+ python -m lidar_slam --result /working/result.json --no-model /working/6376223f-eee8-41d6-be3d-0c5e2e05034e Lidar SLAM 0.0.16 ===================================================== The recording path: /working/6376223f-eee8-41d6-be3d-0c5e2e05034e 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 0.026547615 Adjusted end_distance from 9.223372036854776e+18 to 81.826547615 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.026547615 meters Centerline goodness : 0.257172 with order 3 Centerline is valid? [0, False] SLAMing on 0.086547615 meters Centerline goodness : 0.258422 with order 3 Centerline is valid? [False, False] Translation: X:0.07, Y:0.01, Z:0.00 [[ 0.99964001 0.0204866 -0.01732499 0.06587078] [-0.02143196 0.99818575 -0.05626607 0.00833284] [ 0.01614086 0.05661713 0.99826548 0.00204777] [ 0. 0. 0. 1. ]] SLAMing on 0.146547615 meters Centerline goodness : 0.257684 with order 3 Centerline is valid? [False, False] Translation: X:0.12, Y:0.01, Z:-0.01 [[ 0.99980469 0.01656017 -0.01078595 0.11609153] [-0.01683939 0.99951141 -0.02633196 0.01094522] [ 0.01034462 0.02650844 0.99959506 -0.01223192] [ 0. 0. 0. 1. ]] SLAMing on 0.206547615 meters Centerline goodness : 0.245015 with order 3 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.01, Z:-0.02 [[ 0.999883 -0.01280392 -0.00836887 0.16012368] [ 0.01276816 0.99990919 -0.00431202 -0.00722222] [ 0.00842333 0.00420466 0.99995568 -0.01999832] [ 0. 0. 0. 1. ]] SLAMing on 0.266547615 meters Centerline goodness : 0.230641 with order 3 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.03, Z:-0.01 [[ 0.99935375 -0.03571296 -0.00408329 0.21002879] [ 0.03554281 0.99871688 -0.03607357 -0.02570586] [ 0.00536635 0.03590513 0.99934079 -0.01315993] [ 0. 0. 0. 1. ]] SLAMing on 0.326547615 meters Centerline goodness : 0.217882 with order 1 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.04, Z:-0.01 [[ 9.99440683e-01 -3.34123419e-02 1.39161435e-03 2.85386476e-01] [ 3.34389252e-02 9.99000667e-01 -2.96564702e-02 -3.77313086e-02] [-3.99331541e-04 2.96864169e-02 9.99559181e-01 -1.03131345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.386547615 meters Centerline goodness : 0.213617 with order 1 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.03, Z:-0.02 [[ 9.99617683e-01 -2.76419625e-02 6.40824087e-04 3.21885674e-01] [ 2.76479257e-02 9.99534752e-01 -1.28790925e-02 -3.31163300e-02] [-2.84522552e-04 1.28918861e-02 9.99916856e-01 -1.74833244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.446547615 meters Centerline goodness : 0.187752 with order 1 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.03, Z:-0.01 [[ 0.99978702 -0.01672778 0.01208725 0.40533635] [ 0.01714512 0.99923 -0.03529086 -0.02968732] [-0.01148761 0.03549058 0.99930398 -0.00897307] [ 0. 0. 0. 1. ]] SLAMing on 0.506547615 meters Centerline goodness : 0.325697 with order 2 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.01, Z:-0.03 [[ 0.99992668 -0.00977544 0.00714733 0.45210644] [ 0.0099278 0.99971735 -0.02160228 -0.00935688] [-0.00693413 0.02167165 0.9997411 -0.03470195] [ 0. 0. 0. 1. ]] SLAMing on 0.5665476150000001 meters Centerline goodness : 0.317720 with order 1 Centerline is valid? [False, False] Translation: X:0.51, Y:0.01, Z:-0.04 [[ 0.9999629 0.00621875 0.00595996 0.51172138] [-0.00597109 0.99915321 -0.04070873 0.00619442] [-0.00620807 0.04067163 0.99915328 -0.03558423] [ 0. 0. 0. 1. ]] SLAMing on 0.626547615 meters Centerline goodness : 0.373871 with order 1 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.01, Z:-0.03 [[ 0.99998743 0.00360326 0.00348748 0.57922239] [-0.00333986 0.9973414 -0.07279414 -0.00665427] [-0.0037405 0.07278157 0.99734089 -0.02500782] [ 0. 0. 0. 1. ]] SLAMing on 0.6865476149999999 meters Centerline goodness : 0.349542 with order 1 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.00, Z:-0.04 [[ 0.99950016 -0.02448866 0.01999334 0.60348572] [ 0.02510388 0.99920026 -0.03112296 -0.00125608] [-0.01921519 0.03160932 0.99931558 -0.04171842] [ 0. 0. 0. 1. ]] SLAMing on 0.746547615 meters Centerline goodness : 0.368330 with order 2 Centerline is valid? [False, False] Translation: X:0.64, Y:0.01, Z:-0.05 [[ 0.99948338 -0.02830724 0.01522088 0.64436755] [ 0.02886941 0.99885764 -0.03807844 0.00902211] [-0.01412559 0.03849819 0.99915882 -0.05474659] [ 0. 0. 0. 1. ]] SLAMing on 0.806547615 meters Centerline goodness : 0.415296 with order 2 Centerline is valid? [False, False] Translation: X:0.70, Y:0.03, Z:-0.06 [[ 9.99989114e-01 -6.34283128e-04 4.62262753e-03 7.00774782e-01] [ 1.00192194e-03 9.96796975e-01 -7.99674054e-02 2.86472771e-02] [-4.55709916e-03 7.99711664e-02 9.96786760e-01 -6.37588277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.866547615 meters SLAMing on 0.9265476149999999 meters Centerline goodness : 0.176492 with order 2 Centerline is valid? [False, False] Translation: X:0.78, Y:0.03, Z:-0.06 [[ 0.99994315 -0.00479231 0.00952543 0.78036276] [ 0.0055587 0.99660599 -0.08213158 0.03099309] [-0.0090995 0.08217986 0.99657597 -0.0614245 ] [ 0. 0. 0. 1. ]] SLAMing on 0.986547615 meters Centerline goodness : 0.078021 with order 1 Centerline is valid? [False, False] Translation: X:0.80, Y:0.02, Z:-0.07 [[ 0.99933254 -0.02885405 0.02240362 0.80451165] [ 0.03002638 0.99809554 -0.05388612 0.01549871] [-0.02080612 0.05452285 0.99829573 -0.06541486] [ 0. 0. 0. 1. ]] SLAMing on 1.046547615 meters Centerline goodness : 0.068215 with order 2 Centerline is valid? [False, False] Translation: X:0.86, Y:0.00, Z:-0.06 [[ 0.99922811 -0.02903713 0.02645806 0.8552222 ] [ 0.03114774 0.99604574 -0.08320281 0.0023229 ] [-0.02393746 0.0839627 0.99618134 -0.06298347] [ 0. 0. 0. 1. ]] SLAMing on 1.106547615 meters Centerline goodness : 0.065889 with order 3 Centerline is valid? [False, False] Translation: X:0.91, Y:0.00, Z:-0.07 [[ 0.99963088 -0.02504562 0.0105273 0.90721141] [ 0.02588287 0.99571049 -0.08882954 0.00446829] [-0.00825735 0.08906923 0.99599121 -0.06564363] [ 0. 0. 0. 1. ]] SLAMing on 1.1665476149999998 meters Centerline goodness : 0.066584 with order 3 Centerline is valid? [False, False] Translation: X:0.95, Y:0.00, Z:-0.07 [[ 0.99961055 -0.02742737 0.00514694 0.94784812] [ 0.02775951 0.99618111 -0.08278045 0.00460685] [-0.00285684 0.08289109 0.99655452 -0.07309026] [ 0. 0. 0. 1. ]] SLAMing on 1.2265476149999999 meters Centerline goodness : 0.084716 with order 1 Centerline is valid? [False, False] Translation: X:0.98, Y:0.00, Z:-0.07 [[ 9.99544728e-01 -3.00376907e-02 2.84146909e-03 9.82641057e-01] [ 3.01636935e-02 9.97016688e-01 -7.10484051e-02 2.57722490e-03] [-6.98862080e-04 7.11017680e-02 9.97468822e-01 -7.47726086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.286547615 meters Centerline goodness : 0.535839 with order 1 Centerline is valid? [False, False] Translation: X:0.98, Y:0.01, Z:-0.09 [[ 0.99913677 -0.0379624 0.01686929 0.97611116] [ 0.03884997 0.99768365 -0.05583925 0.01360662] [-0.01471042 0.05644642 0.99829725 -0.08917603] [ 0. 0. 0. 1. ]] SLAMing on 1.3465476149999998 meters Centerline goodness : 0.536321 with order 2 Centerline is valid? [False, False] Translation: X:1.02, Y:0.03, Z:-0.09 [[ 0.99977145 -0.01436092 0.01583733 1.01829402] [ 0.01567234 0.99616707 -0.08605549 0.02579635] [-0.01454079 0.08628403 0.99616446 -0.08678471] [ 0. 0. 0. 1. ]] SLAMing on 1.4065476149999998 meters Centerline goodness : 0.532905 with order 2 Centerline is valid? [False, False] Translation: X:1.07, Y:0.03, Z:-0.09 [[ 0.99987731 -0.00534712 0.01472348 1.06721935] [ 0.00683712 0.99464897 -0.10308579 0.030611 ] [-0.01409348 0.10317381 0.99456349 -0.08962211] [ 0. 0. 0. 1. ]] SLAMing on 1.4665476149999999 meters Centerline goodness : 0.534542 with order 2 Centerline is valid? [False, False] Translation: X:1.12, Y:0.03, Z:-0.09 [[ 0.99969589 -0.01355115 0.02060339 1.11658094] [ 0.01519194 0.99654226 -0.0816868 0.02592943] [-0.0194252 0.08197497 0.99644506 -0.08599394] [ 0. 0. 0. 1. ]] SLAMing on 1.526547615 meters Centerline goodness : 0.551087 with order 1 Centerline is valid? [False, False] Translation: X:1.17, Y:0.03, Z:-0.09 [[ 0.99953977 -0.02357847 0.01908691 1.16606768] [ 0.02469667 0.9978541 -0.06064043 0.02860829] [-0.01761614 0.06108391 0.99797717 -0.09374774] [ 0. 0. 0. 1. ]] SLAMing on 1.586547615 meters Centerline goodness : 0.547455 with order 2 Centerline is valid? [False, False] Translation: X:1.24, Y:0.03, Z:-0.10 [[ 0.99997446 -0.0030969 0.00644059 1.23765333] [ 0.0037025 0.99535034 -0.09624965 0.03443188] [-0.00611257 0.09627104 0.99533639 -0.09814404] [ 0. 0. 0. 1. ]] SLAMing on 1.6465476149999998 meters Centerline goodness : 0.483942 with order 1 Centerline is valid? [False, False] Translation: X:1.29, Y:0.04, Z:-0.09 [[ 9.99990635e-01 4.18522076e-03 1.10162475e-03 1.28938402e+00] [-4.05105726e-03 9.94777975e-01 -1.01982200e-01 3.78487549e-02] [-1.52269005e-03 1.01976782e-01 9.94785614e-01 -9.33043275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7065476149999999 meters Centerline goodness : 0.155162 with order 1 Centerline is valid? [False, False] Translation: X:1.33, Y:0.04, Z:-0.10 [[ 0.99995084 -0.00398834 0.00907802 1.32848212] [ 0.00450792 0.9983091 -0.05795368 0.03794488] [-0.00883153 0.05799175 0.998278 -0.0968753 ] [ 0. 0. 0. 1. ]] SLAMing on 1.766547615 meters Centerline goodness : 0.546268 with order 1 Centerline is valid? [False, False] Translation: X:1.39, Y:0.04, Z:-0.09 [[ 0.99980768 -0.00750289 0.01811933 1.38501094] [ 0.00863092 0.99797607 -0.0630021 0.03507476] [-0.01760996 0.06314637 0.9978489 -0.09056587] [ 0. 0. 0. 1. ]] SLAMing on 1.8265476149999997 meters Centerline goodness : 0.568348 with order 1 Centerline is valid? [False, False] Translation: X:1.46, Y:0.03, Z:-0.08 [[ 9.99803710e-01 1.11344514e-03 1.97813628e-02 1.45711577e+00] [ 9.30615624e-04 9.94678447e-01 -1.03023885e-01 3.36193341e-02] [-1.97908066e-02 1.03022071e-01 9.94482165e-01 -8.26804814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8865476149999998 meters Centerline goodness : 0.563308 with order 1 Centerline is valid? [False, False] Translation: X:1.52, Y:0.03, Z:-0.08 [[ 0.99966799 0.01145247 0.02308141 1.51637083] [-0.00947099 0.99640391 -0.08419941 0.02841191] [-0.02396269 0.08395285 0.99618156 -0.08423369] [ 0. 0. 0. 1. ]] SLAMing on 1.9465476149999998 meters Centerline goodness : 0.529070 with order 1 Centerline is valid? [False, False] Translation: X:1.57, Y:0.02, Z:-0.09 [[ 9.99740977e-01 6.79652265e-04 2.27490057e-02 1.56605688e+00] [ 5.88766299e-04 9.98447153e-01 -5.57040022e-02 2.18199967e-02] [-2.27515394e-02 5.57029674e-02 9.98188132e-01 -9.09331220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.006547615 meters Centerline goodness : 0.512388 with order 1 Centerline is valid? [False, False] Translation: X:1.63, Y:0.02, Z:-0.09 [[ 9.99943177e-01 1.86156619e-03 1.04964934e-02 1.63196724e+00] [-1.20576309e-03 9.98066594e-01 -6.21419385e-02 1.87567542e-02] [-1.05918808e-02 6.21257511e-02 9.98012126e-01 -9.26441523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.066547615 meters Centerline goodness : 0.462797 with order 1 Centerline is valid? [False, False] Translation: X:1.69, Y:0.03, Z:-0.10 [[ 0.99975114 0.02173746 0.00501367 1.69218092] [-0.02122281 0.99602755 -0.08647955 0.02728024] [-0.0068736 0.08635163 0.99624101 -0.0968355 ] [ 0. 0. 0. 1. ]] SLAMing on 2.1265476150000002 meters Centerline goodness : 0.528538 with order 1 Centerline is valid? [False, False] Translation: X:1.74, Y:0.03, Z:-0.11 [[ 9.99568845e-01 2.93294001e-02 -1.38247090e-03 1.74135335e+00] [-2.93426231e-02 9.96093893e-01 -8.32824460e-02 2.72073810e-02] [-1.06555336e-03 8.32871037e-02 9.96525024e-01 -1.05778455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1865476150000003 meters Centerline goodness : 0.524736 with order 1 Centerline is valid? [False, False] Translation: X:1.79, Y:0.03, Z:-0.11 [[ 0.99973671 0.02285881 0.00199459 1.7930126 ] [-0.02267908 0.99759341 -0.06552128 0.0258278 ] [-0.00348753 0.06545879 0.99784918 -0.10520502] [ 0. 0. 0. 1. ]] SLAMing on 2.246547615 meters Centerline goodness : 0.516612 with order 1 Centerline is valid? [False, False] Translation: X:1.85, Y:0.02, Z:-0.10 [[ 0.9996949 0.01983566 0.01471896 1.84739893] [-0.01878545 0.9974845 -0.06835043 0.01948876] [-0.01603771 0.06805307 0.99755279 -0.09520085] [ 0. 0. 0. 1. ]] SLAMing on 2.306547615 meters Centerline goodness : 0.498753 with order 1 Centerline is valid? [False, False] Translation: X:1.90, Y:0.02, Z:-0.10 [[ 0.99975505 0.0142644 0.01692228 1.89886585] [-0.01309436 0.99764379 -0.06734545 0.01991147] [-0.01784305 0.06710736 0.9975862 -0.09826569] [ 0. 0. 0. 1. ]] SLAMing on 2.366547615 meters Centerline goodness : 0.496937 with order 1 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.01, Z:-0.11 [[ 0.99986616 0.01577863 0.00432504 1.99114084] [-0.01553459 0.99854686 -0.0516028 -0.01308455] [-0.00513298 0.05152871 0.99865832 -0.11321779] [ 0. 0. 0. 1. ]] SLAMing on 2.426547615 meters Centerline goodness : 0.468318 with order 1 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.06, Z:-0.11 [[ 0.99964989 0.02484281 -0.00910625 2.11027736] [-0.02523495 0.99863057 -0.04582784 -0.06220343] [ 0.00795529 0.04604159 0.99890785 -0.10952329] [ 0. 0. 0. 1. ]] SLAMing on 2.486547615 meters Centerline goodness : 0.443729 with order 1 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.06, Z:-0.11 [[ 0.99981947 0.01764781 -0.00704212 2.15467171] [-0.01786712 0.99931525 -0.03240065 -0.06298791] [ 0.0064655 0.03252062 0.99945015 -0.10816795] [ 0. 0. 0. 1. ]] SLAMing on 2.546547615 meters Centerline goodness : 0.417454 with order 1 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.07, Z:-0.11 [[ 0.99985894 0.01184504 -0.01190781 2.19613783] [-0.01217181 0.99954066 -0.02775467 -0.06648793] [ 0.01157358 0.0278957 0.99954384 -0.10875583] [ 0. 0. 0. 1. ]] SLAMing on 2.606547615 meters Centerline goodness : 0.424326 with order 1 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.07, Z:-0.10 [[ 0.99996102 0.00589375 -0.00657464 2.21989398] [-0.00612313 0.99935335 -0.03543147 -0.07242186] [ 0.00636157 0.03547035 0.99935048 -0.10001982] [ 0. 0. 0. 1. ]] SLAMing on 2.666547615 meters Centerline goodness : 0.199958 with order 3 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.07, Z:-0.11 [[ 0.99997653 -0.00506646 -0.00461289 2.24785758] [ 0.0049882 0.99984606 -0.01682178 -0.07067612] [ 0.0046974 0.01679837 0.99984786 -0.10621397] [ 0. 0. 0. 1. ]] SLAMing on 2.726547615 meters Centerline goodness : 0.365013 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.06, Z:-0.10 [[ 0.99991534 0.00641667 -0.01132014 2.29694241] [-0.00658438 0.99986819 -0.01484091 -0.06237292] [ 0.01122342 0.01491419 0.99982579 -0.1033257 ] [ 0. 0. 0. 1. ]] SLAMing on 2.786547615 meters Centerline goodness : 0.336873 with order 1 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.06, Z:-0.10 [[ 0.99986675 0.00854878 -0.013907 2.33081197] [-0.00922181 0.99875261 -0.04907326 -0.06196904] [ 0.01347013 0.04919497 0.99869836 -0.09880647] [ 0. 0. 0. 1. ]] SLAMing on 2.846547615 meters Centerline goodness : 0.281138 with order 3 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.05, Z:-0.11 [[ 9.99527015e-01 1.15522144e-02 -2.85007412e-02 2.38875901e+00] [-1.16070548e-02 9.99931088e-01 -1.75948099e-03 -5.03665435e-02] [ 2.84784512e-02 2.08945845e-03 9.99592223e-01 -1.07542741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.906547615 meters Centerline goodness : 0.126597 with order 1 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.03, Z:-0.11 [[ 9.99532786e-01 2.07974495e-02 -2.23981098e-02 2.41663275e+00] [-2.07595356e-02 9.99782646e-01 1.92394466e-03 -3.21567564e-02] [ 2.24332547e-02 -1.45807140e-03 9.99747280e-01 -1.11881850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.966547615 meters Centerline goodness : 0.215640 with order 3 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.03, Z:-0.10 [[ 0.99974794 0.02121817 -0.00733795 2.45661793] [-0.0215812 0.99833167 -0.05355498 -0.03087811] [ 0.00618937 0.05369984 0.99853794 -0.10159746] [ 0. 0. 0. 1. ]] SLAMing on 3.026547615 meters Centerline goodness : 0.103145 with order 2 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.04, Z:-0.10 [[ 0.99992734 0.00889093 0.00814071 2.50942446] [-0.00855342 0.99913905 -0.04059551 -0.04299206] [-0.00849463 0.04052293 0.9991425 -0.10045717] [ 0. 0. 0. 1. ]] SLAMing on 3.086547615 meters Centerline goodness : 0.132438 with order 3 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.06, Z:-0.10 [[ 9.99973770e-01 -6.72325326e-03 2.69381433e-03 2.56758143e+00] [ 6.72309699e-03 9.99977397e-01 6.70606323e-05 -5.69878679e-02] [-2.69420431e-03 -4.89480983e-05 9.99996369e-01 -1.04981145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1465476150000002 meters Centerline goodness : 0.272486 with order 1 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.06, Z:-0.11 [[ 9.99916118e-01 -1.29519967e-02 5.06980762e-05 2.58595619e+00] [ 1.29520945e-02 9.99910148e-01 -3.45523296e-03 -5.55095159e-02] [-5.94135507e-06 3.45559977e-03 9.99994029e-01 -1.08591772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.206547615 meters Centerline goodness : 0.174797 with order 1 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.05, Z:-0.11 [[ 0.99997179 -0.00688364 -0.00300668 2.60728806] [ 0.0068051 0.99965434 -0.02539453 -0.05040826] [ 0.00318045 0.02537335 0.99967299 -0.10850878] [ 0. 0. 0. 1. ]] SLAMing on 3.266547615 meters Centerline goodness : 0.206583 with order 1 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.04, Z:-0.11 [[ 0.99997122 -0.00459636 -0.00603547 2.63268542] [ 0.00449803 0.99985857 -0.01620548 -0.03858125] [ 0.0061091 0.01617787 0.99985047 -0.11312105] [ 0. 0. 0. 1. ]] SLAMing on 3.326547615 meters Centerline goodness : 0.212366 with order 1 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.03, Z:-0.12 [[ 0.99991274 -0.00882938 -0.00982653 2.66406296] [ 0.00890847 0.99992804 0.0080342 -0.03339823] [ 0.00975489 -0.00812104 0.99991944 -0.11935921] [ 0. 0. 0. 1. ]] SLAMing on 3.386547615 meters Centerline goodness : 0.322692 with order 3 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.03, Z:-0.12 [[ 9.99791263e-01 -1.75514498e-02 -1.04583248e-02 2.66710714e+00] [ 1.75507215e-02 9.99845961e-01 -1.61413976e-04 -3.46693428e-02] [ 1.04595469e-02 -2.21708631e-05 9.99945297e-01 -1.18650931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.446547615 meters Centerline goodness : 0.576000 with order 1 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.03, Z:-0.11 [[ 9.99863196e-01 -1.65171200e-02 -8.79416099e-04 2.70881986e+00] [ 1.64994312e-02 9.99714028e-01 -1.73098376e-02 -3.19132968e-02] [ 1.16507328e-03 1.72929597e-02 9.99849787e-01 -1.11042564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.506547615 meters Centerline goodness : 0.583022 with order 1 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.03, Z:-0.12 [[ 9.99894553e-01 -1.44302995e-02 -1.62794311e-03 2.71990348e+00] [ 1.44360468e-02 9.99889401e-01 3.57571469e-03 -3.09840200e-02] [ 1.57616443e-03 -3.59883870e-03 9.99992282e-01 -1.19643167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.566547615 meters Centerline goodness : 0.601418 with order 1 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.03, Z:-0.12 [[ 9.99800914e-01 -1.98563928e-02 -1.96355669e-03 2.72337461e+00] [ 1.98596587e-02 9.99801403e-01 1.65801613e-03 -3.38096777e-02] [ 1.93024452e-03 -1.69668161e-03 9.99996698e-01 -1.16633510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.626547615 meters Centerline goodness : 0.620299 with order 1 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.03, Z:-0.12 [[ 9.99839975e-01 -1.78091655e-02 1.69038119e-03 2.73611435e+00] [ 1.78229491e-02 9.99804831e-01 -8.52309741e-03 -3.35263577e-02] [-1.53826202e-03 8.55186108e-03 9.99962249e-01 -1.18795090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.686547615 meters Centerline goodness : 0.755065 with order 2 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.04, Z:-0.12 [[ 0.99991442 -0.01251042 -0.00382529 2.76520841] [ 0.01249463 0.99991344 -0.00412289 -0.03622604] [ 0.00387654 0.00407474 0.99998418 -0.11612168] [ 0. 0. 0. 1. ]] SLAMing on 3.746547615 meters Centerline goodness : 0.752992 with order 3 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.03, Z:-0.13 [[ 9.99902136e-01 -8.63368846e-03 -1.10081018e-02 2.80804876e+00] [ 8.64212208e-03 9.99962398e-01 7.18789640e-04 -3.45300912e-02] [ 1.10014820e-02 -8.13852656e-04 9.99939151e-01 -1.26937169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.806547615 meters Centerline goodness : 0.744428 with order 2 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.06, Z:-0.05 [[ 0.99575288 -0.06532502 -0.06487564 2.9272918 ] [ 0.07065236 0.99399701 0.0835356 -0.06381769] [ 0.05902923 -0.08776443 0.99439075 -0.04697568] [ 0. 0. 0. 1. ]] SLAMing on 3.866547615 meters Centerline goodness : 0.806007 with order 2 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.07, Z:-0.05 [[ 0.99505929 -0.07656385 -0.06320596 2.92467012] [ 0.08110996 0.99404283 0.07280122 -0.06794375] [ 0.05725549 -0.07756816 0.99534164 -0.0457087 ] [ 0. 0. 0. 1. ]] SLAMing on 3.926547615 meters Centerline goodness : 0.803762 with order 3 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.06, Z:-0.01 [[ 0.98381675 -0.12743218 -0.12595891 3.01267409] [ 0.14802584 0.97415366 0.17062533 -0.06044635] [ 0.10096017 -0.18650923 0.97725194 -0.00678399] [ 0. 0. 0. 1. ]] SLAMing on 3.986547615 meters Centerline goodness : 0.836125 with order 2 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.05, Z:0.03 [[ 0.9851653 -0.11043636 -0.13135121 3.02300705] [ 0.13269069 0.97559309 0.17496085 -0.05079896] [ 0.1088233 -0.18979444 0.97577434 0.02515693] [ 0. 0. 0. 1. ]] SLAMing on 4.046547615 meters Centerline goodness : 0.846309 with order 2 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.04, Z:0.05 [[ 0.9862118 -0.09930147 -0.13238395 3.0320474 ] [ 0.11539975 0.98603709 0.1200573 -0.044466 ] [ 0.11861362 -0.133679 0.98390077 0.05208989] [ 0. 0. 0. 1. ]] SLAMing on 4.106547615 meters Centerline goodness : 0.842743 with order 3 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.04, Z:0.03 [[ 0.98569708 -0.10222556 -0.13398213 3.03205537] [ 0.12118596 0.98242203 0.14198917 -0.04485694] [ 0.11711207 -0.15619506 0.98075882 0.03270935] [ 0. 0. 0. 1. ]] SLAMing on 4.166547615 meters Centerline goodness : 0.794251 with order 2 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.04, Z:-0.06 [[ 9.84716363e-01 -1.28856751e-01 -1.17173470e-01 2.99137152e+00] [ 1.29934307e-01 9.91521358e-01 1.57216879e-03 -4.16672687e-02] [ 1.15977414e-01 -1.67729939e-02 9.93110219e-01 -5.97687588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.226547615 meters Centerline goodness : 0.871063 with order 2 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.05, Z:-0.04 [[ 9.86806156e-01 -1.26438976e-01 -1.01127622e-01 2.99391526e+00] [ 1.25688833e-01 9.91973989e-01 -1.37812095e-02 -5.10545607e-02] [ 1.02058453e-01 8.88769561e-04 9.94778007e-01 -3.96900614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.286547615 meters Centerline goodness : 0.836399 with order 2 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.05, Z:-0.05 [[ 0.98720021 -0.12021372 -0.10480655 3.00827891] [ 0.12008551 0.9927348 -0.00755579 -0.04547434] [ 0.10495342 -0.00512667 0.99446392 -0.04838929] [ 0. 0. 0. 1. ]] SLAMing on 4.346547615 meters Centerline goodness : 0.868978 with order 2 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.03, Z:-0.05 [[ 9.88108188e-01 -1.10252181e-01 -1.07175860e-01 3.01306104e+00] [ 1.11071084e-01 9.93811039e-01 1.68334209e-03 -3.49098352e-02] [ 1.06326961e-01 -1.35674631e-02 9.94238654e-01 -5.02225598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.406547615 meters Centerline goodness : 0.858426 with order 1 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.03, Z:-0.05 [[ 0.98882804 -0.10750511 -0.1032558 3.02467232] [ 0.10756366 0.99418554 -0.00501733 -0.03193289] [ 0.10319481 -0.00614529 0.99464218 -0.04847675] [ 0. 0. 0. 1. ]] SLAMing on 4.466547615 meters Centerline goodness : 0.854981 with order 1 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.03, Z:-0.05 [[ 9.89737556e-01 -1.01991266e-01 -1.00086721e-01 3.03772900e+00] [ 1.01599562e-01 9.94784515e-01 -9.01648404e-03 -2.78511448e-02] [ 1.00484323e-01 -1.24481418e-03 9.94937863e-01 -4.73571793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.526547615 meters Centerline goodness : 0.849662 with order 1 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.03, Z:-0.04 [[ 0.9897564 -0.09983786 -0.10205229 3.04194186] [ 0.09994122 0.99498484 -0.0041125 -0.02835658] [ 0.10195107 -0.00612885 0.99477053 -0.04479028] [ 0. 0. 0. 1. ]] SLAMing on 4.586547615 meters Centerline goodness : 0.847812 with order 1 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.03, Z:-0.04 [[ 9.89481577e-01 -1.01620379e-01 -1.02953913e-01 3.04539588e+00] [ 1.02054468e-01 9.94778252e-01 -1.05607544e-03 -3.33876776e-02] [ 1.02523632e-01 -9.46193961e-03 9.94685567e-01 -4.09845378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.646547615 meters Centerline goodness : 0.857017 with order 1 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.04, Z:-0.04 [[ 0.99029717 -0.1002063 -0.09628194 3.05336664] [ 0.10011145 0.99495916 -0.00582756 -0.04008736] [ 0.09638056 -0.00386791 0.99533704 -0.03644902] [ 0. 0. 0. 1. ]] SLAMing on 4.706547615 meters Centerline goodness : 0.856285 with order 1 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.04, Z:-0.04 [[ 0.98916484 -0.10825526 -0.09916513 3.06809266] [ 0.10811838 0.99411498 -0.00676924 -0.04120292] [ 0.09931435 -0.00402568 0.99504797 -0.03583354] [ 0. 0. 0. 1. ]] SLAMing on 4.766547615 meters Centerline goodness : 0.856056 with order 1 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.04, Z:-0.04 [[ 9.88119568e-01 -1.15565790e-01 -1.01312725e-01 3.08188661e+00] [ 1.15275848e-01 9.93295142e-01 -8.73155180e-03 -4.35191306e-02] [ 1.01642506e-01 -3.05109305e-03 9.94816311e-01 -3.85705259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.826547615 meters Centerline goodness : 0.853849 with order 1 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.05, Z:-0.03 [[ 9.88454678e-01 -1.11417699e-01 -1.02681280e-01 3.08305934e+00] [ 1.11838037e-01 9.93725041e-01 -1.67242216e-03 -4.76842821e-02] [ 1.02223297e-01 -9.83055934e-03 9.94712902e-01 -3.41012448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.886547615 meters Centerline goodness : 0.859214 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.05, Z:-0.03 [[ 9.89884685e-01 -1.04891729e-01 -9.55302887e-02 3.08522253e+00] [ 1.05168499e-01 9.94452099e-01 -2.14710716e-03 -5.20731598e-02] [ 9.52255098e-02 -7.92138859e-03 9.95424208e-01 -2.53063974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.946547615 meters Centerline goodness : 0.860322 with order 1 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.05, Z:-0.02 [[ 9.90076068e-01 -9.80514817e-02 -1.00674163e-01 3.10925143e+00] [ 9.85359782e-02 9.95133476e-01 -1.60895351e-04 -5.03388856e-02] [ 1.00200006e-01 -9.76072852e-03 9.94919437e-01 -2.15720022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.006547615 meters Centerline goodness : 0.850512 with order 1 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.04, Z:-0.03 [[ 0.99053206 -0.09200393 -0.10188974 3.11420102] [ 0.09301874 0.99565055 0.0052437 -0.04167407] [ 0.10096413 -0.01467171 0.99478188 -0.02523525] [ 0. 0. 0. 1. ]] SLAMing on 5.066547615 meters Centerline goodness : 0.853217 with order 1 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.04, Z:-0.03 [[ 0.9907172 -0.08840277 -0.10326844 3.11673968] [ 0.08970059 0.99593679 0.00798254 -0.04022515] [ 0.10214316 -0.01717168 0.99462149 -0.02564783] [ 0. 0. 0. 1. ]] SLAMing on 5.126547615 meters Centerline goodness : 0.858366 with order 1 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.04, Z:-0.02 [[ 9.90252478e-01 -8.35448763e-02 -1.11446329e-01 3.12738418e+00] [ 8.41018230e-02 9.96457121e-01 2.97467718e-04 -4.32395998e-02] [ 1.11026636e-01 -9.66740756e-03 9.93770410e-01 -2.12559945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.186547615 meters Centerline goodness : 0.857973 with order 1 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.04, Z:-0.01 [[ 0.99094482 -0.08586801 -0.10322325 3.13167771] [ 0.08754815 0.99608981 0.01184937 -0.04351134] [ 0.10180215 -0.02077908 0.99458763 -0.01226436] [ 0. 0. 0. 1. ]] SLAMing on 5.246547615 meters Centerline goodness : 0.858199 with order 1 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.05, Z:-0.01 [[ 0.99034542 -0.09187749 -0.10380015 3.13477443] [ 0.09365832 0.99552713 0.0124041 -0.05005182] [ 0.10219621 -0.02200609 0.99452082 -0.00591203] [ 0. 0. 0. 1. ]] SLAMing on 5.3065476149999995 meters Centerline goodness : 0.854853 with order 1 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.05, Z:-0.01 [[ 0.99054364 -0.08892092 -0.10448144 3.13875355] [ 0.09088245 0.99576101 0.01415602 -0.04708651] [ 0.10277978 -0.02351768 0.99442608 -0.01000779] [ 0. 0. 0. 1. ]] SLAMing on 5.366547615 meters Centerline goodness : 0.852742 with order 1 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.04, Z:-0.02 [[ 9.90978649e-01 -7.17284874e-02 -1.13209284e-01 3.10074119e+00] [ 7.24411799e-02 9.97370284e-01 2.18887280e-03 -4.20620285e-02] [ 1.12754572e-01 -1.03701403e-02 9.93568753e-01 -1.74391003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.426547615 meters Centerline goodness : 0.869298 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.05, Z:-0.00 [[ 9.91909517e-01 -8.04174716e-02 -9.82269886e-02 3.09424924e+00] [ 8.10039067e-02 9.96711797e-01 1.99032203e-03 -5.10394681e-02] [ 9.77439416e-02 -9.93098918e-03 9.95162046e-01 -4.18173912e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.486547615 meters Centerline goodness : 0.857596 with order 1 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.05, Z:-0.00 [[ 9.90951775e-01 -9.36687445e-02 -9.61287941e-02 3.12135441e+00] [ 9.63191941e-02 9.95077699e-01 2.33020467e-02 -5.34045954e-02] [ 9.34729458e-02 -3.23502525e-02 9.95096111e-01 -1.97312912e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.546547615 meters Centerline goodness : 0.832712 with order 1 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.05, Z:-0.01 [[ 0.98951975 -0.10575387 -0.09831984 3.14784709] [ 0.11009794 0.99312173 0.0398456 -0.04702859] [ 0.09342974 -0.05025282 0.99435685 -0.00653331] [ 0. 0. 0. 1. ]] SLAMing on 5.606547615 meters Centerline goodness : 0.861193 with order 1 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.04, Z:0.02 [[ 0.99037868 -0.0905216 -0.10467049 3.16285438] [ 0.09174246 0.99575887 0.00689864 -0.03799746] [ 0.10360209 -0.016435 0.99448303 0.01772182] [ 0. 0. 0. 1. ]] SLAMing on 5.666547615 meters Centerline goodness : 0.852114 with order 1 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.03, Z:0.00 [[ 0.99242746 -0.06382405 -0.10494865 3.11775845] [ 0.06562533 0.99774894 0.01379723 -0.02670848] [ 0.10383181 -0.02058004 0.99438193 0.00483686] [ 0. 0. 0. 1. ]] SLAMing on 5.726547615 meters Centerline goodness : 0.832216 with order 1 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.03, Z:0.01 [[ 0.99186117 -0.07410533 -0.10353658 3.12912944] [ 0.07760668 0.99652645 0.03020318 -0.026384 ] [ 0.10093873 -0.03799249 0.99416696 0.00684836] [ 0. 0. 0. 1. ]] SLAMing on 5.786547615 meters Centerline goodness : 0.853395 with order 1 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.03, Z:0.02 [[ 0.99109008 -0.08775453 -0.10019782 3.16468013] [ 0.08977369 0.99583662 0.01581512 -0.03308379] [ 0.09839281 -0.02466934 0.99484184 0.02366277] [ 0. 0. 0. 1. ]] SLAMing on 5.8465476149999995 meters Centerline goodness : 0.853190 with order 1 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.03, Z:0.02 [[ 0.99109048 -0.09044143 -0.09777529 3.16154022] [ 0.09254592 0.99555989 0.01719776 -0.02617157] [ 0.09578577 -0.02609324 0.99505991 0.02113015] [ 0. 0. 0. 1. ]] SLAMing on 5.906547615 meters Centerline goodness : 0.850240 with order 1 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.03, Z:0.02 [[ 0.99158382 -0.08207295 -0.1001277 3.16647448] [ 0.0848224 0.99611866 0.02351114 -0.02509774] [ 0.09780945 -0.03180634 0.99469677 0.01843599] [ 0. 0. 0. 1. ]] SLAMing on 5.966547615 meters Centerline goodness : 0.856479 with order 1 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.03, Z:0.02 [[ 0.99095492 -0.0862386 -0.10281656 3.17081036] [ 0.08838261 0.99595036 0.01647419 -0.03262193] [ 0.10097948 -0.02541238 0.9945639 0.02145235] [ 0. 0. 0. 1. ]] SLAMing on 6.026547615 meters Centerline goodness : 0.847773 with order 1 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.03, Z:0.00 [[ 0.99229806 -0.07934092 -0.09512925 3.16462705] [ 0.0831178 0.99587421 0.03641412 -0.02810583] [ 0.09184764 -0.04404059 0.99479869 0.00391725] [ 0. 0. 0. 1. ]] SLAMing on 6.086547615 meters Centerline goodness : 0.853477 with order 1 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.03, Z:0.01 [[ 0.99329766 -0.07757594 -0.08568387 3.16337885] [ 0.08031819 0.99634647 0.0290294 -0.03123932] [ 0.08311883 -0.03571681 0.99589938 0.012908 ] [ 0. 0. 0. 1. ]] SLAMing on 6.146547615 meters Centerline goodness : 0.863169 with order 1 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.03, Z:0.02 [[ 0.99381045 -0.07679844 -0.08026704 3.1902253 ] [ 0.07857022 0.99672466 0.01914871 -0.03382984] [ 0.07853355 -0.02533679 0.99658945 0.02227391] [ 0. 0. 0. 1. ]] SLAMing on 6.206547615 meters Centerline goodness : 0.851313 with order 1 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.03, Z:0.02 [[ 0.99388789 -0.07211924 -0.08358036 3.2229254 ] [ 0.07450485 0.99688736 0.02578009 -0.02778585] [ 0.08146096 -0.03184966 0.99616751 0.02426643] [ 0. 0. 0. 1. ]] SLAMing on 6.266547615 meters Centerline goodness : 0.852828 with order 1 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.04, Z:0.03 [[ 0.99210896 -0.08364197 -0.0934015 3.24798901] [ 0.08652809 0.99587575 0.02728316 -0.03847838] [ 0.09073427 -0.03514972 0.99525464 0.02960383] [ 0. 0. 0. 1. ]] SLAMing on 6.326547615 meters Centerline goodness : 0.841113 with order 1 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.03, Z:0.03 [[ 0.99168481 -0.08461833 -0.09695862 3.26496804] [ 0.08803144 0.99562032 0.03147438 -0.02775498] [ 0.09387066 -0.03974807 0.99479063 0.02598866] [ 0. 0. 0. 1. ]] SLAMing on 6.386547615 meters Centerline goodness : 0.847498 with order 1 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.03, Z:0.03 [[ 0.99231586 -0.09335867 -0.08119976 3.25644063] [ 0.09528554 0.99524543 0.02017939 -0.03062412] [ 0.07892977 -0.02776149 0.99649355 0.02778883] [ 0. 0. 0. 1. ]] SLAMing on 6.446547615 meters Centerline goodness : 0.851206 with order 1 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.03, Z:0.04 [[ 0.991658 -0.10155711 -0.07937614 3.27445734] [ 0.10444852 0.99397748 0.03315527 -0.03049643] [ 0.07553095 -0.04116941 0.99629321 0.0429971 ] [ 0. 0. 0. 1. ]] SLAMing on 6.506547615 meters Centerline goodness : 0.845964 with order 1 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.03, Z:0.04 [[ 0.99366806 -0.09088916 -0.06605264 3.27082778] [ 0.0936587 0.99479601 0.04011173 -0.02888331] [ 0.06206318 -0.04604415 0.99700958 0.04060169] [ 0. 0. 0. 1. ]] SLAMing on 6.566547615 meters Centerline goodness : 0.838070 with order 1 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.03, Z:0.03 [[ 0.99571445 -0.07219176 -0.05780212 3.27685136] [ 0.07534209 0.9956774 0.05431469 -0.02829835] [ 0.05363119 -0.05843685 0.99684945 0.03052398] [ 0. 0. 0. 1. ]] SLAMing on 6.626547615 meters Centerline goodness : 0.827595 with order 1 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.01, Z:0.02 [[ 0.99696476 -0.04893995 -0.06054878 3.28246081] [ 0.05316866 0.99610641 0.07032152 -0.01107653] [ 0.0568715 -0.07332738 0.99568506 0.01937846] [ 0. 0. 0. 1. ]] SLAMing on 6.686547615 meters Centerline goodness : 0.828291 with order 1 Centerline is valid? [False, False] Translation: X:3.29, Y:0.01, Z:0.02 [[ 0.99733847 -0.04311881 -0.05879402 3.28729204] [ 0.04535253 0.99827809 0.03720212 0.00821268] [ 0.05708868 -0.03976956 0.9975767 0.02485156] [ 0. 0. 0. 1. ]] SLAMing on 6.746547615 meters Centerline goodness : 0.824637 with order 1 Centerline is valid? [False, False] Translation: X:3.32, Y:0.02, Z:0.03 [[ 0.9965547 -0.05918351 -0.05810365 3.31871784] [ 0.06193742 0.99698231 0.04679768 0.01912424] [ 0.05515866 -0.05023524 0.99721309 0.03112689] [ 0. 0. 0. 1. ]] SLAMing on 6.8065476149999995 meters Centerline goodness : 0.825632 with order 1 Centerline is valid? [False, False] Translation: X:3.37, Y:0.01, Z:0.06 [[ 0.99538533 -0.07723173 -0.0569501 3.36859165] [ 0.08145564 0.99377425 0.07601124 0.00908652] [ 0.05072506 -0.08029938 0.99547927 0.05554191] [ 0. 0. 0. 1. ]] SLAMing on 6.866547615 meters Centerline goodness : 0.823857 with order 1 Centerline is valid? [False, False] Translation: X:3.36, Y:0.02, Z:0.04 [[ 0.99651314 -0.07472829 -0.03711132 3.35881483] [ 0.0776483 0.99337389 0.08472935 0.01699018] [ 0.03053373 -0.08731554 0.99571265 0.04164263] [ 0. 0. 0. 1. ]] SLAMing on 6.926547615 meters Centerline goodness : 0.828165 with order 1 Centerline is valid? [False, False] Translation: X:3.35, Y:0.03, Z:0.04 [[ 0.99724977 -0.07023645 -0.0236589 3.35287528] [ 0.0717482 0.99491785 0.07064462 0.02632502] [ 0.01857684 -0.07214782 0.99722094 0.04394908] [ 0. 0. 0. 1. ]] SLAMing on 6.986547615 meters Centerline goodness : 0.819620 with order 1 Centerline is valid? [False, False] Translation: X:3.35, Y:0.04, Z:0.03 [[ 0.99788637 -0.06253978 -0.01765106 3.34542941] [ 0.06392963 0.99350986 0.09408058 0.03734706] [ 0.01165272 -0.09501016 0.9954081 0.02947218] [ 0. 0. 0. 1. ]] SLAMing on 7.046547615 meters Centerline goodness : 0.818650 with order 1 Centerline is valid? [False, False] Translation: X:3.34, Y:0.05, Z:0.02 [[ 0.99849143 -0.05327658 -0.01328432 3.33891465] [ 0.05438578 0.99289927 0.10579803 0.05086229] [ 0.00755343 -0.1063609 0.9942989 0.02206951] [ 0. 0. 0. 1. ]] SLAMing on 7.106547615 meters Centerline goodness : 0.825986 with order 1 Centerline is valid? [False, False] Translation: X:3.33, Y:0.07, Z:0.03 [[ 9.99258923e-01 -3.80411603e-02 -5.87147741e-03 3.33468964e+00] [ 3.84067189e-02 9.95512269e-01 8.64884129e-02 7.05472136e-02] [ 2.55500822e-03 -8.66498225e-02 9.96235555e-01 3.42243509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.166547615 meters Centerline goodness : 0.831198 with order 1 Centerline is valid? [False, False] Translation: X:3.32, Y:0.09, Z:0.03 [[ 9.99607129e-01 -2.79057274e-02 2.61893308e-03 3.31952118e+00] [ 2.74841658e-02 9.94233965e-01 1.03650585e-01 9.40081798e-02] [-5.49627719e-03 -1.03537885e-01 9.94610324e-01 2.65491614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.226547614999999 meters Centerline goodness : 0.830112 with order 1 Centerline is valid? [False, False] Translation: X:3.31, Y:0.11, Z:0.02 [[ 0.99961126 -0.02684466 0.00752945 3.31255647] [ 0.02590136 0.99408043 0.10551403 0.10575195] [-0.01031737 -0.10527799 0.99438931 0.02121404] [ 0. 0. 0. 1. ]] SLAMing on 7.286547615 meters Centerline goodness : 0.834194 with order 1 Centerline is valid? [False, False] Translation: X:3.31, Y:0.11, Z:0.02 [[ 0.99938225 -0.03383383 0.00950693 3.30840748] [ 0.03270308 0.99435231 0.10096532 0.10957844] [-0.01286928 -0.10059205 0.99484452 0.02117046] [ 0. 0. 0. 1. ]] SLAMing on 7.3465476149999995 meters Centerline goodness : 0.831228 with order 1 Centerline is valid? [False, False] Translation: X:3.32, Y:0.13, Z:0.02 [[ 0.99947833 -0.0319158 0.0049443 3.32459953] [ 0.03119834 0.99369419 0.10769643 0.12725233] [-0.00835034 -0.10748599 0.99417153 0.01503158] [ 0. 0. 0. 1. ]] SLAMing on 7.406547615 meters Centerline goodness : 0.832757 with order 1 Centerline is valid? [False, False] Translation: X:3.35, Y:0.15, Z:0.01 [[ 0.99988906 -0.01383772 0.00551307 3.34871286] [ 0.01341607 0.9974348 0.07031231 0.14536082] [-0.00647189 -0.07023055 0.99750979 0.01103765] [ 0. 0. 0. 1. ]] SLAMing on 7.466547615 meters Centerline goodness : 0.840654 with order 1 Centerline is valid? [False, False] Translation: X:3.38, Y:0.16, Z:0.01 [[ 9.99903596e-01 1.36336207e-02 2.63135034e-03 3.37838305e+00] [-1.37532173e-02 9.98520222e-01 5.26138390e-02 1.63962007e-01] [-1.91013940e-03 -5.26449563e-02 9.98611466e-01 1.23113124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.526547615 meters Centerline goodness : 0.838693 with order 1 Centerline is valid? [False, False] Translation: X:3.41, Y:0.17, Z:0.01 [[ 9.99486069e-01 3.19925343e-02 -2.01877643e-03 3.41001189e+00] [-3.18782104e-02 9.98591188e-01 4.24195688e-02 1.74853386e-01] [ 3.37304186e-03 -4.23334131e-02 9.99097845e-01 8.10525404e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.586547615 meters Centerline goodness : 0.849184 with order 1 Centerline is valid? [False, False] Translation: X:3.41, Y:0.18, Z:0.00 [[ 0.9996111 0.02537416 0.01156758 3.41003813] [-0.02582351 0.99884538 0.04050988 0.17813652] [-0.01052632 -0.04079284 0.99911218 0.00451445] [ 0. 0. 0. 1. ]] SLAMing on 7.646547615 meters Centerline goodness : 0.849150 with order 1 Centerline is valid? [False, False] Translation: X:3.41, Y:0.18, Z:0.01 [[ 0.99970791 0.02170165 0.01063637 3.40854264] [-0.02207275 0.99910395 0.03611216 0.17933957] [-0.00984315 -0.03633638 0.99929114 0.00810283] [ 0. 0. 0. 1. ]] SLAMing on 7.706547615 meters Centerline goodness : 0.848872 with order 1 Centerline is valid? [False, False] Translation: X:3.41, Y:0.18, Z:0.01 [[ 0.99970884 0.02188558 0.01016179 3.41020264] [-0.0222219 0.99916602 0.03425565 0.18385606] [-0.00940361 -0.03447149 0.99936144 0.00584896] [ 0. 0. 0. 1. ]] SLAMing on 7.7665476149999995 meters Centerline goodness : 0.846219 with order 1 Centerline is valid? [False, False] Translation: X:3.42, Y:0.19, Z:0.00 [[ 9.99538040e-01 3.03088035e-02 2.25455739e-03 3.42399864e+00] [-3.03644910e-02 9.99050488e-01 3.12429199e-02 1.87116332e-01] [-1.30548114e-03 -3.12969455e-02 9.99509278e-01 3.48377370e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.826547615 meters Centerline goodness : 0.846566 with order 1 Centerline is valid? [False, False] Translation: X:3.48, Y:0.20, Z:-0.00 [[ 9.98796725e-01 4.59944094e-02 1.70181150e-02 3.48116369e+00] [-4.53493196e-02 9.98303185e-01 -3.65265779e-02 2.02119073e-01] [-1.86692568e-02 3.57108664e-02 9.99187767e-01 -3.35680391e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.886547615 meters Centerline goodness : 0.845998 with order 1 Centerline is valid? [False, False] Translation: X:3.53, Y:0.20, Z:-0.00 [[ 0.99830051 0.05581357 0.01676096 3.53378944] [-0.05500977 0.9974668 -0.04509894 0.19890749] [-0.01923563 0.04410027 0.99884191 -0.00374155] [ 0. 0. 0. 1. ]] SLAMing on 7.946547615 meters Centerline goodness : 0.843326 with order 1 Centerline is valid? [False, False] Translation: X:3.57, Y:0.21, Z:-0.02 [[ 0.99755098 0.05974367 0.03636946 3.57166312] [-0.05566171 0.99297235 -0.1044399 0.21282598] [-0.04235349 0.10215973 0.99386597 -0.01803265] [ 0. 0. 0. 1. ]] SLAMing on 8.006547614999999 meters Centerline goodness : 0.838044 with order 1 Centerline is valid? [False, False] Translation: X:3.58, Y:0.21, Z:-0.01 [[ 0.99831139 0.05483255 0.01917694 3.57682103] [-0.05232323 0.99219895 -0.11315266 0.2066113 ] [-0.02523178 0.11195819 0.99339253 -0.01198208] [ 0. 0. 0. 1. ]] SLAMing on 8.066547615 meters Centerline goodness : 0.837585 with order 1 Centerline is valid? [False, False] Translation: X:3.58, Y:0.20, Z:0.00 [[ 9.98291844e-01 5.83457135e-02 3.02851247e-03 3.57797459e+00] [-5.76175756e-02 9.91768728e-01 -1.14345992e-01 2.04864488e-01] [-9.67518243e-03 1.13976175e-01 9.93436371e-01 3.90355110e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.126547615 meters Centerline goodness : 0.839949 with order 1 Centerline is valid? [False, False] Translation: X:3.56, Y:0.20, Z:0.01 [[ 0.99856979 0.05187963 0.01291776 3.56387442] [-0.05014256 0.99262231 -0.1103933 0.1961832 ] [-0.01854962 0.10958768 0.99380403 0.00636381] [ 0. 0. 0. 1. ]] SLAMing on 8.186547615 meters Centerline goodness : 0.842770 with order 1 Centerline is valid? [False, False] Translation: X:3.56, Y:0.18, Z:0.01 [[ 0.99932183 0.03336941 0.01556809 3.55684021] [-0.0313472 0.9927797 -0.11578349 0.17978886] [-0.01931931 0.11521696 0.99315246 0.01035985] [ 0. 0. 0. 1. ]] SLAMing on 8.246547614999999 meters Centerline goodness : 0.836503 with order 1 Centerline is valid? [False, False] Translation: X:3.55, Y:0.17, Z:0.00 [[ 9.99724269e-01 2.02041407e-02 1.19657493e-02 3.55269059e+00] [-1.89392862e-02 9.95030593e-01 -9.77518422e-02 1.72659000e-01] [-1.38812786e-02 9.74982662e-02 9.95138884e-01 5.40520088e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.306547615 meters Centerline goodness : 0.832589 with order 1 Centerline is valid? [False, False] Translation: X:3.56, Y:0.17, Z:0.00 [[ 9.99763251e-01 1.95671922e-02 9.51671258e-03 3.55604304e+00] [-1.85073012e-02 9.94717291e-01 -1.00970246e-01 1.66468830e-01] [-1.14421428e-02 1.00770213e-01 9.94843928e-01 1.95105538e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.366547615 meters Centerline goodness : 0.840225 with order 1 Centerline is valid? [False, False] Translation: X:3.56, Y:0.16, Z:0.01 [[ 0.99980074 0.01958165 0.00387734 3.56188019] [-0.01902284 0.99349708 -0.11225726 0.15987399] [-0.00605031 0.11216113 0.99367161 0.0099187 ] [ 0. 0. 0. 1. ]] SLAMing on 8.426547615 meters Centerline goodness : 0.838135 with order 1 Centerline is valid? [False, False] Translation: X:3.55, Y:0.17, Z:0.00 [[ 9.99669644e-01 2.29699971e-02 1.15317958e-02 3.55305870e+00] [-2.17958431e-02 9.95401066e-01 -9.32826828e-02 1.70007758e-01] [-1.36214648e-02 9.30005211e-02 9.95572880e-01 2.02604652e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.486547615 meters Centerline goodness : 0.834060 with order 1 Centerline is valid? [False, False] Translation: X:3.55, Y:0.17, Z:0.01 [[ 9.99707991e-01 2.40366698e-02 -2.48434350e-03 3.55496109e+00] [-2.41625673e-02 9.95693000e-01 -8.95076491e-02 1.70610067e-01] [ 3.22177624e-04 8.95415402e-02 9.95983036e-01 6.08319270e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.546547615 meters Centerline goodness : 0.839553 with order 1 Centerline is valid? [False, False] Translation: X:3.55, Y:0.16, Z:0.03 [[ 0.99986158 0.01427307 -0.00855022 3.55238789] [-0.01517774 0.99298367 -0.11727349 0.1648455 ] [ 0.00681638 0.11738703 0.99306285 0.02681932] [ 0. 0. 0. 1. ]] SLAMing on 8.606547615 meters Centerline goodness : 0.838632 with order 1 Centerline is valid? [False, False] Translation: X:3.56, Y:0.17, Z:0.03 [[ 0.99976454 0.01944145 -0.00963829 3.5590665 ] [-0.02036074 0.99406663 -0.10685021 0.16955522] [ 0.00750378 0.1070213 0.99422841 0.02951019] [ 0. 0. 0. 1. ]] SLAMing on 8.666547615 meters Centerline goodness : 0.834801 with order 1 Centerline is valid? [False, False] Translation: X:3.56, Y:0.18, Z:0.02 [[ 9.99525728e-01 3.07821442e-02 8.82861439e-04 3.56151529e+00] [-3.04788868e-02 9.92961233e-01 -1.14450986e-01 1.76941195e-01] [-4.39969393e-03 1.14369796e-01 9.93428504e-01 2.39303162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.726547615 meters Centerline goodness : 0.833285 with order 1 Centerline is valid? [False, False] Translation: X:3.56, Y:0.18, Z:0.04 [[ 0.99931797 0.03448951 -0.01319322 3.55928794] [-0.03576818 0.99287008 -0.11370854 0.18304696] [ 0.0091774 0.11410289 0.99342655 0.03896911] [ 0. 0. 0. 1. ]] SLAMing on 8.786547615 meters Centerline goodness : 0.834450 with order 1 Centerline is valid? [False, False] Translation: X:3.57, Y:0.25, Z:0.05 [[ 0.99861331 0.0382693 -0.03615145 3.56602258] [-0.04695811 0.95795419 -0.28305248 0.24835212] [ 0.02379921 0.28435758 0.95842285 0.04737822] [ 0. 0. 0. 1. ]] SLAMing on 8.846547615 meters Centerline goodness : 0.836116 with order 1 Centerline is valid? [False, False] Translation: X:3.57, Y:0.24, Z:0.04 [[ 0.99863616 0.03671539 -0.03711873 3.56952593] [-0.04575006 0.95793033 -0.28333094 0.24268146] [ 0.02515455 0.28464271 0.95830359 0.04434133] [ 0. 0. 0. 1. ]] SLAMing on 8.906547615 meters Centerline goodness : 0.830950 with order 1 Centerline is valid? [False, False] Translation: X:3.56, Y:0.24, Z:0.04 [[ 0.99889724 0.03482572 -0.03148762 3.55952931] [-0.04150802 0.96847318 -0.24563547 0.23502879] [ 0.02194049 0.24667158 0.96885074 0.04291391] [ 0. 0. 0. 1. ]] SLAMing on 8.966547615 meters Centerline goodness : 0.823390 with order 1 Centerline is valid? [False, False] Translation: X:3.57, Y:0.22, Z:0.04 [[ 0.99913606 0.02925415 -0.02951827 3.57392416] [-0.03528263 0.97242712 -0.23052252 0.22259452] [ 0.02196062 0.23136484 0.97261917 0.04474356] [ 0. 0. 0. 1. ]] SLAMing on 9.026547615 meters Centerline goodness : 0.821373 with order 1 Centerline is valid? [False, False] Translation: X:3.58, Y:0.21, Z:0.05 [[ 0.99950531 0.02225109 -0.02222685 3.57836532] [-0.02695081 0.97024166 -0.24063413 0.20522623] [ 0.01621105 0.24111412 0.97036137 0.04802078] [ 0. 0. 0. 1. ]] SLAMing on 9.086547615 meters Centerline goodness : 0.823554 with order 1 Centerline is valid? [False, False] Translation: X:3.58, Y:0.20, Z:0.05 [[ 9.99436616e-01 3.17081109e-02 -1.10020852e-02 3.57509624e+00] [-3.33988373e-02 9.71950508e-01 -2.32801908e-01 1.95997596e-01] [ 3.31177358e-03 2.33038208e-01 9.72461941e-01 5.42340295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.146547615 meters Centerline goodness : 0.819812 with order 1 Centerline is valid? [False, False] Translation: X:3.59, Y:0.18, Z:0.05 [[ 9.98126588e-01 6.01016035e-02 -1.14503882e-02 3.59231939e+00] [-6.11708973e-02 9.76637976e-01 -2.06000936e-01 1.76730398e-01] [-1.19810257e-03 2.06315442e-01 9.78484800e-01 5.34061088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.206547615 meters Centerline goodness : 0.814715 with order 1 Centerline is valid? [False, False] Translation: X:3.60, Y:0.17, Z:0.05 [[ 9.96491209e-01 8.23147274e-02 -1.51511287e-02 3.60440062e+00] [-8.36974054e-02 9.80295181e-01 -1.78930443e-01 1.67717432e-01] [ 1.23967836e-04 1.79570723e-01 9.83745058e-01 5.05545850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.266547615 meters Centerline goodness : 0.815949 with order 1 Centerline is valid? [False, False] Translation: X:3.60, Y:0.15, Z:0.06 [[ 9.96018419e-01 8.81721582e-02 -1.31521663e-02 3.59813500e+00] [-8.91276051e-02 9.81766568e-01 -1.67900793e-01 1.52850476e-01] [-1.89181815e-03 1.68404504e-01 9.85716158e-01 5.81744554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.326547614999999 meters Centerline goodness : 0.814159 with order 1 Centerline is valid? [False, False] Translation: X:3.61, Y:0.13, Z:0.06 [[ 0.99673628 0.08020076 -0.00919929 3.60776538] [-0.08063332 0.98362122 -0.16120657 0.12895615] [-0.00388027 0.16142221 0.98687781 0.05744889] [ 0. 0. 0. 1. ]] SLAMing on 9.386547615 meters Centerline goodness : 0.807327 with order 1 Centerline is valid? [False, False] Translation: X:3.63, Y:0.11, Z:0.05 [[ 9.96931469e-01 7.76904601e-02 -9.58321701e-03 3.62567781e+00] [-7.82707108e-02 9.87512831e-01 -1.36719074e-01 1.12341049e-01] [-1.15821798e-03 1.37049632e-01 9.90563505e-01 5.46630941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.446547615 meters Centerline goodness : 0.809079 with order 1 Centerline is valid? [False, False] Translation: X:3.64, Y:0.08, Z:0.06 [[ 9.96887996e-01 7.80102522e-02 -1.13456494e-02 3.64114371e+00] [-7.88272271e-02 9.87866339e-01 -1.33814662e-01 8.37173922e-02] [ 7.69069649e-04 1.34292576e-01 9.90941427e-01 5.75242799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.506547615 meters Centerline goodness : 0.810673 with order 1 Centerline is valid? [False, False] Translation: X:3.65, Y:0.06, Z:0.06 [[ 0.99678293 0.07996467 -0.00542599 3.64744963] [-0.08002277 0.989144 -0.12324978 0.05795257] [-0.00448854 0.12328748 0.99236085 0.05914618] [ 0. 0. 0. 1. ]] SLAMing on 9.566547615 meters Centerline goodness : 0.806613 with order 1 Centerline is valid? [False, False] Translation: X:3.66, Y:0.04, Z:0.06 [[ 9.96124720e-01 8.77425582e-02 -6.06515562e-03 3.65649307e+00] [-8.79064128e-02 9.91020659e-01 -1.00749766e-01 3.81090302e-02] [-2.82934768e-03 1.00892499e-01 9.94893310e-01 6.35414020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.626547615 meters Centerline goodness : 0.803812 with order 1 Centerline is valid? [False, False] Translation: X:3.65, Y:0.02, Z:0.07 [[ 0.9961333 0.08775899 -0.00410098 3.65371602] [-0.08777119 0.99206551 -0.09001242 0.02000715] [-0.00383095 0.09002432 0.9959322 0.0747439 ] [ 0. 0. 0. 1. ]] SLAMing on 9.686547615 meters Centerline goodness : 0.814428 with order 1 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.00, Z:0.08 [[ 9.97399945e-01 7.19505944e-02 -4.05740364e-03 3.64713214e+00] [-7.19899674e-02 9.92215396e-01 -1.01617182e-01 -2.19392060e-03] [-3.28559830e-03 1.01645064e-01 9.94815302e-01 8.00628171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.746547614999999 meters Centerline goodness : 0.808460 with order 1 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.01, Z:0.07 [[ 9.97730003e-01 6.71959565e-02 -4.42093606e-03 3.66306217e+00] [-6.73310757e-02 9.94287479e-01 -8.28186847e-02 -1.19741470e-02] [-1.16939937e-03 8.29283529e-02 9.96554826e-01 7.21956705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.806547615 meters Centerline goodness : 0.808297 with order 1 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.03, Z:0.07 [[ 9.97532251e-01 7.01410713e-02 -3.10452407e-03 3.65960443e+00] [-7.01696921e-02 9.94494769e-01 -7.78226704e-02 -2.65436821e-02] [-2.37113253e-03 7.78484671e-02 9.96962383e-01 7.27131003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.866547615 meters Centerline goodness : 0.811228 with order 1 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.04, Z:0.07 [[ 9.96880173e-01 7.89293483e-02 -2.80888017e-04 3.65239671e+00] [-7.87590039e-02 9.94482101e-01 -6.92991415e-02 -3.96685206e-02] [-5.19039797e-03 6.91050626e-02 9.97595885e-01 7.26159013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.926547615 meters Centerline goodness : 0.809953 with order 1 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.04, Z:0.07 [[ 0.99732372 0.07270574 0.00769938 3.6517027 ] [-0.07214606 0.99573537 -0.05749807 -0.03649758] [-0.01184698 0.05678871 0.99831593 0.07418767] [ 0. 0. 0. 1. ]] SLAMing on 9.986547615 meters Centerline goodness : 0.818360 with order 1 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.04, Z:0.07 [[ 0.99758563 0.06921278 0.00570019 3.65377518] [-0.06873268 0.99573473 -0.0615481 -0.04163435] [-0.00993579 0.06100771 0.99808784 0.07384411] [ 0. 0. 0. 1. ]] SLAMing on 10.046547615 meters Centerline goodness : 0.811739 with order 1 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.04, Z:0.06 [[ 9.98250450e-01 5.90539772e-02 -2.94396866e-03 3.67038674e+00] [-5.91211643e-02 9.97626678e-01 -3.52944558e-02 -4.27679769e-02] [ 8.52703694e-04 3.54067572e-02 9.99372620e-01 6.27181593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.106547615 meters Centerline goodness : 0.808995 with order 1 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.05, Z:0.08 [[ 9.97894466e-01 6.48425553e-02 -1.44121409e-03 3.66537765e+00] [-6.48584700e-02 9.97607569e-01 -2.39273415e-02 -4.97625910e-02] [-1.13743883e-04 2.39704366e-02 9.99712661e-01 7.51278967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.166547614999999 meters Centerline goodness : 0.826811 with order 1 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.06, Z:0.09 [[ 0.99793786 0.06389823 0.00608618 3.65949161] [-0.063642 0.99733471 -0.03568148 -0.06114009] [-0.00834994 0.03522056 0.99934468 0.08614021] [ 0. 0. 0. 1. ]] SLAMing on 10.226547615 meters Centerline goodness : 0.822506 with order 1 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.07, Z:0.08 [[ 9.98422378e-01 4.99919033e-02 2.55649279e-02 3.65551906e+00] [-4.99257103e-02 9.98747739e-01 -3.22136851e-03 -6.57520276e-02] [-2.56939563e-02 1.93993922e-03 9.99667974e-01 8.36012707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.286547615 meters Centerline goodness : 0.817950 with order 1 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.06, Z:0.08 [[ 9.98491730e-01 4.95390831e-02 2.36673871e-02 3.66519098e+00] [-4.94868727e-02 9.98770886e-01 -2.78699025e-03 -6.03693517e-02] [-2.37763621e-02 1.61156174e-03 9.99716003e-01 7.78959601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.346547615 meters Centerline goodness : 0.835979 with order 1 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.07, Z:0.08 [[ 0.99854219 0.04648085 0.02744143 3.64061477] [-0.04598611 0.99877273 -0.01839335 -0.06794626] [-0.02826269 0.01710461 0.99945418 0.08392647] [ 0. 0. 0. 