [[ 0.97563721 0.19905707 -0.09224054 11.1896665 ] [-0.18772926 0.97504251 0.118532 -1.81198961] [ 0.11353308 -0.09832798 0.98865659 1.4825532 ] [ 0. 0. 0. 1. ]] SLAMing on 233.726296757 meters Centerline goodness : 0.796509 with order 1 Centerline is valid? [False, False] Translation: X:11.19, Y:-1.81, Z:1.48 [[ 0.97695603 0.19375618 -0.08952908 11.18634311] [-0.18258074 0.97588554 0.11963145 -1.81341908] [ 0.11054946 -0.10052839 0.98877341 1.48210439] [ 0. 0. 0. 1. ]] SLAMing on 233.786296757 meters Centerline goodness : 0.796452 with order 1 Centerline is valid? [False, False] Translation: X:11.18, Y:-1.82, Z:1.48 [[ 0.97863212 0.18610448 -0.08743166 11.18273268] [-0.17538284 0.97746138 0.11751643 -1.81560757] [ 0.10733141 -0.09967134 0.98921463 1.48156288] [ 0. 0. 0. 1. ]] SLAMing on 233.846296757 meters Centerline goodness : 0.796366 with order 1 Centerline is valid? [False, False] Translation: X:11.18, Y:-1.82, Z:1.48 [[ 0.97944552 0.18140532 -0.08819631 11.1832008 ] [-0.17108659 0.97873853 0.11313825 -1.81568039] [ 0.10684501 -0.09572354 0.98965709 1.4807416 ] [ 0. 0. 0. 1. ]] SLAMing on 233.906296757 meters Centerline goodness : 0.799365 with order 1 Centerline is valid? [False, False] Translation: X:11.18, Y:-1.82, Z:1.48 [[ 0.97981777 0.17924373 -0.08848063 11.18400623] [-0.16904801 0.97925123 0.11175779 -1.81639989] [ 0.10667665 -0.0945448 0.98978855 1.47951537] [ 0. 0. 0. 1. ]] SLAMing on 233.966296757 meters Centerline goodness : 0.798890 with order 1 Centerline is valid? [False, False] Translation: X:11.19, Y:-1.82, Z:1.48 [[ 0.97945502 0.18014582 -0.09063852 11.18866267] [-0.16974993 0.97913579 0.11170525 -1.81656154] [ 0.10887066 -0.09402438 0.98959921 1.47806474] [ 0. 0. 0. 1. ]] SLAMing on 234.026296757 meters Centerline goodness : 0.800539 with order 1 Centerline is valid? [False, False] Translation: X:11.20, Y:-1.82, Z:1.47 [[ 0.97865793 0.1806828 -0.09788963 11.20070265] [-0.17036031 0.97974872 0.10521318 -1.81791089] [ 0.11491745 -0.0862912 0.98962003 1.47131274] [ 0. 0. 0. 1. ]] SLAMing on 234.086296757 meters Centerline goodness : 0.802775 with order 1 Centerline is valid? [False, False] Translation: X:11.21, Y:-1.82, Z:1.47 [[ 0.97833612 0.18622174 -0.09044276 11.20710914] [-0.17693185 0.97894918 0.10175278 -1.82216604] [ 0.10748744 -0.08354622 0.9906899 1.46697596] [ 0. 0. 0. 1. ]] SLAMing on 234.14629675700002 meters Centerline goodness : 0.801263 with order 1 Centerline is valid? [False, False] Translation: X:11.21, Y:-1.82, Z:1.47 [[ 0.97833665 0.18528302 -0.09234503 11.20952791] [-0.17614734 0.9793841 0.09888829 -1.82238233] [ 0.10876358 -0.08047971 0.99080447 1.46639406] [ 0. 0. 0. 1. ]] SLAMing on 234.206296757 meters Centerline goodness : 0.803344 with order 1 Centerline is valid? [False, False] Translation: X:11.21, Y:-1.82, Z:1.47 [[ 0.97836636 0.18359491 -0.09535286 11.21330014] [-0.17470458 0.98007473 0.0945084 -1.82305117] [ 0.11080419 -0.07580525 0.99094702 1.46590842] [ 0. 0. 0. 