+ python -m lidar_slam --result /working/result.json --no-model /working/5153ddea-9b42-49bd-aee0-96d92173aaca Lidar SLAM 0.0.16 ===================================================== The recording path: /working/5153ddea-9b42-49bd-aee0-96d92173aaca 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 0.029649246 Adjusted end_distance from 9.223372036854776e+18 to 120.849649246 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.029649246 meters Centerline goodness : 0.910800 with order 1 Centerline is valid? [0, False] SLAMing on 0.089649246 meters Centerline goodness : 0.914648 with order 1 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.03 [[ 0.99990217 -0.01134768 -0.00817823 0.01380807] [ 0.01103656 0.99924937 -0.03713337 0.00822925] [ 0.00859347 0.03703948 0.99927685 -0.03131183] [ 0. 0. 0. 1. ]] SLAMing on 0.14964924599999999 meters Centerline goodness : 0.930328 with order 3 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.02, Z:0.03 [[ 0.99995548 -0.00849445 -0.00410916 -0.0062464 ] [ 0.0086799 0.99883623 0.0474431 -0.01969248] [ 0.00370137 -0.04747665 0.99886549 0.03150901] [ 0. 0. 0. 1. ]] SLAMing on 0.20964924599999998 meters Centerline goodness : 0.941764 with order 3 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.01, Z:0.03 [[ 0.99977004 -0.02082345 -0.00512291 -0.04143582] [ 0.02104309 0.99865428 0.0474005 -0.01478134] [ 0.00412897 -0.0474974 0.99886283 0.02908674] [ 0. 0. 0. 1. ]] SLAMing on 0.269649246 meters Centerline goodness : 0.916632 with order 1 Centerline is valid? [False, False] Translation: X:-0.05, Y:-0.01, Z:0.03 [[ 9.99490002e-01 -3.19316526e-02 3.24967334e-04 -4.66077479e-02] [ 3.18727367e-02 9.98169049e-01 5.14069906e-02 -1.31530769e-02] [-1.96588250e-03 -5.13704155e-02 9.98677734e-01 3.17578917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.329649246 meters Centerline goodness : 0.899660 with order 1 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.01, Z:0.02 [[ 9.99078031e-01 -4.29307443e-02 -1.97899616e-04 -4.05227369e-02] [ 4.29057616e-02 9.98316752e-01 3.90225372e-02 -8.57602754e-03] [-1.47770006e-03 -3.89950506e-02 9.99238311e-01 2.44322295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.389649246 meters Centerline goodness : 0.890586 with order 1 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.01, Z:0.02 [[ 0.99889475 -0.04670573 -0.00527827 -0.00558119] [ 0.04686768 0.99823424 0.03649416 -0.00838781] [ 0.00356446 -0.03670121 0.99931993 0.02431265] [ 0. 0. 0. 1. ]] SLAMing on 0.449649246 meters Centerline goodness : 0.906731 with order 3 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.01, Z:0.02 [[ 0.99889871 -0.04642516 -0.00678699 0.04529342] [ 0.0466083 0.99846499 0.02992204 -0.00606967] [ 0.00538744 -0.03020541 0.99952919 0.02022277] [ 0. 0. 0. 1. ]] SLAMing on 0.509649246 meters Centerline goodness : 0.136919 with order 1 Centerline is valid? [False, False] Translation: X:0.09, Y:0.00, Z:0.02 [[ 9.98812533e-01 -4.72790578e-02 -1.17564512e-02 8.61357477e-02] [ 4.76164101e-02 9.98406169e-01 3.02952161e-02 2.82452434e-04] [ 1.03053841e-02 -3.08190416e-02 9.99471853e-01 1.69635158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.569649246 meters Centerline goodness : 0.149860 with order 1 Centerline is valid? [False, False] Translation: X:0.13, Y:0.01, Z:0.01 [[ 0.99861382 -0.05199052 -0.00821139 0.13385734] [ 0.05220292 0.99823795 0.02821087 0.01225105] [ 0.00673022 -0.02860042 0.99956827 0.00650125] [ 0. 0. 0. 1. ]] SLAMing on 0.6296492459999999 meters Centerline goodness : 0.179376 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:0.01, Z:0.00 [[ 0.99874301 -0.04859299 -0.01229298 0.18635162] [ 0.04889097 0.99848547 0.02522783 0.01474639] [ 0.01104847 -0.02579714 0.99960614 0.00361457] [ 0. 0. 0. 1. ]] SLAMing on 0.6896492459999999 meters Centerline goodness : 0.207671 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:0.02, Z:0.00 [[ 0.99876288 -0.04740508 -0.01501539 0.23757445] [ 0.04771098 0.99864636 0.02071515 0.01623405] [ 0.01401306 -0.02140592 0.99967266 0.0018168 ] [ 0. 0. 0. 1. ]] SLAMing on 0.7496492459999999 meters Centerline goodness : 0.203466 with order 1 Centerline is valid? [False, False] Translation: X:0.29, Y:0.01, Z:-0.00 [[ 9.98735017e-01 -4.63967925e-02 -1.93830947e-02 2.91727441e-01] [ 4.67356214e-02 9.98755574e-01 1.74093184e-02 1.48251140e-02] [ 1.85512374e-02 -1.82931768e-02 9.99660548e-01 -7.65206161e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.809649246 meters Centerline goodness : 0.194979 with order 1 Centerline is valid? [False, False] Translation: X:0.34, Y:0.01, Z:-0.00 [[ 0.99885516 -0.0427609 -0.02144459 0.34336195] [ 0.04309014 0.99895657 0.01513311 0.01472774] [ 0.02077511 -0.01603984 0.9996555 -0.00355304] [ 0. 0. 0. 1. ]] SLAMing on 0.8696492459999999 meters Centerline goodness : 0.181125 with order 1 Centerline is valid? [False, False] Translation: X:0.39, Y:0.02, Z:-0.01 [[ 0.99921316 -0.03233827 -0.0229629 0.39195097] [ 0.03269819 0.99934545 0.01547549 0.01921208] [ 0.02244742 -0.01621416 0.99961653 -0.00756899] [ 0. 0. 0. 1. ]] SLAMing on 0.9296492459999999 meters Centerline goodness : 0.176193 with order 1 Centerline is valid? [False, False] Translation: X:0.44, Y:0.03, Z:-0.01 [[ 0.99956662 -0.01667596 -0.02425859 0.43753898] [ 0.01709771 0.99970443 0.01728331 0.02724707] [ 0.0239632 -0.01769059 0.99955631 -0.01199851] [ 0. 0. 0. 1. ]] SLAMing on 0.9896492459999999 meters Centerline goodness : 0.172210 with order 1 Centerline is valid? [False, False] Translation: X:0.48, Y:0.04, Z:-0.01 [[ 0.99974574 0.0015128 -0.02249836 0.47854567] [-0.00102961 0.9997689 0.02147272 0.03708381] [ 0.02252565 -0.02144409 0.99951626 -0.01303188] [ 0. 0. 0. 1. ]] SLAMing on 1.049649246 meters Centerline goodness : 0.169699 with order 1 Centerline is valid? [False, False] Translation: X:0.52, Y:0.05, Z:-0.01 [[ 0.99955199 0.02272743 -0.01947508 0.51517284] [-0.0222294 0.99942971 0.0254187 0.04826563] [ 0.02004167 -0.02497439 0.99948717 -0.0146713 ] [ 0. 0. 0. 1. ]] SLAMing on 1.109649246 meters Centerline goodness : 0.763003 with order 2 Centerline is valid? [False, False] Translation: X:0.55, Y:0.07, Z:-0.02 [[ 0.99898438 0.04369945 -0.01098006 0.55039906] [-0.04358867 0.99899817 0.01013323 0.06513783] [ 0.01141188 -0.00964434 0.99988837 -0.02025008] [ 0. 0. 0. 1. ]] SLAMing on 1.1696492459999999 meters Centerline goodness : 0.789488 with order 3 Centerline is valid? [False, False] Translation: X:0.56, Y:0.08, Z:-0.02 [[ 9.98841520e-01 4.81194842e-02 -3.65151625e-04 5.64966687e-01] [-4.81064575e-02 9.98327917e-01 -3.20490079e-02 8.35306685e-02] [-1.17764067e-03 3.20294459e-02 9.99486232e-01 -2.44672029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.229649246 meters Centerline goodness : 0.776690 with order 2 Centerline is valid? [False, False] Translation: X:0.60, Y:0.10, Z:-0.03 [[ 9.98240590e-01 5.92932053e-02 -2.02008384e-04 5.97877544e-01] [-5.92732521e-02 9.97803945e-01 -2.95629783e-02 9.68392822e-02] [-1.55131898e-03 2.95229385e-02 9.99562899e-01 -2.88502482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.289649246 meters Centerline goodness : 0.152532 with order 1 Centerline is valid? [False, False] Translation: X:0.65, Y:0.10, Z:-0.03 [[ 0.99756536 0.06969399 0.00247133 0.64542214] [-0.06960132 0.99720372 -0.02721019 0.10407981] [-0.0043608 0.02697194 0.99962668 -0.03134269] [ 0. 0. 0. 1. ]] SLAMing on 1.3496492459999998 meters Centerline goodness : 0.774906 with order 2 Centerline is valid? [False, False] Translation: X:0.70, Y:0.11, Z:-0.03 [[ 0.997174 0.07485484 0.0063854 0.70039403] [-0.0746828 0.99692091 -0.02389929 0.10678992] [-0.00815472 0.02335487 0.99969398 -0.03303656] [ 0. 0. 0. 1. ]] SLAMing on 1.4096492459999999 meters Centerline goodness : 0.242543 with order 2 Centerline is valid? [False, False] Translation: X:0.75, Y:0.11, Z:-0.04 [[ 0.99741756 0.07076696 0.01225782 0.75176112] [-0.07053951 0.99734497 -0.01808823 0.10584082] [-0.01350533 0.01717685 0.99976125 -0.03630935] [ 0. 0. 0. 1. ]] SLAMing on 1.469649246 meters Centerline goodness : 0.479957 with order 2 Centerline is valid? [False, False] Translation: X:0.81, Y:0.10, Z:-0.04 [[ 0.99831557 0.05534611 0.01740199 0.80737083] [-0.05510518 0.99838194 -0.01403288 0.09751975] [-0.0181505 0.01305031 0.99975009 -0.03656948] [ 0. 0. 0. 1. ]] SLAMing on 1.529649246 meters Centerline goodness : 0.797220 with order 1 Centerline is valid? [False, False] Translation: X:0.88, Y:0.08, Z:-0.04 [[ 0.99937744 0.02109511 0.02827943 0.87621557] [-0.02100301 0.99977311 -0.00354991 0.07678204] [-0.0283479 0.00295375 0.99959375 -0.03795559] [ 0. 0. 0. 1. ]] SLAMing on 1.589649246 meters Centerline goodness : 0.268198 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:0.06, Z:-0.04 [[ 0.99952181 0.00312719 0.03076327 0.91517899] [-0.00325218 0.99998666 0.0040138 0.06409458] [-0.0307503 -0.00411193 0.99951864 -0.03841956] [ 0. 0. 0. 1. ]] SLAMing on 1.6496492459999998 meters Centerline goodness : 0.794249 with order 1 Centerline is valid? [False, False] Translation: X:0.97, Y:0.04, Z:-0.03 [[ 0.99921737 -0.02062628 0.033752 0.97186707] [ 0.01992052 0.99957858 0.02111465 0.03805821] [-0.03417329 -0.02042577 0.99920717 -0.03448824] [ 0. 0. 0. 1. ]] SLAMing on 1.709649246 meters Centerline goodness : 0.814961 with order 1 Centerline is valid? [False, False] Translation: X:1.02, Y:0.01, Z:-0.03 [[ 0.99833691 -0.04392321 0.03733851 1.02142838] [ 0.04273866 0.99857522 0.03195219 0.0131617 ] [-0.03868876 -0.03030325 0.99879172 -0.03304819] [ 0. 0. 0. 1. ]] SLAMing on 1.769649246 meters Centerline goodness : 0.824783 with order 3 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.01, Z:-0.03 [[ 0.99792277 -0.05495973 0.03360913 1.07503006] [ 0.05405765 0.99816769 0.02718517 -0.01092815] [-0.03504164 -0.02531187 0.99906526 -0.03455205] [ 0. 0. 0. 1. ]] SLAMing on 1.8296492459999998 meters Centerline goodness : 0.830048 with order 3 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.03, Z:-0.04 [[ 0.99798586 -0.0558801 0.03002724 1.12232686] [ 0.05507886 0.99812013 0.02687991 -0.03361431] [-0.03147284 -0.0251719 0.99918759 -0.03561077] [ 0. 0. 0. 1. ]] SLAMing on 1.8896492459999998 meters Centerline goodness : 0.161740 with order 1 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.05, Z:-0.03 [[ 0.99835215 -0.04956997 0.02891017 1.16355436] [ 0.04877199 0.99842621 0.02768368 -0.05371702] [-0.03023695 -0.02622806 0.99919859 -0.03436757] [ 0. 0. 0. 1. ]] SLAMing on 1.949649246 meters Centerline goodness : 0.144640 with order 1 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.06, Z:-0.04 [[ 0.99929086 -0.02531464 0.02787393 1.19939989] [ 0.02475809 0.9994907 0.02013406 -0.06377941] [-0.02836942 -0.01942968 0.99940866 -0.0357086 ] [ 0. 0. 0. 1. ]] SLAMing on 2.009649246 meters Centerline goodness : 0.224147 with order 3 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.06, Z:-0.04 [[ 9.99508244e-01 -1.12417754e-05 3.13571439e-02 1.22673439e+00] [-7.16301658e-04 9.99730807e-01 2.31905100e-02 -6.16932298e-02] [-3.13489635e-02 -2.32015671e-02 9.99239175e-01 -3.92162879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.069649246 meters Centerline goodness : 0.188002 with order 1 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.06, Z:-0.04 [[ 0.99924043 0.01616021 0.03546012 1.24873856] [-0.01736584 0.99927234 0.03395919 -0.05567536] [-0.03488553 -0.03454919 0.99879395 -0.04093194] [ 0. 0. 0. 1. ]] SLAMing on 2.129649246 meters Centerline goodness : 0.186576 with order 1 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.05, Z:-0.04 [[ 0.99902469 0.02088616 0.03890292 1.27202028] [-0.02218268 0.99920256 0.03319906 -0.05274443] [-0.03817849 -0.03402966 0.99869134 -0.0439768 ] [ 0. 0. 0. 1. ]] SLAMing on 2.189649246 meters Centerline goodness : 0.192663 with order 1 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.05, Z:-0.05 [[ 0.99891353 0.01875131 0.04266326 1.30081222] [-0.01998598 0.99938825 0.02869985 -0.04928111] [-0.042099 -0.02952134 0.99867721 -0.04851924] [ 0. 0. 0. 1. ]] SLAMing on 2.2496492459999997 meters Centerline goodness : 0.178186 with order 1 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.05, Z:-0.05 [[ 0.99902349 0.01551298 0.04136914 1.33924836] [-0.01683128 0.99935535 0.03171117 -0.04884571] [-0.04085053 -0.03237649 0.99864057 -0.04934631] [ 0. 0. 0. 1. ]] SLAMing on 2.3096492459999998 meters Centerline goodness : 0.195814 with order 1 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.05, Z:-0.05 [[ 0.99902532 0.01071341 0.0428209 1.37416786] [-0.01193904 0.99952336 0.02846961 -0.04634848] [-0.04249549 -0.0289531 0.99867705 -0.05319598] [ 0. 0. 0. 1. ]] SLAMing on 2.369649246 meters Centerline goodness : 0.763385 with order 2 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.04, Z:-0.06 [[ 0.99889721 0.00712478 0.04640692 1.40779705] [-0.00830919 0.99964336 0.02537948 -0.03977753] [-0.04620954 -0.02573709 0.99860016 -0.05712113] [ 0. 0. 0. 1. ]] SLAMing on 2.429649246 meters Centerline goodness : 0.203773 with order 1 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.03, Z:-0.06 [[ 0.9987872 0.00299968 0.04914389 1.44735812] [-0.00422294 0.99968335 0.02480653 -0.03236491] [-0.04905392 -0.02498398 0.99848361 -0.06162891] [ 0. 0. 0. 1. ]] SLAMing on 2.489649246 meters Centerline goodness : 0.816024 with order 3 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.03, Z:-0.07 [[ 0.99871412 -0.00359598 0.05056848 1.49055429] [ 0.00234944 0.99969243 0.02468856 -0.0278701 ] [-0.05064171 -0.024538 0.9984154 -0.06517087] [ 0. 0. 0. 1. ]] SLAMing on 2.549649246 meters Centerline goodness : 0.890850 with order 3 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.02, Z:-0.07 [[ 0.99859723 -0.01020203 0.0519567 1.53491924] [ 0.00892756 0.99965498 0.02470279 -0.02257275] [-0.0521908 -0.02420429 0.99834376 -0.0702556 ] [ 0. 0. 0. 1. ]] SLAMing on 2.609649246 meters Centerline goodness : 0.909405 with order 1 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.02, Z:-0.07 [[ 0.99851582 -0.01613062 0.05201877 1.58040393] [ 0.0147468 0.99952996 0.02687727 -0.0179075 ] [-0.05242786 -0.02607026 0.99828436 -0.07354895] [ 0. 0. 0. 1. ]] SLAMing on 2.6696492459999996 meters Centerline goodness : 0.918160 with order 1 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.01, Z:-0.08 [[ 0.99825908 -0.02257685 0.0544894 1.62408217] [ 0.02100623 0.99935205 0.02922694 -0.01445535] [-0.05511395 -0.02803145 0.99808651 -0.07606377] [ 0. 0. 0. 1. ]] SLAMing on 2.7296492459999997 meters Centerline goodness : 0.892572 with order 1 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.01, Z:-0.08 [[ 0.99811392 -0.02952533 0.05382247 1.66936984] [ 0.02778758 0.99907708 0.03275413 -0.01386158] [-0.05473987 -0.03119676 0.99801318 -0.0761074 ] [ 0. 0. 0. 1. ]] SLAMing on 2.7896492459999997 meters Centerline goodness : 0.896685 with order 1 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.02, Z:-0.08 [[ 0.99801262 -0.03697149 0.05102863 1.71534174] [ 0.03513438 0.99871799 0.03644097 -0.01532129] [-0.05231049 -0.03457569 0.99803213 -0.07541477] [ 0. 0. 0. 1. ]] SLAMing on 2.849649246 meters Centerline goodness : 0.906783 with order 1 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.02, Z:-0.08 [[ 0.99792538 -0.04062557 0.04994496 1.75822802] [ 0.038587 0.99840863 0.04112485 -0.015976 ] [-0.0515362 -0.0391123 0.99790493 -0.07663241] [ 0. 0. 0. 1. ]] SLAMing on 2.909649246 meters Centerline goodness : 0.915740 with order 1 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.02, Z:-0.08 [[ 0.99812322 -0.03600537 0.04953439 1.80371091] [ 0.03418285 0.99872449 0.03716089 -0.01796129] [-0.0508092 -0.03539792 0.99808086 -0.08061296] [ 0. 0. 0. 1. ]] SLAMing on 2.969649246 meters Centerline goodness : 0.920327 with order 1 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.02, Z:-0.09 [[ 0.99802409 -0.03372261 0.05301596 1.8227134 ] [ 0.03208136 0.99898845 0.03150987 -0.01778737] [-0.05402492 -0.02974678 0.99809641 -0.08536016] [ 0. 0. 0. 1. ]] SLAMing on 3.029649246 meters Centerline goodness : 0.924546 with order 1 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.02, Z:-0.09 [[ 0.99839681 -0.02445979 0.05104442 1.86096167] [ 0.02313873 0.99938592 0.02631312 -0.01942948] [-0.05165669 -0.02508983 0.99834968 -0.08934805] [ 0. 0. 0. 1. ]] SLAMing on 3.089649246 meters Centerline goodness : 0.924726 with order 1 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.02, Z:-0.09 [[ 0.99901535 -0.01656372 0.04115791 1.87540391] [ 0.01552296 0.99955482 0.02547929 -0.02305568] [-0.04156162 -0.02481531 0.99882773 -0.08613725] [ 0. 0. 0. 1. ]] SLAMing on 3.149649246 meters Centerline goodness : 0.929633 with order 1 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.03, Z:-0.08 [[ 0.99947744 -0.00815602 0.03127807 1.89053794] [ 0.00735862 0.9996471 0.02552485 -0.02691505] [-0.03147521 -0.02528134 0.99918475 -0.0836123 ] [ 0. 0. 0. 1. ]] SLAMing on 3.2096492459999997 meters Centerline goodness : 0.933520 with order 1 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.04, Z:-0.08 [[ 0.99942774 -0.01981184 0.02741692 1.92435527] [ 0.01925909 0.99960882 0.02028025 -0.04166013] [-0.02780798 -0.01974062 0.99941834 -0.083124 ] [ 0. 0. 0. 1. ]] SLAMing on 3.2696492459999997 meters Centerline goodness : 0.943870 with order 3 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.06, Z:-0.08 [[ 0.99905347 -0.03705485 0.0227838 1.9597788 ] [ 0.0366986 0.99920051 0.01586051 -0.06479992] [-0.02335329 -0.01500936 0.9996146 -0.07739052] [ 0. 0. 0. 1. ]] SLAMing on 3.329649246 meters Centerline goodness : 0.944615 with order 1 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.07, Z:-0.07 [[ 0.99946903 -0.02942385 0.01399604 1.96753687] [ 0.02926117 0.99950345 0.01168921 -0.0701775 ] [-0.01433303 -0.01127346 0.99983372 -0.07065264] [ 0. 0. 0. 1. ]] SLAMing on 3.389649246 meters Centerline goodness : 0.941984 with order 1 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.07, Z:-0.07 [[ 0.99965717 -0.02294009 0.01262099 1.9723421 ] [ 0.02270593 0.99957296 0.01839413 -0.06729353] [-0.01303756 -0.01810125 0.99975115 -0.07345588] [ 0. 0. 0. 1. ]] SLAMing on 3.449649246 meters Centerline goodness : 0.945192 with order 1 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.07, Z:-0.07 [[ 0.99964776 -0.02413784 0.01103244 1.97601084] [ 0.02392906 0.99953912 0.0186799 -0.06813618] [-0.01147825 -0.01840932 0.99976465 -0.07210306] [ 0. 0. 0. 1. ]] SLAMing on 3.509649246 meters Centerline goodness : 0.944038 with order 1 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.07, Z:-0.07 [[ 0.99962423 -0.02693481 0.00509082 2.0024605 ] [ 0.02686665 0.99955431 0.01301421 -0.07196478] [-0.00543909 -0.01287255 0.99990235 -0.07045125] [ 0. 0. 0. 1. ]] SLAMing on 3.569649246 meters Centerline goodness : 0.943654 with order 1 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.07, Z:-0.07 [[ 0.99957237 -0.02906135 0.00324127 2.00860833] [ 0.0290187 0.99950061 0.0125075 -0.07185933] [-0.00360314 -0.0124081 0.99991652 -0.07151094] [ 0. 0. 0. 1. ]] SLAMing on 3.6296492459999996 meters Centerline goodness : 0.941772 with order 1 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.07, Z:-0.07 [[ 9.99635455e-01 -2.69798125e-02 1.02360206e-03 2.01526628e+00] [ 2.69592048e-02 9.99499611e-01 1.65447528e-02 -7.20213045e-02] [-1.46946419e-03 -1.65111260e-02 9.99862602e-01 -7.20696920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6896492459999997 meters Centerline goodness : 0.939406 with order 1 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.07, Z:-0.07 [[ 9.99831256e-01 -1.83700539e-02 1.29165962e-05 2.01579690e+00] [ 1.83636270e-02 9.99499566e-01 2.57564619e-02 -7.37908070e-02] [-4.86057726e-04 -2.57518785e-02 9.99668247e-01 -6.97349693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7496492459999997 meters Centerline goodness : 0.939768 with order 1 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.07, Z:-0.07 [[ 0.99995762 -0.00829727 0.00398824 2.02538972] [ 0.00820732 0.99972282 0.02206615 -0.07235778] [-0.00417022 -0.02203249 0.99974856 -0.07307995] [ 0. 0. 0. 1. ]] SLAMing on 3.8096492459999998 meters Centerline goodness : 0.938294 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.07, Z:-0.08 [[ 9.99969997e-01 1.37257862e-04 7.74504944e-03 2.03630737e+00] [-2.62613552e-04 9.99868954e-01 1.61865717e-02 -7.21143678e-02] [-7.74181275e-03 -1.61881200e-02 9.99838992e-01 -7.92505006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.869649246 meters Centerline goodness : 0.942566 with order 1 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.07, Z:-0.08 [[ 0.99995773 0.00393856 0.00830768 2.03136624] [-0.0040814 0.99984291 0.01724794 -0.07188363] [-0.00823844 -0.01728112 0.99981673 -0.07771136] [ 0. 0. 0. 1. ]] SLAMing on 3.929649246 meters Centerline goodness : 0.942545 with order 1 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.07, Z:-0.08 [[ 9.99961515e-01 8.10585520e-04 8.73561062e-03 2.02975567e+00] [-9.17684728e-04 9.99924385e-01 1.22630447e-02 -6.88322566e-02] [-8.72500983e-03 -1.22705893e-02 9.99886647e-01 -7.86257828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.989649246 meters Centerline goodness : 0.945001 with order 1 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.07, Z:-0.08 [[ 9.99970027e-01 -1.23517783e-03 7.64320995e-03 2.03387259e+00] [ 1.14841998e-03 9.99934984e-01 1.13449671e-02 -6.73353906e-02] [-7.65672607e-03 -1.13358494e-02 9.99906432e-01 -7.94114194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0496492459999995 meters Centerline goodness : 0.944672 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.07, Z:-0.08 [[ 0.99994777 -0.00807675 0.00626211 2.03975894] [ 0.00803556 0.9999461 0.00657488 -0.06660875] [-0.00631488 -0.00652422 0.99995878 -0.08044072] [ 0. 0. 0. 1. ]] SLAMing on 4.109649246 meters Centerline goodness : 0.943727 with order 1 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.07, Z:-0.08 [[ 0.99985826 -0.01618684 0.0046304 2.04710613] [ 0.01617655 0.99986662 0.00225186 -0.06769285] [-0.00466623 -0.00217663 0.99998674 -0.08046387] [ 0. 0. 0. 1. ]] SLAMing on 4.169649246 meters Centerline goodness : 0.940213 with order 1 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.10, Z:-0.01 [[ 0.99926783 -0.03191208 0.02110489 2.0664215 ] [ 0.02959255 0.9943104 0.10232846 -0.0971731 ] [-0.02425033 -0.10162899 0.99452676 -0.01337829] [ 0. 0. 0. 1. ]] SLAMing on 4.229649246 meters Centerline goodness : 0.941467 with order 1 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.09, Z:-0.01 [[ 0.9991618 -0.03800742 0.01520328 2.05648473] [ 0.03615898 0.99355208 0.10745598 -0.09328069] [-0.01918938 -0.10681618 0.99409359 -0.007957 ] [ 0. 0. 0. 1. ]] SLAMing on 4.289649246 meters Centerline goodness : 0.941362 with order 1 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.09, Z:-0.00 [[ 9.99074030e-01 -4.17603644e-02 1.03515359e-02 2.04511671e+00] [ 4.02894748e-02 9.92497887e-01 1.15432676e-01 -9.08670004e-02] [-1.50943881e-02 -1.14908731e-01 9.93261367e-01 -1.43960260e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.349649246 meters Centerline goodness : 0.940174 with order 1 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.09, Z:0.01 [[ 0.99934809 -0.03560306 0.00598553 2.01716711] [ 0.03471571 0.99316909 0.11140011 -0.08758633] [-0.00991082 -0.1111197 0.99375761 0.00664652] [ 0. 0. 0. 1. ]] SLAMing on 4.409649246 meters Centerline goodness : 0.940348 with order 1 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.09, Z:-0.00 [[ 9.99594280e-01 -2.67796599e-02 9.70178540e-03 2.02005077e+00] [ 2.56725250e-02 9.94621527e-01 1.00344110e-01 -8.73764820e-02] [-1.23367857e-02 -1.00054329e-01 9.94905490e-01 -5.40042899e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4696492459999995 meters Centerline goodness : 0.939503 with order 1 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.09, Z:-0.01 [[ 0.99967876 -0.02096642 0.0142401 2.03130564] [ 0.01956324 0.99553004 0.09239709 -0.08920796] [-0.01611368 -0.09208883 0.99562041 -0.00810279] [ 0. 0. 0. 1. ]] SLAMing on 4.529649246 meters Centerline goodness : 0.940526 with order 1 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.09, Z:-0.01 [[ 9.99954932e-01 -9.80155693e-04 9.44312384e-03 2.04803604e+00] [ 1.91206102e-04 9.96533798e-01 8.31886571e-02 -9.27385004e-02] [-9.49192990e-03 -8.31831024e-02 9.96489074e-01 -1.00670303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.589649246 meters Centerline goodness : 0.942087 with order 1 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.09, Z:-0.01 [[ 0.99980669 0.01902883 0.00494788 2.05294258] [-0.01934395 0.99704991 0.07427848 -0.09287971] [-0.00351986 -0.07435983 0.99722526 -0.01227341] [ 0. 0. 0. 1. ]] SLAMing on 4.649649246 meters Centerline goodness : 0.940262 with order 1 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.09, Z:-0.02 [[ 0.99967372 0.02443632 0.00743736 2.06506371] [-0.02485648 0.99770817 0.06293303 -0.08879818] [-0.00588247 -0.06309736 0.99799004 -0.02260935] [ 0. 0. 0. 1. ]] SLAMing on 4.709649246 meters Centerline goodness : 0.933845 with order 1 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.08, Z:-0.03 [[ 0.9997772 0.0201063 0.00642573 2.06831998] [-0.02042844 0.9982896 0.05477735 -0.08375016] [-0.00531337 -0.05489642 0.99847792 -0.03026439] [ 0. 0. 0. 1. ]] SLAMing on 4.769649246 meters Centerline goodness : 0.933095 with order 1 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.08, Z:-0.04 [[ 0.99982694 0.01648559 0.00862049 2.0853642 ] [-0.01680865 0.99910359 0.03885203 -0.08088071] [-0.00797226 -0.03899021 0.99920779 -0.03895906] [ 0. 0. 0. 1. ]] SLAMing on 4.829649246 meters Centerline goodness : 0.934605 with order 1 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.08, Z:-0.04 [[ 0.99990014 0.01181831 0.0077489 2.08829756] [-0.01206919 0.99937681 0.03317112 -0.07929498] [-0.00735205 -0.03326133 0.99941965 -0.04202367] [ 0. 0. 0. 1. ]] SLAMing on 4.889649245999999 meters Centerline goodness : 0.932846 with order 1 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.08, Z:-0.05 [[ 0.99994402 0.00783222 0.00711469 2.09022115] [-0.00802184 0.99960253 0.02702661 -0.07594538] [-0.00690018 -0.02708217 0.9996094 -0.04581242] [ 0. 0. 0. 1. ]] SLAMing on 4.949649246 meters Centerline goodness : 0.933594 with order 1 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.07, Z:-0.05 [[ 0.99995112 0.00772042 0.00617759 2.09190689] [-0.00788254 0.99961337 0.02666414 -0.07475692] [-0.00596934 -0.02671153 0.99962536 -0.0456836 ] [ 0. 0. 0. 1. ]] SLAMing on 5.0096492459999995 meters Centerline goodness : 0.934426 with order 1 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.07, Z:-0.05 [[ 0.99997334 0.00479713 0.00550452 2.09268655] [-0.00491601 0.99975048 0.02179023 -0.07236793] [-0.00539861 -0.02181671 0.99974741 -0.04756582] [ 0. 0. 0. 1. ]] SLAMing on 5.069649246 meters Centerline goodness : 0.931536 with order 1 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.07, Z:-0.05 [[ 0.99998232 0.00398943 0.00440853 2.09607119] [-0.00408536 0.99975029 0.02196958 -0.0743464 ] [-0.00431978 -0.02198721 0.99974892 -0.04806462] [ 0. 0. 0. 1. ]] SLAMing on 5.129649246 meters Centerline goodness : 0.934398 with order 1 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.08, Z:-0.05 [[ 0.99998244 0.0043522 0.0040217 2.09634648] [-0.00444254 0.99973163 0.02273628 -0.07678158] [-0.00392167 -0.02275375 0.99973341 -0.04689342] [ 0. 0. 0. 1. ]] SLAMing on 5.189649246 meters Centerline goodness : 0.930243 with order 1 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.08, Z:-0.05 [[ 0.99997538 0.00567624 0.00412635 2.09464075] [-0.00576989 0.99971768 0.02304933 -0.07622716] [-0.00399435 -0.02307257 0.99972581 -0.04575255] [ 0. 0. 0. 1. ]] SLAMing on 5.249649246 meters Centerline goodness : 0.930188 with order 1 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.08, Z:-0.04 [[ 0.99991933 0.01236561 0.00290399 2.097745 ] [-0.01245417 0.99938536 0.0327689 -0.07859221] [-0.00249699 -0.03280242 0.99945874 -0.04191488] [ 0. 0. 0. 1. ]] SLAMing on 5.309649245999999 meters Centerline goodness : 0.927761 with order 1 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.08, Z:-0.05 [[ 0.99989818 0.01314668 0.00554939 2.11674856] [-0.01327571 0.99962636 0.02389333 -0.07670117] [-0.0052332 -0.02396457 0.99969911 -0.04756968] [ 0. 0. 0. 1. ]] SLAMing on 5.369649246 meters Centerline goodness : 0.928194 with order 1 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.08, Z:-0.05 [[ 0.99990818 0.01275403 0.00457966 2.11852407] [-0.01285994 0.9996318 0.02389336 -0.07646775] [-0.00427323 -0.02395006 0.99970402 -0.04669017] [ 0. 0. 0. 1. ]] SLAMing on 5.429649245999999 meters Centerline goodness : 0.930293 with order 1 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.08, Z:-0.05 [[ 0.99988839 0.01463139 0.00302015 2.12370532] [-0.01471218 0.99947899 0.02872804 -0.07823283] [-0.00259824 -0.02876927 0.9995827 -0.04517263] [ 0. 0. 0. 1. ]] SLAMing on 5.489649246 meters Centerline goodness : 0.928694 with order 1 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.08, Z:-0.05 [[ 0.99987906 0.01457145 0.0054357 2.14487563] [-0.01468432 0.99966453 0.02133555 -0.07635292] [-0.00512298 -0.02141279 0.99975759 -0.04963366] [ 0. 0. 0. 1. ]] SLAMing on 5.5496492459999995 meters Centerline goodness : 0.936731 with order 1 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.08, Z:-0.03 [[ 0.99992085 0.01120107 0.00573011 2.18341523] [-0.01139325 0.99933341 0.03468337 -0.08480416] [-0.0053378 -0.03474591 0.99938192 -0.03376977] [ 0. 0. 0. 1. ]] SLAMing on 5.609649246 meters Centerline goodness : 0.937986 with order 1 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.09, Z:-0.04 [[ 0.99992616 0.01141332 0.00417327 2.20790037] [-0.01153312 0.99948613 0.02990768 -0.08548629] [-0.00382978 -0.0299536 0.99954395 -0.03573174] [ 0. 0. 0. 1. ]] SLAMing on 5.669649246 meters Centerline goodness : 0.932520 with order 1 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.09, Z:-0.03 [[ 9.99941303e-01 1.08345990e-02 4.40293245e-05 2.24402115e+00] [-1.08288553e-02 9.99261378e-01 3.68705075e-02 -8.98649410e-02] [ 3.55480361e-04 -3.68688201e-02 9.99320051e-01 -2.86391655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.729649246 meters Centerline goodness : 0.933331 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.09, Z:-0.02 [[ 0.99993761 0.01075283 -0.0030239 2.27359189] [-0.01063014 0.99922037 0.03802169 -0.09326877] [ 0.00343039 -0.03798717 0.99927234 -0.02447198] [ 0. 0. 0. 1. ]] SLAMing on 5.789649246 meters Centerline goodness : 0.933190 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.10, Z:-0.02 [[ 0.99988632 0.01391215 -0.00581322 2.30449161] [-0.01364146 0.99892678 0.04426293 -0.09625222] [ 0.00642277 -0.0441786 0.999003 -0.01907696] [ 0. 0. 0. 1. ]] SLAMing on 5.849649245999999 meters Centerline goodness : 0.929233 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.10, Z:-0.01 [[ 0.9997682 0.01928465 -0.00957301 2.3374321 ] [-0.01871654 0.99824103 0.05625418 -0.10185793] [ 0.01064101 -0.05606197 0.99837058 -0.0099439 ] [ 0. 0. 0. 1. ]] SLAMing on 5.909649246 meters Centerline goodness : 0.928083 with order 1 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.10, Z:-0.02 [[ 0.99971789 0.02253838 -0.00749441 2.35177482] [-0.02216885 0.99868657 0.04619179 -0.10119435] [ 0.00852566 -0.04601262 0.99890448 -0.01682334] [ 0. 0. 0. 1. ]] SLAMing on 5.9696492459999995 meters Centerline goodness : 0.932181 with order 1 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.10, Z:-0.03 [[ 0.99964844 0.02603899 -0.00499653 2.35856259] [-0.02587564 0.99920391 0.03036453 -0.09994581] [ 0.00578322 -0.03022456 0.9995264 -0.02622055] [ 0. 0. 0. 1. ]] SLAMing on 6.029649246 meters Centerline goodness : 0.934593 with order 1 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.10, Z:-0.03 [[ 9.99488590e-01 3.19707864e-02 -6.53394620e-04 2.37268904e+00] [-3.19438121e-02 9.99165507e-01 2.54535360e-02 -9.81039732e-02] [ 1.46661893e-03 -2.54196469e-02 9.99675793e-01 -3.04258252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.089649246 meters Centerline goodness : 0.934391 with order 1 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.10, Z:-0.03 [[ 9.99462187e-01 3.27758301e-02 -1.04005131e-03 2.37280648e+00] [-3.27397413e-02 9.99152874e-01 2.49327977e-02 -9.54644561e-02] [ 1.85636340e-03 -2.48853375e-02 9.99688588e-01 -3.09149091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.149649246 meters Centerline goodness : 0.935624 with order 1 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.10, Z:-0.03 [[ 9.99471694e-01 3.24545068e-02 -1.74279282e-03 2.37403686e+00] [-3.23997716e-02 9.99151495e-01 2.54272434e-02 -9.64892134e-02] [ 2.56654270e-03 -2.53573440e-02 9.99675156e-01 -2.96979622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.209649246 meters Centerline goodness : 0.940645 with order 1 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.10, Z:-0.03 [[ 0.99947721 0.03224354 -0.00238123 2.37481733] [-0.03216903 0.99912932 0.02656619 -0.09873394] [ 0.00323574 -0.0264757 0.99964422 -0.02738655] [ 0. 0. 0. 1. ]] SLAMing on 6.269649246 meters Centerline goodness : 0.940751 with order 1 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.10, Z:-0.02 [[ 0.99939073 0.03469244 -0.0038208 2.37907177] [-0.03455144 0.99888208 0.03226126 -0.10216526] [ 0.00493575 -0.03210959 0.99947217 -0.0246411 ] [ 0. 0. 0. 1. ]] SLAMing on 6.329649246 meters Centerline goodness : 0.938957 with order 1 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.10, Z:-0.03 [[ 0.9992661 0.03748918 -0.00786255 2.40151719] [-0.03726549 0.99894351 0.02689157 -0.10366442] [ 0.00886239 -0.02657884 0.99960743 -0.0272842 ] [ 0. 0. 0. 1. ]] SLAMing on 6.389649245999999 meters Centerline goodness : 0.933744 with order 1 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.10, Z:-0.03 [[ 0.99941222 0.03311509 -0.00886607 2.40406679] [-0.03292825 0.9992485 0.02044913 -0.10038575] [ 0.00953658 -0.02014516 0.99975158 -0.03129176] [ 0. 0. 0. 1. ]] SLAMing on 6.449649246 meters Centerline goodness : 0.936762 with order 1 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.10, Z:-0.03 [[ 0.99933628 0.03492326 -0.01036159 2.40928321] [-0.03466123 0.99909942 0.02447326 -0.10124974] [ 0.01120694 -0.02409787 0.99964679 -0.03077331] [ 0. 0. 0. 1. ]] SLAMing on 6.5096492459999995 meters Centerline goodness : 0.934405 with order 1 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.10, Z:-0.03 [[ 0.99944378 0.03162759 -0.010575 2.4090536 ] [-0.03141823 0.99931784 0.01940997 -0.09829337] [ 0.01118168 -0.01906693 0.99975568 -0.03237124] [ 0. 0. 0. 1. ]] SLAMing on 6.569649246 meters Centerline goodness : 0.936549 with order 1 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.10, Z:-0.03 [[ 0.99944486 0.03123003 -0.01160391 2.41107764] [-0.03099092 0.99931464 0.02024408 -0.09969732] [ 0.01222818 -0.01987322 0.99972773 -0.03070663] [ 0. 0. 0. 1. ]] SLAMing on 6.629649246 meters Centerline goodness : 0.937983 with order 1 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.10, Z:-0.03 [[ 0.99944002 0.03114457 -0.01223403 2.41228904] [-0.03088486 0.99930499 0.02087229 -0.10094922] [ 0.01287559 -0.02048275 0.9997073 -0.02959074] [ 0. 0. 0. 1. ]] SLAMing on 6.689649246 meters Centerline goodness : 0.941498 with order 1 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.10, Z:-0.03 [[ 0.99944095 0.03099254 -0.01253979 2.4129646 ] [-0.03072907 0.99931371 0.02068425 -0.10068913] [ 0.01317224 -0.02028735 0.99970741 -0.02962628] [ 0. 0. 0. 1. ]] SLAMing on 6.749649246 meters Centerline goodness : 0.940726 with order 1 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.10, Z:-0.03 [[ 0.99934849 0.03316294 -0.01424164 2.41836096] [-0.03278894 0.99913087 0.02573692 -0.10295991] [ 0.01508278 -0.02525319 0.9995673 -0.0278426 ] [ 0. 0. 0. 1. ]] SLAMing on 6.809649245999999 meters Centerline goodness : 0.943055 with order 1 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.11, Z:-0.03 [[ 0.99939134 0.03264357 -0.0123025 2.4450449 ] [-0.03233532 0.99917741 0.02447321 -0.10524781] [ 0.01309127 -0.02406051 0.99962478 -0.02635874] [ 0. 0. 0. 1. ]] SLAMing on 6.869649246 meters Centerline goodness : 0.941206 with order 1 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.11, Z:-0.03 [[ 0.99928494 0.0353209 -0.01349266 2.44889598] [-0.03492122 0.99897528 0.02879071 -0.10677266] [ 0.01449575 -0.02829895 0.99949439 -0.02573939] [ 0. 0. 0. 1. ]] SLAMing on 6.929649245999999 meters Centerline goodness : 0.941015 with order 1 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.11, Z:-0.02 [[ 0.99917038 0.03783782 -0.0150616 2.45345845] [-0.03730939 0.99872717 0.03394197 -0.1090751 ] [ 0.01632672 -0.03335187 0.99931031 -0.02369921] [ 0. 0. 0. 1. ]] SLAMing on 6.989649246 meters Centerline goodness : 0.941922 with order 1 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.11, Z:-0.02 [[ 0.99917311 0.03737044 -0.01601695 2.45566648] [-0.03681338 0.99875151 0.03376676 -0.10911654] [ 0.01725883 -0.0331492 0.99930139 -0.02381072] [ 0. 0. 0. 1. ]] SLAMing on 7.0496492459999995 meters Centerline goodness : 0.943042 with order 1 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.11, Z:-0.03 [[ 0.99919817 0.03762379 -0.01369207 2.47455703] [-0.03727793 0.99899976 0.02469478 -0.10691263] [ 0.01460748 -0.02416456 0.99960127 -0.02929077] [ 0. 0. 0. 1. ]] SLAMing on 7.109649246 meters Centerline goodness : 0.945825 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.11, Z:-0.02 [[ 0.99932317 0.03454996 -0.01262971 2.4918399 ] [-0.03404648 0.9986932 0.03811457 -0.1126681 ] [ 0.01393007 -0.03765877 0.99919356 -0.0189469 ] [ 0. 0. 0. 1. ]] SLAMing on 7.169649246 meters Centerline goodness : 0.949199 with order 1 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.12, Z:-0.02 [[ 0.99935469 0.03393867 -0.01176314 2.51815593] [-0.03346749 0.9987106 0.03817147 -0.11577521] [ 0.01304346 -0.03775315 0.99920197 -0.01520023] [ 0. 0. 0. 1. ]] SLAMing on 7.229649245999999 meters Centerline goodness : 0.948307 with order 1 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.12, Z:-0.01 [[ 0.99925023 0.03640902 -0.01316701 2.52267828] [-0.03581642 0.99844389 0.04274325 -0.11608363] [ 0.01470276 -0.0422396 0.99899932 -0.01397957] [ 0. 0. 0. 1. ]] SLAMing on 7.289649246 meters Centerline goodness : 0.948688 with order 1 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.11, Z:-0.02 [[ 0.99924852 0.03715085 -0.01105456 2.54013174] [-0.03676989 0.99878297 0.03287171 -0.11465829] [ 0.01226232 -0.03244053 0.99939844 -0.01902154] [ 0. 0. 0. 1. ]] SLAMing on 7.349649245999999 meters Centerline goodness : 0.946174 with order 1 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.11, Z:-0.03 [[ 0.99924282 0.03799096 -0.00839498 2.55502734] [-0.03781524 0.9990809 0.02018337 -0.11206081] [ 0.00915405 -0.01985063 0.99976105 -0.02749844] [ 0. 0. 0. 1. ]] SLAMing on 7.409649246 meters Centerline goodness : 0.944849 with order 1 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.11, Z:-0.03 [[ 0.99908403 0.04173434 -0.00945217 2.55735124] [-0.0414809 0.99881166 0.02558525 -0.11416517] [ 0.01050872 -0.02516973 0.99962796 -0.02526461] [ 0. 0. 0. 1. ]] SLAMing on 7.4696492459999995 meters Centerline goodness : 0.947572 with order 1 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.12, Z:-0.02 [[ 0.99895419 0.04476555 -0.00930452 2.58328311] [-0.04449366 0.99862777 0.02762032 -0.11725089] [ 0.01052819 -0.02717745 0.99957518 -0.02276083] [ 0. 0. 0. 1. ]] SLAMing on 7.529649246 meters Centerline goodness : 0.946273 with order 1 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.12, Z:-0.02 [[ 0.99882738 0.04719532 -0.01079162 2.5877149 ] [-0.046799 0.99831101 0.03442361 -0.12075423] [ 0.01239802 -0.0338782 0.99934907 -0.01792449] [ 0. 0. 0. 1. ]] SLAMing on 7.589649246 meters Centerline goodness : 0.944369 with order 1 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.12, Z:-0.02 [[ 0.99885893 0.04624683 -0.01191929 2.59087581] [-0.04581538 0.9983632 0.03423255 -0.12113954] [ 0.01348293 -0.0336474 0.99934282 -0.01825101] [ 0. 0. 0. 1. ]] SLAMing on 7.649649246 meters Centerline goodness : 0.943705 with order 1 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.13, Z:-0.01 [[ 0.99897315 0.0438638 -0.01134119 2.61093408] [-0.04324172 0.99779979 0.05025675 -0.12547964] [ 0.01352069 -0.04971473 0.99867194 -0.00627998] [ 0. 0. 0. 1. ]] SLAMing on 7.709649246 meters Centerline goodness : 0.940926 with order 1 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.13, Z:-0.01 [[ 0.99875315 0.04667982 -0.0176959 2.63315921] [-0.04584073 0.99792665 0.04517778 -0.12693213] [ 0.0197681 -0.04431026 0.99882222 -0.00818969] [ 0. 0. 0. 1. ]] SLAMing on 7.769649245999999 meters Centerline goodness : 0.940626 with order 1 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.13, Z:0.00 [[ 0.99889987 0.04368034 -0.01706116 2.65012583] [-0.04261632 0.99738252 0.05841192 -0.13095921] [ 0.01956795 -0.05762057 0.99814677 0.0027574 ] [ 0. 0. 0. 1. ]] SLAMing on 7.829649246 meters Centerline goodness : 0.945333 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.14, Z:0.02 [[ 0.99921727 0.03794768 -0.01117269 2.67832825] [-0.03693707 0.99612101 0.07986611 -0.13886622] [ 0.01416008 -0.07939091 0.99674298 0.01962132] [ 0. 0. 0. 1. ]] SLAMing on 7.889649245999999 meters Centerline goodness : 0.943255 with order 1 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.14, Z:0.01 [[ 0.99924982 0.03770833 -0.00882543 2.69999827] [-0.03697325 0.99669613 0.07231742 -0.13723733] [ 0.01152324 -0.07193687 0.99734262 0.01494856] [ 0. 0. 0. 1. ]] SLAMing on 7.949649246 meters Centerline goodness : 0.942669 with order 1 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.13, Z:0.00 [[ 0.99924955 0.03808908 -0.00704026 2.71806872] [-0.03760271 0.99751192 0.05963219 -0.1331931 ] [ 0.00929408 -0.05932271 0.99819559 0.00480661] [ 0. 0. 0. 1. ]] SLAMing on 8.009649246 meters Centerline goodness : 0.936273 with order 1 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.14, Z:0.01 [[ 0.9990996 0.04083023 -0.01152766 2.75439427] [-0.03991481 0.99669103 0.07080818 -0.1391704 ] [ 0.01438063 -0.0702843 0.99742334 0.01479422] [ 0. 0. 0. 1. ]] SLAMing on 8.069649245999999 meters Centerline goodness : 0.935278 with order 1 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.14, Z:0.01 [[ 0.99912476 0.04065056 -0.00986122 2.77201008] [-0.04000204 0.99746433 0.05886206 -0.13746431] [ 0.01222899 -0.05841608 0.99821742 0.00748827] [ 0. 0. 0. 1. ]] SLAMing on 8.129649246 meters Centerline goodness : 0.937618 with order 1 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.14, Z:0.01 [[ 0.99913842 0.04096886 -0.00663093 2.79530738] [-0.04052712 0.9975616 0.056819 -0.13856151] [ 0.00894257 -0.05650131 0.99836248 0.00863914] [ 0. 0. 0. 1. ]] SLAMing on 8.189649246 meters Centerline goodness : 0.948439 with order 1 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.13, Z:0.00 [[ 9.99034683e-01 4.39231196e-02 -6.79648267e-04 2.79961814e+00] [-4.38516793e-02 9.98084883e-01 4.36302267e-02 -1.34064026e-01] [ 2.59472233e-03 -4.35583060e-02 9.99047517e-01 3.55981358e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.249649245999999 meters Centerline goodness : 0.947454 with order 1 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.13, Z:-0.01 [[ 9.99068180e-01 4.30965539e-02 2.33619623e-03 2.81268062e+00] [-4.31441969e-02 9.98698872e-01 2.71871581e-02 -1.29828854e-01] [-1.16148372e-03 -2.72626179e-02 9.99627631e-01 -7.17840836e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.309649246 meters Centerline goodness : 0.946483 with order 1 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.14, Z:0.01 [[ 0.99930407 0.0368496 0.00578557 2.84685891] [-0.03709816 0.99799586 0.05126393 -0.13710608] [-0.00388492 -0.05144289 0.99866838 0.00955626] [ 0. 0. 0. 1. ]] SLAMing on 8.369649246 meters Centerline goodness : 0.941706 with order 1 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.13, Z:0.00 [[ 9.99447547e-01 3.28488912e-02 5.05476290e-03 2.84858509e+00] [-3.30335396e-02 9.98559550e-01 4.22801477e-02 -1.31438175e-01] [-3.65862580e-03 -4.24237666e-02 9.99093008e-01 1.23004684e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.429649246 meters Centerline goodness : 0.938018 with order 1 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.13, Z:0.01 [[ 9.99403792e-01 3.45144755e-02 9.01307835e-04 2.88311090e+00] [-3.45174580e-02 9.98220212e-01 4.86307883e-02 -1.34582069e-01] [ 7.78762455e-04 -4.86329050e-02 9.98816417e-01 6.84736522e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.489649245999999 meters Centerline goodness : 0.938987 with order 1 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.13, Z:0.00 [[ 9.99433749e-01 3.34542833e-02 3.60441759e-03 2.90509937e+00] [-3.35736838e-02 9.98601992e-01 4.08273112e-02 -1.32849907e-01] [-2.23353015e-03 -4.09252063e-02 9.99159716e-01 2.70831087e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.549649246 meters Centerline goodness : 0.937521 with order 1 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.13, Z:-0.00 [[ 0.99940804 0.03388748 0.00593414 2.92571996] [-0.0340615 0.99890073 0.03220482 -0.13001107] [-0.00483628 -0.03238788 0.99946367 -0.00388389] [ 0. 0. 0. 1. ]] SLAMing on 8.609649246 meters Centerline goodness : 0.936352 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.13, Z:-0.01 [[ 0.99926871 0.03691939 0.00995029 2.94183243] [-0.03716258 0.99898442 0.02547697 -0.12775476] [-0.00899959 -0.02582811 0.99962589 -0.00888415] [ 0. 0. 0. 1. ]] SLAMing on 8.669649246 meters Centerline goodness : 0.939923 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.13, Z:-0.00 [[ 0.99926187 0.03716233 0.00973021 2.94126224] [-0.03741896 0.99891638 0.02767459 -0.12949895] [-0.00869122 -0.02801826 0.99956963 -0.00443825] [ 0. 0. 0. 1. ]] SLAMing on 8.729649246 meters Centerline goodness : 0.940427 with order 1 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.13, Z:-0.01 [[ 0.99938354 0.0337917 0.00952145 2.94167615] [-0.03399255 0.99918459 0.02178692 -0.12551517] [-0.00877747 -0.02209714 0.9997173 -0.00777214] [ 0. 0. 0. 1. ]] SLAMing on 8.789649246 meters Centerline goodness : 0.939410 with order 1 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.13, Z:-0.01 [[ 0.99930731 0.03627735 0.00829793 2.94546311] [-0.03648909 0.99896994 0.0269741 -0.1280785 ] [-0.00731084 -0.0272582 0.99960169 -0.00581923] [ 0. 0. 0. 1. ]] SLAMing on 8.849649246 meters Centerline goodness : 0.940910 with order 1 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.13, Z:0.00 [[ 0.99930012 0.03673055 0.00708068 2.95276493] [-0.03696539 0.99864894 0.0365219 -0.1325068 ] [-0.00572965 -0.03675808 0.99930777 0.00354071] [ 0. 0. 0. 1. ]] SLAMing on 8.909649245999999 meters Centerline goodness : 0.940715 with order 1 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.13, Z:0.00 [[ 9.99336401e-01 3.58280249e-02 6.56586037e-03 2.95525205e+00] [-3.60376681e-02 9.98729648e-01 3.52189777e-02 -1.30500539e-01] [-5.29569301e-03 -3.54322247e-02 9.99358050e-01 1.25982247e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.969649246 meters Centerline goodness : 0.941486 with order 1 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.13, Z:0.01 [[ 0.99939495 0.03440001 0.00513605 2.96494278] [-0.03458628 0.99851214 0.04215792 -0.13446171] [-0.00367818 -0.04231004 0.99909776 0.00658981] [ 0. 0. 0. 1. ]] SLAMing on 9.029649246 meters Centerline goodness : 0.941517 with order 1 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.13, Z:0.00 [[ 9.99414336e-01 3.34038891e-02 7.42734502e-03 2.98429250e+00] [-3.36231177e-02 9.98932851e-01 3.16645635e-02 -1.32683615e-01] [-6.36169937e-03 -3.18957492e-02 9.99470955e-01 8.96901781e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.089649246 meters Centerline goodness : 0.938267 with order 1 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.13, Z:0.00 [[ 9.99447287e-01 3.25732332e-02 6.64111248e-03 2.98698926e+00] [-3.27670828e-02 9.98965330e-01 3.15370932e-02 -1.31536939e-01] [-5.60697603e-03 -3.17372721e-02 9.99480519e-01 8.15119731e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.149649246 meters Centerline goodness : 0.944291 with order 1 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.13, Z:0.00 [[ 0.9994362 0.03288534 0.00677002 2.98598113] [-0.03308809 0.99892701 0.03240371 -0.13057773] [-0.00569715 -0.03260945 0.99945193 0.00305924] [ 0. 0. 0. 1. ]] SLAMing on 9.209649246 meters Centerline goodness : 0.950553 with order 1 Centerline is valid? [False, True] Translation: X:3.00, Y:-0.13, Z:0.00 [[ 9.99366771e-01 3.34946262e-02 1.20069455e-02 2.99879188e+00] [-3.37798732e-02 9.99131445e-01 2.43982561e-02 -1.29889307e-01] [-1.11793064e-02 -2.47883995e-02 9.99630211e-01 1.85045504e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.269649246 meters Centerline goodness : 0.947502 with order 1 Centerline is valid? [True, False] Translation: X:3.01, Y:-0.13, Z:0.00 [[ 0.99936505 0.03424188 0.00984794 3.00742051] [-0.03452169 0.99895938 0.02980607 -0.13102297] [-0.00881707 -0.03012711 0.99950719 0.0036655 ] [ 0. 0. 0. 1. ]] SLAMing on 9.329649245999999 meters Centerline goodness : 0.945265 with order 1 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.13, Z:0.01 [[ 0.99938857 0.03416811 0.00741853 3.01742661] [-0.03440934 0.99878501 0.03527735 -0.13294989] [-0.00620415 -0.03551104 0.99935003 0.0057354 ] [ 0. 0. 0. 1. ]] SLAMing on 9.389649246 meters Centerline goodness : 0.943551 with order 1 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.14, Z:0.01 [[ 0.99933426 0.03602804 0.00574582 3.02285304] [-0.03623963 0.99844403 0.04238178 -0.13646143] [-0.00420995 -0.04256179 0.99908497 0.01109871] [ 0. 0. 0. 1. ]] SLAMing on 9.449649246 meters Centerline goodness : 0.945385 with order 1 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.14, Z:0.02 [[ 9.99301166e-01 3.72026932e-02 3.62476644e-03 3.05393593e+00] [-3.73332052e-02 9.98168096e-01 4.76097102e-02 -1.40305277e-01] [-1.84691678e-03 -4.77117630e-02 9.98859438e-01 1.68897595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.509649246 meters Centerline goodness : 0.942307 with order 1 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.14, Z:0.01 [[ 0.99931452 0.03652389 0.00604152 3.06779658] [-0.03669515 0.99883929 0.03120168 -0.13636109] [-0.0048949 -0.03140199 0.99949485 0.00598284] [ 0. 0. 0. 1. ]] SLAMing on 9.569649245999999 meters Centerline goodness : 0.942648 with order 1 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.14, Z:0.01 [[ 0.99932868 0.03622031 0.00550318 3.06882422] [-0.03637524 0.99884795 0.03129884 -0.13661276] [-0.00436319 -0.031478 0.99949492 0.00655229] [ 0. 0. 0. 1. ]] SLAMing on 9.629649246 meters Centerline goodness : 0.943032 with order 1 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.14, Z:0.01 [[ 0.99920694 0.0394973 0.00504444 3.07033461] [-0.03965385 0.99856283 0.03605327 -0.13767166] [-0.00361319 -0.03622471 0.99933714 0.00822412] [ 0. 0. 0. 1. ]] SLAMing on 9.689649246 meters Centerline goodness : 0.942839 with order 1 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.14, Z:0.01 [[ 9.99107085e-01 4.20373471e-02 4.23005921e-03 3.07340957e+00] [-4.21757107e-02 9.98267703e-01 4.10219772e-02 -1.39253787e-01] [-2.49827639e-03 -4.11637539e-02 9.99149290e-01 1.03514636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.749649245999999 meters Centerline goodness : 0.941971 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.14, Z:0.00 [[ 0.99911895 0.04134237 0.00722041 3.09074648] [-0.04153998 0.9986928 0.02978443 -0.13720388] [-0.00597961 -0.03005813 0.99953027 0.00381817] [ 0. 0. 0. 1. ]] SLAMing on 9.809649246 meters Centerline goodness : 0.942772 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.14, Z:0.00 [[ 0.99900762 0.04410312 0.00621936 3.09423804] [-0.04429157 0.99842655 0.03439006 -0.13864914] [-0.00469287 -0.03463139 0.99938914 0.00467601] [ 0. 0. 0. 1. ]] SLAMing on 9.869649246 meters Centerline goodness : 0.941454 with order 1 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.14, Z:0.01 [[ 0.99889495 0.04671416 0.00516381 3.09764326] [-0.04687991 0.99814481 0.03884856 -0.14054682] [-0.00333945 -0.03904771 0.99923177 0.00564367] [ 0. 0. 0. 1. ]] SLAMing on 9.929649246 meters Centerline goodness : 0.941018 with order 1 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.14, Z:-0.00 [[ 9.98869211e-01 4.67489613e-02 8.65069807e-03 3.10953528e+00] [-4.69464080e-02 9.98603370e-01 2.42351657e-02 -1.38166384e-01] [-7.50564743e-03 -2.46138800e-02 9.99668856e-01 -2.91254979e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.989649245999999 meters Centerline goodness : 0.944138 with order 1 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.14, Z:-0.00 [[ 9.98859470e-01 4.69625250e-02 8.61863347e-03 3.10898812e+00] [-4.71628568e-02 9.98580905e-01 2.47354036e-02 -1.38684688e-01] [-7.44476580e-03 -2.51136715e-02 9.99656881e-01 -1.66405095e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.049649246 meters Centerline goodness : 0.945039 with order 1 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.14, Z:-0.00 [[ 9.98733018e-01 4.96729412e-02 8.05961462e-03 3.11129376e+00] [-4.98886998e-02 9.98326641e-01 2.92410021e-02 -1.39959490e-01] [-6.59364141e-03 -2.96060379e-02 9.99539897e-01 -3.81377924e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.109649246 meters Centerline goodness : 0.945191 with order 1 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.14, Z:0.00 [[ 9.98742590e-01 4.95587286e-02 7.56114392e-03 3.11192625e+00] [-4.97627092e-02 9.98318734e-01 2.97216866e-02 -1.40336696e-01] [-6.07546263e-03 -3.00605773e-02 9.99529615e-01 9.70722109e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.169649245999999 meters Centerline goodness : 0.948957 with order 1 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.14, Z:-0.01 [[ 0.99866033 0.05030495 0.01212275 3.12460294] [-0.05052165 0.99855554 0.01828648 -0.13831732] [-0.01118534 -0.01887444 0.99975929 -0.00541921] [ 0. 0. 0. 1. ]] SLAMing on 10.229649246 meters Centerline goodness : 0.945600 with order 1 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.14, Z:-0.01 [[ 0.99855283 0.05258652 0.01126489 3.12818937] [-0.05282843 0.99835284 0.02237756 -0.13970646] [-0.01006958 -0.02294029 0.99968612 -0.00519991] [ 0. 0. 0. 1. ]] SLAMing on 10.289649246 meters Centerline goodness : 0.943415 with order 1 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.14, Z:-0.01 [[ 0.99858743 0.05205199 0.01066467 3.13014815] [-0.0522707 0.99840421 0.02137287 -0.13836555] [-0.00953515 -0.02190013 0.99971469 -0.0068729 ] [ 0. 0. 0. 1. ]] SLAMing on 10.349649246 meters Centerline goodness : 0.941371 with order 1 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.14, Z:-0.01 [[ 0.99863484 0.05130641 0.00980316 3.13278857] [-0.05149974 0.99846039 0.02060636 -0.13768419] [-0.00873083 -0.02108309 0.9997396 -0.00822044] [ 0. 0. 0. 1. ]] SLAMing on 10.409649245999999 meters Centerline goodness : 0.941663 with order 1 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.14, Z:-0.00 [[ 0.99847938 0.05436859 0.00910933 3.13483024] [-0.05459314 0.99815579 0.02654449 -0.14096333] [-0.00764935 -0.02700143 0.99960613 -0.00481608] [ 0. 0. 0. 1. ]] SLAMing on 10.469649246 meters Centerline goodness : 0.944414 with order 1 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.14, Z:-0.00 [[ 0.99830818 0.05748533 0.00873065 3.13647679] [-0.05773146 0.99784463 0.03119579 -0.14263061] [-0.00691853 -0.03164705 0.99947516 -0.00347871] [ 0. 0. 0. 1. ]] SLAMing on 10.529649246 meters Centerline goodness : 0.944835 with order 1 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.14, Z:-0.00 [[ 0.99831698 0.05737288 0.0084589 3.13721005] [-0.05761056 0.99785118 0.0312097 -0.14283834] [-0.00665013 -0.03164449 0.99947706 -0.00359713] [ 0. 0. 0. 1. ]] SLAMing on 10.589649245999999 meters Centerline goodness : 0.942135 with order 1 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.14, Z:-0.00 [[ 0.99834959 0.05689267 0.00783088 3.1390113 ] [-0.05710864 0.99789065 0.0308684 -0.14286509] [-0.00605817 -0.03126466 0.99949278 -0.00427042] [ 0. 0. 0. 1. ]] SLAMing on 10.649649246 meters Centerline goodness : 0.942554 with order 1 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.14, Z:-0.01 [[ 0.99838247 0.05642154 0.00700372 3.14125408] [-0.05660791 0.9979422 0.03011502 -0.1423539 ] [-0.00529018 -0.03046277 0.9995219 -0.00566114] [ 0. 0. 0. 1. ]] SLAMing on 10.709649246 meters Centerline goodness : 0.941158 with order 1 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.14, Z:-0.01 [[ 0.99858994 0.0526697 0.00663557 3.14177296] [-0.05281596 0.99831027 0.02422988 -0.13932151] [-0.00534818 -0.02454617 0.99968439 -0.00875209] [ 0. 0. 0. 1. ]] SLAMing on 10.769649246 meters Centerline goodness : 0.939743 with order 1 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.14, Z:-0.01 [[ 0.99844325 0.05547184 0.00582712 3.1443574 ] [-0.05561924 0.99802341 0.02925356 -0.14100394] [-0.00419285 -0.02953212 0.99955504 -0.00668033] [ 0. 0. 0. 1. ]] SLAMing on 10.829649245999999 meters Centerline goodness : 0.945684 with order 1 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.14, Z:-0.01 [[ 0.99857919 0.05292483 0.00620994 3.1416693 ] [-0.05306403 0.99827977 0.02493429 -0.13799242] [-0.00487961 -0.02522839 0.9996698 -0.00651138] [ 0. 0. 0. 1. ]] SLAMing on 10.889649246 meters Centerline goodness : 0.950077 with order 1 Centerline is valid? [False, True] Translation: X:3.15, Y:-0.14, Z:-0.01 [[ 0.99850973 0.05353429 0.01060191 3.15445182] [-0.05367375 0.99846945 0.01333749 -0.13583125] [-0.00987167 -0.01388665 0.99985484 -0.01278847] [ 0. 0. 0. 1. ]] SLAMing on 10.949649246 meters Centerline goodness : 0.949208 with order 1 Centerline is valid? [True, False] Translation: X:3.16, Y:-0.14, Z:-0.01 [[ 0.99837901 0.05605359 0.00986608 3.15721012] [-0.05622669 0.99825137 0.01824185 -0.13882485] [-0.0088263 -0.01876701 0.99978492 -0.01111078] [ 0. 0. 0. 1. ]] SLAMing on 11.009649246 meters Centerline goodness : 0.951232 with order 1 Centerline is valid? [False, True] Translation: X:3.16, Y:-0.14, Z:-0.01 [[ 0.99825913 0.05830974 0.00886987 3.16144793] [-0.05852172 0.99795043 0.02588712 -0.14262523] [-0.00734222 -0.02636114 0.99962552 -0.00535565] [ 0. 0. 0. 1. ]] SLAMing on 11.069649245999999 meters Centerline goodness : 0.951483 with order 1 Centerline is valid? [True, True] Translation: X:3.22, Y:-0.14, Z:-0.02 [[ 9.98255464e-01 5.86092073e-02 7.14072623e-03 3.22481959e+00] [-5.86073507e-02 9.98281002e-01 -4.69155342e-04 -1.38174710e-01] [-7.15594815e-03 4.98378377e-05 9.99974395e-01 -2.14210807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.129649246 meters Centerline goodness : 0.950194 with order 1 Centerline is valid? [True, True] Translation: X:3.29, Y:-0.14, Z:-0.03 [[ 9.98249676e-01 5.87077113e-02 7.14059091e-03 3.28541101e+00] [-5.87058426e-02 9.98275214e-01 -4.71205971e-04 -1.42110442e-01] [-7.15593833e-03 5.11868022e-05 9.99974395e-01 -2.59828865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.189649246 meters Centerline goodness : 0.949433 with order 1 Centerline is valid? [True, False] Translation: X:3.29, Y:-0.14, Z:-0.02 [[ 0.99811856 0.06102088 0.00598191 3.28932323] [-0.06104841 0.99812451 0.00453305 -0.14428174] [-0.00569408 -0.00488971 0.99997183 -0.02422414] [ 0. 0. 0. 1. ]] SLAMing on 11.249649245999999 meters Centerline goodness : 0.952399 with order 1 Centerline is valid? [False, True] Translation: X:3.29, Y:-0.15, Z:-0.02 [[ 0.9979432 0.06387662 0.00539961 3.29151502] [-0.06393557 0.99788707 0.01156009 -0.14774668] [-0.00464978 -0.01188154 0.9999186 -0.01900215] [ 0. 0. 0. 1. ]] SLAMing on 11.309649246 meters Centerline goodness : 0.955420 with order 1 Centerline is valid? [True, True] Translation: X:3.35, Y:-0.15, Z:-0.03 [[ 9.97973729e-01 6.34649055e-02 4.54330332e-03 3.35357901e+00] [-6.34640726e-02 9.97984070e-01 -3.27397914e-04 -1.48580115e-01] [-4.55492262e-03 3.83979850e-05 9.99989626e-01 -2.69816358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.369649246 meters Centerline goodness : 0.955043 with order 1 Centerline is valid? [True, True] Translation: X:3.41, Y:-0.15, Z:-0.03 [[ 9.98024424e-01 6.26626617e-02 4.54322344e-03 3.41416962e+00] [-6.26618155e-02 9.98034763e-01 -3.28502651e-04 -1.53542446e-01] [-4.55487978e-03 4.31670400e-05 9.99989626e-01 -2.84049497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.429649246 meters Centerline goodness : 0.956627 with order 1 Centerline is valid? [True, True] Translation: X:3.48, Y:-0.16, Z:-0.03 [[ 9.98127832e-01 6.09933674e-02 4.54317834e-03 3.47612115e+00] [-6.09925010e-02 9.98138170e-01 -3.29125210e-04 -1.58064986e-01] [-4.55479417e-03 5.14092227e-05 9.99989626e-01 -2.92480851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.489649245999999 meters Centerline goodness : 0.955150 with order 1 Centerline is valid? [True, True] Translation: X:3.54, Y:-0.16, Z:-0.03 [[ 9.98189816e-01 5.99704153e-02 4.54310024e-03 3.53731829e+00] [-5.99695335e-02 9.98200153e-01 -3.30199738e-04 -1.61704228e-01] [-4.55472557e-03 5.71544142e-05 9.99989626e-01 -3.23781582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.549649246 meters Centerline goodness : 0.956660 with order 1 Centerline is valid? [True, True] Translation: X:3.60, Y:-0.17, Z:-0.03 [[ 9.98135610e-01 6.08659606e-02 4.54302832e-03 3.59863371e+00] [-6.08650835e-02 9.98145947e-01 -3.31186324e-04 -1.66253049e-01] [-4.55476328e-03 5.40570650e-05 9.99989626e-01 -3.41154739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.609649246 meters Centerline goodness : 0.953994 with order 1 Centerline is valid? [True, True] Translation: X:3.66, Y:-0.17, Z:-0.04 [[ 9.97929120e-01 6.41625523e-02 4.54295764e-03 3.66106338e+00] [-6.41617050e-02 9.97939460e-01 -3.32152964e-04 -1.70692116e-01] [-4.55490848e-03 3.99812069e-05 9.99989626e-01 -3.59293251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.669649245999999 meters Centerline goodness : 0.954184 with order 1 Centerline is valid? [True, True] Translation: X:3.72, Y:-0.18, Z:-0.04 [[ 9.97817146e-01 6.58809961e-02 4.54291677e-03 3.72294911e+00] [-6.58801641e-02 9.97827487e-01 -3.32711144e-04 -1.76726267e-01] [-4.55496656e-03 3.26967820e-05 9.99989626e-01 -3.51086653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.729649246 meters Centerline goodness : 0.952399 with order 1 Centerline is valid? [True, True] Translation: X:3.79, Y:-0.18, Z:-0.03 [[ 9.97886268e-01 6.48256044e-02 4.54284098e-03 3.78559764e+00] [-6.48247567e-02 9.97896608e-01 -3.33742781e-04 -1.81052678e-01] [-4.55492068e-03 3.85487770e-05 9.99989626e-01 -3.36330182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.789649246 meters Centerline goodness : 0.955898 with order 1 Centerline is valid? [True, True] Translation: X:3.85, Y:-0.19, Z:-0.03 [[ 9.97907634e-01 6.44958662e-02 4.54275032e-03 3.84697882e+00] [-6.44950095e-02 9.97917973e-01 -3.34972239e-04 -1.85916070e-01] [-4.55489652e-03 4.12866296e-05 9.99989626e-01 -3.02563148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.849649246 meters Centerline goodness : 0.954714 with order 1 Centerline is valid? [True, True] Translation: X:3.91, Y:-0.19, Z:-0.03 [[ 9.97897432e-01 6.46535299e-02 4.54267426e-03 3.90774805e+00] [-6.46526702e-02 9.97907771e-01 -3.36000540e-04 -1.89201030e-01] [-4.55489357e-03 4.15980552e-05 9.99989626e-01 -3.25695866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.909649245999999 meters Centerline goodness : 0.958500 with order 1 Centerline is valid? [True, True] Translation: X:3.97, Y:-0.19, Z:-0.03 [[ 9.97868366e-01 6.51006069e-02 4.54259971e-03 3.96964466e+00] [-6.50997472e-02 9.97878705e-01 -3.37005383e-04 -1.94501058e-01] [-4.55490277e-03 4.05649180e-05 9.99989626e-01 -3.01625367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.969649246 meters Centerline goodness : 0.956510 with order 1 Centerline is valid? [True, True] Translation: X:4.03, Y:-0.20, Z:-0.03 [[ 9.97852973e-01 6.53361287e-02 4.54251695e-03 4.03208508e+00] [-6.53352665e-02 9.97863312e-01 -3.38117326e-04 -1.99431429e-01] [-4.55490228e-03 4.06048242e-05 9.99989626e-01 -3.05767562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.029649246 meters Centerline goodness : 0.953847 with order 1 Centerline is valid? [True, True] Translation: X:4.09, Y:-0.20, Z:-0.03 [[ 9.97875045e-01 6.49981570e-02 4.54242274e-03 4.09411770e+00] [-6.49972855e-02 9.97885383e-01 -3.39378253e-04 -2.04432530e-01] [-4.55487622e-03 4.34119421e-05 9.99989626e-01 -3.46337120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.089649245999999 meters Centerline goodness : 0.945469 with order 1 Centerline is valid? [True, False] Translation: X:4.10, Y:-0.21, Z:-0.04 [[ 9.97828923e-01 6.58041138e-02 2.69416201e-03 4.10165240e+00] [-6.58135584e-02 9.97825511e-01 3.58133278e-03 -2.06347452e-01] [-2.45263715e-03 -3.75086982e-03 9.99989958e-01 -3.50962665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.149649246 meters Centerline goodness : 0.938898 with order 1 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.21, Z:-0.03 [[ 9.97705868e-01 6.76857405e-02 1.28113823e-03 4.10696976e+00] [-6.76938037e-02 9.97674631e-01 7.92962745e-03 -2.07751930e-01] [-7.41436410e-04 -7.99816096e-03 9.99967739e-01 -3.45857446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.209649246 meters Centerline goodness : 0.942266 with order 1 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.21, Z:-0.03 [[ 9.97527212e-01 7.02801938e-02 3.93385477e-04 4.11038064e+00] [-7.02777686e-02 9.97405469e-01 1.56001816e-02 -2.10890462e-01] [ 7.04018964e-04 -1.55892520e-02 9.99878232e-01 -2.83340149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.269649246 meters Centerline goodness : 0.947993 with order 1 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.22, Z:-0.01 [[ 9.97376330e-01 7.23870044e-02 7.60520078e-04 4.11326088e+00] [-7.23803809e-02 9.96995065e-01 2.76029021e-02 -2.17024845e-01] [ 1.23985663e-03 -2.75855279e-02 9.99618678e-01 -1.47953800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.329649245999999 meters Centerline goodness : 0.945927 with order 1 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.22, Z:-0.01 [[ 9.97229701e-01 7.43829230e-02 -3.21294857e-04 4.11818677e+00] [-7.43314623e-02 9.96682914e-01 3.31361286e-02 -2.18936601e-01] [ 2.78499120e-03 -3.30204494e-02 9.99450796e-01 -1.24511153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.389649246 meters Centerline goodness : 0.944027 with order 1 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.22, Z:-0.01 [[ 9.97291271e-01 7.35457866e-02 -1.06649552e-03 4.12055597e+00] [-7.34719655e-02 9.96763393e-01 3.26283340e-02 -2.18847531e-01] [ 3.46272019e-03 -3.24615952e-02 9.99466985e-01 -1.32739302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.449649246 meters Centerline goodness : 0.944022 with order 1 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.22, Z:-0.01 [[ 9.97205800e-01 7.46631803e-02 -2.45006504e-03 4.12738816e+00] [-7.45054017e-02 9.96414225e-01 4.00953612e-02 -2.22181485e-01] [ 5.43492684e-03 -3.98007836e-02 9.99192854e-01 -7.60312566e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.509649246 meters Centerline goodness : 0.943619 with order 1 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.22, Z:-0.02 [[ 9.97191368e-01 7.48921881e-02 7.31565261e-04 4.14198893e+00] [-7.48835967e-02 9.96805805e-01 2.77603063e-02 -2.19538687e-01] [ 1.34980159e-03 -2.77371201e-02 9.99614341e-01 -1.52923498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.569649245999999 meters Centerline goodness : 0.943683 with order 1 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.22, Z:-0.01 [[ 9.97049211e-01 7.67639715e-02 -4.03520791e-04 4.14684711e+00] [-7.67020588e-02 9.96430405e-01 3.52596337e-02 -2.22974464e-01] [ 3.10874990e-03 -3.51246391e-02 9.99378104e-01 -9.13373182e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.629649246 meters Centerline goodness : 0.943360 with order 1 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.23, Z:-0.00 [[ 9.96927179e-01 7.83215393e-02 -1.39162374e-03 4.15180822e+00] [-7.81907607e-02 9.96021918e-01 4.27380743e-02 -2.26795678e-01] [ 4.73339951e-03 -4.24979357e-02 9.99085342e-01 -3.03709453e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.689649246 meters Centerline goodness : 0.948346 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.23, Z:0.00 [[ 9.97248180e-01 7.39533466e-02 5.19322180e-03 4.17190411e+00] [-7.41260333e-02 9.95789151e-01 5.39379112e-02 -2.28742704e-01] [-1.18246488e-03 -5.41744367e-02 9.98530787e-01 1.56591188e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.749649245999999 meters Centerline goodness : 0.950621 with order 1 Centerline is valid? [False, True] Translation: X:4.19, Y:-0.23, Z:-0.01 [[ 0.99730065 0.07291893 0.00861593 4.18561122] [-0.07320058 0.99655928 0.03887515 -0.22540558] [-0.00575155 -0.0394009 0.99920693 -0.00798256] [ 0. 0. 0. 1. ]] SLAMing on 12.809649246 meters Centerline goodness : 0.945447 with order 1 Centerline is valid? [True, False] Translation: X:4.19, Y:-0.23, Z:-0.01 [[ 0.99721154 0.07424544 0.00753408 4.19154598] [-0.07449976 0.99631513 0.04249644 -0.22599192] [-0.00435115 -0.04293923 0.99906821 -0.00891335] [ 0. 0. 0. 1. ]] SLAMing on 12.869649246 meters Centerline goodness : 0.941176 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.23, Z:0.00 [[ 9.97465673e-01 7.05782494e-02 8.99673914e-03 4.21474957e+00] [-7.09905334e-02 9.95694613e-01 5.96035330e-02 -2.30161514e-01] [-4.75129168e-03 -6.00911614e-02 9.98181585e-01 2.44885221e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.929649246 meters Centerline goodness : 0.939977 with order 1 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.23, Z:-0.01 [[ 0.99744998 0.07050468 0.01107402 4.23020394] [-0.07093598 0.99645784 0.04516474 -0.2264772 ] [-0.00785047 -0.04583511 0.99891817 -0.00772849] [ 0. 0. 0. 1. ]] SLAMing on 12.989649245999999 meters Centerline goodness : 0.937094 with order 1 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.22, Z:-0.02 [[ 0.99734936 0.07165903 0.01261918 4.24407105] [-0.07200841 0.99695764 0.02983713 -0.22258596] [-0.01044269 -0.03066673 0.99947511 -0.01964856] [ 0. 0. 0. 1. ]] SLAMing on 13.049649246 meters Centerline goodness : 0.939574 with order 1 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.22, Z:-0.03 [[ 0.99714162 0.07370058 0.01663796 4.25433635] [-0.07398802 0.99710772 0.01737705 -0.22036174] [-0.01530914 -0.01855839 0.99971057 -0.02640584] [ 0. 0. 0. 1. ]] SLAMing on 13.109649246 meters Centerline goodness : 0.939561 with order 1 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.22, Z:-0.03 [[ 0.99666914 0.07888071 0.02069921 4.26659108] [-0.079093 0.99682059 0.00964457 -0.21835077] [-0.01987263 -0.0112496 0.99973923 -0.03230222] [ 0. 0. 0. 1. ]] SLAMing on 13.169649245999999 meters Centerline goodness : 0.938065 with order 1 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.22, Z:-0.03 [[ 0.99627646 0.08354158 0.02130756 4.26545047] [-0.08384057 0.9963871 0.01354606 -0.21642176] [-0.02009891 -0.01528206 0.9996812 -0.03209167] [ 0. 0. 0. 1. ]] SLAMing on 13.229649246 meters Centerline goodness : 0.941988 with order 1 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.22, Z:-0.02 [[ 0.99613757 0.08518959 0.02127633 4.26878461] [-0.08566788 0.99606555 0.02268129 -0.22233919] [-0.01926041 -0.02441638 0.99951632 -0.02369592] [ 0. 0. 0. 1. ]] SLAMing on 13.289649246 meters Centerline goodness : 0.944781 with order 1 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.22, Z:-0.03 [[ 0.99640873 0.08188193 0.0215635 4.26717701] [-0.08227055 0.99645112 0.01779646 -0.22121618] [-0.02002977 -0.01950659 0.99960907 -0.02504414] [ 0. 0. 0. 1. ]] SLAMing on 13.349649246 meters Centerline goodness : 0.943390 with order 1 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.22, Z:-0.03 [[ 0.99642051 0.08172703 0.02160672 4.26738487] [-0.08211676 0.99646357 0.01780968 -0.22181864] [-0.02007478 -0.0195202 0.99960791 -0.02523944] [ 0. 0. 0. 1. ]] SLAMing on 13.409649245999999 meters Centerline goodness : 0.942432 with order 1 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.22, Z:-0.03 [[ 0.99671219 0.0780724 0.02166843 4.26781582] [-0.07830753 0.99687684 0.01022234 -0.21750856] [-0.02080267 -0.01188553 0.99971295 -0.03225646] [ 0. 0. 0. 1. ]] SLAMing on 13.469649246 meters Centerline goodness : 0.937734 with order 1 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.22, Z:-0.03 [[ 0.99686121 0.07642901 0.02064778 4.2719084 ] [-0.07665114 0.99700591 0.0101889 -0.22086119] [-0.01980723 -0.0117396 0.99973489 -0.03374665] [ 0. 0. 0. 1. ]] SLAMing on 13.529649246 meters Centerline goodness : 0.936922 with order 1 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.23, Z:-0.03 [[ 0.99699943 0.07484304 0.01976522 4.27555695] [-0.07508378 0.99710822 0.01173167 -0.22677568] [-0.01883003 -0.01318052 0.99973582 -0.0328039 ] [ 0. 0. 0. 1. ]] SLAMing on 13.589649245999999 meters Centerline goodness : 0.939613 with order 1 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.23, Z:-0.03 [[ 0.99700809 0.07477405 0.01958833 4.27569519] [-0.07501868 0.99710913 0.01206528 -0.2273931 ] [-0.01862953 -0.01349867 0.99973533 -0.03199885] [ 0. 0. 0. 1. ]] SLAMing on 13.649649246 meters Centerline goodness : 0.939131 with order 1 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.23, Z:-0.03 [[ 0.99701188 0.0746757 0.0197698 4.2753984 ] [-0.07492019 0.99711818 0.01192855 -0.2264247 ] [-0.01882205 -0.01337406 0.9997334 -0.03190709] [ 0. 0. 0. 1. ]] SLAMing on 13.709649246 meters Centerline goodness : 0.942865 with order 1 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.23, Z:-0.03 [[ 0.99701495 0.07466185 0.01966709 4.27539627] [-0.07490921 0.99711627 0.01215533 -0.22650573] [-0.01870283 -0.01359229 0.99973269 -0.03122155] [ 0. 0. 0. 1. ]] SLAMing on 13.769649246 meters Centerline goodness : 0.943939 with order 1 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.23, Z:-0.03 [[ 0.99705616 0.074206 0.01930002 4.27658746] [-0.07445096 0.99714883 0.01229869 -0.22720441] [-0.01833236 -0.01369939 0.99973809 -0.03105715] [ 0. 0. 0. 1. ]] SLAMing on 13.829649245999999 meters Centerline goodness : 0.943996 with order 1 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.23, Z:-0.03 [[ 0.99690415 0.07647158 0.01828162 4.2807303 ] [-0.07679808 0.99688636 0.01787865 -0.22956582] [-0.01685749 -0.0192273 0.99967301 -0.02866479] [ 0. 0. 0. 1. ]] SLAMing on 13.889649246 meters Centerline goodness : 0.941876 with order 1 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.23, Z:-0.03 [[ 0.99713627 0.07340637 0.01818696 4.27982627] [-0.07365294 0.99719552 0.01327926 -0.22774815] [-0.01716118 -0.01458075 0.99974642 -0.02979386] [ 0. 0. 0. 1. ]] SLAMing on 13.949649246 meters Centerline goodness : 0.940587 with order 1 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.23, Z:-0.03 [[ 0.99711031 0.07372928 0.01830338 4.27912877] [-0.07398261 0.99716718 0.01357157 -0.22755502] [-0.01725091 -0.01488648 0.99974037 -0.0289471 ] [ 0. 0. 0. 1. ]] SLAMing on 14.009649245999999 meters Centerline goodness : 0.935620 with order 1 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.23, Z:-0.03 [[ 0.99691134 0.07654608 0.01756339 4.28255778] [-0.07684834 0.99689385 0.01723313 -0.22707283] [-0.01618971 -0.01852962 0.99969723 -0.02973686] [ 0. 0. 0. 1. ]] SLAMing on 14.069649245999999 meters Centerline goodness : 0.933873 with order 1 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.23, Z:-0.03 [[ 0.99696268 0.07595904 0.0171942 4.28434053] [-0.07624133 0.99695445 0.01640394 -0.22648206] [-0.01589581 -0.01766502 0.9997176 -0.03150641] [ 0. 0. 0. 1. ]] SLAMing on 14.129649246 meters Centerline goodness : 0.932851 with order 1 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.23, Z:-0.03 [[ 0.99698838 0.07571387 0.01678061 4.28510823] [-0.07600612 0.9969534 0.01752129 -0.2281825 ] [-0.01540288 -0.01874395 0.99970566 -0.02965062] [ 0. 0. 0. 1. ]] SLAMing on 14.189649246 meters Centerline goodness : 0.933541 with order 1 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.23, Z:-0.03 [[ 0.9969947 0.07567026 0.01660068 4.28528648] [-0.07596551 0.99694904 0.01794015 -0.22885277] [-0.0151925 -0.01914731 0.99970124 -0.02872791] [ 0. 0. 0. 1. ]] SLAMing on 14.249649245999999 meters Centerline goodness : 0.932309 with order 1 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.23, Z:-0.03 [[ 0.99687786 0.0773934 0.01564611 4.29042831] [-0.0777241 0.9967373 0.02176532 -0.22984672] [-0.01391057 -0.02291344 0.99964067 -0.02963666] [ 0. 0. 0. 1. ]] SLAMing on 14.309649246 meters Centerline goodness : 0.929398 with order 1 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.23, Z:-0.03 [[ 0.99672062 0.07951915 0.01499065 4.29378546] [-0.07989523 0.99645292 0.02642596 -0.23279086] [-0.01283611 -0.02753698 0.99953837 -0.02836842] [ 0. 0. 0. 1. ]] SLAMing on 14.369649246 meters Centerline goodness : 0.930796 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.24, Z:-0.02 [[ 0.9965111 0.08211852 0.01490552 4.29585645] [-0.08257711 0.99602735 0.03332468 -0.23645645] [-0.01210973 -0.03443927 0.99933342 -0.02344847] [ 0. 0. 0. 1. ]] SLAMing on 14.429649245999999 meters Centerline goodness : 0.932683 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.24, Z:-0.02 [[ 0.99632742 0.08444875 0.01414481 4.29919406] [-0.08493825 0.99563857 0.03859181 -0.23950937] [-0.01082409 -0.03965151 0.99915494 -0.02115314] [ 0. 0. 0. 1. ]] SLAMing on 14.489649245999999 meters Centerline goodness : 0.931950 with order 1 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.24, Z:-0.03 [[ 0.9964498 0.0831709 0.01305356 4.30348109] [-0.08359674 0.99583341 0.03643354 -0.23831575] [-0.00996896 -0.03739542 0.99925082 -0.02562008] [ 0. 0. 0. 1. ]] SLAMing on 14.549649246 meters Centerline goodness : 0.930007 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.24, Z:-0.03 [[ 0.99652447 0.08239449 0.0122526 4.30612081] [-0.08278442 0.99592663 0.03573364 -0.23810689] [-0.00925844 -0.03662377 0.99928624 -0.0271068 ] [ 0. 0. 0. 1. ]] SLAMing on 14.609649246 meters Centerline goodness : 0.926155 with order 1 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.24, Z:-0.03 [[ 0.99663617 0.08118437 0.01120002 4.30969584] [-0.08153446 0.99603867 0.03548375 -0.23906217] [-0.00827492 -0.03627758 0.99930749 -0.02808353] [ 0. 0. 0. 1. ]] SLAMing on 14.669649245999999 meters Centerline goodness : 0.925990 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.24, Z:-0.04 [[ 0.99660069 0.08098637 0.01510897 4.32191725] [-0.08130536 0.9964497 0.0218501 -0.23697741] [-0.01328577 -0.02300426 0.99964708 -0.03551194] [ 0. 0. 0. 1. ]] SLAMing on 14.729649246 meters Centerline goodness : 0.934602 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.23, Z:-0.04 [[ 0.99674221 0.07613291 0.02662213 4.33184442] [-0.07662459 0.9968982 0.01796265 -0.23427604] [-0.025172 -0.01994404 0.99948417 -0.04217255] [ 0. 0. 0. 1. ]] SLAMing on 14.789649246 meters Centerline goodness : 0.929315 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.23, Z:-0.04 [[ 0.99678971 0.07562199 0.02629797 4.3335114 ] [-0.07607601 0.99696193 0.01671367 -0.23246332] [-0.02495415 -0.01866065 0.99951442 -0.04446616] [ 0. 0. 0. 1. ]] SLAMing on 14.849649246 meters Centerline goodness : 0.934689 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.24, Z:-0.04 [[ 0.99657289 0.07847197 0.0261654 4.33513838] [-0.07909532 0.99658517 0.02370498 -0.23567687] [-0.02421587 -0.02569331 0.99937653 -0.03921242] [ 0. 0. 0. 1. ]] SLAMing on 14.909649245999999 meters Centerline goodness : 0.937967 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.24, Z:-0.04 [[ 0.99661888 0.07805444 0.02565756 4.33654243] [-0.07865489 0.99662981 0.02328999 -0.23512335] [-0.0237532 -0.02522933 0.99939945 -0.03971717] [ 0. 0. 0. 1. ]] SLAMing on 14.969649246 meters Centerline goodness : 0.933968 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.23, Z:-0.05 [[ 0.99671963 0.07702963 0.02482757 4.34007453] [-0.07753808 0.99678451 0.02021117 -0.23216914] [-0.02319087 -0.02206995 0.99948742 -0.0454367 ] [ 0. 0. 0. 1. ]] SLAMing on 15.029649246 meters Centerline goodness : 0.932110 with order 1 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.23, Z:-0.05 [[ 0.99682373 0.07598042 0.02386258 4.34344963] [-0.07645563 0.99687883 0.01967575 -0.23186931] [-0.02229313 -0.02143768 0.99952161 -0.04673135] [ 0. 0. 0. 1. ]] SLAMing on 15.089649245999999 meters Centerline goodness : 0.934334 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.23, Z:-0.05 [[ 0.99689706 0.07524097 0.02313106 4.34568444] [-0.07569637 0.99694051 0.01948519 -0.23204766] [-0.0215942 -0.02117567 0.99954254 -0.04702948] [ 0. 0. 0. 1. ]] SLAMing on 15.149649246 meters Centerline goodness : 0.936498 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.23, Z:-0.05 [[ 0.99695599 0.07460783 0.02263673 4.34730187] [-0.07504522 0.99699663 0.01912932 -0.2311407 ] [-0.02114155 -0.02076987 0.99956073 -0.04725885] [ 0. 0. 0. 1. ]] SLAMing on 15.209649246 meters Centerline goodness : 0.936367 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.23, Z:-0.05 [[ 0.99699644 0.07420817 0.02216406 4.3486031 ] [-0.0746296 0.99703346 0.0188334 -0.23058555] [-0.02070072 -0.02043093 0.99957694 -0.04748458] [ 0. 0. 0. 1. ]] SLAMing on 15.269649246 meters Centerline goodness : 0.935952 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.23, Z:-0.05 [[ 0.99704989 0.07365862 0.02158547 4.35037274] [-0.07405723 0.9970863 0.0182878 -0.23005371] [-0.02017553 -0.01983241 0.99959973 -0.04833066] [ 0. 0. 0. 1. ]] SLAMing on 15.329649245999999 meters Centerline goodness : 0.939221 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.23, Z:-0.05 [[ 0.9970867 0.07325028 0.02127224 4.35120119] [-0.0736631 0.99709607 0.01931777 -0.2316429 ] [-0.01979543 -0.02082847 0.99958707 -0.04659713] [ 0. 0. 0. 1. ]] SLAMing on 15.389649246 meters Centerline goodness : 0.938116 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.23, Z:-0.05 [[ 0.99716319 0.07242704 0.0204912 4.35390431] [-0.07279848 0.9971842 0.01800138 -0.23000985] [-0.01912971 -0.01944204 0.99962796 -0.04881149] [ 0. 0. 0. 1. ]] SLAMing on 15.449649246 meters Centerline goodness : 0.939109 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.23, Z:-0.05 [[ 0.99745498 0.06841444 0.02007576 4.35485642] [-0.06865749 0.99757195 0.01167698 -0.22729795] [-0.01922815 -0.01302561 0.99973027 -0.05291516] [ 0. 0. 0. 1. ]] SLAMing on 15.509649245999999 meters Centerline goodness : 0.940131 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.23, Z:-0.05 [[ 0.99750734 0.06778307 0.01961013 4.3564849 ] [-0.06800823 0.99762355 0.0110514 -0.22584137] [-0.01881443 -0.0123575 0.99974662 -0.05358894] [ 0. 0. 0. 