1. ]] SLAMing on 10.406547615 meters Centerline goodness : 0.832773 with order 1 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.07, Z:0.08 [[ 9.98538557e-01 4.36443354e-02 3.18735342e-02 3.64184254e+00] [-4.35688695e-02 9.99045744e-01 -3.05869556e-03 -6.62805299e-02] [-3.19766134e-02 1.66553160e-03 9.99487230e-01 7.98587957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.466547615 meters Centerline goodness : 0.820568 with order 1 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.06, Z:0.07 [[ 0.9989644 0.03955666 0.02248114 3.66165503] [-0.03987567 0.99910763 0.01392361 -0.06265976] [-0.02191031 -0.01480564 0.9996503 0.06857447] [ 0. 0. 0. 1. ]] SLAMing on 10.526547615 meters Centerline goodness : 0.826635 with order 1 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.07, Z:0.07 [[ 0.99915317 0.02841723 0.02975587 3.66720508] [-0.02824314 0.99958151 -0.00625479 -0.06644024] [-0.02992116 0.0054091 0.99953763 0.07089446] [ 0. 0. 0. 1. ]] SLAMing on 10.586547614999999 meters Centerline goodness : 0.847048 with order 1 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.08, Z:0.08 [[ 0.99894086 0.02647159 0.03763529 3.65303233] [-0.02554468 0.99936353 -0.02489984 -0.07647513] [-0.03827048 0.02391208 0.99898127 0.0849598 ] [ 0. 0. 0. 1. ]] SLAMing on 10.646547615 meters Centerline goodness : 0.829125 with order 1 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.07, Z:0.07 [[ 0.99897166 0.0378986 0.02488609 3.64668727] [-0.03804142 0.99926216 0.00529046 -0.06775837] [-0.02466723 -0.00623172 0.99967629 0.07064843] [ 0. 0. 0. 1. ]] SLAMing on 10.706547615 meters Centerline goodness : 0.816215 with order 1 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.06, Z:0.07 [[ 0.99860264 0.04692068 0.02431484 3.65255239] [-0.04728493 0.99877432 0.01462861 -0.05931716] [-0.02359865 -0.01575789 0.99959732 0.06666369] [ 0. 0. 0. 1. ]] SLAMing on 10.766547615 meters Centerline goodness : 0.834539 with order 1 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.07, Z:0.08 [[ 0.99858038 0.04283488 0.03166057 3.63711583] [-0.04256272 0.99905124 -0.00922097 -0.06542367] [-0.03202551 0.00786032 0.99945614 0.07914247] [ 0. 0. 0. 1. ]] SLAMing on 10.826547614999999 meters Centerline goodness : 0.837674 with order 1 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.07, Z:0.09 [[ 0.99865104 0.03999751 0.03311051 3.63279254] [-0.03981262 0.99918777 -0.00622513 -0.07445636] [-0.03333261 0.00489851 0.99943231 0.0901065 ] [ 0. 0. 0. 1. ]] SLAMing on 10.886547615 meters Centerline goodness : 0.824245 with order 1 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.07, Z:0.08 [[ 0.99877024 0.03625832 0.03381321 3.64949609] [-0.03674447 0.99922846 0.01386858 -0.07349903] [-0.03328427 -0.01509397 0.99933194 0.0782006 ] [ 0. 0. 0. 1. ]] SLAMing on 10.946547615 meters Centerline goodness : 0.815160 with order 1 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.07, Z:0.07 [[ 0.99872593 0.04283081 0.026684 3.64413003] [-0.04359147 0.99863975 0.0286084 -0.06893638] [-0.02542238 -0.02973514 0.99923447 0.07429207] [ 0. 0. 0. 1. ]] SLAMing on 11.006547615 meters Centerline goodness : 0.824653 with order 1 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.07, Z:0.08 [[ 0.9983564 0.05465897 0.01723057 3.65354039] [-0.0545416 0.99848547 -0.00721034 -0.06843712] [-0.01759859 0.00625871 0.99982554 0.08271603] [ 0. 0. 0. 1. ]] SLAMing on 11.066547615 meters Centerline goodness : 0.831563 with order 1 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.07, Z:0.08 [[ 0.99836606 0.0550075 0.01547216 3.66137875] [-0.05492691 0.99847475 -0.00558677 -0.06908174] [-0.01575587 0.00472781 0.99986469 0.07883052] [ 0. 0. 0. 1. ]] SLAMing on 11.126547615 meters Centerline goodness : 0.820202 with order 1 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.07, Z:0.07 [[ 0.99901039 0.03681654 0.02495564 3.66140241] [-0.03714998 0.99922473 0.01303159 -0.07372298] [-0.02445652 -0.0139458 0.99960362 0.07266907] [ 0. 0. 0. 1. ]] SLAMing on 11.186547615 meters Centerline goodness : 0.814989 with order 1 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.07, Z:0.07 [[ 0.99935887 0.028079 0.02221312 3.67699948] [-0.02831413 0.99954557 0.01034262 -0.07213483] [-0.02191262 -0.01096493 0.99969976 0.06789398] [ 0. 0. 0. 1. ]] SLAMing on 11.246547614999999 meters Centerline goodness : 0.831104 with order 1 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.07, Z:0.07 [[ 0.99890822 0.03989841 0.02429983 3.64444512] [-0.03953639 0.99910251 -0.01520047 -0.07119115] [-0.02488449 0.01422315 0.99958915 0.0719669 ] [ 0. 0. 0. 1. ]] SLAMing on 11.306547615 meters Centerline goodness : 0.839093 with order 1 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.08, Z:0.08 [[ 0.9983612 0.05122898 0.02550517 3.63178576] [-0.0511114 0.9986792 -0.00524138 -0.07619593] [-0.02573999 0.00392918 0.99966095 0.08384717] [ 0. 0. 0. 1. ]] SLAMing on 11.366547615 meters Centerline goodness : 0.819193 with order 1 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.08, Z:0.07 [[ 0.9990667 0.03867728 0.01922989 3.65069464] [-0.03912338 0.99896059 0.02339008 -0.07576157] [-0.01830524 -0.02412059 0.99954145 0.07096396] [ 0. 0. 0. 1. ]] SLAMing on 11.426547615 meters Centerline goodness : 0.816956 with order 1 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.07, Z:0.07 [[ 0.99932707 0.03176421 0.01834231 3.65439761] [-0.0321423 0.99926892 0.02070023 -0.07277379] [-0.01767137 -0.02127587 0.99961746 0.07472629] [ 0. 0. 0. 1. ]] SLAMing on 11.486547615 meters Centerline goodness : 0.838928 with order 1 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.08, Z:0.08 [[ 0.99918566 0.03733334 0.01530501 3.66005741] [-0.03697894 0.99905547 -0.02281927 -0.076227 ] [-0.01614247 0.02223472 0.99962245 0.08336815] [ 0. 0. 0. 1. ]] SLAMing on 11.546547615 meters Centerline goodness : 0.829920 with order 1 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.07, Z:0.08 [[ 0.99883552 0.0475802 0.0079826 3.65881235] [-0.04754485 0.99885869 -0.00456159 -0.06755662] [-0.00819053 0.00417675 0.99995773 0.07594973] [ 0. 0. 0. 1. ]] SLAMing on 11.606547615 meters Centerline goodness : 0.822194 with order 1 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.07, Z:0.08 [[ 0.99820893 0.05912237 0.0091366 3.65846325] [-0.05920202 0.99820804 0.00870771 -0.06537484] [-0.00860541 -0.00923302 0.99992035 0.07757123] [ 0. 0. 0. 1. ]] SLAMing on 11.666547614999999 meters Centerline goodness : 0.831528 with order 1 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.08, Z:0.09 [[ 9.99091644e-01 4.13244839e-02 1.04006975e-02 3.65598675e+00] [-4.13320864e-02 9.99145330e-01 5.16985155e-04 -8.07488844e-02] [-1.03704442e-02 -9.46398076e-04 9.99945778e-01 9.03187756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.726547615 meters Centerline goodness : 0.828351 with order 1 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.07, Z:0.08 [[ 0.99907229 0.0422056 0.00855837 3.67010955] [-0.0422387 0.99910061 0.00372461 -0.07082241] [-0.00839347 -0.00408265 0.99995644 0.08226298] [ 0. 0. 0. 1. ]] SLAMing on 11.786547615 meters Centerline goodness : 0.827336 with order 1 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.06, Z:0.07 [[ 9.98567360e-01 5.33040590e-02 4.68031759e-03 3.66838260e+00] [-5.33049797e-02 9.98578276e-01 7.21090731e-05 -5.93842516e-02] [-4.66981976e-03 -3.21490001e-04 9.99989045e-01 7.08532034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.846547615 meters Centerline goodness : 0.839054 with order 1 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.06, Z:0.08 [[ 0.99816233 0.05947577 0.01160146 3.66971726] [-0.05942288 0.99822111 -0.00485144 -0.06338824] [-0.01186936 0.00415313 0.99992093 0.07718106] [ 0. 0. 0. 1. ]] SLAMing on 11.906547615 meters Centerline goodness : 0.821712 with order 1 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.06, Z:0.07 [[ 0.99838465 0.05253413 0.02163926 3.66553444] [-0.05306313 0.99828703 0.02464384 -0.05880526] [-0.02030755 -0.02575228 0.99946207 0.07396216] [ 0. 0. 0. 1. ]] SLAMing on 11.966547615 meters Centerline goodness : 0.828381 with order 1 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.06, Z:0.08 [[ 0.99901224 0.03849214 0.02220114 3.65941422] [-0.0387241 0.99919875 0.01011444 -0.0628476 ] [-0.02179403 -0.01096417 0.99970236 0.07859556] [ 0. 0. 0. 1. ]] SLAMing on 12.026547615 meters Centerline goodness : 0.831916 with order 1 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.07, Z:0.08 [[ 0.99918733 0.03423062 0.02128246 3.66061439] [-0.0343444 0.99939753 0.00500388 -0.06711336] [-0.02109835 -0.00573075 0.99976098 0.07771732] [ 0. 0. 0. 1. ]] SLAMing on 12.086547614999999 meters Centerline goodness : 0.823167 with order 1 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.06, Z:0.06 [[ 0.99868414 0.04752063 0.01928156 3.6697157 ] [-0.04779453 0.99875904 0.01400215 -0.05804219] [-0.01859224 -0.01490528 0.99971604 0.06498389] [ 0. 0. 0. 1. ]] SLAMing on 12.146547615 meters Centerline goodness : 0.824096 with order 1 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.07, Z:0.07 [[ 0.99874246 0.04610267 0.01969872 3.66507589] [-0.04637263 0.99883333 0.01347439 -0.06562652] [-0.01905453 -0.01437092 0.99971516 0.06994736] [ 0. 0. 0. 1. ]] SLAMing on 12.206547615 meters Centerline goodness : 0.819930 with order 1 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.06, Z:0.06 [[ 0.99916811 0.03548452 0.02009797 3.67756461] [-0.03596993 0.99905669 0.02432878 -0.06418088] [-0.01921572 -0.02503146 0.99950197 0.05991694] [ 0. 0. 0. 1. ]] SLAMing on 12.266547615 meters Centerline goodness : 0.823572 with order 1 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.06, Z:0.07 [[ 0.999365 0.02962042 0.0198045 3.67323685] [-0.02996722 0.99939856 0.01744974 -0.06346473] [-0.01927572 -0.01803214 0.99965158 0.06516876] [ 0. 0. 0. 1. ]] SLAMing on 12.326547614999999 meters Centerline goodness : 0.834373 with order 1 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.07, Z:0.07 [[ 9.99243304e-01 2.78543692e-02 2.71468714e-02 3.67121497e+00] [-2.79361978e-02 9.99606223e-01 2.63963326e-03 -7.40565355e-02] [-2.70626563e-02 -3.39601623e-03 9.99627971e-01 7.08539908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.386547615 meters Centerline goodness : 0.826829 with order 1 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.07, Z:0.06 [[ 0.99912187 0.02933693 0.02991372 3.67841086] [-0.03006015 0.99925942 0.02402069 -0.07070218] [-0.02918687 -0.0248988 0.99926382 0.06171766] [ 0. 0. 0. 1. ]] SLAMing on 12.446547615 meters Centerline goodness : 0.826823 with order 1 Centerline is valid? [False, False] Translation: X:3.70, Y:-0.08, Z:0.06 [[ 0.99955653 0.02292943 0.01899977 3.69975218] [-0.02313112 0.99967767 0.01046485 -0.0782651 ] [-0.01875369 -0.0108997 0.99976472 0.05907871] [ 0. 0. 0. 1. ]] SLAMing on 12.506547615 meters Centerline goodness : 0.830388 with order 1 Centerline is valid? [False, False] Translation: X:3.70, Y:-0.09, Z:0.06 [[ 0.99964665 0.01877643 0.0188156 3.70127932] [-0.01891136 0.99979653 0.00701872 -0.08574264] [-0.01867999 -0.00737207 0.99979834 0.05730285] [ 0. 0. 0. 1. ]] SLAMing on 12.566547615 meters Centerline goodness : 0.825563 with order 1 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.08, Z:0.06 [[ 0.99960845 0.02129953 0.01814573 3.7084937 ] [-0.02156218 0.99966374 0.01440414 -0.08333939] [-0.01783283 -0.01478976 0.99973159 0.05727734] [ 0. 0. 0. 1. ]] SLAMing on 12.626547615 meters Centerline goodness : 0.829914 with order 1 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.09, Z:0.06 [[ 0.99967385 0.01871575 0.01737596 3.70808643] [-0.01890493 0.99976308 0.01078799 -0.08825131] [-0.01716993 -0.01111296 0.99979083 0.05793587] [ 0. 0. 0. 1. ]] SLAMing on 12.686547615 meters Centerline goodness : 0.833715 with order 1 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.10, Z:0.06 [[ 0.99973548 0.01498974 0.0174435 3.70758398] [-0.01516478 0.99983554 0.00994643 -0.09874112] [-0.01729153 -0.01020833 0.99979838 0.06101142] [ 0. 0. 0. 1. ]] SLAMing on 12.746547614999999 meters Centerline goodness : 0.833116 with order 1 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.10, Z:0.07 [[ 0.99975976 0.01262726 0.01791587 3.70920552] [-0.01289033 0.99980966 0.01464525 -0.10335679] [-0.01772753 -0.01487267 0.99973223 0.06795861] [ 0. 0. 0. 1. ]] SLAMing on 12.806547615 meters Centerline goodness : 0.831212 with order 1 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.11, Z:0.07 [[ 0.99983314 0.0077232 0.01655434 3.71769665] [-0.00796539 0.99986148 0.01461403 -0.10604058] [-0.01643918 -0.01474345 0.99975616 0.06704241] [ 0. 0. 0. 1. ]] SLAMing on 12.866547615 meters Centerline goodness : 0.839325 with order 1 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.12, Z:0.07 [[ 0.99994237 0.0071356 0.00802183 3.72731861] [-0.00716717 0.99996665 0.00391483 -0.11514546] [-0.00799362 -0.00397209 0.99996016 0.07103669] [ 0. 0. 0. 1. ]] SLAMing on 12.926547615 meters Centerline goodness : 0.831512 with order 1 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.11, Z:0.06 [[ 0.99991926 0.01070679 0.00684451 3.73678859] [-0.01075784 0.99991426 0.00746597 -0.10631689] [-0.00676399 -0.007539 0.9999487 0.06290666] [ 0. 0. 0. 1. ]] SLAMing on 12.986547615 meters Centerline goodness : 0.828029 with order 1 Centerline is valid? [False, False] Translation: X:3.75, Y:-0.09, Z:0.05 [[ 9.99772168e-01 2.11720644e-02 2.71218281e-03 3.74580170e+00] [-2.11983433e-02 9.99724700e-01 1.00575230e-02 -8.96550182e-02] [-2.49849762e-03 -1.01127254e-02 9.99945744e-01 5.05597361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.046547615 meters Centerline goodness : 0.837490 with order 1 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.10, Z:0.06 [[ 0.99971061 0.02349801 0.00515241 3.7259658 ] [-0.02353024 0.99970337 0.00628545 -0.09547749] [-0.00500319 -0.00640487 0.99996697 0.06143974] [ 0. 0. 0. 1. ]] SLAMing on 13.106547615 meters Centerline goodness : 0.834730 with order 1 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.09, Z:0.07 [[ 0.99964762 0.02258518 0.01394815 3.73171305] [-0.02282845 0.9995856 0.01753538 -0.09309704] [-0.01354633 -0.01784762 0.99974895 0.06638299] [ 0. 0. 0. 1. ]] SLAMing on 13.166547614999999 meters Centerline goodness : 0.828522 with order 1 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.09, Z:0.06 [[ 0.99978801 0.01601118 0.01294506 3.74206482] [-0.01618662 0.99977699 0.01356311 -0.0944721 ] [-0.01272501 -0.01376977 0.99982422 0.05905176] [ 0. 0. 0. 1. ]] SLAMing on 13.226547615 meters Centerline goodness : 0.828172 with order 1 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.09, Z:0.06 [[ 0.99976403 0.01710519 0.01338982 3.7402747 ] [-0.01727055 0.99977479 0.01233257 -0.09023496] [-0.01317585 -0.01256091 0.9998343 0.05761672] [ 0. 0. 0. 1. ]] SLAMing on 13.286547615 meters Centerline goodness : 0.829199 with order 1 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.09, Z:0.05 [[ 0.99973279 0.01911129 0.0130043 3.73883198] [-0.01922439 0.99977796 0.00862877 -0.08515774] [-0.01283651 -0.00887646 0.99987821 0.05325248] [ 0. 0. 0. 1. ]] SLAMing on 13.346547615 meters Centerline goodness : 0.837843 with order 1 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.09, Z:0.05 [[ 9.99835597e-01 1.28387459e-02 1.28041102e-02 3.73747857e+00] [-1.28613166e-02 9.99915875e-01 1.68198543e-03 -9.20065468e-02] [-1.27814385e-02 -1.84638662e-03 9.99916609e-01 5.36759870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.406547615 meters Centerline goodness : 0.832766 with order 1 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.10, Z:0.06 [[ 9.99962139e-01 2.49571725e-03 8.33621816e-03 3.76193048e+00] [-2.59711835e-03 9.99922505e-01 1.21753260e-02 -9.96543336e-02] [-8.30518598e-03 -1.21965151e-02 9.99891129e-01 5.90377122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.466547615 meters Centerline goodness : 0.834545 with order 1 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.11, Z:0.06 [[ 0.99994766 -0.00605771 0.00824463 3.76324994] [ 0.00600899 0.99996441 0.00592144 -0.1061993 ] [-0.00828021 -0.00587159 0.99994848 0.05980863] [ 0. 0. 0. 1. ]] SLAMing on 13.526547615 meters Centerline goodness : 0.848976 with order 1 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.11, Z:0.07 [[ 9.99999077e-01 9.10921375e-04 1.00852920e-03 3.76493265e+00] [-9.11244943e-04 9.99999533e-01 3.20418194e-04 -1.11835781e-01] [-1.00823685e-03 -3.21336915e-04 9.99999440e-01 6.95034766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.586547614999999 meters Centerline goodness : 0.842454 with order 1 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.11, Z:0.06 [[ 9.99990809e-01 4.28703343e-03 -5.38050450e-05 3.77370770e+00] [-4.28672253e-03 9.99979080e-01 4.84383264e-03 -1.06337591e-01] [ 7.45695919e-05 -4.84355748e-03 9.99988267e-01 6.36492283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.646547615 meters Centerline goodness : 0.838621 with order 1 Centerline is valid? [False, False] Translation: X:3.78, Y:-0.10, Z:0.06 [[ 9.99995490e-01 2.86048071e-03 -9.15303092e-04 3.77713143e+00] [-2.85743115e-03 9.99990420e-01 3.31589067e-03 -1.02573628e-01] [ 9.24779365e-04 -3.31326030e-03 9.99994084e-01 6.16914852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.706547615 meters Centerline goodness : 0.833958 with order 1 Centerline is valid? [False, False] Translation: X:3.78, Y:-0.10, Z:0.06 [[ 9.99963112e-01 8.41937321e-03 -1.69949813e-03 3.78276691e+00] [-8.40479018e-03 9.99929289e-01 8.41290370e-03 -9.61997380e-02] [ 1.77020934e-03 -8.39830945e-03 9.99963167e-01 5.66923209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.766547615 meters Centerline goodness : 0.842463 with order 1 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.10, Z:0.07 [[ 9.99918492e-01 1.27502546e-02 -6.62999243e-04 3.76879855e+00] [-1.27440121e-02 9.99880998e-01 8.69362916e-03 -9.96451473e-02] [ 7.73766330e-04 -8.68447130e-03 9.99961990e-01 6.60070042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.826547614999999 meters Centerline goodness : 0.838654 with order 1 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.10, Z:0.07 [[ 9.99909038e-01 1.34769042e-02 -5.37549712e-04 3.76663763e+00] [-1.34719858e-02 9.99874866e-01 8.29201571e-03 -9.66746839e-02] [ 6.49233148e-04 -8.28401959e-03 9.99965476e-01 6.75017210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.886547615 meters Centerline goodness : 0.833194 with order 1 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.09, Z:0.07 [[ 9.99913318e-01 1.31502133e-02 -6.55098375e-04 3.77251346e+00] [-1.31417214e-02 9.99846191e-01 1.16141587e-02 -9.46207651e-02] [ 8.07726279e-04 -1.16045428e-02 9.99932339e-01 6.57054873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.946547615 meters Centerline goodness : 0.832014 with order 1 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.10, Z:0.07 [[ 9.99918809e-01 1.27309694e-02 -5.45055426e-04 3.77310681e+00] [-1.27229419e-02 9.99836944e-01 1.28145315e-02 -9.91532721e-02] [ 7.08107960e-04 -1.28065564e-02 9.99917742e-01 6.62963303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.006547614999999 meters Centerline goodness : 0.833155 with order 1 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.10, Z:0.07 [[ 9.99765470e-01 2.16401082e-02 8.42815673e-04 3.76417554e+00] [-2.16510439e-02 9.99630413e-01 1.64398650e-02 -9.53866467e-02] [-4.86743721e-04 -1.64542572e-02 9.99864501e-01 6.78524044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.066547615 meters Centerline goodness : 0.831974 with order 1 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.09, Z:0.06 [[ 0.99974354 0.02229226 -0.00398779 3.76846109] [-0.02226458 0.9997286 0.00685697 -0.09164897] [ 0.00413957 -0.00676643 0.99996854 0.05545613] [ 0. 0. 0. 1. ]] SLAMing on 14.126547615 meters Centerline goodness : 0.816737 with order 1 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.08, Z:0.05 [[ 0.99977897 0.01984129 -0.00695163 3.78646398] [-0.01964346 0.99942998 0.02745641 -0.08099316] [ 0.00749244 -0.02731378 0.99959883 0.0485263 ] [ 0. 0. 0. 1. ]] SLAMing on 14.186547615 meters Centerline goodness : 0.822046 with order 1 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.08, Z:0.05 [[ 0.99991523 0.01097131 0.00701099 3.78754087] [-0.0110934 0.99978324 0.01761869 -0.08082593] [-0.00681617 -0.01769498 0.9998202 0.04578499] [ 0. 0. 0. 1. ]] SLAMing on 14.246547614999999 meters Centerline goodness : 0.840332 with order 1 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.10, Z:0.06 [[ 9.99843685e-01 7.43908226e-03 1.60394806e-02 3.77176359e+00] [-7.45523346e-03 9.99971761e-01 9.47407192e-04 -9.52309051e-02] [-1.60319798e-02 -1.06683717e-03 9.99870910e-01 6.32296638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.306547615 meters Centerline goodness : 0.829096 with order 1 Centerline is valid? [False, False] Translation: X:3.78, Y:-0.10, Z:0.06 [[ 0.99975579 0.01506964 0.0161636 3.77939879] [-0.01527324 0.99980462 0.01254756 -0.09530627] [-0.01597136 -0.01279137 0.99979063 0.0584169 ] [ 0. 0. 0. 1. ]] SLAMing on 14.366547615 meters Centerline goodness : 0.819338 with order 1 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.09, Z:0.05 [[ 0.99990373 0.01068149 0.00885662 3.80710373] [-0.01082796 0.99980261 0.01665793 -0.09010518] [-0.00867694 -0.01675222 0.99982202 0.04876342] [ 0. 0. 0. 1. ]] SLAMing on 14.426547614999999 meters Centerline goodness : 0.827653 with order 1 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.09, Z:0.05 [[ 0.99989523 0.01161252 0.00864175 3.80099528] [-0.0117114 0.99986552 0.01148013 -0.08959714] [-0.00850728 -0.01158014 0.99989676 0.04914166] [ 0. 0. 0. 1. ]] SLAMing on 14.486547615 meters Centerline goodness : 0.832652 with order 1 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.09, Z:0.05 [[ 0.99989644 0.01055039 0.00978808 3.79385709] [-0.01064744 0.99989415 0.00991575 -0.09339539] [-0.00968243 -0.01001895 0.99990293 0.05456924] [ 0. 0. 0. 1. ]] SLAMing on 14.546547615 meters Centerline goodness : 0.833015 with order 1 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.10, Z:0.06 [[ 0.99993253 0.00445082 0.01072983 3.79599778] [-0.00457098 0.99992683 0.01120018 -0.10479399] [-0.01067919 -0.01124847 0.99987971 0.05880106] [ 0. 0. 0. 1. ]] SLAMing on 14.606547615 meters Centerline goodness : 0.837894 with order 1 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.11, Z:0.07 [[ 9.99920867e-01 2.59460828e-03 1.23096369e-02 3.79578067e+00] [-2.80422521e-03 9.99850840e-01 1.70420977e-02 -1.10606735e-01] [-1.22635833e-02 -1.70752681e-02 9.99778995e-01 6.76021284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.666547614999999 meters Centerline goodness : 0.834139 with order 1 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.11, Z:0.06 [[ 0.99992738 0.00457092 0.01115107 3.8013046 ] [-0.00478178 0.99980888 0.01895628 -0.10757183] [-0.01106229 -0.01900823 0.99975813 0.06349328] [ 0. 0. 0. 1. ]] SLAMing on 14.726547615 meters Centerline goodness : 0.826616 with order 1 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.09, Z:0.04 [[ 9.99898875e-01 1.41472671e-02 1.44704370e-03 3.81286893e+00] [-1.41647857e-02 9.99816294e-01 1.29126383e-02 -8.92991327e-02] [-1.26409932e-03 -1.29318296e-02 9.99915581e-01 4.22525379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.786547615 meters Centerline goodness : 0.847448 with order 1 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.10, Z:0.06 [[ 0.99993053 0.00789179 0.00875494 3.80216365] [-0.00783903 0.99995101 -0.00604381 -0.10256797] [-0.00880221 0.00597476 0.99994341 0.05842663] [ 0. 0. 0. 1. ]] SLAMing on 14.846547615 meters Centerline goodness : 0.834498 with order 1 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.11, Z:0.06 [[ 0.99991912 -0.00547886 0.01147726 3.82586112] [ 0.00527827 0.99983406 0.01743518 -0.1056709 ] [-0.01157088 -0.01737319 0.99978212 0.05523186] [ 0. 0. 0. 1. ]] SLAMing on 14.906547615 meters Centerline goodness : 0.823609 with order 1 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.10, Z:0.06 [[ 0.99990018 -0.00925403 0.01067677 3.83266279] [ 0.00905784 0.99979188 0.01827986 -0.10441869] [-0.01084371 -0.01818133 0.9997759 0.05514162] [ 0. 0. 0. 1. ]] SLAMing on 14.966547615 meters Centerline goodness : 0.839835 with order 1 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.11, Z:0.06 [[ 9.99979607e-01 -1.97066709e-03 6.07471278e-03 3.83600415e+00] [ 2.14476467e-03 9.99583256e-01 -2.87873863e-02 -1.08863730e-01] [-6.01545083e-03 2.87998281e-02 9.99567098e-01 5.78660796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.026547615 meters Centerline goodness : 0.835025 with order 1 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.10, Z:0.05 [[ 0.99990951 0.01236562 0.00529704 3.84071419] [-0.01228181 0.99980329 -0.01557355 -0.09833653] [-0.00548857 0.01550708 0.99986469 0.05395141] [ 0. 0. 0. 1. ]] SLAMing on 15.086547614999999 meters Centerline goodness : 0.825301 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.10, Z:0.05 [[ 9.99967432e-01 8.04990088e-03 -5.77590179e-04 3.85087904e+00] [-8.04862987e-03 9.99965254e-01 2.17012617e-03 -9.58640383e-02] [ 5.95039411e-04 -2.16540669e-03 9.99997478e-01 5.47592893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.146547615 meters Centerline goodness : 0.835760 with order 1 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.11, Z:0.07 [[ 9.99991771e-01 2.32959703e-03 3.32127958e-03 3.84168033e+00] [-2.34428697e-03 9.99987458e-01 4.42596400e-03 -1.07452120e-01] [-3.31092721e-03 -4.43371361e-03 9.99984690e-01 7.06318433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.206547615 meters Centerline goodness : 0.827710 with order 1 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.10, Z:0.06 [[ 9.99935042e-01 1.09491146e-02 3.16690629e-03 3.84224257e+00] [-1.09720270e-02 9.99913083e-01 7.31038452e-03 -9.83283588e-02] [-3.08658879e-03 -7.34465703e-03 9.99968264e-01 6.31711801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.266547615 meters Centerline goodness : 0.832243 with order 1 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.10, Z:0.06 [[ 9.99936820e-01 1.11884727e-02 1.08322725e-03 3.83977370e+00] [-1.11875458e-02 9.99937049e-01 -8.58053635e-04 -9.70922543e-02] [-1.09275937e-03 8.45880769e-04 9.99999045e-01 5.87600447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.326547614999999 meters Centerline goodness : 0.827357 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.09, Z:0.06 [[ 9.99938560e-01 1.10740984e-02 -4.89670563e-04 3.85370278e+00] [-1.10706287e-02 9.99916959e-01 6.59669548e-03 -8.92947418e-02] [ 5.62682355e-04 -6.59086922e-03 9.99978122e-01 5.75355267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.386547615 meters Centerline goodness : 0.819499 with order 1 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.08, Z:0.05 [[ 9.99966270e-01 7.94927095e-03 -2.06567042e-03 3.86797339e+00] [-7.92751962e-03 9.99915188e-01 1.03329776e-02 -8.25414837e-02] [ 2.14763487e-03 -1.03162534e-02 9.99944480e-01 5.44360717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.446547615 meters Centerline goodness : 0.831481 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.09, Z:0.06 [[ 0.99996298 0.0069048 0.00513434 3.85576068] [-0.00684777 0.99991557 -0.01104361 -0.08774181] [-0.00521016 0.01100804 0.99992584 0.06219333] [ 0. 0. 0. 1. ]] SLAMing on 15.506547614999999 meters Centerline goodness : 0.836280 with order 1 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.09, Z:0.07 [[ 9.99677880e-01 2.39235976e-02 8.47338082e-03 3.83974437e+00] [-2.39277833e-02 9.99713612e-01 3.92934681e-04 -8.68759051e-02] [-8.46155373e-03 -5.95557329e-04 9.99964023e-01 6.75323971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.566547615 meters Centerline goodness : 0.820273 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.08, Z:0.06 [[ 9.99707973e-01 2.41604343e-02 4.91656451e-04 3.84665336e+00] [-2.41648965e-02 9.99614702e-01 1.36566804e-02 -7.67811102e-02] [-1.61515687e-04 -1.36645731e-02 9.99906622e-01 5.77257316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.626547615 meters Centerline goodness : 0.830424 with order 1 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.09, Z:0.06 [[ 9.99882459e-01 1.53313533e-02 -1.30226461e-04 3.84130383e+00] [-1.53306094e-02 9.99872288e-01 4.51443688e-03 -8.81093618e-02] [ 1.99422256e-04 -4.51190980e-03 9.99989801e-01 6.38708703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.686547615 meters Centerline goodness : 0.834652 with order 1 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.10, Z:0.07 [[ 9.99897607e-01 1.43098905e-02 5.29973166e-05 3.84157280e+00] [-1.43096900e-02 9.99845957e-01 1.01634409e-02 -9.71924003e-02] [ 9.24485736e-05 -1.01631586e-02 9.99948349e-01 7.21508302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.746547614999999 meters Centerline goodness : 0.828942 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.09, Z:0.07 [[ 9.99923248e-01 1.23625275e-02 -8.16261541e-04 3.85161279e+00] [-1.23528821e-02 9.99864076e-01 1.09194805e-02 -9.40214634e-02] [ 9.51142970e-04 -1.09085592e-02 9.99940048e-01 6.58945708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.806547615 meters Centerline goodness : 0.824996 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.09, Z:0.07 [[ 9.99862099e-01 1.65494878e-02 -1.37715686e-03 3.85234267e+00] [-1.65284883e-02 9.99764368e-01 1.40718604e-02 -9.40064633e-02] [ 1.60971444e-03 -1.40471575e-02 9.99900038e-01 6.56879930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.866547615 meters Centerline goodness : 0.828501 with order 1 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.09, Z:0.07 [[ 9.99707216e-01 2.41886970e-02 -6.24492424e-04 3.84331191e+00] [-2.41755159e-02 9.99578090e-01 1.60992647e-02 -8.78139311e-02] [ 1.01364918e-03 -1.60794536e-02 9.99870203e-01 6.87491753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.926547614999999 meters Centerline goodness : 0.827566 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.08, Z:0.07 [[ 9.99817867e-01 1.90540833e-02 -1.08384046e-03 3.84580948e+00] [-1.90414642e-02 9.99761899e-01 1.06568653e-02 -8.48053850e-02] [ 1.28663920e-03 -1.06342865e-02 9.99942627e-01 6.61322521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.986547615 meters Centerline goodness : 0.823676 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.09, Z:0.07 [[ 9.99926656e-01 1.19554415e-02 -1.93666743e-03 3.85606486e+00] [-1.19333479e-02 9.99867805e-01 1.10439228e-02 -8.61220597e-02] [ 2.06844639e-03 -1.10200019e-02 9.99937139e-01 6.59257252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.046547614999998 meters Centerline goodness : 0.827128 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.09, Z:0.07 [[ 9.99933102e-01 1.15438935e-02 -7.28728397e-04 3.84835980e+00] [-1.15382086e-02 9.99906235e-01 7.37507588e-03 -8.69845672e-02] [ 8.13797159e-04 -7.36617428e-03 9.99972538e-01 6.86321585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.106547614999997 meters Centerline goodness : 0.825645 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.08, Z:0.06 [[ 9.99828715e-01 1.84654205e-02 -1.25247162e-03 3.84634251e+00] [-1.84586429e-02 9.99815984e-01 5.22277588e-03 -8.08259024e-02] [ 1.34868190e-03 -5.19876237e-03 9.99985577e-01 5.90705241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.166547615 meters Centerline goodness : 0.819312 with order 1 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.07, Z:0.05 [[ 0.99985304 0.01656404 -0.0044187 3.86594299] [-0.01652758 0.99983008 0.00816386 -0.07261508] [ 0.00455318 -0.00808963 0.99995691 0.0509231 ] [ 0. 0. 0. 1. ]] SLAMing on 16.226547614999998 meters Centerline goodness : 0.818990 with order 1 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.07, Z:0.05 [[ 0.99992107 0.01162477 -0.00476686 3.86780207] [-0.01160496 0.99992399 0.00416291 -0.07417544] [ 0.00481489 -0.00410726 0.99997997 0.05001607] [ 0. 0. 0. 1. ]] SLAMing on 16.286547614999996 meters Centerline goodness : 0.817704 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.07, Z:0.05 [[ 9.99894837e-01 1.40408093e-02 -3.62922222e-03 3.86227945e+00] [-1.40219272e-02 9.99888286e-01 5.17690774e-03 -7.40357492e-02] [ 3.70150476e-03 -5.12547463e-03 9.99980014e-01 5.26870787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.346547615 meters Centerline goodness : 0.822657 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.07, Z:0.06 [[ 9.99808289e-01 1.88844711e-02 5.17326998e-03 3.85942665e+00] [-1.88679347e-02 9.99816777e-01 -3.22688880e-03 -7.45889356e-02] [-5.23326021e-03 3.12866125e-03 9.99981412e-01 5.66625586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.406547614999997 meters Centerline goodness : 0.829627 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.08, Z:0.06 [[ 9.99824873e-01 1.79519950e-02 5.28662311e-03 3.86007523e+00] [-1.79494413e-02 9.99838755e-01 -5.30107170e-04 -8.08631853e-02] [-5.29528715e-03 4.35122403e-04 9.99985885e-01 5.98336976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.466547614999996 meters Centerline goodness : 0.822750 with order 1 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.08, Z:0.05 [[ 9.99906874e-01 1.35383284e-02 -1.71962862e-03 3.88705947e+00] [-1.35278887e-02 9.99890826e-01 5.94401839e-03 -7.66022753e-02] [ 1.79991295e-03 -5.92020190e-03 9.99980856e-01 5.45742246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.526547615 meters Centerline goodness : 0.816997 with order 1 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.07, Z:0.05 [[ 9.99931491e-01 1.13875835e-02 -2.70845730e-03 3.89294071e+00] [-1.13797172e-02 9.99931037e-01 2.90226077e-03 -7.31150821e-02] [ 2.74132025e-03 -2.87124047e-03 9.99992121e-01 4.85673455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.586547614999997 meters Centerline goodness : 0.820438 with order 1 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.07, Z:0.05 [[ 9.99943059e-01 9.92021329e-03 -3.93303837e-03 3.89646020e+00] [-9.91766352e-03 9.99950596e-01 6.67267573e-04 -7.27909113e-02] [ 3.93946350e-03 -6.28223027e-04 9.99992043e-01 4.69052008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.646547615 meters Centerline goodness : 0.828455 with order 1 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.08, Z:0.05 [[ 9.99860685e-01 1.66167117e-02 -1.57995784e-03 3.87737275e+00] [-1.66159985e-02 9.99861837e-01 4.63459962e-04 -8.13592555e-02] [ 1.58744072e-03 -4.37142818e-04 9.99998644e-01 5.43067993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.706547614999998 meters Centerline goodness : 0.828169 with order 1 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.09, Z:0.06 [[ 0.99997042 0.00548997 0.00538735 3.90283664] [-0.00557494 0.99985825 0.01588728 -0.08559515] [-0.00529937 -0.01591685 0.99985928 0.06069618] [ 0. 0. 0. 1. ]] SLAMing on 16.766547614999997 meters Centerline goodness : 0.824130 with order 1 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.08, Z:0.05 [[ 9.99988152e-01 2.27577903e-03 4.30306365e-03 3.91462976e+00] [-2.34541001e-03 9.99865266e-01 1.62465229e-02 -8.39770282e-02] [-4.26551039e-03 -1.62564228e-02 9.99858757e-01 5.39517686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.826547615 meters Centerline goodness : 0.824405 with order 1 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.08, Z:0.05 [[ 0.99998388 0.00392802 0.00409917 3.91325556] [-0.00397475 0.9999265 0.01145377 -0.07649173] [-0.00405388 -0.01146988 0.999926 0.04839645] [ 0. 0. 0. 1. ]] SLAMing on 16.886547614999998 meters Centerline goodness : 0.829064 with order 1 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.08, Z:0.05 [[ 9.99858020e-01 1.68418895e-02 5.38957519e-04 3.90514959e+00] [-1.68399334e-02 9.99852251e-01 -3.44865540e-03 -7.76585887e-02] [-5.96959761e-04 3.43908975e-03 9.99993908e-01 4.93917944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.946547614999997 meters Centerline goodness : 0.823096 with order 1 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.08, Z:0.05 [[ 0.99995134 0.00839089 -0.00518824 3.9352562 ] [-0.00835687 0.99994367 0.0065442 -0.07853505] [ 0.00524286 -0.00650052 0.99996513 0.04709769] [ 0. 0. 0. 1. ]] SLAMing on 17.006547615 meters Centerline goodness : 0.826881 with order 1 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.09, Z:0.06 [[ 9.99986032e-01 -3.33374056e-03 4.10135537e-03 3.94120292e+00] [ 3.28851476e-03 9.99934258e-01 1.09847989e-02 -8.81331216e-02] [-4.13770621e-03 -1.09711581e-02 9.99931254e-01 5.71519125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.066547614999998 meters Centerline goodness : 0.831836 with order 1 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.09, Z:0.07 [[ 9.99984125e-01 5.41263385e-03 -1.56649921e-03 3.93743908e+00] [-5.40196409e-03 9.99962714e-01 6.73712819e-03 -9.30693371e-02] [ 1.60290641e-03 -6.72855906e-03 9.99976078e-01 6.92158516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.126547614999996 meters Centerline goodness : 0.824800 with order 1 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.08, Z:0.05 [[ 9.99957454e-01 7.82176819e-03 -4.88980619e-03 3.94593593e+00] [-7.81280002e-03 9.99967767e-01 1.85047438e-03 -8.36401864e-02] [ 4.90412256e-03 -1.81219257e-03 9.99986333e-01 5.41029875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.186547615 meters Centerline goodness : 0.823445 with order 1 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.07, Z:0.05 [[ 9.99919845e-01 1.12776894e-02 -5.75474585e-03 3.94894292e+00] [-1.12757426e-02 9.99936358e-01 3.70620149e-04 -7.38704012e-02] [ 5.75855934e-03 -3.05701409e-04 9.99983373e-01 4.63070353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.246547614999997 meters Centerline goodness : 0.827081 with order 1 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.08, Z:0.05 [[ 9.99947026e-01 8.07519377e-03 -6.38257381e-03 3.94869463e+00] [-8.08078968e-03 9.99966987e-01 -8.51445704e-04 -8.29428758e-02] [ 6.37548751e-03 9.02976836e-04 9.99979269e-01 4.98803552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.306547615 meters Centerline goodness : 0.825697 with order 1 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.09, Z:0.05 [[ 9.99997261e-01 -2.33435841e-03 -1.69284832e-04 3.97316725e+00] [ 2.33607996e-03 9.99936722e-01 1.10043079e-02 -8.78573048e-02] [ 1.43586121e-04 -1.10046732e-02 9.99939436e-01 5.24989005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.366547614999998 meters Centerline goodness : 0.824799 with order 1 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.09, Z:0.05 [[ 9.99994252e-01 -3.24842094e-03 -9.71358556e-04 3.97625377e+00] [ 3.25821320e-03 9.99942104e-01 1.02553338e-02 -8.84900068e-02] [ 9.37988678e-04 -1.02584398e-02 9.99946941e-01 5.08125409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.426547614999997 meters Centerline goodness : 0.821120 with order 1 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.09, Z:0.05 [[ 9.99984646e-01 4.72277283e-03 -2.89897870e-03 3.96890392e+00] [-4.74841885e-03 9.99949081e-01 -8.90437177e-03 -8.70970166e-02] [ 2.85677777e-03 8.91800061e-03 9.99956153e-01 5.01535326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.486547615 meters Centerline goodness : 0.815764 with order 1 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.08, Z:0.05 [[ 9.99994086e-01 -6.23315285e-04 -3.38223578e-03 3.98249762e+00] [ 6.56368493e-04 9.99951956e-01 9.78029765e-03 -8.16190191e-02] [ 3.37597708e-03 -9.78245980e-03 9.99946452e-01 4.52981385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.546547614999998 meters Centerline goodness : 0.811658 with order 1 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.09, Z:0.05 [[ 9.99988469e-01 -1.25514347e-03 -4.63542345e-03 3.98417275e+00] [ 1.31509828e-03 9.99915232e-01 1.29537352e-02 -8.65845541e-02] [ 4.61877172e-03 -1.29596819e-02 9.99905352e-01 5.13327972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.606547614999997 meters Centerline goodness : 0.817783 with order 1 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.09, Z:0.06 [[ 9.99995775e-01 1.59750708e-04 2.90257658e-03 3.98867638e+00] [-1.75463556e-04 9.99985329e-01 5.41396579e-03 -9.10346890e-02] [-2.90166911e-03 -5.41445221e-03 9.99981132e-01 5.52895897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.666547615 meters Centerline goodness : 0.813906 with order 1 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.08, Z:0.04 [[ 9.99952706e-01 9.50158450e-03 2.07502430e-03 3.99542268e+00] [-9.52232365e-03 9.99902387e-01 1.02245966e-02 -7.71910670e-02] [-1.97767188e-03 -1.02438721e-02 9.99945574e-01 4.33758703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.726547614999998 meters Centerline goodness : 0.815693 with order 1 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.08, Z:0.05 [[ 9.99935896e-01 1.11530145e-02 1.95313757e-03 3.98761229e+00] [-1.11627896e-02 9.99924853e-01 5.06756814e-03 -7.72242558e-02] [-1.89647214e-03 -5.08904575e-03 9.99985252e-01 4.51450370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.786547614999996 meters Centerline goodness : 0.811045 with order 1 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.07, Z:0.04 [[ 9.99891696e-01 1.47100333e-02 4.59312115e-04 4.00212834e+00] [-1.47151524e-02 9.99786307e-01 1.45190859e-02 -6.75535017e-02] [-2.45637727e-04 -1.45242723e-02 9.99894487e-01 4.03423549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.846547615 meters Centerline goodness : 0.813003 with order 1 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.07, Z:0.04 [[ 9.99934370e-01 1.14525215e-02 3.09480640e-04 4.00051093e+00] [-1.14553270e-02 9.99868026e-01 1.15198493e-02 -7.05886950e-02] [-1.77508474e-04 -1.15226385e-02 9.99933596e-01 4.29074763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.906547614999997 meters Centerline goodness : 0.812550 with order 1 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.07, Z:0.04 [[ 9.99936081e-01 1.12788720e-02 7.88377910e-04 4.00077925e+00] [-1.12861143e-02 9.99887489e-01 9.88088952e-03 -6.79444235e-02] [-6.76843920e-04 -9.88915567e-03 9.99950872e-01 3.96929659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.966547614999996 meters Centerline goodness : 0.812104 with order 1 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.06, Z:0.04 [[ 9.99929013e-01 1.19146789e-02 -9.66716727e-05 4.00189070e+00] [-1.19135442e-02 9.99897850e-01 7.89660460e-03 -6.46385422e-02] [ 1.90747306e-04 -7.89489234e-03 9.99968817e-01 3.71948668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.026547615 meters Centerline goodness : 0.806969 with order 1 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.05, Z:0.03 [[ 9.99934438e-01 1.12527402e-02 -2.12048151e-03 4.01216090e+00] [-1.12359385e-02 9.99906643e-01 7.77549936e-03 -5.35133658e-02] [ 2.20777923e-03 -7.75116398e-03 9.99967522e-01 3.14509254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.086547614999997 meters Centerline goodness : 0.817035 with order 1 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.07, Z:0.04 [[ 9.99982571e-01 5.90118090e-03 -1.83162458e-04 4.00401336e+00] [-5.89987487e-03 9.99961735e-01 6.45902808e-03 -6.57598016e-02] [ 2.21271342e-04 -6.45783487e-03 9.99979123e-01 4.34034741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.146547615 meters Centerline goodness : 0.815959 with order 1 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.07, Z:0.04 [[ 9.99961434e-01 8.78237644e-03 -2.35571097e-05 4.00582281e+00] [-8.78148836e-03 9.99891940e-01 1.17895910e-02 -6.68048275e-02] [ 1.27095190e-04 -1.17889294e-02 9.99930500e-01 4.35749967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.206547614999998 meters Centerline goodness : 0.812527 with order 1 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.06, Z:0.04 [[ 9.99972275e-01 7.21351971e-03 -1.84801988e-03 4.01626401e+00] [-7.18926221e-03 9.99892068e-01 1.28127718e-02 -6.20769673e-02] [ 1.94024560e-03 -1.27991307e-02 9.99916205e-01 3.93410226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.266547614999997 meters Centerline goodness : 0.820400 with order 1 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.07, Z:0.04 [[ 9.99999093e-01 1.31254567e-03 -3.02777701e-04 4.00487314e+00] [-1.31194296e-03 9.99997175e-01 1.98230491e-03 -6.96539000e-02] [ 3.05378711e-04 -1.98190588e-03 9.99997989e-01 4.23372428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.326547615 meters Centerline goodness : 0.820499 with order 1 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.08, Z:0.04 [[ 9.99999942e-01 1.97326806e-04 2.79055170e-04 4.00642014e+00] [-1.99029471e-04 9.99981285e-01 6.11472550e-03 -7.88260876e-02] [-2.77843348e-04 -6.11478069e-03 9.99981266e-01 4.49481183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.386547614999998 meters Centerline goodness : 0.813541 with order 1 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.08, Z:0.04 [[ 0.9999701 -0.00640971 -0.00432584 4.02738278] [ 0.00645571 0.99992186 0.01070472 -0.08032596] [ 0.00425689 -0.01073233 0.99993335 0.04213986] [ 0. 0. 0. 1. ]] SLAMing on 18.446547614999997 meters Centerline goodness : 0.814494 with order 1 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.08, Z:0.04 [[ 9.99918355e-01 -1.17004737e-03 -1.27245715e-02 4.03866034e+00] [ 1.22548047e-03 9.99989790e-01 4.34945880e-03 -7.99313459e-02] [ 1.27193526e-02 -4.36469740e-03 9.99909580e-01 4.33196531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.506547615 meters Centerline goodness : 0.815000 with order 1 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.08, Z:0.04 [[ 9.99911985e-01 5.24295774e-04 -1.32569917e-02 4.03679686e+00] [-4.70749585e-04 9.99991721e-01 4.04188846e-03 -8.13302545e-02] [ 1.32590011e-02 -4.03529199e-03 9.99903953e-01 4.46959466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.566547614999998 meters Centerline goodness : 0.816098 with order 1 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.09, Z:0.05 [[ 0.9999204 -0.01079801 -0.00652615 4.05362321] [ 0.01087344 0.99987319 0.01163486 -0.09111056] [ 0.00639969 -0.01170489 0.99991102 0.05083509] [ 0. 0. 0. 1. ]] SLAMing on 18.626547614999996 meters Centerline goodness : 0.810245 with order 1 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.09, Z:0.05 [[ 0.99988879 -0.01296825 -0.00736399 4.06365456] [ 0.01307517 0.99980703 0.01466108 -0.09052646] [ 0.00717244 -0.01475573 0.9998654 0.0474059 ] [ 0. 0. 0. 1. ]] SLAMing on 18.686547615 meters Centerline goodness : 0.812965 with order 1 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.09, Z:0.05 [[ 9.99969196e-01 -7.19245206e-03 -3.14246076e-03 4.06307542e+00] [ 7.19462546e-03 9.99973887e-01 6.80866825e-04 -8.88867082e-02] [ 3.13748160e-03 -7.03454680e-04 9.99994831e-01 4.78765117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.746547614999997 meters Centerline goodness : 0.805218 with order 1 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.08, Z:0.04 [[ 9.99962919e-01 -7.14342211e-03 -4.80965537e-03 4.07268426e+00] [ 7.14972396e-03 9.99973603e-01 1.29433216e-03 -8.26539755e-02] [ 4.80028245e-03 -1.32867188e-03 9.99987596e-01 4.10981404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.806547614999996 meters Centerline goodness : 0.803827 with order 1 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.08, Z:0.04 [[ 0.99994113 -0.0084046 -0.00686332 4.08280662] [ 0.00845755 0.99993442 0.00772162 -0.08192436] [ 0.00679797 -0.00777921 0.99994663 0.04482271] [ 0. 0. 0. 1. ]] SLAMing on 18.866547614999998 meters Centerline goodness : 0.807857 with order 1 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.08, Z:0.05 [[ 9.99994771e-01 2.92643518e-03 1.37641060e-03 4.07790541e+00] [-2.92856571e-03 9.99994513e-01 1.54842926e-03 -7.74163775e-02] [-1.37187167e-03 -1.55245207e-03 9.99997854e-01 4.66991651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.926547614999997 meters Centerline goodness : 0.809154 with order 1 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.07, Z:0.04 [[ 9.99985067e-01 5.43948587e-03 5.26169628e-04 4.08163128e+00] [-5.44093649e-03 9.99981289e-01 2.79596342e-03 -7.20847267e-02] [-5.10951180e-04 -2.79878452e-03 9.99995953e-01 4.30618499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.986547615 meters Centerline goodness : 0.806756 with order 1 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.07, Z:0.04 [[ 9.99975561e-01 6.89023315e-03 -1.18437557e-03 4.09299035e+00] [-6.87968834e-03 9.99938593e-01 8.68798419e-03 -6.65160185e-02] [ 1.24416508e-03 -8.67962373e-03 9.99961557e-01 4.01895571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.046547614999998 meters Centerline goodness : 0.811935 with order 1 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.06, Z:0.04 [[ 9.99966749e-01 7.88416756e-03 -2.08352862e-03 4.08882415e+00] [-7.87324654e-03 9.99955491e-01 5.19882422e-03 -6.49131043e-02] [ 2.12442429e-03 -5.18224722e-03 9.99984315e-01 4.20697454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.106547614999997 meters Centerline goodness : 0.804347 with order 1 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.05, Z:0.03 [[ 9.99910602e-01 1.28890394e-02 -3.55811078e-03 4.09686643e+00] [-1.28605097e-02 9.99885871e-01 7.92790963e-03 -5.45890875e-02] [ 3.65988784e-03 -7.88144177e-03 9.99962243e-01 3.36051538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.166547615 meters Centerline goodness : 0.813212 with order 1 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.07, Z:0.05 [[ 9.99937606e-01 1.08729663e-02 -2.56188901e-03 4.09135428e+00] [-1.08431549e-02 9.99876494e-01 1.13764196e-02 -6.65233413e-02] [ 2.68526803e-03 -1.13479308e-02 9.99932005e-01 4.63748186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.226547614999998 meters Centerline goodness : 0.810602 with order 1 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.08, Z:0.05 [[ 9.99996992e-01 -9.25408964e-04 -2.27147243e-03 4.12096959e+00] [ 9.74743437e-04 9.99761549e-01 2.18150154e-02 -7.50340563e-02] [ 2.25074299e-03 -2.18171639e-02 9.99759444e-01 4.88919717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.286547614999996 meters Centerline goodness : 0.808051 with order 1 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.07, Z:0.04 [[ 9.99995991e-01 -5.09620824e-04 2.78534235e-03 4.13825848e+00] [ 4.66228719e-04 9.99878870e-01 1.55572415e-02 -6.99136666e-02] [-2.79293326e-03 -1.55558805e-02 9.99875099e-01 4.42770850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.346547615 meters Centerline goodness : 0.800808 with order 1 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.05, Z:0.03 [[ 0.99991917 0.01182856 -0.00466211 4.13350152] [-0.01178117 0.99987994 0.01006518 -0.053887 ] [ 0.00478061 -0.01000944 0.99993848 0.03314676] [ 0. 0. 0. 1. ]] SLAMing on 19.406547614999997 meters Centerline goodness : 0.812834 with order 1 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.06, Z:0.04 [[ 9.99892113e-01 1.42028973e-02 3.74707126e-03 4.12197705e+00] [-1.41809537e-02 9.99882512e-01 -5.81916931e-03 -6.19526995e-02] [-3.82928009e-03 5.76540445e-03 9.99976048e-01 3.99267774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.466547614999996 meters Centerline goodness : 0.803196 with order 1 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.06, Z:0.04 [[ 9.99865312e-01 -3.54895049e-03 1.60238419e-02 4.13347891e+00] [ 2.89624662e-03 9.99172325e-01 4.05743259e-02 -6.22155557e-02] [-1.61545756e-02 -4.05224520e-02 9.99048027e-01 3.73308886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.526547615 meters Centerline goodness : 0.807331 with order 1 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.05, Z:0.05 [[ 9.99901084e-01 2.67541589e-03 1.38081160e-02 4.12677649e+00] [-2.77818352e-03 9.99968547e-01 7.42874508e-03 -5.38880316e-02] [-1.37878067e-02 -7.46637174e-03 9.99877067e-01 4.52384013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.586547614999997 meters Centerline goodness : 0.806401 with order 1 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.04, Z:0.04 [[ 0.99987769 0.00861386 0.013054 4.12527087] [-0.00868702 0.99994682 0.00555774 -0.0416759 ] [-0.01300543 -0.00567046 0.99989935 0.04062583] [ 0. 0. 0. 1. ]] SLAMing on 19.646547615 meters Centerline goodness : 0.797342 with order 1 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.04, Z:0.04 [[ 9.99992005e-01 3.87703378e-03 9.78780538e-04 4.16128033e+00] [-3.89341578e-03 9.99842239e-01 1.73302526e-02 -4.23712503e-02] [-9.11436150e-04 -1.73339248e-02 9.99849341e-01 3.52759372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.706547614999998 meters Centerline goodness : 0.795047 with order 1 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.04, Z:0.04 [[ 9.99995258e-01 2.43842113e-03 1.88097326e-03 4.15527163e+00] [-2.46646104e-03 9.99883675e-01 1.50517091e-02 -4.03049154e-02] [-1.84405205e-03 -1.50562770e-02 9.99884947e-01 4.03178094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.766547614999997 meters Centerline goodness : 0.798806 with order 1 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.03, Z:0.04 [[ 0.99980559 0.0179745 0.00810573 4.14971432] [-0.0180433 0.99980111 0.00849579 -0.0313833 ] [-0.00795141 -0.00864039 0.99993106 0.03864941] [ 0. 0. 0. 1. ]] SLAMing on 19.826547615 meters Centerline goodness : 0.792225 with order 1 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.02, Z:0.03 [[ 0.99981967 0.01802669 0.00597155 4.16393751] [-0.01809918 0.99976034 0.01231615 -0.0218521 ] [-0.0057481 -0.01242201 0.99990632 0.03215169] [ 0. 0. 0. 1. ]] SLAMing on 19.886547614999998 meters Centerline goodness : 0.795080 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.03, Z:0.04 [[ 9.99919049e-01 1.19868733e-02 -4.26731675e-03 4.17381627e+00] [-1.20408075e-02 9.99844989e-01 -1.28459077e-02 -2.72948370e-02] [ 4.11267300e-03 1.28962497e-02 9.99908382e-01 3.71837062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.946547614999997 meters Centerline goodness : 0.790027 with order 1 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.03, Z:0.03 [[ 0.99985467 0.01641169 -0.00461378 4.18639261] [-0.01634785 0.99977456 0.01354925 -0.02500758] [ 0.00483511 -0.01347186 0.99989756 0.02891149] [ 0. 0. 0. 1. ]] SLAMing on 20.006547615 meters Centerline goodness : 0.792481 with order 1 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.04, Z:0.04 [[ 9.99913890e-01 1.27185716e-02 -3.23264180e-03 4.17752523e+00] [-1.26846832e-02 9.99866537e-01 1.02959794e-02 -3.51130085e-02] [ 3.36316052e-03 -1.02540877e-02 9.99941770e-01 3.61759490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.066547614999998 meters Centerline goodness : 0.798886 with order 1 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.04, Z:0.04 [[ 9.99881068e-01 1.41261105e-02 6.18890497e-03 4.17741465e+00] [-1.41359422e-02 9.99898885e-01 1.54775402e-03 -4.22707272e-02] [-6.16641543e-03 -1.63505594e-03 9.99979651e-01 3.90393423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.126547614999996 meters Centerline goodness : 0.797445 with order 1 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.04, Z:0.03 [[ 9.99935113e-01 1.04081171e-02 4.63036403e-03 4.19073927e+00] [-1.04218320e-02 9.99941346e-01 2.94774497e-03 -3.85854468e-02] [-4.59941197e-03 -2.99581057e-03 9.99984935e-01 3.30219829e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.186547615 meters Centerline goodness : 0.797626 with order 1 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.04, Z:0.03 [[ 9.99984223e-01 5.02834576e-03 2.50383792e-03 4.19599459e+00] [-5.01811795e-03 9.99979108e-01 -4.07451666e-03 -4.31319782e-02] [-2.52427369e-03 4.06188782e-03 9.99988564e-01 2.82787746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.246547614999997 meters Centerline goodness : 0.797868 with order 1 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.04, Z:0.02 [[ 9.99985428e-01 5.27318111e-03 1.15628012e-03 4.20445475e+00] [-5.27086007e-03 9.99984106e-01 -2.00128366e-03 -4.21375993e-02] [-1.16681487e-03 1.99515991e-03 9.99997329e-01 2.34121973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.306547614999996 meters Centerline goodness : 0.804345 with order 1 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.05, Z:0.04 [[ 9.99859117e-01 -5.11212166e-03 1.59878532e-02 4.20444489e+00] [ 5.05964148e-03 9.99981685e-01 3.32123181e-03 -5.24709983e-02] [-1.60045389e-02 -3.23987110e-03 9.99866670e-01 3.50009076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.366547614999998 meters Centerline goodness : 0.805949 with order 1 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.05, Z:0.04 [[ 0.99985534 -0.00448976 0.01640575 4.20236809] [ 0.00441574 0.99997992 0.00454499 -0.05270927] [-0.01642583 -0.00447189 0.99985509 0.03747896] [ 0. 0. 0. 