1. ]] SLAMing on 234.266296757 meters Centerline goodness : 0.804934 with order 1 Centerline is valid? [False, False] Translation: X:11.22, Y:-1.83, Z:1.46 [[ 0.97772017 0.18924175 -0.09083413 11.22215934] [-0.18149783 0.97952519 0.08711457 -1.82650192] [ 0.10546003 -0.06868747 0.99204849 1.45992974] [ 0. 0. 0. 1. ]] SLAMing on 234.326296757 meters Centerline goodness : 0.803474 with order 1 Centerline is valid? [False, False] Translation: X:11.23, Y:-1.83, Z:1.46 [[ 0.97617495 0.19501407 -0.09514192 11.22881471] [-0.1870492 0.97853044 0.08654925 -1.8279639 ] [ 0.10997758 -0.06669099 0.99169413 1.45956381] [ 0. 0. 0. 1. ]] SLAMing on 234.386296757 meters Centerline goodness : 0.801138 with order 1 Centerline is valid? [False, False] Translation: X:11.24, Y:-1.83, Z:1.45 [[ 0.97424996 0.20164796 -0.10087177 11.23820792] [-0.19367297 0.97750377 0.08352938 -1.82938644] [ 0.11544606 -0.06184236 0.99138677 1.45421447] [ 0. 0. 0. 1. ]] SLAMing on 234.446296757 meters Centerline goodness : 0.799480 with order 1 Centerline is valid? [False, False] Translation: X:11.25, Y:-1.83, Z:1.45 [[ 0.97321238 0.20380019 -0.10641029 11.24770729] [-0.19619703 0.97748026 0.07771139 -1.83025426] [ 0.11985156 -0.0547523 0.99128088 1.44577181] [ 0. 0. 0. 1. ]] SLAMing on 234.506296757 meters Centerline goodness : 0.802102 with order 1 Centerline is valid? [False, False] Translation: X:11.26, Y:-1.83, Z:1.43 [[ 0.97261041 0.20725657 -0.10523163 11.25774303] [-0.20104376 0.97731026 0.06667882 -1.83445829] [ 0.11666358 -0.04369635 0.99220978 1.43429355] [ 0. 0. 0. 1. ]] SLAMing on 234.566296757 meters Centerline goodness : 0.804315 with order 1 Centerline is valid? [False, False] Translation: X:11.13, Y:-1.83, Z:1.48 [[ 0.96834491 0.22349292 -0.11117126 11.12741006] [-0.21071871 0.97065118 0.11590476 -1.82575891] [ 0.13381241 -0.08880992 0.98701927 1.47681787] [ 0. 0. 0. 1. ]] SLAMing on 234.626296757 meters Centerline goodness : 0.819632 with order 2 Centerline is valid? [False, False] Translation: X:11.18, Y:-1.73, Z:1.46 [[ 0.65378249 0.21215769 -0.72633159 11.1752758 ] [-0.43750042 0.88916582 -0.13408029 -1.72505158] [ 0.61738306 0.40542972 0.67414012 1.45502833] [ 0. 0. 0. 1. ]] SLAMing on 234.686296757 meters Centerline goodness : 0.805956 with order 1 Centerline is valid? [False, False] Translation: X:11.27, Y:-1.91, Z:1.51 [[ 0.87212976 0.35152309 -0.34032513 11.26870665] [-0.39656611 0.91526626 -0.07087305 -1.91285491] [ 0.28657459 0.19677191 0.93763309 1.51149236] [ 0. 0. 0. 1. ]] SLAMing on 234.746296757 meters Centerline goodness : 0.802663 with order 1 Centerline is valid? [False, False] Translation: X:11.21, Y:-1.89, Z:1.51 [[ 0.87239703 0.35788579 -0.33292819 11.20922179] [-0.39533509 0.91717531 -0.0499962 -1.8933615 ] [ 0.28746059 0.17523473 0.94162583 1.50537555] [ 0. 0. 0. 1. ]] SLAMing on 234.806296757 meters Centerline goodness : 0.801501 with order 1 Centerline is valid? [False, False] Translation: X:11.17, Y:-1.88, Z:1.50 [[ 0.87115035 0.3659194 -0.3274142 11.16671964] [-0.39812638 0.91666946 -0.03482073 -1.87798962] [ 0.28738902 0.16068632 0.94423909 1.50053115] [ 0. 