1. ]] SLAMing on 15.569649245999999 meters Centerline goodness : 0.937746 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.23, Z:-0.05 [[ 0.99756031 0.06718288 0.01897058 4.35807093] [-0.06740252 0.99766317 0.01118512 -0.22633739] [-0.0181748 -0.0124365 0.99975748 -0.0530599 ] [ 0. 0. 0. 1. ]] SLAMing on 15.629649246 meters Centerline goodness : 0.937163 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.23, Z:-0.05 [[ 0.99761439 0.06649917 0.01853078 4.35994601] [-0.06669908 0.99771907 0.01038674 -0.2255979 ] [-0.0177978 -0.01159794 0.99977434 -0.05454497] [ 0. 0. 0. 1. ]] SLAMing on 15.689649246 meters Centerline goodness : 0.937169 with order 1 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.22, Z:-0.06 [[ 0.99768379 0.06561296 0.01794412 4.36263556] [-0.06578155 0.99779372 0.00897132 -0.22379876] [-0.0173159 -0.01013094 0.99979874 -0.05715884] [ 0. 0. 0. 1. ]] SLAMing on 15.749649245999999 meters Centerline goodness : 0.937036 with order 1 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.22, Z:-0.06 [[ 0.99776035 0.06467881 0.01705698 4.36562368] [-0.0648267 0.99786232 0.00826383 -0.22327803] [-0.01648602 -0.00935107 0.99982037 -0.05849766] [ 0. 0. 0. 1. ]] SLAMing on 15.809649246 meters Centerline goodness : 0.938324 with order 1 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.22, Z:-0.06 [[ 0.99780828 0.0641428 0.0162587 4.36744299] [-0.06429429 0.99789065 0.00897212 -0.22478236] [-0.01564891 -0.00999779 0.99982756 -0.05726614] [ 0. 0. 0. 1. ]] SLAMing on 15.869649246 meters Centerline goodness : 0.939014 with order 1 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.22, Z:-0.06 [[ 0.99787321 0.06329121 0.01559747 4.36980508] [-0.06342476 0.99795276 0.00822152 -0.22423021] [-0.01504519 -0.0091933 0.99984455 -0.05860454] [ 0. 0. 0. 1. ]] SLAMing on 15.929649245999999 meters Centerline goodness : 0.936281 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.23, Z:-0.06 [[ 0.99778824 0.06494019 0.01419128 4.37516786] [-0.0651271 0.99779058 0.01313117 -0.22634802] [-0.01330719 -0.01402637 0.99981307 -0.05702126] [ 0. 0. 0. 1. ]] SLAMing on 15.989649245999999 meters Centerline goodness : 0.936781 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.23, Z:-0.06 [[ 0.99784028 0.06428396 0.01350348 4.37706858] [-0.06445729 0.99783813 0.01281862 -0.22577694] [-0.01265026 -0.01366134 0.99982665 -0.05719124] [ 0. 0. 0. 1. ]] SLAMing on 16.049649246 meters Centerline goodness : 0.932811 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.23, Z:-0.06 [[ 0.99793011 0.06310307 0.0123898 4.38060497] [-0.06325415 0.9979228 0.01220642 -0.22554643] [-0.01159381 -0.01296486 0.99984874 -0.05836605] [ 0. 0. 0. 1. ]] SLAMing on 16.109649246 meters Centerline goodness : 0.931583 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.23, Z:-0.06 [[ 0.9979986 0.06216662 0.01158077 4.38319979] [-0.06230097 0.99798969 0.01162598 -0.22502473] [-0.01083474 -0.0123242 0.99986535 -0.0592405 ] [ 0. 0. 0. 1. ]] SLAMing on 16.169649246000002 meters Centerline goodness : 0.934467 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.22, Z:-0.06 [[ 0.99777578 0.06568023 0.01138395 4.38423558] [-0.06586121 0.99769521 0.01632696 -0.22482724] [-0.01028535 -0.01704041 0.9998019 -0.05748284] [ 0. 0. 0. 1. ]] SLAMing on 16.229649246 meters Centerline goodness : 0.936661 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.22, Z:-0.06 [[ 0.99772219 0.06647044 0.01149381 4.38293876] [-0.06664514 0.99765555 0.0155507 -0.22185034] [-0.0104332 -0.01628129 0.99981302 -0.05767111] [ 0. 0. 0. 1. ]] SLAMing on 16.289649246 meters Centerline goodness : 0.936459 with order 1 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.22, Z:-0.06 [[ 0.99778785 0.06559294 0.01081546 4.38546889] [-0.06574389 0.9977348 0.0142481 -0.22009049] [-0.00985639 -0.01492763 0.99984 -0.0597726 ] [ 0. 0. 0. 1. ]] SLAMing on 16.349649246000002 meters Centerline goodness : 0.928994 with order 1 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.22, Z:-0.06 [[ 0.99811052 0.06076379 0.00911833 4.40048025] [-0.06092506 0.9979691 0.01859599 -0.22454458] [-0.00796985 -0.01911639 0.9997855 -0.05870005] [ 0. 0. 0. 1. ]] SLAMing on 16.409649246 meters Centerline goodness : 0.927409 with order 1 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.23, Z:-0.06 [[ 0.99846606 0.05483905 0.00762941 4.40487477] [-0.05494415 0.99838666 0.01432511 -0.22554028] [-0.00683153 -0.01472233 0.99986828 -0.05910153] [ 0. 0. 0. 1. ]] SLAMing on 16.469649246 meters Centerline goodness : 0.928045 with order 1 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.22, Z:-0.06 [[ 0.99835787 0.05694053 0.00627173 4.41029457] [-0.05704315 0.99821619 0.01762129 -0.22462106] [-0.00525718 -0.01795011 0.99982506 -0.0604467 ] [ 0. 0. 0. 1. ]] SLAMing on 16.529649246 meters Centerline goodness : 0.933783 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.22, Z:-0.06 [[ 0.99829277 0.05740208 0.01079604 4.42712259] [-0.05750581 0.99829944 0.00955603 -0.22285356] [-0.01022914 -0.01016055 0.99989606 -0.06445255] [ 0. 0. 0. 1. ]] SLAMing on 16.589649246 meters Centerline goodness : 0.936990 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.23, Z:-0.06 [[ 0.99821148 0.05895051 0.00993365 4.43222436] [-0.05912016 0.99809306 0.01774993 -0.22580337] [-0.00886834 -0.01830546 0.99979311 -0.0570747 ] [ 0. 0. 0. 1. ]] SLAMing on 16.649649246000003 meters Centerline goodness : 0.936407 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.22, Z:-0.06 [[ 0.99824772 0.0583781 0.00966909 4.43355071] [-0.05853697 0.99813955 0.01705455 -0.22387906] [-0.00865549 -0.01759067 0.99980781 -0.05790078] [ 0. 0. 0. 1. ]] SLAMing on 16.709649246 meters Centerline goodness : 0.932844 with order 1 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.23, Z:-0.06 [[ 0.9981766 0.05983601 0.00794504 4.43996335] [-0.05999391 0.99796934 0.02139924 -0.22512943] [-0.00664846 -0.02183688 0.99973944 -0.05712636] [ 0. 0. 0. 1. ]] SLAMing on 16.769649246 meters Centerline goodness : 0.931395 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.22, Z:-0.06 [[ 0.99813568 0.06073042 0.00608114 4.44783271] [-0.06086214 0.99784482 0.0245256 -0.22489162] [-0.00457859 -0.02484999 0.99968071 -0.05884494] [ 0. 0. 0. 1. ]] SLAMing on 16.829649246000002 meters Centerline goodness : 0.923201 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.23, Z:-0.06 [[ 9.98168022e-01 6.03557123e-02 4.21761646e-03 4.45688182e+00] [-6.04506256e-02 9.97776583e-01 2.80644203e-02 -2.25882115e-01] [-2.51439086e-03 -2.82679644e-02 9.99597219e-01 -5.92857333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.889649246 meters Centerline goodness : 0.929738 with order 1 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.22, Z:-0.06 [[ 0.99809459 0.06111912 0.00846436 4.47386586] [-0.06127529 0.99792809 0.01961796 -0.22361705] [-0.00724779 -0.02009923 0.99977172 -0.06420665] [ 0. 0. 0. 1. ]] SLAMing on 16.949649246 meters Centerline goodness : 0.934566 with order 1 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.22, Z:-0.07 [[ 0.99781587 0.06476349 0.01300683 4.48881227] [-0.06493454 0.99780236 0.01318913 -0.22013195] [-0.01212407 -0.01400492 0.99982842 -0.06804997] [ 0. 0. 0. 1. ]] SLAMing on 17.009649246000002 meters Centerline goodness : 0.934536 with order 1 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.22, Z:-0.07 [[ 0.99775999 0.06553079 0.01344283 4.48727785] [-0.06569438 0.99776628 0.01211189 -0.21549732] [-0.0126191 -0.01296787 0.99983628 -0.06885681] [ 0. 0. 0. 1. ]] SLAMing on 17.069649246 meters Centerline goodness : 0.938036 with order 1 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.22, Z:-0.06 [[ 0.99760288 0.06801641 0.0127384 4.49034179] [-0.06825147 0.99748665 0.01902943 -0.21851635] [-0.01141207 -0.01985323 0.99973777 -0.06378571] [ 0. 0. 0. 1. ]] SLAMing on 17.129649246 meters Centerline goodness : 0.938944 with order 1 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.22, Z:-0.07 [[ 0.99767047 0.06715952 0.01196825 4.49295891] [-0.06737151 0.99756031 0.01828976 -0.21790401] [-0.01071072 -0.01905348 0.99976109 -0.06502389] [ 0. 0. 0. 1. ]] SLAMing on 17.189649246000002 meters Centerline goodness : 0.934022 with order 1 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.22, Z:-0.07 [[ 0.99775758 0.06601444 0.01104089 4.4962407 ] [-0.06620289 0.99764962 0.01767529 -0.21750278] [-0.00984812 -0.01836659 0.99978282 -0.06617001] [ 0. 0. 0. 1. ]] SLAMing on 17.249649246 meters Centerline goodness : 0.934535 with order 1 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.22, Z:-0.07 [[ 0.99780776 0.06532952 0.01057009 4.49795196] [-0.06550992 0.99769439 0.01772991 -0.21764419] [-0.00938743 -0.01838349 0.99978694 -0.06607041] [ 0. 0. 0. 1. ]] SLAMing on 17.309649246000003 meters Centerline goodness : 0.937086 with order 1 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.22, Z:-0.07 [[ 0.99783692 0.06493139 0.01026656 4.49917115] [-0.06510024 0.99773271 0.01707031 -0.2170376 ] [-0.00913488 -0.01770174 0.99980158 -0.06720972] [ 0. 0. 0. 1. ]] SLAMing on 17.369649246 meters Centerline goodness : 0.940171 with order 1 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.22, Z:-0.06 [[ 0.99777563 0.06603725 0.00910309 4.5052092 ] [-0.06624298 0.9975018 0.0245364 -0.22023688] [-0.00746003 -0.02508484 0.99965749 -0.06105195] [ 0. 0. 0. 1. ]] SLAMing on 17.429649246 meters Centerline goodness : 0.940814 with order 1 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.22, Z:-0.06 [[ 0.99784011 0.06514514 0.00843984 4.50721935] [-0.06534034 0.99753981 0.02539636 -0.22178813] [-0.00676463 -0.02589297 0.99964183 -0.05945649] [ 0. 0. 0. 1. ]] SLAMing on 17.489649246000003 meters Centerline goodness : 0.946671 with order 2 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.22, Z:-0.06 [[ 0.9981593 0.06016652 0.00761584 4.51014575] [-0.06029974 0.99800561 0.01867442 -0.2191951 ] [-0.00647708 -0.01909928 0.99979661 -0.06423172] [ 0. 0. 0. 1. ]] SLAMing on 17.549649246 meters Centerline goodness : 0.927294 with order 2 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.22, Z:-0.07 [[ 0.99829838 0.05801043 0.00592783 4.516217 ] [-0.05810766 0.99815138 0.01781339 -0.21920556] [-0.00488351 -0.01812753 0.99982376 -0.06595389] [ 0. 0. 0. 1. ]] SLAMing on 17.609649246 meters Centerline goodness : 0.924017 with order 2 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.22, Z:-0.06 [[ 9.98266133e-01 5.87108123e-02 4.21516194e-03 4.53006497e+00] [-5.88036112e-02 9.97903671e-01 2.70258867e-02 -2.20919277e-01] [-2.61961382e-03 -2.72268941e-02 9.99625847e-01 -6.29115764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.669649246000002 meters Centerline goodness : 0.917126 with order 2 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.22, Z:-0.06 [[ 9.98348779e-01 5.73584746e-02 3.11779960e-03 4.53412417e+00] [-5.74211127e-02 9.97997993e-01 2.65107756e-02 -2.19881583e-01] [-1.59094010e-03 -2.66460280e-02 9.99643666e-01 -6.35587617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.729649246 meters Centerline goodness : 0.909962 with order 2 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.22, Z:-0.07 [[ 9.98576559e-01 5.33244420e-02 1.16579452e-03 4.54314408e+00] [-5.33368781e-02 9.98258262e-01 2.52114905e-02 -2.18646081e-01] [ 1.80624648e-04 -2.52377833e-02 9.99681460e-01 -6.55147136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.789649246 meters Centerline goodness : 0.893479 with order 1 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.22, Z:-0.07 [[ 9.98642020e-01 5.18800312e-02 4.75161876e-03 4.56672250e+00] [-5.19572335e-02 9.98488930e-01 1.78970093e-02 -2.15987516e-01] [-3.81594133e-03 -1.81195865e-02 9.99828545e-01 -7.03214674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.849649246000002 meters Centerline goodness : 0.929781 with order 3 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.22, Z:-0.06 [[ 0.99877031 0.04902967 0.00734581 4.58279043] [-0.04922384 0.99836329 0.02911635 -0.21852653] [-0.00590623 -0.02944214 0.99954904 -0.06423266] [ 0. 0. 0. 1. ]] SLAMing on 17.909649246 meters Centerline goodness : 0.926830 with order 3 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.22, Z:-0.07 [[ 0.9988886 0.04672838 0.00616557 4.59420504] [-0.04690204 0.99838945 0.03191715 -0.21673892] [-0.00466421 -0.03217085 0.9994715 -0.06554616] [ 0. 0. 0. 1. ]] SLAMing on 17.969649246 meters Centerline goodness : 0.922168 with order 3 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.22, Z:-0.06 [[ 0.99912764 0.04108773 0.00746713 4.62095023] [-0.04138583 0.99810645 0.04550527 -0.21883071] [-0.00558329 -0.04577461 0.99893619 -0.05949294] [ 0. 0. 0. 1. ]] SLAMing on 18.029649246 meters Centerline goodness : 0.921239 with order 3 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.23, Z:-0.04 [[ 0.999152 0.03873222 0.01396781 4.65087232] [-0.03969219 0.99626601 0.07667182 -0.22702022] [-0.01094599 -0.07716121 0.99695854 -0.03617401] [ 0. 0. 0. 1. ]] SLAMing on 18.089649246 meters Centerline goodness : 0.916902 with order 3 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.23, Z:-0.02 [[ 0.99913249 0.03903272 0.01451583 4.69080267] [-0.04020211 0.99497855 0.09165955 -0.2327085 ] [-0.01086522 -0.0921636 0.9956846 -0.02354803] [ 0. 0. 0. 1. ]] SLAMing on 18.149649246000003 meters Centerline goodness : 0.914707 with order 3 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.24, Z:0.01 [[ 0.99903703 0.03773575 0.02238359 4.73505647] [-0.04044808 0.98979471 0.13663958 -0.24349808] [-0.01699896 -0.13741338 0.99036791 0.00882608] [ 0. 0. 0. 1. ]] SLAMing on 18.209649246 meters Centerline goodness : 0.911211 with order 3 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.25, Z:0.03 [[ 0.99894289 0.0406902 0.02138715 4.77813296] [-0.04362984 0.98576355 0.16237813 -0.24981749] [-0.01447547 -0.1631396 0.9864968 0.03131934] [ 0. 0. 0. 1. ]] SLAMing on 18.269649246 meters Centerline goodness : 0.921104 with order 3 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.25, Z:0.04 [[ 0.99892847 0.04207774 0.01927094 4.8166061 ] [-0.04480032 0.98363298 0.17452534 -0.25393776] [-0.0116119 -0.17520168 0.98446409 0.04066574] [ 0. 0. 0. 1. ]] SLAMing on 18.329649246000002 meters Centerline goodness : 0.922439 with order 3 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.25, Z:0.04 [[ 0.99879582 0.04570484 0.0178317 4.85976933] [-0.04804996 0.98470527 0.16747156 -0.25401284] [-0.00990471 -0.16812671 0.98571563 0.03809038] [ 0. 0. 0. 1. ]] SLAMing on 18.389649246 meters Centerline goodness : 0.919404 with order 3 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.25, Z:0.04 [[ 0.99858411 0.05061699 0.01636124 4.89655688] [-0.05257226 0.98599113 0.15829607 -0.25407497] [-0.00811957 -0.15893209 0.98725613 0.03540188] [ 0. 0. 0. 1. ]] SLAMing on 18.449649246 meters Centerline goodness : 0.910492 with order 1 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.25, Z:0.03 [[ 0.99835313 0.05545203 0.01470018 4.93235235] [-0.05702445 0.98722885 0.14875287 -0.25462819] [-0.00626379 -0.14934616 0.98876513 0.03319185] [ 0. 0. 0. 1. ]] SLAMing on 18.509649246000002 meters Centerline goodness : 0.927688 with order 2 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.26, Z:0.03 [[ 9.98256430e-01 5.76129628e-02 1.28392635e-02 4.97898126e+00] [-5.88586573e-02 9.87968307e-01 1.43018472e-01 -2.56997359e-01] [-4.44506759e-03 -1.43524811e-01 9.89636736e-01 3.38129611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.569649246 meters Centerline goodness : 0.916905 with order 1 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.26, Z:0.03 [[ 9.98313912e-01 5.72634971e-02 9.49871833e-03 5.02423811e+00] [-5.80157361e-02 9.89623991e-01 1.31447825e-01 -2.60703580e-01] [-1.87299741e-03 -1.31777267e-01 9.91277582e-01 2.74690872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.629649246 meters Centerline goodness : 0.925909 with order 3 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.26, Z:0.02 [[ 9.98395988e-01 5.62860879e-02 6.10955650e-03 5.04978132e+00] [-5.66097410e-02 9.90752483e-01 1.23307971e-01 -2.61123545e-01] [ 8.87464998e-04 -1.23456044e-01 9.92349645e-01 2.32780975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.689649246000002 meters Centerline goodness : 0.929055 with order 3 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.26, Z:0.01 [[ 9.98528339e-01 5.38133407e-02 6.72909175e-03 5.07862896e+00] [-5.42297710e-02 9.91991874e-01 1.14066879e-01 -2.58235352e-01] [-5.36884496e-04 -1.14263929e-01 9.93450284e-01 1.40570421e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.749649246 meters Centerline goodness : 0.934682 with order 2 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.25, Z:0.01 [[ 9.98631562e-01 5.13999465e-02 9.64613385e-03 5.10158201e+00] [-5.21226550e-02 9.93279790e-01 1.03336770e-01 -2.54752809e-01] [-4.26980534e-03 -1.03698142e-01 9.94599650e-01 6.51555537e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.809649246 meters Centerline goodness : 0.935249 with order 3 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.25, Z:0.00 [[ 9.98678069e-01 4.98782303e-02 1.24207992e-02 5.12869336e+00] [-5.08482731e-02 9.94009860e-01 9.67411610e-02 -2.51884188e-01] [-7.52111892e-03 -9.72448521e-02 9.95232069e-01 5.30123847e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.869649246 meters Centerline goodness : 0.937676 with order 3 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.25, Z:-0.01 [[ 0.99865381 0.04940747 0.01579451 5.14698788] [-0.05058015 0.99506427 0.08537421 -0.2483867 ] [-0.01149843 -0.08605817 0.99622376 -0.00741189] [ 0. 0. 0. 1. ]] SLAMing on 18.929649246 meters Centerline goodness : 0.940877 with order 3 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.25, Z:-0.02 [[ 0.99873883 0.04685921 0.01802668 5.16979146] [-0.04807138 0.99609707 0.07402541 -0.24620451] [-0.01448755 -0.07479862 0.99709341 -0.01529732] [ 0. 0. 0. 1. ]] SLAMing on 18.989649246000003 meters Centerline goodness : 0.939820 with order 2 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.25, Z:-0.02 [[ 0.99882509 0.04644915 0.01381724 5.19773282] [-0.04727859 0.99660332 0.06742813 -0.24669097] [-0.01063832 -0.06800217 0.99762845 -0.02024229] [ 0. 0. 0. 1. ]] SLAMing on 19.049649246 meters Centerline goodness : 0.939163 with order 3 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.24, Z:-0.03 [[ 0.99886566 0.04493407 0.01575818 5.2184963 ] [-0.04573912 0.99743162 0.05511893 -0.24400375] [-0.01324099 -0.05577717 0.99835544 -0.02887515] [ 0. 0. 0. 1. ]] SLAMing on 19.109649246 meters Centerline goodness : 0.939190 with order 2 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.24, Z:-0.04 [[ 0.99908774 0.04022453 0.01434147 5.22259868] [-0.04085272 0.99807816 0.04659438 -0.2380182 ] [-0.01243967 -0.04713776 0.99881094 -0.03638665] [ 0. 0. 0. 1. ]] SLAMing on 19.169649246000002 meters Centerline goodness : 0.939811 with order 2 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.23, Z:-0.04 [[ 0.99926887 0.0360191 0.01282001 5.22593635] [-0.03649498 0.9985704 0.03905486 -0.23202731] [-0.01139496 -0.03949417 0.99915483 -0.0417694 ] [ 0. 0. 0. 1. ]] SLAMing on 19.229649246 meters Centerline goodness : 0.943135 with order 2 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.23, Z:-0.04 [[ 0.99940848 0.03222179 0.01201839 5.22732353] [-0.03260065 0.99893055 0.03278661 -0.227561 ] [-0.0109491 -0.03315902 0.99939011 -0.04477312] [ 0. 0. 0. 1. ]] SLAMing on 19.289649246 meters Centerline goodness : 0.941555 with order 2 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.22, Z:-0.05 [[ 0.99947791 0.03056544 0.01047203 5.2323112 ] [-0.03087772 0.9990397 0.03108437 -0.22477315] [-0.00951186 -0.03139149 0.9994619 -0.04703344] [ 0. 0. 0. 1. ]] SLAMing on 19.349649246000002 meters Centerline goodness : 0.940809 with order 1 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.22, Z:-0.05 [[ 0.99960082 0.02668128 0.00929034 5.23481527] [-0.02689673 0.99935261 0.02389408 -0.22028703] [-0.00864681 -0.02413442 0.99967133 -0.05199402] [ 0. 0. 0. 1. ]] SLAMing on 19.409649246 meters Centerline goodness : 0.938733 with order 2 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.22, Z:-0.06 [[ 0.99972361 0.0222293 0.00765307 5.23883675] [-0.02235402 0.99961201 0.01661717 -0.21608618] [-0.00728071 -0.01678366 0.99983264 -0.0572073 ] [ 0. 0. 0. 1. ]] SLAMing on 19.469649246 meters Centerline goodness : 0.940005 with order 2 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.21, Z:-0.06 [[ 0.99975663 0.02108062 0.00650304 5.24279108] [-0.02117624 0.99966317 0.01500363 -0.21293848] [-0.00618457 -0.01513769 0.99986629 -0.059531 ] [ 0. 0. 0. 1. ]] SLAMing on 19.529649246 meters Centerline goodness : 0.946636 with order 1 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.21, Z:-0.06 [[ 0.99976199 0.02102741 0.00581447 5.24417188] [-0.02110577 0.99968253 0.01376186 -0.20917264] [-0.00552325 -0.01388131 0.9998884 -0.06048397] [ 0. 0. 0. 1. ]] SLAMing on 19.589649246 meters Centerline goodness : 0.941408 with order 2 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.21, Z:-0.06 [[ 9.99778321e-01 2.04880789e-02 4.85266305e-03 5.24663780e+00] [-2.05478108e-02 9.99709511e-01 1.25969000e-02 -2.06528340e-01] [-4.59316712e-03 -1.26938191e-02 9.99908881e-01 -6.15353098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.649649246000003 meters Centerline goodness : 0.939126 with order 2 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.20, Z:-0.07 [[ 9.99870876e-01 1.56691824e-02 3.56476522e-03 5.25069698e+00] [-1.56906706e-02 9.99858396e-01 6.08202008e-03 -2.03270192e-01] [-3.46896015e-03 -6.13716830e-03 9.99975150e-01 -6.59710778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.709649246 meters Centerline goodness : 0.940765 with order 2 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.20, Z:-0.07 [[ 9.99901536e-01 1.39481431e-02 1.53886283e-03 5.25634964e+00] [-1.39565013e-02 9.99887137e-01 5.56136994e-03 -2.03469148e-01] [-1.46111837e-03 -5.58229948e-03 9.99983351e-01 -6.65890079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.769649246 meters Centerline goodness : 0.951779 with order 1 Centerline is valid? [False, True] Translation: X:5.26, Y:-0.20, Z:-0.07 [[ 9.99882677e-01 1.53047083e-02 -6.30919267e-04 5.26347125e+00] [-1.52977947e-02 9.99834963e-01 9.79921178e-03 -2.03442978e-01] [ 7.80789220e-04 -9.78841043e-03 9.99951788e-01 -6.56639646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.829649246000002 meters Centerline goodness : 0.953361 with order 1 Centerline is valid? [True, True] Translation: X:5.33, Y:-0.20, Z:-0.07 [[ 9.99884584e-01 1.51610372e-02 -9.80860521e-04 5.32627524e+00] [-1.51610100e-02 9.99885065e-01 3.51490553e-05 -2.00957840e-01] [ 9.81280681e-04 -2.02741624e-05 9.99999518e-01 -7.27914368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.889649246 meters Centerline goodness : 0.954442 with order 1 Centerline is valid? [True, True] Translation: X:5.39, Y:-0.20, Z:-0.07 [[ 9.99880134e-01 1.54516964e-02 -9.80850416e-04 5.38916347e+00] [-1.54516691e-02 9.99880615e-01 3.54288099e-05 -2.03878420e-01] [ 9.81280753e-04 -2.02687871e-05 9.99999518e-01 -7.16883678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.949649246 meters Centerline goodness : 0.957710 with order 1 Centerline is valid? [True, True] Translation: X:5.45, Y:-0.21, Z:-0.07 [[ 9.99876849e-01 1.56628649e-02 -9.80840344e-04 5.45177302e+00] [-1.56628374e-02 9.99877330e-01 3.57054782e-05 -2.06923123e-01] [ 9.81279274e-04 -2.03383382e-05 9.99999518e-01 -7.22372424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.009649246000002 meters Centerline goodness : 0.956801 with order 1 Centerline is valid? [True, True] Translation: X:5.51, Y:-0.21, Z:-0.07 [[ 9.99867749e-01 1.62333689e-02 -9.80830035e-04 5.51446107e+00] [-1.62333414e-02 9.99868230e-01 3.59864774e-05 -2.08705488e-01] [ 9.81284972e-04 -2.00595693e-05 9.99999518e-01 -7.31608565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.069649246 meters Centerline goodness : 0.956360 with order 1 Centerline is valid? [True, True] Translation: X:5.58, Y:-0.21, Z:-0.07 [[ 9.99860175e-01 1.66933907e-02 -9.80819827e-04 5.57688023e+00] [-1.66933632e-02 9.99860655e-01 3.62625637e-05 -2.12430888e-01] [ 9.81288500e-04 -1.98843117e-05 9.99999518e-01 -7.32253034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.129649246 meters Centerline goodness : 0.952618 with order 1 Centerline is valid? [True, True] Translation: X:5.64, Y:-0.21, Z:-0.08 [[ 9.99843171e-01 1.76824992e-02 -9.80809634e-04 5.63876253e+00] [-1.76824719e-02 9.99843652e-01 3.65362074e-05 -2.13821488e-01] [ 9.81302338e-04 -1.91873387e-05 9.99999518e-01 -7.60045225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.189649246000002 meters Centerline goodness : 0.953378 with order 1 Centerline is valid? [True, True] Translation: X:5.70, Y:-0.22, Z:-0.08 [[ 9.99832352e-01 1.82840135e-02 -9.80800538e-04 5.70147790e+00] [-1.82839862e-02 9.99832833e-01 3.67787757e-05 -2.15931426e-01] [ 9.81309044e-04 -1.88396663e-05 9.99999518e-01 -7.64288092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.249649246 meters Centerline goodness : 0.955365 with order 1 Centerline is valid? [True, True] Translation: X:5.76, Y:-0.22, Z:-0.08 [[ 9.99825792e-01 1.86392946e-02 -9.80789959e-04 5.76399856e+00] [-1.86392672e-02 9.99826273e-01 3.70587546e-05 -2.18841882e-01] [ 9.81310318e-04 -1.87710926e-05 9.99999518e-01 -7.60313063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.309649246 meters Centerline goodness : 0.958945 with order 1 Centerline is valid? [True, True] Translation: X:5.83, Y:-0.22, Z:-0.07 [[ 9.99790047e-01 2.04670492e-02 -9.80779402e-04 5.82586658e+00] [-2.04670224e-02 9.99790528e-01 3.73360844e-05 -2.21502634e-01] [ 9.81338115e-04 -1.72546116e-05 9.99999518e-01 -7.38627071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.369649246 meters Centerline goodness : 0.959782 with order 1 Centerline is valid? [True, True] Translation: X:5.89, Y:-0.22, Z:-0.07 [[ 9.99761217e-01 2.18299526e-02 -9.80769604e-04 5.88869468e+00] [-2.18299262e-02 9.99761698e-01 3.75916968e-05 -2.24828885e-01] [ 9.81356510e-04 -1.61725925e-05 9.99999518e-01 -7.48921741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.429649246 meters Centerline goodness : 0.956249 with order 1 Centerline is valid? [True, True] Translation: X:5.95, Y:-0.23, Z:-0.08 [[ 9.99756303e-01 2.20538527e-02 -9.80759108e-04 5.95086778e+00] [-2.20538261e-02 9.99756784e-01 3.78635817e-05 -2.26128015e-01] [ 9.81355609e-04 -1.62248637e-05 9.99999518e-01 -7.87092499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.489649246000003 meters Centerline goodness : 0.951734 with order 1 Centerline is valid? [True, True] Translation: X:6.01, Y:-0.23, Z:-0.08 [[ 9.99734640e-01 2.30149378e-02 -9.80750007e-04 6.01313068e+00] [-2.30149115e-02 9.99735121e-01 3.80978640e-05 -2.29479481e-01] [ 9.81367047e-04 -1.55158797e-05 9.99999518e-01 -8.09185379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.549649246 meters Centerline goodness : 0.952960 with order 1 Centerline is valid? [True, True] Translation: X:6.08, Y:-0.23, Z:-0.08 [[ 9.99717525e-01 2.37467706e-02 -9.80740974e-04 6.07611139e+00] [-2.37467445e-02 9.99718006e-01 3.83289799e-05 -2.32906172e-01] [ 9.81374600e-04 -1.50287476e-05 9.99999518e-01 -8.05487246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.609649246 meters Centerline goodness : 0.956325 with order 1 Centerline is valid? [True, True] Translation: X:6.14, Y:-0.24, Z:-0.08 [[ 9.99690147e-01 2.48726567e-02 -9.80730722e-04 6.13865163e+00] [-2.48726308e-02 9.99690628e-01 3.85895383e-05 -2.35937971e-01] [ 9.81387135e-04 -1.41842281e-05 9.99999518e-01 -7.96377112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.669649246000002 meters Centerline goodness : 0.956080 with order 1 Centerline is valid? [True, True] Translation: X:6.20, Y:-0.24, Z:-0.08 [[ 9.99672608e-01 2.55678409e-02 -9.80720540e-04 6.20055981e+00] [-2.55678151e-02 9.99673089e-01 3.88465940e-05 -2.38005793e-01] [ 9.81393155e-04 -1.37589945e-05 9.99999518e-01 -7.99544602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.729649246 meters Centerline goodness : 0.954564 with order 1 Centerline is valid? [True, True] Translation: X:6.26, Y:-0.24, Z:-0.08 [[ 9.99681658e-01 2.52115081e-02 -9.80711096e-04 6.26231575e+00] [-2.52114819e-02 9.99682139e-01 3.90835761e-05 -2.41426897e-01] [ 9.81384722e-04 -1.43459542e-05 9.99999518e-01 -8.17354975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.789649246 meters Centerline goodness : 0.950814 with order 1 Centerline is valid? [True, True] Translation: X:6.32, Y:-0.25, Z:-0.08 [[ 9.99625533e-01 2.73465056e-02 -9.80702383e-04 6.32303761e+00] [-2.73464802e-02 9.99626014e-01 3.93009833e-05 -2.45659578e-01] [ 9.81410359e-04 -1.24675081e-05 9.99999518e-01 -8.27807023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.849649246000002 meters Centerline goodness : 0.950087 with order 1 Centerline is valid? [True, True] Translation: X:6.39, Y:-0.25, Z:-0.08 [[ 9.99629540e-01 2.71996430e-02 -9.80694357e-04 6.38531702e+00] [-2.71996174e-02 9.99630021e-01 3.95002592e-05 -2.47534934e-01] [ 9.81405914e-04 -1.28111147e-05 9.99999518e-01 -8.40749627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.909649246 meters Centerline goodness : 0.949836 with order 1 Centerline is valid? [True, False] Translation: X:6.39, Y:-0.25, Z:-0.08 [[ 9.99584789e-01 2.86765942e-02 -2.81101324e-03 6.39156081e+00] [-2.86577619e-02 9.99567984e-01 6.52523911e-03 -2.50339021e-01] [ 2.99692047e-03 -6.44197241e-03 9.99974759e-01 -7.96353774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.969649246 meters Centerline goodness : 0.953087 with order 1 Centerline is valid? [False, True] Translation: X:6.39, Y:-0.25, Z:-0.08 [[ 9.99593022e-01 2.83436443e-02 -3.22918870e-03 6.39252746e+00] [-2.83216024e-02 9.99576553e-01 6.67847678e-03 -2.50265281e-01] [ 3.41711367e-03 -6.58430299e-03 9.99972485e-01 -7.88983561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.029649246 meters Centerline goodness : 0.954631 with order 1 Centerline is valid? [True, True] Translation: X:6.45, Y:-0.25, Z:-0.08 [[ 9.99509711e-01 3.11145784e-02 -3.49578046e-03 6.45429070e+00] [-3.11142701e-02 9.99515824e-01 1.42548129e-04 -2.50758647e-01] [ 3.49852321e-03 -3.37095819e-05 9.99993880e-01 -8.49954027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.089649246 meters Centerline goodness : 0.953030 with order 1 Centerline is valid? [True, True] Translation: X:6.52, Y:-0.25, Z:-0.09 [[ 9.99431307e-01 3.35386763e-02 -3.49575085e-03 6.51635297e+00] [-3.35383804e-02 9.99437420e-01 1.43270645e-04 -2.52773294e-01] [ 3.49858932e-03 -2.59473464e-05 9.99993880e-01 -8.68775640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.149649246 meters Centerline goodness : 0.950679 with order 1 Centerline is valid? [True, True] Translation: X:6.58, Y:-0.26, Z:-0.09 [[ 9.99422131e-01 3.38110080e-02 -3.49572134e-03 6.57731001e+00] [-3.38107112e-02 9.99428244e-01 1.43987229e-04 -2.55213015e-01] [ 3.49859099e-03 -2.57111990e-05 9.99993880e-01 -8.88447348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.209649246 meters Centerline goodness : 0.952700 with order 1 Centerline is valid? [True, True] Translation: X:6.64, Y:-0.26, Z:-0.09 [[ 9.99434304e-01 3.34492563e-02 -3.49569430e-03 6.64008175e+00] [-3.34489550e-02 9.99440417e-01 1.44640597e-04 -2.61203273e-01] [ 3.49857629e-03 -2.76314527e-05 9.99993880e-01 -8.78450998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.269649246 meters Centerline goodness : 0.951792 with order 1 Centerline is valid? [True, True] Translation: X:6.70, Y:-0.26, Z:-0.09 [[ 9.99397061e-01 3.45441008e-02 -3.49566110e-03 6.70336370e+00] [-3.45438034e-02 9.99403174e-01 1.45438552e-04 -2.63674906e-01] [ 3.49859885e-03 -2.45974310e-05 9.99993880e-01 -8.82168200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.329649246000002 meters Centerline goodness : 0.951925 with order 1 Centerline is valid? [True, True] Translation: X:6.76, Y:-0.26, Z:-0.09 [[ 9.99390502e-01 3.47333371e-02 -3.49562799e-03 6.76436703e+00] [-3.47330381e-02 9.99396615e-01 1.46229986e-04 -2.64567457e-01] [ 3.49859784e-03 -2.47270787e-05 9.99993880e-01 -8.98549193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.389649246 meters Centerline goodness : 0.952186 with order 1 Centerline is valid? [True, True] Translation: X:6.83, Y:-0.27, Z:-0.08 [[ 9.99325061e-01 3.65677937e-02 -3.49560139e-03 6.82628894e+00] [-3.65675037e-02 9.99331174e-01 1.46863271e-04 -2.67431075e-01] [ 3.49863391e-03 -1.89387305e-05 9.99993880e-01 -8.38820676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.449649246 meters Centerline goodness : 0.950442 with order 1 Centerline is valid? [True, True] Translation: X:6.89, Y:-0.27, Z:-0.08 [[ 9.99300111e-01 3.72433857e-02 -3.49556558e-03 6.88892329e+00] [-3.72430968e-02 9.99306224e-01 1.47710633e-04 -2.71451024e-01] [ 3.49864169e-03 -1.74215644e-05 9.99993880e-01 -8.31365000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.509649246000002 meters Centerline goodness : 0.952529 with order 1 Centerline is valid? [True, True] Translation: X:6.95, Y:-0.27, Z:-0.08 [[ 9.99291183e-01 3.74821665e-02 -3.49552504e-03 6.95137704e+00] [-3.74818758e-02 9.99297297e-01 1.48663829e-04 -2.73406102e-01] [ 3.49864097e-03 -1.75396181e-05 9.99993880e-01 -8.29794555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.569649246 meters Centerline goodness : 0.953113 with order 1 Centerline is valid? [True, True] Translation: X:7.01, Y:-0.27, Z:-0.09 [[ 9.99243558e-01 3.87310375e-02 -3.49548986e-03 7.01412680e+00] [-3.87307516e-02 9.99249672e-01 1.49486503e-04 -2.74767728e-01] [ 3.49865686e-03 -1.39904759e-05 9.99993880e-01 -8.51344822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.629649246 meters Centerline goodness : 0.952913 with order 1 Centerline is valid? [True, True] Translation: X:7.08, Y:-0.28, Z:-0.08 [[ 9.99244976e-01 3.86944329e-02 -3.49544975e-03 7.07699021e+00] [-3.86941435e-02 9.99251090e-01 1.50418502e-04 -2.79338937e-01] [ 3.49865233e-03 -1.50514986e-05 9.99993880e-01 -8.35656645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.689649246000002 meters Centerline goodness : 0.947636 with order 1 Centerline is valid? [True, False] Translation: X:7.09, Y:-0.28, Z:-0.08 [[ 9.99276024e-01 3.76404176e-02 -5.53417987e-03 7.08710219e+00] [-3.76204491e-02 9.99285364e-01 3.66913465e-03 -2.80135342e-01] [ 5.66833271e-03 -3.45827995e-03 9.99977955e-01 -8.38782155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.749649246 meters Centerline goodness : 0.952681 with order 1 Centerline is valid? [False, True] Translation: X:7.09, Y:-0.28, Z:-0.08 [[ 9.99294811e-01 3.70704362e-02 -5.97190316e-03 7.08849555e+00] [-3.70508529e-02 9.99307742e-01 3.35719605e-03 -2.79273378e-01] [ 6.09222179e-03 -3.13356448e-03 9.99976533e-01 -8.39595863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.809649246 meters Centerline goodness : 0.954661 with order 1 Centerline is valid? [True, True] Translation: X:7.15, Y:-0.28, Z:-0.08 [[ 9.99285172e-01 3.73076625e-02 -6.10602094e-03 7.15038392e+00] [-3.73067412e-02 9.99303826e-01 2.64757761e-04 -2.82191074e-01] [ 6.11164758e-03 -3.67727614e-05 9.99981323e-01 -8.33414469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.869649246 meters Centerline goodness : 0.953791 with order 1 Centerline is valid? [True, True] Translation: X:7.21, Y:-0.29, Z:-0.08 [[ 9.99265160e-01 3.78399025e-02 -6.10595999e-03 7.21336921e+00] [-3.78389826e-02 9.99283814e-01 2.66156223e-04 -2.85255662e-01] [ 6.11165831e-03 -3.49173271e-05 9.99981323e-01 -8.40048711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.929649246 meters Centerline goodness : 0.953893 with order 1 Centerline is valid? [True, True] Translation: X:7.28, Y:-0.29, Z:-0.08 [[ 9.99259464e-01 3.79900200e-02 -6.10589106e-03 7.27568073e+00] [-3.79890933e-02 9.99278118e-01 2.67728231e-04 -2.87887834e-01] [ 6.11165432e-03 -3.55727037e-05 9.99981323e-01 -8.10542445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.989649246000003 meters Centerline goodness : 0.952635 with order 1 Centerline is valid? [True, True] Translation: X:7.34, Y:-0.29, Z:-0.09 [[ 9.99263526e-01 3.78830278e-02 -6.10581390e-03 7.33791683e+00] [-3.78820884e-02 9.99282180e-01 2.69476447e-04 -2.89874743e-01] [ 6.11163961e-03 -3.79770033e-05 9.99981323e-01 -8.64651823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.049649246 meters Centerline goodness : 0.950239 with order 1 Centerline is valid? [True, True] Translation: X:7.40, Y:-0.29, Z:-0.08 [[ 9.99340755e-01 3.57879132e-02 -6.10574210e-03 7.40086985e+00] [-3.57869248e-02 9.99359406e-01 2.71093540e-04 -2.94504036e-01] [ 6.11153267e-03 -5.24090898e-05 9.99981323e-01 -8.09724436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.109649246 meters Centerline goodness : 0.951601 with order 1 Centerline is valid? [True, True] Translation: X:7.46, Y:-0.30, Z:-0.08 [[ 9.99320306e-01 3.63544527e-02 -6.10566315e-03 7.46165020e+00] [-3.63534641e-02 9.99338957e-01 2.72860150e-04 -2.95224895e-01] [ 6.11154673e-03 -5.07126826e-05 9.99981323e-01 -8.31036022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.169649246000002 meters Centerline goodness : 0.951041 with order 1 Centerline is valid? [True, True] Translation: X:7.52, Y:-0.30, Z:-0.08 [[ 9.99318611e-01 3.64010378e-02 -6.10562583e-03 7.52466422e+00] [-3.64000450e-02 9.99337261e-01 2.73692737e-04 -2.97486651e-01] [ 6.11154210e-03 -5.12611909e-05 9.99981323e-01 -8.19778458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.229649246 meters Centerline goodness : 0.954587 with order 1 Centerline is valid? [True, True] Translation: X:7.59, Y:-0.30, Z:-0.08 [[ 9.99284596e-01 3.73231598e-02 -6.10555009e-03 7.58700480e+00] [-3.73221739e-02 9.99303247e-01 2.75372004e-04 -3.00917744e-01] [ 6.11157379e-03 -4.73025995e-05 9.99981323e-01 -7.99758433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.289649246 meters Centerline goodness : 0.955052 with order 1 Centerline is valid? [True, True] Translation: X:7.65, Y:-0.31, Z:-0.08 [[ 9.99308723e-01 3.66715062e-02 -6.10547941e-03 7.64855361e+00] [-3.66704986e-02 9.99327373e-01 2.76930393e-04 -3.05157764e-01] [ 6.11152815e-03 -5.28479836e-05 9.99981323e-01 -7.97029285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.349649246000002 meters Centerline goodness : 0.953600 with order 1 Centerline is valid? [True, True] Translation: X:7.71, Y:-0.31, Z:-0.08 [[ 9.99303193e-01 3.68218956e-02 -6.10542940e-03 7.71124035e+00] [-3.68208841e-02 9.99321843e-01 2.78028587e-04 -3.07389412e-01] [ 6.11152650e-03 -5.30275461e-05 9.99981323e-01 -8.18936619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.409649246 meters Centerline goodness : 0.953866 with order 1 Centerline is valid? [True, True] Translation: X:7.77, Y:-0.31, Z:-0.08 [[ 9.99400891e-01 3.40673557e-02 -6.10535072e-03 7.77403076e+00] [-3.40662823e-02 9.99419537e-01 2.79745722e-04 -3.11135334e-01] [ 6.11133698e-03 -7.15915223e-05 9.99981323e-01 -8.26191806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.469649246 meters Centerline goodness : 0.949983 with order 1 Centerline is valid? [True, False] Translation: X:7.79, Y:-0.31, Z:-0.08 [[ 9.99512783e-01 3.00762528e-02 -8.34365654e-03 7.78903241e+00] [-3.00388491e-02 9.99538273e-01 4.57259760e-03 -3.12859243e-01] [ 8.47733064e-03 -4.31973591e-03 9.99954736e-01 -8.09991197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.529649246 meters Centerline goodness : 0.946099 with order 1 Centerline is valid? [False, False] Translation: X:7.81, Y:-0.32, Z:-0.08 [[ 0.99956246 0.02795911 -0.00965322 7.80674899] [-0.02781989 0.99951113 0.01426741 -0.31558162] [ 0.0100474 -0.01399262 0.99985162 -0.07680778] [ 0. 0. 0. 1. ]] SLAMing on 22.589649246 meters Centerline goodness : 0.944138 with order 1 Centerline is valid? [False, False] Translation: X:7.81, Y:-0.32, Z:-0.08 [[ 0.9995936 0.02632049 -0.01094802 7.81134018] [-0.02617556 0.99957051 0.01317714 -0.31533116] [ 0.01129015 -0.01288521 0.99985324 -0.07877002] [ 0. 0. 0. 1. ]] SLAMing on 22.649649246 meters Centerline goodness : 0.945676 with order 1 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.32, Z:-0.07 [[ 0.99959477 0.02631609 -0.01085184 7.82382526] [-0.02603035 0.99933123 0.02568115 -0.31827655] [ 0.01152041 -0.02538826 0.99961128 -0.06946187] [ 0. 0. 0. 1. ]] SLAMing on 22.709649246 meters Centerline goodness : 0.948469 with order 1 Centerline is valid? [False, False] Translation: X:7.83, Y:-0.32, Z:-0.06 [[ 0.99952003 0.02834663 -0.01249684 7.82886639] [-0.02792629 0.99907773 0.03261628 -0.32063209] [ 0.01340987 -0.03225163 0.99938982 -0.06364808] [ 0. 0. 0. 1. ]] SLAMing on 22.769649246 meters Centerline goodness : 0.949133 with order 1 Centerline is valid? [False, False] Translation: X:7.84, Y:-0.31, Z:-0.08 [[ 0.99954158 0.02871631 -0.00959137 7.84471095] [-0.0285392 0.99942846 0.0181182 -0.31449735] [ 0.01010618 -0.01783616 0.99978985 -0.07539566] [ 0. 0. 0. 1. ]] SLAMing on 22.829649246000002 meters Centerline goodness : 0.947714 with order 1 Centerline is valid? [False, False] Translation: X:7.85, Y:-0.32, Z:-0.07 [[ 0.99945093 0.03129692 -0.01087864 7.84861677] [-0.03103847 0.99924968 0.02316639 -0.3154639 ] [ 0.01159552 -0.02281602 0.99967243 -0.07304403] [ 0. 0. 0. 1. ]] SLAMing on 22.889649246 meters Centerline goodness : 0.949026 with order 1 Centerline is valid? [False, False] Translation: X:7.87, Y:-0.31, Z:-0.08 [[ 9.99468332e-01 3.17976632e-02 -7.20840212e-03 7.86582187e+00] [-3.17003275e-02 9.99409754e-01 1.32375172e-02 -3.12014981e-01] [ 7.62506951e-03 -1.30019705e-02 9.99886397e-01 -7.88574112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.949649246 meters Centerline goodness : 0.951283 with order 1 Centerline is valid? [False, True] Translation: X:7.87, Y:-0.31, Z:-0.08 [[ 9.99448777e-01 3.23848151e-02 -7.30514792e-03 7.86530034e+00] [-3.22941200e-02 9.99403836e-01 1.22091524e-02 -3.09385731e-01] [ 7.69618399e-03 -1.19665091e-02 9.99898781e-01 -7.98447305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.009649246000002 meters Centerline goodness : 0.948725 with order 1 Centerline is valid? [True, False] Translation: X:7.88, Y:-0.31, Z:-0.07 [[ 0.99933007 0.03556355 -0.00863985 7.88212374] [-0.03532006 0.99901488 0.02686561 -0.30967373] [ 0.00958677 -0.02654245 0.99960172 -0.07401743] [ 0. 0. 0. 1. ]] SLAMing on 23.069649246 meters Centerline goodness : 0.949069 with order 1 Centerline is valid? [False, False] Translation: X:7.89, Y:-0.31, Z:-0.07 [[ 0.99937736 0.03382214 -0.01004735 7.88632202] [-0.0335443 0.99908207 0.02664194 -0.30944688] [ 0.01093922 -0.02628832 0.99959455 -0.07353959] [ 0. 0. 0. 1. ]] SLAMing on 23.129649246 meters Centerline goodness : 0.941768 with order 1 Centerline is valid? [False, False] Translation: X:7.90, Y:-0.31, Z:-0.08 [[ 0.99951297 0.02859143 -0.01250386 7.89798615] [-0.02828255 0.99930653 0.02421873 -0.30882002] [ 0.01318764 -0.0238533 0.99962848 -0.07809791] [ 0. 0. 0. 1. ]] SLAMing on 23.189649246000002 meters Centerline goodness : 0.942356 with order 1 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.31, Z:-0.08 [[ 9.99571508e-01 2.83015765e-02 -7.47140767e-03 7.91151810e+00] [-2.81918774e-02 9.99498792e-01 1.44007822e-02 -3.08650707e-01] [ 7.87522778e-03 -1.41839785e-02 9.99868389e-01 -8.12778291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.249649246 meters Centerline goodness : 0.948543 with order 1 Centerline is valid? [False, False] Translation: X:7.91, Y:-0.31, Z:-0.07 [[ 0.99948921 0.03094427 -0.00798604 7.91402679] [-0.03075637 0.99926987 0.02266669 -0.31353284] [ 0.00868161 -0.02240949 0.99971118 -0.0739993 ] [ 0. 0. 0. 1. ]] SLAMing on 23.309649246 meters Centerline goodness : 0.947988 with order 1 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.32, Z:-0.07 [[ 0.99943616 0.03209352 -0.00986776 7.92110271] [-0.03180775 0.99910543 0.02786755 -0.31549235] [ 0.0107533 -0.02753797 0.99956292 -0.07187901] [ 0. 0. 0. 1. ]] SLAMing on 23.369649246 meters Centerline goodness : 0.946142 with order 1 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.31, Z:-0.08 [[ 0.99947708 0.03037094 -0.0110985 7.92600881] [-0.03007864 0.9992192 0.02561769 -0.31347392] [ 0.01186786 -0.02527047 0.9996102 -0.07578156] [ 0. 0. 0. 1. ]] SLAMing on 23.429649246 meters Centerline goodness : 0.936410 with order 1 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.31, Z:-0.08 [[ 0.99951343 0.02859847 -0.01245086 7.9310534 ] [-0.02829974 0.99932223 0.02354154 -0.31102096] [ 0.01311567 -0.02317773 0.99964532 -0.07913514] [ 0. 0. 0. 1. ]] SLAMing on 23.489649246000003 meters Centerline goodness : 0.933177 with order 1 Centerline is valid? [False, False] Translation: X:7.94, Y:-0.31, Z:-0.08 [[ 0.99941862 0.03108463 -0.01400617 7.93543465] [-0.03067833 0.99912731 0.02834519 -0.31191046] [ 0.01487504 -0.02789902 0.99950006 -0.07700587] [ 0. 0. 0. 1. ]] SLAMing on 23.549649246 meters Centerline goodness : 0.935650 with order 1 Centerline is valid? [False, False] Translation: X:7.94, Y:-0.31, Z:-0.08 [[ 0.99945559 0.02923648 -0.01528889 7.93981258] [-0.02879806 0.9991888 0.02814971 -0.31234099] [ 0.01609949 -0.02769409 0.99948679 -0.07698427] [ 0. 0. 0. 1. ]] SLAMing on 23.609649246 meters Centerline goodness : 0.933017 with order 1 Centerline is valid? [False, False] Translation: X:7.94, Y:-0.31, Z:-0.08 [[ 0.99947193 0.02811008 -0.01629986 7.9432304 ] [-0.02766608 0.99925646 0.02685351 -0.31107358] [ 0.01704259 -0.02638837 0.99950648 -0.07904763] [ 0. 0. 0. 1. ]] SLAMing on 23.669649246000002 meters Centerline goodness : 0.928237 with order 1 Centerline is valid? [False, False] Translation: X:7.96, Y:-0.31, Z:-0.09 [[ 0.99954995 0.02698301 -0.01310782 7.96066019] [-0.02679128 0.9995346 0.01458828 -0.30783051] [ 0.01349535 -0.01423054 0.99980767 -0.0863966 ] [ 0. 0. 0. 1. ]] SLAMing on 23.729649246 meters Centerline goodness : 0.931706 with order 1 Centerline is valid? [False, False] Translation: X:7.96, Y:-0.31, Z:-0.09 [[ 0.99956534 0.02609295 -0.01372208 7.96296256] [-0.02590076 0.99956645 0.01400225 -0.30644961] [ 0.0140815 -0.01364076 0.9998078 -0.08705978] [ 0. 0. 0. 1. ]] SLAMing on 23.789649246 meters Centerline goodness : 0.933063 with order 1 Centerline is valid? [False, False] Translation: X:7.97, Y:-0.31, Z:-0.08 [[ 0.99947898 0.02854081 -0.01507255 7.96686888] [-0.02824791 0.9994146 0.01930046 -0.307807 ] [ 0.01561458 -0.01886464 0.99970011 -0.08393583] [ 0. 0. 0. 1. ]] SLAMing on 23.849649246000002 meters Centerline goodness : 0.928748 with order 1 Centerline is valid? [False, False] Translation: X:7.97, Y:-0.31, Z:-0.08 [[ 0.99938123 0.03115756 -0.01632039 7.97091968] [-0.03077771 0.9992609 0.02303028 -0.30707605] [ 0.01702589 -0.02251372 0.99960155 -0.08378497] [ 0. 0. 0. 1. ]] SLAMing on 23.909649246 meters Centerline goodness : 0.926400 with order 1 Centerline is valid? [False, False] Translation: X:7.98, Y:-0.31, Z:-0.08 [[ 0.99927735 0.03365526 -0.01766644 7.97538043] [-0.03318246 0.99910041 0.02640623 -0.3052777 ] [ 0.01853925 -0.02580093 0.99949518 -0.08409697] [ 0. 0. 0. 1. ]] SLAMing on 23.969649246 meters Centerline goodness : 0.928111 with order 1 Centerline is valid? [False, False] Translation: X:7.99, Y:-0.30, Z:-0.09 [[ 0.99922386 0.03663554 -0.0144748 7.9887315 ] [-0.03641756 0.99922338 0.01504635 -0.2987722 ] [ 0.01501479 -0.01450753 0.99978202 -0.09118561] [ 0. 0. 0. 1. ]] SLAMing on 24.029649246 meters Centerline goodness : 0.929873 with order 1 Centerline is valid? [False, False] Translation: X:8.01, Y:-0.29, Z:-0.10 [[ 9.99213287e-01 3.83900486e-02 -9.95044794e-03 8.00523266e+00] [-3.83219913e-02 9.99241326e-01 6.94241769e-03 -2.94533518e-01] [ 1.02094185e-02 -6.55563502e-03 9.99926393e-01 -9.65607652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.089649246 meters Centerline goodness : 0.933918 with order 1 Centerline is valid? [False, False] Translation: X:8.00, Y:-0.29, Z:-0.10 [[ 9.99209643e-01 3.84654500e-02 -1.00248618e-02 8.00491000e+00] [-3.84046805e-02 9.99243123e-01 6.18555526e-03 -2.91835878e-01] [ 1.02552044e-02 -5.79566485e-03 9.99930618e-01 -9.66041343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.149649246 meters Centerline goodness : 0.931735 with order 1 Centerline is valid? [False, False] Translation: X:8.01, Y:-0.29, Z:-0.09 [[ 0.99905193 0.04229512 -0.01031371 8.00507594] [-0.04217641 0.99904436 0.01146846 -0.29231609] [ 0.01078891 -0.01102259 0.99988104 -0.09317619] [ 0. 0. 0. 1. ]] SLAMing on 24.209649246 meters Centerline goodness : 0.932708 with order 1 Centerline is valid? [False, False] Translation: X:8.02, Y:-0.29, Z:-0.10 [[ 9.98988742e-01 4.44686309e-02 -6.63576055e-03 8.01895631e+00] [-4.44711566e-02 9.99010641e-01 -2.33472923e-04 -2.87839327e-01] [ 6.61881318e-03 5.28336768e-04 9.99977956e-01 -1.01316646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.269649246 meters Centerline goodness : 0.930458 with order 1 Centerline is valid? [False, False] Translation: X:8.02, Y:-0.29, Z:-0.10 [[ 9.98985458e-01 4.44812256e-02 -7.03390268e-03 8.01974989e+00] [-4.44854163e-02 9.99009937e-01 -4.40381080e-04 -2.86796173e-01] [ 7.00734999e-03 7.52840384e-04 9.99975165e-01 -1.01409413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.329649246000002 meters Centerline goodness : 0.927433 with order 1 Centerline is valid? [False, False] Translation: X:8.02, Y:-0.29, Z:-0.10 [[ 9.99043420e-01 4.29937909e-02 -7.98616174e-03 8.02388839e+00] [-4.30021999e-02 9.99074586e-01 -8.84160910e-04 -2.87000631e-01] [ 7.94075781e-03 1.22673766e-03 9.99967719e-01 -1.03051885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.389649246 meters Centerline goodness : 0.926403 with order 1 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.29, Z:-0.10 [[ 9.99327883e-01 3.51460475e-02 -1.04181585e-02 8.03456024e+00] [-3.51730469e-02 9.99378308e-01 -2.41972337e-03 -2.90317089e-01] [ 1.03266379e-02 2.78453541e-03 9.99942802e-01 -1.01041098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.449649246 meters Centerline goodness : 0.924264 with order 1 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.29, Z:-0.10 [[ 9.99401648e-01 3.23065799e-02 -1.23543791e-02 8.04181656e+00] [-3.23371115e-02 9.99474419e-01 -2.27954887e-03 -2.92625965e-01] [ 1.22742414e-02 2.67768983e-03 9.99921083e-01 -1.01520662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.509649246000002 meters Centerline goodness : 0.927525 with order 1 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.30, Z:-0.10 [[ 9.99272842e-01 3.56396049e-02 -1.35501334e-02 8.04429327e+00] [-3.55916122e-02 9.99359319e-01 3.76673903e-03 -2.95485809e-01] [ 1.36756971e-02 -3.28172892e-03 9.99901098e-01 -9.74566122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.569649246 meters Centerline goodness : 0.918668 with order 1 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.30, Z:-0.10 [[ 0.99919574 0.03712294 -0.01515815 8.0502513 ] [-0.03698957 0.99927525 0.00898605 -0.29777191] [ 0.01548076 -0.00841813 0.99984473 -0.09523125] [ 0. 0. 0. 1. ]] SLAMing on 24.629649246 meters Centerline goodness : 0.920792 with order 1 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.30, Z:-0.09 [[ 0.99922259 0.03588737 -0.0163189 8.0535517 ] [-0.03574202 0.99931949 0.00911354 -0.29855646] [ 0.01663486 -0.00852318 0.9998253 -0.09469415] [ 0. 0. 0. 1. ]] SLAMing on 24.689649246000002 meters Centerline goodness : 0.916826 with order 1 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.30, Z:-0.09 [[ 0.9991151 0.03812882 -0.01775418 8.0576081 ] [-0.0378394 0.99914987 0.01636207 -0.30227962] [ 0.01836296 -0.01567579 0.99970849 -0.08833359] [ 0. 0. 0. 1. ]] SLAMing on 24.749649246 meters Centerline goodness : 0.918695 with order 1 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.30, Z:-0.09 [[ 0.99899674 0.04051446 -0.01908101 8.06175332] [-0.04010013 0.99896178 0.02161823 -0.30360966] [ 0.01993705 -0.02083139 0.9995842 -0.08561266] [ 0. 0. 0. 1. ]] SLAMing on 24.809649246 meters Centerline goodness : 0.927628 with order 1 Centerline is valid? [False, False] Translation: X:8.08, Y:-0.30, Z:-0.09 [[ 0.99907346 0.04037701 -0.0148971 8.07621987] [-0.0402209 0.99913422 0.01063405 -0.30029814] [ 0.01531357 -0.01002502 0.99983248 -0.09014863] [ 0. 0. 0. 1. ]] SLAMing on 24.869649246 meters Centerline goodness : 0.929810 with order 1 Centerline is valid? [False, False] Translation: X:8.08, Y:-0.30, Z:-0.09 [[ 0.99896579 0.04253224 -0.01607336 8.08038276] [-0.04226067 0.99896412 0.01687402 -0.30368897] [ 0.0167744 -0.01617729 0.99972842 -0.08621749] [ 0. 0. 0. 1. ]] SLAMing on 24.929649246 meters Centerline goodness : 0.927126 with order 1 Centerline is valid? [False, False] Translation: X:8.08, Y:-0.31, Z:-0.08 [[ 0.9989814 0.04174136 -0.01714146 8.08276571] [-0.04143089 0.99897769 0.01808472 -0.3065967 ] [ 0.01787882 -0.01735612 0.99968951 -0.08413101] [ 0. 0. 0. 1. ]] SLAMing on 24.989649246000003 meters Centerline goodness : 0.933566 with order 1 Centerline is valid? [False, False] Translation: X:8.09, Y:-0.31, Z:-0.08 [[ 0.99903105 0.03992119 -0.01852725 8.08724976] [-0.03957808 0.99904465 0.01853028 -0.30841077] [ 0.0192493 -0.01777906 0.99965663 -0.08343433] [ 0. 0. 0. 1. ]] SLAMing on 25.049649246 meters Centerline goodness : 0.934494 with order 1 Centerline is valid? [False, False] Translation: X:8.09, Y:-0.31, Z:-0.08 [[ 0.99904129 0.03928917 -0.01930941 8.08914039] [-0.03894221 0.99907883 0.0180275 -0.30695111] [ 0.01999991 -0.01725826 0.99965102 -0.08346287] [ 0. 0. 0. 1. ]] SLAMing on 25.109649246 meters Centerline goodness : 0.932763 with order 1 Centerline is valid? [False, False] Translation: X:8.10, Y:-0.30, Z:-0.09 [[ 0.9993474 0.03487464 -0.00940898 8.10094866] [-0.03473427 0.9992886 0.01469115 -0.30226578] [ 0.00991463 -0.01435475 0.99984781 -0.09079354] [ 0. 0. 0. 1. ]] SLAMing on 25.169649246000002 meters Centerline goodness : 0.928885 with order 1 Centerline is valid? [False, False] Translation: X:8.11, Y:-0.30, Z:-0.09 [[ 0.99924914 0.03723012 -0.01072724 8.10507907] [-0.03703346 0.99915221 0.01798295 -0.29991606] [ 0.01138766 -0.01757218 0.99978075 -0.09064356] [ 0. 0. 0. 1. ]] SLAMing on 25.229649246 meters Centerline goodness : 0.925759 with order 1 Centerline is valid? [False, False] Translation: X:8.11, Y:-0.30, Z:-0.09 [[ 0.99925718 0.03679458 -0.01145593 8.10627626] [-0.03658184 0.99916387 0.01825715 -0.29979918] [ 0.01211812 -0.01782451 0.99976769 -0.08918425] [ 0. 0. 0. 1. ]] SLAMing on 25.289649246 meters Centerline goodness : 0.927525 with order 1 Centerline is valid? [False, False] Translation: X:8.11, Y:-0.30, Z:-0.09 [[ 0.99926132 0.03636092 -0.01243736 8.10757492] [-0.03611565 0.99915916 0.01940699 -0.3010832 ] [ 0.01313256 -0.01894347 0.99973431 -0.08602862] [ 0. 0. 0. 1. ]] SLAMing on 25.349649246000002 meters Centerline goodness : 0.936145 with order 1 Centerline is valid? [False, False] Translation: X:8.13, Y:-0.30, Z:-0.08 [[ 0.99962821 0.02556375 -0.00948342 8.13326132] [-0.02528469 0.99927499 0.0284637 -0.30466412] [ 0.01020418 -0.02821333 0.99954984 -0.07879743] [ 0. 0. 0. 1. ]] SLAMing on 25.409649246 meters Centerline goodness : 0.932252 with order 1 Centerline is valid? [False, False] Translation: X:8.17, Y:-0.31, Z:-0.07 [[ 9.99834940e-01 1.72187855e-02 -5.79710738e-03 8.16763414e+00] [-1.69207193e-02 9.98701955e-01 4.80426356e-02 -3.09266789e-01] [ 6.61681831e-03 -4.79366144e-02 9.98828463e-01 -6.65421464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.469649246 meters Centerline goodness : 0.923606 with order 1 Centerline is valid? [False, False] Translation: X:8.19, Y:-0.31, Z:-0.06 [[ 9.99792045e-01 1.88864248e-02 -7.69219434e-03 8.18744835e+00] [-1.83674735e-02 9.97862560e-01 6.27132134e-02 -3.08669232e-01] [ 8.86018112e-03 -6.25588857e-02 9.98001945e-01 -6.02433146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.529649246 meters Centerline goodness : 0.924607 with order 1 Centerline is valid? [False, False] Translation: X:8.21, Y:-0.30, Z:-0.06 [[ 9.99823847e-01 1.83364121e-02 -4.00636501e-03 8.21361217e+00] [-1.80675645e-02 9.98086165e-01 5.91402530e-02 -3.04292542e-01] [ 5.08311755e-03 -5.90574501e-02 9.98241644e-01 -6.20753624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.589649246 meters Centerline goodness : 0.919146 with order 1 Centerline is valid? [False, False] Translation: X:8.23, Y:-0.29, Z:-0.07 [[ 9.99812963e-01 1.92574501e-02 -1.78597313e-03 8.23047474e+00] [-1.91546184e-02 9.98751957e-01 4.61262203e-02 -2.94513528e-01] [ 2.67201754e-03 -4.60833834e-02 9.98934023e-01 -7.08672025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.649649246 meters Centerline goodness : 0.920716 with order 1 Centerline is valid? [False, False] Translation: X:8.25, Y:-0.29, Z:-0.08 [[ 9.99788770e-01 2.05411196e-02 6.91544224e-04 8.24621989e+00] [-2.05527519e-02 9.99246588e-01 3.29217418e-02 -2.86611910e-01] [-1.47737698e-05 -3.29290009e-02 9.99457693e-01 -8.00097581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.709649246 meters Centerline goodness : 0.918615 with order 1 Centerline is valid? [False, False] Translation: X:8.26, Y:-0.28, Z:-0.09 [[ 9.99757645e-01 2.17677153e-02 3.28903551e-03 8.26097656e+00] [-2.18282318e-02 9.99568698e-01 1.96455277e-02 -2.80004328e-01] [-2.85997869e-03 -1.97125603e-02 9.99801598e-01 -8.83176789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.769649246 meters Centerline goodness : 0.919134 with order 1 Centerline is valid? [False, False] Translation: X:8.26, Y:-0.27, Z:-0.09 [[ 9.99763772e-01 2.15923130e-02 2.48434875e-03 8.26270113e+00] [-2.16329264e-02 9.99609569e-01 1.76840821e-02 -2.74559159e-01] [-2.10153854e-03 -1.77336484e-02 9.99840538e-01 -9.02337614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.829649246000002 meters Centerline goodness : 0.918022 with order 1 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.27, Z:-0.09 [[ 9.99777423e-01 2.10625228e-02 1.21396382e-03 8.26562379e+00] [-2.10788441e-02 9.99657242e-01 1.55267845e-02 -2.69472211e-01] [-8.86514467e-04 -1.55489176e-02 9.99878715e-01 -9.23337072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.889649246 meters Centerline goodness : 0.917691 with order 1 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.27, Z:-0.09 [[ 9.99767310e-01 2.15548396e-02 8.45485525e-04 8.26517813e+00] [-2.15648458e-02 9.99662084e-01 1.45146852e-02 -2.65672812e-01] [-5.32338110e-04 -1.45295406e-02 9.99894299e-01 -9.22379483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.949649246 meters Centerline goodness : 0.919119 with order 1 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.27, Z:-0.09 [[ 9.99692215e-01 2.48087551e-02 -2.63975512e-05 8.26746273e+00] [-2.48038752e-02 9.99515578e-01 1.87983375e-02 -2.66249062e-01] [ 4.92748114e-04 -1.87918969e-02 9.99823295e-01 -9.12711589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.009649246000002 meters Centerline goodness : 0.920327 with order 1 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.26, Z:-0.09 [[ 9.99551803e-01 2.99364189e-02 -5.56463215e-05 8.26612974e+00] [-2.99289930e-02 9.99341948e-01 2.04920982e-02 -2.58538040e-01] [ 6.69069738e-04 -2.04812482e-02 9.99790013e-01 -9.25857317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.069649246 meters Centerline goodness : 0.918459 with order 1 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.26, Z:-0.09 [[ 9.99404035e-01 3.45191538e-02 -5.44858419e-05 8.26525629e+00] [-3.45077180e-02 9.99111156e-01 2.42098146e-02 -2.55832071e-01] [ 8.90139725e-04 -2.41935062e-02 9.99706898e-01 -9.16848731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.129649246 meters Centerline goodness : 0.918398 with order 1 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.25, Z:-0.09 [[ 9.99393739e-01 3.48147828e-02 -2.93492278e-04 8.26562361e+00] [-3.47982508e-02 9.99117475e-01 2.35234603e-02 -2.54101921e-01] [ 1.11219743e-03 -2.34989859e-02 9.99723242e-01 -9.25148119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.189649246000002 meters Centerline goodness : 0.916726 with order 1 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.25, Z:-0.09 [[ 9.99380408e-01 3.51890505e-02 -7.29021985e-04 8.26639209e+00] [-3.51633106e-02 9.99121609e-01 2.27936693e-02 -2.52836628e-01] [ 1.53046920e-03 -2.27539116e-02 9.99739925e-01 -9.36478526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.249649246 meters Centerline goodness : 0.918252 with order 1 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.25, Z:-0.10 [[ 9.99474317e-01 3.24047255e-02 -1.01142635e-03 8.26597510e+00] [-3.23810377e-02 9.99310572e-01 1.81617260e-02 -2.51225234e-01] [ 1.59925479e-03 -1.81194277e-02 9.99834551e-01 -9.50074126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.309649246 meters Centerline goodness : 0.920198 with order 1 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.25, Z:-0.10 [[ 9.99555135e-01 2.97912485e-02 -1.41902721e-03 8.26644578e+00] [-2.97717947e-02 9.99482525e-01 1.21787737e-02 -2.47574159e-01] [ 1.78111377e-03 -1.21311088e-02 9.99924829e-01 -9.92968792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.369649246 meters Centerline goodness : 0.919983 with order 1 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.25, Z:-0.10 [[ 9.99554679e-01 2.97685300e-02 -2.06816823e-03 8.26774261e+00] [-2.97408694e-02 9.99481733e-01 1.23185182e-02 -2.48497914e-01] [ 2.43380054e-03 -1.22515234e-02 9.99921985e-01 -9.91134454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.429649246 meters Centerline goodness : 0.922168 with order 1 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.25, Z:-0.10 [[ 9.99639114e-01 2.67818613e-02 -2.09120900e-03 8.26715153e+00] [-2.67639059e-02 9.99608250e-01 8.18773502e-03 -2.48216351e-01] [ 2.30967255e-03 -8.12881126e-03 9.99964293e-01 -9.99561964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.489649246 meters Centerline goodness : 0.919867 with order 1 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.25, Z:-0.10 [[ 9.99667789e-01 2.55455794e-02 -3.42573644e-03 8.27180152e+00] [-2.55183056e-02 9.99644066e-01 7.78187617e-03 -2.49572964e-01] [ 3.62330963e-03 -7.69187195e-03 9.99963853e-01 -1.01555214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.549649246 meters Centerline goodness : 0.921715 with order 1 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.25, Z:-0.10 [[ 9.99767948e-01 2.12235625e-02 -3.68920928e-03 8.27290304e+00] [-2.12133844e-02 9.99771116e-01 2.77648341e-03 -2.49390008e-01] [ 3.74729174e-03 -2.69757851e-03 9.99989340e-01 -1.03548031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.609649246 meters Centerline goodness : 0.925876 with order 1 Centerline is valid? [False, False] Translation: X:8.28, Y:-0.25, Z:-0.10 [[ 9.99701321e-01 2.40110370e-02 -4.55403756e-03 8.27551188e+00] [-2.39739858e-02 9.99680388e-01 8.02310200e-03 -2.51887487e-01] [ 4.74522503e-03 -7.91152724e-03 9.99957444e-01 -1.00933879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.669649246000002 meters Centerline goodness : 0.926742 with order 1 Centerline is valid? [False, False] Translation: X:8.28, Y:-0.25, Z:-0.10 [[ 9.99704078e-01 2.38254986e-02 -4.90931042e-03 8.27622643e+00] [-2.37833764e-02 9.99681281e-01 8.46687885e-03 -2.52816467e-01] [ 5.10947334e-03 -8.34761334e-03 9.99952104e-01 -1.00027209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.729649246 meters Centerline goodness : 0.926997 with order 1 Centerline is valid? [False, False] Translation: X:8.28, Y:-0.25, Z:-0.10 [[ 9.99776459e-01 2.04635466e-02 -5.31744339e-03 8.27685905e+00] [-2.04404125e-02 9.99781526e-01 4.36913933e-03 -2.53133890e-01] [ 5.40568975e-03 -4.25947191e-03 9.99976317e-01 -1.00998545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.789649246 meters Centerline goodness : 0.924854 with order 1 Centerline is valid? [False, False] Translation: X:8.28, Y:-0.26, Z:-0.10 [[ 9.99782417e-01 1.98930530e-02 -6.27579663e-03 8.28012012e+00] [-1.98638744e-02 9.99791750e-01 4.67797214e-03 -2.55813122e-01] [ 6.36754884e-03 -4.55229265e-03 9.99969365e-01 -1.01700932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.849649246000002 meters Centerline goodness : 0.925372 with order 1 Centerline is valid? [False, False] Translation: X:8.28, Y:-0.26, Z:-0.10 [[ 9.99851853e-01 1.56721412e-02 -7.11737367e-03 8.28315526e+00] [-1.56660694e-02 9.99876867e-01 9.08051479e-04 -2.58769924e-01] [ 7.13072840e-03 -7.96415683e-04 9.99974259e-01 -1.03362665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.909649246 meters Centerline goodness : 0.925707 with order 1 Centerline is valid? [False, False] Translation: X:8.29, Y:-0.27, Z:-0.10 [[ 9.99876082e-01 1.32844549e-02 -8.44657703e-03 8.28864702e+00] [-1.32446580e-02 9.99901002e-01 4.75020946e-03 -2.66727924e-01] [ 8.50884478e-03 -4.63774879e-03 9.99953044e-01 -9.83676702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.969649246 meters Centerline goodness : 0.923750 with order 1 Centerline is valid? [False, False] Translation: X:8.29, Y:-0.27, Z:-0.10 [[ 9.99868849e-01 1.31541109e-02 -9.44748147e-03 8.29073147e+00] [-1.31004200e-02 9.99897810e-01 5.72266502e-03 -2.69356213e-01] [ 9.52179260e-03 -5.59814851e-03 9.99938996e-01 -9.70698544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.029649246 meters Centerline goodness : 0.919244 with order 1 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.27, Z:-0.10 [[ 0.99982487 0.01515525 -0.01097971 8.29640185] [-0.01505219 0.99984244 0.00940901 -0.27037355] [ 0.01112058 -0.00924209 0.99989545 -0.09775708] [ 0. 0. 0. 1. ]] SLAMing on 27.089649246 meters Centerline goodness : 0.924307 with order 1 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.27, Z:-0.09 [[ 0.99980764 0.01579267 -0.01163094 8.29645491] [-0.01566305 0.99981513 0.01115229 -0.2719302 ] [ 0.01180491 -0.01096797 0.99987017 -0.09442119] [ 0. 0. 0. 1. ]] SLAMing on 27.149649246 meters Centerline goodness : 0.922543 with order 1 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.27, Z:-0.09 [[ 0.99979336 0.0159477 -0.0126056 8.29827434] [-0.01580117 0.99980741 0.01163906 -0.27306503] [ 0.01278879 -0.01143747 0.9998528 -0.09350252] [ 0. 0. 0. 1. ]] SLAMing on 27.209649246 meters Centerline goodness : 0.922365 with order 1 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.27, Z:-0.09 [[ 0.99978054 0.01611797 -0.01338202 8.29967602] [-0.01595676 0.99979986 0.01206715 -0.27453027] [ 0.01357384 -0.01185097 0.99983764 -0.09288654] [ 0. 0. 0. 1. ]] SLAMing on 27.269649246 meters Centerline goodness : 0.921609 with order 1 Centerline is valid? [False, False] Translation: X:8.30, Y:-0.28, Z:-0.09 [[ 0.99976799 0.01619171 -0.01420547 8.30153607] [-0.01602026 0.99979844 0.01210063 -0.27537986] [ 0.01439854 -0.01187025 0.99982587 -0.0930115 ] [ 0. 0. 0. 1. ]] SLAMing on 27.329649246000002 meters Centerline goodness : 0.918633 with order 1 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.28, Z:-0.09 [[ 0.99969956 0.01839973 -0.01619366 8.3076654 ] [-0.0181308 0.9996978 0.01660046 -0.27736295] [ 0.01649421 -0.01630187 0.99973106 -0.09211169] [ 0. 0. 0. 1. ]] SLAMing on 27.389649246 meters Centerline goodness : 0.916533 with order 1 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.28, Z:-0.09 [[ 0.99975385 0.01478906 -0.01653854 8.30848998] [-0.0145929 0.99982248 0.01191897 -0.27723792] [ 0.01671188 -0.01167469 0.99979219 -0.09391517] [ 0. 0. 0. 1. ]] SLAMing on 27.449649246 meters Centerline goodness : 0.915229 with order 1 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.28, Z:-0.09 [[ 0.999736 0.01474438 -0.01762175 8.3106723 ] [-0.01450767 0.99980381 0.01348618 -0.28079621] [ 0.01781713 -0.01322697 0.99975377 -0.09181153] [ 0. 0. 0. 1. ]] SLAMing on 27.509649246000002 meters Centerline goodness : 0.916243 with order 1 Centerline is valid? [False, False] Translation: X:8.31, Y:-0.28, Z:-0.09 [[ 0.99972428 0.01484437 -0.01819373 8.31200959] [-0.01460613 0.99980673 0.0131588 -0.28055543] [ 0.01838554 -0.01288943 0.99974789 -0.09221691] [ 0. 0. 0. 1. ]] SLAMing on 27.569649246 meters Centerline goodness : 0.915202 with order 1 Centerline is valid? [False, False] Translation: X:8.32, Y:-0.28, Z:-0.09 [[ 0.99970494 0.01428311 -0.01964735 8.31547577] [-0.01401301 0.99980634 0.01381733 -0.28299051] [ 0.01984089 -0.01353794 0.99971149 -0.09133458] [ 0. 0. 0. 1. ]] SLAMing on 27.629649246 meters Centerline goodness : 0.913675 with order 1 Centerline is valid? [False, False] Translation: X:8.32, Y:-0.29, Z:-0.09 [[ 0.99962869 0.01696656 -0.02132192 8.31993288] [-0.01656441 0.99968419 0.01889835 -0.28628186] [ 0.02163582 -0.01853815 0.99959403 -0.08919056] [ 0. 0. 0. 1. ]] SLAMing on 27.689649246000002 meters Centerline goodness : 0.920044 with order 1 Centerline is valid? [False, False] Translation: X:8.34, Y:-0.29, Z:-0.09 [[ 0.99970203 0.0179566 -0.01653511 8.33525658] [-0.01775653 0.99976829 0.01216827 -0.28592176] [ 0.01674978 -0.01187104 0.99978924 -0.09077253] [ 0. 0. 0. 1. ]] SLAMing on 27.749649246 meters Centerline goodness : 0.922117 with order 1 Centerline is valid? [False, False] Translation: X:8.34, Y:-0.29, Z:-0.08 [[ 0.99963792 0.01896482 -0.01908848 8.34327101] [-0.01859697 0.99964139 0.01926749 -0.28921767] [ 0.01944704 -0.01890552 0.99963213 -0.08454329] [ 0. 0. 0. 1. ]] SLAMing on 27.809649246 meters Centerline goodness : 0.919132 with order 1 Centerline is valid? [False, False] Translation: X:8.35, Y:-0.29, Z:-0.09 [[ 0.99956581 0.0203544 -0.02130457 8.35154073] [-0.01987794 0.99955275 0.02234222 -0.28876953] [ 0.02174981 -0.02190903 0.99952336 -0.08646757] [ 0. 0. 0. 1. ]] SLAMing on 27.869649246 meters Centerline goodness : 0.913590 with order 1 Centerline is valid? [False, False] Translation: X:8.37, Y:-0.29, Z:-0.09 [[ 0.99957071 0.02186768 -0.01949874 8.37286229] [-0.02154412 0.99962921 0.01665217 -0.28816906] [ 0.01985566 -0.01622493 0.9996712 -0.09000029] [ 0. 0. 0. 1. ]] SLAMing on 27.929649246 meters Centerline goodness : 0.918864 with order 1 Centerline is valid? [False, False] Translation: X:8.37, Y:-0.29, Z:-0.09 [[ 0.99954407 0.0220356 -0.02064164 8.37495937] [-0.0217 0.99963092 0.016344 -0.28783002] [ 0.02099417 -0.01588863 0.99965334 -0.09009828] [ 0. 0. 0. 1. ]] SLAMing on 27.989649246 meters Centerline goodness : 0.913849 with order 1 Centerline is valid? [False, False] Translation: X:8.40, Y:-0.29, Z:-0.09 [[ 0.99953162 0.02422587 -0.01869905 8.39707077] [-0.02399854 0.99963648 0.01228724 -0.28719837] [ 0.01898992 -0.01183274 0.99974965 -0.09225501] [ 0. 0. 0. 1. ]] SLAMing on 28.049649246 meters Centerline goodness : 0.911943 with order 1 Centerline is valid? [False, False] Translation: X:8.41, Y:-0.29, Z:-0.08 [[ 0.99945138 0.02659083 -0.01974518 8.40628365] [-0.02611584 0.99937231 0.02393634 -0.29077121] [ 0.02036927 -0.02340755 0.99951847 -0.08413782] [ 0. 0. 0. 1. ]] SLAMing on 28.109649246 meters Centerline goodness : 0.911138 with order 1 Centerline is valid? [False, False] Translation: X:8.43, Y:-0.29, Z:-0.09 [[ 0.99937809 0.02951983 -0.01928742 8.42839865] [-0.02914573 0.99938694 0.01939781 -0.28980877] [ 0.01984821 -0.0188236 0.99962579 -0.08699143] [ 0. 0. 0. 1. ]] SLAMing on 28.169649246000002 meters Centerline goodness : 0.915107 with order 1 Centerline is valid? [False, False] Translation: X:8.43, Y:-0.29, Z:-0.09 [[ 0.99924766 0.03255445 -0.02107907 8.43289641] [-0.03204876 0.99920053 0.02389927 -0.29022494] [ 0.02184025 -0.02320573 0.99949212 -0.08539916] [ 0. 0. 0. 1. ]] SLAMing on 28.229649246 meters Centerline goodness : 0.913034 with order 1 Centerline is valid? [False, False] Translation: X:8.45, Y:-0.29, Z:-0.09 [[ 0.99915862 0.03577419 -0.02005652 8.45412255] [-0.03540232 0.99920005 0.01859925 -0.28825058] [ 0.02070585 -0.01787355 0.99962583 -0.08959192] [ 0. 0. 0. 1. ]] SLAMing on 28.289649246 meters Centerline goodness : 0.912789 with order 1 Centerline is valid? [False, False] Translation: X:8.47, Y:-0.29, Z:-0.09 [[ 0.99908543 0.03934397 -0.01674353 8.47275564] [-0.0391175 0.99914145 0.01364484 -0.28637652] [ 0.017266 -0.01297739 0.99976671 -0.09310098] [ 0. 0. 0. 1. ]] SLAMing on 28.349649246000002 meters Centerline goodness : 0.908813 with order 1 Centerline is valid? [False, False] Translation: X:8.48, Y:-0.28, Z:-0.09 [[ 0.99901253 0.04053781 -0.01818365 8.47517065] [-0.04030741 0.99910453 0.01286309 -0.28313839] [ 0.01868881 -0.01211746 0.99975192 -0.09464168] [ 0. 0. 0. 1. ]] SLAMing on 28.409649246 meters Centerline goodness : 0.909519 with order 1 Centerline is valid? [False, False] Translation: X:8.49, Y:-0.28, Z:-0.10 [[ 9.98917944e-01 4.41693899e-02 -1.45604573e-02 8.49109406e+00] [-4.40864401e-02 9.99009884e-01 5.96966120e-03 -2.81125560e-01] [ 1.48097170e-02 -5.32128296e-03 9.99876170e-01 -9.88662028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.469649246 meters Centerline goodness : 0.906351 with order 1 Centerline is valid? [False, False] Translation: X:8.50, Y:-0.29, Z:-0.10 [[ 0.99878768 0.04643783 -0.01633087 8.49626432] [-0.0462568 0.99886574 0.01129373 -0.28520645] [ 0.0168368 -0.01052462 0.99980286 -0.09660359] [ 0. 0. 0. 1. ]] SLAMing on 28.529649246 meters Centerline goodness : 0.902314 with order 1 Centerline is valid? [False, False] Translation: X:8.51, Y:-0.29, Z:-0.10 [[ 0.99878611 0.04573229 -0.01829909 8.50619285] [-0.0454377 0.99883575 0.0162035 -0.2892163 ] [ 0.01901881 -0.01535236 0.99970125 -0.09524882] [ 0. 0. 0. 1. ]] SLAMing on 28.589649246 meters Centerline goodness : 0.905196 with order 1 Centerline is valid? [False, False] Translation: X:8.52, Y:-0.29, Z:-0.10 [[ 9.98858581e-01 4.53194427e-02 -1.50891828e-02 8.52222380e+00] [-4.52282806e-02 9.98956628e-01 6.32913325e-03 -2.91306846e-01] [ 1.53602719e-02 -5.63945127e-03 9.99866120e-01 -9.91299019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.649649246 meters Centerline goodness : 0.905253 with order 1 Centerline is valid? [False, False] Translation: X:8.53, Y:-0.30, Z:-0.10 [[ 0.9988787 0.0441447 -0.01710497 8.53262539] [-0.04393781 0.9989587 0.01228795 -0.29552653] [ 0.0176296 -0.01152262 0.99977819 -0.09543594] [ 0. 0. 0. 1. ]] SLAMing on 28.709649246 meters Centerline goodness : 0.904692 with order 1 Centerline is valid? [False, False] Translation: X:8.54, Y:-0.30, Z:-0.10 [[ 0.99889352 0.04332525 -0.01829357 8.53654731] [-0.04311849 0.99900321 0.01154921 -0.29512823] [ 0.01877571 -0.01074764 0.99976595 -0.09736438] [ 0. 0. 0. 1. ]] SLAMing on 28.769649246 meters Centerline goodness : 0.907924 with order 1 Centerline is valid? [False, False] Translation: X:8.54, Y:-0.30, Z:-0.10 [[ 0.99889293 0.04272459 -0.01968545 8.53992051] [-0.0424852 0.99901986 0.01242249 -0.29725589] [ 0.02019691 -0.01157239 0.99972905 -0.09619816] [ 0. 0. 0. 1. ]] SLAMing on 28.829649246 meters Centerline goodness : 0.904590 with order 1 Centerline is valid? [False, False] Translation: X:8.54, Y:-0.30, Z:-0.10 [[ 0.99887555 0.04262929 -0.02074551 8.54267403] [-0.04237258 0.99902166 0.0126604 -0.29731799] [ 0.02126492 -0.01176712 0.99970463 -0.09632436] [ 0. 0. 0. 1. ]] SLAMing on 28.889649246 meters Centerline goodness : 0.901147 with order 1 Centerline is valid? [False, False] Translation: X:8.54, Y:-0.30, Z:-0.10 [[ 0.99887066 0.04222717 -0.02177785 8.5447332 ] [-0.04195094 0.99903524 0.01298896 -0.29854997] [ 0.02230533 -0.01206068 0.99967845 -0.09532804] [ 0. 0. 0. 1. ]] SLAMing on 28.949649246 meters Centerline goodness : 0.904310 with order 1 Centerline is valid? [False, False] Translation: X:8.56, Y:-0.30, Z:-0.09 [[ 0.99883296 0.04287173 -0.02224267 8.55820909] [-0.04227512 0.99875096 0.02663345 -0.30439981] [ 0.02335671 -0.02566206 0.99939778 -0.08535663] [ 0. 0. 0. 1. ]] SLAMing on 29.009649246000002 meters Centerline goodness : 0.906706 with order 1 Centerline is valid? [False, False] Translation: X:8.56, Y:-0.31, Z:-0.08 [[ 0.99869312 0.04500232 -0.02422471 8.56411445] [-0.04419939 0.99848682 0.03271834 -0.30785999] [ 0.02566045 -0.03160486 0.99917099 -0.08175324] [ 0. 0. 0. 1. ]] SLAMing on 29.069649246 meters Centerline goodness : 0.906331 with order 1 Centerline is valid? [False, False] Translation: X:8.57, Y:-0.31, Z:-0.08 [[ 0.99871515 0.04391534 -0.02528808 8.56710241] [-0.04306342 0.99851717 0.03330164 -0.31084619] [ 0.02671304 -0.03216986 0.99912537 -0.08105731] [ 0. 0. 0. 1. ]] SLAMing on 29.129649246 meters Centerline goodness : 0.903274 with order 1 Centerline is valid? [False, False] Translation: X:8.57, Y:-0.31, Z:-0.08 [[ 0.99873015 0.04260737 -0.02688298 8.57219386] [-0.04170038 0.99857033 0.03344222 -0.31293545] [ 0.02826943 -0.03227872 0.99907904 -0.08170537] [ 0. 0. 0. 1. ]] SLAMing on 29.189649246000002 meters Centerline goodness : 0.904107 with order 1 Centerline is valid? [False, False] Translation: X:8.60, Y:-0.32, Z:-0.08 [[ 0.99854926 0.04378029 -0.03134752 8.59714915] [-0.04286092 0.9986477 0.02942316 -0.31579139] [ 0.03259328 -0.02803689 0.99907538 -0.08149829] [ 0. 0. 0. 1. ]] SLAMing on 29.249649246 meters Centerline goodness : 0.907799 with order 1 Centerline is valid? [False, False] Translation: X:8.60, Y:-0.32, Z:-0.08 [[ 0.99840483 0.04567952 -0.03318401 8.60350866] [-0.04453149 0.99841042 0.03454834 -0.31818444] [ 0.03470941 -0.03301549 0.99885196 -0.07935193] [ 0. 0. 0. 1. ]] SLAMing on 29.309649246 meters Centerline goodness : 0.900336 with order 1 Centerline is valid? [False, False] Translation: X:8.62, Y:-0.32, Z:-0.08 [[ 0.99837491 0.04625864 -0.0332819 8.62407387] [-0.04540215 0.99862919 0.02604595 -0.3165888 ] [ 0.03444113 -0.02449255 0.99910656 -0.08289583] [ 0. 0. 0. 1. ]] SLAMing on 29.369649246 meters Centerline goodness : 0.912514 with order 1 Centerline is valid? [False, False] Translation: X:8.64, Y:-0.32, Z:-0.08 [[ 0.99910573 0.03475726 -0.02407642 8.63784875] [-0.03430491 0.99923168 0.01895295 -0.31605554] [ 0.02471668 -0.01811006 0.99953045 -0.08400699] [ 0. 0. 0. 1. ]] SLAMing on 29.429649246 meters Centerline goodness : 0.897580 with order 1 Centerline is valid? [False, False] Translation: X:8.65, Y:-0.31, Z:-0.09 [[ 0.99911039 0.03229557 -0.02711856 8.65461515] [-0.03175222 0.99929096 0.02023321 -0.31235612] [ 0.02775277 -0.01935413 0.99942744 -0.08998304] [ 0. 0. 0. 1. ]] SLAMing on 29.489649246 meters Centerline goodness : 0.892305 with order 1 Centerline is valid? [False, False] Translation: X:8.67, Y:-0.31, Z:-0.09 [[ 0.99909342 0.03038288 -0.02981989 8.67445135] [-0.02958949 0.99920557 0.02669644 -0.31288289] [ 0.03060732 -0.02578988 0.99919872 -0.09121319] [ 0. 0. 0. 1. ]] SLAMing on 29.549649246 meters Centerline goodness : 0.904840 with order 1 Centerline is valid? [False, False] Translation: X:8.69, Y:-0.32, Z:-0.08 [[ 0.99918413 0.03117765 -0.0256717 8.68669043] [-0.03063424 0.99930377 0.02129579 -0.31512838] [ 0.02631778 -0.02049198 0.99944357 -0.08492343] [ 0. 0. 0. 1. ]] SLAMing on 29.609649246 meters Centerline goodness : 0.905777 with order 1 Centerline is valid? [False, False] Translation: X:8.70, Y:-0.32, Z:-0.08 [[ 0.99907291 0.03341562 -0.02714255 8.69794351] [-0.03252644 0.99894018 0.0325662 -0.31725778] [ 0.028202 -0.03165315 0.99910096 -0.07811324] [ 0. 0. 0. 1. ]] SLAMing on 29.669649246000002 meters Centerline goodness : 0.900670 with order 1 Centerline is valid? [False, False] Translation: X:8.71, Y:-0.31, Z:-0.08 [[ 0.99894787 0.03530827 -0.02926562 8.70500835] [-0.03430059 0.9988246 0.03424734 -0.31313257] [ 0.03044043 -0.03320748 0.99898481 -0.08110804] [ 0. 0. 0. 1. ]] SLAMing on 29.729649246 meters Centerline goodness : 0.900634 with order 1 Centerline is valid? [False, False] Translation: X:8.72, Y:-0.31, Z:-0.09 [[ 0.99889222 0.03774702 -0.02809804 8.72241279] [-0.03709614 0.99903918 0.02333644 -0.30850483] [ 0.02895193 -0.02226826 0.99933273 -0.08862521] [ 0. 0. 0. 1. ]] SLAMing on 29.789649246 meters Centerline goodness : 0.901501 with order 1 Centerline is valid? [False, False] Translation: X:8.74, Y:-0.30, Z:-0.10 [[ 0.99893579 0.03944795 -0.02389866 8.73733431] [-0.03913526 0.99914388 0.01341377 -0.30490836] [ 0.02440735 -0.01246421 0.99962439 -0.09580907] [ 0. 0. 0. 1. ]] SLAMing on 29.849649246000002 meters Centerline goodness : 0.899801 with order 1 Centerline is valid? [False, False] Translation: X:8.74, Y:-0.30, Z:-0.10 [[ 0.99875744 0.043257 -0.0247469 8.73914575] [-0.04285339 0.99894323 0.01661381 -0.30152953] [ 0.02543941 -0.01553268 0.99955569 -0.09554748] [ 0. 0. 0. 1. ]] SLAMing on 29.909649246 meters Centerline goodness : 0.901772 with order 1 Centerline is valid? [False, False] Translation: X:8.76, Y:-0.30, Z:-0.10 [[ 0.99853204 0.04984438 -0.02119684 8.75517694] [-0.04959395 0.99869519 0.01218053 -0.29618183] [ 0.02177631 -0.01111142 0.99970112 -0.09964902] [ 0. 0. 0. 1. ]] SLAMing on 29.969649246 meters Centerline goodness : 0.904354 with order 1 Centerline is valid? [False, False] Translation: X:8.77, Y:-0.29, Z:-0.10 [[ 9.98331704e-01 5.49143622e-02 -1.78387908e-02 8.77117032e+00] [-5.48096726e-02 9.98476908e-01 6.30585383e-03 -2.92916255e-01] [ 1.81579027e-02 -5.31759551e-03 9.99820991e-01 -1.03663333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.029649246 meters Centerline goodness : 0.908567 with order 1 Centerline is valid? [False, False] Translation: X:8.79, Y:-0.29, Z:-0.10 [[ 9.98188460e-01 5.85862241e-02 -1.36913614e-02 8.79211074e+00] [-5.85169015e-02 9.98271756e-01 5.41049097e-03 -2.91868589e-01] [ 1.39846796e-02 -4.59951360e-03 9.99891631e-01 -1.03844255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.089649246 meters Centerline goodness : 0.908388 with order 1 Centerline is valid? [False, False] Translation: X:8.80, Y:-0.29, Z:-0.10 [[ 0.99818302 0.05814835 -0.01579297 8.80164954] [-0.05799726 0.99826802 0.00986296 -0.2940648 ] [ 0.01633913 -0.00892909 0.99982664 -0.10260265] [ 0. 0. 0. 1. ]] SLAMing on 30.149649246 meters Centerline goodness : 0.907984 with order 1 Centerline is valid? [False, False] Translation: X:8.81, Y:-0.30, Z:-0.10 [[ 9.98424089e-01 5.33839406e-02 -1.73058927e-02 8.80545668e+00] [-5.32820706e-02 9.98559657e-01 6.29535121e-03 -2.97908043e-01] [ 1.76170370e-02 -5.36333650e-03 9.99830423e-01 -1.03621498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.209649246 meters Centerline goodness : 0.910627 with order 1 Centerline is valid? [False, False] Translation: X:8.81, Y:-0.30, Z:-0.10 [[ 9.98447576e-01 5.24966154e-02 -1.86156927e-02 8.80910377e+00] [-5.23744105e-02 9.98603035e-01 6.99282198e-03 -3.00585972e-01] [ 1.89567867e-02 -6.00698022e-03 9.99802259e-01 -1.03097332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.269649246 meters Centerline goodness : 0.911391 with order 1 Centerline is valid? [False, False] Translation: X:8.82, Y:-0.30, Z:-0.10 [[ 0.9985043 0.05095527 -0.01981713 8.81801842] [-0.05070356 0.99862909 0.01300336 -0.30467304] [ 0.02045255 -0.01197912 0.99971906 -0.09833929] [ 0. 0. 0. 1. ]] SLAMing on 30.329649246 meters Centerline goodness : 0.914030 with order 1 Centerline is valid? [False, False] Translation: X:8.83, Y:-0.31, Z:-0.09 [[ 0.99864032 0.04734576 -0.02181478 8.82603852] [-0.04699652 0.99876281 0.01625348 -0.30920281] [ 0.02255733 -0.01520616 0.9996299 -0.09314887] [ 0. 