1. ]] SLAMing on 20.426547614999997 meters Centerline goodness : 0.800515 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.05, Z:0.03 [[ 9.99973549e-01 4.15941888e-03 5.96656999e-03 4.21603981e+00] [-4.15117962e-03 9.99990414e-01 -1.39262445e-03 -5.03082389e-02] [-5.97230530e-03 1.36781931e-03 9.99981230e-01 3.35151773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.486547615 meters Centerline goodness : 0.793360 with order 1 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.04, Z:0.02 [[ 9.99984134e-01 4.78538790e-03 2.97196540e-03 4.22636132e+00] [-4.77322480e-03 9.99980259e-01 -4.08630590e-03 -4.44623940e-02] [-2.99146129e-03 4.07205521e-03 9.99987235e-01 2.17336313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.546547614999998 meters Centerline goodness : 0.796931 with order 1 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.05, Z:0.03 [[ 9.99997817e-01 3.10217197e-05 2.08926740e-03 4.23919301e+00] [-3.99899723e-05 9.99990786e-01 4.29262960e-03 -4.80861438e-02] [-2.08911499e-03 -4.29270377e-03 9.99988604e-01 2.84692480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.606547614999997 meters Centerline goodness : 0.802669 with order 1 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.05, Z:0.04 [[ 9.99948473e-01 -2.17771575e-03 9.91505968e-03 4.24213382e+00] [ 2.21889295e-03 9.99988952e-01 -4.14389125e-03 -5.17207066e-02] [-9.90592592e-03 4.16567819e-03 9.99942258e-01 3.76721831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.666547615 meters Centerline goodness : 0.799308 with order 1 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.05, Z:0.03 [[ 9.99950601e-01 1.03715890e-03 9.88536797e-03 4.24422182e+00] [-1.02935374e-03 9.99999155e-01 -7.94621859e-04 -5.38884695e-02] [-9.88618376e-03 7.84407064e-04 9.99950823e-01 3.49293535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.726547614999998 meters Centerline goodness : 0.795819 with order 1 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.05, Z:0.03 [[ 9.99986380e-01 -9.95002457e-04 5.12350074e-03 4.26569444e+00] [ 9.75330074e-04 9.99992149e-01 3.84070517e-03 -5.05126559e-02] [-5.12728203e-03 -3.83565575e-03 9.99979499e-01 2.87095549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.786547614999996 meters Centerline goodness : 0.797215 with order 1 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.05, Z:0.03 [[ 9.99993446e-01 -6.86517391e-05 3.61979699e-03 4.26741821e+00] [ 5.96976111e-05 9.99996939e-01 2.47370477e-03 -5.10665286e-02] [-3.61995573e-03 -2.47347246e-03 9.99990389e-01 2.78134779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.846547615 meters Centerline goodness : 0.798600 with order 1 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.06, Z:0.03 [[ 0.99988738 -0.00815914 0.0125957 4.28300164] [ 0.00799104 0.9998791 0.01333867 -0.05671685] [-0.01270301 -0.01323651 0.9998317 0.03291021] [ 0. 0. 0. 1. ]] SLAMing on 20.906547614999997 meters Centerline goodness : 0.795045 with order 1 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.05, Z:0.03 [[ 0.99991555 -0.00589308 0.01158315 4.28744418] [ 0.00571888 0.99987091 0.01501541 -0.05130081] [-0.01167014 -0.0149479 0.99982017 0.02931537] [ 0. 0. 0. 1. ]] SLAMing on 20.966547614999996 meters Centerline goodness : 0.802194 with order 1 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.06, Z:0.03 [[ 9.99993985e-01 1.63838572e-03 3.05699678e-03 4.28881178e+00] [-1.59304782e-03 9.99889577e-01 -1.47748190e-02 -5.68207434e-02] [-3.08086607e-03 1.47698602e-02 9.99886173e-01 3.32378305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.026547615 meters Centerline goodness : 0.797519 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.06, Z:0.04 [[ 9.99962148e-01 -7.97053420e-03 -3.48896217e-03 4.32467172e+00] [ 7.98391714e-03 9.99960759e-01 3.83882265e-03 -6.27434208e-02] [ 3.45822779e-03 -3.86653293e-03 9.99986545e-01 3.61075381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.086547614999997 meters Centerline goodness : 0.801521 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.07, Z:0.04 [[ 9.99934219e-01 -1.13538220e-02 1.62727988e-03 4.34033356e+00] [ 1.13533405e-02 9.99935502e-01 3.04840118e-04 -6.65995950e-02] [-1.63063602e-03 -2.86345003e-04 9.99998630e-01 4.36382236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.146547614999996 meters Centerline goodness : 0.807466 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.07, Z:0.04 [[ 9.99988177e-01 -3.83556349e-03 2.98917249e-03 4.33110880e+00] [ 3.88653034e-03 9.99843906e-01 -1.72354085e-02 -6.54584056e-02] [-2.92259839e-03 1.72468223e-02 9.99846991e-01 4.29356155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.206547614999998 meters Centerline goodness : 0.808586 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.07, Z:0.04 [[ 9.99981560e-01 -5.95980479e-03 1.16634122e-03 4.34196353e+00] [ 5.97756702e-03 9.99856207e-01 -1.58692673e-02 -6.71605089e-02] [-1.07159577e-03 1.58759466e-02 9.99873395e-01 3.91719111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.266547614999997 meters Centerline goodness : 0.799124 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.06, Z:0.03 [[ 9.99994683e-01 -2.18029050e-03 -2.42482408e-03 4.36486856e+00] [ 2.16716390e-03 9.99983056e-01 -5.40293989e-03 -5.60863456e-02] [ 2.43656297e-03 5.39765617e-03 9.99982464e-01 3.05888279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.326547615 meters Centerline goodness : 0.810289 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.06, Z:0.04 [[ 9.99972976e-01 2.32628744e-03 6.97390740e-03 4.34978879e+00] [-2.21271154e-03 9.99865519e-01 -1.62495491e-02 -6.38341555e-02] [-7.01077067e-03 1.62336788e-02 9.99843646e-01 4.37348832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.386547614999998 meters Centerline goodness : 0.808349 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.07, Z:0.05 [[ 9.99948985e-01 5.13708046e-03 8.69698538e-03 4.35394580e+00] [-5.11449667e-03 9.99983497e-01 -2.61699053e-03 -6.54913801e-02] [-8.71028554e-03 2.57237632e-03 9.99958756e-01 5.27339553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.446547614999997 meters Centerline goodness : 0.807400 with order 1 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.07, Z:0.05 [[ 9.99999812e-01 5.49686912e-05 6.11138093e-04 4.37459535e+00] [-5.35674019e-05 9.99997370e-01 -2.29269758e-03 -6.87149023e-02] [-6.11262513e-04 2.29266441e-03 9.99997185e-01 4.90103468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.506547615 meters Centerline goodness : 0.806235 with order 1 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.07, Z:0.05 [[ 9.99999807e-01 -4.15188436e-04 4.62844010e-04 4.37453372e+00] [ 4.15830210e-04 9.99998951e-01 -1.38735595e-03 -6.91003515e-02] [-4.62267511e-04 1.38754815e-03 9.99998931e-01 5.15161841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.566547614999998 meters Centerline goodness : 0.806543 with order 1 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.08, Z:0.07 [[ 9.99892594e-01 -1.46359072e-02 7.68605106e-04 4.40976461e+00] [ 1.46341475e-02 9.99890390e-01 2.24726943e-03 -8.39226737e-02] [-8.01411686e-04 -2.23578018e-03 9.99997180e-01 6.80467517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.626547614999996 meters Centerline goodness : 0.801023 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.07, Z:0.06 [[ 9.99958692e-01 -9.00250629e-03 -1.25257710e-03 4.42809599e+00] [ 9.01810518e-03 9.99874029e-01 1.30614134e-02 -7.29968442e-02] [ 1.13483386e-03 -1.30721697e-02 9.99913912e-01 5.82045156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.686547615 meters Centerline goodness : 0.803550 with order 1 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.07, Z:0.06 [[ 9.99982948e-01 5.58615292e-03 -1.70273910e-03 4.39859041e+00] [-5.60282042e-03 9.99934838e-01 -9.94630541e-03 -6.80315938e-02] [ 1.64706656e-03 9.95567594e-03 9.99949085e-01 6.24226846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.746547614999997 meters Centerline goodness : 0.799692 with order 1 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.06, Z:0.06 [[ 9.99964304e-01 7.34057656e-03 -4.18400056e-03 4.41254076e+00] [-7.35438360e-03 9.99967530e-01 -3.29418462e-03 -5.98247860e-02] [ 4.15968349e-03 3.32483777e-03 9.99985821e-01 5.96337632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.806547614999996 meters Centerline goodness : 0.798444 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.07, Z:0.08 [[ 0.99985533 -0.01557131 0.00684519 4.46237053] [ 0.01530059 0.99916189 0.03796598 -0.06693691] [-0.00743063 -0.03785575 0.99925559 0.0805839 ] [ 0. 0. 0. 1. ]] SLAMing on 21.866547614999998 meters Centerline goodness : 0.804616 with order 1 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.05, Z:0.08 [[ 9.99853880e-01 1.53729885e-02 -7.47594017e-03 4.46731910e+00] [-1.53710389e-02 9.99881808e-01 3.18168584e-04 -5.46044582e-02] [ 7.47994778e-03 -2.03209126e-04 9.99972004e-01 8.35084330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.926547614999997 meters Centerline goodness : 0.800912 with order 1 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.04, Z:0.08 [[ 0.99932888 0.03613615 -0.00599777 4.44413059] [-0.03602088 0.99918299 0.01832641 -0.04165258] [ 0.00665511 -0.01809807 0.99981407 0.07545425] [ 0. 0. 0. 1. ]] SLAMing on 21.986547615 meters Centerline goodness : 0.802407 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.04, Z:0.08 [[ 0.99907084 0.0424836 -0.00725275 4.44837631] [-0.04225774 0.99868933 0.02887748 -0.04390482] [ 0.00847006 -0.02854416 0.99955665 0.07959617] [ 0. 0. 0. 1. ]] SLAMing on 22.046547614999998 meters Centerline goodness : 0.806081 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.04, Z:0.08 [[ 9.99232547e-01 3.91693914e-02 2.74192423e-04 4.45511249e+00] [-3.91693629e-02 9.99133132e-01 1.40977061e-02 -4.18200425e-02] [ 2.78243834e-04 -1.40976267e-02 9.99900585e-01 7.64976722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.106547614999997 meters Centerline goodness : 0.806353 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.04, Z:0.07 [[ 9.99123183e-01 4.18666515e-02 2.18893259e-04 4.45380490e+00] [-4.18667666e-02 9.99074186e-01 9.89667931e-03 -4.02475420e-02] [ 1.95650219e-04 -9.89716609e-03 9.99951003e-01 6.86080359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.166547615 meters Centerline goodness : 0.806084 with order 1 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.05, Z:0.07 [[ 0.99941119 0.03333136 0.00814262 4.44473028] [-0.03343997 0.99934834 0.01358896 -0.04533052] [-0.00768437 -0.01385325 0.99987451 0.06721791] [ 0. 0. 0. 1. ]] SLAMing on 22.226547614999998 meters Centerline goodness : 0.801521 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.04, Z:0.06 [[ 9.99570797e-01 2.89714995e-02 4.34431563e-03 4.46253822e+00] [-2.90210362e-02 9.99509035e-01 1.18096486e-02 -4.26629181e-02] [-4.00003950e-03 -1.19306564e-02 9.99920826e-01 5.67055836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.286547614999996 meters Centerline goodness : 0.804833 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.04, Z:0.05 [[ 0.99944746 0.0328062 0.00534065 4.45699567] [-0.03285016 0.9994253 0.0083633 -0.03879101] [-0.00506321 -0.00853412 0.99995077 0.05213152] [ 0. 0. 0. 1. ]] SLAMing on 22.346547615 meters Centerline goodness : 0.808511 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.04, Z:0.06 [[ 9.99406215e-01 3.17601603e-02 1.33607197e-02 4.45859121e+00] [-3.17429913e-02 9.99494946e-01 -1.49520073e-03 -4.15869622e-02] [-1.34014597e-02 1.07020370e-03 9.99909624e-01 5.85153022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.406547614999997 meters Centerline goodness : 0.803698 with order 1 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.05, Z:0.06 [[ 0.99970771 0.02133856 0.01136488 4.47142271] [-0.02147944 0.99969212 0.01242193 -0.04557849] [-0.01109631 -0.01266241 0.99985826 0.05509799] [ 0. 0. 0. 1. ]] SLAMing on 22.466547614999996 meters Centerline goodness : 0.810093 with order 1 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.05, Z:0.06 [[ 0.99979471 0.00911694 0.0180945 4.48096463] [-0.00902533 0.99994607 -0.00513829 -0.05212597] [-0.01814037 0.00497393 0.99982308 0.0578929 ] [ 0. 0. 0. 1. ]] SLAMing on 22.526547615 meters Centerline goodness : 0.807716 with order 1 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.05, Z:0.06 [[ 9.99817519e-01 9.19766203e-03 1.67431281e-02 4.48825826e+00] [-9.16113935e-03 9.99955489e-01 -2.25674785e-03 -5.01208817e-02] [-1.67631397e-02 2.10294991e-03 9.99857277e-01 5.58792052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.586547614999997 meters Centerline goodness : 0.806749 with order 1 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.04, Z:0.05 [[ 9.99798197e-01 1.28392785e-02 1.54504882e-02 4.49142853e+00] [-1.28084014e-02 9.99915773e-01 -2.09575931e-03 -4.44566109e-02] [-1.54760949e-02 1.89744032e-03 9.99878438e-01 5.14769780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.646547614999996 meters Centerline goodness : 0.812147 with order 1 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.04, Z:0.05 [[ 0.99957819 0.02413632 0.01615197 4.48350506] [-0.02421773 0.99969488 0.00486342 -0.0447031 ] [-0.01602966 -0.00525253 0.99985772 0.05432713] [ 0. 0. 0. 1. ]] SLAMing on 22.706547614999998 meters Centerline goodness : 0.804114 with order 1 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.05, Z:0.06 [[ 0.99966691 0.02091296 0.01512313 4.49404471] [-0.0210793 0.99971811 0.01092499 -0.04529141] [-0.0148904 -0.01124014 0.99982595 0.05602776] [ 0. 0. 0. 1. ]] SLAMing on 22.766547614999997 meters Centerline goodness : 0.804778 with order 1 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.04, Z:0.06 [[ 0.99970993 0.01845358 0.01547649 4.4908809 ] [-0.01855493 0.99980716 0.00643062 -0.0430238 ] [-0.01535484 -0.00671592 0.99985955 0.05711267] [ 0. 0. 0. 1. ]] SLAMing on 22.826547615 meters Centerline goodness : 0.809845 with order 1 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.04, Z:0.06 [[ 9.99442312e-01 3.15905571e-02 1.08213170e-02 4.48984461e+00] [-3.15488422e-02 9.99494191e-01 -4.00418068e-03 -4.21001769e-02] [-1.09423378e-02 3.66054757e-03 9.99933431e-01 5.74052118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.886547614999998 meters Centerline goodness : 0.807785 with order 1 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.04, Z:0.05 [[ 0.99961873 0.02651517 0.00770367 4.50089755] [-0.02660059 0.99958334 0.01120483 -0.04455173] [-0.00740336 -0.01140548 0.99990755 0.05057381] [ 0. 0. 0. 1. ]] SLAMing on 22.946547614999997 meters Centerline goodness : 0.803995 with order 1 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.05, Z:0.05 [[ 0.99981207 0.01849242 0.005818 4.51860686] [-0.01858641 0.99969047 0.01653813 -0.05074523] [-0.00551036 -0.01664316 0.99984631 0.05268604] [ 0. 0. 0. 1. ]] SLAMing on 23.006547615 meters Centerline goodness : 0.812954 with order 1 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.06, Z:0.06 [[ 0.99984082 0.01661411 0.00650461 4.51320768] [-0.01671527 0.99973514 0.01581916 -0.05780485] [-0.00624007 -0.01592537 0.99985371 0.05949429] [ 0. 0. 0. 1. ]] SLAMing on 23.066547614999998 meters Centerline goodness : 0.807733 with order 1 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.06, Z:0.05 [[ 0.99987321 0.01494657 0.00549221 4.51900589] [-0.01500788 0.99982357 0.01129575 -0.0553749 ] [-0.00532241 -0.01137675 0.99992112 0.04992852] [ 0. 0. 0. 1. ]] SLAMing on 23.126547614999996 meters Centerline goodness : 0.812011 with order 1 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.06, Z:0.06 [[ 0.99991757 0.01178926 0.00508545 4.51746272] [-0.01184753 0.9998627 0.01158489 -0.06425663] [-0.00494817 -0.01164418 0.99991996 0.05701814] [ 0. 0. 0. 1. ]] SLAMing on 23.186547615 meters Centerline goodness : 0.805477 with order 1 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.07, Z:0.06 [[ 9.99960461e-01 7.74759867e-03 4.36487091e-03 4.52872091e+00] [-7.82350772e-03 9.99813602e-01 1.76508897e-02 -6.54185836e-02] [-4.22730529e-03 -1.76843404e-02 9.99834683e-01 5.88394872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.246547614999997 meters Centerline goodness : 0.808356 with order 1 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.07, Z:0.06 [[ 0.99992579 0.01049686 0.0061826 4.51706329] [-0.01059181 0.99982327 0.01553181 -0.06666935] [-0.00601847 -0.01559614 0.99986026 0.06216126] [ 0. 0. 0. 1. ]] SLAMing on 23.306547614999996 meters Centerline goodness : 0.813482 with order 1 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.07, Z:0.06 [[ 0.99989704 0.01294214 0.00619773 4.51401098] [-0.0130262 0.999821 0.01372146 -0.06589621] [-0.00601903 -0.01380078 0.99988665 0.06093929] [ 0. 0. 0. 1. ]] SLAMing on 23.366547614999998 meters Centerline goodness : 0.806329 with order 1 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.06, Z:0.05 [[ 9.99973864e-01 6.65079777e-03 2.83506832e-03 4.53404748e+00] [-6.68946359e-03 9.99881647e-01 1.38543859e-02 -6.40758260e-02] [-2.74259006e-03 -1.38729888e-02 9.99900004e-01 5.18828655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.426547614999997 meters Centerline goodness : 0.805468 with order 1 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.07, Z:0.05 [[ 9.99979947e-01 5.57054587e-03 3.01253483e-03 4.53520032e+00] [-5.61709915e-03 9.99861408e-01 1.56720745e-02 -6.91028424e-02] [-2.92481531e-03 -1.56886820e-02 9.99872647e-01 5.31791804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.486547615 meters Centerline goodness : 0.812422 with order 1 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.07, Z:0.06 [[ 0.99993497 0.00626111 0.00953191 4.54196729] [-0.00632635 0.99995667 0.00682927 -0.07208013] [-0.00948874 -0.00688912 0.99993125 0.05629727] [ 0. 0. 0. 1. ]] SLAMing on 23.546547614999998 meters Centerline goodness : 0.808146 with order 1 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.06, Z:0.04 [[ 0.99994285 0.00742946 0.00768825 4.55544784] [-0.00748869 0.99994228 0.0077046 -0.06365535] [-0.00763056 -0.00776174 0.99994076 0.04405663] [ 0. 0. 0. 1. ]] SLAMing on 23.606547614999997 meters Centerline goodness : 0.808683 with order 1 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.06, Z:0.04 [[ 9.99975181e-01 3.31468612e-03 6.21690261e-03 4.55819940e+00] [-3.31745846e-03 9.99994402e-01 4.35676584e-04 -5.91824400e-02] [-6.21542368e-03 -4.56290088e-04 9.99980580e-01 4.02767316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.666547615 meters Centerline goodness : 0.806927 with order 1 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.06, Z:0.04 [[ 9.99976874e-01 2.42104533e-03 6.35534127e-03 4.55852504e+00] [-2.43652066e-03 9.99994083e-01 2.42840053e-03 -6.19367424e-02] [-6.34942440e-03 -2.44382929e-03 9.99976856e-01 4.32673607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.726547614999998 meters Centerline goodness : 0.804660 with order 1 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.06, Z:0.05 [[ 0.99996023 0.00577902 0.00679235 4.55778016] [-0.00582799 0.99995701 0.00721182 -0.05914224] [-0.00675038 -0.00725112 0.99995093 0.04555531] [ 0. 0. 0. 1. ]] SLAMing on 23.786547614999996 meters Centerline goodness : 0.809264 with order 1 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.07, Z:0.05 [[ 9.99956981e-01 5.82686228e-03 7.21690166e-03 4.55141924e+00] [-5.85758506e-03 9.99973841e-01 4.24326299e-03 -6.50856768e-02] [-7.19198796e-03 -4.28535407e-03 9.99964955e-01 4.82096623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.846547615 meters Centerline goodness : 0.805003 with order 1 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.06, Z:0.05 [[ 9.99977293e-01 4.30596761e-03 5.18386560e-03 4.56156107e+00] [-4.34440211e-03 9.99962990e-01 7.42596725e-03 -6.14577008e-02] [-5.15169777e-03 -7.44831942e-03 9.99958990e-01 4.79255354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.906547614999997 meters Centerline goodness : 0.805393 with order 1 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.05, Z:0.04 [[ 9.99975294e-01 6.10648659e-03 3.48180669e-03 4.56864779e+00] [-6.13551882e-03 9.99945985e-01 8.38946125e-03 -5.20321829e-02] [-3.43038849e-03 -8.41061667e-03 9.99958746e-01 4.26788146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.966547614999996 meters Centerline goodness : 0.807789 with order 1 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.05, Z:0.05 [[ 9.99818883e-01 9.91741347e-03 1.62433311e-02 4.54173498e+00] [-9.95993652e-03 9.99947175e-01 2.53907415e-03 -4.83678691e-02] [-1.62172920e-02 -2.70039683e-03 9.99864845e-01 4.85690849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.026547615 meters Centerline goodness : 0.800553 with order 1 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.04, Z:0.04 [[ 9.99817955e-01 1.08599493e-02 1.56881697e-02 4.54681415e+00] [-1.09113049e-02 9.99935376e-01 3.19164112e-03 -3.71170322e-02] [-1.56524948e-02 -3.36223850e-03 9.99871839e-01 4.44732075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.086547614999997 meters Centerline goodness : 0.801430 with order 1 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.03, Z:0.04 [[ 9.99749877e-01 1.73020378e-02 1.41711733e-02 4.54676815e+00] [-1.73378206e-02 9.99846794e-01 2.40607850e-03 -2.99040679e-02] [-1.41273721e-02 -2.65117395e-03 9.99896689e-01 3.93905384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.146547614999996 meters Centerline goodness : 0.802703 with order 1 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.03, Z:0.04 [[ 0.99969941 0.02021719 0.01386942 4.54884615] [-0.02028466 0.999783 0.00474108 -0.02514667] [-0.01377055 -0.005021 0.99989257 0.03739363] [ 0. 0. 0. 1. ]] SLAMing on 24.206547614999998 meters Centerline goodness : 0.797280 with order 1 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.02, Z:0.04 [[ 0.99972562 0.02024547 0.01178125 4.55709588] [-0.02032994 0.99976815 0.00709541 -0.02205537] [-0.01163487 -0.00733298 0.99990542 0.03571935] [ 0. 0. 0. 1. ]] SLAMing on 24.266547614999997 meters Centerline goodness : 0.798335 with order 1 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.02, Z:0.04 [[ 0.99978785 0.01655489 0.01225562 4.55402386] [-0.01661241 0.9998514 0.00460603 -0.0225478 ] [-0.01217755 -0.00480865 0.99991429 0.0403645 ] [ 0. 0. 0. 1. ]] SLAMing on 24.326547615 meters Centerline goodness : 0.803207 with order 1 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.03, Z:0.04 [[ 0.99981115 0.01562261 0.01155853 4.55631964] [-0.01568681 0.99986191 0.00548454 -0.02678329] [-0.01147125 -0.00566482 0.99991816 0.04086674] [ 0. 0. 0. 1. ]] SLAMing on 24.386547614999998 meters Centerline goodness : 0.800771 with order 1 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.02, Z:0.04 [[ 0.9996812 0.02276733 0.01091563 4.55917252] [-0.02290257 0.99966044 0.01242885 -0.02346164] [-0.01062895 -0.01267488 0.99986318 0.03926172] [ 0. 0. 0. 1. ]] SLAMing on 24.446547614999997 meters Centerline goodness : 0.802035 with order 1 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.02, Z:0.04 [[ 0.99967935 0.02315599 0.01024713 4.56011912] [-0.0232724 0.99966427 0.01139025 -0.02332425] [-0.00997994 -0.01162507 0.99988262 0.03823509] [ 0. 0. 0. 1. ]] SLAMing on 24.506547615 meters Centerline goodness : 0.803324 with order 1 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.03, Z:0.04 [[ 0.99966057 0.02375934 0.01068844 4.55753202] [-0.02390805 0.99961602 0.01400754 -0.02589807] [-0.01035153 -0.01425833 0.99984476 0.04309222] [ 0. 0. 0. 1. ]] SLAMing on 24.566547614999998 meters Centerline goodness : 0.802676 with order 1 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.03, Z:0.04 [[ 0.99969492 0.02252146 0.01014142 4.56148547] [-0.02265894 0.99965004 0.01365173 -0.0283093 ] [-0.00983041 -0.01387736 0.99985538 0.03977575] [ 0. 0. 0. 1. ]] SLAMing on 24.626547614999996 meters Centerline goodness : 0.807620 with order 1 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.03, Z:0.04 [[ 0.99976243 0.01904848 0.01059468 4.55385476] [-0.01913047 0.9997874 0.00769236 -0.03050718] [-0.0104459 -0.00789321 0.99991429 0.04492614] [ 0. 0. 0. 1. ]] SLAMing on 24.686547615 meters Centerline goodness : 0.806093 with order 1 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.02, Z:0.03 [[ 0.99980001 0.01844568 0.00772618 4.57096587] [-0.01852468 0.99977554 0.01028154 -0.02415379] [-0.00753479 -0.01042261 0.99991729 0.03493021] [ 0. 0. 0. 1. ]] SLAMing on 24.746547614999997 meters Centerline goodness : 0.808313 with order 1 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.03, Z:0.04 [[ 0.99984801 0.01488122 0.00908346 4.56143855] [-0.01492812 0.99987547 0.00511769 -0.02825825] [-0.00900617 -0.00525251 0.99994565 0.04125313] [ 0. 0. 0. 1. ]] SLAMing on 24.806547614999996 meters Centerline goodness : 0.810616 with order 1 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.03, Z:0.04 [[ 0.99984883 0.01507276 0.00866728 4.56116201] [-0.01512708 0.99986613 0.00623631 -0.0300183 ] [-0.00857212 -0.00636648 0.99994299 0.04383741] [ 0. 0. 0. 1. ]] SLAMing on 24.866547614999998 meters Centerline goodness : 0.807105 with order 1 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.02, Z:0.03 [[ 9.99892868e-01 1.29749066e-02 6.77534198e-03 4.57352992e+00] [-1.29993694e-02 9.99909099e-01 3.57909658e-03 -2.23917154e-02] [-6.72828765e-03 -3.66678831e-03 9.99970642e-01 3.22243235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.926547614999997 meters Centerline goodness : 0.810474 with order 1 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.03, Z:0.04 [[ 9.99859308e-01 1.49591198e-02 7.58869550e-03 4.56303647e+00] [-1.49860915e-02 9.99881542e-01 3.50986427e-03 -2.85646591e-02] [-7.53529208e-03 -3.62309534e-03 9.99965046e-01 4.03586987e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.986547615 meters Centerline goodness : 0.805071 with order 1 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.02, Z:0.03 [[ 9.99936972e-01 1.08784449e-02 2.77686102e-03 4.58631310e+00] [-1.09024388e-02 9.99902046e-01 8.77692638e-03 -2.42995003e-02] [-2.68110971e-03 -8.80664775e-03 9.99957626e-01 3.44804572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.046547614999998 meters Centerline goodness : 0.804431 with order 1 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.03, Z:0.04 [[ 9.99957011e-01 8.75678035e-03 3.04879877e-03 4.58148320e+00] [-8.77382420e-03 9.99945702e-01 5.62259261e-03 -2.61136432e-02] [-2.99939742e-03 -5.64910052e-03 9.99979545e-01 3.91108349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.106547614999997 meters Centerline goodness : 0.806648 with order 1 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.03, Z:0.04 [[ 9.99952828e-01 9.41668006e-03 2.38062934e-03 4.58187658e+00] [-9.43440079e-03 9.99927027e-01 7.54542583e-03 -3.22548630e-02] [-2.30940275e-03 -7.56752971e-03 9.99968699e-01 4.15046469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.166547615 meters Centerline goodness : 0.806073 with order 1 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.03, Z:0.04 [[ 9.99885693e-01 1.50840359e-02 1.03563445e-03 4.59377413e+00] [-1.51000144e-02 9.99729204e-01 1.77061732e-02 -2.58781326e-02] [-7.68273449e-04 -1.77197874e-02 9.99842697e-01 3.63549545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.226547614999998 meters Centerline goodness : 0.814304 with order 1 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.03, Z:0.03 [[ 0.99994472 0.00731944 0.0075488 4.59598203] [-0.00727642 0.99995722 -0.0057106 -0.02964049] [-0.00759028 0.00565535 0.9999552 0.03472559] [ 0. 0. 0. 1. ]] SLAMing on 25.286547614999996 meters Centerline goodness : 0.810699 with order 1 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.03, Z:0.03 [[ 9.99865653e-01 1.45818379e-02 7.48639062e-03 4.59750417e+00] [-1.45934177e-02 9.99892394e-01 1.49449832e-03 -2.52562991e-02] [-7.46379250e-03 -1.60354957e-03 9.99970860e-01 3.34403673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.346547615 meters Centerline goodness : 0.812954 with order 1 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.03, Z:0.03 [[ 9.99898132e-01 1.28248770e-02 6.26479194e-03 4.60334483e+00] [-1.28304488e-02 9.99917325e-01 8.50001107e-04 -2.84780514e-02] [-6.25337284e-03 -9.30294611e-04 9.99980015e-01 2.97928496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.406547614999997 meters Centerline goodness : 0.809171 with order 1 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.02, Z:0.03 [[ 9.99902664e-01 1.24843073e-02 6.22929743e-03 4.60315976e+00] [-1.24807765e-02 9.99921929e-01 -6.05360638e-04 -2.16511926e-02] [-6.23636861e-03 5.27555245e-04 9.99980415e-01 2.96418097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.466547614999996 meters Centerline goodness : 0.812186 with order 1 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.02, Z:0.03 [[ 9.99858074e-01 1.57008121e-02 6.10870106e-03 4.60396361e+00] [-1.57096624e-02 9.99875611e-01 1.40353751e-03 -1.65339259e-02] [-6.08590452e-03 -1.49930394e-03 9.99980357e-01 2.85414275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.526547615 meters Centerline goodness : 0.813100 with order 1 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.01, Z:0.03 [[ 9.99803610e-01 1.90739415e-02 5.37828831e-03 4.60628695e+00] [-1.90930421e-02 9.99811505e-01 3.52274284e-03 -1.22595548e-02] [-5.31008194e-03 -3.62473889e-03 9.99979332e-01 2.66171545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.586547614999997 meters Centerline goodness : 0.811379 with order 1 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.02, Z:0.03 [[ 9.99846516e-01 1.69741332e-02 4.33852678e-03 4.60958128e+00] [-1.70024843e-02 9.99833772e-01 6.58360589e-03 -1.60305157e-02] [-4.22605459e-03 -6.65636114e-03 9.99968916e-01 3.18538813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.646547614999996 meters Centerline goodness : 0.807067 with order 1 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.01, Z:0.03 [[ 9.99909581e-01 1.31983467e-02 2.57541629e-03 4.61662835e+00] [-1.32115317e-02 9.99899350e-01 5.17153328e-03 -1.09706094e-02] [-2.50690139e-03 -5.20509087e-03 9.99983311e-01 3.08516104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.706547614999998 meters Centerline goodness : 0.815965 with order 1 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.02, Z:0.04 [[ 9.99955924e-01 8.23519083e-03 4.50901716e-03 4.60805634e+00] [-8.25499869e-03 9.99956281e-01 4.39209944e-03 -2.16418401e-02] [-4.47265025e-03 -4.42912779e-03 9.99980189e-01 4.37685760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.766547614999997 meters Centerline goodness : 0.810082 with order 1 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.02, Z:0.04 [[ 9.99889306e-01 1.43539487e-02 3.91661691e-03 4.61345873e+00] [-1.43969204e-02 9.99833928e-01 1.11733686e-02 -1.88397220e-02] [-3.75558452e-03 -1.12285190e-02 9.99929906e-01 3.91293537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.826547615 meters Centerline goodness : 0.812948 with order 1 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.02, Z:0.04 [[ 0.99980142 0.01902448 0.00593203 4.6011526 ] [-0.01908108 0.9997715 0.0096362 -0.02371127] [-0.00574735 -0.00974747 0.99993598 0.0402731 ] [ 0. 0. 0. 1. ]] SLAMing on 25.886547614999998 meters Centerline goodness : 0.815607 with order 1 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.03, Z:0.04 [[ 0.99986323 0.01557641 0.00555825 4.60226723] [-0.01560681 0.99986325 0.00546827 -0.028476 ] [-0.00547231 -0.00555427 0.9999696 0.03819067] [ 0. 0. 0. 1. ]] SLAMing on 25.946547614999997 meters Centerline goodness : 0.807584 with order 1 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.03, Z:0.03 [[ 9.99923754e-01 1.14769226e-02 4.55708002e-03 4.61417915e+00] [-1.15092505e-02 9.99908330e-01 7.13229713e-03 -2.82833967e-02] [-4.47480545e-03 -7.18420189e-03 9.99964181e-01 3.30115200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.006547615 meters Centerline goodness : 0.810635 with order 1 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.03, Z:0.03 [[ 9.99944406e-01 9.82695953e-03 3.82309669e-03 4.61687679e+00] [-9.85138882e-03 9.99930836e-01 6.42444759e-03 -3.22536390e-02] [-3.75969948e-03 -6.46175324e-03 9.99972055e-01 3.24514064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.066547614999998 meters Centerline goodness : 0.808895 with order 1 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.03, Z:0.03 [[ 9.99947636e-01 9.53745134e-03 3.70966358e-03 4.61778017e+00] [-9.55727444e-03 9.99939946e-01 5.36313139e-03 -3.05681245e-02] [-3.65829019e-03 -5.39830483e-03 9.99978737e-01 3.08091581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.126547614999996 meters Centerline goodness : 0.808956 with order 1 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.04, Z:0.03 [[ 9.99992288e-01 2.31768674e-03 3.17046808e-03 4.61807578e+00] [-2.31558635e-03 9.99997097e-01 -6.65995642e-04 -4.05059445e-02] [-3.17200245e-03 6.58649014e-04 9.99994752e-01 3.20972729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.186547615 meters Centerline goodness : 0.801580 with order 1 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.04, Z:0.03 [[ 9.99995787e-01 -2.48119776e-03 -1.50655912e-03 4.64666283e+00] [ 2.49940344e-03 9.99922391e-01 1.22051040e-02 -4.29759825e-02] [ 1.47615892e-03 -1.22088180e-02 9.99924380e-01 3.00094408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.246547614999997 meters Centerline goodness : 0.813729 with order 1 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.05, Z:0.04 [[ 9.99956993e-01 -5.67704392e-03 7.33376005e-03 4.64001073e+00] [ 5.68381074e-03 9.99983440e-01 -9.02181741e-04 -5.21364524e-02] [-7.32851688e-03 9.43826645e-04 9.99972701e-01 4.28871725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.306547614999996 meters Centerline goodness : 0.806525 with order 1 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.04, Z:0.03 [[ 9.99982920e-01 -5.16637431e-03 2.73265823e-03 4.66325403e+00] [ 5.15559745e-03 9.99978963e-01 3.93617889e-03 -4.32903052e-02] [-2.75293652e-03 -3.92202318e-03 9.99988519e-01 3.08654913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.366547614999998 meters Centerline goodness : 0.810318 with order 1 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.05, Z:0.04 [[ 9.99949104e-01 -1.39249356e-03 9.99247876e-03 4.66462451e+00] [ 1.41638670e-03 9.99996154e-01 -2.38443408e-03 -4.60664126e-02] [-9.98912002e-03 2.39846593e-03 9.99947231e-01 3.84449118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.426547614999997 meters Centerline goodness : 0.806444 with order 1 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.04, Z:0.04 [[ 9.99972338e-01 9.70508827e-04 7.37440918e-03 4.67600988e+00] [-1.01211363e-03 9.99983582e-01 5.64014469e-03 -4.09747296e-02] [-7.36881430e-03 -5.64745241e-03 9.99956902e-01 3.93804668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.486547614999996 meters Centerline goodness : 0.801529 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.03, Z:0.03 [[ 9.99963094e-01 3.95990592e-03 7.62428136e-03 4.67328908e+00] [-3.96947749e-03 9.99991352e-01 1.24068361e-03 -3.46278321e-02] [-7.61930244e-03 -1.27090224e-03 9.99970165e-01 3.21246170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.546547614999998 meters Centerline goodness : 0.804410 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.04, Z:0.04 [[ 0.99990964 0.00963932 0.00936968 4.66766691] [-0.00971924 0.99991645 0.00852175 -0.03633643] [-0.00928676 -0.00861204 0.99991979 0.03883029] [ 0. 0. 0. 1. ]] SLAMing on 26.606547614999997 meters Centerline goodness : 0.799768 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.03, Z:0.03 [[ 0.99994565 0.00691697 0.00780097 4.67423874] [-0.00696291 0.99995849 0.00587725 -0.03122731] [-0.00776 -0.00593125 0.9999523 0.03485477] [ 0. 0. 0. 1. ]] SLAMing on 26.666547615 meters Centerline goodness : 0.801250 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.04, Z:0.04 [[ 9.99954653e-01 5.13862913e-03 8.01786935e-03 4.67127585e+00] [-5.16450445e-03 9.99981512e-01 3.20984730e-03 -3.86258517e-02] [-8.00122691e-03 -3.25111006e-03 9.99962705e-01 3.63926763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.726547614999998 meters Centerline goodness : 0.817610 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.13, Z:0.35 [[ 0.6555867 0.05178638 -0.75334205 4.44516637] [-0.44064242 0.83640882 -0.3259671 -0.12780658] [ 0.61322128 0.54565416 0.57115778 0.35146151] [ 0. 0. 0. 1. ]] SLAMing on 26.786547614999996 meters Centerline goodness : 0.801466 with order 1 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.45, Z:0.49 [[ 0.74446158 0.3377192 -0.57595373 4.5844492 ] [-0.51399952 0.84045796 -0.17156605 -0.44893697] [ 0.42612375 0.42376427 0.79927617 0.4851719 ] [ 0. 0. 0. 1. ]] SLAMing on 26.846547615 meters Centerline goodness : 0.798867 with order 1 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.43, Z:0.47 [[ 0.74082601 0.35459597 -0.5704722 4.5463724 ] [-0.52186136 0.83855784 -0.15646554 -0.42756416] [ 0.42289188 0.41362114 0.80627539 0.47105338] [ 0. 0. 0. 1. ]] SLAMing on 26.906547614999997 meters Centerline goodness : 0.794157 with order 1 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.41, Z:0.46 [[ 0.738187 0.36578726 -0.56681535 4.51998995] [-0.52509969 0.83904394 -0.14239237 -0.40676796] [ 0.42349767 0.40274676 0.8114461 0.45870977] [ 0. 0. 0. 1. ]] SLAMing on 26.966547614999996 meters Centerline goodness : 0.793470 with order 1 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.40, Z:0.44 [[ 0.74626175 0.37279884 -0.5514657 4.48639661] [-0.51698114 0.84646731 -0.12737187 -0.39641695] [ 0.4193136 0.38015013 0.82441615 0.44445744] [ 0. 0. 0. 1. ]] SLAMing on 27.026547615 meters Centerline goodness : 0.799960 with order 1 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.39, Z:0.43 [[ 0.75851504 0.37036339 -0.53617711 4.44118761] [-0.50589438 0.85330558 -0.12625557 -0.3888113 ] [ 0.41076247 0.36701573 0.83460987 0.43231854] [ 0. 0. 0. 1. ]] SLAMing on 27.086547614999997 meters Centerline goodness : 0.797640 with order 1 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.37, Z:0.42 [[ 0.75688461 0.38462207 -0.5283858 4.41215722] [-0.50932221 0.8537582 -0.10811021 -0.37487044] [ 0.40953214 0.35094557 0.84209301 0.41952968] [ 0. 0. 0. 1. ]] SLAMing on 27.146547614999996 meters Centerline goodness : 0.798349 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.36, Z:0.40 [[ 0.75662478 0.38846827 -0.52593854 4.37964014] [-0.50724634 0.85629558 -0.09725753 -0.36202246] [ 0.41257738 0.34036786 0.84494356 0.40390385] [ 0. 0. 0. 1. ]] SLAMing on 27.206547614999998 meters Centerline goodness : 0.796976 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.35, Z:0.39 [[ 0.76451335 0.39499699 -0.50940821 4.35091634] [-0.49854199 0.86327484 -0.078819 -0.35122874] [ 0.40862602 0.31421956 0.85690772 0.39214884] [ 0. 0. 0. 1. ]] SLAMing on 27.266547614999997 meters Centerline goodness : 0.801266 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.34, Z:0.38 [[ 0.76723778 0.39647355 -0.5041378 4.31244563] [-0.49921488 0.86265366 -0.08132134 -0.33778424] [ 0.40265456 0.31406589 0.85978597 0.38122706] [ 0. 0. 0. 1. ]] SLAMing on 27.326547615 meters Centerline goodness : 0.799568 with order 1 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.33, Z:0.37 [[ 0.76974116 0.40131152 -0.4964349 4.28311312] [-0.49493273 0.86633857 -0.06707517 -0.32760451] [ 0.40316266 0.2973324 0.86547866 0.36956899] [ 0. 0. 0. 1. ]] SLAMing on 27.386547614999998 meters Centerline goodness : 0.794758 with order 1 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.31, Z:0.35 [[ 0.76976116 0.40930389 -0.48983475 4.25452893] [-0.49151322 0.86966987 -0.04570628 -0.31077328] [ 0.40728677 0.27594318 0.87061636 0.35192527] [ 0. 0. 0. 1. ]] SLAMing on 27.446547614999997 meters Centerline goodness : 0.800185 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.30, Z:0.34 [[ 0.77409099 0.40644268 -0.48537356 4.21664673] [-0.48831614 0.87127928 -0.04919106 -0.30089688] [ 0.40290258 0.2750941 0.87292196 0.34186099] [ 0. 0. 0. 1. ]] SLAMing on 27.506547615 meters Centerline goodness : 0.798029 with order 1 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.29, Z:0.33 [[ 0.78162023 0.4141075 -0.46645986 4.1924012 ] [-0.48089 0.87633962 -0.02781492 -0.28952018] [ 0.39725889 0.24605659 0.88410493 0.33168885] [ 0. 0. 0. 1. ]] SLAMing on 27.566547614999998 meters Centerline goodness : 0.801668 with order 1 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.28, Z:0.32 [[ 0.77919625 0.41726165 -0.46770281 4.15391419] [-0.48892971 0.87153742 -0.03701722 -0.275349 ] [ 0.39217463 0.25751747 0.8831103 0.3230435 ] [ 0. 0. 0. 1. ]] SLAMing on 27.626547614999996 meters Centerline goodness : 0.803402 with order 1 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.26, Z:0.32 [[ 0.78212627 0.42421394 -0.45642199 4.12519325] [-0.48624681 0.87356146 -0.02131681 -0.26357618] [ 0.38966977 0.23860617 0.88950805 0.31589206] [ 0. 0. 0. 1. ]] SLAMing on 27.686547615 meters Centerline goodness : 0.798994 with order 1 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.25, Z:0.30 [[ 7.87851310e-01 4.29304806e-01 -4.41574113e-01 4.10392069e+00] [-4.79656093e-01 8.77452340e-01 -2.72474067e-03 -2.51260227e-01] [ 3.86290495e-01 2.13950405e-01 8.97220641e-01 3.03852448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.746547614999997 meters Centerline goodness : 0.798854 with order 1 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.23, Z:0.28 [[ 0.78522956 0.43071617 -0.44485741 4.07190997] [-0.48491267 0.874514 -0.00921744 -0.23238517] [ 0.38506394 0.2229548 0.89555398 0.28489277] [ 0. 0. 0. 1. ]] SLAMing on 27.806547614999996 meters Centerline goodness : 0.798448 with order 1 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.21, Z:0.27 [[ 0.78860688 0.43624446 -0.43334739 4.04092112] [-0.48612725 0.87387407 -0.00493962 -0.21465085] [ 0.37653617 0.2145574 0.90121342 0.2713044 ] [ 0. 0. 0. 1. ]] SLAMing on 27.866547614999998 meters Centerline goodness : 0.798986 with order 1 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.22, Z:0.26 [[ 0.7954939 0.43220425 -0.4247222 4.02160184] [-0.47479222 0.88007533 0.00630526 -0.21768696] [ 0.37651269 0.19663899 0.90530177 0.26307799] [ 0. 0. 0. 1. ]] SLAMing on 27.926547614999997 meters Centerline goodness : 0.797277 with order 1 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.21, Z:0.26 [[ 0.79524105 0.43309124 -0.42429194 4.00126502] [-0.4728929 0.88102455 0.01296315 -0.21423392] [ 0.37942584 0.19033581 0.90543266 0.2571158 ] [ 0. 0. 0. 1. ]] SLAMing on 27.986547614999996 meters Centerline goodness : 0.802518 with order 1 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.20, Z:0.25 [[ 0.79869766 0.43148503 -0.41940757 3.96896406] [-0.47120314 0.88196768 0.01003083 -0.20228283] [ 0.37423208 0.18961456 0.90774262 0.24646929] [ 0. 0. 0. 1. ]] SLAMing on 28.046547614999998 meters Centerline goodness : 0.802578 with order 1 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.18, Z:0.23 [[ 0.80324942 0.43502811 -0.40686719 3.92529292] [-0.46741124 0.88376238 0.02215385 -0.18095946] [ 0.36921146 0.17237923 0.91321865 0.23198317] [ 0. 0. 0. 1. ]] SLAMing on 28.106547614999997 meters Centerline goodness : 0.798418 with order 1 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.17, Z:0.22 [[ 0.80619811 0.43301958 -0.40316081 3.90021676] [-0.46025378 0.88719117 0.03253149 -0.17257162] [ 0.37176748 0.15932946 0.91455074 0.21897972] [ 0. 0. 0. 1. ]] SLAMing on 28.166547615 meters Centerline goodness : 0.798116 with order 1 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.14, Z:0.20 [[ 0.81011722 0.43913674 -0.3884186 3.85584546] [-0.46407259 0.88518731 0.03286422 -0.14482095] [ 0.3582551 0.15363056 0.92089681 0.20092172] [ 0. 0. 0. 1. ]] SLAMing on 28.226547614999998 meters Centerline goodness : 0.800632 with order 1 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.13, Z:0.19 [[ 0.80895648 0.44377165 -0.38555951 3.83236884] [-0.46861374 0.88279178 0.03286094 -0.12508972] [ 0.35495152 0.15409541 0.92209762 0.18831897] [ 0. 0. 0. 1. ]] SLAMing on 28.286547614999996 meters Centerline goodness : 0.798068 with order 1 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.10, Z:0.17 [[ 0.80787663 0.44790404 -0.38303696 3.78997366] [-0.47046487 0.88157431 0.03859452 -0.10210671] [ 0.35496218 0.14902582 0.92292641 0.17290076] [ 0. 0. 0. 1. ]] SLAMing on 28.346547615 meters Centerline goodness : 0.798672 with order 1 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.09, Z:0.16 [[ 0.81307464 0.45183334 -0.36709162 3.77134914] [-0.46532947 0.88332748 0.05657773 -0.08645138] [ 0.34982582 0.12481663 0.92846255 0.15779587] [ 0. 0. 0. 1. ]] SLAMing on 28.406547614999997 meters Centerline goodness : 0.799757 with order 1 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.07, Z:0.15 [[ 0.81327075 0.45592696 -0.36155399 3.73452444] [-0.47008086 0.88099641 0.053566 -0.06597631] [ 0.34294995 0.12639595 0.93081115 0.14811122] [ 0. 0. 0. 1. ]] SLAMing on 28.466547614999996 meters Centerline goodness : 0.809734 with order 1 Centerline is valid? [False, False] Translation: X:3.70, Y:-0.05, Z:0.14 [[ 0.81497513 0.45570525 -0.35797801 3.69828685] [-0.47136412 0.88063501 0.0479358 -0.04884776] [ 0.33709256 0.1296715 0.93249874 0.13539534] [ 0. 0. 0. 1. ]] SLAMing on 28.526547615 meters Centerline goodness : 0.805233 with order 1 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.03, Z:0.12 [[ 0.81979659 0.45639391 -0.34588749 3.67228059] [-0.46417624 0.88332647 0.06538173 -0.0338186 ] [ 0.3353714 0.10695303 0.93599523 0.1188951 ] [ 0. 0. 0. 1. ]] SLAMing on 28.586547614999997 meters Centerline goodness : 0.811894 with order 1 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.02, Z:0.11 [[ 0.8252006 0.44832913 -0.34357672 3.64836942] [-0.45703778 0.88740415 0.0602523 -0.02398433] [ 0.33190427 0.10730731 0.93718979 0.10994127] [ 0. 0. 0. 1. ]] SLAMing on 28.646547614999996 meters Centerline goodness : 0.813076 with order 1 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.02, Z:0.11 [[ 0.82577701 0.4439101 -0.34790252 3.63433582] [-0.450931 0.89015387 0.06547766 -0.02352376] [ 0.33875297 0.10281009 0.93524142 0.10782304] [ 0. 0. 0. 1. ]] SLAMing on 28.706547614999998 meters Centerline goodness : 0.813247 with order 1 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.01, Z:0.10 [[ 0.82835079 0.44688465 -0.33782995 3.60357568] [-0.4483936 0.89039381 0.07837118 -0.0130407 ] [ 0.33582457 0.08656196 0.93793863 0.09678837] [ 0. 0. 0. 1. ]] SLAMing on 28.766547614999997 meters Centerline goodness : 0.818138 with order 1 Centerline is valid? [False, False] Translation: X:3.57, Y:0.00, Z:0.08 [[ 8.28631357e-01 4.49567421e-01 -3.33555404e-01 3.56678525e+00] [-4.52043684e-01 8.88837619e-01 7.49946330e-02 2.82065723e-03] [ 3.30191735e-01 8.86387089e-02 9.39742836e-01 8.42881112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.826547614999996 meters Centerline goodness : 0.812634 with order 1 Centerline is valid? [False, False] Translation: X:3.53, Y:0.02, Z:0.07 [[ 0.83387277 0.44780714 -0.322684 3.5337678 ] [-0.44998608 0.89009642 0.07239402 0.02260059] [ 0.31963843 0.0848359 0.94373415 0.06926596] [ 0. 0. 0. 1. ]] SLAMing on 28.886547614999998 meters Centerline goodness : 0.812798 with order 1 Centerline is valid? [False, False] Translation: X:3.50, Y:0.04, Z:0.06 [[ 0.83501987 0.44827842 -0.31904273 3.50142897] [-0.44684016 0.89083098 0.082183 0.03701007] [ 0.32105402 0.07393666 0.94417037 0.05664777] [ 0. 0. 0. 1. ]] SLAMing on 28.946547614999997 meters Centerline goodness : 0.810667 with order 1 Centerline is valid? [False, False] Translation: X:3.46, Y:0.06, Z:0.04 [[ 0.83578429 0.4504362 -0.31396154 3.45536548] [-0.44814488 0.89001482 0.0839034 0.06202651] [ 0.31722355 0.07057511 0.94572109 0.03880982] [ 0. 0. 0. 1. ]] SLAMing on 29.006547615 meters Centerline goodness : 0.809549 with order 1 Centerline is valid? [False, False] Translation: X:3.42, Y:0.09, Z:0.02 [[ 0.83435074 0.45517289 -0.31092843 3.41808785] [-0.45127222 0.88794475 0.08892421 0.08675237] [ 0.31656315 0.06611938 0.94626423 0.0203606 ] [ 0. 0. 0. 1. ]] SLAMing on 29.066547614999998 meters Centerline goodness : 0.812783 with order 1 Centerline is valid? [False, False] Translation: X:3.39, Y:0.10, Z:0.01 [[ 0.83638284 0.45187949 -0.31027194 3.38530223] [-0.44969604 0.8893186 0.08298134 0.10039945] [ 0.31342817 0.07012389 0.94701923 0.00849804] [ 0. 0. 0. 1. ]] SLAMing on 29.126547614999996 meters Centerline goodness : 0.805102 with order 1 Centerline is valid? [False, False] Translation: X:3.36, Y:0.11, Z:-0.00 [[ 0.84487483 0.44552714 -0.29612851 3.35859089] [-0.43697042 0.89407372 0.09843293 0.1111045 ] [ 0.30861526 0.0462359 0.95006256 -0.00415684] [ 0. 0. 0. 1. ]] SLAMing on 29.186547615 meters Centerline goodness : 0.818367 with order 1 Centerline is valid? [False, False] Translation: X:3.33, Y:0.12, Z:-0.01 [[ 0.85281769 0.4285201 -0.29845018 3.32933993] [-0.42344151 0.90192499 0.08502115 0.11968762] [ 0.30561295 0.05386866 0.95063079 -0.01106627] [ 0. 0. 0. 1. ]] SLAMing on 29.246547614999997 meters Centerline goodness : 0.816149 with order 1 Centerline is valid? [False, False] Translation: X:3.31, Y:0.13, Z:-0.01 [[ 0.85731159 0.42842682 -0.28542478 3.31065013] [-0.41785497 0.90296276 0.10027703 0.12922782] [ 0.30068931 0.0332975 0.95314071 -0.01499557] [ 0. 0. 0. 1. ]] SLAMing on 29.306547614999996 meters Centerline goodness : 0.814740 with order 1 Centerline is valid? [False, False] Translation: X:3.28, Y:0.15, Z:-0.03 [[ 0.85859506 0.42845087 -0.28150377 3.28446542] [-0.41876952 0.90290108 0.09696251 0.14649592] [ 0.29571373 0.03463367 0.95464857 -0.02703966] [ 0. 0. 0. 1. ]] SLAMing on 29.366547614999998 meters Centerline goodness : 0.821438 with order 1 Centerline is valid? [False, False] Translation: X:3.25, Y:0.17, Z:-0.04 [[ 0.8583507 0.4310505 -0.27826164 3.25334394] [-0.42318996 0.9014572 0.09102288 0.16812737] [ 0.29007642 0.03962798 0.95618267 -0.04115142] [ 0. 0. 0. 1. ]] SLAMing on 29.426547614999997 meters Centerline goodness : 0.819160 with order 1 Centerline is valid? [False, False] Translation: X:3.21, Y:0.20, Z:-0.06 [[ 0.85294975 0.44306081 -0.27599611 3.20767932] [-0.43397491 0.89571666 0.09673383 0.19645048] [ 0.29007328 0.03726629 0.95627858 -0.06096228] [ 0. 0. 0. 1. ]] SLAMing on 29.486547614999996 meters Centerline goodness : 0.811998 with order 1 Centerline is valid? [False, False] Translation: X:3.17, Y:0.21, Z:-0.08 [[ 0.85285003 0.44522771 -0.27279868 3.17081838] [-0.43391649 0.89492647 0.10403412 0.2115732 ] [ 0.29045363 0.02964634 0.95642971 -0.07687841] [ 0. 0. 0. 1. ]] SLAMing on 29.546547614999998 meters Centerline goodness : 0.816545 with order 1 Centerline is valid? [False, False] Translation: X:3.15, Y:0.23, Z:-0.08 [[ 0.85698196 0.44055983 -0.26737419 3.14665385] [-0.42987644 0.89726399 0.10061599 0.22523705] [ 0.2842326 0.02871178 0.95832534 -0.08443958] [ 0. 0. 0. 1. ]] SLAMing on 29.606547614999997 meters Centerline goodness : 0.820630 with order 1 Centerline is valid? [False, False] Translation: X:3.12, Y:0.23, Z:-0.10 [[ 0.86058573 0.43038698 -0.27232195 3.1186187 ] [-0.42233201 0.90188879 0.09073192 0.23385775] [ 0.28465395 0.03692768 0.95791882 -0.09517395] [ 0. 0. 0. 1. ]] SLAMing on 29.666547615 meters Centerline goodness : 0.812796 with order 1 Centerline is valid? [False, False] Translation: X:3.08, Y:0.25, Z:-0.12 [[ 0.86184733 0.43602786 -0.25903452 3.08428205] [-0.42289902 0.89977492 0.10752444 0.24874385] [ 0.27995642 0.01687579 0.95986437 -0.11587899] [ 0. 0. 0. 1. ]] SLAMing on 29.726547614999998 meters Centerline goodness : 0.812699 with order 1 Centerline is valid? [False, False] Translation: X:3.06, Y:0.26, Z:-0.13 [[ 0.86550511 0.42640491 -0.2628303 3.05753233] [-0.41588005 0.90418704 0.09741452 0.26165644] [ 0.27918578 0.02499311 0.95991179 -0.12688933] [ 0. 0. 0. 1. ]] SLAMing on 29.786547614999996 meters Centerline goodness : 0.815522 with order 1 Centerline is valid? [False, False] Translation: X:3.03, Y:0.27, Z:-0.14 [[ 0.86568181 0.4262962 -0.26242437 3.03265845] [-0.41603958 0.90421858 0.09643559 0.2708061 ] [ 0.27839912 0.02569639 0.96012167 -0.13818934] [ 0. 0. 0. 1. ]] SLAMing on 29.846547615 meters Centerline goodness : 0.810246 with order 1 Centerline is valid? [False, False] Translation: X:3.01, Y:0.28, Z:-0.15 [[ 0.86987852 0.42262206 -0.25436581 3.01183137] [-0.40955839 0.90621565 0.10504821 0.27980942] [ 0.27490597 0.01279848 0.96138593 -0.14757272] [ 0. 0. 0. 1. ]] SLAMing on 29.906547614999997 meters Centerline goodness : 0.811684 with order 1 Centerline is valid? [False, False] Translation: X:3.01, Y:0.27, Z:-0.15 [[ 0.87171924 0.41767751 -0.25622464 3.01257954] [-0.40532242 0.90847175 0.1019452 0.27347474] [ 0.27535307 0.014986 0.96122636 -0.1488802 ] [ 0. 0. 0. 1. ]] SLAMing on 29.966547614999996 meters Centerline goodness : 0.813099 with order 1 Centerline is valid? [False, False] Translation: X:2.98, Y:0.29, Z:-0.16 [[ 0.8728853 0.41703764 -0.25328021 2.97874848] [-0.40650895 0.90867236 0.09521034 0.29168378] [ 0.26985502 0.01985297 0.96269628 -0.15939454] [ 0. 0. 0. 1. ]] SLAMing on 30.026547615 meters Centerline goodness : 0.815385 with order 1 Centerline is valid? [False, False] Translation: X:2.98, Y:0.28, Z:-0.16 [[ 0.87622884 0.40804215 -0.25636813 2.97797333] [-0.39911455 0.91262554 0.08844314 0.28414947] [ 0.27005663 0.02482382 0.96252439 -0.16142457] [ 0. 0. 0. 1. ]] SLAMing on 30.086547614999997 meters Centerline goodness : 0.814065 with order 1 Centerline is valid? [False, False] Translation: X:2.95, Y:0.29, Z:-0.17 [[ 8.85562781e-01 4.01413363e-01 -2.33764566e-01 2.94766448e+00] [-3.87752045e-01 9.15896056e-01 1.03840103e-01 2.93077302e-01] [ 2.55786849e-01 -1.31424177e-03 9.66732311e-01 -1.69740193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.146547614999996 meters Centerline goodness : 0.815865 with order 1 Centerline is valid? [False, False] Translation: X:2.93, Y:0.30, Z:-0.18 [[ 0.88719906 0.39384429 -0.24034247 2.92951933] [-0.38508626 0.91900819 0.08445431 0.30164385] [ 0.25413854 0.01762479 0.96700722 -0.18092788] [ 0. 0. 0. 1. ]] SLAMing on 30.206547614999998 meters Centerline goodness : 0.816353 with order 1 Centerline is valid? [False, False] Translation: X:2.90, Y:0.32, Z:-0.19 [[ 0.88733145 0.39704441 -0.23451787 2.90091607] [-0.38864343 0.91763415 0.08308947 0.32021762] [ 0.24819181 0.01741593 0.96855434 -0.19118636] [ 0. 0. 0. 1. ]] SLAMing on 30.266547614999997 meters Centerline goodness : 0.810046 with order 1 Centerline is valid? [False, False] Translation: X:2.89, Y:0.33, Z:-0.21 [[ 0.88981695 0.39511043 -0.2282839 2.89032466] [-0.38388974 0.91862331 0.09359424 0.32998492] [ 0.24668697 0.00435411 0.96908544 -0.2064401 ] [ 0. 0. 0. 1. ]] SLAMing on 30.326547614999996 meters Centerline goodness : 0.815341 with order 1 Centerline is valid? [False, False] Translation: X:2.85, Y:0.35, Z:-0.22 [[ 0.8902939 0.39740457 -0.22236542 2.8539592 ] [-0.39091504 0.91741119 0.07444559 0.35065013] [ 0.23358554 0.02064754 0.97211701 -0.21570729] [ 0. 0. 0. 1. ]] SLAMing on 30.386547614999998 meters Centerline goodness : 0.806743 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:0.37, Z:-0.23 [[ 0.88908505 0.40347201 -0.21618998 2.83594863] [-0.39369651 0.91496946 0.0885096 0.37074039] [ 0.23351838 0.00642068 0.97233119 -0.2314856 ] [ 0. 0. 0. 1. ]] SLAMing on 30.446547614999997 meters Centerline goodness : 0.810649 with order 1 Centerline is valid? [False, False] Translation: X:2.80, Y:0.39, Z:-0.24 [[ 0.88975882 0.40201344 -0.21613525 2.80475253] [-0.39680828 0.91530819 0.06895001 0.38850614] [ 0.22554919 0.02441538 0.97392579 -0.23903605] [ 0. 0. 0. 1. ]] SLAMing on 30.506547615 meters Centerline goodness : 0.809118 with order 1 Centerline is valid? [False, False] Translation: X:2.80, Y:0.39, Z:-0.25 [[ 0.8894526 0.40242151 -0.21663565 2.79501297] [-0.39519013 0.915306 0.07771541 0.39053469] [ 0.22956226 0.0164881 0.97315431 -0.24603756] [ 0. 0. 0. 1. ]] SLAMing on 30.566547614999998 meters Centerline goodness : 0.806323 with order 1 Centerline is valid? [False, False] Translation: X:2.77, Y:0.40, Z:-0.26 [[ 0.89539667 0.39603979 -0.20351238 2.77082827] [-0.38772296 0.91821112 0.08098913 0.40019335] [ 0.21894225 0.00638902 0.9757169 -0.25533509] [ 0. 0. 0. 1. ]] SLAMing on 30.626547614999996 meters Centerline goodness : 0.807873 with order 1 Centerline is valid? [False, False] Translation: X:2.74, Y:0.42, Z:-0.27 [[ 0.8942371 0.39651177 -0.20764976 2.73838608] [-0.39058138 0.91785437 0.07063672 0.4198377 ] [ 0.21860053 0.01793816 0.97564954 -0.27080198] [ 0. 0. 0. 1. ]] SLAMing on 30.686547615 meters Centerline goodness : 0.807854 with order 1 Centerline is valid? [False, False] Translation: X:2.74, Y:0.42, Z:-0.27 [[ 0.89605461 0.39201474 -0.20835207 2.73685539] [-0.3866705 0.91974073 0.0675493 0.4166059 ] [ 0.21811021 0.02003574 0.97571846 -0.27118561] [ 0. 