0. 0. 1. ]] SLAMing on 234.86629675700001 meters Centerline goodness : 0.802115 with order 1 Centerline is valid? [False, False] Translation: X:11.14, Y:-1.87, Z:1.50 [[ 0.87205576 0.37543923 -0.31394926 11.13606644] [-0.3993972 0.91668325 -0.01317976 -1.87330094] [ 0.28284383 0.13688394 0.94934828 1.50236237] [ 0. 0. 0. 1. ]] SLAMing on 234.926296757 meters Centerline goodness : 0.801665 with order 1 Centerline is valid? [False, False] Translation: X:11.11, Y:-1.87, Z:1.50 [[ 8.70257239e-01 3.85523513e-01 -3.06633265e-01 1.11091587e+01] [-4.04592813e-01 9.14495712e-01 1.49943098e-03 -1.86838258e+00] [ 2.80992872e-01 1.22756725e-01 9.51826556e-01 1.50438910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.986296757 meters Centerline goodness : 0.801352 with order 1 Centerline is valid? [False, False] Translation: X:11.07, Y:-1.85, Z:1.50 [[ 0.8701482 0.39205221 -0.29855851 11.06770509] [-0.40610401 0.91368301 0.01621379 -1.85272227] [ 0.27914449 0.10713741 0.9542536 1.5004669 ] [ 0. 0. 0. 1. ]] SLAMing on 235.046296757 meters Centerline goodness : 0.799702 with order 1 Centerline is valid? [False, False] Translation: X:11.05, Y:-1.84, Z:1.49 [[ 0.87321094 0.39326059 -0.28783461 11.05469091] [-0.40602592 0.91371065 0.01660714 -1.84243131] [ 0.26952848 0.10236678 0.95753613 1.49091866] [ 0. 0. 0. 1. ]] SLAMing on 235.106296757 meters Centerline goodness : 0.799878 with order 1 Centerline is valid? [False, False] Translation: X:11.05, Y:-1.85, Z:1.51 [[ 0.87519281 0.40024183 -0.27174258 11.04581319] [-0.40393343 0.91369013 0.04481218 -1.85298011] [ 0.26622422 0.07054662 0.96132608 1.51192935] [ 0. 0. 0. 1. ]] SLAMing on 235.166296757 meters Centerline goodness : 0.797504 with order 1 Centerline is valid? [False, False] Translation: X:11.02, Y:-1.84, Z:1.50 [[ 0.87612509 0.40020384 -0.26877819 11.02204717] [-0.40350795 0.91384911 0.0453998 -1.84036801] [ 0.26379189 0.06867823 0.96213156 1.50307947] [ 0. 0. 0. 1. ]] SLAMing on 235.226296757 meters Centerline goodness : 0.795191 with order 1 Centerline is valid? [False, False] Translation: X:11.03, Y:-1.86, Z:1.53 [[ 0.87642529 0.40832353 -0.25524617 11.03147327] [-0.40425545 0.91190725 0.07072973 -1.85774755] [ 0.26164145 0.04119533 0.96428559 1.52942186] [ 0. 0. 0. 1. ]] SLAMing on 235.286296757 meters Centerline goodness : 0.797072 with order 1 Centerline is valid? [False, False] Translation: X:11.03, Y:-1.86, Z:1.54 [[ 0.87485918 0.41415247 -0.25119543 11.02932213] [-0.40762021 0.90963314 0.08008318 -1.86093148] [ 0.26166233 0.03233083 0.96461782 1.53851197] [ 0. 0. 0. 1. ]] SLAMing on 235.346296757 meters Centerline goodness : 0.797253 with order 1 Centerline is valid? [False, False] Translation: X:11.03, Y:-1.86, Z:1.54 [[ 0.87313349 0.41973635 -0.24790988 11.02655819] [-0.4116643 0.9072504 0.08619295 -1.86226034] [ 0.26109465 0.0267977 0.96494117 1.54240374] [ 0. 0. 0. 