0. 0. 1. ]] SLAMing on 30.389649246 meters Centerline goodness : 0.918833 with order 1 Centerline is valid? [False, False] Translation: X:8.83, Y:-0.31, Z:-0.09 [[ 0.99866802 0.04613215 -0.02310845 8.82977647] [-0.04574663 0.99880938 0.01694336 -0.31167558] [ 0.02386257 -0.01586366 0.99958938 -0.09233269] [ 0. 0. 0. 1. ]] SLAMing on 30.449649246 meters Centerline goodness : 0.918425 with order 1 Centerline is valid? [False, False] Translation: X:8.83, Y:-0.31, Z:-0.10 [[ 0.9988318 0.04212401 -0.02367704 8.83165448] [-0.04185986 0.9990568 0.01154364 -0.3101994 ] [ 0.02414097 -0.01053904 0.99965301 -0.09566082] [ 0. 0. 0. 1. ]] SLAMing on 30.509649246000002 meters Centerline goodness : 0.918320 with order 1 Centerline is valid? [False, False] Translation: X:8.84, Y:-0.31, Z:-0.10 [[ 0.99884961 0.04089149 -0.02504669 8.8360152 ] [-0.04063142 0.99911577 0.01080594 -0.31034743] [ 0.02546641 -0.00977583 0.99962788 -0.09719565] [ 0. 0. 0. 1. ]] SLAMing on 30.569649246 meters Centerline goodness : 0.920483 with order 1 Centerline is valid? [False, False] Translation: X:8.84, Y:-0.31, Z:-0.10 [[ 0.99884608 0.04037866 -0.02600123 8.83840396] [-0.04010612 0.99913576 0.01091958 -0.3106208 ] [ 0.02641968 -0.00986417 0.99960227 -0.09696333] [ 0. 0. 0. 1. ]] SLAMing on 30.629649246 meters Centerline goodness : 0.919460 with order 1 Centerline is valid? [False, False] Translation: X:8.84, Y:-0.31, Z:-0.10 [[ 0.99872303 0.04246721 -0.0273649 8.84312297] [-0.04205579 0.99899597 0.01543899 -0.31253904] [ 0.02799308 -0.01426842 0.99950628 -0.09558851] [ 0. 0. 0. 1. ]] SLAMing on 30.689649246000002 meters Centerline goodness : 0.919544 with order 1 Centerline is valid? [False, False] Translation: X:8.85, Y:-0.32, Z:-0.09 [[ 0.99863596 0.04311417 -0.02945131 8.85172774] [-0.04240787 0.99880726 0.02419995 -0.31823033] [ 0.03045955 -0.02291797 0.99927323 -0.08757235] [ 0. 0. 0. 1. ]] SLAMing on 30.749649246 meters Centerline goodness : 0.920660 with order 1 Centerline is valid? [False, False] Translation: X:8.86, Y:-0.32, Z:-0.09 [[ 0.99864618 0.04219373 -0.0304219 8.85503534] [-0.04148392 0.99886047 0.02359773 -0.31853876] [ 0.03138291 -0.02230377 0.99925855 -0.08881057] [ 0. 0. 0. 1. ]] SLAMing on 30.809649246 meters Centerline goodness : 0.921167 with order 1 Centerline is valid? [False, False] Translation: X:8.86, Y:-0.32, Z:-0.09 [[ 0.99864784 0.0415118 -0.03129314 8.85780253] [-0.04080375 0.99890391 0.02293537 -0.31799788] [ 0.03221093 -0.02162748 0.99924707 -0.08990542] [ 0. 0. 0. 1. ]] SLAMing on 30.869649246 meters Centerline goodness : 0.922013 with order 1 Centerline is valid? [False, False] Translation: X:8.86, Y:-0.32, Z:-0.09 [[ 0.99865721 0.04043185 -0.03238908 8.86089524] [-0.03969392 0.99894458 0.02311115 -0.31885697] [ 0.03328933 -0.02179447 0.9992081 -0.089309 ] [ 0. 0. 0. 1. ]] SLAMing on 30.929649246 meters Centerline goodness : 0.925569 with order 1 Centerline is valid? [False, False] Translation: X:8.87, Y:-0.32, Z:-0.08 [[ 0.99869893 0.03803269 -0.03397007 8.87462241] [-0.0369585 0.9988136 0.03170888 -0.32254773] [ 0.03513574 -0.03041214 0.99891971 -0.08163707] [ 0. 0. 0. 1. ]] SLAMing on 30.989649246 meters Centerline goodness : 0.927491 with order 1 Centerline is valid? [False, False] Translation: X:8.88, Y:-0.33, Z:-0.07 [[ 0.99874571 0.03484622 -0.03595492 8.88202175] [-0.03354546 0.99878256 0.03616777 -0.32803047] [ 0.03717146 -0.03491628 0.99869872 -0.07369151] [ 0. 0. 0. 1. ]] SLAMing on 31.049649246 meters Centerline goodness : 0.926292 with order 1 Centerline is valid? [False, False] Translation: X:8.89, Y:-0.33, Z:-0.07 [[ 0.99869585 0.03458604 -0.03755526 8.89053138] [-0.03300202 0.99857202 0.04200932 -0.33162511] [ 0.03895457 -0.04071513 0.99841115 -0.07012239] [ 0. 0. 0. 1. ]] SLAMing on 31.109649246 meters Centerline goodness : 0.927131 with order 1 Centerline is valid? [False, False] Translation: X:8.91, Y:-0.33, Z:-0.07 [[ 0.99885802 0.03356995 -0.03399586 8.90914063] [-0.03247331 0.99895016 0.03231208 -0.32932466] [ 0.03504488 -0.03117123 0.9988995 -0.07470876] [ 0. 0. 0. 1. ]] SLAMing on 31.169649246000002 meters Centerline goodness : 0.928876 with order 1 Centerline is valid? [False, False] Translation: X:8.93, Y:-0.33, Z:-0.07 [[ 0.99881926 0.03332748 -0.03534646 8.92507543] [-0.03175255 0.9985171 0.04421955 -0.33216632] [ 0.03676777 -0.043045 0.99839634 -0.06681954] [ 0. 0. 0. 1. ]] SLAMing on 31.229649246 meters Centerline goodness : 0.930331 with order 1 Centerline is valid? [False, False] Translation: X:8.94, Y:-0.33, Z:-0.07 [[ 0.99894852 0.03247291 -0.03236307 8.94188913] [-0.03145022 0.99900492 0.03162369 -0.32900356] [ 0.03335778 -0.03057262 0.99897576 -0.07409002] [ 0. 0. 0. 1. ]] SLAMing on 31.289649246 meters Centerline goodness : 0.931625 with order 1 Centerline is valid? [False, False] Translation: X:8.96, Y:-0.33, Z:-0.08 [[ 0.99907291 0.03186254 -0.02895005 8.96108968] [-0.03124748 0.99928137 0.02145532 -0.3257012 ] [ 0.02961287 -0.02053082 0.99935057 -0.08058824] [ 0. 0. 0. 1. ]] SLAMing on 31.349649246000002 meters Centerline goodness : 0.929376 with order 1 Centerline is valid? [False, False] Translation: X:8.97, Y:-0.33, Z:-0.08 [[ 0.99896098 0.0336232 -0.03076435 8.96735192] [-0.03283221 0.99912614 0.02586504 -0.32738727] [ 0.03160713 -0.02482811 0.99919195 -0.0794488 ] [ 0. 0. 0. 1. ]] SLAMing on 31.409649246 meters Centerline goodness : 0.932165 with order 1 Centerline is valid? [False, False] Translation: X:8.99, Y:-0.32, Z:-0.08 [[ 0.99903516 0.03424209 -0.02749949 8.98575387] [-0.03378306 0.99928482 0.01698706 -0.32485269] [ 0.02806149 -0.01604165 0.99947747 -0.0847429 ] [ 0. 0. 0. 1. ]] SLAMing on 31.469649246 meters Centerline goodness : 0.931342 with order 1 Centerline is valid? [False, False] Translation: X:8.99, Y:-0.32, Z:-0.08 [[ 0.99890248 0.03698324 -0.02874137 8.98950501] [-0.03640186 0.99912706 0.02049452 -0.32348246] [ 0.02947424 -0.01942578 0.99937676 -0.0844553 ] [ 0. 0. 0. 1. ]] SLAMing on 31.529649246 meters Centerline goodness : 0.926965 with order 1 Centerline is valid? [False, False] Translation: X:9.00, Y:-0.32, Z:-0.09 [[ 0.99882616 0.03732033 -0.03087867 8.99838397] [-0.03661319 0.99906116 0.02315768 -0.32220695] [ 0.03171393 -0.02199993 0.99925484 -0.08588369] [ 0. 0. 0. 1. ]] SLAMing on 31.589649246 meters Centerline goodness : 0.926769 with order 1 Centerline is valid? [False, False] Translation: X:9.01, Y:-0.32, Z:-0.09 [[ 0.99926242 0.03166516 -0.0217239 9.01087541] [-0.03126467 0.99933929 0.01853407 -0.31931231] [ 0.02229643 -0.01784121 0.9995922 -0.09387777] [ 0. 0. 0. 1. ]] SLAMing on 31.649649246 meters Centerline goodness : 0.929124 with order 1 Centerline is valid? [False, False] Translation: X:9.01, Y:-0.32, Z:-0.09 [[ 0.99914955 0.03418816 -0.02305093 9.01467632] [-0.03360352 0.9991152 0.02529065 -0.32312181] [ 0.02389518 -0.02449455 0.99941435 -0.08875204] [ 0. 0. 0. 1. ]] SLAMing on 31.709649246 meters Centerline goodness : 0.927503 with order 1 Centerline is valid? [False, False] Translation: X:9.03, Y:-0.32, Z:-0.09 [[ 0.99925707 0.03380464 -0.01850836 9.0301165 ] [-0.03352991 0.99932578 0.01495776 -0.32067503] [ 0.01900152 -0.01432606 0.99971681 -0.0940688 ] [ 0. 0. 0. 1. ]] SLAMing on 31.769649246 meters Centerline goodness : 0.929611 with order 1 Centerline is valid? [False, False] Translation: X:9.03, Y:-0.32, Z:-0.09 [[ 0.99925186 0.03371218 -0.01895284 9.03110669] [-0.03343497 0.99933193 0.0147579 -0.31960964] [ 0.0194377 -0.01411317 0.99971146 -0.09408525] [ 0. 0. 0. 1. ]] SLAMing on 31.829649246 meters Centerline goodness : 0.932320 with order 1 Centerline is valid? [False, False] Translation: X:9.03, Y:-0.32, Z:-0.09 [[ 0.99925141 0.03344181 -0.01944895 9.0322007 ] [-0.0331487 0.99933479 0.01520315 -0.32074638] [ 0.01994444 -0.01454706 0.99969525 -0.09308426] [ 0. 0. 0. 1. ]] SLAMing on 31.889649246 meters Centerline goodness : 0.934523 with order 1 Centerline is valid? [False, False] Translation: X:9.03, Y:-0.32, Z:-0.09 [[ 0.99926854 0.03277052 -0.01970986 9.03372955] [-0.03248659 0.99936616 0.01455704 -0.32075183] [ 0.02017441 -0.01390609 0.99969976 -0.09432736] [ 0. 0. 0. 1. ]] SLAMing on 31.949649246 meters Centerline goodness : 0.933247 with order 1 Centerline is valid? [False, False] Translation: X:9.04, Y:-0.32, Z:-0.10 [[ 0.99927654 0.03185835 -0.02077135 9.03724344] [-0.03157444 0.99940536 0.01385573 -0.32045103] [ 0.02120042 -0.01318986 0.99968824 -0.09580868] [ 0. 0. 0. 1. ]] SLAMing on 32.009649246 meters Centerline goodness : 0.929107 with order 1 Centerline is valid? [False, False] Translation: X:9.04, Y:-0.32, Z:-0.09 [[ 0.99919028 0.03318809 -0.02274479 9.0441963 ] [-0.03277421 0.9992946 0.01833437 -0.32194825] [ 0.02333723 -0.01757408 0.99957317 -0.09454654] [ 0. 0. 0. 1. ]] SLAMing on 32.069649246 meters Centerline goodness : 0.926135 with order 1 Centerline is valid? [False, False] Translation: X:9.05, Y:-0.32, Z:-0.09 [[ 0.99920227 0.03260015 -0.02306644 9.0451733 ] [-0.03218083 0.99931411 0.01832246 -0.32090324] [ 0.02364794 -0.01756555 0.99956602 -0.09389474] [ 0. 0. 0. 1. ]] SLAMing on 32.129649246 meters Centerline goodness : 0.930235 with order 1 Centerline is valid? [False, False] Translation: X:9.06, Y:-0.32, Z:-0.10 [[ 9.99301936e-01 3.24012363e-02 -1.85957000e-02 9.06026788e+00] [-3.22617151e-02 9.99449373e-01 7.75452895e-03 -3.18966348e-01] [ 1.88367171e-02 -7.14918662e-03 9.99797013e-01 -9.91512096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.189649245999995 meters Centerline goodness : 0.928781 with order 1 Centerline is valid? [False, False] Translation: X:9.06, Y:-0.32, Z:-0.10 [[ 9.99311491e-01 3.18168173e-02 -1.90849182e-02 9.06220024e+00] [-3.16888342e-02 9.99473470e-01 6.97140336e-03 -3.17797531e-01] [ 1.92966773e-02 -6.36182467e-03 9.99793561e-01 -1.00407133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.249649246 meters Centerline goodness : 0.926263 with order 1 Centerline is valid? [False, False] Translation: X:9.07, Y:-0.32, Z:-0.10 [[ 9.99326775e-01 3.06225150e-02 -2.02054147e-02 9.06600556e+00] [-3.04898073e-02 9.99511648e-01 6.84369549e-03 -3.19022848e-01] [ 2.04051185e-02 -6.22302894e-03 9.99772427e-01 -1.01044594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.309649246 meters Centerline goodness : 0.925292 with order 1 Centerline is valid? [False, False] Translation: X:9.07, Y:-0.32, Z:-0.10 [[ 9.99335915e-01 2.99226375e-02 -2.07933764e-02 9.06805089e+00] [-2.97989317e-02 9.99536473e-01 6.23395197e-03 -3.19192744e-01] [ 2.09702744e-02 -5.61019169e-03 9.99764359e-01 -1.02024229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.369649245999994 meters Centerline goodness : 0.924029 with order 1 Centerline is valid? [False, False] Translation: X:9.07, Y:-0.32, Z:-0.10 [[ 0.99925115 0.0316948 -0.02219426 9.07354443] [-0.03145662 0.99944459 0.01099987 -0.32021974] [ 0.02253057 -0.01029348 0.99969316 -0.10040309] [ 0. 0. 0. 1. ]] SLAMing on 32.429649246 meters Centerline goodness : 0.926844 with order 1 Centerline is valid? [False, False] Translation: X:9.08, Y:-0.32, Z:-0.10 [[ 0.99926245 0.03081586 -0.02291156 9.07560211] [-0.03057739 0.99947527 0.01068682 -0.32049217] [ 0.02322887 -0.00997836 0.99968037 -0.10043055] [ 0. 0. 0. 1. ]] SLAMing on 32.489649246 meters Centerline goodness : 0.929885 with order 1 Centerline is valid? [False, False] Translation: X:9.08, Y:-0.32, Z:-0.10 [[ 0.99926624 0.03046949 -0.02320758 9.07592451] [-0.03018051 0.99946375 0.0127021 -0.32302233] [ 0.02358216 -0.01199236 0.99964997 -0.09665934] [ 0. 0. 0. 1. ]] SLAMing on 32.549649245999994 meters Centerline goodness : 0.930767 with order 1 Centerline is valid? [False, False] Translation: X:9.08, Y:-0.33, Z:-0.09 [[ 0.99915766 0.03250405 -0.02504915 9.08138169] [-0.03203346 0.99930687 0.01896432 -0.32641753] [ 0.0256482 -0.01814593 0.99950633 -0.09221961] [ 0. 0. 0. 1. ]] SLAMing on 32.609649246 meters Centerline goodness : 0.926878 with order 1 Centerline is valid? [False, False] Translation: X:9.08, Y:-0.32, Z:-0.09 [[ 0.99915655 0.0318404 -0.02593034 9.08426146] [-0.031384 0.9993485 0.01782193 -0.32374453] [ 0.0264809 -0.0169931 0.99950488 -0.09383899] [ 0. 0. 0. 1. ]] SLAMing on 32.669649246 meters Centerline goodness : 0.928203 with order 1 Centerline is valid? [False, False] Translation: X:9.09, Y:-0.32, Z:-0.10 [[ 0.99916079 0.03134598 -0.02636546 9.08615824] [-0.03091111 0.9993819 0.01674304 -0.3213783 ] [ 0.02687399 -0.015914 0.99951215 -0.0954463 ] [ 0. 0. 0. 1. ]] SLAMing on 32.729649245999994 meters Centerline goodness : 0.928795 with order 1 Centerline is valid? [False, False] Translation: X:9.10, Y:-0.32, Z:-0.10 [[ 9.99261632e-01 3.14216096e-02 -2.21104733e-02 9.10096565e+00] [-3.12977237e-02 9.99492533e-01 5.92704240e-03 -3.18558191e-01] [ 2.22854901e-02 -5.23065858e-03 9.99737964e-01 -1.00778638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.789649245999996 meters Centerline goodness : 0.934300 with order 1 Centerline is valid? [False, False] Translation: X:9.10, Y:-0.32, Z:-0.10 [[ 9.99277924e-01 3.00476232e-02 -2.32544657e-02 9.10418091e+00] [-2.98965982e-02 9.99529763e-01 6.81516898e-03 -3.20693267e-01] [ 2.34483102e-02 -6.11501849e-03 9.99706349e-01 -9.88515988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.849649246 meters Centerline goodness : 0.924075 with order 1 Centerline is valid? [False, False] Translation: X:9.12, Y:-0.32, Z:-0.10 [[ 0.99926771 0.02817367 -0.02588993 9.11758598] [-0.02790804 0.99955466 0.01056477 -0.32051766] [ 0.02617605 -0.0098345 0.99960897 -0.09901895] [ 0. 0. 0. 1. ]] SLAMing on 32.909649245999994 meters Centerline goodness : 0.922694 with order 1 Centerline is valid? [False, False] Translation: X:9.12, Y:-0.32, Z:-0.10 [[ 0.99925731 0.02764719 -0.02684127 9.11993927] [-0.02736654 0.99956747 0.01076773 -0.32115901] [ 0.02712736 -0.01002518 0.99958171 -0.09850435] [ 0. 0. 0. 1. ]] SLAMing on 32.969649245999996 meters Centerline goodness : 0.921763 with order 1 Centerline is valid? [False, False] Translation: X:9.12, Y:-0.32, Z:-0.10 [[ 0.99924872 0.02660039 -0.0281855 9.12364365] [-0.02630908 0.99959705 0.01065657 -0.32185505] [ 0.02845761 -0.00990703 0.9995459 -0.09852103] [ 0. 0. 0. 1. ]] SLAMing on 33.029649246 meters Centerline goodness : 0.921513 with order 1 Centerline is valid? [False, False] Translation: X:9.13, Y:-0.32, Z:-0.10 [[ 0.99913318 0.02905143 -0.02981459 9.12861146] [-0.02860143 0.9994721 0.01541064 -0.32265627] [ 0.03024655 -0.01454454 0.99943664 -0.09663024] [ 0. 0. 0. 1. ]] SLAMing on 33.089649246 meters Centerline goodness : 0.924074 with order 1 Centerline is valid? [False, False] Translation: X:9.15, Y:-0.32, Z:-0.10 [[ 9.99157576e-01 3.16913091e-02 -2.60729710e-02 9.14538848e+00] [-3.14794243e-02 9.99468279e-01 8.49741586e-03 -3.19734823e-01] [ 2.63284017e-02 -7.66949532e-03 9.99623926e-01 -1.00462226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.149649245999996 meters Centerline goodness : 0.920828 with order 1 Centerline is valid? [False, False] Translation: X:9.15, Y:-0.32, Z:-0.10 [[ 0.99901505 0.03513154 -0.0271053 9.14799141] [-0.0348023 0.99931574 0.01252431 -0.31977191] [ 0.02752675 -0.01156865 0.99955412 -0.09955504] [ 0. 0. 0. 1. ]] SLAMing on 33.209649246 meters Centerline goodness : 0.920450 with order 1 Centerline is valid? [False, False] Translation: X:9.15, Y:-0.32, Z:-0.10 [[ 0.99886481 0.03850045 -0.02805017 9.15126917] [-0.03807635 0.99915461 0.01549991 -0.3171993 ] [ 0.02862321 -0.01441427 0.99948634 -0.10084314] [ 0. 0. 0. 1. ]] SLAMing on 33.269649246 meters Centerline goodness : 0.915747 with order 1 Centerline is valid? [False, False] Translation: X:9.15, Y:-0.32, Z:-0.10 [[ 0.99868977 0.04215981 -0.02900491 9.15368772] [-0.04161198 0.9989486 0.01923881 -0.31597732] [ 0.02978551 -0.01800665 0.99939411 -0.1004248 ] [ 0. 0. 0. 1. ]] SLAMing on 33.329649245999995 meters Centerline goodness : 0.920740 with order 1 Centerline is valid? [False, False] Translation: X:9.17, Y:-0.31, Z:-0.11 [[ 0.99865804 0.04573787 -0.02429335 9.16554383] [-0.04549701 0.99891058 0.01037708 -0.31237531] [ 0.02474151 -0.00925788 0.99965101 -0.10505808] [ 0. 0. 0. 1. ]] SLAMing on 33.389649246 meters Centerline goodness : 0.924280 with order 1 Centerline is valid? [False, False] Translation: X:9.17, Y:-0.32, Z:-0.10 [[ 0.99852274 0.04781658 -0.0258052 9.17077708] [-0.04737499 0.99872455 0.017461 -0.31680627] [ 0.02660721 -0.01621268 0.99951448 -0.09979587] [ 0. 0. 0. 1. ]] SLAMing on 33.449649246 meters Centerline goodness : 0.924356 with order 1 Centerline is valid? [False, False] Translation: X:9.17, Y:-0.32, Z:-0.10 [[ 0.99853264 0.04702993 -0.02684679 9.17382964] [-0.04656489 0.99875858 0.01769223 -0.31856419] [ 0.02764553 -0.01641615 0.99948298 -0.0997108 ] [ 0. 0. 0. 1. ]] SLAMing on 33.509649245999995 meters Centerline goodness : 0.924786 with order 1 Centerline is valid? [False, False] Translation: X:9.18, Y:-0.32, Z:-0.10 [[ 0.9985274 0.04669679 -0.02761227 9.17570427] [-0.04621605 0.99877286 0.01780005 -0.31997919] [ 0.02840959 -0.01649771 0.99946021 -0.09955847] [ 0. 0. 0. 1. ]] SLAMing on 33.569649246 meters Centerline goodness : 0.927044 with order 1 Centerline is valid? [False, False] Translation: X:9.18, Y:-0.32, Z:-0.10 [[ 0.99852416 0.04645978 -0.0281245 9.17710469] [-0.04596951 0.99878362 0.0178349 -0.32054323] [ 0.0289189 -0.01651571 0.99944531 -0.09967795] [ 0. 0. 0. 1. ]] SLAMing on 33.629649246 meters Centerline goodness : 0.923208 with order 1 Centerline is valid? [False, False] Translation: X:9.18, Y:-0.32, Z:-0.10 [[ 0.99855934 0.04502837 -0.02918362 9.18059235] [-0.04452101 0.99884972 0.017808 -0.32213822] [ 0.02995192 -0.01648306 0.99941542 -0.09954167] [ 0. 0. 0. 1. ]] SLAMing on 33.689649245999995 meters Centerline goodness : 0.925012 with order 1 Centerline is valid? [False, False] Translation: X:9.18, Y:-0.32, Z:-0.10 [[ 0.998587 0.04390422 -0.02994028 9.18344269] [-0.04339386 0.99890497 0.01748803 -0.32264267] [ 0.0306753 -0.01616409 0.99939869 -0.10012081] [ 0. 0. 0. 1. ]] SLAMing on 33.749649246 meters Centerline goodness : 0.923476 with order 1 Centerline is valid? [False, False] Translation: X:9.20, Y:-0.33, Z:-0.10 [[ 0.99863544 0.04150364 -0.03169721 9.19546891] [-0.0407772 0.99889816 0.023231 -0.3259195 ] [ 0.03262645 -0.02190678 0.99922751 -0.09607783] [ 0. 0. 0. 1. ]] SLAMing on 33.809649246 meters Centerline goodness : 0.926047 with order 1 Centerline is valid? [False, False] Translation: X:9.22, Y:-0.33, Z:-0.10 [[ 0.99874712 0.04055265 -0.02932021 9.21516295] [-0.04015779 0.9990962 0.01393316 -0.32591367] [ 0.02985873 -0.01273827 0.99947296 -0.10004251] [ 0. 0. 0. 1. ]] SLAMing on 33.869649245999994 meters Centerline goodness : 0.927623 with order 1 Centerline is valid? [False, False] Translation: X:9.22, Y:-0.33, Z:-0.09 [[ 0.9986214 0.04187426 -0.03165194 9.2232168 ] [-0.04119928 0.9989156 0.02168495 -0.32994231] [ 0.03252566 -0.02035102 0.99926369 -0.0932801 ] [ 0. 0. 0. 1. ]] SLAMing on 33.929649246 meters Centerline goodness : 0.926648 with order 1 Centerline is valid? [False, False] Translation: X:9.23, Y:-0.33, Z:-0.09 [[ 0.99850631 0.04268804 -0.03410116 9.23207351] [-0.04179576 0.99877565 0.02646358 -0.33132266] [ 0.03518909 -0.02499877 0.99906796 -0.09131944] [ 0. 0. 0. 1. ]] SLAMing on 33.989649246 meters Centerline goodness : 0.926282 with order 1 Centerline is valid? [False, False] Translation: X:9.25, Y:-0.33, Z:-0.10 [[ 0.99854915 0.04340084 -0.03187425 9.2514568 ] [-0.04290804 0.99895113 0.01598558 -0.32732201] [ 0.0325346 -0.01459472 0.99936404 -0.09931885] [ 0. 0. 0. 1. ]] SLAMing on 34.049649245999994 meters Centerline goodness : 0.926961 with order 1 Centerline is valid? [False, False] Translation: X:9.26, Y:-0.33, Z:-0.10 [[ 0.99836242 0.04632268 -0.03356609 9.25593203] [-0.04562646 0.99873317 0.02121972 -0.32903768] [ 0.03450652 -0.01965346 0.99921121 -0.09659144] [ 0. 0. 0. 1. ]] SLAMing on 34.109649246 meters Centerline goodness : 0.924357 with order 1 Centerline is valid? [False, False] Translation: X:9.26, Y:-0.33, Z:-0.09 [[ 0.99820068 0.04835222 -0.03546078 9.26191961] [-0.04742774 0.99852403 0.0264646 -0.33048342] [ 0.03668807 -0.02473516 0.9990206 -0.09366175] [ 0. 0. 0. 1. ]] SLAMing on 34.169649246 meters Centerline goodness : 0.924176 with order 1 Centerline is valid? [False, False] Translation: X:9.27, Y:-0.33, Z:-0.09 [[ 0.99805298 0.04996947 -0.03732703 9.2684549 ] [-0.04884003 0.99833835 0.03058097 -0.3320316 ] [ 0.03879312 -0.02869837 0.99883507 -0.09274679] [ 0. 0. 0. 1. ]] SLAMing on 34.229649245999994 meters Centerline goodness : 0.922743 with order 1 Centerline is valid? [False, False] Translation: X:9.27, Y:-0.33, Z:-0.09 [[ 0.99805325 0.04864044 -0.03903619 9.27341038] [-0.04748878 0.99842396 0.02990678 -0.33216082] [ 0.04042935 -0.02799478 0.99879015 -0.09369723] [ 0. 0. 0. 1. ]] SLAMing on 34.289649245999996 meters Centerline goodness : 0.924457 with order 1 Centerline is valid? [False, False] Translation: X:9.28, Y:-0.34, Z:-0.09 [[ 0.99809727 0.04606213 -0.04098916 9.27963911] [-0.04481277 0.99851757 0.03089447 -0.33503395] [ 0.04235146 -0.02899885 0.99868184 -0.09156896] [ 0. 0. 0. 1. ]] SLAMing on 34.349649246 meters Centerline goodness : 0.927317 with order 1 Centerline is valid? [False, False] Translation: X:9.30, Y:-0.33, Z:-0.10 [[ 0.99828674 0.04446248 -0.03803511 9.29845636] [-0.04372621 0.99884382 0.01997583 -0.33393783] [ 0.03887931 -0.01827848 0.99907672 -0.09752784] [ 0. 0. 0. 1. ]] SLAMing on 34.409649245999994 meters Centerline goodness : 0.931998 with order 1 Centerline is valid? [False, False] Translation: X:9.32, Y:-0.33, Z:-0.10 [[ 9.98459289e-01 4.34515996e-02 -3.45109597e-02 9.31583754e+00] [-4.31452446e-02 9.99022945e-01 9.57303780e-03 -3.32478068e-01] [ 3.48932044e-02 -8.06930471e-03 9.99358470e-01 -1.02346255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.469649245999996 meters Centerline goodness : 0.928336 with order 1 Centerline is valid? [False, False] Translation: X:9.32, Y:-0.33, Z:-0.10 [[ 9.98453479e-01 4.25465661e-02 -3.57832345e-02 9.31969587e+00] [-4.22435771e-02 9.99065153e-01 9.18153310e-03 -3.32748964e-01] [ 3.61404253e-02 -7.65572184e-03 9.99317397e-01 -1.03154518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.529649246 meters Centerline goodness : 0.924936 with order 1 Centerline is valid? [False, False] Translation: X:9.33, Y:-0.33, Z:-0.10 [[ 0.99833404 0.04347653 -0.03793336 9.327743 ] [-0.04299894 0.99898636 0.01331697 -0.33405904] [ 0.03847388 -0.01166369 0.99919153 -0.10215662] [ 0. 0. 0. 1. ]] SLAMing on 34.589649246 meters Centerline goodness : 0.925477 with order 1 Centerline is valid? [False, False] Translation: X:9.33, Y:-0.33, Z:-0.10 [[ 0.99833617 0.0422934 -0.03919391 9.33169826] [-0.04183228 0.9990463 0.01251177 -0.33306238] [ 0.03968569 -0.01085138 0.99915329 -0.10335734] [ 0. 0. 0. 1. ]] SLAMing on 34.649649245999996 meters Centerline goodness : 0.925484 with order 1 Centerline is valid? [False, False] Translation: X:9.34, Y:-0.33, Z:-0.10 [[ 0.9983164 0.04157573 -0.0404453 9.33515211] [-0.04111518 0.9990805 0.01215318 -0.3324878 ] [ 0.04091339 -0.01046981 0.99910784 -0.10380929] [ 0. 0. 0. 1. ]] SLAMing on 34.709649246 meters Centerline goodness : 0.926667 with order 1 Centerline is valid? [False, False] Translation: X:9.34, Y:-0.34, Z:-0.10 [[ 0.99815071 0.04343392 -0.04252825 9.34135583] [-0.04263468 0.99889995 0.01952363 -0.33575608] [ 0.04332945 -0.01767435 0.99890449 -0.09694133] [ 0. 0. 0. 1. ]] SLAMing on 34.769649246 meters Centerline goodness : 0.928109 with order 1 Centerline is valid? [False, False] Translation: X:9.36, Y:-0.33, Z:-0.10 [[ 9.98264045e-01 4.42634235e-02 -3.88541614e-02 9.35833239e+00] [-4.38755891e-02 9.98978854e-01 1.07787953e-02 -3.33709334e-01] [ 3.92915920e-02 -9.05533456e-03 9.99186755e-01 -1.01346389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.829649245999995 meters Centerline goodness : 0.931320 with order 1 Centerline is valid? [False, False] Translation: X:9.36, Y:-0.34, Z:-0.10 [[ 0.99829487 0.04210796 -0.0404262 9.36306567] [-0.041629 0.99905346 0.01261763 -0.33599903] [ 0.04091923 -0.01091321 0.99910286 -0.09756913] [ 0. 0. 0. 1. ]] SLAMing on 34.889649246 meters Centerline goodness : 0.929417 with order 1 Centerline is valid? [False, False] Translation: X:9.37, Y:-0.34, Z:-0.10 [[ 0.99827702 0.04150873 -0.04147304 9.36598489] [-0.04102989 0.99908182 0.01233127 -0.335254 ] [ 0.04194682 -0.01060839 0.99906352 -0.09782567] [ 0. 0. 0. 1. ]] SLAMing on 34.949649246 meters Centerline goodness : 0.929467 with order 1 Centerline is valid? [False, False] Translation: X:9.37, Y:-0.34, Z:-0.10 [[ 0.99811506 0.04370524 -0.04308336 9.3714473 ] [-0.04301119 0.99893152 0.01690733 -0.33775433] [ 0.04377626 -0.0150224 0.99892841 -0.09670728] [ 0. 0. 0. 1. ]] SLAMing on 35.009649245999995 meters Centerline goodness : 0.926008 with order 1 Centerline is valid? [False, False] Translation: X:9.38, Y:-0.34, Z:-0.10 [[ 0.99806465 0.04267199 -0.04523346 9.38105488] [-0.04179388 0.99892235 0.02018431 -0.34052126] [ 0.04604601 -0.01825476 0.99877251 -0.09592767] [ 0. 0. 0. 1. ]] SLAMing on 35.069649246 meters Centerline goodness : 0.923346 with order 1 Centerline is valid? [False, False] Translation: X:9.39, Y:-0.34, Z:-0.10 [[ 0.99804937 0.04120566 -0.04689931 9.38595731] [-0.04029769 0.99898465 0.02014384 -0.34152297] [ 0.04768173 -0.01821461 0.99869649 -0.0959739 ] [ 0. 0. 0. 1. ]] SLAMing on 35.129649246 meters Centerline goodness : 0.921798 with order 1 Centerline is valid? [False, False] Translation: X:9.39, Y:-0.34, Z:-0.09 [[ 0.99789992 0.04239725 -0.04897163 9.39337035] [-0.04120486 0.99883521 0.02510732 -0.34269288] [ 0.04997907 -0.02303672 0.99848455 -0.09345573] [ 0. 0. 0. 1. ]] SLAMing on 35.189649245999995 meters Centerline goodness : 0.926225 with order 1 Centerline is valid? [False, False] Translation: X:9.41, Y:-0.34, Z:-0.10 [[ 0.99801603 0.04424996 -0.04478771 9.40779775] [-0.04353898 0.99891168 0.01672789 -0.33915726] [ 0.04547917 -0.0147447 0.99885647 -0.09636306] [ 0. 0. 0. 1. ]] SLAMing on 35.249649246 meters Centerline goodness : 0.925574 with order 1 Centerline is valid? [False, False] Translation: X:9.42, Y:-0.34, Z:-0.10 [[ 0.99794023 0.04950062 -0.04080427 9.42393366] [-0.04901558 0.99871595 0.01280348 -0.33574194] [ 0.04138566 -0.01077706 0.99908512 -0.09838976] [ 0. 0. 0. 1. ]] SLAMing on 35.309649246 meters Centerline goodness : 0.925028 with order 1 Centerline is valid? [False, False] Translation: X:9.44, Y:-0.33, Z:-0.10 [[ 9.97749690e-01 5.51858052e-02 -3.80799514e-02 9.44248892e+00] [-5.48802017e-02 9.98452156e-01 9.02527247e-03 -3.31228363e-01] [ 3.85190765e-02 -6.91512740e-03 9.99233937e-01 -1.01270691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.369649245999994 meters Centerline goodness : 0.925469 with order 1 Centerline is valid? [False, False] Translation: X:9.45, Y:-0.33, Z:-0.10 [[ 0.9975124 0.05854246 -0.03926556 9.44561762] [-0.05807693 0.99822883 0.0128946 -0.32989654] [ 0.0399509 -0.0105821 0.99914561 -0.10021001] [ 0. 0. 0. 1. ]] SLAMing on 35.429649246 meters Centerline goodness : 0.921717 with order 1 Centerline is valid? [False, False] Translation: X:9.45, Y:-0.33, Z:-0.10 [[ 0.99751156 0.05785995 -0.04028535 9.44853598] [-0.05740296 0.99827395 0.01241038 -0.32839603] [ 0.04093388 -0.01006699 0.99911114 -0.100683 ] [ 0. 0. 0. 1. ]] SLAMing on 35.489649246 meters Centerline goodness : 0.925774 with order 1 Centerline is valid? [False, False] Translation: X:9.45, Y:-0.33, Z:-0.10 [[ 0.99752089 0.05718785 -0.0410076 9.45073733] [-0.0567289 0.99831421 0.01227045 -0.32875116] [ 0.0416402 -0.00991371 0.99908349 -0.10096207] [ 0. 0. 0. 1. ]] SLAMing on 35.549649245999994 meters Centerline goodness : 0.925273 with order 1 Centerline is valid? [False, False] Translation: X:9.46, Y:-0.33, Z:-0.10 [[ 0.99759221 0.05430223 -0.04313982 9.45761429] [-0.05372555 0.99845165 0.01441747 -0.33353296] [ 0.04385593 -0.01206504 0.99896501 -0.09725574] [ 0. 0. 0. 1. ]] SLAMing on 35.609649246 meters Centerline goodness : 0.923207 with order 1 Centerline is valid? [False, False] Translation: X:9.47, Y:-0.34, Z:-0.10 [[ 0.99768208 0.05074383 -0.04533789 9.47204535] [-0.04998667 0.99859336 0.01768151 -0.3367993 ] [ 0.04617134 -0.01537423 0.99881522 -0.09772304] [ 0. 0. 0. 1. ]] SLAMing on 35.669649246 meters Centerline goodness : 0.923022 with order 1 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.34, Z:-0.09 [[ 0.99777001 0.04669442 -0.04769315 9.48755957] [-0.04565256 0.99869929 0.02270607 -0.34058883] [ 0.04869137 -0.02047812 0.99860392 -0.09471803] [ 0. 0. 0. 1. ]] SLAMing on 35.729649245999994 meters Centerline goodness : 0.919505 with order 1 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.34, Z:-0.10 [[ 0.99774779 0.04564793 -0.04914888 9.49157481] [-0.04460269 0.99875904 0.02215821 -0.33932722] [ 0.05009936 -0.01991613 0.99854564 -0.09512887] [ 0. 0. 0. 1. ]] SLAMing on 35.789649245999996 meters Centerline goodness : 0.917582 with order 1 Centerline is valid? [False, False] Translation: X:9.50, Y:-0.34, Z:-0.09 [[ 0.99758799 0.04746741 -0.05064633 9.49725265] [-0.0461725 0.99858353 0.02643918 -0.33977587] [ 0.05182959 -0.02403694 0.99836663 -0.09390272] [ 0. 0. 0. 1. ]] SLAMing on 35.849649246 meters Centerline goodness : 0.921084 with order 1 Centerline is valid? [False, False] Translation: X:9.52, Y:-0.34, Z:-0.10 [[ 0.99777735 0.04698505 -0.04725208 9.51704865] [-0.04612574 0.99875273 0.01911525 -0.33829534] [ 0.04809128 -0.01689322 0.99870008 -0.09613177] [ 0. 0. 0. 1. ]] SLAMing on 35.909649245999994 meters Centerline goodness : 0.920839 with order 1 Centerline is valid? [False, False] Translation: X:9.53, Y:-0.34, Z:-0.09 [[ 0.99770736 0.04720771 -0.04849182 9.53077409] [-0.04584435 0.99853181 0.02885354 -0.34014721] [ 0.04978273 -0.02656431 0.99840674 -0.09103947] [ 0. 0. 0. 1. ]] SLAMing on 35.969649245999996 meters Centerline goodness : 0.919742 with order 1 Centerline is valid? [False, False] Translation: X:9.54, Y:-0.34, Z:-0.09 [[ 0.99758138 0.0480651 -0.05021102 9.53763746] [-0.04640842 0.99835543 0.03365556 -0.34228102] [ 0.0517461 -0.03124395 0.99817141 -0.08861232] [ 0. 0. 0. 1. ]] SLAMing on 36.029649246 meters Centerline goodness : 0.925414 with order 1 Centerline is valid? [False, False] Translation: X:9.55, Y:-0.34, Z:-0.10 [[ 0.99783099 0.04651824 -0.04657652 9.55100473] [-0.04565854 0.99876958 0.01935527 -0.33964694] [ 0.04741959 -0.01718667 0.99872719 -0.09547086] [ 0. 0. 0. 1. ]] SLAMing on 36.08964924599999 meters Centerline goodness : 0.922748 with order 1 Centerline is valid? [False, False] Translation: X:9.56, Y:-0.34, Z:-0.09 [[ 0.99764301 0.04869706 -0.04834273 9.5566599 ] [-0.04760195 0.99858868 0.02355227 -0.33992667] [ 0.04942143 -0.02119555 0.99855309 -0.09438753] [ 0. 0. 0. 1. ]] SLAMing on 36.149649245999996 meters Centerline goodness : 0.916318 with order 1 Centerline is valid? [False, False] Translation: X:9.56, Y:-0.34, Z:-0.10 [[ 0.99765735 0.04687727 -0.04982296 9.56229937] [-0.04586866 0.99872253 0.02119854 -0.33711191] [ 0.05075304 -0.01886357 0.99853307 -0.09837293] [ 0. 0. 0. 1. ]] SLAMing on 36.209649246 meters Centerline goodness : 0.914385 with order 1 Centerline is valid? [False, False] Translation: X:9.57, Y:-0.34, Z:-0.10 [[ 0.99765926 0.04567503 -0.05089 9.5657867 ] [-0.04466822 0.99878637 0.0207493 -0.33746528] [ 0.05177596 -0.01842756 0.9984887 -0.09903628] [ 0. 0. 0. 1. ]] SLAMing on 36.269649246 meters Centerline goodness : 0.918587 with order 1 Centerline is valid? [False, False] Translation: X:9.57, Y:-0.34, Z:-0.10 [[ 0.99764468 0.04520657 -0.05158935 9.56719206] [-0.04415922 0.99879817 0.02126456 -0.33828625] [ 0.05248865 -0.01893633 0.99844196 -0.09760053] [ 0. 0. 0. 1. ]] SLAMing on 36.329649245999995 meters Centerline goodness : 0.918400 with order 1 Centerline is valid? [False, False] Translation: X:9.57, Y:-0.34, Z:-0.09 [[ 0.99743807 0.04764807 -0.0533569 9.5721049 ] [-0.046221 0.99854798 0.02766842 -0.34034805] [ 0.05459777 -0.02513133 0.99819212 -0.09259538] [ 0. 0. 0. 1. ]] SLAMing on 36.389649246 meters Centerline goodness : 0.918137 with order 1 Centerline is valid? [False, False] Translation: X:9.57, Y:-0.33, Z:-0.10 [[ 0.99741278 0.04757949 -0.05388824 9.57364466] [-0.04629292 0.99861809 0.02487722 -0.33472193] [ 0.05499742 -0.02231821 0.99823704 -0.09645139] [ 0. 0. 0. 1. ]] SLAMing on 36.449649246 meters Centerline goodness : 0.923869 with order 1 Centerline is valid? [False, False] Translation: X:9.59, Y:-0.33, Z:-0.10 [[ 0.99751987 0.05023626 -0.04929944 9.58544549] [-0.04950756 0.99864729 0.01589325 -0.33084434] [ 0.05003117 -0.01341314 0.99865758 -0.09956063] [ 0. 0. 0. 1. ]] SLAMing on 36.509649245999995 meters Centerline goodness : 0.924606 with order 1 Centerline is valid? [False, False] Translation: X:9.59, Y:-0.33, Z:-0.10 [[ 0.99751224 0.04934856 -0.05033932 9.58822018] [-0.0486287 0.99869779 0.01542661 -0.32951068] [ 0.05103505 -0.0129403 0.99861302 -0.0996008 ] [ 0. 0. 0. 1. ]] SLAMing on 36.569649246 meters Centerline goodness : 0.922483 with order 1 Centerline is valid? [False, False] Translation: X:9.59, Y:-0.33, Z:-0.10 [[ 0.99751223 0.04852502 -0.05113383 9.59088725] [-0.04783221 0.99874739 0.01468752 -0.32923973] [ 0.0517825 -0.01220513 0.9985838 -0.10080225] [ 0. 0. 0. 1. ]] SLAMing on 36.629649246 meters Centerline goodness : 0.924079 with order 1 Centerline is valid? [False, False] Translation: X:9.59, Y:-0.33, Z:-0.10 [[ 0.99751025 0.04724874 -0.05235315 9.59445134] [-0.04650961 0.99880145 0.01524833 -0.33194206] [ 0.05301086 -0.01277544 0.99851221 -0.09998777] [ 0. 0. 0. 1. ]] SLAMing on 36.689649245999995 meters Centerline goodness : 0.927886 with order 1 Centerline is valid? [False, False] Translation: X:9.59, Y:-0.34, Z:-0.09 [[ 0.99753058 0.04676091 -0.05240383 9.59458243] [-0.04580901 0.99876527 0.01922175 -0.33815674] [ 0.05323796 -0.01677371 0.99844097 -0.09380193] [ 0. 0. 0. 1. ]] SLAMing on 36.749649246 meters Centerline goodness : 0.931129 with order 1 Centerline is valid? [False, False] Translation: X:9.60, Y:-0.34, Z:-0.09 [[ 0.99733222 0.0493911 -0.05374912 9.59838309] [-0.04809484 0.99852611 0.0251496 -0.34052281] [ 0.05491207 -0.02249745 0.99823771 -0.08963981] [ 0. 0. 0. 1. ]] SLAMing on 36.809649246 meters Centerline goodness : 0.929614 with order 1 Centerline is valid? [False, False] Translation: X:9.60, Y:-0.34, Z:-0.09 [[ 0.99714809 0.05145477 -0.0552096 9.60403686] [-0.04989282 0.9983245 0.02930698 -0.34209521] [ 0.05662508 -0.02646884 0.99804459 -0.08931229] [ 0. 0. 0. 1. ]] SLAMing on 36.869649245999994 meters Centerline goodness : 0.929008 with order 1 Centerline is valid? [False, False] Translation: X:9.61, Y:-0.35, Z:-0.08 [[ 0.99694396 0.05392887 -0.05651924 9.60818925] [-0.05197236 0.99801614 0.03553389 -0.34508833] [ 0.05832342 -0.03248786 0.99776897 -0.08491725] [ 0. 0. 0. 1. ]] SLAMing on 36.929649246 meters Centerline goodness : 0.927100 with order 1 Centerline is valid? [False, False] Translation: X:9.61, Y:-0.34, Z:-0.09 [[ 0.99694392 0.05258306 -0.05777409 9.61234765] [-0.05065621 0.9981261 0.0343255 -0.34412049] [ 0.05947076 -0.03129398 0.9977394 -0.0867887 ] [ 0. 0. 0. 1. ]] SLAMing on 36.989649246 meters Centerline goodness : 0.932368 with order 1 Centerline is valid? [False, False] Translation: X:9.63, Y:-0.34, Z:-0.09 [[ 0.9972704 0.05064542 -0.05372883 9.62622909] [-0.04956347 0.99854419 0.02128294 -0.3420043 ] [ 0.0547285 -0.01856186 0.99832873 -0.09200256] [ 0. 0. 0. 1. ]] SLAMing on 37.049649245999994 meters Centerline goodness : 0.936323 with order 1 Centerline is valid? [False, False] Translation: X:9.63, Y:-0.34, Z:-0.09 [[ 0.99726525 0.05025701 -0.05418723 9.62716269] [-0.04916386 0.99856311 0.02132215 -0.3416383 ] [ 0.05518095 -0.01859978 0.99830312 -0.09123391] [ 0. 0. 0. 1. ]] SLAMing on 37.109649246 meters Centerline goodness : 0.934579 with order 1 Centerline is valid? [False, False] Translation: X:9.63, Y:-0.34, Z:-0.09 [[ 0.99707939 0.05263857 -0.05533425 9.63150284] [-0.0512881 0.99835702 0.02554973 -0.34240765] [ 0.05658824 -0.02263712 0.99814094 -0.09027342] [ 0. 0. 0. 1. ]] SLAMing on 37.169649246 meters Centerline goodness : 0.933535 with order 1 Centerline is valid? [False, False] Translation: X:9.63, Y:-0.34, Z:-0.09 [[ 0.99706278 0.05213725 -0.0561028 9.63332575] [-0.05078629 0.99839047 0.02524321 -0.34229733] [ 0.05732861 -0.02231981 0.99810583 -0.09032162] [ 0. 0. 0. 1. ]] SLAMing on 37.229649245999994 meters Centerline goodness : 0.936781 with order 1 Centerline is valid? [False, False] Translation: X:9.64, Y:-0.35, Z:-0.08 [[ 0.9969538 0.05303049 -0.05719164 9.63953466] [-0.05119545 0.99814037 0.03308826 -0.34684149] [ 0.05883997 -0.03005951 0.99781475 -0.08276363] [ 0. 0. 0. 1. ]] SLAMing on 37.289649245999996 meters Centerline goodness : 0.936573 with order 1 Centerline is valid? [False, False] Translation: X:9.64, Y:-0.35, Z:-0.08 [[ 0.9969524 0.05219903 -0.05797558 9.64156529] [-0.05033854 0.99818351 0.03310157 -0.3469106 ] [ 0.05959813 -0.03008229 0.99776907 -0.08208446] [ 0. 0. 0. 1. ]] SLAMing on 37.349649246 meters Centerline goodness : 0.935532 with order 1 Centerline is valid? [False, False] Translation: X:9.65, Y:-0.35, Z:-0.08 [[ 0.99677769 0.05391081 -0.05939588 9.64705238] [-0.05166127 0.99791141 0.03878062 -0.3487797 ] [ 0.06136252 -0.03558719 0.99748092 -0.07829037] [ 0. 0. 0. 1. ]] SLAMing on 37.409649245999994 meters Centerline goodness : 0.935692 with order 1 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.35, Z:-0.08 [[ 0.99700117 0.0540027 -0.05542893 9.66214793] [-0.0525174 0.99822982 0.02791312 -0.3465693 ] [ 0.05683819 -0.02491843 0.99807239 -0.08440003] [ 0. 0. 0. 1. ]] SLAMing on 37.469649245999996 meters Centerline goodness : 0.936044 with order 1 Centerline is valid? [False, False] Translation: X:9.67, Y:-0.35, Z:-0.08 [[ 0.99680317 0.05596834 -0.05701736 9.66746995] [-0.05399041 0.9979045 0.03566004 -0.34981201] [ 0.05889372 -0.03246765 0.99773613 -0.07679979] [ 0. 0. 0. 1. ]] SLAMing on 37.529649246 meters Centerline goodness : 0.938161 with order 1 Centerline is valid? [False, False] Translation: X:9.68, Y:-0.35, Z:-0.08 [[ 0.99705544 0.05525013 -0.05317784 9.68240509] [-0.05407245 0.99826428 0.02333678 -0.34727328] [ 0.0543749 -0.02039261 0.99831233 -0.08379633] [ 0. 0. 0. 1. ]] SLAMing on 37.58964924599999 meters Centerline goodness : 0.930860 with order 1 Centerline is valid? [False, False] Translation: X:9.69, Y:-0.35, Z:-0.09 [[ 0.99705116 0.05434205 -0.05418412 9.68583234] [-0.05321507 0.99834003 0.02203047 -0.34522482] [ 0.05529136 -0.01908209 0.9982879 -0.08586762] [ 0. 0. 0. 1. ]] SLAMing on 37.649649245999996 meters Centerline goodness : 0.935933 with order 1 Centerline is valid? [False, False] Translation: X:9.69, Y:-0.35, Z:-0.08 [[ 0.99701501 0.05436112 -0.05482649 9.68670483] [-0.0532015 0.99833266 0.0223941 -0.34614194] [ 0.05595245 -0.01941041 0.99824474 -0.08487016] [ 0. 0. 0. 1. ]] SLAMing on 37.709649246 meters Centerline goodness : 0.934296 with order 1 Centerline is valid? [False, False] Translation: X:9.69, Y:-0.35, Z:-0.08 [[ 0.99679963 0.05685583 -0.05619537 9.69169123] [-0.05544761 0.9981149 0.02630991 -0.34640494] [ 0.05758531 -0.02310981 0.99807308 -0.08455786] [ 0. 0. 0. 1. ]] SLAMing on 37.769649246 meters Centerline goodness : 0.931503 with order 1 Centerline is valid? [False, False] Translation: X:9.69, Y:-0.34, Z:-0.09 [[ 0.99679166 0.05619857 -0.05699223 9.69450232] [-0.05484991 0.9981826 0.02495952 -0.34454388] [ 0.05829134 -0.02175342 0.99806258 -0.08676136] [ 0. 0. 0. 1. ]] SLAMing on 37.829649245999995 meters Centerline goodness : 0.931575 with order 1 Centerline is valid? [False, False] Translation: X:9.70, Y:-0.35, Z:-0.09 [[ 0.99661898 0.05826251 -0.05793174 9.69841076] [-0.05666995 0.99797851 0.0287647 -0.34681726] [ 0.05949053 -0.02538445 0.99790606 -0.08601755] [ 0. 0. 0. 1. ]] SLAMing on 37.889649246 meters Centerline goodness : 0.932464 with order 1 Centerline is valid? [False, False] Translation: X:9.70, Y:-0.35, Z:-0.08 [[ 0.99638479 0.0606782 -0.05946014 9.70309881] [-0.05872696 0.99769379 0.03403316 -0.34949024] [ 0.06138809 -0.03041821 0.99765036 -0.08303979] [ 0. 0. 0. 1. ]] SLAMing on 37.949649246 meters Centerline goodness : 0.929265 with order 1 Centerline is valid? [False, False] Translation: X:9.71, Y:-0.35, Z:-0.08 [[ 0.99616463 0.06305404 -0.06066486 9.70777386] [-0.06083306 0.99743241 0.037788 -0.35075506] [ 0.06289179 -0.03395264 0.99744265 -0.08302673] [ 0. 0. 0. 1. ]] SLAMing on 38.009649245999995 meters Centerline goodness : 0.926172 with order 1 Centerline is valid? [False, False] Translation: X:9.72, Y:-0.35, Z:-0.09 [[ 0.99632504 0.06367147 -0.05729196 9.72461148] [-0.06214693 0.99767386 0.02801115 -0.34771263] [ 0.0589422 -0.02434769 0.99796443 -0.0889258 ] [ 0. 0. 0. 1. ]] SLAMing on 38.069649246 meters Centerline goodness : 0.926461 with order 1 Centerline is valid? [False, False] Translation: X:9.74, Y:-0.34, Z:-0.09 [[ 0.99647561 0.06410667 -0.05409895 9.74102084] [-0.06324052 0.99784355 0.0175751 -0.34486441] [ 0.05510897 -0.01409192 0.9983809 -0.09463443] [ 0. 0. 0. 1. ]] SLAMing on 38.129649246 meters Centerline goodness : 0.927414 with order 1 Centerline is valid? [False, False] Translation: X:9.74, Y:-0.34, Z:-0.09 [[ 0.99645238 0.06403842 -0.05460532 9.74157104] [-0.0631455 0.99784334 0.01792547 -0.34465489] [ 0.05563548 -0.0144138 0.9983471 -0.09324448] [ 0. 0. 0. 1. ]] SLAMing on 38.189649245999995 meters Centerline goodness : 0.930679 with order 1 Centerline is valid? [False, False] Translation: X:9.74, Y:-0.34, Z:-0.09 [[ 0.99644201 0.06408346 -0.05474144 9.74175702] [-0.06315841 0.99783265 0.01846644 -0.34453 ] [ 0.05580619 -0.01494336 0.99832979 -0.09199691] [ 0. 0. 0. 1. ]] SLAMing on 38.249649246 meters Centerline goodness : 0.926606 with order 1 Centerline is valid? [False, False] Translation: X:9.74, Y:-0.34, Z:-0.09 [[ 0.99644018 0.06380413 -0.05509996 9.74286793] [-0.06287956 0.99785231 0.01835535 -0.34488448] [ 0.05615276 -0.01482535 0.99831211 -0.09223768] [ 0. 0. 0. 1. ]] SLAMing on 38.309649246 meters Centerline goodness : 0.926424 with order 1 Centerline is valid? [False, False] Translation: X:9.74, Y:-0.35, Z:-0.09 [[ 0.99641693 0.06380243 -0.05552076 9.74358504] [-0.06278803 0.99782988 0.019829 -0.34778766] [ 0.05666541 -0.01627192 0.99826062 -0.09017119] [ 0. 0. 0. 1. ]] SLAMing on 38.369649245999994 meters Centerline goodness : 0.927184 with order 1 Centerline is valid? [False, False] Translation: X:9.75, Y:-0.35, Z:-0.09 [[ 0.99642318 0.06338493 -0.05588564 9.74507094] [-0.06237497 0.9978596 0.01963642 -0.34903183] [ 0.05701068 -0.01608032 0.99824406 -0.09098167] [ 0. 0. 0. 1. ]] SLAMing on 38.429649246 meters Centerline goodness : 0.924635 with order 1 Centerline is valid? [False, False] Translation: X:9.75, Y:-0.35, Z:-0.09 [[ 0.99622479 0.06504378 -0.05749319 9.75156644] [-0.06375785 0.99767853 0.02392687 -0.35117069] [ 0.05891602 -0.0201709 0.99805914 -0.09049264] [ 0. 0. 0. 1. ]] SLAMing on 38.489649246 meters Centerline goodness : 0.919512 with order 1 Centerline is valid? [False, False] Translation: X:9.76, Y:-0.35, Z:-0.09 [[ 0.99616571 0.06460217 -0.05899531 9.75976518] [-0.06311597 0.99764847 0.02671891 -0.35243827] [ 0.06058268 -0.02289291 0.99790062 -0.09090892] [ 0. 0. 0. 1. ]] SLAMing on 38.549649245999994 meters Centerline goodness : 0.916219 with order 1 Centerline is valid? [False, False] Translation: X:9.76, Y:-0.35, Z:-0.09 [[ 0.99617643 0.06373012 -0.05975769 9.76260131] [-0.06228876 0.99772769 0.02568221 -0.35107886] [ 0.06125864 -0.02186178 0.99788248 -0.09259751] [ 0. 0. 0. 1. ]] SLAMing on 38.609649246 meters Centerline goodness : 0.918749 with order 1 Centerline is valid? [False, False] Translation: X:9.76, Y:-0.35, Z:-0.09 [[ 0.99617388 0.0633658 -0.06018614 9.76370305] [-0.06196198 0.99776753 0.0249133 -0.34971748] [ 0.06163043 -0.02108872 0.99787622 -0.09332083] [ 0. 0. 0. 1. ]] SLAMing on 38.669649246 meters Centerline goodness : 0.921096 with order 1 Centerline is valid? [False, False] Translation: X:9.77, Y:-0.35, Z:-0.09 [[ 0.99593163 0.06643478 -0.06088197 9.7660947 ] [-0.06457322 0.99739809 0.03205227 -0.35263714] [ 0.06285295 -0.02799052 0.99763021 -0.08724088] [ 0. 0. 0. 1. ]] SLAMing on 38.729649245999994 meters Centerline goodness : 0.927383 with order 1 Centerline is valid? [False, False] Translation: X:9.78, Y:-0.35, Z:-0.09 [[ 0.99674796 0.06324932 -0.04993026 9.77753748] [-0.06180641 0.99763919 0.02993364 -0.35022922] [ 0.05170567 -0.02675029 0.99830403 -0.0933018 ] [ 0. 0. 0. 1. ]] SLAMing on 38.789649245999996 meters Centerline goodness : 0.929551 with order 1 Centerline is valid? [False, False] Translation: X:9.79, Y:-0.35, Z:-0.10 [[ 0.99689874 0.0642408 -0.04545362 9.79156729] [-0.06340501 0.99779543 0.01959805 -0.34785545] [ 0.0466124 -0.01665528 0.99877419 -0.09941356] [ 0. 0. 0. 1. ]] SLAMing on 38.849649246 meters Centerline goodness : 0.931015 with order 1 Centerline is valid? [False, False] Translation: X:9.79, Y:-0.35, Z:-0.10 [[ 0.99666262 0.06720973 -0.04632999 9.794853 ] [-0.06615305 0.99752136 0.02397735 -0.3495519 ] [ 0.04782667 -0.02083245 0.99863838 -0.09860839] [ 0. 0. 0. 1. ]] SLAMing on 38.909649245999994 meters Centerline goodness : 0.929633 with order 1 Centerline is valid? [False, False] Translation: X:9.80, Y:-0.35, Z:-0.10 [[ 0.99665556 0.06669499 -0.04721724 9.7977445 ] [-0.06569011 0.99758581 0.02252485 -0.34794533] [ 0.04860555 -0.01934781 0.99863064 -0.10122731] [ 0. 0. 0. 1. ]] SLAMing on 38.969649245999996 meters Centerline goodness : 0.926351 with order 1 Centerline is valid? [False, False] Translation: X:9.80, Y:-0.35, Z:-0.10 [[ 0.99667002 0.06573699 -0.04824444 9.80139368] [-0.06478591 0.99767775 0.02102128 -0.3472298 ] [ 0.04951428 -0.01782571 0.99861433 -0.10415354] [ 0. 0. 0. 1. ]] SLAMing on 39.029649246 meters Centerline goodness : 0.923198 with order 1 Centerline is valid? [False, False] Translation: X:9.80, Y:-0.35, Z:-0.10 [[ 0.99642847 0.06871988 -0.04907014 9.80450442] [-0.06754911 0.99739933 0.02513341 -0.3479196 ] [ 0.05066969 -0.02172901 0.99847906 -0.10350695] [ 0. 0. 0. 1. ]] SLAMing on 39.08964924599999 meters Centerline goodness : 0.923006 with order 1 Centerline is valid? [False, False] Translation: X:9.81, Y:-0.35, Z:-0.10 [[ 0.9964148 0.06856537 -0.04956148 9.80529089] [-0.06738132 0.99740948 0.02518098 -0.34710604] [ 0.05115964 -0.02175118 0.99845359 -0.1028509 ] [ 0. 0. 0. 1. ]] SLAMing on 39.149649245999996 meters Centerline goodness : 0.924276 with order 1 Centerline is valid? [False, False] Translation: X:9.81, Y:-0.35, Z:-0.10 [[ 0.99641453 0.06840629 -0.04978617 9.80561633] [-0.06722553 0.99742408 0.02501869 -0.34616639] [ 0.05136936 -0.02158208 0.99844649 -0.1025291 ] [ 0. 0. 0. 1. ]] SLAMing on 39.209649246 meters Centerline goodness : 0.929585 with order 1 Centerline is valid? [False, False] Translation: X:9.81, Y:-0.35, Z:-0.09 [[ 0.99635971 0.06900501 -0.05005642 9.81114117] [-0.06733553 0.9971404 0.03430677 -0.35206432] [ 0.05228062 -0.03081131 0.998157 -0.09285452] [ 0. 0. 0. 1. ]] SLAMing on 39.269649246 meters Centerline goodness : 0.930551 with order 1 Centerline is valid? [False, False] Translation: X:9.81, Y:-0.35, Z:-0.09 [[ 0.99635742 0.06873726 -0.05046863 9.8122473 ] [-0.06705017 0.99715658 0.03439508 -0.35268588] [ 0.05268935 -0.03088587 0.99813321 -0.09282052] [ 0. 0. 0. 1. ]] SLAMing on 39.329649245999995 meters Centerline goodness : 0.927534 with order 1 Centerline is valid? [False, False] Translation: X:9.81, Y:-0.35, Z:-0.09 [[ 0.99638205 0.06813678 -0.05079555 9.813857 ] [-0.06645104 0.99720443 0.03416984 -0.35311401] [ 0.05298177 -0.0306708 0.99812436 -0.09354552] [ 0. 0. 0. 1. ]] SLAMing on 39.389649246 meters Centerline goodness : 0.930702 with order 1 Centerline is valid? [False, False] Translation: X:9.82, Y:-0.35, Z:-0.09 [[ 0.99638348 0.06771739 -0.05132567 9.81554064] [-0.06604244 0.997249 0.03365764 -0.35368539] [ 0.05346369 -0.03014625 0.99811464 -0.09464433] [ 0. 0. 0. 1. ]] SLAMing on 39.449649246 meters Centerline goodness : 0.930690 with order 1 Centerline is valid? [False, False] Translation: X:9.82, Y:-0.35, Z:-0.11 [[ 0.99721361 0.06259009 -0.04058925 9.82250585] [-0.06158439 0.99777422 0.02557289 -0.34935704] [ 0.04209952 -0.02300197 0.99884861 -0.10612134] [ 0. 0. 0. 1. ]] SLAMing on 39.509649245999995 meters Centerline goodness : 0.927703 with order 1 Centerline is valid? [False, False] Translation: X:9.82, Y:-0.35, Z:-0.11 [[ 0.99748989 0.05785914 -0.04081954 9.82407963] [-0.05708236 0.99817021 0.01994597 -0.34810411] [ 0.04189891 -0.01756583 0.99896743 -0.10945336] [ 0. 0. 0. 1. ]] SLAMing on 39.569649246 meters Centerline goodness : 0.924276 with order 1 Centerline is valid? [False, False] Translation: X:9.83, Y:-0.35, Z:-0.11 [[ 0.99751277 0.05653709 -0.04209304 9.82790192] [-0.05574739 0.99825044 0.01970516 -0.34836834] [ 0.04313347 -0.01730957 0.99891936 -0.10969889] [ 0. 0. 0. 1. ]] SLAMing on 39.629649246 meters Centerline goodness : 0.929287 with order 1 Centerline is valid? [False, False] Translation: X:9.83, Y:-0.35, Z:-0.11 [[ 0.99751932 0.05601054 -0.04263819 9.82926789] [-0.05522002 0.99828381 0.01949851 -0.34800804] [ 0.04365714 -0.01709566 0.99890029 -0.10957384] [ 0. 0. 0. 1. ]] SLAMing on 39.689649245999995 meters Centerline goodness : 0.927358 with order 1 Centerline is valid? [False, False] Translation: X:9.83, Y:-0.35, Z:-0.11 [[ 0.99733004 0.05875028 -0.04337281 9.8320801 ] [-0.05769869 0.99801815 0.0251125 -0.34961462] [ 0.04476222 -0.02254289 0.99874329 -0.10624456] [ 0. 0. 0. 1. ]] SLAMing on 39.749649246 meters Centerline goodness : 0.933941 with order 1 Centerline is valid? [False, False] Translation: X:9.84, Y:-0.35, Z:-0.11 [[ 0.99752363 0.05902981 -0.03823733 9.8441809 ] [-0.05850583 0.99817911 0.01468131 -0.34725206] [ 0.03903434 -0.01240785 0.99916083 -0.11003027] [ 0. 0. 0. 1. ]] SLAMing on 39.809649246 meters Centerline goodness : 0.936848 with order 1 Centerline is valid? [False, False] Translation: X:9.85, Y:-0.35, Z:-0.11 [[ 0.99734483 0.06150579 -0.03899144 9.84718214] [-0.0607789 0.99795954 0.01956239 -0.34861195] [ 0.04011508 -0.0171406 0.99904804 -0.1075644 ] [ 0. 0. 0. 1. ]] SLAMing on 39.869649245999994 meters Centerline goodness : 0.935554 with order 1 Centerline is valid? [False, False] Translation: X:9.85, Y:-0.35, Z:-0.11 [[ 0.99717206 0.06360678 -0.04002587 9.85247739] [-0.06275273 0.99778117 0.02224485 -0.3475648 ] [ 0.04135199 -0.01967021 0.998951 -0.10991072] [ 0. 0. 0. 1. ]] SLAMing on 39.929649246 meters Centerline goodness : 0.931400 with order 1 Centerline is valid? [False, False] Translation: X:9.86, Y:-0.35, Z:-0.11 [[ 0.99717574 0.06288424 -0.04106235 9.85545245] [-0.06203668 0.99784011 0.02159991 -0.34799968] [ 0.04233195 -0.01899154 0.99892308 -0.11119579] [ 0. 0. 0. 1. ]] SLAMing on 39.989649246 meters Centerline goodness : 0.927378 with order 1 Centerline is valid? [False, False] Translation: X:9.86, Y:-0.35, Z:-0.11 [[ 0.99720999 0.06189593 -0.04172687 9.85831888] [-0.06108735 0.99792427 0.02038331 -0.34709209] [ 0.0429019 -0.01777745 0.99892111 -0.1134163 ] [ 0. 0. 0. 1. ]] SLAMing on 40.049649245999994 meters Centerline goodness : 0.929212 with order 1 Centerline is valid? [False, False] Translation: X:9.86, Y:-0.35, Z:-0.11 [[ 0.99722198 0.06110087 -0.04260288 9.86070013] [-0.06028673 0.99797788 0.02014105 -0.34684276] [ 0.04374736 -0.01751671 0.99888905 -0.11344759] [ 0. 0. 0. 1. ]] SLAMing on 40.109649246 meters Centerline goodness : 0.929779 with order 1 Centerline is valid? [False, False] Translation: X:9.86, Y:-0.35, Z:-0.11 [[ 0.99703041 0.06389767 -0.04298196 9.86310376] [-0.0627203 0.99763249 0.02820583 -0.35120353] [ 0.04468248 -0.02542623 0.99867762 -0.10627653] [ 0. 0. 0. 1. ]] SLAMing on 40.169649246 meters Centerline goodness : 0.936835 with order 1 Centerline is valid? [False, False] Translation: X:9.88, Y:-0.35, Z:-0.11 [[ 0.9971755 0.06442634 -0.03860407 9.87830428] [-0.06371942 0.99778175 0.01927224 -0.34924083] [ 0.03976007 -0.01675798 0.99906872 -0.11009568] [ 0. 0. 0. 1. ]] SLAMing on 40.229649245999994 meters Centerline goodness : 0.935157 with order 1 Centerline is valid? [False, False] Translation: X:9.88, Y:-0.35, Z:-0.11 [[ 0.99718606 0.06432183 -0.03850526 9.87823651] [-0.06362594 0.99779228 0.01903437 -0.34760521] [ 0.03964458 -0.01653087 0.99907709 -0.11002859] [ 0. 0. 0. 1. ]] SLAMing on 40.289649245999996 meters Centerline goodness : 0.931502 with order 1 Centerline is valid? [False, False] Translation: X:9.88, Y:-0.35, Z:-0.11 [[ 0.99699625 0.06668346 -0.03939277 9.88219793] [-0.06581454 0.99756771 0.02295906 -0.34792523] [ 0.04082794 -0.02029748 0.99896 -0.10960615] [ 0. 0. 0. 1. ]] SLAMing on 40.349649246 meters Centerline goodness : 0.933757 with order 1 Centerline is valid? [False, False] Translation: X:9.89, Y:-0.35, Z:-0.11 [[ 0.99703566 0.06547103 -0.04041583 9.88559023] [-0.06461485 0.99766464 0.02214027 -0.34757318] [ 0.04177099 -0.01946317 0.99893762 -0.11084395] [ 0. 0. 0. 1. ]] SLAMing on 40.409649245999994 meters Centerline goodness : 0.930203 with order 1 Centerline is valid? [False, False] Translation: X:9.90, Y:-0.35, Z:-0.11 [[ 0.99706424 0.0640181 -0.04200708 9.89550758] [-0.0630533 0.99772382 0.02390518 -0.34890701] [ 0.04344182 -0.02118632 0.99883129 -0.11343585] [ 0. 0. 0. 1. ]] SLAMing on 40.469649245999996 meters Centerline goodness : 0.927712 with order 1 Centerline is valid? [False, False] Translation: X:9.90, Y:-0.35, Z:-0.11 [[ 0.9971076 0.06282737 -0.04276851 9.89835392] [-0.06184335 0.99779833 0.0239562 -0.35162446] [ 0.04417945 -0.02124196 0.99879776 -0.11372889] [ 0. 0. 0. 1. ]] SLAMing on 40.529649246 meters Centerline goodness : 0.932196 with order 1 Centerline is valid? [False, False] Translation: X:9.90, Y:-0.35, Z:-0.11 [[ 0.99710488 0.06282525 -0.04283508 9.89814492] [-0.06183453 0.99779601 0.02407522 -0.35136307] [ 0.0442532 -0.02135683 0.99879204 -0.11293708] [ 0. 0. 0. 1. ]] SLAMing on 40.58964924599999 meters Centerline goodness : 0.929535 with order 1 Centerline is valid? [False, False] Translation: X:9.90, Y:-0.35, Z:-0.11 [[ 0.9971106 0.06252058 -0.04314666 9.89926648] [-0.06155981 0.99783258 0.02324942 -0.35007076] [ 0.04450671 -0.02052615 0.99879819 -0.11410223] [ 0. 0. 0. 1. ]] SLAMing on 40.649649245999996 meters Centerline goodness : 0.929268 with order 1 Centerline is valid? [False, False] Translation: X:9.92, Y:-0.35, Z:-0.12 [[ 0.99718754 0.06400557 -0.03899106 9.91500777] [-0.06348872 0.99787933 0.01435391 -0.34722922] [ 0.03982711 -0.01183804 0.99913646 -0.1195849 ] [ 0. 0. 0. 1. ]] SLAMing on 40.709649246 meters Centerline goodness : 0.933485 with order 1 Centerline is valid? [False, False] Translation: X:9.92, Y:-0.35, Z:-0.12 [[ 0.99696862 0.06677772 -0.0399287 9.91827083] [-0.06604376 0.99762757 0.01942822 -0.34869249] [ 0.04113134 -0.01673228 0.99901364 -0.11701541] [ 0. 0. 0. 1. ]] SLAMing on 40.769649246 meters Centerline goodness : 0.933581 with order 1 Centerline is valid? [False, False] Translation: X:9.92, Y:-0.35, Z:-0.12 [[ 0.99698379 0.06635597 -0.04025181 9.91958107] [-0.06565445 0.99767076 0.01850818 -0.34632767] [ 0.04138618 -0.01580965 0.99901814 -0.11810387] [ 0. 0. 0. 1. ]] SLAMing on 40.829649245999995 meters Centerline goodness : 0.933847 with order 1 Centerline is valid? [False, False] Translation: X:9.92, Y:-0.35, Z:-0.12 [[ 0.99678842 0.06855844 -0.04138349 9.92451209] [-0.0676754 0.99745644 0.02237608 -0.34685483] [ 0.0428123 -0.01950358 0.99889275 -0.11818789] [ 0. 0. 0. 1. ]] SLAMing on 40.889649246 meters Centerline goodness : 0.933543 with order 1 Centerline is valid? [False, False] Translation: X:9.93, Y:-0.35, Z:-0.12 [[ 0.99654202 0.07155281 -0.04223977 9.92770682] [-0.07043085 0.99713809 0.02747973 -0.34957854] [ 0.04408513 -0.02440972 0.99872953 -0.11617552] [ 0. 0. 0. 1. ]] SLAMing on 40.949649246 meters Centerline goodness : 0.932833 with order 1 Centerline is valid? [False, False] Translation: X:9.93, Y:-0.35, Z:-0.11 [[ 0.99636904 0.07329349 -0.04332215 9.93299146] [-0.07185266 0.99683794 0.03393114 -0.35364557] [ 0.0456721 -0.03069512 0.99848479 -0.11204101] [ 0. 0. 0. 1. ]] SLAMing on 41.009649245999995 meters Centerline goodness : 0.936051 with order 1 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.35, Z:-0.12 [[ 0.99658662 0.07250115 -0.03948017 9.94847204] [-0.07169205 0.99719421 0.02153956 -0.35188617] [ 0.04093104 -0.01863563 0.99898817 -0.11969109] [ 0. 0. 0. 1. ]] SLAMing on 41.069649246 meters Centerline goodness : 0.936053 with order 1 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.35, Z:-0.12 [[ 0.99662333 0.07164922 -0.04010385 9.95076843] [-0.07083837 0.9972606 0.02128904 -0.35268426] [ 0.04151933 -0.01837627 0.9989687 -0.12036332] [ 0. 0. 0. 1. ]] SLAMing on 41.129649246 meters Centerline goodness : 0.934052 with order 1 Centerline is valid? [False, False] Translation: X:9.95, Y:-0.35, Z:-0.12 [[ 0.99664517 0.07094465 -0.04080772 9.95319005] [-0.07014117 0.99732026 0.02079706 -0.35230527] [ 0.04217381 -0.01786498 0.99895056 -0.12122181] [ 0. 0. 0. 1. ]] SLAMing on 41.189649245999995 meters Centerline goodness : 0.936684 with order 1 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.35, Z:-0.12 [[ 0.99643295 0.07345504 -0.04154204 9.95651425] [-0.0724567 0.99705694 0.02504951 -0.35463176] [ 0.0432598 -0.02195016 0.9988227 -0.12046275] [ 0. 0. 0. 1. ]] SLAMing on 41.249649246 meters Centerline goodness : 0.938995 with order 1 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.36, Z:-0.12 [[ 0.99654676 0.07123459 -0.04266364 9.96151151] [-0.07024227 0.99723333 0.02432517 -0.35550489] [ 0.0442784 -0.02124438 0.99879332 -0.12198154] [ 0. 0. 0. 1. ]] SLAMing on 41.309649246 meters Centerline goodness : 0.932870 with order 1 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.36, Z:-0.12 [[ 0.99659181 0.07018593 -0.04334405 9.96430883] [-0.06919144 0.99731382 0.0240351 -0.35612919] [ 0.04491455 -0.02095415 0.99877105 -0.12276829] [ 0. 0. 0. 1. ]] SLAMing on 41.369649245999994 meters Centerline goodness : 0.935731 with order 1 Centerline is valid? [False, False] Translation: X:9.97, Y:-0.36, Z:-0.12 [[ 0.99635214 0.07296738 -0.04425131 9.96788023] [-0.07174023 0.99700993 0.02871493 -0.35792439] [ 0.04621425 -0.02543558 0.99860767 -0.12140109] [ 0. 0. 0. 1. ]] SLAMing on 41.429649246 meters Centerline goodness : 0.934986 with order 1 Centerline is valid? [False, False] Translation: X:9.97, Y:-0.36, Z:-0.12 [[ 0.99638128 0.07197145 -0.04521565 9.97126243] [-0.07078919 0.99711962 0.02722779 -0.35595281] [ 0.04704504 -0.02392848 0.99860612 -0.12386502] [ 0. 0. 0. 1. ]] SLAMing on 41.489649246 meters Centerline goodness : 0.937350 with order 1 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.35, Z:-0.13 [[ 0.996414 0.07385397 -0.04128846 9.98515755] [-0.07320795 0.99717269 0.0169476 -0.35250045] [ 0.04242337 -0.01386419 0.99900352 -0.12994197] [ 0. 0. 0. 1. ]] SLAMing on 41.549649245999994 meters Centerline goodness : 0.939970 with order 1 Centerline is valid? [False, False] Translation: X:10.00, Y:-0.35, Z:-0.13 [[ 9.96336897e-01 7.77338928e-02 -3.56402824e-02 9.99725418e+00] [-7.74367261e-02 9.96950605e-01 9.64593952e-03 -3.48770540e-01] [ 3.62814175e-02 -6.85073866e-03 9.99318131e-01 -1.34370891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.609649246 meters Centerline goodness : 0.936794 with order 1 Centerline is valid? [False, False] Translation: X:10.00, Y:-0.35, Z:-0.13 [[ 0.99603794 0.08135948 -0.03590346 9.99890576] [-0.08092787 0.99663098 0.01331771 -0.34709979] [ 0.03686602 -0.01035935 0.99926652 -0.13421845] [ 0. 0. 0. 1. ]] SLAMing on 41.669649246 meters Centerline goodness : 0.934219 with order 1 Centerline is valid? [False, False] Translation: X:10.00, Y:-0.35, Z:-0.13 [[ 0.99604062 0.08114883 -0.03630356 10.0001409 ] [-0.0807233 0.99665125 0.01303979 -0.34660179] [ 0.03724015 -0.01005762 0.99925573 -0.13474013] [ 0. 0. 0. 1. ]] SLAMing on 41.729649245999994 meters Centerline goodness : 0.933527 with order 1 Centerline is valid? [False, False] Translation: X:10.00, Y:-0.35, Z:-0.14 [[ 9.96115070e-01 7.98998689e-02 -3.70240156e-02 1.00035444e+01] [-7.95009906e-02 9.96761035e-01 1.21256764e-02 -3.46856992e-01] [ 3.78729361e-02 -9.13512307e-03 9.99240807e-01 -1.36976192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.789649245999996 meters Centerline goodness : 0.929571 with order 1 Centerline is valid? [False, False] Translation: X:10.01, Y:-0.35, Z:-0.14 [[ 9.96143782e-01 7.91032987e-02 -3.79504203e-02 1.00065507e+01] [-7.86964707e-02 9.96825200e-01 1.20989868e-02 -3.48226413e-01] [ 3.87870051e-02 -9.06576635e-03 9.99206375e-01 -1.37734008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.849649246 meters Centerline goodness : 0.930137 with order 1 Centerline is valid? [False, False] Translation: X:10.01, Y:-0.35, Z:-0.14 [[ 9.96462595e-01 7.46656498e-02 -3.85660049e-02 1.00083871e+01] [-7.44359330e-02 9.97198634e-01 7.36039296e-03 -3.48833893e-01] [ 3.90075359e-02 -4.46365972e-03 9.99228947e-01 -1.40225436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.909649245999994 meters Centerline goodness : 0.929252 with order 1 Centerline is valid? [False, False] Translation: X:10.01, Y:-0.35, Z:-0.14 [[ 9.96503510e-01 7.35219514e-02 -3.96897590e-02 1.00118839e+01] [-7.32683318e-02 9.97281689e-01 7.80922149e-03 -3.52703607e-01] [ 4.01560191e-02 -4.87391420e-03 9.99181535e-01 -1.40363901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.969649245999996 meters Centerline goodness : 0.929192 with order 1 Centerline is valid? [False, False] Translation: X:10.02, Y:-0.36, Z:-0.14 [[ 9.96279587e-01 7.60949076e-02 -4.04542904e-02 1.00156027e+01] [-7.56413508e-02 9.97055115e-01 1.26286536e-02 -3.55782587e-01] [ 4.12961334e-02 -9.52165267e-03 9.99101580e-01 -1.39280468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.029649246 meters Centerline goodness : 0.929908 with order 1 Centerline is valid? [False, False] Translation: X:10.02, Y:-0.36, Z:-0.14 [[ 0.9960509 0.07847876 -0.0415174 10.01980063] [-0.07784187 0.99682511 0.01674327 -0.35710626] [ 0.04269958 -0.01344536 0.99899748 -0.13868227] [ 0. 0. 0. 1. ]] SLAMing on 42.08964924599999 meters Centerline goodness : 0.927805 with order 1 Centerline is valid? [False, False] Translation: X:10.02, Y:-0.36, Z:-0.14 [[ 0.99608618 0.07760447 -0.04230686 10.02221937] [-0.07697262 0.99689886 0.01636711 -0.35735484] [ 0.04344582 -0.01304658 0.99897059 -0.13914392] [ 0. 0. 0. 1. ]] SLAMing on 42.149649245999996 meters Centerline goodness : 0.928130 with order 1 Centerline is valid? [False, False] Translation: X:10.02, Y:-0.36, Z:-0.14 [[ 0.99609986 0.07724591 -0.04263974 10.02328137] [-0.07661501 0.99692849 0.01623952 -0.3568445 ] [ 0.04376321 -0.01290934 0.99895852 -0.13913061] [ 0. 0. 0. 1. ]] SLAMing on 42.209649246 meters Centerline goodness : 0.931408 with order 1 Centerline is valid? [False, False] Translation: X:10.03, Y:-0.36, Z:-0.14 [[ 0.99584162 0.08015678 -0.04329382 10.02599837] [-0.07924297 0.99660298 0.02242891 -0.36017908] [ 0.04494458 -0.01890492 0.99881059 -0.1350965 ] [ 0. 0. 0. 1. ]] SLAMing on 42.26964924599999 meters Centerline goodness : 0.932139 with order 1 Centerline is valid? [False, False] Translation: X:10.03, Y:-0.36, Z:-0.13 [[ 0.99584783 0.07983208 -0.04374869 10.02688485] [-0.07889139 0.99662187 0.02282532 -0.36174096] [ 0.04542309 -0.01927915 0.99878179 -0.13425717] [ 0. 0. 0. 1. ]] SLAMing on 42.329649245999995 meters Centerline goodness : 0.929879 with order 1 Centerline is valid? [False, False] Translation: X:10.03, Y:-0.36, Z:-0.13 [[ 0.99589353 0.07871989 -0.04471309 10.02989105] [-0.07775514 0.99670891 0.0229235 -0.36303538] [ 0.04637047 -0.01935269 0.99873683 -0.13416428] [ 0. 0. 0. 1. ]] SLAMing on 42.389649246 meters Centerline goodness : 0.933585 with order 1 Centerline is valid? [False, False] Translation: X:10.03, Y:-0.36, Z:-0.13 [[ 0.99565031 0.0813712 -0.04537835 10.03322757] [-0.08018875 0.99640581 0.02729899 -0.3646398 ] [ 0.0474366 -0.02354141 0.9985968 -0.13326889] [ 0. 0. 0. 1. ]] SLAMing on 42.449649246 meters Centerline goodness : 0.929567 with order 1 Centerline is valid? [False, False] Translation: X:10.03, Y:-0.36, Z:-0.13 [[ 0.99565652 0.08103257 -0.04584567 10.03444166] [-0.07984392 0.9964364 0.02719295 -0.36466603] [ 0.0478858 -0.02341434 0.99857835 -0.1333044 ] [ 0. 0. 0. 1. ]] SLAMing on 42.509649245999995 meters Centerline goodness : 0.930605 with order 1 Centerline is valid? [False, False] Translation: X:10.04, Y:-0.36, Z:-0.13 [[ 0.99570868 0.08012033 -0.04631359 10.03655555] [-0.07894731 0.99652309 0.02662795 -0.3643371 ] [ 0.048286 -0.02285734 0.99857198 -0.13423857] [ 0. 0. 0. 1. ]] SLAMing on 42.569649246 meters Centerline goodness : 0.929975 with order 1 Centerline is valid? [False, False] Translation: X:10.04, Y:-0.37, Z:-0.13 [[ 0.99576197 0.07894369 -0.04718035 10.03911619] [-0.07773866 0.99661201 0.02685506 -0.36506093] [ 0.04914054 -0.02307351 0.99852532 -0.13322852] [ 0. 0. 0. 1. ]] SLAMing on 42.629649246 meters Centerline goodness : 0.929296 with order 1 Centerline is valid? [False, False] Translation: X:10.04, Y:-0.36, Z:-0.13 [[ 0.99578193 0.07812431 -0.04811389 10.04187086] [-0.07693919 0.9966964 0.02601252 -0.36404028] [ 0.04998715 -0.02220095 0.99850308 -0.13432025] [ 0. 0. 0. 1. ]] SLAMing on 42.689649245999995 meters Centerline goodness : 0.922240 with order 1 Centerline is valid? [False, False] Translation: X:10.05, Y:-0.36, Z:-0.14 [[ 0.99584805 0.07661286 -0.04916427 10.04575688] [-0.07546224 0.99683895 0.02485061 -0.36362432] [ 0.05091274 -0.02103738 0.99848151 -0.13630875] [ 0. 0. 0. 1. ]] SLAMing on 42.749649246 meters Centerline goodness : 0.920299 with order 1 Centerline is valid? [False, False] Translation: X:10.05, Y:-0.37, Z:-0.13 [[ 0.99572602 0.07718755 -0.05071272 10.05318797] [-0.07571652 0.99666838 0.03031744 -0.36694134] [ 0.0528839 -0.02634807 0.99825301 -0.13326599] [ 0. 0. 0. 1. ]] SLAMing on 42.809649246 meters Centerline goodness : 0.923558 with order 1 Centerline is valid? [False, False] Translation: X:10.05, Y:-0.37, Z:-0.13 [[ 0.9957277 0.07683621 -0.05121075 10.05418642] [-0.07535338 0.99669686 0.03028592 -0.36660333] [ 0.05336865 -0.02629762 0.99822854 -0.13273856] [ 0. 0. 0. 1. ]] SLAMing on 42.869649245999994 meters Centerline goodness : 0.929435 with order 1 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.37, Z:-0.13 [[ 0.99542614 0.08048902 -0.05146175 10.05543296] [-0.07871488 0.99626052 0.03562215 -0.3673999 ] [ 0.0541365 -0.03140841 0.99803945 -0.1297937 ] [ 0. 0. 0. 1. ]] SLAMing on 42.929649246 meters Centerline goodness : 0.925369 with order 1 Centerline is valid? [False, False] Translation: X:10.07, Y:-0.36, Z:-0.14 [[ 0.99541412 0.08252308 -0.04838046 10.07040523] [-0.08139732 0.99637319 0.02479813 -0.36317394] [ 0.05025141 -0.02074637 0.9985211 -0.13702149] [ 0. 0. 0. 1. ]] SLAMing on 42.989649246 meters Centerline goodness : 0.924469 with order 1 Centerline is valid? [False, False] Translation: X:10.07, Y:-0.36, Z:-0.14 [[ 0.99534352 0.08338333 -0.04835792 10.0695739 ] [-0.0823241 0.9963285 0.02350025 -0.3590904 ] [ 0.05013991 -0.0194098 0.99855358 -0.1383712 ] [ 0. 0. 0. 1. ]] SLAMing on 43.049649245999994 meters Centerline goodness : 0.923520 with order 1 Centerline is valid? [False, False] Translation: X:10.07, Y:-0.36, Z:-0.14 [[ 0.99500469 0.08716236 -0.04866608 10.07078907] [-0.08591092 0.99593025 0.02724412 -0.35727455] [ 0.05084268 -0.02292708 0.99844347 -0.13764446] [ 0. 0. 0. 1. ]] SLAMing on 43.109649246 meters Centerline goodness : 0.927031 with order 1 Centerline is valid? [False, False] Translation: X:10.07, Y:-0.36, Z:-0.14 [[ 0.99503367 0.08656406 -0.04913921 10.07246819] [-0.0853367 0.9959983 0.02655244 -0.35604966] [ 0.05124106 -0.0222272 0.99843893 -0.1385803 ] [ 0. 0. 0. 1. ]] SLAMing on 43.169649246 meters Centerline goodness : 0.923618 with order 1 Centerline is valid? [False, False] Translation: X:10.08, Y:-0.36, Z:-0.14 [[ 0.9950933 0.08538753 -0.04998288 10.07550402] [-0.08417869 0.99611626 0.02581381 -0.3557502 ] [ 0.05199294 -0.02147965 0.99841643 -0.13978133] [ 0. 0. 0. 1. ]] SLAMing on 43.229649245999994 meters Centerline goodness : 0.923105 with order 1 Centerline is valid? [False, False] Translation: X:10.08, Y:-0.35, Z:-0.14 [[ 0.99512087 0.08483428 -0.05037462 10.07709274] [-0.08365977 0.99618105 0.02498725 -0.3548554 ] [ 0.05230202 -0.02065101 0.99841777 -0.14113895] [ 0. 0. 0. 1. ]] SLAMing on 43.289649245999996 meters Centerline goodness : 0.925855 with order 1 Centerline is valid? [False, False] Translation: X:10.08, Y:-0.36, Z:-0.14 [[ 0.99508364 0.08503105 -0.05077673 10.07701063] [-0.08376443 0.99613113 0.02657634 -0.35806568] [ 0.05284009 -0.0221924 0.99835636 -0.13824819] [ 0. 0. 0. 1. ]] SLAMing on 43.349649246 meters Centerline goodness : 0.929602 with order 1 Centerline is valid? [False, False] Translation: X:10.08, Y:-0.36, Z:-0.14 [[ 0.9951437 0.08408592 -0.05117204 10.07879687] [-0.08277642 0.99619697 0.02719663 -0.36148315] [ 0.05326428 -0.02282872 0.99831947 -0.13790349] [ 0. 0. 0. 1. ]] SLAMing on 43.409649245999994 meters Centerline goodness : 0.926277 with order 1 Centerline is valid? [False, False] Translation: X:10.08, Y:-0.36, Z:-0.14 [[ 0.99521881 0.0825252 -0.05224088 10.08271033] [-0.08118219 0.99632446 0.02733168 -0.3641325 ] [ 0.05430442 -0.02295998 0.99826042 -0.13836519] [ 0. 0. 0. 1. ]] SLAMing on 43.469649245999996 meters Centerline goodness : 0.928646 with order 1 Centerline is valid? [False, False] Translation: X:10.08, Y:-0.37, Z:-0.14 [[ 0.99525984 0.0816647 -0.05280831 10.08438928] [-0.08029196 0.99638872 0.02761739 -0.36570273] [ 0.05487297 -0.0232464 0.9982227 -0.13768305] [ 0. 0. 0. 1. ]] SLAMing on 43.529649246 meters Centerline goodness : 0.924354 with order 1 Centerline is valid? [False, False] Translation: X:10.09, Y:-0.37, Z:-0.14 [[ 0.99529817 0.08053383 -0.0538132 10.08789212] [-0.0791425 0.99648372 0.02750754 -0.36653615] [ 0.05583927 -0.02311929 0.99817207 -0.13821283] [ 0. 0. 0. 1. ]] SLAMing on 43.58964924599999 meters Centerline goodness : 0.919561 with order 1 Centerline is valid? [False, False] Translation: X:10.09, Y:-0.37, Z:-0.14 [[ 0.99524354 0.08054182 -0.05480254 10.0941555 ] [-0.07900247 0.99643184 0.0297019 -0.36805766] [ 0.05699924 -0.02523109 0.99805535 -0.13945516] [ 0. 0. 0. 1. ]] SLAMing on 43.649649245999996 meters Centerline goodness : 0.924422 with order 1 Centerline is valid? [False, False] Translation: X:10.10, Y:-0.37, Z:-0.14 [[ 0.99525717 0.08010537 -0.05519325 10.09542448] [-0.0785217 0.99645209 0.03029142 -0.36866766] [ 0.05742394 -0.02581388 0.9980161 -0.13831687] [ 0. 0. 0. 1. ]] SLAMing on 43.709649246 meters Centerline goodness : 0.923760 with order 1 Centerline is valid? [False, False] Translation: X:10.10, Y:-0.37, Z:-0.14 [[ 0.99498289 0.0830461 -0.05578891 10.09840346] [-0.0812016 0.99609845 0.03455686 -0.37014843] [ 0.05844106 -0.02985333 0.99784439 -0.13773833] [ 0. 0. 0. 1. ]] SLAMing on 43.76964924599999 meters Centerline goodness : 0.919932 with order 1 Centerline is valid? [False, False] Translation: X:10.10, Y:-0.37, Z:-0.14 [[ 0.99499415 0.08268083 -0.05612955 10.09917387] [-0.08083914 0.99613582 0.03432886 -0.3697453 ] [ 0.058751 -0.02961955 0.99783315 -0.13758038] [ 0. 0. 0. 1. ]] SLAMing on 43.829649245999995 meters Centerline goodness : 0.922415 with order 1 Centerline is valid? [False, False] Translation: X:10.11, Y:-0.37, Z:-0.14 [[ 0.99510131 0.08328467 -0.05326386 10.11336709] [-0.08223025 0.99637721 0.02169424 -0.36573339] [ 0.0548777 -0.01720806 0.99834479 -0.14488458] [ 0. 0. 0. 1. ]] SLAMing on 43.889649246 meters Centerline goodness : 0.921766 with order 1 Centerline is valid? [False, False] Translation: X:10.11, Y:-0.36, Z:-0.15 [[ 0.99531198 0.08084162 -0.05309142 10.11195355] [-0.07999269 0.99663421 0.01792829 -0.36223616] [ 0.05436208 -0.01359731 0.9984287 -0.14573956] [ 0. 0. 0. 1. ]] SLAMing on 43.949649246 meters Centerline goodness : 0.923518 with order 1 Centerline is valid? [False, False] Translation: X:10.12, Y:-0.37, Z:-0.14 [[ 0.99513361 0.08203019 -0.0545907 10.11897186] [-0.08075775 0.99641707 0.02512398 -0.36514746] [ 0.05645603 -0.0205931 0.99819269 -0.13979426] [ 0. 0. 0. 1. ]] SLAMing on 44.009649245999995 meters Centerline goodness : 0.922795 with order 1 Centerline is valid? [False, False] Translation: X:10.12, Y:-0.37, Z:-0.14 [[ 0.99501857 0.08332916 -0.05472016 10.12183336] [-0.08191011 0.99625508 0.02768674 -0.36634189] [ 0.05682235 -0.02306669 0.9981178 -0.14031887] [ 0. 0. 0. 1. ]] SLAMing on 44.069649246 meters Centerline goodness : 0.924741 with order 1 Centerline is valid? [False, False] Translation: X:10.12, Y:-0.37, Z:-0.14 [[ 0.99499913 0.08350674 -0.05480281 10.1211043 ] [-0.08204414 0.99622339 0.02842041 -0.36780439] [ 0.05696914 -0.02378203 0.99809265 -0.13852748] [ 0. 0. 0. 1. ]] SLAMing on 44.129649246 meters Centerline goodness : 0.922407 with order 1 Centerline is valid? [False, False] Translation: X:10.12, Y:-0.37, Z:-0.14 [[ 0.99502894 0.0829544 -0.05509974 10.12238413] [-0.08150924 0.99627974 0.02798088 -0.36746466] [ 0.05721589 -0.02335065 0.99808872 -0.13921565] [ 0. 0. 0. 1. ]] SLAMing on 44.189649245999995 meters Centerline goodness : 0.923992 with order 1 Centerline is valid? [False, False] Translation: X:10.12, Y:-0.37, Z:-0.14 [[ 0.99505062 0.08245139 -0.05546202 10.12399672] [-0.08106323 0.99634769 0.02683341 -0.36514594] [ 0.05747191 -0.02220467 0.99810016 -0.14087631] [ 0. 0. 0. 1. ]] SLAMing on 44.249649246 meters Centerline goodness : 0.918967 with order 1 Centerline is valid? [False, False] Translation: X:10.12, Y:-0.36, Z:-0.14 [[ 0.99503644 0.08246055 -0.05570223 10.1242094 ] [-0.08111653 0.99636605 0.02597714 -0.36292307] [ 0.0576419 -0.02132983 0.99810944 -0.14144817] [ 0. 0. 0. 1. ]] SLAMing on 44.309649246 meters Centerline goodness : 0.920213 with order 1 Centerline is valid? [False, False] Translation: X:10.13, Y:-0.36, Z:-0.14 [[ 0.99505513 0.08199597 -0.05605311 10.12553111] [-0.08069783 0.99642386 0.02504691 -0.36059049] [ 0.05790641 -0.02039969 0.99811357 -0.14256477] [ 0. 0. 0. 1. ]] SLAMing on 44.369649245999994 meters Centerline goodness : 0.917298 with order 1 Centerline is valid? [False, False] Translation: X:10.13, Y:-0.36, Z:-0.14 [[ 0.99508968 0.08097256 -0.0569208 10.12850585] [-0.07972582 0.99653155 0.02384662 -0.35871069] [ 0.05865429 -0.01919147 0.99809386 -0.14418757] [ 0. 0. 0. 1. ]] SLAMing on 44.429649246 meters Centerline goodness : 0.914050 with order 1 Centerline is valid? [False, False] Translation: X:10.13, Y:-0.36, Z:-0.14 [[ 0.9950827 0.08070742 -0.05741726 10.12939341] [-0.07943059 0.99654693 0.02418661 -0.35956128] [ 0.05917103 -0.01950699 0.99805725 -0.14330007] [ 0. 0. 0. 1. ]] SLAMing on 44.489649246 meters Centerline goodness : 0.923709 with order 1 Centerline is valid? [False, False] Translation: X:10.13, Y:-0.36, Z:-0.14 [[ 0.99512856 0.08011725 -0.05744886 10.12915524] [-0.07864365 0.99652419 0.027472 -0.36328141] [ 0.05945016 -0.02282018 0.9979704 -0.13707209] [ 0. 0. 0. 1. ]] SLAMing on 44.549649245999994 meters Centerline goodness : 0.915283 with order 1 Centerline is valid? [False, False] Translation: X:10.13, Y:-0.36, Z:-0.14 [[ 0.99489423 0.08233579 -0.05836341 10.13367694] [-0.08059126 0.99624482 0.03164354 -0.36377127] [ 0.06074964 -0.0267784 0.99779377 -0.13640615] [ 0. 0. 0. 1. ]] SLAMing on 44.609649246 meters Centerline goodness : 0.916227 with order 1 Centerline is valid? [False, False] Translation: X:10.13, Y:-0.36, Z:-0.14 [[ 0.99490636 0.08195581 -0.05869049 10.13430971] [-0.08020121 0.9962759 0.03165598 -0.36357963] [ 0.06106632 -0.02678768 0.99777419 -0.13568274] [ 0. 0. 0. 1. ]] SLAMing on 44.669649246 meters Centerline goodness : 0.918153 with order 1 Centerline is valid? [False, False] Translation: X:10.13, Y:-0.36, Z:-0.14 [[ 0.99491842 0.08178962 -0.05871787 10.13468136] [-0.08006453 0.99630259 0.03115797 -0.36235413] [ 0.06104916 -0.02629842 0.99778825 -0.13635218] [ 0. 0. 0. 1. ]] SLAMing on 44.729649245999994 meters Centerline goodness : 0.917500 with order 1 Centerline is valid? [False, False] Translation: X:10.14, Y:-0.36, Z:-0.14 [[ 0.9949121 0.08156816 -0.05913168 10.13540165] [-0.07984031 0.99632487 0.03102053 -0.36236706] [ 0.06144465 -0.0261416 0.9977681 -0.13605366] [ 0. 0. 0. 1. ]] SLAMing on 44.789649245999996 meters Centerline goodness : 0.912683 with order 1 Centerline is valid? [False, False] Translation: X:10.14, Y:-0.36, Z:-0.13 [[ 0.99473418 0.08271047 -0.06052189 10.14282736] [-0.08056495 0.9960596 0.03707497 -0.36439374] [ 0.06334989 -0.0320038 0.99747809 -0.13252737] [ 0. 0. 0. 1. ]] SLAMing on 44.849649246 meters Centerline goodness : 0.916267 with order 1 Centerline is valid? [False, False] Translation: X:10.16, Y:-0.36, Z:-0.14 [[ 0.99484078 0.08394275 -0.05696872 10.15853274] [-0.08249823 0.99621844 0.02725561 -0.362091 ] [ 0.0590412 -0.02241517 0.99800386 -0.13864488] [ 0. 0. 0. 1. ]] SLAMing on 44.909649245999994 meters Centerline goodness : 0.908237 with order 1 Centerline is valid? [False, False] Translation: X:10.16, Y:-0.36, Z:-0.14 [[ 0.99481067 0.08392991 -0.05751092 10.15978694] [-0.08255821 0.99625145 0.02583003 -0.35798114] [ 0.05946325 -0.02094799 0.99801067 -0.14023554] [ 0. 0. 0. 1. ]] SLAMing on 44.969649245999996 meters Centerline goodness : 0.908976 with order 1 Centerline is valid? [False, False] Translation: X:10.16, Y:-0.35, Z:-0.14 [[ 0.99480249 0.08374508 -0.05792041 10.16161573] [-0.08247939 0.99630585 0.02391227 -0.3532744 ] [ 0.05970898 -0.01901075 0.99803478 -0.14325291] [ 0. 0. 0. 1. ]] SLAMing on 45.029649246 meters Centerline goodness : 0.903801 with order 1 Centerline is valid? [False, False] Translation: X:10.16, Y:-0.36, Z:-0.14 [[ 0.99449629 0.086889 -0.05854432 10.16412496] [-0.0853261 0.99593988 0.02869154 -0.3552574 ] [ 0.0607996 -0.02353828 0.99787242 -0.14161078] [ 0. 0. 0. 1. ]] SLAMing on 45.08964924599999 meters Centerline goodness : 0.904916 with order 1 Centerline is valid? [False, False] Translation: X:10.18, Y:-0.35, Z:-0.15 [[ 0.99470902 0.0867674 -0.0550035 10.17899095] [-0.08593708 0.99615053 0.01728987 -0.35341489] [ 0.05629196 -0.01247155 0.99833645 -0.1475254 ] [ 0. 0. 0. 1. ]] SLAMing on 45.149649245999996 meters Centerline goodness : 0.909938 with order 1 Centerline is valid? [False, False] Translation: X:10.18, Y:-0.36, Z:-0.15 [[ 0.99450842 0.08867501 -0.05558543 10.18285382] [-0.08761965 0.99592947 0.0211491 -0.35555974] [ 0.05723456 -0.01616258 0.99822992 -0.14719299] [ 0. 0. 0. 1. ]] SLAMing on 45.209649246 meters Centerline goodness : 0.909458 with order 1 Centerline is valid? [False, False] Translation: X:10.18, Y:-0.36, Z:-0.14 [[ 0.99451547 0.08822179 -0.05617737 10.18396091] [-0.08707867 0.99594764 0.02248583 -0.35836446] [ 0.05793346 -0.01747065 0.99816757 -0.1448219 ] [ 0. 0. 0. 1. ]] SLAMing on 45.26964924599999 meters Centerline goodness : 0.910635 with order 1 Centerline is valid? [False, False] Translation: X:10.19, Y:-0.36, Z:-0.15 [[ 0.99456578 0.08704628 -0.05711259 10.18746977] [-0.08590512 0.99605717 0.02214536 -0.35876825] [ 0.05881507 -0.01711875 0.9981221 -0.14587652] [ 0. 0. 0. 1. ]] SLAMing on 45.329649245999995 meters Centerline goodness : 0.908631 with order 1 Centerline is valid? [False, False] Translation: X:10.19, Y:-0.36, Z:-0.15 [[ 0.99463735 0.08560455 -0.05803795 10.19110986] [-0.08446909 0.99618875 0.02174747 -0.36011499] [ 0.05967843 -0.01672843 0.99807747 -0.14690694] [ 0. 0. 0. 1. ]] SLAMing on 45.389649246 meters Centerline goodness : 0.910402 with order 1 Centerline is valid? [False, False] Translation: X:10.20, Y:-0.37, Z:-0.14 [[ 0.99452242 0.08689212 -0.05809409 10.19572479] [-0.08526712 0.99590959 0.02989335 -0.36539911] [ 0.06045396 -0.02477609 0.99786345 -0.13959025] [ 0. 0. 0. 1. ]] SLAMing on 45.449649246 meters Centerline goodness : 0.907815 with order 1 Centerline is valid? [False, False] Translation: X:10.20, Y:-0.37, Z:-0.14 [[ 0.99454956 0.08628409 -0.05853402 10.19716637] [-0.08467016 0.9959717 0.02951855 -0.36505296] [ 0.06084521 -0.02440157 0.9978489 -0.13990639] [ 0. 0. 0. 1. ]] SLAMing on 45.509649245999995 meters Centerline goodness : 0.902768 with order 1 Centerline is valid? [False, False] Translation: X:10.21, Y:-0.37, Z:-0.14 [[ 0.99460307 0.08466216 -0.05997542 10.20752993] [-0.08272647 0.99599013 0.03405863 -0.36631212] [ 0.06261841 -0.02891326 0.99761864 -0.13732336] [ 0. 0. 0. 1. ]] SLAMing on 45.569649246 meters Centerline goodness : 0.900922 with order 1 Centerline is valid? [False, False] Translation: X:10.21, Y:-0.37, Z:-0.14 [[ 0.99439327 0.08634548 -0.06104485 10.21299049] [-0.08414413 0.99573786 0.0377608 -0.3668521 ] [ 0.06404514 -0.03241252 0.9974205 -0.13716956] [ 0. 0. 0. 1. ]] SLAMing on 45.629649246 meters Centerline goodness : 0.901743 with order 1 Centerline is valid? [False, False] Translation: X:10.23, Y:-0.37, Z:-0.14 [[ 0.99464996 0.08649019 -0.05648813 10.22762424] [-0.08498828 0.99597499 0.02847461 -0.36553185] [ 0.05872354 -0.02352144 0.99799714 -0.14065857] [ 0. 0. 0. 1. ]] SLAMing on 45.689649245999995 meters Centerline goodness : 0.906241 with order 1 Centerline is valid? [False, False] Translation: X:10.24, Y:-0.36, Z:-0.15 [[ 0.99487991 0.08696246 -0.05149261 10.23925321] [-0.0861785 0.99613022 0.01725824 -0.36297958] [ 0.05279416 -0.01273232 0.99852424 -0.14546466] [ 0. 0. 0. 1. ]] SLAMing on 45.749649246 meters Centerline goodness : 0.905575 with order 1 Centerline is valid? [False, False] Translation: X:10.24, Y:-0.37, Z:-0.14 [[ 0.99459506 0.08966719 -0.05234937 10.24293424] [-0.08857778 0.99580882 0.02277674 -0.36569386] [ 0.05417229 -0.01801664 0.99836905 -0.14285762] [ 0. 0. 0. 1. ]] SLAMing on 45.809649246 meters Centerline goodness : 0.898294 with order 1 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.36, Z:-0.15 [[ 0.99462108 0.0890315 -0.05293673 10.24590654] [-0.088054 0.99590424 0.02052406 -0.36168607] [ 0.0545472 -0.01575238 0.99838693 -0.14699823] [ 0. 0. 0. 1. ]] SLAMing on 45.869649245999994 meters Centerline goodness : 0.898143 with order 1 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.36, Z:-0.15 [[ 0.99453107 0.08956231 -0.05372658 10.2471203 ] [-0.08867906 0.9958864 0.01860925 -0.3576224 ] [ 0.05517226 -0.01374305 0.99838227 -0.14951927] [ 0. 0. 0. 1. ]] SLAMing on 45.929649246 meters Centerline goodness : 0.894690 with order 1 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.35, Z:-0.15 [[ 0.99446767 0.09016663 -0.053889 10.24751482] [-0.08942152 0.99586395 0.01608652 -0.35210216] [ 0.05511658 -0.01117869 0.99841735 -0.15345878] [ 0. 0. 0. 1. ]] SLAMing on 45.989649246 meters Centerline goodness : 0.890074 with order 1 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.35, Z:-0.15 [[ 0.9941813 0.09280527 -0.05468759 10.25142272] [-0.09183204 0.99557256 0.02005368 -0.35188987] [ 0.05630655 -0.01491492 0.99830212 -0.15308541] [ 0. 