0. 0. 1. ]] SLAMing on 30.746547614999997 meters Centerline goodness : 0.806562 with order 1 Centerline is valid? [False, False] Translation: X:2.72, Y:0.42, Z:-0.27 [[ 0.90299523 0.38417663 -0.19237445 2.71662988] [-0.37743182 0.92322889 0.07206689 0.41633233] [ 0.20529206 0.00753218 0.97867177 -0.27131743] [ 0. 0. 0. 1. ]] SLAMing on 30.806547614999996 meters Centerline goodness : 0.806667 with order 1 Centerline is valid? [False, False] Translation: X:2.69, Y:0.43, Z:-0.29 [[ 0.90261552 0.38294473 -0.19656694 2.69440959] [-0.3772793 0.92367032 0.0670333 0.42796592] [ 0.2072331 0.01365534 0.97819629 -0.28507061] [ 0. 0. 0. 1. ]] SLAMing on 30.866547614999998 meters Centerline goodness : 0.804800 with order 1 Centerline is valid? [False, False] Translation: X:2.66, Y:0.44, Z:-0.29 [[ 0.90466541 0.3784403 -0.19586587 2.66341207] [-0.37393139 0.92544928 0.06098314 0.43920799] [ 0.2043424 0.01807106 0.97873266 -0.29157622] [ 0. 0. 0. 1. ]] SLAMing on 30.926547614999997 meters Centerline goodness : 0.797604 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:0.45, Z:-0.30 [[ 0.91053442 0.37247084 -0.17942284 2.64489988] [-0.36353404 0.92799946 0.08160878 0.44630698] [ 0.19690119 -0.0090813 0.98038128 -0.30412971] [ 0. 0. 0. 1. ]] SLAMing on 30.986547614999996 meters Centerline goodness : 0.801835 with order 1 Centerline is valid? [False, False] Translation: X:2.62, Y:0.47, Z:-0.31 [[ 0.90919179 0.37697938 -0.17679605 2.61523237] [-0.37155775 0.92619223 0.06413106 0.46575205] [ 0.18792322 0.00738251 0.98215598 -0.31465722] [ 0. 0. 0. 1. ]] SLAMing on 31.046547614999998 meters Centerline goodness : 0.803259 with order 1 Centerline is valid? [False, False] Translation: X:2.58, Y:0.49, Z:-0.33 [[ 0.90768271 0.37990212 -0.17828762 2.58195703] [-0.37603179 0.92489047 0.05637121 0.48536361] [ 0.18631206 0.01587464 0.98236236 -0.32558453] [ 0. 0. 0. 1. ]] SLAMing on 31.106547614999997 meters Centerline goodness : 0.796724 with order 1 Centerline is valid? [False, False] Translation: X:2.56, Y:0.50, Z:-0.33 [[ 0.91293334 0.37356079 -0.16433213 2.56046514] [-0.36576788 0.92755437 0.07652947 0.49566265] [ 0.1810154 -0.00975889 0.98343184 -0.33422943] [ 0. 0. 0. 1. ]] SLAMing on 31.166547615 meters Centerline goodness : 0.798940 with order 1 Centerline is valid? [False, False] Translation: X:2.54, Y:0.51, Z:-0.34 [[ 0.91250146 0.37514859 -0.16310921 2.53620792] [-0.37001118 0.92695695 0.0619882 0.51172006] [ 0.17445 0.00378791 0.98465875 -0.34001841] [ 0. 0. 0. 1. ]] SLAMing on 31.226547614999998 meters Centerline goodness : 0.797873 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:0.53, Z:-0.35 [[ 0.91078924 0.37919101 -0.16333136 2.50689557] [-0.37504762 0.92526865 0.05672038 0.52915775] [ 0.17263324 0.00959672 0.98493942 -0.35332814] [ 0. 0. 0. 1. ]] SLAMing on 31.286547614999996 meters Centerline goodness : 0.800159 with order 1 Centerline is valid? [False, False] Translation: X:2.48, Y:0.54, Z:-0.35 [[ 0.91241328 0.37844441 -0.15582627 2.48173952] [-0.37386034 0.925613 0.05889845 0.54100296] [ 0.16652461 0.00451753 0.98602695 -0.35392061] [ 0. 0. 0. 1. ]] SLAMing on 31.346547615 meters Centerline goodness : 0.799762 with order 1 Centerline is valid? [False, False] Translation: X:2.46, Y:0.55, Z:-0.37 [[ 0.91474446 0.37474045 -0.15103699 2.45804481] [-0.36875694 0.9271133 0.06692721 0.55327909] [ 0.16510873 -0.00552535 0.98625989 -0.3657665 ] [ 0. 0. 0. 1. ]] SLAMing on 31.406547614999997 meters Centerline goodness : 0.804106 with order 1 Centerline is valid? [False, False] Translation: X:2.42, Y:0.57, Z:-0.37 [[ 9.15828455e-01 3.73801058e-01 -1.46734490e-01 2.42257897e+00] [-3.68762484e-01 9.27506883e-01 6.11981453e-02 5.68247044e-01] [ 1.58973181e-01 -1.93682788e-03 9.87281002e-01 -3.69915081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.466547614999996 meters Centerline goodness : 0.800440 with order 1 Centerline is valid? [False, False] Translation: X:2.40, Y:0.58, Z:-0.38 [[ 0.91640866 0.37254998 -0.14629317 2.40072908] [-0.3673997 0.92800764 0.06180029 0.57711575] [ 0.15878487 -0.00288626 0.98730899 -0.37631418] [ 0. 0. 0. 1. ]] SLAMing on 31.526547615 meters Centerline goodness : 0.801945 with order 1 Centerline is valid? [False, False] Translation: X:2.38, Y:0.58, Z:-0.38 [[ 0.91660973 0.37139074 -0.14797136 2.38057825] [-0.36574493 0.92846208 0.06472103 0.5828344 ] [ 0.16142258 -0.00520415 0.98687166 -0.38149315] [ 0. 0. 0. 1. ]] SLAMing on 31.586547614999997 meters Centerline goodness : 0.803029 with order 1 Centerline is valid? [False, False] Translation: X:2.35, Y:0.60, Z:-0.39 [[ 0.91828863 0.36873736 -0.14414835 2.35369212] [-0.36359308 0.92952469 0.06151363 0.59532381] [ 0.15667182 -0.00407593 0.98764231 -0.38697535] [ 0. 0. 0. 1. ]] SLAMing on 31.646547614999996 meters Centerline goodness : 0.801622 with order 1 Centerline is valid? [False, False] Translation: X:2.35, Y:0.60, Z:-0.39 [[ 0.91880139 0.36543802 -0.14919469 2.34785365] [-0.35915204 0.93079245 0.06808253 0.59804196] [ 0.16374924 -0.00897075 0.98646121 -0.39106748] [ 0. 0. 0. 1. ]] SLAMing on 31.706547614999998 meters Centerline goodness : 0.808204 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:0.60, Z:-0.39 [[ 0.92203243 0.35668045 -0.15045018 2.3379353 ] [-0.35161875 0.93422349 0.05992261 0.59990682] [ 0.16192731 -0.00234948 0.98679989 -0.38558522] [ 0. 0. 0. 1. ]] SLAMing on 31.766547614999997 meters Centerline goodness : 0.807485 with order 1 Centerline is valid? [False, False] Translation: X:2.32, Y:0.61, Z:-0.39 [[ 0.92237564 0.35484228 -0.15267657 2.31884804] [-0.34943694 0.93491901 0.06180828 0.60915141] [ 0.16467242 -0.00365961 0.98634152 -0.3899936 ] [ 0. 0. 0. 1. ]] SLAMing on 31.826547614999996 meters Centerline goodness : 0.807762 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:0.61, Z:-0.39 [[ 9.21278313e-01 3.58000958e-01 -1.51926244e-01 2.31404474e+00] [-3.52960908e-01 9.33719945e-01 5.98804008e-02 6.11162239e-01] [ 1.63293805e-01 -1.54248947e-03 9.86576279e-01 -3.94332055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.886547614999998 meters Centerline goodness : 0.804175 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:0.62, Z:-0.40 [[ 0.92312707 0.35847384 -0.13904282 2.30239724] [-0.35227466 0.93344129 0.06774901 0.61577961] [ 0.15407456 -0.01355969 0.98796618 -0.39621202] [ 0. 0. 0. 1. ]] SLAMing on 31.946547614999997 meters Centerline goodness : 0.803789 with order 1 Centerline is valid? [False, False] Translation: X:2.28, Y:0.63, Z:-0.40 [[ 0.92318864 0.35761768 -0.14082727 2.28067672] [-0.35128336 0.93376807 0.06838993 0.62563399] [ 0.15595745 -0.01366653 0.98766923 -0.4012347 ] [ 0. 0. 0. 1. ]] SLAMing on 32.006547615 meters Centerline goodness : 0.810652 with order 1 Centerline is valid? [False, False] Translation: X:2.26, Y:0.64, Z:-0.41 [[ 9.21116074e-01 3.63181487e-01 -1.40158430e-01 2.25606672e+00] [-3.59258902e-01 9.31717504e-01 5.32497306e-02 6.42587454e-01] [ 1.49927379e-01 1.30398103e-03 9.88696152e-01 -4.12122268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.066547615 meters Centerline goodness : 0.811214 with order 1 Centerline is valid? [False, False] Translation: X:2.25, Y:0.64, Z:-0.41 [[ 0.92257855 0.35917112 -0.14087201 2.25438026] [-0.35558772 0.93326588 0.05071663 0.6373039 ] [ 0.14968699 0.00330228 0.98872792 -0.41228381] [ 0. 0. 0. 1. ]] SLAMing on 32.126547615 meters Centerline goodness : 0.806768 with order 1 Centerline is valid? [False, False] Translation: X:2.25, Y:0.64, Z:-0.42 [[ 0.92792512 0.34828051 -0.13287461 2.25009838] [-0.34270136 0.9372945 0.06352006 0.64016716] [ 0.14666544 -0.01340555 0.98909531 -0.41981794] [ 0. 0. 0. 1. ]] SLAMing on 32.186547614999995 meters Centerline goodness : 0.810449 with order 1 Centerline is valid? [False, False] Translation: X:2.23, Y:0.65, Z:-0.42 [[ 9.28665383e-01 3.45722514e-01 -1.34374662e-01 2.23142460e+00] [-3.42033537e-01 9.38336436e-01 5.03765020e-02 6.47008488e-01] [ 1.43504932e-01 -8.22272618e-04 9.89649260e-01 -4.23245112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.246547615 meters Centerline goodness : 0.810365 with order 1 Centerline is valid? [False, False] Translation: X:2.21, Y:0.66, Z:-0.43 [[ 0.92609128 0.3547208 -0.12856166 2.21154213] [-0.34978706 0.93491346 0.05988183 0.66057589] [ 0.14143536 -0.01048684 0.98989195 -0.43000762] [ 0. 0. 0. 1. ]] SLAMing on 32.306547615 meters Centerline goodness : 0.810376 with order 1 Centerline is valid? [False, False] Translation: X:2.21, Y:0.65, Z:-0.43 [[ 9.29748749e-01 3.43914754e-01 -1.31491085e-01 2.20571480e+00] [-3.40247014e-01 9.38999018e-01 5.01279686e-02 6.54560818e-01] [ 1.40709748e-01 -1.86696694e-03 9.90049131e-01 -4.29028387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.366547614999995 meters Centerline goodness : 0.808214 with order 1 Centerline is valid? [False, False] Translation: X:2.20, Y:0.66, Z:-0.43 [[ 0.93252197 0.3400686 -0.12147476 2.19688458] [-0.3359094 0.9403535 0.05385314 0.6591977 ] [ 0.13254297 -0.00941472 0.99113255 -0.43274416] [ 0. 0. 0. 1. ]] SLAMing on 32.426547615 meters Centerline goodness : 0.806063 with order 1 Centerline is valid? [False, False] Translation: X:2.17, Y:0.67, Z:-0.44 [[ 0.93311721 0.33841108 -0.12153278 2.16823427] [-0.33489032 0.94098526 0.04894082 0.67015326] [ 0.13092267 -0.00496737 0.99138014 -0.44022948] [ 0. 0. 0. 1. ]] SLAMing on 32.486547615 meters Centerline goodness : 0.807822 with order 1 Centerline is valid? [False, False] Translation: X:2.14, Y:0.69, Z:-0.45 [[ 0.93161284 0.3453129 -0.11338657 2.13804739] [-0.34154702 0.93843985 0.05173271 0.68647057] [ 0.12427045 -0.00946801 0.99220321 -0.44583657] [ 0. 0. 0. 1. ]] SLAMing on 32.546547614999994 meters Centerline goodness : 0.803851 with order 1 Centerline is valid? [False, False] Translation: X:2.13, Y:0.69, Z:-0.45 [[ 0.93201333 0.3423024 -0.11908072 2.12637419] [-0.33804686 0.93952643 0.05490368 0.69374532] [ 0.13067315 -0.0109161 0.99136541 -0.44880467] [ 0. 0. 0. 1. ]] SLAMing on 32.606547615 meters Centerline goodness : 0.805139 with order 1 Centerline is valid? [False, False] Translation: X:2.12, Y:0.70, Z:-0.45 [[ 0.93183842 0.34282693 -0.11894057 2.12324908] [-0.33863434 0.93934013 0.05446925 0.69810203] [ 0.13039918 -0.01047917 0.99140619 -0.44572986] [ 0. 0. 0. 1. ]] SLAMing on 32.666547615 meters Centerline goodness : 0.801339 with order 1 Centerline is valid? [False, False] Translation: X:2.11, Y:0.70, Z:-0.44 [[ 0.93155118 0.34311164 -0.12036117 2.10976017] [-0.33747413 0.93908119 0.06509791 0.7001579 ] [ 0.13536476 -0.02002326 0.99059348 -0.44417418] [ 0. 0. 0. 1. ]] SLAMing on 32.726547614999994 meters Centerline goodness : 0.802521 with order 1 Centerline is valid? [False, False] Translation: X:2.10, Y:0.70, Z:-0.44 [[ 0.93131419 0.34444616 -0.11836687 2.09710025] [-0.33889834 0.93858766 0.06481606 0.7012274 ] [ 0.13342333 -0.02024978 0.99085224 -0.43821597] [ 0. 0. 0. 1. ]] SLAMing on 32.786547614999996 meters Centerline goodness : 0.806807 with order 1 Centerline is valid? [False, False] Translation: X:2.09, Y:0.71, Z:-0.44 [[ 0.93173657 0.34289796 -0.1195322 2.09350911] [-0.33782874 0.93922844 0.06100554 0.70546897] [ 0.13318672 -0.01645968 0.99095428 -0.43679203] [ 0. 0. 0. 1. ]] SLAMing on 32.846547615 meters Centerline goodness : 0.799021 with order 1 Centerline is valid? [False, False] Translation: X:2.09, Y:0.71, Z:-0.44 [[ 0.9306557 0.34453384 -0.12319256 2.08676406] [-0.33808909 0.93846726 0.07053341 0.71024969] [ 0.13991333 -0.02399225 0.98987304 -0.44170209] [ 0. 0. 0. 1. ]] SLAMing on 32.906547614999994 meters Centerline goodness : 0.799944 with order 1 Centerline is valid? [False, False] Translation: X:2.07, Y:0.72, Z:-0.45 [[ 0.93124999 0.34246395 -0.12446642 2.06531441] [-0.33650702 0.93931209 0.06675194 0.72314415] [ 0.13977295 -0.02027891 0.9899759 -0.45157095] [ 0. 0. 0. 1. ]] SLAMing on 32.966547614999996 meters Centerline goodness : 0.803933 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:0.73, Z:-0.45 [[ 0.93187617 0.34056204 -0.12499721 2.04078776] [-0.33610631 0.94016889 0.05581224 0.72744476] [ 0.13652602 -0.00999774 0.99058603 -0.45010052] [ 0. 0. 0. 1. ]] SLAMing on 33.026547615 meters Centerline goodness : 0.800355 with order 1 Centerline is valid? [False, False] Translation: X:2.02, Y:0.74, Z:-0.46 [[ 0.93196292 0.34332895 -0.11649186 2.02467253] [-0.33628658 0.93867754 0.07613023 0.73739122] [ 0.135486 -0.0317759 0.99026958 -0.45810817] [ 0. 0. 0. 1. ]] SLAMing on 33.086547615 meters Centerline goodness : 0.803426 with order 1 Centerline is valid? [False, False] Translation: X:1.99, Y:0.75, Z:-0.47 [[ 0.93163298 0.34348217 -0.11865914 1.99440815] [-0.33935572 0.93910525 0.05402805 0.74962189] [ 0.12999109 -0.01006665 0.99146406 -0.46755007] [ 0. 0. 0. 1. ]] SLAMing on 33.146547614999996 meters Centerline goodness : 0.800621 with order 1 Centerline is valid? [False, False] Translation: X:1.98, Y:0.76, Z:-0.48 [[ 0.93352786 0.3403774 -0.11255643 1.98055171] [-0.33430764 0.93989158 0.06958607 0.75747243] [ 0.12947637 -0.02733206 0.99120575 -0.47590356] [ 0. 0. 0. 1. ]] SLAMing on 33.206547615 meters Centerline goodness : 0.800415 with order 1 Centerline is valid? [False, False] Translation: X:1.97, Y:0.76, Z:-0.48 [[ 0.94013527 0.32381198 -0.10626133 1.96909596] [-0.31868989 0.9457925 0.0625564 0.75901499] [ 0.12075768 -0.02494707 0.99236849 -0.47765601] [ 0. 0. 0. 1. ]] SLAMing on 33.266547615 meters Centerline goodness : 0.808261 with order 1 Centerline is valid? [False, False] Translation: X:1.95, Y:0.76, Z:-0.48 [[ 0.94136381 0.32021856 -0.10627445 1.95079515] [-0.31636631 0.94722303 0.05177725 0.76289019] [ 0.11724564 -0.01511957 0.99298784 -0.47729748] [ 0. 0. 0. 1. ]] SLAMing on 33.326547614999996 meters Centerline goodness : 0.803544 with order 1 Centerline is valid? [False, False] Translation: X:1.93, Y:0.78, Z:-0.48 [[ 0.93868355 0.3294402 -0.10169728 1.92775099] [-0.32474789 0.94388527 0.0601614 0.7761874 ] [ 0.11581015 -0.02344654 0.9929946 -0.48358203] [ 0. 0. 0. 1. ]] SLAMing on 33.386547615 meters Centerline goodness : 0.808909 with order 1 Centerline is valid? [False, False] Translation: X:1.91, Y:0.78, Z:-0.48 [[ 0.94059052 0.32360775 -0.10279836 1.91379861] [-0.31995544 0.94607583 0.05068576 0.77631771] [ 0.11365735 -0.01478365 0.99341001 -0.48064729] [ 0. 0. 0. 1. ]] SLAMing on 33.446547615 meters Centerline goodness : 0.804288 with order 1 Centerline is valid? [False, False] Translation: X:1.90, Y:0.78, Z:-0.49 [[ 0.94368308 0.31619121 -0.09739282 1.89712655] [-0.31163141 0.94834899 0.05933009 0.78038422] [ 0.11112204 -0.02563814 0.99347601 -0.49317858] [ 0. 0. 0. 1. ]] SLAMing on 33.506547614999995 meters Centerline goodness : 0.805500 with order 1 Centerline is valid? [False, False] Translation: X:1.88, Y:0.78, Z:-0.49 [[ 0.94394732 0.31535228 -0.09755205 1.88426715] [-0.31149547 0.94877295 0.05291945 0.78402216] [ 0.10924302 -0.01956615 0.99382248 -0.49147574] [ 0. 0. 0. 1. ]] SLAMing on 33.566547615 meters Centerline goodness : 0.805812 with order 1 Centerline is valid? [False, False] Translation: X:1.89, Y:0.79, Z:-0.50 [[ 0.943527 0.3162809 -0.09860629 1.88605582] [-0.31286405 0.94854411 0.04878692 0.78665096] [ 0.10896279 -0.01518142 0.99392989 -0.50072555] [ 0. 0. 0. 1. ]] SLAMing on 33.626547615 meters Centerline goodness : 0.804438 with order 1 Centerline is valid? [False, False] Translation: X:1.86, Y:0.80, Z:-0.50 [[ 0.94725342 0.30923705 -0.08416293 1.85729471] [-0.30561556 0.95066275 0.05328664 0.79943514] [ 0.09648877 -0.02475445 0.9950262 -0.50484345] [ 0. 0. 0. 1. ]] SLAMing on 33.686547614999995 meters Centerline goodness : 0.810849 with order 1 Centerline is valid? [False, False] Translation: X:1.84, Y:0.80, Z:-0.50 [[ 0.94926906 0.30268551 -0.08526279 1.83735644] [-0.30035243 0.95301886 0.0392871 0.8001758 ] [ 0.09314869 -0.01168515 0.99558364 -0.50377886] [ 0. 0. 0. 1. ]] SLAMing on 33.746547615 meters Centerline goodness : 0.804118 with order 1 Centerline is valid? [False, False] Translation: X:1.82, Y:0.81, Z:-0.51 [[ 0.95017852 0.30154364 -0.0789444 1.82116028] [-0.29786048 0.95301429 0.05516237 0.81211916] [ 0.091869 -0.02889968 0.99535164 -0.51143318] [ 0. 0. 0. 1. ]] SLAMing on 33.806547615 meters Centerline goodness : 0.806024 with order 1 Centerline is valid? [False, False] Translation: X:1.81, Y:0.82, Z:-0.51 [[ 0.95115157 0.29795846 -0.08081733 1.81425809] [-0.29509976 0.95438018 0.04554777 0.8172987 ] [ 0.0907018 -0.01947366 0.99568768 -0.5137478 ] [ 0. 0. 0. 1. ]] SLAMing on 33.866547614999995 meters Centerline goodness : 0.808809 with order 1 Centerline is valid? [False, False] Translation: X:1.80, Y:0.82, Z:-0.52 [[ 0.95273646 0.29529689 -0.07136514 1.8041664 ] [-0.29242455 0.95508083 0.04804684 0.82138572] [ 0.08234756 -0.02490706 0.99629239 -0.51840729] [ 0. 0. 0. 1. ]] SLAMing on 33.926547615 meters Centerline goodness : 0.804989 with order 1 Centerline is valid? [False, False] Translation: X:1.80, Y:0.82, Z:-0.52 [[ 0.95402033 0.29085978 -0.07242787 1.80442934] [-0.28822643 0.95651767 0.04471543 0.81812941] [ 0.08228445 -0.0217838 0.99637078 -0.51902632] [ 0. 0. 0. 1. ]] SLAMing on 33.986547615 meters Centerline goodness : 0.811365 with order 1 Centerline is valid? [False, False] Translation: X:1.78, Y:0.82, Z:-0.52 [[ 0.95331179 0.2935091 -0.07105657 1.78424964] [-0.29154138 0.95584729 0.03687259 0.82432555] [ 0.07874167 -0.01443515 0.99679054 -0.5185896 ] [ 0. 0. 0. 1. ]] SLAMing on 34.046547614999994 meters Centerline goodness : 0.807984 with order 1 Centerline is valid? [False, False] Translation: X:1.79, Y:0.82, Z:-0.52 [[ 0.95421055 0.29019384 -0.0725932 1.79176456] [-0.28832013 0.95688275 0.03531139 0.82285608] [ 0.07971033 -0.01276442 0.99673634 -0.52306083] [ 0. 0. 0. 1. ]] SLAMing on 34.106547615 meters Centerline goodness : 0.801089 with order 1 Centerline is valid? [False, False] Translation: X:1.80, Y:0.83, Z:-0.53 [[ 0.95393504 0.29098504 -0.07304558 1.8003769 ] [-0.2890173 0.9566303 0.03643444 0.82514631] [ 0.08047949 -0.01364466 0.99666287 -0.528945 ] [ 0. 0. 0. 1. ]] SLAMing on 34.166547615 meters Centerline goodness : 0.807766 with order 1 Centerline is valid? [False, False] Translation: X:1.77, Y:0.84, Z:-0.53 [[ 9.53484778e-01 2.93365230e-01 -6.93081517e-02 1.77170801e+00] [-2.92620802e-01 9.56000371e-01 2.08891509e-02 8.35909105e-01] [ 7.23867693e-02 3.63519532e-04 9.97376571e-01 -5.31823781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.226547614999994 meters Centerline goodness : 0.799599 with order 1 Centerline is valid? [False, False] Translation: X:1.76, Y:0.84, Z:-0.54 [[ 0.95670382 0.28577563 -0.05522761 1.76211119] [-0.28409134 0.95810499 0.03642719 0.84243832] [ 0.06332385 -0.01916035 0.99780909 -0.53605665] [ 0. 0. 0. 1. ]] SLAMing on 34.286547614999996 meters Centerline goodness : 0.799307 with order 1 Centerline is valid? [False, False] Translation: X:1.76, Y:0.85, Z:-0.54 [[ 0.95843208 0.27930174 -0.0582965 1.76081924] [-0.27830929 0.96017474 0.02466587 0.84591753] [ 0.06286405 -0.0074161 0.99799455 -0.54234681] [ 0. 0. 0. 1. ]] SLAMing on 34.346547615 meters Centerline goodness : 0.810100 with order 1 Centerline is valid? [False, False] Translation: X:1.75, Y:0.84, Z:-0.54 [[ 0.95938813 0.27633796 -0.05667225 1.74639937] [-0.27565958 0.96105522 0.01961284 0.8407815 ] [ 0.05988493 -0.00319408 0.99820018 -0.53855353] [ 0. 0. 0. 1. ]] SLAMing on 34.406547614999994 meters Centerline goodness : 0.805089 with order 1 Centerline is valid? [False, False] Translation: X:1.75, Y:0.83, Z:-0.54 [[ 0.96224919 0.26668121 -0.05438406 1.75382493] [-0.26511444 0.9636043 0.03436684 0.83141035] [ 0.06156971 -0.01865147 0.9979285 -0.53714919] [ 0. 0. 0. 1. ]] SLAMing on 34.466547614999996 meters Centerline goodness : 0.802699 with order 1 Centerline is valid? [False, False] Translation: X:1.76, Y:0.83, Z:-0.54 [[ 0.9632668 0.26265182 -0.05595613 1.75509218] [-0.26137828 0.96479744 0.02910827 0.83126639] [ 0.06163167 -0.01341331 0.99800883 -0.54040189] [ 0. 0. 0. 1. ]] SLAMing on 34.526547615 meters Centerline goodness : 0.802284 with order 1 Centerline is valid? [False, False] Translation: X:1.75, Y:0.83, Z:-0.54 [[ 0.96312833 0.26328086 -0.05538055 1.75342376] [-0.26205747 0.96463338 0.02843109 0.83387864] [ 0.06090729 -0.0128699 0.99806045 -0.54073264] [ 0. 0. 0. 1. ]] SLAMing on 34.586547615 meters Centerline goodness : 0.794574 with order 1 Centerline is valid? [False, False] Translation: X:1.73, Y:0.85, Z:-0.54 [[ 0.96274484 0.26592806 -0.04903718 1.73432004] [-0.26459905 0.96382847 0.03196901 0.84865539] [ 0.05576488 -0.01780281 0.9982852 -0.54387517] [ 0. 0. 0. 1. ]] SLAMing on 34.646547614999996 meters Centerline goodness : 0.790356 with order 1 Centerline is valid? [False, False] Translation: X:1.73, Y:0.86, Z:-0.55 [[ 0.96167595 0.26971741 -0.04931409 1.73011335] [-0.26866018 0.96285473 0.02706435 0.85863328] [ 0.05478203 -0.0127784 0.99841657 -0.55002646] [ 0. 0. 0. 1. ]] SLAMing on 34.706547615 meters Centerline goodness : 0.790700 with order 1 Centerline is valid? [False, False] Translation: X:1.71, Y:0.87, Z:-0.55 [[ 0.96256289 0.26803813 -0.04035147 1.70793822] [-0.26703342 0.96326239 0.02861349 0.86648058] [ 0.04653856 -0.01676709 0.99877576 -0.55218196] [ 0. 0. 0. 1. ]] SLAMing on 34.766547615 meters Centerline goodness : 0.791563 with order 1 Centerline is valid? [False, False] Translation: X:1.71, Y:0.87, Z:-0.55 [[ 0.96372527 0.2637222 -0.04103909 1.70704052] [-0.26284845 0.96450015 0.02549801 0.86545107] [ 0.0463066 -0.01378602 0.99883214 -0.55063847] [ 0. 0. 0. 1. ]] SLAMing on 34.826547614999996 meters Centerline goodness : 0.787874 with order 1 Centerline is valid? [False, False] Translation: X:1.69, Y:0.88, Z:-0.56 [[ 0.96338563 0.26451879 -0.04379439 1.68768543] [-0.26363699 0.96430001 0.02492051 0.87620082] [ 0.04882287 -0.01246224 0.9987297 -0.55900288] [ 0. 0. 0. 1. ]] SLAMing on 34.886547615 meters Centerline goodness : 0.789598 with order 1 Centerline is valid? [False, False] Translation: X:1.69, Y:0.87, Z:-0.56 [[ 0.96480808 0.25906009 -0.04509135 1.68958301] [-0.25833829 0.96582053 0.02126092 0.87054646] [ 0.049058 -0.00886389 0.9987566 -0.56086793] [ 0. 0. 0. 1. ]] SLAMing on 34.946547615 meters Centerline goodness : 0.785020 with order 1 Centerline is valid? [False, False] Translation: X:1.68, Y:0.87, Z:-0.56 [[ 0.96697876 0.25228946 -0.03608471 1.68400051] [-0.25132019 0.96745938 0.02933442 0.87010024] [ 0.04231125 -0.01929695 0.99891811 -0.56396388] [ 0. 0. 0. 1. ]] SLAMing on 35.006547614999995 meters Centerline goodness : 0.793738 with order 1 Centerline is valid? [False, False] Translation: X:1.68, Y:0.87, Z:-0.56 [[ 9.68992140e-01 2.44931420e-01 -3.26011160e-02 1.68052660e+00] [-2.44833733e-01 9.69539686e-01 7.01721422e-03 8.66894734e-01] [ 3.33268120e-02 1.18222751e-03 9.99443808e-01 -5.62312604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.066547615 meters Centerline goodness : 0.783877 with order 1 Centerline is valid? [False, False] Translation: X:1.67, Y:0.88, Z:-0.57 [[ 0.96758444 0.25112408 -0.02677792 1.66520503] [-0.25047272 0.96778897 0.02545427 0.88200582] [ 0.03230756 -0.01792202 0.99931728 -0.57208302] [ 0. 0. 0. 1. ]] SLAMing on 35.126547615 meters Centerline goodness : 0.791860 with order 1 Centerline is valid? [False, False] Translation: X:1.66, Y:0.88, Z:-0.57 [[ 0.96669837 0.25491024 -0.02269422 1.6550385 ] [-0.25478637 0.96696225 0.00824056 0.8823467 ] [ 0.02404506 -0.00218396 0.99970849 -0.57107213] [ 0. 0. 0. 1. ]] SLAMing on 35.186547614999995 meters Centerline goodness : 0.784220 with order 1 Centerline is valid? [False, False] Translation: X:1.66, Y:0.88, Z:-0.57 [[ 0.96851951 0.24815703 -0.01969873 1.65779677] [-0.24776507 0.96860613 0.02036238 0.87883027] [ 0.02413338 -0.0148407 0.99959859 -0.57423176] [ 0. 0. 0. 1. ]] SLAMing on 35.246547615 meters Centerline goodness : 0.786541 with order 1 Centerline is valid? [False, False] Translation: X:1.66, Y:0.88, Z:-0.58 [[ 0.96964331 0.2435955 -0.02128569 1.65967954] [-0.24330087 0.96982669 0.0155205 0.87881276] [ 0.02442416 -0.00987053 0.99965296 -0.57624835] [ 0. 0. 0. 1. ]] SLAMing on 35.306547615 meters Centerline goodness : 0.786757 with order 1 Centerline is valid? [False, False] Translation: X:1.66, Y:0.88, Z:-0.58 [[ 0.96905224 0.24596789 -0.02091782 1.65579801] [-0.24573975 0.96925007 0.01289505 0.88346714] [ 0.02344636 -0.00735564 0.99969804 -0.57873434] [ 0. 0. 0. 1. ]] SLAMing on 35.366547614999995 meters Centerline goodness : 0.787981 with order 1 Centerline is valid? [False, False] Translation: X:1.64, Y:0.88, Z:-0.58 [[ 0.97023107 0.2420038 -0.00926482 1.64151686] [-0.24179333 0.97013249 0.01946621 0.88267985] [ 0.013699 -0.01664655 0.99976759 -0.57793444] [ 0. 0. 0. 1. ]] SLAMing on 35.426547615 meters Centerline goodness : 0.787246 with order 1 Centerline is valid? [False, False] Translation: X:1.64, Y:0.88, Z:-0.58 [[ 0.96987071 0.243471 -0.00852483 1.63877835] [-0.24327217 0.96976181 0.0195112 0.88466585] [ 0.01301746 -0.01684948 0.99977329 -0.57729902] [ 0. 0. 0. 1. ]] SLAMing on 35.486547615 meters Centerline goodness : 0.785195 with order 1 Centerline is valid? [False, False] Translation: X:1.64, Y:0.89, Z:-0.59 [[ 0.96947845 0.24495961 -0.01031113 1.64020808] [-0.24481581 0.9694761 0.01346527 0.89172973] [ 0.01329484 -0.01052996 0.99985617 -0.58744114] [ 0. 0. 0. 1. ]] SLAMing on 35.546547614999994 meters Centerline goodness : 0.789344 with order 1 Centerline is valid? [False, False] Translation: X:1.65, Y:0.89, Z:-0.59 [[ 0.96877744 0.24788032 -0.00506188 1.64997667] [-0.24784486 0.96877635 0.00673165 0.89039524] [ 0.00657247 -0.00526691 0.99996453 -0.58700757] [ 0. 0. 0. 1. ]] SLAMing on 35.606547615 meters Centerline goodness : 0.789950 with order 1 Centerline is valid? [False, False] Translation: X:1.65, Y:0.89, Z:-0.59 [[ 0.96868581 0.24824429 -0.00475226 1.64894705] [-0.24820554 0.96867831 0.00750646 0.88923244] [ 0.00646684 -0.00609187 0.99996053 -0.58602533] [ 0. 0. 0. 1. ]] SLAMing on 35.666547615 meters Centerline goodness : 0.787711 with order 1 Centerline is valid? [False, False] Translation: X:1.65, Y:0.89, Z:-0.59 [[ 0.96964831 0.24444826 -0.00521655 1.6480567 ] [-0.24442727 0.96965787 0.00435035 0.88706966] [ 0.0061217 -0.00294324 0.99997693 -0.58600365] [ 0. 0. 0. 1. ]] SLAMing on 35.726547614999994 meters Centerline goodness : 0.784215 with order 1 Centerline is valid? [False, False] Translation: X:1.65, Y:0.89, Z:-0.59 [[ 0.96898391 0.24706058 -0.00559047 1.65338852] [-0.24703958 0.96899634 0.00418785 0.89453668] [ 0.00645179 -0.00267689 0.9999756 -0.59253915] [ 0. 0. 0. 1. ]] SLAMing on 35.786547614999996 meters Centerline goodness : 0.793840 with order 1 Centerline is valid? [False, False] Translation: X:1.64, Y:0.90, Z:-0.59 [[ 0.9685078 0.24894967 -0.00408768 1.63507168] [-0.24896086 0.96851033 -0.00249551 0.89588548] [ 0.0033377 0.00343459 0.99998853 -0.58836462] [ 0. 0. 0. 1. ]] SLAMing on 35.846547615 meters Centerline goodness : 0.785146 with order 1 Centerline is valid? [False, False] Translation: X:1.63, Y:0.90, Z:-0.60 [[ 0.96984243 0.24364656 0.0064818 1.63002721] [-0.24372691 0.96966044 0.01886344 0.9016127 ] [-0.00168913 -0.01987436 0.99980106 -0.59618725] [ 0. 0. 0. 1. ]] SLAMing on 35.906547614999994 meters Centerline goodness : 0.791616 with order 1 Centerline is valid? [False, False] Translation: X:1.60, Y:0.90, Z:-0.59 [[ 0.97024486 0.2418768 0.01097861 1.59929704] [-0.24191444 0.97029504 0.00222104 0.90417107] [-0.01011527 -0.00481084 0.99993727 -0.59073158] [ 0. 0. 0. 1. ]] SLAMing on 35.966547614999996 meters Centerline goodness : 0.789759 with order 1 Centerline is valid? [False, False] Translation: X:1.59, Y:0.91, Z:-0.60 [[ 0.97094496 0.23847706 0.01986366 1.59449262] [-0.23865295 0.97107985 0.00697817 0.90877257] [-0.01762507 -0.01151594 0.99977835 -0.59852985] [ 0. 0. 0. 1. ]] SLAMing on 36.026547615 meters Centerline goodness : 0.784237 with order 1 Centerline is valid? [False, False] Translation: X:1.59, Y:0.92, Z:-0.61 [[ 0.97189956 0.23373356 0.02792627 1.59331164] [-0.2341045 0.97215144 0.01080138 0.91541908] [-0.02462392 -0.01703552 0.99955163 -0.60915061] [ 0. 0. 0. 1. ]] SLAMing on 36.08654761499999 meters Centerline goodness : 0.788276 with order 1 Centerline is valid? [False, False] Translation: X:1.56, Y:0.92, Z:-0.61 [[ 9.70686628e-01 2.38239222e-01 3.17733153e-02 1.55624658e+00] [-2.38090370e-01 9.71206298e-01 -8.44403907e-03 9.21421307e-01] [-3.28701452e-02 6.31595432e-04 9.99459431e-01 -6.07935647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.146547614999996 meters Centerline goodness : 0.781462 with order 1 Centerline is valid? [False, False] Translation: X:1.54, Y:0.93, Z:-0.62 [[ 0.97275415 0.22805386 0.04172292 1.54196355] [-0.22888113 0.97331963 0.01619651 0.93327721] [-0.03691606 -0.02530481 0.99899793 -0.61904314] [ 0. 0. 0. 1. ]] SLAMing on 36.206547615 meters Centerline goodness : 0.783131 with order 1 Centerline is valid? [False, False] Translation: X:1.54, Y:0.94, Z:-0.62 [[ 0.97298554 0.22719584 0.04100243 1.53819067] [-0.22786322 0.97361482 0.0123502 0.93799926] [-0.03711466 -0.02135951 0.99908272 -0.61603389] [ 0. 0. 0. 1. ]] SLAMing on 36.266547615 meters Centerline goodness : 0.784198 with order 1 Centerline is valid? [False, False] Translation: X:1.51, Y:0.95, Z:-0.62 [[ 0.97020778 0.23756572 0.04753311 1.51266634] [-0.23796698 0.97126895 0.00288661 0.95255978] [-0.04548167 -0.01411192 0.99886549 -0.61804362] [ 0. 0. 0. 1. ]] SLAMing on 36.326547614999996 meters Centerline goodness : 0.777040 with order 1 Centerline is valid? [False, False] Translation: X:1.51, Y:0.96, Z:-0.62 [[ 0.969446 0.23854944 0.05717175 1.50690011] [-0.2396318 0.97077961 0.0127888 0.9603806 ] [-0.0524504 -0.02609822 0.99828244 -0.62263101] [ 0. 0. 0. 1. ]] SLAMing on 36.386547615 meters Centerline goodness : 0.782960 with order 1 Centerline is valid? [False, False] Translation: X:1.50, Y:0.96, Z:-0.62 [[ 9.71167563e-01 2.31915912e-01 5.52138982e-02 1.49961039e+00] [-2.32225736e-01 9.72661568e-01 -8.25733184e-04 9.63363699e-01] [-5.38959375e-02 -1.20201629e-02 9.98474208e-01 -6.23625287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.446547615 meters Centerline goodness : 0.781124 with order 1 Centerline is valid? [False, False] Translation: X:1.49, Y:0.97, Z:-0.63 [[ 0.97195257 0.22625398 0.06416653 1.49128269] [-0.22684529 0.97392878 0.00198847 0.97081972] [-0.06204373 -0.01648858 0.99793722 -0.62843809] [ 0. 0. 0. 1. ]] SLAMing on 36.506547614999995 meters Centerline goodness : 0.778506 with order 1 Centerline is valid? [False, False] Translation: X:1.49, Y:0.98, Z:-0.63 [[ 9.72262350e-01 2.25246401e-01 6.30077907e-02 1.49438708e+00] [-2.25716953e-01 9.74192860e-01 3.59635723e-04 9.75659980e-01] [-6.13007331e-02 -1.45715868e-02 9.98012970e-01 -6.29405075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.566547615 meters Centerline goodness : 0.785455 with order 1 Centerline is valid? [False, False] Translation: X:1.49, Y:0.98, Z:-0.63 [[ 0.97313009 0.22162471 0.06245253 1.48822757] [-0.2215849 0.97511107 -0.00765018 0.97833091] [-0.06259362 -0.00639392 0.99801862 -0.62829682] [ 0. 0. 0. 1. ]] SLAMing on 36.626547615 meters Centerline goodness : 0.779418 with order 1 Centerline is valid? [False, False] Translation: X:1.48, Y:0.98, Z:-0.63 [[ 0.97545366 0.21024904 0.06546371 1.48371428] [-0.21107122 0.97745331 0.00582881 0.97824721] [-0.06276222 -0.01950324 0.99783793 -0.63442532] [ 0. 0. 0. 1. ]] SLAMing on 36.686547614999995 meters Centerline goodness : 0.777999 with order 1 Centerline is valid? [False, False] Translation: X:1.48, Y:0.98, Z:-0.63 [[ 0.9761146 0.20729061 0.06504537 1.48142603] [-0.20785772 0.97815702 0.00200155 0.98035232] [-0.06320968 -0.01547393 0.9978803 -0.63186806] [ 0. 0. 0. 1. ]] SLAMing on 36.746547615 meters Centerline goodness : 0.783568 with order 1 Centerline is valid? [False, False] Translation: X:1.49, Y:0.98, Z:-0.63 [[ 9.76564012e-01 2.03950333e-01 6.87531272e-02 1.49078277e+00] [-2.03532047e-01 9.78980512e-01 -1.31096402e-02 9.80684747e-01] [-6.99816872e-02 -1.19106183e-03 9.97547565e-01 -6.33305550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.806547615 meters Centerline goodness : 0.785246 with order 1 Centerline is valid? [False, False] Translation: X:1.48, Y:0.99, Z:-0.63 [[ 9.78131611e-01 1.90701553e-01 8.30148723e-02 1.48090290e+00] [-1.91381581e-01 9.81515682e-01 2.38626059e-04 9.85242407e-01] [-8.14348926e-02 -1.61209252e-02 9.96548280e-01 -6.31631117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.866547614999995 meters Centerline goodness : 0.789224 with order 1 Centerline is valid? [False, False] Translation: X:1.49, Y:0.98, Z:-0.62 [[ 0.98039245 0.17966682 0.080935 1.48625315] [-0.17996307 0.98366649 -0.00367944 0.97984166] [-0.08027412 -0.01095802 0.99671259 -0.62462011] [ 0. 0. 0. 1. ]] SLAMing on 36.926547615 meters Centerline goodness : 0.789550 with order 1 Centerline is valid? [False, False] Translation: X:1.49, Y:0.98, Z:-0.62 [[ 0.98169598 0.17329286 0.07901004 1.49112251] [-0.17323135 0.98485118 -0.00768468 0.98488063] [-0.07914483 -0.006143 0.9968442 -0.62176406] [ 0. 0. 0. 1. ]] SLAMing on 36.986547615 meters Centerline goodness : 0.789058 with order 1 Centerline is valid? [False, False] Translation: X:1.50, Y:0.99, Z:-0.63 [[ 0.98149488 0.1747062 0.07839347 1.49698844] [-0.17474704 0.98459261 -0.00639221 0.99092098] [-0.07830239 -0.0074251 0.996902 -0.62628619] [ 0. 0. 0. 1. ]] SLAMing on 37.046547614999994 meters Centerline goodness : 0.787410 with order 1 Centerline is valid? [False, False] Translation: X:1.48, Y:1.01, Z:-0.63 [[ 0.9789944 0.19034586 0.07306446 1.47915623] [-0.19001507 0.98171363 -0.01151627 1.0089486 ] [-0.07392045 -0.00260898 0.99726073 -0.6294274 ] [ 0. 0. 0. 1. ]] SLAMing on 37.106547615 meters Centerline goodness : 0.788254 with order 1 Centerline is valid? [False, False] Translation: X:1.46, Y:1.03, Z:-0.63 [[ 0.97725469 0.19634723 0.08013131 1.45853735] [-0.19671633 0.98045476 -0.0033398 1.02624835] [-0.07922089 -0.0124993 0.99677872 -0.62502837] [ 0. 0. 0. 1. ]] SLAMing on 37.166547615 meters Centerline goodness : 0.786545 with order 1 Centerline is valid? [False, False] Translation: X:1.45, Y:1.03, Z:-0.63 [[ 0.97728228 0.19819993 0.07507414 1.44879134] [-0.19912519 0.97996145 0.00497148 1.03422549] [-0.07258442 -0.01980769 0.99716556 -0.62644395] [ 0. 0. 0. 1. ]] SLAMing on 37.226547614999994 meters Centerline goodness : 0.785510 with order 1 Centerline is valid? [False, False] Translation: X:1.45, Y:1.04, Z:-0.63 [[ 0.97602867 0.20401267 0.07580811 1.44733234] [-0.20510452 0.97871628 0.00682468 1.04298395] [-0.07280231 -0.02220967 0.99709907 -0.62640002] [ 0. 0. 0. 1. ]] SLAMing on 37.286547614999996 meters Centerline goodness : 0.783493 with order 1 Centerline is valid? [False, False] Translation: X:1.44, Y:1.05, Z:-0.62 [[ 0.97455962 0.21038291 0.07728245 1.44347617] [-0.21181265 0.9772517 0.01070102 1.04599362] [-0.0732731 -0.02679819 0.99695181 -0.62416782] [ 0. 0. 0. 1. ]] SLAMing on 37.346547615 meters Centerline goodness : 0.783971 with order 1 Centerline is valid? [False, False] Translation: X:1.44, Y:1.05, Z:-0.63 [[ 0.97516505 0.20449902 0.0850487 1.43561283] [-0.20623374 0.97842865 0.01204284 1.04917416] [-0.08075134 -0.02928367 0.99630401 -0.62910823] [ 0. 0. 0. 1. ]] SLAMing on 37.406547614999994 meters Centerline goodness : 0.783044 with order 1 Centerline is valid? [False, False] Translation: X:1.43, Y:1.05, Z:-0.63 [[ 9.77523263e-01 1.93761434e-01 8.30949939e-02 1.43385286e+00] [-1.94465836e-01 9.80909214e-01 3.91155705e-04 1.04670469e+00] [-8.14328543e-02 -1.65415013e-02 9.96541554e-01 -6.28386146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.466547614999996 meters Centerline goodness : 0.785837 with order 1 Centerline is valid? [False, False] Translation: X:1.43, Y:1.05, Z:-0.63 [[ 0.97819632 0.19059256 0.08250107 1.43318289] [-0.19091817 0.98159782 -0.00399744 1.04909341] [-0.08174475 -0.01184067 0.99658296 -0.62820305] [ 0. 0. 0. 1. ]] SLAMing on 37.526547615 meters Centerline goodness : 0.785649 with order 1 Centerline is valid? [False, False] Translation: X:1.43, Y:1.05, Z:-0.63 [[ 0.97866006 0.18823069 0.08242384 1.43184862] [-0.18826376 0.98209032 -0.00744099 1.04872088] [-0.08234828 -0.00823522 0.99656959 -0.62915663] [ 0. 0. 0. 1. ]] SLAMing on 37.58654761499999 meters Centerline goodness : 0.786392 with order 1 Centerline is valid? [False, False] Translation: X:1.43, Y:1.05, Z:-0.63 [[ 0.9788138 0.1874231 0.0824386 1.43317941] [-0.18751728 0.98223867 -0.0066681 1.04581868] [-0.08222414 -0.00893184 0.99657384 -0.63040648] [ 0. 0. 0. 1. ]] SLAMing on 37.646547614999996 meters Centerline goodness : 0.785581 with order 1 Centerline is valid? [False, False] Translation: X:1.43, Y:1.05, Z:-0.64 [[ 0.97852463 0.18901911 0.08222725 1.43269378] [-0.1888495 0.98195607 -0.00990633 1.04857517] [-0.08261604 -0.00583499 0.99656437 -0.63678177] [ 0. 0. 0. 1. ]] SLAMing on 37.706547615 meters Centerline goodness : 0.787576 with order 1 Centerline is valid? [False, False] Translation: X:1.42, Y:1.05, Z:-0.63 [[ 9.79108788e-01 1.85786835e-01 8.26391720e-02 1.42404657e+00] [-1.85124715e-01 9.82590072e-01 -1.56713149e-02 1.04685782e+00] [-8.41119539e-02 4.53689624e-05 9.96456310e-01 -6.31266038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.766547615 meters Centerline goodness : 0.787033 with order 1 Centerline is valid? [False, False] Translation: X:1.41, Y:1.04, Z:-0.63 [[ 0.98004956 0.17661847 0.09115251 1.4132992 ] [-0.17615674 0.98427429 -0.01315024 1.04077364] [-0.09204164 -0.00316924 0.99575012 -0.63468452] [ 0. 0. 0. 1. ]] SLAMing on 37.826547614999996 meters Centerline goodness : 0.784278 with order 1 Centerline is valid? [False, False] Translation: X:1.42, Y:1.04, Z:-0.63 [[ 0.97976666 0.17825322 0.09101145 1.41679634] [-0.17840046 0.98393596 -0.00658087 1.03574201] [-0.0907225 -0.00978877 0.9958281 -0.63220969] [ 0. 0. 0. 1. ]] SLAMing on 37.886547615 meters Centerline goodness : 0.787517 with order 1 Centerline is valid? [False, False] Translation: X:1.40, Y:1.03, Z:-0.63 [[ 0.97911697 0.18080329 0.09295232 1.39888734] [-0.18035291 0.98351213 -0.01329324 1.03195884] [-0.09382319 -0.00374858 0.99558182 -0.62751634] [ 0. 0. 0. 1. ]] SLAMing on 37.946547615 meters Centerline goodness : 0.788181 with order 1 Centerline is valid? [False, False] Translation: X:1.39, Y:1.03, Z:-0.63 [[ 0.97956519 0.180379 0.08896888 1.39449395] [-0.18138773 0.98340606 0.00331911 1.02743002] [-0.08689383 -0.01938915 0.99602888 -0.62630528] [ 0. 0. 0. 1. ]] SLAMing on 38.006547614999995 meters Centerline goodness : 0.787928 with order 1 Centerline is valid? [False, False] Translation: X:1.40, Y:1.02, Z:-0.63 [[ 0.98195169 0.16836365 0.08616589 1.39947083] [-0.16846343 0.98568863 -0.00616473 1.0194647 ] [-0.08597065 -0.00846234 0.99626173 -0.62877254] [ 0. 0. 0. 1. ]] SLAMing on 38.066547615 meters Centerline goodness : 0.791914 with order 1 Centerline is valid? [False, False] Translation: X:1.40, Y:1.02, Z:-0.63 [[ 0.98293564 0.16332101 0.08463907 1.4020003 ] [-0.16310158 0.98656308 -0.00954795 1.01670645] [-0.08506116 -0.00441974 0.99636593 -0.62791962] [ 0. 0. 0. 1. ]] SLAMing on 38.126547615 meters Centerline goodness : 0.791995 with order 1 Centerline is valid? [False, False] Translation: X:1.41, Y:1.02, Z:-0.63 [[ 0.98344585 0.16062376 0.0838705 1.40654439] [-0.16026315 0.98701237 -0.01105883 1.01830753] [-0.08455753 -0.00256559 0.9964153 -0.63099757] [ 0. 0. 0. 1. ]] SLAMing on 38.186547614999995 meters Centerline goodness : 0.792237 with order 1 Centerline is valid? [False, False] Translation: X:1.41, Y:1.02, Z:-0.63 [[ 0.98334307 0.1612684 0.08383858 1.40528986] [-0.16089417 0.98690759 -0.01124589 1.02425928] [-0.08455454 -0.00243057 0.99641589 -0.62788284] [ 0. 0. 0. 1. ]] SLAMing on 38.246547615 meters Centerline goodness : 0.790353 with order 1 Centerline is valid? [False, False] Translation: X:1.38, Y:1.04, Z:-0.63 [[ 0.9823335 0.16705012 0.08435137 1.38258388] [-0.16689104 0.98593442 -0.00898388 1.03918788] [-0.08466568 -0.00525232 0.99639557 -0.6288575 ] [ 0. 0. 0. 1. ]] SLAMing on 38.306547615 meters Centerline goodness : 0.788025 with order 1 Centerline is valid? [False, False] Translation: X:1.36, Y:1.05, Z:-0.63 [[ 0.98125649 0.17275274 0.08539433 1.36046826] [-0.17286304 0.98492663 -0.00615727 1.05338872] [-0.08517084 -0.00871967 0.99632821 -0.6318116 ] [ 0. 0. 0. 1. ]] SLAMing on 38.366547614999995 meters Centerline goodness : 0.790050 with order 1 Centerline is valid? [False, False] Translation: X:1.36, Y:1.06, Z:-0.63 [[ 0.98171176 0.17000832 0.08566913 1.35747878] [-0.16980502 0.98542986 -0.00970816 1.05676809] [-0.08607139 -0.00501644 0.99627634 -0.62890688] [ 0. 0. 0. 1. ]] SLAMing on 38.426547615 meters Centerline goodness : 0.791940 with order 1 Centerline is valid? [False, False] Translation: X:1.36, Y:1.06, Z:-0.63 [[ 0.98171284 0.16993852 0.08579513 1.35615254] [-0.16976453 0.98544007 -0.00937368 1.05875175] [-0.08613891 -0.0053627 0.9962687 -0.62541974] [ 0. 0. 0. 1. ]] SLAMing on 38.486547615 meters Centerline goodness : 0.789460 with order 1 Centerline is valid? [False, False] Translation: X:1.36, Y:1.06, Z:-0.63 [[ 0.98157856 0.1706779 0.08586379 1.35596231] [-0.1704225 0.98531672 -0.01035029 1.06047715] [-0.08636959 -0.0044735 0.99625312 -0.62728368] [ 0. 0. 0. 1. ]] SLAMing on 38.546547614999994 meters Centerline goodness : 0.786249 with order 1 Centerline is valid? [False, False] Translation: X:1.36, Y:1.07, Z:-0.63 [[ 0.98110133 0.1733915 0.08588115 1.35878289] [-0.17340831 0.9848228 -0.0073216 1.06719922] [-0.08584722 -0.00770928 0.99627849 -0.62769389] [ 0. 0. 0. 1. ]] SLAMing on 38.606547615 meters Centerline goodness : 0.788895 with order 1 Centerline is valid? [False, False] Translation: X:1.36, Y:1.06, Z:-0.62 [[ 9.82444327e-01 1.66093493e-01 8.49476114e-02 1.35678231e+00] [-1.65510891e-01 9.86109929e-01 -1.39051306e-02 1.06188178e+00] [-8.60772348e-02 -3.98738122e-04 9.96288387e-01 -6.24929621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.666547615 meters Centerline goodness : 0.785549 with order 1 Centerline is valid? [False, False] Translation: X:1.36, Y:1.07, Z:-0.62 [[ 9.82964573e-01 1.66151230e-01 7.85774619e-02 1.35589576e+00] [-1.66734834e-01 9.86001380e-01 8.79291993e-04 1.06522954e+00] [-7.73313904e-02 -1.39659129e-02 9.96907623e-01 -6.24451706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.726547614999994 meters Centerline goodness : 0.790084 with order 1 Centerline is valid? [False, False] Translation: X:1.34, Y:1.07, Z:-0.63 [[ 0.98152831 0.17318617 0.08129411 1.33719879] [-0.17332201 0.9848502 -0.00543671 1.06668438] [-0.08100408 -0.00875378 0.99667533 -0.62537535] [ 0. 0. 0. 1. ]] SLAMing on 38.786547614999996 meters Centerline goodness : 0.782676 with order 1 Centerline is valid? [False, False] Translation: X:1.33, Y:1.07, Z:-0.63 [[ 0.98114356 0.17693861 0.077782 1.32771258] [-0.17807208 0.98398629 0.0078309 1.07192346] [-0.07515083 -0.02153404 0.99693964 -0.62694193] [ 0. 0. 0. 1. ]] SLAMing on 38.846547615 meters Centerline goodness : 0.783388 with order 1 Centerline is valid? [False, False] Translation: X:1.32, Y:1.07, Z:-0.62 [[ 0.98156112 0.17415177 0.07879676 1.31782196] [-0.17483989 0.98459511 0.00186631 1.06561359] [-0.07725789 -0.01560871 0.99688895 -0.623699 ] [ 0. 0. 0. 1. ]] SLAMing on 38.906547614999994 meters Centerline goodness : 0.781209 with order 1 Centerline is valid? [False, False] Translation: X:1.31, Y:1.06, Z:-0.62 [[ 0.98007554 0.18132245 0.08108081 1.31141564] [-0.18258435 0.98315458 0.00836774 1.06464818] [-0.07819771 -0.02300511 0.99667241 -0.61885722] [ 0. 0. 0. 1. ]] SLAMing on 38.966547614999996 meters Centerline goodness : 0.780511 with order 1 Centerline is valid? [False, False] Translation: X:1.31, Y:1.06, Z:-0.62 [[ 0.98051509 0.17880156 0.08136434 1.30964094] [-0.17975782 0.98370049 0.00452371 1.06134508] [-0.07922929 -0.01906144 0.99667416 -0.62156693] [ 0. 0. 0. 1. ]] SLAMing on 39.026547615 meters Centerline goodness : 0.780934 with order 1 Centerline is valid? [False, False] Translation: X:1.31, Y:1.05, Z:-0.62 [[ 9.81960567e-01 1.71144786e-01 8.03922046e-02 1.30866870e+00] [-1.71614887e-01 9.85163525e-01 -1.07658420e-03 1.05458744e+00] [-7.93837195e-02 -1.27393359e-02 9.96762727e-01 -6.19530532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.08654761499999 meters Centerline goodness : 0.780258 with order 1 Centerline is valid? [False, False] Translation: X:1.31, Y:1.05, Z:-0.62 [[ 0.98289655 0.16614955 0.07942732 1.31118279] [-0.16625874 0.98606801 -0.005283 1.05289782] [-0.07919851 -0.00801285 0.99682666 -0.62215458] [ 0. 0. 0. 1. ]] SLAMing on 39.146547614999996 meters Centerline goodness : 0.779789 with order 1 Centerline is valid? [False, False] Translation: X:1.31, Y:1.05, Z:-0.62 [[ 0.98351203 0.16255955 0.07923684 1.30527751] [-0.16192488 0.98669782 -0.01441363 1.05135477] [-0.08052589 0.00134556 0.99675161 -0.62427918] [ 0. 0. 0. 1. ]] SLAMing on 39.206547615 meters Centerline goodness : 0.777969 with order 1 Centerline is valid? [False, False] Translation: X:1.31, Y:1.05, Z:-0.62 [[ 0.98219368 0.16957446 0.08087073 1.30572576] [-0.16972927 0.98547801 -0.00500657 1.0503189 ] [-0.08054531 -0.00880871 0.99671202 -0.62346351] [ 0. 0. 0. 1. ]] SLAMing on 39.266547615 meters Centerline goodness : 0.774862 with order 1 Centerline is valid? [False, False] Translation: X:1.30, Y:1.05, Z:-0.63 [[ 0.98254903 0.16772844 0.08040253 1.30490633] [-0.16755248 0.98582227 -0.00897864 1.0483408 ] [-0.08076858 -0.00464969 0.99672204 -0.6261867 ] [ 0. 0. 0. 1. ]] SLAMing on 39.326547614999996 meters Centerline goodness : 0.780325 with order 1 Centerline is valid? [False, False] Translation: X:1.29, Y:1.05, Z:-0.62 [[ 0.98175717 0.17128549 0.08254781 1.29183154] [-0.17105567 0.98521161 -0.00990124 1.04586524] [-0.083023 -0.00439966 0.99653792 -0.62050288] [ 0. 0. 0. 1. ]] SLAMing on 39.386547615 meters Centerline goodness : 0.778518 with order 1 Centerline is valid? [False, False] Translation: X:1.29, Y:1.04, Z:-0.62 [[ 0.98144915 0.17262517 0.08341531 1.2904181 ] [-0.17241214 0.9849761 -0.00980537 1.04259644] [-0.08385474 -0.00475834 0.99646663 -0.62369406] [ 0. 0. 0. 1. ]] SLAMing on 39.446547615 meters Centerline goodness : 0.771229 with order 1 Centerline is valid? [False, False] Translation: X:1.29, Y:1.04, Z:-0.62 [[ 0.98064658 0.17651205 0.08471003 1.29026332] [-0.17676305 0.98424274 -0.00458771 1.03932435] [-0.08418502 -0.01047468 0.99639508 -0.62484559] [ 0. 0. 0. 1. ]] SLAMing on 39.506547614999995 meters Centerline goodness : 0.777108 with order 1 Centerline is valid? [False, False] Translation: X:1.28, Y:1.03, Z:-0.62 [[ 0.98128809 0.17252899 0.08548357 1.28179293] [-0.17233424 0.98499069 -0.00970842 1.03132632] [-0.08587551 -0.00520499 0.99629228 -0.62068284] [ 0. 0. 0. 1. ]] SLAMing on 39.566547615 meters Centerline goodness : 0.765552 with order 1 Centerline is valid? [False, False] Translation: X:1.29, Y:1.03, Z:-0.63 [[ 9.83249025e-01 1.64354291e-01 7.87973435e-02 1.28511884e+00] [-1.64770578e-01 9.86331148e-01 -1.23413283e-03 1.02752791e+00] [-7.79231093e-02 -1.17700239e-02 9.96889891e-01 -6.25789750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.626547615 meters Centerline goodness : 0.767060 with order 1 Centerline is valid? [False, False] Translation: X:1.27, Y:1.02, Z:-0.62 [[ 0.98360012 0.16188152 0.07953102 1.27429621] [-0.16177028 0.98679696 -0.00788275 1.02388704] [-0.07975704 -0.00511228 0.99680122 -0.62133938] [ 0. 0. 0. 1. ]] SLAMing on 39.686547614999995 meters Centerline goodness : 0.766996 with order 1 Centerline is valid? [False, False] Translation: X:1.27, Y:1.02, Z:-0.63 [[ 0.9847072 0.15149804 0.08602368 1.27135816] [-0.15181515 0.9884047 -0.00288179 1.02240372] [-0.0854628 -0.01022197 0.99628892 -0.62730902] [ 0. 0. 0. 1. ]] SLAMing on 39.746547615 meters Centerline goodness : 0.762873 with order 1 Centerline is valid? [False, False] Translation: X:1.27, Y:1.02, Z:-0.63 [[ 0.98549042 0.1466866 0.08539129 1.2728936 ] [-0.14670912 0.9891612 -0.00604578 1.01986462] [-0.08535259 -0.00656962 0.99632915 -0.62761024] [ 0. 0. 0. 1. ]] SLAMing on 39.806547615 meters Centerline goodness : 0.769155 with order 1 Centerline is valid? [False, False] Translation: X:1.26, Y:1.02, Z:-0.63 [[ 9.85316361e-01 1.47191062e-01 8.65243293e-02 1.25904803e+00] [-1.46545019e-01 9.89107647e-01 -1.38065184e-02 1.01791349e+00] [-8.76140718e-02 9.24078982e-04 9.96154065e-01 -6.25186460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.866547614999995 meters Centerline goodness : 0.764428 with order 1 Centerline is valid? [False, False] Translation: X:1.25, Y:1.03, Z:-0.64 [[ 0.98544329 0.13940052 0.09730884 1.25460008] [-0.1402931 0.99010721 0.00235778 1.02552141] [-0.09601751 -0.01597522 0.99525144 -0.63580996] [ 0. 0. 0. 1. ]] SLAMing on 39.926547615 meters Centerline goodness : 0.771366 with order 1 Centerline is valid? [False, False] Translation: X:1.24, Y:1.02, Z:-0.63 [[ 0.98589115 0.13582763 0.09782383 1.24170964] [-0.13573957 0.99071551 -0.00758614 1.0231042 ] [-0.09794599 -0.00579946 0.99517483 -0.63077877] [ 0. 0. 0. 1. ]] SLAMing on 39.986547615 meters Centerline goodness : 0.775558 with order 1 Centerline is valid? [False, False] Translation: X:1.24, Y:1.03, Z:-0.63 [[ 0.98525207 0.13962039 0.09891663 1.2408546 ] [-0.13997236 0.99014955 -0.00340704 1.02787833] [-0.09841795 -0.0104888 0.99508989 -0.62937541] [ 0. 0. 0. 1. ]] SLAMing on 40.046547614999994 meters Centerline goodness : 0.766950 with order 1 Centerline is valid? [False, False] Translation: X:1.23, Y:1.03, Z:-0.63 [[ 0.98593921 0.13911518 0.09257881 1.23229665] [-0.14009264 0.99012986 0.00411254 1.03007826] [-0.09109292 -0.01702433 0.99569687 -0.63117343] [ 0. 0. 0. 1. ]] SLAMing on 40.106547615 meters Centerline goodness : 0.775089 with order 1 Centerline is valid? [False, False] Translation: X:1.23, Y:1.03, Z:-0.63 [[ 9.85902686e-01 1.38775062e-01 9.34739317e-02 1.22539288e+00] [-1.39482974e-01 9.90223912e-01 1.05114426e-03 1.03169856e+00] [-9.24142497e-02 -1.40743480e-02 9.95621173e-01 -6.27134637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.166547615 meters Centerline goodness : 0.770784 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:1.04, Z:-0.63 [[ 0.98660366 0.13770542 0.08746681 1.21788134] [-0.13910274 0.99022688 0.0100571 1.03825978] [-0.08522707 -0.02208925 0.99611667 -0.62647545] [ 0. 0. 0. 1. ]] SLAMing on 40.226547614999994 meters Centerline goodness : 0.775199 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:1.04, Z:-0.63 [[ 0.98707502 0.13442917 0.08724512 1.21663188] [-0.13537462 0.99078194 0.00498493 1.04013026] [-0.08577077 -0.01673128 0.9961744 -0.62699624] [ 0. 0. 0. 1. ]] SLAMing on 40.286547614999996 meters Centerline goodness : 0.768928 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:1.04, Z:-0.63 [[ 0.98744841 0.1325919 0.08581978 1.22247494] [-0.13331043 0.99107073 0.00267097 1.04298184] [-0.08469932 -0.01407811 0.9963071 -0.63250195] [ 0. 0. 0. 1. ]] SLAMing on 40.346547615 meters Centerline goodness : 0.768498 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:1.04, Z:-0.63 [[ 0.98814637 0.12818955 0.08446414 1.22464401] [-0.12850261 0.99170764 -0.00174237 1.04119145] [-0.08398709 -0.00913215 0.996425 -0.63363261] [ 0. 0. 0. 1. ]] SLAMing on 40.406547614999994 meters Centerline goodness : 0.770742 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:1.05, Z:-0.63 [[ 0.98856636 0.12536411 0.08378782 1.22363539] [-0.12528261 0.9921014 -0.00625079 1.0455534 ] [-0.08390964 -0.00431784 0.99646401 -0.63230835] [ 0. 0. 0. 1. ]] SLAMing on 40.466547614999996 meters Centerline goodness : 0.769237 with order 1 Centerline is valid? [False, False] Translation: X:1.23, Y:1.04, Z:-0.64 [[ 0.98960146 0.11767945 0.0827073 1.2283897 ] [-0.11705205 0.99304823 -0.01241113 1.04259913] [-0.08359287 0.00260101 0.9964966 -0.63622297] [ 0. 0. 0. 1. ]] SLAMing on 40.526547615 meters Centerline goodness : 0.772470 with order 1 Centerline is valid? [False, False] Translation: X:1.23, Y:1.05, Z:-0.63 [[ 0.98917566 0.12088362 0.08317847 1.2282566 ] [-0.12065452 0.99266396 -0.00779414 1.04685633] [-0.08351045 -0.00232609 0.99650419 -0.63296551] [ 0. 0. 0. 1. ]] SLAMing on 40.58654761499999 meters Centerline goodness : 0.775302 with order 1 Centerline is valid? [False, False] Translation: X:1.23, Y:1.04, Z:-0.63 [[ 0.98954606 0.11836619 0.08238954 1.22694922] [-0.11779108 0.99296801 -0.01182357 1.04425426] [-0.08320968 0.00199521 0.99653006 -0.63222802] [ 0. 0. 0. 1. ]] SLAMing on 40.646547614999996 meters Centerline goodness : 0.770490 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:1.05, Z:-0.63 [[ 0.98852886 0.12820234 0.07984271 1.21584099] [-0.1292392 0.9915817 0.00793535 1.05067398] [-0.07815324 -0.01816313 0.99677589 -0.63286043] [ 0. 0. 0. 1. ]] SLAMing on 40.706547615 meters Centerline goodness : 0.776716 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:1.05, Z:-0.63 [[ 9.87266927e-01 1.34502731e-01 8.49295627e-02 1.19054410e+00] [-1.34974771e-01 9.90849018e-01 -1.85697349e-04 1.05079595e+00] [-8.41773507e-02 -1.12800155e-02 9.96386940e-01 -6.28910294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.766547615 meters Centerline goodness : 0.775749 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:1.05, Z:-0.63 [[ 0.9869033 0.13683185 0.08543379 1.19272537] [-0.13767712 0.99046887 0.00405369 1.05008983] [-0.08406483 -0.01576288 0.9963356 -0.63024736] [ 0. 0. 0. 1. ]] SLAMing on 40.826547614999996 meters Centerline goodness : 0.775547 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:1.05, Z:-0.63 [[ 9.87245067e-01 1.34383879e-01 8.53706671e-02 1.19159017e+00] [-1.34822781e-01 9.90869528e-01 -6.29786864e-04 1.04910755e+00] [-8.46758258e-02 -1.08881568e-02 9.96349062e-01 -6.33206480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.886547615 meters Centerline goodness : 0.777513 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:1.05, Z:-0.63 [[ 0.98767157 0.13137644 0.0851182 1.18988124] [-0.13146556 0.99131015 -0.00458192 1.04851714] [-0.08498049 -0.00666468 0.99636033 -0.63228722] [ 0. 0. 0. 1. ]] SLAMing on 40.946547615 meters Centerline goodness : 0.775205 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:1.05, Z:-0.63 [[ 0.98783799 0.13017458 0.08503341 1.19199011] [-0.13028475 0.9914674 -0.00427638 1.04646161] [-0.08486453 -0.00685419 0.99636892 -0.63399922] [ 0. 0. 0. 1. ]] SLAMing on 41.006547614999995 meters Centerline goodness : 0.771995 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:1.05, Z:-0.64 [[ 0.98833285 0.12682319 0.08434485 1.19257844] [-0.12650598 0.99192395 -0.00911661 1.048401 ] [-0.08481988 -0.00165988 0.99639492 -0.63576023] [ 0. 0. 0. 1. ]] SLAMing on 41.066547615 meters Centerline goodness : 0.771091 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:1.05, Z:-0.64 [[ 0.98878397 0.1235959 0.08384701 1.19236787] [-0.12289711 0.99232807 -0.01346479 1.04708667] [-0.08486793 0.00300921 0.99638766 -0.63705197] [ 0. 0. 0. 1. ]] SLAMing on 41.126547615 meters Centerline goodness : 0.769028 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:1.04, Z:-0.64 [[ 0.98934732 0.11918764 0.08358342 1.19359373] [-0.11824488 0.99285299 -0.01615806 1.04193705] [-0.08491189 0.00610262 0.99636978 -0.63826862] [ 0. 0. 0. 1. ]] SLAMing on 41.186547614999995 meters Centerline goodness : 0.770210 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:1.04, Z:-0.63 [[ 0.98912363 0.12029455 0.08463843 1.19015275] [-0.11971011 0.99273678 -0.01196534 1.04057645] [-0.08546305 0.00170312 0.99633989 -0.63041409] [ 0. 0. 0. 1. ]] SLAMing on 41.246547615 meters Centerline goodness : 0.769686 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:1.04, Z:-0.63 [[ 0.98923344 0.11944533 0.08455775 1.18618352] [-0.11845956 0.99282013 -0.01659891 1.03994755] [-0.0859333 0.00640352 0.99628031 -0.63069658] [ 0. 0. 0. 1. ]] SLAMing on 41.306547615 meters Centerline goodness : 0.765890 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:1.04, Z:-0.63 [[ 0.98924532 0.11931136 0.08460794 1.18683284] [-0.11823461 0.99282894 -0.0176429 1.04416732] [-0.08610621 0.00744957 0.99625811 -0.6321343 ] [ 0. 0. 0. 1. ]] SLAMing on 41.366547614999995 meters Centerline goodness : 0.769368 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:1.04, Z:-0.63 [[ 0.98936889 0.11873993 0.08396442 1.18822963] [-0.11775875 0.99290413 -0.01656088 1.04228718] [-0.08533506 0.00649727 0.99633113 -0.63039978] [ 0. 0. 0. 