1. ]] SLAMing on 235.406296757 meters Centerline goodness : 0.796958 with order 1 Centerline is valid? [False, False] Translation: X:11.03, Y:-1.86, Z:1.54 [[ 0.87291652 0.42057406 -0.24725334 11.02510913] [-0.41260941 0.90685389 0.08584574 -1.86073267] [ 0.26032715 0.02708289 0.96514056 1.54153652] [ 0. 0. 0. 1. ]] SLAMing on 235.466296757 meters Centerline goodness : 0.795239 with order 1 Centerline is valid? [False, False] Translation: X:11.03, Y:-1.86, Z:1.54 [[ 0.87472945 0.4160269 -0.24853574 11.02503155] [-0.4088344 0.90887463 0.08247027 -1.86304117] [ 0.26019768 0.02947078 0.96510551 1.54072472] [ 0. 0. 0. 1. ]] SLAMing on 235.526296757 meters Centerline goodness : 0.797584 with order 1 Centerline is valid? [False, False] Translation: X:11.04, Y:-1.89, Z:1.57 [[ 8.77741857e-01 4.18418278e-01 -2.33442450e-01 1.10380188e+01] [-4.04452542e-01 9.08254392e-01 1.07201214e-01 -1.88631298e+00] [ 2.56880078e-01 3.21399687e-04 9.66443233e-01 1.57070877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.586296757 meters Centerline goodness : 0.796177 with order 1 Centerline is valid? [False, False] Translation: X:11.04, Y:-1.89, Z:1.57 [[ 8.78187784e-01 4.17497583e-01 -2.33413761e-01 1.10390122e+01] [-4.03140828e-01 9.08677202e-01 1.08550520e-01 -1.88917935e+00] [ 2.57417343e-01 -1.22912353e-03 9.66299540e-01 1.57300219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.64629675700002 meters Centerline goodness : 0.795363 with order 1 Centerline is valid? [False, False] Translation: X:11.00, Y:-1.88, Z:1.57 [[ 0.88101346 0.41522184 -0.22672914 11.00381318] [-0.39762231 0.90957625 0.12069606 -1.87699294] [ 0.25634308 -0.01618229 0.96645039 1.57047745] [ 0. 0. 0. 1. ]] SLAMing on 235.706296757 meters Centerline goodness : 0.796648 with order 1 Centerline is valid? [False, False] Translation: X:10.99, Y:-1.87, Z:1.58 [[ 0.88940063 0.40417398 -0.21356476 10.98835245] [-0.38506831 0.91418206 0.12646563 -1.87237999] [ 0.24635119 -0.03024159 0.9687087 1.57556924] [ 0. 0. 0. 1. ]] SLAMing on 235.766296757 meters Centerline goodness : 0.797135 with order 1 Centerline is valid? [False, False] Translation: X:10.98, Y:-1.87, Z:1.58 [[ 0.89535938 0.39418007 -0.20725263 10.97955177] [-0.37494467 0.91833487 0.12679731 -1.87121816] [ 0.24030829 -0.03582089 0.97003546 1.57592434] [ 0. 0. 0. 1. ]] SLAMing on 235.826296757 meters Centerline goodness : 0.802135 with order 3 Centerline is valid? [False, False] Translation: X:10.97, Y:-1.87, Z:1.58 [[ 0.90374504 0.37874656 -0.1994892 10.96829887] [-0.35951405 0.92451655 0.12656536 -1.87018355] [ 0.23236727 -0.04266365 0.97169196 1.5781227 ] [ 0. 0. 0. 1. ]] SLAMing on 235.886296757 meters Centerline goodness : 0.800032 with order 1 Centerline is valid? [False, False] Translation: X:10.96, Y:-1.87, Z:1.58 [[ 0.90985323 0.36772733 -0.19220748 10.95989718] [-0.34848595 0.92866126 0.12706613 -1.8712601 ] [ 0.22522133 -0.04862992 0.97309326 1.57514096] [ 0. 0. 0. 1. ]] SLAMing on 235.946296757 meters Centerline goodness : 0.802638 with order 1 Centerline is valid? [False, False] Translation: X:10.96, Y:-1.87, Z:1.57 [[ 0.91078609 0.36585905 -0.19135273 10.96054608] [-0.34647671 0.92932567 0.12770155 -1.87306998] [ 0.22454977 -0.05000953 0.97317853 1.57283253] [ 0. 