+ python -m lidar_slam --result /working/result.json --no-model /working/d3ca9c34-2c63-4530-a2ce-b0ce0ec3ebd6 Lidar SLAM 0.0.16 ===================================================== The recording path: /working/d3ca9c34-2c63-4530-a2ce-b0ce0ec3ebd6 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 0.021193817 Adjusted end_distance from 9.223372036854776e+18 to 281.751193817 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.021193817 meters Centerline goodness : 0.182169 with order 1 Centerline is valid? [0, False] SLAMing on 0.081193817 meters Centerline goodness : 0.193686 with order 1 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.02, Z:-0.01 [[ 0.99988719 -0.01434268 0.00446138 0.03878643] [ 0.01435414 0.99989373 -0.00254818 -0.01581913] [-0.00442436 0.00261193 0.9999868 -0.00736824] [ 0. 0. 0. 1. ]] SLAMing on 0.141193817 meters Centerline goodness : 0.194386 with order 1 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.02, Z:-0.01 [[ 0.99981417 -0.01895231 0.00352775 0.07929609] [ 0.01896513 0.99981354 -0.00363578 -0.02446332] [-0.00345819 0.003702 0.99998717 -0.00883589] [ 0. 0. 0. 1. ]] SLAMing on 0.201193817 meters Centerline goodness : 0.167838 with order 1 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.03, Z:-0.01 [[ 9.99800108e-01 -1.99916703e-02 -2.76324873e-04 1.33874950e-01] [ 1.99878555e-02 9.99749090e-01 -1.01115179e-02 -3.35391956e-02] [ 4.78401672e-04 1.01039735e-02 9.99948839e-01 -1.03244437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.261193817 meters Centerline goodness : 0.185831 with order 1 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.04, Z:-0.01 [[ 0.99977835 -0.02099804 0.00152735 0.17168581] [ 0.02101258 0.9997269 -0.01022728 -0.04199256] [-0.00131218 0.01025711 0.99994653 -0.01125868] [ 0. 0. 0. 1. ]] SLAMing on 0.321193817 meters Centerline goodness : 0.169005 with order 1 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.05, Z:-0.01 [[ 0.99969646 -0.0246104 -0.00114292 0.23061183] [ 0.0245978 0.99964767 -0.0099738 -0.05494141] [ 0.00138798 0.00994266 0.99994961 -0.00974227] [ 0. 0. 0. 1. ]] SLAMing on 0.381193817 meters Centerline goodness : 0.169426 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.06, Z:-0.02 [[ 0.99956719 -0.02936812 -0.00171449 0.25850524] [ 0.02934725 0.9995072 -0.01113953 -0.06398709] [ 0.0020408 0.0110844 0.99993648 -0.01503235] [ 0. 0. 0. 1. ]] SLAMing on 0.441193817 meters Centerline goodness : 0.171261 with order 1 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.08, Z:-0.02 [[ 0.99958381 -0.02882157 -0.00123668 0.31209932] [ 0.02879961 0.99947085 -0.01511979 -0.0793485 ] [ 0.0016718 0.01507788 0.99988492 -0.01824364] [ 0. 0. 0. 1. ]] SLAMing on 0.501193817 meters Centerline goodness : 0.173908 with order 1 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.09, Z:-0.02 [[ 9.99614913e-01 -2.77482538e-02 -2.46913633e-04 3.63534327e-01] [ 2.77386528e-02 9.99436996e-01 -1.88748274e-02 -9.35888270e-02] [ 7.70518121e-04 1.88607099e-02 9.99821824e-01 -1.63842482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.561193817 meters Centerline goodness : 0.177775 with order 1 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.11, Z:-0.02 [[ 0.99964269 -0.02661098 0.00252012 0.39897099] [ 0.02665678 0.99943788 -0.0203306 -0.10650448] [-0.00197768 0.02039051 0.99979014 -0.01961001] [ 0. 0. 0. 1. ]] SLAMing on 0.621193817 meters Centerline goodness : 0.201054 with order 1 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.13, Z:-0.02 [[ 0.99961553 -0.02766286 -0.00188768 0.45392852] [ 0.02760836 0.99931839 -0.02450561 -0.12941403] [ 0.00256429 0.02444407 0.99969791 -0.02052421] [ 0. 0. 0. 1. ]] SLAMing on 0.6811938169999999 meters Centerline goodness : 0.526506 with order 1 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.15, Z:-0.03 [[ 0.9995239 -0.03078672 -0.00203668 0.48478876] [ 0.03074403 0.99935734 -0.01843139 -0.14598194] [ 0.00260281 0.01836 0.99982805 -0.02607441] [ 0. 0. 0. 1. ]] SLAMing on 0.741193817 meters Centerline goodness : 0.522410 with order 1 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.17, Z:-0.03 [[ 0.99929228 -0.03758602 -0.00149548 0.54658155] [ 0.03756509 0.99922003 -0.01217331 -0.17094237] [ 0.00195186 0.01210851 0.99992478 -0.03078563] [ 0. 0. 0. 1. ]] SLAMing on 0.801193817 meters Centerline goodness : 0.734537 with order 2 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.19, Z:-0.03 [[ 0.99909737 -0.04239622 -0.00264528 0.59047605] [ 0.04236572 0.99904506 -0.01068261 -0.18810526] [ 0.00309566 0.01056089 0.99993944 -0.03038719] [ 0. 0. 0. 1. ]] SLAMing on 0.861193817 meters Centerline goodness : 0.672786 with order 1 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.20, Z:-0.03 [[ 0.99890965 -0.04661217 -0.00260935 0.63069565] [ 0.04657024 0.99881241 -0.01431728 -0.20416769] [ 0.00327361 0.01418015 0.9998941 -0.03217617] [ 0. 0. 0. 1. ]] SLAMing on 0.9211938169999999 meters Centerline goodness : 0.456593 with order 1 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.22, Z:-0.04 [[ 9.98229811e-01 -5.94560646e-02 1.49041793e-03 6.86000763e-01] [ 5.94675273e-02 9.98185591e-01 -9.44139065e-03 -2.22482850e-01] [-9.26365771e-04 9.51330907e-03 9.99954318e-01 -3.84413215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.981193817 meters Centerline goodness : 0.187436 with order 3 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.24, Z:-0.04 [[ 0.99708471 -0.07611348 0.00536872 0.74228554] [ 0.07613551 0.99708935 -0.00402594 -0.23502036] [-0.00504667 0.00442295 0.99997748 -0.04256115] [ 0. 0. 0. 1. ]] SLAMing on 1.041193817 meters Centerline goodness : 0.740651 with order 2 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.24, Z:-0.04 [[ 9.96850820e-01 -7.92917713e-02 1.12163524e-03 7.64818876e-01] [ 7.92992137e-02 9.96794677e-01 -1.05833457e-02 -2.38368262e-01] [-2.78867810e-04 1.06389617e-02 9.99943366e-01 -4.35768376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.101193817 meters Centerline goodness : 0.226525 with order 1 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.24, Z:-0.05 [[ 0.99653016 -0.08321766 -0.00156887 0.80973271] [ 0.08318257 0.99640849 -0.01583625 -0.24377925] [ 0.00288109 0.0156508 0.99987337 -0.04569954] [ 0. 0. 0. 1. ]] SLAMing on 1.1611938169999998 meters Centerline goodness : 0.738186 with order 1 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.24, Z:-0.05 [[ 0.99634445 -0.08541379 -0.001487 0.86183479] [ 0.08538805 0.99626615 -0.01275322 -0.24429997] [ 0.00257075 0.01257963 0.99991757 -0.04593341] [ 0. 0. 0. 1. ]] SLAMing on 1.2211938169999998 meters Centerline goodness : 0.719947 with order 1 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.24, Z:-0.05 [[ 9.96815538e-01 -7.97379209e-02 -8.04415952e-04 8.98360496e-01] [ 7.97179689e-02 9.96712230e-01 -1.44836267e-02 -2.42595855e-01] [ 1.95666550e-03 1.43733778e-02 9.99894783e-01 -4.71140615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.281193817 meters Centerline goodness : 0.707313 with order 1 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.24, Z:-0.05 [[ 0.99726406 -0.07385251 -0.00319466 0.9553439 ] [ 0.07379169 0.99714249 -0.01617518 -0.23847802] [ 0.00438011 0.01589519 0.99986407 -0.04822927] [ 0. 0. 0. 1. ]] SLAMing on 1.3411938169999997 meters Centerline goodness : 0.710823 with order 1 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.24, Z:-0.05 [[ 0.99725464 -0.07401815 -0.00211981 0.99730615] [ 0.07395402 0.9970197 -0.02196627 -0.2362957 ] [ 0.00373939 0.0217492 0.99975646 -0.05098777] [ 0. 0. 0. 1. ]] SLAMing on 1.4011938169999998 meters Centerline goodness : 0.722605 with order 1 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.23, Z:-0.06 [[ 0.99617135 -0.08694317 0.00913913 1.05514245] [ 0.08709242 0.99604746 -0.01744627 -0.22903794] [-0.00758618 0.01817542 0.99980603 -0.05507408] [ 0. 0. 0. 1. ]] SLAMing on 1.4611938169999998 meters Centerline goodness : 0.509280 with order 3 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.22, Z:-0.05 [[ 0.99543635 -0.09456868 0.01277675 1.1059732 ] [ 0.09476388 0.99537678 -0.0156486 -0.2205614 ] [-0.01123781 0.01678796 0.99979592 -0.05488551] [ 0. 0. 0. 1. ]] SLAMing on 1.521193817 meters Centerline goodness : 0.790193 with order 3 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.20, Z:-0.06 [[ 0.99393193 -0.1079048 0.02135131 1.16358084] [ 0.10827604 0.99397435 -0.01706715 -0.20389763] [-0.01938103 0.01927542 0.99962635 -0.05639666] [ 0. 0. 0. 1. ]] SLAMing on 1.581193817 meters Centerline goodness : 0.674278 with order 3 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.19, Z:-0.06 [[ 0.99378454 -0.10918446 0.02170351 1.20856467] [ 0.10966444 0.99371822 -0.02231183 -0.18702826] [-0.01913106 0.02455326 0.99951545 -0.05964994] [ 0. 0. 0. 1. ]] SLAMing on 1.6411938169999998 meters Centerline goodness : 0.141209 with order 1 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.16, Z:-0.07 [[ 0.99386442 -0.10891997 0.0192343 1.26040376] [ 0.10938893 0.9936772 -0.02529182 -0.15860316] [-0.0163579 0.02724066 0.99949506 -0.06522731] [ 0. 0. 0. 1. ]] SLAMing on 1.7011938169999998 meters Centerline goodness : 0.802158 with order 3 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.14, Z:-0.07 [[ 0.9945858 -0.10294554 0.01418819 1.29890334] [ 0.10332265 0.99422308 -0.02906712 -0.13808362] [-0.01111389 0.0303757 0.99947676 -0.06765548] [ 0. 0. 0. 1. ]] SLAMing on 1.7611938169999999 meters Centerline goodness : 0.615415 with order 2 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.11, Z:-0.07 [[ 0.99539629 -0.09509757 0.01194475 1.3464945 ] [ 0.09540466 0.99503041 -0.02850315 -0.10845163] [-0.00917481 0.02951151 0.99952233 -0.07300009] [ 0. 0. 0. 1. ]] SLAMing on 1.8211938169999997 meters Centerline goodness : 0.837771 with order 2 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.09, Z:-0.07 [[ 0.99612051 -0.08685548 0.01414377 1.38067967] [ 0.08726157 0.99569664 -0.03120276 -0.09154363] [-0.01137277 0.03231592 0.999413 -0.07443108] [ 0. 0. 0. 1. ]] SLAMing on 1.8811938169999998 meters Centerline goodness : 0.830516 with order 3 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.06, Z:-0.08 [[ 0.99700171 -0.07183414 0.02876527 1.42044341] [ 0.07370255 0.99480293 -0.07025002 -0.05825852] [-0.02356942 0.07215946 0.99711458 -0.0783738 ] [ 0. 0. 0. 1. ]] SLAMing on 1.9411938169999998 meters Centerline goodness : 0.826600 with order 2 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.02, Z:-0.08 [[ 0.99703079 -0.0556764 0.05319524 1.45408597] [ 0.06226256 0.98936308 -0.13146887 -0.02133571] [-0.04530969 0.13439058 0.98989202 -0.08107316] [ 0. 0. 0. 1. ]] SLAMing on 2.001193817 meters Centerline goodness : 0.832698 with order 3 Centerline is valid? [False, False] Translation: X:1.48, Y:0.00, Z:-0.07 [[ 0.99666992 -0.0482982 0.06569904 1.48229159] [ 0.06006725 0.97975556 -0.19097376 0.00199184] [-0.05514531 0.19428416 0.97939403 -0.07352857] [ 0. 0. 0. 1. ]] SLAMing on 2.061193817 meters Centerline goodness : 0.863043 with order 3 Centerline is valid? [False, False] Translation: X:1.52, Y:0.02, Z:-0.07 [[ 0.99606015 -0.04575186 0.07596669 1.52041724] [ 0.06201756 0.97169673 -0.22794579 0.01961678] [-0.06338764 0.23175899 0.97070581 -0.06740134] [ 0. 0. 0. 1. ]] SLAMing on 2.121193817 meters Centerline goodness : 0.866073 with order 2 Centerline is valid? [False, False] Translation: X:1.55, Y:0.02, Z:-0.07 [[ 0.99607562 -0.05065924 0.07257414 1.55116513] [ 0.06481469 0.97590116 -0.20836501 0.01972065] [-0.06026958 0.21225118 0.97535481 -0.06833007] [ 0. 0. 0. 1. ]] SLAMing on 2.181193817 meters Centerline goodness : 0.852578 with order 3 Centerline is valid? [False, False] Translation: X:1.58, Y:0.02, Z:-0.07 [[ 0.99657752 -0.04876231 0.06674934 1.5798922 ] [ 0.06258903 0.97258619 -0.22396141 0.02386204] [-0.05399861 0.22737269 0.97230952 -0.06636221] [ 0. 0. 0. 1. ]] SLAMing on 2.2411938169999996 meters Centerline goodness : 0.859331 with order 3 Centerline is valid? [False, False] Translation: X:1.61, Y:0.02, Z:-0.07 [[ 0.99667039 -0.05036474 0.0641212 1.60822442] [ 0.06250451 0.97693196 -0.20419878 0.02136225] [-0.05235764 0.20752674 0.97682718 -0.06826957] [ 0. 0. 0. 1. ]] SLAMing on 2.3011938169999997 meters Centerline goodness : 0.861406 with order 3 Centerline is valid? [False, False] Translation: X:1.62, Y:0.01, Z:-0.07 [[ 0.99673303 -0.051044 0.06259214 1.62463943] [ 0.06192836 0.98048719 -0.18657372 0.01447555] [-0.05184732 0.18984042 0.98044504 -0.06571258] [ 0. 0. 0. 1. ]] SLAMing on 2.3611938169999998 meters Centerline goodness : 0.868324 with order 2 Centerline is valid? [False, False] Translation: X:1.65, Y:0.00, Z:-0.06 [[ 0.99699636 -0.04744695 0.06121307 1.64927672] [ 0.05738459 0.98334764 -0.17243673 0.00254819] [-0.05201213 0.17543147 0.98311675 -0.06477738] [ 0. 0. 0. 1. ]] SLAMing on 2.421193817 meters Centerline goodness : 0.873429 with order 3 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.01, Z:-0.07 [[ 0.99722965 -0.04465774 0.05948702 1.67360481] [ 0.05312192 0.98736425 -0.149298 -0.01189471] [-0.05206805 0.15204446 0.98700122 -0.06637493] [ 0. 0. 0. 1. ]] SLAMing on 2.481193817 meters Centerline goodness : 0.877446 with order 3 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.02, Z:-0.07 [[ 0.99699557 -0.0474231 0.06124444 1.68497224] [ 0.05566389 0.98847977 -0.1407454 -0.02246954] [-0.05386431 0.14373164 0.98814971 -0.06795848] [ 0. 0. 0. 1. ]] SLAMing on 2.541193817 meters Centerline goodness : 0.882769 with order 1 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.05, Z:-0.07 [[ 0.99622903 -0.06018564 0.06249329 1.70756668] [ 0.0679928 0.98899132 -0.13142731 -0.04511156] [-0.05389528 0.1351808 0.98935406 -0.06587372] [ 0. 0. 0. 1. ]] SLAMing on 2.601193817 meters Centerline goodness : 0.884628 with order 1 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.05, Z:-0.06 [[ 0.99550424 -0.07251342 0.06093535 1.71263387] [ 0.08048649 0.9867849 -0.14063248 -0.05480061] [-0.04993234 0.1449047 0.9881849 -0.06411084] [ 0. 0. 0. 1. ]] SLAMing on 2.6611938169999996 meters Centerline goodness : 0.880436 with order 1 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.07, Z:-0.07 [[ 0.99461904 -0.08781766 0.05496386 1.74196457] [ 0.09424749 0.98727447 -0.12808798 -0.07019141] [-0.04301603 0.13257895 0.99023858 -0.0655668 ] [ 0. 0. 0. 1. ]] SLAMing on 2.7211938169999996 meters Centerline goodness : 0.881897 with order 1 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.08, Z:-0.07 [[ 0.99386911 -0.09520147 0.05622172 1.7616561 ] [ 0.10133118 0.98774197 -0.1187341 -0.07713381] [-0.04422889 0.12370317 0.99133311 -0.06803393] [ 0. 0. 0. 1. ]] SLAMing on 2.7811938169999997 meters Centerline goodness : 0.875513 with order 1 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.08, Z:-0.07 [[ 0.99353146 -0.10191861 0.05007823 1.80181457] [ 0.10703997 0.98777587 -0.11331936 -0.08030804] [-0.03791672 0.11794672 0.99229577 -0.07056063] [ 0. 0. 0. 1. ]] SLAMing on 2.8411938169999997 meters Centerline goodness : 0.873525 with order 1 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.08, Z:-0.07 [[ 0.99354159 -0.10425462 0.04478935 1.83273251] [ 0.10874069 0.98758285 -0.11338244 -0.07976206] [-0.03241255 0.1175206 0.99254135 -0.074358 ] [ 0. 0. 0. 1. ]] SLAMing on 2.901193817 meters Centerline goodness : 0.876033 with order 1 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.08, Z:-0.08 [[ 0.99370662 -0.10198811 0.0463204 1.8696559 ] [ 0.10686585 0.98710517 -0.11917667 -0.07718444] [-0.03356851 0.12337671 0.99179199 -0.07752344] [ 0. 0. 0. 1. ]] SLAMing on 2.961193817 meters Centerline goodness : 0.873407 with order 1 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.07, Z:-0.08 [[ 0.99391462 -0.09542457 0.05502611 1.90483352] [ 0.10229295 0.98489583 -0.13970098 -0.07064029] [-0.04086408 0.14447963 0.98866363 -0.08048341] [ 0. 0. 0. 1. ]] SLAMing on 3.021193817 meters Centerline goodness : 0.870157 with order 1 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.05, Z:-0.08 [[ 0.99387926 -0.08415416 0.07156875 1.93649486] [ 0.09660739 0.97631386 -0.19359302 -0.05291152] [-0.0535819 0.19932216 0.97846801 -0.08413046] [ 0. 0. 0. 1. ]] SLAMing on 3.081193817 meters Centerline goodness : 0.869743 with order 1 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.03, Z:-0.09 [[ 0.99359556 -0.06919268 0.08933218 1.97226452] [ 0.09086261 0.95922326 -0.26764664 -0.03163936] [-0.06717032 0.27404947 0.959367 -0.08745695] [ 0. 0. 0. 1. ]] SLAMing on 3.141193817 meters Centerline goodness : 0.870539 with order 1 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.02, Z:-0.09 [[ 0.99308388 -0.06745077 0.09609789 2.00072395] [ 0.09226052 0.95454209 -0.28343853 -0.02481316] [-0.07261133 0.29034428 0.9541634 -0.09095229] [ 0. 0. 0. 1. ]] SLAMing on 3.2011938169999996 meters Centerline goodness : 0.866820 with order 1 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.03, Z:-0.09 [[ 0.99310509 -0.07301291 0.09171363 2.02504777] [ 0.0951074 0.95920481 -0.26623432 -0.03346173] [-0.06853362 0.2731213 0.95953525 -0.09102379] [ 0. 0. 0. 1. ]] SLAMing on 3.2611938169999997 meters Centerline goodness : 0.868104 with order 1 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.04, Z:-0.09 [[ 0.99271309 -0.08012547 0.09000348 2.04815612] [ 0.10057833 0.96231586 -0.25265034 -0.03894478] [-0.06636805 0.2598617 0.96336244 -0.09169757] [ 0. 0. 0. 1. ]] SLAMing on 3.3211938169999997 meters Centerline goodness : 0.870009 with order 1 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.05, Z:-0.09 [[ 0.99235114 -0.08760581 0.08697374 2.06733368] [ 0.10558764 0.9673659 -0.23033557 -0.0456163 ] [-0.0639567 0.23775712 0.96921674 -0.09239848] [ 0. 0. 0. 1. ]] SLAMing on 3.3811938169999998 meters Centerline goodness : 0.859595 with order 1 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.04, Z:-0.10 [[ 0.99165102 -0.087643 0.09458839 2.09295433] [ 0.10731634 0.96760271 -0.2285349 -0.04126289] [-0.07149449 0.23677775 0.96892974 -0.09710437] [ 0. 0. 0. 1. ]] SLAMing on 3.441193817 meters Centerline goodness : 0.866567 with order 1 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.04, Z:-0.10 [[ 0.99140939 -0.08983784 0.09506095 2.11194945] [ 0.10839819 0.97106527 -0.21279587 -0.04268904] [-0.07319327 0.22127226 0.97246148 -0.09567613] [ 0. 0. 0. 1. ]] SLAMing on 3.501193817 meters Centerline goodness : 0.862447 with order 1 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.04, Z:-0.10 [[ 0.99070604 -0.09314266 0.09912612 2.13096401] [ 0.11171457 0.97292645 -0.20232146 -0.04105493] [-0.07759767 0.21151493 0.9742895 -0.09873512] [ 0. 0. 0. 1. ]] SLAMing on 3.561193817 meters Centerline goodness : 0.861170 with order 1 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.04, Z:-0.10 [[ 0.99024704 -0.09747552 0.09954556 2.15409604] [ 0.11476199 0.97580524 -0.18610164 -0.040989 ] [-0.07899672 0.19571065 0.97747474 -0.09868282] [ 0. 0. 0. 1. ]] SLAMing on 3.6211938169999995 meters Centerline goodness : 0.859267 with order 1 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.04, Z:-0.10 [[ 0.98989072 -0.10062307 0.09995683 2.17254804] [ 0.11684604 0.97803869 -0.17259005 -0.04340417] [-0.08039511 0.18252485 0.97990883 -0.10043599] [ 0. 0. 0. 1. ]] SLAMing on 3.6811938169999996 meters Centerline goodness : 0.858456 with order 1 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.05, Z:-0.10 [[ 0.98912961 -0.10673102 0.10114893 2.18856517] [ 0.12183334 0.98000469 -0.15731322 -0.04828631] [-0.08233623 0.16792647 0.98235505 -0.10036916] [ 0. 0. 0. 1. ]] SLAMing on 3.7411938169999996 meters Centerline goodness : 0.855200 with order 1 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.05, Z:-0.10 [[ 0.98834057 -0.11431381 0.10057467 2.21057118] [ 0.12822754 0.98109228 -0.14496773 -0.04935049] [-0.08210122 0.15617393 0.98431148 -0.10069586] [ 0. 0. 0. 1. ]] SLAMing on 3.8011938169999997 meters Centerline goodness : 0.854768 with order 1 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.05, Z:-0.10 [[ 0.987017 -0.12449692 0.10147887 2.2213087 ] [ 0.13742476 0.98163037 -0.13234894 -0.05202811] [-0.08313771 0.14457636 0.98599483 -0.10245148] [ 0. 0. 0. 1. ]] SLAMing on 3.8611938169999998 meters Centerline goodness : 0.853220 with order 1 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.05, Z:-0.10 [[ 0.98628654 -0.1311895 0.10014081 2.24099028] [ 0.14314362 0.98198189 -0.12337535 -0.04959342] [-0.08215091 0.13601797 0.98729445 -0.10420299] [ 0. 0. 0. 1. ]] SLAMing on 3.921193817 meters Centerline goodness : 0.845989 with order 1 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.04, Z:-0.10 [[ 0.9859438 -0.13604781 0.09698361 2.26184532] [ 0.14659501 0.98289194 -0.11150491 -0.04187556] [-0.08015441 0.12415489 0.98902014 -0.10427387] [ 0. 0. 0. 1. ]] SLAMing on 3.981193817 meters Centerline goodness : 0.834619 with order 1 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.03, Z:-0.10 [[ 0.98581067 -0.1346956 0.10017195 2.2807618 ] [ 0.14561531 0.98307939 -0.11113547 -0.03486426] [-0.08350752 0.1241451 0.98874389 -0.10332411] [ 0. 0. 0. 1. ]] SLAMing on 4.041193817 meters Centerline goodness : 0.841203 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.03, Z:-0.10 [[ 0.98642772 -0.13150918 0.09831425 2.30702344] [ 0.14177324 0.98421332 -0.10594569 -0.02882321] [-0.08282936 0.1184461 0.98949978 -0.1038455 ] [ 0. 0. 0. 1. ]] SLAMing on 4.101193817 meters Centerline goodness : 0.828403 with order 1 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.02, Z:-0.11 [[ 0.9870885 -0.12426996 0.1010607 2.32351051] [ 0.13480899 0.98527468 -0.10516815 -0.02199922] [-0.08650331 0.11743416 0.98930602 -0.10779201] [ 0. 0. 0. 1. ]] SLAMing on 4.161193817 meters Centerline goodness : 0.824834 with order 1 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.01, Z:-0.11 [[ 0.98839094 -0.11306362 0.1014888 2.35938231] [ 0.12339546 0.9870949 -0.1020648 -0.01291817] [-0.08863926 0.11340318 0.98958719 -0.11073581] [ 0. 0. 0. 1. ]] SLAMing on 4.2211938170000005 meters Centerline goodness : 0.819877 with order 1 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.01, Z:-0.11 [[ 0.98941798 -0.10351583 0.10166874 2.3862767 ] [ 0.11452893 0.98739589 -0.10923587 -0.00578645] [-0.08907965 0.11972394 0.98880281 -0.11342534] [ 0. 0. 0. 1. ]] SLAMing on 4.281193817 meters Centerline goodness : 0.817786 with order 1 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.00, Z:-0.12 [[ 9.89968701e-01 -1.01317692e-01 9.84718044e-02 2.41410821e+00] [ 1.11540641e-01 9.88245112e-01 -1.04547996e-01 -1.50342108e-03] [-8.67217177e-02 1.14482852e-01 9.89632770e-01 -1.15430781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.341193817000001 meters Centerline goodness : 0.816445 with order 1 Centerline is valid? [False, False] Translation: X:2.45, Y:0.00, Z:-0.12 [[ 9.90648033e-01 -1.00460333e-01 9.23265719e-02 2.44524976e+00] [ 1.09587769e-01 9.88956636e-01 -9.97762107e-02 1.29959052e-03] [-8.12834247e-02 1.08960970e-01 9.90717170e-01 -1.18071173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.401193817 meters Centerline goodness : 0.816094 with order 1 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.00, Z:-0.12 [[ 9.90755750e-01 -1.02544987e-01 8.88119866e-02 2.45501893e+00] [ 1.10884497e-01 9.89311071e-01 -9.47007550e-02 -2.52351647e-04] [-7.81515938e-02 1.03673190e-01 9.91536282e-01 -1.17546700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.461193817 meters Centerline goodness : 0.816151 with order 1 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.00, Z:-0.11 [[ 9.89893628e-01 -1.09657318e-01 8.99215120e-02 2.46776056e+00] [ 1.17452725e-01 9.89300773e-01 -8.65380714e-02 -1.76918825e-03] [-7.94698886e-02 9.62250120e-02 9.92182082e-01 -1.14841173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.521193817 meters Centerline goodness : 0.813503 with order 1 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.00, Z:-0.11 [[ 9.88939247e-01 -1.17733223e-01 9.02111602e-02 2.48169295e+00] [ 1.24964966e-01 9.88994541e-01 -7.92057778e-02 -1.17320417e-03] [-7.98931935e-02 8.96029369e-02 9.92768045e-01 -1.12021737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.581193817 meters Centerline goodness : 0.809955 with order 1 Centerline is valid? [False, False] Translation: X:2.48, Y:0.00, Z:-0.11 [[ 9.88878808e-01 -1.18446964e-01 8.99389758e-02 2.48282924e+00] [ 1.25738849e-01 9.88811175e-01 -8.02633329e-02 7.75341868e-04] [-7.94257162e-02 9.06795323e-02 9.92707801e-01 -1.12790914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.641193817 meters Centerline goodness : 0.806435 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:0.01, Z:-0.11 [[ 0.9891189 -0.11865806 0.08697159 2.50904453] [ 0.12567869 0.98881965 -0.08025318 0.0070677 ] [-0.07647653 0.09031041 0.992973 -0.11437275] [ 0. 0. 0. 1. ]] SLAMing on 4.701193817 meters Centerline goodness : 0.804657 with order 1 Centerline is valid? [False, False] Translation: X:2.52, Y:0.01, Z:-0.11 [[ 0.98891977 -0.12293356 0.08321674 2.51960464] [ 0.12949834 0.98845108 -0.07870607 0.01058698] [-0.07258006 0.08861042 0.99341851 -0.11408645] [ 0. 0. 0. 1. ]] SLAMing on 4.7611938170000005 meters Centerline goodness : 0.804562 with order 1 Centerline is valid? [False, False] Translation: X:2.52, Y:0.01, Z:-0.11 [[ 0.98883392 -0.12501791 0.08110493 2.52439452] [ 0.13145231 0.98812644 -0.07953891 0.01216391] [-0.07019814 0.0893122 0.99352682 -0.11479459] [ 0. 0. 0. 1. ]] SLAMing on 4.821193817 meters Centerline goodness : 0.805501 with order 1 Centerline is valid? [False, False] Translation: X:2.54, Y:0.02, Z:-0.12 [[ 0.9886363 -0.12896495 0.07724187 2.53608945] [ 0.13501436 0.98768846 -0.07901036 0.01638264] [-0.06610134 0.08854127 0.99387678 -0.1177781 ] [ 0. 0. 0. 1. ]] SLAMing on 4.881193817 meters Centerline goodness : 0.804425 with order 1 Centerline is valid? [False, False] Translation: X:2.54, Y:0.02, Z:-0.12 [[ 0.98891116 -0.12741672 0.07628698 2.53894383] [ 0.13324076 0.98809945 -0.07685292 0.01709065] [-0.06558677 0.08616524 0.99411967 -0.12003075] [ 0. 0. 0. 1. ]] SLAMing on 4.941193817 meters Centerline goodness : 0.804027 with order 1 Centerline is valid? [False, False] Translation: X:2.54, Y:0.02, Z:-0.12 [[ 0.98929255 -0.1250888 0.07518669 2.54124423] [ 0.13068343 0.98860117 -0.07476342 0.02010084] [-0.06497759 0.08378855 0.99436281 -0.12129543] [ 0. 0. 0. 1. ]] SLAMing on 5.001193817 meters Centerline goodness : 0.802917 with order 1 Centerline is valid? [False, False] Translation: X:2.56, Y:0.03, Z:-0.12 [[ 0.9896575 -0.11998263 0.07862697 2.55742636] [ 0.12582815 0.98927647 -0.07415749 0.02623907] [-0.0688862 0.083284 0.99414208 -0.12297441] [ 0. 0. 0. 1. ]] SLAMing on 5.061193817 meters Centerline goodness : 0.805772 with order 1 Centerline is valid? [False, False] Translation: X:2.59, Y:0.04, Z:-0.12 [[ 0.99016208 -0.11128236 0.08482503 2.58578214] [ 0.11760132 0.99033456 -0.0735349 0.03690408] [-0.07582202 0.08278701 0.99367869 -0.12143861] [ 0. 0. 0. 1. ]] SLAMing on 5.121193817 meters Centerline goodness : 0.809467 with order 1 Centerline is valid? [False, False] Translation: X:2.61, Y:0.04, Z:-0.12 [[ 0.99095728 -0.10188264 0.08731326 2.60668342] [ 0.10902382 0.99070542 -0.08134233 0.04435545] [-0.07821434 0.090126 0.99285438 -0.11910671] [ 0. 0. 0. 1. ]] SLAMing on 5.1811938170000005 meters Centerline goodness : 0.817939 with order 1 Centerline is valid? [False, False] Translation: X:2.64, Y:0.05, Z:-0.12 [[ 0.99135615 -0.09403969 0.09148508 2.63850542] [ 0.10166486 0.99138362 -0.08260013 0.05304427] [-0.08292912 0.09118697 0.99237478 -0.12065951] [ 0. 0. 0. 1. ]] SLAMing on 5.241193817 meters Centerline goodness : 0.820154 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.06, Z:-0.13 [[ 0.99200338 -0.08557465 0.09277 2.66850077] [ 0.09394851 0.99150007 -0.09000715 0.0599693 ] [-0.08427913 0.098003 0.99161103 -0.12655003] [ 0. 0. 0. 1. ]] SLAMing on 5.301193817 meters Centerline goodness : 0.824086 with order 1 Centerline is valid? [False, False] Translation: X:2.70, Y:0.07, Z:-0.13 [[ 0.99305271 -0.07183473 0.09319921 2.70010784] [ 0.08197061 0.99055401 -0.10992534 0.06686043] [-0.0844224 0.11680125 0.98956067 -0.13173471] [ 0. 0. 0. 1. ]] SLAMing on 5.361193817 meters Centerline goodness : 0.825597 with order 1 Centerline is valid? [False, False] Translation: X:2.72, Y:0.06, Z:-0.14 [[ 0.9933854 -0.06833424 0.09228154 2.72086494] [ 0.07836539 0.99085326 -0.10985757 0.06367294] [-0.08393043 0.11636259 0.9896542 -0.13531088] [ 0. 0. 0. 1. ]] SLAMing on 5.421193817 meters Centerline goodness : 0.829894 with order 1 Centerline is valid? [False, False] Translation: X:2.75, Y:0.06, Z:-0.14 [[ 0.99378036 -0.05922265 0.09430416 2.74683639] [ 0.07016135 0.9906201 -0.11725702 0.06032865] [-0.08647533 0.12314423 0.98861394 -0.1398774 ] [ 0. 0. 0. 1. ]] SLAMing on 5.481193817 meters Centerline goodness : 0.834220 with order 1 Centerline is valid? [False, False] Translation: X:2.77, Y:0.05, Z:-0.14 [[ 0.9939115 -0.05245402 0.09689435 2.77000596] [ 0.06458258 0.98984788 -0.12661071 0.05356633] [-0.08926942 0.13209753 0.9872088 -0.14185127] [ 0. 0. 0. 1. ]] SLAMing on 5.541193817 meters Centerline goodness : 0.839428 with order 1 Centerline is valid? [False, False] Translation: X:2.78, Y:0.04, Z:-0.15 [[ 0.99350206 -0.05145287 0.10151972 2.78292174] [ 0.0634994 0.99083232 -0.11924404 0.0380249 ] [-0.09445358 0.12491564 0.98766118 -0.14542535] [ 0. 0. 0. 1. ]] SLAMing on 5.601193817 meters Centerline goodness : 0.845151 with order 1 Centerline is valid? [False, False] Translation: X:2.78, Y:0.01, Z:-0.15 [[ 0.99298725 -0.06165191 0.10087298 2.78120648] [ 0.07186934 0.99228633 -0.10100812 0.01433096] [-0.09386754 0.10754945 0.98975856 -0.14679049] [ 0. 0. 0. 1. ]] SLAMing on 5.661193817 meters Centerline goodness : 0.849293 with order 1 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.01, Z:-0.15 [[ 0.99253076 -0.07367421 0.09723581 2.79364183] [ 0.08278558 0.99219419 -0.09325897 -0.00815428] [-0.08960603 0.10061211 0.99088242 -0.14560121] [ 0. 0. 0. 1. ]] SLAMing on 5.7211938170000005 meters Centerline goodness : 0.856372 with order 1 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.02, Z:-0.14 [[ 0.99187155 -0.08114751 0.09800974 2.80098653] [ 0.08998365 0.99192457 -0.08937897 -0.02024718] [-0.08996539 0.09747173 0.99116371 -0.14300873] [ 0. 0. 0. 1. ]] SLAMing on 5.781193817 meters Centerline goodness : 0.858306 with order 1 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.03, Z:-0.14 [[ 0.99131607 -0.09143482 0.09450987 2.82006422] [ 0.09924448 0.99171762 -0.08152723 -0.02965058] [-0.08627268 0.09019884 0.99218002 -0.14239518] [ 0. 0. 0. 1. ]] SLAMing on 5.841193817 meters Centerline goodness : 0.864454 with order 1 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.03, Z:-0.14 [[ 0.9912323 -0.09544503 0.09137165 2.83157065] [ 0.10268307 0.99164411 -0.07809068 -0.03394251] [-0.08315479 0.08678832 0.99275025 -0.14335257] [ 0. 0. 0. 1. ]] SLAMing on 5.901193817 meters Centerline goodness : 0.866207 with order 1 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.04, Z:-0.14 [[ 0.99090981 -0.10003231 0.08995155 2.84306468] [ 0.10656195 0.99176971 -0.07097455 -0.03636069] [-0.08211147 0.07991479 0.99341398 -0.14111808] [ 0. 0. 0. 1. ]] SLAMing on 5.961193817 meters Centerline goodness : 0.878564 with order 2 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.04, Z:-0.14 [[ 0.9907662 -0.10256936 0.08866713 2.84644332] [ 0.10871641 0.99177725 -0.06751759 -0.04339927] [-0.08101281 0.07653371 0.99377035 -0.13648545] [ 0. 0. 0. 1. ]] SLAMing on 6.021193817 meters Centerline goodness : 0.882228 with order 3 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.04, Z:-0.13 [[ 0.99049289 -0.10640704 0.08718588 2.8615677 ] [ 0.11150208 0.99219612 -0.05580454 -0.04469869] [-0.0805675 0.0649954 0.99462781 -0.13401336] [ 0. 0. 0. 1. ]] SLAMing on 6.081193817 meters Centerline goodness : 0.887325 with order 2 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.04, Z:-0.13 [[ 0.98976119 -0.11546234 0.08391204 2.8832856 ] [ 0.11952226 0.99180795 -0.04507133 -0.0440875 ] [-0.07802059 0.05463921 0.99545334 -0.13135415] [ 0. 0. 0. 1. ]] SLAMing on 6.141193817 meters Centerline goodness : 0.890188 with order 2 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.04, Z:-0.13 [[ 0.98896548 -0.12309474 0.08243155 2.89796981] [ 0.12666569 0.99115585 -0.03957127 -0.03844783] [-0.0768315 0.04957587 0.9958108 -0.12872986] [ 0. 0. 0. 1. ]] SLAMing on 6.201193817 meters Centerline goodness : 0.892905 with order 3 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.03, Z:-0.13 [[ 0.9890682 -0.12275202 0.08170699 2.89987496] [ 0.12627002 0.99121471 -0.03936078 -0.03201189] [-0.07615756 0.04924764 0.99587886 -0.1295212 ] [ 0. 0. 0. 1. ]] SLAMing on 6.2611938170000005 meters Centerline goodness : 0.892160 with order 3 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.01, Z:-0.13 [[ 0.98875344 -0.12820664 0.07700445 2.91556239] [ 0.13139554 0.99060678 -0.03786049 -0.01184123] [-0.07142717 0.04755273 0.99631165 -0.13090746] [ 0. 0. 0. 1. ]] SLAMing on 6.321193817 meters Centerline goodness : 0.887715 with order 3 Centerline is valid? [False, False] Translation: X:2.94, Y:0.00, Z:-0.13 [[ 0.98934645 -0.12639521 0.0722347 2.94445344] [ 0.12926773 0.99093544 -0.03656248 0.00487995] [-0.06695861 0.04551058 0.99671728 -0.13458127] [ 0. 0. 0. 1. ]] SLAMing on 6.381193817 meters Centerline goodness : 0.886251 with order 3 Centerline is valid? [False, False] Translation: X:2.97, Y:0.03, Z:-0.14 [[ 0.98916755 -0.12959425 0.06894125 2.97435756] [ 0.13233997 0.99051897 -0.03685514 0.0303027 ] [-0.0635114 0.04557959 0.99693972 -0.13681805] [ 0. 0. 0. 1. ]] SLAMing on 6.441193817 meters Centerline goodness : 0.884366 with order 3 Centerline is valid? [False, False] Translation: X:2.98, Y:0.04, Z:-0.14 [[ 0.98885866 -0.13303485 0.06678533 2.97920173] [ 0.13581219 0.9899703 -0.0389084 0.04433697] [-0.06093932 0.04754517 0.99700845 -0.13632169] [ 0. 0. 0. 1. ]] SLAMing on 6.501193817 meters Centerline goodness : 0.880243 with order 2 Centerline is valid? [False, False] Translation: X:3.01, Y:0.07, Z:-0.14 [[ 0.98865734 -0.13641092 0.0628389 3.00736191] [ 0.13920217 0.9893559 -0.04239877 0.06847368] [-0.05638638 0.05066516 0.99712267 -0.13966588] [ 0. 0. 0. 1. ]] SLAMing on 6.561193817 meters Centerline goodness : 0.884232 with order 3 Centerline is valid? [False, False] Translation: X:3.03, Y:0.08, Z:-0.14 [[ 0.98908295 -0.13473848 0.05966954 3.03329657] [ 0.13729459 0.98968049 -0.04102097 0.08423649] [-0.05352667 0.04876544 0.99737497 -0.14034108] [ 0. 0. 0. 1. ]] SLAMing on 6.621193817 meters Centerline goodness : 0.833693 with order 2 Centerline is valid? [False, False] Translation: X:3.06, Y:0.11, Z:-0.14 [[ 0.99005453 -0.12516155 0.06423869 3.06236571] [ 0.12802031 0.99086102 -0.04248818 0.11425302] [-0.05833372 0.05028947 0.99702966 -0.14290548] [ 0. 0. 0. 1. ]] SLAMing on 6.6811938170000005 meters Centerline goodness : 0.845043 with order 1 Centerline is valid? [False, False] Translation: X:3.08, Y:0.13, Z:-0.15 [[ 0.9904996 -0.11958537 0.06789605 3.07732762] [ 0.12265901 0.99151465 -0.04305193 0.13290238] [-0.06217155 0.05097098 0.99676309 -0.14516306] [ 0. 0. 0. 1. ]] SLAMing on 6.741193817 meters Centerline goodness : 0.845223 with order 3 Centerline is valid? [False, False] Translation: X:3.11, Y:0.16, Z:-0.15 [[ 0.99095218 -0.11349722 0.07163913 3.10745291] [ 0.11710652 0.99194127 -0.04835887 0.16014666] [-0.06557321 0.05631074 0.99625762 -0.14720619] [ 0. 0. 0. 1. ]] SLAMing on 6.801193817 meters Centerline goodness : 0.846205 with order 3 Centerline is valid? [False, False] Translation: X:3.12, Y:0.17, Z:-0.15 [[ 0.99084311 -0.11215959 0.07516748 3.12352291] [ 0.11620379 0.99187529 -0.05176966 0.17084544] [-0.0687503 0.06003036 0.99582617 -0.14947736] [ 0. 0. 0. 1. ]] SLAMing on 6.861193817 meters Centerline goodness : 0.847997 with order 3 Centerline is valid? [False, False] Translation: X:3.14, Y:0.20, Z:-0.15 [[ 0.99063032 -0.11235629 0.07763789 3.14392082] [ 0.11645565 0.9919138 -0.05044887 0.19903146] [-0.07134185 0.05901755 0.99570441 -0.15029359] [ 0. 0. 0. 1. ]] SLAMing on 6.921193817 meters Centerline goodness : 0.847941 with order 3 Centerline is valid? [False, False] Translation: X:3.17, Y:0.22, Z:-0.15 [[ 0.9906515 -0.11267522 0.07690191 3.16855646] [ 0.11664235 0.99195485 -0.04919497 0.21878267] [-0.07074017 0.05770509 0.99582426 -0.15164391] [ 0. 0. 0. 1. ]] SLAMing on 6.981193817 meters Centerline goodness : 0.861107 with order 1 Centerline is valid? [False, False] Translation: X:3.21, Y:0.25, Z:-0.15 [[ 0.99149061 -0.1050639 0.07686319 3.20994612] [ 0.11005702 0.9918697 -0.0638901 0.24814828] [-0.06952573 0.07180577 0.99499251 -0.15434878] [ 0. 0. 0. 1. ]] SLAMing on 7.041193817 meters Centerline goodness : 0.859188 with order 1 Centerline is valid? [False, False] Translation: X:3.24, Y:0.27, Z:-0.16 [[ 0.99222227 -0.0974851 0.07740561 3.24086761] [ 0.10341546 0.99167607 -0.07670608 0.26765785] [-0.06928359 0.08411441 0.99404454 -0.15643919] [ 0. 0. 0. 1. ]] SLAMing on 7.101193817 meters Centerline goodness : 0.859828 with order 1 Centerline is valid? [False, False] Translation: X:3.28, Y:0.31, Z:-0.15 [[ 0.99264065 -0.08173848 0.08934964 3.27770132] [ 0.09319201 0.98677781 -0.13260774 0.30631079] [-0.07732909 0.1399585 0.98713314 -0.15025822] [ 0. 0. 0. 1. ]] SLAMing on 7.161193817 meters Centerline goodness : 0.857826 with order 1 Centerline is valid? [False, False] Translation: X:3.31, Y:0.33, Z:-0.14 [[ 0.99293308 -0.06669251 0.09816316 3.30709538] [ 0.08365372 0.98004394 -0.18032175 0.32845254] [-0.0841781 0.18725915 0.97869712 -0.14210796] [ 0. 0. 0. 1. ]] SLAMing on 7.221193817 meters Centerline goodness : 0.857299 with order 1 Centerline is valid? [False, False] Translation: X:3.31, Y:0.33, Z:-0.14 [[ 0.99397599 -0.0534957 0.09565538 3.31444937] [ 0.06823708 0.98505088 -0.15817228 0.33425401] [-0.08576388 0.16374669 0.98276731 -0.13956471] [ 0. 0. 0. 1. ]] SLAMing on 7.281193817 meters Centerline goodness : 0.852093 with order 1 Centerline is valid? [False, False] Translation: X:3.31, Y:0.33, Z:-0.15 [[ 0.99439643 -0.0457433 0.09530633 3.31107798] [ 0.05894618 0.98829858 -0.14068142 0.33154 ] [-0.08775588 0.14551104 0.98545697 -0.14546929] [ 0. 0. 0. 1. ]] SLAMing on 7.341193817 meters Centerline goodness : 0.849552 with order 1 Centerline is valid? [False, False] Translation: X:3.32, Y:0.33, Z:-0.15 [[ 0.9947979 -0.03848665 0.0943182 3.31505555] [ 0.05079833 0.98997066 -0.13182421 0.32744668] [-0.08829877 0.13592965 0.98677579 -0.15017344] [ 0. 0. 0. 1. ]] SLAMing on 7.401193817 meters Centerline goodness : 0.843351 with order 1 Centerline is valid? [False, False] Translation: X:3.32, Y:0.32, Z:-0.15 [[ 0.99506045 -0.03381326 0.09333474 3.31884122] [ 0.04542529 0.99108628 -0.12523786 0.31625625] [-0.08826808 0.128859 0.98772674 -0.15466408] [ 0. 0. 0. 1. ]] SLAMing on 7.461193817 meters Centerline goodness : 0.843188 with order 1 Centerline is valid? [False, False] Translation: X:3.32, Y:0.30, Z:-0.16 [[ 0.99515832 -0.03184434 0.09298305 3.31987863] [ 0.04286719 0.99196028 -0.11906809 0.30356166] [-0.08844385 0.12247753 0.98852261 -0.15706116] [ 0. 0. 0. 1. ]] SLAMing on 7.521193817 meters Centerline goodness : 0.844586 with order 1 Centerline is valid? [False, False] Translation: X:3.32, Y:0.28, Z:-0.16 [[ 0.99485026 -0.03581846 0.09481562 3.31785536] [ 0.0465043 0.99250532 -0.11300678 0.28226365] [-0.09005728 0.11683416 0.98905989 -0.15521196] [ 0. 0. 0. 1. ]] SLAMing on 7.581193817 meters Centerline goodness : 0.845835 with order 1 Centerline is valid? [False, False] Translation: X:3.32, Y:0.26, Z:-0.16 [[ 0.99474768 -0.04123323 0.09368499 3.3207619 ] [ 0.05112788 0.99307229 -0.10579875 0.26274444] [-0.08867354 0.11003298 0.98996452 -0.15679623] [ 0. 0. 0. 1. ]] SLAMing on 7.641193817 meters Centerline goodness : 0.843857 with order 1 Centerline is valid? [False, False] Translation: X:3.33, Y:0.25, Z:-0.16 [[ 0.99480435 -0.04466439 0.09148441 3.32564991] [ 0.05476761 0.99230067 -0.11108508 0.25122355] [-0.08581849 0.11551831 0.98959118 -0.15652773] [ 0. 0. 0. 1. ]] SLAMing on 7.701193817 meters Centerline goodness : 0.847744 with order 1 Centerline is valid? [False, False] Translation: X:3.33, Y:0.23, Z:-0.16 [[ 0.99475465 -0.0467983 0.09095661 3.32816285] [ 0.05631477 0.99287153 -0.10504649 0.23018486] [-0.08539224 0.10961768 0.99029901 -0.1581497 ] [ 0. 0. 0. 1. ]] SLAMing on 7.761193817 meters Centerline goodness : 0.846721 with order 1 Centerline is valid? [False, False] Translation: X:3.33, Y:0.22, Z:-0.16 [[ 0.99502361 -0.04784298 0.08740169 3.33472737] [ 0.05631601 0.9936701 -0.09720204 0.21684345] [-0.08219801 0.10164044 0.99141954 -0.1580182 ] [ 0. 0. 0. 1. ]] SLAMing on 7.821193817 meters Centerline goodness : 0.846908 with order 1 Centerline is valid? [False, False] Translation: X:3.34, Y:0.19, Z:-0.16 [[ 0.99484827 -0.05517893 0.08504239 3.34038422] [ 0.06277764 0.99401233 -0.08943411 0.19124865] [-0.07959831 0.09431213 0.99235545 -0.16005274] [ 0. 0. 0. 1. ]] SLAMing on 7.881193817 meters Centerline goodness : 0.847314 with order 1 Centerline is valid? [False, False] Translation: X:3.35, Y:0.17, Z:-0.16 [[ 0.99422382 -0.06546256 0.08505088 3.3494806 ] [ 0.07248909 0.99396469 -0.08233787 0.17392019] [-0.07914752 0.08802753 0.99296869 -0.16092883] [ 0. 0. 0. 1. ]] SLAMing on 7.941193817 meters Centerline goodness : 0.851738 with order 1 Centerline is valid? [False, False] Translation: X:3.36, Y:0.16, Z:-0.16 [[ 0.99311474 -0.07769184 0.08767604 3.35509864] [ 0.08399781 0.99395588 -0.07068291 0.15517187] [-0.08165463 0.07756083 0.99363818 -0.16047211] [ 0. 0. 0. 1. ]] SLAMing on 8.001193816999999 meters Centerline goodness : 0.851339 with order 1 Centerline is valid? [False, False] Translation: X:3.36, Y:0.15, Z:-0.16 [[ 0.9932096 -0.07848523 0.08587643 3.36009407] [ 0.08451318 0.99403293 -0.06896417 0.1485841 ] [-0.07995133 0.07575356 0.99391608 -0.16313048] [ 0. 0. 0. 1. ]] SLAMing on 8.061193817 meters Centerline goodness : 0.849887 with order 1 Centerline is valid? [False, False] Translation: X:3.38, Y:0.15, Z:-0.17 [[ 0.9936379 -0.07425885 0.08467204 3.38161247] [ 0.07983071 0.99472372 -0.06443427 0.14541757] [-0.07944047 0.07078376 0.99432332 -0.16697955] [ 0. 0. 0. 1. ]] SLAMing on 8.121193817 meters Centerline goodness : 0.849386 with order 1 Centerline is valid? [False, False] Translation: X:3.40, Y:0.15, Z:-0.17 [[ 0.99375136 -0.06904418 0.08769913 3.39913576] [ 0.07471855 0.99520274 -0.06315579 0.14913331] [-0.08291788 0.0693139 0.99414295 -0.16989041] [ 0. 0. 0. 1. ]] SLAMing on 8.181193817 meters Centerline goodness : 0.846615 with order 1 Centerline is valid? [False, False] Translation: X:3.44, Y:0.16, Z:-0.18 [[ 0.99405775 -0.0579224 0.09216392 3.4383847 ] [ 0.0652687 0.99475156 -0.07879934 0.16008273] [-0.08711596 0.08434651 0.99262101 -0.17653764] [ 0. 0. 0. 1. ]] SLAMing on 8.241193817 meters Centerline goodness : 0.847347 with order 1 Centerline is valid? [False, False] Translation: X:3.46, Y:0.16, Z:-0.18 [[ 0.99438834 -0.0546654 0.09057331 3.4604833 ] [ 0.06191233 0.9949315 -0.07923495 0.16427869] [-0.08578283 0.08439792 0.99273274 -0.18111728] [ 0. 0. 0. 1. ]] SLAMing on 8.301193817 meters Centerline goodness : 0.848008 with order 1 Centerline is valid? [False, False] Translation: X:3.49, Y:0.17, Z:-0.19 [[ 0.99469087 -0.0541595 0.08750324 3.4921211 ] [ 0.06048738 0.99561489 -0.07136014 0.16841055] [-0.0832547 0.07627412 0.99360501 -0.18518989] [ 0. 0. 0. 1. ]] SLAMing on 8.361193817 meters Centerline goodness : 0.849033 with order 1 Centerline is valid? [False, False] Translation: X:3.51, Y:0.17, Z:-0.19 [[ 0.99490447 -0.05224143 0.0862318 3.51417449] [ 0.05845816 0.99574643 -0.07121574 0.16781523] [-0.08214459 0.07589381 0.99372652 -0.18832913] [ 0. 0. 0. 1. ]] SLAMing on 8.421193817 meters Centerline goodness : 0.850748 with order 1 Centerline is valid? [False, False] Translation: X:3.54, Y:0.16, Z:-0.19 [[ 0.99567907 -0.04548165 0.08096051 3.5440782 ] [ 0.05150408 0.99593308 -0.07392311 0.16416555] [-0.07726911 0.07777349 0.99397222 -0.19022571] [ 0. 0. 0. 1. ]] SLAMing on 8.481193817 meters Centerline goodness : 0.851695 with order 1 Centerline is valid? [False, False] Translation: X:3.57, Y:0.17, Z:-0.19 [[ 0.99585883 -0.03664606 0.08320012 3.56913137] [ 0.04341259 0.99576557 -0.08103259 0.16591172] [-0.07987828 0.08430895 0.99323283 -0.19156282] [ 0. 0. 0. 1. ]] SLAMing on 8.541193817 meters Centerline goodness : 0.848962 with order 1 Centerline is valid? [False, False] Translation: X:3.58, Y:0.16, Z:-0.19 [[ 0.99633335 -0.02367417 0.0822155 3.58359974] [ 0.03077068 0.99580678 -0.0861512 0.16443152] [-0.0798312 0.08836514 0.99288397 -0.18938563] [ 0. 0. 0. 1. ]] SLAMing on 8.601193817 meters Centerline goodness : 0.853495 with order 1 Centerline is valid? [False, False] Translation: X:3.61, Y:0.16, Z:-0.19 [[ 0.99619846 -0.01864776 0.08509339 3.60608157] [ 0.02849125 0.99284351 -0.11597418 0.16277864] [-0.08232177 0.11795771 0.98960048 -0.18603269] [ 0. 0. 0. 1. ]] SLAMing on 8.661193817000001 meters Centerline goodness : 0.850976 with order 1 Centerline is valid? [False, False] Translation: X:3.62, Y:0.17, Z:-0.19 [[ 0.99590893 -0.0155401 0.08901632 3.62219418] [ 0.02771655 0.99015073 -0.13723456 0.16554796] [-0.08600694 0.13914035 0.98653067 -0.18533075] [ 0. 0. 0. 1. ]] SLAMing on 8.721193817 meters Centerline goodness : 0.851619 with order 1 Centerline is valid? [False, False] Translation: X:3.64, Y:0.17, Z:-0.18 [[ 0.99517365 -0.01328907 0.09722553 3.63559093] [ 0.02926682 0.98589058 -0.16481269 0.16829525] [-0.09366353 0.16686273 0.98152125 -0.18352729] [ 0. 0. 0. 1. ]] SLAMing on 8.781193817 meters Centerline goodness : 0.853554 with order 1 Centerline is valid? [False, False] Translation: X:3.64, Y:0.16, Z:-0.19 [[ 0.99532287 -0.00713928 0.09634007 3.63736486] [ 0.0221342 0.98758934 -0.15549076 0.15546898] [-0.09403433 0.15689592 0.98312828 -0.18553119] [ 0. 0. 0. 1. ]] SLAMing on 8.841193817 meters Centerline goodness : 0.851165 with order 1 Centerline is valid? [False, False] Translation: X:3.63, Y:0.14, Z:-0.19 [[ 0.99563651 -0.00494593 0.09318514 3.63096924] [ 0.01781297 0.99030533 -0.13776083 0.14188048] [-0.09160039 0.13881962 0.98607225 -0.18508535] [ 0. 0. 0. 1. ]] SLAMing on 8.901193817 meters Centerline goodness : 0.853583 with order 1 Centerline is valid? [False, False] Translation: X:3.63, Y:0.12, Z:-0.19 [[ 9.95705698e-01 -2.74623641e-03 9.25344303e-02 3.63289671e+00] [ 1.48260630e-02 9.91388493e-01 -1.30111659e-01 1.20696220e-01] [-9.13802521e-02 1.30924841e-01 9.87171887e-01 -1.86404432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.961193817 meters Centerline goodness : 0.851459 with order 1 Centerline is valid? [False, False] Translation: X:3.65, Y:0.11, Z:-0.19 [[ 0.99621983 -0.008555 0.08644575 3.64646427] [ 0.01926091 0.9921224 -0.12378272 0.10509204] [-0.0847058 0.12497982 0.98853678 -0.18971134] [ 0. 0. 0. 1. ]] SLAMing on 9.021193817 meters Centerline goodness : 0.845936 with order 1 Centerline is valid? [False, False] Translation: X:3.65, Y:0.07, Z:-0.19 [[ 0.99620949 -0.02657588 0.08282744 3.64857512] [ 0.03583703 0.99301502 -0.11241383 0.07319011] [-0.07926139 0.11495601 0.99020339 -0.19146826] [ 0. 0. 0. 1. ]] SLAMing on 9.081193817 meters Centerline goodness : 0.844352 with order 1 Centerline is valid? [False, False] Translation: X:3.66, Y:0.05, Z:-0.19 [[ 0.99624382 -0.0362503 0.0786395 3.66221359] [ 0.04428865 0.99369394 -0.10300907 0.05449532] [-0.07440948 0.10610499 0.99156692 -0.19062351] [ 0. 0. 0. 1. ]] SLAMing on 9.141193817 meters Centerline goodness : 0.846217 with order 1 Centerline is valid? [False, False] Translation: X:3.68, Y:0.04, Z:-0.19 [[ 0.99584485 -0.04904123 0.07673329 3.67861172] [ 0.05582403 0.99447471 -0.08890287 0.0362352 ] [-0.07194941 0.09281703 0.9930802 -0.18909825] [ 0. 0. 0. 1. ]] SLAMing on 9.201193817 meters Centerline goodness : 0.860808 with order 1 Centerline is valid? [False, False] Translation: X:3.69, Y:0.03, Z:-0.19 [[ 0.99520289 -0.05797777 0.07880226 3.68964413] [ 0.06454882 0.99440907 -0.08357058 0.02888994] [-0.07351645 0.08825628 0.99338118 -0.18644796] [ 0. 0. 0. 1. ]] SLAMing on 9.261193817 meters Centerline goodness : 0.848007 with order 1 Centerline is valid? [False, False] Translation: X:3.69, Y:0.03, Z:-0.18 [[ 0.99474948 -0.06545183 0.07867353 3.69385399] [ 0.07197162 0.99393791 -0.08311152 0.02516211] [-0.07275681 0.0883374 0.99342989 -0.18091626] [ 0. 0. 0. 1. ]] SLAMing on 9.321193817 meters Centerline goodness : 0.851514 with order 1 Centerline is valid? [False, False] Translation: X:3.71, Y:0.03, Z:-0.18 [[ 0.99460015 -0.06907495 0.07745446 3.70901759] [ 0.07479823 0.99447878 -0.07360144 0.02983759] [-0.0719428 0.07899746 0.99427543 -0.17969947] [ 0. 0. 0. 1. ]] SLAMing on 9.381193817 meters Centerline goodness : 0.844143 with order 1 Centerline is valid? [False, False] Translation: X:3.73, Y:0.04, Z:-0.18 [[ 0.99496778 -0.06164582 0.07898679 3.72940433] [ 0.06750995 0.99498112 -0.07385783 0.04306475] [-0.07403734 0.07881855 0.99413586 -0.18431345] [ 0. 0. 0. 1. ]] SLAMing on 9.441193817 meters Centerline goodness : 0.842029 with order 1 Centerline is valid? [False, False] Translation: X:3.75, Y:0.05, Z:-0.19 [[ 0.99555756 -0.0524036 0.07822412 3.75024511] [ 0.05802607 0.99575681 -0.0714237 0.05063444] [-0.07414934 0.07564544 0.99437399 -0.18873846] [ 0. 0. 0. 1. ]] SLAMing on 9.501193817 meters Centerline goodness : 0.838856 with order 1 Centerline is valid? [False, False] Translation: X:3.77, Y:0.06, Z:-0.19 [[ 0.9959261 -0.04190887 0.07984268 3.76950886] [ 0.0473268 0.99661513 -0.0672194 0.06051353] [-0.07675533 0.07072425 0.99453844 -0.1929981 ] [ 0. 0. 0. 1. ]] SLAMing on 9.561193817 meters Centerline goodness : 0.839874 with order 1 Centerline is valid? [False, False] Translation: X:3.80, Y:0.06, Z:-0.19 [[ 0.99618508 -0.04250785 0.07621268 3.79820724] [ 0.04757142 0.99669132 -0.06590423 0.06380547] [-0.07315907 0.06927835 0.99491118 -0.19463288] [ 0. 0. 0. 1. ]] SLAMing on 9.621193817 meters Centerline goodness : 0.838182 with order 1 Centerline is valid? [False, False] Translation: X:3.83, Y:0.06, Z:-0.19 [[ 0.99636343 -0.04508873 0.0722975 3.82914914] [ 0.04958626 0.99686408 -0.06167018 0.06487033] [-0.06929015 0.06503087 0.99547469 -0.19343213] [ 0. 0. 0. 1. ]] SLAMing on 9.681193817 meters Centerline goodness : 0.840597 with order 1 Centerline is valid? [False, False] Translation: X:3.85, Y:0.07, Z:-0.19 [[ 0.99650642 -0.04891772 0.06769053 3.8451231 ] [ 0.05266874 0.99710808 -0.05478582 0.07080336] [-0.06481478 0.0581596 0.99620104 -0.1921456 ] [ 0. 0. 0. 1. ]] SLAMing on 9.741193817 meters Centerline goodness : 0.837447 with order 1 Centerline is valid? [False, False] Translation: X:3.87, Y:0.07, Z:-0.19 [[ 0.99663072 -0.05015534 0.06489729 3.87202449] [ 0.05359526 0.9971871 -0.05239696 0.07256907] [-0.06208675 0.0556986 0.99651538 -0.19096284] [ 0. 0. 0. 1. ]] SLAMing on 9.801193817 meters Centerline goodness : 0.840940 with order 1 Centerline is valid? [False, False] Translation: X:3.89, Y:0.08, Z:-0.19 [[ 0.99620918 -0.05137062 0.07020208 3.88635002] [ 0.05559492 0.99667262 -0.05960621 0.07986724] [-0.06690649 0.06328313 0.99575035 -0.19182647] [ 0. 0. 0. 1. ]] SLAMing on 9.861193817 meters Centerline goodness : 0.843371 with order 1 Centerline is valid? [False, False] Translation: X:3.91, Y:0.09, Z:-0.19 [[ 0.99603762 -0.04997122 0.07356586 3.90875559] [ 0.05408043 0.99702252 -0.0549672 0.08823511] [-0.07060005 0.05872787 0.99577441 -0.19062531] [ 0. 0. 0. 1. ]] SLAMing on 9.921193817 meters Centerline goodness : 0.842962 with order 1 Centerline is valid? [False, False] Translation: X:3.95, Y:0.10, Z:-0.20 [[ 0.9962986 -0.0415936 0.07522683 3.94540847] [ 0.04595882 0.99730099 -0.05725832 0.10044587] [-0.07264221 0.06050372 0.99552117 -0.19545419] [ 0. 0. 0. 1. ]] SLAMing on 9.981193817 meters Centerline goodness : 0.839508 with order 1 Centerline is valid? [False, False] Translation: X:3.97, Y:0.11, Z:-0.20 [[ 0.99649229 -0.03727311 0.07492549 3.96639173] [ 0.04173939 0.99738765 -0.05895513 0.1065728 ] [-0.07253232 0.06187568 0.99544486 -0.1997524 ] [ 0. 0. 0. 1. ]] SLAMing on 10.041193817 meters Centerline goodness : 0.842969 with order 1 Centerline is valid? [False, False] Translation: X:4.01, Y:0.11, Z:-0.20 [[ 0.99715714 -0.03493974 0.06675972 4.01050315] [ 0.03882946 0.99756791 -0.05788382 0.11325583] [-0.06457491 0.06031151 0.99608865 -0.20113267] [ 0. 0. 0. 1. ]] SLAMing on 10.101193817 meters Centerline goodness : 0.839936 with order 1 Centerline is valid? [False, False] Translation: X:4.04, Y:0.11, Z:-0.20 [[ 0.99726034 -0.03466708 0.06534529 4.03840912] [ 0.03795158 0.99804232 -0.04971125 0.11486917] [-0.06349402 0.05205501 0.99662369 -0.20042111] [ 0. 0. 0. 1. ]] SLAMing on 10.161193817 meters Centerline goodness : 0.839330 with order 1 Centerline is valid? [False, False] Translation: X:4.06, Y:0.12, Z:-0.20 [[ 0.99718877 -0.03429275 0.06662251 4.06084695] [ 0.03740142 0.99824158 -0.0459879 0.11550085] [-0.0649283 0.0483504 0.99671789 -0.19824131] [ 0. 0. 0. 1. ]] SLAMing on 10.221193817 meters Centerline goodness : 0.837362 with order 1 Centerline is valid? [False, False] Translation: X:4.09, Y:0.12, Z:-0.20 [[ 0.99762747 -0.03192721 0.06099247 4.08989244] [ 0.03448355 0.99855031 -0.04132995 0.11842127] [-0.0595845 0.04333513 0.99728218 -0.19966254] [ 0. 0. 0. 1. ]] SLAMing on 10.281193817 meters Centerline goodness : 0.833921 with order 1 Centerline is valid? [False, False] Translation: X:4.12, Y:0.12, Z:-0.21 [[ 0.9980935 -0.03099169 0.05337485 4.12284545] [ 0.03316673 0.99863465 -0.04035855 0.12428221] [-0.0520512 0.04205187 0.99775864 -0.20510358] [ 0. 0. 0. 1. ]] SLAMing on 10.341193817 meters Centerline goodness : 0.834685 with order 1 Centerline is valid? [False, False] Translation: X:4.15, Y:0.13, Z:-0.21 [[ 0.99815624 -0.03475088 0.04976438 4.1513281 ] [ 0.03675175 0.99852866 -0.03987262 0.12660523] [-0.04830555 0.04162803 0.99796477 -0.20604805] [ 0. 0. 0. 1. ]] SLAMing on 10.401193817 meters Centerline goodness : 0.835191 with order 1 Centerline is valid? [False, False] Translation: X:4.17, Y:0.13, Z:-0.21 [[ 0.99795234 -0.03432241 0.05397305 4.16806011] [ 0.03660274 0.99845346 -0.04184412 0.12976068] [-0.05245339 0.043734 0.99766526 -0.20676158] [ 0. 0. 0. 1. ]] SLAMing on 10.461193817 meters Centerline goodness : 0.834836 with order 1 Centerline is valid? [False, False] Translation: X:4.18, Y:0.13, Z:-0.21 [[ 0.99764203 -0.03418806 0.05951102 4.18186406] [ 0.03692453 0.99828138 -0.04550682 0.13341703] [-0.05785296 0.04759693 0.99718984 -0.20606927] [ 0. 0. 0. 1. ]] SLAMing on 10.521193817 meters Centerline goodness : 0.837901 with order 1 Centerline is valid? [False, False] Translation: X:4.20, Y:0.14, Z:-0.21 [[ 0.99753329 -0.0324992 0.0622185 4.20016359] [ 0.03547984 0.9982449 -0.04741626 0.13629498] [-0.06056831 0.0495068 0.99693558 -0.20851685] [ 0. 0. 0. 1. ]] SLAMing on 10.581193816999999 meters Centerline goodness : 0.837663 with order 1 Centerline is valid? [False, False] Translation: X:4.22, Y:0.14, Z:-0.21 [[ 0.99773893 -0.03031925 0.05998144 4.22200982] [ 0.03314321 0.99836086 -0.04665968 0.13711726] [-0.05846844 0.04854215 0.99710837 -0.21072379] [ 0. 0. 0. 1. ]] SLAMing on 10.641193817 meters Centerline goodness : 0.837208 with order 1 Centerline is valid? [False, False] Translation: X:4.24, Y:0.14, Z:-0.21 [[ 0.99794184 -0.02823839 0.05757317 4.24380653] [ 0.03095961 0.99841808 -0.04693452 0.13787253] [-0.05615674 0.04862036 0.99723742 -0.21342669] [ 0. 0. 0. 1. ]] SLAMing on 10.701193817 meters Centerline goodness : 0.836327 with order 1 Centerline is valid? [False, False] Translation: X:4.24, Y:0.14, Z:-0.21 [[ 0.99793921 -0.02867967 0.05740038 4.24478485] [ 0.03140599 0.99839295 -0.04717192 0.13879369] [-0.05595526 0.04887742 0.99723618 -0.21431629] [ 0. 0. 0. 1. ]] SLAMing on 10.761193817 meters Centerline goodness : 0.836435 with order 1 Centerline is valid? [False, False] Translation: X:4.25, Y:0.14, Z:-0.22 [[ 0.99790954 -0.03063099 0.05690601 4.24692665] [ 0.0333947 0.99827604 -0.04826743 0.13756068] [-0.05532942 0.05006689 0.99721209 -0.21557123] [ 0. 0. 0. 1. ]] SLAMing on 10.821193817 meters Centerline goodness : 0.839489 with order 1 Centerline is valid? [False, False] Translation: X:4.26, Y:0.14, Z:-0.21 [[ 0.99761622 -0.03854609 0.05723701 4.26256545] [ 0.04089787 0.99834212 -0.04050166 0.13670978] [-0.05558093 0.04274598 0.99753874 -0.21452159] [ 0. 0. 0. 1. ]] SLAMing on 10.881193817 meters Centerline goodness : 0.838672 with order 1 Centerline is valid? [False, False] Translation: X:4.27, Y:0.14, Z:-0.22 [[ 0.99746024 -0.04302351 0.05676303 4.26573239] [ 0.04559561 0.99795384 -0.04482377 0.14317332] [-0.05471841 0.04729807 0.99738096 -0.2167063 ] [ 0. 0. 0. 1. ]] SLAMing on 10.941193817 meters Centerline goodness : 0.840288 with order 1 Centerline is valid? [False, False] Translation: X:4.28, Y:0.15, Z:-0.22 [[ 0.99693058 -0.04682123 0.06274698 4.27832841] [ 0.05024264 0.99727037 -0.05410621 0.15456797] [-0.06004238 0.05709271 0.99656176 -0.21662971] [ 0. 0. 0. 1. ]] SLAMing on 11.001193817 meters Centerline goodness : 0.841954 with order 1 Centerline is valid? [False, False] Translation: X:4.29, Y:0.17, Z:-0.22 [[ 0.99700497 -0.04995665 0.05903748 4.28988981] [ 0.05303989 0.99724455 -0.05186598 0.16696815] [-0.05628375 0.05484198 0.99690747 -0.21736924] [ 0. 0. 0. 1. ]] SLAMing on 11.061193817 meters Centerline goodness : 0.840832 with order 1 Centerline is valid? [False, False] Translation: X:4.32, Y:0.18, Z:-0.22 [[ 0.99716227 -0.05125404 0.05514008 4.31940408] [ 0.05400186 0.99731047 -0.04955428 0.18033193] [-0.05245193 0.05239132 0.99724819 -0.21903702] [ 0. 0. 0. 1. ]] SLAMing on 11.121193817 meters Centerline goodness : 0.839416 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:0.20, Z:-0.22 [[ 0.99655552 -0.06033192 0.05689608 4.34834149] [ 0.06330148 0.99664298 -0.05192008 0.20300324] [-0.05357264 0.05534285 0.99702916 -0.21865421] [ 0. 0. 0. 1. ]] SLAMing on 11.181193817 meters Centerline goodness : 0.839331 with order 1 Centerline is valid? [False, False] Translation: X:4.38, Y:0.22, Z:-0.22 [[ 0.99638446 -0.06455577 0.0552319 4.37589587] [ 0.0674688 0.99633331 -0.05261089 0.21952072] [-0.05163304 0.0561471 0.99708652 -0.21973356] [ 0. 0. 0. 1. ]] SLAMing on 11.241193817 meters Centerline goodness : 0.840438 with order 1 Centerline is valid? [False, False] Translation: X:4.41, Y:0.25, Z:-0.22 [[ 0.9963419 -0.06861975 0.0509328 4.41355875] [ 0.07101818 0.99637296 -0.04687593 0.24840492] [-0.04753145 0.05032161 0.99760137 -0.22189795] [ 0. 0. 0. 1. ]] SLAMing on 11.301193817 meters Centerline goodness : 0.840253 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:0.28, Z:-0.22 [[ 0.99648316 -0.06394165 0.05415516 4.44988346] [ 0.06708319 0.99604101 -0.05832798 0.27885589] [-0.05021117 0.06175575 0.9968275 -0.22454981] [ 0. 0. 0. 1. ]] SLAMing on 11.361193817 meters Centerline goodness : 0.840424 with order 1 Centerline is valid? [False, False] Translation: X:4.49, Y:0.30, Z:-0.23 [[ 0.99701292 -0.05477374 0.05445245 4.49273193] [ 0.05830046 0.99615196 -0.06543953 0.3020531 ] [-0.05065855 0.06841866 0.99636971 -0.22606787] [ 0. 0. 0. 1. ]] SLAMing on 11.421193817 meters Centerline goodness : 0.841638 with order 1 Centerline is valid? [False, False] Translation: X:4.51, Y:0.34, Z:-0.22 [[ 0.99764987 -0.0384701 0.05669918 4.50919741] [ 0.04230047 0.99678948 -0.06798097 0.33525141] [-0.05390191 0.0702196 0.99607419 -0.22440738] [ 0. 0. 0. 1. ]] SLAMing on 11.481193817 meters Centerline goodness : 0.842660 with order 1 Centerline is valid? [False, False] Translation: X:4.51, Y:0.35, Z:-0.22 [[ 0.99799681 -0.02879514 0.05633119 4.50957371] [ 0.03224295 0.99759928 -0.06128674 0.34808025] [-0.0544312 0.06298026 0.99652934 -0.22387204] [ 0. 0. 0. 1. ]] SLAMing on 11.541193817 meters Centerline goodness : 0.848040 with order 1 Centerline is valid? [False, False] Translation: X:4.51, Y:0.36, Z:-0.22 [[ 0.99838211 -0.01369211 0.05518773 4.50844309] [ 0.01623104 0.99881771 -0.04582279 0.36243667] [-0.05449507 0.0466444 0.99742398 -0.21901152] [ 0. 0. 0. 1. ]] SLAMing on 11.601193817 meters Centerline goodness : 0.848076 with order 1 Centerline is valid? [False, False] Translation: X:4.50, Y:0.37, Z:-0.21 [[ 0.99853916 -0.00727827 0.0535404 4.50469051] [ 0.00754517 0.99996009 -0.00478457 0.36552492] [-0.05350344 0.00518156 0.99855422 -0.21260633] [ 0. 0. 0. 1. ]] SLAMing on 11.661193817 meters Centerline goodness : 0.849246 with order 1 Centerline is valid? [False, False] Translation: X:4.50, Y:0.37, Z:-0.21 [[ 9.98581629e-01 9.06424469e-04 5.32344721e-02 4.50476760e+00] [-9.78295671e-04 9.99998645e-01 1.32404515e-03 3.71329072e-01] [-5.32331999e-02 -1.37424621e-03 9.98581162e-01 -2.11518335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.721193817 meters Centerline goodness : 0.850695 with order 1 Centerline is valid? [False, False] Translation: X:4.52, Y:0.37, Z:-0.21 [[ 9.98516673e-01 8.58605769e-04 5.44400316e-02 4.51904524e+00] [-2.21667270e-03 9.99687723e-01 2.48906358e-02 3.67650334e-01] [-5.44016599e-02 -2.49743906e-02 9.98206762e-01 -2.06862818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.781193817 meters Centerline goodness : 0.851186 with order 1 Centerline is valid? [False, False] Translation: X:4.55, Y:0.35, Z:-0.20 [[ 0.99862137 -0.00908329 0.05169973 4.5522037 ] [ 0.00464029 0.99633437 0.08541828 0.34974614] [-0.05228609 -0.08506062 0.99500294 -0.20102918] [ 0. 0. 0. 1. ]] SLAMing on 11.841193817 meters Centerline goodness : 0.852329 with order 1 Centerline is valid? [False, False] Translation: X:4.57, Y:0.32, Z:-0.19 [[ 0.99861823 -0.02634718 0.04546925 4.5695985 ] [ 0.01726839 0.9817104 0.1895956 0.31555458] [-0.04963295 -0.18854844 0.98080888 -0.18942059] [ 0. 0. 0. 1. ]] SLAMing on 11.901193817 meters Centerline goodness : 0.854996 with order 1 Centerline is valid? [False, False] Translation: X:4.57, Y:0.31, Z:-0.19 [[ 0.99836218 -0.03514452 0.04514228 4.57223026] [ 0.02640292 0.98305309 0.18140979 0.3142109 ] [-0.05075282 -0.17992079 0.98237094 -0.19116263] [ 0. 0. 0. 1. ]] SLAMing on 11.961193817 meters Centerline goodness : 0.852784 with order 1 Centerline is valid? [False, False] Translation: X:4.56, Y:0.32, Z:-0.19 [[ 0.9983814 -0.03328177 0.04611843 4.56088305] [ 0.0257526 0.98755095 0.15517707 0.31518899] [-0.05070887 -0.15373823 0.98680959 -0.19066503] [ 0. 0. 0. 1. ]] SLAMing on 12.021193817 meters Centerline goodness : 0.857400 with order 1 Centerline is valid? [False, False] Translation: X:4.55, Y:0.32, Z:-0.19 [[ 0.99856297 -0.02673227 0.04644751 4.55065773] [ 0.02039199 0.99104261 0.13197993 0.31712158] [-0.04955958 -0.13084312 0.99016359 -0.19013843] [ 0. 0. 0. 1. ]] SLAMing on 12.081193816999999 meters Centerline goodness : 0.860946 with order 1 Centerline is valid? [False, False] Translation: X:4.54, Y:0.32, Z:-0.19 [[ 0.99900879 -0.01125178 0.04306778 4.54124968] [ 0.00610202 0.99300824 0.11788724 0.31880139] [-0.0440931 -0.11750759 0.99209262 -0.19120096] [ 0. 0. 0. 1. ]] SLAMing on 12.141193817 meters Centerline goodness : 0.860223 with order 1 Centerline is valid? [False, False] Translation: X:4.57, Y:0.30, Z:-0.18 [[ 9.99070044e-01 -9.46775530e-03 4.20643393e-02 4.56857303e+00] [ 2.52087064e-03 9.86750954e-01 1.62222689e-01 3.04338316e-01] [-4.30429117e-02 -1.61965790e-01 9.85857186e-01 -1.84307322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.201193817 meters Centerline goodness : 0.863753 with order 1 Centerline is valid? [False, False] Translation: X:4.60, Y:0.27, Z:-0.17 [[ 9.99028154e-01 -1.41928510e-02 4.17290197e-02 4.60033385e+00] [ 4.37104499e-03 9.73973276e-01 2.26620722e-01 2.74467855e-01] [-4.38593442e-02 -2.26218082e-01 9.73088761e-01 -1.72103948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.261193817 meters Centerline goodness : 0.861035 with order 1 Centerline is valid? [False, False] Translation: X:4.59, Y:0.27, Z:-0.17 [[ 9.99034046e-01 -1.12852469e-02 4.24690172e-02 4.59133868e+00] [ 2.92807004e-03 9.81408324e-01 1.91909163e-01 2.70741129e-01] [-4.38451893e-02 -1.91599436e-01 9.80493374e-01 -1.73026681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.321193817 meters Centerline goodness : 0.858655 with order 1 Centerline is valid? [False, False] Translation: X:4.58, Y:0.27, Z:-0.17 [[ 9.98905473e-01 -7.19781379e-03 4.62174024e-02 4.58021168e+00] [-7.28428662e-04 9.85575394e-01 1.69235378e-01 2.70709021e-01] [-4.67688593e-02 -1.69083811e-01 9.84491411e-01 -1.70850410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.381193817 meters Centerline goodness : 0.858281 with order 1 Centerline is valid? [False, False] Translation: X:4.61, Y:0.24, Z:-0.15 [[ 9.98788840e-01 -1.28390042e-02 4.74975105e-02 4.61153463e+00] [ 7.82908746e-04 9.69378889e-01 2.45568641e-01 2.36294838e-01] [-4.91959408e-02 -2.45234032e-01 9.68214867e-01 -1.51069422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.441193817 meters Centerline goodness : 0.857957 with order 1 Centerline is valid? [False, False] Translation: X:4.60, Y:0.24, Z:-0.15 [[ 9.98719519e-01 -1.17093269e-02 4.92159947e-02 4.59997510e+00] [ 6.84539981e-04 9.75884058e-01 2.18288426e-01 2.36866339e-01] [-5.05851152e-02 -2.17975222e-01 9.74642472e-01 -1.50075978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.501193817 meters Centerline goodness : 0.857706 with order 1 Centerline is valid? [False, False] Translation: X:4.59, Y:0.23, Z:-0.15 [[ 9.98719882e-01 -1.09158940e-02 4.93906877e-02 4.58870852e+00] [ 1.27920015e-03 9.81575075e-01 1.91072594e-01 2.31703722e-01] [-5.05663961e-02 -1.90764818e-01 9.80332507e-01 -1.49689593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.561193817 meters Centerline goodness : 0.858396 with order 1 Centerline is valid? [False, False] Translation: X:4.57, Y:0.23, Z:-0.15 [[ 9.98873667e-01 -4.95199169e-03 4.71897698e-02 4.57186205e+00] [-1.78429254e-03 9.89915483e-01 1.41647991e-01 2.28366900e-01] [-4.74153235e-02 -1.41572648e-01 9.88791673e-01 -1.47465033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.621193817 meters Centerline goodness : 0.857447 with order 1 Centerline is valid? [False, False] Translation: X:4.56, Y:0.23, Z:-0.15 [[ 9.98899362e-01 1.45253309e-03 4.68823415e-02 4.56061909e+00] [-5.69330044e-03 9.95884781e-01 9.04493770e-02 2.29814901e-01] [-4.65580297e-02 -9.06167402e-02 9.94796942e-01 -1.45737366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.681193817 meters Centerline goodness : 0.860398 with order 1 Centerline is valid? [False, False] Translation: X:4.55, Y:0.23, Z:-0.14 [[ 0.99904486 0.00601936 0.04327963 4.5547357 ] [-0.00765745 0.99925661 0.03778353 0.23250995] [-0.04302002 -0.03807885 0.99834828 -0.14200245] [ 0. 0. 0. 1. ]] SLAMing on 12.741193817 meters Centerline goodness : 0.864102 with order 1 Centerline is valid? [False, False] Translation: X:4.56, Y:0.22, Z:-0.14 [[ 0.99907067 -0.0074445 0.04245442 4.5572736 ] [ 0.00632135 0.99962807 0.02652856 0.21850468] [-0.04263612 -0.02623554 0.99874614 -0.14280723] [ 0. 0. 0. 1. ]] SLAMing on 12.801193817 meters Centerline goodness : 0.868155 with order 1 Centerline is valid? [False, False] Translation: X:4.57, Y:0.21, Z:-0.15 [[ 0.99844421 -0.02728589 0.04862763 4.56978495] [ 0.02645922 0.99949559 0.0175634 0.20734237] [-0.04908234 -0.01624943 0.99866255 -0.14782801] [ 0. 0. 0. 1. ]] SLAMing on 12.861193817 meters Centerline goodness : 0.866889 with order 1 Centerline is valid? [False, False] Translation: X:4.57, Y:0.20, Z:-0.15 [[ 0.99809999 -0.03785109 0.04861794 4.57144001] [ 0.03753628 0.99926807 0.00737241 0.2039709 ] [-0.04886141 -0.00553347 0.99879024 -0.14883794] [ 0. 0. 0. 1. ]] SLAMing on 12.921193817 meters Centerline goodness : 0.867725 with order 1 Centerline is valid? [False, False] Translation: X:4.57, Y:0.20, Z:-0.15 [[ 9.97914496e-01 -4.25022465e-02 4.85820626e-02 4.57207109e+00] [ 4.24059870e-02 9.99095925e-01 3.01082610e-03 2.02946098e-01] [-4.86661076e-02 -9.44376702e-04 9.98814657e-01 -1.48980009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.981193817 meters Centerline goodness : 0.869009 with order 1 Centerline is valid? [False, False] Translation: X:4.59, Y:0.21, Z:-0.15 [[ 0.99804711 -0.03933612 0.04852468 4.59296291] [ 0.03989254 0.99914826 -0.01055166 0.20701425] [-0.04806829 0.01246683 0.99876625 -0.15208915] [ 0. 0. 0. 1. ]] SLAMing on 13.041193817 meters Centerline goodness : 0.867448 with order 1 Centerline is valid? [False, False] Translation: X:4.62, Y:0.21, Z:-0.15 [[ 0.99816911 -0.03762867 0.0473551 4.62171883] [ 0.03869659 0.99901231 -0.02184003 0.21256744] [-0.04648652 0.02363252 0.99863933 -0.15301603] [ 0. 0. 0. 1. ]] SLAMing on 13.101193817 meters Centerline goodness : 0.869340 with order 1 Centerline is valid? [False, False] Translation: X:4.64, Y:0.22, Z:-0.15 [[ 0.99804121 -0.03832302 0.04944794 4.64102469] [ 0.03958744 0.99890707 -0.02484943 0.21701393] [-0.04844159 0.02675827 0.99846753 -0.15435392] [ 0. 0. 0. 1. ]] SLAMing on 13.161193817 meters Centerline goodness : 0.872220 with order 1 Centerline is valid? [False, False] Translation: X:4.66, Y:0.22, Z:-0.15 [[ 0.9976742 -0.04314954 0.05276654 4.6604336 ] [ 0.04453771 0.99868423 -0.02542062 0.22435301] [-0.05160022 0.0277116 0.99828327 -0.14958524] [ 0. 0. 0. 1. ]] SLAMing on 13.221193817 meters Centerline goodness : 0.869115 with order 1 Centerline is valid? [False, False] Translation: X:4.68, Y:0.23, Z:-0.15 [[ 0.9976654 -0.04281309 0.05320509 4.68069533] [ 0.04433206 0.99863263 -0.02770446 0.23198974] [-0.05194623 0.02999847 0.99819922 -0.15219219] [ 0. 0. 0. 1. ]] SLAMing on 13.281193817 meters Centerline goodness : 0.870202 with order 1 Centerline is valid? [False, False] Translation: X:4.71, Y:0.24, Z:-0.15 [[ 0.99795403 -0.039293 0.05043627 4.71090169] [ 0.04109476 0.99853509 -0.03519782 0.23857601] [-0.04897936 0.03719847 0.99810686 -0.15450514] [ 0. 0. 0. 1. ]] SLAMing on 13.341193817 meters Centerline goodness : 0.870635 with order 1 Centerline is valid? [False, False] Translation: X:4.75, Y:0.26, Z:-0.16 [[ 0.99806575 -0.03473418 0.05155866 4.74875441] [ 0.03676549 0.99856313 -0.03898691 0.25804259] [-0.05013039 0.04080708 0.99790868 -0.15899572] [ 0. 0. 0. 1. ]] SLAMing on 13.401193817 meters Centerline goodness : 0.866212 with order 1 Centerline is valid? [False, False] Translation: X:4.78, Y:0.27, Z:-0.16 [[ 0.99820152 -0.02840819 0.05278922 4.77764437] [ 0.03097753 0.9983423 -0.04850821 0.27196169] [-0.05132368 0.05005624 0.99742682 -0.16165578] [ 0. 0. 0. 1. ]] SLAMing on 13.461193817 meters Centerline goodness : 0.867523 with order 1 Centerline is valid? [False, False] Translation: X:4.82, Y:0.30, Z:-0.16 [[ 0.99821107 -0.01772655 0.05710017 4.82290819] [ 0.02290296 0.99555854 -0.09131623 0.30103726] [-0.05522784 0.09246063 0.99418354 -0.16436325] [ 0. 0. 0. 1. ]] SLAMing on 13.521193817 meters Centerline goodness : 0.869461 with order 1 Centerline is valid? [False, False] Translation: X:4.82, Y:0.31, Z:-0.16 [[ 0.9983586 -0.00586407 0.05697122 4.82344737] [ 0.01048408 0.99664784 -0.08113671 0.31151977] [-0.05630445 0.08160082 0.99507342 -0.16320984] [ 0. 0. 0. 1. ]] SLAMing on 13.581193816999999 meters Centerline goodness : 0.866817 with order 1 Centerline is valid? [False, False] Translation: X:4.82, Y:0.32, Z:-0.16 [[ 0.99830206 0.01262209 0.0568654 4.82470027] [-0.00890526 0.99783591 -0.06514745 0.32306112] [-0.05756464 0.06453043 0.99625405 -0.16283159] [ 0. 0. 0. 1. ]] SLAMing on 13.641193817 meters Centerline goodness : 0.867708 with order 1 Centerline is valid? [False, False] Translation: X:4.83, Y:0.32, Z:-0.16 [[ 0.99837307 0.01863473 0.05388837 4.8331687 ] [-0.01704582 0.99941065 -0.02979591 0.31790098] [-0.05441185 0.02882886 0.99810232 -0.16276032] [ 0. 0. 0. 1. ]] SLAMing on 13.701193817 meters Centerline goodness : 0.866417 with order 1 Centerline is valid? [False, False] Translation: X:4.84, Y:0.31, Z:-0.17 [[ 0.99795739 0.02450331 0.05899692 4.84222544] [-0.02386714 0.99964941 -0.01146391 0.31145619] [-0.05925714 0.01003241 0.99819234 -0.16658064] [ 0. 0. 0. 1. ]] SLAMing on 13.761193817 meters Centerline goodness : 0.865186 with order 1 Centerline is valid? [False, False] Translation: X:4.86, Y:0.30, Z:-0.17 [[ 0.99787048 0.02404536 0.06063264 4.86493851] [-0.02497688 0.99958064 0.01465242 0.29897424] [-0.06025489 -0.01613563 0.9980526 -0.16839386] [ 0. 0. 0. 1. ]] SLAMing on 13.821193817 meters Centerline goodness : 0.865131 with order 1 Centerline is valid? [False, False] Translation: X:4.88, Y:0.27, Z:-0.16 [[ 0.99759323 0.01719406 0.06717225 4.88161086] [-0.0230759 0.99587137 0.08779363 0.26545274] [-0.0653854 -0.08913239 0.9938713 -0.16275119] [ 0. 0. 0. 1. ]] SLAMing on 13.881193817 meters Centerline goodness : 0.868160 with order 1 Centerline is valid? [False, False] Translation: X:4.90, Y:0.21, Z:-0.14 [[ 9.97732818e-01 4.33451224e-04 6.72981082e-02 4.89783586e+00] [-1.60719343e-02 9.72580274e-01 2.32011429e-01 2.07097316e-01] [-6.53522469e-02 -2.32567027e-01 9.70382224e-01 -1.41261625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.941193817 meters Centerline goodness : 0.867593 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:0.21, Z:-0.14 [[ 9.97903051e-01 1.66304852e-03 6.47049821e-02 4.89345011e+00] [-1.32330675e-02 9.83796540e-01 1.78799478e-01 2.13245628e-01] [-6.33591853e-02 -1.79280790e-01 9.81755576e-01 -1.41691204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.001193816999999 meters Centerline goodness : 0.865855 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:0.21, Z:-0.14 [[ 9.97537756e-01 -1.22739213e-02 6.90490912e-02 4.88740519e+00] [ 2.26753122e-03 9.89696048e-01 1.43166307e-01 2.07926353e-01] [-7.00948247e-02 -1.42657226e-01 9.87287006e-01 -1.40284479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.061193817 meters Centerline goodness : 0.866056 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:0.21, Z:-0.14 [[ 0.99699037 -0.0282384 0.07219964 4.89485536] [ 0.01981701 0.99319058 0.11480313 0.20648327] [-0.07494986 -0.11302683 0.99076105 -0.1407968 ] [ 0. 0. 0. 1. ]] SLAMing on 14.121193817 meters Centerline goodness : 0.863406 with order 1 Centerline is valid? [False, False] Translation: X:4.91, Y:0.20, Z:-0.14 [[ 0.99666283 -0.03909398 0.07165792 4.90771548] [ 0.03216208 0.99491367 0.0954588 0.20456619] [-0.07502531 -0.09283557 0.99285082 -0.14481748] [ 0. 0. 0. 1. ]] SLAMing on 14.181193817 meters Centerline goodness : 0.864532 with order 1 Centerline is valid? [False, False] Translation: X:4.92, Y:0.20, Z:-0.15 [[ 0.99655257 -0.0483295 0.06743322 4.92022711] [ 0.04294819 0.99594193 0.07908935 0.20433613] [-0.07098192 -0.07592056 0.99458415 -0.14687562] [ 0. 0. 0. 1. ]] SLAMing on 14.241193817 meters Centerline goodness : 0.872155 with order 1 Centerline is valid? [False, False] Translation: X:4.95, Y:0.21, Z:-0.15 [[ 0.9970835 -0.04114838 0.06427522 4.94552896] [ 0.03731242 0.99751387 0.05978183 0.20972 ] [-0.06657535 -0.05720921 0.99613996 -0.14733459] [ 0. 0. 0. 1. ]] SLAMing on 14.301193817 meters Centerline goodness : 0.868082 with order 1 Centerline is valid? [False, False] Translation: X:4.96, Y:0.21, Z:-0.15 [[ 0.99723133 -0.03407216 0.06609668 4.96491149] [ 0.03094291 0.99837738 0.0478031 0.21491508] [-0.06761818 -0.04562552 0.99666749 -0.14930247] [ 0. 0. 0. 1. ]] SLAMing on 14.361193817 meters Centerline goodness : 0.871747 with order 1 Centerline is valid? [False, False] Translation: X:4.98, Y:0.22, Z:-0.15 [[ 0.9969868 -0.03132375 0.07096573 4.97525964] [ 0.02860758 0.99883067 0.03897294 0.21891373] [-0.07210353 -0.03682535 0.9967171 -0.15374209] [ 0. 0. 0. 1. ]] SLAMing on 14.421193816999999 meters Centerline goodness : 0.867829 with order 1 Centerline is valid? [False, False] Translation: X:5.00, Y:0.23, Z:-0.16 [[ 0.9967368 -0.02523699 0.07667364 4.99542925] [ 0.02342792 0.99942765 0.02440301 0.22947006] [-0.07724562 -0.02252707 0.99675757 -0.15748822] [ 0. 0. 0. 1. ]] SLAMing on 14.481193817 meters Centerline goodness : 0.870912 with order 1 Centerline is valid? [False, False] Translation: X:5.01, Y:0.24, Z:-0.16 [[ 0.99626017 -0.01946784 0.08418239 5.01250958] [ 0.01882186 0.99978706 0.00846046 0.23897688] [-0.08432917 -0.00684435 0.99641444 -0.15895405] [ 0. 0. 0. 1. ]] SLAMing on 14.541193817 meters Centerline goodness : 0.864426 with order 1 Centerline is valid? [False, False] Translation: X:5.04, Y:0.27, Z:-0.16 [[ 9.95583985e-01 -2.21530343e-03 9.38489287e-02 5.04457170e+00] [ 7.57302717e-03 9.98358492e-01 -5.67712136e-02 2.66425803e-01] [-9.35691094e-02 5.72312315e-02 9.93966502e-01 -1.59242906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.601193817 meters Centerline goodness : 0.867007 with order 1 Centerline is valid? [False, False] Translation: X:5.05, Y:0.27, Z:-0.16 [[ 9.95630827e-01 5.12978912e-03 9.32359414e-02 5.04868556e+00] [-4.73427918e-04 9.98754339e-01 -4.98953477e-02 2.72093192e-01] [-9.33757536e-02 4.96332059e-02 9.94393038e-01 -1.63604073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.661193817 meters Centerline goodness : 0.860087 with order 1 Centerline is valid? [False, False] Translation: X:5.05, Y:0.27, Z:-0.17 [[ 9.96100941e-01 1.36372265e-03 8.82102917e-02 5.05406823e+00] [ 1.80317116e-03 9.99356918e-01 -3.58119908e-02 2.73772717e-01] [-8.82024029e-02 3.58314160e-02 9.95457908e-01 -1.67949486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.721193817 meters Centerline goodness : 0.857955 with order 1 Centerline is valid? [False, False] Translation: X:5.06, Y:0.27, Z:-0.17 [[ 9.96164533e-01 2.52930180e-03 8.74632809e-02 5.05767094e+00] [ 4.86131292e-04 9.99406715e-01 -3.44380856e-02 2.72659658e-01] [-8.74984946e-02 3.43485181e-02 9.95572294e-01 -1.71688917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.781193817 meters Centerline goodness : 0.863291 with order 1 Centerline is valid? [False, False] Translation: X:5.05, Y:0.26, Z:-0.16 [[ 9.96816613e-01 1.03325918e-03 7.97218407e-02 5.04520729e+00] [-2.77405312e-03 9.99760067e-01 2.17281858e-02 2.59817257e-01] [-7.96802619e-02 -2.18801692e-02 9.96580310e-01 -1.61158084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.841193817 meters Centerline goodness : 0.863123 with order 1 Centerline is valid? [False, False] Translation: X:5.04, Y:0.24, Z:-0.14 [[ 9.96939030e-01 -4.84047551e-03 7.80329486e-02 5.03895793e+00] [-2.49812531e-03 9.95599794e-01 9.36739566e-02 2.41531746e-01] [-7.81430140e-02 -9.35821595e-02 9.92540200e-01 -1.41801384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.901193817 meters Centerline goodness : 0.859257 with order 1 Centerline is valid? [False, False] Translation: X:5.04, Y:0.24, Z:-0.13 [[ 9.96956474e-01 -9.28645489e-03 7.74051136e-02 5.04261522e+00] [ 3.17039871e-03 9.96888176e-01 7.87649198e-02 2.42489166e-01] [-7.78956894e-02 -7.82797916e-02 9.93883563e-01 -1.34707951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.961193817 meters Centerline goodness : 0.860567 with order 1 Centerline is valid? [False, False] Translation: X:5.04, Y:0.24, Z:-0.14 [[ 0.99675717 -0.02119475 0.07762686 5.042725 ] [ 0.01600169 0.99763008 0.06691914 0.24077208] [-0.07886122 -0.06545997 0.99473408 -0.13513291] [ 0. 0. 0. 1. ]] SLAMing on 15.021193817 meters Centerline goodness : 0.855468 with order 1 Centerline is valid? [False, False] Translation: X:5.06, Y:0.24, Z:-0.14 [[ 0.99656756 -0.0271669 0.07819878 5.06108464] [ 0.02353172 0.99861586 0.04703853 0.24226532] [-0.07936844 -0.04503693 0.99582746 -0.140845 ] [ 0. 0. 0. 1. ]] SLAMing on 15.081193816999999 meters Centerline goodness : 0.856730 with order 1 Centerline is valid? [False, False] Translation: X:5.07, Y:0.25, Z:-0.15 [[ 0.99607237 -0.03398602 0.08176055 5.07438388] [ 0.03170392 0.99907504 0.02905052 0.24876475] [-0.08267224 -0.02634429 0.99622853 -0.1465981 ] [ 0. 0. 0. 1. ]] SLAMing on 15.141193817 meters Centerline goodness : 0.857965 with order 1 Centerline is valid? [False, False] Translation: X:5.10, Y:0.26, Z:-0.15 [[ 0.99642277 -0.02809205 0.07970253 5.09726263] [ 0.02735896 0.99957286 0.0102752 0.25690244] [-0.07995714 -0.00805787 0.99676573 -0.14776409] [ 0. 0. 0. 1. ]] SLAMing on 15.201193817 meters Centerline goodness : 0.856888 with order 1 Centerline is valid? [False, False] Translation: X:5.12, Y:0.27, Z:-0.15 [[ 9.96387386e-01 -2.02208131e-02 8.24820901e-02 5.11508094e+00] [ 2.04771546e-02 9.99787760e-01 -2.26300288e-03 2.65650667e-01] [-8.24188243e-02 3.94382604e-03 9.96589978e-01 -1.49360783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.261193817 meters Centerline goodness : 0.856574 with order 1 Centerline is valid? [False, False] Translation: X:5.13, Y:0.28, Z:-0.15 [[ 0.99683007 -0.00850659 0.07910409 5.12826462] [ 0.00918365 0.99992421 -0.00819923 0.27518172] [-0.07902834 0.0088997 0.99683264 -0.14549462] [ 0. 0. 0. 1. ]] SLAMing on 15.321193817 meters Centerline goodness : 0.857181 with order 1 Centerline is valid? [False, False] Translation: X:5.12, Y:0.28, Z:-0.14 [[ 9.97352175e-01 -3.94062663e-03 7.26161846e-02 5.12036379e+00] [ 5.00587557e-03 9.99882434e-01 -1.44934295e-02 2.77424053e-01] [-7.25505342e-02 1.48185610e-02 9.97254647e-01 -1.42764044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.381193817 meters Centerline goodness : 0.853350 with order 1 Centerline is valid? [False, False] Translation: X:5.12, Y:0.28, Z:-0.14 [[ 9.98297018e-01 -1.58807964e-03 5.83141717e-02 5.12155901e+00] [ 2.23630518e-03 9.99936418e-01 -1.10525126e-02 2.76512477e-01] [-5.82929117e-02 1.11640986e-02 9.98237096e-01 -1.40388122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.441193817 meters Centerline goodness : 0.854763 with order 1 Centerline is valid? [False, False] Translation: X:5.12, Y:0.26, Z:-0.13 [[ 9.98885210e-01 -4.83167443e-03 4.69573369e-02 5.12057637e+00] [ 1.93066802e-03 9.98097218e-01 6.16296679e-02 2.57195002e-01] [-4.71657618e-02 -6.14703047e-02 9.96993878e-01 -1.25510652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.501193816999999 meters Centerline goodness : 0.852209 with order 1 Centerline is valid? [False, False] Translation: X:5.11, Y:0.25, Z:-0.12 [[ 9.98854408e-01 3.71283901e-03 4.77083578e-02 5.11333869e+00] [-5.88469131e-03 9.98948643e-01 4.54640332e-02 2.54679998e-01] [-4.74893986e-02 -4.56926989e-02 9.97826104e-01 -1.24506642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.561193817 meters Centerline goodness : 0.855692 with order 1 Centerline is valid? [False, False] Translation: X:5.12, Y:0.25, Z:-0.12 [[ 9.98658911e-01 4.08269850e-03 5.16111608e-02 5.11658550e+00] [-5.82398115e-03 9.99417273e-01 3.36332537e-02 2.50787696e-01] [-5.14437712e-02 -3.38887309e-02 9.98100743e-01 -1.20500881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.621193817 meters Centerline goodness : 0.853058 with order 1 Centerline is valid? [False, False] Translation: X:5.11, Y:0.24, Z:-0.12 [[ 9.98636018e-01 2.37174208e-04 5.22115692e-02 5.11284324e+00] [-1.89243984e-03 9.99497035e-01 3.16558895e-02 2.43236032e-01] [-5.21778007e-02 -3.17115187e-02 9.98134188e-01 -1.15961376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.681193817 meters Centerline goodness : 0.848796 with order 1 Centerline is valid? [False, False] Translation: X:5.13, Y:0.24, Z:-0.12 [[ 9.98701586e-01 -2.24871693e-03 5.08928718e-02 5.12997229e+00] [ 1.53076088e-03 9.99898828e-01 1.41417860e-02 2.37616918e-01] [-5.09195238e-02 -1.40455193e-02 9.98603988e-01 -1.16354613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.741193817 meters Centerline goodness : 0.850044 with order 1 Centerline is valid? [False, False] Translation: X:5.14, Y:0.23, Z:-0.12 [[ 9.98887666e-01 -9.11601304e-03 4.62637006e-02 5.14293597e+00] [ 8.93980186e-03 9.99951981e-01 4.01432423e-03 2.25352371e-01] [-4.62980737e-02 -3.59627065e-03 9.98921196e-01 -1.19405676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.801193817 meters Centerline goodness : 0.853220 with order 1 Centerline is valid? [False, False] Translation: X:5.16, Y:0.22, Z:-0.12 [[ 9.99108371e-01 -8.74218412e-03 4.13041981e-02 5.15543445e+00] [ 8.73374376e-03 9.99961786e-01 3.84792652e-04 2.20374417e-01] [-4.13059836e-02 -2.37092779e-05 9.99146543e-01 -1.21591825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.861193817 meters Centerline goodness : 0.856159 with order 1 Centerline is valid? [False, False] Translation: X:5.17, Y:0.22, Z:-0.12 [[ 9.99176579e-01 -4.68004356e-03 4.03021323e-02 5.17372245e+00] [ 5.18416631e-03 9.99909515e-01 -1.24131762e-02 2.16029080e-01] [-4.02403913e-02 1.26118879e-02 9.99110430e-01 -1.21502926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.921193816999999 meters Centerline goodness : 0.852988 with order 1 Centerline is valid? [False, False] Translation: X:5.19, Y:0.21, Z:-0.12 [[ 9.99193694e-01 -2.69065003e-03 4.00589768e-02 5.19200009e+00] [ 3.80795407e-03 9.99605101e-01 -2.78413552e-02 2.10799216e-01] [-3.99682462e-02 2.79714493e-02 9.98809360e-01 -1.21651522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.981193817 meters Centerline goodness : 0.855305 with order 1 Centerline is valid? [False, False] Translation: X:5.22, Y:0.20, Z:-0.12 [[ 9.99263024e-01 -3.44430688e-05 3.83849913e-02 5.22076049e+00] [ 1.33521322e-03 9.99425614e-01 -3.38623476e-02 2.01563635e-01] [-3.83617772e-02 3.38886440e-02 9.98689108e-01 -1.22041018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.041193817 meters Centerline goodness : 0.852878 with order 1 Centerline is valid? [False, False] Translation: X:5.25, Y:0.20, Z:-0.12 [[ 9.99310164e-01 2.62535898e-03 3.70446266e-02 5.24789874e+00] [-1.11314251e-03 9.99167399e-01 -4.07832016e-02 1.99885071e-01] [-3.71208537e-02 4.07138319e-02 9.98481059e-01 -1.21856582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.101193817 meters Centerline goodness : 0.857537 with order 1 Centerline is valid? [False, False] Translation: X:5.28, Y:0.19, Z:-0.12 [[ 9.99403631e-01 2.05429613e-03 3.44697189e-02 5.27649895e+00] [-3.44376750e-04 9.98772121e-01 -4.95392010e-02 1.94369000e-01] [-3.45291624e-02 4.94977868e-02 9.98177192e-01 -1.21793936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.161193817 meters Centerline goodness : 0.851091 with order 1 Centerline is valid? [False, False] Translation: X:5.28, Y:0.18, Z:-0.12 [[ 0.99941053 -0.00967793 0.03293824 5.28199833] [ 0.01135383 0.99863005 -0.05107954 0.1823426 ] [-0.03239877 0.0514234 0.99815127 -0.11845461] [ 0. 0. 0. 1. ]] SLAMing on 16.221193817 meters Centerline goodness : 0.853304 with order 1 Centerline is valid? [False, False] Translation: X:5.31, Y:0.18, Z:-0.12 [[ 0.99934854 -0.01713598 0.0317624 5.31066492] [ 0.01854599 0.99883085 -0.04464286 0.17560324] [-0.03096027 0.04520285 0.99849795 -0.11795347] [ 0. 0. 0. 1. ]] SLAMing on 16.281193817 meters Centerline goodness : 0.848808 with order 1 Centerline is valid? [False, False] Translation: X:5.31, Y:0.17, Z:-0.12 [[ 0.99935262 -0.0177809 0.03127577 5.31195657] [ 0.01916562 0.99882344 -0.04454673 0.17395297] [-0.03044689 0.04511731 0.99851761 -0.11843623] [ 0. 0. 0. 1. ]] SLAMing on 16.341193817 meters Centerline goodness : 0.849010 with order 1 Centerline is valid? [False, False] Translation: X:5.31, Y:0.17, Z:-0.12 [[ 0.99936855 -0.0177173 0.03079925 5.31328419] [ 0.01906612 0.99884665 -0.04406647 0.172342 ] [-0.02998299 0.04462586 0.99855373 -0.11905513] [ 0. 0. 0. 1. ]] SLAMing on 16.401193817 meters Centerline goodness : 0.849407 with order 1 Centerline is valid? [False, False] Translation: X:5.33, Y:0.17, Z:-0.12 [[ 0.99932178 -0.01440978 0.03388721 5.33134968] [ 0.01586884 0.99894088 -0.04318909 0.17417138] [-0.03322897 0.04369754 0.99849204 -0.11996928] [ 0. 0. 0. 1. ]] SLAMing on 16.461193816999998 meters Centerline goodness : 0.843410 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:0.18, Z:-0.12 [[ 0.99949928 -0.00996285 0.03003207 5.35679465] [ 0.01118039 0.9991109 -0.04064992 0.17614893] [-0.02960038 0.04096534 0.99872201 -0.12407142] [ 0. 0. 0. 1. ]] SLAMing on 16.521193817 meters Centerline goodness : 0.843727 with order 1 Centerline is valid? [False, False] Translation: X:5.40, Y:0.18, Z:-0.13 [[ 9.99547665e-01 7.17169639e-03 2.92067277e-02 5.39808707e+00] [-5.29493631e-03 9.97946385e-01 -6.38355411e-02 1.84709538e-01] [-2.96045574e-02 6.36520183e-02 9.97532952e-01 -1.26615075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.581193817 meters Centerline goodness : 0.843474 with order 1 Centerline is valid? [False, False] Translation: X:5.43, Y:0.19, Z:-0.13 [[ 0.99939624 0.01308436 0.03218628 5.43163514] [-0.01093267 0.99775035 -0.0661416 0.18718766] [-0.0329793 0.06574979 0.997291 -0.12522494] [ 0. 0. 0. 1. ]] SLAMing on 16.641193817 meters Centerline goodness : 0.840253 with order 1 Centerline is valid? [False, False] Translation: X:5.47, Y:0.20, Z:-0.12 [[ 0.9991144 0.02442918 0.03425815 5.46652711] [-0.02053453 0.99374634 -0.10975674 0.20156194] [-0.03672518 0.10895607 0.99336793 -0.11616522] [ 0. 0. 0. 1. ]] SLAMing on 16.701193817 meters Centerline goodness : 0.841293 with order 1 Centerline is valid? [False, False] Translation: X:5.47, Y:0.19, Z:-0.11 [[ 0.99903943 0.02687923 0.03460826 5.46919946] [-0.02344197 0.99509017 -0.09615624 0.19171437] [-0.03702295 0.09525259 0.99476442 -0.11279612] [ 0. 0. 0. 1. ]] SLAMing on 16.761193817 meters Centerline goodness : 0.837805 with order 1 Centerline is valid? [False, False] Translation: X:5.47, Y:0.18, Z:-0.11 [[ 0.99891729 0.02642886 0.03828534 5.46971929] [-0.02318571 0.99629572 -0.08280853 0.18102721] [-0.04033205 0.0818312 0.99582979 -0.1098611 ] [ 0. 0. 0. 1. ]] SLAMing on 16.821193817 meters Centerline goodness : 0.836297 with order 1 Centerline is valid? [False, False] Translation: X:5.46, Y:0.17, Z:-0.11 [[ 0.99885488 0.02401533 0.04137867 5.46349249] [-0.02114764 0.99743385 -0.06839956 0.17470622] [-0.04291513 0.06744617 0.99679953 -0.10892272] [ 0. 0. 0. 1. ]] SLAMing on 16.881193817 meters Centerline goodness : 0.839628 with order 1 Centerline is valid? [False, False] Translation: X:5.46, Y:0.17, Z:-0.11 [[ 0.99895621 0.01953625 0.04128949 5.46098964] [-0.01728048 0.99837508 -0.05430083 0.16592053] [-0.04228323 0.05353065 0.99767059 -0.10855021] [ 0. 0. 0. 1. ]] SLAMing on 16.941193817 meters Centerline goodness : 0.836987 with order 1 Centerline is valid? [False, False] Translation: X:5.48, Y:0.16, Z:-0.11 [[ 0.99887572 0.01588613 0.04466464 5.47799481] [-0.01331046 0.99826342 -0.05738443 0.16101433] [-0.04549869 0.05672541 0.99735254 -0.10859799] [ 0. 0. 0. 1. ]] SLAMing on 17.001193817 meters Centerline goodness : 0.834585 with order 1 Centerline is valid? [False, False] Translation: X:5.51, Y:0.16, Z:-0.11 [[ 0.99898248 0.01147393 0.04361601 5.50543211] [-0.00923057 0.99864103 -0.05129227 0.15708854] [-0.04414526 0.05083748 0.9977308 -0.10688617] [ 0. 0. 0. 1. ]] SLAMing on 17.061193817 meters Centerline goodness : 0.834259 with order 1 Centerline is valid? [False, False] Translation: X:5.53, Y:0.15, Z:-0.11 [[ 9.99166446e-01 7.28687176e-03 4.01660797e-02 5.53402907e+00] [-5.34079561e-03 9.98816329e-01 -4.83468326e-02 1.53185647e-01] [-4.04708335e-02 4.80920141e-02 9.98022680e-01 -1.06321815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.121193816999998 meters Centerline goodness : 0.840671 with order 1 Centerline is valid? [False, False] Translation: X:5.54, Y:0.15, Z:-0.11 [[ 9.99243024e-01 1.13884365e-03 3.88855092e-02 5.53985589e+00] [ 9.38874625e-04 9.98574276e-01 -5.33716526e-02 1.48150813e-01] [-3.88908512e-02 5.33677601e-02 9.97817310e-01 -1.11548791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.181193817 meters Centerline goodness : 0.837520 with order 1 Centerline is valid? [False, False] Translation: X:5.55, Y:0.15, Z:-0.11 [[ 9.99418061e-01 -2.67305116e-03 3.40057898e-02 5.55234802e+00] [ 4.38776562e-03 9.98716951e-01 -5.04499594e-02 1.46745659e-01] [-3.38273034e-02 5.05698100e-02 9.98147488e-01 -1.12945248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.241193817 meters Centerline goodness : 0.839504 with order 1 Centerline is valid? [False, False] Translation: X:5.56, Y:0.14, Z:-0.12 [[ 9.99466357e-01 -2.50600310e-03 3.25686997e-02 5.55725725e+00] [ 4.11502883e-03 9.98769047e-01 -4.94313425e-02 1.44726116e-01] [-3.24047341e-02 4.95389850e-02 9.98246373e-01 -1.16117260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.301193817 meters Centerline goodness : 0.834663 with order 1 Centerline is valid? [False, False] Translation: X:5.57, Y:0.14, Z:-0.12 [[ 9.99328206e-01 4.56412440e-04 3.66459890e-02 5.57345841e+00] [ 1.32854548e-03 9.98814078e-01 -4.86690137e-02 1.42353443e-01] [-3.66247428e-02 4.86850040e-02 9.98142474e-01 -1.15608839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.361193817 meters Centerline goodness : 0.844961 with order 1 Centerline is valid? [False, False] Translation: X:5.61, Y:0.15, Z:-0.11 [[ 0.99921566 0.0104966 0.0381822 5.61315685] [-0.00843892 0.99852368 -0.05365854 0.1477341 ] [-0.03868906 0.05329424 0.99782908 -0.11165165] [ 0. 0. 0. 1. ]] SLAMing on 17.421193817 meters Centerline goodness : 0.841920 with order 1 Centerline is valid? [False, False] Translation: X:5.65, Y:0.16, Z:-0.11 [[ 0.99879919 0.016706 0.04605537 5.64738739] [-0.01314143 0.99697208 -0.07664191 0.15798061] [-0.0471963 0.07594465 0.99599444 -0.11376638] [ 0. 0. 0. 1. ]] SLAMing on 17.481193817 meters Centerline goodness : 0.840899 with order 1 Centerline is valid? [False, False] Translation: X:5.66, Y:0.16, Z:-0.11 [[ 0.99857503 0.01471908 0.05129573 5.66229064] [-0.01051355 0.99663324 -0.08131201 0.15636879] [-0.05231987 0.08065685 0.99536782 -0.11372318] [ 0. 0. 0. 1. ]] SLAMing on 17.541193817 meters Centerline goodness : 0.844662 with order 1 Centerline is valid? [False, False] Translation: X:5.69, Y:0.15, Z:-0.11 [[ 0.99860957 0.01182385 0.05137239 5.68823656] [-0.00791268 0.99710073 -0.07568045 0.15244945] [-0.05211828 0.07516873 0.99580789 -0.11319683] [ 0. 0. 0. 1. ]] SLAMing on 17.601193817 meters Centerline goodness : 0.843014 with order 1 Centerline is valid? [False, False] Translation: X:5.72, Y:0.15, Z:-0.11 [[ 9.98739049e-01 8.28286589e-03 4.95147135e-02 5.72070909e+00] [-5.05059739e-03 9.97869151e-01 -6.50511191e-02 1.51186914e-01] [-4.99480149e-02 6.47190139e-02 9.96652720e-01 -1.12194538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.661193817 meters Centerline goodness : 0.849493 with order 1 Centerline is valid? [False, False] Translation: X:5.74, Y:0.15, Z:-0.12 [[ 0.9989093 0.00878082 0.04585965 5.74446118] [-0.00581763 0.99791028 -0.06435239 0.14863261] [-0.04632889 0.06401541 0.99687294 -0.11550187] [ 0. 0. 0. 1. ]] SLAMing on 17.721193817 meters Centerline goodness : 0.850244 with order 1 Centerline is valid? [False, False] Translation: X:5.77, Y:0.15, Z:-0.12 [[ 9.99066959e-01 7.49467822e-03 4.25328331e-02 5.76829442e+00] [-4.74809199e-03 9.97918477e-01 -6.43130461e-02 1.46128043e-01] [-4.29263057e-02 6.40510896e-02 9.97022964e-01 -1.18530578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.781193817 meters Centerline goodness : 0.856073 with order 1 Centerline is valid? [False, False] Translation: X:5.78, Y:0.15, Z:-0.12 [[ 9.99250545e-01 2.60723855e-03 3.86206091e-02 5.77738572e+00] [-1.16519922e-04 9.97927108e-01 -6.43542785e-02 1.45876924e-01] [-3.87083397e-02 6.43015478e-02 9.97179510e-01 -1.18662249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.841193817 meters Centerline goodness : 0.858823 with order 1 Centerline is valid? [False, False] Translation: X:5.80, Y:0.15, Z:-0.12 [[ 0.99952774 -0.00864096 0.02948946 5.80202986] [ 0.01037215 0.99820015 -0.05906673 0.14557567] [-0.02892599 0.0593447 0.99781837 -0.1203897 ] [ 0. 0. 0. 1. ]] SLAMing on 17.901193817 meters Centerline goodness : 0.852637 with order 1 Centerline is valid? [False, False] Translation: X:5.83, Y:0.15, Z:-0.12 [[ 0.99953113 -0.02168496 0.02161674 5.83071957] [ 0.02275286 0.99846763 -0.05044505 0.14952544] [-0.02048972 0.05091324 0.99849287 -0.11871905] [ 0. 0. 0. 1. ]] SLAMing on 17.961193816999998 meters Centerline goodness : 0.853448 with order 1 Centerline is valid? [False, False] Translation: X:5.86, Y:0.15, Z:-0.12 [[ 0.99944887 -0.02563742 0.02108717 5.8579423 ] [ 0.02658988 0.9985782 -0.04620131 0.15370146] [-0.01987271 0.04673655 0.99870955 -0.11703426] [ 0. 0. 0. 1. ]] SLAMing on 18.021193817 meters Centerline goodness : 0.854090 with order 1 Centerline is valid? [False, False] Translation: X:5.89, Y:0.17, Z:-0.12 [[ 0.99940056 -0.02478615 0.02416956 5.89288458] [ 0.02599071 0.99836713 -0.05086801 0.16763453] [-0.02286927 0.0514657 0.99841288 -0.11681143] [ 0. 0. 0. 1. ]] SLAMing on 18.081193817 meters Centerline goodness : 0.855717 with order 1 Centerline is valid? [False, False] Translation: X:5.93, Y:0.18, Z:-0.12 [[ 0.99940207 -0.0207936 0.0276249 5.92759106] [ 0.02216398 0.99849004 -0.05026338 0.17728836] [-0.02653803 0.0508456 0.99835387 -0.11619171] [ 0. 0. 0. 1. ]] SLAMing on 18.141193817 meters Centerline goodness : 0.856608 with order 1 Centerline is valid? [False, False] Translation: X:5.96, Y:0.19, Z:-0.12 [[ 0.99926672 -0.01862435 0.03345392 5.95890352] [ 0.02047645 0.99822631 -0.0559013 0.19469132] [-0.03235346 0.05654533 0.99787568 -0.11525401] [ 0. 0. 0. 1. ]] SLAMing on 18.201193817 meters Centerline goodness : 0.857669 with order 1 Centerline is valid? [False, False] Translation: X:5.99, Y:0.20, Z:-0.11 [[ 0.99932824 -0.01825778 0.03177622 5.98534672] [ 0.01976236 0.99866629 -0.04769783 0.19754267] [-0.03086299 0.04829376 0.99835624 -0.11310507] [ 0. 0. 0. 1. ]] SLAMing on 18.261193817 meters Centerline goodness : 0.855934 with order 1 Centerline is valid? [False, False] Translation: X:6.03, Y:0.21, Z:-0.12 [[ 0.99943943 -0.01714867 0.02875322 6.02841679] [ 0.01863713 0.99845624 -0.05232402 0.21449754] [-0.02781154 0.05283057 0.99821613 -0.11884232] [ 0. 0. 0. 1. ]] SLAMing on 18.321193817 meters Centerline goodness : 0.857916 with order 1 Centerline is valid? [False, False] Translation: X:6.08, Y:0.23, Z:-0.12 [[ 0.99953883 -0.0139818 0.02695603 6.0755957 ] [ 0.0156219 0.99797708 -0.06162549 0.22721827] [-0.02603987 0.06201817 0.99773527 -0.12178898] [ 0. 0. 0. 1. ]] SLAMing on 18.381193817 meters Centerline goodness : 0.863431 with order 1 Centerline is valid? [False, False] Translation: X:6.07, Y:0.24, Z:-0.12 [[ 0.99959933 -0.00686115 0.0274611 6.07297389] [ 0.00845744 0.998255 -0.05844166 0.24443033] [-0.02701221 0.0586505 0.99791305 -0.11663859] [ 0. 0. 0. 1. ]] SLAMing on 18.441193817 meters Centerline goodness : 0.865369 with order 1 Centerline is valid? [False, False] Translation: X:6.07, Y:0.26, Z:-0.11 [[ 9.99618029e-01 -5.07359463e-04 2.76322108e-02 6.07221011e+00] [ 1.99144052e-03 9.98554731e-01 -5.37073801e-02 2.57374172e-01] [-2.75650259e-02 5.37418934e-02 9.98174323e-01 -1.14590481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.501193817 meters Centerline goodness : 0.867837 with order 1 Centerline is valid? [False, False] Translation: X:6.06, Y:0.27, Z:-0.11 [[ 0.99946915 0.00866823 0.03140522 6.05959174] [-0.00747764 0.99925615 -0.03783158 0.27357978] [-0.03170979 0.03757666 0.99879051 -0.11424887] [ 0. 0. 0. 1. ]] SLAMing on 18.561193817 meters Centerline goodness : 0.870999 with order 1 Centerline is valid? [False, False] Translation: X:6.04, Y:0.28, Z:-0.11 [[ 0.99951551 0.01245489 0.02852416 6.04200084] [-0.01195942 0.99977576 -0.0174756 0.28041798] [-0.02873542 0.017126 0.99944033 -0.11201183] [ 0. 0. 0. 1. ]] SLAMing on 18.621193816999998 meters Centerline goodness : 0.873831 with order 1 Centerline is valid? [False, False] Translation: X:6.03, Y:0.29, Z:-0.11 [[ 0.99949695 0.01995591 0.02464988 6.03059531] [-0.02019683 0.99975028 0.00956386 0.28590246] [-0.02445287 -0.01005689 0.9996504 -0.11013961] [ 0. 0. 0. 1. ]] SLAMing on 18.681193817 meters Centerline goodness : 0.876367 with order 1 Centerline is valid? [False, False] Translation: X:6.03, Y:0.29, Z:-0.11 [[ 0.99923695 0.02450764 0.03041214 6.02786287] [-0.02545976 0.99918493 0.03132545 0.28800734] [-0.02961964 -0.03207583 0.99904645 -0.10658288] [ 0. 0. 0. 1. ]] SLAMing on 18.741193817 meters Centerline goodness : 0.878418 with order 1 Centerline is valid? [False, False] Translation: X:6.03, Y:0.27, Z:-0.10 [[ 0.9993596 0.01656261 0.03171867 6.03085958] [-0.01981863 0.9942476 0.10525649 0.27173301] [-0.02979289 -0.10581771 0.99393913 -0.09874118] [ 0. 0. 0. 1. ]] SLAMing on 18.801193816999998 meters Centerline goodness : 0.879249 with order 1 Centerline is valid? [False, False] Translation: X:6.04, Y:0.25, Z:-0.09 [[ 0.99944158 0.00668422 0.03273918 6.03824765] [-0.01246546 0.98364022 0.17971236 0.25355736] [-0.03100233 -0.18002011 0.98317425 -0.08921912] [ 0. 0. 0. 1. ]] SLAMing on 18.861193817 meters Centerline goodness : 0.876291 with order 1 Centerline is valid? [False, False] Translation: X:6.05, Y:0.23, Z:-0.07 [[ 9.99610642e-01 -4.18225430e-03 2.75875381e-02 6.04549801e+00] [-3.39984176e-03 9.63080325e-01 2.69192735e-01 2.29743204e-01] [-2.76948476e-02 -2.69181716e-01 9.62691123e-01 -7.34625954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.921193817 meters Centerline goodness : 0.877211 with order 1 Centerline is valid? [False, False] Translation: X:6.05, Y:0.22, Z:-0.06 [[ 9.99745823e-01 -4.71191037e-03 2.20473726e-02 6.04510338e+00] [-2.07587925e-03 9.54523081e-01 2.98129801e-01 2.23657282e-01] [-2.24494870e-02 -2.98099791e-01 9.54270682e-01 -6.22376851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.981193817 meters Centerline goodness : 0.876152 with order 1 Centerline is valid? [False, False] Translation: X:6.06, Y:0.22, Z:-0.05 [[ 9.99772216e-01 -7.02935046e-03 2.01520148e-02 6.05641673e+00] [ 1.34629101e-04 9.46264622e-01 3.23393333e-01 2.21041129e-01] [-2.13423837e-02 -3.23316956e-01 9.46050024e-01 -4.81967069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.041193817 meters Centerline goodness : 0.875647 with order 1 Centerline is valid? [False, False] Translation: X:6.04, Y:0.21, Z:-0.03 [[ 0.99974187 -0.01631081 0.01581643 6.04070555] [ 0.0090797 0.92496093 0.37995373 0.2119709 ] [-0.02082693 -0.37971205 0.92487026 -0.03241503] [ 0. 0. 0. 1. ]] SLAMing on 19.101193817 meters Centerline goodness : 0.874493 with order 1 Centerline is valid? [False, False] Translation: X:6.02, Y:0.24, Z:-0.03 [[ 0.99957902 -0.02449473 0.01554966 6.02456869] [ 0.0187161 0.95390613 0.29952095 0.23547987] [-0.02216961 -0.29910383 0.953963 -0.03394232] [ 0. 0. 0. 1. ]] SLAMing on 19.161193817 meters Centerline goodness : 0.876024 with order 1 Centerline is valid? [False, False] Translation: X:6.02, Y:0.25, Z:-0.04 [[ 0.99930363 -0.03441695 0.01441284 6.02123449] [ 0.02964353 0.96687491 0.2535235 0.25098651] [-0.02266092 -0.25291971 0.96722185 -0.03590642] [ 0. 0. 0. 1. ]] SLAMing on 19.221193817 meters Centerline goodness : 0.877024 with order 1 Centerline is valid? [False, False] Translation: X:6.01, Y:0.26, Z:-0.04 [[ 0.99886583 -0.04479109 0.01614974 6.01402094] [ 0.04025582 0.9755799 0.21592434 0.25972576] [-0.02542685 -0.21502932 0.97627653 -0.03793462] [ 0. 0. 0. 1. ]] SLAMing on 19.281193817 meters Centerline goodness : 0.872345 with order 1 Centerline is valid? [False, False] Translation: X:6.00, Y:0.27, Z:-0.04 [[ 0.99911369 -0.03744449 0.01922885 6.004033 ] [ 0.0333571 0.98293926 0.18088039 0.27212388] [-0.02567377 -0.18007865 0.98331711 -0.03810405] [ 0. 0. 0. 1. ]] SLAMing on 19.341193817 meters Centerline goodness : 0.869224 with order 1 Centerline is valid? [False, False] Translation: X:5.97, Y:0.28, Z:-0.03 [[ 0.9996793 -0.0211049 0.01399545 5.97106957] [ 0.01811204 0.98213262 0.18731649 0.28048885] [-0.01769868 -0.18700293 0.98219991 -0.02949758] [ 0. 0. 0. 1. ]] SLAMing on 19.401193817 meters Centerline goodness : 0.870902 with order 1 Centerline is valid? [False, False] Translation: X:5.96, Y:0.29, Z:-0.03 [[ 9.99857793e-01 -4.45765577e-03 1.62641569e-02 5.95746813e+00] [ 1.25459024e-03 9.81421660e-01 1.91859198e-01 2.86103926e-01] [-1.68172381e-02 -1.91811510e-01 9.81287687e-01 -2.55424799e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.461193816999998 meters Centerline goodness : 0.879745 with order 1 Centerline is valid? [False, False] Translation: X:5.95, Y:0.30, Z:-0.02 [[ 0.99975515 0.01105853 0.01916639 5.94607671] [-0.01422982 0.9846153 0.17415572 0.29626718] [-0.01694562 -0.17438581 0.98453158 -0.02441247] [ 0. 0. 0. 1. ]] SLAMing on 19.521193817 meters Centerline goodness : 0.872446 with order 1 Centerline is valid? [False, False] Translation: X:5.96, Y:0.30, Z:-0.02 [[ 0.99964878 0.0220548 0.01469342 5.96151046] [-0.02406994 0.98759022 0.15519729 0.29557026] [-0.01108824 -0.15549645 0.98777422 -0.02298904] [ 0. 0. 0. 1. ]] SLAMing on 19.581193817 meters Centerline goodness : 0.872402 with order 1 Centerline is valid? [False, False] Translation: X:5.98, Y:0.29, Z:-0.02 [[ 0.99951941 0.02657292 0.01596322 5.97985419] [-0.02861469 0.98895481 0.14542896 0.29252066] [-0.01192243 -0.14581585 0.98923991 -0.02365554] [ 0. 0. 0. 1. ]] SLAMing on 19.641193817 meters Centerline goodness : 0.863901 with order 1 Centerline is valid? [False, False] Translation: X:6.01, Y:0.25, Z:-0.01 [[ 0.99953873 0.02003753 0.02282176 6.00919044] [-0.024636 0.97439806 0.22347591 0.2538509 ] [-0.01775958 -0.22393506 0.97444224 -0.0147221 ] [ 0. 0. 0. 1. ]] SLAMing on 19.701193817 meters Centerline goodness : 0.875915 with order 1 Centerline is valid? [False, False] Translation: X:6.04, Y:0.24, Z:-0.01 [[ 0.99961244 0.01472501 0.02362524 6.03958402] [-0.02032775 0.96591458 0.25806164 0.23581874] [-0.01902001 -0.25844187 0.96583955 -0.00877869] [ 0. 0. 0. 1. ]] SLAMing on 19.761193817 meters Centerline goodness : 0.863121 with order 1 Centerline is valid? [False, False] Translation: X:6.06, Y:0.20, Z:0.01 [[ 9.99597668e-01 4.76095414e-03 2.79613236e-02 6.06454552e+00] [-1.46506044e-02 9.30788638e-01 3.65264111e-01 1.95736246e-01] [-2.42870767e-02 -3.65526804e-01 9.30483903e-01 1.49401707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.821193817 meters Centerline goodness : 0.869102 with order 1 Centerline is valid? [False, False] Translation: X:6.09, Y:0.15, Z:0.05 [[ 9.99639102e-01 -1.26831778e-02 2.36812537e-02 6.08855557e+00] [-7.59254292e-04 8.67838527e-01 4.96845765e-01 1.49835555e-01] [-2.68530875e-02 -4.96684435e-01 8.67515697e-01 5.29539092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.881193817 meters Centerline goodness : 0.865266 with order 1 Centerline is valid? [False, False] Translation: X:6.06, Y:0.15, Z:0.05 [[ 9.99705063e-01 -1.30257442e-02 2.04967702e-02 6.06371197e+00] [ 2.18983759e-03 8.88901842e-01 4.58092479e-01 1.51249144e-01] [-2.41866123e-02 -4.57912486e-01 8.88668196e-01 5.27616805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.941193817 meters Centerline goodness : 0.862802 with order 1 Centerline is valid? [False, False] Translation: X:6.04, Y:0.15, Z:0.05 [[ 9.99719191e-01 -1.41645405e-02 1.89974760e-02 6.03795105e+00] [ 4.88984756e-03 9.07745151e-01 4.19493541e-01 1.48560869e-01] [-2.31867999e-02 -4.19282849e-01 9.07559511e-01 5.46656496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.001193817 meters Centerline goodness : 0.864599 with order 1 Centerline is valid? [False, False] Translation: X:6.02, Y:0.16, Z:0.05 [[ 0.99963582 -0.01631234 0.02149744 6.01653162] [ 0.00797172 0.93957042 0.34226288 0.16261432] [-0.02578147 -0.34196687 0.93935828 0.05225599] [ 0. 0. 0. 1. ]] SLAMing on 20.061193817 meters Centerline goodness : 0.862415 with order 1 Centerline is valid? [False, False] Translation: X:6.01, Y:0.18, Z:0.05 [[ 0.99965191 -0.0151487 0.02160037 6.01010782] [ 0.00854692 0.96051932 0.27808198 0.17620589] [-0.02496015 -0.27780057 0.96031445 0.04944815] [ 0. 0. 0. 1. ]] SLAMing on 20.121193816999998 meters Centerline goodness : 0.863762 with order 1 Centerline is valid? [False, False] Translation: X:6.00, Y:0.18, Z:0.05 [[ 0.9995129 -0.01489819 0.02742292 6.0027898 ] [ 0.00848628 0.97533505 0.22056638 0.18298551] [-0.03003258 -0.22022622 0.97498639 0.04952556] [ 0. 0. 0. 1. ]] SLAMing on 20.181193817 meters Centerline goodness : 0.863341 with order 1 Centerline is valid? [False, False] Translation: X:6.01, Y:0.19, Z:0.05 [[ 0.99943801 -0.01244256 0.03112642 6.009129 ] [ 0.00683328 0.9846847 0.17421066 0.1937953 ] [-0.03281733 -0.17390005 0.98421633 0.04625788] [ 0. 0. 0. 1. ]] SLAMing on 20.241193817 meters Centerline goodness : 0.864433 with order 1 Centerline is valid? [False, False] Translation: X:6.02, Y:0.21, Z:0.04 [[ 9.99355146e-01 -8.94090103e-03 3.47757328e-02 6.02331409e+00] [ 4.21596217e-03 9.91021171e-01 1.33638556e-01 2.08836099e-01] [-3.56583365e-02 -1.33405766e-01 9.90419802e-01 4.44719326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.301193816999998 meters Centerline goodness : 0.863941 with order 1 Centerline is valid? [False, False] Translation: X:6.04, Y:0.22, Z:0.04 [[ 9.99295379e-01 -3.44693285e-03 3.73746564e-02 6.03633024e+00] [ 1.95568598e-04 9.96238742e-01 8.66506227e-02 2.23026105e-01] [-3.75327596e-02 -8.65822575e-02 9.95537445e-01 4.14622091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.361193817 meters Centerline goodness : 0.868481 with order 1 Centerline is valid? [False, False] Translation: X:6.05, Y:0.24, Z:0.04 [[ 9.99189600e-01 1.92745373e-04 4.02505310e-02 6.05301697e+00] [-1.92089728e-03 9.99077498e-01 4.29006272e-02 2.39030274e-01] [-4.02051309e-02 -4.29431777e-02 9.98268216e-01 3.80779198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.421193817 meters Centerline goodness : 0.869537 with order 1 Centerline is valid? [False, False] Translation: X:6.07, Y:0.26, Z:0.04 [[ 9.99200441e-01 4.89766096e-03 3.96798727e-02 6.07417898e+00] [-4.86485032e-03 9.99987740e-01 -9.23398488e-04 2.56593607e-01] [-3.96839087e-02 7.29623535e-04 9.99212017e-01 3.90009228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.481193817 meters Centerline goodness : 0.869475 with order 1 Centerline is valid? [False, False] Translation: X:6.08, Y:0.26, Z:0.04 [[ 9.99261369e-01 1.27516641e-02 3.62506860e-02 6.08462666e+00] [-1.26570207e-02 9.99915866e-01 -2.83910360e-03 2.61522163e-01] [-3.62838394e-02 2.37818087e-03 9.99338695e-01 4.00143023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.541193817 meters Centerline goodness : 0.867988 with order 1 Centerline is valid? [False, False] Translation: X:6.09, Y:0.23, Z:0.06 [[ 0.99958411 0.00778335 0.02776719 6.08937273] [-0.01055405 0.99482266 0.1010766 0.23133174] [-0.02683672 -0.10132762 0.99449108 0.05761293] [ 0. 0. 0. 1. ]] SLAMing on 20.601193817 meters Centerline goodness : 0.871035 with order 1 Centerline is valid? [False, False] Translation: X:6.10, Y:0.23, Z:0.05 [[ 9.99465776e-01 3.51999000e-03 3.24926552e-02 6.09800367e+00] [-6.24869342e-03 9.96423893e-01 8.42637530e-02 2.33626561e-01] [-3.20798504e-02 -8.44217739e-02 9.95913574e-01 5.34887231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.661193817 meters Centerline goodness : 0.866295 with order 1 Centerline is valid? [False, False] Translation: X:6.09, Y:0.21, Z:0.07 [[ 9.99589411e-01 -6.93680864e-03 2.78009177e-02 6.08640852e+00] [ 2.51445899e-03 9.87745711e-01 1.56051554e-01 2.11937243e-01] [-2.85427370e-02 -1.55917576e-01 9.87357596e-01 6.76198759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.721193817 meters Centerline goodness : 0.866888 with order 1 Centerline is valid? [False, False] Translation: X:6.08, Y:0.21, Z:0.07 [[ 0.99960049 -0.01105729 0.02601136 6.08332396] [ 0.00752823 0.9912139 0.13205431 0.21182577] [-0.02724298 -0.13180573 0.99090114 0.06505469] [ 0. 0. 0. 1. ]] SLAMing on 20.781193817 meters Centerline goodness : 0.865850 with order 1 Centerline is valid? [False, False] Translation: X:6.09, Y:0.22, Z:0.06 [[ 0.99972274 -0.01144666 0.02057709 6.08554825] [ 0.0090333 0.99346596 0.11377076 0.21657578] [-0.02174494 -0.11355334 0.99329391 0.06395245] [ 0. 0. 0. 1. ]] SLAMing on 20.841193817 meters Centerline goodness : 0.865818 with order 1 Centerline is valid? [False, False] Translation: X:6.09, Y:0.22, Z:0.06 [[ 0.99964838 -0.01125745 0.02400799 6.08797448] [ 0.00892316 0.99541709 0.09521128 0.22125121] [-0.0249698 -0.09496358 0.99516754 0.06234536] [ 0. 0. 0. 1. ]] SLAMing on 20.901193817 meters Centerline goodness : 0.865564 with order 1 Centerline is valid? [False, False] Translation: X:6.09, Y:0.23, Z:0.06 [[ 0.99973026 -0.01092058 0.02049732 6.08731984] [ 0.00932645 0.99703987 0.07631852 0.2274357 ] [-0.02127009 -0.07610677 0.99687278 0.06341209] [ 0. 0. 0. 1. ]] SLAMing on 20.961193816999998 meters Centerline goodness : 0.863397 with order 1 Centerline is valid? [False, False] Translation: X:6.09, Y:0.23, Z:0.07 [[ 0.99972123 -0.01134754 0.0207052 6.09468736] [ 0.0099999 0.99789542 0.06406819 0.23331036] [-0.02138864 -0.06384328 0.99773071 0.06590554] [ 0. 0. 0. 1. ]] SLAMing on 21.021193817 meters Centerline goodness : 0.866780 with order 1 Centerline is valid? [False, False] Translation: X:6.10, Y:0.24, Z:0.07 [[ 0.99965698 -0.01388185 0.02220849 6.09996096] [ 0.01277085 0.998697 0.0494086 0.23648982] [-0.02286544 -0.04910803 0.99853171 0.07019367] [ 0. 0. 0. 1. ]] SLAMing on 21.081193817 meters Centerline goodness : 0.865806 with order 1 Centerline is valid? [False, False] Translation: X:6.10, Y:0.24, Z:0.07 [[ 0.9995631 -0.01954386 0.02217293 6.10115165] [ 0.01858482 0.99891661 0.04266388 0.24238331] [-0.02298273 -0.04223316 0.99884341 0.06868773] [ 0. 0. 0. 1. ]] SLAMing on 21.141193816999998 meters Centerline goodness : 0.861165 with order 1 Centerline is valid? [False, False] Translation: X:6.10, Y:0.25, Z:0.06 [[ 0.99954363 -0.0228055 0.01981016 6.09825408] [ 0.02227661 0.99940003 0.02652041 0.24731799] [-0.02040309 -0.026067 0.99945196 0.06446536] [ 0. 0. 0. 1. ]] SLAMing on 21.201193817 meters Centerline goodness : 0.862679 with order 1 Centerline is valid? [False, False] Translation: X:6.10, Y:0.25, Z:0.06 [[ 0.99941424 -0.02804165 0.01961716 6.09980337] [ 0.02763794 0.99940661 0.02055667 0.25115352] [-0.02018196 -0.02000245 0.99959621 0.06308945] [ 0. 0. 0. 1. ]] SLAMing on 21.261193817 meters Centerline goodness : 0.863331 with order 1 Centerline is valid? [False, False] Translation: X:6.10, Y:0.26, Z:0.06 [[ 0.99935269 -0.0301975 0.01955265 6.10055102] [ 0.02986321 0.99940653 0.01716916 0.25824194] [-0.02005952 -0.01657414 0.9996614 0.06242794] [ 0. 0. 0. 1. ]] SLAMing on 21.321193817 meters Centerline goodness : 0.860838 with order 1 Centerline is valid? [False, False] Translation: X:6.10, Y:0.27, Z:0.06 [[ 0.99938597 -0.02918404 0.01939015 6.10149459] [ 0.02887563 0.99945496 0.01599926 0.27035301] [-0.01984651 -0.01542953 0.99968397 0.06161011] [ 0. 0. 0. 1. ]] SLAMing on 21.381193817 meters Centerline goodness : 0.860709 with order 1 Centerline is valid? [False, False] Translation: X:6.10, Y:0.28, Z:0.06 [[ 0.99947649 -0.02610282 0.01911508 6.10219923] [ 0.02577289 0.99951798 0.01730768 0.27712824] [-0.01955764 -0.01680597 0.99966747 0.06137098] [ 0. 0. 0. 1. ]] SLAMing on 21.441193817 meters Centerline goodness : 0.861364 with order 1 Centerline is valid? [False, False] Translation: X:6.10, Y:0.29, Z:0.06 [[ 0.99958158 -0.02159151 0.0192475 6.10101059] [ 0.02121357 0.99958227 0.01962836 0.28643779] [-0.01966326 -0.01921184 0.99962206 0.06268994] [ 0. 0. 0. 1. ]] SLAMing on 21.501193817 meters Centerline goodness : 0.861610 with order 1 Centerline is valid? [False, False] Translation: X:6.09, Y:0.30, Z:0.07 [[ 0.99993197 -0.00685679 0.00943637 6.09142573] [ 0.00658597 0.99957388 0.02843722 0.29892812] [-0.00962733 -0.02837314 0.99955104 0.06877675] [ 0. 0. 0. 1. ]] SLAMing on 21.561193817 meters Centerline goodness : 0.859946 with order 1 Centerline is valid? [False, False] Translation: X:6.11, Y:0.29, Z:0.09 [[ 9.99996369e-01 2.47842436e-03 -1.05813862e-03 6.10602581e+00] [-2.38172163e-03 9.96525127e-01 8.32586247e-02 2.91970354e-01] [ 1.26081193e-03 -8.32558022e-02 9.96527411e-01 8.51821521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.621193816999998 meters Centerline goodness : 0.860010 with order 1 Centerline is valid? [False, False] Translation: X:6.13, Y:0.27, Z:0.10 [[ 9.99951324e-01 8.61486992e-03 -4.80966899e-03 6.12654438e+00] [-7.71093431e-03 9.86466854e-01 1.63779389e-01 2.70037487e-01] [ 6.15551717e-03 -1.63734330e-01 9.86485265e-01 9.74771834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.681193817 meters Centerline goodness : 0.860409 with order 1 Centerline is valid? [False, False] Translation: X:6.15, Y:0.23, Z:0.12 [[ 9.99934123e-01 1.79275810e-03 -1.13373456e-02 6.14733399e+00] [ 1.49909283e-03 9.58869869e-01 2.83842082e-01 2.32712703e-01] [ 1.13798993e-02 -2.83840380e-01 9.58804014e-01 1.17413268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.741193817 meters Centerline goodness : 0.858207 with order 1 Centerline is valid? [False, False] Translation: X:6.16, Y:0.19, Z:0.15 [[ 0.99980881 -0.01098989 -0.01617287 6.15710839] [ 0.01678077 0.90682197 0.42117968 0.19391847] [ 0.0100372 -0.42137054 0.90683302 0.15200714] [ 0. 0. 0. 1. ]] SLAMing on 21.801193816999998 meters Centerline goodness : 0.860504 with order 1 Centerline is valid? [False, False] Translation: X:6.17, Y:0.18, Z:0.17 [[ 0.99947448 -0.01797336 -0.02697618 6.17007547] [ 0.02864169 0.87936229 0.47529108 0.18099235] [ 0.01517925 -0.47581395 0.87941496 0.17479878] [ 0. 0. 0. 1. ]] SLAMing on 21.861193817 meters Centerline goodness : 0.859681 with order 1 Centerline is valid? [False, False] Translation: X:6.15, Y:0.20, Z:0.17 [[ 0.99930355 -0.02395369 -0.0286118 6.14959783] [ 0.03360889 0.910918 0.4112163 0.20033193] [ 0.01621286 -0.41189152 0.91108864 0.16898581] [ 0. 0. 0. 1. ]] SLAMing on 21.921193817 meters Centerline goodness : 0.857819 with order 1 Centerline is valid? [False, False] Translation: X:6.13, Y:0.21, Z:0.16 [[ 0.99917509 -0.02842302 -0.02900472 6.12794269] [ 0.03703574 0.93076624 0.36373418 0.2146554 ] [ 0.01665819 -0.36450834 0.93105111 0.16463249] [ 0. 0. 0. 1. ]] SLAMing on 21.981193817 meters Centerline goodness : 0.859763 with order 1 Centerline is valid? [False, False] Translation: X:6.11, Y:0.23, Z:0.16 [[ 0.99911195 -0.02908512 -0.03048549 6.11359216] [ 0.03734382 0.94633727 0.32101589 0.22596368] [ 0.01951277 -0.32186926 0.94658303 0.16235607] [ 0. 0. 0. 1. ]] SLAMing on 22.041193817 meters Centerline goodness : 0.860792 with order 1 Centerline is valid? [False, False] Translation: X:6.10, Y:0.24, Z:0.16 [[ 0.99901269 -0.02836743 -0.03418958 6.09626318] [ 0.0368274 0.95923401 0.28020325 0.23962614] [ 0.02484716 -0.28118572 0.95933165 0.16015637] [ 0. 0. 0. 1. ]] SLAMing on 22.101193817 meters Centerline goodness : 0.861092 with order 1 Centerline is valid? [False, False] Translation: X:6.08, Y:0.25, Z:0.16 [[ 0.99910121 -0.02362045 -0.03519739 6.08499315] [ 0.03159498 0.96853153 0.24687738 0.25262566] [ 0.02825843 -0.24776755 0.9684073 0.16053618] [ 0. 0. 0. 1. ]] SLAMing on 22.161193817 meters Centerline goodness : 0.861738 with order 1 Centerline is valid? [False, False] Translation: X:6.06, Y:0.27, Z:0.16 [[ 0.99936086 -0.01393568 -0.03291904 6.05753282] [ 0.02042245 0.97837918 0.20580842 0.26605956] [ 0.02933922 -0.20634917 0.97803846 0.16227632] [ 0. 0. 0. 1. ]] SLAMing on 22.221193817 meters Centerline goodness : 0.863620 with order 1 Centerline is valid? [False, False] Translation: X:6.06, Y:0.24, Z:0.18 [[ 0.99937025 -0.0069105 -0.03480442 6.06278513] [ 0.01720976 0.95216327 0.30510478 0.24148159] [ 0.03103107 -0.30551161 0.95168258 0.18285966] [ 0. 0. 0. 1. ]] SLAMing on 22.281193817 meters Centerline goodness : 0.863370 with order 1 Centerline is valid? [False, False] Translation: X:6.08, Y:0.22, Z:0.20 [[ 9.99312788e-01 1.98279129e-03 -3.70137942e-02 6.08432247e+00] [ 1.27464872e-02 9.19287643e-01 3.93379914e-01 2.21847258e-01] [ 3.48063139e-02 -3.93581374e-01 9.18630624e-01 2.03917973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.341193817 meters Centerline goodness : 0.860953 with order 1 Centerline is valid? [False, False] Translation: X:6.12, Y:0.20, Z:0.23 [[ 0.99924526 0.00827573 -0.03795298 6.11613242] [ 0.01040151 0.88435851 0.46669243 0.2009656 ] [ 0.03742626 -0.46673497 0.88360497 0.22887518] [ 0. 0. 0. 1. ]] SLAMing on 22.401193817 meters Centerline goodness : 0.864937 with order 1 Centerline is valid? [False, False] Translation: X:6.15, Y:0.18, Z:0.26 [[ 0.99915559 0.01034527 -0.03976271 6.15259915] [ 0.01303392 0.83798441 0.5455385 0.17761819] [ 0.03896427 -0.5455961 0.83714197 0.26129984] [ 0. 0. 0. 1. ]] SLAMing on 22.461193816999998 meters Centerline goodness : 0.863808 with order 1 Centerline is valid? [False, False] Translation: X:6.19, Y:0.16, Z:0.29 [[ 0.9989698 0.01496187 -0.04284256 6.19461022] [ 0.01383655 0.79870649 0.60156172 0.16099247] [ 0.04321912 -0.60153478 0.79767664 0.28810771] [ 0. 0. 0. 1. ]] SLAMing on 22.521193817 meters Centerline goodness : 0.865063 with order 1 Centerline is valid? [False, False] Translation: X:6.23, Y:0.15, Z:0.32 [[ 0.99881786 0.01880543 -0.04482459 6.23471746] [ 0.01551506 0.75057012 0.66060864 0.14880425] [ 0.04606702 -0.66052316 0.74939107 0.31819711] [ 0. 0. 0. 1. ]] SLAMing on 22.581193817 meters Centerline goodness : 0.862304 with order 1 Centerline is valid? [False, False] Translation: X:6.27, Y:0.14, Z:0.36 [[ 0.99864233 0.02246789 -0.04699666 6.27450299] [ 0.01854696 0.68971492 0.72384344 0.137726 ] [ 0.04867753 -0.72373235 0.68836181 0.3559541 ] [ 0. 0. 0. 1. ]] SLAMing on 22.641193816999998 meters Centerline goodness : 0.866340 with order 1 Centerline is valid? [False, False] Translation: X:6.31, Y:0.13, Z:0.40 [[ 0.99855877 0.02398493 -0.04801146 6.31451391] [ 0.02282696 0.61982583 0.78440734 0.12591563] [ 0.0485727 -0.78437279 0.61838501 0.40062433] [ 0. 0. 0. 1. ]] SLAMing on 22.701193817 meters Centerline goodness : 0.868652 with order 1 Centerline is valid? [False, False] Translation: X:6.35, Y:0.12, Z:0.45 [[ 0.99858729 0.02369316 -0.04756116 6.3481423 ] [ 0.02819155 0.5224801 0.8521853 0.11838402] [ 0.04504072 -0.85232223 0.52107404 0.44700724] [ 0. 0. 0. 1. ]] SLAMing on 22.761193817 meters Centerline goodness : 0.871261 with order 1 Centerline is valid? [False, False] Translation: X:6.33, Y:0.12, Z:0.45 [[ 0.99850213 0.0114607 -0.05349902 6.3345885 ] [ 0.03758318 0.56694001 0.82290129 0.12441305] [ 0.03976176 -0.82367936 0.56566008 0.44571191] [ 0. 0. 0. 1. ]] SLAMing on 22.821193817 meters Centerline goodness : 0.871924 with order 1 Centerline is valid? [False, False] Translation: X:6.27, Y:0.14, Z:0.42 [[ 9.98308283e-01 -4.98004383e-03 -5.79290209e-02 6.27089686e+00] [ 4.65581576e-02 6.65258776e-01 7.45159781e-01 1.39410627e-01] [ 3.48268612e-02 -7.46596250e-01 6.64365208e-01 4.23479351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.881193817 meters Centerline goodness : 0.870413 with order 1 Centerline is valid? [False, False] Translation: X:6.22, Y:0.15, Z:0.41 [[ 0.99831148 -0.02496551 -0.05244911 6.22118303] [ 0.05392528 0.73396166 0.67704678 0.15275449] [ 0.02159282 -0.67873191 0.73406863 0.41001083] [ 0. 0. 0. 1. ]] SLAMing on 22.941193817 meters Centerline goodness : 0.871827 with order 1 Centerline is valid? [False, False] Translation: X:6.18, Y:0.17, Z:0.39 [[ 0.99839041 -0.03339125 -0.04584346 6.17947628] [ 0.05431183 0.79570424 0.60324539 0.17220798] [ 0.01633472 -0.60476425 0.79623701 0.39254081] [ 0. 0. 0. 1. ]] SLAMing on 23.001193817 meters Centerline goodness : 0.877240 with order 1 Centerline is valid? [False, False] Translation: X:6.15, Y:0.19, Z:0.38 [[ 0.9984908 -0.03693877 -0.04064042 6.15225459] [ 0.05299109 0.84236882 0.53628976 0.19062904] [ 0.01442434 -0.53763398 0.84305495 0.37569922] [ 0. 0. 0. 1. ]] SLAMing on 23.061193817 meters Centerline goodness : 0.876087 with order 1 Centerline is valid? [False, False] Translation: X:6.14, Y:0.21, Z:0.36 [[ 0.99835791 -0.04109459 -0.039909 6.13891104] [ 0.05498825 0.88276135 0.46659264 0.21145276] [ 0.01605569 -0.46802098 0.88357149 0.35781876] [ 0. 0. 0. 1. ]] SLAMing on 23.121193816999998 meters Centerline goodness : 0.879725 with order 1 Centerline is valid? [False, False] Translation: X:6.13, Y:0.24, Z:0.34 [[ 0.99828601 -0.04491174 -0.03752298 6.1298301 ] [ 0.05608128 0.91741756 0.39395421 0.23953753] [ 0.01673107 -0.39538331 0.91836382 0.34078823] [ 0. 0. 0. 1. ]] SLAMing on 23.181193817 meters Centerline goodness : 0.878520 with order 1 Centerline is valid? [False, False] Translation: X:6.13, Y:0.27, Z:0.33 [[ 0.99826343 -0.04738047 -0.03500309 6.12500903] [ 0.05620527 0.9439964 0.32513346 0.26800493] [ 0.01763782 -0.3265362 0.94502011 0.32965447] [ 0. 0. 0. 1. ]] SLAMing on 23.241193817 meters Centerline goodness : 0.878904 with order 1 Centerline is valid? [False, False] Translation: X:6.13, Y:0.30, Z:0.32 [[ 0.99838833 -0.04595913 -0.03329409 6.12922982] [ 0.05303588 0.96437757 0.25915844 0.30015113] [ 0.02019738 -0.26050654 0.9652608 0.3206948 ] [ 0. 0. 0. 1. ]] SLAMing on 23.301193816999998 meters Centerline goodness : 0.885623 with order 1 Centerline is valid? [False, False] Translation: X:6.12, Y:0.32, Z:0.32 [[ 0.99865569 -0.04168405 -0.03081011 6.11922897] [ 0.04746027 0.97430653 0.22016883 0.31872758] [ 0.02084096 -0.22133511 0.97497509 0.31744326] [ 0. 0. 0. 1. ]] SLAMing on 23.361193817 meters Centerline goodness : 0.885337 with order 1 Centerline is valid? [False, False] Translation: X:6.11, Y:0.34, Z:0.31 [[ 0.99897568 -0.0350504 -0.02861939 6.11059202] [ 0.0398414 0.98115811 0.18905401 0.34281388] [ 0.02145373 -0.19000059 0.98154955 0.3126337 ] [ 0. 0. 0. 1. ]] SLAMing on 23.421193817 meters Centerline goodness : 0.889647 with order 1 Centerline is valid? [False, False] Translation: X:6.10, Y:0.36, Z:0.31 [[ 0.99902431 -0.03028224 -0.03214676 6.09659746] [ 0.03519232 0.98563077 0.16520741 0.3571349 ] [ 0.02668199 -0.16617753 0.9857348 0.31048007] [ 0. 0. 0. 1. ]] SLAMing on 23.481193817 meters Centerline goodness : 0.893380 with order 1 Centerline is valid? [False, False] Translation: X:6.09, Y:0.37, Z:0.31 [[ 0.99905371 -0.02488992 -0.03566754 6.08665965] [ 0.02927181 0.99132522 0.12813067 0.37369687] [ 0.03216897 -0.12905348 0.99111571 0.30567829] [ 0. 0. 0. 1. ]] SLAMing on 23.541193817 meters Centerline goodness : 0.898291 with order 1 Centerline is valid? [False, False] Translation: X:6.08, Y:0.39, Z:0.31 [[ 0.99911164 -0.02373124 -0.0348247 6.08227289] [ 0.02731722 0.99394816 0.10639935 0.3856599 ] [ 0.03208896 -0.10725615 0.99371345 0.30772651] [ 0. 0. 0. 1. ]] SLAMing on 23.601193817 meters Centerline goodness : 0.897025 with order 1 Centerline is valid? [False, False] Translation: X:6.08, Y:0.40, Z:0.31 [[ 0.99910454 -0.02208208 -0.03609004 6.08437359] [ 0.02494378 0.99641252 0.08086957 0.39693894] [ 0.0341748 -0.08169738 0.99607109 0.31062272] [ 0. 0. 0. 1. ]] SLAMing on 23.661193817 meters Centerline goodness : 0.899066 with order 1 Centerline is valid? [False, False] Translation: X:6.09, Y:0.40, Z:0.32 [[ 0.99895975 -0.02381696 -0.03888669 6.08648143] [ 0.02663824 0.99692289 0.07372346 0.39900978] [ 0.03701117 -0.07468264 0.99652028 0.31851418] [ 0. 0. 0. 1. ]] SLAMing on 23.721193817 meters Centerline goodness : 0.899061 with order 1 Centerline is valid? [False, False] Translation: X:6.09, Y:0.40, Z:0.32 [[ 0.99892729 -0.02749478 -0.03726003 6.09225773] [ 0.02965112 0.99784035 0.05861267 0.40182203] [ 0.03556802 -0.05965459 0.99758521 0.32132089] [ 0. 0. 0. 1. ]] SLAMing on 23.781193817 meters Centerline goodness : 0.900404 with order 1 Centerline is valid? [False, False] Translation: X:6.10, Y:0.41, Z:0.32 [[ 0.99890201 -0.02940301 -0.03647238 6.09983794] [ 0.03104581 0.99848975 0.04532531 0.40853035] [ 0.0350846 -0.04640786 0.99830626 0.32214817] [ 0. 0. 0. 1. ]] SLAMing on 23.841193817 meters Centerline goodness : 0.897098 with order 1 Centerline is valid? [False, False] Translation: X:6.10, Y:0.41, Z:0.32 [[ 0.99876744 -0.03328716 -0.03681793 6.10123386] [ 0.03478483 0.99856107 0.04081421 0.41073752] [ 0.03540636 -0.0420446 0.99848818 0.32131838] [ 0. 0. 0. 1. ]] SLAMing on 23.901193817 meters Centerline goodness : 0.899305 with order 1 Centerline is valid? [False, False] Translation: X:6.11, Y:0.41, Z:0.32 [[ 0.99858834 -0.03779808 -0.03731789 6.1050829 ] [ 0.03914689 0.99858115 0.03610006 0.41116272] [ 0.03590043 -0.03750998 0.99865117 0.3181392 ] [ 0. 0. 0. 1. ]] SLAMing on 23.961193816999998 meters Centerline goodness : 0.903817 with order 1 Centerline is valid? [False, False] Translation: X:6.11, Y:0.41, Z:0.32 [[ 0.99840953 -0.04188824 -0.03773314 6.10761002] [ 0.04309039 0.99857035 0.03163017 0.41289366] [ 0.03635426 -0.0332058 0.99878714 0.31624712] [ 0. 0. 0. 1. ]] SLAMing on 24.021193817 meters Centerline goodness : 0.895964 with order 1 Centerline is valid? [False, False] Translation: X:6.11, Y:0.41, Z:0.32 [[ 0.99839455 -0.04173693 -0.03829303 6.10877511] [ 0.04295775 0.99857601 0.03163214 0.41332487] [ 0.03691827 -0.03322633 0.99876576 0.31616376] [ 0. 0. 0. 1. ]] SLAMing on 24.081193817 meters Centerline goodness : 0.902390 with order 1 Centerline is valid? [False, False] Translation: X:6.11, Y:0.42, Z:0.32 [[ 0.9985327 -0.04018605 -0.03629786 6.1111798 ] [ 0.04099762 0.99891926 0.02189769 0.41550614] [ 0.03537865 -0.02335369 0.99910107 0.32187511] [ 0. 0. 0. 1. ]] SLAMing on 24.141193816999998 meters Centerline goodness : 0.900856 with order 1 Centerline is valid? [False, False] Translation: X:6.12, Y:0.42, Z:0.33 [[ 0.99874025 -0.03700547 -0.03388968 6.11504207] [ 0.0374649 0.99921308 0.01302317 0.42027223] [ 0.03338108 -0.01427643 0.99934073 0.32530692] [ 0. 0. 0. 1. ]] SLAMing on 24.201193817 meters Centerline goodness : 0.898889 with order 1 Centerline is valid? [False, False] Translation: X:6.12, Y:0.42, Z:0.33 [[ 9.98932421e-01 -2.53922497e-02 -3.85908256e-02 6.11545075e+00] [ 2.56029317e-02 9.99659812e-01 4.97493984e-03 4.21798987e-01] [ 3.84513726e-02 -5.95766697e-03 9.99242712e-01 3.26469323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.261193817 meters Centerline goodness : 0.903878 with order 1 Centerline is valid? [False, False] Translation: X:6.11, Y:0.42, Z:0.33 [[ 0.99904158 -0.02063312 -0.03860317 6.11466271] [ 0.02102338 0.99973163 0.00973085 0.42032391] [ 0.03839203 -0.0105331 0.99920724 0.3273192 ] [ 0. 0. 0. 1. ]] SLAMing on 24.321193817 meters Centerline goodness : 0.907191 with order 1 Centerline is valid? [False, False] Translation: X:6.12, Y:0.42, Z:0.33 [[ 0.99934576 -0.02084006 -0.02955919 6.12113549] [ 0.02132014 0.99964434 0.01602041 0.41852985] [ 0.02921481 -0.01664013 0.99943464 0.32669248] [ 0. 0. 0. 1. ]] SLAMing on 24.381193817 meters Centerline goodness : 0.907808 with order 1 Centerline is valid? [False, False] Translation: X:6.13, Y:0.42, Z:0.33 [[ 9.99416454e-01 -2.17212223e-02 -2.63616997e-02 6.12606176e+00] [ 2.18048182e-02 9.99758076e-01 2.88777429e-03 4.18414954e-01] [ 2.62925962e-02 -3.46090121e-03 9.99648299e-01 3.28511575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.441193817 meters Centerline goodness : 0.906910 with order 1 Centerline is valid? [False, False] Translation: X:6.13, Y:0.41, Z:0.33 [[ 0.99953305 -0.01621436 -0.02589929 6.12513681] [ 0.01646518 0.9998193 0.00950055 0.40747745] [ 0.02574056 -0.00992255 0.99961941 0.32908874] [ 0. 0. 0. 1. ]] SLAMing on 24.501193817 meters Centerline goodness : 0.904064 with order 1 Centerline is valid? [False, False] Translation: X:6.12, Y:0.40, Z:0.33 [[ 9.99656478e-01 -4.12005522e-03 -2.58833958e-02 6.12303000e+00] [ 4.06136175e-03 9.99989062e-01 -2.31977175e-03 4.01613983e-01] [ 2.58926703e-02 2.21385302e-03 9.99662277e-01 3.26661303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.561193817 meters Centerline goodness : 0.899343 with order 1 Centerline is valid? [False, False] Translation: X:6.15, Y:0.37, Z:0.33 [[ 9.99806567e-01 5.52043895e-04 -1.96602098e-02 6.15376755e+00] [ 7.01053333e-04 9.97970515e-01 6.36738504e-02 3.74197345e-01] [ 1.96554605e-02 -6.36753166e-02 9.97777088e-01 3.28589219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.621193816999998 meters Centerline goodness : 0.894201 with order 1 Centerline is valid? [False, False] Translation: X:6.17, Y:0.36, Z:0.33 [[ 9.99543319e-01 -4.12296634e-03 -2.99358321e-02 6.16858920e+00] [ 5.33855682e-03 9.99159557e-01 4.06408474e-02 3.58484573e-01] [ 2.97431119e-02 -4.07821017e-02 9.98725271e-01 3.27184335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.681193817 meters Centerline goodness : 0.894826 with order 1 Centerline is valid? [False, False] Translation: X:6.17, Y:0.35, Z:0.33 [[ 0.99930765 -0.00945928 -0.03598256 6.16839719] [ 0.01027348 0.99969382 0.02251063 0.34873688] [ 0.03575861 -0.02286471 0.99909886 0.32800082] [ 0. 0. 0. 1. ]] SLAMing on 24.741193817 meters Centerline goodness : 0.891249 with order 1 Centerline is valid? [False, False] Translation: X:6.18, Y:0.33, Z:0.33 [[ 0.99907468 -0.01562749 -0.04006951 6.17802713] [ 0.01624871 0.99975206 0.01522509 0.33016346] [ 0.03982164 -0.01586208 0.99908089 0.33021438] [ 0. 0. 0. 1. ]] SLAMing on 24.801193816999998 meters Centerline goodness : 0.891128 with order 1 Centerline is valid? [False, False] Translation: X:6.18, Y:0.32, Z:0.33 [[ 9.99055220e-01 -2.16349172e-02 -3.76908276e-02 6.18431538e+00] [ 2.14533452e-02 9.99756248e-01 -5.21525145e-03 3.21742311e-01] [ 3.77944719e-02 4.40172985e-03 9.99275839e-01 3.34189331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.861193817 meters Centerline goodness : 0.900267 with order 1 Centerline is valid? [False, False] Translation: X:6.19, Y:0.30, Z:0.34 [[ 0.99903395 -0.03258508 -0.02948529 6.19256842] [ 0.03229276 0.999425 -0.01033654 0.29901407] [ 0.02980515 0.0093744 0.99951177 0.33503092] [ 0. 0. 0. 1. ]] SLAMing on 24.921193817 meters Centerline goodness : 0.899232 with order 1 Centerline is valid? [False, False] Translation: X:6.21, Y:0.29, Z:0.33 [[ 0.9988101 -0.04133605 -0.02587883 6.21048309] [ 0.0409588 0.9990491 -0.01494219 0.28820145] [ 0.02647187 0.01386444 0.99955341 0.33472362] [ 0. 0. 0. 1. ]] SLAMing on 24.981193817 meters Centerline goodness : 0.898125 with order 1 Centerline is valid? [False, False] Translation: X:6.24, Y:0.28, Z:0.33 [[ 0.99841353 -0.04796514 -0.02949187 6.23649827] [ 0.04748569 0.9987315 -0.01674832 0.27525269] [ 0.03025779 0.01532131 0.9994247 0.33155363] [ 0. 0. 0. 1. ]] SLAMing on 25.041193817 meters Centerline goodness : 0.897626 with order 1 Centerline is valid? [False, False] Translation: X:6.26, Y:0.27, Z:0.33 [[ 0.99831219 -0.05032003 -0.0289941 6.25861416] [ 0.04980911 0.99859505 -0.0180827 0.26994687] [ 0.02986329 0.01660801 0.99941601 0.33056572] [ 0. 0. 0. 1. ]] SLAMing on 25.101193817 meters Centerline goodness : 0.901330 with order 1 Centerline is valid? [False, False] Translation: X:6.28, Y:0.26, Z:0.34 [[ 0.99840522 -0.04911563 -0.02783302 6.28355025] [ 0.04841673 0.99850797 -0.02525174 0.25993679] [ 0.02903175 0.02386389 0.99929359 0.3351867 ] [ 0. 0. 0. 1. ]] SLAMing on 25.161193817 meters Centerline goodness : 0.903339 with order 1 Centerline is valid? [False, False] Translation: X:6.31, Y:0.26, Z:0.33 [[ 0.99870949 -0.04315958 -0.0267695 6.31289538] [ 0.04236093 0.99866034 -0.02971655 0.25651386] [ 0.02801619 0.02854422 0.99919984 0.33466948] [ 0. 0. 0. 1. ]] SLAMing on 25.221193817 meters Centerline goodness : 0.898619 with order 1 Centerline is valid? [False, False] Translation: X:6.35, Y:0.26, Z:0.33 [[ 0.99909714 -0.03375233 -0.02580089 6.35332913] [ 0.03267383 0.99861911 -0.04113761 0.25876751] [ 0.02715375 0.04025746 0.99882031 0.33347858] [ 0. 0. 0. 1. ]] SLAMing on 25.281193817 meters Centerline goodness : 0.898547 with order 1 Centerline is valid? [False, False] Translation: X:6.39, Y:0.27, Z:0.33 [[ 0.99965453 -0.02029939 -0.01669626 6.39373834] [ 0.01882785 0.99628691 -0.08401136 0.26591933] [ 0.01833964 0.08366799 0.99632491 0.330107 ] [ 0. 0. 0. 1. ]] SLAMing on 25.341193817 meters Centerline goodness : 0.898185 with order 1 Centerline is valid? [False, False] Translation: X:6.43, Y:0.27, Z:0.33 [[ 0.9997365 -0.01527854 -0.01713171 6.43145656] [ 0.01348037 0.99483907 -0.10056593 0.2656993 ] [ 0.01857979 0.10030849 0.99478289 0.33153929] [ 0. 0. 0. 1. ]] SLAMing on 25.401193817 meters Centerline goodness : 0.899905 with order 1 Centerline is valid? [False, False] Translation: X:6.45, Y:0.25, Z:0.33 [[ 0.99976697 -0.01600674 -0.01448398 6.44724886] [ 0.0146815 0.99606634 -0.08738596 0.25432601] [ 0.01582577 0.08715295 0.99606923 0.3308973 ] [ 0. 0. 0. 1. ]] SLAMing on 25.461193816999998 meters Centerline goodness : 0.897113 with order 1 Centerline is valid? [False, False] Translation: X:6.47, Y:0.24, Z:0.33 [[ 0.99972362 -0.01411531 -0.0188001 6.4722017 ] [ 0.01252064 0.99652112 -0.08239472 0.24352691] [ 0.01989772 0.08213656 0.99642243 0.33020677] [ 0. 0. 0. 1. ]] SLAMing on 25.521193817 meters Centerline goodness : 0.901914 with order 1 Centerline is valid? [False, False] Translation: X:6.51, Y:0.24, Z:0.33 [[ 0.99978647 -0.0123065 -0.0165999 6.50894276] [ 0.01091038 0.99659556 -0.08172054 0.23592051] [ 0.01754908 0.08152198 0.99651703 0.33078662] [ 0. 0. 0. 1. ]] SLAMing on 25.581193817 meters Centerline goodness : 0.900988 with order 1 Centerline is valid? [False, False] Translation: X:6.54, Y:0.23, Z:0.33 [[ 0.99984512 -0.01250992 -0.01237865 6.5427666 ] [ 0.01142053 0.99636053 -0.08447054 0.22766555] [ 0.01339031 0.08431609 0.99634908 0.33259915] [ 0. 0. 0. 1. ]] SLAMing on 25.641193816999998 meters Centerline goodness : 0.907240 with order 1 Centerline is valid? [False, False] Translation: X:6.57, Y:0.22, Z:0.33 [[ 0.99986351 -0.01256815 -0.01072353 6.56758628] [ 0.01178465 0.99746068 -0.0702376 0.21587281] [ 0.01157906 0.07010164 0.99747265 0.32985951] [ 0. 0. 0. 1. ]] SLAMing on 25.701193817 meters Centerline goodness : 0.902541 with order 1 Centerline is valid? [False, False] Translation: X:6.60, Y:0.21, Z:0.33 [[ 0.99982243 -0.01338955 -0.0132597 6.59709041] [ 0.01255166 0.99803583 -0.06137532 0.20677195] [ 0.01405544 0.06119799 0.99802668 0.33224378] [ 0. 0. 0. 1. ]] SLAMing on 25.761193817 meters Centerline goodness : 0.900804 with order 1 Centerline is valid? [False, False] Translation: X:6.60, Y:0.19, Z:0.33 [[ 0.99968138 -0.02093349 -0.01410408 6.59926648] [ 0.01996961 0.99766421 -0.06532487 0.19257142] [ 0.01543862 0.0650224 0.99776437 0.33194717] [ 0. 0. 0. 1. ]] SLAMing on 25.821193817 meters Centerline goodness : 0.901101 with order 1 Centerline is valid? [False, False] Translation: X:6.61, Y:0.19, Z:0.33 [[ 0.99960715 -0.02532116 -0.01201586 6.61157671] [ 0.02457529 0.99797805 -0.0586163 0.18726058] [ 0.01347579 0.05829798 0.99820827 0.33018622] [ 0. 0. 0. 1. ]] SLAMing on 25.881193817 meters Centerline goodness : 0.898799 with order 1 Centerline is valid? [False, False] Translation: X:6.63, Y:0.18, Z:0.33 [[ 0.99934057 -0.03196328 -0.01722695 6.62603432] [ 0.03103334 0.99817593 -0.05178551 0.17786328] [ 0.01885077 0.05121675 0.99850964 0.33240043] [ 0. 0. 0. 1. ]] SLAMing on 25.941193817 meters Centerline goodness : 0.899433 with order 1 Centerline is valid? [False, False] Translation: X:6.63, Y:0.16, Z:0.33 [[ 0.99906783 -0.03935944 -0.01772838 6.63022219] [ 0.0385578 0.99830944 -0.04349216 0.16435248] [ 0.01941023 0.04276805 0.99889646 0.33146382] [ 0. 0. 0. 1. ]] SLAMing on 26.001193817 meters Centerline goodness : 0.894727 with order 1 Centerline is valid? [False, False] Translation: X:6.64, Y:0.16, Z:0.33 [[ 0.99905491 -0.03922992 -0.0187165 6.63525023] [ 0.03840916 0.99836375 -0.04236214 0.16057892] [ 0.02034774 0.04160322 0.99892699 0.32763649] [ 0. 0. 0. 1. ]] SLAMing on 26.061193817 meters Centerline goodness : 0.893845 with order 1 Centerline is valid? [False, False] Translation: X:6.66, Y:0.16, Z:0.33 [[ 0.99913688 -0.03598291 -0.02075368 6.65743079] [ 0.03512354 0.99856671 -0.04038394 0.15709501] [ 0.02217707 0.03962014 0.99896868 0.32867239] [ 0. 0. 0. 1. ]] SLAMing on 26.121193816999998 meters Centerline goodness : 0.898291 with order 1 Centerline is valid? [False, False] Translation: X:6.67, Y:0.16, Z:0.33 [[ 0.99931926 -0.03358679 -0.01526221 6.67124053] [ 0.03294723 0.9986409 -0.04038359 0.15739436] [ 0.01659782 0.03985326 0.99906768 0.33131095] [ 0. 0. 0. 1. ]] SLAMing on 26.181193817 meters Centerline goodness : 0.901395 with order 1 Centerline is valid? [False, False] Translation: X:6.70, Y:0.16, Z:0.33 [[ 0.99931811 -0.03467893 -0.01267605 6.69860425] [ 0.03418345 0.99871511 -0.0374114 0.16187921] [ 0.01395715 0.03695258 0.99921955 0.33214241] [ 0. 0. 0. 1. ]] SLAMing on 26.241193817 meters Centerline goodness : 0.905822 with order 1 Centerline is valid? [False, False] Translation: X:6.74, Y:0.17, Z:0.33 [[ 0.99964234 -0.02523979 -0.00884039 6.7407601 ] [ 0.02475727 0.99839217 -0.05099163 0.17023185] [ 0.01011319 0.05075453 0.99865995 0.33237325] [ 0. 0. 0. 1. ]] SLAMing on 26.301193816999998 meters Centerline goodness : 0.908546 with order 1 Centerline is valid? [False, False] Translation: X:6.79, Y:0.18, Z:0.33 [[ 9.99864062e-01 -1.64706600e-02 -7.58152480e-04 6.78544497e+00] [ 1.63909244e-02 9.97904707e-01 -6.25901954e-02 1.78995890e-01] [ 1.78746576e-03 6.25692602e-02 9.98039024e-01 3.30210648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.361193817 meters Centerline goodness : 0.908772 with order 1 Centerline is valid? [False, False] Translation: X:6.83, Y:0.19, Z:0.33 [[ 0.99990332 -0.00864048 0.01089481 6.83308871] [ 0.00960343 0.99574248 -0.09167709 0.19090378] [-0.01005629 0.09177286 0.99572919 0.32675486] [ 0. 0. 0. 1. ]] SLAMing on 26.421193817 meters Centerline goodness : 0.912699 with order 1 Centerline is valid? [False, False] Translation: X:6.85, Y:0.19, Z:0.32 [[ 0.99983895 -0.01033047 0.01467532 6.85413993] [ 0.01145851 0.99680982 -0.07898659 0.18726283] [-0.01381253 0.07914203 0.99676765 0.32378089] [ 0. 0. 0. 1. ]] SLAMing on 26.481193816999998 meters Centerline goodness : 0.908221 with order 1 Centerline is valid? [False, False] Translation: X:6.90, Y:0.19, Z:0.32 [[ 9.99868152e-01 -4.92281712e-03 1.54739676e-02 6.89554796e+00] [ 6.14510494e-03 9.96778945e-01 -7.99623150e-02 1.87325224e-01] [-1.50304853e-02 8.00468614e-02 9.96677774e-01 3.19561800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.541193817 meters Centerline goodness : 0.903744 with order 1 Centerline is valid? [False, False] Translation: X:6.93, Y:0.19, Z:0.31 [[ 9.99792134e-01 2.22699274e-03 2.02664528e-02 6.92838733e+00] [-4.06891533e-04 9.95998143e-01 -8.93729999e-02 1.88429353e-01] [-2.03843823e-02 8.93461760e-02 9.95792015e-01 3.13073545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.601193817 meters Centerline goodness : 0.901866 with order 1 Centerline is valid? [False, False] Translation: X:6.97, Y:0.21, Z:0.30 [[ 0.99949007 0.0168169 0.02714387 6.96874323] [-0.01230015 0.9872455 -0.1587294 0.20610431] [-0.029467 0.15831459 0.98694893 0.30224754] [ 0. 0. 0. 1. ]] SLAMing on 26.661193817 meters Centerline goodness : 0.898132 with order 1 Centerline is valid? [False, False] Translation: X:6.99, Y:0.20, Z:0.30 [[ 0.99945354 0.02141999 0.02517565 6.99291612] [-0.01725474 0.98770677 -0.15536284 0.19773859] [-0.02819403 0.15484354 0.98753662 0.29867335] [ 0. 0. 0. 1. ]] SLAMing on 26.721193817 meters Centerline goodness : 0.898578 with order 1 Centerline is valid? [False, False] Translation: X:7.02, Y:0.18, Z:0.30 [[ 0.99946244 0.02145059 0.02479333 7.01597099] [-0.01767978 0.98950753 -0.14339548 0.17676551] [-0.0276091 0.14288006 0.98935485 0.29945286] [ 0. 0. 0. 1. ]] SLAMing on 26.781193817 meters Centerline goodness : 0.898779 with order 1 Centerline is valid? [False, False] Translation: X:7.03, Y:0.16, Z:0.30 [[ 0.99949033 0.01506463 0.02814476 7.0348872 ] [-0.01133424 0.99167185 -0.12829059 0.15926583] [-0.02984302 0.12790621 0.99133718 0.30176717] [ 0. 0. 0. 1. ]] SLAMing on 26.841193817 meters Centerline goodness : 0.900590 with order 1 Centerline is valid? [False, False] Translation: X:7.04, Y:0.13, Z:0.31 [[ 9.99539002e-01 5.78363097e-03 2.98049316e-02 7.04451981e+00] [-2.61829469e-03 9.94451283e-01 -1.05165535e-01 1.31765885e-01] [-3.02477911e-02 1.05039016e-01 9.94007986e-01 3.06963037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.901193817 meters Centerline goodness : 0.903179 with order 1 Centerline is valid? [False, False] Translation: X:7.06, Y:0.11, Z:0.31 [[ 9.99608776e-01 -6.97425742e-03 2.70860554e-02 7.06235689e+00] [ 9.43629252e-03 9.95727158e-01 -9.18606734e-02 1.08095370e-01] [-2.63296610e-02 9.20803273e-02 9.95403417e-01 3.09932897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.961193816999998 meters Centerline goodness : 0.906090 with order 1 Centerline is valid? [False, False] Translation: X:7.08, Y:0.09, Z:0.31 [[ 0.99950712 -0.0176732 0.02594564 7.07656528] [ 0.01967306 0.9966833 -0.07896432 0.09374202] [-0.02446404 0.07943583 0.99653974 0.31114707] [ 0. 0. 0. 1. ]] SLAMing on 27.021193817 meters Centerline goodness : 0.905738 with order 1 Centerline is valid? [False, False] Translation: X:7.10, Y:0.08, Z:0.31 [[ 0.99927305 -0.031916 0.02085037 7.10250437] [ 0.03330874 0.99697166 -0.07027121 0.08340732] [-0.01854445 0.07091462 0.99730999 0.31336872] [ 0. 0. 0. 1. ]] SLAMing on 27.081193817 meters Centerline goodness : 0.905384 with order 1 Centerline is valid? [False, False] Translation: X:7.11, Y:0.08, Z:0.32 [[ 0.99920695 -0.03497378 0.01903418 7.1086747 ] [ 0.03614844 0.99720832 -0.06533651 0.07911387] [-0.01669598 0.06597275 0.99768173 0.31875902] [ 0. 0. 0. 1. ]] SLAMing on 27.141193816999998 meters Centerline goodness : 0.906574 with order 1 Centerline is valid? [False, False] Translation: X:7.11, Y:0.08, Z:0.32 [[ 0.99934149 -0.03132016 0.01832054 7.1100286 ] [ 0.03238268 0.9976182 -0.06090387 0.07671258] [-0.01636939 0.06145703 0.99797549 0.31861109] [ 0. 0. 0. 1. ]] SLAMing on 27.201193817 meters Centerline goodness : 0.903736 with order 1 Centerline is valid? [False, False] Translation: X:7.14, Y:0.08, Z:0.32 [[ 0.99971766 -0.020951 0.01120975 7.14142901] [ 0.02147995 0.99855028 -0.04935539 0.07566942] [-0.01015946 0.04958224 0.99871837 0.31765411] [ 0. 0. 0. 1. ]] SLAMing on 27.261193817 meters Centerline goodness : 0.898028 with order 1 Centerline is valid? [False, False] Translation: X:7.16, Y:0.07, Z:0.32 [[ 0.99981674 -0.01348337 0.01359008 7.15941272] [ 0.01410087 0.99882271 -0.04641502 0.07381448] [-0.01294825 0.04659815 0.99882979 0.31723004] [ 0. 0. 0. 1. ]] SLAMing on 27.321193817 meters Centerline goodness : 0.895449 with order 1 Centerline is valid? [False, False] Translation: X:7.19, Y:0.07, Z:0.32 [[ 9.99929292e-01 -6.60241854e-03 9.89034386e-03 7.18816222e+00] [ 6.96142166e-03 9.99301535e-01 -3.67148453e-02 6.99329506e-02] [-9.64102903e-03 3.67811001e-02 9.99276839e-01 3.18263125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.381193817 meters Centerline goodness : 0.893848 with order 1 Centerline is valid? [False, False] Translation: X:7.20, Y:0.07, Z:0.32 [[ 9.99895501e-01 -1.77265581e-03 1.43472645e-02 7.20400977e+00] [ 2.30278656e-03 9.99311939e-01 -3.70181929e-02 6.95350433e-02] [-1.42717722e-02 3.70473633e-02 9.99211594e-01 3.17499370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.441193817 meters Centerline goodness : 0.892644 with order 1 Centerline is valid? [False, False] Translation: X:7.22, Y:0.07, Z:0.32 [[ 9.99816303e-01 9.35007501e-04 1.91438287e-02 7.21845068e+00] [-1.78780858e-04 9.99220897e-01 -3.94660352e-02 6.68015319e-02] [-1.91658147e-02 3.94553629e-02 9.99037510e-01 3.18142306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.501193817 meters Centerline goodness : 0.899264 with order 1 Centerline is valid? [False, False] Translation: X:7.24, Y:0.07, Z:0.32 [[ 9.99786501e-01 3.61108265e-03 2.03448397e-02 7.24162642e+00] [-2.87767622e-03 9.99348964e-01 -3.59634124e-02 6.64897413e-02] [-2.04614613e-02 3.58971884e-02 9.99145996e-01 3.20249975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.561193817 meters Centerline goodness : 0.894037 with order 1 Centerline is valid? [False, False] Translation: X:7.27, Y:0.06, Z:0.32 [[ 9.99820601e-01 1.69791743e-03 1.88648844e-02 7.26907321e+00] [-1.00840579e-03 9.99333160e-01 -3.64995772e-02 6.46020953e-02] [-1.89142778e-02 3.64740058e-02 9.99155592e-01 3.19950889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.621193816999998 meters Centerline goodness : 0.893016 with order 1 Centerline is valid? [False, False] Translation: X:7.27, Y:0.06, Z:0.32 [[ 9.99825459e-01 -2.76432761e-03 1.84772939e-02 7.27068771e+00] [ 3.50360405e-03 9.99189604e-01 -4.00981399e-02 6.08287010e-02] [-1.83514756e-02 4.01558783e-02 9.99024889e-01 3.18865864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.681193817 meters Centerline goodness : 0.894274 with order 1 Centerline is valid? [False, False] Translation: X:7.30, Y:0.06, Z:0.32 [[ 9.99885449e-01 -3.29149120e-03 1.47734394e-02 7.29870651e+00] [ 3.84313714e-03 9.99290412e-01 -3.74686819e-02 5.62265740e-02] [-1.46396285e-02 3.75211661e-02 9.99188592e-01 3.19428871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.741193817 meters Centerline goodness : 0.890996 with order 1 Centerline is valid? [False, False] Translation: X:7.31, Y:0.05, Z:0.32 [[ 0.99989036 -0.01016314 0.01076934 7.31152402] [ 0.01058134 0.99916295 -0.03951495 0.05357099] [-0.01035873 0.03962457 0.99916094 0.31531158] [ 0. 0. 0. 1. ]] SLAMing on 27.801193816999998 meters Centerline goodness : 0.893481 with order 1 Centerline is valid? [False, False] Translation: X:7.34, Y:0.05, Z:0.32 [[ 0.99992692 -0.0090154 0.00805511 7.33715834] [ 0.00929701 0.9993216 -0.03563581 0.04771778] [-0.00772837 0.03570809 0.99933238 0.31783274] [ 0. 0. 0. 1. ]] SLAMing on 27.861193817 meters Centerline goodness : 0.889705 with order 1 Centerline is valid? [False, False] Translation: X:7.36, Y:0.04, Z:0.32 [[ 9.99969020e-01 -4.24952164e-03 6.62572095e-03 7.35840659e+00] [ 4.47431648e-03 9.99401899e-01 -3.42902872e-02 4.35736647e-02] [-6.47604079e-03 3.43188705e-02 9.99389952e-01 3.17694532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.921193817 meters Centerline goodness : 0.892222 with order 1 Centerline is valid? [False, False] Translation: X:7.38, Y:0.04, Z:0.32 [[ 9.99964158e-01 9.06899379e-04 8.41781881e-03 7.38229973e+00] [-6.58776457e-04 9.99566567e-01 -2.94320250e-02 4.49992755e-02] [-8.44086214e-03 2.94254247e-02 9.99531338e-01 3.18656757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.981193816999998 meters Centerline goodness : 0.892839 with order 1 Centerline is valid? [False, False] Translation: X:7.40, Y:0.04, Z:0.32 [[ 9.99916346e-01 1.77839054e-04 1.29332789e-02 7.39801486e+00] [ 2.71125277e-04 9.99397603e-01 -3.47038461e-02 4.29210502e-02] [-1.29316596e-02 3.47044495e-02 9.99313951e-01 3.18745435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.041193817 meters Centerline goodness : 0.890599 with order 1 Centerline is valid? [False, False] Translation: X:7.43, Y:0.04, Z:0.32 [[ 9.99925663e-01 -3.38691653e-03 1.17131041e-02 7.42837087e+00] [ 3.77340845e-03 9.99443814e-01 -3.31334179e-02 4.20839719e-02] [-1.15943693e-02 3.31751532e-02 9.99382299e-01 3.19982323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.101193817 meters Centerline goodness : 0.894860 with order 1 Centerline is valid? [False, False] Translation: X:7.46, Y:0.04, Z:0.32 [[ 9.99954269e-01 -3.70119739e-03 8.81820530e-03 7.45971282e+00] [ 3.97631866e-03 9.99499342e-01 -3.13887523e-02 4.42244798e-02] [-8.69761443e-03 3.14223808e-02 9.99468351e-01 3.19367812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.161193817 meters Centerline goodness : 0.888345 with order 1 Centerline is valid? [False, False] Translation: X:7.49, Y:0.05, Z:0.32 [[ 9.99989037e-01 -3.29202722e-03 3.33004477e-03 7.49058236e+00] [ 3.40430867e-03 9.99406000e-01 -3.42937104e-02 4.87773461e-02] [-3.21517089e-03 3.43046709e-02 9.99406250e-01 3.16134741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.221193817 meters Centerline goodness : 0.886577 with order 1 Centerline is valid? [False, False] Translation: X:7.52, Y:0.05, Z:0.31 [[ 9.99986420e-01 -5.20757271e-03 -2.02790857e-04 7.52146050e+00] [ 5.19711338e-03 9.99358178e-01 -3.54432371e-02 4.95915110e-02] [ 3.87233935e-04 3.54417018e-02 9.99371671e-01 3.14768626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.281193817 meters Centerline goodness : 0.887699 with order 1 Centerline is valid? [False, False] Translation: X:7.52, Y:0.05, Z:0.31 [[ 9.99939819e-01 -1.09456190e-02 -7.42338466e-04 7.52410610e+00] [ 1.09066066e-02 9.99120965e-01 -4.04764479e-02 4.88565130e-02] [ 1.18472570e-03 4.04659156e-02 9.99180217e-01 3.12998800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.341193817 meters Centerline goodness : 0.888242 with order 1 Centerline is valid? [False, False] Translation: X:7.53, Y:0.05, Z:0.31 [[ 9.99918024e-01 -1.27121712e-02 -1.53184214e-03 7.52683357e+00] [ 1.26381358e-02 9.99067980e-01 -4.12728490e-02 4.80701947e-02] [ 2.05508196e-03 4.12501060e-02 9.99146739e-01 3.11829954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.401193817 meters Centerline goodness : 0.890852 with order 1 Centerline is valid? [False, False] Translation: X:7.53, Y:0.05, Z:0.31 [[ 9.99900162e-01 -1.39523872e-02 -2.23528454e-03 7.52818749e+00] [ 1.38484177e-02 9.99053879e-01 -4.12258176e-02 4.64065717e-02] [ 2.80836826e-03 4.11907465e-02 9.99147354e-01 3.12541453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.461193816999998 meters Centerline goodness : 0.896084 with order 1 Centerline is valid? [False, False] Translation: X:7.55, Y:0.05, Z:0.32 [[ 9.99907071e-01 -1.36186527e-02 -6.18532541e-04 7.55270370e+00] [ 1.35854042e-02 9.99188300e-01 -3.79233062e-02 5.02477530e-02] [ 1.13449482e-03 3.79113790e-02 9.99280461e-01 3.16302592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.521193817 meters Centerline goodness : 0.899011 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:0.05, Z:0.32 [[ 9.99985984e-01 -4.77693016e-03 2.28321558e-03 7.58522387e+00] [ 4.86717741e-03 9.99134647e-01 -4.13069929e-02 5.44454477e-02] [-2.08391917e-03 4.13175268e-02 9.99143893e-01 3.18032677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.581193817 meters Centerline goodness : 0.905934 with order 1 Centerline is valid? [False, False] Translation: X:7.60, Y:0.06, Z:0.32 [[ 9.99976115e-01 2.10164866e-04 6.90831802e-03 7.60076039e+00] [ 8.39239324e-05 9.99094658e-01 -4.25424136e-02 5.99736227e-02] [-6.91100456e-03 4.25419773e-02 9.99070777e-01 3.17190026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.641193816999998 meters Centerline goodness : 0.906817 with order 1 Centerline is valid? [False, False] Translation: X:7.64, Y:0.07, Z:0.32 [[ 9.99991062e-01 -1.06914644e-03 4.09056919e-03 7.63754559e+00] [ 1.22528285e-03 9.99263243e-01 -3.83597389e-02 6.97914516e-02] [-4.04654326e-03 3.83644082e-02 9.99255622e-01 3.16556387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.701193817 meters Centerline goodness : 0.898423 with order 1 Centerline is valid? [False, False] Translation: X:7.67, Y:0.07, Z:0.32 [[ 9.99994760e-01 -1.33125026e-03 2.95098700e-03 7.66542056e+00] [ 1.44680487e-03 9.99218204e-01 -3.95080699e-02 7.39464816e-02] [-2.89608480e-03 3.95121323e-02 9.99214894e-01 3.16480654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.761193817 meters Centerline goodness : 0.903740 with order 1 Centerline is valid? [False, False] Translation: X:7.71, Y:0.09, Z:0.31 [[ 9.99989051e-01 4.59474861e-03 8.86802995e-04 7.71172945e+00] [-4.55146778e-03 9.99028680e-01 -4.38289978e-02 8.61247340e-02] [-1.08732485e-03 4.38244816e-02 9.99038654e-01 3.10068634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.821193816999997 meters Centerline goodness : 0.900291 with order 1 Centerline is valid? [False, False] Translation: X:7.74, Y:0.09, Z:0.31 [[ 9.99979906e-01 6.29274899e-03 7.67605646e-04 7.74247385e+00] [-6.25419757e-03 9.99066805e-01 -4.27364464e-02 9.48365737e-02] [-1.03581905e-03 4.27307869e-02 9.99086086e-01 3.06823470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.881193817 meters Centerline goodness : 0.899611 with order 1 Centerline is valid? [False, False] Translation: X:7.76, Y:0.10, Z:0.30 [[ 9.99957075e-01 8.61754014e-03 3.40370156e-03 7.76048784e+00] [-8.44583208e-03 9.98831039e-01 -4.75943685e-02 1.00494491e-01] [-3.80986915e-03 4.75635785e-02 9.98860947e-01 3.04819073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.941193817 meters Centerline goodness : 0.900054 with order 1 Centerline is valid? [False, False] Translation: X:7.78, Y:0.10, Z:0.30 [[ 9.99940245e-01 7.12297245e-03 8.29275121e-03 7.78401858e+00] [-6.79211817e-03 9.99205804e-01 -3.92635802e-02 9.99920463e-02] [-8.56583854e-03 3.92049087e-02 9.99194476e-01 3.02453530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.001193817 meters Centerline goodness : 0.902953 with order 1 Centerline is valid? [False, False] Translation: X:7.81, Y:0.10, Z:0.30 [[ 0.99989034 0.01035115 0.01059084 7.80651313] [-0.00996685 0.99931225 -0.03571673 0.10277971] [-0.01095326 0.03560725 0.99930583 0.30431734] [ 0. 0. 0. 1. ]] SLAMing on 29.061193817 meters Centerline goodness : 0.906220 with order 1 Centerline is valid? [False, False] Translation: X:7.84, Y:0.10, Z:0.30 [[ 0.99990269 0.01056148 0.0091145 7.83531663] [-0.01026009 0.99941896 -0.0325034 0.10186587] [-0.00945249 0.03240672 0.99943007 0.30488021] [ 0. 0. 0. 1. ]] SLAMing on 29.121193816999998 meters Centerline goodness : 0.906317 with order 1 Centerline is valid? [False, False] Translation: X:7.83, Y:0.10, Z:0.31 [[ 0.99988173 0.01238699 0.00911485 7.83456132] [-0.01210499 0.99946543 -0.03036982 0.09760124] [-0.00948617 0.03025589 0.99949717 0.30573526] [ 0. 0. 0. 1. ]] SLAMing on 29.181193817 meters Centerline goodness : 0.910216 with order 1 Centerline is valid? [False, False] Translation: X:7.86, Y:0.10, Z:0.30 [[ 0.99980668 0.01337423 0.01441323 7.86413899] [-0.01294858 0.9994888 -0.0292313 0.09772752] [-0.01479681 0.02903902 0.99946875 0.30036885] [ 0. 0. 0. 1. ]] SLAMing on 29.241193817 meters Centerline goodness : 0.903521 with order 1 Centerline is valid? [False, False] Translation: X:7.91, Y:0.10, Z:0.29 [[ 0.99966434 0.02001151 0.01645448 7.91022363] [-0.01910015 0.9983694 -0.05379337 0.10407129] [-0.01750413 0.05346103 0.99841651 0.29215832] [ 0. 0. 0. 1. ]] SLAMing on 29.301193816999998 meters Centerline goodness : 0.901479 with order 1 Centerline is valid? [False, False] Translation: X:7.94, Y:0.10, Z:0.29 [[ 0.99971718 0.0204956 0.012062 7.93991774] [-0.01985955 0.99851753 -0.0506787 0.09964222] [-0.01308281 0.05042482 0.99864217 0.29198224] [ 0. 0. 0. 1. ]] SLAMing on 29.361193817 meters Centerline goodness : 0.903250 with order 1 Centerline is valid? [False, False] Translation: X:7.95, Y:0.09, Z:0.29 [[ 0.99979939 0.01728747 0.01011499 7.9490595 ] [-0.016813 0.99883423 -0.04524936 0.09132943] [-0.01088545 0.04507022 0.99892451 0.29398865] [ 0. 0. 0. 1. ]] SLAMing on 29.421193817 meters Centerline goodness : 0.902420 with order 1 Centerline is valid? [False, False] Translation: X:7.98, Y:0.09, Z:0.29 [[ 0.9998359 0.01461266 0.01070744 7.98318844] [-0.0141816 0.99912742 -0.03928463 0.08821218] [-0.01127215 0.03912634 0.99917069 0.29406632] [ 0. 0. 0. 1. ]] SLAMing on 29.481193816999998 meters Centerline goodness : 0.906770 with order 1 Centerline is valid? [False, False] Translation: X:8.00, Y:0.08, Z:0.29 [[ 0.99985146 0.00977943 0.01419242 8.00022318] [-0.00934986 0.99950542 -0.03002498 0.08203471] [-0.01447903 0.02988782 0.99944839 0.29336767] [ 0. 0. 0. 1. ]] SLAMing on 29.541193817 meters Centerline goodness : 0.904448 with order 1 Centerline is valid? [False, False] Translation: X:8.00, Y:0.07, Z:0.29 [[ 9.99895874e-01 2.67708982e-03 1.41800421e-02 7.99984791e+00] [-2.17868709e-03 9.99383264e-01 -3.50477469e-02 7.35726860e-02] [-1.42651227e-02 3.50132036e-02 9.99285035e-01 2.94184051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.601193817 meters Centerline goodness : 0.903068 with order 1 Centerline is valid? [False, False] Translation: X:8.02, Y:0.07, Z:0.29 [[ 9.99906784e-01 2.00079776e-03 1.35062964e-02 8.02164788e+00] [-1.49230918e-03 9.99293489e-01 -3.75538999e-02 6.91279368e-02] [-1.35718918e-02 3.75302437e-02 9.99203325e-01 2.93244481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.661193817 meters Centerline goodness : 0.903608 with order 1 Centerline is valid? [False, False] Translation: X:8.05, Y:0.06, Z:0.29 [[ 9.99938501e-01 1.90612082e-03 1.09252694e-02 8.04679103e+00] [-1.53139255e-03 9.99413646e-01 -3.42055442e-02 5.77402764e-02] [-1.09840632e-02 3.41867097e-02 9.99355102e-01 2.94565349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.721193817 meters Centerline goodness : 0.906646 with order 1 Centerline is valid? [False, False] Translation: X:8.07, Y:0.06, Z:0.29 [[ 0.99991364 0.00872987 0.00982396 8.07011524] [-0.00842052 0.99948075 -0.03110177 0.0550724 ] [-0.01009038 0.03101636 0.99946794 0.29177438] [ 0. 0. 0. 1. ]] SLAMing on 29.781193817 meters Centerline goodness : 0.905938 with order 1 Centerline is valid? [False, False] Translation: X:8.11, Y:0.05, Z:0.29 [[ 0.99976789 0.01882562 0.01047715 8.10606307] [-0.01849145 0.99934439 -0.03112644 0.05123851] [-0.01105626 0.03092547 0.99946054 0.29006162] [ 0. 0. 0. 1. ]] SLAMing on 29.841193817 meters Centerline goodness : 0.903452 with order 1 Centerline is valid? [False, False] Translation: X:8.13, Y:0.05, Z:0.29 [[ 0.9997396 0.01883721 0.01288013 8.12572433] [-0.01835262 0.99915562 -0.03675919 0.0489141 ] [-0.01356169 0.03651323 0.99924114 0.28675725] [ 0. 0. 0. 1. ]] SLAMing on 29.901193817 meters Centerline goodness : 0.901600 with order 1 Centerline is valid? [False, False] Translation: X:8.13, Y:0.04, Z:0.29 [[ 0.99983496 0.01327143 0.01240686 8.12761472] [-0.01275405 0.99908229 -0.04088898 0.04132336] [-0.01293813 0.04072399 0.99908666 0.28521097] [ 0. 0. 0. 1. ]] SLAMing on 29.961193816999998 meters Centerline goodness : 0.903266 with order 1 Centerline is valid? [False, False] Translation: X:8.15, Y:0.04, Z:0.28 [[ 9.99904836e-01 3.48356829e-03 1.33485400e-02 8.15257619e+00] [-3.03384969e-03 9.99431970e-01 -3.35638613e-02 3.50229972e-02] [-1.34578796e-02 3.35201697e-02 9.99347429e-01 2.84106945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.021193817 meters Centerline goodness : 0.903390 with order 1 Centerline is valid? [False, False] Translation: X:8.17, Y:0.03, Z:0.28 [[ 9.99849736e-01 -5.24774321e-03 1.65217276e-02 8.17404878e+00] [ 5.70196360e-03 9.99603714e-01 -2.75663180e-02 2.82823376e-02] [-1.63705193e-02 2.76563821e-02 9.99483432e-01 2.81662483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.081193817 meters Centerline goodness : 0.904040 with order 1 Centerline is valid? [False, False] Translation: X:8.17, Y:0.02, Z:0.28 [[ 0.99978506 -0.01269949 0.01638758 8.17388157] [ 0.01322182 0.999395 -0.03216859 0.01815636] [-0.01596914 0.03237835 0.9993481 0.28377831] [ 0. 0. 0. 1. ]] SLAMing on 30.141193816999998 meters Centerline goodness : 0.904426 with order 1 Centerline is valid? [False, False] Translation: X:8.20, Y:0.01, Z:0.29 [[ 0.99976751 -0.01522337 0.01527004 8.19867765] [ 0.01566442 0.99945107 -0.02919228 0.01067763] [-0.01481725 0.02942469 0.99945717 0.28597995] [ 0. 0. 0. 1. ]] SLAMing on 30.201193817 meters Centerline goodness : 0.905624 with order 1 Centerline is valid? [False, False] Translation: X:8.22, Y:0.01, Z:0.29 [[ 9.99721380e-01 -1.83645175e-02 1.48292475e-02 8.22435653e+00] [ 1.87672276e-02 9.99445890e-01 -2.74900818e-02 6.71462808e-03] [-1.43161884e-02 2.77607264e-02 9.99512075e-01 2.89475814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.261193817 meters Centerline goodness : 0.909905 with order 1 Centerline is valid? [False, False] Translation: X:8.26, Y:0.01, Z:0.29 [[ 9.99681186e-01 -2.33636877e-02 9.57413451e-03 8.25654194e+00] [ 2.36307846e-02 9.99305682e-01 -2.88052121e-02 6.83929097e-03] [-8.89449103e-03 2.90222729e-02 9.99539192e-01 2.90836615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.321193816999997 meters Centerline goodness : 0.903175 with order 1 Centerline is valid? [False, False] Translation: X:8.29, Y:0.01, Z:0.29 [[ 9.99723654e-01 -2.30135689e-02 4.79482929e-03 8.28525778e+00] [ 2.31448220e-02 9.99299699e-01 -2.94011806e-02 8.55186012e-03] [-4.11484537e-03 2.95040312e-02 9.99556192e-01 2.90441737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.381193817 meters Centerline goodness : 0.900618 with order 1 Centerline is valid? [False, False] Translation: X:8.32, Y:0.02, Z:0.29 [[ 9.99889995e-01 -1.43152362e-02 3.88229017e-03 8.32358519e+00] [ 1.44457405e-02 9.99248162e-01 -3.59782146e-02 2.31054655e-02] [-3.36433467e-03 3.60303394e-02 9.99345033e-01 2.85391062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.441193817 meters Centerline goodness : 0.896514 with order 1 Centerline is valid? [False, False] Translation: X:8.36, Y:0.03, Z:0.28 [[ 9.99980835e-01 -5.06444175e-03 3.56106854e-03 8.36434228e+00] [ 5.19722419e-03 9.99251880e-01 -3.83232292e-02 3.18803896e-02] [-3.36431867e-03 3.83410024e-02 9.99259050e-01 2.81039431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.501193817 meters Centerline goodness : 0.895097 with order 1 Centerline is valid? [False, False] Translation: X:8.40, Y:0.05, Z:0.28 [[ 9.99973408e-01 6.36329038e-03 3.56248125e-03 8.40238520e+00] [-6.20566095e-03 9.99071449e-01 -4.26348392e-02 4.50507939e-02] [-3.83047116e-03 4.26115979e-02 9.99084370e-01 2.77760863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.561193817 meters Centerline goodness : 0.893206 with order 1 Centerline is valid? [False, False] Translation: X:8.44, Y:0.05, Z:0.27 [[ 9.99888988e-01 1.44181654e-02 3.75877835e-03 8.44179986e+00] [-1.42290150e-02 9.98828589e-01 -4.62491680e-02 5.23752209e-02] [-4.42120343e-03 4.61905500e-02 9.98922863e-01 2.74883438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.621193816999998 meters Centerline goodness : 0.891458 with order 1 Centerline is valid? [False, False] Translation: X:8.48, Y:0.06, Z:0.27 [[ 9.99728709e-01 2.30335683e-02 3.45874623e-03 8.48195161e+00] [-2.28349637e-02 9.98520137e-01 -4.93568731e-02 5.82753542e-02] [-4.59049266e-03 4.92645027e-02 9.98775218e-01 2.71847396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.681193817 meters Centerline goodness : 0.888201 with order 1 Centerline is valid? [False, False] Translation: X:8.52, Y:0.06, Z:0.27 [[ 9.99618448e-01 2.71903541e-02 4.86231232e-03 8.52241234e+00] [-2.68709824e-02 9.98026440e-01 -5.67554034e-02 6.31343281e-02] [-6.39591577e-03 5.66030932e-02 9.98376273e-01 2.67535413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.741193817 meters Centerline goodness : 0.887833 with order 1 Centerline is valid? [False, False] Translation: X:8.55, Y:0.06, Z:0.27 [[ 9.99633389e-01 2.67866571e-02 3.94484001e-03 8.55088181e+00] [-2.65414107e-02 9.98253564e-01 -5.27766618e-02 5.99231192e-02] [-5.35166094e-03 5.26526117e-02 9.98598549e-01 2.69797629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.801193816999998 meters Centerline goodness : 0.892781 with order 1 Centerline is valid? [False, False] Translation: X:8.56, Y:0.05, Z:0.28 [[ 9.99845457e-01 1.73569209e-02 2.79272199e-03 8.55747449e+00] [-1.71885912e-02 9.98503172e-01 -5.19227027e-02 5.24095237e-02] [-3.68976001e-03 5.18666755e-02 9.98647202e-01 2.75584060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.861193817 meters Centerline goodness : 0.891467 with order 1 Centerline is valid? [False, False] Translation: X:8.58, Y:0.04, Z:0.28 [[ 9.99988118e-01 4.26380808e-04 4.85606278e-03 8.58087518e+00] [-2.68700588e-04 9.99474126e-01 -3.24252788e-02 4.28777836e-02] [-4.86733462e-03 3.24235888e-02 9.99462365e-01 2.80209152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.921193817 meters Centerline goodness : 0.893772 with order 1 Centerline is valid? [False, False] Translation: X:8.58, Y:0.04, Z:0.28 [[ 9.99978239e-01 -5.16262776e-03 4.10714414e-03 8.58411891e+00] [ 5.31096906e-03 9.99302388e-01 -3.69666209e-02 4.00454650e-02] [-3.91343404e-03 3.69876294e-02 9.99308061e-01 2.78164292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.981193816999998 meters Centerline goodness : 0.894458 with order 1 Centerline is valid? [False, False] Translation: X:8.60, Y:0.04, Z:0.28 [[ 9.99891595e-01 -1.32667158e-02 6.38693871e-03 8.60388426e+00] [ 1.34512630e-02 9.99466110e-01 -2.97751361e-02 3.84987090e-02] [-5.98851052e-03 2.98578207e-02 9.99536217e-01 2.77769801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.041193817 meters Centerline goodness : 0.894341 with order 1 Centerline is valid? [False, False] Translation: X:8.64, Y:0.04, Z:0.28 [[ 9.99720126e-01 -2.35382852e-02 2.37056216e-03 8.63689369e+00] [ 2.36008171e-02 9.99234795e-01 -3.11901661e-02 3.69656606e-02] [-1.63458517e-03 3.12373840e-02 9.99510657e-01 2.81713258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.101193817 meters Centerline goodness : 0.896578 with order 1 Centerline is valid? [False, False] Translation: X:8.67, Y:0.04, Z:0.28 [[ 9.99642006e-01 -2.67551368e-02 1.52162889e-04 8.66581530e+00] [ 2.67472985e-02 9.99175420e-01 -3.05460549e-02 3.92285136e-02] [ 6.65226461e-04 3.05391896e-02 9.99533349e-01 2.83006776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.161193817 meters Centerline goodness : 0.893545 with order 1 Centerline is valid? [False, False] Translation: X:8.70, Y:0.05, Z:0.28 [[ 9.99583870e-01 -2.88092259e-02 -1.45458191e-03 8.69603283e+00] [ 2.87489411e-02 9.99087292e-01 -3.15924145e-02 4.95423368e-02] [ 2.36340731e-03 3.15374502e-02 9.99499777e-01 2.81936660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.221193817 meters Centerline goodness : 0.894007 with order 1 Centerline is valid? [False, False] Translation: X:8.72, Y:0.06, Z:0.28 [[ 9.99599291e-01 -2.83045928e-02 -3.28848681e-04 8.72307584e+00] [ 2.82797637e-02 9.99092481e-01 -3.18507444e-02 6.01095828e-02] [ 1.23007259e-03 3.18286817e-02 9.99492582e-01 2.80371307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.281193817 meters Centerline goodness : 0.890104 with order 1 Centerline is valid? [False, False] Translation: X:8.76, Y:0.08, Z:0.28 [[ 9.99722155e-01 -2.35705986e-02 1.99433475e-04 8.76060931e+00] [ 2.35604935e-02 9.98964173e-01 -3.89292269e-02 7.53033983e-02] [ 7.18358286e-04 3.89231094e-02 9.99241950e-01 2.78317534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.341193817 meters Centerline goodness : 0.888884 with order 1 Centerline is valid? [False, False] Translation: X:8.80, Y:0.10, Z:0.28 [[ 9.99877256e-01 -1.56191263e-02 1.23108914e-03 8.80019003e+00] [ 1.56573998e-02 9.98969313e-01 -4.26046711e-02 9.86125146e-02] [-5.64372531e-04 4.26187173e-02 9.99091250e-01 2.75683266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.401193817 meters Centerline goodness : 0.883610 with order 1 Centerline is valid? [False, False] Translation: X:8.84, Y:0.11, Z:0.27 [[ 9.99968371e-01 -7.95312906e-03 6.54484082e-05 8.84214812e+00] [ 7.94768137e-03 9.98903797e-01 -4.61306755e-02 1.13431611e-01] [ 3.01506552e-04 4.61297366e-02 9.98935412e-01 2.71177908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.461193816999998 meters Centerline goodness : 0.889130 with order 1 Centerline is valid? [False, False] Translation: X:8.87, Y:0.13, Z:0.27 [[ 9.99993390e-01 -3.18406215e-03 1.75535220e-03 8.86812629e+00] [ 3.25654981e-03 9.99071149e-01 -4.29678181e-02 1.28497425e-01] [-1.61690954e-03 4.29732504e-02 9.99074915e-01 2.70306818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.521193817 meters Centerline goodness : 0.884122 with order 1 Centerline is valid? [False, False] Translation: X:8.91, Y:0.14, Z:0.27 [[ 9.99993635e-01 3.14141680e-03 1.69163475e-03 8.90898439e+00] [-3.06140706e-03 9.98964814e-01 -4.53864370e-02 1.40902857e-01] [-1.83246131e-03 4.53809693e-02 9.98968072e-01 2.68441101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.581193817 meters Centerline goodness : 0.883644 with order 1 Centerline is valid? [False, False] Translation: X:8.93, Y:0.15, Z:0.27 [[ 9.99959603e-01 7.74869335e-03 4.55532787e-03 8.92733648e+00] [-7.52156817e-03 9.98822697e-01 -4.79233277e-02 1.51121699e-01] [-4.92130804e-03 4.78871285e-02 9.98840630e-01 2.67253590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.641193816999998 meters Centerline goodness : 0.887076 with order 1 Centerline is valid? [False, False] Translation: X:8.95, Y:0.16, Z:0.27 [[ 9.99933479e-01 9.28524880e-03 6.84270805e-03 8.95494128e+00] [-8.96871695e-03 9.98950280e-01 -4.49210385e-02 1.61637807e-01] [-7.25262814e-03 4.48566800e-02 9.98967105e-01 2.66279624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.701193817 meters Centerline goodness : 0.885066 with order 1 Centerline is valid? [False, False] Translation: X:9.00, Y:0.17, Z:0.26 [[ 9.99859654e-01 1.52070500e-02 7.02983439e-03 8.99568702e+00] [-1.48545694e-02 9.98749691e-01 -4.77325501e-02 1.74029025e-01] [-7.74691620e-03 4.76214258e-02 9.98835414e-01 2.62895535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.761193817 meters Centerline goodness : 0.885010 with order 1 Centerline is valid? [False, False] Translation: X:9.02, Y:0.18, Z:0.26 [[ 0.99975152 0.02036504 0.00906418 9.01576545] [-0.01990526 0.99863874 -0.04821256 0.17842743] [-0.01003369 0.04802015 0.99879597 0.26058295] [ 0. 0. 0. 1. ]] SLAMing on 31.821193816999997 meters Centerline goodness : 0.879964 with order 1 Centerline is valid? [False, False] Translation: X:9.07, Y:0.19, Z:0.25 [[ 0.9993497 0.0337142 0.01278792 9.07045024] [-0.03272542 0.99694435 -0.07092964 0.18997999] [-0.01514018 0.07046502 0.99739935 0.25471232] [ 0. 0. 0. 1. ]] SLAMing on 31.881193817 meters Centerline goodness : 0.879783 with order 1 Centerline is valid? [False, False] Translation: X:9.11, Y:0.21, Z:0.25 [[ 0.99892207 0.04203135 0.01969954 9.11287762] [-0.03945623 0.99239 -0.11664176 0.20662213] [-0.02445223 0.11573876 0.99297866 0.24892237] [ 0. 0. 0. 1. ]] SLAMing on 31.941193817 meters Centerline goodness : 0.879634 with order 1 Centerline is valid? [False, False] Translation: X:9.12, Y:0.20, Z:0.25 [[ 0.99866225 0.04856974 0.0177393 9.11663309] [-0.04649189 0.99358619 -0.10307755 0.19663278] [-0.02263197 0.10211493 0.99451513 0.24964902] [ 0. 0. 0. 1. ]] SLAMing on 32.001193817 meters Centerline goodness : 0.876727 with order 1 Centerline is valid? [False, False] Translation: X:9.11, Y:0.19, Z:0.25 [[ 0.99859843 0.04959028 0.01849296 9.11368261] [-0.04753824 0.99400257 -0.09848354 0.18752507] [-0.02326587 0.09746639 0.99496683 0.25096656] [ 0. 0. 0. 1. ]] SLAMing on 32.061193816999996 meters Centerline goodness : 0.877897 with order 1 Centerline is valid? [False, False] Translation: X:9.10, Y:0.17, Z:0.25 [[ 0.9987575 0.04344093 0.02442031 9.09851071] [-0.04124404 0.99559318 -0.08422086 0.17468529] [-0.02797133 0.08310902 0.99614783 0.25066308] [ 0. 0. 0. 1. ]] SLAMing on 32.121193817 meters Centerline goodness : 0.878621 with order 1 Centerline is valid? [False, False] Translation: X:9.10, Y:0.16, Z:0.25 [[ 0.9988382 0.04172589 0.02410812 9.09977765] [-0.03979117 0.99632774 -0.07581353 0.1636654 ] [-0.02718297 0.07476616 0.99683053 0.25231138] [ 0. 0. 0. 1. ]] SLAMing on 32.18119381699999 meters Centerline goodness : 0.876645 with order 1 Centerline is valid? [False, False] Translation: X:9.10, Y:0.15, Z:0.26 [[ 0.99887401 0.03914775 0.02679862 9.09528878] [-0.03723265 0.99695107 -0.06857334 0.1531004 ] [-0.02940141 0.06749834 0.99728608 0.25555833] [ 0. 0. 0. 1. ]] SLAMing on 32.241193816999996 meters Centerline goodness : 0.882286 with order 1 Centerline is valid? [False, False] Translation: X:9.09, Y:0.14, Z:0.26 [[ 0.99905759 0.03295854 0.02824305 9.09314622] [-0.03111822 0.99750975 -0.06329254 0.14353328] [-0.03025874 0.06235402 0.9975953 0.26069405] [ 0. 0. 0. 1. ]] SLAMing on 32.301193817 meters Centerline goodness : 0.883750 with order 1 Centerline is valid? [False, False] Translation: X:9.10, Y:0.13, Z:0.26 [[ 0.9992504 0.02682593 0.02791061 9.09938596] [-0.02515994 0.99797501 -0.05841971 0.13367045] [-0.02942125 0.05767369 0.99790187 0.26444602] [ 0. 0. 0. 1. ]] SLAMing on 32.36119381699999 meters Centerline goodness : 0.879782 with order 1 Centerline is valid? [False, False] Translation: X:9.12, Y:0.13, Z:0.26 [[ 0.99930135 0.02054579 0.03121979 9.11912354] [-0.01904185 0.99867879 -0.04772932 0.12998531] [-0.03215917 0.04710149 0.99837229 0.26380112] [ 0. 0. 0. 1. ]] SLAMing on 32.421193816999995 meters Centerline goodness : 0.885607 with order 1 Centerline is valid? [False, False] Translation: X:9.14, Y:0.13, Z:0.26 [[ 0.99949455 0.01190765 0.02947617 9.14047057] [-0.01075183 0.99917883 -0.03906475 0.12995659] [-0.02991714 0.03872808 0.99880183 0.26430313] [ 0. 0. 0. 1. ]] SLAMing on 32.481193817 meters Centerline goodness : 0.883584 with order 1 Centerline is valid? [False, False] Translation: X:9.14, Y:0.13, Z:0.26 [[ 9.99552802e-01 7.51420520e-03 2.89436076e-02 9.14165097e+00] [-6.24326029e-03 9.99022834e-01 -4.37538495e-02 1.31195188e-01] [-2.92441003e-02 4.35535804e-02 9.98622986e-01 2.64072842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.54119381699999 meters Centerline goodness : 0.889871 with order 1 Centerline is valid? [False, False] Translation: X:9.18, Y:0.13, Z:0.27 [[ 9.99576830e-01 -2.50522378e-04 2.90877618e-02 9.17724949e+00] [ 1.36955296e-03 9.99259306e-01 -3.84572933e-02 1.32338357e-01] [-2.90565822e-02 3.84808566e-02 9.98836793e-01 2.66624500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.601193816999995 meters Centerline goodness : 0.893553 with order 1 Centerline is valid? [False, False] Translation: X:9.21, Y:0.14, Z:0.27 [[ 9.99671940e-01 -8.52172536e-03 2.41535240e-02 9.21476828e+00] [ 9.41006814e-03 9.99274391e-01 -3.69072087e-02 1.43065014e-01] [-2.38214849e-02 3.71223873e-02 9.99026759e-01 2.66401012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.661193817 meters Centerline goodness : 0.893353 with order 1 Centerline is valid? [False, False] Translation: X:9.25, Y:0.15, Z:0.26 [[ 0.999716 -0.0124999 0.0202899 9.2489798 ] [ 0.01319457 0.99931856 -0.03447203 0.14965371] [-0.01984518 0.03472996 0.99919968 0.26449247] [ 0. 0. 0. 1. ]] SLAMing on 32.72119381699999 meters Centerline goodness : 0.893819 with order 1 Centerline is valid? [False, False] Translation: X:9.28, Y:0.17, Z:0.26 [[ 0.99965329 -0.01568163 0.02115156 9.27592272] [ 0.01646858 0.9991587 -0.03755911 0.16549559] [-0.02054478 0.03789442 0.99907053 0.26313674] [ 0. 0. 0. 1. ]] SLAMing on 32.781193816999995 meters Centerline goodness : 0.892040 with order 1 Centerline is valid? [False, False] Translation: X:9.32, Y:0.18, Z:0.26 [[ 0.9997055 -0.01087009 0.02169709 9.31564026] [ 0.01172913 0.99913619 -0.039866 0.18001178] [-0.021245 0.04010874 0.99896944 0.26066988] [ 0. 0. 0. 1. ]] SLAMing on 32.841193817 meters Centerline goodness : 0.889271 with order 1 Centerline is valid? [False, False] Translation: X:9.36, Y:0.20, Z:0.26 [[ 9.99813425e-01 -4.53336466e-03 1.87766877e-02 9.35924093e+00] [ 5.49949538e-03 9.98646174e-01 -5.17259516e-02 2.02534984e-01] [-1.85167747e-02 5.18195631e-02 9.98484783e-01 2.60312059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.90119381699999 meters Centerline goodness : 0.886562 with order 1 Centerline is valid? [False, False] Translation: X:9.40, Y:0.22, Z:0.26 [[ 9.99814871e-01 1.92893870e-04 1.92402431e-02 9.39907955e+00] [ 8.61498075e-04 9.98498184e-01 -5.47780379e-02 2.16218989e-01] [-1.92219141e-02 5.47844723e-02 9.98313167e-01 2.57745977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.961193816999995 meters Centerline goodness : 0.884958 with order 1 Centerline is valid? [False, False] Translation: X:9.45, Y:0.24, Z:0.26 [[ 9.99728686e-01 5.34287456e-03 2.26717442e-02 9.45129578e+00] [-3.89795585e-03 9.97986658e-01 -6.33043156e-02 2.40570550e-01] [-2.29643252e-02 6.31987668e-02 9.97736717e-01 2.55651346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.021193817 meters Centerline goodness : 0.875377 with order 1 Centerline is valid? [False, False] Translation: X:9.49, Y:0.25, Z:0.25 [[ 9.99687599e-01 9.21591749e-03 2.32329671e-02 9.49085797e+00] [-7.68769326e-03 9.97853680e-01 -6.50302458e-02 2.51854816e-01] [-2.37824151e-02 6.48313223e-02 9.97612799e-01 2.54699188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.081193817 meters Centerline goodness : 0.878334 with order 1 Centerline is valid? [False, False] Translation: X:9.53, Y:0.26, Z:0.25 [[ 9.99651765e-01 1.09412307e-02 2.40132741e-02 9.53110155e+00] [-9.29720992e-03 9.97673401e-01 -6.75377504e-02 2.62898953e-01] [-2.46963509e-02 6.72909750e-02 9.97427699e-01 2.53010237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.141193816999994 meters Centerline goodness : 0.874410 with order 1 Centerline is valid? [False, False] Translation: X:9.53, Y:0.28, Z:0.25 [[ 9.99546129e-01 9.32421316e-03 2.86460402e-02 9.53114908e+00] [-7.76447099e-03 9.98506117e-01 -5.40855540e-02 2.79767497e-01] [-2.91075516e-02 5.38385847e-02 9.98125321e-01 2.54013190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.201193817 meters Centerline goodness : 0.872293 with order 1 Centerline is valid? [False, False] Translation: X:9.54, Y:0.29, Z:0.25 [[ 9.99510231e-01 9.07470713e-03 2.99491023e-02 9.53889503e+00] [-7.74009569e-03 9.98984668e-01 -4.43815791e-02 2.90361950e-01] [-3.03214439e-02 4.41280334e-02 9.98565635e-01 2.54779596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.261193817 meters Centerline goodness : 0.869528 with order 1 Centerline is valid? [False, False] Translation: X:9.51, Y:0.31, Z:0.26 [[ 9.99506252e-01 9.82153283e-04 3.14052191e-02 9.51217247e+00] [-2.97338378e-05 9.99540458e-01 -3.03128847e-02 3.07459735e-01] [-3.14205590e-02 3.02969840e-02 9.99046966e-01 2.56372868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.321193816999994 meters Centerline goodness : 0.869415 with order 1 Centerline is valid? [False, False] Translation: X:9.50, Y:0.32, Z:0.25 [[ 9.99483773e-01 -1.76522741e-03 3.20791366e-02 9.49871533e+00] [ 2.32880161e-03 9.99843461e-01 -1.75393853e-02 3.19994090e-01] [-3.20431539e-02 1.76050369e-02 9.99331426e-01 2.54289687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.381193816999996 meters Centerline goodness : 0.870692 with order 1 Centerline is valid? [False, False] Translation: X:9.49, Y:0.34, Z:0.25 [[ 9.99353266e-01 1.35567706e-03 3.59334354e-02 9.48931802e+00] [-1.05796551e-03 9.99964971e-01 -8.30280431e-03 3.36902484e-01] [-3.59434327e-02 8.25941827e-03 9.99319694e-01 2.50544267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.441193817 meters Centerline goodness : 0.867595 with order 1 Centerline is valid? [False, False] Translation: X:9.45, Y:0.34, Z:0.26 [[ 9.99525335e-01 1.21118499e-03 3.07837157e-02 9.45160941e+00] [-1.69512876e-03 9.99875318e-01 1.56995398e-02 3.38666208e-01] [-3.07608624e-02 -1.57442701e-02 9.99402765e-01 2.58571897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.501193816999994 meters Centerline goodness : 0.873745 with order 1 Centerline is valid? [False, False] Translation: X:9.44, Y:0.36, Z:0.26 [[ 9.99626337e-01 8.40239302e-03 2.60112888e-02 9.43614198e+00] [-8.81146258e-03 9.99838671e-01 1.56521499e-02 3.57062130e-01] [-2.58755769e-02 -1.58754988e-02 9.99539105e-01 2.63923989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.561193816999996 meters Centerline goodness : 0.878536 with order 1 Centerline is valid? [False, False] Translation: X:9.40, Y:0.36, Z:0.28 [[ 0.99981494 0.01379677 0.01340628 9.40340184] [-0.01446103 0.99860494 0.05078429 0.35932223] [-0.01268692 -0.05096876 0.99861966 0.27670283] [ 0. 0. 0. 1. ]] SLAMing on 33.621193817 meters Centerline goodness : 0.877482 with order 1 Centerline is valid? [False, False] Translation: X:9.39, Y:0.36, Z:0.28 [[ 9.99552957e-01 2.88742496e-02 7.75647321e-03 9.39244513e+00] [-2.93838846e-02 9.96633086e-01 7.65446206e-02 3.61980788e-01] [-5.52018935e-03 -7.67383172e-02 9.97035986e-01 2.83589135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.68119381699999 meters Centerline goodness : 0.874419 with order 1 Centerline is valid? [False, False] Translation: X:9.41, Y:0.36, Z:0.28 [[ 9.99349253e-01 3.51316149e-02 8.17562454e-03 9.41277275e+00] [-3.57771412e-02 9.94270169e-01 1.00731461e-01 3.59831098e-01] [-4.58992071e-03 -1.00958410e-01 9.94880059e-01 2.83023615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.741193816999996 meters Centerline goodness : 0.875500 with order 1 Centerline is valid? [False, False] Translation: X:9.44, Y:0.35, Z:0.28 [[ 9.99108175e-01 3.98206460e-02 1.40417536e-02 9.44128675e+00] [-4.11978085e-02 9.92212874e-01 1.17542982e-01 3.54073001e-01] [-9.25177120e-03 -1.18016644e-01 9.92968517e-01 2.81753532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.801193817 meters Centerline goodness : 0.874612 with order 1 Centerline is valid? [False, False] Translation: X:9.48, Y:0.35, Z:0.28 [[ 0.99899152 0.04175235 0.01651325 9.4833712 ] [-0.04342 0.99199512 0.11857648 0.34701675] [-0.01143022 -0.1191739 0.9928076 0.28340995] [ 0. 0. 0. 1. ]] SLAMing on 33.86119381699999 meters Centerline goodness : 0.873561 with order 1 Centerline is valid? [False, False] Translation: X:9.51, Y:0.31, Z:0.29 [[ 0.99876389 0.03891153 0.03092869 9.51246057] [-0.044488 0.97731581 0.20706187 0.30861018] [-0.02217001 -0.20818187 0.97783884 0.29111718] [ 0. 0. 0. 1. ]] SLAMing on 33.921193816999995 meters Centerline goodness : 0.876574 with order 1 Centerline is valid? [False, False] Translation: X:9.55, Y:0.27, Z:0.32 [[ 0.99893623 0.03125505 0.03390475 9.55393614] [-0.04002955 0.95275288 0.3010973 0.27234381] [-0.02289204 -0.3021342 0.95299049 0.317294 ] [ 0. 0. 0. 1. ]] SLAMing on 33.981193817 meters Centerline goodness : 0.875365 with order 1 Centerline is valid? [False, False] Translation: X:9.58, Y:0.23, Z:0.34 [[ 0.99905039 0.02351181 0.03668121 9.58487245] [-0.03664883 0.9087811 0.41566065 0.22941483] [-0.02356226 -0.41661026 0.90877979 0.34089676] [ 0. 0. 0. 1. ]] SLAMing on 34.04119381699999 meters Centerline goodness : 0.874567 with order 1 Centerline is valid? [False, False] Translation: X:9.62, Y:0.18, Z:0.38 [[ 0.99911651 0.01901246 0.03747956 9.61676863] [-0.03607616 0.84545514 0.53282653 0.18295971] [-0.02155695 -0.5337079 0.84539409 0.37948131] [ 0. 0. 0. 1. ]] SLAMing on 34.101193816999995 meters Centerline goodness : 0.874956 with order 1 Centerline is valid? [False, False] Translation: X:9.66, Y:0.15, Z:0.42 [[ 0.99914805 0.01368011 0.03893629 9.65670793] [-0.03501647 0.78032064 0.62439855 0.15427671] [-0.02184095 -0.62523 0.78013487 0.41556102] [ 0. 0. 0. 1. ]] SLAMing on 34.161193817 meters Centerline goodness : 0.878375 with order 1 Centerline is valid? [False, False] Translation: X:9.69, Y:0.13, Z:0.46 [[ 9.99270651e-01 5.18610405e-03 3.78321462e-02 9.68957070e+00] [-3.07250525e-02 6.97489679e-01 7.15935834e-01 1.29837318e-01] [-2.26746138e-02 -7.16576062e-01 6.97140309e-01 4.58222478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.22119381699999 meters Centerline goodness : 0.872573 with order 1 Centerline is valid? [False, False] Translation: X:9.73, Y:0.11, Z:0.52 [[ 9.99473832e-01 -7.56740581e-03 3.15403466e-02 9.72700132e+00] [-2.12948795e-02 5.80390625e-01 8.14059734e-01 1.06792411e-01] [-2.44660418e-02 -8.14303050e-01 5.79924095e-01 5.18732118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.281193816999995 meters Centerline goodness : 0.871157 with order 1 Centerline is valid? [False, False] Translation: X:9.66, Y:0.12, Z:0.50 [[ 0.99940876 -0.01003203 0.03288591 9.65763656] [-0.01728945 0.68011438 0.73290211 0.12443873] [-0.02971868 -0.73303737 0.67953882 0.50461045] [ 0. 0. 0. 1. ]] SLAMing on 34.341193817 meters Centerline goodness : 0.871894 with order 1 Centerline is valid? [False, False] Translation: X:9.60, Y:0.15, Z:0.49 [[ 0.99928975 -0.01306736 0.03534458 9.59664831] [-0.01247422 0.77035626 0.63749166 0.14612771] [-0.03555825 -0.63747978 0.76964611 0.4867395 ] [ 0. 0. 0. 1. ]] SLAMing on 34.40119381699999 meters Centerline goodness : 0.873527 with order 1 Centerline is valid? [False, False] Translation: X:9.56, Y:0.16, Z:0.47 [[ 9.99196160e-01 -1.66840604e-02 3.64509986e-02 9.56076630e+00] [-6.61957027e-03 8.28127946e-01 5.60500032e-01 1.62123431e-01] [-3.95375070e-02 -5.60290770e-01 8.27351823e-01 4.73713964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.461193816999995 meters Centerline goodness : 0.875898 with order 1 Centerline is valid? [False, False] Translation: X:9.53, Y:0.17, Z:0.47 [[ 9.99176381e-01 -2.13134597e-02 3.45296403e-02 9.53480899e+00] [ 1.49546511e-03 8.69712214e-01 4.93556916e-01 1.74816872e-01] [-4.05502553e-02 -4.93098775e-01 8.69027776e-01 4.65005628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.521193817 meters Centerline goodness : 0.882076 with order 1 Centerline is valid? [False, False] Translation: X:9.52, Y:0.20, Z:0.45 [[ 9.99228677e-01 -1.81474124e-02 3.48241639e-02 9.51848661e+00] [ 1.60502513e-03 9.04944431e-01 4.25526733e-01 1.95299823e-01] [-3.92361423e-02 -4.25142621e-01 9.04275554e-01 4.54303018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.581193817 meters Centerline goodness : 0.878066 with order 1 Centerline is valid? [False, False] Translation: X:9.49, Y:0.22, Z:0.44 [[ 9.98922995e-01 -5.50925803e-03 4.60705775e-02 9.49214065e+00] [-1.02845452e-02 9.41936427e-01 3.35633724e-01 2.22830014e-01] [-4.52446480e-02 -3.35746059e-01 9.40865296e-01 4.43105905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.641193816999994 meters Centerline goodness : 0.880740 with order 1 Centerline is valid? [False, False] Translation: X:9.48, Y:0.25, Z:0.43 [[ 9.98552972e-01 6.04584595e-03 5.34360431e-02 9.48063332e+00] [-1.93504712e-02 9.67498447e-01 2.52135510e-01 2.47712303e-01] [-5.01749162e-02 -2.52804675e-01 9.66215439e-01 4.33966503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.701193817 meters Centerline goodness : 0.882331 with order 1 Centerline is valid? [False, False] Translation: X:9.47, Y:0.28, Z:0.42 [[ 0.99789366 0.02149227 0.0612073 9.46760474] [-0.03000356 0.98945075 0.1417286 0.28438883] [-0.05751554 -0.14326651 0.98801147 0.42433773] [ 0. 