1. ]] SLAMing on 41.426547615 meters Centerline goodness : 0.765519 with order 1 Centerline is valid? [False, False] Translation: X:1.18, Y:1.04, Z:-0.63 [[ 9.89458997e-01 1.21064902e-01 7.94618319e-02 1.18071075e+00] [-1.21363127e-01 9.92607585e-01 -1.08355536e-03 1.04324440e+00] [-7.90055976e-02 -8.57160283e-03 9.96837320e-01 -6.28852575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.486547615 meters Centerline goodness : 0.769359 with order 1 Centerline is valid? [False, False] Translation: X:1.17, Y:1.05, Z:-0.63 [[ 0.98884274 0.12511335 0.08084975 1.16828949] [-0.12509463 0.99213057 -0.00531676 1.04604394] [-0.0808787 -0.00485643 0.99671212 -0.62526034] [ 0. 0. 0. 1. ]] SLAMing on 41.546547614999994 meters Centerline goodness : 0.769549 with order 1 Centerline is valid? [False, False] Translation: X:1.16, Y:1.05, Z:-0.63 [[ 0.98903382 0.11829687 0.08841914 1.16310188] [-0.1185473 0.99294543 -0.00243209 1.04991068] [-0.08808309 -0.00807643 0.99608039 -0.63311264] [ 0. 0. 0. 1. ]] SLAMing on 41.606547615 meters Centerline goodness : 0.766763 with order 1 Centerline is valid? [False, False] Translation: X:1.16, Y:1.05, Z:-0.63 [[ 0.9905995 0.108556 0.08323597 1.16360082] [-0.10947685 0.99396766 0.00656633 1.04588014] [-0.08202105 -0.01561702 0.99650823 -0.63217418] [ 0. 0. 0. 1. ]] SLAMing on 41.666547615 meters Centerline goodness : 0.780522 with order 1 Centerline is valid? [False, False] Translation: X:1.16, Y:1.04, Z:-0.62 [[ 0.99061834 0.11297784 0.07688508 1.16068526] [-0.11319737 0.99357137 -0.00151081 1.04299303] [-0.0765615 -0.00720655 0.99703882 -0.61909727] [ 0. 0. 0. 1. ]] SLAMing on 41.726547614999994 meters Centerline goodness : 0.777536 with order 1 Centerline is valid? [False, False] Translation: X:1.16, Y:1.05, Z:-0.62 [[ 0.99025454 0.11605621 0.07698635 1.16349782] [-0.11654187 0.99318409 0.00183064 1.04610227] [-0.07624916 -0.01078493 0.99703047 -0.62192768] [ 0. 0. 0. 1. ]] SLAMing on 41.786547614999996 meters Centerline goodness : 0.779984 with order 1 Centerline is valid? [False, False] Translation: X:1.16, Y:1.05, Z:-0.62 [[ 0.99008213 0.1172064 0.0774599 1.16139677] [-0.11765157 0.99305422 0.00119296 1.04830024] [-0.07678206 -0.01029441 0.99699475 -0.62202092] [ 0. 0. 0. 1. ]] SLAMing on 41.846547615 meters Centerline goodness : 0.781486 with order 1 Centerline is valid? [False, False] Translation: X:1.16, Y:1.05, Z:-0.62 [[ 0.98979119 0.11903927 0.07837765 1.15698759] [-0.11953704 0.99282833 0.00167334 1.04998813] [-0.07761636 -0.01102529 0.99692234 -0.61884104] [ 0. 0. 0. 1. ]] SLAMing on 41.906547614999994 meters Centerline goodness : 0.783233 with order 1 Centerline is valid? [False, False] Translation: X:1.16, Y:1.05, Z:-0.62 [[ 9.90038083e-01 1.17565190e-01 7.74791640e-02 1.16096069e+00] [-1.17977731e-01 9.93015956e-01 7.52937875e-04 1.05207261e+00] [-7.68495268e-02 -9.88625312e-03 9.96993687e-01 -6.21443369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.966547614999996 meters Centerline goodness : 0.783701 with order 1 Centerline is valid? [False, False] Translation: X:1.16, Y:1.05, Z:-0.62 [[ 0.99039321 0.11482473 0.0770492 1.1595582 ] [-0.11483951 0.99337495 -0.00425368 1.05400617] [-0.07702717 -0.00463547 0.99701822 -0.62161576] [ 0. 0. 0. 1. ]] SLAMing on 42.026547615 meters Centerline goodness : 0.784515 with order 1 Centerline is valid? [False, False] Translation: X:1.16, Y:1.05, Z:-0.62 [[ 9.90604725e-01 1.12977357e-01 7.70609893e-02 1.15677764e+00] [-1.12688905e-01 9.93597341e-01 -8.09539386e-03 1.05288903e+00] [-7.74821902e-02 -6.64583113e-04 9.96993515e-01 -6.21431091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.08654761499999 meters Centerline goodness : 0.781949 with order 1 Centerline is valid? [False, False] Translation: X:1.15, Y:1.05, Z:-0.63 [[ 0.9908403 0.10578388 0.08393613 1.152943 ] [-0.1059887 0.99436527 -0.00202466 1.0526006 ] [-0.08367735 -0.00689017 0.99646908 -0.62853076] [ 0. 0. 0. 1. ]] SLAMing on 42.146547614999996 meters Centerline goodness : 0.780769 with order 1 Centerline is valid? [False, False] Translation: X:1.15, Y:1.05, Z:-0.62 [[ 0.99189372 0.10553218 0.07077998 1.15047674] [-0.10589266 0.99437665 0.00134964 1.04875424] [-0.07023953 -0.00883378 0.99749104 -0.62404103] [ 0. 0. 0. 1. ]] SLAMing on 42.206547615 meters Centerline goodness : 0.780217 with order 1 Centerline is valid? [False, False] Translation: X:1.15, Y:1.05, Z:-0.63 [[ 9.91776816e-01 1.06530213e-01 7.09229203e-02 1.14902513e+00] [-1.06749961e-01 9.94285654e-01 -6.95498249e-04 1.05380799e+00] [-7.05917337e-02 -6.88123990e-03 9.97481557e-01 -6.25422629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.26654761499999 meters Centerline goodness : 0.782663 with order 1 Centerline is valid? [False, False] Translation: X:1.15, Y:1.05, Z:-0.62 [[ 0.99217265 0.10318598 0.07032844 1.14813026] [-0.10313697 0.99465771 -0.00433752 1.05431116] [-0.07040029 -0.00294989 0.99751446 -0.62336832] [ 0. 0. 0. 1. ]] SLAMing on 42.326547614999996 meters Centerline goodness : 0.776951 with order 1 Centerline is valid? [False, False] Translation: X:1.15, Y:1.05, Z:-0.63 [[ 0.99335949 0.09385621 0.0665428 1.15433028] [-0.09458053 0.99548656 0.00781257 1.0507873 ] [-0.06550921 -0.01405434 0.99775299 -0.62524771] [ 0. 0. 0. 1. ]] SLAMing on 42.386547615 meters Centerline goodness : 0.784920 with order 1 Centerline is valid? [False, False] Translation: X:1.14, Y:1.05, Z:-0.62 [[ 0.99340326 0.09230935 0.06803631 1.14256361] [-0.0927938 0.99567736 0.00398811 1.05028992] [-0.06737407 -0.01027515 0.99767487 -0.61625488] [ 0. 0. 0. 1. ]] SLAMing on 42.446547615 meters Centerline goodness : 0.784236 with order 1 Centerline is valid? [False, False] Translation: X:1.14, Y:1.05, Z:-0.62 [[ 9.93860684e-01 8.80936389e-02 6.69361735e-02 1.14450180e+00] [-8.82441927e-02 9.96098619e-01 -7.09904732e-04 1.05429367e+00] [-6.67375681e-02 -5.20118219e-03 9.97757007e-01 -6.16723191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.506547614999995 meters Centerline goodness : 0.782031 with order 1 Centerline is valid? [False, False] Translation: X:1.16, Y:1.05, Z:-0.62 [[ 9.94854977e-01 7.80831886e-02 6.45491353e-02 1.15587515e+00] [-7.78888459e-02 9.96946736e-01 -5.52562173e-03 1.05212981e+00] [-6.47835080e-02 4.69534619e-04 9.97899232e-01 -6.19032407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.566547615 meters Centerline goodness : 0.787687 with order 1 Centerline is valid? [False, False] Translation: X:1.15, Y:1.05, Z:-0.61 [[ 0.99508703 0.06413742 0.07542014 1.14958813] [-0.06441907 0.99792208 0.00130522 1.0510018 ] [-0.07517971 -0.00615731 0.99715099 -0.6112658 ] [ 0. 0. 0. 1. ]] SLAMing on 42.626547615 meters Centerline goodness : 0.791249 with order 1 Centerline is valid? [False, False] Translation: X:1.15, Y:1.05, Z:-0.61 [[ 9.95154108e-01 6.40750294e-02 7.45834620e-02 1.15064124e+00] [-6.42656672e-02 9.97932813e-01 1.56446674e-04 1.05258505e+00] [-7.44192598e-02 -4.94884450e-03 9.97214763e-01 -6.11412276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.686547614999995 meters Centerline goodness : 0.791125 with order 1 Centerline is valid? [False, False] Translation: X:1.15, Y:1.06, Z:-0.61 [[ 0.9942034 0.07612496 0.07592484 1.14757823] [-0.07720018 0.9969513 0.01132452 1.06039256] [-0.07483129 -0.01712029 0.99704923 -0.60853876] [ 0. 0. 0. 1. ]] SLAMing on 42.746547615 meters Centerline goodness : 0.786240 with order 1 Centerline is valid? [False, False] Translation: X:1.15, Y:1.07, Z:-0.61 [[ 0.9936795 0.0837467 0.07474988 1.1508509 ] [-0.08503385 0.99627686 0.01420052 1.07121078] [-0.07328233 -0.02046703 0.9971012 -0.6145486 ] [ 0. 0. 0. 1. ]] SLAMing on 42.806547615 meters Centerline goodness : 0.786704 with order 1 Centerline is valid? [False, False] Translation: X:1.15, Y:1.08, Z:-0.62 [[ 0.99362417 0.08457361 0.07455403 1.14994679] [-0.08571259 0.99624513 0.01220654 1.0757427 ] [-0.07324174 -0.01851893 0.99714226 -0.61545865] [ 0. 0. 0. 1. ]] SLAMing on 42.866547614999995 meters Centerline goodness : 0.782033 with order 1 Centerline is valid? [False, False] Translation: X:1.15, Y:1.08, Z:-0.62 [[ 0.99334246 0.08808182 0.07424519 1.15222185] [-0.08926332 0.99592655 0.01274194 1.08459578] [-0.07282042 -0.01928448 0.99715861 -0.62059338] [ 0. 0. 0. 1. ]] SLAMing on 42.926547615 meters Centerline goodness : 0.774904 with order 1 Centerline is valid? [False, False] Translation: X:1.15, Y:1.09, Z:-0.63 [[ 0.99332662 0.08965021 0.07256078 1.15358746] [-0.09043218 0.99587394 0.00755757 1.08945154] [-0.07158385 -0.01406897 0.99733536 -0.62912571] [ 0. 0. 0. 1. ]] SLAMing on 42.986547615 meters Centerline goodness : 0.782378 with order 1 Centerline is valid? [False, False] Translation: X:1.14, Y:1.09, Z:-0.62 [[ 0.99257751 0.09572631 0.07500904 1.14144772] [-0.09687575 0.99522617 0.01183008 1.08639154] [-0.07351851 -0.01900883 0.99711268 -0.62063868] [ 0. 0. 0. 1. ]] SLAMing on 43.046547614999994 meters Centerline goodness : 0.782340 with order 1 Centerline is valid? [False, False] Translation: X:1.14, Y:1.08, Z:-0.62 [[ 0.99264827 0.09489937 0.07512331 1.14355616] [-0.09614922 0.99527952 0.01319111 1.07862214] [-0.07351686 -0.02031718 0.997087 -0.62315753] [ 0. 0. 0. 1. ]] SLAMing on 43.106547615 meters Centerline goodness : 0.786899 with order 1 Centerline is valid? [False, False] Translation: X:1.14, Y:1.08, Z:-0.62 [[ 0.99311118 0.09002397 0.07500581 1.13986693] [-0.09065111 0.9958702 0.00499212 1.07765063] [-0.07424664 -0.01175709 0.9971706 -0.62354029] [ 0. 0. 0. 1. ]] SLAMing on 43.166547615 meters Centerline goodness : 0.786357 with order 1 Centerline is valid? [False, False] Translation: X:1.14, Y:1.08, Z:-0.63 [[ 9.93608264e-01 8.51288921e-02 7.41329169e-02 1.14314736e+00] [-8.53345871e-02 9.96352274e-01 -3.94078998e-04 1.07718671e+00] [-7.38960478e-02 -5.93454170e-03 9.97248292e-01 -6.27737216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.226547614999994 meters Centerline goodness : 0.783957 with order 1 Centerline is valid? [False, False] Translation: X:1.15, Y:1.08, Z:-0.63 [[ 9.93795745e-01 8.37532921e-02 7.31806163e-02 1.14706175e+00] [-8.39130489e-02 9.96472679e-01 -8.94176621e-04 1.07718907e+00] [-7.29973750e-02 -5.25217971e-03 9.97318303e-01 -6.29965370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.286547614999996 meters Centerline goodness : 0.786202 with order 1 Centerline is valid? [False, False] Translation: X:1.15, Y:1.07, Z:-0.63 [[ 0.99411815 0.08018821 0.07279387 1.14611717] [-0.08025244 0.99677247 -0.00204685 1.07096399] [-0.07272306 -0.00380707 0.99734491 -0.62549025] [ 0. 0. 0. 1. ]] SLAMing on 43.346547615 meters Centerline goodness : 0.786233 with order 1 Centerline is valid? [False, False] Translation: X:1.15, Y:1.07, Z:-0.63 [[ 0.99420003 0.07989434 0.07199441 1.15311171] [-0.08019133 0.99677872 0.00123962 1.0708146 ] [-0.07166346 -0.00700575 0.99740427 -0.62788805] [ 0. 0. 0. 1. ]] SLAMing on 43.406547614999994 meters Centerline goodness : 0.791691 with order 1 Centerline is valid? [False, False] Translation: X:1.14, Y:1.07, Z:-0.62 [[ 0.99407291 0.08030264 0.07328395 1.14387162] [-0.08043292 0.99675933 -0.00117649 1.06931004] [-0.07314094 -0.00472493 0.99731042 -0.62238142] [ 0. 0. 0. 1. ]] SLAMing on 43.466547614999996 meters Centerline goodness : 0.790568 with order 1 Centerline is valid? [False, False] Translation: X:1.15, Y:1.07, Z:-0.62 [[ 0.99417796 0.07901992 0.07325319 1.14641221] [-0.07911291 0.99686432 -0.0016358 1.07175782] [-0.07315276 -0.00416899 0.99731203 -0.62469123] [ 0. 0. 0. 1. ]] SLAMing on 43.526547615 meters Centerline goodness : 0.784926 with order 1 Centerline is valid? [False, False] Translation: X:1.15, Y:1.07, Z:-0.62 [[ 0.99498276 0.08056469 0.05931805 1.14510689] [-0.08088695 0.99671862 0.00304787 1.07169496] [-0.05887785 -0.00783063 0.99823448 -0.61752948] [ 0. 0. 0. 1. ]] SLAMing on 43.58654761499999 meters Centerline goodness : 0.789212 with order 1 Centerline is valid? [False, False] Translation: X:1.13, Y:1.07, Z:-0.61 [[ 9.94473470e-01 8.55077545e-02 6.09174934e-02 1.13195828e+00] [-8.56616951e-02 9.96324278e-01 -8.48460721e-05 1.07378287e+00] [-6.07008327e-02 -5.13391858e-03 9.98142801e-01 -6.14118756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.646547614999996 meters Centerline goodness : 0.785985 with order 1 Centerline is valid? [False, False] Translation: X:1.14, Y:1.08, Z:-0.62 [[ 0.99457651 0.08499808 0.05994068 1.1393998 ] [-0.08532079 0.99634948 0.0028405 1.07615874] [-0.05948043 -0.00793929 0.9981979 -0.61632119] [ 0. 0. 0. 1. ]] SLAMing on 43.706547615 meters Centerline goodness : 0.787867 with order 1 Centerline is valid? [False, False] Translation: X:1.14, Y:1.08, Z:-0.61 [[ 0.99441377 0.08627392 0.06081173 1.13561235] [-0.08668915 0.99622648 0.00421832 1.07510502] [-0.06021833 -0.00946647 0.99814034 -0.61284785] [ 0. 0. 0. 1. ]] SLAMing on 43.76654761499999 meters Centerline goodness : 0.786568 with order 1 Centerline is valid? [False, False] Translation: X:1.14, Y:1.07, Z:-0.61 [[ 0.99447936 0.08572932 0.06050864 1.13688728] [-0.08609512 0.99628092 0.00345945 1.07470235] [-0.05998702 -0.00864985 0.99816168 -0.61428451] [ 0. 0. 0. 1. ]] SLAMing on 43.826547614999996 meters Centerline goodness : 0.787196 with order 1 Centerline is valid? [False, False] Translation: X:1.14, Y:1.07, Z:-0.62 [[ 0.99490284 0.08125043 0.05972186 1.14026476] [-0.08129212 0.99668881 -0.00173519 1.07011265] [-0.0596651 -0.00312857 0.99821355 -0.62006046] [ 0. 0. 0. 1. ]] SLAMing on 43.886547615 meters Centerline goodness : 0.788654 with order 1 Centerline is valid? [False, False] Translation: X:1.14, Y:1.07, Z:-0.62 [[ 9.95074816e-01 7.91156147e-02 5.97229462e-02 1.14290698e+00] [-7.92673637e-02 9.96853377e-01 1.72290613e-04 1.06583439e+00] [-5.95213897e-02 -4.90552255e-03 9.98214977e-01 -6.19012896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.946547615 meters Centerline goodness : 0.795667 with order 1 Centerline is valid? [False, False] Translation: X:1.14, Y:1.06, Z:-0.61 [[ 0.99537883 0.07554603 0.0592771 1.14210564] [-0.07560833 0.99713688 -0.0011944 1.06009977] [-0.05919762 -0.00329296 0.99824085 -0.61488065] [ 0. 0. 0. 1. ]] SLAMing on 44.006547614999995 meters Centerline goodness : 0.796406 with order 3 Centerline is valid? [False, False] Translation: X:1.14, Y:1.06, Z:-0.61 [[ 9.96052860e-01 7.67757920e-02 4.45441140e-02 1.14296199e+00] [-7.68826929e-02 9.97039907e-01 6.89150933e-04 1.05678828e+00] [-4.43593492e-02 -4.11110219e-03 9.99007181e-01 -6.12027196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.066547615 meters Centerline goodness : 0.796930 with order 3 Centerline is valid? [False, False] Translation: X:1.14, Y:1.06, Z:-0.61 [[ 0.99601788 0.07695814 0.04500912 1.1418546 ] [-0.07710775 0.99702149 0.00159474 1.0564634 ] [-0.04475234 -0.00505894 0.9989853 -0.61070832] [ 0. 0. 0. 1. ]] SLAMing on 44.126547615 meters Centerline goodness : 0.794598 with order 1 Centerline is valid? [False, False] Translation: X:1.14, Y:1.06, Z:-0.61 [[ 9.95951296e-01 7.78061105e-02 4.50247110e-02 1.14063146e+00] [-7.79284496e-02 9.96958487e-01 9.65652555e-04 1.06164704e+00] [-4.48126341e-02 -4.47044884e-03 9.98985407e-01 -6.10015025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.186547614999995 meters Centerline goodness : 0.794518 with order 1 Centerline is valid? [False, False] Translation: X:1.13, Y:1.06, Z:-0.61 [[ 9.95564653e-01 8.18864379e-02 4.63209762e-02 1.13341103e+00] [-8.19671726e-02 9.96635017e-01 -1.56984854e-04 1.06446129e+00] [-4.61779619e-02 -3.64051088e-03 9.98926595e-01 -6.10117803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.246547615 meters Centerline goodness : 0.792418 with order 2 Centerline is valid? [False, False] Translation: X:1.14, Y:1.07, Z:-0.61 [[ 0.99503645 0.08814959 0.04617478 1.13634375] [-0.08852709 0.99605453 0.00619126 1.07146949] [-0.04544684 -0.01024825 0.99891419 -0.61097551] [ 0. 0. 0. 1. ]] SLAMing on 44.306547615 meters Centerline goodness : 0.792062 with order 3 Centerline is valid? [False, False] Translation: X:1.14, Y:1.08, Z:-0.62 [[ 9.95105146e-01 8.82679561e-02 4.44355255e-02 1.13918606e+00] [-8.83757975e-02 9.96087096e-01 4.64465713e-04 1.08089335e+00] [-4.42206561e-02 -4.38921722e-03 9.99012146e-01 -6.17918347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.366547614999995 meters Centerline goodness : 0.792088 with order 3 Centerline is valid? [False, False] Translation: X:1.14, Y:1.08, Z:-0.62 [[ 9.95220184e-01 8.68425781e-02 4.46671159e-02 1.13567473e+00] [-8.67849048e-02 9.96221829e-01 -3.23242312e-03 1.08406338e+00] [-4.47790678e-02 -6.59458668e-04 9.98996697e-01 -6.16552202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.426547615 meters Centerline goodness : 0.789108 with order 3 Centerline is valid? [False, False] Translation: X:1.13, Y:1.09, Z:-0.62 [[ 0.99498525 0.08481409 0.05301822 1.12677685] [-0.08512606 0.9963635 0.00364989 1.08786839] [-0.05251585 -0.00814482 0.99858688 -0.61956566] [ 0. 0. 0. 1. ]] SLAMing on 44.486547615 meters Centerline goodness : 0.792303 with order 1 Centerline is valid? [False, False] Translation: X:1.12, Y:1.09, Z:-0.62 [[ 9.95010698e-01 8.38591889e-02 5.40494821e-02 1.11641138e+00] [-8.37739804e-02 9.96477367e-01 -3.84420064e-03 1.08594752e+00] [-5.41814571e-02 -7.02919485e-04 9.98530859e-01 -6.18608035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.546547614999994 meters Centerline goodness : 0.786042 with order 1 Centerline is valid? [False, False] Translation: X:1.12, Y:1.09, Z:-0.62 [[ 9.94788309e-01 8.64344985e-02 5.40860301e-02 1.11949765e+00] [-8.65050698e-02 9.96250868e-01 -1.03930927e-03 1.09050557e+00] [-5.39730866e-02 -3.64482309e-03 9.98535739e-01 -6.21581774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.606547615 meters Centerline goodness : 0.788268 with order 1 Centerline is valid? [False, False] Translation: X:1.12, Y:1.09, Z:-0.62 [[ 9.95027034e-01 8.37330279e-02 5.39442525e-02 1.11790208e+00] [-8.36057093e-02 9.96488220e-01 -4.61652564e-03 1.08670464e+00] [-5.41413678e-02 8.35203253e-05 9.98533277e-01 -6.21415171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.666547615 meters Centerline goodness : 0.788788 with order 1 Centerline is valid? [False, False] Translation: X:1.12, Y:1.09, Z:-0.62 [[ 9.94770325e-01 8.65989332e-02 5.41537138e-02 1.11949036e+00] [-8.67436414e-02 9.96230614e-01 3.23005675e-04 1.08622479e+00] [-5.39216156e-02 -5.01880679e-03 9.98532559e-01 -6.20942958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.726547614999994 meters Centerline goodness : 0.783921 with order 1 Centerline is valid? [False, False] Translation: X:1.12, Y:1.09, Z:-0.62 [[ 9.95066277e-01 8.33530350e-02 5.38087031e-02 1.11924027e+00] [-8.32098947e-02 9.96520002e-01 -4.89895648e-03 1.08774050e+00] [-5.40297918e-02 3.97369864e-04 9.98539245e-01 -6.22801580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.786547614999996 meters Centerline goodness : 0.786173 with order 1 Centerline is valid? [False, False] Translation: X:1.12, Y:1.09, Z:-0.62 [[ 9.95230181e-01 8.19751651e-02 5.28862854e-02 1.12169279e+00] [-8.18359529e-02 9.96634273e-01 -4.79611817e-03 1.08506489e+00] [-5.31014472e-02 4.45241992e-04 9.98589024e-01 -6.21982166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.846547615 meters Centerline goodness : 0.783652 with order 1 Centerline is valid? [False, False] Translation: X:1.14, Y:1.08, Z:-0.63 [[ 9.95827666e-01 7.64073095e-02 4.98917064e-02 1.13864044e+00] [-7.63556827e-02 9.97076301e-01 -2.94269871e-03 1.08439776e+00] [-4.99706818e-02 -8.79094518e-04 9.98750298e-01 -6.25704862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.906547614999994 meters Centerline goodness : 0.781817 with order 1 Centerline is valid? [False, False] Translation: X:1.14, Y:1.08, Z:-0.62 [[ 0.99636282 0.06995485 0.04865635 1.14239666] [-0.06969908 0.99754395 -0.00693565 1.08467183] [-0.04902203 0.00351912 0.9987915 -0.62446062] [ 0. 0. 0. 1. ]] SLAMing on 44.966547614999996 meters Centerline goodness : 0.791148 with order 1 Centerline is valid? [False, False] Translation: X:1.20, Y:1.07, Z:-0.60 [[ 0.9973075 0.05179957 0.05190911 1.19722094] [-0.05221309 0.99861388 0.00664124 1.07144313] [-0.05149314 -0.00933369 0.99862973 -0.60423555] [ 0. 0. 0. 1. ]] SLAMing on 45.026547615 meters Centerline goodness : 0.784161 with order 1 Centerline is valid? [False, False] Translation: X:1.20, Y:1.08, Z:-0.61 [[ 0.99770227 0.04989254 0.04583569 1.19959406] [-0.0509226 0.99846929 0.0215863 1.07967772] [-0.04468853 -0.02387077 0.99871574 -0.6056722 ] [ 0. 0. 0. 1. ]] SLAMing on 45.08654761499999 meters Centerline goodness : 0.786393 with order 1 Centerline is valid? [False, False] Translation: X:1.20, Y:1.08, Z:-0.60 [[ 0.9978326 0.04739933 0.04564424 1.19709099] [-0.04824037 0.99868238 0.01750362 1.08143995] [-0.04475444 -0.01966757 0.9988044 -0.60318993] [ 0. 0. 0. 1. ]] SLAMing on 45.146547614999996 meters Centerline goodness : 0.792482 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:1.08, Z:-0.60 [[ 0.99796008 0.0441117 0.04615023 1.19292733] [-0.04482449 0.99888928 0.01452518 1.08160512] [-0.04545824 -0.01656421 0.9988289 -0.59721783] [ 0. 0. 0. 1. ]] SLAMing on 45.206547615 meters Centerline goodness : 0.783249 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:1.09, Z:-0.60 [[ 0.99832019 0.04364763 0.03810103 1.19365851] [-0.04464954 0.99866812 0.02585344 1.0915602 ] [-0.03692185 -0.0275112 0.99893939 -0.60071174] [ 0. 0. 0. 1. ]] SLAMing on 45.26654761499999 meters Centerline goodness : 0.788093 with order 1 Centerline is valid? [False, False] Translation: X:1.20, Y:1.10, Z:-0.60 [[ 0.99829222 0.05022494 0.02983452 1.20171341] [-0.05064363 0.99862625 0.01344747 1.09559208] [-0.02911813 -0.01493544 0.99946439 -0.59895573] [ 0. 0. 0. 1. ]] SLAMing on 45.326547614999996 meters Centerline goodness : 0.791538 with order 1 Centerline is valid? [False, False] Translation: X:1.20, Y:1.10, Z:-0.60 [[ 0.99755731 0.06281606 0.03055428 1.20049723] [-0.06358349 0.99766761 0.02482888 1.10286241] [-0.02892337 -0.02671098 0.99922468 -0.5979485 ] [ 0. 0. 0. 1. ]] SLAMing on 45.386547615 meters Centerline goodness : 0.790979 with order 1 Centerline is valid? [False, False] Translation: X:1.20, Y:1.11, Z:-0.61 [[ 0.99725644 0.06742573 0.03055107 1.20191343] [-0.06819219 0.99736439 0.02478086 1.10767731] [-0.02879969 -0.02679622 0.99922597 -0.6058035 ] [ 0. 0. 0. 1. ]] SLAMing on 45.446547615 meters Centerline goodness : 0.793819 with order 1 Centerline is valid? [False, False] Translation: X:1.18, Y:1.11, Z:-0.60 [[ 0.99665181 0.07411006 0.03453797 1.18332321] [-0.07493171 0.99692029 0.02313383 1.10808357] [-0.03271715 -0.02564436 0.9991356 -0.60101215] [ 0. 0. 0. 1. ]] SLAMing on 45.506547614999995 meters Centerline goodness : 0.791193 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:1.11, Z:-0.61 [[ 0.99676999 0.07283609 0.0338303 1.1911022 ] [-0.07419392 0.99640956 0.04078286 1.10793454] [-0.03073837 -0.04316114 0.99859515 -0.60916697] [ 0. 0. 0. 1. ]] SLAMing on 45.566547615 meters Centerline goodness : 0.798280 with order 1 Centerline is valid? [False, False] Translation: X:1.18, Y:1.10, Z:-0.60 [[ 0.99660788 0.07083539 0.04189379 1.1835323 ] [-0.07191737 0.99709953 0.02490804 1.10207662] [-0.0400079 -0.02783644 0.99881154 -0.59903843] [ 0. 0. 0. 1. ]] SLAMing on 45.626547615 meters Centerline goodness : 0.796031 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:1.10, Z:-0.60 [[ 0.9965972 0.07070611 0.04236352 1.18507832] [-0.07181342 0.99709941 0.02521118 1.10096005] [-0.04045805 -0.02816766 0.99878413 -0.6025527 ] [ 0. 0. 0. 1. ]] SLAMing on 45.686547614999995 meters Centerline goodness : 0.792605 with order 1 Centerline is valid? [False, False] Translation: X:1.20, Y:1.09, Z:-0.61 [[ 0.99681217 0.06845483 0.04098094 1.19542615] [-0.06945921 0.99730545 0.02360637 1.09469696] [-0.03925454 -0.02637762 0.99888103 -0.61436596] [ 0. 0. 0. 1. ]] SLAMing on 45.746547615 meters Centerline goodness : 0.800084 with order 1 Centerline is valid? [False, False] Translation: X:1.18, Y:1.09, Z:-0.61 [[ 0.9962884 0.07305666 0.04552085 1.18441148] [-0.07338036 0.99728898 0.00547876 1.09413337] [-0.04499719 -0.00879876 0.99894836 -0.61093265] [ 0. 0. 0. 1. ]] SLAMing on 45.806547615 meters Centerline goodness : 0.792655 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:1.09, Z:-0.61 [[ 0.99709979 0.06618009 0.03757926 1.1875638 ] [-0.06678214 0.99765487 0.0149968 1.09287876] [-0.03649865 -0.01746293 0.99918111 -0.61278537] [ 0. 0. 0. 1. ]] SLAMing on 45.866547614999995 meters Centerline goodness : 0.795470 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:1.08, Z:-0.60 [[ 0.99759438 0.05741803 0.03884097 1.18504908] [-0.0579431 0.99824125 0.01252984 1.08277262] [-0.03805322 -0.01475026 0.99916684 -0.60417301] [ 0. 0. 0. 1. ]] SLAMing on 45.926547615 meters Centerline goodness : 0.792801 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:1.09, Z:-0.61 [[ 0.99714504 0.06492319 0.03855826 1.18792751] [-0.06565504 0.99767955 0.01802607 1.08802375] [-0.03729847 -0.02050615 0.99909375 -0.60877988] [ 0. 0. 0. 1. ]] SLAMing on 45.986547615 meters Centerline goodness : 0.796258 with order 1 Centerline is valid? [False, False] Translation: X:1.18, Y:1.09, Z:-0.61 [[ 0.99695626 0.0673667 0.03924217 1.18457581] [-0.06809071 0.99752716 0.01741352 1.08846149] [-0.03797204 -0.02003254 0.99907799 -0.60985641] [ 0. 0. 0. 1. ]] SLAMing on 46.046547614999994 meters Centerline goodness : 0.796689 with order 1 Centerline is valid? [False, False] Translation: X:1.18, Y:1.09, Z:-0.60 [[ 0.99662261 0.07134664 0.04065745 1.17754572] [-0.07221529 0.99718224 0.02031095 1.09154276] [-0.03909377 -0.02317844 0.99896668 -0.60381127] [ 0. 0. 0. 1. ]] SLAMing on 46.106547615 meters Centerline goodness : 0.794614 with order 1 Centerline is valid? [False, False] Translation: X:1.18, Y:1.10, Z:-0.61 [[ 0.99697353 0.06697148 0.0394791 1.18076989] [-0.06748486 0.99765032 0.01181636 1.09756872] [-0.03859497 -0.01444484 0.99915053 -0.6114381 ] [ 0. 0. 0. 1. ]] SLAMing on 46.166547615 meters Centerline goodness : 0.794816 with order 1 Centerline is valid? [False, False] Translation: X:1.18, Y:1.10, Z:-0.61 [[ 0.99722409 0.06341934 0.03901415 1.18078857] [-0.06374557 0.9979404 0.00717425 1.09831687] [-0.03847881 -0.00964132 0.9992129 -0.61202698] [ 0. 0. 0. 1. ]] SLAMing on 46.226547614999994 meters Centerline goodness : 0.791563 with order 1 Centerline is valid? [False, False] Translation: X:1.18, Y:1.10, Z:-0.62 [[ 0.9975607 0.0545268 0.04358306 1.18424475] [-0.05519 0.99837545 0.01416057 1.10070651] [-0.04274013 -0.01653138 0.99894945 -0.62088499] [ 0. 0. 0. 1. ]] SLAMing on 46.286547614999996 meters Centerline goodness : 0.794314 with order 1 Centerline is valid? [False, False] Translation: X:1.18, Y:1.10, Z:-0.62 [[ 0.99818763 0.04226716 0.04283634 1.18462694] [-0.04244583 0.99909342 0.00326953 1.09535808] [-0.04265931 -0.00508182 0.99907675 -0.61915637] [ 0. 0. 0. 1. ]] SLAMing on 46.346547615 meters Centerline goodness : 0.793308 with order 1 Centerline is valid? [False, False] Translation: X:1.18, Y:1.09, Z:-0.62 [[ 9.98362556e-01 3.77079740e-02 4.30152855e-02 1.18414276e+00] [-3.77466322e-02 9.99287338e-01 8.65560195e-05 1.09453714e+00] [-4.29813663e-02 -1.71009645e-03 9.99074411e-01 -6.17191164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.406547614999994 meters Centerline goodness : 0.786792 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:1.10, Z:-0.62 [[ 0.99814773 0.04464686 0.04132512 1.18857284] [-0.04483586 0.99898767 0.00365746 1.10367388] [-0.04111999 -0.00550353 0.99913906 -0.62180584] [ 0. 0. 0. 1. ]] SLAMing on 46.466547614999996 meters Centerline goodness : 0.786465 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:1.11, Z:-0.62 [[ 0.9981887 0.04414288 0.04087456 1.18957716] [-0.04428976 0.99901509 0.00269463 1.10859547] [-0.04071536 -0.00450008 0.99916065 -0.6217757 ] [ 0. 0. 0. 1. ]] SLAMing on 46.526547615 meters Centerline goodness : 0.784777 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:1.11, Z:-0.62 [[ 0.99801546 0.04773055 0.0410723 1.18960446] [-0.0480593 0.99881958 0.00705382 1.10953022] [-0.04068713 -0.00901372 0.99913128 -0.6207499 ] [ 0. 0. 0. 1. ]] SLAMing on 46.58654761499999 meters Centerline goodness : 0.795280 with order 1 Centerline is valid? [False, False] Translation: X:1.18, Y:1.11, Z:-0.62 [[ 0.99746949 0.052685 0.04773782 1.18479927] [-0.05239232 0.99859944 -0.00736256 1.11163685] [-0.04805886 0.00484284 0.99883277 -0.61989198] [ 0. 0. 0. 1. ]] SLAMing on 46.646547614999996 meters Centerline goodness : 0.788415 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:1.11, Z:-0.61 [[ 9.97872844e-01 5.55862188e-02 3.40581758e-02 1.18519113e+00] [-5.56487838e-02 9.98450008e-01 8.91109126e-04 1.10923606e+00] [-3.39558525e-02 -2.78450966e-03 9.99419455e-01 -6.14984719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.706547615 meters Centerline goodness : 0.789208 with order 1 Centerline is valid? [False, False] Translation: X:1.20, Y:1.10, Z:-0.62 [[ 9.98421783e-01 4.65981872e-02 3.13456993e-02 1.20083503e+00] [-4.66281952e-02 9.98912288e-01 2.26631704e-04 1.10473256e+00] [-3.13010436e-02 -1.68786741e-03 9.99508577e-01 -6.18081185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.76654761499999 meters Centerline goodness : 0.792572 with order 1 Centerline is valid? [False, False] Translation: X:1.20, Y:1.10, Z:-0.61 [[ 9.98589166e-01 4.27789849e-02 3.14584868e-02 1.19887501e+00] [-4.28250163e-02 9.99082275e-01 7.90623239e-04 1.09759957e+00] [-3.13957945e-02 -2.13671801e-03 9.99504747e-01 -6.09721379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.826547614999996 meters Centerline goodness : 0.790147 with order 1 Centerline is valid? [False, False] Translation: X:1.21, Y:1.10, Z:-0.61 [[ 0.99866615 0.04215609 0.02981241 1.20832221] [-0.0422363 0.99910551 0.00206558 1.1011377 ] [-0.02969867 -0.00332199 0.99955338 -0.6147382 ] [ 0. 0. 0. 1. ]] SLAMing on 46.886547615 meters Centerline goodness : 0.791691 with order 1 Centerline is valid? [False, False] Translation: X:1.21, Y:1.10, Z:-0.61 [[ 0.99862505 0.04317578 0.02972993 1.20714769] [-0.04325551 0.99906195 0.00204346 1.10007046] [-0.02961381 -0.00332664 0.99955588 -0.61414977] [ 0. 0. 0. 1. ]] SLAMing on 46.946547615 meters Centerline goodness : 0.785704 with order 1 Centerline is valid? [False, False] Translation: X:1.20, Y:1.10, Z:-0.62 [[ 0.9986167 0.04744254 0.0226691 1.20006245] [-0.04778298 0.99874928 0.01471973 1.10469675] [-0.02194241 -0.01578256 0.99963465 -0.61585129] [ 0. 0. 0. 1. ]] SLAMing on 47.006547614999995 meters Centerline goodness : 0.785468 with order 1 Centerline is valid? [False, False] Translation: X:1.20, Y:1.11, Z:-0.61 [[ 0.99857361 0.04832645 0.0227003 1.19852693] [-0.04865619 0.99871457 0.01420514 1.10766516] [-0.02198464 -0.01528939 0.99964139 -0.61498337] [ 0. 0. 0. 1. ]] SLAMing on 47.066547615 meters Centerline goodness : 0.788138 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:1.11, Z:-0.61 [[ 0.99864894 0.04656493 0.02306496 1.19341499] [-0.04684078 0.99883539 0.01156701 1.10616875] [-0.02249948 -0.01263176 0.99966705 -0.61003673] [ 0. 0. 0. 1. ]] SLAMing on 47.126547615 meters Centerline goodness : 0.784616 with order 1 Centerline is valid? [False, False] Translation: X:1.20, Y:1.11, Z:-0.61 [[ 0.9985517 0.04868568 0.02289561 1.19770502] [-0.04902598 0.99869161 0.01454409 1.11479625] [-0.02215756 -0.01564551 0.99963206 -0.61273109] [ 0. 0. 0. 1. ]] SLAMing on 47.186547614999995 meters Centerline goodness : 0.791109 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:1.11, Z:-0.61 [[ 0.99869484 0.04525274 0.02368131 1.19020775] [-0.04543953 0.99893961 0.00740968 1.1110439 ] [-0.02332089 -0.00847608 0.9996921 -0.61065465] [ 0. 0. 0. 1. ]] SLAMing on 47.246547615 meters Centerline goodness : 0.791101 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:1.12, Z:-0.61 [[ 0.99829184 0.05313507 0.02429128 1.18861959] [-0.05354536 0.99842804 0.01656345 1.11536859] [-0.023373 -0.01783584 0.9995677 -0.60660825] [ 0. 0. 0. 1. ]] SLAMing on 47.306547615 meters Centerline goodness : 0.787481 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:1.12, Z:-0.61 [[ 0.99860154 0.04767573 0.02284705 1.19365418] [-0.04787834 0.99881782 0.00840419 1.11878901] [-0.02241937 -0.00948632 0.99970365 -0.61376763] [ 0. 0. 0. 1. ]] SLAMing on 47.366547614999995 meters Centerline goodness : 0.794274 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:1.11, Z:-0.61 [[ 0.99878999 0.04352456 0.02289451 1.19191511] [-0.0437278 0.99900773 0.0084522 1.11361333] [-0.02250391 -0.0094431 0.99970216 -0.60592059] [ 0. 0. 0. 1. ]] SLAMing on 47.426547615 meters Centerline goodness : 0.789057 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:1.11, Z:-0.61 [[ 0.99923388 0.03752664 0.01110877 1.21518078] [-0.03763527 0.99924411 0.00973663 1.11280249] [-0.01073499 -0.01014725 0.99989089 -0.61022004] [ 0. 0. 0. 1. ]] SLAMing on 47.486547615 meters Centerline goodness : 0.787549 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:1.11, Z:-0.61 [[ 0.99943672 0.03197909 0.01017743 1.21759024] [-0.03202715 0.99947644 0.00459501 1.11434907] [-0.01002516 -0.00491837 0.99993765 -0.61052717] [ 0. 0. 0. 1. ]] SLAMing on 47.546547614999994 meters Centerline goodness : 0.794346 with order 1 Centerline is valid? [False, False] Translation: X:1.21, Y:1.12, Z:-0.60 [[ 0.9994198 0.0321896 0.01113064 1.21102094] [-0.03224084 0.9994702 0.00445479 1.11712402] [-0.01098135 -0.00481107 0.99992813 -0.60422112] [ 0. 0. 0. 1. ]] SLAMing on 47.606547615 meters Centerline goodness : 0.786282 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:1.12, Z:-0.61 [[ 0.99937261 0.03400824 0.00989093 1.21594946] [-0.03406848 0.99940157 0.00598741 1.12301404] [-0.00968139 -0.00632062 0.99993316 -0.60679915] [ 0. 0. 0. 1. ]] SLAMing on 47.666547615 meters Centerline goodness : 0.786997 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:1.13, Z:-0.61 [[ 0.99932217 0.03571044 0.00894244 1.21527314] [-0.03574585 0.99935357 0.00383126 1.12992096] [-0.00879984 -0.00414832 0.99995268 -0.60697959] [ 0. 0. 0. 1. ]] SLAMing on 47.726547614999994 meters Centerline goodness : 0.786298 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:1.14, Z:-0.61 [[ 0.99940272 0.03340557 0.00884739 1.2201206 ] [-0.03343252 0.99943672 0.00291649 1.13758898] [-0.00874498 -0.00321054 0.99995661 -0.61008352] [ 0. 0. 0. 1. ]] SLAMing on 47.786547614999996 meters Centerline goodness : 0.783342 with order 1 Centerline is valid? [False, False] Translation: X:1.24, Y:1.15, Z:-0.61 [[ 0.99969206 0.02428747 0.00508979 1.23695847] [-0.02429464 0.99970393 0.00135217 1.14575297] [-0.00505545 -0.00147541 0.99998613 -0.60920621] [ 0. 0. 0. 1. ]] SLAMing on 47.846547615 meters Centerline goodness : 0.786965 with order 1 Centerline is valid? [False, False] Translation: X:1.24, Y:1.15, Z:-0.61 [[ 0.9996253 0.02697241 0.00466416 1.23739279] [-0.02699081 0.99962796 0.00392901 1.14946949] [-0.00455645 -0.00405343 0.9999814 -0.60733547] [ 0. 0. 0. 1. ]] SLAMing on 47.906547614999994 meters Centerline goodness : 0.781640 with order 1 Centerline is valid? [False, False] Translation: X:1.24, Y:1.16, Z:-0.60 [[ 0.99927561 0.03781313 0.00429228 1.23573424] [-0.03786681 0.99919557 0.01320266 1.16231112] [-0.00378959 -0.01335563 0.99990363 -0.6031134 ] [ 0. 0. 0. 1. ]] SLAMing on 47.966547614999996 meters Centerline goodness : 0.783587 with order 1 Centerline is valid? [False, False] Translation: X:1.24, Y:1.17, Z:-0.61 [[ 0.9993615 0.03559674 0.00307573 1.24026295] [-0.03562449 0.99932014 0.00949538 1.17115375] [-0.00273564 -0.00959889 0.99995019 -0.60675075] [ 0. 0. 0. 1. ]] SLAMing on 48.026547615 meters Centerline goodness : 0.781957 with order 1 Centerline is valid? [False, False] Translation: X:1.24, Y:1.18, Z:-0.61 [[ 0.99953541 0.03037557 0.00250957 1.24129345] [-0.03038616 0.99952901 0.00429431 1.17922018] [-0.00237795 -0.00436857 0.99998763 -0.60587331] [ 0. 0. 0. 1. ]] SLAMing on 48.08654761499999 meters Centerline goodness : 0.782456 with order 1 Centerline is valid? [False, False] Translation: X:1.26, Y:1.18, Z:-0.60 [[ 9.99758207e-01 2.19877415e-02 2.57682128e-04 1.26052425e+00] [-2.19890951e-02 9.99726632e-01 7.94607023e-03 1.18300182e+00] [-8.28955481e-05 -7.94981513e-03 9.99968396e-01 -6.03757621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.146547614999996 meters Centerline goodness : 0.784487 with order 1 Centerline is valid? [False, False] Translation: X:1.27, Y:1.19, Z:-0.61 [[ 9.99739853e-01 2.27734690e-02 -1.26341713e-03 1.26570578e+00] [-2.27612393e-02 9.99700677e-01 8.97121303e-03 1.18994862e+00] [ 1.46734460e-03 -8.94012225e-03 9.99958960e-01 -6.05042864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.206547615 meters Centerline goodness : 0.785998 with order 1 Centerline is valid? [False, False] Translation: X:1.26, Y:1.20, Z:-0.60 [[ 0.99966816 0.02570215 -0.00172422 1.26332493] [-0.02568124 0.99960728 0.01121417 1.1988454 ] [ 0.00201178 -0.01116617 0.99993563 -0.59985051] [ 0. 0. 0. 1. ]] SLAMing on 48.26654761499999 meters Centerline goodness : 0.785930 with order 1 Centerline is valid? [False, False] Translation: X:1.28, Y:1.21, Z:-0.60 [[ 0.99979191 0.01972289 -0.00521024 1.28113076] [-0.01965293 0.99972035 0.01315214 1.21027409] [ 0.00546818 -0.01304701 0.99989993 -0.60025988] [ 0. 0. 0. 1. ]] SLAMing on 48.326547614999996 meters Centerline goodness : 0.789062 with order 1 Centerline is valid? [False, False] Translation: X:1.30, Y:1.22, Z:-0.59 [[ 0.99978762 0.02052214 -0.00188369 1.30175951] [-0.02049609 0.9997062 0.01293956 1.22108378] [ 0.00214869 -0.0128982 0.99991451 -0.5937684 ] [ 0. 0. 0. 1. ]] SLAMing on 48.386547615 meters Centerline goodness : 0.794490 with order 1 Centerline is valid? [False, False] Translation: X:1.30, Y:1.23, Z:-0.59 [[ 0.99963516 0.0269162 -0.00224939 1.30012205] [-0.02687055 0.99947096 0.0183239 1.23284995] [ 0.00274141 -0.01825678 0.99982957 -0.58885034] [ 0. 0. 0. 1. ]] SLAMing on 48.446547615 meters Centerline goodness : 0.795430 with order 1 Centerline is valid? [False, False] Translation: X:1.30, Y:1.24, Z:-0.59 [[ 0.99957115 0.02907759 -0.00346648 1.30441821] [-0.02900373 0.99938451 0.01973285 1.244322 ] [ 0.00403813 -0.01962385 0.99979928 -0.59027252] [ 0. 0. 0. 1. ]] SLAMing on 48.506547614999995 meters Centerline goodness : 0.798282 with order 1 Centerline is valid? [False, False] Translation: X:1.30, Y:1.26, Z:-0.59 [[ 9.99300574e-01 3.73900134e-02 -5.91290848e-04 1.29841746e+00] [-3.73611179e-02 9.98948505e-01 2.65712541e-02 1.25757015e+00] [ 1.58416865e-03 -2.65305782e-02 9.99646747e-01 -5.87505741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.566547615 meters Centerline goodness : 0.799981 with order 1 Centerline is valid? [False, False] Translation: X:1.29, Y:1.27, Z:-0.58 [[ 9.99313689e-01 3.70270796e-02 -1.07092135e-03 1.29491074e+00] [-3.70051157e-02 9.99185800e-01 1.60735365e-02 1.27057689e+00] [ 1.66520552e-03 -1.60228754e-02 9.99870239e-01 -5.77585037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.626547615 meters Centerline goodness : 0.798382 with order 1 Centerline is valid? [False, False] Translation: X:1.29, Y:1.28, Z:-0.58 [[ 0.99923135 0.03748168 -0.01148221 1.29419231] [-0.03719314 0.99901043 0.02438899 1.27841348] [ 0.01238498 -0.02394318 0.9996366 -0.58131201] [ 0. 0. 0. 1. ]] SLAMing on 48.686547614999995 meters Centerline goodness : 0.797716 with order 1 Centerline is valid? [False, False] Translation: X:1.29, Y:1.28, Z:-0.58 [[ 0.99932914 0.03434045 -0.01272813 1.29482732] [-0.03412602 0.99927804 0.01669787 1.28293517] [ 0.01329235 -0.01625231 0.99977956 -0.57805043] [ 0. 0. 0. 1. ]] SLAMing on 48.746547615 meters Centerline goodness : 0.794624 with order 1 Centerline is valid? [False, False] Translation: X:1.29, Y:1.30, Z:-0.58 [[ 0.99914641 0.03483171 -0.02220807 1.29190997] [-0.03436365 0.9991862 0.02112078 1.29821803] [ 0.02292567 -0.0203396 0.99953025 -0.58036824] [ 0. 0. 0. 1. ]] SLAMing on 48.806547615 meters Centerline goodness : 0.796089 with order 1 Centerline is valid? [False, False] Translation: X:1.30, Y:1.30, Z:-0.58 [[ 0.99888295 0.03943752 -0.02602967 1.29748251] [-0.03905804 0.9991254 0.01492998 1.30177064] [ 0.0265957 -0.01389664 0.99954967 -0.57595356] [ 0. 0. 0. 1. ]] SLAMing on 48.866547614999995 meters Centerline goodness : 0.794232 with order 1 Centerline is valid? [False, False] Translation: X:1.30, Y:1.31, Z:-0.58 [[ 0.9985426 0.04735202 -0.02589339 1.2981711 ] [-0.0468459 0.99870556 0.01981557 1.30848638] [ 0.02679818 -0.01857369 0.9994683 -0.57578853] [ 0. 0. 0. 1. ]] SLAMing on 48.926547615 meters Centerline goodness : 0.794589 with order 1 Centerline is valid? [False, False] Translation: X:1.30, Y:1.31, Z:-0.57 [[ 0.9984907 0.04681001 -0.02872538 1.30227977] [-0.04645038 0.99883519 0.01306212 1.30913924] [ 0.02930336 -0.0117081 0.99950199 -0.57269124] [ 0. 0. 0. 1. ]] SLAMing on 48.986547615 meters Centerline goodness : 0.793063 with order 1 Centerline is valid? [False, False] Translation: X:1.30, Y:1.31, Z:-0.58 [[ 0.99774455 0.06132595 -0.02729359 1.30407692] [-0.06053677 0.99774871 0.02885841 1.31293878] [ 0.02900192 -0.02714105 0.99921081 -0.57735718] [ 0. 0. 0. 1. ]] SLAMing on 49.046547614999994 meters Centerline goodness : 0.788121 with order 1 Centerline is valid? [False, False] Translation: X:1.32, Y:1.31, Z:-0.57 [[ 0.99733412 0.0627988 -0.03716141 1.31614927] [-0.06232543 0.99796098 0.01376342 1.30583699] [ 0.03794996 -0.01141062 0.99921449 -0.56592557] [ 0. 0. 0. 1. ]] SLAMing on 49.106547615 meters Centerline goodness : 0.788965 with order 1 Centerline is valid? [False, False] Translation: X:1.31, Y:1.31, Z:-0.58 [[ 0.99778833 0.05840835 -0.03173182 1.3126325 ] [-0.05762892 0.99802634 0.02494664 1.3059531 ] [ 0.03312629 -0.0230628 0.99918505 -0.57763377] [ 0. 0. 0. 1. ]] SLAMing on 49.166547615 meters Centerline goodness : 0.784495 with order 1 Centerline is valid? [False, False] Translation: X:1.32, Y:1.29, Z:-0.57 [[ 0.99796665 0.04993983 -0.03960521 1.31930133] [-0.04976251 0.9987462 0.00545088 1.29363501] [ 0.03982777 -0.00346895 0.99920054 -0.56585989] [ 0. 0. 0. 1. ]] SLAMing on 49.226547614999994 meters Centerline goodness : 0.785819 with order 1 Centerline is valid? [False, False] Translation: X:1.32, Y:1.30, Z:-0.58 [[ 0.99765292 0.05799877 -0.03639774 1.3203704 ] [-0.0572412 0.99812836 0.02152244 1.29702319] [ 0.0375779 -0.01938847 0.99910559 -0.57542812] [ 0. 0. 0. 1. ]] SLAMing on 49.286547614999996 meters Centerline goodness : 0.783150 with order 1 Centerline is valid? [False, False] Translation: X:1.32, Y:1.29, Z:-0.57 [[ 0.99796873 0.05647436 -0.02947971 1.31997334] [-0.05631858 0.99839428 0.00608883 1.29434672] [ 0.02977623 -0.0044162 0.99954683 -0.57280618] [ 0. 0. 0. 1. ]] SLAMing on 49.346547615 meters Centerline goodness : 0.786815 with order 1 Centerline is valid? [False, False] Translation: X:1.32, Y:1.29, Z:-0.58 [[ 0.99799564 0.05700505 -0.02747974 1.3224951 ] [-0.05662202 0.99829007 0.01452158 1.29160987] [ 0.02826056 -0.01293651 0.99951688 -0.58274631] [ 0. 0. 0. 1. ]] SLAMing on 49.406547614999994 meters Centerline goodness : 0.792664 with order 3 Centerline is valid? [False, False] Translation: X:1.34, Y:1.28, Z:-0.58 [[ 0.99797021 0.05658025 -0.02922553 1.34384659] [-0.05612202 0.99829136 0.0162689 1.27632578] [ 0.03009609 -0.01459569 0.99944044 -0.57976508] [ 0. 0. 0. 1. ]] SLAMing on 49.466547614999996 meters Centerline goodness : 0.784930 with order 1 Centerline is valid? [False, False] Translation: X:1.35, Y:1.27, Z:-0.58 [[ 0.99824757 0.05140993 -0.02930551 1.3450952 ] [-0.05102078 0.99860119 0.01387599 1.27387969] [ 0.02997788 -0.01235648 0.99947418 -0.58249793] [ 0. 0. 0. 1. ]] SLAMing on 49.526547615 meters Centerline goodness : 0.786581 with order 1 Centerline is valid? [False, False] Translation: X:1.35, Y:1.27, Z:-0.58 [[ 0.99838771 0.05273011 -0.02101218 1.34986814] [-0.05264223 0.99860231 0.0047137 1.2708481 ] [ 0.02123136 -0.00359997 0.99976811 -0.5838737 ] [ 0. 0. 0. 1. ]] SLAMing on 49.58654761499999 meters Centerline goodness : 0.783873 with order 1 Centerline is valid? [False, False] Translation: X:1.35, Y:1.27, Z:-0.59 [[ 0.99826044 0.04926667 -0.03238649 1.35218212] [-0.04893528 0.99874196 0.01094687 1.27330517] [ 0.03288507 -0.00934299 0.99941547 -0.58853798] [ 0. 0. 0. 1. ]] SLAMing on 49.646547614999996 meters Centerline goodness : 0.783930 with order 1 Centerline is valid? [False, False] Translation: X:1.36, Y:1.27, Z:-0.59 [[ 0.99820189 0.05433349 -0.02531502 1.3598402 ] [-0.05413962 0.99849902 0.00828253 1.26970923] [ 0.02572704 -0.0068971 0.99964521 -0.58590108] [ 0. 0. 0. 1. ]] SLAMing on 49.706547615 meters Centerline goodness : 0.782967 with order 1 Centerline is valid? [False, False] Translation: X:1.39, Y:1.26, Z:-0.59 [[ 0.99800537 0.05496949 -0.03104258 1.38957062] [-0.05468415 0.99845395 0.00996802 1.26122889] [ 0.03154253 -0.0082506 0.99946836 -0.58709462] [ 0. 0. 0. 1. ]] SLAMing on 49.76654761499999 meters Centerline goodness : 0.789435 with order 3 Centerline is valid? [False, False] Translation: X:1.39, Y:1.26, Z:-0.59 [[ 0.99828137 0.05591902 -0.01753178 1.39146428] [-0.05577279 0.99840539 0.00872202 1.25613814] [ 0.01799155 -0.00772924 0.99980826 -0.59428135] [ 0. 0. 0. 1. ]] SLAMing on 49.826547614999996 meters Centerline goodness : 0.779011 with order 1 Centerline is valid? [False, False] Translation: X:1.40, Y:1.25, Z:-0.60 [[ 9.98274059e-01 5.75631402e-02 -1.16355976e-02 1.39931985e+00] [-5.75765072e-02 9.98340763e-01 -8.16827155e-04 1.25197682e+00] [ 1.15692722e-02 1.48535443e-03 9.99931971e-01 -5.96580175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.886547615 meters Centerline goodness : 0.781402 with order 3 Centerline is valid? [False, False] Translation: X:1.40, Y:1.25, Z:-0.60 [[ 9.98283416e-01 5.74364112e-02 -1.14577270e-02 1.39955599e+00] [-5.74332680e-02 9.98349165e-01 6.03448086e-04 1.24692063e+00] [ 1.14734720e-02 5.56424866e-05 9.99934176e-01 -5.96484387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.946547615 meters Centerline goodness : 0.780657 with order 1 Centerline is valid? [False, False] Translation: X:1.40, Y:1.24, Z:-0.60 [[ 0.99869352 0.04971136 -0.01183395 1.39941272] [-0.0497729 0.99874823 -0.00496351 1.23959702] [ 0.01157239 0.00554604 0.99991766 -0.59510466] [ 0. 0. 0. 1. ]] SLAMing on 50.006547614999995 meters Centerline goodness : 0.780717 with order 1 Centerline is valid? [False, False] Translation: X:1.40, Y:1.23, Z:-0.60 [[ 0.99894452 0.04414076 -0.01270624 1.40229962] [-0.04423761 0.9989933 -0.00744443 1.23206122] [ 0.01236485 0.00799866 0.99989156 -0.59511657] [ 0. 0. 0. 1. ]] SLAMing on 50.066547615 meters Centerline goodness : 0.781247 with order 1 Centerline is valid? [False, False] Translation: X:1.40, Y:1.23, Z:-0.59 [[ 0.99895626 0.04367381 -0.01337863 1.40367814] [-0.04376339 0.99902092 -0.00647792 1.22996913] [ 0.01308261 0.00705665 0.99988952 -0.5939754 ] [ 0. 0. 0. 1. ]] SLAMing on 50.126547615 meters Centerline goodness : 0.785225 with order 1 Centerline is valid? [False, False] Translation: X:1.40, Y:1.23, Z:-0.59 [[ 0.99910897 0.03992795 -0.01367561 1.403729 ] [-0.04005981 0.99915205 -0.00950762 1.22623513] [ 0.0132844 0.01004699 0.99986128 -0.59345495] [ 0. 0. 0. 1. ]] SLAMing on 50.186547614999995 meters Centerline goodness : 0.784831 with order 1 Centerline is valid? [False, False] Translation: X:1.40, Y:1.22, Z:-0.59 [[ 0.99907765 0.04081786 -0.01333271 1.40280622] [-0.04092209 0.99913312 -0.00764081 1.22200651] [ 0.01300927 0.00817936 0.99988192 -0.59264415] [ 0. 0. 0. 1. ]] SLAMing on 50.246547615 meters Centerline goodness : 0.787571 with order 1 Centerline is valid? [False, False] Translation: X:1.41, Y:1.22, Z:-0.59 [[ 0.9988875 0.04684532 -0.00541118 1.40847683] [-0.04689355 0.9988579 -0.00915936 1.21836754] [ 0.00497593 0.00940292 0.99994341 -0.58942149] [ 0. 0. 0. 1. ]] SLAMing on 50.306547615 meters Centerline goodness : 0.787488 with order 1 Centerline is valid? [False, False] Translation: X:1.41, Y:1.21, Z:-0.59 [[ 0.99862449 0.0521527 -0.00540581 1.40929616] [-0.05217282 0.9986314 -0.00365002 1.21110478] [ 0.00520806 0.00392704 0.99997873 -0.59051187] [ 0. 0. 0. 1. ]] SLAMing on 50.366547614999995 meters Centerline goodness : 0.789588 with order 1 Centerline is valid? [False, False] Translation: X:1.42, Y:1.20, Z:-0.59 [[ 9.98077068e-01 6.19527129e-02 2.00669210e-03 1.41960113e+00] [-6.19515289e-02 9.98078950e-01 -6.46980023e-04 1.20469968e+00] [-2.04291932e-03 5.21418280e-04 9.99997777e-01 -5.91431655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.426547615 meters Centerline goodness : 0.789213 with order 1 Centerline is valid? [False, False] Translation: X:1.42, Y:1.20, Z:-0.59 [[ 9.98318047e-01 5.79657587e-02 1.02403095e-03 1.42058232e+00] [-5.79623122e-02 9.98313883e-01 -3.12429831e-03 1.19817126e+00] [-1.20340663e-03 3.05968819e-03 9.99994595e-01 -5.90049870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.486547615 meters Centerline goodness : 0.792555 with order 1 Centerline is valid? [False, False] Translation: X:1.42, Y:1.19, Z:-0.59 [[ 9.98627877e-01 5.23609451e-02 8.33250880e-04 1.42245005e+00] [-5.23562720e-02 9.98616514e-01 -4.88655118e-03 1.18865127e+00] [-1.08796253e-03 4.83622032e-03 9.99987714e-01 -5.89832461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.546547614999994 meters Centerline goodness : 0.791301 with order 1 Centerline is valid? [False, False] Translation: X:1.43, Y:1.18, Z:-0.59 [[ 9.98347159e-01 5.74701022e-02 3.71944416e-04 1.42714960e+00] [-5.74704044e-02 9.98346840e-01 8.60444100e-04 1.18082171e+00] [-3.21879722e-04 -8.80397718e-04 9.99999561e-01 -5.94542402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.606547615 meters Centerline goodness : 0.795546 with order 1 Centerline is valid? [False, False] Translation: X:1.42, Y:1.18, Z:-0.59 [[ 9.98122046e-01 6.12369426e-02 1.55509922e-03 1.42253258e+00] [-6.12417390e-02 9.98117669e-01 3.25086471e-03 1.17795825e+00] [-1.35309900e-03 -3.33999672e-03 9.99993507e-01 -5.93264088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.666547615 meters Centerline goodness : 0.797104 with order 1 Centerline is valid? [False, False] Translation: X:1.42, Y:1.17, Z:-0.59 [[ 9.98019559e-01 6.28832853e-02 1.62847586e-03 1.42077538e+00] [-6.28929203e-02 9.97997376e-01 6.76149439e-03 1.16868629e+00] [-1.20002965e-03 -6.85052325e-03 9.99975815e-01 -5.90012792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.726547614999994 meters Centerline goodness : 0.798115 with order 1 Centerline is valid? [False, False] Translation: X:1.42, Y:1.15, Z:-0.59 [[ 0.99794843 0.06398183 0.00229356 1.42123908] [-0.06400475 0.9978783 0.01192896 1.1525132 ] [-0.00152546 -0.01205128 0.99992622 -0.58982205] [ 0. 0. 0. 1. ]] SLAMing on 50.786547614999996 meters Centerline goodness : 0.802596 with order 1 Centerline is valid? [False, False] Translation: X:1.43, Y:1.14, Z:-0.59 [[ 0.99802195 0.06223746 0.00887061 1.42975616] [-0.0622686 0.99805404 0.00327871 1.14048518] [-0.00864929 -0.00382459 0.99995528 -0.58889196] [ 0. 0. 0. 1. ]] SLAMing on 50.846547615 meters Centerline goodness : 0.804303 with order 1 Centerline is valid? [False, False] Translation: X:1.43, Y:1.14, Z:-0.59 [[ 9.98157395e-01 5.99779146e-02 9.19046435e-03 1.42726487e+00] [-5.99884682e-02 9.98198685e-01 8.76743429e-04 1.13506005e+00] [-9.12132419e-03 -1.42644982e-03 9.99957382e-01 -5.87938029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.906547614999994 meters Centerline goodness : 0.802163 with order 1 Centerline is valid? [False, False] Translation: X:1.43, Y:1.13, Z:-0.59 [[ 0.99806065 0.06142265 0.01010958 1.43034457] [-0.06145756 0.99810464 0.00317882 1.12824146] [-0.00989516 -0.00379396 0.99994384 -0.59439802] [ 0. 0. 0. 1. ]] SLAMing on 50.966547614999996 meters Centerline goodness : 0.804745 with order 1 Centerline is valid? [False, False] Translation: X:1.43, Y:1.11, Z:-0.59 [[ 9.98369314e-01 5.59913367e-02 1.11213175e-02 1.42712134e+00] [-5.59875180e-02 9.98431254e-01 -6.54648322e-04 1.11075578e+00] [-1.11405257e-02 3.09258298e-05 9.99937942e-01 -5.94410780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.026547615 meters Centerline goodness : 0.807546 with order 1 Centerline is valid? [False, False] Translation: X:1.42, Y:1.10, Z:-0.60 [[ 0.99821467 0.05846533 0.01221821 1.42484135] [-0.05848794 0.99828699 0.00150148 1.10307566] [-0.0121095 -0.00221342 0.99992423 -0.59571751] [ 0. 0. 0. 1. ]] SLAMing on 51.08654761499999 meters Centerline goodness : 0.807219 with order 1 Centerline is valid? [False, False] Translation: X:1.43, Y:1.10, Z:-0.60 [[ 0.99863743 0.05090449 0.01148989 1.43046414] [-0.0508514 0.99869437 -0.00486654 1.09676023] [-0.01172262 0.00427564 0.99992215 -0.60164643] [ 0. 0. 0. 1. ]] SLAMing on 51.146547614999996 meters Centerline goodness : 0.805487 with order 1 Centerline is valid? [False, False] Translation: X:1.43, Y:1.09, Z:-0.61 [[ 9.99063751e-01 3.95638451e-02 1.75020951e-02 1.43426792e+00] [-3.95751405e-02 9.99216552e-01 2.99357900e-04 1.09103303e+00] [-1.74765393e-02 -9.91725497e-04 9.99846782e-01 -6.05305897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.206547615 meters Centerline goodness : 0.813620 with order 1 Centerline is valid? [False, False] Translation: X:1.43, Y:1.08, Z:-0.60 [[ 0.99928715 0.03323709 0.01790231 1.4313045 ] [-0.03314196 0.99943505 -0.00558469 1.08287205] [-0.01807782 0.00498739 0.99982414 -0.60351725] [ 0. 0. 0. 1. ]] SLAMing on 51.26654761499999 meters Centerline goodness : 0.810823 with order 1 Centerline is valid? [False, False] Translation: X:1.42, Y:1.08, Z:-0.61 [[ 9.99305940e-01 2.66118636e-02 2.60661865e-02 1.42373153e+00] [-2.66183674e-02 9.99645664e-01 -9.74967380e-05 1.08058810e+00] [-2.60595449e-02 -5.96410259e-04 9.99660214e-01 -6.07632358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.326547614999996 meters Centerline goodness : 0.817407 with order 1 Centerline is valid? [False, False] Translation: X:1.43, Y:1.07, Z:-0.61 [[ 0.99943051 0.02217865 0.02543166 1.42530807] [-0.02211105 0.99975121 -0.00293611 1.07314699] [-0.02549046 0.00237212 0.99967225 -0.60693535] [ 0. 0. 0. 1. ]] SLAMing on 51.386547615 meters Centerline goodness : 0.818637 with order 1 Centerline is valid? [False, False] Translation: X:1.42, Y:1.07, Z:-0.60 [[ 9.99406844e-01 2.28590423e-02 2.57570241e-02 1.42334051e+00] [-2.28261021e-02 9.99738214e-01 -1.57221088e-03 1.07125368e+00] [-2.57862205e-02 9.83345850e-04 9.99666996e-01 -6.04230212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.44654761499999 meters Centerline goodness : 0.814402 with order 1 Centerline is valid? [False, False] Translation: X:1.43, Y:1.07, Z:-0.61 [[ 9.99415220e-01 2.38011258e-02 2.45504428e-02 1.43038893e+00] [-2.38361816e-02 9.99715232e-01 1.13621800e-03 1.07335394e+00] [-2.45164083e-02 -1.72074237e-03 9.99697947e-01 -6.07704925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.506547614999995 meters Centerline goodness : 0.815056 with order 1 Centerline is valid? [False, False] Translation: X:1.43, Y:1.07, Z:-0.61 [[ 9.99371772e-01 2.51364701e-02 2.49843906e-02 1.42777480e+00] [-2.51750825e-02 9.99682298e-01 1.23207100e-03 1.07354642e+00] [-2.49454831e-02 -1.86028107e-03 9.99687082e-01 -6.06761115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.566547615 meters Centerline goodness : 0.815143 with order 1 Centerline is valid? [False, False] Translation: X:1.43, Y:1.07, Z:-0.61 [[ 0.99936944 0.02524304 0.02497025 1.42755336] [-0.02528659 0.99967922 0.00142968 1.07265447] [-0.02492615 -0.0020602 0.99968717 -0.60626863] [ 0. 0. 0. 1. ]] SLAMing on 51.626547615 meters Centerline goodness : 0.809812 with order 1 Centerline is valid? [False, False] Translation: X:1.43, Y:1.08, Z:-0.61 [[ 9.99374214e-01 2.50727318e-02 2.49507054e-02 1.42829933e+00] [-2.50862998e-02 9.99685263e-01 2.30882228e-04 1.07747760e+00] [-2.49370637e-02 -8.56658622e-04 9.99688656e-01 -6.08181668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.686547614999995 meters Centerline goodness : 0.812581 with order 1 Centerline is valid? [False, False] Translation: X:1.43, Y:1.08, Z:-0.61 [[ 9.99344327e-01 2.59831170e-02 2.52149358e-02 1.42681582e+00] [-2.59849878e-02 9.99662301e-01 -2.53514950e-04 1.07799665e+00] [-2.52130079e-02 -4.01861073e-04 9.99682021e-01 -6.08555600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.746547615 meters Centerline goodness : 0.808373 with order 1 Centerline is valid? [False, False] Translation: X:1.43, Y:1.08, Z:-0.61 [[ 9.99308584e-01 2.73815861e-02 2.51515987e-02 1.42551072e+00] [-2.73638586e-02 9.99624989e-01 -1.04879644e-03 1.08393461e+00] [-2.51708843e-02 3.59826497e-04 9.99683098e-01 -6.08832114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.806547615 meters Centerline goodness : 0.808991 with order 1 Centerline is valid? [False, False] Translation: X:1.43, Y:1.08, Z:-0.61 [[ 9.99353363e-01 2.65541162e-02 2.42432403e-02 1.42840230e+00] [-2.65223440e-02 9.99646890e-01 -1.63121599e-03 1.08286696e+00] [-2.42779953e-02 9.87173627e-04 9.99704759e-01 -6.10108128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.866547614999995 meters Centerline goodness : 0.806316 with order 1 Centerline is valid? [False, False] Translation: X:1.43, Y:1.08, Z:-0.61 [[ 0.99927435 0.02932343 0.02430845 1.42999612] [-0.02940132 0.99956362 0.00285284 1.08269967] [-0.02421418 -0.00356547 0.99970044 -0.60999435] [ 0. 