0. 0. 1. ]] SLAMing on 236.006296757 meters Centerline goodness : 0.802118 with order 1 Centerline is valid? [False, False] Translation: X:10.96, Y:-1.88, Z:1.57 [[ 0.90945977 0.36801943 -0.19350613 10.96334151] [-0.34826437 0.92847597 0.1290128 -1.87736205] [ 0.22714501 -0.04994066 0.9725796 1.57326764] [ 0. 0. 0. 1. ]] SLAMing on 236.066296757 meters Centerline goodness : 0.802488 with order 1 Centerline is valid? [False, False] Translation: X:10.97, Y:-1.89, Z:1.57 [[ 0.90713858 0.37605769 -0.18889208 10.97062506] [-0.35713747 0.92535888 0.12713682 -1.88536133] [ 0.22260374 -0.04787028 0.97373303 1.57368497] [ 0. 0. 0. 1. ]] SLAMing on 236.126296757 meters Centerline goodness : 0.801601 with order 1 Centerline is valid? [False, False] Translation: X:10.98, Y:-1.89, Z:1.57 [[ 0.90468342 0.38347518 -0.18572749 10.97782199] [-0.36640033 0.92265145 0.12027097 -1.88974115] [ 0.21748267 -0.04075654 0.9752129 1.57260304] [ 0. 0. 0. 1. ]] SLAMing on 236.186296757 meters Centerline goodness : 0.802477 with order 1 Centerline is valid? [False, False] Translation: X:10.98, Y:-1.89, Z:1.57 [[ 0.90460688 0.38246611 -0.18816501 10.98046873] [-0.36553817 0.92314902 0.11907033 -1.89225282] [ 0.21924471 -0.03893035 0.97489291 1.5724766 ] [ 0. 0. 0. 1. ]] SLAMing on 236.246296757 meters Centerline goodness : 0.804412 with order 1 Centerline is valid? [False, False] Translation: X:10.98, Y:-1.89, Z:1.57 [[ 0.90527678 0.38210059 -0.18566929 10.97790171] [-0.36485946 0.92317898 0.12090549 -1.8928382 ] [ 0.21760404 -0.04170973 0.97514552 1.5720421 ] [ 0. 0. 0. 1. ]] SLAMing on 236.306296757 meters Centerline goodness : 0.801363 with order 1 Centerline is valid? [False, False] Translation: X:10.98, Y:-1.90, Z:1.57 [[ 0.90625455 0.382463 -0.1800687 10.98354177] [-0.36699211 0.92322394 0.11390504 -1.89835672] [ 0.2098082 -0.03714317 0.9770368 1.56874306] [ 0. 0. 0. 1. ]] SLAMing on 236.36629675700001 meters Centerline goodness : 0.803417 with order 1 Centerline is valid? [False, False] Translation: X:10.98, Y:-1.90, Z:1.57 [[ 0.90993185 0.37480687 -0.17760585 10.98027957] [-0.35979662 0.92634081 0.11153065 -1.8967529 ] [ 0.206326 -0.03758331 0.97776126 1.56716743] [ 0. 0. 0. 1. ]] SLAMing on 236.426296757 meters Centerline goodness : 0.804887 with order 1 Centerline is valid? [False, False] Translation: X:10.97, Y:-1.89, Z:1.57 [[ 0.91484636 0.36536506 -0.17194337 10.97072984] [-0.35109349 0.93006053 0.1082625 -1.89181445] [ 0.19947308 -0.03867535 0.97913978 1.56932264] [ 0. 0. 0. 1. ]] SLAMing on 236.486296757 meters Centerline goodness : 0.803498 with order 1 Centerline is valid? [False, False] Translation: X:10.97, Y:-1.89, Z:1.57 [[ 0.91615201 0.36385316 -0.16815579 10.96746766] [-0.34945345 0.93052656 0.10955641 -1.88888995] [ 0.19633587 -0.04160771 0.97965352 1.5684636 ] [ 0. 0. 0. 