0. 0. 1. ]] SLAMing on 46.049649245999994 meters Centerline goodness : 0.897116 with order 1 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.35, Z:-0.15 [[ 0.99415477 0.09283103 -0.0551243 10.25154164] [-0.09178355 0.99555233 0.02124461 -0.35409421] [ 0.05685128 -0.01606092 0.99825346 -0.15067036] [ 0. 0. 0. 1. ]] SLAMing on 46.109649246 meters Centerline goodness : 0.895772 with order 1 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.36, Z:-0.15 [[ 0.99419192 0.09182852 -0.05612444 10.25437647] [-0.09061917 0.99560284 0.02373098 -0.35825605] [ 0.05805683 -0.0185072 0.99814172 -0.14672731] [ 0. 0. 0. 1. ]] SLAMing on 46.169649246 meters Centerline goodness : 0.900403 with order 1 Centerline is valid? [False, False] Translation: X:10.25, Y:-0.36, Z:-0.15 [[ 0.99457171 0.08748839 -0.0563285 10.25472723] [-0.08651442 0.99605958 0.01950791 -0.35855727] [ 0.05781326 -0.01452879 0.99822169 -0.14767663] [ 0. 0. 0. 1. ]] SLAMing on 46.229649245999994 meters Centerline goodness : 0.899715 with order 1 Centerline is valid? [False, False] Translation: X:10.26, Y:-0.36, Z:-0.15 [[ 0.99457586 0.08733617 -0.05649113 10.25522431] [-0.08634793 0.99607008 0.01970888 -0.3588101 ] [ 0.05799042 -0.01472408 0.99820855 -0.14725927] [ 0. 0. 0. 1. ]] SLAMing on 46.289649245999996 meters Centerline goodness : 0.898359 with order 1 Centerline is valid? [False, False] Translation: X:10.26, Y:-0.36, Z:-0.15 [[ 0.99429948 0.090075 -0.05705294 10.2586368 ] [-0.0888145 0.99575265 0.02426186 -0.36045247] [ 0.058996 -0.01905643 0.99807631 -0.14641179] [ 0. 0. 0. 1. ]] SLAMing on 46.349649246 meters Centerline goodness : 0.899632 with order 1 Centerline is valid? [False, False] Translation: X:10.26, Y:-0.36, Z:-0.15 [[ 0.99429774 0.0897191 -0.05764095 10.26013586] [-0.08840656 0.99577229 0.02493627 -0.36195027] [ 0.05963452 -0.01969824 0.9980259 -0.14544863] [ 0. 0. 0. 1. ]] SLAMing on 46.409649245999994 meters Centerline goodness : 0.901344 with order 1 Centerline is valid? [False, False] Translation: X:10.26, Y:-0.36, Z:-0.15 [[ 0.99436261 0.0883839 -0.05857718 10.26361357] [-0.08706467 0.9958962 0.02470831 -0.36278361] [ 0.0605206 -0.01946901 0.99797706 -0.1460583 ] [ 0. 0. 0. 1. ]] SLAMing on 46.469649245999996 meters Centerline goodness : 0.898836 with order 1 Centerline is valid? [False, False] Translation: X:10.27, Y:-0.36, Z:-0.15 [[ 0.99443167 0.08683124 -0.05971587 10.26794379] [-0.08551466 0.99604138 0.02426532 -0.36332942] [ 0.06158646 -0.01902362 0.99792044 -0.14709099] [ 0. 0. 0. 1. ]] SLAMing on 46.529649246 meters Centerline goodness : 0.899086 with order 1 Centerline is valid? [False, False] Translation: X:10.27, Y:-0.37, Z:-0.14 [[ 0.99438555 0.08686164 -0.06043539 10.26822385] [-0.08542538 0.99600629 0.02596117 -0.36617794] [ 0.06244906 -0.0206527 0.99783445 -0.1434901 ] [ 0. 0. 0. 1. ]] SLAMing on 46.58964924599999 meters Centerline goodness : 0.896485 with order 1 Centerline is valid? [False, False] Translation: X:10.27, Y:-0.37, Z:-0.14 [[ 0.99438677 0.08673225 -0.06060091 10.26854528] [-0.0852778 0.99601286 0.026193 -0.36604351] [ 0.06263106 -0.02087806 0.99781835 -0.14274509] [ 0. 0. 0. 1. ]] SLAMing on 46.649649245999996 meters Centerline goodness : 0.898368 with order 1 Centerline is valid? [False, False] Translation: X:10.27, Y:-0.36, Z:-0.14 [[ 0.99441887 0.08623038 -0.06079002 10.26982256] [-0.08485524 0.99608322 0.02485571 -0.36291057] [ 0.06269523 -0.01955864 0.99784105 -0.1445485 ] [ 0. 0. 0. 1. ]] SLAMing on 46.709649246 meters Centerline goodness : 0.896541 with order 1 Centerline is valid? [False, False] Translation: X:10.27, Y:-0.36, Z:-0.15 [[ 0.99443876 0.08566531 -0.06126179 10.27156417] [-0.08433577 0.99614897 0.02397322 -0.36128461] [ 0.06307954 -0.01867334 0.99783379 -0.1457733 ] [ 0. 0. 0. 1. ]] SLAMing on 46.76964924599999 meters Centerline goodness : 0.900118 with order 1 Centerline is valid? [False, False] Translation: X:10.27, Y:-0.36, Z:-0.14 [[ 0.99441003 0.08576295 -0.06159073 10.27139942] [-0.08435606 0.99611961 0.02509538 -0.3631879 ] [ 0.06350398 -0.01975955 0.99778595 -0.14339116] [ 0. 0. 0. 1. ]] SLAMing on 46.829649245999995 meters Centerline goodness : 0.900847 with order 1 Centerline is valid? [False, False] Translation: X:10.27, Y:-0.36, Z:-0.15 [[ 0.99443291 0.08505115 -0.06220521 10.27381661] [-0.08368802 0.996198 0.02420473 -0.36221888] [ 0.06402734 -0.01886415 0.99776983 -0.14502897] [ 0. 0. 0. 1. ]] SLAMing on 46.889649246 meters Centerline goodness : 0.900947 with order 1 Centerline is valid? [False, False] Translation: X:10.28, Y:-0.36, Z:-0.14 [[ 0.99412893 0.08781275 -0.06321862 10.27769257] [-0.08618721 0.99588537 0.02800171 -0.36339947] [ 0.06541741 -0.02238868 0.99760679 -0.14480804] [ 0. 0. 0. 1. ]] SLAMing on 46.949649246 meters Centerline goodness : 0.897965 with order 1 Centerline is valid? [False, False] Translation: X:10.28, Y:-0.36, Z:-0.15 [[ 0.9942081 0.08607247 -0.06435667 10.28187372] [-0.08448081 0.99605755 0.02706204 -0.3629216 ] [ 0.06643225 -0.02146839 0.99755996 -0.14598286] [ 0. 0. 0. 1. ]] SLAMing on 47.009649245999995 meters Centerline goodness : 0.896073 with order 1 Centerline is valid? [False, False] Translation: X:10.29, Y:-0.37, Z:-0.14 [[ 0.9941094 0.08634801 -0.06550205 10.28970743] [-0.08426385 0.99586511 0.03394523 -0.36575155] [ 0.06816231 -0.02822582 0.99727489 -0.14049841] [ 0. 0. 0. 1. ]] SLAMing on 47.069649246 meters Centerline goodness : 0.902572 with order 1 Centerline is valid? [False, False] Translation: X:10.30, Y:-0.36, Z:-0.15 [[ 0.99437797 0.08654875 -0.06100636 10.30289815] [-0.08528506 0.99609046 0.0230271 -0.36467373] [ 0.06276082 -0.01769471 0.99787172 -0.14566002] [ 0. 0. 0. 1. ]] SLAMing on 47.129649246 meters Centerline goodness : 0.905628 with order 1 Centerline is valid? [False, False] Translation: X:10.32, Y:-0.36, Z:-0.15 [[ 9.94710197e-01 8.56553426e-02 -5.66990936e-02 1.03162486e+01] [-8.51434977e-02 9.96303631e-01 1.13868400e-02 -3.64036515e-01] [ 5.74648565e-02 -6.49904674e-03 9.98326376e-01 -1.50346164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.189649245999995 meters Centerline goodness : 0.901841 with order 1 Centerline is valid? [False, False] Translation: X:10.32, Y:-0.37, Z:-0.15 [[ 0.99441267 0.08888164 -0.05695163 10.31832855] [-0.08809089 0.99597984 0.01625294 -0.36522524] [ 0.05816726 -0.01114521 0.99824464 -0.14858918] [ 0. 0. 0. 1. ]] SLAMing on 47.249649246 meters Centerline goodness : 0.896077 with order 1 Centerline is valid? [False, False] Translation: X:10.32, Y:-0.36, Z:-0.15 [[ 0.99411728 0.09154093 -0.05788859 10.32276234] [-0.0905461 0.99569964 0.01958632 -0.36457585] [ 0.0594326 -0.01422951 0.9981309 -0.14946808] [ 0. 0. 0. 1. ]] SLAMing on 47.309649246 meters Centerline goodness : 0.894998 with order 1 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.36, Z:-0.15 [[ 0.99410612 0.09121525 -0.05859017 10.32521529] [-0.09039508 0.9957692 0.01650517 -0.35957729] [ 0.05984781 -0.01111163 0.99814567 -0.15433716] [ 0. 0. 0. 1. ]] SLAMing on 47.369649245999994 meters Centerline goodness : 0.894249 with order 1 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.36, Z:-0.15 [[ 0.99407769 0.09151549 -0.05860431 10.32512703] [-0.09073735 0.99574936 0.01580969 -0.35602837] [ 0.05980203 -0.01039846 0.99815609 -0.15482789] [ 0. 0. 0. 1. ]] SLAMing on 47.429649246 meters Centerline goodness : 0.890976 with order 1 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.36, Z:-0.15 [[ 9.94087298e-01 9.12537560e-02 -5.88489252e-02 1.03259201e+01] [-9.04781598e-02 9.95774402e-01 1.57176173e-02 -3.55461597e-01] [ 6.00345449e-02 -1.03001412e-02 9.98143156e-01 -1.54760472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.489649246 meters Centerline goodness : 0.894211 with order 1 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.36, Z:-0.15 [[ 0.99407078 0.09147455 -0.05878508 10.32529017] [-0.09060275 0.99573625 0.01733394 -0.35812081] [ 0.06012005 -0.01190507 0.99812016 -0.15236147] [ 0. 0. 0. 1. ]] SLAMing on 47.549649245999994 meters Centerline goodness : 0.894324 with order 1 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.36, Z:-0.15 [[ 0.99408021 0.09116486 -0.05910579 10.3257713 ] [-0.090169 0.9957393 0.01930804 -0.36268042] [ 0.06061418 -0.01386423 0.99806498 -0.14940064] [ 0. 0. 0. 1. ]] SLAMing on 47.609649246 meters Centerline goodness : 0.896477 with order 1 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.37, Z:-0.15 [[ 0.99415416 0.08984308 -0.05988098 10.32899208] [-0.08875055 0.99583946 0.02066682 -0.36740477] [ 0.06148861 -0.01523154 0.99799156 -0.14807966] [ 0. 0. 0. 1. ]] SLAMing on 47.669649246 meters Centerline goodness : 0.902788 with order 1 Centerline is valid? [False, False] Translation: X:10.34, Y:-0.37, Z:-0.14 [[ 0.99498893 0.08206955 -0.05711064 10.34260612] [-0.08055005 0.99634526 0.02842216 -0.37239456] [ 0.05923451 -0.02367947 0.9979632 -0.13680079] [ 0. 0. 0. 1. ]] SLAMing on 47.729649245999994 meters Centerline goodness : 0.895766 with order 1 Centerline is valid? [False, False] Translation: X:10.36, Y:-0.37, Z:-0.14 [[ 0.99494154 0.08070296 -0.05981947 10.36170911] [-0.0788717 0.99635907 0.03237064 -0.36759924] [ 0.06221408 -0.02748883 0.9976842 -0.14109018] [ 0. 0. 0. 1. ]] SLAMing on 47.789649245999996 meters Centerline goodness : 0.883493 with order 1 Centerline is valid? [False, False] Translation: X:10.38, Y:-0.36, Z:-0.15 [[ 0.99464251 0.08185071 -0.06314061 10.3790074 ] [-0.07975216 0.99619748 0.03507375 -0.36264183] [ 0.06577133 -0.02985024 0.99738814 -0.14902967] [ 0. 0. 0. 1. ]] SLAMing on 47.849649246 meters Centerline goodness : 0.883788 with order 1 Centerline is valid? [False, False] Translation: X:10.39, Y:-0.36, Z:-0.15 [[ 0.99479522 0.08222582 -0.06017794 10.39254458] [-0.08091303 0.99643361 0.02394031 -0.36042078] [ 0.06193184 -0.01894653 0.99790053 -0.15207227] [ 0. 0. 0. 1. ]] SLAMing on 47.909649245999994 meters Centerline goodness : 0.889120 with order 1 Centerline is valid? [False, False] Translation: X:10.39, Y:-0.36, Z:-0.15 [[ 0.99444594 0.08602659 -0.0606358 10.3936166 ] [-0.08428938 0.99596973 0.03065273 -0.36218988] [ 0.06302837 -0.02537153 0.99768919 -0.14651294] [ 0. 0. 0. 1. ]] SLAMing on 47.969649245999996 meters Centerline goodness : 0.889598 with order 1 Centerline is valid? [False, False] Translation: X:10.40, Y:-0.36, Z:-0.15 [[ 0.99541946 0.08355578 -0.04646006 10.39584341] [-0.08249113 0.99629349 0.02438246 -0.35745138] [ 0.04832515 -0.02043823 0.99862253 -0.15375141] [ 0. 0. 0. 1. ]] SLAMing on 48.029649246 meters Centerline goodness : 0.895553 with order 1 Centerline is valid? [False, False] Translation: X:10.41, Y:-0.36, Z:-0.16 [[ 0.99543535 0.08601581 -0.04134896 10.40813395] [-0.08535948 0.99619848 0.01738796 -0.35667364] [ 0.04268741 -0.01377906 0.99899345 -0.1551398 ] [ 0. 0. 0. 1. ]] SLAMing on 48.08964924599999 meters Centerline goodness : 0.897184 with order 1 Centerline is valid? [False, False] Translation: X:10.41, Y:-0.35, Z:-0.16 [[ 0.99540752 0.08627271 -0.04148364 10.40813097] [-0.08564706 0.99618669 0.01663317 -0.35436913] [ 0.04276044 -0.01300383 0.99900072 -0.1557561 ] [ 0. 0. 0. 1. ]] SLAMing on 48.149649245999996 meters Centerline goodness : 0.892583 with order 1 Centerline is valid? [False, False] Translation: X:10.41, Y:-0.35, Z:-0.16 [[ 0.99509085 0.08971622 -0.0417755 10.41044616] [-0.08898204 0.99584974 0.01911781 -0.35050257] [ 0.0433173 -0.01530669 0.9989441 -0.15755371] [ 0. 0. 0. 1. ]] SLAMing on 48.209649246 meters Centerline goodness : 0.893202 with order 1 Centerline is valid? [False, False] Translation: X:10.41, Y:-0.35, Z:-0.16 [[ 0.99468456 0.09417618 -0.0416351 10.41065916] [-0.09332559 0.99539418 0.02192635 -0.34609355] [ 0.04350828 -0.01792418 0.99889226 -0.15842933] [ 0. 0. 0. 1. ]] SLAMing on 48.26964924599999 meters Centerline goodness : 0.889756 with order 1 Centerline is valid? [False, False] Translation: X:10.41, Y:-0.34, Z:-0.16 [[ 0.99454536 0.09574456 -0.04138237 10.40900249] [-0.09496458 0.9952711 0.02042441 -0.34144374] [ 0.04314221 -0.01638314 0.9989346 -0.16053418] [ 0. 0. 0. 1. ]] SLAMing on 48.329649245999995 meters Centerline goodness : 0.890916 with order 1 Centerline is valid? [False, False] Translation: X:10.42, Y:-0.34, Z:-0.16 [[ 9.94430992e-01 9.87322051e-02 -3.68639984e-02 1.04218645e+01] [-9.83476835e-02 9.95078468e-01 1.21068525e-02 -3.39525937e-01] [ 3.78779073e-02 -8.41394047e-03 9.99246951e-01 -1.64849312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.389649246 meters Centerline goodness : 0.890924 with order 1 Centerline is valid? [False, False] Translation: X:10.42, Y:-0.34, Z:-0.17 [[ 9.94504890e-01 9.78429162e-02 -3.72396018e-02 1.04234696e+01] [-9.74955450e-02 9.95174763e-01 1.10367639e-02 -3.36164127e-01] [ 3.81397810e-02 -7.34542036e-03 9.99245416e-01 -1.65486886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.449649246 meters Centerline goodness : 0.887773 with order 1 Centerline is valid? [False, False] Translation: X:10.43, Y:-0.34, Z:-0.17 [[ 9.94612513e-01 9.62357249e-02 -3.85309432e-02 1.04278611e+01] [-9.59125312e-02 9.95337968e-01 1.01546208e-02 -3.35565283e-01] [ 3.93285480e-02 -6.40431265e-03 9.99205810e-01 -1.66887444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.509649245999995 meters Centerline goodness : 0.883260 with order 1 Centerline is valid? [False, False] Translation: X:10.43, Y:-0.34, Z:-0.17 [[ 9.94282596e-01 9.94612953e-02 -3.88531857e-02 1.04307591e+01] [-9.89780014e-02 9.94988651e-01 1.41753080e-02 -3.37279745e-01] [ 4.00683733e-02 -1.02486513e-02 9.99144379e-01 -1.67835880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.569649246 meters Centerline goodness : 0.889339 with order 1 Centerline is valid? [False, False] Translation: X:10.43, Y:-0.34, Z:-0.16 [[ 0.99433628 0.0989634 -0.0387506 10.43041334] [-0.09837059 0.99500597 0.01692173 -0.34360524] [ 0.04023171 -0.01301397 0.99910562 -0.16360235] [ 0. 0. 0. 1. ]] SLAMing on 48.629649246 meters Centerline goodness : 0.895367 with order 1 Centerline is valid? [False, False] Translation: X:10.43, Y:-0.35, Z:-0.16 [[ 0.99434761 0.09877719 -0.03893464 10.43044552] [-0.09807098 0.99498533 0.01965367 -0.34890452] [ 0.04068072 -0.01572422 0.99904846 -0.15936639] [ 0. 0. 0. 1. ]] SLAMing on 48.689649245999995 meters Centerline goodness : 0.887056 with order 1 Centerline is valid? [False, False] Translation: X:10.43, Y:-0.35, Z:-0.16 [[ 0.99474592 0.09463196 -0.03905569 10.43138743] [-0.09414195 0.99545744 0.01420457 -0.34744264] [ 0.04022249 -0.01045316 0.99913607 -0.16314185] [ 0. 0. 0. 1. ]] SLAMing on 48.749649246 meters Centerline goodness : 0.891327 with order 1 Centerline is valid? [False, False] Translation: X:10.43, Y:-0.35, Z:-0.16 [[ 9.94775661e-01 9.39096464e-02 -4.00295167e-02 1.04342645e+01] [-9.34148191e-02 9.95527968e-01 1.40618986e-02 -3.49360329e-01] [ 4.11710513e-02 -1.02490844e-02 9.99099545e-01 -1.63920173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.809649246 meters Centerline goodness : 0.890622 with order 1 Centerline is valid? [False, False] Translation: X:10.44, Y:-0.35, Z:-0.16 [[ 9.94789376e-01 9.35629033e-02 -4.04979084e-02 1.04357261e+01] [-9.30848405e-02 9.95566142e-01 1.35376934e-02 -3.48457876e-01] [ 4.15849723e-02 -9.69741228e-03 9.99087909e-01 -1.64676956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.869649245999994 meters Centerline goodness : 0.894447 with order 1 Centerline is valid? [False, False] Translation: X:10.44, Y:-0.35, Z:-0.17 [[ 9.94759551e-01 9.39940485e-02 -4.02312745e-02 1.04351168e+01] [-9.35406270e-02 9.95530426e-01 1.30123423e-02 -3.46632024e-01] [ 4.12745406e-02 -9.18089319e-03 9.99105662e-01 -1.65441749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.929649246 meters Centerline goodness : 0.889368 with order 1 Centerline is valid? [False, False] Translation: X:10.44, Y:-0.35, Z:-0.16 [[ 0.99439215 0.09778265 -0.04028401 10.4359092 ] [-0.09712763 0.99511072 0.01791298 -0.34729755] [ 0.04183863 -0.01389984 0.99902769 -0.16337761] [ 0. 0. 0. 1. ]] SLAMing on 48.989649246 meters Centerline goodness : 0.891843 with order 1 Centerline is valid? [False, False] Translation: X:10.44, Y:-0.35, Z:-0.16 [[ 0.99446421 0.09681875 -0.04082959 10.43770456] [-0.09614051 0.99520018 0.01826466 -0.34856109] [ 0.04240197 -0.01423817 0.99899917 -0.16262362] [ 0. 0. 0. 1. ]] SLAMing on 49.049649245999994 meters Centerline goodness : 0.898628 with order 1 Centerline is valid? [False, False] Translation: X:10.44, Y:-0.35, Z:-0.16 [[ 0.99453819 0.09586143 -0.04128411 10.43949751] [-0.09512419 0.99527497 0.01947087 -0.35209902] [ 0.04295555 -0.0154374 0.99895771 -0.16121853] [ 0. 0. 0. 1. ]] SLAMing on 49.109649246 meters Centerline goodness : 0.895960 with order 1 Centerline is valid? [False, False] Translation: X:10.44, Y:-0.35, Z:-0.16 [[ 0.99488163 0.09226259 -0.04120874 10.43820751] [-0.09168591 0.99566459 0.0156754 -0.35324399] [ 0.04247634 -0.0118169 0.99902759 -0.16138902] [ 0. 0. 0. 1. ]] SLAMing on 49.169649246 meters Centerline goodness : 0.899641 with order 1 Centerline is valid? [False, False] Translation: X:10.44, Y:-0.36, Z:-0.16 [[ 0.99515519 0.08879496 -0.042209 10.44356214] [-0.08813906 0.9959604 0.01715778 -0.35870406] [ 0.04356202 -0.01335439 0.99896147 -0.15906022] [ 0. 0. 0. 1. ]] SLAMing on 49.229649245999994 meters Centerline goodness : 0.902181 with order 1 Centerline is valid? [False, False] Translation: X:10.45, Y:-0.36, Z:-0.15 [[ 0.99497515 0.09031528 -0.04321585 10.44874549] [-0.08933918 0.99571176 0.02401251 -0.36309057] [ 0.04519923 -0.02003098 0.99877715 -0.15383795] [ 0. 0. 0. 1. ]] SLAMing on 49.289649245999996 meters Centerline goodness : 0.904257 with order 1 Centerline is valid? [False, False] Translation: X:10.45, Y:-0.37, Z:-0.15 [[ 0.99469151 0.09322028 -0.04357507 10.45119348] [-0.09196571 0.99531124 0.029964 -0.36637542] [ 0.04616401 -0.02579753 0.99860071 -0.15047746] [ 0. 0. 0. 1. ]] SLAMing on 49.349649246 meters Centerline goodness : 0.903532 with order 1 Centerline is valid? [False, False] Translation: X:10.45, Y:-0.37, Z:-0.15 [[ 0.99478376 0.0919935 -0.0440734 10.45380498] [-0.09075286 0.99544018 0.0293729 -0.3658836 ] [ 0.04657455 -0.0252199 0.9985964 -0.1514457 ] [ 0. 0. 0. 1. ]] SLAMing on 49.409649245999994 meters Centerline goodness : 0.902719 with order 1 Centerline is valid? [False, False] Translation: X:10.46, Y:-0.37, Z:-0.15 [[ 0.99484402 0.09085471 -0.04506428 10.4567199 ] [-0.08957394 0.99553804 0.02967357 -0.36853084] [ 0.04755919 -0.02548399 0.99854328 -0.1508876 ] [ 0. 0. 0. 1. ]] SLAMing on 49.469649245999996 meters Centerline goodness : 0.905426 with order 1 Centerline is valid? [False, False] Translation: X:10.46, Y:-0.37, Z:-0.15 [[ 0.99491958 0.08958056 -0.04593852 10.46016757] [-0.08830569 0.99566908 0.02907222 -0.36844153] [ 0.04834386 -0.02486788 0.99852114 -0.15211899] [ 0. 0. 0. 1. ]] SLAMing on 49.529649246 meters Centerline goodness : 0.900018 with order 1 Centerline is valid? [False, False] Translation: X:10.46, Y:-0.37, Z:-0.15 [[ 0.99500298 0.08810766 -0.04696933 10.46429251] [-0.08683252 0.99581419 0.02853447 -0.36945028] [ 0.04928684 -0.02431342 0.99848869 -0.1536807 ] [ 0. 0. 0. 1. ]] SLAMing on 49.58964924599999 meters Centerline goodness : 0.899975 with order 1 Centerline is valid? [False, False] Translation: X:10.46, Y:-0.37, Z:-0.15 [[ 0.99531267 0.08456091 -0.04692689 10.46277253] [-0.08349629 0.99621408 0.02420477 -0.36952445] [ 0.04879601 -0.0201731 0.99860502 -0.15410346] [ 0. 0. 0. 1. ]] SLAMing on 49.649649245999996 meters Centerline goodness : 0.899682 with order 1 Centerline is valid? [False, False] Translation: X:10.47, Y:-0.37, Z:-0.16 [[ 0.99537551 0.08317277 -0.04806115 10.46721753] [-0.08210057 0.99633811 0.02387173 -0.37001532] [ 0.04987064 -0.01981549 0.99855909 -0.15540152] [ 0. 0. 0. 1. ]] SLAMing on 49.709649246 meters Centerline goodness : 0.903116 with order 1 Centerline is valid? [False, False] Translation: X:10.47, Y:-0.37, Z:-0.16 [[ 0.99549353 0.08070972 -0.04978534 10.47392243] [-0.07963667 0.99655449 0.02317633 -0.37162254] [ 0.05148436 -0.01910715 0.998491 -0.15730963] [ 0. 0. 0. 1. ]] SLAMing on 49.76964924599999 meters Centerline goodness : 0.900034 with order 1 Centerline is valid? [False, False] Translation: X:10.48, Y:-0.37, Z:-0.16 [[ 0.99552755 0.08001594 -0.05022303 10.47544988] [-0.07891249 0.9966025 0.02358539 -0.37261422] [ 0.05193961 -0.01951668 0.9984595 -0.15653003] [ 0. 0. 0. 1. ]] SLAMing on 49.829649245999995 meters Centerline goodness : 0.898542 with order 1 Centerline is valid? [False, False] Translation: X:10.48, Y:-0.37, Z:-0.15 [[ 0.99527777 0.08253043 -0.0510968 10.47934741] [-0.08114931 0.9962932 0.02854193 -0.37437364] [ 0.05326298 -0.02426067 0.99828577 -0.15442513] [ 0. 0. 0. 1. ]] SLAMing on 49.889649246 meters Centerline goodness : 0.903747 with order 1 Centerline is valid? [False, False] Translation: X:10.48, Y:-0.38, Z:-0.15 [[ 0.99497558 0.08574961 -0.05167791 10.48219645] [-0.08407708 0.99588865 0.03371697 -0.37539265] [ 0.05435666 -0.02920263 0.99809446 -0.15201661] [ 0. 0. 0. 1. ]] SLAMing on 49.949649246 meters Centerline goodness : 0.903659 with order 1 Centerline is valid? [False, False] Translation: X:10.50, Y:-0.37, Z:-0.16 [[ 0.99485011 0.08913094 -0.04825912 10.49761545] [-0.0880621 0.99582959 0.02384293 -0.3689955 ] [ 0.050183 -0.01947034 0.99855024 -0.16003277] [ 0. 0. 0. 1. ]] SLAMing on 50.009649245999995 meters Centerline goodness : 0.907520 with order 1 Centerline is valid? [False, False] Translation: X:10.50, Y:-0.37, Z:-0.16 [[ 0.99453041 0.09206004 -0.0493377 10.50148648] [-0.09076127 0.99548031 0.02795258 -0.37005205] [ 0.05168802 -0.02332174 0.99839093 -0.15935113] [ 0. 0. 0. 1. ]] SLAMing on 50.069649246 meters Centerline goodness : 0.907601 with order 1 Centerline is valid? [False, False] Translation: X:10.51, Y:-0.37, Z:-0.16 [[ 0.99462728 0.09031882 -0.05058733 10.50558352] [-0.08901139 0.99565001 0.02753221 -0.37001531] [ 0.05285395 -0.02288143 0.99834007 -0.15938466] [ 0. 0. 0. 1. ]] SLAMing on 50.129649246 meters Centerline goodness : 0.906002 with order 1 Centerline is valid? [False, False] Translation: X:10.51, Y:-0.37, Z:-0.16 [[ 0.99462128 0.08960615 -0.05195426 10.51448272] [-0.08815453 0.9956671 0.02959384 -0.36981668] [ 0.05438094 -0.02485466 0.99821088 -0.16151643] [ 0. 0. 0. 1. ]] SLAMing on 50.189649245999995 meters Centerline goodness : 0.904495 with order 1 Centerline is valid? [False, False] Translation: X:10.52, Y:-0.37, Z:-0.16 [[ 0.99458117 0.08921916 -0.05336881 10.52391847] [-0.08733047 0.99550178 0.03673673 -0.37358531] [ 0.05640636 -0.03187694 0.99789888 -0.15561018] [ 0. 0. 0. 1. ]] SLAMing on 50.249649246 meters Centerline goodness : 0.910297 with order 1 Centerline is valid? [False, False] Translation: X:10.54, Y:-0.37, Z:-0.16 [[ 0.99494065 0.08820695 -0.04808984 10.53598572] [-0.0870353 0.99586744 0.02594029 -0.37363807] [ 0.05017922 -0.02162353 0.99850612 -0.15901624] [ 0. 0. 0. 1. ]] SLAMing on 50.309649246 meters Centerline goodness : 0.911101 with order 1 Centerline is valid? [False, False] Translation: X:10.54, Y:-0.38, Z:-0.15 [[ 0.99477193 0.08952037 -0.04914168 10.54282328] [-0.08790279 0.99554351 0.03415008 -0.37806573] [ 0.05197981 -0.02965185 0.99820783 -0.15185148] [ 0. 0. 0. 1. ]] SLAMing on 50.369649245999994 meters Centerline goodness : 0.910960 with order 1 Centerline is valid? [False, False] Translation: X:10.55, Y:-0.38, Z:-0.15 [[ 0.99483875 0.08814691 -0.05025915 10.54729886] [-0.08657115 0.99570834 0.03271593 -0.37666987] [ 0.05292726 -0.02819609 0.99820022 -0.15459805] [ 0. 0. 0. 1. ]] SLAMing on 50.429649246 meters Centerline goodness : 0.906355 with order 1 Centerline is valid? [False, False] Translation: X:10.55, Y:-0.38, Z:-0.16 [[ 0.9948738 0.0872542 -0.05111583 10.55019765] [-0.08566663 0.99579459 0.03247098 -0.37710477] [ 0.0537341 -0.0279256 0.99816472 -0.15513679] [ 0. 0. 0. 1. ]] SLAMing on 50.489649246 meters Centerline goodness : 0.910221 with order 1 Centerline is valid? [False, False] Translation: X:10.55, Y:-0.38, Z:-0.16 [[ 0.9949363 0.0858192 -0.05231474 10.55459644] [-0.08423605 0.99593972 0.03175482 -0.37638119] [ 0.0548275 -0.02718723 0.99812564 -0.15645637] [ 0. 0. 0. 1. ]] SLAMing on 50.549649245999994 meters Centerline goodness : 0.908584 with order 1 Centerline is valid? [False, False] Translation: X:10.56, Y:-0.38, Z:-0.15 [[ 0.99464084 0.08851425 -0.05343054 10.55877588] [-0.08663068 0.99556797 0.03659967 -0.37789387] [ 0.05643333 -0.0317748 0.99790062 -0.15447814] [ 0. 0. 0. 1. ]] SLAMing on 50.609649246 meters Centerline goodness : 0.911087 with order 1 Centerline is valid? [False, False] Translation: X:10.58, Y:-0.38, Z:-0.16 [[ 0.99466091 0.0900737 -0.05036274 10.57603615] [-0.08874774 0.99566116 0.02797675 -0.37558113] [ 0.0526642 -0.0233578 0.99833907 -0.15946401] [ 0. 0. 0. 1. ]] SLAMing on 50.669649246 meters Centerline goodness : 0.909380 with order 1 Centerline is valid? [False, False] Translation: X:10.58, Y:-0.37, Z:-0.16 [[ 0.99459935 0.09058389 -0.05066253 10.57569669] [-0.08927849 0.99562791 0.02746663 -0.37265788] [ 0.05292906 -0.02279522 0.99833807 -0.15911572] [ 0. 0. 0. 1. ]] SLAMing on 50.729649245999994 meters Centerline goodness : 0.911401 with order 1 Centerline is valid? [False, False] Translation: X:10.58, Y:-0.37, Z:-0.16 [[ 0.99429002 0.09347725 -0.05147191 10.57917176] [-0.09191365 0.99525411 0.03195509 -0.37461642] [ 0.0542147 -0.02704166 0.99816307 -0.15822798] [ 0. 0. 0. 1. ]] SLAMing on 50.789649245999996 meters Centerline goodness : 0.907904 with order 1 Centerline is valid? [False, False] Translation: X:10.58, Y:-0.37, Z:-0.16 [[ 0.99430362 0.09292469 -0.0522045 10.58135199] [-0.0913691 0.9953207 0.03143878 -0.37319697] [ 0.05488166 -0.02648982 0.99814142 -0.15870585] [ 0. 0. 0. 1. ]] SLAMing on 50.849649246 meters Centerline goodness : 0.916537 with order 1 Centerline is valid? [False, False] Translation: X:10.59, Y:-0.37, Z:-0.16 [[ 0.99436429 0.09455281 -0.04795241 10.59391352] [-0.09364058 0.99538602 0.02093104 -0.37060038] [ 0.04971025 -0.01632279 0.99863029 -0.16349496] [ 0. 0. 0. 1. ]] SLAMing on 50.909649245999994 meters Centerline goodness : 0.918480 with order 1 Centerline is valid? [False, False] Translation: X:10.59, Y:-0.37, Z:-0.16 [[ 0.99430048 0.09523181 -0.04793179 10.5928866 ] [-0.0943525 0.99533206 0.02029008 -0.36744511] [ 0.04964031 -0.01565195 0.99864451 -0.16330861] [ 0. 0. 0. 1. ]] SLAMing on 50.969649245999996 meters Centerline goodness : 0.919967 with order 1 Centerline is valid? [False, False] Translation: X:10.59, Y:-0.36, Z:-0.16 [[ 0.99436435 0.0942539 -0.04853592 10.59491202] [-0.09339289 0.99543408 0.019717 -0.36480616] [ 0.05017271 -0.01507298 0.99862681 -0.1629684 ] [ 0. 0. 0. 1. ]] SLAMing on 51.029649246 meters Centerline goodness : 0.913511 with order 1 Centerline is valid? [False, False] Translation: X:10.60, Y:-0.36, Z:-0.17 [[ 0.99434819 0.09403556 -0.04928474 10.59762349] [-0.09326841 0.99548462 0.01764604 -0.35992182] [ 0.05072156 -0.0129496 0.99862888 -0.16635552] [ 0. 0. 0. 1. ]] SLAMing on 51.08964924599999 meters Centerline goodness : 0.912110 with order 1 Centerline is valid? [False, False] Translation: X:10.60, Y:-0.36, Z:-0.17 [[ 0.99440814 0.09267897 -0.05062675 10.60283482] [-0.09196737 0.99563001 0.01621407 -0.35828015] [ 0.05190821 -0.01146739 0.99858602 -0.16944716] [ 0. 0. 0. 1. ]] SLAMing on 51.149649245999996 meters Centerline goodness : 0.908240 with order 1 Centerline is valid? [False, False] Translation: X:10.61, Y:-0.36, Z:-0.17 [[ 0.99438996 0.09218634 -0.05186802 10.61096112] [-0.09118807 0.99560588 0.02129948 -0.36262583] [ 0.05360363 -0.01645024 0.99842678 -0.16657955] [ 0. 0. 0. 1. ]] SLAMing on 51.209649246 meters Centerline goodness : 0.916133 with order 1 Centerline is valid? [False, False] Translation: X:10.61, Y:-0.37, Z:-0.17 [[ 0.99443959 0.09106355 -0.0528899 10.61403813] [-0.09001979 0.99570142 0.02179738 -0.36504929] [ 0.0546475 -0.01691504 0.99836243 -0.16593642] [ 0. 0. 0. 1. ]] SLAMing on 51.26964924599999 meters Centerline goodness : 0.912905 with order 1 Centerline is valid? [False, False] Translation: X:10.62, Y:-0.37, Z:-0.16 [[ 0.99446822 0.09041377 -0.05346312 10.61605648] [-0.08931415 0.9957467 0.02261622 -0.36676788] [ 0.05528054 -0.0177161 0.99831368 -0.16498073] [ 0. 0. 0. 1. ]] SLAMing on 51.329649245999995 meters Centerline goodness : 0.913384 with order 1 Centerline is valid? [False, False] Translation: X:10.62, Y:-0.37, Z:-0.16 [[ 0.99448449 0.08961643 -0.05449315 10.61877587] [-0.08848128 0.99581449 0.02290346 -0.36809649] [ 0.05631759 -0.01795551 0.99825144 -0.16423709] [ 0. 0. 0. 1. ]] SLAMing on 51.389649246 meters Centerline goodness : 0.912596 with order 1 Centerline is valid? [False, False] Translation: X:10.63, Y:-0.37, Z:-0.16 [[ 0.99427244 0.09108153 -0.05591491 10.62500413] [-0.08968193 0.99560293 0.02705478 -0.36966779] [ 0.05813324 -0.02188527 0.99806892 -0.16320859] [ 0. 0. 0. 1. ]] SLAMing on 51.44964924599999 meters Centerline goodness : 0.907245 with order 1 Centerline is valid? [False, False] Translation: X:10.63, Y:-0.37, Z:-0.16 [[ 0.99403062 0.09270505 -0.05752309 10.63174525] [-0.09103532 0.99536491 0.03100438 -0.37009471] [ 0.06013072 -0.02558268 0.99786263 -0.16282789] [ 0. 0. 0. 1. ]] SLAMing on 51.509649245999995 meters Centerline goodness : 0.910324 with order 1 Centerline is valid? [False, False] Translation: X:10.65, Y:-0.37, Z:-0.17 [[ 0.99418058 0.09306983 -0.05424931 10.64771783] [-0.09210109 0.99554683 0.02009728 -0.36701892] [ 0.05587818 -0.01498391 0.99832515 -0.16868993] [ 0. 0. 0. 1. ]] SLAMing on 51.569649246 meters Centerline goodness : 0.911129 with order 1 Centerline is valid? [False, False] Translation: X:10.66, Y:-0.36, Z:-0.17 [[ 9.94155709e-01 9.57713387e-02 -4.98224590e-02 1.06634932e+01] [-9.52230983e-02 9.95367518e-01 1.32689730e-02 -3.64097515e-01] [ 5.08624447e-02 -8.44717636e-03 9.98669944e-01 -1.72051571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.629649246 meters Centerline goodness : 0.912475 with order 1 Centerline is valid? [False, False] Translation: X:10.67, Y:-0.36, Z:-0.17 [[ 0.99383134 0.09898534 -0.0500117 10.66509896] [-0.09824069 0.99501506 0.01714043 -0.36307743] [ 0.05145905 -0.01212151 0.99860154 -0.17096678] [ 0. 0. 0. 1. ]] SLAMing on 51.689649245999995 meters Centerline goodness : 0.917909 with order 1 Centerline is valid? [False, False] Translation: X:10.67, Y:-0.36, Z:-0.18 [[ 0.99459911 0.09606443 -0.03929673 10.67356149] [-0.09553814 0.9953118 0.01506273 -0.35932828] [ 0.04055949 -0.01122704 0.99911405 -0.17625475] [ 0. 0. 0. 1. ]] SLAMing on 51.749649246 meters Centerline goodness : 0.916039 with order 1 Centerline is valid? [False, False] Translation: X:10.67, Y:-0.36, Z:-0.18 [[ 9.94605532e-01 9.59285718e-02 -3.94657323e-02 1.06747017e+01] [-9.54255574e-02 9.95331797e-01 1.44421600e-02 -3.56640616e-01] [ 4.06669140e-02 -1.05982127e-02 9.99116550e-01 -1.77253140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.809649246 meters Centerline goodness : 0.912457 with order 1 Centerline is valid? [False, False] Translation: X:10.68, Y:-0.36, Z:-0.18 [[ 9.94695872e-01 9.44857283e-02 -4.06517999e-02 1.06788559e+01] [-9.39940988e-02 9.95476497e-01 1.38439056e-02 -3.56937900e-01] [ 4.17759629e-02 -9.94944644e-03 9.99077463e-01 -1.78467443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.869649245999994 meters Centerline goodness : 0.919496 with order 1 Centerline is valid? [False, False] Translation: X:10.68, Y:-0.36, Z:-0.17 [[ 0.99481225 0.09266662 -0.04197008 10.68295367] [-0.09205207 0.99561996 0.01634992 -0.36193638] [ 0.04330134 -0.01240166 0.99898508 -0.17431917] [ 0. 0. 0. 1. ]] SLAMing on 51.929649246 meters Centerline goodness : 0.918268 with order 1 Centerline is valid? [False, False] Translation: X:10.69, Y:-0.37, Z:-0.18 [[ 0.99506373 0.0892963 -0.04329374 10.68957328] [-0.0886908 0.99593524 0.01571451 -0.36504858] [ 0.04452101 -0.01179718 0.99893879 -0.17596951] [ 0. 0. 0. 1. ]] SLAMing on 51.989649246 meters Centerline goodness : 0.917685 with order 1 Centerline is valid? [False, False] Translation: X:10.69, Y:-0.37, Z:-0.18 [[ 0.9952039 0.08706151 -0.04460362 10.69472289] [-0.08641679 0.99612754 0.0161881 -0.36955221] [ 0.04584025 -0.01225596 0.9988736 -0.17601637] [ 0. 0. 0. 1. ]] SLAMing on 52.049649245999994 meters Centerline goodness : 0.918210 with order 1 Centerline is valid? [False, False] Translation: X:10.70, Y:-0.37, Z:-0.17 [[ 0.99508298 0.08769635 -0.04603485 10.70203773] [-0.08673328 0.99597699 0.02252066 -0.37369301] [ 0.04782463 -0.01841717 0.99868594 -0.17136658] [ 0. 0. 0. 1. ]] SLAMing on 52.109649246 meters Centerline goodness : 0.921748 with order 1 Centerline is valid? [False, False] Translation: X:10.71, Y:-0.38, Z:-0.17 [[ 0.99530539 0.08417617 -0.04776551 10.70887669] [-0.08305698 0.99623231 0.02495432 -0.37759899] [ 0.0496861 -0.02086991 0.99854681 -0.16633505] [ 0. 0. 0. 1. ]] SLAMing on 52.169649246 meters Centerline goodness : 0.915146 with order 1 Centerline is valid? [False, False] Translation: X:10.73, Y:-0.38, Z:-0.16 [[ 0.99561071 0.08057728 -0.04760894 10.73345227] [-0.07884259 0.99619059 0.03725786 -0.37809362] [ 0.05042971 -0.03334072 0.99817095 -0.16074873] [ 0. 0. 0. 1. ]] SLAMing on 52.229649245999994 meters Centerline goodness : 0.914376 with order 1 Centerline is valid? [False, False] Translation: X:10.74, Y:-0.38, Z:-0.16 [[ 0.99547363 0.08105951 -0.04961456 10.7424295 ] [-0.07901647 0.99599475 0.04184327 -0.37858263] [ 0.05280764 -0.0377335 0.99789155 -0.15914523] [ 0. 0. 0. 1. ]] SLAMing on 52.289649245999996 meters Centerline goodness : 0.913124 with order 1 Centerline is valid? [False, False] Translation: X:10.76, Y:-0.38, Z:-0.16 [[ 0.9956457 0.08081927 -0.0464531 10.76009243] [-0.07934099 0.99630664 0.03283431 -0.37668723] [ 0.04893517 -0.0290057 0.9983807 -0.16207078] [ 0. 0. 0. 1. ]] SLAMing on 52.349649246 meters Centerline goodness : 0.917661 with order 1 Centerline is valid? [False, False] Translation: X:10.78, Y:-0.37, Z:-0.17 [[ 0.99561711 0.08324309 -0.0426282 10.77831725] [-0.08216391 0.99626713 0.02647444 -0.37374181] [ 0.04467289 -0.0228559 0.99874018 -0.16612283] [ 0. 0. 0. 1. ]] SLAMing on 52.409649245999994 meters Centerline goodness : 0.917906 with order 1 Centerline is valid? [False, False] Translation: X:10.79, Y:-0.37, Z:-0.17 [[ 0.99607581 0.08296291 -0.0308242 10.79137004] [-0.08200079 0.99614166 0.03126775 -0.37111057] [ 0.03329934 -0.02861744 0.99903563 -0.16751548] [ 0. 0. 0. 1. ]] SLAMing on 52.469649245999996 meters Centerline goodness : 0.921678 with order 1 Centerline is valid? [False, False] Translation: X:10.81, Y:-0.37, Z:-0.17 [[ 0.99607451 0.08443806 -0.02656675 10.8070033 ] [-0.08384736 0.99622194 0.02261577 -0.36893188] [ 0.02837601 -0.02029944 0.99939118 -0.17243854] [ 0. 0. 0. 1. ]] SLAMing on 52.529649246 meters Centerline goodness : 0.920655 with order 1 Centerline is valid? [False, False] Translation: X:10.81, Y:-0.37, Z:-0.17 [[ 0.99579184 0.08743596 -0.02745124 10.81056227] [-0.08672277 0.99588847 0.02617872 -0.36748605] [ 0.02962733 -0.02368791 0.99928029 -0.17257583] [ 0. 0. 0. 1. ]] SLAMing on 52.58964924599999 meters Centerline goodness : 0.916551 with order 1 Centerline is valid? [False, False] Translation: X:10.82, Y:-0.37, Z:-0.17 [[ 0.99558674 0.08934178 -0.02872454 10.81613635] [-0.08849539 0.99563964 0.02950031 -0.36679651] [ 0.0312349 -0.02682813 0.99915196 -0.17328319] [ 0. 0. 0. 1. ]] SLAMing on 52.649649245999996 meters Centerline goodness : 0.915602 with order 1 Centerline is valid? [False, False] Translation: X:10.82, Y:-0.37, Z:-0.17 [[ 0.99561987 0.08873295 -0.02945402 10.81824451] [-0.08787506 0.99570207 0.02924639 -0.36687309] [ 0.03192254 -0.02653001 0.99913818 -0.17365895] [ 0. 0. 0. 1. ]] SLAMing on 52.709649246 meters Centerline goodness : 0.916410 with order 1 Centerline is valid? [False, False] Translation: X:10.82, Y:-0.37, Z:-0.17 [[ 0.99574265 0.08694828 -0.03060361 10.82179257] [-0.08602062 0.99582861 0.03042742 -0.36997176] [ 0.03312156 -0.02766534 0.99906836 -0.17115544] [ 0. 0. 0. 1. ]] SLAMing on 52.76964924599999 meters Centerline goodness : 0.914648 with order 1 Centerline is valid? [False, False] Translation: X:10.84, Y:-0.37, Z:-0.17 [[ 0.99611559 0.08215164 -0.03169932 10.8370362 ] [-0.08100249 0.99606435 0.03597802 -0.37336717] [ 0.03453021 -0.03327054 0.99884971 -0.16722617] [ 0. 0. 0. 1. ]] SLAMing on 52.829649245999995 meters Centerline goodness : 0.917245 with order 1 Centerline is valid? [False, False] Translation: X:10.84, Y:-0.38, Z:-0.17 [[ 0.9962388 0.08012559 -0.03298694 10.84176892] [-0.07893257 0.99622944 0.03600765 -0.37534576] [ 0.03574769 -0.03326848 0.99880694 -0.1674194 ] [ 0. 0. 0. 1. ]] SLAMing on 52.889649246 meters Centerline goodness : 0.917039 with order 1 Centerline is valid? [False, False] Translation: X:10.85, Y:-0.38, Z:-0.17 [[ 0.99598729 0.08282772 -0.0338952 10.84531277] [-0.08142325 0.99583971 0.04090867 -0.37642358] [ 0.03714256 -0.03798466 0.9985878 -0.16528122] [ 0. 0. 0. 1. ]] SLAMing on 52.94964924599999 meters Centerline goodness : 0.914553 with order 1 Centerline is valid? [False, False] Translation: X:10.86, Y:-0.37, Z:-0.17 [[ 0.99601683 0.08312317 -0.03226477 10.86212706] [-0.08223475 0.99622095 0.02795127 -0.3722603 ] [ 0.03446624 -0.02518665 0.99908844 -0.17387747] [ 0. 0. 0. 1. ]] SLAMing on 53.009649245999995 meters Centerline goodness : 0.915886 with order 1 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.37, Z:-0.17 [[ 0.99590872 0.08446846 -0.03210767 10.87257106] [-0.08320257 0.99577283 0.03890765 -0.37489035] [ 0.03525841 -0.03607703 0.99872684 -0.16700784] [ 0. 0. 0. 1. ]] SLAMing on 53.069649246 meters Centerline goodness : 0.920564 with order 1 Centerline is valid? [False, False] Translation: X:10.89, Y:-0.37, Z:-0.17 [[ 0.99592538 0.08540105 -0.02897064 10.88870677] [-0.08459653 0.99602332 0.02794601 -0.37108049] [ 0.03124206 -0.02538132 0.99918953 -0.17421217] [ 0. 0. 0. 1. ]] SLAMing on 53.129649246 meters Centerline goodness : 0.921850 with order 1 Centerline is valid? [False, False] Translation: X:10.89, Y:-0.37, Z:-0.18 [[ 0.99591267 0.08544045 -0.02928961 10.88972603] [-0.08468072 0.99606185 0.02626737 -0.36777257] [ 0.03141856 -0.02367974 0.99922577 -0.17666461] [ 0. 0. 0. 1. ]] SLAMing on 53.189649245999995 meters Centerline goodness : 0.924624 with order 1 Centerline is valid? [False, False] Translation: X:10.90, Y:-0.36, Z:-0.18 [[ 0.99568039 0.08914614 -0.02595252 10.90438951] [-0.08871707 0.99590762 0.017242 -0.36405797] [ 0.02738337 -0.01486509 0.99951447 -0.18315199] [ 0. 0. 0. 1. ]] SLAMing on 53.249649246 meters Centerline goodness : 0.927710 with order 1 Centerline is valid? [False, False] Translation: X:10.91, Y:-0.36, Z:-0.18 [[ 0.9953377 0.09267183 -0.02673549 10.90685299] [-0.09211317 0.99551806 0.02142346 -0.36392631] [ 0.02860102 -0.01886089 0.99941295 -0.18215172] [ 0. 0. 0. 1. ]] SLAMing on 53.309649246 meters Centerline goodness : 0.918188 with order 1 Centerline is valid? [False, False] Translation: X:10.91, Y:-0.36, Z:-0.19 [[ 0.9955457 0.08988903 -0.02843819 10.91412846] [-0.08933008 0.99579411 0.02035239 -0.36483325] [ 0.03014804 -0.01772135 0.99938834 -0.18517995] [ 0. 0. 0. 1. ]] SLAMing on 53.369649245999994 meters Centerline goodness : 0.919093 with order 1 Centerline is valid? [False, False] Translation: X:10.92, Y:-0.37, Z:-0.18 [[ 0.99561797 0.08872199 -0.02955099 10.91737132] [-0.08811274 0.99588232 0.02132002 -0.36984502] [ 0.03132086 -0.01862278 0.99933588 -0.18434495] [ 0. 0. 0. 1. ]] SLAMing on 53.429649246 meters Centerline goodness : 0.916234 with order 1 Centerline is valid? [False, False] Translation: X:10.92, Y:-0.37, Z:-0.18 [[ 0.99550416 0.08978064 -0.03018135 10.92169437] [-0.08906128 0.99572744 0.02439164 -0.37211864] [ 0.03224229 -0.02159399 0.99924678 -0.18455485] [ 0. 0. 0. 1. ]] SLAMing on 53.489649246 meters Centerline goodness : 0.920167 with order 1 Centerline is valid? [False, False] Translation: X:10.92, Y:-0.37, Z:-0.19 [[ 0.99585325 0.08572571 -0.03045337 10.92245893] [-0.0852004 0.99619851 0.01814997 -0.36847422] [ 0.03189352 -0.01548007 0.99937139 -0.18861202] [ 0. 0. 0. 1. ]] SLAMing on 53.549649245999994 meters Centerline goodness : 0.927492 with order 1 Centerline is valid? [False, False] Translation: X:10.92, Y:-0.37, Z:-0.18 [[ 0.99617492 0.08182779 -0.03065514 10.92105529] [-0.08135037 0.99654877 0.01651238 -0.3719839 ] [ 0.03190052 -0.01395541 0.99939362 -0.18420587] [ 0. 0. 0. 1. ]] SLAMing on 53.609649246 meters Centerline goodness : 0.926551 with order 1 Centerline is valid? [False, False] Translation: X:10.93, Y:-0.37, Z:-0.18 [[ 0.99633139 0.0789797 -0.03295409 10.93447716] [-0.07836631 0.99673372 0.01950938 -0.37172094] [ 0.0343873 -0.01685532 0.99926644 -0.18444468] [ 0. 0. 0. 1. ]] SLAMing on 53.669649246 meters Centerline goodness : 0.921592 with order 1 Centerline is valid? [False, False] Translation: X:10.95, Y:-0.37, Z:-0.19 [[ 0.99651732 0.07560044 -0.03518255 10.94857604] [-0.07491259 0.99697985 0.02047648 -0.37121531] [ 0.03662432 -0.01776955 0.99917111 -0.1885467 ] [ 0. 0. 0. 1. ]] SLAMing on 53.729649245999994 meters Centerline goodness : 0.914144 with order 1 Centerline is valid? [False, False] Translation: X:10.95, Y:-0.37, Z:-0.19 [[ 0.99683042 0.07094076 -0.03600713 10.95070894] [-0.07043618 0.99740206 0.01509524 -0.36969646] [ 0.03698445 -0.01251119 0.99923752 -0.19108455] [ 0. 0. 0. 1. ]] SLAMing on 53.789649245999996 meters Centerline goodness : 0.914315 with order 1 Centerline is valid? [False, False] Translation: X:10.95, Y:-0.37, Z:-0.19 [[ 0.99679139 0.07129296 -0.03638998 10.95085151] [-0.07076587 0.99737136 0.01557418 -0.36977321] [ 0.03740465 -0.01294904 0.9992163 -0.18998305] [ 0. 0. 0. 1. ]] SLAMing on 53.849649246 meters Centerline goodness : 0.915871 with order 1 Centerline is valid? [False, False] Translation: X:10.95, Y:-0.37, Z:-0.19 [[ 0.99679019 0.0712396 -0.03652716 10.9511447 ] [-0.07072092 0.99737876 0.01530213 -0.36841211] [ 0.03752153 -0.01266978 0.9992155 -0.189941 ] [ 0. 0. 0. 1. ]] SLAMing on 53.909649245999994 meters Centerline goodness : 0.915640 with order 1 Centerline is valid? [False, False] Translation: X:10.95, Y:-0.37, Z:-0.19 [[ 0.99653031 0.07453255 -0.03704383 10.95309129] [-0.07381624 0.99706433 0.02034409 -0.37006378] [ 0.03845138 -0.01753907 0.99910654 -0.18770071] [ 0. 0. 0. 1. ]] SLAMing on 53.969649245999996 meters Centerline goodness : 0.919227 with order 1 Centerline is valid? [False, False] Translation: X:10.96, Y:-0.37, Z:-0.19 [[ 0.99626455 0.07762515 -0.0378322 10.95568745] [-0.0767043 0.996735 0.02521474 -0.37205803] [ 0.03966598 -0.02221866 0.99896594 -0.18565473] [ 0. 0. 0. 1. ]] SLAMing on 54.029649246 meters Centerline goodness : 0.920845 with order 1 Centerline is valid? [False, False] Translation: X:10.97, Y:-0.37, Z:-0.19 [[ 0.99625706 0.07974181 -0.03336345 10.9697063 ] [-0.07921798 0.99671674 0.01674075 -0.37014863] [ 0.03458884 -0.01403511 0.99930307 -0.19025891] [ 0. 0. 0. 1. ]] SLAMing on 54.08964924599999 meters Centerline goodness : 0.925588 with order 1 Centerline is valid? [False, False] Translation: X:10.97, Y:-0.37, Z:-0.19 [[ 0.99595589 0.08331167 -0.03363085 10.97110414] [-0.08263299 0.99635682 0.021092 -0.37019925] [ 0.03526554 -0.01822768 0.99921174 -0.18905821] [ 0. 0. 0. 1. ]] SLAMing on 54.149649245999996 meters Centerline goodness : 0.924009 with order 1 Centerline is valid? [False, False] Translation: X:10.97, Y:-0.37, Z:-0.19 [[ 0.99559402 0.08745119 -0.03383538 10.97186907] [-0.08662213 0.99592143 0.02524113 -0.37009583] [ 0.03590475 -0.02219902 0.99910863 -0.18825423] [ 0. 0. 0. 1. ]] SLAMing on 54.209649246 meters Centerline goodness : 0.917132 with order 1 Centerline is valid? [False, False] Translation: X:10.97, Y:-0.36, Z:-0.20 [[ 0.99548999 0.08830939 -0.03465731 10.97333412] [-0.08764111 0.99594417 0.02035278 -0.36249316] [ 0.03631409 -0.01722359 0.99919199 -0.19634495] [ 0. 0. 0. 1. ]] SLAMing on 54.26964924599999 meters Centerline goodness : 0.912754 with order 1 Centerline is valid? [False, False] Translation: X:10.98, Y:-0.36, Z:-0.20 [[ 0.99523818 0.09081742 -0.03539999 10.97682849] [-0.09000149 0.99565237 0.02400193 -0.36278079] [ 0.03742588 -0.02070158 0.99908496 -0.19620218] [ 0. 0. 0. 1. ]] SLAMing on 54.329649245999995 meters Centerline goodness : 0.914383 with order 1 Centerline is valid? [False, False] Translation: X:10.98, Y:-0.36, Z:-0.20 [[ 0.99536651 0.08897064 -0.03646552 10.98065016] [-0.08816502 0.99583711 0.02313835 -0.36220944] [ 0.03837235 -0.01981615 0.99906701 -0.19708454] [ 0. 0. 0. 1. ]] SLAMing on 54.389649246 meters Centerline goodness : 0.915518 with order 1 Centerline is valid? [False, False] Translation: X:11.00, Y:-0.36, Z:-0.20 [[ 0.99531976 0.09098187 -0.0325711 10.9953163 ] [-0.09055576 0.99578828 0.01432996 -0.3620903 ] [ 0.03373769 -0.01131339 0.99936669 -0.20245559] [ 0. 0. 0. 1. ]] SLAMing on 54.44964924599999 meters Centerline goodness : 0.915942 with order 1 Centerline is valid? [False, False] Translation: X:11.00, Y:-0.37, Z:-0.20 [[ 0.99503301 0.09380317 -0.03332078 10.9982204 ] [-0.09311435 0.99541982 0.0216587 -0.36742824] [ 0.03519982 -0.01844848 0.99921 -0.19673974] [ 0. 0. 0. 1. ]] SLAMing on 54.509649245999995 meters Centerline goodness : 0.914752 with order 1 Centerline is valid? [False, False] Translation: X:11.00, Y:-0.37, Z:-0.20 [[ 0.99503214 0.0936972 -0.0336433 10.99896244] [-0.09298868 0.99542311 0.02204396 -0.36887723] [ 0.03555477 -0.018806 0.99919077 -0.1963097 ] [ 0. 0. 0. 1. ]] SLAMing on 54.569649246 meters Centerline goodness : 0.916843 with order 1 Centerline is valid? [False, False] Translation: X:11.00, Y:-0.37, Z:-0.19 [[ 0.99486023 0.0952034 -0.03448813 11.00397422] [-0.0942726 0.99516149 0.02768189 -0.37275972] [ 0.03695667 -0.02428832 0.99902166 -0.19373092] [ 0. 0. 0. 1. ]] SLAMing on 54.629649246 meters Centerline goodness : 0.921514 with order 1 Centerline is valid? [False, False] Translation: X:11.02, Y:-0.37, Z:-0.20 [[ 0.99492571 0.09589336 -0.03045145 11.01764541] [-0.09542779 0.99530135 0.01639411 -0.37149725] [ 0.03188046 -0.013405 0.99940179 -0.20009884] [ 0. 0. 0. 1. ]] SLAMing on 54.689649245999995 meters Centerline goodness : 0.924631 with order 1 Centerline is valid? [False, False] Translation: X:11.02, Y:-0.37, Z:-0.20 [[ 0.99487619 0.0964153 -0.03042148 11.01715425] [-0.09596361 0.99525661 0.01597707 -0.36962773] [ 0.03181761 -0.01297585 0.99940946 -0.20038269] [ 0. 0. 0. 1. ]] SLAMing on 54.749649246 meters Centerline goodness : 0.924551 with order 1 Centerline is valid? [False, False] Translation: X:11.02, Y:-0.37, Z:-0.20 [[ 0.99455402 0.0994676 -0.03112059 11.02049393] [-0.09888811 0.99490472 0.01964046 -0.36957448] [ 0.03291561 -0.01645604 0.99932265 -0.20090674] [ 0. 0. 0. 1. ]] SLAMing on 54.809649246 meters Centerline goodness : 0.921245 with order 1 Centerline is valid? [False, False] Translation: X:11.02, Y:-0.37, Z:-0.20 [[ 0.99460239 0.09868724 -0.03204557 11.02298742] [-0.09808723 0.99498106 0.01978867 -0.37094523] [ 0.03383763 -0.0165386 0.99929049 -0.20078844] [ 0. 0. 0. 1. ]] SLAMing on 54.869649245999994 meters Centerline goodness : 0.920001 with order 1 Centerline is valid? [False, False] Translation: X:11.02, Y:-0.37, Z:-0.20 [[ 0.99497684 0.09468586 -0.0324911 11.0237469 ] [-0.09423087 0.99543335 0.01526378 -0.37118185] [ 0.03378799 -0.01212545 0.99935547 -0.2028168 ] [ 0. 0. 0. 1. ]] SLAMing on 54.929649246 meters Centerline goodness : 0.924281 with order 1 Centerline is valid? [False, False] Translation: X:11.02, Y:-0.38, Z:-0.20 [[ 0.99502955 0.09404108 -0.03274845 11.02442309] [-0.093466 0.99544735 0.01867302 -0.37750494] [ 0.03435539 -0.01551934 0.99928918 -0.19763451] [ 0. 0. 0. 1. ]] SLAMing on 54.989649246 meters Centerline goodness : 0.927952 with order 1 Centerline is valid? [False, False] Translation: X:11.03, Y:-0.38, Z:-0.20 [[ 0.99508655 0.09328105 -0.03318735 11.02563363] [-0.09263772 0.99549038 0.02042459 -0.3823026 ] [ 0.03494292 -0.01724983 0.99924043 -0.19513388] [ 0. 0. 0. 1. ]] SLAMing on 55.049649245999994 meters Centerline goodness : 0.929943 with order 1 Centerline is valid? [False, False] Translation: X:11.03, Y:-0.39, Z:-0.19 [[ 0.99509859 0.0929766 -0.03367722 11.02697638] [-0.09228655 0.99550037 0.02149892 -0.38511337] [ 0.03552458 -0.01828559 0.9992015 -0.193949 ] [ 0. 0. 0. 1. ]] SLAMing on 55.109649246 meters Centerline goodness : 0.927013 with order 1 Centerline is valid? [False, False] Translation: X:11.03, Y:-0.39, Z:-0.20 [[ 0.99519502 0.09150841 -0.03482933 11.03123461] [-0.09082408 0.99565073 0.02075107 -0.38543286] [ 0.03657674 -0.01748802 0.99917782 -0.19576337] [ 0. 0. 0. 1. ]] SLAMing on 55.169649246 meters Centerline goodness : 0.926682 with order 1 Centerline is valid? [False, False] Translation: X:11.04, Y:-0.39, Z:-0.20 [[ 0.99527152 0.09014175 -0.03618109 11.03582998] [-0.08943841 0.99577905 0.02061224 -0.38690152] [ 0.03788639 -0.01727879 0.99913266 -0.19679624] [ 0. 0. 0. 1. ]] SLAMing on 55.229649245999994 meters Centerline goodness : 0.929653 with order 1 Centerline is valid? [False, False] Translation: X:11.04, Y:-0.39, Z:-0.19 [[ 0.9949758 0.09315462 -0.03667943 11.03804034] [-0.09217506 0.99536158 0.02755154 -0.3913096 ] [ 0.03907585 -0.02403219 0.99894721 -0.19138265] [ 0. 0. 0. 1. ]] SLAMing on 55.289649245999996 meters Centerline goodness : 0.927349 with order 1 Centerline is valid? [False, False] Translation: X:11.04, Y:-0.39, Z:-0.19 [[ 0.99466865 0.09608234 -0.03744949 11.0414603 ] [-0.09486763 0.9949438 0.03296915 -0.39353774] [ 0.04042789 -0.02924064 0.99875451 -0.18888539] [ 0. 0. 0. 1. ]] SLAMing on 55.349649246 meters Centerline goodness : 0.923889 with order 1 Centerline is valid? [False, False] Translation: X:11.05, Y:-0.39, Z:-0.19 [[ 0.99471615 0.09504901 -0.03880027 11.04519999] [-0.09379177 0.99504365 0.03303401 -0.3944139 ] [ 0.04174781 -0.02922032 0.9987008 -0.18888244] [ 0. 0. 0. 1. ]] SLAMing on 55.409649245999994 meters Centerline goodness : 0.924130 with order 1 Centerline is valid? [False, False] Translation: X:11.05, Y:-0.40, Z:-0.19 [[ 0.99475886 0.09419304 -0.03978035 11.04791206] [-0.09290916 0.99512825 0.0329797 -0.3951626 ] [ 0.04269301 -0.02911089 0.99866404 -0.18878214] [ 0. 0. 0. 1. ]] SLAMing on 55.469649245999996 meters Centerline goodness : 0.925761 with order 1 Centerline is valid? [False, False] Translation: X:11.06, Y:-0.39, Z:-0.20 [[ 0.99486337 0.09452594 -0.03621775 11.06235026] [-0.09380245 0.99536543 0.0211839 -0.39224186] [ 0.03805232 -0.01767777 0.99911937 -0.19553426] [ 0. 0. 0. 1. ]] SLAMing on 55.529649246 meters Centerline goodness : 0.927228 with order 1 Centerline is valid? [False, False] Translation: X:11.07, Y:-0.40, Z:-0.19 [[ 0.99459314 0.09699375 -0.03710397 11.06612665] [-0.09602686 0.99501212 0.02701337 -0.39518428] [ 0.03953903 -0.02330434 0.99894623 -0.19219493] [ 0. 0. 0. 1. ]] SLAMing on 55.58964924599999 meters Centerline goodness : 0.928534 with order 1 Centerline is valid? [False, False] Translation: X:11.07, Y:-0.39, Z:-0.19 [[ 0.99463077 0.09657549 -0.03718605 11.06672751] [-0.09562698 0.99506452 0.02649675 -0.39410241] [ 0.03956145 -0.0227985 0.99895702 -0.19264423] [ 0. 0. 0. 1. ]] SLAMing on 55.649649245999996 meters Centerline goodness : 0.931217 with order 1 Centerline is valid? [False, False] Translation: X:11.07, Y:-0.39, Z:-0.19 [[ 0.99465126 0.09618878 -0.03763763 11.06782423] [-0.0952382 0.99510737 0.0262869 -0.39408843] [ 0.03998199 -0.02256176 0.99894565 -0.19266376] [ 0. 0. 0. 1. ]] SLAMing on 55.709649246 meters Centerline goodness : 0.932394 with order 1 Centerline is valid? [False, False] Translation: X:11.07, Y:-0.40, Z:-0.19 [[ 0.9946515 0.09590523 -0.03834823 11.06912013] [-0.0948948 0.99511131 0.02735779 -0.39580762] [ 0.04078452 -0.02357242 0.99888987 -0.19057996] [ 0. 0. 0. 1. ]] SLAMing on 55.76964924599999 meters Centerline goodness : 0.929172 with order 1 Centerline is valid? [False, False] Translation: X:11.08, Y:-0.40, Z:-0.19 [[ 0.99445229 0.09750774 -0.03945738 11.07504544] [-0.09630724 0.99486049 0.03126527 -0.39699952] [ 0.04230319 -0.02729179 0.998732 -0.19077111] [ 0. 0. 0. 1. ]] SLAMing on 55.829649245999995 meters Centerline goodness : 0.927894 with order 1 Centerline is valid? [False, False] Translation: X:11.08, Y:-0.40, Z:-0.19 [[ 0.99446889 0.09717133 -0.03986669 11.07588653] [-0.09595045 0.9948883 0.03147674 -0.39687404] [ 0.04272154 -0.02747742 0.9987091 -0.1898043 ] [ 0. 0. 0. 1. ]] SLAMing on 55.889649246 meters Centerline goodness : 0.930108 with order 1 Centerline is valid? [False, False] Translation: X:11.09, Y:-0.40, Z:-0.19 [[ 0.99460973 0.09724814 -0.03597621 11.09286826] [-0.09648249 0.99508162 0.02244321 -0.39545869] [ 0.03798183 -0.01885116 0.9991006 -0.19445504] [ 0. 0. 0. 1. ]] SLAMing on 55.94964924599999 meters Centerline goodness : 0.933876 with order 1 Centerline is valid? [False, False] Translation: X:11.09, Y:-0.39, Z:-0.20 [[ 0.99466593 0.09656751 -0.03625473 11.09440859] [-0.09582256 0.99516065 0.02175581 -0.39385759] [ 0.03818018 -0.01816574 0.99910574 -0.19539448] [ 0. 0. 0. 1. ]] SLAMing on 56.009649245999995 meters Centerline goodness : 0.932696 with order 1 Centerline is valid? [False, False] Translation: X:11.10, Y:-0.40, Z:-0.19 [[ 0.99455539 0.09721439 -0.03753579 11.10148528] [-0.09620685 0.99497365 0.02777907 -0.39695187] [ 0.04004765 -0.02401663 0.9989091 -0.1914156 ] [ 0. 0. 0. 1. ]] SLAMing on 56.069649246 meters Centerline goodness : 0.933540 with order 1 Centerline is valid? [False, False] Translation: X:11.11, Y:-0.40, Z:-0.19 [[ 0.99449503 0.09756388 -0.03822203 11.10757103] [-0.0962551 0.99475139 0.03470762 -0.40169132] [ 0.04140763 -0.03083749 0.99866634 -0.18541668] [ 0. 0. 0. 1. ]] SLAMing on 56.129649246 meters Centerline goodness : 0.928536 with order 1 Centerline is valid? [False, False] Translation: X:11.12, Y:-0.40, Z:-0.19 [[ 0.99441478 0.09774943 -0.03980322 11.11587558] [-0.09624518 0.99462802 0.03810463 -0.4023439 ] [ 0.04331411 -0.03406094 0.99848072 -0.18566365] [ 0. 0. 0. 1. ]] SLAMing on 56.189649245999995 meters Centerline goodness : 0.925207 with order 1 Centerline is valid? [False, False] Translation: X:11.12, Y:-0.40, Z:-0.19 [[ 0.99451961 0.09611413 -0.04114378 11.1208977 ] [-0.09466054 0.99486089 0.03593329 -0.39851508] [ 0.04438603 -0.03184167 0.99850688 -0.18890187] [ 0. 0. 0. 1. ]] SLAMing on 56.249649246 meters Centerline goodness : 0.919706 with order 1 Centerline is valid? [False, False] Translation: X:11.13, Y:-0.40, Z:-0.19 [[ 0.99460466 0.09438759 -0.04304133 11.13231825] [-0.09269403 0.9948996 0.03978183 -0.39983351] [ 0.04657671 -0.03557752 0.99828095 -0.18765683] [ 0. 0. 0. 1. ]] SLAMing on 56.309649246 meters Centerline goodness : 0.917352 with order 1 Centerline is valid? [False, False] Translation: X:11.14, Y:-0.40, Z:-0.19 [[ 0.99464245 0.09335141 -0.04440615 11.14100034] [-0.09150902 0.99492407 0.04185925 -0.39996273] [ 0.04808836 -0.03757142 0.99813621 -0.18908401] [ 0. 0. 0. 1. ]] SLAMing on 56.369649245999994 meters Centerline goodness : 0.915311 with order 1 Centerline is valid? [False, False] Translation: X:11.15, Y:-0.40, Z:-0.19 [[ 0.99442259 0.09499297 -0.04582639 11.14719142] [-0.09288374 0.99460678 0.04615156 -0.40066719] [ 0.04996331 -0.04163762 0.99788275 -0.18784775] [ 0. 0. 0. 1. ]] SLAMing on 56.429649246 meters Centerline goodness : 0.915170 with order 1 Centerline is valid? [False, False] Translation: X:11.16, Y:-0.40, Z:-0.20 [[ 0.99456572 0.09484043 -0.04294564 11.16488327] [-0.09340196 0.99503572 0.03435099 -0.39705087] [ 0.04599031 -0.03015311 0.9984867 -0.19597179] [ 0. 0. 0. 1. ]] SLAMing on 56.489649246 meters Centerline goodness : 0.915547 with order 1 Centerline is valid? [False, False] Translation: X:11.18, Y:-0.40, Z:-0.20 [[ 0.9947826 0.09401938 -0.03959704 11.1832518 ] [-0.09305473 0.99533332 0.02554216 -0.39594947] [ 0.04181371 -0.02172421 0.99888922 -0.19881104] [ 0. 0. 0. 1. ]] SLAMing on 56.549649245999994 meters Centerline goodness : 0.917986 with order 1 Centerline is valid? [False, False] Translation: X:11.19, Y:-0.39, Z:-0.20 [[ 0.99483404 0.09315343 -0.04034448 11.18569814] [-0.09219834 0.99542868 0.02492389 -0.39420774] [ 0.0424818 -0.02107544 0.99887493 -0.19914836] [ 0. 0. 0. 1. ]] SLAMing on 56.609649246 meters Centerline goodness : 0.918021 with order 1 Centerline is valid? [False, False] Translation: X:11.19, Y:-0.39, Z:-0.20 [[ 0.99487749 0.09225797 -0.04131883 11.18850648] [-0.09131469 0.99552881 0.02416657 -0.39206048] [ 0.04336364 -0.02026976 0.99885371 -0.19934527] [ 0. 0. 0. 1. ]] SLAMing on 56.669649246 meters Centerline goodness : 0.917779 with order 1 Centerline is valid? [False, False] Translation: X:11.21, Y:-0.39, Z:-0.20 [[ 0.99486676 0.09377572 -0.03802956 11.21013939] [-0.09312179 0.99548059 0.01862068 -0.38955546] [ 0.03960385 -0.01498371 0.99910311 -0.20250842] [ 0. 0. 0. 1. ]] SLAMing on 56.729649245999994 meters Centerline goodness : 0.917459 with order 1 Centerline is valid? [False, False] Translation: X:11.22, Y:-0.39, Z:-0.20 [[ 0.99459656 0.09602489 -0.03945749 11.21509491] [-0.09512452 0.99517362 0.02409968 -0.3895618 ] [ 0.04158122 -0.02021608 0.99893058 -0.19846083] [ 0. 0. 0. 1. ]] SLAMing on 56.789649245999996 meters Centerline goodness : 0.921825 with order 1 Centerline is valid? [False, False] Translation: X:11.22, Y:-0.39, Z:-0.20 [[ 0.99465885 0.09494982 -0.04047585 11.21799332] [-0.09399777 0.99526314 0.02481341 -0.39049229] [ 0.04264015 -0.02087624 0.99887236 -0.19672152] [ 0. 0. 0. 1. ]] SLAMing on 56.849649246 meters Centerline goodness : 0.922362 with order 1 Centerline is valid? [False, False] Translation: X:11.22, Y:-0.39, Z:-0.19 [[ 0.99454742 0.09580816 -0.04118528 11.22419928] [-0.0945271 0.99500766 0.03200586 -0.39404904] [ 0.04404609 -0.02793822 0.99863877 -0.19097097] [ 0. 0. 0. 1. ]] SLAMing on 56.909649245999994 meters Centerline goodness : 0.923385 with order 1 Centerline is valid? [False, False] Translation: X:11.24, Y:-0.39, Z:-0.20 [[ 0.99472329 0.09543067 -0.03766382 11.24181743] [-0.09464686 0.9952661 0.02207619 -0.39172825] [ 0.03959227 -0.01839493 0.99904658 -0.19583739] [ 0. 0. 0. 1. ]] SLAMing on 56.969649245999996 meters Centerline goodness : 0.921600 with order 1 Centerline is valid? [False, False] Translation: X:11.25, Y:-0.39, Z:-0.20 [[ 0.99455745 0.09637576 -0.03958766 11.25012974] [-0.09539143 0.99509899 0.02604752 -0.3922359 ] [ 0.04190399 -0.02212943 0.99887654 -0.19554226] [ 0. 0. 0. 1. ]] SLAMing on 57.029649246 meters Centerline goodness : 0.919086 with order 1 Centerline is valid? [False, False] Translation: X:11.26, Y:-0.39, Z:-0.19 [[ 0.99447655 0.09632266 -0.04169338 11.26096346] [-0.09501465 0.99495182 0.03229685 -0.39455525] [ 0.04459382 -0.02815697 0.99860832 -0.19163676] [ 0. 0. 0. 1. ]] SLAMing on 57.08964924599999 meters Centerline goodness : 0.917661 with order 1 Centerline is valid? [False, False] Translation: X:11.26, Y:-0.39, Z:-0.20 [[ 0.99487133 0.09180573 -0.04245881 11.26302769] [-0.09083763 0.99557168 0.02419844 -0.38955597] [ 0.04449234 -0.02021747 0.99880513 -0.19850409] [ 0. 0. 0. 1. ]] SLAMing on 57.149649245999996 meters Centerline goodness : 0.913229 with order 1 Centerline is valid? [False, False] Translation: X:11.27, Y:-0.39, Z:-0.20 [[ 0.9950006 0.08929211 -0.04472957 11.27050951] [-0.08831153 0.99581701 0.02344246 -0.38872755] [ 0.04663569 -0.01937512 0.99872404 -0.19935286] [ 0. 0. 0. 1. ]] SLAMing on 57.209649246 meters Centerline goodness : 0.911881 with order 1 Centerline is valid? [False, False] Translation: X:11.28, Y:-0.39, Z:-0.20 [[ 0.99509386 0.08736538 -0.04642739 11.27675375] [-0.08643249 0.99602051 0.02173865 -0.38559369] [ 0.04814184 -0.01761916 0.9986851 -0.20198146] [ 0. 0. 0. 1. ]] SLAMing on 57.26964924599999 meters Centerline goodness : 0.911047 with order 1 Centerline is valid? [False, False] Translation: X:11.28, Y:-0.38, Z:-0.20 [[ 0.99513867 0.08610983 -0.04779243 11.28114566] [-0.08522556 0.99615598 0.02024528 -0.3829316 ] [ 0.04935203 -0.01607372 0.9986521 -0.20385326] [ 0. 0. 0. 1. ]] SLAMing on 57.329649245999995 meters Centerline goodness : 0.907268 with order 1 Centerline is valid? [False, False] Translation: X:11.28, Y:-0.38, Z:-0.21 [[ 0.99515162 0.08524224 -0.04906126 11.28488055] [-0.08439727 0.99625011 0.01904794 -0.37978788] [ 0.05050097 -0.01481495 0.99861412 -0.20503152] [ 0. 0. 0. 1. ]] SLAMing on 57.389649246 meters Centerline goodness : 0.909394 with order 1 Centerline is valid? [False, False] Translation: X:11.29, Y:-0.38, Z:-0.20 [[ 0.99493711 0.08659095 -0.05101124 11.29228654] [-0.08544043 0.99604635 0.02432292 -0.380707 ] [ 0.05291571 -0.01984135 0.99840185 -0.20173394] [ 0. 0. 0. 1. ]] SLAMing on 57.44964924599999 meters Centerline goodness : 0.912127 with order 1 Centerline is valid? [False, False] Translation: X:11.30, Y:-0.38, Z:-0.20 [[ 0.99502747 0.08461961 -0.05253425 11.29756247] [-0.08339777 0.99620185 0.02503389 -0.38151586] [ 0.05445307 -0.02052817 0.99830529 -0.2003293 ] [ 0. 0. 0. 1. ]] SLAMing on 57.509649245999995 meters Centerline goodness : 0.911582 with order 1 Centerline is valid? [False, False] Translation: X:11.31, Y:-0.39, Z:-0.19 [[ 0.99528929 0.08172958 -0.05214887 11.31021581] [-0.08001833 0.99620985 0.03410288 -0.38686108] [ 0.05473843 -0.02976937 0.99805686 -0.19157792] [ 0. 0. 0. 1. ]] SLAMing on 57.569649246 meters Centerline goodness : 0.915903 with order 1 Centerline is valid? [False, False] Translation: X:11.33, Y:-0.39, Z:-0.20 [[ 0.99554619 0.08060504 -0.04889398 11.32863616] [-0.07953036 0.99655437 0.0235439 -0.38562807] [ 0.05062327 -0.01955049 0.99852645 -0.19688971] [ 0. 0. 0. 1. ]] SLAMing on 57.62964924599999 meters Centerline goodness : 0.915282 with order 1 Centerline is valid? [False, False] Translation: X:11.35, Y:-0.38, Z:-0.20 [[ 9.95644934e-01 8.11953019e-02 -4.58092552e-02 1.13468066e+01] [-8.06259574e-02 9.96644051e-01 1.41453644e-02 -3.83101256e-01] [ 4.68040588e-02 -1.03903453e-02 9.98850049e-01 -2.02083730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.689649245999995 meters Centerline goodness : 0.911774 with order 1 Centerline is valid? [False, False] Translation: X:11.35, Y:-0.38, Z:-0.20 [[ 0.99541136 0.08293184 -0.04773392 11.35388229] [-0.08209605 0.99643918 0.01921467 -0.38353031] [ 0.04915746 -0.01520774 0.99867526 -0.19957077] [ 0. 0. 0. 1. ]] SLAMing on 57.749649246 meters Centerline goodness : 0.920442 with order 1 Centerline is valid? [False, False] Translation: X:11.36, Y:-0.39, Z:-0.19 [[ 0.9955728 0.07973175 -0.04977603 11.36124083] [-0.07872956 0.99665799 0.02178299 -0.38627822] [ 0.05134648 -0.01776771 0.99852283 -0.19447094] [ 0. 0. 0. 1. ]] SLAMing on 57.809649246 meters Centerline goodness : 0.915629 with order 1 Centerline is valid? [False, False] Translation: X:11.37, Y:-0.38, Z:-0.20 [[ 0.9953741 0.08101056 -0.05164973 11.36923752] [-0.07981018 0.99649909 0.02489792 -0.38489991] [ 0.0534859 -0.02066057 0.99835485 -0.19544753] [ 0. 0. 0. 1. ]] SLAMing on 57.869649245999994 meters Centerline goodness : 0.915143 with order 1 Centerline is valid? [False, False] Translation: X:11.39, Y:-0.39, Z:-0.19 [[ 0.9953368 0.08118211 -0.05209727 11.38509627] [-0.079337 0.99617716 0.03656095 -0.38705582] [ 0.0548662 -0.03225722 0.99797253 -0.18747505] [ 0. 0. 0. 1. ]] SLAMing on 57.929649246 meters Centerline goodness : 0.917158 with order 1 Centerline is valid? [False, False] Translation: X:11.40, Y:-0.38, Z:-0.19 [[ 0.99525919 0.08379007 -0.04937993 11.4038909 ] [-0.08246888 0.99619415 0.02821514 -0.38274866] [ 0.05155615 -0.02400907 0.99838145 -0.19381253] [ 0. 0. 0. 1. ]] SLAMing on 57.989649246 meters Centerline goodness : 0.919241 with order 1 Centerline is valid? [False, False] Translation: X:11.42, Y:-0.38, Z:-0.20 [[ 0.99535603 0.08441023 -0.04627413 11.42465416] [-0.08350665 0.99628323 0.02112733 -0.38126552] [ 0.0478855 -0.01716502 0.99870533 -0.19760125] [ 0. 0. 0. 1. ]] SLAMing on 58.049649245999994 meters Centerline goodness : 0.919040 with order 1 Centerline is valid? [False, False] Translation: X:11.43, Y:-0.38, Z:-0.20 [[ 0.99507822 0.08667218 -0.04803411 11.43085335] [-0.08549998 0.99600025 0.02594709 -0.3822301 ] [ 0.05009088 -0.02171247 0.99850862 -0.19563955] [ 0. 0. 0. 1. ]] SLAMing on 58.109649246 meters Centerline goodness : 0.914999 with order 1 Centerline is valid? [False, False] Translation: X:11.44, Y:-0.38, Z:-0.20 [[ 0.99481011 0.08895479 -0.04939532 11.43629017] [-0.08757843 0.99572467 0.02936655 -0.38144273] [ 0.05179644 -0.02488817 0.99834749 -0.19578609] [ 0. 0. 0. 1. ]] SLAMing on 58.169649246 meters Centerline goodness : 0.913759 with order 1 Centerline is valid? [False, False] Translation: X:11.45, Y:-0.38, Z:-0.19 [[ 0.99501056 0.08528043 -0.05178059 11.45141148] [-0.08362369 0.9959387 0.03336429 -0.38285747] [ 0.05441561 -0.02886774 0.99810099 -0.19399658] [ 0. 0. 0. 1. ]] SLAMing on 58.229649245999994 meters Centerline goodness : 0.912334 with order 1 Centerline is valid? [False, False] Translation: X:11.46, Y:-0.38, Z:-0.19 [[ 0.99511881 0.08293856 -0.05347672 11.45783187] [-0.0812471 0.9961453 0.03306743 -0.38470194] [ 0.05601314 -0.0285612 0.99802144 -0.19488981] [ 0. 0. 0. 1. ]] SLAMing on 58.289649245999996 meters Centerline goodness : 0.916435 with order 1 Centerline is valid? [False, False] Translation: X:11.46, Y:-0.39, Z:-0.19 [[ 0.99515155 0.08174836 -0.05468639 11.46151837] [-0.07995904 0.99621307 0.03414774 -0.38803238] [ 0.05727081 -0.02960951 0.9979195 -0.19343695] [ 0. 0. 0. 1. ]] SLAMing on 58.349649246 meters Centerline goodness : 0.915877 with order 1 Centerline is valid? [False, False] Translation: X:11.47, Y:-0.39, Z:-0.19 [[ 0.99517402 0.08035781 -0.05631418 11.46635081] [-0.07845707 0.99629619 0.03519073 -0.39078073] [ 0.05893345 -0.03060266 0.99779273 -0.19193432] [ 0. 0. 0. 1. ]] SLAMing on 58.409649245999994 meters Centerline goodness : 0.916909 with order 1 Centerline is valid? [False, False] Translation: X:11.48, Y:-0.40, Z:-0.19 [[ 0.99531765 0.07850585 -0.05638793 11.48441377] [-0.07596711 0.99605606 0.0458401 -0.3950237 ] [ 0.05976426 -0.04134183 0.99735605 -0.18542062] [ 0. 0. 0. 1. ]] SLAMing on 58.469649245999996 meters Centerline goodness : 0.918445 with order 1 Centerline is valid? [False, False] Translation: X:11.49, Y:-0.40, Z:-0.18 [[ 0.99513143 0.07943895 -0.05833426 11.49268384] [-0.07656108 0.99580956 0.05001731 -0.39551436] [ 0.06206314 -0.04530766 0.99704332 -0.18446917] [ 0. 0. 0. 1. ]] SLAMing on 58.529649246 meters Centerline goodness : 0.920132 with order 1 Centerline is valid? [False, False] Translation: X:11.51, Y:-0.39, Z:-0.19 [[ 0.99529312 0.07864159 -0.05663135 11.51087361] [-0.07663375 0.99638007 0.03679716 -0.39228992] [ 0.05932013 -0.03228409 0.99771682 -0.19286751] [ 0. 0. 0. 1. ]] SLAMing on 58.58964924599999 meters Centerline goodness : 0.919103 with order 1 Centerline is valid? [False, False] Translation: X:11.52, Y:-0.39, Z:-0.19 [[ 0.99507253 0.08014044 -0.05837945 11.51774735] [-0.07781437 0.99612087 0.0410869 -0.39407515] [ 0.06144571 -0.03634168 0.9974486 -0.1917245 ] [ 0. 0. 0. 1. ]] SLAMing on 58.649649245999996 meters Centerline goodness : 0.915116 with order 1 Centerline is valid? [False, False] Translation: X:11.53, Y:-0.40, Z:-0.19 [[ 0.99485332 0.08149969 -0.06020529 11.52507597] [-0.07884806 0.99586222 0.04518216 -0.39560221] [ 0.06363851 -0.04020255 0.99716292 -0.19097284] [ 0. 0. 0. 1. ]] SLAMing on 58.709649246 meters Centerline goodness : 0.912580 with order 1 Centerline is valid? [False, False] Translation: X:11.55, Y:-0.39, Z:-0.20 [[ 0.99503606 0.07987708 -0.05935397 11.54728489] [-0.07794009 0.99636899 0.03426638 -0.39460812] [ 0.06187556 -0.02947023 0.9976487 -0.19757413] [ 0. 0. 0. 1. ]] SLAMing on 58.76964924599999 meters Centerline goodness : 0.909800 with order 1 Centerline is valid? [False, False] Translation: X:11.55, Y:-0.39, Z:-0.20 [[ 0.99530098 0.07574108 -0.06032616 11.54947695] [-0.07421613 0.99687299 0.02713332 -0.3902902 ] [ 0.06219262 -0.02252864 0.99780987 -0.20304963] [ 0. 0. 0. 1. ]] SLAMing on 58.829649245999995 meters Centerline goodness : 0.912080 with order 1 Centerline is valid? [False, False] Translation: X:11.56, Y:-0.39, Z:-0.20 [[ 0.9953171 0.07423115 -0.06191609 11.55883093] [-0.07238499 0.99687768 0.0315485 -0.39243066] [ 0.06406465 -0.02691897 0.99758262 -0.20003924] [ 0. 0. 0. 1. ]] SLAMing on 58.889649246 meters Centerline goodness : 0.914848 with order 1 Centerline is valid? [False, False] Translation: X:11.56, Y:-0.39, Z:-0.20 [[ 0.99535163 0.07287113 -0.06296773 11.56198394] [-0.0709695 0.99696732 0.03192945 -0.3928833 ] [ 0.06510351 -0.02731224 0.99750467 -0.19878747] [ 0. 0. 0. 1. ]] SLAMing on 58.94964924599999 meters Centerline goodness : 0.916878 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:-0.39, Z:-0.20 [[ 0.99551998 0.07352935 -0.05944237 11.57831613] [-0.07230625 0.99712923 0.02247451 -0.3908319 ] [ 0.06092426 -0.01807577 0.99797871 -0.20323241] [ 0. 0. 0. 1. ]] SLAMing on 59.009649245999995 meters Centerline goodness : 0.917576 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:-0.39, Z:-0.20 [[ 0.99521009 0.07658931 -0.06075319 11.58196871] [-0.07499482 0.99678768 0.02810858 -0.39273248] [ 0.06271085 -0.02341777 0.99775696 -0.19944717] [ 0. 0. 0. 1. ]] SLAMing on 59.069649246 meters Centerline goodness : 0.917792 with order 1 Centerline is valid? [False, False] Translation: X:11.59, Y:-0.39, Z:-0.20 [[ 0.99495835 0.07837532 -0.06257153 11.58837291] [-0.07645574 0.99654289 0.03250823 -0.3937922 ] [ 0.06490306 -0.02756038 0.99751091 -0.19782167] [ 0. 0. 0. 1. ]] SLAMing on 59.12964924599999 meters Centerline goodness : 0.922783 with order 1 Centerline is valid? [False, False] Translation: X:11.60, Y:-0.40, Z:-0.19 [[ 0.99463694 0.0817086 -0.06341179 11.59715313] [-0.07906466 0.99593541 0.0431443 -0.39562027] [ 0.06667931 -0.03789928 0.99705442 -0.19126356] [ 0. 0. 0. 1. ]] SLAMing on 59.189649245999995 meters Centerline goodness : 0.923798 with order 1 Centerline is valid? [False, False] Translation: X:11.61, Y:-0.39, Z:-0.20 [[ 0.99475564 0.08276723 -0.06009001 11.61200025] [-0.0809413 0.99619815 0.03221412 -0.39248644] [ 0.06252783 -0.02718141 0.99767301 -0.19705439] [ 0. 0. 0. 1. ]] SLAMing on 59.249649246 meters Centerline goodness : 0.930801 with order 1 Centerline is valid? [False, False] Translation: X:11.63, Y:-0.39, Z:-0.20 [[ 0.9947807 0.08535512 -0.05590951 11.62781197] [-0.08410016 0.99615776 0.02443133 -0.38867645] [ 0.05778003 -0.01960181 0.99813688 -0.20156266] [ 0. 0. 0. 1. ]] SLAMing on 59.309649246 meters Centerline goodness : 0.929425 with order 1 Centerline is valid? [False, False] Translation: X:11.63, Y:-0.39, Z:-0.20 [[ 0.99480051 0.08440293 -0.05699197 11.63084354] [-0.0831355 0.99624293 0.0242593 -0.38855464] [ 0.0588254 -0.0193951 0.99807986 -0.2014704 ] [ 0. 0. 0. 1. ]] SLAMing on 59.369649245999994 meters Centerline goodness : 0.925848 with order 1 Centerline is valid? [False, False] Translation: X:11.65, Y:-0.39, Z:-0.20 [[ 0.99482553 0.08305008 -0.05852216 11.64849007] [-0.08126623 0.99617107 0.0322335 -0.39213882] [ 0.06097507 -0.02731083 0.99776558 -0.19962018] [ 0. 0. 0. 1. ]] SLAMing on 59.429649246 meters Centerline goodness : 0.923144 with order 1 Centerline is valid? [False, False] Translation: X:11.65, Y:-0.39, Z:-0.20 [[ 0.99484258 0.08189672 -0.05984289 11.65237193] [-0.08007045 0.99626549 0.03230778 -0.39463192] [ 0.06226531 -0.02734951 0.99768484 -0.19987579] [ 0. 0. 0. 1. ]] SLAMing on 59.489649246 meters Centerline goodness : 0.921960 with order 1 Centerline is valid? [False, False] Translation: X:11.66, Y:-0.40, Z:-0.20 [[ 0.99488103 0.0804173 -0.06119468 11.65672128] [-0.0785518 0.99638641 0.03230683 -0.39705187] [ 0.06357158 -0.0273345 0.99760287 -0.20040888] [ 0. 0. 0. 1. ]] SLAMing on 59.549649245999994 meters Centerline goodness : 0.924763 with order 1 Centerline is valid? [False, False] Translation: X:11.66, Y:-0.40, Z:-0.20 [[ 0.99486842 0.08004524 -0.06188368 11.65802469] [-0.07812447 0.99640183 0.03286262 -0.39843444] [ 0.06429151 -0.02785935 0.99754221 -0.19910667] [ 0. 0. 0. 1. ]] SLAMing on 59.609649246 meters Centerline goodness : 0.923844 with order 1 Centerline is valid? [False, False] Translation: X:11.68, Y:-0.40, Z:-0.19 [[ 0.9950961 0.07873884 -0.05986614 11.68343248] [-0.07567105 0.99578154 0.05189436 -0.40347899] [ 0.0636997 -0.04710974 0.99685657 -0.18608246] [ 0. 0. 0. 1. ]] SLAMing on 59.669649246 meters Centerline goodness : 0.923659 with order 1 Centerline is valid? [False, False] Translation: X:11.70, Y:-0.40, Z:-0.19 [[ 0.99523868 0.07925515 -0.05673264 11.69823611] [-0.07712284 0.99626479 0.03883987 -0.39899633] [ 0.05959899 -0.03427956 0.99763364 -0.19474153] [ 0. 0. 0. 1. ]] SLAMing on 59.729649245999994 meters Centerline goodness : 0.927896 with order 1 Centerline is valid? [False, False] Translation: X:11.71, Y:-0.40, Z:-0.20 [[ 0.99541507 0.0797606 -0.05279288 11.71319773] [-0.07837128 0.99653414 0.02788653 -0.39504461] [ 0.05483416 -0.02362123 0.99821604 -0.20086859] [ 0. 0. 0. 1. ]] SLAMing on 59.789649245999996 meters Centerline goodness : 0.931398 with order 1 Centerline is valid? [False, False] Translation: X:11.71, Y:-0.40, Z:-0.20 [[ 0.99544295 0.07921971 -0.05308089 11.71377401] [-0.077805 0.99656936 0.02821165 -0.39548125] [ 0.05513371 -0.02395313 0.99819163 -0.19960087] [ 0. 0. 0. 1. ]] SLAMing on 59.849649246 meters Centerline goodness : 0.932374 with order 1 Centerline is valid? [False, False] Translation: X:11.72, Y:-0.40, Z:-0.20 [[ 0.99544576 0.07859282 -0.05395279 11.71588695] [-0.0770964 0.99659357 0.02928148 -0.39848784] [ 0.05607031 -0.02498856 0.99811407 -0.19801684] [ 0. 0. 0. 1. ]] SLAMing on 59.909649245999994 meters Centerline goodness : 0.933743 with order 1 Centerline is valid? [False, False] Translation: X:11.72, Y:-0.40, Z:-0.20 [[ 0.99542425 0.07883426 -0.0539975 11.71546651] [-0.07732832 0.99657105 0.02943578 -0.39811577] [ 0.05613289 -0.02512555 0.99810711 -0.19724929] [ 0. 0. 0. 1. ]] SLAMing on 59.969649245999996 meters Centerline goodness : 0.934339 with order 1 Centerline is valid? [False, False] Translation: X:11.72, Y:-0.40, Z:-0.19 [[ 0.99513214 0.08183632 -0.05490754 11.71852326] [-0.08002772 0.99619991 0.03437015 -0.39944395] [ 0.05751161 -0.02980872 0.99789972 -0.19498752] [ 0. 0. 0. 1. ]] SLAMing on 60.029649246 meters Centerline goodness : 0.927302 with order 1 Centerline is valid? [False, False] Translation: X:11.72, Y:-0.40, Z:-0.20 [[ 0.99543413 0.07721985 -0.05610694 11.72139056] [-0.0757758 0.99674759 0.02742767 -0.3956749 ] [ 0.05804242 -0.02305089 0.99804796 -0.20004265] [ 0. 0. 0. 1. ]] SLAMing on 60.08964924599999 meters Centerline goodness : 0.925558 with order 1 Centerline is valid? [False, False] Translation: X:11.73, Y:-0.40, Z:-0.20 [[ 0.99549065 0.07538174 -0.05758436 11.72668973] [-0.0739198 0.99689557 0.02711234 -0.39670795] [ 0.05944937 -0.02273346 0.99797243 -0.20086071] [ 0. 0. 0. 1. ]] SLAMing on 60.149649245999996 meters Centerline goodness : 0.924893 with order 1 Centerline is valid? [False, False] Translation: X:11.73, Y:-0.40, Z:-0.20 [[ 0.99549181 0.07481788 -0.05829531 11.72863123] [-0.07334476 0.99694067 0.02701551 -0.39705385] [ 0.06013821 -0.02261806 0.99793377 -0.20075911] [ 0. 0. 0. 1. ]] SLAMing on 60.209649246 meters Centerline goodness : 0.925492 with order 1 Centerline is valid? [False, False] Translation: X:11.74, Y:-0.40, Z:-0.20 [[ 0.99562356 0.07197615 -0.05960833 11.74047086] [-0.07011128 0.99699946 0.03280987 -0.39910278] [ 0.06179101 -0.02848707 0.99768249 -0.19557014] [ 0. 0. 0. 1. ]] SLAMing on 60.26964924599999 meters Centerline goodness : 0.923177 with order 1 Centerline is valid? [False, False] Translation: X:11.74, Y:-0.40, Z:-0.19 [[ 0.99535608 0.07479549 -0.06059629 11.74435367] [-0.07261747 0.99665897 0.03738439 -0.40103791] [ 0.06319002 -0.03281043 0.99746203 -0.194554 ] [ 0. 0. 0. 1. ]] SLAMing on 60.329649245999995 meters Centerline goodness : 0.926402 with order 1 Centerline is valid? [False, False] Translation: X:11.75, Y:-0.40, Z:-0.19 [[ 0.99512062 0.07713107 -0.06152853 11.74845234] [-0.07456667 0.99629102 0.04294201 -0.40419276] [ 0.06461248 -0.0381445 0.99718114 -0.19164626] [ 0. 0. 0. 1. ]] SLAMing on 60.389649246 meters Centerline goodness : 0.927230 with order 1 Centerline is valid? [False, False] Translation: X:11.76, Y:-0.40, Z:-0.20 [[ 0.99534331 0.07722338 -0.05769093 11.76285609] [-0.07547502 0.99663741 0.03189664 -0.40238107] [ 0.0599601 -0.02739388 0.99782481 -0.19690546] [ 0. 0. 0. 1. ]] SLAMing on 60.44964924599999 meters Centerline goodness : 0.930947 with order 1 Centerline is valid? [False, False] Translation: X:11.78, Y:-0.40, Z:-0.20 [[ 0.99542856 0.07861081 -0.05424314 11.78032866] [-0.0773789 0.99670185 0.02445249 -0.40066501] [ 0.05598647 -0.02014343 0.99822831 -0.20021655] [ 0. 0. 0. 1. ]] SLAMing on 60.509649245999995 meters Centerline goodness : 0.931073 with order 1 Centerline is valid? [False, False] Translation: X:11.78, Y:-0.40, Z:-0.20 [[ 0.99511748 0.08193087 -0.05503208 11.78287112] [-0.08035554 0.99630694 0.0302567 -0.40259327] [ 0.0573078 -0.02568684 0.99802605 -0.19657683] [ 0. 0. 0. 1. ]] SLAMing on 60.569649246 meters Centerline goodness : 0.932281 with order 1 Centerline is valid? [False, False] Translation: X:11.78, Y:-0.40, Z:-0.20 [[ 0.99508871 0.08210592 -0.05529087 11.78308521] [-0.08053808 0.99629951 0.03001495 -0.40189162] [ 0.05755067 -0.02541452 0.99801905 -0.19659521] [ 0. 0. 0. 1. ]] SLAMing on 60.62964924599999 meters Centerline goodness : 0.929833 with order 1 Centerline is valid? [False, False] Translation: X:11.79, Y:-0.40, Z:-0.20 [[ 0.99512484 0.08113514 -0.05606812 11.78548315] [-0.07959826 0.99640146 0.02912465 -0.40071523] [ 0.05822939 -0.02451974 0.99800206 -0.19741747] [ 0. 0. 0. 1. ]] SLAMing on 60.689649245999995 meters Centerline goodness : 0.928651 with order 1 Centerline is valid? [False, False] Translation: X:11.79, Y:-0.40, Z:-0.20 [[ 0.99516678 0.08013589 -0.05675661 11.78818141] [-0.07861844 0.99649771 0.02848608 -0.40057986] [ 0.05884059 -0.02388629 0.99798158 -0.19865797] [ 0. 0. 0. 1. ]] SLAMing on 60.749649246 meters Centerline goodness : 0.936462 with order 1 Centerline is valid? [False, False] Translation: X:11.79, Y:-0.41, Z:-0.19 [[ 0.99529086 0.07841895 -0.05697871 11.78985156] [-0.07667052 0.99653469 0.0322529 -0.40654571] [ 0.0593105 -0.02773243 0.99785429 -0.19214562] [ 0. 0. 0. 1. ]] SLAMing on 60.809649246 meters Centerline goodness : 0.937064 with order 1 Centerline is valid? [False, False] Translation: X:11.79, Y:-0.41, Z:-0.18 [[ 0.99503289 0.0812924 -0.0574551 11.79253309] [-0.07903468 0.99604739 0.04053548 -0.41212387] [ 0.06052323 -0.03579319 0.99752483 -0.18468127] [ 0. 0. 0. 1. ]] SLAMing on 60.869649245999994 meters Centerline goodness : 0.936355 with order 1 Centerline is valid? [False, False] Translation: X:11.79, Y:-0.41, Z:-0.18 [[ 0.99507067 0.08041857 -0.05802775 11.79422221] [-0.07811023 0.99610082 0.04101148 -0.4137033 ] [ 0.06109957 -0.03627676 0.99747222 -0.18366531] [ 0. 0. 0. 1. ]] SLAMing on 60.929649246 meters Centerline goodness : 0.939488 with order 1 Centerline is valid? [False, False] Translation: X:11.81, Y:-0.41, Z:-0.19 [[ 0.99518434 0.08126751 -0.05480621 11.8109026 ] [-0.07969786 0.99636011 0.03024542 -0.41027051] [ 0.05706469 -0.02573183 0.99803882 -0.19101942] [ 0. 0. 0. 1. ]] SLAMing on 60.989649246 meters Centerline goodness : 0.932510 with order 1 Centerline is valid? [False, False] Translation: X:11.82, Y:-0.41, Z:-0.19 [[ 0.99489364 0.08407488 -0.05583952 11.8151814 ] [-0.08230462 0.99605127 0.03328387 -0.40860971] [ 0.05841736 -0.02851806 0.99788483 -0.19212194] [ 0. 0. 0. 1. ]] SLAMing on 61.049649245999994 meters Centerline goodness : 0.933236 with order 1 Centerline is valid? [False, False] Translation: X:11.83, Y:-0.40, Z:-0.20 [[ 0.99491518 0.0863892 -0.05177542 11.82858409] [-0.08527985 0.99608528 0.02326946 -0.40494563] [ 0.05358296 -0.01873574 0.99838762 -0.19807973] [ 0. 0. 0. 1. ]] SLAMing on 61.109649246 meters Centerline goodness : 0.937884 with order 1 Centerline is valid? [False, False] Translation: X:11.84, Y:-0.40, Z:-0.20 [[ 0.99491205 0.08888006 -0.04743779 11.84414007] [-0.0881866 0.99596697 0.01652044 -0.40292984] [ 0.04871481 -0.012253 0.99873757 -0.20089691] [ 0. 0. 0. 1. ]] SLAMing on 61.169649246 meters Centerline goodness : 0.938518 with order 1 Centerline is valid? [False, False] Translation: X:11.84, Y:-0.40, Z:-0.20 [[ 0.99456894 0.09252867 -0.04765573 11.8449632 ] [-0.09159442 0.99556571 0.02143294 -0.40302613] [ 0.04942757 -0.01695154 0.99863385 -0.19791847] [ 0. 0. 0. 1. ]] SLAMing on 61.229649245999994 meters Centerline goodness : 0.936087 with order 1 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.40, Z:-0.20 [[ 0.99458663 0.0922032 -0.04791659 11.84585141] [-0.09131942 0.99561428 0.02032174 -0.400438 ] [ 0.04958017 -0.01583602 0.99864459 -0.19912948] [ 0. 0. 0. 1. ]] SLAMing on 61.289649245999996 meters Centerline goodness : 0.937878 with order 1 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.40, Z:-0.20 [[ 0.99431811 0.09456017 -0.04888622 11.84985293] [-0.09345256 0.99532294 0.02447179 -0.40091915] [ 0.05097163 -0.0197642 0.99850452 -0.19803588] [ 0. 0. 0. 1. ]] SLAMing on 61.349649246 meters Centerline goodness : 0.939268 with order 1 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.40, Z:-0.20 [[ 0.99428271 0.09485293 -0.04903898 11.84888867] [-0.0936874 0.9952738 0.0255485 -0.40060566] [ 0.05123057 -0.0208081 0.99847006 -0.19500863] [ 0. 0. 0. 1. ]] SLAMing on 61.409649245999994 meters Centerline goodness : 0.940806 with order 1 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.40, Z:-0.20 [[ 0.99452285 0.09214816 -0.04932567 11.84797336] [-0.0911811 0.99560191 0.02151392 -0.39733142] [ 0.0510912 -0.01689852 0.99855101 -0.19552514] [ 0. 0. 0. 1. ]] SLAMing on 61.469649245999996 meters Centerline goodness : 0.941490 with order 1 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.39, Z:-0.20 [[ 0.99454434 0.09175222 -0.0496294 11.84920894] [-0.0908223 0.9956523 0.02068354 -0.39462669] [ 0.05131138 -0.01606325 0.99855351 -0.19641079] [ 0. 0. 0. 1. ]] SLAMing on 61.529649246 meters Centerline goodness : 0.940570 with order 1 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.39, Z:-0.20 [[ 0.99456511 0.09118077 -0.05026238 11.85114204] [-0.09031347 0.99572696 0.01926934 -0.39228401] [ 0.0518046 -0.01462524 0.99855014 -0.19821531] [ 0. 0. 0. 1. ]] SLAMing on 61.58964924599999 meters Centerline goodness : 0.936006 with order 1 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.39, Z:-0.20 [[ 0.99459705 0.09039872 -0.05103695 11.85331229] [-0.08948082 0.99578778 0.01999706 -0.39390256] [ 0.05262968 -0.01532219 0.99849654 -0.19694088] [ 0. 