0. 0. 1. ]] SLAMing on 51.926547615 meters Centerline goodness : 0.807512 with order 1 Centerline is valid? [False, False] Translation: X:1.43, Y:1.08, Z:-0.61 [[ 0.99927359 0.02960086 0.0240018 1.42983229] [-0.02967816 0.99955538 0.00287079 1.08275805] [-0.02390615 -0.00358103 0.99970779 -0.6091329 ] [ 0. 0. 0. 1. ]] SLAMing on 51.986547615 meters Centerline goodness : 0.807721 with order 1 Centerline is valid? [False, False] Translation: X:1.43, Y:1.08, Z:-0.61 [[ 0.99930657 0.02876639 0.02364052 1.43233292] [-0.02882631 0.99958202 0.00219792 1.08149225] [-0.02356741 -0.00287787 0.99971811 -0.61157263] [ 0. 0. 0. 1. ]] SLAMing on 52.046547614999994 meters Centerline goodness : 0.807388 with order 1 Centerline is valid? [False, False] Translation: X:1.43, Y:1.08, Z:-0.61 [[ 0.9992812 0.02913672 0.02425165 1.43054741] [-0.02921176 0.99956947 0.00274567 1.08159774] [-0.02416121 -0.00345213 0.99970211 -0.61044768] [ 0. 0. 0. 1. ]] SLAMing on 52.106547615 meters Centerline goodness : 0.807064 with order 1 Centerline is valid? [False, False] Translation: X:1.43, Y:1.08, Z:-0.61 [[ 0.99920612 0.03214745 0.02353012 1.4333411 ] [-0.03228262 0.99946426 0.00538722 1.08399813] [-0.02334433 -0.00614255 0.99970861 -0.61216176] [ 0. 0. 0. 1. ]] SLAMing on 52.166547615 meters Centerline goodness : 0.806456 with order 1 Centerline is valid? [False, False] Translation: X:1.43, Y:1.08, Z:-0.61 [[ 0.99922345 0.03183931 0.02321096 1.4345894 ] [-0.03195645 0.99947824 0.00469319 1.08472837] [-0.02304942 -0.00543128 0.99971957 -0.61346218] [ 0. 0. 0. 1. ]] SLAMing on 52.226547614999994 meters Centerline goodness : 0.808873 with order 1 Centerline is valid? [False, False] Translation: X:1.43, Y:1.08, Z:-0.61 [[ 0.99925004 0.03087812 0.02336434 1.43483399] [-0.03103618 0.99949756 0.00643244 1.08098377] [-0.02315398 -0.00715276 0.99970632 -0.61079942] [ 0. 0. 0. 1. ]] SLAMing on 52.286547614999996 meters Centerline goodness : 0.806640 with order 1 Centerline is valid? [False, False] Translation: X:1.44, Y:1.09, Z:-0.61 [[ 0.99928514 0.03030227 0.02260504 1.43739909] [-0.03039981 0.99952988 0.00398386 1.08607925] [-0.0224737 -0.0046682 0.99973654 -0.6142813 ] [ 0. 0. 0. 1. ]] SLAMing on 52.346547615 meters Centerline goodness : 0.808418 with order 1 Centerline is valid? [False, False] Translation: X:1.43, Y:1.08, Z:-0.61 [[ 0.99920092 0.03264321 0.02306375 1.43224247] [-0.03281033 0.99943774 0.0069051 1.08076038] [-0.02282538 -0.00765631 0.99971015 -0.60777353] [ 0. 0. 0. 1. ]] SLAMing on 52.406547614999994 meters Centerline goodness : 0.806028 with order 1 Centerline is valid? [False, False] Translation: X:1.44, Y:1.09, Z:-0.62 [[ 0.99920575 0.03299621 0.02234092 1.44436409] [-0.03324235 0.99938964 0.01073735 1.08504246] [-0.02197299 -0.01147149 0.99969275 -0.61599637] [ 0. 0. 0. 1. ]] SLAMing on 52.466547614999996 meters Centerline goodness : 0.810478 with order 1 Centerline is valid? [False, False] Translation: X:1.43, Y:1.09, Z:-0.61 [[ 0.99908153 0.03572439 0.02366152 1.43257353] [-0.03596035 0.99930689 0.00962273 1.08525165] [-0.02330135 -0.01046477 0.99967371 -0.60867101] [ 0. 0. 0. 1. ]] SLAMing on 52.526547615 meters Centerline goodness : 0.807430 with order 1 Centerline is valid? [False, False] Translation: X:1.44, Y:1.09, Z:-0.62 [[ 0.99912846 0.03509582 0.02259635 1.43623847] [-0.03523184 0.9993632 0.00564956 1.0900272 ] [-0.02238369 -0.00644074 0.99972871 -0.61520245] [ 0. 0. 0. 1. ]] SLAMing on 52.58654761499999 meters Centerline goodness : 0.809999 with order 1 Centerline is valid? [False, False] Translation: X:1.44, Y:1.09, Z:-0.62 [[ 0.99910297 0.03624744 0.02189476 1.44110681] [-0.03646937 0.99928649 0.00982295 1.0899504 ] [-0.02152308 -0.01061262 0.99971202 -0.615498 ] [ 0. 0. 0. 1. ]] SLAMing on 52.646547614999996 meters Centerline goodness : 0.813963 with order 1 Centerline is valid? [False, False] Translation: X:1.43, Y:1.09, Z:-0.61 [[ 0.99904992 0.03718556 0.02272642 1.43301232] [-0.03734461 0.99928056 0.00661412 1.08899773] [-0.02246412 -0.00745655 0.99971984 -0.61249947] [ 0. 0. 0. 1. ]] SLAMing on 52.706547615 meters Centerline goodness : 0.812684 with order 1 Centerline is valid? [False, False] Translation: X:1.43, Y:1.09, Z:-0.62 [[ 9.99196858e-01 3.30532373e-02 2.26521921e-02 1.43402074e+00] [-3.30833916e-02 9.99452136e-01 9.57628498e-04 1.09158698e+00] [-2.26081291e-02 -1.70627073e-03 9.99742948e-01 -6.15796111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.76654761499999 meters Centerline goodness : 0.805978 with order 1 Centerline is valid? [False, False] Translation: X:1.45, Y:1.09, Z:-0.62 [[ 0.9993642 0.02923267 0.02041186 1.44928776] [-0.02928085 0.99956909 0.00206549 1.09458748] [-0.02034268 -0.00266185 0.99978952 -0.62229304] [ 0. 0. 0. 1. ]] SLAMing on 52.826547614999996 meters Centerline goodness : 0.815585 with order 1 Centerline is valid? [False, False] Translation: X:1.44, Y:1.09, Z:-0.62 [[ 9.99389918e-01 2.79550194e-02 2.09358248e-02 1.44393123e+00] [-2.79602247e-02 9.99609036e-01 -4.41038678e-05 1.08934852e+00] [-2.09288726e-02 -5.41293404e-04 9.99780821e-01 -6.18278034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.886547615 meters Centerline goodness : 0.813036 with order 1 Centerline is valid? [False, False] Translation: X:1.45, Y:1.09, Z:-0.62 [[ 9.99445861e-01 2.65229583e-02 2.01122643e-02 1.44740038e+00] [-2.65078085e-02 9.99648086e-01 -1.01952718e-03 1.09224326e+00] [-2.01322274e-02 4.85830173e-04 9.99797208e-01 -6.19886303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.94654761499999 meters Centerline goodness : 0.809754 with order 1 Centerline is valid? [False, False] Translation: X:1.45, Y:1.10, Z:-0.62 [[ 0.99948394 0.02554019 0.01948206 1.44929769] [-0.02549742 0.99967191 -0.00244082 1.09679064] [-0.019538 0.00194282 0.99980723 -0.62061473] [ 0. 0. 0. 1. ]] SLAMing on 53.006547614999995 meters Centerline goodness : 0.806934 with order 1 Centerline is valid? [False, False] Translation: X:1.45, Y:1.10, Z:-0.62 [[ 9.99410840e-01 2.87148449e-02 1.87997336e-02 1.45160737e+00] [-2.87309915e-02 9.99587006e-01 5.89291440e-04 1.09715345e+00] [-1.87750480e-02 -1.12907924e-03 9.99823096e-01 -6.21474298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.066547615 meters Centerline goodness : 0.810069 with order 1 Centerline is valid? [False, False] Translation: X:1.45, Y:1.10, Z:-0.62 [[ 0.99923515 0.03376118 0.01973071 1.44844488] [-0.03385538 0.99941679 0.00446022 1.10157618] [-0.01956863 -0.0051248 0.99979538 -0.62007055] [ 0. 0. 0. 1. ]] SLAMing on 53.126547615 meters Centerline goodness : 0.811922 with order 1 Centerline is valid? [False, False] Translation: X:1.44, Y:1.10, Z:-0.62 [[ 0.99928669 0.0320596 0.01995742 1.44410066] [-0.03209869 0.99948336 0.00164146 1.10133038] [-0.01989448 -0.0022809 0.99979948 -0.61633314] [ 0. 0. 0. 1. ]] SLAMing on 53.186547614999995 meters Centerline goodness : 0.809776 with order 1 Centerline is valid? [False, False] Translation: X:1.46, Y:1.10, Z:-0.62 [[ 9.99422343e-01 2.90344972e-02 1.76628798e-02 1.45741978e+00] [-2.90596560e-02 9.99576995e-01 1.16934580e-03 1.10140824e+00] [-1.76214570e-02 -1.68194753e-03 9.99843315e-01 -6.23946020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.246547615 meters Centerline goodness : 0.813362 with order 1 Centerline is valid? [False, False] Translation: X:1.45, Y:1.10, Z:-0.62 [[ 0.99938947 0.02989887 0.01807594 1.45445742] [-0.0299692 0.99954422 0.00363254 1.09879625] [-0.01795909 -0.00417204 0.99983002 -0.61882568] [ 0. 0. 0. 1. ]] SLAMing on 53.306547615 meters Centerline goodness : 0.810517 with order 1 Centerline is valid? [False, False] Translation: X:1.46, Y:1.10, Z:-0.62 [[ 9.99496722e-01 2.62309046e-02 1.78393318e-02 1.45510228e+00] [-2.62028519e-02 9.99655018e-01 -1.80448320e-03 1.10069864e+00] [-1.78805108e-02 1.33613367e-03 9.99839238e-01 -6.21455603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.366547614999995 meters Centerline goodness : 0.815678 with order 1 Centerline is valid? [False, False] Translation: X:1.46, Y:1.10, Z:-0.62 [[ 9.99502242e-01 2.60818976e-02 1.77483279e-02 1.45507668e+00] [-2.60884503e-02 9.99659629e-01 1.37730621e-04 1.09709735e+00] [-1.77386946e-02 -6.00688435e-04 9.99842477e-01 -6.18755947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.426547615 meters Centerline goodness : 0.815247 with order 1 Centerline is valid? [False, False] Translation: X:1.45, Y:1.10, Z:-0.62 [[ 9.99490862e-01 2.65262169e-02 1.77306630e-02 1.45352563e+00] [-2.65469076e-02 9.99647134e-01 9.32554389e-04 1.09722998e+00] [-1.76996693e-02 -1.40277386e-03 9.99842365e-01 -6.15855826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.486547615 meters Centerline goodness : 0.811906 with order 1 Centerline is valid? [False, False] Translation: X:1.45, Y:1.10, Z:-0.62 [[ 0.99966525 0.02368137 0.0104203 1.45024931] [-0.0237612 0.99968874 0.00760453 1.10059608] [-0.01023697 -0.00784959 0.99991679 -0.62040619] [ 0. 0. 0. 1. ]] SLAMing on 53.546547614999994 meters Centerline goodness : 0.814776 with order 1 Centerline is valid? [False, False] Translation: X:1.45, Y:1.10, Z:-0.61 [[ 0.99971116 0.02155337 0.01063234 1.44524155] [-0.02160532 0.99975508 0.0047953 1.10108306] [-0.01052638 -0.00502363 0.99993198 -0.6148247 ] [ 0. 0. 0. 1. ]] SLAMing on 53.606547615 meters Centerline goodness : 0.812294 with order 1 Centerline is valid? [False, False] Translation: X:1.46, Y:1.11, Z:-0.62 [[ 0.99984459 0.01593163 0.00754784 1.46383569] [-0.01596718 0.9998616 0.00467286 1.10815405] [-0.00747235 -0.00479265 0.9999606 -0.6211953 ] [ 0. 0. 0. 1. ]] SLAMing on 53.666547615 meters Centerline goodness : 0.815114 with order 1 Centerline is valid? [False, False] Translation: X:1.47, Y:1.11, Z:-0.61 [[ 0.99994783 0.00764038 0.00677959 1.46907872] [-0.00766724 0.99996283 0.00394472 1.10769864] [-0.00674919 -0.0039965 0.99996924 -0.61336706] [ 0. 0. 0. 1. ]] SLAMing on 53.726547614999994 meters Centerline goodness : 0.816651 with order 1 Centerline is valid? [False, False] Translation: X:1.46, Y:1.11, Z:-0.61 [[ 9.99965218e-01 4.89740144e-03 6.75123943e-03 1.46469824e+00] [-4.90480648e-03 9.99987387e-01 1.08072204e-03 1.11040559e+00] [-6.74586155e-03 -1.11379797e-03 9.99976626e-01 -6.06885589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.786547614999996 meters Centerline goodness : 0.808174 with order 1 Centerline is valid? [False, False] Translation: X:1.49, Y:1.12, Z:-0.62 [[ 0.99997807 0.00577353 0.00324413 1.48600388] [-0.0057974 0.99995583 0.00739732 1.12038258] [-0.00320127 -0.00741596 0.99996738 -0.61518531] [ 0. 0. 0. 1. ]] SLAMing on 53.846547615 meters Centerline goodness : 0.816964 with order 1 Centerline is valid? [False, False] Translation: X:1.47, Y:1.12, Z:-0.61 [[ 0.99997483 0.00505727 0.00497659 1.47256705] [-0.00507448 0.99998117 0.00345134 1.12108198] [-0.00495904 -0.00347651 0.99998166 -0.60590991] [ 0. 0. 0. 1. ]] SLAMing on 53.906547614999994 meters Centerline goodness : 0.812239 with order 1 Centerline is valid? [False, False] Translation: X:1.48, Y:1.13, Z:-0.61 [[ 0.99989836 0.01379454 0.00360236 1.47527413] [-0.01381754 0.9998838 0.0064391 1.13354795] [-0.00351311 -0.00648823 0.99997278 -0.61267861] [ 0. 0. 0. 1. ]] SLAMing on 53.966547614999996 meters Centerline goodness : 0.811055 with order 1 Centerline is valid? [False, False] Translation: X:1.48, Y:1.14, Z:-0.62 [[ 0.9998962 0.01405629 0.00316231 1.47675404] [-0.01407143 0.9998894 0.0048149 1.13506305] [-0.00309428 -0.0048589 0.99998341 -0.61558761] [ 0. 0. 0. 1. ]] SLAMing on 54.026547615 meters Centerline goodness : 0.813202 with order 1 Centerline is valid? [False, False] Translation: X:1.47, Y:1.14, Z:-0.61 [[ 0.99984873 0.01694674 0.00391512 1.47267789] [-0.01697787 0.99982337 0.00806085 1.13838065] [-0.00377782 -0.0081261 0.99995985 -0.61129315] [ 0. 0. 0. 1. ]] SLAMing on 54.08654761499999 meters Centerline goodness : 0.814253 with order 1 Centerline is valid? [False, False] Translation: X:1.48, Y:1.14, Z:-0.61 [[ 0.99991938 0.01233734 0.00300265 1.47561214] [-0.01234536 0.99992024 0.00266741 1.1381475 ] [-0.0029695 -0.00270426 0.99999193 -0.61389864] [ 0. 0. 0. 1. ]] SLAMing on 54.146547614999996 meters Centerline goodness : 0.814244 with order 1 Centerline is valid? [False, False] Translation: X:1.48, Y:1.14, Z:-0.62 [[ 0.99994118 0.01064351 0.00208816 1.47946131] [-0.01064718 0.99994178 0.00175378 1.14012129] [-0.00206937 -0.00177591 0.99999628 -0.61551357] [ 0. 0. 0. 1. ]] SLAMing on 54.206547615 meters Centerline goodness : 0.816650 with order 1 Centerline is valid? [False, False] Translation: X:1.48, Y:1.14, Z:-0.61 [[ 0.99994583 0.01027516 0.00166274 1.48007737] [-0.0102811 0.99994065 0.00360407 1.13692438] [-0.00162561 -0.00362097 0.99999212 -0.61271773] [ 0. 0. 0. 1. ]] SLAMing on 54.26654761499999 meters Centerline goodness : 0.815461 with order 1 Centerline is valid? [False, False] Translation: X:1.48, Y:1.14, Z:-0.61 [[ 9.99849902e-01 1.73176744e-02 5.20476271e-04 1.48244530e+00] [-1.73217933e-02 9.99806041e-01 9.37203756e-03 1.14463649e+00] [-3.58073426e-04 -9.37964642e-03 9.99955946e-01 -6.12910402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.326547614999996 meters Centerline goodness : 0.820742 with order 1 Centerline is valid? [False, False] Translation: X:1.48, Y:1.14, Z:-0.61 [[ 9.99889209e-01 1.48480316e-02 1.05191082e-03 1.47896308e+00] [-1.48532833e-02 9.99876296e-01 5.17424767e-03 1.14421502e+00] [-9.74953306e-04 -5.18929874e-03 9.99986060e-01 -6.11572803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.386547615 meters Centerline goodness : 0.818290 with order 1 Centerline is valid? [False, False] Translation: X:1.49, Y:1.15, Z:-0.61 [[ 9.99902567e-01 1.39259845e-02 -9.60985205e-04 1.48825176e+00] [-1.39168420e-02 9.99863173e-01 8.94186593e-03 1.15345564e+00] [ 1.08537800e-03 -8.92762082e-03 9.99959559e-01 -6.10841928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.44654761499999 meters Centerline goodness : 0.818646 with order 1 Centerline is valid? [False, False] Translation: X:1.49, Y:1.15, Z:-0.61 [[ 0.99995213 0.00960997 -0.00184003 1.49007352] [-0.00960268 0.99994615 0.00393403 1.15258641] [ 0.00187774 -0.00391617 0.99999057 -0.61185612] [ 0. 0. 0. 1. ]] SLAMing on 54.506547614999995 meters Centerline goodness : 0.820806 with order 1 Centerline is valid? [False, False] Translation: X:1.49, Y:1.16, Z:-0.61 [[ 0.99995622 0.00922198 -0.00158403 1.48965876] [-0.00921688 0.99995242 0.00319382 1.15723391] [ 0.00161341 -0.00317908 0.99999365 -0.61194032] [ 0. 0. 0. 1. ]] SLAMing on 54.566547615 meters Centerline goodness : 0.818485 with order 1 Centerline is valid? [False, False] Translation: X:1.49, Y:1.16, Z:-0.61 [[ 9.99954902e-01 8.83341323e-03 -3.48780836e-03 1.49374639e+00] [-8.82952224e-03 9.99960381e-01 1.12942266e-03 1.16236985e+00] [ 3.49764684e-03 -1.09857604e-03 9.99993280e-01 -6.14034703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.626547615 meters Centerline goodness : 0.819105 with order 1 Centerline is valid? [False, False] Translation: X:1.49, Y:1.16, Z:-0.62 [[ 9.99952796e-01 8.99422691e-03 -3.67546980e-03 1.49478649e+00] [-8.99360718e-03 9.99959540e-01 1.85106610e-04 1.16311797e+00] [ 3.67698598e-03 -1.52042140e-04 9.99993228e-01 -6.16006003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.686547614999995 meters Centerline goodness : 0.820281 with order 1 Centerline is valid? [False, False] Translation: X:1.49, Y:1.17, Z:-0.61 [[ 0.99990492 0.01340759 -0.00322399 1.49328087] [-0.01339349 0.99990082 0.00435434 1.16741992] [ 0.00328205 -0.00431075 0.99998532 -0.61481759] [ 0. 0. 0. 1. ]] SLAMing on 54.746547615 meters Centerline goodness : 0.820496 with order 1 Centerline is valid? [False, False] Translation: X:1.49, Y:1.16, Z:-0.61 [[ 0.99988757 0.01470028 -0.00295702 1.49140824] [-0.01468584 0.9998804 0.00484819 1.16481296] [ 0.00302794 -0.00480422 0.99998388 -0.61395434] [ 0. 0. 0. 1. ]] SLAMing on 54.806547615 meters Centerline goodness : 0.825563 with order 1 Centerline is valid? [False, False] Translation: X:1.49, Y:1.16, Z:-0.61 [[ 0.99978112 0.02075122 -0.00266608 1.48842406] [-0.02072222 0.99973036 0.01047849 1.1631963 ] [ 0.0028828 -0.01042095 0.99994154 -0.61105234] [ 0. 0. 0. 1. ]] SLAMing on 54.866547614999995 meters Centerline goodness : 0.824351 with order 1 Centerline is valid? [False, False] Translation: X:1.49, Y:1.16, Z:-0.61 [[ 0.9997457 0.02248294 -0.00174489 1.48629625] [-0.02246109 0.99967965 0.01166635 1.16037878] [ 0.00200662 -0.01162419 0.99993042 -0.61169703] [ 0. 0. 0. 1. ]] SLAMing on 54.926547615 meters Centerline goodness : 0.822290 with order 1 Centerline is valid? [False, False] Translation: X:1.49, Y:1.16, Z:-0.62 [[ 0.99975213 0.02212845 -0.00245236 1.48990784] [-0.02210047 0.99969632 0.0109009 1.15757182] [ 0.00269283 -0.010844 0.99993758 -0.61556052] [ 0. 0. 0. 1. ]] SLAMing on 54.986547615 meters Centerline goodness : 0.825698 with order 1 Centerline is valid? [False, False] Translation: X:1.49, Y:1.15, Z:-0.62 [[ 0.99978166 0.02080255 -0.00197149 1.48734175] [-0.02078669 0.99975387 0.00775344 1.15455883] [ 0.0021323 -0.00771077 0.999968 -0.61627605] [ 0. 0. 0. 1. ]] SLAMing on 55.046547614999994 meters Centerline goodness : 0.826425 with order 1 Centerline is valid? [False, False] Translation: X:1.49, Y:1.14, Z:-0.61 [[ 9.99731665e-01 2.31347698e-02 -1.17522538e-03 1.48777657e+00] [-2.31089637e-02 9.99560299e-01 1.85791389e-02 1.14418491e+00] [ 1.60453274e-03 -1.85469952e-02 9.99826702e-01 -6.07227614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.106547615 meters Centerline goodness : 0.824727 with order 1 Centerline is valid? [False, False] Translation: X:1.49, Y:1.14, Z:-0.61 [[ 9.99874665e-01 1.57654281e-02 -1.45131683e-03 1.49059242e+00] [-1.57473994e-02 9.99807632e-01 1.16926361e-02 1.13708975e+00] [ 1.63537706e-03 -1.16683162e-02 9.99930586e-01 -6.10707880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.166547615 meters Centerline goodness : 0.826427 with order 1 Centerline is valid? [False, False] Translation: X:1.49, Y:1.13, Z:-0.61 [[ 9.99899645e-01 1.41664110e-02 -1.17071124e-04 1.48744004e+00] [-1.41645746e-02 9.99851306e-01 9.83517855e-03 1.12927783e+00] [ 2.56382898e-04 -9.83253328e-03 9.99951627e-01 -6.11458059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.226547614999994 meters Centerline goodness : 0.828382 with order 3 Centerline is valid? [False, False] Translation: X:1.49, Y:1.13, Z:-0.62 [[ 9.99836886e-01 1.80520992e-02 -5.68610240e-04 1.49107870e+00] [-1.80423993e-02 9.99739638e-01 1.39688358e-02 1.12500293e+00] [ 8.20629006e-04 -1.39562982e-02 9.99902269e-01 -6.15201470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.286547614999996 meters Centerline goodness : 0.828164 with order 3 Centerline is valid? [False, False] Translation: X:1.49, Y:1.12, Z:-0.62 [[ 9.99837965e-01 1.79735240e-02 -9.98159468e-04 1.49314493e+00] [-1.79581318e-02 9.99744416e-01 1.37335007e-02 1.12118160e+00] [ 1.24474376e-03 -1.37133503e-02 9.99905193e-01 -6.17319211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.346547615 meters Centerline goodness : 0.825654 with order 2 Centerline is valid? [False, False] Translation: X:1.49, Y:1.12, Z:-0.62 [[ 9.99910229e-01 1.33650348e-02 -9.53792328e-04 1.49450993e+00] [-1.33554514e-02 9.99866329e-01 9.43161729e-03 1.11988898e+00] [ 1.07971873e-03 -9.41803228e-03 9.99955066e-01 -6.19375894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.406547614999994 meters Centerline goodness : 0.823826 with order 1 Centerline is valid? [False, False] Translation: X:1.49, Y:1.12, Z:-0.62 [[ 9.99954140e-01 9.54121609e-03 -8.26404271e-04 1.49377256e+00] [-9.53628309e-03 9.99937820e-01 5.78054957e-03 1.11919594e+00] [ 8.81506359e-04 -5.77240365e-03 9.99982951e-01 -6.18816993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.466547614999996 meters Centerline goodness : 0.825059 with order 2 Centerline is valid? [False, False] Translation: X:1.50, Y:1.12, Z:-0.62 [[ 0.99996173 0.00859366 -0.00163666 1.49635458] [-0.00858494 0.9999493 0.00526309 1.12010962] [ 0.0016818 -0.00524884 0.99998481 -0.61949545] [ 0. 0. 0. 1. ]] SLAMing on 55.526547615 meters Centerline goodness : 0.828031 with order 3 Centerline is valid? [False, False] Translation: X:1.49, Y:1.12, Z:-0.62 [[ 9.99983274e-01 5.60148263e-03 -1.44045876e-03 1.49479467e+00] [-5.59924959e-03 9.99983123e-01 1.54962092e-03 1.11768845e+00] [ 1.44911462e-03 -1.54152951e-03 9.99997762e-01 -6.19041296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.58654761499999 meters Centerline goodness : 0.824479 with order 1 Centerline is valid? [False, False] Translation: X:1.50, Y:1.12, Z:-0.62 [[ 0.99999141 0.00320048 -0.00263417 1.50478532] [-0.00318905 0.99998554 0.00433087 1.11817676] [ 0.002648 -0.00432244 0.99998715 -0.62114842] [ 0. 0. 0. 1. ]] SLAMing on 55.646547614999996 meters Centerline goodness : 0.824772 with order 1 Centerline is valid? [False, False] Translation: X:1.51, Y:1.11, Z:-0.61 [[ 0.99998593 -0.00338855 -0.00408252 1.50776221] [ 0.00340934 0.9999812 0.00509651 1.11247775] [ 0.00406518 -0.00511036 0.99997868 -0.61019081] [ 0. 0. 0. 1. ]] SLAMing on 55.706547615 meters Centerline goodness : 0.819751 with order 1 Centerline is valid? [False, False] Translation: X:1.54, Y:1.11, Z:-0.61 [[ 0.99979862 -0.01787513 -0.00912138 1.53935952] [ 0.01796426 0.99979076 0.00978412 1.11358436] [ 0.00894457 -0.009946 0.99991053 -0.60923401] [ 0. 0. 0. 1. ]] SLAMing on 55.76654761499999 meters Centerline goodness : 0.818327 with order 1 Centerline is valid? [False, False] Translation: X:1.62, Y:1.10, Z:-0.58 [[ 9.98867040e-01 -4.74473513e-02 -3.65851319e-03 1.61944063e+00] [ 4.75620560e-02 9.97911442e-01 4.37104711e-02 1.10355939e+00] [ 1.57692609e-03 -4.38349553e-02 9.99037542e-01 -5.80010181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.826547614999996 meters Centerline goodness : 0.820122 with order 1 Centerline is valid? [False, False] Translation: X:1.66, Y:1.11, Z:-0.57 [[ 0.99845155 -0.05525348 -0.00644616 1.65698963] [ 0.0554855 0.99747641 0.04429643 1.10793136] [ 0.00398236 -0.04458551 0.99899763 -0.57345567] [ 0. 0. 0. 1. ]] SLAMing on 55.886547615 meters Centerline goodness : 0.816079 with order 1 Centerline is valid? [False, False] Translation: X:1.66, Y:1.12, Z:-0.57 [[ 0.99877216 -0.04893495 -0.00771579 1.65831311] [ 0.0492602 0.99753685 0.04993664 1.11752074] [ 0.00525314 -0.0502554 0.99872258 -0.5730448 ] [ 0. 0. 0. 1. ]] SLAMing on 55.94654761499999 meters Centerline goodness : 0.816291 with order 1 Centerline is valid? [False, False] Translation: X:1.66, Y:1.13, Z:-0.58 [[ 0.99891612 -0.04568182 -0.0089307 1.66024711] [ 0.04606402 0.99774996 0.04871478 1.12962288] [ 0.00668522 -0.04907336 0.9987728 -0.5776975 ] [ 0. 0. 0. 1. ]] SLAMing on 56.006547614999995 meters Centerline goodness : 0.823046 with order 1 Centerline is valid? [False, False] Translation: X:1.64, Y:1.15, Z:-0.58 [[ 9.99211812e-01 -3.96890992e-02 7.28808801e-04 1.64302010e+00] [ 3.96218458e-02 9.98302509e-01 4.26873528e-02 1.14992078e+00] [-2.42179423e-03 -4.26248304e-02 9.99088214e-01 -5.77429391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.066547615 meters Centerline goodness : 0.820777 with order 1 Centerline is valid? [False, False] Translation: X:1.66, Y:1.16, Z:-0.58 [[ 9.99222769e-01 -3.93273520e-02 -2.68643069e-03 1.65724969e+00] [ 3.94088946e-02 9.98187081e-01 4.54916458e-02 1.15937491e+00] [ 8.92494440e-04 -4.55621575e-02 9.98961107e-01 -5.82837578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.126547615 meters Centerline goodness : 0.821229 with order 1 Centerline is valid? [False, False] Translation: X:1.66, Y:1.17, Z:-0.58 [[ 9.99346471e-01 -3.60088742e-02 -3.16114785e-03 1.65650911e+00] [ 3.61159631e-02 9.98297282e-01 4.58058322e-02 1.17092103e+00] [ 1.50634885e-03 -4.58900647e-02 9.98945360e-01 -5.83494556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.186547614999995 meters Centerline goodness : 0.819857 with order 1 Centerline is valid? [False, False] Translation: X:1.65, Y:1.19, Z:-0.58 [[ 0.99961206 -0.02763258 -0.0034885 1.65242896] [ 0.02777441 0.99831792 0.05089113 1.1855494 ] [ 0.00207638 -0.05096828 0.99869811 -0.58030418] [ 0. 0. 0. 1. ]] SLAMing on 56.246547615 meters Centerline goodness : 0.817564 with order 3 Centerline is valid? [False, False] Translation: X:1.66, Y:1.20, Z:-0.59 [[ 0.99948102 -0.03137791 -0.00728844 1.66288142] [ 0.03167711 0.99846665 0.04539717 1.19849082] [ 0.0058528 -0.04560449 0.99894243 -0.58551662] [ 0. 0. 0. 1. ]] SLAMing on 56.306547615 meters Centerline goodness : 0.819006 with order 3 Centerline is valid? [False, False] Translation: X:1.67, Y:1.21, Z:-0.59 [[ 0.99951703 -0.02981517 -0.00876141 1.6655651 ] [ 0.03018956 0.99847294 0.04626431 1.21108325] [ 0.00736865 -0.04650647 0.99889081 -0.58567065] [ 0. 0. 0. 1. ]] SLAMing on 56.366547614999995 meters Centerline goodness : 0.817058 with order 1 Centerline is valid? [False, False] Translation: X:1.66, Y:1.22, Z:-0.58 [[ 0.9996646 -0.0252393 -0.00580218 1.66410241] [ 0.02540961 0.99918264 0.03143885 1.22466435] [ 0.00500394 -0.03157573 0.99948884 -0.58372811] [ 0. 0. 0. 1. ]] SLAMing on 56.426547615 meters Centerline goodness : 0.816075 with order 1 Centerline is valid? [False, False] Translation: X:1.67, Y:1.24, Z:-0.58 [[ 0.99984686 -0.01589227 -0.00732691 1.6672327 ] [ 0.01617768 0.99904059 0.04069626 1.23836299] [ 0.00667313 -0.04080856 0.9991447 -0.58372997] [ 0. 0. 0. 1. ]] SLAMing on 56.486547615 meters Centerline goodness : 0.813560 with order 1 Centerline is valid? [False, False] Translation: X:1.68, Y:1.25, Z:-0.58 [[ 0.99987615 -0.00793234 -0.01359253 1.676397 ] [ 0.00822781 0.99972803 0.02182127 1.24924125] [ 0.01341574 -0.0219304 0.99966948 -0.5805518 ] [ 0. 0. 0. 1. ]] SLAMing on 56.546547614999994 meters Centerline goodness : 0.817753 with order 1 Centerline is valid? [False, False] Translation: X:1.69, Y:1.25, Z:-0.59 [[ 0.99995732 -0.0036655 -0.0084808 1.68695016] [ 0.0037769 0.99990631 0.01315708 1.25403428] [ 0.00843178 -0.01318855 0.99987748 -0.58579438] [ 0. 0. 0. 1. ]] SLAMing on 56.606547615 meters Centerline goodness : 0.811162 with order 1 Centerline is valid? [False, False] Translation: X:1.70, Y:1.26, Z:-0.60 [[ 0.99977796 0.02005146 -0.00647773 1.70008189] [-0.01992169 0.99961113 0.01951193 1.26373066] [ 0.00686646 -0.01937855 0.99978864 -0.59568261] [ 0. 0. 0. 1. ]] SLAMing on 56.666547615 meters Centerline goodness : 0.807925 with order 1 Centerline is valid? [False, False] Translation: X:1.71, Y:1.26, Z:-0.60 [[ 0.99970883 0.0239891 -0.00260282 1.71328326] [-0.02395832 0.99964939 0.01127383 1.26373812] [ 0.00287236 -0.01120819 0.99993306 -0.60055112] [ 0. 0. 0. 1. ]] SLAMing on 56.726547614999994 meters Centerline goodness : 0.808626 with order 1 Centerline is valid? [False, False] Translation: X:1.72, Y:1.26, Z:-0.60 [[ 0.9996339 0.02660682 0.00491322 1.721706 ] [-0.02663628 0.999627 0.0060304 1.26153057] [-0.00475094 -0.00615906 0.99996975 -0.60037297] [ 0. 0. 0. 1. ]] SLAMing on 56.786547614999996 meters Centerline goodness : 0.809367 with order 1 Centerline is valid? [False, False] Translation: X:1.72, Y:1.25, Z:-0.60 [[ 0.9996147 0.02726639 0.00519492 1.72089501] [-0.02731004 0.99959066 0.00852542 1.25424083] [-0.00496034 -0.00866401 0.99995016 -0.59877013] [ 0. 0. 0. 1. ]] SLAMing on 56.846547615 meters Centerline goodness : 0.809505 with order 1 Centerline is valid? [False, False] Translation: X:1.72, Y:1.25, Z:-0.60 [[ 0.99970285 0.0239118 0.00473667 1.72255379] [-0.02394068 0.99969455 0.0061359 1.24654463] [-0.00458851 -0.00624748 0.99996996 -0.59998264] [ 0. 0. 0. 1. ]] SLAMing on 56.906547614999994 meters Centerline goodness : 0.809855 with order 1 Centerline is valid? [False, False] Translation: X:1.73, Y:1.24, Z:-0.61 [[ 0.99972649 0.02306401 0.00387287 1.72729172] [-0.02308422 0.9997197 0.00525744 1.23727789] [-0.00375052 -0.0053454 0.99997868 -0.605228 ] [ 0. 0. 0. 1. ]] SLAMing on 56.966547614999996 meters Centerline goodness : 0.808707 with order 1 Centerline is valid? [False, False] Translation: X:1.72, Y:1.22, Z:-0.60 [[ 0.99966857 0.02481046 0.00687001 1.71863966] [-0.02485855 0.99966643 0.0070053 1.22285618] [-0.00669391 -0.00717375 0.99995186 -0.60337871] [ 0. 0. 0. 1. ]] SLAMing on 57.026547615 meters Centerline goodness : 0.809538 with order 1 Centerline is valid? [False, False] Translation: X:1.72, Y:1.21, Z:-0.60 [[ 0.9997002 0.02331413 0.00748094 1.71855824] [-0.02336982 0.99969916 0.0074461 1.20916399] [-0.00730509 -0.0076187 0.99994429 -0.60447329] [ 0. 0. 0. 1. ]] SLAMing on 57.08654761499999 meters Centerline goodness : 0.815127 with order 1 Centerline is valid? [False, False] Translation: X:1.72, Y:1.19, Z:-0.60 [[ 9.99603449e-01 2.37485922e-02 1.51310917e-02 1.72418408e+00] [-2.37570728e-02 9.99717688e-01 3.80953026e-04 1.19285285e+00] [-1.51177729e-02 -7.40272405e-04 9.99885446e-01 -6.02087102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.146547614999996 meters Centerline goodness : 0.810798 with order 1 Centerline is valid? [False, False] Translation: X:1.73, Y:1.18, Z:-0.61 [[ 0.99958881 0.02443487 0.01500516 1.72899916] [-0.02449537 0.99969249 0.00386138 1.18380375] [-0.01490619 -0.00422735 0.99987996 -0.60618719] [ 0. 0. 0. 1. ]] SLAMing on 57.206547615 meters Centerline goodness : 0.814414 with order 1 Centerline is valid? [False, False] Translation: X:1.73, Y:1.17, Z:-0.61 [[ 0.99971667 0.01817398 0.01537157 1.73074818] [-0.01813808 0.99983244 -0.00247159 1.17474693] [-0.01541391 0.00219207 0.9998788 -0.61082405] [ 0. 0. 0. 1. ]] SLAMing on 57.26654761499999 meters Centerline goodness : 0.816213 with order 1 Centerline is valid? [False, False] Translation: X:1.73, Y:1.16, Z:-0.60 [[ 9.99720358e-01 1.70038089e-02 1.64340270e-02 1.72546701e+00] [-1.69894566e-02 9.99855156e-01 -1.01255242e-03 1.16144647e+00] [-1.64488639e-02 7.33064079e-04 9.99864440e-01 -6.04689993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.326547614999996 meters Centerline goodness : 0.815831 with order 1 Centerline is valid? [False, False] Translation: X:1.74, Y:1.16, Z:-0.61 [[ 0.9998005 0.01409778 0.01414964 1.73940005] [-0.01412404 0.99989871 0.00175768 1.15588055] [-0.01412343 -0.00195718 0.99989834 -0.61023925] [ 0. 0. 0. 1. ]] SLAMing on 57.386547615 meters Centerline goodness : 0.816082 with order 1 Centerline is valid? [False, False] Translation: X:1.74, Y:1.15, Z:-0.61 [[ 0.99988657 0.0054288 0.01404897 1.74136973] [-0.00535559 0.99997191 -0.00524388 1.14783814] [-0.01407705 0.00516805 0.99988756 -0.61160248] [ 0. 0. 0. 1. ]] SLAMing on 57.44654761499999 meters Centerline goodness : 0.819855 with order 1 Centerline is valid? [False, False] Translation: X:1.74, Y:1.14, Z:-0.60 [[ 9.99860708e-01 7.46331211e-03 1.49285836e-02 1.73652561e+00] [-7.47619986e-03 9.99971727e-01 8.07671086e-04 1.14088470e+00] [-1.49221336e-02 -9.19167659e-04 9.99888236e-01 -6.01683361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.506547614999995 meters Centerline goodness : 0.818295 with order 1 Centerline is valid? [False, False] Translation: X:1.75, Y:1.14, Z:-0.60 [[ 9.99911753e-01 1.54097147e-04 1.32839138e-02 1.74811623e+00] [-1.66916194e-04 9.99999522e-01 9.63901985e-04 1.13657161e+00] [-1.32837589e-02 -9.66034224e-04 9.99911300e-01 -6.01984514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.566547615 meters Centerline goodness : 0.817313 with order 1 Centerline is valid? [False, False] Translation: X:1.75, Y:1.13, Z:-0.60 [[ 9.99922585e-01 -8.67183301e-04 1.24125995e-02 1.75177147e+00] [ 8.58509346e-04 9.99999384e-01 7.04113749e-04 1.13290453e+00] [-1.24132025e-02 -6.93402907e-04 9.99922713e-01 -6.03815064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.62654761499999 meters Centerline goodness : 0.814024 with order 1 Centerline is valid? [False, False] Translation: X:1.76, Y:1.14, Z:-0.61 [[ 9.99936765e-01 1.09221681e-03 1.11925520e-02 1.75706097e+00] [-1.11384692e-03 9.99997524e-01 1.92649414e-03 1.13557579e+00] [-1.11904201e-02 -1.93883911e-03 9.99935506e-01 -6.08117881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.686547614999995 meters Centerline goodness : 0.812642 with order 1 Centerline is valid? [False, False] Translation: X:1.76, Y:1.14, Z:-0.61 [[ 0.9999343 0.00366406 0.01086141 1.75868027] [-0.00372494 0.99997744 0.00559003 1.13859716] [-0.01084068 -0.00563012 0.99992539 -0.60753301] [ 0. 0. 0. 1. ]] SLAMing on 57.746547615 meters Centerline goodness : 0.821268 with order 1 Centerline is valid? [False, False] Translation: X:1.76, Y:1.13, Z:-0.59 [[ 9.99981070e-01 4.58759456e-03 4.10051042e-03 1.75950856e+00] [-4.58277670e-03 9.99988799e-01 -1.18356569e-03 1.13092338e+00] [-4.10589421e-03 1.16475156e-03 9.99990892e-01 -5.93799381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.806547615 meters Centerline goodness : 0.815620 with order 1 Centerline is valid? [False, False] Translation: X:1.76, Y:1.14, Z:-0.60 [[ 9.99973674e-01 6.50732224e-03 3.21029366e-03 1.76430748e+00] [-6.51103952e-03 9.99978143e-01 1.14883853e-03 1.13706653e+00] [-3.20274764e-03 -1.16971064e-03 9.99994187e-01 -5.96624330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.866547614999995 meters Centerline goodness : 0.814953 with order 1 Centerline is valid? [False, False] Translation: X:1.77, Y:1.14, Z:-0.60 [[ 9.99991456e-01 3.79613756e-03 1.63610820e-03 1.77112991e+00] [-3.79374224e-03 9.99991731e-01 -1.46466204e-03 1.13719235e+00] [-1.64165473e-03 1.45844255e-03 9.99997589e-01 -6.01269895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.926547615 meters Centerline goodness : 0.820673 with order 1 Centerline is valid? [False, False] Translation: X:1.77, Y:1.14, Z:-0.60 [[ 0.9999564 0.00908004 0.00217868 1.76754125] [-0.00908625 0.99995464 0.00285785 1.14205417] [-0.00215263 -0.00287752 0.99999354 -0.59821424] [ 0. 0. 0. 1. ]] SLAMing on 57.986547615 meters Centerline goodness : 0.819663 with order 1 Centerline is valid? [False, False] Translation: X:1.77, Y:1.14, Z:-0.60 [[ 9.99958458e-01 8.93068507e-03 1.82350787e-03 1.76827215e+00] [-8.93385988e-03 9.99958578e-01 1.74039053e-03 1.14489469e+00] [-1.80788946e-03 -1.75660920e-03 9.99996823e-01 -5.99005711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.046547614999994 meters Centerline goodness : 0.821120 with order 1 Centerline is valid? [False, False] Translation: X:1.77, Y:1.15, Z:-0.60 [[ 9.99956933e-01 9.05320779e-03 2.04268164e-03 1.76782399e+00] [-9.05578376e-03 9.99958208e-01 1.25536543e-03 1.14640545e+00] [-2.03123119e-03 -1.27380945e-03 9.99997126e-01 -5.99519663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.106547615 meters Centerline goodness : 0.819961 with order 1 Centerline is valid? [False, False] Translation: X:1.77, Y:1.15, Z:-0.60 [[ 9.99957860e-01 9.09093587e-03 1.27803933e-03 1.76804190e+00] [-9.09311507e-03 9.99957195e-01 1.70977558e-03 1.14619393e+00] [-1.26244117e-03 -1.72132488e-03 9.99997722e-01 -5.97006813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.166547615 meters Centerline goodness : 0.817250 with order 1 Centerline is valid? [False, False] Translation: X:1.78, Y:1.15, Z:-0.60 [[ 9.99988651e-01 4.58376500e-03 -1.29855118e-03 1.78387116e+00] [-4.58034055e-03 9.99986057e-01 2.62794535e-03 1.14985921e+00] [ 1.31057896e-03 -2.62196772e-03 9.99995704e-01 -6.02222280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.226547614999994 meters Centerline goodness : 0.820019 with order 1 Centerline is valid? [False, False] Translation: X:1.78, Y:1.15, Z:-0.60 [[ 9.99998852e-01 2.02360589e-04 -1.50160633e-03 1.78331996e+00] [-2.02570136e-04 9.99999970e-01 -1.39397595e-04 1.14595523e+00] [ 1.50157808e-03 1.39701616e-04 9.99998863e-01 -5.98875126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.286547614999996 meters Centerline goodness : 0.820063 with order 1 Centerline is valid? [False, False] Translation: X:1.79, Y:1.15, Z:-0.59 [[ 9.99985194e-01 -4.32595355e-03 -3.30112918e-03 1.79089418e+00] [ 4.33146299e-03 9.99989235e-01 1.66363633e-03 1.14575401e+00] [ 3.29389683e-03 -1.67791041e-03 9.99993167e-01 -5.94805749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.346547615 meters Centerline goodness : 0.816247 with order 1 Centerline is valid? [False, False] Translation: X:1.80, Y:1.15, Z:-0.60 [[ 9.99933155e-01 -1.02163010e-02 -5.41416835e-03 1.80165095e+00] [ 1.02132382e-02 9.99947668e-01 -5.93046238e-04 1.14716099e+00] [ 5.41994376e-03 5.37710405e-04 9.99985167e-01 -5.97948323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.406547614999994 meters Centerline goodness : 0.817783 with order 1 Centerline is valid? [False, False] Translation: X:1.83, Y:1.15, Z:-0.60 [[ 0.99989275 -0.01367972 -0.00523072 1.82557321] [ 0.01364102 0.99987983 -0.00736556 1.14879693] [ 0.00533085 0.00729342 0.99995919 -0.59666227] [ 0. 0. 0. 1. ]] SLAMing on 58.466547614999996 meters Centerline goodness : 0.820757 with order 1 Centerline is valid? [False, False] Translation: X:1.82, Y:1.15, Z:-0.59 [[ 9.99938535e-01 -9.70923511e-03 -5.35318853e-03 1.82441341e+00] [ 9.70436886e-03 9.99952475e-01 -9.34265326e-04 1.14586520e+00] [ 5.36200512e-03 8.82258586e-04 9.99985235e-01 -5.91637700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.526547615 meters Centerline goodness : 0.820763 with order 1 Centerline is valid? [False, False] Translation: X:1.83, Y:1.15, Z:-0.59 [[ 0.99995856 -0.00655036 -0.00632186 1.82615323] [ 0.00657422 0.99997131 0.0037621 1.14630162] [ 0.00629704 -0.00380351 0.99997294 -0.58934753] [ 0. 0. 0. 1. ]] SLAMing on 58.58654761499999 meters Centerline goodness : 0.817620 with order 1 Centerline is valid? [False, False] Translation: X:1.83, Y:1.15, Z:-0.59 [[ 0.99997598 -0.00199139 -0.00663904 1.82758379] [ 0.00203429 0.99997705 0.00646168 1.14720479] [ 0.00662602 -0.00647503 0.99995708 -0.59274285] [ 0. 0. 0. 1. ]] SLAMing on 58.646547614999996 meters Centerline goodness : 0.822205 with order 1 Centerline is valid? [False, False] Translation: X:1.81, Y:1.15, Z:-0.59 [[ 0.99994407 0.01012598 -0.00305352 1.80748436] [-0.01009736 0.99990626 0.00924744 1.1465606 ] [ 0.00314687 -0.00921609 0.99995258 -0.59012981] [ 0. 0. 0. 1. ]] SLAMing on 58.706547615 meters Centerline goodness : 0.823408 with order 1 Centerline is valid? [False, False] Translation: X:1.81, Y:1.15, Z:-0.59 [[ 0.99992745 0.01179534 -0.00244204 1.80624479] [-0.01177482 0.99989664 0.00825043 1.14562037] [ 0.00253911 -0.00822107 0.99996298 -0.59360206] [ 0. 0. 0. 1. ]] SLAMing on 58.76654761499999 meters Centerline goodness : 0.824028 with order 1 Centerline is valid? [False, False] Translation: X:1.81, Y:1.14, Z:-0.59 [[ 0.99982283 0.01788708 0.00586163 1.81291894] [-0.01792418 0.99981925 0.00633944 1.13978624] [-0.00574718 -0.00644338 0.99996273 -0.59344392] [ 0. 0. 0. 1. ]] SLAMing on 58.826547614999996 meters Centerline goodness : 0.822155 with order 1 Centerline is valid? [False, False] Translation: X:1.82, Y:1.14, Z:-0.60 [[ 0.99991752 0.01235214 0.00351885 1.82460206] [-0.01236644 0.99991524 0.00407147 1.14042614] [-0.00346826 -0.00411465 0.99998552 -0.59791846] [ 0. 0. 0. 1. ]] SLAMing on 58.886547615 meters Centerline goodness : 0.821340 with order 3 Centerline is valid? [False, False] Translation: X:1.83, Y:1.14, Z:-0.60 [[ 9.99957439e-01 8.63365637e-03 3.25279262e-03 1.82688652e+00] [-8.63003121e-03 9.99962126e-01 -1.12686808e-03 1.13753639e+00] [-3.26239842e-03 1.09874842e-03 9.99994075e-01 -6.02700999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.94654761499999 meters Centerline goodness : 0.823621 with order 1 Centerline is valid? [False, False] Translation: X:1.83, Y:1.13, Z:-0.60 [[ 9.99956351e-01 8.84090931e-03 3.02228713e-03 1.82653966e+00] [-8.84193454e-03 9.99960856e-01 3.26032036e-04 1.13493711e+00] [-3.01928640e-03 -3.52740670e-04 9.99995380e-01 -6.00301563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.006547614999995 meters Centerline goodness : 0.819652 with order 1 Centerline is valid? [False, False] Translation: X:1.83, Y:1.14, Z:-0.60 [[ 9.99973255e-01 6.92400837e-03 2.35535389e-03 1.83081344e+00] [-6.92325464e-03 9.99975980e-01 -3.28010263e-04 1.13711792e+00] [-2.35756846e-03 3.11694776e-04 9.99997172e-01 -6.02416601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.066547615 meters Centerline goodness : 0.828610 with order 1 Centerline is valid? [False, False] Translation: X:1.82, Y:1.12, Z:-0.59 [[ 9.99989981e-01 2.77809794e-03 3.50998141e-03 1.82242291e+00] [-2.77475640e-03 9.99995693e-01 -9.56524245e-04 1.12411156e+00] [-3.51262361e-03 9.46775318e-04 9.99993383e-01 -5.90603241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.12654761499999 meters Centerline goodness : 0.819350 with order 1 Centerline is valid? [False, False] Translation: X:1.84, Y:1.13, Z:-0.60 [[ 9.99995470e-01 2.53045816e-03 1.62972970e-03 1.83799652e+00] [-2.53370664e-03 9.99994802e-01 1.99429397e-03 1.13006434e+00] [-1.62467475e-03 -1.99841420e-03 9.99996683e-01 -6.00229220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.186547614999995 meters Centerline goodness : 0.824892 with order 1 Centerline is valid? [False, False] Translation: X:1.83, Y:1.12, Z:-0.58 [[ 0.99999195 0.0023974 0.00321885 1.8286378 ] [-0.00241718 0.99997813 0.00615604 1.12084985] [-0.00320403 -0.00616377 0.99997587 -0.58492818] [ 0. 0. 0. 1. ]] SLAMing on 59.246547615 meters Centerline goodness : 0.821703 with order 1 Centerline is valid? [False, False] Translation: X:1.83, Y:1.13, Z:-0.59 [[ 0.99997914 0.00551856 0.00335664 1.83077407] [-0.0055413 0.9999615 0.00680344 1.12802174] [-0.00331897 -0.00682189 0.99997122 -0.59086916] [ 0. 0. 0. 1. ]] SLAMing on 59.306547615 meters Centerline goodness : 0.827769 with order 1 Centerline is valid? [False, False] Translation: X:1.82, Y:1.13, Z:-0.58 [[ 0.99997192 0.00595188 0.00455453 1.82164372] [-0.00597746 0.99996633 0.00562286 1.12572283] [-0.00452091 -0.00564992 0.99997382 -0.58436028] [ 0. 0. 0. 1. ]] SLAMing on 59.366547614999995 meters Centerline goodness : 0.824668 with order 1 Centerline is valid? [False, False] Translation: X:1.83, Y:1.13, Z:-0.59 [[ 0.99990291 0.00814828 -0.01130346 1.83111939] [-0.00803367 0.99991623 0.01014849 1.12821931] [ 0.01138521 -0.0100567 0.99988461 -0.58776366] [ 0. 0. 0. 1. ]] SLAMing on 59.426547615 meters Centerline goodness : 0.830274 with order 1 Centerline is valid? [False, False] Translation: X:1.84, Y:1.13, Z:-0.59 [[ 9.99958678e-01 7.23090966e-03 -5.50970627e-03 1.84409147e+00] [-7.23431979e-03 9.99973652e-01 -5.99253958e-04 1.13022435e+00] [ 5.50522795e-03 6.39088173e-04 9.99984642e-01 -5.91495666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.486547615 meters Centerline goodness : 0.833089 with order 1 Centerline is valid? [False, False] Translation: X:1.84, Y:1.13, Z:-0.58 [[ 0.99993695 0.01002583 -0.005057 1.83820735] [-0.01001249 0.99994634 0.00265791 1.13033415] [ 0.00508338 -0.0026071 0.99998368 -0.58413713] [ 0. 0. 0. 1. ]] SLAMing on 59.546547614999994 meters Centerline goodness : 0.829156 with order 1 Centerline is valid? [False, False] Translation: X:1.85, Y:1.13, Z:-0.59 [[ 0.99993972 0.00804702 -0.00746998 1.85153158] [-0.00802539 0.99996353 0.00292146 1.13429281] [ 0.00749322 -0.00286134 0.99996783 -0.59076154] [ 0. 0. 0. 1. ]] SLAMing on 59.606547615 meters Centerline goodness : 0.834202 with order 1 Centerline is valid? [False, False] Translation: X:1.85, Y:1.13, Z:-0.59 [[ 9.99961779e-01 5.62359992e-03 -6.69449618e-03 1.84692326e+00] [-5.61247576e-03 9.99982840e-01 1.67931587e-03 1.13010536e+00] [ 6.70382510e-03 -1.64167899e-03 9.99976182e-01 -5.85489694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.666547615 meters Centerline goodness : 0.838236 with order 1 Centerline is valid? [False, False] Translation: X:1.85, Y:1.13, Z:-0.58 [[ 0.9999645 0.00415001 -0.00733348 1.84905701] [-0.00413368 0.99998895 0.00224067 1.12973242] [ 0.00734269 -0.00221028 0.9999706 -0.58390685] [ 0. 0. 0. 1. ]] SLAMing on 59.726547614999994 meters Centerline goodness : 0.835631 with order 1 Centerline is valid? [False, False] Translation: X:1.86, Y:1.13, Z:-0.59 [[ 9.99947838e-01 6.32599339e-04 -1.01941824e-02 1.86381016e+00] [-6.33221268e-04 9.99999798e-01 -5.77806520e-05 1.13354210e+00] [ 1.01941438e-02 6.42328112e-05 9.99948036e-01 -5.93378013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.786547614999996 meters Centerline goodness : 0.842783 with order 1 Centerline is valid? [False, False] Translation: X:1.86, Y:1.13, Z:-0.58 [[ 9.99942380e-01 -3.34804069e-03 -1.01994111e-02 1.86232108e+00] [ 3.36040808e-03 9.99993639e-01 1.19566326e-03 1.12556274e+00] [ 1.01953431e-02 -1.22986855e-03 9.99947270e-01 -5.84162609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.846547615 meters Centerline goodness : 0.836166 with order 1 Centerline is valid? [False, False] Translation: X:1.87, Y:1.13, Z:-0.59 [[ 0.999924 -0.00467922 -0.01140646 1.87063962] [ 0.00472173 0.999982 0.00370269 1.12891554] [ 0.01138892 -0.00375627 0.99992809 -0.58587854] [ 0. 0. 0. 1. ]] SLAMing on 59.906547614999994 meters Centerline goodness : 0.844555 with order 1 Centerline is valid? [False, False] Translation: X:1.87, Y:1.12, Z:-0.58 [[ 0.99991345 -0.00721911 -0.01099927 1.86582195] [ 0.00725684 0.99996791 0.00339375 1.12336087] [ 0.01097441 -0.00347328 0.99993375 -0.57779893] [ 0. 0. 0. 1. ]] SLAMing on 59.966547614999996 meters Centerline goodness : 0.836876 with order 1 Centerline is valid? [False, False] Translation: X:1.87, Y:1.13, Z:-0.58 [[ 0.99992695 -0.00453619 -0.01120381 1.86840164] [ 0.00459156 0.99997735 0.00492099 1.13078099] [ 0.01118123 -0.00497207 0.99992513 -0.58136987] [ 0. 0. 0. 1. ]] SLAMing on 60.026547615 meters Centerline goodness : 0.840402 with order 1 Centerline is valid? [False, False] Translation: X:1.86, Y:1.13, Z:-0.58 [[ 0.99993872 -0.00280757 -0.01070855 1.86429967] [ 0.00286781 0.99998013 0.00561458 1.13326658] [ 0.01069258 -0.00564495 0.9999269 -0.57808505] [ 0. 0. 0. 1. ]] SLAMing on 60.08654761499999 meters Centerline goodness : 0.840838 with order 1 Centerline is valid? [False, False] Translation: X:1.86, Y:1.14, Z:-0.58 [[ 9.99944110e-01 -5.41508925e-04 -1.05585355e-02 1.86107322e+00] [ 6.00179392e-04 9.99984395e-01 5.55430949e-03 1.13646078e+00] [ 1.05553630e-02 -5.56033608e-03 9.99928831e-01 -5.76911635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.146547614999996 meters Centerline goodness : 0.838365 with order 1 Centerline is valid? [False, False] Translation: X:1.87, Y:1.14, Z:-0.59 [[ 0.99990985 0.00478658 -0.0125453 1.8695917 ] [-0.00468475 0.99995595 0.0081337 1.14498593] [ 0.01258368 -0.00807419 0.99988822 -0.58595688] [ 0. 0. 0. 1. ]] SLAMing on 60.206547615 meters Centerline goodness : 0.840186 with order 1 Centerline is valid? [False, False] Translation: X:1.87, Y:1.15, Z:-0.58 [[ 9.99969299e-01 5.97083958e-03 -5.07439102e-03 1.87374072e+00] [-5.96973261e-03 9.99982154e-01 2.33268094e-04 1.14595820e+00] [ 5.07569327e-03 -2.02968175e-04 9.99987098e-01 -5.81005702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.26654761499999 meters Centerline goodness : 0.840305 with order 1 Centerline is valid? [False, False] Translation: X:1.88, Y:1.15, Z:-0.59 [[ 0.99992752 0.00976212 -0.00704628 1.8841334 ] [-0.00972953 0.99994188 0.00464363 1.15007487] [ 0.0070912 -0.00457474 0.99996439 -0.58752303] [ 0. 0. 0. 1. ]] SLAMing on 60.326547614999996 meters Centerline goodness : 0.831096 with order 1 Centerline is valid? [False, False] Translation: X:1.88, Y:1.15, Z:-0.59 [[ 0.99992752 0.00996555 -0.00675547 1.88369624] [-0.00993969 0.99994319 0.00384991 1.15221809] [ 0.00679346 -0.00378249 0.99996977 -0.58868962] [ 0. 0. 0. 1. ]] SLAMing on 60.386547615 meters Centerline goodness : 0.839838 with order 1 Centerline is valid? [False, False] Translation: X:1.88, Y:1.15, Z:-0.58 [[ 0.99989393 0.01329662 -0.00594459 1.87724774] [-0.01325226 0.9998845 0.00744129 1.14517864] [ 0.00604285 -0.00736172 0.99995464 -0.58263264] [ 0. 0. 0. 1. ]] SLAMing on 60.44654761499999 meters Centerline goodness : 0.833567 with order 1 Centerline is valid? [False, False] Translation: X:1.88, Y:1.14, Z:-0.59 [[ 0.9998331 0.01727243 -0.00595234 1.87977258] [-0.01720656 0.99979203 0.0109465 1.14453855] [ 0.00614018 -0.01084226 0.99992237 -0.58645612] [ 0. 0. 0. 1. ]] SLAMing on 60.506547614999995 meters Centerline goodness : 0.837550 with order 1 Centerline is valid? [False, False] Translation: X:1.88, Y:1.14, Z:-0.59 [[ 0.99988876 0.01377934 -0.00570896 1.87942864] [-0.01373947 0.99988136 0.00696375 1.14165413] [ 0.00580424 -0.00688453 0.99995946 -0.58778009] [ 0. 0. 0. 1. ]] SLAMing on 60.566547615 meters Centerline goodness : 0.836298 with order 1 Centerline is valid? [False, False] Translation: X:1.88, Y:1.14, Z:-0.59 [[ 0.99989058 0.01329074 -0.00649468 1.88118102] [-0.01323854 0.99988024 0.00801502 1.13829626] [ 0.00660043 -0.00792816 0.99994679 -0.58639573] [ 0. 0. 0. 1. ]] SLAMing on 60.62654761499999 meters Centerline goodness : 0.834017 with order 1 Centerline is valid? [False, False] Translation: X:1.88, Y:1.14, Z:-0.58 [[ 0.99993784 0.009199 -0.00630103 1.87992027] [-0.00916257 0.99994129 0.00578541 1.13691502] [ 0.00635388 -0.00572732 0.99996341 -0.58323268] [ 0. 0. 0. 1. ]] SLAMing on 60.686547614999995 meters Centerline goodness : 0.834083 with order 1 Centerline is valid? [False, False] Translation: X:1.88, Y:1.14, Z:-0.59 [[ 0.99994198 0.00828614 -0.00688341 1.88375434] [-0.0082634 0.99996033 0.00332526 1.13847833] [ 0.00691069 -0.00326818 0.99997078 -0.58851001] [ 0. 0. 0. 1. ]] SLAMing on 60.746547615 meters Centerline goodness : 0.828481 with order 1 Centerline is valid? [False, False] Translation: X:1.89, Y:1.15, Z:-0.59 [[ 0.99991838 0.00940294 -0.00864959 1.89074576] [-0.00937016 0.99994879 0.00382348 1.14563659] [ 0.0086851 -0.00374212 0.99995528 -0.59267298] [ 0. 0. 0. 1. ]] SLAMing on 60.806547615 meters Centerline goodness : 0.829239 with order 1 Centerline is valid? [False, False] Translation: X:1.90, Y:1.14, Z:-0.59 [[ 0.99993904 0.00196819 -0.01086491 1.89635422] [-0.00194724 0.99999622 0.00193866 1.1447124 ] [ 0.01086869 -0.00191739 0.9999391 -0.586261 ] [ 0. 0. 0. 1. ]] SLAMing on 60.866547614999995 meters Centerline goodness : 0.827747 with order 1 Centerline is valid? [False, False] Translation: X:1.90, Y:1.15, Z:-0.59 [[ 0.99992052 0.00250136 -0.01235706 1.90272858] [-0.00245247 0.99998911 0.00396978 1.14870578] [ 0.01236685 -0.00393916 0.99991577 -0.58794205] [ 0. 0. 0. 1. ]] SLAMing on 60.926547615 meters Centerline goodness : 0.833469 with order 1 Centerline is valid? [False, False] Translation: X:1.91, Y:1.15, Z:-0.59 [[ 0.99997591 0.00397561 -0.00568967 1.91230741] [-0.00400463 0.99997899 -0.00509816 1.15355578] [ 0.00566928 0.00512082 0.99997082 -0.58986326] [ 0. 0. 0. 1. ]] SLAMing on 60.986547615 meters Centerline goodness : 0.836339 with order 1 Centerline is valid? [False, False] Translation: X:1.91, Y:1.16, Z:-0.59 [[ 9.99949295e-01 8.26821360e-03 -5.74836974e-03 1.91078464e+00] [-8.27539486e-03 9.99965006e-01 -1.22660732e-03 1.15732647e+00] [ 5.73802673e-03 1.27411516e-03 9.99982726e-01 -5.87488617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.046547614999994 meters Centerline goodness : 0.831735 with order 1 Centerline is valid? [False, False] Translation: X:1.92, Y:1.16, Z:-0.59 [[ 9.99935687e-01 8.49474549e-03 -7.51407374e-03 1.91832291e+00] [-8.49263429e-03 9.99963888e-01 3.12828836e-04 1.16272149e+00] [ 7.51645979e-03 -2.48994437e-04 9.99971720e-01 -5.90029148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.106547615 meters Centerline goodness : 0.834565 with order 1 Centerline is valid? [False, False] Translation: X:1.92, Y:1.16, Z:-0.59 [[ 9.99925055e-01 9.26309711e-03 -8.00497293e-03 1.91764793e+00] [-9.25998995e-03 9.99957035e-01 4.25131290e-04 1.16174251e+00] [ 8.00856702e-03 -3.50973460e-04 9.99967869e-01 -5.88421360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.166547615 meters Centerline goodness : 0.831740 with order 1 Centerline is valid? [False, False] Translation: X:1.92, Y:1.16, Z:-0.59 [[ 9.99912700e-01 1.07417580e-02 -7.69459776e-03 1.91520188e+00] [-1.07294259e-02 9.99941090e-01 1.64219624e-03 1.16266216e+00] [ 7.71178454e-03 -1.55949426e-03 9.99969048e-01 -5.86457082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.226547614999994 meters Centerline goodness : 0.827599 with order 1 Centerline is valid? [False, False] Translation: X:1.92, Y:1.16, Z:-0.59 [[ 0.99985667 0.01473797 -0.00833301 1.9169467 ] [-0.01469648 0.9998794 0.00501935 1.16416974] [ 0.00840598 -0.00489616 0.99995268 -0.5874431 ] [ 0. 0. 0. 1. ]] SLAMing on 61.286547614999996 meters Centerline goodness : 0.827818 with order 1 Centerline is valid? [False, False] Translation: X:1.91, Y:1.16, Z:-0.59 [[ 0.99987145 0.01454772 -0.00674199 1.90990167] [-0.014534 0.99989221 0.00207941 1.16261296] [ 0.00677151 -0.00198115 0.99997511 -0.58632651] [ 0. 0. 0. 1. ]] SLAMing on 61.346547615 meters Centerline goodness : 0.831291 with order 1 Centerline is valid? [False, False] Translation: X:1.91, Y:1.17, Z:-0.59 [[ 9.99864388e-01 1.50015482e-02 -6.79399606e-03 1.91050253e+00] [-1.49996607e-02 9.99887445e-01 3.28692548e-04 1.16612833e+00] [ 6.79816225e-03 -2.26740338e-04 9.99976867e-01 -5.89441669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.406547614999994 meters Centerline goodness : 0.826884 with order 1 Centerline is valid? [False, False] Translation: X:1.91, Y:1.16, Z:-0.59 [[ 0.99992057 0.01033893 -0.00720874 1.91284631] [-0.01036295 0.99994085 -0.00330308 1.16139736] [ 0.00717416 0.00337752 0.99996856 -0.59089965] [ 0. 0. 0. 1. ]] SLAMing on 61.466547614999996 meters Centerline goodness : 0.829799 with order 1 Centerline is valid? [False, False] Translation: X:1.92, Y:1.16, Z:-0.59 [[ 0.99992698 0.00911391 -0.00793517 1.91638971] [-0.00913192 0.9999558 -0.00223567 1.15602993] [ 0.00791445 0.00230797 0.99996602 -0.59142776] [ 0. 0. 0. 1. ]] SLAMing on 61.526547615 meters Centerline goodness : 0.826914 with order 1 Centerline is valid? [False, False] Translation: X:1.92, Y:1.15, Z:-0.59 [[ 0.99992908 0.00874023 -0.00808917 1.9189946 ] [-0.00875861 0.99995913 -0.00224021 1.15361162] [ 0.00806926 0.00231091 0.99996477 -0.59432648] [ 0. 0. 0. 1. ]] SLAMing on 61.58654761499999 meters Centerline goodness : 0.832800 with order 1 Centerline is valid? [False, False] Translation: X:1.91, Y:1.15, Z:-0.59 [[ 0.99994729 0.00683223 -0.00766466 1.9147364 ] [-0.00684771 0.99997456 -0.00199555 1.14500294] [ 0.00765083 0.00204793 0.99996863 -0.5879435 ] [ 0. 0. 0. 1. ]] SLAMing on 61.646547614999996 meters Centerline goodness : 0.826526 with order 1 Centerline is valid? [False, False] Translation: X:1.93, Y:1.14, Z:-0.59 [[ 9.99946156e-01 -2.45840392e-03 -1.00817717e-02 1.93049653e+00] [ 2.45640931e-03 9.99996961e-01 -2.10221354e-04 1.14138513e+00] [ 1.00822578e-02 1.85445077e-04 9.99949156e-01 -5.86110565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.706547615 meters Centerline goodness : 0.829546 with order 1 Centerline is valid? [False, False] Translation: X:1.93, Y:1.14, Z:-0.59 [[ 9.99944260e-01 -2.20501112e-03 -1.03254167e-02 1.93038418e+00] [ 2.20022731e-03 9.99997467e-01 -4.74641151e-04 1.14292918e+00] [ 1.03264372e-02 4.51896431e-04 9.99946579e-01 -5.85728495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.76654761499999 meters Centerline goodness : 0.827457 with order 1 Centerline is valid? [False, False] Translation: X:1.93, Y:1.14, Z:-0.59 [[ 0.99994523 0.00241325 -0.0101838 1.92911889] [-0.00238273 0.99999264 0.00300809 1.14495806] [ 0.01019099 -0.00298366 0.99994362 -0.58531084] [ 0. 0. 0. 1. ]] SLAMing on 61.826547614999996 meters Centerline goodness : 0.833528 with order 1 Centerline is valid? [False, False] Translation: X:1.93, Y:1.15, Z:-0.59 [[ 0.99998545 0.00272364 0.00465716 1.92993863] [-0.00273447 0.99999357 0.0023217 1.15191929] [-0.0046508 -0.0023344 0.99998646 -0.59212465] [ 0. 0. 0. 1. ]] SLAMing on 61.886547615 meters Centerline goodness : 0.832129 with order 1 Centerline is valid? [False, False] Translation: X:1.93, Y:1.15, Z:-0.59 [[ 0.99998166 0.0039295 0.00460855 1.92713057] [-0.00394583 0.99998595 0.0035396 1.15011369] [-0.00459458 -0.00355772 0.99998312 -0.58812855] [ 0. 