1. ]] SLAMing on 236.546296757 meters Centerline goodness : 0.800388 with order 1 Centerline is valid? [False, False] Translation: X:10.97, Y:-1.89, Z:1.57 [[ 0.91313655 0.37269045 -0.16517711 10.96783055] [-0.35692225 0.92668449 0.11773852 -1.88961033] [ 0.19694709 -0.04855596 0.97921099 1.56872661] [ 0. 0. 0. 1. ]] SLAMing on 236.606296757 meters Centerline goodness : 0.801081 with order 1 Centerline is valid? [False, False] Translation: X:10.97, Y:-1.89, Z:1.57 [[ 0.9111963 0.37574039 -0.16893925 10.97156235] [-0.35987679 0.92556801 0.1175268 -1.8917122 ] [ 0.20052433 -0.04629267 0.97859439 1.5706794 ] [ 0. 0. 0. 1. ]] SLAMing on 236.666296757 meters Centerline goodness : 0.805619 with order 1 Centerline is valid? [False, False] Translation: X:10.98, Y:-1.89, Z:1.57 [[ 0.91003206 0.37439773 -0.17795501 10.97727873] [-0.3598172 0.92658763 0.1093935 -1.89406707] [ 0.20584759 -0.03552032 0.9779392 1.57302048] [ 0. 0. 0. 1. ]] SLAMing on 236.726296757 meters Centerline goodness : 0.808260 with order 1 Centerline is valid? [False, False] Translation: X:10.98, Y:-1.89, Z:1.57 [[ 0.9084858 0.37597126 -0.18248058 10.98075776] [-0.36193239 0.92612998 0.10624594 -1.89469994] [ 0.20894616 -0.03047729 0.97745212 1.57446856] [ 0. 0. 0. 1. ]] SLAMing on 236.786296757 meters Centerline goodness : 0.810498 with order 1 Centerline is valid? [False, False] Translation: X:10.99, Y:-1.90, Z:1.57 [[ 0.9068519 0.37842571 -0.18550907 10.98561511] [-0.36441803 0.92519503 0.10589457 -1.8958291 ] [ 0.21170529 -0.02842784 0.97692002 1.57408494] [ 0. 0. 0. 1. ]] SLAMing on 236.846296757 meters Centerline goodness : 0.809388 with order 1 Centerline is valid? [False, False] Translation: X:11.00, Y:-1.90, Z:1.57 [[ 0.9038972 0.38700699 -0.18219616 10.99689944] [-0.37358008 0.92170081 0.10442955 -1.90295104] [ 0.20834531 -0.02632872 0.97770089 1.56878108] [ 0. 0. 0. 1. ]] SLAMing on 236.906296757 meters Centerline goodness : 0.809397 with order 1 Centerline is valid? [False, False] Translation: X:11.01, Y:-1.91, Z:1.56 [[ 0.90087372 0.3914054 -0.18769218 11.01195534] [-0.37985986 0.9201002 0.09550971 -1.91246292] [ 0.21007863 -0.01474547 0.97757329 1.55740514] [ 0. 0. 0. 1. ]] SLAMing on 236.966296757 meters Centerline goodness : 0.809983 with order 1 Centerline is valid? [False, False] Translation: X:11.01, Y:-1.92, Z:1.56 [[ 0.89907943 0.39981997 -0.17832601 11.01230025] [-0.38850894 0.91643641 0.09594327 -1.91669579] [ 0.20178448 -0.01697937 0.97928276 1.56228142] [ 0. 0. 0. 1. ]] SLAMing on 237.026296757 meters Centerline goodness : 0.810031 with order 1 Centerline is valid? [False, False] Translation: X:11.01, Y:-1.92, Z:1.56 [[ 0.8979522 0.40148547 -0.18025331 11.01410719] [-0.39006316 0.91571996 0.09647636 -1.91752536] [ 0.20379541 -0.01632098 0.97887745 1.56443127] [ 0. 0. 0. 1. ]] SLAMing on 237.086296757 meters Centerline goodness : 0.813785 with order 1 Centerline is valid? [False, False] Translation: X:11.02, Y:-1.92, Z:1.57 [[ 0.89638374 0.40356827 -0.18338171 11.0181435 ] [-0.39199528 0.91482329 0.09714959 -1.91960956] [ 0.20696835 -0.01519855 0.97822958 1.56620307] [ 0. 