0. 0. 1. ]] SLAMing on 61.649649245999996 meters Centerline goodness : 0.938287 with order 1 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.39, Z:-0.20 [[ 0.99460502 0.09005343 -0.05149017 11.85455847] [-0.08911629 0.99581597 0.02021998 -0.394134 ] [ 0.05309561 -0.01552228 0.99846879 -0.19653871] [ 0. 0. 0. 1. ]] SLAMing on 61.709649246 meters Centerline goodness : 0.943316 with order 1 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.40, Z:-0.19 [[ 0.99497024 0.08569393 -0.05187261 11.85415975] [-0.0848891 0.99623621 0.01752891 -0.39688763] [ 0.0531795 -0.01303733 0.99849986 -0.19430197] [ 0. 0. 0. 1. ]] SLAMing on 61.76964924599999 meters Centerline goodness : 0.944045 with order 1 Centerline is valid? [False, False] Translation: X:11.86, Y:-0.40, Z:-0.19 [[ 0.99503514 0.08442651 -0.05269943 11.85724331] [-0.0835998 0.99634215 0.0177032 -0.39845871] [ 0.05400128 -0.01320964 0.99845349 -0.19441454] [ 0. 0. 0. 1. ]] SLAMing on 61.829649245999995 meters Centerline goodness : 0.941988 with order 1 Centerline is valid? [False, False] Translation: X:11.86, Y:-0.40, Z:-0.19 [[ 0.99511257 0.08282863 -0.05376239 11.860832 ] [-0.08195313 0.99646828 0.01829357 -0.40095371] [ 0.05508774 -0.01379817 0.99838617 -0.19347297] [ 0. 0. 0. 1. ]] SLAMing on 61.889649246 meters Centerline goodness : 0.941367 with order 1 Centerline is valid? [False, False] Translation: X:11.87, Y:-0.40, Z:-0.19 [[ 0.99488516 0.0848305 -0.05483899 11.86593099] [-0.0837188 0.99624064 0.02226528 -0.40348089] [ 0.0565216 -0.01756034 0.99824693 -0.19360062] [ 0. 0. 0. 1. ]] SLAMing on 61.94964924599999 meters Centerline goodness : 0.941955 with order 1 Centerline is valid? [False, False] Translation: X:11.87, Y:-0.40, Z:-0.20 [[ 0.99517666 0.08109032 -0.05520668 11.86568607] [-0.08026218 0.99662778 0.01705996 -0.40160762] [ 0.05640391 -0.01254666 0.99832919 -0.19539295] [ 0. 0. 0. 1. ]] SLAMing on 62.009649245999995 meters Centerline goodness : 0.937304 with order 1 Centerline is valid? [False, False] Translation: X:11.87, Y:-0.40, Z:-0.20 [[ 9.95178725e-01 8.06074610e-02 -5.58725601e-02 1.18674700e+01] [-7.98178274e-02 9.96677384e-01 1.62267419e-02 -4.00006888e-01] [ 5.69949135e-02 -1.16888820e-02 9.98306040e-01 -1.96267953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.069649246 meters Centerline goodness : 0.936885 with order 1 Centerline is valid? [False, False] Translation: X:11.87, Y:-0.40, Z:-0.20 [[ 0.99487579 0.08397717 -0.05630271 11.86994871] [-0.08303331 0.99636747 0.01890303 -0.39611791] [ 0.05768561 -0.01413117 0.99823478 -0.19739265] [ 0. 0. 0. 1. ]] SLAMing on 62.12964924599999 meters Centerline goodness : 0.935483 with order 1 Centerline is valid? [False, False] Translation: X:11.87, Y:-0.39, Z:-0.20 [[ 0.99488024 0.08358947 -0.05679878 11.87163313] [-0.08270159 0.99641518 0.01781097 -0.39336293] [ 0.05808397 -0.01302243 0.99822676 -0.19874133] [ 0. 0. 0. 1. ]] SLAMing on 62.189649245999995 meters Centerline goodness : 0.932407 with order 1 Centerline is valid? [False, False] Translation: X:11.87, Y:-0.39, Z:-0.20 [[ 9.94807645e-01 8.45687337e-02 -5.66204804e-02 1.18705000e+01] [-8.37999875e-02 9.96356996e-01 1.58208007e-02 -3.87856818e-01] [ 5.77521569e-02 -1.09938580e-02 9.98270416e-01 -2.00945883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.249649246 meters Centerline goodness : 0.931333 with order 1 Centerline is valid? [False, False] Translation: X:11.87, Y:-0.39, Z:-0.20 [[ 0.99446499 0.08813022 -0.0572053 11.87282367] [-0.08715457 0.99600712 0.01933662 -0.38617756] [ 0.05868103 -0.01424388 0.99817516 -0.20087664] [ 0. 0. 0. 1. ]] SLAMing on 62.309649246 meters Centerline goodness : 0.930027 with order 1 Centerline is valid? [False, False] Translation: X:11.87, Y:-0.38, Z:-0.20 [[ 0.99446529 0.08803096 -0.05735276 11.87308029] [-0.08710263 0.99602765 0.01849487 -0.38440633] [ 0.05875305 -0.01339693 0.99818265 -0.20159761] [ 0. 0. 0. 1. ]] SLAMing on 62.369649245999994 meters Centerline goodness : 0.929589 with order 1 Centerline is valid? [False, False] Translation: X:11.88, Y:-0.38, Z:-0.20 [[ 9.94840810e-01 8.28796955e-02 -5.85040130e-02 1.18757611e+01] [-8.22080314e-02 9.96519647e-01 1.37997422e-02 -3.83900469e-01] [ 5.94441168e-02 -8.91904696e-03 9.98191789e-01 -2.02620113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.429649246 meters Centerline goodness : 0.922323 with order 1 Centerline is valid? [False, False] Translation: X:11.88, Y:-0.38, Z:-0.21 [[ 9.94912940e-01 8.14641667e-02 -5.92607121e-02 1.18823403e+01] [-8.08167118e-02 9.96640967e-01 1.32454296e-02 -3.83616767e-01] [ 6.01406813e-02 -8.38879339e-03 9.98154661e-01 -2.07011080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.489649246 meters Centerline goodness : 0.921432 with order 1 Centerline is valid? [False, False] Translation: X:11.88, Y:-0.39, Z:-0.21 [[ 9.94916515e-01 8.08585135e-02 -6.00252430e-02 1.18847020e+01] [-8.01825910e-02 9.96687558e-01 1.35891210e-02 -3.85552026e-01] [ 6.09252090e-02 -8.70706135e-03 9.98104356e-01 -2.06992106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.549649245999994 meters Centerline goodness : 0.925420 with order 1 Centerline is valid? [False, False] Translation: X:11.88, Y:-0.39, Z:-0.20 [[ 0.99490032 0.08079904 -0.06037267 11.88479712] [-0.07990464 0.99665602 0.01708888 -0.39225092] [ 0.06155155 -0.01217768 0.99802961 -0.20171251] [ 0. 0. 0. 1. ]] SLAMing on 62.609649246 meters Centerline goodness : 0.923605 with order 1 Centerline is valid? [False, False] Translation: X:11.89, Y:-0.39, Z:-0.20 [[ 0.9949522 0.07968046 -0.0610012 11.88769333] [-0.07879094 0.99674866 0.01685487 -0.39364409] [ 0.06214587 -0.01196345 0.99799537 -0.20270005] [ 0. 0. 0. 1. ]] SLAMing on 62.669649246 meters Centerline goodness : 0.924058 with order 1 Centerline is valid? [False, False] Translation: X:11.89, Y:-0.40, Z:-0.20 [[ 0.9946926 0.08206133 -0.0620691 11.89229699] [-0.08088907 0.99649819 0.02117332 -0.39541979] [ 0.06358926 -0.01604023 0.99784724 -0.20200851] [ 0. 0. 0. 1. ]] SLAMing on 62.729649245999994 meters Centerline goodness : 0.923484 with order 1 Centerline is valid? [False, False] Translation: X:11.89, Y:-0.39, Z:-0.20 [[ 0.99466262 0.08247743 -0.06199794 11.89136381] [-0.08134123 0.99647265 0.02063647 -0.39370438] [ 0.0634813 -0.01548333 0.99786291 -0.20198619] [ 0. 0. 0. 1. ]] SLAMing on 62.789649245999996 meters Centerline goodness : 0.921321 with order 1 Centerline is valid? [False, False] Translation: X:11.89, Y:-0.39, Z:-0.21 [[ 0.99456737 0.08382886 -0.06171274 11.89018596] [-0.08286856 0.99639857 0.01796375 -0.38734771] [ 0.06299636 -0.01275211 0.99793228 -0.2060387 ] [ 0. 0. 0. 1. ]] SLAMing on 62.849649246 meters Centerline goodness : 0.922587 with order 1 Centerline is valid? [False, False] Translation: X:11.89, Y:-0.38, Z:-0.21 [[ 9.94539859e-01 8.42147455e-02 -6.16307188e-02 1.18896319e+01] [-8.33275700e-02 9.96380066e-01 1.68309572e-02 -3.83588247e-01] [ 6.28250344e-02 -1.16035198e-02 9.97957100e-01 -2.06930770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.909649245999994 meters Centerline goodness : 0.923225 with order 1 Centerline is valid? [False, False] Translation: X:11.89, Y:-0.39, Z:-0.20 [[ 0.99456623 0.08321412 -0.06255743 11.89201906] [-0.08223904 0.99644993 0.01800797 -0.38544613] [ 0.06383386 -0.01276546 0.99787889 -0.2044924 ] [ 0. 0. 0. 1. ]] SLAMing on 62.969649245999996 meters Centerline goodness : 0.923656 with order 1 Centerline is valid? [False, False] Translation: X:11.89, Y:-0.39, Z:-0.21 [[ 9.94855742e-01 7.93328782e-02 -6.29948229e-02 1.18925188e+01] [-7.86076887e-02 9.96808552e-01 1.39119522e-02 -3.86067745e-01] [ 6.38974534e-02 -8.88850809e-03 9.97916885e-01 -2.05552021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.029649246 meters Centerline goodness : 0.923720 with order 1 Centerline is valid? [False, False] Translation: X:11.90, Y:-0.39, Z:-0.20 [[ 9.94888260e-01 7.82656601e-02 -6.38109403e-02 1.18954579e+01] [-7.74292030e-02 9.96877648e-01 1.54813917e-02 -3.90323149e-01] [ 6.48233615e-02 -1.04614246e-02 9.97841917e-01 -2.03846362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.08964924599999 meters Centerline goodness : 0.924688 with order 1 Centerline is valid? [False, False] Translation: X:11.90, Y:-0.39, Z:-0.20 [[ 9.94881738e-01 7.78033590e-02 -6.44745229e-02 1.18973796e+01] [-7.69110276e-02 9.96906144e-01 1.62121364e-02 -3.92651659e-01] [ 6.55364067e-02 -1.11703566e-02 9.97787654e-01 -2.03109110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.149649245999996 meters Centerline goodness : 0.919038 with order 1 Centerline is valid? [False, False] Translation: X:11.90, Y:-0.39, Z:-0.20 [[ 0.99487779 0.07713482 -0.06533299 11.89945877] [-0.07617484 0.99694847 0.01706309 -0.39416738] [ 0.06644978 -0.01199896 0.99771762 -0.20128531] [ 0. 0. 0. 1. ]] SLAMing on 63.209649246 meters Centerline goodness : 0.915766 with order 1 Centerline is valid? [False, False] Translation: X:11.90, Y:-0.39, Z:-0.20 [[ 0.99462371 0.07959421 -0.06624525 11.90484327] [-0.07847988 0.99672961 0.01926109 -0.39166768] [ 0.06756167 -0.01395862 0.99761745 -0.20448359] [ 0. 0. 0. 1. ]] SLAMing on 63.26964924599999 meters Centerline goodness : 0.912242 with order 1 Centerline is valid? [False, False] Translation: X:11.91, Y:-0.39, Z:-0.21 [[ 0.99465347 0.07836329 -0.06725823 11.90861374] [-0.07736767 0.99685276 0.01728624 -0.38832767] [ 0.06840116 -0.0119902 0.99758584 -0.20711375] [ 0. 0. 0. 1. ]] SLAMing on 63.329649245999995 meters Centerline goodness : 0.909504 with order 1 Centerline is valid? [False, False] Translation: X:11.92, Y:-0.39, Z:-0.21 [[ 0.99440639 0.07965521 -0.06936124 11.91655375] [-0.07840981 0.9967104 0.02050087 -0.38747135] [ 0.07076607 -0.01494759 0.99738094 -0.20735244] [ 0. 0. 0. 1. ]] SLAMing on 63.389649246 meters Centerline goodness : 0.910473 with order 1 Centerline is valid? [False, False] Translation: X:11.93, Y:-0.39, Z:-0.20 [[ 0.9946237 0.07524818 -0.07114358 11.93193119] [-0.07352137 0.99693909 0.02659071 -0.38940111] [ 0.07292672 -0.02121718 0.99711159 -0.20112145] [ 0. 0. 0. 1. ]] SLAMing on 63.44964924599999 meters Centerline goodness : 0.905881 with order 1 Centerline is valid? [False, False] Translation: X:11.94, Y:-0.39, Z:-0.20 [[ 0.99424637 0.07872437 -0.0726404 11.94157109] [-0.07652497 0.9965351 0.0325842 -0.38836713] [ 0.07495388 -0.02683792 0.99682578 -0.20255289] [ 0. 0. 0. 1. ]] SLAMing on 63.509649245999995 meters Centerline goodness : 0.906691 with order 1 Centerline is valid? [False, False] Translation: X:11.96, Y:-0.39, Z:-0.21 [[ 0.99449884 0.07896163 -0.06882674 11.95762022] [-0.07754512 0.99672306 0.02301931 -0.38634153] [ 0.07041884 -0.0175555 0.99736302 -0.20652897] [ 0. 0. 0. 1. ]] SLAMing on 63.569649246 meters Centerline goodness : 0.906324 with order 1 Centerline is valid? [False, False] Translation: X:11.97, Y:-0.39, Z:-0.21 [[ 9.94703385e-01 7.97691424e-02 -6.48232933e-02 1.19715469e+01] [-7.90417102e-02 9.96776973e-01 1.37140146e-02 -3.85683504e-01] [ 6.57083212e-02 -8.51763276e-03 9.97802519e-01 -2.09168963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.62964924599999 meters Centerline goodness : 0.908186 with order 1 Centerline is valid? [False, False] Translation: X:11.97, Y:-0.39, Z:-0.20 [[ 0.99435833 0.08378349 -0.06505255 11.97206833] [-0.08255599 0.99635796 0.02133822 -0.38905095] [ 0.06660342 -0.01584736 0.99765367 -0.20242723] [ 0. 0. 0. 1. ]] SLAMing on 63.689649245999995 meters Centerline goodness : 0.908160 with order 1 Centerline is valid? [False, False] Translation: X:11.97, Y:-0.39, Z:-0.20 [[ 0.99401607 0.08750627 -0.06538119 11.97368954] [-0.08593296 0.99594828 0.02650571 -0.39028359] [ 0.0674357 -0.0207287 0.99750827 -0.20019618] [ 0. 0. 0. 1. ]] SLAMing on 63.749649246 meters Centerline goodness : 0.914475 with order 1 Centerline is valid? [False, False] Translation: X:11.99, Y:-0.39, Z:-0.20 [[ 0.99407421 0.08968928 -0.06141896 11.98747931] [-0.08873699 0.99589124 0.01806638 -0.38928831] [ 0.06278696 -0.01250919 0.99794855 -0.20336962] [ 0. 0. 0. 1. ]] SLAMing on 63.809649246 meters Centerline goodness : 0.911352 with order 1 Centerline is valid? [False, False] Translation: X:11.99, Y:-0.39, Z:-0.20 [[ 0.9937074 0.09313909 -0.06221512 11.99021949] [-0.0918899 0.99551147 0.02265304 -0.3907152 ] [ 0.06404575 -0.01679355 0.99780565 -0.20193384] [ 0. 0. 0. 1. ]] SLAMing on 63.869649245999994 meters Centerline goodness : 0.910046 with order 1 Centerline is valid? [False, False] Translation: X:11.99, Y:-0.39, Z:-0.20 [[ 0.99372437 0.09241657 -0.06301636 11.993137 ] [-0.09120011 0.99559129 0.02192075 -0.38910554] [ 0.06476438 -0.01603608 0.99777173 -0.20328614] [ 0. 0. 0. 1. ]] SLAMing on 63.929649246 meters Centerline goodness : 0.912965 with order 1 Centerline is valid? [False, False] Translation: X:11.99, Y:-0.39, Z:-0.20 [[ 0.99368152 0.09239449 -0.06372052 11.99394555] [-0.09106746 0.99556903 0.02343113 -0.39221406] [ 0.06560309 -0.01748021 0.99769268 -0.20062542] [ 0. 0. 0. 1. ]] SLAMing on 63.989649246 meters Centerline goodness : 0.923302 with order 1 Centerline is valid? [False, False] Translation: X:12.01, Y:-0.39, Z:-0.20 [[ 9.94126238e-01 9.07836853e-02 -5.89181319e-02 1.20054520e+01] [-9.01987740e-02 9.95845112e-01 1.25177326e-02 -3.94330199e-01] [ 5.98097396e-02 -7.12986314e-03 9.98184332e-01 -2.01877146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.049649246 meters Centerline goodness : 0.924992 with order 1 Centerline is valid? [False, False] Translation: X:12.01, Y:-0.39, Z:-0.20 [[ 9.94074907e-01 9.10179856e-02 -5.94205874e-02 1.20063362e+01] [-9.04138690e-02 9.95822236e-01 1.27830383e-02 -3.94117200e-01] [ 6.03358286e-02 -7.33485237e-03 9.98151185e-01 -2.01419202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.109649246 meters Centerline goodness : 0.921254 with order 1 Centerline is valid? [False, False] Translation: X:12.02, Y:-0.39, Z:-0.21 [[ 9.93886206e-01 9.19899361e-02 -6.10578480e-02 1.20150996e+01] [-9.12589453e-02 9.95719273e-01 1.46606116e-02 -3.92373589e-01] [ 6.21451048e-02 -8.99890484e-03 9.98026556e-01 -2.05509162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.169649246 meters Centerline goodness : 0.911521 with order 1 Centerline is valid? [False, False] Translation: X:12.02, Y:-0.39, Z:-0.21 [[ 9.93636794e-01 9.38398701e-02 -6.22896560e-02 1.20211070e+01] [-9.28979828e-02 9.95515523e-01 1.78551887e-02 -3.93432251e-01] [ 6.36858481e-02 -1.19549891e-02 9.97898387e-01 -2.06961684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.22964924600001 meters Centerline goodness : 0.912404 with order 1 Centerline is valid? [False, False] Translation: X:12.03, Y:-0.39, Z:-0.21 [[ 9.93620806e-01 9.28589904e-02 -6.39914180e-02 1.20257695e+01] [-9.19521067e-02 9.95618636e-01 1.69806367e-02 -3.93717686e-01] [ 6.52878531e-02 -1.09881682e-02 9.97805971e-01 -2.08540602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.289649246 meters Centerline goodness : 0.904790 with order 1 Centerline is valid? [False, False] Translation: X:12.03, Y:-0.39, Z:-0.21 [[ 9.93636589e-01 9.14064926e-02 -6.58117158e-02 1.20314271e+01] [-9.05398929e-02 9.95763676e-01 1.60384008e-02 -3.93305548e-01] [ 6.69989300e-02 -9.97775620e-03 9.97703156e-01 -2.10449631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.349649246 meters Centerline goodness : 0.910231 with order 1 Centerline is valid? [False, False] Translation: X:12.04, Y:-0.39, Z:-0.21 [[ 9.93704190e-01 8.97177952e-02 -6.71021591e-02 1.20353337e+01] [-8.88023979e-02 9.95912448e-01 1.65084734e-02 -3.94769670e-01] [ 6.83089794e-02 -1.04457066e-02 9.97609528e-01 -2.09253976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.409649246 meters Centerline goodness : 0.911325 with order 1 Centerline is valid? [False, False] Translation: X:12.04, Y:-0.40, Z:-0.20 [[ 0.99338133 0.09230605 -0.06836022 12.0395103 ] [-0.09092415 0.9955907 0.02306439 -0.39810255] [ 0.07018778 -0.01669614 0.99739406 -0.20414221] [ 0. 0. 0. 1. ]] SLAMing on 64.469649246 meters Centerline goodness : 0.917607 with order 1 Centerline is valid? [False, False] Translation: X:12.05, Y:-0.40, Z:-0.21 [[ 9.93445373e-01 9.52591538e-02 -6.31821473e-02 1.20510894e+01] [-9.44174073e-02 9.95401142e-01 1.61839092e-02 -3.98633853e-01] [ 6.44332471e-02 -1.01123352e-02 9.97870782e-01 -2.05658279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.529649246 meters Centerline goodness : 0.924037 with order 1 Centerline is valid? [False, False] Translation: X:12.05, Y:-0.40, Z:-0.20 [[ 0.99314561 0.09836935 -0.06312893 12.05218371] [-0.09698143 0.99497983 0.02469302 -0.40472792] [ 0.06524105 -0.01840143 0.99769985 -0.19758349] [ 0. 0. 0. 1. ]] SLAMing on 64.58964924600001 meters Centerline goodness : 0.924648 with order 1 Centerline is valid? [False, False] Translation: X:12.05, Y:-0.41, Z:-0.20 [[ 0.9931289 0.09795092 -0.06403592 12.05440618] [-0.09654334 0.99502163 0.02472526 -0.40564625] [ 0.06613898 -0.01837313 0.99764125 -0.19752777] [ 0. 0. 0. 1. ]] SLAMing on 64.64964924600001 meters Centerline goodness : 0.920589 with order 1 Centerline is valid? [False, False] Translation: X:12.06, Y:-0.41, Z:-0.20 [[ 0.99304296 0.09778856 -0.06559785 12.06252394] [-0.0961513 0.9949819 0.02767589 -0.40749205] [ 0.06797506 -0.02117603 0.99746226 -0.19810036] [ 0. 0. 0. 1. ]] SLAMing on 64.709649246 meters Centerline goodness : 0.909675 with order 1 Centerline is valid? [False, False] Translation: X:12.07, Y:-0.41, Z:-0.20 [[ 0.99305675 0.09704172 -0.06649212 12.06559411] [-0.09545393 0.99507673 0.02666167 -0.40540137] [ 0.06875205 -0.02012962 0.99743068 -0.19962665] [ 0. 0. 0. 1. ]] SLAMing on 64.769649246 meters Centerline goodness : 0.916088 with order 1 Centerline is valid? [False, False] Translation: X:12.08, Y:-0.40, Z:-0.20 [[ 9.93320928e-01 9.70880747e-02 -6.23493401e-02 1.20791623e+01] [-9.62299645e-02 9.95220220e-01 1.66285230e-02 -4.04948290e-01] [ 6.36657552e-02 -1.05175851e-02 9.97915854e-01 -2.02477652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.829649246 meters Centerline goodness : 0.921616 with order 1 Centerline is valid? [False, False] Translation: X:12.08, Y:-0.40, Z:-0.20 [[ 9.93305633e-01 9.73096676e-02 -6.22474746e-02 1.20790522e+01] [-9.64687718e-02 9.95201193e-01 1.63817551e-02 -4.03379432e-01] [ 6.35428641e-02 -1.02671522e-02 9.97926295e-01 -2.02545904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.889649246 meters Centerline goodness : 0.918950 with order 1 Centerline is valid? [False, False] Translation: X:12.08, Y:-0.40, Z:-0.20 [[ 0.99291683 0.10091871 -0.06270231 12.08097825] [-0.09980318 0.9947922 0.02068336 -0.40399792] [ 0.06446311 -0.01427897 0.99781793 -0.20144042] [ 0. 0. 0. 1. ]] SLAMing on 64.949649246 meters Centerline goodness : 0.925392 with order 1 Centerline is valid? [False, False] Translation: X:12.08, Y:-0.40, Z:-0.20 [[ 0.99290414 0.10102185 -0.06273715 12.08068008] [-0.09991025 0.99478282 0.02061776 -0.40445705] [ 0.06449268 -0.01420337 0.9978171 -0.20125599] [ 0. 0. 0. 1. ]] SLAMing on 65.00964924600001 meters Centerline goodness : 0.922902 with order 1 Centerline is valid? [False, False] Translation: X:12.08, Y:-0.41, Z:-0.20 [[ 0.99256812 0.10367046 -0.06372568 12.08453844] [-0.10224605 0.99443914 0.02522982 -0.40707303] [ 0.06598689 -0.01852662 0.99764848 -0.19988653] [ 0. 0. 0. 1. ]] SLAMing on 65.069649246 meters Centerline goodness : 0.917799 with order 1 Centerline is valid? [False, False] Translation: X:12.09, Y:-0.41, Z:-0.20 [[ 0.99263581 0.10243186 -0.0646673 12.08869113] [-0.10109572 0.99459639 0.02361508 -0.40580035] [ 0.0667368 -0.01690359 0.99762742 -0.20319351] [ 0. 0. 0. 1. ]] SLAMing on 65.129649246 meters Centerline goodness : 0.921073 with order 1 Centerline is valid? [False, False] Translation: X:12.09, Y:-0.40, Z:-0.21 [[ 9.93015420e-01 9.83896617e-02 -6.51141360e-02 1.20892287e+01] [-9.73972568e-02 9.95078216e-01 1.82515093e-02 -4.04313515e-01] [ 6.65894181e-02 -1.17820919e-02 9.97710896e-01 -2.05725589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.189649246 meters Centerline goodness : 0.926336 with order 1 Centerline is valid? [False, False] Translation: X:12.09, Y:-0.40, Z:-0.21 [[ 0.99269422 0.10115226 -0.06577547 12.09268492] [-0.0999089 0.9947548 0.02193381 -0.40439986] [ 0.06764912 -0.01520201 0.99759335 -0.2056169 ] [ 0. 0. 0. 1. ]] SLAMing on 65.249649246 meters Centerline goodness : 0.916326 with order 1 Centerline is valid? [False, False] Translation: X:12.10, Y:-0.40, Z:-0.21 [[ 0.99278584 0.09920548 -0.06733903 12.09808367] [-0.09801155 0.99496754 0.02081643 -0.40344565] [ 0.06906526 -0.01406625 0.99751297 -0.20700763] [ 0. 0. 0. 1. ]] SLAMing on 65.309649246 meters Centerline goodness : 0.910995 with order 1 Centerline is valid? [False, False] Translation: X:12.11, Y:-0.40, Z:-0.21 [[ 0.99299849 0.09537934 -0.06969057 12.10728822] [-0.09416588 0.99534539 0.02050216 -0.40466011] [ 0.07132167 -0.01379615 0.99735795 -0.20740429] [ 0. 0. 0. 1. ]] SLAMing on 65.36964924600001 meters Centerline goodness : 0.909791 with order 1 Centerline is valid? [False, False] Translation: X:12.11, Y:-0.41, Z:-0.21 [[ 0.99303508 0.09410895 -0.07088613 12.11126932] [-0.09288378 0.99546809 0.02039337 -0.40630088] [ 0.07248408 -0.01366716 0.99727592 -0.20801326] [ 0. 0. 0. 1. ]] SLAMing on 65.429649246 meters Centerline goodness : 0.914137 with order 1 Centerline is valid? [False, False] Translation: X:12.11, Y:-0.41, Z:-0.20 [[ 0.99298814 0.09380409 -0.07193993 12.11276283] [-0.09230939 0.99544506 0.023835 -0.41184625] [ 0.07384807 -0.01702714 0.99712413 -0.20219134] [ 0. 0. 0. 1. ]] SLAMing on 65.489649246 meters Centerline goodness : 0.914074 with order 1 Centerline is valid? [False, False] Translation: X:12.13, Y:-0.42, Z:-0.20 [[ 0.99316427 0.09102509 -0.07306961 12.12516699] [-0.08896005 0.99555136 0.03104181 -0.41751991] [ 0.07557013 -0.02432934 0.99684364 -0.19555593] [ 0. 0. 0. 1. ]] SLAMing on 65.549649246 meters Centerline goodness : 0.916033 with order 1 Centerline is valid? [False, False] Translation: X:12.13, Y:-0.42, Z:-0.20 [[ 0.99346052 0.08724864 -0.07364689 12.12815263] [-0.0853585 0.99594434 0.02843955 -0.41846959] [ 0.07582952 -0.02196718 0.99687879 -0.19644486] [ 0. 0. 0. 1. ]] SLAMing on 65.609649246 meters Centerline goodness : 0.914194 with order 1 Centerline is valid? [False, False] Translation: X:12.13, Y:-0.42, Z:-0.19 [[ 0.99349491 0.08549817 -0.07521914 12.13298376] [-0.08349691 0.99607526 0.0293657 -0.42111631] [ 0.07743463 -0.0228941 0.99673454 -0.19474552] [ 0. 0. 0. 1. ]] SLAMing on 65.669649246 meters Centerline goodness : 0.916206 with order 1 Centerline is valid? [False, False] Translation: X:12.14, Y:-0.42, Z:-0.19 [[ 0.99313081 0.08849957 -0.07654424 12.13715424] [-0.08608451 0.99569717 0.03430167 -0.42151431] [ 0.07925057 -0.02747677 0.99647598 -0.19207492] [ 0. 0. 0. 1. ]] SLAMing on 65.72964924600001 meters Centerline goodness : 0.914117 with order 1 Centerline is valid? [False, False] Translation: X:12.15, Y:-0.42, Z:-0.20 [[ 0.99285653 0.09353308 -0.0740775 12.15366582] [-0.09180378 0.9954265 0.02642268 -0.41556533] [ 0.0762101 -0.01943334 0.99690239 -0.19813517] [ 0. 0. 0. 1. ]] SLAMing on 65.789649246 meters Centerline goodness : 0.910235 with order 1 Centerline is valid? [False, False] Translation: X:12.15, Y:-0.41, Z:-0.20 [[ 0.99238694 0.09839966 -0.07406527 12.15382699] [-0.09654355 0.99492791 0.02824541 -0.40905488] [ 0.07646894 -0.02087986 0.99685332 -0.20000808] [ 0. 0. 0. 1. ]] SLAMing on 65.849649246 meters Centerline goodness : 0.913105 with order 1 Centerline is valid? [False, False] Translation: X:12.17, Y:-0.41, Z:-0.20 [[ 0.99245395 0.10017457 -0.07071222 12.17020958] [-0.09895414 0.99487947 0.02056492 -0.40690351] [ 0.07241022 -0.01341247 0.99728475 -0.2024657 ] [ 0. 0. 0. 1. ]] SLAMing on 65.909649246 meters Centerline goodness : 0.918311 with order 1 Centerline is valid? [False, False] Translation: X:12.17, Y:-0.41, Z:-0.20 [[ 0.99243935 0.09984098 -0.07138564 12.17139998] [-0.09856032 0.99490413 0.02125167 -0.4080546 ] [ 0.07314365 -0.0140552 0.99722237 -0.2008226 ] [ 0. 0. 0. 1. ]] SLAMing on 65.969649246 meters Centerline goodness : 0.918622 with order 1 Centerline is valid? [False, False] Translation: X:12.18, Y:-0.41, Z:-0.20 [[ 0.99211585 0.10205885 -0.07273335 12.17655531] [-0.10028177 0.99457372 0.02768902 -0.41257866] [ 0.07516459 -0.02017689 0.99696699 -0.19640325] [ 0. 0. 0. 1. ]] SLAMing on 66.029649246 meters Centerline goodness : 0.920077 with order 1 Centerline is valid? [False, False] Translation: X:12.18, Y:-0.42, Z:-0.19 [[ 0.99202695 0.1022453 -0.07367789 12.18404026] [-0.09993749 0.99440004 0.03436645 -0.41694312] [ 0.0767791 -0.02672927 0.99668978 -0.1910498 ] [ 0. 0. 0. 1. ]] SLAMing on 66.08964924600001 meters Centerline goodness : 0.920413 with order 1 Centerline is valid? [False, False] Translation: X:12.19, Y:-0.42, Z:-0.19 [[ 0.99244263 0.09715888 -0.07495188 12.18690024] [-0.09522217 0.99503346 0.02900264 -0.41577106] [ 0.0773975 -0.02164638 0.9967653 -0.19305735] [ 0. 0. 0. 1. ]] SLAMing on 66.14964924600001 meters Centerline goodness : 0.913655 with order 1 Centerline is valid? [False, False] Translation: X:12.20, Y:-0.42, Z:-0.20 [[ 0.99245745 0.09565213 -0.07667387 12.19801254] [-0.09351021 0.99513361 0.03106332 -0.41660832] [ 0.07927202 -0.02365923 0.99657222 -0.19535307] [ 0. 0. 0. 1. ]] SLAMing on 66.209649246 meters Centerline goodness : 0.916231 with order 1 Centerline is valid? [False, False] Translation: X:12.20, Y:-0.42, Z:-0.20 [[ 0.99245313 0.09464381 -0.07797012 12.20187969] [-0.09245213 0.99522621 0.03126322 -0.41856313] [ 0.08055677 -0.02381877 0.99646539 -0.19534812] [ 0. 0. 0. 1. ]] SLAMing on 66.269649246 meters Centerline goodness : 0.915965 with order 1 Centerline is valid? [False, False] Translation: X:12.21, Y:-0.42, Z:-0.20 [[ 0.99243519 0.09381304 -0.07919284 12.20545 ] [-0.09159441 0.99530732 0.0312059 -0.41955077] [ 0.08174873 -0.02371621 0.99637076 -0.19558173] [ 0. 0. 0. 1. ]] SLAMing on 66.329649246 meters Centerline goodness : 0.909476 with order 1 Centerline is valid? [False, False] Translation: X:12.21, Y:-0.42, Z:-0.20 [[ 0.99242105 0.09300641 -0.08031359 12.20873571] [-0.09077084 0.99538734 0.03105961 -0.42029633] [ 0.08283187 -0.02353408 0.99628562 -0.19591689] [ 0. 0. 0. 1. ]] SLAMing on 66.389649246 meters Centerline goodness : 0.911974 with order 1 Centerline is valid? [False, False] Translation: X:12.21, Y:-0.42, Z:-0.20 [[ 0.9924292 0.09244339 -0.080861 12.21064525] [-0.0902659 0.99546001 0.03018985 -0.41884997] [ 0.08328475 -0.0226623 0.99626807 -0.19702251] [ 0. 0. 0. 1. ]] SLAMing on 66.449649246 meters Centerline goodness : 0.910814 with order 1 Centerline is valid? [False, False] Translation: X:12.22, Y:-0.42, Z:-0.19 [[ 0.99248473 0.08955382 -0.08339166 12.21836334] [-0.08724134 0.99570535 0.03098063 -0.42172955] [ 0.08580796 -0.02347261 0.99603516 -0.19496296] [ 0. 0. 0. 1. ]] SLAMing on 66.50964924600001 meters Centerline goodness : 0.907366 with order 1 Centerline is valid? [False, False] Translation: X:12.23, Y:-0.42, Z:-0.20 [[ 0.99262418 0.08600899 -0.08543819 12.2269309 ] [-0.08368279 0.99602706 0.03045141 -0.42292406] [ 0.08771785 -0.0230771 0.99587802 -0.19595476] [ 0. 0. 0. 1. ]] SLAMing on 66.569649246 meters Centerline goodness : 0.906399 with order 1 Centerline is valid? [False, False] Translation: X:12.23, Y:-0.42, Z:-0.19 [[ 0.99259391 0.08578124 -0.08601689 12.22813645] [-0.08336938 0.99602839 0.03125671 -0.42367666] [ 0.08835651 -0.02385405 0.99580325 -0.19442195] [ 0. 0. 0. 1. ]] SLAMing on 66.629649246 meters Centerline goodness : 0.912164 with order 1 Centerline is valid? [False, False] Translation: X:12.24, Y:-0.42, Z:-0.20 [[ 0.99292486 0.08655136 -0.08129628 12.24013464] [-0.08505072 0.99613919 0.02175043 -0.42278007] [ 0.08286494 -0.01468224 0.99645262 -0.19649934] [ 0. 0. 0. 1. ]] SLAMing on 66.689649246 meters Centerline goodness : 0.916231 with order 1 Centerline is valid? [False, False] Translation: X:12.26, Y:-0.42, Z:-0.20 [[ 9.92994306e-01 8.97011411e-02 -7.69156317e-02 1.22550442e+01] [-8.88274259e-02 9.95938356e-01 1.47132496e-02 -4.20578644e-01] [ 7.79230231e-02 -7.77795548e-03 9.96929038e-01 -1.99962677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.749649246 meters Centerline goodness : 0.916801 with order 1 Centerline is valid? [False, False] Translation: X:12.26, Y:-0.42, Z:-0.20 [[ 0.99259418 0.09349837 -0.07755543 12.25714596] [-0.09224465 0.99554343 0.01960132 -0.42165984] [ 0.07904249 -0.01230209 0.99679534 -0.19798594] [ 0. 0. 0. 1. ]] SLAMing on 66.809649246 meters Centerline goodness : 0.911543 with order 1 Centerline is valid? [False, False] Translation: X:12.26, Y:-0.42, Z:-0.20 [[ 9.92639506e-01 9.21598093e-02 -7.85708652e-02 1.22615021e+01] [-9.10014018e-02 9.95684324e-01 1.82063777e-02 -4.20582512e-01] [ 7.99096751e-02 -1.09223109e-02 9.96742267e-01 -2.00910934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.86964924600001 meters Centerline goodness : 0.909260 with order 1 Centerline is valid? [False, False] Translation: X:12.29, Y:-0.43, Z:-0.19 [[ 0.99363298 0.08385632 -0.07524377 12.2890158 ] [-0.08181203 0.99620045 0.02985726 -0.42783919] [ 0.0774616 -0.02351132 0.99671807 -0.19251433] [ 0. 0. 0. 1. ]] SLAMing on 66.929649246 meters Centerline goodness : 0.906885 with order 1 Centerline is valid? [False, False] Translation: X:12.29, Y:-0.43, Z:-0.19 [[ 0.99365498 0.08208834 -0.07688488 12.29485598] [-0.08000016 0.99634744 0.0298621 -0.42994385] [ 0.07905538 -0.02352182 0.99659268 -0.19339141] [ 0. 0. 0. 1. ]] SLAMing on 66.989649246 meters Centerline goodness : 0.909211 with order 1 Centerline is valid? [False, False] Translation: X:12.30, Y:-0.43, Z:-0.19 [[ 0.99364974 0.08198681 -0.0770608 12.29509498] [-0.07984054 0.9963398 0.03053675 -0.43164797] [ 0.07928235 -0.02419026 0.99655865 -0.19222602] [ 0. 0. 0. 1. ]] SLAMing on 67.049649246 meters Centerline goodness : 0.918193 with order 1 Centerline is valid? [False, False] Translation: X:12.31, Y:-0.43, Z:-0.19 [[ 0.99394408 0.0825315 -0.07255152 12.30749149] [-0.08123998 0.99648206 0.02058065 -0.43090488] [ 0.07399484 -0.01456193 0.9971523 -0.19481189] [ 0. 0. 0. 1. ]] SLAMing on 67.109649246 meters Centerline goodness : 0.916508 with order 1 Centerline is valid? [False, False] Translation: X:12.32, Y:-0.43, Z:-0.20 [[ 9.93926065e-01 8.64643586e-02 -6.80800466e-02 1.23235555e+01] [-8.56523667e-02 9.96215710e-01 1.47625135e-02 -4.28272529e-01] [ 6.90988432e-02 -8.84162979e-03 9.97570637e-01 -1.98593469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.169649246 meters Centerline goodness : 0.911275 with order 1 Centerline is valid? [False, False] Translation: X:12.33, Y:-0.42, Z:-0.20 [[ 9.93546991e-01 9.01052539e-02 -6.88870106e-02 1.23267081e+01] [-8.91458481e-02 9.95875484e-01 1.68830699e-02 -4.22467282e-01] [ 7.01241383e-02 -1.06331323e-02 9.97481600e-01 -2.00263546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.22964924600001 meters Centerline goodness : 0.902198 with order 1 Centerline is valid? [False, False] Translation: X:12.33, Y:-0.42, Z:-0.20 [[ 0.99326116 0.09196111 -0.07053665 12.33378378] [-0.09083426 0.99568425 0.01902685 -0.41764966] [ 0.07198196 -0.01249148 0.99732771 -0.20225589] [ 0. 0. 0. 1. ]] SLAMing on 67.289649246 meters Centerline goodness : 0.904401 with order 1 Centerline is valid? [False, False] Translation: X:12.34, Y:-0.41, Z:-0.20 [[ 9.93339413e-01 9.03516757e-02 -7.15079346e-02 1.23374488e+01] [-8.92853626e-02 9.95843841e-01 1.79768874e-02 -4.14322437e-01] [ 7.28349781e-02 -1.14725389e-02 9.97278019e-01 -2.02858577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.349649246 meters Centerline goodness : 0.906739 with order 1 Centerline is valid? [False, False] Translation: X:12.35, Y:-0.41, Z:-0.20 [[ 9.93509672e-01 9.20863988e-02 -6.67729469e-02 1.23489472e+01] [-9.16613887e-02 9.95745795e-01 9.40752522e-03 -4.11769410e-01] [ 6.73551862e-02 -3.22596626e-03 9.97723846e-01 -2.03750188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.409649246 meters Centerline goodness : 0.909414 with order 1 Centerline is valid? [False, False] Translation: X:12.35, Y:-0.41, Z:-0.20 [[ 9.93102799e-01 9.62062539e-02 -6.70163144e-02 1.23499177e+01] [-9.55012148e-02 9.95335675e-01 1.36532857e-02 -4.10166656e-01] [ 6.80172600e-02 -7.15897680e-03 9.97658459e-01 -2.02238023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.469649246 meters Centerline goodness : 0.908775 with order 1 Centerline is valid? [False, False] Translation: X:12.35, Y:-0.41, Z:-0.20 [[ 9.93021288e-01 9.66077761e-02 -6.76436203e-02 1.23511486e+01] [-9.59616055e-02 9.95303436e-01 1.27452439e-02 -4.06599926e-01] [ 6.85572173e-02 -6.16510806e-03 9.97628137e-01 -2.03261321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.529649246 meters Centerline goodness : 0.905946 with order 1 Centerline is valid? [False, False] Translation: X:12.36, Y:-0.41, Z:-0.20 [[ 9.92700952e-01 9.92854862e-02 -6.84632155e-02 1.23554366e+01] [-9.83997957e-02 9.95015123e-01 1.61983240e-02 -4.05667965e-01] [ 6.97301933e-02 -9.34332520e-03 9.97522131e-01 -2.03789722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.58964924600001 meters Centerline goodness : 0.908587 with order 1 Centerline is valid? [False, False] Translation: X:12.35, Y:-0.41, Z:-0.20 [[ 9.92672105e-01 9.95493592e-02 -6.84982964e-02 1.23549403e+01] [-9.86561436e-02 9.94987914e-01 1.63100046e-02 -4.05448917e-01] [ 6.97786275e-02 -9.43270885e-03 9.97517903e-01 -2.03156018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.64964924600001 meters Centerline goodness : 0.910097 with order 1 Centerline is valid? [False, False] Translation: X:12.36, Y:-0.41, Z:-0.20 [[ 0.99228379 0.10289143 -0.06918256 12.35756371] [-0.10168339 0.99459993 0.02077164 -0.40636161] [ 0.0709462 -0.01357664 0.99738774 -0.20166087] [ 0. 0. 0. 1. ]] SLAMing on 67.709649246 meters Centerline goodness : 0.909567 with order 1 Centerline is valid? [False, False] Translation: X:12.36, Y:-0.40, Z:-0.20 [[ 0.99228252 0.10291689 -0.06916294 12.35779687] [-0.10177625 0.9946097 0.01982779 -0.40389654] [ 0.07083074 -0.01263562 0.99740831 -0.2028587 ] [ 0. 0. 0. 1. ]] SLAMing on 67.769649246 meters Centerline goodness : 0.909359 with order 1 Centerline is valid? [False, False] Translation: X:12.36, Y:-0.40, Z:-0.20 [[ 9.92703181e-01 9.82985412e-02 -6.98411845e-02 1.23584211e+01] [-9.74033598e-02 9.95114469e-01 1.61176470e-02 -4.04829826e-01] [ 7.10843144e-02 -9.19727340e-03 9.97427907e-01 -2.02108356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.829649246 meters Centerline goodness : 0.912547 with order 1 Centerline is valid? [False, False] Translation: X:12.37, Y:-0.41, Z:-0.20 [[ 9.93014108e-01 9.34447561e-02 -7.20490094e-02 1.23680240e+01] [-9.24812042e-02 9.95576001e-01 1.66028124e-02 -4.06576420e-01] [ 7.32817104e-02 -9.82364776e-03 9.97262898e-01 -2.00508130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.889649246 meters Centerline goodness : 0.910148 with order 1 Centerline is valid? [False, False] Translation: X:12.37, Y:-0.41, Z:-0.20 [[ 0.9928492 0.09426903 -0.07323811 12.37391544] [-0.09299402 0.9954528 0.02063592 -0.40907573] [ 0.07485041 -0.01367765 0.99710097 -0.19916589] [ 0. 0. 0. 1. ]] SLAMing on 67.949649246 meters Centerline goodness : 0.907046 with order 1 Centerline is valid? [False, False] Translation: X:12.38, Y:-0.41, Z:-0.20 [[ 0.99286459 0.09348145 -0.07403467 12.37738364] [-0.09228925 0.99554379 0.01937126 -0.40710704] [ 0.07551561 -0.01240043 0.99706751 -0.20190011] [ 0. 0. 0. 1. ]] SLAMing on 68.00964924600001 meters Centerline goodness : 0.912173 with order 1 Centerline is valid? [False, False] Translation: X:12.38, Y:-0.41, Z:-0.21 [[ 9.94091309e-01 8.89752619e-02 -6.21761364e-02 1.23802229e+01] [-8.81213145e-02 9.95975565e-01 1.63495816e-02 -4.07526531e-01] [ 6.33806209e-02 -1.07739341e-02 9.97931270e-01 -2.06224426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.069649246 meters Centerline goodness : 0.911305 with order 1 Centerline is valid? [False, False] Translation: X:12.38, Y:-0.41, Z:-0.20 [[ 0.99390889 0.09071931 -0.06257103 12.38408431] [-0.08939979 0.99571664 0.02358086 -0.41271689] [ 0.06444226 -0.01784339 0.9977619 -0.20078834] [ 0. 0. 0. 1. ]] SLAMing on 68.129649246 meters Centerline goodness : 0.915751 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-0.41, Z:-0.20 [[ 0.99391996 0.0903124 -0.0629824 12.38526774] [-0.08898223 0.99575311 0.02361984 -0.41265373] [ 0.06484808 -0.01787191 0.9977351 -0.20045374] [ 0. 0. 0. 1. ]] SLAMing on 68.189649246 meters Centerline goodness : 0.915492 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-0.41, Z:-0.20 [[ 0.99391342 0.0899584 -0.06358938 12.38706515] [-0.08862795 0.99578877 0.02344823 -0.41349436] [ 0.06543095 -0.01766972 0.99770064 -0.20099574] [ 0. 0. 0. 1. ]] SLAMing on 68.249649246 meters Centerline goodness : 0.912262 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-0.41, Z:-0.21 [[ 0.9939211 0.08943943 -0.06419846 12.39029226] [-0.08828624 0.9958824 0.02058625 -0.40979538] [ 0.06577534 -0.01479327 0.99772479 -0.20659538] [ 0. 0. 0. 1. ]] SLAMing on 68.309649246 meters Centerline goodness : 0.913294 with order 1 Centerline is valid? [False, False] Translation: X:12.40, Y:-0.41, Z:-0.21 [[ 0.993856 0.08966716 -0.06488486 12.39615568] [-0.0883944 0.99583739 0.02223335 -0.41003188] [ 0.06660837 -0.01636129 0.99764504 -0.20898567] [ 0. 0. 0. 1. ]] SLAMing on 68.36964924600001 meters Centerline goodness : 0.908494 with order 1 Centerline is valid? [False, False] Translation: X:12.40, Y:-0.41, Z:-0.21 [[ 0.99387552 0.08901737 -0.06547794 12.39830313] [-0.08775509 0.99590102 0.02191356 -0.4107303 ] [ 0.06716024 -0.01603333 0.99761337 -0.20986132] [ 0. 0. 0. 1. ]] SLAMing on 68.429649246 meters Centerline goodness : 0.910760 with order 1 Centerline is valid? [False, False] Translation: X:12.40, Y:-0.41, Z:-0.21 [[ 0.99387828 0.08851686 -0.06611149 12.39969283] [-0.08718234 0.99593117 0.02281106 -0.41398873] [ 0.06786166 -0.01690766 0.99755147 -0.20851046] [ 0. 0. 0. 1. ]] SLAMing on 68.489649246 meters Centerline goodness : 0.908313 with order 1 Centerline is valid? [False, False] Translation: X:12.40, Y:-0.41, Z:-0.21 [[ 0.9942288 0.08455639 -0.06602513 12.39922978] [-0.08351906 0.99633774 0.01832136 -0.41391114] [ 0.06733251 -0.01270127 0.99764974 -0.21002269] [ 0. 0. 0. 1. ]] SLAMing on 68.549649246 meters Centerline goodness : 0.911011 with order 1 Centerline is valid? [False, False] Translation: X:12.40, Y:-0.42, Z:-0.21 [[ 0.99423823 0.0838656 -0.0667601 12.40169646] [-0.08277461 0.99638814 0.01894854 -0.41574399] [ 0.06810811 -0.01331333 0.99758911 -0.20962553] [ 0. 0. 0. 1. ]] SLAMing on 68.609649246 meters Centerline goodness : 0.909475 with order 1 Centerline is valid? [False, False] Translation: X:12.41, Y:-0.42, Z:-0.21 [[ 0.994266 0.0825757 -0.06794394 12.40544717] [-0.08142509 0.99648794 0.01953809 -0.41827186] [ 0.06931869 -0.01389372 0.99749781 -0.20905622] [ 0. 0. 0. 1. ]] SLAMing on 68.669649246 meters Centerline goodness : 0.911976 with order 1 Centerline is valid? [False, False] Translation: X:12.41, Y:-0.42, Z:-0.21 [[ 9.94593454e-01 7.80550601e-02 -6.84928353e-02 1.24069688e+01] [-7.72145195e-02 9.96904072e-01 1.48388021e-02 -4.18100734e-01] [ 6.94390300e-02 -9.46993403e-03 9.97541248e-01 -2.11030240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.72964924600001 meters Centerline goodness : 0.913498 with order 1 Centerline is valid? [False, False] Translation: X:12.41, Y:-0.42, Z:-0.20 [[ 0.99477142 0.07425133 -0.07011821 12.41442681] [-0.073134 0.99715286 0.01837344 -0.4226909 ] [ 0.07128282 -0.01314935 0.99736947 -0.20428556] [ 0. 0. 0. 1. ]] SLAMing on 68.789649246 meters Centerline goodness : 0.912483 with order 1 Centerline is valid? [False, False] Translation: X:12.43, Y:-0.42, Z:-0.20 [[ 0.99481943 0.07243643 -0.07132513 12.43236628] [-0.07061205 0.99711697 0.02777929 -0.42293694] [ 0.07313174 -0.02259897 0.99706621 -0.199222 ] [ 0. 0. 0. 1. ]] SLAMing on 68.849649246 meters Centerline goodness : 0.909535 with order 1 Centerline is valid? [False, False] Translation: X:12.45, Y:-0.42, Z:-0.20 [[ 0.99473893 0.07711869 -0.06743276 12.44729217] [-0.07583647 0.99689111 0.02137616 -0.4188052 ] [ 0.06887162 -0.01614984 0.9974948 -0.2033663 ] [ 0. 0. 0. 1. ]] SLAMing on 68.909649246 meters Centerline goodness : 0.913754 with order 1 Centerline is valid? [False, False] Translation: X:12.46, Y:-0.42, Z:-0.20 [[ 9.94905941e-01 7.89745033e-02 -6.26513944e-02 1.24581683e+01] [-7.82421258e-02 9.96835206e-01 1.40620887e-02 -4.18449484e-01] [ 6.35636621e-02 -9.08847731e-03 9.97936401e-01 -2.01959579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.969649246 meters Centerline goodness : 0.916702 with order 1 Centerline is valid? [False, False] Translation: X:12.46, Y:-0.42, Z:-0.20 [[ 0.99461606 0.08218398 -0.06312432 12.46054604] [-0.08115339 0.99652572 0.01872472 -0.41861831] [ 0.06444388 -0.01350115 0.99783 -0.20038838] [ 0. 0. 0. 1. ]] SLAMing on 69.029649246 meters Centerline goodness : 0.913082 with order 1 Centerline is valid? [False, False] Translation: X:12.46, Y:-0.42, Z:-0.20 [[ 9.94637247e-01 8.11668109e-02 -6.40991054e-02 1.24641231e+01] [-8.02074826e-02 9.96626228e-01 1.74046567e-02 -4.16881442e-01] [ 6.52955301e-02 -1.21700919e-02 9.97791753e-01 -2.02720724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.08964924600001 meters Centerline goodness : 0.913926 with order 1 Centerline is valid? [False, False] Translation: X:12.48, Y:-0.41, Z:-0.21 [[ 9.94762915e-01 8.25537510e-02 -6.02629344e-02 1.24781610e+01] [-8.22293696e-02 9.96582536e-01 7.84726457e-03 -4.14842507e-01] [ 6.07048091e-02 -2.85078467e-03 9.98151691e-01 -2.06483572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.14964924600001 meters Centerline goodness : 0.911037 with order 1 Centerline is valid? [False, False] Translation: X:12.48, Y:-0.41, Z:-0.21 [[ 9.94432295e-01 8.61720429e-02 -6.06530311e-02 1.24801127e+01] [-8.55892474e-02 9.96256460e-01 1.21468412e-02 -4.14225826e-01] [ 6.14726922e-02 -6.88796386e-03 9.98084998e-01 -2.05441524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.209649246 meters Centerline goodness : 0.910978 with order 1 Centerline is valid? [False, False] Translation: X:12.48, Y:-0.42, Z:-0.20 [[ 9.94062167e-01 9.02079292e-02 -6.08517675e-02 1.24805252e+01] [-8.92900405e-02 9.95849378e-01 1.76438423e-02 -4.15393804e-01] [ 6.21908093e-02 -1.21056194e-02 9.97990860e-01 -2.02027915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.269649246 meters Centerline goodness : 0.915079 with order 1 Centerline is valid? [False, False] Translation: X:12.48, Y:-0.41, Z:-0.20 [[ 9.94050427e-01 9.01278320e-02 -6.11614463e-02 1.24816269e+01] [-8.92911204e-02 9.95872447e-01 1.62839203e-02 -4.12720786e-01] [ 6.23766336e-02 -1.07258639e-02 9.97995046e-01 -2.03950358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.329649246 meters Centerline goodness : 0.909970 with order 1 Centerline is valid? [False, False] Translation: X:12.49, Y:-0.42, Z:-0.20 [[ 0.99389701 0.09107479 -0.06224234 12.48728306] [-0.08999761 0.99574311 0.01990191 -0.41555539] [ 0.06378994 -0.01417879 0.99786262 -0.20352195] [ 0. 0. 0. 1. ]] SLAMing on 69.389649246 meters Centerline goodness : 0.908993 with order 1 Centerline is valid? [False, False] Translation: X:12.50, Y:-0.42, Z:-0.20 [[ 0.99416899 0.08649171 -0.06439871 12.49672154] [-0.08534111 0.99614265 0.0204135 -0.41825376] [ 0.0659159 -0.01479861 0.99771544 -0.20233493] [ 0. 0. 0. 1. ]] SLAMing on 69.449649246 meters Centerline goodness : 0.909187 with order 1 Centerline is valid? [False, False] Translation: X:12.50, Y:-0.42, Z:-0.20 [[ 0.99421175 0.08499173 -0.06572213 12.50160228] [-0.08381943 0.99627216 0.02039839 -0.42016404] [ 0.06721083 -0.01477153 0.99762944 -0.20336785] [ 0. 0. 0. 1. ]] SLAMing on 69.50964924600001 meters Centerline goodness : 0.909646 with order 1 Centerline is valid? [False, False] Translation: X:12.50, Y:-0.42, Z:-0.20 [[ 0.99419346 0.0846947 -0.06637906 12.50288497] [-0.08344999 0.99628408 0.02131017 -0.42262015] [ 0.06793726 -0.0156471 0.99756689 -0.20189984] [ 0. 0. 0. 1. ]] SLAMing on 69.569649246 meters Centerline goodness : 0.910332 with order 1 Centerline is valid? [False, False] Translation: X:12.51, Y:-0.43, Z:-0.20 [[ 0.99386511 0.08788575 -0.06714335 12.50542706] [-0.08614959 0.99587919 0.02833511 -0.42648674] [ 0.06935692 -0.02237691 0.99734091 -0.19612623] [ 0. 0. 0. 1. ]] SLAMing on 69.629649246 meters Centerline goodness : 0.914409 with order 1 Centerline is valid? [False, False] Translation: X:12.52, Y:-0.42, Z:-0.20 [[ 0.99411931 0.08829875 -0.0626907 12.51980436] [-0.08730753 0.99601176 0.0183839 -0.42477342] [ 0.06406395 -0.01280242 0.99786367 -0.20068032] [ 0. 0. 0. 1. ]] SLAMing on 69.689649246 meters Centerline goodness : 0.916061 with order 1 Centerline is valid? [False, False] Translation: X:12.52, Y:-0.42, Z:-0.20 [[ 0.99409595 0.08833636 -0.06300731 12.52025775] [-0.08734379 0.99600934 0.01834287 -0.42447482] [ 0.06437621 -0.01273128 0.99784449 -0.20034943] [ 0. 0. 0. 1. ]] SLAMing on 69.749649246 meters Centerline goodness : 0.910571 with order 1 Centerline is valid? [False, False] Translation: X:12.53, Y:-0.43, Z:-0.20 [[ 0.99388254 0.08978499 -0.06431286 12.52664767] [-0.08856059 0.99583552 0.02164819 -0.42588982] [ 0.06598871 -0.01582018 0.99769495 -0.20125726] [ 0. 0. 0. 1. ]] SLAMing on 69.809649246 meters Centerline goodness : 0.909435 with order 1 Centerline is valid? [False, False] Translation: X:12.53, Y:-0.43, Z:-0.20 [[ 0.99391396 0.08865745 -0.06538269 12.53029329] [-0.08745369 0.99594606 0.02105446 -0.42594174] [ 0.06698427 -0.01520837 0.99763812 -0.20235618] [ 0. 0. 0. 1. ]] SLAMing on 69.86964924600001 meters Centerline goodness : 0.909312 with order 1 Centerline is valid? [False, False] Translation: X:12.53, Y:-0.43, Z:-0.20 [[ 0.99395271 0.08754799 -0.06628246 12.53304142] [-0.08633904 0.99604667 0.02089482 -0.42721091] [ 0.06784972 -0.01504569 0.9975821 -0.20237788] [ 0. 0. 0. 1. ]] SLAMing on 69.929649246 meters Centerline goodness : 0.910254 with order 1 Centerline is valid? [False, False] Translation: X:12.54, Y:-0.43, Z:-0.20 [[ 0.99368651 0.08978309 -0.06727642 12.53700669] [-0.0882126 0.99576313 0.02596782 -0.42880576] [ 0.06932285 -0.01986925 0.99739639 -0.19941844] [ 0. 0. 0. 1. ]] SLAMing on 69.989649246 meters Centerline goodness : 0.908576 with order 1 Centerline is valid? [False, False] Translation: X:12.54, Y:-0.43, Z:-0.20 [[ 0.99371604 0.08912488 -0.06771395 12.53881298] [-0.08761178 0.9958409 0.02500172 -0.42654027] [ 0.0696606 -0.01891207 0.99739147 -0.20051867] [ 0. 0. 0. 1. ]] SLAMing on 70.049649246 meters Centerline goodness : 0.915771 with order 1 Centerline is valid? [False, False] Translation: X:12.55, Y:-0.43, Z:-0.21 [[ 0.9948977 0.08336741 -0.05681942 12.54745483] [-0.08224308 0.99637273 0.02185099 -0.426272 ] [ 0.05843498 -0.01706649 0.99814532 -0.20520996] [ 0. 0. 0. 1. ]] SLAMing on 70.109649246 meters Centerline goodness : 0.913847 with order 1 Centerline is valid? [False, False] Translation: X:12.55, Y:-0.43, Z:-0.20 [[ 0.99497043 0.08165053 -0.05802615 12.55180081] [-0.08045778 0.99650163 0.02260656 -0.43006144] [ 0.05966899 -0.0178242 0.99805907 -0.20460776] [ 0. 0. 0. 1. ]] SLAMing on 70.169649246 meters Centerline goodness : 0.912107 with order 1 Centerline is valid? [False, False] Translation: X:12.56, Y:-0.43, Z:-0.21 [[ 0.99503899 0.07993737 -0.05922357 12.55671135] [-0.07874291 0.99664687 0.02223894 -0.43166182] [ 0.06080271 -0.01746517 0.99799699 -0.20613852] [ 0. 0. 0. 1. ]] SLAMing on 70.22964924600001 meters Centerline goodness : 0.918118 with order 1 Centerline is valid? [False, False] Translation: X:12.56, Y:-0.44, Z:-0.20 [[ 0.99488201 0.0815795 -0.05962023 12.56131408] [-0.07983799 0.99632462 0.03103456 -0.43743544] [ 0.06193288 -0.02611576 0.99773859 -0.19760989] [ 0. 0. 0. 1. ]] SLAMing on 70.289649246 meters Centerline goodness : 0.922626 with order 1 Centerline is valid? [False, False] Translation: X:12.56, Y:-0.44, Z:-0.20 [[ 0.9949102 0.08090006 -0.06007383 12.56294082] [-0.07913048 0.99637347 0.03127742 -0.43810367] [ 0.06238631 -0.02636455 0.99770379 -0.19706578] [ 0. 0. 0. 1. ]] SLAMing on 70.349649246 meters Centerline goodness : 0.925218 with order 1 Centerline is valid? [False, False] Translation: X:12.56, Y:-0.44, Z:-0.20 [[ 0.99490745 0.08042535 -0.06075303 12.56452366] [-0.07860927 0.99640082 0.03171746 -0.43866633] [ 0.06308525 -0.02678019 0.99764877 -0.1959062 ] [ 0. 0. 0. 1. ]] SLAMing on 70.409649246 meters Centerline goodness : 0.928549 with order 1 Centerline is valid? [False, False] Translation: X:12.57, Y:-0.44, Z:-0.19 [[ 0.99492528 0.079433 -0.06175825 12.56670421] [-0.07749741 0.99644185 0.03313293 -0.44095621] [ 0.06417036 -0.02817868 0.99754104 -0.19255135] [ 0. 0. 0. 1. ]] SLAMing on 70.469649246 meters Centerline goodness : 0.922705 with order 1 Centerline is valid? [False, False] Translation: X:12.57, Y:-0.44, Z:-0.20 [[ 0.99495682 0.07793329 -0.06314526 12.57164902] [-0.07607969 0.99661194 0.03124924 -0.43862757] [ 0.06536668 -0.02628758 0.99751499 -0.19559493] [ 0. 0. 0. 1. ]] SLAMing on 70.529649246 meters Centerline goodness : 0.921426 with order 1 Centerline is valid? [False, False] Translation: X:12.58, Y:-0.44, Z:-0.19 [[ 0.99468827 0.08003321 -0.06472971 12.57726366] [-0.07780186 0.99630809 0.03629143 -0.43992991] [ 0.06739525 -0.03106257 0.9972427 -0.19305779] [ 0. 0. 0. 1. ]] SLAMing on 70.58964924600001 meters Centerline goodness : 0.929335 with order 1 Centerline is valid? [False, False] Translation: X:12.59, Y:-0.43, Z:-0.20 [[ 0.99505802 0.07940632 -0.05961686 12.58798298] [-0.07812137 0.99666479 0.02358696 -0.43476138] [ 0.06129098 -0.01881304 0.99794263 -0.19736018] [ 0. 0. 0. 1. ]] SLAMing on 70.649649246 meters Centerline goodness : 0.931318 with order 1 Centerline is valid? [False, False] Translation: X:12.60, Y:-0.43, Z:-0.20 [[ 9.95159331e-01 8.14167712e-02 -5.50383108e-02 1.26027510e+01] [-8.07164330e-02 9.96626721e-01 1.48336349e-02 -4.31057004e-01] [ 5.60603579e-02 -1.03193340e-02 9.98374052e-01 -2.02219822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.709649246 meters Centerline goodness : 0.936008 with order 1 Centerline is valid? [False, False] Translation: X:12.60, Y:-0.43, Z:-0.20 [[ 9.95061355e-01 8.27984293e-02 -5.47477907e-02 1.26001770e+01] [-8.21272714e-02 9.96517795e-01 1.44012086e-02 -4.26120050e-01] [ 5.57495451e-02 -9.83379953e-03 9.98396356e-01 -2.00998366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.769649246 meters Centerline goodness : 0.939264 with order 1 Centerline is valid? [False, False] Translation: X:12.60, Y:-0.42, Z:-0.20 [[ 9.94706453e-01 8.69368190e-02 -5.47819460e-02 1.26007953e+01] [-8.61370198e-02 9.96141644e-01 1.67999943e-02 -4.20377323e-01] [ 5.60311158e-02 -1.19923092e-02 9.98357000e-01 -2.01699997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.829649246 meters Centerline goodness : 0.936052 with order 1 Centerline is valid? [False, False] Translation: X:12.60, Y:-0.42, Z:-0.20 [[ 0.99428963 0.09151662 -0.05488927 12.60071695] [-0.0905278 0.99568816 0.02024366 -0.41692576] [ 0.05650523 -0.01515906 0.99828721 -0.20078847] [ 0. 0. 0. 1. ]] SLAMing on 70.889649246 meters Centerline goodness : 0.934881 with order 1 Centerline is valid? [False, False] Translation: X:12.60, Y:-0.41, Z:-0.20 [[ 0.99387615 0.09602914 -0.05466809 12.6003881 ] [-0.09490666 0.99522556 0.02277722 -0.41190873] [ 0.05659436 -0.01744937 0.99824476 -0.20153016] [ 0. 0. 0. 1. ]] SLAMing on 70.949649246 meters Centerline goodness : 0.936265 with order 1 Centerline is valid? [False, False] Translation: X:12.60, Y:-0.41, Z:-0.20 [[ 0.99389801 0.09550512 -0.05518614 12.60232987] [-0.09441028 0.99528754 0.02212278 -0.41037025] [ 0.05703892 -0.01677764 0.99823097 -0.20234803] [ 0. 0. 0. 1. ]] SLAMing on 71.00964924600001 meters Centerline goodness : 0.934495 with order 1 Centerline is valid? [False, False] Translation: X:12.61, Y:-0.41, Z:-0.20 [[ 0.99393863 0.09450805 -0.05616257 12.6051223 ] [-0.0934176 0.99538964 0.02173992 -0.4097443 ] [ 0.05795823 -0.01636158 0.99818492 -0.20233114] [ 0. 0. 0. 1. ]] SLAMing on 71.069649246 meters Centerline goodness : 0.927312 with order 1 Centerline is valid? [False, False] Translation: X:12.61, Y:-0.41, Z:-0.21 [[ 0.9939997 0.09296288 -0.05764119 12.61068275] [-0.09195878 0.99556514 0.01983997 -0.40688628] [ 0.05922994 -0.01442031 0.99814021 -0.20560344] [ 0. 0. 0. 1. ]] SLAMing on 71.129649246 meters Centerline goodness : 0.929754 with order 1 Centerline is valid? [False, False] Translation: X:12.61, Y:-0.41, Z:-0.20 [[ 0.99407171 0.09125245 -0.05911368 12.61462876] [-0.09018056 0.9957132 0.0205592 -0.40863038] [ 0.06073635 -0.01510641 0.99803952 -0.20343855] [ 0. 0. 0. 1. ]] SLAMing on 71.189649246 meters Centerline goodness : 0.928520 with order 1 Centerline is valid? [False, False] Translation: X:12.62, Y:-0.41, Z:-0.20 [[ 0.99413917 0.0895117 -0.06062156 12.61910528] [-0.08836649 0.99585982 0.02132114 -0.41040387] [ 0.06227907 -0.01583926 0.99793308 -0.20177233] [ 0. 0. 0. 1. ]] SLAMing on 71.249649246 meters Centerline goodness : 0.930649 with order 1 Centerline is valid? [False, False] Translation: X:12.63, Y:-0.41, Z:-0.20 [[ 0.99420026 0.0885661 -0.06100737 12.62667041] [-0.08695733 0.99580303 0.02854392 -0.41476168] [ 0.06327935 -0.02307334 0.99772909 -0.19541063] [ 0. 0. 0. 1. ]] SLAMing on 71.309649246 meters Centerline goodness : 0.933100 with order 1 Centerline is valid? [False, False] Translation: X:12.63, Y:-0.42, Z:-0.19 [[ 0.99430781 0.08641631 -0.06232334 12.63108061] [-0.08462564 0.99593588 0.03082576 -0.41901807] [ 0.0647339 -0.02537614 0.99757986 -0.19120785] [ 0. 0. 0. 1. ]] SLAMing on 71.36964924600001 meters Centerline goodness : 0.931854 with order 1 Centerline is valid? [False, False] Translation: X:12.64, Y:-0.42, Z:-0.19 [[ 0.99435811 0.08501969 -0.06343188 12.63561609] [-0.0832598 0.99607936 0.02989501 -0.41851936] [ 0.06572485 -0.02444502 0.99753831 -0.19318361] [ 0. 0. 0. 1. ]] SLAMing on 71.429649246 meters Centerline goodness : 0.927151 with order 1 Centerline is valid? [False, False] Translation: X:12.64, Y:-0.42, Z:-0.19 [[ 0.99442272 0.08303311 -0.0650305 12.64158533] [-0.0812994 0.99627147 0.0288717 -0.41819076] [ 0.06718534 -0.02342373 0.99746552 -0.19499634] [ 0. 0. 0. 1. ]] SLAMing on 71.489649246 meters Centerline goodness : 0.922662 with order 1 Centerline is valid? [False, False] Translation: X:12.65, Y:-0.42, Z:-0.19 [[ 0.99419107 0.08460947 -0.06652333 12.64806003] [-0.08260633 0.9960583 0.03231179 -0.41756648] [ 0.068995 -0.02662884 0.99726155 -0.19489749] [ 0. 0. 0. 1. ]] SLAMing on 71.549649246 meters Centerline goodness : 0.925825 with order 1 Centerline is valid? [False, False] Translation: X:12.65, Y:-0.42, Z:-0.20 [[ 0.99457227 0.0787702 -0.06797984 12.65205822] [-0.07709046 0.99665864 0.02699285 -0.4153631 ] [ 0.06987892 -0.02160574 0.99732148 -0.19611465] [ 0. 0. 0. 1. ]] SLAMing on 71.609649246 meters Centerline goodness : 0.922965 with order 1 Centerline is valid? [False, False] Translation: X:12.66, Y:-0.41, Z:-0.20 [[ 0.99461123 0.07709366 -0.06931864 12.65686279] [-0.0754459 0.99680861 0.02608647 -0.41392138] [ 0.07110852 -0.02071608 0.99725344 -0.1974687 ] [ 0. 0. 0. 1. ]] SLAMing on 71.669649246 meters Centerline goodness : 0.924829 with order 1 Centerline is valid? [False, False] Translation: X:12.67, Y:-0.41, Z:-0.20 [[ 0.99579168 0.0708603 -0.05811837 12.66688497] [-0.06961668 0.99730509 0.02315321 -0.41350217] [ 0.05960239 -0.01900977 0.99804117 -0.20173781] [ 0. 0. 0. 1. ]] SLAMing on 71.72964924600001 meters Centerline goodness : 0.929201 with order 1 Centerline is valid? [False, False] Translation: X:12.67, Y:-0.41, Z:-0.20 [[ 0.99578203 0.07036027 -0.0588861 12.6687058 ] [-0.06908264 0.99733504 0.02346075 -0.41397938] [ 0.06037988 -0.01929379 0.99798899 -0.20080828] [ 0. 0. 0. 1. ]] SLAMing on 71.789649246 meters Centerline goodness : 0.927595 with order 1 Centerline is valid? [False, False] Translation: X:12.68, Y:-0.41, Z:-0.20 [[ 0.99561041 0.07130068 -0.06063098 12.6764447 ] [-0.06976148 0.9971945 0.02713785 -0.41462769] [ 0.06239583 -0.02278902 0.99779127 -0.20046862] [ 0. 0. 0. 1. ]] SLAMing on 71.849649246 meters Centerline goodness : 0.918127 with order 1 Centerline is valid? [False, False] Translation: X:12.69, Y:-0.41, Z:-0.20 [[ 0.9953875 0.07247067 -0.06286281 12.68552552] [-0.07072555 0.99705778 0.0295582 -0.4123514 ] [ 0.06481996 -0.02497585 0.99758437 -0.20246204] [ 0. 0. 0. 1. ]] SLAMing on 71.909649246 meters Centerline goodness : 0.915423 with order 1 Centerline is valid? [False, False] Translation: X:12.70, Y:-0.41, Z:-0.20 [[ 0.99520805 0.07257595 -0.06552603 12.69647102] [-0.07054472 0.99696918 0.03280094 -0.41095228] [ 0.067708 -0.02802125 0.9973116 -0.20241536] [ 0. 0. 0. 1. ]] SLAMing on 71.969649246 meters Centerline goodness : 0.913956 with order 1 Centerline is valid? [False, False] Translation: X:12.71, Y:-0.41, Z:-0.20 [[ 0.99534338 0.06754225 -0.06877213 12.70845349] [-0.06541348 0.99732061 0.03275169 -0.41082187] [ 0.07079999 -0.02810055 0.99709464 -0.20053377] [ 0. 0. 0. 1. ]] SLAMing on 72.029649246 meters Centerline goodness : 0.910824 with order 1 Centerline is valid? [False, False] Translation: X:12.72, Y:-0.41, Z:-0.20 [[ 0.99510275 0.06848017 -0.07128108 12.71774611] [-0.06603948 0.99716542 0.03605431 -0.40892563] [ 0.07354803 -0.03117037 0.99680444 -0.20042431] [ 0. 0. 0. 1. ]] SLAMing on 72.08964924600001 meters Centerline goodness : 0.912253 with order 1 Centerline is valid? [False, False] Translation: X:12.74, Y:-0.40, Z:-0.21 [[ 0.99519681 0.06987186 -0.06856554 12.73776756] [-0.06809756 0.9972889 0.02788507 -0.40429547] [ 0.07032803 -0.02308199 0.99725683 -0.2050862 ] [ 0. 0. 0. 1. ]] SLAMing on 72.149649246 meters Centerline goodness : 0.913580 with order 1 Centerline is valid? [False, False] Translation: X:12.76, Y:-0.40, Z:-0.21 [[ 0.99524693 0.07244987 -0.06507359 12.75535437] [-0.0712231 0.99723972 0.02098121 -0.40060677] [ 0.06641406 -0.01624674 0.99765987 -0.20802647] [ 0. 0. 0. 1. ]] SLAMing on 72.209649246 meters Centerline goodness : 0.910462 with order 1 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.40, Z:-0.21 [[ 0.99522428 0.07030759 -0.06771611 12.76815483] [-0.06879652 0.99733236 0.02439694 -0.39878321] [ 0.06925076 -0.01962179 0.9974063 -0.20621666] [ 0. 0. 0. 1. ]] SLAMing on 72.269649246 meters Centerline goodness : 0.909888 with order 1 Centerline is valid? [False, False] Translation: X:12.78, Y:-0.40, Z:-0.21 [[ 0.99497668 0.07192973 -0.06962412 12.77528451] [-0.0701719 0.99715921 0.02737542 -0.39616836] [ 0.07139544 -0.02235224 0.99719761 -0.20622794] [ 0. 0. 0. 1. ]] SLAMing on 72.329649246 meters Centerline goodness : 0.907458 with order 1 Centerline is valid? [False, False] Translation: X:12.79, Y:-0.39, Z:-0.21 [[ 0.99516464 0.07255921 -0.06620039 12.79320249] [-0.07145529 0.99726479 0.01889667 -0.39387918] [ 0.06739045 -0.01407493 0.9976274 -0.20960502] [ 0. 0. 0. 1. ]] SLAMing on 72.389649246 meters Centerline goodness : 0.909349 with order 1 Centerline is valid? [False, False] Translation: X:12.80, Y:-0.39, Z:-0.21 [[ 0.99490599 0.07474568 -0.06763984 12.79927651] [-0.07340694 0.99705786 0.02206928 -0.39102312] [ 0.06909042 -0.01699162 0.99746569 -0.20993314] [ 0. 0. 0. 1. ]] SLAMing on 72.449649246 meters Centerline goodness : 0.910983 with order 1 Centerline is valid? [False, False] Translation: X:12.81, Y:-0.39, Z:-0.21 [[ 0.9946993 0.07587365 -0.06940092 12.80636182] [-0.07420319 0.99689515 0.02634278 -0.39186432] [ 0.07118417 -0.02105338 0.99724098 -0.20784255] [ 0. 0. 0. 1. ]] SLAMing on 72.50964924600001 meters Centerline goodness : 0.910988 with order 1 Centerline is valid? [False, False] Translation: X:12.82, Y:-0.39, Z:-0.20 [[ 0.99463824 0.07490186 -0.07130554 12.81698432] [-0.07272005 0.99681549 0.03272105 -0.39482928] [ 0.07352933 -0.02736027 0.99691768 -0.20241425] [ 0. 0. 0. 1. ]] SLAMing on 72.569649246 meters Centerline goodness : 0.916305 with order 1 Centerline is valid? [False, False] Translation: X:12.82, Y:-0.40, Z:-0.20 [[ 0.99478341 0.07144472 -0.07281223 12.82465898] [-0.06888876 0.99693675 0.03703324 -0.40103714] [ 0.07523502 -0.03182411 0.99665787 -0.19578559] [ 0. 0. 0. 1. ]] SLAMing on 72.629649246 meters Centerline goodness : 0.918461 with order 1 Centerline is valid? [False, False] Translation: X:12.83, Y:-0.40, Z:-0.20 [[ 0.99509556 0.06457039 -0.07493659 12.8322541 ] [-0.06227039 0.99752558 0.03263604 -0.40317244] [ 0.07685848 -0.02780965 0.9966541 -0.19738537] [ 0. 0. 0. 1. ]] SLAMing on 72.689649246 meters Centerline goodness : 0.919572 with order 1 Centerline is valid? [False, False] Translation: X:12.84, Y:-0.41, Z:-0.19 [[ 0.99545682 0.05716143 -0.07614651 12.84494297] [-0.05461293 0.997889 0.03514208 -0.40834666] [ 0.07799454 -0.03082384 0.99647717 -0.19216185] [ 0. 0. 0. 1. ]] SLAMing on 72.749649246 meters Centerline goodness : 0.916583 with order 1 Centerline is valid? [False, False] Translation: X:12.86, Y:-0.41, Z:-0.19 [[ 0.99550641 0.05228939 -0.07894819 12.85743976] [-0.04969272 0.99816831 0.03450605 -0.40976372] [ 0.08060788 -0.03042784 0.99628134 -0.19334259] [ 0. 0. 0. 1. ]] SLAMing on 72.809649246 meters Centerline goodness : 0.914855 with order 1 Centerline is valid? [False, False] Translation: X:12.86, Y:-0.41, Z:-0.19 [[ 0.99547085 0.0503752 -0.08062339 12.86342369] [-0.04780436 0.99829456 0.0335069 -0.40914733] [ 0.0821738 -0.029501 0.99618129 -0.19487205] [ 0. 0. 0. 1. ]] SLAMing on 72.86964924600001 meters Centerline goodness : 0.913231 with order 1 Centerline is valid? [False, False] Translation: X:12.87, Y:-0.41, Z:-0.19 [[ 0.99518906 0.05157041 -0.08330198 12.87251344] [-0.04861045 0.99812558 0.03717987 -0.40814353] [ 0.08506322 -0.03295165 0.99583053 -0.19385101] [ 0. 0. 0. 1. ]] SLAMing on 72.929649246 meters Centerline goodness : 0.907668 with order 1 Centerline is valid? [False, False] Translation: X:12.89, Y:-0.41, Z:-0.19 [[ 0.99482136 0.05345111 -0.08644904 12.88740175] [-0.04974839 0.99777286 0.04443433 -0.40505664] [ 0.08863157 -0.03990352 0.99526487 -0.1918489 ] [ 0. 0. 0. 1. ]] SLAMing on 72.989649246 meters Centerline goodness : 0.913043 with order 1 Centerline is valid? [False, False] Translation: X:12.91, Y:-0.40, Z:-0.19 [[ 0.99496158 0.05572006 -0.08334703 12.90689736] [-0.05270456 0.99788861 0.03795451 -0.39975064] [ 0.08528588 -0.03337051 0.99579753 -0.1943392 ] [ 0. 0. 0. 1. ]] SLAMing on 73.049649246 meters Centerline goodness : 0.914536 with order 1 Centerline is valid? [False, False] Translation: X:12.92, Y:-0.39, Z:-0.20 [[ 0.99498221 0.06050622 -0.07968318 12.92263723] [-0.05804927 0.99777476 0.03279967 -0.39395388] [ 0.08149045 -0.02800954 0.99628047 -0.19503872] [ 0. 0. 0. 1. ]] SLAMing on 73.109649246 meters Centerline goodness : 0.920289 with order 1 Centerline is valid? [False, False] Translation: X:12.94, Y:-0.39, Z:-0.20 [[ 0.99497341 0.06525164 -0.07596146 12.93863025] [-0.06338761 0.99763177 0.02669938 -0.38812476] [ 0.07752374 -0.02175016 0.99675323 -0.19796756] [ 0. 0. 0. 1. ]] SLAMing on 73.169649246 meters Centerline goodness : 0.920237 with order 1 Centerline is valid? [False, False] Translation: X:12.94, Y:-0.39, Z:-0.20 [[ 0.9946872 0.06760109 -0.07763673 12.94438128] [-0.06542835 0.99740018 0.03019957 -0.38644041] [ 0.07947641 -0.02495948 0.99652422 -0.19756724] [ 0. 0. 0. 1. ]] SLAMing on 73.22964924600001 meters Centerline goodness : 0.918439 with order 1 Centerline is valid? [False, False] Translation: X:12.95, Y:-0.39, Z:-0.20 [[ 0.99466776 0.06640717 -0.0789058 12.94833663] [-0.06425454 0.99749693 0.02951655 -0.38561497] [ 0.0806684 -0.0242891 0.99644501 -0.19823735] [ 0. 0. 0. 1. ]] SLAMing on 73.289649246 meters Centerline goodness : 0.916276 with order 1 Centerline is valid? [False, False] Translation: X:12.95, Y:-0.39, Z:-0.20 [[ 0.99487648 0.06151401 -0.08022983 12.95104316] [-0.05967965 0.99790279 0.02506706 -0.38545518] [ 0.08160354 -0.02015054 0.99646115 -0.19855742] [ 0. 0. 0. 1. ]] SLAMing on 73.349649246 meters Centerline goodness : 0.918199 with order 1 Centerline is valid? [False, False] Translation: X:12.97, Y:-0.39, Z:-0.19 [[ 0.99501978 0.06018692 -0.07945545 12.96716943] [-0.05734872 0.9976484 0.03753388 -0.39035742] [ 0.08152765 -0.03279028 0.99613154 -0.188944 ] [ 0. 0. 0. 1. ]] SLAMing on 73.409649246 meters Centerline goodness : 0.925147 with order 1 Centerline is valid? [False, False] Translation: X:12.98, Y:-0.39, Z:-0.18 [[ 0.99495917 0.05904522 -0.08105494 12.97569767] [-0.05571992 0.99753323 0.04269362 -0.39394012] [ 0.08337585 -0.03796204 0.99579483 -0.18440153] [ 0. 0. 0. 1. ]] SLAMing on 73.469649246 meters Centerline goodness : 0.929683 with order 1 Centerline is valid? [False, False] Translation: X:12.99, Y:-0.39, Z:-0.19 [[ 0.99535951 0.05639798 -0.07796615 12.99388284] [-0.05408757 0.99804124 0.03143587 -0.39346261] [ 0.07958635 -0.02707299 0.99646027 -0.18809048] [ 0. 0. 0. 1. ]] SLAMing on 73.529649246 meters Centerline goodness : 0.931652 with order 1 Centerline is valid? [False, False] Translation: X:13.02, Y:-0.39, Z:-0.19 [[ 0.99551553 0.05690674 -0.0755675 13.01528815] [-0.05523184 0.9981833 0.02407388 -0.39090905] [ 0.07680018 -0.01979219 0.99685004 -0.19191516] [ 0. 0. 0. 1. ]] SLAMing on 73.58964924600001 meters Centerline goodness : 0.930673 with order 1 Centerline is valid? [False, False] Translation: X:13.02, Y:-0.39, Z:-0.19 [[ 0.99549322 0.05598125 -0.07654636 13.01832659] [-0.05432563 0.99824565 0.02354449 -0.38994223] [ 0.07773012 -0.01927995 0.996788 -0.19243794] [ 0. 0. 0. 1. ]] SLAMing on 73.649649246 meters Centerline goodness : 0.930786 with order 1 Centerline is valid? [False, False] Translation: X:13.02, Y:-0.39, Z:-0.19 [[ 0.99546896 0.05397633 -0.07828227 13.02378972] [-0.05230685 0.99836098 0.02322382 -0.39026265] [ 0.07940751 -0.01902389 0.99666069 -0.19229767] [ 0. 0. 0. 1. ]] SLAMing on 73.709649246 meters Centerline goodness : 0.926249 with order 1 Centerline is valid? [False, False] Translation: X:13.03, Y:-0.39, Z:-0.19 [[ 0.99542561 0.05214848 -0.08005237 13.02951865] [-0.05052215 0.99847595 0.02221005 -0.38940408] [ 0.08108858 -0.01806403 0.99654319 -0.19352926] [ 0. 0. 0. 1. ]] SLAMing on 73.769649246 meters Centerline goodness : 0.921780 with order 1 Centerline is valid? [False, False] Translation: X:13.03, Y:-0.39, Z:-0.19 [[ 0.9953461 0.0506427 -0.08198446 13.03470287] [-0.04896628 0.99855073 0.02233239 -0.39068254] [ 0.08299662 -0.01821398 0.99638337 -0.19277524] [ 0. 0. 0. 1. ]] SLAMing on 73.829649246 meters Centerline goodness : 0.916171 with order 1 Centerline is valid? [False, False] Translation: X:13.04, Y:-0.39, Z:-0.19 [[ 0.99529574 0.04774501 -0.08430185 13.04269682] [-0.04609746 0.99870804 0.02138405 -0.38968866] [ 0.08521392 -0.01739735 0.99621078 -0.19381179] [ 0. 0. 0. 1. ]] SLAMing on 73.889649246 meters Centerline goodness : 0.918612 with order 1 Centerline is valid? [False, False] Translation: X:13.05, Y:-0.39, Z:-0.19 [[ 0.99525543 0.04659445 -0.08541422 13.04629984] [-0.04496237 0.99876932 0.020934 -0.38912856] [ 0.08628451 -0.01699425 0.99612558 -0.19420359] [ 0. 0. 0. 1. ]] SLAMing on 73.949649246 meters Centerline goodness : 0.914477 with order 1 Centerline is valid? [False, False] Translation: X:13.05, Y:-0.39, Z:-0.19 [[ 0.99499118 0.04846361 -0.08742903 13.0526199 ] [-0.04627076 0.99856567 0.02693727 -0.39191961] [ 0.0886091 -0.02275694 0.99580648 -0.18976292] [ 0. 0. 0. 1. ]] SLAMing on 74.00964924600001 meters Centerline goodness : 0.915510 with order 1 Centerline is valid? [False, False] Translation: X:13.06, Y:-0.39, Z:-0.19 [[ 0.99492698 0.04709882 -0.08889326 13.0570379 ] [-0.04488069 0.99863308 0.02678978 -0.39198074] [ 0.09003352 -0.02266428 0.99568082 -0.18936315] [ 0. 0. 0. 1. ]] SLAMing on 74.069649246 meters Centerline goodness : 0.911377 with order 1 Centerline is valid? [False, False] Translation: X:13.06, Y:-0.39, Z:-0.19 [[ 0.99488204 0.04615897 -0.08988368 13.0602497 ] [-0.0440085 0.99869892 0.02576268 -0.38992732] [ 0.09095592 -0.02167518 0.99561901 -0.1904102 ] [ 0. 0. 0. 1. ]] SLAMing on 74.129649246 meters Centerline goodness : 0.909889 with order 1 Centerline is valid? [False, False] Translation: X:13.07, Y:-0.39, Z:-0.19 [[ 0.99462774 0.04697029 -0.09224664 13.06922555] [-0.04436763 0.99856274 0.03006622 -0.39005824] [ 0.09352628 -0.02581193 0.99528216 -0.18842321] [ 0. 0. 0. 1. ]] SLAMing on 74.189649246 meters Centerline goodness : 0.909204 with order 1 Centerline is valid? [False, False] Translation: X:13.07, Y:-0.39, Z:-0.19 [[ 0.99455317 0.04542313 -0.09381223 13.07426039] [-0.04294998 0.99867868 0.02821679 -0.38773076] [ 0.09496997 -0.02403386 0.99518997 -0.1906514 ] [ 0. 0. 0. 1. ]] SLAMing on 74.249649246 meters Centerline goodness : 0.903584 with order 1 Centerline is valid? [False, False] Translation: X:13.09, Y:-0.39, Z:-0.19 [[ 0.99441677 0.04328977 -0.09623556 13.08682271] [-0.04042525 0.99868529 0.03151966 -0.38812503] [ 0.09747351 -0.02745333 0.9948594 -0.18915665] [ 0. 0. 0. 1. ]] SLAMing on 74.309649246 meters Centerline goodness : 0.901543 with order 1 Centerline is valid? [False, False] Translation: X:13.10, Y:-0.39, Z:-0.19 [[ 0.99427684 0.0429169 -0.09783511 13.09525023] [-0.03964255 0.99859476 0.03517057 -0.39006411] [ 0.09920704 -0.03109085 0.99458098 -0.18766832] [ 0. 0. 0. 1. ]] SLAMing on 74.36964924600001 meters Centerline goodness : 0.902896 with order 1 Centerline is valid? [False, False] Translation: X:13.10, Y:-0.39, Z:-0.19 [[ 0.99420871 0.04163867 -0.09907201 13.0988343 ] [-0.03823897 0.99862098 0.03597111 -0.39161715] [ 0.10043318 -0.03197438 0.99442989 -0.18563474] [ 0. 0. 0. 1. ]] SLAMing on 74.429649246 meters Centerline goodness : 0.912754 with order 1 Centerline is valid? [False, False] Translation: X:13.11, Y:-0.39, Z:-0.19 [[ 0.99484467 0.03840688 -0.0938562 13.111701 ] [-0.0362678 0.99904438 0.02439203 -0.39190281] [ 0.09470333 -0.02086233 0.99528691 -0.18688269] [ 0. 0. 0. 1. ]] SLAMing on 74.489649246 meters Centerline goodness : 0.910048 with order 1 Centerline is valid? [False, False] Translation: X:13.13, Y:-0.39, Z:-0.18 [[ 0.99498829 0.03241088 -0.09459304 13.13129594] [-0.02963822 0.99909308 0.030571 -0.39391822] [ 0.09549809 -0.02761422 0.99504652 -0.18249655] [ 0. 0. 0. 1. ]] SLAMing on 74.549649246 meters Centerline goodness : 0.906748 with order 1 Centerline is valid? [False, False] Translation: X:13.16, Y:-0.40, Z:-0.17 [[ 0.99520334 0.02750577 -0.09388155 13.1608083 ] [-0.023448 0.99875389 0.0440551 -0.39698492] [ 0.09497634 -0.04164245 0.99460816 -0.17419108] [ 0. 0. 0. 1. ]] SLAMing on 74.609649246 meters Centerline goodness : 0.907815 with order 1 Centerline is valid? [False, False] Translation: X:13.18, Y:-0.39, Z:-0.18 [[ 0.99553071 0.0266028 -0.09061398 13.17977146] [-0.02359988 0.9991414 0.03405162 -0.39369677] [ 0.09144205 -0.03176096 0.99530377 -0.17837521] [ 0. 0. 0. 1. ]] SLAMing on 74.669649246 meters Centerline goodness : 0.905989 with order 1 Centerline is valid? [False, False] Translation: X:13.21, Y:-0.39, Z:-0.18 [[ 0.99578304 0.02732479 -0.08757568 13.20543205] [-0.02471752 0.99922239 0.03071919 -0.3907364 ] [ 0.08834698 -0.02842499 0.9956841 -0.17958599] [ 0. 0. 0. 1. ]] SLAMing on 74.72964924600001 meters Centerline goodness : 0.906418 with order 1 Centerline is valid? [False, False] Translation: X:13.22, Y:-0.39, Z:-0.18 [[ 0.99609761 0.02787984 -0.08373926 13.2236924 ] [-0.02601736 0.99939105 0.02325123 -0.38751562] [ 0.08433651 -0.02098182 0.9962164 -0.1817357 ] [ 0. 0. 0. 1. ]] SLAMing on 74.789649246 meters Centerline goodness : 0.908539 with order 1 Centerline is valid? [False, False] Translation: X:13.24, Y:-0.39, Z:-0.17 [[ 0.99604759 0.02942827 -0.08380437 13.2352393 ] [-0.02652979 0.99901774 0.03549251 -0.39113742] [ 0.08476654 -0.03312892 0.99584994 -0.1729399 ] [ 0. 0. 0. 1. ]] SLAMing on 74.849649246 meters Centerline goodness : 0.905727 with order 1 Centerline is valid? [False, False] Translation: X:13.24, Y:-0.39, Z:-0.17 [[ 0.99584652 0.03201314 -0.08523417 13.24026714] [-0.02875886 0.99881985 0.03913868 -0.38982558] [ 0.08638654 -0.03652488 0.99559193 -0.17258028] [ 0. 0. 0. 1. ]] SLAMing on 74.909649246 meters Centerline goodness : 0.902473 with order 1 Centerline is valid? [False, False] Translation: X:13.26, Y:-0.39, Z:-0.18 [[ 0.99614866 0.03207014 -0.08160486 13.25794234] [-0.02978441 0.9991334 0.0290748 -0.38668626] [ 0.08246657 -0.02653227 0.99624059 -0.17798735] [ 0. 0. 0. 1. ]] SLAMing on 74.969649246 meters Centerline goodness : 0.903149 with order 1 Centerline is valid? [False, False] Translation: X:13.27, Y:-0.38, Z:-0.18 [[ 0.99627507 0.03495441 -0.07883009 13.27498028] [-0.03345089 0.9992339 0.02031391 -0.38235376] [ 0.07947975 -0.01760131 0.99668107 -0.18427663] [ 0. 0. 0. 1. ]] SLAMing on 75.029649246 meters Centerline goodness : 0.901506 with order 1 Centerline is valid? [False, False] Translation: X:13.29, Y:-0.38, Z:-0.19 [[ 9.96232158e-01 4.03227999e-02 -7.67825417e-02 1.32943757e+01] [-3.92924481e-02 9.99116903e-01 1.48834690e-02 -3.77759467e-01] [ 7.73148784e-02 -1.18104164e-02 9.96936770e-01 -1.89862982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.08964924600001 meters Centerline goodness : 0.902748 with order 1 Centerline is valid? [False, False] Translation: X:13.30, Y:-0.38, Z:-0.19 [[ 0.99599244 0.04428685 -0.07770292 13.29634753] [-0.04287207 0.99888469 0.01978301 -0.37924722] [ 0.07849238 -0.01637245 0.99678026 -0.18750572] [ 0. 0. 0. 1. ]] SLAMing on 75.149649246 meters Centerline goodness : 0.899561 with order 1 Centerline is valid? [False, False] Translation: X:13.30, Y:-0.38, Z:-0.19 [[ 0.99600856 0.0429302 -0.07825566 13.29856308] [-0.04149767 0.99894156 0.01984184 -0.37879012] [ 0.07902464 -0.01651521 0.99673585 -0.18653043] [ 0. 0. 0. 1. ]] SLAMing on 75.209649246 meters Centerline goodness : 0.899830 with order 1 Centerline is valid? [False, False] Translation: X:13.30, Y:-0.38, Z:-0.19 [[ 0.99597337 0.04141204 -0.07951158 13.302912 ] [-0.03995977 0.99900568 0.01977058 -0.37874085] [ 0.08025126 -0.01651371 0.99663786 -0.18619121] [ 0. 0. 0. 1. ]] SLAMing on 75.269649246 meters Centerline goodness : 0.902824 with order 1 Centerline is valid? [False, False] Translation: X:13.30, Y:-0.38, Z:-0.19 [[ 0.99593401 0.04142458 -0.07999651 13.30449728] [-0.04002216 0.99901706 0.0190563 -0.37716159] [ 0.08070728 -0.01577719 0.99661297 -0.18730596] [ 0. 0. 0. 1. ]] SLAMing on 75.329649246 meters Centerline goodness : 0.900658 with order 1 Centerline is valid? [False, False] Translation: X:13.32, Y:-0.38, Z:-0.19 [[ 9.96238026e-01 4.15744485e-02 -7.60352594e-02 1.33232999e+01] [-4.07506237e-02 9.99092959e-01 1.23550291e-02 -3.76794565e-01] [ 7.64799458e-02 -9.21006552e-03 9.97028582e-01 -1.89236986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.389649246 meters Centerline goodness : 0.899212 with order 1 Centerline is valid? [False, False] Translation: X:13.33, Y:-0.38, Z:-0.19 [[ 9.96047457e-01 4.40331125e-02 -7.71397938e-02 1.33285166e+01] [-4.29755139e-02 9.98958694e-01 1.53177632e-02 -3.76312423e-01] [ 7.77339564e-02 -1.19420968e-02 9.96902612e-01 -1.90928206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.449649246 meters Centerline goodness : 0.899121 with order 1 Centerline is valid? [False, False] Translation: X:13.35, Y:-0.37, Z:-0.19 [[ 9.96104782e-01 4.80348715e-02 -7.39453428e-02 1.33458308e+01] [-4.74801258e-02 9.98829419e-01 9.24280645e-03 -3.73404858e-01] [ 7.43027608e-02 -5.69586953e-03 9.97219463e-01 -1.94273729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.50964924600001 meters Centerline goodness : 0.896837 with order 1 Centerline is valid? [False, False] Translation: X:13.35, Y:-0.37, Z:-0.19 [[ 9.95876019e-01 5.14677162e-02 -7.47129737e-02 1.33482613e+01] [-5.05895304e-02 9.98626918e-01 1.36006718e-02 -3.73897178e-01] [ 7.53103821e-02 -9.76488859e-03 9.97112327e-01 -1.93078711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.569649246 meters Centerline goodness : 0.896973 with order 1 Centerline is valid? [False, False] Translation: X:13.35, Y:-0.37, Z:-0.19 [[ 9.95598491e-01 5.58813025e-02 -7.52391169e-02 1.33494218e+01] [-5.47453406e-02 9.98354285e-01 1.70783413e-02 -3.71709044e-01] [ 7.60696547e-02 -1.28841798e-02 9.97019260e-01 -1.92693959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.629649246 meters Centerline goodness : 0.892688 with order 1 Centerline is valid? [False, False] Translation: X:13.35, Y:-0.37, Z:-0.19 [[ 9.95568044e-01 5.58143139e-02 -7.56903679e-02 1.33507492e+01] [-5.47257847e-02 9.98367033e-01 1.63815890e-02 -3.69750603e-01] [ 7.64810952e-02 -1.21667717e-02 9.96996796e-01 -1.93358581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.689649246 meters Centerline goodness : 0.889927 with order 1 Centerline is valid? [False, False] Translation: X:13.36, Y:-0.37, Z:-0.19 [[ 0.99530487 0.05784402 -0.07760333 13.35763736] [-0.05633715 0.99818093 0.02147011 -0.37179101] [ 0.07870408 -0.01699735 0.99675311 -0.19114953] [ 0. 0. 0. 1. ]] SLAMing on 75.749649246 meters Centerline goodness : 0.890668 with order 1 Centerline is valid? [False, False] Translation: X:13.36, Y:-0.37, Z:-0.19 [[ 0.99526992 0.05678101 -0.07882707 13.36128553] [-0.05523598 0.99823867 0.02164603 -0.3730309 ] [ 0.07991732 -0.01718955 0.99665327 -0.19048753] [ 0. 0. 0. 1. ]] SLAMing on 75.809649246 meters Centerline goodness : 0.895064 with order 1 Centerline is valid? [False, False] Translation: X:13.37, Y:-0.38, Z:-0.19 [[ 0.99516068 0.05649288 -0.08039757 13.36990942] [-0.05443941 0.99813804 0.02750996 -0.37692007] [ 0.08180199 -0.02300003 0.99638318 -0.18584528] [ 0. 0. 0. 1. ]] SLAMing on 75.86964924600001 meters Centerline goodness : 0.892049 with order 1 Centerline is valid? [False, False] Translation: X:13.37, Y:-0.38, Z:-0.19 [[ 0.99514265 0.0552374 -0.08148578 13.3738948 ] [-0.05313416 0.99820147 0.02775931 -0.37989163] [ 0.08287258 -0.0232948 0.99628785 -0.18586092] [ 0. 0. 0. 1. ]] SLAMing on 75.929649246 meters Centerline goodness : 0.888996 with order 1 Centerline is valid? [False, False] Translation: X:13.38, Y:-0.38, Z:-0.19 [[ 0.99508215 0.05428218 -0.08285501 13.37802571] [-0.05209354 0.99823961 0.02835407 -0.38243765] [ 0.08424827 -0.02389842 0.99615817 -0.18506383] [ 0. 0. 0. 1. ]] SLAMing on 75.989649246 meters Centerline goodness : 0.894663 with order 1 Centerline is valid? [False, False] Translation: X:13.38, Y:-0.39, Z:-0.18 [[ 0.99506886 0.05155737 -0.08473371 13.38432172] [-0.04911835 0.99832341 0.03062289 -0.38764069] [ 0.08617048 -0.02630991 0.99593295 -0.18055338] [ 0. 0. 0. 1. ]] SLAMing on 76.049649246 meters Centerline goodness : 0.887100 with order 1 Centerline is valid? [False, False] Translation: X:13.39, Y:-0.39, Z:-0.18 [[ 0.9948653 0.05250087 -0.08652573 13.39302591] [-0.04970117 0.99817839 0.03420093 -0.38926358] [ 0.08816369 -0.02972489 0.99566239 -0.18144112] [ 0. 0. 0. 1. ]] SLAMing on 76.109649246 meters Centerline goodness : 0.884186 with order 1 Centerline is valid? [False, False] Translation: X:13.40, Y:-0.39, Z:-0.18 [[ 0.99478287 0.05198911 -0.08777337 13.39652441] [-0.04910215 0.99818951 0.03473726 -0.39083086] [ 0.08942042 -0.03024617 0.99553461 -0.18082393] [ 0. 0. 0. 1. ]] SLAMing on 76.169649246 meters Centerline goodness : 0.885248 with order 1 Centerline is valid? [False, False] Translation: X:13.41, Y:-0.39, Z:-0.18 [[ 0.99513695 0.05152173 -0.08395211 13.41279827] [-0.04959692 0.99845999 0.02485535 -0.3900844 ] [ 0.08510342 -0.02057071 0.99615975 -0.18420271] [ 0. 0. 0. 1. ]] SLAMing on 76.22964924600001 meters Centerline goodness : 0.886542 with order 1 Centerline is valid? [False, False] Translation: X:13.42, Y:-0.39, Z:-0.18 [[ 0.99487321 0.05433989 -0.08529047 13.41761593] [-0.05199522 0.99821221 0.02947679 -0.3912281 ] [ 0.08673975 -0.02489097 0.99592 -0.18277607] [ 0. 0. 0. 1. ]] SLAMing on 76.289649246 meters Centerline goodness : 0.879053 with order 1 Centerline is valid? [False, False] Translation: X:13.43, Y:-0.39, Z:-0.18 [[ 0.99462201 0.05568269 -0.08732986 13.42505817] [-0.05287953 0.99801879 0.03409167 -0.39308957] [ 0.08905516 -0.02929036 0.99559593 -0.18050507] [ 0. 0. 0. 1. ]] SLAMing on 76.349649246 meters Centerline goodness : 0.882278 with order 1 Centerline is valid? [False, False] Translation: X:13.43, Y:-0.39, Z:-0.18 [[ 0.99459572 0.05461782 -0.08829638 13.42805667] [-0.05179552 0.99808058 0.03394684 -0.3934667 ] [ 0.089981 -0.02919003 0.99551563 -0.18034073] [ 0. 0. 0. 1. ]] SLAMing on 76.409649246 meters Centerline goodness : 0.880730 with order 1 Centerline is valid? [False, False] Translation: X:13.45, Y:-0.39, Z:-0.18 [[ 0.99454872 0.05487847 -0.08866343 13.45387496] [-0.05242303 0.99818051 0.02979085 -0.39441154] [ 0.09013698 -0.02498044 0.99561604 -0.18048102] [ 0. 0. 0. 1. ]] SLAMing on 76.469649246 meters Centerline goodness : 0.889181 with order 1 Centerline is valid? [False, False] Translation: X:13.47, Y:-0.40, Z:-0.18 [[ 0.99473055 0.04726827 -0.09097719 13.46908782] [-0.04450567 0.99849136 0.03215977 -0.39798059] [ 0.09236008 -0.02794131 0.99533356 -0.17516139] [ 0. 0. 0. 1. ]] SLAMing on 76.529649246 meters Centerline goodness : 0.869670 with order 1 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.40, Z:-0.17 [[ 0.99505123 0.03846759 -0.09161495 13.49440853] [-0.03516639 0.99868217 0.03737967 -0.39934746] [ 0.09293212 -0.03397292 0.99509269 -0.17204288] [ 0. 0. 0. 1. ]] SLAMing on 76.58964924600001 meters Centerline goodness : 0.877420 with order 1 Centerline is valid? [False, False] Translation: X:13.52, Y:-0.40, Z:-0.17 [[ 0.99526456 0.03941252 -0.08885445 13.51539844] [-0.03666093 0.99880271 0.03239012 -0.397375 ] [ 0.09002464 -0.02897925 0.99551784 -0.17187609] [ 0. 0. 0. 1. ]] SLAMing on 76.649649246 meters Centerline goodness : 0.876856 with order 1 Centerline is valid? [False, False] Translation: X:13.53, Y:-0.39, Z:-0.18 [[ 0.99556246 0.04031432 -0.08503023 13.53243197] [-0.03845501 0.99898648 0.02339276 -0.39417585] [ 0.08588712 -0.02001911 0.99610373 -0.17657513] [ 0. 0. 0. 1. ]] SLAMing on 76.709649246 meters Centerline goodness : 0.867414 with order 1 Centerline is valid? [False, False] Translation: X:13.54, Y:-0.39, Z:-0.17 [[ 0.99517055 0.04525814 -0.08710495 13.54123123] [-0.04247886 0.99853553 0.03350149 -0.3940282 ] [ 0.0884936 -0.02963958 0.99563567 -0.1711427 ] [ 0. 0. 0. 1. ]] SLAMing on 76.769649246 meters Centerline goodness : 0.869450 with order 1 Centerline is valid? [False, False] Translation: X:13.56, Y:-0.39, Z:-0.18 [[ 0.99523672 0.04922213 -0.08414894 13.55808274] [-0.04717191 0.99854358 0.0261825 -0.38878897] [ 0.08531514 -0.02208832 0.99610915 -0.17537621] [ 0. 