0. 0. 1. ]] SLAMing on 34.761193817 meters Centerline goodness : 0.883111 with order 1 Centerline is valid? [False, False] Translation: X:9.46, Y:0.29, Z:0.42 [[ 0.99807427 0.02332414 0.05747814 9.46184573] [-0.03006843 0.99238866 0.11941789 0.28713143] [-0.05425534 -0.1209162 0.99117891 0.42089282] [ 0. 0. 0. 1. ]] SLAMing on 34.821193816999994 meters Centerline goodness : 0.887740 with order 1 Centerline is valid? [False, False] Translation: X:9.45, Y:0.28, Z:0.42 [[ 0.99833828 0.02320028 0.05274871 9.45313294] [-0.02812289 0.99511973 0.09458238 0.28410783] [-0.05029694 -0.09590866 0.99411858 0.41867728] [ 0. 0. 0. 1. ]] SLAMing on 34.881193816999996 meters Centerline goodness : 0.889277 with order 1 Centerline is valid? [False, False] Translation: X:9.46, Y:0.28, Z:0.42 [[ 0.99842252 0.03133115 0.04659214 9.46271774] [-0.03487724 0.99639349 0.07735362 0.28436182] [-0.04400053 -0.0788566 0.99591445 0.41897963] [ 0. 0. 0. 1. ]] SLAMing on 34.941193817 meters Centerline goodness : 0.885577 with order 1 Centerline is valid? [False, False] Translation: X:9.47, Y:0.28, Z:0.42 [[ 0.99818932 0.04290644 0.0421559 9.47430231] [-0.04554792 0.99692032 0.06383782 0.2811 ] [-0.03928702 -0.06564234 0.99706951 0.41778402] [ 0. 0. 0. 1. ]] SLAMing on 35.001193816999994 meters Centerline goodness : 0.889002 with order 1 Centerline is valid? [False, False] Translation: X:9.47, Y:0.28, Z:0.42 [[ 0.99816496 0.04053181 0.04498767 9.46982625] [-0.04317667 0.99729616 0.05946547 0.27903213] [-0.04245578 -0.06129877 0.99721611 0.41556757] [ 0. 0. 0. 1. ]] SLAMing on 35.061193816999996 meters Centerline goodness : 0.890695 with order 1 Centerline is valid? [False, False] Translation: X:9.47, Y:0.27, Z:0.42 [[ 0.99862698 0.02703447 0.04486979 9.46745462] [-0.02913824 0.99847386 0.0469139 0.27088322] [-0.04353302 -0.04815692 0.99789067 0.41793672] [ 0. 0. 0. 1. ]] SLAMing on 35.121193817 meters Centerline goodness : 0.891435 with order 1 Centerline is valid? [False, False] Translation: X:9.47, Y:0.27, Z:0.42 [[ 0.99889885 0.01610077 0.04406642 9.46875646] [-0.01766613 0.99921824 0.0353669 0.27035884] [-0.04346254 -0.03610644 0.99840239 0.41748214] [ 0. 0. 0. 1. ]] SLAMing on 35.18119381699999 meters Centerline goodness : 0.889920 with order 1 Centerline is valid? [False, False] Translation: X:9.46, Y:0.27, Z:0.42 [[ 9.99218530e-01 6.94806166e-03 3.89108510e-02 9.45789374e+00] [-8.36261888e-03 9.99305590e-01 3.63098427e-02 2.68230470e-01] [-3.86315479e-02 -3.66068643e-02 9.98582766e-01 4.21618975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.241193816999996 meters Centerline goodness : 0.892243 with order 1 Centerline is valid? [False, False] Translation: X:9.48, Y:0.27, Z:0.42 [[ 9.99227721e-01 6.71256853e-03 3.87156794e-02 9.47785769e+00] [-7.35663533e-03 9.99836514e-01 1.65174122e-02 2.69087448e-01] [-3.85984756e-02 -1.67894733e-02 9.99113743e-01 4.21138365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.301193817 meters Centerline goodness : 0.891617 with order 1 Centerline is valid? [False, False] Translation: X:9.50, Y:0.27, Z:0.42 [[ 9.99198103e-01 8.82753398e-03 3.90541369e-02 9.49721131e+00] [-8.84719378e-03 9.99960808e-01 3.30598282e-04 2.71391058e-01] [-3.90496879e-02 -6.75852694e-04 9.99237041e-01 4.20279256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.36119381699999 meters Centerline goodness : 0.894945 with order 1 Centerline is valid? [False, False] Translation: X:9.52, Y:0.27, Z:0.42 [[ 9.99241953e-01 9.84619588e-03 3.76639343e-02 9.52335113e+00] [-9.47427229e-03 9.99904708e-01 -1.00405674e-02 2.74781756e-01] [-3.77592066e-02 9.67611778e-03 9.99240019e-01 4.22095180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.421193816999995 meters Centerline goodness : 0.894416 with order 1 Centerline is valid? [False, False] Translation: X:9.55, Y:0.28, Z:0.42 [[ 0.99932539 0.01306642 0.03432247 9.5524193 ] [-0.01245371 0.99976033 -0.01800521 0.27908458] [-0.0345495 0.01756562 0.99924861 0.42060722] [ 0. 0. 0. 1. ]] SLAMing on 35.481193817 meters Centerline goodness : 0.895507 with order 1 Centerline is valid? [False, False] Translation: X:9.59, Y:0.28, Z:0.42 [[ 0.99927119 0.0219908 0.03120088 9.58786308] [-0.02092514 0.99920003 -0.03407981 0.2794952 ] [-0.03192536 0.03340209 0.99893197 0.41997084] [ 0. 0. 0. 1. ]] SLAMing on 35.54119381699999 meters Centerline goodness : 0.897388 with order 1 Centerline is valid? [False, False] Translation: X:9.59, Y:0.28, Z:0.42 [[ 0.99907645 0.02966668 0.03108256 9.58849702] [-0.0288928 0.99926839 -0.02505774 0.27679017] [-0.0318032 0.02413654 0.99920267 0.41964175] [ 0. 0. 0. 1. ]] SLAMing on 35.601193816999995 meters Centerline goodness : 0.893375 with order 1 Centerline is valid? [False, False] Translation: X:9.58, Y:0.27, Z:0.42 [[ 0.99917946 0.03049354 0.02665616 9.58286248] [-0.03019159 0.99947615 -0.01165771 0.27160309] [-0.02699768 0.01084335 0.99957668 0.41901245] [ 0. 0. 0. 1. ]] SLAMing on 35.661193817 meters Centerline goodness : 0.895152 with order 1 Centerline is valid? [False, False] Translation: X:9.58, Y:0.27, Z:0.42 [[ 0.99917569 0.03055617 0.0267256 9.58255065] [-0.03027609 0.99948298 -0.01082278 0.26894633] [-0.02704248 0.01000472 0.99958422 0.41910652] [ 0. 0. 0. 1. ]] SLAMing on 35.72119381699999 meters Centerline goodness : 0.894518 with order 1 Centerline is valid? [False, False] Translation: X:9.58, Y:0.27, Z:0.42 [[ 0.99918282 0.03032847 0.02671839 9.58186037] [-0.03005315 0.9994916 -0.01064675 0.26796266] [-0.02702771 0.00983507 0.9995863 0.42021268] [ 0. 0. 0. 1. ]] SLAMing on 35.781193816999995 meters Centerline goodness : 0.896587 with order 1 Centerline is valid? [False, False] Translation: X:9.58, Y:0.26, Z:0.42 [[ 9.99189224e-01 3.02640140e-02 2.65515292e-02 9.58196495e+00] [-3.00260316e-02 9.99505698e-01 -9.31649590e-03 2.63737340e-01] [-2.68203592e-02 8.51170526e-03 9.99604031e-01 4.20073990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.841193817 meters Centerline goodness : 0.899242 with order 1 Centerline is valid? [False, False] Translation: X:9.58, Y:0.26, Z:0.42 [[ 9.99214555e-01 2.89665134e-02 2.70409870e-02 9.58055296e+00] [-2.87206585e-02 9.99542933e-01 -9.43655549e-03 2.62384474e-01] [-2.73019716e-02 8.65250864e-03 9.99589784e-01 4.20625895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.90119381699999 meters Centerline goodness : 0.899789 with order 1 Centerline is valid? [False, False] Translation: X:9.58, Y:0.26, Z:0.42 [[ 9.99541855e-01 1.72336827e-02 2.48813250e-02 9.57604086e+00] [-1.71833807e-02 9.99849859e-01 -2.23408747e-03 2.57500237e-01] [-2.49160909e-02 1.80551866e-03 9.99687916e-01 4.22646501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.961193816999995 meters Centerline goodness : 0.905218 with order 1 Centerline is valid? [False, False] Translation: X:9.60, Y:0.26, Z:0.42 [[ 9.99675329e-01 1.33203238e-02 2.17210860e-02 9.60021741e+00] [-1.31325979e-02 9.99875370e-01 -8.76243023e-03 2.59022529e-01] [-2.18350973e-02 8.47433103e-03 9.99725669e-01 4.19710941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.021193817 meters Centerline goodness : 0.902597 with order 1 Centerline is valid? [False, False] Translation: X:9.63, Y:0.26, Z:0.42 [[ 0.99970457 0.0138857 0.01994889 9.63086901] [-0.01346238 0.99968462 -0.02119971 0.26018298] [-0.02023697 0.02092489 0.99957622 0.41822539] [ 0. 0. 0. 1. ]] SLAMing on 36.08119381699999 meters Centerline goodness : 0.904726 with order 1 Centerline is valid? [False, False] Translation: X:9.65, Y:0.26, Z:0.42 [[ 0.99973267 0.01217071 0.01965875 9.6528875 ] [-0.01165218 0.99958673 -0.02627924 0.26138882] [-0.01997046 0.02604314 0.99946132 0.41607467] [ 0. 0. 0. 1. ]] SLAMing on 36.141193816999994 meters Centerline goodness : 0.905498 with order 1 Centerline is valid? [False, False] Translation: X:9.68, Y:0.26, Z:0.41 [[ 0.99981033 0.01064639 0.01630853 9.67835474] [-0.01017713 0.99953937 -0.02859155 0.26038011] [-0.01660541 0.02842015 0.99945813 0.41262413] [ 0. 0. 0. 1. ]] SLAMing on 36.201193817 meters Centerline goodness : 0.903297 with order 1 Centerline is valid? [False, False] Translation: X:9.72, Y:0.26, Z:0.41 [[ 0.99978305 0.01123637 0.01753863 9.71716992] [-0.01065368 0.99939954 -0.03297065 0.26082538] [-0.01789857 0.03277665 0.99930242 0.41072425] [ 0. 0. 0. 1. ]] SLAMing on 36.261193817 meters Centerline goodness : 0.904965 with order 1 Centerline is valid? [False, False] Translation: X:9.76, Y:0.27, Z:0.41 [[ 0.99966685 0.01922662 0.01722 9.76109218] [-0.01843535 0.99881745 -0.04498714 0.26528831] [-0.01806459 0.04465469 0.99883914 0.40873454] [ 0. 0. 0. 1. ]] SLAMing on 36.321193816999994 meters Centerline goodness : 0.905181 with order 1 Centerline is valid? [False, False] Translation: X:9.81, Y:0.28, Z:0.41 [[ 0.99936462 0.0274601 0.0227223 9.805148 ] [-0.02541199 0.99597272 -0.08598002 0.27994442] [-0.02499181 0.08534797 0.99603772 0.40539089] [ 0. 0. 0. 1. ]] SLAMing on 36.381193816999996 meters Centerline goodness : 0.907229 with order 1 Centerline is valid? [False, False] Translation: X:9.80, Y:0.27, Z:0.41 [[ 0.99933349 0.02624405 0.02537376 9.80476549] [-0.02427369 0.996883 -0.07506709 0.27479832] [-0.02726473 0.07440114 0.99685561 0.41227311] [ 0. 0. 0. 1. ]] SLAMing on 36.441193817 meters Centerline goodness : 0.909659 with order 1 Centerline is valid? [False, False] Translation: X:9.83, Y:0.27, Z:0.41 [[ 0.99952095 0.01743954 0.02556802 9.83189728] [-0.01552062 0.99718038 -0.07341936 0.27343448] [-0.02677633 0.07298736 0.99697336 0.41461762] [ 0. 0. 0. 1. ]] SLAMing on 36.501193816999994 meters Centerline goodness : 0.911287 with order 1 Centerline is valid? [False, False] Translation: X:9.87, Y:0.27, Z:0.42 [[ 9.99675701e-01 1.06765579e-02 2.31193608e-02 9.86861597e+00] [-9.17641009e-03 9.97904619e-01 -6.40481487e-02 2.69644988e-01] [-2.37547306e-02 6.38152252e-02 9.97678971e-01 4.15414451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.561193816999996 meters Centerline goodness : 0.909961 with order 1 Centerline is valid? [False, False] Translation: X:9.90, Y:0.26, Z:0.42 [[ 9.99747542e-01 7.70789320e-03 2.11054428e-02 9.89726440e+00] [-6.46020337e-03 9.98262995e-01 -5.85598758e-02 2.64522934e-01] [-2.15201558e-02 5.84087465e-02 9.98060770e-01 4.16116871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.621193817 meters Centerline goodness : 0.910770 with order 1 Centerline is valid? [False, False] Translation: X:9.95, Y:0.27, Z:0.42 [[ 9.99797995e-01 8.01435919e-03 1.84320267e-02 9.95402072e+00] [-6.82440554e-03 9.97943235e-01 -6.37395211e-02 2.65464014e-01] [-1.89049478e-02 6.36008578e-02 9.97796339e-01 4.15162225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.68119381699999 meters Centerline goodness : 0.909660 with order 1 Centerline is valid? [False, False] Translation: X:10.00, Y:0.26, Z:0.41 [[ 9.99841712e-01 8.06335753e-03 1.58598234e-02 9.99719728e+00] [-7.03952589e-03 9.97951668e-01 -6.35839034e-02 2.63717440e-01] [-1.63400370e-02 6.34621932e-02 9.97850466e-01 4.12565354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.741193816999996 meters Centerline goodness : 0.908725 with order 1 Centerline is valid? [False, False] Translation: X:10.03, Y:0.26, Z:0.41 [[ 9.99929937e-01 -3.92245706e-03 1.11684870e-02 1.00285532e+01] [ 4.46809761e-03 9.98776135e-01 -4.92571698e-02 2.57502102e-01] [-1.09616092e-02 4.93036206e-02 9.98723684e-01 4.12141515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.801193817 meters Centerline goodness : 0.909589 with order 1 Centerline is valid? [False, False] Translation: X:10.06, Y:0.26, Z:0.41 [[ 9.99927221e-01 -7.56737542e-03 9.39609815e-03 1.00610304e+01] [ 7.96147109e-03 9.99058831e-01 -4.26388080e-02 2.55960151e-01] [-9.06459096e-03 4.27105115e-02 9.99046368e-01 4.10691013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.86119381699999 meters Centerline goodness : 0.913277 with order 1 Centerline is valid? [False, False] Translation: X:10.10, Y:0.27, Z:0.41 [[ 9.99899759e-01 1.28563620e-03 1.41003355e-02 1.01017641e+01] [-4.79175605e-04 9.98371246e-01 -5.70493259e-02 2.65951429e-01] [-1.41507142e-02 5.70368507e-02 9.98271784e-01 4.11187545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.921193816999995 meters Centerline goodness : 0.915290 with order 1 Centerline is valid? [False, False] Translation: X:10.15, Y:0.28, Z:0.41 [[ 0.99974244 0.01237602 0.0190232 10.14797393] [-0.010494 0.99532289 -0.09603244 0.28039844] [-0.02012273 0.09580808 0.99519641 0.41055458] [ 0. 0. 0. 1. ]] SLAMing on 36.981193817 meters Centerline goodness : 0.911261 with order 1 Centerline is valid? [False, False] Translation: X:10.19, Y:0.31, Z:0.41 [[ 0.99937436 0.0220604 0.02764452 10.19122245] [-0.01731297 0.98671702 -0.16152333 0.30713285] [-0.03084059 0.16094367 0.98648162 0.40964639] [ 0. 0. 0. 1. ]] SLAMing on 37.04119381699999 meters Centerline goodness : 0.909463 with order 1 Centerline is valid? [False, False] Translation: X:10.20, Y:0.30, Z:0.41 [[ 0.99935464 0.02532961 0.02546996 10.19676121] [-0.02183232 0.99136789 -0.12927896 0.30318044] [-0.02852468 0.12863946 0.99128111 0.41109615] [ 0. 0. 0. 1. ]] SLAMing on 37.101193816999995 meters Centerline goodness : 0.912916 with order 1 Centerline is valid? [False, False] Translation: X:10.18, Y:0.30, Z:0.42 [[ 0.99930642 0.01923773 0.03188391 10.18448094] [-0.01592947 0.99476427 -0.10094704 0.29785096] [-0.03365896 0.10036913 0.99438077 0.41728367] [ 0. 0. 0. 1. ]] SLAMing on 37.161193817 meters Centerline goodness : 0.914874 with order 1 Centerline is valid? [False, False] Translation: X:10.19, Y:0.29, Z:0.42 [[ 0.99938952 0.01567914 0.03122093 10.18877816] [-0.01323932 0.9969528 -0.07687544 0.29370717] [-0.03233113 0.07641516 0.99655177 0.42032396] [ 0. 0. 0. 1. ]] SLAMing on 37.22119381699999 meters Centerline goodness : 0.910557 with order 1 Centerline is valid? [False, False] Translation: X:10.19, Y:0.29, Z:0.42 [[ 0.99955589 0.01437344 0.02610408 10.18790702] [-0.01275252 0.998042 -0.06123349 0.29159166] [-0.02693311 0.06087341 0.99778206 0.42170229] [ 0. 0. 0. 1. ]] SLAMing on 37.281193816999995 meters Centerline goodness : 0.910705 with order 1 Centerline is valid? [False, False] Translation: X:10.19, Y:0.29, Z:0.42 [[ 0.99968831 0.01538716 0.01966021 10.19186332] [-0.01452027 0.99894789 -0.04350032 0.29241477] [-0.02030887 0.04320129 0.99885995 0.41970986] [ 0. 0. 0. 1. ]] SLAMing on 37.341193817 meters Centerline goodness : 0.908967 with order 1 Centerline is valid? [False, False] Translation: X:10.18, Y:0.29, Z:0.42 [[ 0.99961056 0.01594406 0.02290231 10.18212909] [-0.01514517 0.99928501 -0.03464244 0.29206512] [-0.02343827 0.03428209 0.99913732 0.41870222] [ 0. 0. 0. 1. ]] SLAMing on 37.40119381699999 meters Centerline goodness : 0.909438 with order 1 Centerline is valid? [False, False] Translation: X:10.18, Y:0.29, Z:0.42 [[ 0.99952317 0.02068605 0.02292421 10.1820755 ] [-0.01999699 0.99935313 -0.02989051 0.2910151 ] [-0.02352769 0.02941784 0.99929027 0.41903106] [ 0. 0. 0. 1. ]] SLAMing on 37.461193816999995 meters Centerline goodness : 0.908732 with order 1 Centerline is valid? [False, False] Translation: X:10.18, Y:0.29, Z:0.42 [[ 0.99943896 0.02433854 0.02300853 10.18136682] [-0.02375405 0.99939652 -0.02534439 0.28919494] [-0.02361149 0.02478363 0.99941396 0.42003519] [ 0. 0. 0. 1. ]] SLAMing on 37.521193817 meters Centerline goodness : 0.908655 with order 1 Centerline is valid? [False, False] Translation: X:10.18, Y:0.28, Z:0.42 [[ 0.99941637 0.02463722 0.02366278 10.17931675] [-0.02409275 0.99944453 -0.02302538 0.28219566] [-0.02421692 0.02244184 0.9994548 0.42080642] [ 0. 0. 0. 1. ]] SLAMing on 37.58119381699999 meters Centerline goodness : 0.908040 with order 1 Centerline is valid? [False, False] Translation: X:10.18, Y:0.28, Z:0.42 [[ 9.99619983e-01 2.10473358e-02 1.78016808e-02 1.01798606e+01] [-2.08897618e-02 9.99741350e-01 -8.99176995e-03 2.75776602e-01] [-1.79863292e-02 8.61648005e-03 9.99801104e-01 4.20657924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.641193816999994 meters Centerline goodness : 0.907803 with order 1 Centerline is valid? [False, False] Translation: X:10.18, Y:0.27, Z:0.42 [[ 9.99747494e-01 2.17513600e-02 5.64150021e-03 1.01774171e+01] [-2.17309012e-02 9.99757147e-01 -3.66277545e-03 2.66125518e-01] [-5.71980050e-03 3.53925569e-03 9.99977379e-01 4.22959811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.701193817 meters Centerline goodness : 0.907615 with order 1 Centerline is valid? [False, False] Translation: X:10.18, Y:0.26, Z:0.42 [[ 9.99706640e-01 2.36477811e-02 5.23608447e-03 1.01779133e+01] [-2.36388617e-02 9.99719016e-01 -1.75884190e-03 2.62131792e-01] [-5.27620592e-03 1.63455085e-03 9.99984745e-01 4.23356682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.761193817 meters Centerline goodness : 0.906329 with order 1 Centerline is valid? [False, False] Translation: X:10.18, Y:0.26, Z:0.42 [[ 9.99562941e-01 2.91047063e-02 5.18102910e-03 1.01773186e+01] [-2.91257066e-02 9.99567653e-01 4.02506258e-03 2.57878627e-01] [-5.06164083e-03 -4.17420452e-03 9.99978478e-01 4.24664638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.821193816999994 meters Centerline goodness : 0.909076 with order 1 Centerline is valid? [False, False] Translation: X:10.17, Y:0.25, Z:0.43 [[ 9.99489982e-01 3.14614692e-02 5.47280703e-03 1.01745751e+01] [-3.15006126e-02 9.99477658e-01 7.21954740e-03 2.51449742e-01] [-5.24281079e-03 -7.38826208e-03 9.99958962e-01 4.27716194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.881193816999996 meters Centerline goodness : 0.906226 with order 1 Centerline is valid? [False, False] Translation: X:10.17, Y:0.24, Z:0.43 [[ 9.99650439e-01 2.59228404e-02 5.19666030e-03 1.01722769e+01] [-2.59398589e-02 9.99658272e-01 3.23466036e-03 2.42996168e-01] [-5.11103287e-03 -3.36833028e-03 9.99981266e-01 4.30726454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.941193817 meters Centerline goodness : 0.908044 with order 1 Centerline is valid? [False, False] Translation: X:10.16, Y:0.23, Z:0.43 [[ 9.99878853e-01 1.55161567e-02 1.23625561e-03 1.01606576e+01] [-1.55277491e-02 9.99829474e-01 9.99563114e-03 2.26534638e-01] [-1.08095102e-03 -1.00136165e-02 9.99949278e-01 4.33880483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.001193816999994 meters Centerline goodness : 0.905167 with order 1 Centerline is valid? [False, False] Translation: X:10.16, Y:0.22, Z:0.43 [[ 9.99952975e-01 9.67896955e-03 6.04761053e-04 1.01623638e+01] [-9.68255843e-03 9.99933630e-01 6.24370802e-03 2.15855959e-01] [-5.44288255e-04 -6.24927004e-03 9.99980325e-01 4.33055477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.061193816999996 meters Centerline goodness : 0.905137 with order 1 Centerline is valid? [False, False] Translation: X:10.19, Y:0.21, Z:0.43 [[ 9.99977502e-01 6.70635865e-03 1.41942251e-04 1.01912291e+01] [-6.70452763e-03 9.99923823e-01 -1.03632585e-02 2.08065466e-01] [-2.11431167e-04 1.03620737e-02 9.99946290e-01 4.30810964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.121193817 meters Centerline goodness : 0.905395 with order 1 Centerline is valid? [False, False] Translation: X:10.22, Y:0.20, Z:0.43 [[ 9.99992640e-01 1.54802294e-03 -3.51062407e-03 1.02162831e+01] [-1.60213384e-03 9.99879151e-01 -1.54634010e-02 2.02001095e-01] [ 3.48626212e-03 1.54689117e-02 9.99874271e-01 4.28115905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.18119381699999 meters Centerline goodness : 0.907268 with order 1 Centerline is valid? [False, False] Translation: X:10.23, Y:0.19, Z:0.43 [[ 9.99997125e-01 -2.17914827e-03 1.00066906e-03 1.02319363e+01] [ 2.19314966e-03 9.99896615e-01 -1.42108641e-02 1.90915277e-01] [-9.69598026e-04 1.42130179e-02 9.99898520e-01 4.27202344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.241193816999996 meters Centerline goodness : 0.906119 with order 1 Centerline is valid? [False, False] Translation: X:10.25, Y:0.18, Z:0.43 [[ 9.99985007e-01 -5.27780919e-03 1.45995706e-03 1.02530111e+01] [ 5.30222839e-03 9.99836960e-01 -1.72609137e-02 1.83683149e-01] [-1.36861922e-03 1.72683959e-02 9.99849953e-01 4.26889141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.301193817 meters Centerline goodness : 0.908606 with order 1 Centerline is valid? [False, False] Translation: X:10.28, Y:0.18, Z:0.42 [[ 9.99977794e-01 -6.49073288e-03 1.51070247e-03 1.02751857e+01] [ 6.52012369e-03 9.99771873e-01 -2.03393642e-02 1.81330636e-01] [-1.37834046e-03 2.03487625e-02 9.99791992e-01 4.24898516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.36119381699999 meters Centerline goodness : 0.906387 with order 1 Centerline is valid? [False, False] Translation: X:10.31, Y:0.18, Z:0.42 [[ 9.99999106e-01 1.33495227e-03 -7.78789100e-05 1.03051553e+01] [-1.33652025e-03 9.99664399e-01 -2.58709056e-02 1.81797807e-01] [ 4.33163496e-05 2.58709865e-02 9.99665289e-01 4.23816871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.421193816999995 meters Centerline goodness : 0.906514 with order 1 Centerline is valid? [False, False] Translation: X:10.33, Y:0.19, Z:0.42 [[ 9.99966950e-01 8.12887898e-03 1.44843380e-04 1.03333741e+01] [-8.11844155e-03 9.99322589e-01 -3.58950353e-02 1.85506430e-01] [-4.36531660e-04 3.58926731e-02 9.99355555e-01 4.22557734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.481193817 meters Centerline goodness : 0.904862 with order 1 Centerline is valid? [False, False] Translation: X:10.37, Y:0.19, Z:0.42 [[ 9.99967112e-01 8.04725876e-03 1.00774435e-03 1.03727116e+01] [-7.99833491e-03 9.99101060e-01 -4.16304951e-02 1.87073256e-01] [-1.34184981e-03 4.16210657e-02 9.99132567e-01 4.21230229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.54119381699999 meters Centerline goodness : 0.900839 with order 1 Centerline is valid? [False, False] Translation: X:10.42, Y:0.19, Z:0.42 [[ 9.99948775e-01 1.00571703e-02 -1.14057825e-03 1.04169111e+01] [-1.00990103e-02 9.98889328e-01 -4.60230497e-02 1.89837269e-01] [ 6.76449793e-04 4.60322109e-02 9.98939727e-01 4.16866960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.601193816999995 meters Centerline goodness : 0.894789 with order 1 Centerline is valid? [False, False] Translation: X:10.45, Y:0.19, Z:0.42 [[ 9.99922004e-01 1.02343554e-02 -7.15845830e-03 1.04495980e+01] [-1.05365159e-02 9.98996554e-01 -4.35300757e-02 1.90861940e-01] [ 6.70577290e-03 4.36021057e-02 9.99026471e-01 4.15032192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.661193817 meters Centerline goodness : 0.891152 with order 1 Centerline is valid? [False, False] Translation: X:10.48, Y:0.18, Z:0.42 [[ 9.99920085e-01 8.28936248e-03 -9.54516337e-03 1.04793910e+01] [-8.63913872e-03 9.99270283e-01 -3.72057254e-02 1.84359618e-01] [ 9.22978637e-03 3.72852141e-02 9.99262040e-01 4.16748843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.72119381699999 meters Centerline goodness : 0.889167 with order 1 Centerline is valid? [False, False] Translation: X:10.51, Y:0.18, Z:0.42 [[ 9.99935893e-01 6.51628801e-03 -9.26004614e-03 1.05092711e+01] [-6.81409231e-03 9.99448472e-01 -3.25010671e-02 1.82873723e-01] [ 9.04315265e-03 3.25620823e-02 9.99428803e-01 4.17095994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.781193816999995 meters Centerline goodness : 0.886706 with order 1 Centerline is valid? [False, False] Translation: X:10.53, Y:0.18, Z:0.42 [[ 9.99957989e-01 6.87296894e-03 -6.06483336e-03 1.05274399e+01] [-7.08131692e-03 9.99361233e-01 -3.50282850e-02 1.80315698e-01] [ 5.82021103e-03 3.50697604e-02 9.99367919e-01 4.16575831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.841193817 meters Centerline goodness : 0.885994 with order 1 Centerline is valid? [False, False] Translation: X:10.54, Y:0.17, Z:0.41 [[ 9.99989680e-01 4.53274030e-03 3.06030474e-04 1.05371388e+01] [-4.52225046e-03 9.99588332e-01 -2.83322282e-02 1.74799058e-01] [-4.34327124e-04 2.83305519e-02 9.99598515e-01 4.13917766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.90119381699999 meters Centerline goodness : 0.880202 with order 1 Centerline is valid? [False, False] Translation: X:10.56, Y:0.17, Z:0.41 [[ 9.99989797e-01 4.44345348e-03 -8.13469709e-04 1.05596399e+01] [-4.46498390e-03 9.99577554e-01 -2.87189346e-02 1.71156269e-01] [ 6.85514812e-04 2.87222737e-02 9.99587195e-01 4.13132641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.961193816999995 meters Centerline goodness : 0.878950 with order 1 Centerline is valid? [False, False] Translation: X:10.60, Y:0.17, Z:0.41 [[ 9.99981390e-01 5.61342467e-03 -2.38947832e-03 1.06007478e+01] [-5.69150564e-03 9.99404555e-01 -3.40315027e-02 1.71775974e-01] [ 2.19702224e-03 3.40444691e-02 9.99417904e-01 4.09626008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.021193817 meters Centerline goodness : 0.875816 with order 1 Centerline is valid? [False, False] Translation: X:10.62, Y:0.17, Z:0.41 [[ 9.99961269e-01 7.71686303e-03 -4.23197145e-03 1.06239891e+01] [-7.85221793e-03 9.99425860e-01 -3.29589511e-02 1.67147738e-01] [ 3.97520200e-03 3.29909049e-02 9.99447746e-01 4.08454645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.08119381699999 meters Centerline goodness : 0.875676 with order 1 Centerline is valid? [False, False] Translation: X:10.64, Y:0.16, Z:0.41 [[ 9.99960450e-01 8.88633658e-03 -3.62271844e-04 1.06413923e+01] [-8.89335707e-03 9.99456929e-01 -3.17294066e-02 1.60312661e-01] [ 8.01169185e-05 3.17313735e-02 9.99496430e-01 4.08001349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.141193816999994 meters Centerline goodness : 0.876639 with order 1 Centerline is valid? [False, False] Translation: X:10.66, Y:0.16, Z:0.41 [[ 9.99951198e-01 9.61841072e-03 2.25582101e-03 1.06603904e+01] [-9.53930652e-03 9.99416849e-01 -3.27866238e-02 1.57874009e-01] [-2.56986074e-03 3.27635047e-02 9.99459828e-01 4.07171845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.201193817 meters Centerline goodness : 0.875425 with order 1 Centerline is valid? [False, False] Translation: X:10.68, Y:0.15, Z:0.41 [[ 9.99927488e-01 1.11499066e-02 4.54946042e-03 1.06785224e+01] [-1.10013170e-02 9.99444034e-01 -3.14736902e-02 1.50162296e-01] [-4.89785979e-03 3.14213580e-02 9.99494227e-01 4.08021562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.261193817 meters Centerline goodness : 0.871007 with order 1 Centerline is valid? [False, False] Translation: X:10.70, Y:0.15, Z:0.41 [[ 9.99906510e-01 1.22590456e-02 6.05702741e-03 1.06986301e+01] [-1.20559620e-02 9.99399072e-01 -3.24984267e-02 1.46288541e-01] [-6.45178727e-03 3.24223651e-02 9.99453433e-01 4.07421962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.321193816999994 meters Centerline goodness : 0.866907 with order 1 Centerline is valid? [False, False] Translation: X:10.72, Y:0.14, Z:0.41 [[ 9.99922823e-01 1.20836304e-02 2.88673816e-03 1.07225619e+01] [-1.19904217e-02 9.99466609e-01 -3.03764255e-02 1.36116115e-01] [-3.25225590e-03 3.03394679e-02 9.99534361e-01 4.06545027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.381193816999996 meters Centerline goodness : 0.869878 with order 1 Centerline is valid? [False, False] Translation: X:10.73, Y:0.13, Z:0.40 [[ 9.99965495e-01 8.04946603e-03 2.05316510e-03 1.07270019e+01] [-7.97736874e-03 9.99423832e-01 -3.29903868e-02 1.29946127e-01] [-2.31753713e-03 3.29728696e-02 9.99453560e-01 4.02807821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.441193817 meters Centerline goodness : 0.866305 with order 1 Centerline is valid? [False, False] Translation: X:10.73, Y:0.13, Z:0.40 [[ 9.99993058e-01 3.41450264e-03 1.49182964e-03 1.07295104e+01] [-3.35784689e-03 9.99329530e-01 -3.64584128e-02 1.26631696e-01] [-1.61531676e-03 3.64531504e-02 9.99334058e-01 4.00926772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.501193816999994 meters Centerline goodness : 0.866842 with order 1 Centerline is valid? [False, False] Translation: X:10.73, Y:0.12, Z:0.40 [[ 9.99999023e-01 -2.95527136e-04 1.36636149e-03 1.07285838e+01] [ 3.48125005e-04 9.99252507e-01 -3.86562663e-02 1.21331126e-01] [-1.35391617e-03 3.86567042e-02 9.99251633e-01 4.02920403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.561193816999996 meters Centerline goodness : 0.868592 with order 1 Centerline is valid? [False, False] Translation: X:10.73, Y:0.12, Z:0.40 [[ 9.99999041e-01 -7.17420460e-04 1.18432167e-03 1.07285317e+01] [ 7.61933518e-04 9.99276578e-01 -3.80228834e-02 1.17163574e-01] [-1.15618651e-03 3.80237493e-02 9.99276167e-01 4.03761685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.621193817 meters Centerline goodness : 0.860377 with order 1 Centerline is valid? [False, False] Translation: X:10.74, Y:0.12, Z:0.41 [[ 9.99965221e-01 -8.30434733e-03 7.71636256e-04 1.07425925e+01] [ 8.32385835e-03 9.99509579e-01 -3.01879871e-02 1.15472152e-01] [-5.20566299e-04 3.01933602e-02 9.99543941e-01 4.08330300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.68119381699999 meters Centerline goodness : 0.858372 with order 1 Centerline is valid? [False, False] Translation: X:10.75, Y:0.12, Z:0.41 [[ 9.99912352e-01 -1.32373383e-02 2.49151584e-04 1.07454237e+01] [ 1.32380103e-02 9.99309871e-01 -3.47064248e-02 1.16792014e-01] [ 2.10441048e-04 3.47066811e-02 9.99397520e-01 4.06371023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.741193816999996 meters Centerline goodness : 0.856815 with order 1 Centerline is valid? [False, False] Translation: X:10.77, Y:0.12, Z:0.41 [[ 9.99800028e-01 -1.99183127e-02 -1.77877892e-03 1.07748038e+01] [ 1.98421105e-02 9.99164879e-01 -3.57188469e-02 1.19220555e-01] [ 2.48875259e-03 3.56764094e-02 9.99360295e-01 4.08005207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.801193817 meters Centerline goodness : 0.854962 with order 1 Centerline is valid? [False, False] Translation: X:10.79, Y:0.12, Z:0.41 [[ 9.99832415e-01 -1.82735797e-02 1.10384208e-03 1.07928396e+01] [ 1.83031388e-02 9.99029180e-01 -4.00710840e-02 1.24365074e-01] [-3.70528303e-04 4.00845725e-02 9.99196222e-01 4.06770472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.86119381699999 meters Centerline goodness : 0.858905 with order 1 Centerline is valid? [False, False] Translation: X:10.82, Y:0.13, Z:0.41 [[ 9.99904494e-01 -1.37958566e-02 8.23293305e-04 1.08205470e+01] [ 1.38165341e-02 9.99258518e-01 -3.59376944e-02 1.32458310e-01] [-3.26891568e-04 3.59456372e-02 9.99353693e-01 4.05381512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.921193816999995 meters Centerline goodness : 0.860591 with order 1 Centerline is valid? [False, False] Translation: X:10.86, Y:0.15, Z:0.40 [[ 9.99982111e-01 -5.72855938e-03 1.72060139e-03 1.08596423e+01] [ 5.79148159e-03 9.99218000e-01 -3.91132670e-02 1.46423550e-01] [-1.49519320e-03 3.91225322e-02 9.99233302e-01 4.01656620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.981193817 meters Centerline goodness : 0.863842 with order 1 Centerline is valid? [False, False] Translation: X:10.91, Y:0.16, Z:0.40 [[ 9.99989499e-01 4.46445798e-03 1.03444391e-03 1.09058076e+01] [-4.40694931e-03 9.98731314e-01 -5.01631402e-02 1.60399154e-01] [-1.25708276e-03 5.01580547e-02 9.98740501e-01 4.00589718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.04119381699999 meters Centerline goodness : 0.862178 with order 1 Centerline is valid? [False, False] Translation: X:10.94, Y:0.17, Z:0.40 [[ 9.99955492e-01 9.26284761e-03 1.79250718e-03 1.09442229e+01] [-9.15397212e-03 9.98532222e-01 -5.33817120e-02 1.67092523e-01] [-2.28434284e-03 5.33629275e-02 9.98572571e-01 3.98736919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.101193816999995 meters Centerline goodness : 0.870011 with order 1 Centerline is valid? [False, False] Translation: X:10.97, Y:0.17, Z:0.40 [[ 9.99961077e-01 8.49751325e-03 2.37425999e-03 1.09738392e+01] [-8.36818342e-03 9.98713872e-01 -5.00057526e-02 1.70643562e-01] [-2.79613093e-03 4.99839380e-02 9.98746108e-01 3.98043784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.161193817 meters Centerline goodness : 0.868126 with order 1 Centerline is valid? [False, False] Translation: X:11.00, Y:0.18, Z:0.40 [[ 9.99956430e-01 8.73515720e-03 3.29167355e-03 1.10015553e+01] [-8.56678789e-03 9.98806028e-01 -4.80949956e-02 1.79767796e-01] [-3.70786073e-03 4.80647010e-02 9.98837342e-01 3.97055557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.22119381699999 meters Centerline goodness : 0.870646 with order 1 Centerline is valid? [False, False] Translation: X:11.04, Y:0.19, Z:0.39 [[ 9.99933141e-01 1.07041649e-02 4.37432997e-03 1.10420486e+01] [-1.04506542e-02 9.98466621e-01 -5.43616717e-02 1.85373265e-01] [-4.94951876e-03 5.43123225e-02 9.98511729e-01 3.93812752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.281193816999995 meters Centerline goodness : 0.867737 with order 1 Centerline is valid? [False, False] Translation: X:11.06, Y:0.19, Z:0.39 [[ 9.99913080e-01 1.14338419e-02 6.56507670e-03 1.10622678e+01] [-1.10206927e-02 9.98146583e-01 -5.98493294e-02 1.91839089e-01] [-7.23721664e-03 5.97717756e-02 9.98185833e-01 3.90119296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.341193817 meters Centerline goodness : 0.869458 with order 1 Centerline is valid? [False, False] Translation: X:11.09, Y:0.20, Z:0.39 [[ 9.99935017e-01 8.93314507e-03 7.08243653e-03 1.10931387e+01] [-8.51947763e-03 9.98370209e-01 -5.64300015e-02 1.95702118e-01] [-7.57499103e-03 5.63659958e-02 9.98381437e-01 3.88592459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.40119381699999 meters Centerline goodness : 0.871332 with order 1 Centerline is valid? [False, False] Translation: X:11.12, Y:0.20, Z:0.39 [[ 9.99960440e-01 8.75041921e-03 1.59655622e-03 1.11246265e+01] [-8.65427869e-03 9.98576565e-01 -5.26302937e-02 1.98496094e-01] [-2.05482076e-03 5.26143946e-02 9.98612789e-01 3.88432417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.461193816999995 meters Centerline goodness : 0.872309 with order 1 Centerline is valid? [False, False] Translation: X:11.15, Y:0.20, Z:0.39 [[ 9.99975499e-01 6.98589836e-03 4.45287299e-04 1.11538732e+01] [-6.95504334e-03 9.98734182e-01 -4.98162667e-02 2.00137493e-01] [-7.92735023e-04 4.98119492e-02 9.98758300e-01 3.88601132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.521193817 meters Centerline goodness : 0.874194 with order 1 Centerline is valid? [False, False] Translation: X:11.16, Y:0.20, Z:0.39 [[ 9.99993663e-01 2.67449380e-03 2.34981887e-03 1.11621010e+01] [-2.57138830e-03 9.99078787e-01 -4.28365011e-02 1.99259700e-01] [-2.46222015e-03 4.28301873e-02 9.99079332e-01 3.91298340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.58119381699999 meters Centerline goodness : 0.874023 with order 1 Centerline is valid? [False, False] Translation: X:11.18, Y:0.20, Z:0.39 [[ 9.99979691e-01 -5.81844034e-03 2.60076787e-03 1.11772231e+01] [ 5.90685466e-03 9.99356128e-01 -3.53898145e-02 1.97561212e-01] [-2.39317978e-03 3.54044582e-02 9.99370200e-01 3.94384183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.641193816999994 meters Centerline goodness : 0.876264 with order 1 Centerline is valid? [False, False] Translation: X:11.18, Y:0.20, Z:0.39 [[ 9.99966782e-01 -7.90075447e-03 2.00320726e-03 1.11797983e+01] [ 7.96924314e-03 9.99288537e-01 -3.68634086e-02 1.97695405e-01] [-1.71053331e-03 3.68781481e-02 9.99318306e-01 3.92702397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.701193817 meters Centerline goodness : 0.875678 with order 1 Centerline is valid? [False, False] Translation: X:11.20, Y:0.20, Z:0.39 [[ 9.99976640e-01 -6.14553134e-03 2.99183149e-03 1.12007815e+01] [ 6.24929080e-03 9.99332104e-01 -3.60040505e-02 1.99868944e-01] [-2.76856924e-03 3.60219063e-02 9.99347166e-01 3.91906260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.761193817 meters Centerline goodness : 0.872512 with order 1 Centerline is valid? [False, False] Translation: X:11.23, Y:0.21, Z:0.39 [[ 9.99977145e-01 3.75559320e-03 5.62185355e-03 1.12263628e+01] [-3.51284623e-03 9.99086742e-01 -4.25833621e-02 2.06431837e-01] [-5.77664513e-03 4.25626401e-02 9.99077100e-01 3.92942278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.821193816999994 meters Centerline goodness : 0.876119 with order 1 Centerline is valid? [False, False] Translation: X:11.26, Y:0.21, Z:0.39 [[ 9.99914983e-01 1.03645077e-02 7.91231325e-03 1.12627467e+01] [-9.98209114e-03 9.98848283e-01 -4.69304239e-02 2.13313494e-01] [-8.38961124e-03 4.68474526e-02 9.98866823e-01 3.90231968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.881193816999996 meters Centerline goodness : 0.876799 with order 1 Centerline is valid? [False, False] Translation: X:11.30, Y:0.23, Z:0.39 [[ 9.99746081e-01 2.13008544e-02 7.35164452e-03 1.13024134e+01] [-2.07719985e-02 9.97619436e-01 -6.57570126e-02 2.25491741e-01] [-8.73482400e-03 6.55876073e-02 9.97808583e-01 3.86824857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.941193817 meters Centerline goodness : 0.876368 with order 1 Centerline is valid? [False, False] Translation: X:11.30, Y:0.23, Z:0.39 [[ 9.99647271e-01 2.55846073e-02 7.12468010e-03 1.13024694e+01] [-2.50962557e-02 9.97773549e-01 -6.17909669e-02 2.26206110e-01] [-8.68971497e-03 6.15903687e-02 9.98063683e-01 3.87893883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.001193816999994 meters Centerline goodness : 0.878260 with order 1 Centerline is valid? [False, False] Translation: X:11.30, Y:0.23, Z:0.39 [[ 9.99513977e-01 3.04111321e-02 6.85369250e-03 1.13039066e+01] [-2.99709197e-02 9.97917619e-01 -5.71154062e-02 2.25703664e-01] [-8.57636467e-03 5.68822353e-02 9.98344058e-01 3.86853076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.061193816999996 meters Centerline goodness : 0.879993 with order 1 Centerline is valid? [False, False] Translation: X:11.30, Y:0.22, Z:0.39 [[ 9.99400963e-01 3.39199450e-02 6.86680266e-03 1.13039457e+01] [-3.35105255e-02 9.98039421e-01 -5.28616981e-02 2.23754724e-01] [-8.64640565e-03 5.25999218e-02 9.98578233e-01 3.86918858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.121193817 meters Centerline goodness : 0.886904 with order 1 Centerline is valid? [False, False] Translation: X:11.30, Y:0.22, Z:0.39 [[ 9.99355105e-01 3.50593066e-02 7.76006092e-03 1.13003013e+01] [-3.46380322e-02 9.98196987e-01 -4.90202176e-02 2.15015694e-01] [-9.46468426e-03 4.87198114e-02 9.98767641e-01 3.89096565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.18119381699999 meters Centerline goodness : 0.880239 with order 1 Centerline is valid? [False, False] Translation: X:11.29, Y:0.20, Z:0.39 [[ 9.99600552e-01 2.73718365e-02 7.03703527e-03 1.12919821e+01] [-2.71076940e-02 9.99011524e-01 -3.52299339e-02 2.01935070e-01] [-7.99438732e-03 3.50251035e-02 9.99354458e-01 3.89881157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.241193816999996 meters Centerline goodness : 0.882298 with order 1 Centerline is valid? [False, False] Translation: X:11.28, Y:0.19, Z:0.39 [[ 9.99900756e-01 1.17545741e-02 7.76587840e-03 1.12839835e+01] [-1.15387317e-02 9.99561311e-01 -2.72771381e-02 1.86026455e-01] [-8.08310274e-03 2.71848227e-02 9.99597744e-01 3.89427999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.301193817 meters Centerline goodness : 0.889497 with order 1 Centerline is valid? [False, False] Translation: X:11.30, Y:0.18, Z:0.39 [[ 9.99922017e-01 4.81129408e-03 1.15243704e-02 1.13033227e+01] [-4.59361984e-03 9.99811945e-01 -1.88407406e-02 1.81228117e-01] [-1.16128516e-02 1.87863328e-02 9.99756078e-01 3.88289846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.36119381699999 meters Centerline goodness : 0.885011 with order 1 Centerline is valid? [False, False] Translation: X:11.32, Y:0.18, Z:0.39 [[ 9.99914111e-01 4.59254337e-03 1.22751317e-02 1.13233327e+01] [-4.29689716e-03 9.99702633e-01 -2.40037825e-02 1.80987892e-01] [-1.23817199e-02 2.39489759e-02 9.99636504e-01 3.86150712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.421193816999995 meters Centerline goodness : 0.885775 with order 1 Centerline is valid? [False, False] Translation: X:11.35, Y:0.18, Z:0.39 [[ 0.99982803 0.01387656 0.01230216 11.34929878] [-0.01349681 0.99944571 -0.03043217 0.18332395] [-0.01271763 0.0302609 0.99946112 0.38814681] [ 0. 0. 0. 1. ]] SLAMing on 41.481193817 meters Centerline goodness : 0.891248 with order 1 Centerline is valid? [False, False] Translation: X:11.38, Y:0.18, Z:0.39 [[ 0.99966879 0.02239542 0.012679 11.3759886 ] [-0.02191809 0.99908921 -0.03661068 0.18472833] [-0.01348736 0.03632066 0.99924917 0.38884909] [ 0. 0. 0. 1. ]] SLAMing on 41.54119381699999 meters Centerline goodness : 0.891747 with order 1 Centerline is valid? [False, False] Translation: X:11.40, Y:0.18, Z:0.39 [[ 9.99369091e-01 3.38209812e-02 1.08425806e-02 1.14010181e+01] [-3.32851772e-02 9.98373770e-01 -4.62807977e-02 1.83238550e-01] [-1.23902101e-02 4.58907015e-02 9.98869624e-01 3.85528027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.601193816999995 meters Centerline goodness : 0.889367 with order 1 Centerline is valid? [False, False] Translation: X:11.40, Y:0.17, Z:0.38 [[ 9.99074944e-01 4.19259769e-02 9.56392590e-03 1.14047623e+01] [-4.15417268e-02 9.98438429e-01 -3.73495336e-02 1.74640866e-01] [-1.11149068e-02 3.69176812e-02 9.99256495e-01 3.83181262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.661193817 meters Centerline goodness : 0.888914 with order 1 Centerline is valid? [False, False] Translation: X:11.41, Y:0.17, Z:0.38 [[ 9.98839097e-01 4.73042973e-02 9.09738916e-03 1.14067758e+01] [-4.70144317e-02 9.98449594e-01 -2.98001918e-02 1.66968743e-01] [-1.04929616e-02 2.93378881e-02 9.99514475e-01 3.80910813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.72119381699999 meters Centerline goodness : 0.889871 with order 1 Centerline is valid? [False, False] Translation: X:11.41, Y:0.16, Z:0.38 [[ 9.98734109e-01 4.96070130e-02 8.32609607e-03 1.14079793e+01] [-4.93874124e-02 9.98472219e-01 -2.47812524e-02 1.55625817e-01] [-9.54269954e-03 2.43386777e-02 9.99658224e-01 3.79873507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.781193816999995 meters Centerline goodness : 0.886134 with order 1 Centerline is valid? [False, False] Translation: X:11.40, Y:0.13, Z:0.38 [[ 9.99047180e-01 4.22139437e-02 1.10776430e-02 1.14021156e+01] [-4.19897759e-02 9.98922949e-01 -1.97433594e-02 1.31915433e-01] [-1.18991569e-02 1.92593998e-02 9.99743710e-01 3.83301504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.841193817 meters Centerline goodness : 0.890451 with order 1 Centerline is valid? [False, False] Translation: X:11.39, Y:0.12, Z:0.38 [[ 0.99921934 0.03628453 0.01562526 11.39449166] [-0.03606885 0.99925304 -0.0138709 0.11646777] [-0.01611688 0.01329649 0.9997817 0.38493885] [ 0. 0. 0. 1. ]] SLAMing on 41.90119381699999 meters Centerline goodness : 0.891917 with order 1 Centerline is valid? [False, False] Translation: X:11.39, Y:0.10, Z:0.39 [[ 0.99956571 0.02518862 0.01529489 11.3948257 ] [-0.02491942 0.99953552 -0.01754342 0.09958567] [-0.01572968 0.01715466 0.99972911 0.38647545] [ 0. 0. 0. 1. ]] SLAMing on 41.961193816999995 meters Centerline goodness : 0.896156 with order 1 Centerline is valid? [False, False] Translation: X:11.40, Y:0.09, Z:0.39 [[ 0.99973581 0.01742812 0.01498593 11.39569 ] [-0.0170694 0.99957242 -0.02374046 0.09310519] [-0.01539327 0.02347838 0.99960583 0.38567173] [ 0. 0. 0. 1. ]] SLAMing on 42.021193817 meters Centerline goodness : 0.894811 with order 1 Centerline is valid? [False, False] Translation: X:11.40, Y:0.09, Z:0.39 [[ 9.99876644e-01 5.50766982e-03 1.47092565e-02 1.13957730e+01] [-5.00241412e-03 9.99403579e-01 -3.41681371e-02 8.67410193e-02] [-1.48886704e-02 3.40903405e-02 9.99307849e-01 3.86002466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.08119381699999 meters Centerline goodness : 0.900457 with order 1 Centerline is valid? [False, False] Translation: X:11.40, Y:0.08, Z:0.39 [[ 9.99895318e-01 1.77306065e-03 1.43599800e-02 1.13959987e+01] [-1.23179046e-03 9.99291566e-01 -3.76144701e-02 8.46221519e-02] [-1.44164997e-02 3.75928440e-02 9.99189143e-01 3.86618893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.141193816999994 meters Centerline goodness : 0.900786 with order 1 Centerline is valid? [False, False] Translation: X:11.42, Y:0.08, Z:0.38 [[ 9.99909030e-01 5.87260740e-03 1.21426591e-02 1.14185862e+01] [-5.42922948e-03 9.99328727e-01 -3.62300954e-02 8.25743572e-02] [-1.23472732e-02 3.61608743e-02 9.99269701e-01 3.84908986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.201193817 meters Centerline goodness : 0.893553 with order 1 Centerline is valid? [False, False] Translation: X:11.44, Y:0.08, Z:0.38 [[ 9.99890492e-01 1.19637592e-02 8.71042493e-03 1.14433370e+01] [-1.16717323e-02 9.99392517e-01 -3.28384956e-02 8.12140971e-02] [-9.09800535e-03 3.27332337e-02 9.99422714e-01 3.81919040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.26119381699999 meters Centerline goodness : 0.892236 with order 1 Centerline is valid? [False, False] Translation: X:11.48, Y:0.08, Z:0.38 [[ 9.99777334e-01 1.94741425e-02 8.12647962e-03 1.14811473e+01] [-1.91655128e-02 9.99150992e-01 -3.64688689e-02 8.13949056e-02] [-8.82978012e-03 3.63050003e-02 9.99301747e-01 3.78468161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.321193816999994 meters Centerline goodness : 0.891361 with order 1 Centerline is valid? [False, False] Translation: X:11.51, Y:0.08, Z:0.38 [[ 9.99751748e-01 2.19510249e-02 3.82037345e-03 1.15098401e+01] [-2.18162578e-02 9.99239347e-01 -3.23230191e-02 7.81331538e-02] [-4.52699087e-03 3.22316486e-02 9.99470173e-01 3.77917827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.381193816999996 meters Centerline goodness : 0.892856 with order 1 Centerline is valid? [False, False] Translation: X:11.51, Y:0.07, Z:0.38 [[ 9.99762099e-01 2.15149752e-02 3.58488048e-03 1.15101342e+01] [-2.13933846e-02 9.99288351e-01 -3.10662894e-02 7.38150328e-02] [-4.25071975e-03 3.09822060e-02 9.99510898e-01 3.78359449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.441193817 meters Centerline goodness : 0.901373 with order 1 Centerline is valid? [False, False] Translation: X:11.53, Y:0.07, Z:0.38 [[ 9.99716906e-01 2.23574060e-02 8.13968512e-03 1.15255848e+01] [-2.20749495e-02 9.99202321e-01 -3.32779094e-02 7.05673723e-02] [-8.87720000e-03 3.30888055e-02 9.99412991e-01 3.79603464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.501193816999994 meters Centerline goodness : 0.899353 with order 1 Centerline is valid? [False, False] Translation: X:11.55, Y:0.07, Z:0.38 [[ 0.99951743 0.02750262 0.01444001 11.55366885] [-0.02685341 0.99869782 -0.0433769 0.07486568] [-0.01561419 0.0429682 0.99895442 0.37862207] [ 0. 0. 0. 1. ]] SLAMing on 42.561193816999996 meters Centerline goodness : 0.904584 with order 1 Centerline is valid? [False, False] Translation: X:11.59, Y:0.08, Z:0.38 [[ 0.99929253 0.0342118 0.01562015 11.59144243] [-0.03345935 0.998375 -0.04612832 0.07948266] [-0.01717291 0.04557305 0.99881339 0.3766316 ] [ 0. 0. 0. 1. ]] SLAMing on 42.621193817 meters Centerline goodness : 0.901819 with order 1 Centerline is valid? [False, False] Translation: X:11.64, Y:0.10, Z:0.36 [[ 0.99868855 0.04523849 0.02397189 11.6390393 ] [-0.04226059 0.99271902 -0.11279622 0.10349226] [-0.02890008 0.11163523 0.99332893 0.36231203] [ 0. 0. 0. 1. ]] SLAMing on 42.68119381699999 meters Centerline goodness : 0.900770 with order 1 Centerline is valid? [False, False] Translation: X:11.65, Y:0.10, Z:0.36 [[ 0.99881654 0.04324006 0.02226672 11.65424182] [-0.04070428 0.99375299 -0.1039142 0.10113372] [-0.02662088 0.10288487 0.99433698 0.36163191] [ 0. 0. 0. 1. ]] SLAMing on 42.741193816999996 meters Centerline goodness : 0.900602 with order 1 Centerline is valid? [False, False] Translation: X:11.67, Y:0.10, Z:0.36 [[ 0.99906449 0.03740908 0.02169579 11.66983879] [-0.03520017 0.99489902 -0.09453508 0.0954056 ] [-0.02512159 0.09368295 0.99528509 0.36367584] [ 0. 0. 0. 1. ]] SLAMing on 42.801193817 meters Centerline goodness : 0.896068 with order 1 Centerline is valid? [False, False] Translation: X:11.69, Y:0.09, Z:0.37 [[ 0.99930464 0.03286441 0.01761176 11.68848537] [-0.03130175 0.99608607 -0.08266045 0.08717898] [-0.02025942 0.08205169 0.99642214 0.36584117] [ 0. 0. 0. 1. ]] SLAMing on 42.86119381699999 meters Centerline goodness : 0.894168 with order 1 Centerline is valid? [False, False] Translation: X:11.70, Y:0.07, Z:0.37 [[ 9.99433960e-01 3.21916550e-02 9.77020980e-03 1.17046637e+01] [-3.14248364e-02 9.97018026e-01 -7.04807455e-02 7.39011342e-02] [-1.20099671e-02 7.01338234e-02 9.97465291e-01 3.65268480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.921193816999995 meters Centerline goodness : 0.895325 with order 1 Centerline is valid? [False, False] Translation: X:11.71, Y:0.07, Z:0.37 [[ 9.99421995e-01 3.31803997e-02 7.39843255e-03 1.17099560e+01] [-3.26174628e-02 9.97262493e-01 -6.63597802e-02 6.93169789e-02] [-9.58002333e-03 6.60801059e-02 9.97768331e-01 3.65491182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.981193817 meters Centerline goodness : 0.899578 with order 1 Centerline is valid? [False, False] Translation: X:11.71, Y:0.06, Z:0.37 [[ 9.99432888e-01 3.31020491e-02 6.17705386e-03 1.17121131e+01] [-3.26745637e-02 9.97677809e-01 -5.97608832e-02 5.93847884e-02] [-8.14091725e-03 5.95251596e-02 9.98193609e-01 3.70796710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.04119381699999 meters Centerline goodness : 0.902219 with order 1 Centerline is valid? [False, False] Translation: X:11.72, Y:0.05, Z:0.37 [[ 9.99570553e-01 2.80971047e-02 8.32234389e-03 1.17240002e+01] [-2.76442100e-02 9.98352352e-01 -5.02829849e-02 5.02560959e-02] [-9.72143789e-03 5.00313264e-02 9.98700335e-01 3.73455685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.101193816999995 meters Centerline goodness : 0.907062 with order 1 Centerline is valid? [False, False] Translation: X:11.72, Y:0.04, Z:0.38 [[ 9.99585929e-01 2.76183746e-02 8.07445403e-03 1.17223710e+01] [-2.71883933e-02 9.98417224e-01 -4.92324995e-02 4.48197678e-02] [-9.42139559e-03 4.89925823e-02 9.98754707e-01 3.76461577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.161193817 meters Centerline goodness : 0.912817 with order 1 Centerline is valid? [False, False] Translation: X:11.74, Y:0.04, Z:0.38 [[ 0.9995751 0.02428042 0.0161268 11.73851215] [-0.02357496 0.99881483 -0.04258123 0.04286955] [-0.01714158 0.04218295 0.99896284 0.37742358] [ 0. 0. 0. 1. ]] SLAMing on 43.22119381699999 meters Centerline goodness : 0.909602 with order 1 Centerline is valid? [False, False] Translation: X:11.77, Y:0.05, Z:0.37 [[ 9.99608246e-01 2.59868217e-02 1.03942458e-02 1.17720358e+01] [-2.55515467e-02 9.98872133e-01 -4.00197598e-02 4.76802823e-02] [-1.14225089e-02 3.97384928e-02 9.99144824e-01 3.73956674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.281193816999995 meters Centerline goodness : 0.907427 with order 1 Centerline is valid? [False, False] Translation: X:11.79, Y:0.05, Z:0.37 [[ 0.99952018 0.02777844 0.01370275 11.78966375] [-0.02714506 0.9986439 -0.0444242 0.04931997] [-0.01491821 0.04403092 0.99891878 0.37221415] [ 0. 0. 0. 1. ]] SLAMing on 43.341193817 meters Centerline goodness : 0.910244 with order 1 Centerline is valid? [False, False] Translation: X:11.81, Y:0.05, Z:0.37 [[ 0.99953751 0.02604234 0.01570233 11.81400734] [-0.02531101 0.99866175 -0.04510061 0.05051317] [-0.01685584 0.04468231 0.99885904 0.37336982] [ 0. 0. 0. 1. ]] SLAMing on 43.40119381699999 meters Centerline goodness : 0.904999 with order 1 Centerline is valid? [False, False] Translation: X:11.83, Y:0.05, Z:0.37 [[ 9.99710869e-01 2.12131300e-02 1.13217268e-02 1.18293621e+01] [-2.07377820e-02 9.98961500e-01 -4.05692695e-02 4.95802881e-02] [-1.21705703e-02 4.03227522e-02 9.99112583e-01 3.73303469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.461193816999995 meters Centerline goodness : 0.903472 with order 1 Centerline is valid? [False, False] Translation: X:11.86, Y:0.04, Z:0.37 [[ 9.99919167e-01 1.01756930e-02 7.62326642e-03 1.18565964e+01] [-9.93437788e-03 9.99468434e-01 -3.10508725e-02 4.39458855e-02] [-7.93517830e-03 3.09726301e-02 9.99488734e-01 3.73814967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.521193817 meters Centerline goodness : 0.902971 with order 1 Centerline is valid? [False, False] Translation: X:11.87, Y:0.04, Z:0.38 [[ 9.99987773e-01 -3.10514102e-03 3.84859258e-03 1.18748619e+01] [ 3.21388486e-03 9.99586370e-01 -2.85789989e-02 3.91633507e-02] [-3.75825886e-03 2.85910184e-02 9.99584128e-01 3.77044936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.58119381699999 meters Centerline goodness : 0.906032 with order 1 Centerline is valid? [False, False] Translation: X:11.88, Y:0.04, Z:0.38 [[ 9.99986348e-01 -3.90597277e-03 3.47100345e-03 1.18752229e+01] [ 4.00606387e-03 9.99562248e-01 -2.93132119e-02 4.07475716e-02] [-3.35498741e-03 2.93267167e-02 9.99564249e-01 3.77806292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.641193816999994 meters Centerline goodness : 0.903697 with order 1 Centerline is valid? [False, False] Translation: X:11.91, Y:0.05, Z:0.38 [[ 9.99986625e-01 1.29623595e-03 5.00690339e-03 1.19137889e+01] [-1.12800023e-03 9.99439466e-01 -3.34586492e-02 5.15043244e-02] [-5.04746715e-03 3.34525539e-02 9.99427561e-01 3.75738940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.701193817 meters Centerline goodness : 0.901139 with order 1 Centerline is valid? [False, False] Translation: X:11.97, Y:0.07, Z:0.37 [[ 9.99915031e-01 1.09786225e-02 7.02858372e-03 1.19693520e+01] [-1.05720314e-02 9.98403683e-01 -5.54825844e-02 7.03745307e-02] [-7.62648622e-03 5.54035637e-02 9.98434916e-01 3.73216056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.76119381699999 meters Centerline goodness : 0.899435 with order 1 Centerline is valid? [False, False] Translation: X:12.00, Y:0.08, Z:0.37 [[ 9.99770704e-01 1.83101193e-02 1.11030844e-02 1.20043220e+01] [-1.75974310e-02 9.97970124e-01 -6.12042591e-02 7.99285435e-02] [-1.22012038e-02 6.09948395e-02 9.98063505e-01 3.72241558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.821193816999994 meters Centerline goodness : 0.899237 with order 1 Centerline is valid? [False, False] Translation: X:12.06, Y:0.11, Z:0.36 [[ 0.99913485 0.03505758 0.02237237 12.0553916 ] [-0.03192178 0.99129215 -0.12775318 0.11369442] [-0.02665627 0.12692849 0.99155363 0.36177959] [ 0. 0. 0. 1. ]] SLAMing on 43.881193816999996 meters Centerline goodness : 0.890931 with order 1 Centerline is valid? [False, False] Translation: X:12.10, Y:0.13, Z:0.35 [[ 0.99843613 0.04684867 0.03050394 12.0999963 ] [-0.04106669 0.98486211 -0.16840474 0.1334381 ] [-0.03793171 0.16688868 0.98524583 0.35235227] [ 0. 0. 0. 1. ]] SLAMing on 43.941193817 meters Centerline goodness : 0.890780 with order 1 Centerline is valid? [False, False] Translation: X:12.10, Y:0.13, Z:0.35 [[ 0.99802287 0.05632142 0.02789724 12.10450859] [-0.05126268 0.98623795 -0.15718409 0.1286244 ] [-0.03636615 0.15544323 0.98717521 0.35358101] [ 0. 0. 0. 1. ]] SLAMing on 44.001193816999994 meters Centerline goodness : 0.887449 with order 1 Centerline is valid? [False, False] Translation: X:12.10, Y:0.12, Z:0.35 [[ 0.99768789 0.06209227 0.0276301 12.10415981] [-0.05726434 0.98698418 -0.15027648 0.11950947] [-0.03660148 0.14834681 0.98825784 0.35349532] [ 0. 0. 0. 1. ]] SLAMing on 44.061193816999996 meters Centerline goodness : 0.884895 with order 1 Centerline is valid? [False, False] Translation: X:12.10, Y:0.11, Z:0.35 [[ 0.99778488 0.06042596 0.02782153 12.09663483] [-0.05631073 0.98986335 -0.13038273 0.10972158] [-0.03541802 0.12852726 0.99107331 0.35398287] [ 0. 0. 0. 1. ]] SLAMing on 44.121193817 meters Centerline goodness : 0.886183 with order 1 Centerline is valid? [False, False] Translation: X:12.09, Y:0.09, Z:0.36 [[ 0.99835208 0.05154065 0.02523275 12.08954371] [-0.04843186 0.99260923 -0.11127119 0.08995353] [-0.03078125 0.10986575 0.99346969 0.35545349] [ 0. 0. 0. 1. ]] SLAMing on 44.18119381699999 meters Centerline goodness : 0.881501 with order 1 Centerline is valid? [False, False] Translation: X:12.11, Y:0.08, Z:0.36 [[ 0.9990167 0.03929057 0.02053992 12.11150185] [-0.03703481 0.99423975 -0.10057708 0.07587725] [-0.02437334 0.09971749 0.99471723 0.35795951] [ 0. 0. 0. 1. ]] SLAMing on 44.241193816999996 meters Centerline goodness : 0.882041 with order 1 Centerline is valid? [False, False] Translation: X:12.12, Y:0.06, Z:0.36 [[ 9.99681671e-01 1.28786863e-02 2.16955244e-02 1.21240748e+01] [-1.10634420e-02 9.96586917e-01 -8.18053594e-02 6.31116663e-02] [-2.26750213e-02 8.15392912e-02 9.96412157e-01 3.59556360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.301193817 meters Centerline goodness : 0.881705 with order 1 Centerline is valid? [False, False] Translation: X:12.14, Y:0.06, Z:0.37 [[ 9.99701551e-01 -9.45559658e-03 2.25255759e-02 1.21375198e+01] [ 1.10438983e-02 9.97382063e-01 -7.14636486e-02 5.74792958e-02] [-2.17908739e-02 7.16910905e-02 9.97188821e-01 3.65255752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.36119381699999 meters Centerline goodness : 0.881843 with order 1 Centerline is valid? [False, False] Translation: X:12.15, Y:0.06, Z:0.37 [[ 0.99960563 -0.01562234 0.02333496 12.1492369 ] [ 0.01706118 0.99788087 -0.06279079 0.05869199] [-0.02230457 0.06316415 0.99775388 0.37217286] [ 0. 0. 0. 1. ]] SLAMing on 44.421193816999995 meters Centerline goodness : 0.877381 with order 1 Centerline is valid? [False, False] Translation: X:12.17, Y:0.07, Z:0.37 [[ 0.99957593 -0.01447812 0.02526554 12.17293369] [ 0.01601597 0.99796212 -0.06176654 0.06960429] [-0.02431979 0.062145 0.99777079 0.37439955] [ 0. 0. 0. 1. ]] SLAMing on 44.481193817 meters Centerline goodness : 0.874106 with order 1 Centerline is valid? [False, False] Translation: X:12.19, Y:0.08, Z:0.37 [[ 9.99528452e-01 -1.05348362e-02 2.88425054e-02 1.21903795e+01] [ 1.23641153e-02 9.97873456e-01 -6.39976176e-02 7.64988179e-02] [-2.81069661e-02 6.43240518e-02 9.97533165e-01 3.72591112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.54119381699999 meters Centerline goodness : 0.868154 with order 1 Centerline is valid? [False, False] Translation: X:12.22, Y:0.09, Z:0.37 [[ 9.99560811e-01 -6.08596515e-03 2.90025192e-02 1.22171359e+01] [ 7.82513148e-03 9.98153551e-01 -6.02350103e-02 8.77062647e-02] [-2.85823794e-02 6.04355043e-02 9.97762796e-01 3.71395298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.601193816999995 meters Centerline goodness : 0.870716 with order 1 Centerline is valid? [False, False] Translation: X:12.24, Y:0.09, Z:0.37 [[ 9.99608506e-01 -2.63468732e-03 2.78548738e-02 1.22449986e+01] [ 4.11827633e-03 9.98567973e-01 -5.33389485e-02 9.15369459e-02] [-2.76744534e-02 5.34327806e-02 9.98187889e-01 3.73019834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.661193817 meters Centerline goodness : 0.872897 with order 1 Centerline is valid? [False, False] Translation: X:12.27, Y:0.10, Z:0.37 [[ 9.99666029e-01 3.20450955e-03 2.56429623e-02 1.22686444e+01] [-1.86971425e-03 9.98650082e-01 -5.19087414e-02 9.63918050e-02] [-2.57746885e-02 5.18434604e-02 9.98322554e-01 3.70900208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.72119381699999 meters Centerline goodness : 0.865466 with order 1 Centerline is valid? [False, False] Translation: X:12.31, Y:0.11, Z:0.36 [[ 9.99638174e-01 1.27565251e-02 2.36810684e-02 1.23117153e+01] [-1.14474324e-02 9.98441828e-01 -5.46156853e-02 1.09540929e-01] [-2.43408756e-02 5.43248365e-02 9.98226594e-01 3.64927379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.781193816999995 meters Centerline goodness : 0.861847 with order 1 Centerline is valid? [False, False] Translation: X:12.35, Y:0.12, Z:0.36 [[ 0.99946074 0.02006316 0.02599402 12.3484666 ] [-0.0185439 0.9981776 -0.05742481 0.12119073] [-0.02709877 0.05691182 0.99801137 0.36411221] [ 0. 0. 0. 1. ]] SLAMing on 44.841193817 meters Centerline goodness : 0.858806 with order 1 Centerline is valid? [False, False] Translation: X:12.37, Y:0.12, Z:0.36 [[ 0.99935331 0.021927 0.02849841 12.36677764] [-0.02016695 0.9979557 -0.06064418 0.12406878] [-0.0297699 0.06003023 0.99775254 0.36241061] [ 0. 0. 0. 1. ]] SLAMing on 44.90119381699999 meters Centerline goodness : 0.862643 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:0.13, Z:0.36 [[ 0.999383 0.02062106 0.02843208 12.39425666] [-0.01883231 0.99791048 -0.06180623 0.13149021] [-0.02964718 0.06123265 0.99768312 0.36012921] [ 0. 0. 0. 1. ]] SLAMing on 44.961193816999995 meters Centerline goodness : 0.860756 with order 1 Centerline is valid? [False, False] Translation: X:12.42, Y:0.14, Z:0.36 [[ 0.99937581 0.02064732 0.02866501 12.42445666] [-0.01890232 0.99802741 -0.05986653 0.14148859] [-0.02984455 0.05928732 0.99779473 0.35728196] [ 0. 0. 0. 1. ]] SLAMing on 45.021193817 meters Centerline goodness : 0.858798 with order 1 Centerline is valid? [False, False] Translation: X:12.46, Y:0.15, Z:0.35 [[ 0.99924874 0.02487759 0.02971626 12.46336974] [-0.02293528 0.99768603 -0.06400435 0.1467548 ] [-0.03123977 0.06327472 0.99750709 0.35448813] [ 0. 0. 0. 1. ]] SLAMing on 45.08119381699999 meters Centerline goodness : 0.858193 with order 1 Centerline is valid? [False, False] Translation: X:12.51, Y:0.16, Z:0.36 [[ 0.99893079 0.03242763 0.0329503 12.51043203] [-0.02935721 0.99553252 -0.08973943 0.15585918] [-0.03571313 0.08867615 0.99542007 0.35508779] [ 0. 0. 0. 1. ]] SLAMing on 45.141193816999994 meters Centerline goodness : 0.857605 with order 1 Centerline is valid? [False, False] Translation: X:12.51, Y:0.15, Z:0.36 [[ 0.99887367 0.03323419 0.03386556 12.50689612] [-0.03014525 0.99566753 -0.08796266 0.15317052] [-0.03664221 0.0868427 0.99554794 0.3577278 ] [ 0. 0. 0. 1. ]] SLAMing on 45.201193817 meters Centerline goodness : 0.855681 with order 1 Centerline is valid? [False, False] Translation: X:12.53, Y:0.14, Z:0.36 [[ 0.99931334 0.02014441 0.03109745 12.53158796] [-0.01778973 0.99708301 -0.07422263 0.14314194] [-0.03250191 0.07361845 0.99675672 0.36020152] [ 0. 0. 0. 1. ]] SLAMing on 45.26119381699999 meters Centerline goodness : 0.853522 with order 1 Centerline is valid? [False, False] Translation: X:12.55, Y:0.13, Z:0.36 [[ 9.99554024e-01 8.19324265e-03 2.87162554e-02 1.25492825e+01] [-6.28398092e-03 9.97802627e-01 -6.59577856e-02 1.33335406e-01] [-2.91935632e-02 6.57479176e-02 9.97409117e-01 3.61987075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.321193816999994 meters Centerline goodness : 0.852749 with order 1 Centerline is valid? [False, False] Translation: X:12.56, Y:0.12, Z:0.36 [[ 9.99556065e-01 -6.51165855e-03 2.90735412e-02 1.25596610e+01] [ 8.09009666e-03 9.98480560e-01 -5.45080045e-02 1.23842303e-01] [-2.86744282e-02 5.47190143e-02 9.98089979e-01 3.61238052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.381193816999996 meters Centerline goodness : 0.853334 with order 1 Centerline is valid? [False, False] Translation: X:12.59, Y:0.12, Z:0.36 [[ 9.99707167e-01 -5.77490873e-03 2.34995952e-02 1.25920103e+01] [ 6.89632590e-03 9.98827227e-01 -4.79229683e-02 1.24487252e-01] [-2.31952847e-02 4.80709958e-02 9.98574563e-01 3.59326328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.441193817 meters Centerline goodness : 0.855920 with order 1 Centerline is valid? [False, False] Translation: X:12.64, Y:0.13, Z:0.35 [[ 9.99767064e-01 3.85526274e-03 2.12356856e-02 1.26350792e+01] [-2.82992587e-03 9.98838332e-01 -4.81038164e-02 1.33304486e-01] [-2.13964697e-02 4.80325159e-02 9.98616577e-01 3.53935354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.501193816999994 meters Centerline goodness : 0.856995 with order 1 Centerline is valid? [False, False] Translation: X:12.68, Y:0.14, Z:0.35 [[ 9.99719159e-01 1.24777444e-02 2.01471981e-02 1.26790039e+01] [-1.13094902e-02 9.98304767e-01 -5.70936804e-02 1.41692491e-01] [-2.08254442e-02 5.68497916e-02 9.98165518e-01 3.54021008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.561193816999996 meters Centerline goodness : 0.858193 with order 1 Centerline is valid? [False, False] Translation: X:12.72, Y:0.15, Z:0.35 [[ 0.99938061 0.02124023 0.02805783 12.71829219] [-0.01911645 0.99708197 -0.07390601 0.15447192] [-0.02954574 0.07332387 0.99687043 0.35103535] [ 0. 0. 0. 1. ]] SLAMing on 45.621193817 meters Centerline goodness : 0.856235 with order 1 Centerline is valid? [False, False] Translation: X:12.75, Y:0.16, Z:0.35 [[ 0.99902115 0.02634299 0.03553574 12.74942919] [-0.02349139 0.99664471 -0.07840586 0.16202586] [-0.03748196 0.07749433 0.99628798 0.35070033] [ 0. 0. 0. 1. ]] SLAMing on 45.68119381699999 meters Centerline goodness : 0.851781 with order 1 Centerline is valid? [False, False] Translation: X:12.78, Y:0.17, Z:0.35 [[ 0.9984212 0.03680539 0.04243196 12.77957287] [-0.03241084 0.99446247 -0.09996962 0.16669618] [-0.04587641 0.09843653 0.99408531 0.34908675] [ 0. 0. 0. 1. ]] SLAMing on 45.741193816999996 meters Centerline goodness : 0.856509 with order 1 Centerline is valid? [False, False] Translation: X:12.78, Y:0.16, Z:0.35 [[ 0.99835324 0.03899441 0.0420742 12.78138302] [-0.03484927 0.99485598 -0.09511631 0.15761291] [-0.04556677 0.09349343 0.99457662 0.34551277] [ 0. 0. 0. 1. ]] SLAMing on 45.801193817 meters Centerline goodness : 0.858343 with order 1 Centerline is valid? [False, False] Translation: X:12.77, Y:0.15, Z:0.34 [[ 0.99831414 0.03536058 0.04602717 12.77222883] [-0.03166908 0.99640313 -0.07859942 0.14574708] [-0.04864094 0.07700928 0.99584318 0.3424855 ] [ 0. 0. 0. 1. ]] SLAMing on 45.86119381699999 meters Centerline goodness : 0.859180 with order 1 Centerline is valid? [False, False] Translation: X:12.76, Y:0.13, Z:0.34 [[ 0.99837888 0.02359434 0.05179685 12.75745103] [-0.02011744 0.99757359 -0.06664997 0.12641781] [-0.05324373 0.0654999 0.99643107 0.34243022] [ 0. 0. 0. 1. ]] SLAMing on 45.921193816999995 meters Centerline goodness : 0.858893 with order 1 Centerline is valid? [False, False] Translation: X:12.78, Y:0.11, Z:0.34 [[ 9.98643232e-01 1.44291632e-02 5.00349388e-02 1.27762203e+01] [-1.16234624e-02 9.98367633e-01 -5.59192736e-02 1.14842565e-01] [-5.07601318e-02 5.52618248e-02 9.97180796e-01 3.41580324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.981193817 meters Centerline goodness : 0.858615 with order 1 Centerline is valid? [False, False] Translation: X:12.80, Y:0.10, Z:0.34 [[ 9.98916958e-01 -1.36402748e-04 4.65283947e-02 1.27996572e+01] [ 2.31193470e-03 9.98905982e-01 -4.67064740e-02 1.04831399e-01] [-4.64711209e-02 4.67634595e-02 9.97824440e-01 3.43036742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.04119381699999 meters Centerline goodness : 0.863501 with order 1 Centerline is valid? [False, False] Translation: X:12.81, Y:0.10, Z:0.35 [[ 9.98859966e-01 -8.45994841e-03 4.69808269e-02 1.28140923e+01] [ 1.02722932e-02 9.99206963e-01 -3.84698011e-02 1.01956703e-01] [-4.66181169e-02 3.89085451e-02 9.98154736e-01 3.46557467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.101193816999995 meters Centerline goodness : 0.862548 with order 1 Centerline is valid? [False, False] Translation: X:12.82, Y:0.10, Z:0.34 [[ 9.98855524e-01 -1.26533419e-02 4.61252049e-02 1.28184279e+01] [ 1.46391417e-02 9.98969021e-01 -4.29719716e-02 1.04008175e-01] [-4.55339118e-02 4.35980246e-02 9.98010959e-01 3.43037252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.161193817 meters Centerline goodness : 0.863326 with order 1 Centerline is valid? [False, False] Translation: X:12.82, Y:0.11, Z:0.34 [[ 0.99885406 -0.01525243 0.04536431 12.82241859] [ 0.01736652 0.99876361 -0.0465796 0.1111632 ] [-0.04459777 0.04731405 0.99788397 0.33957445] [ 0. 0. 0. 1. ]] SLAMing on 46.22119381699999 meters Centerline goodness : 0.862034 with order 1 Centerline is valid? [False, False] Translation: X:12.85, Y:0.12, Z:0.34 [[ 0.99881048 -0.01344433 0.04687073 12.84797257] [ 0.01532392 0.99908314 -0.03997573 0.11841333] [-0.04629031 0.04064642 0.99810073 0.34060571] [ 0. 0. 0. 1. ]] SLAMing on 46.281193816999995 meters Centerline goodness : 0.863995 with order 1 Centerline is valid? [False, False] Translation: X:12.85, Y:0.12, Z:0.34 [[ 9.98848111e-01 -1.21130566e-02 4.64297860e-02 1.28502293e+01] [ 1.39078779e-02 9.99160629e-01 -3.85306160e-02 1.21155223e-01] [-4.59240906e-02 3.91319728e-02 9.98178174e-01 3.38841244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.341193817 meters Centerline goodness : 0.865734 with order 1 Centerline is valid? [False, False] Translation: X:12.85, Y:0.12, Z:0.34 [[ 9.98884400e-01 -1.13825782e-02 4.58300355e-02 1.28530659e+01] [ 1.31102267e-02 9.99207826e-01 -3.75744790e-02 1.24899676e-01] [-4.53660357e-02 3.81334031e-02 9.98242338e-01 3.36743767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.40119381699999 meters Centerline goodness : 0.866880 with order 1 Centerline is valid? [False, False] Translation: X:12.88, Y:0.13, Z:0.34 [[ 0.99878123 -0.01319943 0.04755872 12.87581611] [ 0.01494066 0.99922398 -0.03644467 0.13057565] [-0.04704076 0.03711081 0.99820336 0.33876848] [ 0. 0. 0. 1. ]] SLAMing on 46.461193816999995 meters Centerline goodness : 0.864936 with order 1 Centerline is valid? [False, False] Translation: X:12.90, Y:0.14, Z:0.34 [[ 0.99873654 -0.01713671 0.04724038 12.90381404] [ 0.0188676 0.99915768 -0.0364411 0.14022997] [-0.04657611 0.03728637 0.99821861 0.33851353] [ 0. 0. 0. 1. ]] SLAMing on 46.521193817 meters Centerline goodness : 0.867064 with order 1 Centerline is valid? [False, False] Translation: X:12.94, Y:0.15, Z:0.34 [[ 0.99892693 -0.01963318 0.0419466 12.93639785] [ 0.02114771 0.99912899 -0.03597284 0.15052562] [-0.04120381 0.03682131 0.99847205 0.33599405] [ 0. 0. 0. 1. ]] SLAMing on 46.58119381699999 meters Centerline goodness : 0.863297 with order 1 Centerline is valid? [False, False] Translation: X:12.97, Y:0.17, Z:0.33 [[ 0.99897108 -0.01863375 0.04134697 12.97391723] [ 0.02041476 0.99886307 -0.04307911 0.16844089] [-0.04049723 0.04387887 0.99821572 0.33318674] [ 0. 0. 0. 1. ]] SLAMing on 46.641193816999994 meters Centerline goodness : 0.863777 with order 1 Centerline is valid? [False, False] Translation: X:13.01, Y:0.18, Z:0.33 [[ 0.9990201 -0.01405018 0.04196939 13.01236653] [ 0.0159638 0.99883158 -0.04561402 0.18049076] [-0.04127947 0.04623931 0.99807712 0.33112612] [ 0. 0. 0. 1. ]] SLAMing on 46.701193817 meters Centerline goodness : 0.859218 with order 1 Centerline is valid? [False, False] Translation: X:13.07, Y:0.21, Z:0.33 [[ 9.99223344e-01 -4.11199896e-03 3.91892909e-02 1.30662276e+01] [ 6.62071641e-03 9.97921372e-01 -6.41022761e-02 2.06240929e-01] [-3.88442425e-02 6.43119518e-02 9.97173554e-01 3.28477408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.76119381699999 meters Centerline goodness : 0.862067 with order 1 Centerline is valid? [False, False] Translation: X:13.09, Y:0.21, Z:0.33 [[ 9.99190669e-01 -8.57207588e-04 4.02153171e-02 1.30864454e+01] [ 3.45268755e-03 9.97910788e-01 -6.45146345e-02 2.12531774e-01] [-4.00759963e-02 6.46012718e-02 9.97106108e-01 3.26215524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.821193816999994 meters Centerline goodness : 0.863072 with order 1 Centerline is valid? [False, False] Translation: X:13.13, Y:0.22, Z:0.32 [[ 9.99177846e-01 2.72056755e-03 4.04503396e-02 1.31258571e+01] [ 1.47643053e-05 9.97721410e-01 -6.74684239e-02 2.23608591e-01] [-4.05417223e-02 6.74135517e-02 9.96901089e-01 3.24144756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.881193816999996 meters Centerline goodness : 0.866140 with order 1 Centerline is valid? [False, False] Translation: X:13.16, Y:0.24, Z:0.32 [[ 9.99089882e-01 5.85584922e-03 4.22506478e-02 1.31627483e+01] [-2.81913107e-03 9.97430982e-01 -7.15785502e-02 2.37281906e-01] [-4.25612583e-02 7.13942951e-02 9.96539710e-01 3.23988420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.941193817 meters Centerline goodness : 0.862348 with order 1 Centerline is valid? [False, False] Translation: X:13.16, Y:0.24, Z:0.32 [[ 9.98805412e-01 4.55991676e-03 4.86513742e-02 1.31618813e+01] [-1.75150549e-03 9.98337490e-01 -5.76124052e-02 2.43143742e-01] [-4.88331985e-02 5.74583690e-02 9.97152874e-01 3.24821217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.001193816999994 meters Centerline goodness : 0.865858 with order 1 Centerline is valid? [False, False] Translation: X:13.13, Y:0.25, Z:0.33 [[ 9.98665050e-01 5.94722149e-03 5.13103233e-02 1.31292228e+01] [-4.46465343e-03 9.99570585e-01 -2.89605334e-02 2.45642322e-01] [-5.14605246e-02 2.86927897e-02 9.98262760e-01 3.32841783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.061193816999996 meters Centerline goodness : 0.871023 with order 1 Centerline is valid? [False, False] Translation: X:13.12, Y:0.25, Z:0.34 [[ 9.98812185e-01 2.01654605e-02 4.43573465e-02 1.31227870e+01] [-2.00846003e-02 9.99795712e-01 -2.26788607e-03 2.50654829e-01] [-4.43940178e-02 1.37429266e-03 9.99013154e-01 3.38501237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.121193817 meters Centerline goodness : 0.867658 with order 1 Centerline is valid? [False, False] Translation: X:13.12, Y:0.25, Z:0.36 [[ 0.99924243 0.02449513 0.03024162 13.11903397] [-0.02596912 0.99844385 0.04935059 0.2476259 ] [-0.02898571 -0.05009855 0.99832358 0.35772473] [ 0. 0. 0. 1. ]] SLAMing on 47.18119381699999 meters Centerline goodness : 0.869921 with order 1 Centerline is valid? [False, False] Translation: X:13.13, Y:0.24, Z:0.37 [[ 0.99937012 0.02166176 0.02810936 13.13129294] [-0.0250686 0.99156852 0.12713547 0.23559074] [-0.02511838 -0.12776005 0.99148698 0.37339657] [ 0. 0. 0. 1. ]] SLAMing on 47.241193816999996 meters Centerline goodness : 0.874473 with order 1 Centerline is valid? [False, False] Translation: X:13.15, Y:0.22, Z:0.40 [[ 0.99959658 0.01387562 0.02478182 13.14682777] [-0.01852442 0.97991952 0.19853106 0.22310776] [-0.02152945 -0.19891004 0.97978124 0.39727647] [ 0. 0. 0. 1. ]] SLAMing on 47.301193817 meters Centerline goodness : 0.870914 with order 1 Centerline is valid? [False, False] Translation: X:13.16, Y:0.20, Z:0.42 [[ 9.99669647e-01 7.98148978e-03 2.44313768e-02 1.31573336e+01] [-1.45788744e-02 9.58933438e-01 2.83256276e-01 2.01186936e-01] [-2.11672571e-02 -2.83518884e-01 9.58733013e-01 4.16280189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.36119381699999 meters Centerline goodness : 0.870980 with order 1 Centerline is valid? [False, False] Translation: X:13.17, Y:0.18, Z:0.44 [[ 9.99717228e-01 4.42152553e-03 2.33648230e-02 1.31710391e+01] [-1.28040816e-02 9.28052823e-01 3.72228443e-01 1.79026441e-01] [-2.00379724e-02 -3.72422353e-01 9.27847008e-01 4.37069284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.421193816999995 meters Centerline goodness : 0.870563 with order 1 Centerline is valid? [False, False] Translation: X:13.18, Y:0.15, Z:0.47 [[ 9.99791569e-01 -5.30248470e-03 1.97155233e-02 1.31846934e+01] [-4.59042432e-03 8.82573348e-01 4.70152330e-01 1.53668592e-01] [-1.98933709e-02 -4.70144838e-01 8.82365052e-01 4.65993479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.481193817 meters Centerline goodness : 0.865515 with order 1 Centerline is valid? [False, False] Translation: X:13.18, Y:0.14, Z:0.50 [[ 9.99692638e-01 -1.81701223e-02 1.68664301e-02 1.31762221e+01] [ 6.03311681e-03 8.38173450e-01 5.45370396e-01 1.37300737e-01] [-2.40464407e-02 -5.45101012e-01 8.38025450e-01 4.95891791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.54119381699999 meters Centerline goodness : 0.868037 with order 1 Centerline is valid? [False, False] Translation: X:13.14, Y:0.15, Z:0.49 [[ 9.99584917e-01 -2.32790397e-02 1.69729088e-02 1.31397000e+01] [ 1.16592010e-02 8.65612705e-01 5.00578373e-01 1.47022577e-01] [-2.63449493e-02 -5.00172701e-01 8.65524819e-01 4.94607202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.601193816999995 meters Centerline goodness : 0.868224 with order 1 Centerline is valid? [False, False] Translation: X:13.13, Y:0.16, Z:0.49 [[ 0.9993336 -0.03383857 0.01368608 13.1259964 ] [ 0.02440655 0.89825538 0.43879561 0.15862435] [-0.02714181 -0.43816917 0.89848267 0.48777829] [ 0. 0. 0. 1. ]] SLAMing on 47.661193817 meters Centerline goodness : 0.868065 with order 1 Centerline is valid? [False, False] Translation: X:13.10, Y:0.17, Z:0.48 [[ 9.99378403e-01 -3.36028314e-02 1.06610059e-02 1.31012628e+01] [ 2.66644648e-02 9.18323303e-01 3.94932042e-01 1.68505188e-01] [-2.30610850e-02 -3.94402284e-01 9.18648477e-01 4.83923574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.72119381699999 meters Centerline goodness : 0.865870 with order 1 Centerline is valid? [False, False] Translation: X:13.10, Y:0.19, Z:0.48 [[ 9.99608909e-01 -2.67505218e-02 8.15103850e-03 1.30966086e+01] [ 2.26032100e-02 9.44497325e-01 3.27740596e-01 1.88041145e-01] [-1.64658660e-02 -3.27428180e-01 9.44732588e-01 4.77232014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.781193816999995 meters Centerline goodness : 0.872187 with order 1 Centerline is valid? [False, False] Translation: X:13.08, Y:0.21, Z:0.48 [[ 9.99917073e-01 -9.44655955e-03 8.75264660e-03 1.30786095e+01] [ 6.58184267e-03 9.59049393e-01 2.83162392e-01 2.07024473e-01] [-1.10691308e-02 -2.83081302e-01 9.59032038e-01 4.78300962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.841193817 meters Centerline goodness : 0.869770 with order 1 Centerline is valid? [False, False] Translation: X:13.07, Y:0.22, Z:0.48 [[ 9.99955392e-01 3.42538557e-05 9.44525030e-03 1.30650537e+01] [-2.33434131e-03 9.69868922e-01 2.43616141e-01 2.20338006e-01] [-9.15230994e-03 -2.43627322e-01 9.69825738e-01 4.77705232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.90119381699999 meters Centerline goodness : 0.871525 with order 1 Centerline is valid? [False, False] Translation: X:13.06, Y:0.22, Z:0.49 [[ 9.99991358e-01 4.13136927e-03 4.64065751e-04 1.30581476e+01] [-4.10252680e-03 9.62568555e-01 2.71007279e-01 2.20513342e-01] [ 6.72936046e-04 -2.71006841e-01 9.62577186e-01 4.94736793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.961193816999995 meters Centerline goodness : 0.873509 with order 1 Centerline is valid? [False, False] Translation: X:13.08, Y:0.21, Z:0.52 [[ 9.99926075e-01 8.79984243e-03 -8.39085863e-03 1.30753643e+01] [-5.73483684e-03 9.49829942e-01 3.12714234e-01 2.12883584e-01] [ 1.07217247e-02 -3.12642997e-01 9.49810192e-01 5.15325202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.021193817 meters Centerline goodness : 0.875881 with order 1 Centerline is valid? [False, False] Translation: X:13.06, Y:0.18, Z:0.54 [[ 9.99920236e-01 5.85560946e-03 -1.11908133e-02 1.30647568e+01] [-7.08080502e-04 9.10630711e-01 4.13220530e-01 1.83959639e-01] [ 1.26103563e-02 -4.13179645e-01 9.10562222e-01 5.43647838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.08119381699999 meters Centerline goodness : 0.872059 with order 1 Centerline is valid? [False, False] Translation: X:13.04, Y:0.19, Z:0.54 [[ 9.99924606e-01 3.99752607e-03 -1.16104658e-02 1.30426300e+01] [ 6.67772018e-04 9.26423902e-01 3.76481483e-01 1.91291806e-01] [ 1.22612075e-02 -3.76460852e-01 9.26351386e-01 5.43073387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.141193816999994 meters Centerline goodness : 0.878590 with order 1 Centerline is valid? [False, False] Translation: X:13.02, Y:0.20, Z:0.54 [[ 9.99849649e-01 6.27853232e-04 -1.73287269e-02 1.30212259e+01] [ 4.77638403e-03 9.50711985e-01 3.10038557e-01 1.97523278e-01] [ 1.66692871e-02 -3.10074711e-01 9.50566046e-01 5.42983267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.201193817 meters Centerline goodness : 0.874561 with order 1 Centerline is valid? [False, False] Translation: X:13.02, Y:0.21, Z:0.54 [[ 9.99787529e-01 -2.65904395e-04 -2.06113013e-02 1.30152581e+01] [ 5.14805221e-03 9.71451408e-01 2.37182754e-01 2.10006766e-01] [ 1.99598097e-02 -2.37238467e-01 9.71246372e-01 5.37758063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.26119381699999 meters Centerline goodness : 0.877864 with order 1 Centerline is valid? [False, False] Translation: X:13.01, Y:0.23, Z:0.54 [[ 9.99776125e-01 3.90755904e-04 -2.11553161e-02 1.30097160e+01] [ 2.99966419e-03 9.87113510e-01 1.59993500e-01 2.26105076e-01] [ 2.09452168e-02 -1.60021140e-01 9.86891348e-01 5.35667474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.321193816999994 meters Centerline goodness : 0.875661 with order 1 Centerline is valid? [False, False] Translation: X:13.01, Y:0.23, Z:0.53 [[ 9.99792066e-01 -6.52732385e-04 -2.03813292e-02 1.30147039e+01] [ 2.89611999e-03 9.93901166e-01 1.10236496e-01 2.31506721e-01] [ 2.01850719e-02 -1.10272600e-01 9.93696390e-01 5.33165256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.381193816999996 meters Centerline goodness : 0.877689 with order 1 Centerline is valid? [False, False] Translation: X:13.04, Y:0.23, Z:0.53 [[ 9.99593253e-01 -7.82011005e-03 -2.74257887e-02 1.30437310e+01] [ 9.97873368e-03 9.96786832e-01 7.94760055e-02 2.31071614e-01] [ 2.67161540e-02 -7.97173536e-02 9.96459428e-01 5.34366829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.441193817 meters Centerline goodness : 0.877722 with order 1 Centerline is valid? [False, False] Translation: X:13.06, Y:0.23, Z:0.53 [[ 0.99950859 -0.01328685 -0.02839086 13.06407488] [ 0.01485635 0.99833112 0.05580558 0.2345139 ] [ 0.027602 -0.05619994 0.99803792 0.53497574] [ 0. 0. 0. 1. ]] SLAMing on 48.501193816999994 meters Centerline goodness : 0.878870 with order 1 Centerline is valid? [False, False] Translation: X:13.08, Y:0.23, Z:0.54 [[ 0.99936152 -0.02413664 -0.02634335 13.07781567] [ 0.02499349 0.99915276 0.03269685 0.23472178] [ 0.02553184 -0.03333438 0.99911808 0.5352935 ] [ 0. 0. 0. 1. ]] SLAMing on 48.561193816999996 meters Centerline goodness : 0.881751 with order 1 Centerline is valid? [False, False] Translation: X:13.10, Y:0.24, Z:0.54 [[ 0.99919757 -0.03101659 -0.02534139 13.10114257] [ 0.03150159 0.99932369 0.01896879 0.23748133] [ 0.0247359 -0.01975186 0.99949887 0.53875946] [ 0. 0. 0. 1. ]] SLAMing on 48.621193817 meters Centerline goodness : 0.881126 with order 1 Centerline is valid? [False, False] Translation: X:13.12, Y:0.24, Z:0.54 [[ 9.99095118e-01 -3.76026914e-02 -1.98741751e-02 1.31157195e+01] [ 3.78223609e-02 9.99226169e-01 1.07950542e-02 2.42980125e-01] [ 1.94528727e-02 -1.15369742e-02 9.99744209e-01 5.39924219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.68119381699999 meters Centerline goodness : 0.879940 with order 1 Centerline is valid? [False, False] Translation: X:13.14, Y:0.25, Z:0.54 [[ 9.98966717e-01 -4.12330180e-02 -1.91137633e-02 1.31360966e+01] [ 4.13095495e-02 9.99139815e-01 3.62644981e-03 2.46770370e-01] [ 1.89477924e-02 -4.41228361e-03 9.99810739e-01 5.38333873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.741193816999996 meters Centerline goodness : 0.881078 with order 1 Centerline is valid? [False, False] Translation: X:13.17, Y:0.25, Z:0.54 [[ 9.98878916e-01 -4.30267847e-02 -1.97384656e-02 1.31657287e+01] [ 4.28454761e-02 9.99036368e-01 -9.51846679e-03 2.52733423e-01] [ 2.01289940e-02 8.66209183e-03 9.99759867e-01 5.37759429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.801193817 meters Centerline goodness : 0.880658 with order 1 Centerline is valid? [False, False] Translation: X:13.19, Y:0.26, Z:0.54 [[ 0.9988731 -0.04279263 -0.02052591 13.19421019] [ 0.04237334 0.99889264 -0.02044497 0.25919676] [ 0.02137807 0.01955218 0.99958026 0.53838683] [ 0. 0. 0. 1. ]] SLAMing on 48.86119381699999 meters Centerline goodness : 0.885905 with order 1 Centerline is valid? [False, False] Translation: X:13.23, Y:0.28, Z:0.54 [[ 0.99884414 -0.04395081 -0.01946036 13.23274053] [ 0.04337744 0.99863876 -0.02896592 0.2752687 ] [ 0.02070694 0.0280883 0.99939095 0.53701311] [ 0. 0. 0. 1. ]] SLAMing on 48.921193816999995 meters Centerline goodness : 0.886479 with order 1 Centerline is valid? [False, False] Translation: X:13.27, Y:0.29, Z:0.54 [[ 0.99912428 -0.03812366 -0.01724096 13.27122325] [ 0.03730409 0.99826342 -0.045591 0.29372469] [ 0.01894912 0.04490792 0.9988114 0.53572377] [ 0. 0. 0. 1. ]] SLAMing on 48.981193817 meters Centerline goodness : 0.886282 with order 1 Centerline is valid? [False, False] Translation: X:13.31, Y:0.31, Z:0.53 [[ 0.99946614 -0.02967519 -0.01366792 13.31222151] [ 0.02859345 0.99688531 -0.07349893 0.31440959] [ 0.01580644 0.07306888 0.99720163 0.53489161] [ 0. 0. 0. 1. ]] SLAMing on 49.04119381699999 meters Centerline goodness : 0.889568 with order 1 Centerline is valid? [False, False] Translation: X:13.31, Y:0.33, Z:0.54 [[ 0.99977801 -0.0155062 -0.01426513 13.31434338] [ 0.01456022 0.99783187 -0.06418379 0.32824572] [ 0.01522944 0.06396184 0.99783613 0.53509858] [ 0. 0. 0. 1. ]] SLAMing on 49.101193816999995 meters Centerline goodness : 0.892955 with order 1 Centerline is valid? [False, False] Translation: X:13.32, Y:0.33, Z:0.53 [[ 9.99855936e-01 -8.46051697e-03 -1.47148854e-02 1.33156105e+01] [ 7.58937564e-03 9.98271326e-01 -5.82817460e-02 3.33136483e-01] [ 1.51825419e-02 5.81616729e-02 9.98191720e-01 5.34822822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.161193817 meters Centerline goodness : 0.894503 with order 1 Centerline is valid? [False, False] Translation: X:13.30, Y:0.32, Z:0.55 [[ 9.99604190e-01 -9.55684409e-03 -2.64599888e-02 1.33017001e+01] [ 1.02854385e-02 9.99567843e-01 2.75379336e-02 3.17737455e-01] [ 2.61853782e-02 -2.77991864e-02 9.99270500e-01 5.46768672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.22119381699999 meters Centerline goodness : 0.896805 with order 1 Centerline is valid? [False, False] Translation: X:13.29, Y:0.30, Z:0.56 [[ 0.99935129 -0.01466365 -0.03289356 13.28826592] [ 0.01824732 0.99360374 0.111439 0.30241189] [ 0.03104906 -0.11196693 0.99322674 0.56178526] [ 0. 0. 0. 1. ]] SLAMing on 49.281193816999995 meters Centerline goodness : 0.896253 with order 1 Centerline is valid? [False, False] Translation: X:13.29, Y:0.31, Z:0.56 [[ 0.99945351 -0.0189963 -0.02705212 13.28679895] [ 0.021418 0.99550617 0.09224275 0.30725291] [ 0.02517828 -0.09277175 0.99536901 0.56398709] [ 0. 0. 0. 1. ]] SLAMing on 49.341193817 meters Centerline goodness : 0.895673 with order 1 Centerline is valid? [False, False] Translation: X:13.29, Y:0.31, Z:0.57 [[ 0.99950246 -0.02211768 -0.0224863 13.28760892] [ 0.02379713 0.99671683 0.07739034 0.31242966] [ 0.02070078 -0.07788695 0.99674726 0.56760055] [ 0. 0. 0. 1. ]] SLAMing on 49.40119381699999 meters Centerline goodness : 0.896761 with order 1 Centerline is valid? [False, False] Translation: X:13.29, Y:0.32, Z:0.57 [[ 0.99964101 -0.01958951 -0.01827863 13.28784911] [ 0.02075029 0.99762762 0.06563962 0.3193003 ] [ 0.01694942 -0.06599534 0.99767597 0.56849739] [ 0. 0. 0. 1. ]] SLAMing on 49.461193816999995 meters Centerline goodness : 0.894714 with order 1 Centerline is valid? [False, False] Translation: X:13.28, Y:0.32, Z:0.57 [[ 0.99958447 -0.01856726 -0.02204887 13.28459786] [ 0.01971145 0.99840722 0.05286279 0.32447711] [ 0.02103223 -0.05327544 0.99835834 0.56669856] [ 0. 0. 0. 1. ]] SLAMing on 49.521193817 meters Centerline goodness : 0.892543 with order 1 Centerline is valid? [False, False] Translation: X:13.31, Y:0.33, Z:0.57 [[ 0.99934846 -0.01772807 -0.03143834 13.30703732] [ 0.01896932 0.9990342 0.03963369 0.32921999] [ 0.03070535 -0.04020423 0.99871958 0.5655014 ] [ 0. 0. 0. 1. ]] SLAMing on 49.58119381699999 meters Centerline goodness : 0.891693 with order 1 Centerline is valid? [False, False] Translation: X:13.31, Y:0.33, Z:0.56 [[ 0.99935699 -0.0152006 -0.0324739 13.31012462] [ 0.01655738 0.99898341 0.04192842 0.33329971] [ 0.03180355 -0.04243915 0.99859274 0.56375392] [ 0. 0. 0. 1. ]] SLAMing on 49.641193816999994 meters Centerline goodness : 0.892857 with order 1 Centerline is valid? [False, False] Translation: X:13.30, Y:0.31, Z:0.58 [[ 0.99899909 -0.01968544 -0.04016586 13.30484953] [ 0.02503314 0.99021118 0.13731408 0.30875167] [ 0.03706959 -0.13818212 0.98971286 0.58193937] [ 0. 0. 0. 1. ]] SLAMing on 49.701193817 meters Centerline goodness : 0.895406 with order 1 Centerline is valid? [False, False] Translation: X:13.32, Y:0.30, Z:0.60 [[ 0.99841283 -0.02663433 -0.04962292 13.3191692 ] [ 0.03499047 0.98377092 0.17598423 0.30049673] [ 0.04413036 -0.17744125 0.98314145 0.59900946] [ 0. 0. 0. 1. ]] SLAMing on 49.76119381699999 meters Centerline goodness : 0.894688 with order 1 Centerline is valid? [False, False] Translation: X:13.31, Y:0.31, Z:0.60 [[ 0.99830246 -0.0336663 -0.04752651 13.31024235] [ 0.04000268 0.98943045 0.13938138 0.31046873] [ 0.04233172 -0.14104596 0.9890976 0.59825909] [ 0. 0. 0. 1. ]] SLAMing on 49.821193816999994 meters Centerline goodness : 0.897576 with order 1 Centerline is valid? [False, False] Translation: X:13.31, Y:0.32, Z:0.60 [[ 0.99809803 -0.04238615 -0.04476308 13.31238095] [ 0.04721044 0.99248611 0.11288266 0.31645602] [ 0.03964207 -0.11478124 0.9925995 0.59678758] [ 0. 0. 0. 1. ]] SLAMing on 49.881193816999996 meters Centerline goodness : 0.895047 with order 1 Centerline is valid? [False, False] Translation: X:13.31, Y:0.32, Z:0.60 [[ 0.99821976 -0.04203759 -0.04231023 13.31163907] [ 0.04592955 0.99435351 0.09566382 0.3235153 ] [ 0.03804985 -0.0974368 0.99451409 0.59636241] [ 0. 0. 0. 1. ]] SLAMing on 49.941193817 meters Centerline goodness : 0.890188 with order 1 Centerline is valid? [False, False] Translation: X:13.29, Y:0.33, Z:0.60 [[ 0.9987709 -0.03420161 -0.03587381 13.29174472] [ 0.0371328 0.99573081 0.0845063 0.33163832] [ 0.03283041 -0.08573453 0.99577696 0.59584917] [ 0. 0. 0. 1. ]] SLAMing on 50.001193816999994 meters Centerline goodness : 0.890414 with order 1 Centerline is valid? [False, False] Translation: X:13.28, Y:0.34, Z:0.60 [[ 0.99937275 -0.01820724 -0.03037447 13.2763946 ] [ 0.02075805 0.99608792 0.08589506 0.33774127] [ 0.02869173 -0.0864717 0.99584107 0.60002992] [ 0. 0. 0. 1. ]] SLAMing on 50.061193816999996 meters Centerline goodness : 0.887682 with order 1 Centerline is valid? [False, False] Translation: X:13.30, Y:0.33, Z:0.61 [[ 9.99272276e-01 -1.10490563e-02 -3.65080473e-02 1.32952892e+01] [ 1.60098208e-02 9.90230360e-01 1.38519024e-01 3.31141816e-01] [ 3.46208723e-02 -1.39002708e-01 9.89686639e-01 6.12942382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.121193817 meters Centerline goodness : 0.886698 with order 1 Centerline is valid? [False, False] Translation: X:13.31, Y:0.31, Z:0.63 [[ 9.99182404e-01 -8.81068311e-03 -3.94575214e-02 1.33080546e+01] [ 1.83087059e-02 9.68763212e-01 2.47310798e-01 3.06968962e-01] [ 3.60460181e-02 -2.47831014e-01 9.68132467e-01 6.25861801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.18119381699999 meters Centerline goodness : 0.883830 with order 1 Centerline is valid? [False, False] Translation: X:13.34, Y:0.28, Z:0.65 [[ 9.98926984e-01 -6.71905241e-03 -4.58228579e-02 1.33367436e+01] [ 2.23628583e-02 9.36408617e-01 3.50198236e-01 2.75312320e-01] [ 4.05559187e-02 -3.50847198e-01 9.35554093e-01 6.46439277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.241193816999996 meters Centerline goodness : 0.883849 with order 1 Centerline is valid? [False, False] Translation: X:13.37, Y:0.26, Z:0.67 [[ 9.98606180e-01 -4.37589926e-04 -5.27778986e-02 1.33712257e+01] [ 2.28699235e-02 9.04801958e-01 4.25218043e-01 2.57483331e-01] [ 4.75674749e-02 -4.25832392e-01 9.03550834e-01 6.68211343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.301193817 meters Centerline goodness : 0.878601 with order 1 Centerline is valid? [False, False] Translation: X:13.40, Y:0.25, Z:0.69 [[ 9.98327217e-01 3.76286207e-03 -5.76940979e-02 1.34046274e+01] [ 2.38103266e-02 8.82573373e-01 4.69571411e-01 2.49058226e-01] [ 5.26862070e-02 -4.70159635e-01 8.81007424e-01 6.85340133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.36119381699999 meters Centerline goodness : 0.879116 with order 1 Centerline is valid? [False, False] Translation: X:13.44, Y:0.22, Z:0.72 [[ 9.98281125e-01 6.04213633e-03 -5.82948440e-02 1.34393979e+01] [ 2.78283589e-02 8.26520005e-01 5.62219053e-01 2.20576939e-01] [ 5.15788589e-02 -5.62874918e-01 8.24931178e-01 7.17324811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.421193816999995 meters Centerline goodness : 0.883495 with order 1 Centerline is valid? [False, False] Translation: X:13.47, Y:0.19, Z:0.76 [[ 9.98320047e-01 4.97635403e-03 -5.77262489e-02 1.34728970e+01] [ 3.41781088e-02 7.53925279e-01 6.56070523e-01 1.94755476e-01] [ 4.67861175e-02 -6.56941329e-01 7.52488637e-01 7.55416069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.481193817 meters Centerline goodness : 0.883141 with order 1 Centerline is valid? [False, False] Translation: X:13.49, Y:0.18, Z:0.79 [[ 9.98272359e-01 3.34625180e-03 -5.86608894e-02 1.34911057e+01] [ 4.07150901e-02 6.80420112e-01 7.31690339e-01 1.79442479e-01] [ 4.23624691e-02 -7.32814624e-01 6.79108348e-01 7.90299356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.54119381699999 meters Centerline goodness : 0.883897 with order 1 Centerline is valid? [False, False] Translation: X:13.52, Y:0.17, Z:0.82 [[ 9.97998429e-01 3.30371906e-03 -6.31523672e-02 1.35152433e+01] [ 4.80890852e-02 6.08877254e-01 7.91805487e-01 1.72904359e-01] [ 4.10679428e-02 -7.93257572e-01 6.07499670e-01 8.22510842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.601193816999995 meters Centerline goodness : 0.881599 with order 1 Centerline is valid? [False, False] Translation: X:13.52, Y:0.17, Z:0.85 [[ 9.97603293e-01 -1.32129683e-03 -6.91803737e-02 1.35161876e+01] [ 5.86611260e-02 5.46385809e-01 8.35476762e-01 1.69025743e-01] [ 3.66952616e-02 -8.37532568e-01 5.45153791e-01 8.51913692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.661193817 meters Centerline goodness : 0.884045 with order 1 Centerline is valid? [False, False] Translation: X:13.50, Y:0.16, Z:0.88 [[ 9.97275097e-01 -9.56885268e-03 -7.31492841e-02 1.35036386e+01] [ 6.89432317e-02 4.73742363e-01 8.77960707e-01 1.64538987e-01] [ 2.62528381e-02 -8.80611498e-01 4.73111169e-01 8.83737750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.72119381699999 meters Centerline goodness : 0.883865 with order 1 Centerline is valid? [False, False] Translation: X:13.45, Y:0.18, Z:0.90 [[ 0.99515061 -0.0234916 -0.09551651 13.44586951] [ 0.09563471 0.45819369 0.88369257 0.17719875] [ 0.02300571 -0.88854189 0.45821834 0.89522527] [ 0. 0. 0. 1. ]] SLAMing on 50.781193816999995 meters Centerline goodness : 0.885569 with order 1 Centerline is valid? [False, False] Translation: X:13.37, Y:0.18, Z:0.88 [[ 0.99495589 -0.02997338 -0.09573074 13.37260586] [ 0.09729974 0.52051957 0.84828777 0.18268673] [ 0.02440368 -0.85332349 0.52081042 0.88066107] [ 0. 0. 0. 1. ]] SLAMing on 50.841193817 meters Centerline goodness : 0.888479 with order 1 Centerline is valid? [False, False] Translation: X:13.30, Y:0.19, Z:0.86 [[ 0.99514673 -0.02919229 -0.09397233 13.30151649] [ 0.09347508 0.57884052 0.81006547 0.19205251] [ 0.03074733 -0.81491807 0.57876 0.86478693] [ 0. 0. 0. 1. ]] SLAMing on 50.90119381699999 meters Centerline goodness : 0.886397 with order 1 Centerline is valid? [False, False] Translation: X:13.25, Y:0.20, Z:0.85 [[ 0.99564516 -0.02239368 -0.09049438 13.24532108] [ 0.08428055 0.63110372 0.77110627 0.20494813] [ 0.03984344 -0.77537514 0.63024272 0.84981267] [ 0. 0. 0. 1. ]] SLAMing on 50.961193816999995 meters Centerline goodness : 0.889475 with order 1 Centerline is valid? [False, False] Translation: X:13.18, Y:0.22, Z:0.83 [[ 0.99562836 -0.02185119 -0.09081131 13.18284742] [ 0.08115714 0.68365248 0.72528119 0.21561069] [ 0.04623512 -0.7294805 0.68243718 0.83498277] [ 0. 0. 0. 1. ]] SLAMing on 51.021193817 meters Centerline goodness : 0.891755 with order 1 Centerline is valid? [False, False] Translation: X:13.14, Y:0.23, Z:0.82 [[ 0.99588174 -0.02702487 -0.08654021 13.13522025] [ 0.07843092 0.73561562 0.6728434 0.22918269] [ 0.04547682 -0.67685989 0.73470576 0.82194077] [ 0. 0. 0. 1. ]] SLAMing on 51.08119381699999 meters Centerline goodness : 0.888990 with order 1 Centerline is valid? [False, False] Translation: X:13.09, Y:0.25, Z:0.81 [[ 0.99594645 -0.03179658 -0.08414058 13.08790368] [ 0.07704249 0.7843407 0.61552752 0.24574967] [ 0.04642321 -0.61951485 0.78361103 0.80864054] [ 0. 0. 0. 1. ]] SLAMing on 51.141193816999994 meters Centerline goodness : 0.887819 with order 1 Centerline is valid? [False, False] Translation: X:13.04, Y:0.27, Z:0.79 [[ 0.99632994 -0.0340501 -0.07853179 13.04085329] [ 0.07068204 0.84475191 0.53046986 0.26799995] [ 0.04827733 -0.53407379 0.84405835 0.7918355 ] [ 0. 0. 0. 1. ]] SLAMing on 51.201193817 meters Centerline goodness : 0.888003 with order 1 Centerline is valid? [False, False] Translation: X:12.99, Y:0.28, Z:0.79 [[ 0.99668108 -0.02801295 -0.07643367 12.9945716 ] [ 0.06083589 0.88019485 0.47069738 0.28358507] [ 0.0540909 -0.47378508 0.87897774 0.78656269] [ 0. 0. 0. 1. ]] SLAMing on 51.26119381699999 meters Centerline goodness : 0.887495 with order 1 Centerline is valid? [False, False] Translation: X:12.96, Y:0.30, Z:0.78 [[ 0.99683613 -0.02706782 -0.0747333 12.95659576] [ 0.05416781 0.91942694 0.38951245 0.30213385] [ 0.05816856 -0.39232822 0.9179842 0.77965183] [ 0. 0. 0. 1. ]] SLAMing on 51.321193816999994 meters Centerline goodness : 0.891792 with order 1 Centerline is valid? [False, False] Translation: X:12.94, Y:0.31, Z:0.78 [[ 0.99685917 -0.02835177 -0.07394572 12.9368182 ] [ 0.05242289 0.93610343 0.34779622 0.30585237] [ 0.0593602 -0.3505803 0.93464957 0.77829873] [ 0. 0. 0. 1. ]] SLAMing on 51.381193816999996 meters Centerline goodness : 0.887843 with order 1 Centerline is valid? [False, False] Translation: X:12.93, Y:0.30, Z:0.78 [[ 0.99640513 -0.03320141 -0.07793892 12.92725022] [ 0.05579696 0.94946729 0.30886658 0.3013943 ] [ 0.06374564 -0.312105 0.94790662 0.77827984] [ 0. 0. 0. 1. ]] SLAMing on 51.44119381699999 meters Centerline goodness : 0.889427 with order 1 Centerline is valid? [False, False] Translation: X:12.91, Y:0.30, Z:0.78 [[ 0.99619627 -0.03463932 -0.07995695 12.91182747] [ 0.05515296 0.96105215 0.27080791 0.30057905] [ 0.0674622 -0.27418769 0.95930702 0.77873225] [ 0. 0. 0. 1. ]] SLAMing on 51.501193816999994 meters Centerline goodness : 0.892220 with order 1 Centerline is valid? [False, False] Translation: X:12.90, Y:0.31, Z:0.78 [[ 0.99574479 -0.04061029 -0.08272311 12.90125406] [ 0.05574771 0.98023401 0.18982487 0.3074254 ] [ 0.07337916 -0.19362875 0.97832684 0.77888975] [ 0. 0. 0. 1. ]] SLAMing on 51.561193816999996 meters Centerline goodness : 0.886998 with order 1 Centerline is valid? [False, False] Translation: X:12.91, Y:0.31, Z:0.78 [[ 0.99549159 -0.04841363 -0.08156352 12.90813262] [ 0.05917961 0.98904586 0.13522596 0.31238235] [ 0.07412328 -0.13944321 0.98745194 0.77753311] [ 0. 0. 0. 1. ]] SLAMing on 51.621193817 meters Centerline goodness : 0.886835 with order 1 Centerline is valid? [False, False] Translation: X:12.92, Y:0.31, Z:0.78 [[ 0.99520479 -0.05651804 -0.07983194 12.92157174] [ 0.06466206 0.99253409 0.10341617 0.30771158] [ 0.07339104 -0.10808237 0.99142925 0.78118409] [ 0. 0. 0. 1. ]] SLAMing on 51.68119381699999 meters Centerline goodness : 0.894354 with order 1 Centerline is valid? [False, False] Translation: X:12.95, Y:0.31, Z:0.79 [[ 0.99476481 -0.06263768 -0.08074344 12.94563314] [ 0.0687874 0.99474929 0.07577699 0.30628071] [ 0.07557298 -0.08093442 0.99385026 0.78603338] [ 0. 0. 0. 1. ]] SLAMing on 51.741193816999996 meters Centerline goodness : 0.889900 with order 1 Centerline is valid? [False, False] Translation: X:12.96, Y:0.30, Z:0.79 [[ 0.99440759 -0.06872541 -0.08018957 12.96410555] [ 0.07332105 0.99574366 0.05584423 0.29974833] [ 0.07601034 -0.06141151 0.99521407 0.78875787] [ 0. 0. 0. 1. ]] SLAMing on 51.801193817 meters Centerline goodness : 0.889550 with order 1 Centerline is valid? [False, False] Translation: X:12.98, Y:0.30, Z:0.79 [[ 0.99420181 -0.07158103 -0.08024282 12.98242409] [ 0.07488327 0.99643232 0.03892466 0.29662844] [ 0.07717027 -0.04470782 0.99601504 0.79079025] [ 0. 0. 0. 1. ]] SLAMing on 51.86119381699999 meters Centerline goodness : 0.893439 with order 1 Centerline is valid? [False, False] Translation: X:13.00, Y:0.29, Z:0.79 [[ 0.99377325 -0.07341975 -0.08381096 13.0021123 ] [ 0.0757028 0.99683206 0.02439128 0.29048704] [ 0.08175465 -0.03058413 0.99618311 0.79334716] [ 0. 0. 0. 1. ]] SLAMing on 51.921193816999995 meters Centerline goodness : 0.884796 with order 1 Centerline is valid? [False, False] Translation: X:13.03, Y:0.29, Z:0.79 [[ 9.94290198e-01 -6.93512033e-02 -8.11012553e-02 1.30261382e+01] [ 7.05539116e-02 9.97435113e-01 1.20557619e-02 2.94990019e-01] [ 8.00571581e-02 -1.77089367e-02 9.96632954e-01 7.93769240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.981193817 meters Centerline goodness : 0.884345 with order 1 Centerline is valid? [False, False] Translation: X:13.05, Y:0.29, Z:0.80 [[ 9.94891457e-01 -6.19279405e-02 -7.97240126e-02 1.30530524e+01] [ 6.17846405e-02 9.98080390e-01 -4.26536387e-03 2.94853761e-01] [ 7.98351188e-02 -6.82145383e-04 9.96807849e-01 7.98502575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.04119381699999 meters Centerline goodness : 0.887028 with order 1 Centerline is valid? [False, False] Translation: X:13.08, Y:0.30, Z:0.80 [[ 0.99538164 -0.06471161 -0.07090691 13.08250146] [ 0.06234368 0.99743677 -0.03511627 0.30108104] [ 0.07299759 0.0305335 0.99686461 0.79733493] [ 0. 0. 0. 1. ]] SLAMing on 52.101193816999995 meters Centerline goodness : 0.884278 with order 1 Centerline is valid? [False, False] Translation: X:13.11, Y:0.30, Z:0.79 [[ 0.99587103 -0.06477231 -0.06360381 13.11073631] [ 0.06243236 0.99732116 -0.03811432 0.29816835] [ 0.06590218 0.03398601 0.99724714 0.79263212] [ 0. 0. 0. 1. ]] SLAMing on 52.161193817 meters Centerline goodness : 0.881726 with order 1 Centerline is valid? [False, False] Translation: X:13.15, Y:0.31, Z:0.79 [[ 0.99674143 -0.05992774 -0.05399257 13.1505071 ] [ 0.05600924 0.99587561 -0.07137737 0.31102123] [ 0.05804736 0.06812069 0.99598699 0.79214633] [ 0. 0. 0. 1. ]] SLAMing on 52.22119381699999 meters Centerline goodness : 0.882803 with order 1 Centerline is valid? [False, False] Translation: X:13.18, Y:0.32, Z:0.79 [[ 0.99714907 -0.05773131 -0.04858834 13.17599295] [ 0.05341033 0.9948656 -0.08596375 0.31709157] [ 0.05330167 0.08312356 0.99511276 0.79199155] [ 0. 0. 0. 1. ]] SLAMing on 52.281193816999995 meters Centerline goodness : 0.884500 with order 1 Centerline is valid? [False, False] Translation: X:13.20, Y:0.32, Z:0.79 [[ 0.99757238 -0.05497417 -0.04274554 13.19809912] [ 0.05031708 0.99337777 -0.10328987 0.32186957] [ 0.04814075 0.10088829 0.99373237 0.79003662] [ 0. 0. 0. 1. ]] SLAMing on 52.341193817 meters Centerline goodness : 0.877934 with order 1 Centerline is valid? [False, False] Translation: X:13.23, Y:0.33, Z:0.79 [[ 0.99765053 -0.05590789 -0.03959458 13.23469173] [ 0.05129921 0.99270221 -0.10913623 0.32534646] [ 0.04540721 0.10684864 0.99323791 0.79154961] [ 0. 0. 0. 1. ]] SLAMing on 52.40119381699999 meters Centerline goodness : 0.879661 with order 1 Centerline is valid? [False, False] Translation: X:13.27, Y:0.33, Z:0.79 [[ 0.99776379 -0.05816651 -0.03292522 13.26774638] [ 0.0539947 0.99179483 -0.11587746 0.32897369] [ 0.03939525 0.11384055 0.99271766 0.79371851] [ 0. 0. 0. 1. ]] SLAMing on 52.461193816999995 meters Centerline goodness : 0.878574 with order 1 Centerline is valid? [False, False] Translation: X:13.28, Y:0.33, Z:0.79 [[ 0.99782106 -0.05923903 -0.02904939 13.27844135] [ 0.05585935 0.99280979 -0.10586997 0.32518739] [ 0.03511215 0.10401661 0.99395557 0.7914564 ] [ 0. 0. 0. 1. ]] SLAMing on 52.521193817 meters Centerline goodness : 0.882419 with order 1 Centerline is valid? [False, False] Translation: X:13.30, Y:0.32, Z:0.79 [[ 0.99761088 -0.06358821 -0.02700152 13.29903437] [ 0.06076778 0.99363574 -0.09484353 0.31904952] [ 0.0328606 0.09297611 0.99512593 0.7904436 ] [ 0. 0. 0. 1. ]] SLAMing on 52.58119381699999 meters Centerline goodness : 0.881879 with order 1 Centerline is valid? [False, False] Translation: X:13.32, Y:0.31, Z:0.79 [[ 0.99699667 -0.06847284 -0.03618159 13.32322018] [ 0.06524244 0.99433026 -0.08396876 0.31181405] [ 0.04172603 0.081356 0.9958113 0.78868767] [ 0. 0. 0. 1. ]] SLAMing on 52.641193816999994 meters Centerline goodness : 0.881645 with order 1 Centerline is valid? [False, False] Translation: X:13.35, Y:0.31, Z:0.79 [[ 0.99689015 -0.06796369 -0.03988698 13.34835194] [ 0.06450542 0.99451133 -0.08237881 0.30778862] [ 0.04526682 0.0795497 0.99580257 0.78713098] [ 0. 0. 0. 1. ]] SLAMing on 52.701193817 meters Centerline goodness : 0.882084 with order 1 Centerline is valid? [False, False] Translation: X:13.39, Y:0.31, Z:0.79 [[ 0.99728285 -0.06342686 -0.03746933 13.38590101] [ 0.0601963 0.99482697 -0.08182733 0.30627279] [ 0.04246555 0.07934948 0.99594193 0.78817026] [ 0. 0. 0. 1. ]] SLAMing on 52.76119381699999 meters Centerline goodness : 0.887401 with order 1 Centerline is valid? [False, False] Translation: X:13.43, Y:0.30, Z:0.79 [[ 0.99764453 -0.05755324 -0.03732317 13.42536117] [ 0.05450218 0.99544919 -0.07816919 0.30494419] [ 0.04165221 0.07595087 0.99624121 0.78896371] [ 0. 0. 0. 1. ]] SLAMing on 52.821193816999994 meters Centerline goodness : 0.889564 with order 1 Centerline is valid? [False, False] Translation: X:13.46, Y:0.31, Z:0.79 [[ 0.99830409 -0.05052181 -0.02892204 13.46047796] [ 0.04768596 0.99466074 -0.0915208 0.30606877] [ 0.03339142 0.08998641 0.99538307 0.79089967] [ 0. 0. 0. 1. ]] SLAMing on 52.881193816999996 meters Centerline goodness : 0.894753 with order 1 Centerline is valid? [False, False] Translation: X:13.49, Y:0.31, Z:0.79 [[ 0.99861259 -0.04743577 -0.02286363 13.49227293] [ 0.04505585 0.99443109 -0.09527215 0.30552587] [ 0.02725561 0.09410983 0.99518866 0.79184256] [ 0. 0. 0. 1. ]] SLAMing on 52.94119381699999 meters Centerline goodness : 0.896305 with order 1 Centerline is valid? [False, False] Translation: X:13.52, Y:0.31, Z:0.79 [[ 9.99037864e-01 -4.19991989e-02 -1.26258726e-02 1.35201151e+01] [ 4.01710882e-02 9.91864833e-01 -1.20790881e-01 3.05728143e-01] [ 1.75962792e-02 1.20167469e-01 9.92597678e-01 7.89555996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.001193816999994 meters Centerline goodness : 0.894004 with order 1 Centerline is valid? [False, False] Translation: X:13.54, Y:0.30, Z:0.79 [[ 9.99174335e-01 -3.97991877e-02 -8.16536470e-03 1.35370707e+01] [ 3.85399057e-02 9.92082484e-01 -1.19528323e-01 3.00348938e-01] [ 1.28578454e-02 1.19114940e-01 9.92797213e-01 7.88957618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.061193816999996 meters Centerline goodness : 0.899932 with order 1 Centerline is valid? [False, False] Translation: X:13.55, Y:0.28, Z:0.79 [[ 9.99221833e-01 -3.92023844e-02 -4.34766821e-03 1.35513354e+01] [ 3.84925016e-02 9.93256383e-01 -1.09362176e-01 2.82836175e-01] [ 8.60560727e-03 1.09109722e-01 9.93992461e-01 7.89169336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.121193817 meters Centerline goodness : 0.900025 with order 1 Centerline is valid? [False, False] Translation: X:13.56, Y:0.27, Z:0.79 [[ 9.99066421e-01 -4.26824797e-02 -6.67026624e-03 1.35576738e+01] [ 4.17696152e-02 9.93800593e-01 -1.03032421e-01 2.68528020e-01] [ 1.10265937e-02 1.02657617e-01 9.94655633e-01 7.92307007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.18119381699999 meters Centerline goodness : 0.901688 with order 1 Centerline is valid? [False, False] Translation: X:13.57, Y:0.25, Z:0.79 [[ 9.98800944e-01 -4.85526151e-02 -6.27032419e-03 1.35660106e+01] [ 4.77420632e-02 9.94358824e-01 -9.47165447e-02 2.53020556e-01] [ 1.08336881e-02 9.43036161e-02 9.95484535e-01 7.94634872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.241193816999996 meters Centerline goodness : 0.905263 with order 1 Centerline is valid? [False, False] Translation: X:13.58, Y:0.23, Z:0.80 [[ 9.98447591e-01 -5.51079652e-02 -8.09444330e-03 1.35769051e+01] [ 5.42714519e-02 9.95218940e-01 -8.12026521e-02 2.31471429e-01] [ 1.25306562e-02 8.06372952e-02 9.96664743e-01 7.95561500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.301193817 meters Centerline goodness : 0.898467 with order 1 Centerline is valid? [False, False] Translation: X:13.59, Y:0.22, Z:0.80 [[ 9.98355525e-01 -5.60811790e-02 -1.18805513e-02 1.35888463e+01] [ 5.50868146e-02 9.95888479e-01 -7.19136980e-02 2.21200583e-01] [ 1.58647091e-02 7.11409760e-02 9.97340099e-01 7.95426609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.36119381699999 meters Centerline goodness : 0.898196 with order 1 Centerline is valid? [False, False] Translation: X:13.61, Y:0.21, Z:0.79 [[ 0.99866455 -0.04891208 -0.01663516 13.61322491] [ 0.04773871 0.99675415 -0.06482428 0.21016013] [ 0.01975186 0.06394357 0.99775803 0.79335021] [ 0. 0. 0. 1. ]] SLAMing on 53.421193816999995 meters Centerline goodness : 0.893593 with order 1 Centerline is valid? [False, False] Translation: X:13.65, Y:0.20, Z:0.79 [[ 0.9991665 -0.03419541 -0.02229285 13.64616385] [ 0.03271546 0.99743435 -0.06367432 0.20325236] [ 0.02441302 0.06289193 0.99772171 0.79207692] [ 0. 0. 0. 1. ]] SLAMing on 53.481193817 meters Centerline goodness : 0.891940 with order 1 Centerline is valid? [False, False] Translation: X:13.68, Y:0.21, Z:0.79 [[ 9.99665058e-01 -2.29039156e-02 -1.20491766e-02 1.36787950e+01] [ 2.18178206e-02 9.96257860e-01 -8.36316895e-02 2.08734658e-01] [ 1.39195800e-02 8.33407910e-02 9.96423885e-01 7.87471614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.54119381699999 meters Centerline goodness : 0.894906 with order 1 Centerline is valid? [False, False] Translation: X:13.71, Y:0.21, Z:0.78 [[ 9.99898422e-01 -1.37055386e-02 -3.91214474e-03 1.37098935e+01] [ 1.32194044e-02 9.94389548e-01 -1.04950821e-01 2.09875826e-01] [ 5.32860337e-03 1.04888444e-01 9.94469718e-01 7.84278595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.601193816999995 meters Centerline goodness : 0.897706 with order 1 Centerline is valid? [False, False] Translation: X:13.73, Y:0.19, Z:0.78 [[ 9.99961692e-01 -8.62376159e-03 -1.49826087e-03 1.37272714e+01] [ 8.44074469e-03 9.95371670e-01 -9.57287436e-02 1.91771273e-01] [ 2.31686828e-03 9.57124300e-02 9.95406331e-01 7.82202102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.661193817 meters Centerline goodness : 0.896240 with order 1 Centerline is valid? [False, False] Translation: X:13.74, Y:0.18, Z:0.78 [[ 9.99925994e-01 -1.16372084e-02 3.54703025e-03 1.37363181e+01] [ 1.19013381e-02 9.96150683e-01 -8.68457005e-02 1.78173905e-01] [-2.52273509e-03 8.68814879e-02 9.96215460e-01 7.80379140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.72119381699999 meters Centerline goodness : 0.891359 with order 1 Centerline is valid? [False, False] Translation: X:13.74, Y:0.16, Z:0.78 [[ 9.99845731e-01 -1.75643311e-02 9.05586837e-05 1.37439665e+01] [ 1.75172893e-02 9.96763367e-01 -7.84597672e-02 1.55277084e-01] [ 1.28782775e-03 7.84492497e-02 9.96917277e-01 7.83354018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.781193816999995 meters Centerline goodness : 0.895415 with order 1 Centerline is valid? [False, False] Translation: X:13.76, Y:0.14, Z:0.78 [[ 9.99800432e-01 -1.99699525e-02 5.45770134e-04 1.37566141e+01] [ 1.99603755e-02 9.97447208e-01 -6.85612884e-02 1.44514887e-01] [ 8.24788776e-04 6.85584995e-02 9.97646757e-01 7.83221844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.841193817 meters Centerline goodness : 0.895848 with order 1 Centerline is valid? [False, False] Translation: X:13.76, Y:0.13, Z:0.78 [[ 9.99814416e-01 -1.92647598e-02 5.69108481e-05 1.37575721e+01] [ 1.92265605e-02 9.97637075e-01 -6.59591250e-02 1.29503731e-01] [ 1.21391033e-03 6.59479782e-02 9.97822324e-01 7.82641939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.90119381699999 meters Centerline goodness : 0.891756 with order 1 Centerline is valid? [False, False] Translation: X:13.78, Y:0.12, Z:0.78 [[ 9.99892206e-01 -1.46651238e-02 7.15148691e-04 1.37766605e+01] [ 1.46813586e-02 9.98003700e-01 -6.14253481e-02 1.16666293e-01] [ 1.87089296e-04 6.14292261e-02 9.98111424e-01 7.82271361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.961193816999995 meters Centerline goodness : 0.895107 with order 1 Centerline is valid? [False, False] Translation: X:13.78, Y:0.10, Z:0.78 [[ 9.99924350e-01 -1.22994208e-02 1.34072824e-04 1.37785259e+01] [ 1.22882130e-02 9.98414347e-01 -5.49344214e-02 9.88973630e-02] [ 5.41801332e-04 5.49319131e-02 9.98489956e-01 7.81881956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.021193817 meters Centerline goodness : 0.893087 with order 1 Centerline is valid? [False, False] Translation: X:13.79, Y:0.08, Z:0.78 [[ 9.99891601e-01 -1.44624276e-02 -2.76133539e-03 1.37854959e+01] [ 1.43036265e-02 9.98607560e-01 -5.07774326e-02 8.40970486e-02] [ 3.49185533e-03 5.07324312e-02 9.98706177e-01 7.81447599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.08119381699999 meters Centerline goodness : 0.892459 with order 1 Centerline is valid? [False, False] Translation: X:13.79, Y:0.06, Z:0.78 [[ 9.99668248e-01 -2.48961859e-02 -6.60103851e-03 1.37937684e+01] [ 2.45731607e-02 9.98676620e-01 -4.51792901e-02 5.83825034e-02] [ 7.71709484e-03 4.50020934e-02 9.98957085e-01 7.84872887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.141193816999994 meters Centerline goodness : 0.895896 with order 1 Centerline is valid? [False, False] Translation: X:13.80, Y:0.04, Z:0.79 [[ 9.99460584e-01 -3.20490925e-02 -7.16911731e-03 1.37954616e+01] [ 3.16732988e-02 9.98368552e-01 -4.75082683e-02 4.43349635e-02] [ 8.68001816e-03 4.72555720e-02 9.98845117e-01 7.87272019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.201193817 meters Centerline goodness : 0.896497 with order 1 Centerline is valid? [False, False] Translation: X:13.80, Y:0.03, Z:0.79 [[ 9.99212798e-01 -3.89539282e-02 -7.50834389e-03 1.37969296e+01] [ 3.85459585e-02 9.98082579e-01 -4.84290618e-02 2.92806126e-02] [ 9.38044943e-03 4.81015220e-02 9.98798403e-01 7.90467070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.26119381699999 meters Centerline goodness : 0.899591 with order 1 Centerline is valid? [False, False] Translation: X:13.80, Y:0.02, Z:0.79 [[ 9.98998219e-01 -4.36494932e-02 -9.86310679e-03 1.38035406e+01] [ 4.31278211e-02 9.97913916e-01 -4.80396534e-02 2.18153113e-02] [ 1.19394380e-02 4.75661538e-02 9.98796731e-01 7.92211862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.321193816999994 meters Centerline goodness : 0.901339 with order 1 Centerline is valid? [False, False] Translation: X:13.80, Y:0.02, Z:0.79 [[ 9.98697512e-01 -5.00808853e-02 -9.75626280e-03 1.38039336e+01] [ 4.94957574e-02 9.97364308e-01 -5.30528658e-02 1.51473198e-02] [ 1.23874828e-02 5.25008715e-02 9.98544044e-01 7.92620075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.381193816999996 meters Centerline goodness : 0.898796 with order 1 Centerline is valid? [False, False] Translation: X:13.81, Y:0.01, Z:0.79 [[ 9.98635014e-01 -5.12060260e-02 -1.02981481e-02 1.38058949e+01] [ 5.05906754e-02 9.97308211e-01 -5.30746247e-02 1.21446449e-02] [ 1.29881683e-02 5.24811883e-02 9.98537447e-01 7.91999143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.44119381699999 meters Centerline goodness : 0.901386 with order 1 Centerline is valid? [False, False] Translation: X:13.83, Y:0.01, Z:0.80 [[ 9.98139947e-01 -5.99732254e-02 -1.09480287e-02 1.38286296e+01] [ 5.94546411e-02 9.97314782e-01 -4.27594660e-02 7.75480103e-03] [ 1.34830539e-02 4.20290200e-02 9.99025409e-01 7.95831285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.501193816999994 meters Centerline goodness : 0.905216 with order 1 Centerline is valid? [False, False] Translation: X:13.83, Y:0.01, Z:0.80 [[ 9.98112858e-01 -6.03891471e-02 -1.11298520e-02 1.38297159e+01] [ 5.98596631e-02 9.97281410e-01 -4.29722113e-02 7.85927107e-03] [ 1.36946496e-02 4.22248874e-02 9.99014272e-01 7.95071240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.561193816999996 meters Centerline goodness : 0.900809 with order 1 Centerline is valid? [False, False] Translation: X:13.85, Y:0.01, Z:0.79 [[ 9.98544135e-01 -5.32934875e-02 -8.33151960e-03 1.38467313e+01] [ 5.28788374e-02 9.97636053e-01 -4.38877441e-02 1.40365701e-02] [ 1.06507553e-02 4.33832884e-02 9.99001728e-01 7.92562410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.621193817 meters Centerline goodness : 0.893955 with order 1 Centerline is valid? [False, False] Translation: X:13.88, Y:0.02, Z:0.79 [[ 9.99067132e-01 -4.20945279e-02 -9.63927352e-03 1.38845468e+01] [ 4.16141638e-02 9.98095223e-01 -4.55432535e-02 2.03490706e-02] [ 1.15380346e-02 4.50996374e-02 9.98915861e-01 7.90528312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.68119381699999 meters Centerline goodness : 0.897850 with order 1 Centerline is valid? [False, False] Translation: X:13.92, Y:0.03, Z:0.79 [[ 9.99635359e-01 -2.54333866e-02 -9.07151452e-03 1.39198535e+01] [ 2.50075042e-02 9.98704348e-01 -4.43198657e-02 2.92210423e-02] [ 1.01869653e-02 4.40768489e-02 9.98976204e-01 7.88778640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.741193816999996 meters Centerline goodness : 0.895586 with order 1 Centerline is valid? [False, False] Translation: X:13.96, Y:0.03, Z:0.79 [[ 9.99844508e-01 -1.54777849e-02 -8.44972072e-03 1.39567566e+01] [ 1.50761391e-02 9.98841910e-01 -4.56897081e-02 3.36365214e-02] [ 9.14711065e-03 4.55552145e-02 9.98919943e-01 7.88076373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.801193817 meters Centerline goodness : 0.890586 with order 1 Centerline is valid? [False, False] Translation: X:13.99, Y:0.04, Z:0.79 [[ 9.99842217e-01 -1.21287536e-02 -1.29782296e-02 1.39883005e+01] [ 1.15850614e-02 9.99084658e-01 -4.11780488e-02 3.54516097e-02] [ 1.34657885e-02 4.10211980e-02 9.99067532e-01 7.87907914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.86119381699999 meters Centerline goodness : 0.887919 with order 1 Centerline is valid? [False, False] Translation: X:14.00, Y:0.04, Z:0.79 [[ 9.99794092e-01 -1.33122175e-02 -1.53152804e-02 1.39956284e+01] [ 1.26785213e-02 9.99088724e-01 -4.07550937e-02 3.50405586e-02] [ 1.58438646e-02 4.05525268e-02 9.99051783e-01 7.85497483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.921193816999995 meters Centerline goodness : 0.888836 with order 1 Centerline is valid? [False, False] Translation: X:14.00, Y:0.03, Z:0.79 [[ 0.99956707 -0.02339956 -0.01783613 14.00098419] [ 0.02254216 0.99864782 -0.04684414 0.03249457] [ 0.01890814 0.0464218 0.99874296 0.78839898] [ 0. 0. 0. 1. ]] SLAMing on 54.981193817 meters Centerline goodness : 0.891799 with order 1 Centerline is valid? [False, False] Translation: X:14.01, Y:0.03, Z:0.79 [[ 0.99937506 -0.02899645 -0.02021602 14.00619008] [ 0.02798701 0.99842885 -0.04854435 0.03185405] [ 0.02159187 0.04794823 0.99861642 0.79142091] [ 0. 0. 0. 1. ]] SLAMing on 55.04119381699999 meters Centerline goodness : 0.892621 with order 1 Centerline is valid? [False, False] Translation: X:14.01, Y:0.03, Z:0.79 [[ 0.99931339 -0.03080316 -0.02058923 14.00736836] [ 0.02974963 0.99832338 -0.04965263 0.03319395] [ 0.02208417 0.04900601 0.99855431 0.79159018] [ 0. 0. 0. 1. ]] SLAMing on 55.101193816999995 meters Centerline goodness : 0.893959 with order 1 Centerline is valid? [False, False] Translation: X:14.01, Y:0.04, Z:0.80 [[ 0.99918081 -0.034717 -0.02079534 14.01363779] [ 0.03374967 0.9984082 -0.04518872 0.03608564] [ 0.02233106 0.04444987 0.998762 0.79757807] [ 0. 0. 0. 1. ]] SLAMing on 55.161193817 meters Centerline goodness : 0.895309 with order 1 Centerline is valid? [False, False] Translation: X:14.02, Y:0.04, Z:0.80 [[ 0.99917794 -0.03429899 -0.02161071 14.01584425] [ 0.03330543 0.99844199 -0.04476979 0.0426986 ] [ 0.0231126 0.04401324 0.99876356 0.79749943] [ 0. 0. 0. 1. ]] SLAMing on 55.22119381699999 meters Centerline goodness : 0.895310 with order 1 Centerline is valid? [False, False] Translation: X:14.02, Y:0.05, Z:0.80 [[ 0.99917815 -0.03248343 -0.02424582 14.02232558] [ 0.0314929 0.99869625 -0.04017466 0.04911141] [ 0.02551922 0.03937807 0.99889846 0.79905006] [ 0. 0. 0. 1. ]] SLAMing on 55.281193816999995 meters Centerline goodness : 0.896415 with order 1 Centerline is valid? [False, False] Translation: X:14.04, Y:0.06, Z:0.80 [[ 0.99936636 -0.02882567 -0.02087982 14.03941811] [ 0.02787775 0.99862703 -0.04434956 0.0572314 ] [ 0.02212956 0.04373938 0.99879785 0.79710269] [ 0. 0. 0. 1. ]] SLAMing on 55.341193817 meters Centerline goodness : 0.890134 with order 1 Centerline is valid? [False, False] Translation: X:14.07, Y:0.07, Z:0.80 [[ 0.99947385 -0.02380623 -0.02202901 14.06693204] [ 0.02282754 0.9987856 -0.04366032 0.06972428] [ 0.02304164 0.04313448 0.99880353 0.79549819] [ 0. 0. 0. 1. ]] SLAMing on 55.40119381699999 meters Centerline goodness : 0.887677 with order 1 Centerline is valid? [False, False] Translation: X:14.10, Y:0.08, Z:0.79 [[ 0.99951847 -0.01933974 -0.02426524 14.09570601] [ 0.01832895 0.99898243 -0.04120862 0.07817937] [ 0.02503751 0.04074402 0.99885587 0.79463825] [ 0. 0. 0. 1. ]] SLAMing on 55.461193816999995 meters Centerline goodness : 0.886836 with order 1 Centerline is valid? [False, False] Translation: X:14.12, Y:0.09, Z:0.79 [[ 0.99956029 -0.0181859 -0.02341987 14.1212459 ] [ 0.0171723 0.99893707 -0.0427767 0.09007231] [ 0.02417291 0.04235572 0.99881012 0.7948811 ] [ 0. 0. 0. 1. ]] SLAMing on 55.521193817 meters Centerline goodness : 0.886770 with order 1 Centerline is valid? [False, False] Translation: X:14.12, Y:0.10, Z:0.80 [[ 0.99959141 -0.01531769 -0.02413249 14.1221744 ] [ 0.01432636 0.9990675 -0.04072941 0.09518639] [ 0.02473386 0.04036704 0.99887874 0.79559307] [ 0. 0. 0. 1. ]] SLAMing on 55.58119381699999 meters Centerline goodness : 0.889381 with order 1 Centerline is valid? [False, False] Translation: X:14.14, Y:0.10, Z:0.79 [[ 9.99758047e-01 -8.44827178e-03 -2.03094386e-02 1.41385391e+01] [ 7.60251160e-03 9.99115129e-01 -4.13661849e-02 1.04533481e-01] [ 2.06409402e-02 4.12017735e-02 9.98937618e-01 7.94917420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.641193816999994 meters Centerline goodness : 0.886470 with order 1 Centerline is valid? [False, False] Translation: X:14.16, Y:0.11, Z:0.79 [[ 9.99831374e-01 -3.60601231e-03 -1.80061371e-02 1.41583709e+01] [ 2.83247131e-03 9.99079557e-01 -4.28020457e-02 1.10149548e-01] [ 1.81439082e-02 4.27438263e-02 9.98921300e-01 7.92259510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.701193817 meters Centerline goodness : 0.891699 with order 1 Centerline is valid? [False, False] Translation: X:14.17, Y:0.11, Z:0.79 [[ 9.99906467e-01 -1.27684591e-03 -1.36171258e-02 1.41737396e+01] [ 6.46409468e-04 9.98931926e-01 -4.62016104e-02 1.14901553e-01] [ 1.36615741e-02 4.61884868e-02 9.98839319e-01 7.92820623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.76119381699999 meters Centerline goodness : 0.889677 with order 1 Centerline is valid? [False, False] Translation: X:14.18, Y:0.11, Z:0.80 [[ 9.99872040e-01 9.09308664e-04 -1.59711209e-02 1.41765646e+01] [-1.55245356e-03 9.99186293e-01 -4.03031294e-02 1.13438165e-01] [ 1.59214771e-02 4.03227667e-02 9.99059849e-01 7.98154113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.821193816999994 meters Centerline goodness : 0.891910 with order 1 Centerline is valid? [False, False] Translation: X:14.20, Y:0.12, Z:0.80 [[ 9.99862354e-01 2.81659178e-03 -1.63505111e-02 1.42033868e+01] [-3.45887227e-03 9.99218022e-01 -3.93875701e-02 1.18883804e-01] [ 1.62267866e-02 3.94387029e-02 9.99090226e-01 7.97919784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.881193816999996 meters Centerline goodness : 0.888940 with order 1 Centerline is valid? [False, False] Translation: X:14.21, Y:0.12, Z:0.80 [[ 9.99845965e-01 3.73630903e-03 -1.71489290e-02 1.42074041e+01] [-4.39094211e-03 9.99256796e-01 -3.82958939e-02 1.19885295e-01] [ 1.69930985e-02 3.83652950e-02 9.99119282e-01 7.95263206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.94119381699999 meters Centerline goodness : 0.884984 with order 1 Centerline is valid? [False, False] Translation: X:14.21, Y:0.12, Z:0.79 [[ 9.99836486e-01 1.06922080e-03 -1.80515601e-02 1.42119003e+01] [-1.80130982e-03 9.99174343e-01 -4.05880314e-02 1.20753902e-01] [ 1.79932582e-02 4.06139111e-02 9.99012889e-01 7.92103488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.001193816999994 meters Centerline goodness : 0.874852 with order 1 Centerline is valid? [False, False] Translation: X:14.22, Y:0.12, Z:0.79 [[ 9.99579230e-01 -1.47255438e-02 -2.49904181e-02 1.42158188e+01] [ 1.37495786e-02 9.99152941e-01 -3.87859537e-02 1.19899379e-01] [ 2.55403940e-02 3.84260260e-02 9.98934997e-01 7.91765590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.061193816999996 meters Centerline goodness : 0.874471 with order 1 Centerline is valid? [False, False] Translation: X:14.23, Y:0.12, Z:0.79 [[ 0.99912541 -0.03243435 -0.02639005 14.22551596] [ 0.03164332 0.99905311 -0.02985954 0.11879384] [ 0.02733354 0.02899835 0.99920567 0.7940783 ] [ 0. 0. 0. 1. ]] SLAMing on 56.121193817 meters Centerline goodness : 0.874227 with order 1 Centerline is valid? [False, False] Translation: X:14.23, Y:0.12, Z:0.79 [[ 0.99907709 -0.03357117 -0.0267946 14.2271832 ] [ 0.03273067 0.99897668 -0.03121368 0.1221779 ] [ 0.02781506 0.03030786 0.99915352 0.79320264] [ 0. 0. 0. 1. ]] SLAMing on 56.18119381699999 meters Centerline goodness : 0.873709 with order 1 Centerline is valid? [False, False] Translation: X:14.25, Y:0.13, Z:0.80 [[ 0.99942958 -0.01864037 -0.02816114 14.25224311] [ 0.01768999 0.99927784 -0.03362832 0.12805903] [ 0.02876765 0.03311097 0.99903758 0.79601785] [ 0. 0. 0. 1. ]] SLAMing on 56.241193816999996 meters Centerline goodness : 0.875714 with order 1 Centerline is valid? [False, False] Translation: X:14.28, Y:0.14, Z:0.79 [[ 9.99749274e-01 -5.19172410e-03 -2.17815437e-02 1.42798308e+01] [ 4.38098343e-03 9.99301752e-01 -3.71054507e-02 1.35434308e-01] [ 2.19589760e-02 3.70007228e-02 9.99073946e-01 7.93800726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.301193817 meters Centerline goodness : 0.876298 with order 1 Centerline is valid? [False, False] Translation: X:14.30, Y:0.14, Z:0.79 [[ 9.99842811e-01 1.17203444e-03 -1.76912563e-02 1.42956572e+01] [-1.81647622e-03 9.99333640e-01 -3.64551416e-02 1.37700793e-01] [ 1.76367408e-02 3.64815469e-02 9.99178684e-01 7.93842499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.36119381699999 meters Centerline goodness : 0.878907 with order 1 Centerline is valid? [False, False] Translation: X:14.31, Y:0.14, Z:0.80 [[ 9.99813464e-01 1.47110725e-02 -1.25148782e-02 1.43084180e+01] [-1.50850208e-02 9.99426100e-01 -3.03300650e-02 1.44561436e-01] [ 1.20615082e-02 3.05131946e-02 9.99461588e-01 7.95575201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.421193816999995 meters Centerline goodness : 0.881040 with order 1 Centerline is valid? [False, False] Translation: X:14.34, Y:0.15, Z:0.79 [[ 9.99766016e-01 2.13208156e-02 -3.65198597e-03 1.43358194e+01] [-2.14621809e-02 9.98781013e-01 -4.44506815e-02 1.53004346e-01] [ 2.69980947e-03 4.45186603e-02 9.99004905e-01 7.89811726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.481193817 meters Centerline goodness : 0.871153 with order 1 Centerline is valid? [False, False] Translation: X:14.37, Y:0.16, Z:0.79 [[ 9.99601483e-01 2.82237076e-02 -5.46173908e-04 1.43699632e+01] [-2.82153368e-02 9.98329209e-01 -5.04250370e-02 1.55265942e-01] [-8.77920133e-04 5.04203523e-02 9.98727699e-01 7.86165760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.54119381699999 meters Centerline goodness : 0.873736 with order 1 Centerline is valid? [False, False] Translation: X:14.37, Y:0.15, Z:0.78 [[ 9.99658318e-01 2.60750552e-02 -1.82708496e-03 1.43742451e+01] [-2.61343584e-02 9.98352221e-01 -5.10865807e-02 1.51077784e-01] [ 4.91988917e-04 5.11168750e-02 9.98692557e-01 7.83708809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.601193816999995 meters Centerline goodness : 0.869563 with order 1 Centerline is valid? [False, False] Translation: X:14.38, Y:0.14, Z:0.78 [[ 9.99779927e-01 2.07153969e-02 -3.31207679e-03 1.43786361e+01] [-2.08630689e-02 9.98348241e-01 -5.35305763e-02 1.44098513e-01] [ 2.19769889e-03 5.35878958e-02 9.98560718e-01 7.81752786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.661193817 meters Centerline goodness : 0.874382 with order 1 Centerline is valid? [False, False] Translation: X:14.39, Y:0.14, Z:0.78 [[ 9.99886386e-01 1.40403974e-02 -5.48474103e-03 1.43898375e+01] [-1.43066574e-02 9.98546107e-01 -5.19710694e-02 1.36755013e-01] [ 4.74707233e-03 5.20436331e-02 9.98633529e-01 7.81378867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.72119381699999 meters Centerline goodness : 0.874878 with order 1 Centerline is valid? [False, False] Translation: X:14.39, Y:0.13, Z:0.78 [[ 9.99992593e-01 2.68906462e-03 -2.75358708e-03 1.43943104e+01] [-2.80710999e-03 9.99036231e-01 -4.38033056e-02 1.25433729e-01] [ 2.63314334e-03 4.38107108e-02 9.99036380e-01 7.77978714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.781193816999995 meters Centerline goodness : 0.874150 with order 1 Centerline is valid? [False, False] Translation: X:14.41, Y:0.12, Z:0.78 [[ 9.99994247e-01 -3.36784695e-03 4.03304398e-04 1.44122846e+01] [ 3.37963979e-03 9.99412875e-01 -3.40952162e-02 1.19706952e-01] [-2.88240138e-04 3.40963831e-02 9.99418508e-01 7.78090483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.841193817 meters Centerline goodness : 0.874703 with order 1 Centerline is valid? [False, False] Translation: X:14.42, Y:0.12, Z:0.78 [[ 9.99954005e-01 -7.45238651e-03 6.03737963e-03 1.44199338e+01] [ 7.62028660e-03 9.99570948e-01 -2.82816504e-02 1.15617431e-01] [-5.82402349e-03 2.83263562e-02 9.99581762e-01 7.77486076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.90119381699999 meters Centerline goodness : 0.874257 with order 1 Centerline is valid? [False, False] Translation: X:14.44, Y:0.11, Z:0.78 [[ 9.99930187e-01 -9.55316530e-03 6.95407381e-03 1.44398561e+01] [ 9.77620511e-03 9.99414810e-01 -3.27790194e-02 1.12328725e-01] [-6.63686096e-03 3.28447154e-02 9.99438431e-01 7.76312886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.961193816999995 meters Centerline goodness : 0.880447 with order 1 Centerline is valid? [False, False] Translation: X:14.47, Y:0.11, Z:0.77 [[ 9.99959395e-01 -7.47600965e-03 5.03163621e-03 1.44676320e+01] [ 7.63020763e-03 9.99479089e-01 -3.13580880e-02 1.14983219e-01] [-4.79458181e-03 3.13952072e-02 9.99495549e-01 7.73000485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.021193817 meters Centerline goodness : 0.877782 with order 1 Centerline is valid? [False, False] Translation: X:14.49, Y:0.12, Z:0.77 [[ 9.99963693e-01 -3.04337697e-03 7.95936001e-03 1.44867922e+01] [ 3.30569349e-03 9.99444781e-01 -3.31542036e-02 1.20177182e-01] [-7.85404009e-03 3.31793110e-02 9.99418555e-01 7.69973102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.08119381699999 meters Centerline goodness : 0.878488 with order 1 Centerline is valid? [False, False] Translation: X:14.50, Y:0.12, Z:0.77 [[ 9.99926918e-01 -1.77810174e-03 1.19581480e-02 1.45037053e+01] [ 2.22886826e-03 9.99283282e-01 -3.77882947e-02 1.21121896e-01] [-1.18823860e-02 3.78121862e-02 9.99214215e-01 7.67730667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.141193816999994 meters Centerline goodness : 0.877437 with order 1 Centerline is valid? [False, False] Translation: X:14.54, Y:0.12, Z:0.77 [[ 9.99940535e-01 -5.21536854e-03 9.57741604e-03 1.45364729e+01] [ 5.53742618e-03 9.99409414e-01 -3.39139996e-02 1.19691891e-01] [-9.39488575e-03 3.39650172e-02 9.99378864e-01 7.67356499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.201193817 meters Centerline goodness : 0.878004 with order 1 Centerline is valid? [False, False] Translation: X:14.56, Y:0.12, Z:0.76 [[ 9.99819929e-01 -1.36897521e-02 1.31415722e-02 1.45588364e+01] [ 1.40482087e-02 9.99520792e-01 -2.75832352e-02 1.24269279e-01] [-1.27576670e-02 2.77628838e-02 9.99533123e-01 7.63013071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.26119381699999 meters Centerline goodness : 0.875366 with order 1 Centerline is valid? [False, False] Translation: X:14.58, Y:0.13, Z:0.76 [[ 0.99976118 -0.01459218 0.01626827 14.57658448] [ 0.01514798 0.99928706 -0.03458186 0.12737207] [-0.01575205 0.03482004 0.99926945 0.76122936] [ 0. 0. 0. 1. ]] SLAMing on 57.321193816999994 meters Centerline goodness : 0.880896 with order 1 Centerline is valid? [False, False] Translation: X:14.62, Y:0.14, Z:0.76 [[ 9.99828741e-01 -1.00637706e-02 1.55308947e-02 1.46166387e+01] [ 1.06842900e-02 9.99126374e-01 -4.04021537e-02 1.36342997e-01] [-1.51107285e-02 4.05611710e-02 9.99062789e-01 7.57659851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.381193816999996 meters Centerline goodness : 0.881456 with order 1 Centerline is valid? [False, False] Translation: X:14.65, Y:0.15, Z:0.75 [[ 9.99899583e-01 -7.67291436e-03 1.19143222e-02 1.46476835e+01] [ 8.13375392e-03 9.99201206e-01 -3.91253364e-02 1.45867726e-01] [-1.16045997e-02 3.92183157e-02 9.99163278e-01 7.54647026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.44119381699999 meters Centerline goodness : 0.881076 with order 1 Centerline is valid? [False, False] Translation: X:14.69, Y:0.16, Z:0.75 [[ 9.99894919e-01 -6.17301645e-03 1.31165709e-02 1.46865930e+01] [ 6.76307857e-03 9.98944700e-01 -4.54284770e-02 1.59282358e-01] [-1.28222983e-02 4.55124118e-02 9.98881479e-01 7.52639409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.501193816999994 meters Centerline goodness : 0.885302 with order 1 Centerline is valid? [False, False] Translation: X:14.72, Y:0.17, Z:0.75 [[ 9.99871723e-01 -9.56911684e-03 1.28440798e-02 1.47179641e+01] [ 1.01214215e-02 9.98995707e-01 -4.36478520e-02 1.67538151e-01] [-1.24135092e-02 4.37722533e-02 9.98964411e-01 7.53456911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.561193816999996 meters Centerline goodness : 0.888530 with order 1 Centerline is valid? [False, False] Translation: X:14.75, Y:0.18, Z:0.75 [[ 9.99799533e-01 -1.57873818e-02 1.23147062e-02 1.47548892e+01] [ 1.62908762e-02 9.98988254e-01 -4.19174800e-02 1.82209213e-01] [-1.16404795e-02 4.21096943e-02 9.99045181e-01 7.53387164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.62119381699999 meters Centerline goodness : 0.886996 with order 1 Centerline is valid? [False, False] Translation: X:14.77, Y:0.19, Z:0.75 [[ 9.99793485e-01 -1.27296547e-02 1.58411894e-02 1.47722475e+01] [ 1.34404165e-02 9.98869297e-01 -4.56013527e-02 1.91174489e-01] [-1.52427882e-02 4.58048475e-02 9.98834107e-01 7.51538683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.68119381699999 meters Centerline goodness : 0.889076 with order 1 Centerline is valid? [False, False] Translation: X:14.81, Y:0.21, Z:0.75 [[ 9.99848885e-01 -5.23219917e-03 1.65780202e-02 1.48115295e+01] [ 6.08308431e-03 9.98644209e-01 -5.16985537e-02 2.11170552e-01] [-1.62850468e-02 5.17915867e-02 9.98525127e-01 7.47152180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.741193816999996 meters Centerline goodness : 0.891938 with order 1 Centerline is valid? [False, False] Translation: X:14.85, Y:0.22, Z:0.74 [[ 9.99861966e-01 1.54219707e-04 1.66140243e-02 1.48518875e+01] [ 7.43821021e-04 9.98538850e-01 -5.40334299e-02 2.21000819e-01] [-1.65980817e-02 5.40383293e-02 9.98400903e-01 7.44020279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.801193817 meters Centerline goodness : 0.892116 with order 1 Centerline is valid? [False, False] Translation: X:14.90, Y:0.23, Z:0.74 [[ 9.99880539e-01 4.71522209e-03 1.47198313e-02 1.48975320e+01] [-3.86646216e-03 9.98357193e-01 -5.71661186e-02 2.32131555e-01] [-1.49652004e-02 5.71023758e-02 9.98256160e-01 7.38749296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.86119381699999 meters Centerline goodness : 0.892222 with order 1 Centerline is valid? [False, False] Translation: X:14.95, Y:0.24, Z:0.74 [[ 9.99901675e-01 5.97878334e-03 1.26844325e-02 1.49458576e+01] [-5.25592836e-03 9.98401480e-01 -5.62748525e-02 2.41407745e-01] [-1.30006113e-02 5.62026508e-02 9.98334737e-01 7.37452535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.921193816999995 meters Centerline goodness : 0.889714 with order 1 Centerline is valid? [False, False] Translation: X:14.99, Y:0.26, Z:0.73 [[ 9.99912677e-01 7.81339853e-03 1.06578109e-02 1.49898530e+01] [-7.14290629e-03 9.98077812e-01 -6.15602170e-02 2.55320849e-01] [-1.11183191e-02 6.14787136e-02 9.98046467e-01 7.32801014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.981193817 meters Centerline goodness : 0.891491 with order 1 Centerline is valid? [False, False] Translation: X:15.02, Y:0.26, Z:0.73 [[ 9.99913676e-01 5.97049419e-03 1.17044222e-02 1.50190704e+01] [-5.24257596e-03 9.98107758e-01 -6.12651493e-02 2.63869880e-01] [-1.20480578e-02 6.11984994e-02 9.98052898e-01 7.31532278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.04119381699999 meters Centerline goodness : 0.891818 with order 1 Centerline is valid? [False, False] Translation: X:15.07, Y:0.29, Z:0.73 [[ 9.99728027e-01 1.09609394e-02 2.05847067e-02 1.50711391e+01] [-8.76978796e-03 9.94572913e-01 -1.03671654e-01 2.91097108e-01] [-2.16093304e-02 1.03462935e-01 9.94398541e-01 7.30450690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.101193816999995 meters Centerline goodness : 0.892766 with order 1 Centerline is valid? [False, False] Translation: X:15.12, Y:0.30, Z:0.73 [[ 9.99551591e-01 1.48059584e-02 2.60269061e-02 1.51220034e+01] [-1.17948518e-02 9.93608912e-01 -1.12259572e-01 3.01118601e-01] [-2.75226764e-02 1.11902250e-01 9.93338003e-01 7.30333939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.161193817 meters Centerline goodness : 0.896016 with order 1 Centerline is valid? [False, False] Translation: X:15.16, Y:0.31, Z:0.73 [[ 9.99293545e-01 1.84496205e-02 3.27417507e-02 1.51552070e+01] [-1.37532725e-02 9.90299533e-01 -1.38266709e-01 3.11857290e-01] [-3.49751087e-02 1.37718724e-01 9.89853674e-01 7.29680625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.22119381699999 meters Centerline goodness : 0.896480 with order 1 Centerline is valid? [False, False] Translation: X:15.19, Y:0.34, Z:0.74 [[ 0.99882665 0.02922272 0.03861818 15.19487363] [-0.02026122 0.97643895 -0.21484054 0.34163583] [-0.04398652 0.213806 0.97588533 0.73573735] [ 0. 0. 0. 1. ]] SLAMing on 58.281193816999995 meters Centerline goodness : 0.897916 with order 1 Centerline is valid? [False, False] Translation: X:15.20, Y:0.33, Z:0.74 [[ 0.99866281 0.03432215 0.03865983 15.1967665 ] [-0.02692757 0.98370882 -0.17774103 0.331227 ] [-0.04413047 0.17646234 0.98331762 0.73916444] [ 0. 0. 0. 1. ]] SLAMing on 58.341193817 meters Centerline goodness : 0.899200 with order 1 Centerline is valid? [False, False] Translation: X:15.20, Y:0.32, Z:0.74 [[ 0.99818598 0.04692219 0.03772341 15.20300373] [-0.04064879 0.98744571 -0.15263896 0.31996518] [-0.04441197 0.15082866 0.98756179 0.73964579] [ 0. 0. 0. 1. ]] SLAMing on 58.40119381699999 meters Centerline goodness : 0.901243 with order 1 Centerline is valid? [False, False] Translation: X:15.22, Y:0.31, Z:0.74 [[ 0.99786293 0.05737392 0.03126974 15.22053477] [-0.05305869 0.99077479 -0.1247 0.30736775] [-0.0381358 0.12277437 0.99170163 0.73845765] [ 0. 0. 0. 1. ]] SLAMing on 58.461193816999995 meters Centerline goodness : 0.899269 with order 1 Centerline is valid? [False, False] Translation: X:15.21, Y:0.29, Z:0.74 [[ 0.99797994 0.05601833 0.02996657 15.20781854] [-0.05291158 0.993976 -0.09597956 0.29383845] [-0.03516267 0.09420009 0.99493212 0.73655049] [ 0. 0. 0. 1. ]] SLAMing on 58.521193817 meters Centerline goodness : 0.895011 with order 1 Centerline is valid? [False, False] Translation: X:15.21, Y:0.28, Z:0.73 [[ 0.99832064 0.05177365 0.02598815 15.210723 ] [-0.04970784 0.99596853 -0.07467137 0.27713504] [-0.02974939 0.07325416 0.9968695 0.73498655] [ 0. 0. 0. 1. ]] SLAMing on 58.58119381699999 meters Centerline goodness : 0.896652 with order 1 Centerline is valid? [False, False] Translation: X:15.20, Y:0.26, Z:0.74 [[ 0.99858774 0.04639326 0.02588797 15.20105379] [-0.04479418 0.99723697 -0.05926132 0.2638372 ] [-0.02856576 0.058018 0.99790676 0.73726499] [ 0. 0. 0. 1. ]] SLAMing on 58.641193816999994 meters Centerline goodness : 0.905808 with order 1 Centerline is valid? [False, False] Translation: X:15.19, Y:0.25, Z:0.74 [[ 0.99861881 0.04002108 0.03404085 15.1858462 ] [-0.03824939 0.99795596 -0.05119461 0.25141331] [-0.03602014 0.04982186 0.99810838 0.73963154] [ 0. 0. 0. 1. ]] SLAMing on 58.701193817 meters Centerline goodness : 0.904235 with order 1 Centerline is valid? [False, False] Translation: X:15.18, Y:0.24, Z:0.74 [[ 0.99866584 0.03869355 0.03419575 15.18357917] [-0.03705599 0.99819364 -0.04728958 0.24184982] [-0.03596378 0.04595933 0.99829572 0.74287249] [ 0. 0. 0. 1. ]] SLAMing on 58.76119381699999 meters Centerline goodness : 0.909123 with order 1 Centerline is valid? [False, False] Translation: X:15.17, Y:0.23, Z:0.74 [[ 0.99877899 0.02973114 0.03945364 15.16936871] [-0.02828026 0.99892107 -0.03683643 0.22770796] [-0.04050626 0.03567569 0.99854218 0.74360009] [ 0. 0. 0. 1. ]] SLAMing on 58.821193816999994 meters Centerline goodness : 0.911748 with order 1 Centerline is valid? [False, False] Translation: X:15.16, Y:0.22, Z:0.74 [[ 0.99872181 0.02459084 0.04415917 15.16054129] [-0.02324977 0.99926035 -0.03063008 0.21761479] [-0.04487973 0.02956424 0.99855484 0.74219668] [ 0. 0. 0. 1. ]] SLAMing on 58.881193816999996 meters Centerline goodness : 0.913928 with order 1 Centerline is valid? [False, False] Translation: X:15.19, Y:0.21, Z:0.74 [[ 0.99903224 0.01878374 0.03977129 15.19063794] [-0.01768737 0.99945863 -0.02774161 0.20705837] [-0.04027085 0.02701131 0.99882363 0.74206427] [ 0. 0. 0. 1. ]] SLAMing on 58.94119381699999 meters Centerline goodness : 0.916672 with order 1 Centerline is valid? [False, False] Translation: X:15.23, Y:0.20, Z:0.74 [[ 0.99897096 0.01996368 0.04072434 15.22777311] [-0.01873224 0.99936229 -0.03039927 0.20249781] [-0.04130525 0.02960513 0.99870787 0.74099344] [ 0. 0. 0. 1. ]] SLAMing on 59.001193816999994 meters Centerline goodness : 0.914357 with order 1 Centerline is valid? [False, False] Translation: X:15.28, Y:0.20, Z:0.74 [[ 0.99897441 0.02756029 0.0359243 15.27601422] [-0.02618428 0.99892598 -0.03822655 0.19657625] [-0.03693925 0.03724669 0.99862314 0.73919504] [ 0. 0. 0. 1. ]] SLAMing on 59.061193816999996 meters Centerline goodness : 0.917415 with order 1 Centerline is valid? [False, False] Translation: X:15.32, Y:0.20, Z:0.73 [[ 0.99868498 0.03441611 0.03799798 15.31645116] [-0.0321344 0.99773424 -0.05910815 0.20039584] [-0.03994616 0.05780937 0.99752814 0.73379585] [ 0. 0. 0. 1. ]] SLAMing on 59.12119381699999 meters Centerline goodness : 0.912257 with order 1 Centerline is valid? [False, False] Translation: X:15.32, Y:0.19, Z:0.73 [[ 0.99850464 0.03916547 0.0381385 15.31567979] [-0.03714411 0.99793831 -0.05233973 0.19427767] [-0.04010978 0.05084484 0.9979008 0.73416487] [ 0. 0. 0. 1. ]] SLAMing on 59.18119381699999 meters Centerline goodness : 0.913501 with order 1 Centerline is valid? [False, False] Translation: X:15.32, Y:0.19, Z:0.73 [[ 0.99848408 0.03990109 0.03791378 15.3159438 ] [-0.03797008 0.99800935 -0.05035494 0.18978816] [-0.03984752 0.04883901 0.99801149 0.73372111] [ 0. 0. 0. 1. ]] SLAMing on 59.241193816999996 meters Centerline goodness : 0.914261 with order 1 Centerline is valid? [False, False] Translation: X:15.31, Y:0.18, Z:0.74 [[ 0.99852509 0.03897472 0.03779707 15.31431969] [-0.03704825 0.99804195 -0.05039535 0.18287948] [-0.03968721 0.04892071 0.99801387 0.73547662] [ 0. 0. 0. 1. ]] SLAMing on 59.301193817 meters Centerline goodness : 0.918575 with order 1 Centerline is valid? [False, False] Translation: X:15.31, Y:0.18, Z:0.74 [[ 0.99851958 0.03890352 0.03801531 15.31293864] [-0.0370069 0.99809415 -0.04938174 0.17966462] [-0.03986398 0.0479018 0.99805625 0.73657506] [ 0. 0. 0. 1. ]] SLAMing on 59.36119381699999 meters Centerline goodness : 0.918173 with order 1 Centerline is valid? [False, False] Translation: X:15.31, Y:0.18, Z:0.74 [[ 0.99852049 0.03868214 0.03821685 15.31206691] [-0.03680492 0.99813709 -0.04865954 0.17810009] [-0.04002792 0.04718098 0.99808403 0.73712575] [ 0. 0. 0. 1. ]] SLAMing on 59.421193816999995 meters Centerline goodness : 0.917418 with order 1 Centerline is valid? [False, False] Translation: X:15.31, Y:0.17, Z:0.74 [[ 0.99860405 0.0377067 0.03698846 15.31256749] [-0.03584421 0.99811649 -0.04978612 0.17066423] [-0.03879606 0.0483908 0.99807474 0.73894657] [ 0. 0. 0. 1. ]] SLAMing on 59.481193817 meters Centerline goodness : 0.916998 with order 1 Centerline is valid? [False, False] Translation: X:15.34, Y:0.16, Z:0.74 [[ 0.99884601 0.03576296 0.03205712 15.34315089] [-0.03428418 0.99837361 -0.04554914 0.16217958] [-0.03363395 0.04439752 0.9984476 0.73811998] [ 0. 0. 0. 1. ]] SLAMing on 59.54119381699999 meters Centerline goodness : 0.919192 with order 1 Centerline is valid? [False, False] Translation: X:15.37, Y:0.16, Z:0.74 [[ 0.99886969 0.03286227 0.0343426 15.37161598] [-0.03146456 0.99868496 -0.04047629 0.15668537] [-0.03562758 0.03934997 0.99859013 0.73719966] [ 0. 0. 0. 1. ]] SLAMing on 59.601193816999995 meters Centerline goodness : 0.920043 with order 1 Centerline is valid? [False, False] Translation: X:15.40, Y:0.15, Z:0.74 [[ 0.99908567 0.02950668 0.03093836 15.40221142] [-0.02831855 0.99887019 -0.03816277 0.14970966] [-0.03202946 0.03725174 0.99879248 0.73564525] [ 0. 0. 0. 1. ]] SLAMing on 59.661193817 meters Centerline goodness : 0.921534 with order 1 Centerline is valid? [False, False] Translation: X:15.40, Y:0.14, Z:0.73 [[ 0.99925125 0.02443306 0.02999955 15.40480747] [-0.02316476 0.99885235 -0.04192103 0.14100431] [-0.03098938 0.04119471 0.99867044 0.73359101] [ 0. 0. 0. 1. ]] SLAMing on 59.72119381699999 meters Centerline goodness : 0.918850 with order 1 Centerline is valid? [False, False] Translation: X:15.44, Y:0.14, Z:0.73 [[ 0.99939338 0.02153127 0.02737297 15.43888226] [-0.0205384 0.99913892 -0.03604981 0.13703645] [-0.0281256 0.03546574 0.99897504 0.73277435] [ 0. 0. 0. 1. ]] SLAMing on 59.781193816999995 meters Centerline goodness : 0.916674 with order 1 Centerline is valid? [False, False] Translation: X:15.46, Y:0.14, Z:0.73 [[ 0.99941237 0.02344567 0.02500446 15.4629371 ] [-0.02251595 0.99906759 -0.0368373 0.13699853] [-0.02584482 0.03625266 0.9990084 0.73033569] [ 0. 0. 0. 1. ]] SLAMing on 59.841193817 meters Centerline goodness : 0.920948 with order 1 Centerline is valid? [False, False] Translation: X:15.49, Y:0.14, Z:0.73 [[ 0.99936893 0.02217444 0.02774936 15.48649504] [-0.02119511 0.99915896 -0.03510186 0.13881137] [-0.02850438 0.03449156 0.99899841 0.73370552] [ 0. 0. 0. 1. ]] SLAMing on 59.90119381699999 meters Centerline goodness : 0.927063 with order 1 Centerline is valid? [False, False] Translation: X:15.51, Y:0.14, Z:0.73 [[ 0.99939652 0.01817037 0.0296046 15.51279262] [-0.01707255 0.99917228 -0.03692267 0.14184489] [-0.03025099 0.03639496 0.99887951 0.73432742] [ 0. 0. 0. 1. ]] SLAMing on 59.961193816999995 meters Centerline goodness : 0.924924 with order 1 Centerline is valid? [False, False] Translation: X:15.54, Y:0.15, Z:0.73 [[ 9.99528896e-01 1.40850083e-02 2.72690048e-02 1.55447158e+01] [-1.30899847e-02 9.99254111e-01 -3.63300582e-02 1.45000579e-01] [-2.77603743e-02 3.59559921e-02 9.98967731e-01 7.33563367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.021193817 meters Centerline goodness : 0.925110 with order 1 Centerline is valid? [False, False] Translation: X:15.58, Y:0.14, Z:0.73 [[ 9.99631093e-01 1.06281890e-02 2.49943787e-02 1.55762825e+01] [-9.78120197e-03 9.99381814e-01 -3.37686014e-02 1.43242873e-01] [-2.53378266e-02 3.35116689e-02 9.99117092e-01 7.33506402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.08119381699999 meters Centerline goodness : 0.926284 with order 1 Centerline is valid? [False, False] Translation: X:15.60, Y:0.14, Z:0.73 [[ 9.99624421e-01 1.08535717e-02 2.51638130e-02 1.55975567e+01] [-9.93147447e-03 9.99284902e-01 -3.64835773e-02 1.42258343e-01] [-2.55417955e-02 3.62199610e-02 9.99017383e-01 7.31845419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.141193816999994 meters Centerline goodness : 0.928023 with order 1 Centerline is valid? [False, False] Translation: X:15.63, Y:0.14, Z:0.73 [[ 9.99691008e-01 9.80141017e-03 2.28433861e-02 1.56265088e+01] [-9.04140883e-03 9.99409850e-01 -3.31391661e-02 1.39913674e-01] [-2.31547156e-02 3.29223899e-02 9.99189659e-01 7.32713940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.201193817 meters Centerline goodness : 0.927919 with order 1 Centerline is valid? [False, False] Translation: X:15.66, Y:0.14, Z:0.73 [[ 9.99738545e-01 1.15931782e-02 1.97088774e-02 1.56560031e+01] [-1.10286923e-02 9.99532592e-01 -2.85125667e-02 1.37711526e-01] [-2.00302165e-02 2.82877488e-02 9.99399116e-01 7.32235358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.26119381699999 meters Centerline goodness : 0.921070 with order 1 Centerline is valid? [False, False] Translation: X:15.70, Y:0.14, Z:0.73 [[ 0.99968779 0.0174814 0.01785291 15.69904919] [-0.01691805 0.99936894 -0.03123307 0.13832911] [-0.01838764 0.03092128 0.99935267 0.72659956] [ 0. 0. 0. 1. ]] SLAMing on 60.321193816999994 meters Centerline goodness : 0.924462 with order 1 Centerline is valid? [False, False] Translation: X:15.72, Y:0.14, Z:0.73 [[ 0.99956742 0.02017351 0.02140081 15.71644715] [-0.01948612 0.99930249 -0.03185642 0.13659283] [-0.02202854 0.03142562 0.99926332 0.72626979] [ 0. 0. 0. 1. ]] SLAMing on 60.381193816999996 meters Centerline goodness : 0.925236 with order 1 Centerline is valid? [False, False] Translation: X:15.72, Y:0.13, Z:0.73 [[ 0.99965433 0.01779806 0.01935089 15.72028024] [-0.01718145 0.99935364 -0.03157701 0.13488562] [-0.01990039 0.03123362 0.99931398 0.72761272] [ 0. 0. 0. 1. ]] SLAMing on 60.44119381699999 meters Centerline goodness : 0.924108 with order 1 Centerline is valid? [False, False] Translation: X:15.75, Y:0.14, Z:0.72 [[ 9.99827521e-01 1.22047435e-02 1.39990096e-02 1.57534603e+01] [-1.17193423e-02 9.99344684e-01 -3.42470376e-02 1.37219814e-01] [-1.44078121e-02 3.40770715e-02 9.99315350e-01 7.24487412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.501193816999994 meters Centerline goodness : 0.920839 with order 1 Centerline is valid? [False, False] Translation: X:15.78, Y:0.14, Z:0.72 [[ 9.99840205e-01 1.32154111e-02 1.20381785e-02 1.57778736e+01] [-1.27616952e-02 9.99233136e-01 -3.70172895e-02 1.40360894e-01] [-1.25181455e-02 3.68577468e-02 9.99242114e-01 7.21230214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.561193816999996 meters Centerline goodness : 0.919128 with order 1 Centerline is valid? [False, False] Translation: X:15.81, Y:0.14, Z:0.72 [[ 9.99879038e-01 1.26993401e-02 8.97971751e-03 1.58081994e+01] [-1.23798984e-02 9.99318432e-01 -3.47765650e-02 1.42734144e-01] [-9.41523665e-03 3.46611904e-02 9.99354769e-01 7.21796315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.62119381699999 meters Centerline goodness : 0.924691 with order 1 Centerline is valid? [False, False] Translation: X:15.85, Y:0.15, Z:0.72 [[ 9.99881688e-01 1.20215345e-02 9.59647761e-03 1.58468038e+01] [-1.15771651e-02 9.98915840e-01 -4.50900708e-02 1.48833448e-01] [-1.01281253e-02 4.49736361e-02 9.98936831e-01 7.20357060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.68119381699999 meters Centerline goodness : 0.925137 with order 1 Centerline is valid? [False, False] Translation: X:15.87, Y:0.15, Z:0.72 [[ 9.99881276e-01 1.00793873e-02 1.16550546e-02 1.58733351e+01] [-9.56103271e-03 9.98998680e-01 -4.37061009e-02 1.54873732e-01] [-1.20839149e-02 4.35894776e-02 9.98976444e-01 7.21001194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.741193816999996 meters Centerline goodness : 0.925859 with order 1 Centerline is valid? [False, False] Translation: X:15.90, Y:0.16, Z:0.72 [[ 9.99854324e-01 1.05366303e-02 1.34279989e-02 1.59019818e+01] [-1.00220292e-02 9.99233909e-01 -3.78305913e-02 1.55125305e-01] [-1.38163188e-02 3.76905045e-02 9.99193943e-01 7.21016843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.801193817 meters Centerline goodness : 0.924226 with order 1 Centerline is valid? [False, False] Translation: X:15.94, Y:0.16, Z:0.72 [[ 9.99791344e-01 1.51893011e-02 1.36584412e-02 1.59415536e+01] [-1.45939570e-02 9.98982237e-01 -4.26791090e-02 1.57357390e-01] [-1.42928060e-02 4.24708731e-02 9.98995466e-01 7.17067633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.86119381699999 meters Centerline goodness : 0.921472 with order 1 Centerline is valid? [False, False] Translation: X:15.98, Y:0.16, Z:0.71 [[ 9.99756341e-01 1.83884998e-02 1.22115678e-02 1.59833564e+01] [-1.77833110e-02 9.98691734e-01 -4.79434556e-02 1.61175249e-01] [-1.30772000e-02 4.77146116e-02 9.98775402e-01 7.12747908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.921193816999995 meters Centerline goodness : 0.915050 with order 1 Centerline is valid? [False, False] Translation: X:16.03, Y:0.17, Z:0.71 [[ 9.99688375e-01 2.22398363e-02 1.13377032e-02 1.60263913e+01] [-2.16474311e-02 9.98517683e-01 -4.99382122e-02 1.65265237e-01] [-1.24315148e-02 4.96772180e-02 9.98687955e-01 7.08970027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.981193817 meters Centerline goodness : 0.913546 with order 1 Centerline is valid? [False, False] Translation: X:16.06, Y:0.16, Z:0.71 [[ 9.99625717e-01 2.50461543e-02 1.10052825e-02 1.60646837e+01] [-2.44183256e-02 9.98248188e-01 -5.38915601e-02 1.64938461e-01] [-1.23357797e-02 5.36026588e-02 9.98486146e-01 7.07825570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.04119381699999 meters Centerline goodness : 0.910516 with order 1 Centerline is valid? [False, False] Translation: X:16.11, Y:0.17, Z:0.70 [[ 9.99587386e-01 2.65686911e-02 1.09161810e-02 1.61058780e+01] [-2.58636049e-02 9.97843909e-01 -6.03208610e-02 1.66632611e-01] [-1.24952910e-02 6.00136400e-02 9.98119347e-01 7.03131438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.101193816999995 meters Centerline goodness : 0.909344 with order 1 Centerline is valid? [False, False] Translation: X:16.14, Y:0.17, Z:0.70 [[ 9.99608578e-01 2.60358349e-02 1.02384970e-02 1.61354152e+01] [-2.54115211e-02 9.98051141e-01 -5.69927635e-02 1.67583584e-01] [-1.17023978e-02 5.67102795e-02 9.98322091e-01 7.02368182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.161193817 meters Centerline goodness : 0.907666 with order 1 Centerline is valid? [False, False] Translation: X:16.16, Y:0.16, Z:0.70 [[ 9.99674028e-01 2.36155591e-02 9.70277886e-03 1.61621527e+01] [-2.30745105e-02 9.98352813e-01 -5.25283541e-02 1.60498321e-01] [-1.09272830e-02 5.22873444e-02 9.98572295e-01 7.04970299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.22119381699999 meters Centerline goodness : 0.910911 with order 1 Centerline is valid? [False, False] Translation: X:16.19, Y:0.16, Z:0.70 [[ 9.99741849e-01 1.79634008e-02 1.39123005e-02 1.61860182e+01] [-1.73204491e-02 9.98835371e-01 -4.50322605e-02 1.56042047e-01] [-1.47050304e-02 4.47796680e-02 9.98888654e-01 7.00664468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.281193816999995 meters Centerline goodness : 0.913007 with order 1 Centerline is valid? [False, False] Translation: X:16.20, Y:0.15, Z:0.70 [[ 0.99965863 0.01832262 0.01862561 16.20097959] [-0.01745672 0.99880564 -0.04563502 0.14914615] [-0.01943952 0.0452943 0.99878453 0.70223474] [ 0. 0. 0. 1. ]] SLAMing on 61.341193817 meters Centerline goodness : 0.912891 with order 1 Centerline is valid? [False, False] Translation: X:16.23, Y:0.15, Z:0.70 [[ 9.99610239e-01 1.46174393e-02 2.37844478e-02 1.62295810e+01] [-1.35387950e-02 9.98899894e-01 -4.48965835e-02 1.45602639e-01] [-2.44145555e-02 4.45570718e-02 9.98708464e-01 6.99706260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.40119381699999 meters Centerline goodness : 0.916743 with order 1 Centerline is valid? [False, False] Translation: X:16.26, Y:0.14, Z:0.70 [[ 9.99681031e-01 8.83917223e-03 2.36580708e-02 1.62575507e+01] [-7.80600507e-03 9.99026740e-01 -4.34124245e-02 1.40839985e-01] [-2.40187753e-02 4.32139023e-02 9.98777081e-01 7.00680285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.461193816999995 meters Centerline goodness : 0.914235 with order 1 Centerline is valid? [False, False] Translation: X:16.29, Y:0.14, Z:0.70 [[ 9.99778434e-01 2.99433571e-03 2.08354877e-02 1.62892989e+01] [-2.12927981e-03 9.99139663e-01 -4.14173910e-02 1.35794432e-01] [-2.09415797e-02 4.13638497e-02 9.98924663e-01 7.00181523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.521193817 meters Centerline goodness : 0.913817 with order 1 Centerline is valid? [False, False] Translation: X:16.32, Y:0.13, Z:0.70 [[ 9.99775131e-01 -9.08106368e-03 1.91630503e-02 1.63161713e+01] [ 9.66694091e-03 9.99481729e-01 -3.07054395e-02 1.30978135e-01] [-1.88742806e-02 3.08837829e-02 9.99344762e-01 7.01637723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.58119381699999 meters Centerline goodness : 0.906543 with order 1 Centerline is valid? [False, False] Translation: X:16.34, Y:0.13, Z:0.70 [[ 9.99575941e-01 -2.71546656e-02 1.05148847e-02 1.63382615e+01] [ 2.74902476e-02 9.99070356e-01 -3.32070875e-02 1.29322686e-01] [-9.60338225e-03 3.34820625e-02 9.99393179e-01 7.03399490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.641193816999994 meters Centerline goodness : 0.899929 with order 1 Centerline is valid? [False, False] Translation: X:16.37, Y:0.13, Z:0.70 [[ 9.99407055e-01 -3.38374050e-02 6.36939372e-03 1.63699943e+01] [ 3.40327373e-02 9.98856655e-01 -3.35731383e-02 1.31235323e-01] [-5.22608343e-03 3.37699992e-02 9.99415967e-01 7.03585705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.701193817 meters Centerline goodness : 0.904067 with order 1 Centerline is valid? [False, False] Translation: X:16.41, Y:0.15, Z:0.70 [[ 9.99448211e-01 -3.21058811e-02 8.51383252e-03 1.64096280e+01] [ 3.24057031e-02 9.98760070e-01 -3.77914296e-02 1.46387119e-01] [-7.28994882e-03 3.80464735e-02 9.99249380e-01 7.00689891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.76119381699999 meters Centerline goodness : 0.898165 with order 1 Centerline is valid? [False, False] Translation: X:16.45, Y:0.17, Z:0.70 [[ 9.99634457e-01 -2.53974918e-02 9.26932952e-03 1.64483335e+01] [ 2.57852572e-02 9.98679477e-01 -4.44344717e-02 1.70111967e-01] [-8.12856503e-03 4.46572411e-02 9.98969297e-01 6.95565808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.821193816999994 meters Centerline goodness : 0.893364 with order 1 Centerline is valid? [False, False] Translation: X:16.49, Y:0.18, Z:0.69 [[ 9.99751032e-01 -2.05252320e-02 8.75150305e-03 1.64877920e+01] [ 2.09215120e-02 9.98633425e-01 -4.78912513e-02 1.83594112e-01] [-7.75656443e-03 4.80624226e-02 9.98814217e-01 6.92728567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.881193816999996 meters Centerline goodness : 0.891819 with order 1 Centerline is valid? [False, False] Translation: X:16.54, Y:0.21, Z:0.69 [[ 9.99867128e-01 -1.23332612e-02 1.06591630e-02 1.65361157e+01] [ 1.29650963e-02 9.98029352e-01 -6.13947711e-02 2.05753158e-01] [-9.88095984e-03 6.15248105e-02 9.98056644e-01 6.90380691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.94119381699999 meters Centerline goodness : 0.893871 with order 1 Centerline is valid? [False, False] Translation: X:16.57, Y:0.22, Z:0.69 [[ 9.99911372e-01 -4.84918346e-03 1.23989543e-02 1.65734596e+01] [ 5.60013094e-03 9.98105752e-01 -6.12661919e-02 2.20454213e-01] [-1.20783766e-02 6.13301977e-02 9.98044448e-01 6.90933173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.001193816999994 meters Centerline goodness : 0.890266 with order 1 Centerline is valid? [False, False] Translation: X:16.61, Y:0.23, Z:0.69 [[ 9.99909966e-01 -9.76964198e-05 1.34182640e-02 1.66111269e+01] [ 9.16064040e-04 9.98137560e-01 -6.09964968e-02 2.25364114e-01] [-1.33873142e-02 6.10032970e-02 9.98047783e-01 6.90487608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.061193816999996 meters Centerline goodness : 0.886409 with order 1 Centerline is valid? [False, False] Translation: X:16.66, Y:0.24, Z:0.69 [[ 9.99866404e-01 7.12487650e-03 1.47108734e-02 1.66557189e+01] [-6.04281999e-03 9.97362287e-01 -7.23322399e-02 2.38103370e-01] [-1.51874286e-02 7.22336814e-02 9.97272098e-01 6.90481107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.12119381699999 meters Centerline goodness : 0.882008 with order 1 Centerline is valid? [False, False] Translation: X:16.70, Y:0.26, Z:0.69 [[ 9.99707388e-01 1.11039686e-02 2.14904731e-02 1.67005552e+01] [-9.15926587e-03 9.96028377e-01 -8.85639913e-02 2.56990879e-01] [-2.23885328e-02 8.83412395e-02 9.95838631e-01 6.88487674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.18119381699999 meters Centerline goodness : 0.882110 with order 1 Centerline is valid? [False, False] Translation: X:16.74, Y:0.26, Z:0.68 [[ 9.99691879e-01 1.34995427e-02 2.08304874e-02 1.67428171e+01] [-1.15439075e-02 9.95756173e-01 -9.13037860e-02 2.64920371e-01] [-2.19746458e-02 9.10351881e-02 9.95605198e-01 6.84466160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.241193816999996 meters Centerline goodness : 0.877269 with order 1 Centerline is valid? [False, False] Translation: X:16.77, Y:0.27, Z:0.68 [[ 9.99689271e-01 1.42388098e-02 2.04601321e-02 1.67656764e+01] [-1.22133694e-02 9.95314211e-01 -9.59189987e-02 2.74072921e-01] [-2.17300326e-02 9.56393067e-02 9.95178843e-01 6.81375860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.301193817 meters Centerline goodness : 0.879134 with order 1 Centerline is valid? [False, False] Translation: X:16.77, Y:0.28, Z:0.68 [[ 9.99759127e-01 1.69936214e-02 1.38890404e-02 1.67707735e+01] [-1.59217036e-02 9.97134996e-01 -7.39479531e-02 2.77486057e-01] [-1.51058918e-02 7.37090038e-02 9.97165380e-01 6.84313369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.36119381699999 meters Centerline goodness : 0.877903 with order 1 Centerline is valid? [False, False] Translation: X:16.76, Y:0.28, Z:0.68 [[ 9.99764758e-01 1.78150321e-02 1.23714730e-02 1.67637793e+01] [-1.70099501e-02 9.97907170e-01 -6.23854272e-02 2.79317331e-01] [-1.34569800e-02 6.21603134e-02 9.97975453e-01 6.83655850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.421193816999995 meters Centerline goodness : 0.876916 with order 1 Centerline is valid? [False, False] Translation: X:16.77, Y:0.28, Z:0.69 [[ 9.99805512e-01 1.65742250e-02 1.06879775e-02 1.67710158e+01] [-1.59733554e-02 9.98410715e-01 -5.40453079e-02 2.76173468e-01] [-1.15667504e-02 5.38640738e-02 9.98481283e-01 6.87395434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.481193817 meters Centerline goodness : 0.876906 with order 1 Centerline is valid? [False, False] Translation: X:16.78, Y:0.27, Z:0.69 [[ 9.99690320e-01 2.11673529e-02 1.30845935e-02 1.67762857e+01] [-2.06595926e-02 9.99071980e-01 -3.77936447e-02 2.74758970e-01] [-1.38724421e-02 3.75116184e-02 9.99199897e-01 6.90845502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.54119381699999 meters Centerline goodness : 0.877178 with order 1 Centerline is valid? [False, False] Translation: X:16.77, Y:0.27, Z:0.69 [[ 9.99416856e-01 3.12625412e-02 1.37331926e-02 1.67735735e+01] [-3.08726828e-02 9.99138381e-01 -2.77375618e-02 2.72424173e-01] [-1.45885065e-02 2.72974063e-02 9.99520899e-01 6.93889689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.601193816999995 meters Centerline goodness : 0.877201 with order 1 Centerline is valid? [False, False] Translation: X:16.77, Y:0.27, Z:0.69 [[ 9.99197492e-01 3.75602431e-02 1.39140589e-02 1.67730240e+01] [-3.72686380e-02 9.99091789e-01 -2.06554269e-02 2.65012240e-01] [-1.46772448e-02 2.01202927e-02 9.99689828e-01 6.94257792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.661193817 meters Centerline goodness : 0.875827 with order 1 Centerline is valid? [False, False] Translation: X:16.77, Y:0.26, Z:0.69 [[ 9.99161493e-01 3.84134461e-02 1.41675118e-02 1.67720712e+01] [-3.81503320e-02 9.99102657e-01 -1.83965512e-02 2.59642349e-01] [-1.48614736e-02 1.78406302e-02 9.99730388e-01 6.94762385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.72119381699999 meters Centerline goodness : 0.879538 with order 1 Centerline is valid? [False, False] Translation: X:16.77, Y:0.25, Z:0.70 [[ 9.99437188e-01 3.19853809e-02 1.01115541e-02 1.67701291e+01] [-3.19203322e-02 9.99469082e-01 -6.53038246e-03 2.50989185e-01] [-1.03150625e-02 6.20394292e-03 9.99927553e-01 6.96485016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.781193816999995 meters Centerline goodness : 0.875496 with order 1 Centerline is valid? [False, False] Translation: X:16.77, Y:0.23, Z:0.70 [[ 9.99603342e-01 2.63109439e-02 1.00444970e-02 1.67690062e+01] [-2.62218921e-02 9.99616556e-01 -8.89681842e-03 2.34731864e-01] [-1.02747292e-02 8.62990371e-03 9.99909973e-01 6.96673637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.841193817 meters Centerline goodness : 0.870789 with order 1 Centerline is valid? [False, False] Translation: X:16.77, Y:0.23, Z:0.70 [[ 9.99575198e-01 2.74144698e-02 9.89294315e-03 1.67689411e+01] [-2.73549917e-02 9.99607181e-01 -6.09824424e-03 2.27617080e-01] [-1.00562371e-02 5.82503231e-03 9.99932468e-01 6.96646503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.90119381699999 meters Centerline goodness : 0.873255 with order 1 Centerline is valid? [False, False] Translation: X:16.77, Y:0.22, Z:0.69 [[ 9.99417080e-01 3.30947673e-02 8.38072819e-03 1.67728255e+01] [-3.31033630e-02 9.99451538e-01 8.88980318e-04 2.16496240e-01] [-8.34671108e-03 -1.16589240e-03 9.99964486e-01 6.94754665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.961193816999995 meters Centerline goodness : 0.872901 with order 1 Centerline is valid? [False, False] Translation: X:16.77, Y:0.21, Z:0.70 [[ 9.99268025e-01 3.82000269e-02 2.04242925e-03 1.67688988e+01] [-3.81827892e-02 9.99239537e-01 -7.90078835e-03 2.08500721e-01] [-2.34268638e-03 7.81701953e-03 9.99966702e-01 6.96870704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.021193817 meters Centerline goodness : 0.869425 with order 1 Centerline is valid? [False, False] Translation: X:16.77, Y:0.19, Z:0.70 [[ 9.99255313e-01 3.85849545e-02 1.46579942e-04 1.67698833e+01] [-3.85836616e-02 9.99241694e-01 -5.22851133e-03 1.91046131e-01] [-3.48210661e-04 5.21896214e-03 9.99986320e-01 6.99578005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.08119381699999 meters Centerline goodness : 0.869637 with order 1 Centerline is valid? [False, False] Translation: X:16.77, Y:0.17, Z:0.70 [[ 9.99371590e-01 3.54377513e-02 7.68587760e-04 1.67684074e+01] [-3.54371132e-02 9.99371565e-01 -8.28531226e-04 1.74616743e-01] [-7.97466036e-04 8.00774038e-04 9.99999361e-01 6.99852519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.141193816999994 meters Centerline goodness : 0.876655 with order 1 Centerline is valid? [False, False] Translation: X:16.76, Y:0.15, Z:0.70 [[ 9.99737586e-01 2.26588648e-02 -3.36671437e-03 1.67577909e+01] [-2.26286423e-02 9.99705569e-01 8.75900251e-03 1.53863793e-01] [ 3.56419216e-03 -8.68051985e-03 9.99955972e-01 7.02334348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.201193817 meters Centerline goodness : 0.877239 with order 1 Centerline is valid? [False, False] Translation: X:16.77, Y:0.13, Z:0.70 [[ 9.99942101e-01 1.07098338e-02 1.04575199e-03 1.67722880e+01] [-1.07104962e-02 9.99942443e-01 6.29901617e-04 1.34766313e-01] [-1.03894566e-03 -6.41065669e-04 9.99999255e-01 7.01749741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.26119381699999 meters Centerline goodness : 0.876991 with order 1 Centerline is valid? [False, False] Translation: X:16.79, Y:0.13, Z:0.70 [[ 9.99976379e-01 4.49414230e-03 5.20034096e-03 1.67851065e+01] [-4.41558152e-03 9.99877429e-01 -1.50209822e-02 1.29728892e-01] [-5.26720998e-03 1.49976648e-02 9.99873655e-01 6.96547413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.321193816999994 meters Centerline goodness : 0.878451 with order 1 Centerline is valid? [False, False] Translation: X:16.81, Y:0.13, Z:0.69 [[ 9.99989246e-01 -1.75950357e-03 4.29097088e-03 1.68084094e+01] [ 1.85064520e-03 9.99770784e-01 -2.13296798e-02 1.26794187e-01] [-4.25245767e-03 2.13373914e-02 9.99763288e-01 6.94525527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.381193816999996 meters Centerline goodness : 0.887060 with order 1 Centerline is valid? [False, False] Translation: X:16.81, Y:0.12, Z:0.69 [[ 9.99873998e-01 -1.53465739e-02 4.05830198e-03 1.68090536e+01] [ 1.54740674e-02 9.99318514e-01 -3.35121030e-02 1.24347670e-01] [-3.54124033e-03 3.35706788e-02 9.99430072e-01 6.94811572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.44119381699999 meters Centerline goodness : 0.891683 with order 1 Centerline is valid? [False, False] Translation: X:16.83, Y:0.12, Z:0.69 [[ 9.99567906e-01 -2.85421098e-02 7.02490005e-03 1.68314578e+01] [ 2.87406346e-02 9.99136606e-01 -3.00003202e-02 1.24139518e-01] [-6.16256235e-03 3.01892573e-02 9.99525203e-01 6.92725675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.501193816999994 meters Centerline goodness : 0.896725 with order 1 Centerline is valid? [False, False] Translation: X:16.85, Y:0.13, Z:0.69 [[ 9.99048651e-01 -4.28953891e-02 7.85999093e-03 1.68524315e+01] [ 4.31021604e-02 9.98668111e-01 -2.83585601e-02 1.28444122e-01] [-6.63307083e-03 2.86703638e-02 9.99566913e-01 6.91758417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.561193816999996 meters Centerline goodness : 0.901313 with order 1 Centerline is valid? [False, False] Translation: X:16.88, Y:0.14, Z:0.69 [[ 9.98965695e-01 -4.47701130e-02 7.94841924e-03 1.68788329e+01] [ 4.49812145e-02 9.98574479e-01 -2.87350066e-02 1.37463445e-01] [-6.65061910e-03 2.90628153e-02 9.99555462e-01 6.91540394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.62119381699999 meters Centerline goodness : 0.898627 with order 1 Centerline is valid? [False, False] Translation: X:16.91, Y:0.16, Z:0.69 [[ 9.99268922e-01 -3.69237395e-02 9.91254083e-03 1.69129682e+01] [ 3.72520766e-02 9.98682855e-01 -3.52822607e-02 1.61066271e-01] [-8.59673158e-03 3.56257294e-02 9.99328226e-01 6.88305605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.68119381699999 meters Centerline goodness : 0.898972 with order 1 Centerline is valid? [False, False] Translation: X:16.96, Y:0.19, Z:0.68 [[ 9.99714452e-01 -2.16625758e-02 1.00870274e-02 1.69616900e+01] [ 2.21902022e-02 9.98210877e-01 -5.55215219e-02 1.90659167e-01] [-8.86624134e-03 5.57295010e-02 9.98406537e-01 6.84973893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.741193816999996 meters Centerline goodness : 0.899590 with order 1 Centerline is valid? [False, False] Translation: X:17.00, Y:0.21, Z:0.68 [[ 9.99857202e-01 -1.24632091e-02 1.14124653e-02 1.70000686e+01] [ 1.30829472e-02 9.98348200e-01 -5.59437955e-02 2.08032252e-01] [-1.06963750e-02 5.60851155e-02 9.98368693e-01 6.82635664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.801193817 meters Centerline goodness : 0.901753 with order 1 Centerline is valid? [False, False] Translation: X:17.06, Y:0.24, Z:0.68 [[ 9.99833181e-01 -2.62949940e-03 1.80747263e-02 1.70579935e+01] [ 4.25134064e-03 9.95906803e-01 -9.02860198e-02 2.42558331e-01] [-1.77633358e-02 9.03478002e-02 9.95751846e-01 6.81759511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.86119381699999 meters Centerline goodness : 0.902301 with order 1 Centerline is valid? [False, False] Translation: X:17.10, Y:0.25, Z:0.68 [[ 9.99833092e-01 2.91952300e-03 1.80351026e-02 1.70985720e+01] [-1.25938447e-03 9.95814879e-01 -9.13845740e-02 2.53851372e-01] [-1.82264229e-02 9.13466080e-02 9.95652346e-01 6.79010728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.921193816999995 meters Centerline goodness : 0.899853 with order 1 Centerline is valid? [False, False] Translation: X:17.14, Y:0.26, Z:0.68 [[ 9.99817100e-01 5.55425820e-03 1.83007427e-02 1.71366770e+01] [-3.84921175e-03 9.95759003e-01 -9.19194866e-02 2.57541387e-01] [-1.87336739e-02 9.18322310e-02 9.95598258e-01 6.77329847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.981193817 meters Centerline goodness : 0.903076 with order 1 Centerline is valid? [False, False] Translation: X:17.18, Y:0.28, Z:0.68 [[ 9.99632633e-01 1.29034525e-02 2.38348459e-02 1.71809717e+01] [-9.82867924e-03 9.92121932e-01 -1.24889826e-01 2.79766758e-01] [-2.52585833e-02 1.24609681e-01 9.91884283e-01 6.77639184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.04119381699999 meters Centerline goodness : 0.900447 with order 1 Centerline is valid? [False, False] Translation: X:17.22, Y:0.32, Z:0.68 [[ 0.99926704 0.02572775 0.02834542 17.21924964] [-0.01944185 0.97895255 -0.20315983 0.31517689] [-0.03297567 0.20245983 0.97873521 0.68265805] [ 0. 0. 0. 1. ]] SLAMing on 64.101193817 meters Centerline goodness : 0.901222 with order 1 Centerline is valid? [False, False] Translation: X:17.21, Y:0.31, Z:0.69 [[ 0.99914374 0.02993458 0.02856061 17.21400544] [-0.02470651 0.98539468 -0.16848419 0.31012898] [-0.03318698 0.16763429 0.9852905 0.68566724] [ 0. 0. 0. 1. ]] SLAMing on 64.161193817 meters Centerline goodness : 0.905747 with order 1 Centerline is valid? [False, False] Translation: X:17.22, Y:0.31, Z:0.69 [[ 0.99887863 0.03517691 0.03168703 17.21538994] [-0.03044231 0.98980021 -0.13917184 0.30547494] [-0.03625947 0.13805115 0.98976115 0.69096141] [ 0. 0. 0. 1. ]] SLAMing on 64.221193817 meters Centerline goodness : 0.911388 with order 1 Centerline is valid? [False, False] Translation: X:17.21, Y:0.30, Z:0.69 [[ 0.99870676 0.03717397 0.03468297 17.20755108] [-0.03292865 0.99272291 -0.11583147 0.29683317] [-0.03873649 0.11453961 0.99266317 0.69488548] [ 0. 0. 0. 1. ]] SLAMing on 64.28119381699999 meters Centerline goodness : 0.919026 with order 1 Centerline is valid? [False, False] Translation: X:17.20, Y:0.28, Z:0.70 [[ 0.99862366 0.03660035 0.03756581 17.20236062] [-0.03286038 0.99486227 -0.09575626 0.28368805] [-0.04087752 0.09439005 0.99469571 0.69675357] [ 0. 0. 0. 1. ]] SLAMing on 64.34119381699999 meters Centerline goodness : 0.919226 with order 1 Centerline is valid? [False, False] Translation: X:17.20, Y:0.28, Z:0.70 [[ 0.99864193 0.03607131 0.03759195 17.20114064] [-0.03314173 0.99656933 -0.07583668 0.27548789] [-0.04019851 0.07448782 0.99641138 0.6973597 ] [ 0. 0. 0. 1. ]] SLAMing on 64.40119381699999 meters Centerline goodness : 0.915796 with order 1 Centerline is valid? [False, False] Translation: X:17.20, Y:0.26, Z:0.70 [[ 0.99879926 0.03555171 0.03370641 17.20079825] [-0.0334514 0.99758006 -0.06095109 0.26077247] [-0.03579175 0.05975038 0.99757147 0.69505404] [ 0. 0. 0. 1. ]] SLAMing on 64.461193817 meters Centerline goodness : 0.916410 with order 1 Centerline is valid? [False, False] Translation: X:17.20, Y:0.25, Z:0.69 [[ 0.99890477 0.03278732 0.03338056 17.19789166] [-0.03128354 0.99851425 -0.0446166 0.24570789] [-0.03479383 0.04352347 0.99844634 0.69366084] [ 0. 0. 0. 1. ]] SLAMing on 64.521193817 meters Centerline goodness : 0.912132 with order 1 Centerline is valid? [False, False] Translation: X:17.21, Y:0.23, Z:0.69 [[ 0.99914194 0.02992388 0.02863467 17.20544715] [-0.02899975 0.99906188 -0.03216168 0.22622931] [-0.02957021 0.03130369 0.99907241 0.69241298] [ 0. 0. 0. 1. ]] SLAMing on 64.581193817 meters Centerline goodness : 0.915672 with order 1 Centerline is valid? [False, False] Translation: X:17.20, Y:0.21, Z:0.70 [[ 0.99910041 0.02950746 0.03045797 17.20072615] [-0.02874564 0.99927021 -0.02515417 0.21092597] [-0.03117798 0.02425601 0.99921949 0.6965537 ] [ 0. 0. 0. 1. ]] SLAMing on 64.641193817 meters Centerline goodness : 0.921335 with order 1 Centerline is valid? [False, False] Translation: X:17.20, Y:0.20, Z:0.70 [[ 0.99916419 0.02707721 0.03062261 17.19841807] [-0.02629954 0.99932833 -0.02551921 0.20215578] [-0.03129303 0.02469252 0.9992052 0.69852451] [ 0. 0. 0. 1. ]] SLAMing on 64.70119381699999 meters Centerline goodness : 0.920075 with order 1 Centerline is valid? [False, False] Translation: X:17.20, Y:0.19, Z:0.70 [[ 0.99926153 0.02275557 0.03096106 17.19647522] [-0.02192789 0.99939988 -0.02681498 0.19260345] [-0.03155267 0.02611627 0.99916083 0.69919159] [ 0. 0. 0. 1. ]] SLAMing on 64.76119381699999 meters Centerline goodness : 0.922538 with order 1 Centerline is valid? [False, False] Translation: X:17.21, Y:0.18, Z:0.70 [[ 9.99438806e-01 8.01573412e-03 3.25241569e-02 1.72136730e+01] [-7.24642201e-03 9.99692784e-01 -2.37028803e-02 1.82728334e-01] [-3.27041609e-02 2.34538946e-02 9.99189848e-01 7.00136694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.821193817 meters Centerline goodness : 0.920693 with order 1 Centerline is valid? [False, False] Translation: X:17.24, Y:0.18, Z:0.70 [[ 9.99588914e-01 -9.43884380e-04 2.86550399e-02 1.72444502e+01] [ 1.67578706e-03 9.99672688e-01 -2.55285888e-02 1.79336948e-01] [-2.86215647e-02 2.55661141e-02 9.99263319e-01 7.00023808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.881193817 meters Centerline goodness : 0.918562 with order 1 Centerline is valid? [False, False] Translation: X:17.28, Y:0.18, Z:0.70 [[ 9.99580877e-01 -5.51225753e-03 2.84197948e-02 1.72840982e+01] [ 6.48992987e-03 9.99386231e-01 -3.44244398e-02 1.80266782e-01] [-2.82125952e-02 3.45944542e-02 9.99003140e-01 6.98028740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.941193817 meters Centerline goodness : 0.915394 with order 1 Centerline is valid? [False, False] Translation: X:17.32, Y:0.18, Z:0.70 [[ 9.99610845e-01 -4.11501204e-03 2.75903201e-02 1.73228373e+01] [ 5.18027826e-03 9.99239362e-01 -3.86505240e-02 1.82702419e-01] [-2.74102865e-02 3.87784085e-02 9.98871819e-01 6.96372233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.001193817 meters Centerline goodness : 0.911456 with order 1 Centerline is valid? [False, False] Translation: X:17.36, Y:0.19, Z:0.69 [[ 9.99585310e-01 5.15082766e-03 2.83315388e-02 1.73607728e+01] [-4.05300369e-03 9.99243777e-01 -3.86710207e-02 1.92721676e-01] [-2.85093016e-02 3.85401564e-02 9.98850277e-01 6.94173858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.06119381699999 meters Centerline goodness : 0.908976 with order 1 Centerline is valid? [False, False] Translation: X:17.40, Y:0.20, Z:0.69 [[ 9.99481062e-01 1.86761144e-02 2.62451666e-02 1.74021480e+01] [-1.71466642e-02 9.98207509e-01 -5.73389962e-02 2.03375620e-01] [-2.72689920e-02 5.68592238e-02 9.98009735e-01 6.94104960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.12119381699999 meters Centerline goodness : 0.903770 with order 1 Centerline is valid? [False, False] Translation: X:17.44, Y:0.22, Z:0.69 [[ 0.99923116 0.02581479 0.02950743 17.44039294] [-0.02245477 0.99378602 -0.10901895 0.21878181] [-0.03213838 0.10827255 0.99360162 0.69186123] [ 0. 0. 0. 1. ]] SLAMing on 65.181193817 meters Centerline goodness : 0.898142 with order 1 Centerline is valid? [False, False] Translation: X:17.45, Y:0.22, Z:0.69 [[ 0.99909875 0.02954549 0.03047533 17.44802461] [-0.02659866 0.99531624 -0.09294137 0.21636414] [-0.03307859 0.092047 0.99520508 0.69144902] [ 0. 0. 0. 1. ]] SLAMing on 65.241193817 meters Centerline goodness : 0.894545 with order 1 Centerline is valid? [False, False] Translation: X:17.45, Y:0.21, Z:0.69 [[ 0.99919893 0.0294595 0.02708563 17.44545894] [-0.02736057 0.99681991 -0.07484292 0.20929616] [-0.02920433 0.07404188 0.99682742 0.6916564 ] [ 0. 0. 0. 1. ]] SLAMing on 65.301193817 meters Centerline goodness : 0.889960 with order 1 Centerline is valid? [False, False] Translation: X:17.45, Y:0.20, Z:0.69 [[ 0.99911589 0.03269389 0.02642994 17.445479 ] [-0.03088006 0.99731884 -0.06634421 0.2003617 ] [-0.02852813 0.06546939 0.99744669 0.69465605] [ 0. 0. 0. 1. ]] SLAMing on 65.361193817 meters Centerline goodness : 0.890058 with order 1 Centerline is valid? [False, False] Translation: X:17.44, Y:0.19, Z:0.69 [[ 0.99919416 0.02839832 0.02836482 17.44482806] [-0.02688322 0.99826224 -0.05243843 0.19352873] [-0.02980469 0.05163364 0.99822124 0.69483576] [ 0. 0. 0. 1. ]] SLAMing on 65.42119381699999 meters Centerline goodness : 0.890967 with order 1 Centerline is valid? [False, False] Translation: X:17.44, Y:0.19, Z:0.70 [[ 0.99917815 0.01988933 0.03531918 17.436738 ] [-0.01839292 0.9989399 -0.04219935 0.18935214] [-0.03612105 0.04151504 0.99848474 0.69925995] [ 0. 0. 0. 1. ]] SLAMing on 65.48119381699999 meters Centerline goodness : 0.881571 with order 1 Centerline is valid? [False, False] Translation: X:17.45, Y:0.18, Z:0.70 [[ 9.99316271e-01 5.44825455e-03 3.65692085e-02 1.74523016e+01] [-3.99273738e-03 9.99201385e-01 -3.97573841e-02 1.82560624e-01] [-3.67566121e-02 3.95841895e-02 9.98539956e-01 7.01046730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.54119381699999 meters Centerline goodness : 0.885209 with order 1 Centerline is valid? [False, False] Translation: X:17.49, Y:0.18, Z:0.70 [[ 9.99492234e-01 -4.27322655e-03 3.15755329e-02 1.74889940e+01] [ 5.45853800e-03 9.99279894e-01 -3.75485970e-02 1.81821981e-01] [-3.13923415e-02 3.77018873e-02 9.98795819e-01 6.99044550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.601193817 meters Centerline goodness : 0.881826 with order 1 Centerline is valid? [False, False] Translation: X:17.52, Y:0.18, Z:0.70 [[ 9.99609027e-01 -8.66695497e-03 2.65833974e-02 1.75193120e+01] [ 9.63065559e-03 9.99293048e-01 -3.63408182e-02 1.82524928e-01] [-2.62496400e-02 3.65826255e-02 9.98985820e-01 6.98602853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.661193817 meters Centerline goodness : 0.886508 with order 1 Centerline is valid? [False, False] Translation: X:17.54, Y:0.18, Z:0.70 [[ 9.99708368e-01 -6.29751530e-03 2.33135402e-02 1.75443819e+01] [ 7.11575018e-03 9.99355587e-01 -3.51820396e-02 1.82980409e-01] [-2.30769572e-02 3.53376727e-02 9.99108954e-01 6.95421589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.721193817 meters Centerline goodness : 0.886847 with order 1 Centerline is valid? [False, False] Translation: X:17.57, Y:0.19, Z:0.69 [[ 9.99721479e-01 -1.22441702e-04 2.35997577e-02 1.75739303e+01] [ 1.08725309e-03 9.99163727e-01 -4.08737656e-02 1.90005206e-01] [-2.35750172e-02 4.08880403e-02 9.98885572e-01 6.93723320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.78119381699999 meters Centerline goodness : 0.890039 with order 1 Centerline is valid? [False, False] Translation: X:17.59, Y:0.19, Z:0.69 [[ 9.99685618e-01 3.73429090e-03 2.47935379e-02 1.75941864e+01] [-2.75505759e-03 9.99219214e-01 -3.94128410e-02 1.91304742e-01] [-2.49213585e-02 3.93321427e-02 9.98915366e-01 6.92714354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.84119381699999 meters Centerline goodness : 0.885102 with order 1 Centerline is valid? [False, False] Translation: X:17.64, Y:0.20, Z:0.69 [[ 9.99685713e-01 1.15909572e-02 2.22289253e-02 1.76412978e+01] [-1.05086361e-02 9.98782261e-01 -4.82033672e-02 1.97303003e-01] [-2.27605794e-02 4.79546218e-02 9.98590161e-01 6.91020443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.90119381699999 meters Centerline goodness : 0.887580 with order 1 Centerline is valid? [False, False] Translation: X:17.69, Y:0.21, Z:0.69 [[ 0.9993885 0.0205084 0.02832013 17.69426627] [-0.01825857 0.99682235 -0.07753596 0.21346737] [-0.02982028 0.07697146 0.99658725 0.68723638] [ 0. 0. 0. 1. ]] SLAMing on 65.961193817 meters Centerline goodness : 0.881454 with order 1 Centerline is valid? [False, False] Translation: X:17.73, Y:0.22, Z:0.68 [[ 0.9990105 0.02232572 0.03846543 17.73102044] [-0.01832984 0.99468993 -0.10127168 0.224544 ] [-0.04052214 0.10046641 0.99411491 0.68475866] [ 0. 0. 0. 1. ]] SLAMing on 66.021193817 meters Centerline goodness : 0.886026 with order 1 Centerline is valid? [False, False] Translation: X:17.76, Y:0.22, Z:0.68 [[ 9.98986921e-01 1.76145969e-02 4.14108413e-02 1.77586083e+01] [-1.34411248e-02 9.94998302e-01 -9.89834062e-02 2.24173876e-01] [-4.29472695e-02 9.83265199e-02 9.94227050e-01 6.83974093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.081193817 meters Centerline goodness : 0.884033 with order 1 Centerline is valid? [False, False] Translation: X:17.80, Y:0.23, Z:0.68 [[ 9.98714507e-01 2.13529691e-02 4.59715573e-02 1.78004783e+01] [-1.57925737e-02 9.92877737e-01 -1.18086388e-01 2.30907591e-01] [-4.81656307e-02 1.17208579e-01 9.91938618e-01 6.79310707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.141193817 meters Centerline goodness : 0.884357 with order 1 Centerline is valid? [False, False] Translation: X:17.84, Y:0.26, Z:0.68 [[ 0.99793223 0.0365931 0.05284127 17.84338686] [-0.02513564 0.97882539 -0.20314789 0.26043091] [-0.05915619 0.20139963 0.9777212 0.6792657 ] [ 0. 0. 0. 1. ]] SLAMing on 66.20119381699999 meters Centerline goodness : 0.884008 with order 1 Centerline is valid? [False, False] Translation: X:17.85, Y:0.25, Z:0.68 [[ 0.99775502 0.04006855 0.05366034 17.84975482] [-0.03061004 0.98552581 -0.16673901 0.24942689] [-0.05956464 0.16472214 0.98453983 0.68063245] [ 0. 0. 0. 1. ]] SLAMing on 66.26119381699999 meters Centerline goodness : 0.884494 with order 1 Centerline is valid? [False, False] Translation: X:17.83, Y:0.23, Z:0.68 [[ 0.9976533 0.03204145 0.06050814 17.83430697] [-0.02338111 0.99004937 -0.13876441 0.23278065] [-0.06435226 0.13702403 0.98847519 0.68178697] [ 0. 0. 0. 1. ]] SLAMing on 66.321193817 meters Centerline goodness : 0.889931 with order 1 Centerline is valid? [False, False] Translation: X:17.83, Y:0.22, Z:0.68 [[ 9.98271957e-01 1.01154778e-02 5.78858946e-02 1.78275058e+01] [-4.19630987e-03 9.94828991e-01 -1.01477435e-01 2.15012560e-01] [-5.86130588e-02 1.01059170e-01 9.93152331e-01 6.79547354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.381193817 meters Centerline goodness : 0.888351 with order 1 Centerline is valid? [False, False] Translation: X:17.85, Y:0.21, Z:0.67 [[ 9.98273704e-01 1.94545838e-04 5.87330666e-02 1.78520639e+01] [ 5.22193691e-03 9.95740283e-01 -9.20544378e-02 2.08731118e-01] [-5.85007892e-02 9.22022250e-02 9.94020325e-01 6.74008005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.441193817 meters Centerline goodness : 0.889203 with order 1 Centerline is valid? [False, False] Translation: X:17.88, Y:0.20, Z:0.67 [[ 9.98406598e-01 -3.74187187e-03 5.63050913e-02 1.78833020e+01] [ 8.55395150e-03 9.96304203e-01 -8.54679185e-02 2.04793606e-01] [-5.57771891e-02 8.58133648e-02 9.94748698e-01 6.72029860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.501193817 meters Centerline goodness : 0.888312 with order 1 Centerline is valid? [False, False] Translation: X:17.93, Y:0.21, Z:0.67 [[ 9.98415710e-01 4.92029332e-03 5.60523068e-02 1.79332135e+01] [ 3.22501850e-04 9.95652666e-01 -9.31432508e-02 2.09040229e-01] [-5.62669208e-02 9.30137618e-02 9.94073676e-01 6.67888434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.56119381699999 meters Centerline goodness : 0.891995 with order 1 Centerline is valid? [False, False] Translation: X:17.98, Y:0.25, Z:0.67 [[ 9.97587890e-01 2.52150897e-02 6.46730373e-02 1.79768700e+01] [-1.29201847e-02 9.82858658e-01 -1.83907390e-01 2.46078908e-01] [-6.82016960e-02 1.82628197e-01 9.80813678e-01 6.69968661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.62119381699999 meters Centerline goodness : 0.884720 with order 1 Centerline is valid? [False, False] Translation: X:17.98, Y:0.24, Z:0.67 [[ 0.99709791 0.03266653 0.06876519 17.9802841 ] [-0.02101687 0.98627328 -0.16377823 0.24354815] [-0.07317134 0.16185771 0.98409758 0.67349118] [ 0. 0. 0. 1. ]] SLAMing on 66.681193817 meters Centerline goodness : 0.888403 with order 1 Centerline is valid? [False, False] Translation: X:17.97, Y:0.23, Z:0.68 [[ 0.99663128 0.03391285 0.07467273 17.97405667] [-0.0239917 0.99122884 -0.12996073 0.23368917] [-0.07842511 0.12773141 0.98870329 0.67682754] [ 0. 0. 0. 1. ]] SLAMing on 66.741193817 meters Centerline goodness : 0.887552 with order 1 Centerline is valid? [False, False] Translation: X:17.97, Y:0.23, Z:0.68 [[ 0.99656561 0.03429191 0.0753727 17.97285226] [-0.02623855 0.99408863 -0.10535336 0.22559426] [-0.07853992 0.10301386 0.99157432 0.67656421] [ 0. 0. 0. 1. ]] SLAMing on 66.801193817 meters Centerline goodness : 0.890004 with order 1 Centerline is valid? [False, False] Translation: X:17.98, Y:0.22, Z:0.67 [[ 0.9966347 0.03598922 0.07364812 17.97710439] [-0.02982857 0.99609435 -0.08310416 0.21577259] [-0.07635133 0.08062767 0.9938157 0.67287082] [ 0. 0. 0. 1. ]] SLAMing on 66.861193817 meters Centerline goodness : 0.889170 with order 1 Centerline is valid? [False, False] Translation: X:17.98, Y:0.21, Z:0.67 [[ 0.99639384 0.04160694 0.07394715 17.9767143 ] [-0.036033 0.99651905 -0.07517589 0.20794158] [-0.07681759 0.07224025 0.99442466 0.67208151] [ 0. 0. 0. 1. ]] SLAMing on 66.92119381699999 meters Centerline goodness : 0.890892 with order 1 Centerline is valid? [False, False] Translation: X:17.97, Y:0.20, Z:0.67 [[ 0.9960061 0.04909222 0.07457753 17.97472757] [-0.04419725 0.99684519 -0.06592623 0.19859068] [-0.07757872 0.0623668 0.99503363 0.67312615] [ 0. 0. 0. 1. ]] SLAMing on 66.98119381699999 meters Centerline goodness : 0.896542 with order 1 Centerline is valid? [False, False] Translation: X:17.97, Y:0.19, Z:0.67 [[ 0.99565194 0.05487536 0.07527223 17.97299504] [-0.05073582 0.99714944 -0.05584686 0.18536648] [-0.07812228 0.05178504 0.99559792 0.67314066] [ 0. 0. 0. 1. ]] SLAMing on 67.04119381699999 meters Centerline goodness : 0.894980 with order 1 Centerline is valid? [False, False] Translation: X:17.97, Y:0.17, Z:0.67 [[ 0.99609149 0.05193408 0.07144645 17.9689646 ] [-0.04927882 0.99804511 -0.03843907 0.17120759] [-0.07330308 0.03476804 0.99670349 0.67386562] [ 0. 0. 0. 1. ]] SLAMing on 67.101193817 meters Centerline goodness : 0.897285 with order 1 Centerline is valid? [False, False] Translation: X:17.98, Y:0.15, Z:0.67 [[ 0.99651716 0.0498984 0.06681092 17.97633317] [-0.04793122 0.99837778 -0.03073109 0.15006241] [-0.06823597 0.02742173 0.99729228 0.66987499] [ 0. 