0. 0. 1. ]] SLAMing on 237.14629675700002 meters Centerline goodness : 0.811621 with order 1 Centerline is valid? [False, False] Translation: X:11.02, Y:-1.92, Z:1.57 [[ 0.89371491 0.40869519 -0.1850457 11.02345068] [-0.39636756 0.91251316 0.10105689 -1.92193997] [ 0.2101581 -0.01696993 0.97752012 1.56666273] [ 0. 0. 0. 1. ]] SLAMing on 237.206296757 meters Centerline goodness : 0.814158 with order 1 Centerline is valid? [False, False] Translation: X:11.03, Y:-1.92, Z:1.57 [[ 0.8925536 0.41117659 -0.18515365 11.02754336] [-0.39791295 0.91132298 0.10562061 -1.92483688] [ 0.21216349 -0.02059702 0.9770171 1.56620558] [ 0. 0. 0. 1. ]] SLAMing on 237.266296757 meters Centerline goodness : 0.815079 with order 1 Centerline is valid? [False, False] Translation: X:11.03, Y:-1.92, Z:1.57 [[ 0.89360676 0.40960982 -0.18353952 11.02644978] [-0.39617357 0.91198583 0.10643473 -1.92452961] [ 0.21098215 -0.02239729 0.97723329 1.56569314] [ 0. 0. 0. 1. ]] SLAMing on 237.326296757 meters Centerline goodness : 0.812288 with order 1 Centerline is valid? [False, False] Translation: X:11.03, Y:-1.92, Z:1.56 [[ 0.89534979 0.40605552 -0.18294174 11.02994807] [-0.39219227 0.91350422 0.10814463 -1.92464915] [ 0.21103077 -0.02507894 0.97715764 1.56372395] [ 0. 0. 0. 1. ]] SLAMing on 237.386296757 meters Centerline goodness : 0.809797 with order 1 Centerline is valid? [False, False] Translation: X:11.03, Y:-1.92, Z:1.56 [[ 0.89715736 0.40293974 -0.18096475 11.03223032] [-0.388376 0.91474672 0.1113666 -1.92470684] [ 0.21041094 -0.029631 0.97716388 1.56162413] [ 0. 0. 0. 1. ]] SLAMing on 237.446296757 meters Centerline goodness : 0.811828 with order 1 Centerline is valid? [False, False] Translation: X:11.04, Y:-1.92, Z:1.56 [[ 0.89969657 0.39743773 -0.18052517 11.03677141] [-0.38246666 0.91705465 0.11282738 -1.92367777] [ 0.2103933 -0.03246554 0.97707761 1.55977213] [ 0. 0. 0. 1. ]] SLAMing on 237.506296757 meters Centerline goodness : 0.800166 with order 1 Centerline is valid? [False, False] Translation: X:11.05, Y:-1.93, Z:1.55 [[ 0.89946681 0.39905818 -0.1780787 11.0503685 ] [-0.38210085 0.91595283 0.12259431 -1.92541985] [ 0.21203395 -0.04222549 0.97634964 1.550743 ] [ 0. 0. 0. 1. ]] SLAMing on 237.566296757 meters Centerline goodness : 0.801026 with order 1 Centerline is valid? [False, False] Translation: X:11.06, Y:-1.92, Z:1.55 [[ 0.89948156 0.3998826 -0.17614434 11.05877108] [-0.38159543 0.91525606 0.12919474 -1.91577295] [ 0.21287991 -0.04899241 0.97584932 1.55096472] [ 0. 0. 0. 1. ]] SLAMing on 237.626296757 meters Centerline goodness : 0.798978 with order 1 Centerline is valid? [False, False] Translation: X:11.08, Y:-1.90, Z:1.55 [[ 0.8966097 0.40392751 -0.18147621 11.07705425] [-0.3856848 0.9136883 0.12814414 -1.90005558] [ 0.21757364 -0.04490267 0.97501049 1.54803621] [ 0. 0. 0. 1. ]] SLAMing on 237.686296757 meters Centerline goodness : 0.799184 with order 1 Centerline is valid? [False, False] Translation: X:11.07, Y:-1.87, Z:1.54 [[ 0.89318391 0.41431772 -0.17482371 11.06599434] [-0.3955446 0.90878318 0.13288189 -1.86530328] [ 0.21393217 -0.04953739 0.97559165 1.5435158 ] [ 0. 