0. 0. 1. ]] SLAMing on 76.829649246 meters Centerline goodness : 0.866911 with order 1 Centerline is valid? [False, False] Translation: X:13.58, Y:-0.38, Z:-0.18 [[ 0.99505522 0.05640757 -0.08175146 13.5765748 ] [-0.05475178 0.99824965 0.02235789 -0.38262322] [ 0.08286952 -0.01777129 0.99640194 -0.1791248 ] [ 0. 0. 0. 1. ]] SLAMing on 76.889649246 meters Centerline goodness : 0.870544 with order 1 Centerline is valid? [False, False] Translation: X:13.58, Y:-0.38, Z:-0.18 [[ 0.99452818 0.06482096 -0.08192644 13.57784862] [-0.06264297 0.99761795 0.02888395 -0.37706316] [ 0.08360357 -0.02359379 0.99621974 -0.17934592] [ 0. 0. 0. 1. ]] SLAMing on 76.949649246 meters Centerline goodness : 0.872753 with order 1 Centerline is valid? [False, False] Translation: X:13.60, Y:-0.37, Z:-0.18 [[ 0.99456982 0.06800666 -0.07877801 13.59508213] [-0.06644715 0.99754174 0.02225435 -0.37436588] [ 0.08009779 -0.01689893 0.99664375 -0.18264323] [ 0. 0. 0. 1. ]] SLAMing on 77.00964924600001 meters Centerline goodness : 0.876500 with order 1 Centerline is valid? [False, False] Translation: X:13.61, Y:-0.37, Z:-0.19 [[ 9.94809279e-01 6.87005865e-02 -7.50648253e-02 1.36121076e+01] [-6.78190226e-02 9.97596103e-01 1.42336226e-02 -3.74321124e-01] [ 7.58622354e-02 -9.06891675e-03 9.97077066e-01 -1.85667767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.069649246 meters Centerline goodness : 0.879645 with order 1 Centerline is valid? [False, False] Translation: X:13.61, Y:-0.38, Z:-0.19 [[ 9.94521547e-01 7.21657549e-02 -7.56240452e-02 1.36149790e+01] [-7.10053911e-02 9.97314853e-01 1.79253542e-02 -3.75190382e-01] [ 7.67145802e-02 -1.24574361e-02 9.96975268e-01 -1.86336580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.129649246 meters Centerline goodness : 0.883485 with order 1 Centerline is valid? [False, False] Translation: X:13.62, Y:-0.38, Z:-0.19 [[ 9.94535993e-01 7.03752370e-02 -7.71069742e-02 1.36203781e+01] [-6.92526214e-02 9.97451884e-01 1.71409675e-02 -3.75451714e-01] [ 7.81167963e-02 -1.17074491e-02 9.96875470e-01 -1.87845031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.189649246 meters Centerline goodness : 0.882191 with order 1 Centerline is valid? [False, False] Translation: X:13.62, Y:-0.38, Z:-0.19 [[ 9.94514577e-01 6.89096384e-02 -7.86906480e-02 1.36248358e+01] [-6.77282995e-02 9.97548780e-01 1.75871546e-02 -3.78016393e-01] [ 7.97096845e-02 -1.21610978e-02 9.96743936e-01 -1.87044017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.249649246 meters Centerline goodness : 0.880134 with order 1 Centerline is valid? [False, False] Translation: X:13.63, Y:-0.38, Z:-0.19 [[ 9.94481463e-01 6.79005464e-02 -7.99758480e-02 1.36281802e+01] [-6.66535882e-02 9.97610857e-01 1.81625375e-02 -3.80553596e-01] [ 8.10180205e-02 -1.27316296e-02 9.96631319e-01 -1.86076116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.309649246 meters Centerline goodness : 0.884870 with order 1 Centerline is valid? [False, False] Translation: X:13.63, Y:-0.38, Z:-0.18 [[ 0.99450613 0.06589667 -0.08133374 13.63246923] [-0.06450176 0.99772385 0.01966315 -0.38444938] [ 0.08244435 -0.01430895 0.99649294 -0.18338937] [ 0. 0. 0. 1. ]] SLAMing on 77.36964924600001 meters Centerline goodness : 0.889555 with order 1 Centerline is valid? [False, False] Translation: X:13.64, Y:-0.39, Z:-0.18 [[ 0.9944795 0.06479399 -0.08253647 13.63573179] [-0.06330429 0.99778283 0.02054253 -0.38665962] [ 0.0836845 -0.01520421 0.9963763 -0.18177535] [ 0. 0. 0. 1. ]] SLAMing on 77.429649246 meters Centerline goodness : 0.889343 with order 1 Centerline is valid? [False, False] Translation: X:13.64, Y:-0.39, Z:-0.18 [[ 0.9944605 0.06396925 -0.08340411 13.63847456] [-0.06249418 0.99784127 0.02018089 -0.38646727] [ 0.08451502 -0.01485682 0.99631144 -0.18225141] [ 0. 0. 0. 1. ]] SLAMing on 77.489649246 meters Centerline goodness : 0.891110 with order 1 Centerline is valid? [False, False] Translation: X:13.64, Y:-0.39, Z:-0.18 [[ 0.99440559 0.06255195 -0.08511621 13.64356306] [-0.06101674 0.99792574 0.02052267 -0.38805653] [ 0.08622339 -0.01521434 0.99615965 -0.18185511] [ 0. 0. 0. 1. ]] SLAMing on 77.549649246 meters Centerline goodness : 0.893973 with order 1 Centerline is valid? [False, False] Translation: X:13.65, Y:-0.39, Z:-0.17 [[ 0.99428989 0.06251939 -0.08648082 13.65158488] [-0.06026666 0.9977776 0.02842157 -0.39322452] [ 0.08806552 -0.02304737 0.99584802 -0.1739675 ] [ 0. 0. 0. 1. ]] SLAMing on 77.609649246 meters Centerline goodness : 0.896396 with order 1 Centerline is valid? [False, False] Translation: X:13.65, Y:-0.39, Z:-0.17 [[ 0.99423751 0.06211982 -0.08736645 13.65356499] [-0.05978497 0.99778718 0.02909465 -0.39442102] [ 0.08898048 -0.02370379 0.99575128 -0.17271013] [ 0. 0. 0. 1. ]] SLAMing on 77.669649246 meters Centerline goodness : 0.891942 with order 1 Centerline is valid? [False, False] Translation: X:13.66, Y:-0.39, Z:-0.17 [[ 0.99422636 0.06117699 -0.08815507 13.65616184] [-0.05883996 0.99784982 0.028872 -0.39360374] [ 0.08973182 -0.02351826 0.99568825 -0.17256342] [ 0. 0. 0. 1. ]] SLAMing on 77.72964924600001 meters Centerline goodness : 0.892602 with order 1 Centerline is valid? [False, False] Translation: X:13.67, Y:-0.40, Z:-0.17 [[ 0.99411359 0.06036249 -0.08996966 13.6652514 ] [-0.05762789 0.99780275 0.03269083 -0.39512496] [ 0.09174527 -0.02731364 0.99540784 -0.17043593] [ 0. 0. 0. 1. ]] SLAMing on 77.789649246 meters Centerline goodness : 0.898673 with order 1 Centerline is valid? [False, False] Translation: X:13.68, Y:-0.40, Z:-0.17 [[ 0.99421304 0.0547958 -0.09240052 13.67568672] [-0.05192127 0.99809805 0.03323334 -0.39779613] [ 0.09404583 -0.02824347 0.99516717 -0.16704951] [ 0. 0. 0. 1. ]] SLAMing on 77.849649246 meters Centerline goodness : 0.893949 with order 1 Centerline is valid? [False, False] Translation: X:13.68, Y:-0.40, Z:-0.17 [[ 0.99398587 0.05554882 -0.09437384 13.6845659 ] [-0.05234126 0.9979754 0.03613168 -0.39643673] [ 0.09618984 -0.03097473 0.99488094 -0.16823609] [ 0. 0. 0. 1. ]] SLAMing on 77.909649246 meters Centerline goodness : 0.893158 with order 1 Centerline is valid? [False, False] Translation: X:13.70, Y:-0.39, Z:-0.17 [[ 0.99425786 0.05645015 -0.09091037 13.70328797] [-0.05406579 0.99813109 0.02848198 -0.3937138 ] [ 0.09234827 -0.02340329 0.9954517 -0.17234974] [ 0. 0. 0. 1. ]] SLAMing on 77.969649246 meters Centerline goodness : 0.895880 with order 1 Centerline is valid? [False, False] Translation: X:13.71, Y:-0.40, Z:-0.17 [[ 0.99400462 0.0591369 -0.09196543 13.70651582] [-0.05630786 0.99786594 0.03306045 -0.39604349] [ 0.09372426 -0.02768386 0.99521323 -0.16978639] [ 0. 0. 0. 1. ]] SLAMing on 78.029649246 meters Centerline goodness : 0.894396 with order 1 Centerline is valid? [False, False] Translation: X:13.71, Y:-0.40, Z:-0.17 [[ 0.993747 0.0613409 -0.09329628 13.71198601] [-0.0581771 0.99764741 0.03626379 -0.39520124] [ 0.09530125 -0.03060932 0.99497776 -0.17020612] [ 0. 0. 0. 1. ]] SLAMing on 78.08964924600001 meters Centerline goodness : 0.893243 with order 1 Centerline is valid? [False, False] Translation: X:13.73, Y:-0.39, Z:-0.17 [[ 0.99404623 0.06131157 -0.09007214 13.73045404] [-0.05909413 0.99788491 0.02708479 -0.39254844] [ 0.09154225 -0.0216008 0.99556689 -0.1748314 ] [ 0. 0. 0. 1. ]] SLAMing on 78.149649246 meters Centerline goodness : 0.897060 with order 1 Centerline is valid? [False, False] Translation: X:13.73, Y:-0.39, Z:-0.17 [[ 0.99404368 0.06063946 -0.09055397 13.73207415] [-0.05841313 0.99792624 0.02703917 -0.39337897] [ 0.09200583 -0.02158858 0.99552442 -0.17466661] [ 0. 0. 0. 1. ]] SLAMing on 78.209649246 meters Centerline goodness : 0.894781 with order 1 Centerline is valid? [False, False] Translation: X:13.73, Y:-0.40, Z:-0.17 [[ 0.99395988 0.06095297 -0.09126053 13.73272631] [-0.05846623 0.99784805 0.02968112 -0.39656556] [ 0.09287329 -0.02416619 0.99538462 -0.17033884] [ 0. 0. 0. 1. ]] SLAMing on 78.269649246 meters Centerline goodness : 0.897570 with order 1 Centerline is valid? [False, False] Translation: X:13.75, Y:-0.39, Z:-0.18 [[ 0.99419038 0.06295967 -0.08730158 13.74908713] [-0.0613114 0.99788845 0.02143738 -0.39313287] [ 0.08846693 -0.01596026 0.99595124 -0.17517794] [ 0. 0. 0. 1. ]] SLAMing on 78.329649246 meters Centerline goodness : 0.900317 with order 1 Centerline is valid? [False, False] Translation: X:13.75, Y:-0.39, Z:-0.18 [[ 0.99416322 0.06195947 -0.08832051 13.75327965] [-0.06043369 0.99797485 0.0198487 -0.39068632] [ 0.08937147 -0.01439531 0.99589433 -0.17810838] [ 0. 0. 0. 1. ]] SLAMing on 78.389649246 meters Centerline goodness : 0.903349 with order 1 Centerline is valid? [False, False] Translation: X:13.77, Y:-0.39, Z:-0.18 [[ 0.9942305 0.05810197 -0.09016581 13.76780749] [-0.05613112 0.99812901 0.02424409 -0.39432304] [ 0.09140574 -0.01904311 0.99563163 -0.1754593 ] [ 0. 0. 0. 1. ]] SLAMing on 78.449649246 meters Centerline goodness : 0.901503 with order 1 Centerline is valid? [False, False] Translation: X:13.78, Y:-0.40, Z:-0.17 [[ 0.99434975 0.05279667 -0.09209286 13.77761194] [-0.05058068 0.99837535 0.02623445 -0.39921498] [ 0.09332834 -0.0214281 0.99540477 -0.17082327] [ 0. 0. 0. 1. ]] SLAMing on 78.50964924600001 meters Centerline goodness : 0.900469 with order 1 Centerline is valid? [False, False] Translation: X:13.79, Y:-0.40, Z:-0.17 [[ 0.99430184 0.05097474 -0.09362381 13.78754474] [-0.04833815 0.99837382 0.03021803 -0.40159375] [ 0.09501192 -0.02552024 0.99514896 -0.16852595] [ 0. 0. 0. 1. ]] SLAMing on 78.569649246 meters Centerline goodness : 0.898019 with order 1 Centerline is valid? [False, False] Translation: X:13.79, Y:-0.40, Z:-0.17 [[ 0.99407734 0.05254559 -0.09512726 13.79410147] [-0.04952944 0.9982007 0.03379626 -0.40152351] [ 0.09673194 -0.02888449 0.99489126 -0.16850398] [ 0. 0. 0. 1. ]] SLAMing on 78.629649246 meters Centerline goodness : 0.900672 with order 1 Centerline is valid? [False, False] Translation: X:13.81, Y:-0.40, Z:-0.17 [[ 0.99438548 0.05083774 -0.09280651 13.81224345] [-0.04899243 0.99855559 0.02205604 -0.39922535] [ 0.09379374 -0.01738539 0.99543984 -0.17320599] [ 0. 0. 0. 1. ]] SLAMing on 78.689649246 meters Centerline goodness : 0.898634 with order 1 Centerline is valid? [False, False] Translation: X:13.82, Y:-0.40, Z:-0.17 [[ 0.99413915 0.05269955 -0.09439335 13.81840319] [-0.050283 0.99834801 0.02780065 -0.40122948] [ 0.09570249 -0.02289133 0.99514673 -0.16961537] [ 0. 0. 0. 1. ]] SLAMing on 78.749649246 meters Centerline goodness : 0.903250 with order 1 Centerline is valid? [False, False] Translation: X:13.84, Y:-0.40, Z:-0.17 [[ 0.9944945 0.05327199 -0.09023738 13.8354209 ] [-0.05168502 0.99846645 0.01983466 -0.39886943] [ 0.09115563 -0.01506154 0.99572275 -0.17244929] [ 0. 0. 0. 1. ]] SLAMing on 78.809649246 meters Centerline goodness : 0.902618 with order 1 Centerline is valid? [False, False] Translation: X:13.84, Y:-0.40, Z:-0.17 [[ 0.99422007 0.05675052 -0.09113633 13.83822579] [-0.05482736 0.99821996 0.02347071 -0.3971018 ] [ 0.09230608 -0.01833829 0.9955618 -0.17185188] [ 0. 0. 0. 1. ]] SLAMing on 78.86964924600001 meters Centerline goodness : 0.900764 with order 1 Centerline is valid? [False, False] Translation: X:13.84, Y:-0.40, Z:-0.17 [[ 0.99391923 0.05974416 -0.0924943 13.84255847] [-0.05742851 0.99797079 0.0275003 -0.39711585] [ 0.09394959 -0.02202127 0.99533338 -0.17092894] [ 0. 0. 0. 1. ]] SLAMing on 78.929649246 meters Centerline goodness : 0.902996 with order 1 Centerline is valid? [False, False] Translation: X:13.85, Y:-0.40, Z:-0.17 [[ 0.9936188 0.06280456 -0.09368709 13.84649058] [-0.06009038 0.99769521 0.03151848 -0.39635327] [ 0.09545067 -0.02568766 0.99510266 -0.16983513] [ 0. 0. 0. 1. ]] SLAMing on 78.989649246 meters Centerline goodness : 0.902551 with order 1 Centerline is valid? [False, False] Translation: X:13.85, Y:-0.40, Z:-0.17 [[ 0.99333637 0.06468583 -0.09538655 13.85247446] [-0.06140129 0.9974279 0.03697923 -0.39859625] [ 0.09753324 -0.03087596 0.99475321 -0.16621892] [ 0. 0. 0. 1. ]] SLAMing on 79.049649246 meters Centerline goodness : 0.898385 with order 1 Centerline is valid? [False, False] Translation: X:13.87, Y:-0.40, Z:-0.17 [[ 0.99372844 0.06391688 -0.09175199 13.87121563] [-0.06157205 0.99770514 0.02816615 -0.39713081] [ 0.09334172 -0.02234015 0.99538346 -0.1698145 ] [ 0. 0. 0. 1. ]] SLAMing on 79.109649246 meters Centerline goodness : 0.908113 with order 1 Centerline is valid? [False, False] Translation: X:13.87, Y:-0.40, Z:-0.17 [[ 0.99372369 0.06237564 -0.09285741 13.8748825 ] [-0.05985897 0.99776645 0.02964816 -0.39980559] [ 0.09449933 -0.02390373 0.9952379 -0.16718637] [ 0. 0. 0. 1. ]] SLAMing on 79.169649246 meters Centerline goodness : 0.906961 with order 1 Centerline is valid? [False, False] Translation: X:13.88, Y:-0.40, Z:-0.16 [[ 0.99356161 0.06257927 -0.09444136 13.88344864] [-0.05930836 0.99755172 0.03705523 -0.40367058] [ 0.09652903 -0.0312155 0.99484056 -0.16027147] [ 0. 0. 0. 1. ]] SLAMing on 79.22964924600001 meters Centerline goodness : 0.910971 with order 1 Centerline is valid? [False, False] Translation: X:13.89, Y:-0.40, Z:-0.16 [[ 0.9935099 0.06118868 -0.09588543 13.88806832] [-0.05793246 0.99765721 0.03638569 -0.40361129] [ 0.09788718 -0.03059466 0.99472713 -0.16116136] [ 0. 0. 0. 1. ]] SLAMing on 79.289649246 meters Centerline goodness : 0.908081 with order 1 Centerline is valid? [False, False] Translation: X:13.91, Y:-0.40, Z:-0.17 [[ 0.99385992 0.06005848 -0.09292701 13.90750868] [-0.05779042 0.99796597 0.0269108 -0.40279008] [ 0.09435422 -0.02137528 0.99530919 -0.1653433 ] [ 0. 0. 0. 1. ]] SLAMing on 79.349649246 meters Centerline goodness : 0.910821 with order 1 Centerline is valid? [False, False] Translation: X:13.91, Y:-0.40, Z:-0.17 [[ 0.99381066 0.05895167 -0.09415454 13.9115023 ] [-0.05663016 0.99802619 0.02714316 -0.40371011] [ 0.09556883 -0.02164317 0.99518751 -0.16523393] [ 0. 0. 0. 1. ]] SLAMing on 79.409649246 meters Centerline goodness : 0.909496 with order 1 Centerline is valid? [False, False] Translation: X:13.91, Y:-0.40, Z:-0.16 [[ 0.99377339 0.05849267 -0.09483173 13.91298407] [-0.05610263 0.99804128 0.02767849 -0.40468685] [ 0.09626497 -0.02218584 0.99510846 -0.16380915] [ 0. 0. 0. 1. ]] SLAMing on 79.469649246 meters Centerline goodness : 0.915577 with order 1 Centerline is valid? [False, False] Translation: X:13.92, Y:-0.40, Z:-0.16 [[ 0.99349613 0.06138654 -0.09590168 13.9167781 ] [-0.05859394 0.99777936 0.03167175 -0.4046835 ] [ 0.09763294 -0.02584651 0.99488681 -0.16293898] [ 0. 0. 0. 1. ]] SLAMing on 79.529649246 meters Centerline goodness : 0.906968 with order 1 Centerline is valid? [False, False] Translation: X:13.92, Y:-0.40, Z:-0.17 [[ 0.99343791 0.06027856 -0.09719889 13.92125348] [-0.05762255 0.99789037 0.02990735 -0.40280784] [ 0.0987966 -0.02411025 0.99481552 -0.16575767] [ 0. 0. 0. 1. ]] SLAMing on 79.58964924600001 meters Centerline goodness : 0.904659 with order 1 Centerline is valid? [False, False] Translation: X:13.93, Y:-0.40, Z:-0.17 [[ 0.99337548 0.05870347 -0.09878799 13.92685808] [-0.05610982 0.99800817 0.02883376 -0.4027299 ] [ 0.10028387 -0.02309977 0.99469068 -0.16785728] [ 0. 0. 0. 1. ]] SLAMing on 79.649649246 meters Centerline goodness : 0.904349 with order 1 Centerline is valid? [False, False] Translation: X:13.93, Y:-0.40, Z:-0.17 [[ 0.99332654 0.05676896 -0.10039753 13.93267086] [-0.05417569 0.99812824 0.02837267 -0.40438008] [ 0.1018203 -0.02274422 0.99454277 -0.16886777] [ 0. 0. 0. 1. ]] SLAMing on 79.709649246 meters Centerline goodness : 0.897915 with order 1 Centerline is valid? [False, False] Translation: X:13.94, Y:-0.40, Z:-0.17 [[ 0.99327208 0.05586935 -0.10143566 13.93587022] [-0.05329975 0.99818955 0.0278704 -0.40383326] [ 0.10280911 -0.0222764 0.99445163 -0.16936893] [ 0. 0. 0. 1. ]] SLAMing on 79.769649246 meters Centerline goodness : 0.903874 with order 1 Centerline is valid? [False, False] Translation: X:13.94, Y:-0.41, Z:-0.17 [[ 0.99305065 0.05666483 -0.10314801 13.94322969] [-0.05350568 0.99801737 0.03314305 -0.40621424] [ 0.10482155 -0.02739373 0.99411369 -0.16584307] [ 0. 0. 0. 1. ]] SLAMing on 79.829649246 meters Centerline goodness : 0.902374 with order 1 Centerline is valid? [False, False] Translation: X:13.95, Y:-0.41, Z:-0.16 [[ 0.99301197 0.05544207 -0.10417972 13.94585323] [-0.0521243 0.99805118 0.03430586 -0.40940849] [ 0.10587868 -0.02863584 0.99396665 -0.16323042] [ 0. 0. 0. 1. ]] SLAMing on 79.889649246 meters Centerline goodness : 0.900293 with order 1 Centerline is valid? [False, False] Translation: X:13.96, Y:-0.41, Z:-0.16 [[ 0.99286185 0.05445211 -0.10611461 13.95725989] [-0.0502624 0.99786232 0.04176702 -0.4142119 ] [ 0.10816207 -0.0361353 0.99347632 -0.15613326] [ 0. 0. 0. 1. ]] SLAMing on 79.949649246 meters Centerline goodness : 0.900086 with order 1 Centerline is valid? [False, False] Translation: X:13.97, Y:-0.42, Z:-0.16 [[ 0.99258764 0.05578266 -0.10797255 13.96503733] [-0.05105368 0.99763229 0.0460796 -0.4153167 ] [ 0.11028734 -0.04022564 0.99308539 -0.15500155] [ 0. 0. 0. 1. ]] SLAMing on 80.00964924600001 meters Centerline goodness : 0.901727 with order 1 Centerline is valid? [False, False] Translation: X:13.98, Y:-0.41, Z:-0.16 [[ 0.99302546 0.05469837 -0.10444389 13.98131043] [-0.05131693 0.99807609 0.03479498 -0.41355283] [ 0.10614618 -0.02919256 0.99392192 -0.15970758] [ 0. 0. 0. 1. ]] SLAMing on 80.069649246 meters Centerline goodness : 0.899887 with order 1 Centerline is valid? [False, False] Translation: X:13.99, Y:-0.42, Z:-0.15 [[ 0.99272517 0.05780401 -0.10561925 13.98514401] [-0.05366199 0.99769022 0.04164862 -0.41643789] [ 0.10778275 -0.03567789 0.99353408 -0.15429516] [ 0. 0. 0. 1. ]] SLAMing on 80.129649246 meters Centerline goodness : 0.902423 with order 1 Centerline is valid? [False, False] Translation: X:13.99, Y:-0.42, Z:-0.15 [[ 0.99244115 0.0606745 -0.1066732 13.98933009] [-0.05607869 0.99738587 0.04556987 -0.41599866] [ 0.10915927 -0.03924332 0.99324932 -0.15373614] [ 0. 0. 0. 1. ]] SLAMing on 80.189649246 meters Centerline goodness : 0.904792 with order 1 Centerline is valid? [False, False] Translation: X:14.01, Y:-0.41, Z:-0.16 [[ 0.9926547 0.06094338 -0.10451097 14.00551872] [-0.05780965 0.99779 0.03275902 -0.41107065] [ 0.10627645 -0.02647665 0.99398406 -0.16076651] [ 0. 0. 0. 1. ]] SLAMing on 80.249649246 meters Centerline goodness : 0.901654 with order 1 Centerline is valid? [False, False] Translation: X:14.01, Y:-0.41, Z:-0.16 [[ 0.99258806 0.05994711 -0.10571323 14.00933389] [-0.05690264 0.99787993 0.03158683 -0.40921316] [ 0.10738265 -0.02533735 0.99389486 -0.16221464] [ 0. 0. 0. 1. ]] SLAMing on 80.309649246 meters Centerline goodness : 0.901330 with order 1 Centerline is valid? [False, False] Translation: X:14.02, Y:-0.41, Z:-0.16 [[ 0.99240317 0.05986241 -0.1074823 14.01800383] [-0.05630352 0.9977699 0.03584887 -0.41069291] [ 0.1093886 -0.0295249 0.99356047 -0.15994632] [ 0. 0. 0. 1. ]] SLAMing on 80.36964924600001 meters Centerline goodness : 0.904814 with order 1 Centerline is valid? [False, False] Translation: X:14.03, Y:-0.42, Z:-0.15 [[ 0.9924125 0.05878671 -0.10798871 14.02631311] [-0.0543641 0.99757521 0.04345401 -0.41541142] [ 0.11028137 -0.03725359 0.99320199 -0.15186413] [ 0. 0. 0. 1. ]] SLAMing on 80.429649246 meters Centerline goodness : 0.908201 with order 1 Centerline is valid? [False, False] Translation: X:14.04, Y:-0.41, Z:-0.16 [[ 0.99294692 0.05746916 -0.10370007 14.04321596] [-0.05422816 0.99795603 0.03380917 -0.41432292] [ 0.10543109 -0.02794725 0.99403382 -0.15574854] [ 0. 0. 0. 1. ]] SLAMing on 80.489649246 meters Centerline goodness : 0.909410 with order 1 Centerline is valid? [False, False] Translation: X:14.06, Y:-0.41, Z:-0.16 [[ 0.99336853 0.05793991 -0.09930729 14.05876046] [-0.05574832 0.99813914 0.02470578 -0.41245635] [ 0.10055395 -0.01900573 0.99475006 -0.15941299] [ 0. 0. 0. 1. ]] SLAMing on 80.549649246 meters Centerline goodness : 0.907292 with order 1 Centerline is valid? [False, False] Translation: X:14.06, Y:-0.41, Z:-0.16 [[ 0.99305321 0.06064713 -0.10083281 14.06396717] [-0.05807126 0.9979115 0.02829061 -0.41116996] [ 0.10233797 -0.02223859 0.99450107 -0.15907653] [ 0. 0. 0. 1. ]] SLAMing on 80.609649246 meters Centerline goodness : 0.903641 with order 1 Centerline is valid? [False, False] Translation: X:14.07, Y:-0.41, Z:-0.16 [[ 0.99299383 0.05937158 -0.10216786 14.06874296] [-0.05701127 0.99803826 0.02587181 -0.4070569 ] [ 0.10350349 -0.01986582 0.99443068 -0.16250064] [ 0. 0. 0. 1. ]] SLAMing on 80.669649246 meters Centerline goodness : 0.902163 with order 1 Centerline is valid? [False, False] Translation: X:14.07, Y:-0.41, Z:-0.16 [[ 0.99291958 0.05733516 -0.10403555 14.07411149] [-0.05493715 0.99815713 0.0257732 -0.40719564] [ 0.10532153 -0.0198753 0.99423958 -0.16128006] [ 0. 0. 0. 1. ]] SLAMing on 80.72964924600001 meters Centerline goodness : 0.894014 with order 1 Centerline is valid? [False, False] Translation: X:14.08, Y:-0.41, Z:-0.16 [[ 0.99262422 0.05824674 -0.10632254 14.0825256 ] [-0.0552042 0.99798309 0.03134079 -0.40860665] [ 0.10793359 -0.02524018 0.99383765 -0.15711699] [ 0. 0. 0. 1. ]] SLAMing on 80.789649246 meters Centerline goodness : 0.894894 with order 1 Centerline is valid? [False, False] Translation: X:14.09, Y:-0.41, Z:-0.16 [[ 0.99232987 0.06059588 -0.10774775 14.08800147] [-0.05707896 0.9977407 0.03543288 -0.4097897 ] [ 0.1096514 -0.02901097 0.99354664 -0.15626665] [ 0. 0. 0. 1. ]] SLAMing on 80.849649246 meters Centerline goodness : 0.900409 with order 1 Centerline is valid? [False, False] Translation: X:14.09, Y:-0.41, Z:-0.15 [[ 0.99199448 0.06301609 -0.10943455 14.09332082] [-0.05859219 0.99734753 0.04318395 -0.41491037] [ 0.11186556 -0.03642623 0.9930555 -0.14888341] [ 0. 0. 0. 1. ]] SLAMing on 80.909649246 meters Centerline goodness : 0.897199 with order 1 Centerline is valid? [False, False] Translation: X:14.11, Y:-0.42, Z:-0.14 [[ 0.99227319 0.06184604 -0.10755924 14.11079627] [-0.05598361 0.99682054 0.05669777 -0.41873988] [ 0.11072379 -0.05023812 0.99258066 -0.13850389] [ 0. 0. 0. 1. ]] SLAMing on 80.969649246 meters Centerline goodness : 0.910509 with order 1 Centerline is valid? [False, False] Translation: X:14.14, Y:-0.42, Z:-0.13 [[ 0.99349218 0.0514472 -0.10161931 14.13561554] [-0.04474217 0.99673617 0.06719482 -0.4202264 ] [ 0.10474463 -0.06221086 0.99255145 -0.12535311] [ 0. 0. 0. 1. ]] SLAMing on 81.029649246 meters Centerline goodness : 0.896742 with order 1 Centerline is valid? [False, False] Translation: X:14.15, Y:-0.41, Z:-0.13 [[ 0.99294666 0.05574866 -0.1046376 14.14902526] [-0.04851678 0.99633603 0.07043184 -0.41427897] [ 0.10818069 -0.06485838 0.99201327 -0.1326559 ] [ 0. 0. 0. 1. ]] SLAMing on 81.08964924600001 meters Centerline goodness : 0.901571 with order 1 Centerline is valid? [False, False] Translation: X:14.16, Y:-0.41, Z:-0.14 [[ 0.99310029 0.05692749 -0.10252354 14.16499089] [-0.05098495 0.99691462 0.05968067 -0.41097769] [ 0.10560468 -0.05404174 0.99293864 -0.13696525] [ 0. 0. 0. 1. ]] SLAMing on 81.149649246 meters Centerline goodness : 0.905299 with order 1 Centerline is valid? [False, False] Translation: X:14.18, Y:-0.41, Z:-0.14 [[ 0.99339254 0.05857389 -0.09869331 14.179169 ] [-0.05388316 0.99731742 0.04954367 -0.40822784] [ 0.10133052 -0.04389841 0.99388382 -0.14181645] [ 0. 0. 0. 1. ]] SLAMing on 81.209649246 meters Centerline goodness : 0.908842 with order 1 Centerline is valid? [False, False] Translation: X:14.20, Y:-0.41, Z:-0.14 [[ 0.99371559 0.06038395 -0.09425025 14.19627639] [-0.05650899 0.99746457 0.04325698 -0.40536036] [ 0.09662331 -0.03765915 0.99460833 -0.14468175] [ 0. 0. 0. 1. ]] SLAMing on 81.269649246 meters Centerline goodness : 0.911904 with order 1 Centerline is valid? [False, False] Translation: X:14.21, Y:-0.40, Z:-0.15 [[ 0.99399712 0.06322268 -0.08928949 14.20752702] [-0.06030941 0.99756735 0.03495933 -0.4028904 ] [ 0.0912825 -0.02936448 0.995392 -0.1468238 ] [ 0. 0. 0. 1. ]] SLAMing on 81.329649246 meters Centerline goodness : 0.918252 with order 1 Centerline is valid? [False, False] Translation: X:14.21, Y:-0.40, Z:-0.15 [[ 0.99393677 0.06435478 -0.08915247 14.20632522] [-0.06159465 0.99754308 0.03337512 -0.39887242] [ 0.09108128 -0.02768145 0.99545866 -0.14876223] [ 0. 0. 0. 1. ]] SLAMing on 81.389649246 meters Centerline goodness : 0.910055 with order 1 Centerline is valid? [False, False] Translation: X:14.21, Y:-0.40, Z:-0.15 [[ 0.99361095 0.067602 -0.09037289 14.21041931] [-0.06439599 0.99720311 0.03793573 -0.40059818] [ 0.09268466 -0.0318737 0.99518522 -0.14762693] [ 0. 0. 0. 1. ]] SLAMing on 81.449649246 meters Centerline goodness : 0.909350 with order 1 Centerline is valid? [False, False] Translation: X:14.22, Y:-0.40, Z:-0.15 [[ 0.99368068 0.07163397 -0.08641348 14.22331273] [-0.06938243 0.9971747 0.02878724 -0.39539918] [ 0.08823148 -0.02260974 0.99584336 -0.1536638 ] [ 0. 0. 0. 1. ]] SLAMing on 81.50964924600001 meters Centerline goodness : 0.907372 with order 1 Centerline is valid? [False, False] Translation: X:14.24, Y:-0.39, Z:-0.16 [[ 0.99347383 0.07745282 -0.08373061 14.24020926] [-0.07578638 0.99686095 0.02290567 -0.3910644 ] [ 0.08524188 -0.01641055 0.99622513 -0.15834949] [ 0. 0. 0. 1. ]] SLAMing on 81.569649246 meters Centerline goodness : 0.910211 with order 1 Centerline is valid? [False, False] Translation: X:14.24, Y:-0.39, Z:-0.16 [[ 0.99331322 0.07866131 -0.08450584 14.24480118] [-0.0767067 0.99671103 0.02613807 -0.39276744] [ 0.08628396 -0.01948112 0.9960801 -0.15806085] [ 0. 0. 0. 1. ]] SLAMing on 81.629649246 meters Centerline goodness : 0.911123 with order 1 Centerline is valid? [False, False] Translation: X:14.25, Y:-0.40, Z:-0.15 [[ 0.99335906 0.07614864 -0.08625061 14.25059465] [-0.07391925 0.9968495 0.02875779 -0.3979736 ] [ 0.08816875 -0.02219123 0.99585833 -0.15379881] [ 0. 0. 0. 1. ]] SLAMing on 81.689649246 meters Centerline goodness : 0.917973 with order 1 Centerline is valid? [False, False] Translation: X:14.25, Y:-0.40, Z:-0.15 [[ 0.99328488 0.07580137 -0.08740314 14.25333789] [-0.07342841 0.99684746 0.03005693 -0.40228101] [ 0.08940596 -0.02343722 0.99571947 -0.15238325] [ 0. 0. 0. 1. ]] SLAMing on 81.749649246 meters Centerline goodness : 0.911775 with order 1 Centerline is valid? [False, False] Translation: X:14.26, Y:-0.40, Z:-0.15 [[ 0.99323126 0.07500709 -0.08868817 14.25741302] [-0.07263092 0.99691577 0.02972715 -0.40311843] [ 0.09064438 -0.02308443 0.99561574 -0.15339171] [ 0. 0. 0. 1. ]] SLAMing on 81.809649246 meters Centerline goodness : 0.906231 with order 1 Centerline is valid? [False, False] Translation: X:14.26, Y:-0.40, Z:-0.16 [[ 0.9932054 0.07378157 -0.08999618 14.26222299] [-0.07147371 0.99703217 0.02860707 -0.40344462] [ 0.09183976 -0.02198033 0.99553118 -0.15581636] [ 0. 0. 0. 1. ]] SLAMing on 81.86964924600001 meters Centerline goodness : 0.903000 with order 1 Centerline is valid? [False, False] Translation: X:14.27, Y:-0.40, Z:-0.16 [[ 0.99318764 0.0719814 -0.09163507 14.26827649] [-0.06975123 0.99719036 0.02731595 -0.40325674] [ 0.09334385 -0.0207382 0.99541793 -0.1584507 ] [ 0. 0. 0. 1. ]] SLAMing on 81.929649246 meters Centerline goodness : 0.903637 with order 1 Centerline is valid? [False, False] Translation: X:14.27, Y:-0.40, Z:-0.16 [[ 0.99311219 0.07187181 -0.09253442 14.26976101] [-0.06959397 0.99719307 0.02761624 -0.40388634] [ 0.09425951 -0.02098619 0.99532644 -0.15734825] [ 0. 0. 0. 1. ]] SLAMing on 81.989649246 meters Centerline goodness : 0.904785 with order 1 Centerline is valid? [False, False] Translation: X:14.27, Y:-0.41, Z:-0.15 [[ 0.99277215 0.07463882 -0.09398141 14.27450613] [-0.07160554 0.99681 0.03524883 -0.40868728] [ 0.09631254 -0.02826447 0.99494975 -0.15095197] [ 0. 0. 0. 1. ]] SLAMing on 82.049649246 meters Centerline goodness : 0.920267 with order 1 Centerline is valid? [False, False] Translation: X:14.29, Y:-0.41, Z:-0.14 [[ 0.9947522 0.05741568 -0.0846847 14.28928307] [-0.05475357 0.99794006 0.0334319 -0.41315992] [ 0.08642977 -0.02861967 0.99584678 -0.1443143 ] [ 0. 0. 0. 1. ]] SLAMing on 82.109649246 meters Centerline goodness : 0.908453 with order 1 Centerline is valid? [False, False] Translation: X:14.30, Y:-0.41, Z:-0.15 [[ 0.99449739 0.05681 -0.08802029 14.3037342 ] [-0.05401986 0.99796883 0.03376498 -0.40927414] [ 0.08975969 -0.02882434 0.99554626 -0.15060282] [ 0. 0. 0. 1. ]] SLAMing on 82.169649246 meters Centerline goodness : 0.907933 with order 1 Centerline is valid? [False, False] Translation: X:14.32, Y:-0.41, Z:-0.16 [[ 0.99478176 0.05676144 -0.08477848 14.3200023 ] [-0.05500102 0.99822228 0.02296015 -0.40803191] [ 0.08593101 -0.01817743 0.99613525 -0.15604812] [ 0. 0. 0. 1. ]] SLAMing on 82.22964924600001 meters Centerline goodness : 0.908404 with order 1 Centerline is valid? [False, False] Translation: X:14.33, Y:-0.41, Z:-0.16 [[ 9.95103327e-01 5.66806107e-02 -8.09733144e-02 1.43346311e+01] [-5.58197257e-02 9.98358068e-01 1.28579424e-02 -4.07899711e-01] [ 8.15691577e-02 -8.27507307e-03 9.96633331e-01 -1.59025623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.289649246 meters Centerline goodness : 0.913997 with order 1 Centerline is valid? [False, False] Translation: X:14.34, Y:-0.41, Z:-0.15 [[ 9.94798947e-01 5.97936936e-02 -8.24607142e-02 1.43386362e+01] [-5.84085676e-02 9.98109822e-01 1.91108135e-02 -4.11030097e-01] [ 8.34475549e-02 -1.41950049e-02 9.96411063e-01 -1.54572312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.349649246 meters Centerline goodness : 0.916494 with order 1 Centerline is valid? [False, False] Translation: X:14.34, Y:-0.41, Z:-0.15 [[ 0.99474246 0.05946628 -0.0833738 14.34078542] [-0.05804786 0.99812651 0.01933696 -0.41115796] [ 0.08436749 -0.01439563 0.99633071 -0.15374131] [ 0. 0. 0. 1. ]] SLAMing on 82.409649246 meters Centerline goodness : 0.919429 with order 1 Centerline is valid? [False, False] Translation: X:14.35, Y:-0.41, Z:-0.16 [[ 9.94927381e-01 6.31538829e-02 -7.83012949e-02 1.43528190e+01] [-6.25208758e-02 9.97988295e-01 1.05120188e-02 -4.06132317e-01] [ 7.88076506e-02 -5.56322981e-03 9.96874317e-01 -1.59153268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.469649246 meters Centerline goodness : 0.919194 with order 1 Centerline is valid? [False, False] Translation: X:14.35, Y:-0.41, Z:-0.16 [[ 9.94566839e-01 6.75952629e-02 -7.91687022e-02 1.43543684e+01] [-6.66087203e-02 9.97665821e-01 1.50395180e-02 -4.06451768e-01] [ 8.00005085e-02 -9.68447998e-03 9.96747776e-01 -1.57321865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.529649246 meters Centerline goodness : 0.921538 with order 1 Centerline is valid? [False, False] Translation: X:14.36, Y:-0.40, Z:-0.16 [[ 9.94218796e-01 7.20206058e-02 -7.96367876e-02 1.43557188e+01] [-7.07994304e-02 9.97327126e-01 1.80567221e-02 -4.02351840e-01] [ 8.07243845e-02 -1.23140933e-02 9.96660392e-01 -1.57592306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.58964924600001 meters Centerline goodness : 0.913217 with order 1 Centerline is valid? [False, False] Translation: X:14.36, Y:-0.40, Z:-0.16 [[ 9.93933887e-01 7.49734884e-02 -8.04636860e-02 1.43596615e+01] [-7.35870544e-02 9.97086949e-01 2.00639560e-02 -3.97615566e-01] [ 8.17335560e-02 -1.40211601e-02 9.96555584e-01 -1.59568582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.649649246 meters Centerline goodness : 0.909629 with order 1 Centerline is valid? [False, False] Translation: X:14.36, Y:-0.40, Z:-0.16 [[ 9.93950723e-01 7.30768064e-02 -8.19862276e-02 1.43647300e+01] [-7.16727910e-02 9.97228799e-01 1.99432692e-02 -3.99695680e-01] [ 8.32164177e-02 -1.39464451e-02 9.96433904e-01 -1.59828020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.709649246 meters Centerline goodness : 0.910255 with order 1 Centerline is valid? [False, False] Translation: X:14.37, Y:-0.40, Z:-0.16 [[ 0.99385882 0.07284444 -0.08329668 14.36702345] [-0.07122094 0.9972112 0.02230263 -0.40428192] [ 0.08468901 -0.0162332 0.99627519 -0.1561377 ] [ 0. 0. 0. 1. ]] SLAMing on 82.769649246 meters Centerline goodness : 0.912711 with order 1 Centerline is valid? [False, False] Translation: X:14.37, Y:-0.41, Z:-0.16 [[ 0.99410447 0.06773477 -0.08466582 14.3706152 ] [-0.06625708 0.99759918 0.02014611 -0.41076136] [ 0.08582715 -0.01441763 0.99620572 -0.15504609] [ 0. 0. 0. 1. ]] SLAMing on 82.829649246 meters Centerline goodness : 0.916423 with order 1 Centerline is valid? [False, False] Translation: X:14.37, Y:-0.42, Z:-0.15 [[ 0.99403182 0.0671619 -0.08596522 14.37347401] [-0.06546842 0.9976038 0.02237269 -0.41645064] [ 0.08726183 -0.01661116 0.99604691 -0.15182941] [ 0. 0. 0. 1. ]] SLAMing on 82.889649246 meters Centerline goodness : 0.920286 with order 1 Centerline is valid? [False, False] Translation: X:14.38, Y:-0.42, Z:-0.15 [[ 0.99400073 0.06642796 -0.08689004 14.37612221] [-0.06471389 0.99765241 0.02240033 -0.41677822] [ 0.08817406 -0.01664295 0.99596604 -0.15151492] [ 0. 0. 0. 1. ]] SLAMing on 82.949649246 meters Centerline goodness : 0.918770 with order 1 Centerline is valid? [False, False] Translation: X:14.38, Y:-0.42, Z:-0.15 [[ 0.99371796 0.06847913 -0.08851676 14.38250855] [-0.06631077 0.99742786 0.02721283 -0.41831909] [ 0.09015259 -0.02117226 0.99570289 -0.14977747] [ 0. 0. 0. 1. ]] SLAMing on 83.00964924600001 meters Centerline goodness : 0.916051 with order 1 Centerline is valid? [False, False] Translation: X:14.39, Y:-0.42, Z:-0.15 [[ 0.99363612 0.06715459 -0.09042968 14.3877125 ] [-0.06489663 0.99750786 0.02768557 -0.41980748] [ 0.09206353 -0.0216408 0.99551795 -0.14862286] [ 0. 0. 0. 1. ]] SLAMing on 83.069649246 meters Centerline goodness : 0.917620 with order 1 Centerline is valid? [False, False] Translation: X:14.40, Y:-0.42, Z:-0.14 [[ 0.99357942 0.06522476 -0.09244273 14.39988743] [-0.06239006 0.99749841 0.03323267 -0.42327125] [ 0.09437907 -0.02725179 0.99516327 -0.14383706] [ 0. 0. 0. 1. ]] SLAMing on 83.129649246 meters Centerline goodness : 0.914953 with order 1 Centerline is valid? [False, False] Translation: X:14.40, Y:-0.42, Z:-0.14 [[ 0.9935431 0.0644218 -0.09339137 14.40304073] [-0.06159656 0.99756112 0.03282798 -0.42333312] [ 0.09527844 -0.02686343 0.99508812 -0.14463082] [ 0. 0. 0. 1. ]] SLAMing on 83.189649246 meters Centerline goodness : 0.910344 with order 1 Centerline is valid? [False, False] Translation: X:14.41, Y:-0.42, Z:-0.15 [[ 0.99347427 0.06307349 -0.09502954 14.40806857] [-0.06033223 0.99768273 0.03145147 -0.42113563] [ 0.09679309 -0.02551289 0.99497748 -0.14629588] [ 0. 0. 0. 1. ]] SLAMing on 83.249649246 meters Centerline goodness : 0.910689 with order 1 Centerline is valid? [False, False] Translation: X:14.41, Y:-0.42, Z:-0.15 [[ 0.9933975 0.06215589 -0.09642636 14.41165113] [-0.05934304 0.99773189 0.03177227 -0.42195618] [ 0.09818248 -0.02584026 0.99483289 -0.14528341] [ 0. 0. 0. 1. ]] SLAMing on 83.309649246 meters Centerline goodness : 0.914169 with order 1 Centerline is valid? [False, False] Translation: X:14.41, Y:-0.42, Z:-0.14 [[ 0.99334179 0.06165122 -0.0973202 14.41381971] [-0.05880613 0.99776154 0.03183951 -0.4209012 ] [ 0.0990653 -0.02590449 0.9947437 -0.14430858] [ 0. 0. 0. 1. ]] SLAMing on 83.36964924600001 meters Centerline goodness : 0.907752 with order 1 Centerline is valid? [False, False] Translation: X:14.42, Y:-0.42, Z:-0.14 [[ 0.99329802 0.06038654 -0.09855203 14.41721881] [-0.05755479 0.99785061 0.03133056 -0.42007769] [ 0.10023215 -0.02544845 0.99463857 -0.14398883] [ 0. 0. 0. 1. ]] SLAMing on 83.429649246 meters Centerline goodness : 0.911179 with order 1 Centerline is valid? [False, False] Translation: X:14.42, Y:-0.42, Z:-0.14 [[ 0.99322227 0.06000905 -0.09954117 14.41965976] [-0.05717219 0.99787939 0.03111377 -0.41886142] [ 0.10119719 -0.0252119 0.99454688 -0.14365306] [ 0. 0. 0. 1. ]] SLAMing on 83.489649246 meters Centerline goodness : 0.913719 with order 1 Centerline is valid? [False, False] Translation: X:14.42, Y:-0.42, Z:-0.14 [[ 0.99296086 0.06327079 -0.10012765 14.42155341] [-0.06007617 0.99759366 0.03460842 -0.41667223] [ 0.10207641 -0.02834953 0.99437252 -0.14248407] [ 0. 0. 0. 1. ]] SLAMing on 83.549649246 meters Centerline goodness : 0.912261 with order 1 Centerline is valid? [False, False] Translation: X:14.44, Y:-0.41, Z:-0.14 [[ 0.99317885 0.0644652 -0.09715966 14.44189375] [-0.06201157 0.99768068 0.02806834 -0.4131265 ] [ 0.09874375 -0.02185186 0.99487294 -0.14449345] [ 0. 0. 0. 1. ]] SLAMing on 83.609649246 meters Centerline goodness : 0.908663 with order 1 Centerline is valid? [False, False] Translation: X:14.45, Y:-0.41, Z:-0.14 [[ 0.99275858 0.06740852 -0.09943085 14.45414165] [-0.06397391 0.99725278 0.03733938 -0.41349648] [ 0.10167468 -0.03070801 0.99434364 -0.13962311] [ 0. 0. 0. 1. ]] SLAMing on 83.669649246 meters Centerline goodness : 0.908856 with order 1 Centerline is valid? [False, False] Translation: X:14.48, Y:-0.41, Z:-0.14 [[ 0.99301096 0.06646491 -0.09752767 14.47562536] [-0.06390356 0.99752999 0.02915897 -0.41258706] [ 0.09922482 -0.02272281 0.99480556 -0.14208451] [ 0. 0. 0. 1. ]] SLAMing on 83.72964924600001 meters Centerline goodness : 0.910742 with order 1 Centerline is valid? [False, False] Translation: X:14.48, Y:-0.41, Z:-0.14 [[ 0.99269523 0.06795688 -0.09968972 14.48347364] [-0.06497257 0.99734498 0.03288695 -0.4132813 ] [ 0.10165994 -0.02616962 0.99447494 -0.141422 ] [ 0. 0. 0. 1. ]] SLAMing on 83.789649246 meters Centerline goodness : 0.905368 with order 1 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.41, Z:-0.14 [[ 0.99252882 0.06569768 -0.10281222 14.49841422] [-0.0622262 0.99739005 0.03661941 -0.41394092] [ 0.1049497 -0.02994821 0.99402649 -0.13959756] [ 0. 0. 0. 1. ]] SLAMing on 83.849649246 meters Centerline goodness : 0.904055 with order 1 Centerline is valid? [False, False] Translation: X:14.51, Y:-0.42, Z:-0.14 [[ 0.99244145 0.06259872 -0.10555271 14.50699246] [-0.0589087 0.99755031 0.03772466 -0.416948 ] [ 0.10765566 -0.03122154 0.99369788 -0.13652314] [ 0. 0. 0. 1. ]] SLAMing on 83.909649246 meters Centerline goodness : 0.901543 with order 1 Centerline is valid? [False, False] Translation: X:14.53, Y:-0.42, Z:-0.13 [[ 0.99291104 0.05631994 -0.10466965 14.52771653] [-0.0518222 0.9976326 0.04520675 -0.42168245] [ 0.10696789 -0.03946207 0.99347905 -0.13032817] [ 0. 0. 0. 1. ]] SLAMing on 83.969649246 meters Centerline goodness : 0.900775 with order 1 Centerline is valid? [False, False] Translation: X:14.53, Y:-0.43, Z:-0.13 [[ 0.99281304 0.05433963 -0.10662769 14.5338828 ] [-0.04957797 0.9976726 0.04681249 -0.4256285 ] [ 0.1089233 -0.04118966 0.99319642 -0.12760579] [ 0. 0. 0. 1. ]] SLAMing on 84.029649246 meters Centerline goodness : 0.902237 with order 1 Centerline is valid? [False, False] Translation: X:14.55, Y:-0.43, Z:-0.12 [[ 0.99288071 0.04960722 -0.10829133 14.55104465] [-0.04409206 0.99763419 0.05274393 -0.43067458] [ 0.11065162 -0.04759364 0.99271903 -0.12154217] [ 0. 0. 0. 1. ]] SLAMing on 84.08964924600001 meters Centerline goodness : 0.901913 with order 1 Centerline is valid? [False, False] Translation: X:14.58, Y:-0.43, Z:-0.12 [[ 0.99328964 0.04603892 -0.10609483 14.5770473 ] [-0.04132131 0.99807516 0.04624421 -0.43200442] [ 0.10801965 -0.04154991 0.9932801 -0.12133139] [ 0. 0. 0. 1. ]] SLAMing on 84.149649246 meters Centerline goodness : 0.905500 with order 1 Centerline is valid? [False, False] Translation: X:14.60, Y:-0.43, Z:-0.13 [[ 0.99347225 0.04513278 -0.10476605 14.59849276] [-0.0415615 0.99848625 0.03602566 -0.42925512] [ 0.1062334 -0.03143625 0.99384417 -0.1259542 ] [ 0. 0. 0. 1. ]] SLAMing on 84.209649246 meters Centerline goodness : 0.905365 with order 1 Centerline is valid? [False, False] Translation: X:14.60, Y:-0.43, Z:-0.13 [[ 0.99314928 0.04778272 -0.10663637 14.60443466] [-0.04376481 0.99825246 0.03970716 -0.42779773] [ 0.10834733 -0.03476821 0.99350492 -0.1251687 ] [ 0. 0. 0. 1. ]] SLAMing on 84.269649246 meters Centerline goodness : 0.902281 with order 1 Centerline is valid? [False, False] Translation: X:14.62, Y:-0.42, Z:-0.13 [[ 0.99329167 0.05030074 -0.10412247 14.62361334] [-0.04720841 0.9983738 0.03195486 -0.42294944] [ 0.1055605 -0.02682504 0.994051 -0.12941212] [ 0. 0. 0. 1. ]] SLAMing on 84.329649246 meters Centerline goodness : 0.905934 with order 1 Centerline is valid? [False, False] Translation: X:14.64, Y:-0.42, Z:-0.13 [[ 0.99371323 0.04958274 -0.10037715 14.64019782] [-0.04745007 0.99859654 0.02352517 -0.41994888] [ 0.10140272 -0.01861437 0.9946713 -0.12921908] [ 0. 0. 0. 1. ]] SLAMing on 84.389649246 meters Centerline goodness : 0.902540 with order 1 Centerline is valid? [False, False] Translation: X:14.65, Y:-0.42, Z:-0.13 [[ 0.99363483 0.04629682 -0.10269584 14.65238427] [-0.04402266 0.99873489 0.02430292 -0.41688803] [ 0.10369106 -0.01962728 0.99441588 -0.12958026] [ 0. 0. 0. 1. ]] SLAMing on 84.449649246 meters Centerline goodness : 0.902099 with order 1 Centerline is valid? [False, False] Translation: X:14.67, Y:-0.42, Z:-0.13 [[ 0.9932875 0.04833753 -0.10508772 14.66592736] [-0.04519288 0.9984623 0.03210347 -0.4170141 ] [ 0.10647793 -0.02713876 0.99394464 -0.12673326] [ 0. 0. 0. 1. ]] SLAMing on 84.509649246 meters Centerline goodness : 0.901933 with order 1 Centerline is valid? [False, False] Translation: X:14.69, Y:-0.42, Z:-0.13 [[ 0.99339323 0.04977995 -0.10340135 14.68707983] [-0.04739049 0.99855243 0.02543977 -0.41546625] [ 0.10451806 -0.02037145 0.99431433 -0.12905533] [ 0. 0. 0. 1. ]] SLAMing on 84.569649246 meters Centerline goodness : 0.898437 with order 1 Centerline is valid? [False, False] Translation: X:14.69, Y:-0.41, Z:-0.13 [[ 0.99300684 0.05214233 -0.10591786 14.69470667] [-0.04935641 0.99836714 0.02875754 -0.41485145] [ 0.1072444 -0.0233287 0.99395896 -0.12888225] [ 0. 0. 0. 1. ]] SLAMing on 84.629649246 meters Centerline goodness : 0.899592 with order 1 Centerline is valid? [False, False] Translation: X:14.71, Y:-0.42, Z:-0.12 [[ 0.99277558 0.05401899 -0.10713821 14.70966135] [-0.04985866 0.99790866 0.04113896 -0.41794412] [ 0.10913644 -0.03549999 0.99339267 -0.12002361] [ 0. 0. 0. 1. ]] SLAMing on 84.689649246 meters Centerline goodness : 0.897044 with order 1 Centerline is valid? [False, False] Translation: X:14.73, Y:-0.41, Z:-0.12 [[ 0.99296097 0.0555017 -0.10463308 14.73087582] [-0.05219802 0.99805595 0.0340543 -0.41492182] [ 0.10631974 -0.02835295 0.99392767 -0.12400189] [ 0. 0. 0. 1. ]] SLAMing on 84.749649246 meters Centerline goodness : 0.900178 with order 1 Centerline is valid? [False, False] Translation: X:14.75, Y:-0.41, Z:-0.13 [[ 0.99311583 0.05895836 -0.10121686 14.74864988] [-0.05635774 0.9980076 0.02836608 -0.41228612] [ 0.10268762 -0.02246645 0.99445991 -0.12629077] [ 0. 0. 0. 1. ]] SLAMing on 84.809649246 meters Centerline goodness : 0.901132 with order 1 Centerline is valid? [False, False] Translation: X:14.77, Y:-0.41, Z:-0.13 [[ 0.99316552 0.0631525 -0.09815305 14.77210255] [-0.0607973 0.9977901 0.0268067 -0.40976283] [ 0.09962905 -0.02065605 0.99481022 -0.12671368] [ 0. 0. 0. 1. ]] SLAMing on 84.86964924600001 meters Centerline goodness : 0.903271 with order 1 Centerline is valid? [False, False] Translation: X:14.77, Y:-0.41, Z:-0.12 [[ 0.9930413 0.0626711 -0.09970608 14.7747981 ] [-0.06019157 0.99780276 0.02768816 -0.41076347] [ 0.10122225 -0.02149402 0.99463162 -0.1238558 ] [ 0. 0. 0. 1. ]] SLAMing on 84.929649246 meters Centerline goodness : 0.897300 with order 1 Centerline is valid? [False, False] Translation: X:14.78, Y:-0.41, Z:-0.12 [[ 0.99273119 0.06391165 -0.10198085 14.78378431] [-0.06103719 0.99765195 0.03106526 -0.41031195] [ 0.10372682 -0.02461483 0.99430119 -0.12434531] [ 0. 0. 0. 1. ]] SLAMing on 84.989649246 meters Centerline goodness : 0.900513 with order 1 Centerline is valid? [False, False] Translation: X:14.79, Y:-0.41, Z:-0.12 [[ 0.99268518 0.06319978 -0.10286844 14.78667331] [-0.06032706 0.99770322 0.0308048 -0.41013905] [ 0.10457903 -0.02437372 0.99421786 -0.12484153] [ 0. 0. 0. 1. ]] SLAMing on 85.049649246 meters Centerline goodness : 0.906927 with order 1 Centerline is valid? [False, False] Translation: X:14.81, Y:-0.41, Z:-0.13 [[ 0.99295047 0.06402814 -0.09974848 14.80519441] [-0.06197564 0.99779992 0.02354452 -0.40989657] [ 0.10103654 -0.01719657 0.99473408 -0.12675071] [ 0. 0. 0. 1. ]] SLAMing on 85.109649246 meters Centerline goodness : 0.905517 with order 1 Centerline is valid? [False, False] Translation: X:14.81, Y:-0.41, Z:-0.13 [[ 0.99398241 0.06200671 -0.09030028 14.81414113] [-0.06026063 0.99794156 0.02193869 -0.40768951] [ 0.09147475 -0.01636512 0.99567291 -0.13210785] [ 0. 0. 0. 1. ]] SLAMing on 85.169649246 meters Centerline goodness : 0.906936 with order 1 Centerline is valid? [False, False] Translation: X:14.83, Y:-0.41, Z:-0.13 [[ 0.99399916 0.059364 -0.09187807 14.82818372] [-0.05689645 0.99795154 0.02924939 -0.41087968] [ 0.09342622 -0.02384633 0.99534059 -0.12527597] [ 0. 0. 0. 1. ]] SLAMing on 85.22964924600001 meters Centerline goodness : 0.912691 with order 1 Centerline is valid? [False, False] Translation: X:14.84, Y:-0.41, Z:-0.12 [[ 0.99407972 0.05654125 -0.0927825 14.84036132] [-0.05334994 0.99790768 0.03652463 -0.4148797 ] [ 0.09465352 -0.03135846 0.99501626 -0.11774471] [ 0. 0. 0. 1. ]] SLAMing on 85.289649246 meters Centerline goodness : 0.918404 with order 1 Centerline is valid? [False, False] Translation: X:14.85, Y:-0.42, Z:-0.11 [[ 0.99428522 0.05046414 -0.0940759 14.85020761] [-0.04691902 0.99811648 0.03952335 -0.41877382] [ 0.09589321 -0.03488354 0.99478019 -0.11132286] [ 0. 0. 0. 1. ]] SLAMing on 85.349649246 meters Centerline goodness : 0.918604 with order 1 Centerline is valid? [False, False] Translation: X:14.87, Y:-0.42, Z:-0.12 [[ 0.9944714 0.05157727 -0.09146812 14.86998765] [-0.04882899 0.99829328 0.03203524 -0.4177712 ] [ 0.0929643 -0.02739183 0.99529258 -0.11565129] [ 0. 0. 0. 1. ]] SLAMing on 85.409649246 meters Centerline goodness : 0.926942 with order 1 Centerline is valid? [False, False] Translation: X:14.88, Y:-0.42, Z:-0.12 [[ 0.99472121 0.05344643 -0.08759679 14.88335544] [-0.05162162 0.99840256 0.02296805 -0.41720571] [ 0.08868442 -0.01832492 0.99589119 -0.11834719] [ 0. 0. 0. 1. ]] SLAMing on 85.469649246 meters Centerline goodness : 0.923409 with order 1 Centerline is valid? [False, False] Translation: X:14.89, Y:-0.41, Z:-0.12 [[ 0.99462578 0.05339603 -0.08870417 14.88544564] [-0.05164966 0.99842579 0.02186923 -0.41403193] [ 0.08973226 -0.01717016 0.99581791 -0.11905339] [ 0. 0. 0. 1. ]] SLAMing on 85.529649246 meters Centerline goodness : 0.920686 with order 1 Centerline is valid? [False, False] Translation: X:14.89, Y:-0.41, Z:-0.12 [[ 0.99453653 0.05267375 -0.09012524 14.88985748] [-0.05102296 0.99848654 0.02052522 -0.41093159] [ 0.09106998 -0.01581462 0.99571891 -0.12121509] [ 0. 0. 0. 1. ]] SLAMing on 85.58964924600001 meters Centerline goodness : 0.919236 with order 1 Centerline is valid? [False, False] Translation: X:14.89, Y:-0.41, Z:-0.12 [[ 0.99446421 0.05184202 -0.09139663 14.89273909] [-0.05024302 0.99854248 0.01971162 -0.40859857] [ 0.09228531 -0.01501046 0.99561946 -0.12118256] [ 0. 0. 0. 1. ]] SLAMing on 85.649649246 meters Centerline goodness : 0.927755 with order 1 Centerline is valid? [False, False] Translation: X:14.92, Y:-0.41, Z:-0.11 [[ 0.99526415 0.04311502 -0.08712272 14.91781875] [-0.04062162 0.99871831 0.03019318 -0.41023078] [ 0.08831284 -0.02651112 0.99573993 -0.11048527] [ 0. 0. 0. 1. ]] SLAMing on 85.709649246 meters Centerline goodness : 0.928158 with order 1 Centerline is valid? [False, False] Translation: X:14.94, Y:-0.41, Z:-0.12 [[ 0.99536863 0.04677724 -0.08398325 14.93631551] [-0.04490754 0.99870242 0.02401655 -0.40532007] [ 0.0849977 -0.02013383 0.9961777 -0.11518686] [ 0. 0. 0. 1. ]] SLAMing on 85.769649246 meters Centerline goodness : 0.925813 with order 1 Centerline is valid? [False, False] Translation: X:14.95, Y:-0.40, Z:-0.12 [[ 0.99541293 0.05299427 -0.07965371 14.95021036] [-0.05161032 0.9984801 0.01933548 -0.40174395] [ 0.08055731 -0.01513584 0.99663505 -0.11764184] [ 0. 0. 0. 1. ]] SLAMing on 85.829649246 meters Centerline goodness : 0.926460 with order 1 Centerline is valid? [False, False] Translation: X:14.95, Y:-0.40, Z:-0.12 [[ 9.95290834e-01 5.44748643e-02 -8.01788317e-02 1.49495579e+01] [-5.31666095e-02 9.98416790e-01 1.83636999e-02 -3.98550047e-01] [ 8.10522518e-02 -1.40143856e-02 9.96611323e-01 -1.17994254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.889649246 meters Centerline goodness : 0.921821 with order 1 Centerline is valid? [False, False] Translation: X:14.95, Y:-0.40, Z:-0.12 [[ 0.99500179 0.05760755 -0.08156472 14.95456014] [-0.05606208 0.99820399 0.02111473 -0.39703611] [ 0.0826346 -0.01643651 0.99644436 -0.11975378] [ 0. 0. 0. 1. ]] SLAMing on 85.949649246 meters Centerline goodness : 0.911449 with order 1 Centerline is valid? [False, False] Translation: X:14.96, Y:-0.40, Z:-0.12 [[ 0.99475079 0.05895449 -0.08363757 14.96366305] [-0.05724087 0.99810132 0.02274281 -0.39505783] [ 0.08481956 -0.01783594 0.99623668 -0.12396347] [ 0. 0. 0. 1. ]] SLAMing on 86.009649246 meters Centerline goodness : 0.912842 with order 1 Centerline is valid? [False, False] Translation: X:14.97, Y:-0.40, Z:-0.12 [[ 0.99464489 0.05924725 -0.08468359 14.96544848] [-0.0574722 0.99807635 0.02324942 -0.3966478 ] [ 0.08589816 -0.01825796 0.99613661 -0.12313689] [ 0. 0. 0. 1. ]] SLAMing on 86.069649246 meters Centerline goodness : 0.917396 with order 1 Centerline is valid? [False, False] Translation: X:14.98, Y:-0.40, Z:-0.13 [[ 9.94903692e-01 6.04641678e-02 -8.06890778e-02 1.49804396e+01] [-5.94175078e-02 9.98115770e-01 1.53123760e-02 -3.96923894e-01] [ 8.14628911e-02 -1.04399956e-02 9.96621695e-01 -1.25488242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.129649246 meters Centerline goodness : 0.914290 with order 1 Centerline is valid? [False, False] Translation: X:14.98, Y:-0.40, Z:-0.12 [[ 0.99461652 0.06401701 -0.08148496 14.98309295] [-0.06252908 0.99782876 0.02068549 -0.3996681 ] [ 0.08263226 -0.01547895 0.99645989 -0.12337942] [ 0. 0. 0. 1. ]] SLAMing on 86.189649246 meters Centerline goodness : 0.918072 with order 1 Centerline is valid? [False, False] Translation: X:15.00, Y:-0.40, Z:-0.12 [[ 9.94794225e-01 6.60589110e-02 -7.75929768e-02 1.49977727e+01] [-6.51844087e-02 9.97778465e-01 1.37523464e-02 -4.00617787e-01] [ 7.83290663e-02 -8.62290248e-03 9.96890266e-01 -1.24998577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.249649246 meters Centerline goodness : 0.919494 with order 1 Centerline is valid? [False, False] Translation: X:15.01, Y:-0.41, Z:-0.12 [[ 9.94898341e-01 6.19823158e-02 -7.95957537e-02 1.50059988e+01] [-6.08878752e-02 9.98014652e-01 1.61065540e-02 -4.05812421e-01] [ 8.04360500e-02 -1.11779675e-02 9.96697093e-01 -1.21302283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.309649246 meters Centerline goodness : 0.911661 with order 1 Centerline is valid? [False, False] Translation: X:15.01, Y:-0.41, Z:-0.12 [[ 9.94862313e-01 6.04896989e-02 -8.11786519e-02 1.50116751e+01] [-5.93966625e-02 9.98109177e-01 1.58147797e-02 -4.07475733e-01] [ 8.19817887e-02 -1.09117873e-02 9.96574091e-01 -1.22893491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.36964924600001 meters Centerline goodness : 0.913321 with order 1 Centerline is valid? [False, False] Translation: X:15.01, Y:-0.41, Z:-0.12 [[ 9.95036278e-01 5.64754034e-02 -8.19349445e-02 1.50128602e+01] [-5.56162038e-02 9.98371029e-01 1.27328604e-02 -4.12146043e-01] [ 8.25205683e-02 -8.11274740e-03 9.96556340e-01 -1.22759935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.429649246 meters Centerline goodness : 0.910192 with order 1 Centerline is valid? [False, False] Translation: X:15.02, Y:-0.41, Z:-0.12 [[ 9.94791860e-01 5.90252009e-02 -8.30974203e-02 1.50174999e+01] [-5.78003560e-02 9.98182193e-01 1.70712981e-02 -4.14159451e-01] [ 8.39540020e-02 -1.21793280e-02 9.96395197e-01 -1.21988841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.489649246 meters Centerline goodness : 0.906952 with order 1 Centerline is valid? [False, False] Translation: X:15.03, Y:-0.42, Z:-0.12 [[ 0.99465661 0.05808823 -0.08534626 15.02791917] [-0.0564875 0.99818128 0.02105438 -0.41659262] [ 0.08641405 -0.01612088 0.99612887 -0.12022849] [ 0. 0. 0. 1. ]] SLAMing on 86.549649246 meters Centerline goodness : 0.909241 with order 1 Centerline is valid? [False, False] Translation: X:15.03, Y:-0.42, Z:-0.12 [[ 0.99460302 0.0564787 -0.08703438 15.03375384] [-0.05486377 0.99827637 0.02083877 -0.41839015] [ 0.08806131 -0.01595127 0.99598733 -0.12134238] [ 0. 0. 0. 1. ]] SLAMing on 86.609649246 meters Centerline goodness : 0.907788 with order 1 Centerline is valid? [False, False] Translation: X:15.05, Y:-0.42, Z:-0.12 [[ 0.99451736 0.05491809 -0.08899001 15.04549685] [-0.05271774 0.99824729 0.02689209 -0.4223902 ] [ 0.0903109 -0.02205329 0.99566942 -0.11665558] [ 0. 0. 0. 1. ]] SLAMing on 86.669649246 meters Centerline goodness : 0.908391 with order 1 Centerline is valid? [False, False] Translation: X:15.05, Y:-0.43, Z:-0.11 [[ 0.99423581 0.05730317 -0.09061737 15.05095776] [-0.05459988 0.99799424 0.03203666 -0.42502618] [ 0.09227142 -0.02690429 0.99537036 -0.11404802] [ 0. 0. 0. 1. ]] SLAMing on 86.72964924600001 meters Centerline goodness : 0.905774 with order 1 Centerline is valid? [False, False] Translation: X:15.05, Y:-0.42, Z:-0.11 [[ 0.9941877 0.05694062 -0.09137064 15.05323415] [-0.05424841 0.99802465 0.03168453 -0.42371293] [ 0.09299428 -0.02654366 0.99531276 -0.11446141] [ 0. 0. 0. 1. ]] SLAMing on 86.789649246 meters Centerline goodness : 0.912573 with order 1 Centerline is valid? [False, False] Translation: X:15.07, Y:-0.42, Z:-0.12 [[ 0.99451533 0.05477244 -0.08910245 15.07276221] [-0.05298533 0.99834623 0.0223017 -0.42394637] [ 0.09017661 -0.01745826 0.99577276 -0.11611976] [ 0. 0. 0. 1. ]] SLAMing on 86.849649246 meters Centerline goodness : 0.911460 with order 1 Centerline is valid? [False, False] Translation: X:15.09, Y:-0.43, Z:-0.11 [[ 0.99464603 0.05339024 -0.08848021 15.08826747] [-0.05060279 0.99815838 0.03345442 -0.42967558] [ 0.09010341 -0.02879796 0.99551597 -0.10870185] [ 0. 0. 0. 1. ]] SLAMing on 86.909649246 meters Centerline goodness : 0.913549 with order 1 Centerline is valid? [False, False] Translation: X:15.09, Y:-0.43, Z:-0.11 [[ 0.99441739 0.05640293 -0.08917832 15.09096338] [-0.05316825 0.99785302 0.03824247 -0.43270618] [ 0.09114384 -0.03328752 0.99528124 -0.10689042] [ 0. 0. 0. 1. ]] SLAMing on 86.969649246 meters Centerline goodness : 0.914818 with order 1 Centerline is valid? [False, False] Translation: X:15.10, Y:-0.44, Z:-0.10 [[ 0.99410079 0.05847814 -0.0913451 15.09763816] [-0.05463038 0.99753353 0.0440724 -0.43553667] [ 0.09369707 -0.03882219 0.99484355 -0.10287898] [ 0. 0. 0. 1. ]] SLAMing on 87.029649246 meters Centerline goodness : 0.916204 with order 1 Centerline is valid? [False, False] Translation: X:15.12, Y:-0.43, Z:-0.11 [[ 0.99424634 0.05821692 -0.08991664 15.11654911] [-0.05533385 0.9978809 0.03423252 -0.43495425] [ 0.09171901 -0.02906013 0.99536081 -0.1073346 ] [ 0. 0. 0. 1. ]] SLAMing on 87.08964924600001 meters Centerline goodness : 0.920008 with order 1 Centerline is valid? [False, False] Translation: X:15.13, Y:-0.43, Z:-0.11 [[ 0.99531276 0.054726 -0.0797344 15.12742572] [-0.0524041 0.99814688 0.03092924 -0.43313051] [ 0.08127928 -0.02660586 0.99633619 -0.11397278] [ 0. 0. 0. 1. ]] SLAMing on 87.149649246 meters Centerline goodness : 0.921204 with order 1 Centerline is valid? [False, False] Translation: X:15.13, Y:-0.44, Z:-0.11 [[ 0.99504512 0.05810144 -0.08068099 15.13026815] [-0.05527304 0.99779068 0.03685997 -0.43656612] [ 0.08264436 -0.03221785 0.99605819 -0.1107049 ] [ 0. 0. 0. 1. ]] SLAMing on 87.209649246 meters Centerline goodness : 0.923021 with order 1 Centerline is valid? [False, False] Translation: X:15.15, Y:-0.44, Z:-0.11 [[ 0.99554236 0.05496463 -0.07664401 15.14538525] [-0.05318104 0.99826882 0.0251227 -0.43631702] [ 0.07789218 -0.0209347 0.99674197 -0.11341797] [ 0. 0. 0. 1. ]] SLAMing on 87.269649246 meters Centerline goodness : 0.927746 with order 1 Centerline is valid? [False, False] Translation: X:15.15, Y:-0.44, Z:-0.11 [[ 0.99539886 0.0551629 -0.07834638 15.15335807] [-0.05302161 0.99816767 0.02915486 -0.4393574 ] [ 0.07981109 -0.02486666 0.99649979 -0.11239523] [ 0. 0. 0. 1. ]] SLAMing on 87.329649246 meters Centerline goodness : 0.924503 with order 1 Centerline is valid? [False, False] Translation: X:15.16, Y:-0.44, Z:-0.11 [[ 0.9951761 0.0558292 -0.08066993 15.16267893] [-0.05324115 0.99800657 0.03388616 -0.44221748] [ 0.08240096 -0.02942774 0.99616469 -0.11110567] [ 0. 0. 0. 1. ]] SLAMing on 87.389649246 meters Centerline goodness : 0.925118 with order 1 Centerline is valid? [False, False] Translation: X:15.18, Y:-0.44, Z:-0.11 [[ 0.99533695 0.05625704 -0.07835495 15.18492167] [-0.05415899 0.99812121 0.0286504 -0.44222334] [ 0.07981952 -0.02427318 0.99651375 -0.11223086] [ 0. 0. 0. 1. ]] SLAMing on 87.449649246 meters Centerline goodness : 0.926636 with order 1 Centerline is valid? [False, False] Translation: X:15.19, Y:-0.45, Z:-0.11 [[ 0.99505107 0.05939841 -0.07965673 15.18800205] [-0.05673702 0.99776598 0.03526973 -0.44745439] [ 0.08157374 -0.0305757 0.9961982 -0.10708747] [ 0. 0. 0. 1. ]] SLAMing on 87.509649246 meters Centerline goodness : 0.923259 with order 1 Centerline is valid? [False, False] Translation: X:15.20, Y:-0.45, Z:-0.11 [[ 0.99483307 0.06056803 -0.08147812 15.1957371 ] [-0.05756572 0.99759104 0.03870785 -0.4483047 ] [ 0.0836263 -0.0338175 0.9959232 -0.10769609] [ 0. 0. 0. 1. ]] SLAMing on 87.569649246 meters Centerline goodness : 0.921627 with order 1 Centerline is valid? [False, False] Translation: X:15.20, Y:-0.45, Z:-0.11 [[ 0.99458097 0.06283957 -0.08282446 15.20102398] [-0.05943806 0.99730904 0.04291623 -0.45027338] [ 0.08529842 -0.03776074 0.99563965 -0.10709287] [ 0. 0. 0. 1. ]] SLAMing on 87.629649246 meters Centerline goodness : 0.923745 with order 1 Centerline is valid? [False, False] Translation: X:15.22, Y:-0.45, Z:-0.10 [[ 0.99479347 0.05511096 -0.0857248 15.21501188] [-0.05152318 0.99772319 0.0435178 -0.44851781] [ 0.08792793 -0.03887441 0.995368 -0.10208962] [ 0. 0. 0. 1. ]] SLAMing on 87.689649246 meters Centerline goodness : 0.917942 with order 1 Centerline is valid? [False, False] Translation: X:15.22, Y:-0.44, Z:-0.11 [[ 0.99453242 0.05644235 -0.08786083 15.22398689] [-0.05274043 0.99764277 0.04390159 -0.44242787] [ 0.09013163 -0.03902774 0.99516487 -0.10739462] [ 0. 0. 0. 1. ]] SLAMing on 87.749649246 meters Centerline goodness : 0.922792 with order 1 Centerline is valid? [False, False] Translation: X:15.24, Y:-0.44, Z:-0.11 [[ 0.99485305 0.05569381 -0.08464988 15.24333501] [-0.05265723 0.99790103 0.03769297 -0.44211881] [ 0.08657146 -0.03304154 0.99569756 -0.10537895] [ 0. 0. 0. 1. ]] SLAMing on 87.809649246 meters Centerline goodness : 0.924972 with order 1 Centerline is valid? [False, False] Translation: X:15.26, Y:-0.44, Z:-0.11 [[ 0.99510099 0.05701428 -0.08076753 15.2606468 ] [-0.05474161 0.99804736 0.03008039 -0.43938289] [ 0.08232483 -0.02551168 0.99627897 -0.10899015] [ 0. 0. 0. 1. ]] SLAMing on 87.86964924600001 meters Centerline goodness : 0.924955 with order 1 Centerline is valid? [False, False] Translation: X:15.26, Y:-0.44, Z:-0.11 [[ 0.99507631 0.05698618 -0.08109072 15.26101457] [-0.05479167 0.99807552 0.02903683 -0.43657526] [ 0.08258936 -0.02445077 0.99628367 -0.10958635] [ 0. 0. 0. 1. ]] SLAMing on 87.929649246 meters Centerline goodness : 0.924099 with order 1 Centerline is valid? [False, False] Translation: X:15.28, Y:-0.43, Z:-0.11 [[ 0.99531546 0.05751251 -0.07771387 15.28006295] [-0.0559584 0.99819 0.02203145 -0.43469421] [ 0.07884029 -0.0175795 0.99673225 -0.11195626] [ 0. 0. 0. 1. ]] SLAMing on 87.989649246 meters Centerline goodness : 0.922956 with order 1 Centerline is valid? [False, False] Translation: X:15.28, Y:-0.43, Z:-0.11 [[ 0.99506532 0.06109712 -0.07818031 15.28163518] [-0.05925979 0.99791399 0.0256115 -0.43235491] [ 0.07958201 -0.02085216 0.9966102 -0.11121828] [ 0. 0. 0. 1. ]] SLAMing on 88.049649246 meters Centerline goodness : 0.923307 with order 1 Centerline is valid? [False, False] Translation: X:15.28, Y:-0.43, Z:-0.11 [[ 0.99474829 0.06631022 -0.0779666 15.28014922] [-0.06421498 0.99751221 0.02908318 -0.42808626] [ 0.07970115 -0.02392382 0.99653167 -0.11021301] [ 0. 0. 0. 1. ]] SLAMing on 88.109649246 meters Centerline goodness : 0.928372 with order 1 Centerline is valid? [False, False] Translation: X:15.29, Y:-0.42, Z:-0.11 [[ 0.99498263 0.06831753 -0.07309097 15.29151955] [-0.06699341 0.99754444 0.02041978 -0.42379148] [ 0.07430652 -0.01542071 0.99711621 -0.11122529] [ 0. 0. 0. 1. ]] SLAMing on 88.169649246 meters Centerline goodness : 0.922836 with order 1 Centerline is valid? [False, False] Translation: X:15.30, Y:-0.42, Z:-0.11 [[ 0.99474758 0.07015326 -0.07453699 15.29753024] [-0.06862431 0.99738011 0.02288267 -0.42074474] [ 0.07594701 -0.01764743 0.99695568 -0.11260067] [ 0. 0. 0. 1. ]] SLAMing on 88.22964924600001 meters Centerline goodness : 0.917251 with order 1 Centerline is valid? [False, False] Translation: X:15.30, Y:-0.42, Z:-0.11 [[ 0.99447532 0.0723587 -0.07604646 15.30347138] [-0.07054645 0.99716288 0.02625638 -0.42049083] [ 0.07773058 -0.02074652 0.99675852 -0.11323943] [ 0. 0. 0. 1. ]] SLAMing on 88.289649246 meters Centerline goodness : 0.919314 with order 1 Centerline is valid? [False, False] Translation: X:15.32, Y:-0.42, Z:-0.12 [[ 9.94655993e-01 7.32790138e-02 -7.27299226e-02 1.53198231e+01] [-7.22462771e-02 9.97246438e-01 1.67337314e-02 -4.17608952e-01] [ 7.37558876e-02 -1.13898401e-02 9.97211282e-01 -1.17796508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.349649246 meters Centerline goodness : 0.917371 with order 1 Centerline is valid? [False, False] Translation: X:15.32, Y:-0.42, Z:-0.12 [[ 9.94307375e-01 7.72568919e-02 -7.33772234e-02 1.53209674e+01] [-7.59290119e-02 9.96897899e-01 2.07210991e-02 -4.16035061e-01] [ 7.47504476e-02 -1.50316816e-02 9.97088973e-01 -1.15999090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.409649246 meters Centerline goodness : 0.912645 with order 1 Centerline is valid? [False, False] Translation: X:15.32, Y:-0.41, Z:-0.12 [[ 9.94240417e-01 7.78824142e-02 -7.36228424e-02 1.53207322e+01] [-7.65921975e-02 9.96858007e-01 2.01927797e-02 -4.12487583e-01] [ 7.49641824e-02 -1.44375424e-02 9.97081706e-01 -1.15938146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.469649246 meters Centerline goodness : 0.923530 with order 1 Centerline is valid? [False, False] Translation: X:15.33, Y:-0.41, Z:-0.12 [[ 9.94466461e-01 7.92562213e-02 -6.89558481e-02 1.53336936e+01] [-7.86158353e-02 9.96833290e-01 1.19558862e-02 -4.11302870e-01] [ 6.96850632e-02 -6.46870625e-03 9.97548068e-01 -1.17592381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.529649246 meters Centerline goodness : 0.924191 with order 1 Centerline is valid? [False, False] Translation: X:15.34, Y:-0.41, Z:-0.12 [[ 9.94445728e-01 7.90038302e-02 -6.95419948e-02 1.53353633e+01] [-7.83510702e-02 9.96852772e-01 1.20689681e-02 -4.12252765e-01] [ 7.02766250e-02 -6.55324410e-03 9.97506016e-01 -1.17743398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.58964924600001 meters Centerline goodness : 0.912139 with order 1 Centerline is valid? [False, False] Translation: X:15.34, Y:-0.41, Z:-0.12 [[ 9.94442984e-01 7.85167840e-02 -7.01303571e-02 1.53376414e+01] [-7.79038676e-02 9.96895276e-01 1.14366519e-02 -4.12127736e-01] [ 7.08105908e-02 -5.90967221e-03 9.97472273e-01 -1.19194214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.649649246 meters Centerline goodness : 0.908887 with order 1 Centerline is valid? [False, False] Translation: X:15.34, Y:-0.42, Z:-0.12 [[ 9.94280098e-01 7.91392432e-02 -7.17221567e-02 1.53446712e+01] [-7.81310508e-02 9.96802217e-01 1.67594549e-02 -4.16850261e-01] [ 7.28191353e-02 -1.10598650e-02 9.97283838e-01 -1.16108285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.709649246 meters Centerline goodness : 0.912164 with order 1 Centerline is valid? [False, False] Translation: X:15.35, Y:-0.42, Z:-0.12 [[ 9.94307514e-01 7.81350462e-02 -7.24395052e-02 1.53473327e+01] [-7.70801735e-02 9.96875673e-01 1.72493049e-02 -4.19980597e-01] [ 7.35609558e-02 -1.15674639e-02 9.97223636e-01 -1.15991154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.769649246 meters Centerline goodness : 0.911629 with order 1 Centerline is valid? [False, False] Translation: X:15.35, Y:-0.42, Z:-0.12 [[ 9.94613545e-01 7.38451004e-02 -7.27378716e-02 1.53479556e+01] [-7.30147800e-02 9.97232416e-01 1.40124901e-02 -4.22638870e-01] [ 7.35713172e-02 -8.62607273e-03 9.97252652e-01 -1.16028615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.829649246 meters Centerline goodness : 0.919894 with order 1 Centerline is valid? [False, False] Translation: X:15.35, Y:-0.43, Z:-0.11 [[ 9.94593022e-01 7.28522152e-02 -7.40086188e-02 1.53513319e+01] [-7.18686996e-02 9.97287838e-01 1.58700568e-02 -4.27495146e-01] [ 7.49640642e-02 -1.04653446e-02 9.97131318e-01 -1.13535270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.889649246 meters Centerline goodness : 0.916724 with order 1 Centerline is valid? [False, False] Translation: X:15.35, Y:-0.43, Z:-0.11 [[ 9.94553260e-01 7.21298431e-02 -7.52402782e-02 1.53545233e+01] [-7.10433966e-02 9.97327990e-01 1.70210662e-02 -4.31521768e-01] [ 7.62669623e-02 -1.15830319e-02 9.97020152e-01 -1.12243987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.949649246 meters Centerline goodness : 0.906771 with order 1 Centerline is valid? [False, False] Translation: X:15.36, Y:-0.43, Z:-0.12 [[ 9.94581510e-01 7.08158769e-02 -7.61099921e-02 1.53592019e+01] [-6.98304808e-02 9.97437909e-01 1.55345581e-02 -4.30218191e-01] [ 7.70150847e-02 -1.01355869e-02 9.96978408e-01 -1.15777470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.009649246 meters Centerline goodness : 0.911105 with order 1 Centerline is valid? [False, False] Translation: X:15.36, Y:-0.43, Z:-0.12 [[ 9.94564490e-01 6.94312353e-02 -7.75936729e-02 1.53641003e+01] [-6.84298134e-02 9.97535606e-01 1.54943930e-02 -4.31178085e-01] [ 7.84782464e-02 -1.01004525e-02 9.96864658e-01 -1.16150455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.069649246 meters Centerline goodness : 0.915435 with order 1 Centerline is valid? [False, False] Translation: X:15.37, Y:-0.43, Z:-0.12 [[ 9.94592859e-01 6.79901067e-02 -7.85008952e-02 1.53677896e+01] [-6.70073070e-02 9.97638373e-01 1.50896425e-02 -4.31346787e-01] [ 7.93414517e-02 -9.74791710e-03 9.96799836e-01 -1.16907122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.129649246 meters Centerline goodness : 0.912943 with order 1 Centerline is valid? [False, False] Translation: X:15.38, Y:-0.43, Z:-0.12 [[ 9.94439738e-01 6.75790507e-02 -8.07631085e-02 1.53780103e+01] [-6.62322290e-02 9.97618655e-01 1.92434551e-02 -4.32592968e-01] [ 8.18712381e-02 -1.37873358e-02 9.96547545e-01 -1.15413472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.189649246 meters Centerline goodness : 0.915133 with order 1 Centerline is valid? [False, False] Translation: X:15.38, Y:-0.43, Z:-0.12 [[ 9.94383945e-01 6.70822938e-02 -8.18567948e-02 1.53807613e+01] [-6.57139988e-02 9.97651835e-01 1.92999017e-02 -4.33250687e-01] [ 8.29592632e-02 -1.38123751e-02 9.96457214e-01 -1.15128600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.249649246 meters Centerline goodness : 0.906568 with order 1 Centerline is valid? [False, False] Translation: X:15.38, Y:-0.43, Z:-0.12 [[ 9.94612844e-01 6.21616884e-02 -8.29530906e-02 1.53843197e+01] [-6.12146557e-02 9.98027640e-01 1.39138921e-02 -4.32165452e-01] [ 8.36543882e-02 -8.76099090e-03 9.96456315e-01 -1.18272763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.309649246 meters Centerline goodness : 0.904603 with order 1 Centerline is valid? [False, False] Translation: X:15.40, Y:-0.43, Z:-0.12 [[ 9.94544101e-01 6.02420982e-02 -8.51640831e-02 1.53971665e+01] [-5.90022366e-02 9.98113026e-01 1.70036064e-02 -4.33728801e-01] [ 8.60277136e-02 -1.18859651e-02 9.96221841e-01 -1.18902466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.36964924600001 meters Centerline goodness : 0.904617 with order 1 Centerline is valid? [False, False] Translation: X:15.40, Y:-0.44, Z:-0.12 [[ 9.94494314e-01 5.98477802e-02 -8.60191995e-02 1.53994634e+01] [-5.85167291e-02 9.98125662e-01 1.79151971e-02 -4.35685458e-01] [ 8.69301552e-02 -1.27829994e-02 9.96132392e-01 -1.17748273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.429649246 meters Centerline goodness : 0.914143 with order 1 Centerline is valid? [False, False] Translation: X:15.41, Y:-0.44, Z:-0.12 [[ 9.94981793e-01 5.88088136e-02 -8.09490860e-02 1.54103164e+01] [-5.83391472e-02 9.98263496e-01 8.15701063e-03 -4.38352536e-01] [ 8.12882217e-02 -3.39357642e-03 9.96684859e-01 -1.17195642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.489649246 meters Centerline goodness : 0.915869 with order 1 Centerline is valid? [False, False] Translation: X:15.43, Y:-0.44, Z:-0.11 [[ 0.99528665 0.05668972 -0.07868139 15.43349104] [-0.05519241 0.99825324 0.02107771 -0.44197766] [ 0.07973885 -0.01663575 0.99667696 -0.11267245] [ 0. 0. 0. 1. ]] SLAMing on 89.549649246 meters Centerline goodness : 0.910648 with order 1 Centerline is valid? [False, False] Translation: X:15.45, Y:-0.44, Z:-0.11 [[ 0.99521458 0.05444912 -0.08113715 15.4464669 ] [-0.05265419 0.99832192 0.02410149 -0.44391272] [ 0.0823133 -0.01971394 0.9964115 -0.11244635] [ 0. 0. 0. 1. ]] SLAMing on 89.609649246 meters Centerline goodness : 0.912438 with order 1 Centerline is valid? [False, False] Translation: X:15.46, Y:-0.45, Z:-0.11 [[ 0.99527055 0.05006534 -0.08324664 15.4640248 ] [-0.04762741 0.99838341 0.0310193 -0.44965314] [ 0.08466506 -0.02690778 0.99604608 -0.10607656] [ 0. 0. 0. 1. ]] SLAMing on 89.669649246 meters Centerline goodness : 0.907604 with order 1 Centerline is valid? [False, False] Translation: X:15.47, Y:-0.45, Z:-0.11 [[ 0.99523534 0.0482139 -0.08474687 15.46984838] [-0.04578359 0.99848896 0.03039169 -0.44986683] [ 0.08608412 -0.02636687 0.99593891 -0.10745578] [ 0. 0. 0. 1. ]] SLAMing on 89.72964924600001 meters Centerline goodness : 0.922168 with order 1 Centerline is valid? [False, False] Translation: X:15.48, Y:-0.45, Z:-0.11 [[ 0.99630265 0.04575609 -0.07271458 15.47714682] [-0.04360532 0.99857098 0.03089621 -0.44595308] [ 0.07402436 -0.02761124 0.99687412 -0.11182613] [ 0. 0. 0. 1. ]] SLAMing on 89.789649246 meters Centerline goodness : 0.926638 with order 1 Centerline is valid? [False, False] Translation: X:15.49, Y:-0.44, Z:-0.12 [[ 0.99665147 0.04538105 -0.06801766 15.48960912] [-0.04416252 0.99883766 0.01931347 -0.44299267] [ 0.06881507 -0.01624497 0.99749716 -0.11537049] [ 0. 0. 0. 1. ]] SLAMing on 89.849649246 meters Centerline goodness : 0.931133 with order 1 Centerline is valid? [False, False] Translation: X:15.50, Y:-0.44, Z:-0.12 [[ 0.99736609 0.04213925 -0.05903525 15.50404364] [-0.04098568 0.998947 0.02061733 -0.44239729] [ 0.05984188 -0.01814343 0.99804297 -0.11796884] [ 0. 0. 0. 1. ]] SLAMing on 89.909649246 meters Centerline goodness : 0.929559 with order 1 Centerline is valid? [False, False] Translation: X:15.51, Y:-0.44, Z:-0.12 [[ 0.99714241 0.04490204 -0.06075214 15.50922247] [-0.04343468 0.99873682 0.02526266 -0.44315006] [ 0.06180975 -0.02255172 0.99783314 -0.11648304] [ 0. 0. 0. 1. ]] SLAMing on 89.969649246 meters Centerline goodness : 0.937324 with order 1 Centerline is valid? [False, False] Translation: X:15.52, Y:-0.45, Z:-0.11 [[ 0.99735511 0.03770088 -0.06214033 15.52189634] [-0.03591082 0.99891427 0.02967645 -0.44677629] [ 0.06319169 -0.02736645 0.99762613 -0.10697994] [ 0. 0. 0. 1. ]] SLAMing on 90.029649246 meters Centerline goodness : 0.929315 with order 1 Centerline is valid? [False, False] Translation: X:15.53, Y:-0.44, Z:-0.11 [[ 0.99715573 0.03857605 -0.06474834 15.53200738] [-0.03663952 0.99885273 0.03083454 -0.44355221] [ 0.06586354 -0.02837449 0.99742513 -0.11143287] [ 0. 0. 0. 1. ]] SLAMing on 90.08964924600001 meters Centerline goodness : 0.922980 with order 1 Centerline is valid? [False, False] Translation: X:15.54, Y:-0.44, Z:-0.12 [[ 0.99696029 0.0418505 -0.06571688 15.5366756 ] [-0.03987664 0.99872156 0.03106614 -0.43776096] [ 0.066933 -0.02835114 0.99735459 -0.11783878] [ 0. 0. 0. 1. ]] SLAMing on 90.149649246 meters Centerline goodness : 0.923236 with order 1 Centerline is valid? [False, False] Translation: X:15.55, Y:-0.44, Z:-0.12 [[ 0.99720411 0.04213414 -0.06171443 15.54853855] [-0.04099715 0.99896748 0.01957572 -0.43570337] [ 0.06247551 -0.01699088 0.99790186 -0.12048259] [ 0. 0. 0. 1. ]] SLAMing on 90.209649246 meters Centerline goodness : 0.925936 with order 1 Centerline is valid? [False, False] Translation: X:15.55, Y:-0.44, Z:-0.12 [[ 0.99696486 0.04617926 -0.06267804 15.55057944] [-0.04475767 0.99871196 0.02389919 -0.43545265] [ 0.06370096 -0.02102133 0.99774761 -0.11917035] [ 0. 0. 0. 1. ]] SLAMing on 90.269649246 meters Centerline goodness : 0.924642 with order 1 Centerline is valid? [False, False] Translation: X:15.55, Y:-0.44, Z:-0.12 [[ 0.99673644 0.04931319 -0.06391142 15.55418154] [-0.04757221 0.99846163 0.02848272 -0.43536425] [ 0.06521767 -0.02534935 0.99754903 -0.11741613] [ 0. 0. 0. 1. ]] SLAMing on 90.329649246 meters Centerline goodness : 0.927788 with order 1 Centerline is valid? [False, False] Translation: X:15.56, Y:-0.44, Z:-0.11 [[ 0.99667643 0.04869241 -0.06530813 15.55715194] [-0.0466954 0.998404 0.03176469 -0.43985433] [ 0.0667506 -0.02860953 0.99735944 -0.11217971] [ 0. 0. 0. 1. ]] SLAMing on 90.389649246 meters Centerline goodness : 0.929159 with order 1 Centerline is valid? [False, False] Translation: X:15.56, Y:-0.44, Z:-0.11 [[ 0.99661562 0.04809217 -0.0666667 15.56031079] [-0.04595955 0.99839268 0.03316301 -0.44380808] [ 0.06815442 -0.02998681 0.99722403 -0.11038159] [ 0. 0. 0. 1. ]] SLAMing on 90.449649246 meters Centerline goodness : 0.928565 with order 1 Centerline is valid? [False, False] Translation: X:15.58, Y:-0.44, Z:-0.12 [[ 0.99683869 0.04764328 -0.06358256 15.57724566] [-0.04628433 0.99867084 0.02267827 -0.44294163] [ 0.06457851 -0.0196637 0.99771888 -0.11519695] [ 0. 0. 0. 1. ]] SLAMing on 90.509649246 meters Centerline goodness : 0.927532 with order 1 Centerline is valid? [False, False] Translation: X:15.58, Y:-0.44, Z:-0.11 [[ 0.99659476 0.05003709 -0.06553755 15.58318876] [-0.04834007 0.99845971 0.02722964 -0.44406137] [ 0.0667991 -0.02396882 0.99747851 -0.11369593] [ 0. 0. 0. 1. ]] SLAMing on 90.569649246 meters Centerline goodness : 0.922575 with order 1 Centerline is valid? [False, False] Translation: X:15.59, Y:-0.44, Z:-0.12 [[ 0.99654492 0.04903922 -0.0670326 15.5880668 ] [-0.04743476 0.99855332 0.02532212 -0.44082978] [ 0.0681774 -0.02205495 0.99742941 -0.11671726] [ 0. 0. 0. 1. ]] SLAMing on 90.629649246 meters Centerline goodness : 0.922125 with order 1 Centerline is valid? [False, False] Translation: X:15.59, Y:-0.44, Z:-0.11 [[ 0.99646696 0.04881176 -0.06834482 15.59030776] [-0.04711672 0.99854578 0.02619827 -0.44238311] [ 0.06952421 -0.02288552 0.99731772 -0.11465052] [ 0. 0. 0. 1. ]] SLAMing on 90.689649246 meters Centerline goodness : 0.920939 with order 1 Centerline is valid? [False, False] Translation: X:15.60, Y:-0.44, Z:-0.11 [[ 0.99625402 0.0496443 -0.07080515 15.59963585] [-0.04753677 0.99838376 0.03114696 -0.44406679] [ 0.07223698 -0.02766444 0.99700376 -0.11286093] [ 0. 0. 0. 1. ]] SLAMing on 90.749649246 meters Centerline goodness : 0.920043 with order 1 Centerline is valid? [False, False] Translation: X:15.61, Y:-0.45, Z:-0.11 [[ 0.99603556 0.05140291 -0.07260105 15.60636145] [-0.04895688 0.99818468 0.03507951 -0.44501588] [ 0.07427244 -0.03138612 0.99674396 -0.11252245] [ 0. 0. 0. 1. ]] SLAMing on 90.809649246 meters Centerline goodness : 0.922401 with order 1 Centerline is valid? [False, False] Translation: X:15.63, Y:-0.45, Z:-0.11 [[ 0.99627124 0.05066184 -0.06983555 15.62707968] [-0.04877239 0.99840319 0.02850137 -0.4452847 ] [ 0.07116797 -0.02498904 0.99715128 -0.11240201] [ 0. 0. 0. 1. ]] SLAMing on 90.86964924600001 meters Centerline goodness : 0.923570 with order 1 Centerline is valid? [False, False] Translation: X:15.63, Y:-0.45, Z:-0.11 [[ 0.99603532 0.05284518 -0.07156136 15.63295938] [-0.05056598 0.99816553 0.03329645 -0.44667308] [ 0.07318964 -0.02954587 0.99688029 -0.11044592] [ 0. 0. 0. 1. ]] SLAMing on 90.929649246 meters Centerline goodness : 0.921992 with order 1 Centerline is valid? [False, False] Translation: X:15.65, Y:-0.44, Z:-0.12 [[ 0.99625522 0.05217939 -0.06894084 15.65064614] [-0.05077168 0.99846757 0.02201719 -0.44460582] [ 0.06998404 -0.0184345 0.99737776 -0.11630544] [ 0. 0. 0. 1. ]] SLAMing on 90.989649246 meters Centerline goodness : 0.922610 with order 1 Centerline is valid? [False, False] Translation: X:15.66, Y:-0.45, Z:-0.11 [[ 0.99599176 0.05431629 -0.07106445 15.65703168] [-0.05241119 0.99822153 0.02840487 -0.44875747] [ 0.07248092 -0.02456644 0.9970672 -0.1115991 ] [ 0. 0. 0. 1. ]] SLAMing on 91.049649246 meters Centerline goodness : 0.921472 with order 1 Centerline is valid? [False, False] Translation: X:15.66, Y:-0.45, Z:-0.11 [[ 0.99576301 0.05613822 -0.07283217 15.66355445] [-0.05388905 0.99801825 0.03248908 -0.4500228 ] [ 0.07451171 -0.02842656 0.9968149 -0.11084214] [ 0. 0. 0. 1. ]] SLAMing on 91.109649246 meters Centerline goodness : 0.917242 with order 1 Centerline is valid? [False, False] Translation: X:15.68, Y:-0.45, Z:-0.11 [[ 0.99596275 0.05565073 -0.07043576 15.68261408] [-0.05414969 0.99826686 0.02304514 -0.44868493] [ 0.07159616 -0.01913803 0.99725008 -0.11447141] [ 0. 0. 0. 1. ]] SLAMing on 91.169649246 meters Centerline goodness : 0.920592 with order 1 Centerline is valid? [False, False] Translation: X:15.68, Y:-0.45, Z:-0.11 [[ 0.99595151 0.05517425 -0.07096758 15.68424943] [-0.05367488 0.99829664 0.02286536 -0.44766928] [ 0.07210827 -0.01896361 0.99721652 -0.11438012] [ 0. 0. 0. 1. ]] SLAMing on 91.22964924600001 meters Centerline goodness : 0.921797 with order 1 Centerline is valid? [False, False] Translation: X:15.70, Y:-0.45, Z:-0.11 [[ 0.99620103 0.04996216 -0.07132517 15.69951474] [-0.04794435 0.99840751 0.02972843 -0.45087699] [ 0.07269688 -0.02619585 0.99701 -0.10694153] [ 0. 0. 0. 1. ]] SLAMing on 91.289649246 meters Centerline goodness : 0.920084 with order 1 Centerline is valid? [False, False] Translation: X:15.71, Y:-0.45, Z:-0.10 [[ 0.99593423 0.05196016 -0.07358775 15.70644143] [-0.04947161 0.9981534 0.03524698 -0.4529074 ] [ 0.07528331 -0.03146317 0.99666569 -0.10341816] [ 0. 0. 0. 1. ]] SLAMing on 91.349649246 meters Centerline goodness : 0.916739 with order 1 Centerline is valid? [False, False] Translation: X:15.71, Y:-0.45, Z:-0.10 [[ 0.99569968 0.05354326 -0.07559939 15.71392777] [-0.05064967 0.99792756 0.03968866 -0.45370714] [ 0.07756777 -0.0356889 0.9963481 -0.10205679] [ 0. 0. 0. 1. ]] SLAMing on 91.409649246 meters Centerline goodness : 0.917995 with order 1 Centerline is valid? [False, False] Translation: X:15.73, Y:-0.45, Z:-0.11 [[ 0.99593534 0.05215718 -0.07343313 15.73191379] [-0.05024916 0.99835538 0.02759634 -0.45164376] [ 0.07475171 -0.02379422 0.99691826 -0.10758418] [ 0. 0. 0. 1. ]] SLAMing on 91.469649246 meters Centerline goodness : 0.916556 with order 1 Centerline is valid? [False, False] Translation: X:15.74, Y:-0.45, Z:-0.11 [[ 0.99568551 0.0535952 -0.07574899 15.73974489] [-0.05125415 0.99815603 0.03252003 -0.45343557] [ 0.07735223 -0.02849727 0.99659648 -0.1050219 ] [ 0. 0. 0. 1. ]] SLAMing on 91.529649246 meters Centerline goodness : 0.925785 with order 1 Centerline is valid? [False, False] Translation: X:15.76, Y:-0.45, Z:-0.11 [[ 0.99591001 0.05392183 -0.07249618 15.75998216] [-0.05221769 0.99831769 0.02520133 -0.45080925] [ 0.07373312 -0.02131267 0.99705025 -0.10784785] [ 0. 0. 0. 1. ]] SLAMing on 91.58964924600001 meters Centerline goodness : 0.922322 with order 1 Centerline is valid? [False, False] Translation: X:15.77, Y:-0.45, Z:-0.11 [[ 0.99563688 0.05673833 -0.07408079 15.76510865] [-0.05469699 0.99807298 0.02930123 -0.45037967] [ 0.07560054 -0.02512138 0.99682169 -0.10689076] [ 0. 0. 0. 1. ]] SLAMing on 91.649649246 meters Centerline goodness : 0.926460 with order 1 Centerline is valid? [False, False] Translation: X:15.77, Y:-0.45, Z:-0.11 [[ 0.99556237 0.05592566 -0.07568284 15.76901015] [-0.05390887 0.99814091 0.02843518 -0.44874739] [ 0.07713239 -0.02422902 0.99672642 -0.10730212] [ 0. 0. 0. 1. ]] SLAMing on 91.709649246 meters Centerline goodness : 0.926101 with order 1 Centerline is valid? [False, False] Translation: X:15.79, Y:-0.45, Z:-0.11 [[ 9.95782457e-01 5.54673079e-02 -7.30799300e-02 1.57891630e+01] [-5.42232130e-02 9.98349943e-01 1.89006671e-02 -4.45962339e-01] [ 7.40077131e-02 -1.48583242e-02 9.97146974e-01 -1.11882079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.769649246 meters Centerline goodness : 0.930694 with order 1 Centerline is valid? [False, False] Translation: X:15.81, Y:-0.44, Z:-0.11 [[ 9.95989899e-01 5.62904477e-02 -6.95378020e-02 1.58077192e+01] [-5.56136632e-02 9.98384603e-01 1.16320821e-02 -4.43580900e-01] [ 7.00802460e-02 -7.71818436e-03 9.97511498e-01 -1.14345140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.829649246 meters Centerline goodness : 0.931701 with order 1 Centerline is valid? [False, False] Translation: X:15.81, Y:-0.44, Z:-0.11 [[ 9.95954257e-01 5.65136053e-02 -6.98665235e-02 1.58075101e+01] [-5.58124233e-02 9.98369765e-01 1.19492747e-02 -4.42972700e-01] [ 7.04279212e-02 -8.00151101e-03 9.97484779e-01 -1.12689588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.889649246 meters Centerline goodness : 0.931268 with order 1 Centerline is valid? [False, False] Translation: X:15.83, Y:-0.44, Z:-0.11 [[ 9.96012927e-01 5.94807788e-02 -6.64852279e-02 1.58277310e+01] [-5.90968243e-02 9.98222337e-01 7.72864988e-03 -4.40561650e-01] [ 6.68267456e-02 -3.76876936e-03 9.97757477e-01 -1.14192712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.949649246 meters Centerline goodness : 0.933612 with order 1 Centerline is valid? [False, False] Translation: X:15.84, Y:-0.44, Z:-0.11 [[ 9.95744247e-01 6.09541163e-02 -6.91230034e-02 1.58361615e+01] [-6.01481319e-02 9.98095661e-01 1.36840510e-02 -4.42413596e-01] [ 6.98254690e-02 -9.46819551e-03 9.97514289e-01 -1.09588415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.009649246 meters Centerline goodness : 0.928894 with order 1 Centerline is valid? [False, False] Translation: X:15.84, Y:-0.44, Z:-0.11 [[ 9.95704740e-01 5.89812754e-02 -7.13672223e-02 1.58432981e+01] [-5.82012474e-02 9.98220716e-01 1.29621552e-02 -4.42105019e-01] [ 7.20047642e-02 -8.75281798e-03 9.97365882e-01 -1.10747316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.069649246 meters Centerline goodness : 0.924838 with order 1 Centerline is valid? [False, False] Translation: X:15.85, Y:-0.44, Z:-0.11 [[ 9.95675893e-01 5.73367988e-02 -7.30890322e-02 1.58488328e+01] [-5.64653781e-02 9.98307299e-01 1.39354561e-02 -4.44494247e-01] [ 7.37643288e-02 -9.74819789e-03 9.97228056e-01 -1.09490575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.129649246 meters Centerline goodness : 0.933598 with order 1 Centerline is valid? [False, False] Translation: X:15.87, Y:-0.45, Z:-0.10 [[ 0.99604596 0.05229665 -0.07181573 15.86618316] [-0.05070678 0.99843027 0.02378696 -0.4501736 ] [ 0.07294698 -0.02005136 0.99713423 -0.0996616 ] [ 0. 