0. 0. 1. ]] SLAMing on 67.161193817 meters Centerline goodness : 0.898277 with order 1 Centerline is valid? [False, False] Translation: X:17.98, Y:0.14, Z:0.67 [[ 0.9967341 0.04742409 0.06536116 17.97997048] [-0.04563775 0.99854975 -0.0285585 0.13575506] [-0.06662073 0.0254823 0.99745292 0.66535679] [ 0. 0. 0. 1. ]] SLAMing on 67.221193817 meters Centerline goodness : 0.899838 with order 1 Centerline is valid? [False, False] Translation: X:17.97, Y:0.11, Z:0.67 [[ 9.97364238e-01 3.65550269e-02 6.26762105e-02 1.79708109e+01] [-3.57281176e-02 9.99259744e-01 -1.42641050e-02 1.13362683e-01] [-6.31512389e-02 1.19872052e-02 9.97931976e-01 6.69013161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.28119381699999 meters Centerline goodness : 0.902912 with order 1 Centerline is valid? [False, False] Translation: X:17.97, Y:0.10, Z:0.67 [[ 9.97366989e-01 3.23702571e-02 6.48941864e-02 1.79659801e+01] [-3.18432214e-02 9.99451087e-01 -9.13965995e-03 9.73275004e-02] [-6.51544183e-02 7.04915518e-03 9.97850295e-01 6.73407857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.34119381699999 meters Centerline goodness : 0.911287 with order 1 Centerline is valid? [False, False] Translation: X:17.99, Y:0.08, Z:0.68 [[ 0.99744385 0.02926596 0.06518645 17.98885482] [-0.02784059 0.99935532 -0.02266835 0.08370953] [-0.06580784 0.02079558 0.99761559 0.67693053] [ 0. 0. 0. 1. ]] SLAMing on 67.40119381699999 meters Centerline goodness : 0.915732 with order 1 Centerline is valid? [False, False] Translation: X:18.00, Y:0.08, Z:0.68 [[ 0.99720258 0.02723983 0.06960609 18.00479312] [-0.02550535 0.99934461 -0.02568713 0.07687444] [-0.07026018 0.02383994 0.99724378 0.67629286] [ 0. 0. 0. 1. ]] SLAMing on 67.461193817 meters Centerline goodness : 0.916254 with order 1 Centerline is valid? [False, False] Translation: X:18.03, Y:0.07, Z:0.67 [[ 0.99767363 0.02147592 0.06470018 18.03406926] [-0.0196542 0.99939591 -0.0286624 0.07309132] [-0.06527664 0.02732409 0.99749303 0.67361094] [ 0. 0. 0. 1. ]] SLAMing on 67.521193817 meters Centerline goodness : 0.915848 with order 1 Centerline is valid? [False, False] Translation: X:18.06, Y:0.07, Z:0.67 [[ 9.98143580e-01 1.21723355e-02 5.96760212e-02 1.80626008e+01] [-1.02416259e-02 9.99417537e-01 -3.25529811e-02 6.83098852e-02] [-6.00375079e-02 3.18813696e-02 9.97686863e-01 6.73720636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.581193817 meters Centerline goodness : 0.913071 with order 1 Centerline is valid? [False, False] Translation: X:18.09, Y:0.07, Z:0.67 [[ 9.98544398e-01 5.22404433e-03 5.36823515e-02 1.80944783e+01] [-3.38041163e-03 9.99403221e-01 -3.43769522e-02 6.63786845e-02] [-5.38299018e-02 3.41454445e-02 9.97966147e-01 6.73413061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.641193817 meters Centerline goodness : 0.915871 with order 1 Centerline is valid? [False, False] Translation: X:18.12, Y:0.07, Z:0.67 [[ 9.98708359e-01 1.84727055e-03 5.07760007e-02 1.81243447e+01] [ 1.90585558e-05 9.99325186e-01 -3.67310914e-02 7.36289027e-02] [-5.08095886e-02 3.66846157e-02 9.98034381e-01 6.71484250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.70119381699999 meters Centerline goodness : 0.918523 with order 1 Centerline is valid? [False, False] Translation: X:18.15, Y:0.07, Z:0.67 [[ 9.98793620e-01 3.97205368e-03 4.89441282e-02 1.81468711e+01] [-2.12367863e-03 9.99284607e-01 -3.77592880e-02 7.46531115e-02] [-4.90590958e-02 3.76097943e-02 9.98087525e-01 6.69081148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.76119381699999 meters Centerline goodness : 0.916574 with order 1 Centerline is valid? [False, False] Translation: X:18.17, Y:0.08, Z:0.66 [[ 9.98932765e-01 8.22297435e-03 4.54501250e-02 1.81725750e+01] [-6.55315811e-03 9.99302372e-01 -3.67671910e-02 7.74912823e-02] [-4.57207534e-02 3.64301099e-02 9.98289767e-01 6.64846915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.821193817 meters Centerline goodness : 0.914412 with order 1 Centerline is valid? [False, False] Translation: X:18.21, Y:0.09, Z:0.66 [[ 9.98892322e-01 1.48218162e-02 4.46591857e-02 1.82123578e+01] [-1.29722181e-02 9.99057411e-01 -4.14247629e-02 8.68939728e-02] [-4.52310807e-02 4.07995489e-02 9.98143049e-01 6.59371570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.881193817 meters Centerline goodness : 0.915351 with order 1 Centerline is valid? [False, False] Translation: X:18.25, Y:0.09, Z:0.66 [[ 9.98809033e-01 1.86566911e-02 4.50826240e-02 1.82505587e+01] [-1.66145364e-02 9.98837260e-01 -4.52557765e-02 9.25779648e-02] [-4.58745277e-02 4.44528515e-02 9.97957650e-01 6.57576942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.941193817 meters Centerline goodness : 0.916946 with order 1 Centerline is valid? [False, False] Translation: X:18.30, Y:0.10, Z:0.66 [[ 0.9988278 0.02434826 0.0418353 18.29691593] [-0.02208674 0.99831309 -0.05369499 0.0963758 ] [-0.0430721 0.05270804 0.99768064 0.65792391] [ 0. 0. 0. 1. ]] SLAMing on 68.001193817 meters Centerline goodness : 0.918630 with order 1 Centerline is valid? [False, False] Translation: X:18.34, Y:0.10, Z:0.66 [[ 0.99880186 0.02990047 0.03874021 18.34392936] [-0.02731831 0.9974753 -0.06554947 0.10035095] [-0.04060236 0.06441262 0.99709702 0.65541058] [ 0. 0. 0. 1. ]] SLAMing on 68.06119381699999 meters Centerline goodness : 0.915833 with order 1 Centerline is valid? [False, False] Translation: X:18.39, Y:0.12, Z:0.65 [[ 0.99792 0.04384977 0.0472532 18.39021266] [-0.0383869 0.99309138 -0.1108871 0.11615025] [-0.05178912 0.10884255 0.99270901 0.64929818] [ 0. 0. 0. 1. ]] SLAMing on 68.12119381699999 meters Centerline goodness : 0.914115 with order 1 Centerline is valid? [False, False] Translation: X:18.39, Y:0.11, Z:0.65 [[ 0.99730899 0.05635959 0.04688674 18.39194948] [-0.05156418 0.99386349 -0.09785956 0.1113633 ] [-0.05211435 0.09517854 0.99409514 0.64878393] [ 0. 0. 0. 1. ]] SLAMing on 68.181193817 meters Centerline goodness : 0.912001 with order 1 Centerline is valid? [False, False] Translation: X:18.38, Y:0.10, Z:0.65 [[ 0.99734366 0.05768403 0.04447675 18.38244065] [-0.05388342 0.99514394 -0.08237176 0.1034902 ] [-0.0490123 0.07975639 0.99560871 0.6504745 ] [ 0. 0. 0. 1. ]] SLAMing on 68.241193817 meters Centerline goodness : 0.911161 with order 1 Centerline is valid? [False, False] Translation: X:18.38, Y:0.09, Z:0.65 [[ 0.99779727 0.05369887 0.03894917 18.37617943] [-0.05103514 0.99648505 -0.06643007 0.08560636] [-0.04237948 0.06429597 0.9970306 0.65344259] [ 0. 0. 0. 1. ]] SLAMing on 68.301193817 meters Centerline goodness : 0.909967 with order 1 Centerline is valid? [False, False] Translation: X:18.36, Y:0.07, Z:0.65 [[ 0.99795875 0.04710451 0.04312198 18.36388863] [-0.04479322 0.99758505 -0.05308143 0.07044069] [-0.04551822 0.05104151 0.99765869 0.65435857] [ 0. 0. 0. 1. ]] SLAMing on 68.361193817 meters Centerline goodness : 0.912838 with order 1 Centerline is valid? [False, False] Translation: X:18.35, Y:0.05, Z:0.65 [[ 0.99817309 0.0369435 0.04780867 18.3500515 ] [-0.03505673 0.99859571 -0.03971941 0.05167494] [-0.0492089 0.03797083 0.99806648 0.65460687] [ 0. 0. 0. 1. ]] SLAMing on 68.42119381699999 meters Centerline goodness : 0.915189 with order 1 Centerline is valid? [False, False] Translation: X:18.36, Y:0.04, Z:0.65 [[ 0.99811108 0.03048877 0.05333587 18.36017518] [-0.02861207 0.99895634 -0.03560322 0.03800828] [-0.0543657 0.03400992 0.99794173 0.65162273] [ 0. 0. 0. 1. ]] SLAMing on 68.48119381699999 meters Centerline goodness : 0.916080 with order 1 Centerline is valid? [False, False] Translation: X:18.36, Y:0.02, Z:0.66 [[ 9.98404075e-01 2.10182971e-02 5.24169197e-02 1.83610014e+01] [-1.90894766e-02 9.99131781e-01 -3.70307405e-02 1.77734291e-02] [-5.31497334e-02 3.59710306e-02 9.97938470e-01 6.55503169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.54119381699999 meters Centerline goodness : 0.915040 with order 1 Centerline is valid? [False, False] Translation: X:18.39, Y:0.01, Z:0.65 [[ 9.98744531e-01 1.91506222e-02 4.62884032e-02 1.83912799e+01] [-1.75996491e-02 9.99277520e-01 -3.36851742e-02 1.13702899e-02] [-4.69000528e-02 3.28282239e-02 9.98360002e-01 6.54984024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.601193817 meters Centerline goodness : 0.915275 with order 1 Centerline is valid? [False, False] Translation: X:18.43, Y:0.00, Z:0.65 [[ 9.98626871e-01 2.37422784e-02 4.66977240e-02 1.84270649e+01] [-2.20387006e-02 9.99084619e-01 -3.66635988e-02 3.40295769e-03] [-4.75254551e-02 3.55840978e-02 9.98235996e-01 6.54310895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.661193817 meters Centerline goodness : 0.914244 with order 1 Centerline is valid? [False, False] Translation: X:18.46, Y:-0.00, Z:0.65 [[ 9.98411368e-01 3.21253326e-02 4.62893463e-02 1.84631058e+01] [-3.03304014e-02 9.98779938e-01 -3.89705265e-02 -2.61259618e-03] [-4.74848116e-02 3.75046422e-02 9.98167618e-01 6.50707850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.721193817 meters Centerline goodness : 0.911859 with order 1 Centerline is valid? [False, False] Translation: X:18.50, Y:-0.01, Z:0.65 [[ 9.98351651e-01 3.68047102e-02 4.40385486e-02 1.85036894e+01] [-3.49381754e-02 9.98488428e-01 -4.24285592e-02 -5.32848665e-03] [-4.55335520e-02 4.08199956e-02 9.98128460e-01 6.45395559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.78119381699999 meters Centerline goodness : 0.911102 with order 1 Centerline is valid? [False, False] Translation: X:18.50, Y:-0.01, Z:0.65 [[ 9.98366310e-01 3.69640204e-02 4.35703162e-02 1.85043825e+01] [-3.52247910e-02 9.98577332e-01 -4.00315709e-02 -1.38670283e-02] [-4.49880579e-02 3.84314164e-02 9.98248016e-01 6.45681682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.84119381699999 meters Centerline goodness : 0.910483 with order 1 Centerline is valid? [False, False] Translation: X:18.53, Y:-0.03, Z:0.65 [[ 0.99853785 0.03365361 0.04230357 18.53142463] [-0.03212829 0.99882676 -0.03623373 -0.02533166] [-0.04347333 0.03482161 0.99844756 0.64781941] [ 0. 0. 0. 1. ]] SLAMing on 68.90119381699999 meters Centerline goodness : 0.910041 with order 1 Centerline is valid? [False, False] Translation: X:18.55, Y:-0.04, Z:0.65 [[ 0.99845406 0.03584681 0.04247933 18.55110168] [-0.03449893 0.99889071 -0.03204965 -0.03888044] [-0.04358108 0.03053461 0.99858316 0.64804039] [ 0. 0. 0. 1. ]] SLAMing on 68.961193817 meters Centerline goodness : 0.914062 with order 1 Centerline is valid? [False, False] Translation: X:18.59, Y:-0.05, Z:0.65 [[ 0.9982897 0.03910297 0.04345836 18.58778321] [-0.03753583 0.99863539 -0.03631007 -0.04722015] [-0.04481889 0.03461672 0.99839519 0.64631431] [ 0. 0. 0. 1. ]] SLAMing on 69.021193817 meters Centerline goodness : 0.915782 with order 1 Centerline is valid? [False, False] Translation: X:18.60, Y:-0.06, Z:0.65 [[ 0.99798919 0.04206384 0.04741521 18.60414451] [-0.04038569 0.99854219 -0.03581202 -0.05613107] [-0.04885248 0.03382512 0.99823309 0.64550847] [ 0. 0. 0. 1. ]] SLAMing on 69.081193817 meters Centerline goodness : 0.915054 with order 1 Centerline is valid? [False, False] Translation: X:18.63, Y:-0.07, Z:0.64 [[ 0.99824607 0.04009227 0.04355909 18.63291037] [-0.03865498 0.99869585 -0.03335255 -0.06675401] [-0.04483946 0.03161028 0.99849397 0.64413522] [ 0. 0. 0. 1. ]] SLAMing on 69.141193817 meters Centerline goodness : 0.918562 with order 1 Centerline is valid? [False, False] Translation: X:18.66, Y:-0.07, Z:0.64 [[ 0.99853756 0.03757148 0.03887317 18.66272883] [-0.03629859 0.99879769 -0.03294826 -0.07204233] [-0.04006435 0.03148903 0.9987008 0.64364414] [ 0. 0. 0. 1. ]] SLAMing on 69.20119381699999 meters Centerline goodness : 0.912528 with order 1 Centerline is valid? [False, False] Translation: X:18.69, Y:-0.08, Z:0.64 [[ 0.99873785 0.03732117 0.03361297 18.68714557] [-0.03615133 0.9987415 -0.0347635 -0.0815527 ] [-0.03486808 0.03350447 0.99883015 0.64086013] [ 0. 0. 0. 1. ]] SLAMing on 69.26119381699999 meters Centerline goodness : 0.908944 with order 1 Centerline is valid? [False, False] Translation: X:18.72, Y:-0.09, Z:0.64 [[ 0.99896622 0.03568583 0.02816056 18.71776121] [-0.03471044 0.99880531 -0.03439675 -0.08904585] [-0.0293544 0.03338372 0.99901143 0.63892152] [ 0. 0. 0. 1. ]] SLAMing on 69.321193817 meters Centerline goodness : 0.909280 with order 1 Centerline is valid? [False, False] Translation: X:18.72, Y:-0.10, Z:0.64 [[ 0.99908829 0.03178979 0.02849558 18.71685295] [-0.03087484 0.9990111 -0.03199316 -0.10227485] [-0.02948446 0.0310842 0.9990818 0.64407145] [ 0. 0. 0. 1. ]] SLAMing on 69.381193817 meters Centerline goodness : 0.917854 with order 1 Centerline is valid? [False, False] Translation: X:18.72, Y:-0.11, Z:0.64 [[ 0.99920179 0.0282418 0.02825224 18.71738576] [-0.02730143 0.99907795 -0.03313435 -0.11082826] [-0.02916196 0.03233657 0.99905151 0.64399945] [ 0. 0. 0. 1. ]] SLAMing on 69.441193817 meters Centerline goodness : 0.914081 with order 1 Centerline is valid? [False, False] Translation: X:18.72, Y:-0.12, Z:0.64 [[ 0.99926966 0.0266235 0.02741064 18.72083834] [-0.02569594 0.9991032 -0.03365274 -0.11665607] [-0.02828201 0.03292382 0.99905763 0.64123507] [ 0. 0. 0. 1. ]] SLAMing on 69.501193817 meters Centerline goodness : 0.918818 with order 1 Centerline is valid? [False, False] Translation: X:18.72, Y:-0.13, Z:0.64 [[ 0.9993919 0.02238708 0.02673281 18.72144723] [-0.02146516 0.99918142 -0.03428911 -0.12524741] [-0.02747856 0.03369444 0.99905436 0.64402205] [ 0. 0. 0. 1. ]] SLAMing on 69.56119381699999 meters Centerline goodness : 0.917188 with order 1 Centerline is valid? [False, False] Translation: X:18.73, Y:-0.13, Z:0.65 [[ 9.99520811e-01 1.94306164e-02 2.40956377e-02 1.87276534e+01] [-1.86193178e-02 9.99266970e-01 -3.34491064e-02 -1.27564645e-01] [-2.47279116e-02 3.29844336e-02 9.99149917e-01 6.45192279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.62119381699999 meters Centerline goodness : 0.916712 with order 1 Centerline is valid? [False, False] Translation: X:18.73, Y:-0.13, Z:0.64 [[ 9.99583276e-01 1.73541113e-02 2.30674846e-02 1.87313587e+01] [-1.65443360e-02 9.99255826e-01 -3.48436443e-02 -1.28104328e-01] [-2.36549989e-02 3.44474879e-02 9.99126524e-01 6.43068226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.681193817 meters Centerline goodness : 0.913999 with order 1 Centerline is valid? [False, False] Translation: X:18.73, Y:-0.13, Z:0.64 [[ 9.99617983e-01 1.62857759e-02 2.23307352e-02 1.87333561e+01] [-1.54797588e-02 9.99238926e-01 -3.58042837e-02 -1.27707332e-01] [-2.28968403e-02 3.54449315e-02 9.99109299e-01 6.42518830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.741193817 meters Centerline goodness : 0.916715 with order 1 Centerline is valid? [False, False] Translation: X:18.77, Y:-0.12, Z:0.64 [[ 9.99657817e-01 1.44056796e-02 2.18340380e-02 1.87661176e+01] [-1.35758035e-02 9.99197204e-01 -3.76914582e-02 -1.18398000e-01] [-2.23594807e-02 3.73821462e-02 9.99050864e-01 6.37690073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.801193817 meters Centerline goodness : 0.912906 with order 1 Centerline is valid? [False, False] Translation: X:18.80, Y:-0.11, Z:0.64 [[ 9.99711149e-01 1.23690534e-02 2.06064400e-02 1.88005706e+01] [-1.16206976e-02 9.99282465e-01 -3.60487921e-02 -1.12614591e-01] [-2.10375436e-02 3.57989181e-02 9.99137558e-01 6.36612419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.861193817 meters Centerline goodness : 0.912626 with order 1 Centerline is valid? [False, False] Translation: X:18.80, Y:-0.11, Z:0.64 [[ 9.99728594e-01 1.18386116e-02 2.00645354e-02 1.88009900e+01] [-1.10833235e-02 9.99240967e-01 -3.73450084e-02 -1.09361401e-01] [-2.04914188e-02 3.71124910e-02 9.99100978e-01 6.37622060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.92119381699999 meters Centerline goodness : 0.914041 with order 1 Centerline is valid? [False, False] Translation: X:18.83, Y:-0.10, Z:0.64 [[ 9.99696671e-01 1.30576446e-02 2.08821495e-02 1.88273020e+01] [-1.22597773e-02 9.99206703e-01 -3.78901363e-02 -1.04301940e-01] [-2.13603397e-02 3.76226326e-02 9.99063698e-01 6.36549512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.98119381699999 meters Centerline goodness : 0.911837 with order 1 Centerline is valid? [False, False] Translation: X:18.86, Y:-0.09, Z:0.63 [[ 0.99945211 0.02493632 0.02176365 18.86427876] [-0.02404822 0.99890399 -0.04015596 -0.09328963] [-0.02274114 0.03961059 0.99895638 0.63346671] [ 0. 0. 0. 1. ]] SLAMing on 70.04119381699999 meters Centerline goodness : 0.908084 with order 1 Centerline is valid? [False, False] Translation: X:18.90, Y:-0.09, Z:0.63 [[ 0.99906497 0.03614098 0.02372788 18.90000037] [-0.03506372 0.9984007 -0.04434617 -0.08779019] [-0.02529265 0.04347272 0.9987344 0.63059567] [ 0. 0. 0. 1. ]] SLAMing on 70.101193817 meters Centerline goodness : 0.905854 with order 1 Centerline is valid? [False, False] Translation: X:18.92, Y:-0.09, Z:0.63 [[ 0.99881935 0.04212435 0.0241961 18.92263785] [-0.04101171 0.99815499 -0.04477336 -0.08564506] [-0.02603751 0.04372817 0.99870411 0.6257909 ] [ 0. 0. 0. 1. ]] SLAMing on 70.161193817 meters Centerline goodness : 0.906000 with order 1 Centerline is valid? [False, False] Translation: X:18.95, Y:-0.08, Z:0.62 [[ 0.99874115 0.04364637 0.02472078 18.95198277] [-0.04257439 0.9981955 -0.04234576 -0.08428238] [-0.02652441 0.04123998 0.99879714 0.62362462] [ 0. 0. 0. 1. ]] SLAMing on 70.221193817 meters Centerline goodness : 0.903383 with order 1 Centerline is valid? [False, False] Translation: X:18.98, Y:-0.09, Z:0.62 [[ 0.99877034 0.04216985 0.02606758 18.97799444] [-0.04107443 0.99830552 -0.04121863 -0.08706815] [-0.0277616 0.04009723 0.99881004 0.62442536] [ 0. 0. 0. 1. ]] SLAMing on 70.28119381699999 meters Centerline goodness : 0.909768 with order 1 Centerline is valid? [False, False] Translation: X:18.99, Y:-0.09, Z:0.63 [[ 0.99899991 0.03582114 0.02675869 18.99194235] [-0.03488317 0.99878764 -0.03473341 -0.09211908] [-0.02797044 0.03376524 0.99903832 0.62616442] [ 0. 0. 0. 1. ]] SLAMing on 70.34119381699999 meters Centerline goodness : 0.906464 with order 1 Centerline is valid? [False, False] Translation: X:19.00, Y:-0.10, Z:0.62 [[ 0.99918892 0.03108134 0.02560169 18.99724669] [-0.03008198 0.99880431 -0.0385361 -0.09666247] [-0.02676883 0.03773469 0.99892919 0.62130629] [ 0. 0. 0. 1. ]] SLAMing on 70.40119381699999 meters Centerline goodness : 0.909571 with order 1 Centerline is valid? [False, False] Translation: X:19.00, Y:-0.10, Z:0.62 [[ 0.99922583 0.03032999 0.02505665 18.99895128] [-0.0293663 0.9988472 -0.03797215 -0.10257614] [-0.02617946 0.03720693 0.9989646 0.62044615] [ 0. 0. 0. 1. ]] SLAMing on 70.461193817 meters Centerline goodness : 0.910035 with order 1 Centerline is valid? [False, False] Translation: X:19.00, Y:-0.11, Z:0.62 [[ 0.99927419 0.02924708 0.0244069 19.00073978] [-0.02832038 0.99889572 -0.03748739 -0.10668514] [-0.02547634 0.03676897 0.998999 0.62012207] [ 0. 0. 0. 1. ]] SLAMing on 70.521193817 meters Centerline goodness : 0.908566 with order 1 Centerline is valid? [False, False] Translation: X:19.01, Y:-0.12, Z:0.62 [[ 0.99948784 0.02103277 0.02411792 19.01112993] [-0.02021056 0.99922281 -0.03384249 -0.11563291] [-0.02481098 0.03333772 0.99913613 0.62335167] [ 0. 0. 0. 1. ]] SLAMing on 70.581193817 meters Centerline goodness : 0.907247 with order 1 Centerline is valid? [False, False] Translation: X:19.01, Y:-0.12, Z:0.62 [[ 0.99952296 0.02014791 0.02340752 19.01351992] [-0.0193561 0.99924875 -0.03357503 -0.11978077] [-0.0240664 0.03310593 0.99916205 0.62212431] [ 0. 0. 0. 1. ]] SLAMing on 70.64119381699999 meters Centerline goodness : 0.904469 with order 1 Centerline is valid? [False, False] Translation: X:19.02, Y:-0.12, Z:0.62 [[ 0.99945188 0.02392309 0.02288276 19.0159728 ] [-0.02324933 0.99930112 -0.02926998 -0.12178903] [-0.023567 0.02872193 0.99930959 0.62014157] [ 0. 0. 0. 1. ]] SLAMing on 70.70119381699999 meters Centerline goodness : 0.903319 with order 1 Centerline is valid? [False, False] Translation: X:19.02, Y:-0.13, Z:0.62 [[ 0.99933751 0.02845647 0.02268872 19.01567684] [-0.02791416 0.99932525 -0.02387133 -0.12576124] [-0.0233527 0.02322218 0.99945754 0.62160592] [ 0. 0. 0. 1. ]] SLAMing on 70.76119381699999 meters Centerline goodness : 0.910807 with order 1 Centerline is valid? [False, False] Translation: X:19.01, Y:-0.13, Z:0.62 [[ 9.99163860e-01 3.38340366e-02 2.29529774e-02 1.90136098e+01] [-3.34297786e-02 9.99283022e-01 -1.77733703e-02 -1.29212661e-01] [-2.35378654e-02 1.69911963e-02 9.99578545e-01 6.24513807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.821193817 meters Centerline goodness : 0.908755 with order 1 Centerline is valid? [False, False] Translation: X:19.04, Y:-0.13, Z:0.62 [[ 0.99885187 0.04358155 0.0198894 19.04318321] [-0.04306768 0.99874483 -0.02557216 -0.12962961] [-0.02097891 0.02468621 0.9994751 0.6221383 ] [ 0. 0. 0. 1. ]] SLAMing on 70.881193817 meters Centerline goodness : 0.907634 with order 1 Centerline is valid? [False, False] Translation: X:19.06, Y:-0.13, Z:0.62 [[ 0.9985408 0.04914173 0.02239131 19.06230493] [-0.04854457 0.99847008 -0.02647501 -0.12987489] [-0.02365808 0.0253494 0.99939867 0.61914768] [ 0. 0. 0. 1. ]] SLAMing on 70.941193817 meters Centerline goodness : 0.910920 with order 1 Centerline is valid? [False, False] Translation: X:19.08, Y:-0.13, Z:0.62 [[ 0.99805764 0.05644201 0.02636757 19.07727192] [-0.05571671 0.99806847 -0.02747703 -0.1323227 ] [-0.0278675 0.02595454 0.99927462 0.61703443] [ 0. 0. 0. 1. ]] SLAMing on 71.001193817 meters Centerline goodness : 0.913023 with order 1 Centerline is valid? [False, False] Translation: X:19.12, Y:-0.13, Z:0.61 [[ 0.99770914 0.0626467 0.02553173 19.11504021] [-0.06177857 0.99752819 -0.03348015 -0.1342242 ] [-0.02756604 0.03182614 0.99911321 0.61268869] [ 0. 0. 0. 1. ]] SLAMing on 71.06119381699999 meters Centerline goodness : 0.910887 with order 1 Centerline is valid? [False, False] Translation: X:19.12, Y:-0.15, Z:0.61 [[ 0.99783037 0.06100268 0.0247635 19.11769954] [-0.06015812 0.99762567 -0.03352654 -0.14562564] [-0.02674991 0.03196407 0.99913099 0.60984107] [ 0. 0. 0. 1. ]] SLAMing on 71.12119381699999 meters Centerline goodness : 0.915724 with order 1 Centerline is valid? [False, False] Translation: X:19.13, Y:-0.16, Z:0.61 [[ 0.99813125 0.05503094 0.02656323 19.12751634] [-0.05424049 0.99808869 -0.02961317 -0.1568323 ] [-0.0281421 0.02811703 0.99920841 0.60881961] [ 0. 0. 0. 1. ]] SLAMing on 71.181193817 meters Centerline goodness : 0.923756 with order 1 Centerline is valid? [False, False] Translation: X:19.13, Y:-0.17, Z:0.61 [[ 0.99844742 0.04893262 0.02661488 19.12663614] [-0.04810786 0.99836737 -0.03079339 -0.17195029] [-0.02807822 0.0294652 0.99917136 0.6115866 ] [ 0. 0. 0. 1. ]] SLAMing on 71.241193817 meters Centerline goodness : 0.923926 with order 1 Centerline is valid? [False, False] Translation: X:19.13, Y:-0.18, Z:0.61 [[ 0.99863975 0.04515493 0.02607067 19.12871028] [-0.04429997 0.99848983 -0.03248957 -0.18101817] [-0.02749836 0.03129044 0.999132 0.60984926] [ 0. 0. 0. 1. ]] SLAMing on 71.301193817 meters Centerline goodness : 0.921667 with order 1 Centerline is valid? [False, False] Translation: X:19.14, Y:-0.20, Z:0.61 [[ 0.99908527 0.03703644 0.02137576 19.14068324] [-0.03641317 0.99892043 -0.02884533 -0.19670061] [-0.02242101 0.02804059 0.9993553 0.61172121] [ 0. 0. 0. 1. ]] SLAMing on 71.361193817 meters Centerline goodness : 0.924719 with order 1 Centerline is valid? [False, False] Translation: X:19.14, Y:-0.21, Z:0.61 [[ 0.99957863 0.02162523 0.01936269 19.13929095] [-0.02115683 0.99948621 -0.02407725 -0.20883093] [-0.01987342 0.02365745 0.99952257 0.6128233 ] [ 0. 0. 0. 1. ]] SLAMing on 71.42119381699999 meters Centerline goodness : 0.924270 with order 1 Centerline is valid? [False, False] Translation: X:19.15, Y:-0.21, Z:0.61 [[ 9.99803072e-01 1.09056624e-02 1.65796286e-02 1.91503720e+01] [-1.04458090e-02 9.99565182e-01 -2.75741106e-02 -2.12583346e-01] [-1.68731334e-02 2.73954928e-02 9.99482258e-01 6.13320549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.48119381699999 meters Centerline goodness : 0.926180 with order 1 Centerline is valid? [False, False] Translation: X:19.16, Y:-0.22, Z:0.62 [[ 9.99840439e-01 -8.16934970e-03 1.58857778e-02 1.91611290e+01] [ 8.44179385e-03 9.99817128e-01 -1.71594436e-02 -2.15357981e-01] [-1.57426912e-02 1.72908101e-02 9.99726560e-01 6.18576674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.54119381699999 meters Centerline goodness : 0.925622 with order 1 Centerline is valid? [False, False] Translation: X:19.16, Y:-0.22, Z:0.62 [[ 9.99827877e-01 -1.02605949e-02 1.54575474e-02 1.91631406e+01] [ 1.05424209e-02 9.99777645e-01 -1.82624614e-02 -2.16193628e-01] [-1.52667267e-02 1.84222780e-02 9.99713732e-01 6.17894657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.601193817 meters Centerline goodness : 0.920285 with order 1 Centerline is valid? [False, False] Translation: X:19.16, Y:-0.21, Z:0.62 [[ 9.99675037e-01 -2.01646557e-02 1.55950995e-02 1.91634413e+01] [ 2.06063727e-02 9.99375589e-01 -2.87020803e-02 -2.07181697e-01] [-1.50065942e-02 2.90141116e-02 9.99466349e-01 6.18336379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.661193817 meters Centerline goodness : 0.916710 with order 1 Centerline is valid? [False, False] Translation: X:19.19, Y:-0.20, Z:0.62 [[ 9.99640319e-01 -2.14991454e-02 1.60318434e-02 1.91939955e+01] [ 2.19767858e-02 9.99301116e-01 -3.02373957e-02 -1.95385379e-01] [-1.53705608e-02 3.05788483e-02 9.99414168e-01 6.17045075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.721193817 meters Centerline goodness : 0.905723 with order 1 Centerline is valid? [False, False] Translation: X:19.22, Y:-0.17, Z:0.61 [[ 9.99589234e-01 -2.28542344e-02 1.72929609e-02 1.92249021e+01] [ 2.34281713e-02 9.99155729e-01 -3.37483281e-02 -1.72004646e-01] [-1.65070687e-02 3.41396079e-02 9.99280743e-01 6.11989358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.78119381699999 meters Centerline goodness : 0.901509 with order 1 Centerline is valid? [False, False] Translation: X:19.25, Y:-0.16, Z:0.61 [[ 9.99563269e-01 -2.36872338e-02 1.76687995e-02 1.92542736e+01] [ 2.43248241e-02 9.99026967e-01 -3.67888830e-02 -1.57123955e-01] [-1.67801803e-02 3.72026066e-02 9.99166849e-01 6.09529725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.84119381699999 meters Centerline goodness : 0.896731 with order 1 Centerline is valid? [False, False] Translation: X:19.30, Y:-0.13, Z:0.60 [[ 9.99618014e-01 -2.24265591e-02 1.61516110e-02 1.93025934e+01] [ 2.31010805e-02 9.98813871e-01 -4.28624650e-02 -1.27384119e-01] [-1.51711955e-02 4.32192118e-02 9.98950416e-01 6.04456034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.90119381699999 meters Centerline goodness : 0.892705 with order 1 Centerline is valid? [False, False] Translation: X:19.33, Y:-0.11, Z:0.60 [[ 9.99713975e-01 -1.79259107e-02 1.58313019e-02 1.93312479e+01] [ 1.85747137e-02 9.98951922e-01 -4.18334421e-02 -1.09620318e-01] [-1.50648069e-02 4.21155386e-02 9.98999166e-01 6.01793973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.961193817 meters Centerline goodness : 0.892968 with order 1 Centerline is valid? [False, False] Translation: X:19.38, Y:-0.08, Z:0.60 [[ 9.99840971e-01 -1.02227723e-02 1.46126064e-02 1.93783608e+01] [ 1.08805576e-02 9.98897422e-01 -4.56678564e-02 -8.20578883e-02] [-1.41296428e-02 4.58195872e-02 9.98849798e-01 5.96574356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.021193817 meters Centerline goodness : 0.881076 with order 1 Centerline is valid? [False, False] Translation: X:19.43, Y:-0.05, Z:0.59 [[ 9.99941704e-01 5.68931106e-04 1.07826253e-02 1.94287082e+01] [ 4.77437622e-05 9.98368167e-01 -5.71051733e-02 -5.07707134e-02] [-1.07975187e-02 5.71023591e-02 9.98309939e-01 5.93827841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.081193817 meters Centerline goodness : 0.882077 with order 1 Centerline is valid? [False, False] Translation: X:19.47, Y:-0.03, Z:0.59 [[ 9.99927344e-01 6.95591995e-03 9.84491135e-03 1.94749751e+01] [-6.37513919e-03 9.98305355e-01 -5.78426880e-02 -3.34134138e-02] [-1.02305768e-02 5.77757226e-02 9.98277167e-01 5.92410108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.14119381699999 meters Centerline goodness : 0.886198 with order 1 Centerline is valid? [False, False] Translation: X:19.52, Y:-0.01, Z:0.59 [[ 9.99885582e-01 1.22164256e-02 8.92086470e-03 1.95199820e+01] [-1.16320814e-02 9.97955075e-01 -6.28519105e-02 -7.49868335e-03] [-9.67044789e-03 6.27409508e-02 9.97982994e-01 5.90746892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.20119381699999 meters Centerline goodness : 0.888354 with order 1 Centerline is valid? [False, False] Translation: X:19.55, Y:0.01, Z:0.59 [[ 9.99838518e-01 1.45433565e-02 1.05559876e-02 1.95473015e+01] [-1.38617184e-02 9.97979745e-01 -6.20022693e-02 8.61856998e-03] [-1.14363829e-02 6.18459329e-02 9.98020185e-01 5.89091326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.26119381699999 meters Centerline goodness : 0.887922 with order 1 Centerline is valid? [False, False] Translation: X:19.58, Y:0.03, Z:0.59 [[ 9.99737764e-01 1.89510902e-02 1.28553187e-02 1.95841679e+01] [-1.80254912e-02 9.97477887e-01 -6.86508980e-02 2.65886047e-02] [-1.41239055e-02 6.84011719e-02 9.97557916e-01 5.88962207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.321193817 meters Centerline goodness : 0.890683 with order 1 Centerline is valid? [False, False] Translation: X:19.63, Y:0.04, Z:0.59 [[ 9.99737101e-01 1.95581983e-02 1.19668578e-02 1.96313846e+01] [-1.86501169e-02 9.97245344e-01 -7.17906403e-02 4.07278473e-02] [-1.33379888e-02 7.15485834e-02 9.97347932e-01 5.88188932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.381193817 meters Centerline goodness : 0.890995 with order 1 Centerline is valid? [False, False] Translation: X:19.67, Y:0.05, Z:0.59 [[ 9.99645877e-01 2.31701479e-02 1.30868029e-02 1.96720178e+01] [-2.21157149e-02 9.96888283e-01 -7.56613887e-02 4.83634211e-02] [-1.47991660e-02 7.53451713e-02 9.97047687e-01 5.85587918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.441193817 meters Centerline goodness : 0.888152 with order 1 Centerline is valid? [False, False] Translation: X:19.71, Y:0.05, Z:0.58 [[ 9.99517066e-01 2.80929273e-02 1.32823673e-02 1.97129188e+01] [-2.69759327e-02 9.96597658e-01 -7.78807284e-02 5.42742966e-02] [-1.54250738e-02 7.74848130e-02 9.96874200e-01 5.83771351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.501193817 meters Centerline goodness : 0.891152 with order 1 Centerline is valid? [False, False] Translation: X:19.75, Y:0.06, Z:0.58 [[ 9.99406668e-01 3.13136118e-02 1.43446499e-02 1.97522103e+01] [-3.00827516e-02 9.96404579e-01 -7.92019093e-02 5.54955623e-02] [-1.67731727e-02 7.87233898e-02 9.96755381e-01 5.84193375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.56119381699999 meters Centerline goodness : 0.892862 with order 1 Centerline is valid? [False, False] Translation: X:19.80, Y:0.06, Z:0.59 [[ 9.99308727e-01 3.45607627e-02 1.36975469e-02 1.97983880e+01] [-3.34487243e-02 9.96663301e-01 -7.44543322e-02 5.70746711e-02] [-1.62250408e-02 7.39446984e-02 9.97130347e-01 5.85887882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.62119381699999 meters Centerline goodness : 0.895299 with order 1 Centerline is valid? [False, False] Translation: X:19.84, Y:0.06, Z:0.58 [[ 9.99186329e-01 3.70865531e-02 1.58513922e-02 1.98361172e+01] [-3.57889912e-02 9.96502430e-01 -7.55119500e-02 5.63871446e-02] [-1.85964288e-02 7.48832028e-02 9.97018896e-01 5.84968407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.681193817 meters Centerline goodness : 0.891875 with order 1 Centerline is valid? [False, False] Translation: X:19.83, Y:0.06, Z:0.58 [[ 9.99350539e-01 3.26412527e-02 1.52659391e-02 1.98279798e+01] [-3.15623169e-02 9.97303528e-01 -6.62532456e-02 5.54216398e-02] [-1.73873638e-02 6.57283883e-02 9.97686052e-01 5.83241799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.741193817 meters Centerline goodness : 0.892743 with order 1 Centerline is valid? [False, False] Translation: X:19.82, Y:0.06, Z:0.58 [[ 9.99352848e-01 3.10343171e-02 1.81866998e-02 1.98227924e+01] [-2.98415213e-02 9.97595878e-01 -6.25455713e-02 5.89797648e-02] [-2.00840359e-02 6.19623760e-02 9.97876393e-01 5.80569354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.801193817 meters Centerline goodness : 0.895622 with order 1 Centerline is valid? [False, False] Translation: X:19.85, Y:0.06, Z:0.58 [[ 0.99937717 0.02822554 0.02118009 19.84963819] [-0.02689844 0.99780434 -0.06052252 0.06127479] [-0.02284187 0.05991511 0.9979421 0.5812438 ] [ 0. 0. 0. 1. ]] SLAMing on 72.861193817 meters Centerline goodness : 0.896306 with order 1 Centerline is valid? [False, False] Translation: X:19.89, Y:0.06, Z:0.58 [[ 0.99924292 0.03150991 0.02281896 19.88658265] [-0.03004438 0.99762729 -0.06194458 0.06195277] [-0.02471668 0.0612121 0.9978187 0.58227984] [ 0. 0. 0. 1. ]] SLAMing on 72.92119381699999 meters Centerline goodness : 0.892848 with order 1 Centerline is valid? [False, False] Translation: X:19.93, Y:0.07, Z:0.58 [[ 0.99874741 0.0396843 0.03047557 19.926613 ] [-0.0370896 0.99598788 -0.08144016 0.07050197] [-0.03358519 0.08020782 0.9962122 0.57675188] [ 0. 0. 0. 1. ]] SLAMing on 72.98119381699999 meters Centerline goodness : 0.885913 with order 1 Centerline is valid? [False, False] Translation: X:19.93, Y:0.07, Z:0.58 [[ 0.99792003 0.05676533 0.03055016 19.92691881] [-0.05467883 0.99636829 -0.06527216 0.0691807 ] [-0.0341444 0.06346595 0.99739974 0.57887123] [ 0. 0. 0. 1. ]] SLAMing on 73.04119381699999 meters Centerline goodness : 0.884640 with order 1 Centerline is valid? [False, False] Translation: X:19.93, Y:0.06, Z:0.58 [[ 0.99754939 0.06313563 0.0301514 19.92742467] [-0.06130523 0.99642108 -0.05819544 0.06318707] [-0.0337177 0.05620439 0.99784978 0.57934701] [ 0. 0. 0. 1. ]] SLAMing on 73.101193817 meters Centerline goodness : 0.896469 with order 1 Centerline is valid? [False, False] Translation: X:19.93, Y:0.05, Z:0.58 [[ 0.99736356 0.0663141 0.029468 19.92825163] [-0.06476475 0.99660965 -0.05074187 0.04729931] [-0.03273299 0.0486996 0.99827697 0.57802297] [ 0. 0. 0. 1. ]] SLAMing on 73.161193817 meters Centerline goodness : 0.891297 with order 1 Centerline is valid? [False, False] Translation: X:19.92, Y:0.03, Z:0.58 [[ 0.99755108 0.06413345 0.02790608 19.92309973] [-0.06318271 0.99743239 -0.03371307 0.03272155] [-0.02999657 0.03186732 0.99904188 0.57841618] [ 0. 0. 0. 1. ]] SLAMing on 73.221193817 meters Centerline goodness : 0.888781 with order 1 Centerline is valid? [False, False] Translation: X:19.91, Y:0.01, Z:0.58 [[ 9.97686894e-01 6.47666386e-02 2.06432413e-02 1.99115606e+01] [-6.42742298e-02 9.97651142e-01 -2.36859198e-02 1.35634834e-02] [-2.21288107e-02 2.23043033e-02 9.99506295e-01 5.81853175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.28119381699999 meters Centerline goodness : 0.888329 with order 1 Centerline is valid? [False, False] Translation: X:19.91, Y:-0.00, Z:0.58 [[ 9.98114711e-01 5.88719388e-02 1.73527847e-02 1.99061871e+01] [-5.86947701e-02 9.98220242e-01 -1.05485951e-02 -6.08343427e-04] [-1.79429172e-02 9.51019019e-03 9.99793783e-01 5.83794018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.34119381699999 meters Centerline goodness : 0.881448 with order 1 Centerline is valid? [False, False] Translation: X:19.90, Y:-0.02, Z:0.59 [[ 9.98754692e-01 4.93139848e-02 7.56280349e-03 1.99017852e+01] [-4.92859829e-02 9.98777305e-01 -3.84542179e-03 -1.81623181e-02] [-7.74318956e-03 3.46789285e-03 9.99964008e-01 5.87674780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.40119381699999 meters Centerline goodness : 0.886367 with order 1 Centerline is valid? [False, False] Translation: X:19.93, Y:-0.02, Z:0.59 [[ 9.98870311e-01 4.72556155e-02 5.00094613e-03 1.99292346e+01] [-4.71582921e-02 9.98724184e-01 -1.80582181e-02 -2.14042962e-02] [-5.84791806e-03 1.78019819e-02 9.99824430e-01 5.87770524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.461193817 meters Centerline goodness : 0.886367 with order 1 Centerline is valid? [False, False] Translation: X:19.94, Y:-0.04, Z:0.59 [[ 9.99259212e-01 3.60701643e-02 1.34153119e-02 1.99358403e+01] [-3.57226635e-02 9.99041475e-01 -2.52986662e-02 -3.85729600e-02] [-1.43149800e-02 2.48006946e-02 9.99589919e-01 5.87676160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.521193817 meters Centerline goodness : 0.890570 with order 1 Centerline is valid? [False, False] Translation: X:19.96, Y:-0.05, Z:0.59 [[ 9.99480534e-01 2.98808247e-02 1.20746905e-02 1.99636869e+01] [-2.95769310e-02 9.99259554e-01 -2.46078942e-02 -4.83119586e-02] [-1.28010540e-02 2.42379790e-02 9.99624256e-01 5.88528129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.581193817 meters Centerline goodness : 0.890669 with order 1 Centerline is valid? [False, False] Translation: X:19.98, Y:-0.06, Z:0.59 [[ 9.99458241e-01 3.03667808e-02 1.26918233e-02 1.99841751e+01] [-3.00491000e-02 9.99247793e-01 -2.45132707e-02 -5.87746075e-02] [-1.34266656e-02 2.41186126e-02 9.99618936e-01 5.87128983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.64119381699999 meters Centerline goodness : 0.890606 with order 1 Centerline is valid? [False, False] Translation: X:20.01, Y:-0.07, Z:0.59 [[ 9.99339744e-01 3.45800026e-02 1.11489835e-02 2.00053649e+01] [-3.43096982e-02 9.99132870e-01 -2.35871099e-02 -6.92225083e-02] [-1.19549582e-02 2.31890181e-02 9.99659616e-01 5.85002454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.70119381699999 meters Centerline goodness : 0.887994 with order 1 Centerline is valid? [False, False] Translation: X:20.03, Y:-0.08, Z:0.58 [[ 9.99299424e-01 3.62698921e-02 9.22802061e-03 2.00285491e+01] [-3.60310841e-02 9.99041721e-01 -2.48475634e-02 -7.62324152e-02] [-1.01203960e-02 2.44976602e-02 9.99648659e-01 5.82526792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.76119381699999 meters Centerline goodness : 0.894382 with order 1 Centerline is valid? [False, False] Translation: X:20.05, Y:-0.09, Z:0.58 [[ 9.99284231e-01 3.66195226e-02 9.48872761e-03 2.00493926e+01] [-3.63811860e-02 9.99045452e-01 -2.41783814e-02 -8.65852286e-02] [-1.03650710e-02 2.38158641e-02 9.99662628e-01 5.81293685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.821193817 meters Centerline goodness : 0.893523 with order 1 Centerline is valid? [False, False] Translation: X:20.08, Y:-0.09, Z:0.58 [[ 9.99427439e-01 3.29339299e-02 7.75570184e-03 2.00768210e+01] [-3.27384184e-02 9.99173016e-01 -2.41139171e-02 -9.44231446e-02] [-8.54345405e-03 2.38462010e-02 9.99679133e-01 5.82215913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.881193817 meters Centerline goodness : 0.890228 with order 1 Centerline is valid? [False, False] Translation: X:20.10, Y:-0.10, Z:0.58 [[ 9.99439748e-01 3.33678392e-02 2.60317948e-03 2.01024290e+01] [-3.32876182e-02 9.99096943e-01 -2.64051524e-02 -1.01653217e-01] [-3.48191154e-03 2.63037052e-02 9.99647934e-01 5.77717984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.941193817 meters Centerline goodness : 0.892693 with order 1 Centerline is valid? [False, False] Translation: X:20.14, Y:-0.10, Z:0.57 [[ 9.99280462e-01 3.78576841e-02 2.31366642e-03 2.01419029e+01] [-3.77634756e-02 9.98765666e-01 -3.22655241e-02 -1.03564256e-01] [-3.53230860e-03 3.21549358e-02 9.99476655e-01 5.73448011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.001193817 meters Centerline goodness : 0.893649 with order 1 Centerline is valid? [False, False] Translation: X:20.16, Y:-0.11, Z:0.57 [[ 9.99057592e-01 4.30929036e-02 5.18928571e-03 2.01599750e+01] [-4.28948503e-02 9.98513924e-01 -3.36151104e-02 -1.07436108e-01] [-6.63014675e-03 3.33608376e-02 9.99421380e-01 5.70382159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.06119381699999 meters Centerline goodness : 0.894537 with order 1 Centerline is valid? [False, False] Translation: X:20.17, Y:-0.11, Z:0.57 [[ 9.98882730e-01 4.61531837e-02 1.01575399e-02 2.01748250e+01] [-4.57851601e-02 9.98376278e-01 -3.38899055e-02 -1.13446390e-01] [-1.17051739e-02 3.33869768e-02 9.99373953e-01 5.71456427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.12119381699999 meters Centerline goodness : 0.899890 with order 1 Centerline is valid? [False, False] Translation: X:20.19, Y:-0.13, Z:0.57 [[ 9.98749642e-01 4.73433128e-02 1.60549945e-02 2.01868674e+01] [-4.68007715e-02 9.98371029e-01 -3.26339652e-02 -1.27675521e-01] [-1.75738414e-02 3.18417749e-02 9.99338412e-01 5.71920565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.181193817 meters Centerline goodness : 0.905452 with order 1 Centerline is valid? [False, False] Translation: X:20.20, Y:-0.14, Z:0.57 [[ 9.98852251e-01 4.37780428e-02 1.94335853e-02 2.01972023e+01] [-4.32808520e-02 9.98742366e-01 -2.53072017e-02 -1.38216194e-01] [-2.05170448e-02 2.44370533e-02 9.99490811e-01 5.71109446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.241193817 meters Centerline goodness : 0.905448 with order 1 Centerline is valid? [False, False] Translation: X:20.21, Y:-0.16, Z:0.57 [[ 0.99884496 0.04120034 0.02472408 20.20717708] [-0.04066568 0.99893601 -0.02175187 -0.15757979] [-0.02559396 0.02072132 0.99945764 0.56969255] [ 0. 0. 0. 1. ]] SLAMing on 74.301193817 meters Centerline goodness : 0.908672 with order 1 Centerline is valid? [False, False] Translation: X:20.21, Y:-0.17, Z:0.57 [[ 9.99007577e-01 3.77594938e-02 2.36237429e-02 2.02101133e+01] [-3.72637277e-02 9.99082985e-01 -2.10856282e-02 -1.71565719e-01] [-2.43982622e-02 2.01843936e-02 9.99498532e-01 5.69025110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.361193817 meters Centerline goodness : 0.908466 with order 1 Centerline is valid? [False, False] Translation: X:20.21, Y:-0.18, Z:0.57 [[ 0.99917303 0.03358055 0.02292606 20.21247244] [-0.03304503 0.99918105 -0.02335067 -0.18056844] [-0.02369141 0.02257376 0.99946443 0.56745967] [ 0. 0. 0. 1. ]] SLAMing on 74.42119381699999 meters Centerline goodness : 0.912624 with order 1 Centerline is valid? [False, False] Translation: X:20.21, Y:-0.19, Z:0.57 [[ 0.99937524 0.0270212 0.02278136 20.21210569] [-0.02637001 0.9992483 -0.02841574 -0.18956936] [-0.02353207 0.02779724 0.99933656 0.56781646] [ 0. 0. 0. 1. ]] SLAMing on 74.48119381699999 meters Centerline goodness : 0.910009 with order 1 Centerline is valid? [False, False] Translation: X:20.23, Y:-0.20, Z:0.57 [[ 9.99722982e-01 1.75619148e-02 1.56696692e-02 2.02299383e+01] [-1.71630067e-02 9.99534113e-01 -2.52386136e-02 -2.00642227e-01] [-1.61056073e-02 2.49626834e-02 9.99558640e-01 5.67465468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.54119381699999 meters Centerline goodness : 0.909352 with order 1 Centerline is valid? [False, False] Translation: X:20.23, Y:-0.20, Z:0.56 [[ 9.99840032e-01 1.00552126e-02 1.47919652e-02 2.02349380e+01] [-9.58446383e-03 9.99455953e-01 -3.15584512e-02 -2.03903729e-01] [-1.51012446e-02 3.14116298e-02 9.99392446e-01 5.63136476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.601193817 meters Centerline goodness : 0.914851 with order 1 Centerline is valid? [False, False] Translation: X:20.26, Y:-0.21, Z:0.56 [[ 9.99807590e-01 -5.20725983e-03 1.89121148e-02 2.02619435e+01] [ 5.74476306e-03 9.99577886e-01 -2.84788845e-02 -2.05916833e-01] [-1.87558348e-02 2.85820505e-02 9.99415472e-01 5.62580648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.661193817 meters Centerline goodness : 0.912595 with order 1 Centerline is valid? [False, False] Translation: X:20.29, Y:-0.20, Z:0.56 [[ 9.99815216e-01 -8.88366695e-03 1.70474301e-02 2.02922014e+01] [ 9.42168973e-03 9.99451625e-01 -3.17439858e-02 -1.97974436e-01] [-1.67560787e-02 3.18987356e-02 9.99350641e-01 5.61505466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.721193817 meters Centerline goodness : 0.910738 with order 1 Centerline is valid? [False, False] Translation: X:20.32, Y:-0.19, Z:0.56 [[ 9.99838909e-01 -8.76776060e-03 1.56614886e-02 2.03233867e+01] [ 9.27812080e-03 9.99418306e-01 -3.28171700e-02 -1.88371382e-01] [-1.53646454e-02 3.29571927e-02 9.99338657e-01 5.58493783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.78119381699999 meters Centerline goodness : 0.909660 with order 1 Centerline is valid? [False, False] Translation: X:20.35, Y:-0.17, Z:0.55 [[ 9.99824224e-01 -7.81760772e-03 1.70412894e-02 2.03511104e+01] [ 8.42309715e-03 9.99325144e-01 -3.57534342e-02 -1.73846480e-01] [-1.67502826e-02 3.58906900e-02 9.99215335e-01 5.54835026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.84119381699999 meters Centerline goodness : 0.909260 with order 1 Centerline is valid? [False, False] Translation: X:20.38, Y:-0.17, Z:0.56 [[ 9.99799477e-01 -6.44949492e-03 1.89580846e-02 2.03761147e+01] [ 7.12827382e-03 9.99327899e-01 -3.59574423e-02 -1.65776051e-01] [-1.87134355e-02 3.60853704e-02 9.99173485e-01 5.55500958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.90119381699999 meters Centerline goodness : 0.907998 with order 1 Centerline is valid? [False, False] Translation: X:20.42, Y:-0.15, Z:0.55 [[ 9.99835872e-01 -2.76243462e-04 1.81150069e-02 2.04196537e+01] [ 1.01222160e-03 9.99173686e-01 -4.06315202e-02 -1.48361356e-01] [-1.80888140e-02 4.06431879e-02 9.99009973e-01 5.51513869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.961193817 meters Centerline goodness : 0.904499 with order 1 Centerline is valid? [False, False] Translation: X:20.47, Y:-0.14, Z:0.55 [[ 9.99851150e-01 5.51224826e-03 1.63490769e-02 2.04661056e+01] [-4.82846402e-03 9.99123820e-01 -4.15725752e-02 -1.40904839e-01] [-1.65639105e-02 4.14874462e-02 9.99001716e-01 5.49997335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.021193817 meters Centerline goodness : 0.906258 with order 1 Centerline is valid? [False, False] Translation: X:20.51, Y:-0.13, Z:0.55 [[ 9.99756598e-01 1.74474618e-02 1.35029892e-02 2.05101255e+01] [-1.67353829e-02 9.98550080e-01 -5.11631147e-02 -1.27223917e-01] [-1.43760774e-02 5.09246838e-02 9.98599021e-01 5.48209879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.081193817 meters Centerline goodness : 0.904118 with order 1 Centerline is valid? [False, False] Translation: X:20.54, Y:-0.12, Z:0.55 [[ 9.99664208e-01 2.12164770e-02 1.48772737e-02 2.05384564e+01] [-2.04894702e-02 9.98664632e-01 -4.74250330e-02 -1.19743443e-01] [-1.58635992e-02 4.71042806e-02 9.98764003e-01 5.46978733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.14119381699999 meters Centerline goodness : 0.902794 with order 1 Centerline is valid? [False, False] Translation: X:20.56, Y:-0.11, Z:0.55 [[ 9.99604750e-01 2.31730053e-02 1.59171289e-02 2.05641589e+01] [-2.24050324e-02 9.98651071e-01 -4.68407200e-02 -1.09204371e-01] [-1.69810981e-02 4.64655824e-02 9.98775546e-01 5.47173778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.20119381699999 meters Centerline goodness : 0.901295 with order 1 Centerline is valid? [False, False] Translation: X:20.59, Y:-0.10, Z:0.55 [[ 9.99580337e-01 2.46919042e-02 1.51479099e-02 2.05926948e+01] [-2.39474088e-02 9.98583961e-01 -4.75036207e-02 -9.82754314e-02] [-1.62994148e-02 4.71209320e-02 9.98756200e-01 5.45368991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.26119381699999 meters Centerline goodness : 0.898242 with order 1 Centerline is valid? [False, False] Translation: X:20.62, Y:-0.09, Z:0.54 [[ 9.99630806e-01 2.40237577e-02 1.26929698e-02 2.06223414e+01] [-2.33738935e-02 9.98521317e-01 -4.90799400e-02 -9.28188099e-02] [-1.38532855e-02 4.87651358e-02 9.98714197e-01 5.44029870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.321193817 meters Centerline goodness : 0.897169 with order 1 Centerline is valid? [False, False] Translation: X:20.63, Y:-0.09, Z:0.54 [[ 9.99599383e-01 2.57399705e-02 1.17697993e-02 2.06258385e+01] [-2.51592876e-02 9.98574441e-01 -4.70754242e-02 -9.08797831e-02] [-1.29647407e-02 4.67604452e-02 9.98821994e-01 5.42377709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.381193817 meters Centerline goodness : 0.892926 with order 1 Centerline is valid? [False, False] Translation: X:20.66, Y:-0.08, Z:0.54 [[ 9.99703540e-01 2.32992324e-02 7.06952982e-03 2.06594539e+01] [-2.29286000e-02 9.98554012e-01 -4.86226674e-02 -8.38315444e-02] [-8.19217820e-03 4.84461583e-02 9.98792200e-01 5.40232655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.441193817 meters Centerline goodness : 0.892969 with order 1 Centerline is valid? [False, False] Translation: X:20.68, Y:-0.08, Z:0.54 [[ 9.99813917e-01 1.83908177e-02 5.82320901e-03 2.06775168e+01] [-1.81416849e-02 9.99023752e-01 -4.02792901e-02 -8.45784280e-02] [-6.55829320e-03 4.01661520e-02 9.99171491e-01 5.41253090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.501193817 meters Centerline goodness : 0.894862 with order 1 Centerline is valid? [False, False] Translation: X:20.69, Y:-0.09, Z:0.55 [[ 9.99887986e-01 1.36099759e-02 6.22766515e-03 2.06893037e+01] [-1.34110573e-02 9.99431285e-01 -3.09394530e-02 -8.64583422e-02] [-6.64520859e-03 3.08524678e-02 9.99501859e-01 5.47096805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.56119381699999 meters Centerline goodness : 0.896870 with order 1 Centerline is valid? [False, False] Translation: X:20.72, Y:-0.09, Z:0.55 [[ 9.99917848e-01 1.13031467e-02 6.04451834e-03 2.07167920e+01] [-1.11255498e-02 9.99527608e-01 -2.86493111e-02 -8.98468687e-02] [-6.36549033e-03 2.85797089e-02 9.99571248e-01 5.48920901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.62119381699999 meters Centerline goodness : 0.898347 with order 1 Centerline is valid? [False, False] Translation: X:20.72, Y:-0.09, Z:0.55 [[ 9.99918726e-01 1.14252271e-02 5.65730864e-03 2.07176147e+01] [-1.12603672e-02 9.99534284e-01 -2.83622783e-02 -9.07429632e-02] [-5.97871941e-03 2.82962698e-02 9.99581701e-01 5.48880026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.681193817 meters Centerline goodness : 0.898070 with order 1 Centerline is valid? [False, False] Translation: X:20.74, Y:-0.09, Z:0.55 [[ 9.99833114e-01 1.57698842e-02 9.22250978e-03 2.07353560e+01] [-1.54940533e-02 9.99451985e-01 -2.92517398e-02 -8.59480612e-02] [-9.67875226e-03 2.91039641e-02 9.99529530e-01 5.47699995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.741193817 meters Centerline goodness : 0.897257 with order 1 Centerline is valid? [False, False] Translation: X:20.76, Y:-0.08, Z:0.55 [[ 9.99864164e-01 1.32580021e-02 9.79172789e-03 2.07614657e+01] [-1.29539841e-02 9.99451273e-01 -3.04851802e-02 -8.35930650e-02] [-1.01905275e-02 3.03541973e-02 9.99487256e-01 5.49537193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.801193817 meters Centerline goodness : 0.899475 with order 1 Centerline is valid? [False, False] Translation: X:20.77, Y:-0.08, Z:0.56 [[ 9.99956654e-01 6.39655182e-03 6.76559902e-03 2.07675712e+01] [-6.18133805e-03 9.99488841e-01 -3.13663353e-02 -8.26184673e-02] [-6.96277712e-03 3.13231553e-02 9.99485057e-01 5.55033583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.861193817 meters Centerline goodness : 0.899195 with order 1 Centerline is valid? [False, False] Translation: X:20.78, Y:-0.07, Z:0.56 [[ 9.99991556e-01 -3.10979718e-03 2.68642150e-03 2.07835341e+01] [ 3.18820132e-03 9.99554023e-01 -2.96915837e-02 -7.48980076e-02] [-2.59288862e-03 2.96998978e-02 9.99555498e-01 5.58773926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.92119381699999 meters Centerline goodness : 0.893751 with order 1 Centerline is valid? [False, False] Translation: X:20.82, Y:-0.07, Z:0.56 [[ 9.99960614e-01 -8.75332829e-03 -1.46624262e-03 2.08173251e+01] [ 8.70292839e-03 9.99468021e-01 -3.14314186e-02 -7.05101236e-02] [ 1.74059214e-03 3.14174201e-02 9.99504835e-01 5.57648738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.98119381699999 meters Centerline goodness : 0.897566 with order 1 Centerline is valid? [False, False] Translation: X:20.85, Y:-0.06, Z:0.56 [[ 9.99840366e-01 -1.71381984e-02 -5.05214323e-03 2.08513218e+01] [ 1.69454363e-02 9.99207995e-01 -3.60032552e-02 -6.02213260e-02] [ 5.66517284e-03 3.59118971e-02 9.99338902e-01 5.57071504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.04119381699999 meters Centerline goodness : 0.896824 with order 1 Centerline is valid? [False, False] Translation: X:20.88, Y:-0.05, Z:0.56 [[ 9.99806033e-01 -1.91365098e-02 -4.65723652e-03 2.08818375e+01] [ 1.89532336e-02 9.99148630e-01 -3.66441003e-02 -4.87050553e-02] [ 5.35451167e-03 3.65487229e-02 9.99317527e-01 5.55026660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.101193817 meters Centerline goodness : 0.894830 with order 1 Centerline is valid? [False, False] Translation: X:20.92, Y:-0.03, Z:0.55 [[ 9.99930176e-01 -1.18170762e-02 1.52513973e-05 2.09151330e+01] [ 1.18065478e-02 9.98983129e-01 -4.35122242e-02 -2.67717623e-02] [ 4.98951380e-04 4.35093660e-02 9.99052895e-01 5.53309268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.161193817 meters Centerline goodness : 0.897280 with order 1 Centerline is valid? [False, False] Translation: X:20.95, Y:-0.02, Z:0.55 [[ 9.99989881e-01 -4.09113512e-03 1.87077637e-03 2.09536057e+01] [ 4.16826596e-03 9.99054529e-01 -4.32743953e-02 -1.56755162e-02] [-1.69196620e-03 4.32817553e-02 9.99061473e-01 5.52232687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.221193817 meters Centerline goodness : 0.891735 with order 1 Centerline is valid? [False, False] Translation: X:20.98, Y:0.00, Z:0.55 [[ 9.99996186e-01 5.51701730e-04 2.70611154e-03 2.09813048e+01] [-4.40476085e-04 9.99161862e-01 -4.09313961e-02 2.85018547e-03] [-2.72642537e-03 4.09300480e-02 9.99158295e-01 5.48937585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.28119381699999 meters Centerline goodness : 0.889841 with order 1 Centerline is valid? [False, False] Translation: X:21.02, Y:0.01, Z:0.55 [[ 9.99979297e-01 5.90894050e-03 2.54760934e-03 2.10228201e+01] [-5.79046629e-03 9.99004096e-01 -4.42412246e-02 1.33853005e-02] [-2.80649093e-03 4.42255568e-02 9.99017629e-01 5.45258458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.34119381699999 meters Centerline goodness : 0.883411 with order 1 Centerline is valid? [False, False] Translation: X:21.08, Y:0.03, Z:0.54 [[ 9.99791251e-01 2.04199764e-02 6.91812599e-04 2.10836392e+01] [-2.03314094e-02 9.97664239e-01 -6.52127355e-02 3.34758223e-02] [-2.02183921e-03 6.51850569e-02 9.97871144e-01 5.41263017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.40119381699999 meters Centerline goodness : 0.881359 with order 1 Centerline is valid? [False, False] Translation: X:21.13, Y:0.06, Z:0.54 [[ 9.99554799e-01 2.92867853e-02 5.69978004e-03 2.11325814e+01] [-2.84525357e-02 9.93145581e-01 -1.13368022e-01 5.53328665e-02] [-8.98089628e-03 1.13155377e-01 9.93536715e-01 5.36465347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.461193817 meters Centerline goodness : 0.876649 with order 1 Centerline is valid? [False, False] Translation: X:21.13, Y:0.06, Z:0.54 [[ 9.99452578e-01 3.30800130e-02 5.06263401e-04 2.11334503e+01] [-3.28765557e-02 9.94783366e-01 -9.65670075e-02 6.24009512e-02] [-3.69806028e-03 9.64975005e-02 9.95326357e-01 5.36813813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.521193817 meters Centerline goodness : 0.876632 with order 1 Centerline is valid? [False, False] Translation: X:21.13, Y:0.06, Z:0.54 [[ 9.99416159e-01 3.41324613e-02 1.52159834e-03 2.11328736e+01] [-3.38750825e-02 9.95715588e-01 -8.60403819e-02 5.74152373e-02] [-4.45184920e-03 8.59386038e-02 9.96290488e-01 5.43584282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.581193817 meters Centerline goodness : 0.880683 with order 1 Centerline is valid? [False, False] Translation: X:21.13, Y:0.05, Z:0.55 [[ 9.99435792e-01 3.31950478e-02 5.11735128e-03 2.11345914e+01] [-3.27244727e-02 9.96706341e-01 -7.41995879e-02 5.32437312e-02] [-7.56355534e-03 7.39902612e-02 9.97230281e-01 5.47527845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.64119381699999 meters Centerline goodness : 0.886080 with order 1 Centerline is valid? [False, False] Translation: X:21.14, Y:0.05, Z:0.56 [[ 9.99445967e-01 3.30310752e-02 4.08744834e-03 2.11366831e+01] [-3.26911728e-02 9.97299456e-01 -6.57653595e-02 5.17086708e-02] [-6.24871054e-03 6.55952998e-02 9.97826744e-01 5.55389367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.70119381699999 meters Centerline goodness : 0.887616 with order 1 Centerline is valid? [False, False] Translation: X:21.13, Y:0.05, Z:0.56 [[ 9.99358489e-01 3.53713404e-02 5.61064952e-03 2.11320064e+01] [-3.49613820e-02 9.97504771e-01 -6.13346092e-02 4.60658847e-02] [-7.76613700e-03 6.10991063e-02 9.98101491e-01 5.57640480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.76119381699999 meters Centerline goodness : 0.894423 with order 1 Centerline is valid? [False, False] Translation: X:21.11, Y:0.04, Z:0.56 [[ 9.99455692e-01 2.94282918e-02 1.49095499e-02 2.11137395e+01] [-2.86129169e-02 9.98225118e-01 -5.22294398e-02 3.95037696e-02] [-1.64201104e-02 5.17744052e-02 9.98523806e-01 5.58691629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.821193817 meters Centerline goodness : 0.895367 with order 1 Centerline is valid? [False, False] Translation: X:21.14, Y:0.03, Z:0.56 [[ 9.99702717e-01 1.76062378e-02 1.68670746e-02 2.11437171e+01] [-1.68845131e-02 9.98974264e-01 -4.20158686e-02 3.36412725e-02] [-1.75895148e-02 4.17185857e-02 9.98974559e-01 5.57702523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.881193817 meters Centerline goodness : 0.896450 with order 1 Centerline is valid? [False, False] Translation: X:21.18, Y:0.03, Z:0.56 [[ 9.99850461e-01 2.79760308e-03 1.70654152e-02 2.11750643e+01] [-2.23248184e-03 9.99451384e-01 -3.30446268e-02 3.03792870e-02] [-1.71484986e-02 3.30015871e-02 9.99308173e-01 5.56494563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.941193817 meters Centerline goodness : 0.902185 with order 1 Centerline is valid? [False, False] Translation: X:21.22, Y:0.03, Z:0.55 [[ 9.99851716e-01 1.02851920e-03 1.71897927e-02 2.12160407e+01] [-3.92993623e-04 9.99317642e-01 -3.69336646e-02 3.06601197e-02] [-1.72160501e-02 3.69214324e-02 9.99169863e-01 5.53971951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.001193817 meters Centerline goodness : 0.891402 with order 1 Centerline is valid? [False, False] Translation: X:21.26, Y:0.04, Z:0.55 [[ 9.99892306e-01 1.24739491e-03 1.46226169e-02 2.12611996e+01] [-6.33242285e-04 9.99120358e-01 -4.19298107e-02 3.67423270e-02] [-1.46620572e-02 4.19160354e-02 9.99013548e-01 5.47939809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.06119381699999 meters Centerline goodness : 0.888543 with order 1 Centerline is valid? [False, False] Translation: X:21.30, Y:0.04, Z:0.54 [[ 9.99888123e-01 3.35838220e-03 1.45760882e-02 2.13026543e+01] [-2.69936857e-03 9.98983409e-01 -4.49984606e-02 4.29182847e-02] [-1.47123923e-02 4.49540800e-02 9.98880712e-01 5.43690208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.12119381699999 meters Centerline goodness : 0.887913 with order 1 Centerline is valid? [False, False] Translation: X:21.36, Y:0.06, Z:0.54 [[ 9.99869456e-01 1.08084868e-02 1.20103364e-02 2.13570870e+01] [-1.00104014e-02 9.97858963e-01 -6.46319011e-02 5.94682175e-02] [-1.26831949e-02 6.45032355e-02 9.97836895e-01 5.42638382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.181193817 meters Centerline goodness : 0.887918 with order 1 Centerline is valid? [False, False] Translation: X:21.41, Y:0.07, Z:0.54 [[ 9.99733027e-01 1.96706097e-02 1.21219714e-02 2.14055399e+01] [-1.87099101e-02 9.97020744e-01 -7.48303125e-02 6.93145177e-02] [-1.35578148e-02 7.45835338e-02 9.97122601e-01 5.40774838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.241193817 meters Centerline goodness : 0.888574 with order 1 Centerline is valid? [False, False] Translation: X:21.44, Y:0.07, Z:0.54 [[ 9.99615205e-01 2.41532890e-02 1.36404310e-02 2.14433246e+01] [-2.30964014e-02 9.97068645e-01 -7.29429408e-02 7.11671607e-02] [-1.53622580e-02 7.25998278e-02 9.97242832e-01 5.40767926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.301193817 meters Centerline goodness : 0.893219 with order 1 Centerline is valid? [False, False] Translation: X:21.44, Y:0.08, Z:0.55 [[ 9.99363495e-01 3.04020521e-02 1.86633269e-02 2.14449796e+01] [-2.93025679e-02 9.97966892e-01 -5.65989537e-02 7.78791223e-02] [-2.03461067e-02 5.60160448e-02 9.98222540e-01 5.47007569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.361193817 meters Centerline goodness : 0.895742 with order 1 Centerline is valid? [False, False] Translation: X:21.45, Y:0.08, Z:0.55 [[ 9.99330671e-01 3.20425493e-02 1.76489272e-02 2.14513514e+01] [-3.12209909e-02 9.98498626e-01 -4.50082671e-02 7.79589567e-02] [-1.90646091e-02 4.44271248e-02 9.98830702e-01 5.51830745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.42119381699999 meters Centerline goodness : 0.884001 with order 1 Centerline is valid? [False, False] Translation: X:21.45, Y:0.08, Z:0.55 [[ 9.99175145e-01 3.63415944e-02 1.81195339e-02 2.14498375e+01] [-3.55730970e-02 9.98522840e-01 -4.10693600e-02 7.71136438e-02] [-1.95852945e-02 4.03909158e-02 9.98991987e-01 5.53832276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.48119381699999 meters Centerline goodness : 0.884369 with order 1 Centerline is valid? [False, False] Translation: X:21.45, Y:0.08, Z:0.55 [[ 9.98801518e-01 4.53834889e-02 1.83266378e-02 2.14515659e+01] [-4.47924585e-02 9.98500637e-01 -3.14660580e-02 7.55057259e-02] [-1.97271991e-02 3.06074513e-02 9.99336791e-01 5.51652369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.54119381699999 meters Centerline goodness : 0.890547 with order 1 Centerline is valid? [False, False] Translation: X:21.45, Y:0.07, Z:0.55 [[ 9.98622696e-01 4.92815822e-02 1.80009957e-02 2.14528882e+01] [-4.87985731e-02 9.98460937e-01 -2.63525494e-02 7.23594664e-02] [-1.92719864e-02 2.54378310e-02 9.99490624e-01 5.50847161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.601193817 meters Centerline goodness : 0.880029 with order 1 Centerline is valid? [False, False] Translation: X:21.45, Y:0.06, Z:0.55 [[ 9.98530270e-01 5.12114081e-02 1.77395425e-02 2.14541006e+01] [-5.08063757e-02 9.98453312e-01 -2.25764535e-02 6.14243625e-02] [-1.88682769e-02 2.16419904e-02 9.99587721e-01 5.49031752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.661193817 meters Centerline goodness : 0.879654 with order 1 Centerline is valid? [False, False] Translation: X:21.46, Y:0.05, Z:0.55 [[ 9.98423729e-01 5.33527591e-02 1.74224236e-02 2.14557049e+01] [-5.30172689e-02 9.98409348e-01 -1.91818436e-02 5.48090180e-02] [-1.84181148e-02 1.82279185e-02 9.99664202e-01 5.47255543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.721193817 meters Centerline goodness : 0.878603 with order 1 Centerline is valid? [False, False] Translation: X:21.45, Y:0.04, Z:0.55 [[ 9.98540873e-01 5.06627161e-02 1.86926135e-02 2.14516943e+01] [-5.03264981e-02 9.98569895e-01 -1.80390875e-02 4.36195467e-02] [-1.95797903e-02 1.70720324e-02 9.99662532e-01 5.48933322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.78119381699999 meters Centerline goodness : 0.877147 with order 1 Centerline is valid? [False, False] Translation: X:21.45, Y:0.03, Z:0.55 [[ 9.98875353e-01 4.24711654e-02 2.10767708e-02 2.14477925e+01] [-4.21475009e-02 9.98990066e-01 -1.55703409e-02 2.52620340e-02] [-2.17167752e-02 1.46644966e-02 9.99656608e-01 5.47843523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.84119381699999 meters Centerline goodness : 0.883646 with order 1 Centerline is valid? [False, False] Translation: X:21.45, Y:0.02, Z:0.55 [[ 9.99026437e-01 3.85742970e-02 2.14056329e-02 2.14468764e+01] [-3.82328159e-02 9.99138516e-01 -1.61393025e-02 1.66534366e-02] [-2.20097545e-02 1.53051923e-02 9.99640596e-01 5.46704753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.90119381699999 meters Centerline goodness : 0.876862 with order 1 Centerline is valid? [False, False] Translation: X:21.45, Y:0.01, Z:0.55 [[ 9.99162313e-01 3.45556991e-02 2.19220339e-02 2.14453671e+01] [-3.41940921e-02 9.99276325e-01 -1.66610394e-02 8.53771921e-03] [-2.24819033e-02 1.58974786e-02 9.99620845e-01 5.46012890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.961193817 meters Centerline goodness : 0.879965 with order 1 Centerline is valid? [False, False] Translation: X:21.44, Y:0.00, Z:0.55 [[ 9.99243994e-01 3.22174777e-02 2.17594775e-02 2.14438750e+01] [-3.18145095e-02 9.99320367e-01 -1.86182825e-02 4.55561570e-03] [-2.23445231e-02 1.79119399e-02 9.99589858e-01 5.48075283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.021193817 meters Centerline goodness : 0.880614 with order 1 Centerline is valid? [False, False] Translation: X:21.44, Y:0.00, Z:0.55 [[ 9.99229185e-01 3.29406804e-02 2.13529312e-02 2.14426439e+01] [-3.25586861e-02 9.99307780e-01 -1.79970051e-02 1.43862238e-03] [-2.19309839e-02 1.72879094e-02 9.99610004e-01 5.51055975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.081193817 meters Centerline goodness : 0.877282 with order 1 Centerline is valid? [False, False] Translation: X:21.44, Y:0.00, Z:0.55 [[ 9.99220227e-01 3.31077690e-02 2.15130902e-02 2.14414829e+01] [-3.27213410e-02 9.99301098e-01 -1.80729077e-02 1.76641702e-03] [-2.20964083e-02 1.73548778e-02 9.99605201e-01 5.52605595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.14119381699999 meters Centerline goodness : 0.882641 with order 1 Centerline is valid? [False, False] Translation: X:21.44, Y:-0.00, Z:0.55 [[ 9.99214903e-01 3.32508916e-02 2.15396448e-02 2.14416888e+01] [-3.28948078e-02 9.99319619e-01 -1.66802281e-02 -1.10869086e-03] [-2.20796221e-02 1.59585900e-02 9.99628838e-01 5.51684087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.20119381699999 meters Centerline goodness : 0.879401 with order 1 Centerline is valid? [False, False] Translation: X:21.44, Y:-0.00, Z:0.55 [[ 9.99233256e-01 3.24761611e-02 2.18677826e-02 2.14414118e+01] [-3.21457380e-02 9.99366144e-01 -1.52958082e-02 -4.89902732e-03] [-2.23506707e-02 1.45811242e-02 9.99643856e-01 5.50374259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.26119381699999 meters Centerline goodness : 0.880768 with order 1 Centerline is valid? [False, False] Translation: X:21.44, Y:-0.01, Z:0.55 [[ 9.99519542e-01 2.66200739e-02 1.58762842e-02 2.14389585e+01] [-2.65010520e-02 9.99619431e-01 -7.66071596e-03 -8.42888998e-03] [-1.60741711e-02 7.23629707e-03 9.99844616e-01 5.46261673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.321193817 meters Centerline goodness : 0.876746 with order 1 Centerline is valid? [False, False] Translation: X:21.46, Y:-0.01, Z:0.54 [[ 9.99624475e-01 2.39607344e-02 1.32962953e-02 2.14630703e+01] [-2.37888393e-02 9.99633269e-01 -1.29390429e-02 -8.33549562e-03] [-1.36014481e-02 1.26178805e-02 9.99827880e-01 5.42517245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.381193817 meters Centerline goodness : 0.875052 with order 1 Centerline is valid? [False, False] Translation: X:21.49, Y:-0.01, Z:0.54 [[ 9.99552271e-01 2.80940192e-02 1.02948653e-02 2.14921594e+01] [-2.78498760e-02 9.99344318e-01 -2.31369413e-02 -5.77363070e-03] [-1.09381248e-02 2.28398714e-02 9.99679297e-01 5.42535803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.441193817 meters Centerline goodness : 0.875515 with order 1 Centerline is valid? [False, False] Translation: X:21.49, Y:-0.00, Z:0.54 [[ 9.99437579e-01 3.19221523e-02 1.02714580e-02 2.14923972e+01] [-3.17091980e-02 9.99291629e-01 -2.02673766e-02 -3.23521280e-03] [-1.09111603e-02 1.99302781e-02 9.99741832e-01 5.43101956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.501193817 meters Centerline goodness : 0.875281 with order 1 Centerline is valid? [False, False] Translation: X:21.49, Y:-0.00, Z:0.55 [[ 9.99469193e-01 3.07975429e-02 1.06227663e-02 2.14903948e+01] [-3.05540964e-02 9.99282868e-01 -2.23650726e-02 -9.67226859e-05] [-1.13039377e-02 2.20286321e-02 9.99693433e-01 5.45718914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.56119381699999 meters Centerline goodness : 0.869558 with order 1 Centerline is valid? [False, False] Translation: X:21.51, Y:0.00, Z:0.54 [[ 9.99530738e-01 2.71583158e-02 1.41678752e-02 2.15075906e+01] [-2.67131058e-02 9.99171014e-01 -3.07196102e-02 3.83416461e-03] [-1.49904231e-02 3.03267267e-02 9.99427625e-01 5.44816894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.62119381699999 meters Centerline goodness : 0.867955 with order 1 Centerline is valid? [False, False] Translation: X:21.51, Y:0.01, Z:0.54 [[ 9.99575894e-01 2.48731297e-02 1.51446105e-02 2.15065446e+01] [-2.43825152e-02 9.99198044e-01 -3.17610057e-02 5.58055660e-03] [-1.59224608e-02 3.13782719e-02 9.99380748e-01 5.43306408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.681193817 meters Centerline goodness : 0.868806 with order 1 Centerline is valid? [False, False] Translation: X:21.53, Y:0.01, Z:0.54 [[ 9.99677821e-01 1.76787112e-02 1.82130923e-02 2.15345032e+01] [-1.70455546e-02 9.99264446e-01 -3.43513696e-02 9.65344136e-03] [-1.88069836e-02 3.40298501e-02 9.99243847e-01 5.42173297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.741193817 meters Centerline goodness : 0.867705 with order 1 Centerline is valid? [False, False] Translation: X:21.57, Y:0.02, Z:0.54 [[ 9.99679842e-01 1.70943409e-02 1.86546794e-02 2.15732806e+01] [-1.62679935e-02 9.98917303e-01 -4.35841152e-02 1.87103674e-02] [-1.93795237e-02 4.32666871e-02 9.98875582e-01 5.40716976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.801193817 meters Centerline goodness : 0.870321 with order 1 Centerline is valid? [False, False] Translation: X:21.62, Y:0.03, Z:0.54 [[ 9.99666392e-01 1.99167484e-02 1.64447088e-02 2.16156905e+01] [-1.90923751e-02 9.98623616e-01 -4.88503376e-02 2.74860624e-02] [-1.73950145e-02 4.85200721e-02 9.98670725e-01 5.35655672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.861193817 meters Centerline goodness : 0.863814 with order 1 Centerline is valid? [False, False] Translation: X:21.67, Y:0.05, Z:0.53 [[ 9.99422920e-01 3.00969006e-02 1.57481603e-02 2.16742966e+01] [-2.86709436e-02 9.96049184e-01 -8.40476044e-02 4.85315555e-02] [-1.82155146e-02 8.35475876e-02 9.96337290e-01 5.32082490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.92119381699999 meters Centerline goodness : 0.862662 with order 1 Centerline is valid? [False, False] Translation: X:21.68, Y:0.05, Z:0.53 [[ 9.99249811e-01 3.29025962e-02 2.04263255e-02 2.16779678e+01] [-3.14580582e-02 9.97229196e-01 -6.74115778e-02 4.63741587e-02] [-2.25877440e-02 6.67184339e-02 9.97516137e-01 5.32515944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.98119381699999 meters Centerline goodness : 0.855588 with order 1 Centerline is valid? [False, False] Translation: X:21.68, Y:0.05, Z:0.54 [[ 9.99101378e-01 3.67303338e-02 2.11499212e-02 2.16750616e+01] [-3.52687615e-02 9.97211865e-01 -6.57617775e-02 5.33742541e-02] [-2.35064044e-02 6.49567510e-02 9.97611182e-01 5.36797987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.04119381699999 meters Centerline goodness : 0.859702 with order 1 Centerline is valid? [False, False] Translation: X:21.68, Y:0.05, Z:0.54 [[ 9.99055449e-01 3.99531496e-02 1.70866911e-02 2.16835065e+01] [-3.89104645e-02 9.97585333e-01 -5.75280750e-02 5.34362776e-02] [-1.93438602e-02 5.68088857e-02 9.98197659e-01 5.38462157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.101193817 meters Centerline goodness : 0.853924 with order 1 Centerline is valid? [False, False] Translation: X:21.67, Y:0.05, Z:0.54 [[ 0.99904193 0.03786824 0.02193654 21.67216461] [-0.0367117 0.99802771 -0.05092084 0.05064721] [-0.02382156 0.05006672 0.99846175 0.53694613] [ 0. 0. 0. 1. ]] SLAMing on 79.161193817 meters Centerline goodness : 0.854281 with order 1 Centerline is valid? [False, False] Translation: X:21.68, Y:0.05, Z:0.54 [[ 9.99099659e-01 3.83034121e-02 1.82406211e-02 2.16782383e+01] [-3.74607190e-02 9.98307108e-01 -4.44928363e-02 4.86237074e-02] [-1.99139692e-02 4.37694708e-02 9.98843164e-01 5.41396875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.221193817 meters Centerline goodness : 0.853342 with order 1 Centerline is valid? [False, False] Translation: X:21.68, Y:0.05, Z:0.54 [[ 0.99911925 0.03494059 0.02323535 21.67605862] [-0.03417836 0.99888945 -0.03243017 0.04924297] [-0.02434268 0.03160746 0.99920388 0.54473518] [ 0. 0. 0. 1. ]] SLAMing on 79.28119381699999 meters Centerline goodness : 0.853927 with order 1 Centerline is valid? [False, False] Translation: X:21.68, Y:0.05, Z:0.55 [[ 0.99915517 0.0307014 0.02731981 21.68019404] [-0.03004956 0.99926123 -0.02395857 0.04578828] [-0.02803519 0.02311738 0.99933959 0.54665212] [ 0. 0. 0. 1. ]] SLAMing on 79.34119381699999 meters Centerline goodness : 0.852409 with order 1 Centerline is valid? [False, False] Translation: X:21.67, Y:0.05, Z:0.54 [[ 0.99926161 0.02299049 0.03078439 21.67376669] [-0.02224368 0.99945512 -0.02438594 0.04523266] [-0.03132826 0.02368318 0.99922853 0.54206373] [ 0. 0. 0. 1. ]] SLAMing on 79.40119381699999 meters Centerline goodness : 0.854221 with order 1 Centerline is valid? [False, False] Translation: X:21.67, Y:0.04, Z:0.54 [[ 9.99492208e-01 1.80533679e-02 2.62564570e-02 2.16730383e+01] [-1.77082124e-02 9.99754479e-01 -1.33192008e-02 4.46465054e-02] [-2.64904669e-02 1.28474825e-02 9.99566505e-01 5.41894364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.461193817 meters Centerline goodness : 0.854037 with order 1 Centerline is valid? [False, False] Translation: X:21.70, Y:0.05, Z:0.54 [[ 9.99626439e-01 1.69257583e-02 2.14592776e-02 2.17005728e+01] [-1.66083557e-02 9.99751285e-01 -1.48838730e-02 4.66860897e-02] [-2.17058612e-02 1.45219096e-02 9.99658927e-01 5.37398963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.521193817 meters Centerline goodness : 0.854467 with order 1 Centerline is valid? [False, False] Translation: X:21.73, Y:0.05, Z:0.54 [[ 9.99633420e-01 2.04441096e-02 1.77500484e-02 2.17331268e+01] [-2.00274555e-02 9.99526911e-01 -2.33421244e-02 4.73431666e-02] [-1.82188600e-02 2.29780793e-02 9.99569948e-01 5.35261634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.581193817 meters Centerline goodness : 0.858113 with order 1 Centerline is valid? [False, False] Translation: X:21.78, Y:0.06, Z:0.53 [[ 9.99204458e-01 3.59963211e-02 1.71672959e-02 2.17849028e+01] [-3.51436044e-02 9.98246918e-01 -4.76237171e-02 6.03296599e-02] [-1.88514788e-02 4.69825098e-02 9.98717811e-01 5.33032486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.64119381699999 meters Centerline goodness : 0.860165 with order 1 Centerline is valid? [False, False] Translation: X:21.78, Y:0.06, Z:0.54 [[ 9.98867368e-01 4.41311745e-02 1.77882298e-02 2.17828668e+01] [-4.33944514e-02 9.98262219e-01 -3.98680854e-02 6.08307637e-02] [-1.95167432e-02 3.90510190e-02 9.99046603e-01 5.35598798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.70119381699999 meters Centerline goodness : 0.862744 with order 1 Centerline is valid? [False, False] Translation: X:21.78, Y:0.06, Z:0.54 [[ 9.98793883e-01 4.48179994e-02 2.00530818e-02 2.17826322e+01] [-4.42376263e-02 9.98614274e-01 -2.85055148e-02 5.56187045e-02] [-2.13028539e-02 2.75840331e-02 9.99392470e-01 5.43368750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.76119381699999 meters Centerline goodness : 0.868040 with order 1 Centerline is valid? [False, False] Translation: X:21.78, Y:0.06, Z:0.54 [[ 9.98685088e-01 4.71658644e-02 2.00867278e-02 2.17828333e+01] [-4.66497736e-02 9.98587551e-01 -2.54303107e-02 5.62065875e-02] [-2.12577989e-02 2.44598308e-02 9.99474773e-01 5.43420119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.821193817 meters Centerline goodness : 0.864606 with order 1 Centerline is valid? [False, False] Translation: X:21.78, Y:0.05, Z:0.54 [[ 9.98639897e-01 4.81800773e-02 1.99257589e-02 2.17831378e+01] [-4.76926118e-02 9.98567510e-01 -2.42557834e-02 5.36804062e-02] [-2.10658609e-02 2.32724815e-02 9.99507189e-01 5.43380576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.881193817 meters Centerline goodness : 0.873160 with order 1 Centerline is valid? [False, False] Translation: X:21.79, Y:0.05, Z:0.54 [[ 9.98388296e-01 5.34321652e-02 1.91262845e-02 2.17874222e+01] [-5.30809892e-02 9.98420295e-01 -1.84207170e-02 4.94888993e-02] [-2.00803294e-02 1.73757861e-02 9.99647369e-01 5.39963455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.941193817 meters Centerline goodness : 0.874326 with order 1 Centerline is valid? [False, False] Translation: X:21.79, Y:0.05, Z:0.54 [[ 9.98196074e-01 5.69526583e-02 1.89997981e-02 2.17882749e+01] [-5.66972555e-02 9.98297127e-01 -1.37210540e-02 4.58376302e-02] [-1.97488943e-02 1.26190658e-02 9.99725332e-01 5.39340619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.001193817 meters Centerline goodness : 0.877818 with order 1 Centerline is valid? [False, False] Translation: X:21.79, Y:0.04, Z:0.54 [[ 9.98288696e-01 5.54519804e-02 1.85676378e-02 2.17873442e+01] [-5.51998252e-02 9.98379563e-01 -1.38284932e-02 3.62178855e-02] [-1.93043675e-02 1.27798981e-02 9.99731972e-01 5.40592213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.06119381699999 meters Centerline goodness : 0.877881 with order 1 Centerline is valid? [False, False] Translation: X:21.78, Y:0.03, Z:0.54 [[ 9.98450209e-01 5.29755246e-02 1.70520902e-02 2.17787627e+01] [-5.29325291e-02 9.98593694e-01 -2.96327672e-03 2.75671878e-02] [-1.71850909e-02 2.05607400e-03 9.99850211e-01 5.40332151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.12119381699999 meters Centerline goodness : 0.878075 with order 1 Centerline is valid? [False, False] Translation: X:21.77, Y:0.01, Z:0.54 [[ 9.98589989e-01 5.22048454e-02 9.62749981e-03 2.17691262e+01] [-5.22603593e-02 9.98617750e-01 5.60750830e-03 9.45882714e-03] [-9.32145310e-03 -6.10273825e-03 9.99937932e-01 5.41566983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.181193817 meters Centerline goodness : 0.876373 with order 1 Centerline is valid? [False, False] Translation: X:21.76, Y:-0.01, Z:0.54 [[ 9.98916529e-01 4.65281733e-02 9.47385427e-04 2.17604645e+01] [-4.65346947e-02 9.98878333e-01 8.75199000e-03 -5.11886360e-03] [-5.39108669e-04 -8.78659376e-03 9.99961252e-01 5.44942850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.241193817 meters Centerline goodness : 0.882281 with order 1 Centerline is valid? [False, False] Translation: X:21.76, Y:-0.02, Z:0.55 [[ 9.99242759e-01 3.87776101e-02 3.19455281e-03 2.17558315e+01] [-3.88088166e-02 9.99192878e-01 1.03667348e-02 -2.21072847e-02] [-2.78997721e-03 -1.04828615e-02 9.99941161e-01 5.47054506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.301193817 meters Centerline goodness : 0.880309 with order 1 Centerline is valid? [False, False] Translation: X:21.75, Y:-0.03, Z:0.55 [[ 9.99560175e-01 2.91077660e-02 -5.67401522e-03 2.17487244e+01] [-2.90421169e-02 9.99513996e-01 1.13281439e-02 -3.36630146e-02] [ 6.00099459e-03 -1.11583761e-02 9.99919736e-01 5.49178407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.361193817 meters Centerline goodness : 0.885031 with order 1 Centerline is valid? [False, False] Translation: X:21.76, Y:-0.03, Z:0.55 [[ 9.99750617e-01 2.23310912e-02 1.64317098e-04 2.17588789e+01] [-2.23298080e-02 9.99734715e-01 -5.64614628e-03 -3.48180218e-02] [-2.90358114e-04 5.64106906e-03 9.99984047e-01 5.45737891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.42119381699999 meters Centerline goodness : 0.885407 with order 1 Centerline is valid? [False, False] Translation: X:21.77, Y:-0.04, Z:0.54 [[ 9.99923670e-01 9.94174833e-03 7.33588484e-03 2.17694097e+01] [-9.86902703e-03 9.99902454e-01 -9.88358207e-03 -4.00446455e-02] [-7.43342934e-03 9.81042961e-03 9.99924247e-01 5.42333266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.48119381699999 meters Centerline goodness : 0.889047 with order 1 Centerline is valid? [False, False] Translation: X:21.79, Y:-0.04, Z:0.54 [[ 9.99978936e-01 3.92896569e-03 5.16627930e-03 2.17944173e+01] [-3.84339370e-03 9.99856966e-01 -1.64704551e-02 -4.10962509e-02] [-5.23025220e-03 1.64502521e-02 9.99851006e-01 5.39149523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.54119381699999 meters Centerline goodness : 0.890020 with order 1 Centerline is valid? [False, False] Translation: X:21.82, Y:-0.04, Z:0.54 [[ 9.99985127e-01 1.27531315e-03 5.30273557e-03 2.18164810e+01] [-1.15917114e-03 9.99760633e-01 -2.18479660e-02 -4.00558796e-02] [-5.32932927e-03 2.18414943e-02 9.99747242e-01 5.37182453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.601193817 meters Centerline goodness : 0.893331 with order 1 Centerline is valid? [False, False] Translation: X:21.84, Y:-0.04, Z:0.54 [[ 9.99959004e-01 7.80915812e-03 4.58341360e-03 2.18438096e+01] [-7.66878155e-03 9.99523938e-01 -2.98845633e-02 -3.64109359e-02] [-4.81460489e-03 2.98481890e-02 9.99542848e-01 5.38185496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.661193817 meters Centerline goodness : 0.894194 with order 1 Centerline is valid? [False, False] Translation: X:21.88, Y:-0.03, Z:0.54 [[ 9.99893404e-01 1.36915311e-02 5.07175192e-03 2.18833165e+01] [-1.35198319e-02 9.99381329e-01 -3.24680237e-02 -3.26445581e-02] [-5.51315113e-03 3.23959935e-02 9.99459907e-01 5.35651460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.721193817 meters Centerline goodness : 0.896591 with order 1 Centerline is valid? [False, False] Translation: X:21.92, Y:-0.03, Z:0.53 [[ 9.99775370e-01 2.03570037e-02 5.89932494e-03 2.19221237e+01] [-2.01338204e-02 9.99159746e-01 -3.56991632e-02 -2.71288759e-02] [-6.62109601e-03 3.55723681e-02 9.99345169e-01 5.32494874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.78119381699999 meters Centerline goodness : 0.894360 with order 1 Centerline is valid? [False, False] Translation: X:21.97, Y:-0.02, Z:0.53 [[ 9.99596795e-01 2.76917448e-02 6.27817901e-03 2.19711560e+01] [-2.73531401e-02 9.98434648e-01 -4.87858581e-02 -1.80041395e-02] [-7.61931698e-03 4.85944595e-02 9.98789530e-01 5.28105368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.84119381699999 meters Centerline goodness : 0.891429 with order 1 Centerline is valid? [False, False] Translation: X:22.02, Y:-0.01, Z:0.53 [[ 9.99540010e-01 2.97757477e-02 5.75966417e-03 2.20161896e+01] [-2.93521192e-02 9.97563025e-01 -6.32966387e-02 -1.39170794e-02] [-7.63033275e-03 6.30984645e-02 9.97978137e-01 5.27816326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.90119381699999 meters Centerline goodness : 0.891321 with order 1 Centerline is valid? [False, False] Translation: X:22.06, Y:-0.01, Z:0.53 [[ 9.99481674e-01 3.15484879e-02 6.40911661e-03 2.20570154e+01] [-3.10447192e-02 9.97235773e-01 -6.75058422e-02 -9.65328185e-03] [-8.52110760e-03 6.72718829e-02 9.97698293e-01 5.26049255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.961193817 meters Centerline goodness : 0.892241 with order 1 Centerline is valid? [False, False] Translation: X:22.06, Y:-0.01, Z:0.53 [[ 9.99366396e-01 3.49452868e-02 6.75519343e-03 2.20560346e+01] [-3.44422442e-02 9.97354545e-01 -6.40128359e-02 -9.20374099e-03] [-8.97426978e-03 6.37396131e-02 9.97926212e-01 5.27115996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.021193817 meters Centerline goodness : 0.890522 with order 1 Centerline is valid? [False, False] Translation: X:22.06, Y:-0.01, Z:0.53 [[ 9.99229197e-01 3.87118917e-02 6.51162574e-03 2.20574850e+01] [-3.82434574e-02 9.97403197e-01 -6.10270480e-02 -6.14483739e-03] [-8.85718880e-03 6.07309811e-02 9.98114872e-01 5.26690901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.081193817 meters Centerline goodness : 0.888078 with order 1 Centerline is valid? [False, False] Translation: X:22.05, Y:-0.01, Z:0.53 [[ 9.99196935e-01 3.98555322e-02 4.12568766e-03 2.20498227e+01] [-3.96131021e-02 9.98069870e-01 -4.78261044e-02 -7.39080648e-03] [-6.02385939e-03 4.76242657e-02 9.98847157e-01 5.26586776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.14119381699999 meters Centerline goodness : 0.893525 with order 1 Centerline is valid? [False, False] Translation: X:22.05, Y:-0.01, Z:0.53 [[ 9.99216062e-01 3.89460831e-02 7.10386577e-03 2.20515417e+01] [-3.86674588e-02 9.98608484e-01 -3.58597865e-02 -1.22746293e-02] [-8.49057885e-03 3.55569862e-02 9.99331582e-01 5.30768662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.20119381699999 meters Centerline goodness : 0.893680 with order 1 Centerline is valid? [False, False] Translation: X:22.04, Y:-0.02, Z:0.53 [[ 9.99429301e-01 3.29060087e-02 7.63327523e-03 2.20428899e+01] [-3.27420112e-02 9.99249511e-01 -2.06972423e-02 -1.64012866e-02] [-8.30861017e-03 2.04355016e-02 9.99756649e-01 5.34843743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.26119381699999 meters Centerline goodness : 0.892728 with order 1 Centerline is valid? [False, False] Translation: X:22.04, Y:-0.02, Z:0.54 [[ 9.99738219e-01 2.16594476e-02 7.37302010e-03 2.20396601e+01] [-2.15864853e-02 9.99718602e-01 -9.83563319e-03 -2.30607948e-02] [-7.58397973e-03 9.67390082e-03 9.99924447e-01 5.35322009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.321193817 meters Centerline goodness : 0.892273 with order 1 Centerline is valid? [False, False] Translation: X:22.06, Y:-0.02, Z:0.53 [[ 9.99846456e-01 1.44724933e-02 9.87984270e-03 2.20585067e+01] [-1.42628807e-02 9.99678430e-01 -2.09668024e-02 -1.97616869e-02] [-1.01801076e-02 2.08226680e-02 9.99731355e-01 5.34033170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.381193817 meters Centerline goodness : 0.888850 with order 1 Centerline is valid? [False, False] Translation: X:22.09, Y:-0.02, Z:0.53 [[ 9.99965710e-01 3.24129147e-03 7.62053875e-03 2.20899495e+01] [-3.05455239e-03 9.99697855e-01 -2.43899395e-02 -1.84922748e-02] [-7.69729114e-03 2.43658258e-02 9.99673476e-01 5.34481479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.441193817 meters Centerline goodness : 0.889165 with order 1 Centerline is valid? [False, False] Translation: X:22.12, Y:-0.02, Z:0.53 [[ 9.99986951e-01 -1.07042554e-03 4.99517037e-03 2.21153420e+01] [ 1.22065974e-03 9.99544024e-01 -3.01704143e-02 -1.72715168e-02] [-4.96059751e-03 3.01761180e-02 9.99532288e-01 5.30901659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.501193817 meters Centerline goodness : 0.884603 with order 1 Centerline is valid? [False, False] Translation: X:22.15, Y:-0.01, Z:0.53 [[ 9.99989852e-01 -4.39779878e-03 9.77754425e-04 2.21462987e+01] [ 4.42672017e-03 9.99482504e-01 -3.18610837e-02 -8.87740424e-03] [-8.37129806e-04 3.18650886e-02 9.99491829e-01 5.28483434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.56119381699999 meters Centerline goodness : 0.883420 with order 1 Centerline is valid? [False, False] Translation: X:22.19, Y:-0.00, Z:0.53 [[ 9.99995178e-01 -2.54774059e-03 1.77588878e-03 2.21864741e+01] [ 2.61018769e-03 9.99344897e-01 -3.60965994e-02 -1.81151371e-03] [-1.68276062e-03 3.61010608e-02 9.99346727e-01 5.25433715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.62119381699999 meters Centerline goodness : 0.885115 with order 1 Centerline is valid? [False, False] Translation: X:22.23, Y:0.01, Z:0.52 [[ 9.99988385e-01 4.39145661e-03 1.98639057e-03 2.22257795e+01] [-4.31249341e-03 9.99262811e-01 -3.81475661e-02 1.07219902e-02] [-2.15244961e-03 3.81385567e-02 9.99270142e-01 5.24645440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.681193817 meters Centerline goodness : 0.882246 with order 1 Centerline is valid? [False, False] Translation: X:22.27, Y:0.02, Z:0.52 [[ 9.99907019e-01 1.25048446e-02 5.43898701e-03 2.22708184e+01] [-1.21818227e-02 9.98365401e-01 -5.58402057e-02 2.34101500e-02] [-6.12836954e-03 5.57687568e-02 9.98424904e-01 5.19958657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.741193817 meters Centerline goodness : 0.881264 with order 1 Centerline is valid? [False, False] Translation: X:22.31, Y:0.03, Z:0.52 [[ 9.99750670e-01 1.96833301e-02 1.05434096e-02 2.23143329e+01] [-1.88594187e-02 9.97135757e-01 -7.32434559e-02 3.45279043e-02] [-1.19548858e-02 7.30263515e-02 9.97258358e-01 5.15624711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.801193817 meters Centerline goodness : 0.883961 with order 1 Centerline is valid? [False, False] Translation: X:22.32, Y:0.03, Z:0.52 [[ 9.99674286e-01 2.16211045e-02 1.35591189e-02 2.23179205e+01] [-2.07797731e-02 9.98018622e-01 -5.93888192e-02 3.29571909e-02] [-1.48163050e-02 5.90877200e-02 9.98142835e-01 5.19997193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.861193817 meters Centerline goodness : 0.886830 with order 1 Centerline is valid? [False, False] Translation: X:22.32, Y:0.03, Z:0.52 [[ 9.99447065e-01 2.71049524e-02 1.92583838e-02 2.23173222e+01] [-2.63278005e-02 9.98871794e-01 -3.95219788e-02 3.48890317e-02] [-2.03078977e-02 3.89930948e-02 9.99033096e-01 5.23178076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.92119381699999 meters Centerline goodness : 0.882803 with order 1 Centerline is valid? [False, False] Translation: X:22.32, Y:0.03, Z:0.52 [[ 9.99314831e-01 3.14236061e-02 1.95557032e-02 2.23159940e+01] [-3.07257420e-02 9.98914251e-01 -3.50178314e-02 3.32966755e-02] [-2.06348572e-02 3.43929748e-02 9.99195339e-01 5.24817306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.98119381699999 meters Centerline goodness : 0.885634 with order 1 Centerline is valid? [False, False] Translation: X:22.32, Y:0.03, Z:0.52 [[ 9.99196111e-01 3.50693287e-02 1.94235255e-02 2.23171257e+01] [-3.44629253e-02 9.98933690e-01 -3.07211507e-02 3.21333501e-02] [-2.04801841e-02 3.00270628e-02 9.99339250e-01 5.23659485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.04119381699999 meters Centerline goodness : 0.879339 with order 1 Centerline is valid? [False, False] Translation: X:22.32, Y:0.03, Z:0.52 [[ 9.99416134e-01 2.96964233e-02 1.68971201e-02 2.23174576e+01] [-2.93947377e-02 9.99408828e-01 -1.78309940e-02 2.66254663e-02] [-1.74166477e-02 1.73238967e-02 9.99698226e-01 5.24276831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.101193817 meters Centerline goodness : 0.878798 with order 1 Centerline is valid? [False, False] Translation: X:22.31, Y:0.02, Z:0.53 [[ 9.99628725e-01 2.22221289e-02 1.57667175e-02 2.23124160e+01] [-2.21249721e-02 9.99735299e-01 -6.31006854e-03 1.90361782e-02] [-1.59027671e-02 5.95888758e-03 9.99855786e-01 5.25886723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.161193817 meters Centerline goodness : 0.875347 with order 1 Centerline is valid? [False, False] Translation: X:22.31, Y:0.02, Z:0.53 [[ 9.99852512e-01 1.35292978e-02 1.05788172e-02 2.23118180e+01] [-1.35455229e-02 9.99907184e-01 1.46358486e-03 1.50061156e-02] [-1.05580341e-02 -1.60666461e-03 9.99942972e-01 5.25803487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.221193817 meters Centerline goodness : 0.876056 with order 1 Centerline is valid? [False, False] Translation: X:22.31, Y:0.02, Z:0.52 [[ 9.99890721e-01 1.09358858e-02 9.94752271e-03 2.23147281e+01] [-1.09292704e-02 9.99940015e-01 -7.19141635e-04 1.70594190e-02] [-9.95479046e-03 6.10343882e-04 9.99950264e-01 5.23357452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.28119381699999 meters Centerline goodness : 0.872705 with order 1 Centerline is valid? [False, False] Translation: X:22.34, Y:0.02, Z:0.52 [[ 9.99981219e-01 2.93946016e-03 5.37785089e-03 2.23422605e+01] [-2.88644144e-03 9.99947419e-01 -9.84005911e-03 1.82454830e-02] [-5.40649258e-03 9.82435145e-03 9.99937124e-01 5.18085802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.34119381699999 meters Centerline goodness : 0.870606 with order 1 Centerline is valid? [False, False] Translation: X:22.37, Y:0.02, Z:0.52 [[ 9.99995480e-01 1.40764672e-03 2.65666462e-03 2.23729255e+01] [-1.34802079e-03 9.99750107e-01 -2.23137945e-02 2.09280312e-02] [-2.68741067e-03 2.23101124e-02 9.99747486e-01 5.17045765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.40119381699999 meters Centerline goodness : 0.867306 with order 1 Centerline is valid? [False, False] Translation: X:22.41, Y:0.03, Z:0.52 [[ 9.99986568e-01 2.14820710e-03 4.71690315e-03 2.24101885e+01] [-2.01708362e-03 9.99616195e-01 -2.76295847e-02 2.92879221e-02] [-4.77444685e-03 2.76196992e-02 9.99607101e-01 5.16413193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.461193817 meters Centerline goodness : 0.867433 with order 1 Centerline is valid? [False, False] Translation: X:22.44, Y:0.03, Z:0.52 [[ 9.99964775e-01 7.88687076e-03 2.87149032e-03 2.24393977e+01] [-7.78722350e-03 9.99418380e-01 -3.32003186e-02 3.44021318e-02] [-3.13166683e-03 3.31767882e-02 9.99444592e-01 5.16870483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.521193817 meters Centerline goodness : 0.868555 with order 1 Centerline is valid? [False, False] Translation: X:22.48, Y:0.04, Z:0.51 [[ 9.99880707e-01 1.33963002e-02 7.68840670e-03 2.24802605e+01] [-1.29936608e-02 9.98653402e-01 -5.02249695e-02 4.08515028e-02] [-8.35088227e-03 5.01190774e-02 9.98708336e-01 5.14584294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.581193817 meters Centerline goodness : 0.866410 with order 1 Centerline is valid? [False, False] Translation: X:22.49, Y:0.04, Z:0.52 [[ 9.99795423e-01 1.92694235e-02 6.14822117e-03 2.24876991e+01] [-1.90395705e-02 9.99189098e-01 -3.54773328e-02 4.40935672e-02] [-6.82686332e-03 3.53530155e-02 9.99351569e-01 5.18403670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.64119381699999 meters Centerline goodness : 0.863397 with order 1 Centerline is valid? [False, False] Translation: X:22.49, Y:0.04, Z:0.52 [[ 9.99796118e-01 1.81817089e-02 8.78342172e-03 2.24909706e+01] [-1.79535910e-02 9.99516462e-01 -2.53872300e-02 4.40340608e-02] [-9.24075782e-03 2.52243600e-02 9.99639105e-01 5.23518045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.70119381699999 meters Centerline goodness : 0.861104 with order 1 Centerline is valid? [False, False] Translation: X:22.48, Y:0.05, Z:0.53 [[ 9.99813483e-01 8.38066722e-03 1.74000892e-02 2.24840270e+01] [-8.03818740e-03 9.99774407e-01 -1.96601552e-02 4.68815987e-02] [-1.75609291e-02 1.95166230e-02 9.99655298e-01 5.27770218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.76119381699999 meters Centerline goodness : 0.859782 with order 1 Centerline is valid? [False, False] Translation: X:22.48, Y:0.05, Z:0.53 [[ 9.99789484e-01 9.50168134e-03 1.81853272e-02 2.24813500e+01] [-9.14648027e-03 9.99767691e-01 -1.95167913e-02 5.49982273e-02] [-1.83665449e-02 1.93463509e-02 9.99644131e-01 5.29875645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.821193817 meters Centerline goodness : 0.860393 with order 1 Centerline is valid? [False, False] Translation: X:22.45, Y:0.06, Z:0.54 [[ 9.99853659e-01 1.04164883e-02 1.35704484e-02 2.24497229e+01] [-1.05368223e-02 9.99905532e-01 8.82624056e-03 5.87845303e-02] [-1.34772280e-02 -8.96793832e-03 9.99868962e-01 5.36913813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.881193817 meters Centerline goodness : 0.854295 with order 1 Centerline is valid? [False, False] Translation: X:22.44, Y:0.07, Z:0.54 [[ 9.99821436e-01 1.78728137e-02 6.13663989e-03 2.24386506e+01] [-1.79677164e-02 9.99714119e-01 1.57747182e-02 7.11973385e-02] [-5.85294695e-03 -1.58821628e-02 9.99856740e-01 5.36087914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.941193817 meters Centerline goodness : 0.862133 with order 1 Centerline is valid? [False, False] Translation: X:22.42, Y:0.07, Z:0.54 [[ 9.99889606e-01 1.45507785e-02 -3.00831351e-03 2.24181863e+01] [-1.43774494e-02 9.98580821e-01 5.12799466e-02 6.88223150e-02] [ 3.75020732e-03 -5.12310337e-02 9.98679787e-01 5.44911311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.001193817 meters Centerline goodness : 0.858711 with order 1 Centerline is valid? [False, False] Translation: X:22.40, Y:0.07, Z:0.55 [[ 9.99868048e-01 1.31874392e-02 -9.48564202e-03 2.23990519e+01] [-1.25066944e-02 9.97568628e-01 6.85595704e-02 7.20666699e-02] [ 1.03667041e-02 -6.84318899e-02 9.97601929e-01 5.50193846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.06119381699999 meters Centerline goodness : 0.856986 with order 1 Centerline is valid? [False, False] Translation: X:22.39, Y:0.08, Z:0.56 [[ 9.99742527e-01 1.57557074e-02 -1.63290350e-02 2.23940173e+01] [-1.42882018e-02 9.96158929e-01 8.63900146e-02 7.67494790e-02] [ 1.76274498e-02 -8.61344589e-02 9.96127566e-01 5.58530030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.12119381699999 meters Centerline goodness : 0.858248 with order 1 Centerline is valid? [False, False] Translation: X:22.42, Y:0.06, Z:0.58 [[ 9.99458977e-01 2.16411068e-02 -2.47672205e-02 2.24186570e+01] [-1.76225135e-02 9.88175977e-01 1.52307866e-01 6.23431234e-02] [ 2.77704831e-02 -1.51789003e-01 9.88022722e-01 5.79109459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.181193817 meters Centerline goodness : 0.858149 with order 1 Centerline is valid? [False, False] Translation: X:22.43, Y:0.04, Z:0.60 [[ 9.99453241e-01 1.90414977e-02 -2.70303629e-02 2.24294173e+01] [-1.16971951e-02 9.68279246e-01 2.49596630e-01 3.59483887e-02] [ 3.09256331e-02 -2.49143982e-01 9.67972562e-01 6.00136344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.241193817 meters Centerline goodness : 0.857033 with order 1 Centerline is valid? [False, False] Translation: X:22.44, Y:0.01, Z:0.63 [[ 9.99572452e-01 8.53782450e-03 -2.79646120e-02 2.24436537e+01] [ 1.63818120e-03 9.38562221e-01 3.45106176e-01 1.00661695e-02] [ 2.91929844e-02 -3.45004438e-01 9.38146954e-01 6.25164414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.301193817 meters Centerline goodness : 0.855457 with order 1 Centerline is valid? [False, False] Translation: X:22.44, Y:0.01, Z:0.64 [[ 9.99264362e-01 -5.30633594e-03 -3.79812760e-02 2.24410294e+01] [ 1.84797977e-02 9.34439375e-01 3.55642449e-01 1.48638864e-02] [ 3.36040415e-02 -3.56082712e-01 9.33850026e-01 6.39193225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.361193817 meters Centerline goodness : 0.848775 with order 1 Centerline is valid? [False, False] Translation: X:22.44, Y:0.02, Z:0.66 [[ 9.98599275e-01 -1.22935143e-02 -5.14621959e-02 2.24373847e+01] [ 3.05789077e-02 9.27840107e-01 3.71722565e-01 1.84297988e-02] [ 4.31789127e-02 -3.72775542e-01 9.26916381e-01 6.57190870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.42119381699999 meters Centerline goodness : 0.848638 with order 1 Centerline is valid? [False, False] Translation: X:22.41, Y:0.04, Z:0.65 [[ 9.98555180e-01 -1.07855467e-02 -5.26424160e-02 2.24123106e+01] [ 2.77580861e-02 9.42355361e-01 3.33460436e-01 3.55218360e-02] [ 4.60113099e-02 -3.34439898e-01 9.41293214e-01 6.49689344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.48119381699999 meters Centerline goodness : 0.852094 with order 1 Centerline is valid? [False, False] Translation: X:22.39, Y:0.05, Z:0.66 [[ 9.97673238e-01 -7.02993749e-03 -6.78136446e-02 2.23878276e+01] [ 2.95737641e-02 9.40840769e-01 3.37555979e-01 4.57867281e-02] [ 6.14288442e-02 -3.38776071e-01 9.38859558e-01 6.61653470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.54119381699999 meters Centerline goodness : 0.856308 with order 1 Centerline is valid? [False, False] Translation: X:22.36, Y:0.06, Z:0.68 [[ 9.96720338e-01 2.08744202e-03 -8.08962973e-02 2.23589291e+01] [ 2.56054158e-02 9.40169529e-01 3.39743461e-01 5.88807214e-02] [ 7.67654285e-02 -3.40700601e-01 9.37032641e-01 6.75405529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.601193817 meters Centerline goodness : 0.860341 with order 1 Centerline is valid? [False, False] Translation: X:22.37, Y:0.06, Z:0.69 [[ 9.96125593e-01 1.39481138e-02 -8.68288736e-02 2.23661135e+01] [ 1.90159995e-02 9.29820212e-01 3.67522468e-01 6.16653435e-02] [ 8.58614869e-02 -3.67749674e-01 9.25952473e-01 6.94395449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.661193817 meters Centerline goodness : 0.857830 with order 1 Centerline is valid? [False, False] Translation: X:22.39, Y:0.04, Z:0.72 [[ 9.95864862e-01 2.52087448e-02 -8.72794172e-02 2.23854704e+01] [ 1.66028566e-02 8.94046853e-01 4.47665690e-01 4.17629767e-02] [ 8.93169784e-02 -4.47263618e-01 8.89931308e-01 7.21659148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.721193817 meters Centerline goodness : 0.857934 with order 1 Centerline is valid? [False, False] Translation: X:22.42, Y:0.03, Z:0.74 [[ 9.95228591e-01 3.71202560e-02 -9.02337979e-02 2.24185231e+01] [ 1.29730223e-02 8.66250173e-01 4.99442027e-01 2.71532430e-02] [ 9.67044590e-02 -4.98229590e-01 8.61635377e-01 7.44564901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.78119381699999 meters Centerline goodness : 0.860865 with order 1 Centerline is valid? [False, False] Translation: X:22.44, Y:0.03, Z:0.75 [[ 9.94706771e-01 3.93737705e-02 -9.49112527e-02 2.24353713e+01] [ 1.03901080e-02 8.80397012e-01 4.74123557e-01 3.43049004e-02] [ 1.02227615e-01 -4.72600050e-01 8.75327771e-01 7.46846634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.84119381699999 meters Centerline goodness : 0.865587 with order 1 Centerline is valid? [False, False] Translation: X:22.48, Y:0.01, Z:0.78 [[ 9.94707482e-01 4.35326073e-02 -9.30695272e-02 2.24796629e+01] [ 1.43518025e-02 8.38061822e-01 5.45386477e-01 8.41637516e-03] [ 1.01740113e-01 -5.43835725e-01 8.33001593e-01 7.77639756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.90119381699999 meters Centerline goodness : 0.867808 with order 1 Centerline is valid? [False, False] Translation: X:22.52, Y:-0.02, Z:0.84 [[ 9.95013630e-01 4.34366379e-02 -8.97838172e-02 2.25162905e+01] [ 2.65635123e-02 7.52265058e-01 6.58324891e-01 -1.91077639e-02] [ 9.61366484e-02 -6.57427213e-01 7.47360157e-01 8.35406213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.961193817 meters Centerline goodness : 0.869858 with order 1 Centerline is valid? [False, False] Translation: X:22.49, Y:-0.01, Z:0.83 [[ 9.96364616e-01 1.86791645e-02 -8.31182356e-02 2.24861764e+01] [ 3.56126092e-02 7.95002051e-01 6.05560469e-01 -1.10516406e-02] [ 7.73905314e-02 -6.06319081e-01 7.91446699e-01 8.33774623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.021193817 meters Centerline goodness : 0.866676 with order 1 Centerline is valid? [False, False] Translation: X:22.45, Y:-0.00, Z:0.83 [[ 9.96534713e-01 3.60316420e-03 -8.30998403e-02 2.24509995e+01] [ 4.37195852e-02 8.27233715e-01 5.60154424e-01 -2.74677986e-03] [ 7.07613179e-02 -5.61846419e-01 8.24209583e-01 8.26758978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.081193817 meters Centerline goodness : 0.871239 with order 1 Centerline is valid? [False, False] Translation: X:22.42, Y:0.00, Z:0.82 [[ 9.96099495e-01 -4.28045560e-03 -8.81332691e-02 2.24197649e+01] [ 4.91709930e-02 8.56288464e-01 5.14152000e-01 1.48128703e-03] [ 7.32666969e-02 -5.16480148e-01 8.53158982e-01 8.21133031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.14119381699999 meters Centerline goodness : 0.873702 with order 1 Centerline is valid? [False, False] Translation: X:22.40, Y:0.02, Z:0.80 [[ 9.95896932e-01 -9.81092760e-03 -8.99613665e-02 2.23982285e+01] [ 4.79360672e-02 9.00371505e-01 4.32473451e-01 2.16054293e-02] [ 7.67556853e-02 -4.35011377e-01 8.97147517e-01 8.03184281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.20119381699999 meters Centerline goodness : 0.877665 with order 1 Centerline is valid? [False, False] Translation: X:22.39, Y:0.05, Z:0.78 [[ 9.94822029e-01 -9.22696781e-03 -1.01212615e-01 2.23944481e+01] [ 4.34389350e-02 9.38926065e-01 3.41366231e-01 5.08524592e-02] [ 9.18813870e-02 -3.43995215e-01 9.34465143e-01 7.83444854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.26119381699999 meters Centerline goodness : 0.880282 with order 1 Centerline is valid? [False, False] Translation: X:22.38, Y:0.08, Z:0.77 [[ 9.95199066e-01 -8.88684463e-03 -9.74671374e-02 2.23799081e+01] [ 3.33867799e-02 9.66959554e-01 2.52734136e-01 7.93531038e-02] [ 9.20007707e-02 -2.54774890e-01 9.62613948e-01 7.74946739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.321193817 meters Centerline goodness : 0.891029 with order 1 Centerline is valid? [False, False] Translation: X:22.37, Y:0.11, Z:0.78 [[ 9.96483260e-01 -9.55442102e-03 -8.32455702e-02 2.23660135e+01] [ 2.23963266e-02 9.87702814e-01 1.54730588e-01 1.11245085e-01] [ 8.07435228e-02 -1.56050836e-01 9.84443305e-01 7.75833104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.381193817 meters Centerline goodness : 0.891272 with order 1 Centerline is valid? [False, False] Translation: X:22.36, Y:0.13, Z:0.78 [[ 9.97114986e-01 -1.59549851e-02 -7.42101327e-02 2.23616371e+01] [ 2.28509672e-02 9.95401483e-01 9.30253825e-02 1.27764048e-01] [ 7.23846575e-02 -9.44527763e-02 9.92894322e-01 7.75274489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.441193817 meters Centerline goodness : 0.891626 with order 1 Centerline is valid? [False, False] Translation: X:22.38, Y:0.13, Z:0.78 [[ 0.9970597 -0.031271 -0.06995764 22.38035874] [ 0.03557661 0.99749304 0.06117137 0.13170522] [ 0.06786937 -0.06348037 0.99567263 0.77545524] [ 0. 0. 0. 1. ]] SLAMing on 84.50119381699999 meters Centerline goodness : 0.893749 with order 1 Centerline is valid? [False, False] Translation: X:22.41, Y:0.14, Z:0.78 [[ 0.99631094 -0.04665928 -0.07202371 22.40857183] [ 0.04953565 0.99802309 0.03867991 0.13797076] [ 0.07007655 -0.04210496 0.99665262 0.77550349] [ 0. 0. 0. 1. ]] SLAMing on 84.56119381699999 meters Centerline goodness : 0.894439 with order 1 Centerline is valid? [False, False] Translation: X:22.44, Y:0.15, Z:0.77 [[ 0.99543203 -0.0534028 -0.07914042 22.44065252] [ 0.05563908 0.99810384 0.02632512 0.14572189] [ 0.07758452 -0.03060817 0.99651582 0.77320219] [ 0. 0. 0. 1. ]] SLAMing on 84.62119381699999 meters Centerline goodness : 0.894579 with order 1 Centerline is valid? [False, False] Translation: X:22.47, Y:0.16, Z:0.77 [[ 9.95106263e-01 -5.47372101e-02 -8.22639897e-02 2.24726013e+01] [ 5.58114516e-02 9.98382757e-01 1.08144320e-02 1.56872312e-01] [ 8.15389970e-02 -1.53527817e-02 9.96551897e-01 7.72620518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.681193817 meters Centerline goodness : 0.899046 with order 1 Centerline is valid? [False, False] Translation: X:22.47, Y:0.17, Z:0.78 [[ 9.95463017e-01 -4.89642230e-02 -8.15836137e-02 2.24682538e+01] [ 4.99623500e-02 9.98698637e-01 1.02369694e-02 1.71870562e-01] [ 8.09761986e-02 -1.42666335e-02 9.96613926e-01 7.78023188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.741193817 meters Centerline goodness : 0.904524 with order 1 Centerline is valid? [False, False] Translation: X:22.49, Y:0.20, Z:0.78 [[ 0.99621036 -0.04785851 -0.07262556 22.49212841] [ 0.04516071 0.99824351 -0.03834573 0.19658826] [ 0.07433317 0.03492059 0.99662186 0.78428949] [ 0. 0. 0. 1. ]] SLAMing on 84.801193817 meters Centerline goodness : 0.905686 with order 1 Centerline is valid? [False, False] Translation: X:22.49, Y:0.20, Z:0.78 [[ 9.96802501e-01 -4.51810881e-02 -6.59048078e-02 2.24928032e+01] [ 4.38459921e-02 9.98805498e-01 -2.15663272e-02 2.00110162e-01] [ 6.68004745e-02 1.86077072e-02 9.97592828e-01 7.82733858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.861193817 meters Centerline goodness : 0.905478 with order 1 Centerline is valid? [False, False] Translation: X:22.49, Y:0.20, Z:0.78 [[ 9.96955290e-01 -4.13749173e-02 -6.60928548e-02 2.24932354e+01] [ 4.03045680e-02 9.99035101e-01 -1.74473079e-02 1.99232411e-01] [ 6.67509628e-02 1.47303419e-02 9.97660927e-01 7.82255267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.92119381699999 meters Centerline goodness : 0.900849 with order 1 Centerline is valid? [False, False] Translation: X:22.50, Y:0.20, Z:0.78 [[ 9.97056116e-01 -3.71761188e-02 -6.70599531e-02 2.24988082e+01] [ 3.63612633e-02 9.99249784e-01 -1.33314853e-02 1.99509776e-01] [ 6.75052565e-02 1.08538543e-02 9.97659879e-01 7.77608330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.98119381699999 meters Centerline goodness : 0.897537 with order 1 Centerline is valid? [False, False] Translation: X:22.50, Y:0.20, Z:0.77 [[ 9.96919459e-01 -2.97899972e-02 -7.25544509e-02 2.25009787e+01] [ 3.01618525e-02 9.99536885e-01 4.03471783e-03 2.00703873e-01] [ 7.24006556e-02 -6.21066536e-03 9.97356292e-01 7.69495663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.04119381699999 meters Centerline goodness : 0.895491 with order 1 Centerline is valid? [False, False] Translation: X:22.51, Y:0.20, Z:0.77 [[ 9.96829113e-01 -2.97838667e-02 -7.37878130e-02 2.25057501e+01] [ 3.01275232e-02 9.99539764e-01 3.54845965e-03 2.02347021e-01] [ 7.36481664e-02 -5.76025193e-03 9.97267651e-01 7.67038416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.101193817 meters Centerline goodness : 0.900885 with order 1 Centerline is valid? [False, False] Translation: X:22.51, Y:0.20, Z:0.77 [[ 9.97691792e-01 -3.01133700e-02 -6.08627360e-02 2.25077012e+01] [ 3.03481677e-02 9.99535074e-01 2.93690997e-03 2.04766212e-01] [ 6.07459990e-02 -4.77720349e-03 9.98141825e-01 7.65870363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.161193817 meters Centerline goodness : 0.905364 with order 1 Centerline is valid? [False, False] Translation: X:22.49, Y:0.21, Z:0.77 [[ 9.97900070e-01 -3.43315798e-02 -5.49253398e-02 2.24904069e+01] [ 3.46410016e-02 9.99388810e-01 4.69111899e-03 2.09050935e-01] [ 5.47307165e-02 -6.58393676e-03 9.98479444e-01 7.69705039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.221193817 meters Centerline goodness : 0.909694 with order 1 Centerline is valid? [False, False] Translation: X:22.49, Y:0.21, Z:0.77 [[ 9.98495337e-01 -3.59350121e-02 -4.14214605e-02 2.24910318e+01] [ 3.60223983e-02 9.99350051e-01 1.36500731e-03 2.13384816e-01] [ 4.13454871e-02 -2.85505378e-03 9.99140831e-01 7.68109455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.28119381699999 meters Centerline goodness : 0.911336 with order 1 Centerline is valid? [False, False] Translation: X:22.50, Y:0.22, Z:0.76 [[ 9.98700037e-01 -3.70631824e-02 -3.49936661e-02 2.25023315e+01] [ 3.67925067e-02 9.99288060e-01 -8.34773292e-03 2.19538918e-01] [ 3.52781463e-02 7.04937648e-03 9.99352670e-01 7.64036051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.34119381699999 meters Centerline goodness : 0.911076 with order 1 Centerline is valid? [False, False] Translation: X:22.51, Y:0.22, Z:0.76 [[ 9.98753370e-01 -3.49214286e-02 -3.56679019e-02 2.25059397e+01] [ 3.47190857e-02 9.99377399e-01 -6.27686576e-03 2.22346054e-01] [ 3.58648921e-02 5.03068389e-03 9.99343986e-01 7.60959434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.40119381699999 meters Centerline goodness : 0.909183 with order 1 Centerline is valid? [False, False] Translation: X:22.51, Y:0.22, Z:0.76 [[ 9.98735322e-01 -3.46838169e-02 -3.63976590e-02 2.25091884e+01] [ 3.44959440e-02 9.99388140e-01 -5.77722419e-03 2.21472131e-01] [ 3.65757649e-02 4.51434626e-03 9.99320686e-01 7.58587101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.461193817 meters Centerline goodness : 0.908205 with order 1 Centerline is valid? [False, False] Translation: X:22.51, Y:0.22, Z:0.76 [[ 9.98830151e-01 -3.16508811e-02 -3.65588683e-02 2.25099783e+01] [ 3.15947222e-02 9.99498529e-01 -2.11297486e-03 2.22010456e-01] [ 3.66074126e-02 9.55435711e-04 9.99329267e-01 7.57548962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.521193817 meters Centerline goodness : 0.907371 with order 1 Centerline is valid? [False, False] Translation: X:22.51, Y:0.22, Z:0.76 [[ 9.98830103e-01 -3.14108123e-02 -3.67666505e-02 2.25105101e+01] [ 3.13665218e-02 9.99506363e-01 -1.78097578e-03 2.21543056e-01] [ 3.68044430e-02 6.25650278e-04 9.99322291e-01 7.57442075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.581193817 meters Centerline goodness : 0.909308 with order 1 Centerline is valid? [False, False] Translation: X:22.51, Y:0.22, Z:0.76 [[ 9.98871070e-01 -2.99207122e-02 -3.68962956e-02 2.25110527e+01] [ 2.98973737e-02 9.99552272e-01 -1.18424325e-03 2.22597204e-01] [ 3.69152095e-02 7.98039795e-05 9.99318398e-01 7.57118585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.64119381699999 meters Centerline goodness : 0.909208 with order 1 Centerline is valid? [False, False] Translation: X:22.49, Y:0.22, Z:0.76 [[ 9.99039091e-01 -1.90914865e-02 -3.94513536e-02 2.24914739e+01] [ 1.94005680e-02 9.99783911e-01 7.46653177e-03 2.23369808e-01] [ 3.93002814e-02 -8.22473579e-03 9.99193596e-01 7.57416193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.70119381699999 meters Centerline goodness : 0.911163 with order 1 Centerline is valid? [False, False] Translation: X:22.47, Y:0.23, Z:0.76 [[ 9.99222471e-01 -3.02275785e-03 -3.93105174e-02 2.24706420e+01] [ 3.12315651e-03 9.99992016e-01 2.49283014e-03 2.25680911e-01] [ 3.93026683e-02 -2.61366479e-03 9.99223933e-01 7.57726200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.76119381699999 meters Centerline goodness : 0.907937 with order 1 Centerline is valid? [False, False] Translation: X:22.49, Y:0.21, Z:0.76 [[ 9.99409279e-01 8.67940445e-04 -3.43560611e-02 2.24891032e+01] [ 7.48737228e-04 9.98893868e-01 4.70157308e-02 2.09734770e-01] [ 3.43588657e-02 -4.70136813e-02 9.98303151e-01 7.63380782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.821193817 meters Centerline goodness : 0.916760 with order 1 Centerline is valid? [False, False] Translation: X:22.51, Y:0.16, Z:0.79 [[ 9.99483888e-01 -4.34945263e-03 -3.18282893e-02 2.25066784e+01] [ 9.88163512e-03 9.84378471e-01 1.75787882e-01 1.60745517e-01] [ 3.05665016e-02 -1.76011671e-01 9.83913401e-01 7.91275260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.881193817 meters Centerline goodness : 0.919515 with order 1 Centerline is valid? [False, False] Translation: X:22.52, Y:0.11, Z:0.83 [[ 9.99353984e-01 -8.33538696e-03 -3.49590669e-02 2.25167512e+01] [ 1.94110831e-02 9.43832950e-01 3.29852350e-01 1.10715398e-01] [ 3.02460723e-02 -3.30317853e-01 9.43385017e-01 8.26349963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.941193817 meters Centerline goodness : 0.919284 with order 1 Centerline is valid? [False, False] Translation: X:22.50, Y:0.11, Z:0.83 [[ 9.99377918e-01 -7.92482339e-03 -3.43653087e-02 2.25008230e+01] [ 1.74099423e-02 9.58275584e-01 2.85315263e-01 1.13193570e-01] [ 3.06703632e-02 -2.85736071e-01 9.57817429e-01 8.25778746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.00119381699999 meters Centerline goodness : 0.920068 with order 1 Centerline is valid? [False, False] Translation: X:22.53, Y:0.07, Z:0.87 [[ 9.99013224e-01 -3.07278167e-03 -4.43072945e-02 2.25275135e+01] [ 2.14431023e-02 9.07000268e-01 4.20583771e-01 7.04025873e-02] [ 3.88943658e-02 -4.21118834e-01 9.06171151e-01 8.73320710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.06119381699999 meters Centerline goodness : 0.915707 with order 1 Centerline is valid? [False, False] Translation: X:22.50, Y:0.08, Z:0.87 [[ 9.98600296e-01 -5.48750776e-03 -5.26054846e-02 2.25020309e+01] [ 2.28566243e-02 9.41709691e-01 3.35649270e-01 8.02643685e-02] [ 4.76972167e-02 -3.36381844e-01 9.40517002e-01 8.68836389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.12119381699999 meters Centerline goodness : 0.913802 with order 1 Centerline is valid? [False, False] Translation: X:22.49, Y:0.10, Z:0.86 [[ 9.98344050e-01 -5.04635417e-03 -5.73035068e-02 2.24939907e+01] [ 1.89107203e-02 9.69570842e-01 2.44079430e-01 9.53896851e-02] [ 5.43280981e-02 -2.44758897e-01 9.68060711e-01 8.63885791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.181193817 meters Centerline goodness : 0.900262 with order 1 Centerline is valid? [False, False] Translation: X:22.48, Y:0.10, Z:0.86 [[ 9.98122297e-01 -4.24535587e-03 -6.11052965e-02 2.24815729e+01] [ 1.46830534e-02 9.85092191e-01 1.71399481e-01 1.03006643e-01] [ 5.94666986e-02 -1.71974856e-01 9.83304816e-01 8.60627819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.241193817 meters Centerline goodness : 0.903365 with order 1 Centerline is valid? [False, False] Translation: X:22.49, Y:0.09, Z:0.86 [[ 9.98173201e-01 -5.51997835e-03 -6.01646937e-02 2.24859858e+01] [ 1.37221280e-02 9.90506032e-01 1.36782690e-01 9.22527473e-02] [ 5.88384545e-02 -1.37358403e-01 9.88772322e-01 8.62820726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.301193817 meters Centerline goodness : 0.907954 with order 1 Centerline is valid? [False, False] Translation: X:22.50, Y:0.08, Z:0.87 [[ 9.98189734e-01 -1.82133805e-02 -5.73195280e-02 2.25009564e+01] [ 2.43975500e-02 9.93730103e-01 1.09111148e-01 7.83372037e-02] [ 5.49728576e-02 -1.10312084e-01 9.92375548e-01 8.65077893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.361193817 meters Centerline goodness : 0.908997 with order 1 Centerline is valid? [False, False] Translation: X:22.52, Y:0.07, Z:0.87 [[ 0.99780302 -0.03203587 -0.05798989 22.51738804] [ 0.03674368 0.99595252 0.08202735 0.07363433] [ 0.05512736 -0.0839779 0.99494155 0.86513057] [ 0. 0. 0. 1. ]] SLAMing on 86.42119381699999 meters Centerline goodness : 0.903971 with order 1 Centerline is valid? [False, False] Translation: X:22.54, Y:0.07, Z:0.86 [[ 0.9969147 -0.04316742 -0.06555653 22.54433991] [ 0.04715708 0.99704864 0.06058229 0.06740685] [ 0.06274787 -0.06348683 0.9960081 0.86208406] [ 0. 0. 0. 1. ]] SLAMing on 86.48119381699999 meters Centerline goodness : 0.900588 with order 1 Centerline is valid? [False, False] Translation: X:22.57, Y:0.07, Z:0.86 [[ 0.99684128 -0.04083057 -0.06811994 22.5706545 ] [ 0.04382277 0.99811243 0.04302479 0.07184911] [ 0.06623463 -0.04587409 0.99674899 0.860211 ] [ 0. 0. 0. 1. ]] SLAMing on 86.54119381699999 meters Centerline goodness : 0.901029 with order 1 Centerline is valid? [False, False] Translation: X:22.60, Y:0.08, Z:0.86 [[ 9.97175729e-01 -3.12585833e-02 -6.82895774e-02 2.26047476e+01] [ 3.24598560e-02 9.99335968e-01 1.65523643e-02 8.17233635e-02] [ 6.77268275e-02 -1.87222858e-02 9.97528222e-01 8.63401039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.601193817 meters Centerline goodness : 0.900202 with order 1 Centerline is valid? [False, False] Translation: X:22.64, Y:0.09, Z:0.86 [[ 9.97491603e-01 -2.77643170e-02 -6.51125552e-02 2.26353835e+01] [ 2.71081057e-02 9.99572640e-01 -1.09401912e-02 9.14122450e-02] [ 6.53884757e-02 9.14767086e-03 9.97817953e-01 8.63709696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.661193817 meters Centerline goodness : 0.902262 with order 1 Centerline is valid? [False, False] Translation: X:22.66, Y:0.10, Z:0.87 [[ 9.97628977e-01 -2.28430268e-02 -6.49201113e-02 2.26645513e+01] [ 2.13862691e-02 9.99505624e-01 -2.30463575e-02 9.63533119e-02] [ 6.54144649e-02 2.16033150e-02 9.97624300e-01 8.68664146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.721193817 meters Centerline goodness : 0.902520 with order 1 Centerline is valid? [False, False] Translation: X:22.69, Y:0.10, Z:0.87 [[ 9.97580761e-01 -2.43269094e-02 -6.51216341e-02 2.26930158e+01] [ 2.20767023e-02 9.99141572e-01 -3.50533744e-02 9.56955703e-02] [ 6.59184721e-02 3.35309010e-02 9.97261467e-01 8.71444949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.78119381699999 meters Centerline goodness : 0.901730 with order 1 Centerline is valid? [False, False] Translation: X:22.72, Y:0.09, Z:0.87 [[ 0.9974414 -0.03636295 -0.06154993 22.7188979 ] [ 0.03447802 0.9989116 -0.03141462 0.09346271] [ 0.06262527 0.02921212 0.99760951 0.86900888] [ 0. 0. 0. 1. ]] SLAMing on 86.84119381699999 meters Centerline goodness : 0.896949 with order 1 Centerline is valid? [False, False] Translation: X:22.75, Y:0.09, Z:0.87 [[ 0.99706531 -0.04891236 -0.05889267 22.7468275 ] [ 0.04734781 0.99849499 -0.02767558 0.09181886] [ 0.06015772 0.02480593 0.99788061 0.86536871] [ 0. 0. 0. 1. ]] SLAMing on 86.90119381699999 meters Centerline goodness : 0.893819 with order 1 Centerline is valid? [False, False] Translation: X:22.77, Y:0.10, Z:0.87 [[ 0.99667774 -0.05843975 -0.05672983 22.77411112] [ 0.05677121 0.9979184 -0.03059238 0.09637366] [ 0.05839955 0.02727012 0.99792075 0.86775149] [ 0. 0. 0. 1. ]] SLAMing on 86.961193817 meters Centerline goodness : 0.899014 with order 1 Centerline is valid? [False, False] Translation: X:22.81, Y:0.11, Z:0.87 [[ 0.99710313 -0.05390925 -0.05365771 22.80760134] [ 0.05188673 0.99791446 -0.0383991 0.10529884] [ 0.05561587 0.03550374 0.99782081 0.8650339 ] [ 0. 0. 0. 1. ]] SLAMing on 87.021193817 meters Centerline goodness : 0.895441 with order 1 Centerline is valid? [False, False] Translation: X:22.86, Y:0.13, Z:0.86 [[ 0.99803821 -0.04266611 -0.04581856 22.85911955] [ 0.03914454 0.99640109 -0.0751836 0.13402536] [ 0.04886145 0.07324256 0.9961165 0.8636762 ] [ 0. 0. 0. 1. ]] SLAMing on 87.081193817 meters Centerline goodness : 0.889959 with order 1 Centerline is valid? [False, False] Translation: X:22.90, Y:0.16, Z:0.87 [[ 0.99864065 -0.03363927 -0.03981526 22.90196293] [ 0.02868568 0.99247543 -0.11903635 0.1584332 ] [ 0.04351997 0.11773241 0.99209127 0.86722891] [ 0. 0. 0. 1. ]] SLAMing on 87.14119381699999 meters Centerline goodness : 0.887787 with order 1 Centerline is valid? [False, False] Translation: X:22.93, Y:0.19, Z:0.88 [[ 9.99303875e-01 -1.70554006e-02 -3.31794837e-02 2.29304136e+01] [ 1.01356422e-02 9.80046237e-01 -1.98511065e-01 1.94332213e-01] [ 3.59031139e-02 1.98036581e-01 9.79536870e-01 8.75798581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.20119381699999 meters Centerline goodness : 0.889311 with order 1 Centerline is valid? [False, False] Translation: X:22.93, Y:0.19, Z:0.88 [[ 9.99395846e-01 -8.48442323e-03 -3.37039550e-02 2.29310086e+01] [ 1.90296033e-03 9.81648994e-01 -1.90687261e-01 1.94047714e-01] [ 3.47033249e-02 1.90507920e-01 9.81072073e-01 8.76813059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.26119381699999 meters Centerline goodness : 0.889422 with order 1 Centerline is valid? [False, False] Translation: X:22.92, Y:0.19, Z:0.87 [[ 9.99559123e-01 6.63923680e-04 -2.96836327e-02 2.29230891e+01] [-5.85826832e-03 9.84506585e-01 -1.75249720e-01 1.87197333e-01] [ 2.91073794e-02 1.75346351e-01 9.84076429e-01 8.74260819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.321193817 meters Centerline goodness : 0.891264 with order 1 Centerline is valid? [False, False] Translation: X:22.92, Y:0.18, Z:0.88 [[ 9.99503196e-01 5.78828617e-03 -3.09815645e-02 2.29158458e+01] [-1.05097792e-02 9.87939775e-01 -1.54481539e-01 1.76692577e-01] [ 2.97137365e-02 1.54730401e-01 9.87509796e-01 8.75254474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.381193817 meters Centerline goodness : 0.885299 with order 1 Centerline is valid? [False, False] Translation: X:22.91, Y:0.16, Z:0.88 [[ 9.99351766e-01 9.32791640e-03 -3.47712256e-02 2.29052333e+01] [-1.39561654e-02 9.90700896e-01 -1.35340165e-01 1.58131560e-01] [ 3.31854426e-02 1.35737706e-01 9.90188872e-01 8.77749575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.441193817 meters Centerline goodness : 0.883444 with order 1 Centerline is valid? [False, False] Translation: X:22.90, Y:0.14, Z:0.88 [[ 9.99012211e-01 9.29599290e-03 -4.34532688e-02 2.28978840e+01] [-1.47243958e-02 9.91879288e-01 -1.26327627e-01 1.39997144e-01] [ 4.19260566e-02 1.26842665e-01 9.91036399e-01 8.80238203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.50119381699999 meters Centerline goodness : 0.883906 with order 1 Centerline is valid? [False, False] Translation: X:22.89, Y:0.12, Z:0.88 [[ 9.99075178e-01 -1.01441626e-03 -4.29855755e-02 2.28913590e+01] [-3.82592829e-03 9.93658846e-01 -1.12371967e-01 1.17219417e-01] [ 4.28269893e-02 1.12432503e-01 9.92736008e-01 8.76853366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.56119381699999 meters Centerline goodness : 0.883262 with order 1 Centerline is valid? [False, False] Translation: X:22.91, Y:0.10, Z:0.88 [[ 9.98864907e-01 -1.23168123e-02 -4.60129653e-02 2.29135279e+01] [ 7.81197097e-03 9.95270240e-01 -9.68303831e-02 1.00827990e-01] [ 4.69879766e-02 9.63610197e-02 9.94236734e-01 8.81774573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.62119381699999 meters Centerline goodness : 0.883215 with order 1 Centerline is valid? [False, False] Translation: X:22.92, Y:0.08, Z:0.88 [[ 9.98617959e-01 -2.27473263e-02 -4.73785867e-02 2.29213998e+01] [ 1.85680189e-02 9.96047905e-01 -8.68550511e-02 8.16593116e-02] [ 4.91670622e-02 8.58552874e-02 9.95093699e-01 8.83656868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.681193817 meters Centerline goodness : 0.883182 with order 1 Centerline is valid? [False, False] Translation: X:22.93, Y:0.07, Z:0.88 [[ 0.99865119 -0.02850941 -0.04339365 22.93211443] [ 0.0249046 0.99636553 -0.08145847 0.07262446] [ 0.04555827 0.0802679 0.99573165 0.88171181] [ 0. 0. 0. 1. ]] SLAMing on 87.741193817 meters Centerline goodness : 0.880674 with order 1 Centerline is valid? [False, False] Translation: X:22.95, Y:0.07, Z:0.88 [[ 0.998625 -0.03229609 -0.04129244 22.94927317] [ 0.02937708 0.99715328 -0.06944299 0.06766222] [ 0.04341763 0.06813446 0.99673096 0.88302272] [ 0. 0. 0. 1. ]] SLAMing on 87.801193817 meters Centerline goodness : 0.882020 with order 1 Centerline is valid? [False, False] Translation: X:22.96, Y:0.06, Z:0.88 [[ 0.99849268 -0.03674144 -0.04077305 22.9582716 ] [ 0.03411276 0.9974054 -0.06339393 0.06287541] [ 0.04299644 0.0619075 0.99715534 0.88459431] [ 0. 0. 0. 1. ]] SLAMing on 87.861193817 meters Centerline goodness : 0.883432 with order 1 Centerline is valid? [False, False] Translation: X:22.98, Y:0.06, Z:0.88 [[ 0.99832489 -0.04280951 -0.03891994 22.98082166] [ 0.04068238 0.99771756 -0.05389443 0.0592053 ] [ 0.0411383 0.0522208 0.99778787 0.88297913] [ 0. 0. 0. 1. ]] SLAMing on 87.92119381699999 meters Centerline goodness : 0.885075 with order 1 Centerline is valid? [False, False] Translation: X:23.00, Y:0.06, Z:0.88 [[ 0.99789829 -0.04915829 -0.04221926 23.0015852 ] [ 0.04720803 0.99782482 -0.04601114 0.05999653] [ 0.04438925 0.04392135 0.99804835 0.88396369] [ 0. 0. 0. 1. ]] SLAMing on 87.98119381699999 meters Centerline goodness : 0.878751 with order 1 Centerline is valid? [False, False] Translation: X:23.03, Y:0.06, Z:0.89 [[ 0.9977687 -0.05063722 -0.04351438 23.03373097] [ 0.04895838 0.99804621 -0.03881815 0.06056822] [ 0.04539501 0.03660114 0.99829838 0.88533544] [ 0. 0. 0. 1. ]] SLAMing on 88.04119381699999 meters Centerline goodness : 0.878450 with order 1 Centerline is valid? [False, False] Translation: X:23.06, Y:0.07, Z:0.89 [[ 0.99770354 -0.05337695 -0.04169591 23.0602106 ] [ 0.05182801 0.99795597 -0.03738623 0.06626629] [ 0.04360624 0.03513935 0.99843063 0.88782264] [ 0. 0. 0. 1. ]] SLAMing on 88.101193817 meters Centerline goodness : 0.880233 with order 1 Centerline is valid? [False, False] Translation: X:23.09, Y:0.07, Z:0.89 [[ 0.99774514 -0.05463824 -0.03897815 23.08568864] [ 0.05331062 0.9979879 -0.034324 0.07312573] [ 0.04077513 0.03216866 0.99865037 0.89075283] [ 0. 0. 0. 1. ]] SLAMing on 88.161193817 meters Centerline goodness : 0.884547 with order 1 Centerline is valid? [False, False] Translation: X:23.13, Y:0.09, Z:0.89 [[ 0.99809529 -0.04841362 -0.03823493 23.12995184] [ 0.04663134 0.99784296 -0.04620551 0.08747762] [ 0.04038943 0.04433456 0.99819995 0.89235555] [ 0. 0. 0. 1. ]] SLAMing on 88.221193817 meters Centerline goodness : 0.878916 with order 1 Centerline is valid? [False, False] Translation: X:23.18, Y:0.11, Z:0.89 [[ 0.99876208 -0.03920886 -0.03061015 23.18227366] [ 0.03693448 0.99674729 -0.07162878 0.10669365] [ 0.03331907 0.07040954 0.99696155 0.89036143] [ 0. 0. 0. 1. ]] SLAMing on 88.28119381699999 meters Centerline goodness : 0.880300 with order 1 Centerline is valid? [False, False] Translation: X:23.22, Y:0.16, Z:0.89 [[ 9.99557253e-01 -2.67391620e-02 -1.30504905e-02 2.32236290e+01] [ 2.40578257e-02 9.84397463e-01 -1.74306786e-01 1.58822320e-01] [ 1.75076871e-02 1.73915646e-01 9.84604910e-01 8.90689732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.34119381699999 meters Centerline goodness : 0.878153 with order 1 Centerline is valid? [False, False] Translation: X:23.26, Y:0.20, Z:0.90 [[ 9.99826046e-01 -1.85842097e-02 -1.58294913e-03 2.32585018e+01] [ 1.74523698e-02 9.62110176e-01 -2.72101862e-01 1.98849146e-01] [ 6.57976954e-03 2.72026903e-01 9.62267151e-01 8.99565229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.40119381699999 meters Centerline goodness : 0.881303 with order 1 Centerline is valid? [False, False] Translation: X:23.29, Y:0.23, Z:0.91 [[ 9.99856256e-01 -1.26408424e-02 1.12994297e-02 2.32911558e+01] [ 1.57888699e-02 9.37059738e-01 -3.48811925e-01 2.26701054e-01] [-6.17896410e-03 3.48940190e-01 9.37124626e-01 9.11089056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.461193817 meters Centerline goodness : 0.883618 with order 1 Centerline is valid? [False, False] Translation: X:23.32, Y:0.22, Z:0.91 [[ 9.99847034e-01 -1.40538487e-02 1.04114496e-02 2.33172414e+01] [ 1.66933765e-02 9.44430758e-01 -3.28286269e-01 2.21013192e-01] [-5.21920768e-03 3.28409854e-01 9.44520898e-01 9.10163755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.521193817 meters Centerline goodness : 0.884246 with order 1 Centerline is valid? [False, False] Translation: X:23.34, Y:0.20, Z:0.91 [[ 9.99825292e-01 -1.75397547e-02 6.46084742e-03 2.33384775e+01] [ 1.86704326e-02 9.53668869e-01 -3.00278376e-01 2.04585946e-01] [-8.94700010e-04 3.00346541e-01 9.53829730e-01 9.08240989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.581193817 meters Centerline goodness : 0.885337 with order 1 Centerline is valid? [False, False] Translation: X:23.35, Y:0.18, Z:0.91 [[ 9.99757827e-01 -2.16504254e-02 3.94294563e-03 2.33543371e+01] [ 2.19172035e-02 9.63458864e-01 -2.66958150e-01 1.82344166e-01] [ 1.98089161e-03 2.66979918e-01 9.63700057e-01 9.08423689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.64119381699999 meters Centerline goodness : 0.883643 with order 1 Centerline is valid? [False, False] Translation: X:23.38, Y:0.17, Z:0.91 [[ 9.99716001e-01 -2.35825579e-02 3.43237880e-03 2.33789055e+01] [ 2.36991462e-02 9.68685115e-01 -2.47158853e-01 1.73749482e-01] [ 2.50374371e-03 2.47170004e-01 9.68968895e-01 9.08083550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.70119381699999 meters Centerline goodness : 0.887277 with order 1 Centerline is valid? [False, False] Translation: X:23.40, Y:0.16, Z:0.91 [[ 9.99515506e-01 -3.10878433e-02 -1.51647141e-03 2.33977691e+01] [ 2.99892328e-02 9.74945511e-01 -2.20413012e-01 1.58053881e-01] [ 8.33064215e-03 2.20260745e-01 9.75405456e-01 9.07798026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.76119381699999 meters Centerline goodness : 0.884419 with order 1 Centerline is valid? [False, False] Translation: X:23.43, Y:0.15, Z:0.91 [[ 9.99357876e-01 -3.52379092e-02 -6.49045573e-03 2.34258949e+01] [ 3.32585795e-02 9.79666599e-01 -1.97856568e-01 1.48532979e-01] [ 1.33305345e-02 1.97513657e-01 9.80209494e-01 9.11143900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.821193817 meters Centerline goodness : 0.886445 with order 1 Centerline is valid? [False, False] Translation: X:23.45, Y:0.14, Z:0.92 [[ 9.99289541e-01 -3.66142184e-02 -8.93376674e-03 2.34505179e+01] [ 3.44608395e-02 9.83649296e-01 -1.76766830e-01 1.42774053e-01] [ 1.52598727e-02 1.76333379e-01 9.84212211e-01 9.15514103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.881193817 meters Centerline goodness : 0.885247 with order 1 Centerline is valid? [False, False] Translation: X:23.49, Y:0.14, Z:0.92 [[ 9.99461845e-01 -3.17891151e-02 -8.09155182e-03 2.34918309e+01] [ 2.98898210e-02 9.84187339e-01 -1.74590606e-01 1.44360315e-01] [ 1.35136837e-02 1.74254794e-01 9.84607865e-01 9.16691129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.941193817 meters Centerline goodness : 0.888375 with order 1 Centerline is valid? [False, False] Translation: X:23.53, Y:0.15, Z:0.92 [[ 9.99727660e-01 -2.28614901e-02 -4.68605287e-03 2.35280511e+01] [ 2.17236511e-02 9.85026734e-01 -1.71027533e-01 1.45707847e-01] [ 8.52583160e-03 1.70879157e-01 9.85255106e-01 9.18325066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.00119381699999 meters Centerline goodness : 0.889682 with order 1 Centerline is valid? [False, False] Translation: X:23.57, Y:0.15, Z:0.92 [[ 9.99845374e-01 -1.70693320e-02 4.22675493e-03 2.35662587e+01] [ 1.75594705e-02 9.82044764e-01 -1.87829033e-01 1.52583682e-01] [-9.44746432e-04 1.87874209e-01 9.82192644e-01 9.18354802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.06119381699999 meters Centerline goodness : 0.891633 with order 1 Centerline is valid? [False, False] Translation: X:23.61, Y:0.16, Z:0.92 [[ 9.99904210e-01 -7.23455743e-03 1.17997030e-02 2.36051224e+01] [ 9.64339500e-03 9.75682860e-01 -2.18974798e-01 1.58054795e-01] [-9.92858220e-03 2.19067611e-01 9.75659164e-01 9.19607427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.12119381699999 meters Centerline goodness : 0.890593 with order 1 Centerline is valid? [False, False] Translation: X:23.63, Y:0.15, Z:0.92 [[ 9.99926254e-01 -6.09027773e-03 1.05068792e-02 2.36261481e+01] [ 8.06725864e-03 9.79800984e-01 -1.99812290e-01 1.49674621e-01] [-9.07773827e-03 1.99882316e-01 9.79777860e-01 9.18232378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.181193817 meters Centerline goodness : 0.894030 with order 1 Centerline is valid? [False, False] Translation: X:23.64, Y:0.13, Z:0.92 [[ 9.99975048e-01 -3.99661508e-03 5.82494729e-03 2.36448168e+01] [ 4.94304550e-03 9.84947025e-01 -1.72785775e-01 1.28841394e-01] [-5.04670627e-03 1.72810256e-01 9.84942204e-01 9.18858055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.241193817 meters Centerline goodness : 0.894573 with order 1 Centerline is valid? [False, False] Translation: X:23.66, Y:0.10, Z:0.92 [[ 9.99981731e-01 -5.86504681e-03 1.46239720e-03 2.36649998e+01] [ 6.01614342e-03 9.89159204e-01 -1.46723803e-01 1.03311747e-01] [-5.86001680e-04 1.46729920e-01 9.89176419e-01 9.21624732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.301193817 meters Centerline goodness : 0.897926 with order 1 Centerline is valid? [False, False] Translation: X:23.68, Y:0.09, Z:0.92 [[ 9.99967908e-01 -7.82483655e-03 1.71920315e-03 2.36843161e+01] [ 7.98133787e-03 9.91594084e-01 -1.29141279e-01 8.60459630e-02] [-6.94242271e-04 1.29150856e-01 9.91624714e-01 9.21703277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.361193817 meters Centerline goodness : 0.899792 with order 1 Centerline is valid? [False, False] Translation: X:23.71, Y:0.06, Z:0.92 [[ 9.99939698e-01 -1.09222895e-02 -1.14164486e-03 2.37057355e+01] [ 1.07389714e-02 9.94271908e-01 -1.06339305e-01 6.43357615e-02] [ 2.29657409e-03 1.06320633e-01 9.94329246e-01 9.22979367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.42119381699999 meters Centerline goodness : 0.900399 with order 1 Centerline is valid? [False, False] Translation: X:23.72, Y:0.05, Z:0.93 [[ 9.99886159e-01 -1.46784660e-02 -3.49438721e-03 2.37205095e+01] [ 1.42934148e-02 9.95628999e-01 -9.22962378e-02 4.93901187e-02] [ 4.83388042e-03 9.22357840e-02 9.95725461e-01 9.26135805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.48119381699999 meters Centerline goodness : 0.905134 with order 1 Centerline is valid? [False, False] Translation: X:23.73, Y:0.03, Z:0.93 [[ 9.99828813e-01 -1.82869332e-02 -2.81666244e-03 2.37260755e+01] [ 1.79926155e-02 9.96434101e-01 -8.24339008e-02 3.13133415e-02] [ 4.31408175e-03 8.23691100e-02 9.96592554e-01 9.30068319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.54119381699999 meters Centerline goodness : 0.905220 with order 1 Centerline is valid? [False, False] Translation: X:23.73, Y:0.02, Z:0.93 [[ 9.99810406e-01 -1.94501498e-02 9.18360233e-04 2.37349229e+01] [ 1.94656952e-02 9.97201036e-01 -7.21885088e-02 2.24941366e-02] [ 4.88287537e-04 7.21926988e-02 9.97390583e-01 9.29760989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.601193817 meters Centerline goodness : 0.906081 with order 1 Centerline is valid? [False, False] Translation: X:23.75, Y:0.01, Z:0.93 [[ 9.99762129e-01 -2.13595867e-02 4.41067755e-03 2.37464288e+01] [ 2.15897194e-02 9.97890227e-01 -6.12289113e-02 1.06441268e-02] [-3.09354778e-03 6.13095720e-02 9.98114005e-01 9.29659976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.661193817 meters Centerline goodness : 0.907049 with order 1 Centerline is valid? [False, False] Translation: X:23.77, Y:-0.00, Z:0.93 [[ 9.99773308e-01 -2.10436549e-02 3.23998581e-03 2.37680834e+01] [ 2.11966936e-02 9.98077785e-01 -5.82360377e-02 -1.76094416e-03] [-2.00825878e-03 5.82915130e-02 9.98297584e-01 9.29461137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.721193817 meters Centerline goodness : 0.905471 with order 1 Centerline is valid? [False, False] Translation: X:23.78, Y:-0.01, Z:0.93 [[ 9.99742045e-01 -2.26806177e-02 -1.19739056e-03 2.37826848e+01] [ 2.25978513e-02 9.98608891e-01 -4.76405384e-02 -1.26250982e-02] [ 2.27624169e-03 4.76011908e-02 9.98863827e-01 9.29320159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.78119381699999 meters Centerline goodness : 0.902003 with order 1 Centerline is valid? [False, False] Translation: X:23.81, Y:-0.02, Z:0.93 [[ 9.99807764e-01 -1.90619486e-02 -4.59090048e-03 2.38072433e+01] [ 1.88470102e-02 9.98896230e-01 -4.30245580e-02 -2.13040357e-02] [ 5.40596509e-03 4.29297624e-02 9.99063467e-01 9.28736331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.84119381699999 meters Centerline goodness : 0.901660 with order 1 Centerline is valid? [False, False] Translation: X:23.83, Y:-0.03, Z:0.93 [[ 9.99884377e-01 -1.44241267e-02 -4.81419258e-03 2.38283616e+01] [ 1.42464980e-02 9.99282620e-01 -3.50896448e-02 -3.48880526e-02] [ 5.31687645e-03 3.50170023e-02 9.99372573e-01 9.29821158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.90119381699999 meters Centerline goodness : 0.907484 with order 1 Centerline is valid? [False, False] Translation: X:23.85, Y:-0.04, Z:0.93 [[ 9.99936029e-01 -1.11098645e-02 -2.12340958e-03 2.38470774e+01] [ 1.10327840e-02 9.99381311e-01 -3.33956998e-02 -4.08091364e-02] [ 2.49311756e-03 3.33701364e-02 9.99439952e-01 9.29769658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.961193817 meters Centerline goodness : 0.908522 with order 1 Centerline is valid? [False, False] Translation: X:23.88, Y:-0.05, Z:0.93 [[ 9.99982814e-01 -5.86138000e-03 -1.28435743e-04 2.38829326e+01] [ 5.85309642e-03 9.99349404e-01 -3.55880674e-02 -4.78936619e-02] [ 3.36947370e-04 3.55867040e-02 9.99366536e-01 9.29309692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.021193817 meters Centerline goodness : 0.909112 with order 1 Centerline is valid? [False, False] Translation: X:23.92, Y:-0.05, Z:0.93 [[ 9.99994292e-01 -3.03650616e-03 1.48188897e-03 2.39187907e+01] [ 3.09520092e-03 9.99139544e-01 -4.13592846e-02 -5.12639174e-02] [-1.35502615e-03 4.13636352e-02 9.99143240e-01 9.28632637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.081193817 meters Centerline goodness : 0.912244 with order 1 Centerline is valid? [False, False] Translation: X:23.96, Y:-0.06, Z:0.93 [[ 9.99985865e-01 3.96971692e-03 3.53699672e-03 2.39556316e+01] [-3.81445848e-03 9.99073344e-01 -4.28707758e-02 -5.58956553e-02] [-3.70390399e-03 4.28566781e-02 9.99074365e-01 9.26608473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.14119381699999 meters Centerline goodness : 0.910475 with order 1 Centerline is valid? [False, False] Translation: X:23.98, Y:-0.06, Z:0.92 [[ 9.99958898e-01 7.67471102e-03 4.82716557e-03 2.39760114e+01] [-7.45192449e-03 9.98977554e-01 -4.45905254e-02 -6.11091600e-02] [-5.16444946e-03 4.45527209e-02 9.98993685e-01 9.22699311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.20119381699999 meters Centerline goodness : 0.911467 with order 1 Centerline is valid? [False, False] Translation: X:24.00, Y:-0.07, Z:0.92 [[ 9.99968229e-01 7.89071754e-03 1.12988090e-03 2.40009126e+01] [-7.83154513e-03 9.98945929e-01 -4.52294006e-02 -6.97384504e-02] [-1.48558235e-03 4.52191149e-02 9.98975988e-01 9.20894211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.26119381699999 meters Centerline goodness : 0.910242 with order 1 Centerline is valid? [False, False] Translation: X:24.02, Y:-0.08, Z:0.92 [[ 9.99976665e-01 4.51644049e-03 -5.12545042e-03 2.40164231e+01] [-4.70412181e-03 9.99296161e-01 -3.72163193e-02 -8.25626462e-02] [ 4.95375763e-03 3.72395616e-02 9.99294089e-01 9.20835900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.321193817 meters Centerline goodness : 0.908782 with order 1 Centerline is valid? [False, False] Translation: X:24.02, Y:-0.09, Z:0.92 [[ 9.99977403e-01 -2.80783913e-03 -6.10823113e-03 2.40196590e+01] [ 2.54667818e-03 9.99099545e-01 -4.23510763e-02 -9.21388198e-02] [ 6.22164595e-03 4.23345636e-02 9.99084119e-01 9.18929447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.381193817 meters Centerline goodness : 0.907189 with order 1 Centerline is valid? [False, False] Translation: X:24.05, Y:-0.11, Z:0.92 [[ 9.99757485e-01 -1.83886925e-02 -1.21172213e-02 2.40458491e+01] [ 1.79834822e-02 9.99302048e-01 -3.27415919e-02 -1.09013725e-01] [ 1.27108391e-02 3.25157417e-02 9.99390395e-01 9.21960096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.441193817 meters Centerline goodness : 0.907544 with order 1 Centerline is valid? [False, False] Translation: X:24.05, Y:-0.12, Z:0.92 [[ 9.99524942e-01 -2.74708973e-02 -1.39728461e-02 2.40505482e+01] [ 2.69166730e-02 9.98899267e-01 -3.84154486e-02 -1.17264663e-01] [ 1.50127726e-02 3.80210965e-02 9.99164157e-01 9.22144783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.50119381699999 meters Centerline goodness : 0.909379 with order 1 Centerline is valid? [False, False] Translation: X:24.06, Y:-0.13, Z:0.92 [[ 9.99136003e-01 -3.79960155e-02 -1.68389381e-02 2.40577088e+01] [ 3.72474321e-02 9.98391763e-01 -4.27377589e-02 -1.25157867e-01] [ 1.84357217e-02 4.20736265e-02 9.98944410e-01 9.24421788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.56119381699999 meters Centerline goodness : 0.909021 with order 1 Centerline is valid? [False, False] Translation: X:24.07, Y:-0.13, Z:0.93 [[ 9.98966613e-01 -4.06605525e-02 -2.03082742e-02 2.40675914e+01] [ 3.98302848e-02 9.98415947e-01 -3.97384493e-02 -1.26676231e-01] [ 2.18918922e-02 3.88884998e-02 9.99003719e-01 9.26214981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.62119381699999 meters Centerline goodness : 0.911422 with order 1 Centerline is valid? [False, False] Translation: X:24.08, Y:-0.13, Z:0.93 [[ 9.98633856e-01 -4.85567001e-02 -1.93046228e-02 2.40790674e+01] [ 4.78727249e-02 9.98259507e-01 -3.44406440e-02 -1.26900482e-01] [ 2.09433473e-02 3.34694283e-02 9.99220283e-01 9.32051239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.681193817 meters Centerline goodness : 0.913873 with order 1 Centerline is valid? [False, False] Translation: X:24.09, Y:-0.12, Z:0.93 [[ 9.98757393e-01 -4.78373202e-02 -1.39736008e-02 2.40929612e+01] [ 4.72533798e-02 9.98101912e-01 -3.94929276e-02 -1.22183330e-01] [ 1.58363135e-02 3.87835535e-02 9.99122138e-01 9.32877985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.741193817 meters Centerline goodness : 0.913225 with order 1 Centerline is valid? [False, False] Translation: X:24.12, Y:-0.11, Z:0.93 [[ 9.98786618e-01 -4.75829172e-02 -1.26948257e-02 2.41206320e+01] [ 4.70399452e-02 9.98087793e-01 -4.00998856e-02 -1.13227360e-01] [ 1.45786201e-02 3.94540652e-02 9.99115029e-01 9.32107907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.801193817 meters Centerline goodness : 0.907115 with order 1 Centerline is valid? [False, False] Translation: X:24.17, Y:-0.10, Z:0.93 [[ 9.98911179e-01 -4.45116149e-02 -1.39704271e-02 2.41655612e+01] [ 4.38375400e-02 9.98009928e-01 -4.53260921e-02 -9.61198670e-02] [ 1.59601625e-02 4.46643110e-02 9.98874553e-01 9.28850452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.861193817 meters Centerline goodness : 0.901799 with order 1 Centerline is valid? [False, False] Translation: X:24.17, Y:-0.09, Z:0.93 [[ 9.98895981e-01 -4.41129146e-02 -1.61514864e-02 2.41709929e+01] [ 4.33555487e-02 9.98065028e-01 -4.45701352e-02 -8.73046915e-02] [ 1.80863523e-02 4.38206724e-02 9.98875684e-01 9.28462164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.92119381699999 meters Centerline goodness : 0.897677 with order 1 Centerline is valid? [False, False] Translation: X:24.20, Y:-0.08, Z:0.93 [[ 9.98835359e-01 -4.49453294e-02 -1.75454781e-02 2.41993876e+01] [ 4.40775330e-02 9.97919305e-01 -4.70556217e-02 -7.52151978e-02] [ 1.96239017e-02 4.62274574e-02 9.98738166e-01 9.28233796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.98119381699999 meters Centerline goodness : 0.895026 with order 1 Centerline is valid? [False, False] Translation: X:24.23, Y:-0.06, Z:0.93 [[ 9.98961458e-01 -4.23231758e-02 -1.68746449e-02 2.42283553e+01] [ 4.15242466e-02 9.98115721e-01 -4.51745897e-02 -6.44879623e-02] [ 1.87547805e-02 4.44269671e-02 9.98836575e-01 9.26594712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.04119381699999 meters Centerline goodness : 0.890025 with order 1 Centerline is valid? [False, False] Translation: X:24.27, Y:-0.05, Z:0.93 [[ 9.99366453e-01 -3.17898350e-02 -1.60031244e-02 2.42656963e+01] [ 3.09725096e-02 9.98320287e-01 -4.89623233e-02 -4.78648807e-02] [ 1.75327479e-02 4.84356464e-02 9.98672414e-01 9.25581660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.101193817 meters Centerline goodness : 0.891213 with order 1 Centerline is valid? [False, False] Translation: X:24.31, Y:-0.04, Z:0.92 [[ 9.99696274e-01 -1.86443412e-02 -1.61167193e-02 2.43055029e+01] [ 1.78662897e-02 9.98728418e-01 -4.71417408e-02 -3.73117428e-02] [ 1.69751522e-02 4.68394766e-02 9.98758183e-01 9.23396621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.161193817 meters Centerline goodness : 0.889142 with order 1 Centerline is valid? [False, False] Translation: X:24.34, Y:-0.03, Z:0.92 [[ 9.99848694e-01 -1.09546794e-02 -1.35123477e-02 2.43429090e+01] [ 1.02509781e-02 9.98641355e-01 -5.10917026e-02 -2.80891378e-02] [ 1.40536824e-02 5.09454574e-02 9.98602551e-01 9.22092047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.221193817 meters Centerline goodness : 0.889342 with order 1 Centerline is valid? [False, False] Translation: X:24.38, Y:-0.02, Z:0.92 [[ 9.99958423e-01 2.45746323e-03 -8.78144984e-03 2.43819880e+01] [-2.99954080e-03 9.98055468e-01 -6.22598185e-02 -1.51433807e-02] [ 8.61137282e-03 6.22835702e-02 9.98021343e-01 9.23829133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.28119381699999 meters Centerline goodness : 0.891671 with order 1 Centerline is valid? [False, False] Translation: X:24.42, Y:-0.00, Z:0.92 [[ 9.99955906e-01 9.33816387e-03 -9.92722259e-04 2.44245628e+01] [-9.38787583e-03 9.96675223e-01 -8.09343380e-02 -3.12967377e-03] [ 2.33643568e-04 8.09400888e-02 9.96718941e-01 9.19895271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.34119381699999 meters Centerline goodness : 0.891150 with order 1 Centerline is valid? [False, False] Translation: X:24.46, Y:0.00, Z:0.92 [[ 9.99899346e-01 1.41851735e-02 2.81979883e-04 2.44642497e+01] [-1.41076691e-02 9.96154946e-01 -8.64655823e-02 1.99547808e-03] [-1.50742494e-03 8.64529011e-02 9.96254799e-01 9.16620564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.40119381699999 meters Centerline goodness : 0.889762 with order 1 Centerline is valid? [False, False] Translation: X:24.51, Y:0.00, Z:0.91 [[ 9.99874395e-01 1.58489422e-02 6.56876485e-05 2.45057691e+01] [-1.57749685e-02 9.95590799e-01 -9.24668167e-02 2.54534287e-03] [-1.53089925e-03 9.24541663e-02 9.95715764e-01 9.12522824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.461193817 meters Centerline goodness : 0.890207 with order 1 Centerline is valid? [False, False] Translation: X:24.53, Y:-0.00, Z:0.91 [[ 9.99793975e-01 1.99911931e-02 -3.51567536e-03 2.45307577e+01] [-2.02249470e-02 9.95819546e-01 -8.90751595e-02 -4.14518026e-03] [ 1.72025953e-03 8.91279121e-02 9.96018703e-01 9.10238199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.521193817 meters Centerline goodness : 0.885583 with order 1 Centerline is valid? [False, False] Translation: X:24.56, Y:-0.02, Z:0.91 [[ 9.99649592e-01 2.49574953e-02 -8.82138431e-03 2.45575938e+01] [-2.56037264e-02 9.96227879e-01 -8.29123821e-02 -1.77714767e-02] [ 6.71882359e-03 8.31091892e-02 9.96517797e-01 9.05857710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.581193817 meters Centerline goodness : 0.884487 with order 1 Centerline is valid? [False, False] Translation: X:24.59, Y:-0.03, Z:0.91 [[ 9.99603774e-01 2.61497802e-02 -1.04155785e-02 2.45878904e+01] [-2.68513566e-02 9.96884975e-01 -7.41576092e-02 -2.86142293e-02] [ 8.44392854e-03 7.44078984e-02 9.97192140e-01 9.05764193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.64119381699999 meters Centerline goodness : 0.887075 with order 1 Centerline is valid? [False, False] Translation: X:24.61, Y:-0.06, Z:0.91 [[ 9.99544890e-01 2.86096469e-02 -9.56557075e-03 2.46051266e+01] [-2.91709093e-02 9.97467866e-01 -6.48607310e-02 -5.50158268e-02] [ 7.68570683e-03 6.51102487e-02 9.97848478e-01 9.06461921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.70119381699999 meters Centerline goodness : 0.892689 with order 1 Centerline is valid? [False, False] Translation: X:24.60, Y:-0.08, Z:0.91 [[ 9.99705458e-01 2.30470637e-02 -7.60467272e-03 2.46043752e+01] [-2.34159185e-02 9.98339565e-01 -5.26289614e-02 -8.30351657e-02] [ 6.37910263e-03 5.27915304e-02 9.98585180e-01 9.11814499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.76119381699999 meters Centerline goodness : 0.895797 with order 1 Centerline is valid? [False, False] Translation: X:24.63, Y:-0.10, Z:0.91 [[ 9.99875869e-01 1.54966538e-02 -2.84621859e-03 2.46254524e+01] [-1.56047001e-02 9.98954307e-01 -4.29742469e-02 -9.98878312e-02] [ 2.17728530e-03 4.30133268e-02 9.99072126e-01 9.13171571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.821193817 meters Centerline goodness : 0.899476 with order 1 Centerline is valid? [False, False] Translation: X:24.63, Y:-0.11, Z:0.91 [[ 9.99942229e-01 1.01134144e-02 -3.64120932e-03 2.46271805e+01] [-1.02624763e-02 9.98998231e-01 -4.35570438e-02 -1.14178750e-01] [ 3.19705124e-03 4.35918952e-02 9.99044306e-01 9.14600794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.881193817 meters Centerline goodness : 0.907051 with order 1 Centerline is valid? [False, False] Translation: X:24.63, Y:-0.13, Z:0.92 [[ 9.99990899e-01 2.61365819e-03 -3.37199602e-03 2.46272737e+01] [-2.76092633e-03 9.99008464e-01 -4.44349713e-02 -1.31550276e-01] [ 3.25251474e-03 4.44438768e-02 9.99006588e-01 9.17552226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.941193817 meters Centerline goodness : 0.904329 with order 1 Centerline is valid? [False, False] Translation: X:24.64, Y:-0.14, Z:0.92 [[ 9.99918841e-01 -8.10274744e-03 -9.83145971e-03 2.46449647e+01] [ 7.69188262e-03 9.99124095e-01 -4.11324328e-02 -1.43751843e-01] [ 1.01561340e-02 4.10534721e-02 9.99105332e-01 9.18231454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.00119381699999 meters Centerline goodness : 0.904870 with order 1 Centerline is valid? [False, False] Translation: X:24.66, Y:-0.15, Z:0.92 [[ 9.99756328e-01 -1.76769754e-02 -1.32215426e-02 2.46554698e+01] [ 1.70659848e-02 9.98842182e-01 -4.49782918e-02 -1.47813829e-01] [ 1.40013147e-02 4.47416932e-02 9.98900468e-01 9.18021091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.06119381699999 meters Centerline goodness : 0.908245 with order 1 Centerline is valid? [False, False] Translation: X:24.69, Y:-0.15, Z:0.92 [[ 9.99287173e-01 -3.54411534e-02 -1.30027204e-02 2.46855343e+01] [ 3.49362335e-02 9.98697114e-01 -3.71958776e-02 -1.53929242e-01] [ 1.43040442e-02 3.67150973e-02 9.99223396e-01 9.23940721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.12119381699999 meters Centerline goodness : 0.909826 with order 1 Centerline is valid? [False, False] Translation: X:24.69, Y:-0.15, Z:0.92 [[ 9.99092071e-01 -4.05574658e-02 -1.30432444e-02 2.46866265e+01] [ 3.99790893e-02 9.98321361e-01 -4.19062421e-02 -1.53116574e-01] [ 1.47209605e-02 4.13467371e-02 9.99036406e-01 9.23388968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.181193817 meters Centerline goodness : 0.907846 with order 1 Centerline is valid? [False, False] Translation: X:24.70, Y:-0.15, Z:0.92 [[ 9.98898467e-01 -4.41271054e-02 -1.59577873e-02 2.46979421e+01] [ 4.34198390e-02 9.98163561e-01 -4.22400714e-02 -1.49864827e-01] [ 1.77924139e-02 4.15006581e-02 9.98980043e-01 9.20208651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.241193817 meters Centerline goodness : 0.909189 with order 1 Centerline is valid? [False, False] Translation: X:24.72, Y:-0.14, Z:0.92 [[ 9.99242483e-01 -3.66696025e-02 -1.30307356e-02 2.47162159e+01] [ 3.60734889e-02 9.98407889e-01 -4.33634593e-02 -1.40476508e-01] [ 1.46001101e-02 4.28605466e-02 9.98974379e-01 9.16483826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.301193817 meters Centerline goodness : 0.905750 with order 1 Centerline is valid? [False, False] Translation: X:24.73, Y:-0.13, Z:0.92 [[ 9.99612290e-01 -2.59656428e-02 -1.00525895e-02 2.47331466e+01] [ 2.55431796e-02 9.98869512e-01 -4.00904351e-02 -1.33747033e-01] [ 1.10821991e-02 3.98181166e-02 9.99145486e-01 9.15909331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.361193817 meters Centerline goodness : 0.905323 with order 1 Centerline is valid? [False, False] Translation: X:24.77, Y:-0.12, Z:0.91 [[ 9.99858639e-01 -1.43897686e-02 -8.69689681e-03 2.47703354e+01] [ 1.40068566e-02 9.98994346e-01 -4.25923071e-02 -1.19815941e-01] [ 9.30104418e-03 4.24644700e-02 9.99054683e-01 9.14111790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.42119381699999 meters Centerline goodness : 0.906220 with order 1 Centerline is valid? [False, False] Translation: X:24.80, Y:-0.11, Z:0.92 [[ 9.99893772e-01 -1.27311111e-02 -7.09672333e-03 2.47963197e+01] [ 1.24266425e-02 9.99064908e-01 -4.14112140e-02 -1.12110553e-01] [ 7.61729801e-03 4.13186265e-02 9.99116984e-01 9.15073454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.48119381699999 meters Centerline goodness : 0.906322 with order 1 Centerline is valid? [False, False] Translation: X:24.81, Y:-0.11, Z:0.91 [[ 9.99933687e-01 -1.08829362e-02 -3.76603994e-03 2.48143333e+01] [ 1.06990663e-02 9.98892784e-01 -4.58119626e-02 -1.07544001e-01] [ 4.26043878e-03 4.57686316e-02 9.98942982e-01 9.13464487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.54119381699999 meters Centerline goodness : 0.909805 with order 1 Centerline is valid? [False, False] Translation: X:24.84, Y:-0.10, Z:0.91 [[ 9.99955913e-01 -9.32162898e-03 -1.13108222e-03 2.48381727e+01] [ 9.26141389e-03 9.98947493e-01 -4.49236283e-02 -9.83220415e-02] [ 1.54865315e-03 4.49111723e-02 9.98989784e-01 9.14976124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.601193817 meters Centerline goodness : 0.908773 with order 1 Centerline is valid? [False, False] Translation: X:24.88, Y:-0.08, Z:0.91 [[ 9.99986370e-01 -4.97354296e-03 -1.58884641e-03 2.48829048e+01] [ 4.89037566e-03 9.98804240e-01 -4.86433414e-02 -8.40360672e-02] [ 1.82887628e-03 4.86349084e-02 9.98814948e-01 9.13282674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.661193817 meters Centerline goodness : 0.908257 with order 1 Centerline is valid? [False, False] Translation: X:24.91, Y:-0.07, Z:0.91 [[ 9.99997052e-01 -1.96747406e-03 -1.42313979e-03 2.49124826e+01] [ 1.89828935e-03 9.98889205e-01 -4.70824020e-02 -7.21576918e-02] [ 1.51419238e-03 4.70795616e-02 9.98889995e-01 9.10735615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.721193817 meters Centerline goodness : 0.900553 with order 1 Centerline is valid? [False, False] Translation: X:24.96, Y:-0.06, Z:0.91 [[ 9.99987729e-01 2.80217270e-03 -4.08536396e-03 2.49608175e+01] [-2.99702834e-03 9.98818822e-01 -4.84972035e-02 -6.08379989e-02] [ 3.94464088e-03 4.85088524e-02 9.98814963e-01 9.07916441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.78119381699999 meters Centerline goodness : 0.898983 with order 1 Centerline is valid? [False, False] Translation: X:24.99, Y:-0.05, Z:0.90 [[ 9.99975313e-01 5.51593620e-03 -4.35288130e-03 2.49906066e+01] [-5.71876113e-03 9.98828685e-01 -4.80474047e-02 -4.93920353e-02] [ 4.08275628e-03 4.80711117e-02 9.98835572e-01 9.04809343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.84119381699999 meters Centerline goodness : 0.898782 with order 1 Centerline is valid? [False, False] Translation: X:25.02, Y:-0.04, Z:0.90 [[ 9.99965462e-01 7.59748758e-03 -3.36953183e-03 2.50201484e+01] [-7.74091079e-03 9.98965144e-01 -4.48187378e-02 -4.45570035e-02] [ 3.02553505e-03 4.48432730e-02 9.98989453e-01 9.03639282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.90119381699999 meters Centerline goodness : 0.900659 with order 1 Centerline is valid? [False, False] Translation: X:25.05, Y:-0.04, Z:0.91 [[ 9.99929298e-01 1.14377153e-02 -3.25245803e-03 2.50473454e+01] [-1.15566185e-02 9.99162518e-01 -3.92518362e-02 -4.38082609e-02] [ 2.80078283e-03 3.92866485e-02 9.99224056e-01 9.05133995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.961193817 meters Centerline goodness : 0.899942 with order 1 Centerline is valid? [False, False] Translation: X:25.08, Y:-0.05, Z:0.90 [[ 9.99937039e-01 1.10668530e-02 -1.85524268e-03 2.50762883e+01] [-1.11263765e-02 9.99292483e-01 -3.59268242e-02 -4.56023888e-02] [ 1.45633318e-03 3.59452043e-02 9.99352701e-01 9.04845173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.021193817 meters Centerline goodness : 0.906211 with order 1 Centerline is valid? [False, False] Translation: X:25.10, Y:-0.05, Z:0.91 [[ 9.99950187e-01 9.90774899e-03 1.20840593e-03 2.51021721e+01] [-9.86215324e-03 9.99399551e-01 -3.32155957e-02 -4.68038950e-02] [-1.53677213e-03 3.32020236e-02 9.99447479e-01 9.06166193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.081193817 meters Centerline goodness : 0.905722 with order 1 Centerline is valid? [False, False] Translation: X:25.13, Y:-0.04, Z:0.90 [[ 9.99960075e-01 8.32236313e-03 3.25383142e-03 2.51318125e+01] [-8.21677098e-03 9.99478783e-01 -3.12193355e-02 -4.47504490e-02] [-3.51195412e-03 3.11913531e-02 9.99507261e-01 9.04683149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.14119381699999 meters Centerline goodness : 0.908020 with order 1 Centerline is valid? [False, False] Translation: X:25.16, Y:-0.04, Z:0.90 [[ 9.99989297e-01 3.56315334e-03 2.95117314e-03 2.51612457e+01] [-3.45783770e-03 9.99382955e-01 -3.49535669e-02 -4.14303332e-02] [-3.07389706e-03 3.49429881e-02 9.99384580e-01 9.02879765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.20119381699999 meters Centerline goodness : 0.909214 with order 1 Centerline is valid? [False, False] Translation: X:25.19, Y:-0.04, Z:0.90 [[ 9.99976037e-01 -1.76388267e-03 6.69432179e-03 2.51885838e+01] [ 2.00864332e-03 9.99323075e-01 -3.67335989e-02 -3.91997835e-02] [-6.62499648e-03 3.67461652e-02 9.99302671e-01 9.03113449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.26119381699999 meters Centerline goodness : 0.913835 with order 1 Centerline is valid? [False, False] Translation: X:25.20, Y:-0.04, Z:0.91 [[ 9.99920714e-01 -1.08245407e-02 6.43387918e-03 2.52005784e+01] [ 1.10313388e-02 9.99393602e-01 -3.30263348e-02 -3.79379278e-02] [-6.07248278e-03 3.30946906e-02 9.99433773e-01 9.07868608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.321193817 meters Centerline goodness : 0.910861 with order 1 Centerline is valid? [False, False] Translation: X:25.24, Y:-0.03, Z:0.91 [[ 9.99865195e-01 -1.61472908e-02 2.97607633e-03 2.52352100e+01] [ 1.62367135e-02 9.99324162e-01 -3.29786114e-02 -3.47295040e-02] [-2.44154975e-03 3.30224874e-02 9.99451627e-01 9.05683343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.381193817 meters Centerline goodness : 0.913880 with order 1 Centerline is valid? [False, False] Translation: X:25.25, Y:-0.03, Z:0.91 [[ 9.99516592e-01 -3.09514977e-02 2.93037795e-03 2.52530878e+01] [ 3.10307931e-02 9.98984452e-01 -3.26673227e-02 -3.23973176e-02] [-1.91629945e-03 3.27424630e-02 9.99461985e-01 9.07042658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.441193817 meters Centerline goodness : 0.915425 with order 1 Centerline is valid? [False, False] Translation: X:25.28, Y:-0.03, Z:0.91 [[ 9.99320819e-01 -3.67637136e-02 2.51577053e-03 2.52795171e+01] [ 3.68256018e-02 9.98805636e-01 -3.21119525e-02 -3.16625829e-02] [-1.33221115e-03 3.21827875e-02 9.99481112e-01 9.10370584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.50119381699999 meters Centerline goodness : 0.912830 with order 1 Centerline is valid? [False, False] Translation: X:25.31, Y:-0.02, Z:0.91 [[ 9.99135756e-01 -4.14828011e-02 -2.63034721e-03 2.53136649e+01] [ 4.13731295e-02 9.98594559e-01 -3.31235588e-02 -2.21630661e-02] [ 4.00070841e-03 3.29861063e-02 9.99447803e-01 9.08748784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.56119381699999 meters Centerline goodness : 0.914160 with order 1 Centerline is valid? [False, False] Translation: X:25.33, Y:-0.01, Z:0.91 [[ 9.99295520e-01 -3.74957183e-02 -1.59181833e-03 2.53348966e+01] [ 3.74180671e-02 9.98698007e-01 -3.46724547e-02 -1.32579720e-02] [ 2.88981438e-03 3.45884659e-02 9.99397462e-01 9.05833154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.62119381699999 meters Centerline goodness : 0.913166 with order 1 Centerline is valid? [False, False] Translation: X:25.38, Y:0.00, Z:0.90 [[ 9.99504550e-01 -3.14703303e-02 -5.22430192e-04 2.53753451e+01] [ 3.14247150e-02 9.98715592e-01 -3.97448651e-02 4.03286809e-03] [ 1.77254321e-03 3.97087563e-02 9.99209724e-01 9.01080655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.681193817 meters Centerline goodness : 0.911725 with order 1 Centerline is valid? [False, False] Translation: X:25.42, Y:0.03, Z:0.90 [[ 9.99691848e-01 -2.47833551e-02 -1.41236094e-03 2.54177323e+01] [ 2.46934532e-02 9.98658794e-01 -4.55065618e-02 2.51216937e-02] [ 2.53827196e-03 4.54576628e-02 9.98963041e-01 8.95969285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.741193817 meters Centerline goodness : 0.911514 with order 1 Centerline is valid? [False, False] Translation: X:25.46, Y:0.04, Z:0.89 [[ 9.99808196e-01 -1.95535592e-02 -1.10904931e-03 2.54565812e+01] [ 1.94754820e-02 9.98602521e-01 -4.91295242e-02 3.94509199e-02] [ 2.06815650e-03 4.90985017e-02 9.98791800e-01 8.93798633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.801193817 meters Centerline goodness : 0.905423 with order 1 Centerline is valid? [False, False] Translation: X:25.50, Y:0.06, Z:0.89 [[ 9.99878131e-01 -1.55745073e-02 -1.07574482e-03 2.55013333e+01] [ 1.54962942e-02 9.98493076e-01 -5.26444932e-02 5.84449050e-02] [ 1.89403580e-03 5.26214074e-02 9.98612738e-01 8.90302972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.861193817 meters Centerline goodness : 0.906762 with order 1 Centerline is valid? [False, False] Translation: X:25.54, Y:0.07, Z:0.89 [[ 9.99905463e-01 -1.37464486e-02 -3.17401037e-04 2.55417734e+01] [ 1.37052691e-02 9.98241666e-01 -5.76692486e-02 7.03043436e-02] [ 1.10959030e-03 5.76594467e-02 9.98335694e-01 8.88423823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.92119381699999 meters Centerline goodness : 0.904358 with order 1 Centerline is valid? [False, False] Translation: X:25.59, Y:0.09, Z:0.89 [[ 9.99912224e-01 -1.31493792e-02 -1.62396053e-03 2.55908671e+01] [ 1.30355631e-02 9.98291553e-01 -5.69565599e-02 8.74271753e-02] [ 2.37012948e-03 5.69303912e-02 9.98375337e-01 8.89444090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.98119381699999 meters Centerline goodness : 0.906068 with order 1 Centerline is valid? [False, False] Translation: X:25.63, Y:0.10, Z:0.89 [[ 9.99970792e-01 -7.63942332e-03 2.32589630e-04 2.56297921e+01] [ 7.64011012e-03 9.98303101e-01 -5.77282266e-02 9.69955585e-02] [ 2.08815412e-04 5.77283175e-02 9.98332308e-01 8.89184211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.04119381699999 meters Centerline goodness : 0.901790 with order 1 Centerline is valid? [False, False] Translation: X:25.69, Y:0.12, Z:0.89 [[ 9.99965424e-01 7.81128016e-03 2.85198375e-03 2.56920631e+01] [-7.55889957e-03 9.96784104e-01 -7.97766415e-02 1.17839798e-01] [-3.46596977e-03 7.97523253e-02 9.96808685e-01 8.90244390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.101193817 meters Centerline goodness : 0.900387 with order 1 Centerline is valid? [False, False] Translation: X:25.73, Y:0.16, Z:0.90 [[ 9.99714730e-01 2.01103725e-02 1.28852956e-02 2.57308397e+01] [-1.74085895e-02 9.82891155e-01 -1.83362805e-01 1.56548219e-01] [-1.63523374e-02 1.83086183e-01 9.82960859e-01 8.95067524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.161193817 meters Centerline goodness : 0.901369 with order 1 Centerline is valid? [False, False] Translation: X:25.74, Y:0.15, Z:0.90 [[ 9.99589938e-01 2.64938782e-02 1.08641802e-02 2.57435791e+01] [-2.44004879e-02 9.86645834e-01 -1.61042278e-01 1.52087892e-01] [-1.49857326e-02 1.60711149e-01 9.86887711e-01 8.98735371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.221193817 meters Centerline goodness : 0.893753 with order 1 Centerline is valid? [False, False] Translation: X:25.74, Y:0.14, Z:0.90 [[ 9.99679871e-01 2.27601347e-02 1.10513019e-02 2.57411805e+01] [-2.11578963e-02 9.91529192e-01 -1.28149149e-01 1.41159900e-01] [-1.38743803e-02 1.27874303e-01 9.91693332e-01 9.00217747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.28119381699999 meters Centerline goodness : 0.898421 with order 1 Centerline is valid? [False, False] Translation: X:25.73, Y:0.13, Z:0.90 [[ 9.99769846e-01 1.78638145e-02 1.18801751e-02 2.57345790e+01] [-1.65098513e-02 9.94264795e-01 -1.05664292e-01 1.26476427e-01] [-1.36996072e-02 1.05443833e-01 9.94330890e-01 9.03488587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.34119381699999 meters Centerline goodness : 0.895577 with order 1 Centerline is valid? [False, False] Translation: X:25.73, Y:0.12, Z:0.90 [[ 9.99825635e-01 1.34812505e-02 1.29211217e-02 2.57293009e+01] [-1.23097946e-02 9.96148824e-01 -8.68100804e-02 1.15918142e-01] [-1.40416686e-02 8.66358874e-02 9.96141082e-01 9.04803963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.40119381699999 meters Centerline goodness : 0.896764 with order 1 Centerline is valid? [False, False] Translation: X:25.76, Y:0.11, Z:0.90 [[ 9.99891461e-01 7.44365717e-03 1.27145139e-02 2.57611835e+01] [-6.38779829e-03 9.96681020e-01 -8.11550383e-02 1.11006919e-01] [-1.32764050e-02 8.10650120e-02 9.96620390e-01 9.03871588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.461193817 meters Centerline goodness : 0.895326 with order 1 Centerline is valid? [False, False] Translation: X:25.79, Y:0.11, Z:0.90 [[ 9.99919923e-01 3.48046373e-03 1.21669524e-02 2.57931870e+01] [-2.57546836e-03 9.97282955e-01 -7.36211509e-02 1.07021792e-01] [-1.23901300e-02 7.35839199e-02 9.97212059e-01 9.03410750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.521193817 meters Centerline goodness : 0.897434 with order 1 Centerline is valid? [False, False] Translation: X:25.84, Y:0.11, Z:0.90 [[ 9.99947072e-01 4.46392783e-03 9.26960675e-03 2.58387271e+01] [-3.76941171e-03 9.97278151e-01 -7.36347832e-02 1.05712945e-01] [-9.57307664e-03 7.35959449e-02 9.97242194e-01 8.99829229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.581193817 meters Centerline goodness : 0.897591 with order 1 Centerline is valid? [False, False] Translation: X:25.88, Y:0.11, Z:0.90 [[ 9.99917709e-01 7.98977508e-03 1.00368205e-02 2.58792838e+01] [-7.23159843e-03 9.97274230e-01 -7.34289753e-02 1.06966844e-01] [-1.05961435e-02 7.33503506e-02 9.97249942e-01 8.98472591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.64119381699999 meters Centerline goodness : 0.898162 with order 1 Centerline is valid? [False, False] Translation: X:25.94, Y:0.11, Z:0.90 [[ 9.99887810e-01 1.08859444e-02 1.02890007e-02 2.59384779e+01] [-1.00493253e-02 9.96892253e-01 -7.81335161e-02 1.14102627e-01] [-1.11075823e-02 7.80213528e-02 9.96889808e-01 8.96293538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.70119381699999 meters Centerline goodness : 0.896976 with order 1 Centerline is valid? [False, False] Translation: X:25.97, Y:0.12, Z:0.90 [[ 9.99940149e-01 6.63534566e-03 8.69888209e-03 2.59705923e+01] [-5.97734455e-03 9.97269879e-01 -7.36006722e-02 1.15213272e-01] [-9.16349899e-03 7.35442709e-02 9.97249854e-01 8.96446200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.76119381699999 meters Centerline goodness : 0.896511 with order 1 Centerline is valid? [False, False] Translation: X:26.00, Y:0.12, Z:0.90 [[ 9.99870501e-01 -1.26512090e-02 9.94624443e-03 2.59991116e+01] [ 1.33045386e-02 9.97553861e-01 -6.86242198e-02 1.16618969e-01] [-9.05373518e-03 6.87476633e-02 9.97592998e-01 8.98331533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.821193817 meters Centerline goodness : 0.899560 with order 1 Centerline is valid? [False, False] Translation: X:26.03, Y:0.12, Z:0.90 [[ 9.99555414e-01 -2.86028151e-02 8.41744288e-03 2.60290377e+01] [ 2.90490251e-02 9.97847650e-01 -5.87896433e-02 1.17449462e-01] [-6.71777630e-03 5.90080247e-02 9.98234904e-01 9.00063149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.881193817 meters Centerline goodness : 0.901692 with order 1 Centerline is valid? [False, False] Translation: X:26.06, Y:0.13, Z:0.91 [[ 9.99233265e-01 -3.82603893e-02 8.30808443e-03 2.60625480e+01] [ 3.86430569e-02 9.97887585e-01 -5.22214778e-02 1.27546761e-01] [-6.29252023e-03 5.25024875e-02 9.98600968e-01 9.05346150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.941193817 meters Centerline goodness : 0.902057 with order 1 Centerline is valid? [False, False] Translation: X:26.10, Y:0.14, Z:0.90 [[ 9.99463146e-01 -3.13428375e-02 9.54182154e-03 2.61013422e+01] [ 3.17752554e-02 9.98285187e-01 -4.91631918e-02 1.36381783e-01] [-7.98454517e-03 4.94399922e-02 9.98745180e-01 9.04279409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.00119381699999 meters Centerline goodness : 0.898653 with order 1 Centerline is valid? [False, False] Translation: X:26.16, Y:0.17, Z:0.90 [[ 9.99823157e-01 -1.21316902e-02 1.43692714e-02 2.61599393e+01] [ 1.33286339e-02 9.96174429e-01 -8.63646632e-02 1.67293326e-01] [-1.32665514e-02 8.65409130e-02 9.96159962e-01 9.02693323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.06119381699999 meters Centerline goodness : 0.895780 with order 1 Centerline is valid? [False, False] Translation: X:26.16, Y:0.19, Z:0.90 [[ 9.99894744e-01 7.42811494e-03 1.24628701e-02 2.61643041e+01] [-6.45071347e-03 9.97032512e-01 -7.67108700e-02 1.88132358e-01] [-1.29957038e-02 7.66224014e-02 9.96975486e-01 9.01853787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.12119381699999 meters Centerline goodness : 0.899766 with order 1 Centerline is valid? [False, False] Translation: X:26.14, Y:0.19, Z:0.91 [[ 9.99886922e-01 1.22128699e-02 8.77429994e-03 2.61352553e+01] [-1.17937430e-02 9.98856652e-01 -4.63281403e-02 1.93355981e-01] [-9.33006741e-03 4.62194198e-02 9.98887739e-01 9.07906178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.181193817 meters Centerline goodness : 0.894592 with order 1 Centerline is valid? [False, False] Translation: X:26.14, Y:0.20, Z:0.91 [[ 9.99798210e-01 1.99457675e-02 2.38876384e-03 2.61387202e+01] [-1.98795400e-02 9.99486795e-01 -2.51187318e-02 2.00414203e-01] [-2.88855030e-03 2.50661755e-02 9.99681621e-01 9.06592475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.241193817 meters Centerline goodness : 0.892728 with order 1 Centerline is valid? [False, False] Translation: X:26.16, Y:0.20, Z:0.91 [[ 9.99740649e-01 2.25247168e-02 3.35728562e-03 2.61595109e+01] [-2.25049079e-02 9.99729759e-01 -5.82567874e-03 2.03022507e-01] [-3.48760011e-03 5.74861245e-03 9.99977395e-01 9.05541593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.301193817 meters Centerline goodness : 0.895029 with order 1 Centerline is valid? [False, False] Translation: X:26.19, Y:0.19, Z:0.91 [[ 9.99705748e-01 2.23270775e-02 9.48255749e-03 2.61871389e+01] [-2.25388811e-02 9.99484811e-01 2.28497556e-02 1.94192588e-01] [-8.96750392e-03 -2.30567583e-02 9.99693938e-01 9.06837688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.361193817 meters Centerline goodness : 0.897407 with order 1 Centerline is valid? [False, False] Translation: X:26.22, Y:0.19, Z:0.91 [[ 9.99686354e-01 2.02363356e-02 1.47541327e-02 2.62163045e+01] [-2.09493960e-02 9.98534791e-01 4.98938275e-02 1.85277245e-01] [-1.37228466e-02 -5.01872686e-02 9.98645543e-01 9.06719160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.42119381699999 meters Centerline goodness : 0.896477 with order 1 Centerline is valid? [False, False] Translation: X:26.23, Y:0.15, Z:0.93 [[ 9.99801514e-01 9.24297878e-03 1.76493819e-02 2.62329967e+01] [-1.21714867e-02 9.84705817e-01 1.73799620e-01 1.47308043e-01] [-1.57730228e-02 -1.73979943e-01 9.84622868e-01 9.33573782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.48119381699999 meters Centerline goodness : 0.894832 with order 1 Centerline is valid? [False, False] Translation: X:26.24, Y:0.10, Z:0.96 [[ 9.99853653e-01 -7.18125935e-03 1.55274944e-02 2.62422114e+01] [ 2.14417439e-03 9.53078010e-01 3.02717210e-01 1.03530157e-01] [-1.69728042e-02 -3.02639614e-01 9.52953927e-01 9.60559637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.54119381699999 meters Centerline goodness : 0.898862 with order 1 Centerline is valid? [False, False] Translation: X:26.25, Y:0.08, Z:0.99 [[ 9.99512887e-01 -2.83148591e-02 1.31246696e-02 2.62475630e+01] [ 2.08550939e-02 9.18844485e-01 3.94068366e-01 7.52692840e-02] [-2.32175205e-02 -3.93602694e-01 9.18987413e-01 9.89403127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.601193817 meters Centerline goodness : 0.895085 with order 1 Centerline is valid? [False, False] Translation: X:26.22, Y:0.09, Z:0.99 [[ 9.99480051e-01 -2.80074827e-02 1.59752330e-02 2.62238744e+01] [ 2.06683652e-02 9.36794750e-01 3.49268399e-01 8.50901533e-02] [-2.47476430e-02 -3.48756615e-01 9.36886534e-01 9.89525465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.661193817 meters Centerline goodness : 0.890864 with order 1 Centerline is valid? [False, False] Translation: X:26.20, Y:0.10, Z:0.99 [[ 9.99575388e-01 -2.37883302e-02 1.68273301e-02 2.61997169e+01] [ 1.74550293e-02 9.51257263e-01 3.07904111e-01 9.80066946e-02] [-2.33316446e-02 -3.07479650e-01 9.51268574e-01 9.85691084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.721193817 meters Centerline goodness : 0.892971 with order 1 Centerline is valid? [False, False] Translation: X:26.19, Y:0.11, Z:0.98 [[ 9.99806319e-01 -1.67423289e-02 1.03449763e-02 2.61915878e+01] [ 1.33198611e-02 9.62608513e-01 2.70568720e-01 1.11201193e-01] [-1.44881127e-02 -2.70378522e-01 9.62645080e-01 9.79925180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.78119381699999 meters Centerline goodness : 0.885972 with order 1 Centerline is valid? [False, False] Translation: X:26.18, Y:0.12, Z:0.98 [[ 9.99918887e-01 -1.05525705e-02 7.13178164e-03 2.61797939e+01] [ 8.60765586e-03 9.72610454e-01 2.32281755e-01 1.23816950e-01] [-9.38761498e-03 -2.32201526e-01 9.72622395e-01 9.77518797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.84119381699999 meters Centerline goodness : 0.884962 with order 1 Centerline is valid? [False, False] Translation: X:26.18, Y:0.13, Z:0.98 [[ 9.99963569e-01 -6.52256262e-03 5.50604347e-03 2.61809258e+01] [ 5.30186850e-03 9.80144335e-01 1.98214463e-01 1.34145302e-01] [-6.68958356e-03 -1.98178050e-01 9.80143209e-01 9.77436808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.90119381699999 meters Centerline goodness : 0.880481 with order 1 Centerline is valid? [False, False] Translation: X:26.17, Y:0.14, Z:0.98 [[ 9.99985162e-01 -8.45523421e-04 5.38160323e-03 2.61740481e+01] [-6.47855410e-05 9.85965891e-01 1.66946873e-01 1.42532308e-01] [-5.44723471e-03 -1.66944745e-01 9.85951206e-01 9.78809823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.961193817 meters Centerline goodness : 0.883386 with order 1 Centerline is valid? [False, False] Translation: X:26.18, Y:0.12, Z:1.00 [[ 9.99991437e-01 -3.74505635e-03 -1.76064705e-03 2.61781193e+01] [ 4.07002701e-03 9.66997059e-01 2.54755024e-01 1.16918993e-01] [ 7.48468606e-04 -2.54760008e-01 9.67004022e-01 1.00188457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.021193817 meters Centerline goodness : 0.881420 with order 1 Centerline is valid? [False, False] Translation: X:26.17, Y:0.08, Z:1.03 [[ 9.99930805e-01 -9.75085710e-03 -6.58069231e-03 2.61723605e+01] [ 1.14937577e-02 9.28968970e-01 3.69979117e-01 8.24415792e-02] [ 2.50564545e-03 -3.70029153e-01 9.29016764e-01 1.03443673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.081193817 meters Centerline goodness : 0.878885 with order 1 Centerline is valid? [False, False] Translation: X:26.15, Y:0.09, Z:1.03 [[ 9.99869462e-01 -1.46922590e-02 -6.72288506e-03 2.61528294e+01] [ 1.60319412e-02 9.53888071e-01 2.99734092e-01 9.09255578e-02] [ 2.00910895e-03 -2.99802746e-01 9.53999097e-01 1.03360468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.14119381699999 meters Centerline goodness : 0.878289 with order 1 Centerline is valid? [False, False] Translation: X:26.15, Y:0.10, Z:1.03 [[ 9.99851881e-01 -1.59153587e-02 -6.55106333e-03 2.61525090e+01] [ 1.70173577e-02 9.71113891e-01 2.38008867e-01 1.01291709e-01] [ 2.57383210e-03 -2.38085095e-01 9.71240888e-01 1.02883098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.20119381699999 meters Centerline goodness : 0.877898 with order 1 Centerline is valid? [False, False] Translation: X:26.15, Y:0.12, Z:1.03 [[ 9.99957265e-01 -8.68548154e-03 -3.16701424e-03 2.61511677e+01] [ 9.08584349e-03 9.86558191e-01 1.63157542e-01 1.19309037e-01] [ 1.70734201e-03 -1.63179345e-01 9.86594945e-01 1.03128276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.26119381699999 meters Centerline goodness : 0.876219 with order 1 Centerline is valid? [False, False] Translation: X:26.15, Y:0.14, Z:1.03 [[ 9.99993695e-01 -3.17130287e-03 1.59779515e-03 2.61489037e+01] [ 3.01333309e-03 9.95874522e-01 9.06909954e-02 1.38150629e-01] [-1.87881210e-03 -9.06856089e-02 9.95877799e-01 1.03284167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.321193817 meters Centerline goodness : 0.878739 with order 1 Centerline is valid? [False, False] Translation: X:26.15, Y:0.17, Z:1.04 [[ 9.99946796e-01 1.02576635e-02 1.08848892e-03 2.61531902e+01] [-1.02442538e-02 9.99879278e-01 -1.16826276e-02 1.67475550e-01] [-1.20819398e-03 1.16708553e-02 9.99931163e-01 1.04072700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.381193817 meters Centerline goodness : 0.877643 with order 1 Centerline is valid? [False, False] Translation: X:26.16, Y:0.20, Z:1.05 [[ 9.99820178e-01 1.89063713e-02 -1.46969640e-03 2.61648644e+01] [-1.89430123e-02 9.92147164e-01 -1.23633195e-01 2.00779272e-01] [-8.79299977e-04 1.23638803e-01 9.92326898e-01 1.05343690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.441193817 meters Centerline goodness : 0.875041 with order 1 Centerline is valid? [False, False] Translation: X:26.17, Y:0.19, Z:1.05 [[ 9.99773375e-01 2.07268561e-02 -4.85752327e-03 2.61696254e+01] [-2.11198002e-02 9.94352282e-01 -1.04007184e-01 1.89215408e-01] [ 2.67434742e-03 1.04086203e-01 9.94564684e-01 1.05028493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.50119381699999 meters Centerline goodness : 0.876522 with order 1 Centerline is valid? [False, False] Translation: X:26.16, Y:0.18, Z:1.05 [[ 9.99859289e-01 1.64026724e-02 -3.51496393e-03 2.61587094e+01] [-1.66402651e-02 9.96317126e-01 -8.41147202e-02 1.77007827e-01] [ 2.12231256e-03 8.41613743e-02 9.96449878e-01 1.04972578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.56119381699999 meters Centerline goodness : 0.875259 with order 1 Centerline is valid? [False, False] Translation: X:26.14, Y:0.16, Z:1.05 [[ 9.99978426e-01 5.85750043e-03 -2.97262801e-03 2.61447002e+01] [-6.03392402e-03 9.97976794e-01 -6.32922612e-02 1.55559334e-01] [ 2.59587932e-03 6.33088324e-02 9.97990608e-01 1.04982132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.62119381699999 meters Centerline goodness : 0.871679 with order 1 Centerline is valid? [False, False] Translation: X:26.16, Y:0.14, Z:1.05 [[ 9.99971615e-01 -4.66915812e-03 -5.91344932e-03 2.61578313e+01] [ 4.34382993e-03 9.98537896e-01 -5.38813617e-02 1.41031196e-01] [ 6.15638384e-03 5.38541452e-02 9.98529834e-01 1.05384938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.681193817 meters Centerline goodness : 0.872765 with order 1 Centerline is valid? [False, False] Translation: X:26.18, Y:0.13, Z:1.05 [[ 9.99920847e-01 -1.21901596e-02 -3.11436855e-03 2.61783216e+01] [ 1.20397409e-02 9.98938998e-01 -4.44513622e-02 1.34819762e-01] [ 3.65293340e-03 4.44103475e-02 9.99006695e-01 1.05450128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.741193817 meters Centerline goodness : 0.874647 with order 1 Centerline is valid? [False, False] Translation: X:26.19, Y:0.13, Z:1.05 [[ 9.99837585e-01 -1.79462749e-02 1.65343385e-03 2.61901912e+01] [ 1.79979712e-02 9.99041512e-01 -3.99014981e-02 1.30600769e-01] [-9.35765797e-04 3.99247759e-02 9.99202250e-01 1.05111025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.801193817 meters Centerline goodness : 0.877845 with order 1 Centerline is valid? [False, False] Translation: X:26.22, Y:0.13, Z:1.05 [[ 9.99652323e-01 -2.62687501e-02 2.27739197e-03 2.62161765e+01] [ 2.63369412e-02 9.98913012e-01 -3.84598444e-02 1.32334644e-01] [-1.26462443e-03 3.85064524e-02 9.99257551e-01 1.05485534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.861193817 meters Centerline goodness : 0.880884 with order 1 Centerline is valid? [False, False] Translation: X:26.25, Y:0.14, Z:1.05 [[ 9.99557935e-01 -2.93370553e-02 4.82407942e-03 2.62528822e+01] [ 2.95277505e-02 9.98510301e-01 -4.58834542e-02 1.42680676e-01] [-3.47080756e-03 4.60056149e-02 9.98935151e-01 1.05420661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.92119381699999 meters Centerline goodness : 0.879622 with order 1 Centerline is valid? [False, False] Translation: X:26.29, Y:0.15, Z:1.05 [[ 9.99632054e-01 -2.65410550e-02 5.59720959e-03 2.62923923e+01] [ 2.67805134e-02 9.98476409e-01 -4.82458791e-02 1.51041402e-01] [-4.30818520e-03 4.83780234e-02 9.98819807e-01 1.05234414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.98119381699999 meters Centerline goodness : 0.876981 with order 1 Centerline is valid? [False, False] Translation: X:26.33, Y:0.19, Z:1.06 [[ 9.99754701e-01 -1.37355506e-02 1.73744929e-02 2.63317014e+01] [ 1.58072377e-02 9.91986771e-01 -1.25349024e-01 1.90084061e-01] [-1.55135293e-02 1.25592919e-01 9.91960558e-01 1.05571162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.04119381699999 meters Centerline goodness : 0.880044 with order 1 Centerline is valid? [False, False] Translation: X:26.37, Y:0.23, Z:1.07 [[ 9.99761777e-01 2.57615207e-03 2.16737575e-02 2.63747606e+01] [ 2.51990376e-03 9.72746251e-01 -2.31858538e-01 2.33142997e-01] [-2.16803692e-02 2.31857919e-01 9.72508029e-01 1.06639591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.101193817 meters Centerline goodness : 0.874972 with order 1 Centerline is valid? [False, False] Translation: X:26.40, Y:0.28, Z:1.09 [[ 9.99545221e-01 2.33693980e-02 1.90583836e-02 2.64035878e+01] [-1.53025231e-02 9.37665432e-01 -3.47202205e-01 2.78326985e-01] [-2.59842940e-02 3.46752663e-01 9.37596612e-01 1.08729242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.161193817 meters Centerline goodness : 0.878344 with order 1 Centerline is valid? [False, False] Translation: X:26.38, Y:0.27, Z:1.09 [[ 9.99570089e-01 2.49040057e-02 1.54734621e-02 2.63765677e+01] [-1.89919447e-02 9.52033327e-01 -3.05404406e-01 2.68290923e-01] [-2.23370446e-02 3.04979238e-01 9.52097012e-01 1.08720783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.221193817 meters Centerline goodness : 0.878373 with order 1 Centerline is valid? [False, False] Translation: X:26.36, Y:0.25, Z:1.09 [[ 9.99469899e-01 2.80494901e-02 1.65271479e-02 2.63623079e+01] [-2.25675101e-02 9.62797469e-01 -2.69280041e-01 2.54876450e-01] [-2.34654640e-02 2.68764319e-01 9.62920097e-01 1.08510842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.28119381699999 meters Centerline goodness : 0.878140 with order 1 Centerline is valid? [False, False] Translation: X:26.35, Y:0.24, Z:1.09 [[ 9.99466275e-01 2.71185758e-02 1.82139563e-02 2.63469918e+01] [-2.21578906e-02 9.72462225e-01 -2.32004845e-01 2.42638372e-01] [-2.40040255e-02 2.31477436e-01 9.72544088e-01 1.08615533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.34119381699999 meters Centerline goodness : 0.879332 with order 1 Centerline is valid? [False, False] Translation: X:26.34, Y:0.23, Z:1.09 [[ 9.99564270e-01 2.12272552e-02 2.05103268e-02 2.63393976e+01] [-1.66574341e-02 9.79298549e-01 -2.01734682e-01 2.27300592e-01] [-2.43680068e-02 2.01305131e-01 9.79225431e-01 1.08846286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.40119381699999 meters Centerline goodness : 0.877323 with order 1 Centerline is valid? [False, False] Translation: X:26.31, Y:0.21, Z:1.09 [[ 9.99652057e-01 1.04960237e-02 2.41991520e-02 2.63149324e+01] [-6.20698892e-03 9.85262556e-01 -1.70936153e-01 2.13517826e-01] [-2.56366682e-02 1.70726473e-01 9.84984890e-01 1.08970234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.461193817 meters Centerline goodness : 0.880108 with order 1 Centerline is valid? [False, False] Translation: X:26.34, Y:0.20, Z:1.09 [[ 9.99736872e-01 -6.71155715e-03 2.19349573e-02 2.63405856e+01] [ 1.00516446e-02 9.87720268e-01 -1.55909067e-01 1.98090572e-01] [-2.06192093e-02 1.56088525e-01 9.87527833e-01 1.09142027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.521193817 meters Centerline goodness : 0.879161 with order 1 Centerline is valid? [False, False] Translation: X:26.37, Y:0.19, Z:1.09 [[ 9.99679420e-01 -1.72659390e-02 1.85187670e-02 2.63673884e+01] [ 1.96923484e-02 9.89947796e-01 -1.40055604e-01 1.90625427e-01] [-1.59144211e-02 1.40375383e-01 9.89970446e-01 1.09220816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.581193817 meters Centerline goodness : 0.875320 with order 1 Centerline is valid? [False, False] Translation: X:26.39, Y:0.18, Z:1.09 [[ 9.99505035e-01 -2.71112361e-02 1.59582351e-02 2.63920380e+01] [ 2.89042780e-02 9.91654817e-01 -1.25639429e-01 1.84184727e-01] [-1.24188205e-02 1.26038503e-01 9.91947614e-01 1.09441472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.64119381699999 meters Centerline goodness : 0.872009 with order 1 Centerline is valid? [False, False] Translation: X:26.41, Y:0.18, Z:1.09 [[ 9.99287091e-01 -3.32148819e-02 1.79466277e-02 2.64090013e+01] [ 3.50672082e-02 9.92710173e-01 -1.15311763e-01 1.82084891e-01] [-1.39857333e-02 1.15858894e-01 9.93167214e-01 1.09410349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.70119381699999 meters Centerline goodness : 0.878348 with order 1 Centerline is valid? [False, False] Translation: X:26.44, Y:0.19, Z:1.09 [[ 9.99114322e-01 -3.90247258e-02 1.57366537e-02 2.64373721e+01] [ 4.03722060e-02 9.94454908e-01 -9.71057254e-02 1.88077635e-01] [-1.18598682e-02 9.76550445e-02 9.95149655e-01 1.09485775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.76119381699999 meters Centerline goodness : 0.870312 with order 1 Centerline is valid? [False, False] Translation: X:26.46, Y:0.19, Z:1.09 [[ 9.98919313e-01 -4.38734120e-02 1.53404354e-02 2.64572240e+01] [ 4.50200712e-02 9.95381764e-01 -8.47840564e-02 1.90504772e-01] [-1.15498239e-02 8.53830589e-02 9.96281253e-01 1.09476988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.821193817 meters Centerline goodness : 0.871537 with order 1 Centerline is valid? [False, False] Translation: X:26.48, Y:0.19, Z:1.10 [[ 9.98767978e-01 -4.72128724e-02 1.52797325e-02 2.64834850e+01] [ 4.82915497e-02 9.95600634e-01 -8.02951095e-02 1.93123764e-01] [-1.14215486e-02 8.09340661e-02 9.96654015e-01 1.09696150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.881193817 meters Centerline goodness : 0.878491 with order 1 Centerline is valid? [False, False] Translation: X:26.54, Y:0.21, Z:1.10 [[ 9.99068400e-01 -4.12050093e-02 1.28249304e-02 2.65381043e+01] [ 4.21036444e-02 9.95887150e-01 -8.02251068e-02 2.09095358e-01] [-9.46650708e-03 8.06903454e-02 9.96694263e-01 1.09722267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.941193817 meters Centerline goodness : 0.873692 with order 1 Centerline is valid? [False, False] Translation: X:26.58, Y:0.22, Z:1.10 [[ 9.99367081e-01 -3.32534206e-02 1.26351409e-02 2.65834030e+01] [ 3.42393260e-02 9.95523427e-01 -8.80952646e-02 2.23074570e-01] [-9.64910983e-03 8.84721262e-02 9.96031916e-01 1.09668890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.00119381699999 meters Centerline goodness : 0.876098 with order 1 Centerline is valid? [False, False] Translation: X:26.58, Y:0.24, Z:1.10 [[ 9.99690760e-01 -2.15024455e-02 1.24911642e-02 2.65835889e+01] [ 2.24529547e-02 9.96401270e-01 -8.17335582e-02 2.35873328e-01] [-1.06887404e-02 8.19887465e-02 9.96575936e-01 1.09905883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.06119381699999 meters Centerline goodness : 0.877215 with order 1 Centerline is valid? [False, False] Translation: X:26.59, Y:0.24, Z:1.10 [[ 9.99854554e-01 -1.46086499e-02 8.80107629e-03 2.65925933e+01] [ 1.51742884e-02 9.97565912e-01 -6.80587358e-02 2.43899532e-01] [-7.78540745e-03 6.81823870e-02 9.97642496e-01 1.10234442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.12119381699999 meters Centerline goodness : 0.880394 with order 1 Centerline is valid? [False, False] Translation: X:26.59, Y:0.25, Z:1.11 [[ 9.99976794e-01 -2.24334707e-03 6.43265246e-03 2.65946015e+01] [ 2.59501134e-03 9.98472387e-01 -5.51920088e-02 2.50879115e-01] [-6.29901103e-03 5.52074208e-02 9.98455038e-01 1.10589983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.181193817 meters Centerline goodness : 0.879933 with order 1 Centerline is valid? [False, False] Translation: X:26.59, Y:0.22, Z:1.12 [[ 9.99992822e-01 -2.90150382e-03 2.43646704e-03 2.65927646e+01] [ 2.76677877e-03 9.98559312e-01 5.35877338e-02 2.18819843e-01] [-2.58844186e-03 -5.35806080e-02 9.98560173e-01 1.11709634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.241193817 meters Centerline goodness : 0.880203 with order 1 Centerline is valid? [False, False] Translation: X:26.60, Y:0.20, Z:1.13 [[ 9.99995729e-01 2.32846675e-03 1.76642811e-03 2.66040919e+01] [-2.52514238e-03 9.92645766e-01 1.21028948e-01 1.97842520e-01] [-1.47162550e-03 -1.21032892e-01 9.92647406e-01 1.12922898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.301193817 meters Centerline goodness : 0.879429 with order 1 Centerline is valid? [False, False] Translation: X:26.62, Y:0.19, Z:1.13 [[ 9.99936189e-01 1.02632987e-02 4.72041608e-03 2.66224419e+01] [-1.08043835e-02 9.90880756e-01 1.34307831e-01 1.92087675e-01] [-3.29892806e-03 -1.34350262e-01 9.90928415e-01 1.12985462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.361193817 meters Centerline goodness : 0.882467 with order 1 Centerline is valid? [False, False] Translation: X:26.65, Y:0.18, Z:1.13 [[ 9.99788926e-01 2.05130280e-02 1.14877647e-03 2.66472740e+01] [-2.04966039e-02 9.92022803e-01 1.24381057e-01 1.82246654e-01] [ 1.41181965e-03 -1.24378349e-01 9.92233860e-01 1.13301231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.42119381699999 meters Centerline goodness : 0.878111 with order 1 Centerline is valid? [False, False] Translation: X:26.68, Y:0.16, Z:1.14 [[ 9.99785844e-01 1.96462833e-02 6.50306295e-03 2.66763218e+01] [-2.04559354e-02 9.85780694e-01 1.66787227e-01 1.57657895e-01] [-3.13384480e-03 -1.66884534e-01 9.85971466e-01 1.14072196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.48119381699999 meters Centerline goodness : 0.881292 with order 1 Centerline is valid? [False, False] Translation: X:26.70, Y:0.10, Z:1.17 [[ 9.99883336e-01 1.14422109e-02 1.01188213e-02 2.67045419e+01] [-1.38865710e-02 9.56873699e-01 2.90172169e-01 9.82468728e-02] [-6.36222280e-03 -2.90278832e-01 9.56920959e-01 1.16784434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.54119381699999 meters Centerline goodness : 0.882809 with order 1 Centerline is valid? [False, False] Translation: X:26.69, Y:0.08, Z:1.17 [[ 9.99850312e-01 1.46302375e-02 9.23630518e-03 2.66872686e+01] [-1.64984489e-02 9.66986022e-01 2.54294779e-01 8.26035402e-02] [-5.21098500e-03 -2.54409099e-01 9.67082652e-01 1.17114139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.601193817 meters Centerline goodness : 0.885978 with order 1 Centerline is valid? [False, False] Translation: X:26.68, Y:0.07, Z:1.17 [[ 9.99726902e-01 2.25730026e-02 6.04825317e-03 2.66775990e+01] [-2.33490237e-02 9.75593544e-01 2.18339322e-01 7.36306293e-02] [-9.72062655e-04 -2.18420915e-01 9.75854169e-01 1.17112826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.661193817 meters Centerline goodness : 0.884518 with order 1 Centerline is valid? [False, False] Translation: X:26.68, Y:0.06, Z:1.17 [[ 9.99297987e-01 3.72716091e-02 3.78949981e-03 2.66767046e+01] [-3.73151664e-02 9.81229435e-01 1.89199296e-01 6.06338814e-02] [ 3.33339345e-03 -1.89207882e-01 9.81931396e-01 1.17214484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.721193817 meters Centerline goodness : 0.882492 with order 1 Centerline is valid? [False, False] Translation: X:26.67, Y:0.05, Z:1.17 [[ 9.98956762e-01 4.54744274e-02 4.17893586e-03 2.66710343e+01] [-4.55499189e-02 9.85713951e-01 1.62151816e-01 5.43373901e-02] [ 3.25452559e-03 -1.62173003e-01 9.86756974e-01 1.17152774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.78119381699999 meters Centerline goodness : 0.886135 with order 1 Centerline is valid? [False, False] Translation: X:26.65, Y:0.04, Z:1.17 [[ 9.99018085e-01 4.41054144e-02 4.19273277e-03 2.66473996e+01] [-4.42716503e-02 9.90173020e-01 1.32655232e-01 3.66020101e-02] [ 1.69928312e-03 -1.32710595e-01 9.91153374e-01 1.17476700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.84119381699999 meters Centerline goodness : 0.886532 with order 1 Centerline is valid? [False, False] Translation: X:26.63, Y:0.02, Z:1.17 [[ 9.99292783e-01 3.68611553e-02 7.42892932e-03 2.66317694e+01] [-3.74723189e-02 9.92623394e-01 1.15302312e-01 2.43513350e-02] [-3.12395259e-03 -1.15499148e-01 9.93302667e-01 1.17357403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.90119381699999 meters Centerline goodness : 0.890365 with order 1 Centerline is valid? [False, False] Translation: X:26.63, Y:0.00, Z:1.18 [[ 9.99742499e-01 2.14614335e-02 7.37173628e-03 2.66314186e+01] [-2.21453672e-02 9.93620956e-01 1.10575670e-01 2.34952356e-03] [-4.95159927e-03 -1.10710446e-01 9.93840369e-01 1.17648264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.961193817 meters Centerline goodness : 0.892086 with order 1 Centerline is valid? [False, False] Translation: X:26.64, Y:-0.02, Z:1.18 [[ 9.99948459e-01 9.47772114e-03 3.64047785e-03 2.66417318e+01] [-9.77861549e-03 9.95503297e-01 9.42208324e-02 -1.87680717e-02] [-2.73110892e-03 -9.42515750e-02 9.95544666e-01 1.17735605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.021193817 meters Centerline goodness : 0.892844 with order 1 Centerline is valid? [False, False] Translation: X:26.65, Y:-0.03, Z:1.17 [[ 9.99975973e-01 4.26269729e-03 5.46645660e-03 2.66495904e+01] [-4.64352837e-03 9.97418334e-01 7.16596506e-02 -2.51219463e-02] [-5.14688063e-03 -7.16833125e-02 9.97414163e-01 1.17154632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.081193817 meters Centerline goodness : 0.893856 with order 1 Centerline is valid? [False, False] Translation: X:26.66, Y:-0.03, Z:1.17 [[ 9.99965709e-01 -1.43725307e-03 8.15571429e-03 2.66603951e+01] [ 9.84016358e-04 9.98468900e-01 5.53072185e-02 -3.00303180e-02] [-8.22271754e-03 -5.52972966e-02 9.98436075e-01 1.16886502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.14119381699999 meters Centerline goodness : 0.890459 with order 1 Centerline is valid? [False, False] Translation: X:26.67, Y:-0.04, Z:1.17 [[ 9.99916942e-01 -1.23978709e-02 3.52162142e-03 2.66720293e+01] [ 1.22474373e-02 9.99127275e-01 3.99335613e-02 -4.02047924e-02] [-4.01363915e-03 -3.98871137e-02 9.99196131e-01 1.16858929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.20119381699999 meters Centerline goodness : 0.895271 with order 1 Centerline is valid? [False, False] Translation: X:26.70, Y:-0.04, Z:1.17 [[ 9.99751181e-01 -2.22583731e-02 1.46319630e-03 2.66958518e+01] [ 2.22117591e-02 9.99401294e-01 2.65271856e-02 -3.95383145e-02] [-2.05277227e-03 -2.64880850e-02 9.99647021e-01 1.16510085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.26119381699999 meters Centerline goodness : 0.892408 with order 1 Centerline is valid? [False, False] Translation: X:26.71, Y:-0.03, Z:1.16 [[ 9.99578412e-01 -2.86399709e-02 4.76966306e-03 2.67139624e+01] [ 2.85758445e-02 9.99506960e-01 1.30099313e-02 -3.32192448e-02] [-5.13991548e-03 -1.28681493e-02 9.99903991e-01 1.16178762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.321193817 meters Centerline goodness : 0.895887 with order 1 Centerline is valid? [False, False] Translation: X:26.74, Y:-0.02, Z:1.16 [[ 9.99455807e-01 -3.24107535e-02 6.13449882e-03 2.67350365e+01] [ 3.24013939e-02 9.99473626e-01 1.61903550e-03 -2.28564841e-02] [-6.18374394e-03 -1.41938812e-03 9.99979873e-01 1.15674793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.381193817 meters Centerline goodness : 0.899807 with order 1 Centerline is valid? [False, False] Translation: X:26.77, Y:-0.01, Z:1.15 [[ 9.99438049e-01 -3.14780549e-02 1.15203771e-02 2.67663959e+01] [ 3.16318595e-02 9.99409474e-01 -1.34212378e-02 -5.22603145e-03] [-1.10910995e-02 1.37781067e-02 9.99843563e-01 1.15160309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.441193817 meters Centerline goodness : 0.902292 with order 1 Centerline is valid? [False, False] Translation: X:26.80, Y:0.01, Z:1.15 [[ 9.99482761e-01 -2.94807510e-02 1.28489228e-02 2.68039980e+01] [ 2.97638033e-02 9.99305380e-01 -2.24248516e-02 7.28177401e-03] [-1.21788962e-02 2.27956854e-02 9.99665960e-01 1.14891063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.50119381699999 meters Centerline goodness : 0.903962 with order 1 Centerline is valid? [False, False] Translation: X:26.85, Y:0.02, Z:1.14 [[ 9.99589878e-01 -2.62910147e-02 1.13515672e-02 2.68454048e+01] [ 2.66316085e-02 9.99165300e-01 -3.09751679e-02 2.43331290e-02] [-1.05277234e-02 3.12647748e-02 9.99455692e-01 1.14367409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.56119381699999 meters Centerline goodness : 0.897623 with order 1 Centerline is valid? [False, False] Translation: X:26.89, Y:0.04, Z:1.14 [[ 9.99648059e-01 -2.38097655e-02 1.16983985e-02 2.68853180e+01] [ 2.42484596e-02 9.98948415e-01 -3.89111460e-02 4.04397018e-02] [-1.07596314e-02 3.91811197e-02 9.99174194e-01 1.13905007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.62119381699999 meters Centerline goodness : 0.903991 with order 1 Centerline is valid? [False, False] Translation: X:26.93, Y:0.05, Z:1.14 [[ 9.99670803e-01 -2.24926067e-02 1.23437506e-02 2.69265241e+01] [ 2.29908918e-02 9.98860131e-01 -4.18313017e-02 4.65757111e-02] [-1.13887853e-02 4.21013248e-02 9.99048434e-01 1.13664684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.681193817 meters Centerline goodness : 0.902042 with order 1 Centerline is valid? [False, False] Translation: X:26.96, Y:0.06, Z:1.13 [[ 9.99620375e-01 -2.35648006e-02 1.42760462e-02 2.69646229e+01] [ 2.42201099e-02 9.98572045e-01 -4.76157165e-02 5.84267553e-02] [-1.31336057e-02 4.79434078e-02 9.98763705e-01 1.13487098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.741193817 meters Centerline goodness : 0.898806 with order 1 Centerline is valid? [False, False] Translation: X:26.99, Y:0.07, Z:1.14 [[ 9.99528098e-01 -2.77040813e-02 1.32689909e-02 2.69947114e+01] [ 2.82802419e-02 9.98568278e-01 -4.54050794e-02 6.68792593e-02] [-1.19920874e-02 4.57589029e-02 9.98880530e-01 1.13596268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.801193817 meters Centerline goodness : 0.895643 with order 1 Centerline is valid? [False, False] Translation: X:27.04, Y:0.09, Z:1.13 [[ 9.99248873e-01 -3.83067469e-02 5.85519236e-03 2.70383337e+01] [ 3.85382557e-02 9.98172090e-01 -4.65540701e-02 8.53616813e-02] [-4.06115462e-03 4.67447510e-02 9.98898611e-01 1.13365850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.861193817 meters Centerline goodness : 0.893801 with order 1 Centerline is valid? [False, False] Translation: X:27.08, Y:0.10, Z:1.13 [[ 9.99111937e-01 -4.14785389e-02 7.40736633e-03 2.70785442e+01] [ 4.18223881e-02 9.97626890e-01 -5.46943877e-02 9.97031006e-02] [-5.12114455e-03 5.49556094e-02 9.98475666e-01 1.13038461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.92119381699999 meters Centerline goodness : 0.894323 with order 1 Centerline is valid? [False, False] Translation: X:27.12, Y:0.13, Z:1.13 [[ 9.99116670e-01 -4.07629177e-02 1.02110087e-02 2.71153841e+01] [ 4.13301370e-02 9.97130009e-01 -6.34315697e-02 1.27852719e-01] [-7.59604730e-03 6.37975610e-02 9.97933951e-01 1.12819260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.98119381699999 meters Centerline goodness : 0.892226 with order 1 Centerline is valid? [False, False] Translation: X:27.15, Y:0.15, Z:1.13 [[ 9.99326262e-01 -3.46604085e-02 1.20697447e-02 2.71532810e+01] [ 3.53851488e-02 9.97180997e-01 -6.61660843e-02 1.49161271e-01] [-9.74237650e-03 6.65485954e-02 9.97735622e-01 1.12686061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.04119381699999 meters Centerline goodness : 0.889453 with order 1 Centerline is valid? [False, False] Translation: X:27.21, Y:0.20, Z:1.13 [[ 9.99504826e-01 -1.88048742e-02 2.52285547e-02 2.72074791e+01] [ 2.23751393e-02 9.88484103e-01 -1.49661387e-01 2.03298466e-01] [-2.21236617e-02 1.50151771e-01 9.88415393e-01 1.13070054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.101193817 meters Centerline goodness : 0.891538 with order 1 Centerline is valid? [False, False] Translation: X:27.24, Y:0.21, Z:1.13 [[ 9.99408605e-01 -1.63548912e-02 3.02482657e-02 2.72400406e+01] [ 2.09164239e-02 9.87338910e-01 -1.57239878e-01 2.12925480e-01] [-2.72936486e-02 1.57779573e-01 9.87097089e-01 1.12941276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.161193817 meters Centerline goodness : 0.894172 with order 1 Centerline is valid? [False, False] Translation: X:27.28, Y:0.24, Z:1.13 [[ 9.99236741e-01 -1.36734176e-02 3.65919823e-02 2.72845848e+01] [ 2.03107961e-02 9.82019432e-01 -1.87684063e-01 2.42392205e-01] [-3.33677551e-02 1.88284024e-01 9.81547614e-01 1.13354205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.221193817 meters Centerline goodness : 0.892756 with order 1 Centerline is valid? [False, False] Translation: X:27.27, Y:0.24, Z:1.14 [[ 9.99069623e-01 -2.25370760e-02 3.67691230e-02 2.72695115e+01] [ 2.76710947e-02 9.88940741e-01 -1.45706971e-01 2.44454918e-01] [-3.30786747e-02 1.46588851e-01 9.88644279e-01 1.13715771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.28119381699999 meters Centerline goodness : 0.895813 with order 1 Centerline is valid? [False, False] Translation: X:27.26, Y:0.25, Z:1.14 [[ 0.9987561 -0.03230036 0.03798617 27.25712926] [ 0.03650011 0.99262037 -0.11563968 0.25208199] [-0.03397064 0.11688234 0.99256462 1.1412939 ] [ 0. 