0. 0. 1. ]] SLAMing on 61.94654761499999 meters Centerline goodness : 0.834057 with order 1 Centerline is valid? [False, False] Translation: X:1.94, Y:1.16, Z:-0.60 [[ 0.99998878 0.00376679 0.00287365 1.93634175] [-0.00377475 0.99998903 0.00277168 1.1574126 ] [-0.00286318 -0.00278249 0.99999203 -0.59573471] [ 0. 0. 0. 1. ]] SLAMing on 62.006547614999995 meters Centerline goodness : 0.832593 with order 1 Centerline is valid? [False, False] Translation: X:1.94, Y:1.16, Z:-0.60 [[ 9.99995545e-01 2.25859841e-03 1.95171031e-03 1.94021759e+00] [-2.26050143e-03 9.99996971e-01 9.73395235e-04 1.15932862e+00] [-1.94950589e-03 -9.77802742e-04 9.99997622e-01 -5.98454080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.066547615 meters Centerline goodness : 0.829544 with order 1 Centerline is valid? [False, False] Translation: X:1.94, Y:1.15, Z:-0.59 [[ 9.99996039e-01 1.97613890e-05 2.81452254e-03 1.94058369e+00] [-3.96834860e-05 9.99974947e-01 7.07844214e-03 1.15299489e+00] [-2.81431215e-03 -7.07852579e-03 9.99970987e-01 -5.87750860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.12654761499999 meters Centerline goodness : 0.827578 with order 1 Centerline is valid? [False, False] Translation: X:1.94, Y:1.15, Z:-0.59 [[ 9.99996537e-01 -1.61988203e-03 2.07434610e-03 1.94399815e+00] [ 1.60488521e-03 9.99972712e-01 7.21102998e-03 1.14978036e+00] [-2.08597051e-03 -7.20767592e-03 9.99971849e-01 -5.88281875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.186547614999995 meters Centerline goodness : 0.820394 with order 1 Centerline is valid? [False, False] Translation: X:1.95, Y:1.15, Z:-0.59 [[ 9.99998672e-01 9.13436520e-04 1.34968935e-03 1.94859255e+00] [-9.26718761e-04 9.99950828e-01 9.87332777e-03 1.15044647e+00] [-1.34060432e-03 -9.87456544e-03 9.99950347e-01 -5.92151905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.246547615 meters Centerline goodness : 0.815823 with order 1 Centerline is valid? [False, False] Translation: X:1.95, Y:1.15, Z:-0.60 [[ 9.99998581e-01 -6.36103151e-04 1.56003096e-03 1.94650505e+00] [ 6.31086931e-04 9.99994636e-01 3.21384866e-03 1.15325101e+00] [-1.56206693e-03 -3.21285959e-03 9.99993619e-01 -5.96832888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.306547615 meters Centerline goodness : 0.815055 with order 1 Centerline is valid? [False, False] Translation: X:1.95, Y:1.15, Z:-0.60 [[ 9.99996746e-01 -1.78472753e-03 1.82304101e-03 1.94768835e+00] [ 1.77516363e-03 9.99984725e-01 5.23433833e-03 1.14832799e+00] [-1.83235503e-03 -5.23108510e-03 9.99984639e-01 -5.95342568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.366547614999995 meters Centerline goodness : 0.811535 with order 1 Centerline is valid? [False, False] Translation: X:1.95, Y:1.14, Z:-0.59 [[ 9.99968488e-01 -7.89949602e-03 7.88208689e-04 1.95201016e+00] [ 7.89801080e-03 9.99967062e-01 1.86994591e-03 1.14273048e+00] [-8.02954357e-04 -1.86366171e-03 9.99997941e-01 -5.94954361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.426547615 meters Centerline goodness : 0.819906 with order 1 Centerline is valid? [False, False] Translation: X:1.95, Y:1.14, Z:-0.59 [[ 9.99970848e-01 -7.56577984e-03 1.03054478e-03 1.95049468e+00] [ 7.56106392e-03 9.99961264e-01 4.50564633e-03 1.13829372e+00] [-1.06459359e-03 -4.49772296e-03 9.99989319e-01 -5.90791886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.486547615 meters Centerline goodness : 0.814538 with order 1 Centerline is valid? [False, False] Translation: X:1.96, Y:1.14, Z:-0.60 [[ 9.99950746e-01 -9.91584628e-03 -4.26622048e-04 1.95717862e+00] [ 9.91680812e-03 9.99948148e-01 2.31482100e-03 1.14123362e+00] [ 4.03646517e-04 -2.31893772e-03 9.99997230e-01 -5.95187280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.546547614999994 meters Centerline goodness : 0.810549 with order 1 Centerline is valid? [False, False] Translation: X:1.96, Y:1.14, Z:-0.60 [[ 9.99933003e-01 -1.15034877e-02 -1.28799989e-03 1.96054719e+00] [ 1.15059102e-02 9.99932020e-01 1.88949802e-03 1.14069537e+00] [ 1.26617651e-03 -1.90419104e-03 9.99997385e-01 -5.95671384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.606547615 meters Centerline goodness : 0.811887 with order 1 Centerline is valid? [False, False] Translation: X:1.96, Y:1.14, Z:-0.59 [[ 9.99915442e-01 -1.28818228e-02 -1.77980796e-03 1.96249440e+00] [ 1.28883265e-02 9.99910125e-01 3.69233953e-03 1.13783098e+00] [ 1.73208393e-03 -3.71496605e-03 9.99991599e-01 -5.92807166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.666547615 meters Centerline goodness : 0.814287 with order 1 Centerline is valid? [False, False] Translation: X:1.97, Y:1.14, Z:-0.59 [[ 0.99994708 -0.00989945 -0.00279891 1.96533535] [ 0.0099202 0.99992266 0.00750122 1.13849683] [ 0.00272443 -0.00752859 0.99996795 -0.59258239] [ 0. 0. 0. 1. ]] SLAMing on 62.726547614999994 meters Centerline goodness : 0.813325 with order 1 Centerline is valid? [False, False] Translation: X:1.96, Y:1.14, Z:-0.59 [[ 0.99995111 -0.00951417 -0.0026941 1.96366098] [ 0.00953619 0.99992023 0.00828259 1.1378922 ] [ 0.00261508 -0.00830787 0.99996207 -0.59002978] [ 0. 0. 0. 1. ]] SLAMing on 62.786547614999996 meters Centerline goodness : 0.812797 with order 1 Centerline is valid? [False, False] Translation: X:1.96, Y:1.14, Z:-0.59 [[ 0.99994416 -0.01012523 -0.00302749 1.96485343] [ 0.01014587 0.99992485 0.00688205 1.14164906] [ 0.00295758 -0.00691238 0.99997174 -0.59133813] [ 0. 0. 0. 1. ]] SLAMing on 62.846547615 meters Centerline goodness : 0.813109 with order 1 Centerline is valid? [False, False] Translation: X:1.96, Y:1.14, Z:-0.59 [[ 0.99996215 -0.00828749 -0.00264938 1.9619799 ] [ 0.0083075 0.99993637 0.00763173 1.14140622] [ 0.00258597 -0.00765345 0.99996737 -0.59001584] [ 0. 0. 0. 1. ]] SLAMing on 62.906547614999994 meters Centerline goodness : 0.810633 with order 1 Centerline is valid? [False, False] Translation: X:1.96, Y:1.15, Z:-0.59 [[ 0.99998905 -0.00405431 -0.0023371 1.9622372 ] [ 0.00407719 0.99994299 0.0098685 1.14510816] [ 0.00229696 -0.00987792 0.99994857 -0.59350214] [ 0. 0. 0. 1. ]] SLAMing on 62.966547614999996 meters Centerline goodness : 0.817709 with order 1 Centerline is valid? [False, False] Translation: X:1.95, Y:1.14, Z:-0.58 [[ 9.99998518e-01 -1.63909905e-03 -5.25712215e-04 1.94882625e+00] [ 1.64441471e-03 9.99945853e-01 1.02755351e-02 1.13676845e+00] [ 5.08841130e-04 -1.02763844e-02 9.99947067e-01 -5.84717411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.026547615 meters Centerline goodness : 0.814121 with order 1 Centerline is valid? [False, False] Translation: X:1.96, Y:1.14, Z:-0.59 [[ 9.99982871e-01 -5.76258348e-03 -1.02457053e-03 1.95654372e+00] [ 5.77053581e-03 9.99951860e-01 7.93591256e-03 1.13554133e+00] [ 9.78789851e-04 -7.94168895e-03 9.99967985e-01 -5.91110759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.08654761499999 meters Centerline goodness : 0.811953 with order 1 Centerline is valid? [False, False] Translation: X:1.96, Y:1.13, Z:-0.60 [[ 9.99941184e-01 -1.07296778e-02 -1.58216195e-03 1.96306957e+00] [ 1.07373241e-02 9.99930317e-01 4.90624850e-03 1.13248774e+00] [ 1.52940924e-03 -4.92294812e-03 9.99986713e-01 -5.95310835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.146547614999996 meters Centerline goodness : 0.815346 with order 1 Centerline is valid? [False, False] Translation: X:1.96, Y:1.13, Z:-0.59 [[ 9.99898526e-01 -1.41566009e-02 -1.58999547e-03 1.96297514e+00] [ 1.41599766e-02 9.99897469e-01 2.13229563e-03 1.12699850e+00] [ 1.55964639e-03 -2.15459356e-03 9.99996463e-01 -5.94752862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.206547615 meters Centerline goodness : 0.805869 with order 1 Centerline is valid? [False, False] Translation: X:1.97, Y:1.13, Z:-0.60 [[ 0.99991593 -0.01273367 -0.0024473 1.96790309] [ 0.0127477 0.99990189 0.00580572 1.12835779] [ 0.00237313 -0.00583643 0.99998015 -0.59588065] [ 0. 0. 0. 1. ]] SLAMing on 63.26654761499999 meters Centerline goodness : 0.808600 with order 1 Centerline is valid? [False, False] Translation: X:1.97, Y:1.13, Z:-0.60 [[ 0.99991656 -0.01262466 -0.00273564 1.9682956 ] [ 0.01264188 0.9998998 0.00636982 1.12507732] [ 0.00265495 -0.00640387 0.99997597 -0.59519523] [ 0. 0. 0. 1. ]] SLAMing on 63.326547614999996 meters Centerline goodness : 0.808742 with order 1 Centerline is valid? [False, False] Translation: X:1.97, Y:1.12, Z:-0.59 [[ 0.99987049 -0.01585165 -0.00277859 1.96644272] [ 0.0158652 0.99986201 0.00492452 1.11891961] [ 0.00270015 -0.00496797 0.99998401 -0.59062705] [ 0. 0. 0. 1. ]] SLAMing on 63.386547615 meters Centerline goodness : 0.804307 with order 1 Centerline is valid? [False, False] Translation: X:1.98, Y:1.13, Z:-0.59 [[ 0.99985745 -0.01645307 -0.00379126 1.97530593] [ 0.01648004 0.99983829 0.00719717 1.12591653] [ 0.00367224 -0.00725863 0.99996691 -0.59489244] [ 0. 0. 0. 1. ]] SLAMing on 63.44654761499999 meters Centerline goodness : 0.808268 with order 1 Centerline is valid? [False, False] Translation: X:1.98, Y:1.12, Z:-0.58 [[ 9.99854064e-01 -1.30723666e-02 -1.09983828e-02 1.97839935e+00] [ 1.30592147e-02 9.99913922e-01 -1.26677122e-03 1.11966170e+00] [ 1.10139958e-02 1.12295611e-03 9.99938714e-01 -5.84943277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.506547614999995 meters Centerline goodness : 0.802614 with order 1 Centerline is valid? [False, False] Translation: X:1.98, Y:1.12, Z:-0.59 [[ 0.9998908 -0.0085326 -0.012066 1.98496612] [ 0.00859012 0.99995195 0.00472347 1.12367133] [ 0.01202512 -0.0048266 0.99991605 -0.58799522] [ 0. 0. 0. 1. ]] SLAMing on 63.566547615 meters Centerline goodness : 0.802899 with order 1 Centerline is valid? [False, False] Translation: X:1.99, Y:1.12, Z:-0.59 [[ 0.99988261 -0.00882591 -0.01252444 1.98729488] [ 0.00887357 0.99995358 0.0037546 1.12263618] [ 0.01249072 -0.00386529 0.99991452 -0.5907219 ] [ 0. 0. 0. 1. ]] SLAMing on 63.62654761499999 meters Centerline goodness : 0.801164 with order 1 Centerline is valid? [False, False] Translation: X:1.99, Y:1.13, Z:-0.59 [[ 0.99989337 -0.0080983 -0.01215202 1.98502072] [ 0.00815282 0.99995689 0.00444374 1.1257602 ] [ 0.01211551 -0.00454234 0.99991629 -0.58864306] [ 0. 0. 0. 1. ]] SLAMing on 63.686547614999995 meters Centerline goodness : 0.801195 with order 1 Centerline is valid? [False, False] Translation: X:1.99, Y:1.13, Z:-0.59 [[ 0.99988981 -0.00777932 -0.01264279 1.98525502] [ 0.00783019 0.99996143 0.0039793 1.12584583] [ 0.01261134 -0.00407785 0.99991216 -0.58843794] [ 0. 0. 0. 1. ]] SLAMing on 63.746547615 meters Centerline goodness : 0.807173 with order 1 Centerline is valid? [False, False] Translation: X:1.99, Y:1.12, Z:-0.59 [[ 0.99989258 -0.00789568 -0.01234843 1.98505769] [ 0.00795465 0.99995716 0.00473344 1.12440086] [ 0.01231053 -0.00483116 0.99991255 -0.58795466] [ 0. 0. 0. 1. ]] SLAMing on 63.806547615 meters Centerline goodness : 0.806069 with order 1 Centerline is valid? [False, False] Translation: X:1.99, Y:1.12, Z:-0.58 [[ 0.99987561 -0.00977766 -0.01237548 1.98629651] [ 0.00986357 0.99992755 0.00690007 1.12028694] [ 0.01230712 -0.00702127 0.99989961 -0.58408308] [ 0. 0. 0. 1. ]] SLAMing on 63.866547614999995 meters Centerline goodness : 0.809238 with order 1 Centerline is valid? [False, False] Translation: X:1.99, Y:1.12, Z:-0.58 [[ 9.99706256e-01 -2.00722274e-02 -1.35833225e-02 1.98954557e+00] [ 2.00508932e-02 9.99797507e-01 -1.70499954e-03 1.12135633e+00] [ 1.36147951e-02 1.43214096e-03 9.99906289e-01 -5.82481971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.926547615 meters Centerline goodness : 0.806946 with order 1 Centerline is valid? [False, False] Translation: X:2.02, Y:1.12, Z:-0.58 [[ 9.99222691e-01 -3.66882634e-02 -1.44216797e-02 2.01655093e+00] [ 3.67136327e-02 9.99324704e-01 1.49822047e-03 1.12490985e+00] [ 1.43569737e-02 -2.02652814e-03 9.99894880e-01 -5.77219089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.986547615 meters Centerline goodness : 0.808350 with order 1 Centerline is valid? [False, False] Translation: X:2.07, Y:1.12, Z:-0.55 [[ 0.9986688 -0.05112486 -0.00684716 2.07469424] [ 0.05134257 0.99800663 0.0366975 1.12333521] [ 0.00495736 -0.0370002 0.99930296 -0.55061003] [ 0. 0. 0. 1. ]] SLAMing on 64.046547615 meters Centerline goodness : 0.810345 with order 1 Centerline is valid? [False, False] Translation: X:2.07, Y:1.14, Z:-0.55 [[ 0.99902241 -0.04350484 -0.00784526 2.07199734] [ 0.04378193 0.9982593 0.03951598 1.14080436] [ 0.00611247 -0.03982083 0.99918814 -0.5496636 ] [ 0. 0. 0. 1. ]] SLAMing on 64.106547615 meters Centerline goodness : 0.800877 with order 1 Centerline is valid? [False, False] Translation: X:2.08, Y:1.17, Z:-0.56 [[ 0.99958098 -0.02690653 -0.01067212 2.07805805] [ 0.02740841 0.99837002 0.05006079 1.165801 ] [ 0.00930776 -0.05033232 0.99868915 -0.55782689] [ 0. 0. 0. 1. ]] SLAMing on 64.166547615 meters Centerline goodness : 0.800028 with order 1 Centerline is valid? [False, False] Translation: X:2.08, Y:1.17, Z:-0.56 [[ 0.99970288 -0.02250545 -0.00936198 2.08186131] [ 0.02281234 0.99915877 0.03407853 1.17435644] [ 0.00858715 -0.03428197 0.99937531 -0.56355655] [ 0. 0. 0. 1. ]] SLAMing on 64.226547615 meters Centerline goodness : 0.802177 with order 1 Centerline is valid? [False, False] Translation: X:2.07, Y:1.20, Z:-0.56 [[ 9.99985200e-01 -5.40081281e-03 -6.56888138e-04 2.07037886e+00] [ 5.41285009e-03 9.99786099e-01 1.99614018e-02 1.19782620e+00] [ 5.48939834e-04 -1.99646620e-02 9.99800536e-01 -5.60455741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.28654761499999 meters Centerline goodness : 0.798636 with order 1 Centerline is valid? [False, False] Translation: X:2.08, Y:1.21, Z:-0.57 [[ 9.99987445e-01 4.56390255e-03 -2.06894675e-03 2.07624522e+00] [-4.51035209e-03 9.99672557e-01 2.51880159e-02 1.21182217e+00] [ 2.18322493e-03 -2.51783680e-02 9.99680591e-01 -5.69707426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.34654761499999 meters Centerline goodness : 0.796707 with order 1 Centerline is valid? [False, False] Translation: X:2.07, Y:1.22, Z:-0.57 [[ 0.99995165 0.00945235 -0.00271251 2.07439258] [-0.00937587 0.99959297 0.02694431 1.21881122] [ 0.00296609 -0.02691757 0.99963326 -0.56786202] [ 0. 0. 0. 1. ]] SLAMing on 64.406547615 meters Centerline goodness : 0.799207 with order 1 Centerline is valid? [False, False] Translation: X:2.07, Y:1.23, Z:-0.57 [[ 0.99991184 0.01300134 -0.00269586 2.07149422] [-0.01293525 0.99964639 0.02323285 1.22507884] [ 0.00299696 -0.02319593 0.99972645 -0.57292125] [ 0. 0. 0. 1. ]] SLAMing on 64.466547615 meters Centerline goodness : 0.795800 with order 1 Centerline is valid? [False, False] Translation: X:2.08, Y:1.23, Z:-0.58 [[ 0.99988032 0.01502003 -0.0037081 2.07636553] [-0.01491934 0.99955498 0.02583132 1.230017 ] [ 0.00409443 -0.02577291 0.99965944 -0.57573128] [ 0. 0. 0. 1. ]] SLAMing on 64.526547615 meters Centerline goodness : 0.798048 with order 1 Centerline is valid? [False, False] Translation: X:2.08, Y:1.23, Z:-0.57 [[ 0.9999158 0.01230949 -0.00410825 2.0750088 ] [-0.01221493 0.99967675 0.02229791 1.22681435] [ 0.00438139 -0.02224585 0.99974293 -0.57396558] [ 0. 0. 0. 1. ]] SLAMing on 64.586547615 meters Centerline goodness : 0.796984 with order 1 Centerline is valid? [False, False] Translation: X:2.08, Y:1.23, Z:-0.58 [[ 0.9997641 0.02157516 0.00250279 2.08232988] [-0.0216183 0.99959092 0.01872538 1.23019519] [-0.00209777 -0.01877507 0.99982153 -0.57714867] [ 0. 0. 0. 1. ]] SLAMing on 64.646547615 meters Centerline goodness : 0.793967 with order 1 Centerline is valid? [False, False] Translation: X:2.09, Y:1.22, Z:-0.58 [[ 9.99643456e-01 2.65953331e-02 2.37692071e-03 2.08692983e+00] [-2.66452898e-02 9.99349614e-01 2.42976973e-02 1.22457878e+00] [-1.72916944e-03 -2.43523678e-02 9.99701942e-01 -5.82554963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.70654761499999 meters Centerline goodness : 0.798315 with order 1 Centerline is valid? [False, False] Translation: X:2.09, Y:1.22, Z:-0.58 [[ 0.99962853 0.02532526 0.01007156 2.08604648] [-0.02539933 0.99965077 0.00729534 1.21962688] [-0.00988328 -0.00754844 0.99992267 -0.58373302] [ 0. 0. 0. 1. ]] SLAMing on 64.766547615 meters Centerline goodness : 0.796464 with order 1 Centerline is valid? [False, False] Translation: X:2.08, Y:1.21, Z:-0.58 [[ 0.9995651 0.02730337 0.01114173 2.08329222] [-0.02741785 0.99957145 0.0102556 1.21147174] [-0.01085694 -0.01055663 0.99988534 -0.58280966] [ 0. 0. 0. 1. ]] SLAMing on 64.826547615 meters Centerline goodness : 0.793476 with order 1 Centerline is valid? [False, False] Translation: X:2.09, Y:1.20, Z:-0.59 [[ 0.99965823 0.02360108 0.01124297 2.08748663] [-0.02369306 0.99968631 0.00811904 1.20465416] [-0.01104783 -0.00838264 0.99990383 -0.5879339 ] [ 0. 0. 0. 1. ]] SLAMing on 64.886547615 meters Centerline goodness : 0.795976 with order 1 Centerline is valid? [False, False] Translation: X:2.08, Y:1.19, Z:-0.58 [[ 0.99973813 0.0192367 0.01239435 2.08053998] [-0.01927321 0.99981024 0.00283239 1.19317442] [-0.01233752 -0.00307053 0.99991918 -0.58454325] [ 0. 0. 0. 1. ]] SLAMing on 64.946547615 meters Centerline goodness : 0.793690 with order 1 Centerline is valid? [False, False] Translation: X:2.08, Y:1.19, Z:-0.59 [[ 0.99966169 0.02277138 0.01256896 2.08336934] [-0.02286109 0.99971386 0.00704073 1.190901 ] [-0.01240504 -0.00732569 0.99989622 -0.58839952] [ 0. 0. 0. 1. ]] SLAMing on 65.006547615 meters Centerline goodness : 0.798398 with order 1 Centerline is valid? [False, False] Translation: X:2.08, Y:1.18, Z:-0.59 [[ 0.99978289 0.01672342 0.01242976 2.08382065] [-0.0167558 0.99985647 0.00250559 1.17526319] [-0.01238608 -0.00271332 0.99991961 -0.5887892 ] [ 0. 0. 0. 1. ]] SLAMing on 65.06654761499999 meters Centerline goodness : 0.798165 with order 1 Centerline is valid? [False, False] Translation: X:2.09, Y:1.17, Z:-0.59 [[ 0.99971858 0.02030046 0.01227388 2.08685556] [-0.02038545 0.9997688 0.00683914 1.17159511] [-0.0121322 -0.00708742 0.99990128 -0.5920127 ] [ 0. 0. 0. 1. ]] SLAMing on 65.12654761499999 meters Centerline goodness : 0.798146 with order 1 Centerline is valid? [False, False] Translation: X:2.09, Y:1.17, Z:-0.59 [[ 9.99851493e-01 1.21659043e-02 1.22058499e-02 2.08694632e+00] [-1.21742732e-02 9.99925704e-01 6.11571463e-04 1.16501461e+00] [-1.21975027e-02 -7.60077991e-04 9.99925319e-01 -5.90716575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.186547615 meters Centerline goodness : 0.796145 with order 1 Centerline is valid? [False, False] Translation: X:2.09, Y:1.16, Z:-0.59 [[ 0.99988105 0.00896631 0.01254963 2.08598391] [-0.00893256 0.99995634 -0.00274255 1.16278708] [-0.01257367 0.00263013 0.99991749 -0.5910312 ] [ 0. 0. 0. 1. ]] SLAMing on 65.246547615 meters Centerline goodness : 0.794800 with order 1 Centerline is valid? [False, False] Translation: X:2.09, Y:1.16, Z:-0.59 [[ 0.99991784 0.00474787 0.01190681 2.09190667] [-0.00470627 0.99998273 -0.00351966 1.15969002] [-0.01192331 0.00346334 0.99992292 -0.5929069 ] [ 0. 0. 0. 1. ]] SLAMing on 65.306547615 meters Centerline goodness : 0.798506 with order 1 Centerline is valid? [False, False] Translation: X:2.09, Y:1.16, Z:-0.59 [[ 0.99992143 0.00518728 0.01141159 2.09236814] [-0.00515907 0.99998357 -0.00249993 1.15523505] [-0.01142437 0.00244086 0.99993176 -0.59181281] [ 0. 0. 0. 1. ]] SLAMing on 65.366547615 meters Centerline goodness : 0.793157 with order 1 Centerline is valid? [False, False] Translation: X:2.09, Y:1.15, Z:-0.59 [[ 0.99993081 0.00454896 0.01084802 2.09426317] [-0.00452545 0.99998736 -0.00219091 1.15294376] [-0.01085785 0.00214166 0.99993876 -0.59189902] [ 0. 0. 0. 1. ]] SLAMing on 65.42654761499999 meters Centerline goodness : 0.790541 with order 1 Centerline is valid? [False, False] Translation: X:2.11, Y:1.15, Z:-0.59 [[ 9.99961150e-01 -5.05311435e-04 8.80020330e-03 2.10820668e+00] [ 4.90144618e-04 9.99998391e-01 1.72553354e-03 1.15089838e+00] [-8.80106108e-03 -1.72115313e-03 9.99959789e-01 -5.91126574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.48654761499999 meters Centerline goodness : 0.791294 with order 1 Centerline is valid? [False, False] Translation: X:2.11, Y:1.15, Z:-0.59 [[ 9.99966618e-01 -1.30107561e-03 8.06663255e-03 2.11017841e+00] [ 1.29500578e-03 9.99998874e-01 7.57638936e-04 1.15312337e+00] [-8.06760922e-03 -7.47167309e-04 9.99967177e-01 -5.91575524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.546547615 meters Centerline goodness : 0.794294 with order 1 Centerline is valid? [False, False] Translation: X:2.11, Y:1.15, Z:-0.59 [[ 9.99963828e-01 -7.28229867e-04 8.47417431e-03 2.10773045e+00] [ 6.94820469e-04 9.99991978e-01 3.94477241e-03 1.15069650e+00] [-8.47697903e-03 -3.93874169e-03 9.99956313e-01 -5.85628440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.606547615 meters Centerline goodness : 0.788871 with order 1 Centerline is valid? [False, False] Translation: X:2.11, Y:1.15, Z:-0.59 [[ 9.99970906e-01 2.85565895e-04 7.62275234e-03 2.11370579e+00] [-3.14127206e-04 9.99992935e-01 3.74591590e-03 1.15121237e+00] [-7.62162877e-03 -3.74820143e-03 9.99963930e-01 -5.92669820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.666547615 meters Centerline goodness : 0.793858 with order 1 Centerline is valid? [False, False] Translation: X:2.11, Y:1.15, Z:-0.59 [[ 0.99995831 0.00331251 0.00850888 2.10747765] [-0.00335383 0.99998263 0.00484645 1.15172278] [-0.00849267 -0.00487479 0.99995205 -0.58887394] [ 0. 0. 0. 1. ]] SLAMing on 65.726547615 meters Centerline goodness : 0.797988 with order 3 Centerline is valid? [False, False] Translation: X:2.12, Y:1.16, Z:-0.60 [[ 9.99989968e-01 -6.93277339e-05 4.47877163e-03 2.11979253e+00] [ 7.06020861e-05 9.99999957e-01 -2.84374147e-04 1.15640556e+00] [-4.47875173e-03 2.84687504e-04 9.99989930e-01 -5.99288569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.78654761499999 meters Centerline goodness : 0.803109 with order 3 Centerline is valid? [False, False] Translation: X:2.12, Y:1.15, Z:-0.59 [[ 9.99990613e-01 3.89004673e-04 4.31548827e-03 2.11850956e+00] [-3.99594322e-04 9.99996911e-01 2.45327967e-03 1.15133854e+00] [-4.31452060e-03 -2.45498109e-03 9.99987679e-01 -5.94481420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.84654761499999 meters Centerline goodness : 0.803356 with order 3 Centerline is valid? [False, False] Translation: X:2.12, Y:1.16, Z:-0.59 [[ 0.99998557 0.00356065 0.00402254 2.11962933] [-0.00358359 0.99997728 0.00570983 1.15525508] [-0.00400212 -0.00572417 0.99997561 -0.59458351] [ 0. 0. 0. 1. ]] SLAMing on 65.906547615 meters Centerline goodness : 0.809500 with order 1 Centerline is valid? [False, False] Translation: X:2.11, Y:1.15, Z:-0.59 [[ 0.99997677 0.00433796 0.00525843 2.11002288] [-0.00436342 0.99997877 0.00483943 1.15120692] [-0.00523733 -0.00486227 0.99997446 -0.58759607] [ 0. 0. 0. 1. ]] SLAMing on 65.966547615 meters Centerline goodness : 0.806502 with order 1 Centerline is valid? [False, False] Translation: X:2.12, Y:1.15, Z:-0.59 [[ 0.99998784 0.00268147 0.00413819 2.11983167] [-0.00270393 0.99998159 0.00543168 1.15315831] [-0.00412355 -0.0054428 0.99997669 -0.59349205] [ 0. 0. 0. 1. ]] SLAMing on 66.026547615 meters Centerline goodness : 0.806308 with order 2 Centerline is valid? [False, False] Translation: X:2.12, Y:1.16, Z:-0.60 [[ 9.99995181e-01 5.34421816e-04 3.05807834e-03 2.12472927e+00] [-5.43980069e-04 9.99994967e-01 3.12559708e-03 1.15814560e+00] [-3.05639256e-03 -3.12724555e-03 9.99990439e-01 -5.96702840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.086547615 meters Centerline goodness : 0.805096 with order 3 Centerline is valid? [False, False] Translation: X:2.12, Y:1.16, Z:-0.60 [[ 9.99995936e-01 9.42473270e-04 2.69070688e-03 2.12436908e+00] [-9.49434189e-04 9.99996203e-01 2.58691830e-03 1.15980013e+00] [-2.68825856e-03 -2.58946243e-03 9.99993034e-01 -5.96051445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.146547615 meters Centerline goodness : 0.811854 with order 2 Centerline is valid? [False, False] Translation: X:2.12, Y:1.16, Z:-0.60 [[ 9.99996682e-01 1.10637105e-03 2.32619552e-03 2.12468160e+00] [-1.11249188e-03 9.99995918e-01 2.63161759e-03 1.15847951e+00] [-2.32327448e-03 -2.63419673e-03 9.99993832e-01 -5.95568328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.20654761499999 meters Centerline goodness : 0.802893 with order 3 Centerline is valid? [False, False] Translation: X:2.13, Y:1.16, Z:-0.60 [[ 9.99994271e-01 2.82579794e-03 1.86364258e-03 2.12847340e+00] [-2.83853976e-03 9.99972371e-01 6.87021945e-03 1.16037372e+00] [-1.84417724e-03 -6.87547011e-03 9.99974663e-01 -5.95762924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.266547615 meters Centerline goodness : 0.807058 with order 1 Centerline is valid? [False, False] Translation: X:2.12, Y:1.16, Z:-0.59 [[ 9.99997399e-01 5.17644058e-04 2.22108881e-03 2.12464295e+00] [-5.28138345e-04 9.99988689e-01 4.72685687e-03 1.15655181e+00] [-2.21861686e-03 -4.72801762e-03 9.99986362e-01 -5.91585036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.326547615 meters Centerline goodness : 0.804014 with order 3 Centerline is valid? [False, False] Translation: X:2.13, Y:1.16, Z:-0.60 [[ 9.99999118e-01 7.95761799e-04 1.06295360e-03 2.13309187e+00] [-8.00037101e-04 9.99991569e-01 4.02774549e-03 1.16234081e+00] [-1.05973951e-03 -4.02859234e-03 9.99991324e-01 -6.00439359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.386547615 meters Centerline goodness : 0.807389 with order 3 Centerline is valid? [False, False] Translation: X:2.13, Y:1.16, Z:-0.60 [[ 9.99995598e-01 -2.64660747e-03 1.34108553e-03 2.13242265e+00] [ 2.64658755e-03 9.99996498e-01 1.66279632e-05 1.16008537e+00] [-1.34112484e-03 -1.30785897e-05 9.99999101e-01 -6.01241330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.446547615 meters Centerline goodness : 0.801248 with order 3 Centerline is valid? [False, False] Translation: X:2.13, Y:1.16, Z:-0.60 [[ 9.99998718e-01 1.01695140e-03 1.23651004e-03 2.13285477e+00] [-1.02188889e-03 9.99991482e-01 3.99903124e-03 1.16229338e+00] [-1.23243269e-03 -4.00028969e-03 9.99991239e-01 -6.00856418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.506547615 meters Centerline goodness : 0.806586 with order 1 Centerline is valid? [False, False] Translation: X:2.13, Y:1.16, Z:-0.60 [[ 9.99997560e-01 -1.17382736e-03 1.87119309e-03 2.12868346e+00] [ 1.16890483e-03 9.99995859e-01 2.62961634e-03 1.15634230e+00] [-1.87427206e-03 -2.62742268e-03 9.99994792e-01 -5.96360003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.56654761499999 meters Centerline goodness : 0.807389 with order 1 Centerline is valid? [False, False] Translation: X:2.13, Y:1.16, Z:-0.60 [[ 9.99994191e-01 -3.32917510e-03 7.31707562e-04 2.13268474e+00] [ 3.32686100e-03 9.99989532e-01 3.14138981e-03 1.15676767e+00] [-7.42158139e-04 -3.13893727e-03 9.99994798e-01 -5.95017916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.62654761499999 meters Centerline goodness : 0.804949 with order 3 Centerline is valid? [False, False] Translation: X:2.14, Y:1.16, Z:-0.60 [[ 9.99991477e-01 -4.08017807e-03 6.30874015e-04 2.13537163e+00] [ 4.07888158e-03 9.99989595e-01 2.04287674e-03 1.15574506e+00] [-6.39202752e-04 -2.04028607e-03 9.99997714e-01 -5.98829115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.686547615 meters Centerline goodness : 0.808001 with order 1 Centerline is valid? [False, False] Translation: X:2.13, Y:1.15, Z:-0.60 [[ 9.99993433e-01 -3.61065156e-03 3.12979390e-04 2.13488450e+00] [ 3.60954101e-03 9.99987433e-01 3.47909363e-03 1.15085327e+00] [-3.25537251e-04 -3.47794107e-03 9.99993899e-01 -5.96303154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.746547615 meters Centerline goodness : 0.801020 with order 1 Centerline is valid? [False, False] Translation: X:2.15, Y:1.16, Z:-0.60 [[ 9.99989047e-01 -4.52633736e-03 -1.19081562e-03 2.14570126e+00] [ 4.53004696e-03 9.99984837e-01 3.13114238e-03 1.15763948e+00] [ 1.17662496e-03 -3.13650254e-03 9.99994389e-01 -6.04958463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.806547615 meters Centerline goodness : 0.800202 with order 3 Centerline is valid? [False, False] Translation: X:2.15, Y:1.16, Z:-0.61 [[ 9.99988736e-01 -4.44631286e-03 -1.66107482e-03 2.14655173e+00] [ 4.45002085e-03 9.99987600e-01 2.23529819e-03 1.15827603e+00] [ 1.65111539e-03 -2.24266483e-03 9.99996122e-01 -6.05809733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.866547615 meters Centerline goodness : 0.804174 with order 1 Centerline is valid? [False, False] Translation: X:2.14, Y:1.15, Z:-0.60 [[ 9.99994265e-01 -3.26442912e-03 -9.02440721e-04 2.14251319e+00] [ 3.26933671e-03 9.99979579e-01 5.49122148e-03 1.15431542e+00] [ 8.84496589e-04 -5.49414037e-03 9.99984516e-01 -5.99415892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.92654761499999 meters Centerline goodness : 0.801729 with order 1 Centerline is valid? [False, False] Translation: X:2.14, Y:1.15, Z:-0.60 [[ 9.99992254e-01 -3.80140941e-03 -1.02030954e-03 2.14315664e+00] [ 3.80737616e-03 9.99975281e-01 5.91116864e-03 1.15384595e+00] [ 9.97813548e-04 -5.91500756e-03 9.99982008e-01 -5.98733831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.98654761499999 meters Centerline goodness : 0.805150 with order 1 Centerline is valid? [False, False] Translation: X:2.14, Y:1.16, Z:-0.60 [[ 9.99964639e-01 -8.32353354e-03 -1.19962162e-03 2.14243929e+00] [ 8.32594301e-03 9.99963303e-01 2.01772522e-03 1.15559850e+00] [ 1.18278300e-03 -2.02764185e-03 9.99997245e-01 -5.96108243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.046547615 meters Centerline goodness : 0.798784 with order 1 Centerline is valid? [False, False] Translation: X:2.15, Y:1.16, Z:-0.60 [[ 9.99979072e-01 -6.10562379e-03 -2.13947164e-03 2.14766244e+00] [ 6.10761479e-03 9.99980920e-01 9.25310126e-04 1.16408279e+00] [ 2.13378123e-03 -9.38357830e-04 9.99997283e-01 -6.04752560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.106547615 meters Centerline goodness : 0.801540 with order 1 Centerline is valid? [False, False] Translation: X:2.14, Y:1.16, Z:-0.60 [[ 9.99996000e-01 -2.54796608e-03 -1.22757324e-03 2.14130357e+00] [ 2.55228461e-03 9.99990515e-01 3.52930932e-03 1.15932513e+00] [ 1.21856904e-03 -3.53242833e-03 9.99993018e-01 -6.00454929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.166547615 meters Centerline goodness : 0.800156 with order 1 Centerline is valid? [False, False] Translation: X:2.14, Y:1.16, Z:-0.60 [[ 9.99997671e-01 1.98575737e-03 -8.46016283e-04 2.13962777e+00] [-1.97951515e-03 9.99971276e-01 7.31639251e-03 1.16291943e+00] [ 8.60520562e-04 -7.31470077e-03 9.99972877e-01 -5.99801357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.226547615 meters Centerline goodness : 0.800017 with order 1 Centerline is valid? [False, False] Translation: X:2.14, Y:1.16, Z:-0.60 [[ 9.99998367e-01 1.06462054e-03 -1.46043528e-03 2.14195296e+00] [-1.05462804e-03 9.99976147e-01 6.82592583e-03 1.16145960e+00] [ 1.46766747e-03 -6.82437447e-03 9.99975637e-01 -6.00688036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.28654761499999 meters Centerline goodness : 0.797692 with order 1 Centerline is valid? [False, False] Translation: X:2.14, Y:1.16, Z:-0.60 [[ 9.99988924e-01 4.33376571e-03 -1.83573587e-03 2.14318331e+00] [-4.31471524e-03 9.99938082e-01 1.02574219e-02 1.16438578e+00] [ 1.88007547e-03 -1.02493876e-02 9.99945706e-01 -6.00662011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.34654761499999 meters Centerline goodness : 0.797010 with order 1 Centerline is valid? [False, False] Translation: X:2.14, Y:1.16, Z:-0.60 [[ 9.99991297e-01 3.62123999e-03 -2.07200012e-03 2.14496532e+00] [-3.60060834e-03 9.99944749e-01 9.87592397e-03 1.16341350e+00] [ 2.10764873e-03 -9.86837756e-03 9.99949085e-01 -6.02120198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.406547615 meters Centerline goodness : 0.795676 with order 1 Centerline is valid? [False, False] Translation: X:2.14, Y:1.17, Z:-0.60 [[ 9.99990767e-01 3.91411863e-03 -1.77369539e-03 2.14435461e+00] [-3.89865812e-03 9.99955094e-01 8.63775477e-03 1.16649055e+00] [ 1.80742493e-03 -8.63075998e-03 9.99961121e-01 -6.03694091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.466547615 meters Centerline goodness : 0.798097 with order 1 Centerline is valid? [False, False] Translation: X:2.14, Y:1.16, Z:-0.60 [[ 9.99992838e-01 3.64043172e-03 -1.03477721e-03 2.13824952e+00] [-3.63412391e-03 9.99975193e-01 6.03370268e-03 1.16344756e+00] [ 1.05671682e-03 -6.02989896e-03 9.99981262e-01 -6.00974988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.526547615 meters Centerline goodness : 0.790533 with order 1 Centerline is valid? [False, False] Translation: X:2.15, Y:1.17, Z:-0.61 [[ 9.99995854e-01 4.78808238e-04 -2.83940100e-03 2.15214721e+00] [-4.62253449e-04 9.99982909e-01 5.82817363e-03 1.16683317e+00] [ 2.84214305e-03 -5.82683694e-03 9.99978985e-01 -6.09695771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.586547615 meters Centerline goodness : 0.793809 with order 1 Centerline is valid? [False, False] Translation: X:2.15, Y:1.16, Z:-0.61 [[ 9.99996777e-01 8.01952797e-04 -2.40872161e-03 2.15073984e+00] [-7.84910437e-04 9.99974714e-01 7.06790325e-03 1.16328241e+00] [ 2.41432882e-03 -7.06598984e-03 9.99972121e-01 -6.08027936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.646547615 meters Centerline goodness : 0.791382 with order 1 Centerline is valid? [False, False] Translation: X:2.15, Y:1.17, Z:-0.61 [[ 9.99997382e-01 -5.86172063e-04 -2.21198214e-03 2.14845387e+00] [ 5.88253885e-04 9.99999385e-01 9.40623700e-04 1.16657798e+00] [ 2.21142941e-03 -9.41922444e-04 9.99997111e-01 -6.11907466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.70654761499999 meters Centerline goodness : 0.787612 with order 1 Centerline is valid? [False, False] Translation: X:2.15, Y:1.17, Z:-0.62 [[ 9.99994590e-01 9.93469312e-04 -3.13591387e-03 2.15467101e+00] [-9.86120641e-04 9.99996766e-01 2.34406762e-03 1.17108601e+00] [ 3.13823249e-03 -2.34096255e-03 9.99992336e-01 -6.17488558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.766547615 meters Centerline goodness : 0.790703 with order 1 Centerline is valid? [False, False] Translation: X:2.16, Y:1.17, Z:-0.62 [[ 9.99993240e-01 8.09607858e-05 -3.67613185e-03 2.15645066e+00] [-7.16511977e-05 9.99996791e-01 2.53250237e-03 1.16899465e+00] [ 3.67632508e-03 -2.53222185e-03 9.99990036e-01 -6.17035752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.826547615 meters Centerline goodness : 0.786868 with order 1 Centerline is valid? [False, False] Translation: X:2.16, Y:1.17, Z:-0.62 [[ 9.99988551e-01 -1.60723913e-03 -4.50708642e-03 2.16032396e+00] [ 1.61477585e-03 9.99997303e-01 1.66905422e-03 1.16953984e+00] [ 4.50439169e-03 -1.67631304e-03 9.99988450e-01 -6.18868143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.886547615 meters Centerline goodness : 0.788561 with order 1 Centerline is valid? [False, False] Translation: X:2.16, Y:1.17, Z:-0.62 [[ 9.99987011e-01 -1.97274226e-03 -4.69951564e-03 2.16032179e+00] [ 1.98996716e-03 9.99991310e-01 3.66339861e-03 1.16577762e+00] [ 4.69224786e-03 -3.67270290e-03 9.99982247e-01 -6.15440643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.946547615 meters Centerline goodness : 0.790267 with order 1 Centerline is valid? [False, False] Translation: X:2.16, Y:1.16, Z:-0.61 [[ 9.99985934e-01 -2.05728302e-03 -4.88872266e-03 2.16055496e+00] [ 2.07671221e-03 9.99989953e-01 3.97253941e-03 1.16497496e+00] [ 4.88050090e-03 -3.98263600e-03 9.99980159e-01 -6.14790458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.006547615 meters Centerline goodness : 0.788021 with order 1 Centerline is valid? [False, False] Translation: X:2.16, Y:1.17, Z:-0.62 [[ 0.99998629 -0.00222937 -0.00473713 2.16106065] [ 0.0022452 0.9999919 0.00334042 1.16678689] [ 0.00472964 -0.00335101 0.9999832 -0.61629575] [ 0. 0. 0. 1. ]] SLAMing on 68.06654761499999 meters Centerline goodness : 0.787727 with order 1 Centerline is valid? [False, False] Translation: X:2.16, Y:1.17, Z:-0.61 [[ 9.99990945e-01 -6.20322918e-04 -4.21019664e-03 2.15755205e+00] [ 6.38826365e-04 9.99990138e-01 4.39499201e-03 1.16723811e+00] [ 4.20742881e-03 -4.39764180e-03 9.99981479e-01 -6.13622176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.12654761499999 meters Centerline goodness : 0.784439 with order 1 Centerline is valid? [False, False] Translation: X:2.16, Y:1.17, Z:-0.61 [[ 0.99998563 0.00277017 -0.00459024 2.15909038] [-0.00273692 0.99997008 0.00723456 1.17066031] [ 0.00461014 -0.0072219 0.99996329 -0.61479491] [ 0. 0. 0. 1. ]] SLAMing on 68.186547615 meters Centerline goodness : 0.787497 with order 1 Centerline is valid? [False, False] Translation: X:2.16, Y:1.17, Z:-0.61 [[ 0.99998066 0.00456723 -0.00422039 2.15544311] [-0.004532 0.99995512 0.00832006 1.16823758] [ 0.0042582 -0.00830077 0.99995648 -0.61174019] [ 0. 0. 0. 1. ]] SLAMing on 68.246547615 meters Centerline goodness : 0.785432 with order 1 Centerline is valid? [False, False] Translation: X:2.16, Y:1.18, Z:-0.62 [[ 0.99998788 0.00307501 -0.00384455 2.1582423 ] [-0.00305735 0.99998479 0.00458972 1.17572047] [ 0.0038586 -0.00457791 0.99998208 -0.61897731] [ 0. 0. 0. 1. ]] SLAMing on 68.306547615 meters Centerline goodness : 0.786892 with order 1 Centerline is valid? [False, False] Translation: X:2.15, Y:1.17, Z:-0.62 [[ 9.99991305e-01 1.01815894e-03 -4.04379675e-03 2.15489775e+00] [-1.01208220e-03 9.99998356e-01 1.50449205e-03 1.17226534e+00] [ 4.04532192e-03 -1.50038631e-03 9.99990692e-01 -6.15257827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.366547615 meters Centerline goodness : 0.779867 with order 1 Centerline is valid? [False, False] Translation: X:2.17, Y:1.18, Z:-0.63 [[ 0.99997535 0.00450344 -0.00538651 2.16525108] [-0.00448091 0.9999812 0.00418655 1.18277307] [ 0.00540526 -0.00416231 0.99997673 -0.62527019] [ 0. 0. 0. 1. ]] SLAMing on 68.42654761499999 meters Centerline goodness : 0.783785 with order 1 Centerline is valid? [False, False] Translation: X:2.16, Y:1.18, Z:-0.62 [[ 9.99984555e-01 2.21505460e-03 -5.09743256e-03 2.16139514e+00] [-2.20637490e-03 9.99996108e-01 1.70775292e-03 1.17952330e+00] [ 5.10119548e-03 -1.69647970e-03 9.99985550e-01 -6.21448207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.48654761499999 meters Centerline goodness : 0.781325 with order 1 Centerline is valid? [False, False] Translation: X:2.17, Y:1.18, Z:-0.62 [[ 0.99997062 0.00392696 -0.0065838 2.16775557] [-0.0039007 0.99998441 0.00399632 1.18233568] [ 0.00659939 -0.00397052 0.99997034 -0.62493119] [ 0. 0. 0. 1. ]] SLAMing on 68.546547615 meters Centerline goodness : 0.781986 with order 3 Centerline is valid? [False, False] Translation: X:2.17, Y:1.18, Z:-0.62 [[ 0.99997257 0.00336507 -0.00659888 2.16795809] [-0.00333405 0.99998337 0.00470633 1.17899607] [ 0.0066146 -0.0046842 0.99996715 -0.6236036 ] [ 0. 0. 0. 1. ]] SLAMing on 68.606547615 meters Centerline goodness : 0.784678 with order 1 Centerline is valid? [False, False] Translation: X:2.16, Y:1.18, Z:-0.62 [[ 0.99996415 0.00551234 -0.00642801 2.16301786] [-0.00546669 0.99995987 0.00709747 1.17539113] [ 0.00646688 -0.00706207 0.99995415 -0.61707897] [ 0. 0. 0. 1. ]] SLAMing on 68.666547615 meters Centerline goodness : 0.780877 with order 3 Centerline is valid? [False, False] Translation: X:2.18, Y:1.18, Z:-0.63 [[ 0.99994146 0.00415542 -0.00999077 2.17655464] [-0.00411884 0.99998475 0.00367932 1.18160417] [ 0.01000591 -0.00363796 0.99994332 -0.6307239 ] [ 0. 0. 0. 1. ]] SLAMing on 68.726547615 meters Centerline goodness : 0.779729 with order 1 Centerline is valid? [False, False] Translation: X:2.17, Y:1.18, Z:-0.63 [[ 0.99994482 0.00483578 -0.00932631 2.17373326] [-0.00477789 0.99996925 0.00621914 1.17658271] [ 0.0093561 -0.00617424 0.99993717 -0.62646006] [ 0. 0. 0. 1. ]] SLAMing on 68.78654761499999 meters Centerline goodness : 0.789646 with order 1 Centerline is valid? [False, False] Translation: X:2.16, Y:1.17, Z:-0.62 [[ 0.99994575 0.00649965 -0.0081393 2.16283814] [-0.00644522 0.99995681 0.00669543 1.16764358] [ 0.00818247 -0.00664261 0.99994446 -0.61837218] [ 0. 0. 0. 1. ]] SLAMing on 68.84654761499999 meters Centerline goodness : 0.782124 with order 1 Centerline is valid? [False, False] Translation: X:2.17, Y:1.17, Z:-0.63 [[ 0.99992419 0.00806373 -0.00930538 2.17473527] [-0.00795934 0.99990559 0.01120071 1.16689683] [ 0.00939482 -0.01112579 0.99989397 -0.62635026] [ 0. 0. 0. 1. ]] SLAMing on 68.906547615 meters Centerline goodness : 0.786294 with order 1 Centerline is valid? [False, False] Translation: X:2.17, Y:1.16, Z:-0.63 [[ 9.99964748e-01 2.03535052e-03 -8.14619848e-03 2.17093398e+00] [-2.00143598e-03 9.99989306e-01 4.16922421e-03 1.16097868e+00] [ 8.15459720e-03 -4.15277314e-03 9.99958128e-01 -6.26512943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.966547615 meters Centerline goodness : 0.789240 with order 1 Centerline is valid? [False, False] Translation: X:2.17, Y:1.15, Z:-0.62 [[ 9.99961720e-01 1.75242711e-03 -8.57253436e-03 2.17142402e+00] [-1.68341580e-03 9.99966174e-01 8.05088277e-03 1.15384974e+00] [ 8.58635297e-03 -8.03614344e-03 9.99930845e-01 -6.20676776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.026547615 meters Centerline goodness : 0.786171 with order 1 Centerline is valid? [False, False] Translation: X:2.18, Y:1.16, Z:-0.63 [[ 9.99948993e-01 -1.42941221e-03 -9.99842766e-03 2.17919229e+00] [ 1.48982542e-03 9.99980665e-01 6.03743475e-03 1.15593452e+00] [ 9.98960436e-03 -6.05202271e-03 9.99931788e-01 -6.25628870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.086547615 meters Centerline goodness : 0.786388 with order 1 Centerline is valid? [False, False] Translation: X:2.18, Y:1.15, Z:-0.63 [[ 0.9999397 -0.00238736 -0.01071943 2.18212001] [ 0.00245322 0.99997817 0.00613493 1.15131234] [ 0.01070455 -0.00616085 0.99992373 -0.62641767] [ 0. 0. 0. 1. ]] SLAMing on 69.146547615 meters Centerline goodness : 0.787513 with order 1 Centerline is valid? [False, False] Translation: X:2.18, Y:1.15, Z:-0.62 [[ 9.99942714e-01 -1.65439106e-03 -1.05750977e-02 2.18083386e+00] [ 1.73478603e-03 9.99969633e-01 7.59764441e-03 1.14697242e+00] [ 1.05622070e-02 -7.61555470e-03 9.99915218e-01 -6.24469828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.20654761499999 meters Centerline goodness : 0.788706 with order 1 Centerline is valid? [False, False] Translation: X:2.18, Y:1.14, Z:-0.62 [[ 0.99992019 -0.0060996 -0.01106348 2.18251898] [ 0.00614405 0.99997317 0.00398833 1.14495442] [ 0.01103885 -0.00405599 0.99993084 -0.62461688] [ 0. 0. 0. 1. ]] SLAMing on 69.266547615 meters Centerline goodness : 0.787220 with order 1 Centerline is valid? [False, False] Translation: X:2.19, Y:1.14, Z:-0.63 [[ 0.99987269 -0.01005308 -0.01239111 2.19100145] [ 0.01008599 0.99994576 0.00259622 1.14437965] [ 0.01236434 -0.00272087 0.99991986 -0.62857088] [ 0. 0. 0. 1. ]] SLAMing on 69.326547615 meters Centerline goodness : 0.791686 with order 3 Centerline is valid? [False, False] Translation: X:2.19, Y:1.14, Z:-0.63 [[ 0.99985891 -0.01080059 -0.01286459 2.19230191] [ 0.01083994 0.99993677 0.00299354 1.13876327] [ 0.01283144 -0.00313257 0.99991277 -0.6275268 ] [ 0. 0. 0. 1. ]] SLAMing on 69.386547615 meters Centerline goodness : 0.788272 with order 2 Centerline is valid? [False, False] Translation: X:2.20, Y:1.14, Z:-0.63 [[ 0.99986752 -0.00882604 -0.01367635 2.19639678] [ 0.00890901 0.99994221 0.00601773 1.14221007] [ 0.01362245 -0.00613877 0.99988837 -0.62896252] [ 0. 0. 0. 1. ]] SLAMing on 69.446547615 meters Centerline goodness : 0.788687 with order 3 Centerline is valid? [False, False] Translation: X:2.20, Y:1.14, Z:-0.63 [[ 0.99989597 -0.00429889 -0.0137681 2.19520972] [ 0.00443434 0.99994193 0.00982203 1.14479397] [ 0.01372507 -0.00988206 0.99985697 -0.62757847] [ 0. 0. 0. 1. ]] SLAMing on 69.506547615 meters Centerline goodness : 0.785643 with order 1 Centerline is valid? [False, False] Translation: X:2.19, Y:1.15, Z:-0.63 [[ 0.99990251 -0.00393501 -0.0133975 2.19391603] [ 0.0040542 0.99995234 0.00888117 1.1482619 ] [ 0.01336191 -0.00893462 0.99987081 -0.62822308] [ 0. 0. 0. 1. ]] SLAMing on 69.56654761499999 meters Centerline goodness : 0.784843 with order 1 Centerline is valid? [False, False] Translation: X:2.20, Y:1.15, Z:-0.63 [[ 9.99972977e-01 -3.92961777e-03 -6.21308336e-03 2.20250476e+00] [ 3.93215681e-03 9.99992190e-01 3.96497984e-04 1.15160431e+00] [ 6.21147675e-03 -4.20918088e-04 9.99980620e-01 -6.27021341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.62654761499999 meters Centerline goodness : 0.784595 with order 1 Centerline is valid? [False, False] Translation: X:2.20, Y:1.15, Z:-0.63 [[ 9.99971792e-01 -3.74238807e-03 -6.51225341e-03 2.20311353e+00] [ 3.74830772e-03 9.99992573e-01 8.97035413e-04 1.14937822e+00] [ 6.50884799e-03 -9.21420039e-04 9.99978393e-01 -6.26815922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.686547615 meters Centerline goodness : 0.788641 with order 1 Centerline is valid? [False, False] Translation: X:2.21, Y:1.15, Z:-0.63 [[ 9.99970226e-01 -1.85250327e-03 -7.49104871e-03 2.20821846e+00] [ 1.87633110e-03 9.99993199e-01 3.17506467e-03 1.15240382e+00] [ 7.48511595e-03 -3.18902582e-03 9.99966901e-01 -6.30047944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.746547615 meters Centerline goodness : 0.788833 with order 1 Centerline is valid? [False, False] Translation: X:2.21, Y:1.15, Z:-0.63 [[ 9.99964060e-01 9.75453910e-04 -8.42187602e-03 2.21020060e+00] [-9.08127317e-04 9.99967632e-01 7.99437771e-03 1.15058692e+00] [ 8.42940157e-03 -7.98644225e-03 9.99932579e-01 -6.27194573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.806547615 meters Centerline goodness : 0.788305 with order 1 Centerline is valid? [False, False] Translation: X:2.21, Y:1.15, Z:-0.63 [[ 0.99995966 -0.00323703 -0.00837801 2.21014769] [ 0.00326458 0.9999893 0.00327645 1.15168153] [ 0.00836732 -0.00330367 0.99995954 -0.62780241] [ 0. 0. 0. 1. ]] SLAMing on 69.866547615 meters Centerline goodness : 0.788085 with order 1 Centerline is valid? [False, False] Translation: X:2.21, Y:1.15, Z:-0.63 [[ 9.99958395e-01 -1.33708950e-03 -9.02331330e-03 2.21393446e+00] [ 1.39493762e-03 9.99978497e-01 6.40771596e-03 1.15492758e+00] [ 9.01455158e-03 -6.42003633e-03 9.99938759e-01 -6.29034142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.92654761499999 meters Centerline goodness : 0.788391 with order 1 Centerline is valid? [False, False] Translation: X:2.21, Y:1.16, Z:-0.62 [[ 0.99992189 0.00887509 -0.00880063 2.20624805] [-0.00876052 0.99987748 0.01297219 1.15770769] [ 0.00891468 -0.01289408 0.99987713 -0.62399811] [ 0. 0. 0. 1. ]] SLAMing on 69.98654761499999 meters Centerline goodness : 0.788719 with order 1 Centerline is valid? [False, False] Translation: X:2.21, Y:1.16, Z:-0.63 [[ 0.99992389 0.00853359 -0.00891062 2.20683735] [-0.00844418 0.99991411 0.01002386 1.16478384] [ 0.00899539 -0.00994785 0.99991006 -0.62709682] [ 0. 0. 0. 1. ]] SLAMing on 70.046547615 meters Centerline goodness : 0.785456 with order 1 Centerline is valid? [False, False] Translation: X:2.21, Y:1.17, Z:-0.63 [[ 0.99992922 0.00679715 -0.00976471 2.21031321] [-0.00671971 0.99994588 0.00794201 1.17145132] [ 0.00981817 -0.00787583 0.99992078 -0.62913171] [ 0. 0. 0. 1. ]] SLAMing on 70.106547615 meters Centerline goodness : 0.786471 with order 1 Centerline is valid? [False, False] Translation: X:2.21, Y:1.18, Z:-0.63 [[ 0.9999217 0.00748331 -0.01002916 2.20871757] [-0.00742505 0.99995542 0.00583329 1.1791068 ] [ 0.01007237 -0.00575837 0.99993269 -0.62865545] [ 0. 0. 0. 1. ]] SLAMing on 70.166547615 meters Centerline goodness : 0.786448 with order 1 Centerline is valid? [False, False] Translation: X:2.21, Y:1.19, Z:-0.63 [[ 0.99992803 0.00532757 -0.01074965 2.21191803] [-0.00528538 0.99997823 0.00395012 1.1863148 ] [ 0.01077046 -0.00389302 0.99993442 -0.62979824] [ 0. 0. 0. 1. ]] SLAMing on 70.226547615 meters Centerline goodness : 0.783363 with order 1 Centerline is valid? [False, False] Translation: X:2.21, Y:1.19, Z:-0.63 [[ 0.99992004 0.00470589 -0.01173742 2.213146 ] [-0.00466619 0.99998331 0.00340765 1.18859012] [ 0.01175326 -0.00335261 0.99992531 -0.62821167] [ 0. 0. 0. 1. ]] SLAMing on 70.28654761499999 meters Centerline goodness : 0.780821 with order 1 Centerline is valid? [False, False] Translation: X:2.22, Y:1.20, Z:-0.63 [[ 0.99989532 0.0069568 -0.01268662 2.21813467] [-0.00691649 0.9999709 0.00321864 1.1963495 ] [ 0.01270864 -0.00313056 0.99991434 -0.63456068] [ 0. 0. 0. 1. ]] SLAMing on 70.34654761499999 meters Centerline goodness : 0.783290 with order 1 Centerline is valid? [False, False] Translation: X:2.22, Y:1.20, Z:-0.63 [[ 0.99994286 0.0091396 -0.00554516 2.22169645] [-0.009156 0.99995376 -0.00293999 1.1967919 ] [ 0.00551803 0.00299059 0.9999803 -0.62690999] [ 0. 0. 0. 1. ]] SLAMing on 70.406547615 meters Centerline goodness : 0.782461 with order 1 Centerline is valid? [False, False] Translation: X:2.23, Y:1.20, Z:-0.63 [[ 9.99916930e-01 1.11589107e-02 -6.45069341e-03 2.22601425e+00] [-1.11561953e-02 9.99937663e-01 4.56779900e-04 1.19867949e+00] [ 6.45538847e-03 -3.84776759e-04 9.99979090e-01 -6.28193576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.466547615 meters Centerline goodness : 0.780520 with order 1 Centerline is valid? [False, False] Translation: X:2.23, Y:1.20, Z:-0.64 [[ 9.99903074e-01 1.18183126e-02 -7.36010081e-03 2.23340102e+00] [-1.18211355e-02 9.99930070e-01 -3.40153786e-04 1.20189011e+00] [ 7.35556608e-03 4.27125565e-04 9.99972856e-01 -6.36973410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.526547615 meters Centerline goodness : 0.785142 with order 1 Centerline is valid? [False, False] Translation: X:2.22, Y:1.19, Z:-0.63 [[ 0.99991374 0.01249669 -0.00404372 2.21604122] [-0.01250586 0.99991926 -0.00225107 1.19360541] [ 0.00401527 0.00230145 0.99998929 -0.62689136] [ 0. 0. 0. 1. ]] SLAMing on 70.586547615 meters Centerline goodness : 0.780902 with order 1 Centerline is valid? [False, False] Translation: X:2.22, Y:1.19, Z:-0.63 [[ 0.99984372 0.01685835 -0.00532294 2.22490719] [-0.01683311 0.99984702 0.00475158 1.19306346] [ 0.00540223 -0.00466124 0.99997454 -0.63164374] [ 0. 0. 0. 1. ]] SLAMing on 70.64654761499999 meters Centerline goodness : 0.775783 with order 3 Centerline is valid? [False, False] Translation: X:2.23, Y:1.19, Z:-0.64 [[ 9.99882784e-01 1.43761406e-02 -5.26727360e-03 2.22534970e+00] [-1.43731246e-02 9.99896515e-01 6.10000714e-04 1.18813293e+00] [ 5.27549797e-03 -5.34222033e-04 9.99985942e-01 -6.35272582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.70654761499999 meters Centerline goodness : 0.780429 with order 1 Centerline is valid? [False, False] Translation: X:2.22, Y:1.19, Z:-0.63 [[ 9.99867109e-01 1.56351909e-02 -4.61565175e-03 2.22310079e+00] [-1.56264027e-02 9.99876030e-01 1.93397200e-03 1.18599944e+00] [ 4.64531757e-03 -1.86158896e-03 9.99987478e-01 -6.34203738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.766547615 meters Centerline goodness : 0.779980 with order 1 Centerline is valid? [False, False] Translation: X:2.23, Y:1.18, Z:-0.63 [[ 0.99987244 0.01509197 -0.00522776 2.22509195] [-0.01507667 0.99988198 0.00295325 1.18427786] [ 0.00527171 -0.00287406 0.99998197 -0.63364528] [ 0. 0. 0. 1. ]] SLAMing on 70.826547615 meters Centerline goodness : 0.786734 with order 1 Centerline is valid? [False, False] Translation: X:2.22, Y:1.18, Z:-0.63 [[ 9.99920313e-01 1.13580595e-02 -5.51025035e-03 2.22395738e+00] [-1.13505395e-02 9.99934609e-01 1.39408943e-03 1.17799680e+00] [ 5.52572418e-03 -1.33143403e-03 9.99983847e-01 -6.28976854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.886547615 meters Centerline goodness : 0.783505 with order 1 Centerline is valid? [False, False] Translation: X:2.24, Y:1.18, Z:-0.64 [[ 9.99950251e-01 6.76453558e-03 -7.33046066e-03 2.23857203e+00] [-6.75573828e-03 9.99976430e-01 1.22419999e-03 1.18089576e+00] [ 7.33856903e-03 -1.17461641e-03 9.99972382e-01 -6.35929047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.946547615 meters Centerline goodness : 0.782503 with order 1 Centerline is valid? [False, False] Translation: X:2.24, Y:1.17, Z:-0.63 [[ 0.99994908 -0.0056118 -0.00838742 2.24436218] [ 0.00557946 0.99997693 -0.00387478 1.17499763] [ 0.00840897 0.00382778 0.99995732 -0.63066139] [ 0. 0. 0. 1. ]] SLAMing on 71.006547615 meters Centerline goodness : 0.787433 with order 1 Centerline is valid? [False, False] Translation: X:2.25, Y:1.17, Z:-0.62 [[ 0.99975466 -0.02018181 -0.0091275 2.24674652] [ 0.02006875 0.99972278 -0.01231272 1.17024325] [ 0.00937347 0.01212652 0.99988254 -0.62329726] [ 0. 0. 0. 1. ]] SLAMing on 71.06654761499999 meters Centerline goodness : 0.782059 with order 1 Centerline is valid? [False, False] Translation: X:2.28, Y:1.17, Z:-0.62 [[ 9.99403808e-01 -2.89868622e-02 -1.87560738e-02 2.28003543e+00] [ 2.89579233e-02 9.99578988e-01 -1.81272562e-03 1.16978118e+00] [ 1.88007225e-02 1.26850794e-03 9.99822446e-01 -6.19369311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.12654761499999 meters Centerline goodness : 0.785781 with order 1 Centerline is valid? [False, False] Translation: X:2.29, Y:1.17, Z:-0.62 [[ 0.9991001 -0.04041543 -0.01286782 2.29429937] [ 0.04017021 0.9990164 -0.01877725 1.17214861] [ 0.01361405 0.01824345 0.99974088 -0.6166894 ] [ 0. 0. 0. 1. ]] SLAMing on 71.186547615 meters Centerline goodness : 0.783285 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:1.18, Z:-0.62 [[ 0.99915042 -0.03792118 -0.01613758 2.30994599] [ 0.03774781 0.99922767 -0.01091594 1.18321241] [ 0.01653906 0.01029751 0.99981019 -0.6194546 ] [ 0. 0. 0. 1. ]] SLAMing on 71.246547615 meters Centerline goodness : 0.786305 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:1.19, Z:-0.62 [[ 0.99926771 -0.03430119 -0.01695503 2.30913074] [ 0.0341585 0.99937912 -0.00863502 1.19025269] [ 0.01724069 0.00804954 0.99981897 -0.61689316] [ 0. 0. 0. 1. ]] SLAMing on 71.306547615 meters Centerline goodness : 0.787553 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:1.20, Z:-0.61 [[ 0.99935517 -0.0303347 -0.01921081 2.31239922] [ 0.0302601 0.99953339 -0.00416235 1.20225848] [ 0.01932811 0.00357835 0.99980679 -0.61341965] [ 0. 0. 0. 1. ]] SLAMing on 71.366547615 meters Centerline goodness : 0.787269 with order 1 Centerline is valid? [False, False] Translation: X:2.32, Y:1.21, Z:-0.61 [[ 9.99294235e-01 -3.07165297e-02 -2.16223452e-02 2.31881117e+00] [ 3.06665576e-02 9.99526187e-01 -2.63901035e-03 1.21133741e+00] [ 2.16931615e-02 1.97406494e-03 9.99762727e-01 -6.11701295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.42654761499999 meters Centerline goodness : 0.783148 with order 1 Centerline is valid? [False, False] Translation: X:2.32, Y:1.23, Z:-0.61 [[ 0.99949935 -0.02266628 -0.02207473 2.31712445] [ 0.02278359 0.99972753 0.00507696 1.22510521] [ 0.02195364 -0.00557736 0.99974343 -0.60766269] [ 0. 0. 0. 1. ]] SLAMing on 71.48654761499999 meters Centerline goodness : 0.777242 with order 1 Centerline is valid? [False, False] Translation: X:2.33, Y:1.24, Z:-0.61 [[ 0.99979381 -0.01146216 -0.01676183 2.32971884] [ 0.0115699 0.99991294 0.00634489 1.24423064] [ 0.01668765 -0.00653751 0.99983938 -0.60919543] [ 0. 0. 0. 1. ]] SLAMing on 71.546547615 meters Centerline goodness : 0.780156 with order 1 Centerline is valid? [False, False] Translation: X:2.33, Y:1.26, Z:-0.61 [[ 0.99982199 -0.00751555 -0.01730647 2.32822439] [ 0.00761537 0.99995471 0.00570895 1.25599121] [ 0.01726278 -0.00583973 0.99983393 -0.60921162] [ 0. 0. 0. 1. ]] SLAMing on 71.606547615 meters Centerline goodness : 0.777504 with order 1 Centerline is valid? [False, False] Translation: X:2.33, Y:1.27, Z:-0.61 [[ 9.99829601e-01 2.49900575e-03 -1.82899699e-02 2.33197429e+00] [-2.23781273e-03 9.99895428e-01 1.42872306e-02 1.26673193e+00] [ 1.83237611e-02 -1.42438665e-02 9.99730640e-01 -6.11891894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.666547615 meters Centerline goodness : 0.777211 with order 1 Centerline is valid? [False, False] Translation: X:2.32, Y:1.28, Z:-0.61 [[ 0.99981457 0.01468493 -0.01245715 2.31762674] [-0.01447925 0.99975995 0.01644355 1.27933691] [ 0.01269564 -0.01626013 0.99978719 -0.61016744] [ 0. 0. 0. 1. ]] SLAMing on 71.726547615 meters Centerline goodness : 0.775981 with order 1 Centerline is valid? [False, False] Translation: X:2.33, Y:1.28, Z:-0.62 [[ 0.99960828 0.02492863 -0.01272196 2.3256629 ] [-0.02484351 0.99966818 0.00680592 1.28199796] [ 0.0128874 -0.00648719 0.99989591 -0.61521872] [ 0. 0. 0. 1. ]] SLAMing on 71.78654761499999 meters Centerline goodness : 0.776860 with order 1 Centerline is valid? [False, False] Translation: X:2.32, Y:1.28, Z:-0.61 [[ 0.99949465 0.02931355 -0.01229479 2.32479894] [-0.02917349 0.99950912 0.01142055 1.28255965] [ 0.01262353 -0.0110561 0.99985919 -0.61461201] [ 0. 