0. 0. 1. ]] SLAMing on 92.189649246 meters Centerline goodness : 0.930160 with order 1 Centerline is valid? [False, False] Translation: X:15.88, Y:-0.45, Z:-0.10 [[ 0.99580135 0.05285867 -0.0747371 15.87643389] [-0.05088051 0.9983085 0.0281302 -0.45095838] [ 0.0760976 -0.02420943 0.99680643 -0.09771702] [ 0. 0. 0. 1. ]] SLAMing on 92.249649246 meters Centerline goodness : 0.925630 with order 1 Centerline is valid? [False, False] Translation: X:15.88, Y:-0.45, Z:-0.10 [[ 0.99573541 0.05152119 -0.07652816 15.88248945] [-0.04961988 0.99841542 0.02654288 -0.44770974] [ 0.07777442 -0.02263236 0.99671406 -0.10010139] [ 0. 0. 0. 1. ]] SLAMing on 92.309649246 meters Centerline goodness : 0.925033 with order 1 Centerline is valid? [False, False] Translation: X:15.89, Y:-0.44, Z:-0.10 [[ 0.99566004 0.04979759 -0.07862115 15.889057 ] [-0.04799092 0.9985422 0.02470525 -0.44478946] [ 0.0797368 -0.02082493 0.9965984 -0.10234616] [ 0. 0. 0. 1. ]] SLAMing on 92.36964924600001 meters Centerline goodness : 0.923727 with order 1 Centerline is valid? [False, False] Translation: X:15.90, Y:-0.44, Z:-0.10 [[ 0.99558414 0.04767595 -0.08086551 15.89644346] [-0.0459156 0.99866907 0.02349151 -0.44270884] [ 0.08187786 -0.01967479 0.99644815 -0.10374826] [ 0. 0. 0. 1. ]] SLAMing on 92.429649246 meters Centerline goodness : 0.916814 with order 1 Centerline is valid? [False, False] Translation: X:15.90, Y:-0.44, Z:-0.10 [[ 0.99527868 0.04949082 -0.08349262 15.90444283] [-0.04725745 0.99847557 0.02851802 -0.44357225] [ 0.08477672 -0.02443772 0.99610025 -0.10071141] [ 0. 0. 0. 1. ]] SLAMing on 92.489649246 meters Centerline goodness : 0.916761 with order 1 Centerline is valid? [False, False] Translation: X:15.91, Y:-0.44, Z:-0.10 [[ 0.99501884 0.04981892 -0.08634569 15.91440766] [-0.04718386 0.998364 0.03229558 -0.44391228] [ 0.08781336 -0.02806059 0.99574164 -0.09883881] [ 0. 0. 0. 1. ]] SLAMing on 92.549649246 meters Centerline goodness : 0.921064 with order 1 Centerline is valid? [False, False] Translation: X:15.94, Y:-0.44, Z:-0.10 [[ 0.99524377 0.04838635 -0.08454941 15.94141878] [-0.04633337 0.99858557 0.0260784 -0.44153119] [ 0.08569166 -0.0220369 0.99607797 -0.10158351] [ 0. 0. 0. 1. ]] SLAMing on 92.609649246 meters Centerline goodness : 0.917632 with order 1 Centerline is valid? [False, False] Translation: X:15.97, Y:-0.44, Z:-0.10 [[ 0.99497197 0.04747438 -0.08818709 15.97202701] [-0.04552646 0.99867548 0.02397124 -0.44405603] [ 0.0892083 -0.01983587 0.99581545 -0.09793393] [ 0. 0. 0. 1. ]] SLAMing on 92.669649246 meters Centerline goodness : 0.915830 with order 1 Centerline is valid? [False, False] Translation: X:15.98, Y:-0.45, Z:-0.10 [[ 0.99471331 0.04820331 -0.09067458 15.9817353 ] [-0.04578126 0.99854184 0.02860544 -0.44519773] [ 0.09192123 -0.02430301 0.99546966 -0.09586264] [ 0. 0. 0. 1. ]] SLAMing on 92.72964924600001 meters Centerline goodness : 0.918195 with order 1 Centerline is valid? [False, False] Translation: X:15.99, Y:-0.45, Z:-0.09 [[ 0.99443912 0.04933618 -0.09304179 15.99023245] [-0.04637407 0.99835433 0.03373532 -0.44711587] [ 0.09455304 -0.02923299 0.99509053 -0.09271718] [ 0. 0. 0. 1. ]] SLAMing on 92.789649246 meters Centerline goodness : 0.916940 with order 1 Centerline is valid? [False, False] Translation: X:16.00, Y:-0.45, Z:-0.09 [[ 0.99432914 0.04632895 -0.09572455 15.99922507] [-0.04330035 0.99850102 0.03347835 -0.44727565] [ 0.09713208 -0.0291436 0.99484472 -0.0923099 ] [ 0. 0. 0. 1. ]] SLAMing on 92.849649246 meters Centerline goodness : 0.910777 with order 1 Centerline is valid? [False, False] Translation: X:16.03, Y:-0.45, Z:-0.09 [[ 0.99415462 0.04609108 -0.09763302 16.03404912] [-0.042771 0.99844218 0.03583102 -0.44911984] [ 0.09913241 -0.03144571 0.99457726 -0.08714109] [ 0. 0. 0. 1. ]] SLAMing on 92.909649246 meters Centerline goodness : 0.917281 with order 1 Centerline is valid? [False, False] Translation: X:16.06, Y:-0.45, Z:-0.09 [[ 0.99455091 0.04387817 -0.09456849 16.0558989 ] [-0.0415051 0.99877565 0.02691718 -0.44715513] [ 0.09563378 -0.02284543 0.99515439 -0.08975736] [ 0. 0. 0. 1. ]] SLAMing on 92.969649246 meters Centerline goodness : 0.917735 with order 1 Centerline is valid? [False, False] Translation: X:16.09, Y:-0.45, Z:-0.09 [[ 0.99457358 0.04297569 -0.09474433 16.08514746] [-0.04099329 0.99889987 0.02277258 -0.44622335] [ 0.09561877 -0.01876513 0.99524114 -0.08988086] [ 0. 0. 0. 1. ]] SLAMing on 93.029649246 meters Centerline goodness : 0.914678 with order 1 Centerline is valid? [False, False] Translation: X:16.10, Y:-0.45, Z:-0.09 [[ 0.99441382 0.03992329 -0.09771017 16.10057229] [-0.03751207 0.9989476 0.02639196 -0.44703382] [ 0.09866099 -0.02257922 0.99486491 -0.08783399] [ 0. 0. 0. 1. ]] SLAMing on 93.08964924600001 meters Centerline goodness : 0.915597 with order 1 Centerline is valid? [False, False] Translation: X:16.11, Y:-0.45, Z:-0.09 [[ 0.99421657 0.03676311 -0.10090534 16.11098922] [-0.03429419 0.99907105 0.02609486 -0.44722094] [ 0.10177093 -0.02248347 0.99455375 -0.08722676] [ 0. 0. 0. 1. ]] SLAMing on 93.149649246 meters Centerline goodness : 0.915640 with order 1 Centerline is valid? [False, False] Translation: X:16.12, Y:-0.45, Z:-0.08 [[ 0.99391643 0.03792779 -0.10340022 16.11988023] [-0.03480136 0.9988858 0.03187509 -0.44905735] [ 0.10449396 -0.02808271 0.99412895 -0.0829462 ] [ 0. 0. 0. 1. ]] SLAMing on 93.209649246 meters Centerline goodness : 0.919130 with order 1 Centerline is valid? [False, False] Translation: X:16.14, Y:-0.44, Z:-0.09 [[ 0.99406001 0.03863404 -0.10174527 16.14319742] [-0.03629631 0.99903506 0.02472896 -0.44449243] [ 0.10260247 -0.0208891 0.99450308 -0.08557508] [ 0. 0. 0. 1. ]] SLAMing on 93.269649246 meters Centerline goodness : 0.917057 with order 1 Centerline is valid? [False, False] Translation: X:16.17, Y:-0.44, Z:-0.09 [[ 0.99417049 0.0406855 -0.09984848 16.16954364] [-0.03871892 0.99901761 0.02155587 -0.44126895] [ 0.1006274 -0.01756419 0.99476913 -0.08677007] [ 0. 0. 0. 1. ]] SLAMing on 93.329649246 meters Centerline goodness : 0.919399 with order 1 Centerline is valid? [False, False] Translation: X:16.18, Y:-0.44, Z:-0.08 [[ 0.99381871 0.04084355 -0.10322878 16.18154091] [-0.0380994 0.99886981 0.02841736 -0.44275937] [ 0.10427278 -0.02430875 0.99425161 -0.07980736] [ 0. 0. 0. 1. ]] SLAMing on 93.389649246 meters Centerline goodness : 0.923367 with order 1 Centerline is valid? [False, False] Translation: X:16.19, Y:-0.44, Z:-0.08 [[ 0.99354286 0.04126585 -0.10568689 16.19095956] [-0.03807176 0.99876044 0.03206427 -0.4430282 ] [ 0.10687905 -0.02783354 0.99388237 -0.07850777] [ 0. 0. 0. 1. ]] SLAMing on 93.449649246 meters Centerline goodness : 0.921442 with order 1 Centerline is valid? [False, False] Translation: X:16.22, Y:-0.44, Z:-0.08 [[ 0.99365784 0.04022376 -0.10500548 16.21912845] [-0.03729644 0.99886295 0.02969492 -0.44338406] [ 0.10608053 -0.02559026 0.9940282 -0.07577172] [ 0. 0. 0. 1. ]] SLAMing on 93.509649246 meters Centerline goodness : 0.918613 with order 1 Centerline is valid? [False, False] Translation: X:16.24, Y:-0.44, Z:-0.07 [[ 0.99349316 0.03469913 -0.10847725 16.23924624] [-0.03127643 0.99896267 0.03309645 -0.44229161] [ 0.10951315 -0.02948832 0.99354784 -0.07235422] [ 0. 0. 0. 1. ]] SLAMing on 93.569649246 meters Centerline goodness : 0.917518 with order 1 Centerline is valid? [False, False] Translation: X:16.28, Y:-0.44, Z:-0.07 [[ 0.99262603 0.03866502 -0.11488504 16.27572339] [-0.03464768 0.99872321 0.03676249 -0.44257626] [ 0.11615978 -0.03251091 0.99269832 -0.06732931] [ 0. 0. 0. 1. ]] SLAMing on 93.629649246 meters Centerline goodness : 0.914583 with order 1 Centerline is valid? [False, False] Translation: X:16.30, Y:-0.44, Z:-0.07 [[ 0.99275159 0.03895614 -0.11369563 16.30276837] [-0.03556164 0.99886352 0.03173386 -0.43919127] [ 0.11480265 -0.02746064 0.99300869 -0.0691421 ] [ 0. 0. 0. 1. ]] SLAMing on 93.689649246 meters Centerline goodness : 0.911822 with order 1 Centerline is valid? [False, False] Translation: X:16.33, Y:-0.44, Z:-0.07 [[ 0.99297858 0.04020604 -0.111252 16.32637983] [-0.0374329 0.99893689 0.02690492 -0.4356998 ] [ 0.11221547 -0.02255152 0.99342796 -0.06986316] [ 0. 0. 0. 1. ]] SLAMing on 93.749649246 meters Centerline goodness : 0.917607 with order 1 Centerline is valid? [False, False] Translation: X:16.35, Y:-0.43, Z:-0.07 [[ 0.99322007 0.04192236 -0.108427 16.34720962] [-0.0397344 0.99896224 0.02226248 -0.43280855] [ 0.10924777 -0.01780327 0.9938551 -0.06886805] [ 0. 0. 0. 1. ]] SLAMing on 93.809649246 meters Centerline goodness : 0.918315 with order 1 Centerline is valid? [False, False] Translation: X:16.37, Y:-0.43, Z:-0.07 [[ 9.93259492e-01 4.51916855e-02 -1.06739374e-01 1.63734702e+01] [-4.32825072e-02 9.98859915e-01 2.01369174e-02 -4.29589411e-01] [ 1.07527703e-01 -1.53812366e-02 9.94083100e-01 -6.95367277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.86964924600001 meters Centerline goodness : 0.915453 with order 1 Centerline is valid? [False, False] Translation: X:16.38, Y:-0.42, Z:-0.07 [[ 0.99284728 0.047134 -0.10969354 16.38286871] [-0.04495528 0.99874113 0.02225238 -0.42474802] [ 0.1106043 -0.01716191 0.99371634 -0.07073329] [ 0. 0. 0. 1. ]] SLAMing on 93.929649246 meters Centerline goodness : 0.914989 with order 1 Centerline is valid? [False, False] Translation: X:16.40, Y:-0.42, Z:-0.07 [[ 0.9924341 0.04719718 -0.1133445 16.39528182] [-0.04434128 0.99863544 0.02758834 -0.42486752] [ 0.11449193 -0.02235377 0.99317265 -0.06588253] [ 0. 0. 0. 1. ]] SLAMing on 93.989649246 meters Centerline goodness : 0.914129 with order 1 Centerline is valid? [False, False] Translation: X:16.41, Y:-0.42, Z:-0.07 [[ 0.99205999 0.04777431 -0.11633827 16.40607202] [-0.04446563 0.99853376 0.03087277 -0.42447419] [ 0.11764261 -0.02545458 0.99272971 -0.06517144] [ 0. 0. 0. 1. ]] SLAMing on 94.049649246 meters Centerline goodness : 0.910478 with order 1 Centerline is valid? [False, False] Translation: X:16.42, Y:-0.42, Z:-0.06 [[ 0.99178879 0.04560738 -0.11947785 16.42026536] [-0.04181659 0.99854505 0.03404648 -0.42452539] [ 0.12085679 -0.02877076 0.99225293 -0.06334963] [ 0. 0. 0. 1. ]] SLAMing on 94.109649246 meters Centerline goodness : 0.912489 with order 1 Centerline is valid? [False, False] Translation: X:16.44, Y:-0.42, Z:-0.06 [[ 0.99216055 0.04286838 -0.11738713 16.44455116] [-0.04002562 0.998848 0.02646925 -0.42342435] [ 0.1183866 -0.02156326 0.99273342 -0.0634622 ] [ 0. 0. 0. 1. ]] SLAMing on 94.169649246 meters Centerline goodness : 0.915984 with order 1 Centerline is valid? [False, False] Translation: X:16.47, Y:-0.43, Z:-0.06 [[ 0.9924917 0.03887834 -0.11596851 16.46914072] [-0.03470122 0.99868171 0.03782415 -0.42704813] [ 0.11728617 -0.03351591 0.99253244 -0.05595788] [ 0. 0. 0. 1. ]] SLAMing on 94.22964924600001 meters Centerline goodness : 0.916210 with order 1 Centerline is valid? [False, False] Translation: X:16.49, Y:-0.43, Z:-0.05 [[ 0.99228435 0.03505033 -0.11892541 16.4864603 ] [-0.03013375 0.99862519 0.04289157 -0.42852673] [ 0.12026527 -0.03897697 0.99197634 -0.05113741] [ 0. 0. 0. 1. ]] SLAMing on 94.289649246 meters Centerline goodness : 0.914844 with order 1 Centerline is valid? [False, False] Translation: X:16.52, Y:-0.43, Z:-0.04 [[ 0.99194212 0.03458427 -0.12188007 16.52229573] [-0.02908802 0.99849048 0.0465903 -0.43298569] [ 0.12330738 -0.04266963 0.99145075 -0.04353371] [ 0. 0. 0. 1. ]] SLAMing on 94.349649246 meters Centerline goodness : 0.916604 with order 1 Centerline is valid? [False, False] Translation: X:16.55, Y:-0.43, Z:-0.04 [[ 0.99222256 0.03160435 -0.12039752 16.54747094] [-0.02715918 0.99889388 0.0383849 -0.43246826] [ 0.12147747 -0.03481647 0.99198339 -0.04496671] [ 0. 0. 0. 1. ]] SLAMing on 94.409649246 meters Centerline goodness : 0.916977 with order 1 Centerline is valid? [False, False] Translation: X:16.58, Y:-0.43, Z:-0.04 [[ 0.99169116 0.03264208 -0.12443124 16.58046699] [-0.02798996 0.99884891 0.03895415 -0.43438335] [ 0.12555955 -0.03514767 0.99146328 -0.04106587] [ 0. 0. 0. 1. ]] SLAMing on 94.469649246 meters Centerline goodness : 0.914475 with order 1 Centerline is valid? [False, False] Translation: X:16.60, Y:-0.43, Z:-0.04 [[ 0.99128426 0.03251426 -0.12766491 16.60009864] [-0.02669778 0.99853754 0.04701076 -0.43469869] [ 0.12900672 -0.04319265 0.99070261 -0.03737922] [ 0. 0. 0. 1. ]] SLAMing on 94.529649246 meters Centerline goodness : 0.908550 with order 1 Centerline is valid? [False, False] Translation: X:16.63, Y:-0.44, Z:-0.03 [[ 0.99037082 0.03241216 -0.1345923 16.63440995] [-0.02643367 0.99859295 0.04597154 -0.43773264] [ 0.13589296 -0.04197111 0.98983409 -0.03443482] [ 0. 0. 0. 1. ]] SLAMing on 94.58964924600001 meters Centerline goodness : 0.905537 with order 1 Centerline is valid? [False, False] Translation: X:16.64, Y:-0.44, Z:-0.03 [[ 0.99008541 0.03065489 -0.13708085 16.6421494 ] [-0.02456313 0.99864344 0.04591231 -0.4381566 ] [ 0.13830233 -0.04208998 0.98949528 -0.03404901] [ 0. 0. 0. 1. ]] SLAMing on 94.649649246 meters Centerline goodness : 0.910079 with order 1 Centerline is valid? [False, False] Translation: X:16.67, Y:-0.44, Z:-0.03 [[ 0.98990423 0.02963117 -0.13860592 16.67451595] [-0.02345013 0.99866537 0.04601703 -0.44163776] [ 0.13978447 -0.04230212 0.98927794 -0.02880159] [ 0. 0. 0. 1. ]] SLAMing on 94.709649246 meters Centerline goodness : 0.909579 with order 1 Centerline is valid? [False, False] Translation: X:16.70, Y:-0.44, Z:-0.03 [[ 0.9899976 0.02600014 -0.13866772 16.70139961] [-0.02070179 0.99900448 0.0395156 -0.4438508 ] [ 0.13955709 -0.03624968 0.98955029 -0.02656217] [ 0. 0. 0. 1. ]] SLAMing on 94.769649246 meters Centerline goodness : 0.911325 with order 1 Centerline is valid? [False, False] Translation: X:16.73, Y:-0.45, Z:-0.02 [[ 0.98990941 0.02239662 -0.13992049 16.73278468] [-0.01726592 0.99913707 0.03777569 -0.44874521] [ 0.1406458 -0.03497865 0.98944189 -0.02013403] [ 0. 0. 0. 1. ]] SLAMing on 94.829649246 meters Centerline goodness : 0.913517 with order 1 Centerline is valid? [False, False] Translation: X:16.74, Y:-0.45, Z:-0.02 [[ 9.89542408e-01 1.93130134e-02 -1.42943454e-01 1.67430578e+01] [-1.40108547e-02 9.99179252e-01 3.80068293e-02 -4.50353674e-01] [ 1.43560160e-01 -3.56066094e-02 9.89000834e-01 -1.89365842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.889649246 meters Centerline goodness : 0.913577 with order 1 Centerline is valid? [False, False] Translation: X:16.77, Y:-0.45, Z:-0.01 [[ 9.89176332e-01 2.11152518e-02 -1.45204443e-01 1.67747561e+01] [-1.55350865e-02 9.99100502e-01 3.94569114e-02 -4.52049840e-01] [ 1.45906974e-01 -3.67740793e-02 9.88614597e-01 -1.29953382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.949649246 meters Centerline goodness : 0.913202 with order 1 Centerline is valid? [False, False] Translation: X:16.79, Y:-0.45, Z:-0.00 [[ 9.88806620e-01 2.19792805e-02 -1.47574998e-01 1.67933408e+01] [-1.45514941e-02 9.98581137e-01 5.12246746e-02 -4.53187872e-01] [ 1.48491491e-01 -4.85038606e-02 9.87723470e-01 -3.92724843e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.009649246 meters Centerline goodness : 0.913099 with order 1 Centerline is valid? [False, False] Translation: X:16.83, Y:-0.45, Z:0.00 [[ 9.87944001e-01 2.36106296e-02 -1.53000620e-01 1.68282089e+01] [-1.56075385e-02 9.98456607e-01 5.32992290e-02 -4.54675688e-01] [ 1.54022908e-01 -5.02686905e-02 9.86787719e-01 2.47635402e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.069649246 meters Centerline goodness : 0.912365 with order 1 Centerline is valid? [False, False] Translation: X:16.85, Y:-0.45, Z:0.00 [[ 9.88089300e-01 2.43237890e-02 -1.51946992e-01 1.68529327e+01] [-1.70473012e-02 9.98652848e-01 4.90089680e-02 -4.53866940e-01] [ 1.52934380e-01 -4.58349508e-02 9.87172848e-01 4.00981271e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.129649246 meters Centerline goodness : 0.911378 with order 1 Centerline is valid? [False, False] Translation: X:16.88, Y:-0.46, Z:0.01 [[ 9.88501855e-01 1.65068845e-02 -1.50305042e-01 1.68799742e+01] [-7.89516661e-03 9.98302029e-01 5.77124316e-02 -4.56255146e-01] [ 1.51002481e-01 -5.58621624e-02 9.86953732e-01 1.23092088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.189649246 meters Centerline goodness : 0.906182 with order 1 Centerline is valid? [False, False] Translation: X:16.91, Y:-0.45, Z:0.01 [[ 9.88473300e-01 1.99742771e-02 -1.50071861e-01 1.69090351e+01] [-1.13695464e-02 9.98253107e-01 5.79781649e-02 -4.53002427e-01] [ 1.50967774e-01 -5.56036190e-02 9.86973641e-01 1.46089034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.249649246 meters Centerline goodness : 0.909607 with order 1 Centerline is valid? [False, False] Translation: X:16.93, Y:-0.45, Z:0.01 [[ 9.88705062e-01 2.10086035e-02 -1.48394537e-01 1.69312332e+01] [-1.34998585e-02 9.98585501e-01 5.14271520e-02 -4.49614085e-01] [ 1.49265046e-01 -4.88429802e-02 9.87590152e-01 1.38624222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.309649246 meters Centerline goodness : 0.910960 with order 1 Centerline is valid? [False, False] Translation: X:16.96, Y:-0.45, Z:0.02 [[ 9.88180001e-01 2.56901948e-02 -1.51130076e-01 1.69598295e+01] [-1.81862386e-02 9.98541885e-01 5.08268009e-02 -4.46973983e-01] [ 1.52215461e-01 -4.74775406e-02 9.87206329e-01 1.62110703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.36964924600001 meters Centerline goodness : 0.905002 with order 1 Centerline is valid? [False, False] Translation: X:16.99, Y:-0.44, Z:0.02 [[ 0.98770421 0.03000375 -0.15342805 16.99017776] [-0.02241234 0.9984486 0.05097141 -0.44458133] [ 0.15471936 -0.046906 0.98684434 0.01783375] [ 0. 0. 0. 1. ]] SLAMing on 95.429649246 meters Centerline goodness : 0.908190 with order 1 Centerline is valid? [False, False] Translation: X:17.01, Y:-0.44, Z:0.02 [[ 0.98785023 0.0312339 -0.15223784 17.01480667] [-0.02450123 0.99864542 0.04590218 -0.4418103 ] [ 0.15346532 -0.04161447 0.98727738 0.01736241] [ 0. 0. 0. 1. ]] SLAMing on 95.489649246 meters Centerline goodness : 0.910580 with order 1 Centerline is valid? [False, False] Translation: X:17.04, Y:-0.44, Z:0.02 [[ 0.98827408 0.0297155 -0.14977091 17.03633337] [-0.02432691 0.99899356 0.03768379 -0.43980722] [ 0.15073996 -0.03359845 0.98800233 0.0170556 ] [ 0. 0. 0. 1. ]] SLAMing on 95.549649246 meters Centerline goodness : 0.908307 with order 1 Centerline is valid? [False, False] Translation: X:17.05, Y:-0.44, Z:0.03 [[ 0.98791396 0.03080354 -0.15191166 17.0535781 ] [-0.02365823 0.99853705 0.04862156 -0.44185983] [ 0.15318714 -0.04443996 0.98719744 0.02508128] [ 0. 0. 0. 1. ]] SLAMing on 95.609649246 meters Centerline goodness : 0.906393 with order 1 Centerline is valid? [False, False] Translation: X:17.08, Y:-0.44, Z:0.03 [[ 0.98757006 0.03397145 -0.1534644 17.08219885] [-0.02704647 0.99852916 0.04698934 -0.44013921] [ 0.15483497 -0.0422546 0.98703631 0.02634289] [ 0. 0. 0. 1. ]] SLAMing on 95.669649246 meters Centerline goodness : 0.912361 with order 1 Centerline is valid? [False, False] Translation: X:17.10, Y:-0.44, Z:0.03 [[ 0.98787699 0.03525986 -0.15118134 17.10350492] [-0.0292933 0.99870841 0.04151398 -0.43865878] [ 0.15244985 -0.0365821 0.98763394 0.02668641] [ 0. 0. 0. 1. ]] SLAMing on 95.72964924600001 meters Centerline goodness : 0.910919 with order 1 Centerline is valid? [False, False] Translation: X:17.14, Y:-0.44, Z:0.03 [[ 0.98772104 0.03559466 -0.15211893 17.13751704] [-0.02902216 0.99855579 0.04521105 -0.44130234] [ 0.15350851 -0.04024108 0.9873276 0.03491565] [ 0. 0. 0. 1. ]] SLAMing on 95.789649246 meters Centerline goodness : 0.910147 with order 1 Centerline is valid? [False, False] Translation: X:17.16, Y:-0.44, Z:0.03 [[ 0.98806391 0.03309059 -0.15044842 17.16034442] [-0.02798461 0.9989624 0.03593035 -0.43998194] [ 0.15148127 -0.03129124 0.98796472 0.03343517] [ 0. 0. 0. 1. ]] SLAMing on 95.849649246 meters Centerline goodness : 0.910297 with order 1 Centerline is valid? [False, False] Translation: X:17.17, Y:-0.44, Z:0.04 [[ 0.98768977 0.03128854 -0.15326429 17.1734898 ] [-0.02542995 0.9988745 0.04003819 -0.4425415 ] [ 0.15434453 -0.03564781 0.98737379 0.03716049] [ 0. 0. 0. 1. ]] SLAMing on 95.909649246 meters Centerline goodness : 0.908966 with order 1 Centerline is valid? [False, False] Translation: X:17.19, Y:-0.44, Z:0.04 [[ 0.98726347 0.02897305 -0.15643339 17.18843614] [-0.0223286 0.99877905 0.04406644 -0.443697 ] [ 0.15751913 -0.04001225 0.98670499 0.04034324] [ 0. 0. 0. 1. ]] SLAMing on 95.969649246 meters Centerline goodness : 0.911099 with order 1 Centerline is valid? [False, False] Translation: X:17.22, Y:-0.45, Z:0.05 [[ 0.98683287 0.03093848 -0.15875673 17.22010743] [-0.02373555 0.99860962 0.04706855 -0.44545645] [ 0.15999222 -0.04268061 0.98619514 0.04778974] [ 0. 0. 0. 1. ]] SLAMing on 96.029649246 meters Centerline goodness : 0.913460 with order 1 Centerline is valid? [False, False] Translation: X:17.24, Y:-0.44, Z:0.05 [[ 0.98748825 0.02852882 -0.1550905 17.24021027] [-0.0229543 0.99902857 0.03761676 -0.44312648] [ 0.15601301 -0.03358611 0.98718383 0.04572472] [ 0. 0. 0. 1. ]] SLAMing on 96.08964924600001 meters Centerline goodness : 0.910673 with order 1 Centerline is valid? [False, False] Translation: X:17.25, Y:-0.44, Z:0.05 [[ 0.98713177 0.02995112 -0.15707893 17.24715723] [-0.02355617 0.99882226 0.04241694 -0.44461789] [ 0.15816437 -0.03817093 0.98667472 0.04906619] [ 0. 0. 0. 1. ]] SLAMing on 96.149649246 meters Centerline goodness : 0.909470 with order 1 Centerline is valid? [False, False] Translation: X:17.25, Y:-0.44, Z:0.05 [[ 0.98683829 0.02816326 -0.15923887 17.25351126] [-0.02168306 0.99887018 0.04228717 -0.44489841] [ 0.1602499 -0.03827781 0.98633401 0.05010056] [ 0. 0. 0. 1. ]] SLAMing on 96.209649246 meters Centerline goodness : 0.909963 with order 1 Centerline is valid? [False, False] Translation: X:17.28, Y:-0.44, Z:0.05 [[ 0.98718476 0.02581219 -0.15748007 17.2754166 ] [-0.02099391 0.99926147 0.03218351 -0.44329213] [ 0.1581945 -0.02846495 0.98699759 0.04743855] [ 0. 0. 0. 1. ]] SLAMing on 96.269649246 meters Centerline goodness : 0.908970 with order 1 Centerline is valid? [False, False] Translation: X:17.28, Y:-0.44, Z:0.05 [[ 0.98691943 0.02437148 -0.15936142 17.28139812] [-0.01955451 0.99930531 0.03172553 -0.44309149] [ 0.16002392 -0.0281943 0.98671041 0.0474038 ] [ 0. 0. 0. 1. ]] SLAMing on 96.329649246 meters Centerline goodness : 0.904679 with order 1 Centerline is valid? [False, False] Translation: X:17.30, Y:-0.44, Z:0.05 [[ 9.86412025e-01 2.18237642e-02 -1.62834394e-01 1.72977167e+01] [-1.60753579e-02 9.99203006e-01 3.65367802e-02 -4.43433200e-01] [ 1.63501986e-01 -3.34226982e-02 9.85976685e-01 5.22497695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.389649246 meters Centerline goodness : 0.906005 with order 1 Centerline is valid? [False, False] Translation: X:17.31, Y:-0.45, Z:0.06 [[ 9.85835155e-01 2.23902646e-02 -1.66215893e-01 1.73091915e+01] [-1.54405066e-02 9.98956315e-01 4.29868756e-02 -4.45728924e-01] [ 1.67004904e-01 -3.98115156e-02 9.85151971e-01 5.91560625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.449649246 meters Centerline goodness : 0.905105 with order 1 Centerline is valid? [False, False] Translation: X:17.32, Y:-0.44, Z:0.05 [[ 9.86618024e-01 2.11140681e-02 -1.61675822e-01 1.73249749e+01] [-1.61007792e-02 9.99349945e-01 3.22560526e-02 -4.43143046e-01] [ 1.62251780e-01 -2.92212962e-02 9.86316620e-01 5.46666610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.509649246 meters Centerline goodness : 0.909420 with order 1 Centerline is valid? [False, False] Translation: X:17.35, Y:-0.45, Z:0.06 [[ 9.87818249e-01 1.20440326e-02 -1.55145247e-01 1.73525145e+01] [-6.18150296e-03 9.99250438e-01 3.82145348e-02 -4.45861826e-01] [ 1.55489213e-01 -3.67899841e-02 9.87152269e-01 6.15552671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.569649246 meters Centerline goodness : 0.912727 with order 1 Centerline is valid? [False, False] Translation: X:17.37, Y:-0.45, Z:0.07 [[ 9.88247129e-01 4.96388301e-03 -1.52784068e-01 1.73745509e+01] [ 2.17198633e-03 9.98915776e-01 4.65032799e-02 -4.45069378e-01] [ 1.52849253e-01 -4.62885778e-02 9.87164866e-01 7.04271250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.629649246 meters Centerline goodness : 0.908848 with order 1 Centerline is valid? [False, False] Translation: X:17.40, Y:-0.44, Z:0.07 [[ 9.87732217e-01 4.84667912e-03 -1.56081959e-01 1.73957379e+01] [ 3.52552795e-03 9.98571342e-01 5.33183491e-02 -4.36199790e-01] [ 1.56117389e-01 -5.32145225e-02 9.86303998e-01 7.16028394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.689649246 meters Centerline goodness : 0.896700 with order 1 Centerline is valid? [False, False] Translation: X:17.43, Y:-0.43, Z:0.07 [[ 9.86262366e-01 1.79191076e-02 -1.64211606e-01 1.74314877e+01] [-8.09576144e-03 9.98147685e-01 6.02964140e-02 -4.30608154e-01] [ 1.64987892e-01 -5.81386660e-02 9.84580566e-01 7.23099653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.749649246 meters Centerline goodness : 0.900609 with order 1 Centerline is valid? [False, False] Translation: X:17.45, Y:-0.43, Z:0.07 [[ 9.86730007e-01 1.98901815e-02 -1.61146744e-01 1.74482528e+01] [-1.15161060e-02 9.98542194e-01 5.27339116e-02 -4.25733664e-01] [ 1.61960711e-01 -5.01783500e-02 9.85520604e-01 7.20349635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.809649246 meters Centerline goodness : 0.900223 with order 1 Centerline is valid? [False, False] Translation: X:17.47, Y:-0.42, Z:0.07 [[ 9.87135410e-01 2.30321237e-02 -1.58218848e-01 1.74671958e+01] [-1.57140543e-02 9.98754783e-01 4.73492530e-02 -4.20312567e-01] [ 1.59112385e-01 -4.42538647e-02 9.86268140e-01 7.18223435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.86964924600001 meters Centerline goodness : 0.902330 with order 1 Centerline is valid? [False, False] Translation: X:17.49, Y:-0.42, Z:0.07 [[ 0.98747527 0.02464271 -0.1558375 17.49067399] [-0.01826917 0.99894215 0.04219965 -0.41521603] [ 0.15671256 -0.03882409 0.98688088 0.07032041] [ 0. 0. 0. 1. ]] SLAMing on 96.929649246 meters Centerline goodness : 0.905778 with order 1 Centerline is valid? [False, False] Translation: X:17.51, Y:-0.41, Z:0.07 [[ 0.98802942 0.02469702 -0.15227578 17.50691364] [-0.01972306 0.99922418 0.03408879 -0.41384679] [ 0.15299953 -0.03067738 0.98774999 0.07081273] [ 0. 0. 0. 1. ]] SLAMing on 96.989649246 meters Centerline goodness : 0.915180 with order 1 Centerline is valid? [False, False] Translation: X:17.53, Y:-0.41, Z:0.07 [[ 0.98851933 0.02614068 -0.148816 17.52562465] [-0.0221126 0.99934465 0.02865833 -0.41248225] [ 0.14946762 -0.0250386 0.98844954 0.07129041] [ 0. 0. 0. 1. ]] SLAMing on 97.049649246 meters Centerline goodness : 0.916659 with order 1 Centerline is valid? [False, False] Translation: X:17.56, Y:-0.41, Z:0.08 [[ 0.98843969 0.02741777 -0.1491149 17.55546849] [-0.0232196 0.99928547 0.0298227 -0.41489723] [ 0.14982603 -0.02601555 0.98837005 0.07639857] [ 0. 0. 0. 1. ]] SLAMing on 97.109649246 meters Centerline goodness : 0.919158 with order 1 Centerline is valid? [False, False] Translation: X:17.58, Y:-0.42, Z:0.08 [[ 0.98850186 0.02720082 -0.14874203 17.58232795] [-0.02348548 0.99936815 0.02667835 -0.41673217] [ 0.14937372 -0.02287832 0.9885161 0.07853852] [ 0. 0. 0. 1. ]] SLAMing on 97.169649246 meters Centerline goodness : 0.922820 with order 1 Centerline is valid? [False, False] Translation: X:17.61, Y:-0.42, Z:0.08 [[ 0.98830762 0.02959097 -0.14957415 17.61042027] [-0.02581938 0.99929936 0.02709522 -0.41910039] [ 0.15027113 -0.0229165 0.98837919 0.08300837] [ 0. 0. 0. 1. ]] SLAMing on 97.22964924600001 meters Centerline goodness : 0.926533 with order 1 Centerline is valid? [False, False] Translation: X:17.64, Y:-0.42, Z:0.09 [[ 0.98784243 0.03221012 -0.15208497 17.64103382] [-0.02807777 0.99917794 0.02924173 -0.42161 ] [ 0.15290182 -0.02461602 0.98793476 0.08936241] [ 0. 0. 0. 1. ]] SLAMing on 97.289649246 meters Centerline goodness : 0.919092 with order 1 Centerline is valid? [False, False] Translation: X:17.66, Y:-0.42, Z:0.09 [[ 0.98742069 0.02848515 -0.15552803 17.65881815] [-0.023463 0.99914528 0.03403217 -0.42382115] [ 0.15636451 -0.02995492 0.98724508 0.09395081] [ 0. 0. 0. 1. ]] SLAMing on 97.349649246 meters Centerline goodness : 0.921600 with order 1 Centerline is valid? [False, False] Translation: X:17.67, Y:-0.43, Z:0.10 [[ 0.98703027 0.02706217 -0.15823681 17.67104507] [-0.0212972 0.99905017 0.03801573 -0.42552961] [ 0.1591153 -0.03415268 0.9866691 0.09720651] [ 0. 0. 0. 1. ]] SLAMing on 97.409649246 meters Centerline goodness : 0.920998 with order 1 Centerline is valid? [False, False] Translation: X:17.68, Y:-0.43, Z:0.10 [[ 0.98654453 0.02763217 -0.16114081 17.68143754] [-0.02073447 0.99880169 0.04433131 -0.42785138] [ 0.16217268 -0.04039364 0.98593528 0.1031311 ] [ 0. 0. 0. 1. ]] SLAMing on 97.469649246 meters Centerline goodness : 0.929771 with order 1 Centerline is valid? [False, False] Translation: X:17.70, Y:-0.43, Z:0.10 [[ 0.987164 0.02584253 -0.15760523 17.69965848] [-0.02043244 0.99914824 0.03585125 -0.42653616] [ 0.15839747 -0.0321708 0.98685119 0.10339259] [ 0. 0. 0. 1. ]] SLAMing on 97.529649246 meters Centerline goodness : 0.929067 with order 1 Centerline is valid? [False, False] Translation: X:17.72, Y:-0.42, Z:0.10 [[ 0.98753259 0.02625635 -0.15520947 17.72321111] [-0.02172911 0.99928954 0.03079383 -0.42488138] [ 0.15590773 -0.02703735 0.98740152 0.1032281 ] [ 0. 0. 0. 1. ]] SLAMing on 97.58964924600001 meters Centerline goodness : 0.930273 with order 1 Centerline is valid? [False, False] Translation: X:17.73, Y:-0.43, Z:0.11 [[ 0.98701653 0.02721666 -0.15829597 17.73351883] [-0.02194021 0.99914695 0.03498571 -0.42607953] [ 0.15911313 -0.03105843 0.9867717 0.10566789] [ 0. 0. 0. 1. ]] SLAMing on 97.649649246 meters Centerline goodness : 0.925594 with order 1 Centerline is valid? [False, False] Translation: X:17.74, Y:-0.43, Z:0.11 [[ 0.98653217 0.028031 -0.16114755 17.74421286] [-0.02212211 0.99901962 0.03834588 -0.42537913] [ 0.16206444 -0.03426452 0.9861851 0.10637898] [ 0. 0. 0. 1. ]] SLAMing on 97.709649246 meters Centerline goodness : 0.913413 with order 1 Centerline is valid? [False, False] Translation: X:17.76, Y:-0.42, Z:0.11 [[ 0.98596685 0.02451092 -0.16513202 17.76209546] [-0.01826945 0.99906394 0.0392105 -0.42219852] [ 0.16593854 -0.03564338 0.98549173 0.10547462] [ 0. 0. 0. 1. ]] SLAMing on 97.769649246 meters Centerline goodness : 0.911744 with order 1 Centerline is valid? [False, False] Translation: X:17.78, Y:-0.42, Z:0.11 [[ 9.85395435e-01 2.07165421e-02 -1.69016748e-01 1.77806988e+01] [-1.35624185e-02 9.98966880e-01 4.33731818e-02 -4.22434824e-01] [ 1.69740676e-01 -4.04474595e-02 9.84658370e-01 1.09619928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.829649246 meters Centerline goodness : 0.918209 with order 1 Centerline is valid? [False, False] Translation: X:17.81, Y:-0.43, Z:0.11 [[ 9.86596192e-01 1.29342205e-02 -1.62667327e-01 1.78073262e+01] [-5.02681595e-03 9.98789616e-01 4.89288650e-02 -4.26035772e-01] [ 1.63103293e-01 -4.74553332e-02 9.85467050e-01 1.14842136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.889649246 meters Centerline goodness : 0.922246 with order 1 Centerline is valid? [False, False] Translation: X:17.83, Y:-0.43, Z:0.11 [[ 9.87301245e-01 9.10689317e-03 -1.58597968e-01 1.78271146e+01] [-2.85940575e-03 9.99212484e-01 3.95757057e-02 -4.25469378e-01] [ 1.58833481e-01 -3.86196476e-02 9.86549770e-01 1.14092421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.949649246 meters Centerline goodness : 0.917461 with order 1 Centerline is valid? [False, False] Translation: X:17.86, Y:-0.43, Z:0.12 [[ 9.86891545e-01 4.94836267e-03 -1.61308998e-01 1.78626056e+01] [ 1.49773708e-03 9.99205941e-01 3.98151219e-02 -4.29861601e-01] [ 1.61377929e-01 -3.95348056e-02 9.86100483e-01 1.22677997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.009649246 meters Centerline goodness : 0.922877 with order 1 Centerline is valid? [False, False] Translation: X:17.88, Y:-0.43, Z:0.13 [[ 9.86517633e-01 3.19157846e-03 -1.63623878e-01 1.78751581e+01] [ 4.13470034e-03 9.99004610e-01 4.44150112e-02 -4.31726716e-01] [ 1.63602763e-01 -4.44927274e-02 9.85522467e-01 1.26530774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.069649246 meters Centerline goodness : 0.920489 with order 1 Centerline is valid? [False, False] Translation: X:17.88, Y:-0.43, Z:0.13 [[ 9.86239256e-01 -2.37162989e-03 -1.65307304e-01 1.78796457e+01] [ 9.03181182e-03 9.99176786e-01 3.95496732e-02 -4.31473592e-01] [ 1.65077423e-01 -4.04984648e-02 9.85448791e-01 1.26073663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.129649246 meters Centerline goodness : 0.923951 with order 1 Centerline is valid? [False, False] Translation: X:17.91, Y:-0.43, Z:0.13 [[ 9.86340817e-01 -3.85925910e-03 -1.64672095e-01 1.79083645e+01] [ 9.89172641e-03 9.99308983e-01 3.58289072e-02 -4.30037778e-01] [ 1.64420031e-01 -3.69684049e-02 9.85697413e-01 1.28546544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.189649246 meters Centerline goodness : 0.921334 with order 1 Centerline is valid? [False, False] Translation: X:17.93, Y:-0.43, Z:0.13 [[ 9.86901673e-01 -3.82580710e-03 -1.61277561e-01 1.79324615e+01] [ 8.79960764e-03 9.99507042e-01 3.01370279e-02 -4.25626406e-01] [ 1.61082759e-01 -3.11614625e-02 9.86448837e-01 1.26374557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.249649246 meters Centerline goodness : 0.915599 with order 1 Centerline is valid? [False, False] Translation: X:17.94, Y:-0.42, Z:0.13 [[ 9.86488606e-01 -1.31329951e-03 -1.63824616e-01 1.79394573e+01] [ 6.78062521e-03 9.99438333e-01 3.28183137e-02 -4.21154116e-01] [ 1.63689501e-01 -3.34857258e-02 9.85943433e-01 1.27030255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.309649246 meters Centerline goodness : 0.910127 with order 1 Centerline is valid? [False, False] Translation: X:17.95, Y:-0.42, Z:0.13 [[ 9.85995502e-01 7.91840033e-05 -1.66771892e-01 1.79496320e+01] [ 5.92580216e-03 9.99351778e-01 3.55092629e-02 -4.17180202e-01] [ 1.66666598e-01 -3.60002307e-02 9.85355889e-01 1.27046124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.36964924600001 meters Centerline goodness : 0.915160 with order 1 Centerline is valid? [False, False] Translation: X:17.97, Y:-0.41, Z:0.12 [[ 9.86616255e-01 2.74342893e-04 -1.63059160e-01 1.79672122e+01] [ 4.26661039e-03 9.99612763e-01 2.74976506e-02 -4.14490811e-01] [ 1.63003562e-01 -2.78253390e-02 9.86233030e-01 1.24697351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.429649246 meters Centerline goodness : 0.911088 with order 1 Centerline is valid? [False, False] Translation: X:17.98, Y:-0.41, Z:0.13 [[ 9.86091718e-01 1.55374568e-03 -1.66194797e-01 1.79766798e+01] [ 3.76355739e-03 9.99491146e-01 3.16746849e-02 -4.14342778e-01] [ 1.66159442e-01 -3.18596281e-02 9.85584093e-01 1.27894389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.489649246 meters Centerline goodness : 0.907084 with order 1 Centerline is valid? [False, False] Translation: X:17.99, Y:-0.41, Z:0.13 [[ 9.85559005e-01 2.35924323e-03 -1.69315923e-01 1.79877998e+01] [ 3.54173036e-03 9.99396993e-01 3.45413753e-02 -4.11068168e-01] [ 1.69295316e-01 -3.46422348e-02 9.84956350e-01 1.28479816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.549649246 meters Centerline goodness : 0.904513 with order 1 Centerline is valid? [False, False] Translation: X:18.02, Y:-0.41, Z:0.14 [[ 9.85529794e-01 5.93036015e-04 -1.69501249e-01 1.80172172e+01] [ 5.00785076e-03 9.99455479e-01 3.26139145e-02 -4.10546575e-01] [ 1.69428293e-01 -3.29908214e-02 9.84990182e-01 1.35262945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.609649246 meters Centerline goodness : 0.908314 with order 1 Centerline is valid? [False, False] Translation: X:18.04, Y:-0.41, Z:0.14 [[ 9.85647950e-01 -1.04435402e-03 -1.68810628e-01 1.80439914e+01] [ 5.83282048e-03 9.99594468e-01 2.78725166e-02 -4.08316083e-01] [ 1.68713062e-01 -2.84571310e-02 9.85254330e-01 1.38116281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.669649246 meters Centerline goodness : 0.911785 with order 1 Centerline is valid? [False, False] Translation: X:18.07, Y:-0.41, Z:0.15 [[ 9.86031584e-01 -5.32205635e-03 -1.66473395e-01 1.80673884e+01] [ 1.18404583e-02 9.99200425e-01 3.81878732e-02 -4.09179478e-01] [ 1.66137049e-01 -3.96255704e-02 9.85306194e-01 1.45881656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.72964924600001 meters Centerline goodness : 0.914793 with order 1 Centerline is valid? [False, False] Translation: X:18.08, Y:-0.41, Z:0.15 [[ 9.85419494e-01 -9.24771276e-03 -1.69890849e-01 1.80786115e+01] [ 1.61057771e-02 9.99108086e-01 3.90337802e-02 -4.10355386e-01] [ 1.69378348e-01 -4.12008721e-02 9.84689526e-01 1.49762505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.789649246 meters Centerline goodness : 0.909743 with order 1 Centerline is valid? [False, False] Translation: X:18.11, Y:-0.41, Z:0.16 [[ 9.84833456e-01 -5.85814845e-03 -1.73403417e-01 1.81104644e+01] [ 1.33537189e-02 9.99024529e-01 4.20911840e-02 -4.12220797e-01] [ 1.72987691e-01 -4.37683868e-02 9.83951008e-01 1.56047763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.849649246 meters Centerline goodness : 0.912644 with order 1 Centerline is valid? [False, False] Translation: X:18.13, Y:-0.41, Z:0.16 [[ 9.85337758e-01 -7.56139662e-03 -1.70447435e-01 1.81337381e+01] [ 1.38067866e-02 9.99274808e-01 3.54856323e-02 -4.11415037e-01] [ 1.70055507e-01 -3.73186647e-02 9.84727598e-01 1.55134537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.909649246 meters Centerline goodness : 0.910141 with order 1 Centerline is valid? [False, False] Translation: X:18.17, Y:-0.42, Z:0.16 [[ 9.84468632e-01 -7.24456196e-03 -1.75411030e-01 1.81693128e+01] [ 1.42721793e-02 9.99143692e-01 3.88353825e-02 -4.15949405e-01] [ 1.74979479e-01 -4.07357135e-02 9.83729019e-01 1.64669786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.969649246 meters Centerline goodness : 0.910953 with order 1 Centerline is valid? [False, False] Translation: X:18.20, Y:-0.42, Z:0.17 [[ 9.83679179e-01 -5.83617838e-03 -1.79836624e-01 1.82035315e+01] [ 1.35113114e-02 9.99047847e-01 4.14830642e-02 -4.17952091e-01] [ 1.79423290e-01 -4.32358552e-02 9.82821420e-01 1.72952985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.029649246 meters Centerline goodness : 0.907520 with order 1 Centerline is valid? [False, False] Translation: X:18.23, Y:-0.42, Z:0.18 [[ 9.83433216e-01 -5.41853589e-03 -1.81189817e-01 1.82299927e+01] [ 1.26041822e-02 9.99177939e-01 3.85302554e-02 -4.17516655e-01] [ 1.80832091e-01 -4.01756824e-02 9.82693070e-01 1.76610132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.08964924600001 meters Centerline goodness : 0.905618 with order 1 Centerline is valid? [False, False] Translation: X:18.25, Y:-0.42, Z:0.19 [[ 9.83110421e-01 -4.63480277e-03 -1.82954693e-01 1.82483042e+01] [ 1.40704259e-02 9.98634570e-01 5.03092210e-02 -4.17138492e-01] [ 1.82471708e-01 -5.20337699e-02 9.81833266e-01 1.85948323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.149649246 meters Centerline goodness : 0.909894 with order 1 Centerline is valid? [False, False] Translation: X:18.27, Y:-0.41, Z:0.18 [[ 9.83638435e-01 -6.36627627e-03 -1.80041384e-01 1.82676468e+01] [ 1.38589719e-02 9.99087900e-01 4.03893132e-02 -4.14074034e-01] [ 1.79620039e-01 -4.22236693e-02 9.82829488e-01 1.83931767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.209649246 meters Centerline goodness : 0.912183 with order 1 Centerline is valid? [False, False] Translation: X:18.29, Y:-0.41, Z:0.18 [[ 9.84280627e-01 -8.05879861e-03 -1.76427614e-01 1.82878538e+01] [ 1.37378427e-02 9.99425240e-01 3.09913261e-02 -4.10065604e-01] [ 1.76076457e-01 -3.29278967e-02 9.83825612e-01 1.80982157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.269649246 meters Centerline goodness : 0.915190 with order 1 Centerline is valid? [False, False] Translation: X:18.31, Y:-0.41, Z:0.19 [[ 9.84260910e-01 -8.37041534e-03 -1.76523079e-01 1.83058262e+01] [ 1.62676355e-02 9.98928017e-01 4.33379893e-02 -4.13760105e-01] [ 1.75971092e-01 -4.55275019e-02 9.83341966e-01 1.91482924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.329649246 meters Centerline goodness : 0.907340 with order 1 Centerline is valid? [False, False] Translation: X:18.32, Y:-0.41, Z:0.19 [[ 9.83686050e-01 -7.39950414e-03 -1.79741488e-01 1.83173993e+01] [ 1.60562756e-02 9.98777319e-01 4.67553569e-02 -4.12865840e-01] [ 1.79175755e-01 -4.88785712e-02 9.82602124e-01 1.92628242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.389649246 meters Centerline goodness : 0.902047 with order 1 Centerline is valid? [False, False] Translation: X:18.33, Y:-0.41, Z:0.19 [[ 9.83205139e-01 -5.25309637e-03 -1.82428233e-01 1.83254904e+01] [ 1.46042845e-02 9.98644735e-01 4.99540579e-02 -4.11710496e-01] [ 1.81918581e-01 -5.17793202e-02 9.81949353e-01 1.93664901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.449649246 meters Centerline goodness : 0.904550 with order 1 Centerline is valid? [False, False] Translation: X:18.35, Y:-0.41, Z:0.19 [[ 9.83748885e-01 -8.57937734e-03 -1.79344710e-01 1.83488325e+01] [ 1.62365525e-02 9.99016051e-01 4.12711070e-02 -4.07877724e-01] [ 1.78814164e-01 -4.35123453e-02 9.82920226e-01 1.93068476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.509649246 meters Centerline goodness : 0.902730 with order 1 Centerline is valid? [False, False] Translation: X:18.37, Y:-0.41, Z:0.20 [[ 9.83987143e-01 -8.70886208e-03 -1.78026566e-01 1.83749799e+01] [ 1.57506327e-02 9.99146753e-01 3.81796322e-02 -4.06045605e-01] [ 1.77542164e-01 -4.03722983e-02 9.83284729e-01 1.96018539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.569649246 meters Centerline goodness : 0.907359 with order 1 Centerline is valid? [False, False] Translation: X:18.39, Y:-0.41, Z:0.20 [[ 9.83415787e-01 -9.15717388e-03 -1.81134027e-01 1.83876447e+01] [ 1.75799931e-02 9.98834550e-01 4.49498159e-02 -4.07469528e-01] [ 1.80511311e-01 -4.73886935e-02 9.82430648e-01 2.03569731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.629649246 meters Centerline goodness : 0.907058 with order 1 Centerline is valid? [False, False] Translation: X:18.42, Y:-0.41, Z:0.21 [[ 9.82874367e-01 -7.93670216e-03 -1.84105913e-01 1.84153300e+01] [ 1.61533938e-02 9.98936995e-01 4.31734713e-02 -4.08547245e-01] [ 1.83567552e-01 -4.54080336e-02 9.81957771e-01 2.09198831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.689649246 meters Centerline goodness : 0.911348 with order 1 Centerline is valid? [False, False] Translation: X:18.44, Y:-0.41, Z:0.21 [[ 9.83392364e-01 -9.90930698e-03 -1.81221589e-01 1.84365898e+01] [ 1.64215776e-02 9.99270797e-01 3.44703576e-02 -4.06779090e-01] [ 1.80747864e-01 -3.68738308e-02 9.82837998e-01 2.08025480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.749649246 meters Centerline goodness : 0.902441 with order 1 Centerline is valid? [False, False] Translation: X:18.45, Y:-0.41, Z:0.21 [[ 9.82950860e-01 -8.14918162e-03 -1.83687771e-01 1.84453477e+01] [ 1.53245509e-02 9.99172451e-01 3.76772100e-02 -4.05273323e-01] [ 1.83228722e-01 -3.98497786e-02 9.82262302e-01 2.08550449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.809649246 meters Centerline goodness : 0.902374 with order 1 Centerline is valid? [False, False] Translation: X:18.47, Y:-0.40, Z:0.21 [[ 9.83079345e-01 -6.46537099e-03 -1.83066110e-01 1.84676611e+01] [ 1.24224221e-02 9.99429310e-01 3.14123969e-02 -4.02133542e-01] [ 1.82758543e-01 -3.31550031e-02 9.82598627e-01 2.08829062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.86964924600001 meters Centerline goodness : 0.903169 with order 1 Centerline is valid? [False, False] Translation: X:18.49, Y:-0.40, Z:0.21 [[ 9.83491800e-01 -4.35869681e-03 -1.80900194e-01 1.84898613e+01] [ 9.24858091e-03 9.99614038e-01 2.61961519e-02 -3.97852468e-01] [ 1.80716193e-01 -2.74367707e-02 9.83152522e-01 2.08354168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.929649246 meters Centerline goodness : 0.900647 with order 1 Centerline is valid? [False, False] Translation: X:18.50, Y:-0.40, Z:0.21 [[ 9.82978239e-01 -4.37941957e-03 -1.83669820e-01 1.85004109e+01] [ 1.01912328e-02 9.99476358e-01 3.07107271e-02 -3.97483501e-01] [ 1.83439148e-01 -3.20597983e-02 9.82508142e-01 2.12567758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.989649246 meters Centerline goodness : 0.904568 with order 1 Centerline is valid? [False, False] Translation: X:18.51, Y:-0.40, Z:0.22 [[ 9.82407783e-01 -2.95887648e-03 -1.86724913e-01 1.85097496e+01] [ 9.82987641e-03 9.99307677e-01 3.58822988e-02 -3.97998590e-01] [ 1.86489467e-01 -3.70865324e-02 9.81756725e-01 2.17363291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.049649246 meters Centerline goodness : 0.903800 with order 1 Centerline is valid? [False, False] Translation: X:18.53, Y:-0.40, Z:0.22 [[ 9.83129352e-01 -4.30319880e-03 -1.82861042e-01 1.85291296e+01] [ 9.57087397e-03 9.99563943e-01 2.79342429e-02 -3.96201062e-01] [ 1.82661098e-01 -2.92131141e-02 9.82741837e-01 2.16781047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.109649246 meters Centerline goodness : 0.901001 with order 1 Centerline is valid? [False, False] Translation: X:18.56, Y:-0.40, Z:0.23 [[ 9.83545027e-01 -7.90624916e-03 -1.80490088e-01 1.85561143e+01] [ 1.52357382e-02 9.99112922e-01 3.92586588e-02 -4.00421991e-01] [ 1.80019591e-01 -4.13625584e-02 9.82793002e-01 2.25398821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.169649246 meters Centerline goodness : 0.901126 with order 1 Centerline is valid? [False, False] Translation: X:18.57, Y:-0.40, Z:0.23 [[ 9.83031887e-01 -6.68282000e-03 -1.83312983e-01 1.85661883e+01] [ 1.52651712e-02 9.98850114e-01 4.54469421e-02 -4.03570679e-01] [ 1.82798480e-01 -4.74740973e-02 9.82003526e-01 2.30667059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.22964924600001 meters Centerline goodness : 0.901413 with order 1 Centerline is valid? [False, False] Translation: X:18.59, Y:-0.41, Z:0.24 [[ 9.82060574e-01 -5.78059736e-03 -1.88477090e-01 1.85937419e+01] [ 1.41030377e-02 9.98982182e-01 4.28451201e-02 -4.06759614e-01] [ 1.88037584e-01 -4.47346028e-02 9.81142539e-01 2.36909655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.289649246 meters Centerline goodness : 0.904897 with order 1 Centerline is valid? [False, False] Translation: X:18.62, Y:-0.40, Z:0.24 [[ 9.82636098e-01 -6.78556773e-03 -1.85419135e-01 1.86163488e+01] [ 1.37490767e-02 9.99246515e-01 3.62955213e-02 -4.04398201e-01] [ 1.85033139e-01 -3.82146313e-02 9.81988992e-01 2.36466086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.349649246 meters Centerline goodness : 0.905866 with order 1 Centerline is valid? [False, False] Translation: X:18.62, Y:-0.40, Z:0.24 [[ 9.82174140e-01 -4.44107409e-03 -1.87920823e-01 1.86235418e+01] [ 1.23787004e-02 9.99078899e-01 4.10867505e-02 -4.04606675e-01] [ 1.87565260e-01 -4.26805594e-02 9.81324433e-01 2.39953094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.409649246 meters Centerline goodness : 0.907719 with order 1 Centerline is valid? [False, False] Translation: X:18.65, Y:-0.40, Z:0.24 [[ 9.82603458e-01 -3.92167850e-03 -1.85674619e-01 1.86476541e+01] [ 1.08634597e-02 9.99278828e-01 3.63842015e-02 -4.01333174e-01] [ 1.85398028e-01 -3.77683110e-02 9.81937435e-01 2.40736733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.469649246 meters Centerline goodness : 0.902992 with order 1 Centerline is valid? [False, False] Translation: X:18.67, Y:-0.40, Z:0.24 [[ 9.83123326e-01 -1.81444369e-03 -1.82935053e-01 1.86679583e+01] [ 7.80808215e-03 9.99455806e-01 3.20488136e-02 -3.98958528e-01] [ 1.82777350e-01 -3.29363081e-02 9.82602483e-01 2.42812616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.529649246 meters Centerline goodness : 0.905654 with order 1 Centerline is valid? [False, False] Translation: X:18.67, Y:-0.40, Z:0.24 [[ 9.82815189e-01 1.52639543e-03 -1.84585956e-01 1.86736097e+01] [ 4.89840955e-03 9.99398013e-01 3.43455591e-02 -3.95759097e-01] [ 1.84527263e-01 -3.46595147e-02 9.82216070e-01 2.41296143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.58964924600001 meters Centerline goodness : 0.904864 with order 1 Centerline is valid? [False, False] Translation: X:18.69, Y:-0.39, Z:0.24 [[ 9.83254747e-01 3.88121417e-03 -1.82195057e-01 1.86929635e+01] [ 1.11591657e-03 9.99626203e-01 2.73168424e-02 -3.90556045e-01] [ 1.82232975e-01 -2.70627294e-02 9.82882878e-01 2.39528667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.649649246 meters Centerline goodness : 0.902584 with order 1 Centerline is valid? [False, False] Translation: X:18.71, Y:-0.39, Z:0.25 [[ 9.82871619e-01 4.88629224e-03 -1.84226775e-01 1.87078118e+01] [ 1.89466619e-03 9.99327698e-01 3.66136833e-02 -3.92711753e-01] [ 1.84281824e-01 -3.63355984e-02 9.82201575e-01 2.46222965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.709649246 meters Centerline goodness : 0.899916 with order 1 Centerline is valid? [False, False] Translation: X:18.71, Y:-0.39, Z:0.25 [[ 9.82672235e-01 3.12044892e-03 -1.85325502e-01 1.87124087e+01] [ 3.52700223e-03 9.99362438e-01 3.55285512e-02 -3.90825463e-01] [ 1.85318211e-01 -3.55665643e-02 9.82034714e-01 2.45374354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.769649246 meters Centerline goodness : 0.906701 with order 1 Centerline is valid? [False, False] Translation: X:18.74, Y:-0.39, Z:0.25 [[ 9.82856230e-01 2.93049146e-03 -1.84350325e-01 1.87377834e+01] [ 3.16234944e-03 9.99458649e-01 3.27476498e-02 -3.91547567e-01] [ 1.84346494e-01 -3.27692118e-02 9.82314893e-01 2.50397989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.829649246 meters Centerline goodness : 0.904002 with order 1 Centerline is valid? [False, False] Translation: X:18.75, Y:-0.39, Z:0.26 [[ 9.82880593e-01 2.53569810e-03 -1.84226245e-01 1.87537116e+01] [ 5.55463319e-03 9.99042949e-01 4.33858513e-02 -3.93940435e-01] [ 1.84159944e-01 -4.36664205e-02 9.81925842e-01 2.58499289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.889649246 meters Centerline goodness : 0.900588 with order 1 Centerline is valid? [False, False] Translation: X:18.79, Y:-0.40, Z:0.27 [[ 9.82466338e-01 2.80936311e-03 -1.86418891e-01 1.87862173e+01] [ 5.82208520e-03 9.98936516e-01 4.57377364e-02 -3.95948873e-01] [ 1.86349132e-01 -4.60211330e-02 9.81405144e-01 2.67309715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.949649246 meters Centerline goodness : 0.904248 with order 1 Centerline is valid? [False, False] Translation: X:18.82, Y:-0.40, Z:0.28 [[ 9.81819747e-01 3.21034556e-03 -1.89788507e-01 1.88187718e+01] [ 5.89097700e-03 9.98859970e-01 4.73714840e-02 -3.99336498e-01] [ 1.89724221e-01 -4.76282982e-02 9.80681531e-01 2.75632241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.009649246 meters Centerline goodness : 0.902440 with order 1 Centerline is valid? [False, False] Translation: X:18.82, Y:-0.40, Z:0.27 [[ 9.81651970e-01 -2.52418673e-03 -1.90664728e-01 1.88241241e+01] [ 1.02451782e-02 9.99166246e-01 3.95202473e-02 -3.96038495e-01] [ 1.90406004e-01 -4.07485228e-02 9.80859374e-01 2.68755835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.069649246 meters Centerline goodness : 0.890780 with order 1 Centerline is valid? [False, False] Translation: X:18.84, Y:-0.40, Z:0.27 [[ 9.81014652e-01 -3.23059328e-03 -1.93906721e-01 1.88373830e+01] [ 1.18469693e-02 9.98992195e-01 4.32925327e-02 -3.96178755e-01] [ 1.93571440e-01 -4.47678159e-02 9.80064253e-01 2.71664686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.129649246 meters Centerline goodness : 0.894075 with order 1 Centerline is valid? [False, False] Translation: X:18.86, Y:-0.39, Z:0.28 [[ 9.80257423e-01 -7.44830289e-03 -1.97585191e-01 1.88574810e+01] [ 1.70388919e-02 9.98755035e-01 4.68834239e-02 -3.94418843e-01] [ 1.96990003e-01 -4.93244570e-02 9.79163948e-01 2.75175368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.189649246 meters Centerline goodness : 0.901780 with order 1 Centerline is valid? [False, False] Translation: X:18.89, Y:-0.40, Z:0.28 [[ 9.79722015e-01 -7.66749988e-03 -2.00214843e-01 1.88893780e+01] [ 1.75383777e-02 9.98713714e-01 4.75743825e-02 -3.96033417e-01] [ 1.99592532e-01 -5.01211134e-02 9.78596288e-01 2.84092626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.249649246 meters Centerline goodness : 0.900215 with order 1 Centerline is valid? [False, False] Translation: X:18.92, Y:-0.39, Z:0.29 [[ 9.79960442e-01 -8.72139947e-03 -1.99001179e-01 1.89181453e+01] [ 1.81110865e-02 9.98804123e-01 4.54126888e-02 -3.94420683e-01] [ 1.98367136e-01 -4.81067662e-02 9.78946484e-01 2.89221623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.309649246 meters Centerline goodness : 0.898912 with order 1 Centerline is valid? [False, False] Translation: X:18.95, Y:-0.39, Z:0.29 [[ 9.80152451e-01 -9.97952269e-03 -1.97993892e-01 1.89489829e+01] [ 1.91433528e-02 9.98829361e-01 4.44234103e-02 -3.92984187e-01] [ 1.97318788e-01 -4.73319814e-02 9.79196088e-01 2.94949271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.369649246 meters Centerline goodness : 0.903617 with order 1 Centerline is valid? [False, False] Translation: X:18.98, Y:-0.39, Z:0.30 [[ 9.80371510e-01 -1.19933570e-02 -1.96793958e-01 1.89783643e+01] [ 2.05044957e-02 9.98937671e-01 4.12685807e-02 -3.90738448e-01] [ 1.96089949e-01 -4.44937016e-02 9.79575950e-01 2.99015889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.429649246 meters Centerline goodness : 0.912941 with order 1 Centerline is valid? [False, False] Translation: X:19.01, Y:-0.39, Z:0.31 [[ 0.98048019 -0.01919336 -0.19567887 19.00822374] [ 0.02695403 0.99894893 0.03707453 -0.38997154] [ 0.19476161 -0.04162518 0.97996697 0.30836149] [ 0. 0. 0. 1. ]] SLAMing on 101.489649246 meters Centerline goodness : 0.897951 with order 1 Centerline is valid? [False, False] Translation: X:19.03, Y:-0.38, Z:0.31 [[ 0.97971601 -0.02058201 -0.19933118 19.03288861] [ 0.02936009 0.99872019 0.04118215 -0.38114586] [ 0.19822846 -0.04619919 0.97906645 0.30552601] [ 0. 0. 0. 1. ]] SLAMing on 101.549649246 meters Centerline goodness : 0.900756 with order 1 Centerline is valid? [False, False] Translation: X:19.04, Y:-0.38, Z:0.30 [[ 0.97898564 -0.02290788 -0.20263845 19.04284866] [ 0.03137034 0.99876034 0.03864832 -0.37521308] [ 0.2015019 -0.04419299 0.97849066 0.30425972] [ 0. 0. 0. 1. ]] SLAMing on 101.609649246 meters Centerline goodness : 0.902340 with order 1 Centerline is valid? [False, False] Translation: X:19.07, Y:-0.37, Z:0.31 [[ 0.97940636 -0.02310516 -0.20057253 19.06711294] [ 0.03044498 0.99897198 0.03358685 -0.37134089] [ 0.19959031 -0.0390016 0.97910295 0.30653557] [ 0. 0. 0. 1. ]] SLAMing on 101.669649246 meters Centerline goodness : 0.894990 with order 1 Centerline is valid? [False, False] Translation: X:19.08, Y:-0.37, Z:0.31 [[ 0.97859727 -0.02000861 -0.20480975 19.0830286 ] [ 0.02912845 0.99870922 0.04161052 -0.36750318] [ 0.20371282 -0.04668573 0.97791693 0.31153893] [ 0. 0. 0. 1. ]] SLAMing on 101.72964924600001 meters Centerline goodness : 0.899529 with order 1 Centerline is valid? [False, False] Translation: X:19.11, Y:-0.36, Z:0.31 [[ 9.78906371e-01 -1.90085158e-02 -2.03423190e-01 1.91078660e+01] [ 2.70261457e-02 9.98960506e-01 3.67082517e-02 -3.61661106e-01] [ 2.02513963e-01 -4.14316862e-02 9.78402530e-01 3.12836112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.789649246 meters Centerline goodness : 0.900036 with order 1 Centerline is valid? [False, False] Translation: X:19.13, Y:-0.36, Z:0.31 [[ 9.79377782e-01 -1.77475047e-02 -2.01256518e-01 1.91318151e+01] [ 2.47784286e-02 9.99165524e-01 3.24697439e-02 -3.56705032e-01] [ 2.00512318e-01 -3.67869661e-02 9.79000271e-01 3.14256481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.849649246 meters Centerline goodness : 0.900617 with order 1 Centerline is valid? [False, False] Translation: X:19.15, Y:-0.35, Z:0.32 [[ 9.78641219e-01 -1.55174433e-02 -2.04989201e-01 1.91475000e+01] [ 2.42481231e-02 9.98899489e-01 4.01477080e-02 -3.54611375e-01] [ 2.04140619e-01 -4.42608053e-02 9.77940483e-01 3.19050738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.909649246 meters Centerline goodness : 0.899188 with order 1 Centerline is valid? [False, False] Translation: X:19.17, Y:-0.35, Z:0.32 [[ 9.79115687e-01 -1.48311735e-02 -2.02762193e-01 1.91694465e+01] [ 2.21126544e-02 9.99187567e-01 3.36932768e-02 -3.50446237e-01] [ 2.02097752e-01 -3.74732262e-02 9.78648178e-01 3.19019659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.969649246 meters Centerline goodness : 0.899192 with order 1 Centerline is valid? [False, False] Translation: X:19.19, Y:-0.35, Z:0.32 [[ 9.79549071e-01 -1.05274285e-02 -2.00929816e-01 1.91926990e+01] [ 1.71555174e-02 9.99363600e-01 3.12743143e-02 -3.46353748e-01] [ 2.00472707e-01 -3.40817805e-02 9.79106290e-01 3.20184330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.029649246 meters Centerline goodness : 0.902328 with order 1 Centerline is valid? [False, False] Translation: X:19.21, Y:-0.34, Z:0.33 [[ 9.78880500e-01 -1.14033879e-02 -2.04114990e-01 1.92056215e+01] [ 1.94430436e-02 9.99110241e-01 3.74258386e-02 -3.44970823e-01] [ 2.03506595e-01 -4.06040402e-02 9.78231250e-01 3.28171039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.08964924600001 meters Centerline goodness : 0.899113 with order 1 Centerline is valid? [False, False] Translation: X:19.22, Y:-0.34, Z:0.33 [[ 9.78167131e-01 -1.12499310e-02 -2.07515067e-01 1.92240143e+01] [ 2.08664383e-02 9.98804288e-01 4.42106923e-02 -3.42476098e-01] [ 2.06769571e-01 -4.75755464e-02 9.77232271e-01 3.32343806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.149649246 meters Centerline goodness : 0.892937 with order 1 Centerline is valid? [False, False] Translation: X:19.23, Y:-0.34, Z:0.33 [[ 9.77637786e-01 -9.03700269e-03 -2.10101623e-01 1.92328334e+01] [ 1.95370558e-02 9.98658442e-01 4.79543413e-02 -3.41871802e-01] [ 2.09386396e-01 -5.09867432e-02 9.76502785e-01 3.33192502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.209649246 meters Centerline goodness : 0.898837 with order 1 Centerline is valid? [False, False] Translation: X:19.26, Y:-0.35, Z:0.34 [[ 9.76825046e-01 -8.51507922e-03 -2.13869875e-01 1.92636188e+01] [ 1.92845266e-02 9.98645755e-01 4.83193851e-02 -3.45587996e-01] [ 2.13168799e-01 -5.13239649e-02 9.75666395e-01 3.42005882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.269649246 meters Centerline goodness : 0.899791 with order 1 Centerline is valid? [False, False] Translation: X:19.29, Y:-0.35, Z:0.34 [[ 9.77385800e-01 -1.07871286e-02 -2.11188627e-01 1.92854182e+01] [ 1.97928948e-02 9.98980400e-01 4.05758796e-02 -3.45031619e-01] [ 2.10535601e-01 -4.38383228e-02 9.76602766e-01 3.42860148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.329649246 meters Centerline goodness : 0.897434 with order 1 Centerline is valid? [False, False] Translation: X:19.30, Y:-0.35, Z:0.35 [[ 9.76735128e-01 -1.39686233e-02 -2.13993848e-01 1.93022556e+01] [ 2.41651322e-02 9.98689846e-01 4.51069568e-02 -3.47039381e-01] [ 2.13083401e-01 -4.92287388e-02 9.75793009e-01 3.47778067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.389649246 meters Centerline goodness : 0.902870 with order 1 Centerline is valid? [False, False] Translation: X:19.32, Y:-0.35, Z:0.35 [[ 9.76131670e-01 -1.58777539e-02 -2.16598382e-01 1.93158660e+01] [ 2.74198953e-02 9.98353276e-01 5.03873597e-02 -3.49269529e-01] [ 2.15441666e-01 -5.51238025e-02 9.74959617e-01 3.53801119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.449649246 meters Centerline goodness : 0.909247 with order 1 Centerline is valid? [False, False] Translation: X:19.35, Y:-0.35, Z:0.36 [[ 9.75541424e-01 -1.74952325e-02 -2.19118338e-01 1.93470924e+01] [ 2.90160524e-02 9.98354007e-01 4.94706455e-02 -3.51085497e-01] [ 2.17892170e-01 -5.46186131e-02 9.74443333e-01 3.62405779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.509649246 meters Centerline goodness : 0.904386 with order 1 Centerline is valid? [False, False] Translation: X:19.38, Y:-0.35, Z:0.37 [[ 9.74512300e-01 -1.65531815e-02 -2.23722527e-01 1.93793502e+01] [ 2.83136780e-02 9.98374605e-01 4.94619455e-02 -3.51949745e-01] [ 2.22540137e-01 -5.45356819e-02 9.73397014e-01 3.69842155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.569649246 meters Centerline goodness : 0.904991 with order 1 Centerline is valid? [False, False] Translation: X:19.41, Y:-0.35, Z:0.38 [[ 9.73906050e-01 -1.58853454e-02 -2.26394924e-01 1.94126926e+01] [ 2.81960067e-02 9.98287887e-01 5.12472338e-02 -3.52346235e-01] [ 2.25193230e-01 -5.62934238e-02 9.72686517e-01 3.78255514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.629649246 meters Centerline goodness : 0.903303 with order 1 Centerline is valid? [False, False] Translation: X:19.45, Y:-0.35, Z:0.39 [[ 9.73234272e-01 -1.61488245e-02 -2.29247174e-01 1.94461671e+01] [ 2.90934188e-02 9.98160055e-01 5.31984779e-02 -3.53357506e-01] [ 2.27966278e-01 -5.84441659e-02 9.71913399e-01 3.88799302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.689649246 meters Centerline goodness : 0.898512 with order 1 Centerline is valid? [False, False] Translation: X:19.47, Y:-0.35, Z:0.39 [[ 9.73277019e-01 -1.64063683e-02 -2.29047321e-01 1.94719797e+01] [ 2.80707289e-02 9.98464304e-01 4.77605332e-02 -3.50099497e-01] [ 2.27911997e-01 -5.29137546e-02 9.72242900e-01 3.91083050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.749649246 meters Centerline goodness : 0.898802 with order 1 Centerline is valid? [False, False] Translation: X:19.49, Y:-0.35, Z:0.40 [[ 9.72609125e-01 -1.51667470e-02 -2.31951419e-01 1.94886131e+01] [ 2.88883028e-02 9.98019758e-01 5.58751217e-02 -3.49109023e-01] [ 2.30644655e-01 -6.10453360e-02 9.71121264e-01 3.96813609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.809649246 meters Centerline goodness : 0.903033 with order 1 Centerline is valid? [False, False] Translation: X:19.52, Y:-0.35, Z:0.40 [[ 9.72205128e-01 -1.78055517e-02 -2.33452673e-01 1.95177970e+01] [ 3.07048569e-02 9.98188611e-01 5.17369122e-02 -3.47714763e-01] [ 2.32108595e-01 -5.74670223e-02 9.70990804e-01 4.02667322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.869649246 meters Centerline goodness : 0.893760 with order 1 Centerline is valid? [False, False] Translation: X:19.54, Y:-0.34, Z:0.41 [[ 9.71281980e-01 -1.88095727e-02 -2.37186668e-01 1.95397252e+01] [ 3.34383434e-02 9.97767763e-01 5.78045775e-02 -3.41079580e-01] [ 2.35569931e-01 -6.40756737e-02 9.69742809e-01 4.06086392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.929649246 meters Centerline goodness : 0.899139 with order 1 Centerline is valid? [False, False] Translation: X:19.57, Y:-0.33, Z:0.41 [[ 0.97163288 -0.02333596 -0.23534015 19.56510978] [ 0.03578813 0.99816822 0.0487792 -0.33362276] [ 0.23377075 -0.05581785 0.97068821 0.40677822] [ 0. 0. 0. 1. ]] SLAMing on 102.989649246 meters Centerline goodness : 0.895091 with order 1 Centerline is valid? [False, False] Translation: X:19.59, Y:-0.33, Z:0.41 [[ 0.97153288 -0.0201391 -0.2360472 19.59326784] [ 0.03204046 0.99839533 0.04669223 -0.32585265] [ 0.23472809 -0.0529261 0.97061916 0.40937778] [ 0. 0. 0. 1. ]] SLAMing on 103.049649246 meters Centerline goodness : 0.895953 with order 1 Centerline is valid? [False, False] Translation: X:19.62, Y:-0.32, Z:0.41 [[ 9.71867508e-01 -1.90948239e-02 -2.34752921e-01 1.96165870e+01] [ 2.92777486e-02 9.98771913e-01 3.99684856e-02 -3.19534939e-01] [ 2.33701433e-01 -4.57171096e-02 9.71233024e-01 4.08807196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.109649246 meters Centerline goodness : 0.895843 with order 1 Centerline is valid? [False, False] Translation: X:19.64, Y:-0.32, Z:0.41 [[ 9.72613870e-01 -1.82431080e-02 -2.31709836e-01 1.96380047e+01] [ 2.70835069e-02 9.99019243e-01 3.50290633e-02 -3.15215169e-01] [ 2.30843546e-01 -4.03452678e-02 9.72154060e-01 4.10591104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.169649246 meters Centerline goodness : 0.903149 with order 1 Centerline is valid? [False, False] Translation: X:19.66, Y:-0.31, Z:0.42 [[ 9.73158492e-01 -1.94549031e-02 -2.29312137e-01 1.96621869e+01] [ 2.75558111e-02 9.99102234e-01 3.21776885e-02 -3.14844599e-01] [ 2.28480254e-01 -3.76328727e-02 9.72820919e-01 4.17018072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.22964924600001 meters Centerline goodness : 0.897679 with order 1 Centerline is valid? [False, False] Translation: X:19.67, Y:-0.32, Z:0.42 [[ 0.97249355 -0.02149531 -0.23193588 19.67479065] [ 0.03086836 0.99884363 0.03685855 -0.31566744] [ 0.23087539 -0.04300418 0.97203251 0.42270614] [ 0. 0. 0. 1. ]] SLAMing on 103.289649246 meters Centerline goodness : 0.887625 with order 1 Centerline is valid? [False, False] Translation: X:19.69, Y:-0.32, Z:0.43 [[ 0.97181974 -0.02086275 -0.23480019 19.68513178] [ 0.03215648 0.99849735 0.0443735 -0.31811036] [ 0.23352162 -0.05067339 0.97103031 0.43172081] [ 0. 0. 0. 1. ]] SLAMing on 103.349649246 meters Centerline goodness : 0.898013 with order 1 Centerline is valid? [False, False] Translation: X:19.70, Y:-0.32, Z:0.44 [[ 0.97247481 -0.02583686 -0.23157117 19.7044132 ] [ 0.03881341 0.99791037 0.05165666 -0.32037611] [ 0.22975263 -0.05922287 0.97144551 0.438602 ] [ 0. 0. 0. 1. ]] SLAMing on 103.409649246 meters Centerline goodness : 0.899632 with order 1 Centerline is valid? [False, False] Translation: X:19.73, Y:-0.32, Z:0.44 [[ 0.97283764 -0.0297675 -0.22956659 19.72781028] [ 0.04044014 0.99830197 0.0419257 -0.31720945] [ 0.22792876 -0.05007061 0.97238954 0.43844987] [ 0. 0. 0. 1. ]] SLAMing on 103.469649246 meters Centerline goodness : 0.901886 with order 1 Centerline is valid? [False, False] Translation: X:19.75, Y:-0.31, Z:0.44 [[ 0.97354286 -0.03150617 -0.22632205 19.74848234] [ 0.04008507 0.99863757 0.0334094 -0.31312818] [ 0.2249611 -0.04159762 0.9734794 0.43776467] [ 0. 0. 0. 1. ]] SLAMing on 103.529649246 meters Centerline goodness : 0.899822 with order 1 Centerline is valid? [False, False] Translation: X:19.76, Y:-0.31, Z:0.44 [[ 0.9729624 -0.02893881 -0.22914344 19.7562049 ] [ 0.03859091 0.99854166 0.03775319 -0.3126558 ] [ 0.22771674 -0.04557529 0.97266026 0.44072782] [ 0. 0. 0. 1. ]] SLAMing on 103.58964924600001 meters Centerline goodness : 0.900517 with order 1 Centerline is valid? [False, False] Translation: X:19.76, Y:-0.31, Z:0.44 [[ 0.97243268 -0.03168042 -0.23102171 19.76335825] [ 0.04123491 0.99847722 0.03664589 -0.31148304] [ 0.22950895 -0.04516182 0.97225822 0.44053785] [ 0. 0. 0. 1. ]] SLAMing on 103.649649246 meters Centerline goodness : 0.894773 with order 1 Centerline is valid? [False, False] Translation: X:19.77, Y:-0.31, Z:0.44 [[ 0.97172819 -0.03344301 -0.23372181 19.77488834] [ 0.04400382 0.99822559 0.04011642 -0.31260351] [ 0.23196548 -0.04926691 0.97147557 0.44493283] [ 0. 0. 0. 1. ]] SLAMing on 103.709649246 meters Centerline goodness : 0.893383 with order 1 Centerline is valid? [False, False] Translation: X:19.78, Y:-0.32, Z:0.45 [[ 0.97100101 -0.03481754 -0.2365265 19.78127345] [ 0.04623938 0.99800817 0.04291398 -0.31557906] [ 0.23456123 -0.05260636 0.97067688 0.45173877] [ 0. 0. 0. 1. ]] SLAMing on 103.769649246 meters Centerline goodness : 0.892748 with order 1 Centerline is valid? [False, False] Translation: X:19.79, Y:-0.32, Z:0.46 [[ 0.97010087 -0.03886453 -0.23957012 19.79163218] [ 0.0507914 0.99774788 0.04381087 -0.31715046] [ 0.23732789 -0.05466907 0.96989008 0.45651642] [ 0. 0. 0. 1. ]] SLAMing on 103.829649246 meters Centerline goodness : 0.896610 with order 1 Centerline is valid? [False, False] Translation: X:19.81, Y:-0.32, Z:0.47 [[ 0.96986698 -0.04449934 -0.23953673 19.81158643] [ 0.05831376 0.9970002 0.05089302 -0.32038448] [ 0.23655346 -0.06332775 0.9695525 0.46544677] [ 0. 0. 0. 1. ]] SLAMing on 103.889649246 meters Centerline goodness : 0.892703 with order 1 Centerline is valid? [False, False] Translation: X:19.84, Y:-0.32, Z:0.47 [[ 0.96925537 -0.04702355 -0.24152187 19.83545225] [ 0.06300859 0.99627404 0.05888934 -0.31978367] [ 0.23785279 -0.07229676 0.96860685 0.47133756] [ 0. 0. 0. 1. ]] SLAMing on 103.949649246 meters Centerline goodness : 0.888012 with order 1 Centerline is valid? [False, False] Translation: X:19.85, Y:-0.32, Z:0.48 [[ 0.96815904 -0.0502941 -0.24523169 19.85339725] [ 0.06739207 0.99580883 0.06183104 -0.31825062] [ 0.24109415 -0.07638895 0.96749074 0.47507767] [ 0. 0. 0. 1. ]] SLAMing on 104.009649246 meters Centerline goodness : 0.895850 with order 3 Centerline is valid? [False, False] Translation: X:19.87, Y:-0.32, Z:0.48 [[ 0.9676033 -0.05099744 -0.24727135 19.87346047] [ 0.07065546 0.99495044 0.07128417 -0.31890225] [ 0.24238743 -0.08644587 0.96632057 0.48342234] [ 0. 0. 0. 1. ]] SLAMing on 104.069649246 meters Centerline goodness : 0.895711 with order 3 Centerline is valid? [False, False] Translation: X:19.89, Y:-0.31, Z:0.48 [[ 0.96864738 -0.05353078 -0.24260403 19.88894906] [ 0.06988479 0.9957905 0.05930766 -0.31433227] [ 0.238408 -0.07440254 0.96831084 0.47886867] [ 0. 0. 0. 1. ]] SLAMing on 104.129649246 meters Centerline goodness : 0.886400 with order 1 Centerline is valid? [False, False] Translation: X:19.91, Y:-0.31, Z:0.48 [[ 0.96941589 -0.05443965 -0.23930975 19.91229313] [ 0.0688999 0.99624258 0.05247408 -0.30823199] [ 0.23555389 -0.06735762 0.96952427 0.47791043] [ 0. 0. 0. 1. ]] SLAMing on 104.189649246 meters Centerline goodness : 0.882027 with order 1 Centerline is valid? [False, False] Translation: X:19.94, Y:-0.30, Z:0.48 [[ 0.97012283 -0.05534462 -0.23621743 19.93568878] [ 0.06812455 0.99660275 0.04628188 -0.30216888] [ 0.23285349 -0.06099132 0.9705974 0.47849555] [ 0. 0. 0. 1. ]] SLAMing on 104.249649246 meters Centerline goodness : 0.884540 with order 1 Centerline is valid? [False, False] Translation: X:19.96, Y:-0.30, Z:0.48 [[ 0.97071478 -0.05533864 -0.23377436 19.95965246] [ 0.06676846 0.99691509 0.04125857 -0.29532219] [ 0.23077 -0.05565906 0.97141509 0.47967846] [ 0. 0. 0. 1. ]] SLAMing on 104.309649246 meters Centerline goodness : 0.886410 with order 1 Centerline is valid? [False, False] Translation: X:19.98, Y:-0.29, Z:0.48 [[ 0.97158478 -0.05471661 -0.2302805 19.98147404] [ 0.06470567 0.99725315 0.03604615 -0.28965232] [ 0.22767563 -0.04992234 0.97245646 0.48007109] [ 0. 0. 0. 1. ]] SLAMing on 104.369649246 meters Centerline goodness : 0.878571 with order 1 Centerline is valid? [False, False] Translation: X:20.00, Y:-0.28, Z:0.48 [[ 0.97248123 -0.05178831 -0.22715244 20.00114191] [ 0.06020369 0.99772698 0.03027199 -0.28163254] [ 0.22506839 -0.04311436 0.9733886 0.4787725 ] [ 0. 0. 0. 1. ]] SLAMing on 104.429649246 meters Centerline goodness : 0.875097 with order 1 Centerline is valid? [False, False] Translation: X:20.01, Y:-0.28, Z:0.49 [[ 0.97221486 -0.05049873 -0.22857852 20.01430892] [ 0.06161827 0.99722541 0.04176937 -0.2802956 ] [ 0.225835 -0.05469342 0.972629 0.49041693] [ 0. 0. 0. 1. ]] SLAMing on 104.489649246 meters Centerline goodness : 0.878168 with order 1 Centerline is valid? [False, False] Translation: X:20.02, Y:-0.28, Z:0.49 [[ 0.97159262 -0.05310124 -0.23062531 20.02112243] [ 0.06433307 0.99706716 0.04145269 -0.27903059] [ 0.22774774 -0.05511196 0.97215927 0.49220006] [ 0. 0. 0. 1. ]] SLAMing on 104.549649246 meters Centerline goodness : 0.877861 with order 1 Centerline is valid? [False, False] Translation: X:20.04, Y:-0.28, Z:0.49 [[ 0.97223551 -0.05573262 -0.22727073 20.0426877 ] [ 0.06500501 0.99732198 0.03351429 -0.27585774] [ 0.22479425 -0.04735752 0.97325475 0.49224681] [ 0. 0. 0. 1. ]] SLAMing on 104.609649246 meters Centerline goodness : 0.878787 with order 1 Centerline is valid? [False, False] Translation: X:20.05, Y:-0.28, Z:0.49 [[ 0.97179219 -0.05320825 -0.22975819 20.04988003] [ 0.06348859 0.99727473 0.03758067 -0.27694853] [ 0.22713244 -0.05110762 0.97252191 0.49442555] [ 0. 0. 0. 1. ]] SLAMing on 104.669649246 meters Centerline goodness : 0.878798 with order 1 Centerline is valid? [False, False] Translation: X:20.06, Y:-0.28, Z:0.50 [[ 0.97134405 -0.05462034 -0.23131656 20.05507904] [ 0.06503041 0.9971741 0.03761473 -0.27777378] [ 0.22860835 -0.05157946 0.97215111 0.49525818] [ 0. 0. 0. 1. ]] SLAMing on 104.72964924600001 meters Centerline goodness : 0.875637 with order 1 Centerline is valid? [False, False] Translation: X:20.06, Y:-0.28, Z:0.50 [[ 0.97094066 -0.05563242 -0.23276439 20.05844407] [ 0.06639652 0.99704401 0.03866189 -0.27872085] [ 0.22992548 -0.05299315 0.97176437 0.49848715] [ 0. 0. 0. 1. ]] SLAMing on 104.789649246 meters Centerline goodness : 0.874861 with order 1 Centerline is valid? [False, False] Translation: X:20.09, Y:-0.28, Z:0.51 [[ 0.97089229 -0.05666888 -0.23271613 20.08692663] [ 0.0675892 0.99694222 0.03921617 -0.27908655] [ 0.2297822 -0.05380377 0.97175372 0.50816165] [ 0. 0. 0. 1. ]] SLAMing on 104.849649246 meters Centerline goodness : 0.878122 with order 1 Centerline is valid? [False, False] Translation: X:20.09, Y:-0.28, Z:0.51 [[ 0.97022254 -0.05905822 -0.234905 20.09432049] [ 0.07011174 0.99677734 0.03897789 -0.27957519] [ 0.23184602 -0.05428682 0.97123651 0.50970483] [ 0. 0. 0. 1. ]] SLAMing on 104.909649246 meters Centerline goodness : 0.878558 with order 1 Centerline is valid? [False, False] Translation: X:20.10, Y:-0.28, Z:0.51 [[ 0.96965895 -0.06073771 -0.23679623 20.1005187 ] [ 0.07164375 0.99671684 0.03771897 -0.27760679] [ 0.23372782 -0.05353951 0.97082688 0.50949767] [ 0. 0. 0. 1. ]] SLAMing on 104.969649246 meters Centerline goodness : 0.872631 with order 1 Centerline is valid? [False, False] Translation: X:20.11, Y:-0.28, Z:0.51 [[ 0.96916193 -0.05910936 -0.23923053 20.10963598] [ 0.07071451 0.99668566 0.04021377 -0.27531149] [ 0.23606063 -0.05589072 0.97012969 0.50923728] [ 0. 0. 0. 1. ]] SLAMing on 105.029649246 meters Centerline goodness : 0.865698 with order 1 Centerline is valid? [False, False] Translation: X:20.12, Y:-0.28, Z:0.51 [[ 0.9686534 -0.05707505 -0.2417706 20.11715992] [ 0.06962433 0.99661665 0.04367736 -0.27517094] [ 0.23845972 -0.05914134 0.96934992 0.51129452] [ 0. 0. 0. 1. ]] SLAMing on 105.08964924600001 meters Centerline goodness : 0.867690 with order 1 Centerline is valid? [False, False] Translation: X:20.14, Y:-0.27, Z:0.51 [[ 0.96936562 -0.05734621 -0.23883406 20.13937243] [ 0.06827852 0.99695193 0.03774772 -0.27094583] [ 0.23594139 -0.05289858 0.97032644 0.51222647] [ 0. 0. 0. 1. ]] SLAMing on 105.149649246 meters Centerline goodness : 0.865818 with order 1 Centerline is valid? [False, False] Translation: X:20.15, Y:-0.27, Z:0.51 [[ 0.96886746 -0.05911035 -0.24042009 20.14512899] [ 0.06991471 0.99687936 0.03665334 -0.26830453] [ 0.23750323 -0.05232113 0.96997666 0.51207224] [ 0. 0. 0. 1. ]] SLAMing on 105.209649246 meters Centerline goodness : 0.870580 with order 1 Centerline is valid? [False, False] Translation: X:20.15, Y:-0.27, Z:0.51 [[ 0.96860455 -0.06035343 -0.24116942 20.14754281] [ 0.07115635 0.99680332 0.03633072 -0.26830285] [ 0.23820579 -0.05235083 0.96980276 0.51297383] [ 0. 0. 0. 1. ]] SLAMing on 105.269649246 meters Centerline goodness : 0.870728 with order 1 Centerline is valid? [False, False] Translation: X:20.17, Y:-0.27, Z:0.52 [[ 0.96960666 -0.0611348 -0.23690813 20.16566618] [ 0.07043544 0.99703492 0.03098727 -0.26680799] [ 0.23431128 -0.04673219 0.97103776 0.51627656] [ 0. 0. 0. 1. ]] SLAMing on 105.329649246 meters Centerline goodness : 0.876570 with order 1 Centerline is valid? [False, False] Translation: X:20.18, Y:-0.27, Z:0.53 [[ 0.96970945 -0.06577353 -0.2352391 20.18430045] [ 0.07716971 0.99623276 0.03956166 -0.26649736] [ 0.23175079 -0.05651665 0.97113204 0.5253041 ] [ 0. 0. 0. 1. ]] SLAMing on 105.389649246 meters Centerline goodness : 0.869125 with order 1 Centerline is valid? [False, False] Translation: X:20.19, Y:-0.27, Z:0.53 [[ 0.96900918 -0.0654526 -0.23819563 20.19431829] [ 0.07841634 0.99588858 0.04535202 -0.26645205] [ 0.2342479 -0.06262495 0.97015774 0.53226061] [ 0. 0. 0. 1. ]] SLAMing on 105.449649246 meters Centerline goodness : 0.870113 with order 1 Centerline is valid? [False, False] Translation: X:20.20, Y:-0.26, Z:0.53 [[ 0.96869347 -0.06652234 -0.23918138 20.19758934] [ 0.07930432 0.99586966 0.04420912 -0.26377842] [ 0.23525259 -0.06179321 0.96996795 0.53176345] [ 0. 0. 0. 1. ]] SLAMing on 105.509649246 meters Centerline goodness : 0.871962 with order 1 Centerline is valid? [False, False] Translation: X:20.23, Y:-0.26, Z:0.54 [[ 0.96789541 -0.06351833 -0.24319518 20.22516218] [ 0.07612621 0.99617957 0.04279092 -0.26199384] [ 0.23954806 -0.05993066 0.96903305 0.537596 ] [ 0. 0. 0. 1. ]] SLAMing on 105.569649246 meters Centerline goodness : 0.874466 with order 1 Centerline is valid? [False, False] Translation: X:20.25, Y:-0.26, Z:0.54 [[ 0.96849758 -0.06457585 -0.24050445 20.24605579] [ 0.07512522 0.99656156 0.03494648 -0.25831765] [ 0.2374208 -0.05191353 0.97001874 0.5375971 ] [ 0. 0. 0. 1. ]] SLAMing on 105.629649246 meters Centerline goodness : 0.873723 with order 1 Centerline is valid? [False, False] Translation: X:20.25, Y:-0.26, Z:0.54 [[ 0.96797769 -0.06241313 -0.24315383 20.25465226] [ 0.07381237 0.99654613 0.03804655 -0.25581377] [ 0.23993941 -0.05477597 0.96924129 0.53836735] [ 0. 0. 0. 1. ]] SLAMing on 105.689649246 meters Centerline goodness : 0.879906 with order 1 Centerline is valid? [False, False] Translation: X:20.27, Y:-0.25, Z:0.54 [[ 0.96906123 -0.06126845 -0.23909519 20.2706981 ] [ 0.07071903 0.99701004 0.03114163 -0.25186702] [ 0.23647231 -0.04708672 0.97049662 0.53855516] [ 0. 0. 0. 1. ]] SLAMing on 105.749649246 meters Centerline goodness : 0.881954 with order 1 Centerline is valid? [False, False] Translation: X:20.29, Y:-0.25, Z:0.54 [[ 0.97021639 -0.05747667 -0.23532232 20.2895581 ] [ 0.06610666 0.9973927 0.02894308 -0.24702792] [ 0.23304521 -0.04363742 0.97148634 0.54095077] [ 0. 0. 0. 1. ]] SLAMing on 105.809649246 meters Centerline goodness : 0.873531 with order 1 Centerline is valid? [False, False] Translation: X:20.30, Y:-0.25, Z:0.54 [[ 0.96983306 -0.05049211 -0.23848352 20.29735397] [ 0.06105357 0.99744461 0.03710398 -0.24565832] [ 0.23600064 -0.05054494 0.97043748 0.54442997] [ 0. 0. 0. 1. ]] SLAMing on 105.869649246 meters Centerline goodness : 0.876053 with order 1 Centerline is valid? [False, False] Translation: X:20.31, Y:-0.24, Z:0.55 [[ 0.96889729 -0.05280894 -0.24176283 20.31032461] [ 0.06475461 0.99702834 0.04172916 -0.24277798] [ 0.23884072 -0.05608653 0.96943768 0.55218558] [ 0. 0. 0. 1. ]] SLAMing on 105.929649246 meters Centerline goodness : 0.875462 with order 1 Centerline is valid? [False, False] Translation: X:20.32, Y:-0.24, Z:0.55 [[ 0.96811048 -0.05176179 -0.24511795 20.32020597] [ 0.06455893 0.99692304 0.04445883 -0.23787006] [ 0.24206246 -0.05886562 0.96847334 0.55449106] [ 0. 0. 0. 1. ]] SLAMing on 105.989649246 meters Centerline goodness : 0.878010 with order 1 Centerline is valid? [False, False] Translation: X:20.32, Y:-0.24, Z:0.56 [[ 0.967884 -0.04843204 -0.24668787 20.32445294] [ 0.06210354 0.99691769 0.04794022 -0.23645795] [ 0.24360566 -0.06172077 0.96790848 0.55512528] [ 0. 0. 0. 1. ]] SLAMing on 106.049649246 meters Centerline goodness : 0.877390 with order 1 Centerline is valid? [False, False] Translation: X:20.34, Y:-0.23, Z:0.56 [[ 0.96922117 -0.04406908 -0.24221526 20.33866342] [ 0.05619294 0.99747741 0.04337247 -0.23143662] [ 0.23969287 -0.0556483 0.9692526 0.55554251] [ 0. 0. 0. 1. ]] SLAMing on 106.109649246 meters Centerline goodness : 0.874501 with order 1 Centerline is valid? [False, False] Translation: X:20.35, Y:-0.23, Z:0.56 [[ 0.97041458 -0.03834517 -0.23838035 20.35225936] [ 0.04890904 0.99805873 0.03855736 -0.22638136] [ 0.2364391 -0.04907557 0.97040617 0.55514906] [ 0. 0. 0. 1. ]] SLAMing on 106.169649246 meters Centerline goodness : 0.874416 with order 1 Centerline is valid? [False, False] Translation: X:20.37, Y:-0.22, Z:0.55 [[ 0.97153892 -0.03518549 -0.23425224 20.36887066] [ 0.04413181 0.99847863 0.03305758 -0.22326468] [ 0.23273271 -0.0424547 0.97161365 0.55391073] [ 0. 0. 0. 1. ]] SLAMing on 106.22964924600001 meters Centerline goodness : 0.879482 with order 1 Centerline is valid? [False, False] Translation: X:20.37, Y:-0.22, Z:0.56 [[ 0.97124461 -0.03120868 -0.23602948 20.37347447] [ 0.04116913 0.99845238 0.03738906 -0.22400684] [ 0.23449734 -0.04603105 0.97102633 0.55519567] [ 0. 0. 0. 1. ]] SLAMing on 106.289649246 meters Centerline goodness : 0.881137 with order 1 Centerline is valid? [False, False] Translation: X:20.38, Y:-0.23, Z:0.56 [[ 0.97088256 -0.03207017 -0.23739956 20.37736844] [ 0.04223162 0.99839099 0.03784072 -0.22720648] [ 0.23580403 -0.04676467 0.97067478 0.55655263] [ 0. 0. 0. 1. ]] SLAMing on 106.349649246 meters Centerline goodness : 0.885126 with order 1 Centerline is valid? [False, False] Translation: X:20.40, Y:-0.23, Z:0.56 [[ 0.97183163 -0.03411998 -0.23319331 20.39516474] [ 0.04251656 0.9986124 0.03107424 -0.2271553 ] [ 0.23180948 -0.0401135 0.97193378 0.55912117] [ 0. 0. 0. 1. ]] SLAMing on 106.409649246 meters Centerline goodness : 0.885548 with order 1 Centerline is valid? [False, False] Translation: X:20.40, Y:-0.23, Z:0.56 [[ 0.97153718 -0.0305082 -0.23491438 20.39986098] [ 0.03992356 0.99857447 0.03542785 -0.22851322] [ 0.23349866 -0.04379809 0.97137022 0.56070476] [ 0. 0. 0. 1. ]] SLAMing on 106.469649246 meters Centerline goodness : 0.881865 with order 1 Centerline is valid? [False, False] Translation: X:20.42, Y:-0.22, Z:0.56 [[ 0.97250898 -0.02722369 -0.23126857 20.41621257] [ 0.03497623 0.99895303 0.02948738 -0.22491271] [ 0.23022368 -0.03676564 0.97244298 0.55958669] [ 0. 0. 0. 1. ]] SLAMing on 106.529649246 meters Centerline goodness : 0.885162 with order 1 Centerline is valid? [False, False] Translation: X:20.42, Y:-0.23, Z:0.56 [[ 0.97191171 -0.02492719 -0.23402192 20.42352515] [ 0.03399418 0.99881632 0.03479015 -0.22704191] [ 0.23287769 -0.04176834 0.97160866 0.56436472] [ 0. 0. 0. 1. ]] SLAMing on 106.58964924600001 meters Centerline goodness : 0.884506 with order 1 Centerline is valid? [False, False] Translation: X:20.43, Y:-0.23, Z:0.56 [[ 0.97135594 -0.02345622 -0.23646868 20.4334108 ] [ 0.03318757 0.9987545 0.03725629 -0.22609133] [ 0.23530026 -0.04403694 0.97092458 0.56338464] [ 0. 0. 0. 