0. 0. 1. ]] SLAMing on 100.34119381699999 meters Centerline goodness : 0.898087 with order 1 Centerline is valid? [False, False] Translation: X:27.26, Y:0.26, Z:1.14 [[ 0.99893192 -0.03406668 0.03121655 27.26226843] [ 0.03690322 0.99476242 -0.09531992 0.26415229] [-0.02780582 0.0963701 0.9949571 1.14497138] [ 0. 0. 0. 1. ]] SLAMing on 100.40119381699999 meters Centerline goodness : 0.898741 with order 1 Centerline is valid? [False, False] Translation: X:27.24, Y:0.28, Z:1.15 [[ 9.99215216e-01 -2.69316513e-02 2.90454565e-02 2.72446537e+01] [ 2.89779354e-02 9.96947463e-01 -7.24985171e-02 2.82077605e-01] [-2.70042893e-02 7.32832988e-02 9.96945498e-01 1.14778809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.461193817 meters Centerline goodness : 0.901141 with order 1 Centerline is valid? [False, False] Translation: X:27.23, Y:0.29, Z:1.15 [[ 9.99375198e-01 -2.14581437e-02 2.80848918e-02 2.72265207e+01] [ 2.28726322e-02 9.98434022e-01 -5.10523797e-02 2.89347843e-01] [-2.69454222e-02 5.16628575e-02 9.98301003e-01 1.14931207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.521193817 meters Centerline goodness : 0.901201 with order 1 Centerline is valid? [False, False] Translation: X:27.23, Y:0.30, Z:1.15 [[ 9.99551840e-01 -1.08798659e-02 2.78881261e-02 2.72259563e+01] [ 1.20822616e-02 9.98988383e-01 -4.33154665e-02 3.00015245e-01] [-2.73886475e-02 4.36330058e-02 9.98672130e-01 1.14997454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.581193817 meters Centerline goodness : 0.902919 with order 1 Centerline is valid? [False, False] Translation: X:27.21, Y:0.29, Z:1.15 [[ 9.99680651e-01 -9.85068032e-03 2.32714583e-02 2.72138881e+01] [ 9.18751779e-03 9.99553452e-01 2.84338758e-02 2.86781168e-01] [-2.35411595e-02 -2.82109886e-02 9.99324749e-01 1.15387328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.64119381699999 meters Centerline goodness : 0.908476 with order 1 Centerline is valid? [False, False] Translation: X:27.22, Y:0.24, Z:1.17 [[ 9.99692892e-01 -1.37827749e-02 2.05950810e-02 2.72172229e+01] [ 1.00677314e-02 9.85274952e-01 1.70680723e-01 2.44812034e-01] [-2.26442714e-02 -1.70420960e-01 9.85111127e-01 1.17070531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.70119381699999 meters Centerline goodness : 0.910135 with order 1 Centerline is valid? [False, False] Translation: X:27.22, Y:0.19, Z:1.19 [[ 9.99593193e-01 -2.43069543e-02 1.49204826e-02 2.72165950e+01] [ 1.79341521e-02 9.42453101e-01 3.33857034e-01 1.92556041e-01] [-2.21769028e-02 -3.33453633e-01 9.42505629e-01 1.19288731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.76119381699999 meters Centerline goodness : 0.913437 with order 1 Centerline is valid? [False, False] Translation: X:27.21, Y:0.15, Z:1.22 [[ 9.99397467e-01 -3.36225637e-02 8.61544795e-03 2.72089827e+01] [ 2.55243119e-02 8.80146626e-01 4.74015217e-01 1.47238219e-01] [-2.35204643e-02 -4.73509704e-01 8.80474502e-01 1.22024184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.821193817 meters Centerline goodness : 0.912271 with order 1 Centerline is valid? [False, False] Translation: X:27.19, Y:0.16, Z:1.22 [[ 9.99279927e-01 -3.67688225e-02 9.36380651e-03 2.71850746e+01] [ 2.92902663e-02 9.04425220e-01 4.25625541e-01 1.56885259e-01] [-2.41186128e-02 -4.25044792e-01 9.04850937e-01 1.22128168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.881193817 meters Centerline goodness : 0.905462 with order 1 Centerline is valid? [False, False] Translation: X:27.17, Y:0.17, Z:1.22 [[ 9.99418234e-01 -3.39544020e-02 3.20811594e-03 2.71745319e+01] [ 3.03143032e-02 9.27482782e-01 3.72634850e-01 1.69101868e-01] [-1.56280658e-02 -3.72320812e-01 9.27972509e-01 1.21903699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.941193817 meters Centerline goodness : 0.904800 with order 1 Centerline is valid? [False, False] Translation: X:27.15, Y:0.18, Z:1.22 [[ 9.99512394e-01 -3.12239542e-02 1.99416704e-04 2.71504176e+01] [ 2.94962991e-02 9.46265081e-01 3.22044043e-01 1.84723473e-01] [-1.02441895e-02 -3.21881130e-01 9.46724667e-01 1.21702097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.00119381699999 meters Centerline goodness : 0.901486 with order 1 Centerline is valid? [False, False] Translation: X:27.14, Y:0.20, Z:1.22 [[ 9.99504410e-01 -3.11823401e-02 -4.31231788e-03 2.71377659e+01] [ 3.11868431e-02 9.62265163e-01 2.70320434e-01 1.97971230e-01] [-4.27963045e-03 -2.70320954e-01 9.62760753e-01 1.21876688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.06119381699999 meters Centerline goodness : 0.900069 with order 1 Centerline is valid? [False, False] Translation: X:27.13, Y:0.21, Z:1.22 [[ 9.99475543e-01 -3.20151570e-02 -4.86507869e-03 2.71260512e+01] [ 3.23019271e-02 9.75062113e-01 2.19568808e-01 2.11830796e-01] [-2.28577596e-03 -2.19610805e-01 9.75584886e-01 1.21875398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.12119381699999 meters Centerline goodness : 0.897945 with order 1 Centerline is valid? [False, False] Translation: X:27.12, Y:0.22, Z:1.22 [[ 9.99442489e-01 -3.24193110e-02 -7.98114279e-03 2.71243939e+01] [ 3.33147632e-02 9.84105374e-01 1.74432624e-01 2.22266934e-01] [ 2.19930003e-03 -1.74601266e-01 9.84636766e-01 1.22122558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.181193817 meters Centerline goodness : 0.900700 with order 1 Centerline is valid? [False, False] Translation: X:27.11, Y:0.23, Z:1.22 [[ 9.99566763e-01 -2.91722015e-02 -3.90760074e-03 2.71110877e+01] [ 2.94326701e-02 9.90409324e-01 1.34992918e-01 2.32340683e-01] [-6.79164052e-05 -1.35049446e-01 9.90838858e-01 1.22282107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.241193817 meters Centerline goodness : 0.905283 with order 1 Centerline is valid? [False, False] Translation: X:27.10, Y:0.24, Z:1.23 [[ 9.99614804e-01 -2.77490869e-02 4.81941167e-04 2.70960492e+01] [ 2.75165424e-02 9.93202132e-01 1.13103339e-01 2.37852490e-01] [-3.61717939e-03 -1.13046511e-01 9.93583113e-01 1.22703976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.301193817 meters Centerline goodness : 0.907810 with order 1 Centerline is valid? [False, False] Translation: X:27.10, Y:0.24, Z:1.23 [[ 9.99521341e-01 -3.09366827e-02 1.00455088e-04 2.70954799e+01] [ 3.08152901e-02 9.95876381e-01 8.53267375e-02 2.44116080e-01] [-2.73976705e-03 -8.52827996e-02 9.96353019e-01 1.23091392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.36119381699999 meters Centerline goodness : 0.908624 with order 1 Centerline is valid? [False, False] Translation: X:27.11, Y:0.24, Z:1.24 [[ 9.99180277e-01 -4.04693205e-02 1.00390574e-03 2.71057000e+01] [ 4.03320150e-02 9.97308948e-01 6.12224703e-02 2.43017962e-01] [-3.47883595e-03 -6.11317953e-02 9.98123640e-01 1.23751356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.42119381699999 meters Centerline goodness : 0.914295 with order 1 Centerline is valid? [False, False] Translation: X:27.11, Y:0.24, Z:1.24 [[ 9.98837417e-01 -4.81715203e-02 -1.82184301e-03 2.71129133e+01] [ 4.82039223e-02 9.97734277e-01 4.69328662e-02 2.42786614e-01] [-4.43112292e-04 -4.69661228e-02 9.98896384e-01 1.24184638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.48119381699999 meters Centerline goodness : 0.910681 with order 1 Centerline is valid? [False, False] Translation: X:27.11, Y:0.24, Z:1.24 [[ 9.98348010e-01 -5.74377978e-02 -1.46609664e-03 2.71135858e+01] [ 5.74519951e-02 9.97624865e-01 3.79986365e-02 2.44471100e-01] [-7.19943541e-04 -3.80200933e-02 9.99276716e-01 1.24105865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.54119381699999 meters Centerline goodness : 0.909019 with order 1 Centerline is valid? [False, False] Translation: X:27.11, Y:0.25, Z:1.24 [[ 9.98052849e-01 -6.21816630e-02 -4.89391475e-03 2.71069257e+01] [ 6.22727824e-02 9.97829190e-01 2.14244704e-02 2.48728287e-01] [ 3.55108180e-03 -2.16875114e-02 9.99758492e-01 1.24030216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.601193817 meters Centerline goodness : 0.905932 with order 1 Centerline is valid? [False, False] Translation: X:27.11, Y:0.25, Z:1.23 [[ 9.97714349e-01 -6.73450140e-02 -5.54325529e-03 2.71127019e+01] [ 6.74236828e-02 9.97604035e-01 1.54995840e-02 2.53670860e-01] [ 4.48615414e-03 -1.58379041e-02 9.99864508e-01 1.23481508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.661193817 meters Centerline goodness : 0.905479 with order 1 Centerline is valid? [False, False] Translation: X:27.11, Y:0.26, Z:1.23 [[ 9.97664663e-01 -6.80793683e-02 -5.51540036e-03 2.71136893e+01] [ 6.81492420e-02 9.97581547e-01 1.36651943e-02 2.58764895e-01] [ 4.57174383e-03 -1.40091518e-02 9.99891416e-01 1.23342368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.721193817 meters Centerline goodness : 0.906866 with order 1 Centerline is valid? [False, False] Translation: X:27.11, Y:0.27, Z:1.23 [[ 9.97813281e-01 -6.58784236e-02 -5.35633820e-03 2.71120664e+01] [ 6.59482006e-02 9.97723358e-01 1.41044799e-02 2.68856440e-01] [ 4.41496283e-03 -1.44268782e-02 9.99886180e-01 1.23439243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.78119381699999 meters Centerline goodness : 0.906958 with order 1 Centerline is valid? [False, False] Translation: X:27.11, Y:0.28, Z:1.23 [[ 9.97955388e-01 -6.36841680e-02 -5.41946251e-03 2.71115253e+01] [ 6.37608538e-02 9.97846338e-01 1.54026038e-02 2.75115663e-01] [ 4.42688881e-03 -1.57166610e-02 9.99866686e-01 1.23458913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.84119381699999 meters Centerline goodness : 0.908384 with order 1 Centerline is valid? [False, False] Translation: X:27.11, Y:0.28, Z:1.24 [[ 9.98025283e-01 -6.26306383e-02 -4.78928565e-03 2.71082413e+01] [ 6.26949268e-02 9.97924197e-01 1.47188156e-02 2.84965195e-01] [ 3.85749522e-03 -1.49900140e-02 9.99880202e-01 1.23677657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.90119381699999 meters Centerline goodness : 0.913190 with order 1 Centerline is valid? [False, False] Translation: X:27.09, Y:0.30, Z:1.24 [[ 9.98061076e-01 -6.22335003e-02 -1.03951367e-03 2.70921311e+01] [ 6.22419103e-02 9.97868225e-01 1.96201394e-02 2.99921179e-01] [-1.83732292e-04 -1.96467987e-02 9.99806966e-01 1.24007089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.961193817 meters Centerline goodness : 0.916033 with order 1 Centerline is valid? [False, False] Translation: X:27.09, Y:0.31, Z:1.24 [[ 9.97924477e-01 -6.43938217e-02 -4.16474821e-04 2.70897479e+01] [ 6.43926068e-02 9.97806222e-01 1.53732107e-02 3.12006775e-01] [-5.74378623e-04 -1.53681212e-02 9.99881738e-01 1.24146529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.021193817 meters Centerline goodness : 0.913714 with order 1 Centerline is valid? [False, False] Translation: X:27.09, Y:0.32, Z:1.24 [[ 9.98024904e-01 -6.28192504e-02 -1.79913762e-04 2.70890031e+01] [ 6.28141640e-02 9.97898552e-01 1.59015887e-02 3.19604740e-01] [-8.19390204e-04 -1.58814827e-02 9.99873546e-01 1.24106898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.081193817 meters Centerline goodness : 0.917837 with order 1 Centerline is valid? [False, False] Translation: X:27.09, Y:0.33, Z:1.24 [[ 9.98122883e-01 -6.12419061e-02 -3.73065411e-04 2.70903517e+01] [ 6.12401651e-02 9.97998424e-01 1.57730144e-02 3.28426582e-01] [-5.93650773e-04 -1.57662532e-02 9.99875529e-01 1.23884082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.14119381699999 meters Centerline goodness : 0.914280 with order 1 Centerline is valid? [False, False] Translation: X:27.09, Y:0.34, Z:1.24 [[ 9.98564051e-01 -5.33514688e-02 -4.84316226e-03 2.70854419e+01] [ 5.33864697e-02 9.98546427e-01 7.41062564e-03 3.42290224e-01] [ 4.44075461e-03 -7.65854370e-03 9.99960812e-01 1.23909623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.20119381699999 meters Centerline goodness : 0.913666 with order 1 Centerline is valid? [False, False] Translation: X:27.07, Y:0.36, Z:1.24 [[ 9.99348982e-01 -3.34820654e-02 -1.34373785e-02 2.70741141e+01] [ 3.37227333e-02 9.99267274e-01 1.81022660e-02 3.59020181e-01] [ 1.28214314e-02 -1.85436262e-02 9.99745840e-01 1.24270762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.26119381699999 meters Centerline goodness : 0.913412 with order 1 Centerline is valid? [False, False] Translation: X:27.08, Y:0.37, Z:1.24 [[ 9.99760591e-01 -1.65711844e-02 -1.42883597e-02 2.70761013e+01] [ 1.70283985e-02 9.99326846e-01 3.24944440e-02 3.67083334e-01] [ 1.37402700e-02 -3.27299724e-02 9.99369778e-01 1.24128671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.321193817 meters Centerline goodness : 0.912761 with order 1 Centerline is valid? [False, False] Translation: X:27.08, Y:0.38, Z:1.24 [[ 9.99924058e-01 3.73114559e-03 -1.17454675e-02 2.70778179e+01] [-3.38716297e-03 9.99568688e-01 2.91713006e-02 3.82057241e-01] [ 1.18492439e-02 -2.91293015e-02 9.99505417e-01 1.24364889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.381193817 meters Centerline goodness : 0.915043 with order 1 Centerline is valid? [False, False] Translation: X:27.09, Y:0.39, Z:1.25 [[ 9.99820131e-01 1.11754954e-02 -1.53236723e-02 2.70864312e+01] [-1.07171241e-02 9.99502135e-01 2.96753365e-02 3.85044264e-01] [ 1.56476798e-02 -2.95057731e-02 9.99442124e-01 1.24755861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.441193817 meters Centerline goodness : 0.918456 with order 1 Centerline is valid? [False, False] Translation: X:27.11, Y:0.37, Z:1.25 [[ 9.99760914e-01 1.73225850e-02 -1.33432550e-02 2.71109839e+01] [-1.68423406e-02 9.99234831e-01 3.52999724e-02 3.74850659e-01] [ 1.39445320e-02 -3.50668010e-02 9.99287681e-01 1.24888622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.50119381699999 meters Centerline goodness : 0.920381 with order 1 Centerline is valid? [False, False] Translation: X:27.15, Y:0.36, Z:1.25 [[ 9.99779951e-01 1.79305814e-02 -1.08877985e-02 2.71477315e+01] [-1.74129276e-02 9.98793808e-01 4.59098990e-02 3.62681166e-01] [ 1.16978569e-02 -4.57102081e-02 9.98886248e-01 1.24883603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.56119381699999 meters Centerline goodness : 0.922346 with order 1 Centerline is valid? [False, False] Translation: X:27.19, Y:0.34, Z:1.25 [[ 9.99793435e-01 1.83410656e-02 -8.75740978e-03 2.71877286e+01] [-1.77019086e-02 9.97514793e-01 6.81973608e-02 3.37968253e-01] [ 9.98645807e-03 -6.80282507e-02 9.97633414e-01 1.24901957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.62119381699999 meters Centerline goodness : 0.922652 with order 1 Centerline is valid? [False, False] Translation: X:27.24, Y:0.32, Z:1.25 [[ 9.99863711e-01 1.57998086e-02 -4.78814563e-03 2.72406694e+01] [-1.53522827e-02 9.96488177e-01 8.23141583e-02 3.19005050e-01] [ 6.07187845e-03 -8.22294308e-02 9.96594929e-01 1.24513823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.681193817 meters Centerline goodness : 0.916000 with order 1 Centerline is valid? [False, False] Translation: X:27.28, Y:0.25, Z:1.25 [[ 9.99935058e-01 9.91793752e-03 5.61378981e-03 2.72829266e+01] [-1.09085445e-02 9.75541515e-01 2.19544431e-01 2.46858707e-01] [-3.29905707e-03 -2.19591411e-01 9.75586351e-01 1.24639956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.741193817 meters Centerline goodness : 0.913004 with order 1 Centerline is valid? [False, False] Translation: X:27.30, Y:0.16, Z:1.27 [[ 9.99973990e-01 -5.14086146e-03 5.05873626e-03 2.73018330e+01] [ 2.56366546e-03 9.08936768e-01 4.16926109e-01 1.58893548e-01] [-6.74143074e-03 -4.16902296e-01 9.08926306e-01 1.27269132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.801193817 meters Centerline goodness : 0.907976 with order 1 Centerline is valid? [False, False] Translation: X:27.32, Y:0.10, Z:1.31 [[ 9.99879245e-01 -1.55337607e-02 -4.45068026e-04 2.73244509e+01] [ 1.31341382e-02 8.29418842e-01 5.58472810e-01 1.03385654e-01] [-8.30603518e-03 -5.58411217e-01 8.29522708e-01 1.31174898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.86119381699999 meters Centerline goodness : 0.905795 with order 1 Centerline is valid? [False, False] Translation: X:27.33, Y:0.05, Z:1.36 [[ 9.99643991e-01 -2.54716608e-02 -7.94263439e-03 2.73254995e+01] [ 2.38861142e-02 7.21702806e-01 6.91790801e-01 5.49076764e-02] [-1.18888391e-02 -6.91734236e-01 7.22054293e-01 1.36083363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.92119381699999 meters Centerline goodness : 0.903200 with order 1 Centerline is valid? [False, False] Translation: X:27.28, Y:0.07, Z:1.36 [[ 9.99764375e-01 -1.90189595e-02 -1.04629716e-02 2.72762276e+01] [ 2.14392188e-02 7.89673595e-01 6.13152488e-01 7.26400325e-02] [-3.39918995e-03 -6.13232332e-01 7.89895280e-01 1.35701949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.98119381699999 meters Centerline goodness : 0.903632 with order 1 Centerline is valid? [False, False] Translation: X:27.21, Y:0.10, Z:1.35 [[ 9.99893546e-01 -1.02124287e-02 -1.04213169e-02 2.72095364e+01] [ 1.40380703e-02 8.68074465e-01 4.96235485e-01 1.01590400e-01] [ 3.97870959e-03 -4.96328954e-01 8.68125417e-01 1.35169230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.04119381699999 meters Centerline goodness : 0.906949 with order 1 Centerline is valid? [False, False] Translation: X:27.17, Y:0.11, Z:1.36 [[ 9.99954016e-01 -6.73532068e-03 -6.82645167e-03 2.71721753e+01] [ 9.05946761e-03 8.96915405e-01 4.42109355e-01 1.11692367e-01] [ 3.14500138e-03 -4.42150869e-01 8.96935180e-01 1.35515560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.101193817 meters Centerline goodness : 0.911937 with order 1 Centerline is valid? [False, False] Translation: X:27.14, Y:0.12, Z:1.36 [[ 9.99993088e-01 1.89133477e-03 -3.20093261e-03 2.71408868e+01] [-4.90740275e-04 9.20553305e-01 3.90616656e-01 1.17824665e-01] [ 3.68541596e-03 -3.90612386e-01 9.20547871e-01 1.36090184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.161193817 meters Centerline goodness : 0.913980 with order 1 Centerline is valid? [False, False] Translation: X:27.17, Y:0.10, Z:1.38 [[ 9.99980089e-01 6.04480271e-03 -1.81177007e-03 2.71702970e+01] [-4.59746060e-03 8.94524253e-01 4.46995777e-01 9.98548178e-02] [ 4.32267355e-03 -4.46978547e-01 8.94534233e-01 1.38257377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.221193817 meters Centerline goodness : 0.912866 with order 1 Centerline is valid? [False, False] Translation: X:27.21, Y:0.09, Z:1.40 [[ 9.99953217e-01 9.27558988e-03 2.74346890e-03 2.72060668e+01] [-9.44874114e-03 8.75983876e-01 4.82247831e-01 8.83433423e-02] [ 2.06989858e-03 -4.82251193e-01 8.76030538e-01 1.40066384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.28119381699999 meters Centerline goodness : 0.912064 with order 1 Centerline is valid? [False, False] Translation: X:27.19, Y:0.09, Z:1.41 [[ 9.99908109e-01 1.35379797e-02 7.04592191e-04 2.71902353e+01] [-1.24764159e-02 8.98683743e-01 4.38419741e-01 8.56858161e-02] [ 5.30211201e-03 -4.38388245e-01 8.98770068e-01 1.40615341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.34119381699999 meters Centerline goodness : 0.916494 with order 1 Centerline is valid? [False, False] Translation: X:27.17, Y:0.09, Z:1.41 [[ 9.99956666e-01 9.23137477e-03 -1.20338412e-03 2.71689599e+01] [-8.03258796e-03 9.20903732e-01 3.89707318e-01 8.62063238e-02] [ 4.70573523e-03 -3.89680764e-01 9.20937977e-01 1.40669758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.40119381699999 meters Centerline goodness : 0.915126 with order 1 Centerline is valid? [False, False] Translation: X:27.15, Y:0.08, Z:1.41 [[ 9.99985073e-01 -3.07924430e-03 -4.51349711e-03 2.71540902e+01] [ 4.38712216e-03 9.44892260e-01 3.27352059e-01 8.22590499e-02] [ 3.25677152e-03 -3.27366974e-01 9.44891665e-01 1.40506786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.461193817 meters Centerline goodness : 0.911638 with order 1 Centerline is valid? [False, False] Translation: X:27.15, Y:0.08, Z:1.40 [[ 9.99823621e-01 -1.56421556e-02 -1.03947485e-02 2.71467336e+01] [ 1.78490859e-02 9.63584472e-01 2.66807749e-01 7.84400449e-02] [ 5.84276995e-03 -2.66946226e-01 9.63693714e-01 1.39980651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.521193817 meters Centerline goodness : 0.912297 with order 1 Centerline is valid? [False, False] Translation: X:27.15, Y:0.08, Z:1.40 [[ 9.99632493e-01 -2.37214906e-02 -1.31213592e-02 2.71470534e+01] [ 2.59772452e-02 9.76599377e-01 2.13492014e-01 8.04270530e-02] [ 7.74996245e-03 -2.13754410e-01 9.76856689e-01 1.39507799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.581193817 meters Centerline goodness : 0.913678 with order 1 Centerline is valid? [False, False] Translation: X:27.16, Y:0.08, Z:1.39 [[ 9.99116195e-01 -3.95026500e-02 -1.43655380e-02 2.71564206e+01] [ 4.13902685e-02 9.84150982e-01 1.72434600e-01 7.99625804e-02] [ 7.32623464e-03 -1.72876795e-01 9.84916210e-01 1.39298834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.64119381699999 meters Centerline goodness : 0.909440 with order 1 Centerline is valid? [False, False] Translation: X:27.17, Y:0.09, Z:1.39 [[ 9.98687860e-01 -4.82024027e-02 -1.72941003e-02 2.71692754e+01] [ 5.01491733e-02 9.88937766e-01 1.39596402e-01 8.63357418e-02] [ 1.03739069e-02 -1.40280517e-01 9.90057452e-01 1.38912303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.70119381699999 meters Centerline goodness : 0.915373 with order 1 Centerline is valid? [False, False] Translation: X:27.18, Y:0.09, Z:1.39 [[ 9.98251414e-01 -5.67621457e-02 -1.64977036e-02 2.71807576e+01] [ 5.81928324e-02 9.92695529e-01 1.05684343e-01 9.14748656e-02] [ 1.03783265e-02 -1.06459593e-01 9.94262865e-01 1.38801573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.76119381699999 meters Centerline goodness : 0.917219 with order 1 Centerline is valid? [False, False] Translation: X:27.20, Y:0.10, Z:1.39 [[ 9.97721337e-01 -6.55552926e-02 -1.59573570e-02 2.71955757e+01] [ 6.66298981e-02 9.94546957e-01 8.02297160e-02 9.97816355e-02] [ 1.06108583e-02 -8.11101366e-02 9.96648662e-01 1.38705498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.821193817 meters Centerline goodness : 0.915863 with order 1 Centerline is valid? [False, False] Translation: X:27.21, Y:0.11, Z:1.39 [[ 9.97564413e-01 -6.82207297e-02 -1.45318425e-02 2.72061001e+01] [ 6.90115306e-02 9.95589087e-01 6.35592518e-02 1.08454917e-01] [ 1.01316853e-02 -6.44073124e-02 9.97872260e-01 1.38527264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.881193817 meters Centerline goodness : 0.915944 with order 1 Centerline is valid? [False, False] Translation: X:27.22, Y:0.11, Z:1.38 [[ 9.97646186e-01 -6.73108449e-02 -1.30896180e-02 2.72193686e+01] [ 6.78915661e-02 9.96407093e-01 5.06323946e-02 1.14846658e-01] [ 9.63447897e-03 -5.14018901e-02 9.98631575e-01 1.38320297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.941193817 meters Centerline goodness : 0.914775 with order 1 Centerline is valid? [False, False] Translation: X:27.24, Y:0.13, Z:1.38 [[ 9.98007482e-01 -6.15029817e-02 -1.40871867e-02 2.72435182e+01] [ 6.19638426e-02 9.97463690e-01 3.50238489e-02 1.30691529e-01] [ 1.18973861e-02 -3.58269595e-02 9.99287187e-01 1.37985569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.00119381699999 meters Centerline goodness : 0.915300 with order 1 Centerline is valid? [False, False] Translation: X:27.26, Y:0.14, Z:1.38 [[ 9.98341832e-01 -5.56104579e-02 -1.48681836e-02 2.72601779e+01] [ 5.59096277e-02 9.98224828e-01 2.05257317e-02 1.44943827e-01] [ 1.37003446e-02 -2.13229712e-02 9.99678764e-01 1.37853892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.06119381699999 meters Centerline goodness : 0.909155 with order 1 Centerline is valid? [False, False] Translation: X:27.30, Y:0.17, Z:1.38 [[ 9.98959025e-01 -4.37447457e-02 -1.29330335e-02 2.73016790e+01] [ 4.35785263e-02 9.98967150e-01 -1.28664164e-02 1.71556219e-01] [ 1.34825138e-02 1.22894202e-02 9.99833582e-01 1.37769923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.12119381699999 meters Centerline goodness : 0.909362 with order 1 Centerline is valid? [False, False] Translation: X:27.35, Y:0.19, Z:1.37 [[ 9.99358014e-01 -3.46466885e-02 -9.11954501e-03 2.73461059e+01] [ 3.42253399e-02 9.98493464e-01 -4.28885694e-02 1.92797120e-01] [ 1.05917530e-02 4.25489161e-02 9.99038240e-01 1.37495156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.181193817 meters Centerline goodness : 0.907274 with order 1 Centerline is valid? [False, False] Translation: X:27.39, Y:0.24, Z:1.38 [[ 9.99727727e-01 -2.29414661e-02 4.26157352e-03 2.73899056e+01] [ 2.32978657e-02 9.91543387e-01 -1.27667229e-01 2.40457399e-01] [-1.29666164e-03 1.27731754e-01 9.91807904e-01 1.37619845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.241193817 meters Centerline goodness : 0.905093 with order 1 Centerline is valid? [False, False] Translation: X:27.42, Y:0.29, Z:1.39 [[ 9.99860363e-01 -1.24455768e-02 1.11518151e-02 2.74157447e+01] [ 1.47278613e-02 9.71601436e-01 -2.36164643e-01 2.85014142e-01] [-7.89591435e-03 2.36295908e-01 9.71649061e-01 1.38819749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.301193817 meters Centerline goodness : 0.907686 with order 1 Centerline is valid? [False, False] Translation: X:27.44, Y:0.29, Z:1.39 [[ 9.99776689e-01 -1.23379003e-02 1.71565544e-02 2.74420453e+01] [ 1.59854268e-02 9.72552749e-01 -2.32132755e-01 2.89222133e-01] [-1.38216233e-02 2.32355172e-01 9.72532795e-01 1.38848296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.36119381699999 meters Centerline goodness : 0.904896 with order 1 Centerline is valid? [False, False] Translation: X:27.47, Y:0.32, Z:1.41 [[ 9.99851205e-01 -5.58484726e-03 1.63210885e-02 2.74661037e+01] [ 1.05777043e-02 9.45882733e-01 -3.24336197e-01 3.19988246e-01] [-1.36264676e-02 3.24460576e-01 9.45801065e-01 1.40765995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.42119381699999 meters Centerline goodness : 0.907322 with order 1 Centerline is valid? [False, False] Translation: X:27.49, Y:0.31, Z:1.41 [[ 9.99827664e-01 -9.67198854e-03 1.58459800e-02 2.74873829e+01] [ 1.40411177e-02 9.52360952e-01 -3.04649739e-01 3.11210425e-01] [-1.21445239e-02 3.04819732e-01 9.52332632e-01 1.40885324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.48119381699999 meters Centerline goodness : 0.909653 with order 1 Centerline is valid? [False, False] Translation: X:27.51, Y:0.30, Z:1.41 [[ 9.99718919e-01 -1.82659339e-02 1.51142175e-02 2.75091356e+01] [ 2.17432475e-02 9.60512312e-01 -2.77386607e-01 2.99291284e-01] [-9.45066659e-03 2.77637271e-01 9.60639490e-01 1.40762952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.54119381699999 meters Centerline goodness : 0.908604 with order 1 Centerline is valid? [False, False] Translation: X:27.52, Y:0.28, Z:1.41 [[ 9.99435290e-01 -3.02809348e-02 1.45659052e-02 2.75191509e+01] [ 3.29175056e-02 9.69359005e-01 -2.43432858e-01 2.82177512e-01] [-6.74821683e-03 2.43774863e-01 9.69808372e-01 1.40550494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.601193817 meters Centerline goodness : 0.908536 with order 1 Centerline is valid? [False, False] Translation: X:27.54, Y:0.27, Z:1.40 [[ 9.99296177e-01 -3.63563838e-02 9.23927230e-03 2.75410409e+01] [ 3.74915599e-02 9.76114616e-01 -2.13996821e-01 2.71001072e-01] [-1.23843818e-03 2.14192600e-01 9.76790661e-01 1.40461683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.661193817 meters Centerline goodness : 0.897935 with order 1 Centerline is valid? [False, False] Translation: X:27.58, Y:0.27, Z:1.40 [[ 9.99243249e-01 -3.86622830e-02 -4.26111288e-03 2.75774424e+01] [ 3.71335534e-02 9.80820965e-01 -1.91340884e-01 2.65258663e-01] [ 1.15770643e-02 1.91037856e-01 9.81514396e-01 1.40174949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.721193817 meters Centerline goodness : 0.893929 with order 1 Centerline is valid? [False, False] Translation: X:27.60, Y:0.26, Z:1.40 [[ 9.99276701e-01 -3.75801069e-02 -5.81463025e-03 2.75993345e+01] [ 3.60067853e-02 9.84234383e-01 -1.73165210e-01 2.60079936e-01] [ 1.22305261e-02 1.72830594e-01 9.84875627e-01 1.39999096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.78119381699999 meters Centerline goodness : 0.895530 with order 1 Centerline is valid? [False, False] Translation: X:27.64, Y:0.26, Z:1.40 [[ 9.99521555e-01 -3.09203956e-02 -7.68425642e-04 2.76361323e+01] [ 3.03257292e-02 9.84580175e-01 -1.72285311e-01 2.63729513e-01] [ 6.08370662e-03 1.72179579e-01 9.85046791e-01 1.40022381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.84119381699999 meters Centerline goodness : 0.900660 with order 1 Centerline is valid? [False, False] Translation: X:27.67, Y:0.30, Z:1.41 [[ 9.99754415e-01 -1.82068971e-02 1.26339880e-02 2.76689248e+01] [ 2.08614685e-02 9.65561390e-01 -2.59337619e-01 2.96647460e-01] [-7.47715772e-03 2.59537493e-01 9.65704086e-01 1.41265797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.90119381699999 meters Centerline goodness : 0.904364 with order 1 Centerline is valid? [False, False] Translation: X:27.70, Y:0.30, Z:1.42 [[ 9.99643636e-01 -1.30797318e-02 2.32706164e-02 2.77021597e+01] [ 1.91027176e-02 9.59417622e-01 -2.81341275e-01 2.98791172e-01] [-1.86463711e-02 2.81685548e-01 9.59325578e-01 1.41653020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.961193817 meters Centerline goodness : 0.913652 with order 1 Centerline is valid? [False, False] Translation: X:27.74, Y:0.30, Z:1.42 [[ 9.99292088e-01 -8.49691018e-03 3.66486826e-02 2.77352958e+01] [ 1.89922660e-02 9.54850717e-01 -2.96478333e-01 2.98329003e-01] [-3.24748711e-02 2.96964494e-01 9.54336142e-01 1.42077799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.021193817 meters Centerline goodness : 0.911203 with order 1 Centerline is valid? [False, False] Translation: X:27.77, Y:0.31, Z:1.43 [[ 9.99004077e-01 -2.20839604e-03 4.45643097e-02 2.77678710e+01] [ 1.76505441e-02 9.36864052e-01 -3.49248060e-01 3.13510436e-01] [-4.09794217e-02 3.49686820e-01 9.35969986e-01 1.42894583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.081193817 meters Centerline goodness : 0.912847 with order 1 Centerline is valid? [False, False] Translation: X:27.79, Y:0.30, Z:1.42 [[ 9.99118756e-01 -4.86953979e-03 4.16893260e-02 2.77878533e+01] [ 1.82137957e-02 9.45156675e-01 -3.26109058e-01 2.95601575e-01] [-3.78149437e-02 3.26580997e-01 9.44412454e-01 1.42412887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.14119381699999 meters Centerline goodness : 0.908681 with order 1 Centerline is valid? [False, False] Translation: X:27.81, Y:0.28, Z:1.42 [[ 9.99080892e-01 -1.29612557e-02 4.08580143e-02 2.78062365e+01] [ 2.44180716e-02 9.55501996e-01 -2.93972267e-01 2.79194400e-01] [-3.52296645e-02 2.94699749e-01 9.54940275e-01 1.42197254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.20119381699999 meters Centerline goodness : 0.910293 with order 1 Centerline is valid? [False, False] Translation: X:27.82, Y:0.26, Z:1.42 [[ 9.98982923e-01 -2.20957980e-02 3.93051523e-02 2.78218260e+01] [ 3.15423603e-02 9.65363775e-01 -2.58993941e-01 2.63481556e-01] [-3.22210924e-02 2.59970302e-01 9.65078879e-01 1.42182558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.26119381699999 meters Centerline goodness : 0.912077 with order 1 Centerline is valid? [False, False] Translation: X:27.83, Y:0.25, Z:1.42 [[ 0.99876787 -0.03287638 0.03717364 27.83128748] [ 0.04048916 0.97297041 -0.22735259 0.24580937] [-0.02869432 0.22857759 0.97310273 1.42084384] [ 0. 0. 0. 1. ]] SLAMing on 105.321193817 meters Centerline goodness : 0.908162 with order 1 Centerline is valid? [False, False] Translation: X:27.85, Y:0.23, Z:1.42 [[ 9.98738594e-01 -4.10989952e-02 2.88460158e-02 2.78524789e+01] [ 4.60254790e-02 9.78972470e-01 -1.98732377e-01 2.34375951e-01] [-2.00717543e-02 1.99809347e-01 9.79629190e-01 1.41929909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.381193817 meters Centerline goodness : 0.902383 with order 1 Centerline is valid? [False, False] Translation: X:27.89, Y:0.23, Z:1.42 [[ 9.98711455e-01 -4.66421189e-02 1.99985361e-02 2.78865118e+01] [ 4.94477971e-02 9.83020082e-01 -1.76710025e-01 2.32616048e-01] [-1.14168326e-02 1.77471210e-01 9.84059767e-01 1.41904255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.441193817 meters Centerline goodness : 0.901550 with order 1 Centerline is valid? [False, False] Translation: X:27.91, Y:0.23, Z:1.42 [[ 9.98686537e-01 -4.75316323e-02 1.91296706e-02 2.79078209e+01] [ 4.99661703e-02 9.86124099e-01 -1.58311851e-01 2.27941724e-01] [-1.13394085e-02 1.59059751e-01 9.87203836e-01 1.41890659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.50119381699999 meters Centerline goodness : 0.900753 with order 1 Centerline is valid? [False, False] Translation: X:27.94, Y:0.23, Z:1.42 [[ 9.98937844e-01 -4.32724491e-02 1.58328212e-02 2.79384275e+01] [ 4.51028877e-02 9.88578229e-01 -1.43801300e-01 2.26924053e-01] [-9.42934795e-03 1.44362666e-01 9.89479918e-01 1.42002209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.56119381699999 meters Centerline goodness : 0.899586 with order 1 Centerline is valid? [False, False] Translation: X:27.98, Y:0.26, Z:1.43 [[ 9.99181619e-01 -2.40122198e-02 3.25500589e-02 2.79823343e+01] [ 3.04966362e-02 9.75860602e-01 -2.16254574e-01 2.60941605e-01] [-2.65715677e-02 2.17070263e-01 9.75794268e-01 1.42678601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.62119381699999 meters Centerline goodness : 0.904335 with order 1 Centerline is valid? [False, False] Translation: X:28.00, Y:0.26, Z:1.43 [[ 9.99255004e-01 -1.40056883e-02 3.59621792e-02 2.80021262e+01] [ 2.10560806e-02 9.78768887e-01 -2.03882583e-01 2.59895305e-01] [-3.23431462e-02 2.04487914e-01 9.78334612e-01 1.42916249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.681193817 meters Centerline goodness : 0.899354 with order 1 Centerline is valid? [False, False] Translation: X:28.01, Y:0.26, Z:1.43 [[ 9.99232299e-01 -8.62131430e-03 3.82163037e-02 2.80096355e+01] [ 1.55689788e-02 9.82534949e-01 -1.85425674e-01 2.55583028e-01] [-3.59502410e-02 1.85878311e-01 9.81914881e-01 1.43070912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.741193817 meters Centerline goodness : 0.899463 with order 1 Centerline is valid? [False, False] Translation: X:28.02, Y:0.25, Z:1.43 [[ 9.99146287e-01 -1.04796751e-02 3.99608882e-02 2.80153111e+01] [ 1.70131665e-02 9.85835799e-01 -1.66848224e-01 2.47154344e-01] [-3.76463590e-02 1.67385645e-01 9.85172471e-01 1.42882466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.801193817 meters Centerline goodness : 0.896622 with order 1 Centerline is valid? [False, False] Translation: X:28.03, Y:0.24, Z:1.43 [[ 9.99003251e-01 -1.05752895e-02 4.33666578e-02 2.80336566e+01] [ 1.76098954e-02 9.86103474e-01 -1.65196335e-01 2.43426550e-01] [-4.10170129e-02 1.65795359e-01 9.85306807e-01 1.42691124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.86119381699999 meters Centerline goodness : 0.897447 with order 1 Centerline is valid? [False, False] Translation: X:28.04, Y:0.23, Z:1.43 [[ 9.98982251e-01 -1.42772074e-02 4.27857944e-02 2.80446312e+01] [ 2.07156586e-02 9.87846855e-01 -1.54043671e-01 2.32679331e-01] [-4.00664990e-02 1.54773229e-01 9.87137236e-01 1.42597275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.92119381699999 meters Centerline goodness : 0.897297 with order 1 Centerline is valid? [False, False] Translation: X:28.08, Y:0.24, Z:1.43 [[ 9.99036764e-01 -8.05190473e-03 4.31359530e-02 2.80793417e+01] [ 1.63758308e-02 9.80415209e-01 -1.96259652e-01 2.40519031e-01] [-4.07108803e-02 1.96776995e-01 9.79602694e-01 1.43238026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.98119381699999 meters Centerline goodness : 0.900070 with order 1 Centerline is valid? [False, False] Translation: X:28.11, Y:0.24, Z:1.43 [[ 9.98788944e-01 -7.44090237e-03 4.86341247e-02 2.81117589e+01] [ 1.69250468e-02 9.80130858e-01 -1.97628552e-01 2.35211324e-01] [-4.61972716e-02 1.98212348e-01 9.79069802e-01 1.43159533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.04119381699999 meters Centerline goodness : 0.900244 with order 1 Centerline is valid? [False, False] Translation: X:28.14, Y:0.23, Z:1.43 [[ 9.98675583e-01 -6.75238979e-03 5.10047594e-02 2.81372604e+01] [ 1.72116642e-02 9.78079397e-01 -2.07519761e-01 2.30028375e-01] [-4.84854500e-02 2.08122795e-01 9.76900232e-01 1.43104931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.101193817 meters Centerline goodness : 0.903139 with order 1 Centerline is valid? [False, False] Translation: X:28.16, Y:0.22, Z:1.43 [[ 9.98576895e-01 -8.19296063e-03 5.26978108e-02 2.81620656e+01] [ 1.83069150e-02 9.80747034e-01 -1.94422508e-01 2.18012025e-01] [-5.00903257e-02 1.95110559e-01 9.79501317e-01 1.42838866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.161193817 meters Centerline goodness : 0.903706 with order 1 Centerline is valid? [False, False] Translation: X:28.19, Y:0.21, Z:1.42 [[ 9.98492070e-01 -1.21190395e-02 5.35417162e-02 2.81872561e+01] [ 2.16426611e-02 9.83234200e-01 -1.81058286e-01 2.07815897e-01] [-5.04497940e-02 1.81944048e-01 9.82013840e-01 1.42384415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.221193817 meters Centerline goodness : 0.898240 with order 1 Centerline is valid? [False, False] Translation: X:28.22, Y:0.19, Z:1.42 [[ 9.98788053e-01 -2.40861723e-02 4.29218155e-02 2.82203396e+01] [ 3.07313971e-02 9.86378051e-01 -1.61598024e-01 1.94117618e-01] [-3.84448589e-02 1.62721223e-01 9.85922815e-01 1.42123965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.28119381699999 meters Centerline goodness : 0.894787 with order 1 Centerline is valid? [False, False] Translation: X:28.25, Y:0.18, Z:1.42 [[ 0.99843644 -0.0427033 0.03607089 28.24787274] [ 0.04742544 0.98869539 -0.14224012 0.17761245] [-0.029589 0.1437284 0.98917473 1.42174156] [ 0. 0. 0. 1. ]] SLAMing on 106.34119381699999 meters Centerline goodness : 0.894623 with order 1 Centerline is valid? [False, False] Translation: X:28.27, Y:0.17, Z:1.42 [[ 9.98217082e-01 -4.99000006e-02 3.27512938e-02 2.82684338e+01] [ 5.36570582e-02 9.90554531e-01 -1.26184951e-01 1.67216250e-01] [-2.61453133e-02 1.27717311e-01 9.91465940e-01 1.42396030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.40119381699999 meters Centerline goodness : 0.900692 with order 1 Centerline is valid? [False, False] Translation: X:28.29, Y:0.16, Z:1.43 [[ 9.98364080e-01 -4.62172381e-02 3.36620181e-02 2.82939741e+01] [ 4.96946436e-02 9.92566618e-01 -1.11094331e-01 1.64997928e-01] [-2.82773223e-02 1.12585412e-01 9.93239608e-01 1.42954887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.461193817 meters Centerline goodness : 0.901176 with order 1 Centerline is valid? [False, False] Translation: X:28.33, Y:0.17, Z:1.43 [[ 0.99863713 -0.0385913 0.03513668 28.33154504] [ 0.04210052 0.99354582 -0.10532928 0.16552909] [-0.0308451 0.106665 0.99381646 1.42932201] [ 0. 0. 0. 1. ]] SLAMing on 106.521193817 meters Centerline goodness : 0.901902 with order 1 Centerline is valid? [False, False] Translation: X:28.38, Y:0.17, Z:1.43 [[ 9.98943184e-01 -2.52669994e-02 3.83939293e-02 2.83797363e+01] [ 2.97698870e-02 9.92127409e-01 -1.21642749e-01 1.73020487e-01] [-3.50181224e-02 1.22657178e-01 9.91831108e-01 1.42810300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.581193817 meters Centerline goodness : 0.899934 with order 1 Centerline is valid? [False, False] Translation: X:28.42, Y:0.18, Z:1.43 [[ 9.99021609e-01 -1.69082377e-02 4.08648644e-02 2.84189390e+01] [ 2.30454421e-02 9.87688749e-01 -1.54725056e-01 1.82976461e-01] [-3.77456387e-02 1.55515424e-01 9.87112060e-01 1.42750998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.64119381699999 meters Centerline goodness : 0.898321 with order 1 Centerline is valid? [False, False] Translation: X:28.45, Y:0.19, Z:1.42 [[ 9.98853043e-01 -1.08348921e-02 4.66390788e-02 2.84523639e+01] [ 1.91343025e-02 9.83227735e-01 -1.81375577e-01 1.90954055e-01] [-4.38916510e-02 1.82059953e-01 9.82307333e-01 1.42426323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.70119381699999 meters Centerline goodness : 0.895310 with order 1 Centerline is valid? [False, False] Translation: X:28.47, Y:0.18, Z:1.42 [[ 9.98768804e-01 -1.35095619e-02 4.77322429e-02 2.84736794e+01] [ 2.12765113e-02 9.85867520e-01 -1.66170223e-01 1.81922139e-01] [-4.48127810e-02 1.66981211e-01 9.84941161e-01 1.42138205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.76119381699999 meters Centerline goodness : 0.895147 with order 1 Centerline is valid? [False, False] Translation: X:28.50, Y:0.17, Z:1.42 [[ 9.98766555e-01 -1.53374618e-02 4.72242595e-02 2.84999591e+01] [ 2.26607789e-02 9.87069498e-01 -1.58683005e-01 1.73207273e-01] [-4.41798316e-02 1.59557417e-01 9.86199561e-01 1.42234505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.821193817 meters Centerline goodness : 0.897824 with order 1 Centerline is valid? [False, False] Translation: X:28.53, Y:0.16, Z:1.42 [[ 9.98811529e-01 -1.58183929e-02 4.61010640e-02 2.85282640e+01] [ 2.24728626e-02 9.88789950e-01 -1.47612349e-01 1.64632094e-01] [-4.32492786e-02 1.48472939e-01 9.87970286e-01 1.42270042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.881193817 meters Centerline goodness : 0.900141 with order 1 Centerline is valid? [False, False] Translation: X:28.56, Y:0.16, Z:1.42 [[ 9.98912802e-01 -1.64954471e-02 4.36017742e-02 2.85582473e+01] [ 2.23682842e-02 9.90201646e-01 -1.37841791e-01 1.57008934e-01] [-4.09007866e-02 1.38667226e-01 9.89494076e-01 1.42210954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.941193817 meters Centerline goodness : 0.895810 with order 1 Centerline is valid? [False, False] Translation: X:28.58, Y:0.15, Z:1.42 [[ 9.98769835e-01 -2.19557528e-02 4.44607927e-02 2.85803381e+01] [ 2.73788137e-02 9.91741733e-01 -1.25294592e-01 1.47301645e-01] [-4.13426866e-02 1.26357742e-01 9.91122850e-01 1.41888070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.00119381699999 meters Centerline goodness : 0.899613 with order 1 Centerline is valid? [False, False] Translation: X:28.61, Y:0.14, Z:1.42 [[ 0.99868417 -0.03380746 0.03856155 28.60611845] [ 0.0379049 0.99309539 -0.11101692 0.13694333] [-0.03454209 0.11233251 0.99307011 1.42144382] [ 0. 0. 0. 1. ]] SLAMing on 107.06119381699999 meters Centerline goodness : 0.898926 with order 1 Centerline is valid? [False, False] Translation: X:28.64, Y:0.13, Z:1.42 [[ 0.99827299 -0.04579252 0.03679783 28.63500296] [ 0.04921763 0.99393769 -0.09831324 0.13103522] [-0.03207274 0.09995455 0.99447495 1.42156835] [ 0. 0. 0. 1. ]] SLAMing on 107.12119381699999 meters Centerline goodness : 0.902039 with order 1 Centerline is valid? [False, False] Translation: X:28.65, Y:0.13, Z:1.42 [[ 0.99733069 -0.06173181 0.03899598 28.65089485] [ 0.06482742 0.99436628 -0.08386361 0.1270897 ] [-0.03359924 0.08616776 0.99571392 1.42471413] [ 0. 0. 0. 1. ]] SLAMing on 107.181193817 meters Centerline goodness : 0.904670 with order 1 Centerline is valid? [False, False] Translation: X:28.67, Y:0.13, Z:1.43 [[ 0.9968845 -0.06871029 0.03873237 28.66802494] [ 0.07141184 0.99474838 -0.07332124 0.12859711] [-0.03349104 0.07585875 0.99655597 1.42742685] [ 0. 0. 0. 1. ]] SLAMing on 107.241193817 meters Centerline goodness : 0.901919 with order 1 Centerline is valid? [False, False] Translation: X:28.70, Y:0.14, Z:1.43 [[ 0.99689332 -0.07052915 0.03506213 28.70354078] [ 0.07260207 0.99544076 -0.06185973 0.13579256] [-0.03053936 0.06421314 0.99746881 1.43044225] [ 0. 0. 0. 1. ]] SLAMing on 107.301193817 meters Centerline goodness : 0.897111 with order 1 Centerline is valid? [False, False] Translation: X:28.74, Y:0.15, Z:1.43 [[ 0.99730145 -0.06416248 0.03567906 28.74077858] [ 0.06628884 0.99587195 -0.06200677 0.15295783] [-0.03155327 0.06420457 0.9974378 1.42858226] [ 0. 0. 0. 1. ]] SLAMing on 107.36119381699999 meters Centerline goodness : 0.898672 with order 1 Centerline is valid? [False, False] Translation: X:28.77, Y:0.16, Z:1.43 [[ 0.99725405 -0.06532475 0.03488601 28.76825137] [ 0.0673297 0.99593846 -0.0597771 0.16270055] [-0.03083939 0.06196182 0.99760196 1.42923146] [ 0. 0. 0. 1. ]] SLAMing on 107.42119381699999 meters Centerline goodness : 0.898100 with order 1 Centerline is valid? [False, False] Translation: X:28.81, Y:0.19, Z:1.43 [[ 0.99732826 -0.0649212 0.03348987 28.81373222] [ 0.06692488 0.99578892 -0.0626537 0.18547714] [-0.02928129 0.06472761 0.99747328 1.42563275] [ 0. 0. 0. 1. ]] SLAMing on 107.48119381699999 meters Centerline goodness : 0.895235 with order 1 Centerline is valid? [False, False] Translation: X:28.85, Y:0.20, Z:1.42 [[ 0.99755829 -0.06110361 0.03382026 28.85373946] [ 0.0631533 0.99599559 -0.06328066 0.19823722] [-0.02981816 0.06526201 0.99742255 1.42223528] [ 0. 0. 0. 1. ]] SLAMing on 107.54119381699999 meters Centerline goodness : 0.892219 with order 1 Centerline is valid? [False, False] Translation: X:28.91, Y:0.23, Z:1.42 [[ 0.99800801 -0.04877628 0.04001106 28.90793435] [ 0.05254131 0.99368065 -0.09918754 0.23132126] [-0.03492021 0.1010922 0.99426402 1.42192078] [ 0. 0. 0. 1. ]] SLAMing on 107.601193817 meters Centerline goodness : 0.893599 with order 1 Centerline is valid? [False, False] Translation: X:28.95, Y:0.26, Z:1.42 [[ 0.99821414 -0.03718825 0.04675008 28.95085524] [ 0.043263 0.98969714 -0.13648404 0.25698877] [-0.04119282 0.13826284 0.98953855 1.42308826] [ 0. 0. 0. 1. ]] SLAMing on 107.661193817 meters Centerline goodness : 0.892182 with order 1 Centerline is valid? [False, False] Translation: X:28.98, Y:0.31, Z:1.44 [[ 9.98322386e-01 -2.09436840e-02 5.39794100e-02 2.89768044e+01] [ 3.33416944e-02 9.70143667e-01 -2.40228218e-01 3.08022273e-01] [-4.73365189e-02 2.41624973e-01 9.69214438e-01 1.44088153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.721193817 meters Centerline goodness : 0.892068 with order 1 Centerline is valid? [False, False] Translation: X:28.97, Y:0.30, Z:1.44 [[ 9.98307023e-01 -2.48406034e-02 5.25930748e-02 2.89700955e+01] [ 3.48843080e-02 9.79246215e-01 -1.99649532e-01 3.00104386e-01] [-4.65421546e-02 2.01146203e-01 9.78454921e-01 1.44152156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.78119381699999 meters Centerline goodness : 0.893536 with order 1 Centerline is valid? [False, False] Translation: X:28.96, Y:0.30, Z:1.44 [[ 0.99814878 -0.03194887 0.05175212 28.9617958 ] [ 0.03992731 0.98609362 -0.16132323 0.2977226 ] [-0.04587834 0.1630909 0.98554378 1.44393572] [ 0. 0. 0. 1. ]] SLAMing on 107.84119381699999 meters Centerline goodness : 0.891583 with order 1 Centerline is valid? [False, False] Translation: X:28.96, Y:0.30, Z:1.45 [[ 0.99825202 -0.03452355 0.04796898 28.95911985] [ 0.04048582 0.99075625 -0.12947183 0.29671507] [-0.04305574 0.13118758 0.99042214 1.445227 ] [ 0. 0. 0. 1. ]] SLAMing on 107.90119381699999 meters Centerline goodness : 0.893164 with order 1 Centerline is valid? [False, False] Translation: X:28.95, Y:0.30, Z:1.45 [[ 0.99836163 -0.03338413 0.04647098 28.95097695] [ 0.03808378 0.99382435 -0.10422471 0.29898137] [-0.04270454 0.10582374 0.99346749 1.44648174] [ 0. 0. 0. 1. ]] SLAMing on 107.961193817 meters Centerline goodness : 0.893844 with order 1 Centerline is valid? [False, False] Translation: X:28.95, Y:0.30, Z:1.45 [[ 0.99820852 -0.0322354 0.05040464 28.94926124] [ 0.03648148 0.99565073 -0.08572473 0.2958915 ] [-0.04742204 0.08740999 0.99504304 1.44751817] [ 0. 0. 0. 1. ]] SLAMing on 108.021193817 meters Centerline goodness : 0.895331 with order 1 Centerline is valid? [False, False] Translation: X:28.95, Y:0.29, Z:1.45 [[ 0.9980649 -0.02896286 0.05502376 28.9501107 ] [ 0.03266721 0.99717338 -0.06766162 0.29251639] [-0.05290856 0.06932816 0.99618989 1.45013012] [ 0. 0. 0. 1. ]] SLAMing on 108.081193817 meters Centerline goodness : 0.892458 with order 1 Centerline is valid? [False, False] Translation: X:28.95, Y:0.28, Z:1.45 [[ 0.99810499 -0.03181635 0.05267022 28.95266036] [ 0.03452905 0.99807996 -0.0514211 0.28384061] [-0.05093306 0.05314231 0.99728718 1.44903249] [ 0. 0. 0. 1. ]] SLAMing on 108.14119381699999 meters Centerline goodness : 0.894962 with order 1 Centerline is valid? [False, False] Translation: X:28.95, Y:0.28, Z:1.45 [[ 0.99812196 -0.0321966 0.05211451 28.95453092] [ 0.03482231 0.99812764 -0.05028536 0.27755305] [-0.05039792 0.05200567 0.99737428 1.44767631] [ 0. 0. 0. 1. ]] SLAMing on 108.20119381699999 meters Centerline goodness : 0.888413 with order 1 Centerline is valid? [False, False] Translation: X:28.96, Y:0.27, Z:1.45 [[ 0.99794906 -0.03814647 0.05140549 28.95780076] [ 0.04094325 0.99767407 -0.05449862 0.26808134] [-0.049207 0.05649156 0.99718974 1.44508141] [ 0. 0. 0. 1. ]] SLAMing on 108.26119381699999 meters Centerline goodness : 0.887633 with order 1 Centerline is valid? [False, False] Translation: X:28.99, Y:0.28, Z:1.46 [[ 0.99805166 -0.03500483 0.05164822 28.99128134] [ 0.04003052 0.99420993 -0.09972046 0.27782941] [-0.04785848 0.10159368 0.99367414 1.45568064] [ 0. 0. 0. 1. ]] SLAMing on 108.321193817 meters Centerline goodness : 0.891363 with order 1 Centerline is valid? [False, False] Translation: X:29.03, Y:0.27, Z:1.46 [[ 0.99791651 -0.0346407 0.05443037 29.02682127] [ 0.03972969 0.99464767 -0.0953811 0.27032397] [-0.05083497 0.09734488 0.9939516 1.45583517] [ 0. 0. 0. 1. ]] SLAMing on 108.381193817 meters Centerline goodness : 0.891578 with order 1 Centerline is valid? [False, False] Translation: X:29.05, Y:0.27, Z:1.46 [[ 0.99774455 -0.03315167 0.05836767 29.05253278] [ 0.03912503 0.99376893 -0.10436737 0.26829788] [-0.05454402 0.10641561 0.99282459 1.45606472] [ 0. 0. 0. 1. ]] SLAMing on 108.441193817 meters Centerline goodness : 0.884410 with order 1 Centerline is valid? [False, False] Translation: X:29.07, Y:0.26, Z:1.45 [[ 0.99750845 -0.0409887 0.05741798 29.07235923] [ 0.04625635 0.9945311 -0.09363892 0.26130213] [-0.05326583 0.09606156 0.99394916 1.4533299 ] [ 0. 0. 0. 1. ]] SLAMing on 108.50119381699999 meters Centerline goodness : 0.884205 with order 1 Centerline is valid? [False, False] Translation: X:29.09, Y:0.26, Z:1.45 [[ 0.9976406 -0.04782846 0.04925104 29.09238849] [ 0.05189654 0.99503405 -0.08493524 0.25543239] [-0.04494414 0.0872908 0.9951685 1.45111698] [ 0. 0. 0. 1. ]] SLAMing on 108.56119381699999 meters Centerline goodness : 0.885960 with order 1 Centerline is valid? [False, False] Translation: X:29.11, Y:0.25, Z:1.45 [[ 0.99761772 -0.05548101 0.04099682 29.11088199] [ 0.05851957 0.99530701 -0.07706756 0.24843367] [-0.03652864 0.07928308 0.99618264 1.45080785] [ 0. 0. 0. 1. ]] SLAMing on 108.62119381699999 meters Centerline goodness : 0.878275 with order 1 Centerline is valid? [False, False] Translation: X:29.14, Y:0.25, Z:1.45 [[ 0.99753655 -0.05869595 0.03841384 29.14041396] [ 0.06120986 0.99581152 -0.06791741 0.24583425] [-0.03426647 0.0701014 0.99695115 1.45077496] [ 0. 0. 0. 1. ]] SLAMing on 108.681193817 meters Centerline goodness : 0.882721 with order 1 Centerline is valid? [False, False] Translation: X:29.17, Y:0.24, Z:1.45 [[ 0.99757684 -0.05998462 0.03524617 29.1692259 ] [ 0.06196114 0.99639458 -0.05795394 0.24304258] [-0.03164275 0.0599974 0.99769687 1.45202947] [ 0. 0. 0. 1. ]] SLAMing on 108.741193817 meters Centerline goodness : 0.879718 with order 1 Centerline is valid? [False, False] Translation: X:29.21, Y:0.26, Z:1.45 [[ 0.99767225 -0.05045378 0.04587488 29.2062554 ] [ 0.05451377 0.99426137 -0.09204664 0.25870973] [-0.04096752 0.0943332 0.9946974 1.45158752] [ 0. 0. 0. 1. ]] SLAMing on 108.801193817 meters Centerline goodness : 0.878045 with order 1 Centerline is valid? [False, False] Translation: X:29.24, Y:0.29, Z:1.46 [[ 0.99771531 -0.03426236 0.05822583 29.23641204] [ 0.04354191 0.98509034 -0.16643655 0.28656422] [-0.05165519 0.16859156 0.98433156 1.46021507] [ 0. 0. 0. 1. ]] SLAMing on 108.86119381699999 meters Centerline goodness : 0.879563 with order 1 Centerline is valid? [False, False] Translation: X:29.25, Y:0.29, Z:1.47 [[ 9.97765393e-01 -1.90640544e-02 6.40373583e-02 2.92478833e+01] [ 2.86520397e-02 9.87915416e-01 -1.52322654e-01 2.89787853e-01] [-6.03596062e-02 1.53817074e-01 9.86254037e-01 1.46531767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.92119381699999 meters Centerline goodness : 0.877726 with order 1 Centerline is valid? [False, False] Translation: X:29.24, Y:0.31, Z:1.49 [[ 9.98002395e-01 -2.64527843e-03 6.31207011e-02 2.92429279e+01] [ 1.79653531e-02 9.69757181e-01 -2.43409648e-01 3.13900736e-01] [-6.05678668e-02 2.44057397e-01 9.67867512e-01 1.48751365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.98119381699999 meters Centerline goodness : 0.875435 with order 1 Centerline is valid? [False, False] Translation: X:29.23, Y:0.30, Z:1.49 [[ 9.98108357e-01 -3.05637757e-03 6.14033155e-02 2.92327348e+01] [ 1.71715125e-02 9.72874114e-01 -2.30696981e-01 3.04880223e-01] [-5.90325991e-02 2.31314972e-01 9.71086266e-01 1.48935108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.04119381699999 meters Centerline goodness : 0.871293 with order 1 Centerline is valid? [False, False] Translation: X:29.22, Y:0.29, Z:1.49 [[ 9.97920917e-01 -2.06981239e-03 6.44170750e-02 2.92179155e+01] [ 1.53947284e-02 9.78207721e-01 -2.07057136e-01 2.90492879e-01] [-6.25847107e-02 2.07618330e-01 9.76205810e-01 1.48651563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.101193817 meters Centerline goodness : 0.872153 with order 1 Centerline is valid? [False, False] Translation: X:29.21, Y:0.28, Z:1.49 [[ 9.98654320e-01 -1.83839530e-03 5.18282595e-02 2.92140237e+01] [ 1.25407642e-02 9.78272865e-01 -2.06941854e-01 2.77723371e-01] [-5.03217390e-02 2.07313342e-01 9.76979478e-01 1.49282729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.161193817 meters Centerline goodness : 0.873767 with order 1 Centerline is valid? [False, False] Translation: X:29.23, Y:0.25, Z:1.49 [[ 9.98871400e-01 -8.01838143e-03 4.68148596e-02 2.92271227e+01] [ 1.65589923e-02 9.82596089e-01 -1.85015477e-01 2.51875660e-01] [-4.45165732e-02 1.85581875e-01 9.81619907e-01 1.48859444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.221193817 meters Centerline goodness : 0.877397 with order 1 Centerline is valid? [False, False] Translation: X:29.25, Y:0.23, Z:1.48 [[ 9.98961775e-01 -1.83072143e-02 4.17159321e-02 2.92482914e+01] [ 2.50368109e-02 9.85639167e-01 -1.66998776e-01 2.26769631e-01] [-3.80595742e-02 1.67869827e-01 9.85074205e-01 1.48375657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.28119381699999 meters Centerline goodness : 0.876426 with order 1 Centerline is valid? [False, False] Translation: X:29.27, Y:0.21, Z:1.48 [[ 9.99032459e-01 -2.16744382e-02 3.82670169e-02 2.92677347e+01] [ 2.72416961e-02 9.88074040e-01 -1.51550588e-01 2.10924622e-01] [-3.45258722e-02 1.52446415e-01 9.87708487e-01 1.47880499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.34119381699999 meters Centerline goodness : 0.877713 with order 1 Centerline is valid? [False, False] Translation: X:29.29, Y:0.19, Z:1.47 [[ 9.98984286e-01 -1.96435766e-02 4.05527480e-02 2.92855674e+01] [ 2.51676290e-02 9.89753366e-01 -1.40552002e-01 1.89822246e-01] [-3.73762748e-02 1.41429858e-01 9.89242442e-01 1.47245288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.40119381699999 meters Centerline goodness : 0.877912 with order 1 Centerline is valid? [False, False] Translation: X:29.30, Y:0.18, Z:1.47 [[ 9.98905270e-01 -2.04327077e-02 4.20804748e-02 2.93032001e+01] [ 2.54349769e-02 9.92204463e-01 -1.21997403e-01 1.78106486e-01] [-3.92596977e-02 1.22934164e-01 9.91637972e-01 1.47168896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.461193817 meters Centerline goodness : 0.879948 with order 1 Centerline is valid? [False, False] Translation: X:29.33, Y:0.16, Z:1.47 [[ 9.98952659e-01 -2.32935823e-02 3.93826574e-02 2.93311003e+01] [ 2.75958336e-02 9.93269680e-01 -1.12489167e-01 1.62444947e-01] [-3.64973238e-02 1.13458150e-01 9.92872194e-01 1.47040233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.521193817 meters Centerline goodness : 0.883420 with order 1 Centerline is valid? [False, False] Translation: X:29.34, Y:0.15, Z:1.47 [[ 9.98729637e-01 -2.73115647e-02 4.23460914e-02 2.93416297e+01] [ 3.15575524e-02 9.94172269e-01 -1.03080649e-01 1.52382211e-01] [-3.92840159e-02 1.04286038e-01 9.93771195e-01 1.46909791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.581193817 meters Centerline goodness : 0.880861 with order 1 Centerline is valid? [False, False] Translation: X:29.36, Y:0.14, Z:1.47 [[ 9.98797166e-01 -2.56490636e-02 4.17893234e-02 2.93642579e+01] [ 2.94397635e-02 9.95251607e-01 -9.27768193e-02 1.39889555e-01] [-3.92112528e-02 9.38954919e-02 9.94809587e-01 1.47169380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.64119381699999 meters Centerline goodness : 0.879899 with order 1 Centerline is valid? [False, False] Translation: X:29.40, Y:0.14, Z:1.47 [[ 9.98758137e-01 -2.26783830e-02 4.43607394e-02 2.94003249e+01] [ 2.67280085e-02 9.95313251e-01 -9.29362513e-02 1.38588411e-01] [-4.20451879e-02 9.40065114e-02 9.94683356e-01 1.47096978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.70119381699999 meters Centerline goodness : 0.880021 with order 1 Centerline is valid? [False, False] Translation: X:29.44, Y:0.14, Z:1.47 [[ 9.98729675e-01 -1.64522117e-02 4.76273181e-02 2.94428699e+01] [ 2.13373910e-02 9.94353366e-01 -1.03952388e-01 1.39018366e-01] [-4.56481374e-02 1.04836577e-01 9.93441261e-01 1.47113798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.76119381699999 meters Centerline goodness : 0.885205 with order 1 Centerline is valid? [False, False] Translation: X:29.49, Y:0.14, Z:1.47 [[ 9.98670590e-01 -1.26370933e-02 4.99735589e-02 2.94864237e+01] [ 1.84722252e-02 9.92831579e-01 -1.18085701e-01 1.35916321e-01] [-4.81230673e-02 1.18851840e-01 9.91745134e-01 1.46968873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.821193817 meters Centerline goodness : 0.881381 with order 1 Centerline is valid? [False, False] Translation: X:29.52, Y:0.13, Z:1.47 [[ 9.98769648e-01 -1.50018824e-02 4.72666338e-02 2.95169773e+01] [ 2.01903237e-02 9.93583921e-01 -1.11280471e-01 1.29746843e-01] [-4.52939508e-02 1.12097886e-01 9.92664355e-01 1.46829979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.881193817 meters Centerline goodness : 0.882755 with order 1 Centerline is valid? [False, False] Translation: X:29.54, Y:0.12, Z:1.47 [[ 9.98663393e-01 -2.05970296e-02 4.74045242e-02 2.95398195e+01] [ 2.51273257e-02 9.94962560e-01 -9.70470033e-02 1.21880050e-01] [-4.51668468e-02 9.81084385e-02 9.94150235e-01 1.46569608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.941193817 meters Centerline goodness : 0.884327 with order 1 Centerline is valid? [False, False] Translation: X:29.54, Y:0.11, Z:1.46 [[ 0.9981952 -0.033116 0.05009664 29.5425917 ] [ 0.03746654 0.99536628 -0.08855632 0.1128903 ] [-0.04693187 0.09027345 0.99481059 1.46386283] [ 0. 0. 0. 1. ]] SLAMing on 110.00119381699999 meters Centerline goodness : 0.888799 with order 1 Centerline is valid? [False, False] Translation: X:29.57, Y:0.11, Z:1.46 [[ 0.9978813 -0.0449887 0.04699927 29.56744631] [ 0.04859293 0.9957219 -0.07859152 0.11034304] [-0.04326247 0.08070884 0.99579839 1.46459402] [ 0. 0. 0. 1. ]] SLAMing on 110.06119381699999 meters Centerline goodness : 0.891132 with order 1 Centerline is valid? [False, False] Translation: X:29.58, Y:0.11, Z:1.47 [[ 0.99728986 -0.05621533 0.04746344 29.5846072 ] [ 0.05955705 0.99561006 -0.07220505 0.11112357] [-0.04319605 0.07483615 0.99625983 1.46730562] [ 0. 0. 0. 1. ]] SLAMing on 110.12119381699999 meters Centerline goodness : 0.895863 with order 1 Centerline is valid? [False, False] Translation: X:29.61, Y:0.12, Z:1.47 [[ 0.99728827 -0.05637985 0.04730136 29.61255246] [ 0.0594191 0.99608071 -0.06551787 0.11514212] [-0.04342208 0.06815081 0.99672965 1.46800069] [ 0. 0. 0. 1. ]] SLAMing on 110.181193817 meters Centerline goodness : 0.893147 with order 1 Centerline is valid? [False, False] Translation: X:29.66, Y:0.13, Z:1.47 [[ 0.99745158 -0.05502527 0.04541547 29.6576194 ] [ 0.05797149 0.99611226 -0.06632997 0.1275621 ] [-0.04158908 0.06879374 0.99676365 1.46656368] [ 0. 0. 0. 1. ]] SLAMing on 110.241193817 meters Centerline goodness : 0.893488 with order 1 Centerline is valid? [False, False] Translation: X:29.70, Y:0.14, Z:1.46 [[ 0.99742065 -0.05495078 0.04617861 29.69726107] [ 0.05815083 0.99577432 -0.07107738 0.13504621] [-0.04207771 0.07357937 0.9964013 1.46371266] [ 0. 0. 0. 1. ]] SLAMing on 110.301193817 meters Centerline goodness : 0.887807 with order 1 Centerline is valid? [False, False] Translation: X:29.74, Y:0.15, Z:1.47 [[ 0.99717936 -0.06297204 0.04083929 29.73945406] [ 0.06536383 0.99604718 -0.0601463 0.14919065] [-0.03689033 0.06264607 0.99735379 1.46509933] [ 0. 0. 0. 1. ]] SLAMing on 110.36119381699999 meters Centerline goodness : 0.891386 with order 1 Centerline is valid? [False, False] Translation: X:29.78, Y:0.16, Z:1.47 [[ 0.99683957 -0.07048002 0.03665294 29.77883915] [ 0.07239192 0.99592673 -0.05375273 0.15921931] [-0.03271515 0.05623622 0.99788136 1.46592091] [ 0. 0. 0. 1. ]] SLAMing on 110.42119381699999 meters Centerline goodness : 0.884285 with order 1 Centerline is valid? [False, False] Translation: X:29.81, Y:0.18, Z:1.46 [[ 0.99650982 -0.07291017 0.04064838 29.81247294] [ 0.075349 0.9952217 -0.06209915 0.18174913] [-0.03592649 0.06494523 0.9972419 1.46493482] [ 0. 0. 0. 1. ]] SLAMing on 110.48119381699999 meters Centerline goodness : 0.885625 with order 1 Centerline is valid? [False, False] Translation: X:29.85, Y:0.21, Z:1.46 [[ 0.9969017 -0.06729603 0.04072151 29.85313056] [ 0.06988086 0.99538367 -0.06578773 0.20677771] [-0.03610627 0.06842955 0.99700237 1.45862954] [ 0. 0. 0. 1. ]] SLAMing on 110.54119381699999 meters Centerline goodness : 0.882622 with order 1 Centerline is valid? [False, False] Translation: X:29.89, Y:0.22, Z:1.45 [[ 0.9973194 -0.06180337 0.03917096 29.89421492] [ 0.06430551 0.99573128 -0.066212 0.22298286] [-0.03491163 0.06855342 0.99703641 1.45378199] [ 0. 0. 0. 1. ]] SLAMing on 110.601193817 meters Centerline goodness : 0.884443 with order 1 Centerline is valid? [False, False] Translation: X:29.94, Y:0.25, Z:1.45 [[ 0.99778189 -0.05316068 0.04006546 29.94225412] [ 0.05621048 0.99526549 -0.07929055 0.24927989] [-0.03566063 0.08136678 0.99604607 1.45118781] [ 0. 0. 0. 1. ]] SLAMing on 110.661193817 meters Centerline goodness : 0.889021 with order 1 Centerline is valid? [False, False] Translation: X:29.98, Y:0.27, Z:1.45 [[ 0.99811025 -0.04583075 0.04093261 29.98202837] [ 0.04908095 0.9953992 -0.08228913 0.26637205] [-0.03697292 0.08414263 0.99576755 1.45169797] [ 0. 0. 0. 1. ]] SLAMing on 110.721193817 meters Centerline goodness : 0.887315 with order 1 Centerline is valid? [False, False] Translation: X:29.99, Y:0.29, Z:1.46 [[ 0.99857887 -0.03822109 0.03714 29.98974326] [ 0.04134366 0.99532317 -0.08730688 0.28688893] [-0.03362933 0.08871831 0.99548889 1.45737781] [ 0. 0. 0. 1. ]] SLAMing on 110.78119381699999 meters Centerline goodness : 0.890273 with order 1 Centerline is valid? [False, False] Translation: X:29.99, Y:0.29, Z:1.46 [[ 0.998596 -0.04110082 0.03341778 29.98953098] [ 0.04350572 0.99625318 -0.07474526 0.29290481] [-0.03022048 0.07609418 0.99664256 1.45807062] [ 0. 0. 0. 1. ]] SLAMing on 110.84119381699999 meters Centerline goodness : 0.890396 with order 1 Centerline is valid? [False, False] Translation: X:29.99, Y:0.30, Z:1.46 [[ 0.9982493 -0.04355299 0.04001847 29.98685788] [ 0.04599149 0.99700458 -0.06218232 0.30349921] [-0.03719037 0.06391397 0.99726219 1.46112212] [ 0. 0. 0. 1. ]] SLAMing on 110.90119381699999 meters Centerline goodness : 0.892856 with order 1 Centerline is valid? [False, False] Translation: X:29.99, Y:0.31, Z:1.46 [[ 0.99823952 -0.04713278 0.03600504 29.98580603] [ 0.04894196 0.99749162 -0.05113848 0.30828161] [-0.03350442 0.05281061 0.99804233 1.4620386 ] [ 0. 0. 0. 1. ]] SLAMing on 110.961193817 meters Centerline goodness : 0.890120 with order 1 Centerline is valid? [False, False] Translation: X:29.99, Y:0.31, Z:1.46 [[ 0.99833811 -0.04563695 0.03518928 29.98846526] [ 0.04737158 0.9976178 -0.05014635 0.31322433] [-0.03281693 0.05172998 0.99812177 1.46034079] [ 0. 0. 0. 1. ]] SLAMing on 111.021193817 meters Centerline goodness : 0.892918 with order 1 Centerline is valid? [False, False] Translation: X:29.98, Y:0.32, Z:1.46 [[ 9.98659624e-01 -4.17308276e-02 3.06185185e-02 2.99819131e+01] [ 4.28404964e-02 9.98413940e-01 -3.65280256e-02 3.18896248e-01] [-2.90456109e-02 3.77907768e-02 9.98863459e-01 1.46008880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.081193817 meters Centerline goodness : 0.891596 with order 1 Centerline is valid? [False, False] Translation: X:29.98, Y:0.32, Z:1.46 [[ 9.99033739e-01 -3.17490532e-02 3.03905674e-02 2.99806387e+01] [ 3.25614580e-02 9.99115138e-01 -2.66212686e-02 3.22651203e-01] [-2.95184759e-02 2.75851067e-02 9.99183527e-01 1.46138727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.14119381699999 meters Centerline goodness : 0.893481 with order 1 Centerline is valid? [False, False] Translation: X:29.98, Y:0.33, Z:1.47 [[ 9.99399005e-01 -1.59133548e-02 3.07960178e-02 2.99756076e+01] [ 1.62564698e-02 9.99808185e-01 -1.09234052e-02 3.25977279e-01] [-3.06162826e-02 1.14174748e-02 9.99466000e-01 1.46711508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.20119381699999 meters Centerline goodness : 0.895957 with order 1 Centerline is valid? [False, False] Translation: X:29.98, Y:0.32, Z:1.47 [[ 9.99369905e-01 -2.82493871e-03 3.53809732e-02 2.99809208e+01] [ 2.26867801e-03 9.99873351e-01 1.57523199e-02 3.21064916e-01] [-3.54209916e-02 -1.56621264e-02 9.99249744e-01 1.46744478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.26119381699999 meters Centerline goodness : 0.893408 with order 1 Centerline is valid? [False, False] Translation: X:30.00, Y:0.31, Z:1.46 [[ 9.99284356e-01 3.12609379e-03 3.76962042e-02 3.00000098e+01] [-4.17951123e-03 9.99602021e-01 2.78985788e-02 3.11411806e-01] [-3.75939883e-02 -2.80361650e-02 9.98899727e-01 1.46434733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.321193817 meters Centerline goodness : 0.892909 with order 1 Centerline is valid? [False, False] Translation: X:30.03, Y:0.29, Z:1.47 [[ 9.99274953e-01 2.67876880e-03 3.79788366e-02 3.00291862e+01] [-4.79570349e-03 9.98432748e-01 5.57588404e-02 2.93243527e-01] [-3.77699491e-02 -5.59005479e-02 9.97721684e-01 1.46742559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.381193817 meters Centerline goodness : 0.891042 with order 1 Centerline is valid? [False, False] Translation: X:30.06, Y:0.28, Z:1.47 [[ 9.99268195e-01 -1.77641971e-04 3.82497498e-02 3.00624504e+01] [-2.73878346e-03 9.97090244e-01 7.61810024e-02 2.76486943e-01] [-3.81519853e-02 -7.62300105e-02 9.96360081e-01 1.46919752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.441193817 meters Centerline goodness : 0.889746 with order 1 Centerline is valid? [False, False] Translation: X:30.09, Y:0.19, Z:1.49 [[ 9.99449740e-01 -1.22161465e-02 3.08380239e-02 3.00852392e+01] [ 3.76464035e-03 9.65479105e-01 2.60453308e-01 1.91134150e-01] [-3.29552035e-02 -2.60193896e-01 9.64993829e-01 1.49415291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.50119381699999 meters Centerline goodness : 0.887629 with order 1 Centerline is valid? [False, False] Translation: X:30.07, Y:0.19, Z:1.50 [[ 9.99486962e-01 -1.10115632e-02 3.00758833e-02 3.00709191e+01] [ 4.13269028e-03 9.75529770e-01 2.19828545e-01 1.94503091e-01] [-3.17605754e-02 -2.19591470e-01 9.75074793e-01 1.49537894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.56119381699999 meters Centerline goodness : 0.884781 with order 1 Centerline is valid? [False, False] Translation: X:30.08, Y:0.13, Z:1.54 [[ 9.99308946e-01 -2.98580695e-02 2.21387891e-02 3.00776886e+01] [ 1.86675018e-02 9.18184385e-01 3.95713228e-01 1.27021177e-01] [-3.21427235e-02 -3.95026493e-01 9.18107246e-01 1.53615153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.62119381699999 meters Centerline goodness : 0.886925 with order 1 Centerline is valid? [False, False] Translation: X:30.05, Y:0.12, Z:1.54 [[ 9.98956119e-01 -3.80748619e-02 2.52384082e-02 3.00495524e+01] [ 2.67545191e-02 9.35493895e-01 3.52328493e-01 1.19623473e-01] [-3.70252356e-02 -3.51285463e-01 9.35536026e-01 1.54110734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.681193817 meters Centerline goodness : 0.886921 with order 1 Centerline is valid? [False, False] Translation: X:30.04, Y:0.12, Z:1.54 [[ 9.98646841e-01 -4.63112623e-02 2.36591061e-02 3.00389034e+01] [ 3.75129718e-02 9.56582801e-01 2.89036541e-01 1.19012517e-01] [-3.60175410e-02 -2.87757905e-01 9.57025666e-01 1.53905927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.741193817 meters Centerline goodness : 0.881079 with order 1 Centerline is valid? [False, False] Translation: X:30.04, Y:0.13, Z:1.53 [[ 9.98510308e-01 -4.97445871e-02 2.24196602e-02 3.00376974e+01] [ 4.30278448e-02 9.70537133e-01 2.37078631e-01 1.25738292e-01] [-3.35524913e-02 -2.35760787e-01 9.71231734e-01 1.53254286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.801193817 meters Centerline goodness : 0.882094 with order 1 Centerline is valid? [False, False] Translation: X:30.04, Y:0.13, Z:1.53 [[ 9.98564619e-01 -4.99549870e-02 1.93183934e-02 3.00426822e+01] [ 4.52803829e-02 9.80020107e-01 1.93675700e-01 1.27926387e-01] [-2.86074811e-02 -1.92522957e-01 9.80875386e-01 1.52723880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.86119381699999 meters Centerline goodness : 0.883358 with order 1 Centerline is valid? [False, False] Translation: X:30.06, Y:0.14, Z:1.52 [[ 9.98796346e-01 -4.54919034e-02 1.83397443e-02 3.00561082e+01] [ 4.18452018e-02 9.85359798e-01 1.65272649e-01 1.35094188e-01] [-2.55898141e-02 -1.64306287e-01 9.86077383e-01 1.52478112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.92119381699999 meters Centerline goodness : 0.882321 with order 1 Centerline is valid? [False, False] Translation: X:30.07, Y:0.15, Z:1.52 [[ 9.99026321e-01 -3.82428206e-02 2.19976698e-02 3.00737150e+01] [ 3.50684220e-02 9.90890755e-01 1.30021990e-01 1.45777934e-01] [-2.67696953e-02 -1.29123966e-01 9.91267060e-01 1.52384834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.98119381699999 meters Centerline goodness : 0.889232 with order 1 Centerline is valid? [False, False] Translation: X:30.08, Y:0.16, Z:1.53 [[ 9.98977817e-01 -2.46013199e-02 3.79222479e-02 3.00762269e+01] [ 2.15102533e-02 9.96573376e-01 7.98674864e-02 1.57238992e-01] [-3.97571482e-02 -7.89701300e-02 9.96083876e-01 1.52627903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.04119381699999 meters Centerline goodness : 0.889024 with order 1 Centerline is valid? [False, False] Translation: X:30.09, Y:0.17, Z:1.53 [[ 9.98722725e-01 -1.95995078e-02 4.65701379e-02 3.00938666e+01] [ 1.75006414e-02 9.98831115e-01 4.50569834e-02 1.66028709e-01] [-4.73987974e-02 -4.41844259e-02 9.97898337e-01 1.52626515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.101193817 meters Centerline goodness : 0.890017 with order 1 Centerline is valid? [False, False] Translation: X:30.11, Y:0.17, Z:1.52 [[ 9.98608607e-01 -1.94842955e-02 4.90021654e-02 3.01127898e+01] [ 1.81235530e-02 9.99441883e-01 2.80617171e-02 1.66562020e-01] [-4.95215792e-02 -2.71345789e-02 9.98404391e-01 1.52448532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.161193817 meters Centerline goodness : 0.888724 with order 1 Centerline is valid? [False, False] Translation: X:30.13, Y:0.16, Z:1.52 [[ 9.98778819e-01 -2.41324091e-02 4.31102845e-02 3.01312732e+01] [ 2.35438971e-02 9.99623263e-01 1.41073482e-02 1.61426742e-01] [-4.34344875e-02 -1.30751364e-02 9.98970713e-01 1.52118204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.221193817 meters Centerline goodness : 0.886365 with order 1 Centerline is valid? [False, False] Translation: X:30.16, Y:0.16, Z:1.52 [[ 9.99058624e-01 -2.20275080e-02 3.73718329e-02 3.01569655e+01] [ 2.19906159e-02 9.99757200e-01 1.39798457e-03 1.61679614e-01] [-3.73935531e-02 -5.74838914e-04 9.99300451e-01 1.51508229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.28119381699999 meters Centerline goodness : 0.883927 with order 1 Centerline is valid? [False, False] Translation: X:30.19, Y:0.16, Z:1.51 [[ 9.99299440e-01 -1.95252384e-02 3.19279586e-02 3.01905296e+01] [ 1.97283724e-02 9.99787013e-01 -6.05963091e-03 1.60306735e-01] [-3.18028427e-02 6.68527243e-03 9.99471804e-01 1.51321393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.34119381699999 meters Centerline goodness : 0.885902 with order 1 Centerline is valid? [False, False] Translation: X:30.21, Y:0.16, Z:1.51 [[ 9.99242327e-01 -1.65920530e-02 3.52061870e-02 3.02138063e+01] [ 1.73390822e-02 9.99628678e-01 -2.10205362e-02 1.62300249e-01] [-3.48443404e-02 2.16150524e-02 9.99158977e-01 1.51037116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.40119381699999 meters Centerline goodness : 0.887811 with order 1 Centerline is valid? [False, False] Translation: X:30.25, Y:0.17, Z:1.51 [[ 9.99184773e-01 -8.13947552e-03 3.95416044e-02 3.02504898e+01] [ 1.04414295e-02 9.98240830e-01 -5.83628446e-02 1.72324143e-01] [-3.89970011e-02 5.87281365e-02 9.97512025e-01 1.50799437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.461193817 meters Centerline goodness : 0.888027 with order 1 Centerline is valid? [False, False] Translation: X:30.29, Y:0.18, Z:1.51 [[ 9.99039632e-01 6.35602183e-03 4.33522120e-02 3.02881370e+01] [-2.62925917e-03 9.96335919e-01 -8.54858049e-02 1.75590990e-01] [-4.37367157e-02 8.52897229e-02 9.95395782e-01 1.50714118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.521193817 meters Centerline goodness : 0.885766 with order 1 Centerline is valid? [False, False] Translation: X:30.32, Y:0.17, Z:1.51 [[ 9.98973432e-01 9.37459968e-03 4.43192850e-02 3.03157856e+01] [-5.16339427e-03 9.95540285e-01 -9.41959678e-02 1.72585638e-01] [-4.50046832e-02 9.38704313e-02 9.94566700e-01 1.50737134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.581193817 meters Centerline goodness : 0.884403 with order 1 Centerline is valid? [False, False] Translation: X:30.33, Y:0.15, Z:1.51 [[ 9.99259459e-01 1.84886606e-03 3.84332588e-02 3.03292857e+01] [ 1.40343670e-03 9.96428995e-01 -8.44232640e-02 1.53060197e-01] [-3.84521007e-02 8.44146837e-02 9.95688504e-01 1.50700559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.64119381699999 meters Centerline goodness : 0.883511 with order 1 Centerline is valid? [False, False] Translation: X:30.34, Y:0.13, Z:1.51 [[ 9.99455711e-01 -1.92737649e-03 3.29327574e-02 3.03412756e+01] [ 4.31936841e-03 9.97343283e-01 -7.27166996e-02 1.33587919e-01] [-3.27051119e-02 7.28193695e-02 9.96808766e-01 1.50665555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.70119381699999 meters Centerline goodness : 0.883603 with order 1 Centerline is valid? [False, False] Translation: X:30.38, Y:0.12, Z:1.51 [[ 9.99417936e-01 1.65439569e-03 3.40742033e-02 3.03796550e+01] [ 7.08367909e-04 9.97601642e-01 -6.92131647e-02 1.23130262e-01] [-3.41069871e-02 6.91970153e-02 9.97019802e-01 1.50542108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.76119381699999 meters Centerline goodness : 0.892034 with order 1 Centerline is valid? [False, False] Translation: X:30.39, Y:0.10, Z:1.51 [[ 9.99258753e-01 6.95834848e-03 3.78619448e-02 3.03940236e+01] [-4.68423901e-03 9.98197966e-01 -5.98237224e-02 1.04810941e-01] [-3.82099906e-02 5.96020238e-02 9.97490649e-01 1.50601547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.821193817 meters Centerline goodness : 0.891764 with order 1 Centerline is valid? [False, False] Translation: X:30.42, Y:0.09, Z:1.51 [[ 9.99319161e-01 5.52087936e-03 3.64792404e-02 3.04230795e+01] [-3.65608407e-03 9.98692486e-01 -5.09897094e-02 9.48480774e-02] [-3.67130514e-02 5.08216224e-02 9.98032722e-01 1.50656667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.881193817 meters Centerline goodness : 0.898645 with order 1 Centerline is valid? [False, False] Translation: X:30.42, Y:0.08, Z:1.51 [[ 9.99344183e-01 3.96295883e-04 3.62083942e-02 3.04238498e+01] [ 1.56839885e-03 9.98527987e-01 -5.42162346e-02 8.31896076e-02] [-3.61765806e-02 5.42374679e-02 9.97872513e-01 1.50580918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.941193817 meters Centerline goodness : 0.894316 with order 1 Centerline is valid? [False, False] Translation: X:30.45, Y:0.07, Z:1.51 [[ 9.99437130e-01 -2.09568488e-03 3.34818158e-02 3.04531060e+01] [ 3.66233662e-03 9.98897634e-01 -4.67985529e-02 7.18204492e-02] [-3.33468316e-02 4.68948331e-02 9.98343059e-01 1.50588867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.00119381699999 meters Centerline goodness : 0.896230 with order 1 Centerline is valid? [False, False] Translation: X:30.48, Y:0.06, Z:1.51 [[ 9.99576689e-01 -7.71615420e-03 2.80517912e-02 3.04843854e+01] [ 8.91110729e-03 9.99047097e-01 -4.27257447e-02 6.03830380e-02] [-2.76953822e-02 4.29576310e-02 9.98692950e-01 1.50508702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.06119381699999 meters Centerline goodness : 0.892292 with order 1 Centerline is valid? [False, False] Translation: X:30.48, Y:0.05, Z:1.51 [[ 9.99550475e-01 -1.11588282e-02 2.78267427e-02 3.04845022e+01] [ 1.24003381e-02 9.98916778e-01 -4.48497719e-02 5.40233901e-02] [-2.72961292e-02 4.51746718e-02 9.98606114e-01 1.50554164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.12119381699999 meters Centerline goodness : 0.897423 with order 1 Centerline is valid? [False, False] Translation: X:30.50, Y:0.05, Z:1.51 [[ 9.99373601e-01 -1.05832282e-02 3.37698302e-02 3.04973711e+01] [ 1.20974262e-02 9.98915800e-01 -4.49541648e-02 4.60620054e-02] [-3.32574568e-02 4.53345336e-02 9.98418110e-01 1.50773605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.181193817 meters Centerline goodness : 0.906100 with order 1 Centerline is valid? [False, False] Translation: X:30.53, Y:0.04, Z:1.51 [[ 9.99482509e-01 -7.37660504e-03 3.13097497e-02 3.05261665e+01] [ 8.48083585e-03 9.99341377e-01 -3.52829537e-02 4.09708855e-02] [-3.10288600e-02 3.55302279e-02 9.98886787e-01 1.50885417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.241193817 meters Centerline goodness : 0.896014 with order 1 Centerline is valid? [False, False] Translation: X:30.56, Y:0.04, Z:1.51 [[ 9.99694090e-01 5.35917463e-04 2.47272804e-02 3.05572290e+01] [ 3.26440180e-04 9.99392238e-01 -3.48575362e-02 3.59893183e-02] [-2.47309328e-02 3.48549449e-02 9.99086339e-01 1.50778463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.301193817 meters Centerline goodness : 0.897649 with order 1 Centerline is valid? [False, False] Translation: X:30.59, Y:0.03, Z:1.51 [[ 9.99792670e-01 3.79932285e-03 2.00045491e-02 3.05873442e+01] [-2.97300653e-03 9.99147514e-01 -4.11753263e-02 3.35376626e-02] [-2.01439338e-02 4.11073158e-02 9.98951656e-01 1.50742215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.36119381699999 meters Centerline goodness : 0.899046 with order 1 Centerline is valid? [False, False] Translation: X:30.61, Y:0.03, Z:1.50 [[ 9.99861678e-01 4.45287448e-03 1.60248786e-02 3.06132954e+01] [-3.78668302e-03 9.99136919e-01 -4.13651837e-02 3.03185959e-02] [-1.61952418e-02 4.12987809e-02 9.99015578e-01 1.50442406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.42119381699999 meters Centerline goodness : 0.898368 with order 1 Centerline is valid? [False, False] Translation: X:30.64, Y:0.03, Z:1.50 [[ 9.99888176e-01 5.99156491e-03 1.37017241e-02 3.06370978e+01] [-5.41541773e-03 9.99115227e-01 -4.17065455e-02 2.91996074e-02] [-1.39394887e-02 4.16276811e-02 9.99035949e-01 1.50241377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.48119381699999 meters Centerline goodness : 0.895337 with order 1 Centerline is valid? [False, False] Translation: X:30.68, Y:0.03, Z:1.50 [[ 9.99892922e-01 6.20386478e-03 1.32535710e-02 3.06781536e+01] [-5.56729988e-03 9.98853906e-01 -4.75381931e-02 3.08095620e-02] [-1.35333017e-02 4.74593161e-02 9.98781489e-01 1.49945031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.54119381699999 meters Centerline goodness : 0.899279 with order 1 Centerline is valid? [False, False] Translation: X:30.71, Y:0.03, Z:1.50 [[ 9.99865900e-01 2.96448583e-03 1.61057332e-02 3.07081941e+01] [-2.23293483e-03 9.98973137e-01 -4.52513593e-02 2.97426112e-02] [-1.62233418e-02 4.52093280e-02 9.98845794e-01 1.49856103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.601193817 meters Centerline goodness : 0.904811 with order 1 Centerline is valid? [False, False] Translation: X:30.74, Y:0.03, Z:1.50 [[ 9.99857467e-01 -1.10693717e-03 1.68469828e-02 3.07364315e+01] [ 1.81926722e-03 9.99102199e-01 -4.23259502e-02 2.75917830e-02] [-1.67850054e-02 4.23505665e-02 9.98961808e-01 1.49974309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.661193817 meters Centerline goodness : 0.903375 with order 1 Centerline is valid? [False, False] Translation: X:30.77, Y:0.03, Z:1.50 [[ 9.99902661e-01 -2.99470696e-03 1.36271726e-02 3.07660932e+01] [ 3.56460295e-03 9.99111659e-01 -4.19903194e-02 2.89503745e-02] [-1.34893184e-02 4.20348075e-02 9.99025081e-01 1.49865235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.721193817 meters Centerline goodness : 0.897559 with order 1 Centerline is valid? [False, False] Translation: X:30.79, Y:0.03, Z:1.50 [[ 9.99950523e-01 -3.23053370e-03 9.40825549e-03 3.07918806e+01] [ 3.63587684e-03 9.99051581e-01 -4.33903131e-02 2.57756755e-02] [-9.25915865e-03 4.34223736e-02 9.99013897e-01 1.49636209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.78119381699999 meters Centerline goodness : 0.896273 with order 1 Centerline is valid? [False, False] Translation: X:30.82, Y:0.02, Z:1.50 [[ 9.99974247e-01 -4.09312739e-03 5.89507653e-03 3.08243784e+01] [ 4.32083129e-03 9.99224163e-01 -3.91459254e-02 2.48956117e-02] [-5.73027365e-03 3.91703889e-02 9.99216115e-01 1.49578690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.84119381699999 meters Centerline goodness : 0.893314 with order 1 Centerline is valid? [False, False] Translation: X:30.83, Y:0.03, Z:1.49 [[ 9.99971515e-01 -5.33599279e-03 5.33818241e-03 3.08267120e+01] [ 5.54724455e-03 9.99169216e-01 -4.03745661e-02 2.82106845e-02] [-5.11830914e-03 4.04030283e-02 9.99170355e-01 1.49430467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.90119381699999 meters Centerline goodness : 0.891848 with order 1 Centerline is valid? [False, False] Translation: X:30.86, Y:0.03, Z:1.50 [[ 9.99967658e-01 -7.92515057e-03 1.36908965e-03 3.08575215e+01] [ 7.97023056e-03 9.99288823e-01 -3.68554456e-02 2.56206386e-02] [-1.07603103e-03 3.68651656e-02 9.99319669e-01 1.49610185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.961193817 meters Centerline goodness : 0.892931 with order 1 Centerline is valid? [False, False] Translation: X:30.87, Y:0.02, Z:1.49 [[ 9.99923521e-01 -9.67766723e-03 7.70026638e-03 3.08666176e+01] [ 9.90097667e-03 9.99515421e-01 -2.95109049e-02 2.13868551e-02] [-7.41093827e-03 2.95848881e-02 9.99534798e-01 1.49425838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.021193817 meters Centerline goodness : 0.896290 with order 1 Centerline is valid? [False, False] Translation: X:30.90, Y:0.03, Z:1.49 [[ 9.99950531e-01 -2.82633993e-03 9.53663917e-03 3.09040567e+01] [ 3.12569911e-03 9.99498141e-01 -3.15229475e-02 2.75618163e-02] [-9.44275856e-03 3.15511968e-02 9.99457531e-01 1.49300681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.081193817 meters Centerline goodness : 0.896977 with order 1 Centerline is valid? [False, False] Translation: X:30.94, Y:0.03, Z:1.49 [[ 9.99931513e-01 3.99956964e-03 1.09988059e-02 3.09418754e+01] [-3.63054522e-03 9.99436505e-01 -3.33690166e-02 3.19743423e-02] [-1.11260698e-02 3.33267996e-02 9.99382577e-01 1.49312752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.14119381699999 meters Centerline goodness : 0.898446 with order 1 Centerline is valid? [False, False] Translation: X:30.98, Y:0.04, Z:1.49 [[ 9.99873124e-01 9.10153834e-03 1.30727738e-02 3.09848507e+01] [-8.46724719e-03 9.98821900e-01 -4.77819725e-02 3.73807081e-02] [-1.34922622e-02 4.76652197e-02 9.98772239e-01 1.49412629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.20119381699999 meters Centerline goodness : 0.899235 with order 1 Centerline is valid? [False, False] Translation: X:31.04, Y:0.05, Z:1.49 [[ 9.99681675e-01 1.86600745e-02 1.69809068e-02 3.10419121e+01] [-1.74550939e-02 9.97495905e-01 -6.85364100e-02 5.07449564e-02] [-1.82172795e-02 6.82181898e-02 9.97504090e-01 1.49205845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.26119381699999 meters Centerline goodness : 0.897891 with order 1 Centerline is valid? [False, False] Translation: X:31.09, Y:0.06, Z:1.49 [[ 9.99430311e-01 2.73614700e-02 1.97586447e-02 3.10928490e+01] [-2.53013026e-02 9.94874709e-01 -9.78987070e-02 5.95977895e-02] [-2.23360284e-02 9.73430157e-02 9.95000221e-01 1.48849981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.321193817 meters Centerline goodness : 0.897599 with order 1 Centerline is valid? [False, False] Translation: X:31.13, Y:0.07, Z:1.48 [[ 9.99125247e-01 3.10334200e-02 2.80297808e-02 3.11349828e+01] [-2.73392874e-02 9.91940137e-01 -1.23722790e-01 7.11755231e-02] [-3.16434059e-02 1.22848249e-01 9.91920865e-01 1.48210442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.381193817 meters Centerline goodness : 0.895093 with order 1 Centerline is valid? [False, False] Translation: X:31.17, Y:0.07, Z:1.48 [[ 9.99243792e-01 2.58876542e-02 2.90116094e-02 3.11655450e+01] [-2.21840063e-02 9.92353752e-01 -1.21416228e-01 6.56152474e-02] [-3.19329608e-02 1.20680818e-01 9.92177618e-01 1.48041807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.441193817 meters Centerline goodness : 0.894505 with order 1 Centerline is valid? [False, False] Translation: X:31.19, Y:0.05, Z:1.48 [[ 9.99283366e-01 2.02965657e-02 3.19500188e-02 3.11897276e+01] [-1.66610689e-02 9.93769477e-01 -1.10202704e-01 5.44628569e-02] [-3.39876899e-02 1.09591407e-01 9.93395470e-01 1.47641205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.50119381699999 meters Centerline goodness : 0.890487 with order 1 Centerline is valid? [False, False] Translation: X:31.22, Y:0.05, Z:1.48 [[ 9.99364114e-01 1.95346471e-02 2.98289482e-02 3.12218724e+01] [-1.64473887e-02 9.94806345e-01 -1.00448090e-01 4.51374181e-02] [-3.16362449e-02 9.98936077e-02 9.94495055e-01 1.47584640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.56119381699999 meters Centerline goodness : 0.891876 with order 1 Centerline is valid? [False, False] Translation: X:31.24, Y:0.03, Z:1.48 [[ 9.99481340e-01 1.66214626e-02 2.75822187e-02 3.12384980e+01] [-1.42780317e-02 9.96440179e-01 -8.30849381e-02 2.59070990e-02] [-2.88650241e-02 8.26480254e-02 9.96160687e-01 1.47791217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.62119381699999 meters Centerline goodness : 0.890877 with order 1 Centerline is valid? [False, False] Translation: X:31.27, Y:0.02, Z:1.48 [[ 9.99527638e-01 1.41243014e-02 2.72947701e-02 3.12700374e+01] [-1.20438003e-02 9.97115375e-01 -7.49391502e-02 1.59984563e-02] [-2.82744981e-02 7.45750190e-02 9.96814486e-01 1.47905068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.681193817 meters Centerline goodness : 0.890511 with order 1 Centerline is valid? [False, False] Translation: X:31.29, Y:0.00, Z:1.48 [[ 9.99466295e-01 1.79621697e-02 2.72852778e-02 3.12915748e+01] [-1.61409133e-02 9.97717937e-01 -6.55621002e-02 1.11611175e-03] [-2.84006486e-02 6.50867001e-02 9.97475375e-01 1.48178484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.741193817 meters Centerline goodness : 0.890176 with order 1 Centerline is valid? [False, False] Translation: X:31.34, Y:-0.00, Z:1.48 [[ 9.99346469e-01 2.47819416e-02 2.63152083e-02 3.13447834e+01] [-2.28392608e-02 9.97163330e-01 -7.17193198e-02 -2.72773746e-03] [-2.80179047e-02 7.10714291e-02 9.97077654e-01 1.48067996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.801193817 meters Centerline goodness : 0.892212 with order 1 Centerline is valid? [False, False] Translation: X:31.40, Y:-0.01, Z:1.48 [[ 9.99092411e-01 3.33379384e-02 2.65129357e-02 3.14024310e+01] [-3.12064181e-02 9.96534405e-01 -7.71060244e-02 -7.41278900e-03] [-2.89916085e-02 7.62086701e-02 9.96670319e-01 1.47550806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.86119381699999 meters Centerline goodness : 0.889397 with order 1 Centerline is valid? [False, False] Translation: X:31.44, Y:-0.01, Z:1.47 [[ 9.99009252e-01 3.58514145e-02 2.63664618e-02 3.14440055e+01] [-3.36357491e-02 9.96215074e-01 -8.01508740e-02 -1.17538268e-02] [-2.91401889e-02 7.91846090e-02 9.96433965e-01 1.47180015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.92119381699999 meters Centerline goodness : 0.883758 with order 1 Centerline is valid? [False, False] Translation: X:31.47, Y:-0.03, Z:1.47 [[ 9.99353412e-01 2.92909003e-02 2.08518726e-02 3.14657103e+01] [-2.78107618e-02 9.97294530e-01 -6.80454441e-02 -2.53046161e-02] [-2.27885708e-02 6.74215403e-02 9.97464294e-01 1.47187688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.98119381699999 meters Centerline goodness : 0.884386 with order 1 Centerline is valid? [False, False] Translation: X:31.48, Y:-0.04, Z:1.47 [[ 9.99508445e-01 2.24494170e-02 2.18835866e-02 3.14847871e+01] [-2.11463358e-02 9.98089068e-01 -5.80607077e-02 -3.76205982e-02] [-2.31451976e-02 5.75694100e-02 9.98073175e-01 1.47186196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.04119381699999 meters Centerline goodness : 0.885923 with order 1 Centerline is valid? [False, False] Translation: X:31.50, Y:-0.06, Z:1.48 [[ 9.99768588e-01 8.56408109e-03 1.97338857e-02 3.14971044e+01] [-7.55482061e-03 9.98687260e-01 -5.06624171e-02 -5.69273838e-02] [-2.01418573e-02 5.05016073e-02 9.98520853e-01 1.47675799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.101193817 meters Centerline goodness : 0.884661 with order 1 Centerline is valid? [False, False] Translation: X:31.52, Y:-0.07, Z:1.48 [[ 9.99835065e-01 -3.76190048e-03 1.77677041e-02 3.15185364e+01] [ 4.45908709e-03 9.99214996e-01 -3.93637951e-02 -7.10071455e-02] [-1.76056737e-02 3.94365304e-02 9.99066965e-01 1.48201892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.161193817 meters Centerline goodness : 0.889270 with order 1 Centerline is valid? [False, False] Translation: X:31.52, Y:-0.08, Z:1.49 [[ 9.99772945e-01 -1.16785134e-02 1.78233218e-02 3.15181455e+01] [ 1.24041755e-02 9.99075488e-01 -4.11619466e-02 -8.34595786e-02] [-1.73261336e-02 4.13736842e-02 9.98993505e-01 1.48717255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.22119381699999 meters Centerline goodness : 0.895638 with order 1 Centerline is valid? [False, False] Translation: X:31.54, Y:-0.09, Z:1.49 [[ 9.99830465e-01 -7.59296996e-03 1.67746123e-02 3.15443931e+01] [ 8.12517158e-03 9.99458369e-01 -3.18896616e-02 -9.09721098e-02] [-1.65233894e-02 3.20205518e-02 9.99350620e-01 1.48978687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.28119381699999 meters Centerline goodness : 0.893200 with order 1 Centerline is valid? [False, False] Translation: X:31.59, Y:-0.09, Z:1.49 [[ 9.99871006e-01 -1.24482052e-03 1.60131753e-02 3.15850634e+01] [ 1.79632313e-03 9.99404035e-01 -3.44724109e-02 -9.02036598e-02] [-1.59607201e-02 3.44967290e-02 9.99277354e-01 1.48669216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.34119381699999 meters Centerline goodness : 0.895786 with order 1 Centerline is valid? [False, False] Translation: X:31.61, Y:-0.09, Z:1.48 [[ 9.99861689e-01 2.09954089e-03 1.64983038e-02 3.16059711e+01] [-1.50725214e-03 9.99356736e-01 -3.58307532e-02 -9.07541269e-02] [-1.65629192e-02 3.58009303e-02 9.99221679e-01 1.48472938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.40119381699999 meters Centerline goodness : 0.897548 with order 1 Centerline is valid? [False, False] Translation: X:31.64, Y:-0.09, Z:1.49 [[ 9.99922183e-01 3.19575327e-04 1.24710238e-02 3.16368414e+01] [ 1.06507866e-04 9.99416705e-01 -3.41502434e-02 -9.31541109e-02] [-1.24746631e-02 3.41489141e-02 9.99338899e-01 1.48511303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.461193817 meters Centerline goodness : 0.895170 with order 1 Centerline is valid? [False, False] Translation: X:31.64, Y:-0.09, Z:1.48 [[ 9.99923215e-01 -6.50589863e-03 1.05469107e-02 3.16423846e+01] [ 6.91840525e-03 9.99193291e-01 -3.95588599e-02 -9.26277593e-02] [-1.02810365e-02 3.96287902e-02 9.99161578e-01 1.48350614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.521193817 meters Centerline goodness : 0.891566 with order 1 Centerline is valid? [False, False] Translation: X:31.67, Y:-0.09, Z:1.49 [[ 9.99820124e-01 -1.89264343e-02 1.22896370e-03 3.16715170e+01] [ 1.89572128e-02 9.99246110e-01 -3.38797254e-02 -9.10484328e-02] [-5.86814800e-04 3.38969290e-02 9.99425162e-01 1.48621930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.581193817 meters Centerline goodness : 0.890034 with order 1 Centerline is valid? [False, False] Translation: X:31.70, Y:-0.09, Z:1.49 [[ 9.99823648e-01 -1.85772607e-02 -2.74920011e-03 3.16989492e+01] [ 1.84770040e-02 9.99289442e-01 -3.28513584e-02 -9.15150133e-02] [ 3.35753490e-03 3.27947680e-02 9.99456467e-01 1.48794438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.64119381699999 meters Centerline goodness : 0.890644 with order 1 Centerline is valid? [False, False] Translation: X:31.74, Y:-0.08, Z:1.48 [[ 9.99959690e-01 -8.74344155e-03 -2.04232500e-03 3.17368723e+01] [ 8.66155152e-03 9.99272115e-01 -3.71512687e-02 -8.15200031e-02] [ 2.36566837e-03 3.71320814e-02 9.99307566e-01 1.48404380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.70119381699999 meters Centerline goodness : 0.893089 with order 1 Centerline is valid? [False, False] Translation: X:31.77, Y:-0.07, Z:1.48 [[ 9.99995533e-01 2.83524152e-03 9.45946324e-04 3.17721826e+01] [-2.79603361e-03 9.99229364e-01 -3.91517484e-02 -7.10795776e-02] [-1.05622201e-03 3.91489286e-02 9.99232829e-01 1.48220739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.76119381699999 meters Centerline goodness : 0.893128 with order 1 Centerline is valid? [False, False] Translation: X:31.81, Y:-0.06, Z:1.48 [[ 9.99886894e-01 1.46705084e-02 3.31298975e-03 3.18064395e+01] [-1.45164565e-02 9.98990038e-01 -4.25226611e-02 -6.18414320e-02] [-3.93347281e-03 4.24697587e-02 9.99090010e-01 1.48103538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.821193817 meters Centerline goodness : 0.895539 with order 1 Centerline is valid? [False, False] Translation: X:31.83, Y:-0.06, Z:1.48 [[ 9.99850430e-01 1.63846929e-02 5.53701169e-03 3.18312757e+01] [-1.61470112e-02 9.99047314e-01 -4.05430501e-02 -5.80264049e-02] [-6.19602208e-03 4.04475800e-02 9.99162451e-01 1.48200271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.881193817 meters Centerline goodness : 0.895324 with order 1 Centerline is valid? [False, False] Translation: X:31.87, Y:-0.06, Z:1.48 [[ 9.99811143e-01 1.89601198e-02 4.26511414e-03 3.18730373e+01] [-1.87463164e-02 9.98785678e-01 -4.55603435e-02 -5.52721761e-02] [-5.12376448e-03 4.54717839e-02 9.98952483e-01 1.48062221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.941193817 meters Centerline goodness : 0.897142 with order 1 Centerline is valid? [False, False] Translation: X:31.90, Y:-0.05, Z:1.48 [[ 9.99826626e-01 1.86199756e-02 1.20220749e-04 3.19045867e+01] [-1.85962686e-02 9.98840370e-01 -4.44082547e-02 -5.48428087e-02] [-9.46961955e-04 4.43983198e-02 9.99013460e-01 1.47981173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.00119381699999 meters Centerline goodness : 0.895601 with order 1 Centerline is valid? [False, False] Translation: X:31.94, Y:-0.06, Z:1.48 [[ 9.99845056e-01 1.71120900e-02 -4.12787776e-03 3.19366999e+01] [-1.72639812e-02 9.99046466e-01 -4.01012840e-02 -5.82494930e-02] [ 3.43772491e-03 4.01663342e-02 9.99187093e-01 1.48174040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.06119381699999 meters Centerline goodness : 0.898987 with order 1 Centerline is valid? [False, False] Translation: X:31.96, Y:-0.06, Z:1.48 [[ 9.99950331e-01 9.90448643e-03 -1.11213292e-03 3.19593842e+01] [-9.93583698e-03 9.99404267e-01 -3.30513343e-02 -6.16736204e-02] [ 7.84113895e-04 3.30607427e-02 9.99453037e-01 1.47886383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.12119381699999 meters Centerline goodness : 0.895832 with order 1 Centerline is valid? [False, False] Translation: X:31.96, Y:-0.07, Z:1.48 [[ 9.99982182e-01 -5.40517141e-03 2.53366233e-03 3.19627234e+01] [ 5.47552561e-03 9.99574904e-01 -2.86361584e-02 -6.83597315e-02] [-2.37780193e-03 2.86495213e-02 9.99586690e-01 1.47585037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.181193817 meters Centerline goodness : 0.899270 with order 1 Centerline is valid? [False, False] Translation: X:31.99, Y:-0.07, Z:1.48 [[ 9.99940792e-01 -1.08032289e-02 -1.30452089e-03 3.19928206e+01] [ 1.07604903e-02 9.99514741e-01 -2.92317410e-02 -7.17659266e-02] [ 1.61968505e-03 2.92159730e-02 9.99571810e-01 1.47706098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.241193817 meters Centerline goodness : 0.895701 with order 1 Centerline is valid? [False, False] Translation: X:32.00, Y:-0.07, Z:1.48 [[ 9.99866109e-01 -1.62369275e-02 -2.03113022e-03 3.19954526e+01] [ 1.61566355e-02 9.99266150e-01 -3.47293048e-02 -6.93438301e-02] [ 2.59353688e-03 3.46918386e-02 9.99394692e-01 1.47568603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.301193817 meters Centerline goodness : 0.897646 with order 1 Centerline is valid? [False, False] Translation: X:32.03, Y:-0.07, Z:1.48 [[ 9.99831001e-01 -1.75199419e-02 -5.56968808e-03 3.20263678e+01] [ 1.73303118e-02 9.99323294e-01 -3.24440221e-02 -6.85765922e-02] [ 6.13433642e-03 3.23420146e-02 9.99458035e-01 1.47652990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.36119381699999 meters Centerline goodness : 0.895959 with order 1 Centerline is valid? [False, False] Translation: X:32.05, Y:-0.06, Z:1.47 [[ 9.99874155e-01 -1.46830108e-02 -6.00690400e-03 3.20500512e+01] [ 1.44667246e-02 9.99296855e-01 -3.45906057e-02 -6.34810626e-02] [ 6.51057451e-03 3.44993524e-02 9.99383514e-01 1.47292565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.42119381699999 meters Centerline goodness : 0.895244 with order 1 Centerline is valid? [False, False] Translation: X:32.08, Y:-0.06, Z:1.47 [[ 9.99908126e-01 -1.31455852e-02 -3.30656440e-03 3.20803275e+01] [ 1.30356194e-02 9.99424102e-01 -3.13294778e-02 -5.80902552e-02] [ 3.71650447e-03 3.12834963e-02 9.99503642e-01 1.47061079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.48119381699999 meters Centerline goodness : 0.899799 with order 1 Centerline is valid? [False, False] Translation: X:32.09, Y:-0.05, Z:1.47 [[ 9.99979912e-01 -6.24111488e-03 1.10612566e-03 3.20948829e+01] [ 6.27194205e-03 9.99515398e-01 -3.04898796e-02 -4.89428454e-02] [-9.15298784e-04 3.04962047e-02 9.99534464e-01 1.47257225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.54119381699999 meters Centerline goodness : 0.904660 with order 1 Centerline is valid? [False, False] Translation: X:32.11, Y:-0.04, Z:1.47 [[ 9.99974908e-01 -3.96833140e-03 5.86827862e-03 3.21096638e+01] [ 4.16352802e-03 9.99425556e-01 -3.36336665e-02 -4.36008882e-02] [-5.73143809e-03 3.36572553e-02 9.99417000e-01 1.47358267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.601193817 meters Centerline goodness : 0.913640 with order 1 Centerline is valid? [False, False] Translation: X:32.13, Y:-0.03, Z:1.47 [[ 9.99932365e-01 -7.90799034e-03 8.52817010e-03 3.21336577e+01] [ 8.22378351e-03 9.99257029e-01 -3.76531374e-02 -2.99623787e-02] [-8.22407327e-03 3.77207246e-02 9.99254478e-01 1.47408517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.661193817 meters Centerline goodness : 0.920539 with order 1 Centerline is valid? [False, False] Translation: X:32.15, Y:-0.02, Z:1.47 [[ 9.99875686e-01 -7.48432965e-03 1.38779345e-02 3.21477498e+01] [ 8.08278826e-03 9.99017215e-01 -4.35806415e-02 -1.64650313e-02] [-1.35381236e-02 4.36873962e-02 9.98953518e-01 1.47466768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.72119381699999 meters Centerline goodness : 0.924591 with order 1 Centerline is valid? [False, False] Translation: X:32.18, Y:-0.01, Z:1.48 [[ 9.99898281e-01 -1.11631480e-03 1.42190219e-02 3.21838371e+01] [ 1.78670007e-03 9.98882821e-01 -4.72219998e-02 -6.62400025e-03] [-1.41504221e-02 4.72426016e-02 9.98783211e-01 1.47569781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.78119381699999 meters Centerline goodness : 0.921492 with order 1 Centerline is valid? [False, False] Translation: X:32.23, Y:0.02, Z:1.47 [[ 9.99886847e-01 1.20834724e-02 8.96008784e-03 3.22337175e+01] [-1.15786270e-02 9.98451962e-01 -5.44023496e-02 1.52707941e-02] [-9.60358657e-03 5.42924483e-02 9.98478894e-01 1.47201228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.84119381699999 meters Centerline goodness : 0.920210 with order 1 Centerline is valid? [False, False] Translation: X:32.26, Y:0.03, Z:1.47 [[ 9.99857894e-01 1.48024454e-02 8.06718557e-03 3.22636310e+01] [-1.43514089e-02 9.98472232e-01 -5.33595334e-02 2.57632923e-02] [-8.84471236e-03 5.32361752e-02 9.98542779e-01 1.46892411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.90119381699999 meters Centerline goodness : 0.916055 with order 1 Centerline is valid? [False, False] Translation: X:32.29, Y:0.03, Z:1.47 [[ 9.99875708e-01 1.50295934e-02 4.76233554e-03 3.22946752e+01] [-1.47687572e-02 9.98602417e-01 -5.07454093e-02 2.91381653e-02] [-5.51836265e-03 5.06687682e-02 9.98700267e-01 1.46831611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.961193817 meters Centerline goodness : 0.911936 with order 1 Centerline is valid? [False, False] Translation: X:32.33, Y:0.03, Z:1.46 [[ 9.99826090e-01 1.85774906e-02 -1.63269575e-03 3.23299902e+01] [-1.86322409e-02 9.98808326e-01 -4.51083981e-02 3.20291487e-02] [ 7.92749264e-04 4.51309741e-02 9.98980764e-01 1.46495504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.021193817 meters Centerline goodness : 0.911718 with order 1 Centerline is valid? [False, False] Translation: X:32.38, Y:0.04, Z:1.46 [[ 9.99616132e-01 2.77049937e-02 -1.45772823e-04 3.23781271e+01] [-2.76461711e-02 9.97122363e-01 -7.05881120e-02 3.85723391e-02] [-1.81028986e-03 7.05650456e-02 9.97505537e-01 1.46082561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.081193817 meters Centerline goodness : 0.910727 with order 1 Centerline is valid? [False, False] Translation: X:32.42, Y:0.03, Z:1.46 [[ 9.99345863e-01 3.61260623e-02 1.65970177e-03 3.24161463e+01] [-3.59408924e-02 9.97221357e-01 -6.52519553e-02 3.08305756e-02] [-4.01238625e-03 6.51496204e-02 9.97867440e-01 1.46203397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.14119381699999 meters Centerline goodness : 0.915388 with order 1 Centerline is valid? [False, False] Translation: X:32.46, Y:0.02, Z:1.46 [[ 9.99301509e-01 3.73651418e-02 5.82744547e-04 3.24612570e+01] [-3.72637064e-02 9.97519946e-01 -5.97107543e-02 2.08317177e-02] [-2.81240011e-03 5.96473317e-02 9.98215551e-01 1.46293259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.20119381699999 meters Centerline goodness : 0.915638 with order 1 Centerline is valid? [False, False] Translation: X:32.49, Y:0.01, Z:1.46 [[ 9.99481001e-01 3.17289185e-02 5.56811911e-03 3.24942965e+01] [-3.13320250e-02 9.97655597e-01 -6.08408931e-02 1.44525796e-02] [-7.48548093e-03 6.06348563e-02 9.98131946e-01 1.45873407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.26119381699999 meters Centerline goodness : 0.916286 with order 1 Centerline is valid? [False, False] Translation: X:32.51, Y:0.01, Z:1.46 [[ 9.99537972e-01 2.84048574e-02 1.08169957e-02 3.25055290e+01] [-2.77785362e-02 9.98142998e-01 -5.42117078e-02 8.13037762e-03] [-1.23367843e-02 5.38861802e-02 9.98470873e-01 1.45582444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.321193817 meters Centerline goodness : 0.918452 with order 1 Centerline is valid? [False, False] Translation: X:32.52, Y:-0.00, Z:1.46 [[ 9.99632384e-01 2.21187386e-02 1.56798750e-02 3.25235838e+01] [-2.13484145e-02 9.98633493e-01 -4.77010650e-02 -2.31825878e-03] [-1.67135357e-02 4.73487888e-02 9.98738579e-01 1.45772433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.381193817 meters Centerline goodness : 0.919141 with order 1 Centerline is valid? [False, False] Translation: X:32.55, Y:-0.01, Z:1.46 [[ 9.99743805e-01 1.91577580e-02 1.20542131e-02 3.25541603e+01] [-1.86009306e-02 9.98826221e-01 -4.47234362e-02 -9.12554242e-03] [-1.28968648e-02 4.44877587e-02 9.98926679e-01 1.45836797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.441193817 meters Centerline goodness : 0.915641 with order 1 Centerline is valid? [False, False] Translation: X:32.58, Y:-0.02, Z:1.46 [[ 9.99847471e-01 1.47688836e-02 9.32282626e-03 3.25843290e+01] [-1.43836960e-02 9.99091619e-01 -4.01129194e-02 -2.04339492e-02] [-9.90678062e-03 3.99727043e-02 9.99151659e-01 1.45938950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.50119381699999 meters Centerline goodness : 0.914417 with order 1 Centerline is valid? [False, False] Translation: X:32.61, Y:-0.03, Z:1.46 [[ 9.99910683e-01 6.45762076e-03 1.17014755e-02 3.26108109e+01] [-6.03391698e-03 9.99337534e-01 -3.58898979e-02 -2.87570263e-02] [-1.19254870e-02 3.58160866e-02 9.99287241e-01 1.45623866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.56119381699999 meters Centerline goodness : 0.908877 with order 1 Centerline is valid? [False, False] Translation: X:32.64, Y:-0.04, Z:1.46 [[ 9.99935022e-01 -9.38770757e-03 6.46708769e-03 3.26365077e+01] [ 9.57861654e-03 9.99499476e-01 -3.01504097e-02 -3.88375271e-02] [-6.18080752e-03 3.02103964e-02 9.99524452e-01 1.45606072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.62119381699999 meters Centerline goodness : 0.910718 with order 1 Centerline is valid? [False, False] Translation: X:32.67, Y:-0.05, Z:1.46 [[ 9.99830977e-01 -1.80599405e-02 3.44331881e-03 3.26664748e+01] [ 1.81600442e-02 9.99333132e-01 -3.16781204e-02 -4.67421498e-02] [-2.86891760e-03 3.17352969e-02 9.99492191e-01 1.45712578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.681193817 meters Centerline goodness : 0.911779 with order 1 Centerline is valid? [False, False] Translation: X:32.69, Y:-0.05, Z:1.46 [[ 9.99871127e-01 -1.58832950e-02 2.33446601e-03 3.26893930e+01] [ 1.59460610e-02 9.99425170e-01 -2.99174194e-02 -4.93361812e-02] [-1.85793690e-03 2.99507894e-02 9.99549648e-01 1.45556349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.741193817 meters Centerline goodness : 0.905681 with order 1 Centerline is valid? [False, False] Translation: X:32.71, Y:-0.05, Z:1.45 [[ 9.99916400e-01 -1.24713952e-02 3.41439493e-03 3.27110934e+01] [ 1.25725294e-02 9.99427750e-01 -3.14023055e-02 -4.71750856e-02] [-3.02081048e-03 3.14426079e-02 9.99500994e-01 1.45298887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.801193817 meters Centerline goodness : 0.908694 with order 1 Centerline is valid? [False, False] Translation: X:32.74, Y:-0.04, Z:1.45 [[ 9.99977483e-01 -1.52194006e-03 6.53591427e-03 3.27423939e+01] [ 1.75905511e-03 9.99334745e-01 -3.64276367e-02 -4.04759936e-02] [-6.47612554e-03 3.64383135e-02 9.99314920e-01 1.45049831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.86119381699999 meters Centerline goodness : 0.905866 with order 1 Centerline is valid? [False, False] Translation: X:32.78, Y:-0.03, Z:1.45 [[ 9.99951173e-01 7.64552618e-03 6.26086070e-03 3.27823895e+01] [-7.40145953e-03 9.99245772e-01 -3.81196124e-02 -3.24603286e-02] [-6.54758308e-03 3.80714116e-02 9.99253570e-01 1.44726908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.92119381699999 meters Centerline goodness : 0.902874 with order 1 Centerline is valid? [False, False] Translation: X:32.84, Y:-0.02, Z:1.44 [[ 9.99807502e-01 1.86500481e-02 6.09379488e-03 3.28387218e+01] [-1.82215724e-02 9.97777869e-01 -6.40882149e-02 -1.72002118e-02] [-7.27550196e-03 6.39648395e-02 9.97925632e-01 1.44179149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.98119381699999 meters Centerline goodness : 0.900369 with order 1 Centerline is valid? [False, False] Translation: X:32.88, Y:-0.02, Z:1.44 [[ 9.99752874e-01 2.12855837e-02 6.41202876e-03 3.28795111e+01] [-2.07984399e-02 9.97447823e-01 -6.83027417e-02 -1.60267876e-02] [-7.84952786e-03 6.81525022e-02 9.97644035e-01 1.44027884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.04119381699999 meters Centerline goodness : 0.907412 with order 1 Centerline is valid? [False, False] Translation: X:32.91, Y:-0.02, Z:1.44 [[ 9.99782154e-01 1.97926812e-02 6.62528772e-03 3.29058433e+01] [-1.93349936e-02 9.97814324e-01 -6.31880819e-02 -2.01976150e-02] [-7.86146854e-03 6.30462168e-02 9.97979645e-01 1.44354307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.101193817 meters Centerline goodness : 0.912138 with order 1 Centerline is valid? [False, False] Translation: X:32.92, Y:-0.03, Z:1.45 [[ 9.99748698e-01 1.85595706e-02 1.25731204e-02 3.29178778e+01] [-1.76877267e-02 9.97648024e-01 -6.62235956e-02 -2.79021731e-02] [-1.37726302e-02 6.59845636e-02 9.97725590e-01 1.44640534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.161193817 meters Centerline goodness : 0.910874 with order 1 Centerline is valid? [False, False] Translation: X:32.94, Y:-0.04, Z:1.44 [[ 9.99759964e-01 1.92415083e-02 1.04775771e-02 3.29410388e+01] [-1.85188947e-02 9.97702186e-01 -6.51720724e-02 -3.63380409e-02] [-1.17075105e-02 6.49623956e-02 9.97819032e-01 1.44460933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.22119381699999 meters Centerline goodness : 0.906702 with order 1 Centerline is valid? [False, False] Translation: X:32.98, Y:-0.04, Z:1.44 [[ 9.99794201e-01 2.00750070e-02 2.92387307e-03 3.29786908e+01] [-1.98719817e-02 9.98122122e-01 -5.79425005e-02 -4.02311273e-02] [-4.08157849e-03 5.78724729e-02 9.98315640e-01 1.44052305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.28119381699999 meters Centerline goodness : 0.903909 with order 1 Centerline is valid? [False, False] Translation: X:33.01, Y:-0.05, Z:1.44 [[ 9.99819842e-01 1.89185352e-02 -1.54038281e-03 3.30115995e+01] [-1.89741285e-02 9.98359773e-01 -5.40161562e-02 -4.50372993e-02] [ 5.15949683e-04 5.40356521e-02 9.98538874e-01 1.43975815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.34119381699999 meters Centerline goodness : 0.903657 with order 1 Centerline is valid? [False, False] Translation: X:33.04, Y:-0.05, Z:1.44 [[ 9.99824786e-01 1.76743193e-02 -6.16568541e-03 3.30419269e+01] [-1.79622334e-02 9.98573943e-01 -5.02736386e-02 -5.30432443e-02] [ 5.26834045e-03 5.03755794e-02 9.98716449e-01 1.44030382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.40119381699999 meters Centerline goodness : 0.902911 with order 1 Centerline is valid? [False, False] Translation: X:33.07, Y:-0.06, Z:1.44 [[ 9.99796287e-01 1.73085462e-02 -1.03826434e-02 3.30732725e+01] [-1.77782682e-02 9.98736754e-01 -4.69981746e-02 -5.66054712e-02] [ 9.55605751e-03 4.71731859e-02 9.98841015e-01 1.43950720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.461193817 meters Centerline goodness : 0.899104 with order 1 Centerline is valid? [False, False] Translation: X:33.10, Y:-0.06, Z:1.44 [[ 9.99708419e-01 1.96039923e-02 -1.40982610e-02 3.31040625e+01] [-2.01433630e-02 9.99028642e-01 -3.91920545e-02 -6.23347900e-02] [ 1.33162458e-02 3.94646132e-02 9.99132234e-01 1.44035721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.521193817 meters Centerline goodness : 0.897813 with order 1 Centerline is valid? [False, False] Translation: X:33.14, Y:-0.06, Z:1.44 [[ 9.99722052e-01 1.89282228e-02 -1.40549026e-02 3.31444235e+01] [-1.95876790e-02 9.98637524e-01 -4.83675404e-02 -6.35612846e-02] [ 1.31202416e-02 4.86293997e-02 9.98730715e-01 1.43795006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.581193817 meters Centerline goodness : 0.904374 with order 1 Centerline is valid? [False, False] Translation: X:33.18, Y:-0.07, Z:1.44 [[ 9.99693169e-01 2.27523287e-02 -9.79285361e-03 3.31783795e+01] [-2.32227271e-02 9.98431043e-01 -5.09524945e-02 -6.63719676e-02] [ 8.61820114e-03 5.11642774e-02 9.98653065e-01 1.44045804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.64119381699999 meters Centerline goodness : 0.911635 with order 1 Centerline is valid? [False, False] Translation: X:33.19, Y:-0.07, Z:1.44 [[ 9.99667164e-01 2.54404807e-02 -4.28295248e-03 3.31919248e+01] [-2.56262762e-02 9.98364533e-01 -5.11033558e-02 -6.89584681e-02] [ 2.97585391e-03 5.11961028e-02 9.98684186e-01 1.44320278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.70119381699999 meters Centerline goodness : 0.914419 with order 1 Centerline is valid? [False, False] Translation: X:33.22, Y:-0.08, Z:1.45 [[ 9.99728381e-01 2.29001747e-02 -4.32962705e-03 3.32161110e+01] [-2.30838516e-02 9.98549159e-01 -4.86488635e-02 -7.64159327e-02] [ 3.20927798e-03 4.87355940e-02 9.98806559e-01 1.44765516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.76119381699999 meters Centerline goodness : 0.909396 with order 1 Centerline is valid? [False, False] Translation: X:33.24, Y:-0.08, Z:1.45 [[ 9.99866786e-01 1.60278474e-02 -3.08502418e-03 3.32350675e+01] [-1.61409374e-02 9.99028415e-01 -4.10084941e-02 -8.21374900e-02] [ 2.42474893e-03 4.10528264e-02 9.99154035e-01 1.44701334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.821193817 meters Centerline goodness : 0.910948 with order 1 Centerline is valid? [False, False] Translation: X:33.26, Y:-0.09, Z:1.44 [[ 9.99969212e-01 7.72706575e-03 -1.36691881e-03 3.32567712e+01] [-7.76792483e-03 9.99426548e-01 -3.29580779e-02 -8.96496713e-02] [ 1.11146571e-03 3.29676813e-02 9.99455800e-01 1.44495927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.881193817 meters Centerline goodness : 0.903742 with order 1 Centerline is valid? [False, False] Translation: X:33.26, Y:-0.09, Z:1.44 [[ 9.99989110e-01 4.06284282e-03 -2.29630985e-03 3.32616391e+01] [-4.14205444e-03 9.99357070e-01 -3.56130684e-02 -9.37629354e-02] [ 2.15014319e-03 3.56221920e-02 9.99363015e-01 1.44096866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.941193817 meters Centerline goodness : 0.902564 with order 1 Centerline is valid? [False, False] Translation: X:33.27, Y:-0.10, Z:1.44 [[ 9.99993697e-01 1.43922489e-03 -3.24575539e-03 3.32656105e+01] [-1.55888990e-03 9.99307662e-01 -3.71721207e-02 -1.00777146e-01] [ 3.19000919e-03 3.71769461e-02 9.99303607e-01 1.43800884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.00119381699999 meters Centerline goodness : 0.901494 with order 1 Centerline is valid? [False, False] Translation: X:33.29, Y:-0.11, Z:1.44 [[ 9.99964667e-01 6.17248369e-03 -5.70665224e-03 3.32895050e+01] [-6.37100914e-03 9.99351114e-01 -3.54508332e-02 -1.05290117e-01] [ 5.48412958e-03 3.54859378e-02 9.99355128e-01 1.43563162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.06119381699999 meters Centerline goodness : 0.896104 with order 1 Centerline is valid? [False, False] Translation: X:33.33, Y:-0.11, Z:1.43 [[ 9.99864248e-01 1.48974142e-02 -7.03930749e-03 3.33301626e+01] [-1.51511365e-02 9.99182450e-01 -3.74816591e-02 -1.06467939e-01] [ 6.47517270e-03 3.75832244e-02 9.99272522e-01 1.43173362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.12119381699999 meters Centerline goodness : 0.896107 with order 1 Centerline is valid? [False, False] Translation: X:33.35, Y:-0.11, Z:1.43 [[ 9.99810612e-01 1.89861867e-02 -4.27383719e-03 3.33491208e+01] [-1.91358741e-02 9.99085368e-01 -3.82393333e-02 -1.06853927e-01] [ 3.54390908e-03 3.83138749e-02 9.99259470e-01 1.43018366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.181193817 meters Centerline goodness : 0.900607 with order 1 Centerline is valid? [False, False] Translation: X:33.38, Y:-0.11, Z:1.43 [[ 9.99670049e-01 2.56864433e-02 -1.20459807e-05 3.33822603e+01] [-2.56663409e-02 9.98868930e-01 -4.00262360e-02 -1.10057805e-01] [-1.01609928e-03 4.00133384e-02 9.99198629e-01 1.43123833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.241193817 meters Centerline goodness : 0.901835 with order 1 Centerline is valid? [False, False] Translation: X:33.40, Y:-0.11, Z:1.43 [[ 9.99573434e-01 2.87547493e-02 5.11031627e-03 3.33965127e+01] [-2.85246654e-02 9.98772413e-01 -4.04970342e-02 -1.14674426e-01] [-6.26852498e-03 4.03339895e-02 9.99166590e-01 1.43291289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.301193817 meters Centerline goodness : 0.906723 with order 1 Centerline is valid? [False, False] Translation: X:33.41, Y:-0.12, Z:1.43 [[ 9.99490723e-01 3.00601583e-02 1.07089100e-02 3.34095583e+01] [-2.95798798e-02 9.98658887e-01 -4.24906745e-02 -1.21192510e-01] [-1.19718246e-02 4.21522667e-02 9.99039470e-01 1.43459539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.36119381699999 meters Centerline goodness : 0.906987 with order 1 Centerline is valid? [False, False] Translation: X:33.44, Y:-0.13, Z:1.43 [[ 9.99563814e-01 2.89800859e-02 5.68651495e-03 3.34403214e+01] [-2.87256673e-02 9.98761215e-01 -4.06309103e-02 -1.26988028e-01] [-6.85695786e-03 4.04498387e-02 9.99158042e-01 1.43374881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.42119381699999 meters Centerline goodness : 0.905213 with order 1 Centerline is valid? [False, False] Translation: X:33.45, Y:-0.13, Z:1.43 [[ 9.99592155e-01 2.82450700e-02 4.21176839e-03 3.34461206e+01] [-2.80558336e-02 9.98817116e-01 -3.97144801e-02 -1.34983116e-01] [-5.32852463e-03 3.95801181e-02 9.99202192e-01 1.42909114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.48119381699999 meters Centerline goodness : 0.905607 with order 1 Centerline is valid? [False, False] Translation: X:33.47, Y:-0.14, Z:1.43 [[ 9.99566715e-01 2.93357652e-02 2.40749331e-03 3.34688059e+01] [-2.92147159e-02 9.98756814e-01 -4.03896847e-02 -1.43847004e-01] [-3.58936266e-03 4.03018502e-02 9.99181103e-01 1.42742431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.54119381699999 meters Centerline goodness : 0.904672 with order 1 Centerline is valid? [False, False] Translation: X:33.49, Y:-0.16, Z:1.43 [[ 9.99389553e-01 3.49357913e-02 -1.11555828e-04 3.34915070e+01] [-3.49184147e-02 9.98781069e-01 -3.48866820e-02 -1.56253998e-01] [-1.10737399e-03 3.48692809e-02 9.99391268e-01 1.42664546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.601193817 meters Centerline goodness : 0.902901 with order 1 Centerline is valid? [False, False] Translation: X:33.51, Y:-0.17, Z:1.42 [[ 9.99219604e-01 3.94809867e-02 -1.19744143e-03 3.35132220e+01] [-3.94988560e-02 9.98637862e-01 -3.40919526e-02 -1.65561804e-01] [-1.50173573e-04 3.41126449e-02 9.99417983e-01 1.42399419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.661193817 meters Centerline goodness : 0.900263 with order 1 Centerline is valid? [False, False] Translation: X:33.52, Y:-0.18, Z:1.42 [[ 9.99003267e-01 4.42288711e-02 6.02332034e-03 3.35227214e+01] [-4.40791566e-02 9.98761896e-01 -2.30586680e-02 -1.80121631e-01] [-7.03572170e-03 2.27701818e-02 9.99715968e-01 1.42019062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.72119381699999 meters Centerline goodness : 0.905015 with order 1 Centerline is valid? [False, False] Translation: X:33.54, Y:-0.19, Z:1.42 [[ 9.98900302e-01 4.58685048e-02 9.70909936e-03 3.35390705e+01] [-4.55967392e-02 9.98606466e-01 -2.65718695e-02 -1.87756681e-01] [-1.09143813e-02 2.60999452e-02 9.99599754e-01 1.41824160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.78119381699999 meters Centerline goodness : 0.897889 with order 1 Centerline is valid? [False, False] Translation: X:33.55, Y:-0.20, Z:1.42 [[ 9.98861906e-01 4.38428341e-02 1.87802675e-02 3.35450498e+01] [-4.34093585e-02 9.98794911e-01 -2.28987667e-02 -2.02645663e-01] [-1.97615824e-02 2.20574664e-02 9.99561378e-01 1.41604431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.84119381699999 meters Centerline goodness : 0.899063 with order 1 Centerline is valid? [False, False] Translation: X:33.55, Y:-0.21, Z:1.42 [[ 9.98845948e-01 4.43597247e-02 1.84115768e-02 3.35451150e+01] [-4.39828970e-02 9.98824169e-01 -2.03907947e-02 -2.12301272e-01] [-1.92944579e-02 1.95574681e-02 9.99622543e-01 1.41723861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.90119381699999 meters Centerline goodness : 0.896963 with order 1 Centerline is valid? [False, False] Translation: X:33.55, Y:-0.22, Z:1.41 [[ 9.98843020e-01 4.46082232e-02 1.79646328e-02 3.35472908e+01] [-4.42718175e-02 9.98844348e-01 -1.87076288e-02 -2.24048131e-01] [-1.87783860e-02 1.78906575e-02 9.99663592e-01 1.41473317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.961193817 meters Centerline goodness : 0.895919 with order 1 Centerline is valid? [False, False] Translation: X:33.55, Y:-0.24, Z:1.41 [[ 9.98928731e-01 4.29151979e-02 1.73111561e-02 3.35500017e+01] [-4.25920526e-02 9.98918972e-01 -1.86226914e-02 -2.38974518e-01] [-1.80916387e-02 1.78654239e-02 9.99676707e-01 1.41189182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.021193817 meters Centerline goodness : 0.898148 with order 1 Centerline is valid? [False, False] Translation: X:33.55, Y:-0.25, Z:1.41 [[ 9.98930461e-01 4.30764398e-02 1.68034240e-02 3.35512879e+01] [-4.27986768e-02 9.98946568e-01 -1.65537551e-02 -2.48966147e-01] [-1.74987996e-02 1.58168859e-02 9.99721770e-01 1.41149827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.081193817 meters Centerline goodness : 0.898996 with order 1 Centerline is valid? [False, False] Translation: X:33.55, Y:-0.26, Z:1.41 [[ 9.98900342e-01 4.41016576e-02 1.59107113e-02 3.35532737e+01] [-4.39004152e-02 9.98954122e-01 -1.27833966e-02 -2.62876460e-01] [-1.64578396e-02 1.20708524e-02 9.99791695e-01 1.41149301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.14119381699999 meters Centerline goodness : 0.903192 with order 1 Centerline is valid? [False, False] Translation: X:33.57, Y:-0.27, Z:1.41 [[ 9.98820593e-01 4.61881381e-02 1.49692516e-02 3.35737500e+01] [-4.59491250e-02 9.98816661e-01 -1.59359740e-02 -2.72375715e-01] [-1.56875909e-02 1.52293550e-02 9.99760955e-01 1.40872695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.20119381699999 meters Centerline goodness : 0.900131 with order 1 Centerline is valid? [False, False] Translation: X:33.62, Y:-0.28, Z:1.40 [[ 9.98540492e-01 5.03353871e-02 1.95763699e-02 3.36221499e+01] [-4.95926864e-02 9.98093751e-01 -3.67345842e-02 -2.83077029e-01] [-2.13881020e-02 3.57101251e-02 9.99133292e-01 1.40054100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.26119381699999 meters Centerline goodness : 0.890088 with order 1 Centerline is valid? [False, False] Translation: X:33.62, Y:-0.29, Z:1.40 [[ 9.98591582e-01 4.88613955e-02 2.06740557e-02 3.36186220e+01] [-4.80677973e-02 9.98147990e-01 -3.72837333e-02 -2.91132208e-01] [-2.24575024e-02 3.62374659e-02 9.99090840e-01 1.40181018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.321193817 meters Centerline goodness : 0.892383 with order 1 Centerline is valid? [False, False] Translation: X:33.63, Y:-0.31, Z:1.40 [[ 9.98953244e-01 4.30708941e-02 1.54050313e-02 3.36262552e+01] [-4.23429950e-02 9.98097781e-01 -4.48094945e-02 -3.05669677e-01] [-1.73057125e-02 4.41102947e-02 9.98876766e-01 1.40310069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.381193817 meters Centerline goodness : 0.883989 with order 1 Centerline is valid? [False, False] Translation: X:33.63, Y:-0.32, Z:1.40 [[ 9.99123373e-01 3.99797202e-02 1.24140115e-02 3.36303513e+01] [-3.93881225e-02 9.98223026e-01 -4.47142665e-02 -3.17168611e-01] [-1.41796160e-02 4.41861041e-02 9.98922683e-01 1.40395162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.441193817 meters Centerline goodness : 0.883188 with order 1 Centerline is valid? [False, False] Translation: X:33.65, Y:-0.34, Z:1.40 [[ 9.99281936e-01 3.45136610e-02 1.56339362e-02 3.36513685e+01] [-3.39579525e-02 9.98827086e-01 -3.45153556e-02 -3.36475891e-01] [-1.68068502e-02 3.39596749e-02 9.99281877e-01 1.40441215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.50119381699999 meters Centerline goodness : 0.883149 with order 1 Centerline is valid? [False, False] Translation: X:33.66, Y:-0.35, Z:1.41 [[ 9.99395215e-01 3.03296982e-02 1.70092150e-02 3.36624325e+01] [-2.98796000e-02 9.99212177e-01 -2.61196310e-02 -3.48696735e-01] [-1.77880153e-02 2.55956057e-02 9.99514108e-01 1.40833213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.56119381699999 meters Centerline goodness : 0.883200 with order 1 Centerline is valid? [False, False] Translation: X:33.69, Y:-0.36, Z:1.41 [[ 9.99564339e-01 2.33841552e-02 1.80087165e-02 3.36864435e+01] [-2.31001501e-02 9.99607975e-01 -1.58202147e-02 -3.61986301e-01] [-1.83715990e-02 1.53973183e-02 9.99712662e-01 1.40841071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.62119381699999 meters Centerline goodness : 0.883056 with order 1 Centerline is valid? [False, False] Translation: X:33.70, Y:-0.37, Z:1.41 [[ 9.99692885e-01 1.85586592e-02 1.64229300e-02 3.37001973e+01] [-1.83995903e-02 9.99782836e-01 -9.78445332e-03 -3.70994256e-01] [-1.66009499e-02 9.47927318e-03 9.99817259e-01 1.41165978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.681193817 meters Centerline goodness : 0.885432 with order 1 Centerline is valid? [False, False] Translation: X:33.70, Y:-0.38, Z:1.41 [[ 9.99807391e-01 1.15078254e-02 1.58981087e-02 3.37024419e+01] [-1.12683252e-02 9.99822899e-01 -1.50730199e-02 -3.80763612e-01] [-1.60687508e-02 1.48909716e-02 9.99759998e-01 1.41058378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.741193817 meters Centerline goodness : 0.885508 with order 1 Centerline is valid? [False, False] Translation: X:33.72, Y:-0.39, Z:1.41 [[ 9.99859957e-01 6.57748937e-03 1.53884211e-02 3.37233262e+01] [-6.50645572e-03 9.99967967e-01 -4.66156622e-03 -3.87979207e-01] [-1.54185896e-02 4.56078932e-03 9.99870725e-01 1.41306630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.801193817 meters Centerline goodness : 0.877634 with order 1 Centerline is valid? [False, False] Translation: X:33.75, Y:-0.40, Z:1.42 [[ 9.99866705e-01 3.33390236e-04 1.63236160e-02 3.37475623e+01] [-4.66759444e-04 9.99966539e-01 8.16719449e-03 -3.99292365e-01] [-1.63203469e-02 -8.17372505e-03 9.99833404e-01 1.41630039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.86119381699999 meters Centerline goodness : 0.887561 with order 1 Centerline is valid? [False, False] Translation: X:33.78, Y:-0.41, Z:1.43 [[ 9.99888801e-01 -2.51939967e-03 1.46982098e-02 3.37843099e+01] [ 2.23602550e-03 9.99811928e-01 1.92641816e-02 -4.13255194e-01] [-1.47439796e-02 -1.92291739e-02 9.99706384e-01 1.42648072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.92119381699999 meters Centerline goodness : 0.885360 with order 1 Centerline is valid? [False, False] Translation: X:33.81, Y:-0.42, Z:1.43 [[ 9.99898984e-01 -2.37564378e-03 1.40134839e-02 3.38135381e+01] [ 2.03970091e-03 9.99711350e-01 2.39386003e-02 -4.20302742e-01] [-1.40663085e-02 -2.39075988e-02 9.99615209e-01 1.43255305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.98119381699999 meters Centerline goodness : 0.886964 with order 1 Centerline is valid? [False, False] Translation: X:33.83, Y:-0.42, Z:1.43 [[ 9.99801373e-01 -9.53653833e-04 1.99074193e-02 3.38257062e+01] [ 6.22300499e-04 9.99861281e-01 1.66442794e-02 -4.21583762e-01] [-1.99205306e-02 -1.66285850e-02 9.99663275e-01 1.43111300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.04119381699999 meters Centerline goodness : 0.881917 with order 1 Centerline is valid? [False, False] Translation: X:33.83, Y:-0.42, Z:1.43 [[ 9.99799300e-01 3.08161561e-03 1.97955540e-02 3.38253054e+01] [-3.50719547e-03 9.99762694e-01 2.15001440e-02 -4.23356634e-01] [-1.97246012e-02 -2.15652557e-02 9.99572849e-01 1.43284500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.101193817 meters Centerline goodness : 0.880953 with order 1 Centerline is valid? [False, False] Translation: X:33.83, Y:-0.42, Z:1.43 [[ 9.99803787e-01 2.92379344e-03 1.95918218e-02 3.38263658e+01] [-3.33068832e-03 9.99778768e-01 2.07682673e-02 -4.21395781e-01] [-1.95267653e-02 -2.08294465e-02 9.99592337e-01 1.43144809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.161193817 meters Centerline goodness : 0.883497 with order 1 Centerline is valid? [False, False] Translation: X:33.83, Y:-0.42, Z:1.43 [[ 9.99820044e-01 2.04035743e-03 1.88604532e-02 3.38293936e+01] [-2.40486421e-03 9.99810380e-01 1.93240798e-02 -4.19848473e-01] [-1.88174489e-02 -1.93659591e-02 9.99635365e-01 1.42874372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.22119381699999 meters Centerline goodness : 0.882917 with order 1 Centerline is valid? [False, False] Translation: X:33.86, Y:-0.42, Z:1.43 [[ 9.99914118e-01 2.47861112e-03 1.28690464e-02 3.38593608e+01] [-2.68838865e-03 9.99863380e-01 1.63093109e-02 -4.19778149e-01] [-1.28268637e-02 -1.63425073e-02 9.99784174e-01 1.42684571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.28119381699999 meters Centerline goodness : 0.878143 with order 1 Centerline is valid? [False, False] Translation: X:33.87, Y:-0.42, Z:1.42 [[ 9.99940050e-01 -6.44353378e-04 1.09307515e-02 3.38676979e+01] [ 4.92772980e-04 9.99903764e-01 1.38643650e-02 -4.16977408e-01] [-1.09386332e-02 -1.38581475e-02 9.99844137e-01 1.42208571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.34119381699999 meters Centerline goodness : 0.878813 with order 1 Centerline is valid? [False, False] Translation: X:33.87, Y:-0.42, Z:1.42 [[ 9.99947439e-01 -1.46354848e-03 1.01477328e-02 3.38700443e+01] [ 1.32486752e-03 9.99905827e-01 1.36594819e-02 -4.17964244e-01] [-1.01667685e-02 -1.36453195e-02 9.99855211e-01 1.42179697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.40119381699999 meters Centerline goodness : 0.879535 with order 1 Centerline is valid? [False, False] Translation: X:33.91, Y:-0.43, Z:1.43 [[ 9.99976183e-01 -3.47466022e-03 5.96317037e-03 3.39058633e+01] [ 3.34155240e-03 9.99748225e-01 2.21882924e-02 -4.25956084e-01] [-6.03876577e-03 -2.21678377e-02 9.99736025e-01 1.43165255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.461193817 meters Centerline goodness : 0.881344 with order 1 Centerline is valid? [False, False] Translation: X:33.94, Y:-0.43, Z:1.44 [[ 9.99987687e-01 -3.56676066e-03 3.45011184e-03 3.39381521e+01] [ 3.45902490e-03 9.99521300e-01 3.07442046e-02 -4.30981078e-01] [-3.55811749e-03 -3.07318921e-02 9.99521331e-01 1.44099480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.521193817 meters Centerline goodness : 0.888619 with order 1 Centerline is valid? [False, False] Translation: X:33.96, Y:-0.43, Z:1.44 [[ 9.99973664e-01 -4.75085413e-03 5.48633703e-03 3.39620454e+01] [ 4.59424277e-03 9.99591351e-01 2.82138929e-02 -4.32329640e-01] [-5.61813513e-03 -2.81879443e-02 9.99586853e-01 1.44277393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.581193817 meters Centerline goodness : 0.882043 with order 1 Centerline is valid? [False, False] Translation: X:33.99, Y:-0.43, Z:1.45 [[ 9.99979665e-01 -4.40850290e-03 4.60803250e-03 3.39870691e+01] [ 4.27600516e-03 9.99588105e-01 2.83784545e-02 -4.33659704e-01] [-4.73124097e-03 -2.83581735e-02 9.99586629e-01 1.44726588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.64119381699999 meters Centerline goodness : 0.883654 with order 1 Centerline is valid? [False, False] Translation: X:34.01, Y:-0.43, Z:1.45 [[ 9.99984161e-01 -2.56554575e-03 5.00952212e-03 3.40109438e+01] [ 2.43218672e-03 9.99647228e-01 2.64481319e-02 -4.28864105e-01] [-5.07560880e-03 -2.64355289e-02 9.99637635e-01 1.44742489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.70119381699999 meters Centerline goodness : 0.880490 with order 1 Centerline is valid? [False, False] Translation: X:34.04, Y:-0.43, Z:1.45 [[ 9.99988350e-01 2.24379069e-03 4.27375715e-03 3.40358296e+01] [-2.36754706e-03 9.99571492e-01 2.91757963e-02 -4.26624793e-01] [-4.20646143e-03 -2.91855747e-02 9.99565159e-01 1.45067926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.76119381699999 meters Centerline goodness : 0.881543 with order 1 Centerline is valid? [False, False] Translation: X:34.06, Y:-0.42, Z:1.46 [[ 9.99933445e-01 9.75980047e-03 6.15232969e-03 3.40648865e+01] [-1.00084154e-02 9.99077319e-01 4.17653210e-02 -4.20816371e-01] [-5.73903185e-03 -4.18241164e-02 9.99108506e-01 1.45975965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.821193817 meters Centerline goodness : 0.884710 with order 1 Centerline is valid? [False, False] Translation: X:34.09, Y:-0.42, Z:1.46 [[ 9.99819113e-01 1.65723929e-02 9.33259293e-03 3.40907492e+01] [-1.70187719e-02 9.98605369e-01 4.99767839e-02 -4.15255543e-01] [-8.49134251e-03 -5.01265730e-02 9.98706776e-01 1.46434866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.881193817 meters Centerline goodness : 0.887155 with order 1 Centerline is valid? [False, False] Translation: X:34.10, Y:-0.41, Z:1.46 [[ 9.99609845e-01 2.46660480e-02 1.31050820e-02 3.41043718e+01] [-2.52446125e-02 9.98622940e-01 4.59884074e-02 -4.05328002e-01] [-1.19526832e-02 -4.63012975e-02 9.98856007e-01 1.46088676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.941193817 meters Centerline goodness : 0.888380 with order 1 Centerline is valid? [False, False] Translation: X:34.12, Y:-0.40, Z:1.46 [[ 9.99365159e-01 3.14345061e-02 1.67675388e-02 3.41243087e+01] [-3.21956488e-02 9.98364531e-01 4.72409084e-02 -3.98391705e-01] [-1.52551214e-02 -4.77507597e-02 9.98742783e-01 1.46040649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.00119381699999 meters Centerline goodness : 0.888705 with order 1 Centerline is valid? [False, False] Translation: X:34.14, Y:-0.39, Z:1.46 [[ 9.99247982e-01 3.32832432e-02 1.98921166e-02 3.41442184e+01] [-3.40840582e-02 9.98562153e-01 4.13751569e-02 -3.94973896e-01] [-1.84864153e-02 -4.20220461e-02 9.98945644e-01 1.45654463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.06119381699999 meters Centerline goodness : 0.886397 with order 1 Centerline is valid? [False, False] Translation: X:34.16, Y:-0.40, Z:1.46 [[ 9.99135959e-01 3.45922973e-02 2.30371049e-02 3.41647864e+01] [-3.54369748e-02 9.98674577e-01 3.73270813e-02 -3.95012420e-01] [-2.17153415e-02 -3.81111945e-02 9.99037527e-01 1.45518717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.12119381699999 meters Centerline goodness : 0.887560 with order 1 Centerline is valid? [False, False] Translation: X:34.16, Y:-0.39, Z:1.46 [[ 9.99234086e-01 3.15874740e-02 2.30970449e-02 3.41644806e+01] [-3.23567044e-02 9.98907210e-01 3.37258039e-02 -3.93670180e-01] [-2.20064917e-02 -3.44473171e-02 9.99164199e-01 1.45524897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.181193817 meters Centerline goodness : 0.888567 with order 1 Centerline is valid? [False, False] Translation: X:34.17, Y:-0.40, Z:1.46 [[ 9.99165224e-01 3.42043610e-02 2.23364522e-02 3.41675216e+01] [-3.50551615e-02 9.98628806e-01 3.88798572e-02 -3.99007858e-01] [-2.09759640e-02 -3.96304091e-02 9.98994214e-01 1.45607312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.241193817 meters Centerline goodness : 0.888277 with order 1 Centerline is valid? [False, False] Translation: X:34.18, Y:-0.40, Z:1.46 [[ 9.99215642e-01 3.29488487e-02 2.19652869e-02 3.41817021e+01] [-3.40158832e-02 9.98163877e-01 5.01178101e-02 -4.03728076e-01] [-2.02736318e-02 -5.08256684e-02 9.98501743e-01 1.46123366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.301193817 meters Centerline goodness : 0.885834 with order 1 Centerline is valid? [False, False] Translation: X:34.20, Y:-0.40, Z:1.45 [[ 9.99241615e-01 3.01291284e-02 2.46663998e-02 3.42011114e+01] [-3.10633384e-02 9.98779126e-01 3.84099755e-02 -4.03213515e-01] [-2.34790262e-02 -3.91470666e-02 9.98957578e-01 1.45484300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.36119381699999 meters Centerline goodness : 0.885951 with order 1 Centerline is valid? [False, False] Translation: X:34.23, Y:-0.40, Z:1.45 [[ 9.99410817e-01 2.81291079e-02 1.96665469e-02 3.42310892e+01] [-2.87912136e-02 9.98998987e-01 3.42358016e-02 -4.04521914e-01] [-1.86838378e-02 -3.47818542e-02 9.99220264e-01 1.45389054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.42119381699999 meters Centerline goodness : 0.885375 with order 1 Centerline is valid? [False, False] Translation: X:34.27, Y:-0.42, Z:1.48 [[ 9.99459116e-01 2.36198094e-02 2.28818776e-02 3.42651223e+01] [-2.51367917e-02 9.97337820e-01 6.84500823e-02 -4.17088822e-01] [-2.12041840e-02 -6.89882357e-02 9.97392102e-01 1.47695052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.48119381699999 meters Centerline goodness : 0.891163 with order 1 Centerline is valid? [False, False] Translation: X:34.30, Y:-0.43, Z:1.49 [[ 9.99557805e-01 1.98634253e-02 2.21278017e-02 3.43023174e+01] [-2.17083207e-02 9.96013647e-01 8.65191537e-02 -4.26496184e-01] [-2.03210257e-02 -8.69612527e-02 9.96004416e-01 1.49456504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.54119381699999 meters Centerline goodness : 0.889107 with order 1 Centerline is valid? [False, False] Translation: X:34.32, Y:-0.44, Z:1.52 [[ 9.99515204e-01 1.57468921e-02 2.68587435e-02 3.43216898e+01] [-1.87191119e-02 9.93273725e-01 1.14266806e-01 -4.36593444e-01] [-2.48787371e-02 -1.14714181e-01 9.93086957e-01 1.51852276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.601193817 meters Centerline goodness : 0.888574 with order 1 Centerline is valid? [False, False] Translation: X:34.31, Y:-0.46, Z:1.57 [[ 9.99117932e-01 -1.01981850e-04 4.19922265e-02 3.43116442e+01] [-7.86935654e-03 9.81826120e-01 1.89619469e-01 -4.57872728e-01] [-4.12484025e-02 -1.89782663e-01 9.80959280e-01 1.56989397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.661193817 meters Centerline goodness : 0.896845 with order 1 Centerline is valid? [False, False] Translation: X:34.30, Y:-0.47, Z:1.63 [[ 9.98543295e-01 -1.74225743e-02 5.10660451e-02 3.42957991e+01] [ 3.61964610e-03 9.65930784e-01 2.58775229e-01 -4.69039589e-01] [-5.38347956e-02 -2.58213429e-01 9.64586772e-01 1.62603600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.72119381699999 meters Centerline goodness : 0.895974 with order 1 Centerline is valid? [False, False] Translation: X:34.27, Y:-0.47, Z:1.64 [[ 9.98587811e-01 -1.74035224e-02 5.01946410e-02 3.42665533e+01] [ 3.23294276e-03 9.62976301e-01 2.69566673e-01 -4.67197041e-01] [-5.30276594e-02 -2.69023718e-01 9.61672661e-01 1.64235692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.78119381699999 meters Centerline goodness : 0.894319 with order 1 Centerline is valid? [False, False] Translation: X:34.24, Y:-0.45, Z:1.63 [[ 9.98868980e-01 -1.37415918e-02 4.55184418e-02 3.42376985e+01] [ 2.03099794e-03 9.68783994e-01 2.47898059e-01 -4.50743850e-01] [-4.75040518e-02 -2.47525233e-01 9.67716190e-01 1.62843003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.84119381699999 meters Centerline goodness : 0.885485 with order 1 Centerline is valid? [False, False] Translation: X:34.20, Y:-0.43, Z:1.62 [[ 9.99172373e-01 -5.87921863e-03 4.02492663e-02 3.41985534e+01] [-3.24817809e-03 9.74807300e-01 2.23025060e-01 -4.34280348e-01] [-4.05464917e-02 -2.22971216e-01 9.73981426e-01 1.61730305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.90119381699999 meters Centerline goodness : 0.892191 with order 1 Centerline is valid? [False, False] Translation: X:34.19, Y:-0.41, Z:1.62 [[ 9.99789739e-01 -4.16755118e-03 2.00775951e-02 3.41896104e+01] [-2.28527700e-04 9.76803582e-01 2.14137129e-01 -4.08322043e-01] [-2.05042943e-02 -2.14096692e-01 9.76597246e-01 1.61791753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.961193817 meters Centerline goodness : 0.891301 with order 1 Centerline is valid? [False, False] Translation: X:34.19, Y:-0.40, Z:1.60 [[ 9.99794385e-01 -5.17456293e-04 2.02711442e-02 3.41889066e+01] [-3.35102003e-03 9.81713323e-01 1.90335815e-01 -3.97243673e-01] [-1.99989428e-02 -1.90364608e-01 9.81509734e-01 1.60403963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.021193817 meters Centerline goodness : 0.888362 with order 1 Centerline is valid? [False, False] Translation: X:34.19, Y:-0.38, Z:1.59 [[ 9.99776143e-01 5.80136220e-03 2.03472097e-02 3.41927576e+01] [-9.21333923e-03 9.85081824e-01 1.71839792e-01 -3.80442732e-01] [-1.90467616e-02 -1.71988791e-01 9.84914756e-01 1.59314069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.081193817 meters Centerline goodness : 0.892307 with order 1 Centerline is valid? [False, False] Translation: X:34.20, Y:-0.36, Z:1.59 [[ 9.99691939e-01 1.70845638e-02 1.80040341e-02 3.42011511e+01] [-1.96399928e-02 9.88038603e-01 1.52950939e-01 -3.59078794e-01] [-1.51755807e-02 -1.53257420e-01 9.88069767e-01 1.58668443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.14119381699999 meters Centerline goodness : 0.894701 with order 1 Centerline is valid? [False, False] Translation: X:34.21, Y:-0.35, Z:1.58 [[ 9.99579409e-01 2.61183088e-02 1.26031719e-02 3.42124145e+01] [-2.76112371e-02 9.90015741e-01 1.38226094e-01 -3.46291740e-01] [-8.86710679e-03 -1.38515946e-01 9.90320507e-01 1.58182697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.20119381699999 meters Centerline goodness : 0.896954 with order 1 Centerline is valid? [False, False] Translation: X:34.23, Y:-0.33, Z:1.57 [[ 9.99050793e-01 4.26668077e-02 8.77813021e-03 3.42349303e+01] [-4.34226515e-02 9.91475723e-01 1.22842840e-01 -3.32540823e-01] [-3.46199116e-03 -1.23107407e-01 9.92387314e-01 1.57319804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.26119381699999 meters Centerline goodness : 0.893528 with order 1 Centerline is valid? [False, False] Translation: X:34.27, Y:-0.32, Z:1.57 [[ 9.98332462e-01 5.77084593e-02 1.42453633e-03 3.42657495e+01] [-5.75411043e-02 9.92857340e-01 1.04514702e-01 -3.24864948e-01] [ 4.61702108e-03 -1.04422389e-01 9.94522321e-01 1.56781502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.321193817 meters Centerline goodness : 0.890669 with order 1 Centerline is valid? [False, False] Translation: X:34.30, Y:-0.32, Z:1.56 [[ 9.97844845e-01 6.54901112e-02 -4.08794451e-03 3.43019840e+01] [-6.49577501e-02 9.94704802e-01 7.96419946e-02 -3.21296822e-01] [ 9.28206112e-03 -7.92048101e-02 9.96815149e-01 1.56192993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.381193817 meters Centerline goodness : 0.889624 with order 1 Centerline is valid? [False, False] Translation: X:34.34, Y:-0.32, Z:1.55 [[ 9.97520000e-01 7.01536783e-02 -5.68436605e-03 3.43436199e+01] [-6.97699654e-02 9.96234418e-01 5.14697646e-02 -3.19672989e-01] [ 9.27375440e-03 -5.09455215e-02 9.98658376e-01 1.55241508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.441193817 meters Centerline goodness : 0.887864 with order 1 Centerline is valid? [False, False] Translation: X:34.35, Y:-0.32, Z:1.55 [[ 9.97905660e-01 6.09535412e-02 -2.16554623e-02 3.43493521e+01] [-6.00011484e-02 9.97305919e-01 4.21991320e-02 -3.18652810e-01] [ 2.41693073e-02 -4.08114001e-02 9.98874504e-01 1.55343904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.50119381699999 meters Centerline goodness : 0.880097 with order 1 Centerline is valid? [False, False] Translation: X:34.39, Y:-0.32, Z:1.54 [[ 9.97886390e-01 6.19271620e-02 -1.96920872e-02 3.43929785e+01] [-6.21559671e-02 9.98003303e-01 -1.12269218e-02 -3.15640529e-01] [ 1.89575166e-02 1.24271732e-02 9.99743056e-01 1.53703327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.56119381699999 meters Centerline goodness : 0.878427 with order 1 Centerline is valid? [False, False] Translation: X:34.40, Y:-0.32, Z:1.53 [[ 9.98045309e-01 5.88667795e-02 -2.09824782e-02 3.43968804e+01] [-5.91752106e-02 9.98143826e-01 -1.43943350e-02 -3.17986108e-01] [ 2.00961830e-02 1.56078411e-02 9.99676217e-01 1.53425526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.62119381699999 meters Centerline goodness : 0.875447 with order 1 Centerline is valid? [False, False] Translation: X:34.40, Y:-0.33, Z:1.53 [[ 9.98311856e-01 5.30634875e-02 -2.36157601e-02 3.44019021e+01] [-5.35634399e-02 9.98342209e-01 -2.10663438e-02 -3.25496367e-01] [ 2.24587564e-02 2.22957221e-02 9.99499127e-01 1.53262882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.681193817 meters Centerline goodness : 0.873728 with order 1 Centerline is valid? [False, False] Translation: X:34.40, Y:-0.33, Z:1.53 [[ 9.98542221e-01 4.82345215e-02 -2.42252858e-02 3.44035340e+01] [-4.87967911e-02 9.98539685e-01 -2.31812449e-02 -3.31235742e-01] [ 2.30717730e-02 2.43295680e-02 9.99437725e-01 1.53041129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.741193817 meters Centerline goodness : 0.867883 with order 1 Centerline is valid? [False, False] Translation: X:34.41, Y:-0.34, Z:1.52 [[ 9.98940140e-01 3.89819563e-02 -2.44745339e-02 3.44067340e+01] [-3.96443381e-02 9.98843881e-01 -2.71887584e-02 -3.38083990e-01] [ 2.33863674e-02 2.81302188e-02 9.99330660e-01 1.52408650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.801193817 meters Centerline goodness : 0.866964 with order 1 Centerline is valid? [False, False] Translation: X:34.42, Y:-0.35, Z:1.52 [[ 9.99207448e-01 3.61025674e-02 -1.67654261e-02 3.44157428e+01] [-3.65484470e-02 9.98964435e-01 -2.70974092e-02 -3.47290466e-01] [ 1.57697784e-02 2.76886834e-02 9.99492197e-01 1.52085830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.86119381699999 meters Centerline goodness : 0.869702 with order 1 Centerline is valid? [False, False] Translation: X:34.41, Y:-0.35, Z:1.52 [[ 9.99604337e-01 2.30957095e-02 -1.60548589e-02 3.44145549e+01] [-2.36409959e-02 9.99119946e-01 -3.46473312e-02 -3.52941267e-01] [ 1.52405251e-02 3.50131753e-02 9.99270636e-01 1.51847803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.92119381699999 meters Centerline goodness : 0.868668 with order 1 Centerline is valid? [False, False] Translation: X:34.39, Y:-0.38, Z:1.56 [[ 9.99836275e-01 1.64391869e-02 -7.56146802e-03 3.43881616e+01] [-1.61431644e-02 9.99159770e-01 3.76716360e-02 -3.78258255e-01] [ 8.17440572e-03 -3.75434022e-02 9.99261563e-01 1.55652716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.98119381699999 meters Centerline goodness : 0.867758 with order 1 Centerline is valid? [False, False] Translation: X:34.36, Y:-0.39, Z:1.59 [[ 9.99960565e-01 8.87434405e-03 -3.38608844e-04 3.43593655e+01] [-8.81030098e-03 9.96095759e-01 8.78385922e-02 -3.89720820e-01] [ 1.11679672e-03 -8.78321451e-02 9.96134663e-01 1.58559253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.04119381699999 meters Centerline goodness : 0.874008 with order 1 Centerline is valid? [False, False] Translation: X:34.36, Y:-0.39, Z:1.59 [[ 9.99987284e-01 5.02884285e-03 -3.77114514e-04 3.43594878e+01] [-4.98081071e-03 9.96601769e-01 8.22198661e-02 -3.87090003e-01] [ 7.89303778e-04 -8.22169423e-02 9.96614144e-01 1.58579425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.101193817 meters Centerline goodness : 0.867392 with order 1 Centerline is valid? [False, False] Translation: X:34.37, Y:-0.38, Z:1.57 [[ 9.99992961e-01 1.31200616e-03 3.51525778e-03 3.43708473e+01] [-1.52572017e-03 9.98105918e-01 6.14999908e-02 -3.75623016e-01] [-3.42791122e-03 -6.15049212e-02 9.98100894e-01 1.57425165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.161193817 meters Centerline goodness : 0.866811 with order 1 Centerline is valid? [False, False] Translation: X:34.39, Y:-0.37, Z:1.57 [[ 9.99979457e-01 3.57240443e-03 5.32202291e-03 3.43873695e+01] [-3.83599918e-03 9.98723193e-01 5.03713008e-02 -3.67194574e-01] [-5.13528106e-03 -5.03906813e-02 9.98716380e-01 1.56584052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.22119381699999 meters Centerline goodness : 0.868609 with order 1 Centerline is valid? [False, False] Translation: X:34.40, Y:-0.35, Z:1.56 [[ 9.99913915e-01 1.30732167e-02 -1.11963167e-03 3.43955109e+01] [-1.30027723e-02 9.98717160e-01 4.89383611e-02 -3.51467595e-01] [ 1.75797717e-03 -4.89195899e-02 9.98801173e-01 1.56309497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.28119381699999 meters Centerline goodness : 0.871708 with order 1 Centerline is valid? [False, False] Translation: X:34.41, Y:-0.34, Z:1.56 [[ 9.99694054e-01 2.33420449e-02 -8.18212393e-03 3.44055886e+01] [-2.29670582e-02 9.98799634e-01 4.32643590e-02 -3.40730638e-01] [ 9.18218100e-03 -4.30632031e-02 9.99030154e-01 1.56228683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.34119381699999 meters Centerline goodness : 0.879668 with order 1 Centerline is valid? [False, False] Translation: X:34.41, Y:-0.32, Z:1.56 [[ 9.99182346e-01 3.86150200e-02 -1.19799745e-02 3.44093844e+01] [-3.80511559e-02 9.98298656e-01 4.41803402e-02 -3.24839572e-01] [ 1.36656172e-02 -4.36883641e-02 9.98951739e-01 1.56359647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.40119381699999 meters Centerline goodness : 0.885307 with order 1 Centerline is valid? [False, False] Translation: X:34.41, Y:-0.31, Z:1.56 [[ 9.98548968e-01 5.28016445e-02 -1.05803688e-02 3.44144704e+01] [-5.23462822e-02 9.97848311e-01 3.94793099e-02 -3.12293673e-01] [ 1.26421756e-02 -3.88681812e-02 9.99164371e-01 1.56223621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.461193817 meters Centerline goodness : 0.876728 with order 1 Centerline is valid? [False, False] Translation: X:34.43, Y:-0.31, Z:1.56 [[ 9.98124989e-01 6.07963338e-02 -7.09314612e-03 3.44296672e+01] [-6.05071260e-02 9.97532174e-01 3.56153091e-02 -3.05421750e-01] [ 9.24092168e-03 -3.51193441e-02 9.99340401e-01 1.55715165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.521193817 meters Centerline goodness : 0.881625 with order 1 Centerline is valid? [False, False] Translation: X:34.45, Y:-0.30, Z:1.55 [[ 9.97440989e-01 7.08004354e-02 -9.93836802e-03 3.44512945e+01] [-7.05889221e-02 9.97300402e-01 2.02265028e-02 -3.01614424e-01] [ 1.13435836e-02 -1.94732042e-02 9.99746026e-01 1.55409196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.581193817 meters Centerline goodness : 0.881044 with order 1 Centerline is valid? [False, False] Translation: X:34.46, Y:-0.30, Z:1.55 [[ 9.97372982e-01 7.21529151e-02 -6.41032449e-03 3.44641565e+01] [-7.20932424e-02 9.97356403e-01 9.09777805e-03 -3.00738311e-01] [ 7.04980939e-03 -8.61173695e-03 9.99938067e-01 1.54836295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.64119381699999 meters Centerline goodness : 0.881990 with order 1 Centerline is valid? [False, False] Translation: X:34.48, Y:-0.30, Z:1.54 [[ 9.97268306e-01 7.36935758e-02 -5.01818371e-03 3.44803416e+01] [-7.36980060e-02 9.97280356e-01 -7.03463159e-04 -3.03910801e-01] [ 4.95269532e-03 1.07137165e-03 9.99987161e-01 1.54142489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.70119381699999 meters Centerline goodness : 0.892020 with order 1 Centerline is valid? [False, False] Translation: X:34.50, Y:-0.31, Z:1.54 [[ 9.97301379e-01 7.33625063e-02 -2.81095982e-03 3.44979348e+01] [-7.33853055e-02 9.97261991e-01 -9.11695541e-03 -3.08094879e-01] [ 2.13442069e-03 9.29863535e-03 9.99954489e-01 1.53703495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.76119381699999 meters Centerline goodness : 0.888122 with order 1 Centerline is valid? [False, False] Translation: X:34.55, Y:-0.32, Z:1.53 [[ 9.97046543e-01 7.66970868e-02 -3.96837787e-03 3.45538582e+01] [-7.67748396e-02 9.96706692e-01 -2.61035422e-02 -3.19198035e-01] [ 1.95324314e-03 2.63311181e-02 9.99651368e-01 1.53147550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.821193817 meters Centerline goodness : 0.882531 with order 1 Centerline is valid? [False, False] Translation: X:34.59, Y:-0.32, Z:1.52 [[ 9.97004482e-01 7.72676188e-02 -3.43191306e-03 3.45880118e+01] [-7.73437507e-02 9.96070452e-01 -4.31462483e-02 -3.24040308e-01] [ 8.46193297e-05 4.32824399e-02 9.99062873e-01 1.52412282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.881193817 meters Centerline goodness : 0.886167 with order 1 Centerline is valid? [False, False] Translation: X:34.59, Y:-0.33, Z:1.53 [[ 9.97314246e-01 7.03134769e-02 -2.05014401e-02 3.45931909e+01] [-7.12502148e-02 9.96242066e-01 -4.92458461e-02 -3.26238348e-01] [ 1.69617503e-02 5.05743159e-02 9.98576255e-01 1.52998492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.941193817 meters Centerline goodness : 0.883223 with order 1 Centerline is valid? [False, False] Translation: X:34.60, Y:-0.33, Z:1.53 [[ 9.97376235e-01 6.86991240e-02 -2.28271105e-02 3.45965041e+01] [-6.98058910e-02 9.96211517e-01 -5.18628123e-02 -3.32383600e-01] [ 1.91777006e-02 5.33202032e-02 9.98393295e-01 1.53033256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.00119381699999 meters Centerline goodness : 0.886471 with order 1 Centerline is valid? [False, False] Translation: X:34.60, Y:-0.34, Z:1.53 [[ 9.97691376e-01 6.26678242e-02 -2.61660549e-02 3.46000662e+01] [-6.40896684e-02 9.96280932e-01 -5.75918386e-02 -3.42191694e-01] [ 2.24595863e-02 5.91358545e-02 9.97997253e-01 1.53185179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.06119381699999 meters Centerline goodness : 0.885909 with order 1 Centerline is valid? [False, False] Translation: X:34.60, Y:-0.35, Z:1.53 [[ 9.97918099e-01 5.86319216e-02 -2.68657054e-02 3.46003265e+01] [-6.01351512e-02 9.96441542e-01 -5.90594344e-02 -3.48765462e-01] [ 2.33073368e-02 6.05520518e-02 9.97892889e-01 1.53151936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.12119381699999 meters Centerline goodness : 0.886175 with order 1 Centerline is valid? [False, False] Translation: X:34.60, Y:-0.36, Z:1.53 [[ 9.98249973e-01 5.22442713e-02 -2.77042860e-02 3.46017363e+01] [-5.37439045e-02 9.96956479e-01 -5.64745292e-02 -3.61215594e-01] [ 2.46694968e-02 5.78646337e-02 9.98019589e-01 1.52920043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.181193817 meters Centerline goodness : 0.885219 with order 1 Centerline is valid? [False, False] Translation: X:34.60, Y:-0.37, Z:1.52 [[ 9.98726643e-01 4.27926528e-02 -2.67185684e-02 3.46014072e+01] [-4.42907988e-02 9.97318756e-01 -5.82548249e-02 -3.67675855e-01] [ 2.41540509e-02 5.93640325e-02 9.97944133e-01 1.52433266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.241193817 meters Centerline goodness : 0.888955 with order 1 Centerline is valid? [False, False] Translation: X:34.61, Y:-0.40, Z:1.57 [[ 9.99570513e-01 2.30828602e-02 -1.80546745e-02 3.46096339e+01] [-2.28887456e-02 9.99678757e-01 1.08852573e-02 -4.02569046e-01] [ 1.83001375e-02 -1.04673334e-02 9.99777745e-01 1.56963443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.301193817 meters Centerline goodness : 0.892483 with order 1 Centerline is valid? [False, False] Translation: X:34.60, Y:-0.42, Z:1.61 [[ 9.99910554e-01 6.86359537e-03 -1.14793246e-02 3.45994833e+01] [-6.03678004e-03 9.97488433e-01 7.05718274e-02 -4.23084166e-01] [ 1.19348700e-02 -7.04962168e-02 9.97440646e-01 1.60791710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.36119381699999 meters Centerline goodness : 0.898003 with order 1 Centerline is valid? [False, False] Translation: X:34.62, Y:-0.44, Z:1.64 [[ 9.99922726e-01 -2.45781699e-03 -1.21861102e-02 3.46195141e+01] [ 3.61846949e-03 9.95359616e-01 9.61568605e-02 -4.36179057e-01] [ 1.18932260e-02 -9.61935251e-02 9.95291594e-01 1.63704868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.42119381699999 meters Centerline goodness : 0.897644 with order 1 Centerline is valid? [False, False] Translation: X:34.58, Y:-0.43, Z:1.63 [[ 9.99897939e-01 -3.38250889e-03 -1.38805385e-02 3.45774731e+01] [ 4.54765959e-03 9.96388643e-01 8.47879212e-02 -4.31257607e-01] [ 1.35436151e-02 -8.48423917e-02 9.96302333e-01 1.63345026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.48119381699999 meters Centerline goodness : 0.901634 with order 1 Centerline is valid? [False, False] Translation: X:34.59, Y:-0.42, Z:1.62 [[ 9.99933666e-01 -3.29600165e-03 -1.10363057e-02 3.45894740e+01] [ 4.03347557e-03 9.97712373e-01 6.74814932e-02 -4.19369076e-01] [ 1.07886396e-02 -6.75215315e-02 9.97659485e-01 1.62204958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.54119381699999 meters Centerline goodness : 0.906587 with order 1 Centerline is valid? [False, False] Translation: X:34.60, Y:-0.41, Z:1.61 [[ 9.99973122e-01 -1.28188512e-03 -7.21883703e-03 3.46013958e+01] [ 1.67042724e-03 9.98535359e-01 5.40772321e-02 -4.09154902e-01] [ 7.13894322e-03 -5.40878372e-02 9.98510662e-01 1.61307013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.601193817 meters Centerline goodness : 0.911411 with order 1 Centerline is valid? [False, False] Translation: X:34.60, Y:-0.40, Z:1.61 [[ 9.99965746e-01 3.38105523e-04 -8.27003485e-03 3.46045480e+01] [ 9.67237578e-05 9.98619759e-01 5.25220641e-02 -3.96493754e-01] [ 8.27637822e-03 -5.25210649e-02 9.98585519e-01 1.60872117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.661193817 meters Centerline goodness : 0.911932 with order 1 Centerline is valid? [False, False] Translation: X:34.61, Y:-0.39, Z:1.60 [[ 9.99951691e-01 2.61872179e-03 -9.47405339e-03 3.46083482e+01] [-2.11884267e-03 9.98624270e-01 5.23935002e-02 -3.86888735e-01] [ 9.59822365e-03 -5.23708951e-02 9.98581576e-01 1.60483718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.72119381699999 meters Centerline goodness : 0.913308 with order 1 Centerline is valid? [False, False] Translation: X:34.61, Y:-0.37, Z:1.60 [[ 9.99865370e-01 1.10702561e-02 -1.21116355e-02 3.46116194e+01] [-1.03956261e-02 9.98464401e-01 5.44129687e-02 -3.69413319e-01] [ 1.26954023e-02 -5.42797350e-02 9.98445060e-01 1.60154126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.78119381699999 meters Centerline goodness : 0.924347 with order 1 Centerline is valid? [False, False] Translation: X:34.61, Y:-0.35, Z:1.61 [[ 9.99698488e-01 2.04804303e-02 -1.35456897e-02 3.46108670e+01] [-1.96975815e-02 9.98258855e-01 5.55991282e-02 -3.52813165e-01] [ 1.46607988e-02 -5.53155471e-02 9.98361283e-01 1.60559381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.84119381699999 meters Centerline goodness : 0.926740 with order 1 Centerline is valid? [False, False] Translation: X:34.62, Y:-0.34, Z:1.60 [[ 9.99607505e-01 2.50001894e-02 -1.26422701e-02 3.46208058e+01] [-2.44638232e-02 9.98862236e-01 4.09359847e-02 -3.39707575e-01] [ 1.36512936e-02 -4.06106392e-02 9.99081788e-01 1.59999634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.90119381699999 meters Centerline goodness : 0.930211 with order 1 Centerline is valid? [False, False] Translation: X:34.64, Y:-0.33, Z:1.60 [[ 9.99504803e-01 2.75714493e-02 -1.51645628e-02 3.46417874e+01] [-2.71693145e-02 9.99289696e-01 2.61138322e-02 -3.28326016e-01] [ 1.58737875e-02 -2.56888899e-02 9.99543948e-01 1.59782962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.961193817 meters Centerline goodness : 0.932510 with order 1 Centerline is valid? [False, False] Translation: X:34.67, Y:-0.31, Z:1.60 [[ 9.99362833e-01 3.26724061e-02 -1.43680611e-02 3.46658905e+01] [-3.25508268e-02 9.99432945e-01 8.61580933e-03 -3.13405552e-01] [ 1.46414129e-02 -8.14262736e-03 9.99859653e-01 1.59556833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.021193817 meters Centerline goodness : 0.936508 with order 1 Centerline is valid? [False, False] Translation: X:34.70, Y:-0.30, Z:1.59 [[ 9.99202995e-01 3.82924568e-02 -1.12721741e-02 3.46983433e+01] [-3.83646093e-02 9.99244225e-01 -6.25577997e-03 -2.98413928e-01] [ 1.10241057e-02 6.68324664e-03 9.99916898e-01 1.59016228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.081193817 meters Centerline goodness : 0.933564 with order 1 Centerline is valid? [False, False] Translation: X:34.72, Y:-0.29, Z:1.58 [[ 9.99099611e-01 4.13543550e-02 -9.47546627e-03 3.47177019e+01] [-4.14931320e-02 9.99026937e-01 -1.49499181e-02 -2.88676870e-01] [ 8.84800182e-03 1.53296242e-02 9.99843345e-01 1.58362030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.14119381699999 meters Centerline goodness : 0.929087 with order 1 Centerline is valid? [False, False] Translation: X:34.74, Y:-0.28, Z:1.58 [[ 9.98937987e-01 4.49853958e-02 -9.96049238e-03 3.47427418e+01] [-4.51732700e-02 9.98788496e-01 -1.95170704e-02 -2.81064633e-01] [ 9.07044207e-03 1.99462910e-02 9.99759907e-01 1.57731101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.20119381699999 meters Centerline goodness : 0.920789 with order 1 Centerline is valid? [False, False] Translation: X:34.77, Y:-0.27, Z:1.57 [[ 9.98834750e-01 4.56804130e-02 -1.55705810e-02 3.47748609e+01] [-4.60365156e-02 9.98667165e-01 -2.33352215e-02 -2.74993504e-01] [ 1.44838655e-02 2.40248454e-02 9.99606435e-01 1.57226147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.26119381699999 meters Centerline goodness : 0.916355 with order 1 Centerline is valid? [False, False] Translation: X:34.78, Y:-0.27, Z:1.57 [[ 9.98986245e-01 4.16585952e-02 -1.70600326e-02 3.47807722e+01] [-4.21020227e-02 9.98761425e-01 -2.65148146e-02 -2.73650438e-01] [ 1.59343325e-02 2.72061969e-02 9.99502836e-01 1.56892610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.321193817 meters Centerline goodness : 0.914530 with order 1 Centerline is valid? [False, False] Translation: X:34.80, Y:-0.27, Z:1.57 [[ 9.99388709e-01 3.13795766e-02 -1.54120200e-02 3.48018172e+01] [-3.17274182e-02 9.99234900e-01 -2.28688622e-02 -2.72858804e-01] [ 1.46826131e-02 2.33438663e-02 9.99619670e-01 1.56780586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.381193817 meters Centerline goodness : 0.918988 with order 1 Centerline is valid? [False, False] Translation: X:34.81, Y:-0.28, Z:1.57 [[ 9.99896556e-01 1.10739959e-02 -9.17847078e-03 3.48141617e+01] [-1.12063410e-02 9.99832138e-01 -1.44953111e-02 -2.75937175e-01] [ 9.01640905e-03 1.45966687e-02 9.99852810e-01 1.57284062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.441193817 meters Centerline goodness : 0.925086 with order 1 Centerline is valid? [False, False] Translation: X:34.81, Y:-0.28, Z:1.57 [[ 9.99941031e-01 5.32737062e-03 -9.46327153e-03 3.48143792e+01] [-5.51126281e-03 9.99794402e-01 -1.95135995e-02 -2.75039735e-01] [ 9.35736972e-03 1.95646034e-02 9.99764805e-01 1.57393994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.50119381699999 meters Centerline goodness : 0.931904 with order 1 Centerline is valid? [False, False] Translation: X:34.82, Y:-0.27, Z:1.58 [[ 9.99930355e-01 3.88210314e-03 -1.11451506e-02 3.48179237e+01] [-4.09609859e-03 9.99806454e-01 -1.92425878e-02 -2.68376537e-01] [ 1.10682918e-02 1.92868993e-02 9.99752724e-01 1.57612398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.56119381699999 meters Centerline goodness : 0.929274 with order 1 Centerline is valid? [False, False] Translation: X:34.84, Y:-0.26, Z:1.57 [[ 9.99943235e-01 7.82211388e-03 -7.23472352e-03 3.48353594e+01] [-7.98951865e-03 9.99694090e-01 -2.34071292e-02 -2.59631176e-01] [ 7.04941712e-03 2.34636025e-02 9.99699837e-01 1.57335603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.62119381699999 meters Centerline goodness : 0.931748 with order 1 Centerline is valid? [False, False] Translation: X:34.87, Y:-0.25, Z:1.57 [[ 9.99856912e-01 1.62856142e-02 -4.57532810e-03 3.48700912e+01] [-1.64240788e-02 9.99351001e-01 -3.20597461e-02 -2.46232748e-01] [ 4.05024606e-03 3.21303043e-02 9.99475482e-01 1.57106260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.681193817 meters Centerline goodness : 0.926943 with order 1 Centerline is valid? [False, False] Translation: X:34.90, Y:-0.24, Z:1.57 [[ 9.99792289e-01 1.99349915e-02 -4.23975324e-03 3.48964918e+01] [-2.00688353e-02 9.99210073e-01 -3.42997418e-02 -2.35765874e-01] [ 3.55263908e-03 3.43777042e-02 9.99402598e-01 1.56700847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.741193817 meters Centerline goodness : 0.922121 with order 1 Centerline is valid? [False, False] Translation: X:34.93, Y:-0.23, Z:1.56 [[ 9.99738321e-01 2.26443395e-02 -3.24396675e-03 3.49265832e+01] [-2.27431558e-02 9.99141824e-01 -3.46173872e-02 -2.25339249e-01] [ 2.45729499e-03 3.46821066e-02 9.99395374e-01 1.56232735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.801193817 meters Centerline goodness : 0.919632 with order 1 Centerline is valid? [False, False] Translation: X:34.96, Y:-0.22, Z:1.56 [[ 9.99672206e-01 2.48070488e-02 -6.33175936e-03 3.49588606e+01] [-2.50051797e-02 9.99128875e-01 -3.34100457e-02 -2.19146525e-01] [ 5.49743898e-03 3.35574208e-02 9.99421672e-01 1.56052812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.86119381699999 meters Centerline goodness : 0.919983 with order 1 Centerline is valid? [False, False] Translation: X:34.97, Y:-0.21, Z:1.57 [[ 9.99752460e-01 1.97992646e-02 -1.01492896e-02 3.49740411e+01] [-2.00789420e-02 9.99399546e-01 -2.82379949e-02 -2.12044409e-01] [ 9.58410384e-03 2.84347919e-02 9.99549702e-01 1.56588249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.92119381699999 meters Centerline goodness : 0.923209 with order 1 Centerline is valid? [False, False] Translation: X:35.00, Y:-0.21, Z:1.56 [[ 9.99936654e-01 9.61632893e-03 -5.84932551e-03 3.50016005e+01] [-9.74574719e-03 9.99699011e-01 -2.25146152e-02 -2.06046943e-01] [ 5.63105698e-03 2.25701950e-02 9.99729402e-01 1.56481530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.98119381699999 meters Centerline goodness : 0.923292 with order 1 Centerline is valid? [False, False] Translation: X:35.03, Y:-0.19, Z:1.56 [[ 9.99987191e-01 2.91159888e-03 -4.14010149e-03 3.50318506e+01] [-3.02981091e-03 9.99579469e-01 -2.88393037e-02 -1.92961478e-01] [ 4.05439197e-03 2.88514780e-02 9.99575487e-01 1.56206508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.04119381699999 meters Centerline goodness : 0.923287 with order 1 Centerline is valid? [False, False] Translation: X:35.04, Y:-0.19, Z:1.56 [[ 9.99973200e-01 -2.73566986e-04 -7.31608189e-03 3.50409881e+01] [ 6.21101373e-05 9.99582663e-01 -2.88876405e-02 -1.85167237e-01] [ 7.32093132e-03 2.88864119e-02 9.99555891e-01 1.56252738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.101193817 meters Centerline goodness : 0.914353 with order 1 Centerline is valid? [False, False] Translation: X:35.07, Y:-0.17, Z:1.56 [[ 9.99964643e-01 -5.42989514e-03 -6.42093307e-03 3.50731474e+01] [ 5.20607186e-03 9.99395419e-01 -3.43757720e-02 -1.68037161e-01] [ 6.60370793e-03 3.43411288e-02 9.99388352e-01 1.55729542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.161193817 meters Centerline goodness : 0.917508 with order 1 Centerline is valid? [False, False] Translation: X:35.10, Y:-0.16, Z:1.56 [[ 9.99966879e-01 -6.77608022e-03 -4.50837702e-03 3.51022834e+01] [ 6.61197527e-03 9.99348871e-01 -3.54699355e-02 -1.56244105e-01] [ 4.74578862e-03 3.54389514e-02 9.99360575e-01 1.55556075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22119381699999 meters Centerline goodness : 0.912814 with order 1 Centerline is valid? [False, False] Translation: X:35.14, Y:-0.13, Z:1.55 [[ 9.99984819e-01 -1.61279107e-03 -5.26888923e-03 3.51448575e+01] [ 1.38578088e-03 9.99082351e-01 -4.28081218e-02 -1.34821083e-01] [ 5.33309479e-03 4.28001704e-02 9.99069419e-01 1.55212839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.28119381699999 meters Centerline goodness : 0.908391 with order 1 Centerline is valid? [False, False] Translation: X:35.18, Y:-0.12, Z:1.55 [[ 9.99955479e-01 8.48012459e-03 -4.13848462e-03 3.51833213e+01] [-8.66397784e-03 9.98874244e-01 -4.66388286e-02 -1.15060601e-01] [ 3.73832262e-03 4.66726079e-02 9.98903245e-01 1.55046017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.34119381699999 meters Centerline goodness : 0.909267 with order 1 Centerline is valid? [False, False] Translation: X:35.21, Y:-0.11, Z:1.55 [[ 9.99930316e-01 1.14256420e-02 -2.96942026e-03 3.52104265e+01] [-1.15475134e-02 9.98924282e-01 -4.49102832e-02 -1.05187976e-01] [ 2.45309718e-03 4.49414431e-02 9.98986611e-01 1.55031675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.40119381699999 meters Centerline goodness : 0.913151 with order 1 Centerline is valid? [False, False] Translation: X:35.26, Y:-0.09, Z:1.55 [[ 9.99860916e-01 1.60675208e-02 -4.47028194e-03 3.52562357e+01] [-1.62595922e-02 9.98767742e-01 -4.68894786e-02 -8.93738632e-02] [ 3.71137572e-03 4.69556420e-02 9.98890081e-01 1.54944852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.461193817 meters Centerline goodness : 0.910470 with order 1 Centerline is valid? [False, False] Translation: X:35.30, Y:-0.08, Z:1.55 [[ 9.99741006e-01 2.21979245e-02 -5.01727255e-03 3.52970173e+01] [-2.24119257e-02 9.98613588e-01 -4.76299011e-02 -8.37992562e-02] [ 3.95303160e-03 4.77300120e-02 9.98852451e-01 1.54829793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.521193817 meters Centerline goodness : 0.913005 with order 1 Centerline is valid? [False, False] Translation: X:35.35, Y:-0.06, Z:1.54 [[ 9.99488798e-01 3.18883217e-02 2.29745713e-03 3.53538363e+01] [-3.15821431e-02 9.95953769e-01 -8.41347666e-02 -6.49396939e-02] [-4.97107760e-03 8.40191981e-02 9.96451736e-01 1.54478016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.581193817 meters Centerline goodness : 0.914070 with order 1 Centerline is valid? [False, False] Translation: X:35.41, Y:-0.05, Z:1.54 [[ 9.99332829e-01 3.58925593e-02 6.75429933e-03 3.54057504e+01] [-3.50683705e-02 9.94657047e-01 -9.70956645e-02 -5.36966349e-02] [-1.02032233e-02 9.67940229e-02 9.95252135e-01 1.54147899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.64119381699999 meters Centerline goodness : 0.913377 with order 1 Centerline is valid? [False, False] Translation: X:35.45, Y:-0.04, Z:1.54 [[ 9.99219973e-01 3.88321172e-02 7.17714072e-03 3.54476572e+01] [-3.78777606e-02 9.93866131e-01 -1.03900861e-01 -4.42874696e-02] [-1.11678075e-02 1.03547961e-01 9.94561763e-01 1.53839005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.70119381699999 meters Centerline goodness : 0.913766 with order 1 Centerline is valid? [False, False] Translation: X:35.50, Y:-0.04, Z:1.54 [[ 9.99216237e-01 3.89042210e-02 7.30567699e-03 3.54952685e+01] [-3.79473090e-02 9.93965649e-01 -1.02918855e-01 -4.03329019e-02] [-1.12655699e-02 1.02560961e-01 9.94662926e-01 1.53846600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.76119381699999 meters Centerline goodness : 0.911925 with order 1 Centerline is valid? [False, False] Translation: X:35.52, Y:-0.04, Z:1.54 [[ 9.99562299e-01 2.88341757e-02 6.61827821e-03 3.55204782e+01] [-2.81032256e-02 9.95355911e-01 -9.20696413e-02 -3.87488662e-02] [-9.24229455e-03 9.18433473e-02 9.95730576e-01 1.54120717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.821193817 meters Centerline goodness : 0.917938 with order 1 Centerline is valid? [False, False] Translation: X:35.54, Y:-0.04, Z:1.55 [[ 9.99865531e-01 1.44894098e-02 7.67958555e-03 3.55393208e+01] [-1.38687249e-02 9.97049455e-01 -7.54986229e-02 -4.47544093e-02] [-8.75085707e-03 7.53819646e-02 9.97116333e-01 1.54518878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.881193817 meters Centerline goodness : 0.919794 with order 1 Centerline is valid? [False, False] Translation: X:35.56, Y:-0.05, Z:1.55 [[ 9.99935308e-01 -7.06007123e-03 8.91822531e-03 3.55643679e+01] [ 7.55085946e-03 9.98387968e-01 -5.62534347e-02 -4.79723708e-02] [-8.50669559e-03 5.63171358e-02 9.98376691e-01 1.55033087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.941193817 meters Centerline goodness : 0.919912 with order 1 Centerline is valid? [False, False] Translation: X:35.59, Y:-0.05, Z:1.55 [[ 9.99846277e-01 -1.44317744e-02 9.95726915e-03 3.55918879e+01] [ 1.48409818e-02 9.98993628e-01 -4.23258343e-02 -4.68922079e-02] [-9.33641154e-03 4.24671035e-02 9.99054241e-01 1.55209015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.001193817 meters Centerline goodness : 0.920425 with order 1 Centerline is valid? [False, False] Translation: X:35.63, Y:-0.04, Z:1.55 [[ 9.99900653e-01 -1.08156918e-02 9.03906803e-03 3.56324008e+01] [ 1.12151065e-02 9.98907208e-01 -4.53719175e-02 -3.69738447e-02] [-8.53846153e-03 4.54687841e-02 9.98929269e-01 1.54982814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.061193817 meters Centerline goodness : 0.916309 with order 1 Centerline is valid? [False, False] Translation: X:35.68, Y:-0.02, Z:1.54 [[ 9.99957568e-01 -5.29259011e-03 7.53998055e-03 3.56772337e+01] [ 5.64604160e-03 9.98847952e-01 -4.76538669e-02 -2.19109255e-02] [-7.27908175e-03 4.76944159e-02 9.98835451e-01 1.54365992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.121193817 meters Centerline goodness : 0.916314 with order 1 Centerline is valid? [False, False] Translation: X:35.72, Y:-0.01, Z:1.54 [[ 9.99960644e-01 -7.95721678e-04 8.83611422e-03 3.57166516e+01] [ 1.23902614e-03 9.98734490e-01 -5.02780613e-02 -1.23618763e-02] [-8.78492468e-03 5.02870307e-02 9.98696170e-01 1.54266031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.181193817 meters Centerline goodness : 0.917393 with order 1 Centerline is valid? [False, False] Translation: X:35.75, Y:-0.00, Z:1.54 [[ 9.99940415e-01 3.50948872e-03 1.03368360e-02 3.57549336e+01] [-2.96536137e-03 9.98632640e-01 -5.21925000e-02 -3.44741908e-03] [-1.05058708e-02 5.21587376e-02 9.98583543e-01 1.54244986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.241193817 meters Centerline goodness : 0.917868 with order 1 Centerline is valid? [False, False] Translation: X:35.81, Y:0.02, Z:1.54 [[ 9.99753539e-01 1.50130515e-02 1.63544935e-02 3.58127512e+01] [-1.35177298e-02 9.96029564e-01 -8.79907920e-02 2.25906237e-02] [-1.76105693e-02 8.77480301e-02 9.95987024e-01 1.54123113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.301193817 meters Centerline goodness : 0.918032 with order 1 Centerline is valid? [False, False] Translation: X:35.86, Y:0.05, Z:1.54 [[ 9.99365747e-01 2.63817063e-02 2.39188116e-02 3.58649301e+01] [-2.30593726e-02 9.91262270e-01 -1.29874470e-01 4.93199857e-02] [-2.71361256e-02 1.29240544e-01 9.91241904e-01 1.54175091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.36119381700001 meters Centerline goodness : 0.918434 with order 1 Centerline is valid? [False, False] Translation: X:35.88, Y:0.05, Z:1.55 [[ 9.99143276e-01 3.39352201e-02 2.36878551e-02 3.58769727e+01] [-3.12588963e-02 9.93935748e-01 -1.05425852e-01 4.67281331e-02] [-2.71218555e-02 1.04595075e-01 9.94144997e-01 1.54559097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.42119381700002 meters Centerline goodness : 0.913034 with order 1 Centerline is valid? [False, False] Translation: X:35.87, Y:0.04, Z:1.55 [[ 9.98873794e-01 4.33214759e-02 1.93492366e-02 3.58721957e+01] [-4.15699090e-02 9.95662736e-01 -8.32325589e-02 4.41354169e-02] [-2.28710711e-02 8.23344759e-02 9.96342285e-01 1.54629407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.48119381700002 meters Centerline goodness : 0.907948 with order 1 Centerline is valid? [False, False] Translation: X:35.87, Y:0.03, Z:1.54 [[ 9.98612034e-01 4.91368681e-02 1.89624285e-02 3.58740053e+01] [-4.75895404e-02 9.96057349e-01 -7.48665066e-02 3.48345297e-02] [-2.25663719e-02 7.38601812e-02 9.97013256e-01 1.54394238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.541193817 meters Centerline goodness : 0.912091 with order 1 Centerline is valid? [False, False] Translation: X:35.88, Y:0.02, Z:1.55 [[ 9.98585154e-01 4.91391214e-02 2.03232918e-02 3.58754980e+01] [-4.80707140e-02 9.97587490e-01 -5.00839844e-02 2.32382739e-02] [-2.27353447e-02 4.90361681e-02 9.98538211e-01 1.54551033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.601193817 meters Centerline goodness : 0.913563 with order 1 Centerline is valid? [False, False] Translation: X:35.87, Y:0.01, Z:1.55 [[ 9.98526015e-01 4.94558532e-02 2.23587918e-02 3.58719237e+01] [-4.84875938e-02 9.97942423e-01 -4.19508463e-02 8.52012151e-03] [-2.43875018e-02 4.08048874e-02 9.98869466e-01 1.54743679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.661193817 meters Centerline goodness : 0.912341 with order 1 Centerline is valid? [False, False] Translation: X:35.87, Y:-0.00, Z:1.55 [[ 9.98640337e-01 4.64712649e-02 2.36198733e-02 3.58684213e+01] [-4.55090209e-02 9.98172268e-01 -3.97624432e-02 -4.27323891e-03] [-2.54245136e-02 3.86334624e-02 9.98929952e-01 1.54893555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.721193817 meters Centerline goodness : 0.915212 with order 1 Centerline is valid? [False, False] Translation: X:35.86, Y:-0.02, Z:1.55 [[ 9.99026414e-01 3.66473630e-02 2.45600267e-02 3.58632615e+01] [-3.59907293e-02 9.98996321e-01 -2.66649357e-02 -1.50936411e-02] [-2.55125759e-02 2.57550418e-02 9.99342677e-01 1.54936721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.781193817 meters Centerline goodness : 0.917814 with order 1 Centerline is valid? [False, False] Translation: X:35.84, Y:-0.03, Z:1.55 [[ 9.99384339e-01 1.78193242e-02 3.02227544e-02 3.58442934e+01] [-1.72454529e-02 9.99668003e-01 -1.91436109e-02 -2.95505652e-02] [-3.05538468e-02 1.86106199e-02 9.99359849e-01 1.54868499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.841193817 meters Centerline goodness : 0.921540 with order 1 Centerline is valid? [False, False] Translation: X:35.87, Y:-0.04, Z:1.55 [[ 9.99505948e-01 1.02891790e-02 2.96983705e-02 3.58653501e+01] [-9.57853238e-03 9.99666725e-01 -2.39726900e-02 -3.69487749e-02] [-2.99351321e-02 2.36763795e-02 9.99271393e-01 1.54756695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.901193817 meters Centerline goodness : 0.916211 with order 1 Centerline is valid? [False, False] Translation: X:35.90, Y:-0.04, Z:1.55 [[ 9.99696436e-01 5.20453034e-03 2.40821334e-02 