0. 0. 1. ]] SLAMing on 71.84654761499999 meters Centerline goodness : 0.774398 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:1.28, Z:-0.62 [[ 0.99936277 0.03489236 -0.00752137 2.3369119 ] [-0.03484978 0.9993762 0.0057192 1.28258082] [ 0.00771624 -0.00545344 0.99995536 -0.6199809 ] [ 0. 0. 0. 1. ]] SLAMing on 71.906547615 meters Centerline goodness : 0.775721 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:1.28, Z:-0.62 [[ 9.99299162e-01 3.74318223e-02 -2.09475075e-04 2.34384383e+00] [-3.74320357e-02 9.99298537e-01 -1.12950080e-03 1.27844544e+00] [ 1.67048863e-04 1.13655028e-03 9.99999340e-01 -6.20119566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.966547615 meters Centerline goodness : 0.777874 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:1.27, Z:-0.62 [[ 9.99079220e-01 4.29029623e-02 2.17147375e-04 2.34269429e+00] [-4.29034909e-02 9.99060942e-01 6.04361292e-03 1.27033509e+00] [ 4.23454358e-05 -6.04736446e-03 9.99981714e-01 -6.18265755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.026547615 meters Centerline goodness : 0.778412 with order 1 Centerline is valid? [False, False] Translation: X:2.35, Y:1.26, Z:-0.62 [[ 9.99225128e-01 3.93589708e-02 1.25918444e-04 2.34599574e+00] [-3.93591678e-02 9.99218374e-01 3.67369444e-03 1.26459509e+00] [ 1.87728089e-05 -3.67580384e-03 9.99993244e-01 -6.22197404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.086547615 meters Centerline goodness : 0.777923 with order 1 Centerline is valid? [False, False] Translation: X:2.35, Y:1.26, Z:-0.62 [[ 9.99589709e-01 2.86416091e-02 2.66506025e-04 2.34661846e+00] [-2.86394486e-02 9.99571143e-01 -6.10828849e-03 1.25621070e+00] [-4.41342943e-04 6.09814974e-03 9.99981309e-01 -6.24378696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.14654761499999 meters Centerline goodness : 0.777398 with order 1 Centerline is valid? [False, False] Translation: X:2.35, Y:1.25, Z:-0.63 [[ 9.99573037e-01 2.92151723e-02 4.66206615e-04 2.34765869e+00] [-2.92126761e-02 9.99562274e-01 -4.67749938e-03 1.24993658e+00] [-6.02656495e-04 4.66188312e-03 9.99988952e-01 -6.26351633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.20654761499999 meters Centerline goodness : 0.779089 with order 1 Centerline is valid? [False, False] Translation: X:2.35, Y:1.24, Z:-0.63 [[ 9.99513243e-01 3.11883831e-02 7.49853550e-04 2.34606908e+00] [-3.11870286e-02 9.99512026e-01 -1.75486261e-03 1.24077969e+00] [-8.04218968e-04 1.73062271e-03 9.99998179e-01 -6.25113318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.266547615 meters Centerline goodness : 0.779973 with order 1 Centerline is valid? [False, False] Translation: X:2.35, Y:1.23, Z:-0.63 [[ 9.99583134e-01 2.88387904e-02 1.37199414e-03 2.34626544e+00] [-2.88338471e-02 9.99578105e-01 -3.49582250e-03 1.23314719e+00] [-1.47223059e-03 3.45480535e-03 9.99992948e-01 -6.27536227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.326547615 meters Centerline goodness : 0.784285 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:1.22, Z:-0.62 [[ 9.99585126e-01 2.86279897e-02 3.16462980e-03 2.33866655e+00] [-2.86228799e-02 9.99588922e-01 -1.64833959e-03 1.22067897e+00] [-3.21051754e-03 1.55707492e-03 9.99993634e-01 -6.21140390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.386547615 meters Centerline goodness : 0.786941 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:1.21, Z:-0.62 [[ 9.99587718e-01 2.84774668e-02 3.66435822e-03 2.33813594e+00] [-2.84805948e-02 9.99594022e-01 8.04311746e-04 1.21422509e+00] [-3.63996581e-03 -9.08343245e-04 9.99992963e-01 -6.19410538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.446547615 meters Centerline goodness : 0.786317 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:1.21, Z:-0.63 [[ 0.99976935 0.02123859 0.00318985 2.34311166] [-0.02121927 0.999757 -0.005974 1.20877472] [-0.00331596 0.00590494 0.99997707 -0.62523464] [ 0. 0. 0. 1. ]] SLAMing on 72.506547615 meters Centerline goodness : 0.788956 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:1.20, Z:-0.62 [[ 0.99982217 0.01844504 0.00392438 2.34069165] [-0.01841464 0.9998012 -0.0076462 1.20256851] [-0.00406463 0.00757257 0.99996307 -0.62367021] [ 0. 0. 0. 1. ]] SLAMing on 72.56654761499999 meters Centerline goodness : 0.785323 with order 1 Centerline is valid? [False, False] Translation: X:2.35, Y:1.20, Z:-0.63 [[ 0.99980625 0.01945709 0.00297965 2.35075546] [-0.01944262 0.99979939 -0.00481194 1.19885071] [-0.00307268 0.00475307 0.99998398 -0.63203606] [ 0. 0. 0. 1. ]] SLAMing on 72.62654761499999 meters Centerline goodness : 0.788987 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:1.19, Z:-0.63 [[ 0.99980425 0.01930682 0.00432612 2.34314615] [-0.01928323 0.99979932 -0.00543015 1.19094139] [-0.00443009 0.00534567 0.9999759 -0.62727666] [ 0. 0. 0. 1. ]] SLAMing on 72.686547615 meters Centerline goodness : 0.785734 with order 1 Centerline is valid? [False, False] Translation: X:2.35, Y:1.19, Z:-0.63 [[ 9.99816381e-01 1.88511125e-02 3.44086180e-03 2.35190304e+00] [-1.88444526e-02 9.99820511e-01 -1.95778648e-03 1.18767145e+00] [-3.47715065e-03 1.89258584e-03 9.99992164e-01 -6.31780111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.746547615 meters Centerline goodness : 0.785413 with order 1 Centerline is valid? [False, False] Translation: X:2.35, Y:1.18, Z:-0.63 [[ 0.99989316 0.01423876 0.00330667 2.35201428] [-0.01422999 0.99989521 -0.00265943 1.17818328] [-0.00334419 0.00261209 0.999991 -0.62735378] [ 0. 0. 0. 1. ]] SLAMing on 72.806547615 meters Centerline goodness : 0.793456 with order 1 Centerline is valid? [False, False] Translation: X:2.35, Y:1.17, Z:-0.62 [[ 0.999953 0.00901745 0.00356043 2.35144857] [-0.00900848 0.99995623 -0.00252753 1.16868938] [-0.00358307 0.00249533 0.99999047 -0.62023813] [ 0. 0. 0. 1. ]] SLAMing on 72.866547615 meters Centerline goodness : 0.789849 with order 1 Centerline is valid? [False, False] Translation: X:2.37, Y:1.17, Z:-0.63 [[ 9.99994957e-01 3.12281429e-03 -5.77581978e-04 2.37116962e+00] [-3.12342031e-03 9.99994569e-01 -1.05132953e-03 1.16719417e+00] [ 5.74295735e-04 1.05312826e-03 9.99999281e-01 -6.26600292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.92654761499999 meters Centerline goodness : 0.790777 with order 1 Centerline is valid? [False, False] Translation: X:2.37, Y:1.16, Z:-0.63 [[ 9.99996587e-01 2.36063015e-03 -1.11952923e-03 2.37336527e+00] [-2.36093440e-03 9.99997176e-01 -2.70523342e-04 1.16375748e+00] [ 1.11888747e-03 2.73165554e-04 9.99999337e-01 -6.26399172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.98654761499999 meters Centerline goodness : 0.795732 with order 1 Centerline is valid? [False, False] Translation: X:2.37, Y:1.16, Z:-0.62 [[ 9.99992770e-01 3.50473862e-03 -1.47515802e-03 2.37179446e+00] [-3.50190735e-03 9.99992030e-01 1.91752408e-03 1.15720481e+00] [ 1.48186668e-03 -1.91234435e-03 9.99997074e-01 -6.22502529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.046547615 meters Centerline goodness : 0.792401 with order 1 Centerline is valid? [False, False] Translation: X:2.37, Y:1.16, Z:-0.62 [[ 9.99975226e-01 6.83691305e-03 -1.67422373e-03 2.37352579e+00] [-6.82696952e-03 9.99959440e-01 5.87457280e-03 1.15978791e+00] [ 1.71431977e-03 -5.86299739e-03 9.99981343e-01 -6.23309362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.106547615 meters Centerline goodness : 0.798406 with order 1 Centerline is valid? [False, False] Translation: X:2.37, Y:1.16, Z:-0.62 [[ 9.99970000e-01 7.53642693e-03 -1.78909914e-03 2.37188732e+00] [-7.52290353e-03 9.99943959e-01 7.44885165e-03 1.15642697e+00] [ 1.84513660e-03 -7.43516897e-03 9.99970656e-01 -6.19843999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.166547615 meters Centerline goodness : 0.802921 with order 1 Centerline is valid? [False, False] Translation: X:2.37, Y:1.15, Z:-0.62 [[ 9.99994686e-01 2.16472646e-03 -2.43781192e-03 2.37415320e+00] [-2.15576376e-03 9.99990930e-01 3.67317789e-03 1.15419055e+00] [ 2.44574123e-03 -3.66790303e-03 9.99990282e-01 -6.19288776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.226547615 meters Centerline goodness : 0.803312 with order 1 Centerline is valid? [False, False] Translation: X:2.38, Y:1.16, Z:-0.62 [[ 9.99994947e-01 4.25218011e-06 -3.17892250e-03 2.37803760e+00] [ 4.23578351e-06 9.99996435e-01 2.67006417e-03 1.15784339e+00] [ 3.17892252e-03 -2.67006414e-03 9.99991383e-01 -6.20465182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.28654761499999 meters Centerline goodness : 0.804344 with order 1 Centerline is valid? [False, False] Translation: X:2.38, Y:1.16, Z:-0.62 [[ 9.99985595e-01 -2.70265692e-03 -4.63733888e-03 2.38348160e+00] [ 2.71194700e-03 9.99994326e-01 1.99820471e-03 1.15759228e+00] [ 4.63191210e-03 -2.01075214e-03 9.99987251e-01 -6.20968016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.34654761499999 meters Centerline goodness : 0.799233 with order 1 Centerline is valid? [False, False] Translation: X:2.39, Y:1.16, Z:-0.62 [[ 9.99976055e-01 -4.27764531e-03 -5.43986139e-03 2.38777780e+00] [ 4.28043788e-03 9.99990713e-01 5.01813733e-04 1.15851188e+00] [ 5.43766429e-03 -5.25086706e-04 9.99985078e-01 -6.24253817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.406547615 meters Centerline goodness : 0.800726 with order 1 Centerline is valid? [False, False] Translation: X:2.38, Y:1.16, Z:-0.62 [[ 9.99988375e-01 -2.18623240e-03 -4.29768160e-03 2.38318625e+00] [ 2.19550675e-03 9.99995269e-01 2.15445813e-03 1.15622441e+00] [ 4.29295113e-03 -2.16386867e-03 9.99988444e-01 -6.22100940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.466547615 meters Centerline goodness : 0.800595 with order 1 Centerline is valid? [False, False] Translation: X:2.38, Y:1.16, Z:-0.62 [[ 0.99996648 0.00674518 -0.00464175 2.38343181] [-0.00670502 0.99994042 0.00861408 1.16131607] [ 0.00469958 -0.00858267 0.99995212 -0.6240431 ] [ 0. 0. 0. 1. ]] SLAMing on 73.526547615 meters Centerline goodness : 0.801177 with order 1 Centerline is valid? [False, False] Translation: X:2.38, Y:1.16, Z:-0.62 [[ 0.99992695 0.01154701 -0.00357276 2.37564191] [-0.01150979 0.99988103 0.01026845 1.15983937] [ 0.0036909 -0.01022658 0.9999409 -0.62108184] [ 0. 0. 0. 1. ]] SLAMing on 73.586547615 meters Centerline goodness : 0.799477 with order 1 Centerline is valid? [False, False] Translation: X:2.38, Y:1.16, Z:-0.62 [[ 0.99994889 0.00903938 -0.00452921 2.37997068] [-0.00899874 0.99991978 0.00891372 1.16368184] [ 0.00460942 -0.00887251 0.99995001 -0.62235561] [ 0. 0. 0. 1. ]] SLAMing on 73.64654761499999 meters Centerline goodness : 0.798806 with order 1 Centerline is valid? [False, False] Translation: X:2.38, Y:1.17, Z:-0.63 [[ 0.99995638 0.0073133 -0.00580931 2.38493502] [-0.00727612 0.99995307 0.00639589 1.16555731] [ 0.00585581 -0.00635334 0.99996267 -0.62614923] [ 0. 0. 0. 1. ]] SLAMing on 73.70654761499999 meters Centerline goodness : 0.803762 with order 3 Centerline is valid? [False, False] Translation: X:2.38, Y:1.17, Z:-0.63 [[ 0.99994567 0.00890994 -0.00541039 2.38272612] [-0.0088776 0.99994277 0.00597095 1.16664297] [ 0.00546328 -0.0059226 0.99996754 -0.62674434] [ 0. 0. 0. 1. ]] SLAMing on 73.766547615 meters Centerline goodness : 0.803344 with order 3 Centerline is valid? [False, False] Translation: X:2.38, Y:1.17, Z:-0.63 [[ 0.9999 0.01301782 -0.00552474 2.38383587] [-0.01296896 0.99987726 0.00879041 1.16968715] [ 0.00563849 -0.00871788 0.9999461 -0.62914555] [ 0. 0. 0. 1. ]] SLAMing on 73.826547615 meters Centerline goodness : 0.803156 with order 3 Centerline is valid? [False, False] Translation: X:2.38, Y:1.17, Z:-0.62 [[ 0.99988776 0.01381096 -0.00580743 2.38234823] [-0.01374474 0.99984176 0.01129285 1.16515372] [ 0.00596248 -0.01121176 0.99991937 -0.62448268] [ 0. 0. 0. 1. ]] SLAMing on 73.886547615 meters Centerline goodness : 0.807190 with order 1 Centerline is valid? [False, False] Translation: X:2.38, Y:1.16, Z:-0.62 [[ 0.99987968 0.01438192 -0.00581205 2.38173078] [-0.01431233 0.99982745 0.01184194 1.16311419] [ 0.00598136 -0.01175733 0.99991299 -0.62393806] [ 0. 0. 0. 1. ]] SLAMing on 73.946547615 meters Centerline goodness : 0.810882 with order 1 Centerline is valid? [False, False] Translation: X:2.38, Y:1.16, Z:-0.62 [[ 0.99993024 0.01041893 -0.0055634 2.38044161] [-0.01037053 0.99990873 0.00865876 1.16218091] [ 0.00565311 -0.00860046 0.99994704 -0.62221615] [ 0. 0. 0. 1. ]] SLAMing on 74.006547615 meters Centerline goodness : 0.806218 with order 3 Centerline is valid? [False, False] Translation: X:2.39, Y:1.17, Z:-0.63 [[ 0.99993523 0.00914795 -0.00677114 2.38568191] [-0.00912812 0.99995397 0.0029546 1.17205346] [ 0.00679785 -0.0028926 0.99997271 -0.63155892] [ 0. 0. 0. 1. ]] SLAMing on 74.06654761499999 meters Centerline goodness : 0.810671 with order 1 Centerline is valid? [False, False] Translation: X:2.38, Y:1.17, Z:-0.63 [[ 0.99992426 0.01070733 -0.00606901 2.38214228] [-0.01068362 0.99993523 0.00392489 1.16984595] [ 0.00611064 -0.00385976 0.99997388 -0.62954118] [ 0. 0. 0. 1. ]] SLAMing on 74.12654761499999 meters Centerline goodness : 0.805637 with order 1 Centerline is valid? [False, False] Translation: X:2.38, Y:1.17, Z:-0.63 [[ 0.99991865 0.01137419 -0.00577305 2.38045484] [-0.01135389 0.99992929 0.00353569 1.17338097] [ 0.00581286 -0.00346985 0.99997709 -0.6290799 ] [ 0. 0. 0. 1. ]] SLAMing on 74.186547615 meters Centerline goodness : 0.809397 with order 1 Centerline is valid? [False, False] Translation: X:2.39, Y:1.17, Z:-0.63 [[ 9.99956126e-01 6.44540790e-03 -6.79727160e-03 2.38765459e+00] [-6.44886234e-03 9.99979088e-01 -4.86413888e-04 1.17417622e+00] [ 6.79399431e-03 5.30227216e-04 9.99976780e-01 -6.33971471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.246547615 meters Centerline goodness : 0.804169 with order 3 Centerline is valid? [False, False] Translation: X:2.39, Y:1.18, Z:-0.64 [[ 0.99996096 0.00616031 -0.00633408 2.39011007] [-0.00617618 0.99997783 -0.00248944 1.17956178] [ 0.00631861 0.00252846 0.99997684 -0.63982705] [ 0. 0. 0. 1. ]] SLAMing on 74.306547615 meters Centerline goodness : 0.812329 with order 3 Centerline is valid? [False, False] Translation: X:2.39, Y:1.18, Z:-0.63 [[ 0.99993409 0.0093622 -0.00664539 2.389806 ] [-0.00932145 0.99993772 0.0061371 1.17617779] [ 0.00670243 -0.00607475 0.99995909 -0.63038007] [ 0. 0. 0. 1. ]] SLAMing on 74.366547615 meters Centerline goodness : 0.812954 with order 3 Centerline is valid? [False, False] Translation: X:2.39, Y:1.18, Z:-0.63 [[ 0.99988325 0.01372403 -0.00671852 2.39004053] [-0.01366292 0.99986563 0.00905819 1.17849598] [ 0.00684194 -0.00896534 0.9999364 -0.6318103 ] [ 0. 0. 0. 1. ]] SLAMing on 74.42654761499999 meters Centerline goodness : 0.817238 with order 2 Centerline is valid? [False, False] Translation: X:2.39, Y:1.18, Z:-0.63 [[ 0.99985238 0.01609091 -0.00602438 2.38573872] [-0.01603446 0.99982816 0.00930306 1.1807291 ] [ 0.00617304 -0.00920508 0.99993858 -0.63040162] [ 0. 0. 0. 1. ]] SLAMing on 74.48654761499999 meters Centerline goodness : 0.810763 with order 1 Centerline is valid? [False, False] Translation: X:2.39, Y:1.19, Z:-0.63 [[ 0.99986312 0.01517715 -0.00658699 2.3877062 ] [-0.01512685 0.99985655 0.00761987 1.18534123] [ 0.0067017 -0.00751918 0.99994927 -0.63199129] [ 0. 0. 0. 1. ]] SLAMing on 74.546547615 meters Centerline goodness : 0.815222 with order 2 Centerline is valid? [False, False] Translation: X:2.39, Y:1.19, Z:-0.63 [[ 0.99992788 0.00960674 -0.00720708 2.3898603 ] [-0.00958535 0.99994957 0.00299723 1.18569002] [ 0.00723551 -0.00292793 0.99996954 -0.63205559] [ 0. 0. 0. 1. ]] SLAMing on 74.606547615 meters Centerline goodness : 0.816402 with order 1 Centerline is valid? [False, False] Translation: X:2.39, Y:1.19, Z:-0.63 [[ 9.99963358e-01 4.14531472e-03 -7.48993628e-03 2.39127918e+00] [-4.16235588e-03 9.99988781e-01 -2.26105449e-03 1.18988673e+00] [ 7.48047947e-03 2.29214742e-03 9.99969394e-01 -6.32610947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.666547615 meters Centerline goodness : 0.812420 with order 1 Centerline is valid? [False, False] Translation: X:2.39, Y:1.19, Z:-0.63 [[ 9.99963702e-01 2.09032872e-03 -8.25982583e-03 2.39345803e+00] [-2.10438959e-03 9.99996351e-01 -1.69399626e-03 1.19030392e+00] [ 8.25625468e-03 1.71131666e-03 9.99964452e-01 -6.29702410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.726547615 meters Centerline goodness : 0.814272 with order 1 Centerline is valid? [False, False] Translation: X:2.40, Y:1.19, Z:-0.63 [[ 9.99949420e-01 3.95589966e-03 -9.24709665e-03 2.39803690e+00] [-3.94945734e-03 9.99991945e-01 7.14842566e-04 1.19332869e+00] [ 9.24985001e-03 -6.78285395e-04 9.99956989e-01 -6.31889137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.78654761499999 meters Centerline goodness : 0.809358 with order 1 Centerline is valid? [False, False] Translation: X:2.40, Y:1.20, Z:-0.63 [[ 9.99950264e-01 4.93805043e-03 -8.66519650e-03 2.39502923e+00] [-4.93180157e-03 9.99987563e-01 7.42365530e-04 1.19504438e+00] [ 8.66875457e-03 -6.99593578e-04 9.99962181e-01 -6.30199682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.84654761499999 meters Centerline goodness : 0.809262 with order 1 Centerline is valid? [False, False] Translation: X:2.39, Y:1.20, Z:-0.63 [[ 0.99991091 0.01001697 -0.00882202 2.39427349] [-0.009993 0.99994627 0.00275783 1.2016027 ] [ 0.00884917 -0.00266943 0.99995728 -0.63164537] [ 0. 0. 0. 1. ]] SLAMing on 74.906547615 meters Centerline goodness : 0.810763 with order 1 Centerline is valid? [False, False] Translation: X:2.39, Y:1.20, Z:-0.63 [[ 0.99981264 0.01806953 -0.00694134 2.38667535] [-0.01801838 0.99981055 0.00736235 1.20132004] [ 0.00707306 -0.0072359 0.99994881 -0.63073154] [ 0. 0. 0. 1. ]] SLAMing on 74.966547615 meters Centerline goodness : 0.807869 with order 3 Centerline is valid? [False, False] Translation: X:2.39, Y:1.20, Z:-0.64 [[ 0.99975086 0.0209544 -0.0076898 2.39136213] [-0.02088118 0.999737 0.00948173 1.20325185] [ 0.00788646 -0.0093188 0.99992548 -0.63550991] [ 0. 0. 0. 1. ]] SLAMing on 75.026547615 meters Centerline goodness : 0.815413 with order 3 Centerline is valid? [False, False] Translation: X:2.39, Y:1.20, Z:-0.63 [[ 0.99978163 0.01964076 -0.00713716 2.3874899 ] [-0.0195912 0.99978392 0.00694982 1.19641496] [ 0.00727212 -0.00680847 0.99995038 -0.63438111] [ 0. 0. 0. 1. ]] SLAMing on 75.086547615 meters Centerline goodness : 0.811889 with order 3 Centerline is valid? [False, False] Translation: X:2.40, Y:1.19, Z:-0.64 [[ 0.99972143 0.02232664 -0.00765417 2.39690214] [-0.02223792 0.99968672 0.01148651 1.19484776] [ 0.00790822 -0.0113131 0.99990473 -0.64268405] [ 0. 0. 0. 1. ]] SLAMing on 75.14654761499999 meters Centerline goodness : 0.811715 with order 3 Centerline is valid? [False, False] Translation: X:2.41, Y:1.19, Z:-0.64 [[ 9.99825972e-01 1.86206828e-02 -1.13827232e-03 2.40715889e+00] [-1.86200438e-02 9.99826470e-01 5.69419829e-04 1.18817045e+00] [ 1.14867778e-03 -5.48126054e-04 9.99999190e-01 -6.42617454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.20654761499999 meters Centerline goodness : 0.816374 with order 2 Centerline is valid? [False, False] Translation: X:2.41, Y:1.18, Z:-0.64 [[ 9.99915941e-01 1.28048976e-02 -2.03598399e-03 2.41083597e+00] [-1.28112002e-02 9.99913086e-01 -3.11330680e-03 1.18476807e+00] [ 1.99594146e-03 3.13912850e-03 9.99993081e-01 -6.42998423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.266547615 meters Centerline goodness : 0.810019 with order 3 Centerline is valid? [False, False] Translation: X:2.43, Y:1.19, Z:-0.65 [[ 0.99997626 0.00487352 -0.00487059 2.42648874] [-0.00490205 0.99997079 -0.00586377 1.18634082] [ 0.00484188 0.0058875 0.99997095 -0.6485676 ] [ 0. 0. 0. 1. ]] SLAMing on 75.326547615 meters Centerline goodness : 0.815553 with order 1 Centerline is valid? [False, False] Translation: X:2.42, Y:1.17, Z:-0.63 [[ 9.99992433e-01 3.39411019e-03 -1.90116340e-03 2.41784181e+00] [-3.39396627e-03 9.99994237e-01 7.89195113e-05 1.17465281e+00] [ 1.90142030e-03 -7.24664296e-05 9.99998190e-01 -6.31960747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.386547615 meters Centerline goodness : 0.813345 with order 1 Centerline is valid? [False, False] Translation: X:2.42, Y:1.18, Z:-0.64 [[ 9.99993007e-01 3.45097234e-03 -1.44136873e-03 2.41887961e+00] [-3.45221473e-03 9.99993671e-01 -8.60357765e-04 1.17962699e+00] [ 1.43839054e-03 8.65327663e-04 9.99998591e-01 -6.35307839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.446547615 meters Centerline goodness : 0.815753 with order 1 Centerline is valid? [False, False] Translation: X:2.42, Y:1.17, Z:-0.63 [[ 9.99998593e-01 -8.02168125e-05 -1.67577684e-03 2.41705984e+00] [ 7.74311443e-05 9.99998615e-01 -1.66231326e-03 1.17418824e+00] [ 1.67590787e-03 1.66218116e-03 9.99997214e-01 -6.28918813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.506547615 meters Centerline goodness : 0.811319 with order 1 Centerline is valid? [False, False] Translation: X:2.42, Y:1.18, Z:-0.63 [[ 0.99998215 -0.00503342 -0.00321928 2.42468456] [ 0.005025 0.99998394 -0.00262096 1.17546848] [ 0.00323242 0.00260473 0.99999138 -0.62907373] [ 0. 0. 0. 1. ]] SLAMing on 75.56654761499999 meters Centerline goodness : 0.817341 with order 1 Centerline is valid? [False, False] Translation: X:2.43, Y:1.17, Z:-0.63 [[ 9.99967942e-01 -6.88933358e-03 -4.08081467e-03 2.42790292e+00] [ 6.88190249e-03 9.99974641e-01 -1.83223264e-03 1.17255937e+00] [ 4.09333404e-03 1.80409014e-03 9.99989995e-01 -6.27710837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.62654761499999 meters Centerline goodness : 0.819351 with order 1 Centerline is valid? [False, False] Translation: X:2.43, Y:1.17, Z:-0.62 [[ 9.99956028e-01 -8.45616569e-03 -4.05411401e-03 2.42815284e+00] [ 8.45239750e-03 9.99963831e-01 -9.45706958e-04 1.17438451e+00] [ 4.06196443e-03 9.11398390e-04 9.99991335e-01 -6.24366333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.686547615 meters Centerline goodness : 0.815402 with order 1 Centerline is valid? [False, False] Translation: X:2.43, Y:1.18, Z:-0.62 [[ 9.99948925e-01 -8.89179830e-03 -4.80441730e-03 2.42968456e+00] [ 8.88414609e-03 9.99959236e-01 -1.61174535e-03 1.17503973e+00] [ 4.81855277e-03 1.56897989e-03 9.99987160e-01 -6.24324173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.746547615 meters Centerline goodness : 0.815216 with order 1 Centerline is valid? [False, False] Translation: X:2.43, Y:1.18, Z:-0.62 [[ 9.99980349e-01 -2.14861543e-03 -5.88934012e-03 2.43296468e+00] [ 2.18985160e-03 9.99973071e-01 7.00435087e-03 1.17557260e+00] [ 5.87413187e-03 -7.01711002e-03 9.99958126e-01 -6.23055130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.806547615 meters Centerline goodness : 0.814786 with order 1 Centerline is valid? [False, False] Translation: X:2.44, Y:1.18, Z:-0.63 [[ 9.99935803e-01 1.13239945e-02 -3.95157745e-04 2.44162475e+00] [-1.13213995e-02 9.99917633e-01 6.04583583e-03 1.18262934e+00] [ 4.63588209e-04 -6.04097397e-03 9.99981646e-01 -6.28029080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.866547615 meters Centerline goodness : 0.817517 with order 1 Centerline is valid? [False, False] Translation: X:2.43, Y:1.18, Z:-0.63 [[ 9.99784207e-01 2.06775430e-02 1.99464127e-03 2.42711042e+00] [-2.06931408e-02 9.99752697e-01 8.14483841e-03 1.18265165e+00] [-1.82573275e-03 -8.18435620e-03 9.99964841e-01 -6.25065613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.92654761499999 meters Centerline goodness : 0.814123 with order 1 Centerline is valid? [False, False] Translation: X:2.44, Y:1.19, Z:-0.64 [[ 9.99649379e-01 2.64751002e-02 4.33737814e-04 2.43501395e+00] [-2.64781911e-02 9.99594563e-01 1.04697059e-02 1.18669695e+00] [-1.56375446e-04 -1.04775196e-02 9.99945097e-01 -6.36539988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.98654761499999 meters Centerline goodness : 0.811602 with order 3 Centerline is valid? [False, False] Translation: X:2.43, Y:1.19, Z:-0.64 [[ 9.99614614e-01 2.77406664e-02 1.03856970e-03 2.43449425e+00] [-2.77480632e-02 9.99583286e-01 7.95614923e-03 1.18963604e+00] [-8.17428034e-04 -7.98190134e-03 9.99967810e-01 -6.42301731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.046547615 meters Centerline goodness : 0.820616 with order 1 Centerline is valid? [False, False] Translation: X:2.44, Y:1.18, Z:-0.64 [[ 9.99574935e-01 2.80116219e-02 8.08071141e-03 2.44135436e+00] [-2.80139872e-02 9.99607515e-01 1.79642065e-04 1.18316574e+00] [-8.07250779e-03 -4.05938651e-04 9.99967334e-01 -6.39361831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.106547615 meters Centerline goodness : 0.818328 with order 3 Centerline is valid? [False, False] Translation: X:2.44, Y:1.18, Z:-0.65 [[ 9.99656881e-01 2.61867671e-02 6.11192026e-04 2.43651946e+00] [-2.61903042e-02 9.99634115e-01 6.76054477e-03 1.17972807e+00] [-4.33931588e-04 -6.77423240e-03 9.99976960e-01 -6.45040701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.166547615 meters Centerline goodness : 0.821525 with order 1 Centerline is valid? [False, False] Translation: X:2.44, Y:1.17, Z:-0.64 [[ 0.99971821 0.02253696 0.00745581 2.44285052] [-0.02250773 0.99973874 -0.0039812 1.17353385] [-0.00754359 0.00381227 0.99996428 -0.63981859] [ 0. 0. 0. 1. ]] SLAMing on 76.226547615 meters Centerline goodness : 0.818932 with order 3 Centerline is valid? [False, False] Translation: X:2.44, Y:1.17, Z:-0.64 [[ 9.99825304e-01 1.86881110e-02 -3.41781460e-04 2.44292812e+00] [-1.86843096e-02 9.99785451e-01 8.94139389e-03 1.17154373e+00] [ 5.08805893e-04 -8.93344591e-03 9.99959967e-01 -6.36506983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.28654761499999 meters Centerline goodness : 0.821882 with order 2 Centerline is valid? [False, False] Translation: X:2.45, Y:1.17, Z:-0.64 [[ 9.99907029e-01 1.35864877e-02 -1.15827940e-03 2.44701951e+00] [-1.35837116e-02 9.99904924e-01 2.37178942e-03 1.17210891e+00] [ 1.19039356e-03 -2.35583518e-03 9.99996516e-01 -6.41944845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.34654761499999 meters Centerline goodness : 0.825079 with order 1 Centerline is valid? [False, False] Translation: X:2.44, Y:1.17, Z:-0.64 [[ 0.99985426 0.00927149 0.01433503 2.44028246] [-0.00922338 0.99995162 -0.00341835 1.16757824] [-0.01436603 0.00328563 0.9998914 -0.63967009] [ 0. 0. 0. 1. ]] SLAMing on 76.406547615 meters Centerline goodness : 0.812396 with order 1 Centerline is valid? [False, False] Translation: X:2.44, Y:1.17, Z:-0.64 [[ 0.99993903 0.00844822 0.00711093 2.4354726 ] [-0.00851075 0.99992497 0.00881045 1.16942527] [-0.00703596 -0.00887043 0.9999359 -0.63793717] [ 0. 0. 0. 1. ]] SLAMing on 76.466547615 meters Centerline goodness : 0.818716 with order 3 Centerline is valid? [False, False] Translation: X:2.43, Y:1.16, Z:-0.64 [[ 9.99974158e-01 1.77148406e-03 6.96742924e-03 2.43338369e+00] [-1.78180445e-03 9.99997324e-01 1.47530537e-03 1.16442399e+00] [-6.96479712e-03 -1.48768184e-03 9.99974639e-01 -6.35949950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.526547615 meters Centerline goodness : 0.809744 with order 1 Centerline is valid? [False, False] Translation: X:2.44, Y:1.16, Z:-0.63 [[ 9.99977287e-01 -3.00566661e-05 6.73978831e-03 2.43570529e+00] [ 1.00833062e-05 9.99995609e-01 2.96351400e-03 1.16040072e+00] [-6.73984779e-03 -2.96337873e-03 9.99972896e-01 -6.34298096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.586547615 meters Centerline goodness : 0.808648 with order 3 Centerline is valid? [False, False] Translation: X:2.45, Y:1.16, Z:-0.64 [[ 9.99981621e-01 -3.81284778e-03 4.71377790e-03 2.44545415e+00] [ 3.80833733e-03 9.99992282e-01 9.65469502e-04 1.16348997e+00] [-4.71742271e-03 -9.47500102e-04 9.99988424e-01 -6.39032510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.64654761499999 meters Centerline goodness : 0.815380 with order 2 Centerline is valid? [False, False] Translation: X:2.44, Y:1.16, Z:-0.64 [[ 9.99984329e-01 -3.40288415e-03 4.44535349e-03 2.44444215e+00] [ 3.39600834e-03 9.99993027e-01 1.55337663e-03 1.16206172e+00] [-4.45060845e-03 -1.53825583e-03 9.99988913e-01 -6.36429976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.70654761499999 meters Centerline goodness : 0.814806 with order 3 Centerline is valid? [False, False] Translation: X:2.45, Y:1.17, Z:-0.64 [[ 9.99982120e-01 -4.10148254e-03 4.35168564e-03 2.44559411e+00] [ 4.10335081e-03 9.99991493e-01 -4.20480144e-04 1.16851922e+00] [-4.34992403e-03 4.38329118e-04 9.99990443e-01 -6.38708996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.766547615 meters Centerline goodness : 0.813190 with order 2 Centerline is valid? [False, False] Translation: X:2.45, Y:1.17, Z:-0.63 [[ 9.99993491e-01 -2.53704356e-04 3.59923348e-03 2.44539710e+00] [ 2.34378970e-04 9.99985561e-01 5.36871237e-03 1.16720117e+00] [-3.60054357e-03 -5.36783383e-03 9.99979111e-01 -6.33582179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.826547615 meters Centerline goodness : 0.806561 with order 2 Centerline is valid? [False, False] Translation: X:2.45, Y:1.17, Z:-0.64 [[ 9.99994103e-01 -1.22781875e-03 3.20731558e-03 2.44834453e+00] [ 1.21977041e-03 9.99996106e-01 2.51012127e-03 1.17385892e+00] [-3.21038506e-03 -2.50619428e-03 9.99991706e-01 -6.38447766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.886547615 meters Centerline goodness : 0.803397 with order 3 Centerline is valid? [False, False] Translation: X:2.45, Y:1.17, Z:-0.63 [[ 9.99987050e-01 -4.06881490e-03 3.05678285e-03 2.44532153e+00] [ 4.06880602e-03 9.99991722e-01 9.12567202e-06 1.16996010e+00] [-3.05679468e-03 3.31190260e-06 9.99995328e-01 -6.33483835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.946547615 meters Centerline goodness : 0.800965 with order 1 Centerline is valid? [False, False] Translation: X:2.45, Y:1.18, Z:-0.64 [[ 9.99997923e-01 9.35939419e-04 1.81034147e-03 2.45221485e+00] [-9.47128324e-04 9.99980396e-01 6.18959843e-03 1.17596969e+00] [-1.80451289e-03 -6.19130020e-03 9.99979206e-01 -6.37074769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.006547615 meters Centerline goodness : 0.800794 with order 1 Centerline is valid? [False, False] Translation: X:2.45, Y:1.18, Z:-0.64 [[ 9.99993513e-01 3.12962081e-03 1.78310160e-03 2.44938241e+00] [-3.14127028e-03 9.99973494e-01 6.56835749e-03 1.17686007e+00] [-1.76249786e-03 -6.57391609e-03 9.99976838e-01 -6.35353722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.06654761499999 meters Centerline goodness : 0.799721 with order 1 Centerline is valid? [False, False] Translation: X:2.44, Y:1.18, Z:-0.63 [[ 9.99995620e-01 1.87935248e-03 2.28655848e-03 2.44467220e+00] [-1.88824932e-03 9.99990632e-01 3.89501405e-03 1.17505019e+00] [-2.27921695e-03 -3.89931458e-03 9.99989800e-01 -6.32405074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.12654761499999 meters Centerline goodness : 0.792524 with order 1 Centerline is valid? [False, False] Translation: X:2.45, Y:1.18, Z:-0.64 [[ 9.99996284e-01 2.53345742e-03 1.00652562e-03 2.45181347e+00] [-2.53968554e-03 9.99977335e-01 6.23540900e-03 1.17979278e+00] [-9.90705661e-04 -6.23794209e-03 9.99980053e-01 -6.35676820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.186547615 meters Centerline goodness : 0.796979 with order 1 Centerline is valid? [False, False] Translation: X:2.44, Y:1.17, Z:-0.63 [[ 9.99995692e-01 -7.06623907e-04 2.84914236e-03 2.44122575e+00] [ 7.01215154e-04 9.99997951e-01 1.89893154e-03 1.17392368e+00] [-2.85047835e-03 -1.89692549e-03 9.99994138e-01 -6.28490213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.246547615 meters Centerline goodness : 0.792956 with order 1 Centerline is valid? [False, False] Translation: X:2.44, Y:1.18, Z:-0.63 [[ 9.99995427e-01 2.01237058e-03 2.25751292e-03 2.44483676e+00] [-2.01977583e-03 9.99992572e-01 3.28280006e-03 1.17982721e+00] [-2.25088994e-03 -3.28734471e-03 9.99992063e-01 -6.32874890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.306547615 meters Centerline goodness : 0.790843 with order 1 Centerline is valid? [False, False] Translation: X:2.45, Y:1.18, Z:-0.64 [[ 9.99998271e-01 6.87467894e-04 1.72784207e-03 2.44860283e+00] [-6.89632846e-04 9.99998978e-01 1.25269678e-03 1.18016703e+00] [-1.72697912e-03 -1.25388619e-03 9.99997723e-01 -6.37278697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.366547615 meters Centerline goodness : 0.790401 with order 1 Centerline is valid? [False, False] Translation: X:2.45, Y:1.18, Z:-0.64 [[ 9.99986057e-01 -5.17975669e-03 1.02769221e-03 2.45227970e+00] [ 5.18276247e-03 9.99982236e-01 -2.94400559e-03 1.17900127e+00] [-1.01242472e-03 2.94929082e-03 9.99995138e-01 -6.38163266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.42654761499999 meters Centerline goodness : 0.790650 with order 1 Centerline is valid? [False, False] Translation: X:2.45, Y:1.17, Z:-0.63 [[ 9.99978302e-01 -6.55617543e-03 6.42563639e-04 2.45276176e+00] [ 6.55492207e-03 9.99976647e-01 1.93362821e-03 1.17464799e+00] [-6.55225838e-04 -1.92937430e-03 9.99997924e-01 -6.28498794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.48654761499999 meters Centerline goodness : 0.791185 with order 1 Centerline is valid? [False, False] Translation: X:2.46, Y:1.17, Z:-0.63 [[ 9.99963180e-01 -8.57223639e-03 -3.94306895e-04 2.45757531e+00] [ 8.57271464e-03 9.99962500e-01 1.22762764e-03 1.17303581e+00] [ 3.83768595e-04 -1.23096272e-03 9.99999169e-01 -6.30427541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.546547615 meters Centerline goodness : 0.799560 with order 2 Centerline is valid? [False, False] Translation: X:2.47, Y:1.18, Z:-0.64 [[ 9.99891563e-01 -1.46350659e-02 -1.63626219e-03 2.46785850e+00] [ 1.46321710e-02 9.99891382e-01 -1.76739406e-03 1.17503108e+00] [ 1.66195039e-03 1.74326034e-03 9.99997099e-01 -6.35728865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.606547615 meters Centerline goodness : 0.791927 with order 3 Centerline is valid? [False, False] Translation: X:2.48, Y:1.17, Z:-0.63 [[ 9.99776216e-01 -2.09266997e-02 -3.09709367e-03 2.47711173e+00] [ 2.09232728e-02 9.99780440e-01 -1.13480868e-03 1.17455215e+00] [ 3.12016147e-03 1.06975339e-03 9.99994560e-01 -6.33198374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.666547615 meters Centerline goodness : 0.790054 with order 1 Centerline is valid? [False, False] Translation: X:2.48, Y:1.17, Z:-0.63 [[ 0.99968549 -0.02487195 -0.00321026 2.47631227] [ 0.02485716 0.99968058 -0.00456755 1.17367898] [ 0.00332283 0.00448632 0.99998442 -0.63075748] [ 0. 0. 0. 1. ]] SLAMing on 77.726547615 meters Centerline goodness : 0.789913 with order 1 Centerline is valid? [False, False] Translation: X:2.48, Y:1.17, Z:-0.62 [[ 0.99972863 -0.02298201 -0.00380755 2.47819042] [ 0.02299203 0.99973224 0.00261106 1.17311141] [ 0.00374653 -0.0026979 0.99998934 -0.62368627] [ 0. 0. 0. 1. ]] SLAMing on 77.78654761499999 meters Centerline goodness : 0.789751 with order 1 Centerline is valid? [False, False] Translation: X:2.50, Y:1.18, Z:-0.61 [[ 0.99949901 -0.03135331 -0.00432419 2.49758643] [ 0.03140986 0.99941274 0.01369625 1.17546185] [ 0.00389223 -0.01382521 0.99989685 -0.61026247] [ 0. 0. 0. 1. ]] SLAMing on 77.84654761499999 meters Centerline goodness : 0.790214 with order 1 Centerline is valid? [False, False] Translation: X:2.50, Y:1.18, Z:-0.61 [[ 0.999469 -0.03230345 -0.00426651 2.49620784] [ 0.03235753 0.99938813 0.01328024 1.17953384] [ 0.0038349 -0.01341124 0.99990271 -0.60706771] [ 0. 0. 0. 1. ]] SLAMing on 77.906547615 meters Centerline goodness : 0.787645 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:1.19, Z:-0.61 [[ 0.99960069 -0.02744426 -0.00672817 2.50550019] [ 0.0275572 0.99947032 0.017311 1.19259281] [ 0.00624952 -0.0174895 0.99982752 -0.61312009] [ 0. 0. 0. 1. ]] SLAMing on 77.966547615 meters Centerline goodness : 0.790227 with order 1 Centerline is valid? [False, False] Translation: X:2.50, Y:1.20, Z:-0.61 [[ 0.99986513 -0.01463907 -0.00744434 2.50021574] [ 0.01469624 0.99986248 0.00768357 1.20352068] [ 0.00733083 -0.00779194 0.99994277 -0.61154845] [ 0. 0. 0. 1. ]] SLAMing on 78.026547615 meters Centerline goodness : 0.788259 with order 1 Centerline is valid? [False, False] Translation: X:2.50, Y:1.22, Z:-0.61 [[ 0.99993614 -0.00789767 -0.00808307 2.50130009] [ 0.00799863 0.99988943 0.01253593 1.21541668] [ 0.00798317 -0.01259978 0.99988875 -0.61245991] [ 0. 0. 0. 1. ]] SLAMing on 78.086547615 meters Centerline goodness : 0.787504 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:1.22, Z:-0.62 [[ 0.99988173 -0.01117892 -0.01056187 2.51314513] [ 0.0113066 0.99986278 0.01210743 1.22216574] [ 0.01042507 -0.01222541 0.99987092 -0.61630824] [ 0. 0. 0. 1. ]] SLAMing on 78.14654761499999 meters Centerline goodness : 0.788691 with order 1 Centerline is valid? [False, False] Translation: X:2.53, Y:1.23, Z:-0.62 [[ 9.99894688e-01 -1.36571008e-02 -4.90872212e-03 2.52571674e+00] [ 1.36640141e-02 9.99905694e-01 1.37761135e-03 1.22772719e+00] [ 4.88944502e-03 -1.44453912e-03 9.99987003e-01 -6.16752285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.20654761499999 meters Centerline goodness : 0.793207 with order 1 Centerline is valid? [False, False] Translation: X:2.55, Y:1.15, Z:-0.61 [[ 0.99992335 0.00907288 -0.00842474 2.54632541] [-0.00896504 0.99987851 0.01275091 1.15083516] [ 0.0085394 -0.0126744 0.99988321 -0.60971322] [ 0. 0. 0. 1. ]] SLAMing on 78.266547615 meters Centerline goodness : 0.803956 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:1.64, Z:-0.55 [[ 0.9989876 -0.03126612 -0.03234522 2.04302476] [ 0.03281628 0.99828103 0.04856002 1.64115249] [ 0.03077133 -0.04957231 0.9982964 -0.54871592] [ 0. 0. 0. 1. ]] SLAMing on 78.326547615 meters Centerline goodness : 0.805576 with order 1 Centerline is valid? [False, False] Translation: X:2.12, Y:1.67, Z:-0.55 [[ 0.99896339 -0.02139401 -0.04018004 2.11751644] [ 0.02278807 0.99914266 0.03456382 1.66869028] [ 0.03940613 -0.03544361 0.99859447 -0.54748389] [ 0. 0. 0. 1. ]] SLAMing on 78.386547615 meters Centerline goodness : 0.806410 with order 1 Centerline is valid? [False, False] Translation: X:2.16, Y:1.69, Z:-0.55 [[ 0.99888423 -0.01921447 -0.04314057 2.16248475] [ 0.02016344 0.99956181 0.02167077 1.68594532] [ 0.04270528 -0.02251645 0.99883395 -0.54849548] [ 0. 0. 0. 1. ]] SLAMing on 78.446547615 meters Centerline goodness : 0.805891 with order 1 Centerline is valid? [False, False] Translation: X:2.20, Y:1.70, Z:-0.55 [[ 0.99891871 -0.02121043 -0.04137067 2.19820939] [ 0.02173183 0.99968946 0.01219432 1.69873772] [ 0.04109918 -0.0130802 0.99906945 -0.55165475] [ 0. 0. 0. 1. ]] SLAMing on 78.506547615 meters Centerline goodness : 0.805000 with order 1 Centerline is valid? [False, False] Translation: X:2.22, Y:1.71, Z:-0.56 [[ 0.9989601 -0.02381178 -0.03888092 2.21807552] [ 0.02400429 0.99970176 0.0044919 1.70775969] [ 0.03876237 -0.00542054 0.99923375 -0.55527282] [ 0. 0. 0. 1. ]] SLAMing on 78.56654761499999 meters Centerline goodness : 0.806232 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:1.73, Z:-0.55 [[ 0.99928749 -0.01752434 -0.03342762 2.2681065 ] [ 0.01680512 0.99962379 -0.0216766 1.72703197] [ 0.03379491 0.0210994 0.99920604 -0.55220328] [ 0. 0. 0. 1. ]] SLAMing on 78.62654761499999 meters Centerline goodness : 0.805721 with order 1 Centerline is valid? [False, False] Translation: X:2.32, Y:1.75, Z:-0.55 [[ 0.99960248 -0.00943936 -0.02656636 2.3215451 ] [ 0.00777405 0.99803938 -0.06210441 1.7490075 ] [ 0.0271005 0.06187319 0.99771603 -0.54634705] [ 0. 0. 0. 1. ]] SLAMing on 78.686547615 meters Centerline goodness : 0.806432 with order 1 Centerline is valid? [False, False] Translation: X:2.35, Y:1.75, Z:-0.54 [[ 0.9995333 -0.01741088 -0.02510073 2.34881068] [ 0.01586469 0.99804 -0.06053483 1.75376104] [ 0.0261055 0.06010836 0.99785043 -0.54495211] [ 0. 0. 0. 1. ]] SLAMing on 78.746547615 meters Centerline goodness : 0.806443 with order 1 Centerline is valid? [False, False] Translation: X:2.39, Y:1.77, Z:-0.54 [[ 0.9994952 -0.01883592 -0.02558431 2.39372874] [ 0.01693688 0.9972234 -0.07251647 1.76627083] [ 0.02687919 0.07204655 0.99703902 -0.54450617] [ 0. 0. 0. 1. ]] SLAMing on 78.806547615 meters Centerline goodness : 0.807658 with order 1 Centerline is valid? [False, False] Translation: X:2.40, Y:1.79, Z:-0.54 [[ 0.99980598 -0.01221373 -0.01545425 2.39763137] [ 0.01107597 0.99736626 -0.07167897 1.78575102] [ 0.01628902 0.07149389 0.99730802 -0.54208476] [ 0. 0. 0. 1. ]] SLAMing on 78.866547615 meters Centerline goodness : 0.804191 with order 1 Centerline is valid? [False, False] Translation: X:2.40, Y:1.79, Z:-0.55 [[ 0.99960471 -0.02118943 -0.01847805 2.39909778] [ 0.01988166 0.99746705 -0.06829501 1.79349008] [ 0.01987838 0.06790064 0.99749404 -0.55098237] [ 0. 0. 0. 1. ]] SLAMing on 78.92654761499999 meters Centerline goodness : 0.804349 with order 1 Centerline is valid? [False, False] Translation: X:2.39, Y:1.81, Z:-0.54 [[ 0.9993369 -0.03352539 -0.01420613 2.38924009] [ 0.03269231 0.99793475 -0.05529415 1.80516233] [ 0.01603055 0.05479306 0.99836904 -0.54294229] [ 0. 0. 0. 1. ]] SLAMing on 78.98654761499999 meters Centerline goodness : 0.807748 with order 1 Centerline is valid? [False, False] Translation: X:2.41, Y:1.82, Z:-0.55 [[ 0.99960579 -0.0239709 -0.01461712 2.4096926 ] [ 0.0231485 0.99826987 -0.05405008 1.81801186] [ 0.01588746 0.05369041 0.99843123 -0.54566373] [ 0. 0. 0. 1. ]] SLAMing on 79.046547615 meters Centerline goodness : 0.805167 with order 1 Centerline is valid? [False, False] Translation: X:2.41, Y:1.83, Z:-0.55 [[ 0.99986453 -0.00526776 -0.01559377 2.41301945] [ 0.0046634 0.99924609 -0.03854221 1.83231562] [ 0.01578504 0.03846427 0.99913529 -0.54781633] [ 0. 0. 0. 1. ]] SLAMing on 79.106547615 meters Centerline goodness : 0.808456 with order 1 Centerline is valid? [False, False] Translation: X:2.42, Y:1.84, Z:-0.54 [[ 0.99990065 -0.0044808 -0.01336439 2.41805553] [ 0.00410875 0.9996068 -0.02773746 1.83847326] [ 0.01348342 0.0276798 0.9995259 -0.54431392] [ 0. 0. 0. 1. ]] SLAMing on 79.166547615 meters Centerline goodness : 0.801694 with order 1 Centerline is valid? [False, False] Translation: X:2.45, Y:1.84, Z:-0.54 [[ 0.99963108 -0.0217694 -0.01624205 2.45429246] [ 0.02155338 0.99967845 -0.01335869 1.83945967] [ 0.01652764 0.0130037 0.99977885 -0.54178469] [ 0. 0. 0. 1. ]] SLAMing on 79.226547615 meters Centerline goodness : 0.809736 with order 1 Centerline is valid? [False, False] Translation: X:2.46, Y:1.84, Z:-0.54 [[ 0.99917771 -0.03584035 -0.01895734 2.45614395] [ 0.03577398 0.99935257 -0.00382882 1.84410943] [ 0.0190823 0.00314749 0.99981296 -0.53771238] [ 0. 0. 0. 1. ]] SLAMing on 79.28654761499999 meters Centerline goodness : 0.808764 with order 1 Centerline is valid? [False, False] Translation: X:2.46, Y:1.86, Z:-0.54 [[ 0.99883202 -0.04766812 -0.00789607 2.4599942 ] [ 0.0475516 0.99876585 -0.01433978 1.86028433] [ 0.00856987 0.01394756 0.999866 -0.53689632] [ 0. 0. 0. 1. ]] SLAMing on 79.34654761499999 meters Centerline goodness : 0.810754 with order 1 Centerline is valid? [False, False] Translation: X:2.44, Y:1.89, Z:-0.54 [[ 0.99953905 -0.02811346 -0.01145996 2.44394728] [ 0.02800164 0.9995598 -0.00980395 1.89408231] [ 0.01173053 0.00947853 0.99988627 -0.53690183] [ 0. 0. 0. 1. ]] SLAMing on 79.406547615 meters Centerline goodness : 0.805754 with order 1 Centerline is valid? [False, False] Translation: X:2.46, Y:1.90, Z:-0.54 [[ 0.9993712 -0.03187976 -0.01552035 2.45614377] [ 0.03177616 0.99947135 -0.00687653 1.90328142] [ 0.01573137 0.00637903 0.99985591 -0.5357073 ] [ 0. 0. 0. 1. ]] SLAMing on 79.466547615 meters Centerline goodness : 0.811003 with order 1 Centerline is valid? [False, False] Translation: X:2.47, Y:1.93, Z:-0.53 [[ 0.99900481 -0.03921438 -0.02125153 2.47195145] [ 0.03908059 0.99921377 -0.00667499 1.92577511] [ 0.02149657 0.00583782 0.99975188 -0.53443934] [ 0. 0. 0. 1. ]] SLAMing on 79.526547615 meters Centerline goodness : 0.805083 with order 1 Centerline is valid? [False, False] Translation: X:2.48, Y:1.94, Z:-0.54 [[ 0.99913275 -0.03486153 -0.0227689 2.47553786] [ 0.03476039 0.99938404 -0.00482318 1.94267444] [ 0.02292302 0.00402754 0.99972912 -0.53572982] [ 0. 0. 0. 1. ]] SLAMing on 79.586547615 meters Centerline goodness : 0.808999 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:1.96, Z:-0.54 [[ 9.98976477e-01 -4.20242804e-02 -1.67319574e-02 2.48895412e+00] [ 4.20607938e-02 9.99113366e-01 1.83620815e-03 1.95820183e+00] [ 1.66399570e-02 -2.53808816e-03 9.99858325e-01 -5.38840674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.64654761499999 meters Centerline goodness : 0.808871 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:1.97, Z:-0.54 [[ 9.98881235e-01 -4.40158484e-02 -1.72882410e-02 2.51035345e+00] [ 4.39951771e-02 9.99030503e-01 -1.57438011e-03 1.96685904e+00] [ 1.73407778e-02 8.12019520e-04 9.99849308e-01 -5.40515959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.70654761499999 meters Centerline goodness : 0.808189 with order 1 Centerline is valid? [False, False] Translation: X:2.52, Y:1.98, Z:-0.54 [[ 0.99891071 -0.04127467 -0.02176699 2.52145808] [ 0.04138491 0.99913251 0.00463837 1.98031438] [ 0.02155666 -0.00553414 0.99975231 -0.54297599] [ 0. 0. 0. 1. ]] SLAMing on 79.766547615 meters Centerline goodness : 0.809937 with order 1 Centerline is valid? [False, False] Translation: X:2.55, Y:1.99, Z:-0.54 [[ 0.99864503 -0.0435571 -0.02847602 2.55113566] [ 0.04389577 0.99897132 0.01137819 1.98957676] [ 0.02795112 -0.01261275 0.99952972 -0.54154005] [ 0. 0. 0. 1. ]] SLAMing on 79.826547615 meters Centerline goodness : 0.812808 with order 1 Centerline is valid? [False, False] Translation: X:2.56, Y:2.00, Z:-0.55 [[ 0.99906342 -0.03910114 -0.01853084 2.5590403 ] [ 0.0392902 0.99917829 0.009951 2.0031621 ] [ 0.01812651 -0.01066976 0.99977877 -0.54734982] [ 0. 0. 0. 1. ]] SLAMing on 79.886547615 meters Centerline goodness : 0.818679 with order 1 Centerline is valid? [False, False] Translation: X:2.56, Y:2.02, Z:-0.54 [[ 0.99915048 -0.03988928 -0.01035175 2.56417831] [ 0.03999756 0.9991449 0.01047246 2.02352434] [ 0.00992516 -0.0108776 0.99989158 -0.54291403] [ 0. 0. 0. 1. ]] SLAMing on 79.946547615 meters Centerline goodness : 0.822759 with order 1 Centerline is valid? [False, False] Translation: X:2.57, Y:2.05, Z:-0.55 [[ 0.99928145 -0.0351312 -0.01422582 2.57329668] [ 0.03524378 0.99934876 0.00774197 2.0455361 ] [ 0.01394457 -0.00823778 0.99986884 -0.55226351] [ 0. 0. 0. 1. ]] SLAMing on 80.006547615 meters Centerline goodness : 0.824363 with order 1 Centerline is valid? [False, False] Translation: X:2.58, Y:2.06, Z:-0.56 [[ 0.99973549 -0.01645198 -0.01607113 2.58275258] [ 0.01653866 0.99984931 0.00527599 2.06044698] [ 0.01598191 -0.00554039 0.99985693 -0.55834564] [ 0. 0. 0. 1. ]] SLAMing on 80.06654761499999 meters Centerline goodness : 0.821015 with order 1 Centerline is valid? [False, False] Translation: X:2.59, Y:2.07, Z:-0.56 [[ 0.99987124 -0.01410953 -0.00764347 2.59113137] [ 0.01413085 0.9998964 0.00274188 2.07476215] [ 0.00760399 -0.00284954 0.99996703 -0.56216101] [ 0. 0. 0. 1. ]] SLAMing on 80.12654761499999 meters Centerline goodness : 0.825226 with order 1 Centerline is valid? [False, False] Translation: X:2.59, Y:2.08, Z:-0.56 [[ 9.99831353e-01 -1.67247808e-02 -7.58594533e-03 2.58867875e+00] [ 1.67223450e-02 9.99860098e-01 -3.84418570e-04 2.08221528e+00] [ 7.59131336e-03 2.57498944e-04 9.99971152e-01 -5.59132399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.186547615 meters Centerline goodness : 0.831212 with order 1 Centerline is valid? [False, False] Translation: X:2.59, Y:2.09, Z:-0.56 [[ 9.99823683e-01 -1.70022272e-02 -7.97041452e-03 2.58790020e+00] [ 1.69921227e-02 9.99854734e-01 -1.33376565e-03 2.08915446e+00] [ 7.99193368e-03 1.19809623e-03 9.99967346e-01 -5.57175950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.246547615 meters Centerline goodness : 0.829399 with order 1 Centerline is valid? [False, False] Translation: X:2.59, Y:2.10, Z:-0.56 [[ 0.99993355 -0.00856716 -0.00771341 2.5884317 ] [ 0.00859739 0.99995546 0.00389409 2.09951901] [ 0.0076797 -0.00396015 0.99996267 -0.55772806] [ 0. 0. 0. 1. ]] SLAMing on 80.306547615 meters Centerline goodness : 0.831980 with order 1 Centerline is valid? [False, False] Translation: X:2.60, Y:2.11, Z:-0.56 [[ 0.9995878 0.02420661 -0.01543584 2.59558766] [-0.02425632 0.99970115 -0.00304149 2.10657899] [ 0.0153576 0.00341466 0.99987623 -0.55749229] [ 0. 0. 0. 1. ]] SLAMing on 80.366547615 meters Centerline goodness : 0.828906 with order 1 Centerline is valid? [False, False] Translation: X:2.60, Y:2.10, Z:-0.56 [[ 0.99903541 0.04090703 -0.01596433 2.60157933] [-0.04069931 0.99908521 0.01312685 2.10309021] [ 0.01648671 -0.01246445 0.99978639 -0.56247144] [ 0. 0. 0. 1. ]] SLAMing on 80.42654761499999 meters Centerline goodness : 0.831370 with order 1 Centerline is valid? [False, False] Translation: X:2.62, Y:2.09, Z:-0.57 [[ 0.9992425 0.03770614 -0.00962688 2.61500201] [-0.03752105 0.99912025 0.01873248 2.09122597] [ 0.01032474 -0.01835708 0.99977818 -0.56700601] [ 0. 0. 0. 1. ]] SLAMing on 80.48654761499999 meters Centerline goodness : 0.828652 with order 1 Centerline is valid? [False, False] Translation: X:2.63, Y:2.08, Z:-0.57 [[ 0.99952622 0.02986299 0.00745186 2.63158126] [-0.0300168 0.999319 0.02146004 2.07549454] [-0.00680592 -0.02167355 0.99974194 -0.57102057] [ 0. 0. 0. 1. ]] SLAMing on 80.546547615 meters Centerline goodness : 0.828813 with order 1 Centerline is valid? [False, False] Translation: X:2.66, Y:2.06, Z:-0.58 [[ 0.99992265 0.01210163 0.00287239 2.65556289] [-0.01214408 0.99980995 0.01525103 2.06424559] [-0.00268729 -0.01528473 0.99987957 -0.57767775] [ 0. 0. 0. 1. ]] SLAMing on 80.606547615 meters Centerline goodness : 0.828544 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:2.06, Z:-0.58 [[ 9.99992167e-01 2.67546142e-03 2.91685753e-03 2.67704570e+00] [-2.75036186e-03 9.99658569e-01 2.59842583e-02 2.06156698e+00] [-2.84634174e-03 -2.59920771e-02 9.99658097e-01 -5.76203228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.666547615 meters Centerline goodness : 0.826985 with order 1 Centerline is valid? [False, False] Translation: X:2.71, Y:2.05, Z:-0.58 [[ 9.99978612e-01 -5.97432996e-03 -2.66139421e-03 2.70832235e+00] [ 6.02160771e-03 9.99817589e-01 1.81253650e-02 2.05348366e+00] [ 2.55262184e-03 -1.81410032e-02 9.99832180e-01 -5.79906057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.726547615 meters Centerline goodness : 0.828527 with order 1 Centerline is valid? [False, False] Translation: X:2.72, Y:2.05, Z:-0.58 [[ 0.99994493 -0.00948986 0.00448037 2.71723637] [ 0.00938946 0.99971558 0.02192258 2.05334591] [-0.00468714 -0.0218793 0.99974963 -0.57856015] [ 0. 0. 0. 1. ]] SLAMing on 80.78654761499999 meters Centerline goodness : 0.832187 with order 1 Centerline is valid? [False, False] Translation: X:2.73, Y:2.05, Z:-0.58 [[ 0.99984912 -0.01279426 0.01174893 2.72608666] [ 0.01251407 0.99964271 0.02361902 2.05286957] [-0.01204692 -0.02346843 0.99965199 -0.57511529] [ 0. 0. 0. 1. ]] SLAMing on 80.84654761499999 meters Centerline goodness : 0.827744 with order 1 Centerline is valid? [False, False] Translation: X:2.75, Y:2.06, Z:-0.58 [[ 9.99996209e-01 3.46023306e-04 2.73175324e-03 2.74798568e+00] [-4.11113946e-04 9.99715155e-01 2.38629329e-02 2.06170187e+00] [-2.72271798e-03 -2.38639655e-02 9.99711507e-01 -5.82316645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.906547615 meters Centerline goodness : 0.822680 with order 1 Centerline is valid? [False, False] Translation: X:2.77, Y:2.08, Z:-0.58 [[ 0.99914957 0.03899142 -0.01340932 2.76779813] [-0.03858581 0.99882615 0.02928239 2.0774268 ] [ 0.01453534 -0.02874008 0.99948123 -0.58169485] [ 0. 0. 0. 1. ]] SLAMing on 80.966547615 meters Centerline goodness : 0.819839 with order 1 Centerline is valid? [False, False] Translation: X:2.77, Y:2.08, Z:-0.58 [[ 0.99876104 0.04812511 -0.01266302 2.7670221 ] [-0.04763493 0.99819706 0.03651773 2.08082145] [ 0.01439761 -0.03586929 0.99925277 -0.58069971] [ 0. 0. 0. 1. ]] SLAMing on 81.026547615 meters Centerline goodness : 0.819635 with order 1 Centerline is valid? [False, False] Translation: X:2.77, Y:2.08, Z:-0.58 [[ 0.99944542 0.03291444 -0.00504987 2.77328585] [-0.0327738 0.99913022 0.02578131 2.07503363] [ 0.00589406 -0.02560151 0.99965485 -0.57527091] [ 0. 0. 0. 1. ]] SLAMing on 81.086547615 meters Centerline goodness : 0.819491 with order 1 Centerline is valid? [False, False] Translation: X:2.79, Y:2.07, Z:-0.57 [[ 0.99978647 0.02026729 -0.00403152 2.79287818] [-0.02012259 0.99924706 0.03317219 2.06639959] [ 0.00470079 -0.03308398 0.99944152 -0.57215901] [ 0. 0. 0. 1. ]] SLAMing on 81.14654761499999 meters Centerline goodness : 0.817572 with order 1 Centerline is valid? [False, False] Translation: X:2.81, Y:2.07, Z:-0.58 [[ 9.99914156e-01 1.30830522e-02 7.17632586e-04 2.80821639e+00] [-1.31007333e-02 9.99215517e-01 3.73727353e-02 2.06511897e+00] [-2.28120168e-04 -3.73789286e-02 9.99301138e-01 -5.81497953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.20654761499999 meters Centerline goodness : 0.816555 with order 1 Centerline is valid? [False, False] Translation: X:2.83, Y:2.08, Z:-0.59 [[ 9.99992977e-01 -1.30541025e-03 -3.51316779e-03 2.83232465e+00] [ 1.38879501e-03 9.99714868e-01 2.38380931e-02 2.07981422e+00] [ 3.48104758e-03 -2.38428047e-02 9.99709659e-01 -5.88740608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.266547615 meters Centerline goodness : 0.819659 with order 1 Centerline is valid? [False, False] Translation: X:2.82, Y:2.11, Z:-0.58 [[ 9.99991974e-01 -3.18851373e-03 2.42584234e-03 2.81744788e+00] [ 3.15135592e-03 9.99879961e-01 1.51701322e-02 2.11401859e+00] [-2.47392132e-03 -1.51623658e-02 9.99881984e-01 -5.79498109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.326547615 meters Centerline goodness : 0.820965 with order 1 Centerline is valid? [False, False] Translation: X:2.82, Y:2.12, Z:-0.58 [[ 9.99997550e-01 -3.95577709e-04 2.17807345e-03 2.81950386e+00] [ 3.61173124e-04 9.99875523e-01 1.57736782e-02 2.12362426e+00] [-2.18404205e-03 -1.57728529e-02 9.99873215e-01 -5.81216444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.386547615 meters Centerline goodness : 0.831540 with order 1 Centerline is valid? [False, False] Translation: X:2.82, Y:2.16, Z:-0.58 [[ 9.99760844e-01 2.17695858e-02 2.08324153e-03 2.82042286e+00] [-2.18113738e-02 9.99503336e-01 2.27452331e-02 2.16080972e+00] [-1.58705255e-03 -2.27852318e-02 9.99739123e-01 -5.79080094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.446547615 meters Centerline goodness : 0.828879 with order 1 Centerline is valid? [False, False] Translation: X:2.83, Y:2.19, Z:-0.58 [[ 0.99944376 0.03199123 0.00941929 2.83166809] [-0.03221966 0.99916331 0.02519055 2.18759998] [-0.00860554 -0.02548003 0.99963829 -0.58146158] [ 0. 0. 0. 1. ]] SLAMing on 81.506547615 meters Centerline goodness : 0.815790 with order 1 Centerline is valid? [False, False] Translation: X:2.86, Y:2.22, Z:-0.59 [[ 0.99898178 0.04457219 0.00698032 2.8563734 ] [-0.04470871 0.99878339 0.02080562 2.22362762] [-0.00604448 -0.02109652 0.99975917 -0.58897475] [ 0. 0. 0. 1. ]] SLAMing on 81.56654761499999 meters Centerline goodness : 0.806578 with order 1 Centerline is valid? [False, False] Translation: X:2.89, Y:2.26, Z:-0.59 [[ 0.99856993 0.0519572 0.01259171 2.88545176] [-0.0522683 0.99830015 0.02578447 2.261967 ] [-0.01123062 -0.02640574 0.99958822 -0.58518882] [ 0. 0. 0. 1. ]] SLAMing on 81.62654761499999 meters Centerline goodness : 0.801977 with order 1 Centerline is valid? [False, False] Translation: X:2.90, Y:2.30, Z:-0.59 [[ 0.99676907 0.07898859 0.0145678 2.89914738] [-0.07926379 0.99666501 0.01939376 2.30160768] [-0.01298733 -0.0204858 0.99970579 -0.5855527 ] [ 0. 0. 0. 1. ]] SLAMing on 81.686547615 meters Centerline goodness : 0.798150 with order 1 Centerline is valid? [False, False] Translation: X:2.90, Y:2.36, Z:-0.59 [[ 0.99371571 0.10487885 0.03910895 2.90472176] [-0.10581275 0.99412872 0.02262178 2.36247435] [-0.03650678 -0.02661784 0.99897885 -0.58729303] [ 0. 0. 0. 1. ]] SLAMing on 81.746547615 meters Centerline goodness : 0.797958 with order 1 Centerline is valid? [False, False] Translation: X:2.91, Y:2.42, Z:-0.60 [[ 0.98890236 0.141946 0.04385729 2.91205964] [-0.14322447 0.98930767 0.02751526 2.4178631 ] [-0.03948268 -0.03349134 0.99865882 -0.60213623] [ 0. 0. 0. 1. ]] SLAMing on 81.806547615 meters Centerline goodness : 0.808100 with order 1 Centerline is valid? [False, False] Translation: X:2.90, Y:2.46, Z:-0.60 [[ 0.98878723 0.14205388 0.04604892 2.90439159] [-0.14363501 0.98907864 0.03305195 2.46086827] [-0.04085084 -0.03929559 0.99839224 -0.59972581] [ 0. 0. 0. 1. ]] Total time of SLAM: 2529.63 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%| | 0/2728 [00:00