1. ]] SLAMing on 106.649649246 meters Centerline goodness : 0.885593 with order 1 Centerline is valid? [False, False] Translation: X:20.44, Y:-0.23, Z:0.57 [[ 9.71022887e-01 -1.96121612e-02 -2.38180426e-01 2.04376947e+01] [ 3.04416638e-02 9.98659016e-01 4.18745187e-02 -2.29852656e-01] [ 2.37039780e-01 -4.79117245e-02 9.70317788e-01 5.65382912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.709649246 meters Centerline goodness : 0.885840 with order 1 Centerline is valid? [False, False] Translation: X:20.45, Y:-0.24, Z:0.57 [[ 0.9703695 -0.02304532 -0.24052431 20.44606773] [ 0.0348081 0.99839069 0.04477086 -0.23535208] [ 0.23910547 -0.05181647 0.96961004 0.57208974] [ 0. 0. 0. 1. ]] SLAMing on 106.769649246 meters Centerline goodness : 0.890959 with order 1 Centerline is valid? [False, False] Translation: X:20.46, Y:-0.24, Z:0.58 [[ 0.9695747 -0.02933111 -0.24303206 20.45853555] [ 0.04180645 0.99805081 0.04633355 -0.23891088] [ 0.24119933 -0.05508415 0.96891105 0.57813472] [ 0. 0. 0. 1. ]] SLAMing on 106.829649246 meters Centerline goodness : 0.889442 with order 1 Centerline is valid? [False, False] Translation: X:20.47, Y:-0.24, Z:0.59 [[ 0.96906327 -0.03306558 -0.24458749 20.47351394] [ 0.0474155 0.99746739 0.0530149 -0.24319274] [ 0.24221507 -0.06297203 0.96817683 0.58717743] [ 0. 0. 0. 1. ]] SLAMing on 106.889649246 meters Centerline goodness : 0.890473 with order 1 Centerline is valid? [False, False] Translation: X:20.49, Y:-0.24, Z:0.59 [[ 0.96836437 -0.03069111 -0.24764594 20.48790133] [ 0.04671361 0.99715944 0.05908378 -0.24302951] [ 0.24512914 -0.06878307 0.96704736 0.58906487] [ 0. 0. 0. 1. ]] SLAMing on 106.949649246 meters Centerline goodness : 0.889006 with order 1 Centerline is valid? [False, False] Translation: X:20.51, Y:-0.24, Z:0.59 [[ 0.9678224 -0.0298201 -0.24986108 20.51303869] [ 0.04479608 0.99751031 0.05446543 -0.24067346] [ 0.24761484 -0.06390566 0.96674865 0.59236844] [ 0. 0. 0. 1. ]] SLAMing on 107.009649246 meters Centerline goodness : 0.888282 with order 1 Centerline is valid? [False, False] Translation: X:20.53, Y:-0.24, Z:0.59 [[ 0.96872136 -0.03183414 -0.24610061 20.53060717] [ 0.0442015 0.99801348 0.04489234 -0.23833274] [ 0.24418262 -0.05436618 0.96820409 0.5913639 ] [ 0. 0. 0. 1. ]] SLAMing on 107.069649246 meters Centerline goodness : 0.894570 with order 1 Centerline is valid? [False, False] Translation: X:20.53, Y:-0.24, Z:0.60 [[ 0.9683293 -0.0282573 -0.24807233 20.53456642] [ 0.04222022 0.99779833 0.05114636 -0.24113125] [ 0.2460809 -0.06000019 0.96739039 0.59678597] [ 0. 0. 0. 1. ]] SLAMing on 107.129649246 meters Centerline goodness : 0.890876 with order 1 Centerline is valid? [False, False] Translation: X:20.54, Y:-0.25, Z:0.60 [[ 0.96774345 -0.0267282 -0.2505159 20.54190024] [ 0.04254049 0.99741461 0.05791719 -0.24533067] [ 0.2483202 -0.06670605 0.96637849 0.60442805] [ 0. 0. 0. 1. ]] SLAMing on 107.189649246 meters Centerline goodness : 0.897847 with order 1 Centerline is valid? [False, False] Translation: X:20.55, Y:-0.24, Z:0.60 [[ 0.96905541 -0.02940794 -0.24508528 20.55479968] [ 0.04224539 0.99798761 0.04728707 -0.24308348] [ 0.24320146 -0.05617752 0.96834763 0.60353386] [ 0. 0. 0. 1. ]] SLAMing on 107.249649246 meters Centerline goodness : 0.901499 with order 1 Centerline is valid? [False, False] Translation: X:20.56, Y:-0.24, Z:0.61 [[ 0.96871057 -0.02524175 -0.24690625 20.55772838] [ 0.03947178 0.99782185 0.05285391 -0.24477692] [ 0.24503432 -0.06094597 0.9675969 0.60783171] [ 0. 0. 0. 1. ]] SLAMing on 107.309649246 meters Centerline goodness : 0.900120 with order 1 Centerline is valid? [False, False] Translation: X:20.56, Y:-0.24, Z:0.60 [[ 0.96854403 -0.02677405 -0.24739768 20.56206183] [ 0.0403416 0.9979374 0.04993495 -0.24042664] [ 0.24555044 -0.05834461 0.96762642 0.60330741] [ 0. 0. 0. 1. ]] SLAMing on 107.369649246 meters Centerline goodness : 0.899379 with order 1 Centerline is valid? [False, False] Translation: X:20.58, Y:-0.24, Z:0.60 [[ 0.96958525 -0.02850609 -0.24308816 20.57896722] [ 0.03953835 0.99839186 0.04062537 -0.23761849] [ 0.24153917 -0.04900106 0.9691531 0.60175988] [ 0. 0. 0. 1. ]] SLAMing on 107.429649246 meters Centerline goodness : 0.904821 with order 1 Centerline is valid? [False, False] Translation: X:20.58, Y:-0.24, Z:0.60 [[ 0.9693602 -0.02826275 -0.24401235 20.58038686] [ 0.03951469 0.99836346 0.04133999 -0.23927872] [ 0.24244464 -0.04971541 0.96889059 0.60326003] [ 0. 0. 0. 1. ]] SLAMing on 107.489649246 meters Centerline goodness : 0.903195 with order 1 Centerline is valid? [False, False] Translation: X:20.59, Y:-0.24, Z:0.60 [[ 0.96892841 -0.02688193 -0.24587618 20.58830812] [ 0.03888292 0.99827084 0.04408447 -0.23967647] [ 0.24426595 -0.05227508 0.96829823 0.60308791] [ 0. 0. 0. 1. ]] SLAMing on 107.549649246 meters Centerline goodness : 0.903298 with order 1 Centerline is valid? [False, False] Translation: X:20.59, Y:-0.24, Z:0.61 [[ 0.96843373 -0.02372314 -0.24813973 20.59375835] [ 0.03709137 0.99809319 0.04933766 -0.24239411] [ 0.24649613 -0.0569841 0.96746704 0.6070767 ] [ 0. 0. 0. 1. ]] SLAMing on 107.609649246 meters Centerline goodness : 0.903669 with order 1 Centerline is valid? [False, False] Translation: X:20.61, Y:-0.24, Z:0.61 [[ 0.96926441 -0.02460747 -0.24478762 20.61281147] [ 0.03575581 0.9985108 0.04120311 -0.2388227 ] [ 0.24340918 -0.04868928 0.96870084 0.60604503] [ 0. 0. 0. 1. ]] SLAMing on 107.669649246 meters Centerline goodness : 0.911260 with order 1 Centerline is valid? [False, False] Translation: X:20.62, Y:-0.24, Z:0.61 [[ 0.97081311 -0.02173817 -0.23885006 20.62276576] [ 0.0309311 0.99891527 0.0348073 -0.23501214] [ 0.23783432 -0.04117927 0.97043243 0.60598817] [ 0. 0. 0. 1. ]] SLAMing on 107.72964924600001 meters Centerline goodness : 0.908456 with order 1 Centerline is valid? [False, False] Translation: X:20.63, Y:-0.23, Z:0.61 [[ 9.70589577e-01 -1.83199071e-02 -2.40042192e-01 2.06261315e+01] [ 2.83696724e-02 9.98856648e-01 3.84780161e-02 -2.33394117e-01] [ 2.39062826e-01 -4.41562797e-02 9.69999582e-01 6.07011552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.789649246 meters Centerline goodness : 0.907578 with order 1 Centerline is valid? [False, False] Translation: X:20.63, Y:-0.23, Z:0.61 [[ 9.70324478e-01 -1.89344727e-02 -2.41064084e-01 2.06282852e+01] [ 2.89834199e-02 9.98849384e-01 3.82082443e-02 -2.32909424e-01] [ 2.40063259e-01 -4.40612562e-02 9.69756793e-01 6.07967738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.849649246 meters Centerline goodness : 0.909823 with order 1 Centerline is valid? [False, False] Translation: X:20.63, Y:-0.23, Z:0.61 [[ 9.70055482e-01 -1.54274565e-02 -2.42392977e-01 2.06319737e+01] [ 2.64099166e-02 9.98763252e-01 4.21246021e-02 -2.33692815e-01] [ 2.41443323e-01 -4.72647795e-02 9.69263206e-01 6.08973510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.909649246 meters Centerline goodness : 0.909361 with order 1 Centerline is valid? [False, False] Translation: X:20.64, Y:-0.24, Z:0.61 [[ 9.69650929e-01 -1.25279767e-02 -2.44172327e-01 2.06372336e+01] [ 2.45459190e-02 9.98628807e-01 4.62385516e-02 -2.35936560e-01] [ 2.43258244e-01 -5.08286887e-02 9.68628861e-01 6.10713628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.969649246 meters Centerline goodness : 0.906049 with order 1 Centerline is valid? [False, False] Translation: X:20.64, Y:-0.24, Z:0.61 [[ 9.69402517e-01 -1.35513731e-02 -2.45102265e-01 2.06409267e+01] [ 2.55130243e-02 9.98629655e-01 4.56935269e-02 -2.36569912e-01] [ 2.44147180e-01 -5.05487200e-02 9.68419837e-01 6.10083745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.029649246 meters Centerline goodness : 0.907378 with order 1 Centerline is valid? [False, False] Translation: X:20.65, Y:-0.24, Z:0.62 [[ 9.68810834e-01 -1.41003250e-02 -2.47399978e-01 2.06510418e+01] [ 2.75294832e-02 9.98323943e-01 5.09061060e-02 -2.39284632e-01] [ 2.46267529e-01 -5.61291805e-02 9.67575227e-01 6.15783741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.08964924600001 meters Centerline goodness : 0.909062 with order 1 Centerline is valid? [False, False] Translation: X:20.66, Y:-0.24, Z:0.62 [[ 9.68333228e-01 -1.58520705e-02 -2.49157524e-01 2.06555429e+01] [ 2.98623285e-02 9.98171620e-01 5.25514855e-02 -2.43063562e-01] [ 2.47868919e-01 -5.83277734e-02 9.67036126e-01 6.20122570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.149649246 meters Centerline goodness : 0.910537 with order 1 Centerline is valid? [False, False] Translation: X:20.66, Y:-0.24, Z:0.62 [[ 9.68008429e-01 -1.74823724e-02 -2.50307908e-01 2.06604313e+01] [ 3.15080665e-02 9.98142791e-01 5.21364669e-02 -2.44572126e-01] [ 2.48931565e-01 -5.83552576e-02 9.66761470e-01 6.19810540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.209649246 meters Centerline goodness : 0.913159 with order 1 Centerline is valid? [False, False] Translation: X:20.67, Y:-0.25, Z:0.63 [[ 9.67535553e-01 -1.70585244e-02 -2.52158603e-01 2.06688426e+01] [ 3.26470809e-02 9.97796180e-01 5.77663452e-02 -2.47665948e-01] [ 2.50617483e-01 -6.41232350e-02 9.65960190e-01 6.25570179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.269649246 meters Centerline goodness : 0.917131 with order 1 Centerline is valid? [False, False] Translation: X:20.68, Y:-0.25, Z:0.63 [[ 0.96877792 -0.02177335 -0.24697218 20.68352593] [ 0.03430262 0.99832717 0.04654246 -0.24646615] [ 0.24554565 -0.0535611 0.9679042 0.62522422] [ 0. 0. 0. 1. ]] SLAMing on 108.329649246 meters Centerline goodness : 0.913658 with order 1 Centerline is valid? [False, False] Translation: X:20.69, Y:-0.25, Z:0.63 [[ 9.68436066e-01 -1.96343254e-02 -2.48487586e-01 2.06897025e+01] [ 3.32379080e-02 9.98162273e-01 5.06687122e-02 -2.48010014e-01] [ 2.47036087e-01 -5.73286158e-02 9.67308948e-01 6.26839341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.389649246 meters Centerline goodness : 0.913142 with order 1 Centerline is valid? [False, False] Translation: X:20.69, Y:-0.25, Z:0.63 [[ 0.96828285 -0.02483901 -0.24861888 20.69136454] [ 0.03739369 0.9982458 0.04590251 -0.24865453] [ 0.24704258 -0.0537434 0.96751311 0.62529049] [ 0. 0. 0. 1. ]] SLAMing on 108.449649246 meters Centerline goodness : 0.916028 with order 1 Centerline is valid? [False, False] Translation: X:20.70, Y:-0.25, Z:0.62 [[ 0.97115533 -0.03166862 -0.2363354 20.69958279] [ 0.04228622 0.99830482 0.0399921 -0.24630758] [ 0.23466828 -0.04883227 0.97084819 0.61766174] [ 0. 0. 0. 1. ]] SLAMing on 108.509649246 meters Centerline goodness : 0.915536 with order 1 Centerline is valid? [False, False] Translation: X:20.71, Y:-0.25, Z:0.62 [[ 0.97085363 -0.03080105 -0.23768576 20.70664321] [ 0.04229679 0.99816129 0.0434169 -0.24681361] [ 0.23591144 -0.05220479 0.9703713 0.61875152] [ 0. 0. 0. 1. ]] SLAMing on 108.569649246 meters Centerline goodness : 0.915687 with order 1 Centerline is valid? [False, False] Translation: X:20.71, Y:-0.25, Z:0.62 [[ 0.97055978 -0.03624436 -0.23811776 20.70762204] [ 0.04684982 0.99813916 0.03902959 -0.24656197] [ 0.23626006 -0.04903633 0.97045176 0.61953995] [ 0. 0. 0. 1. ]] SLAMing on 108.629649246 meters Centerline goodness : 0.920107 with order 1 Centerline is valid? [False, False] Translation: X:20.71, Y:-0.25, Z:0.63 [[ 0.97022228 -0.03507875 -0.23966271 20.71333879] [ 0.04741653 0.99781971 0.04590746 -0.24768754] [ 0.2375298 -0.05590441 0.96977022 0.62755962] [ 0. 0. 0. 1. ]] SLAMing on 108.689649246 meters Centerline goodness : 0.923662 with order 1 Centerline is valid? [False, False] Translation: X:20.73, Y:-0.24, Z:0.63 [[ 0.97278344 -0.04037952 -0.22817073 20.72564562] [ 0.05216377 0.99758536 0.04585179 -0.24219908] [ 0.22576831 -0.05650611 0.97254086 0.62559231] [ 0. 0. 0. 1. ]] SLAMing on 108.749649246 meters Centerline goodness : 0.921054 with order 1 Centerline is valid? [False, False] Translation: X:20.73, Y:-0.23, Z:0.62 [[ 0.97256552 -0.0380357 -0.22949856 20.72995584] [ 0.05001359 0.99766078 0.04660058 -0.23369256] [ 0.22718923 -0.05680016 0.97219278 0.62339531] [ 0. 0. 0. 1. ]] SLAMing on 108.809649246 meters Centerline goodness : 0.916441 with order 1 Centerline is valid? [False, False] Translation: X:20.74, Y:-0.23, Z:0.62 [[ 0.97224345 -0.03579791 -0.23121674 20.7361383 ] [ 0.04825899 0.99765847 0.04846276 -0.2299414 ] [ 0.22894047 -0.05827589 0.97169449 0.62195082] [ 0. 0. 0. 1. ]] SLAMing on 108.869649246 meters Centerline goodness : 0.912563 with order 1 Centerline is valid? [False, False] Translation: X:20.74, Y:-0.23, Z:0.62 [[ 0.97194972 -0.03343806 -0.23279958 20.74200976] [ 0.04662795 0.99758977 0.05138563 -0.22943512] [ 0.23052024 -0.06079921 0.97116624 0.62167589] [ 0. 0. 0. 1. ]] SLAMing on 108.929649246 meters Centerline goodness : 0.912039 with order 1 Centerline is valid? [False, False] Translation: X:20.76, Y:-0.22, Z:0.62 [[ 0.97416325 -0.0368674 -0.22281554 20.7564268 ] [ 0.0489964 0.99758877 0.04915272 -0.2240423 ] [ 0.22046615 -0.05879993 0.97362069 0.61556762] [ 0. 0. 0. 1. ]] SLAMing on 108.989649246 meters Centerline goodness : 0.914706 with order 1 Centerline is valid? [False, False] Translation: X:20.76, Y:-0.22, Z:0.61 [[ 0.97562465 -0.03803196 -0.21612524 20.76495286] [ 0.04757141 0.99810199 0.03910727 -0.22226862] [ 0.21422771 -0.0484354 0.97558213 0.61497138] [ 0. 0. 0. 1. ]] SLAMing on 109.049649246 meters Centerline goodness : 0.922224 with order 1 Centerline is valid? [False, False] Translation: X:20.78, Y:-0.22, Z:0.62 [[ 0.97775594 -0.0402852 -0.20584076 20.78139351] [ 0.05040046 0.99775345 0.04413436 -0.22386762] [ 0.20360036 -0.05352711 0.97758976 0.6196633 ] [ 0. 0. 0. 1. ]] SLAMing on 109.109649246 meters Centerline goodness : 0.923636 with order 1 Centerline is valid? [False, False] Translation: X:20.79, Y:-0.23, Z:0.62 [[ 0.97760326 -0.0373373 -0.20711784 20.78506595] [ 0.04863431 0.99757831 0.04972139 -0.22665022] [ 0.2047598 -0.05868082 0.97705168 0.6233859 ] [ 0. 0. 0. 1. ]] SLAMing on 109.169649246 meters Centerline goodness : 0.922017 with order 1 Centerline is valid? [False, False] Translation: X:20.80, Y:-0.22, Z:0.62 [[ 0.97836415 -0.03886259 -0.20320749 20.80219636] [ 0.04783056 0.99807781 0.0394071 -0.22361761] [ 0.20128543 -0.04827402 0.97834237 0.61984253] [ 0. 0. 0. 1. ]] SLAMing on 109.22964924600001 meters Centerline goodness : 0.925530 with order 1 Centerline is valid? [False, False] Translation: X:20.82, Y:-0.22, Z:0.62 [[ 0.97927451 -0.03741925 -0.19905086 20.82069666] [ 0.04497081 0.99842472 0.03355155 -0.22042554] [ 0.19748182 -0.04180766 0.97941465 0.6183009 ] [ 0. 0. 0. 1. ]] SLAMing on 109.289649246 meters Centerline goodness : 0.925069 with order 1 Centerline is valid? [False, False] Translation: X:20.83, Y:-0.22, Z:0.61 [[ 0.98039879 -0.03738146 -0.19344465 20.834014 ] [ 0.04278124 0.99880069 0.0238107 -0.21693958] [ 0.19232257 -0.03161979 0.98082222 0.61429794] [ 0. 0. 0. 1. ]] SLAMing on 109.349649246 meters Centerline goodness : 0.924807 with order 1 Centerline is valid? [False, False] Translation: X:20.85, Y:-0.21, Z:0.61 [[ 9.81519286e-01 -3.18917956e-02 -1.88687052e-01 2.08477005e+01] [ 3.60762936e-02 9.99172501e-01 1.87833381e-02 -2.12738737e-01] [ 1.87931879e-01 -2.52433381e-02 9.81857618e-01 6.11497069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.409649246 meters Centerline goodness : 0.928372 with order 1 Centerline is valid? [False, False] Translation: X:20.85, Y:-0.21, Z:0.61 [[ 9.81463697e-01 -3.12000065e-02 -1.89091438e-01 2.08461245e+01] [ 3.56488209e-02 9.99160790e-01 2.01711958e-02 -2.13686890e-01] [ 1.88303409e-01 -2.65381832e-02 9.81752286e-01 6.14961194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.469649246 meters Centerline goodness : 0.917751 with order 1 Centerline is valid? [False, False] Translation: X:20.86, Y:-0.21, Z:0.61 [[ 0.9810631 -0.03041795 -0.19128497 20.85594692] [ 0.03539623 0.99911638 0.0226618 -0.21232313] [ 0.19042662 -0.02900342 0.9812729 0.61363972] [ 0. 0. 0. 1. ]] SLAMing on 109.529649246 meters Centerline goodness : 0.920083 with order 1 Centerline is valid? [False, False] Translation: X:20.86, Y:-0.21, Z:0.61 [[ 0.9809138 -0.03037657 -0.19205569 20.85790246] [ 0.03554588 0.99909107 0.02352697 -0.21472736] [ 0.19116646 -0.02990472 0.98110198 0.61460943] [ 0. 0. 0. 1. ]] SLAMing on 109.58964924600001 meters Centerline goodness : 0.921354 with order 1 Centerline is valid? [False, False] Translation: X:20.86, Y:-0.22, Z:0.62 [[ 0.98074841 -0.03059705 -0.1928636 20.85983899] [ 0.03586932 0.99907057 0.02390375 -0.21716623] [ 0.19195296 -0.03036145 0.98093437 0.61542444] [ 0. 0. 0. 1. ]] SLAMing on 109.649649246 meters Centerline goodness : 0.917327 with order 1 Centerline is valid? [False, False] Translation: X:20.87, Y:-0.22, Z:0.62 [[ 0.98043569 -0.02927434 -0.19465066 20.86721909] [ 0.03526511 0.99900279 0.02738252 -0.21924136] [ 0.19365494 -0.03371117 0.98049035 0.61609439] [ 0. 0. 0. 1. ]] SLAMing on 109.709649246 meters Centerline goodness : 0.911653 with order 1 Centerline is valid? [False, False] Translation: X:20.87, Y:-0.22, Z:0.62 [[ 0.98013833 -0.03019783 -0.1960024 20.87179888] [ 0.0362288 0.99897173 0.02725711 -0.22146861] [ 0.19497776 -0.03381667 0.98022452 0.61593809] [ 0. 0. 0. 1. ]] SLAMing on 109.769649246 meters Centerline goodness : 0.913064 with order 1 Centerline is valid? [False, False] Translation: X:20.87, Y:-0.22, Z:0.62 [[ 0.97998017 -0.03066019 -0.19672014 20.87352238] [ 0.0367984 0.99894086 0.02762293 -0.22283723] [ 0.19566486 -0.03430891 0.98007049 0.61699892] [ 0. 0. 0. 1. ]] SLAMing on 109.829649246 meters Centerline goodness : 0.912466 with order 1 Centerline is valid? [False, False] Translation: X:20.89, Y:-0.22, Z:0.62 [[ 0.97931684 -0.03432891 -0.19939925 20.88938917] [ 0.0414538 0.99863849 0.03166632 -0.22459345] [ 0.1980407 -0.03927722 0.97940655 0.62125686] [ 0. 0. 0. 1. ]] SLAMing on 109.889649246 meters Centerline goodness : 0.909160 with order 1 Centerline is valid? [False, False] Translation: X:20.91, Y:-0.23, Z:0.63 [[ 0.9789392 -0.04021375 -0.20015217 20.90990862] [ 0.04919352 0.99798423 0.04009341 -0.22845585] [ 0.1981364 -0.0490952 0.97894414 0.63170914] [ 0. 0. 0. 1. ]] SLAMing on 109.949649246 meters Centerline goodness : 0.908343 with order 1 Centerline is valid? [False, False] Translation: X:20.93, Y:-0.23, Z:0.63 [[ 0.97988801 -0.04038128 -0.19541967 20.9295866 ] [ 0.04804453 0.99824462 0.03463249 -0.22566152] [ 0.19367813 -0.04332481 0.98010803 0.63157261] [ 0. 0. 0. 1. ]] SLAMing on 110.009649246 meters Centerline goodness : 0.903054 with order 1 Centerline is valid? [False, False] Translation: X:20.94, Y:-0.22, Z:0.63 [[ 0.98107136 -0.03506295 -0.19044571 20.94397351] [ 0.04151721 0.99868713 0.03000555 -0.2174601 ] [ 0.18914359 -0.03734436 0.98123906 0.62926464] [ 0. 0. 0. 1. ]] SLAMing on 110.069649246 meters Centerline goodness : 0.897316 with order 1 Centerline is valid? [False, False] Translation: X:20.95, Y:-0.22, Z:0.63 [[ 0.98089265 -0.0321708 -0.19187142 20.94875562] [ 0.03927737 0.99867167 0.03334946 -0.21557678] [ 0.19054367 -0.04024845 0.98085329 0.62944877] [ 0. 0. 0. 1. ]] SLAMing on 110.129649246 meters Centerline goodness : 0.896321 with order 1 Centerline is valid? [False, False] Translation: X:20.96, Y:-0.21, Z:0.63 [[ 0.98178708 -0.03301039 -0.18709475 20.96398476] [ 0.03804849 0.99900187 0.02340033 -0.21237737] [ 0.18613555 -0.03009282 0.98206312 0.6264434 ] [ 0. 0. 0. 1. ]] SLAMing on 110.189649246 meters Centerline goodness : 0.896055 with order 1 Centerline is valid? [False, False] Translation: X:20.98, Y:-0.21, Z:0.63 [[ 9.82524645e-01 -3.20784544e-02 -1.83347469e-01 2.09842229e+01] [ 3.61824737e-02 9.99163010e-01 1.90816224e-02 -2.11053444e-01] [ 1.82581900e-01 -2.53821292e-02 9.82862960e-01 6.28198146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.249649246 meters Centerline goodness : 0.897090 with order 1 Centerline is valid? [False, False] Translation: X:20.99, Y:-0.21, Z:0.63 [[ 0.98239683 -0.02796761 -0.1847005 20.98643712] [ 0.03311236 0.99914319 0.02482851 -0.21340558] [ 0.18384785 -0.03050732 0.98248118 0.63204722] [ 0. 0. 0. 1. ]] SLAMing on 110.309649246 meters Centerline goodness : 0.893023 with order 1 Centerline is valid? [False, False] Translation: X:20.99, Y:-0.22, Z:0.63 [[ 0.98226033 -0.02798207 -0.1854229 20.98808253] [ 0.03333057 0.99911158 0.02579014 -0.2153412 ] [ 0.18453651 -0.03151289 0.98232032 0.63353121] [ 0. 0. 0. 1. ]] SLAMing on 110.369649246 meters Centerline goodness : 0.900895 with order 1 Centerline is valid? [False, False] Translation: X:21.00, Y:-0.22, Z:0.64 [[ 0.98398959 -0.03598882 -0.17455457 21.0026906 ] [ 0.04164364 0.99871618 0.02884079 -0.21683951] [ 0.17329253 -0.03564813 0.98422503 0.6395487 ] [ 0. 0. 0. 1. ]] SLAMing on 110.429649246 meters Centerline goodness : 0.895334 with order 1 Centerline is valid? [False, False] Translation: X:21.02, Y:-0.21, Z:0.64 [[ 0.98363938 -0.03453445 -0.17680763 21.0163604 ] [ 0.04098577 0.99861576 0.03296563 -0.21239336] [ 0.17542444 -0.03967289 0.98369321 0.6371385 ] [ 0. 0. 0. 1. ]] SLAMing on 110.489649246 meters Centerline goodness : 0.895992 with order 1 Centerline is valid? [False, False] Translation: X:21.04, Y:-0.21, Z:0.63 [[ 0.98412995 -0.03261666 -0.17442592 21.03713149] [ 0.03783499 0.9989279 0.02667524 -0.20768562] [ 0.17336886 -0.03285131 0.98430891 0.6342644 ] [ 0. 0. 0. 1. ]] SLAMing on 110.549649246 meters Centerline goodness : 0.893319 with order 1 Centerline is valid? [False, False] Translation: X:21.05, Y:-0.21, Z:0.63 [[ 9.84804624e-01 -3.11255958e-02 -1.70853883e-01 2.10546143e+01] [ 3.50714337e-02 9.99182163e-01 2.01246230e-02 -2.05655521e-01] [ 1.70087761e-01 -2.58109124e-02 9.85090834e-01 6.33261961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.609649246 meters Centerline goodness : 0.894643 with order 1 Centerline is valid? [False, False] Translation: X:21.07, Y:-0.20, Z:0.63 [[ 9.85676895e-01 -2.87593951e-02 -1.66174475e-01 2.10726802e+01] [ 3.17470784e-02 9.99378050e-01 1.53504530e-02 -2.01789874e-01] [ 1.65629653e-01 -2.04061410e-02 9.85976880e-01 6.32081053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.669649246 meters Centerline goodness : 0.897118 with order 1 Centerline is valid? [False, False] Translation: X:21.07, Y:-0.20, Z:0.64 [[ 9.85607216e-01 -2.42462919e-02 -1.67303714e-01 2.10741226e+01] [ 2.80730595e-02 9.99394703e-01 2.05458341e-02 -2.02228414e-01] [ 1.66704286e-01 -2.49468495e-02 9.85691298e-01 6.35067380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.72964924600001 meters Centerline goodness : 0.896849 with order 1 Centerline is valid? [False, False] Translation: X:21.10, Y:-0.20, Z:0.63 [[ 9.86326868e-01 -2.11996614e-02 -1.63431586e-01 2.10967785e+01] [ 2.45062160e-02 9.99533222e-01 1.82423326e-02 -1.99077939e-01] [ 1.62968569e-01 -2.19979925e-02 9.86385996e-01 6.34551659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.789649246 meters Centerline goodness : 0.897305 with order 1 Centerline is valid? [False, False] Translation: X:21.10, Y:-0.20, Z:0.64 [[ 9.86085811e-01 -1.80335449e-02 -1.65256059e-01 2.11012560e+01] [ 2.22648931e-02 9.99469060e-01 2.37880838e-02 -2.02507727e-01] [ 1.64739334e-01 -2.71365004e-02 9.85963773e-01 6.38372214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.849649246 meters Centerline goodness : 0.896836 with order 1 Centerline is valid? [False, False] Translation: X:21.12, Y:-0.21, Z:0.65 [[ 9.86009875e-01 -1.83497995e-02 -1.65673811e-01 2.11169960e+01] [ 2.43853436e-02 9.99108194e-01 3.44698686e-02 -2.06625259e-01] [ 1.64893547e-01 -3.80276437e-02 9.85578011e-01 6.45519848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.909649246 meters Centerline goodness : 0.894904 with order 1 Centerline is valid? [False, False] Translation: X:21.14, Y:-0.21, Z:0.65 [[ 0.98585687 -0.0221065 -0.16612506 21.13653066] [ 0.02949569 0.99867604 0.04214476 -0.21008087] [ 0.16497344 -0.04644867 0.98520368 0.65051023] [ 0. 0. 0. 1. ]] SLAMing on 110.969649246 meters Centerline goodness : 0.895497 with order 1 Centerline is valid? [False, False] Translation: X:21.16, Y:-0.22, Z:0.66 [[ 0.98578407 -0.03194882 -0.16495161 21.16328284] [ 0.04065777 0.99793667 0.04969263 -0.21505491] [ 0.16302364 -0.05569277 0.98504904 0.65974459] [ 0. 0. 0. 1. ]] SLAMing on 111.029649246 meters Centerline goodness : 0.891344 with order 1 Centerline is valid? [False, False] Translation: X:21.19, Y:-0.21, Z:0.66 [[ 0.98518247 -0.03873368 -0.16707843 21.19247373] [ 0.04835274 0.99737537 0.05389237 -0.21272914] [ 0.16455246 -0.06117252 0.98446961 0.65839177] [ 0. 0. 0. 1. ]] SLAMing on 111.08964924600001 meters Centerline goodness : 0.888994 with order 1 Centerline is valid? [False, False] Translation: X:21.22, Y:-0.22, Z:0.67 [[ 0.98506908 -0.0414682 -0.16709066 21.21867767] [ 0.05327233 0.99634375 0.06679212 -0.215178 ] [ 0.16370999 -0.07469616 0.98367653 0.66699346] [ 0. 0. 0. 1. ]] SLAMing on 111.149649246 meters Centerline goodness : 0.888306 with order 1 Centerline is valid? [False, False] Translation: X:21.25, Y:-0.22, Z:0.68 [[ 0.98535368 -0.0463376 -0.16410655 21.2493139 ] [ 0.05789287 0.99611596 0.06634305 -0.21738141] [ 0.16039498 -0.07487197 0.98420914 0.67559796] [ 0. 0. 0. 1. ]] SLAMing on 111.209649246 meters Centerline goodness : 0.893270 with order 1 Centerline is valid? [False, False] Translation: X:21.27, Y:-0.22, Z:0.69 [[ 0.98617067 -0.05206577 -0.15734221 21.27490468] [ 0.06479442 0.99493276 0.07687964 -0.22050974] [ 0.15254213 -0.08601134 0.98454708 0.68606333] [ 0. 0. 0. 1. ]] SLAMing on 111.269649246 meters Centerline goodness : 0.895952 with order 1 Centerline is valid? [False, False] Translation: X:21.31, Y:-0.22, Z:0.70 [[ 0.98659814 -0.05071546 -0.15508727 21.30688031] [ 0.06411908 0.99451129 0.08268034 -0.21956434] [ 0.15004287 -0.09151632 0.98443481 0.69509731] [ 0. 0. 0. 1. ]] SLAMing on 111.329649246 meters Centerline goodness : 0.901386 with order 1 Centerline is valid? [False, False] Translation: X:21.32, Y:-0.21, Z:0.69 [[ 0.9874469 -0.04940117 -0.15002711 21.32049964] [ 0.06077564 0.99553674 0.07220054 -0.21117031] [ 0.14579071 -0.0804122 0.98604206 0.68857593] [ 0. 0. 0. 1. ]] SLAMing on 111.389649246 meters Centerline goodness : 0.895476 with order 1 Centerline is valid? [False, False] Translation: X:21.34, Y:-0.20, Z:0.68 [[ 0.98806105 -0.0470351 -0.1467074 21.33989812] [ 0.05701349 0.99628334 0.0645675 -0.20445479] [ 0.1431252 -0.07216093 0.9870704 0.68295952] [ 0. 0. 0. 1. ]] SLAMing on 111.449649246 meters Centerline goodness : 0.900290 with order 1 Centerline is valid? [False, False] Translation: X:21.35, Y:-0.20, Z:0.68 [[ 0.9889158 -0.04375205 -0.14188481 21.35289022] [ 0.05208551 0.99709585 0.05556054 -0.19642501] [ 0.13904187 -0.06233484 0.98832268 0.67742526] [ 0. 0. 0. 1. ]] SLAMing on 111.509649246 meters Centerline goodness : 0.898732 with order 1 Centerline is valid? [False, False] Translation: X:21.37, Y:-0.19, Z:0.67 [[ 0.98946287 -0.04237979 -0.13844563 21.37213443] [ 0.04941558 0.99763465 0.04778292 -0.1916448 ] [ 0.13609312 -0.0541208 0.98921666 0.6728733 ] [ 0. 0. 0. 1. ]] SLAMing on 111.569649246 meters Centerline goodness : 0.899178 with order 1 Centerline is valid? [False, False] Translation: X:21.40, Y:-0.19, Z:0.67 [[ 0.98904838 -0.04138552 -0.14167053 21.39835173] [ 0.0479712 0.99790588 0.04338926 -0.19089428] [ 0.13957817 -0.04971018 0.9889625 0.67397392] [ 0. 0. 0. 1. ]] SLAMing on 111.629649246 meters Centerline goodness : 0.900610 with order 1 Centerline is valid? [False, False] Translation: X:21.42, Y:-0.19, Z:0.68 [[ 0.98936256 -0.04431657 -0.13855601 21.42241341] [ 0.05011213 0.99799656 0.03862176 -0.19122244] [ 0.13656683 -0.04515426 0.98960123 0.67693884] [ 0. 0. 0. 1. ]] SLAMing on 111.689649246 meters Centerline goodness : 0.903066 with order 1 Centerline is valid? [False, False] Translation: X:21.44, Y:-0.19, Z:0.68 [[ 0.98994828 -0.04483037 -0.13413668 21.44077935] [ 0.04949801 0.99827212 0.03166585 -0.18880341] [ 0.13248532 -0.03798705 0.99045678 0.67550703] [ 0. 0. 0. 1. ]] SLAMing on 111.749649246 meters Centerline goodness : 0.907927 with order 1 Centerline is valid? [False, False] Translation: X:21.46, Y:-0.19, Z:0.67 [[ 0.99048693 -0.04344168 -0.13056973 21.46012278] [ 0.04713937 0.99856629 0.02536217 -0.18542806] [ 0.12928076 -0.03127587 0.99111468 0.6727303 ] [ 0. 0. 0. 1. ]] SLAMing on 111.809649246 meters Centerline goodness : 0.909124 with order 1 Centerline is valid? [False, False] Translation: X:21.48, Y:-0.18, Z:0.67 [[ 9.90956643e-01 -4.13723739e-02 -1.27645049e-01 2.14811224e+01] [ 4.42995226e-02 9.98814504e-01 2.01776652e-02 -1.81251288e-01] [ 1.26658928e-01 -2.56498061e-02 9.91614645e-01 6.70267243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.869649246 meters Centerline goodness : 0.913850 with order 1 Centerline is valid? [False, False] Translation: X:21.48, Y:-0.18, Z:0.67 [[ 0.9908589 -0.03789539 -0.12947036 21.48490342] [ 0.04150601 0.9988178 0.02530314 -0.18406741] [ 0.12835843 -0.03044564 0.9912604 0.67305939] [ 0. 0. 0. 1. ]] SLAMing on 111.929649246 meters Centerline goodness : 0.910617 with order 1 Centerline is valid? [False, False] Translation: X:21.51, Y:-0.18, Z:0.67 [[ 9.91086145e-01 -3.55157479e-02 -1.28401269e-01 2.15059786e+01] [ 3.84121268e-02 9.99058781e-01 2.01509443e-02 -1.83046142e-01] [ 1.27564739e-01 -2.49034875e-02 9.91517551e-01 6.72004551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.989649246 meters Centerline goodness : 0.912623 with order 1 Centerline is valid? [False, False] Translation: X:21.51, Y:-0.18, Z:0.67 [[ 0.99100619 -0.03160612 -0.13002996 21.50929432] [ 0.03517852 0.99906155 0.02526854 -0.18495031] [ 0.12910929 -0.02961554 0.99118803 0.67434088] [ 0. 0. 0. 1. ]] SLAMing on 112.049649246 meters Centerline goodness : 0.912878 with order 1 Centerline is valid? [False, False] Translation: X:21.51, Y:-0.19, Z:0.67 [[ 0.99085615 -0.03252051 -0.13094467 21.51225291] [ 0.03613054 0.99902708 0.02528773 -0.18590831] [ 0.1299949 -0.0297876 0.99106711 0.67447099] [ 0. 0. 0. 1. ]] SLAMing on 112.109649246 meters Centerline goodness : 0.917397 with order 1 Centerline is valid? [False, False] Translation: X:21.52, Y:-0.19, Z:0.68 [[ 0.99083637 -0.03193863 -0.13123725 21.52416023] [ 0.03710049 0.99862349 0.03707675 -0.18962123] [ 0.12987242 -0.04160595 0.99065741 0.68456291] [ 0. 0. 0. 1. ]] SLAMing on 112.169649246 meters Centerline goodness : 0.907605 with order 1 Centerline is valid? [False, False] Translation: X:21.53, Y:-0.19, Z:0.68 [[ 0.99062387 -0.03289322 -0.13259862 21.52854525] [ 0.03809065 0.99859453 0.03685194 -0.19024019] [ 0.13120007 -0.04155718 0.9904845 0.68427245] [ 0. 0. 0. 1. ]] SLAMing on 112.22964924600001 meters Centerline goodness : 0.911153 with order 1 Centerline is valid? [False, False] Translation: X:21.55, Y:-0.19, Z:0.68 [[ 0.99099298 -0.03376668 -0.12958674 21.54796451] [ 0.03760925 0.99891899 0.02732015 -0.18754901] [ 0.12852415 -0.03194774 0.99119165 0.67971987] [ 0. 0. 0. 1. ]] SLAMing on 112.289649246 meters Centerline goodness : 0.911662 with order 1 Centerline is valid? [False, False] Translation: X:21.55, Y:-0.19, Z:0.68 [[ 0.99081914 -0.03158384 -0.13145303 21.55374946] [ 0.03597952 0.99886541 0.03119896 -0.18836386] [ 0.1303185 -0.03564215 0.99083133 0.68060978] [ 0. 0. 0. 1. ]] SLAMing on 112.349649246 meters Centerline goodness : 0.911401 with order 1 Centerline is valid? [False, False] Translation: X:21.57, Y:-0.19, Z:0.68 [[ 0.99149417 -0.03122652 -0.12634958 21.5693294 ] [ 0.03440731 0.99914158 0.02307045 -0.18554015] [ 0.12552071 -0.02722156 0.99171747 0.67755756] [ 0. 0. 0. 1. ]] SLAMing on 112.409649246 meters Centerline goodness : 0.921778 with order 1 Centerline is valid? [False, False] Translation: X:21.58, Y:-0.18, Z:0.68 [[ 9.92289427e-01 -2.89290977e-02 -1.20518876e-01 2.15807392e+01] [ 3.11494124e-02 9.99377222e-01 1.65795714e-02 -1.84612349e-01] [ 1.19964188e-01 -2.02058256e-02 9.92572576e-01 6.77157080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.469649246 meters Centerline goodness : 0.921487 with order 1 Centerline is valid? [False, False] Translation: X:21.58, Y:-0.19, Z:0.68 [[ 0.99218718 -0.02505507 -0.12221635 21.58352436] [ 0.02813753 0.99932636 0.02356069 -0.18804327] [ 0.12154371 -0.02681548 0.99222379 0.68283473] [ 0. 0. 0. 1. ]] SLAMing on 112.529649246 meters Centerline goodness : 0.925863 with order 1 Centerline is valid? [False, False] Translation: X:21.59, Y:-0.19, Z:0.68 [[ 0.99208373 -0.02181982 -0.123668 21.58743842] [ 0.02547913 0.99928075 0.02808569 -0.18993269] [ 0.12296623 -0.03101431 0.99192612 0.68408992] [ 0. 0. 0. 1. ]] SLAMing on 112.58964924600001 meters Centerline goodness : 0.920165 with order 1 Centerline is valid? [False, False] Translation: X:21.59, Y:-0.19, Z:0.68 [[ 9.91859758e-01 -1.97056405e-02 -1.25801063e-01 2.15949072e+01] [ 2.38240131e-02 9.99225534e-01 3.13169113e-02 -1.89143727e-01] [ 1.25086514e-01 -3.40590703e-02 9.91561064e-01 6.83334961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.649649246 meters Centerline goodness : 0.913703 with order 1 Centerline is valid? [False, False] Translation: X:21.61, Y:-0.19, Z:0.68 [[ 9.91552264e-01 -2.03090961e-02 -1.28107957e-01 2.16051381e+01] [ 2.48953145e-02 9.99101448e-01 3.43004310e-02 -1.90758010e-01] [ 1.27296234e-01 -3.71999578e-02 9.91166904e-01 6.83885612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.709649246 meters Centerline goodness : 0.916707 with order 1 Centerline is valid? [False, False] Translation: X:21.62, Y:-0.20, Z:0.69 [[ 0.99131754 -0.02404849 -0.12927184 21.6198937 ] [ 0.02984385 0.9986257 0.04308205 -0.19583425] [ 0.12805813 -0.04656596 0.99067287 0.69423185] [ 0. 0. 0. 1. ]] SLAMing on 112.769649246 meters Centerline goodness : 0.918905 with order 1 Centerline is valid? [False, False] Translation: X:21.64, Y:-0.20, Z:0.69 [[ 0.99179699 -0.02694429 -0.12495096 21.63969158] [ 0.03157417 0.99888061 0.03522205 -0.19505354] [ 0.12386206 -0.03887835 0.99153753 0.69340979] [ 0. 0. 0. 1. ]] SLAMing on 112.829649246 meters Centerline goodness : 0.921624 with order 1 Centerline is valid? [False, False] Translation: X:21.66, Y:-0.19, Z:0.69 [[ 0.99213722 -0.02711953 -0.12218126 21.66471945] [ 0.03128645 0.99898791 0.03231569 -0.19359323] [ 0.12118121 -0.03588422 0.99198157 0.69488369] [ 0. 0. 0. 1. ]] SLAMing on 112.889649246 meters Centerline goodness : 0.922114 with order 1 Centerline is valid? [False, False] Translation: X:21.69, Y:-0.19, Z:0.70 [[ 0.99219126 -0.0266565 -0.12184385 21.69047874] [ 0.03044316 0.9991063 0.02932245 -0.19277228] [ 0.12095333 -0.03280279 0.99211606 0.69626761] [ 0. 0. 0. 1. ]] SLAMing on 112.949649246 meters Centerline goodness : 0.919920 with order 1 Centerline is valid? [False, False] Translation: X:21.70, Y:-0.19, Z:0.70 [[ 0.9920419 -0.02627021 -0.12313706 21.69648525] [ 0.03034083 0.99904944 0.03129951 -0.19360684] [ 0.12219777 -0.03478651 0.99189596 0.69577898] [ 0. 0. 0. 1. ]] SLAMing on 113.009649246 meters Centerline goodness : 0.922440 with order 1 Centerline is valid? [False, False] Translation: X:21.73, Y:-0.20, Z:0.71 [[ 0.9922927 -0.03397522 -0.11916748 21.72788623] [ 0.03987168 0.99807753 0.04744981 -0.19691957] [ 0.11732626 -0.0518355 0.9917397 0.70983128] [ 0. 0. 0. 1. ]] SLAMing on 113.069649246 meters Centerline goodness : 0.917773 with order 1 Centerline is valid? [False, False] Translation: X:21.78, Y:-0.20, Z:0.75 [[ 0.9923467 -0.04176342 -0.11620608 21.78166019] [ 0.05207416 0.99483274 0.08715557 -0.20405272] [ 0.1119657 -0.09253988 0.98939378 0.74599816] [ 0. 0. 0. 1. ]] SLAMing on 113.129649246 meters Centerline goodness : 0.910224 with order 1 Centerline is valid? [False, False] Translation: X:21.82, Y:-0.21, Z:0.79 [[ 0.99290103 -0.04219042 -0.11120935 21.82470916] [ 0.05712047 0.98924037 0.13468754 -0.21152671] [ 0.10433026 -0.14008372 0.98462772 0.78669413] [ 0. 0. 0. 1. ]] SLAMing on 113.189649246 meters Centerline goodness : 0.909590 with order 1 Centerline is valid? [False, False] Translation: X:21.87, Y:-0.21, Z:0.80 [[ 0.99299312 -0.03867675 -0.11166365 21.87381502] [ 0.05428883 0.98861229 0.14035121 -0.20881671] [ 0.10496373 -0.14542988 0.98378492 0.80123045] [ 0. 0. 0. 1. ]] SLAMing on 113.249649246 meters Centerline goodness : 0.910187 with order 1 Centerline is valid? [False, False] Translation: X:21.89, Y:-0.20, Z:0.80 [[ 0.99347552 -0.03718188 -0.10781419 21.88902358] [ 0.05123222 0.99010638 0.13063161 -0.2027519 ] [ 0.10189039 -0.13530287 0.98555136 0.79603334] [ 0. 0. 0. 1. ]] SLAMing on 113.309649246 meters Centerline goodness : 0.914958 with order 1 Centerline is valid? [False, False] Translation: X:21.91, Y:-0.20, Z:0.79 [[ 0.99394559 -0.03516442 -0.10409434 21.90767631] [ 0.04803616 0.99113699 0.12385471 -0.19630014] [ 0.09881647 -0.12810514 0.9868254 0.79188037] [ 0. 0. 0. 1. ]] SLAMing on 113.369649246 meters Centerline goodness : 0.910412 with order 1 Centerline is valid? [False, False] Translation: X:21.92, Y:-0.19, Z:0.79 [[ 0.99447244 -0.03278403 -0.0997485 21.92167552] [ 0.04418807 0.9924563 0.11435867 -0.19040281] [ 0.09524689 -0.11813424 0.98841911 0.78597494] [ 0. 0. 0. 1. ]] SLAMing on 113.429649246 meters Centerline goodness : 0.907111 with order 1 Centerline is valid? [False, False] Translation: X:21.95, Y:-0.18, Z:0.79 [[ 0.99424677 -0.025337 -0.10407395 21.94911837] [ 0.03611161 0.99402705 0.10298629 -0.1848015 ] [ 0.10084296 -0.10615206 0.98922315 0.78706507] [ 0. 0. 0. 1. ]] SLAMing on 113.489649246 meters Centerline goodness : 0.904861 with order 1 Centerline is valid? [False, False] Translation: X:21.96, Y:-0.18, Z:0.78 [[ 9.94705920e-01 -2.07079815e-02 -1.00654420e-01 2.19642090e+01] [ 3.01424639e-02 9.95197199e-01 9.31341322e-02 -1.76253486e-01] [ 9.82423771e-02 -9.56750449e-02 9.90552735e-01 7.77563630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.549649246 meters Centerline goodness : 0.898544 with order 1 Centerline is valid? [False, False] Translation: X:21.98, Y:-0.17, Z:0.77 [[ 9.95046220e-01 -1.65812649e-02 -9.80208201e-02 2.19802582e+01] [ 2.48480114e-02 9.96178861e-01 8.37272554e-02 -1.68996234e-01] [ 9.62579651e-02 -8.57481115e-02 9.91656022e-01 7.69865943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.609649246 meters Centerline goodness : 0.899029 with order 1 Centerline is valid? [False, False] Translation: X:22.00, Y:-0.16, Z:0.76 [[ 9.95468828e-01 -1.36697715e-02 -9.41007388e-02 2.19971655e+01] [ 2.08887911e-02 9.96876491e-01 7.61637652e-02 -1.64673396e-01] [ 9.27656731e-02 -7.77843048e-02 9.92645018e-01 7.64305731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.669649246 meters Centerline goodness : 0.896064 with order 1 Centerline is valid? [False, False] Translation: X:22.01, Y:-0.16, Z:0.76 [[ 9.95727754e-01 -9.93885246e-03 -9.18011954e-02 2.20137125e+01] [ 1.62543534e-02 9.97531986e-01 6.83061643e-02 -1.61551196e-01] [ 9.08957439e-02 -6.95065126e-02 9.93431834e-01 7.60058395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.72964924600001 meters Centerline goodness : 0.896807 with order 1 Centerline is valid? [False, False] Translation: X:22.03, Y:-0.16, Z:0.75 [[ 9.95890570e-01 -6.50415263e-03 -9.03308883e-02 2.20318316e+01] [ 1.19442526e-02 9.98138027e-01 5.98148264e-02 -1.58561768e-01] [ 8.97736499e-02 -6.06479565e-02 9.94113936e-01 7.54035292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.789649246 meters Centerline goodness : 0.892163 with order 1 Centerline is valid? [False, False] Translation: X:22.05, Y:-0.16, Z:0.75 [[ 9.96037317e-01 -4.43724029e-03 -8.88255255e-02 2.20518172e+01] [ 9.11142705e-03 9.98590583e-01 5.22860401e-02 -1.56888103e-01] [ 8.84683275e-02 -5.28881744e-02 9.94673914e-01 7.50248678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.849649246 meters Centerline goodness : 0.890684 with order 1 Centerline is valid? [False, False] Translation: X:22.07, Y:-0.15, Z:0.75 [[ 9.96427737e-01 -2.30682674e-03 -8.44182614e-02 2.20655109e+01] [ 5.97107078e-03 9.99049503e-01 4.31791223e-02 -1.54943915e-01] [ 8.42384153e-02 -4.35289425e-02 9.95494410e-01 7.46286516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.909649246 meters Centerline goodness : 0.889329 with order 1 Centerline is valid? [False, False] Translation: X:22.08, Y:-0.15, Z:0.74 [[ 9.96703932e-01 1.90419837e-03 -8.11026922e-02 2.20829117e+01] [ 1.01707909e-03 9.99352606e-01 3.59629533e-02 -1.50720069e-01] [ 8.11186674e-02 -3.59269048e-02 9.96056735e-01 7.39657404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.969649246 meters Centerline goodness : 0.885841 with order 1 Centerline is valid? [False, False] Translation: X:22.10, Y:-0.15, Z:0.73 [[ 9.96909674e-01 2.95181239e-03 -7.85008827e-02 2.21006165e+01] [-9.09860217e-04 9.99660621e-01 2.60348939e-02 -1.47717078e-01] [ 7.85510912e-02 -2.58830127e-02 9.96574029e-01 7.33496893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.029649246 meters Centerline goodness : 0.891970 with order 1 Centerline is valid? [False, False] Translation: X:22.12, Y:-0.15, Z:0.73 [[ 9.97229231e-01 8.31503546e-04 -7.43852794e-02 2.21197324e+01] [ 5.62820127e-04 9.99824575e-01 1.87216930e-02 -1.49972254e-01] [ 7.43877975e-02 -1.87116850e-02 9.97053824e-01 7.33266774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.08964924600001 meters Centerline goodness : 0.887246 with order 1 Centerline is valid? [False, False] Translation: X:22.13, Y:-0.15, Z:0.73 [[ 9.97105087e-01 3.39351754e-03 -7.59600549e-02 2.21253104e+01] [-1.60641508e-03 9.99720766e-01 2.35756190e-02 -1.53921732e-01] [ 7.60188486e-02 -2.33853462e-02 9.96832112e-01 7.34191547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.149649246 meters Centerline goodness : 0.884604 with order 1 Centerline is valid? [False, False] Translation: X:22.14, Y:-0.16, Z:0.74 [[ 9.96930947e-01 2.52345753e-03 -7.82452441e-02 2.21365418e+01] [-2.69718532e-04 9.99585137e-01 2.88007266e-02 -1.57509406e-01] [ 7.82854604e-02 -2.86912315e-02 9.96518038e-01 7.36682312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.209649246 meters Centerline goodness : 0.885531 with order 1 Centerline is valid? [False, False] Translation: X:22.14, Y:-0.16, Z:0.74 [[ 9.96791042e-01 6.63984875e-04 -8.00448454e-02 2.21418964e+01] [ 1.78737472e-03 9.99531663e-01 3.05492877e-02 -1.63198271e-01] [ 8.00276418e-02 -3.05943265e-02 9.96323022e-01 7.39560907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.269649246 meters Centerline goodness : 0.879174 with order 1 Centerline is valid? [False, False] Translation: X:22.16, Y:-0.16, Z:0.74 [[ 9.97028348e-01 -1.10047727e-03 -7.70276656e-02 2.21627837e+01] [ 2.79561163e-03 9.99756204e-01 2.19024561e-02 -1.62723242e-01] [ 7.69847834e-02 -2.20527090e-02 9.96788353e-01 7.35903244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.329649246 meters Centerline goodness : 0.887795 with order 1 Centerline is valid? [False, False] Translation: X:22.18, Y:-0.16, Z:0.75 [[ 9.96979821e-01 -8.11388042e-03 -7.72360094e-02 2.21751041e+01] [ 1.02132210e-02 9.99587976e-01 2.68247671e-02 -1.63494640e-01] [ 7.69865334e-02 -2.75325799e-02 9.96651911e-01 7.45240361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.389649246 meters Centerline goodness : 0.880124 with order 1 Centerline is valid? [False, False] Translation: X:22.20, Y:-0.16, Z:0.74 [[ 9.96714226e-01 -1.31670820e-02 -7.99210886e-02 2.21973063e+01] [ 1.55190811e-02 9.99462420e-01 2.88795516e-02 -1.60409997e-01] [ 7.94978653e-02 -3.00249618e-02 9.96382753e-01 7.40441636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.449649246 meters Centerline goodness : 0.876743 with order 1 Centerline is valid? [False, False] Translation: X:22.21, Y:-0.16, Z:0.74 [[ 9.96465636e-01 -1.57849195e-02 -8.25049812e-02 2.22115668e+01] [ 1.85109465e-02 9.99304169e-01 3.23809082e-02 -1.63537613e-01] [ 8.19364416e-02 -3.37937076e-02 9.96064458e-01 7.40940498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.509649246 meters Centerline goodness : 0.880782 with order 1 Centerline is valid? [False, False] Translation: X:22.23, Y:-0.17, Z:0.74 [[ 9.96485861e-01 -1.85008790e-02 -8.16923861e-02 2.22345019e+01] [ 2.06131103e-02 9.99472691e-01 2.50886253e-02 -1.66993414e-01] [ 8.11851474e-02 -2.66843946e-02 9.96341766e-01 7.40993621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.569649246 meters Centerline goodness : 0.874490 with order 1 Centerline is valid? [False, False] Translation: X:22.27, Y:-0.17, Z:0.75 [[ 0.99664753 -0.02515317 -0.0778526 22.26531834] [ 0.02810897 0.99891591 0.03710651 -0.17111189] [ 0.07683486 -0.03917047 0.9962741 0.74672944] [ 0. 0. 0. 1. ]] SLAMing on 114.629649246 meters Centerline goodness : 0.877293 with order 1 Centerline is valid? [False, False] Translation: X:22.28, Y:-0.17, Z:0.74 [[ 0.99695274 -0.02432763 -0.07411745 22.28291437] [ 0.02656541 0.9992159 0.02935749 -0.16977402] [ 0.07334514 -0.03123699 0.99681731 0.74357935] [ 0. 0. 0. 1. ]] SLAMing on 114.689649246 meters Centerline goodness : 0.877093 with order 1 Centerline is valid? [False, False] Translation: X:22.30, Y:-0.17, Z:0.74 [[ 9.97245912e-01 -2.42445490e-02 -7.00913198e-02 2.23011381e+01] [ 2.58369507e-02 9.99426208e-01 2.19022243e-02 -1.69290995e-01] [ 6.95200924e-02 -2.36528496e-02 9.97300105e-01 7.40110889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.749649246 meters Centerline goodness : 0.875516 with order 1 Centerline is valid? [False, False] Translation: X:22.31, Y:-0.17, Z:0.74 [[ 0.99711589 -0.02234953 -0.07252856 22.30820212] [ 0.0244179 0.9993164 0.02775773 -0.17211266] [ 0.07185861 -0.02944867 0.99698 0.74380581] [ 0. 0. 0. 1. ]] SLAMing on 114.809649246 meters Centerline goodness : 0.877447 with order 1 Centerline is valid? [False, False] Translation: X:22.33, Y:-0.17, Z:0.74 [[ 9.97080904e-01 -2.13002187e-02 -7.33210216e-02 2.23340759e+01] [ 2.31344446e-02 9.99438001e-01 2.42585941e-02 -1.71996280e-01] [ 7.27631019e-02 -2.58840220e-02 9.97013314e-01 7.43367681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.869649246 meters Centerline goodness : 0.878698 with order 1 Centerline is valid? [False, False] Translation: X:22.36, Y:-0.17, Z:0.74 [[ 9.97045329e-01 -2.05696586e-02 -7.40101479e-02 2.23582654e+01] [ 2.20242232e-02 9.99578937e-01 1.88913470e-02 -1.71685103e-01] [ 7.35903964e-02 -2.04655453e-02 9.97078540e-01 7.42488136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.929649246 meters Centerline goodness : 0.876654 with order 1 Centerline is valid? [False, False] Translation: X:22.36, Y:-0.17, Z:0.75 [[ 9.96953438e-01 -1.75625635e-02 -7.59960427e-02 2.23633316e+01] [ 1.94476338e-02 9.99519500e-01 2.41362670e-02 -1.73740417e-01] [ 7.55356319e-02 -2.55406775e-02 9.96815952e-01 7.45016550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.989649246 meters Centerline goodness : 0.877749 with order 1 Centerline is valid? [False, False] Translation: X:22.38, Y:-0.17, Z:0.74 [[ 9.97244987e-01 -1.38827077e-02 -7.28677366e-02 2.23835483e+01] [ 1.53781721e-02 9.99681661e-01 2.00022233e-02 -1.69733221e-01] [ 7.25668549e-02 -2.10676895e-02 9.97141015e-01 7.42374674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.049649246 meters Centerline goodness : 0.877022 with order 1 Centerline is valid? [False, False] Translation: X:22.40, Y:-0.16, Z:0.74 [[ 9.97516860e-01 -6.83057439e-03 -7.00960620e-02 2.24003721e+01] [ 7.88926502e-03 9.99858791e-01 1.48377097e-02 -1.63657626e-01] [ 6.99848137e-02 -1.53538720e-02 9.97429889e-01 7.36780355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.109649246 meters Centerline goodness : 0.874556 with order 1 Centerline is valid? [False, False] Translation: X:22.41, Y:-0.16, Z:0.73 [[ 9.97806740e-01 1.32424736e-05 -6.61944880e-02 2.24140473e+01] [ 6.04047413e-04 9.99956522e-01 9.30537416e-03 -1.57626545e-01] [ 6.61917331e-02 -9.32494966e-03 9.97763349e-01 7.32470707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.169649246 meters Centerline goodness : 0.874926 with order 1 Centerline is valid? [False, False] Translation: X:22.42, Y:-0.16, Z:0.73 [[ 9.97707239e-01 3.33571539e-03 -6.75953970e-02 2.24179351e+01] [-2.42454200e-03 9.99905155e-01 1.35573715e-02 -1.57675814e-01] [ 6.76342095e-02 -1.33623998e-02 9.97620699e-01 7.33208220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.229649246 meters Centerline goodness : 0.875636 with order 1 Centerline is valid? [False, False] Translation: X:22.43, Y:-0.16, Z:0.73 [[ 9.97987249e-01 5.19713570e-03 -6.32015823e-02 2.24340144e+01] [-4.70405066e-03 9.99957349e-01 7.94808358e-03 -1.58064510e-01] [ 6.32401940e-02 -7.63478262e-03 9.97969132e-01 7.32089135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.289649246 meters Centerline goodness : 0.883164 with order 1 Centerline is valid? [False, False] Translation: X:22.45, Y:-0.16, Z:0.73 [[ 9.98513454e-01 -3.05535673e-04 -5.45049488e-02 2.24498925e+01] [ 8.53715085e-04 9.99949289e-01 1.00344250e-02 -1.62475185e-01] [ 5.44991190e-02 -1.00660400e-02 9.98463079e-01 7.33755900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.349649246 meters Centerline goodness : 0.880975 with order 1 Centerline is valid? [False, False] Translation: X:22.47, Y:-0.17, Z:0.74 [[ 9.98510696e-01 -4.63437472e-03 -5.43591114e-02 2.24711616e+01] [ 5.63087947e-03 9.99818636e-01 1.81930708e-02 -1.66317667e-01] [ 5.42649391e-02 -1.84720654e-02 9.98355698e-01 7.35415797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.409649246 meters Centerline goodness : 0.880060 with order 1 Centerline is valid? [False, False] Translation: X:22.49, Y:-0.17, Z:0.74 [[ 9.98330801e-01 -9.82541795e-03 -5.69128560e-02 2.24890393e+01] [ 1.11208956e-02 9.99685198e-01 2.24906609e-02 -1.69292629e-01] [ 5.66739596e-02 -2.30860414e-02 9.98125792e-01 7.37362881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.469649246 meters Centerline goodness : 0.878756 with order 1 Centerline is valid? [False, False] Translation: X:22.50, Y:-0.17, Z:0.74 [[ 9.98209332e-01 -8.21390629e-03 -5.92508262e-02 2.24969346e+01] [ 9.81998543e-03 9.99590799e-01 2.68663924e-02 -1.71795510e-01] [ 5.90059027e-02 -2.74001259e-02 9.97881524e-01 7.38089778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.529649246 meters Centerline goodness : 0.880356 with order 1 Centerline is valid? [False, False] Translation: X:22.53, Y:-0.17, Z:0.74 [[ 9.98170183e-01 -8.71930428e-03 -5.98352625e-02 2.25251407e+01] [ 1.01801423e-02 9.99656438e-01 2.41530794e-02 -1.72246535e-01] [ 5.96041074e-02 -2.47180152e-02 9.97916014e-01 7.38756691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.58964924600001 meters Centerline goodness : 0.884355 with order 1 Centerline is valid? [False, False] Translation: X:22.54, Y:-0.17, Z:0.75 [[ 9.98052137e-01 -1.25052707e-02 -6.11191505e-02 2.25393808e+01] [ 1.44574617e-02 9.99395915e-01 3.16035824e-02 -1.74767123e-01] [ 6.06870180e-02 -3.24256507e-02 9.97630023e-01 7.46391664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.649649246 meters Centerline goodness : 0.880385 with order 1 Centerline is valid? [False, False] Translation: X:22.57, Y:-0.18, Z:0.75 [[ 9.97791704e-01 -9.91700713e-03 -6.56762453e-02 2.25691385e+01] [ 1.20066760e-02 9.99431639e-01 3.14998363e-02 -1.76324050e-01] [ 6.53265333e-02 -3.22188287e-02 9.97343668e-01 7.46289234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.709649246 meters Centerline goodness : 0.884227 with order 1 Centerline is valid? [False, False] Translation: X:22.59, Y:-0.17, Z:0.74 [[ 9.98035481e-01 -6.84270120e-03 -6.22764443e-02 2.25863171e+01] [ 8.37150388e-03 9.99669151e-01 2.43209230e-02 -1.73418756e-01] [ 6.20894193e-02 -2.47944915e-02 9.97762566e-01 7.42209375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.769649246 meters Centerline goodness : 0.886621 with order 1 Centerline is valid? [False, False] Translation: X:22.60, Y:-0.17, Z:0.74 [[ 9.98160081e-01 -6.03817203e-03 -6.03323641e-02 2.26036572e+01] [ 6.91842504e-03 9.99872497e-01 1.43918371e-02 -1.72342432e-01] [ 6.02377712e-02 -1.47827622e-02 9.98074587e-01 7.38384338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.829649246 meters Centerline goodness : 0.876822 with order 1 Centerline is valid? [False, False] Translation: X:22.62, Y:-0.17, Z:0.74 [[ 9.98000455e-01 -8.85378346e-03 -6.25835577e-02 2.26174404e+01] [ 9.93497713e-03 9.99806368e-01 1.69859730e-02 -1.74273274e-01] [ 6.24210494e-02 -1.75737750e-02 9.97895172e-01 7.36919580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.889649246 meters Centerline goodness : 0.881681 with order 1 Centerline is valid? [False, False] Translation: X:22.64, Y:-0.18, Z:0.74 [[ 9.97773156e-01 -1.38015858e-02 -6.52552293e-02 2.26364916e+01] [ 1.52573594e-02 9.99644538e-01 2.18634407e-02 -1.76619771e-01] [ 6.49302834e-02 -2.28103767e-02 9.97629062e-01 7.39192824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.949649246 meters Centerline goodness : 0.875923 with order 1 Centerline is valid? [False, False] Translation: X:22.66, Y:-0.18, Z:0.74 [[ 9.97862803e-01 -1.37143320e-02 -6.38885315e-02 2.26614035e+01] [ 1.49590698e-02 9.99706704e-01 1.90455100e-02 -1.78289886e-01] [ 6.36085968e-02 -1.99605190e-02 9.97775287e-01 7.40353940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.009649246 meters Centerline goodness : 0.874381 with order 1 Centerline is valid? [False, False] Translation: X:22.70, Y:-0.18, Z:0.75 [[ 9.98102357e-01 -1.90488507e-02 -5.85561751e-02 2.26968890e+01] [ 2.12381525e-02 9.99089707e-01 3.69959186e-02 -1.83429505e-01] [ 5.77981421e-02 -3.81693386e-02 9.97598354e-01 7.51429682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.069649246 meters Centerline goodness : 0.868706 with order 1 Centerline is valid? [False, False] Translation: X:22.74, Y:-0.19, Z:0.76 [[ 9.97904275e-01 -2.06671619e-02 -6.13182399e-02 2.27424641e+01] [ 2.37654078e-02 9.98454584e-01 5.02359410e-02 -1.88724253e-01] [ 6.01852433e-02 -5.15879133e-02 9.96853261e-01 7.64473721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.129649246 meters Centerline goodness : 0.877401 with order 1 Centerline is valid? [False, False] Translation: X:22.78, Y:-0.19, Z:0.77 [[ 9.97799344e-01 -2.08770067e-02 -6.29334495e-02 2.27792344e+01] [ 2.45040858e-02 9.98049121e-01 5.74238745e-02 -1.92998073e-01] [ 6.16118354e-02 -5.88396309e-02 9.96364331e-01 7.73945231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.189649246 meters Centerline goodness : 0.874985 with order 1 Centerline is valid? [False, False] Translation: X:22.80, Y:-0.19, Z:0.77 [[ 9.97888258e-01 -2.04295926e-02 -6.16575676e-02 2.28045074e+01] [ 2.36613323e-02 9.98359036e-01 5.21476507e-02 -1.90665065e-01] [ 6.04910345e-02 -5.34964285e-02 9.96734151e-01 7.71183157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.249649246 meters Centerline goodness : 0.871348 with order 1 Centerline is valid? [False, False] Translation: X:22.84, Y:-0.19, Z:0.77 [[ 9.97780699e-01 -1.73242010e-02 -6.42926808e-02 2.28393552e+01] [ 2.10156055e-02 9.98142050e-01 5.71908342e-02 -1.89913788e-01] [ 6.31824427e-02 -5.84150601e-02 9.96290951e-01 7.74663446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.309649246 meters Centerline goodness : 0.873163 with order 1 Centerline is valid? [False, False] Translation: X:22.86, Y:-0.19, Z:0.77 [[ 9.98030354e-01 -1.66841220e-02 -6.04735674e-02 2.28568449e+01] [ 1.96141452e-02 9.98645776e-01 4.81860835e-02 -1.86013303e-01] [ 5.95877301e-02 -4.92773113e-02 9.97006043e-01 7.70540243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.369649246 meters Centerline goodness : 0.870196 with order 1 Centerline is valid? [False, False] Translation: X:22.88, Y:-0.18, Z:0.77 [[ 9.98195212e-01 -1.53592052e-02 -5.80552621e-02 2.28800972e+01] [ 1.78266332e-02 9.98949069e-01 4.22252193e-02 -1.80944469e-01] [ 5.73457042e-02 -4.31839416e-02 9.97419980e-01 7.66403990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.429649246 meters Centerline goodness : 0.867158 with order 1 Centerline is valid? [False, False] Translation: X:22.91, Y:-0.18, Z:0.77 [[ 9.97952144e-01 -1.80427096e-02 -6.13675655e-02 2.29117420e+01] [ 2.03559478e-02 9.99097479e-01 3.72808677e-02 -1.78587599e-01] [ 6.06395321e-02 -3.84537168e-02 9.97418748e-01 7.66380924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.489649246 meters Centerline goodness : 0.867912 with order 1 Centerline is valid? [False, False] Translation: X:22.94, Y:-0.18, Z:0.77 [[ 9.97642920e-01 -1.51456563e-02 -6.69269200e-02 2.29423313e+01] [ 1.75914412e-02 9.99193081e-01 3.61071716e-02 -1.77480415e-01] [ 6.63260486e-02 -3.71994051e-02 9.97104337e-01 7.66380982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.549649246 meters Centerline goodness : 0.866001 with order 1 Centerline is valid? [False, False] Translation: X:22.96, Y:-0.18, Z:0.76 [[ 9.97785141e-01 -1.64880883e-02 -6.44434334e-02 2.29631747e+01] [ 1.81977905e-02 9.99495410e-01 2.60339373e-02 -1.75025738e-01] [ 6.39816660e-02 -2.71490039e-02 9.97581715e-01 7.61270663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.609649246 meters Centerline goodness : 0.870237 with order 1 Centerline is valid? [False, False] Translation: X:22.99, Y:-0.18, Z:0.76 [[ 9.97852484e-01 -1.67100505e-02 -6.33339866e-02 2.29915641e+01] [ 1.83086158e-02 9.99526141e-01 2.47444632e-02 -1.75331346e-01] [ 6.28904940e-02 -2.58508817e-02 9.97685581e-01 7.62411490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.669649246 meters Centerline goodness : 0.866182 with order 1 Centerline is valid? [False, False] Translation: X:23.02, Y:-0.17, Z:0.76 [[ 9.97771019e-01 -1.37077017e-02 -6.53076785e-02 2.30234093e+01] [ 1.54576857e-02 9.99532825e-01 2.63664708e-02 -1.74365553e-01] [ 6.49157447e-02 -2.73172060e-02 9.97516775e-01 7.62940380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.729649246 meters Centerline goodness : 0.868950 with order 1 Centerline is valid? [False, False] Translation: X:23.04, Y:-0.17, Z:0.76 [[ 9.98015250e-01 -1.00931372e-02 -6.21585901e-02 2.30411133e+01] [ 1.13519256e-02 9.99736900e-01 1.99314877e-02 -1.70463049e-01] [ 6.19410649e-02 -2.05975483e-02 9.97867248e-01 7.59745243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.789649246 meters Centerline goodness : 0.871071 with order 1 Centerline is valid? [False, False] Translation: X:23.06, Y:-0.17, Z:0.76 [[ 9.98234415e-01 -8.27562976e-03 -5.88180804e-02 2.30619884e+01] [ 9.15803362e-03 9.99849294e-01 1.47485563e-02 -1.67835641e-01] [ 5.86871626e-02 -1.52611744e-02 9.98159764e-01 7.57261566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.849649246 meters Centerline goodness : 0.864128 with order 1 Centerline is valid? [False, False] Translation: X:23.08, Y:-0.16, Z:0.76 [[ 9.98050669e-01 -7.94783621e-03 -6.19006749e-02 2.30796558e+01] [ 9.27690438e-03 9.99731932e-01 2.12132578e-02 -1.64680690e-01] [ 6.17154819e-02 -2.17461528e-02 9.97856856e-01 7.56126098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.909649246 meters Centerline goodness : 0.854442 with order 1 Centerline is valid? [False, False] Translation: X:23.11, Y:-0.16, Z:0.76 [[ 9.97792544e-01 -2.50702368e-03 -6.63607863e-02 2.31072566e+01] [ 3.86594359e-03 9.99785295e-01 2.03572675e-02 -1.63216043e-01] [ 6.62955021e-02 -2.05688768e-02 9.97588005e-01 7.56328547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.969649246 meters Centerline goodness : 0.862196 with order 1 Centerline is valid? [False, False] Translation: X:23.12, Y:-0.16, Z:0.75 [[ 9.98057747e-01 -2.42929441e-04 -6.22950636e-02 2.31227055e+01] [ 1.03174060e-03 9.99919698e-01 1.26306440e-02 -1.61012372e-01] [ 6.22869928e-02 -1.26703844e-02 9.97977851e-01 7.53653883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.029649246 meters Centerline goodness : 0.868148 with order 1 Centerline is valid? [False, False] Translation: X:23.15, Y:-0.16, Z:0.76 [[ 9.98278253e-01 -1.59760531e-03 -5.86342698e-02 2.31453854e+01] [ 3.15974575e-03 9.99642252e-01 2.65590703e-02 -1.62617430e-01] [ 5.85708626e-02 -2.66986117e-02 9.97926169e-01 7.58502669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.08964924600001 meters Centerline goodness : 0.858345 with order 1 Centerline is valid? [False, False] Translation: X:23.17, Y:-0.16, Z:0.76 [[ 9.98465776e-01 -3.39853697e-03 -5.52679292e-02 2.31678197e+01] [ 4.47263634e-03 9.99803302e-01 1.93223420e-02 -1.59663654e-01] [ 5.51913904e-02 -1.95398906e-02 9.98284580e-01 7.56621092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.149649246 meters Centerline goodness : 0.863792 with order 1 Centerline is valid? [False, False] Translation: X:23.19, Y:-0.16, Z:0.76 [[ 9.98437685e-01 -1.31928380e-02 -5.42967551e-02 2.31933170e+01] [ 1.45730692e-02 9.99578639e-01 2.51032018e-02 -1.59202008e-01] [ 5.39426940e-02 -2.58552530e-02 9.98209242e-01 7.60770649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.209649246 meters Centerline goodness : 0.857028 with order 1 Centerline is valid? [False, False] Translation: X:23.21, Y:-0.16, Z:0.76 [[ 9.98252422e-01 -1.12047185e-02 -5.80220267e-02 2.32104794e+01] [ 1.29461047e-02 9.99474300e-01 2.97240947e-02 -1.55431784e-01] [ 5.76584744e-02 -3.04233088e-02 9.97872699e-01 7.55211869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.269649246 meters Centerline goodness : 0.859680 with order 1 Centerline is valid? [False, False] Translation: X:23.24, Y:-0.16, Z:0.76 [[ 9.98158411e-01 -8.32287060e-03 -6.00875727e-02 2.32405716e+01] [ 1.02177050e-02 9.99457918e-01 3.12964765e-02 -1.58297827e-01] [ 5.97945238e-02 -3.18527984e-02 9.97702368e-01 7.57284316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.329649246 meters Centerline goodness : 0.869644 with order 1 Centerline is valid? [False, False] Translation: X:23.26, Y:-0.16, Z:0.76 [[ 9.98329603e-01 -1.28673484e-02 -5.63243658e-02 2.32590692e+01] [ 1.40564641e-02 9.99685526e-01 2.07668962e-02 -1.61424733e-01] [ 5.60394384e-02 -2.15239286e-02 9.98196525e-01 7.57779854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.389649246 meters Centerline goodness : 0.864637 with order 1 Centerline is valid? [False, False] Translation: X:23.27, Y:-0.16, Z:0.76 [[ 9.98160348e-01 -1.69359808e-02 -5.82159056e-02 2.32748314e+01] [ 1.84477348e-02 9.99503841e-01 2.55294401e-02 -1.63978253e-01] [ 5.77546552e-02 -2.65564264e-02 9.97977533e-01 7.60546409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.449649246 meters Centerline goodness : 0.861837 with order 1 Centerline is valid? [False, False] Translation: X:23.28, Y:-0.17, Z:0.77 [[ 9.98032438e-01 -1.62539536e-02 -6.05562642e-02 2.32837315e+01] [ 1.82531166e-02 9.99301536e-01 3.26077192e-02 -1.67017174e-01] [ 5.99839635e-02 -3.36489021e-02 9.97632034e-01 7.66095437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.509649246 meters Centerline goodness : 0.863856 with order 1 Centerline is valid? [False, False] Translation: X:23.32, Y:-0.17, Z:0.77 [[ 9.97662216e-01 -1.32443446e-02 -6.70424505e-02 2.33167865e+01] [ 1.53821182e-02 9.99386272e-01 3.14717309e-02 -1.65335057e-01] [ 6.65844822e-02 -3.24294117e-02 9.97253649e-01 7.65226968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.569649246 meters Centerline goodness : 0.868560 with order 1 Centerline is valid? [False, False] Translation: X:23.34, Y:-0.16, Z:0.76 [[ 9.97883380e-01 -1.02609109e-02 -6.42142754e-02 2.33357825e+01] [ 1.18383082e-02 9.99636254e-01 2.42325010e-02 -1.60693572e-01] [ 6.39422702e-02 -2.49413984e-02 9.97641876e-01 7.60771441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.629649246 meters Centerline goodness : 0.869069 with order 1 Centerline is valid? [False, False] Translation: X:23.36, Y:-0.16, Z:0.76 [[ 9.98145374e-01 -7.62116193e-03 -6.03964478e-02 2.33553676e+01] [ 8.72945849e-03 9.99797932e-01 1.81077978e-02 -1.56236323e-01] [ 6.02462411e-02 -1.86014429e-02 9.98010209e-01 7.55826783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.689649246 meters Centerline goodness : 0.866158 with order 1 Centerline is valid? [False, False] Translation: X:23.37, Y:-0.15, Z:0.75 [[ 9.98412681e-01 -2.09919885e-03 -5.62824312e-02 2.33736182e+01] [ 2.92400627e-03 9.99889483e-01 1.45764507e-02 -1.51655172e-01] [ 5.62456121e-02 -1.47178834e-02 9.98308477e-01 7.51724007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.749649246 meters Centerline goodness : 0.871144 with order 1 Centerline is valid? [False, False] Translation: X:23.39, Y:-0.15, Z:0.75 [[ 9.98560877e-01 3.90470774e-03 -5.34876408e-02 2.33912506e+01] [-3.43098165e-03 9.99954100e-01 8.94570143e-03 -1.47817251e-01] [ 5.35201161e-02 -8.74931235e-03 9.98528441e-01 7.46442788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.809649246 meters Centerline goodness : 0.866919 with order 1 Centerline is valid? [False, False] Translation: X:23.41, Y:-0.15, Z:0.74 [[ 9.98642758e-01 8.78000901e-03 -5.13376404e-02 2.34110156e+01] [-8.58089778e-03 9.99954788e-01 4.09759049e-03 -1.46232181e-01] [ 5.13712962e-02 -3.65150602e-03 9.98672948e-01 7.42081322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.869649246 meters Centerline goodness : 0.873549 with order 1 Centerline is valid? [False, False] Translation: X:23.42, Y:-0.15, Z:0.75 [[ 9.98535645e-01 7.49807160e-03 -5.35756005e-02 2.34219034e+01] [-6.98992140e-03 9.99928854e-01 9.66582674e-03 -1.49424264e-01] [ 5.36442638e-02 -9.27718330e-03 9.98517014e-01 7.46155807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.929649246 meters Centerline goodness : 0.867475 with order 1 Centerline is valid? [False, False] Translation: X:23.44, Y:-0.15, Z:0.75 [[ 9.98400003e-01 4.90181539e-03 -5.63330017e-02 2.34407172e+01] [-4.06254165e-03 9.99879191e-01 1.50033122e-02 -1.50537482e-01] [ 5.63997396e-02 -1.47504518e-02 9.98299301e-01 7.45859280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.989649246 meters Centerline goodness : 0.866421 with order 1 Centerline is valid? [False, False] Translation: X:23.45, Y:-0.15, Z:0.75 [[ 9.98238588e-01 6.62984172e-03 -5.89556389e-02 2.34491238e+01] [-5.46985200e-03 9.99788695e-01 1.98152965e-02 -1.51906550e-01] [ 5.90745535e-02 -1.94579150e-02 9.98063919e-01 7.47487909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.049649246 meters Centerline goodness : 0.866449 with order 1 Centerline is valid? [False, False] Translation: X:23.47, Y:-0.15, Z:0.75 [[ 9.98277649e-01 -2.78377458e-03 -5.86002310e-02 2.34675815e+01] [ 4.21339307e-03 9.99696155e-01 2.42867197e-02 -1.54799347e-01] [ 5.85148168e-02 -2.44917952e-02 9.97986056e-01 7.54075715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.109649246 meters Centerline goodness : 0.865642 with order 1 Centerline is valid? [False, False] Translation: X:23.49, Y:-0.16, Z:0.76 [[ 9.98329631e-01 -2.72885177e-03 -5.77105011e-02 2.34936075e+01] [ 4.00457935e-03 9.99749916e-01 2.20015572e-02 -1.55573736e-01] [ 5.76360296e-02 -2.21959128e-02 9.98090892e-01 7.55227090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.169649246 meters Centerline goodness : 0.865462 with order 1 Centerline is valid? [False, False] Translation: X:23.51, Y:-0.15, Z:0.75 [[ 9.98474056e-01 1.31612344e-03 -5.52071307e-02 2.35130921e+01] [-4.28340888e-04 9.99870461e-01 1.60896912e-02 -1.52543425e-01] [ 5.52211552e-02 -1.60414917e-02 9.98345278e-01 7.50171414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.229649246 meters Centerline goodness : 0.871579 with order 1 Centerline is valid? [False, False] Translation: X:23.54, Y:-0.15, Z:0.75 [[ 9.98642393e-01 4.19520715e-04 -5.20883414e-02 2.35358260e+01] [ 1.26149216e-04 9.99945158e-01 1.04721258e-02 -1.53601624e-01] [ 5.20898781e-02 -1.04644796e-02 9.98587572e-01 7.49460552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.289649246 meters Centerline goodness : 0.866328 with order 1 Centerline is valid? [False, False] Translation: X:23.55, Y:-0.16, Z:0.75 [[ 9.98521803e-01 1.95677153e-04 -5.43522910e-02 2.35456599e+01] [ 6.38957924e-04 9.99882158e-01 1.53382221e-02 -1.56853889e-01] [ 5.43488873e-02 -1.53502780e-02 9.98404010e-01 7.51680533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.349649246 meters Centerline goodness : 0.863451 with order 1 Centerline is valid? [False, False] Translation: X:23.56, Y:-0.16, Z:0.75 [[ 9.98386211e-01 -6.53679418e-04 -5.67850835e-02 2.35564503e+01] [ 1.75433378e-03 9.99811520e-01 1.93351208e-02 -1.59005614e-01] [ 5.67617417e-02 -1.94035380e-02 9.98199182e-01 7.53017123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.409649246 meters Centerline goodness : 0.869126 with order 1 Centerline is valid? [False, False] Translation: X:23.58, Y:-0.16, Z:0.76 [[ 9.98347003e-01 -4.79417250e-03 -5.72737106e-02 2.35759128e+01] [ 6.42055853e-03 9.99580366e-01 2.82465488e-02 -1.63525939e-01] [ 5.71142578e-02 -2.85675866e-02 9.97958844e-01 7.58404309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.469649246 meters Centerline goodness : 0.870877 with order 1 Centerline is valid? [False, False] Translation: X:23.60, Y:-0.17, Z:0.76 [[ 9.98231927e-01 -1.16182184e-02 -5.82926766e-02 2.36000065e+01] [ 1.36688098e-02 9.99297225e-01 3.49029935e-02 -1.68421101e-01] [ 5.78461994e-02 -3.56380739e-02 9.97689203e-01 7.61579136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.529649246 meters Centerline goodness : 0.876361 with order 1 Centerline is valid? [False, False] Translation: X:23.63, Y:-0.18, Z:0.77 [[ 9.98080755e-01 -2.29872303e-02 -5.75012567e-02 2.36275285e+01] [ 2.53623446e-02 9.98840379e-01 4.09224833e-02 -1.75421031e-01] [ 5.64938824e-02 -4.23023097e-02 9.97506369e-01 7.67263323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.58964924600001 meters Centerline goodness : 0.880491 with order 1 Centerline is valid? [False, False] Translation: X:23.66, Y:-0.18, Z:0.78 [[ 0.99813058 -0.03263184 -0.05167702 23.66440092] [ 0.03553951 0.99777638 0.05638468 -0.17864137] [ 0.04972218 -0.05811585 0.99707084 0.77890323] [ 0. 0. 0. 1. ]] SLAMing on 118.649649246 meters Centerline goodness : 0.881350 with order 1 Centerline is valid? [False, False] Translation: X:23.70, Y:-0.18, Z:0.79 [[ 0.997927 -0.03740814 -0.05236736 23.69898871] [ 0.04036121 0.99758539 0.05651862 -0.17698979] [ 0.05012666 -0.05851507 0.99702723 0.78569498] [ 0. 0. 0. 1. ]] SLAMing on 118.709649246 meters Centerline goodness : 0.876469 with order 1 Centerline is valid? [False, False] Translation: X:23.74, Y:-0.19, Z:0.83 [[ 0.99813796 -0.03901886 -0.04688438 23.73781369] [ 0.04381749 0.99338821 0.10611268 -0.19041821] [ 0.04243399 -0.10796945 0.99324818 0.82931415] [ 0. 0. 0. 1. ]] SLAMing on 118.769649246 meters Centerline goodness : 0.872864 with order 1 Centerline is valid? [False, False] Translation: X:23.77, Y:-0.19, Z:0.84 [[ 0.99793798 -0.03977465 -0.05037624 23.77149209] [ 0.04509154 0.99299321 0.10923024 -0.19027878] [ 0.04567867 -0.11127655 0.99273913 0.83593827] [ 0. 0. 0. 1. ]] SLAMing on 118.829649246 meters Centerline goodness : 0.873253 with order 1 Centerline is valid? [False, False] Translation: X:23.81, Y:-0.19, Z:0.85 [[ 0.99815443 -0.03362878 -0.05056515 23.81419414] [ 0.03937632 0.99231052 0.11734284 -0.19254399] [ 0.04623024 -0.11911735 0.99180332 0.85156295] [ 0. 0. 0. 1. ]] SLAMing on 118.889649246 meters Centerline goodness : 0.873956 with order 1 Centerline is valid? [False, False] Translation: X:23.83, Y:-0.19, Z:0.85 [[ 0.99838642 -0.03031395 -0.04801698 23.83465073] [ 0.03547617 0.99323294 0.11058829 -0.18689425] [ 0.04433968 -0.11211331 0.9927057 0.84511342] [ 0. 0. 0. 1. ]] SLAMing on 118.949649246 meters Centerline goodness : 0.868089 with order 1 Centerline is valid? [False, False] Translation: X:23.86, Y:-0.19, Z:0.85 [[ 0.99823072 -0.02503586 -0.05393182 23.86259035] [ 0.0308438 0.99348578 0.10970263 -0.18558828] [ 0.050834 -0.111172 0.99250022 0.84537623] [ 0. 0. 0. 1. ]] SLAMing on 119.009649246 meters Centerline goodness : 0.867227 with order 1 Centerline is valid? [False, False] Translation: X:23.91, Y:-0.19, Z:0.85 [[ 9.98134393e-01 -2.24268566e-02 -5.67870629e-02 2.39065396e+01] [ 2.81052201e-02 9.94463203e-01 1.01257273e-01 -1.85532216e-01] [ 5.42017621e-02 -1.02664380e-01 9.93238236e-01 8.45691456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.069649246 meters Centerline goodness : 0.877043 with order 1 Centerline is valid? [False, False] Translation: X:23.94, Y:-0.20, Z:0.89 [[ 9.98506869e-01 -2.11243178e-02 -5.03765479e-02 2.39428779e+01] [ 2.85218862e-02 9.88125344e-01 1.50979491e-01 -1.99121528e-01] [ 4.65890049e-02 -1.52190893e-01 9.87252448e-01 8.90168989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.129649246 meters Centerline goodness : 0.871939 with order 1 Centerline is valid? [False, False] Translation: X:23.99, Y:-0.20, Z:0.91 [[ 9.98627969e-01 -1.46094077e-02 -5.02866221e-02 2.39857084e+01] [ 2.24087438e-02 9.87149645e-01 1.58219549e-01 -2.01423545e-01] [ 4.73289273e-02 -1.59129327e-01 9.86122624e-01 9.05928911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.189649246 meters Centerline goodness : 0.872932 with order 1 Centerline is valid? [False, False] Translation: X:24.02, Y:-0.20, Z:0.91 [[ 9.98479770e-01 -8.50420216e-03 -5.44594091e-02 2.40160788e+01] [ 1.63777843e-02 9.89177042e-01 1.45809970e-01 -1.98985220e-01] [ 5.26299997e-02 -1.46480230e-01 9.87812546e-01 9.05741478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.249649246 meters Centerline goodness : 0.872503 with order 1 Centerline is valid? [False, False] Translation: X:24.04, Y:-0.20, Z:0.90 [[ 9.98385184e-01 -6.81979199e-03 -5.63960461e-02 2.40390459e+01] [ 1.43298606e-02 9.90897040e-01 1.33857058e-01 -1.95786853e-01] [ 5.49697979e-02 -1.34449051e-01 9.89394650e-01 9.04226755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.309649246 meters Centerline goodness : 0.875516 with order 1 Centerline is valid? [False, False] Translation: X:24.07, Y:-0.20, Z:0.92 [[ 9.98469907e-01 -6.01966427e-03 -5.49691628e-02 2.40695370e+01] [ 1.39765990e-02 9.89253567e-01 1.45540495e-01 -1.98273298e-01] [ 5.35023355e-02 -1.46086086e-01 9.87824051e-01 9.20918721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.369649246 meters Centerline goodness : 0.876498 with order 1 Centerline is valid? [False, False] Translation: X:24.11, Y:-0.21, Z:0.97 [[ 9.98856048e-01 -7.87801749e-03 -4.71649474e-02 2.41078895e+01] [ 1.68448764e-02 9.81079976e-01 1.92868687e-01 -2.09046459e-01] [ 4.47531626e-02 -1.93442542e-01 9.80090372e-01 9.65471131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.429649246 meters Centerline goodness : 0.872211 with order 1 Centerline is valid? [False, False] Translation: X:24.15, Y:-0.22, Z:1.00 [[ 9.98872091e-01 -3.17754092e-03 -4.73756245e-02 2.41532429e+01] [ 1.40121434e-02 9.73049620e-01 2.30169715e-01 -2.16682463e-01] [ 4.53674597e-02 -2.30573938e-01 9.71996632e-01 1.00418918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.489649246 meters Centerline goodness : 0.874630 with order 1 Centerline is valid? [False, False] Translation: X:24.17, Y:-0.21, Z:1.00 [[ 9.98996072e-01 -3.05659457e-03 -4.46934526e-02 2.41732493e+01] [ 1.29420888e-02 9.74820364e-01 2.22615722e-01 -2.14046329e-01] [ 4.28876417e-02 -2.22970659e-01 9.73881274e-01 1.00076260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.549649246 meters Centerline goodness : 0.869707 with order 1 Centerline is valid? [False, False] Translation: X:24.22, Y:-0.22, Z:1.02 [[ 9.98948984e-01 1.72915963e-03 -4.58032453e-02 2.42223241e+01] [ 9.02669242e-03 9.72297050e-01 2.33574323e-01 -2.15419115e-01] [ 4.49382476e-02 -2.33742285e-01 9.71259542e-01 1.02094849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.609649246 meters Centerline goodness : 0.874616 with order 1 Centerline is valid? [False, False] Translation: X:24.27, Y:-0.22, Z:1.06 [[ 9.99085434e-01 -1.31263148e-03 -4.27384262e-02 2.42711792e+01] [ 1.25277364e-02 9.64651693e-01 2.63230255e-01 -2.19206947e-01] [ 4.08821708e-02 -2.63524929e-01 9.63785899e-01 1.05519460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.669649246 meters Centerline goodness : 0.879803 with order 1 Centerline is valid? [False, False] Translation: X:24.30, Y:-0.22, Z:1.10 [[ 9.99516631e-01 -1.34820517e-02 -2.80131916e-02 2.42951349e+01] [ 2.16736253e-02 9.48183773e-01 3.16982312e-01 -2.17292879e-01] [ 2.22880818e-02 -3.17436240e-01 9.48017655e-01 1.09931402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.729649246 meters Centerline goodness : 0.880363 with order 1 Centerline is valid? [False, False] Translation: X:24.29, Y:-0.20, Z:1.10 [[ 9.99499134e-01 -1.50269970e-02 -2.78508772e-02 2.42928426e+01] [ 2.29988377e-02 9.49442341e-01 3.13097899e-01 -2.02400381e-01] [ 2.17378809e-02 -3.13581617e-01 9.49312401e-01 1.09697674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.789649246 meters Centerline goodness : 0.877363 with order 1 Centerline is valid? [False, False] Translation: X:24.29, Y:-0.19, Z:1.10 [[ 9.99490773e-01 -1.05779958e-02 -3.01048436e-02 2.42940840e+01] [ 1.96040822e-02 9.47963729e-01 3.17774211e-01 -1.90226406e-01] [ 2.51768856e-02 -3.18202569e-01 9.47688371e-01 1.10130196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.849649246 meters Centerline goodness : 0.864037 with order 1 Centerline is valid? [False, False] Translation: X:24.26, Y:-0.16, Z:1.08 [[ 9.99502826e-01 -9.84533565e-03 -2.99527856e-02 2.42594937e+01] [ 1.82701304e-02 9.55098440e-01 2.95724824e-01 -1.58453627e-01] [ 2.56963486e-02 -2.96125039e-01 9.54803466e-01 1.07817518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.909649246 meters Centerline goodness : 0.864321 with order 1 Centerline is valid? [False, False] Translation: X:24.26, Y:-0.14, Z:1.06 [[ 9.99353926e-01 -7.71777541e-03 -3.51022398e-02 2.42610657e+01] [ 1.72459679e-02 9.59859909e-01 2.79949160e-01 -1.36884937e-01] [ 3.15326480e-02 -2.80373664e-01 9.59372868e-01 1.06430798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.969649246 meters Centerline goodness : 0.876522 with order 1 Centerline is valid? [False, False] Translation: X:24.13, Y:-0.11, Z:1.13 [[ 0.99831777 0.0284365 0.05052716 24.1254461 ] [-0.04503032 0.92923201 0.36674262 -0.1077984 ] [-0.03652258 -0.36840093 0.92894933 1.1289026 ] [ 0. 0. 0. 1. ]] SLAMing on 120.029649246 meters Centerline goodness : 0.859309 with order 1 Centerline is valid? [False, False] Translation: X:24.26, Y:-0.12, Z:1.01 [[ 9.99912245e-01 6.13557482e-03 1.17412568e-02 2.42612114e+01] [-8.34645986e-03 9.80030148e-01 1.98673716e-01 -1.19537575e-01] [-1.02878082e-02 -1.98754279e-01 9.79995356e-01 1.00793221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.08964924600001 meters Centerline goodness : 0.850962 with order 1 Centerline is valid? [False, False] Translation: X:24.27, Y:-0.10, Z:1.00 [[ 9.99859612e-01 1.54496855e-02 6.48557208e-03 2.42683052e+01] [-1.64146041e-02 9.80860994e-01 1.94016161e-01 -9.71343450e-02] [-3.36395601e-03 -1.94095381e-01 9.80976894e-01 9.99118978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.149649246 meters Centerline goodness : 0.850495 with order 1 Centerline is valid? [False, False] Translation: X:24.29, Y:-0.09, Z:1.02 [[ 9.99755410e-01 2.09858723e-02 6.97952891e-03 2.42903619e+01] [-2.20230073e-02 9.73593916e-01 2.27222081e-01 -9.33168876e-02] [-2.02677332e-03 -2.27320214e-01 9.73817956e-01 1.02060582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.209649246 meters Centerline goodness : 0.847388 with order 1 Centerline is valid? [False, False] Translation: X:24.32, Y:-0.09, Z:1.04 [[ 9.99664415e-01 2.41153494e-02 9.46082492e-03 2.43163256e+01] [-2.57587275e-02 9.64090301e-01 2.64322492e-01 -9.02860815e-02] [-2.74686030e-03 -2.64477488e-01 9.64387947e-01 1.04452541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.269649246 meters Centerline goodness : 0.855266 with order 1 Centerline is valid? [False, False] Translation: X:24.33, Y:-0.08, Z:1.06 [[ 9.99589790e-01 2.76425903e-02 7.49254487e-03 2.43322742e+01] [-2.86302156e-02 9.57600564e-01 2.86673109e-01 -8.34470225e-02] [ 7.49522104e-04 -2.86770026e-01 9.57999160e-01 1.06053616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.329649246 meters Centerline goodness : 0.852282 with order 1 Centerline is valid? [False, False] Translation: X:24.32, Y:-0.07, Z:1.05 [[ 9.99739930e-01 2.24675237e-02 3.90925129e-03 2.43242497e+01] [-2.27116234e-02 9.65401738e-01 2.59776186e-01 -6.52287097e-02] [ 2.06252962e-03 -2.59797412e-01 9.65660940e-01 1.05051008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.389649246 meters Centerline goodness : 0.854734 with order 1 Centerline is valid? [False, False] Translation: X:24.28, Y:-0.04, Z:1.06 [[ 9.99967069e-01 7.74007647e-03 -2.43977108e-03 2.42837493e+01] [-6.80120255e-03 9.63278987e-01 2.68416348e-01 -3.92815120e-02] [ 4.42774328e-03 -2.68390916e-01 9.63299907e-01 1.05821217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.449649246 meters Centerline goodness : 0.860652 with order 1 Centerline is valid? [False, False] Translation: X:24.28, Y:-0.02, Z:1.05 [[ 9.99998954e-01 -1.44561965e-03 -4.54038994e-05 2.42781613e+01] [ 1.41278759e-03 9.69602656e-01 2.44680800e-01 -1.55060911e-02] [-3.09691631e-04 -2.44680608e-01 9.69603684e-01 1.05216852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.509649246 meters Centerline goodness : 0.880323 with order 1 Centerline is valid? [False, False] Translation: X:24.27, Y:0.01, Z:1.04 [[ 9.99965717e-01 -7.38972052e-03 3.73591600e-03 2.42730411e+01] [ 6.34647122e-03 9.73773629e-01 2.27430522e-01 1.19728999e-02] [-5.31858448e-03 -2.27399015e-01 9.73787143e-01 1.04400954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.569649246 meters Centerline goodness : 0.874724 with order 1 Centerline is valid? [False, False] Translation: X:24.28, Y:0.03, Z:1.04 [[ 9.99968370e-01 -7.94382772e-03 -3.94278516e-04 2.42806062e+01] [ 7.84284166e-03 9.76585828e-01 2.14985140e-01 3.34016695e-02] [-1.32275810e-03 -2.14981433e-01 9.76617240e-01 1.03726678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.629649246 meters Centerline goodness : 0.881504 with order 1 Centerline is valid? [False, False] Translation: X:24.25, Y:0.08, Z:1.03 [[ 9.99990631e-01 4.19637089e-03 1.06198842e-03 2.42536821e+01] [-4.32140848e-03 9.82003819e-01 1.88811614e-01 7.71479175e-02] [-2.50553122e-04 -1.88814435e-01 9.82012753e-01 1.02599024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.689649246 meters Centerline goodness : 0.889514 with order 1 Centerline is valid? [False, False] Translation: X:24.29, Y:0.12, Z:1.01 [[ 9.99867269e-01 1.62610831e-02 1.01037645e-03 2.42923185e+01] [-1.62116135e-02 9.86822117e-01 1.60994699e-01 1.19801601e-01] [ 1.62088636e-03 -1.60989710e-01 9.86954754e-01 1.00948308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.749649246 meters Centerline goodness : 0.888992 with order 1 Centerline is valid? [False, False] Translation: X:24.35, Y:0.16, Z:1.00 [[ 9.99539955e-01 3.03074570e-02 -1.15632658e-03 2.43471814e+01] [-2.99236252e-02 9.91663110e-01 1.25334964e-01 1.60838427e-01] [ 4.94527044e-03 -1.25242702e-01 9.92113809e-01 9.99732007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.809649246 meters Centerline goodness : 0.889476 with order 1 Centerline is valid? [False, False] Translation: X:24.42, Y:0.21, Z:0.99 [[ 9.98972643e-01 4.51011566e-02 4.42080603e-03 2.44154103e+01] [-4.52946785e-02 9.96793704e-01 6.59598639e-02 2.06248823e-01] [-1.43176546e-03 -6.60923386e-02 9.97812484e-01 9.87531406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 3514.46 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%| | 0/4028 [00:00