3.58963512e+01] [-4.64508069e-03 9.99719383e-01 -2.32288081e-02 -4.09031004e-02] [-2.41962706e-02 2.31098932e-02 9.99440080e-01 1.54633188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.961193817 meters Centerline goodness : 0.925771 with order 1 Centerline is valid? [False, False] Translation: X:35.94, Y:-0.04, Z:1.54 [[ 9.99676438e-01 8.12968234e-03 2.41024250e-02 3.59358616e+01] [-7.51464238e-03 9.99646592e-01 -2.54994389e-02 -3.91880925e-02] [-2.43012093e-02 2.53100671e-02 9.99384236e-01 1.54437881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.021193817 meters Centerline goodness : 0.924594 with order 1 Centerline is valid? [False, False] Translation: X:35.98, Y:-0.03, Z:1.55 [[ 9.99712153e-01 1.10419552e-02 2.12999146e-02 3.59822250e+01] [-1.02647316e-02 9.99289672e-01 -3.62599985e-02 -3.25779350e-02] [-2.16851659e-02 3.60309233e-02 9.99115372e-01 1.54509334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.081193817 meters Centerline goodness : 0.923356 with order 1 Centerline is valid? [False, False] Translation: X:36.02, Y:-0.03, Z:1.54 [[ 9.99741471e-01 9.35157934e-03 2.07253320e-02 3.60214837e+01] [-8.47863069e-03 9.99089404e-01 -4.18147758e-02 -2.98546094e-02] [-2.10974938e-02 4.16282430e-02 9.98910399e-01 1.54404196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.14119381700002 meters Centerline goodness : 0.926124 with order 1 Centerline is valid? [False, False] Translation: X:36.06, Y:-0.02, Z:1.54 [[ 9.99817027e-01 -1.69382688e-03 1.90536851e-02 3.60598029e+01] [ 2.44786471e-03 9.99211784e-01 -3.96209463e-02 -2.02548992e-02] [-1.89715556e-02 3.96603376e-02 9.99033101e-01 1.54430540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.20119381700002 meters Centerline goodness : 0.926109 with order 1 Centerline is valid? [False, False] Translation: X:36.10, Y:-0.02, Z:1.55 [[ 9.99814890e-01 -9.08745093e-03 1.69588957e-02 3.60950679e+01] [ 9.65309099e-03 9.99389571e-01 -3.35753238e-02 -1.52368564e-02] [-1.66434293e-02 3.37328144e-02 9.99292296e-01 1.54623649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.26119381700002 meters Centerline goodness : 0.922925 with order 1 Centerline is valid? [False, False] Translation: X:36.14, Y:-0.00, Z:1.54 [[ 9.99787403e-01 -1.31635002e-02 1.58704705e-02 3.61379311e+01] [ 1.38321732e-02 9.98988466e-01 -4.27868606e-02 -6.41898904e-04] [-1.52911922e-02 4.29972873e-02 9.98958164e-01 1.54161946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.321193817 meters Centerline goodness : 0.921417 with order 1 Centerline is valid? [False, False] Translation: X:36.18, Y:0.01, Z:1.54 [[ 9.99811744e-01 -1.12458944e-02 1.58116141e-02 3.61808484e+01] [ 1.19513606e-02 9.98904012e-01 -4.52541766e-02 9.10273703e-03] [-1.52853611e-02 4.54346275e-02 9.98850365e-01 1.53669829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.381193817 meters Centerline goodness : 0.921685 with order 1 Centerline is valid? [False, False] Translation: X:36.22, Y:0.03, Z:1.54 [[ 9.99795442e-01 -6.95493747e-03 1.89921806e-02 3.62163454e+01] [ 7.93186526e-03 9.98623008e-01 -5.18572449e-02 3.27348966e-02] [-1.86053646e-02 5.19972805e-02 9.98473897e-01 1.53627715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.441193817 meters Centerline goodness : 0.921143 with order 1 Centerline is valid? [False, False] Translation: X:36.26, Y:0.05, Z:1.53 [[ 9.99793050e-01 -3.77108032e-03 1.99908867e-02 3.62555847e+01] [ 4.83518514e-03 9.98558750e-01 -5.34513185e-02 4.53933537e-02] [-1.97605056e-02 5.35369164e-02 9.98370333e-01 1.53481276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.501193817 meters Centerline goodness : 0.926313 with order 1 Centerline is valid? [False, False] Translation: X:36.31, Y:0.06, Z:1.53 [[ 9.99796564e-01 -2.25588875e-03 2.00434714e-02 3.63118522e+01] [ 3.43986831e-03 9.98238201e-01 -5.92339606e-02 6.38102480e-02] [-1.98745336e-02 5.92908572e-02 9.98042883e-01 1.53352355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.561193817 meters Centerline goodness : 0.925966 with order 1 Centerline is valid? [False, False] Translation: X:36.31, Y:0.08, Z:1.53 [[ 9.99763709e-01 3.96827274e-03 2.13723982e-02 3.63114471e+01] [-2.85180924e-03 9.98642077e-01 -5.20179692e-02 8.15258892e-02] [-2.15497976e-02 5.19447278e-02 9.98417423e-01 1.53169177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.621193817 meters Centerline goodness : 0.923199 with order 1 Centerline is valid? [False, False] Translation: X:36.30, Y:0.09, Z:1.53 [[ 9.99738563e-01 1.00997742e-02 2.05134108e-02 3.62968667e+01] [-9.46728397e-03 9.99483822e-01 -3.06995267e-02 9.08744259e-02] [-2.08128805e-02 3.04972945e-02 9.99318137e-01 1.53105401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.681193817 meters Centerline goodness : 0.922940 with order 1 Centerline is valid? [False, False] Translation: X:36.28, Y:0.10, Z:1.54 [[ 9.99557597e-01 2.42027258e-02 1.72869288e-02 3.62756973e+01] [-2.41135622e-02 9.99694922e-01 -5.34784089e-03 1.04185535e-01] [-1.74110873e-02 4.92862556e-03 9.99836268e-01 1.53629900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.741193817 meters Centerline goodness : 0.920562 with order 1 Centerline is valid? [False, False] Translation: X:36.27, Y:0.11, Z:1.54 [[ 9.99236077e-01 3.44003520e-02 1.85439547e-02 3.62660746e+01] [-3.46388745e-02 9.99319217e-01 1.26984875e-02 1.11570341e-01] [-1.80944979e-02 -1.33311285e-02 9.99747403e-01 1.53623950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.801193817 meters Centerline goodness : 0.925863 with order 1 Centerline is valid? [False, False] Translation: X:36.27, Y:0.11, Z:1.54 [[ 9.98674242e-01 4.49067521e-02 2.51623185e-02 3.62712576e+01] [-4.57739575e-02 9.98337820e-01 3.50191623e-02 1.13422904e-01] [-2.35478974e-02 -3.61245143e-02 9.99069825e-01 1.53622697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.86119381700001 meters Centerline goodness : 0.929967 with order 1 Centerline is valid? [False, False] Translation: X:36.29, Y:0.08, Z:1.55 [[ 9.98707356e-01 3.93931060e-02 3.21216487e-02 3.62858006e+01] [-4.36921622e-02 9.88246353e-01 1.46492804e-01 7.55131767e-02] [-2.59732956e-02 -1.47706905e-01 9.88690072e-01 1.54895208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.92119381700002 meters Centerline goodness : 0.925349 with order 1 Centerline is valid? [False, False] Translation: X:36.32, Y:0.07, Z:1.55 [[ 9.98847890e-01 3.66514910e-02 3.09767846e-02 3.63196806e+01] [-4.14508400e-02 9.84211800e-01 1.72072545e-01 6.77961357e-02] [-2.41810016e-02 -1.73158312e-01 9.84597115e-01 1.55408378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.98119381700002 meters Centerline goodness : 0.921599 with order 1 Centerline is valid? [False, False] Translation: X:36.36, Y:0.05, Z:1.56 [[ 9.98792661e-01 3.91334087e-02 2.96950626e-02 3.63587407e+01] [-4.45511422e-02 9.76275494e-01 2.11899400e-01 4.85668574e-02] [-2.06982160e-02 -2.12966515e-01 9.76840236e-01 1.56083537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.041193817 meters Centerline goodness : 0.922373 with order 1 Centerline is valid? [False, False] Translation: X:36.39, Y:0.04, Z:1.56 [[ 9.98602170e-01 4.52261599e-02 2.73551000e-02 3.63857655e+01] [-4.97015346e-02 9.79577378e-01 1.94827919e-01 4.45900924e-02] [-1.79851185e-02 -1.95915173e-01 9.80455904e-01 1.56361998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.101193817 meters Centerline goodness : 0.919742 with order 1 Centerline is valid? [False, False] Translation: X:36.42, Y:0.00, Z:1.58 [[ 9.98489224e-01 4.37934286e-02 3.31874208e-02 3.64225981e+01] [-5.13384070e-02 9.58814422e-01 2.79355100e-01 3.53659113e-03] [-1.95866600e-02 -2.80636846e-01 9.59614153e-01 1.57784935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.161193817 meters Centerline goodness : 0.919925 with order 1 Centerline is valid? [False, False] Translation: X:36.46, Y:-0.03, Z:1.60 [[ 9.98647964e-01 3.38388011e-02 3.94611115e-02 3.64600041e+01] [-4.62199319e-02 9.25412544e-01 3.76132079e-01 -3.26853587e-02] [-2.37899490e-02 -3.77447425e-01 9.25725380e-01 1.59953630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.221193817 meters Centerline goodness : 0.915346 with order 1 Centerline is valid? [False, False] Translation: X:36.46, Y:-0.11, Z:1.66 [[ 9.99363706e-01 1.62822279e-03 3.56305057e-02 3.64590570e+01] [-2.17924235e-02 8.18690475e-01 5.73821398e-01 -1.06265448e-01] [-2.82360465e-02 -5.74232754e-01 8.18205029e-01 1.66036949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.281193817 meters Centerline goodness : 0.913920 with order 1 Centerline is valid? [False, False] Translation: X:36.42, Y:-0.08, Z:1.65 [[ 9.99396963e-01 1.43854371e-03 3.46935272e-02 3.64159267e+01] [-1.78974023e-02 8.77537484e-01 4.79173922e-01 -8.39144632e-02] [-2.97555580e-02 -4.79505886e-01 8.77034043e-01 1.65210881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.341193817 meters Centerline goodness : 0.913751 with order 1 Centerline is valid? [False, False] Translation: X:36.39, Y:-0.07, Z:1.65 [[ 9.99334324e-01 -4.43356021e-03 3.62112114e-02 3.63872908e+01] [-1.04017189e-02 9.16759326e-01 3.99304574e-01 -6.88162786e-02] [-3.49673066e-02 -3.99415426e-01 9.16102945e-01 1.64714126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.401193817 meters Centerline goodness : 0.915011 with order 1 Centerline is valid? [False, False] Translation: X:36.37, Y:-0.05, Z:1.64 [[ 9.99336391e-01 -6.42820749e-03 3.58532593e-02 3.63697180e+01] [-5.54854873e-03 9.45952961e-01 3.24256394e-01 -5.07213219e-02] [-3.59998842e-02 -3.24240148e-01 9.45289551e-01 1.64072313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.461193817 meters Centerline goodness : 0.916629 with order 1 Centerline is valid? [False, False] Translation: X:36.37, Y:-0.04, Z:1.64 [[ 9.99277866e-01 -9.93007019e-03 3.66761665e-02 3.63682416e+01] [-7.83224621e-05 9.64706316e-01 2.63328157e-01 -3.86401624e-02] [-3.79965965e-02 -2.63140872e-01 9.64008890e-01 1.63726211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.521193817 meters Centerline goodness : 0.918826 with order 1 Centerline is valid? [False, False] Translation: X:36.37, Y:-0.02, Z:1.63 [[ 9.99209403e-01 -1.15161489e-02 3.80519046e-02 3.63738627e+01] [ 3.22550186e-03 9.77454586e-01 2.11121123e-01 -2.36581518e-02] [-3.96253109e-02 -2.10831474e-01 9.76718959e-01 1.63116843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.581193817 meters Centerline goodness : 0.915730 with order 1 Centerline is valid? [False, False] Translation: X:36.38, Y:-0.01, Z:1.63 [[ 9.99221466e-01 -1.03759518e-02 3.80631378e-02 3.63828501e+01] [ 3.87974150e-03 9.85962458e-01 1.66922074e-01 -1.04417398e-02] [-3.92608003e-02 -1.66644444e-01 9.85235108e-01 1.62646804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.64119381700002 meters Centerline goodness : 0.918012 with order 1 Centerline is valid? [False, False] Translation: X:36.40, Y:0.00, Z:1.62 [[ 9.99279880e-01 -9.02602581e-03 3.68544730e-02 3.64009997e+01] [ 4.34713617e-03 9.92132847e-01 1.25114012e-01 9.77010039e-04] [-3.76938155e-02 -1.24863704e-01 9.91457630e-01 1.62254669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.70119381700002 meters Centerline goodness : 0.913150 with order 1 Centerline is valid? [False, False] Translation: X:36.43, Y:0.01, Z:1.62 [[ 9.99444119e-01 -4.81767665e-03 3.29885337e-02 3.64336902e+01] [ 1.63752411e-03 9.95403293e-01 9.57580408e-02 1.40187375e-02] [-3.32982264e-02 -9.56507912e-02 9.94857856e-01 1.61846331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.76119381700002 meters Centerline goodness : 0.909545 with order 1 Centerline is valid? [False, False] Translation: X:36.47, Y:0.03, Z:1.62 [[ 9.99635308e-01 -1.00992555e-03 2.69857546e-02 3.64676350e+01] [-8.18787130e-04 9.97707491e-01 6.76689919e-02 2.63045363e-02] [-2.69922302e-02 -6.76664092e-02 9.97342808e-01 1.61605491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.821193817 meters Centerline goodness : 0.910699 with order 1 Centerline is valid? [False, False] Translation: X:36.50, Y:0.04, Z:1.61 [[ 9.99642598e-01 5.69010117e-04 2.67273854e-02 3.64994386e+01] [-1.67439179e-03 9.99143175e-01 4.13534946e-02 3.97347277e-02] [-2.66809541e-02 -4.13834669e-02 9.98787032e-01 1.61385590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.881193817 meters Centerline goodness : 0.914046 with order 1 Centerline is valid? [False, False] Translation: X:36.53, Y:0.05, Z:1.62 [[ 9.99605733e-01 -7.06343233e-04 2.80691766e-02 3.65265273e+01] [ 2.22148375e-04 9.99851193e-01 1.72494313e-02 5.02994267e-02] [-2.80771838e-02 -1.72363949e-02 9.99457142e-01 1.61594284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.941193817 meters Centerline goodness : 0.914363 with order 1 Centerline is valid? [False, False] Translation: X:36.52, Y:0.06, Z:1.62 [[ 9.99568108e-01 -3.63103093e-03 2.91618487e-02 3.65224970e+01] [ 3.27703736e-03 9.99920481e-01 1.21775597e-02 5.90598904e-02] [-2.92037468e-02 -1.20767359e-02 9.99500522e-01 1.61979570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.001193817 meters Centerline goodness : 0.915608 with order 1 Centerline is valid? [False, False] Translation: X:36.51, Y:0.07, Z:1.62 [[ 9.99757543e-01 -1.24428453e-03 2.19842616e-02 3.65132835e+01] [ 1.14842319e-03 9.99989781e-01 4.37254048e-03 6.60047716e-02] [-2.19894777e-02 -4.34623308e-03 9.99748755e-01 1.62362631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.061193817 meters Centerline goodness : 0.916642 with order 1 Centerline is valid? [False, False] Translation: X:36.50, Y:0.07, Z:1.63 [[ 9.99901041e-01 5.56388855e-03 1.29209501e-02 3.64960869e+01] [-5.88634950e-03 9.99668769e-01 2.50539919e-02 7.26332320e-02] [-1.27772726e-02 -2.51275698e-02 9.99602594e-01 1.63329065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.121193817 meters Centerline goodness : 0.912108 with order 1 Centerline is valid? [False, False] Translation: X:36.47, Y:0.08, Z:1.64 [[ 9.99899188e-01 1.35895668e-02 4.11561978e-03 3.64711778e+01] [-1.37483963e-02 9.99048135e-01 4.13981313e-02 8.07389355e-02] [-3.54911960e-03 -4.14505410e-02 9.99134253e-01 1.64238064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.181193817 meters Centerline goodness : 0.915109 with order 1 Centerline is valid? [False, False] Translation: X:36.47, Y:0.08, Z:1.64 [[ 9.99629953e-01 2.69392435e-02 3.77274870e-03 3.64714031e+01] [-2.71010300e-02 9.98236331e-01 5.28181928e-02 8.44515497e-02] [-2.34321267e-03 -5.29008929e-02 9.98597018e-01 1.64380820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.241193817 meters Centerline goodness : 0.916486 with order 1 Centerline is valid? [False, False] Translation: X:36.49, Y:0.07, Z:1.65 [[ 9.99618019e-01 2.67889942e-02 6.79457538e-03 3.64927686e+01] [-2.73411259e-02 9.94448288e-01 1.01612327e-01 7.10363607e-02] [-4.03476181e-03 -1.01759284e-01 9.94800869e-01 1.64963419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.301193817 meters Centerline goodness : 0.917154 with order 1 Centerline is valid? [False, False] Translation: X:36.51, Y:0.04, Z:1.66 [[ 9.99709635e-01 2.35090598e-02 5.28859634e-03 3.65149514e+01] [-2.40913863e-02 9.79680968e-01 1.99110036e-01 3.88548169e-02] [-5.00247451e-04 -1.99179631e-01 9.79962869e-01 1.66300826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.36119381700001 meters Centerline goodness : 0.914379 with order 1 Centerline is valid? [False, False] Translation: X:36.53, Y:-0.01, Z:1.69 [[ 9.99846693e-01 1.69460907e-02 4.40682299e-03 3.65320276e+01] [-1.74473621e-02 9.42995941e-01 3.32346574e-01 -8.46655487e-03] [ 1.47635901e-03 -3.32372511e-01 9.43147038e-01 1.68709264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.42119381700002 meters Centerline goodness : 0.911834 with order 1 Centerline is valid? [False, False] Translation: X:36.54, Y:-0.03, Z:1.74 [[ 9.99952734e-01 6.66746441e-03 -7.07629967e-03 3.65442007e+01] [-2.84029277e-03 8.96396222e-01 4.43244567e-01 -3.33470527e-02] [ 9.29848566e-03 -4.43203518e-01 8.96372791e-01 1.73634055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.48119381700002 meters Centerline goodness : 0.913585 with order 1 Centerline is valid? [False, False] Translation: X:36.52, Y:-0.02, Z:1.73 [[ 9.99981792e-01 1.57648150e-04 -6.03241692e-03 3.65168346e+01] [ 2.03954393e-03 9.32001910e-01 3.62447623e-01 -1.59054701e-02] [ 5.67936329e-03 -3.62453327e-01 9.31984619e-01 1.73258976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.541193817 meters Centerline goodness : 0.915620 with order 1 Centerline is valid? [False, False] Translation: X:36.50, Y:-0.00, Z:1.73 [[ 9.99960664e-01 -7.92457702e-03 -3.98382273e-03 3.65025755e+01] [ 8.73630956e-03 9.57567090e-01 2.88078020e-01 -1.91176665e-03] [ 1.53188109e-03 -2.88101492e-01 9.57598655e-01 1.72928243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.601193817 meters Centerline goodness : 0.919760 with order 1 Centerline is valid? [False, False] Translation: X:36.51, Y:0.01, Z:1.73 [[ 9.99856054e-01 -1.65373194e-02 -3.79315986e-03 3.65079200e+01] [ 1.69647375e-02 9.70979569e-01 2.38560000e-01 5.90024630e-03] [-2.62062171e-04 -2.38590010e-01 9.71120352e-01 1.72595842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.661193817 meters Centerline goodness : 0.921348 with order 1 Centerline is valid? [False, False] Translation: X:36.51, Y:0.02, Z:1.72 [[ 9.99818913e-01 -1.82860782e-02 -5.26883583e-03 3.65143879e+01] [ 1.89462490e-02 9.82453342e-01 1.85543714e-01 1.99312302e-02] [ 1.78351851e-03 -1.85609939e-01 9.82621885e-01 1.72261990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.721193817 meters Centerline goodness : 0.917969 with order 1 Centerline is valid? [False, False] Translation: X:36.53, Y:0.03, Z:1.72 [[ 9.99720732e-01 -2.16244879e-02 -9.53100933e-03 3.65333957e+01] [ 2.27580404e-02 9.89636669e-01 1.41779179e-01 2.91335277e-02] [ 6.36633419e-03 -1.41956492e-01 9.89852426e-01 1.72067999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.781193817 meters Centerline goodness : 0.912844 with order 1 Centerline is valid? [False, False] Translation: X:36.56, Y:0.04, Z:1.72 [[ 9.99770835e-01 -1.83000631e-02 -1.11079265e-02 3.65578307e+01] [ 1.93652600e-02 9.94294740e-01 1.04894980e-01 4.19933097e-02] [ 9.12496813e-03 -1.05086049e-01 9.94421267e-01 1.71892921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.841193817 meters Centerline goodness : 0.918894 with order 1 Centerline is valid? [False, False] Translation: X:36.58, Y:0.05, Z:1.72 [[ 9.99889926e-01 -1.17871784e-02 -9.01103795e-03 3.65795518e+01] [ 1.24146877e-02 9.97248406e-01 7.30855082e-02 5.35680435e-02] [ 8.12477131e-03 -7.31893326e-02 9.97284969e-01 1.71804913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.901193817 meters Centerline goodness : 0.913692 with order 1 Centerline is valid? [False, False] Translation: X:36.60, Y:0.08, Z:1.72 [[ 9.99993011e-01 -3.70019794e-03 -5.34596423e-04 3.66022256e+01] [ 3.70122507e-03 9.99991282e-01 1.93328238e-03 7.99504816e-02] [ 5.27438235e-04 -1.93524753e-03 9.99997988e-01 1.71801252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.961193817 meters Centerline goodness : 0.917048 with order 1 Centerline is valid? [False, False] Translation: X:36.63, Y:0.09, Z:1.72 [[ 9.99998881e-01 -4.89211799e-04 1.41376735e-03 3.66286929e+01] [ 5.24857248e-04 9.99679166e-01 -2.53236982e-02 8.85990862e-02] [-1.40092511e-03 2.53244118e-02 9.99678304e-01 1.71925071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.021193817 meters Centerline goodness : 0.915891 with order 1 Centerline is valid? [False, False] Translation: X:36.66, Y:0.10, Z:1.72 [[ 9.99994442e-01 1.52595144e-03 2.96439475e-03 3.66609197e+01] [-1.37680699e-03 9.98764315e-01 -4.96784394e-02 9.54177751e-02] [-3.03653858e-03 4.96740819e-02 9.98760865e-01 1.71929471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.081193817 meters Centerline goodness : 0.920755 with order 1 Centerline is valid? [False, False] Translation: X:36.69, Y:0.10, Z:1.72 [[ 9.99994948e-01 2.01879461e-03 2.45511606e-03 3.66890392e+01] [-1.86773574e-03 9.98193813e-01 -6.00468456e-02 9.68472410e-02] [-2.57190391e-03 6.00419568e-02 9.98192541e-01 1.72090512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.14119381700002 meters Centerline goodness : 0.925425 with order 1 Centerline is valid? [False, False] Translation: X:36.70, Y:0.09, Z:1.72 [[ 9.99992559e-01 3.68031194e-03 1.15657610e-03 3.66963505e+01] [-3.62032522e-03 9.98832412e-01 -4.81737134e-02 9.32756273e-02] [-1.33251998e-03 4.81691678e-02 9.98838303e-01 1.72461140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.20119381700002 meters Centerline goodness : 0.923632 with order 1 Centerline is valid? [False, False] Translation: X:36.69, Y:0.09, Z:1.72 [[ 9.99970568e-01 7.59929509e-03 -1.05554052e-03 3.66905915e+01] [-7.62989399e-03 9.99430249e-01 -3.28779756e-02 8.86234713e-02] [ 8.05089688e-04 3.28850615e-02 9.99458816e-01 1.72219576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.26119381700002 meters Centerline goodness : 0.918672 with order 1 Centerline is valid? [False, False] Translation: X:36.69, Y:0.08, Z:1.72 [[ 9.99945719e-01 9.29107653e-03 -4.71533650e-03 3.66948647e+01] [-9.36605015e-03 9.99825953e-01 -1.61350743e-02 8.49023941e-02] [ 4.56460360e-03 1.61783626e-02 9.99858703e-01 1.71939438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.321193817 meters Centerline goodness : 0.914471 with order 1 Centerline is valid? [False, False] Translation: X:36.70, Y:0.05, Z:1.74 [[ 9.99910736e-01 8.88832157e-03 -9.97586950e-03 3.67026205e+01] [-7.79810106e-03 9.94499110e-01 1.04454346e-01 4.51490250e-02] [ 1.08494171e-02 -1.04367229e-01 9.94479649e-01 1.74011404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.381193817 meters Centerline goodness : 0.914309 with order 1 Centerline is valid? [False, False] Translation: X:36.71, Y:0.01, Z:1.77 [[ 9.99884096e-01 7.10944032e-03 -1.34629448e-02 3.67089002e+01] [-3.96204257e-03 9.75315352e-01 2.20781039e-01 1.08546150e-02] [ 1.47002463e-02 -2.20702109e-01 9.75230476e-01 1.76764746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.441193817 meters Centerline goodness : 0.914550 with order 1 Centerline is valid? [False, False] Translation: X:36.72, Y:-0.02, Z:1.80 [[ 9.99849323e-01 3.81545478e-03 -1.69343616e-02 3.67207176e+01] [ 2.23545164e-03 9.39121159e-01 3.43578888e-01 -2.39650826e-02] [ 1.72143270e-02 -3.43564975e-01 9.38971126e-01 1.80152116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.501193817 meters Centerline goodness : 0.917229 with order 1 Centerline is valid? [False, False] Translation: X:36.70, Y:-0.02, Z:1.80 [[ 9.99827038e-01 4.60814678e-03 -1.80182766e-02 3.67005672e+01] [ 9.36350175e-04 9.55116979e-01 2.96227412e-01 -1.68495477e-02] [ 1.85746213e-02 -2.96193048e-01 9.54947465e-01 1.80051062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.561193817 meters Centerline goodness : 0.917217 with order 1 Centerline is valid? [False, False] Translation: X:36.68, Y:-0.01, Z:1.80 [[ 9.99838893e-01 4.33793041e-03 -1.74175310e-02 3.66826692e+01] [ 1.74670763e-04 9.67960455e-01 2.51102622e-01 -1.03163960e-02] [ 1.79487469e-02 -2.51065210e-01 9.67803752e-01 1.79985782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.621193817 meters Centerline goodness : 0.922670 with order 1 Centerline is valid? [False, False] Translation: X:36.67, Y:0.01, Z:1.80 [[ 9.99862847e-01 4.79523828e-03 -1.58521914e-02 3.66677423e+01] [-2.27706678e-03 9.87879428e-01 1.55206476e-01 1.34165508e-02] [ 1.64043059e-02 -1.55149093e-01 9.87754857e-01 1.79701794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.681193817 meters Centerline goodness : 0.926570 with order 1 Centerline is valid? [False, False] Translation: X:36.67, Y:0.02, Z:1.80 [[ 9.99872704e-01 5.85952006e-03 -1.48405289e-02 3.66660185e+01] [-4.36269742e-03 9.95082227e-01 9.89561900e-02 2.44813575e-02] [ 1.53473824e-02 -9.88788486e-02 9.94981121e-01 1.79535499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.741193817 meters Centerline goodness : 0.927882 with order 1 Centerline is valid? [False, False] Translation: X:36.67, Y:0.03, Z:1.79 [[ 9.99870110e-01 5.03318162e-03 -1.53110989e-02 3.66706372e+01] [-4.31545812e-03 9.98906492e-01 4.65531707e-02 2.98646618e-02] [ 1.55286666e-02 -4.64810495e-02 9.98798464e-01 1.79333559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.801193817 meters Centerline goodness : 0.929732 with order 1 Centerline is valid? [False, False] Translation: X:36.69, Y:0.03, Z:1.79 [[ 9.99847634e-01 4.35664375e-03 -1.69035277e-02 3.66883232e+01] [-4.14112919e-03 9.99909964e-01 1.27638012e-02 3.30362390e-02] [ 1.69576131e-02 -1.26918568e-02 9.99775653e-01 1.79314982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.86119381700001 meters Centerline goodness : 0.929378 with order 1 Centerline is valid? [False, False] Translation: X:36.71, Y:0.03, Z:1.79 [[ 9.99763369e-01 4.03462912e-03 -2.13758518e-02 3.67081702e+01] [-4.03243210e-03 9.99991859e-01 1.45882840e-04 2.56519553e-02] [ 2.13762664e-02 -5.96516489e-05 9.99771500e-01 1.79317762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.92119381700002 meters Centerline goodness : 0.923225 with order 1 Centerline is valid? [False, False] Translation: X:36.74, Y:0.02, Z:1.79 [[ 9.99614548e-01 5.27665630e-03 -2.72564027e-02 3.67416250e+01] [-5.48859980e-03 9.99955238e-01 -7.70696382e-03 2.18564928e-02] [ 2.72145157e-02 7.85359264e-03 9.99598765e-01 1.79269363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.98119381700002 meters Centerline goodness : 0.926186 with order 1 Centerline is valid? [False, False] Translation: X:36.77, Y:0.02, Z:1.79 [[ 9.99548306e-01 1.09732223e-02 -2.79780562e-02 3.67729549e+01] [-1.17814546e-02 9.99513199e-01 -2.88888002e-02 1.71909050e-02] [ 2.76474332e-02 2.92053736e-02 9.99191006e-01 1.79260523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.041193817 meters Centerline goodness : 0.931818 with order 1 Centerline is valid? [False, False] Translation: X:36.79, Y:0.01, Z:1.79 [[ 9.99513427e-01 1.47627216e-02 -2.74767483e-02 3.67916929e+01] [-1.59160922e-02 9.98980623e-01 -4.22420816e-02 1.10776791e-02] [ 2.68251311e-02 4.26588502e-02 9.98729510e-01 1.79321765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.101193817 meters Centerline goodness : 0.933808 with order 1 Centerline is valid? [False, False] Translation: X:36.81, Y:0.02, Z:1.79 [[ 9.99508892e-01 1.53357237e-02 -2.73274717e-02 3.68138527e+01] [-1.74862818e-02 9.96619047e-01 -8.02789157e-02 1.50882917e-02] [ 2.60039436e-02 8.07173460e-02 9.96397764e-01 1.79234498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.161193817 meters Centerline goodness : 0.934466 with order 1 Centerline is valid? [False, False] Translation: X:36.84, Y:0.01, Z:1.79 [[ 9.99602443e-01 1.24887056e-02 -2.52782282e-02 3.68434891e+01] [-1.47540449e-02 9.95694742e-01 -9.15111940e-02 7.90769209e-03] [ 2.40265425e-02 9.18477692e-02 9.95483155e-01 1.79101383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.221193817 meters Centerline goodness : 0.934206 with order 1 Centerline is valid? [False, False] Translation: X:36.87, Y:-0.00, Z:1.79 [[ 9.99622240e-01 7.22699009e-03 -2.65169475e-02 3.68724755e+01] [-9.50314912e-03 9.96185471e-01 -8.67421363e-02 -2.01979168e-03] [ 2.57889133e-02 8.69613630e-02 9.95877831e-01 1.79283930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.281193817 meters Centerline goodness : 0.939240 with order 1 Centerline is valid? [False, False] Translation: X:36.90, Y:-0.01, Z:1.80 [[ 9.99613886e-01 1.27101046e-03 -2.77572099e-02 3.69019938e+01] [-3.52296531e-03 9.96688908e-01 -8.12330569e-02 -9.39939838e-03] [ 2.75620552e-02 8.12994794e-02 9.96308550e-01 1.79552898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.341193817 meters Centerline goodness : 0.940386 with order 1 Centerline is valid? [False, False] Translation: X:36.92, Y:-0.02, Z:1.79 [[ 9.99678244e-01 -3.83163237e-03 -2.50744328e-02 3.69242053e+01] [ 2.05501644e-03 9.97509697e-01 -7.04995096e-02 -1.60435222e-02] [ 2.52821181e-02 7.04252976e-02 9.97196616e-01 1.79461665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.401193817 meters Centerline goodness : 0.942317 with order 1 Centerline is valid? [False, False] Translation: X:36.94, Y:-0.03, Z:1.80 [[ 9.99627219e-01 -1.29312194e-02 -2.40459401e-02 3.69393170e+01] [ 1.13952618e-02 9.97951560e-01 -6.29510307e-02 -2.61380334e-02] [ 2.48107170e-02 6.26535540e-02 9.97726897e-01 1.79643434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.461193817 meters Centerline goodness : 0.944772 with order 1 Centerline is valid? [False, False] Translation: X:36.96, Y:-0.03, Z:1.80 [[ 9.99526719e-01 -2.02944922e-02 -2.31186542e-02 3.69606461e+01] [ 1.90404290e-02 9.98400708e-01 -5.32305133e-02 -3.35485640e-02] [ 2.41619670e-02 5.27651312e-02 9.98314600e-01 1.79596503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.521193817 meters Centerline goodness : 0.941528 with order 1 Centerline is valid? [False, False] Translation: X:36.99, Y:-0.04, Z:1.79 [[ 9.99404867e-01 -2.69086468e-02 -2.15832362e-02 3.69868546e+01] [ 2.59539864e-02 9.98722569e-01 -4.33545988e-02 -3.69171959e-02] [ 2.27222787e-02 4.27686261e-02 9.98826583e-01 1.79216962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.581193817 meters Centerline goodness : 0.934902 with order 1 Centerline is valid? [False, False] Translation: X:36.99, Y:-0.04, Z:1.79 [[ 9.99338044e-01 -2.85016278e-02 -2.26081897e-02 3.69904626e+01] [ 2.74759317e-02 9.98633687e-01 -4.44503436e-02 -3.66223796e-02] [ 2.38442070e-02 4.37997383e-02 9.98755744e-01 1.79041486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.64119381700002 meters Centerline goodness : 0.937544 with order 1 Centerline is valid? [False, False] Translation: X:36.99, Y:-0.04, Z:1.79 [[ 9.99256573e-01 -3.08211969e-02 -2.31593334e-02 3.69931894e+01] [ 2.97228372e-02 9.98482465e-01 -4.63607560e-02 -3.62660490e-02] [ 2.45530823e-02 4.56379291e-02 9.98656260e-01 1.78879138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.70119381700002 meters Centerline goodness : 0.935483 with order 1 Centerline is valid? [False, False] Translation: X:37.02, Y:-0.03, Z:1.79 [[ 9.99305780e-01 -3.10813729e-02 -2.05403508e-02 3.70163111e+01] [ 3.01793127e-02 9.98625326e-01 -4.28563523e-02 -2.78750785e-02] [ 2.18441488e-02 4.22067069e-02 9.98870075e-01 1.79317559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.76119381700002 meters Centerline goodness : 0.941079 with order 1 Centerline is valid? [False, False] Translation: X:37.06, Y:-0.02, Z:1.79 [[ 9.99440676e-01 -2.71207448e-02 -1.95652949e-02 3.70559572e+01] [ 2.62358692e-02 9.98680459e-01 -4.41477143e-02 -2.12556788e-02] [ 2.07367965e-02 4.36097089e-02 9.98833409e-01 1.79242697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.821193817 meters Centerline goodness : 0.941824 with order 1 Centerline is valid? [False, False] Translation: X:37.10, Y:-0.01, Z:1.79 [[ 9.99549871e-01 -2.36943423e-02 -1.84020101e-02 3.70952832e+01] [ 2.27411028e-02 9.98470773e-01 -5.03880752e-02 -7.73507517e-03] [ 1.95677815e-02 4.99469121e-02 9.98560167e-01 1.79120078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.881193817 meters Centerline goodness : 0.942861 with order 1 Centerline is valid? [False, False] Translation: X:37.13, Y:-0.00, Z:1.79 [[ 9.99639272e-01 -2.04976175e-02 -1.73543529e-02 3.71347386e+01] [ 1.95686758e-02 9.98449929e-01 -5.21038091e-02 -1.91813237e-03] [ 1.83954564e-02 5.17454121e-02 9.98490871e-01 1.79113707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.941193817 meters Centerline goodness : 0.939616 with order 1 Centerline is valid? [False, False] Translation: X:37.18, Y:0.01, Z:1.79 [[ 9.99662055e-01 -1.88617014e-02 -1.78888706e-02 3.71769904e+01] [ 1.78170357e-02 9.98223133e-01 -5.68606104e-02 9.26685546e-03] [ 1.89295724e-02 5.65226680e-02 9.98221849e-01 1.78905424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.001193817 meters Centerline goodness : 0.938202 with order 1 Centerline is valid? [False, False] Translation: X:37.22, Y:0.02, Z:1.79 [[ 9.99831137e-01 -1.41549058e-02 -1.17190705e-02 3.72246303e+01] [ 1.33054115e-02 9.97483432e-01 -6.96402816e-02 2.27851045e-02] [ 1.26753303e-02 6.94725949e-02 9.97503331e-01 1.78822594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.061193817 meters Centerline goodness : 0.939475 with order 1 Centerline is valid? [False, False] Translation: X:37.27, Y:0.03, Z:1.79 [[ 9.99943971e-01 -8.77067915e-03 -5.92707315e-03 3.72667582e+01] [ 8.23129147e-03 9.96295567e-01 -8.56001706e-02 3.37540241e-02] [ 6.65588833e-03 8.55465870e-02 9.96311939e-01 1.78806858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.121193817 meters Centerline goodness : 0.935580 with order 1 Centerline is valid? [False, False] Translation: X:37.31, Y:0.06, Z:1.79 [[ 9.99990760e-01 6.92840958e-04 4.24269798e-03 3.73147801e+01] [-8.08070850e-05 9.89782210e-01 -1.42587410e-01 6.08416056e-02] [-4.29813739e-03 1.42585750e-01 9.89773120e-01 1.78715585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.181193817 meters Centerline goodness : 0.935347 with order 1 Centerline is valid? [False, False] Translation: X:37.35, Y:0.08, Z:1.79 [[ 9.99860967e-01 7.43877334e-03 1.49235140e-02 3.73502918e+01] [-4.15003014e-03 9.77829639e-01 -2.09360872e-01 8.48635638e-02] [-1.61500424e-02 2.09269831e-01 9.77724559e-01 1.78806168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.241193817 meters Centerline goodness : 0.935041 with order 1 Centerline is valid? [False, False] Translation: X:37.39, Y:0.10, Z:1.79 [[ 9.99605607e-01 1.54183147e-02 2.34713721e-02 3.73910074e+01] [-9.22866696e-03 9.69735177e-01 -2.43984668e-01 9.92848504e-02] [-2.65228476e-02 2.43671833e-01 9.69495011e-01 1.78752003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.301193817 meters Centerline goodness : 0.931932 with order 1 Centerline is valid? [False, False] Translation: X:37.43, Y:0.11, Z:1.79 [[ 9.99362084e-01 1.72027169e-02 3.12968267e-02 3.74289943e+01] [-8.08493050e-03 9.62567336e-01 -2.70922049e-01 1.08426091e-01] [-3.47858984e-02 2.70496191e-01 9.62092382e-01 1.78635653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.36119381700001 meters Centerline goodness : 0.930089 with order 1 Centerline is valid? [False, False] Translation: X:37.46, Y:0.10, Z:1.78 [[ 9.99387734e-01 1.01790119e-02 3.34745264e-02 3.74576641e+01] [-1.28717958e-03 9.66793442e-01 -2.55555833e-01 9.73106829e-02] [-3.49642585e-02 2.55356278e-01 9.66214610e-01 1.78459865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.42119381700002 meters Centerline goodness : 0.932603 with order 1 Centerline is valid? [False, False] Translation: X:37.48, Y:0.10, Z:1.78 [[ 9.99042675e-01 5.47308402e-03 4.34025167e-02 3.74831933e+01] [ 5.99934248e-03 9.65627770e-01 -2.59859610e-01 9.67190465e-02] [-4.33329090e-02 2.59871227e-01 9.64670516e-01 1.78163959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.48119381700002 meters Centerline goodness : 0.934524 with order 1 Centerline is valid? [False, False] Translation: X:37.49, Y:0.08, Z:1.78 [[ 9.98829256e-01 -1.14625218e-02 4.69971058e-02 3.74903011e+01] [ 2.16056787e-02 9.74944162e-01 -2.21398001e-01 7.98521614e-02] [-4.32817745e-02 2.22154205e-01 9.74050408e-01 1.78218060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.541193817 meters Centerline goodness : 0.934779 with order 1 Centerline is valid? [False, False] Translation: X:37.51, Y:0.07, Z:1.78 [[ 9.98735122e-01 -1.97059869e-02 4.62582939e-02 3.75095317e+01] [ 2.81888831e-02 9.81264617e-01 -1.90591548e-01 6.96894018e-02] [-4.16358325e-02 1.91654443e-01 9.80578927e-01 1.78423124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.601193817 meters Centerline goodness : 0.933653 with order 1 Centerline is valid? [False, False] Translation: X:37.53, Y:0.06, Z:1.78 [[ 9.98859455e-01 -2.22158084e-02 4.22640040e-02 3.75343833e+01] [ 2.90440511e-02 9.85270154e-01 -1.68520523e-01 6.20761471e-02] [-3.78976421e-02 1.69555836e-01 9.84791647e-01 1.78456227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.661193817 meters Centerline goodness : 0.932291 with order 1 Centerline is valid? [False, False] Translation: X:37.57, Y:0.07, Z:1.78 [[ 9.98880868e-01 -1.78252321e-02 4.38095036e-02 3.75745911e+01] [ 2.50393914e-02 9.85110403e-01 -1.70089749e-01 6.64470545e-02] [-4.01253085e-02 1.70996360e-01 9.84454267e-01 1.78097362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.721193817 meters Centerline goodness : 0.928889 with order 1 Centerline is valid? [False, False] Translation: X:37.62, Y:0.08, Z:1.78 [[ 9.98748027e-01 -7.86004468e-03 4.94024147e-02 3.76210209e+01] [ 1.68067949e-02 9.82895647e-01 -1.83394873e-01 8.00011329e-02] [-4.71159264e-02 1.83995563e-01 9.81797190e-01 1.77719798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.781193817 meters Centerline goodness : 0.931860 with order 1 Centerline is valid? [False, False] Translation: X:37.66, Y:0.09, Z:1.78 [[ 9.98318384e-01 -1.06232515e-03 5.79592554e-02 3.76580420e+01] [ 1.32532308e-02 9.77533498e-01 -2.10363047e-01 9.11540923e-02] [-5.64336397e-02 2.10777444e-01 9.75903742e-01 1.77649093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.841193817 meters Centerline goodness : 0.928201 with order 1 Centerline is valid? [False, False] Translation: X:37.70, Y:0.10, Z:1.78 [[ 9.97883186e-01 4.55936885e-03 6.48718747e-02 3.76965898e+01] [ 1.04717790e-02 9.73256141e-01 -2.29483824e-01 9.91789027e-02] [-6.41832519e-02 2.29677374e-01 9.71148194e-01 1.77506273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.901193817 meters Centerline goodness : 0.930822 with order 1 Centerline is valid? [False, False] Translation: X:37.74, Y:0.11, Z:1.77 [[ 9.97438899e-01 9.11425379e-03 7.09406348e-02 3.77417645e+01] [ 8.47139299e-03 9.69811634e-01 -2.43708085e-01 1.05639626e-01] [-7.10202703e-02 2.43684890e-01 9.67250637e-01 1.77027615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.961193817 meters Centerline goodness : 0.930277 with order 1 Centerline is valid? [False, False] Translation: X:37.77, Y:0.10, Z:1.76 [[ 9.96948612e-01 1.01257460e-02 7.74011316e-02 3.77733435e+01] [ 8.67265064e-03 9.71044816e-01 -2.38739923e-01 1.03308607e-01] [-7.75773874e-02 2.38682708e-01 9.67993964e-01 1.76318587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.021193817 meters Centerline goodness : 0.928339 with order 1 Centerline is valid? [False, False] Translation: X:37.81, Y:0.10, Z:1.76 [[ 9.96685617e-01 1.08597694e-02 8.06216284e-02 3.78102309e+01] [ 9.02501648e-03 9.70170814e-01 -2.42254291e-01 1.01686369e-01] [-8.08475766e-02 2.42178979e-01 9.66857286e-01 1.75931168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.081193817 meters Centerline goodness : 0.927004 with order 1 Centerline is valid? [False, False] Translation: X:37.85, Y:0.10, Z:1.76 [[ 9.96350966e-01 8.80327649e-03 8.48955565e-02 3.78459740e+01] [ 1.30037518e-02 9.67397390e-01 -2.52929225e-01 1.03185619e-01] [-8.43543456e-02 2.53110239e-01 9.63752848e-01 1.75702342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.14119381700002 meters Centerline goodness : 0.925209 with order 1 Centerline is valid? [False, False] Translation: X:37.86, Y:0.09, Z:1.76 [[ 9.96611675e-01 4.52075620e-04 8.22494019e-02 3.78626920e+01] [ 1.79495390e-02 9.74687280e-01 -2.22850891e-01 9.06086826e-02] [-8.02681913e-02 2.23572139e-01 9.71376609e-01 1.75701250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.20119381700002 meters Centerline goodness : 0.925846 with order 1 Centerline is valid? [False, False] Translation: X:37.87, Y:0.07, Z:1.76 [[ 9.96402473e-01 -1.56671118e-02 8.32865693e-02 3.78715515e+01] [ 3.14423182e-02 9.80963141e-01 -1.91631671e-01 7.21075997e-02] [-7.86987397e-02 1.93560994e-01 9.77926710e-01 1.75708744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.26119381700002 meters Centerline goodness : 0.929956 with order 1 Centerline is valid? [False, False] Translation: X:37.89, Y:0.06, Z:1.76 [[ 9.96199357e-01 -2.71075528e-02 8.27769434e-02 3.78874672e+01] [ 4.04005292e-02 9.85731409e-01 -1.63405587e-01 5.73282446e-02] [-7.71663075e-02 1.66128773e-01 9.83080155e-01 1.75800394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.321193817 meters Centerline goodness : 0.929890 with order 1 Centerline is valid? [False, False] Translation: X:37.91, Y:0.05, Z:1.76 [[ 0.99593302 -0.03911525 0.0811629 37.90848292] [ 0.04990341 0.98952417 -0.13546797 0.04692289] [-0.07501378 0.13896733 0.98745178 1.76004317] [ 0. 0. 0. 1. ]] SLAMing on 135.381193817 meters Centerline goodness : 0.930246 with order 1 Centerline is valid? [False, False] Translation: X:37.93, Y:0.04, Z:1.76 [[ 0.99584948 -0.04580531 0.07864915 37.93417915] [ 0.05477508 0.99174156 -0.11596707 0.04050006] [-0.07268772 0.11979376 0.99013431 1.76115377] [ 0. 0. 0. 1. ]] SLAMing on 135.441193817 meters Centerline goodness : 0.929639 with order 1 Centerline is valid? [False, False] Translation: X:37.95, Y:0.04, Z:1.76 [[ 9.95681293e-01 -4.88784756e-02 7.89281759e-02 3.79503904e+01] [ 5.68612183e-02 9.93128868e-01 -1.02283198e-01 3.72000982e-02] [-7.33864032e-02 1.06329419e-01 9.91619126e-01 1.76080652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.501193817 meters Centerline goodness : 0.929327 with order 1 Centerline is valid? [False, False] Translation: X:37.98, Y:0.04, Z:1.76 [[ 0.99588974 -0.04664363 0.07764024 37.97841628] [ 0.05363633 0.99444532 -0.09056301 0.0387831 ] [-0.07298478 0.09435511 0.99285968 1.76089648] [ 0. 0. 0. 1. ]] SLAMing on 135.561193817 meters Centerline goodness : 0.925624 with order 1 Centerline is valid? [False, False] Translation: X:38.02, Y:0.05, Z:1.76 [[ 0.99625262 -0.04099571 0.07615818 38.02024336] [ 0.04763322 0.99502611 -0.08748783 0.04590569] [-0.07219275 0.09078763 0.99325013 1.75626592] [ 0. 0. 0. 1. ]] SLAMing on 135.621193817 meters Centerline goodness : 0.925386 with order 1 Centerline is valid? [False, False] Translation: X:38.06, Y:0.05, Z:1.75 [[ 9.96328109e-01 -3.74213535e-02 7.70061107e-02 3.80586376e+01] [ 4.40666335e-02 9.95277738e-01 -8.64890531e-02 5.31189437e-02] [-7.34059303e-02 8.95648748e-02 9.93272220e-01 1.75418606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.681193817 meters Centerline goodness : 0.925871 with order 1 Centerline is valid? [False, False] Translation: X:38.09, Y:0.06, Z:1.75 [[ 0.99628351 -0.03886961 0.0768656 38.08796644] [ 0.0449267 0.99588471 -0.0787098 0.0587818 ] [-0.07348985 0.08187059 0.9939298 1.75334131] [ 0. 0. 0. 1. ]] SLAMing on 135.741193817 meters Centerline goodness : 0.921922 with order 1 Centerline is valid? [False, False] Translation: X:38.13, Y:0.07, Z:1.75 [[ 0.99627267 -0.04239935 0.07512025 38.13185691] [ 0.0480894 0.99597556 -0.07563126 0.06794063] [-0.07161122 0.07896185 0.9943022 1.7546168 ] [ 0. 0. 0. 1. ]] SLAMing on 135.801193817 meters Centerline goodness : 0.920284 with order 1 Centerline is valid? [False, False] Translation: X:38.16, Y:0.07, Z:1.76 [[ 0.99604068 -0.0474569 0.07517178 38.1592309 ] [ 0.05283962 0.99605335 -0.07131404 0.06995318] [-0.07149076 0.07500373 0.99461727 1.75541671] [ 0. 0. 0. 1. ]] SLAMing on 135.86119381700001 meters Centerline goodness : 0.923417 with order 1 Centerline is valid? [False, False] Translation: X:38.20, Y:0.08, Z:1.75 [[ 0.99592934 -0.04674853 0.07706697 38.19687447] [ 0.05240624 0.99594651 -0.07310365 0.08306128] [-0.0733371 0.07684486 0.99434226 1.7518222 ] [ 0. 0. 0. 1. ]] SLAMing on 135.92119381700002 meters Centerline goodness : 0.922726 with order 1 Centerline is valid? [False, False] Translation: X:38.24, Y:0.09, Z:1.75 [[ 0.99604567 -0.04529253 0.07643039 38.23762408] [ 0.0508994 0.99602635 -0.07308051 0.09028147] [-0.07281668 0.07668179 0.9943931 1.74756622] [ 0. 0. 0. 1. ]] SLAMing on 135.98119381700002 meters Centerline goodness : 0.922774 with order 1 Centerline is valid? [False, False] Translation: X:38.28, Y:0.10, Z:1.75 [[ 0.99610439 -0.0524621 0.07087861 38.27628115] [ 0.05706523 0.99628085 -0.06456027 0.1004919 ] [-0.06722803 0.06835347 0.99539349 1.74682534] [ 0. 0. 0. 1. ]] SLAMing on 136.041193817 meters Centerline goodness : 0.919430 with order 1 Centerline is valid? [False, False] Translation: X:38.31, Y:0.11, Z:1.75 [[ 0.99615399 -0.05871478 0.065037 38.30840684] [ 0.06288591 0.99596264 -0.06406083 0.11058322] [-0.06101311 0.06790436 0.99582448 1.74538308] [ 0. 0. 0. 1. ]] SLAMing on 136.101193817 meters Centerline goodness : 0.917892 with order 1 Centerline is valid? [False, False] Translation: X:38.36, Y:0.13, Z:1.74 [[ 0.99605095 -0.064532 0.06097651 38.35807256] [ 0.06839744 0.99562965 -0.0635877 0.12972143] [-0.05660658 0.06750723 0.99611167 1.7430545 ] [ 0. 0. 0. 1. ]] SLAMing on 136.161193817 meters Centerline goodness : 0.919581 with order 1 Centerline is valid? [False, False] Translation: X:38.35, Y:0.15, Z:1.74 [[ 0.9950199 -0.0723612 0.06855118 38.35235685] [ 0.07599123 0.9957562 -0.05191265 0.14571794] [-0.0645038 0.05686341 0.99629605 1.74203924] [ 0. 0. 0. 1. ]] SLAMing on 136.221193817 meters Centerline goodness : 0.920454 with order 1 Centerline is valid? [False, False] Translation: X:38.35, Y:0.16, Z:1.74 [[ 0.99468016 -0.07372702 0.07194235 38.34502129] [ 0.0774155 0.99574931 -0.04990146 0.15761873] [-0.06795746 0.05520545 0.9961597 1.74009393] [ 0. 0. 0. 1. ]] SLAMing on 136.281193817 meters Centerline goodness : 0.922196 with order 1 Centerline is valid? [False, False] Translation: X:38.34, Y:0.16, Z:1.74 [[ 0.99462522 -0.0750089 0.07137461 38.33886415] [ 0.07807138 0.99609908 -0.0411276 0.16295385] [-0.06801125 0.04647887 0.99660132 1.73700703] [ 0. 0. 0. 1. ]] SLAMing on 136.341193817 meters Centerline goodness : 0.920085 with order 1 Centerline is valid? [False, False] Translation: X:38.33, Y:0.18, Z:1.74 [[ 9.94622298e-01 -7.25240658e-02 7.39374351e-02 3.83325177e+01] [ 7.54074613e-02 9.96466903e-01 -3.69787131e-02 1.83876280e-01] [-7.09943604e-02 4.23552869e-02 9.96577057e-01 1.73533338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.401193817 meters Centerline goodness : 0.920476 with order 1 Centerline is valid? [False, False] Translation: X:38.33, Y:0.20, Z:1.74 [[ 9.95074849e-01 -6.64187247e-02 7.35839455e-02 3.83318001e+01] [ 6.89128963e-02 9.97112882e-01 -3.18890743e-02 1.96609406e-01] [-7.12534683e-02 3.68028986e-02 9.96779058e-01 1.73581536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.461193817 meters Centerline goodness : 0.919943 with order 1 Centerline is valid? [False, False] Translation: X:38.33, Y:0.22, Z:1.74 [[ 9.95673996e-01 -5.77645024e-02 7.27774436e-02 3.83296033e+01] [ 5.95661948e-02 9.97963207e-01 -2.28321168e-02 2.18138388e-01] [-7.13103252e-02 2.70684203e-02 9.97086826e-01 1.73775731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.521193817 meters Centerline goodness : 0.917768 with order 1 Centerline is valid? [False, False] Translation: X:38.33, Y:0.23, Z:1.74 [[ 9.96006626e-01 -5.21855929e-02 7.24393917e-02 3.83282749e+01] [ 5.37432767e-02 9.98360006e-01 -1.97220145e-02 2.30273851e-01] [-7.12913865e-02 2.35363874e-02 9.97177806e-01 1.73920212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.581193817 meters Centerline goodness : 0.915114 with order 1 Centerline is valid? [False, False] Translation: X:38.31, Y:0.25, Z:1.75 [[ 9.96707249e-01 -4.58810721e-02 6.68549697e-02 3.83139628e+01] [ 4.75433622e-02 9.98592979e-01 -2.34881149e-02 2.51521284e-01] [-6.56832434e-02 2.65892844e-02 9.97486201e-01 1.74518814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.64119381700002 meters Centerline goodness : 0.914517 with order 1 Centerline is valid? [False, False] Translation: X:38.32, Y:0.27, Z:1.75 [[ 9.96943198e-01 -4.36496274e-02 6.47994650e-02 3.83154705e+01] [ 4.51852748e-02 9.98726906e-01 -2.24244918e-02 2.66596999e-01] [-6.37381485e-02 2.52839262e-02 9.97646316e-01 1.74762964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.70119381700002 meters Centerline goodness : 0.912022 with order 1 Centerline is valid? [False, False] Translation: X:38.30, Y:0.28, Z:1.75 [[ 9.97454082e-01 -4.07863547e-02 5.84963938e-02 3.83032035e+01] [ 4.24363377e-02 9.98727574e-01 -2.72468270e-02 2.77280436e-01] [-5.73106627e-02 2.96598315e-02 9.97915719e-01 1.75432229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.76119381700002 meters Centerline goodness : 0.908160 with order 1 Centerline is valid? [False, False] Translation: X:38.29, Y:0.29, Z:1.76 [[ 9.98030590e-01 -3.88654618e-02 4.92383657e-02 3.82949477e+01] [ 4.04390414e-02 9.98689270e-01 -3.13755481e-02 2.89811885e-01] [-4.79544024e-02 3.33049091e-02 9.98294124e-01 1.75936710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.821193817 meters Centerline goodness : 0.909448 with order 1 Centerline is valid? [False, False] Translation: X:38.26, Y:0.30, Z:1.76 [[ 9.97831453e-01 -4.48375970e-02 4.81869444e-02 3.82592711e+01] [ 4.55691601e-02 9.98860378e-01 -1.41914405e-02 2.96815104e-01] [-4.74957194e-02 1.63565042e-02 9.98737514e-01 1.76076551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.881193817 meters Centerline goodness : 0.904001 with order 1 Centerline is valid? [False, False] Translation: X:38.25, Y:0.31, Z:1.77 [[ 9.98487367e-01 -3.79911849e-02 3.97447744e-02 3.82505113e+01] [ 3.86048570e-02 9.99145121e-01 -1.47882354e-02 3.05961617e-01] [-3.91489748e-02 1.63002076e-02 9.99100426e-01 1.76509427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.941193817 meters Centerline goodness : 0.903936 with order 1 Centerline is valid? [False, False] Translation: X:38.22, Y:0.31, Z:1.76 [[ 9.98373737e-01 -4.08698935e-02 3.97433377e-02 3.82167202e+01] [ 4.07083129e-02 9.99159221e-01 4.86674113e-03 3.14084192e-01] [-3.99088255e-02 -3.24094231e-03 9.99198069e-01 1.76492662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.001193817 meters Centerline goodness : 0.901913 with order 1 Centerline is valid? [False, False] Translation: X:38.22, Y:0.32, Z:1.76 [[ 9.98743800e-01 -3.13883235e-02 3.90588676e-02 3.82185043e+01] [ 3.08902567e-02 9.99434415e-01 1.32906641e-02 3.22126610e-01] [-3.94539482e-02 -1.20674299e-02 9.99148519e-01 1.76305894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.061193817 meters Centerline goodness : 0.899165 with order 1 Centerline is valid? [False, False] Translation: X:38.22, Y:0.32, Z:1.76 [[ 9.98973600e-01 -2.21927065e-02 3.94870860e-02 3.82156812e+01] [ 2.11086661e-02 9.99394453e-01 2.76613880e-02 3.24876394e-01] [-4.00770557e-02 -2.67994767e-02 9.98837133e-01 1.75701308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.121193817 meters Centerline goodness : 0.896811 with order 1 Centerline is valid? [False, False] Translation: X:38.22, Y:0.33, Z:1.76 [[ 9.99287862e-01 -8.38456213e-03 3.67895039e-02 3.82214571e+01] [ 7.07518749e-03 9.99341859e-01 3.55779445e-02 3.32530638e-01] [-3.70635967e-02 -3.52923154e-02 9.98689512e-01 1.75954217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.181193817 meters Centerline goodness : 0.896257 with order 1 Centerline is valid? [False, False] Translation: X:38.24, Y:0.34, Z:1.76 [[ 9.99316051e-01 -1.05312707e-03 3.69637896e-02 3.82447965e+01] [-3.78438936e-04 9.99250782e-01 3.87005272e-02 3.38058197e-01] [-3.69768523e-02 -3.86880465e-02 9.98566947e-01 1.76383919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.241193817 meters Centerline goodness : 0.892019 with order 1 Centerline is valid? [False, False] Translation: X:38.29, Y:0.33, Z:1.76 [[ 9.99339320e-01 -2.24805636e-03 3.62749219e-02 3.82894905e+01] [ 7.06432534e-04 9.99098117e-01 4.24553105e-02 3.34433611e-01] [-3.63376481e-02 -4.24016353e-02 9.98439621e-01 1.76260220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.301193817 meters Centerline goodness : 0.891861 with order 1 Centerline is valid? [False, False] Translation: X:38.33, Y:0.33, Z:1.76 [[ 9.99332052e-01 -6.90900461e-03 3.58847634e-02 3.83315857e+01] [ 5.28872422e-03 9.98970618e-01 4.50525744e-02 3.29279090e-01] [-3.61590927e-02 -4.48326970e-02 9.98339897e-01 1.76100764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.36119381700001 meters Centerline goodness : 0.891068 with order 1 Centerline is valid? [False, False] Translation: X:38.37, Y:0.32, Z:1.76 [[ 9.99453766e-01 -9.15056978e-03 3.17558792e-02 3.83707114e+01] [ 6.89389962e-03 9.97490879e-01 7.04586366e-02 3.21440999e-01] [-3.23209366e-02 -7.02012279e-02 9.97009100e-01 1.75575545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.42119381700002 meters Centerline goodness : 0.888788 with order 1 Centerline is valid? [False, False] Translation: X:38.39, Y:0.32, Z:1.76 [[ 9.99484000e-01 4.03524699e-03 3.18661429e-02 3.83865962e+01] [-5.76786640e-03 9.98498831e-01 5.44684930e-02 3.20768062e-01] [-3.15985126e-02 -5.46241869e-02 9.98006880e-01 1.75759946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.48119381700002 meters Centerline goodness : 0.889215 with order 1 Centerline is valid? [False, False] Translation: X:38.41, Y:0.32, Z:1.76 [[ 9.99388815e-01 1.85337633e-02 2.96394254e-02 3.84115655e+01] [-1.99432430e-02 9.98648802e-01 4.79878875e-02 3.20326693e-01] [-2.87099805e-02 -4.85496643e-02 9.98408066e-01 1.76215192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.541193817 meters Centerline goodness : 0.888522 with order 1 Centerline is valid? [False, False] Translation: X:38.44, Y:0.31, Z:1.77 [[ 9.99005841e-01 3.86829047e-02 2.21576598e-02 3.84441644e+01] [-3.96471161e-02 9.98205813e-01 4.48693680e-02 3.13017190e-01] [-2.03822273e-02 -4.57032480e-02 9.98747104e-01 1.76556667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.601193817 meters Centerline goodness : 0.888870 with order 1 Centerline is valid? [False, False] Translation: X:38.48, Y:0.30, Z:1.77 [[ 9.98858744e-01 4.43401768e-02 1.77526736e-02 3.84792874e+01] [-4.50610191e-02 9.98079595e-01 4.25044288e-02 3.03744197e-01] [-1.58339274e-02 -4.32558739e-02 9.98938545e-01 1.76817334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.661193817 meters Centerline goodness : 0.891002 with order 1 Centerline is valid? [False, False] Translation: X:38.52, Y:0.28, Z:1.77 [[ 9.98808480e-01 4.56317639e-02 1.73021041e-02 3.85207672e+01] [-4.63903677e-02 9.97848715e-01 4.63235958e-02 2.80689014e-01] [-1.51510549e-02 -4.70710513e-02 9.98776633e-01 1.76784694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.721193817 meters Centerline goodness : 0.891001 with order 1 Centerline is valid? [False, False] Translation: X:38.56, Y:0.25, Z:1.77 [[ 9.98958098e-01 4.21400990e-02 1.75194226e-02 3.85612805e+01] [-4.30273624e-02 9.97624277e-01 5.38000790e-02 2.51298469e-01] [-1.52106606e-02 -5.44978392e-02 9.98398028e-01 1.76562542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.781193817 meters Centerline goodness : 0.891566 with order 1 Centerline is valid? [False, False] Translation: X:38.60, Y:0.23, Z:1.77 [[ 9.99248982e-01 3.50060299e-02 1.66147350e-02 3.86028613e+01] [-3.58315352e-02 9.97988158e-01 5.23042806e-02 2.30812757e-01] [-1.47503436e-02 -5.28603306e-02 9.98492971e-01 1.76597891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.841193817 meters Centerline goodness : 0.889527 with order 1 Centerline is valid? [False, False] Translation: X:38.66, Y:0.18, Z:1.76 [[ 9.99244618e-01 1.70953783e-02 3.48990300e-02 3.86630871e+01] [-2.14860389e-02 9.91334852e-01 1.29589975e-01 1.75031896e-01] [-3.23812351e-02 -1.30241927e-01 9.90953327e-01 1.75932345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.901193817 meters Centerline goodness : 0.894118 with order 1 Centerline is valid? [False, False] Translation: X:38.71, Y:0.13, Z:1.76 [[ 9.98834274e-01 4.07511862e-03 4.80987080e-02 3.87115449e+01] [-1.33943281e-02 9.80699376e-01 1.95062364e-01 1.33974237e-01] [-4.63754707e-02 -1.95479224e-01 9.79610733e-01 1.75749601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.961193817 meters Centerline goodness : 0.892622 with order 1 Centerline is valid? [False, False] Translation: X:38.73, Y:0.05, Z:1.79 [[ 9.98831735e-01 -2.36503429e-02 4.21405659e-02 3.87267421e+01] [ 5.34182294e-03 9.20743990e-01 3.90130708e-01 5.20578672e-02] [-4.80273978e-02 -3.89449824e-01 9.19794653e-01 1.78982635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.021193817 meters Centerline goodness : 0.899008 with order 1 Centerline is valid? [False, False] Translation: X:38.71, Y:-0.02, Z:1.84 [[ 9.98440124e-01 -4.70442144e-02 3.00692800e-02 3.87112591e+01] [ 2.11935297e-02 8.17587498e-01 5.75414214e-01 -2.36385228e-02] [-5.16541770e-02 -5.73879365e-01 8.17309195e-01 1.84237882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.081193817 meters Centerline goodness : 0.898095 with order 1 Centerline is valid? [False, False] Translation: X:38.68, Y:-0.01, Z:1.84 [[ 9.98584069e-01 -4.36934190e-02 3.03437250e-02 3.86771403e+01] [ 2.19717416e-02 8.58248338e-01 5.12764110e-01 -7.89879191e-03] [-4.84468687e-02 -5.11371367e-01 8.57993139e-01 1.84321517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.14119381700002 meters Centerline goodness : 0.897761 with order 1 Centerline is valid? [False, False] Translation: X:38.64, Y:0.01, Z:1.84 [[ 9.98698992e-01 -3.99236924e-02 3.17241603e-02 3.86386522e+01] [ 2.19836418e-02 8.98425619e-01 4.38575110e-01 1.12315807e-02] [-4.60113361e-02 -4.37307108e-01 8.98134428e-01 1.84285567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.20119381700002 meters Centerline goodness : 0.895356 with order 1 Centerline is valid? [False, False] Translation: X:38.61, Y:0.03, Z:1.85 [[ 9.98765162e-01 -3.87161098e-02 3.11321882e-02 3.86079237e+01] [ 2.47965471e-02 9.31496551e-01 3.62903992e-01 3.01372292e-02] [-4.30497567e-02 -3.61683894e-01 9.31306330e-01 1.84568486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.26119381700002 meters Centerline goodness : 0.898716 with order 1 Centerline is valid? [False, False] Translation: X:38.59, Y:0.04, Z:1.85 [[ 9.98792813e-01 -3.76257832e-02 3.15787598e-02 3.85895632e+01] [ 2.59598949e-02 9.50077496e-01 3.10932205e-01 3.86165550e-02] [-4.17013367e-02 -3.09737070e-01 9.49907335e-01 1.84700373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.321193817 meters Centerline goodness : 0.899036 with order 1 Centerline is valid? [False, False] Translation: X:38.58, Y:0.04, Z:1.85 [[ 9.98886059e-01 -3.72586761e-02 2.89557009e-02 3.85762297e+01] [ 2.81489465e-02 9.62988702e-01 2.68067896e-01 4.30889063e-02] [-3.78718677e-02 -2.66954212e-01 9.62964781e-01 1.84785447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.381193817 meters Centerline goodness : 0.889484 with order 1 Centerline is valid? [False, False] Translation: X:38.56, Y:0.05, Z:1.85 [[ 9.99024020e-01 -3.49071108e-02 2.70647753e-02 3.85555737e+01] [ 2.77215325e-02 9.72540095e-01 2.31078514e-01 5.18551585e-02] [-3.43878624e-02 -2.30102709e-01 9.72558594e-01 1.84559451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.441193817 meters Centerline goodness : 0.890556 with order 1 Centerline is valid? [False, False] Translation: X:38.55, Y:0.06, Z:1.84 [[ 9.99131495e-01 -3.09410599e-02 2.79088976e-02 3.85474239e+01] [ 2.49336970e-02 9.80585371e-01 1.94501007e-01 6.13558862e-02] [-3.33851240e-02 -1.93636210e-01 9.80505202e-01 1.84409360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.501193817 meters Centerline goodness : 0.889664 with order 1 Centerline is valid? [False, False] Translation: X:38.54, Y:0.07, Z:1.84 [[ 9.99327485e-01 -2.60721304e-02 2.57841408e-02 3.85402689e+01] [ 2.15863472e-02 9.86703253e-01 1.61092273e-01 7.07365006e-02] [-2.96413143e-02 -1.60427350e-01 9.86602482e-01 1.84163629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.561193817 meters Centerline goodness : 0.888542 with order 1 Centerline is valid? [False, False] Translation: X:38.53, Y:0.08, Z:1.84 [[ 9.99495445e-01 -2.34761547e-02 2.13945318e-02 3.85342371e+01] [ 2.04348303e-02 9.90945477e-01 1.32700710e-01 7.93566926e-02] [-2.43161170e-02 -1.32196561e-01 9.90925222e-01 1.84011773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.621193817 meters Centerline goodness : 0.891035 with order 1 Centerline is valid? [False, False] Translation: X:38.52, Y:0.09, Z:1.84 [[ 9.99562607e-01 -1.73931962e-02 2.39180178e-02 3.85180752e+01] [ 1.46359828e-02 9.93715403e-01 1.10975156e-01 8.80257379e-02] [-2.56979153e-02 -1.10576553e-01 9.93535326e-01 1.84327846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.681193817 meters Centerline goodness : 0.893907 with order 1 Centerline is valid? [False, False] Translation: X:38.50, Y:0.09, Z:1.85 [[ 9.99468014e-01 -1.40519825e-02 2.94318039e-02 3.84993900e+01] [ 1.13220770e-02 9.95791208e-01 9.09487853e-02 9.43215628e-02] [-3.05859423e-02 -9.05671727e-02 9.95420558e-01 1.84669731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.741193817 meters Centerline goodness : 0.895345 with order 1 Centerline is valid? [False, False] Translation: X:38.49, Y:0.10, Z:1.85 [[ 9.99438840e-01 -1.11285223e-02 3.15937004e-02 3.84890415e+01] [ 8.75954580e-03 9.97208272e-01 7.41547897e-02 9.99776450e-02] [-3.23307326e-02 -7.38364305e-02 9.96746159e-01 1.85166710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.801193817 meters Centerline goodness : 0.893495 with order 1 Centerline is valid? [False, False] Translation: X:38.49, Y:0.10, Z:1.85 [[ 9.99611697e-01 -8.85796365e-03 2.64195215e-02 3.84887030e+01] [ 7.29885753e-03 9.98258567e-01 5.85368187e-02 1.02526758e-01] [-2.68920307e-02 -5.83212563e-02 9.97935594e-01 1.85317728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.86119381700001 meters Centerline goodness : 0.891580 with order 1 Centerline is valid? [False, False] Translation: X:38.49, Y:0.07, Z:1.87 [[ 9.99636960e-01 -1.87405983e-02 1.93581430e-02 3.84881765e+01] [ 1.50192167e-02 9.84077274e-01 1.77105457e-01 6.61350930e-02] [-2.23689708e-02 -1.76750416e-01 9.84001483e-01 1.87068167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.92119381700002 meters Centerline goodness : 0.888034 with order 1 Centerline is valid? [False, False] Translation: X:38.48, Y:0.07, Z:1.87 [[ 9.99536336e-01 -2.32166228e-02 1.97002881e-02 3.84804312e+01] [ 2.00924997e-02 9.89057004e-01 1.46159275e-01 6.99509556e-02] [-2.28780327e-02 -1.45695678e-01 9.89064894e-01 1.86974260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.98119381700002 meters Centerline goodness : 0.887215 with order 1 Centerline is valid? [False, False] Translation: X:38.47, Y:0.07, Z:1.87 [[ 9.99239037e-01 -3.54507684e-02 1.62662469e-02 3.84736361e+01] [ 3.31943648e-02 9.91899083e-01 1.22614613e-01 7.10373940e-02] [-2.04812576e-02 -1.21981360e-01 9.92321050e-01 1.87008127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.041193817 meters Centerline goodness : 0.894489 with order 1 Centerline is valid? [False, False] Translation: X:38.47, Y:0.08, Z:1.87 [[ 9.99018328e-01 -4.22173659e-02 1.34192106e-02 3.84669444e+01] [ 4.06524426e-02 9.94063952e-01 1.00916989e-01 7.52898548e-02] [-1.76000030e-02 -1.00272397e-01 9.94804346e-01 1.87307830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.101193817 meters Centerline goodness : 0.893579 with order 1 Centerline is valid? [False, False] Translation: X:38.47, Y:0.08, Z:1.88 [[ 9.99191909e-01 -3.73497223e-02 1.48501585e-02 3.84726856e+01] [ 3.60528846e-02 9.96170104e-01 7.96574743e-02 8.20062268e-02] [-1.77684685e-02 -7.90577127e-02 9.96711673e-01 1.87551687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.161193817 meters Centerline goodness : 0.899367 with order 1 Centerline is valid? [False, False] Translation: X:38.48, Y:0.09, Z:1.88 [[ 9.99612961e-01 -2.40032262e-02 1.40631849e-02 3.84756507e+01] [ 2.30101237e-02 9.97489884e-01 6.69661563e-02 9.20367017e-02] [-1.56352885e-02 -6.66166421e-02 9.97656134e-01 1.87776847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.221193817 meters Centerline goodness : 0.898127 with order 1 Centerline is valid? [False, False] Translation: X:38.47, Y:0.10, Z:1.88 [[ 9.99863335e-01 -3.75582819e-03 1.60998706e-02 3.84688145e+01] [ 2.88580767e-03 9.98551568e-01 5.37255779e-02 1.01688801e-01] [-1.62783350e-02 -5.36717744e-02 9.98425939e-01 1.87879048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.281193817 meters Centerline goodness : 0.899692 with order 1 Centerline is valid? [False, False] Translation: X:38.50, Y:0.10, Z:1.89 [[ 9.99943995e-01 -2.92933706e-03 1.01698013e-02 3.84951064e+01] [ 2.07630299e-03 9.96555833e-01 8.28984958e-02 9.70668247e-02] [-1.03776124e-02 -8.28727375e-02 9.96506104e-01 1.88579125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.341193817 meters Centerline goodness : 0.903783 with order 1 Centerline is valid? [False, False] Translation: X:38.51, Y:0.08, Z:1.91 [[ 9.99860983e-01 -1.13637600e-02 1.22016154e-02 3.85126547e+01] [ 9.26764859e-03 9.87093726e-01 1.59875220e-01 7.59182266e-02] [-1.38609216e-02 -1.59739914e-01 9.87061819e-01 1.90516550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.401193817 meters Centerline goodness : 0.902167 with order 1 Centerline is valid? [False, False] Translation: X:38.54, Y:0.05, Z:1.92 [[ 9.99783548e-01 -1.73695299e-02 1.14523242e-02 3.85393385e+01] [ 1.39947575e-02 9.68767633e-01 2.47575081e-01 5.07335391e-02] [-1.53949038e-02 -2.47361220e-01 9.68801024e-01 1.91867880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.461193817 meters Centerline goodness : 0.903624 with order 1 Centerline is valid? [False, False] Translation: X:38.53, Y:0.06, Z:1.92 [[ 9.99812250e-01 -1.73021689e-02 8.72348311e-03 3.85277093e+01] [ 1.50597702e-02 9.77143957e-01 2.12044549e-01 5.56082521e-02] [-1.21929294e-02 -2.11873364e-01 9.77221065e-01 1.91849699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.521193817 meters Centerline goodness : 0.902271 with order 1 Centerline is valid? [False, False] Translation: X:38.51, Y:0.06, Z:1.92 [[ 9.99782022e-01 -1.85980372e-02 9.48801682e-03 3.85139908e+01] [ 1.66203323e-02 9.83990661e-01 1.77443352e-01 5.95383097e-02] [-1.26362180e-02 -1.77246979e-01 9.84085278e-01 1.91732967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.581193817 meters Centerline goodness : 0.905449 with order 1 Centerline is valid? [False, False] Translation: X:38.50, Y:0.06, Z:1.92 [[ 9.99771633e-01 -1.72608915e-02 1.25993333e-02 3.84997802e+01] [ 1.52267534e-02 9.89058689e-01 1.46734641e-01 6.09558870e-02] [-1.49942508e-02 -1.46509285e-01 9.89095648e-01 1.91605958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.64119381700002 meters Centerline goodness : 0.906535 with order 1 Centerline is valid? [False, False] Translation: X:38.50, Y:0.06, Z:1.92 [[ 9.99888920e-01 -7.26984204e-03 1.30114352e-02 3.85007297e+01] [ 5.61055761e-03 9.92353498e-01 1.23300678e-01 6.17160150e-02] [-1.38083197e-02 -1.23213980e-01 9.92284055e-01 1.91571204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.70119381700002 meters Centerline goodness : 0.906426 with order 1 Centerline is valid? [False, False] Translation: X:38.52, Y:0.04, Z:1.93 [[ 9.99921416e-01 -5.01788440e-03 1.14883352e-02 3.85217430e+01] [ 2.89756143e-03 9.84092225e-01 1.77634728e-01 4.35260997e-02] [-1.21969319e-02 -1.77587481e-01 9.84029431e-01 1.92799625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.761193817 meters Centerline goodness : 0.908057 with order 1 Centerline is valid? [False, False] Translation: X:38.55, Y:0.01, Z:1.95 [[ 9.99940264e-01 -1.61202865e-03 1.08106564e-02 3.85539737e+01] [-1.14881233e-03 9.68085839e-01 2.50616218e-01 1.29419056e-02] [-1.08696439e-02 -2.50613667e-01 9.68026157e-01 1.94571955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.821193817 meters Centerline goodness : 0.910620 with order 1 Centerline is valid? [False, False] Translation: X:38.58, Y:-0.00, Z:1.96 [[ 9.99891764e-01 -1.80676839e-04 1.47114930e-02 3.85833031e+01] [-4.15064618e-03 9.55844130e-01 2.93844807e-01 -2.38183303e-03] [-1.41149852e-02 -2.93874064e-01 9.55739924e-01 1.96137535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.881193817 meters Centerline goodness : 0.913067 with order 1 Centerline is valid? [False, False] Translation: X:38.61, Y:-0.03, Z:1.98 [[ 9.99739016e-01 3.66831047e-03 2.25486678e-02 3.86135576e+01] [-1.12821758e-02 9.37540072e-01 3.47694298e-01 -2.70669203e-02] [-1.98648290e-02 -3.47857954e-01 9.37336776e-01 1.98008408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.941193817 meters Centerline goodness : 0.914764 with order 1 Centerline is valid? [False, False] Translation: X:38.65, Y:-0.05, Z:2.00 [[ 9.99749284e-01 2.60150884e-03 2.22396448e-02 3.86461316e+01] [-1.10957284e-02 9.20263173e-01 3.91142657e-01 -4.55438488e-02] [-1.94487650e-02 -3.91291356e-01 9.20061313e-01 1.99852002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.001193817 meters Centerline goodness : 0.909830 with order 1 Centerline is valid? [False, False] Translation: X:38.63, Y:-0.05, Z:2.00 [[ 9.99895919e-01 5.46552635e-03 1.33521160e-02 3.86286346e+01] [-9.76941787e-03 9.37501253e-01 3.47844734e-01 -5.34754538e-02] [-1.06164710e-02 -3.47938973e-01 9.37457072e-01 2.00147969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.061193817 meters Centerline goodness : 0.909549 with order 1 Centerline is valid? [False, False] Translation: X:38.61, Y:-0.06, Z:2.00 [[ 9.99896548e-01 9.69944425e-03 1.06213568e-02 3.86142847e+01] [-1.24850793e-02 9.51938074e-01 3.06035988e-01 -5.52192570e-02] [-7.14249489e-03 -3.06136936e-01 9.51960693e-01 2.00067189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.121193817 meters Centerline goodness : 0.912329 with order 1 Centerline is valid? [False, False] Translation: X:38.60, Y:-0.06, Z:2.00 [[ 9.99857606e-01 1.37577090e-02 9.77207362e-03 3.85966660e+01] [-1.58569758e-02 9.64069212e-01 2.65177508e-01 -5.60869611e-02] [-5.77272032e-03 -2.65294704e-01 9.64150090e-01 2.00101118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.181193817 meters Centerline goodness : 0.913605 with order 1 Centerline is valid? [False, False] Translation: X:38.57, Y:-0.06, Z:2.00 [[ 9.99785221e-01 1.66834897e-02 1.22952411e-02 3.85726325e+01] [-1.90581692e-02 9.73199649e-01 2.29170745e-01 -5.89590099e-02] [-8.14235654e-03 -2.29355848e-01 9.73308583e-01 2.00021291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.241193817 meters Centerline goodness : 0.922096 with order 1 Centerline is valid? [False, False] Translation: X:38.56, Y:-0.07, Z:2.00 [[ 9.99686052e-01 1.97902308e-02 1.53669789e-02 3.85557019e+01] [-2.24939812e-02 9.79023935e-01 2.02499768e-01 -7.05865342e-02] [-1.10371230e-02 -2.02781859e-01 9.79161733e-01 2.00249346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.301193817 meters Centerline goodness : 0.924855 with order 1 Centerline is valid? [False, False] Translation: X:38.53, Y:-0.08, Z:2.00 [[ 9.99696041e-01 1.64841982e-02 1.83329520e-02 3.85338788e+01] [-1.94967339e-02 9.83721885e-01 1.78636868e-01 -8.38387214e-02] [-1.50898406e-02 -1.78940003e-01 9.83744262e-01 2.00267605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.36119381700001 meters Centerline goodness : 0.924945 with order 1 Centerline is valid? [False, False] Translation: X:38.54, Y:-0.08, Z:2.00 [[ 9.99780471e-01 1.19756302e-02 1.71928256e-02 3.85350102e+01] [-1.40985500e-02 9.91517617e-01 1.29205442e-01 -8.24096540e-02] [-1.54996729e-02 -1.29419472e-01 9.91468789e-01 1.99665327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.42119381700002 meters Centerline goodness : 0.926727 with order 1 Centerline is valid? [False, False] Translation: X:38.54, Y:-0.09, Z:1.99 [[ 9.99918607e-01 -2.99344932e-03 1.24023557e-02 3.85382925e+01] [ 1.74536298e-03 9.95041268e-01 9.94476146e-02 -9.12176426e-02] [-1.26385471e-02 -9.94178737e-02 9.94965504e-01 1.99309033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.48119381700002 meters Centerline goodness : 0.923765 with order 1 Centerline is valid? [False, False] Translation: X:38.55, Y:-0.10, Z:1.99 [[ 9.99857650e-01 -1.55394949e-02 6.57301832e-03 3.85530726e+01] [ 1.49580402e-02 9.96618805e-01 8.07911728e-02 -9.61521775e-02] [-7.80624768e-03 -8.06813527e-02 9.96709377e-01 1.99071092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.541193817 meters Centerline goodness : 0.922377 with order 1 Centerline is valid? [False, False] Translation: X:38.56, Y:-0.10, Z:1.99 [[ 9.99531421e-01 -3.03276360e-02 4.14407108e-03 3.85604905e+01] [ 2.99880436e-02 9.97365234e-01 6.60553377e-02 -1.02424811e-01] [-6.13645466e-03 -6.59001130e-02 9.97807356e-01 1.98860877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.601193817 meters Centerline goodness : 0.923757 with order 1 Centerline is valid? [False, False] Translation: X:38.57, Y:-0.10, Z:1.98 [[ 9.99252133e-01 -3.76882765e-02 8.64683993e-03 3.85739141e+01] [ 3.72269644e-02 9.98132566e-01 4.84307078e-02 -9.93172770e-02] [-1.04559624e-02 -4.80725925e-02 9.98789116e-01 1.98337285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.661193817 meters Centerline goodness : 0.926436 with order 1 Centerline is valid? [False, False] Translation: X:38.59, Y:-0.09, Z:1.98 [[ 9.98854670e-01 -4.59599091e-02 1.33054287e-02 3.85856518e+01] [ 4.55683167e-02 9.98558204e-01 2.83732570e-02 -9.46453618e-02] [-1.45902773e-02 -2.77344543e-02 9.99508841e-01 1.97853358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.721193817 meters Centerline goodness : 0.925643 with order 1 Centerline is valid? [False, False] Translation: X:38.60, Y:-0.09, Z:1.97 [[ 9.98593062e-01 -4.99648684e-02 1.77597223e-02 3.85999665e+01] [ 4.97334558e-02 9.98674743e-01 1.32416586e-02 -8.61436883e-02] [-1.83978039e-02 -1.23397760e-02 9.99754595e-01 1.97233719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.781193817 meters Centerline goodness : 0.923131 with order 1 Centerline is valid? [False, False] Translation: X:38.62, Y:-0.07, Z:1.97 [[ 9.98537688e-01 -5.01742407e-02 2.01253746e-02 3.86186414e+01] [ 5.00959532e-02 9.98734824e-01 4.37577505e-03 -7.15576710e-02] [-2.03194636e-02 -3.36117648e-03 9.99787888e-01 1.96728370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.841193817 meters Centerline goodness : 0.926870 with order 1 Centerline is valid? [False, False] Translation: X:38.64, Y:-0.06, Z:1.96 [[ 9.98531745e-01 -4.90103640e-02 2.30724546e-02 3.86362988e+01] [ 4.90753763e-02 9.98792522e-01 -2.25966817e-03 -5.90753116e-02] [-2.29338479e-02 3.38863979e-03 9.99731242e-01 1.96398068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.901193817 meters Centerline goodness : 0.925409 with order 1 Centerline is valid? [False, False] Translation: X:38.65, Y:-0.04, Z:1.96 [[ 9.98459194e-01 -4.84157607e-02 2.71137006e-02 3.86513069e+01] [ 4.87135509e-02 9.98758311e-01 -1.04319714e-02 -3.98415588e-02] [-2.65749620e-02 1.17367024e-02 9.99577922e-01 1.96150753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.961193817 meters Centerline goodness : 0.926491 with order 1 Centerline is valid? [False, False] Translation: X:38.67, Y:-0.03, Z:1.96 [[ 9.98328459e-01 -4.94472786e-02 2.99208133e-02 3.86700005e+01] [ 4.99841955e-02 9.98597197e-01 -1.74704812e-02 -2.64266460e-02] [-2.90149726e-02 1.89368464e-02 9.99399583e-01 1.95872647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.021193817 meters Centerline goodness : 0.926763 with order 1 Centerline is valid? [False, False] Translation: X:38.71, Y:-0.01, Z:1.96 [[ 9.97978711e-01 -5.49214414e-02 3.19707439e-02 3.87072038e+01] [ 5.58834791e-02 9.97985952e-01 -3.00179259e-02 -5.99068350e-03] [-3.02577255e-02 3.17438874e-02 9.99037935e-01 1.95515667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.081193817 meters Centerline goodness : 0.923203 with order 1 Centerline is valid? [False, False] Translation: X:38.74, Y:0.01, Z:1.96 [[ 9.97750366e-01 -5.98625850e-02 3.01774300e-02 3.87358286e+01] [ 6.07680494e-02 9.97699854e-01 -3.00373924e-02 6.48867508e-03] [-2.83099016e-02 3.18036428e-02 9.99093128e-01 1.95567499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.14119381700002 meters Centerline goodness : 0.915507 with order 1 Centerline is valid? [False, False] Translation: X:38.78, Y:0.03, Z:1.95 [[ 9.97666711e-01 -6.11442549e-02 3.03729170e-02 3.87779752e+01] [ 6.23040852e-02 9.97301478e-01 -3.88324890e-02 2.87228368e-02] [-2.79165714e-02 4.06342384e-02 9.98784023e-01 1.94979343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.20119381700002 meters Centerline goodness : 0.912029 with order 1 Centerline is valid? [False, False] Translation: X:38.82, Y:0.06, Z:1.95 [[ 9.98224699e-01 -5.31027840e-02 2.69730391e-02 3.88244881e+01] [ 5.44224682e-02 9.97224504e-01 -5.08083086e-02 5.93725394e-02] [-2.42001129e-02 5.21860479e-02 9.98344114e-01 1.94603145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.261193817 meters Centerline goodness : 0.912653 with order 1 Centerline is valid? [False, False] Translation: X:38.86, Y:0.08, Z:1.95 [[ 9.98526969e-01 -4.65022464e-02 2.79541254e-02 3.88623721e+01] [ 4.79720771e-02 9.97364174e-01 -5.44369816e-02 7.92276228e-02] [-2.53490013e-02 5.56978117e-02 9.98125835e-01 1.94608919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.321193817 meters Centerline goodness : 0.914114 with order 1 Centerline is valid? [False, False] Translation: X:38.92, Y:0.11, Z:1.95 [[ 9.98781732e-01 -3.73201676e-02 3.22840170e-02 3.89165942e+01] [ 3.98288697e-02 9.95924904e-01 -8.09150575e-02 1.13257192e-01] [-2.91326930e-02 8.21023172e-02 9.96198020e-01 1.94717482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.381193817 meters Centerline goodness : 0.910917 with order 1 Centerline is valid? [False, False] Translation: X:38.96, Y:0.13, Z:1.94 [[ 9.98908093e-01 -3.37920609e-02 3.22601679e-02 3.89573156e+01] [ 3.63284568e-02 9.96004601e-01 -8.15786622e-02 1.27467454e-01] [-2.93745645e-02 8.26615480e-02 9.96144670e-01 1.94358026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.441193817 meters Centerline goodness : 0.912412 with order 1 Centerline is valid? [False, False] Translation: X:38.96, Y:0.14, Z:1.95 [[ 9.99209767e-01 -2.67546465e-02 2.93943784e-02 3.89621788e+01] [ 2.88626043e-02 9.96855366e-01 -7.37992539e-02 1.44784521e-01] [-2.73274708e-02 7.45893336e-02 9.96839827e-01 1.94692827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.501193817 meters Centerline goodness : 0.915854 with order 1 Centerline is valid? [False, False] Translation: X:38.95, Y:0.15, Z:1.95 [[ 9.99304761e-01 -2.10261894e-02 3.07878757e-02 3.89540265e+01] [ 2.28751522e-02 9.97876298e-01 -6.09886974e-02 1.53518865e-01] [-2.94401316e-02 6.16505730e-02 9.97663513e-01 1.94645454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.561193817 meters Centerline goodness : 0.914293 with order 1 Centerline is valid? [False, False] Translation: X:38.94, Y:0.17, Z:1.95 [[ 9.99363331e-01 -1.44305234e-02 3.26296403e-02 3.89386431e+01] [ 1.59667959e-02 9.98752043e-01 -4.73224829e-02 1.65729548e-01] [-3.19060317e-02 4.78133449e-02 9.98346578e-01 1.95119006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.621193817 meters Centerline goodness : 0.913797 with order 1 Centerline is valid? [False, False] Translation: X:38.94, Y:0.17, Z:1.95 [[ 9.99427221e-01 -8.25726995e-03 3.28184004e-02 3.89366635e+01] [ 9.62613723e-03 9.99080727e-01 -4.17736482e-02 1.70862587e-01] [-3.24432951e-02 4.20656356e-02 9.98587961e-01 1.95349178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.681193817 meters Centerline goodness : 0.912835 with order 1 Centerline is valid? [False, False] Translation: X:38.92, Y:0.17, Z:1.96 [[ 9.99584117e-01 -7.58976043e-03 2.78206604e-02 3.89227083e+01] [ 7.67989992e-03 9.99965596e-01 -3.13460104e-03 1.71895518e-01] [-2.77959124e-02 3.34695730e-03 9.99608016e-01 1.95711636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.741193817 meters Centerline goodness : 0.914736 with order 1 Centerline is valid? [False, False] Translation: X:38.93, Y:0.16, Z:1.97 [[ 9.99790523e-01 -9.23477189e-03 1.82655285e-02 3.89266845e+01] [ 8.31607544e-03 9.98727151e-01 4.97485747e-02 1.62565317e-01] [-1.87016960e-02 -4.95862560e-02 9.98594738e-01 1.96571827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.801193817 meters Centerline goodness : 0.913793 with order 1 Centerline is valid? [False, False] Translation: X:38.93, Y:0.14, Z:1.98 [[ 9.99859140e-01 -1.08702572e-02 1.27881889e-02 3.89342858e+01] [ 9.11671411e-03 9.91475197e-01 1.29976222e-01 1.42778736e-01] [-1.40920471e-02 -1.29841327e-01 9.91434639e-01 1.97890588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.86119381700001 meters Centerline goodness : 0.917140 with order 1 Centerline is valid? [False, False] Translation: X:38.95, Y:0.11, Z:1.99 [[ 9.99910781e-01 -1.13452749e-02 7.05081177e-03 3.89493444e+01] [ 9.46463812e-03 9.74226293e-01 2.25374247e-01 1.14487408e-01] [-9.42601899e-03 -2.25287406e-01 9.74246753e-01 1.99430156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.92119381700002 meters Centerline goodness : 0.918316 with order 1 Centerline is valid? [False, False] Translation: X:38.97, Y:0.08, Z:2.02 [[ 9.99914582e-01 -1.30251269e-02 1.08356686e-03 3.89744310e+01] [ 1.19512612e-02 9.44731415e-01 3.27627413e-01 8.35987805e-02] [-5.29106828e-03 -3.27586478e-01 9.44806385e-01 2.01628371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.98119381700002 meters Centerline goodness : 0.917591 with order 1 Centerline is valid? [False, False] Translation: X:39.00, Y:0.04, Z:2.05 [[ 9.99751420e-01 -2.00042696e-02 -9.84519129e-03 3.90010923e+01] [ 2.22898274e-02 8.86624358e-01 4.61952824e-01 4.16003381e-02] [-5.12042422e-04 -4.62057439e-01 8.86849852e-01 2.05221690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.041193817 meters Centerline goodness : 0.915283 with order 1 Centerline is valid? [False, False] Translation: X:38.97, Y:0.07, Z:2.05 [[ 9.99730345e-01 -2.09098245e-02 -1.01003061e-02 3.89732511e+01] [ 2.31813341e-02 9.24216869e-01 3.81163750e-01 6.57593177e-02] [ 1.36480621e-03 -3.81295106e-01 9.24452368e-01 2.04890226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.101193817 meters Centerline goodness : 0.910722 with order 1 Centerline is valid? [False, False] Translation: X:38.96, Y:0.07, Z:2.05 [[ 9.99417163e-01 -3.15888579e-02 -1.29413490e-02 3.89558929e+01] [ 3.41000211e-02 9.41454143e-01 3.35412112e-01 6.70532121e-02] [ 1.58840111e-03 -3.35657922e-01 9.41982609e-01 2.05368722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.161193817 meters Centerline goodness : 0.910273 with order 1 Centerline is valid? [False, False] Translation: X:38.94, Y:0.08, Z:2.05 [[ 9.99171536e-01 -3.84990211e-02 -1.31934683e-02 3.89419192e+01] [ 4.06610632e-02 9.57987824e-01 2.83911970e-01 7.63713336e-02] [ 1.70884906e-03 -2.84213219e-01 9.58759577e-01 2.05453976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.221193817 meters Centerline goodness : 0.912148 with order 1 Centerline is valid? [False, False] Translation: X:38.92, Y:0.08, Z:2.06 [[ 9.98916391e-01 -4.56165313e-02 -9.22907789e-03 3.89226786e+01] [ 4.64946767e-02 9.69285402e-01 2.41503737e-01 8.48028325e-02] [-2.07095231e-03 -2.41671144e-01 9.70356001e-01 2.05591801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.281193817 meters Centerline goodness : 0.910376 with order 1 Centerline is valid? [False, False] Translation: X:38.92, Y:0.09, Z:2.06 [[ 9.98725414e-01 -4.95712252e-02 -9.49950734e-03 3.89177268e+01] [ 5.04667973e-02 9.77747322e-01 2.03625334e-01 9.25306537e-02] [-8.05839422e-04 -2.03845206e-01 9.79002800e-01 2.05600647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.341193817 meters Centerline goodness : 0.909153 with order 1 Centerline is valid? [False, False] Translation: X:38.90, Y:0.10, Z:2.05 [[ 9.98632314e-01 -5.16759846e-02 -7.94321111e-03 3.88990376e+01] [ 5.22752514e-02 9.84296145e-01 1.68607228e-01 9.99636489e-02] [-8.94472431e-04 -1.68791859e-01 9.85651312e-01 2.05333567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.401193817 meters Centerline goodness : 0.910066 with order 1 Centerline is valid? [False, False] Translation: X:38.89, Y:0.11, Z:2.05 [[ 9.98574925e-01 -5.30898702e-02 -5.43928576e-03 3.88894004e+01] [ 5.33243376e-02 9.88454546e-01 1.41824274e-01 1.09113619e-01] [-2.15294557e-03 -1.41912210e-01 9.89876906e-01 2.05176105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.461193817 meters Centerline goodness : 0.910424 with order 1 Centerline is valid? [False, False] Translation: X:38.88, Y:0.12, Z:2.05 [[ 9.98552315e-01 -5.37590706e-02 -1.79927291e-03 3.88793553e+01] [ 5.36008876e-02 9.91703721e-01 1.16836100e-01 1.17405793e-01] [-4.49665451e-03 -1.16763401e-01 9.93149580e-01 2.05179640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.521193817 meters Centerline goodness : 0.912046 with order 1 Centerline is valid? [False, False] Translation: X:38.88, Y:0.13, Z:2.05 [[ 9.98439919e-01 -5.57656641e-02 -2.81422290e-03 3.88792206e+01] [ 5.57793973e-02 9.93867474e-01 9.54782835e-02 1.25205532e-01] [-2.52744528e-03 -9.54863053e-02 9.95427535e-01 2.05185593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.581193817 meters Centerline goodness : 0.909972 with order 1 Centerline is valid? [False, False] Translation: X:38.88, Y:0.13, Z:2.05 [[ 9.98372154e-01 -5.65533981e-02 -7.39974055e-03 3.88803977e+01] [ 5.69599900e-02 9.95296017e-01 7.83670778e-02 1.33581974e-01] [ 2.93300775e-03 -7.86609973e-02 9.96897109e-01 2.04981958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.64119381700002 meters Centerline goodness : 0.908819 with order 1 Centerline is valid? [False, False] Translation: X:38.88, Y:0.14, Z:2.05 [[ 9.98404633e-01 -5.52817017e-02 -1.14944231e-02 3.88821138e+01] [ 5.58989186e-02 9.96444364e-01 6.30392021e-02 1.41304529e-01] [ 7.96863877e-03 -6.35811573e-02 9.97944857e-01 2.04795272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.70119381700002 meters Centerline goodness : 0.908511 with order 1 Centerline is valid? [False, False] Translation: X:38.88, Y:0.15, Z:2.05 [[ 9.98713721e-01 -4.95437595e-02 -1.07851601e-02 3.88821724e+01] [ 5.00417763e-02 9.97379723e-01 5.22447012e-02 1.53488354e-01] [ 8.16850112e-03 -5.27172085e-02 9.98576072e-01 2.04725736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.761193817 meters Centerline goodness : 0.911507 with order 1 Centerline is valid? [False, False] Translation: X:38.85, Y:0.17, Z:2.05 [[ 9.99423640e-01 -3.08261337e-02 -1.42174680e-02 3.88527430e+01] [ 3.14701087e-02 9.98373175e-01 4.75461376e-02 1.68343903e-01] [ 1.27286750e-02 -4.79661592e-02 9.98767855e-01 2.05479640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.821193817 meters Centerline goodness : 0.918510 with order 1 Centerline is valid? [False, False] Translation: X:38.84, Y:0.18, Z:2.06 [[ 9.99816035e-01 -1.55298021e-02 -1.12570837e-02 3.88444123e+01] [ 1.61323221e-02 9.98324367e-01 5.55716364e-02 1.80579496e-01] [ 1.03752044e-02 -5.57430161e-02 9.98391242e-01 2.06173680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.881193817 meters Centerline goodness : 0.920694 with order 1 Centerline is valid? [False, False] Translation: X:38.84, Y:0.16, Z:2.07 [[ 9.99801246e-01 -1.37021769e-02 -1.44816944e-02 3.88448772e+01] [ 1.57125713e-02 9.88661741e-01 1.49335449e-01 1.59553953e-01] [ 1.22712764e-02 -1.49533313e-01 9.88680537e-01 2.07223035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.941193817 meters Centerline goodness : 0.918666 with order 1 Centerline is valid? [False, False] Translation: X:38.85, Y:0.12, Z:2.09 [[ 9.99561088e-01 -2.27603165e-02 -1.89630817e-02 3.88517651e+01] [ 2.72849809e-02 9.56629159e-01 2.90027898e-01 1.16598508e-01] [ 1.15395102e-02 -2.90418008e-01 9.56830298e-01 2.08842915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.001193817 meters Centerline goodness : 0.919585 with order 1 Centerline is valid? [False, False] Translation: X:38.86, Y:0.08, Z:2.11 [[ 9.99241624e-01 -2.99503719e-02 -2.48827841e-02 3.88568239e+01] [ 3.76928122e-02 9.04335125e-01 4.25155541e-01 7.68463643e-02] [ 9.76880904e-03 -4.25771015e-01 9.04778212e-01 2.11343034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.061193817 meters Centerline goodness : 0.918147 with order 1 Centerline is valid? [False, False] Translation: X:38.84, Y:0.09, Z:2.11 [[ 9.99069147e-01 -3.43959355e-02 -2.60338037e-02 3.88432402e+01] [ 4.19281979e-02 9.16177379e-01 3.98573753e-01 9.03904594e-02] [ 1.01422649e-02 -3.99294290e-01 9.16766712e-01 2.11321192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.121193817 meters Centerline goodness : 0.914891 with order 1 Centerline is valid? [False, False] Translation: X:38.83, Y:0.11, Z:2.11 [[ 9.99123473e-01 -2.76262678e-02 -3.14495566e-02 3.88286902e+01] [ 3.67253545e-02 9.39035714e-01 3.41852565e-01 1.08920862e-01] [ 2.00881463e-02 -3.42707919e-01 9.39227208e-01 2.11051682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.181193817 meters Centerline goodness : 0.913222 with order 1 Centerline is valid? [False, False] Translation: X:38.85, Y:0.11, Z:2.11 [[ 9.99394705e-01 -2.30774478e-02 -2.60317940e-02 3.88514264e+01] [ 3.09500433e-02 9.31496190e-01 3.62431984e-01 1.08536370e-01] [ 1.58845117e-02 -3.63018291e-01 9.31646608e-01 2.11462355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.241193817 meters Centerline goodness : 0.915408 with order 1 Centerline is valid? [False, False] Translation: X:38.86, Y:0.13, Z:2.12 [[ 9.99580648e-01 -1.54196427e-02 -2.45104735e-02 3.88565647e+01] [ 2.26327233e-02 9.44017876e-01 3.29117016e-01 1.27456834e-01] [ 1.80634584e-02 -3.29533738e-01 9.43970988e-01 2.11572550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.301193817 meters Centerline goodness : 0.915647 with order 1 Centerline is valid? [False, False] Translation: X:38.88, Y:0.13, Z:2.12 [[ 9.99750279e-01 -1.06880536e-02 -1.96251060e-02 3.88843826e+01] [ 1.63217184e-02 9.49089701e-01 3.14582803e-01 1.33969635e-01] [ 1.52637082e-02 -3.14824561e-01 9.49027141e-01 2.11739544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.36119381700001 meters Centerline goodness : 0.915891 with order 1 Centerline is valid? [False, False] Translation: X:38.92, Y:0.13, Z:2.12 [[ 9.99869088e-01 -6.76028472e-03 -1.47005577e-02 3.89220663e+01] [ 1.09765418e-02 9.50904816e-01 3.09288776e-01 1.31448790e-01] [ 1.18879510e-02 -3.09409648e-01 9.50854535e-01 2.11841510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.42119381700002 meters Centerline goodness : 0.916706 with order 1 Centerline is valid? [False, False] Translation: X:38.96, Y:0.12, Z:2.12 [[ 9.99957139e-01 -8.54029932e-03 -3.57534056e-03 3.89610541e+01] [ 9.24279523e-03 9.43305387e-01 3.31797405e-01 1.22626850e-01] [ 5.38988857e-04 -3.31816230e-01 9.43343892e-01 2.12175601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.48119381700002 meters Centerline goodness : 0.915947 with order 1 Centerline is valid? [False, False] Translation: X:39.01, Y:0.09, Z:2.14 [[ 9.99912677e-01 -1.27769906e-02 3.37447878e-03 3.90076358e+01] [ 1.02732428e-02 9.12171261e-01 4.09680426e-01 8.96068099e-02] [-8.31258552e-03 -4.09609984e-01 9.12222868e-01 2.13955932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.541193817 meters Centerline goodness : 0.924208 with order 1 Centerline is valid? [False, False] Translation: X:39.05, Y:0.06, Z:2.16 [[ 9.99788431e-01 -1.77116714e-02 1.04589689e-02 3.90452775e+01] [ 1.00137161e-02 8.63261269e-01 5.04658010e-01 5.60946829e-02] [-1.79671596e-02 -5.04446506e-01 8.63255989e-01 2.16481942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.601193817 meters Centerline goodness : 0.927254 with order 1 Centerline is valid? [False, False] Translation: X:39.08, Y:0.03, Z:2.19 [[ 9.99631988e-01 -2.38034532e-02 1.30109183e-02 3.90774216e+01] [ 1.13587022e-02 8.02834878e-01 5.96093229e-01 2.96645296e-02] [-2.46346963e-02 -5.95726073e-01 8.02809802e-01 2.19344453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.661193817 meters Centerline goodness : 0.925048 with order 1 Centerline is valid? [False, False] Translation: X:39.08, Y:0.03, Z:2.20 [[ 9.99675073e-01 -2.37742184e-02 9.19433619e-03 3.90752025e+01] [ 1.47622437e-02 8.34027621e-01 5.51525162e-01 3.49993556e-02] [-2.07804100e-02 -5.51210227e-01 8.34107583e-01 2.19633852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.721193817 meters Centerline goodness : 0.916988 with order 1 Centerline is valid? [False, False] Translation: X:39.04, Y:0.05, Z:2.19 [[ 9.99659971e-01 -2.56535221e-02 4.67325511e-03 3.90403730e+01] [ 2.04731070e-02 8.83159550e-01 4.68625716e-01 4.88311232e-02] [-1.61491301e-02 -4.68370693e-01 8.83384457e-01 2.19194496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.781193817 meters Centerline goodness : 0.916262 with order 1 Centerline is valid? [False, False] Translation: X:39.02, Y:0.06, Z:2.19 [[ 9.99578908e-01 -2.88024576e-02 3.52489588e-03 3.90173072e+01] [ 2.46940700e-02 9.08145338e-01 4.17926127e-01 5.63634115e-02] [-1.52384173e-02 -4.17663097e-01 9.08474176e-01 2.19303556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.841193817 meters Centerline goodness : 0.916414 with order 1 Centerline is valid? [False, False] Translation: X:38.99, Y:0.08, Z:2.19 [[ 9.99348214e-01 -3.52981155e-02 7.56237337e-03 3.89906487e+01] [ 3.08040412e-02 9.43065799e-01 3.31176706e-01 7.68723343e-02] [-1.88217293e-02 -3.30727898e-01 9.43538446e-01 2.19171044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.901193817 meters Centerline goodness : 0.921095 with order 1 Centerline is valid? [False, False] Translation: X:38.97, Y:0.08, Z:2.19 [[ 9.99359609e-01 -3.36198888e-02 1.22505453e-02 3.89691840e+01] [ 2.87222950e-02 9.57885566e-01 2.85710118e-01 8.45361321e-02] [-2.13401629e-02 -2.85175288e-01 9.58237785e-01 2.19291466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.961193817 meters Centerline goodness : 0.920945 with order 1 Centerline is valid? [False, False] Translation: X:38.97, Y:0.10, Z:2.19 [[ 9.99332567e-01 -3.28267769e-02 1.60257282e-02 3.89687755e+01] [ 2.86094804e-02 9.76105679e-01 2.15404740e-01 1.03407029e-01] [-2.27138476e-02 -2.14802484e-01 9.76393350e-01 2.19007602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.021193817 meters Centerline goodness : 0.924794 with order 1 Centerline is valid? [False, False] Translation: X:38.97, Y:0.11, Z:2.19 [[ 9.99292188e-01 -3.14006918e-02 2.07152134e-02 3.89725715e+01] [ 2.77495093e-02 9.87104081e-01 1.57656267e-01 1.14082892e-01] [-2.53985876e-02 -1.56969839e-01 9.87276750e-01 2.19018690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.081193817 meters Centerline goodness : 0.922164 with order 1 Centerline is valid? [False, False] Translation: X:38.96, Y:0.12, Z:2.19 [[ 9.99290265e-01 -2.99026019e-02 2.29085405e-02 3.89609766e+01] [ 2.67291376e-02 9.91397533e-01 1.28126832e-01 1.20576395e-01] [-2.65427962e-02 -1.27423571e-01 9.91493174e-01 2.18947616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.14119381700002 meters Centerline goodness : 0.920619 with order 1 Centerline is valid? [False, False] Translation: X:38.98, Y:0.13, Z:2.19 [[ 9.99295165e-01 -3.14968733e-02 2.04235166e-02 3.89830466e+01] [ 2.95021772e-02 9.95364631e-01 9.15361798e-02 1.29827199e-01] [-2.32119495e-02 -9.08691237e-02 9.95592290e-01 2.18850160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.20119381700002 meters Centerline goodness : 0.920547 with order 1 Centerline is valid? [False, False] Translation: X:38.98, Y:0.14, Z:2.19 [[ 9.99405220e-01 -3.06287055e-02 1.58458027e-02 3.89804785e+01] [ 2.93239148e-02 9.96608419e-01 7.68880136e-02 1.36743916e-01] [-1.81470408e-02 -7.63776211e-02 9.96913810e-01 2.18754259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.261193817 meters Centerline goodness : 0.920006 with order 1 Centerline is valid? [False, False] Translation: X:38.99, Y:0.15, Z:2.19 [[ 9.99653610e-01 -2.23240559e-02 1.39390278e-02 3.89863665e+01] [ 2.15203235e-02 9.98234114e-01 5.53672167e-02 1.47259909e-01] [-1.51504339e-02 -5.50480656e-02 9.98368757e-01 2.19005584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.321193817 meters Centerline goodness : 0.921830 with order 1 Centerline is valid? [False, False] Translation: X:38.99, Y:0.15, Z:2.19 [[ 9.99676087e-01 -1.72547264e-02 1.87081816e-02 3.89877636e+01] [ 1.64637021e-02 9.98996934e-01 4.16421830e-02 1.54690940e-01] [-1.94079405e-02 -4.13206886e-02 9.98957423e-01 2.18891296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.381193817 meters Centerline goodness : 0.920855 with order 1 Centerline is valid? [False, False] Translation: X:38.99, Y:0.16, Z:2.19 [[ 9.99740448e-01 -1.34767530e-02 1.83688491e-02 3.89873226e+01] [ 1.30177901e-02 9.99605670e-01 2.48805660e-02 1.64305547e-01] [-1.86969150e-02 -2.46349863e-02 9.99521657e-01 2.18993389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.441193817 meters Centerline goodness : 0.921752 with order 1 Centerline is valid? [False, False] Translation: X:38.99, Y:0.17, Z:2.19 [[ 9.99733306e-01 -1.43042369e-02 1.81302690e-02 3.89879995e+01] [ 1.38704450e-02 9.99619788e-01 2.38304448e-02 1.66302464e-01] [-1.84642519e-02 -2.35726145e-02 9.99551601e-01 2.18959232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.501193817 meters Centerline goodness : 0.919863 with order 1 Centerline is valid? [False, False] Translation: X:38.98, Y:0.17, Z:2.19 [[ 9.99760708e-01 -1.65591625e-02 1.42940516e-02 3.89820826e+01] [ 1.64217564e-02 9.99818322e-01 9.67725924e-03 1.68055835e-01] [-1.44517020e-02 -9.44021012e-03 9.99851004e-01 2.18916307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.561193817 meters Centerline goodness : 0.913728 with order 1 Centerline is valid? [False, False] Translation: X:38.98, Y:0.17, Z:2.19 [[ 9.99766286e-01 -1.63434478e-02 1.41515239e-02 3.89821623e+01] [ 1.62108553e-02 9.99824088e-01 9.43404758e-03 1.68908045e-01] [-1.43032194e-02 -9.20243440e-03 9.99855356e-01 2.18961776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.621193817 meters Centerline goodness : 0.912659 with order 1 Centerline is valid? [False, False] Translation: X:38.98, Y:0.17, Z:2.19 [[ 9.99911572e-01 -7.02404429e-03 1.12920798e-02 3.89831976e+01] [ 7.02079785e-03 9.99975300e-01 3.27113207e-04 1.70198085e-01] [-1.12940985e-02 -2.47804872e-04 9.99936189e-01 2.19069572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.681193817 meters Centerline goodness : 0.914586 with order 1 Centerline is valid? [False, False] Translation: X:39.00, Y:0.15, Z:2.21 [[ 9.99988114e-01 1.12038643e-03 4.74520014e-03 3.90005762e+01] [-1.42989702e-03 9.97836200e-01 6.57333465e-02 1.54278957e-01] [-4.66128573e-03 -6.57393503e-02 9.97825942e-01 2.21227032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.741193817 meters Centerline goodness : 0.910585 with order 1 Centerline is valid? [False, False] Translation: X:39.03, Y:0.13, Z:2.22 [[ 9.99991441e-01 4.12587957e-03 3.09162084e-04 3.90252723e+01] [-4.12979280e-03 9.90808191e-01 1.35211221e-01 1.33508475e-01] [ 2.51544888e-04 -1.35211340e-01 9.90816749e-01 2.22433759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.801193817 meters Centerline goodness : 0.909359 with order 1 Centerline is valid? [False, False] Translation: X:39.05, Y:0.10, Z:2.24 [[ 9.99990601e-01 1.99341549e-03 3.85013862e-03 3.90549499e+01] [-2.80439596e-03 9.74640265e-01 2.23759892e-01 1.02162800e-01] [-3.30645369e-03 -2.23768586e-01 9.74636695e-01 2.24064918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.86119381700001 meters Centerline goodness : 0.908226 with order 1 Centerline is valid? [False, False] Translation: X:39.06, Y:0.05, Z:2.28 [[ 9.99969671e-01 -7.37216280e-03 2.51171191e-03 3.90647282e+01] [ 5.85539207e-03 9.24273877e-01 3.81685099e-01 5.13839385e-02] [-5.13535439e-03 -3.81658816e-01 9.24289011e-01 2.27630228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.92119381700002 meters Centerline goodness : 0.913224 with order 1 Centerline is valid? [False, False] Translation: X:39.04, Y:0.06, Z:2.28 [[ 9.99972059e-01 -7.24453331e-03 1.84312178e-03 3.90411999e+01] [ 6.21001668e-03 9.42318857e-01 3.34658942e-01 5.91927686e-02] [-4.16125626e-03 -3.34638146e-01 9.42337517e-01 2.27814304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.98119381700002 meters Centerline goodness : 0.916110 with order 1 Centerline is valid? [False, False] Translation: X:39.01, Y:0.08, Z:2.28 [[ 9.99997748e-01 -4.62475307e-04 2.07119470e-03 3.90143856e+01] [-8.36242687e-06 9.75099759e-01 2.21766678e-01 8.26861179e-02] [-2.12218306e-03 -2.21766196e-01 9.75097559e-01 2.27666577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.041193817 meters Centerline goodness : 0.919465 with order 1 Centerline is valid? [False, False] Translation: X:38.99, Y:0.09, Z:2.28 [[ 9.99971452e-01 7.47238679e-03 1.12206031e-03 3.89932669e+01] [-7.55610964e-03 9.88325312e-01 1.52170903e-01 9.27648867e-02] [ 2.81192413e-05 -1.52175037e-01 9.88353559e-01 2.27716898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.101193817 meters Centerline goodness : 0.917714 with order 1 Centerline is valid? [False, False] Translation: X:38.99, Y:0.09, Z:2.28 [[ 9.99945969e-01 1.03738839e-02 -6.65017038e-04 3.89905154e+01] [-1.02081196e-02 9.92022443e-01 1.25647387e-01 8.93005914e-02] [ 1.96316324e-03 -1.25633810e-01 9.92074741e-01 2.27568513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.161193817 meters Centerline goodness : 0.916558 with order 1 Centerline is valid? [False, False] Translation: X:38.99, Y:0.09, Z:2.27 [[ 9.99904582e-01 1.36365475e-02 -2.20736245e-03 3.89908591e+01] [-1.33402493e-02 9.94692742e-01 1.02021502e-01 8.54366700e-02] [ 3.58686847e-03 -1.01982321e-01 9.94779745e-01 2.27244979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.221193817 meters Centerline goodness : 0.912481 with order 1 Centerline is valid? [False, False] Translation: X:38.99, Y:0.08, Z:2.27 [[ 9.99840002e-01 1.68558000e-02 -5.98769068e-03 3.89856720e+01] [-1.62742241e-02 9.96109290e-01 8.66108104e-02 7.78208489e-02] [ 7.42428881e-03 -8.64995078e-02 9.96224229e-01 2.27167151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.281193817 meters Centerline goodness : 0.919409 with order 1 Centerline is valid? [False, False] Translation: X:38.98, Y:0.07, Z:2.28 [[ 9.99882168e-01 1.46936115e-02 -4.44393138e-03 3.89849211e+01] [-1.43293524e-02 9.97218052e-01 7.31493449e-02 6.60630612e-02] [ 5.50639665e-03 -7.30770469e-02 9.97311097e-01 2.27621247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.341193817 meters Centerline goodness : 0.927580 with order 1 Centerline is valid? [False, False] Translation: X:39.00, Y:0.06, Z:2.28 [[ 9.99958528e-01 7.98681873e-03 -4.37638956e-03 3.90009042e+01] [-7.76123365e-03 9.98751808e-01 4.93415558e-02 6.21982409e-02] [ 4.76500905e-03 -4.93055433e-02 9.98772376e-01 2.27815459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.401193817 meters Centerline goodness : 0.933231 with order 1 Centerline is valid? [False, False] Translation: X:39.01, Y:0.06, Z:2.28 [[ 9.99991772e-01 -4.00021681e-03 6.74129627e-04 3.90070383e+01] [ 3.98016900e-03 9.99613970e-01 2.74967149e-02 5.56675562e-02] [-7.83862213e-04 -2.74938055e-02 9.99621667e-01 2.27862003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.461193817 meters Centerline goodness : 0.940145 with order 1 Centerline is valid? [False, False] Translation: X:39.03, Y:0.05, Z:2.28 [[ 9.99948726e-01 -9.88239422e-03 2.20977518e-03 3.90254342e+01] [ 9.87126441e-03 9.99938817e-01 4.99205165e-03 5.31401219e-02] [-2.25897341e-03 -4.96998241e-03 9.99985098e-01 2.27785547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.521193817 meters Centerline goodness : 0.942339 with order 1 Centerline is valid? [False, False] Translation: X:39.03, Y:0.05, Z:2.27 [[ 9.99809615e-01 -1.94244507e-02 1.85078837e-03 3.90292853e+01] [ 1.94307655e-02 9.99805227e-01 -3.45734228e-03 5.04016927e-02] [-1.78327091e-03 3.49264629e-03 9.99992311e-01 2.27421962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.581193817 meters Centerline goodness : 0.938882 with order 1 Centerline is valid? [False, False] Translation: X:39.05, Y:0.05, Z:2.27 [[ 9.99697262e-01 -2.45392480e-02 -1.79168649e-03 3.90547085e+01] [ 2.45173770e-02 9.99634970e-01 -1.13501074e-02 5.31238429e-02] [ 2.06955557e-03 1.13027439e-02 9.99933980e-01 2.27107241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.64119381700002 meters Centerline goodness : 0.937016 with order 1 Centerline is valid? [False, False] Translation: X:39.09, Y:0.06, Z:2.27 [[ 9.99714867e-01 -2.36566153e-02 -3.24783658e-03 3.90860790e+01] [ 2.35761791e-02 9.99459718e-01 -2.29005536e-02 5.68298427e-02] [ 3.78783142e-03 2.28174523e-02 9.99732472e-01 2.26901559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.70119381700002 meters Centerline goodness : 0.937811 with order 1 Centerline is valid? [False, False] Translation: X:39.13, Y:0.06, Z:2.27 [[ 9.99700540e-01 -2.43428120e-02 -2.50172267e-03 3.91251405e+01] [ 2.42629594e-02 9.99310273e-01 -2.81120331e-02 6.13062401e-02] [ 3.18432310e-03 2.80429155e-02 9.99601648e-01 2.26735878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.761193817 meters Centerline goodness : 0.937318 with order 1 Centerline is valid? [False, False] Translation: X:39.16, Y:0.07, Z:2.27 [[ 9.99510599e-01 -3.12184660e-02 -1.99250022e-03 3.91558367e+01] [ 3.11550079e-02 9.99165266e-01 -2.64222611e-02 6.69477734e-02] [ 2.81569948e-03 2.63472537e-02 9.99648885e-01 2.26618084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.821193817 meters Centerline goodness : 0.937043 with order 1 Centerline is valid? [False, False] Translation: X:39.18, Y:0.07, Z:2.26 [[ 9.99479959e-01 -3.19969416e-02 -4.00097825e-03 3.91786129e+01] [ 3.18775691e-02 9.99127077e-01 -2.69982150e-02 6.72461518e-02] [ 4.86134602e-03 2.68566334e-02 9.99627475e-01 2.26499609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.881193817 meters Centerline goodness : 0.938007 with order 1 Centerline is valid? [False, False] Translation: X:39.20, Y:0.07, Z:2.26 [[ 9.99331274e-01 -3.61826829e-02 -5.27434468e-03 3.92019640e+01] [ 3.59892296e-02 9.98805606e-01 -3.30474941e-02 7.48377175e-02] [ 6.46379203e-03 3.28355747e-02 9.99439865e-01 2.26272002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.941193817 meters Centerline goodness : 0.938018 with order 1 Centerline is valid? [False, False] Translation: X:39.24, Y:0.08, Z:2.26 [[ 9.99359383e-01 -3.55593652e-02 -4.04418284e-03 3.92411189e+01] [ 3.53993570e-02 9.98779583e-01 -3.44416781e-02 8.34967482e-02] [ 5.26397146e-03 3.42764527e-02 9.99398527e-01 2.26093042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.001193817 meters Centerline goodness : 0.939386 with order 1 Centerline is valid? [False, False] Translation: X:39.28, Y:0.10, Z:2.26 [[ 9.99334122e-01 -3.64098161e-02 -2.37451127e-03 3.92792349e+01] [ 3.62776365e-02 9.98453486e-01 -4.21256425e-02 1.01368516e-01] [ 3.90462595e-03 4.20114503e-02 9.99109499e-01 2.25865115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.061193817 meters Centerline goodness : 0.938887 with order 1 Centerline is valid? [False, False] Translation: X:39.32, Y:0.11, Z:2.26 [[ 9.99354831e-01 -3.58534376e-02 -2.11014751e-03 3.93197537e+01] [ 3.57123738e-02 9.98226314e-01 -4.76324701e-02 1.14717938e-01] [ 3.81419257e-03 4.75263807e-02 9.98862701e-01 2.25657913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.121193817 meters Centerline goodness : 0.944357 with order 1 Centerline is valid? [False, False] Translation: X:39.37, Y:0.14, Z:2.26 [[ 9.99532956e-01 -3.04955750e-02 1.97217537e-03 3.93691373e+01] [ 3.05591858e-02 9.97286371e-01 -6.69778352e-02 1.40857794e-01] [ 7.57039745e-05 6.70068217e-02 9.97752514e-01 2.25797300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.181193817 meters Centerline goodness : 0.944861 with order 1 Centerline is valid? [False, False] Translation: X:39.41, Y:0.15, Z:2.26 [[ 9.99699052e-01 -2.42888639e-02 3.44320190e-03 3.94070126e+01] [ 2.44637835e-02 9.97499780e-01 -6.63001652e-02 1.54692343e-01] [-1.82423745e-03 6.63644460e-02 9.97793783e-01 2.25826467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.241193817 meters Centerline goodness : 0.944131 with order 1 Centerline is valid? [False, False] Translation: X:39.46, Y:0.19, Z:2.26 [[ 9.99904094e-01 -1.24131742e-02 6.14140609e-03 3.94603475e+01] [ 1.29500692e-02 9.95209645e-01 -9.69023174e-02 1.85985572e-01] [-4.90912123e-03 9.69725554e-02 9.95274949e-01 2.26105548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.301193817 meters Centerline goodness : 0.940962 with order 1 Centerline is valid? [False, False] Translation: X:39.46, Y:0.19, Z:2.26 [[ 9.99976264e-01 -4.66432771e-03 5.07096479e-03 3.94561397e+01] [ 5.05924379e-03 9.96711053e-01 -8.08794265e-02 1.94391129e-01] [-4.67703851e-03 8.09031620e-02 9.96710993e-01 2.25782691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.36119381700001 meters Centerline goodness : 0.942498 with order 1 Centerline is valid? [False, False] Translation: X:39.45, Y:0.21, Z:2.26 [[ 9.99960778e-01 4.93348645e-03 7.35545543e-03 3.94486890e+01] [-4.43885178e-03 9.97822277e-01 -6.58103376e-02 2.07108935e-01] [-7.66411169e-03 6.57751066e-02 9.97805039e-01 2.25666893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.42119381700002 meters Centerline goodness : 0.943061 with order 1 Centerline is valid? [False, False] Translation: X:39.42, Y:0.21, Z:2.26 [[ 9.99982884e-01 1.99208719e-03 5.50117836e-03 3.94150793e+01] [-1.85652161e-03 9.99697147e-01 -2.45391152e-02 2.08252670e-01] [-5.54839636e-03 2.45284822e-02 9.99683734e-01 2.26273167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.48119381700002 meters Centerline goodness : 0.949145 with order 1 Centerline is valid? [False, False] Translation: X:39.38, Y:0.21, Z:2.27 [[ 9.99941206e-01 -9.73265733e-03 4.78124644e-03 3.93801344e+01] [ 9.62126822e-03 9.99693923e-01 2.27923489e-02 2.06867020e-01] [-5.00161313e-03 -2.27450072e-02 9.99728787e-01 2.26978750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.541193817 meters Centerline goodness : 0.952144 with order 1 Centerline is valid? [False, True] Translation: X:39.34, Y:0.20, Z:2.28 [[ 9.99760708e-01 -2.00021074e-02 -8.85681037e-03 3.93415950e+01] [ 2.06390895e-02 9.96670267e-01 7.88822303e-02 1.99857687e-01] [ 7.24950872e-03 -7.90461509e-02 9.96844597e-01 2.28322520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.601193817 meters Centerline goodness : 0.947385 with order 1 Centerline is valid? [True, False] Translation: X:39.34, Y:0.21, Z:2.28 [[ 9.99669534e-01 -2.39552736e-02 -9.32566670e-03 3.93441651e+01] [ 2.45742005e-02 9.97017522e-01 7.31585214e-02 2.08317493e-01] [ 7.54532070e-03 -7.33635158e-02 9.97276723e-01 2.28049048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.661193817 meters Centerline goodness : 0.946144 with order 1 Centerline is valid? [False, False] Translation: X:39.35, Y:0.22, Z:2.28 [[ 9.99569069e-01 -2.62170267e-02 -1.32039137e-02 3.93518788e+01] [ 2.70113984e-02 9.97578622e-01 6.40880490e-02 2.18700843e-01] [ 1.14917439e-02 -6.44170876e-02 9.97856893e-01 2.28029059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.721193817 meters Centerline goodness : 0.945007 with order 1 Centerline is valid? [False, False] Translation: X:39.34, Y:0.23, Z:2.28 [[ 9.99535037e-01 -2.63778316e-02 -1.52944257e-02 3.93442735e+01] [ 2.70985898e-02 9.98430697e-01 4.90082598e-02 2.27497404e-01] [ 1.39776925e-02 -4.93999301e-02 9.98681266e-01 2.27976257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.781193817 meters Centerline goodness : 0.944242 with order 1 Centerline is valid? [False, False] Translation: X:39.35, Y:0.24, Z:2.28 [[ 9.99347373e-01 -3.13029729e-02 -1.80264321e-02 3.93502026e+01] [ 3.19364414e-02 9.98841482e-01 3.59966402e-02 2.35715969e-01] [ 1.68787463e-02 -3.65488479e-02 9.99189316e-01 2.28346765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.841193817 meters Centerline goodness : 0.942916 with order 1 Centerline is valid? [False, False] Translation: X:39.35, Y:0.24, Z:2.28 [[ 9.99172086e-01 -3.64070975e-02 -1.81567028e-02 3.93502554e+01] [ 3.69415570e-02 9.98866275e-01 3.00247639e-02 2.41000449e-01] [ 1.70430036e-02 -3.06706429e-02 9.99384234e-01 2.28393747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.901193817 meters Centerline goodness : 0.943635 with order 1 Centerline is valid? [False, False] Translation: X:39.35, Y:0.24, Z:2.28 [[ 9.98648013e-01 -4.87691034e-02 -1.79922161e-02 3.93509577e+01] [ 4.90776806e-02 9.98648107e-01 1.71271491e-02 2.44455495e-01] [ 1.71326168e-02 -1.79870097e-02 9.99691423e-01 2.28384968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.961193817 meters Centerline goodness : 0.946838 with order 1 Centerline is valid? [False, False] Translation: X:39.36, Y:0.25, Z:2.28 [[ 9.98305867e-01 -5.70391208e-02 -1.14863159e-02 3.93596031e+01] [ 5.70324644e-02 9.98371913e-01 -9.06497014e-04 2.50172257e-01] [ 1.15193210e-02 2.49868381e-04 9.99933619e-01 2.28191024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.021193817 meters Centerline goodness : 0.949802 with order 1 Centerline is valid? [False, False] Translation: X:39.36, Y:0.26, Z:2.28 [[ 9.97901615e-01 -6.38355485e-02 -1.08346713e-02 3.93579544e+01] [ 6.37569321e-02 9.97937627e-01 -7.45294683e-03 2.55850784e-01] [ 1.12880891e-02 6.74652227e-03 9.99913528e-01 2.28310254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.081193817 meters Centerline goodness : 0.952405 with order 1 Centerline is valid? [False, True] Translation: X:39.37, Y:0.26, Z:2.28 [[ 9.97838345e-01 -6.55574559e-02 -4.56691719e-03 3.93706619e+01] [ 6.54721755e-02 9.97712510e-01 -1.68268077e-02 2.61621029e-01] [ 5.65959312e-03 1.64914280e-02 9.99847989e-01 2.27850637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.14119381700002 meters Centerline goodness : 0.953108 with order 1 Centerline is valid? [True, True] Translation: X:39.43, Y:0.26, Z:2.28 [[ 9.97730507e-01 -6.72033125e-02 -4.18919890e-03 3.94318953e+01] [ 6.72042934e-02 9.97739232e-01 9.36647582e-05 2.63532526e-01] [ 4.17343350e-03 -3.74984338e-04 9.99991221e-01 2.27627286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.20119381700002 meters Centerline goodness : 0.950943 with order 1 Centerline is valid? [True, True] Translation: X:39.49, Y:0.27, Z:2.27 [[ 9.97828963e-01 -6.57252671e-02 -4.18919512e-03 3.94939235e+01] [ 6.57262357e-02 9.97837689e-01 9.38333659e-05 2.72497140e-01] [ 4.17396955e-03 -3.68969676e-04 9.99991221e-01 2.27474360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.261193817 meters Centerline goodness : 0.953242 with order 1 Centerline is valid? [True, True] Translation: X:39.56, Y:0.29, Z:2.28 [[ 9.98051940e-01 -6.22476904e-02 -4.18919135e-03 3.95564210e+01] [ 6.22486294e-02 9.98060669e-01 9.40011391e-05 2.88038824e-01] [ 4.17521577e-03 -3.54589439e-04 9.99991221e-01 2.27705581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.321193817 meters Centerline goodness : 0.954590 with order 1 Centerline is valid? [True, True] Translation: X:39.62, Y:0.30, Z:2.28 [[ 9.98217263e-01 -5.95377801e-02 -4.18918353e-03 3.96180294e+01] [ 5.95386968e-02 9.98225994e-01 9.43485797e-05 2.96495593e-01] [ 4.17613459e-03 -3.43598909e-04 9.99991221e-01 2.27523916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.381193817 meters Centerline goodness : 0.953461 with order 1 Centerline is valid? [True, True] Translation: X:39.68, Y:0.31, Z:2.27 [[ 9.98163130e-01 -6.04385452e-02 -4.18917083e-03 3.96802324e+01] [ 6.04394721e-02 9.98171860e-01 9.49090579e-05 3.07648941e-01] [ 4.17577627e-03 -3.47925996e-04 9.99991221e-01 2.27499534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.441193817 meters Centerline goodness : 0.954136 with order 1 Centerline is valid? [True, True] Translation: X:39.74, Y:0.31, Z:2.27 [[ 9.97926344e-01 -6.42297701e-02 -4.18916346e-03 3.97424534e+01] [ 6.42307315e-02 9.97935070e-01 9.52333785e-05 3.13836370e-01] [ 4.17439631e-03 -3.64108931e-04 9.99991221e-01 2.27480717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.501193817 meters Centerline goodness : 0.950731 with order 1 Centerline is valid? [True, True] Translation: X:39.80, Y:0.32, Z:2.27 [[ 9.97269336e-01 -7.37314173e-02 -4.18915617e-03 3.98045725e+01] [ 7.37324631e-02 9.97278053e-01 9.55530099e-05 3.21895323e-01] [ 4.17070825e-03 -4.04168889e-04 9.99991221e-01 2.27320819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.561193817 meters Centerline goodness : 0.949781 with order 1 Centerline is valid? [True, False] Translation: X:39.81, Y:0.33, Z:2.27 [[ 9.97079544e-01 -7.62001028e-02 -5.09189212e-03 3.98062235e+01] [ 7.61867957e-02 9.97089747e-01 -2.75844239e-03 3.28833062e-01] [ 5.28726702e-03 2.36245154e-03 9.99983232e-01 2.27313545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.621193817 meters Centerline goodness : 0.955394 with order 1 Centerline is valid? [False, True] Translation: X:39.80, Y:0.34, Z:2.28 [[ 9.96936386e-01 -7.81120424e-02 -4.04371200e-03 3.98006735e+01] [ 7.80934789e-02 9.96935605e-01 -4.56156081e-03 3.42586515e-01] [ 4.38763330e-03 4.23179841e-03 9.99981420e-01 2.27576398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.681193817 meters Centerline goodness : 0.956341 with order 1 Centerline is valid? [True, True] Translation: X:39.86, Y:0.35, Z:2.28 [[ 9.96902995e-01 -7.85445550e-02 -3.89497193e-03 3.98627012e+01] [ 7.85456304e-02 9.96910512e-01 1.23687202e-04 3.52060281e-01] [ 3.87322351e-03 -4.29237168e-04 9.99992407e-01 2.27669309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.741193817 meters Centerline goodness : 0.958799 with order 1 Centerline is valid? [True, True] Translation: X:39.93, Y:0.36, Z:2.28 [[ 9.96945774e-01 -7.79996932e-02 -3.89496443e-03 3.99258493e+01] [ 7.80007655e-02 9.96953291e-01 1.23922894e-04 3.57361870e-01] [ 3.87343166e-03 -4.27354613e-04 9.99992407e-01 2.27749961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.801193817 meters Centerline goodness : 0.962533 with order 1 Centerline is valid? [True, True] Translation: X:39.99, Y:0.38, Z:2.28 [[ 9.97359984e-01 -7.25113149e-02 -3.89494938e-03 3.99872543e+01] [ 7.25123476e-02 9.97367507e-01 1.24394392e-04 3.76988673e-01] [ 3.87567595e-03 -4.06497911e-04 9.99992407e-01 2.27788174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.86119381700001 meters Centerline goodness : 0.964316 with order 1 Centerline is valid? [True, True] Translation: X:40.05, Y:0.39, Z:2.28 [[ 9.97864797e-01 -6.51972078e-02 -3.89494203e-03 4.00503817e+01] [ 6.51981862e-02 9.97872327e-01 1.24624094e-04 3.92014848e-01] [ 3.87852972e-03 -3.78301151e-04 9.99992407e-01 2.28171766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.92119381700002 meters Centerline goodness : 0.961832 with order 1 Centerline is valid? [True, True] Translation: X:40.11, Y:0.41, Z:2.28 [[ 9.98575263e-01 -5.32191129e-02 -3.89493192e-03 4.01123022e+01] [ 5.32200022e-02 9.98582804e-01 1.24938995e-04 4.10640441e-01] [ 3.88276290e-03 -3.32049275e-04 9.99992407e-01 2.28194924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.98119381700002 meters Centerline goodness : 0.960971 with order 1 Centerline is valid? [True, True] Translation: X:40.17, Y:0.42, Z:2.28 [[ 9.99057923e-01 -4.32214663e-02 -3.89492451e-03 4.01744356e+01] [ 4.32222809e-02 9.99065473e-01 1.25169736e-04 4.24007191e-01] [ 3.88587458e-03 -2.93399337e-04 9.99992407e-01 2.28236111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.041193817 meters Centerline goodness : 0.961657 with order 1 Centerline is valid? [True, True] Translation: X:40.24, Y:0.43, Z:2.28 [[ 9.99224087e-01 -3.91925096e-02 -3.89491477e-03 4.02373892e+01] [ 3.91932949e-02 9.99231640e-01 1.25472033e-04 4.30985433e-01] [ 3.88700451e-03 -2.78029221e-04 9.99992407e-01 2.28457221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.101193817 meters Centerline goodness : 0.957760 with order 1 Centerline is valid? [True, True] Translation: X:40.30, Y:0.44, Z:2.29 [[ 9.99345074e-01 -3.59757223e-02 -3.89490048e-03 4.03003348e+01] [ 3.59764850e-02 9.99352629e-01 1.25914002e-04 4.41344719e-01] [ 3.88784919e-03 -2.65956366e-04 9.99992407e-01 2.28868340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.161193817 meters Centerline goodness : 0.955220 with order 1 Centerline is valid? [True, True] Translation: X:40.36, Y:0.44, Z:2.28 [[ 9.99396525e-01 -3.45168911e-02 -3.89489021e-03 4.03614655e+01] [ 3.45176440e-02 9.99404081e-01 1.26230857e-04 4.44696712e-01] [ 3.88821208e-03 -2.60597114e-04 9.99992407e-01 2.28480801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.221193817 meters Centerline goodness : 0.951315 with order 1 Centerline is valid? [True, True] Translation: X:40.42, Y:0.45, Z:2.28 [[ 9.99315641e-01 -3.67842190e-02 -3.89488265e-03 4.04240746e+01] [ 3.67849899e-02 9.99323195e-01 1.26463920e-04 4.48287146e-01] [ 3.88759469e-03 -2.69650592e-04 9.99992407e-01 2.28405256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.281193817 meters Centerline goodness : 0.949845 with order 1 Centerline is valid? [True, False] Translation: X:40.47, Y:0.44, Z:2.28 [[ 9.99055991e-01 -4.30268898e-02 -5.98450554e-03 4.04657469e+01] [ 4.32197986e-02 9.98377028e-01 3.70858380e-02 4.44940595e-01] [ 4.37910459e-03 -3.73094778e-02 9.99294164e-01 2.27655844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.341193817 meters Centerline goodness : 0.946119 with order 1 Centerline is valid? [False, False] Translation: X:40.50, Y:0.45, Z:2.27 [[ 9.98960878e-01 -4.49008290e-02 -7.81536357e-03 4.05027196e+01] [ 4.52372637e-02 9.97716584e-01 5.01518565e-02 4.48153977e-01] [ 5.54565791e-03 -5.04532883e-02 9.98711025e-01 2.27053896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.401193817 meters Centerline goodness : 0.947695 with order 1 Centerline is valid? [False, False] Translation: X:40.54, Y:0.45, Z:2.27 [[ 9.99014546e-01 -4.35291018e-02 -8.66911629e-03 4.05433440e+01] [ 4.39769780e-02 9.97178919e-01 6.08295013e-02 4.48084067e-01] [ 5.99680646e-03 -6.11507981e-02 9.98110524e-01 2.26694495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.461193817 meters Centerline goodness : 0.951298 with order 1 Centerline is valid? [False, True] Translation: X:40.58, Y:0.45, Z:2.27 [[ 9.99231193e-01 -3.86917307e-02 -6.32245630e-03 4.05790012e+01] [ 3.89952201e-02 9.97534327e-01 5.83492878e-02 4.52144236e-01] [ 4.04923226e-03 -5.85509741e-02 9.98276208e-01 2.26662227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.521193817 meters Centerline goodness : 0.951814 with order 1 Centerline is valid? [True, True] Translation: X:40.64, Y:0.47, Z:2.29 [[ 9.99155094e-01 -4.02645651e-02 -8.23795178e-03 4.06423475e+01] [ 4.02681502e-02 9.99188873e-01 2.69715392e-04 4.73045434e-01] [ 8.22040978e-03 -6.01214586e-04 9.99966031e-01 2.28746883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.581193817 meters Centerline goodness : 0.954711 with order 1 Centerline is valid? [True, True] Translation: X:40.70, Y:0.47, Z:2.29 [[ 9.98940679e-01 -4.52731377e-02 -8.23792078e-03 4.07049655e+01] [ 4.52768998e-02 9.98974439e-01 2.70658727e-04 4.69926278e-01] [ 8.21721872e-03 -6.43359526e-04 9.99966031e-01 2.28798226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.64119381700002 meters Centerline goodness : 0.951540 with order 1 Centerline is valid? [True, True] Translation: X:40.77, Y:0.47, Z:2.29 [[ 9.98769700e-01 -4.89001429e-02 -8.23789486e-03 4.07663160e+01] [ 4.89040340e-02 9.98803445e-01 2.71445469e-04 4.68317702e-01] [ 8.21476404e-03 -6.73977800e-04 9.99966031e-01 2.28591601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.70119381700002 meters Centerline goodness : 0.954550 with order 1 Centerline is valid? [True, True] Translation: X:40.83, Y:0.46, Z:2.29 [[ 9.98592144e-01 -5.24010310e-02 -8.23787949e-03 4.08288195e+01] [ 5.24050442e-02 9.98625875e-01 2.71911235e-04 4.64277450e-01] [ 8.21231118e-03 -7.03234861e-04 9.99966031e-01 2.28957623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.761193817 meters Centerline goodness : 0.954924 with order 1 Centerline is valid? [True, True] Translation: X:40.89, Y:0.46, Z:2.29 [[ 9.98476502e-01 -5.45601765e-02 -8.23785923e-03 4.08905824e+01] [ 5.45642676e-02 9.98510223e-01 2.72523661e-04 4.63144589e-01] [ 8.21071772e-03 -7.21601227e-04 9.99966031e-01 2.29257956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.821193817 meters Centerline goodness : 0.953729 with order 1 Centerline is valid? [True, True] Translation: X:40.95, Y:0.47, Z:2.29 [[ 9.98418435e-01 -5.56126454e-02 -8.23783853e-03 4.09534233e+01] [ 5.56167772e-02 9.98452152e-01 2.73147675e-04 4.65220426e-01] [ 8.20989715e-03 -7.30877704e-04 9.99966031e-01 2.29243700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.881193817 meters Centerline goodness : 0.955698 with order 1 Centerline is valid? [True, True] Translation: X:41.02, Y:0.47, Z:2.29 [[ 9.98511884e-01 -5.39087787e-02 -8.23781281e-03 4.10170005e+01] [ 5.39128593e-02 9.98545607e-01 2.73921210e-04 4.67471257e-01] [ 8.21106503e-03 -7.17637627e-04 9.99966031e-01 2.29496280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.941193817 meters Centerline goodness : 0.959824 with order 1 Centerline is valid? [True, True] Translation: X:41.08, Y:0.47, Z:2.30 [[ 9.98856703e-01 -4.70895501e-02 -8.23778106e-03 4.10790014e+01] [ 4.70934080e-02 9.98890452e-01 2.74872854e-04 4.72405415e-01] [ 8.21569721e-03 -6.62503778e-04 9.99966031e-01 2.29717673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.001193817 meters Centerline goodness : 0.960132 with order 1 Centerline is valid? [True, True] Translation: X:41.14, Y:0.47, Z:2.30 [[ 9.99155205e-01 -4.02618392e-02 -8.23776022e-03 4.11414199e+01] [ 4.02654715e-02 9.99188979e-01 2.75495961e-04 4.74591336e-01] [ 8.21998725e-03 -6.06960523e-04 9.99966031e-01 2.29820002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.061193817 meters Centerline goodness : 0.961443 with order 1 Centerline is valid? [True, True] Translation: X:41.20, Y:0.48, Z:2.30 [[ 9.99476160e-01 -3.12976924e-02 -8.23773971e-03 4.12035284e+01] [ 3.13010267e-02 9.99509965e-01 2.76107845e-04 4.76176628e-01] [ 8.22506139e-03 -5.33812919e-04 9.99966031e-01 2.30051529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.121193817 meters Centerline goodness : 0.957895 with order 1 Centerline is valid? [True, True] Translation: X:41.27, Y:0.47, Z:2.30 [[ 9.99666684e-01 -2.44675525e-02 -8.23771843e-03 4.12657111e+01] [ 2.44706609e-02 9.99700510e-01 2.76741221e-04 4.74898588e-01] [ 8.22848014e-03 -4.78231393e-04 9.99966031e-01 2.29688579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.181193817 meters Centerline goodness : 0.959160 with order 1 Centerline is valid? [True, True] Translation: X:41.33, Y:0.47, Z:2.30 [[ 9.99849436e-01 -1.52723552e-02 -8.23769212e-03 4.13278042e+01] [ 1.52751588e-02 9.99883289e-01 2.77522209e-04 4.72887190e-01] [ 8.23249228e-03 -4.03312479e-04 9.99966031e-01 2.29970549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.241193817 meters Centerline goodness : 0.956801 with order 1 Centerline is valid? [True, True] Translation: X:41.39, Y:0.47, Z:2.30 [[ 9.99966039e-01 -2.47191080e-04 -8.23767147e-03 4.13892759e+01] [ 2.49490712e-04 9.99999930e-01 2.78134019e-04 4.67231530e-01] [ 8.23760214e-03 -2.80179796e-04 9.99966031e-01 2.29848383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.301193817 meters Centerline goodness : 0.958882 with order 1 Centerline is valid? [True, True] Translation: X:41.45, Y:0.46, Z:2.30 [[ 9.99892941e-01 1.20933194e-02 -8.23766080e-03 4.14476134e+01] [-1.20914356e-02 9.99926857e-01 2.78449636e-04 4.59737938e-01] [ 8.24042565e-03 -1.78814681e-04 9.99966031e-01 2.29588314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.36119381700001 meters Centerline goodness : 0.955934 with order 1 Centerline is valid? [True, True] Translation: X:41.51, Y:0.45, Z:2.30 [[ 9.99816244e-01 1.73094970e-02 -8.23773536e-03 4.15061883e+01] [-1.73078084e-02 9.99850171e-01 2.76225960e-04 4.52733744e-01] [ 8.24128244e-03 -1.33598056e-04 9.99966031e-01 2.29550579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.42119381700002 meters Centerline goodness : 0.958518 with order 1 Centerline is valid? [True, True] Translation: X:41.56, Y:0.44, Z:2.30 [[ 9.99683469e-01 2.37718410e-02 -8.23775719e-03 4.15637565e+01] [-2.37703772e-02 9.99717407e-01 2.75573573e-04 4.41254794e-01] [ 8.24198014e-03 -7.96717492e-05 9.99966031e-01 2.29609089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.48119381700002 meters Centerline goodness : 0.963364 with order 1 Centerline is valid? [True, True] Translation: X:41.62, Y:0.43, Z:2.30 [[ 9.99635090e-01 2.57259933e-02 -8.23778380e-03 4.16224594e+01] [-2.57246024e-02 9.99669030e-01 2.74775762e-04 4.29827279e-01] [ 8.24212622e-03 -6.27617814e-05 9.99966031e-01 2.30298297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.541193817 meters Centerline goodness : 0.960776 with order 1 Centerline is valid? [True, True] Translation: X:41.68, Y:0.41, Z:2.31 [[ 9.99689557e-01 2.35144444e-02 -8.23780031e-03 4.16808679e+01] [-2.35129826e-02 9.99723494e-01 2.74279693e-04 4.09592080e-01] [ 8.24197205e-03 -8.04992892e-05 9.99966031e-01 2.30571612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.601193817 meters Centerline goodness : 0.959752 with order 1 Centerline is valid? [True, True] Translation: X:41.74, Y:0.40, Z:2.30 [[ 9.99746432e-01 2.09573504e-02 -8.23781718e-03 4.17388808e+01] [-2.09558059e-02 9.99780366e-01 2.73772188e-04 4.00708693e-01] [ 8.24174541e-03 -1.01072670e-04 9.99966031e-01 2.30251928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.661193817 meters Centerline goodness : 0.954152 with order 1 Centerline is valid? [True, True] Translation: X:41.80, Y:0.38, Z:2.30 [[ 9.99878432e-01 1.32385591e-02 -8.23783924e-03 4.17970945e+01] [-1.32367581e-02 9.99912353e-01 2.73106708e-04 3.75264862e-01] [ 8.24073276e-03 -1.64031222e-04 9.99966031e-01 2.30146206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.721193817 meters Centerline goodness : 0.948518 with order 1 Centerline is valid? [True, False] Translation: X:41.83, Y:0.35, Z:2.29 [[ 9.99928970e-01 9.15531078e-03 -7.63119858e-03 4.18334941e+01] [-9.03561391e-03 9.99837878e-01 1.55748007e-02 3.52632931e-01] [ 7.77255353e-03 -1.55047418e-02 9.99849584e-01 2.29488602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.781193817 meters Centerline goodness : 0.944783 with order 1 Centerline is valid? [False, False] Translation: X:41.89, Y:0.31, Z:2.28 [[ 9.99978693e-01 6.34895269e-03 1.51779567e-03 4.18858475e+01] [-6.45223411e-03 9.96595006e-01 8.21995352e-02 3.05125233e-01] [-9.90746620e-04 -8.22075770e-02 9.96614736e-01 2.27892686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.841193817 meters Centerline goodness : 0.944777 with order 1 Centerline is valid? [False, False] Translation: X:41.94, Y:0.29, Z:2.28 [[ 9.99978122e-01 3.78702217e-03 5.42341654e-03 4.19373529e+01] [-4.29260084e-03 9.95326907e-01 9.64672101e-02 2.86932054e-01] [-5.03274895e-03 -9.64883802e-02 9.95321387e-01 2.27760140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.901193817 meters Centerline goodness : 0.938962 with order 1 Centerline is valid? [False, False] Translation: X:41.99, Y:0.25, Z:2.27 [[ 9.99901821e-01 3.36220460e-03 1.36030707e-02 4.19869287e+01] [-5.21221228e-03 9.90370851e-01 1.38341641e-01 2.53106576e-01] [-1.30069518e-02 -1.38398961e-01 9.90291143e-01 2.27384455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.961193817 meters Centerline goodness : 0.939212 with order 1 Centerline is valid? [False, False] Translation: X:42.03, Y:0.24, Z:2.27 [[ 9.99795326e-01 5.68377113e-03 1.94165320e-02 4.20293524e+01] [-8.45670679e-03 9.89268291e-01 1.45865460e-01 2.37420706e-01] [-1.83790935e-02 -1.45999805e-01 9.89113879e-01 2.27441939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.021193817 meters Centerline goodness : 0.937055 with order 1 Centerline is valid? [False, False] Translation: X:42.06, Y:0.22, Z:2.28 [[ 9.99698222e-01 1.68630595e-02 1.78634401e-02 4.20611942e+01] [-1.91183733e-02 9.90700818e-01 1.34708488e-01 2.22627993e-01] [-1.54257275e-02 -1.35009356e-01 9.90724241e-01 2.27821058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.081193817 meters Centerline goodness : 0.938009 with order 1 Centerline is valid? [False, False] Translation: X:42.09, Y:0.21, Z:2.28 [[ 9.99559762e-01 2.39282872e-02 1.75419213e-02 4.20857761e+01] [-2.58807953e-02 9.92294790e-01 1.21166141e-01 2.12433977e-01] [-1.45074589e-02 -1.21566798e-01 9.92477228e-01 2.28303619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.14119381700002 meters Centerline goodness : 0.941848 with order 1 Centerline is valid? [False, False] Translation: X:42.11, Y:0.20, Z:2.29 [[ 9.99329618e-01 3.21060128e-02 1.75931175e-02 4.21088336e+01] [-3.38400008e-02 9.93438663e-01 1.09245031e-01 2.03234559e-01] [-1.39702608e-02 -1.09767146e-01 9.93859148e-01 2.28794605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.20119381700002 meters Centerline goodness : 0.938612 with order 1 Centerline is valid? [False, False] Translation: X:42.14, Y:0.19, Z:2.29 [[ 9.99025217e-01 4.18639923e-02 1.40007542e-02 4.21375426e+01] [-4.30473314e-02 9.94156286e-01 9.89959879e-02 1.85000029e-01] [-9.77457053e-03 -9.95021834e-02 9.94989333e-01 2.29090052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.261193817 meters Centerline goodness : 0.929352 with order 1 Centerline is valid? [False, False] Translation: X:42.19, Y:0.15, Z:2.29 [[ 9.98866507e-01 4.54769980e-02 1.40550616e-02 4.21870505e+01] [-4.67406209e-02 9.92947020e-01 1.08956546e-01 1.53551529e-01] [-9.00091489e-03 -1.09489987e-01 9.93947145e-01 2.28701670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.321193817 meters Centerline goodness : 0.925346 with order 1 Centerline is valid? [False, False] Translation: X:42.21, Y:0.14, Z:2.29 [[ 9.98705349e-01 4.99516376e-02 9.61560060e-03 4.22097229e+01] [-5.06579185e-02 9.93827228e-01 9.86975951e-02 1.38261559e-01] [-4.62613920e-03 -9.90569224e-02 9.95071015e-01 2.29003747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.381193817 meters Centerline goodness : 0.919734 with order 1 Centerline is valid? [False, False] Translation: X:42.25, Y:0.12, Z:2.29 [[ 9.98650843e-01 5.10793268e-02 9.34860144e-03 4.22528565e+01] [-5.17666750e-02 9.93456406e-01 1.01806588e-01 1.16817309e-01] [-4.08721599e-03 -1.02153181e-01 9.94760284e-01 2.29132099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.441193817 meters Centerline goodness : 0.917848 with order 1 Centerline is valid? [False, False] Translation: X:42.30, Y:0.07, Z:2.29 [[ 9.98603308e-01 4.97325527e-02 1.78355511e-02 4.23022011e+01] [-5.17856347e-02 9.88246561e-01 1.43829700e-01 7.28833787e-02] [-1.04729039e-02 -1.44552440e-01 9.89441717e-01 2.29278175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.501193817 meters Centerline goodness : 0.913168 with order 1 Centerline is valid? [False, False] Translation: X:42.34, Y:0.05, Z:2.29 [[ 9.98436578e-01 4.85459533e-02 2.77072298e-02 4.23395445e+01] [-5.25335243e-02 9.84310415e-01 1.68443571e-01 4.59247654e-02] [-1.90952611e-02 -1.69635781e-01 9.85321812e-01 2.29373259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.561193817 meters Centerline goodness : 0.914056 with order 1 Centerline is valid? [False, False] Translation: X:42.34, Y:0.03, Z:2.30 [[ 9.98552093e-01 4.79331865e-02 2.44157285e-02 4.23442719e+01] [-5.08015092e-02 9.89543121e-01 1.34994879e-01 2.75594815e-02] [-1.76896815e-02 -1.36039775e-01 9.90545433e-01 2.29892122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.621193817 meters Centerline goodness : 0.912868 with order 1 Centerline is valid? [False, False] Translation: X:42.36, Y:0.01, Z:2.30 [[ 9.98834472e-01 4.36459012e-02 2.06090439e-02 4.23603617e+01] [-4.57658397e-02 9.92068067e-01 1.17074500e-01 1.28610525e-02] [-1.53357523e-02 -1.17881236e-01 9.92909275e-01 2.30341413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.681193817 meters Centerline goodness : 0.917020 with order 1 Centerline is valid? [False, False] Translation: X:42.35, Y:-0.01, Z:2.31 [[ 9.99056514e-01 3.50592419e-02 2.56306679e-02 4.23539804e+01] [-3.72723572e-02 9.95089715e-01 9.16909473e-02 -5.03825558e-03] [-2.22901990e-02 -9.25597536e-02 9.95457603e-01 2.30678282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.741193817 meters Centerline goodness : 0.917054 with order 1 Centerline is valid? [False, False] Translation: X:42.34, Y:-0.02, Z:2.31 [[ 9.99190757e-01 2.77688908e-02 2.90984346e-02 4.23368249e+01] [-2.99093744e-02 9.96665995e-01 7.59099695e-02 -2.49301829e-02] [-2.68934846e-02 -7.67188559e-02 9.96690001e-01 2.30901506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.801193817 meters Centerline goodness : 0.921414 with order 1 Centerline is valid? [False, False] Translation: X:42.34, Y:-0.03, Z:2.31 [[ 9.99223642e-01 2.64747588e-02 2.91753228e-02 4.23434628e+01] [-2.82913921e-02 9.97566631e-01 6.37213844e-02 -3.48349912e-02] [-2.74173202e-02 -6.44973243e-02 9.97541170e-01 2.31108630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.86119381700001 meters Centerline goodness : 0.926260 with order 1 Centerline is valid? [False, False] Translation: X:42.34, Y:-0.04, Z:2.31 [[ 9.99113430e-01 2.67619572e-02 3.24985018e-02 4.23366801e+01] [-2.87658053e-02 9.97608711e-01 6.28441504e-02 -4.49769620e-02] [-3.07389561e-02 -6.37232802e-02 9.97494090e-01 2.31037816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.92119381700002 meters Centerline goodness : 0.929839 with order 1 Centerline is valid? [False, False] Translation: X:42.33, Y:-0.06, Z:2.31 [[ 9.99005870e-01 2.71782027e-02 3.53357738e-02 4.23304071e+01] [-2.93667440e-02 9.97583387e-01 6.29680881e-02 -5.99254215e-02] [-3.35390215e-02 -6.39431863e-02 9.97389795e-01 2.30964097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.98119381700002 meters Centerline goodness : 0.929631 with order 1 Centerline is valid? [False, False] Translation: X:42.33, Y:-0.07, Z:2.31 [[ 9.99184261e-01 2.70685511e-02 2.99684064e-02 4.23278121e+01] [-2.85040629e-02 9.98413567e-01 4.85578824e-02 -6.54746831e-02] [-2.86064720e-02 -4.93724932e-02 9.98370686e-01 2.31078940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.041193817 meters Centerline goodness : 0.933621 with order 1 Centerline is valid? [False, False] Translation: X:42.35, Y:-0.08, Z:2.31 [[ 9.99253098e-01 2.67552721e-02 2.78819200e-02 4.23534527e+01] [-2.75153482e-02 9.99250079e-01 2.72430698e-02 -7.82095931e-02] [-2.71321150e-02 -2.79899026e-02 9.99239918e-01 2.31009155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.101193817 meters Centerline goodness : 0.937037 with order 1 Centerline is valid? [False, False] Translation: X:42.37, Y:-0.08, Z:2.31 [[ 9.99317838e-01 2.50505550e-02 2.71353820e-02 4.23732808e+01] [-2.52799442e-02 9.99647240e-01 8.14365119e-03 -8.33506134e-02] [-2.69218067e-02 -8.82407684e-03 9.99598595e-01 2.30904542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.161193817 meters Centerline goodness : 0.942385 with order 1 Centerline is valid? [False, False] Translation: X:42.39, Y:-0.09, Z:2.31 [[ 9.99536028e-01 1.51938509e-02 2.63984099e-02 4.23934630e+01] [-1.51744970e-02 9.99884425e-01 -9.33327110e-04 -9.31783374e-02] [-2.64095397e-02 5.32311480e-04 9.99651066e-01 2.30826872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.221193817 meters Centerline goodness : 0.937813 with order 1 Centerline is valid? [False, False] Translation: X:42.42, Y:-0.10, Z:2.30 [[ 9.99760718e-01 1.92064827e-03 2.17903082e-02 4.24205013e+01] [-1.62974542e-03 9.99909423e-01 -1.33600154e-02 -9.97923069e-02] [-2.18139944e-02 1.33213060e-02 9.99673293e-01 2.30261386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.281193817 meters Centerline goodness : 0.937002 with order 1 Centerline is valid? [False, False] Translation: X:42.45, Y:-0.10, Z:2.30 [[ 9.99832528e-01 -4.89223367e-03 1.76346697e-02 4.24468446e+01] [ 5.23450124e-03 9.99797805e-01 -1.94151708e-02 -1.04374953e-01] [-1.75361206e-02 1.95042280e-02 9.99655976e-01 2.29866849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.341193817 meters Centerline goodness : 0.936922 with order 1 Centerline is valid? [False, False] Translation: X:42.47, Y:-0.11, Z:2.30 [[ 9.99872284e-01 -8.31239018e-03 1.36499194e-02 4.24719336e+01] [ 8.61968914e-03 9.99707189e-01 -2.26105396e-02 -1.06909877e-01] [-1.34579750e-02 2.27253099e-02 9.99651161e-01 2.29565438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.401193817 meters Centerline goodness : 0.938163 with order 1 Centerline is valid? [False, False] Translation: X:42.49, Y:-0.11, Z:2.29 [[ 9.99869360e-01 -8.55184943e-03 1.37159753e-02 4.24937240e+01] [ 8.90556881e-03 9.99623870e-01 -2.59385540e-02 -1.05239791e-01] [-1.34889937e-02 2.60573139e-02 9.99569439e-01 2.29409056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.461193817 meters Centerline goodness : 0.937893 with order 1 Centerline is valid? [False, False] Translation: X:42.53, Y:-0.10, Z:2.29 [[ 9.99879510e-01 -6.13443368e-03 1.42595486e-02 4.25318816e+01] [ 6.59165136e-03 9.99458379e-01 -3.22412724e-02 -9.99698159e-02] [-1.40540434e-02 3.23313816e-02 9.99378390e-01 2.29124251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.521193817 meters Centerline goodness : 0.943464 with order 1 Centerline is valid? [False, False] Translation: X:42.57, Y:-0.09, Z:2.29 [[ 9.99872877e-01 -1.80412854e-03 1.58421651e-02 4.25684252e+01] [ 2.40667359e-03 9.99271111e-01 -3.80979570e-02 -8.79963073e-02] [-1.57618843e-02 3.81312408e-02 9.99148423e-01 2.29039729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.581193817 meters Centerline goodness : 0.941263 with order 1 Centerline is valid? [False, False] Translation: X:42.59, Y:-0.08, Z:2.29 [[ 9.99853244e-01 1.60070266e-03 1.70566302e-02 4.25887133e+01] [-9.40428442e-04 9.99252420e-01 -3.86486412e-02 -8.46556722e-02] [-1.71057440e-02 3.86269287e-02 9.99107278e-01 2.28925620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.64119381700002 meters Centerline goodness : 0.949085 with order 1 Centerline is valid? [False, False] Translation: X:42.64, Y:-0.07, Z:2.29 [[ 9.99773046e-01 1.04656251e-02 1.85560284e-02 4.26430351e+01] [-9.35148706e-03 9.98205647e-01 -5.91441967e-02 -6.93338136e-02] [-1.91417133e-02 5.89572472e-02 9.98076970e-01 2.28821572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.70119381700002 meters Centerline goodness : 0.948113 with order 1 Centerline is valid? [False, False] Translation: X:42.68, Y:-0.06, Z:2.29 [[ 9.99694186e-01 1.59965451e-02 1.88585431e-02 4.26833265e+01] [-1.48223268e-02 9.98037459e-01 -6.08401883e-02 -6.16249790e-02] [-1.97947653e-02 6.05420550e-02 9.97969352e-01 2.28540289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.761193817 meters Centerline goodness : 0.947244 with order 1 Centerline is valid? [False, False] Translation: X:42.73, Y:-0.03, Z:2.28 [[ 9.99311786e-01 2.39865920e-02 2.82948244e-02 4.27291236e+01] [-2.05929094e-02 9.93190387e-01 -1.14668164e-01 -3.39226824e-02] [-3.08526460e-02 1.14006575e-01 9.93000813e-01 2.28026624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.821193817 meters Centerline goodness : 0.941663 with order 1 Centerline is valid? [False, False] Translation: X:42.77, Y:-0.03, Z:2.28 [[ 9.99214969e-01 2.65048987e-02 2.94437811e-02 4.27674417e+01] [-2.28036618e-02 9.92558498e-01 -1.19614468e-01 -2.64439936e-02] [-3.23950445e-02 1.18849141e-01 9.92383718e-01 2.27891797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.881193817 meters Centerline goodness : 0.942016 with order 1 Centerline is valid? [False, False] Translation: X:42.77, Y:-0.03, Z:2.28 [[ 9.99221844e-01 2.43530099e-02 3.10263859e-02 4.27687829e+01] [-2.11431408e-02 9.94774353e-01 -9.98847091e-02 -2.84692551e-02] [-3.32967463e-02 9.91509880e-02 9.94515162e-01 2.28125307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.941193817 meters Centerline goodness : 0.943950 with order 1 Centerline is valid? [False, False] Translation: X:42.81, Y:-0.02, Z:2.28 [[ 9.99215829e-01 1.83827881e-02 3.50685062e-02 4.28082191e+01] [-1.48554815e-02 9.95044194e-01 -9.83176828e-02 -2.35282711e-02] [-3.67020666e-02 9.77196254e-02 9.94536994e-01 2.27743468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.001193817 meters Centerline goodness : 0.941141 with order 1 Centerline is valid? [False, False] Translation: X:42.85, Y:-0.02, Z:2.28 [[ 9.99429910e-01 1.33301159e-02 3.10187612e-02 4.28474855e+01] [-1.05529607e-02 9.96061663e-01 -8.80329430e-02 -2.20618092e-02] [-3.20700881e-02 8.76554165e-02 9.95634490e-01 2.27673428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.061193817 meters Centerline goodness : 0.943504 with order 1 Centerline is valid? [False, False] Translation: X:42.88, Y:-0.02, Z:2.28 [[ 9.99507273e-01 3.00457175e-03 3.12439431e-02 4.28752107e+01] [-6.41672664e-04 9.97155880e-01 -7.53640437e-02 -2.09335185e-02] [-3.13815183e-02 7.53068614e-02 9.96666482e-01 2.27744965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.121193817 meters Centerline goodness : 0.940912 with order 1 Centerline is valid? [False, False] Translation: X:42.91, Y:-0.02, Z:2.28 [[ 9.99628121e-01 -3.67672093e-03 2.70203974e-02 4.29133622e+01] [ 5.47087803e-03 9.97762805e-01 -6.66292248e-02 -2.26069275e-02] [-2.67149704e-02 6.67522720e-02 9.97411873e-01 2.27733707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.181193817 meters Centerline goodness : 0.937586 with order 1 Centerline is valid? [False, False] Translation: X:42.95, Y:-0.02, Z:2.28 [[ 9.99665890e-01 -1.24275829e-02 2.26641304e-02 4.29539145e+01] [ 1.37260816e-02 9.98218278e-01 -5.80677568e-02 -1.84315006e-02] [-2.19021074e-02 5.83594456e-02 9.98055346e-01 2.27768970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.241193817 meters Centerline goodness : 0.937338 with order 1 Centerline is valid? [False, False] Translation: X:42.99, Y:-0.02, Z:2.28 [[ 9.99589320e-01 -2.04156530e-02 2.01095260e-02 4.29916365e+01] [ 2.13809372e-02 9.98569050e-01 -4.90174263e-02 -1.65774816e-02] [-1.90800276e-02 4.94272564e-02 9.98595463e-01 2.27976397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.301193817 meters Centerline goodness : 0.937152 with order 1 Centerline is valid? [False, False] Translation: X:43.03, Y:-0.01, Z:2.28 [[ 9.99337325e-01 -3.25053636e-02 1.63802571e-02 4.30272408e+01] [ 3.32185581e-02 9.98419503e-01 -4.53323734e-02 -1.29684158e-02] [-1.48808229e-02 4.58464613e-02 9.98837656e-01 2.28261788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.36119381700001 meters Centerline goodness : 0.934072 with order 1 Centerline is valid? [False, False] Translation: X:43.07, Y:-0.00, Z:2.28 [[ 9.98964232e-01 -4.28520843e-02 1.53023597e-02 4.30666000e+01] [ 4.34405502e-02 9.98236661e-01 -4.04535211e-02 -2.74548668e-03] [-1.35418587e-02 4.10763636e-02 9.99064237e-01 2.28187460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.42119381700002 meters Centerline goodness : 0.937209 with order 1 Centerline is valid? [False, False] Translation: X:43.09, Y:0.01, Z:2.28 [[ 9.98945565e-01 -4.28782689e-02 1.64076685e-02 4.30871225e+01] [ 4.35625660e-02 9.98085266e-01 -4.39101803e-02 5.81267565e-03] [-1.44934597e-02 4.45786400e-02 9.98900738e-01 2.28013110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.48119381700002 meters Centerline goodness : 0.936973 with order 1 Centerline is valid? [False, False] Translation: X:43.11, Y:0.01, Z:2.28 [[ 9.99028252e-01 -4.04541306e-02 1.74933060e-02 4.31077993e+01] [ 4.12067253e-02 9.98134669e-01 -4.50465105e-02 1.33020336e-02] [-1.56383578e-02 4.57235785e-02 9.98831716e-01 2.27785759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.541193817 meters Centerline goodness : 0.938860 with order 1 Centerline is valid? [False, False] Translation: X:43.14, Y:0.03, Z:2.27 [[ 9.99249877e-01 -3.37274093e-02 1.90301199e-02 4.31437605e+01] [ 3.46015181e-02 9.98264878e-01 -4.76441888e-02 2.57186129e-02] [-1.73901853e-02 4.82669208e-02 9.98683076e-01 2.27476636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.601193817 meters Centerline goodness : 0.943477 with order 1 Centerline is valid? [False, False] Translation: X:43.18, Y:0.03, Z:2.27 [[ 9.99335829e-01 -2.97879843e-02 2.09899387e-02 4.31815043e+01] [ 3.07076186e-02 9.98517372e-01 -4.49455189e-02 3.19317767e-02] [-1.96199820e-02 4.55602184e-02 9.98768904e-01 2.27426759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.661193817 meters Centerline goodness : 0.946149 with order 1 Centerline is valid? [False, False] Translation: X:43.22, Y:0.04, Z:2.28 [[ 9.99313429e-01 -2.91449357e-02 2.28744956e-02 4.32165796e+01] [ 3.01379037e-02 9.98561930e-01 -4.43370950e-02 4.12398049e-02] [-2.15493987e-02 4.49960438e-02 9.98754714e-01 2.27590645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.721193817 meters Centerline goodness : 0.949984 with order 1 Centerline is valid? [False, False] Translation: X:43.24, Y:0.05, Z:2.28 [[ 9.99246835e-01 -2.93780069e-02 2.53514546e-02 4.32352122e+01] [ 3.05367099e-02 9.98446852e-01 -4.65982049e-02 4.65006195e-02] [-2.39431176e-02 4.73372588e-02 9.98591964e-01 2.27524821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.781193817 meters Centerline goodness : 0.950088 with order 1 Centerline is valid? [False, True] Translation: X:43.27, Y:0.06, Z:2.27 [[ 9.99271186e-01 -2.84429954e-02 2.54576526e-02 4.32749265e+01] [ 2.95720671e-02 9.98543238e-01 -4.51319656e-02 5.87612703e-02] [-2.41368785e-02 4.58519082e-02 9.98656604e-01 2.27309476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.841193817 meters Centerline goodness : 0.946012 with order 1 Centerline is valid? [True, False] Translation: X:43.31, Y:0.07, Z:2.27 [[ 9.99409803e-01 -2.96198520e-02 1.73985805e-02 4.33086718e+01] [ 3.03657763e-02 9.98556683e-01 -4.42997792e-02 7.15001141e-02] [-1.60613159e-02 4.48019550e-02 9.98866767e-01 2.27251847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.901193817 meters Centerline goodness : 0.945423 with order 1 Centerline is valid? [False, False] Translation: X:43.31, Y:0.08, Z:2.27 [[ 9.99477461e-01 -2.74766415e-02 1.70246678e-02 4.33103038e+01] [ 2.81918467e-02 9.98664253e-01 -4.33004456e-02 7.81815879e-02] [-1.58121764e-02 4.37577762e-02 9.98917030e-01 2.27149017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.961193817 meters Centerline goodness : 0.949736 with order 1 Centerline is valid? [False, False] Translation: X:43.31, Y:0.09, Z:2.27 [[ 9.99550153e-01 -2.46536235e-02 1.70789214e-02 4.33096106e+01] [ 2.53497684e-02 9.98803527e-01 -4.18198994e-02 9.09403165e-02] [-1.60274749e-02 4.22340335e-02 9.98979182e-01 2.27270444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.021193817 meters Centerline goodness : 0.952293 with order 1 Centerline is valid? [False, True] Translation: X:43.31, Y:0.10, Z:2.27 [[ 9.99587266e-01 -2.33687518e-02 1.67092550e-02 4.33099981e+01] [ 2.40439961e-02 9.98852373e-01 -4.14225007e-02 9.86244819e-02] [-1.57220869e-02 4.18071615e-02 9.99001991e-01 2.27332201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.081193817 meters Centerline goodness : 0.951873 with order 1 Centerline is valid? [True, True] Translation: X:43.37, Y:0.09, Z:2.27 [[ 9.99480388e-01 -2.62338960e-02 1.87279737e-02 4.33728901e+01] [ 2.62558340e-02 9.99654827e-01 -9.26445302e-04 9.39862377e-02] [-1.86972051e-02 1.41768248e-03 9.99824187e-01 2.27129541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.14119381700002 meters Centerline goodness : 0.955757 with order 1 Centerline is valid? [True, True] Translation: X:43.44, Y:0.10, Z:2.27 [[ 9.99518148e-01 -2.47535712e-02 1.87278585e-02 4.34351311e+01] [ 2.47752942e-02 9.99692614e-01 -9.28770089e-04 1.00666568e-01] [-1.86991114e-02 1.39231076e-03 9.99824187e-01 2.27071850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.20119381700002 meters Centerline goodness : 0.954760 with order 1 Centerline is valid? [True, True] Translation: X:43.50, Y:0.11, Z:2.27 [[ 9.99571010e-01 -2.25181461e-02 1.87277822e-02 4.34968608e+01] [ 2.25395074e-02 9.99745520e-01 -9.30304144e-04 1.08509482e-01] [-1.87020677e-02 1.35202004e-03 9.99824187e-01 2.26665991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.261193817 meters Centerline goodness : 0.958068 with order 1 Centerline is valid? [True, True] Translation: X:43.56, Y:0.11, Z:2.27 [[ 9.99508388e-01 -2.51447221e-02 1.87276387e-02 4.35593528e+01] [ 2.51665956e-02 9.99682836e-01 -9.33185855e-04 1.14395178e-01] [-1.86982342e-02 1.40403800e-03 9.99824187e-01 2.26735213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.321193817 meters Centerline goodness : 0.955850 with order 1 Centerline is valid? [True, True] Translation: X:43.62, Y:0.13, Z:2.27 [[ 9.99337349e-01 -3.12112437e-02 1.87275620e-02 4.36215623e+01] [ 3.12342043e-02 9.99511656e-01 -9.34720821e-04 1.25497430e-01] [-1.86892428e-02 1.51904193e-03 9.99824187e-01 2.26623578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.381193817 meters Centerline goodness : 0.958598 with order 1 Centerline is valid? [True, True] Translation: X:43.68, Y:0.13, Z:2.27 [[ 9.99230674e-01 -3.44578055e-02 1.87275059e-02 4.36840356e+01] [ 3.44813532e-02 9.99404903e-01 -9.35845057e-04 1.30711638e-01] [-1.86841140e-02 1.58087483e-03 9.99824187e-01 2.26682905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.441193817 meters Centerline goodness : 0.959846 with order 1 Centerline is valid? [True, True] Translation: X:43.75, Y:0.13, Z:2.27 [[ 9.99226243e-01 -3.45860906e-02 1.87274324e-02 4.37464419e+01] [ 3.46096880e-02 9.99400466e-01 -9.37313365e-04 1.32585271e-01] [-1.86837866e-02 1.58473870e-03 9.99824187e-01 2.26561075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.501193817 meters Centerline goodness : 0.959881 with order 1 Centerline is valid? [True, True] Translation: X:43.81, Y:0.15, Z:2.26 [[ 9.99349348e-01 -3.08247799e-02 1.87273599e-02 4.38084437e+01] [ 3.08477483e-02 9.99523654e-01 -9.38758531e-04 1.47136004e-01] [-1.86895022e-02 1.51584461e-03 9.99824187e-01 2.26342157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.561193817 meters Centerline goodness : 0.962336 with order 1 Centerline is valid? [True, True] Translation: X:43.87, Y:0.16, Z:2.27 [[ 9.99538911e-01 -2.39009270e-02 1.87273063e-02 4.38710696e+01] [ 2.39227072e-02 9.99713369e-01 -9.39826268e-04 1.60755306e-01] [-1.86994758e-02 1.38740079e-03 9.99824187e-01 2.26681986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.621193817 meters Centerline goodness : 0.962791 with order 1 Centerline is valid? [True, True] Translation: X:43.93, Y:0.17, Z:2.27 [[ 9.99629248e-01 -1.97650156e-02 1.87272500e-02 4.39325912e+01] [ 1.97860947e-02 9.99803793e-01 -9.40947585e-04 1.67727821e-01] [-1.87049778e-02 1.31113787e-03 9.99824187e-01 2.26515875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.681193817 meters Centerline goodness : 0.964522 with order 1 Centerline is valid? [True, True] Translation: X:44.00, Y:0.17, Z:2.26 [[ 9.99711031e-01 -1.50713990e-02 1.87271948e-02 4.39952227e+01] [ 1.50916788e-02 9.99885670e-01 -9.42044464e-04 1.74226293e-01] [-1.87108558e-02 1.22439705e-03 9.99824187e-01 2.26358818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.741193817 meters Centerline goodness : 0.961804 with order 1 Centerline is valid? [True, True] Translation: X:44.06, Y:0.18, Z:2.26 [[ 9.99795375e-01 -7.64872272e-03 1.87271267e-02 4.40575516e+01] [ 7.66773059e-03 9.99970158e-01 -9.43397295e-04 1.80990412e-01] [-1.87193520e-02 1.08679881e-03 9.99824187e-01 2.26278020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.801193817 meters Centerline goodness : 0.961628 with order 1 Centerline is valid? [True, True] Translation: X:44.12, Y:0.19, Z:2.26 [[ 9.99823888e-01 -1.22128776e-03 1.87270509e-02 4.41206816e+01] [ 1.23919969e-03 9.99998786e-01 -9.44899306e-04 1.88743588e-01] [-1.87258742e-02 9.67939453e-04 9.99824187e-01 2.26030207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.86119381700001 meters Centerline goodness : 0.957849 with order 1 Centerline is valid? [True, True] Translation: X:44.18, Y:0.19, Z:2.25 [[ 9.99824563e-01 3.78812256e-04 1.87269577e-02 4.41816288e+01] [-3.61145810e-04 9.99999487e-01 -9.46742659e-04 1.91348509e-01] [-1.87273067e-02 9.39813403e-04 9.99824187e-01 2.25159463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.92119381700002 meters Centerline goodness : 0.962513 with order 1 Centerline is valid? [True, True] Translation: X:44.24, Y:0.19, Z:2.26 [[ 9.99824612e-01 -2.20618575e-04 1.87269026e-02 4.42442943e+01] [ 2.38410239e-04 9.99999522e-01 -9.47831897e-04 1.93915282e-01] [-1.87266845e-02 9.52130344e-04 9.99824187e-01 2.25652547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.98119381700002 meters Centerline goodness : 0.963818 with order 1 Centerline is valid? [True, True] Translation: X:44.31, Y:0.19, Z:2.26 [[ 9.99824618e-01 -2.13384469e-04 1.87266375e-02 4.43068717e+01] [ 2.31272172e-04 9.99999519e-01 -9.53040564e-04 1.93933653e-01] [-1.87264251e-02 9.57204368e-04 9.99824187e-01 2.25540688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.041193817 meters Centerline goodness : 0.965911 with order 1 Centerline is valid? [True, True] Translation: X:44.37, Y:0.20, Z:2.26 [[ 9.99817973e-01 3.65198634e-03 1.87265622e-02 4.43678150e+01] [-3.63474735e-03 9.99992939e-01 -9.54517472e-04 1.95854398e-01] [-1.87299159e-02 8.86277402e-04 9.99824187e-01 2.25616729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.101193817 meters Centerline goodness : 0.963043 with order 1 Centerline is valid? [True, True] Translation: X:44.43, Y:0.19, Z:2.25 [[ 9.99766616e-01 1.07717882e-02 1.87265250e-02 4.44290274e+01] [-1.07557820e-02 9.99941699e-01 -9.55245996e-04 1.93536225e-01] [-1.87357230e-02 7.53604635e-04 9.99824187e-01 2.25372430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.161193817 meters Centerline goodness : 0.961469 with order 1 Centerline is valid? [True, True] Translation: X:44.49, Y:0.19, Z:2.25 [[ 9.99700241e-01 1.57717316e-02 1.87264708e-02 4.44896000e+01] [-1.57565813e-02 9.99875400e-01 -9.56308460e-04 1.88641840e-01] [-1.87392201e-02 6.60956638e-04 9.99824187e-01 2.25166801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.221193817 meters Centerline goodness : 0.959286 with order 1 Centerline is valid? [True, True] Translation: X:44.55, Y:0.18, Z:2.25 [[ 9.99625327e-01 1.99633111e-02 1.87262435e-02 4.45522483e+01] [-1.99488125e-02 9.99800541e-01 -9.60738533e-04 1.84487304e-01] [-1.87416879e-02 5.86812249e-04 9.99824187e-01 2.25255029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.281193817 meters Centerline goodness : 0.958840 with order 1 Centerline is valid? [True, True] Translation: X:44.61, Y:0.18, Z:2.26 [[ 9.99638603e-01 1.92872268e-02 1.87261069e-02 4.46146445e+01] [-1.92725600e-02 9.99813803e-01 -9.63393249e-04 1.78455664e-01] [-1.87412014e-02 6.02145062e-04 9.99824187e-01 2.25532932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.341193817 meters Centerline goodness : 0.952635 with order 1 Centerline is valid? [True, True] Translation: X:44.68, Y:0.17, Z:2.25 [[ 9.99704832e-01 1.54785251e-02 1.87260047e-02 4.46752814e+01] [-1.54631538e-02 9.99879972e-01 -9.65376692e-04 1.66047659e-01] [-1.87386997e-02 6.75528654e-04 9.99824187e-01 2.25153322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.401193817 meters Centerline goodness : 0.956547 with order 1 Centerline is valid? [True, True] Translation: X:44.74, Y:0.16, Z:2.25 [[ 9.99756628e-01 1.16631102e-02 1.87258537e-02 4.47377172e+01] [-1.16470160e-02 9.99931702e-01 -9.68297336e-04 1.58683968e-01] [-1.87358681e-02 7.49961362e-04 9.99824187e-01 2.25150357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.461193817 meters Centerline goodness : 0.948475 with order 1 Centerline is valid? [True, False] Translation: X:44.74, Y:0.11, Z:2.24 [[ 9.99795225e-01 -3.32432419e-03 1.99613823e-02 4.47356413e+01] [ 1.43895789e-04 9.87557480e-01 1.57258393e-01 1.10570029e-01] [-2.02357903e-02 -1.57223318e-01 9.87355732e-01 2.24094072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.521193817 meters Centerline goodness : 0.945232 with order 1 Centerline is valid? [False, False] Translation: X:44.74, Y:0.06, Z:2.24 [[ 9.99722011e-01 -1.64169336e-02 1.69229010e-02 4.47382375e+01] [ 1.02855086e-02 9.49526094e-01 3.13519385e-01 6.17796372e-02] [-2.12157630e-02 -3.13258169e-01 9.49430993e-01 2.24190201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.581193817 meters Centerline goodness : 0.944950 with order 1 Centerline is valid? [False, False] Translation: X:44.74, Y:0.02, Z:2.26 [[ 9.99703126e-01 -2.29544372e-02 8.17034419e-03 4.47438461e+01] [ 1.69623160e-02 8.96393483e-01 4.42934536e-01 2.25063949e-02] [-1.74911563e-02 -4.42664452e-01 8.96516727e-01 2.25508498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.64119381700002 meters Centerline goodness : 0.938485 with order 1 Centerline is valid? [False, False] Translation: X:44.75, Y:0.02, Z:2.26 [[ 9.99818448e-01 -1.86036950e-02 4.11994578e-03 4.47495232e+01] [ 1.46990809e-02 8.90625574e-01 4.54499751e-01 2.44197439e-02] [-1.21247038e-02 -4.54356676e-01 8.90737336e-01 2.26112612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.70119381700002 meters Centerline goodness : 0.938975 with order 1 Centerline is valid? [False, False] Translation: X:44.74, Y:0.04, Z:2.27 [[ 9.99977668e-01 -5.05982180e-03 4.36586066e-03 4.47424816e+01] [ 2.87903358e-03 9.15708085e-01 4.01833814e-01 3.95143894e-02] [-6.03106140e-03 -4.01812271e-01 9.15702203e-01 2.26796269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.761193817 meters Centerline goodness : 0.939541 with order 1 Centerline is valid? [False, False] Translation: X:44.75, Y:0.05, Z:2.27 [[ 9.99969141e-01 1.75119029e-03 7.65836837e-03 4.47450987e+01] [-4.39470107e-03 9.32732090e-01 3.60543389e-01 4.98390151e-02] [-6.51182585e-03 -3.60565919e-01 9.32711003e-01 2.27425936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.821193817 meters Centerline goodness : 0.940806 with order 1 Centerline is valid? [False, False] Translation: X:44.76, Y:0.05, Z:2.28 [[ 9.99958195e-01 4.63882553e-03 7.87968565e-03 4.47620514e+01] [-6.96843262e-03 9.44567319e-01 3.28243844e-01 5.49959984e-02] [-5.92022763e-03 -3.28285031e-01 9.44560157e-01 2.28090908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.881193817 meters Centerline goodness : 0.939965 with order 1 Centerline is valid? [False, False] Translation: X:44.80, Y:0.05, Z:2.28 [[ 9.99908373e-01 2.78609177e-03 1.32470050e-02 4.48039731e+01] [-6.97717179e-03 9.44662480e-01 3.27969690e-01 5.02731878e-02] [-1.16001950e-02 -3.28032065e-01 9.44595363e-01 2.28278027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.941193817 meters Centerline goodness : 0.944486 with order 1 Centerline is valid? [False, False] Translation: X:44.84, Y:0.04, Z:2.29 [[ 9.99630256e-01 -4.11621460e-03 2.68776649e-02 4.48435202e+01] [-5.36065969e-03 9.39241831e-01 3.43214285e-01 3.88269029e-02] [-2.66573709e-02 -3.43231466e-01 9.38872486e-01 2.28515118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.001193817 meters Centerline goodness : 0.941591 with order 1 Centerline is valid? [False, False] Translation: X:44.88, Y:0.03, Z:2.29 [[ 9.99271478e-01 -1.20554434e-02 3.62102085e-02 4.48811307e+01] [-2.32956162e-03 9.27761431e-01 3.73166586e-01 2.70167958e-02] [-3.80931235e-02 -3.72979080e-01 9.27057452e-01 2.28600122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.061193817 meters Centerline goodness : 0.938343 with order 1 Centerline is valid? [False, False] Translation: X:44.91, Y:-0.02, Z:2.30 [[ 9.99151993e-01 -2.91071613e-02 2.91216180e-02 4.49063129e+01] [ 1.01632128e-02 8.59745111e-01 5.10622221e-01 -1.84351068e-02] [-3.98999320e-02 -5.09893240e-01 8.59311864e-01 2.30488750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.121193817 meters Centerline goodness : 0.938419 with order 1 Centerline is valid? [False, False] Translation: X:44.93, Y:-0.04, Z:2.33 [[ 9.98933699e-01 -4.17356120e-02 1.97383800e-02 4.49324056e+01] [ 2.16585653e-02 8.01207917e-01 5.97993963e-01 -4.00802430e-02] [-4.07721904e-02 -5.96928817e-01 8.01257522e-01 2.32615093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.181193817 meters Centerline goodness : 0.939698 with order 1 Centerline is valid? [False, False] Translation: X:44.91, Y:-0.02, Z:2.33 [[ 9.98978326e-01 -4.04042276e-02 2.02435854e-02 4.49088338e+01] [ 2.25972004e-02 8.34525006e-01 5.50506477e-01 -2.04064178e-02] [-3.91365672e-02 -5.49486590e-01 8.34585416e-01 2.32525555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.241193817 meters Centerline goodness : 0.934128 with order 1 Centerline is valid? [False, False] Translation: X:44.89, Y:-0.00, Z:2.33 [[ 9.99065567e-01 -3.92019451e-02 1.81989280e-02 4.48875253e+01] [ 2.44697564e-02 8.60133577e-01 5.09481560e-01 -3.32486570e-03] [-3.56261772e-02 -5.08560160e-01 8.60289102e-01 2.32520124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.301193817 meters Centerline goodness : 0.936297 with order 1 Centerline is valid? [False, False] Translation: X:44.86, Y:0.02, Z:2.32 [[ 9.99063439e-01 -3.93430439e-02 1.80102620e-02 4.48634471e+01] [ 2.66418823e-02 8.87302408e-01 4.60417904e-01 1.73936642e-02] [-3.40947906e-02 -4.59506867e-01 8.87519568e-01 2.32498268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.36119381700001 meters Centerline goodness : 0.933073 with order 1 Centerline is valid? [False, False] Translation: X:44.85, Y:0.04, Z:2.33 [[ 9.99070090e-01 -3.95397953e-02 1.71918617e-02 4.48458020e+01] [ 2.88421112e-02 9.09284363e-01 4.15174758e-01 3.53183296e-02] [-3.20482159e-02 -4.14292833e-01 9.09579221e-01 2.32673453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.42119381700002 meters Centerline goodness : 0.936072 with order 1 Centerline is valid? [False, False] Translation: X:44.82, Y:0.03, Z:2.35 [[ 9.98480676e-01 -5.50346031e-02 -2.74464554e-03 4.48166309e+01] [ 5.00219877e-02 8.84395099e-01 4.64050763e-01 3.42194759e-02] [-2.31114985e-02 -4.63483011e-01 8.85804356e-01 2.34829617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.48119381700002 meters Centerline goodness : 0.938926 with order 1 Centerline is valid? [False, False] Translation: X:44.79, Y:0.06, Z:2.35 [[ 9.98408033e-01 -5.63630762e-02 -2.14532260e-03 4.47917812e+01] [ 5.22540597e-02 9.09963146e-01 4.11383745e-01 6.07673847e-02] [-2.12346889e-02 -4.10840938e-01 9.11459715e-01 2.34713508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.541193817 meters Centerline goodness : 0.940376 with order 1 Centerline is valid? [False, False] Translation: X:44.76, Y:0.08, Z:2.35 [[ 9.98509092e-01 -5.44821915e-02 3.35913154e-03 4.47621176e+01] [ 4.93864702e-02 9.27902544e-01 3.69537339e-01 8.03103359e-02] [-2.32501508e-02 -3.68820497e-01 9.29209810e-01 2.34824538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.601193817 meters Centerline goodness : 0.946912 with order 1 Centerline is valid? [False, False] Translation: X:44.73, Y:0.10, Z:2.35 [[ 9.98499117e-01 -5.39769448e-02 9.27372521e-03 4.47344296e+01] [ 4.81164237e-02 9.45445623e-01 3.22207051e-01 9.95265344e-02] [-2.61595551e-02 -3.21277237e-01 9.46623798e-01 2.34902527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.661193817 meters Centerline goodness : 0.944292 with order 1 Centerline is valid? [False, False] Translation: X:44.72, Y:0.11, Z:2.35 [[ 9.98406247e-01 -5.56087807e-02 9.62439959e-03 4.47236371e+01] [ 5.06029711e-02 9.57611894e-01 2.83582088e-01 1.14432736e-01] [-2.49860937e-02 -2.82643105e-01 9.58899666e-01 2.34816841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.721193817 meters Centerline goodness : 0.939212 with order 1 Centerline is valid? [False, False] Translation: X:44.71, Y:0.13, Z:2.35 [[ 9.98274661e-01 -5.80619296e-02 8.74719545e-03 4.47135929e+01] [ 5.42426097e-02 9.68950358e-01 2.41232134e-01 1.29184094e-01] [-2.24820013e-02 -2.40341456e-01 9.70428021e-01 2.34964046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.781193817 meters Centerline goodness : 0.940758 with order 1 Centerline is valid? [False, False] Translation: X:44.70, Y:0.14, Z:2.35 [[ 9.97938722e-01 -6.32487723e-02 1.08582001e-02 4.46991782e+01] [ 5.97305423e-02 9.77312959e-01 2.03203452e-01 1.44101613e-01] [-2.34642285e-02 -2.02136027e-01 9.79076328e-01 2.35162321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.841193817 meters Centerline goodness : 0.941341 with order 1 Centerline is valid? [False, False] Translation: X:44.69, Y:0.16, Z:2.35 [[ 9.97741619e-01 -6.61610204e-02 1.15922695e-02 4.46942072e+01] [ 6.31792945e-02 9.82990591e-01 1.72446731e-01 1.57022119e-01] [-2.28043436e-02 -1.71324889e-01 9.84950630e-01 2.35343727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.901193817 meters Centerline goodness : 0.940448 with order 1 Centerline is valid? [False, False] Translation: X:44.68, Y:0.17, Z:2.35 [[ 9.98001790e-01 -6.21658996e-02 1.13061441e-02 4.46846393e+01] [ 5.96476761e-02 9.85950706e-01 1.56023587e-01 1.67547965e-01] [-2.08466474e-02 -1.55037434e-01 9.87688621e-01 2.35319803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.961193817 meters Centerline goodness : 0.942199 with order 1 Centerline is valid? [False, False] Translation: X:44.67, Y:0.18, Z:2.35 [[ 9.98388546e-01 -5.55805108e-02 1.14506984e-02 4.46731328e+01] [ 5.33753927e-02 9.88264495e-01 1.43123565e-01 1.77078562e-01] [-1.92711996e-02 -1.42281743e-01 9.89638584e-01 2.35286040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.021193817 meters Centerline goodness : 0.942628 with order 1 Centerline is valid? [False, False] Translation: X:44.67, Y:0.18, Z:2.35 [[ 9.98954107e-01 -4.40027703e-02 1.24277583e-02 4.46685951e+01] [ 4.19919981e-02 9.90432375e-01 1.31454870e-01 1.84270301e-01] [-1.80932327e-02 -1.30795516e-01 9.91244252e-01 2.35251451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.081193817 meters Centerline goodness : 0.945674 with order 1 Centerline is valid? [False, False] Translation: X:44.65, Y:0.19, Z:2.35 [[ 9.99388085e-01 -3.10313769e-02 1.61403021e-02 4.46519239e+01] [ 2.88804618e-02 9.92387269e-01 1.19722294e-01 1.94104010e-01] [-1.97325779e-02 -1.19182895e-01 9.92676213e-01 2.35358959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.14119381700002 meters Centerline goodness : 0.947600 with order 1 Centerline is valid? [False, False] Translation: X:44.66, Y:0.20, Z:2.36 [[ 9.99702953e-01 -1.92105948e-02 1.49986451e-02 4.46585673e+01] [ 1.75394036e-02 9.94364707e-01 1.04552369e-01 2.00845654e-01] [-1.69226366e-02 -1.04258245e-01 9.94406277e-01 2.35650109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.20119381700002 meters Centerline goodness : 0.946423 with order 1 Centerline is valid? [False, False] Translation: X:44.68, Y:0.20, Z:2.36 [[ 9.99860045e-01 -9.04999276e-03 1.40708333e-02 4.46779592e+01] [ 7.64974302e-03 9.95297213e-01 9.65657222e-02 2.03190633e-01] [-1.48785802e-02 -9.64445690e-02 9.95227146e-01 2.35936133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.261193817 meters Centerline goodness : 0.951000 with order 1 Centerline is valid? [False, True] Translation: X:44.70, Y:0.20, Z:2.36 [[ 9.99893984e-01 -1.09049148e-04 1.45605018e-02 4.47044854e+01] [-1.09977436e-03 9.96550033e-01 8.29868856e-02 2.04943171e-01] [-1.45193182e-02 -8.29941009e-02 9.96444263e-01 2.36208199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.321193817 meters Centerline goodness : 0.946663 with order 1 Centerline is valid? [True, False] Translation: X:44.72, Y:0.20, Z:2.36 [[ 9.99841788e-01 1.33413369e-02 1.17647190e-02 4.47238081e+01] [-1.40752569e-02 9.97806719e-01 6.46810542e-02 2.02073953e-01] [-1.08759839e-02 -6.48364123e-02 9.97836636e-01 2.36347393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.381193817 meters Centerline goodness : 0.945047 with order 1 Centerline is valid? [False, False] Translation: X:44.74, Y:0.20, Z:2.37 [[ 9.99730580e-01 2.06940607e-02 1.05130485e-02 4.47406449e+01] [-2.12667238e-02 9.98110556e-01 5.76458495e-02 1.96597246e-01] [-9.30025801e-03 -5.78538966e-02 9.98281740e-01 2.36617145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.441193817 meters Centerline goodness : 0.946897 with order 1 Centerline is valid? [False, False] Translation: X:44.77, Y:0.19, Z:2.37 [[ 9.99747999e-01 1.89552041e-02 1.20265694e-02 4.47650825e+01] [-1.95690736e-02 9.98394035e-01 5.31639140e-02 1.87877945e-01] [-1.09995223e-02 -5.33858654e-02 9.98513375e-01 2.36884052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.501193817 meters Centerline goodness : 0.948600 with order 1 Centerline is valid? [False, False] Translation: X:44.80, Y:0.18, Z:2.37 [[ 9.99836077e-01 1.22157453e-02 1.33639034e-02 4.48025415e+01] [-1.29211819e-02 9.98455149e-01 5.40403497e-02 1.75304255e-01] [-1.26831150e-02 -5.42041687e-02 9.98449321e-01 2.36768144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.561193817 meters Centerline goodness : 0.943897 with order 1 Centerline is valid? [False, False] Translation: X:44.84, Y:0.13, Z:2.37 [[ 9.99704623e-01 -2.25871770e-03 2.41984511e-02 4.48428239e+01] [-8.41910199e-04 9.91855833e-01 1.27362856e-01 1.33448344e-01] [-2.42890516e-02 -1.27345609e-01 9.91560960e-01 2.36606061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.621193817 meters Centerline goodness : 0.946138 with order 1 Centerline is valid? [False, False] Translation: X:44.84, Y:0.07, Z:2.39 [[ 9.99278040e-01 -3.12406748e-02 2.16198888e-02 4.48426079e+01] [ 2.27053797e-02 9.47333159e-01 3.19443817e-01 6.64214489e-02] [-3.04608780e-02 -3.18722303e-01 9.47358553e-01 2.38576310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.681193817 meters Centerline goodness : 0.943493 with order 1 Centerline is valid? [False, False] Translation: X:44.84, Y:0.07, Z:2.39 [[ 9.99009076e-01 -3.91946560e-02 2.10866125e-02 4.48356123e+01] [ 3.22292350e-02 9.63821617e-01 2.64592454e-01 7.19353222e-02] [-3.06943431e-02 -2.63650657e-01 9.64129757e-01 2.38822159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.741193817 meters Centerline goodness : 0.935433 with order 1 Centerline is valid? [False, False] Translation: X:44.83, Y:0.08, Z:2.39 [[ 9.98575567e-01 -5.02970865e-02 1.78056112e-02 4.48322763e+01] [ 4.60819511e-02 9.81212420e-01 1.87346311e-01 7.95974400e-02] [-2.68940605e-02 -1.86258932e-01 9.82132537e-01 2.38971580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.801193817 meters Centerline goodness : 0.935298 with order 1 Centerline is valid? [False, False] Translation: X:44.83, Y:0.09, Z:2.39 [[ 9.98521704e-01 -5.21652962e-02 1.52705132e-02 4.48326434e+01] [ 4.94407518e-02 9.88402133e-01 1.43585636e-01 8.74022426e-02] [-2.25835951e-02 -1.42618388e-01 9.89520074e-01 2.39181495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.86119381700001 meters Centerline goodness : 0.941502 with order 1 Centerline is valid? [False, False] Translation: X:44.81, Y:0.09, Z:2.40 [[ 9.98709216e-01 -4.69546194e-02 1.93692158e-02 4.48129716e+01] [ 4.43389996e-02 9.91962394e-01 1.18510177e-01 9.08125403e-02] [-2.47781339e-02 -1.17498394e-01 9.92763905e-01 2.39670643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.92119381700002 meters Centerline goodness : 0.944706 with order 1 Centerline is valid? [False, False] Translation: X:44.79, Y:0.09, Z:2.40 [[ 9.99007915e-01 -3.82490910e-02 2.28077166e-02 4.47909960e+01] [ 3.56264643e-02 9.93725946e-01 1.06016500e-01 9.46072309e-02] [-2.67196545e-02 -1.05098765e-01 9.94102766e-01 2.39939670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.98119381700002 meters Centerline goodness : 0.948349 with order 1 Centerline is valid? [False, False] Translation: X:44.78, Y:0.10, Z:2.40 [[ 9.99339925e-01 -2.66577813e-02 2.46794938e-02 4.47803471e+01] [ 2.41470868e-02 9.94994258e-01 9.69708476e-02 1.01420443e-01] [-2.71409823e-02 -9.63109017e-02 9.94981194e-01 2.40342741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.041193817 meters Centerline goodness : 0.952121 with order 1 Centerline is valid? [False, True] Translation: X:44.77, Y:0.11, Z:2.40 [[ 9.99413726e-01 -1.63076579e-02 3.01042211e-02 4.47656272e+01] [ 1.38606215e-02 9.96716392e-01 7.97766725e-02 1.07931732e-01] [-3.13063413e-02 -7.93126383e-02 9.96358077e-01 2.40455399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.101193817 meters Centerline goodness : 0.949620 with order 1 Centerline is valid? [True, False] Translation: X:44.77, Y:0.09, Z:2.41 [[ 9.99525379e-01 -1.81853247e-02 2.48658690e-02 4.47659540e+01] [ 1.38676017e-02 9.86372954e-01 1.63939275e-01 9.11991230e-02] [-2.75083096e-02 -1.63516636e-01 9.86156987e-01 2.41205436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.161193817 meters Centerline goodness : 0.944418 with order 1 Centerline is valid? [False, False] Translation: X:44.79, Y:0.07, Z:2.42 [[ 9.99680643e-01 -1.71633339e-02 1.85481183e-02 4.47862520e+01] [ 1.22013263e-02 9.70572375e-01 2.40500296e-01 7.28464200e-02] [-2.21300781e-02 -2.40197179e-01 9.70471831e-01 2.42207005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.221193817 meters Centerline goodness : 0.941919 with order 1 Centerline is valid? [False, False] Translation: X:44.81, Y:0.06, Z:2.43 [[ 9.99789229e-01 -1.65147521e-02 1.21967360e-02 4.48137812e+01] [ 1.20487041e-02 9.52998748e-01 3.02734561e-01 5.86977104e-02] [-1.66230604e-02 -3.02523798e-01 9.52996865e-01 2.43442636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.281193817 meters Centerline goodness : 0.939852 with order 1 Centerline is valid? [False, False] Translation: X:44.85, Y:0.05, Z:2.45 [[ 9.99819527e-01 -1.70494226e-02 8.38039001e-03 4.48470702e+01] [ 1.29573357e-02 9.34588160e-01 3.55495538e-01 4.55118596e-02] [-1.38932069e-02 -3.55322794e-01 9.34640407e-01 2.44560204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.341193817 meters Centerline goodness : 0.939859 with order 1 Centerline is valid? [False, False] Translation: X:44.88, Y:0.02, Z:2.46 [[ 9.99738156e-01 -2.24759274e-02 4.29563160e-03 4.48761396e+01] [ 1.83032607e-02 8.98112234e-01 4.39385259e-01 2.34604604e-02] [-1.37335505e-02 -4.39191585e-01 8.98288451e-01 2.46441916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.401193817 meters Centerline goodness : 0.938571 with order 1 Centerline is valid? [False, False] Translation: X:44.86, Y:0.04, Z:2.47 [[ 9.99778532e-01 -2.10433450e-02 2.52736854e-04 4.48596659e+01] [ 1.94366278e-02 9.27913976e-01 3.72287349e-01 4.10967373e-02] [-8.06868916e-03 -3.72199987e-01 9.28117485e-01 2.46609277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.461193817 meters Centerline goodness : 0.931002 with order 1 Centerline is valid? [False, False] Translation: X:44.84, Y:0.05, Z:2.47 [[ 9.99897130e-01 -1.37088185e-02 -4.21863891e-03 4.48361472e+01] [ 1.43432422e-02 9.55577801e-01 2.94389771e-01 5.33788507e-02] [-4.49824027e-06 -2.94419996e-01 9.55676130e-01 2.46780922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.521193817 meters Centerline goodness : 0.932500 with order 1 Centerline is valid? [False, False] Translation: X:44.83, Y:0.07, Z:2.47 [[ 9.99972677e-01 -6.09480051e-03 -4.18302139e-03 4.48256727e+01] [ 6.84144313e-03 9.77371486e-01 2.11419422e-01 7.03624775e-02] [ 2.79980663e-03 -2.11442264e-01 9.77386479e-01 2.46895393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.581193817 meters Centerline goodness : 0.936006 with order 1 Centerline is valid? [False, False] Translation: X:44.85, Y:0.04, Z:2.49 [[ 9.99996268e-01 -3.89458279e-04 -2.70404330e-03 4.48520954e+01] [ 1.15531887e-03 9.57210826e-01 2.89389182e-01 3.84409684e-02] [ 2.47563451e-03 -2.89391226e-01 9.57207704e-01 2.48805764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.64119381700002 meters Centerline goodness : 0.936923 with order 1 Centerline is valid? [False, False] Translation: X:44.88, Y:0.02, Z:2.50 [[ 9.99998824e-01 1.20544095e-03 -9.48197277e-04 4.48790351e+01] [-8.20673791e-04 9.42869995e-01 3.33159869e-01 2.23655815e-02] [ 1.29563131e-03 -3.33158699e-01 9.42869876e-01 2.50193475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.70119381700002 meters Centerline goodness : 0.942365 with order 1 Centerline is valid? [False, False] Translation: X:44.91, Y:-0.01, Z:2.53 [[ 9.99994773e-01 1.85719260e-03 2.64680878e-03 4.49084235e+01] [-2.76868341e-03 9.14638099e-01 4.04264123e-01 -7.67128538e-03] [-1.67007581e-03 -4.04269338e-01 9.14638460e-01 2.52610405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.761193817 meters Centerline goodness : 0.943008 with order 1 Centerline is valid? [False, False] Translation: X:44.94, Y:-0.03, Z:2.55 [[ 9.99996267e-01 -1.92794127e-03 1.93627442e-03 4.49433268e+01] [ 7.85502434e-04 8.81553372e-01 4.72083716e-01 -2.56552772e-02] [-2.61707892e-03 -4.72080433e-01 8.81551596e-01 2.55065821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.821193817 meters Centerline goodness : 0.942116 with order 1 Centerline is valid? [False, False] Translation: X:44.90, Y:-0.00, Z:2.54 [[ 9.99966395e-01 -8.00178868e-03 -1.78330485e-03 4.49001514e+01] [ 8.11861599e-03 9.36342187e-01 3.50994866e-01 -3.11395668e-03] [-1.13880318e-03 -3.50997549e-01 9.36375685e-01 2.54495355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.881193817 meters Centerline goodness : 0.940794 with order 1 Centerline is valid? [False, False] Translation: X:44.88, Y:0.02, Z:2.54 [[ 9.99841071e-01 -1.74588383e-02 -3.60844415e-03 4.48812037e+01] [ 1.78125637e-02 9.69929756e-01 2.42732322e-01 1.60480525e-02] [-7.37887009e-04 -2.42758021e-01 9.70086594e-01 2.53804331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.941193817 meters Centerline goodness : 0.942552 with order 1 Centerline is valid? [False, False] Translation: X:44.88, Y:0.02, Z:2.54 [[ 9.99283223e-01 -3.77925041e-02 -2.18333891e-03 4.48807340e+01] [ 3.75440319e-02 9.82027473e-01 1.84966178e-01 2.04100343e-02] [-4.84623624e-03 -1.84915570e-01 9.82742462e-01 2.53593816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.001193817 meters Centerline goodness : 0.945977 with order 1 Centerline is valid? [False, False] Translation: X:44.89, Y:0.03, Z:2.54 [[ 9.98784058e-01 -4.92991326e-02 -1.83929373e-05 4.48913138e+01] [ 4.88257927e-02 9.89142635e-01 1.38610571e-01 2.74294382e-02] [-6.81518769e-03 -1.38442927e-01 9.90346964e-01 2.53524910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.061193817 meters Centerline goodness : 0.950040 with order 1 Centerline is valid? [False, True] Translation: X:44.91, Y:0.03, Z:2.54 [[ 9.98096059e-01 -6.16223794e-02 2.63412587e-03 4.49096816e+01] [ 6.10141763e-02 9.92694502e-01 1.04090806e-01 3.44660060e-02] [-9.02920538e-03 -1.03731904e-01 9.94564309e-01 2.53537549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.121193817 meters Centerline goodness : 0.945666 with order 1 Centerline is valid? [True, False] Translation: X:44.93, Y:0.04, Z:2.53 [[ 9.97753726e-01 -6.69810376e-02 1.02107824e-03 4.49305968e+01] [ 6.67017063e-02 9.94771660e-01 7.73319299e-02 4.38615728e-02] [-6.19551260e-03 -7.70901135e-02 9.97004880e-01 2.53285270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.181193817 meters Centerline goodness : 0.944931 with order 1 Centerline is valid? [False, False] Translation: X:44.95, Y:0.06, Z:2.53 [[ 9.97708492e-01 -6.76589516e-02 -1.75955781e-04 4.49535950e+01] [ 6.75622648e-02 9.96136852e-01 5.60955726e-02 5.57191208e-02] [-3.62009160e-03 -5.59789172e-02 9.98425388e-01 2.52919917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.241193817 meters Centerline goodness : 0.940843 with order 1 Centerline is valid? [False, False] Translation: X:44.99, Y:0.07, Z:2.53 [[ 9.97633630e-01 -6.85508892e-02 -5.28359292e-03 4.49862177e+01] [ 6.87012726e-02 9.96932600e-01 3.74903523e-02 7.44254694e-02] [ 2.69738904e-03 -3.77646258e-02 9.99283022e-01 2.52570125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.301193817 meters Centerline goodness : 0.936184 with order 1 Centerline is valid? [False, False] Translation: X:45.01, Y:0.09, Z:2.52 [[ 9.97585835e-01 -6.90386192e-02 -7.49466051e-03 4.50120780e+01] [ 6.91839202e-02 9.97377336e-01 2.12610975e-02 8.78966050e-02] [ 6.00716773e-03 -2.17282797e-02 9.99745866e-01 2.52232976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.36119381700001 meters Centerline goodness : 0.933815 with order 1 Centerline is valid? [False, False] Translation: X:45.04, Y:0.10, Z:2.52 [[ 9.97473903e-01 -7.02119234e-02 -1.07748793e-02 4.50397619e+01] [ 7.03148229e-02 9.97479727e-01 9.48787213e-03 1.02810935e-01] [ 1.00815619e-02 -1.02215386e-02 9.99896936e-01 2.52039266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.42119381700002 meters Centerline goodness : 0.931053 with order 1 Centerline is valid? [False, False] Translation: X:45.08, Y:0.13, Z:2.52 [[ 9.97755787e-01 -6.57771963e-02 -1.25199490e-02 4.50784857e+01] [ 6.55756767e-02 9.97721258e-01 -1.58783463e-02 1.26892403e-01] [ 1.35358523e-02 1.50217078e-02 9.99795544e-01 2.52250829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.48119381700002 meters Centerline goodness : 0.937446 with order 1 Centerline is valid? [False, False] Translation: X:45.09, Y:0.15, Z:2.53 [[ 9.98620316e-01 -5.12592871e-02 -1.13995189e-02 4.50877094e+01] [ 5.09613202e-02 9.98386402e-01 -2.50506659e-02 1.45274170e-01] [ 1.26652040e-02 2.44351694e-02 9.99621186e-01 2.52673793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.541193817 meters Centerline goodness : 0.942437 with order 1 Centerline is valid? [False, False] Translation: X:45.09, Y:0.16, Z:2.53 [[ 9.99293961e-01 -3.74162345e-02 -3.40661392e-03 4.50943278e+01] [ 3.73440942e-02 9.99117541e-01 -1.92238897e-02 1.55944136e-01] [ 4.12289328e-03 1.90830999e-02 9.99809400e-01 2.52588429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.601193817 meters Centerline goodness : 0.945372 with order 1 Centerline is valid? [False, False] Translation: X:45.09, Y:0.16, Z:2.53 [[ 9.99729443e-01 -2.29167809e-02 -3.98279695e-03 4.50894976e+01] [ 2.28955311e-02 9.99723806e-01 -5.30153766e-03 1.63389899e-01] [ 4.10319110e-03 5.20891504e-03 9.99978015e-01 2.53237921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.661193817 meters Centerline goodness : 0.948005 with order 1 Centerline is valid? [False, False] Translation: X:45.09, Y:0.17, Z:2.53 [[ 9.99808717e-01 -1.91849378e-02 -3.80362454e-03 4.50886762e+01] [ 1.91771006e-02 9.99813926e-01 -2.08632887e-03 1.65761927e-01] [ 3.84294287e-03 2.01298730e-03 9.99990590e-01 2.53274844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.721193817 meters Centerline goodness : 0.943868 with order 1 Centerline is valid? [False, False] Translation: X:45.09, Y:0.17, Z:2.53 [[ 9.99836202e-01 -1.76474967e-02 -4.01681810e-03 4.50889311e+01] [ 1.76478211e-02 9.99844264e-01 4.53258330e-05 1.68894828e-01] [ 4.01539265e-03 -1.16206496e-04 9.99991932e-01 2.53290873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.781193817 meters Centerline goodness : 0.943354 with order 1 Centerline is valid? [False, False] Translation: X:45.09, Y:0.17, Z:2.53 [[ 9.99740157e-01 -2.23761574e-02 -4.35050475e-03 4.50905799e+01] [ 2.23566986e-02 9.99740060e-01 -4.47109950e-03 1.69158133e-01] [ 4.44941991e-03 4.37267479e-03 9.99980541e-01 2.53174353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.841193817 meters Centerline goodness : 0.939022 with order 1 Centerline is valid? [False, False] Translation: X:45.09, Y:0.17, Z:2.53 [[ 9.99541865e-01 -2.98111936e-02 -5.22998141e-03 4.50948438e+01] [ 2.97487138e-02 9.99489596e-01 -1.16430585e-02 1.69078914e-01] [ 5.57440548e-03 1.14821392e-02 9.99918540e-01 2.52874184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.901193817 meters Centerline goodness : 0.937132 with order 1 Centerline is valid? [False, False] Translation: X:45.10, Y:0.17, Z:2.53 [[ 9.99493664e-01 -3.12982851e-02 -5.73003426e-03 4.50962153e+01] [ 3.12296233e-02 9.99443710e-01 -1.17038639e-02 1.67146894e-01] [ 6.09315757e-03 1.15189910e-02 9.99915090e-01 2.52818966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.961193817 meters Centerline goodness : 0.937871 with order 1 Centerline is valid? [False, False] Translation: X:45.10, Y:0.17, Z:2.53 [[ 9.99286459e-01 -3.72728642e-02 -6.10782201e-03 4.50988468e+01] [ 3.71637822e-02 9.99162988e-01 -1.70931625e-02 1.66471718e-01] [ 6.73982082e-03 1.68539760e-02 9.99835246e-01 2.52644675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.021193817 meters Centerline goodness : 0.936716 with order 1 Centerline is valid? [False, False] Translation: X:45.10, Y:0.16, Z:2.53 [[ 9.99270016e-01 -3.76989874e-02 -6.18232444e-03 4.50994743e+01] [ 3.75921985e-02 9.99155865e-01 -1.65645651e-02 1.64185876e-01] [ 6.80157305e-03 1.63200661e-02 9.99843685e-01 2.52582781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.081193817 meters Centerline goodness : 0.935215 with order 1 Centerline is valid? [False, False] Translation: X:45.11, Y:0.16, Z:2.52 [[ 9.99145513e-01 -4.12605139e-02 -2.41137608e-03 4.51096727e+01] [ 4.12395586e-02 9.99115842e-01 -8.17509672e-03 1.60609192e-01] [ 2.74655273e-03 8.06866712e-03 9.99963676e-01 2.52331629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.14119381700002 meters Centerline goodness : 0.938942 with order 1 Centerline is valid? [False, False] Translation: X:45.11, Y:0.16, Z:2.52 [[ 9.99112716e-01 -4.20551616e-02 -2.26805261e-03 4.51086649e+01] [ 4.20352066e-02 9.99082267e-01 -8.22588800e-03 1.59440621e-01] [ 2.61191219e-03 8.12325124e-03 9.99963595e-01 2.52444100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.20119381700002 meters Centerline goodness : 0.938895 with order 1 Centerline is valid? [False, False] Translation: X:45.11, Y:0.16, Z:2.52 [[ 9.99098091e-01 -4.23928594e-02 -2.41875772e-03 4.51086251e+01] [ 4.23717624e-02 9.99068323e-01 -8.19262747e-03 1.59075773e-01] [ 2.76381313e-03 8.08275144e-03 9.99963515e-01 2.52492649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.261193817 meters Centerline goodness : 0.941673 with order 1 Centerline is valid? [False, False] Translation: X:45.11, Y:0.16, Z:2.53 [[ 9.98839831e-01 -4.81259570e-02 -1.69814876e-03 4.51062492e+01] [ 4.80981004e-02 9.98747657e-01 -1.37728473e-02 1.61756421e-01] [ 2.35885355e-03 1.36751908e-02 9.99903708e-01 2.52693033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.321193817 meters Centerline goodness : 0.941910 with order 1 Centerline is valid? [False, False] Translation: X:45.11, Y:0.16, Z:2.53 [[ 9.98768598e-01 -4.95895841e-02 -1.46999752e-03 4.51057822e+01] [ 4.95631914e-02 9.98666100e-01 -1.44744790e-02 1.61741788e-01] [ 2.18582009e-03 1.43837974e-02 9.99894159e-01 2.52715098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.381193817 meters Centerline goodness : 0.942498 with order 1 Centerline is valid? [False, False] Translation: X:45.11, Y:0.16, Z:2.53 [[ 9.98698136e-01 -5.09959089e-02 -1.20463744e-03 4.51056660e+01] [ 5.09709840e-02 9.98578379e-01 -1.55942191e-02 1.62983178e-01] [ 1.99816628e-03 1.55125160e-02 9.99877677e-01 2.52674939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.441193817 meters Centerline goodness : 0.937337 with order 1 Centerline is valid? [False, False] Translation: X:45.11, Y:0.17, Z:2.52 [[ 9.98856221e-01 -4.77768736e-02 -1.90285250e-03 4.51093669e+01] [ 4.77487128e-02 9.98777340e-01 -1.28018017e-02 1.68196371e-01] [ 2.51215602e-03 1.26963005e-02 9.99916243e-01 2.52320175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.501193817 meters Centerline goodness : 0.937282 with order 1 Centerline is valid? [False, False] Translation: X:45.11, Y:0.17, Z:2.52 [[ 9.99027417e-01 -4.40381391e-02 -2.20528222e-03 4.51106349e+01] [ 4.40154907e-02 9.98986264e-01 -9.43827078e-03 1.70394980e-01] [ 2.61869053e-03 9.33202470e-03 9.99953027e-01 2.52177508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.561193817 meters Centerline goodness : 0.939555 with order 1 Centerline is valid? [False, False] Translation: X:45.11, Y:0.18, Z:2.52 [[ 9.99334135e-01 -3.64192591e-02 -2.21892259e-03 4.51095508e+01] [ 3.64129280e-02 9.99332823e-01 -2.82982067e-03 1.75300915e-01] [ 2.32050215e-03 2.74713893e-03 9.99993534e-01 2.52253732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.621193817 meters Centerline goodness : 0.940896 with order 1 Centerline is valid? [False, False] Translation: X:45.11, Y:0.18, Z:2.52 [[ 9.99549420e-01 -2.99418618e-02 -2.10760737e-03 4.51075337e+01] [ 2.99493348e-02 9.99544905e-01 3.60825983e-03 1.77115162e-01] [ 1.99861019e-03 -3.66975545e-03 9.99991269e-01 2.52416419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.681193817 meters Centerline goodness : 0.941797 with order 1 Centerline is valid? [False, False] Translation: X:45.11, Y:0.18, Z:2.52 [[ 9.99739836e-01 -2.26660352e-02 -2.55169821e-03 4.51081921e+01] [ 2.26931710e-02 9.99680167e-01 1.11616741e-02 1.78667622e-01] [ 2.29789119e-03 -1.12166764e-02 9.99934451e-01 2.52369205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.741193817 meters Centerline goodness : 0.938506 with order 1 Centerline is valid? [False, False] Translation: X:45.10, Y:0.18, Z:2.52 [[ 9.99786357e-01 -2.02954803e-02 -3.91581889e-03 4.51033342e+01] [ 2.02990073e-02 9.99793581e-01 8.63086393e-04 1.83938035e-01] [ 3.89749384e-03 -9.42389237e-04 9.99991961e-01 2.51989935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.801193817 meters Centerline goodness : 0.940898 with order 1 Centerline is valid? [False, False] Translation: X:45.10, Y:0.19, Z:2.52 [[ 9.99836637e-01 -1.75830753e-02 -4.18743895e-03 4.51035195e+01] [ 1.75989423e-02 9.99837970e-01 3.78296759e-03 1.86691281e-01] [ 4.12024426e-03 -3.85604409e-03 9.99984077e-01 2.52015941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.86119381700001 meters Centerline goodness : 0.937760 with order 1 Centerline is valid? [False, False] Translation: X:45.07, Y:0.19, Z:2.52 [[ 9.99762359e-01 -2.10485052e-02 -5.67323820e-03 4.50677653e+01] [ 2.11613920e-02 9.99563153e-01 2.06324684e-02 1.93303206e-01] [ 5.23647724e-03 -2.07476189e-02 9.99771032e-01 2.52376426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.92119381700002 meters Centerline goodness : 0.943260 with order 1 Centerline is valid? [False, False] Translation: X:45.04, Y:0.20, Z:2.53 [[ 9.99642558e-01 -2.53668866e-02 -8.44262003e-03 4.50427553e+01] [ 2.56233421e-02 9.99165823e-01 3.17978389e-02 1.97841164e-01] [ 7.62896522e-03 -3.20028011e-02 9.99458663e-01 2.52972200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.98119381700002 meters Centerline goodness : 0.943565 with order 1 Centerline is valid? [False, False] Translation: X:45.04, Y:0.21, Z:2.53 [[ 9.99560330e-01 -2.86271573e-02 -7.72225764e-03 4.50396206e+01] [ 2.88280819e-02 9.99211499e-01 2.73006036e-02 2.06324918e-01] [ 6.93462996e-03 -2.75112182e-02 9.99597441e-01 2.53175557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.041193817 meters Centerline goodness : 0.945683 with order 1 Centerline is valid? [False, False] Translation: X:45.04, Y:0.21, Z:2.53 [[ 9.99510004e-01 -3.03769928e-02 -7.54918267e-03 4.50381695e+01] [ 3.05511659e-02 9.99241648e-01 2.41403075e-02 2.13398061e-01] [ 6.81014778e-03 -2.43591152e-02 9.99680077e-01 2.53310157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.101193817 meters Centerline goodness : 0.943383 with order 1 Centerline is valid? [False, False] Translation: X:45.04, Y:0.22, Z:2.53 [[ 9.99479061e-01 -3.11607710e-02 -8.40317891e-03 4.50418485e+01] [ 3.13337822e-02 9.99281790e-01 2.13095714e-02 2.23702006e-01] [ 7.73312099e-03 -2.15617738e-02 9.99737610e-01 2.52949977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.161193817 meters Centerline goodness : 0.939216 with order 1 Centerline is valid? [False, False] Translation: X:45.04, Y:0.24, Z:2.53 [[ 9.99552697e-01 -2.70401493e-02 -1.27763815e-02 4.50391174e+01] [ 2.71676119e-02 9.99581765e-01 9.91044206e-03 2.35110703e-01] [ 1.25030582e-02 -1.02531129e-02 9.99869265e-01 2.52820339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.221193817 meters Centerline goodness : 0.940219 with order 1 Centerline is valid? [False, False] Translation: X:45.01, Y:0.24, Z:2.53 [[ 9.99698148e-01 -2.18440720e-02 -1.12449614e-02 4.50113276e+01] [ 2.20459285e-02 9.99592171e-01 1.81512829e-02 2.44302618e-01] [ 1.08438775e-02 -1.83937095e-02 9.99772015e-01 2.52692867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.281193817 meters Centerline goodness : 0.938925 with order 1 Centerline is valid? [False, False] Translation: X:45.01, Y:0.26, Z:2.53 [[ 9.99783337e-01 -1.76080288e-02 -1.11011684e-02 4.50102869e+01] [ 1.78315377e-02 9.99633543e-01 2.03670531e-02 2.58712141e-01] [ 1.07384766e-02 -2.05605913e-02 9.99730937e-01 2.52747657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.341193817 meters Centerline goodness : 0.939382 with order 1 Centerline is valid? [False, False] Translation: X:44.97, Y:0.27, Z:2.53 [[ 9.99722447e-01 -1.96264533e-02 -1.30319363e-02 4.49740010e+01] [ 2.00393534e-02 9.99275765e-01 3.23476283e-02 2.70019447e-01] [ 1.23876289e-02 -3.25998017e-02 9.99391715e-01 2.52786497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.401193817 meters Centerline goodness : 0.938833 with order 1 Centerline is valid? [False, False] Translation: X:44.94, Y:0.29, Z:2.53 [[ 9.99486675e-01 -2.73939221e-02 -1.66120002e-02 4.49364860e+01] [ 2.81730427e-02 9.98419087e-01 4.86375004e-02 2.85140797e-01] [ 1.52533662e-02 -4.90805442e-02 9.98678344e-01 2.53100063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.461193817 meters Centerline goodness : 0.939545 with order 1 Centerline is valid? [False, False] Translation: X:44.89, Y:0.30, Z:2.54 [[ 9.99103038e-01 -3.72391796e-02 -2.01584702e-02 4.48910791e+01] [ 3.83075441e-02 9.97723605e-01 5.54990083e-02 3.00872186e-01] [ 1.80458440e-02 -5.62214493e-02 9.98255226e-01 2.53539534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.521193817 meters Centerline goodness : 0.936813 with order 1 Centerline is valid? [False, False] Translation: X:44.87, Y:0.31, Z:2.54 [[ 9.98952768e-01 -4.05947757e-02 -2.11052449e-02 4.48672156e+01] [ 4.15523040e-02 9.98025281e-01 4.71056692e-02 3.13590502e-01] [ 1.91513239e-02 -4.79333102e-02 9.98666924e-01 2.53875400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.581193817 meters Centerline goodness : 0.936335 with order 1 Centerline is valid? [False, False] Translation: X:44.84, Y:0.33, Z:2.54 [[ 9.98793568e-01 -4.25073555e-02 -2.45872738e-02 4.48438324e+01] [ 4.35205968e-02 9.98158398e-01 4.22583770e-02 3.29139124e-01] [ 2.27457020e-02 -4.32774480e-02 9.98804133e-01 2.54094892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.64119381700002 meters Centerline goodness : 0.930401 with order 1 Centerline is valid? [False, False] Translation: X:44.81, Y:0.34, Z:2.54 [[ 9.98856283e-01 -3.93683333e-02 -2.71341164e-02 4.48086662e+01] [ 4.03031103e-02 9.98580943e-01 3.48103294e-02 3.40070453e-01] [ 2.57251869e-02 -3.58641055e-02 9.99025516e-01 2.54141240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.70119381700002 meters Centerline goodness : 0.935955 with order 1 Centerline is valid? [False, False] Translation: X:44.79, Y:0.36, Z:2.54 [[ 9.98879682e-01 -3.56050480e-02 -3.11714865e-02 4.47901799e+01] [ 3.65661003e-02 9.98855748e-01 3.08239339e-02 3.55914714e-01] [ 3.00383309e-02 -3.19292210e-02 9.99038650e-01 2.54463724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.761193817 meters Centerline goodness : 0.934241 with order 1 Centerline is valid? [False, False] Translation: X:44.79, Y:0.37, Z:2.55 [[ 9.98966586e-01 -3.32997976e-02 -3.09335363e-02 4.47887412e+01] [ 3.42303044e-02 9.98961961e-01 3.00547338e-02 3.67047538e-01] [ 2.99006095e-02 -3.10825392e-02 9.99069482e-01 2.54638137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.821193817 meters Centerline goodness : 0.937610 with order 1 Centerline is valid? [False, False] Translation: X:44.75, Y:0.37, Z:2.55 [[ 9.98835906e-01 -3.19778662e-02 -3.61143741e-02 4.47481210e+01] [ 3.40288560e-02 9.97754856e-01 5.76826253e-02 3.72125020e-01] [ 3.41887249e-02 -5.88444082e-02 9.97681546e-01 2.54844102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.881193817 meters Centerline goodness : 0.939768 with order 1 Centerline is valid? [False, False] Translation: X:44.72, Y:0.38, Z:2.55 [[ 9.99073454e-01 -2.80296428e-02 -3.26584105e-02 4.47200547e+01] [ 2.99156110e-02 9.97823335e-01 5.87677425e-02 3.81628036e-01] [ 3.09400853e-02 -5.96902878e-02 9.97737330e-01 2.54860836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.941193817 meters Centerline goodness : 0.938490 with order 1 Centerline is valid? [False, False] Translation: X:44.69, Y:0.39, Z:2.55 [[ 9.98870779e-01 -3.32727792e-02 -3.39129761e-02 4.46922820e+01] [ 3.56249520e-02 9.96818966e-01 7.12938384e-02 3.92302999e-01] [ 3.14329536e-02 -7.24214800e-02 9.96878678e-01 2.54749025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.001193817 meters Centerline goodness : 0.936944 with order 1 Centerline is valid? [False, False] Translation: X:44.66, Y:0.40, Z:2.54 [[ 9.98723144e-01 -3.77668682e-02 -3.35521230e-02 4.46627139e+01] [ 4.01174783e-02 9.96568979e-01 7.23937748e-02 4.03166866e-01] [ 3.07029188e-02 -7.36473649e-02 9.96811615e-01 2.54285537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.061193817 meters Centerline goodness : 0.936685 with order 1 Centerline is valid? [False, False] Translation: X:44.66, Y:0.41, Z:2.54 [[ 9.98665464e-01 -3.86824063e-02 -3.42193378e-02 4.46638422e+01] [ 4.10371187e-02 9.96630302e-01 7.10210976e-02 4.07743900e-01] [ 3.13567620e-02 -7.23305804e-02 9.96887677e-01 2.54271120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.121193817 meters Centerline goodness : 0.929852 with order 1 Centerline is valid? [False, False] Translation: X:44.65, Y:0.42, Z:2.54 [[ 9.98367227e-01 -4.06902606e-02 -4.00896962e-02 4.46494589e+01] [ 4.31227033e-02 9.97156239e-01 6.18050709e-02 4.19097306e-01] [ 3.74608262e-02 -6.34329333e-02 9.97282783e-01 2.54493549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.181193817 meters Centerline goodness : 0.923345 with order 1 Centerline is valid? [False, False] Translation: X:44.63, Y:0.43, Z:2.54 [[ 9.98055708e-01 -4.48081598e-02 -4.33247428e-02 4.46259179e+01] [ 4.72572531e-02 9.97240077e-01 5.72623946e-02 4.34417704e-01] [ 4.06393473e-02 -5.91984681e-02 9.97418661e-01 2.54368676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.241193817 meters Centerline goodness : 0.926626 with order 1 Centerline is valid? [False, False] Translation: X:44.60, Y:0.44, Z:2.54 [[ 0.99749444 -0.04812815 -0.05185101 44.60011955] [ 0.05248074 0.99489962 0.08614247 0.44312884] [ 0.04744067 -0.08864781 0.99493263 2.54486033] [ 0. 