0. 0. 1. ]] SLAMing on 237.746296757 meters Centerline goodness : 0.802224 with order 1 Centerline is valid? [False, False] Translation: X:11.05, Y:-1.84, Z:1.54 [[ 0.89061287 0.42262741 -0.16791305 11.05206826] [-0.40348569 0.90468098 0.13693654 -1.83628486] [ 0.20978087 -0.05420693 0.97624464 1.53918575] [ 0. 0. 0. 1. ]] SLAMing on 237.806296757 meters Centerline goodness : 0.784978 with order 3 Centerline is valid? [False, False] Translation: X:11.04, Y:-1.79, Z:1.54 [[ 0.8849433 0.4391772 -0.15491526 11.04192452] [-0.41884291 0.89599899 0.14750061 -1.79420352] [ 0.20358282 -0.06564452 0.97685456 1.5400878 ] [ 0. 0. 0. 1. ]] SLAMing on 237.86629675700001 meters Centerline goodness : 0.804434 with order 1 Centerline is valid? [False, False] Translation: X:11.03, Y:-1.77, Z:1.53 [[ 0.88451848 0.440624 -0.15322382 11.02984152] [-0.42098185 0.89543837 0.1447909 -1.76839144] [ 0.20100084 -0.06356578 0.9775265 1.53020555] [ 0. 0. 0. 1. ]] SLAMing on 237.926296757 meters Centerline goodness : 0.799087 with order 1 Centerline is valid? [False, False] Translation: X:11.04, Y:-1.75, Z:1.53 [[ 0.88166578 0.44722585 -0.15051406 11.03828939] [-0.42734122 0.89201964 0.14724281 -1.74810297] [ 0.20011229 -0.06549808 0.97758124 1.5287339 ] [ 0. 0. 0. 1. ]] SLAMing on 237.986296757 meters Centerline goodness : 0.786392 with order 1 Centerline is valid? [False, False] Translation: X:11.07, Y:-1.72, Z:1.54 [[ 0.87990021 0.45444128 -0.13877586 11.0699316 ] [-0.43324786 0.88724266 0.15841956 -1.72458042] [ 0.19512025 -0.07926906 0.97757072 1.54113494] [ 0. 0. 0. 1. ]] SLAMing on 238.046296757 meters Centerline goodness : 0.719707 with order 2 Centerline is valid? [False, False] Translation: X:11.08, Y:-1.71, Z:1.54 [[ 0.88188216 0.45072294 -0.13832097 11.08189518] [-0.42941752 0.88899623 0.15901665 -1.70691931] [ 0.19463928 -0.0808365 0.97753824 1.53989615] [ 0. 0. 0. 1. ]] SLAMing on 238.106296757 meters Centerline goodness : 0.709461 with order 2 Centerline is valid? [False, False] Translation: X:11.12, Y:-1.70, Z:1.55 [[ 0.88528598 0.44935309 -0.11979369 11.116348 ] [-0.42899614 0.88854179 0.1626524 -1.70126749] [ 0.17953006 -0.09260286 0.97938433 1.54630831] [ 0. 0. 0. 1. ]] SLAMing on 238.166296757 meters Centerline goodness : 0.205861 with order 1 Centerline is valid? [False, False] Translation: X:11.16, Y:-1.70, Z:1.55 [[ 0.88716675 0.44856186 -0.1082932 11.15919851] [-0.42972165 0.88861269 0.16033336 -1.70366209] [ 0.16815015 -0.09570649 0.98110438 1.55397713] [ 0. 0. 0. 1. ]] SLAMing on 238.226296757 meters Centerline goodness : 0.671513 with order 2 Centerline is valid? [False, False] Translation: X:11.21, Y:-1.71, Z:1.57 [[ 0.88393725 0.45590196 -0.10396316 11.21312899] [-0.4388013 0.88555251 0.15248007 -1.71102488] [ 0.1615808 -0.08916365 0.98282322 1.56583577] [ 0. 0. 0. 1. ]] Total time of SLAM: 11065.94 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%| | 0/7942 [00:00