0. 0. 1. ]] SLAMing on 161.301193817 meters Centerline goodness : 0.934664 with order 1 Centerline is valid? [False, False] Translation: X:44.56, Y:0.46, Z:2.55 [[ 9.97724578e-01 -4.89078717e-02 -4.64078355e-02 4.45611677e+01] [ 5.27725782e-02 9.94890038e-01 8.60747728e-02 4.60742221e-01] [ 4.19609593e-02 -8.83279775e-02 9.95207238e-01 2.54630461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.36119381700001 meters Centerline goodness : 0.940143 with order 1 Centerline is valid? [False, False] Translation: X:44.53, Y:0.47, Z:2.55 [[ 0.99731649 -0.05063157 -0.05287963 44.5284435 ] [ 0.05622708 0.99230302 0.11033236 0.46941835] [ 0.04688632 -0.11300954 0.99248704 2.54928307] [ 0. 0. 0. 1. ]] SLAMing on 161.42119381700002 meters Centerline goodness : 0.937637 with order 1 Centerline is valid? [False, False] Translation: X:44.52, Y:0.49, Z:2.56 [[ 0.99696121 -0.04601015 -0.0628602 44.5181966 ] [ 0.05262213 0.99276397 0.10793798 0.48701797] [ 0.0574391 -0.11091782 0.99216833 2.55532778] [ 0. 0. 0. 1. ]] SLAMing on 161.48119381700002 meters Centerline goodness : 0.932881 with order 1 Centerline is valid? [False, False] Translation: X:44.53, Y:0.50, Z:2.56 [[ 9.97022169e-01 -3.82874355e-02 -6.69392790e-02 4.45327846e+01] [ 4.50635964e-02 9.93676545e-01 1.02840635e-01 4.98021524e-01] [ 6.25784873e-02 -1.05550918e-01 9.92442914e-01 2.55797662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.541193817 meters Centerline goodness : 0.931932 with order 1 Centerline is valid? [False, False] Translation: X:44.54, Y:0.51, Z:2.56 [[ 9.97748638e-01 -2.06370502e-02 -6.38104058e-02 4.45376654e+01] [ 2.58410796e-02 9.96310750e-01 8.18359784e-02 5.12109252e-01] [ 6.18861401e-02 -8.33006658e-02 9.94600978e-01 2.56235863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.601193817 meters Centerline goodness : 0.931803 with order 1 Centerline is valid? [False, False] Translation: X:44.54, Y:0.52, Z:2.57 [[ 9.98120214e-01 -5.34802060e-04 -6.12841887e-02 4.45423319e+01] [ 4.65816851e-03 9.97731370e-01 6.71596288e-02 5.24603996e-01] [ 6.11092404e-02 -6.73188552e-02 9.95858340e-01 2.56841146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.661193817 meters Centerline goodness : 0.933547 with order 1 Centerline is valid? [False, False] Translation: X:44.54, Y:0.53, Z:2.57 [[ 9.98001573e-01 1.04848997e-02 -6.23131354e-02 4.45419434e+01] [-7.02779393e-03 9.98437177e-01 5.54419908e-02 5.30681861e-01] [ 6.27970547e-02 -5.48932702e-02 9.96515559e-01 2.57372590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.721193817 meters Centerline goodness : 0.937005 with order 1 Centerline is valid? [False, False] Translation: X:44.54, Y:0.53, Z:2.58 [[ 9.97918565e-01 1.78179220e-02 -6.19762852e-02 4.45358922e+01] [-1.50672256e-02 9.98892603e-01 4.45706993e-02 5.33213177e-01] [ 6.27018101e-02 -4.35441177e-02 9.97081939e-01 2.57732014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.781193817 meters Centerline goodness : 0.939640 with order 1 Centerline is valid? [False, False] Translation: X:44.54, Y:0.53, Z:2.58 [[ 9.97859771e-01 1.78444746e-02 -6.29082865e-02 4.45396584e+01] [-1.50818398e-02 9.98912396e-01 4.41198747e-02 5.27833538e-01] [ 6.36271632e-02 -4.30766754e-02 9.97043622e-01 2.57608869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.841193817 meters Centerline goodness : 0.940593 with order 1 Centerline is valid? [False, False] Translation: X:44.57, Y:0.52, Z:2.58 [[ 9.97974205e-01 1.60153992e-02 -6.15710435e-02 4.45652197e+01] [-1.32160788e-02 9.98872063e-01 4.56063261e-02 5.15338800e-01] [ 6.22319988e-02 -4.47002093e-02 9.97060214e-01 2.57617546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.901193817 meters Centerline goodness : 0.942035 with order 1 Centerline is valid? [False, False] Translation: X:44.59, Y:0.50, Z:2.58 [[ 9.98113696e-01 1.22922481e-02 -6.01494013e-02 4.45890900e+01] [-9.56109399e-03 9.98919259e-01 4.54851488e-02 5.04548174e-01] [ 6.06435101e-02 -4.48242559e-02 9.97152521e-01 2.57740416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.961193817 meters Centerline goodness : 0.938451 with order 1 Centerline is valid? [False, False] Translation: X:44.63, Y:0.49, Z:2.58 [[ 9.98175323e-01 5.18853497e-03 -6.01589827e-02 4.46315409e+01] [-2.20030222e-03 9.98765125e-01 4.96324948e-02 4.85785348e-01] [ 6.03422138e-02 -4.94095636e-02 9.96954117e-01 2.57613374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.021193817 meters Centerline goodness : 0.934926 with order 1 Centerline is valid? [False, False] Translation: X:44.66, Y:0.47, Z:2.58 [[ 9.98290098e-01 1.36745048e-03 -5.84380868e-02 4.46569128e+01] [ 1.54686009e-03 9.98758225e-01 4.97957357e-02 4.74424947e-01] [ 5.84336131e-02 -4.98009854e-02 9.97048331e-01 2.57604094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.081193817 meters Centerline goodness : 0.939795 with order 1 Centerline is valid? [False, False] Translation: X:44.70, Y:0.45, Z:2.57 [[ 9.98981809e-01 -5.24584567e-03 -4.48087794e-02 4.46988871e+01] [ 8.51873889e-03 9.97283408e-01 7.31658033e-02 4.51507822e-01] [ 4.43032357e-02 -7.34730208e-02 9.96312671e-01 2.56957648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.14119381700002 meters Centerline goodness : 0.938764 with order 1 Centerline is valid? [False, False] Translation: X:44.74, Y:0.40, Z:2.55 [[ 9.99660517e-01 -1.23931594e-02 -2.29185682e-02 4.47426686e+01] [ 1.62213812e-02 9.84392994e-01 1.75234987e-01 4.03967173e-01] [ 2.03891629e-02 -1.75547268e-01 9.84259843e-01 2.55112179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.20119381700002 meters Centerline goodness : 0.937340 with order 1 Centerline is valid? [False, False] Translation: X:44.79, Y:0.37, Z:2.54 [[ 9.99838786e-01 -1.65959364e-02 -6.85401894e-03 4.47850201e+01] [ 1.77715946e-02 9.69164047e-01 2.45774733e-01 3.71511931e-01] [ 2.56380689e-03 -2.45856918e-01 9.69302741e-01 2.54052121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.261193817 meters Centerline goodness : 0.941133 with order 1 Centerline is valid? [False, False] Translation: X:44.82, Y:0.33, Z:2.54 [[ 9.99694872e-01 -2.34937652e-02 7.62934119e-03 4.48219435e+01] [ 1.94689043e-02 9.39494813e-01 3.42009441e-01 3.30854097e-01] [-1.52028160e-02 -3.41756549e-01 9.39665545e-01 2.53525868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.321193817 meters Centerline goodness : 0.942337 with order 1 Centerline is valid? [False, False] Translation: X:44.86, Y:0.32, Z:2.54 [[ 9.99564841e-01 -2.50239222e-02 1.56183461e-02 4.48573402e+01] [ 1.81029141e-02 9.38431267e-01 3.44991366e-01 3.23046213e-01] [-2.32897814e-02 -3.44558502e-01 9.38475905e-01 2.53743231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.381193817 meters Centerline goodness : 0.940177 with order 1 Centerline is valid? [False, False] Translation: X:44.89, Y:0.32, Z:2.54 [[ 9.99647645e-01 -1.99702991e-02 1.74863513e-02 4.48867906e+01] [ 1.30346762e-02 9.43186150e-01 3.32009012e-01 3.22404467e-01] [-2.31232037e-02 -3.31664098e-01 9.43114120e-01 2.54243362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.441193817 meters Centerline goodness : 0.936495 with order 1 Centerline is valid? [False, False] Translation: X:44.90, Y:0.33, Z:2.55 [[ 9.99801244e-01 -1.10573400e-02 1.65894142e-02 4.48980307e+01] [ 5.67097229e-03 9.55459592e-01 2.95067464e-01 3.30592237e-01] [-1.91131762e-02 -2.94914740e-01 9.55332394e-01 2.54946446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.501193817 meters Centerline goodness : 0.934071 with order 1 Centerline is valid? [False, False] Translation: X:44.91, Y:0.34, Z:2.56 [[ 9.99858667e-01 -1.05642615e-03 1.67788376e-02 4.49085005e+01] [-3.34061199e-03 9.65638647e-01 2.59866975e-01 3.37653073e-01] [-1.64768243e-02 -2.59886299e-01 9.65498641e-01 2.55584634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.561193817 meters Centerline goodness : 0.937278 with order 1 Centerline is valid? [False, False] Translation: X:44.91, Y:0.35, Z:2.56 [[ 9.99708884e-01 1.42434230e-02 1.94748867e-02 4.49083122e+01] [-1.81706757e-02 9.75484782e-01 2.19315449e-01 3.46161609e-01] [-1.58736529e-02 -2.19605475e-01 9.75459616e-01 2.56468141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.621193817 meters Centerline goodness : 0.938476 with order 1 Centerline is valid? [False, False] Translation: X:44.92, Y:0.35, Z:2.57 [[ 9.99646660e-01 2.04111433e-02 1.70276407e-02 4.49232362e+01] [-2.32554207e-02 9.81828875e-01 1.88338114e-01 3.52454197e-01] [-1.28740331e-02 -1.88667551e-01 9.81956626e-01 2.57351568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.681193817 meters Centerline goodness : 0.942179 with order 1 Centerline is valid? [False, False] Translation: X:44.94, Y:0.35, Z:2.58 [[ 9.99499427e-01 2.52193807e-02 1.91017625e-02 4.49409558e+01] [-2.80494681e-02 9.85668666e-01 1.66344544e-01 3.50885618e-01] [-1.46329024e-02 -1.66797071e-01 9.85882658e-01 2.57797284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.741193817 meters Centerline goodness : 0.941814 with order 1 Centerline is valid? [False, False] Translation: X:44.96, Y:0.35, Z:2.58 [[ 9.99577171e-01 2.38747427e-02 1.65974521e-02 4.49622096e+01] [-2.60475134e-02 9.88912853e-01 1.46194718e-01 3.51479218e-01] [-1.29230724e-02 -1.46565225e-01 9.89116590e-01 2.58380500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.801193817 meters Centerline goodness : 0.940059 with order 1 Centerline is valid? [False, False] Translation: X:44.99, Y:0.34, Z:2.58 [[ 9.99588623e-01 2.19166440e-02 1.84998950e-02 4.49949929e+01] [-2.42938001e-02 9.89857509e-01 1.39971149e-01 3.42591788e-01] [-1.52445622e-02 -1.40363000e-01 9.89982743e-01 2.58461524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.86119381700001 meters Centerline goodness : 0.938974 with order 1 Centerline is valid? [False, False] Translation: X:45.04, Y:0.30, Z:2.58 [[ 9.99392582e-01 1.11889042e-02 3.30041837e-02 4.50351831e+01] [-1.81967844e-02 9.75241722e-01 2.20391609e-01 3.03504523e-01] [-2.97211163e-02 -2.20858310e-01 9.74852944e-01 2.57502731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.92119381700002 meters Centerline goodness : 0.941197 with order 1 Centerline is valid? [False, False] Translation: X:45.07, Y:0.28, Z:2.57 [[ 9.99015198e-01 1.66223545e-03 4.43381431e-02 4.50722524e+01] [-1.42042411e-02 9.58687955e-01 2.84104988e-01 2.75809682e-01] [-4.20341944e-02 -2.84454990e-01 9.57767448e-01 2.57125407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.98119381700002 meters Centerline goodness : 0.940950 with order 1 Centerline is valid? [False, False] Translation: X:45.10, Y:0.25, Z:2.57 [[ 9.98427050e-01 -6.70199710e-03 5.56642505e-02 4.50985690e+01] [-1.36506559e-02 9.33894677e-01 3.57287548e-01 2.50165641e-01] [-5.43790873e-02 -3.57485406e-01 9.32334221e-01 2.56938838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.041193817 meters Centerline goodness : 0.940142 with order 1 Centerline is valid? [False, False] Translation: X:45.12, Y:0.20, Z:2.58 [[ 9.98040173e-01 -2.36633173e-02 5.79297850e-02 4.51205972e+01] [-7.59563535e-03 8.73088508e-01 4.87502579e-01 2.01309213e-01] [-6.21137577e-02 -4.86987172e-01 8.71197667e-01 2.57896350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.101193817 meters Centerline goodness : 0.939538 with order 1 Centerline is valid? [False, False] Translation: X:45.15, Y:0.18, Z:2.59 [[ 9.97887149e-01 -3.19960100e-02 5.65463793e-02 4.51546920e+01] [-4.06638944e-03 8.37868408e-01 5.45857120e-01 1.83148571e-01] [-6.48436747e-02 -5.44933745e-01 8.35968008e-01 2.58874096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.161193817 meters Centerline goodness : 0.938472 with order 1 Centerline is valid? [False, False] Translation: X:45.19, Y:0.16, Z:2.60 [[ 9.97642773e-01 -4.15401470e-02 5.46197118e-02 4.51864705e+01] [-6.71680912e-04 7.90007909e-01 6.13096283e-01 1.64143873e-01] [-6.86181140e-02 -6.11687764e-01 7.88117779e-01 2.59979586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.221193817 meters Centerline goodness : 0.937543 with order 1 Centerline is valid? [False, False] Translation: X:45.22, Y:0.15, Z:2.62 [[ 9.97479986e-01 -5.25994532e-02 4.76127693e-02 4.52160807e+01] [ 5.85487355e-03 7.29827303e-01 6.83606486e-01 1.45055954e-01] [-7.07064264e-02 -6.81605021e-01 7.28296091e-01 2.61875065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.281193817 meters Centerline goodness : 0.943485 with order 1 Centerline is valid? [False, False] Translation: X:45.20, Y:0.17, Z:2.62 [[ 9.97563776e-01 -5.02522689e-02 4.83861889e-02 4.51961873e+01] [ 6.54109921e-03 7.57929271e-01 6.52303944e-01 1.65567708e-01] [-6.94530621e-02 -6.50398286e-01 7.56411490e-01 2.62393891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.341193817 meters Centerline goodness : 0.945243 with order 1 Centerline is valid? [False, False] Translation: X:45.18, Y:0.19, Z:2.63 [[ 9.97492437e-01 -5.17525931e-02 4.82753262e-02 4.51776445e+01] [ 1.10770353e-02 7.87870770e-01 6.15740975e-01 1.86812884e-01] [-6.99009106e-02 -6.13662218e-01 7.86468400e-01 2.63124998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.401193817 meters Centerline goodness : 0.945271 with order 1 Centerline is valid? [False, False] Translation: X:45.16, Y:0.20, Z:2.64 [[ 9.97616205e-01 -5.05704299e-02 4.69525140e-02 4.51591258e+01] [ 1.40908561e-02 8.15355440e-01 5.78789214e-01 2.03209739e-01] [-6.75526071e-02 -5.76747898e-01 8.14124381e-01 2.63692675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.461193817 meters Centerline goodness : 0.946654 with order 1 Centerline is valid? [False, False] Translation: X:45.13, Y:0.23, Z:2.64 [[ 9.98109796e-01 -4.19811872e-02 4.48822395e-02 4.51330594e+01] [ 1.15016944e-02 8.45016010e-01 5.34617296e-01 2.25837066e-01] [-6.03700797e-02 -5.33090539e-01 8.43901612e-01 2.64398262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.521193817 meters Centerline goodness : 0.947141 with order 1 Centerline is valid? [False, False] Translation: X:45.11, Y:0.24, Z:2.65 [[ 9.98542678e-01 -3.23093158e-02 4.32276435e-02 4.51145603e+01] [ 6.34088078e-03 8.65680354e-01 5.00557007e-01 2.43008006e-01] [-5.35939762e-02 -4.99553433e-01 8.64623649e-01 2.65061797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.581193817 meters Centerline goodness : 0.947737 with order 1 Centerline is valid? [False, False] Translation: X:45.10, Y:0.27, Z:2.66 [[ 9.98888780e-01 -1.58590750e-02 4.43812355e-02 4.50969124e+01] [-5.52233919e-03 8.95812181e-01 4.44398516e-01 2.67180587e-01] [-4.68050007e-02 -4.44149780e-01 8.94729157e-01 2.65590408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.64119381700002 meters Centerline goodness : 0.940333 with order 1 Centerline is valid? [False, False] Translation: X:45.08, Y:0.29, Z:2.66 [[ 9.99180095e-01 3.49133092e-03 4.03354530e-02 4.50825879e+01] [-1.89161543e-02 9.21103443e-01 3.88858107e-01 2.88477147e-01] [-3.57954923e-02 -3.89302272e-01 9.20414268e-01 2.66126018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.70119381700002 meters Centerline goodness : 0.939361 with order 1 Centerline is valid? [False, False] Translation: X:45.07, Y:0.31, Z:2.67 [[ 9.99056507e-01 1.91734148e-02 3.89676318e-02 4.50725594e+01] [-3.11865961e-02 9.41176033e-01 3.36474472e-01 3.06506344e-01] [-3.02240365e-02 -3.37372279e-01 9.40885994e-01 2.66835111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.761193817 meters Centerline goodness : 0.934005 with order 1 Centerline is valid? [False, False] Translation: X:45.06, Y:0.32, Z:2.68 [[ 9.98584118e-01 3.83937732e-02 3.68195306e-02 4.50581112e+01] [-4.73299166e-02 9.57208698e-01 2.85501993e-01 3.17418557e-01] [-2.42824762e-02 -2.86840422e-01 9.57670577e-01 2.67832448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.821193817 meters Centerline goodness : 0.932619 with order 1 Centerline is valid? [False, False] Translation: X:45.06, Y:0.32, Z:2.69 [[ 9.98313556e-01 4.52022912e-02 3.64252285e-02 4.50590613e+01] [-5.27056341e-02 9.68765226e-01 2.42313956e-01 3.20778349e-01] [-2.43343487e-02 -2.43825122e-01 9.69513873e-01 2.68511891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.881193817 meters Centerline goodness : 0.934018 with order 1 Centerline is valid? [False, False] Translation: X:45.08, Y:0.31, Z:2.69 [[ 9.98573184e-01 4.14055932e-02 3.37220008e-02 4.50814524e+01] [-4.78100210e-02 9.74509087e-01 2.19194529e-01 3.09956446e-01] [-2.37865167e-02 -2.20494029e-01 9.75098244e-01 2.69396060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.941193817 meters Centerline goodness : 0.932578 with order 1 Centerline is valid? [False, False] Translation: X:45.10, Y:0.30, Z:2.70 [[ 9.98736156e-01 3.78120492e-02 3.31110193e-02 4.51033688e+01] [-4.36534830e-02 9.79104901e-01 1.98615123e-01 3.00502895e-01] [-2.49091164e-02 -1.99809516e-01 9.79518092e-01 2.69894285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.001193817 meters Centerline goodness : 0.926465 with order 1 Centerline is valid? [False, False] Translation: X:45.15, Y:0.23, Z:2.70 [[ 9.98599800e-01 1.67110501e-02 5.01914429e-02 4.51498995e+01] [-3.25079924e-02 9.42359958e-01 3.33017926e-01 2.28049180e-01] [-4.17333268e-02 -3.34183258e-01 9.41583708e-01 2.70177491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.061193817 meters Centerline goodness : 0.930086 with order 1 Centerline is valid? [False, False] Translation: X:45.18, Y:0.17, Z:2.72 [[ 9.97985533e-01 -8.36701758e-03 6.28877556e-02 4.51836230e+01] [-2.24324380e-02 8.80690594e-01 4.73160505e-01 1.72525512e-01] [-5.93435971e-02 -4.73618065e-01 8.78728779e-01 2.71870502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.121193817 meters Centerline goodness : 0.931534 with order 1 Centerline is valid? [False, False] Translation: X:45.17, Y:0.10, Z:2.78 [[ 9.97776549e-01 -4.49000599e-02 4.92538637e-02 4.51676185e+01] [ 4.01174895e-04 7.43047405e-01 6.69238667e-01 1.04684235e-01] [-6.66468119e-02 -6.67730888e-01 7.41413288e-01 2.77612848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.181193817 meters Centerline goodness : 0.931312 with order 1 Centerline is valid? [False, False] Translation: X:45.13, Y:0.12, Z:2.78 [[ 9.97695165e-01 -4.57359023e-02 5.01257003e-02 4.51262174e+01] [ 6.68346869e-03 8.01356283e-01 5.98150013e-01 1.20999879e-01] [-6.75254755e-02 -5.96436362e-01 7.99814963e-01 2.77957044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.241193817 meters Centerline goodness : 0.929931 with order 1 Centerline is valid? [False, False] Translation: X:45.08, Y:0.15, Z:2.78 [[ 9.97947406e-01 -3.94754832e-02 5.04248161e-02 4.50760530e+01] [ 8.54253338e-03 8.62432968e-01 5.06099200e-01 1.50724964e-01] [-6.34665343e-02 -5.04629628e-01 8.60999964e-01 2.77623790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.301193817 meters Centerline goodness : 0.925661 with order 1 Centerline is valid? [False, False] Translation: X:45.04, Y:0.18, Z:2.77 [[ 9.98186996e-01 -3.65267556e-02 4.78384586e-02 4.50367240e+01] [ 1.37922678e-02 9.12465600e-01 4.08920900e-01 1.78347834e-01] [-5.85875016e-02 -4.07519724e-01 9.11315082e-01 2.77498590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.36119381700001 meters Centerline goodness : 0.926109 with order 1 Centerline is valid? [False, False] Translation: X:45.01, Y:0.20, Z:2.78 [[ 9.98117113e-01 -3.79917874e-02 4.81544780e-02 4.50078086e+01] [ 1.94216917e-02 9.40439837e-01 3.39404935e-01 1.98584214e-01] [-5.81809896e-02 -3.37830633e-01 9.39406960e-01 2.77522820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.42119381700002 meters Centerline goodness : 0.925826 with order 1 Centerline is valid? [False, False] Translation: X:44.99, Y:0.22, Z:2.78 [[ 9.98029278e-01 -3.86748971e-02 4.94147052e-02 4.49853377e+01] [ 2.40613622e-02 9.63158065e-01 2.67857412e-01 2.20649320e-01] [-5.79535297e-02 -2.66140555e-01 9.62190518e-01 2.77626792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.48119381700002 meters Centerline goodness : 0.924088 with order 1 Centerline is valid? [False, False] Translation: X:44.98, Y:0.23, Z:2.78 [[ 9.98108778e-01 -3.69306680e-02 4.91425863e-02 4.49755202e+01] [ 2.52668549e-02 9.75237962e-01 2.19710043e-01 2.33265943e-01] [-5.60397544e-02 -2.18052844e-01 9.74326692e-01 2.77650238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.541193817 meters Centerline goodness : 0.919016 with order 1 Centerline is valid? [False, False] Translation: X:44.96, Y:0.25, Z:2.78 [[ 9.98440252e-01 -2.77414029e-02 4.84507850e-02 4.49621702e+01] [ 1.86815429e-02 9.83796173e-01 1.78314584e-01 2.49386164e-01] [-5.26123935e-02 -1.77131322e-01 9.82779950e-01 2.77546119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.601193817 meters Centerline goodness : 0.922691 with order 1 Centerline is valid? [False, False] Translation: X:44.94, Y:0.26, Z:2.78 [[ 9.98635665e-01 -1.97148199e-02 4.83542508e-02 4.49424612e+01] [ 1.14157296e-02 9.86017197e-01 1.66252120e-01 2.59817044e-01] [-5.09557535e-02 -1.65473298e-01 9.84896999e-01 2.77835468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.661193817 meters Centerline goodness : 0.928633 with order 1 Centerline is valid? [False, False] Translation: X:44.92, Y:0.28, Z:2.78 [[ 9.98572629e-01 -8.29865289e-03 5.27620880e-02 4.49240538e+01] [ 4.06971654e-04 9.89009207e-01 1.47853386e-01 2.75134672e-01] [-5.34091747e-02 -1.47620872e-01 9.87600900e-01 2.78168057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.721193817 meters Centerline goodness : 0.930472 with order 1 Centerline is valid? [False, False] Translation: X:44.92, Y:0.28, Z:2.79 [[ 9.99027572e-01 -3.51236834e-03 4.39496687e-02 4.49189670e+01] [-4.24582661e-03 9.84524803e-01 1.75193848e-01 2.77975327e-01] [-4.38848843e-02 -1.75210088e-01 9.83552511e-01 2.79440105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.781193817 meters Centerline goodness : 0.928548 with order 1 Centerline is valid? [False, False] Translation: X:44.93, Y:0.28, Z:2.80 [[ 9.99244064e-01 3.16885726e-04 3.88741606e-02 4.49339489e+01] [-8.08344276e-03 9.79804464e-01 1.99794569e-01 2.80513531e-01] [-3.80257641e-02 -1.99957774e-01 9.79066356e-01 2.80061489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.841193817 meters Centerline goodness : 0.931343 with order 1 Centerline is valid? [False, False] Translation: X:44.93, Y:0.28, Z:2.80 [[ 9.99211065e-01 5.73892280e-03 3.92977456e-02 4.49325858e+01] [-1.38389797e-02 9.77799675e-01 2.09084381e-01 2.80765442e-01] [-3.72254037e-02 -2.09463268e-01 9.77107675e-01 2.80438228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.901193817 meters Centerline goodness : 0.929353 with order 1 Centerline is valid? [False, False] Translation: X:44.94, Y:0.28, Z:2.80 [[ 9.98927220e-01 9.79262649e-03 4.52605036e-02 4.49403373e+01] [-1.99173068e-02 9.73217823e-01 2.29020459e-01 2.76403191e-01] [-4.18056170e-02 -2.29676237e-01 9.72368817e-01 2.80408723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.961193817 meters Centerline goodness : 0.928529 with order 1 Centerline is valid? [False, False] Translation: X:44.96, Y:0.28, Z:2.81 [[ 9.99035224e-01 1.31132425e-02 4.19125673e-02 4.49612489e+01] [-2.16502281e-02 9.77406601e-01 2.10256046e-01 2.83756044e-01] [-3.82084814e-02 -2.10960613e-01 9.76747527e-01 2.80591059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.021193817 meters Centerline goodness : 0.926483 with order 1 Centerline is valid? [False, False] Translation: X:44.99, Y:0.28, Z:2.81 [[ 9.98836139e-01 2.25141551e-02 4.26553661e-02 4.49851833e+01] [-3.06198124e-02 9.79292635e-01 2.00120867e-01 2.83429124e-01] [-3.72665336e-02 -2.01194054e-01 9.78842254e-01 2.80592183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.081193817 meters Centerline goodness : 0.925232 with order 1 Centerline is valid? [False, False] Translation: X:45.01, Y:0.28, Z:2.81 [[ 9.98727491e-01 3.05683541e-02 4.01120352e-02 4.50118006e+01] [-3.75284415e-02 9.81795030e-01 1.86199180e-01 2.81973171e-01] [-3.36899943e-02 -1.87467581e-01 9.81692870e-01 2.80712827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.14119381700002 meters Centerline goodness : 0.924648 with order 1 Centerline is valid? [False, False] Translation: X:45.03, Y:0.28, Z:2.81 [[ 9.98470497e-01 3.98720999e-02 3.82999100e-02 4.50285148e+01] [-4.56779840e-02 9.85207518e-01 1.65165578e-01 2.77241943e-01] [-3.11478608e-02 -1.66662420e-01 9.85521917e-01 2.80994668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.20119381700002 meters Centerline goodness : 0.926208 with order 1 Centerline is valid? [False, False] Translation: X:45.05, Y:0.27, Z:2.81 [[ 9.98218215e-01 4.49398519e-02 3.92530887e-02 4.50507984e+01] [-5.04156911e-02 9.87096033e-01 1.51985787e-01 2.67089784e-01] [-3.19163494e-02 -1.53693953e-01 9.87602914e-01 2.81314395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.261193817 meters Centerline goodness : 0.921931 with order 1 Centerline is valid? [False, False] Translation: X:45.07, Y:0.26, Z:2.81 [[ 9.98154605e-01 4.61287332e-02 3.94908213e-02 4.50700409e+01] [-5.11589328e-02 9.89158991e-01 1.37649029e-01 2.60371762e-01] [-3.27131256e-02 -1.39415320e-01 9.89693498e-01 2.81312902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.321193817 meters Centerline goodness : 0.922343 with order 1 Centerline is valid? [False, False] Translation: X:45.10, Y:0.25, Z:2.81 [[ 9.98045840e-01 4.46287530e-02 4.37352853e-02 4.51039494e+01] [-5.05807335e-02 9.87975769e-01 1.46100890e-01 2.46015299e-01] [-3.66891016e-02 -1.48027548e-01 9.88302461e-01 2.81293509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.381193817 meters Centerline goodness : 0.920314 with order 1 Centerline is valid? [False, False] Translation: X:45.13, Y:0.20, Z:2.82 [[ 9.98144805e-01 2.69678347e-02 5.45864839e-02 4.51345207e+01] [-4.03345659e-02 9.64482611e-01 2.61048684e-01 1.97389163e-01] [-4.56077967e-02 -2.62766110e-01 9.63781044e-01 2.82335322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.441193817 meters Centerline goodness : 0.914922 with order 1 Centerline is valid? [False, False] Translation: X:45.16, Y:0.17, Z:2.86 [[ 9.98393838e-01 4.33828252e-03 5.64882601e-02 4.51622827e+01] [-2.47414880e-02 9.30349064e-01 3.65839415e-01 1.68993661e-01] [-5.09666852e-02 -3.66649421e-01 9.28962108e-01 2.85661347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.501193817 meters Centerline goodness : 0.924298 with order 1 Centerline is valid? [False, False] Translation: X:45.16, Y:0.12, Z:2.90 [[ 9.97915577e-01 -3.65166211e-02 5.32075019e-02 4.51637526e+01] [ 4.06150205e-03 8.58405951e-01 5.12954898e-01 1.22898241e-01] [-6.44050160e-02 -5.11669581e-01 8.56764982e-01 2.90050792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.561193817 meters Centerline goodness : 0.918316 with order 1 Centerline is valid? [False, False] Translation: X:45.13, Y:0.12, Z:2.90 [[ 9.97257391e-01 -5.12394647e-02 5.34061140e-02 4.51279793e+01] [ 2.05412320e-02 8.84863660e-01 4.65396994e-01 1.24392835e-01] [-7.11038223e-02 -4.63023564e-01 8.83489347e-01 2.90338919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.621193817 meters Centerline goodness : 0.913831 with order 1 Centerline is valid? [False, False] Translation: X:45.12, Y:0.13, Z:2.90 [[ 9.97003468e-01 -5.51875128e-02 5.42072173e-02 4.51171949e+01] [ 2.86988194e-02 9.14612725e-01 4.03311220e-01 1.34708994e-01] [-7.18363539e-02 -4.00547003e-01 9.13455876e-01 2.89846658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.681193817 meters Centerline goodness : 0.915841 with order 1 Centerline is valid? [False, False] Translation: X:45.11, Y:0.15, Z:2.89 [[ 9.96949348e-01 -5.51381568e-02 5.52429243e-02 4.51062347e+01] [ 3.30233752e-02 9.39285706e-01 3.41543291e-01 1.48153939e-01] [-7.07209567e-02 -3.38677054e-01 9.38241120e-01 2.89155519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.741193817 meters Centerline goodness : 0.918528 with order 1 Centerline is valid? [False, False] Translation: X:45.10, Y:0.16, Z:2.89 [[ 9.97130032e-01 -5.12801431e-02 5.56960160e-02 4.51035813e+01] [ 3.30883290e-02 9.56871077e-01 2.88622424e-01 1.64785469e-01] [-6.80945061e-02 -2.85951199e-01 9.55821662e-01 2.88576087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.801193817 meters Centerline goodness : 0.913424 with order 1 Centerline is valid? [False, False] Translation: X:45.11, Y:0.19, Z:2.88 [[ 9.97351353e-01 -4.59355329e-02 5.63933087e-02 4.51067174e+01] [ 3.17677804e-02 9.72580138e-01 2.30388116e-01 1.88062707e-01] [-6.54300128e-02 -2.27986409e-01 9.71463386e-01 2.87797820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.86119381700001 meters Centerline goodness : 0.913612 with order 1 Centerline is valid? [False, False] Translation: X:45.12, Y:0.21, Z:2.87 [[ 9.97453079e-01 -4.40136750e-02 5.61262088e-02 4.51198522e+01] [ 3.30445500e-02 9.82515463e-01 1.83225062e-01 2.11928265e-01] [-6.32092764e-02 -1.80903737e-01 9.81467486e-01 2.87136944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.92119381700002 meters Centerline goodness : 0.913774 with order 1 Centerline is valid? [False, False] Translation: X:45.14, Y:0.23, Z:2.87 [[ 9.97726612e-01 -4.31596012e-02 5.17576749e-02 4.51429950e+01] [ 3.54156742e-02 9.89207752e-01 1.42175078e-01 2.28687318e-01] [-5.73353129e-02 -1.40018826e-01 9.88487425e-01 2.86778841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.98119381700002 meters Centerline goodness : 0.916195 with order 1 Centerline is valid? [False, False] Translation: X:45.14, Y:0.25, Z:2.87 [[ 9.97608207e-01 -4.64640774e-02 5.11757317e-02 4.51364005e+01] [ 4.02539819e-02 9.92395129e-01 1.16325086e-01 2.46084759e-01] [-5.61914846e-02 -1.13986834e-01 9.91891889e-01 2.86607950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.041193817 meters Centerline goodness : 0.920177 with order 1 Centerline is valid? [False, False] Translation: X:45.13, Y:0.26, Z:2.87 [[ 9.97585662e-01 -4.70121493e-02 5.11146173e-02 4.51302369e+01] [ 4.18477859e-02 9.94326507e-01 9.77934540e-02 2.60251851e-01] [-5.54220993e-02 -9.54183140e-02 9.93893222e-01 2.86606911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.101193817 meters Centerline goodness : 0.919286 with order 1 Centerline is valid? [False, False] Translation: X:45.13, Y:0.28, Z:2.87 [[ 9.97745145e-01 -4.40810184e-02 5.06111685e-02 4.51345784e+01] [ 3.98221467e-02 9.95813601e-01 8.22767824e-02 2.80353749e-01] [-5.40261343e-02 -8.00758148e-02 9.95323586e-01 2.86856459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.161193817 meters Centerline goodness : 0.925246 with order 1 Centerline is valid? [False, False] Translation: X:45.13, Y:0.30, Z:2.87 [[ 9.97701984e-01 -3.89676617e-02 5.54280876e-02 4.51266000e+01] [ 3.50133662e-02 9.96889596e-01 7.06059295e-02 2.96771091e-01] [-5.80070318e-02 -6.85029520e-02 9.95963117e-01 2.87015673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.221193817 meters Centerline goodness : 0.928326 with order 1 Centerline is valid? [False, False] Translation: X:45.08, Y:0.31, Z:2.88 [[ 9.98100493e-01 -3.25537553e-02 5.23035222e-02 4.50825703e+01] [ 2.66862490e-02 9.93660903e-01 1.09205563e-01 3.09810534e-01] [-5.55270162e-02 -1.07602341e-01 9.92642175e-01 2.88244961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.281193817 meters Centerline goodness : 0.926272 with order 1 Centerline is valid? [False, False] Translation: X:45.07, Y:0.33, Z:2.88 [[ 9.98148898e-01 -2.77272684e-02 5.41292590e-02 4.50744526e+01] [ 2.26520248e-02 9.95480847e-01 9.22213063e-02 3.27408552e-01] [-5.64416855e-02 -9.08244579e-02 9.94266189e-01 2.88133238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.341193817 meters Centerline goodness : 0.923126 with order 1 Centerline is valid? [False, False] Translation: X:45.07, Y:0.35, Z:2.88 [[ 9.98211750e-01 -2.24376075e-02 5.54062727e-02 4.50708641e+01] [ 1.77827769e-02 9.96380788e-01 8.31209896e-02 3.47057891e-01] [-5.70707817e-02 -8.19870711e-02 9.94998013e-01 2.87954789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.401193817 meters Centerline goodness : 0.926393 with order 1 Centerline is valid? [False, False] Translation: X:45.07, Y:0.36, Z:2.88 [[ 9.98842831e-01 -1.26934780e-02 4.63883087e-02 4.50659642e+01] [ 8.94319546e-03 9.96740553e-01 8.01766159e-02 3.64972217e-01] [-4.72548286e-02 -7.96689783e-02 9.95700675e-01 2.88445427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.461193817 meters Centerline goodness : 0.923559 with order 1 Centerline is valid? [False, False] Translation: X:45.08, Y:0.38, Z:2.89 [[ 9.99215891e-01 -3.17579502e-03 3.94653960e-02 4.50832012e+01] [ 3.24704119e-04 9.97401679e-01 7.20401684e-02 3.76725145e-01] [-3.95916370e-02 -7.19708665e-02 9.96620638e-01 2.88519843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.521193817 meters Centerline goodness : 0.922208 with order 1 Centerline is valid? [False, False] Translation: X:45.09, Y:0.39, Z:2.89 [[ 9.99208445e-01 1.45694248e-02 3.70164217e-02 4.50924627e+01] [-1.69164534e-02 9.97812648e-01 6.39042515e-02 3.86092822e-01] [-3.60044056e-02 -6.44798544e-02 9.97269287e-01 2.88549308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.581193817 meters Centerline goodness : 0.923018 with order 1 Centerline is valid? [False, False] Translation: X:45.11, Y:0.39, Z:2.89 [[ 9.98995109e-01 2.78896017e-02 3.50847916e-02 4.51135945e+01] [-2.98472235e-02 9.97952412e-01 5.65696675e-02 3.86289033e-01] [-3.34352469e-02 -5.75600047e-02 9.97782005e-01 2.89013140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.64119381700002 meters Centerline goodness : 0.923538 with order 1 Centerline is valid? [False, False] Translation: X:45.12, Y:0.38, Z:2.89 [[ 9.99013672e-01 3.12224287e-02 3.15728233e-02 4.51222931e+01] [-3.28961112e-02 9.98001125e-01 5.39592501e-02 3.84460625e-01] [-2.98249743e-02 -5.49446517e-02 9.98043865e-01 2.89239896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.70119381700002 meters Centerline goodness : 0.924162 with order 1 Centerline is valid? [False, False] Translation: X:45.16, Y:0.38, Z:2.90 [[ 9.99097162e-01 3.22664212e-02 2.76358333e-02 4.51552876e+01] [-3.34681164e-02 9.98462611e-01 4.41848459e-02 3.78275553e-01] [-2.61676594e-02 -4.50698734e-02 9.98641057e-01 2.89555086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.761193817 meters Centerline goodness : 0.923430 with order 1 Centerline is valid? [False, False] Translation: X:45.18, Y:0.37, Z:2.90 [[ 9.99252211e-01 2.93806667e-02 2.51355471e-02 4.51826723e+01] [-3.03195040e-02 9.98824378e-01 3.78231392e-02 3.70354268e-01] [-2.39947282e-02 -3.85569528e-02 9.98968275e-01 2.89698556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.821193817 meters Centerline goodness : 0.920988 with order 1 Centerline is valid? [False, False] Translation: X:45.21, Y:0.36, Z:2.89 [[ 9.99361841e-01 2.29528858e-02 2.73692534e-02 4.52139945e+01] [-2.42025983e-02 9.98637128e-01 4.62398190e-02 3.59026837e-01] [-2.62706153e-02 -4.68727177e-02 9.98555358e-01 2.89294557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.881193817 meters Centerline goodness : 0.918168 with order 1 Centerline is valid? [False, False] Translation: X:45.25, Y:0.32, Z:2.89 [[ 9.99137002e-01 6.96167108e-03 4.09485825e-02 4.52534421e+01] [-1.22981548e-02 9.91232865e-01 1.31552890e-01 3.18216119e-01] [-3.96737528e-02 -1.31942952e-01 9.90463049e-01 2.88834106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.941193817 meters Centerline goodness : 0.921728 with order 1 Centerline is valid? [False, False] Translation: X:45.27, Y:0.27, Z:2.89 [[ 9.98630829e-01 -1.32378990e-02 5.06085551e-02 4.52744113e+01] [ 1.48928708e-04 9.68166075e-01 2.50308666e-01 2.73655105e-01] [-5.23110470e-02 -2.49958414e-01 9.66842462e-01 2.89479511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.001193817 meters Centerline goodness : 0.927049 with order 1 Centerline is valid? [False, False] Translation: X:45.27, Y:0.21, Z:2.93 [[ 9.98262761e-01 -4.32994357e-02 3.99577137e-02 4.52679702e+01] [ 2.19701077e-02 9.02823660e-01 4.29449361e-01 2.13825757e-01] [-5.46696843e-02 -4.27825429e-01 9.02206533e-01 2.92992223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.061193817 meters Centerline goodness : 0.923343 with order 1 Centerline is valid? [False, False] Translation: X:45.24, Y:0.23, Z:2.93 [[ 9.98275718e-01 -4.38045569e-02 3.90736676e-02 4.52389766e+01] [ 2.63905327e-02 9.29520945e-01 3.67823808e-01 2.25401613e-01] [-5.24321513e-02 -3.66158401e-01 9.29074214e-01 2.93329434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.121193817 meters Centerline goodness : 0.920446 with order 1 Centerline is valid? [False, False] Translation: X:45.22, Y:0.24, Z:2.94 [[ 9.98366786e-01 -4.25127333e-02 3.81631738e-02 4.52206814e+01] [ 2.95381045e-02 9.55919960e-01 2.92137861e-01 2.38028501e-01] [-4.89005186e-02 -2.90533469e-01 9.55614484e-01 2.93599317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.181193817 meters Centerline goodness : 0.920302 with order 1 Centerline is valid? [False, False] Translation: X:45.21, Y:0.25, Z:2.94 [[ 9.98408908e-01 -4.24362279e-02 3.71324621e-02 4.52065663e+01] [ 3.21187798e-02 9.69227253e-01 2.44063343e-01 2.46865314e-01] [-4.63469219e-02 -2.42482366e-01 9.69048123e-01 2.93840624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.241193817 meters Centerline goodness : 0.923589 with order 1 Centerline is valid? [False, False] Translation: X:45.20, Y:0.26, Z:2.94 [[ 9.98286320e-01 -4.21629670e-02 4.05796381e-02 4.51958168e+01] [ 3.36552581e-02 9.80956522e-01 1.91289379e-01 2.56163617e-01] [-4.78721884e-02 -1.89595852e-01 9.80694482e-01 2.94107454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.301193817 meters Centerline goodness : 0.923760 with order 1 Centerline is valid? [False, False] Translation: X:45.18, Y:0.27, Z:2.94 [[ 9.98054593e-01 -4.22303735e-02 4.58652950e-02 4.51813287e+01] [ 3.46091009e-02 9.87177674e-01 1.55828273e-01 2.66143571e-01] [-5.18578814e-02 -1.53937767e-01 9.86718766e-01 2.94137096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.36119381700001 meters Centerline goodness : 0.922989 with order 1 Centerline is valid? [False, False] Translation: X:45.17, Y:0.27, Z:2.94 [[ 9.98039400e-01 -4.07703844e-02 4.74882178e-02 4.51732061e+01] [ 3.44951608e-02 9.91406296e-01 1.26188905e-01 2.74791471e-01] [-5.22248883e-02 -1.24303385e-01 9.90868927e-01 2.93969549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.42119381700002 meters Centerline goodness : 0.924331 with order 1 Centerline is valid? [False, False] Translation: X:45.17, Y:0.29, Z:2.94 [[ 9.98030949e-01 -4.03354911e-02 4.80340772e-02 4.51711196e+01] [ 3.53650189e-02 9.94341052e-01 1.00175783e-01 2.87236307e-01] [-5.18028943e-02 -9.82798060e-02 9.93809609e-01 2.93802045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.48119381700002 meters Centerline goodness : 0.921680 with order 1 Centerline is valid? [False, False] Translation: X:45.16, Y:0.30, Z:2.94 [[ 9.98235297e-01 -3.61886609e-02 4.70815634e-02 4.51635661e+01] [ 3.19091487e-02 9.95549721e-01 8.86710727e-02 2.95978718e-01] [-5.00809247e-02 -8.70122619e-02 9.94947620e-01 2.93739486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.541193817 meters Centerline goodness : 0.927846 with order 1 Centerline is valid? [False, False] Translation: X:45.15, Y:0.30, Z:2.94 [[ 9.98790505e-01 -2.35626303e-02 4.31547084e-02 4.51511902e+01] [ 1.96573671e-02 9.95856973e-01 8.87833139e-02 3.04035659e-01] [-4.50678857e-02 -8.78276230e-02 9.95115669e-01 2.94269456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.601193817 meters Centerline goodness : 0.934603 with order 1 Centerline is valid? [False, False] Translation: X:45.15, Y:0.28, Z:2.95 [[ 9.98928205e-01 -2.31299159e-02 4.00929865e-02 4.51507915e+01] [ 1.51976485e-02 9.82068954e-01 1.87908492e-01 2.84657350e-01] [-4.37203850e-02 -1.87097773e-01 9.81367898e-01 2.95494054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.661193817 meters Centerline goodness : 0.932378 with order 1 Centerline is valid? [False, False] Translation: X:45.17, Y:0.28, Z:2.96 [[ 9.99168188e-01 -1.94937986e-02 3.58179315e-02 4.51702138e+01] [ 1.02110330e-02 9.69959292e-01 2.43052887e-01 2.77746460e-01] [-3.94799595e-02 -2.42484975e-01 9.69351520e-01 2.96416694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.721193817 meters Centerline goodness : 0.934292 with order 1 Centerline is valid? [False, False] Translation: X:45.19, Y:0.26, Z:2.97 [[ 9.99182054e-01 -2.01896268e-02 3.50371583e-02 4.51948203e+01] [ 8.02230156e-03 9.48190221e-01 3.17601869e-01 2.59316997e-01] [-3.96341541e-02 -3.17061009e-01 9.47576620e-01 2.97125299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.781193817 meters Centerline goodness : 0.935151 with order 1 Centerline is valid? [False, False] Translation: X:45.21, Y:0.21, Z:3.00 [[ 9.98973178e-01 -3.76958321e-02 2.51319484e-02 4.52093873e+01] [ 2.15482123e-02 8.83287875e-01 4.68335567e-01 2.13746640e-01] [-3.98530442e-02 -4.67313121e-01 8.83193173e-01 2.99549617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.841193817 meters Centerline goodness : 0.932851 with order 1 Centerline is valid? [False, False] Translation: X:45.18, Y:0.23, Z:2.99 [[ 9.98866391e-01 -4.00541343e-02 2.57215712e-02 4.51843760e+01] [ 2.64552929e-02 9.16325230e-01 3.99559996e-01 2.32963188e-01] [-3.95733544e-02 -3.98426579e-01 9.16346119e-01 2.99416145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.901193817 meters Centerline goodness : 0.928943 with order 1 Centerline is valid? [False, False] Translation: X:45.17, Y:0.24, Z:2.99 [[ 9.98761568e-01 -4.27158391e-02 2.55085820e-02 4.51657394e+01] [ 3.09638583e-02 9.34983817e-01 3.53336245e-01 2.43792601e-01] [-3.89431655e-02 -3.52108818e-01 9.35148550e-01 2.99434912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.961193817 meters Centerline goodness : 0.929656 with order 1 Centerline is valid? [False, False] Translation: X:45.15, Y:0.26, Z:2.99 [[ 9.98790841e-01 -4.13807593e-02 2.65422013e-02 4.51459651e+01] [ 3.17707973e-02 9.55321828e-01 2.93855103e-01 2.57505447e-01] [-3.75162915e-02 -2.92656518e-01 9.55481392e-01 2.99405219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.021193817 meters Centerline goodness : 0.932940 with order 1 Centerline is valid? [False, False] Translation: X:45.13, Y:0.27, Z:2.99 [[ 9.98654899e-01 -4.23976001e-02 2.98468955e-02 4.51297181e+01] [ 3.45059924e-02 9.73106653e-01 2.27755962e-01 2.73677111e-01] [-3.87005187e-02 -2.26419710e-01 9.73260697e-01 2.99490227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.081193817 meters Centerline goodness : 0.932454 with order 1 Centerline is valid? [False, False] Translation: X:45.13, Y:0.29, Z:3.00 [[ 9.98335660e-01 -4.78234821e-02 3.22308099e-02 4.51294116e+01] [ 4.16592518e-02 9.84494457e-01 1.70397096e-01 2.87373700e-01] [-3.98800362e-02 -1.68770786e-01 9.84848214e-01 2.99551008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.14119381700002 meters Centerline goodness : 0.934936 with order 1 Centerline is valid? [False, False] Translation: X:45.13, Y:0.30, Z:3.00 [[ 9.98074368e-01 -5.24610254e-02 3.30967707e-02 4.51315876e+01] [ 4.75439303e-02 9.89702730e-01 1.35011414e-01 2.95873066e-01] [-3.98388016e-02 -1.33177881e-01 9.90291130e-01 2.99662909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.20119381700002 meters Centerline goodness : 0.935151 with order 1 Centerline is valid? [False, False] Translation: X:45.12, Y:0.31, Z:3.00 [[ 9.97886021e-01 -5.49323135e-02 3.47265019e-02 4.51155848e+01] [ 5.07178472e-02 9.92370135e-01 1.12379780e-01 3.05464892e-01] [-4.06348247e-02 -1.10380958e-01 9.93058334e-01 2.99749661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.261193817 meters Centerline goodness : 0.939119 with order 1 Centerline is valid? [False, False] Translation: X:45.11, Y:0.31, Z:3.00 [[ 9.97977672e-01 -5.06789765e-02 3.83693566e-02 4.51070711e+01] [ 4.68693252e-02 9.94430202e-01 9.44025395e-02 3.13909779e-01] [-4.29398711e-02 -9.24132807e-02 9.94794428e-01 3.00007180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.321193817 meters Centerline goodness : 0.941065 with order 1 Centerline is valid? [False, False] Translation: X:45.09, Y:0.32, Z:3.00 [[ 9.98081578e-01 -4.23093339e-02 4.52004875e-02 4.50885525e+01] [ 3.85114845e-02 9.95902654e-01 8.18215664e-02 3.22379612e-01] [-4.84771015e-02 -7.99238602e-02 9.95621488e-01 2.99991122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.381193817 meters Centerline goodness : 0.943127 with order 1 Centerline is valid? [False, False] Translation: X:45.08, Y:0.33, Z:3.00 [[ 9.98514861e-01 -2.91400492e-02 4.60318343e-02 4.50842265e+01] [ 2.47511366e-02 9.95340281e-01 9.31939194e-02 3.29318199e-01] [-4.85330142e-02 -9.19161733e-02 9.94583312e-01 3.00263818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.441193817 meters Centerline goodness : 0.941350 with order 1 Centerline is valid? [False, False] Translation: X:45.07, Y:0.34, Z:3.00 [[ 9.98657334e-01 -1.84303180e-02 4.84133475e-02 4.50726682e+01] [ 1.51045941e-02 9.97558431e-01 6.81837875e-02 3.39473399e-01] [-4.95517918e-02 -6.73609755e-02 9.96497425e-01 3.00131585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.501193817 meters Centerline goodness : 0.933674 with order 1 Centerline is valid? [False, False] Translation: X:45.10, Y:0.34, Z:3.00 [[ 9.99231863e-01 -7.26657329e-03 3.85081983e-02 4.50966994e+01] [ 4.82892674e-03 9.98000516e-01 6.30210331e-02 3.42854387e-01] [-3.88891487e-02 -6.27866710e-02 9.97269005e-01 2.99887031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.561193817 meters Centerline goodness : 0.931847 with order 1 Centerline is valid? [False, False] Translation: X:45.13, Y:0.34, Z:3.00 [[ 9.99447136e-01 -2.17375694e-03 3.31767489e-02 4.51258266e+01] [ 1.20548000e-04 9.98090781e-01 6.17639000e-02 3.43482555e-01] [-3.32476669e-02 -6.17257536e-02 9.97539234e-01 2.99876183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.621193817 meters Centerline goodness : 0.933816 with order 1 Centerline is valid? [False, False] Translation: X:45.16, Y:0.34, Z:3.00 [[ 9.99533268e-01 4.63431779e-03 3.01955207e-02 4.51602265e+01] [-6.29840524e-03 9.98452657e-01 5.52505346e-02 3.40536516e-01] [-2.98927494e-02 -5.54149310e-02 9.98015836e-01 3.00113959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.681193817 meters Centerline goodness : 0.933559 with order 1 Centerline is valid? [False, False] Translation: X:45.20, Y:0.34, Z:3.00 [[ 9.99509323e-01 6.53018445e-03 3.06344420e-02 4.51966655e+01] [-8.47357987e-03 9.97930327e-01 6.37437094e-02 3.35369347e-01] [-3.01547806e-02 -6.39720153e-02 9.97496000e-01 2.99963633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.741193817 meters Centerline goodness : 0.934737 with order 1 Centerline is valid? [False, False] Translation: X:45.23, Y:0.32, Z:3.00 [[ 9.99438610e-01 7.00692892e-03 3.27622833e-02 4.52346330e+01] [-9.30892406e-03 9.97457888e-01 7.06477502e-02 3.23032040e-01] [-3.21839742e-02 -7.09130708e-02 9.96963153e-01 2.99693897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.801193817 meters Centerline goodness : 0.929064 with order 1 Centerline is valid? [False, False] Translation: X:45.26, Y:0.29, Z:3.00 [[ 9.98910848e-01 -4.69582585e-03 4.64226933e-02 4.52618912e+01] [-3.19290737e-03 9.85711446e-01 1.68412441e-01 2.88413415e-01] [-4.65502156e-02 -1.68377238e-01 9.84622863e-01 2.99965136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.86119381700001 meters Centerline goodness : 0.934012 with order 1 Centerline is valid? [False, False] Translation: X:45.25, Y:0.21, Z:3.03 [[ 9.98471876e-01 -3.94577898e-02 3.86910216e-02 4.52521156e+01] [ 2.15522406e-02 9.22733210e-01 3.84836230e-01 2.14102788e-01] [-5.08862777e-02 -3.83414274e-01 9.22173563e-01 3.03438860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.92119381700002 meters Centerline goodness : 0.936969 with order 1 Centerline is valid? [False, False] Translation: X:45.23, Y:0.22, Z:3.04 [[ 9.97933209e-01 -4.89161709e-02 4.16715460e-02 4.52346259e+01] [ 3.31584391e-02 9.47469460e-01 3.18122838e-01 2.24159317e-01] [-5.50438683e-02 -3.16083581e-01 9.47133223e-01 3.03677597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.981193817 meters Centerline goodness : 0.937744 with order 1 Centerline is valid? [False, False] Translation: X:45.22, Y:0.23, Z:3.04 [[ 9.97722651e-01 -5.08531808e-02 4.43110190e-02 4.52174298e+01] [ 3.69652701e-02 9.61750363e-01 2.71421829e-01 2.28170129e-01] [-5.64188019e-02 -2.69165737e-01 9.61439922e-01 3.04026255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.041193817 meters Centerline goodness : 0.939812 with order 1 Centerline is valid? [False, False] Translation: X:45.20, Y:0.23, Z:3.04 [[ 9.98016427e-01 -4.13191533e-02 4.74967202e-02 4.51998864e+01] [ 2.94859879e-02 9.73396010e-01 2.27224083e-01 2.34310148e-01] [-5.56218246e-02 -2.25372880e-01 9.72683544e-01 3.04165555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.101193817 meters Centerline goodness : 0.942053 with order 1 Centerline is valid? [False, False] Translation: X:45.19, Y:0.24, Z:3.04 [[ 9.98201847e-01 -3.63881405e-02 4.76337711e-02 4.51877236e+01] [ 2.68070202e-02 9.81760939e-01 1.88220198e-01 2.40768653e-01] [-5.36139588e-02 -1.86604830e-01 9.80971040e-01 3.04226698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.161193817 meters Centerline goodness : 0.937137 with order 1 Centerline is valid? [False, False] Translation: X:45.18, Y:0.25, Z:3.04 [[ 9.98084229e-01 -3.75565441e-02 4.91668342e-02 4.51820815e+01] [ 2.94127991e-02 9.87164285e-01 1.56976307e-01 2.45108087e-01] [-5.44312303e-02 -1.55229442e-01 9.86377748e-01 3.04025653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.221193817 meters Centerline goodness : 0.933405 with order 1 Centerline is valid? [False, False] Translation: X:45.17, Y:0.25, Z:3.04 [[ 9.97972559e-01 -4.30136723e-02 4.69105152e-02 4.51714246e+01] [ 3.66850745e-02 9.91057480e-01 1.28293710e-01 2.46032486e-01] [-5.20094005e-02 -1.26312686e-01 9.90626129e-01 3.03670723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.281193817 meters Centerline goodness : 0.926702 with order 1 Centerline is valid? [False, False] Translation: X:45.17, Y:0.25, Z:3.04 [[ 9.98112311e-01 -4.01677627e-02 4.64582196e-02 4.51657694e+01] [ 3.51190091e-02 9.93872789e-01 1.04802359e-01 2.51542554e-01] [-5.03832365e-02 -1.02972958e-01 9.93407318e-01 3.03535093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.341193817 meters Centerline goodness : 0.930239 with order 1 Centerline is valid? [False, False] Translation: X:45.16, Y:0.26, Z:3.04 [[ 9.98331351e-01 -3.27411957e-02 4.75660398e-02 4.51602468e+01] [ 2.88777846e-02 9.96396156e-01 7.97544609e-02 2.56265837e-01] [-5.00058756e-02 -7.82477768e-02 9.95679013e-01 3.03636874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.401193817 meters Centerline goodness : 0.933856 with order 1 Centerline is valid? [False, False] Translation: X:45.17, Y:0.26, Z:3.04 [[ 9.98556390e-01 -2.12426707e-02 4.93344173e-02 4.51651730e+01] [ 1.80143519e-02 9.97723663e-01 6.49844299e-02 2.63211650e-01] [-5.06025583e-02 -6.40018902e-02 9.96666012e-01 3.03931648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.461193817 meters Centerline goodness : 0.937381 with order 1 Centerline is valid? [False, False] Translation: X:45.16, Y:0.27, Z:3.04 [[ 9.98428393e-01 -1.50029009e-02 5.39968317e-02 4.51621230e+01] [ 1.21765229e-02 9.98557339e-01 5.22969675e-02 2.67326935e-01] [-5.47035388e-02 -5.15572836e-02 9.97170682e-01 3.04114760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.521193817 meters Centerline goodness : 0.938520 with order 1 Centerline is valid? [False, False] Translation: X:45.17, Y:0.27, Z:3.04 [[ 9.98632530e-01 -9.61615996e-03 5.13867703e-02 4.51694045e+01] [ 7.98508539e-03 9.99460676e-01 3.18527064e-02 2.67935523e-01] [-5.16653569e-02 -3.13988210e-02 9.98170729e-01 3.04212073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.581193817 meters Centerline goodness : 0.934733 with order 1 Centerline is valid? [False, False] Translation: X:45.16, Y:0.27, Z:3.04 [[ 9.98750907e-01 -7.43660232e-03 4.94097360e-02 4.51649573e+01] [ 6.34394665e-03 9.99732659e-01 2.22343172e-02 2.68560284e-01] [-4.95618746e-02 -2.18930918e-02 9.98531078e-01 3.03858098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.64119381700002 meters Centerline goodness : 0.923495 with order 1 Centerline is valid? [False, False] Translation: X:45.16, Y:0.27, Z:3.04 [[ 9.99115993e-01 -3.08973468e-03 4.19247559e-02 4.51645988e+01] [ 2.60719820e-03 9.99929789e-01 1.15593834e-02 2.67046150e-01] [-4.19575277e-02 -1.14398587e-02 9.99053900e-01 3.04023379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.70119381700002 meters Centerline goodness : 0.927877 with order 1 Centerline is valid? [False, False] Translation: X:45.16, Y:0.22, Z:3.06 [[ 9.99122454e-01 -1.76416565e-02 3.79880730e-02 4.51641629e+01] [ 1.19803980e-02 9.89446441e-01 1.44402944e-01 2.24871117e-01] [-4.01346708e-02 -1.43821111e-01 9.88789511e-01 3.05592535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.761193817 meters Centerline goodness : 0.928297 with order 1 Centerline is valid? [False, False] Translation: X:45.15, Y:0.23, Z:3.06 [[ 9.98968352e-01 -1.89009715e-02 4.12914550e-02 4.51530399e+01] [ 1.40593341e-02 9.93318233e-01 1.14547907e-01 2.27587098e-01] [-4.31806219e-02 -1.13849204e-01 9.92559214e-01 3.05702366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.821193817 meters Centerline goodness : 0.934645 with order 1 Centerline is valid? [False, False] Translation: X:45.15, Y:0.23, Z:3.06 [[ 9.98624156e-01 -2.06388657e-02 4.82061396e-02 4.51458394e+01] [ 1.61960625e-02 9.95737449e-01 9.07998898e-02 2.25931922e-01] [-4.98746653e-02 -8.98942137e-02 9.94701738e-01 3.05753193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.881193817 meters Centerline goodness : 0.932384 with order 1 Centerline is valid? [False, False] Translation: X:45.16, Y:0.23, Z:3.06 [[ 9.98688980e-01 -2.24782804e-02 4.59896518e-02 4.51608417e+01] [ 1.99464734e-02 9.98298719e-01 5.47887462e-02 2.31340166e-01] [-4.71429673e-02 -5.37995857e-02 9.97438291e-01 3.05620805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.941193817 meters Centerline goodness : 0.926379 with order 1 Centerline is valid? [False, False] Translation: X:45.18, Y:0.23, Z:3.05 [[ 9.98736100e-01 -2.75433130e-02 4.20424545e-02 4.51836432e+01] [ 2.62304590e-02 9.99160591e-01 3.14654932e-02 2.31378275e-01] [-4.28738276e-02 -3.03229311e-02 9.98620225e-01 3.05374640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.001193817 meters Centerline goodness : 0.925547 with order 1 Centerline is valid? [False, False] Translation: X:45.20, Y:0.23, Z:3.05 [[ 9.98663824e-01 -2.96052194e-02 4.23567983e-02 4.52046566e+01] [ 2.91013712e-02 9.99498766e-01 1.24630214e-02 2.31638864e-01] [-4.27045382e-02 -1.12137277e-02 9.99024812e-01 3.05164700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.061193817 meters Centerline goodness : 0.926472 with order 1 Centerline is valid? [False, False] Translation: X:45.22, Y:0.23, Z:3.05 [[ 9.98682841e-01 -2.89773611e-02 4.23426007e-02 4.52245914e+01] [ 2.92043651e-02 9.99562165e-01 -4.75229503e-03 2.33736189e-01] [-4.21863526e-02 5.98262427e-03 9.99091848e-01 3.05080778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.121193817 meters Centerline goodness : 0.931544 with order 1 Centerline is valid? [False, False] Translation: X:45.22, Y:0.23, Z:3.05 [[ 9.98743551e-01 -2.63775521e-02 4.26092026e-02 4.52219942e+01] [ 2.65035872e-02 9.99645848e-01 -2.39564105e-03 2.33302941e-01] [-4.25309213e-02 3.52192776e-03 9.99088943e-01 3.05384685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.181193817 meters Centerline goodness : 0.933737 with order 1 Centerline is valid? [False, False] Translation: X:45.25, Y:0.24, Z:3.05 [[ 9.98737785e-01 -1.83739051e-02 4.67465030e-02 4.52480994e+01] [ 1.95308942e-02 9.99511104e-01 -2.44150858e-02 2.38020061e-01] [-4.62750483e-02 2.52972698e-02 9.98608366e-01 3.05427000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.241193817 meters Centerline goodness : 0.934843 with order 1 Centerline is valid? [False, False] Translation: X:45.25, Y:0.23, Z:3.05 [[ 9.98793720e-01 -1.44488616e-02 4.69290557e-02 4.52476396e+01] [ 1.53597594e-02 9.99699439e-01 -1.91078292e-02 2.34803228e-01] [-4.66388643e-02 1.98055988e-02 9.98715452e-01 3.05399025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.301193817 meters Centerline goodness : 0.936709 with order 1 Centerline is valid? [False, False] Translation: X:45.28, Y:0.23, Z:3.05 [[ 9.98821883e-01 -1.56193276e-02 4.59443423e-02 4.52766934e+01] [ 1.70713147e-02 9.99361653e-01 -3.13824421e-02 2.34222510e-01] [-4.54248412e-02 3.21298002e-02 9.98450930e-01 3.05242961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.36119381700001 meters Centerline goodness : 0.937376 with order 1 Centerline is valid? [False, False] Translation: X:45.28, Y:0.23, Z:3.05 [[ 9.98760426e-01 -1.97919065e-02 4.56715560e-02 4.52777591e+01] [ 2.14023245e-02 9.99156521e-01 -3.50454960e-02 2.32112708e-01] [-4.49394158e-02 3.59795320e-02 9.98341586e-01 3.05184682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.42119381700002 meters Centerline goodness : 0.939064 with order 1 Centerline is valid? [False, False] Translation: X:45.31, Y:0.23, Z:3.05 [[ 9.98663615e-01 -2.76452644e-02 4.36660422e-02 4.53056849e+01] [ 2.90347681e-02 9.99081501e-01 -3.15140604e-02 2.28994732e-01] [-4.27547204e-02 3.27397788e-02 9.98549018e-01 3.05265453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.481193817 meters Centerline goodness : 0.938305 with order 1 Centerline is valid? [False, False] Translation: X:45.33, Y:0.23, Z:3.05 [[ 9.98573306e-01 -3.14287926e-02 4.31692402e-02 4.53272589e+01] [ 3.30331973e-02 9.98770294e-01 -3.69690222e-02 2.31273359e-01] [-4.19542629e-02 3.83422967e-02 9.98383548e-01 3.05025500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.541193817 meters Centerline goodness : 0.938985 with order 1 Centerline is valid? [False, False] Translation: X:45.36, Y:0.23, Z:3.05 [[ 9.98791137e-01 -3.04852033e-02 3.85605544e-02 4.53566430e+01] [ 3.21438861e-02 9.98551260e-01 -4.31526548e-02 2.30883237e-01] [-3.71891727e-02 4.43399752e-02 9.98324062e-01 3.05007082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.601193817 meters Centerline goodness : 0.938141 with order 1 Centerline is valid? [False, False] Translation: X:45.38, Y:0.23, Z:3.05 [[ 9.98877312e-01 -3.08252915e-02 3.59710499e-02 4.53792866e+01] [ 3.23701119e-02 9.98542560e-01 -4.31848628e-02 2.30923030e-01] [-3.45874383e-02 4.43007666e-02 9.98419326e-01 3.04793572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.661193817 meters Centerline goodness : 0.936546 with order 1 Centerline is valid? [False, False] Translation: X:45.40, Y:0.23, Z:3.04 [[ 9.98938185e-01 -3.34274816e-02 3.17034190e-02 4.54042946e+01] [ 3.48143238e-02 9.98413654e-01 -4.42508547e-02 2.33073144e-01] [-3.01739317e-02 4.53076015e-02 9.98517278e-01 3.04447149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.721193817 meters Centerline goodness : 0.936046 with order 1 Centerline is valid? [False, False] Translation: X:45.43, Y:0.23, Z:3.05 [[ 9.98878007e-01 -3.88941748e-02 2.70179463e-02 4.54341050e+01] [ 3.99325375e-02 9.98440222e-01 -3.90194343e-02 2.33132019e-01] [-2.54581756e-02 4.00545499e-02 9.98873122e-01 3.04585497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.781193817 meters Centerline goodness : 0.939026 with order 1 Centerline is valid? [False, False] Translation: X:45.46, Y:0.23, Z:3.05 [[ 9.98344111e-01 -5.08285250e-02 2.69350421e-02 4.54594216e+01] [ 5.18280334e-02 9.97940039e-01 -3.78091748e-02 2.32272243e-01] [-2.49577723e-02 3.91425572e-02 9.98921904e-01 3.04889011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.841193817 meters Centerline goodness : 0.941040 with order 1 Centerline is valid? [False, False] Translation: X:45.47, Y:0.24, Z:3.05 [[ 9.98045542e-01 -5.29235944e-02 3.32293289e-02 4.54718550e+01] [ 5.42043789e-02 9.97771674e-01 -3.89046500e-02 2.35729894e-01] [-3.10963092e-02 4.06297876e-02 9.98690262e-01 3.05112208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.901193817 meters Centerline goodness : 0.941375 with order 1 Centerline is valid? [False, False] Translation: X:45.50, Y:0.25, Z:3.05 [[ 9.98008701e-01 -5.11356760e-02 3.69293335e-02 4.55046691e+01] [ 5.26478472e-02 9.97762593e-01 -4.12069409e-02 2.47747742e-01] [-3.47395627e-02 4.30691355e-02 9.98467933e-01 3.05095000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.961193817 meters Centerline goodness : 0.936844 with order 1 Centerline is valid? [False, False] Translation: X:45.53, Y:0.26, Z:3.05 [[ 9.98411173e-01 -4.41050208e-02 3.50696003e-02 4.55339094e+01] [ 4.58341350e-02 9.97690263e-01 -5.01335247e-02 2.63315752e-01] [-3.27774586e-02 5.16612560e-02 9.98126622e-01 3.04795257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.021193817 meters Centerline goodness : 0.935037 with order 1 Centerline is valid? [False, False] Translation: X:45.57, Y:0.28, Z:3.04 [[ 9.98653832e-01 -3.81162106e-02 3.51806598e-02 4.55682077e+01] [ 4.00848902e-02 9.97565550e-01 -5.70629031e-02 2.76041899e-01] [-3.29199926e-02 5.83962997e-02 9.97750543e-01 3.04200287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.081193817 meters Centerline goodness : 0.930925 with order 1 Centerline is valid? [False, False] Translation: X:45.58, Y:0.29, Z:3.04 [[ 9.98973020e-01 -3.26634543e-02 3.14007065e-02 4.55784035e+01] [ 3.41774985e-02 9.98216074e-01 -4.89547519e-02 2.91971967e-01] [-2.97456587e-02 4.99776739e-02 9.98307281e-01 3.04024260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.14119381700002 meters Centerline goodness : 0.927054 with order 1 Centerline is valid? [False, False] Translation: X:45.58, Y:0.30, Z:3.04 [[ 9.99056914e-01 -2.99972065e-02 3.13918874e-02 4.55781679e+01] [ 3.14610919e-02 9.98388595e-01 -4.72272496e-02 2.98632459e-01] [-2.99246168e-02 4.81703333e-02 9.98390773e-01 3.04053790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.20119381700002 meters Centerline goodness : 0.926726 with order 1 Centerline is valid? [False, False] Translation: X:45.57, Y:0.31, Z:3.04 [[ 9.98981787e-01 -2.95369549e-02 3.41021553e-02 4.55723953e+01] [ 3.10618791e-02 9.98499985e-01 -4.50881297e-02 3.06650741e-01] [-3.27192355e-02 4.61014974e-02 9.98400773e-01 3.04062744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.261193817 meters Centerline goodness : 0.929199 with order 1 Centerline is valid? [False, False] Translation: X:45.57, Y:0.31, Z:3.04 [[ 9.99048469e-01 -2.61204052e-02 3.49267957e-02 4.55701053e+01] [ 2.75624029e-02 9.98759803e-01 -4.14628819e-02 3.10540475e-01] [-3.38004523e-02 4.23860951e-02 9.98529393e-01 3.04158442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.321193817 meters Centerline goodness : 0.927312 with order 1 Centerline is valid? [False, False] Translation: X:45.57, Y:0.32, Z:3.04 [[ 9.99183632e-01 -1.95860025e-02 3.53335390e-02 4.55695133e+01] [ 2.08360251e-02 9.99157286e-01 -3.53635155e-02 3.16969297e-01] [-3.46111330e-02 3.60708563e-02 9.98749700e-01 3.04112664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.381193817 meters Centerline goodness : 0.927950 with order 1 Centerline is valid? [False, False] Translation: X:45.57, Y:0.32, Z:3.04 [[ 9.99314549e-01 -1.25302756e-02 3.48342514e-02 4.55702582e+01] [ 1.35240962e-02 9.99503944e-01 -2.84422985e-02 3.20147095e-01] [-3.44605818e-02 2.88939044e-02 9.98988294e-01 3.04117621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.441193817 meters Centerline goodness : 0.931370 with order 1 Centerline is valid? [False, False] Translation: X:45.55, Y:0.33, Z:3.05 [[ 9.99410346e-01 -1.00887051e-02 3.28203876e-02 4.55474533e+01] [ 1.04464607e-02 9.99887678e-01 -1.07472530e-02 3.27542412e-01] [-3.27082753e-02 1.10837727e-02 9.99403481e-01 3.04721884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.501193817 meters Centerline goodness : 0.932355 with order 1 Centerline is valid? [False, False] Translation: X:45.53, Y:0.33, Z:3.06 [[ 9.99582609e-01 -1.35325948e-02 2.55240292e-02 4.55252842e+01] [ 1.24349844e-02 9.99011313e-01 4.26821786e-02 3.26700805e-01] [-2.60763945e-02 -4.23469726e-02 9.98762612e-01 3.05848942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.561193817 meters Centerline goodness : 0.937113 with order 1 Centerline is valid? [False, False] Translation: X:45.52, Y:0.33, Z:3.07 [[ 9.99792750e-01 -1.00292468e-02 1.77164197e-02 4.55240657e+01] [ 8.68500907e-03 9.97191627e-01 7.43870290e-02 3.28585218e-01] [-1.84127112e-02 -7.42177450e-02 9.97072063e-01 3.07072360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.621193817 meters Centerline goodness : 0.937126 with order 1 Centerline is valid? [False, False] Translation: X:45.54, Y:0.32, Z:3.08 [[ 9.99926365e-01 -4.94886523e-03 1.10803076e-02 4.55380320e+01] [ 3.54239593e-03 9.92334044e-01 1.23533788e-01 3.23223349e-01] [-1.16067185e-02 -1.23485440e-01 9.92278504e-01 3.07912931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.681193817 meters Centerline goodness : 0.931352 with order 1 Centerline is valid? [False, False] Translation: X:45.54, Y:0.32, Z:3.08 [[ 9.99892059e-01 9.14407036e-03 1.15002660e-02 4.55384168e+01] [-1.06929431e-02 9.89697753e-01 1.42772611e-01 3.23521175e-01] [-1.00762646e-02 -1.42880171e-01 9.89688701e-01 3.08068505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.741193817 meters Centerline goodness : 0.930395 with order 1 Centerline is valid? [False, False] Translation: X:45.55, Y:0.32, Z:3.08 [[ 9.99740053e-01 1.51056674e-02 1.70776012e-02 4.55459096e+01] [-1.77230008e-02 9.86083982e-01 1.65300562e-01 3.16901294e-01] [-1.43429737e-02 -1.65560259e-01 9.86095371e-01 3.08120397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.801193817 meters Centerline goodness : 0.929801 with order 1 Centerline is valid? [False, False] Translation: X:45.57, Y:0.29, Z:3.09 [[ 9.99704200e-01 1.02713979e-02 2.20456577e-02 4.55670524e+01] [-1.55055422e-02 9.67511310e-01 2.52351826e-01 2.90363703e-01] [-1.87374171e-02 -2.52619010e-01 9.67384383e-01 3.08618533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.86119381700001 meters Centerline goodness : 0.930972 with order 1 Centerline is valid? [False, False] Translation: X:45.59, Y:0.26, Z:3.10 [[ 9.99779900e-01 1.64656915e-03 2.09150974e-02 4.55877630e+01] [-9.00740623e-03 9.34047049e-01 3.57036380e-01 2.61575150e-01] [-1.89477999e-02 -3.57146187e-01 9.33856296e-01 3.09770725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.92119381700002 meters Centerline goodness : 0.925501 with order 1 Centerline is valid? [False, False] Translation: X:45.59, Y:0.22, Z:3.12 [[ 9.99820217e-01 -1.26967279e-02 1.40828567e-02 4.55902899e+01] [ 3.94058798e-03 8.65631536e-01 5.00666073e-01 2.19664507e-01] [-1.85473857e-02 -5.00520567e-01 8.65525942e-01 3.12003287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.981193817 meters Centerline goodness : 0.927470 with order 1 Centerline is valid? [False, False] Translation: X:45.58, Y:0.19, Z:3.15 [[ 9.99632985e-01 -2.66800817e-02 4.69773581e-03 4.55827398e+01] [ 1.77976583e-02 7.77515554e-01 6.28611810e-01 1.86012600e-01] [-2.04239771e-02 -6.28297491e-01 7.77705037e-01 3.15186888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.041193817 meters Centerline goodness : 0.921860 with order 1 Centerline is valid? [False, False] Translation: X:45.57, Y:0.17, Z:3.18 [[ 9.99094599e-01 -4.22806079e-02 -4.72573994e-03 4.55701295e+01] [ 3.30200262e-02 7.00596722e-01 7.12793035e-01 1.70273525e-01] [-2.68264849e-02 -7.12303716e-01 7.01358508e-01 3.18181629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.101193817 meters Centerline goodness : 0.917413 with order 1 Centerline is valid? [False, False] Translation: X:45.51, Y:0.20, Z:3.17 [[ 9.98833439e-01 -4.80922575e-02 -4.34700666e-03 4.55147823e+01] [ 4.02847558e-02 7.80261955e-01 6.24154164e-01 2.00344437e-01] [-2.66251788e-02 -6.23601168e-01 7.81289116e-01 3.17116970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.161193817 meters Centerline goodness : 0.924188 with order 1 Centerline is valid? [False, False] Translation: X:45.45, Y:0.23, Z:3.16 [[ 9.98665744e-01 -5.15036951e-02 -3.75506433e-03 4.54549788e+01] [ 4.50865340e-02 8.34159650e-01 5.49677071e-01 2.26725074e-01] [-2.51780771e-02 -5.49112964e-01 8.35368791e-01 3.16483011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.221193817 meters Centerline goodness : 0.915638 with order 1 Centerline is valid? [False, False] Translation: X:45.40, Y:0.25, Z:3.16 [[ 9.98749893e-01 -4.97537795e-02 -4.81804378e-03 4.53994970e+01] [ 4.57453756e-02 8.70900613e-01 4.89325539e-01 2.46652281e-01] [-2.01497577e-02 -4.88934232e-01 8.72087899e-01 3.16330677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.281193817 meters Centerline goodness : 0.919862 with order 1 Centerline is valid? [False, False] Translation: X:45.36, Y:0.26, Z:3.16 [[ 9.99079238e-01 -4.27611053e-02 -3.48775973e-03 4.53634434e+01] [ 3.97950188e-02 8.93256051e-01 4.47783412e-01 2.60679961e-01] [-1.60322512e-02 -4.47509906e-01 8.94135253e-01 3.16436212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.341193817 meters Centerline goodness : 0.918047 with order 1 Centerline is valid? [False, False] Translation: X:45.32, Y:0.27, Z:3.16 [[ 9.99619800e-01 -2.74619772e-02 -2.46893463e-03 4.53229613e+01] [ 2.60098420e-02 9.09452378e-01 4.14993807e-01 2.74793536e-01] [-9.15117198e-03 -4.14900243e-01 9.09820886e-01 3.16420487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.401193817 meters Centerline goodness : 0.919555 with order 1 Centerline is valid? [False, False] Translation: X:45.30, Y:0.29, Z:3.16 [[ 9.99864621e-01 -1.63804827e-02 -1.55556774e-03 4.53032255e+01] [ 1.58599421e-02 9.34260835e-01 3.56237497e-01 2.93053906e-01] [-4.38203613e-03 -3.56213941e-01 9.34394149e-01 3.16371104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.461193817 meters Centerline goodness : 0.921976 with order 1 Centerline is valid? [False, False] Translation: X:45.30, Y:0.29, Z:3.17 [[ 9.99975944e-01 -6.30677432e-03 -2.88738167e-03 4.53027071e+01] [ 6.92610212e-03 9.30454676e-01 3.66341540e-01 2.90979586e-01] [ 3.76144359e-04 -3.66352726e-01 9.30475974e-01 3.17155377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.521193817 meters Centerline goodness : 0.917705 with order 1 Centerline is valid? [False, False] Translation: X:45.32, Y:0.29, Z:3.17 [[ 9.99990046e-01 -3.77251415e-03 -2.38251735e-03 4.53181857e+01] [ 4.37092292e-03 9.35519761e-01 3.53247325e-01 2.94615105e-01] [ 8.96261532e-04 -3.53254223e-01 9.35526938e-01 3.17385868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.581193817 meters Centerline goodness : 0.916708 with order 1 Centerline is valid? [False, False] Translation: X:45.34, Y:0.30, Z:3.17 [[ 9.99996647e-01 -7.66980123e-04 -2.47333693e-03 4.53367545e+01] [ 1.54853404e-03 9.42652168e-01 3.33773114e-01 2.95129934e-01] [ 2.07549908e-03 -3.33775825e-01 9.42650195e-01 3.17458499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.64119381700002 meters Centerline goodness : 0.912898 with order 1 Centerline is valid? [False, False] Translation: X:45.36, Y:0.29, Z:3.18 [[ 9.99999375e-01 8.08354236e-04 7.72691568e-04 4.53626298e+01] [-1.01962112e-03 9.42856837e-01 3.33196556e-01 2.88222373e-01] [-4.59196681e-04 -3.33197135e-01 9.42857072e-01 3.17668108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.70119381700002 meters Centerline goodness : 0.912306 with order 1 Centerline is valid? [False, False] Translation: X:45.41, Y:0.27, Z:3.18 [[ 9.99993448e-01 -1.60632913e-03 3.24386696e-03 4.54053736e+01] [ 2.61111479e-04 9.25820534e-01 3.77963319e-01 2.68431893e-01] [-3.61037213e-03 -3.77959996e-01 9.25814888e-01 3.18481626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.761193817 meters Centerline goodness : 0.912743 with order 1 Centerline is valid? [False, False] Translation: X:45.44, Y:0.25, Z:3.19 [[ 9.99971664e-01 -3.94719473e-03 6.41016791e-03 4.54411098e+01] [ 8.95928790e-04 9.07860574e-01 4.19271243e-01 2.52392558e-01] [-7.47448396e-03 -4.19253620e-01 9.07838386e-01 3.19381400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.821193817 meters Centerline goodness : 0.912845 with order 1 Centerline is valid? [False, False] Translation: X:45.48, Y:0.23, Z:3.21 [[ 9.99902133e-01 -7.94052178e-03 1.15183731e-02 4.54783620e+01] [ 1.47186949e-03 8.78457607e-01 4.77818027e-01 2.30676671e-01] [-1.39125269e-02 -4.77754310e-01 8.78383322e-01 3.20914542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.881193817 meters Centerline goodness : 0.910791 with order 1 Centerline is valid? [False, False] Translation: X:45.50, Y:0.18, Z:3.26 [[ 9.99736957e-01 -2.16933036e-02 7.44433224e-03 4.55003705e+01] [ 1.20521535e-02 7.73062941e-01 6.34214818e-01 1.78692210e-01] [-1.95131519e-02 -6.33958272e-01 7.73121042e-01 3.26091342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.941193817 meters Centerline goodness : 0.907964 with order 1 Centerline is valid? [False, False] Translation: X:45.46, Y:0.18, Z:3.26 [[ 9.99651607e-01 -2.53907577e-02 7.20925755e-03 4.54648588e+01] [ 1.63199405e-02 8.09259393e-01 5.87224740e-01 1.84206319e-01] [-2.07442405e-02 -5.86902500e-01 8.09391828e-01 3.26441698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.001193817 meters Centerline goodness : 0.911849 with order 1 Centerline is valid? [False, False] Translation: X:45.43, Y:0.19, Z:3.27 [[ 9.99669817e-01 -2.43369221e-02 8.24450146e-03 4.54264185e+01] [ 1.59922899e-02 8.40415062e-01 5.41707273e-01 1.86629305e-01] [-2.01122909e-02 -5.41396562e-01 8.40526774e-01 3.26946819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.061193817 meters Centerline goodness : 0.911853 with order 1 Centerline is valid? [False, False] Translation: X:45.39, Y:0.19, Z:3.27 [[ 9.99857088e-01 -1.51176296e-02 7.56708683e-03 4.53930332e+01] [ 9.38955073e-03 8.68809902e-01 4.95056754e-01 1.91055855e-01] [-1.40584446e-02 -4.94914953e-01 8.68827687e-01 3.27069872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.121193817 meters Centerline goodness : 0.912279 with order 1 Centerline is valid? [False, False] Translation: X:45.37, Y:0.20, Z:3.27 [[ 9.99952410e-01 -6.25079734e-03 7.49039475e-03 4.53732412e+01] [ 2.20166158e-03 8.92557080e-01 4.50929053e-01 1.99008812e-01] [-9.50427100e-03 -4.50891102e-01 8.92528365e-01 3.27013379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.181193817 meters Centerline goodness : 0.912619 with order 1 Centerline is valid? [False, False] Translation: X:45.40, Y:0.19, Z:3.29 [[ 9.99979883e-01 7.35720118e-04 6.30021040e-03 4.53959591e+01] [-3.77739791e-03 8.66990547e-01 4.98310267e-01 1.85596737e-01] [-5.09560597e-03 -4.98324041e-01 8.66975885e-01 3.29172257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.241193817 meters Centerline goodness : 0.910378 with order 1 Centerline is valid? [False, False] Translation: X:45.43, Y:0.17, Z:3.32 [[ 9.99998756e-01 7.27653538e-04 1.39982657e-03 4.54307374e+01] [-1.38880018e-03 8.26965305e-01 5.62251239e-01 1.71762982e-01] [-7.48483898e-04 -5.62252484e-01 8.26965286e-01 3.31662798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.301193817 meters Centerline goodness : 0.910811 with order 1 Centerline is valid? [False, False] Translation: X:45.40, Y:0.18, Z:3.31 [[ 9.99990584e-01 1.27920228e-03 -4.14663180e-03 4.53977009e+01] [ 8.64247885e-04 8.77712475e-01 4.79186877e-01 1.82572852e-01] [ 4.25252741e-03 -4.79185949e-01 8.77703106e-01 3.30971602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.36119381700001 meters Centerline goodness : 0.909843 with order 1 Centerline is valid? [False, False] Translation: X:45.36, Y:0.20, Z:3.30 [[ 9.99979370e-01 1.54864851e-03 -6.23386090e-03 4.53612505e+01] [ 9.00632446e-04 9.27109792e-01 3.74788770e-01 2.01747131e-01] [ 6.35988955e-03 -3.74786653e-01 9.27089271e-01 3.30152852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.42119381700002 meters Centerline goodness : 0.913233 with order 1 Centerline is valid? [False, False] Translation: X:45.35, Y:0.21, Z:3.30 [[ 9.99959420e-01 -4.87752623e-04 -8.99559772e-03 4.53494275e+01] [ 3.18427480e-03 9.53213008e-01 3.02282686e-01 2.10357887e-01] [ 8.42728159e-03 -3.02299063e-01 9.53175879e-01 3.29749959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.481193817 meters Centerline goodness : 0.913322 with order 1 Centerline is valid? [False, False] Translation: X:45.34, Y:0.22, Z:3.29 [[ 9.99937061e-01 -5.19560817e-04 -1.12073519e-02 4.53399871e+01] [ 3.05239317e-03 9.73845022e-01 2.27192771e-01 2.20274563e-01] [ 1.07961834e-02 -2.27212681e-01 9.73785315e-01 3.29426899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.541193817 meters Centerline goodness : 0.919111 with order 1 Centerline is valid? [False, False] Translation: X:45.34, Y:0.22, Z:3.29 [[ 9.99933874e-01 1.07207025e-03 -1.14497971e-02 4.53414141e+01] [ 8.26823683e-04 9.86366085e-01 1.64563855e-01 2.20931701e-01] [ 1.14701155e-02 -1.64562440e-01 9.86299975e-01 3.29273462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.601193817 meters Centerline goodness : 0.922081 with order 1 Centerline is valid? [False, False] Translation: X:45.34, Y:0.23, Z:3.29 [[ 9.99946032e-01 9.25529812e-04 -1.03477958e-02 4.53438922e+01] [ 2.86298176e-04 9.93190739e-01 1.16499242e-01 2.26697805e-01] [ 1.03851585e-02 -1.16495917e-01 9.93136874e-01 3.28934661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.661193817 meters Centerline goodness : 0.923949 with order 1 Centerline is valid? [False, False] Translation: X:45.36, Y:0.23, Z:3.29 [[ 9.99941776e-01 -3.33884692e-03 -1.02614592e-02 4.53598487e+01] [ 4.19172009e-03 9.96435820e-01 8.42501396e-02 2.25872140e-01] [ 9.94358715e-03 -8.42882474e-02 9.96391799e-01 3.29004230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.721193817 meters Centerline goodness : 0.918368 with order 1 Centerline is valid? [False, False] Translation: X:45.38, Y:0.23, Z:3.29 [[ 9.99886830e-01 -1.01175926e-02 -1.11337861e-02 4.53795637e+01] [ 1.07464428e-02 9.98261540e-01 5.79518032e-02 2.25076713e-01] [ 1.05280977e-02 -5.80648934e-02 9.98257295e-01 3.29031940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.781193817 meters Centerline goodness : 0.916036 with order 1 Centerline is valid? [False, False] Translation: X:45.39, Y:0.22, Z:3.29 [[ 9.99748430e-01 -1.66521474e-02 -1.50260955e-02 4.53948892e+01] [ 1.73059422e-02 9.98860188e-01 4.44840441e-02 2.19069364e-01] [ 1.42682137e-02 -4.47328939e-02 9.98897085e-01 3.28742527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.841193817 meters Centerline goodness : 0.917438 with order 1 Centerline is valid? [False, False] Translation: X:45.41, Y:0.22, Z:3.29 [[ 9.99732677e-01 -1.80122420e-02 -1.44959965e-02 4.54099104e+01] [ 1.84564652e-02 9.99345310e-01 3.11176833e-02 2.17195206e-01] [ 1.39260069e-02 -3.13769097e-02 9.99410604e-01 3.28548817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.901193817 meters Centerline goodness : 0.916576 with order 1 Centerline is valid? [False, False] Translation: X:45.43, Y:0.21, Z:3.29 [[ 9.99733930e-01 -1.80318720e-02 -1.43847577e-02 4.54286641e+01] [ 1.82482063e-02 9.99720175e-01 1.50523783e-02 2.14671595e-01] [ 1.41093099e-02 -1.53108693e-02 9.99783229e-01 3.28515242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.961193817 meters Centerline goodness : 0.919706 with order 1 Centerline is valid? [False, False] Translation: X:45.45, Y:0.21, Z:3.28 [[ 9.99704673e-01 -1.99191996e-02 -1.39209297e-02 4.54479909e+01] [ 1.98943514e-02 9.99800242e-01 -1.92116913e-03 2.12148464e-01] [ 1.39564170e-02 1.64365389e-03 9.99901254e-01 3.28304259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.021193817 meters Centerline goodness : 0.922294 with order 1 Centerline is valid? [False, False] Translation: X:45.46, Y:0.21, Z:3.28 [[ 9.99683666e-01 -2.39172351e-02 -7.78031264e-03 4.54593595e+01] [ 2.38031391e-02 9.99612361e-01 -1.44408747e-02 2.12012581e-01] [ 8.12268248e-03 1.42511107e-02 9.99865455e-01 3.27931717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.081193817 meters Centerline goodness : 0.926051 with order 1 Centerline is valid? [False, False] Translation: X:45.49, Y:0.21, Z:3.28 [[ 9.99685392e-01 -2.32521223e-02 -9.40506031e-03 4.54876779e+01] [ 2.30183054e-02 9.99440927e-01 -2.42485424e-02 2.12484681e-01] [ 9.96363226e-03 2.40244251e-02 9.99661719e-01 3.27921254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.14119381700002 meters Centerline goodness : 0.926718 with order 1 Centerline is valid? [False, False] Translation: X:45.52, Y:0.22, Z:3.28 [[ 9.99768213e-01 -1.87299082e-02 -1.06165725e-02 4.55171514e+01] [ 1.83793804e-02 9.99312281e-01 -3.22050229e-02 2.16032254e-01] [ 1.12124684e-02 3.20024321e-02 9.99424897e-01 3.27854973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.20119381700002 meters Centerline goodness : 0.930350 with order 1 Centerline is valid? [False, False] Translation: X:45.55, Y:0.22, Z:3.28 [[ 9.99884846e-01 -1.34657593e-02 -6.99776883e-03 4.55489498e+01] [ 1.31931840e-02 9.99204352e-01 -3.76377886e-02 2.19680737e-01] [ 7.49902247e-03 3.75411316e-02 9.99266945e-01 3.27585002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.261193817 meters Centerline goodness : 0.936371 with order 1 Centerline is valid? [False, False] Translation: X:45.58, Y:0.23, Z:3.27 [[ 9.99977929e-01 -6.20357705e-03 -2.37837368e-03 4.55829736e+01] [ 6.04288142e-03 9.98028051e-01 -6.24779325e-02 2.33212663e-01] [ 2.76127032e-03 6.24621813e-02 9.98043512e-01 3.27188856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.321193817 meters Centerline goodness : 0.933224 with order 1 Centerline is valid? [False, False] Translation: X:45.62, Y:0.24, Z:3.27 [[ 9.99992935e-01 -3.70996121e-03 -6.05264891e-04 4.56201003e+01] [ 3.66146111e-03 9.97776685e-01 -6.65453283e-02 2.38069550e-01] [ 8.50799783e-04 6.65426420e-02 9.97783219e-01 3.27017267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.381193817 meters Centerline goodness : 0.936099 with order 1 Centerline is valid? [False, False] Translation: X:45.66, Y:0.24, Z:3.27 [[ 9.99997154e-01 -1.87477921e-03 1.47568068e-03 4.56559588e+01] [ 1.97100883e-03 9.97672190e-01 -6.81638956e-02 2.39566769e-01] [-1.34445332e-03 6.81666101e-02 9.97673045e-01 3.27022859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.441193817 meters Centerline goodness : 0.937595 with order 1 Centerline is valid? [False, False] Translation: X:45.68, Y:0.24, Z:3.27 [[ 9.99981899e-01 -2.90370526e-03 5.26980332e-03 4.56811562e+01] [ 3.24047614e-03 9.97875758e-01 -6.50651214e-02 2.44896792e-01] [-5.06967905e-03 6.50810203e-02 9.97867105e-01 3.27019253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.501193817 meters Centerline goodness : 0.935925 with order 1 Centerline is valid? [False, False] Translation: X:45.71, Y:0.25, Z:3.27 [[ 9.99993927e-01 -2.86082602e-03 1.99027375e-03 4.57053475e+01] [ 2.98716321e-03 9.97770408e-01 -6.66730015e-02 2.46420989e-01] [-1.79509640e-03 6.66785419e-02 9.97772895e-01 3.26736275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.561193817 meters Centerline goodness : 0.933674 with order 1 Centerline is valid? [False, False] Translation: X:45.74, Y:0.24, Z:3.27 [[ 9.99986158e-01 -5.23926600e-03 4.83420825e-04 4.57357062e+01] [ 5.25872889e-03 9.98220880e-01 -5.93920853e-02 2.44186392e-01] [-1.71389828e-04 5.93938054e-02 9.98234615e-01 3.26677432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.621193817 meters Centerline goodness : 0.935726 with order 1 Centerline is valid? [False, False] Translation: X:45.76, Y:0.24, Z:3.27 [[ 9.99961483e-01 -8.76589247e-03 -4.36688674e-04 4.57638246e+01] [ 8.73017881e-03 9.98541588e-01 -5.32773956e-02 2.42690677e-01] [ 9.03075723e-04 5.32715312e-02 9.98579656e-01 3.26827512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.681193817 meters Centerline goodness : 0.938103 with order 1 Centerline is valid? [False, False] Translation: X:45.78, Y:0.24, Z:3.27 [[ 9.99967383e-01 -8.07524354e-03 1.55752704e-04 4.57843078e+01] [ 8.07230907e-03 9.98593202e-01 -5.24066236e-02 2.40806014e-01] [ 2.67662657e-04 5.24061715e-02 9.98625817e-01 3.26792898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.741193817 meters Centerline goodness : 0.937382 with order 1 Centerline is valid? [False, False] Translation: X:45.82, Y:0.24, Z:3.27 [[ 9.99971772e-01 -7.48243656e-03 6.83788046e-04 4.58233509e+01] [ 7.50810318e-03 9.98577053e-01 -5.27967531e-02 2.40272518e-01] [-2.87766696e-04 5.28003968e-02 9.98605045e-01 3.26674914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.801193817 meters Centerline goodness : 0.939729 with order 1 Centerline is valid? [False, False] Translation: X:45.85, Y:0.24, Z:3.27 [[ 9.99959912e-01 -8.84892727e-03 1.36774448e-03 4.58521809e+01] [ 8.90214197e-03 9.98918003e-01 -4.56462054e-02 2.40601568e-01] [-9.62344635e-04 4.56565514e-02 9.98956732e-01 3.26690935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.86119381700001 meters Centerline goodness : 0.941353 with order 1 Centerline is valid? [False, False] Translation: X:45.88, Y:0.24, Z:3.27 [[ 9.99918358e-01 -1.10981994e-02 6.33302215e-03 4.58798472e+01] [ 1.13543466e-02 9.99054937e-01 -4.19560775e-02 2.41917142e-01] [-5.86140013e-03 4.20245595e-02 9.99099385e-01 3.26577042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.92119381700002 meters Centerline goodness : 0.941052 with order 1 Centerline is valid? [False, False] Translation: X:45.92, Y:0.24, Z:3.26 [[ 9.99912347e-01 -1.08825692e-02 7.54103804e-03 4.59162851e+01] [ 1.12250143e-02 9.98833522e-01 -4.69637605e-02 2.44391011e-01] [-7.02115521e-03 4.70442923e-02 9.98868128e-01 3.26464536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.981193817 meters Centerline goodness : 0.941116 with order 1 Centerline is valid? [False, False] Translation: X:45.95, Y:0.25, Z:3.26 [[ 9.99848351e-01 -1.57827170e-02 7.36079494e-03 4.59458169e+01] [ 1.60766321e-02 9.98998947e-01 -4.17450065e-02 2.45159732e-01] [-6.69457677e-03 4.18570127e-02 9.99101183e-01 3.26435752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.041193817 meters Centerline goodness : 0.940652 with order 1 Centerline is valid? [False, False] Translation: X:45.97, Y:0.24, Z:3.26 [[ 9.99820157e-01 -1.78477077e-02 6.41200318e-03 4.59673966e+01] [ 1.81049357e-02 9.98928523e-01 -4.25912746e-02 2.44884538e-01] [-5.64497624e-03 4.26997037e-02 9.99072004e-01 3.26352290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.101193817 meters Centerline goodness : 0.938834 with order 1 Centerline is valid? [False, False] Translation: X:45.99, Y:0.25, Z:3.26 [[ 9.99739832e-01 -2.23147236e-02 4.72454937e-03 4.59897657e+01] [ 2.25102348e-02 9.98667636e-01 -4.64353497e-02 2.46127488e-01] [-3.68206256e-03 4.65296194e-02 9.98910125e-01 3.26215076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.161193817 meters Centerline goodness : 0.937618 with order 1 Centerline is valid? [False, False] Translation: X:46.02, Y:0.25, Z:3.26 [[ 9.99637006e-01 -2.67713005e-02 3.02539776e-03 4.60226343e+01] [ 2.68737288e-02 9.98780069e-01 -4.14267487e-02 2.47453654e-01] [-1.91265904e-03 4.14930147e-02 9.99136963e-01 3.26008927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.221193817 meters Centerline goodness : 0.937038 with order 1 Centerline is valid? [False, False] Translation: X:46.04, Y:0.25, Z:3.26 [[ 9.99651492e-01 -2.62830086e-02 2.46935966e-03 4.60445627e+01] [ 2.63627468e-02 9.98794934e-01 -4.13966914e-02 2.51454630e-01] [-1.37835432e-03 4.14473634e-02 9.99139738e-01 3.25879678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.281193817 meters Centerline goodness : 0.939508 with order 1 Centerline is valid? [False, False] Translation: X:46.08, Y:0.26, Z:3.26 [[ 9.99721202e-01 -2.33561566e-02 3.46527542e-03 4.60810441e+01] [ 2.34866386e-02 9.98745785e-01 -4.42180376e-02 2.60652091e-01] [-2.42816581e-03 4.42870974e-02 9.99015894e-01 3.25927976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.341193817 meters Centerline goodness : 0.938844 with order 1 Centerline is valid? [False, False] Translation: X:46.12, Y:0.27, Z:3.26 [[ 9.99766772e-01 -2.08777530e-02 5.52464031e-03 4.61179707e+01] [ 2.11126625e-02 9.98691753e-01 -4.65729413e-02 2.65437733e-01] [-4.54507435e-03 4.66787190e-02 9.98899614e-01 3.25888403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.401193817 meters Centerline goodness : 0.941367 with order 1 Centerline is valid? [False, False] Translation: X:46.15, Y:0.28, Z:3.26 [[ 9.99821595e-01 -1.69455842e-02 8.34418703e-03 4.61514712e+01] [ 1.73525040e-02 9.98528158e-01 -5.13848986e-02 2.79765425e-01] [-7.46115858e-03 5.15205238e-02 9.98644064e-01 3.25970793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.461193817 meters Centerline goodness : 0.940774 with order 1 Centerline is valid? [False, False] Translation: X:46.18, Y:0.29, Z:3.26 [[ 9.99902913e-01 -1.00320998e-02 9.67063581e-03 4.61806177e+01] [ 1.05832882e-02 9.98217261e-01 -5.87392103e-02 2.87812827e-01] [-9.06411797e-03 5.88358547e-02 9.98226519e-01 3.25833203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.521193817 meters Centerline goodness : 0.938835 with order 1 Centerline is valid? [False, False] Translation: X:46.23, Y:0.31, Z:3.26 [[ 9.99930210e-01 -2.23351551e-03 1.16011485e-02 4.62258259e+01] [ 3.40476596e-03 9.94784361e-01 -1.01943530e-01 3.06510416e-01] [-1.13129487e-02 1.01975915e-01 9.94722539e-01 3.25860027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.581193817 meters Centerline goodness : 0.937046 with order 1 Centerline is valid? [False, False] Translation: X:46.25, Y:0.31, Z:3.26 [[ 9.99903159e-01 -3.83114472e-03 1.33788696e-02 4.62465849e+01] [ 4.99310958e-03 9.96114382e-01 -8.79272858e-02 3.08345627e-01] [-1.29900222e-02 8.79855730e-02 9.96037047e-01 3.25635474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.64119381700002 meters Centerline goodness : 0.939043 with order 1 Centerline is valid? [False, False] Translation: X:46.28, Y:0.31, Z:3.26 [[ 9.99876814e-01 -5.31433062e-03 1.47686788e-02 4.62843646e+01] [ 6.60323073e-03 9.96041679e-01 -8.86418167e-02 3.10151173e-01] [-1.42391477e-02 8.87284183e-02 9.95954072e-01 3.25563260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.70119381700002 meters Centerline goodness : 0.935106 with order 1 Centerline is valid? [False, False] Translation: X:46.31, Y:0.31, Z:3.25 [[ 9.99781593e-01 -1.46928236e-02 1.48622719e-02 4.63072704e+01] [ 1.58395675e-02 9.96649943e-01 -8.02371437e-02 3.08900284e-01] [-1.36335723e-02 8.04550313e-02 9.96664996e-01 3.25308919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.761193817 meters Centerline goodness : 0.936402 with order 1 Centerline is valid? [False, False] Translation: X:46.34, Y:0.31, Z:3.25 [[ 9.99657998e-01 -2.31454679e-02 1.21726547e-02 4.63431148e+01] [ 2.39580641e-02 9.97153121e-01 -7.14958998e-02 3.09414292e-01] [-1.04831946e-02 7.17630813e-02 9.97366614e-01 3.25336383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.821193817 meters Centerline goodness : 0.935006 with order 1 Centerline is valid? [False, False] Translation: X:46.37, Y:0.31, Z:3.25 [[ 9.99562297e-01 -2.75376610e-02 1.08116280e-02 4.63739388e+01] [ 2.81654909e-02 9.97615881e-01 -6.30020618e-02 3.10417952e-01] [-9.05092238e-03 6.32790004e-02 9.97954833e-01 3.25309977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.881193817 meters Centerline goodness : 0.930521 with order 1 Centerline is valid? [False, False] Translation: X:46.39, Y:0.31, Z:3.25 [[ 9.99233232e-01 -3.77742340e-02 1.02983619e-02 4.63940903e+01] [ 3.82922605e-02 9.97703179e-01 -5.58754737e-02 3.13512868e-01] [-8.16405521e-03 5.62269777e-02 9.98384633e-01 3.25306804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.941193817 meters Centerline goodness : 0.935927 with order 1 Centerline is valid? [False, False] Translation: X:46.41, Y:0.32, Z:3.25 [[ 9.99120832e-01 -3.90204247e-02 1.53287029e-02 4.64091203e+01] [ 3.98252249e-02 9.97620684e-01 -5.62754075e-02 3.16782176e-01] [-1.30963407e-02 5.68364010e-02 9.98297606e-01 3.25459098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.001193817 meters Centerline goodness : 0.937026 with order 1 Centerline is valid? [False, False] Translation: X:46.45, Y:0.32, Z:3.26 [[ 9.99079234e-01 -3.95236999e-02 1.66901743e-02 4.64461473e+01] [ 4.03954098e-02 9.97635668e-01 -5.55993177e-02 3.21220136e-01] [-1.44532224e-02 5.62223302e-02 9.98313655e-01 3.25535233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.061193817 meters Centerline goodness : 0.939934 with order 1 Centerline is valid? [False, False] Translation: X:46.48, Y:0.33, Z:3.26 [[ 9.99103331e-01 -3.84664307e-02 1.76880561e-02 4.64829280e+01] [ 3.94050878e-02 9.97641715e-01 -5.61982955e-02 3.32368126e-01] [-1.54845948e-02 5.68449036e-02 9.98262933e-01 3.25551461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.121193817 meters Centerline goodness : 0.938950 with order 1 Centerline is valid? [False, False] Translation: X:46.48, Y:0.34, Z:3.26 [[ 9.99258984e-01 -3.44241187e-02 1.72180989e-02 4.64838927e+01] [ 3.52929411e-02 9.97970751e-01 -5.29980056e-02 3.40305377e-01] [-1.53587494e-02 5.35664106e-02 9.98446167e-01 3.25560648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.181193817 meters Centerline goodness : 0.941624 with order 1 Centerline is valid? [False, False] Translation: X:46.48, Y:0.35, Z:3.26 [[ 9.99536725e-01 -2.53508254e-02 1.68425361e-02 4.64840172e+01] [ 2.60967367e-02 9.98616472e-01 -4.56519636e-02 3.52562125e-01] [-1.56619190e-02 4.60703494e-02 9.98815412e-01 3.25641029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.241193817 meters Centerline goodness : 0.942505 with order 1 Centerline is valid? [False, False] Translation: X:46.48, Y:0.36, Z:3.26 [[ 9.99677623e-01 -1.91530136e-02 1.66677226e-02 4.64838100e+01] [ 1.98204876e-02 9.98968782e-01 -4.08475321e-02 3.61848539e-01] [-1.58681812e-02 4.11647262e-02 9.99026359e-01 3.25728004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.301193817 meters Centerline goodness : 0.943306 with order 1 Centerline is valid? [False, False] Translation: X:46.48, Y:0.37, Z:3.26 [[ 9.99806502e-01 -1.03443464e-02 1.67317716e-02 4.64826992e+01] [ 1.08849289e-02 9.99410930e-01 -3.25470527e-02 3.69598572e-01] [-1.63852375e-02 3.27228790e-02 9.99330144e-01 3.25859908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.36119381700001 meters Centerline goodness : 0.944785 with order 1 Centerline is valid? [False, False] Translation: X:46.47, Y:0.38, Z:3.26 [[ 9.99788205e-01 -4.14676335e-03 2.01581292e-02 4.64731475e+01] [ 4.59513026e-03 9.99741938e-01 -2.22472927e-02 3.79278895e-01] [-2.00606729e-02 2.23352101e-02 9.99549252e-01 3.25864922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.42119381700002 meters Centerline goodness : 0.941252 with order 1 Centerline is valid? [False, False] Translation: X:46.45, Y:0.39, Z:3.26 [[ 9.99880351e-01 2.02704579e-03 1.53353798e-02 4.64480709e+01] [-2.17698100e-03 9.99949935e-01 9.76671111e-03 3.89022002e-01] [-1.53148145e-02 -9.79892736e-03 9.99834705e-01 3.26114469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.481193817 meters Centerline goodness : 0.943936 with order 1 Centerline is valid? [False, False] Translation: X:46.45, Y:0.38, Z:3.27 [[ 9.99949531e-01 2.35507597e-03 9.76671167e-03 4.64476610e+01] [-3.25672233e-03 9.95627481e-01 9.33558446e-02 3.78024486e-01] [-9.50414642e-03 -9.33829405e-02 9.95584902e-01 3.27018190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.541193817 meters Centerline goodness : 0.942262 with order 1 Centerline is valid? [False, False] Translation: X:46.47, Y:0.37, Z:3.28 [[ 9.99971064e-01 5.21628023e-03 5.53720333e-03 4.64686868e+01] [-6.00311429e-03 9.88175886e-01 1.53206989e-01 3.68471770e-01] [-4.67256022e-03 -1.53235797e-01 9.88178606e-01 3.27835853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.601193817 meters Centerline goodness : 0.936927 with order 1 Centerline is valid? [False, False] Translation: X:46.47, Y:0.37, Z:3.28 [[ 9.99903217e-01 1.29431488e-02 5.10205868e-03 4.64705112e+01] [-1.36018377e-02 9.86529451e-01 1.63017277e-01 3.68583565e-01] [-2.92337428e-03 -1.63070897e-01 9.86610023e-01 3.27913908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.661193817 meters Centerline goodness : 0.939383 with order 1 Centerline is valid? [False, False] Translation: X:46.49, Y:0.36, Z:3.28 [[ 9.99696816e-01 1.82212243e-02 1.65608881e-02 4.64887702e+01] [-2.10976120e-02 9.80660087e-01 1.94578224e-01 3.57228941e-01] [-1.26951485e-02 -1.94868626e-01 9.80747191e-01 3.27622633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.721193817 meters Centerline goodness : 0.942419 with order 1 Centerline is valid? [False, False] Translation: X:46.53, Y:0.34, Z:3.28 [[ 9.99394017e-01 2.29306960e-02 2.61874222e-02 4.65312315e+01] [-2.81248047e-02 9.75234351e-01 2.19378567e-01 3.43485291e-01] [-2.05083704e-02 -2.19982144e-01 9.75288297e-01 3.27634597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.781193817 meters Centerline goodness : 0.943259 with order 1 Centerline is valid? [False, False] Translation: X:46.57, Y:0.32, Z:3.28 [[ 9.99126577e-01 2.10267684e-02 3.61103733e-02 4.65669674e+01] [-3.04190158e-02 9.58477628e-01 2.83540684e-01 3.19079714e-01] [-2.86490407e-02 -2.84391475e-01 9.58280085e-01 3.28164907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.841193817 meters Centerline goodness : 0.946398 with order 1 Centerline is valid? [False, False] Translation: X:46.58, Y:0.26, Z:3.31 [[ 9.98979401e-01 2.77031862e-04 4.51672413e-02 4.65801542e+01] [-2.07513590e-02 8.91014700e-01 4.53499930e-01 2.57164331e-01] [-4.01190420e-02 -4.53974370e-01 8.90111080e-01 3.30797228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.901193817 meters Centerline goodness : 0.947284 with order 1 Centerline is valid? [False, False] Translation: X:46.59, Y:0.22, Z:3.34 [[ 9.98912297e-01 -2.25454214e-02 4.08157789e-02 4.65918909e+01] [-5.63937802e-03 8.10499526e-01 5.85712144e-01 2.17030693e-01] [-4.62862966e-02 -5.85305239e-01 8.09490801e-01 3.34184555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.961193817 meters Centerline goodness : 0.949270 with order 1 Centerline is valid? [False, False] Translation: X:46.56, Y:0.25, Z:3.34 [[ 9.98808872e-01 -2.73172194e-02 4.04302775e-02 4.65553072e+01] [ 6.10435159e-03 8.92040806e-01 4.51913639e-01 2.50285837e-01] [-4.84104814e-02 -4.51128551e-01 8.91145025e-01 3.33708482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.021193817 meters Centerline goodness : 0.948183 with order 1 Centerline is valid? [False, False] Translation: X:46.53, Y:0.26, Z:3.34 [[ 9.98881965e-01 -2.91456471e-02 3.72203144e-02 4.65308973e+01] [ 1.26187211e-02 9.23150628e-01 3.84231291e-01 2.63357353e-01] [-4.55586262e-02 -3.83332034e-01 9.22486294e-01 3.33769543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.081193817 meters Centerline goodness : 0.946064 with order 1 Centerline is valid? [False, False] Translation: X:46.51, Y:0.27, Z:3.34 [[ 9.98994428e-01 -2.69812780e-02 3.58070375e-02 4.65114006e+01] [ 1.35635659e-02 9.43101121e-01 3.32229295e-01 2.72126070e-01] [-4.27336282e-02 -3.31409544e-01 9.42518727e-01 3.33975852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.14119381700002 meters Centerline goodness : 0.943029 with order 1 Centerline is valid? [False, False] Translation: X:46.50, Y:0.28, Z:3.34 [[ 9.99155274e-01 -2.08457161e-02 3.54146175e-02 4.64965402e+01] [ 1.00023039e-02 9.59236109e-01 2.82428826e-01 2.83408915e-01] [-3.98584110e-02 -2.81836023e-01 9.58634322e-01 3.34102805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.20119381700002 meters Centerline goodness : 0.945155 with order 1 Centerline is valid? [False, False] Translation: X:46.48, Y:0.30, Z:3.34 [[ 9.99174529e-01 -1.70044802e-02 3.68931926e-02 4.64759431e+01] [ 7.89123626e-03 9.72121688e-01 2.34344091e-01 2.95013252e-01] [-3.98495721e-02 -2.33859514e-01 9.71453416e-01 3.34270826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.261193817 meters Centerline goodness : 0.943746 with order 1 Centerline is valid? [False, False] Translation: X:46.47, Y:0.31, Z:3.34 [[ 9.99223441e-01 -1.31130766e-02 3.71559144e-02 4.64686478e+01] [ 5.70093450e-03 9.81188538e-01 1.92967747e-01 3.05880087e-01] [-3.89873582e-02 -1.92606073e-01 9.80501345e-01 3.34202245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.321193817 meters Centerline goodness : 0.939383 with order 1 Centerline is valid? [False, False] Translation: X:46.45, Y:0.32, Z:3.34 [[ 9.99342587e-01 -7.00941476e-03 3.55705065e-02 4.64503585e+01] [ 1.25239378e-03 9.87220859e-01 1.59353087e-01 3.15496647e-01] [-3.62329179e-02 -1.59203778e-01 9.86580627e-01 3.34140131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.381193817 meters Centerline goodness : 0.937069 with order 1 Centerline is valid? [False, False] Translation: X:46.44, Y:0.32, Z:3.36 [[ 9.99706805e-01 1.17780577e-03 2.41850418e-02 4.64376522e+01] [-5.70680599e-03 9.82139982e-01 1.88065114e-01 3.16351673e-01] [-2.35315923e-02 -1.88147994e-01 9.81858746e-01 3.35653468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.441193817 meters Centerline goodness : 0.940292 with order 1 Centerline is valid? [False, False] Translation: X:46.46, Y:0.30, Z:3.37 [[ 9.99754874e-01 5.52558678e-03 2.14396598e-02 4.64567998e+01] [-1.06959352e-02 9.68397980e-01 2.49180554e-01 3.03468470e-01] [-1.93852544e-02 -2.49348791e-01 9.68219703e-01 3.37111191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.501193817 meters Centerline goodness : 0.938746 with order 1 Centerline is valid? [False, False] Translation: X:46.47, Y:0.28, Z:3.38 [[ 9.99765459e-01 4.70966946e-03 2.11387210e-02 4.64701120e+01] [-1.14974507e-02 9.42584022e-01 3.33771135e-01 2.83620333e-01] [-1.83530689e-02 -3.33935894e-01 9.42417096e-01 3.38402473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.561193817 meters Centerline goodness : 0.936949 with order 1 Centerline is valid? [False, False] Translation: X:46.48, Y:0.26, Z:3.40 [[ 9.99810377e-01 -2.81340464e-03 1.92690017e-02 4.64827673e+01] [-5.64569303e-03 9.05131901e-01 4.25093365e-01 2.62004927e-01] [-1.86369478e-02 -4.25121544e-01 9.04944383e-01 3.40200562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.621193817 meters Centerline goodness : 0.935593 with order 1 Centerline is valid? [False, False] Translation: X:46.50, Y:0.24, Z:3.42 [[ 9.99707005e-01 -1.83284921e-02 1.58104803e-02 4.64960048e+01] [ 7.51868000e-03 8.56001334e-01 5.16918935e-01 2.38705844e-01] [-2.30081368e-02 -5.16648606e-01 8.55888336e-01 3.42492298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.681193817 meters Centerline goodness : 0.936500 with order 1 Centerline is valid? [False, False] Translation: X:46.47, Y:0.26, Z:3.42 [[ 9.99577889e-01 -2.44327536e-02 1.57189373e-02 4.64655266e+01] [ 1.54202956e-02 9.04736772e-01 4.25691893e-01 2.64541272e-01] [-2.46223257e-02 -4.25269813e-01 9.04731633e-01 3.41883092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.741193817 meters Centerline goodness : 0.933041 with order 1 Centerline is valid? [False, False] Translation: X:46.45, Y:0.28, Z:3.42 [[ 9.99350100e-01 -3.34077573e-02 1.35388126e-02 4.64501159e+01] [ 2.60630558e-02 9.29123123e-01 3.68850837e-01 2.79278220e-01] [-2.49017031e-02 -3.68258258e-01 9.29389994e-01 3.41872016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.801193817 meters Centerline goodness : 0.931608 with order 1 Centerline is valid? [False, False] Translation: X:46.42, Y:0.29, Z:3.42 [[ 9.99206867e-01 -3.74568961e-02 1.35135852e-02 4.64231051e+01] [ 3.12891212e-02 9.48452633e-01 3.15370565e-01 2.93245577e-01] [-2.46297979e-02 -3.14697606e-01 9.48872378e-01 3.41913449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.86119381700001 meters Centerline goodness : 0.934344 with order 1 Centerline is valid? [False, False] Translation: X:46.41, Y:0.31, Z:3.42 [[ 9.99177354e-01 -3.82472778e-02 1.34819047e-02 4.64089662e+01] [ 3.32386901e-02 9.62825550e-01 2.68071165e-01 3.09997879e-01] [-2.32337147e-02 -2.67402517e-01 9.63304774e-01 3.41892072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.92119381700002 meters Centerline goodness : 0.931204 with order 1 Centerline is valid? [False, False] Translation: X:46.39, Y:0.32, Z:3.42 [[ 9.99384576e-01 -3.29433869e-02 1.20500178e-02 4.63938338e+01] [ 2.94489073e-02 9.74592550e-01 2.22040813e-01 3.24513925e-01] [-1.90586340e-02 -2.21549304e-01 9.74962909e-01 3.41764168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.981193817 meters Centerline goodness : 0.930161 with order 1 Centerline is valid? [False, False] Translation: X:46.38, Y:0.34, Z:3.42 [[ 9.99735213e-01 -2.02382531e-02 1.09506986e-02 4.63754348e+01] [ 1.77364851e-02 9.80916676e-01 1.93617900e-01 3.40938848e-01] [-1.46602109e-02 -1.93372406e-01 9.81015897e-01 3.41717072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.041193817 meters Centerline goodness : 0.929914 with order 1 Centerline is valid? [False, False] Translation: X:46.37, Y:0.35, Z:3.42 [[ 9.99946203e-01 -8.62092465e-03 5.76809165e-03 4.63673525e+01] [ 7.36128188e-03 9.81578519e-01 1.90917318e-01 3.51399208e-01] [-7.30771868e-03 -1.90864587e-01 9.81589174e-01 3.42246587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.101193817 meters Centerline goodness : 0.932094 with order 1 Centerline is valid? [False, False] Translation: X:46.36, Y:0.36, Z:3.43 [[ 9.99972495e-01 7.25799927e-03 1.52664055e-03 4.63603293e+01] [-7.41570656e-03 9.81976017e-01 1.88860027e-01 3.61585803e-01] [-1.28378471e-04 -1.88866153e-01 9.82002831e-01 3.42848693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.161193817 meters Centerline goodness : 0.931542 with order 1 Centerline is valid? [False, False] Translation: X:46.38, Y:0.37, Z:3.43 [[ 9.99848952e-01 1.73717590e-02 -5.42931497e-04 4.63798489e+01] [-1.70170464e-02 9.84830147e-01 1.72684689e-01 3.68645147e-01] [ 3.53453209e-03 -1.72649366e-01 9.84977007e-01 3.42952351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.221193817 meters Centerline goodness : 0.930843 with order 1 Centerline is valid? [False, False] Translation: X:46.40, Y:0.37, Z:3.43 [[ 9.99764121e-01 2.15824095e-02 -2.42932543e-03 4.63987418e+01] [-2.09282390e-02 9.87233835e-01 1.57896685e-01 3.73753484e-01] [ 5.80610316e-03 -1.57808599e-01 9.87452650e-01 3.43144795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.281193817 meters Centerline goodness : 0.932034 with order 1 Centerline is valid? [False, False] Translation: X:46.42, Y:0.38, Z:3.43 [[ 9.99487315e-01 3.19614399e-02 -1.89049537e-03 4.64204804e+01] [-3.13807368e-02 9.89622052e-01 1.40226400e-01 3.77511926e-01] [ 6.35271357e-03 -1.40095183e-01 9.90117661e-01 3.43419576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.341193817 meters Centerline goodness : 0.926670 with order 1 Centerline is valid? [False, False] Translation: X:46.44, Y:0.37, Z:3.43 [[ 9.99428282e-01 3.38035117e-02 -6.56547161e-04 4.64411602e+01] [-3.34506394e-02 9.91445676e-01 1.26160719e-01 3.71529941e-01] [ 4.91560619e-03 -1.26066629e-01 9.92009598e-01 3.43398138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.401193817 meters Centerline goodness : 0.921986 with order 1 Centerline is valid? [False, False] Translation: X:46.48, Y:0.33, Z:3.44 [[ 9.99533880e-01 2.81607994e-02 1.17894925e-02 4.64753495e+01] [-2.99731431e-02 9.78566911e-01 2.03736130e-01 3.31885327e-01] [-5.79943495e-03 -2.03994533e-01 9.78954849e-01 3.43901454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.461193817 meters Centerline goodness : 0.923134 with order 1 Centerline is valid? [False, False] Translation: X:46.51, Y:0.30, Z:3.45 [[ 9.99550188e-01 2.29140658e-02 1.93485607e-02 4.65069077e+01] [-2.73399215e-02 9.61387967e-01 2.73835181e-01 3.02655042e-01] [-1.23267961e-02 -2.74240995e-01 9.61581992e-01 3.44869438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.521193817 meters Centerline goodness : 0.917093 with order 1 Centerline is valid? [False, False] Translation: X:46.54, Y:0.26, Z:3.47 [[ 9.99544679e-01 1.54194018e-02 2.59360033e-02 4.65421626e+01] [-2.39782131e-02 9.27697758e-01 3.72561290e-01 2.59327717e-01] [-1.83160999e-02 -3.73013554e-01 9.27645088e-01 3.46713781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.581193817 meters Centerline goodness : 0.914031 with order 1 Centerline is valid? [False, False] Translation: X:46.57, Y:0.23, Z:3.49 [[ 9.99620254e-01 3.34400158e-03 2.73526015e-02 4.65677812e+01] [-1.59968004e-02 8.78652085e-01 4.77194527e-01 2.26295595e-01] [-2.24376811e-02 -4.77450869e-01 8.78371914e-01 3.49099164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.64119381700002 meters Centerline goodness : 0.910086 with order 1 Centerline is valid? [False, False] Translation: X:46.58, Y:0.19, Z:3.53 [[ 9.99631180e-01 -1.71511057e-02 2.10557450e-02 4.65806675e+01] [ 1.12111594e-03 8.00734463e-01 5.99018416e-01 1.87527224e-01] [-2.71338889e-02 -5.98773880e-01 8.00458364e-01 3.53211370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.70119381700002 meters Centerline goodness : 0.912029 with order 1 Centerline is valid? [False, False] Translation: X:46.54, Y:0.21, Z:3.52 [[ 9.99426991e-01 -2.31387549e-02 2.47040173e-02 4.65389049e+01] [ 7.74472381e-03 8.66814114e-01 4.98571270e-01 2.08979604e-01] [-3.29501093e-02 -4.98094258e-01 8.66496624e-01 3.52083358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.761193817 meters Centerline goodness : 0.915874 with order 1 Centerline is valid? [False, False] Translation: X:46.51, Y:0.23, Z:3.51 [[ 9.99006588e-01 -3.32638766e-02 2.96538544e-02 4.65119234e+01] [ 1.80024925e-02 9.09975796e-01 4.14270395e-01 2.25725221e-01] [-4.07645290e-02 -4.13325011e-01 9.09670648e-01 3.51412499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.821193817 meters Centerline goodness : 0.916727 with order 1 Centerline is valid? [False, False] Translation: X:46.50, Y:0.24, Z:3.51 [[ 9.98897696e-01 -3.64197496e-02 2.96140913e-02 4.65018158e+01] [ 2.41642577e-02 9.39841349e-01 3.40755524e-01 2.42189766e-01] [-4.02427783e-02 -3.39664306e-01 9.39685414e-01 3.50605667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.881193817 meters Centerline goodness : 0.917146 with order 1 Centerline is valid? [False, False] Translation: X:46.50, Y:0.25, Z:3.50 [[ 9.98829315e-01 -3.87474682e-02 2.89591570e-02 4.65010302e+01] [ 2.90553050e-02 9.59192333e-01 2.81257636e-01 2.54312803e-01] [-3.86754226e-02 -2.80086955e-01 9.59195241e-01 3.49997573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.941193817 meters Centerline goodness : 0.917755 with order 1 Centerline is valid? [False, False] Translation: X:46.50, Y:0.27, Z:3.49 [[ 9.98777515e-01 -3.87141929e-02 3.07357527e-02 4.64961677e+01] [ 3.10824011e-02 9.75345184e-01 2.18484913e-01 2.70562911e-01] [-3.84364354e-02 -2.17262477e-01 9.75356169e-01 3.49459467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.001193817 meters Centerline goodness : 0.920726 with order 1 Centerline is valid? [False, False] Translation: X:46.51, Y:0.29, Z:3.49 [[ 9.98823482e-01 -3.50095766e-02 3.35556602e-02 4.65059289e+01] [ 2.87689658e-02 9.84824292e-01 1.71153327e-01 2.85699600e-01] [-3.90384348e-02 -1.69986600e-01 9.84672817e-01 3.49043574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.061193817 meters Centerline goodness : 0.918560 with order 1 Centerline is valid? [False, False] Translation: X:46.52, Y:0.30, Z:3.49 [[ 9.98991829e-01 -2.92957213e-02 3.40159763e-02 4.65248890e+01] [ 2.47219095e-02 9.91484157e-01 1.27859272e-01 3.01300539e-01] [-3.74720312e-02 -1.26889428e-01 9.91208817e-01 3.48740646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.121193817 meters Centerline goodness : 0.915424 with order 1 Centerline is valid? [False, False] Translation: X:46.54, Y:0.32, Z:3.48 [[ 9.99048601e-01 -1.74122408e-02 3.99838365e-02 4.65412745e+01] [ 1.45635293e-02 9.97407981e-01 7.04643334e-02 3.21396860e-01] [-4.11071395e-02 -6.98149879e-02 9.96712632e-01 3.48311617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.181193817 meters Centerline goodness : 0.916346 with order 1 Centerline is valid? [False, False] Translation: X:46.56, Y:0.35, Z:3.48 [[ 9.98946464e-01 -9.97254064e-03 4.47940899e-02 4.65601549e+01] [ 9.86305728e-03 9.99947809e-01 2.66450239e-03 3.45058020e-01] [-4.48183239e-02 -2.21988857e-03 9.98992688e-01 3.48244707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.241193817 meters Centerline goodness : 0.914189 with order 1 Centerline is valid? [False, False] Translation: X:46.56, Y:0.35, Z:3.48 [[ 9.98953331e-01 -9.19684282e-03 4.48069223e-02 4.65597678e+01] [ 9.13489813e-03 9.99957017e-01 1.58704468e-03 3.49497224e-01] [-4.48195922e-02 -1.17607690e-03 9.98994405e-01 3.48371627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.301193817 meters Centerline goodness : 0.915172 with order 1 Centerline is valid? [False, False] Translation: X:46.56, Y:0.35, Z:3.48 [[ 9.98950902e-01 -9.57231378e-03 4.47824296e-02 4.65592820e+01] [ 9.53958821e-03 9.99954051e-01 9.44426124e-04 3.50353500e-01] [-4.47894123e-02 -5.16229391e-04 9.98996317e-01 3.48462069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.36119381700001 meters Centerline goodness : 0.914655 with order 1 Centerline is valid? [False, False] Translation: X:46.56, Y:0.35, Z:3.48 [[ 9.98958235e-01 -1.00863375e-02 4.45051736e-02 4.65600030e+01] [ 1.00675995e-02 9.99949112e-01 6.45157602e-04 3.50998442e-01] [-4.45094161e-02 -1.96425236e-04 9.99008946e-01 3.48418817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.42119381700002 meters Centerline goodness : 0.909641 with order 1 Centerline is valid? [False, False] Translation: X:46.56, Y:0.35, Z:3.48 [[ 9.98967454e-01 -1.03143498e-02 4.42452249e-02 4.65607862e+01] [ 1.02860738e-02 9.99946721e-01 8.66698877e-04 3.49693711e-01] [-4.42518070e-02 -4.10694321e-04 9.99020325e-01 3.48361803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.481193817 meters Centerline goodness : 0.911288 with order 1 Centerline is valid? [False, False] Translation: X:46.59, Y:0.35, Z:3.48 [[ 9.99210420e-01 -1.40336323e-02 3.71697865e-02 4.65949875e+01] [ 1.44155750e-02 9.99845807e-01 -1.00276155e-02 3.47366456e-01] [-3.70233313e-02 1.05555217e-02 9.99258652e-01 3.47956806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.541193817 meters Centerline goodness : 0.905631 with order 1 Centerline is valid? [False, False] Translation: X:46.62, Y:0.35, Z:3.47 [[ 9.99222834e-01 -1.48696462e-02 3.65050829e-02 4.66203748e+01] [ 1.57888788e-02 9.99562181e-01 -2.50231535e-02 3.47587967e-01] [-3.61170148e-02 2.55800807e-02 9.99020130e-01 3.47461240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.601193817 meters Centerline goodness : 0.907850 with order 1 Centerline is valid? [False, False] Translation: X:46.65, Y:0.34, Z:3.47 [[ 9.99358145e-01 -1.76474040e-02 3.11747899e-02 4.66524208e+01] [ 1.87004800e-02 9.99253054e-01 -3.38175382e-02 3.42217953e-01] [-3.05547123e-02 3.43788158e-02 9.98941693e-01 3.47333090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.661193817 meters Centerline goodness : 0.907823 with order 1 Centerline is valid? [False, False] Translation: X:46.68, Y:0.34, Z:3.47 [[ 9.99442530e-01 -1.85278443e-02 2.77731512e-02 4.66815633e+01] [ 1.96165034e-02 9.99028881e-01 -3.94523546e-02 3.38112860e-01] [-2.70152131e-02 3.99751733e-02 9.98835404e-01 3.47349173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.721193817 meters Centerline goodness : 0.909046 with order 1 Centerline is valid? [False, False] Translation: X:46.72, Y:0.33, Z:3.47 [[ 9.99216644e-01 -2.48186695e-02 3.08242061e-02 4.67163579e+01] [ 2.60911827e-02 9.98793997e-01 -4.15908787e-02 3.33212443e-01] [-2.97548017e-02 4.23625382e-02 9.98659135e-01 3.47449228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.781193817 meters Centerline goodness : 0.913761 with order 1 Centerline is valid? [False, False] Translation: X:46.73, Y:0.33, Z:3.48 [[ 9.98919539e-01 -2.87041171e-02 3.65489788e-02 4.67297222e+01] [ 3.02977527e-02 9.98579812e-01 -4.38224356e-02 3.30890900e-01] [-3.52391880e-02 4.48824391e-02 9.98370556e-01 3.47675382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.841193817 meters Centerline goodness : 0.918244 with order 1 Centerline is valid? [False, False] Translation: X:46.76, Y:0.33, Z:3.48 [[ 9.98685737e-01 -3.62349640e-02 3.62467514e-02 4.67577052e+01] [ 3.76869921e-02 9.98480172e-01 -4.02123872e-02 3.33362222e-01] [-3.47345682e-02 4.15255686e-02 9.98533493e-01 3.47730928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.901193817 meters Centerline goodness : 0.917928 with order 1 Centerline is valid? [False, False] Translation: X:46.78, Y:0.34, Z:3.47 [[ 9.98709035e-01 -3.75519287e-02 3.42069640e-02 4.67806623e+01] [ 3.89536768e-02 9.98388074e-01 -4.12778861e-02 3.37161707e-01] [-3.26017607e-02 4.25570848e-02 9.98561976e-01 3.47426324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.961193817 meters Centerline goodness : 0.917253 with order 1 Centerline is valid? [False, False] Translation: X:46.81, Y:0.34, Z:3.47 [[ 9.98747624e-01 -4.01742710e-02 2.98196576e-02 4.68096210e+01] [ 4.12815041e-02 9.98443816e-01 -3.74937812e-02 3.43916872e-01] [-2.82669674e-02 3.86778252e-02 9.98851843e-01 3.47464282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.021193817 meters Centerline goodness : 0.919834 with order 1 Centerline is valid? [False, False] Translation: X:46.84, Y:0.35, Z:3.47 [[ 9.98911080e-01 -3.70069192e-02 2.84102304e-02 4.68371375e+01] [ 3.82352984e-02 9.98300209e-01 -4.39858477e-02 3.51154431e-01] [-2.67341583e-02 4.50242243e-02 9.98628111e-01 3.47462393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.081193817 meters Centerline goodness : 0.918553 with order 1 Centerline is valid? [False, False] Translation: X:46.87, Y:0.36, Z:3.47 [[ 9.99245536e-01 -2.96829653e-02 2.50455711e-02 4.68679589e+01] [ 3.09025110e-02 9.98281050e-01 -4.97993999e-02 3.63930597e-01] [-2.35243251e-02 5.05357990e-02 9.98445161e-01 3.47245917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.14119381700002 meters Centerline goodness : 0.918013 with order 1 Centerline is valid? [False, False] Translation: X:46.87, Y:0.37, Z:3.47 [[ 9.99355303e-01 -2.59723704e-02 2.47873808e-02 4.68689795e+01] [ 2.71040401e-02 9.98552032e-01 -4.64673149e-02 3.66322111e-01] [-2.35446231e-02 4.71091957e-02 9.98612224e-01 3.47160778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.20119381700002 meters Centerline goodness : 0.918869 with order 1 Centerline is valid? [False, False] Translation: X:46.87, Y:0.37, Z:3.47 [[ 9.99520944e-01 -1.87972767e-02 2.45874898e-02 4.68697938e+01] [ 1.97826144e-02 9.98985092e-01 -4.04652216e-02 3.73128556e-01] [-2.38018998e-02 4.09322414e-02 9.98878382e-01 3.47106754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.261193817 meters Centerline goodness : 0.923954 with order 1 Centerline is valid? [False, False] Translation: X:46.87, Y:0.38, Z:3.47 [[ 9.99662400e-01 -8.06723501e-03 2.46983125e-02 4.68686527e+01] [ 8.84688880e-03 9.99460736e-01 -3.16222996e-02 3.83015011e-01] [-2.44298891e-02 3.18301271e-02 9.99194688e-01 3.47257784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.321193817 meters Centerline goodness : 0.922920 with order 1 Centerline is valid? [False, False] Translation: X:46.85, Y:0.39, Z:3.48 [[ 9.99708003e-01 -3.74807178e-03 2.38717426e-02 4.68496831e+01] [ 4.02288790e-03 9.99926072e-01 -1.14745933e-02 3.89293755e-01] [-2.38269703e-02 1.15672761e-02 9.99649175e-01 3.47525805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.381193817 meters Centerline goodness : 0.923798 with order 1 Centerline is valid? [False, False] Translation: X:46.83, Y:0.40, Z:3.48 [[ 9.99709855e-01 -1.33431922e-03 2.40504920e-02 4.68293396e+01] [ 1.19773212e-03 9.99983079e-01 5.69269160e-03 4.00373522e-01] [-2.40576810e-02 -5.66223384e-03 9.99694537e-01 3.47778865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.441193817 meters Centerline goodness : 0.925930 with order 1 Centerline is valid? [False, False] Translation: X:46.82, Y:0.39, Z:3.48 [[ 9.99832557e-01 -7.09900967e-03 1.68660230e-02 4.68231794e+01] [ 5.84889265e-03 9.97311360e-01 7.30468406e-02 3.91156148e-01] [-1.73392366e-02 -7.29359618e-02 9.97185889e-01 3.48351669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.501193817 meters Centerline goodness : 0.923679 with order 1 Centerline is valid? [False, False] Translation: X:46.84, Y:0.39, Z:3.50 [[ 9.99900726e-01 -1.37970210e-02 2.86005036e-03 4.68392506e+01] [ 1.32921600e-02 9.90970111e-01 1.33422474e-01 3.86156094e-01] [-4.67505710e-03 -1.33371213e-01 9.91055126e-01 3.49738220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.561193817 meters Centerline goodness : 0.924591 with order 1 Centerline is valid? [False, False] Translation: X:46.82, Y:0.38, Z:3.51 [[ 9.99778108e-01 -2.04486221e-02 -5.05850166e-03 4.68236442e+01] [ 2.10345137e-02 9.82035133e-01 1.87522122e-01 3.84102097e-01] [ 1.13305733e-03 -1.87586916e-01 9.82247354e-01 3.50922536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.621193817 meters Centerline goodness : 0.927378 with order 1 Centerline is valid? [False, False] Translation: X:46.84, Y:0.38, Z:3.53 [[ 9.99604326e-01 -2.21195448e-02 -1.73757852e-02 4.68440880e+01] [ 2.54680783e-02 9.73960999e-01 2.25280602e-01 3.80489736e-01] [ 1.19402327e-02 -2.25633992e-01 9.74138970e-01 3.52557878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.681193817 meters Centerline goodness : 0.925163 with order 1 Centerline is valid? [False, False] Translation: X:46.84, Y:0.38, Z:3.54 [[ 9.99312525e-01 -2.38362754e-02 -2.83955739e-02 4.68449386e+01] [ 3.02519480e-02 9.67022051e-01 2.52889645e-01 3.79510766e-01] [ 2.14311989e-02 -2.53574811e-01 9.67078342e-01 3.54109083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.741193817 meters Centerline goodness : 0.928204 with order 1 Centerline is valid? [False, False] Translation: X:46.85, Y:0.38, Z:3.56 [[ 9.98804457e-01 -2.23677310e-02 -4.34665471e-02 4.68547909e+01] [ 3.40683133e-02 9.56177147e-01 2.90799954e-01 3.78044868e-01] [ 3.50571838e-02 -2.91933122e-01 9.55796027e-01 3.55614003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.801193817 meters Centerline goodness : 0.925926 with order 1 Centerline is valid? [False, False] Translation: X:46.83, Y:0.38, Z:3.57 [[ 9.98005501e-01 -2.09620088e-02 -5.95450650e-02 4.68336979e+01] [ 3.91966553e-02 9.45168457e-01 3.24222471e-01 3.78548963e-01] [ 4.94837629e-02 -3.25909777e-01 9.44104959e-01 3.56828338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.86119381700001 meters Centerline goodness : 0.925620 with order 1 Centerline is valid? [False, False] Translation: X:46.82, Y:0.37, Z:3.58 [[ 9.97189883e-01 -1.97731800e-02 -7.22589694e-02 4.68179124e+01] [ 4.60077864e-02 9.22857388e-01 3.82384002e-01 3.73624499e-01] [ 5.91237760e-02 -3.84633933e-01 9.21173771e-01 3.58219807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.92119381700002 meters Centerline goodness : 0.928993 with order 1 Centerline is valid? [False, False] Translation: X:46.82, Y:0.37, Z:3.60 [[ 9.96260195e-01 -2.02667046e-02 -8.39933623e-02 4.68243484e+01] [ 5.55010319e-02 8.95138206e-01 4.42320277e-01 3.65255150e-01] [ 6.62212933e-02 -4.45327803e-01 8.92915387e-01 3.59727590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.981193817 meters Centerline goodness : 0.931019 with order 1 Centerline is valid? [False, False] Translation: X:46.79, Y:0.38, Z:3.60 [[ 9.94623337e-01 -2.57265183e-02 -1.00312335e-01 4.67887399e+01] [ 6.81587634e-02 8.91897163e-01 4.47072515e-01 3.79213587e-01] [ 7.79666679e-02 -4.51505922e-01 8.88855220e-01 3.60482739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.041193817 meters Centerline goodness : 0.926163 with order 1 Centerline is valid? [False, False] Translation: X:46.78, Y:0.39, Z:3.61 [[ 9.92989063e-01 -3.06409014e-02 -1.14165917e-01 4.67799057e+01] [ 7.87459312e-02 8.91776700e-01 4.45570865e-01 3.91836594e-01] [ 8.81578119e-02 -4.51437097e-01 8.87937356e-01 3.61396909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.101193817 meters Centerline goodness : 0.926140 with order 1 Centerline is valid? [False, False] Translation: X:46.72, Y:0.40, Z:3.62 [[ 9.91220044e-01 -3.68864884e-02 -1.26973272e-01 4.67173843e+01] [ 9.22939427e-02 8.80668518e-01 4.64655560e-01 3.99310396e-01] [ 9.46818513e-02 -4.72294769e-01 8.76340686e-01 3.62181665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.161193817 meters Centerline goodness : 0.929606 with order 1 Centerline is valid? [False, False] Translation: X:46.68, Y:0.41, Z:3.63 [[ 9.89308854e-01 -4.54012667e-02 -1.38588300e-01 4.66803561e+01] [ 1.05892557e-01 8.77044687e-01 4.68592982e-01 4.11725106e-01] [ 1.00273417e-01 -4.78258655e-01 8.72475731e-01 3.63074273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.221193817 meters Centerline goodness : 0.933048 with order 1 Centerline is valid? [False, False] Translation: X:46.66, Y:0.43, Z:3.63 [[ 0.98905629 -0.05513048 -0.13685136 46.65887835] [ 0.10900516 0.89813635 0.42599175 0.43069225] [ 0.09942605 -0.43624732 0.89431691 3.62754395] [ 0. 0. 0. 1. ]] SLAMing on 181.281193817 meters Centerline goodness : 0.930296 with order 1 Centerline is valid? [False, False] Translation: X:46.65, Y:0.45, Z:3.62 [[ 0.98813586 -0.06590766 -0.13872164 46.64812935] [ 0.1137343 0.92100847 0.37256934 0.45194107] [ 0.10320863 -0.38392654 0.91757746 3.62329435] [ 0. 0. 0. 1. ]] SLAMing on 181.341193817 meters Centerline goodness : 0.932674 with order 1 Centerline is valid? [False, False] Translation: X:46.62, Y:0.47, Z:3.62 [[ 0.98757881 -0.07475696 -0.13820088 46.62362236] [ 0.11677473 0.93769825 0.32723946 0.46922934] [ 0.1051273 -0.33931312 0.93478065 3.61943011] [ 0. 0. 0. 1. ]] SLAMing on 181.401193817 meters Centerline goodness : 0.930488 with order 1 Centerline is valid? [False, False] Translation: X:46.61, Y:0.49, Z:3.62 [[ 0.98719048 -0.08354911 -0.13592094 46.61058946] [ 0.11971381 0.9510608 0.28487184 0.48906982] [ 0.10546829 -0.29749439 0.94888015 3.6179012 ] [ 0. 0. 0. 1. ]] SLAMing on 181.461193817 meters Centerline goodness : 0.929636 with order 1 Centerline is valid? [False, False] Translation: X:46.61, Y:0.51, Z:3.62 [[ 0.98672876 -0.09114749 -0.13438191 46.60517023] [ 0.12298915 0.95987519 0.25201843 0.5051589 ] [ 0.10601901 -0.26520135 0.95834661 3.61792862] [ 0. 0. 0. 1. ]] SLAMing on 181.521193817 meters Centerline goodness : 0.932228 with order 1 Centerline is valid? [False, False] Translation: X:46.59, Y:0.52, Z:3.61 [[ 0.98688394 -0.09528712 -0.1303091 46.58572536] [ 0.12252542 0.96770348 0.22031226 0.52146125] [ 0.10510765 -0.23338881 0.96668612 3.61499485] [ 0. 0. 0. 1. ]] SLAMing on 181.581193817 meters Centerline goodness : 0.936678 with order 1 Centerline is valid? [False, False] Translation: X:46.58, Y:0.54, Z:3.61 [[ 0.98708376 -0.09422523 -0.12956564 46.57919713] [ 0.11899892 0.9727089 0.19919 0.53547396] [ 0.10726093 -0.21203539 0.97135786 3.6148737 ] [ 0. 0. 0. 1. ]] SLAMing on 181.64119381700002 meters Centerline goodness : 0.934885 with order 1 Centerline is valid? [False, False] Translation: X:46.57, Y:0.55, Z:3.61 [[ 0.98712139 -0.09593058 -0.12801833 46.56890196] [ 0.11792104 0.97710907 0.17706634 0.54750478] [ 0.10810179 -0.18988202 0.9758375 3.61461977] [ 0. 0. 0. 1. ]] SLAMing on 181.70119381700002 meters Centerline goodness : 0.934958 with order 1 Centerline is valid? [False, False] Translation: X:46.56, Y:0.56, Z:3.61 [[ 0.987321 -0.09811103 -0.12478567 46.55773857] [ 0.11728683 0.9806097 0.15699816 0.55665668] [ 0.10696279 -0.1696433 0.97968368 3.61303263] [ 0. 0. 0. 1. ]] SLAMing on 181.761193817 meters Centerline goodness : 0.935973 with order 1 Centerline is valid? [False, False] Translation: X:46.56, Y:0.56, Z:3.62 [[ 0.98682293 -0.10582053 -0.12240313 46.55822283] [ 0.12271861 0.98252442 0.13994967 0.56394854] [ 0.10545451 -0.15312669 0.98256377 3.61613753] [ 0. 0. 0. 1. ]] SLAMing on 181.821193817 meters Centerline goodness : 0.935099 with order 1 Centerline is valid? [False, False] Translation: X:46.57, Y:0.57, Z:3.62 [[ 0.98591361 -0.11243944 -0.12382135 46.56579127] [ 0.12794666 0.98382506 0.12537107 0.57026613] [ 0.10772189 -0.13944757 0.98435277 3.61796039] [ 0. 0. 0. 1. ]] SLAMing on 181.881193817 meters Centerline goodness : 0.937310 with order 1 Centerline is valid? [False, False] Translation: X:46.56, Y:0.58, Z:3.62 [[ 0.98553222 -0.11436718 -0.12508556 46.55693104] [ 0.12839836 0.98554288 0.11054002 0.57672484] [ 0.11063503 -0.12500153 0.98596882 3.61602996] [ 0. 0. 0. 1. ]] SLAMing on 181.941193817 meters Centerline goodness : 0.936821 with order 1 Centerline is valid? [False, False] Translation: X:46.55, Y:0.58, Z:3.62 [[ 0.98556708 -0.11510235 -0.12413293 46.55377223] [ 0.12874157 0.98576836 0.10810343 0.58206608] [ 0.10992335 -0.12252425 0.9863593 3.61654875] [ 0. 0. 0. 1. ]] SLAMing on 182.001193817 meters Centerline goodness : 0.941887 with order 1 Centerline is valid? [False, False] Translation: X:46.54, Y:0.59, Z:3.61 [[ 0.98668624 -0.11213991 -0.11779181 46.5417983 ] [ 0.12402485 0.9873344 0.09893742 0.58948012] [ 0.10520507 -0.1122293 0.9880974 3.61373036] [ 0. 0. 0. 1. ]] SLAMing on 182.061193817 meters Centerline goodness : 0.947659 with order 1 Centerline is valid? [False, False] Translation: X:46.54, Y:0.60, Z:3.61 [[ 0.98722692 -0.10760679 -0.11748953 46.53953365] [ 0.11960816 0.98773369 0.10037954 0.59621711] [ 0.10524684 -0.1131501 0.98798793 3.61313291] [ 0. 0. 0. 1. ]] SLAMing on 182.121193817 meters Centerline goodness : 0.944762 with order 1 Centerline is valid? [False, False] Translation: X:46.53, Y:0.61, Z:3.61 [[ 0.9887374 -0.0976366 -0.11342595 46.525343 ] [ 0.10817623 0.98997562 0.09080848 0.60796889] [ 0.10342269 -0.10205573 0.98938788 3.61061427] [ 0. 0. 0. 1. ]] SLAMing on 182.181193817 meters Centerline goodness : 0.946931 with order 1 Centerline is valid? [False, False] Translation: X:46.52, Y:0.61, Z:3.61 [[ 0.98921628 -0.09305187 -0.1131039 46.52319108] [ 0.10375378 0.99027059 0.09273242 0.61305135] [ 0.10337454 -0.10346738 0.98924628 3.61026709] [ 0. 0. 0. 1. ]] SLAMing on 182.241193817 meters Centerline goodness : 0.949222 with order 1 Centerline is valid? [False, False] Translation: X:46.51, Y:0.62, Z:3.61 [[ 0.99047243 -0.08669402 -0.10699776 46.50782283] [ 0.09544628 0.99224846 0.07958016 0.61860358] [ 0.09926924 -0.08903449 0.99106936 3.6059274 ] [ 0. 0. 0. 1. ]] SLAMing on 182.301193817 meters Centerline goodness : 0.945708 with order 1 Centerline is valid? [False, False] Translation: X:46.51, Y:0.62, Z:3.61 [[ 0.99075825 -0.0801217 -0.10944679 46.51147461] [ 0.0892234 0.99271586 0.08095933 0.62241534] [ 0.10216296 -0.08997634 0.99069016 3.60572977] [ 0. 0. 0. 1. ]] SLAMing on 182.36119381700001 meters Centerline goodness : 0.944185 with order 1 Centerline is valid? [False, False] Translation: X:46.49, Y:0.62, Z:3.60 [[ 0.99230051 -0.05993201 -0.10838751 46.49114049] [ 0.06783625 0.99518331 0.07077022 0.62484233] [ 0.10362404 -0.07757793 0.99158647 3.60476984] [ 0. 0. 0. 1. ]] SLAMing on 182.42119381700002 meters Centerline goodness : 0.944750 with order 1 Centerline is valid? [False, False] Translation: X:46.51, Y:0.62, Z:3.61 [[ 0.99273377 -0.04730466 -0.11064325 46.50826451] [ 0.05360538 0.99706391 0.05468116 0.62391118] [ 0.10773171 -0.06021491 0.9923548 3.60900552] [ 0. 0. 0. 1. ]] SLAMing on 182.481193817 meters Centerline goodness : 0.942500 with order 1 Centerline is valid? [False, False] Translation: X:46.53, Y:0.61, Z:3.61 [[ 9.92537893e-01 -3.77800183e-02 -1.15936198e-01 4.65272958e+01] [ 4.42886876e-02 9.97553577e-01 5.40867157e-02 6.11245369e-01] [ 1.13609172e-01 -5.88177768e-02 9.91782953e-01 3.61342980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.541193817 meters Centerline goodness : 0.944647 with order 1 Centerline is valid? [False, False] Translation: X:46.56, Y:0.60, Z:3.62 [[ 9.92619461e-01 -3.76231593e-02 -1.15287045e-01 4.65553010e+01] [ 4.40636858e-02 9.97577162e-01 5.38349099e-02 5.98891494e-01] [ 1.12982284e-01 -5.85175514e-02 9.91872320e-01 3.61623756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.601193817 meters Centerline goodness : 0.943629 with order 1 Centerline is valid? [False, False] Translation: X:46.59, Y:0.58, Z:3.62 [[ 9.92671605e-01 -4.34343236e-02 -1.12767657e-01 4.65924752e+01] [ 5.02575629e-02 9.97028233e-01 5.83856120e-02 5.76325906e-01] [ 1.09896598e-01 -6.36251668e-02 9.91904520e-01 3.61896183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.661193817 meters Centerline goodness : 0.943405 with order 1 Centerline is valid? [False, False] Translation: X:46.62, Y:0.56, Z:3.62 [[ 9.92732966e-01 -4.64215203e-02 -1.11023878e-01 4.66196935e+01] [ 5.30115114e-02 9.96956675e-01 5.71591484e-02 5.59809614e-01] [ 1.08032582e-01 -6.26293145e-02 9.92172631e-01 3.62081623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.721193817 meters Centerline goodness : 0.939286 with order 1 Centerline is valid? [False, False] Translation: X:46.67, Y:0.52, Z:3.62 [[ 0.99319645 -0.04941348 -0.10544724 46.67244182] [ 0.06139718 0.99162666 0.11360878 0.52091766] [ 0.09895049 -0.11931 0.98791393 3.62231424] [ 0. 0. 0. 1. ]] SLAMing on 182.781193817 meters Centerline goodness : 0.937197 with order 1 Centerline is valid? [False, False] Translation: X:46.67, Y:0.51, Z:3.63 [[ 0.99264841 -0.05860022 -0.10590163 46.67439886] [ 0.07015701 0.99157157 0.10892114 0.50706566] [ 0.09862624 -0.11555014 0.98839316 3.62580863] [ 0. 0. 0. 1. ]] SLAMing on 182.841193817 meters Centerline goodness : 0.935372 with order 1 Centerline is valid? [False, False] Translation: X:46.67, Y:0.49, Z:3.63 [[ 0.99176056 -0.07323192 -0.1051098 46.67242613] [ 0.08391409 0.99133207 0.10108981 0.48719035] [ 0.09679571 -0.10907708 0.98930924 3.63315414] [ 0. 0. 0. 1. ]] SLAMing on 182.901193817 meters Centerline goodness : 0.937393 with order 1 Centerline is valid? [False, False] Translation: X:46.67, Y:0.48, Z:3.64 [[ 0.99089292 -0.08463574 -0.10472827 46.67238594] [ 0.09462321 0.99102848 0.09438748 0.47509711] [ 0.09580014 -0.10343761 0.99001161 3.63731816] [ 0. 0. 0. 1. ]] SLAMing on 182.961193817 meters Centerline goodness : 0.940847 with order 1 Centerline is valid? [False, False] Translation: X:46.68, Y:0.47, Z:3.64 [[ 0.98966524 -0.10272059 -0.10005595 46.67997791] [ 0.10992658 0.99151559 0.06937572 0.46659841] [ 0.09208072 -0.07965754 0.99256023 3.63947923] [ 0. 0. 0. 1. ]] SLAMing on 183.021193817 meters Centerline goodness : 0.936276 with order 1 Centerline is valid? [False, False] Translation: X:46.68, Y:0.46, Z:3.64 [[ 0.9888588 -0.11062728 -0.09959863 46.68119434] [ 0.11723962 0.9910926 0.06316909 0.4610888 ] [ 0.09172324 -0.07414221 0.99302053 3.63961758] [ 0. 0. 0. 1. ]] SLAMing on 183.081193817 meters Centerline goodness : 0.937541 with order 2 Centerline is valid? [False, False] Translation: X:46.68, Y:0.46, Z:3.64 [[ 0.98777301 -0.12106036 -0.09822866 46.68019927] [ 0.12680073 0.99043283 0.05444619 0.45550141] [ 0.09069762 -0.06623594 0.99367336 3.64078237] [ 0. 0. 0. 1. ]] SLAMing on 183.14119381700002 meters Centerline goodness : 0.936298 with order 2 Centerline is valid? [False, False] Translation: X:46.68, Y:0.45, Z:3.64 [[ 0.98715809 -0.12622915 -0.0979036 46.68126202] [ 0.13157195 0.99003678 0.05015965 0.45496404] [ 0.09059655 -0.06239687 0.99393103 3.64003622] [ 0. 0. 0. 1. ]] SLAMing on 183.20119381700002 meters Centerline goodness : 0.935876 with order 2 Centerline is valid? [False, False] Translation: X:46.68, Y:0.46, Z:3.64 [[ 9.86460412e-01 -1.32248604e-01 -9.69853750e-02 4.66804145e+01] [ 1.37048999e-01 9.89559719e-01 4.45997174e-02 4.57219114e-01] [ 9.00745700e-02 -5.72876041e-02 9.94286026e-01 3.64007313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.261193817 meters Centerline goodness : 0.941003 with order 1 Centerline is valid? [False, False] Translation: X:46.68, Y:0.46, Z:3.64 [[ 9.86321468e-01 -1.33467926e-01 -9.67278387e-02 4.66798668e+01] [ 1.38099851e-01 9.89490574e-01 4.28583144e-02 4.60978428e-01] [ 8.99910743e-02 -5.56301756e-02 9.94387696e-01 3.63998898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.321193817 meters Centerline goodness : 0.941640 with order 1 Centerline is valid? [False, False] Translation: X:46.68, Y:0.47, Z:3.64 [[ 9.86498363e-01 -1.32442730e-01 -9.63322530e-02 4.66790368e+01] [ 1.36944914e-01 9.89700452e-01 4.17025813e-02 4.71410833e-01] [ 8.98168706e-02 -5.43317403e-02 9.94475234e-01 3.63875905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.381193817 meters Centerline goodness : 0.943031 with order 1 Centerline is valid? [False, False] Translation: X:46.67, Y:0.48, Z:3.64 [[ 9.87603736e-01 -1.27547094e-01 -9.14909775e-02 4.66706359e+01] [ 1.31557674e-01 9.90532802e-01 3.92090010e-02 4.81712857e-01] [ 8.56238202e-02 -5.07592961e-02 9.95033696e-01 3.63621807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.441193817 meters Centerline goodness : 0.948337 with order 1 Centerline is valid? [False, False] Translation: X:46.66, Y:0.50, Z:3.63 [[ 9.89526903e-01 -1.13044555e-01 -8.97632216e-02 4.66577987e+01] [ 1.16331153e-01 9.92686717e-01 3.22512616e-02 4.97155673e-01] [ 8.54609283e-02 -4.23557501e-02 9.95440817e-01 3.63454253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.501193817 meters Centerline goodness : 0.943226 with order 1 Centerline is valid? [False, False] Translation: X:46.65, Y:0.51, Z:3.64 [[ 9.90805802e-01 -9.69559937e-02 -9.43578179e-02 4.66481245e+01] [ 1.00153801e-01 9.94526951e-01 2.97550121e-02 5.13449211e-01] [ 9.09564661e-02 -3.89317327e-02 9.95093584e-01 3.63715627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.561193817 meters Centerline goodness : 0.947023 with order 1 Centerline is valid? [False, False] Translation: X:46.65, Y:0.52, Z:3.64 [[ 9.91451099e-01 -9.15623267e-02 -9.29572973e-02 4.66450086e+01] [ 9.33134720e-02 9.95528836e-01 1.46605791e-02 5.23835233e-01] [ 9.11993133e-02 -2.32094154e-02 9.95562157e-01 3.63633982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.621193817 meters Centerline goodness : 0.942703 with order 1 Centerline is valid? [False, False] Translation: X:46.65, Y:0.53, Z:3.63 [[ 9.91439776e-01 -9.14480237e-02 -9.31902838e-02 4.66461364e+01] [ 9.30761254e-02 9.95570593e-01 1.32675817e-02 5.28129352e-01] [ 9.15642120e-02 -2.18277987e-02 9.95559914e-01 3.63494088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.681193817 meters Centerline goodness : 0.942048 with order 1 Centerline is valid? [False, False] Translation: X:46.65, Y:0.53, Z:3.63 [[ 9.91379016e-01 -9.21449600e-02 -9.31501621e-02 4.66462500e+01] [ 9.37208913e-02 9.95517783e-01 1.26782238e-02 5.28993960e-01] [ 9.15644085e-02 -2.12990412e-02 9.95571348e-01 3.63465908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.741193817 meters Centerline goodness : 0.940978 with order 1 Centerline is valid? [False, False] Translation: X:46.65, Y:0.53, Z:3.64 [[ 9.91649737e-01 -8.83490821e-02 -9.39427409e-02 4.66469489e+01] [ 9.03363361e-02 9.95764368e-01 1.71076137e-02 5.28405061e-01] [ 9.20333920e-02 -2.54512036e-02 9.95430606e-01 3.63513022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.801193817 meters Centerline goodness : 0.937780 with order 1 Centerline is valid? [False, False] Translation: X:46.65, Y:0.53, Z:3.63 [[ 9.91694207e-01 -8.76779160e-02 -9.41019796e-02 4.66474667e+01] [ 8.96812918e-02 9.95820814e-01 1.72676910e-02 5.28447847e-01] [ 9.21947147e-02 -2.55634562e-02 9.95412801e-01 3.63476548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.86119381700001 meters Centerline goodness : 0.939655 with order 1 Centerline is valid? [False, False] Translation: X:46.65, Y:0.53, Z:3.64 [[ 9.91659779e-01 -8.80962523e-02 -9.40740796e-02 4.66468238e+01] [ 9.01712337e-02 9.95763051e-01 1.80303937e-02 5.25329630e-01] [ 9.20870824e-02 -2.63627921e-02 9.95401915e-01 3.63605276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.92119381700002 meters Centerline goodness : 0.941090 with order 1 Centerline is valid? [False, False] Translation: X:46.65, Y:0.52, Z:3.64 [[ 9.91294434e-01 -9.25915330e-02 -9.36063695e-02 4.66463563e+01] [ 9.43440952e-02 9.95434564e-01 1.44644453e-02 5.23549785e-01] [ 9.18397305e-02 -2.31697324e-02 9.95504208e-01 3.63671706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.981193817 meters Centerline goodness : 0.937820 with order 1 Centerline is valid? [False, False] Translation: X:46.65, Y:0.52, Z:3.64 [[ 9.90906350e-01 -9.67815808e-02 -9.34768974e-02 4.66467596e+01] [ 9.82592039e-02 9.95096409e-01 1.13254253e-02 5.21775371e-01] [ 9.19224324e-02 -2.04074014e-02 9.95557032e-01 3.63715431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.041193817 meters Centerline goodness : 0.938280 with order 1 Centerline is valid? [False, False] Translation: X:46.65, Y:0.52, Z:3.64 [[ 9.90423306e-01 -1.01184594e-01 -9.39326994e-02 4.66494786e+01] [ 1.02465376e-01 9.94696746e-01 8.90116529e-03 5.17282464e-01] [ 9.25338896e-02 -1.84407709e-02 9.95538757e-01 3.63648247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.101193817 meters Centerline goodness : 0.934860 with order 1 Centerline is valid? [False, False] Translation: X:46.65, Y:0.51, Z:3.64 [[ 9.90419267e-01 -1.00631529e-01 -9.45672783e-02 4.66519065e+01] [ 1.02082962e-01 9.94719140e-01 1.06255034e-02 5.13207178e-01] [ 9.29986211e-02 -2.01774112e-02 9.95461766e-01 3.63552479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.161193817 meters Centerline goodness : 0.930428 with order 1 Centerline is valid? [False, False] Translation: X:46.65, Y:0.51, Z:3.63 [[ 9.90418615e-01 -9.99344435e-02 -9.53104061e-02 4.66545819e+01] [ 1.01532652e-01 9.94759145e-01 1.20566778e-02 5.10060227e-01] [ 9.36060207e-02 -2.16182764e-02 9.95374584e-01 3.63446119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.221193817 meters Centerline goodness : 0.932401 with order 1 Centerline is valid? [False, False] Translation: X:46.65, Y:0.51, Z:3.64 [[ 9.90394547e-01 -9.97918689e-02 -9.57090560e-02 4.66547680e+01] [ 1.01459090e-01 9.94758619e-01 1.27021140e-02 5.08446492e-01] [ 9.39398406e-02 -2.22906581e-02 9.95328304e-01 3.63542426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.281193817 meters Centerline goodness : 0.933456 with order 1 Centerline is valid? [False, False] Translation: X:46.65, Y:0.51, Z:3.64 [[ 9.89735588e-01 -1.06491797e-01 -9.53045825e-02 4.66544256e+01] [ 1.07600341e-01 9.94172625e-01 6.55432333e-03 5.05492342e-01] [ 9.40512252e-02 -1.67418526e-02 9.95426581e-01 3.63677639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.341193817 meters Centerline goodness : 0.935647 with order 1 Centerline is valid? [False, False] Translation: X:46.65, Y:0.50, Z:3.64 [[ 9.89618119e-01 -1.08135042e-01 -9.46720219e-02 4.66514799e+01] [ 1.09159406e-01 9.94007951e-01 5.69370528e-03 5.03832450e-01] [ 9.34890534e-02 -1.59689356e-02 9.95492235e-01 3.63895978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.401193817 meters Centerline goodness : 0.937126 with order 1 Centerline is valid? [False, False] Translation: X:46.65, Y:0.51, Z:3.64 [[ 9.89641186e-01 -1.08000390e-01 -9.45845540e-02 4.66505506e+01] [ 1.09010564e-01 9.94025020e-01 5.56383944e-03 5.05234516e-01] [ 9.34185164e-02 -1.58169202e-02 9.95501284e-01 3.63969746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.461193817 meters Centerline goodness : 0.942370 with order 1 Centerline is valid? [False, False] Translation: X:46.65, Y:0.51, Z:3.64 [[ 9.90257043e-01 -1.02223419e-01 -9.45587743e-02 4.66500849e+01] [ 1.03556174e-01 9.94580281e-01 9.28346710e-03 5.08476268e-01] [ 9.30973046e-02 -1.89851635e-02 9.95475994e-01 3.63891507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.521193817 meters Centerline goodness : 0.941313 with order 1 Centerline is valid? [False, False] Translation: X:46.65, Y:0.51, Z:3.64 [[ 9.90850772e-01 -9.58851229e-02 -9.49778432e-02 4.66483760e+01] [ 9.76966958e-02 9.95109136e-01 1.46000853e-02 5.10378852e-01] [ 9.31133885e-02 -2.37455273e-02 9.95372316e-01 3.64008215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.581193817 meters Centerline goodness : 0.942987 with order 1 Centerline is valid? [False, False] Translation: X:46.65, Y:0.51, Z:3.64 [[ 9.91153048e-01 -9.28430175e-02 -9.48462424e-02 4.66459171e+01] [ 9.48598144e-02 9.95345964e-01 1.69713773e-02 5.12549764e-01] [ 9.28291507e-02 -2.58183293e-02 9.95347257e-01 3.64165849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.64119381700002 meters Centerline goodness : 0.939028 with order 1 Centerline is valid? [False, False] Translation: X:46.65, Y:0.51, Z:3.64 [[ 9.90805100e-01 -9.68575990e-02 -9.44661789e-02 4.66460024e+01] [ 9.84770975e-02 9.95059240e-01 1.26242184e-02 5.14301533e-01] [ 9.27766926e-02 -2.18108950e-02 9.95448025e-01 3.64132589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.70119381700002 meters Centerline goodness : 0.939017 with order 1 Centerline is valid? [False, False] Translation: X:46.65, Y:0.51, Z:3.64 [[ 9.90706520e-01 -9.75969294e-02 -9.47387482e-02 4.66481261e+01] [ 9.91887166e-02 9.94993487e-01 1.22294111e-02 5.13280268e-01] [ 9.30708845e-02 -2.15127721e-02 9.95427050e-01 3.63996936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.761193817 meters Centerline goodness : 0.936648 with order 1 Centerline is valid? [False, False] Translation: X:46.65, Y:0.51, Z:3.64 [[ 9.90465795e-01 -9.86542523e-02 -9.61501334e-02 4.66548991e+01] [ 1.00215664e-01 9.94898860e-01 1.15359636e-02 5.11954548e-01] [ 9.45215863e-02 -2.10617268e-02 9.95299992e-01 3.63591061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.821193817 meters Centerline goodness : 0.930849 with order 1 Centerline is valid? [False, False] Translation: X:46.66, Y:0.51, Z:3.64 [[ 9.90538549e-01 -9.76551056e-02 -9.64202456e-02 4.66555772e+01] [ 9.93144700e-02 9.94976930e-01 1.25516565e-02 5.10355782e-01] [ 9.47101867e-02 -2.20088252e-02 9.95261570e-01 3.63588487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.881193817 meters Centerline goodness : 0.933899 with order 1 Centerline is valid? [False, False] Translation: X:46.65, Y:0.51, Z:3.64 [[ 9.91059259e-01 -9.16314026e-02 -9.69805717e-02 4.66541451e+01] [ 9.38218092e-02 9.95421494e-01 1.82624724e-02 5.07616713e-01] [ 9.48631296e-02 -2.71980851e-02 9.95118712e-01 3.63801312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.941193817 meters Centerline goodness : 0.934908 with order 1 Centerline is valid? [False, False] Translation: X:46.65, Y:0.51, Z:3.64 [[ 9.91322287e-01 -8.87610760e-02 -9.69618233e-02 4.66522154e+01] [ 9.11687300e-02 9.95620698e-01 2.06806075e-02 5.06620344e-01] [ 9.47015652e-02 -2.93410334e-02 9.95073222e-01 3.63978463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.001193817 meters Centerline goodness : 0.937447 with order 1 Centerline is valid? [False, False] Translation: X:46.66, Y:0.51, Z:3.64 [[ 9.90925514e-01 -8.90354087e-02 -1.00694198e-01 4.66591433e+01] [ 9.09513736e-02 9.95748446e-01 1.45903819e-02 5.07770864e-01] [ 9.89670310e-02 -2.36162574e-02 9.94810434e-01 3.64438002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.061193817 meters Centerline goodness : 0.937107 with order 1 Centerline is valid? [False, False] Translation: X:46.66, Y:0.50, Z:3.64 [[ 9.90565341e-01 -9.26696281e-02 -1.00958633e-01 4.66606112e+01] [ 9.44561076e-02 9.95443482e-01 1.30505841e-02 5.01367588e-01] [ 9.92892204e-02 -2.24636158e-02 9.94805024e-01 3.64494613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.121193817 meters Centerline goodness : 0.935051 with order 1 Centerline is valid? [False, False] Translation: X:46.67, Y:0.49, Z:3.64 [[ 9.89854920e-01 -9.87981153e-02 -1.02108622e-01 4.66657895e+01] [ 1.00280186e-01 9.94914148e-01 9.47219519e-03 4.93175457e-01] [ 1.00653477e-01 -1.96155706e-02 9.94728157e-01 3.64398847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.181193817 meters Centerline goodness : 0.932987 with order 1 Centerline is valid? [False, False] Translation: X:46.67, Y:0.49, Z:3.64 [[ 9.89489179e-01 -1.01570186e-01 -1.02930373e-01 4.66685790e+01] [ 1.02956084e-01 9.94651868e-01 8.22842925e-03 4.87871685e-01] [ 1.01544125e-01 -1.87392498e-02 9.94654529e-01 3.64415096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.241193817 meters Centerline goodness : 0.932470 with order 1 Centerline is valid? [False, False] Translation: X:46.67, Y:0.48, Z:3.65 [[ 9.89156527e-01 -1.04872133e-01 -1.02816348e-01 4.66674709e+01] [ 1.06099392e-01 9.94334115e-01 6.52586764e-03 4.78862245e-01] [ 1.01549420e-01 -1.73638565e-02 9.94678949e-01 3.64665752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.301193817 meters Centerline goodness : 0.932894 with order 1 Centerline is valid? [False, False] Translation: X:46.67, Y:0.47, Z:3.65 [[ 9.88875119e-01 -1.07659127e-01 -1.02642639e-01 4.66667766e+01] [ 1.08750749e-01 9.94056055e-01 5.08270284e-03 4.72444140e-01] [ 1.01485338e-01 -1.61886222e-02 9.94705311e-01 3.64811342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.36119381700001 meters Centerline goodness : 0.936950 with order 1 Centerline is valid? [False, False] Translation: X:46.67, Y:0.47, Z:3.65 [[ 9.88593678e-01 -1.10644316e-01 -1.02178149e-01 4.66657071e+01] [ 1.11638265e-01 9.93740686e-01 4.04317848e-03 4.65200886e-01] [ 1.01091229e-01 -1.54040520e-02 9.94757899e-01 3.64921042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.42119381700002 meters Centerline goodness : 0.939647 with order 1 Centerline is valid? [False, False] Translation: X:46.67, Y:0.46, Z:3.65 [[ 9.89151018e-01 -1.09494759e-01 -9.79344743e-02 4.66743493e+01] [ 1.11649834e-01 9.93605832e-01 1.67858798e-02 4.59100235e-01] [ 9.54702989e-02 -2.75381379e-02 9.95051292e-01 3.64820889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.481193817 meters Centerline goodness : 0.937728 with order 1 Centerline is valid? [False, False] Translation: X:46.69, Y:0.46, Z:3.65 [[ 9.89114428e-01 -1.10245200e-01 -9.74609916e-02 4.66927210e+01] [ 1.10785246e-01 9.93844360e-01 1.30452643e-04 4.59345034e-01] [ 9.68466751e-02 -1.09262725e-02 9.95239337e-01 3.65178467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.541193817 meters Centerline goodness : 0.935983 with order 1 Centerline is valid? [False, False] Translation: X:46.71, Y:0.46, Z:3.65 [[ 9.89276157e-01 -1.10082984e-01 -9.59917828e-02 4.67127670e+01] [ 1.09027456e-01 9.93906908e-01 -1.61886391e-02 4.62741844e-01] [ 9.71889897e-02 5.54929488e-03 9.95250474e-01 3.65346517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.601193817 meters Centerline goodness : 0.937121 with order 1 Centerline is valid? [False, False] Translation: X:46.74, Y:0.47, Z:3.66 [[ 9.89711793e-01 -1.10655531e-01 -9.06968570e-02 4.67405512e+01] [ 1.07045746e-01 9.93290733e-01 -4.37575971e-02 4.72657825e-01] [ 9.49303678e-02 3.35986972e-02 9.94916757e-01 3.65792986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.661193817 meters Centerline goodness : 0.937772 with order 1 Centerline is valid? [False, False] Translation: X:46.77, Y:0.48, Z:3.66 [[ 0.98992061 -0.10971753 -0.08955027 46.77436612] [ 0.10460534 0.99270673 -0.05992549 0.47872723] [ 0.09547203 0.04995404 0.99417789 3.66341233] [ 0. 0. 0. 1. ]] SLAMing on 185.721193817 meters Centerline goodness : 0.935116 with order 1 Centerline is valid? [False, False] Translation: X:46.80, Y:0.49, Z:3.66 [[ 0.99051988 -0.11017124 -0.08205284 46.79771618] [ 0.10243474 0.99036538 -0.09318548 0.48668688] [ 0.09152866 0.08389701 0.99226196 3.6645501 ] [ 0. 0. 0. 1. ]] SLAMing on 185.781193817 meters Centerline goodness : 0.935925 with order 1 Centerline is valid? [False, False] Translation: X:46.83, Y:0.49, Z:3.66 [[ 0.99054095 -0.11219139 -0.07900455 46.82913894] [ 0.10522479 0.99059797 -0.08742661 0.48649069] [ 0.08807026 0.0782864 0.99303317 3.6634991 ] [ 0. 0. 0. 1. ]] SLAMing on 185.841193817 meters Centerline goodness : 0.933722 with order 1 Centerline is valid? [False, False] Translation: X:46.85, Y:0.49, Z:3.66 [[ 0.9904918 -0.11266091 -0.07895262 46.85050455] [ 0.10573329 0.99057845 -0.0870334 0.48670851] [ 0.08801403 0.07785795 0.99307184 3.66410245] [ 0. 0. 0. 1. ]] SLAMing on 185.901193817 meters Centerline goodness : 0.933625 with order 1 Centerline is valid? [False, False] Translation: X:46.87, Y:0.48, Z:3.66 [[ 0.99053617 -0.11444253 -0.07576942 46.86513734] [ 0.10852191 0.99101904 -0.07812979 0.48018968] [ 0.08403031 0.06916774 0.99405972 3.66078455] [ 0. 0. 0. 1. ]] SLAMing on 185.961193817 meters Centerline goodness : 0.935991 with order 1 Centerline is valid? [False, False] Translation: X:46.89, Y:0.48, Z:3.66 [[ 0.99055395 -0.11572721 -0.07355322 46.88534227] [ 0.1100246 0.99091344 -0.07736365 0.47705033] [ 0.08183796 0.06854021 0.99428607 3.66163894] [ 0. 0. 0. 1. ]] SLAMing on 186.021193817 meters Centerline goodness : 0.937303 with order 1 Centerline is valid? [False, False] Translation: X:46.91, Y:0.47, Z:3.66 [[ 0.99039722 -0.11806528 -0.07193008 46.90951797] [ 0.11351568 0.99144885 -0.06436907 0.4713569 ] [ 0.07891475 0.05558575 0.99533044 3.66291571] [ 0. 0. 0. 1. ]] SLAMing on 186.081193817 meters Centerline goodness : 0.938307 with order 1 Centerline is valid? [False, False] Translation: X:46.93, Y:0.47, Z:3.66 [[ 9.90227837e-01 -1.20002306e-01 -7.10512310e-02 4.69341486e+01] [ 1.16583502e-01 9.91897823e-01 -5.04677630e-02 4.70076809e-01] [ 7.65318093e-02 4.16911825e-02 9.96195125e-01 3.66229107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.14119381700002 meters Centerline goodness : 0.940033 with order 1 Centerline is valid? [False, False] Translation: X:46.96, Y:0.47, Z:3.66 [[ 0.9905895 -0.11733053 -0.07046974 46.96281704] [ 0.11342838 0.99190712 -0.05704619 0.47439441] [ 0.07659269 0.04851609 0.99588139 3.66463705] [ 0. 0. 0. 1. ]] SLAMing on 186.20119381700002 meters Centerline goodness : 0.936081 with order 1 Centerline is valid? [False, False] Translation: X:46.99, Y:0.48, Z:3.67 [[ 0.99100643 -0.1127698 -0.07203629 46.99324104] [ 0.10833369 0.99212987 -0.06278644 0.47726404] [ 0.07854977 0.05441781 0.99542385 3.66697158] [ 0. 0. 0. 1. ]] SLAMing on 186.261193817 meters Centerline goodness : 0.931376 with order 1 Centerline is valid? [False, False] Translation: X:47.03, Y:0.49, Z:3.67 [[ 0.99206583 -0.10426173 -0.07024863 47.02899757] [ 0.09869126 0.9920103 -0.07858502 0.486909 ] [ 0.07788078 0.07102858 0.99442925 3.6698252 ] [ 0. 0. 0. 1. ]] SLAMing on 186.321193817 meters Centerline goodness : 0.935708 with order 1 Centerline is valid? [False, False] Translation: X:47.04, Y:0.51, Z:3.68 [[ 0.99334501 -0.09918823 -0.05854388 47.0397737 ] [ 0.08870459 0.98305139 -0.16044144 0.50929023] [ 0.07346555 0.1541806 0.98530765 3.68355706] [ 0. 0. 0. 1. ]] SLAMing on 186.381193817 meters Centerline goodness : 0.937627 with order 1 Centerline is valid? [False, False] Translation: X:47.04, Y:0.52, Z:3.70 [[ 0.99478349 -0.08974928 -0.04848587 47.04451715] [ 0.07683388 0.97187988 -0.22258942 0.51989265] [ 0.06709968 0.21770292 0.97370584 3.69580991] [ 0. 0. 0. 1. ]] SLAMing on 186.441193817 meters Centerline goodness : 0.939803 with order 1 Centerline is valid? [False, False] Translation: X:47.06, Y:0.52, Z:3.71 [[ 0.99492838 -0.08650745 -0.05132226 47.06441548] [ 0.07123529 0.96622062 -0.24767571 0.52146307] [ 0.07101442 0.24276364 0.9674827 3.70875654] [ 0. 0. 0. 1. ]] SLAMing on 186.501193817 meters Centerline goodness : 0.939728 with order 1 Centerline is valid? [False, False] Translation: X:47.07, Y:0.51, Z:3.71 [[ 0.99542188 -0.07977694 -0.05263958 47.06696963] [ 0.06498652 0.96876938 -0.23929614 0.50981573] [ 0.07008593 0.23477975 0.96951866 3.7061903 ] [ 0. 0. 0. 1. ]] SLAMing on 186.561193817 meters Centerline goodness : 0.939317 with order 1 Centerline is valid? [False, False] Translation: X:47.06, Y:0.49, Z:3.70 [[ 0.99557864 -0.07616737 -0.05496995 47.05932077] [ 0.06294356 0.97535406 -0.21147711 0.49002523] [ 0.06972282 0.20708209 0.97583592 3.70187076] [ 0. 0. 0. 1. ]] SLAMing on 186.621193817 meters Centerline goodness : 0.940735 with order 1 Centerline is valid? [False, False] Translation: X:47.06, Y:0.47, Z:3.70 [[ 0.99522493 -0.07826578 -0.05832497 47.06468905] [ 0.06615692 0.98022643 -0.1864924 0.46644579] [ 0.07176765 0.18174329 0.9807236 3.69841758] [ 0. 0. 0. 1. ]] SLAMing on 186.681193817 meters Centerline goodness : 0.939151 with order 1 Centerline is valid? [False, False] Translation: X:47.08, Y:0.45, Z:3.70 [[ 0.9943738 -0.08578448 -0.06214321 47.082041 ] [ 0.07386537 0.98202822 -0.17367922 0.4517025 ] [ 0.07592537 0.16811184 0.98283964 3.69994289] [ 0. 0. 0. 1. ]] SLAMing on 186.741193817 meters Centerline goodness : 0.941620 with order 1 Centerline is valid? [False, False] Translation: X:47.10, Y:0.43, Z:3.70 [[ 0.99293303 -0.09814827 -0.06671511 47.10135402] [ 0.08755698 0.98533495 -0.14645415 0.42783037] [ 0.08011095 0.13957779 0.98696518 3.70125605] [ 0. 0. 0. 1. ]] SLAMing on 186.801193817 meters Centerline goodness : 0.939649 with order 1 Centerline is valid? [False, False] Translation: X:47.13, Y:0.41, Z:3.70 [[ 0.99182557 -0.10458642 -0.07310076 47.12852276] [ 0.09477096 0.98738733 -0.12682561 0.4137388 ] [ 0.085443 0.11886105 0.98922775 3.7041504 ] [ 0. 0. 0. 1. ]] SLAMing on 186.86119381700001 meters Centerline goodness : 0.938544 with order 1 Centerline is valid? [False, False] Translation: X:47.14, Y:0.40, Z:3.71 [[ 0.99120279 -0.10720241 -0.07761873 47.14338895] [ 0.09859783 0.98932665 -0.10729049 0.39645925] [ 0.08829207 0.09869359 0.99119326 3.70594778] [ 0. 0. 0. 1. ]] SLAMing on 186.92119381700002 meters Centerline goodness : 0.937395 with order 1 Centerline is valid? [False, False] Translation: X:47.16, Y:0.39, Z:3.71 [[ 0.99097895 -0.10812845 -0.0791768 47.15754698] [ 0.1006379 0.99055124 -0.09316792 0.38667558] [ 0.08850278 0.08435926 0.99249724 3.70928548] [ 0. 0. 0. 1. ]] SLAMing on 186.981193817 meters Centerline goodness : 0.941190 with order 1 Centerline is valid? [False, False] Translation: X:47.17, Y:0.38, Z:3.72 [[ 0.99041238 -0.11021395 -0.08328387 47.17265076] [ 0.10377184 0.99153083 -0.07808976 0.37720821] [ 0.0911851 0.06869855 0.99346152 3.71507824] [ 0. 0. 0. 1. ]] SLAMing on 187.041193817 meters Centerline goodness : 0.940676 with order 1 Centerline is valid? [False, False] Translation: X:47.18, Y:0.37, Z:3.72 [[ 0.99027147 -0.11230936 -0.08215242 47.18137498] [ 0.10679882 0.99190712 -0.06866055 0.37181788] [ 0.0891988 0.05921881 0.99425183 3.71742122] [ 0. 0. 0. 1. ]] SLAMing on 187.101193817 meters Centerline goodness : 0.940178 with order 1 Centerline is valid? [False, False] Translation: X:47.19, Y:0.37, Z:3.72 [[ 0.98953623 -0.11930496 -0.08114414 47.19472239] [ 0.11452925 0.9915344 -0.06117669 0.36780521] [ 0.08775588 0.05124317 0.99482312 3.72066226] [ 0. 0. 0. 1. ]] SLAMing on 187.161193817 meters Centerline goodness : 0.941060 with order 1 Centerline is valid? [False, False] Translation: X:47.22, Y:0.37, Z:3.72 [[ 9.89063346e-01 -1.23223240e-01 -8.10538709e-02 4.72156015e+01] [ 1.19504353e-01 9.91611224e-01 -4.92533152e-02 3.68132704e-01] [ 8.64430813e-02 3.90283584e-02 9.95492030e-01 3.72125874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.221193817 meters Centerline goodness : 0.937224 with order 1 Centerline is valid? [False, False] Translation: X:47.22, Y:0.38, Z:3.72 [[ 9.88411053e-01 -1.26613413e-01 -8.37414663e-02 4.72213838e+01] [ 1.22693542e-01 9.91162655e-01 -5.04270266e-02 3.75208646e-01] [ 8.93861521e-02 3.95680933e-02 9.95210773e-01 3.72213969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.281193817 meters Centerline goodness : 0.934654 with order 1 Centerline is valid? [False, False] Translation: X:47.22, Y:0.38, Z:3.72 [[ 9.88074335e-01 -1.28147314e-01 -8.53661161e-02 4.72245946e+01] [ 1.24071853e-01 9.90937463e-01 -5.14696070e-02 3.79783202e-01] [ 9.11881744e-02 4.02642656e-02 9.95019349e-01 3.72242024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.341193817 meters Centerline goodness : 0.928058 with order 1 Centerline is valid? [False, False] Translation: X:47.25, Y:0.40, Z:3.72 [[ 9.87641447e-01 -1.31341712e-01 -8.55203281e-02 4.72505993e+01] [ 1.27226124e-01 9.90512907e-01 -5.19393288e-02 3.95125291e-01] [ 9.15307892e-02 4.04170141e-02 9.94981698e-01 3.72498854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.401193817 meters Centerline goodness : 0.930474 with order 1 Centerline is valid? [False, False] Translation: X:47.28, Y:0.41, Z:3.73 [[ 9.87911483e-01 -1.30659816e-01 -8.34201091e-02 4.72764993e+01] [ 1.27094257e-01 9.90789131e-01 -4.67327360e-02 4.07822139e-01] [ 8.87578280e-02 3.55655898e-02 9.95418071e-01 3.72732301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.461193817 meters Centerline goodness : 0.923983 with order 1 Centerline is valid? [False, False] Translation: X:47.31, Y:0.43, Z:3.73 [[ 9.88514979e-01 -1.27021251e-01 -8.18763593e-02 4.73114154e+01] [ 1.23225636e-01 9.91124626e-01 -4.98740259e-02 4.27368133e-01] [ 8.74847371e-02 3.92119552e-02 9.95393813e-01 3.72938294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.521193817 meters Centerline goodness : 0.924278 with order 1 Centerline is valid? [False, False] Translation: X:47.34, Y:0.44, Z:3.73 [[ 9.88724369e-01 -1.26563044e-01 -8.00369804e-02 4.73386776e+01] [ 1.23153268e-01 9.91311089e-01 -4.62125269e-02 4.42753090e-01] [ 8.51903442e-02 3.58346358e-02 9.95720083e-01 3.72986058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.581193817 meters Centerline goodness : 0.920162 with order 1 Centerline is valid? [False, False] Translation: X:47.37, Y:0.47, Z:3.73 [[ 9.89240943e-01 -1.23309446e-01 -7.87218998e-02 4.73742251e+01] [ 1.19554692e-01 9.91528814e-01 -5.07669775e-02 4.65249235e-01] [ 8.43150798e-02 4.08092002e-02 9.95603122e-01 3.73041186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.64119381700002 meters Centerline goodness : 0.919467 with order 1 Centerline is valid? [False, False] Translation: X:47.41, Y:0.48, Z:3.73 [[ 9.89636767e-01 -1.20494917e-01 -7.81027819e-02 4.74117954e+01] [ 1.16651673e-01 9.91808167e-01 -5.20475414e-02 4.78523048e-01] [ 8.37344412e-02 4.23973404e-02 9.95585762e-01 3.73235727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.70119381700002 meters Centerline goodness : 0.913238 with order 1 Centerline is valid? [False, False] Translation: X:47.45, Y:0.50, Z:3.73 [[ 9.90199483e-01 -1.16354996e-01 -7.72431124e-02 4.74476754e+01] [ 1.12386192e-01 9.92202006e-01 -5.38936235e-02 4.98304954e-01] [ 8.29115634e-02 4.46843789e-02 9.95554609e-01 3.73314727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.761193817 meters Centerline goodness : 0.913028 with order 1 Centerline is valid? [False, False] Translation: X:47.47, Y:0.51, Z:3.73 [[ 9.90626311e-01 -1.14481539e-01 -7.45217359e-02 4.74661148e+01] [ 1.10568931e-01 9.92363199e-01 -5.46789993e-02 5.05854173e-01] [ 8.02123642e-02 4.59266667e-02 9.95719196e-01 3.73345405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.821193817 meters Centerline goodness : 0.909745 with order 1 Centerline is valid? [False, False] Translation: X:47.46, Y:0.52, Z:3.74 [[ 9.92171204e-01 -9.97156561e-02 -7.51870288e-02 4.74634607e+01] [ 9.66126981e-02 9.94355909e-01 -4.38441953e-02 5.18910517e-01] [ 7.91346191e-02 3.62369264e-02 9.96205098e-01 3.73535786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.881193817 meters Centerline goodness : 0.907880 with order 1 Centerline is valid? [False, False] Translation: X:47.47, Y:0.53, Z:3.74 [[ 9.93566723e-01 -8.92950891e-02 -6.96530948e-02 4.74717168e+01] [ 8.62196306e-02 9.95214452e-01 -4.59822693e-02 5.28883650e-01] [ 7.34257574e-02 3.96809885e-02 9.96510952e-01 3.73580140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.941193817 meters Centerline goodness : 0.910279 with order 1 Centerline is valid? [False, False] Translation: X:47.48, Y:0.54, Z:3.73 [[ 9.95255427e-01 -7.33212154e-02 -6.39580644e-02 4.74816556e+01] [ 7.09344459e-02 9.96725081e-01 -3.88254737e-02 5.42095902e-01] [ 6.65953378e-02 3.41044335e-02 9.97197046e-01 3.73441494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.001193817 meters Centerline goodness : 0.907265 with order 1 Centerline is valid? [False, False] Translation: X:47.48, Y:0.55, Z:3.74 [[ 9.95785133e-01 -6.56135244e-02 -6.40845854e-02 4.74793904e+01] [ 6.36256279e-02 9.97441718e-01 -3.25852483e-02 5.45489460e-01] [ 6.60586720e-02 2.83704838e-02 9.97412336e-01 3.73599495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.061193817 meters Centerline goodness : 0.906111 with order 1 Centerline is valid? [False, False] Translation: X:47.49, Y:0.54, Z:3.74 [[ 9.96124989e-01 -6.21613290e-02 -6.22171560e-02 4.74859456e+01] [ 6.11763766e-02 9.97971534e-01 -1.76144240e-02 5.42919144e-01] [ 6.31858866e-02 1.37399478e-02 9.97907189e-01 3.73823727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.121193817 meters Centerline goodness : 0.902216 with order 1 Centerline is valid? [False, False] Translation: X:47.49, Y:0.54, Z:3.74 [[ 9.96147040e-01 -6.16559846e-02 -6.23667701e-02 4.74860565e+01] [ 6.08013802e-02 9.98029360e-01 -1.55109520e-02 5.36384130e-01] [ 6.32002106e-02 1.16592033e-02 9.97932761e-01 3.73872898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.181193817 meters Centerline goodness : 0.898890 with order 1 Centerline is valid? [False, False] Translation: X:47.49, Y:0.53, Z:3.74 [[ 9.95983141e-01 -6.41692388e-02 -6.24491070e-02 4.74877321e+01] [ 6.32239527e-02 9.97854580e-01 -1.69990868e-02 5.31073423e-01] [ 6.34059459e-02 1.29825245e-02 9.97903372e-01 3.73764092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.241193817 meters Centerline goodness : 0.899249 with order 1 Centerline is valid? [False, False] Translation: X:47.49, Y:0.52, Z:3.74 [[ 9.95780395e-01 -6.67481641e-02 -6.29768881e-02 4.74912327e+01] [ 6.57711622e-02 9.97681902e-01 -1.74635730e-02 5.21515480e-01] [ 6.39965630e-02 1.32478205e-02 9.97862182e-01 3.73536953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.301193817 meters Centerline goodness : 0.896362 with order 1 Centerline is valid? [False, False] Translation: X:47.49, Y:0.51, Z:3.73 [[ 9.95603428e-01 -6.87810949e-02 -6.35843984e-02 4.74946876e+01] [ 6.77634958e-02 9.97538542e-01 -1.80268183e-02 5.14267959e-01] [ 6.46677924e-02 1.36388610e-02 9.97813639e-01 3.73317925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.36119381700001 meters Centerline goodness : 0.896283 with order 1 Centerline is valid? [False, False] Translation: X:47.50, Y:0.50, Z:3.73 [[ 9.95239467e-01 -7.34515270e-02 -6.40568179e-02 4.74987158e+01] [ 7.23086669e-02 9.97182079e-01 -1.99839359e-02 5.03494629e-01] [ 6.53441615e-02 1.52569386e-02 9.97746143e-01 3.73006013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.42119381700002 meters Centerline goodness : 0.890864 with order 1 Centerline is valid? [False, False] Translation: X:47.50, Y:0.50, Z:3.73 [[ 9.94754762e-01 -7.92866846e-02 -6.46264997e-02 4.75024620e+01] [ 7.78592150e-02 9.96667712e-01 -2.43190271e-02 4.96986929e-01] [ 6.63393206e-02 1.91596995e-02 9.97613152e-01 3.72837073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.481193817 meters Centerline goodness : 0.895999 with order 1 Centerline is valid? [False, False] Translation: X:47.52, Y:0.49, Z:3.73 [[ 9.94224064e-01 -8.62522419e-02 -6.38675238e-02 4.75248872e+01] [ 8.47966624e-02 9.96080419e-01 -2.51659503e-02 4.85043660e-01] [ 6.57878095e-02 1.96048405e-02 9.97641025e-01 3.72669428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.541193817 meters Centerline goodness : 0.891461 with order 1 Centerline is valid? [False, False] Translation: X:47.54, Y:0.47, Z:3.72 [[ 9.93864045e-01 -9.37548648e-02 -5.86880301e-02 4.75359746e+01] [ 9.26634555e-02 9.95474827e-01 -2.10559315e-02 4.74434716e-01] [ 6.03965527e-02 1.54884976e-02 9.98054289e-01 3.72463170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.601193817 meters Centerline goodness : 0.892375 with order 1 Centerline is valid? [False, False] Translation: X:47.55, Y:0.47, Z:3.72 [[ 9.93659197e-01 -9.93979945e-02 -5.25493969e-02 4.75470178e+01] [ 9.86532148e-02 9.94983605e-01 -1.65882142e-02 4.69580706e-01] [ 5.39346236e-02 1.12988647e-02 9.98480542e-01 3.72208148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.661193817 meters Centerline goodness : 0.894846 with order 1 Centerline is valid? [False, False] Translation: X:47.56, Y:0.47, Z:3.72 [[ 9.93397105e-01 -1.03782953e-01 -4.89008184e-02 4.75645525e+01] [ 1.03053669e-01 9.94526854e-01 -1.72127297e-02 4.66776739e-01] [ 5.04195650e-02 1.20596671e-02 9.98655312e-01 3.72290639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.721193817 meters Centerline goodness : 0.895582 with order 1 Centerline is valid? [False, False] Translation: X:47.58, Y:0.47, Z:3.72 [[ 9.93531949e-01 -1.05315154e-01 -4.24615555e-02 4.75768975e+01] [ 1.04242279e-01 9.94192355e-01 -2.67415221e-02 4.69359402e-01] [ 4.50312414e-02 2.21422673e-02 9.98740160e-01 3.71878082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.781193817 meters Centerline goodness : 0.892641 with order 1 Centerline is valid? [False, False] Translation: X:47.59, Y:0.47, Z:3.72 [[ 9.93956623e-01 -1.03101503e-01 -3.76870250e-02 4.75919718e+01] [ 1.02160694e-01 9.94425565e-01 -2.60957572e-02 4.74573382e-01] [ 4.01674529e-02 2.20879180e-02 9.98948797e-01 3.71998680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.841193817 meters Centerline goodness : 0.893737 with order 1 Centerline is valid? [False, False] Translation: X:47.61, Y:0.48, Z:3.72 [[ 9.94741168e-01 -9.67581548e-02 -3.35837393e-02 4.76053287e+01] [ 9.58087699e-02 9.94982571e-01 -2.88160272e-02 4.80319894e-01] [ 3.62034209e-02 2.54468718e-02 9.99020405e-01 3.71592546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.901193817 meters Centerline goodness : 0.896050 with order 1 Centerline is valid? [False, False] Translation: X:47.64, Y:0.49, Z:3.72 [[ 9.95229069e-01 -8.99101672e-02 -3.78848519e-02 4.76387828e+01] [ 8.83623965e-02 9.95255620e-01 -4.07227029e-02 4.94483064e-01] [ 4.13664967e-02 3.71808213e-02 9.98452002e-01 3.71734761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.961193817 meters Centerline goodness : 0.891264 with order 1 Centerline is valid? [False, False] Translation: X:47.67, Y:0.51, Z:3.72 [[ 9.95860231e-01 -8.29119293e-02 -3.72560242e-02 4.76733588e+01] [ 8.08316875e-02 9.95250411e-01 -5.42481051e-02 5.05098598e-01] [ 4.15768885e-02 5.10120632e-02 9.97832216e-01 3.71972424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.021193817 meters Centerline goodness : 0.899333 with order 1 Centerline is valid? [False, False] Translation: X:47.71, Y:0.52, Z:3.72 [[ 9.96870723e-01 -7.18930214e-02 -3.28657281e-02 4.77113431e+01] [ 6.92052822e-02 9.94651883e-01 -7.66698177e-02 5.20700950e-01] [ 3.82019832e-02 7.41554146e-02 9.96514718e-01 3.72138779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.081193817 meters Centerline goodness : 0.895634 with order 1 Centerline is valid? [False, False] Translation: X:47.71, Y:0.52, Z:3.72 [[ 9.97634676e-01 -5.99410445e-02 -3.36470654e-02 4.77112788e+01] [ 5.76544252e-02 9.96202229e-01 -6.52463546e-02 5.21875603e-01] [ 3.74302162e-02 6.31521236e-02 9.97301754e-01 3.72172630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.14119381700002 meters Centerline goodness : 0.897947 with order 1 Centerline is valid? [False, False] Translation: X:47.71, Y:0.52, Z:3.72 [[ 9.98296847e-01 -4.71076545e-02 -3.44132832e-02 4.77116890e+01] [ 4.52256515e-02 9.97540006e-01 -5.35591039e-02 5.23021157e-01] [ 3.68516705e-02 5.19115214e-02 9.97971517e-01 3.72203378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.20119381700002 meters Centerline goodness : 0.897425 with order 1 Centerline is valid? [False, False] Translation: X:47.72, Y:0.52, Z:3.72 [[ 9.98574868e-01 -4.18648252e-02 -3.30993962e-02 4.77184956e+01] [ 4.06361765e-02 9.98490191e-01 -3.69599693e-02 5.19519509e-01] [ 3.45967451e-02 3.55622635e-02 9.98768437e-01 3.72360819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.261193817 meters Centerline goodness : 0.897139 with order 1 Centerline is valid? [False, False] Translation: X:47.72, Y:0.51, Z:3.72 [[ 9.98601955e-01 -4.11428641e-02 -3.31873544e-02 4.77187393e+01] [ 3.99718369e-02 9.98580277e-01 -3.52091363e-02 5.14224748e-01] [ 3.45888423e-02 3.38333528e-02 9.98828772e-01 3.72338229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.321193817 meters Centerline goodness : 0.900908 with order 1 Centerline is valid? [False, False] Translation: X:47.72, Y:0.51, Z:3.72 [[ 9.98460839e-01 -4.43131555e-02 -3.33511298e-02 4.77202766e+01] [ 4.30610750e-02 9.98373352e-01 -3.73683439e-02 5.09954465e-01] [ 3.49527885e-02 3.58746925e-02 9.98744867e-01 3.72209757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.381193817 meters Centerline goodness : 0.897978 with order 1 Centerline is valid? [False, False] Translation: X:47.73, Y:0.51, Z:3.73 [[ 9.98373783e-01 -4.72526488e-02 -3.18900688e-02 4.77266223e+01] [ 4.43716894e-02 9.95333435e-01 -8.56884251e-02 5.13002027e-01] [ 3.57902568e-02 8.41340609e-02 9.95811487e-01 3.72636077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.441193817 meters Centerline goodness : 0.900727 with order 1 Centerline is valid? [False, False] Translation: X:47.74, Y:0.51, Z:3.73 [[ 9.98102435e-01 -5.23644884e-02 -3.23958240e-02 4.77449131e+01] [ 4.83622175e-02 9.92309313e-01 -1.13944389e-01 5.13881691e-01] [ 3.81133175e-02 1.12161439e-01 9.92958804e-01 3.73384759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.501193817 meters Centerline goodness : 0.894169 with order 1 Centerline is valid? [False, False] Translation: X:47.76, Y:0.50, Z:3.73 [[ 9.97541789e-01 -5.85494136e-02 -3.85012326e-02 4.77606552e+01] [ 5.43341281e-02 9.93231412e-01 -1.02660437e-01 4.99040751e-01] [ 4.42513420e-02 1.00316146e-01 9.93971071e-01 3.73304313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.561193817 meters Centerline goodness : 0.893454 with order 1 Centerline is valid? [False, False] Translation: X:47.78, Y:0.48, Z:3.73 [[ 9.97079380e-01 -6.38417607e-02 -4.19158598e-02 4.77773942e+01] [ 5.99350586e-02 9.94259254e-01 -8.86359071e-02 4.84617980e-01] [ 4.73339039e-02 8.58648058e-02 9.95181761e-01 3.73304916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.621193817 meters Centerline goodness : 0.893735 with order 1 Centerline is valid? [False, False] Translation: X:47.79, Y:0.47, Z:3.73 [[ 9.97197632e-01 -6.43821332e-02 -3.81028167e-02 4.77928041e+01] [ 6.11991893e-02 9.94953680e-01 -7.95099667e-02 4.74835978e-01] [ 4.30295589e-02 7.69552890e-02 9.96105587e-01 3.72851370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.681193817 meters Centerline goodness : 0.899141 with order 1 Centerline is valid? [False, False] Translation: X:47.81, Y:0.47, Z:3.73 [[ 9.97264759e-01 -6.26875449e-02 -3.91570265e-02 4.78143900e+01] [ 5.95834605e-02 9.95329243e-01 -7.59572802e-02 4.70781810e-01] [ 4.37357090e-02 7.34164075e-02 9.96341919e-01 3.72829358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.741193817 meters Centerline goodness : 0.896362 with order 1 Centerline is valid? [False, False] Translation: X:47.84, Y:0.46, Z:3.73 [[ 9.97751974e-01 -5.43856618e-02 -3.91560712e-02 4.78350496e+01] [ 5.18314660e-02 9.96633028e-01 -6.35303577e-02 4.60501105e-01] [ 4.24793743e-02 6.13580233e-02 9.97211460e-01 3.72758657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.801193817 meters Centerline goodness : 0.896693 with order 1 Centerline is valid? [False, False] Translation: X:47.86, Y:0.46, Z:3.73 [[ 9.98405440e-01 -4.63275664e-02 -3.22542157e-02 4.78615815e+01] [ 4.35204716e-02 9.95609193e-01 -8.28752260e-02 4.60070771e-01] [ 3.59520012e-02 8.13393578e-02 9.96037832e-01 3.73018841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.86119381700001 meters Centerline goodness : 0.893389 with order 1 Centerline is valid? [False, False] Translation: X:47.89, Y:0.46, Z:3.73 [[ 9.98765683e-01 -4.15320023e-02 -2.72434166e-02 4.78868220e+01] [ 3.83507518e-02 9.93367563e-01 -1.08397898e-01 4.63396403e-01] [ 3.15647081e-02 1.07219295e-01 9.93734216e-01 3.73352336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.92119381700002 meters Centerline goodness : 0.899195 with order 1 Centerline is valid? [False, False] Translation: X:47.91, Y:0.47, Z:3.74 [[ 9.99051631e-01 -3.85036206e-02 -2.03300308e-02 4.79137384e+01] [ 3.51094098e-02 9.88531966e-01 -1.46873691e-01 4.67955750e-01] [ 2.57520542e-02 1.46020625e-01 9.88946312e-01 3.74128729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.981193817 meters Centerline goodness : 0.895415 with order 1 Centerline is valid? [False, False] Translation: X:47.93, Y:0.47, Z:3.74 [[ 9.99035162e-01 -4.14423152e-02 -1.45354292e-02 4.79343987e+01] [ 3.83922562e-02 9.84840197e-01 -1.69162115e-01 4.69942040e-01] [ 2.13255446e-02 1.68440853e-01 9.85481050e-01 3.74386019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.041193817 meters Centerline goodness : 0.896465 with order 1 Centerline is valid? [False, False] Translation: X:47.95, Y:0.45, Z:3.75 [[ 9.98723515e-01 -4.83245871e-02 -1.46995055e-02 4.79513418e+01] [ 4.55832471e-02 9.87654961e-01 -1.49866091e-01 4.51555340e-01] [ 2.17602565e-02 1.49004738e-01 9.88597026e-01 3.74632931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.101193817 meters Centerline goodness : 0.899754 with order 1 Centerline is valid? [False, False] Translation: X:47.97, Y:0.44, Z:3.75 [[ 9.98393305e-01 -5.40113815e-02 -1.71341622e-02 4.79722589e+01] [ 5.12855258e-02 9.89909916e-01 -1.32091459e-01 4.40156488e-01] [ 2.40957193e-02 1.31000494e-01 9.91089434e-01 3.74894640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.161193817 meters Centerline goodness : 0.898224 with order 1 Centerline is valid? [False, False] Translation: X:47.99, Y:0.43, Z:3.75 [[ 9.98117234e-01 -5.84526990e-02 -1.85814191e-02 4.79902378e+01] [ 5.59314937e-02 9.91745086e-01 -1.15383502e-01 4.26386366e-01] [ 2.51725082e-02 1.14126976e-01 9.93147209e-01 3.74983954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.221193817 meters Centerline goodness : 0.900670 with order 1 Centerline is valid? [False, False] Translation: X:48.01, Y:0.42, Z:3.75 [[ 9.98052178e-01 -5.97978472e-02 -1.77782965e-02 4.80060762e+01] [ 5.76638880e-02 9.93021308e-01 -1.02876418e-01 4.18695425e-01] [ 2.38060156e-02 1.01650867e-01 9.94535256e-01 3.74844825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.281193817 meters Centerline goodness : 0.900174 with order 1 Centerline is valid? [False, False] Translation: X:48.02, Y:0.41, Z:3.75 [[ 9.97916139e-01 -5.91840910e-02 -2.57025953e-02 4.80223557e+01] [ 5.65782729e-02 9.94112060e-01 -9.24127264e-02 4.10095240e-01] [ 3.10206231e-02 9.07659427e-02 9.95389002e-01 3.74675594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.341193817 meters Centerline goodness : 0.894719 with order 1 Centerline is valid? [False, False] Translation: X:48.05, Y:0.41, Z:3.75 [[ 9.97756074e-01 -5.92754674e-02 -3.11325643e-02 4.80525330e+01] [ 5.64090879e-02 9.94694046e-01 -8.60335325e-02 4.05683392e-01] [ 3.60670542e-02 8.40843201e-02 9.95805701e-01 3.74735539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.401193817 meters Centerline goodness : 0.895900 with order 1 Centerline is valid? [False, False] Translation: X:48.08, Y:0.40, Z:3.75 [[ 9.97616023e-01 -6.19869686e-02 -3.03296419e-02 4.80754304e+01] [ 5.96421339e-02 9.95553449e-01 -7.29119041e-02 3.97897074e-01] [ 3.47143675e-02 7.09291592e-02 9.96877107e-01 3.74506276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.461193817 meters Centerline goodness : 0.896635 with order 1 Centerline is valid? [False, False] Translation: X:48.09, Y:0.39, Z:3.75 [[ 9.97166767e-01 -6.62676966e-02 -3.55953791e-02 4.80880982e+01] [ 6.36990726e-02 9.95580645e-01 -6.90044029e-02 3.90429786e-01] [ 4.00108333e-02 6.65415047e-02 9.96981124e-01 3.74524230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.521193817 meters Centerline goodness : 0.897116 with order 1 Centerline is valid? [False, False] Translation: X:48.11, Y:0.39, Z:3.74 [[ 9.96818291e-01 -7.21734270e-02 -3.38273752e-02 4.81095728e+01] [ 7.01177270e-02 9.95824452e-01 -5.84565211e-02 3.86822922e-01] [ 3.79051348e-02 5.58986308e-02 9.97716665e-01 3.74452981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.581193817 meters Centerline goodness : 0.897616 with order 1 Centerline is valid? [False, False] Translation: X:48.12, Y:0.38, Z:3.74 [[ 9.96432815e-01 -7.85386235e-02 -3.08760366e-02 4.81201375e+01] [ 7.68252414e-02 9.95622478e-01 -5.32331066e-02 3.83609086e-01] [ 3.49217310e-02 5.06711553e-02 9.98104657e-01 3.74348759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.64119381700002 meters Centerline goodness : 0.898226 with order 1 Centerline is valid? [False, False] Translation: X:48.15, Y:0.38, Z:3.75 [[ 9.96190831e-01 -8.04346989e-02 -3.36762013e-02 4.81486901e+01] [ 7.88076881e-02 9.95774857e-01 -4.71357928e-02 3.81885087e-01] [ 3.73252679e-02 4.43023011e-02 9.98320655e-01 3.74710044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.70119381700002 meters Centerline goodness : 0.900219 with order 1 Centerline is valid? [False, False] Translation: X:48.17, Y:0.39, Z:3.75 [[ 9.96121007e-01 -8.21178775e-02 -3.16163643e-02 4.81741245e+01] [ 8.07502244e-02 9.95834447e-01 -4.23456753e-02 3.87814358e-01] [ 3.49620016e-02 3.96283882e-02 9.98602648e-01 3.75076915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.761193817 meters Centerline goodness : 0.898895 with order 1 Centerline is valid? [False, False] Translation: X:48.19, Y:0.39, Z:3.75 [[ 9.96408507e-01 -8.03989230e-02 -2.65725676e-02 4.81888325e+01] [ 7.91797613e-02 9.95883239e-01 -4.41264153e-02 3.94611012e-01] [ 3.00108909e-02 4.18639260e-02 9.98672498e-01 3.75180393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.821193817 meters Centerline goodness : 0.896858 with order 1 Centerline is valid? [False, False] Translation: X:48.23, Y:0.40, Z:3.75 [[ 9.96638184e-01 -7.80972460e-02 -2.47618659e-02 4.82263544e+01] [ 7.69123942e-02 9.95992179e-01 -4.56515393e-02 3.99888451e-01] [ 2.82278843e-02 4.35935729e-02 9.98650483e-01 3.75253671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.881193817 meters Centerline goodness : 0.897314 with order 1 Centerline is valid? [False, False] Translation: X:48.26, Y:0.41, Z:3.75 [[ 9.96829588e-01 -7.55507319e-02 -2.49571374e-02 4.82642311e+01] [ 7.42442663e-02 9.96001995e-01 -4.96771049e-02 4.11684503e-01] [ 2.86105002e-02 4.76666837e-02 9.98453467e-01 3.75228619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.941193817 meters Centerline goodness : 0.894609 with order 1 Centerline is valid? [False, False] Translation: X:48.30, Y:0.42, Z:3.75 [[ 9.96923842e-01 -7.41820308e-02 -2.52958383e-02 4.83044122e+01] [ 7.27821885e-02 9.95971631e-01 -5.23761733e-02 4.18612707e-01] [ 2.90793082e-02 5.03739695e-02 9.98306995e-01 3.75158483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.001193817 meters Centerline goodness : 0.895087 with order 1 Centerline is valid? [False, False] Translation: X:48.34, Y:0.43, Z:3.75 [[ 9.96938872e-01 -7.40536145e-02 -2.50788464e-02 4.83449493e+01] [ 7.25326999e-02 9.95740437e-01 -5.69209002e-02 4.30717725e-01] [ 2.91872199e-02 5.49276216e-02 9.98063657e-01 3.74994216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.061193817 meters Centerline goodness : 0.903285 with order 1 Centerline is valid? [False, False] Translation: X:48.38, Y:0.44, Z:3.75 [[ 9.96612763e-01 -7.85456266e-02 -2.43635918e-02 4.83753136e+01] [ 7.70832184e-02 9.95447178e-01 -5.60632896e-02 4.39673588e-01] [ 2.86561949e-02 5.39953659e-02 9.98129913e-01 3.74941404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.121193817 meters Centerline goodness : 0.896254 with order 1 Centerline is valid? [False, False] Translation: X:48.40, Y:0.45, Z:3.75 [[ 9.96220577e-01 -8.40286257e-02 -2.19943761e-02 4.84015313e+01] [ 8.27090518e-02 9.95040443e-01 -5.52605641e-02 4.51479649e-01] [ 2.65287630e-02 5.32325770e-02 9.98229692e-01 3.75112570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.181193817 meters Centerline goodness : 0.896039 with order 1 Centerline is valid? [False, False] Translation: X:48.43, Y:0.46, Z:3.75 [[ 9.95907807e-01 -8.80992108e-02 -2.01536538e-02 4.84301446e+01] [ 8.69731805e-02 9.94893564e-01 -5.12099859e-02 4.60136296e-01] [ 2.45622998e-02 4.92475973e-02 9.98484535e-01 3.75203540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.241193817 meters Centerline goodness : 0.896073 with order 1 Centerline is valid? [False, False] Translation: X:48.46, Y:0.47, Z:3.75 [[ 9.95607483e-01 -9.11522080e-02 -2.13778829e-02 4.84577847e+01] [ 9.00908248e-02 9.94859484e-01 -4.62412140e-02 4.68285023e-01] [ 2.54829783e-02 4.41121476e-02 9.98701525e-01 3.75493669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.301193817 meters Centerline goodness : 0.896903 with order 1 Centerline is valid? [False, False] Translation: X:48.50, Y:0.48, Z:3.76 [[ 9.95553738e-01 -9.20700821e-02 -1.98960951e-02 4.84951418e+01] [ 9.09584965e-02 9.94549296e-01 -5.09730238e-02 4.82711005e-01] [ 2.44807379e-02 4.89366655e-02 9.98501826e-01 3.75515579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.36119381700001 meters Centerline goodness : 0.899033 with order 1 Centerline is valid? [False, False] Translation: X:48.53, Y:0.50, Z:3.75 [[ 9.95933338e-01 -8.80281811e-02 -1.91787777e-02 4.85341502e+01] [ 8.69238627e-02 9.94839765e-01 -5.23267073e-02 5.02446747e-01] [ 2.36860356e-02 5.04468189e-02 9.98445837e-01 3.75291763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.42119381700002 meters Centerline goodness : 0.898047 with order 1 Centerline is valid? [False, False] Translation: X:48.57, Y:0.52, Z:3.75 [[ 9.96043128e-01 -8.67742174e-02 -1.91917516e-02 4.85737437e+01] [ 8.56293937e-02 9.94859198e-01 -5.40627687e-02 5.15314573e-01] [ 2.37843450e-02 5.22054711e-02 9.98353091e-01 3.75214229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.481193817 meters Centerline goodness : 0.897086 with order 1 Centerline is valid? [False, False] Translation: X:48.61, Y:0.54, Z:3.75 [[ 9.95913845e-01 -8.83348812e-02 -1.87766574e-02 4.86139215e+01] [ 8.70880589e-02 9.94440151e-01 -5.91984515e-02 5.36406845e-01] [ 2.39015502e-02 5.73213348e-02 9.98069627e-01 3.75004259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.541193817 meters Centerline goodness : 0.900446 with order 1 Centerline is valid? [False, False] Translation: X:48.64, Y:0.54, Z:3.75 [[ 9.95905012e-01 -8.80619558e-02 -2.04523636e-02 4.86357953e+01] [ 8.67013389e-02 9.94431403e-01 -5.99087886e-02 5.43626116e-01] [ 2.56141578e-02 5.78902155e-02 9.97994308e-01 3.74967605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.601193817 meters Centerline goodness : 0.900542 with order 1 Centerline is valid? [False, False] Translation: X:48.64, Y:0.56, Z:3.75 [[ 9.95720081e-01 -8.91749816e-02 -2.42763694e-02 4.86446080e+01] [ 8.76492797e-02 9.94463629e-01 -5.79628660e-02 5.57939155e-01] [ 2.93108040e-02 5.55869834e-02 9.98023529e-01 3.75049199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.661193817 meters Centerline goodness : 0.903166 with order 1 Centerline is valid? [False, False] Translation: X:48.65, Y:0.58, Z:3.75 [[ 9.95748033e-01 -8.82018078e-02 -2.65762410e-02 4.86479721e+01] [ 8.65993353e-02 9.94646341e-01 -5.63844880e-02 5.78051672e-01] [ 3.14071746e-02 5.38432582e-02 9.98055356e-01 3.75249439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.721193817 meters Centerline goodness : 0.907447 with order 1 Centerline is valid? [False, False] Translation: X:48.65, Y:0.60, Z:3.76 [[ 9.96038300e-01 -8.56081587e-02 -2.40613569e-02 4.86504537e+01] [ 8.46505774e-02 9.95672820e-01 -3.83394686e-02 5.99208203e-01] [ 2.72394104e-02 3.61507714e-02 9.98975043e-01 3.75531941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.781193817 meters Centerline goodness : 0.910295 with order 1 Centerline is valid? [False, False] Translation: X:48.64, Y:0.61, Z:3.76 [[ 9.96331125e-01 -8.24713497e-02 -2.28640594e-02 4.86446708e+01] [ 8.16232879e-02 9.96019015e-01 -3.58296038e-02 6.12828593e-01] [ 2.57279537e-02 3.38319098e-02 9.99096329e-01 3.75787247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.841193817 meters Centerline goodness : 0.909413 with order 1 Centerline is valid? [False, False] Translation: X:48.63, Y:0.63, Z:3.76 [[ 9.96662569e-01 -7.90597821e-02 -2.03291427e-02 4.86347450e+01] [ 7.84021801e-02 9.96429307e-01 -3.13326361e-02 6.30834039e-01] [ 2.27337050e-02 2.96342165e-02 9.99302253e-01 3.75937547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.901193817 meters Centerline goodness : 0.912902 with order 1 Centerline is valid? [False, False] Translation: X:48.63, Y:0.64, Z:3.76 [[ 9.97060919e-01 -7.37509406e-02 -2.07441935e-02 4.86346618e+01] [ 7.31681005e-02 9.96938258e-01 -2.75778730e-02 6.42418887e-01] [ 2.27145742e-02 2.59790061e-02 9.99404392e-01 3.75930078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.961193817 meters Centerline goodness : 0.911571 with order 1 Centerline is valid? [False, False] Translation: X:48.62, Y:0.67, Z:3.76 [[ 9.97469935e-01 -6.61585825e-02 -2.60148291e-02 4.86151131e+01] [ 6.55760698e-02 9.97590659e-01 -2.26419247e-02 6.65449165e-01] [ 2.74501082e-02 2.08786889e-02 9.99405109e-01 3.76165976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.021193817 meters Centerline goodness : 0.912468 with order 1 Centerline is valid? [False, False] Translation: X:48.62, Y:0.68, Z:3.76 [[ 9.98033730e-01 -5.57087499e-02 -2.87264572e-02 4.86180005e+01] [ 5.53089489e-02 9.98363564e-01 -1.45297955e-02 6.80364373e-01] [ 2.94888850e-02 1.29123959e-02 9.99481704e-01 3.76232115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.081193817 meters Centerline goodness : 0.909702 with order 1 Centerline is valid? [False, False] Translation: X:48.61, Y:0.69, Z:3.77 [[ 9.98266673e-01 -4.57593419e-02 -3.70099041e-02 4.86101324e+01] [ 4.52433620e-02 9.98868399e-01 -1.46614842e-02 6.90658399e-01] [ 3.76389236e-02 1.29616185e-02 9.99207340e-01 3.76570320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.14119381700002 meters Centerline goodness : 0.911481 with order 1 Centerline is valid? [False, False] Translation: X:48.62, Y:0.70, Z:3.77 [[ 9.98378629e-01 -3.87784942e-02 -4.16694198e-02 4.86174687e+01] [ 3.86228979e-02 9.99243576e-01 -4.53294868e-03 7.04564061e-01] [ 4.18136810e-02 2.91620534e-03 9.99121170e-01 3.76900513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.20119381700002 meters Centerline goodness : 0.910685 with order 1 Centerline is valid? [False, False] Translation: X:48.62, Y:0.69, Z:3.76 [[ 9.98390358e-01 -3.65556751e-02 -4.33633092e-02 4.86209226e+01] [ 4.01397746e-02 9.95581695e-01 8.48875019e-02 6.85787011e-01] [ 4.00685969e-02 -8.64914568e-02 9.95446501e-01 3.76327257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.261193817 meters Centerline goodness : 0.907767 with order 1 Centerline is valid? [False, False] Translation: X:48.64, Y:0.68, Z:3.76 [[ 9.98332695e-01 -3.73241205e-02 -4.40311317e-02 4.86367612e+01] [ 4.34846305e-02 9.87960110e-01 1.48471907e-01 6.77827946e-01] [ 3.79594184e-02 -1.50139036e-01 9.87935905e-01 3.76092069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.321193817 meters Centerline goodness : 0.909970 with order 1 Centerline is valid? [False, False] Translation: X:48.66, Y:0.68, Z:3.76 [[ 9.98372890e-01 -3.58963357e-02 -4.43060489e-02 4.86571262e+01] [ 4.23173139e-02 9.87205521e-01 1.53735173e-01 6.83776826e-01] [ 3.82206467e-02 -1.55359941e-01 9.87118266e-01 3.76289088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.381193817 meters Centerline goodness : 0.908602 with order 1 Centerline is valid? [False, False] Translation: X:48.68, Y:0.69, Z:3.77 [[ 9.98583167e-01 -3.05450306e-02 -4.35736039e-02 4.86832302e+01] [ 3.62475640e-02 9.89943241e-01 1.36742433e-01 6.93590411e-01] [ 3.89585929e-02 -1.38128129e-01 9.89647840e-01 3.76661336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.441193817 meters Centerline goodness : 0.910082 with order 1 Centerline is valid? [False, False] Translation: X:48.71, Y:0.70, Z:3.77 [[ 9.98805864e-01 -2.24712561e-02 -4.33807414e-02 4.87127928e+01] [ 2.76552466e-02 9.92038274e-01 1.22862733e-01 6.99734914e-01] [ 4.02744758e-02 -1.23915723e-01 9.91475093e-01 3.76748755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.501193817 meters Centerline goodness : 0.908740 with order 1 Centerline is valid? [False, False] Translation: X:48.75, Y:0.71, Z:3.77 [[ 9.98831686e-01 -8.53429959e-03 -4.75649919e-02 4.87477030e+01] [ 1.36647399e-02 9.93991150e-01 1.08604179e-01 7.08330054e-01] [ 4.63523204e-02 -1.09127259e-01 9.92946476e-01 3.77179394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.561193817 meters Centerline goodness : 0.908986 with order 1 Centerline is valid? [False, False] Translation: X:48.78, Y:0.71, Z:3.77 [[ 9.98877799e-01 -9.88244141e-04 -4.73515188e-02 4.87754851e+01] [ 5.52183439e-03 9.95394084e-01 9.57085544e-02 7.11022219e-01] [ 4.70388382e-02 -9.58626174e-02 9.94282508e-01 3.77444632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.621193817 meters Centerline goodness : 0.912315 with order 1 Centerline is valid? [False, False] Translation: X:48.80, Y:0.71, Z:3.78 [[ 9.98917549e-01 3.98098733e-03 -4.63452548e-02 4.87997740e+01] [-2.35862847e-04 9.96751696e-01 8.05357171e-02 7.10057079e-01] [ 4.65153230e-02 -8.04376100e-02 9.95673699e-01 3.77987950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.681193817 meters Centerline goodness : 0.910738 with order 1 Centerline is valid? [False, False] Translation: X:48.84, Y:0.70, Z:3.78 [[ 9.99096426e-01 3.02311370e-03 -4.23933024e-02 4.88378268e+01] [ 4.19149961e-05 9.97396447e-01 7.21132776e-02 7.01372959e-01] [ 4.25009359e-02 -7.20498948e-02 9.96495099e-01 3.78049627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.741193817 meters Centerline goodness : 0.909577 with order 1 Centerline is valid? [False, False] Translation: X:48.87, Y:0.69, Z:3.78 [[ 9.99117705e-01 1.47437567e-03 -4.19718664e-02 4.88693486e+01] [ 1.42590733e-03 9.97616544e-01 6.89869445e-02 6.92075356e-01] [ 4.19735409e-02 -6.89859257e-02 9.96734249e-01 3.77978247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.801193817 meters Centerline goodness : 0.912603 with order 1 Centerline is valid? [False, False] Translation: X:48.92, Y:0.67, Z:3.78 [[ 9.99486537e-01 -9.78896190e-04 -3.20266051e-02 4.89170465e+01] [ 3.82334449e-03 9.96035445e-01 8.88750472e-02 6.72581283e-01] [ 3.18126344e-02 -8.89518619e-02 9.95527761e-01 3.77571767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.86119381700001 meters Centerline goodness : 0.911493 with order 1 Centerline is valid? [False, False] Translation: X:48.95, Y:0.67, Z:3.78 [[ 9.99517676e-01 1.30203332e-03 -3.10277464e-02 4.89545051e+01] [ 1.27742232e-03 9.96551288e-01 8.29692602e-02 6.65365324e-01] [ 3.10287694e-02 -8.29688776e-02 9.96068964e-01 3.77668761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.92119381700002 meters Centerline goodness : 0.917909 with order 1 Centerline is valid? [False, False] Translation: X:49.00, Y:0.63, Z:3.77 [[ 9.99849378e-01 2.59454986e-04 -1.73537788e-02 4.89973711e+01] [ 2.25683703e-03 9.89455090e-01 1.44822415e-01 6.33358272e-01] [ 1.72083597e-02 -1.44839766e-01 9.89305471e-01 3.77391389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.981193817 meters Centerline goodness : 0.919280 with order 1 Centerline is valid? [False, False] Translation: X:49.03, Y:0.60, Z:3.77 [[ 9.99982825e-01 -2.75457796e-03 -5.17323983e-03 4.90292177e+01] [ 3.89180080e-03 9.72062239e-01 2.34690982e-01 5.96839038e-01] [ 4.38223648e-03 -2.34707084e-01 9.72056264e-01 3.77223534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.041193817 meters Centerline goodness : 0.920419 with order 1 Centerline is valid? [False, False] Translation: X:49.00, Y:0.51, Z:3.80 [[ 9.99768345e-01 -1.59252273e-02 -1.44790617e-02 4.89991244e+01] [ 2.08865163e-02 8.80278007e-01 4.73998295e-01 5.09078229e-01] [ 5.19706898e-03 -4.74190909e-01 8.80406709e-01 3.79876914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.101193817 meters Centerline goodness : 0.923117 with order 1 Centerline is valid? [False, False] Translation: X:49.01, Y:0.46, Z:3.83 [[ 9.99523034e-01 -2.44093287e-02 -1.89179715e-02 4.90070331e+01] [ 3.08820877e-02 7.89224413e-01 6.13327908e-01 4.58588284e-01] [-4.03975410e-05 -6.13619598e-01 7.89601791e-01 3.82998903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.161193817 meters Centerline goodness : 0.921313 with order 1 Centerline is valid? [False, False] Translation: X:49.00, Y:0.42, Z:3.87 [[ 9.99054747e-01 -3.55424878e-02 -2.50268641e-02 4.90008411e+01] [ 4.25723873e-02 6.83630909e-01 7.28585185e-01 4.19540986e-01] [-8.78659216e-03 -7.28961941e-01 6.84497833e-01 3.87095638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.221193817 meters Centerline goodness : 0.926623 with order 1 Centerline is valid? [False, False] Translation: X:48.95, Y:0.44, Z:3.86 [[ 9.98908549e-01 -4.00053919e-02 -2.41097282e-02 4.89472970e+01] [ 4.59207774e-02 7.46703365e-01 6.63570167e-01 4.44181455e-01] [-8.54356939e-03 -6.63953050e-01 7.47725454e-01 3.86308898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.281193817 meters Centerline goodness : 0.923578 with order 1 Centerline is valid? [False, False] Translation: X:48.90, Y:0.47, Z:3.86 [[ 9.98557825e-01 -4.75492534e-02 -2.49266737e-02 4.88993355e+01] [ 5.30354326e-02 8.01566977e-01 5.95548172e-01 4.68868422e-01] [-8.33747250e-03 -5.96011284e-01 8.02932772e-01 3.85659133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.341193817 meters Centerline goodness : 0.923250 with order 1 Centerline is valid? [False, False] Translation: X:48.85, Y:0.50, Z:3.85 [[ 9.98223703e-01 -5.39632138e-02 -2.52470038e-02 4.88541303e+01] [ 5.92079415e-02 8.51450945e-01 5.21081288e-01 4.95474723e-01] [-6.62263568e-03 -5.21650516e-01 8.53133565e-01 3.85035195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.401193817 meters Centerline goodness : 0.922301 with order 1 Centerline is valid? [False, False] Translation: X:48.81, Y:0.52, Z:3.84 [[ 9.97984620e-01 -5.84690769e-02 -2.46589659e-02 4.88056653e+01] [ 6.32802461e-02 8.88075926e-01 4.55320503e-01 5.19880440e-01] [-4.72313556e-03 -4.55963285e-01 8.89986053e-01 3.84492906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.461193817 meters Centerline goodness : 0.921702 with order 1 Centerline is valid? [False, False] Translation: X:48.76, Y:0.55, Z:3.84 [[ 9.98049582e-01 -5.75189578e-02 -2.42611193e-02 4.87647365e+01] [ 6.24262143e-02 9.19678837e-01 3.87677450e-01 5.48495449e-01] [ 1.36350491e-05 -3.88435847e-01 9.21475769e-01 3.84149378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.521193817 meters Centerline goodness : 0.925779 with order 1 Centerline is valid? [False, False] Translation: X:48.73, Y:0.57, Z:3.84 [[ 9.98377752e-01 -5.09717433e-02 -2.53721272e-02 4.87284425e+01] [ 5.66496922e-02 9.33994733e-01 3.52767135e-01 5.69493979e-01] [ 5.71627731e-03 -3.53632182e-01 9.35367096e-01 3.84257342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.581193817 meters Centerline goodness : 0.923312 with order 1 Centerline is valid? [False, False] Translation: X:48.70, Y:0.59, Z:3.84 [[ 9.98828506e-01 -4.24054079e-02 -2.33108580e-02 4.86989051e+01] [ 4.77157032e-02 9.43246737e-01 3.28646929e-01 5.87825006e-01] [ 8.05148361e-03 -3.29374215e-01 9.44165134e-01 3.84353578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.64119381700002 meters Centerline goodness : 0.919694 with order 1 Centerline is valid? [False, False] Translation: X:48.67, Y:0.61, Z:3.84 [[ 9.98844430e-01 -4.33779003e-02 -2.06920933e-02 4.86698323e+01] [ 4.75327123e-02 9.55255225e-01 2.91938514e-01 6.08486874e-01] [ 7.10255044e-03 -2.92584710e-01 9.56213230e-01 3.84144269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.70119381700002 meters Centerline goodness : 0.919740 with order 1 Centerline is valid? [False, False] Translation: X:48.68, Y:0.63, Z:3.84 [[ 9.98584227e-01 -4.83590420e-02 -2.21572638e-02 4.86754140e+01] [ 5.24273227e-02 9.65194950e-01 2.56222724e-01 6.26379596e-01] [ 8.99539362e-03 -2.57021617e-01 9.66363788e-01 3.84006700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.761193817 meters Centerline goodness : 0.923704 with order 1 Centerline is valid? [False, False] Translation: X:48.66, Y:0.65, Z:3.84 [[ 9.98133535e-01 -5.65371350e-02 -2.30867474e-02 4.86637219e+01] [ 6.02473173e-02 9.73437282e-01 2.20884853e-01 6.46173724e-01] [ 9.98530387e-03 -2.21863493e-01 9.75026607e-01 3.84009393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.821193817 meters Centerline goodness : 0.919469 with order 1 Centerline is valid? [False, False] Translation: X:48.66, Y:0.66, Z:3.84 [[ 9.98063153e-01 -5.77163111e-02 -2.32114178e-02 4.86640312e+01] [ 6.11215883e-02 9.79256339e-01 1.93186891e-01 6.60452315e-01] [ 1.15798933e-02 -1.94231436e-01 9.80887382e-01 3.84033197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.881193817 meters Centerline goodness : 0.922972 with order 1 Centerline is valid? [False, False] Translation: X:48.65, Y:0.67, Z:3.84 [[ 9.98389863e-01 -5.06651032e-02 -2.55094021e-02 4.86503343e+01] [ 5.44547466e-02 9.81996799e-01 1.80878323e-01 6.74132059e-01] [ 1.58859323e-02 -1.81976192e-01 9.83174604e-01 3.84264218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.941193817 meters Centerline goodness : 0.924246 with order 1 Centerline is valid? [False, False] Translation: X:48.65, Y:0.69, Z:3.84 [[ 9.98896840e-01 -3.98350936e-02 -2.48649934e-02 4.86467101e+01] [ 4.33600508e-02 9.85719315e-01 1.62718587e-01 6.87265282e-01] [ 1.80279941e-02 -1.63617230e-01 9.86359161e-01 3.84336209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.001193817 meters Centerline goodness : 0.924927 with order 1 Centerline is valid? [False, False] Translation: X:48.66, Y:0.70, Z:3.85 [[ 9.99318159e-01 -2.62762008e-02 -2.59379727e-02 4.86594679e+01] [ 2.96974544e-02 9.89448332e-01 1.41809943e-01 6.99814174e-01] [ 2.19380572e-02 -1.42483543e-01 9.89554022e-01 3.84769727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.061193817 meters Centerline goodness : 0.925355 with order 1 Centerline is valid? [False, False] Translation: X:48.66, Y:0.71, Z:3.85 [[ 9.99647928e-01 -7.87502474e-03 -2.53378076e-02 4.86644660e+01] [ 1.08087822e-02 9.92976314e-01 1.17818548e-01 7.08284413e-01] [ 2.42320188e-02 -1.18050938e-01 9.92711834e-01 3.85191044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.121193817 meters Centerline goodness : 0.924149 with order 1 Centerline is valid? [False, False] Translation: X:48.68, Y:0.71, Z:3.86 [[ 9.99587946e-01 1.30578789e-03 -2.86746126e-02 4.86797589e+01] [ 1.50260294e-03 9.95214731e-01 9.77004699e-02 7.08968406e-01] [ 2.86649730e-02 -9.77032986e-02 9.94802686e-01 3.85583870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.181193817 meters Centerline goodness : 0.921829 with order 1 Centerline is valid? [False, False] Translation: X:48.70, Y:0.70, Z:3.86 [[ 9.99569141e-01 3.73333553e-03 -2.91134825e-02 4.87002206e+01] [-1.23473129e-03 9.96348302e-01 8.53729269e-02 7.04998839e-01] [ 2.93258947e-02 -8.53001958e-02 9.95923626e-01 3.85717048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.241193817 meters Centerline goodness : 0.921857 with order 1 Centerline is valid? [False, False] Translation: X:48.73, Y:0.70, Z:3.86 [[ 9.99464532e-01 1.00364478e-02 -3.11435180e-02 4.87267344e+01] [-7.76918253e-03 9.97368162e-01 7.20859833e-02 6.96299609e-01] [ 3.17850405e-02 -7.18054239e-02 9.96912079e-01 3.86072214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.301193817 meters Centerline goodness : 0.920125 with order 1 Centerline is valid? [False, False] Translation: X:48.75, Y:0.69, Z:3.86 [[ 9.99426214e-01 1.27716160e-02 -3.13708286e-02 4.87457081e+01] [-1.08840848e-02 9.98161861e-01 5.96190913e-02 6.91041490e-01] [ 3.20745968e-02 -5.92434400e-02 9.97728137e-01 3.86301500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.36119381700001 meters Centerline goodness : 0.923350 with order 1 Centerline is valid? [False, False] Translation: X:48.78, Y:0.67, Z:3.86 [[ 9.99527875e-01 8.65063041e-03 -2.94821023e-02 4.87843546e+01] [-6.73195329e-03 9.97890586e-01 6.45682478e-02 6.70609207e-01] [ 2.99784684e-02 -6.43392914e-02 9.97477692e-01 3.86295313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.42119381700002 meters Centerline goodness : 0.924192 with order 1 Centerline is valid? [False, False] Translation: X:48.82, Y:0.64, Z:3.86 [[ 9.99858537e-01 -1.53505865e-03 -1.67495884e-02 4.88222558e+01] [ 3.82514611e-03 9.90485399e-01 1.37564683e-01 6.35205347e-01] [ 1.63790529e-02 -1.37609293e-01 9.90351154e-01 3.86166292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.481193817 meters Centerline goodness : 0.922837 with order 1 Centerline is valid? [False, False] Translation: X:48.80, Y:0.53, Z:3.89 [[ 9.99395855e-01 -2.39467680e-02 -2.51888254e-02 4.87988692e+01] [ 3.21024579e-02 9.13748089e-01 4.05010941e-01 5.29047971e-01] [ 1.33175380e-02 -4.05574879e-01 9.13964803e-01 3.89428303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.541193817 meters Centerline goodness : 0.922642 with order 1 Centerline is valid? [False, False] Translation: X:48.79, Y:0.53, Z:3.90 [[ 9.99066539e-01 -3.52049730e-02 -2.50331904e-02 4.87863318e+01] [ 4.16743421e-02 9.38038433e-01 3.44016202e-01 5.32300938e-01] [ 1.13710136e-02 -3.44738318e-01 9.38629955e-01 3.90019067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.601193817 meters Centerline goodness : 0.918874 with order 1 Centerline is valid? [False, False] Translation: X:48.76, Y:0.55, Z:3.90 [[ 9.98813927e-01 -4.05706406e-02 -2.69214061e-02 4.87584771e+01] [ 4.64776555e-02 9.59213939e-01 2.78834084e-01 5.46036246e-01] [ 1.45109106e-02 -2.79754610e-01 9.59961870e-01 3.90345929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.661193817 meters Centerline goodness : 0.920214 with order 1 Centerline is valid? [False, False] Translation: X:48.74, Y:0.55, Z:3.91 [[ 9.98788898e-01 -4.14813506e-02 -2.64581749e-02 4.87401187e+01] [ 4.63598436e-02 9.73546275e-01 2.23737378e-01 5.52593313e-01] [ 1.64773290e-02 -2.24693006e-01 9.74290280e-01 3.90524655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.721193817 meters Centerline goodness : 0.921056 with order 1 Centerline is valid? [False, False] Translation: X:48.73, Y:0.56, Z:3.91 [[ 9.98859383e-01 -4.01276107e-02 -2.58787166e-02 4.87261699e+01] [ 4.42276064e-02 9.81798241e-01 1.84705527e-01 5.60030426e-01] [ 1.79958870e-02 -1.85639403e-01 9.82453134e-01 3.90560335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.781193817 meters Centerline goodness : 0.918950 with order 1 Centerline is valid? [False, False] Translation: X:48.71, Y:0.57, Z:3.91 [[ 9.99019176e-01 -3.60010108e-02 -2.57800824e-02 4.87109965e+01] [ 3.95693772e-02 9.87142957e-01 1.54864606e-01 5.67261521e-01] [ 1.98733445e-02 -1.55732813e-01 9.87599282e-01 3.90608318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.841193817 meters Centerline goodness : 0.918022 with order 1 Centerline is valid? [False, False] Translation: X:48.71, Y:0.58, Z:3.91 [[ 9.99082421e-01 -3.40314211e-02 -2.60034396e-02 4.87105716e+01] [ 3.69218181e-02 9.92057240e-01 1.20246467e-01 5.76222505e-01] [ 2.17047424e-02 -1.21096225e-01 9.92403450e-01 3.90556931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.901193817 meters Centerline goodness : 0.919276 with order 1 Centerline is valid? [False, False] Translation: X:48.70, Y:0.58, Z:3.91 [[ 9.99104839e-01 -3.55203814e-02 -2.29743914e-02 4.86984691e+01] [ 3.75752305e-02 9.94647479e-01 9.62522494e-02 5.82566314e-01] [ 1.94325039e-02 -9.70293562e-02 9.95091796e-01 3.90763931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.961193817 meters Centerline goodness : 0.920779 with order 1 Centerline is valid? [False, False] Translation: X:48.70, Y:0.59, Z:3.91 [[ 9.99000186e-01 -4.13305232e-02 -1.70415767e-02 4.86988709e+01] [ 4.25218438e-02 9.96141736e-01 7.67693538e-02 5.87917278e-01] [ 1.38029082e-02 -7.74172381e-02 9.96903230e-01 3.90871412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.021193817 meters Centerline goodness : 0.913325 with order 1 Centerline is valid? [False, False] Translation: X:48.71, Y:0.59, Z:3.91 [[ 9.98716079e-01 -4.86395567e-02 -1.41558206e-02 4.87055736e+01] [ 4.93917725e-02 9.97046813e-01 5.88056601e-02 5.91628930e-01] [ 1.12537345e-02 -5.94293393e-02 9.98169077e-01 3.91072792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.081193817 meters Centerline goodness : 0.911653 with order 1 Centerline is valid? [False, False] Translation: X:48.71, Y:0.59, Z:3.91 [[ 9.98271221e-01 -5.70568048e-02 -1.41099672e-02 4.87066154e+01] [ 5.76988774e-02 9.97066101e-01 5.02994003e-02 5.92785422e-01] [ 1.11986469e-02 -5.10265730e-02 9.98634507e-01 3.91029460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.14119381700002 meters Centerline goodness : 0.911987 with order 1 Centerline is valid? [False, False] Translation: X:48.70, Y:0.60, Z:3.91 [[ 9.98473147e-01 -5.19514230e-02 -1.87729606e-02 4.87040387e+01] [ 5.26954170e-02 9.97744286e-01 4.15876586e-02 5.98640509e-01] [ 1.65700761e-02 -4.25134094e-02 9.98958479e-01 3.90869010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.20119381700002 meters Centerline goodness : 0.911514 with order 1 Centerline is valid? [False, False] Translation: X:48.68, Y:0.60, Z:3.91 [[ 9.98957421e-01 -4.00482871e-02 -2.19135766e-02 4.86830532e+01] [ 4.07839760e-02 9.98581688e-01 3.42239598e-02 6.03911050e-01] [ 2.05118854e-02 -3.50820014e-02 9.99173917e-01 3.90862846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.261193817 meters Centerline goodness : 0.911252 with order 1 Centerline is valid? [False, False] Translation: X:48.66, Y:0.61, Z:3.91 [[ 9.99445987e-01 -2.07782912e-02 -2.59996447e-02 4.86613972e+01] [ 2.16081843e-02 9.99252458e-01 3.20563832e-02 6.11230899e-01] [ 2.53141320e-02 -3.26004286e-02 9.99147840e-01 3.90925851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.321193817 meters Centerline goodness : 0.912114 with order 1 Centerline is valid? [False, False] Translation: X:48.67, Y:0.59, Z:3.92 [[ 9.99363475e-01 -1.55493746e-02 -3.21070240e-02 4.86717856e+01] [ 1.93461211e-02 9.92396559e-01 1.21551626e-01 5.89328862e-01] [ 2.99728484e-02 -1.22095401e-01 9.92065694e-01 3.92034908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.381193817 meters Centerline goodness : 0.910493 with order 1 Centerline is valid? [False, False] Translation: X:48.69, Y:0.60, Z:3.92 [[ 9.99430381e-01 -6.79615171e-03 -3.30564092e-02 4.86886537e+01] [ 1.03712337e-02 9.93964249e-01 1.09213138e-01 5.95753036e-01] [ 3.21146599e-02 -1.09493764e-01 9.93468552e-01 3.92349289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.441193817 meters Centerline goodness : 0.911618 with order 1 Centerline is valid? [False, False] Translation: X:48.71, Y:0.60, Z:3.92 [[ 9.99545691e-01 -1.91324892e-03 -3.00790822e-02 4.87125542e+01] [ 4.90067373e-03 9.95019312e-01 9.95618038e-02 5.97224118e-01] [ 2.97387812e-02 -9.96639797e-02 9.94576642e-01 3.92152677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.501193817 meters Centerline goodness : 0.912331 with order 1 Centerline is valid? [False, False] Translation: X:48.74, Y:0.56, Z:3.93 [[ 9.99739995e-01 -3.97887211e-03 -2.24524080e-02 4.87392809e+01] [ 8.55754116e-03 9.78155172e-01 2.07699852e-01 5.58462959e-01] [ 2.11355279e-02 -2.07837986e-01 9.77934896e-01 3.93408150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.561193817 meters Centerline goodness : 0.911026 with order 1 Centerline is valid? [False, False] Translation: X:48.77, Y:0.51, Z:3.96 [[ 9.99695492e-01 -9.08215537e-03 -2.29442224e-02 4.87671182e+01] [ 1.64051849e-02 9.39184094e-01 3.43022021e-01 5.14967460e-01] [ 1.84334694e-02 -3.43293972e-01 9.39047100e-01 3.96267674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.621193817 meters Centerline goodness : 0.911657 with order 1 Centerline is valid? [False, False] Translation: X:48.77, Y:0.46, Z:4.01 [[ 9.99334463e-01 -2.13741650e-02 -2.95597126e-02 4.87740210e+01] [ 3.36159002e-02 8.54256441e-01 5.18763823e-01 4.55526803e-01] [ 1.41634313e-02 -5.19412243e-01 8.54406414e-01 4.01013958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.681193817 meters Centerline goodness : 0.914013 with order 1 Centerline is valid? [False, False] Translation: X:48.74, Y:0.46, Z:4.01 [[ 9.99260469e-01 -2.58494437e-02 -2.84661440e-02 4.87374655e+01] [ 3.61123140e-02 8.85168897e-01 4.63866280e-01 4.62574851e-01] [ 1.32066600e-02 -4.64551214e-01 8.85447770e-01 4.01149170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.741193817 meters Centerline goodness : 0.913173 with order 1 Centerline is valid? [False, False] Translation: X:48.71, Y:0.46, Z:4.01 [[ 9.99252854e-01 -2.28157611e-02 -3.11957454e-02 4.87084767e+01] [ 3.36433726e-02 9.10770175e-01 4.11540777e-01 4.63052970e-01] [ 1.90225385e-02 -4.12282827e-01 9.10857296e-01 4.01351434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.801193817 meters Centerline goodness : 0.909522 with order 1 Centerline is valid? [False, False] Translation: X:48.69, Y:0.47, Z:4.01 [[ 9.99179862e-01 -1.61407555e-02 -3.71359495e-02 4.86906826e+01] [ 2.85635887e-02 9.31008219e-01 3.63878851e-01 4.69604348e-01] [ 2.87005946e-02 -3.64641156e-01 9.30705702e-01 4.01193684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.86119381700001 meters Centerline goodness : 0.907920 with order 1 Centerline is valid? [False, False] Translation: X:48.68, Y:0.47, Z:4.01 [[ 9.99035818e-01 -7.67597013e-03 -4.32263176e-02 4.86761666e+01] [ 2.11491711e-02 9.46966513e-01 3.20635519e-01 4.71346153e-01] [ 3.84726866e-02 -3.21240569e-01 9.46215805e-01 4.01146746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.92119381700002 meters Centerline goodness : 0.908112 with order 1 Centerline is valid? [False, False] Translation: X:48.65, Y:0.47, Z:4.01 [[ 9.99191411e-01 -3.65831137e-03 -4.00392505e-02 4.86543011e+01] [ 1.46826828e-02 9.60274013e-01 2.78672279e-01 4.70987648e-01] [ 3.74291818e-02 -2.79034831e-01 9.59551259e-01 4.01272558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.981193817 meters Centerline goodness : 0.909522 with order 1 Centerline is valid? [False, False] Translation: X:48.63, Y:0.49, Z:4.01 [[ 9.99237895e-01 -1.61464261e-03 -3.90002785e-02 4.86273594e+01] [ 8.37116760e-03 9.84761216e-01 1.73710310e-01 4.92690836e-01] [ 3.81254816e-02 -1.73904402e-01 9.84024241e-01 4.01019683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.041193817 meters Centerline goodness : 0.911627 with order 1 Centerline is valid? [False, False] Translation: X:48.61, Y:0.51, Z:4.01 [[ 9.99148896e-01 6.82474457e-04 -4.12434075e-02 4.86078299e+01] [ 2.72364526e-03 9.96589564e-01 8.24731583e-02 5.06018970e-01] [ 4.11590354e-02 -8.25152974e-02 9.95739504e-01 4.01320825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.101193817 meters Centerline goodness : 0.911782 with order 1 Centerline is valid? [False, False] Translation: X:48.60, Y:0.51, Z:4.01 [[ 9.99240871e-01 2.84513291e-03 -3.88534064e-02 4.85956042e+01] [-1.52309509e-03 9.99420209e-01 3.40136062e-02 5.09509753e-01] [ 3.89276528e-02 -3.39286080e-02 9.98665854e-01 4.01265295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.161193817 meters Centerline goodness : 0.915647 with order 1 Centerline is valid? [False, False] Translation: X:48.59, Y:0.50, Z:4.01 [[ 9.99275645e-01 1.70169059e-03 -3.80169663e-02 4.85897326e+01] [-2.23031220e-03 9.99901364e-01 -1.38668064e-02 5.04674504e-01] [ 3.79896194e-02 1.39415517e-02 9.99180875e-01 4.01485545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.221193817 meters Centerline goodness : 0.916935 with order 1 Centerline is valid? [False, False] Translation: X:48.60, Y:0.49, Z:4.02 [[ 9.99098166e-01 -9.98660790e-04 -4.24482923e-02 4.85996207e+01] [ 2.15574783e-04 9.99829787e-01 -1.84485734e-02 4.89349391e-01] [ 4.24594909e-02 1.84227850e-02 9.98928322e-01 4.01550980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.281193817 meters Centerline goodness : 0.918681 with order 1 Centerline is valid? [False, False] Translation: X:48.62, Y:0.49, Z:4.01 [[ 9.99273338e-01 -1.49244679e-03 -3.80863384e-02 4.86185199e+01] [-7.53663843e-04 9.98264088e-01 -5.88917787e-02 4.88971429e-01] [ 3.81081168e-02 5.88776886e-02 9.97537563e-01 4.01317367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.341193817 meters Centerline goodness : 0.918408 with order 1 Centerline is valid? [False, False] Translation: X:48.63, Y:0.48, Z:4.01 [[ 9.99439677e-01 1.07302643e-03 -3.34541440e-02 4.86269987e+01] [-4.06313611e-03 9.95983914e-01 -8.94401116e-02 4.84147473e-01] [ 3.32238177e-02 8.95259251e-02 9.95430202e-01 4.01008114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.401193817 meters Centerline goodness : 0.918372 with order 1 Centerline is valid? [False, False] Translation: X:48.65, Y:0.49, Z:4.01 [[ 9.99471315e-01 3.28342577e-03 -3.23467246e-02 4.86475341e+01] [-7.39663905e-03 9.91762663e-01 -1.27875373e-01 4.86742344e-01] [ 3.16604044e-02 1.28047024e-01 9.91262618e-01 4.01104379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.461193817 meters Centerline goodness : 0.918621 with order 1 Centerline is valid? [False, False] Translation: X:48.65, Y:0.48, Z:4.01 [[ 9.99483522e-01 -2.43909813e-03 -3.20427903e-02 4.86470786e+01] [-1.83795486e-03 9.91144406e-01 -1.32775705e-01 4.78482980e-01] [ 3.20828853e-02 1.32766022e-01 9.90628019e-01 4.01108797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.521193817 meters Centerline goodness : 0.922731 with order 1 Centerline is valid? [False, False] Translation: X:48.66, Y:0.46, Z:4.01 [[ 9.99274350e-01 -1.19716544e-02 -3.61587194e-02 4.86637747e+01] [ 7.65768379e-03 9.93082366e-01 -1.17169856e-01 4.56287577e-01] [ 3.73113036e-02 1.16807939e-01 9.92453410e-01 4.01254521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.581193817 meters Centerline goodness : 0.920533 with order 1 Centerline is valid? [False, False] Translation: X:48.69, Y:0.44, Z:4.02 [[ 9.99001687e-01 -2.40314170e-02 -3.76579399e-02 4.86872576e+01] [ 2.01328370e-02 9.94714445e-01 -1.00686855e-01 4.40773136e-01] [ 3.98785446e-02 9.98281764e-02 9.94205229e-01 4.01680634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.64119381700002 meters Centerline goodness : 0.925862 with order 1 Centerline is valid? [False, False] Translation: X:48.69, Y:0.42, Z:4.02 [[ 9.98365671e-01 -4.60774449e-02 -3.38061398e-02 4.86949124e+01] [ 4.32479469e-02 9.95846034e-01 -8.01267248e-02 4.23377792e-01] [ 3.73577450e-02 7.85337252e-02 9.96211249e-01 4.01964727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.70119381700002 meters Centerline goodness : 0.927029 with order 1 Centerline is valid? [False, False] Translation: X:48.72, Y:0.41, Z:4.02 [[ 9.97678743e-01 -5.76126330e-02 -3.63030436e-02 4.87153341e+01] [ 5.50178572e-02 9.96110778e-01 -6.88211739e-02 4.13919992e-01] [ 4.01268221e-02 6.66641065e-02 9.96968272e-01 4.02396975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.761193817 meters Centerline goodness : 0.924958 with order 1 Centerline is valid? [False, False] Translation: X:48.73, Y:0.41, Z:4.02 [[ 9.96756028e-01 -7.11307655e-02 -3.76541564e-02 4.87277009e+01] [ 6.89112621e-02 9.95976942e-01 -5.72814950e-02 4.07412043e-01] [ 4.15771481e-02 5.45008799e-02 9.97647731e-01 4.02360617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.821193817 meters Centerline goodness : 0.923362 with order 1 Centerline is valid? [False, False] Translation: X:48.73, Y:0.41, Z:4.02 [[ 9.96727039e-01 -7.11433007e-02 -3.83906173e-02 4.87309566e+01] [ 6.88916477e-02 9.95989189e-01 -5.70918213e-02 4.07457079e-01] [ 4.22983404e-02 5.42601692e-02 9.97630535e-01 4.02154057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.881193817 meters Centerline goodness : 0.921141 with order 1 Centerline is valid? [False, False] Translation: X:48.77, Y:0.41, Z:4.02 [[ 9.97204288e-01 -6.33825707e-02 -3.95759845e-02 4.87718434e+01] [ 6.11408968e-02 9.96585348e-01 -5.54926633e-02 4.12303009e-01] [ 4.29581139e-02 5.29178106e-02 9.97674449e-01 4.02120427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.941193817 meters Centerline goodness : 0.921904 with order 1 Centerline is valid? [False, False] Translation: X:48.81, Y:0.42, Z:4.02 [[ 9.97759932e-01 -5.37650795e-02 -3.98049626e-02 4.88101204e+01] [ 5.15815433e-02 9.97208420e-01 -5.39880644e-02 4.18045231e-01] [ 4.25965164e-02 5.18139261e-02 9.97747891e-01 4.02135678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.001193817 meters Centerline goodness : 0.922862 with order 1 Centerline is valid? [False, False] Translation: X:48.85, Y:0.43, Z:4.02 [[ 9.98496057e-01 -4.23929965e-02 -3.47628952e-02 4.88536741e+01] [ 4.00600445e-02 9.97063675e-01 -6.52626987e-02 4.28555846e-01] [ 3.74275014e-02 6.37719441e-02 9.97262413e-01 4.01947403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.061193817 meters Centerline goodness : 0.922230 with order 1 Centerline is valid? [False, False] Translation: X:48.90, Y:0.44, Z:4.02 [[ 9.99194213e-01 -2.89709279e-02 -2.77778578e-02 4.89022879e+01] [ 2.64742614e-02 9.95910243e-01 -8.63822947e-02 4.42107072e-01] [ 3.01668284e-02 8.55772907e-02 9.95874736e-01 4.02001007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.121193817 meters Centerline goodness : 0.926852 with order 1 Centerline is valid? [False, False] Translation: X:48.94, Y:0.45, Z:4.02 [[ 9.99416380e-01 -2.56243618e-02 -2.25896460e-02 4.89360815e+01] [ 2.34882067e-02 9.95644017e-01 -9.02291261e-02 4.49428087e-01] [ 2.48033096e-02 8.96458763e-02 9.95664809e-01 4.02160062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.181193817 meters Centerline goodness : 0.933397 with order 1 Centerline is valid? [False, False] Translation: X:48.96, Y:0.46, Z:4.03 [[ 9.99272948e-01 -3.29023111e-02 -1.92617204e-02 4.89607070e+01] [ 3.10394610e-02 9.95448121e-01 -9.01087739e-02 4.57887668e-01] [ 2.21388302e-02 8.94453867e-02 9.95745648e-01 4.02647555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.241193817 meters Centerline goodness : 0.925766 with order 1 Centerline is valid? [False, False] Translation: X:48.99, Y:0.46, Z:4.03 [[ 9.98765087e-01 -4.64339421e-02 -1.76688962e-02 4.89889564e+01] [ 4.48367243e-02 9.95621308e-01 -8.20236481e-02 4.60623360e-01] [ 2.14002109e-02 8.11301406e-02 9.96473748e-01 4.02753991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.301193817 meters Centerline goodness : 0.928555 with order 1 Centerline is valid? [False, False] Translation: X:49.02, Y:0.46, Z:4.03 [[ 9.97996307e-01 -6.03551090e-02 -1.89903121e-02 4.90181334e+01] [ 5.87801388e-02 9.95469304e-01 -7.47379430e-02 4.64392303e-01] [ 2.34150895e-02 7.34719379e-02 9.97022371e-01 4.02754969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.36119381700001 meters Centerline goodness : 0.923246 with order 1 Centerline is valid? [False, False] Translation: X:49.05, Y:0.47, Z:4.03 [[ 9.97277164e-01 -7.07561136e-02 -2.07805513e-02 4.90475010e+01] [ 6.92973614e-02 9.95535967e-01 -6.40781812e-02 4.69366568e-01] [ 2.52217093e-02 6.24636694e-02 9.97728498e-01 4.02745094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.42119381700002 meters Centerline goodness : 0.920923 with order 1 Centerline is valid? [False, False] Translation: X:49.09, Y:0.48, Z:4.03 [[ 9.96896485e-01 -7.46128523e-02 -2.51061718e-02 4.90862200e+01] [ 7.31681641e-02 9.95843796e-01 -5.42360843e-02 4.78945962e-01] [ 2.90485344e-02 5.22307893e-02 9.98212466e-01 4.02950039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.481193817 meters Centerline goodness : 0.917525 with order 1 Centerline is valid? [False, False] Translation: X:49.11, Y:0.49, Z:4.03 [[ 9.97064352e-01 -7.12949769e-02 -2.79231948e-02 4.91103574e+01] [ 6.97170508e-02 9.96109314e-01 -5.39051663e-02 4.85905608e-01] [ 3.16577220e-02 5.18001969e-02 9.98155563e-01 4.02740965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.541193817 meters Centerline goodness : 0.916978 with order 1 Centerline is valid? [False, False] Translation: X:49.15, Y:0.49, Z:4.03 [[ 9.97469404e-01 -6.46164340e-02 -2.96564458e-02 4.91495517e+01] [ 6.29874192e-02 9.96610348e-01 -5.29187927e-02 4.94691626e-01] [ 3.29753444e-02 5.09168937e-02 9.98158352e-01 4.02735785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.601193817 meters Centerline goodness : 0.914348 with order 1 Centerline is valid? [False, False] Translation: X:49.20, Y:0.51, Z:4.03 [[ 9.98577380e-01 -4.74914734e-02 -2.42440860e-02 4.92003028e+01] [ 4.57163452e-02 9.96557640e-01 -6.91584114e-02 5.14767044e-01] [ 2.74450640e-02 6.79516743e-02 9.97311054e-01 4.02516275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.661193817 meters Centerline goodness : 0.917547 with order 1 Centerline is valid? [False, False] Translation: X:49.24, Y:0.54, Z:4.03 [[ 9.99409916e-01 -3.28676122e-02 -9.97696955e-03 4.92410016e+01] [ 3.15322811e-02 9.93098052e-01 -1.12968905e-01 5.44083884e-01] [ 1.36211272e-02 1.12587647e-01 9.93548432e-01 4.02645700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.721193817 meters Centerline goodness : 0.913903 with order 1 Centerline is valid? [False, False] Translation: X:49.28, Y:0.56, Z:4.03 [[ 9.99546924e-01 -3.00956867e-02 4.43992363e-04 4.92757795e+01] [ 2.98845543e-02 9.90561209e-01 -1.33773707e-01 5.57925468e-01] [ 3.58620996e-03 1.33726366e-01 9.91011805e-01 4.02754319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.781193817 meters Centerline goodness : 0.915028 with order 1 Centerline is valid? [False, False] Translation: X:49.30, Y:0.56, Z:4.03 [[ 9.99193791e-01 -3.99719957e-02 3.74273862e-03 4.92981716e+01] [ 4.01316288e-02 9.91899555e-01 -1.20518571e-01 5.63025686e-01] [ 1.10494704e-03 1.20571610e-01 9.92704017e-01 4.03190778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.841193817 meters Centerline goodness : 0.915443 with order 1 Centerline is valid? [False, False] Translation: X:49.32, Y:0.57, Z:4.03 [[ 9.98598692e-01 -5.27676339e-02 4.02865009e-03 4.93243276e+01] [ 5.28892076e-02 9.92452596e-01 -1.10637140e-01 5.65205410e-01] [ 1.83981586e-03 1.10695175e-01 9.93852702e-01 4.03350185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.901193817 meters Centerline goodness : 0.911536 with order 1 Centerline is valid? [False, False] Translation: X:49.35, Y:0.57, Z:4.03 [[ 9.97833859e-01 -6.56766752e-02 3.76366192e-03 4.93535504e+01] [ 6.57219977e-02 9.92762159e-01 -1.00518231e-01 5.72634171e-01] [ 2.86528208e-03 1.00547850e-01 9.94928098e-01 4.03305845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.961193817 meters Centerline goodness : 0.910722 with order 1 Centerline is valid? [False, False] Translation: X:49.38, Y:0.58, Z:4.03 [[ 9.97738199e-01 -6.72177654e-02 -5.08516023e-04 4.93833024e+01] [ 6.68653571e-02 9.93226195e-01 -9.50302543e-02 5.78286188e-01] [ 6.89279278e-03 9.47813126e-02 9.95474255e-01 4.03466659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.021193817 meters Centerline goodness : 0.909372 with order 1 Centerline is valid? [False, False] Translation: X:49.42, Y:0.59, Z:4.03 [[ 9.98183441e-01 -6.02179737e-02 -1.90090047e-03 4.94239849e+01] [ 5.97817252e-02 9.93883284e-01 -9.28556083e-02 5.88813112e-01] [ 7.48084979e-03 9.25732916e-02 9.95677770e-01 4.03300297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.081193817 meters Centerline goodness : 0.911284 with order 1 Centerline is valid? [False, False] Translation: X:49.47, Y:0.60, Z:4.03 [[ 9.98712996e-01 -5.05408768e-02 -4.23916424e-03 4.94695497e+01] [ 4.99103808e-02 9.94223702e-01 -9.50167576e-02 5.97396136e-01] [ 9.01690780e-03 9.46828924e-02 9.95466647e-01 4.03355262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.14119381700002 meters Centerline goodness : 0.908978 with order 1 Centerline is valid? [False, False] Translation: X:49.51, Y:0.61, Z:4.04 [[ 9.99301645e-01 -3.72751878e-02 2.60429695e-03 4.95070011e+01] [ 3.73142633e-02 9.91821565e-01 -1.22055844e-01 6.14483369e-01] [ 1.96665663e-03 1.22067783e-01 9.92519818e-01 4.03552769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.20119381700002 meters Centerline goodness : 0.908269 with order 1 Centerline is valid? [False, False] Translation: X:49.54, Y:0.62, Z:4.04 [[ 9.99454461e-01 -3.26167334e-02 5.18939495e-03 4.95400780e+01] [ 3.30223256e-02 9.89537414e-01 -1.40446547e-01 6.23345045e-01] [-5.54192874e-04 1.40541294e-01 9.90074663e-01 4.03951092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.261193817 meters Centerline goodness : 0.907726 with order 1 Centerline is valid? [False, False] Translation: X:49.53, Y:0.62, Z:4.04 [[ 9.99542160e-01 -2.94038519e-02 7.13333330e-03 4.95341507e+01] [ 3.00196430e-02 9.93211622e-01 -1.12381026e-01 6.17599952e-01] [-3.78047450e-03 1.12543713e-01 9.93639583e-01 4.03776321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.321193817 meters Centerline goodness : 0.903249 with order 1 Centerline is valid? [False, False] Translation: X:49.54, Y:0.61, Z:4.04 [[ 9.99579225e-01 -2.84981716e-02 5.40622903e-03 4.95395329e+01] [ 2.88588330e-02 9.95845346e-01 -8.63667405e-02 6.12105775e-01] [-2.92247383e-03 8.64864169e-02 9.96248743e-01 4.03826252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.381193817 meters Centerline goodness : 0.905530 with order 1 Centerline is valid? [False, False] Translation: X:49.53, Y:0.61, Z:4.04 [[ 9.99403587e-01 -3.38594411e-02 6.78290899e-03 4.95301784e+01] [ 3.42250770e-02 9.97357131e-01 -6.40889750e-02 6.05743394e-01] [-4.59496577e-03 6.42828971e-02 9.97921137e-01 4.03684119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.441193817 meters Centerline goodness : 0.907674 with order 1 Centerline is valid? [False, False] Translation: X:49.53, Y:0.60, Z:4.04 [[ 9.99218249e-01 -3.79355468e-02 1.11258770e-02 4.95307570e+01] [ 3.84625642e-02 9.97918414e-01 -5.17635941e-02 6.02764999e-01] [-9.13903731e-03 5.21510577e-02 9.98597389e-01 4.03733784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.501193817 meters Centerline goodness : 0.908576 with order 1 Centerline is valid? [False, False] Translation: X:49.54, Y:0.60, Z:4.04 [[ 9.99264832e-01 -3.62573850e-02 1.24578704e-02 4.95355742e+01] [ 3.67077552e-02 9.98601144e-01 -3.80564768e-02 6.00251114e-01] [-1.10606153e-02 3.84857994e-02 9.99197931e-01 4.04117429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.561193817 meters Centerline goodness : 0.905085 with order 1 Centerline is valid? [False, False] Translation: X:49.54, Y:0.60, Z:4.04 [[ 9.99518253e-01 -2.86478705e-02 1.19398795e-02 4.95367624e+01] [ 2.89925718e-02 9.99136136e-01 -2.97726723e-02 5.98340916e-01] [-1.10766414e-02 3.01044973e-02 9.99485381e-01 4.04020498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.621193817 meters Centerline goodness : 0.904613 with order 1 Centerline is valid? [False, False] Translation: X:49.54, Y:0.60, Z:4.04 [[ 9.99744703e-01 -1.94093174e-02 1.15674814e-02 4.95377552e+01] [ 1.96415913e-02 9.99600644e-01 -2.03165026e-02 5.96519534e-01] [-1.11685324e-02 2.05385196e-02 9.99726679e-01 4.03920538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.681193817 meters Centerline goodness : 0.905206 with order 1 Centerline is valid? [False, False] Translation: X:49.54, Y:0.59, Z:4.04 [[ 9.99848462e-01 -1.34541053e-02 1.10471997e-02 4.95394518e+01] [ 1.36059610e-02 9.99812367e-01 -1.37879531e-02 5.92197523e-01] [-1.08596223e-02 1.39361714e-02 9.99843914e-01 4.03807657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.741193817 meters Centerline goodness : 0.904386 with order 1 Centerline is valid? [False, False] Translation: X:49.54, Y:0.58, Z:4.04 [[ 9.99916503e-01 -6.89893056e-03 1.09266303e-02 4.95394772e+01] [ 6.95900780e-03 9.99960826e-01 -5.46979709e-03 5.80949265e-01] [-1.08884665e-02 5.54537888e-03 9.99925342e-01 4.03813321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.801193817 meters Centerline goodness : 0.896597 with order 1 Centerline is valid? [False, False] Translation: X:49.56, Y:0.54, Z:4.06 [[ 9.99847477e-01 -1.26163143e-02 1.20768864e-02 4.95589217e+01] [ 1.11930207e-02 9.93710020e-01 1.11423125e-01 5.44044580e-01] [-1.34066721e-02 -1.11270953e-01 9.93699671e-01 4.06135798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.86119381700001 meters Centerline goodness : 0.903178 with order 1 Centerline is valid? [False, False] Translation: X:49.54, Y:0.54, Z:4.06 [[ 9.99823361e-01 -9.74445638e-03 1.60714490e-02 4.95424501e+01] [ 8.34722640e-03 9.96360987e-01 8.48239769e-02 5.36637509e-01] [-1.68395284e-02 -8.46748417e-02 9.96266331e-01 4.06215211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.92119381700002 meters Centerline goodness : 0.899251 with order 1 Centerline is valid? [False, False] Translation: X:49.52, Y:0.53, Z:4.06 [[ 9.99828842e-01 -4.40274959e-03 1.79694868e-02 4.95222075e+01] [ 3.74129948e-03 9.99320107e-01 3.66786806e-02 5.33854025e-01] [-1.81187566e-02 -3.66051735e-02 9.99165538e-01 4.06317025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.981193817 meters Centerline goodness : 0.901218 with order 1 Centerline is valid? [False, False] Translation: X:49.50, Y:0.53, Z:4.06 [[ 9.99766290e-01 -4.16317880e-03 2.12139992e-02 4.95036378e+01] [ 4.13576232e-03 9.99990555e-01 1.33608611e-03 5.33165883e-01] [-2.12193612e-02 -1.24803780e-03 9.99774065e-01 4.06115245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.041193817 meters Centerline goodness : 0.900699 with order 1 Centerline is valid? [False, False] Translation: X:49.51, Y:0.53, Z:4.06 [[ 9.99805169e-01 -1.02419937e-02 1.68738372e-02 4.95127557e+01] [ 1.03787532e-02 9.99913838e-01 -8.03728417e-03 5.27079359e-01] [-1.67900655e-02 8.21084765e-03 9.99825323e-01 4.06168314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.101193817 meters Centerline goodness : 0.903294 with order 1 Centerline is valid? [False, False] Translation: X:49.52, Y:0.52, Z:4.06 [[ 9.99606076e-01 -2.28220805e-02 1.63354197e-02 4.95159031e+01] [ 2.31282195e-02 9.99555651e-01 -1.88038761e-02 5.16597014e-01] [-1.58990175e-02 1.91742780e-02 9.99689736e-01 4.05946447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.161193817 meters Centerline goodness : 0.899565 with order 1 Centerline is valid? [False, False] Translation: X:49.54, Y:0.52, Z:4.06 [[ 9.99563221e-01 -2.37419033e-02 1.75979774e-02 4.95378295e+01] [ 2.43524298e-02 9.99078907e-01 -3.53312358e-02 5.16529532e-01] [-1.67429372e-02 3.57443574e-02 9.99220704e-01 4.05700161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.221193817 meters Centerline goodness : 0.896553 with order 1 Centerline is valid? [False, False] Translation: X:49.56, Y:0.51, Z:4.06 [[ 9.99400085e-01 -3.02757992e-02 1.68180230e-02 4.95603779e+01] [ 3.09367627e-02 9.98698881e-01 -4.05396390e-02 5.10677037e-01] [-1.55687708e-02 4.10356139e-02 9.99036382e-01 4.05539443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.281193817 meters Centerline goodness : 0.898252 with order 1 Centerline is valid? [False, False] Translation: X:49.58, Y:0.50, Z:4.05 [[ 9.99267009e-01 -3.47820337e-02 1.59891977e-02 4.95825328e+01] [ 3.53871493e-02 9.98602066e-01 -3.92640169e-02 4.98112704e-01] [-1.46011635e-02 3.98010488e-02 9.99100937e-01 4.05201921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.341193817 meters Centerline goodness : 0.901949 with order 1 Centerline is valid? [False, False] Translation: X:49.60, Y:0.49, Z:4.05 [[ 9.99004809e-01 -3.93102453e-02 2.10735778e-02 4.95959003e+01] [ 4.00116350e-02 9.98621800e-01 -3.39642297e-02 4.89200290e-01] [-1.97093920e-02 3.47736171e-02 9.99200848e-01 4.04717279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.401193817 meters Centerline goodness : 0.904364 with order 1 Centerline is valid? [False, False] Translation: X:49.62, Y:0.48, Z:4.05 [[ 9.98845329e-01 -4.30619507e-02 2.12997133e-02 4.96178397e+01] [ 4.36580614e-02 9.98643872e-01 -2.83617660e-02 4.79138813e-01] [-2.00495152e-02 2.92589216e-02 9.99370768e-01 4.04698062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.461193817 meters Centerline goodness : 0.905378 with order 1 Centerline is valid? [False, False] Translation: X:49.65, Y:0.48, Z:4.05 [[ 9.99073125e-01 -3.88410950e-02 1.85542247e-02 4.96454630e+01] [ 3.94187511e-02 9.98714903e-01 -3.18544368e-02 4.75070858e-01] [-1.72931195e-02 3.25562961e-02 9.99320287e-01 4.04850854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.521193817 meters Centerline goodness : 0.909727 with order 1 Centerline is valid? [False, False] Translation: X:49.67, Y:0.48, Z:4.05 [[ 9.99334152e-01 -3.13406080e-02 1.86820384e-02 4.96732839e+01] [ 3.20269726e-02 9.98777691e-01 -3.76483218e-02 4.77862394e-01] [-1.74792819e-02 3.82215829e-02 9.99116402e-01 4.04828970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.581193817 meters Centerline goodness : 0.910062 with order 1 Centerline is valid? [False, False] Translation: X:49.71, Y:0.49, Z:4.05 [[ 9.99482434e-01 -2.30282289e-02 2.24625032e-02 4.97127027e+01] [ 2.41142513e-02 9.98490909e-01 -4.93397096e-02 4.86275378e-01] [-2.12923991e-02 4.98558395e-02 9.98529433e-01 4.04722352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.64119381700002 meters Centerline goodness : 0.911616 with order 1 Centerline is valid? [False, False] Translation: X:49.75, Y:0.49, Z:4.05 [[ 9.99481985e-01 -2.07952253e-02 2.45625644e-02 4.97496072e+01] [ 2.20187079e-02 9.98474312e-01 -5.06381829e-02 4.88989771e-01] [-2.34720572e-02 5.11527875e-02 9.98414971e-01 4.04690787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.70119381700002 meters Centerline goodness : 0.908939 with order 1 Centerline is valid? [False, False] Translation: X:49.79, Y:0.50, Z:4.04 [[ 9.99445388e-01 -2.13902042e-02 2.55220658e-02 4.97889561e+01] [ 2.27606387e-02 9.98244900e-01 -5.46724219e-02 4.95178623e-01] [-2.43078178e-02 5.52229985e-02 9.98178116e-01 4.04401041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.761193817 meters Centerline goodness : 0.909438 with order 1 Centerline is valid? [False, False] Translation: X:49.82, Y:0.50, Z:4.04 [[ 9.99480123e-01 -2.48713729e-02 2.05158338e-02 4.98212440e+01] [ 2.58836951e-02 9.98380980e-01 -5.06502944e-02 4.96496266e-01] [-1.92228759e-02 5.11549880e-02 9.98505708e-01 4.04311131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.821193817 meters Centerline goodness : 0.910705 with order 1 Centerline is valid? [False, False] Translation: X:49.85, Y:0.50, Z:4.04 [[ 9.99441302e-01 -2.90248103e-02 1.65723768e-02 4.98523990e+01] [ 2.97647292e-02 9.98484070e-01 -4.62992733e-02 4.97155964e-01] [-1.52034266e-02 4.67666783e-02 9.98790135e-01 4.04338819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.881193817 meters Centerline goodness : 0.910507 with order 1 Centerline is valid? [False, False] Translation: X:49.88, Y:0.50, Z:4.04 [[ 9.99281570e-01 -3.53116652e-02 1.37633323e-02 4.98837628e+01] [ 3.58740021e-02 9.98430262e-01 -4.30124058e-02 4.98587988e-01] [-1.22228878e-02 4.34752502e-02 9.98979731e-01 4.04312045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.941193817 meters Centerline goodness : 0.908233 with order 1 Centerline is valid? [False, False] Translation: X:49.92, Y:0.50, Z:4.04 [[ 9.99351541e-01 -3.32185223e-02 1.38934074e-02 4.99225373e+01] [ 3.38237373e-02 9.98374689e-01 -4.58686727e-02 5.04802876e-01] [-1.23471367e-02 4.63088558e-02 9.98850859e-01 4.04124815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.001193817 meters Centerline goodness : 0.910093 with order 1 Centerline is valid? [False, False] Translation: X:49.95, Y:0.51, Z:4.04 [[ 9.99599489e-01 -2.56179996e-02 1.20241267e-02 4.99533838e+01] [ 2.61942421e-02 9.98380393e-01 -5.05020043e-02 5.08916234e-01] [-1.07108920e-02 5.07967406e-02 9.98651575e-01 4.03966945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.061193817 meters Centerline goodness : 0.909860 with order 1 Centerline is valid? [False, False] Translation: X:49.99, Y:0.52, Z:4.04 [[ 9.99773818e-01 -1.76097339e-02 1.19252151e-02 4.99926186e+01] [ 1.81793652e-02 9.98609907e-01 -4.94748821e-02 5.16859649e-01] [-1.10373985e-02 4.96804846e-02 9.98704173e-01 4.03751142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.121193817 meters Centerline goodness : 0.909463 with order 1 Centerline is valid? [False, False] Translation: X:50.03, Y:0.54, Z:4.04 [[ 9.99732568e-01 -9.32402285e-03 2.11625714e-02 5.00273853e+01] [ 1.14168613e-02 9.94817624e-01 -1.01032421e-01 5.37128206e-01] [-2.01108703e-02 1.01247012e-01 9.94658029e-01 4.03772791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.181193817 meters Centerline goodness : 0.910555 with order 1 Centerline is valid? [False, False] Translation: X:50.06, Y:0.56, Z:4.04 [[ 9.99555886e-01 3.23531923e-03 2.96236955e-02 5.00625518e+01] [ 1.69677263e-03 9.86297214e-01 -1.64969472e-01 5.64460943e-01] [-2.97514972e-02 1.64946472e-01 9.85853696e-01 4.04025939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.241193817 meters Centerline goodness : 0.911618 with order 1 Centerline is valid? [False, False] Translation: X:50.09, Y:0.59, Z:4.05 [[ 9.99296280e-01 1.20370398e-02 3.55254077e-02 5.00861817e+01] [-3.53278599e-03 9.73103387e-01 -2.30341742e-01 5.88216009e-01] [-3.73425273e-02 2.30054142e-01 9.72461119e-01 4.04570095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.301193817 meters Centerline goodness : 0.908897 with order 1 Centerline is valid? [False, False] Translation: X:50.08, Y:0.58, Z:4.05 [[ 9.99354006e-01 1.30410925e-02 3.34888146e-02 5.00828577e+01] [-6.43786870e-03 9.81727083e-01 -1.90185406e-01 5.77946196e-01] [-3.53571017e-02 1.89846950e-01 9.81176850e-01 4.04804389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.36119381700001 meters Centerline goodness : 0.908407 with order 1 Centerline is valid? [False, False] Translation: X:50.08, Y:0.57, Z:4.05 [[ 9.99453210e-01 9.46317871e-03 3.16816719e-02 5.00796287e+01] [-4.36902597e-03 9.87564635e-01 -1.57152804e-01 5.66954663e-01] [-3.27748639e-02 1.56928457e-01 9.87065990e-01 4.04902382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.42119381700002 meters Centerline goodness : 0.910621 with order 1 Centerline is valid? [False, False] Translation: X:50.10, Y:0.56, Z:4.05 [[ 9.99505183e-01 6.78266283e-03 3.07145735e-02 5.01040021e+01] [-2.02011546e-03 9.88300304e-01 -1.52507144e-01 5.57617087e-01] [-3.13896268e-02 1.52369633e-01 9.87824977e-01 4.04840184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.481193817 meters Centerline goodness : 0.908385 with order 1 Centerline is valid? [False, False] Translation: X:50.12, Y:0.55, Z:4.05 [[ 9.99441708e-01 2.42687371e-03 3.33224168e-02 5.01230935e+01] [ 2.25354997e-03 9.90190391e-01 -1.39706519e-01 5.50884741e-01] [-3.33345870e-02 1.39703616e-01 9.89632106e-01 4.04711150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.541193817 meters Centerline goodness : 0.913758 with order 1 Centerline is valid? [False, False] Translation: X:50.14, Y:0.54, Z:4.05 [[ 9.99393906e-01 -4.00025183e-03 3.45806234e-02 5.01437167e+01] [ 8.28151693e-03 9.92176870e-01 -1.24565140e-01 5.38646881e-01] [-3.38118028e-02 1.24776022e-01 9.91608646e-01 4.04611696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.601193817 meters Centerline goodness : 0.912069 with order 1 Centerline is valid? [False, False] Translation: X:50.17, Y:0.53, Z:4.05 [[ 9.99305539e-01 -1.29516524e-02 3.49384314e-02 5.01662567e+01] [ 1.67609363e-02 9.93674572e-01 -1.11040154e-01 5.29664629e-01] [-3.32792773e-02 1.11548642e-01 9.93201586e-01 4.04635005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.661193817 meters Centerline goodness : 0.919171 with order 1 Centerline is valid? [False, False] Translation: X:50.19, Y:0.52, Z:4.05 [[ 9.99028810e-01 -2.86959267e-02 3.34362197e-02 5.01875777e+01] [ 3.18129236e-02 9.94799026e-01 -9.67617525e-02 5.18084334e-01] [-3.04856506e-02 9.77314823e-02 9.94745788e-01 4.04749481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.721193817 meters Centerline goodness : 0.918285 with order 1 Centerline is valid? [False, False] Translation: X:50.21, Y:0.51, Z:4.05 [[ 9.98685560e-01 -4.06196022e-02 3.12601897e-02 5.02134826e+01] [ 4.31272805e-02 9.95511934e-01 -8.42379237e-02 5.12938646e-01] [-2.76981809e-02 8.54753650e-02 9.95955206e-01 4.04821534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.781193817 meters Centerline goodness : 0.921620 with order 1 Centerline is valid? [False, False] Translation: X:50.23, Y:0.51, Z:4.05 [[ 9.98261928e-01 -5.06585846e-02 3.01136359e-02 5.02327639e+01] [ 5.28028748e-02 9.95762897e-01 -7.52868444e-02 5.11680777e-01] [-2.61721164e-02 7.67460770e-02 9.96707108e-01 4.04983296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.841193817 meters Centerline goodness : 0.922164 with order 1 Centerline is valid? [False, False] Translation: X:50.26, Y:0.52, Z:4.05 [[ 9.98313633e-01 -5.17417186e-02 2.63189140e-02 5.02626589e+01] [ 5.34173008e-02 9.96285237e-01 -6.75449335e-02 5.15136212e-01] [-2.27262545e-02 6.88369132e-02 9.97369037e-01 4.05128416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.901193817 meters Centerline goodness : 0.923296 with order 1 Centerline is valid? [False, False] Translation: X:50.30, Y:0.52, Z:4.05 [[ 9.98493883e-01 -4.79381856e-02 2.66813951e-02 5.03018059e+01] [ 4.96183715e-02 9.96562054e-01 -6.63482430e-02 5.20227772e-01] [-2.34090515e-02 6.75722021e-02 9.97439729e-01 4.05000891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.961193817 meters Centerline goodness : 0.918639 with order 1 Centerline is valid? [False, False] Translation: X:50.34, Y:0.53, Z:4.05 [[ 9.98822903e-01 -4.01021263e-02 2.72878602e-02 5.03396877e+01] [ 4.17624761e-02 9.97122025e-01 -6.32737151e-02 5.31090761e-01] [-2.46719159e-02 6.43388445e-02 9.97623080e-01 4.04877507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.021193817 meters Centerline goodness : 0.921577 with order 1 Centerline is valid? [False, False] Translation: X:50.38, Y:0.54, Z:4.05 [[ 9.98934089e-01 -3.55898121e-02 2.93947399e-02 5.03767280e+01] [ 3.74282662e-02 9.97211510e-01 -6.45625973e-02 5.42381231e-01] [-2.70150023e-02 6.55939735e-02 9.97480637e-01 4.04744196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.081193817 meters Centerline goodness : 0.919391 with order 1 Centerline is valid? [False, False] Translation: X:50.41, Y:0.55, Z:4.05 [[ 9.99047129e-01 -3.23450518e-02 2.93024100e-02 5.04135517e+01] [ 3.41220780e-02 9.97472460e-01 -6.23247611e-02 5.45709173e-01] [-2.72124493e-02 6.32652328e-02 9.97625678e-01 4.04753639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.14119381700002 meters Centerline goodness : 0.922723 with order 1 Centerline is valid? [False, False] Translation: X:50.45, Y:0.56, Z:4.04 [[ 9.99006081e-01 -3.30670162e-02 2.98901857e-02 5.04531361e+01] [ 3.51044098e-02 9.96899139e-01 -7.04257530e-02 5.60660484e-01] [-2.74687308e-02 7.14050328e-02 9.97069100e-01 4.04436865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.201193817 meters Centerline goodness : 0.922027 with order 1 Centerline is valid? [False, False] Translation: X:50.49, Y:0.57, Z:4.04 [[ 9.98726484e-01 -4.17256289e-02 2.83616412e-02 5.04921764e+01] [ 4.34401436e-02 9.97080519e-01 -6.27964423e-02 5.74266869e-01] [-2.56586188e-02 6.39485037e-02 9.97623288e-01 4.04362823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.261193817 meters Centerline goodness : 0.918784 with order 1 Centerline is valid? [False, False] Translation: X:50.53, Y:0.58, Z:4.04 [[ 9.98577529e-01 -4.70023241e-02 2.51734093e-02 5.05252082e+01] [ 4.84029460e-02 9.97126845e-01 -5.82684353e-02 5.82113908e-01] [-2.23623303e-02 5.94040173e-02 9.97983511e-01 4.04161025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.321193817 meters Centerline goodness : 0.919392 with order 1 Centerline is valid? [False, False] Translation: X:50.57, Y:0.59, Z:4.04 [[ 9.98518819e-01 -4.87808473e-02 2.40955775e-02 5.05669680e+01] [ 5.01734144e-02 9.96873569e-01 -6.10386349e-02 5.91544521e-01] [-2.10427280e-02 6.21571831e-02 9.97844521e-01 4.03842331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.381193817 meters Centerline goodness : 0.919245 with order 1 Centerline is valid? [False, False] Translation: X:50.61, Y:0.61, Z:4.04 [[ 9.98708189e-01 -4.50639394e-02 2.34775257e-02 5.06072811e+01] [ 4.64877912e-02 9.96858906e-01 -6.41186997e-02 6.09469369e-01] [-2.05143394e-02 6.51272888e-02 9.97666075e-01 4.03645895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.441193817 meters Centerline goodness : 0.919623 with order 1 Centerline is valid? [False, False] Translation: X:50.61, Y:0.62, Z:4.04 [[ 9.99118577e-01 -3.50040244e-02 2.31686729e-02 5.06073219e+01] [ 3.62589437e-02 9.97762891e-01 -5.61649650e-02 6.21542664e-01] [-2.11508423e-02 5.69555315e-02 9.98152648e-01 4.03701596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.501193817 meters Centerline goodness : 0.922420 with order 1 Centerline is valid? [False, False] Translation: X:50.60, Y:0.64, Z:4.04 [[ 9.99542797e-01 -1.86910784e-02 2.37663917e-02 5.06032440e+01] [ 1.97150263e-02 9.98854276e-01 -4.36056508e-02 6.35845082e-01] [-2.29241253e-02 4.40542692e-02 9.98766092e-01 4.04165310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.561193817 meters Centerline goodness : 0.928259 with order 1 Centerline is valid? [False, False] Translation: X:50.61, Y:0.64, Z:4.05 [[ 9.99685172e-01 -1.09514693e-02 2.25748232e-02 5.06102128e+01] [ 1.15357251e-02 9.99597584e-01 -2.59152003e-02 6.41473421e-01] [-2.22819292e-02 2.61674584e-02 9.99409215e-01 4.04584471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.621193817 meters Centerline goodness : 0.927272 with order 1 Centerline is valid? [False, False] Translation: X:50.58, Y:0.65, Z:4.05 [[ 9.99690341e-01 -9.01888953e-03 2.31922974e-02 5.05804292e+01] [ 8.65066357e-03 9.99835708e-01 1.59286930e-02 6.45337599e-01] [-2.33321462e-02 -1.57231317e-02 9.99604119e-01 4.04866199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.681193817 meters Centerline goodness : 0.926227 with order 1 Centerline is valid? [False, False] Translation: X:50.59, Y:0.64, Z:4.06 [[ 9.99836886e-01 -9.25687619e-03 1.55084696e-02 5.05879927e+01] [ 8.47885683e-03 9.98737971e-01 4.95032690e-02 6.43701369e-01] [-1.59471431e-02 -4.93637002e-02 9.98653550e-01 4.05862219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.741193817 meters Centerline goodness : 0.922726 with order 1 Centerline is valid? [False, False] Translation: X:50.59, Y:0.61, Z:4.07 [[ 9.99848676e-01 -1.44583622e-02 9.67373089e-03 5.05875060e+01] [ 1.24611750e-02 9.83281927e-01 1.81662794e-01 6.07550785e-01] [-1.21385512e-02 -1.81514758e-01 9.83313301e-01 4.06808974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.801193817 meters Centerline goodness : 0.918140 with order 1 Centerline is valid? [False, False] Translation: X:50.60, Y:0.58, Z:4.09 [[ 9.99799507e-01 -1.97610100e-02 -3.23224854e-03 5.05978469e+01] [ 1.98239566e-02 9.54111135e-01 2.98795839e-01 5.78599489e-01] [-2.82058322e-03 -2.98800008e-01 9.54311584e-01 4.08559989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.86119381700001 meters Centerline goodness : 0.915104 with order 1 Centerline is valid? [False, False] Translation: X:50.62, Y:0.55, Z:4.10 [[ 9.99622509e-01 -2.47306413e-02 -1.19681101e-02 5.06207128e+01] [ 2.74562006e-02 9.15034936e-01 4.02439091e-01 5.53421108e-01] [ 9.98662064e-04 -4.02615773e-01 9.15368528e-01 4.10292094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.92119381700002 meters Centerline goodness : 0.913838 with order 1 Centerline is valid? [False, False] Translation: X:50.64, Y:0.53, Z:4.13 [[ 9.99306003e-01 -2.94909948e-02 -2.27550858e-02 5.06350656e+01] [ 3.70003135e-02 8.56398895e-01 5.14987291e-01 5.25557561e-01] [ 4.29994276e-03 -5.15471837e-01 8.56895732e-01 4.12747542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.981193817 meters Centerline goodness : 0.912886 with order 1 Centerline is valid? [False, False] Translation: X:50.61, Y:0.55, Z:4.12 [[ 9.99314431e-01 -2.99329960e-02 -2.17872387e-02 5.06085214e+01] [ 3.65718743e-02 8.89659546e-01 4.55157544e-01 5.49422626e-01] [ 5.75899591e-03 -4.55642302e-01 8.90144329e-01 4.12420216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.041193817 meters Centerline goodness : 0.913803 with order 1 Centerline is valid? [False, False] Translation: X:50.59, Y:0.57, Z:4.13 [[ 9.99301370e-01 -3.07642147e-02 -2.12210786e-02 5.05871026e+01] [ 3.67583599e-02 9.11633936e-01 4.09356068e-01 5.67199664e-01] [ 6.75233744e-03 -4.09850132e-01 9.12127883e-01 4.12567961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.101193817 meters Centerline goodness : 0.915937 with order 1 Centerline is valid? [False, False] Translation: X:50.56, Y:0.59, Z:4.13 [[ 9.99326894e-01 -3.28963120e-02 -1.62354960e-02 5.05605475e+01] [ 3.64820387e-02 9.37625098e-01 3.45728559e-01 5.88838679e-01] [ 3.84961396e-03 -3.46088151e-01 9.38194102e-01 4.12755170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.161193817 meters Centerline goodness : 0.914417 with order 1 Centerline is valid? [False, False] Translation: X:50.54, Y:0.60, Z:4.13 [[ 9.99331330e-01 -3.45198017e-02 -1.20530301e-02 5.05403881e+01] [ 3.65404257e-02 9.54595696e-01 2.95654957e-01 6.04282800e-01] [ 1.29982016e-03 -2.95897684e-01 9.55218756e-01 4.12896247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.221193817 meters Centerline goodness : 0.918129 with order 1 Centerline is valid? [False, False] Translation: X:50.52, Y:0.62, Z:4.13 [[ 9.99245378e-01 -3.76231072e-02 -9.65275143e-03 5.05201674e+01] [ 3.88408741e-02 9.69448844e-01 2.42198936e-01 6.17635604e-01] [ 2.45572191e-04 -2.42391089e-01 9.70178592e-01 4.13035571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.281193817 meters Centerline goodness : 0.918022 with order 1 Centerline is valid? [False, False] Translation: X:50.51, Y:0.63, Z:4.13 [[ 9.99138063e-01 -4.02200376e-02 -1.02703352e-02 5.05125159e+01] [ 4.14322846e-02 9.81440056e-01 1.87239908e-01 6.30983062e-01] [ 2.54892226e-03 -1.87504042e-01 9.82260524e-01 4.13010141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.341193817 meters Centerline goodness : 0.914901 with order 1 Centerline is valid? [False, False] Translation: X:50.51, Y:0.64, Z:4.13 [[ 9.98779455e-01 -4.74123575e-02 -1.38444510e-02 5.05091641e+01] [ 4.88991589e-02 9.88679511e-01 1.41850968e-01 6.43981499e-01] [ 6.96223625e-03 -1.42354814e-01 9.89791207e-01 4.12931951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.401193817 meters Centerline goodness : 0.916190 with order 1 Centerline is valid? [False, False] Translation: X:50.53, Y:0.66, Z:4.13 [[ 9.98428115e-01 -5.38294528e-02 -1.56105395e-02 5.05259280e+01] [ 5.51249048e-02 9.93460870e-01 9.99837203e-02 6.56204808e-01] [ 1.01263912e-02 -1.00687087e-01 9.94866608e-01 4.13002561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.461193817 meters Centerline goodness : 0.916438 with order 1 Centerline is valid? [False, False] Translation: X:50.52, Y:0.66, Z:4.13 [[ 9.98207255e-01 -5.76488085e-02 -1.60901185e-02 5.05163628e+01] [ 5.87933018e-02 9.94794497e-01 8.32301465e-02 6.64008904e-01] [ 1.12082425e-02 -8.40269272e-02 9.96400447e-01 4.12975912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.521193817 meters Centerline goodness : 0.923886 with order 1 Centerline is valid? [False, False] Translation: X:50.51, Y:0.68, Z:4.13 [[ 9.97745579e-01 -6.57665783e-02 -1.33610511e-02 5.05144452e+01] [ 6.65129696e-02 9.95570990e-01 6.64411727e-02 6.77348894e-01] [ 8.93226624e-03 -6.71800694e-02 9.97700883e-01 4.13464245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.581193817 meters Centerline goodness : 0.929585 with order 1 Centerline is valid? [False, False] Translation: X:50.52, Y:0.69, Z:4.14 [[ 9.97353172e-01 -7.15254077e-02 -1.30677460e-02 5.05151154e+01] [ 7.21268845e-02 9.95957015e-01 5.35475269e-02 6.87119666e-01] [ 9.18490464e-03 -5.43483316e-02 9.98479793e-01 4.13912184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.64119381700002 meters Centerline goodness : 0.930578 with order 1 Centerline is valid? [False, False] Translation: X:50.52, Y:0.69, Z:4.14 [[ 9.97028452e-01 -7.59437225e-02 -1.29157612e-02 5.05156328e+01] [ 7.64776141e-02 9.95931362e-01 4.76644170e-02 6.94493582e-01] [ 9.24339843e-03 -4.85105465e-02 9.98779899e-01 4.13841111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.701193817 meters Centerline goodness : 0.932971 with order 1 Centerline is valid? [False, False] Translation: X:50.51, Y:0.71, Z:4.14 [[ 9.97365852e-01 -7.15942976e-02 -1.16453245e-02 5.05058859e+01] [ 7.19666514e-02 9.96774056e-01 3.55286053e-02 7.08503839e-01] [ 9.06411176e-03 -3.62730927e-02 9.99300808e-01 4.13762087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.761193817 meters Centerline goodness : 0.930340 with order 1 Centerline is valid? [False, False] Translation: X:50.51, Y:0.72, Z:4.13 [[ 9.97765647e-01 -6.56389076e-02 -1.24598033e-02 5.05081435e+01] [ 6.60865435e-02 9.97021078e-01 3.97685672e-02 7.15801054e-01] [ 9.81232126e-03 -4.05031355e-02 9.99131230e-01 4.13495471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.821193817 meters Centerline goodness : 0.929568 with order 1 Centerline is valid? [False, False] Translation: X:50.50, Y:0.73, Z:4.14 [[ 9.98156491e-01 -5.75760693e-02 -1.91993787e-02 5.04962340e+01] [ 5.82756288e-02 9.97572427e-01 3.81209185e-02 7.30161693e-01] [ 1.69579182e-02 -3.91694981e-02 9.99088674e-01 4.13766067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.881193817 meters Centerline goodness : 0.928931 with order 1 Centerline is valid? [False, False] Translation: X:50.50, Y:0.74, Z:4.14 [[ 9.98320614e-01 -5.45912593e-02 -1.93841525e-02 5.04955173e+01] [ 5.53030439e-02 9.97734425e-01 3.83091328e-02 7.38968673e-01] [ 1.72488925e-02 -3.93167997e-02 9.99077907e-01 4.13751485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.941193817 meters Centerline goodness : 0.929563 with order 1 Centerline is valid? [False, False] Translation: X:50.49, Y:0.75, Z:4.14 [[ 9.98469114e-01 -5.19395904e-02 -1.90186026e-02 5.04929663e+01] [ 5.26377907e-02 9.97880351e-01 3.82631419e-02 7.47924347e-01] [ 1.69909179e-02 -3.92056626e-02 9.99086695e-01 4.13866371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.001193817 meters Centerline goodness : 0.930598 with order 1 Centerline is valid? [False, False] Translation: X:50.49, Y:0.76, Z:4.14 [[ 9.98546653e-01 -5.02152289e-02 -1.95706815e-02 5.04924226e+01] [ 5.09359132e-02 9.97969050e-01 3.82532140e-02 7.56846493e-01] [ 1.76100405e-02 -3.91944693e-02 9.99076414e-01 4.13938815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.061193817 meters Centerline goodness : 0.930376 with order 1 Centerline is valid? [False, False] Translation: X:50.49, Y:0.77, Z:4.14 [[ 9.98312010e-01 -5.42791505e-02 -2.06616911e-02 5.04926281e+01] [ 5.49213775e-02 9.97980973e-01 3.19001642e-02 7.71201236e-01] [ 1.88884608e-02 -3.29810856e-02 9.99277476e-01 4.14086065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.121193817 meters Centerline goodness : 0.932625 with order 1 Centerline is valid? [False, False] Translation: X:50.49, Y:0.78, Z:4.14 [[ 9.98196867e-01 -5.62378860e-02 -2.09836605e-02 5.04928590e+01] [ 5.68163996e-02 9.97989828e-01 2.80748891e-02 7.78727700e-01] [ 1.93626073e-02 -2.92164824e-02 9.99385555e-01 4.14048619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.181193817 meters Centerline goodness : 0.932695 with order 1 Centerline is valid? [False, False] Translation: X:50.49, Y:0.79, Z:4.14 [[ 9.98297124e-01 -5.40915261e-02 -2.18394019e-02 5.04935261e+01] [ 5.46718251e-02 9.98141669e-01 2.69109762e-02 7.90724692e-01] [ 2.03431613e-02 -2.80591501e-02 9.99399239e-01 4.13992719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.241193817 meters Centerline goodness : 0.932821 with order 1 Centerline is valid? [False, False] Translation: X:50.49, Y:0.80, Z:4.14 [[ 9.98454454e-01 -5.09171926e-02 -2.22742784e-02 5.04934665e+01] [ 5.15203807e-02 9.98295982e-01 2.74004293e-02 7.99420292e-01] [ 2.08411696e-02 -2.85056600e-02 9.99376342e-01 4.13944292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.301193817 meters Centerline goodness : 0.930850 with order 1 Centerline is valid? [False, False] Translation: X:50.49, Y:0.80, Z:4.14 [[ 9.98801967e-01 -4.20895674e-02 -2.49619340e-02 5.04924884e+01] [ 4.35837627e-02 9.97081010e-01 6.26890350e-02 7.98589224e-01] [ 2.22505160e-02 -6.37018665e-02 9.97720896e-01 4.13824045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.36119381700001 meters Centerline goodness : 0.929261 with order 1 Centerline is valid? [False, False] Translation: X:50.52, Y:0.80, Z:4.14 [[ 9.98892516e-01 -3.68402395e-02 -2.92666661e-02 5.05233166e+01] [ 3.86244320e-02 9.97269721e-01 6.29385209e-02 8.03830934e-01] [ 2.68680898e-02 -6.39992258e-02 9.97588194e-01 4.13814508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.42119381700002 meters Centerline goodness : 0.924358 with order 1 Centerline is valid? [False, False] Translation: X:50.54, Y:0.81, Z:4.14 [[ 9.99032838e-01 -3.00035991e-02 -3.21429885e-02 5.05392469e+01] [ 3.18128758e-02 9.97847706e-01 5.73401897e-02 8.11340585e-01] [ 3.03533953e-02 -5.83072934e-02 9.97837126e-01 4.13857448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.481193817 meters Centerline goodness : 0.923224 with order 1 Centerline is valid? [False, False] Translation: X:50.57, Y:0.81, Z:4.14 [[ 9.99149694e-01 -2.97064107e-02 -2.85905277e-02 5.05741826e+01] [ 3.16270301e-02 9.97097757e-01 6.92516750e-02 8.09834301e-01] [ 2.64503324e-02 -7.00970234e-02 9.97189444e-01 4.13585538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.541193817 meters Centerline goodness : 0.921683 with order 1 Centerline is valid? [False, False] Translation: X:50.59, Y:0.77, Z:4.13 [[ 9.98860802e-01 -3.78081161e-02 -2.91143443e-02 5.05858150e+01] [ 4.32457303e-02 9.75130579e-01 2.17371019e-01 7.66082383e-01] [ 2.01718987e-02 -2.18382462e-01 9.75654752e-01 4.13217673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.601193817 meters Centerline goodness : 0.923713 with order 1 Centerline is valid? [False, False] Translation: X:50.59, Y:0.72, Z:4.14 [[ 9.98459339e-01 -4.24915594e-02 -3.56849396e-02 5.05937458e+01] [ 5.27737780e-02 9.25876567e-01 3.74122322e-01 7.20230116e-01] [ 1.71428085e-02 -3.75429156e-01 9.26692545e-01 4.13721638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.661193817 meters Centerline goodness : 0.923554 with order 1 Centerline is valid? [False, False] Translation: X:50.60, Y:0.67, Z:4.15 [[ 9.97947542e-01 -4.79391052e-02 -4.24563915e-02 5.06039434e+01] [ 6.30800595e-02 8.50095516e-01 5.22836992e-01 6.73394635e-01] [ 1.10276504e-02 -5.24442043e-01 8.51374732e-01 4.15018735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.721193817 meters Centerline goodness : 0.927450 with order 1 Centerline is valid? [False, False] Translation: X:50.61, Y:0.66, Z:4.17 [[ 9.96778279e-01 -5.38843415e-02 -5.94099378e-02 5.06123000e+01] [ 7.87704882e-02 7.97198615e-01 5.98556244e-01 6.58409882e-01] [ 1.51087111e-02 -6.01307613e-01 7.98874760e-01 4.16840406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.781193817 meters Centerline goodness : 0.924002 with order 1 Centerline is valid? [False, False] Translation: X:50.58, Y:0.68, Z:4.17 [[ 9.96145728e-01 -5.92904176e-02 -6.46400392e-02 5.05828583e+01] [ 8.55879561e-02 8.18288276e-01 5.68400386e-01 6.80200253e-01] [ 1.91934901e-02 -5.71742025e-01 8.20208917e-01 4.17156763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.841193817 meters Centerline goodness : 0.923353 with order 1 Centerline is valid? [False, False] Translation: X:50.54, Y:0.67, Z:4.19 [[ 9.94603920e-01 -6.06294921e-02 -8.41849599e-02 5.05357371e+01] [ 1.00707140e-01 7.59167047e-01 6.43057903e-01 6.70489975e-01] [ 2.49221734e-02 -6.48065938e-01 7.61176343e-01 4.18690195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.901193817 meters Centerline goodness : 0.924319 with order 1 Centerline is valid? [False, False] Translation: X:50.53, Y:0.67, Z:4.21 [[ 9.92988257e-01 -5.94986869e-02 -1.02148071e-01 5.05295164e+01] [ 1.14223027e-01 7.05525790e-01 6.99418658e-01 6.68682342e-01] [ 3.04536068e-02 -7.06182176e-01 7.07374945e-01 4.20577999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.961193817 meters Centerline goodness : 0.921560 with order 1 Centerline is valid? [False, False] Translation: X:50.48, Y:0.66, Z:4.22 [[ 9.91328738e-01 -5.30900549e-02 -1.20203075e-01 5.04805190e+01] [ 1.26248526e-01 6.38540429e-01 7.59162322e-01 6.62009494e-01] [ 3.64505536e-02 -7.67754887e-01 6.39706018e-01 4.21924178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.021193817 meters Centerline goodness : 0.917689 with order 1 Centerline is valid? [False, False] Translation: X:50.48, Y:0.66, Z:4.24 [[ 9.89087347e-01 -4.78190011e-02 -1.39354090e-01 5.04782104e+01] [ 1.41487027e-01 5.72035469e-01 8.07933687e-01 6.60707617e-01] [ 4.10809002e-02 -8.18833784e-01 5.72558813e-01 4.23706047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.081193817 meters Centerline goodness : 0.923169 with order 1 Centerline is valid? [False, False] Translation: X:50.45, Y:0.69, Z:4.23 [[ 9.88518360e-01 -5.29592473e-02 -1.41515974e-01 5.04494655e+01] [ 1.43999818e-01 6.13920393e-01 7.76122287e-01 6.87111810e-01] [ 4.57766904e-02 -7.87589404e-01 6.14497701e-01 4.22884196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.14119381700002 meters Centerline goodness : 0.918612 with order 1 Centerline is valid? [False, False] Translation: X:50.40, Y:0.72, Z:4.22 [[ 0.9882618 -0.05207141 -0.14362164 50.40124479] [ 0.14097357 0.67308123 0.72600834 0.71926753] [ 0.05886476 -0.73773317 0.67252116 4.21643113] [ 0. 0. 0. 1. ]] SLAMing on 204.201193817 meters Centerline goodness : 0.923471 with order 1 Centerline is valid? [False, False] Translation: X:50.36, Y:0.75, Z:4.21 [[ 0.98849931 -0.05379788 -0.14133259 50.36044571] [ 0.1357745 0.72726445 0.67279395 0.75139072] [ 0.06659128 -0.68424572 0.72620479 4.21033212] [ 0. 0. 0. 1. ]] SLAMing on 204.261193817 meters Centerline goodness : 0.929588 with order 1 Centerline is valid? [False, False] Translation: X:50.32, Y:0.78, Z:4.21 [[ 0.98938703 -0.05155734 -0.13584968 50.31928507] [ 0.12508534 0.77795491 0.6157433 0.78469567] [ 0.07393884 -0.62620125 0.77614757 4.20715339] [ 0. 0. 0. 1. ]] SLAMing on 204.321193817 meters Centerline goodness : 0.931161 with order 1 Centerline is valid? [False, False] Translation: X:50.30, Y:0.81, Z:4.21 [[ 0.98954584 -0.0559199 -0.13293605 50.29513421] [ 0.12149142 0.81990563 0.55945919 0.81135693] [ 0.07771012 -0.56976111 0.818128 4.20954967] [ 0. 0. 0. 1. ]] SLAMing on 204.381193817 meters Centerline goodness : 0.932450 with order 1 Centerline is valid? [False, False] Translation: X:50.29, Y:0.83, Z:4.22 [[ 0.98990444 -0.06157791 -0.12766114 50.28664025] [ 0.11913448 0.849444 0.51405434 0.83277991] [ 0.0767866 -0.52407351 0.84820444 4.21605334] [ 0. 0. 0. 1. ]] SLAMing on 204.441193817 meters Centerline goodness : 0.933038 with order 1 Centerline is valid? [False, False] Translation: X:50.31, Y:0.85, Z:4.22 [[ 0.98973329 -0.07346229 -0.12260225 50.3134121 ] [ 0.12432466 0.8656671 0.48493696 0.84527772] [ 0.07050816 -0.49520073 0.86591272 4.22453333] [ 0. 0. 0. 1. ]] SLAMing on 204.501193817 meters Centerline goodness : 0.931121 with order 1 Centerline is valid? [False, False] Translation: X:50.38, Y:0.83, Z:4.23 [[ 9.90481008e-01 -8.23133040e-02 -1.10326305e-01 5.03768819e+01] [ 1.28348042e-01 8.41906209e-01 5.24138068e-01 8.29848008e-01] [ 4.97408649e-02 -5.33308967e-01 8.44456862e-01 4.23237103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.561193817 meters Centerline goodness : 0.928692 with order 1 Centerline is valid? [False, False] Translation: X:50.43, Y:0.79, Z:4.25 [[ 9.90858045e-01 -7.56593821e-02 -1.11695985e-01 5.04295165e+01] [ 1.29823494e-01 7.59917622e-01 6.36923125e-01 7.85131115e-01] [ 3.66905370e-02 -6.45601166e-01 7.62792855e-01 4.24903327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.621193817 meters Centerline goodness : 0.932086 with order 1 Centerline is valid? [False, False] Translation: X:50.48, Y:0.79, Z:4.25 [[ 9.91785557e-01 -7.91943602e-02 -1.00447315e-01 5.04755907e+01] [ 1.25326327e-01 7.58724791e-01 6.39241741e-01 7.88946247e-01] [ 2.55875273e-02 -6.46579419e-01 7.62417428e-01 4.25183066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.681193817 meters Centerline goodness : 0.930884 with order 1 Centerline is valid? [False, False] Translation: X:50.45, Y:0.81, Z:4.26 [[ 9.91700525e-01 -7.73091297e-02 -1.02729581e-01 5.04548211e+01] [ 1.23750795e-01 7.90661366e-01 5.99616832e-01 8.09519753e-01] [ 3.48684558e-02 -6.07353194e-01 7.93666358e-01 4.26404804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.741193817 meters Centerline goodness : 0.928942 with order 1 Centerline is valid? [False, False] Translation: X:50.44, Y:0.83, Z:4.28 [[ 9.91752884e-01 -7.50378455e-02 -1.03901579e-01 5.04365008e+01] [ 1.20471207e-01 8.22445373e-01 5.55940911e-01 8.26572706e-01] [ 4.37367645e-02 -5.63873150e-01 8.24702471e-01 4.27501036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.801193817 meters Centerline goodness : 0.929863 with order 1 Centerline is valid? [False, False] Translation: X:50.44, Y:0.85, Z:4.28 [[ 9.92022443e-01 -7.86428204e-02 -9.85229912e-02 5.04408981e+01] [ 1.18555508e-01 8.47674969e-01 5.17099351e-01 8.45095702e-01] [ 4.28493222e-02 -5.24654604e-01 8.50236133e-01 4.27881898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.86119381700001 meters Centerline goodness : 0.928533 with order 1 Centerline is valid? [False, False] Translation: X:50.43, Y:0.86, Z:4.29 [[ 9.91537803e-01 -8.32616898e-02 -9.96005815e-02 5.04311341e+01] [ 1.21149206e-01 8.69143573e-01 4.79491731e-01 8.61399467e-01] [ 4.66439135e-02 -4.87500709e-01 8.71875796e-01 4.29175960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.92119381700002 meters Centerline goodness : 0.927359 with order 1 Centerline is valid? [False, False] Translation: X:50.43, Y:0.87, Z:4.30 [[ 0.99116436 -0.08517673 -0.1016766 50.42965688] [ 0.12238495 0.88283041 0.45346707 0.87305091] [ 0.05113836 -0.46190408 0.88545439 4.30100743] [ 0. 0. 0. 1. ]] SLAMing on 204.981193817 meters Centerline goodness : 0.930078 with order 1 Centerline is valid? [False, False] Translation: X:50.41, Y:0.89, Z:4.32 [[ 0.99157726 -0.0799277 -0.10191223 50.41101878] [ 0.11518416 0.90400246 0.41171855 0.88580177] [ 0.05922119 -0.41998943 0.90559468 4.31581882] [ 0. 0. 0. 1. ]] SLAMing on 205.041193817 meters Centerline goodness : 0.932571 with order 1 Centerline is valid? [False, False] Translation: X:50.40, Y:0.90, Z:4.32 [[ 0.99243225 -0.07557976 -0.09677773 50.40177001] [ 0.10606547 0.92475882 0.36547399 0.9011764 ] [ 0.06187362 -0.37297295 0.92577688 4.32288006] [ 0. 0. 0. 1. ]] SLAMing on 205.101193817 meters Centerline goodness : 0.934022 with order 1 Centerline is valid? [False, False] Translation: X:50.39, Y:0.91, Z:4.33 [[ 0.99355147 -0.0661117 -0.09211257 50.39162884] [ 0.09252912 0.94229916 0.3217307 0.91377901] [ 0.06552743 -0.32817911 0.94233998 4.32936545] [ 0. 0. 0. 1. ]] SLAMing on 205.161193817 meters Centerline goodness : 0.933844 with order 1 Centerline is valid? [False, False] Translation: X:50.39, Y:0.92, Z:4.34 [[ 0.99430657 -0.06168125 -0.08689003 50.38795207] [ 0.08359858 0.95717954 0.27716168 0.9244868 ] [ 0.06607368 -0.28284756 0.95688637 4.33632041] [ 0. 0. 0. 1. ]] SLAMing on 205.221193817 meters Centerline goodness : 0.934404 with order 1 Centerline is valid? [False, False] Translation: X:50.39, Y:0.93, Z:4.34 [[ 0.99491298 -0.05822733 -0.08220547 50.39202772] [ 0.07667205 0.96698857 0.24301133 0.92607209] [ 0.06534185 -0.24807799 0.96653389 4.34488864] [ 0. 0. 0. 1. ]] SLAMing on 205.281193817 meters Centerline goodness : 0.936205 with order 1 Centerline is valid? [False, False] Translation: X:50.41, Y:0.93, Z:4.35 [[ 0.99509464 -0.06084996 -0.07799957 50.40698307] [ 0.07646663 0.97335112 0.2161954 0.92765016] [ 0.06276549 -0.22109925 0.97322948 4.35272061] [ 0. 0. 0. 1. ]] SLAMing on 205.341193817 meters Centerline goodness : 0.935147 with order 1 Centerline is valid? [False, False] Translation: X:50.46, Y:0.92, Z:4.36 [[ 0.9950148 -0.06849993 -0.07247967 50.4632442 ] [ 0.08302061 0.97163361 0.22144009 0.91527946] [ 0.05525505 -0.22635347 0.97247673 4.36090556] [ 0. 0. 0. 1. ]] SLAMing on 205.401193817 meters Centerline goodness : 0.938432 with order 1 Centerline is valid? [False, False] Translation: X:50.48, Y:0.91, Z:4.37 [[ 0.99422949 -0.07484298 -0.07685214 50.47585517] [ 0.08942154 0.97395979 0.20834135 0.90759161] [ 0.05925801 -0.21401135 0.97503212 4.3688229 ] [ 0. 0. 0. 1. ]] SLAMing on 205.461193817 meters Centerline goodness : 0.930860 with order 1 Centerline is valid? [False, False] Translation: X:50.48, Y:0.89, Z:4.37 [[ 0.99338214 -0.08286413 -0.0795328 50.47531666] [ 0.09678331 0.97677682 0.19115449 0.89489471] [ 0.06184594 -0.1975869 0.97833251 4.37144137] [ 0. 0. 0. 1. ]] SLAMing on 205.521193817 meters Centerline goodness : 0.930014 with order 1 Centerline is valid? [False, False] Translation: X:50.48, Y:0.89, Z:4.38 [[ 0.99255156 -0.08970612 -0.08242701 50.48266639] [ 0.10365128 0.97736014 0.18445481 0.8862309 ] [ 0.06401415 -0.19162458 0.97937848 4.37574764] [ 0. 0. 0. 1. ]] SLAMing on 205.581193817 meters Centerline goodness : 0.931972 with order 1 Centerline is valid? [False, False] Translation: X:50.48, Y:0.87, Z:4.38 [[ 0.99117169 -0.104882 -0.08110761 50.48248668] [ 0.11772684 0.97758774 0.17453538 0.87343333] [ 0.06098419 -0.18254307 0.98130472 4.38075615] [ 0. 0. 0. 1. ]] SLAMing on 205.64119381700002 meters Centerline goodness : 0.930553 with order 1 Centerline is valid? [False, False] Translation: X:50.49, Y:0.87, Z:4.39 [[ 0.9897567 -0.11620456 -0.08293476 50.49147906] [ 0.1282446 0.97893902 0.15884496 0.86952465] [ 0.06272957 -0.1678538 0.98381406 4.38568165] [ 0. 0. 0. 1. ]] SLAMing on 205.701193817 meters Centerline goodness : 0.931900 with order 1 Centerline is valid? [False, False] Translation: X:50.49, Y:0.86, Z:4.39 [[ 0.98891546 -0.12770247 -0.07575145 50.48858584] [ 0.13694007 0.98162593 0.13288319 0.86415841] [ 0.05739008 -0.14178365 0.98823265 4.38819251] [ 0. 0. 0. 1. ]] SLAMing on 205.761193817 meters Centerline goodness : 0.938449 with order 1 Centerline is valid? [False, False] Translation: X:50.48, Y:0.86, Z:4.39 [[ 0.98938551 -0.12786668 -0.06903924 50.47948214] [ 0.135122 0.98432426 0.11334814 0.86168169] [ 0.05346355 -0.12147372 0.99115376 4.3912091 ] [ 0. 0. 0. 1. ]] SLAMing on 205.821193817 meters Centerline goodness : 0.939094 with order 1 Centerline is valid? [False, False] Translation: X:50.47, Y:0.86, Z:4.39 [[ 0.99069985 -0.1168101 -0.06977969 50.47335668] [ 0.12385856 0.9865038 0.1070949 0.86276027] [ 0.05632816 -0.11474172 0.99179709 4.39437876] [ 0. 0. 0. 1. ]] SLAMing on 205.881193817 meters Centerline goodness : 0.942008 with order 1 Centerline is valid? [False, False] Translation: X:50.46, Y:0.87, Z:4.39 [[ 0.99221638 -0.105243 -0.06656243 50.45541879] [ 0.11109182 0.9896063 0.09131255 0.86785017] [ 0.0562606 -0.09799635 0.99359522 4.39451179] [ 0. 0. 0. 1. ]] SLAMing on 205.941193817 meters Centerline goodness : 0.944914 with order 1 Centerline is valid? [False, False] Translation: X:50.44, Y:0.87, Z:4.39 [[ 0.99365444 -0.09371099 -0.06220215 50.44397734] [ 0.09841601 0.99212583 0.07746366 0.87095222] [ 0.05445316 -0.0830938 0.9950529 4.39419759] [ 0. 0. 0. 1. ]] SLAMing on 206.001193817 meters Centerline goodness : 0.942135 with order 1 Centerline is valid? [False, False] Translation: X:50.45, Y:0.87, Z:4.39 [[ 0.99400195 -0.08770434 -0.06533043 50.4467162 ] [ 0.09167331 0.99395235 0.06045435 0.87468237] [ 0.05963322 -0.0660808 0.99603073 4.39471252] [ 0. 0. 0. 1. ]] SLAMing on 206.061193817 meters Centerline goodness : 0.942369 with order 1 Centerline is valid? [False, False] Translation: X:50.45, Y:0.87, Z:4.39 [[ 0.99396533 -0.08835328 -0.06501246 50.44597761] [ 0.09225186 0.99394879 0.05962721 0.87471817] [ 0.0593508 -0.0652649 0.99610139 4.39491805] [ 0. 0. 0. 1. ]] SLAMing on 206.121193817 meters Centerline goodness : 0.942643 with order 1 Centerline is valid? [False, False] Translation: X:50.44, Y:0.87, Z:4.40 [[ 0.99381689 -0.09051782 -0.06430014 50.44454578] [ 0.09432436 0.99380017 0.05885698 0.86818234] [ 0.05857389 -0.06455813 0.99619343 4.3968836 ] [ 0. 0. 0. 1. ]] SLAMing on 206.181193817 meters Centerline goodness : 0.942026 with order 1 Centerline is valid? [False, False] Translation: X:50.44, Y:0.86, Z:4.40 [[ 0.99392349 -0.09140606 -0.06132722 50.44048474] [ 0.09484685 0.99392925 0.05575596 0.86302021] [ 0.05585849 -0.06123385 0.9965592 4.39536112] [ 0. 0. 0. 1. ]] SLAMing on 206.241193817 meters Centerline goodness : 0.939224 with order 1 Centerline is valid? [False, False] Translation: X:50.45, Y:0.86, Z:4.40 [[ 9.94543967e-01 -8.51536928e-02 -6.02589860e-02 5.04456316e+01] [ 8.74753272e-02 9.95479487e-01 3.69953878e-02 8.56076318e-01] [ 5.68362906e-02 -4.20647142e-02 9.97496965e-01 4.39710290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.301193817 meters Centerline goodness : 0.936599 with order 1 Centerline is valid? [False, False] Translation: X:50.45, Y:0.85, Z:4.40 [[ 9.94506358e-01 -8.57499059e-02 -6.00338060e-02 5.04461129e+01] [ 8.80916275e-02 9.95405976e-01 3.75074494e-02 8.48812607e-01] [ 5.65417490e-02 -4.25898725e-02 9.97491420e-01 4.39744002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.36119381700001 meters Centerline goodness : 0.936660 with order 1 Centerline is valid? [False, False] Translation: X:50.45, Y:0.83, Z:4.40 [[ 9.94082007e-01 -9.01625209e-02 -6.05944083e-02 5.04486204e+01] [ 9.24367322e-02 9.95073545e-01 3.58342147e-02 8.34713818e-01] [ 5.70649896e-02 -4.12232972e-02 9.97519036e-01 4.39919152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.42119381700002 meters Centerline goodness : 0.935412 with order 1 Centerline is valid? [False, False] Translation: X:50.47, Y:0.81, Z:4.40 [[ 0.99341857 -0.09573759 -0.06287974 50.46607372] [ 0.09898715 0.99379276 0.05076907 0.81408715] [ 0.05762892 -0.05665922 0.99672897 4.40159928] [ 0. 0. 0. 1. ]] SLAMing on 206.481193817 meters Centerline goodness : 0.936237 with order 1 Centerline is valid? [False, False] Translation: X:50.47, Y:0.81, Z:4.40 [[ 9.92682538e-01 -1.03233476e-01 -6.26436575e-02 5.04680068e+01] [ 1.06137737e-01 9.93335061e-01 4.49470467e-02 8.05908990e-01] [ 5.75861015e-02 -5.12670045e-02 9.97023337e-01 4.40189759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.541193817 meters Centerline goodness : 0.936940 with order 1 Centerline is valid? [False, False] Translation: X:50.48, Y:0.80, Z:4.41 [[ 9.91728498e-01 -1.12719445e-01 -6.13914667e-02 5.04784702e+01] [ 1.13438744e-01 9.93509913e-01 8.34887899e-03 8.01476383e-01] [ 6.00519498e-02 -1.52439921e-02 9.98078847e-01 4.40705285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.601193817 meters Centerline goodness : 0.935163 with order 1 Centerline is valid? [False, False] Translation: X:50.50, Y:0.80, Z:4.41 [[ 9.91172241e-01 -1.18380204e-01 -5.96968653e-02 5.04977076e+01] [ 1.17914918e-01 9.92959747e-01 -1.12700084e-02 7.97070311e-01] [ 6.06107302e-02 4.13136851e-03 9.98152930e-01 4.40852913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.661193817 meters Centerline goodness : 0.937590 with order 1 Centerline is valid? [False, False] Translation: X:50.52, Y:0.79, Z:4.41 [[ 9.90710139e-01 -1.23894067e-01 -5.60685276e-02 5.05207486e+01] [ 1.22315424e-01 9.92014024e-01 -3.07752095e-02 7.91058688e-01] [ 5.94336315e-02 2.36312664e-02 9.97952507e-01 4.40697532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.721193817 meters Centerline goodness : 0.937800 with order 1 Centerline is valid? [False, False] Translation: X:50.55, Y:0.79, Z:4.41 [[ 9.90716576e-01 -1.24121803e-01 -5.54476772e-02 5.05506523e+01] [ 1.22049406e-01 9.91744480e-01 -3.93297465e-02 7.88676539e-01] [ 5.98716068e-02 3.21972757e-02 9.97686687e-01 4.40838778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.781193817 meters Centerline goodness : 0.942209 with order 1 Centerline is valid? [False, False] Translation: X:50.58, Y:0.79, Z:4.41 [[ 9.90606937e-01 -1.26271179e-01 -5.24736596e-02 5.05767600e+01] [ 1.23444933e-01 9.90880418e-01 -5.40124626e-02 7.91664087e-01] [ 5.88153391e-02 4.70275127e-02 9.97160553e-01 4.41037952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.841193817 meters Centerline goodness : 0.942000 with order 1 Centerline is valid? [False, False] Translation: X:50.60, Y:0.78, Z:4.41 [[ 9.90340628e-01 -1.28928429e-01 -5.10186214e-02 5.05982047e+01] [ 1.26269301e-01 9.90615704e-01 -5.23124239e-02 7.83506991e-01] [ 5.72844063e-02 4.53650330e-02 9.97326682e-01 4.40996202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.901193817 meters Centerline goodness : 0.944490 with order 1 Centerline is valid? [False, False] Translation: X:50.64, Y:0.78, Z:4.41 [[ 9.90081498e-01 -1.31611357e-01 -4.91637983e-02 5.06355979e+01] [ 1.28938099e-01 9.90176407e-01 -5.40892763e-02 7.83262553e-01] [ 5.57995962e-02 4.72137050e-02 9.97325058e-01 4.41221451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.961193817 meters Centerline goodness : 0.948352 with order 1 Centerline is valid? [False, False] Translation: X:50.65, Y:0.78, Z:4.41 [[ 9.90036277e-01 -1.32600413e-01 -4.73845970e-02 5.06548222e+01] [ 1.30250975e-01 9.90237109e-01 -4.96502836e-02 7.77957735e-01] [ 5.35056345e-02 4.29836919e-02 9.97641995e-01 4.41232059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.021193817 meters Centerline goodness : 0.945943 with order 1 Centerline is valid? [False, False] Translation: X:50.68, Y:0.78, Z:4.41 [[ 9.90044629e-01 -1.33066347e-01 -4.58800498e-02 5.06758371e+01] [ 1.30787817e-01 9.90171985e-01 -4.95377351e-02 7.78562154e-01] [ 5.20209454e-02 4.30440171e-02 9.97717913e-01 4.41195065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.081193817 meters Centerline goodness : 0.947238 with order 1 Centerline is valid? [False, False] Translation: X:50.72, Y:0.79, Z:4.41 [[ 9.90028102e-01 -1.33450942e-01 -4.51132320e-02 5.07151097e+01] [ 1.30909436e-01 9.89853211e-01 -5.52570307e-02 7.88894006e-01] [ 5.20295803e-02 4.88002655e-02 9.97452484e-01 4.41214797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.14119381700002 meters Centerline goodness : 0.946134 with order 1 Centerline is valid? [False, False] Translation: X:50.75, Y:0.80, Z:4.41 [[ 9.90647362e-01 -1.31589923e-01 -3.60817936e-02 5.07506198e+01] [ 1.28578362e-01 9.88789821e-01 -7.59097783e-02 8.02087486e-01] [ 4.56662721e-02 7.05604837e-02 9.96461645e-01 4.41291983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.201193817 meters Centerline goodness : 0.945187 with order 1 Centerline is valid? [False, False] Translation: X:50.78, Y:0.82, Z:4.42 [[ 9.91572938e-01 -1.27668779e-01 -2.19952665e-02 5.07802305e+01] [ 1.23893273e-01 9.84132584e-01 -1.27017768e-01 8.23973679e-01] [ 3.78624619e-02 1.23222316e-01 9.91656541e-01 4.41795165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.261193817 meters Centerline goodness : 0.947398 with order 1 Centerline is valid? [False, False] Translation: X:50.81, Y:0.84, Z:4.42 [[ 9.92316367e-01 -1.23047186e-01 -1.29467589e-02 5.08128714e+01] [ 1.19111422e-01 9.78371060e-01 -1.69122847e-01 8.42302139e-01] [ 3.34768246e-02 1.66281262e-01 9.85509941e-01 4.42222713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.321193817 meters Centerline goodness : 0.945758 with order 1 Centerline is valid? [False, False] Translation: X:50.82, Y:0.88, Z:4.44 [[ 9.93490154e-01 -1.13911301e-01 1.23658561e-03 5.08227775e+01] [ 1.09179251e-01 9.49008583e-01 -2.95740764e-01 8.83451465e-01] [ 3.25146849e-02 2.93950547e-01 9.55267434e-01 4.44148629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.381193817 meters Centerline goodness : 0.942426 with order 1 Centerline is valid? [False, False] Translation: X:50.85, Y:0.90, Z:4.46 [[ 9.94218218e-01 -1.07206228e-01 6.07938755e-03 5.08500548e+01] [ 1.02016281e-01 9.25386984e-01 -3.65036447e-01 9.02447875e-01] [ 3.35083943e-02 3.63546083e-01 9.30973379e-01 4.45542006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.441193817 meters Centerline goodness : 0.939755 with order 1 Centerline is valid? [False, False] Translation: X:50.85, Y:0.89, Z:4.45 [[ 9.94532317e-01 -1.04409466e-01 -2.03294267e-03 5.08530487e+01] [ 9.80132135e-02 9.39970619e-01 -3.26877110e-01 8.86727482e-01] [ 3.60399710e-02 3.24890594e-01 9.45064666e-01 4.45101882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.501193817 meters Centerline goodness : 0.940385 with order 1 Centerline is valid? [False, False] Translation: X:50.87, Y:0.89, Z:4.46 [[ 9.95075162e-01 -9.90182542e-02 4.56140458e-03 5.08743567e+01] [ 9.38458936e-02 9.26283928e-01 -3.64953467e-01 8.93393569e-01] [ 3.19118994e-02 3.63584199e-01 9.31014587e-01 4.45843139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.561193817 meters Centerline goodness : 0.942267 with order 1 Centerline is valid? [False, False] Translation: X:50.86, Y:0.87, Z:4.45 [[ 9.95535250e-01 -9.43902198e-02 -2.30466418e-04 5.08648900e+01] [ 8.93173460e-02 9.42815633e-01 -3.21124732e-01 8.72650776e-01] [ 3.05283214e-02 3.19670405e-01 9.47036881e-01 4.45468545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.621193817 meters Centerline goodness : 0.944532 with order 1 Centerline is valid? [False, False] Translation: X:50.86, Y:0.85, Z:4.45 [[ 9.95374841e-01 -9.59776148e-02 -4.15008236e-03 5.08639854e+01] [ 9.07982083e-02 9.54012715e-01 -2.85684137e-01 8.52249769e-01] [ 3.13785134e-02 2.83985982e-01 9.58314850e-01 4.45183383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.681193817 meters Centerline goodness : 0.949122 with order 1 Centerline is valid? [False, False] Translation: X:50.87, Y:0.82, Z:4.45 [[ 9.94333711e-01 -1.06113523e-01 -6.35540211e-03 5.08680721e+01] [ 1.01194153e-01 9.63159939e-01 -2.49163952e-01 8.23717945e-01] [ 3.25609336e-02 2.47108988e-01 9.68440465e-01 4.44966846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.741193817 meters Centerline goodness : 0.953149 with order 1 Centerline is valid? [False, True] Translation: X:50.89, Y:0.81, Z:4.45 [[ 9.93328331e-01 -1.14894224e-01 -9.90678412e-03 5.08854135e+01] [ 1.10133759e-01 9.70618375e-01 -2.13940469e-01 8.06673305e-01] [ 3.41962310e-02 2.11422058e-01 9.76796464e-01 4.45070488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.801193817 meters Centerline goodness : 0.955385 with order 1 Centerline is valid? [True, True] Translation: X:50.95, Y:0.72, Z:4.46 [[ 9.92058133e-01 -1.21456350e-01 -3.26957990e-02 5.09524920e+01] [ 1.21409461e-01 9.92596608e-01 -3.42298960e-03 7.18569085e-01] [ 3.28694830e-02 -5.73774668e-04 9.99459488e-01 4.45973819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.86119381700001 meters Centerline goodness : 0.957090 with order 1 Centerline is valid? [True, True] Translation: X:51.01, Y:0.71, Z:4.46 [[ 9.91339275e-01 -1.27190793e-01 -3.26947203e-02 5.10118919e+01] [ 1.27146680e-01 9.91877984e-01 -3.43326156e-03 7.13656911e-01] [ 3.28658525e-02 -7.53498118e-04 9.99459488e-01 4.46305047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.92119381700002 meters Centerline goodness : 0.954815 with order 1 Centerline is valid? [True, True] Translation: X:51.07, Y:0.72, Z:4.46 [[ 9.90907598e-01 -1.30511485e-01 -3.26937854e-02 5.10707690e+01] [ 1.30468885e-01 9.91446429e-01 -3.44214148e-03 7.15535070e-01] [ 3.28633758e-02 -8.54677583e-04 9.99459488e-01 4.46122229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.981193817 meters Centerline goodness : 0.952103 with order 1 Centerline is valid? [True, True] Translation: X:51.13, Y:0.72, Z:4.46 [[ 9.89976142e-01 -1.37398743e-01 -3.26928577e-02 5.11295336e+01] [ 1.37359601e-01 9.90515235e-01 -3.45093001e-03 7.18364550e-01] [ 3.28569271e-02 -1.07433951e-03 9.99459488e-01 4.45834814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.041193817 meters Centerline goodness : 0.951173 with order 1 Centerline is valid? [True, True] Translation: X:51.19, Y:0.72, Z:4.46 [[ 9.89609695e-01 -1.40013889e-01 -3.26919423e-02 5.11883516e+01] [ 1.39975886e-01 9.90148869e-01 -3.45958087e-03 7.20991766e-01] [ 3.28542790e-02 -1.15244880e-03 9.99459488e-01 4.45822557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.101193817 meters Centerline goodness : 0.948968 with order 1 Centerline is valid? [True, False] Translation: X:51.21, Y:0.72, Z:4.46 [[ 9.90490795e-01 -1.33689924e-01 -3.24806101e-02 5.12112322e+01] [ 1.33247013e-01 9.90962460e-01 -1.54478670e-02 7.24349403e-01] [ 3.42522895e-02 1.09730257e-02 9.99352977e-01 4.45656179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.161193817 meters Centerline goodness : 0.948979 with order 1 Centerline is valid? [False, False] Translation: X:51.24, Y:0.74, Z:4.46 [[ 9.91860194e-01 -1.23624226e-01 -3.05025507e-02 5.12438303e+01] [ 1.22505545e-01 9.91808606e-01 -3.61673874e-02 7.35276130e-01] [ 3.47238576e-02 3.21362603e-02 9.98880130e-01 4.45522142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.221193817 meters Centerline goodness : 0.954076 with order 1 Centerline is valid? [False, True] Translation: X:51.28, Y:0.75, Z:4.46 [[ 9.93027736e-01 -1.15345333e-01 -2.43180789e-02 5.12797163e+01] [ 1.13956654e-01 9.92106260e-01 -5.23359297e-02 7.46977198e-01] [ 3.01628235e-02 4.91998229e-02 9.98333402e-01 4.45515123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.281193817 meters Centerline goodness : 0.961162 with order 1 Centerline is valid? [True, True] Translation: X:51.34, Y:0.74, Z:4.47 [[ 9.93917546e-01 -1.06103805e-01 -2.94939786e-02 5.13399362e+01] [ 1.06059197e-01 9.94355056e-01 -3.07719173e-03 7.35819931e-01] [ 2.96539885e-02 -6.96328278e-05 9.99560221e-01 4.47244317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.341193817 meters Centerline goodness : 0.962943 with order 1 Centerline is valid? [True, True] Translation: X:51.40, Y:0.74, Z:4.47 [[ 9.94013416e-01 -1.05201923e-01 -2.94937939e-02 5.13979080e+01] [ 1.05156865e-01 9.94450881e-01 -3.07896143e-03 7.43308410e-01] [ 2.96540420e-02 -4.09459244e-05 9.99560221e-01 4.47373995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.401193817 meters Centerline goodness : 0.960185 with order 1 Centerline is valid? [True, True] Translation: X:51.46, Y:0.75, Z:4.48 [[ 9.93731824e-01 -1.07829662e-01 -2.94928157e-02 5.14571518e+01] [ 1.07785484e-01 9.94169378e-01 -3.08830282e-03 7.47324814e-01] [ 2.96538649e-02 -1.09952613e-04 9.99560221e-01 4.47603178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.461193817 meters Centerline goodness : 0.954981 with order 1 Centerline is valid? [True, True] Translation: X:51.52, Y:0.75, Z:4.47 [[ 9.93863468e-01 -1.06609711e-01 -2.94919856e-02 5.15158062e+01] [ 1.06564761e-01 9.94300943e-01 -3.09620973e-03 7.50281043e-01] [ 2.96539951e-02 -6.55966683e-05 9.99560221e-01 4.47381795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.521193817 meters Centerline goodness : 0.949637 with order 1 Centerline is valid? [True, False] Translation: X:51.54, Y:0.75, Z:4.47 [[ 9.94163250e-01 -1.03779120e-01 -2.94843386e-02 5.15404005e+01] [ 1.03235305e-01 9.94467601e-01 -1.94077905e-02 7.53050717e-01] [ 3.13353428e-02 1.62506874e-02 9.99376812e-01 4.47113662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.581193817 meters Centerline goodness : 0.949151 with order 1 Centerline is valid? [False, False] Translation: X:51.57, Y:0.75, Z:4.47 [[ 9.94557131e-01 -1.00824935e-01 -2.62763519e-02 5.15713737e+01] [ 9.95848031e-02 9.94017036e-01 -4.48664493e-02 7.53823567e-01] [ 3.06427983e-02 4.20055217e-02 9.98647363e-01 4.47068583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.64119381700002 meters Centerline goodness : 0.948134 with order 1 Centerline is valid? [False, False] Translation: X:51.60, Y:0.75, Z:4.47 [[ 9.94542566e-01 -1.01470529e-01 -2.42655392e-02 5.16007592e+01] [ 9.98927832e-02 9.93235540e-01 -5.91996096e-02 7.54427465e-01] [ 3.01084116e-02 5.64525794e-02 9.97951196e-01 4.46957737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.701193817 meters Centerline goodness : 0.949388 with order 1 Centerline is valid? [False, False] Translation: X:51.63, Y:0.76, Z:4.47 [[ 9.94649456e-01 -1.00704841e-01 -2.30433228e-02 5.16288474e+01] [ 9.88256231e-02 9.92512737e-01 -7.17771834e-02 7.57045521e-01] [ 3.00991012e-02 6.91158657e-02 9.97154472e-01 4.46927145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.761193817 meters Centerline goodness : 0.943935 with order 1 Centerline is valid? [False, False] Translation: X:51.67, Y:0.75, Z:4.47 [[ 9.95110359e-01 -9.60776262e-02 -2.29011780e-02 5.16681808e+01] [ 9.43689118e-02 9.93302766e-01 -6.66642638e-02 7.50446649e-01] [ 2.91527477e-02 6.41771402e-02 9.97512612e-01 4.47023326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.821193817 meters Centerline goodness : 0.944449 with order 1 Centerline is valid? [False, False] Translation: X:51.69, Y:0.75, Z:4.47 [[ 9.95591089e-01 -9.11020694e-02 -2.23337433e-02 5.16944464e+01] [ 8.92956440e-02 9.93422462e-01 -7.16805367e-02 7.46090885e-01] [ 2.87170875e-02 6.93701976e-02 9.97177569e-01 4.47417366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.881193817 meters Centerline goodness : 0.949136 with order 1 Centerline is valid? [False, False] Translation: X:51.73, Y:0.74, Z:4.48 [[ 9.95783257e-01 -8.99013357e-02 -1.82607551e-02 5.17275307e+01] [ 8.83768072e-02 9.93492057e-01 -7.18545288e-02 7.40392233e-01] [ 2.46017333e-02 6.99377094e-02 9.97247949e-01 4.47891342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.941193817 meters Centerline goodness : 0.950120 with order 1 Centerline is valid? [False, True] Translation: X:51.75, Y:0.74, Z:4.48 [[ 9.95585666e-01 -9.18104095e-02 -1.94943922e-02 5.17546903e+01] [ 9.03836771e-02 9.93814656e-01 -6.45230285e-02 7.35464019e-01] [ 2.52976983e-02 6.24762274e-02 9.97725788e-01 4.48327399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.001193817 meters Centerline goodness : 0.944014 with order 1 Centerline is valid? [True, False] Translation: X:51.77, Y:0.72, Z:4.48 [[ 9.94850411e-01 -9.82401468e-02 -2.49305788e-02 5.17671039e+01] [ 9.66115710e-02 9.93525977e-01 -5.97690390e-02 7.24158527e-01] [ 3.06408968e-02 5.70526707e-02 9.97900861e-01 4.48464254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.061193817 meters Centerline goodness : 0.939588 with order 1 Centerline is valid? [False, False] Translation: X:51.78, Y:0.72, Z:4.48 [[ 9.94211940e-01 -1.03285183e-01 -2.95768305e-02 5.17808632e+01] [ 1.01502751e-01 9.93230261e-01 -5.64875132e-02 7.18521656e-01] [ 3.52109262e-02 5.31584305e-02 9.97965116e-01 4.48454975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.121193817 meters Centerline goodness : 0.936583 with order 1 Centerline is valid? [False, False] Translation: X:51.79, Y:0.71, Z:4.48 [[ 9.93797991e-01 -1.05756416e-01 -3.43676182e-02 5.17939571e+01] [ 1.03920540e-01 9.93255592e-01 -5.14183881e-02 7.12566984e-01] [ 3.95736534e-02 4.75279894e-02 9.98085676e-01 4.48462169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.181193817 meters Centerline goodness : 0.933416 with order 1 Centerline is valid? [False, False] Translation: X:51.82, Y:0.71, Z:4.49 [[ 9.93989052e-01 -1.03206007e-01 -3.65278748e-02 5.18166907e+01] [ 1.01405293e-01 9.93680341e-01 -4.81284317e-02 7.07693686e-01] [ 4.12641744e-02 4.41350143e-02 9.98173015e-01 4.48522335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.241193817 meters Centerline goodness : 0.928693 with order 1 Centerline is valid? [False, False] Translation: X:51.84, Y:0.70, Z:4.49 [[ 9.94259999e-01 -1.00128020e-01 -3.77019032e-02 5.18388954e+01] [ 9.84488433e-02 9.94167300e-01 -4.40364040e-02 7.02543766e-01] [ 4.18912772e-02 4.00719263e-02 9.98318267e-01 4.48517815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.301193817 meters Centerline goodness : 0.929278 with order 1 Centerline is valid? [False, False] Translation: X:51.86, Y:0.70, Z:4.49 [[ 9.94393130e-01 -9.94359273e-02 -3.59833187e-02 5.18574632e+01] [ 9.79423345e-02 9.94341679e-01 -4.11330145e-02 6.95895967e-01] [ 3.98698129e-02 3.73780968e-02 9.98505521e-01 4.48640863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.36119381700001 meters Centerline goodness : 0.927211 with order 1 Centerline is valid? [False, False] Translation: X:51.88, Y:0.69, Z:4.49 [[ 9.94345607e-01 -9.95406172e-02 -3.69929522e-02 5.18791669e+01] [ 9.80561080e-02 9.94377188e-01 -3.99875833e-02 6.92784198e-01] [ 4.07653365e-02 3.61340928e-02 9.98515155e-01 4.48690392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.42119381700002 meters Centerline goodness : 0.924508 with order 1 Centerline is valid? [False, False] Translation: X:51.89, Y:0.69, Z:4.49 [[ 9.93552374e-01 -1.06060759e-01 -4.00599003e-02 5.18855653e+01] [ 1.04405143e-01 9.93673505e-01 -4.13827406e-02 6.89667003e-01] [ 4.41955465e-02 3.69334605e-02 9.98339959e-01 4.49022050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.481193817 meters Centerline goodness : 0.924364 with order 1 Centerline is valid? [False, False] Translation: X:51.89, Y:0.69, Z:4.49 [[ 9.93054966e-01 -1.09397386e-01 -4.32902562e-02 5.18913445e+01] [ 1.07683683e-01 9.93375323e-01 -4.01209689e-02 6.87603615e-01] [ 4.73926014e-02 3.51806732e-02 9.98256611e-01 4.49377011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.541193817 meters Centerline goodness : 0.921941 with order 1 Centerline is valid? [False, False] Translation: X:51.89, Y:0.69, Z:4.49 [[ 9.92734417e-01 -1.12047941e-01 -4.38592789e-02 5.18947405e+01] [ 1.10208603e-01 9.93006738e-01 -4.23282649e-02 6.89116690e-01] [ 4.82953544e-02 3.71870555e-02 9.98140612e-01 4.49167224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.601193817 meters Centerline goodness : 0.919220 with order 1 Centerline is valid? [False, False] Translation: X:51.90, Y:0.69, Z:4.49 [[ 9.92700339e-01 -1.12239495e-01 -4.41399240e-02 5.18954697e+01] [ 1.10378379e-01 9.92977891e-01 -4.25619783e-02 6.89224872e-01] [ 4.86071036e-02 3.73791970e-02 9.98118302e-01 4.49159568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.661193817 meters Centerline goodness : 0.919393 with order 1 Centerline is valid? [False, False] Translation: X:51.91, Y:0.70, Z:4.49 [[ 9.93247476e-01 -1.08156056e-01 -4.19728410e-02 5.19138884e+01] [ 1.06395382e-01 9.93430681e-01 -4.21367484e-02 6.95264915e-01] [ 4.62544525e-02 3.73865025e-02 9.98229821e-01 4.49132564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.721193817 meters Centerline goodness : 0.916991 with order 1 Centerline is valid? [False, False] Translation: X:51.94, Y:0.70, Z:4.49 [[ 9.93376495e-01 -1.06040574e-01 -4.42553571e-02 5.19364866e+01] [ 1.04213608e-01 9.93678937e-01 -4.17336114e-02 6.96550995e-01] [ 4.84010723e-02 3.68451782e-02 9.98148170e-01 4.49189034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.781193817 meters Centerline goodness : 0.916791 with order 1 Centerline is valid? [False, False] Translation: X:51.94, Y:0.70, Z:4.49 [[ 9.93080858e-01 -1.08047157e-01 -4.60023958e-02 5.19400294e+01] [ 1.06128403e-01 9.93452544e-01 -4.22942766e-02 6.96107495e-01] [ 5.02709734e-02 3.71194757e-02 9.98045577e-01 4.49255325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.841193817 meters Centerline goodness : 0.909693 with order 1 Centerline is valid? [False, False] Translation: X:51.96, Y:0.70, Z:4.49 [[ 9.93059919e-01 -1.07229054e-01 -4.83107287e-02 5.19634372e+01] [ 1.05144035e-01 9.93491247e-01 -4.38163574e-02 7.01178486e-01] [ 5.26946727e-02 3.84326834e-02 9.97870833e-01 4.49149205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.901193817 meters Centerline goodness : 0.910471 with order 1 Centerline is valid? [False, False] Translation: X:51.97, Y:0.70, Z:4.50 [[ 9.92666436e-01 -1.09014501e-01 -5.22416015e-02 5.19702337e+01] [ 1.06941548e-01 9.93421091e-01 -4.09638968e-02 7.04228284e-01] [ 5.63635675e-02 3.50766877e-02 9.97793954e-01 4.49533114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.961193817 meters Centerline goodness : 0.916055 with order 1 Centerline is valid? [False, False] Translation: X:51.98, Y:0.71, Z:4.49 [[ 9.92663674e-01 -1.12703801e-01 -4.37799540e-02 5.19762921e+01] [ 1.11148771e-01 9.93134363e-01 -3.64703583e-02 7.05895681e-01] [ 4.75897248e-02 3.13367118e-02 9.98375294e-01 4.49482407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.021193817 meters Centerline goodness : 0.917069 with order 1 Centerline is valid? [False, False] Translation: X:51.99, Y:0.72, Z:4.50 [[ 9.92696121e-01 -1.14431565e-01 -3.82076873e-02 5.19899477e+01] [ 1.12780168e-01 9.92693503e-01 -4.28980534e-02 7.17356429e-01] [ 4.28374143e-02 3.82756618e-02 9.98348601e-01 4.49508453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.081193817 meters Centerline goodness : 0.917466 with order 1 Centerline is valid? [False, False] Translation: X:52.01, Y:0.73, Z:4.49 [[ 9.93147836e-01 -1.11006819e-01 -3.65357620e-02 5.20089654e+01] [ 1.09346871e-01 9.92999372e-01 -4.46711224e-02 7.27341126e-01] [ 4.12387880e-02 4.03699573e-02 9.98333426e-01 4.49359471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.14119381700002 meters Centerline goodness : 0.911545 with order 1 Centerline is valid? [False, False] Translation: X:52.05, Y:0.75, Z:4.49 [[ 9.94127565e-01 -1.01451815e-01 -3.76552045e-02 5.20484722e+01] [ 9.94348584e-02 9.93681873e-01 -5.20484705e-02 7.49464604e-01] [ 4.26977060e-02 4.79985793e-02 9.97934388e-01 4.49372941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.201193817 meters Centerline goodness : 0.911497 with order 1 Centerline is valid? [False, False] Translation: X:52.09, Y:0.76, Z:4.49 [[ 9.94990256e-01 -9.26423087e-02 -3.75738476e-02 5.20875526e+01] [ 9.06225332e-02 9.94510881e-01 -5.23035757e-02 7.64331997e-01] [ 4.22131243e-02 4.86365110e-02 9.97924116e-01 4.49275668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.261193817 meters Centerline goodness : 0.906187 with order 1 Centerline is valid? [False, False] Translation: X:52.13, Y:0.80, Z:4.49 [[ 9.96397255e-01 -8.09221548e-02 -2.53794058e-02 5.21328740e+01] [ 7.81322021e-02 9.92272946e-01 -9.63833942e-02 7.95106598e-01] [ 3.29828497e-02 9.40532006e-02 9.95020667e-01 4.49072723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.321193817 meters Centerline goodness : 0.907109 with order 1 Centerline is valid? [False, False] Translation: X:52.18, Y:0.81, Z:4.49 [[ 9.97264774e-01 -7.18281628e-02 -1.74265783e-02 5.21793053e+01] [ 6.91924588e-02 9.90167234e-01 -1.21578175e-01 8.13912123e-01] [ 2.59879638e-02 1.20039843e-01 9.92428870e-01 4.49188051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.381193817 meters Centerline goodness : 0.902285 with order 1 Centerline is valid? [False, False] Translation: X:52.22, Y:0.85, Z:4.50 [[ 9.97948653e-01 -6.38474424e-02 -4.68931699e-03 5.22193741e+01] [ 6.15357103e-02 9.76860102e-01 -2.04835781e-01 8.48999713e-01] [ 1.76590474e-02 2.04127031e-01 9.78785121e-01 4.49703884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.441193817 meters Centerline goodness : 0.904873 with order 1 Centerline is valid? [False, False] Translation: X:52.25, Y:0.86, Z:4.50 [[ 9.97981303e-01 -6.33824091e-02 3.99866468e-03 5.22478262e+01] [ 6.27159978e-02 9.73658478e-01 -2.19216497e-01 8.55848763e-01] [ 1.00011359e-02 2.19024746e-01 9.75668047e-01 4.49611100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.501193817 meters Centerline goodness : 0.901424 with order 1 Centerline is valid? [False, False] Translation: X:52.29, Y:0.86, Z:4.50 [[ 9.97908003e-01 -6.31190761e-02 1.39856908e-02 5.22881140e+01] [ 6.46321839e-02 9.68937448e-01 -2.38710921e-01 8.62310981e-01] [ 1.51595326e-03 2.39115464e-01 9.70989957e-01 4.49710585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.561193817 meters Centerline goodness : 0.896670 with order 1 Centerline is valid? [False, False] Translation: X:52.31, Y:0.86, Z:4.50 [[ 9.97716413e-01 -6.53748501e-02 1.69731466e-02 5.23088980e+01] [ 6.75175869e-02 9.72140545e-01 -2.24464110e-01 8.58650723e-01] [-1.82597649e-03 2.25097512e-01 9.74334530e-01 4.49524342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.621193817 meters Centerline goodness : 0.898784 with order 1 Centerline is valid? [False, False] Translation: X:52.34, Y:0.87, Z:4.50 [[ 9.97480209e-01 -6.44227385e-02 2.97143558e-02 5.23407048e+01] [ 6.98396142e-02 9.65314120e-01 -2.51577180e-01 8.65996592e-01] [-1.24763963e-02 2.53018498e-01 9.67380990e-01 4.49551349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.681193817 meters Centerline goodness : 0.899814 with order 1 Centerline is valid? [False, False] Translation: X:52.37, Y:0.86, Z:4.50 [[ 9.97361693e-01 -6.77373024e-02 2.61019381e-02 5.23679023e+01] [ 7.19393392e-02 9.70406433e-01 -2.30512659e-01 8.56856485e-01] [-9.71518298e-03 2.31782252e-01 9.72719180e-01 4.49515006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.741193817 meters Centerline goodness : 0.897222 with order 1 Centerline is valid? [False, False] Translation: X:52.39, Y:0.85, Z:4.50 [[ 9.97260322e-01 -7.14275915e-02 1.92340805e-02 5.23905000e+01] [ 7.38786234e-02 9.74801003e-01 -2.10487418e-01 8.46504598e-01] [-3.71479163e-03 2.11331738e-01 9.77407334e-01 4.49565882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.801193817 meters Centerline goodness : 0.889601 with order 1 Centerline is valid? [False, False] Translation: X:52.41, Y:0.84, Z:4.50 [[ 9.96993593e-01 -7.60092935e-02 1.50453473e-02 5.24145295e+01] [ 7.74839405e-02 9.78314882e-01 -1.92083914e-01 8.39350128e-01] [-1.18924548e-04 1.92672205e-01 9.81263169e-01 4.49724707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.86119381700001 meters Centerline goodness : 0.891128 with order 1 Centerline is valid? [False, False] Translation: X:52.44, Y:0.83, Z:4.50 [[ 9.96673290e-01 -8.11226598e-02 7.84013721e-03 5.24417441e+01] [ 8.12622382e-02 9.81796732e-01 -1.71673020e-01 8.29750797e-01] [ 6.22915088e-03 1.71739020e-01 9.85122788e-01 4.49898653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.92119381700002 meters Centerline goodness : 0.889466 with order 1 Centerline is valid? [False, False] Translation: X:52.46, Y:0.82, Z:4.50 [[ 9.96604282e-01 -8.20651852e-02 6.72386517e-03 5.24597258e+01] [ 8.21192361e-02 9.84632541e-01 -1.54127189e-01 8.22715415e-01] [ 6.02793990e-03 1.54155976e-01 9.88028137e-01 4.50043690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.981193817 meters Centerline goodness : 0.888439 with order 1 Centerline is valid? [False, False] Translation: X:52.48, Y:0.81, Z:4.50 [[ 9.96657514e-01 -8.13402757e-02 7.58682759e-03 5.24786303e+01] [ 8.16182490e-02 9.87457446e-01 -1.35152706e-01 8.14986759e-01] [ 3.50168900e-03 1.35320184e-01 9.90795734e-01 4.50133760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.041193817 meters Centerline goodness : 0.881549 with order 1 Centerline is valid? [False, False] Translation: X:52.50, Y:0.81, Z:4.50 [[ 9.96653524e-01 -8.12049885e-02 9.35429173e-03 5.24977062e+01] [ 8.17410015e-02 9.89531279e-01 -1.18938040e-01 8.09240260e-01] [ 4.01997902e-04 1.19304646e-01 9.92857613e-01 4.50146050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.101193817 meters Centerline goodness : 0.879152 with order 1 Centerline is valid? [False, False] Translation: X:52.51, Y:0.80, Z:4.50 [[ 9.96699077e-01 -8.02371262e-02 1.23674077e-02 5.25129209e+01] [ 8.10799809e-02 9.91529575e-01 -1.01464960e-01 7.99869135e-01] [-4.12139364e-03 1.02132782e-01 9.94762237e-01 4.50422772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.161193817 meters Centerline goodness : 0.877464 with order 1 Centerline is valid? [False, False] Translation: X:52.54, Y:0.80, Z:4.51 [[ 9.96860480e-01 -7.83737400e-02 1.12579288e-02 5.25398816e+01] [ 7.90729390e-02 9.92749439e-01 -9.05318852e-02 7.95895167e-01] [-4.08098006e-03 9.11378560e-02 9.95829924e-01 4.50614490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.221193817 meters Centerline goodness : 0.878364 with order 1 Centerline is valid? [False, False] Translation: X:52.56, Y:0.79, Z:4.51 [[ 9.97092773e-01 -7.45645018e-02 1.56887504e-02 5.25567036e+01] [ 7.56686826e-02 9.93168826e-01 -8.88252996e-02 7.91727967e-01] [-8.95836365e-03 8.97542113e-02 9.95923656e-01 4.50551063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.281193817 meters Centerline goodness : 0.876642 with order 1 Centerline is valid? [False, False] Translation: X:52.58, Y:0.79, Z:4.50 [[ 9.97384638e-01 -6.90808483e-02 2.12537171e-02 5.25808090e+01] [ 7.09198820e-02 9.92100208e-01 -1.03477278e-01 7.93453370e-01] [-1.39375191e-02 1.04713958e-01 9.94404713e-01 4.50063599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.341193817 meters Centerline goodness : 0.875730 with order 1 Centerline is valid? [False, False] Translation: X:52.62, Y:0.80, Z:4.50 [[ 9.97462812e-01 -6.75221081e-02 2.25544802e-02 5.26193032e+01] [ 6.95783261e-02 9.91689053e-01 -1.08220509e-01 7.95872722e-01] [-1.50597542e-02 1.09515236e-01 9.93871026e-01 4.49756000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.401193817 meters Centerline goodness : 0.873554 with order 1 Centerline is valid? [False, False] Translation: X:52.64, Y:0.79, Z:4.50 [[ 9.97240724e-01 -7.22957387e-02 1.68601411e-02 5.26385085e+01] [ 7.35680937e-02 9.92837064e-01 -9.41397861e-02 7.86389199e-01] [-9.93346758e-03 9.51203969e-02 9.95416213e-01 4.50022897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.461193817 meters Centerline goodness : 0.874027 with order 1 Centerline is valid? [False, False] Translation: X:52.64, Y:0.78, Z:4.50 [[ 9.96589374e-01 -8.04947110e-02 1.81720123e-02 5.26444958e+01] [ 8.17323990e-02 9.93202143e-01 -8.28813485e-02 7.76470137e-01] [-1.13769714e-02 8.40839133e-02 9.96393727e-01 4.49966290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.521193817 meters Centerline goodness : 0.872097 with order 1 Centerline is valid? [False, False] Translation: X:52.65, Y:0.77, Z:4.50 [[ 9.95853740e-01 -8.86022941e-02 2.06146173e-02 5.26490283e+01] [ 8.98676896e-02 9.93358325e-01 -7.18542676e-02 7.67321209e-01] [-1.41112488e-02 7.34089292e-02 9.97202087e-01 4.49837803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.581193817 meters Centerline goodness : 0.866461 with order 1 Centerline is valid? [False, False] Translation: X:52.65, Y:0.76, Z:4.50 [[ 9.94784966e-01 -9.99385661e-02 2.03753549e-02 5.26549413e+01] [ 1.01005526e-01 9.93033460e-01 -6.06830420e-02 7.57020609e-01] [-1.41688329e-02 6.24246013e-02 9.97949104e-01 4.49732710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.64119381700002 meters Centerline goodness : 0.870334 with order 1 Centerline is valid? [False, False] Translation: X:52.66, Y:0.75, Z:4.50 [[ 9.94457099e-01 -1.03757107e-01 1.70159277e-02 5.26624875e+01] [ 1.04576909e-01 9.92835947e-01 -5.77966507e-02 7.52997718e-01] [-1.08972114e-02 5.92557627e-02 9.98183353e-01 4.50042742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.701193817 meters Centerline goodness : 0.861488 with order 1 Centerline is valid? [False, False] Translation: X:52.68, Y:0.75, Z:4.50 [[ 9.94723370e-01 -1.00415868e-01 2.10254556e-02 5.26784277e+01] [ 1.01445833e-01 9.93286755e-01 -5.55892596e-02 7.51353639e-01] [-1.53022628e-02 5.74288806e-02 9.98232320e-01 4.50136970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.761193817 meters Centerline goodness : 0.858336 with order 1 Centerline is valid? [False, False] Translation: X:52.69, Y:0.76, Z:4.50 [[ 9.95369736e-01 -9.29997323e-02 2.42927479e-02 5.26942882e+01] [ 9.41928231e-02 9.94102670e-01 -5.37363357e-02 7.55251008e-01] [-1.91520207e-02 5.57757248e-02 9.98259620e-01 4.50030067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.821193817 meters Centerline goodness : 0.854305 with order 1 Centerline is valid? [False, False] Translation: X:52.71, Y:0.76, Z:4.50 [[ 9.95805140e-01 -8.79290792e-02 2.53100651e-02 5.27135360e+01] [ 8.91640408e-02 9.94621798e-01 -5.26996378e-02 7.58371078e-01] [-2.05401119e-02 5.47353179e-02 9.98289612e-01 4.49877795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.881193817 meters Centerline goodness : 0.859852 with order 1 Centerline is valid? [False, False] Translation: X:52.73, Y:0.76, Z:4.50 [[ 9.96080562e-01 -8.38381361e-02 2.81900935e-02 5.27317272e+01] [ 8.52294426e-02 9.94980838e-01 -5.24316138e-02 7.60771844e-01] [-2.36528341e-02 5.46287373e-02 9.98226550e-01 4.49696384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.941193817 meters Centerline goodness : 0.850040 with order 1 Centerline is valid? [False, False] Translation: X:52.76, Y:0.76, Z:4.49 [[ 9.96939985e-01 -7.30725941e-02 2.77680118e-02 5.27617781e+01] [ 7.45289573e-02 9.95665346e-01 -5.56412837e-02 7.64492990e-01] [-2.35817941e-02 5.75405415e-02 9.98064620e-01 4.49391515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.001193817 meters Centerline goodness : 0.851770 with order 1 Centerline is valid? [False, False] Translation: X:52.79, Y:0.76, Z:4.49 [[ 9.97649281e-01 -6.31204384e-02 2.66781119e-02 5.27896343e+01] [ 6.45920642e-02 9.96197473e-01 -5.84676019e-02 7.64045955e-01] [-2.28861670e-02 6.00533554e-02 9.97932772e-01 4.49394417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.061193817 meters Centerline goodness : 0.848097 with order 1 Centerline is valid? [False, False] Translation: X:52.82, Y:0.77, Z:4.49 [[ 9.98006400e-01 -5.61051608e-02 2.89039313e-02 5.28171933e+01] [ 5.79082312e-02 9.96146660e-01 -6.58670563e-02 7.65083669e-01] [-2.50970729e-02 6.74095193e-02 9.97409692e-01 4.49219031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.121193817 meters Centerline goodness : 0.850875 with order 1 Centerline is valid? [False, False] Translation: X:52.84, Y:0.76, Z:4.49 [[ 9.98345710e-01 -4.86010277e-02 3.07210630e-02 5.28444486e+01] [ 5.07308528e-02 9.96052489e-01 -7.28410545e-02 7.62448305e-01] [-2.70596411e-02 7.42790600e-02 9.96870301e-01 4.49032436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.181193817 meters Centerline goodness : 0.850784 with order 1 Centerline is valid? [False, False] Translation: X:52.87, Y:0.76, Z:4.49 [[ 9.98556795e-01 -4.58065728e-02 2.80372072e-02 5.28708168e+01] [ 4.74990047e-02 9.96881718e-01 -6.30133710e-02 7.55270161e-01] [-2.50633527e-02 6.42541692e-02 9.97618780e-01 4.49183812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.241193817 meters Centerline goodness : 0.849685 with order 1 Centerline is valid? [False, False] Translation: X:52.89, Y:0.75, Z:4.49 [[ 9.98588266e-01 -4.36500351e-02 3.02679635e-02 5.28902690e+01] [ 4.54051594e-02 9.97168024e-01 -5.99525037e-02 7.49179745e-01] [-2.75653165e-02 6.12421884e-02 9.97742225e-01 4.49021069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.301193817 meters Centerline goodness : 0.852814 with order 1 Centerline is valid? [False, False] Translation: X:52.90, Y:0.74, Z:4.49 [[ 9.98042848e-01 -5.20468144e-02 3.46641470e-02 5.29006341e+01] [ 5.39624473e-02 9.96924243e-01 -5.68340406e-02 7.37365625e-01] [-3.15994978e-02 5.85933699e-02 9.97781684e-01 4.48769624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.36119381700001 meters Centerline goodness : 0.853414 with order 1 Centerline is valid? [False, False] Translation: X:52.92, Y:0.73, Z:4.49 [[ 9.97181429e-01 -6.91951457e-02 2.90039589e-02 5.29228204e+01] [ 7.05840974e-02 9.96253576e-01 -4.99669646e-02 7.25630764e-01] [-2.54378264e-02 5.18733475e-02 9.98329641e-01 4.49101355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.42119381700002 meters Centerline goodness : 0.852842 with order 1 Centerline is valid? [False, False] Translation: X:52.93, Y:0.72, Z:4.49 [[ 9.96548260e-01 -7.82032160e-02 2.78536018e-02 5.29276533e+01] [ 7.96854478e-02 9.95199423e-01 -5.68184666e-02 7.20347741e-01] [-2.32765017e-02 5.88418707e-02 9.97995911e-01 4.48935711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.481193817 meters Centerline goodness : 0.853380 with order 1 Centerline is valid? [False, False] Translation: X:52.93, Y:0.72, Z:4.49 [[ 9.96435161e-01 -7.97781851e-02 2.74301289e-02 5.29302605e+01] [ 8.12525697e-02 9.95024131e-01 -5.76627983e-02 7.18487087e-01] [-2.26934068e-02 5.96860082e-02 9.97959212e-01 4.48737864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.541193817 meters Centerline goodness : 0.852512 with order 1 Centerline is valid? [False, False] Translation: X:52.96, Y:0.72, Z:4.49 [[ 9.96791455e-01 -7.65554682e-02 2.33678287e-02 5.29570187e+01] [ 7.76544473e-02 9.95703402e-01 -5.04432583e-02 7.17792823e-01] [-1.94057193e-02 5.20960246e-02 9.98453515e-01 4.48858644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.601193817 meters Centerline goodness : 0.854361 with order 1 Centerline is valid? [False, False] Translation: X:52.98, Y:0.72, Z:4.49 [[ 9.97531539e-01 -6.65709635e-02 2.23413449e-02 5.29812660e+01] [ 6.76743991e-02 9.96302444e-01 -5.29302891e-02 7.19347178e-01] [-1.87351162e-02 5.43115698e-02 9.98348260e-01 4.49085616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.661193817 meters Centerline goodness : 0.854800 with order 1 Centerline is valid? [False, False] Translation: X:53.02, Y:0.72, Z:4.49 [[ 9.98156326e-01 -5.58842169e-02 2.36834090e-02 5.30165868e+01] [ 5.70039043e-02 9.97141919e-01 -4.95837562e-02 7.22792383e-01] [-2.08447705e-02 5.08423867e-02 9.98489132e-01 4.49082331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.721193817 meters Centerline goodness : 0.855232 with order 1 Centerline is valid? [False, False] Translation: X:53.04, Y:0.72, Z:4.49 [[ 9.98427157e-01 -5.25787810e-02 1.94598236e-02 5.30449406e+01] [ 5.33819560e-02 9.97632527e-01 -4.33556047e-02 7.22972175e-01] [-1.71341682e-02 4.43262166e-02 9.98870165e-01 4.49142026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.781193817 meters Centerline goodness : 0.857424 with order 1 Centerline is valid? [False, False] Translation: X:53.07, Y:0.72, Z:4.49 [[ 9.98699629e-01 -4.86392764e-02 1.52732111e-02 5.30723529e+01] [ 4.91931059e-02 9.98056069e-01 -3.82638401e-02 7.23840295e-01] [-1.33823955e-02 3.89654196e-02 9.99150943e-01 4.49024960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.841193817 meters Centerline goodness : 0.856769 with order 1 Centerline is valid? [False, False] Translation: X:53.10, Y:0.72, Z:4.49 [[ 9.98816266e-01 -4.67300032e-02 1.35045839e-02 5.30953207e+01] [ 4.72410585e-02 9.98066484e-01 -4.03927778e-02 7.23528670e-01] [-1.15909179e-02 4.09829343e-02 9.99092613e-01 4.48758563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.901193817 meters Centerline goodness : 0.864524 with order 1 Centerline is valid? [False, False] Translation: X:53.12, Y:0.72, Z:4.49 [[ 9.99036818e-01 -4.23186954e-02 1.16002104e-02 5.31226055e+01] [ 4.28262807e-02 9.97942960e-01 -4.77049157e-02 7.22837663e-01] [-9.55753847e-03 4.81557610e-02 9.98794111e-01 4.48817063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.961193817 meters Centerline goodness : 0.864585 with order 1 Centerline is valid? [False, False] Translation: X:53.15, Y:0.72, Z:4.49 [[ 9.99078879e-01 -4.16372777e-02 1.03793808e-02 5.31513076e+01] [ 4.20197433e-02 9.98321661e-01 -3.98522587e-02 7.20706411e-01] [-8.70262113e-03 4.02516888e-02 9.99151673e-01 4.48946806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.021193817 meters Centerline goodness : 0.869171 with order 1 Centerline is valid? [False, False] Translation: X:53.17, Y:0.72, Z:4.49 [[ 9.99152080e-01 -3.98900601e-02 1.01933581e-02 5.31724560e+01] [ 4.02592994e-02 9.98426616e-01 -3.90317941e-02 7.18721889e-01] [-8.62033939e-03 3.94090757e-02 9.99185976e-01 4.48820402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.081193817 meters Centerline goodness : 0.864552 with order 1 Centerline is valid? [False, False] Translation: X:53.19, Y:0.72, Z:4.49 [[ 9.99179266e-01 -3.94737311e-02 9.08951342e-03 5.31941918e+01] [ 3.98104717e-02 9.98388048e-01 -4.04528275e-02 7.17240641e-01] [-7.47803753e-03 4.07814843e-02 9.99140105e-01 4.48712114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.14119381700002 meters Centerline goodness : 0.861730 with order 1 Centerline is valid? [False, False] Translation: X:53.21, Y:0.72, Z:4.49 [[ 9.99067355e-01 -4.14761988e-02 1.20060420e-02 5.32118526e+01] [ 4.19747011e-02 9.98115010e-01 -4.47722097e-02 7.15563469e-01] [-1.01264297e-02 4.52344031e-02 9.98925074e-01 4.48695695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.201193817 meters Centerline goodness : 0.861351 with order 1 Centerline is valid? [False, False] Translation: X:53.24, Y:0.71, Z:4.49 [[ 9.99136420e-01 -4.08636242e-02 7.52184869e-03 5.32396544e+01] [ 4.11382629e-02 9.98314013e-01 -4.09484521e-02 7.14538774e-01] [-5.83586479e-03 4.12225256e-02 9.99132947e-01 4.48832073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.261193817 meters Centerline goodness : 0.862487 with order 1 Centerline is valid? [False, False] Translation: X:53.26, Y:0.71, Z:4.49 [[ 9.99339115e-01 -3.57876367e-02 6.37007092e-03 5.32607273e+01] [ 3.60109365e-02 9.98578078e-01 -3.93069299e-02 7.13447524e-01] [-4.95431105e-03 3.95103448e-02 9.99206879e-01 4.48716130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.321193817 meters Centerline goodness : 0.863294 with order 1 Centerline is valid? [False, False] Translation: X:53.29, Y:0.71, Z:4.49 [[ 9.99722735e-01 -2.32460608e-02 3.75158729e-03 5.32899393e+01] [ 2.33801523e-02 9.98889955e-01 -4.08928607e-02 7.14776860e-01] [-2.79682493e-03 4.09692352e-02 9.99156494e-01 4.48639814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.381193817 meters Centerline goodness : 0.863699 with order 1 Centerline is valid? [False, False] Translation: X:53.32, Y:0.71, Z:4.49 [[ 9.99902294e-01 -1.38982499e-02 1.49678255e-03 5.33189117e+01] [ 1.39514502e-02 9.98893952e-01 -4.49024534e-02 7.13807172e-01] [-8.71061521e-04 4.49189484e-02 9.98990255e-01 4.48605545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.441193817 meters Centerline goodness : 0.865542 with order 1 Centerline is valid? [False, False] Translation: X:53.35, Y:0.71, Z:4.49 [[ 9.99928540e-01 -1.19530388e-02 1.98977372e-04 5.33454253e+01] [ 1.19523525e-02 9.99264654e-01 -3.64320159e-02 7.06618290e-01] [ 2.36642245e-04 3.64317907e-02 9.99336114e-01 4.48883050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.501193817 meters Centerline goodness : 0.869887 with order 1 Centerline is valid? [False, False] Translation: X:53.35, Y:0.70, Z:4.49 [[ 9.99892941e-01 -1.33000780e-02 6.10038186e-03 5.33543100e+01] [ 1.34644053e-02 9.99524558e-01 -2.77374802e-02 7.02754018e-01] [-5.72857083e-03 2.78166487e-02 9.99596627e-01 4.48672828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.561193817 meters Centerline goodness : 0.866828 with order 1 Centerline is valid? [False, False] Translation: X:53.37, Y:0.70, Z:4.49 [[ 9.99847511e-01 -1.29470143e-02 1.17188071e-02 5.33678524e+01] [ 1.32909047e-02 9.99468731e-01 -2.97591687e-02 7.00035880e-01] [-1.13272889e-02 2.99103843e-02 9.99488400e-01 4.48854931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.621193817 meters Centerline goodness : 0.869802 with order 1 Centerline is valid? [False, False] Translation: X:53.40, Y:0.70, Z:4.49 [[ 9.99898710e-01 -8.75098705e-03 1.12244984e-02 5.33961895e+01] [ 9.19483634e-03 9.99152535e-01 -4.01206437e-02 6.99688827e-01] [-1.08638908e-02 4.02197873e-02 9.99131795e-01 4.48740800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.681193817 meters Centerline goodness : 0.872262 with order 1 Centerline is valid? [False, False] Translation: X:53.42, Y:0.70, Z:4.49 [[ 9.99915085e-01 -8.52385505e-03 9.85732255e-03 5.34247293e+01] [ 8.89235650e-03 9.99239521e-01 -3.79645244e-02 7.01248037e-01] [-9.52622216e-03 3.80489555e-02 9.99230468e-01 4.48644065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.741193817 meters Centerline goodness : 0.871188 with order 1 Centerline is valid? [False, False] Translation: X:53.45, Y:0.70, Z:4.48 [[ 9.99956444e-01 -6.34051491e-03 6.84899382e-03 5.34485877e+01] [ 6.59848659e-03 9.99243582e-01 -3.83239284e-02 6.99626043e-01] [-6.60081968e-03 3.83674521e-02 9.99241897e-01 4.48361835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.801193817 meters Centerline goodness : 0.871732 with order 1 Centerline is valid? [False, False] Translation: X:53.48, Y:0.70, Z:4.48 [[ 9.99974163e-01 -6.36865897e-03 3.33355192e-03 5.34769281e+01] [ 6.47962776e-03 9.99386805e-01 -3.44097277e-02 6.95869502e-01] [-3.11236399e-03 3.44304388e-02 9.99402250e-01 4.48427444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.86119381700001 meters Centerline goodness : 0.869535 with order 1 Centerline is valid? [False, False] Translation: X:53.48, Y:0.69, Z:4.48 [[ 9.99952748e-01 -9.49563151e-03 2.08189139e-03 5.34826218e+01] [ 9.56510957e-03 9.99292096e-01 -3.63842625e-02 6.91263011e-01] [-1.73492607e-03 3.64024568e-02 9.99335705e-01 4.47971921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.92119381700002 meters Centerline goodness : 0.869243 with order 1 Centerline is valid? [False, False] Translation: X:53.49, Y:0.69, Z:4.48 [[ 9.99924787e-01 -1.22332616e-02 8.76360446e-04 5.34872398e+01] [ 1.22575238e-02 9.99221355e-01 -3.75024953e-02 6.85239206e-01] [-4.16900238e-04 3.75104166e-02 9.99296150e-01 4.47683141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.981193817 meters Centerline goodness : 0.874189 with order 1 Centerline is valid? [False, False] Translation: X:53.49, Y:0.68, Z:4.48 [[ 9.99915094e-01 -1.30254688e-02 3.77949388e-04 5.34889719e+01] [ 1.30305287e-02 9.99228551e-01 -3.70473839e-02 6.80495511e-01] [ 1.04901722e-04 3.70491632e-02 9.99313439e-01 4.47597167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.041193817 meters Centerline goodness : 0.873351 with order 1 Centerline is valid? [False, False] Translation: X:53.50, Y:0.68, Z:4.48 [[ 9.99846036e-01 -1.65964337e-02 5.69758360e-03 5.34959497e+01] [ 1.67600554e-02 9.99409861e-01 -2.99838486e-02 6.75394394e-01] [-5.19659627e-03 3.00747239e-02 9.99534145e-01 4.47585672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.101193817 meters Centerline goodness : 0.875332 with order 1 Centerline is valid? [False, False] Translation: X:53.51, Y:0.67, Z:4.48 [[ 9.99780256e-01 -1.80731161e-02 1.06208158e-02 5.35112134e+01] [ 1.84195095e-02 9.99269770e-01 -3.34760833e-02 6.73447247e-01] [-1.00080430e-02 3.36643574e-02 9.99383085e-01 4.47642611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.161193817 meters Centerline goodness : 0.875656 with order 1 Centerline is valid? [False, False] Translation: X:53.52, Y:0.67, Z:4.48 [[ 9.99574563e-01 -2.69340262e-02 1.11915490e-02 5.35209897e+01] [ 2.72517808e-02 9.99199613e-01 -2.92826538e-02 6.72650145e-01] [-1.03938917e-02 2.95751855e-02 9.99508517e-01 4.48183129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.221193817 meters Centerline goodness : 0.873511 with order 1 Centerline is valid? [False, False] Translation: X:53.55, Y:0.67, Z:4.48 [[ 9.99481463e-01 -3.11261340e-02 8.24435349e-03 5.35498573e+01] [ 3.13540628e-02 9.99083638e-01 -2.91342944e-02 6.74202711e-01] [-7.32996073e-03 2.93776812e-02 9.99541507e-01 4.48291972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.281193817 meters Centerline goodness : 0.872069 with order 1 Centerline is valid? [False, False] Translation: X:53.58, Y:0.68, Z:4.48 [[ 9.99379369e-01 -3.50465091e-02 3.55237304e-03 5.35789269e+01] [ 3.51385373e-02 9.98919010e-01 -3.04317967e-02 6.80096470e-01] [-2.48200472e-03 3.05377350e-02 9.99530533e-01 4.48416985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.341193817 meters Centerline goodness : 0.873977 with order 1 Centerline is valid? [False, False] Translation: X:53.60, Y:0.69, Z:4.48 [[ 9.99386813e-01 -3.45454213e-02 5.71072860e-03 5.35978692e+01] [ 3.47257482e-02 9.98774657e-01 -3.52605698e-02 6.85448356e-01] [-4.48563976e-03 3.54372578e-02 9.99361836e-01 4.48198159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.401193817 meters Centerline goodness : 0.873790 with order 1 Centerline is valid? [False, False] Translation: X:53.62, Y:0.69, Z:4.48 [[ 9.99401690e-01 -3.37447883e-02 7.58624782e-03 5.36172866e+01] [ 3.40239173e-02 9.98608087e-01 -4.03021250e-02 6.91851627e-01] [-6.21570174e-03 4.05361257e-02 9.99158740e-01 4.47933427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.461193817 meters Centerline goodness : 0.876310 with order 1 Centerline is valid? [False, False] Translation: X:53.65, Y:0.70, Z:4.48 [[ 9.99443749e-01 -3.32591974e-02 2.45308497e-03 5.36477641e+01] [ 3.33267371e-02 9.98774427e-01 -3.65919805e-02 6.95930291e-01] [-1.23305863e-03 3.66533795e-02 9.99327278e-01 4.47998939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.521193817 meters Centerline goodness : 0.876838 with order 1 Centerline is valid? [False, False] Translation: X:53.67, Y:0.70, Z:4.48 [[ 9.99429911e-01 -3.36397245e-02 2.86737146e-03 5.36729728e+01] [ 3.37194224e-02 9.98821019e-01 -3.49223660e-02 7.04652437e-01] [-1.68921211e-03 3.49991432e-02 9.99385915e-01 4.48175634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.581193817 meters Centerline goodness : 0.878945 with order 1 Centerline is valid? [False, False] Translation: X:53.70, Y:0.71, Z:4.48 [[ 9.99416240e-01 -3.39468796e-02 3.84570556e-03 5.36987516e+01] [ 3.40497430e-02 9.98941697e-01 -3.09208808e-02 7.10629133e-01] [-2.79196822e-03 3.10337757e-02 9.99514437e-01 4.48380491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.64119381700002 meters Centerline goodness : 0.885779 with order 1 Centerline is valid? [False, False] Translation: X:53.73, Y:0.73, Z:4.48 [[ 9.99231562e-01 -3.85502567e-02 7.08259197e-03 5.37259078e+01] [ 3.87759664e-02 9.98630788e-01 -3.51137284e-02 7.26917444e-01] [-5.71925115e-03 3.53613801e-02 9.99358226e-01 4.48080120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.701193817 meters Centerline goodness : 0.884652 with order 1 Centerline is valid? [False, False] Translation: X:53.74, Y:0.74, Z:4.48 [[ 9.99198404e-01 -3.85082457e-02 1.09390890e-02 5.37432836e+01] [ 3.89307361e-02 9.98381078e-01 -4.14683068e-02 7.40489090e-01] [-9.32450774e-03 4.18609328e-02 9.99079935e-01 4.47761741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.761193817 meters Centerline goodness : 0.886832 with order 1 Centerline is valid? [False, False] Translation: X:53.78, Y:0.77, Z:4.48 [[ 9.99250949e-01 -3.57512945e-02 1.48117123e-02 5.37769966e+01] [ 3.64429323e-02 9.98113737e-01 -4.94052606e-02 7.65228828e-01] [-1.30174715e-02 4.99080357e-02 9.98668981e-01 4.47533833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.821193817 meters Centerline goodness : 0.894141 with order 1 Centerline is valid? [False, False] Translation: X:53.81, Y:0.78, Z:4.47 [[ 9.99374528e-01 -3.15503836e-02 1.59726689e-02 5.38142251e+01] [ 3.23552603e-02 9.98074016e-01 -5.29282160e-02 7.80617363e-01] [-1.42720003e-02 5.34119107e-02 9.98470569e-01 4.47388877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.881193817 meters Centerline goodness : 0.892423 with order 1 Centerline is valid? [False, False] Translation: X:53.86, Y:0.81, Z:4.47 [[ 9.99517818e-01 -2.76646102e-02 1.40996930e-02 5.38590110e+01] [ 2.84166762e-02 9.98011130e-01 -5.62696816e-02 8.06920816e-01] [-1.25149718e-02 5.66432158e-02 9.98316043e-01 4.47188886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.941193817 meters Centerline goodness : 0.888554 with order 1 Centerline is valid? [False, False] Translation: X:53.90, Y:0.82, Z:4.47 [[ 9.99649710e-01 -2.22291760e-02 1.43638776e-02 5.38974816e+01] [ 2.30198836e-02 9.98082718e-01 -5.74540972e-02 8.22046579e-01] [-1.30591808e-02 5.77646264e-02 9.98244813e-01 4.46914719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.001193817 meters Centerline goodness : 0.887599 with order 1 Centerline is valid? [False, False] Translation: X:53.94, Y:0.84, Z:4.47 [[ 9.99725259e-01 -1.74803318e-02 1.56155071e-02 5.39353181e+01] [ 1.84071888e-02 9.97947908e-01 -6.13282045e-02 8.44241034e-01] [-1.45114252e-02 6.15987927e-02 9.97995495e-01 4.46692530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.061193817 meters Centerline goodness : 0.886600 with order 1 Centerline is valid? [False, False] Translation: X:53.97, Y:0.86, Z:4.46 [[ 9.99763296e-01 -1.47280450e-02 1.60136639e-02 5.39742428e+01] [ 1.57154572e-02 9.97864964e-01 -6.33919392e-02 8.57428646e-01] [-1.50458349e-02 6.36285961e-02 9.97860223e-01 4.46482372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.121193817 meters Centerline goodness : 0.887280 with order 1 Centerline is valid? [False, False] Translation: X:54.01, Y:0.88, Z:4.47 [[ 9.99807309e-01 -1.00795634e-02 1.68448060e-02 5.40136678e+01] [ 1.13045106e-02 9.97173220e-01 -7.42817431e-02 8.79992231e-01] [-1.60484619e-02 7.44578520e-02 9.97095018e-01 4.46649104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.181193817 meters Centerline goodness : 0.889387 with order 1 Centerline is valid? [False, False] Translation: X:54.06, Y:0.90, Z:4.47 [[ 9.99751992e-01 -1.11611998e-03 2.22420379e-02 5.40589291e+01] [ 3.25088055e-03 9.95359105e-01 -9.61752756e-02 8.99331145e-01] [-2.20314718e-02 9.62237296e-02 9.95115877e-01 4.46823793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.241193817 meters Centerline goodness : 0.890590 with order 1 Centerline is valid? [False, False] Translation: X:54.06, Y:0.92, Z:4.47 [[ 9.99705145e-01 1.17083723e-02 2.12729393e-02 5.40620621e+01] [-9.81002279e-03 9.96138293e-01 -8.72482981e-02 9.17053045e-01] [-2.22123250e-02 8.70138845e-02 9.95959435e-01 4.47031321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.301193817 meters Centerline goodness : 0.891835 with order 1 Centerline is valid? [False, False] Translation: X:54.04, Y:0.92, Z:4.48 [[ 9.99765221e-01 1.61557246e-02 1.44393877e-02 5.40371966e+01] [-1.53828031e-02 9.98522074e-01 -5.21252087e-02 9.24682870e-01] [-1.52601679e-02 5.18908525e-02 9.98536162e-01 4.47764786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.36119381700001 meters Centerline goodness : 0.892595 with order 1 Centerline is valid? [False, False] Translation: X:54.02, Y:0.91, Z:4.49 [[ 9.99920637e-01 1.18619096e-02 4.24439040e-03 5.40213710e+01] [-1.19659896e-02 9.99605754e-01 2.53998380e-02 9.14353408e-01] [-3.94142649e-03 -2.54486105e-02 9.99668362e-01 4.48764906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.42119381700002 meters Centerline goodness : 0.890187 with order 1 Centerline is valid? [False, False] Translation: X:54.01, Y:0.91, Z:4.50 [[ 9.99979727e-01 5.10160162e-03 -3.81034427e-03 5.40082247e+01] [-4.79655445e-03 9.97082750e-01 7.61773072e-02 9.11702296e-01] [ 4.18785482e-03 -7.61574864e-02 9.97087007e-01 4.49689031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.481193817 meters Centerline goodness : 0.892724 with order 1 Centerline is valid? [False, False] Translation: X:53.99, Y:0.91, Z:4.51 [[ 9.99957594e-01 4.32895713e-04 -9.19905839e-03 5.39858058e+01] [ 6.37896376e-04 9.93239513e-01 1.16081278e-01 9.06920161e-01] [ 9.18711936e-03 -1.16082223e-01 9.93197118e-01 4.50918472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.541193817 meters Centerline goodness : 0.898221 with order 1 Centerline is valid? [False, False] Translation: X:53.98, Y:0.90, Z:4.52 [[ 9.99879656e-01 -7.35199013e-03 -1.36609658e-02 5.39755874e+01] [ 9.30882189e-03 9.88761921e-01 1.49208612e-01 9.04432485e-01] [ 1.24104626e-02 -1.49317823e-01 9.88711367e-01 4.52260869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.601193817 meters Centerline goodness : 0.897988 with order 1 Centerline is valid? [False, False] Translation: X:53.95, Y:0.90, Z:4.54 [[ 9.99563537e-01 -1.42199047e-02 -2.58945953e-02 5.39498001e+01] [ 1.92521529e-02 9.78387950e-01 2.05879514e-01 8.96199590e-01] [ 2.24073729e-02 -2.06288182e-01 9.78234683e-01 4.53976748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.661193817 meters Centerline goodness : 0.898886 with order 1 Centerline is valid? [False, False] Translation: X:53.94, Y:0.90, Z:4.54 [[ 9.99574916e-01 -1.65728214e-02 -2.39860096e-02 5.39427259e+01] [ 2.05310137e-02 9.84259489e-01 1.75532722e-01 9.04213288e-01] [ 2.06993851e-02 -1.75950563e-01 9.84181353e-01 4.53659160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.721193817 meters Centerline goodness : 0.901548 with order 1 Centerline is valid? [False, False] Translation: X:53.93, Y:0.91, Z:4.53 [[ 9.99609181e-01 -1.47580486e-02 -2.37420636e-02 5.39338836e+01] [ 1.81582054e-02 9.88510876e-01 1.50055081e-01 9.12562992e-01] [ 2.12547679e-02 -1.50427550e-01 9.88392527e-01 4.53356157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.781193817 meters Centerline goodness : 0.904872 with order 1 Centerline is valid? [False, False] Translation: X:53.93, Y:0.92, Z:4.53 [[ 9.99713397e-01 -1.04985232e-02 -2.15152455e-02 5.39254948e+01] [ 1.31459757e-02 9.91833537e-01 1.26859837e-01 9.20949513e-01] [ 2.00077011e-02 -1.27106318e-01 9.91687287e-01 4.53138133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.841193817 meters Centerline goodness : 0.906271 with order 1 Centerline is valid? [False, False] Translation: X:53.94, Y:0.91, Z:4.55 [[ 9.99408327e-01 -9.58433859e-03 -3.30323511e-02 5.39412064e+01] [ 1.57399605e-02 9.81371377e-01 1.91474474e-01 9.08821951e-01] [ 3.05818477e-02 -1.91881112e-01 9.80941583e-01 4.54821811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.901193817 meters Centerline goodness : 0.909764 with order 1 Centerline is valid? [False, False] Translation: X:53.94, Y:0.89, Z:4.57 [[ 9.98989663e-01 -9.25565679e-03 -4.39771006e-02 5.39419066e+01] [ 2.14107911e-02 9.58388588e-01 2.84662768e-01 8.86578538e-01] [ 3.95124105e-02 -2.85316748e-01 9.57618464e-01 4.56655917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.961193817 meters Centerline goodness : 0.906628 with order 1 Centerline is valid? [False, False] Translation: X:53.95, Y:0.87, Z:4.59 [[ 9.98708512e-01 -1.14391445e-02 -4.95020515e-02 5.39500768e+01] [ 2.91719361e-02 9.26819119e-01 3.74373234e-01 8.65091716e-01] [ 4.15969382e-02 -3.75333806e-01 9.25955846e-01 4.58654276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.021193817 meters Centerline goodness : 0.910297 with order 1 Centerline is valid? [False, False] Translation: X:53.96, Y:0.85, Z:4.61 [[ 9.98373214e-01 -1.36808043e-02 -5.53512546e-02 5.39581414e+01] [ 3.69960302e-02 8.94115020e-01 4.46306649e-01 8.51605686e-01] [ 4.33845542e-02 -4.47628380e-01 8.93166622e-01 4.60592688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.081193817 meters Centerline goodness : 0.908434 with order 1 Centerline is valid? [False, False] Translation: X:53.97, Y:0.84, Z:4.63 [[ 9.97949506e-01 -1.41477005e-02 -6.24229682e-02 5.39724363e+01] [ 4.42474593e-02 8.57184566e-01 5.13105040e-01 8.39900182e-01] [ 4.62487484e-02 -5.14814979e-01 8.56052914e-01 4.62842201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.14119381700002 meters Centerline goodness : 0.913229 with order 1 Centerline is valid? [False, False] Translation: X:53.94, Y:0.86, Z:4.63 [[ 9.97824212e-01 -1.78721987e-02 -6.34620125e-02 5.39447375e+01] [ 4.46363906e-02 8.91532554e-01 4.50751926e-01 8.56283933e-01] [ 4.85225221e-02 -4.52603900e-01 8.90390518e-01 4.62606069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.201193817 meters Centerline goodness : 0.913419 with order 1 Centerline is valid? [False, False] Translation: X:53.91, Y:0.88, Z:4.62 [[ 9.97862876e-01 -2.07664356e-02 -6.19551127e-02 5.39107114e+01] [ 4.24931868e-02 9.26514982e-01 3.73850662e-01 8.76677008e-01] [ 4.96387944e-02 -3.75684367e-01 9.25417336e-01 4.62136948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.261193817 meters Centerline goodness : 0.913151 with order 1 Centerline is valid? [False, False] Translation: X:53.88, Y:0.89, Z:4.62 [[ 9.98049673e-01 -1.75294180e-02 -5.99130234e-02 5.38838287e+01] [ 3.60731915e-02 9.45246638e-01 3.24357084e-01 8.85534549e-01] [ 5.09467930e-02 -3.25885736e-01 9.44035440e-01 4.62274811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.321193817 meters Centerline goodness : 0.909059 with order 1 Centerline is valid? [False, False] Translation: X:53.87, Y:0.90, Z:4.62 [[ 9.98038778e-01 -1.62811397e-02 -6.04443709e-02 5.38687468e+01] [ 3.24833799e-02 9.60105801e-01 2.77743913e-01 8.95951220e-01] [ 5.35110036e-02 -2.79162633e-01 9.58751687e-01 4.62176168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.381193817 meters Centerline goodness : 0.908789 with order 1 Centerline is valid? [False, False] Translation: X:53.86, Y:0.90, Z:4.62 [[ 9.97884936e-01 -4.81151582e-03 -6.48267166e-02 5.38591603e+01] [ 1.99763764e-02 9.71698589e-01 2.35377985e-01 8.97956849e-01] [ 6.18595042e-02 -2.36175148e-01 9.69739502e-01 4.62177954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.441193817 meters Centerline goodness : 0.912020 with order 1 Centerline is valid? [False, False] Translation: X:53.89, Y:0.88, Z:4.64 [[ 9.97570626e-01 8.81568942e-03 -6.91023189e-02 5.38924163e+01] [ 1.25324725e-02 9.53064705e-01 3.02507198e-01 8.76774488e-01] [ 6.85257907e-02 -3.02638318e-01 9.50638872e-01 4.63781812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.501193817 meters Centerline goodness : 0.905116 with order 1 Centerline is valid? [False, False] Translation: X:53.92, Y:0.86, Z:4.64 [[ 9.97344541e-01 2.49721810e-02 -6.84124087e-02 5.39198146e+01] [-3.24288305e-03 9.53670201e-01 3.00836553e-01 8.64560062e-01] [ 7.27554204e-02 -2.99815840e-01 9.51218750e-01 4.64290452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.561193817 meters Centerline goodness : 0.907815 with order 1 Centerline is valid? [False, False] Translation: X:53.95, Y:0.85, Z:4.65 [[ 9.97654260e-01 3.02177853e-02 -6.14236383e-02 5.39523478e+01] [-9.51815775e-03 9.49813575e-01 3.12671678e-01 8.50136617e-01] [ 6.77892510e-02 -3.11353591e-01 9.47873176e-01 4.64984731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.621193817 meters Centerline goodness : 0.910634 with order 1 Centerline is valid? [False, False] Translation: X:53.94, Y:0.84, Z:4.65 [[ 9.97697606e-01 3.07536488e-02 -6.04458367e-02 5.39395410e+01] [-1.36479732e-02 9.64086012e-01 2.65239317e-01 8.41735032e-01] [ 6.64320624e-02 -2.63803668e-01 9.62286031e-01 4.65363381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.681193817 meters Centerline goodness : 0.906704 with order 1 Centerline is valid? [False, False] Translation: X:53.93, Y:0.83, Z:4.66 [[ 9.97803351e-01 2.63595558e-02 -6.07753856e-02 5.39257012e+01] [-1.19099746e-02 9.73857837e-01 2.26845907e-01 8.33797490e-01] [ 6.51661429e-02 -2.25623773e-01 9.72032555e-01 4.65633124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.741193817 meters Centerline goodness : 0.915379 with order 1 Centerline is valid? [False, False] Translation: X:53.90, Y:0.82, Z:4.66 [[ 9.97909157e-01 1.86236586e-02 -6.18908188e-02 5.39023626e+01] [-7.09081993e-03 9.83352146e-01 1.81571688e-01 8.19365808e-01] [ 6.42419986e-02 -1.80753194e-01 9.81428168e-01 4.66178427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.801193817 meters Centerline goodness : 0.913878 with order 1 Centerline is valid? [False, False] Translation: X:53.89, Y:0.81, Z:4.66 [[ 9.97898741e-01 1.42355390e-02 -6.32095935e-02 5.38916234e+01] [-4.05274623e-03 9.87368992e-01 1.58385759e-01 8.10469994e-01] [ 6.46658992e-02 -1.57796777e-01 9.85351967e-01 4.66092787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.86119381700001 meters Centerline goodness : 0.915414 with order 1 Centerline is valid? [False, False] Translation: X:53.89, Y:0.80, Z:4.66 [[ 9.97872676e-01 7.10749893e-03 -6.48043721e-02 5.38926701e+01] [-4.58391312e-05 9.94115533e-01 1.08324998e-01 8.00754634e-01] [ 6.51929527e-02 -1.08091585e-01 9.92001053e-01 4.65918537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.92119381700002 meters Centerline goodness : 0.919012 with order 1 Centerline is valid? [False, False] Translation: X:53.90, Y:0.80, Z:4.66 [[ 9.97796787e-01 3.80822688e-03 -6.62349618e-02 5.39042906e+01] [ 6.87185524e-04 9.97704411e-01 6.77158429e-02 7.97219695e-01] [ 6.63407908e-02 -6.76121662e-02 9.95503639e-01 4.65838518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.981193817 meters Centerline goodness : 0.919323 with order 1 Centerline is valid? [False, False] Translation: X:53.94, Y:0.78, Z:4.66 [[ 9.97586843e-01 4.53051212e-03 -6.92817835e-02 5.39368756e+01] [-1.29943324e-03 9.98912276e-01 4.66109057e-02 7.82178237e-01] [ 6.94175953e-02 -4.64083992e-02 9.96507631e-01 4.65898280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.041193817 meters Centerline goodness : 0.917489 with order 1 Centerline is valid? [False, False] Translation: X:53.96, Y:0.77, Z:4.66 [[ 9.97254811e-01 6.59765675e-03 -7.37516910e-02 5.39620149e+01] [-4.23036001e-03 9.99472221e-01 3.22084516e-02 7.69034376e-01] [ 7.39252667e-02 -3.18080371e-02 9.96756391e-01 4.65817716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.101193817 meters Centerline goodness : 0.914059 with order 1 Centerline is valid? [False, False] Translation: X:53.98, Y:0.76, Z:4.66 [[ 9.97218098e-01 8.81811721e-03 -7.40155822e-02 5.39847316e+01] [-7.48077975e-03 9.99804076e-01 1.83261489e-02 7.60455737e-01] [ 7.41626829e-02 -1.77214730e-02 9.97088685e-01 4.65707488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.161193817 meters Centerline goodness : 0.913907 with order 1 Centerline is valid? [False, False] Translation: X:54.01, Y:0.75, Z:4.66 [[ 9.97353995e-01 7.11387482e-03 -7.23491663e-02 5.40054210e+01] [-6.98467340e-03 9.99973529e-01 2.03864945e-03 7.45746218e-01] [ 7.23617538e-02 -1.52791987e-03 9.97377282e-01 4.65684851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.221193817 meters Centerline goodness : 0.911813 with order 1 Centerline is valid? [False, False] Translation: X:54.02, Y:0.74, Z:4.66 [[ 9.97709797e-01 1.01141485e-03 -6.76323762e-02 5.40209993e+01] [-1.28871479e-03 9.99990942e-01 -4.05660263e-03 7.35546926e-01] [ 6.76276607e-02 4.13447103e-03 9.97702063e-01 4.65845898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.281193817 meters Centerline goodness : 0.917182 with order 1 Centerline is valid? [False, False] Translation: X:54.03, Y:0.72, Z:4.66 [[ 9.98198629e-01 -8.93891981e-03 -5.93261550e-02 5.40305484e+01] [ 8.52057778e-03 9.99937047e-01 -7.30079369e-03 7.20111207e-01] [ 5.93876815e-02 6.78214913e-03 9.98211954e-01 4.65513350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.341193817 meters Centerline goodness : 0.918432 with order 1 Centerline is valid? [False, False] Translation: X:54.05, Y:0.71, Z:4.65 [[ 9.98084324e-01 -1.54267514e-02 -5.99140861e-02 5.40531112e+01] [ 1.47152603e-02 9.99816089e-01 -1.22983370e-02 7.10699162e-01] [ 6.00927906e-02 1.13931260e-02 9.98127774e-01 4.65451216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.401193817 meters Centerline goodness : 0.913160 with order 1 Centerline is valid? [False, False] Translation: X:54.07, Y:0.70, Z:4.65 [[ 9.98142431e-01 -2.61151964e-02 -5.50425568e-02 5.40679296e+01] [ 2.53945682e-02 9.99582921e-01 -1.37513281e-02 6.96971004e-01] [ 5.53787184e-02 1.23280021e-02 9.98389312e-01 4.64942863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.461193817 meters Centerline goodness : 0.916226 with order 1 Centerline is valid? [False, False] Translation: X:54.09, Y:0.69, Z:4.65 [[ 9.97849381e-01 -2.92119656e-02 -5.86794165e-02 5.40934353e+01] [ 2.82869151e-02 9.99463096e-01 -1.65339218e-02 6.89870007e-01] [ 5.91308996e-02 1.48385039e-02 9.98139948e-01 4.64764338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.521193817 meters Centerline goodness : 0.910712 with order 1 Centerline is valid? [False, False] Translation: X:54.10, Y:0.68, Z:4.64 [[ 9.97732837e-01 -3.06495196e-02 -5.99148806e-02 5.40994760e+01] [ 2.96906078e-02 9.99417439e-01 -1.68300428e-02 6.84651984e-01] [ 6.03958093e-02 1.50129771e-02 9.98061600e-01 4.64358870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.581193817 meters Centerline goodness : 0.911990 with order 1 Centerline is valid? [False, False] Translation: X:54.12, Y:0.68, Z:4.64 [[ 9.97755238e-01 -2.90299110e-02 -6.03469155e-02 5.41216830e+01] [ 2.79550154e-02 9.99436478e-01 -1.85807173e-02 6.81736939e-01] [ 6.08523053e-02 1.68520091e-02 9.98004512e-01 4.64284679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.64119381700002 meters Centerline goodness : 0.914193 with order 1 Centerline is valid? [False, False] Translation: X:54.14, Y:0.68, Z:4.64 [[ 9.98051853e-01 -2.51188230e-02 -5.71099252e-02 5.41395108e+01] [ 2.40301106e-02 9.99517686e-01 -1.96710358e-02 6.79848037e-01] [ 5.75764935e-02 1.82603559e-02 9.98174086e-01 4.64273487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.701193817 meters Centerline goodness : 0.916471 with order 1 Centerline is valid? [False, False] Translation: X:54.17, Y:0.68, Z:4.64 [[ 9.98401293e-01 -1.62764644e-02 -5.41288657e-02 5.41710580e+01] [ 1.49538710e-02 9.99581820e-01 -2.47500790e-02 6.81291855e-01] [ 5.45090739e-02 2.39010748e-02 9.98227178e-01 4.64174203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.761193817 meters Centerline goodness : 0.914153 with order 1 Centerline is valid? [False, False] Translation: X:54.20, Y:0.68, Z:4.64 [[ 9.98565514e-01 -1.14291280e-02 -5.23095617e-02 5.42030757e+01] [ 9.58177635e-03 9.99326180e-01 -3.54312925e-02 6.83564883e-01] [ 5.26792632e-02 3.48792483e-02 9.98002171e-01 4.63907623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.821193817 meters Centerline goodness : 0.919956 with order 1 Centerline is valid? [False, False] Translation: X:54.23, Y:0.68, Z:4.64 [[ 9.98883960e-01 -1.30095070e-02 -4.54046973e-02 5.42323745e+01] [ 1.14233578e-02 9.99321326e-01 -3.50199189e-02 6.82360455e-01] [ 4.58294741e-02 3.44621612e-02 9.98354656e-01 4.63691421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.881193817 meters Centerline goodness : 0.922562 with order 1 Centerline is valid? [False, False] Translation: X:54.24, Y:0.68, Z:4.64 [[ 9.98920498e-01 -2.42738719e-02 -3.96057822e-02 5.42413430e+01] [ 2.28507844e-02 9.99090623e-01 -3.59967867e-02 6.79367001e-01] [ 4.04435470e-02 3.50529049e-02 9.98566780e-01 4.63573074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.941193817 meters Centerline goodness : 0.922689 with order 1 Centerline is valid? [False, False] Translation: X:54.26, Y:0.68, Z:4.63 [[ 9.98634941e-01 -3.62580973e-02 -3.75979438e-02 5.42638216e+01] [ 3.50180498e-02 9.98837329e-01 -3.31319458e-02 6.77930878e-01] [ 3.87555311e-02 3.17701121e-02 9.98743545e-01 4.63408612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.001193817 meters Centerline goodness : 0.922231 with order 1 Centerline is valid? [False, False] Translation: X:54.27, Y:0.68, Z:4.63 [[ 9.98256857e-01 -5.00519817e-02 -3.12737503e-02 5.42685952e+01] [ 4.91539487e-02 9.98374368e-01 -2.88532489e-02 6.77654586e-01] [ 3.26670730e-02 2.72657252e-02 9.99094311e-01 4.62887546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.061193817 meters Centerline goodness : 0.920543 with order 1 Centerline is valid? [False, False] Translation: X:54.30, Y:0.68, Z:4.63 [[ 9.97768324e-01 -5.61150298e-02 -3.61866817e-02 5.42993559e+01] [ 5.49685312e-02 9.97977226e-01 -3.19361318e-02 6.81782972e-01] [ 3.79055813e-02 2.98757319e-02 9.98834625e-01 4.63013213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.121193817 meters Centerline goodness : 0.916034 with order 1 Centerline is valid? [False, False] Translation: X:54.32, Y:0.69, Z:4.63 [[ 9.97703798e-01 -5.55161323e-02 -3.87954935e-02 5.43238344e+01] [ 5.41708817e-02 9.97921344e-01 -3.49071185e-02 6.87300943e-01] [ 4.06527592e-02 3.27253787e-02 9.98637273e-01 4.62817378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.181193817 meters Centerline goodness : 0.915880 with order 1 Centerline is valid? [False, False] Translation: X:54.35, Y:0.70, Z:4.63 [[ 9.97573991e-01 -5.76635271e-02 -3.90006452e-02 5.43522843e+01] [ 5.62105845e-02 9.97719013e-01 -3.73783614e-02 6.98611410e-01] [ 4.10670534e-02 3.50954321e-02 9.98539838e-01 4.62818025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.241193817 meters Centerline goodness : 0.912611 with order 1 Centerline is valid? [False, False] Translation: X:54.37, Y:0.70, Z:4.63 [[ 9.97844050e-01 -5.48336895e-02 -3.60627125e-02 5.43705286e+01] [ 5.33785922e-02 9.97767058e-01 -4.01450252e-02 7.04154970e-01] [ 3.81834865e-02 3.81334977e-02 9.98542867e-01 4.62695068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.301193817 meters Centerline goodness : 0.915061 with order 1 Centerline is valid? [False, False] Translation: X:54.41, Y:0.72, Z:4.63 [[ 9.98447946e-01 -4.38182295e-02 -3.43752976e-02 5.44072274e+01] [ 4.24014607e-02 9.98262553e-01 -4.09144469e-02 7.22578106e-01] [ 3.61083709e-02 3.93933827e-02 9.98571153e-01 4.62501194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.36119381700001 meters Centerline goodness : 0.911105 with order 1 Centerline is valid? [False, False] Translation: X:54.42, Y:0.73, Z:4.62 [[ 9.98809743e-01 -3.76006024e-02 -3.10691503e-02 5.44244986e+01] [ 3.62834952e-02 9.98461873e-01 -4.19213079e-02 7.34283637e-01] [ 3.25976285e-02 4.07441134e-02 9.98637728e-01 4.62389279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.42119381700002 meters Centerline goodness : 0.917374 with order 1 Centerline is valid? [False, False] Translation: X:54.46, Y:0.75, Z:4.62 [[ 9.99007806e-01 -3.25746262e-02 -3.03693440e-02 5.44632555e+01] [ 3.11963346e-02 9.98508591e-01 -4.48038108e-02 7.46322879e-01] [ 3.17835183e-02 4.38119445e-02 9.98534086e-01 4.62382912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.481193817 meters Centerline goodness : 0.908017 with order 1 Centerline is valid? [False, False] Translation: X:54.50, Y:0.77, Z:4.62 [[ 9.99157781e-01 -2.98052842e-02 -2.82023795e-02 5.45006950e+01] [ 2.82822037e-02 9.98196879e-01 -5.29443902e-02 7.65835969e-01] [ 2.97295498e-02 5.21021739e-02 9.98199137e-01 4.62283118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.541193817 meters Centerline goodness : 0.905751 with order 1 Centerline is valid? [False, False] Translation: X:54.54, Y:0.79, Z:4.62 [[ 9.99357669e-01 -2.51667285e-02 -2.55124508e-02 5.45382656e+01] [ 2.36346013e-02 9.97997397e-01 -5.86736818e-02 7.86103464e-01] [ 2.69379841e-02 5.80330173e-02 9.97951158e-01 4.62259417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.601193817 meters Centerline goodness : 0.905442 with order 1 Centerline is valid? [False, False] Translation: X:54.58, Y:0.80, Z:4.62 [[ 9.99511381e-01 -1.80817688e-02 -2.54960401e-02 5.45789024e+01] [ 1.65139049e-02 9.98036527e-01 -6.04183928e-02 7.97652210e-01] [ 2.65384507e-02 5.99678321e-02 9.97847468e-01 4.62070994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.661193817 meters Centerline goodness : 0.902075 with order 1 Centerline is valid? [False, False] Translation: X:54.64, Y:0.84, Z:4.62 [[ 9.99954379e-01 -4.49652650e-03 -8.42744969e-03 5.46369220e+01] [ 3.21860737e-03 9.89288238e-01 -1.45939791e-01 8.38025956e-01] [ 8.99339899e-03 1.45906008e-01 9.89257578e-01 4.61827290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.721193817 meters Centerline goodness : 0.899490 with order 1 Centerline is valid? [False, False] Translation: X:54.67, Y:0.85, Z:4.62 [[ 9.99999965e-01 1.39899639e-04 -2.25791600e-04 5.46740081e+01] [-1.76640541e-04 9.85105885e-01 -1.71948724e-01 8.54078481e-01] [ 1.98373070e-04 1.71948758e-01 9.85105875e-01 4.61529235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.781193817 meters Centerline goodness : 0.899313 with order 1 Centerline is valid? [False, False] Translation: X:54.72, Y:0.87, Z:4.61 [[ 9.99976169e-01 3.43716731e-03 5.98724274e-03 5.47179980e+01] [-2.08838188e-03 9.77222174e-01 -2.12208533e-01 8.72513820e-01] [-6.58026260e-03 2.12190972e-01 9.77206064e-01 4.61424461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.841193817 meters Centerline goodness : 0.902199 with order 1 Centerline is valid? [False, False] Translation: X:54.75, Y:0.88, Z:4.61 [[ 9.99936231e-01 5.38262979e-03 9.92776226e-03 5.47534937e+01] [-3.10356377e-03 9.76233500e-01 -2.16699151e-01 8.75126208e-01] [-1.08582254e-02 2.16654521e-01 9.76187952e-01 4.61349214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.901193817 meters Centerline goodness : 0.892891 with order 1 Centerline is valid? [False, False] Translation: X:54.79, Y:0.88, Z:4.61 [[ 9.99867804e-01 6.30158772e-03 1.49888105e-02 5.47884757e+01] [-2.80776775e-03 9.74912091e-01 -2.22572530e-01 8.75572776e-01] [-1.60153330e-02 2.22501022e-01 9.74800905e-01 4.61353961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.961193817 meters Centerline goodness : 0.900816 with order 1 Centerline is valid? [False, False] Translation: X:54.80, Y:0.86, Z:4.62 [[ 9.99873562e-01 -1.88753839e-03 1.57891354e-02 5.48020192e+01] [ 4.97112460e-03 9.80266658e-01 -1.97617224e-01 8.61453873e-01] [-1.51045529e-02 1.97670728e-01 9.80152098e-01 4.61592175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.021193817 meters Centerline goodness : 0.892582 with order 1 Centerline is valid? [False, False] Translation: X:54.80, Y:0.85, Z:4.62 [[ 9.99618346e-01 -2.04953281e-02 1.85230492e-02 5.47984432e+01] [ 2.32895505e-02 9.85845085e-01 -1.66033327e-01 8.46695829e-01] [-1.48579495e-02 1.66401353e-01 9.85946160e-01 4.61617499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.081193817 meters Centerline goodness : 0.894182 with order 1 Centerline is valid? [False, False] Translation: X:54.81, Y:0.84, Z:4.62 [[ 9.99393551e-01 -3.03890934e-02 1.70009536e-02 5.48133487e+01] [ 3.24981921e-02 9.89339695e-01 -1.41953639e-01 8.37871039e-01] [-1.25058758e-02 1.42420051e-01 9.89727302e-01 4.61979560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.14119381700002 meters Centerline goodness : 0.892368 with order 1 Centerline is valid? [False, False] Translation: X:54.83, Y:0.83, Z:4.62 [[ 9.99445606e-01 -2.89859495e-02 1.63797333e-02 5.48251226e+01] [ 3.08264061e-02 9.91506883e-01 -1.26348069e-01 8.30463255e-01] [-1.25782995e-02 1.26782950e-01 9.91850730e-01 4.62197502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.201193817 meters Centerline goodness : 0.890015 with order 1 Centerline is valid? [False, False] Translation: X:54.85, Y:0.83, Z:4.62 [[ 9.99680334e-01 -2.13021051e-02 1.36179748e-02 5.48525731e+01] [ 2.27454383e-02 9.92928416e-01 -1.16515264e-01 8.30104793e-01] [-1.10396538e-02 1.16787765e-01 9.93095536e-01 4.62233399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.261193817 meters Centerline goodness : 0.892546 with order 1 Centerline is valid? [False, False] Translation: X:54.90, Y:0.85, Z:4.62 [[ 9.99755611e-01 -1.05867052e-03 2.20816210e-02 5.49031307e+01] [ 4.33585245e-03 9.88842885e-01 -1.48899123e-01 8.45113682e-01] [-2.16776187e-02 1.48958476e-01 9.88605813e-01 4.61942225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.321193817 meters Centerline goodness : 0.889769 with order 1 Centerline is valid? [False, False] Translation: X:54.94, Y:0.86, Z:4.62 [[ 9.99357646e-01 1.22617632e-02 3.36740799e-02 5.49415958e+01] [-5.92466968e-03 9.83243541e-01 -1.82200540e-01 8.56222707e-01] [-3.53439215e-02 1.81883995e-01 9.82684598e-01 4.61637110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.381193817 meters Centerline goodness : 0.888419 with order 1 Centerline is valid? [False, False] Translation: X:54.97, Y:0.85, Z:4.62 [[ 9.99113173e-01 1.71082777e-02 3.84730351e-02 5.49748450e+01] [-9.68722558e-03 9.82618456e-01 -1.85383728e-01 8.53201486e-01] [-4.09759107e-02 1.84846628e-01 9.81912776e-01 4.61508506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.441193817 meters Centerline goodness : 0.887542 with order 1 Centerline is valid? [False, False] Translation: X:55.00, Y:0.84, Z:4.61 [[ 9.99034569e-01 1.71341127e-02 4.04518490e-02 5.50008631e+01] [-9.89412228e-03 9.84903758e-01 -1.72819832e-01 8.40663856e-01] [-4.28022926e-02 1.72252751e-01 9.84122428e-01 4.61278767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.501193817 meters Centerline goodness : 0.881722 with order 1 Centerline is valid? [False, False] Translation: X:55.01, Y:0.82, Z:4.61 [[ 9.99127459e-01 1.04661665e-02 4.04324112e-02 5.50118949e+01] [-4.42493481e-03 9.89169998e-01 -1.46707649e-01 8.19367222e-01] [-4.15299948e-02 1.46400730e-01 9.88353219e-01 4.61336593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.561193817 meters Centerline goodness : 0.884188 with order 1 Centerline is valid? [False, False] Translation: X:55.03, Y:0.80, Z:4.62 [[ 9.99235355e-01 6.17126894e-03 3.86085562e-02 5.50267474e+01] [-1.13076108e-03 9.91613220e-01 -1.29236001e-01 8.03977723e-01] [-3.90823048e-02 1.29093525e-01 9.90861966e-01 4.61500886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.621193817 meters Centerline goodness : 0.884396 with order 1 Centerline is valid? [False, False] Translation: X:55.04, Y:0.79, Z:4.62 [[ 9.99357501e-01 1.27013330e-03 3.58185997e-02 5.50410781e+01] [ 2.82783193e-03 9.93462223e-01 -1.14126307e-01 7.85346798e-01] [-3.57293813e-02 1.14154270e-01 9.92820333e-01 4.61676391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.681193817 meters Centerline goodness : 0.884354 with order 1 Centerline is valid? [False, False] Translation: X:55.06, Y:0.78, Z:4.62 [[ 9.99262874e-01 -2.38074594e-03 3.83150299e-02 5.50560205e+01] [ 6.29435319e-03 9.94728605e-01 -1.02349323e-01 7.76668168e-01] [-3.78693885e-02 1.02515047e-01 9.94010349e-01 4.61679325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.741193817 meters Centerline goodness : 0.888102 with order 1 Centerline is valid? [False, False] Translation: X:55.08, Y:0.77, Z:4.62 [[ 9.99302589e-01 -2.72078202e-03 3.72415609e-02 5.50828166e+01] [ 6.21114397e-03 9.95559398e-01 -9.39303307e-02 7.66246303e-01] [-3.68206220e-02 9.40961353e-02 9.94881983e-01 4.61804615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.801193817 meters Centerline goodness : 0.886408 with order 1 Centerline is valid? [False, False] Translation: X:55.09, Y:0.76, Z:4.62 [[ 9.99181730e-01 -4.44180199e-03 4.02012572e-02 5.50936901e+01] [ 7.81514530e-03 9.96422656e-01 -8.41475739e-02 7.58186716e-01] [-3.96836766e-02 8.43928971e-02 9.95642026e-01 4.61601795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.86119381700001 meters Centerline goodness : 0.889709 with order 1 Centerline is valid? [False, False] Translation: X:55.10, Y:0.75, Z:4.62 [[ 9.99268063e-01 -7.32851459e-03 3.75450490e-02 5.51017822e+01] [ 1.02345251e-02 9.96916216e-01 -7.78030413e-02 7.46113546e-01] [-3.68590874e-02 7.81303502e-02 9.96261540e-01 4.61803513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.92119381700002 meters Centerline goodness : 0.890971 with order 1 Centerline is valid? [False, False] Translation: X:55.11, Y:0.74, Z:4.62 [[ 9.99267639e-01 -9.53733453e-03 3.70570617e-02 5.51127887e+01] [ 1.20641119e-02 9.97573205e-01 -6.85722806e-02 7.38126706e-01] [-3.63131350e-02 6.89691215e-02 9.96957680e-01 4.61819705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.981193817 meters Centerline goodness : 0.888481 with order 1 Centerline is valid? [False, False] Translation: X:55.12, Y:0.73, Z:4.62 [[ 9.99319700e-01 -1.10983261e-02 3.51705179e-02 5.51193096e+01] [ 1.32316022e-02 9.98049150e-01 -6.10149050e-02 7.28101598e-01] [-3.44247422e-02 6.14387588e-02 9.97517025e-01 4.62182624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.041193817 meters Centerline goodness : 0.891945 with order 1 Centerline is valid? [False, False] Translation: X:55.13, Y:0.72, Z:4.63 [[ 9.99351988e-01 -1.51270230e-02 3.26615682e-02 5.51259976e+01] [ 1.69733071e-02 9.98229254e-01 -5.70110817e-02 7.20049416e-01] [-3.17413250e-02 5.75285126e-02 9.97839145e-01 4.62519898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.101193817 meters Centerline goodness : 0.894908 with order 1 Centerline is valid? [False, False] Translation: X:55.13, Y:0.72, Z:4.63 [[ 9.99390030e-01 -1.62841651e-02 3.08932641e-02 5.51293447e+01] [ 1.80163373e-02 9.98231763e-01 -5.66459089e-02 7.18401777e-01] [-2.99162061e-02 5.71679400e-02 9.97916253e-01 4.62541079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.161193817 meters Centerline goodness : 0.895718 with order 1 Centerline is valid? [False, False] Translation: X:55.15, Y:0.72, Z:4.63 [[ 9.99280984e-01 -2.24788884e-02 3.05321739e-02 5.51459530e+01] [ 2.38881067e-02 9.98627823e-01 -4.66028857e-02 7.15009611e-01] [-2.94426973e-02 4.72987334e-02 9.98446772e-01 4.62775311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.221193817 meters Centerline goodness : 0.897876 with order 1 Centerline is valid? [False, False] Translation: X:55.16, Y:0.71, Z:4.63 [[ 9.98966425e-01 -3.46530274e-02 2.94151265e-02 5.51620448e+01] [ 3.59247385e-02 9.98391296e-01 -4.38660936e-02 7.14588358e-01] [-2.78477133e-02 4.48774854e-02 9.98604284e-01 4.63056736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.281193817 meters Centerline goodness : 0.899588 with order 1 Centerline is valid? [False, False] Translation: X:55.17, Y:0.72, Z:4.63 [[ 9.98797148e-01 -4.15598735e-02 2.60198876e-02 5.51718093e+01] [ 4.27415151e-02 9.97997106e-01 -4.66362447e-02 7.18153014e-01] [-2.40295761e-02 4.76922776e-02 9.98572995e-01 4.62970977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.341193817 meters Centerline goodness : 0.900816 with order 1 Centerline is valid? [False, False] Translation: X:55.20, Y:0.73, Z:4.63 [[ 9.98866796e-01 -4.34921305e-02 1.93276644e-02 5.52040902e+01] [ 4.43591508e-02 9.97911424e-01 -4.69580272e-02 7.25789095e-01] [-1.72449924e-02 4.77621729e-02 9.98709860e-01 4.62839176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.401193817 meters Centerline goodness : 0.898792 with order 1 Centerline is valid? [False, False] Translation: X:55.23, Y:0.73, Z:4.63 [[ 9.99243113e-01 -3.65620064e-02 1.32823494e-02 5.52343035e+01] [ 3.70713864e-02 9.98496616e-01 -4.03759841e-02 7.31897627e-01] [-1.17861540e-02 4.08378191e-02 9.99096271e-01 4.62805909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.461193817 meters Centerline goodness : 0.900332 with order 1 Centerline is valid? [False, False] Translation: X:55.30, Y:0.75, Z:4.62 [[ 9.99774883e-01 -1.30057720e-02 1.67640178e-02 5.52958834e+01] [ 1.40145428e-02 9.98006652e-01 -6.15330350e-02 7.50406155e-01] [-1.59303166e-02 6.17541230e-02 9.97964255e-01 4.62412849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.521193817 meters Centerline goodness : 0.897321 with order 1 Centerline is valid? [False, False] Translation: X:55.33, Y:0.76, Z:4.62 [[ 9.99829598e-01 -1.51889614e-03 1.83974800e-02 5.53332842e+01] [ 2.59415863e-03 9.98280277e-01 -5.85641358e-02 7.56597763e-01] [-1.82768886e-02 5.86018824e-02 9.98114109e-01 4.62385752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.581193817 meters Centerline goodness : 0.897815 with order 1 Centerline is valid? [False, False] Translation: X:55.39, Y:0.77, Z:4.62 [[ 9.99511543e-01 1.29051990e-02 2.84627996e-02 5.53850406e+01] [-1.05019585e-02 9.96492193e-01 -8.30242022e-02 7.71379554e-01] [-2.94344014e-02 8.26847333e-02 9.96140979e-01 4.61832110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.64119381700002 meters Centerline goodness : 0.899793 with order 1 Centerline is valid? [False, False] Translation: X:55.43, Y:0.79, Z:4.61 [[ 9.98957062e-01 2.13859498e-02 4.03414181e-02 5.54259309e+01] [-1.62084366e-02 9.92079368e-01 -1.24562487e-01 7.88176185e-01] [-4.26857757e-02 1.23778705e-01 9.91391324e-01 4.61142417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.701193817 meters Centerline goodness : 0.896679 with order 1 Centerline is valid? [False, False] Translation: X:55.47, Y:0.80, Z:4.60 [[ 9.98557657e-01 2.64222681e-02 4.67383149e-02 5.54686620e+01] [-1.93341392e-02 9.89083678e-01 -1.46081034e-01 7.95846413e-01] [-5.00878967e-02 1.44966690e-01 9.88167932e-01 4.60497701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.761193817 meters Centerline goodness : 0.896096 with order 1 Centerline is valid? [False, False] Translation: X:55.50, Y:0.79, Z:4.60 [[ 9.98629069e-01 2.60102329e-02 4.54252202e-02 5.54988588e+01] [-1.94213505e-02 9.89975811e-01 -1.39895332e-01 7.91852288e-01] [-4.86085794e-02 1.38821326e-01 9.89123777e-01 4.60417726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.821193817 meters Centerline goodness : 0.895998 with order 1 Centerline is valid? [False, False] Translation: X:55.52, Y:0.79, Z:4.60 [[ 9.98636710e-01 2.27195547e-02 4.69951430e-02 5.55167216e+01] [-1.65707443e-02 9.91723427e-01 -1.27318713e-01 7.87142485e-01] [-4.94988087e-02 1.26366396e-01 9.90747900e-01 4.60334551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.881193817 meters Centerline goodness : 0.896818 with order 1 Centerline is valid? [False, False] Translation: X:55.54, Y:0.78, Z:4.60 [[ 9.98155397e-01 2.46309326e-02 5.54898283e-02 5.55449423e+01] [-1.75081716e-02 9.91955223e-01 -1.25372639e-01 7.84598511e-01] [-5.81314700e-02 1.24169851e-01 9.90556702e-01 4.59840840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.941193817 meters Centerline goodness : 0.897059 with order 1 Centerline is valid? [False, False] Translation: X:55.57, Y:0.79, Z:4.59 [[ 9.97698148e-01 2.72055103e-02 6.21149444e-02 5.55738062e+01] [-1.82674887e-02 9.89958395e-01 -1.40173734e-01 7.87391828e-01] [-6.53047086e-02 1.38716391e-01 9.88176633e-01 4.59214612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.001193817 meters Centerline goodness : 0.898430 with order 1 Centerline is valid? [False, False] Translation: X:55.59, Y:0.77, Z:4.59 [[ 9.97635864e-01 2.61331034e-02 6.35589833e-02 5.55901024e+01] [-1.79172957e-02 9.91797554e-01 -1.26556638e-01 7.72992671e-01] [-6.63449619e-02 1.25118636e-01 9.89921044e-01 4.58887146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.061193817 meters Centerline goodness : 0.892440 with order 1 Centerline is valid? [False, False] Translation: X:55.62, Y:0.77, Z:4.58 [[ 9.97380494e-01 2.46341633e-02 6.80096204e-02 5.56189109e+01] [-1.60833590e-02 9.92210812e-01 -1.23527444e-01 7.66069253e-01] [-7.05228759e-02 1.22110040e-01 9.90007910e-01 4.58349400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.121193817 meters Centerline goodness : 0.894211 with order 1 Centerline is valid? [False, False] Translation: X:55.63, Y:0.75, Z:4.58 [[ 9.97308157e-01 2.42474068e-02 6.91990125e-02 5.56311849e+01] [-1.67892922e-02 9.94182467e-01 -1.06392394e-01 7.45863868e-01] [-7.13761846e-02 1.04944200e-01 9.91913381e-01 4.58320579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.181193817 meters Centerline goodness : 0.894828 with order 1 Centerline is valid? [False, False] Translation: X:55.65, Y:0.73, Z:4.58 [[ 9.97370766e-01 2.69326536e-02 6.72769517e-02 5.56545047e+01] [-2.02123336e-02 9.94917340e-01 -9.86455718e-02 7.31142026e-01] [-6.95917928e-02 9.70263853e-02 9.92845840e-01 4.58118418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.241193817 meters Centerline goodness : 0.896298 with order 1 Centerline is valid? [False, False] Translation: X:55.66, Y:0.71, Z:4.58 [[ 9.97477403e-01 2.58971092e-02 6.60921359e-02 5.56633704e+01] [-2.04291528e-02 9.96414116e-01 -8.21069979e-02 7.10130362e-01] [-6.79814710e-02 8.05496687e-02 9.94429621e-01 4.58444887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.301193817 meters Centerline goodness : 0.897584 with order 1 Centerline is valid? [False, False] Translation: X:55.67, Y:0.70, Z:4.58 [[ 9.97327453e-01 2.01636654e-02 7.02237697e-02 5.56745178e+01] [-1.49731345e-02 9.97170157e-01 -7.36714559e-02 6.97019625e-01] [-7.15105340e-02 7.24230955e-02 9.94807086e-01 4.58455608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.36119381700001 meters Centerline goodness : 0.899610 with order 1 Centerline is valid? [False, False] Translation: X:55.68, Y:0.68, Z:4.59 [[ 9.97517077e-01 1.17773100e-02 6.94332476e-02 5.56799880e+01] [-6.90282636e-03 9.97520986e-01 -7.00302358e-02 6.80200105e-01] [-7.00858893e-02 6.93770705e-02 9.95125515e-01 4.58864941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.42119381700002 meters Centerline goodness : 0.899840 with order 1 Centerline is valid? [False, False] Translation: X:55.69, Y:0.67, Z:4.59 [[ 9.97395135e-01 -2.81287723e-03 7.20765752e-02 5.56852943e+01] [ 7.08863498e-03 9.98224795e-01 -5.91355268e-02 6.67923461e-01] [-7.17822835e-02 5.94924113e-02 9.95644493e-01 4.58842206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.481193817 meters Centerline goodness : 0.899081 with order 1 Centerline is valid? [False, False] Translation: X:55.71, Y:0.66, Z:4.59 [[ 9.97545626e-01 -1.53719031e-02 6.83112595e-02 5.57073713e+01] [ 1.88888072e-02 9.98512876e-01 -5.11395027e-02 6.60362266e-01] [-6.74235607e-02 5.23043055e-02 9.96352509e-01 4.59162432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.541193817 meters Centerline goodness : 0.900141 with order 1 Centerline is valid? [False, False] Translation: X:55.72, Y:0.66, Z:4.59 [[ 9.97266913e-01 -3.05193323e-02 6.72850191e-02 5.57219021e+01] [ 3.41272448e-02 9.98003712e-01 -5.31405827e-02 6.56047247e-01] [-6.55288837e-02 5.52915972e-02 9.96317622e-01 4.59313785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.601193817 meters Centerline goodness : 0.899919 with order 1 Centerline is valid? [False, False] Translation: X:55.74, Y:0.66, Z:4.60 [[ 9.96995883e-01 -3.83470459e-02 6.72957084e-02 5.57371058e+01] [ 4.15125704e-02 9.98065173e-01 -4.62884012e-02 6.55771893e-01] [-6.53904794e-02 4.89429632e-02 9.96658754e-01 4.59568299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.661193817 meters Centerline goodness : 0.898267 with order 1 Centerline is valid? [False, False] Translation: X:55.74, Y:0.66, Z:4.60 [[ 9.96962667e-01 -3.92896417e-02 6.72440644e-02 5.57377651e+01] [ 4.25268860e-02 9.97969962e-01 -4.74069417e-02 6.58636651e-01] [-6.52449547e-02 5.01226317e-02 9.96609662e-01 4.59509086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.721193817 meters Centerline goodness : 0.896162 with order 1 Centerline is valid? [False, False] Translation: X:55.74, Y:0.67, Z:4.59 [[ 9.97083551e-01 -3.74693677e-02 6.64863782e-02 5.57400913e+01] [ 4.05858459e-02 9.98109273e-01 -4.61591699e-02 6.66106498e-01] [-6.46311156e-02 4.87229550e-02 9.96719064e-01 4.59366083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.781193817 meters Centerline goodness : 0.896265 with order 1 Centerline is valid? [False, False] Translation: X:55.74, Y:0.67, Z:4.59 [[ 9.97198553e-01 -3.55813124e-02 6.57952558e-02 5.57420185e+01] [ 3.85772966e-02 9.98249083e-01 -4.48392807e-02 6.72306505e-01] [-6.40846133e-02 4.72518689e-02 9.96825172e-01 4.59269884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.841193817 meters Centerline goodness : 0.893933 with order 1 Centerline is valid? [False, False] Translation: X:55.75, Y:0.69, Z:4.59 [[ 9.97291211e-01 -3.74262794e-02 6.33207221e-02 5.57494156e+01] [ 4.02981005e-02 9.98187295e-01 -4.47010821e-02 6.88669712e-01] [-6.15329452e-02 4.71317011e-02 9.96991625e-01 4.59248666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.901193817 meters Centerline goodness : 0.891419 with order 1 Centerline is valid? [False, False] Translation: X:55.78, Y:0.71, Z:4.59 [[ 9.97194284e-01 -4.27452624e-02 6.14524378e-02 5.57825729e+01] [ 4.55160206e-02 9.97975624e-01 -4.44178570e-02 7.10212602e-01] [-5.94293820e-02 4.70903036e-02 9.97121182e-01 4.59296483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.961193817 meters Centerline goodness : 0.890018 with order 1 Centerline is valid? [False, False] Translation: X:55.82, Y:0.73, Z:4.59 [[ 9.97298500e-01 -4.69569484e-02 5.64866879e-02 5.58196856e+01] [ 4.93364518e-02 9.97919890e-01 -4.14946726e-02 7.26983781e-01] [-5.44207262e-02 4.41694275e-02 9.97540699e-01 4.59212128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.021193817 meters Centerline goodness : 0.888576 with order 1 Centerline is valid? [False, False] Translation: X:55.85, Y:0.75, Z:4.59 [[ 9.97208295e-01 -4.88314619e-02 5.64898724e-02 5.58462621e+01] [ 5.14487216e-02 9.97622863e-01 -4.58437762e-02 7.46695077e-01] [-5.41169696e-02 4.86221256e-02 9.97350110e-01 4.58832776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.081193817 meters Centerline goodness : 0.887380 with order 1 Centerline is valid? [False, False] Translation: X:55.88, Y:0.77, Z:4.59 [[ 9.97129809e-01 -5.13565118e-02 5.56296002e-02 5.58793749e+01] [ 5.37757888e-02 9.97631007e-01 -4.29015030e-02 7.67974403e-01] [-5.32945425e-02 4.57698931e-02 9.97529352e-01 4.58753299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.14119381700002 meters Centerline goodness : 0.886240 with order 1 Centerline is valid? [False, False] Translation: X:55.92, Y:0.80, Z:4.58 [[ 9.97111421e-01 -5.01780866e-02 5.70173169e-02 5.59220300e+01] [ 5.32117583e-02 9.97175999e-01 -5.29956246e-02 8.04546408e-01] [-5.41970809e-02 5.58765342e-02 9.96965641e-01 4.58490201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.201193817 meters Centerline goodness : 0.883346 with order 1 Centerline is valid? [False, False] Translation: X:55.95, Y:0.83, Z:4.58 [[ 9.96971625e-01 -5.12347670e-02 5.85027983e-02 5.59473595e+01] [ 5.44500477e-02 9.97014036e-01 -5.47558550e-02 8.26354020e-01] [-5.55227076e-02 5.77755139e-02 9.96784440e-01 4.58278986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.261193817 meters Centerline goodness : 0.878595 with order 1 Centerline is valid? [False, False] Translation: X:55.99, Y:0.86, Z:4.58 [[ 9.96972857e-01 -4.86692108e-02 6.06335728e-02 5.59853120e+01] [ 5.25021353e-02 9.96611752e-01 -6.33130485e-02 8.55956827e-01] [-5.73467351e-02 6.63047829e-02 9.96150103e-01 4.57880510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.321193817 meters Centerline goodness : 0.876456 with order 1 Centerline is valid? [False, False] Translation: X:56.01, Y:0.88, Z:4.58 [[ 9.97058696e-01 -4.61279287e-02 6.12059737e-02 5.60129467e+01] [ 4.97225855e-02 9.97044325e-01 -5.85685761e-02 8.75057192e-01] [-5.83234217e-02 6.14396274e-02 9.96405314e-01 4.57633655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.381193817 meters Centerline goodness : 0.876477 with order 1 Centerline is valid? [False, False] Translation: X:56.05, Y:0.90, Z:4.58 [[ 9.97185698e-01 -3.65907575e-02 6.54354658e-02 5.60548615e+01] [ 4.12935270e-02 9.96547788e-01 -7.20232685e-02 9.02220403e-01] [-6.25741828e-02 7.45226344e-02 9.95254163e-01 4.57517862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.441193817 meters Centerline goodness : 0.878543 with order 1 Centerline is valid? [False, False] Translation: X:56.09, Y:0.92, Z:4.57 [[ 9.97062208e-01 -3.18824079e-02 6.96452854e-02 5.60900012e+01] [ 3.71323273e-02 9.96459070e-01 -7.54354820e-02 9.19968992e-01] [-6.69936115e-02 7.77999597e-02 9.94715548e-01 4.57245031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.501193817 meters Centerline goodness : 0.879567 with order 1 Centerline is valid? [False, False] Translation: X:56.14, Y:0.95, Z:4.57 [[ 9.96792307e-01 -2.64478555e-02 7.55354695e-02 5.61363660e+01] [ 3.34516738e-02 9.95102465e-01 -9.30164992e-02 9.49663741e-01] [-7.27054450e-02 9.52449188e-02 9.92795207e-01 4.57055294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.561193817 meters Centerline goodness : 0.877746 with order 1 Centerline is valid? [False, False] Translation: X:56.14, Y:0.97, Z:4.57 [[ 9.97065266e-01 -2.47201154e-02 7.24552987e-02 5.61432398e+01] [ 3.10875564e-02 9.95625139e-01 -8.81143899e-02 9.68915847e-01] [-6.99601190e-02 9.01082558e-02 9.93471733e-01 4.57351843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.621193817 meters Centerline goodness : 0.880539 with order 1 Centerline is valid? [False, False] Translation: X:56.15, Y:0.98, Z:4.57 [[ 9.96875103e-01 -2.36884722e-02 7.53583824e-02 5.61485534e+01] [ 2.93726210e-02 9.96732970e-01 -7.52371951e-02 9.80699087e-01] [-7.33299301e-02 7.72155598e-02 9.94314074e-01 4.57469185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.681193817 meters Centerline goodness : 0.892252 with order 1 Centerline is valid? [False, False] Translation: X:56.14, Y:1.00, Z:4.58 [[ 9.96204705e-01 -2.61871094e-02 8.30085588e-02 5.61404886e+01] [ 3.11451685e-02 9.97771504e-01 -5.90085153e-02 1.00027185e+00] [-8.12783121e-02 6.13698761e-02 9.94800269e-01 4.57625109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.741193817 meters Centerline goodness : 0.882924 with order 1 Centerline is valid? [False, False] Translation: X:56.14, Y:1.01, Z:4.58 [[ 9.96150318e-01 -2.37044032e-02 8.43957634e-02 5.61363036e+01] [ 2.85511536e-02 9.97983339e-01 -5.66929094e-02 1.00972682e+00] [-8.28816942e-02 5.88842561e-02 9.94818209e-01 4.57856854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.801193817 meters Centerline goodness : 0.887146 with order 1 Centerline is valid? [False, False] Translation: X:56.13, Y:1.02, Z:4.58 [[ 9.96081456e-01 -2.00383557e-02 8.61405727e-02 5.61328814e+01] [ 2.47277430e-02 9.98249762e-01 -5.37210542e-02 1.02350358e+00] [-8.49133246e-02 5.56406078e-02 9.94833579e-01 4.57859741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.86119381700001 meters Centerline goodness : 0.890958 with order 1 Centerline is valid? [False, False] Translation: X:56.13, Y:1.03, Z:4.58 [[ 9.96387611e-01 -1.82504387e-02 8.29376323e-02 5.61297179e+01] [ 2.15698625e-02 9.98994426e-01 -3.93049224e-02 1.02864338e+00] [-8.21369004e-02 4.09518910e-02 9.95779329e-01 4.57636093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.92119381700002 meters Centerline goodness : 0.889030 with order 1 Centerline is valid? [False, False] Translation: X:56.13, Y:1.04, Z:4.58 [[ 9.96403440e-01 -1.30010454e-02 8.37326568e-02 5.61267476e+01] [ 1.60479845e-02 9.99229425e-01 -3.58192356e-02 1.03851035e+00] [-8.32024470e-02 3.70341500e-02 9.95844277e-01 4.57848381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.981193817 meters Centerline goodness : 0.891043 with order 1 Centerline is valid? [False, False] Translation: X:56.10, Y:1.04, Z:4.59 [[ 9.96508775e-01 -1.76698927e-02 8.15967885e-02 5.61006494e+01] [ 1.81772487e-02 9.99819767e-01 -5.47913502e-03 1.04111729e+00] [-8.14852663e-02 6.94321124e-03 9.96650362e-01 4.58534656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.041193817 meters Centerline goodness : 0.894043 with order 1 Centerline is valid? [False, False] Translation: X:56.07, Y:1.04, Z:4.60 [[ 9.97149856e-01 -2.36982690e-02 7.16279038e-02 5.60740546e+01] [ 2.17024300e-02 9.99357742e-01 2.85150547e-02 1.04213252e+00] [-7.22576576e-02 -2.68792831e-02 9.97023738e-01 4.59623173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.101193817 meters Centerline goodness : 0.887020 with order 1 Centerline is valid? [False, False] Translation: X:56.05, Y:1.05, Z:4.60 [[ 9.97806550e-01 -2.46731541e-02 6.14273856e-02 5.60476828e+01] [ 2.13247596e-02 9.98281605e-01 5.45810480e-02 1.05050963e+00] [-6.26685157e-02 -5.31514030e-02 9.96618074e-01 4.60166648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.161193817 meters Centerline goodness : 0.886571 with order 1 Centerline is valid? [False, False] Translation: X:56.04, Y:1.07, Z:4.61 [[ 9.98752451e-01 -9.44331121e-03 4.90343305e-02 5.60363457e+01] [ 7.25157327e-03 9.98974803e-01 4.46850882e-02 1.06968736e+00] [-4.94060359e-02 -4.42737653e-02 9.97797012e-01 4.60593926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.221193817 meters Centerline goodness : 0.882957 with order 1 Centerline is valid? [False, False] Translation: X:56.04, Y:1.08, Z:4.60 [[ 9.98846185e-01 -2.61800228e-03 4.79525189e-02 5.60411542e+01] [ 2.17320761e-04 9.98749161e-01 5.00006595e-02 1.07504908e+00] [-4.80234398e-02 -4.99325469e-02 9.97597359e-01 4.60153828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.281193817 meters Centerline goodness : 0.890864 with order 1 Centerline is valid? [False, False] Translation: X:56.07, Y:1.08, Z:4.60 [[ 9.98953817e-01 1.00277057e-03 4.57194239e-02 5.60705525e+01] [-2.94618361e-03 9.99093830e-01 4.24598411e-02 1.08246206e+00] [-4.56354169e-02 -4.25501182e-02 9.98051550e-01 4.60372610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.341193817 meters Centerline goodness : 0.884296 with order 1 Centerline is valid? [False, False] Translation: X:56.11, Y:1.08, Z:4.60 [[ 9.98880134e-01 3.56189464e-03 4.71782957e-02 5.61063486e+01] [-5.89616029e-03 9.98760128e-01 4.94311843e-02 1.08299087e+00] [-4.69437320e-02 -4.96539987e-02 9.97662652e-01 4.60468305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.401193817 meters Centerline goodness : 0.888426 with order 1 Centerline is valid? [False, False] Translation: X:56.14, Y:1.07, Z:4.60 [[ 9.98755867e-01 7.82196350e-03 4.92497164e-02 5.61419713e+01] [-1.08486798e-02 9.98048592e-01 6.14923926e-02 1.07354259e+00] [-4.86726188e-02 -6.19501823e-02 9.96891745e-01 4.60460907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.461193817 meters Centerline goodness : 0.890421 with order 1 Centerline is valid? [False, False] Translation: X:56.17, Y:1.07, Z:4.60 [[ 9.98676274e-01 1.03473727e-02 5.03848278e-02 5.61697919e+01] [-1.33522526e-02 9.98128729e-01 5.96720890e-02 1.06747916e+00] [-4.96730948e-02 -6.02658505e-02 9.96945641e-01 4.60439764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.521193817 meters Centerline goodness : 0.887199 with order 1 Centerline is valid? [False, False] Translation: X:56.21, Y:1.01, Z:4.61 [[ 9.98375977e-01 -1.89029398e-03 5.69371118e-02 5.62051534e+01] [-8.25901006e-03 9.84087807e-01 1.77490782e-01 1.01250648e+00] [-5.63666273e-02 -1.77672777e-01 9.82474014e-01 4.60617744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.581193817 meters Centerline goodness : 0.888164 with order 1 Centerline is valid? [False, False] Translation: X:56.21, Y:0.92, Z:4.63 [[ 9.98348562e-01 -2.81717538e-02 5.00649771e-02 5.62090353e+01] [ 5.63025580e-03 9.15287257e-01 4.02762383e-01 9.16199442e-01] [-5.71703583e-02 -4.01815368e-01 9.13934331e-01 4.63283279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.64119381700002 meters Centerline goodness : 0.886505 with order 1 Centerline is valid? [False, False] Translation: X:56.20, Y:0.92, Z:4.64 [[ 9.98424429e-01 -2.79229252e-02 4.86720541e-02 5.61991493e+01] [ 8.36018870e-03 9.31736855e-01 3.63037932e-01 9.17660161e-01] [-5.54866276e-02 -3.62059033e-01 9.30502279e-01 4.63681298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.701193817 meters Centerline goodness : 0.887787 with order 1 Centerline is valid? [False, False] Translation: X:56.19, Y:0.92, Z:4.64 [[ 9.98821237e-01 -2.09121344e-02 4.38043316e-02 5.61865309e+01] [ 6.17422722e-03 9.49841953e-01 3.12669383e-01 9.16399833e-01] [-4.81457760e-02 -3.12030362e-01 9.48851431e-01 4.64259418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.761193817 meters Centerline goodness : 0.886986 with order 1 Centerline is valid? [False, False] Translation: X:56.18, Y:0.92, Z:4.65 [[ 9.98924714e-01 -1.55958678e-02 4.36598809e-02 5.61754725e+01] [ 3.46587565e-03 9.64206772e-01 2.65128814e-01 9.23099756e-01] [-4.62320668e-02 -2.64692405e-01 9.63224027e-01 4.64601541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.821193817 meters Centerline goodness : 0.889261 with order 1 Centerline is valid? [False, False] Translation: X:56.16, Y:0.87, Z:4.68 [[ 9.98942738e-01 -2.74277496e-02 3.68934236e-02 5.61649336e+01] [ 9.89049103e-03 9.11952931e-01 4.10175608e-01 8.67794588e-01] [-4.48952597e-02 -4.09377051e-01 9.11260032e-01 4.68309724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.881193817 meters Centerline goodness : 0.885681 with order 1 Centerline is valid? [False, False] Translation: X:56.14, Y:0.90, Z:4.68 [[ 9.99029666e-01 -2.10396670e-02 3.86918515e-02 5.61354344e+01] [ 8.23940164e-03 9.52288469e-01 3.05088157e-01 8.96872853e-01] [-4.32647573e-02 -3.04473322e-01 9.51537786e-01 4.68091000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.941193817 meters Centerline goodness : 0.887281 with order 1 Centerline is valid? [False, False] Translation: X:56.12, Y:0.90, Z:4.68 [[ 9.98965732e-01 -2.20818639e-02 3.97474241e-02 5.61156468e+01] [ 1.08998463e-02 9.64966302e-01 2.62147342e-01 9.02493209e-01] [-4.41436268e-02 -2.61442970e-01 9.64208957e-01 4.68297026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.001193817 meters Centerline goodness : 0.883254 with order 1 Centerline is valid? [False, False] Translation: X:56.10, Y:0.90, Z:4.68 [[ 9.98725053e-01 -2.73698008e-02 4.24165430e-02 5.61036027e+01] [ 1.71976804e-02 9.74469963e-01 2.23858284e-01 9.04259927e-01] [-4.74606037e-02 -2.22843411e-01 9.73698262e-01 4.68285140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.061193817 meters Centerline goodness : 0.885673 with order 1 Centerline is valid? [False, False] Translation: X:56.07, Y:0.90, Z:4.68 [[ 9.98341635e-01 -3.41281873e-02 4.63599765e-02 5.60744849e+01] [ 2.47673789e-02 9.81613393e-01 1.89266279e-01 9.04800420e-01] [-5.19668888e-02 -1.87804191e-01 9.80830785e-01 4.68352532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.121193817 meters Centerline goodness : 0.888585 with order 1 Centerline is valid? [False, False] Translation: X:56.06, Y:0.91, Z:4.68 [[ 9.98160890e-01 -3.48805360e-02 4.95800886e-02 5.60636979e+01] [ 2.65718419e-02 9.86867991e-01 1.59328297e-01 9.07761127e-01] [-5.44864588e-02 -1.57717841e-01 9.85979872e-01 4.68327438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.181193817 meters Centerline goodness : 0.887375 with order 1 Centerline is valid? [False, False] Translation: X:56.06, Y:0.91, Z:4.68 [[ 9.98318664e-01 -3.19320276e-02 4.83755235e-02 5.60561948e+01] [ 2.51530158e-02 9.90557043e-01 1.34774142e-01 9.10669884e-01] [-5.22223271e-02 -1.33330751e-01 9.89694771e-01 4.68100927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.241193817 meters Centerline goodness : 0.884607 with order 1 Centerline is valid? [False, False] Translation: X:56.05, Y:0.92, Z:4.68 [[ 9.98338582e-01 -2.91986833e-02 4.96740628e-02 5.60519010e+01] [ 2.35574436e-02 9.93587581e-01 1.10583752e-01 9.15722492e-01] [-5.25844318e-02 -1.09229833e-01 9.92624663e-01 4.67795963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.301193817 meters Centerline goodness : 0.882293 with order 1 Centerline is valid? [False, False] Translation: X:56.06, Y:0.92, Z:4.68 [[ 9.98533595e-01 -2.55384420e-02 4.77330835e-02 5.60566911e+01] [ 2.12204703e-02 9.95816754e-01 8.88745415e-02 9.21784296e-01] [-4.98031216e-02 -8.77312970e-02 9.94898421e-01 4.67828631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.36119381700001 meters Centerline goodness : 0.884848 with order 1 Centerline is valid? [False, False] Translation: X:56.05, Y:0.93, Z:4.68 [[ 9.98782955e-01 -1.85619297e-02 4.56953440e-02 5.60505014e+01] [ 1.53419095e-02 9.97440500e-01 6.98360589e-02 9.30239934e-01] [-4.68746788e-02 -6.90500114e-02 9.96511345e-01 4.67589126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.42119381700002 meters Centerline goodness : 0.885063 with order 1 Centerline is valid? [False, False] Translation: X:56.05, Y:0.94, Z:4.68 [[ 9.98711998e-01 -1.50562126e-02 4.84526046e-02 5.60509262e+01] [ 1.23855624e-02 9.98412033e-01 5.49546122e-02 9.36222024e-01] [-4.92030718e-02 -5.42837178e-02 9.97312557e-01 4.67553722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.481193817 meters Centerline goodness : 0.885709 with order 1 Centerline is valid? [False, False] Translation: X:56.04, Y:0.94, Z:4.67 [[ 9.98436921e-01 -1.72463352e-02 5.31627533e-02 5.60408844e+01] [ 1.49124703e-02 9.98920724e-01 4.39887044e-02 9.41293772e-01] [-5.38640200e-02 -4.31271586e-02 9.97616517e-01 4.67406943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.541193817 meters Centerline goodness : 0.886718 with order 1 Centerline is valid? [False, False] Translation: X:56.03, Y:0.95, Z:4.68 [[ 9.98510267e-01 -2.10552950e-02 5.03380792e-02 5.60316468e+01] [ 1.97237667e-02 9.99446113e-01 2.68037485e-02 9.48311467e-01] [-5.08745584e-02 -2.57709615e-02 9.98372494e-01 4.67600885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.601193817 meters Centerline goodness : 0.888401 with order 1 Centerline is valid? [False, False] Translation: X:56.03, Y:0.95, Z:4.68 [[ 9.98504251e-01 -2.13724550e-02 5.03237314e-02 5.60307101e+01] [ 2.01333557e-02 9.99484639e-01 2.50021046e-02 9.53909411e-01] [-5.08321529e-02 -2.39515221e-02 9.98419960e-01 4.67768043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.661193817 meters Centerline goodness : 0.893995 with order 1 Centerline is valid? [False, False] Translation: X:56.03, Y:0.96, Z:4.68 [[ 9.98745143e-01 -1.04774135e-02 4.89730767e-02 5.60300945e+01] [ 9.77125823e-03 9.99845136e-01 1.46364954e-02 9.60978983e-01] [-4.91188451e-02 -1.41396001e-02 9.98692851e-01 4.67919694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.721193817 meters Centerline goodness : 0.895619 with order 1 Centerline is valid? [False, False] Translation: X:56.03, Y:0.97, Z:4.68 [[ 9.99064524e-01 -2.11144296e-04 4.32438731e-02 5.60295741e+01] [-7.58118606e-05 9.99977992e-01 6.63401701e-03 9.65624841e-01] [-4.32443221e-02 -6.63108944e-03 9.99042520e-01 4.68139637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.781193817 meters Centerline goodness : 0.897194 with order 1 Centerline is valid? [False, False] Translation: X:56.04, Y:0.94, Z:4.69 [[ 9.99452309e-01 1.33414962e-03 3.30651248e-02 5.60364489e+01] [-4.51569705e-03 9.95338829e-01 9.63339149e-02 9.40967309e-01] [-3.27824788e-02 -9.64304657e-02 9.94799716e-01 4.69398237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.841193817 meters Centerline goodness : 0.898853 with order 1 Centerline is valid? [False, False] Translation: X:56.03, Y:0.91, Z:4.71 [[ 9.99536259e-01 -4.51179597e-03 3.01149519e-02 5.60250178e+01] [-1.61043564e-03 9.79746324e-01 2.00236227e-01 9.09895187e-01] [-3.04084384e-02 -2.00191867e-01 9.79284710e-01 4.71039505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.901193817 meters Centerline goodness : 0.896094 with order 1 Centerline is valid? [False, False] Translation: X:56.03, Y:0.87, Z:4.74 [[ 9.99765942e-01 -1.09767066e-02 1.86433337e-02 5.60259265e+01] [ 4.20744447e-03 9.43925844e-01 3.30130728e-01 8.66289815e-01] [-2.12216726e-02 -3.29975018e-01 9.43751094e-01 4.73816404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.961193817 meters Centerline goodness : 0.896147 with order 1 Centerline is valid? [False, False] Translation: X:56.01, Y:0.88, Z:4.74 [[ 9.99862731e-01 -6.02045396e-03 1.54360761e-02 5.60118607e+01] [ 1.35713734e-03 9.58275360e-01 2.85843475e-01 8.75451064e-01] [-1.65129189e-02 -2.85783289e-01 9.58151990e-01 4.73609201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.021193817 meters Centerline goodness : 0.894817 with order 1 Centerline is valid? [False, False] Translation: X:56.00, Y:0.88, Z:4.74 [[ 9.99909984e-01 1.92665795e-03 1.32782638e-02 5.59954425e+01] [-5.12285984e-03 9.69483642e-01 2.45102475e-01 8.81994406e-01] [-1.24008310e-02 -2.45148435e-01 9.69406243e-01 4.73537020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.081193817 meters Centerline goodness : 0.893261 with order 1 Centerline is valid? [False, False] Translation: X:56.01, Y:0.84, Z:4.77 [[ 9.99853396e-01 -8.72308202e-03 1.47341057e-02 5.60081636e+01] [ 2.51585238e-03 9.26005736e-01 3.77501055e-01 8.38199515e-01] [-1.69368391e-02 -3.77408643e-01 9.25891927e-01 4.76656369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.14119381700002 meters Centerline goodness : 0.897459 with order 1 Centerline is valid? [False, False] Translation: X:55.98, Y:0.85, Z:4.77 [[ 9.99781708e-01 -1.20893444e-02 1.70406859e-02 5.59811069e+01] [ 5.77394560e-03 9.43703526e-01 3.30742070e-01 8.46496199e-01] [-2.00798102e-02 -3.30571479e-01 9.43567326e-01 4.76759421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.201193817 meters Centerline goodness : 0.893617 with order 1 Centerline is valid? [False, False] Translation: X:55.96, Y:0.85, Z:4.77 [[ 9.99712290e-01 -1.29617450e-02 2.01824344e-02 5.59565605e+01] [ 6.60124004e-03 9.57602856e-01 2.88015960e-01 8.49671039e-01] [-2.30599463e-02 -2.87799866e-01 9.57412908e-01 4.76907612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.261193817 meters Centerline goodness : 0.897263 with order 1 Centerline is valid? [False, False] Translation: X:55.95, Y:0.85, Z:4.77 [[ 9.99798127e-01 -6.07109526e-03 1.91532395e-02 5.59457291e+01] [ 9.97700124e-04 9.67082536e-01 2.54460948e-01 8.54224753e-01] [-2.00676201e-02 -2.54390470e-01 9.66893365e-01 4.76693011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.321193817 meters Centerline goodness : 0.897723 with order 1 Centerline is valid? [False, False] Translation: X:55.94, Y:0.85, Z:4.77 [[ 9.99849046e-01 2.43562010e-03 1.72032896e-02 5.59362408e+01] [-6.23770386e-03 9.74437182e-01 2.24573530e-01 8.53495054e-01] [-1.62165492e-02 -2.24646938e-01 9.74305279e-01 4.76547395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.381193817 meters Centerline goodness : 0.895406 with order 1 Centerline is valid? [False, False] Translation: X:55.92, Y:0.85, Z:4.77 [[ 9.99898242e-01 4.43907786e-03 1.35573007e-02 5.59224312e+01] [-6.90960264e-03 9.82140052e-01 1.88024403e-01 8.52789664e-01] [-1.24805130e-02 -1.88098945e-01 9.82070783e-01 4.76604234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.441193817 meters Centerline goodness : 0.899523 with order 1 Centerline is valid? [False, False] Translation: X:55.91, Y:0.85, Z:4.76 [[ 9.99919855e-01 5.64422563e-03 1.13324957e-02 5.59109975e+01] [-7.36497419e-03 9.87401279e-01 1.58064769e-01 8.45368119e-01] [-1.02975675e-02 -1.58135564e-01 9.87363714e-01 4.76410470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.501193817 meters Centerline goodness : 0.895824 with order 1 Centerline is valid? [False, False] Translation: X:55.89, Y:0.84, Z:4.77 [[ 9.99905326e-01 5.75805941e-03 1.24973772e-02 5.58917906e+01] [-7.36942050e-03 9.91090650e-01 1.32985021e-01 8.39909536e-01] [-1.16202980e-02 -1.33064529e-01 9.91039252e-01 4.76602703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.561193817 meters Centerline goodness : 0.894095 with order 1 Centerline is valid? [False, False] Translation: X:55.91, Y:0.84, Z:4.77 [[ 9.99917634e-01 5.41512588e-04 1.28230941e-02 5.59113653e+01] [-1.75843447e-03 9.95467997e-01 9.50808881e-02 8.43279480e-01] [-1.27134923e-02 -9.50956053e-02 9.95386956e-01 4.76605729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.621193817 meters Centerline goodness : 0.891457 with order 1 Centerline is valid? [False, False] Translation: X:55.92, Y:0.84, Z:4.76 [[ 9.99818492e-01 -1.18496315e-02 1.49187783e-02 5.59236368e+01] [ 1.07482724e-02 9.97357153e-01 7.18552987e-02 8.41850828e-01] [-1.57308091e-02 -7.16819053e-02 9.97303487e-01 4.76299761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.681193817 meters Centerline goodness : 0.889563 with order 1 Centerline is valid? [False, False] Translation: X:55.95, Y:0.84, Z:4.76 [[ 9.99696795e-01 -1.90236508e-02 1.56338862e-02 5.59471298e+01] [ 1.82349188e-02 9.98625838e-01 4.91316967e-02 8.42961951e-01] [-1.65470670e-02 -4.88317171e-02 9.98669944e-01 4.76051514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.741193817 meters Centerline goodness : 0.887292 with order 1 Centerline is valid? [False, False] Translation: X:55.96, Y:0.85, Z:4.76 [[ 9.99408303e-01 -2.77115367e-02 2.03743495e-02 5.59590155e+01] [ 2.71027586e-02 9.99195144e-01 2.95720302e-02 8.47464088e-01] [-2.11774375e-02 -2.90023314e-02 9.99354982e-01 4.75567532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.801193817 meters Centerline goodness : 0.882971 with order 1 Centerline is valid? [False, False] Translation: X:55.98, Y:0.85, Z:4.75 [[ 9.99530067e-01 -2.43045769e-02 1.86797183e-02 5.59815614e+01] [ 2.40409399e-02 9.99609966e-01 1.42108660e-02 8.52318258e-01] [-1.90178216e-02 -1.37551099e-02 9.99724522e-01 4.75386815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.86119381700001 meters Centerline goodness : 0.882546 with order 1 Centerline is valid? [False, False] Translation: X:56.01, Y:0.86, Z:4.75 [[ 9.99716774e-01 -1.90586767e-02 1.42526743e-02 5.60145374e+01] [ 1.90006632e-02 9.99810671e-01 4.19476372e-03 8.56842483e-01] [-1.43299225e-02 -3.92276539e-03 9.99889627e-01 4.75335006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.92119381700002 meters Centerline goodness : 0.886784 with order 1 Centerline is valid? [False, False] Translation: X:56.06, Y:0.87, Z:4.75 [[ 9.99871552e-01 -7.85157608e-03 1.39725875e-02 5.60567614e+01] [ 8.14219410e-03 9.99749141e-01 -2.08652699e-02 8.68488274e-01] [-1.38052571e-02 2.09763573e-02 9.99684654e-01 4.75198525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.981193817 meters Centerline goodness : 0.886813 with order 1 Centerline is valid? [False, False] Translation: X:56.11, Y:0.88, Z:4.75 [[ 9.99803774e-01 3.69175617e-03 1.94623762e-02 5.61061137e+01] [-2.41410308e-03 9.97864937e-01 -6.52666794e-02 8.84645836e-01] [-1.96617715e-02 6.52068882e-02 9.97678042e-01 4.75271301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.041193817 meters Centerline goodness : 0.878701 with order 1 Centerline is valid? [False, False] Translation: X:56.14, Y:0.92, Z:4.76 [[ 9.99412212e-01 1.84885360e-02 2.88687560e-02 5.61440011e+01] [-1.37446391e-02 9.87560228e-01 -1.56639332e-01 9.15343152e-01] [-3.14056672e-02 1.56150470e-01 9.87233870e-01 4.75958477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.101193817 meters Centerline goodness : 0.884715 with order 1 Centerline is valid? [False, False] Translation: X:56.14, Y:0.90, Z:4.76 [[ 9.99338222e-01 2.21719081e-02 2.88361831e-02 5.61391408e+01] [-1.82697652e-02 9.91454206e-01 -1.29169552e-01 9.03884560e-01] [-3.14536905e-02 1.28557240e-01 9.91203158e-01 4.76066657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.161193817 meters Centerline goodness : 0.881770 with order 1 Centerline is valid? [False, False] Translation: X:56.14, Y:0.89, Z:4.76 [[ 9.99094748e-01 2.73150513e-02 3.26124582e-02 5.61391806e+01] [-2.37856632e-02 9.94283002e-01 -1.04093964e-01 8.93002013e-01] [-3.52693448e-02 1.03224024e-01 9.94032632e-01 4.75869968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.221193817 meters Centerline goodness : 0.879810 with order 1 Centerline is valid? [False, False] Translation: X:56.14, Y:0.88, Z:4.76 [[ 9.98919403e-01 3.40139156e-02 3.16714290e-02 5.61438893e+01] [-3.11649442e-02 9.95766796e-01 -8.64710046e-02 8.81910550e-01] [-3.44785748e-02 8.53905260e-02 9.95750815e-01 4.76133291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.281193817 meters Centerline goodness : 0.882181 with order 1 Centerline is valid? [False, False] Translation: X:56.15, Y:0.87, Z:4.76 [[ 9.98766066e-01 3.82139241e-02 3.17181562e-02 5.61469714e+01] [-3.58879868e-02 9.96836471e-01 -7.09161593e-02 8.68500155e-01] [-3.43277997e-02 6.96903527e-02 9.96977862e-01 4.76376747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.341193817 meters Centerline goodness : 0.881514 with order 1 Centerline is valid? [False, False] Translation: X:56.13, Y:0.86, Z:4.76 [[ 9.98677627e-01 3.52422593e-02 3.74296842e-02 5.61342111e+01] [-3.30057450e-02 9.97725367e-01 -5.87767970e-02 8.56581987e-01] [-3.94159726e-02 5.74636775e-02 9.97569199e-01 4.76330655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.401193817 meters Centerline goodness : 0.877374 with order 1 Centerline is valid? [False, False] Translation: X:56.12, Y:0.84, Z:4.76 [[ 9.98990746e-01 2.49238580e-02 3.73669691e-02 5.61246710e+01] [-2.31732519e-02 9.98646114e-01 -4.65718724e-02 8.36953494e-01] [-3.84771292e-02 4.56589554e-02 9.98215793e-01 4.76282986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.461193817 meters Centerline goodness : 0.880042 with order 1 Centerline is valid? [False, False] Translation: X:56.16, Y:0.83, Z:4.76 [[ 9.99324238e-01 1.60518549e-02 3.30666722e-02 5.61579126e+01] [-1.46112829e-02 9.98952838e-01 -4.33559458e-02 8.25537384e-01] [-3.37279894e-02 4.28435010e-02 9.98512322e-01 4.76079286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.521193817 meters Centerline goodness : 0.882750 with order 1 Centerline is valid? [False, False] Translation: X:56.18, Y:0.81, Z:4.76 [[ 9.99701700e-01 4.45675432e-04 2.44194917e-02 5.61765077e+01] [ 5.73376069e-04 9.99129671e-01 -4.17081810e-02 8.07355024e-01] [-2.44168270e-02 4.17097410e-02 9.98831375e-01 4.75838784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.581193817 meters Centerline goodness : 0.879907 with order 1 Centerline is valid? [False, False] Translation: X:56.19, Y:0.80, Z:4.76 [[ 9.99804983e-01 -9.72245854e-03 1.71892336e-02 5.61916061e+01] [ 1.04115592e-02 9.99126714e-01 -4.04649075e-02 7.96050883e-01] [-1.67808041e-02 4.06359828e-02 9.99033093e-01 4.75678034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.64119381700002 meters Centerline goodness : 0.883697 with order 1 Centerline is valid? [False, False] Translation: X:56.21, Y:0.78, Z:4.76 [[ 9.99625762e-01 -2.40293870e-02 1.30738291e-02 5.62132010e+01] [ 2.44097600e-02 9.99259058e-01 -2.97573406e-02 7.81760517e-01] [-1.23490915e-02 3.00653333e-02 9.99471648e-01 4.76078975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.701193817 meters Centerline goodness : 0.883981 with order 1 Centerline is valid? [False, False] Translation: X:56.23, Y:0.78, Z:4.76 [[ 9.99584396e-01 -2.42586902e-02 1.55740567e-02 5.62319643e+01] [ 2.46854208e-02 9.99308126e-01 -2.78190290e-02 7.76665857e-01] [-1.48884282e-02 2.81919195e-02 9.99491646e-01 4.76066743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.761193817 meters Centerline goodness : 0.888712 with order 1 Centerline is valid? [False, False] Translation: X:56.25, Y:0.78, Z:4.76 [[ 9.99522933e-01 -2.49584408e-02 1.81929198e-02 5.62501538e+01] [ 2.54751902e-02 9.99262003e-01 -2.87482884e-02 7.75470814e-01] [-1.74619811e-02 2.91980417e-02 9.99421109e-01 4.76150199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.821193817 meters Centerline goodness : 0.890004 with order 1 Centerline is valid? [False, False] Translation: X:56.27, Y:0.78, Z:4.76 [[ 9.99416980e-01 -2.47708608e-02 2.34969084e-02 5.62652163e+01] [ 2.54890847e-02 9.99201242e-01 -3.07763522e-02 7.79264912e-01] [-2.27157833e-02 3.13573236e-02 9.99250075e-01 4.76277741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.881193817 meters Centerline goodness : 0.894655 with order 1 Centerline is valid? [False, False] Translation: X:56.28, Y:0.79, Z:4.77 [[ 9.99216578e-01 -2.61247658e-02 2.97275363e-02 5.62769912e+01] [ 2.71840119e-02 9.98989046e-01 -3.58038583e-02 7.89655857e-01] [-2.87621157e-02 3.65839224e-02 9.98916592e-01 4.76595169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.941193817 meters Centerline goodness : 0.896348 with order 1 Centerline is valid? [False, False] Translation: X:56.31, Y:0.81, Z:4.76 [[ 9.99114571e-01 -2.45906801e-02 3.41375494e-02 5.63114501e+01] [ 2.61606367e-02 9.98583529e-01 -4.63309532e-02 8.07731524e-01] [-3.29498849e-02 4.71829905e-02 9.98342662e-01 4.76447593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.001193817 meters Centerline goodness : 0.899388 with order 1 Centerline is valid? [False, False] Translation: X:56.35, Y:0.82, Z:4.76 [[ 9.99239207e-01 -1.85822215e-02 3.42886093e-02 5.63512440e+01] [ 2.01872364e-02 9.98687472e-01 -4.70723751e-02 8.20370068e-01] [-3.33688952e-02 4.77287550e-02 9.98302801e-01 4.76062206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.061193817 meters Centerline goodness : 0.896430 with order 1 Centerline is valid? [False, False] Translation: X:56.39, Y:0.83, Z:4.76 [[ 9.99359494e-01 -1.30726324e-02 3.33122901e-02 5.63931718e+01] [ 1.48077673e-02 9.98517219e-01 -5.23840997e-02 8.34432833e-01] [-3.25780972e-02 5.28438280e-02 9.98071239e-01 4.75716099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.121193817 meters Centerline goodness : 0.896890 with order 1 Centerline is valid? [False, False] Translation: X:56.45, Y:0.86, Z:4.75 [[ 9.99553628e-01 -4.43740252e-03 2.95441007e-02 5.64509189e+01] [ 6.57479869e-03 9.97336064e-01 -7.26467305e-02 8.55781695e-01] [-2.91430343e-02 7.28085496e-02 9.96920056e-01 4.75339157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.181193817 meters Centerline goodness : 0.893814 with order 1 Centerline is valid? [False, False] Translation: X:56.49, Y:0.87, Z:4.75 [[ 9.99638562e-01 -1.38632862e-03 2.68481678e-02 5.64946739e+01] [ 3.37399536e-03 9.97242837e-01 -7.41305553e-02 8.66479233e-01] [-2.66713737e-02 7.41943472e-02 9.96887073e-01 4.74855641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.241193817 meters Centerline goodness : 0.893126 with order 1 Centerline is valid? [False, False] Translation: X:56.55, Y:0.88, Z:4.75 [[ 9.99676549e-01 -4.65188517e-04 2.54279617e-02 5.65536138e+01] [ 2.49852288e-03 9.96792422e-01 -7.99914034e-02 8.78327431e-01] [-2.53091884e-02 8.00290624e-02 9.96471171e-01 4.74689321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.301193817 meters Centerline goodness : 0.895754 with order 1 Centerline is valid? [False, False] Translation: X:56.59, Y:0.88, Z:4.75 [[ 9.99656865e-01 6.92521722e-04 2.61853478e-02 5.65934609e+01] [ 1.43559351e-03 9.96699634e-01 -8.11651260e-02 8.84164349e-01] [-2.61551352e-02 8.11748670e-02 9.96356638e-01 4.74559993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.36119381700001 meters Centerline goodness : 0.899337 with order 1 Centerline is valid? [False, False] Translation: X:56.64, Y:0.90, Z:4.75 [[ 9.99426636e-01 6.69780821e-03 3.31894391e-02 5.66432275e+01] [-3.11730358e-03 9.94277793e-01 -1.06779923e-01 9.03808828e-01] [-3.37147137e-02 1.06615237e-01 9.93728589e-01 4.74593765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.42119381700002 meters Centerline goodness : 0.900932 with order 1 Centerline is valid? [False, False] Translation: X:56.68, Y:0.94, Z:4.75 [[ 9.98929598e-01 1.81445542e-02 4.25491839e-02 5.66839228e+01] [-1.06346811e-02 9.85300661e-01 -1.70497832e-01 9.35740867e-01] [-4.50173462e-02 1.69862834e-01 9.84438955e-01 4.75079169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.481193817 meters Centerline goodness : 0.901710 with order 1 Centerline is valid? [False, False] Translation: X:56.69, Y:0.93, Z:4.75 [[ 9.98944966e-01 2.37203577e-02 3.93230248e-02 5.66863050e+01] [-1.78091925e-02 9.89361495e-01 -1.44383740e-01 9.33803692e-01] [-4.23295206e-02 1.43531099e-01 9.88740125e-01 4.75128664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.541193817 meters Centerline goodness : 0.902530 with order 1 Centerline is valid? [False, False] Translation: X:56.67, Y:0.93, Z:4.75 [[ 9.98861820e-01 2.82693924e-02 3.84175310e-02 5.66658464e+01] [-2.35414280e-02 9.92688633e-01 -1.18385299e-01 9.33679610e-01] [-4.14833268e-02 1.17346152e-01 9.92224276e-01 4.75321836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.601193817 meters Centerline goodness : 0.904633 with order 1 Centerline is valid? [False, False] Translation: X:56.64, Y:0.91, Z:4.77 [[ 9.99222382e-01 2.08660176e-02 3.34550548e-02 5.66416241e+01] [-2.02308806e-02 9.99610725e-01 -1.92122326e-02 9.07123350e-01] [-3.38429143e-02 1.85204676e-02 9.99255548e-01 4.76853408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.661193817 meters Centerline goodness : 0.904767 with order 1 Centerline is valid? [False, False] Translation: X:56.64, Y:0.91, Z:4.77 [[ 9.99235911e-01 2.07549607e-02 3.31183509e-02 5.66421620e+01] [-2.01326392e-02 9.99616480e-01 -1.90149756e-02 9.06803141e-01] [-3.35003044e-02 1.83336866e-02 9.99270537e-01 4.76874888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.721193817 meters Centerline goodness : 0.905383 with order 1 Centerline is valid? [False, False] Translation: X:56.63, Y:0.87, Z:4.79 [[ 9.99608401e-01 1.03349620e-02 2.60044735e-02 5.66263553e+01] [-1.28660887e-02 9.94991192e-01 9.91311819e-02 8.70447365e-01] [-2.48497050e-02 -9.94269381e-02 9.94734525e-01 4.78743734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.781193817 meters Centerline goodness : 0.903510 with order 1 Centerline is valid? [False, False] Translation: X:56.62, Y:0.84, Z:4.81 [[ 9.99840927e-01 -4.95649295e-05 1.78358555e-02 5.66227539e+01] [-3.62733925e-03 9.78532556e-01 2.06060378e-01 8.36984748e-01] [-1.74631787e-02 -2.06092296e-01 9.78376718e-01 4.81143401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.841193817 meters Centerline goodness : 0.903817 with order 1 Centerline is valid? [False, False] Translation: X:56.62, Y:0.80, Z:4.84 [[ 9.99945206e-01 -7.69743713e-03 7.09465774e-03 5.66235900e+01] [ 5.05854840e-03 9.48651618e-01 3.16282341e-01 8.03582165e-01] [-9.16492197e-03 -3.16229122e-01 9.48638575e-01 4.84119533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.901193817 meters Centerline goodness : 0.905648 with order 1 Centerline is valid? [False, False] Translation: X:56.61, Y:0.81, Z:4.84 [[ 9.99954567e-01 -4.21900499e-03 8.54772865e-03 5.66066964e+01] [ 1.63341846e-03 9.59293877e-01 2.82405010e-01 8.09854726e-01] [-9.39125190e-03 -2.82378217e-01 9.59257185e-01 4.83852285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.961193817 meters Centerline goodness : 0.904637 with order 1 Centerline is valid? [False, False] Translation: X:56.60, Y:0.84, Z:4.83 [[ 9.99969434e-01 -7.49079727e-04 7.78271909e-03 5.65971699e+01] [-6.85368497e-04 9.83170432e-01 1.82689439e-01 8.35513817e-01] [-7.78858825e-03 -1.82689189e-01 9.83139867e-01 4.83303262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.021193817 meters Centerline goodness : 0.904503 with order 1 Centerline is valid? [False, False] Translation: X:56.59, Y:0.86, Z:4.83 [[ 9.99953797e-01 3.87954740e-04 9.60488593e-03 5.65862953e+01] [-1.27805734e-03 9.95680203e-01 9.28401901e-02 8.61060033e-01] [-9.52737698e-03 -9.28481762e-02 9.95634695e-01 4.83317071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.081193817 meters Centerline goodness : 0.910000 with order 1 Centerline is valid? [False, False] Translation: X:56.60, Y:0.87, Z:4.84 [[ 9.99887733e-01 -6.92133411e-03 1.32896987e-02 5.66049751e+01] [ 6.20042578e-03 9.98546402e-01 5.35409877e-02 8.69387079e-01] [-1.36409559e-02 -5.34525750e-02 9.98477214e-01 4.83613670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.14119381700002 meters Centerline goodness : 0.910160 with order 1 Centerline is valid? [False, False] Translation: X:56.63, Y:0.87, Z:4.84 [[ 9.99841932e-01 -1.20097735e-02 1.31101938e-02 5.66304692e+01] [ 1.16614213e-02 9.99585239e-01 2.63317456e-02 8.74134309e-01] [-1.34209945e-02 -2.61746999e-02 9.99567287e-01 4.83604456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.201193817 meters Centerline goodness : 0.913468 with order 1 Centerline is valid? [False, False] Translation: X:56.66, Y:0.88, Z:4.84 [[ 9.99695030e-01 -2.15084869e-02 1.21339386e-02 5.66554043e+01] [ 2.14130759e-02 9.99739192e-01 7.93903518e-03 8.79031900e-01] [-1.23015306e-02 -7.67678906e-03 9.99894864e-01 4.83796894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.261193817 meters Centerline goodness : 0.910234 with order 1 Centerline is valid? [False, False] Translation: X:56.69, Y:0.88, Z:4.84 [[ 9.99576314e-01 -2.69681345e-02 1.09504141e-02 5.66850763e+01] [ 2.70713116e-02 9.99589440e-01 -9.38589205e-03 8.83237360e-01] [-1.06927983e-02 9.67835745e-03 9.99895991e-01 4.83798931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.321193817 meters Centerline goodness : 0.909010 with order 1 Centerline is valid? [False, False] Translation: X:56.71, Y:0.89, Z:4.83 [[ 9.99315543e-01 -3.61831023e-02 7.69595234e-03 5.67109514e+01] [ 3.63345402e-02 9.99128503e-01 -2.05435285e-02 8.90325981e-01] [-6.94591674e-03 2.08090962e-02 9.99759339e-01 4.83304328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.381193817 meters Centerline goodness : 0.909225 with order 1 Centerline is valid? [False, False] Translation: X:56.74, Y:0.89, Z:4.83 [[ 9.99129604e-01 -4.15468268e-02 3.72761602e-03 5.67384048e+01] [ 4.16280166e-02 9.98813065e-01 -2.52897158e-02 8.93808183e-01] [-2.67248414e-03 2.54228770e-02 9.99673214e-01 4.82805628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.441193817 meters Centerline goodness : 0.907037 with order 1 Centerline is valid? [False, False] Translation: X:56.76, Y:0.90, Z:4.83 [[ 9.98967903e-01 -4.53175161e-02 3.07437023e-03 5.67612775e+01] [ 4.53879985e-02 9.98544043e-01 -2.91500169e-02 8.98650410e-01] [-1.74888772e-03 2.92594708e-02 9.99570320e-01 4.82602232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.501193817 meters Centerline goodness : 0.908530 with order 1 Centerline is valid? [False, False] Translation: X:56.79, Y:0.91, Z:4.83 [[ 9.98733220e-01 -4.96395776e-02 8.23817848e-03 5.67940430e+01] [ 4.99173324e-02 9.98034678e-01 -3.78819481e-02 9.12626939e-01] [-6.34154391e-03 3.82451879e-02 9.99248263e-01 4.82717527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.561193817 meters Centerline goodness : 0.906839 with order 1 Centerline is valid? [False, False] Translation: X:56.83, Y:0.93, Z:4.83 [[ 9.98703172e-01 -4.93837003e-02 1.23783519e-02 5.68282027e+01] [ 4.98630089e-02 9.97873337e-01 -4.19819533e-02 9.34402653e-01] [-1.02788031e-02 4.25447319e-02 9.99041687e-01 4.82689872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.621193817 meters Centerline goodness : 0.911994 with order 1 Centerline is valid? [False, False] Translation: X:56.87, Y:0.95, Z:4.83 [[ 9.98715488e-01 -4.88235531e-02 1.35512147e-02 5.68671827e+01] [ 4.93794426e-02 9.97798363e-01 -4.42729796e-02 9.47905379e-01] [-1.13598156e-02 4.48852619e-02 9.98927559e-01 4.82512983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.681193817 meters Centerline goodness : 0.908930 with order 1 Centerline is valid? [False, False] Translation: X:56.87, Y:0.97, Z:4.82 [[ 9.98756655e-01 -4.83110484e-02 1.22958346e-02 5.68732592e+01] [ 4.87815712e-02 9.97951876e-01 -4.13812936e-02 9.71998971e-01] [-1.02714775e-02 4.19296525e-02 9.99067766e-01 4.82210206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.741193817 meters Centerline goodness : 0.911768 with order 1 Centerline is valid? [False, False] Translation: X:56.88, Y:0.99, Z:4.82 [[ 9.98795530e-01 -4.83367041e-02 8.42924108e-03 5.68836600e+01] [ 4.86240985e-02 9.98090298e-01 -3.80979659e-02 9.89568981e-01] [-6.57161363e-03 3.84619423e-02 9.99238456e-01 4.82096915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.801193817 meters Centerline goodness : 0.913880 with order 1 Centerline is valid? [False, False] Translation: X:56.88, Y:1.02, Z:4.82 [[ 9.98716688e-01 -4.99512921e-02 8.35732759e-03 5.68837366e+01] [ 5.02252722e-02 9.98065939e-01 -3.66306373e-02 1.01708628e+00] [-6.51141634e-03 3.70033778e-02 9.99293926e-01 4.82076680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.86119381700001 meters Centerline goodness : 0.915733 with order 1 Centerline is valid? [False, False] Translation: X:56.88, Y:1.04, Z:4.82 [[ 9.98829153e-01 -4.76246242e-02 8.49818929e-03 5.68826096e+01] [ 4.78894271e-02 9.98263841e-01 -3.42914866e-02 1.03505574e+00] [-6.85031592e-03 3.46583099e-02 9.99375743e-01 4.82112343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.92119381700002 meters Centerline goodness : 0.919398 with order 1 Centerline is valid? [False, False] Translation: X:56.88, Y:1.06, Z:4.82 [[ 9.98877208e-01 -4.63099211e-02 9.98567699e-03 5.68755531e+01] [ 4.65837236e-02 9.98487650e-01 -2.91953636e-02 1.06440925e+00] [-8.61854017e-03 2.96277533e-02 9.99523845e-01 4.82182473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.981193817 meters Centerline goodness : 0.920422 with order 1 Centerline is valid? [False, False] Translation: X:56.87, Y:1.09, Z:4.82 [[ 9.98989377e-01 -4.31767324e-02 1.24897892e-02 5.68654744e+01] [ 4.34635096e-02 9.98774311e-01 -2.36811983e-02 1.09387162e+00] [-1.14520039e-02 2.42001156e-02 9.99641539e-01 4.82250176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.041193817 meters Centerline goodness : 0.919720 with order 1 Centerline is valid? [False, False] Translation: X:56.85, Y:1.11, Z:4.83 [[ 9.99245771e-01 -3.82483448e-02 6.70467653e-03 5.68497887e+01] [ 3.84082223e-02 9.98933995e-01 -2.56062717e-02 1.11392520e+00] [-5.71813181e-03 2.58444734e-02 9.99649622e-01 4.82782071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.101193817 meters Centerline goodness : 0.921446 with order 1 Centerline is valid? [False, False] Translation: X:56.85, Y:1.13, Z:4.83 [[ 9.99412955e-01 -3.34856305e-02 7.24274497e-03 5.68484834e+01] [ 3.36412628e-02 9.99179430e-01 -2.25550738e-02 1.12861706e+00] [-6.48153093e-03 2.27854881e-02 9.99719366e-01 4.82774421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.161193817 meters Centerline goodness : 0.924317 with order 1 Centerline is valid? [False, False] Translation: X:56.84, Y:1.15, Z:4.83 [[ 9.99612808e-01 -2.61832669e-02 9.41655380e-03 5.68416321e+01] [ 2.63193449e-02 9.99546530e-01 -1.46296297e-02 1.14983882e+00] [-9.02923218e-03 1.48718027e-02 9.99848640e-01 4.82831655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.221193817 meters Centerline goodness : 0.928777 with order 1 Centerline is valid? [False, False] Translation: X:56.81, Y:1.16, Z:4.83 [[ 9.99701832e-01 -2.41354641e-02 3.70495950e-03 5.68050608e+01] [ 2.40772352e-02 9.99597117e-01 1.50296384e-02 1.16251694e+00] [-4.06621413e-03 -1.49359519e-02 9.99880184e-01 4.83119578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.281193817 meters Centerline goodness : 0.930958 with order 1 Centerline is valid? [False, False] Translation: X:56.81, Y:1.18, Z:4.83 [[ 9.99906407e-01 -1.31679202e-02 3.71260182e-03 5.68069045e+01] [ 1.30786135e-02 9.99646863e-01 2.31321982e-02 1.17750186e+00] [-4.01589370e-03 -2.30814775e-02 9.99725521e-01 4.82797217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.341193817 meters Centerline goodness : 0.928798 with order 1 Centerline is valid? [False, False] Translation: X:56.83, Y:1.19, Z:4.82 [[ 9.99993082e-01 -3.59902221e-03 9.39424636e-04 5.68315988e+01] [ 3.56500328e-03 9.99415493e-01 3.39994691e-02 1.18511227e+00] [-1.06124038e-03 -3.39958848e-02 9.99421409e-01 4.82346372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.401193817 meters Centerline goodness : 0.933358 with order 1 Centerline is valid? [False, False] Translation: X:56.84, Y:1.21, Z:4.83 [[ 9.99926395e-01 1.20248977e-02 -1.61414043e-03 5.68380197e+01] [-1.19608439e-02 9.99312099e-01 3.51036673e-02 1.20582387e+00] [ 2.03514807e-03 -3.50817770e-02 9.99382373e-01 4.82727351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.461193817 meters Centerline goodness : 0.934257 with order 1 Centerline is valid? [False, False] Translation: X:56.86, Y:1.21, Z:4.83 [[ 9.99785692e-01 2.06720453e-02 1.11226374e-03 5.68597495e+01] [-2.06956974e-02 9.99360294e-01 2.91666181e-02 1.21317673e+00] [-5.08618568e-04 -2.91833865e-02 9.99573945e-01 4.82540468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.521193817 meters Centerline goodness : 0.938934 with order 1 Centerline is valid? [False, False] Translation: X:56.88, Y:1.22, Z:4.82 [[ 9.99800405e-01 1.99452452e-02 1.15607068e-03 5.68823753e+01] [-1.99710831e-02 9.99343487e-01 3.02283255e-02 1.21708997e+00] [-5.52400340e-04 -3.02453801e-02 9.99542351e-01 4.82261804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.581193817 meters Centerline goodness : 0.936192 with order 1 Centerline is valid? [False, False] Translation: X:56.91, Y:1.22, Z:4.82 [[ 9.99793276e-01 2.02654062e-02 -1.64895818e-03 5.69116226e+01] [-2.02056447e-02 9.99329467e-01 3.05343922e-02 1.21594517e+00] [ 2.26664436e-03 -3.04947617e-02 9.99532357e-01 4.82191804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.64119381700002 meters Centerline goodness : 0.932744 with order 1 Centerline is valid? [False, False] Translation: X:56.93, Y:1.21, Z:4.82 [[ 9.99832138e-01 1.83219354e-02 5.50441154e-05 5.69317957e+01] [-1.83125075e-02 9.99211847e-01 3.52184246e-02 1.21286321e+00] [ 5.90268969e-04 -3.52135208e-02 9.99379637e-01 4.81836085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.701193817 meters Centerline goodness : 0.932469 with order 1 Centerline is valid? [False, False] Translation: X:56.99, Y:1.20, Z:4.82 [[ 9.99943534e-01 1.06188896e-02 4.09190409e-04 5.69874108e+01] [-1.06263828e-02 9.98836554e-01 4.70384716e-02 1.20027101e+00] [ 9.07819986e-05 -4.70401638e-02 9.98892995e-01 4.81503066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.761193817 meters Centerline goodness : 0.932920 with order 1 Centerline is valid? [False, False] Translation: X:57.04, Y:1.19, Z:4.81 [[ 9.99985675e-01 4.77064172e-03 2.42713735e-03 5.70416793e+01] [-4.91316087e-03 9.98028833e-01 6.25644449e-02 1.18612509e+00] [-2.12388051e-03 -6.25754736e-02 9.98037975e-01 4.81099914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.821193817 meters Centerline goodness : 0.931806 with order 1 Centerline is valid? [False, False] Translation: X:57.09, Y:1.18, Z:4.81 [[ 9.99990654e-01 3.99536702e-03 1.65181177e-03 5.70869981e+01] [-4.10101741e-03 9.97547782e-01 6.98684807e-02 1.17617271e+00] [-1.36861094e-03 -6.98746019e-02 9.97554844e-01 4.80932617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.881193817 meters Centerline goodness : 0.931418 with order 1 Centerline is valid? [False, False] Translation: X:57.13, Y:1.17, Z:4.81 [[ 9.99991259e-01 4.06798024e-03 9.65831921e-04 5.71337649e+01] [-4.12888080e-03 9.97184187e-01 7.48775661e-02 1.16659347e+00] [-6.58511859e-04 -7.48808994e-02 9.97192267e-01 4.80791952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.941193817 meters Centerline goodness : 0.931848 with order 1 Centerline is valid? [False, False] Translation: X:57.17, Y:1.16, Z:4.81 [[ 9.99985474e-01 5.38662042e-03 1.89119424e-04 5.71676744e+01] [-5.38656907e-03 9.97504222e-01 7.04010862e-02 1.16196711e+00] [ 1.90576505e-04 -7.04010823e-02 9.97518747e-01 4.80962789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.001193817 meters Centerline goodness : 0.928746 with order 1 Centerline is valid? [False, False] Translation: X:57.22, Y:1.15, Z:4.81 [[ 9.99983529e-01 5.68398949e-03 7.95899533e-04 5.72164316e+01] [-5.72817438e-03 9.97062872e-01 7.63728799e-02 1.15420774e+00] [-3.59459228e-04 -7.63761811e-02 9.97079009e-01 4.80693799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.061193817 meters Centerline goodness : 0.926240 with order 1 Centerline is valid? [False, False] Translation: X:57.27, Y:1.14, Z:4.80 [[ 9.99998397e-01 1.70385983e-03 5.49975586e-04 5.72748898e+01] [-1.74644610e-03 9.95939564e-01 9.00074126e-02 1.14179798e+00] [-3.94382430e-04 -9.00082289e-02 9.95940944e-01 4.80224234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.121193817 meters Centerline goodness : 0.925788 with order 1 Centerline is valid? [False, False] Translation: X:57.32, Y:1.13, Z:4.79 [[ 9.99973579e-01 -2.74129841e-03 6.73254929e-03 5.73195397e+01] [ 1.91160823e-03 9.92737432e-01 1.20286059e-01 1.12785731e+00] [-7.01339368e-03 -1.20270011e-01 9.92716443e-01 4.79329187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.181193817 meters Centerline goodness : 0.923385 with order 1 Centerline is valid? [False, False] Translation: X:57.34, Y:1.06, Z:4.78 [[ 9.99817729e-01 -1.46110469e-02 1.22892291e-02 5.73385000e+01] [ 1.05900292e-02 9.60000284e-01 2.79798689e-01 1.06395147e+00] [-1.58858152e-02 -2.79617547e-01 9.59980035e-01 4.78273012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.241193817 meters Centerline goodness : 0.925757 with order 1 Centerline is valid? [False, False] Translation: X:57.37, Y:1.02, Z:4.79 [[ 9.99668109e-01 -2.18380802e-02 1.36663734e-02 5.73724243e+01] [ 1.48331303e-02 9.21652242e-01 3.87733315e-01 1.02346113e+00] [-2.10629949e-02 -3.87401915e-01 9.21670281e-01 4.78898364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.301193817 meters Centerline goodness : 0.926350 with order 1 Centerline is valid? [False, False] Translation: X:57.39, Y:1.03, Z:4.80 [[ 9.99695227e-01 -1.97112755e-02 1.48633491e-02 5.73926328e+01] [ 1.30667319e-02 9.33301283e-01 3.58856483e-01 1.03314372e+00] [-2.09455018e-02 -3.58552897e-01 9.33274400e-01 4.79614477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.36119381700001 meters Centerline goodness : 0.923674 with order 1 Centerline is valid? [False, False] Translation: X:57.43, Y:1.03, Z:4.80 [[ 9.99608773e-01 -2.11595328e-02 1.82914189e-02 5.74349493e+01] [ 1.31769804e-02 9.33119709e-01 3.59324332e-01 1.03088453e+00] [-2.46712185e-02 -3.58942729e-01 9.33033466e-01 4.79813377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.421193817 meters Centerline goodness : 0.920885 with order 1 Centerline is valid? [False, False] Translation: X:57.45, Y:0.95, Z:4.81 [[ 9.99348851e-01 -3.32681245e-02 1.39680625e-02 5.74462531e+01] [ 2.04113349e-02 8.40479450e-01 5.41458837e-01 9.54414009e-01] [-2.97531895e-02 -5.40821159e-01 8.40611219e-01 4.81306035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.481193817 meters Centerline goodness : 0.921110 with order 1 Centerline is valid? [False, False] Translation: X:57.46, Y:0.89, Z:4.85 [[ 9.98961345e-01 -4.52146388e-02 5.64508389e-03 5.74602530e+01] [ 2.85056524e-02 7.16782335e-01 6.96714082e-01 8.88997993e-01] [-3.55479720e-02 -6.95829520e-01 7.17326718e-01 4.84522306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.541193817 meters Centerline goodness : 0.920372 with order 1 Centerline is valid? [False, False] Translation: X:57.48, Y:0.84, Z:4.89 [[ 9.97969596e-01 -6.31300233e-02 -8.44311110e-03 5.74815334e+01] [ 4.36119299e-02 5.80699294e-01 8.12949155e-01 8.43134491e-01] [-4.64185905e-02 -8.11666760e-01 5.82273462e-01 4.89055809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.601193817 meters Centerline goodness : 0.923258 with order 1 Centerline is valid? [False, False] Translation: X:57.44, Y:0.88, Z:4.89 [[ 9.97879370e-01 -6.42809542e-02 -1.02333227e-02 5.74446697e+01] [ 4.86811209e-02 6.32670413e-01 7.72889577e-01 8.75144592e-01] [-4.32077590e-02 -7.71748734e-01 6.34458022e-01 4.89071603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.661193817 meters Centerline goodness : 0.925663 with order 1 Centerline is valid? [False, False] Translation: X:57.41, Y:0.90, Z:4.89 [[ 9.98124741e-01 -6.01916346e-02 -1.11341329e-02 5.74086378e+01] [ 4.88360486e-02 6.73363576e-01 7.37696777e-01 9.02331650e-01] [-3.69058553e-02 -7.36857152e-01 6.75040366e-01 4.89103414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.721193817 meters Centerline goodness : 0.925534 with order 1 Centerline is valid? [False, False] Translation: X:57.38, Y:0.93, Z:4.89 [[ 9.98370490e-01 -5.52304752e-02 -1.43512959e-02 5.73816089e+01] [ 4.95910739e-02 7.15306254e-01 6.97049272e-01 9.33362649e-01] [-2.82327909e-02 -6.96625119e-01 7.16879594e-01 4.89153894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.781193817 meters Centerline goodness : 0.924782 with order 1 Centerline is valid? [False, False] Translation: X:57.35, Y:0.96, Z:4.89 [[ 9.98200331e-01 -5.58181039e-02 -2.19189274e-02 5.73489249e+01] [ 5.62335729e-02 7.44315521e-01 6.65456377e-01 9.63313103e-01] [-2.08299153e-02 -6.65491355e-01 7.46114851e-01 4.88881388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.841193817 meters Centerline goodness : 0.920161 with order 1 Centerline is valid? [False, False] Translation: X:57.32, Y:0.97, Z:4.90 [[ 9.97259894e-01 -6.00033421e-02 -4.32701217e-02 5.73221000e+01] [ 7.32735364e-02 7.20665696e-01 6.89399698e-01 9.74130424e-01] [-1.01829936e-02 -6.90681224e-01 7.23087652e-01 4.90037077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.901193817 meters Centerline goodness : 0.921848 with order 1 Centerline is valid? [False, False] Translation: X:57.30, Y:0.99, Z:4.91 [[ 9.95815937e-01 -6.42622350e-02 -6.49691049e-02 5.72981211e+01] [ 9.13816820e-02 6.99606112e-01 7.08661186e-01 9.88071685e-01] [-8.73688788e-05 -7.11633089e-01 7.02551307e-01 4.90955402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.961193817 meters Centerline goodness : 0.916064 with order 1 Centerline is valid? [False, False] Translation: X:57.32, Y:0.96, Z:4.93 [[ 9.95474766e-01 -6.16548862e-02 -7.23095131e-02 5.73182422e+01] [ 9.49092138e-02 6.07330963e-01 7.88759369e-01 9.60725401e-01] [-4.71506291e-03 -7.92052888e-01 6.10434265e-01 4.93172404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.021193817 meters Centerline goodness : 0.918067 with order 1 Centerline is valid? [False, False] Translation: X:57.30, Y:0.99, Z:4.93 [[ 9.93800114e-01 -6.20300798e-02 -9.22691897e-02 5.73005030e+01] [ 1.10775847e-01 6.23265856e-01 7.74124270e-01 9.93137697e-01] [ 9.48924521e-03 -7.79545985e-01 6.26273113e-01 4.93138717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.081193817 meters Centerline goodness : 0.915668 with order 1 Centerline is valid? [False, False] Translation: X:57.25, Y:1.03, Z:4.92 [[ 9.93669220e-01 -6.19517215e-02 -9.37201488e-02 5.72549944e+01] [ 1.10847114e-01 6.76427467e-01 7.28120044e-01 1.02674881e+00] [ 1.82865927e-02 -7.33899084e-01 6.79012323e-01 4.92107645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.14119381700002 meters Centerline goodness : 0.917166 with order 1 Centerline is valid? [False, False] Translation: X:57.22, Y:1.06, Z:4.91 [[ 9.93846303e-01 -6.04260599e-02 -9.28343531e-02 5.72239322e+01] [ 1.07643461e-01 7.24523138e-01 6.80792999e-01 1.06130025e+00] [ 2.61229984e-02 -6.86596616e-01 7.26569113e-01 4.91276773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.201193817 meters Centerline goodness : 0.920979 with order 1 Centerline is valid? [False, False] Translation: X:57.20, Y:1.10, Z:4.91 [[ 9.93879070e-01 -6.19057810e-02 -9.14990051e-02 5.72010634e+01] [ 1.05862078e-01 7.70489745e-01 6.28600647e-01 1.09644169e+00] [ 3.15850312e-02 -6.34439301e-01 7.72327106e-01 4.90726111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.261193817 meters Centerline goodness : 0.918965 with order 1 Centerline is valid? [False, False] Translation: X:57.19, Y:1.13, Z:4.91 [[ 9.94065536e-01 -6.27405653e-02 -8.88669328e-02 5.71944210e+01] [ 1.03075638e-01 8.04377167e-01 5.85109209e-01 1.12547136e+00] [ 3.47724490e-02 -5.90796916e-01 8.06070643e-01 4.90786288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.321193817 meters Centerline goodness : 0.926757 with order 1 Centerline is valid? [False, False] Translation: X:57.19, Y:1.16, Z:4.91 [[ 9.94021825e-01 -6.69116459e-02 -8.62753896e-02 5.71947311e+01] [ 1.03070569e-01 8.35744636e-01 5.39358286e-01 1.15615590e+00] [ 3.60148435e-02 -5.45026361e-01 8.37645030e-01 4.91277763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.381193817 meters Centerline goodness : 0.922777 with order 1 Centerline is valid? [False, False] Translation: X:57.19, Y:1.18, Z:4.92 [[ 9.94025610e-01 -7.12544263e-02 -8.26794677e-02 5.71928933e+01] [ 1.03051597e-01 8.62291246e-01 4.95816675e-01 1.17999987e+00] [ 3.59646485e-02 -5.01374724e-01 8.64482464e-01 4.91843284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.441193817 meters Centerline goodness : 0.923520 with order 1 Centerline is valid? [False, False] Translation: X:57.22, Y:1.20, Z:4.92 [[ 9.93705308e-01 -7.74897636e-02 -8.09017732e-02 5.72231663e+01] [ 1.06473988e-01 8.77819659e-01 4.67007426e-01 1.20038933e+00] [ 3.48288720e-02 -4.72681692e-01 8.80544699e-01 4.92276301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.501193817 meters Centerline goodness : 0.922513 with order 1 Centerline is valid? [False, False] Translation: X:57.25, Y:1.22, Z:4.93 [[ 9.93242593e-01 -8.25944239e-02 -8.15310513e-02 5.72493913e+01] [ 1.10167131e-01 8.91942160e-01 4.38522960e-01 1.22062653e+00] [ 3.65014307e-02 -4.44541724e-01 8.95014134e-01 4.92851923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.561193817 meters Centerline goodness : 0.920370 with order 1 Centerline is valid? [False, False] Translation: X:57.27, Y:1.24, Z:4.93 [[ 9.92973309e-01 -8.44435169e-02 -8.29053684e-02 5.72664295e+01] [ 1.11026408e-01 9.07226124e-01 4.05726382e-01 1.23730532e+00] [ 4.09529534e-02 -4.12080153e-01 9.10226787e-01 4.93461028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.621193817 meters Centerline goodness : 0.918351 with order 1 Centerline is valid? [False, False] Translation: X:57.31, Y:1.18, Z:4.93 [[ 9.93582426e-01 -8.33571072e-02 -7.64562324e-02 5.73123469e+01] [ 1.11404891e-01 8.38121981e-01 5.33985482e-01 1.18292904e+00] [ 1.95681639e-02 -5.39076189e-01 8.42029661e-01 4.93360022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.681193817 meters Centerline goodness : 0.918003 with order 1 Centerline is valid? [False, False] Translation: X:57.30, Y:1.21, Z:4.95 [[ 9.92905188e-01 -8.89581310e-02 -7.89033472e-02 5.73013692e+01] [ 1.16432594e-01 8.62056558e-01 4.93256467e-01 1.20827438e+00] [ 2.41399745e-02 -4.98943827e-01 8.66298055e-01 4.94922148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.741193817 meters Centerline goodness : 0.914796 with order 1 Centerline is valid? [False, False] Translation: X:57.29, Y:1.23, Z:4.96 [[ 9.92366409e-01 -9.69259402e-02 -7.62513756e-02 5.72931885e+01] [ 1.21206945e-01 8.80635844e-01 4.58027714e-01 1.23010166e+00] [ 2.27549276e-02 -4.63773514e-01 8.85661527e-01 4.96090650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.801193817 meters Centerline goodness : 0.917178 with order 1 Centerline is valid? [False, False] Translation: X:57.29, Y:1.25, Z:4.97 [[ 9.91892534e-01 -1.02630223e-01 -7.49415691e-02 5.72860701e+01] [ 1.24858165e-01 8.96837031e-01 4.24374574e-01 1.24920705e+00] [ 2.36567170e-02 -4.30291038e-01 9.02380176e-01 4.97341008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.86119381700001 meters Centerline goodness : 0.920145 with order 1 Centerline is valid? [False, False] Translation: X:57.27, Y:1.27, Z:4.99 [[ 9.91166321e-01 -1.10467875e-01 -7.33905541e-02 5.72741911e+01] [ 1.30362457e-01 9.13268187e-01 3.85936327e-01 1.27431221e+00] [ 2.43916925e-02 -3.92094462e-01 9.19601532e-01 4.98718016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.921193817 meters Centerline goodness : 0.914127 with order 1 Centerline is valid? [False, False] Translation: X:57.27, Y:1.29, Z:5.00 [[ 9.90510756e-01 -1.14180206e-01 -7.64939340e-02 5.72687072e+01] [ 1.34015375e-01 9.25822490e-01 3.53401466e-01 1.29458787e+00] [ 3.04683524e-02 -3.60299316e-01 9.32339038e-01 5.00010561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.981193817 meters Centerline goodness : 0.914535 with order 1 Centerline is valid? [False, False] Translation: X:57.27, Y:1.32, Z:5.01 [[ 9.90245721e-01 -1.13996152e-01 -8.01142255e-02 5.72650277e+01] [ 1.33972263e-01 9.36959820e-01 3.22734764e-01 1.32000732e+00] [ 3.82732891e-02 -3.30319803e-01 9.43092775e-01 5.01360333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.041193817 meters Centerline goodness : 0.917862 with order 1 Centerline is valid? [False, False] Translation: X:57.26, Y:1.34, Z:5.03 [[ 9.90482177e-01 -1.13642154e-01 -7.76564106e-02 5.72597456e+01] [ 1.31818982e-01 9.45547344e-01 2.97597003e-01 1.33826337e+00] [ 3.96082481e-02 -3.05001117e-01 9.51527985e-01 5.02544008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.101193817 meters Centerline goodness : 0.915479 with order 1 Centerline is valid? [False, False] Translation: X:57.25, Y:1.36, Z:5.04 [[ 9.90662256e-01 -1.10291848e-01 -8.01498807e-02 5.72538869e+01] [ 1.28102464e-01 9.54218364e-01 2.70290719e-01 1.35777466e+00] [ 4.66696251e-02 -2.78034211e-01 9.59436774e-01 5.03859171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.161193817 meters Centerline goodness : 0.914895 with order 1 Centerline is valid? [False, False] Translation: X:57.25, Y:1.38, Z:5.05 [[ 9.90410377e-01 -1.12258854e-01 -8.05309587e-02 5.72530295e+01] [ 1.29093364e-01 9.59606966e-01 2.49978747e-01 1.37931280e+00] [ 4.92157413e-02 -2.57977557e-01 9.64896570e-01 5.05101090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.221193817 meters Centerline goodness : 0.919282 with order 1 Centerline is valid? [False, False] Translation: X:57.30, Y:1.39, Z:5.05 [[ 9.90370764e-01 -1.15372765e-01 -7.65171578e-02 5.72954868e+01] [ 1.30501408e-01 9.62497870e-01 2.37838668e-01 1.39396582e+00] [ 4.62074968e-02 -2.45534060e-01 9.68286059e-01 5.05347906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.281193817 meters Centerline goodness : 0.916748 with order 1 Centerline is valid? [False, False] Translation: X:57.29, Y:1.41, Z:5.06 [[ 9.89847963e-01 -1.20393626e-01 -7.55406194e-02 5.72911296e+01] [ 1.34609031e-01 9.64699377e-01 2.26352648e-01 1.40799670e+00] [ 4.56225725e-02 -2.34223157e-01 9.71111782e-01 5.05720274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.341193817 meters Centerline goodness : 0.919491 with order 1 Centerline is valid? [False, False] Translation: X:57.29, Y:1.42, Z:5.06 [[ 9.89611232e-01 -1.23675201e-01 -7.33079468e-02 5.72872544e+01] [ 1.36577109e-01 9.67966436e-01 2.10683819e-01 1.41925292e+00] [ 4.49032685e-02 -2.18507261e-01 9.74801658e-01 5.06211663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.401193817 meters Centerline goodness : 0.923672 with order 1 Centerline is valid? [False, False] Translation: X:57.28, Y:1.43, Z:5.07 [[ 9.90008791e-01 -1.21732334e-01 -7.11606042e-02 5.72802393e+01] [ 1.33799626e-01 9.70278677e-01 2.01635685e-01 1.43466611e+00] [ 4.45000342e-02 -2.09142363e-01 9.76872161e-01 5.06633750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.461193817 meters Centerline goodness : 0.917566 with order 1 Centerline is valid? [False, False] Translation: X:57.28, Y:1.44, Z:5.06 [[ 9.90324727e-01 -1.19413466e-01 -7.06920002e-02 5.72778002e+01] [ 1.31223317e-01 9.71549596e-01 1.97159387e-01 1.44406472e+00] [ 4.51372986e-02 -2.04528255e-01 9.77819420e-01 5.06495470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.521193817 meters Centerline goodness : 0.931544 with order 1 Centerline is valid? [False, False] Translation: X:57.28, Y:1.46, Z:5.06 [[ 9.91240060e-01 -1.17262376e-01 -6.07674178e-02 5.72809899e+01] [ 1.27010274e-01 9.72517278e-01 1.95137218e-01 1.45753249e+00] [ 3.62151100e-02 -2.01145914e-01 9.78891611e-01 5.06096734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.581193817 meters Centerline goodness : 0.927545 with order 1 Centerline is valid? [False, False] Translation: X:57.27, Y:1.47, Z:5.07 [[ 9.91732853e-01 -1.15524130e-01 -5.58580625e-02 5.72701640e+01] [ 1.24040389e-01 9.74545553e-01 1.86748354e-01 1.46663686e+00] [ 3.28622852e-02 -1.92133134e-01 9.80818500e-01 5.06656749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.64119381700002 meters Centerline goodness : 0.927443 with order 1 Centerline is valid? [False, False] Translation: X:57.27, Y:1.47, Z:5.07 [[ 9.91987454e-01 -1.12967042e-01 -5.65627001e-02 5.72693179e+01] [ 1.21661526e-01 9.74854618e-01 1.86700152e-01 1.47380067e+00] [ 3.40494454e-02 -1.92085713e-01 9.80787293e-01 5.06654588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.701193817 meters Centerline goodness : 0.922463 with order 1 Centerline is valid? [False, False] Translation: X:57.27, Y:1.48, Z:5.07 [[ 9.91828503e-01 -1.14000064e-01 -5.72730798e-02 5.72702367e+01] [ 1.22741140e-01 9.75109121e-01 1.84653228e-01 1.47870653e+00] [ 3.47970227e-02 -1.90174098e-01 9.81133518e-01 5.06579305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.761193817 meters Centerline goodness : 0.923295 with order 1 Centerline is valid? [False, False] Translation: X:57.27, Y:1.48, Z:5.07 [[ 9.91390855e-01 -1.17090841e-01 -5.85995576e-02 5.72716941e+01] [ 1.25956230e-01 9.75096183e-01 1.82544413e-01 1.48416531e+00] [ 3.57659260e-02 -1.88353841e-01 9.81449759e-01 5.06640932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.821193817 meters Centerline goodness : 0.921854 with order 1 Centerline is valid? [False, False] Translation: X:57.27, Y:1.49, Z:5.07 [[ 9.90852520e-01 -1.20878786e-01 -5.99966915e-02 5.72730378e+01] [ 1.29902678e-01 9.74795277e-01 1.81382090e-01 1.48820179e+00] [ 3.65592446e-02 -1.87516632e-01 9.81580834e-01 5.06836321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.881193817 meters Centerline goodness : 0.918827 with order 1 Centerline is valid? [False, False] Translation: X:57.28, Y:1.49, Z:5.07 [[ 9.89447572e-01 -1.30975238e-01 -6.19595815e-02 5.72751494e+01] [ 1.40018472e-01 9.74304544e-01 1.76424158e-01 1.49427813e+00] [ 3.72603056e-02 -1.83237941e-01 9.82362218e-01 5.07204608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.941193817 meters Centerline goodness : 0.918032 with order 1 Centerline is valid? [False, False] Translation: X:57.28, Y:1.50, Z:5.07 [[ 9.88536697e-01 -1.36802845e-01 -6.38762943e-02 5.72773255e+01] [ 1.46002835e-01 9.73918110e-01 1.73685599e-01 1.50018133e+00] [ 3.84495958e-02 -1.81020708e-01 9.82727394e-01 5.07417593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.001193817 meters Centerline goodness : 0.919469 with order 1 Centerline is valid? [False, False] Translation: X:57.27, Y:1.51, Z:5.08 [[ 9.88612705e-01 -1.36735284e-01 -6.28361535e-02 5.72724801e+01] [ 1.45473705e-01 9.75235471e-01 1.66592850e-01 1.51268455e+00] [ 3.85009250e-02 -1.73836817e-01 9.84021565e-01 5.07838448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.061193817 meters Centerline goodness : 0.921353 with order 1 Centerline is valid? [False, False] Translation: X:57.27, Y:1.52, Z:5.08 [[ 9.89284868e-01 -1.31848430e-01 -6.27012063e-02 5.72690666e+01] [ 1.40580047e-01 9.76162791e-01 1.65358568e-01 1.52187432e+00] [ 3.94043171e-02 -1.72401268e-01 9.84238336e-01 5.08064122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.121193817 meters Centerline goodness : 0.920024 with order 1 Centerline is valid? [False, False] Translation: X:57.26, Y:1.53, Z:5.08 [[ 9.90978539e-01 -1.19301319e-01 -6.10633394e-02 5.72633984e+01] [ 1.27911332e-01 9.77924723e-01 1.65232947e-01 1.53469519e+00] [ 4.00028408e-02 -1.71552997e-01 9.84362404e-01 5.08108762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.181193817 meters Centerline goodness : 0.911539 with order 1 Centerline is valid? [False, False] Translation: X:57.26, Y:1.54, Z:5.08 [[ 9.92212682e-01 -1.08865771e-01 -6.05164159e-02 5.72609013e+01] [ 1.17602614e-01 9.78877815e-01 1.67235904e-01 1.54301427e+00] [ 4.10319114e-02 -1.73050473e-01 9.84057882e-01 5.07904318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.241193817 meters Centerline goodness : 0.909807 with order 1 Centerline is valid? [False, False] Translation: X:57.25, Y:1.55, Z:5.08 [[ 9.93873384e-01 -9.47426756e-02 -5.69167945e-02 5.72544938e+01] [ 1.02977286e-01 9.80813556e-01 1.65530804e-01 1.55345293e+00] [ 4.01419323e-02 -1.70377797e-01 9.84560832e-01 5.07520779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.301193817 meters Centerline goodness : 0.909085 with order 1 Centerline is valid? [False, False] Translation: X:57.25, Y:1.56, Z:5.07 [[ 9.94657488e-01 -8.80926171e-02 -5.38160909e-02 5.72487238e+01] [ 9.57426113e-02 9.82160076e-01 1.61848503e-01 1.55881681e+00] [ 3.85983577e-02 -1.66136318e-01 9.85347091e-01 5.07397161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.36119381700001 meters Centerline goodness : 0.904130 with order 1 Centerline is valid? [False, False] Translation: X:57.25, Y:1.56, Z:5.07 [[ 9.95175713e-01 -8.27909421e-02 -5.26399176e-02 5.72465386e+01] [ 9.03465810e-02 9.82523782e-01 1.62740634e-01 1.56100778e+00] [ 3.82465204e-02 -1.66711363e-01 9.85263683e-01 5.07217254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.421193817 meters Centerline goodness : 0.908827 with order 1 Centerline is valid? [False, False] Translation: X:57.24, Y:1.56, Z:5.08 [[ 9.95456932e-01 -8.20001356e-02 -4.83887871e-02 5.72374449e+01] [ 8.85574259e-02 9.84061852e-01 1.54207176e-01 1.56455083e+00] [ 3.49725501e-02 -1.57791789e-01 9.86852913e-01 5.07804698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.481193817 meters Centerline goodness : 0.904658 with order 1 Centerline is valid? [False, False] Translation: X:57.23, Y:1.56, Z:5.08 [[ 9.95570721e-01 -8.35233930e-02 -4.31599678e-02 5.72274963e+01] [ 8.90279842e-02 9.85080836e-01 1.47274452e-01 1.56133619e+00] [ 3.02151952e-02 -1.50464578e-01 9.88153557e-01 5.08161051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.541193817 meters Centerline goodness : 0.908638 with order 1 Centerline is valid? [False, False] Translation: X:57.22, Y:1.56, Z:5.09 [[ 9.95403919e-01 -8.81462085e-02 -3.74337285e-02 5.72171815e+01] [ 9.23920255e-02 9.86768559e-01 1.33234848e-01 1.56003638e+00] [ 2.51942796e-02 -1.36081068e-01 9.90377297e-01 5.08819955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.601193817 meters Centerline goodness : 0.913929 with order 1 Centerline is valid? [False, False] Translation: X:57.21, Y:1.55, Z:5.10 [[ 9.95259516e-01 -9.17539129e-02 -3.22446153e-02 5.72072175e+01] [ 9.50035015e-02 9.88154599e-01 1.20518973e-01 1.55454927e+00] [ 2.08045775e-02 -1.23011006e-01 9.92187211e-01 5.09909889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.661193817 meters Centerline goodness : 0.917602 with order 1 Centerline is valid? [False, False] Translation: X:57.20, Y:1.55, Z:5.11 [[ 9.95421503e-01 -9.18229244e-02 -2.65439477e-02 5.71970591e+01] [ 9.41829111e-02 9.89615325e-01 1.08586779e-01 1.54938113e+00] [ 1.62975418e-02 -1.10589601e-01 9.93732525e-01 5.10820265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.721193817 meters Centerline goodness : 0.927812 with order 1 Centerline is valid? [False, False] Translation: X:57.18, Y:1.54, Z:5.14 [[ 9.96197092e-01 -8.19615321e-02 -2.95577552e-02 5.71796468e+01] [ 8.41191352e-02 9.93142717e-01 8.11881438e-02 1.53712883e+00] [ 2.27007646e-02 -8.33657656e-02 9.96260420e-01 5.13772162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.781193817 meters Centerline goodness : 0.934540 with order 1 Centerline is valid? [False, False] Translation: X:57.16, Y:1.53, Z:5.15 [[ 9.96350764e-01 -8.06748358e-02 -2.78698183e-02 5.71645244e+01] [ 8.22930451e-02 9.94624532e-01 6.28481831e-02 1.52755811e+00] [ 2.26497381e-02 -6.49123274e-02 9.97633890e-01 5.15235867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.841193817 meters Centerline goodness : 0.933107 with order 1 Centerline is valid? [False, False] Translation: X:57.16, Y:1.51, Z:5.16 [[ 9.95955099e-01 -8.43493318e-02 -3.09617813e-02 5.71577132e+01] [ 8.57479794e-02 9.95206201e-01 4.70308628e-02 1.50956224e+00] [ 2.68463349e-02 -4.94955378e-02 9.98413474e-01 5.16032074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.901193817 meters Centerline goodness : 0.932184 with order 1 Centerline is valid? [False, False] Translation: X:57.16, Y:1.50, Z:5.16 [[ 9.95442565e-01 -8.96940020e-02 -3.23895840e-02 5.71630362e+01] [ 9.10253381e-02 9.94950708e-01 4.22785683e-02 1.49598584e+00] [ 2.84339056e-02 -4.50341593e-02 9.98580712e-01 5.16155405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.961193817 meters Centerline goodness : 0.925544 with order 1 Centerline is valid? [False, False] Translation: X:57.19, Y:1.47, Z:5.16 [[ 9.94899896e-01 -9.60775326e-02 -3.07132687e-02 5.71908232e+01] [ 9.72780230e-02 9.94439919e-01 4.03265835e-02 1.47402889e+00] [ 2.66680218e-02 -4.31086398e-02 9.98714405e-01 5.16165585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.021193817 meters Centerline goodness : 0.926408 with order 1 Centerline is valid? [False, False] Translation: X:57.21, Y:1.46, Z:5.16 [[ 9.94420161e-01 -1.01554353e-01 -2.85527058e-02 5.72146530e+01] [ 1.02689179e-01 9.93844456e-01 4.15707848e-02 1.45957369e+00] [ 2.41552542e-02 -4.42708804e-02 9.98727497e-01 5.16093419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.081193817 meters Centerline goodness : 0.921703 with order 1 Centerline is valid? [False, False] Translation: X:57.26, Y:1.44, Z:5.16 [[ 9.93271623e-01 -1.12627685e-01 -2.69534289e-02 5.72551684e+01] [ 1.13847735e-01 9.92285004e-01 4.90832354e-02 1.44226574e+00] [ 2.12173521e-02 -5.18215717e-02 9.98430943e-01 5.15684964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.14119381700002 meters Centerline goodness : 0.920581 with order 1 Centerline is valid? [False, False] Translation: X:57.26, Y:1.43, Z:5.16 [[ 9.92642431e-01 -1.14382181e-01 -3.97205378e-02 5.72568758e+01] [ 1.16440475e-01 9.91724097e-01 5.40826292e-02 1.42750426e+00] [ 3.32057254e-02 -5.83097908e-02 9.97746134e-01 5.16084432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.201193817 meters Centerline goodness : 0.921348 with order 1 Centerline is valid? [False, False] Translation: X:57.25, Y:1.41, Z:5.17 [[ 9.91759823e-01 -1.18259034e-01 -4.92671694e-02 5.72515155e+01] [ 1.20979059e-01 9.91047892e-01 5.64636419e-02 1.41217272e+00] [ 4.21487886e-02 -6.19586674e-02 9.97188349e-01 5.16686876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.261193817 meters Centerline goodness : 0.922352 with order 1 Centerline is valid? [False, False] Translation: X:57.26, Y:1.41, Z:5.17 [[ 9.91492382e-01 -1.19847317e-01 -5.07885570e-02 5.72550116e+01] [ 1.22768347e-01 9.90684110e-01 5.89315473e-02 1.40791971e+00] [ 4.32526286e-02 -6.46654074e-02 9.96969205e-01 5.16787734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.321193817 meters Centerline goodness : 0.924205 with order 1 Centerline is valid? [False, False] Translation: X:57.26, Y:1.40, Z:5.17 [[ 9.91209065e-01 -1.21732264e-01 -5.18251419e-02 5.72556509e+01] [ 1.24802951e-01 9.90315072e-01 6.08299409e-02 1.40461683e+00] [ 4.39182527e-02 -6.67631194e-02 9.96801822e-01 5.17139833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.381193817 meters Centerline goodness : 0.926325 with order 1 Centerline is valid? [False, False] Translation: X:57.25, Y:1.40, Z:5.17 [[ 9.90811312e-01 -1.24957085e-01 -5.17558770e-02 5.72546479e+01] [ 1.27933711e-01 9.90034603e-01 5.88595811e-02 1.40415670e+00] [ 4.38851874e-02 -6.49400602e-02 9.96923708e-01 5.17386498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.441193817 meters Centerline goodness : 0.925932 with order 1 Centerline is valid? [False, False] Translation: X:57.26, Y:1.40, Z:5.18 [[ 9.90145357e-01 -1.29833122e-01 -5.24931693e-02 5.72553205e+01] [ 1.32743810e-01 9.89545142e-01 5.63869877e-02 1.40489802e+00] [ 4.46234620e-02 -6.27994573e-02 9.97028071e-01 5.17662752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.501193817 meters Centerline goodness : 0.933578 with order 1 Centerline is valid? [False, False] Translation: X:57.26, Y:1.41, Z:5.18 [[ 9.89775776e-01 -1.32419009e-01 -5.30011174e-02 5.72550825e+01] [ 1.35314792e-01 9.89253616e-01 5.53822252e-02 1.40739707e+00] [ 4.50978876e-02 -6.19878201e-02 9.97057516e-01 5.17880713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.561193817 meters Centerline goodness : 0.930529 with order 1 Centerline is valid? [False, False] Translation: X:57.25, Y:1.41, Z:5.19 [[ 9.88964429e-01 -1.32672158e-01 -6.59352498e-02 5.72518643e+01] [ 1.36226350e-01 9.89275962e-01 5.26825687e-02 1.41097943e+00] [ 5.82386476e-02 -6.10833049e-02 9.96432180e-01 5.18713359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.621193817 meters Centerline goodness : 0.931972 with order 1 Centerline is valid? [False, False] Translation: X:57.25, Y:1.42, Z:5.19 [[ 9.88561349e-01 -1.35315548e-01 -6.66045162e-02 5.72528870e+01] [ 1.38740030e-01 9.89076944e-01 4.97795367e-02 1.41735589e+00] [ 5.91410461e-02 -5.84508385e-02 9.96536922e-01 5.18697664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.681193817 meters Centerline goodness : 0.931778 with order 1 Centerline is valid? [False, False] Translation: X:57.24, Y:1.43, Z:5.19 [[ 9.88605326e-01 -1.30198968e-01 -7.55495735e-02 5.72444364e+01] [ 1.33552237e-01 9.90186943e-01 4.11535802e-02 1.43027559e+00] [ 6.94500476e-02 -5.07744632e-02 9.96292449e-01 5.19493762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.741193817 meters Centerline goodness : 0.933588 with order 1 Centerline is valid? [False, False] Translation: X:57.24, Y:1.45, Z:5.20 [[ 9.88916707e-01 -1.28975945e-01 -7.35455732e-02 5.72399483e+01] [ 1.31567784e-01 9.90805347e-01 3.15385916e-02 1.44561127e+00] [ 6.88016275e-02 -4.08652682e-02 9.96793041e-01 5.19678727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.801193817 meters Centerline goodness : 0.938107 with order 1 Centerline is valid? [False, False] Translation: X:57.23, Y:1.47, Z:5.20 [[ 9.90423549e-01 -1.18379015e-01 -7.10464817e-02 5.72332085e+01] [ 1.20528043e-01 9.92349461e-01 2.67495277e-02 1.46504136e+00] [ 6.73363551e-02 -3.50564555e-02 9.97114266e-01 5.19766584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.86119381700001 meters Centerline goodness : 0.937176 with order 1 Centerline is valid? [False, False] Translation: X:57.22, Y:1.48, Z:5.20 [[ 9.91535942e-01 -1.11126310e-01 -6.71373096e-02 5.72238513e+01] [ 1.12792697e-01 9.93384817e-01 2.15502284e-02 1.47806231e+00] [ 6.42983866e-02 -2.89404242e-02 9.97510987e-01 5.20117899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.921193817 meters Centerline goodness : 0.939050 with order 1 Centerline is valid? [False, False] Translation: X:57.22, Y:1.49, Z:5.20 [[ 9.92850196e-01 -9.76942923e-02 -6.85879934e-02 5.72185300e+01] [ 9.89566677e-02 9.94974924e-01 1.52472153e-02 1.49003578e+00] [ 6.67537676e-02 -2.19254400e-02 9.97528551e-01 5.20353236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.981193817 meters Centerline goodness : 0.938249 with order 1 Centerline is valid? [False, False] Translation: X:57.22, Y:1.49, Z:5.20 [[ 9.93274962e-01 -9.28699269e-02 -6.91377365e-02 5.72188919e+01] [ 9.43674893e-02 9.95361560e-01 1.87120533e-02 1.49283073e+00] [ 6.70792583e-02 -2.51105687e-02 9.97431618e-01 5.20374624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.041193817 meters Centerline goodness : 0.944008 with order 1 Centerline is valid? [False, False] Translation: X:57.22, Y:1.49, Z:5.20 [[ 9.94856830e-01 -8.04053848e-02 -6.16024566e-02 5.72154570e+01] [ 8.14525315e-02 9.96569164e-01 1.46760388e-02 1.49249073e+00] [ 6.02110762e-02 -1.96182335e-02 9.97992861e-01 5.20436128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.101193817 meters Centerline goodness : 0.946070 with order 1 Centerline is valid? [False, False] Translation: X:57.21, Y:1.49, Z:5.20 [[ 9.96157277e-01 -6.83335326e-02 -5.47832894e-02 5.72144987e+01] [ 6.90542151e-02 9.97548116e-01 1.13697473e-02 1.49011435e+00] [ 5.38720321e-02 -1.51090736e-02 9.98433533e-01 5.20396083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.161193817 meters Centerline goodness : 0.947265 with order 1 Centerline is valid? [False, False] Translation: X:57.22, Y:1.48, Z:5.20 [[ 9.97425532e-01 -5.29414109e-02 -4.83685309e-02 5.72159865e+01] [ 5.35630328e-02 9.98496551e-01 1.16464217e-02 1.48167344e+00] [ 4.76792333e-02 -1.42072035e-02 9.98761656e-01 5.20275618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.221193817 meters Centerline goodness : 0.938727 with order 1 Centerline is valid? [False, False] Translation: X:57.23, Y:1.47, Z:5.20 [[ 9.97464400e-01 -4.80008693e-02 -5.25422469e-02 5.72300777e+01] [ 4.87710020e-02 9.98719100e-01 1.34739823e-02 1.46586003e+00] [ 5.18281827e-02 -1.60023557e-02 9.98527798e-01 5.20198677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.281193817 meters Centerline goodness : 0.931406 with order 1 Centerline is valid? [False, False] Translation: X:57.26, Y:1.45, Z:5.20 [[ 9.97514227e-01 -4.81583965e-02 -5.14406123e-02 5.72552578e+01] [ 4.92662199e-02 9.98575508e-01 2.04888694e-02 1.45039178e+00] [ 5.03806245e-02 -2.29722233e-02 9.98465858e-01 5.19826531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.341193817 meters Centerline goodness : 0.928055 with order 1 Centerline is valid? [False, False] Translation: X:57.28, Y:1.43, Z:5.20 [[ 9.97436570e-01 -5.10227983e-02 -5.01693329e-02 5.72803721e+01] [ 5.23486994e-02 9.98303784e-01 2.54788044e-02 1.42642790e+00] [ 4.87842349e-02 -2.80397906e-02 9.98415679e-01 5.19543773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.401193817 meters Centerline goodness : 0.924893 with order 1 Centerline is valid? [False, False] Translation: X:57.30, Y:1.42, Z:5.19 [[ 9.97468444e-01 -5.30744846e-02 -4.73265531e-02 5.72999804e+01] [ 5.46183383e-02 9.97996106e-01 3.19469689e-02 1.41716797e+00] [ 4.55361468e-02 -3.44509911e-02 9.98368463e-01 5.19191378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.461193817 meters Centerline goodness : 0.920935 with order 1 Centerline is valid? [False, False] Translation: X:57.34, Y:1.40, Z:5.19 [[ 9.97280692e-01 -5.59283973e-02 -4.79920401e-02 5.73440276e+01] [ 5.78506108e-02 9.97537790e-01 3.96442264e-02 1.39791647e+00] [ 4.56566356e-02 -4.23127904e-02 9.98060669e-01 5.19115344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.521193817 meters Centerline goodness : 0.923433 with order 1 Centerline is valid? [False, False] Translation: X:57.38, Y:1.37, Z:5.19 [[ 9.97348276e-01 -5.73728284e-02 -4.47747120e-02 5.73849402e+01] [ 5.96071845e-02 9.96955138e-01 5.02736150e-02 1.36604970e+00] [ 4.17540397e-02 -5.28091978e-02 9.97731321e-01 5.18975094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.581193817 meters Centerline goodness : 0.922491 with order 1 Centerline is valid? [False, False] Translation: X:57.41, Y:1.35, Z:5.19 [[ 9.97493609e-01 -5.62788160e-02 -4.28858353e-02 5.74148583e+01] [ 5.84200016e-02 9.97017663e-01 5.04270172e-02 1.34644456e+00] [ 3.99199624e-02 -5.28060179e-02 9.97806555e-01 5.19263248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.64119381700002 meters Centerline goodness : 0.920027 with order 1 Centerline is valid? [False, False] Translation: X:57.48, Y:1.31, Z:5.19 [[ 9.97457832e-01 -6.13157323e-02 -3.63077666e-02 5.74825945e+01] [ 6.41389959e-02 9.94523585e-01 8.25168311e-02 1.30649287e+00] [ 3.10493503e-02 -8.46358032e-02 9.95928069e-01 5.18661662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.701193817 meters Centerline goodness : 0.922557 with order 1 Centerline is valid? [False, False] Translation: X:57.54, Y:1.29, Z:5.18 [[ 9.97354172e-01 -6.61944645e-02 -3.00491063e-02 5.75377438e+01] [ 6.88617940e-02 9.92730061e-01 9.87171707e-02 1.28513769e+00] [ 2.32961208e-02 -1.00525217e-01 9.94661737e-01 5.18493295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.761193817 meters Centerline goodness : 0.921932 with order 1 Centerline is valid? [False, False] Translation: X:57.54, Y:1.26, Z:5.19 [[ 9.96663199e-01 -7.61866572e-02 -2.92926884e-02 5.75385325e+01] [ 7.87135357e-02 9.92078579e-01 9.78992964e-02 1.25680127e+00] [ 2.16020286e-02 -9.98783570e-02 9.94765131e-01 5.18854980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.821193817 meters Centerline goodness : 0.921796 with order 1 Centerline is valid? [False, False] Translation: X:57.54, Y:1.24, Z:5.19 [[ 9.96072472e-01 -8.41642440e-02 -2.74956367e-02 5.75376423e+01] [ 8.63573307e-02 9.92021284e-01 9.18487005e-02 1.24447456e+00] [ 1.95458804e-02 -9.38624119e-02 9.95393292e-01 5.18979665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.881193817 meters Centerline goodness : 0.919377 with order 1 Centerline is valid? [False, False] Translation: X:57.55, Y:1.23, Z:5.19 [[ 9.95751830e-01 -8.70580131e-02 -2.99865937e-02 5.75462896e+01] [ 8.94182035e-02 9.91980840e-01 8.93218769e-02 1.22606398e+00] [ 2.19699413e-02 -9.16237697e-02 9.95551308e-01 5.19256202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.941193817 meters Centerline goodness : 0.922409 with order 1 Centerline is valid? [False, False] Translation: X:57.55, Y:1.22, Z:5.19 [[ 9.95619174e-01 -8.87351205e-02 -2.94709715e-02 5.75467768e+01] [ 9.10405019e-02 9.91838202e-01 8.92670600e-02 1.21761444e+00] [ 2.13093121e-02 -9.15590486e-02 9.95571622e-01 5.19297288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.001193817 meters Centerline goodness : 0.920539 with order 1 Centerline is valid? [False, False] Translation: X:57.55, Y:1.21, Z:5.20 [[ 9.96060878e-01 -8.44527488e-02 -2.70270481e-02 5.75538365e+01] [ 8.62471344e-02 9.93515429e-01 7.40845803e-02 1.20818996e+00] [ 2.05951429e-02 -7.61237576e-02 9.96885657e-01 5.19519165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.061193817 meters Centerline goodness : 0.919925 with order 1 Centerline is valid? [False, False] Translation: X:57.55, Y:1.20, Z:5.19 [[ 9.96328552e-01 -8.25096592e-02 -2.28379740e-02 5.75451233e+01] [ 8.39400017e-02 9.93934686e-01 7.10486881e-02 1.19842332e+00] [ 1.68372515e-02 -7.27048561e-02 9.97211367e-01 5.19470065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.121193817 meters Centerline goodness : 0.917613 with order 1 Centerline is valid? [False, False] Translation: X:57.54, Y:1.19, Z:5.20 [[ 9.96978734e-01 -7.59883387e-02 -1.60989317e-02 5.75430149e+01] [ 7.68344807e-02 9.95183959e-01 6.08715898e-02 1.18831421e+00] [ 1.13958676e-02 -6.19246337e-02 9.98015768e-01 5.19507439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.181193817 meters Centerline goodness : 0.918728 with order 1 Centerline is valid? [False, False] Translation: X:57.54, Y:1.18, Z:5.20 [[ 9.97323632e-01 -7.26134151e-02 -8.53611095e-03 5.75404561e+01] [ 7.29469424e-02 9.96122062e-01 4.91892357e-02 1.18020362e+00] [ 4.93121005e-03 -4.96802704e-02 9.98752999e-01 5.19687321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.241193817 meters Centerline goodness : 0.917285 with order 1 Centerline is valid? [False, False] Translation: X:57.54, Y:1.16, Z:5.20 [[ 9.97744258e-01 -6.71102235e-02 -1.61655364e-03 5.75365240e+01] [ 6.71203723e-02 9.96915243e-01 4.06798957e-02 1.16487409e+00] [-1.11846993e-03 -4.06966360e-02 9.99170923e-01 5.20104730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.301193817 meters Centerline goodness : 0.916865 with order 1 Centerline is valid? [False, False] Translation: X:57.54, Y:1.15, Z:5.20 [[ 9.97759584e-01 -6.68756820e-02 -1.85898504e-03 5.75372615e+01] [ 6.68939665e-02 9.96844397e-01 4.27369369e-02 1.15394510e+00] [-1.00494298e-03 -4.27655432e-02 9.99084630e-01 5.20247262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.36119381700001 meters Centerline goodness : 0.910369 with order 1 Centerline is valid? [False, False] Translation: X:57.53, Y:1.13, Z:5.20 [[ 9.98036115e-01 -6.26080162e-02 -2.03690839e-03 5.75251261e+01] [ 6.26408635e-02 9.97600893e-01 2.94716750e-02 1.13470663e+00] [ 1.86858527e-04 -2.95413897e-02 9.99563540e-01 5.20078143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.421193817 meters Centerline goodness : 0.908360 with order 1 Centerline is valid? [False, False] Translation: X:57.53, Y:1.12, Z:5.20 [[ 9.97829328e-01 -6.58001558e-02 -2.64055938e-03 5.75294253e+01] [ 6.58479291e-02 9.97451610e-01 2.74651744e-02 1.12269793e+00] [ 8.26617452e-04 -2.75794318e-02 9.99619273e-01 5.19856246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.481193817 meters Centerline goodness : 0.912686 with order 1 Centerline is valid? [False, False] Translation: X:57.53, Y:1.10, Z:5.20 [[ 9.97316138e-01 -7.31753039e-02 -2.42806821e-03 5.75321533e+01] [ 7.32107690e-02 9.97082143e-01 2.16190743e-02 1.10331691e+00] [ 8.39001118e-04 -2.17388124e-02 9.99763332e-01 5.19778915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.541193817 meters Centerline goodness : 0.905764 with order 1 Centerline is valid? [False, False] Translation: X:57.52, Y:1.09, Z:5.20 [[ 9.97224605e-01 -7.44430364e-02 -1.14976429e-03 5.75172784e+01] [ 7.44491465e-02 9.97201782e-01 6.77724302e-03 1.09033459e+00] [ 6.42028452e-04 -6.84403247e-03 9.99976373e-01 5.19680485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.601193817 meters Centerline goodness : 0.907350 with order 1 Centerline is valid? [False, False] Translation: X:57.51, Y:1.07, Z:5.20 [[ 9.97342814e-01 -7.28314661e-02 -1.69948831e-03 5.75075566e+01] [ 7.28188534e-02 9.97323513e-01 -6.57461144e-03 1.07305894e+00] [ 2.17377824e-03 6.43338669e-03 9.99976943e-01 5.19521472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.661193817 meters Centerline goodness : 0.907504 with order 1 Centerline is valid? [False, False] Translation: X:57.49, Y:1.06, Z:5.19 [[ 9.97849530e-01 -6.54887292e-02 2.74615287e-03 5.74887340e+01] [ 6.55424862e-02 9.97366503e-01 -3.10522224e-02 1.06365127e+00] [-7.05350299e-04 3.11654352e-02 9.99513991e-01 5.19473858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.721193817 meters Centerline goodness : 0.908615 with order 1 Centerline is valid? [False, False] Translation: X:57.48, Y:1.05, Z:5.19 [[ 9.98019293e-01 -6.26794552e-02 5.36438515e-03 5.74847568e+01] [ 6.28066719e-02 9.97625148e-01 -2.82734121e-02 1.04507738e+00] [-3.57948346e-03 2.85543299e-02 9.99585833e-01 5.19265671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.781193817 meters Centerline goodness : 0.909472 with order 1 Centerline is valid? [False, False] Translation: X:57.48, Y:1.03, Z:5.19 [[ 9.97825095e-01 -6.56311191e-02 6.13478878e-03 5.74828566e+01] [ 6.57839112e-02 9.97401018e-01 -2.93885363e-02 1.03258821e+00] [-4.19004205e-03 2.97281894e-02 9.99549238e-01 5.19440407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.841193817 meters Centerline goodness : 0.911677 with order 1 Centerline is valid? [False, False] Translation: X:57.48, Y:1.01, Z:5.20 [[ 9.97382254e-01 -7.17171495e-02 9.23528294e-03 5.74771596e+01] [ 7.19528918e-02 9.97003631e-01 -2.83996671e-02 1.00828859e+00] [-7.17086745e-03 2.89898293e-02 9.99553985e-01 5.19920829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.901193817 meters Centerline goodness : 0.917763 with order 1 Centerline is valid? [False, False] Translation: X:57.49, Y:1.00, Z:5.20 [[ 9.97048982e-01 -7.58466906e-02 1.18577433e-02 5.74944799e+01] [ 7.63325490e-02 9.95924027e-01 -4.80486657e-02 1.00101476e+00] [-8.16507916e-03 4.88120050e-02 9.98774609e-01 5.19915205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.961193817 meters Centerline goodness : 0.914038 with order 1 Centerline is valid? [False, False] Translation: X:57.51, Y:0.99, Z:5.20 [[ 9.96304379e-01 -8.48471801e-02 1.33618952e-02 5.75073318e+01] [ 8.53247182e-02 9.95528319e-01 -4.05346499e-02 9.85187209e-01] [-9.86289434e-03 4.15249491e-02 9.99088786e-01 5.19743830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.021193817 meters Centerline goodness : 0.913311 with order 1 Centerline is valid? [False, False] Translation: X:57.53, Y:0.98, Z:5.20 [[ 9.96030622e-01 -8.81153577e-02 1.25969764e-02 5.75301506e+01] [ 8.85503392e-02 9.95283413e-01 -3.96202578e-02 9.75444562e-01] [-9.04640846e-03 4.05784565e-02 9.99135402e-01 5.19565522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.081193817 meters Centerline goodness : 0.911040 with order 1 Centerline is valid? [False, False] Translation: X:57.56, Y:0.97, Z:5.19 [[ 9.95828641e-01 -9.07095822e-02 9.85339154e-03 5.75550427e+01] [ 9.10304806e-02 9.95066495e-01 -3.94477044e-02 9.66144011e-01] [-6.22649500e-03 4.01801128e-02 9.99173053e-01 5.19290268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.14119381700002 meters Centerline goodness : 0.908039 with order 1 Centerline is valid? [False, False] Translation: X:57.58, Y:0.96, Z:5.19 [[ 9.96053269e-01 -8.85538430e-02 6.00842955e-03 5.75805667e+01] [ 8.87158744e-02 9.95374594e-01 -3.68634049e-02 9.62925403e-01] [-2.71624196e-03 3.72509580e-02 9.99302251e-01 5.19047208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.201193817 meters Centerline goodness : 0.904582 with order 1 Centerline is valid? [False, False] Translation: X:57.61, Y:0.96, Z:5.19 [[ 9.96201140e-01 -8.70572711e-02 2.07850574e-03 5.76053808e+01] [ 8.70772783e-02 9.95611772e-01 -3.42745793e-02 9.56647980e-01] [ 9.14466558e-04 3.43253656e-02 9.99410293e-01 5.18909133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.261193817 meters Centerline goodness : 0.903740 with order 1 Centerline is valid? [False, False] Translation: X:57.63, Y:0.96, Z:5.19 [[ 9.96482310e-01 -8.38015772e-02 5.48436679e-04 5.76336541e+01] [ 8.37498573e-02 9.95590822e-01 -4.22478040e-02 9.57568699e-01] [ 2.99441408e-03 4.21451208e-02 9.99107012e-01 5.18984084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.321193817 meters Centerline goodness : 0.903504 with order 1 Centerline is valid? [False, False] Translation: X:57.66, Y:0.95, Z:5.19 [[ 9.96760396e-01 -8.04247302e-02 -7.58532128e-04 5.76562645e+01] [ 8.03338895e-02 9.96002836e-01 -3.90488997e-02 9.54343330e-01] [ 3.89599737e-03 3.88614609e-02 9.99237013e-01 5.18934117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.381193817 meters Centerline goodness : 0.905619 with order 1 Centerline is valid? [False, False] Translation: X:57.68, Y:0.95, Z:5.19 [[ 9.97036427e-01 -7.69141806e-02 -1.60390603e-03 5.76786955e+01] [ 7.68148236e-02 9.96460512e-01 -3.41457167e-02 9.48573294e-01] [ 4.22451885e-03 3.39213196e-02 9.99415578e-01 5.18830624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.441193817 meters Centerline goodness : 0.904432 with order 1 Centerline is valid? [False, False] Translation: X:57.70, Y:0.94, Z:5.19 [[ 9.97093881e-01 -7.61820951e-02 2.82796429e-04 5.76981922e+01] [ 7.61541201e-02 9.96612474e-01 -3.10503730e-02 9.43453161e-01] [ 2.08364402e-03 3.09816731e-02 9.99517781e-01 5.18815463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.501193817 meters Centerline goodness : 0.906074 with order 1 Centerline is valid? [False, False] Translation: X:57.71, Y:0.94, Z:5.19 [[ 9.96299726e-01 -8.58512091e-02 4.05288977e-03 5.77077294e+01] [ 8.59330178e-02 9.95876657e-01 -2.90723196e-02 9.38448932e-01] [-1.54028453e-03 2.93130211e-02 9.99569094e-01 5.18780558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.561193817 meters Centerline goodness : 0.903980 with order 1 Centerline is valid? [False, False] Translation: X:57.71, Y:0.94, Z:5.19 [[ 9.95365431e-01 -9.60629143e-02 4.42431382e-03 5.77105806e+01] [ 9.61622233e-02 9.94618501e-01 -3.85598847e-02 9.38380506e-01] [-6.96329478e-04 3.88066281e-02 9.99246496e-01 5.18549144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.621193817 meters Centerline goodness : 0.902336 with order 1 Centerline is valid? [False, False] Translation: X:57.74, Y:0.94, Z:5.19 [[ 9.94751036e-01 -1.02324856e-01 1.29156502e-05 5.77444197e+01] [ 1.02253454e-01 9.94052174e-01 -3.74767388e-02 9.41681513e-01] [ 3.82196306e-03 3.72813454e-02 9.99297500e-01 5.18563866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.681193817 meters Centerline goodness : 0.901268 with order 1 Centerline is valid? [False, False] Translation: X:57.75, Y:0.95, Z:5.18 [[ 9.94033539e-01 -1.09074776e-01 1.32286381e-04 5.77470691e+01] [ 1.08972089e-01 9.93043620e-01 -4.46032733e-02 9.47701014e-01] [ 4.73372591e-03 4.43515651e-02 9.99004770e-01 5.18332226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.741193817 meters Centerline goodness : 0.900145 with order 1 Centerline is valid? [False, False] Translation: X:57.75, Y:0.95, Z:5.18 [[ 9.94129254e-01 -1.08197316e-01 -6.05246819e-04 5.77490043e+01] [ 1.08068077e-01 9.93185824e-01 -4.36257926e-02 9.51675055e-01] [ 5.32131624e-03 4.33042688e-02 9.99047759e-01 5.18246854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.801193817 meters Centerline goodness : 0.901721 with order 1 Centerline is valid? [False, False] Translation: X:57.77, Y:0.96, Z:5.18 [[ 9.94248671e-01 -1.07056627e-01 2.90827076e-03 5.77664774e+01] [ 1.07073018e-01 9.93103554e-01 -4.77566760e-02 9.61998043e-01] [ 2.22445461e-03 4.77934090e-02 9.98854765e-01 5.18075905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.86119381700001 meters Centerline goodness : 0.904541 with order 1 Centerline is valid? [False, False] Translation: X:57.79, Y:0.98, Z:5.18 [[ 9.94158630e-01 -1.07869893e-01 3.56433742e-03 5.77911843e+01] [ 1.07917664e-01 9.93040505e-01 -4.71628268e-02 9.75751010e-01] [ 1.54791765e-03 4.72719862e-02 9.98880855e-01 5.18257501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.921193817 meters Centerline goodness : 0.902975 with order 1 Centerline is valid? [False, False] Translation: X:57.82, Y:0.99, Z:5.18 [[ 9.94118652e-01 -1.08267638e-01 2.49479766e-03 5.78184121e+01] [ 1.08272729e-01 9.93156385e-01 -4.37882629e-02 9.86116626e-01] [ 2.26312759e-03 4.38008474e-02 9.99037719e-01 5.18434978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.981193817 meters Centerline goodness : 0.903033 with order 1 Centerline is valid? [False, False] Translation: X:57.85, Y:1.01, Z:5.18 [[ 9.94544520e-01 -1.04220923e-01 4.38140172e-03 5.78534148e+01] [ 1.04311343e-01 9.93416045e-01 -4.73677690e-02 1.00733849e+00] [ 5.84157836e-04 4.75663849e-02 9.98867908e-01 5.18343624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.041193817 meters Centerline goodness : 0.903886 with order 1 Centerline is valid? [False, False] Translation: X:57.89, Y:1.03, Z:5.18 [[ 9.95106854e-01 -9.86285520e-02 5.89560285e-03 5.78881736e+01] [ 9.88004853e-02 9.93837078e-01 -5.02625791e-02 1.03037049e+00] [-9.01943310e-04 5.05991254e-02 9.98718637e-01 5.18336711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.101193817 meters Centerline goodness : 0.899948 with order 1 Centerline is valid? [False, False] Translation: X:57.91, Y:1.05, Z:5.18 [[ 9.95253157e-01 -9.71072063e-02 6.42989232e-03 5.79126223e+01] [ 9.73064968e-02 9.94036697e-01 -4.92188061e-02 1.04812741e+00] [-1.61204817e-03 4.96108425e-02 9.98767323e-01 5.18340729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.161193817 meters Centerline goodness : 0.899711 with order 1 Centerline is valid? [False, False] Translation: X:57.94, Y:1.07, Z:5.18 [[ 9.95355059e-01 -9.60476745e-02 6.56894009e-03 5.79383207e+01] [ 9.62487800e-02 9.94295305e-01 -4.59675780e-02 1.06514026e+00] [-2.11638732e-03 4.63863138e-02 9.98921334e-01 5.18391028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.221193817 meters Centerline goodness : 0.901177 with order 1 Centerline is valid? [False, False] Translation: X:57.98, Y:1.09, Z:5.18 [[ 9.95592105e-01 -9.34516458e-02 7.94673199e-03 5.79752231e+01] [ 9.37348266e-02 9.94316988e-01 -5.04728551e-02 1.08620114e+00] [-3.18479925e-03 5.09952616e-02 9.98693817e-01 5.18332433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.281193817 meters Centerline goodness : 0.896983 with order 1 Centerline is valid? [False, False] Translation: X:58.01, Y:1.10, Z:5.18 [[ 9.95998618e-01 -8.87106340e-02 1.08248430e-02 5.80091940e+01] [ 8.91750625e-02 9.94491777e-01 -5.50809753e-02 1.10165049e+00] [-5.87894912e-03 5.58258813e-02 9.98423211e-01 5.18096738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.341193817 meters Centerline goodness : 0.895588 with order 1 Centerline is valid? [False, False] Translation: X:58.07, Y:1.13, Z:5.18 [[ 9.96808420e-01 -7.87883302e-02 1.28597181e-02 5.80657152e+01] [ 7.94790334e-02 9.94561908e-01 -6.73030042e-02 1.12724860e+00] [-7.48709443e-03 6.81102793e-02 9.97649705e-01 5.17951411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.401193817 meters Centerline goodness : 0.895347 with order 1 Centerline is valid? [False, False] Translation: X:58.11, Y:1.15, Z:5.18 [[ 9.97119711e-01 -7.26111936e-02 2.19065368e-02 5.81102949e+01] [ 7.43807499e-02 9.92664723e-01 -9.53113460e-02 1.14721205e+00] [-1.48251757e-02 9.66662464e-02 9.95206436e-01 5.18085200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.461193817 meters Centerline goodness : 0.898613 with order 1 Centerline is valid? [False, False] Translation: X:58.16, Y:1.17, Z:5.18 [[ 9.97423587e-01 -6.56538049e-02 2.89096022e-02 5.81605450e+01] [ 6.85369361e-02 9.91144693e-01 -1.13731636e-01 1.16718121e+00] [-2.11866841e-02 1.15419992e-01 9.93090806e-01 5.18308006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.521193817 meters Centerline goodness : 0.892065 with order 1 Centerline is valid? [False, False] Translation: X:58.19, Y:1.21, Z:5.19 [[ 9.97553004e-01 -5.34689682e-02 4.50452443e-02 5.81947104e+01] [ 6.16411931e-02 9.76653655e-01 -2.05786300e-01 1.20889307e+00] [-3.29904214e-02 2.08059384e-01 9.77559678e-01 5.19384665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.581193817 meters Centerline goodness : 0.893069 with order 1 Centerline is valid? [False, False] Translation: X:58.22, Y:1.22, Z:5.19 [[ 9.98082588e-01 -4.35683746e-02 4.39652691e-02 5.82216947e+01] [ 5.13593314e-02 9.79377114e-01 -1.95403907e-01 1.21806574e+00] [-3.45451478e-02 1.97287264e-01 9.79736887e-01 5.19356402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.64119381700002 meters Centerline goodness : 0.892865 with order 1 Centerline is valid? [False, False] Translation: X:58.21, Y:1.21, Z:5.19 [[ 9.98236931e-01 -4.00553526e-02 4.38018098e-02 5.82123523e+01] [ 4.68105661e-02 9.85005688e-01 -1.66049891e-01 1.21269136e+00] [-3.64938448e-02 1.67807521e-01 9.85144068e-01 5.19309620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.701193817 meters Centerline goodness : 0.892820 with order 1 Centerline is valid? [False, False] Translation: X:58.21, Y:1.21, Z:5.19 [[ 9.98512899e-01 -3.61445386e-02 4.08113149e-02 5.82127533e+01] [ 4.15614156e-02 9.89163502e-01 -1.40812693e-01 1.20642113e+00] [-3.52794533e-02 1.42299466e-01 9.89194734e-01 5.19312869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.761193817 meters Centerline goodness : 0.890319 with order 1 Centerline is valid? [False, False] Translation: X:58.21, Y:1.20, Z:5.19 [[ 9.98852575e-01 -3.23708946e-02 3.52938925e-02 5.82147070e+01] [ 3.63184940e-02 9.92391082e-01 -1.17647385e-01 1.19918689e+00] [-3.12169930e-02 1.18794214e-01 9.92428050e-01 5.19266809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.821193817 meters Centerline goodness : 0.891744 with order 1 Centerline is valid? [False, False] Translation: X:58.21, Y:1.19, Z:5.19 [[ 9.99142764e-01 -2.66035218e-02 3.17173465e-02 5.82095558e+01] [ 2.96381875e-02 9.94605882e-01 -9.94018005e-02 1.18688636e+00] [-2.89018214e-02 1.00256634e-01 9.94541750e-01 5.19093529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.881193817 meters Centerline goodness : 0.887293 with order 1 Centerline is valid? [False, False] Translation: X:58.21, Y:1.17, Z:5.19 [[ 9.99222820e-01 -2.01009464e-02 3.39073326e-02 5.82058737e+01] [ 2.29666692e-02 9.95999089e-01 -8.63617234e-02 1.17354965e+00] [-3.20357200e-02 8.70733433e-02 9.95686670e-01 5.19311463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.941193817 meters Centerline goodness : 0.893022 with order 1 Centerline is valid? [False, False] Translation: X:58.20, Y:1.15, Z:5.20 [[ 9.99126087e-01 -1.88263869e-02 3.73179416e-02 5.81999317e+01] [ 2.16330565e-02 9.96850830e-01 -7.62917667e-02 1.15327779e+00] [-3.57641227e-02 7.70323955e-02 9.96386942e-01 5.19783421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.001193817 meters Centerline goodness : 0.891438 with order 1 Centerline is valid? [False, False] Translation: X:58.20, Y:1.14, Z:5.20 [[ 9.99101005e-01 -2.03681369e-02 3.71795696e-02 5.82005363e+01] [ 2.31259707e-02 9.96891214e-01 -7.53199652e-02 1.14136466e+00] [-3.55298589e-02 7.61120666e-02 9.96466047e-01 5.19722956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.061193817 meters Centerline goodness : 0.889734 with order 1 Centerline is valid? [False, False] Translation: X:58.20, Y:1.12, Z:5.19 [[ 9.99190995e-01 -2.09393808e-02 3.43350778e-02 5.82043986e+01] [ 2.30865648e-02 9.97722320e-01 -6.33812461e-02 1.11867676e+00] [-3.29297095e-02 6.41226494e-02 9.97398576e-01 5.19433169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.121193817 meters Centerline goodness : 0.888480 with order 1 Centerline is valid? [False, False] Translation: X:58.21, Y:1.11, Z:5.19 [[ 9.99179296e-01 -2.21696606e-02 3.39004461e-02 5.82061891e+01] [ 2.42538001e-02 9.97759201e-01 -6.23564673e-02 1.10746956e+00] [-3.24420603e-02 6.31275058e-02 9.97478035e-01 5.19297379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.181193817 meters Centerline goodness : 0.887935 with order 1 Centerline is valid? [False, False] Translation: X:58.21, Y:1.09, Z:5.19 [[ 9.99175918e-01 -2.29910159e-02 3.34499342e-02 5.82080796e+01] [ 2.50031827e-02 9.97822394e-01 -6.10353223e-02 1.09380374e+00] [-3.19738294e-02 6.18213790e-02 9.97574955e-01 5.19151987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.241193817 meters Centerline goodness : 0.887762 with order 1 Centerline is valid? [False, False] Translation: X:58.22, Y:1.09, Z:5.20 [[ 9.99502955e-01 -1.85204442e-02 2.55114819e-02 5.82231547e+01] [ 2.08175401e-02 9.95454436e-01 -9.29359790e-02 1.08797801e+00] [-2.36743022e-02 9.34208719e-02 9.95345200e-01 5.19945336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.301193817 meters Centerline goodness : 0.889537 with order 1 Centerline is valid? [False, False] Translation: X:58.23, Y:1.10, Z:5.21 [[ 9.99597989e-01 -1.04834375e-02 2.63430976e-02 5.82300404e+01] [ 1.50593093e-02 9.83547591e-01 -1.80020426e-01 1.10089080e+00] [-2.40224573e-02 1.80344764e-01 9.83310067e-01 5.21131432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.36119381700001 meters Centerline goodness : 0.889055 with order 1 Centerline is valid? [False, False] Translation: X:58.24, Y:1.08, Z:5.21 [[ 9.99666495e-01 -1.38085693e-02 2.18225275e-02 5.82438870e+01] [ 1.71642977e-02 9.86648044e-01 -1.61959946e-01 1.07706893e+00] [-1.92947190e-02 1.62280500e-01 9.86556006e-01 5.20995864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.421193817 meters Centerline goodness : 0.889131 with order 1 Centerline is valid? [False, False] Translation: X:58.25, Y:1.06, Z:5.21 [[ 9.99639175e-01 -1.77471310e-02 2.01633186e-02 5.82523483e+01] [ 2.04372835e-02 9.89629823e-01 -1.42179921e-01 1.05560934e+00] [-1.74309357e-02 1.42540703e-01 9.89635443e-01 5.21073276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.481193817 meters Centerline goodness : 0.889307 with order 1 Centerline is valid? [False, False] Translation: X:58.26, Y:1.03, Z:5.21 [[ 9.99377545e-01 -2.64236999e-02 2.33732981e-02 5.82561778e+01] [ 2.91213739e-02 9.91876680e-01 -1.23824863e-01 1.03080184e+00] [-1.99115183e-02 1.24428450e-01 9.92028776e-01 5.21115983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.541193817 meters Centerline goodness : 0.890291 with order 1 Centerline is valid? [False, False] Translation: X:58.28, Y:1.02, Z:5.21 [[ 9.99186914e-01 -3.40030285e-02 2.16634536e-02 5.82762107e+01] [ 3.61772889e-02 9.93330942e-01 -1.09475310e-01 1.01835250e+00] [-1.77964867e-02 1.10170022e-01 9.93753416e-01 5.21195136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.601193817 meters Centerline goodness : 0.892104 with order 1 Centerline is valid? [False, False] Translation: X:58.29, Y:1.00, Z:5.21 [[ 9.98809814e-01 -4.44264999e-02 2.01306287e-02 5.82891432e+01] [ 4.61501910e-02 9.94377808e-01 -9.53044287e-02 1.00236429e+00] [-1.57834083e-02 9.61200310e-02 9.95244605e-01 5.21338494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.661193817 meters Centerline goodness : 0.889015 with order 1 Centerline is valid? [False, False] Translation: X:58.31, Y:1.00, Z:5.22 [[ 9.98392805e-01 -5.29086826e-02 2.03095472e-02 5.83070302e+01] [ 5.44362139e-02 9.94979011e-01 -8.39849171e-02 9.95382670e-01] [-1.57640418e-02 8.49555119e-02 9.96260034e-01 5.21669480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.721193817 meters Centerline goodness : 0.892392 with order 1 Centerline is valid? [False, False] Translation: X:58.32, Y:0.99, Z:5.22 [[ 9.97522672e-01 -6.67749767e-02 2.21273937e-02 5.83157502e+01] [ 6.82353201e-02 9.94951217e-01 -7.35935975e-02 9.87818842e-01] [-1.71014665e-02 7.49211518e-02 9.97042808e-01 5.21741159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.781193817 meters Centerline goodness : 0.888183 with order 1 Centerline is valid? [False, False] Translation: X:58.32, Y:0.99, Z:5.22 [[ 9.97131967e-01 -7.36570085e-02 1.73921093e-02 5.83182518e+01] [ 7.46023406e-02 9.95282098e-01 -6.20325375e-02 9.85822908e-01] [-1.27409239e-02 6.31521182e-02 9.97922582e-01 5.21662365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.841193817 meters Centerline goodness : 0.888870 with order 1 Centerline is valid? [False, False] Translation: X:58.34, Y:0.99, Z:5.22 [[ 9.96533197e-01 -8.16532796e-02 1.59477115e-02 5.83377579e+01] [ 8.24116456e-02 9.95092531e-01 -5.47647214e-02 9.87765250e-01] [-1.13977295e-02 5.58891400e-02 9.98371923e-01 5.21602650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.901193817 meters Centerline goodness : 0.883453 with order 1 Centerline is valid? [False, False] Translation: X:58.34, Y:0.99, Z:5.21 [[ 9.96417093e-01 -8.30892680e-02 1.57844854e-02 5.83391737e+01] [ 8.38585104e-02 9.94860064e-01 -5.67556493e-02 9.92256070e-01] [-1.09875688e-02 5.78759625e-02 9.98263315e-01 5.21480653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.961193817 meters Centerline goodness : 0.881938 with order 1 Centerline is valid? [False, False] Translation: X:58.37, Y:1.00, Z:5.21 [[ 9.96349296e-01 -8.43522251e-02 1.31446583e-02 5.83671595e+01] [ 8.49687451e-02 9.94753477e-01 -5.69722097e-02 1.00310603e+00] [-8.26996189e-03 5.78811062e-02 9.98289229e-01 5.21437752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.021193817 meters Centerline goodness : 0.884991 with order 1 Centerline is valid? [False, False] Translation: X:58.39, Y:1.02, Z:5.22 [[ 9.96299673e-01 -8.45956823e-02 1.51832695e-02 5.83916009e+01] [ 8.53031977e-02 9.94868993e-01 -5.43971617e-02 1.01552939e+00] [-1.05035990e-02 5.54910559e-02 9.98403935e-01 5.21557214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.081193817 meters Centerline goodness : 0.881032 with order 1 Centerline is valid? [False, False] Translation: X:58.42, Y:1.03, Z:5.22 [[ 9.96858331e-01 -7.68979638e-02 1.89781714e-02 5.84243649e+01] [ 7.78459620e-02 9.95410325e-01 -5.56622980e-02 1.03482158e+00] [-1.46107504e-02 5.69647995e-02 9.98269271e-01 5.21573556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.14119381700002 meters Centerline goodness : 0.877483 with order 1 Centerline is valid? [False, False] Translation: X:58.46, Y:1.05, Z:5.21 [[ 9.97257475e-01 -7.12182897e-02 2.01366359e-02 5.84623520e+01] [ 7.22418766e-02 9.95827891e-01 -5.57487426e-02 1.04947991e+00] [-1.60822936e-02 5.70505586e-02 9.98241751e-01 5.21346498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.201193817 meters Centerline goodness : 0.873905 with order 1 Centerline is valid? [False, False] Translation: X:58.51, Y:1.07, Z:5.21 [[ 9.97275595e-01 -7.17551986e-02 1.71049156e-02 5.85109553e+01] [ 7.25831569e-02 9.95896217e-01 -5.40593244e-02 1.07164046e+00] [-1.31556831e-02 5.51535737e-02 9.98391212e-01 5.21115152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.261193817 meters Centerline goodness : 0.874132 with order 1 Centerline is valid? [False, False] Translation: X:58.54, Y:1.08, Z:5.21 [[ 9.96932309e-01 -7.71649875e-02 1.30971908e-02 5.85418003e+01] [ 7.77651598e-02 9.95502264e-01 -5.41093600e-02 1.08360688e+00] [-8.86293497e-03 5.49618743e-02 9.98449118e-01 5.21152206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.321193817 meters Centerline goodness : 0.867798 with order 1 Centerline is valid? [False, False] Translation: X:58.58, Y:1.10, Z:5.21 [[ 9.96229968e-01 -8.61749563e-02 9.98641966e-03 5.85800281e+01] [ 8.65774769e-02 9.94911393e-01 -5.15330928e-02 1.10330832e+00] [-5.49474067e-03 5.22034104e-02 9.98621356e-01 5.21174710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.381193817 meters Centerline goodness : 0.874657 with order 1 Centerline is valid? [False, False] Translation: X:58.60, Y:1.12, Z:5.21 [[ 9.96371577e-01 -8.43502011e-02 1.13456234e-02 5.85997092e+01] [ 8.48477200e-02 9.94891612e-01 -5.46950156e-02 1.11755093e+00] [-6.67413002e-03 5.54592093e-02 9.98438647e-01 5.20915859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.441193817 meters Centerline goodness : 0.869233 with order 1 Centerline is valid? [False, False] Translation: X:58.64, Y:1.14, Z:5.21 [[ 9.96755460e-01 -7.93418302e-02 1.35435406e-02 5.86366616e+01] [ 8.00137154e-02 9.95003766e-01 -5.97102174e-02 1.14196894e+00] [-8.73835602e-03 6.06001542e-02 9.98123871e-01 5.20744620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.501193817 meters Centerline goodness : 0.865998 with order 1 Centerline is valid? [False, False] Translation: X:58.67, Y:1.16, Z:5.21 [[ 9.97084131e-01 -7.48177744e-02 1.50178867e-02 5.86740222e+01] [ 7.55903475e-02 9.95330284e-01 -6.00310292e-02 1.15513776e+00] [-1.04563695e-02 6.09911938e-02 9.98083533e-01 5.20687376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.561193817 meters Centerline goodness : 0.868041 with order 1 Centerline is valid? [False, False] Translation: X:58.73, Y:1.19, Z:5.21 [[ 9.97767786e-01 -6.17469808e-02 2.54313769e-02 5.87263459e+01] [ 6.40356569e-02 9.92714891e-01 -1.02061649e-01 1.18985666e+00] [-1.89441079e-02 1.03462341e-01 9.94452948e-01 5.20764883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.621193817 meters Centerline goodness : 0.868798 with order 1 Centerline is valid? [False, False] Translation: X:58.73, Y:1.20, Z:5.21 [[ 9.98376181e-01 -5.11448771e-02 2.50839326e-02 5.87275400e+01] [ 5.33067766e-02 9.94064448e-01 -9.48380795e-02 1.20058847e+00] [-2.00845637e-02 9.60212232e-02 9.95176635e-01 5.20784108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.681193817 meters Centerline goodness : 0.868313 with order 1 Centerline is valid? [False, False] Translation: X:58.73, Y:1.21, Z:5.21 [[ 9.99113584e-01 -3.60553477e-02 2.17268898e-02 5.87312772e+01] [ 3.76479516e-02 9.96242166e-01 -7.80011411e-02 1.21189018e+00] [-1.88328855e-02 7.87499726e-02 9.96716491e-01 5.21168403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.741193817 meters Centerline goodness : 0.871619 with order 1 Centerline is valid? [False, False] Translation: X:58.74, Y:1.21, Z:5.22 [[ 9.99201210e-01 -3.22111109e-02 2.36513546e-02 5.87362584e+01] [ 3.36346142e-02 9.97479032e-01 -6.24843482e-02 1.21365777e+00] [-2.15790401e-02 6.32299405e-02 9.97765664e-01 5.21503839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.801193817 meters Centerline goodness : 0.872553 with order 1 Centerline is valid? [False, False] Translation: X:58.73, Y:1.22, Z:5.22 [[ 9.99266740e-01 -2.96728786e-02 2.41971800e-02 5.87349092e+01] [ 3.10820935e-02 9.97707854e-01 -6.01077566e-02 1.21694077e+00] [-2.23581464e-02 6.08157810e-02 9.97898569e-01 5.21535050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.86119381700001 meters Centerline goodness : 0.874714 with order 1 Centerline is valid? [False, False] Translation: X:58.73, Y:1.21, Z:5.21 [[ 9.99246375e-01 -3.27111438e-02 2.08964870e-02 5.87342976e+01] [ 3.36987047e-02 9.98239955e-01 -4.87994878e-02 1.21496431e+00] [-1.92634211e-02 4.94668958e-02 9.98589979e-01 5.21290144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.921193817 meters Centerline goodness : 0.872542 with order 1 Centerline is valid? [False, False] Translation: X:58.74, Y:1.21, Z:5.21 [[ 9.99246416e-01 -3.29750875e-02 2.04754642e-02 5.87360659e+01] [ 3.39367384e-02 9.98244326e-01 -4.85444514e-02 1.21405516e+00] [-1.88387584e-02 4.92027395e-02 9.98611131e-01 5.21145182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.981193817 meters Centerline goodness : 0.865315 with order 1 Centerline is valid? [False, False] Translation: X:58.74, Y:1.21, Z:5.21 [[ 9.99188784e-01 -3.51436411e-02 1.96646659e-02 5.87399014e+01] [ 3.60921752e-02 9.98088723e-01 -5.01622940e-02 1.21096505e+00] [-1.78641957e-02 5.08313421e-02 9.98547468e-01 5.20839776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.041193817 meters Centerline goodness : 0.869914 with order 1 Centerline is valid? [False, False] Translation: X:58.75, Y:1.21, Z:5.21 [[ 9.99104027e-01 -3.67167221e-02 2.10481606e-02 5.87487216e+01] [ 3.75174156e-02 9.98534641e-01 -3.90001803e-02 1.20681187e+00] [-1.95853587e-02 3.97549098e-02 9.99017498e-01 5.20879147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.101193817 meters Centerline goodness : 0.867659 with order 1 Centerline is valid? [False, False] Translation: X:58.75, Y:1.20, Z:5.21 [[ 9.98860217e-01 -4.07437526e-02 2.48638929e-02 5.87523264e+01] [ 4.14149106e-02 9.98774360e-01 -2.71032046e-02 1.20069011e+00] [-2.37291324e-02 2.81020488e-02 9.99323373e-01 5.20827051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.161193817 meters Centerline goodness : 0.869924 with order 1 Centerline is valid? [False, False] Translation: X:58.75, Y:1.20, Z:5.21 [[ 9.98866042e-01 -4.08041501e-02 2.45285704e-02 5.87528770e+01] [ 4.14348177e-02 9.98808618e-01 -2.57779229e-02 1.19629913e+00] [-2.34475013e-02 2.67650287e-02 9.99366723e-01 5.20842458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.221193817 meters Centerline goodness : 0.868756 with order 1 Centerline is valid? [False, False] Translation: X:58.75, Y:1.19, Z:5.21 [[ 9.98732286e-01 -4.38451627e-02 2.47269486e-02 5.87529940e+01] [ 4.45375684e-02 9.98610089e-01 -2.81832475e-02 1.19207942e+00] [-2.34568813e-02 2.92487974e-02 9.99296894e-01 5.20822793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.281193817 meters Centerline goodness : 0.864429 with order 1 Centerline is valid? [False, False] Translation: X:58.75, Y:1.19, Z:5.21 [[ 9.98854127e-01 -4.02578539e-02 2.58793188e-02 5.87514415e+01] [ 4.08489054e-02 9.98906743e-01 -2.27307359e-02 1.18848861e+00] [-2.49359354e-02 2.37618312e-02 9.99406611e-01 5.20681827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.341193817 meters Centerline goodness : 0.868583 with order 1 Centerline is valid? [False, False] Translation: X:58.75, Y:1.18, Z:5.21 [[ 9.98997311e-01 -3.88891836e-02 2.21811644e-02 5.87450297e+01] [ 3.91007399e-02 9.99193059e-01 -9.18489571e-03 1.18230438e+00] [-2.18060724e-02 1.00429861e-02 9.99711775e-01 5.20626167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.401193817 meters Centerline goodness : 0.869118 with order 1 Centerline is valid? [False, False] Translation: X:58.75, Y:1.18, Z:5.21 [[ 9.99020407e-01 -3.85738399e-02 2.16860717e-02 5.87461637e+01] [ 3.87464617e-02 9.99220196e-01 -7.59686166e-03 1.17719561e+00] [-2.13761206e-02 8.42967837e-03 9.99735966e-01 5.20603969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.461193817 meters Centerline goodness : 0.870404 with order 1 Centerline is valid? [False, False] Translation: X:58.74, Y:1.17, Z:5.21 [[ 9.98860850e-01 -4.23285677e-02 2.20294001e-02 5.87447169e+01] [ 4.25474358e-02 9.99048679e-01 -9.56304900e-03 1.17101827e+00] [-2.16036529e-02 1.04894497e-02 9.99711585e-01 5.20780566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.521193817 meters Centerline goodness : 0.870928 with order 1 Centerline is valid? [False, False] Translation: X:58.73, Y:1.17, Z:5.21 [[ 9.98694279e-01 -4.73151240e-02 1.92617622e-02 5.87333016e+01] [ 4.73786583e-02 9.98872920e-01 -2.85534533e-03 1.16514069e+00] [-1.91049516e-02 3.76421349e-03 9.99810398e-01 5.21083973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.581193817 meters Centerline goodness : 0.870317 with order 1 Centerline is valid? [False, False] Translation: X:58.74, Y:1.16, Z:5.21 [[ 9.98530991e-01 -5.06996970e-02 1.91154336e-02 5.87351567e+01] [ 5.08038873e-02 9.98696109e-01 -5.00463837e-03 1.15993554e+00] [-1.88367755e-02 5.96842485e-03 9.99804758e-01 5.20899064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.64119381700002 meters Centerline goodness : 0.875541 with order 1 Centerline is valid? [False, False] Translation: X:58.74, Y:1.16, Z:5.21 [[ 9.98676378e-01 -4.78780639e-02 1.87931540e-02 5.87355542e+01] [ 4.79125221e-02 9.98850572e-01 -1.38734270e-03 1.15968526e+00] [-1.87051294e-02 2.28593380e-03 9.99822431e-01 5.20867216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.701193817 meters Centerline goodness : 0.879223 with order 1 Centerline is valid? [False, False] Translation: X:58.73, Y:1.16, Z:5.21 [[ 9.98817096e-01 -4.45597730e-02 1.94637043e-02 5.87311900e+01] [ 4.45437370e-02 9.99006645e-01 1.25686963e-03 1.16255342e+00] [-1.95003757e-02 -3.88396751e-04 9.99809774e-01 5.21266688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.761193817 meters Centerline goodness : 0.887156 with order 1 Centerline is valid? [False, False] Translation: X:58.73, Y:1.17, Z:5.22 [[ 9.98923037e-01 -4.20311394e-02 1.96506909e-02 5.87289256e+01] [ 4.19805002e-02 9.99113978e-01 2.98259982e-03 1.16636025e+00] [-1.97586421e-02 -2.15444183e-03 9.99802458e-01 5.21508091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.821193817 meters Centerline goodness : 0.888520 with order 1 Centerline is valid? [False, False] Translation: X:58.73, Y:1.17, Z:5.21 [[ 9.99038676e-01 -3.92576113e-02 1.95080632e-02 5.87295208e+01] [ 3.91775108e-02 9.99222262e-01 4.47151524e-03 1.17366627e+00] [-1.96684320e-02 -3.70293931e-03 9.99799700e-01 5.21423739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.881193817 meters Centerline goodness : 0.888031 with order 1 Centerline is valid? [False, False] Translation: X:58.73, Y:1.18, Z:5.21 [[ 9.99066545e-01 -3.89231601e-02 1.87356783e-02 5.87332325e+01] [ 3.88520141e-02 9.99236372e-01 4.14662544e-03 1.17746012e+00] [-1.88827709e-02 -3.41483591e-03 9.99815873e-01 5.21117520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.941193817 meters Centerline goodness : 0.889672 with order 1 Centerline is valid? [False, False] Translation: X:58.73, Y:1.18, Z:5.21 [[ 9.99398747e-01 -3.24313263e-02 1.22619082e-02 5.87294246e+01] [ 3.24488308e-02 9.99472640e-01 -1.23125936e-03 1.18361637e+00] [-1.22155104e-02 1.62840364e-03 9.99924062e-01 5.20975889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.001193817 meters Centerline goodness : 0.889778 with order 1 Centerline is valid? [False, False] Translation: X:58.73, Y:1.19, Z:5.21 [[ 9.99624076e-01 -2.74172163e-02 4.55247693e-05 5.87257474e+01] [ 2.74170093e-02 9.99620789e-01 2.56618521e-03 1.18614970e+00] [-1.15865161e-04 -2.56397237e-03 9.99996706e-01 5.21069462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.061193817 meters Centerline goodness : 0.885511 with order 1 Centerline is valid? [False, False] Translation: X:58.73, Y:1.19, Z:5.21 [[ 9.99755454e-01 -2.20844368e-02 -1.14418226e-03 5.87296066e+01] [ 2.20924417e-02 9.99727551e-01 7.53306259e-03 1.18767598e+00] [ 9.77507085e-04 -7.55649819e-03 9.99970971e-01 5.20822866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.121193817 meters Centerline goodness : 0.887749 with order 1 Centerline is valid? [False, False] Translation: X:58.73, Y:1.19, Z:5.21 [[ 9.99861200e-01 -1.56602863e-02 -5.68649970e-03 5.87267324e+01] [ 1.56344150e-02 9.99867350e-01 -4.56591241e-03 1.19302311e+00] [ 5.75724888e-03 4.47637356e-03 9.99973408e-01 5.21142514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.181193817 meters Centerline goodness : 0.891867 with order 1 Centerline is valid? [False, False] Translation: X:58.74, Y:1.16, Z:5.22 [[ 9.99848843e-01 -1.53222368e-02 -8.21703764e-03 5.87375459e+01] [ 1.61308074e-02 9.93847321e-01 1.09577823e-01 1.16064429e+00] [ 6.48750350e-03 -1.09693807e-01 9.93944254e-01 5.22225661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.241193817 meters Centerline goodness : 0.894381 with order 1 Centerline is valid? [False, False] Translation: X:58.75, Y:1.13, Z:5.24 [[ 9.99905403e-01 -1.15914827e-02 -7.40428757e-03 5.87464141e+01] [ 1.28239904e-02 9.80288917e-01 1.97152694e-01 1.13456532e+00] [ 4.97304899e-03 -1.97228997e-01 9.80344833e-01 5.23622639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.301193817 meters Centerline goodness : 0.899907 with order 1 Centerline is valid? [False, False] Translation: X:58.76, Y:1.14, Z:5.24 [[ 9.99969565e-01 -5.19606472e-03 -5.81980799e-03 5.87644550e+01] [ 6.18707938e-03 9.82564849e-01 1.85817218e-01 1.13776763e+00] [ 4.75282047e-03 -1.85847570e-01 9.82567093e-01 5.23730848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.36119381700001 meters Centerline goodness : 0.895948 with order 1 Centerline is valid? [False, False] Translation: X:58.79, Y:1.11, Z:5.25 [[ 9.99997711e-01 -2.10042306e-03 -4.08437179e-04 5.87937835e+01] [ 2.13414486e-03 9.65206122e-01 2.61481523e-01 1.11088936e+00] [-1.54995756e-04 -2.61481796e-01 9.65208395e-01 5.24853996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.421193817 meters Centerline goodness : 0.897742 with order 1 Centerline is valid? [False, False] Translation: X:58.83, Y:1.09, Z:5.26 [[ 9.99971215e-01 -3.63370711e-03 6.66066868e-03 5.88269456e+01] [ 1.39418855e-03 9.50912488e-01 3.09456776e-01 1.09340238e+00] [-7.45818832e-03 -3.09438582e-01 9.50890183e-01 5.25928266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.481193817 meters Centerline goodness : 0.901245 with order 1 Centerline is valid? [False, False] Translation: X:58.85, Y:1.04, Z:5.30 [[ 9.99904073e-01 -1.37818663e-02 1.38028290e-03 5.88491382e+01] [ 1.15787081e-02 8.86406812e-01 4.62762247e-01 1.03587136e+00] [-7.60121959e-03 -4.62701874e-01 8.86481358e-01 5.29644114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.541193817 meters Centerline goodness : 0.899711 with order 1 Centerline is valid? [False, False] Translation: X:58.83, Y:1.05, Z:5.30 [[ 9.99860821e-01 -1.66821859e-02 -2.09221775e-04 5.88257509e+01] [ 1.53622339e-02 9.15712420e-01 4.01540490e-01 1.04819993e+00] [-6.50698611e-03 -4.01487818e-01 9.15841248e-01 5.29591820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.601193817 meters Centerline goodness : 0.903003 with order 1 Centerline is valid? [False, False] Translation: X:58.81, Y:1.05, Z:5.30 [[ 9.99837259e-01 -1.79008051e-02 -2.23982721e-03 5.88061470e+01] [ 1.75354704e-02 9.35165704e-01 3.53776219e-01 1.05081777e+00] [-4.23826955e-03 -3.53757921e-01 9.35327413e-01 5.29700505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.661193817 meters Centerline goodness : 0.901686 with order 1 Centerline is valid? [False, False] Translation: X:58.79, Y:1.08, Z:5.29 [[ 9.99833667e-01 -1.66264611e-02 -7.49656131e-03 5.87861684e+01] [ 1.79446048e-02 9.70262462e-01 2.41389201e-01 1.07703517e+00] [ 3.26018386e-03 -2.41483573e-01 9.70399431e-01 5.29119678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.721193817 meters Centerline goodness : 0.901294 with order 1 Centerline is valid? [False, False] Translation: X:58.78, Y:1.10, Z:5.29 [[ 9.99849110e-01 -1.51422034e-02 -8.51295417e-03 5.87770954e+01] [ 1.61864427e-02 9.89994428e-01 1.40175002e-01 1.10373357e+00] [ 6.30521881e-03 -1.40291645e-01 9.90090147e-01 5.28972443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.781193817 meters Centerline goodness : 0.905082 with order 1 Centerline is valid? [False, False] Translation: X:58.78, Y:1.12, Z:5.29 [[ 9.99890476e-01 -1.36480943e-02 -5.72410910e-03 5.87758576e+01] [ 1.39864145e-02 9.97855016e-01 6.39511370e-02 1.12183330e+00] [ 4.83901983e-03 -6.40241925e-02 9.97936615e-01 5.29026398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.841193817 meters Centerline goodness : 0.907114 with order 1 Centerline is valid? [False, False] Translation: X:58.80, Y:1.12, Z:5.29 [[ 9.99847225e-01 -1.72860721e-02 -2.59185568e-03 5.87986729e+01] [ 1.73619154e-02 9.99309731e-01 3.28424407e-02 1.12292477e+00] [ 2.02234980e-03 -3.28824228e-02 9.99457181e-01 5.29349000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.901193817 meters Centerline goodness : 0.909965 with order 1 Centerline is valid? [False, False] Translation: X:58.82, Y:1.12, Z:5.29 [[ 9.99785887e-01 -2.06417276e-02 1.44894148e-03 5.88201791e+01] [ 2.06238893e-02 9.99722281e-01 1.14024623e-02 1.12456325e+00] [-1.68390560e-03 -1.13701381e-02 9.99933940e-01 5.29415296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.961193817 meters Centerline goodness : 0.914491 with order 1 Centerline is valid? [False, False] Translation: X:58.84, Y:1.12, Z:5.30 [[ 9.99622798e-01 -2.73767119e-02 2.18571830e-03 5.88443752e+01] [ 2.73833405e-02 9.99620314e-01 -3.06266792e-03 1.12220361e+00] [-2.10104264e-03 3.12136494e-03 9.99992921e-01 5.29841344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.021193817 meters Centerline goodness : 0.913777 with order 1 Centerline is valid? [False, False] Translation: X:58.87, Y:1.12, Z:5.30 [[ 9.99569269e-01 -2.92794301e-02 1.99775209e-03 5.88717907e+01] [ 2.93082239e-02 9.99436695e-01 -1.63499353e-02 1.12348229e+00] [-1.51790996e-03 1.64014435e-02 9.99864335e-01 5.30031073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.081193817 meters Centerline goodness : 0.920724 with order 1 Centerline is valid? [False, False] Translation: X:58.90, Y:1.12, Z:5.30 [[ 9.99565041e-01 -2.94297178e-02 1.90286791e-03 5.89026820e+01] [ 2.94703294e-02 9.99202583e-01 -2.69387887e-02 1.12207389e+00] [-1.10854958e-03 2.69831496e-02 9.99635274e-01 5.29891612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.14119381700002 meters Centerline goodness : 0.916510 with order 1 Centerline is valid? [False, False] Translation: X:58.93, Y:1.12, Z:5.30 [[ 9.99587619e-01 -2.87150678e-02 1.91121621e-04 5.89336644e+01] [ 2.87023702e-02 9.98898547e-01 -3.71196213e-02 1.12438142e+00] [ 8.74981334e-04 3.71097995e-02 9.99310811e-01 5.29762277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.201193817 meters Centerline goodness : 0.914760 with order 1 Centerline is valid? [False, False] Translation: X:58.98, Y:1.13, Z:5.29 [[ 9.99722293e-01 -2.34894430e-02 1.89292058e-03 5.89846661e+01] [ 2.35630669e-02 9.97560770e-01 -6.57060965e-02 1.12913271e+00] [-3.44903708e-04 6.57324525e-02 9.97837224e-01 5.29246118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.261193817 meters Centerline goodness : 0.912467 with order 1 Centerline is valid? [False, False] Translation: X:59.03, Y:1.13, Z:5.29 [[ 9.99831058e-01 -1.83760980e-02 4.16737313e-04 5.90283240e+01] [ 1.83504704e-02 9.96621037e-01 -8.00610333e-02 1.13186710e+00] [ 1.05588022e-03 8.00551550e-02 9.96789876e-01 5.28934900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.321193817 meters Centerline goodness : 0.910046 with order 1 Centerline is valid? [False, False] Translation: X:59.07, Y:1.14, Z:5.29 [[ 9.99954416e-01 -8.24173178e-03 4.82070304e-03 5.90703550e+01] [ 8.77527701e-03 9.92266281e-01 -1.23816890e-01 1.14491405e+00] [-3.76295547e-03 1.23853549e-01 9.92293373e-01 5.28969390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.381193817 meters Centerline goodness : 0.912103 with order 1 Centerline is valid? [False, False] Translation: X:59.11, Y:1.15, Z:5.29 [[ 9.99930736e-01 -3.15451719e-03 1.13389517e-02 5.91066905e+01] [ 4.74180974e-03 9.89738529e-01 -1.42811625e-01 1.14637173e+00] [-1.07720956e-02 1.42855500e-01 9.89684934e-01 5.29183131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.441193817 meters Centerline goodness : 0.914170 with order 1 Centerline is valid? [False, False] Translation: X:59.13, Y:1.16, Z:5.30 [[ 9.99772503e-01 -1.68380314e-03 2.12627859e-02 5.91279256e+01] [ 6.10100466e-03 9.77803369e-01 -2.09435788e-01 1.16130798e+00] [-2.04381751e-02 2.09517866e-01 9.77591195e-01 5.29992479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.501193817 meters Centerline goodness : 0.920343 with order 1 Centerline is valid? [False, False] Translation: X:59.15, Y:1.15, Z:5.30 [[ 9.99677700e-01 -5.21491661e-03 2.48455259e-02 5.91482061e+01] [ 9.87131643e-03 9.81507819e-01 -1.91167355e-01 1.14760284e+00] [-2.33891561e-02 1.91351000e-01 9.81242958e-01 5.29813158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.561193817 meters Centerline goodness : 0.922441 with order 1 Centerline is valid? [False, False] Translation: X:59.17, Y:1.14, Z:5.30 [[ 9.99590681e-01 -7.01370108e-03 2.77358753e-02 5.91747791e+01] [ 1.18790926e-02 9.83711350e-01 -1.79362391e-01 1.13901456e+00] [-2.60261011e-02 1.79618451e-01 9.83392014e-01 5.29717179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.621193817 meters Centerline goodness : 0.927286 with order 1 Centerline is valid? [False, False] Translation: X:59.21, Y:1.13, Z:5.29 [[ 9.99429693e-01 -8.33444212e-03 3.27234774e-02 5.92100816e+01] [ 1.42563074e-02 9.82607189e-01 -1.85148238e-01 1.13352166e+00] [-3.06112168e-02 1.85509163e-01 9.82165619e-01 5.29492278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.681193817 meters Centerline goodness : 0.925756 with order 1 Centerline is valid? [False, False] Translation: X:59.23, Y:1.12, Z:5.29 [[ 9.99388921e-01 -1.04961083e-02 3.33409065e-02 5.92333615e+01] [ 1.60463052e-02 9.85167519e-01 -1.70843424e-01 1.12313474e+00] [-3.10531870e-02 1.71274024e-01 9.84733928e-01 5.29133729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.741193817 meters Centerline goodness : 0.924243 with order 1 Centerline is valid? [False, False] Translation: X:59.27, Y:1.12, Z:5.29 [[ 9.99208984e-01 -1.13495896e-02 3.81128922e-02 5.92668409e+01] [ 1.75279889e-02 9.85983775e-01 -1.65917947e-01 1.11533016e+00] [-3.56955928e-02 1.66454745e-01 9.85402782e-01 5.28558851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.801193817 meters Centerline goodness : 0.928629 with order 1 Centerline is valid? [False, False] Translation: X:59.30, Y:1.12, Z:5.28 [[ 9.98914169e-01 -8.71971837e-03 4.57651481e-02 5.93022640e+01] [ 1.73163928e-02 9.81443510e-01 -1.90968007e-01 1.11666254e+00] [-4.32507203e-02 1.91553135e-01 9.80528822e-01 5.28239144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.86119381700001 meters Centerline goodness : 0.928647 with order 1 Centerline is valid? [False, False] Translation: X:59.34, Y:1.11, Z:5.28 [[ 9.98662428e-01 -8.61269828e-03 5.09821187e-02 5.93362013e+01] [ 1.80826666e-02 9.81939824e-01 -1.88327370e-01 1.10938662e+00] [-4.84393658e-02 1.88997361e-01 9.80782150e-01 5.27751695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.921193817 meters Centerline goodness : 0.928151 with order 1 Centerline is valid? [False, False] Translation: X:59.36, Y:1.09, Z:5.27 [[ 9.98850178e-01 -1.37593435e-02 4.59238694e-02 5.93594497e+01] [ 2.12887701e-02 9.85602184e-01 -1.67735275e-01 1.09034160e+00] [-4.29547387e-02 1.68520072e-01 9.84761837e-01 5.27434124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.981193817 meters Centerline goodness : 0.925754 with order 1 Centerline is valid? [False, False] Translation: X:59.38, Y:1.07, Z:5.27 [[ 9.99004426e-01 -1.82787773e-02 4.06945121e-02 5.93834080e+01] [ 2.40738374e-02 9.88871160e-01 -1.46813760e-01 1.07443614e+00] [-3.75580533e-02 1.47647269e-01 9.88326705e-01 5.27251107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.041193817 meters Centerline goodness : 0.927582 with order 1 Centerline is valid? [False, False] Translation: X:59.41, Y:1.06, Z:5.27 [[ 9.98928537e-01 -2.16327863e-02 4.09120988e-02 5.94082471e+01] [ 2.66603385e-02 9.91591073e-01 -1.26634793e-01 1.06104325e+00] [-3.78286085e-02 1.27589839e-01 9.91105357e-01 5.27107840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.101193817 meters Centerline goodness : 0.931641 with order 1 Centerline is valid? [False, False] Translation: X:59.42, Y:1.05, Z:5.27 [[ 9.98824987e-01 -2.24715801e-02 4.29380072e-02 5.94246024e+01] [ 2.70624358e-02 9.93616277e-01 -1.09518574e-01 1.04696101e+00] [-4.02028474e-02 1.10551896e-01 9.93056901e-01 5.27157189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.161193817 meters Centerline goodness : 0.934522 with order 1 Centerline is valid? [False, False] Translation: X:59.44, Y:1.04, Z:5.27 [[ 9.98592901e-01 -2.66360325e-02 4.58556486e-02 5.94416903e+01] [ 3.09308418e-02 9.94934078e-01 -9.56528303e-02 1.03710219e+00] [-4.30755356e-02 9.69365910e-02 9.94357982e-01 5.27248334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.221193817 meters Centerline goodness : 0.939647 with order 1 Centerline is valid? [False, False] Translation: X:59.47, Y:1.03, Z:5.28 [[ 9.98115973e-01 -4.13002389e-02 4.53739324e-02 5.94682193e+01] [ 4.48824436e-02 9.95703397e-01 -8.09957528e-02 1.02588133e+00] [-4.18338347e-02 8.28796476e-02 9.95681121e-01 5.27609916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.281193817 meters Centerline goodness : 0.937104 with order 1 Centerline is valid? [False, False] Translation: X:59.49, Y:1.02, Z:5.28 [[ 9.97677846e-01 -5.26608324e-02 4.31943547e-02 5.94896163e+01] [ 5.56861192e-02 9.95840495e-01 -7.21163238e-02 1.01899830e+00] [-3.92169819e-02 7.43541846e-02 9.96460478e-01 5.27650005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.341193817 meters Centerline goodness : 0.937953 with order 1 Centerline is valid? [False, False] Translation: X:59.51, Y:1.02, Z:5.28 [[ 9.97102198e-01 -6.27238989e-02 4.30455432e-02 5.95074949e+01] [ 6.54915040e-02 9.95653474e-01 -6.62195104e-02 1.01649962e+00] [-3.87048988e-02 6.88467367e-02 9.96876150e-01 5.27598309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.401193817 meters Centerline goodness : 0.936195 with order 1 Centerline is valid? [False, False] Translation: X:59.54, Y:1.02, Z:5.28 [[ 9.97173575e-01 -6.42296631e-02 3.89796348e-02 5.95392945e+01] [ 6.65458192e-02 9.95894965e-01 -6.13585638e-02 1.01834429e+00] [-3.48785822e-02 6.37790701e-02 9.97354358e-01 5.27502417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.461193817 meters Centerline goodness : 0.931930 with order 1 Centerline is valid? [False, False] Translation: X:59.58, Y:1.03, Z:5.27 [[ 9.97549764e-01 -6.27813250e-02 3.08702723e-02 5.95750290e+01] [ 6.44327592e-02 9.96361846e-01 -5.57807474e-02 1.02519919e+00] [-2.72559723e-02 5.76331283e-02 9.97965698e-01 5.27100796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.521193817 meters Centerline goodness : 0.927730 with order 1 Centerline is valid? [False, False] Translation: X:59.61, Y:1.03, Z:5.27 [[ 9.97841689e-01 -6.05392318e-02 2.54355275e-02 5.96052156e+01] [ 6.17721199e-02 9.96793530e-01 -5.08612120e-02 1.03058328e+00] [-2.22748705e-02 5.23226442e-02 9.98381776e-01 5.27050534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.581193817 meters Centerline goodness : 0.927209 with order 1 Centerline is valid? [False, False] Translation: X:59.63, Y:1.04, Z:5.27 [[ 9.98069617e-01 -5.69685736e-02 2.47309589e-02 5.96311361e+01] [ 5.80059643e-02 9.97368932e-01 -4.34801248e-02 1.03618532e+00] [-2.21888894e-02 4.48307347e-02 9.98748146e-01 5.27290124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.64119381700002 meters Centerline goodness : 0.932919 with order 1 Centerline is valid? [False, False] Translation: X:59.67, Y:1.05, Z:5.28 [[ 9.98411934e-01 -4.90692661e-02 2.76733964e-02 5.96706826e+01] [ 5.04686491e-02 9.97351783e-01 -5.23673172e-02 1.05155015e+00] [-2.50304854e-02 5.36807934e-02 9.98244383e-01 5.27697841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.701193817 meters Centerline goodness : 0.936236 with order 1 Centerline is valid? [False, False] Translation: X:59.71, Y:1.06, Z:5.28 [[ 9.98215326e-01 -5.02164382e-02 3.23182899e-02 5.97112385e+01] [ 5.18171507e-02 9.97365660e-01 -5.07614424e-02 1.06328725e+00] [-2.96840937e-02 5.23454915e-02 9.98187760e-01 5.27969262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.761193817 meters Centerline goodness : 0.937008 with order 1 Centerline is valid? [False, False] Translation: X:59.74, Y:1.07, Z:5.28 [[ 9.98069185e-01 -5.37715725e-02 3.10889158e-02 5.97406398e+01] [ 5.51444362e-02 9.97457898e-01 -4.51312894e-02 1.06676550e+00] [-2.85831042e-02 4.67585299e-02 9.98497194e-01 5.28075722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.821193817 meters Centerline goodness : 0.935304 with order 1 Centerline is valid? [False, False] Translation: X:59.77, Y:1.07, Z:5.28 [[ 9.97924091e-01 -5.88023888e-02 2.62638224e-02 5.97738626e+01] [ 5.99508102e-02 9.97172028e-01 -4.53193904e-02 1.07456157e+00] [-2.35246606e-02 4.67998489e-02 9.98627240e-01 5.27852024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.881193817 meters Centerline goodness : 0.932219 with order 1 Centerline is valid? [False, False] Translation: X:59.82, Y:1.09, Z:5.27 [[ 9.98010905e-01 -5.78119475e-02 2.51398590e-02 5.98168057e+01] [ 5.90163970e-02 9.96996660e-01 -5.01470259e-02 1.08574641e+00] [-2.21652583e-02 5.15309425e-02 9.98425392e-01 5.27402729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.941193817 meters Centerline goodness : 0.932696 with order 1 Centerline is valid? [False, False] Translation: X:59.86, Y:1.10, Z:5.27 [[ 9.98438909e-01 -5.13289101e-02 2.20247034e-02 5.98647627e+01] [ 5.25267258e-02 9.96946668e-01 -5.77778912e-02 1.09828175e+00] [-1.89917785e-02 5.88445803e-02 9.98086483e-01 5.27259706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.001193817 meters Centerline goodness : 0.930137 with order 1 Centerline is valid? [False, False] Translation: X:59.91, Y:1.13, Z:5.27 [[ 9.98847489e-01 -3.76366364e-02 2.97855240e-02 5.99147327e+01] [ 4.03905687e-02 9.94364811e-01 -9.80164475e-02 1.12724444e+00] [-2.59286675e-02 9.91065367e-02 9.94738960e-01 5.26961720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.061193817 meters Centerline goodness : 0.929474 with order 1 Centerline is valid? [False, False] Translation: X:59.95, Y:1.15, Z:5.27 [[ 9.98798630e-01 -3.01272000e-02 3.86477558e-02 5.99547643e+01] [ 3.52168933e-02 9.89720255e-01 -1.38613084e-01 1.14954488e+00] [-3.40744426e-02 1.39807612e-01 9.89592221e-01 5.26837107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.121193817 meters Centerline goodness : 0.926673 with order 1 Centerline is valid? [False, False] Translation: X:59.99, Y:1.19, Z:5.28 [[ 9.98429420e-01 -2.19254092e-02 5.15555059e-02 5.99892174e+01] [ 3.35130254e-02 9.71175619e-01 -2.35997445e-01 1.19149816e+00] [-4.48951098e-02 2.37354573e-01 9.70385097e-01 5.27670766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.181193817 meters Centerline goodness : 0.927019 with order 1 Centerline is valid? [False, False] Translation: X:60.03, Y:1.22, Z:5.28 [[ 9.97991026e-01 -1.49605599e-02 6.15637289e-02 6.00267871e+01] [ 3.30289505e-02 9.52080840e-01 -3.04057829e-01 1.21672092e+00] [-5.40647714e-02 3.05480370e-01 9.50662266e-01 5.28487189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.241193817 meters Centerline goodness : 0.927537 with order 1 Centerline is valid? [False, False] Translation: X:60.07, Y:1.25, Z:5.30 [[ 9.97601485e-01 -2.42198470e-03 6.91766711e-02 6.00650323e+01] [ 2.91036348e-02 9.21433458e-01 -3.87444656e-01 1.24531049e+00] [-6.28033142e-02 3.88528656e-01 9.19293874e-01 5.29646372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.301193817 meters Centerline goodness : 0.927505 with order 1 Centerline is valid? [False, False] Translation: X:60.10, Y:1.26, Z:5.31 [[ 9.96967447e-01 4.99934314e-03 7.76589765e-02 6.01036576e+01] [ 2.98966045e-02 8.96746263e-01 -4.41534067e-01 1.26203012e+00] [-7.18477773e-02 4.42516831e-01 8.93877369e-01 5.30631885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.36119381700001 meters Centerline goodness : 0.929277 with order 1 Centerline is valid? [False, False] Translation: X:60.07, Y:1.24, Z:5.31 [[ 9.96961495e-01 -5.80265553e-03 7.76795136e-02 6.00725861e+01] [ 3.52286495e-02 9.22998826e-01 -3.83186782e-01 1.23874485e+00] [-6.94745990e-02 3.84759011e-01 9.20398709e-01 5.30658241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.421193817 meters Centerline goodness : 0.932682 with order 1 Centerline is valid? [False, False] Translation: X:60.08, Y:1.23, Z:5.30 [[ 9.96845422e-01 -1.74532620e-02 7.74247234e-02 6.00821372e+01] [ 4.31426372e-02 9.37969420e-01 -3.44023371e-01 1.22692637e+00] [-6.66176928e-02 3.46278429e-01 9.35763503e-01 5.30424602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.481193817 meters Centerline goodness : 0.929886 with order 1 Centerline is valid? [False, False] Translation: X:60.09, Y:1.21, Z:5.30 [[ 9.96656739e-01 -3.11211210e-02 7.55435022e-02 6.00870791e+01] [ 5.26358198e-02 9.51742728e-01 -3.02349550e-01 1.21275564e+00] [-6.24885219e-02 3.05315011e-01 9.50198889e-01 5.30168502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.541193817 meters Centerline goodness : 0.924564 with order 1 Centerline is valid? [False, False] Translation: X:60.10, Y:1.20, Z:5.30 [[ 9.96453535e-01 -4.73826176e-02 6.95358906e-02 6.01018018e+01] [ 6.43955915e-02 9.61341674e-01 -2.67722607e-01 1.20006560e+00] [-5.41623515e-02 2.71250943e-01 9.60983541e-01 5.29982674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.601193817 meters Centerline goodness : 0.925737 with order 1 Centerline is valid? [False, False] Translation: X:60.12, Y:1.19, Z:5.30 [[ 9.95839831e-01 -6.47637249e-02 6.40990668e-02 6.01176213e+01] [ 7.80940032e-02 9.69056581e-01 -2.34159497e-01 1.19089520e+00] [-4.69505813e-02 2.38191106e-01 9.70082800e-01 5.29996803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.661193817 meters Centerline goodness : 0.926245 with order 1 Centerline is valid? [False, False] Translation: X:60.14, Y:1.19, Z:5.30 [[ 9.95818097e-01 -6.69210421e-02 6.21923731e-02 6.01442085e+01] [ 7.85299241e-02 9.74884772e-01 -2.08405213e-01 1.18818489e+00] [-4.66837034e-02 2.12417645e-01 9.76063203e-01 5.30242389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.721193817 meters Centerline goodness : 0.932779 with order 1 Centerline is valid? [False, False] Translation: X:60.17, Y:1.19, Z:5.30 [[ 9.95843598e-01 -6.50245203e-02 6.37757081e-02 6.01662507e+01] [ 7.57985185e-02 9.79908990e-01 -1.84480230e-01 1.19436584e+00] [-5.04986513e-02 1.88547560e-01 9.80764856e-01 5.30440563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.781193817 meters Centerline goodness : 0.931965 with order 1 Centerline is valid? [False, False] Translation: X:60.19, Y:1.20, Z:5.30 [[ 9.95811148e-01 -6.56261871e-02 6.36660198e-02 6.01866840e+01] [ 7.54221337e-02 9.83200208e-01 -1.66219293e-01 1.19777697e+00] [-5.16881055e-02 1.70324852e-01 9.84031394e-01 5.30321076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.841193817 meters Centerline goodness : 0.931779 with order 1 Centerline is valid? [False, False] Translation: X:60.22, Y:1.21, Z:5.30 [[ 9.95569958e-01 -6.91931794e-02 6.36613149e-02 6.02230969e+01] [ 7.85790735e-02 9.84107703e-01 -1.59239942e-01 1.20994153e+00] [-5.16312725e-02 1.63536949e-01 9.85185200e-01 5.29929084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.901193817 meters Centerline goodness : 0.931351 with order 1 Centerline is valid? [False, False] Translation: X:60.22, Y:1.21, Z:5.30 [[ 9.95299699e-01 -7.58553876e-02 6.02035734e-02 6.02164742e+01] [ 8.30778416e-02 9.88251671e-01 -1.28283700e-01 1.20963889e+00] [-4.97652722e-02 1.32682311e-01 9.89908492e-01 5.30088652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.961193817 meters Centerline goodness : 0.930711 with order 1 Centerline is valid? [False, False] Translation: X:60.21, Y:1.22, Z:5.30 [[ 9.94855765e-01 -8.37542551e-02 5.69844911e-02 6.02055416e+01] [ 8.89304339e-02 9.91463045e-01 -9.53541204e-02 1.21547689e+00] [-4.85117038e-02 9.99312519e-02 9.93811028e-01 5.30311016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.021193817 meters Centerline goodness : 0.933288 with order 1 Centerline is valid? [False, False] Translation: X:60.21, Y:1.22, Z:5.31 [[ 9.94471951e-01 -8.92845012e-02 5.52613433e-02 6.02117917e+01] [ 9.32778969e-02 9.92850065e-01 -7.44847861e-02 1.21916020e+00] [-4.82158913e-02 7.92276924e-02 9.95689811e-01 5.30534202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.081193817 meters Centerline goodness : 0.933195 with order 1 Centerline is valid? [False, False] Translation: X:60.22, Y:1.23, Z:5.31 [[ 9.94452280e-01 -9.38552810e-02 4.74957829e-02 6.02155133e+01] [ 9.65823673e-02 9.93586002e-01 -5.88107372e-02 1.23135004e+00] [-4.16714468e-02 6.30717268e-02 9.97138630e-01 5.30887761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.14119381700002 meters Centerline goodness : 0.930536 with order 1 Centerline is valid? [False, False] Translation: X:60.22, Y:1.24, Z:5.31 [[ 9.94794884e-01 -9.35186096e-02 4.04649114e-02 6.02150232e+01] [ 9.52911152e-02 9.94461141e-01 -4.43468315e-02 1.23836014e+00] [-3.60935280e-02 4.79719476e-02 9.98196348e-01 5.30818695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.201193817 meters Centerline goodness : 0.934379 with order 1 Centerline is valid? [False, False] Translation: X:60.20, Y:1.26, Z:5.31 [[ 9.95325339e-01 -8.65022254e-02 4.29515422e-02 6.02009295e+01] [ 8.77611859e-02 9.95738255e-01 -2.83425689e-02 1.25599747e+00] [-4.03167984e-02 3.19795553e-02 9.98675054e-01 5.30558565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.261193817 meters Centerline goodness : 0.937540 with order 1 Centerline is valid? [False, False] Translation: X:60.20, Y:1.27, Z:5.31 [[ 9.96131171e-01 -7.69051552e-02 4.25239580e-02 6.01986902e+01] [ 7.78312752e-02 9.96754369e-01 -2.05674609e-02 1.26787625e+00] [-4.08041971e-02 2.37975828e-02 9.98883723e-01 5.30731309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.321193817 meters Centerline goodness : 0.941561 with order 1 Centerline is valid? [False, False] Translation: X:60.19, Y:1.28, Z:5.31 [[ 9.96764605e-01 -6.71128707e-02 4.42287814e-02 6.01901708e+01] [ 6.75753061e-02 9.97673194e-01 -9.04300757e-03 1.28101571e+00] [-4.35189675e-02 1.20025233e-02 9.98980500e-01 5.30901571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.381193817 meters Centerline goodness : 0.943876 with order 1 Centerline is valid? [False, False] Translation: X:60.19, Y:1.29, Z:5.31 [[ 9.97185195e-01 -6.08162283e-02 4.38528518e-02 6.01884002e+01] [ 6.10665236e-02 9.98124046e-01 -4.38953006e-03 1.28851592e+00] [-4.35036312e-02 7.05511560e-03 9.99028358e-01 5.31084748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.441193817 meters Centerline goodness : 0.945294 with order 1 Centerline is valid? [False, False] Translation: X:60.18, Y:1.30, Z:5.31 [[ 9.97566932e-01 -4.90308639e-02 4.95599761e-02 6.01759918e+01] [ 4.94807433e-02 9.98743905e-01 -7.89097970e-03 1.30004864e+00] [-4.91108225e-02 1.03240449e-02 9.98739977e-01 5.31132251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.501193817 meters Centerline goodness : 0.948743 with order 1 Centerline is valid? [False, False] Translation: X:60.17, Y:1.30, Z:5.31 [[ 9.97751713e-01 -4.48563265e-02 4.97938686e-02 6.01744469e+01] [ 4.51831661e-02 9.98963813e-01 -5.45718558e-03 1.30444279e+00] [-4.94974836e-02 7.69476089e-03 9.98744607e-01 5.31199350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.561193817 meters Centerline goodness : 0.950824 with order 1 Centerline is valid? [False, True] Translation: X:60.17, Y:1.30, Z:5.31 [[ 9.97919568e-01 -3.98726860e-02 5.06626656e-02 6.01717394e+01] [ 3.99832445e-02 9.99199665e-01 -1.17024153e-03 1.30464525e+00] [-5.05754578e-02 3.19346467e-03 9.98715137e-01 5.31306167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.621193817 meters Centerline goodness : 0.950260 with order 1 Centerline is valid? [True, True] Translation: X:60.23, Y:1.30, Z:5.31 [[ 9.98094042e-01 -3.52963045e-02 5.06206833e-02 6.02334744e+01] [ 3.52915701e-02 9.99376571e-01 9.87617657e-04 1.30094442e+00] [-5.06239842e-02 8.00748097e-04 9.98717463e-01 5.30882673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.681193817 meters Centerline goodness : 0.944208 with order 1 Centerline is valid? [True, False] Translation: X:60.23, Y:1.30, Z:5.31 [[ 9.98457582e-01 -2.68841121e-02 4.85767558e-02 6.02257778e+01] [ 2.70741894e-02 9.99628114e-01 -3.25907715e-03 1.29828174e+00] [-4.84710734e-02 4.56922658e-03 9.98814135e-01 5.30725811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.741193817 meters Centerline goodness : 0.942743 with order 1 Centerline is valid? [False, False] Translation: X:60.26, Y:1.29, Z:5.30 [[ 9.98656799e-01 -2.49611821e-02 4.54041526e-02 6.02633889e+01] [ 2.40674233e-02 9.99507733e-01 2.01258838e-02 1.28682160e+00] [-4.58841675e-02 -1.90060898e-02 9.98765944e-01 5.30156159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.801193817 meters Centerline goodness : 0.940317 with order 1 Centerline is valid? [False, False] Translation: X:60.29, Y:1.28, Z:5.30 [[ 9.98660193e-01 -2.55609297e-02 4.49939689e-02 6.02938830e+01] [ 2.39870606e-02 9.99093131e-01 3.51786405e-02 1.28099852e+00] [-4.58523641e-02 -3.40522348e-02 9.98367671e-01 5.29780778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.86119381700001 meters Centerline goodness : 0.935356 with order 1 Centerline is valid? [False, False] Translation: X:60.34, Y:1.26, Z:5.29 [[ 9.98587688e-01 -2.56447178e-02 4.65293318e-02 6.03405430e+01] [ 2.25900325e-02 9.97627652e-01 6.50289006e-02 1.25906224e+00] [-4.80865959e-02 -6.38859604e-02 9.96798005e-01 5.29361565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.921193817 meters Centerline goodness : 0.933863 with order 1 Centerline is valid? [False, False] Translation: X:60.39, Y:1.24, Z:5.29 [[ 9.98400753e-01 -2.71855255e-02 4.95669648e-02 6.03937812e+01] [ 2.22478464e-02 9.94978954e-01 9.75802978e-02 1.23942055e+00] [-5.19708584e-02 -9.63214846e-02 9.93992556e-01 5.28956051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.981193817 meters Centerline goodness : 0.928778 with order 1 Centerline is valid? [False, False] Translation: X:60.45, Y:1.22, Z:5.29 [[ 9.98502353e-01 -2.63316865e-02 4.79551216e-02 6.04537146e+01] [ 2.09093556e-02 9.93683310e-01 1.10255515e-01 1.22073713e+00] [-5.05554176e-02 -1.09087681e-01 9.92745701e-01 5.28615922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.041193817 meters Centerline goodness : 0.923113 with order 1 Centerline is valid? [False, False] Translation: X:60.51, Y:1.20, Z:5.28 [[ 9.98279930e-01 -2.89042545e-02 5.10071185e-02 6.05065626e+01] [ 2.17411045e-02 9.90499884e-01 1.35784035e-01 1.20125218e+00] [-5.44472813e-02 -1.34441526e-01 9.89424565e-01 5.28250522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.101193817 meters Centerline goodness : 0.925426 with order 1 Centerline is valid? [False, False] Translation: X:60.51, Y:1.18, Z:5.29 [[ 9.98013415e-01 -3.71287064e-02 5.08987549e-02 6.05055949e+01] [ 3.00860823e-02 9.90692774e-01 1.32750347e-01 1.18006948e+00] [-5.53538774e-02 -1.30955283e-01 9.89841736e-01 5.29135357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.161193817 meters Centerline goodness : 0.922252 with order 1 Centerline is valid? [False, False] Translation: X:60.51, Y:1.17, Z:5.30 [[ 9.97628764e-01 -4.28005513e-02 5.38977034e-02 6.05132540e+01] [ 3.68339668e-02 9.93554496e-01 1.07204111e-01 1.17416689e+00] [-5.81387006e-02 -1.04964639e-01 9.92775058e-01 5.29551559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.221193817 meters Centerline goodness : 0.924994 with order 1 Centerline is valid? [False, False] Translation: X:60.51, Y:1.16, Z:5.30 [[ 9.96733821e-01 -5.46940414e-02 5.94159213e-02 6.05122730e+01] [ 4.96988531e-02 9.95349225e-01 8.25223923e-02 1.16173391e+00] [-6.36530743e-02 -7.92999563e-02 9.94816467e-01 5.30087667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.281193817 meters Centerline goodness : 0.927071 with order 1 Centerline is valid? [False, False] Translation: X:60.52, Y:1.16, Z:5.30 [[ 9.95844467e-01 -6.34803039e-02 6.52996805e-02 6.05176948e+01] [ 5.96388677e-02 9.96463889e-01 5.91854983e-02 1.15672113e+00] [-6.88258870e-02 -5.50451520e-02 9.96108944e-01 5.30075499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.341193817 meters Centerline goodness : 0.925650 with order 1 Centerline is valid? [False, False] Translation: X:60.53, Y:1.15, Z:5.30 [[ 9.95320361e-01 -7.21959355e-02 6.42271435e-02 6.05326087e+01] [ 6.97346346e-02 9.96772322e-01 3.97745956e-02 1.15225942e+00] [-6.68914032e-02 -3.51096085e-02 9.97142345e-01 5.29822465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.401193817 meters Centerline goodness : 0.923048 with order 1 Centerline is valid? [False, False] Translation: X:60.55, Y:1.15, Z:5.30 [[ 9.95808766e-01 -7.16021313e-02 5.69037466e-02 6.05547845e+01] [ 7.02331338e-02 9.97199306e-01 2.57070127e-02 1.15342424e+00] [-5.85850535e-02 -2.16027402e-02 9.98048653e-01 5.29626801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.461193817 meters Centerline goodness : 0.919948 with order 1 Centerline is valid? [False, False] Translation: X:60.58, Y:1.16, Z:5.29 [[ 9.96387435e-01 -6.55453393e-02 5.39989686e-02 6.05820071e+01] [ 6.52759200e-02 9.97844491e-01 6.73992936e-03 1.15969191e+00] [-5.43243443e-02 -3.19074857e-03 9.98518245e-01 5.29458529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.521193817 meters Centerline goodness : 0.921449 with order 1 Centerline is valid? [False, False] Translation: X:60.62, Y:1.17, Z:5.29 [[ 9.96899385e-01 -5.36325743e-02 5.75774534e-02 6.06203126e+01] [ 5.49947323e-02 9.98236725e-01 -2.23387709e-02 1.17130432e+00] [-5.62778427e-02 2.54359636e-02 9.98091086e-01 5.29448270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.581193817 meters Centerline goodness : 0.923120 with order 1 Centerline is valid? [False, False] Translation: X:60.66, Y:1.19, Z:5.29 [[ 9.97087120e-01 -4.41386902e-02 6.22017052e-02 6.06615205e+01] [ 4.78430383e-02 9.97088322e-01 -5.93794763e-02 1.18562850e+00] [-5.93996616e-02 6.21824296e-02 9.96295652e-01 5.29409400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.64119381700002 meters Centerline goodness : 0.925422 with order 1 Centerline is valid? [False, False] Translation: X:60.69, Y:1.21, Z:5.30 [[ 9.96810201e-01 -2.86365700e-02 7.44940931e-02 6.06866238e+01] [ 3.86454823e-02 9.89872640e-01 -1.36596788e-01 1.21044710e+00] [-6.98280011e-02 1.39039932e-01 9.87821820e-01 5.29910629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.701193817 meters Centerline goodness : 0.925888 with order 1 Centerline is valid? [False, False] Translation: X:60.71, Y:1.21, Z:5.30 [[ 9.96597429e-01 -2.21401822e-02 7.93938027e-02 6.07127447e+01] [ 3.48681804e-02 9.86057905e-01 -1.62708383e-01 1.21399586e+00] [-7.46844935e-02 1.64923073e-01 9.83474761e-01 5.29950177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.761193817 meters Centerline goodness : 0.926827 with order 1 Centerline is valid? [False, False] Translation: X:60.74, Y:1.20, Z:5.30 [[ 9.96652864e-01 -2.25377642e-02 7.85819125e-02 6.07435385e+01] [ 3.40822970e-02 9.88276566e-01 -1.48821457e-01 1.20391935e+00] [-7.43065597e-02 1.51001584e-01 9.85736809e-01 5.29512752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.821193817 meters Centerline goodness : 0.927549 with order 1 Centerline is valid? [False, False] Translation: X:60.77, Y:1.20, Z:5.29 [[ 9.96490190e-01 -1.98551162e-02 8.13208134e-02 6.07715959e+01] [ 3.26955972e-02 9.86614929e-01 -1.59755999e-01 1.20135792e+00] [-7.70603546e-02 1.61854118e-01 9.83801274e-01 5.29404785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.881193817 meters Centerline goodness : 0.927045 with order 1 Centerline is valid? [False, False] Translation: X:60.80, Y:1.20, Z:5.29 [[ 9.96298809e-01 -1.39344552e-02 8.48204781e-02 6.07985059e+01] [ 2.93980572e-02 9.82505038e-01 -1.83901074e-01 1.20011779e+00] [-8.07739858e-02 1.85713978e-01 9.79278245e-01 5.29327494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.941193817 meters Centerline goodness : 0.932788 with order 1 Centerline is valid? [False, False] Translation: X:60.83, Y:1.19, Z:5.29 [[ 9.95620375e-01 -1.14053880e-02 9.27900153e-02 6.08292904e+01] [ 2.84580932e-02 9.82402158e-01 -1.84597228e-01 1.19187436e+00] [-8.90517083e-02 1.86429389e-01 9.78424180e-01 5.29095958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.001193817 meters Centerline goodness : 0.936856 with order 1 Centerline is valid? [False, False] Translation: X:60.84, Y:1.19, Z:5.29 [[ 9.94813957e-01 -9.45178969e-03 1.01271197e-01 6.08406213e+01] [ 2.80526907e-02 9.82550910e-01 -1.83866136e-01 1.18502848e+00] [-9.77662429e-02 1.85753528e-01 9.77720506e-01 5.28922926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.061193817 meters Centerline goodness : 0.935073 with order 1 Centerline is valid? [False, False] Translation: X:60.87, Y:1.17, Z:5.29 [[ 9.95074325e-01 -8.61406364e-03 9.87566972e-02 6.08693566e+01] [ 2.52871885e-02 9.85317367e-01 -1.68849769e-01 1.17190672e+00] [-9.58522062e-02 1.70515349e-01 9.80681839e-01 5.28562165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.121193817 meters Centerline goodness : 0.933086 with order 1 Centerline is valid? [False, False] Translation: X:60.89, Y:1.15, Z:5.28 [[ 9.95633119e-01 -1.01871950e-02 9.27950067e-02 6.08859753e+01] [ 2.40676047e-02 9.88435714e-01 -1.49718368e-01 1.15120586e+00] [-9.01966885e-02 1.51297919e-01 9.84364514e-01 5.28058859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.181193817 meters Centerline goodness : 0.931473 with order 1 Centerline is valid? [False, False] Translation: X:60.91, Y:1.14, Z:5.27 [[ 9.95698537e-01 -1.02514666e-02 9.20832855e-02 6.09080992e+01] [ 2.25336195e-02 9.90812654e-01 -1.33351119e-01 1.13641482e+00] [-8.98702399e-02 1.34852484e-01 9.86781712e-01 5.27400542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.241193817 meters Centerline goodness : 0.928732 with order 1 Centerline is valid? [False, False] Translation: X:60.93, Y:1.12, Z:5.27 [[ 9.96029723e-01 -8.00554431e-03 8.86605972e-02 6.09337502e+01] [ 1.90169041e-02 9.92092575e-01 -1.24059176e-01 1.12194768e+00] [-8.69663590e-02 1.25252677e-01 9.88305934e-01 5.26816740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.301193817 meters Centerline goodness : 0.931029 with order 1 Centerline is valid? [False, False] Translation: X:60.94, Y:1.09, Z:5.27 [[ 9.96153827e-01 -1.02017930e-02 8.70257188e-02 6.09429422e+01] [ 1.89598367e-02 9.94765161e-01 -1.00413140e-01 1.09093138e+00] [-8.55457591e-02 1.01676927e-01 9.91132547e-01 5.26932822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.36119381700001 meters Centerline goodness : 0.936713 with order 1 Centerline is valid? [False, False] Translation: X:60.95, Y:1.07, Z:5.27 [[ 9.95922198e-01 -1.72929863e-02 8.85433642e-02 6.09547960e+01] [ 2.47089720e-02 9.96213369e-01 -8.33570036e-02 1.06948263e+00] [-8.67665916e-02 8.52049058e-02 9.92578300e-01 5.26998125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.421193817 meters Centerline goodness : 0.943440 with order 1 Centerline is valid? [False, False] Translation: X:60.96, Y:1.04, Z:5.27 [[ 9.95246436e-01 -3.30461317e-02 9.16105085e-02 6.09629295e+01] [ 3.91771129e-02 9.97053234e-01 -6.59545465e-02 1.04079922e+00] [-8.91610112e-02 6.92300626e-02 9.93608330e-01 5.27250046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.481193817 meters Centerline goodness : 0.941500 with order 1 Centerline is valid? [False, False] Translation: X:60.98, Y:1.02, Z:5.27 [[ 9.95187379e-01 -4.53111409e-02 8.68848737e-02 6.09788328e+01] [ 5.04817281e-02 9.97023868e-01 -5.82666406e-02 1.02403559e+00] [-8.39861649e-02 6.23723239e-02 9.94512955e-01 5.27336719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.541193817 meters Centerline goodness : 0.940551 with order 1 Centerline is valid? [False, False] Translation: X:61.00, Y:1.01, Z:5.27 [[ 9.94830238e-01 -6.06316727e-02 8.14653189e-02 6.10017860e+01] [ 6.48668914e-02 9.96621040e-01 -5.03864021e-02 1.01168651e+00] [-7.81350389e-02 5.54103184e-02 9.95401734e-01 5.27283765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.601193817 meters Centerline goodness : 0.939794 with order 1 Centerline is valid? [False, False] Translation: X:61.00, Y:1.01, Z:5.27 [[ 9.94551706e-01 -6.49346609e-02 8.15499511e-02 6.10029122e+01] [ 6.95311820e-02 9.96070849e-01 -5.48477692e-02 1.01156601e+00] [-7.76680078e-02 6.02192069e-02 9.95158946e-01 5.27163335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.661193817 meters Centerline goodness : 0.940622 with order 1 Centerline is valid? [False, False] Translation: X:61.03, Y:1.01, Z:5.27 [[ 9.94765655e-01 -6.48989338e-02 7.89266803e-02 6.10303376e+01] [ 6.88296700e-02 9.96466097e-01 -4.81434719e-02 1.01091144e+00] [-7.55233011e-02 5.33239697e-02 9.95717222e-01 5.27251945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.721193817 meters Centerline goodness : 0.939923 with order 1 Centerline is valid? [False, False] Translation: X:61.06, Y:1.01, Z:5.27 [[ 9.94984485e-01 -6.50025548e-02 7.60298803e-02 6.10592224e+01] [ 6.83545463e-02 9.96761950e-01 -4.23470323e-02 1.01422258e+00] [-7.30310264e-02 4.73316281e-02 9.96205895e-01 5.27257617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.781193817 meters Centerline goodness : 0.943074 with order 1 Centerline is valid? [False, False] Translation: X:61.08, Y:1.03, Z:5.27 [[ 9.94832669e-01 -6.55293859e-02 7.75490820e-02 6.10842748e+01] [ 6.87691281e-02 9.96835658e-01 -3.98682579e-02 1.02503772e+00] [-7.46911477e-02 4.49952282e-02 9.96191077e-01 5.27273051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.841193817 meters Centerline goodness : 0.943512 with order 1 Centerline is valid? [False, False] Translation: X:61.12, Y:1.03, Z:5.27 [[ 9.95248247e-01 -6.54810570e-02 7.20635632e-02 6.11151905e+01] [ 6.82979952e-02 9.96965832e-01 -3.73431925e-02 1.03225437e+00] [-6.93996385e-02 4.20875437e-02 9.96700722e-01 5.27097694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.901193817 meters Centerline goodness : 0.943739 with order 1 Centerline is valid? [False, False] Translation: X:61.15, Y:1.04, Z:5.27 [[ 9.95677749e-01 -6.47916150e-02 6.65422221e-02 6.11465338e+01] [ 6.70956399e-02 9.97200926e-01 -3.29922434e-02 1.03822283e+00] [-6.42183447e-02 3.73143356e-02 9.97238008e-01 5.26916473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.961193817 meters Centerline goodness : 0.942355 with order 1 Centerline is valid? [False, False] Translation: X:61.18, Y:1.05, Z:5.27 [[ 9.95984677e-01 -6.50071094e-02 6.15515897e-02 6.11773430e+01] [ 6.70394054e-02 9.97251466e-01 -3.15472841e-02 1.04901810e+00] [-5.93316153e-02 3.55469936e-02 9.97605218e-01 5.26744311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.021193817 meters Centerline goodness : 0.943834 with order 1 Centerline is valid? [False, False] Translation: X:61.20, Y:1.06, Z:5.26 [[ 9.95980909e-01 -6.29970258e-02 6.36663432e-02 6.11968980e+01] [ 6.53340196e-02 9.97238339e-01 -3.53151555e-02 1.05871427e+00] [-6.12657686e-02 3.93327988e-02 9.97346197e-01 5.26390365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.081193817 meters Centerline goodness : 0.936502 with order 1 Centerline is valid? [False, False] Translation: X:61.24, Y:1.07, Z:5.26 [[ 9.96407695e-01 -5.88541782e-02 6.08924546e-02 6.12403006e+01] [ 6.14028668e-02 9.97276125e-01 -4.08658548e-02 1.07383219e+00] [-5.83214649e-02 4.44580234e-02 9.97307420e-01 5.25727610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.14119381700002 meters Centerline goodness : 0.942354 with order 1 Centerline is valid? [False, False] Translation: X:61.28, Y:1.09, Z:5.25 [[ 9.96542532e-01 -5.38354257e-02 6.32829327e-02 6.12772219e+01] [ 5.68209097e-02 9.97307300e-01 -4.63630561e-02 1.09269717e+00] [-6.06165559e-02 4.97985511e-02 9.96918120e-01 5.25422983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.201193817 meters Centerline goodness : 0.942535 with order 1 Centerline is valid? [False, False] Translation: X:61.31, Y:1.11, Z:5.25 [[ 9.96537345e-01 -5.15177557e-02 6.52628627e-02 6.13144394e+01] [ 5.49609002e-02 9.97127836e-01 -5.21092874e-02 1.10587810e+00] [-6.23908635e-02 5.55157566e-02 9.96506588e-01 5.25175783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.261193817 meters Centerline goodness : 0.943865 with order 1 Centerline is valid? [False, False] Translation: X:61.36, Y:1.12, Z:5.25 [[ 9.96895073e-01 -4.55765100e-02 6.42105515e-02 6.13587469e+01] [ 4.95378208e-02 9.96876110e-01 -6.15144308e-02 1.11933131e+00] [-6.12063518e-02 6.45042838e-02 9.96038644e-01 5.25013653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.321193817 meters Centerline goodness : 0.940565 with order 1 Centerline is valid? [False, False] Translation: X:61.41, Y:1.17, Z:5.25 [[ 9.96553995e-01 -2.28835887e-02 7.97275143e-02 6.14093179e+01] [ 3.57870443e-02 9.85746219e-01 -1.64388807e-01 1.17310113e+00] [-7.48292899e-02 1.66675534e-01 9.83168268e-01 5.24906385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.381193817 meters Centerline goodness : 0.941735 with order 1 Centerline is valid? [False, False] Translation: X:61.44, Y:1.22, Z:5.26 [[ 9.95610380e-01 -4.02284557e-03 9.35082232e-02 6.14445452e+01] [ 2.90563157e-02 9.62996783e-01 -2.67942020e-01 1.21608363e+00] [-8.89702288e-02 2.69482861e-01 9.58886482e-01 5.25608304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.441193817 meters Centerline goodness : 0.944463 with order 1 Centerline is valid? [False, False] Translation: X:61.48, Y:1.24, Z:5.26 [[ 9.94211895e-01 8.26587698e-03 1.07118547e-01 6.14768994e+01] [ 2.82890167e-02 9.41711522e-01 -3.35229981e-01 1.24331026e+00] [-1.03645740e-01 3.36319913e-01 9.36026964e-01 5.26385691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.501193817 meters Centerline goodness : 0.944694 with order 1 Centerline is valid? [False, False] Translation: X:61.52, Y:1.26, Z:5.27 [[ 9.93146083e-01 1.54505738e-02 1.15853953e-01 6.15158053e+01] [ 3.08050627e-02 9.21574763e-01 -3.86976749e-01 1.26010004e+00] [-1.12747092e-01 3.87893331e-01 9.14782410e-01 5.26793485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.561193817 meters Centerline goodness : 0.944438 with order 1 Centerline is valid? [False, False] Translation: X:61.55, Y:1.27, Z:5.27 [[ 9.91285958e-01 3.02873117e-02 1.28198393e-01 6.15505972e+01] [ 2.92032453e-02 8.98462877e-01 -4.38077195e-01 1.27216761e+00] [-1.28449677e-01 4.38003581e-01 8.89749146e-01 5.26855676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.621193817 meters Centerline goodness : 0.943506 with order 1 Centerline is valid? [False, False] Translation: X:61.53, Y:1.22, Z:5.26 [[ 9.91748086e-01 2.02861980e-02 1.26586743e-01 6.15288254e+01] [ 2.17493865e-02 9.46465187e-01 -3.22072372e-01 1.21963262e+00] [-1.26343569e-01 3.22167843e-01 9.38213826e-01 5.25774180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.681193817 meters Centerline goodness : 0.941628 with order 1 Centerline is valid? [False, False] Translation: X:61.52, Y:1.19, Z:5.25 [[ 9.92492482e-01 1.09529107e-02 1.21814229e-01 6.15171137e+01] [ 2.01378446e-02 9.67754140e-01 -2.51090405e-01 1.18521812e+00] [-1.20636395e-01 2.51658416e-01 9.60268141e-01 5.25472822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.741193817 meters Centerline goodness : 0.942989 with order 1 Centerline is valid? [False, False] Translation: X:61.51, Y:1.15, Z:5.25 [[ 9.92674181e-01 3.73330669e-04 1.20821487e-01 6.15133240e+01] [ 2.53222377e-02 9.77143365e-01 -2.11067831e-01 1.15477194e+00] [-1.18138712e-01 2.12581056e-01 9.69975535e-01 5.25301417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.801193817 meters Centerline goodness : 0.942198 with order 1 Centerline is valid? [False, False] Translation: X:61.53, Y:1.13, Z:5.25 [[ 9.93034658e-01 -6.36346688e-03 1.17650646e-01 6.15316320e+01] [ 2.88389771e-02 9.81294478e-01 -1.90340382e-01 1.13456335e+00] [-1.14238704e-01 1.92407520e-01 9.74642942e-01 5.25111856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.86119381700001 meters Centerline goodness : 0.940912 with order 1 Centerline is valid? [False, False] Translation: X:61.55, Y:1.11, Z:5.25 [[ 9.93321225e-01 -1.33311204e-02 1.14609014e-01 6.15478018e+01] [ 3.17118956e-02 9.86592966e-01 -1.60089584e-01 1.10628671e+00] [-1.10938273e-01 1.62654850e-01 9.80426488e-01 5.24752791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.921193817 meters Centerline goodness : 0.941076 with order 1 Centerline is valid? [False, False] Translation: X:61.57, Y:1.09, Z:5.25 [[ 9.93574628e-01 -1.97268421e-02 1.11446447e-01 6.15682873e+01] [ 3.50009672e-02 9.89978855e-01 -1.36809354e-01 1.08550892e+00] [-1.07630810e-01 1.39831036e-01 9.84308331e-01 5.24750031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.981193817 meters Centerline goodness : 0.942137 with order 1 Centerline is valid? [False, False] Translation: X:61.58, Y:1.06, Z:5.25 [[ 9.93285362e-01 -3.24914469e-02 1.11033762e-01 6.15752787e+01] [ 4.49041061e-02 9.92784426e-01 -1.11187700e-01 1.05574701e+00] [-1.06619941e-01 1.15426987e-01 9.87577237e-01 5.24814018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.041193817 meters Centerline goodness : 0.939730 with order 1 Centerline is valid? [False, False] Translation: X:61.59, Y:1.04, Z:5.25 [[ 9.93378181e-01 -3.86913442e-02 1.08179338e-01 6.15867300e+01] [ 4.90907971e-02 9.94248535e-01 -9.51837444e-02 1.03678793e+00] [-1.03874361e-01 9.98640648e-02 9.89564190e-01 5.24980126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.101193817 meters Centerline goodness : 0.939783 with order 1 Centerline is valid? [False, False] Translation: X:61.60, Y:1.02, Z:5.25 [[ 9.93334582e-01 -4.25651469e-02 1.07119634e-01 6.15971540e+01] [ 5.16787339e-02 9.95142203e-01 -8.37932233e-02 1.02182793e+00] [-1.03032598e-01 8.87705135e-02 9.90708877e-01 5.25156724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.161193817 meters Centerline goodness : 0.938603 with order 1 Centerline is valid? [False, False] Translation: X:61.60, Y:1.00, Z:5.25 [[ 9.93590102e-01 -4.05816584e-02 1.05507526e-01 6.16016027e+01] [ 4.82149554e-02 9.96322184e-01 -7.08337714e-02 1.00451760e+00] [-1.02244937e-01 7.54667748e-02 9.91892504e-01 5.25482503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.221193817 meters Centerline goodness : 0.934902 with order 1 Centerline is valid? [False, False] Translation: X:61.62, Y:0.99, Z:5.25 [[ 9.93846346e-01 -3.37051365e-02 1.05514950e-01 6.16217404e+01] [ 3.99853345e-02 9.97516614e-01 -5.79808349e-02 9.88459975e-01] [-1.03298664e-01 6.18430915e-02 9.92725953e-01 5.25307104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.281193817 meters Centerline goodness : 0.931722 with order 1 Centerline is valid? [False, False] Translation: X:61.65, Y:0.98, Z:5.25 [[ 9.94355055e-01 -3.04598369e-02 1.01637705e-01 6.16496654e+01] [ 3.53578311e-02 9.98281022e-01 -4.67421117e-02 9.78153570e-01] [-1.00039235e-01 5.00719439e-02 9.93722774e-01 5.25219967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.341193817 meters Centerline goodness : 0.925431 with order 1 Centerline is valid? [False, False] Translation: X:61.67, Y:0.97, Z:5.25 [[ 9.94742369e-01 -2.83910227e-02 9.83949623e-02 6.16739458e+01] [ 3.27444294e-02 9.98541979e-01 -4.29152384e-02 9.65503593e-01] [-9.70330929e-02 4.59114928e-02 9.94221662e-01 5.24785583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.401193817 meters Centerline goodness : 0.923216 with order 1 Centerline is valid? [False, False] Translation: X:61.70, Y:0.96, Z:5.24 [[ 9.95072032e-01 -2.66558404e-02 9.55045385e-02 6.16976422e+01] [ 3.06393578e-02 9.98710092e-01 -4.04892926e-02 9.58023426e-01] [-9.43020703e-02 4.32159604e-02 9.94605198e-01 5.24445008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.461193817 meters Centerline goodness : 0.921153 with order 1 Centerline is valid? [False, False] Translation: X:61.73, Y:0.95, Z:5.24 [[ 9.95452424e-01 -2.66265886e-02 9.14630876e-02 6.17263744e+01] [ 2.98845151e-02 9.98959963e-01 -3.44370294e-02 9.50082416e-01] [-9.04510220e-02 3.70137545e-02 9.95212839e-01 5.24292421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.521193817 meters Centerline goodness : 0.918962 with order 1 Centerline is valid? [False, False] Translation: X:61.73, Y:0.94, Z:5.24 [[ 9.95388537e-01 -2.91943577e-02 9.13747764e-02 6.17269941e+01] [ 3.25706878e-02 9.98832375e-01 -3.56796453e-02 9.42548437e-01] [-9.02264406e-02 3.84912493e-02 9.95177177e-01 5.24254296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.581193817 meters Centerline goodness : 0.916237 with order 1 Centerline is valid? [False, False] Translation: X:61.73, Y:0.94, Z:5.24 [[ 9.95146015e-01 -3.56049264e-02 9.17425636e-02 6.17260056e+01] [ 3.94926612e-02 9.98381835e-01 -4.09150614e-02 9.35034933e-01] [-9.01373312e-02 4.43396183e-02 9.94941837e-01 5.24403923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.64119381700002 meters Centerline goodness : 0.916554 with order 1 Centerline is valid? [False, False] Translation: X:61.73, Y:0.93, Z:5.24 [[ 9.95155494e-01 -3.64995624e-02 9.12870462e-02 6.17276219e+01] [ 4.03465964e-02 9.98358214e-01 -4.06574572e-02 9.31233583e-01] [-8.96531930e-02 4.41436135e-02 9.94994295e-01 5.24316429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.701193817 meters Centerline goodness : 0.918168 with order 1 Centerline is valid? [False, False] Translation: X:61.75, Y:0.92, Z:5.24 [[ 9.95091843e-01 -3.99266437e-02 9.05432929e-02 6.17530713e+01] [ 4.34022653e-02 9.98381634e-01 -3.67471984e-02 9.23539573e-01] [-8.89295684e-02 4.04966214e-02 9.95214326e-01 5.24473646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.761193817 meters Centerline goodness : 0.918865 with order 1 Centerline is valid? [False, False] Translation: X:61.76, Y:0.92, Z:5.25 [[ 9.94853447e-01 -4.83892788e-02 8.90230137e-02 6.17570562e+01] [ 5.23211447e-02 9.97730832e-01 -4.23755114e-02 9.17742364e-01] [-8.67704851e-02 4.68152095e-02 9.95127740e-01 5.24524939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.821193817 meters Centerline goodness : 0.917252 with order 1 Centerline is valid? [False, False] Translation: X:61.76, Y:0.91, Z:5.25 [[ 9.94831559e-01 -5.39768768e-02 8.60038758e-02 6.17639586e+01] [ 5.79726643e-02 9.97318758e-01 -4.46594317e-02 9.14903531e-01] [-8.33627020e-02 4.94144859e-02 9.95293358e-01 5.24578261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.881193817 meters Centerline goodness : 0.916387 with order 1 Centerline is valid? [False, False] Translation: X:61.77, Y:0.91, Z:5.24 [[ 9.94550900e-01 -5.94029902e-02 8.56725830e-02 6.17666799e+01] [ 6.38149746e-02 9.96722831e-01 -4.97116314e-02 9.13900631e-01] [-8.24388000e-02 5.49079414e-02 9.95082390e-01 5.24370440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.941193817 meters Centerline goodness : 0.918298 with order 1 Centerline is valid? [False, False] Translation: X:61.77, Y:0.92, Z:5.24 [[ 9.94736757e-01 -5.80680437e-02 8.44208863e-02 6.17693234e+01] [ 6.22042159e-02 9.96945920e-01 -4.72172336e-02 9.15286448e-01] [-8.14212458e-02 5.22200529e-02 9.95310829e-01 5.24339469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.001193817 meters Centerline goodness : 0.913497 with order 1 Centerline is valid? [False, False] Translation: X:61.77, Y:0.92, Z:5.24 [[ 9.94942196e-01 -5.57295392e-02 8.35718002e-02 6.17706784e+01] [ 5.96562130e-02 9.97192980e-01 -4.52470606e-02 9.19930173e-01] [-8.08156146e-02 5.00037870e-02 9.95473986e-01 5.24343177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.061193817 meters Centerline goodness : 0.910264 with order 1 Centerline is valid? [False, False] Translation: X:61.77, Y:0.93, Z:5.24 [[ 9.95332271e-01 -5.03268115e-02 8.23461148e-02 6.17735061e+01] [ 5.38510545e-02 9.97700700e-01 -4.11506639e-02 9.30123587e-01] [-8.00857947e-02 4.53930089e-02 9.95753855e-01 5.24142438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.121193817 meters Centerline goodness : 0.906968 with order 1 Centerline is valid? [False, False] Translation: X:61.80, Y:0.94, Z:5.24 [[ 9.95706672e-01 -4.60063678e-02 8.03220876e-02 6.18012419e+01] [ 4.91379681e-02 9.98089434e-01 -3.74558620e-02 9.38736971e-01] [-7.84454188e-02 4.12419159e-02 9.96064968e-01 5.23942846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.181193817 meters Centerline goodness : 0.910407 with order 1 Centerline is valid? [False, False] Translation: X:61.84, Y:0.96, Z:5.24 [[ 9.95871103e-01 -3.66903952e-02 8.30334944e-02 6.18352559e+01] [ 4.03749367e-02 9.98252942e-01 -4.31384684e-02 9.56548258e-01] [-8.13056626e-02 4.63128262e-02 9.95612631e-01 5.23618416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.241193817 meters Centerline goodness : 0.911081 with order 1 Centerline is valid? [False, False] Translation: X:61.85, Y:0.96, Z:5.23 [[ 9.95751936e-01 -3.09230999e-02 8.67285605e-02 6.18514019e+01] [ 3.49280478e-02 9.98374084e-01 -4.50468645e-02 9.64565436e-01] [-8.51945584e-02 4.78847618e-02 9.95213011e-01 5.23363217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.301193817 meters Centerline goodness : 0.909746 with order 1 Centerline is valid? [False, False] Translation: X:61.89, Y:0.97, Z:5.23 [[ 9.96225708e-01 -2.46826409e-02 8.32172232e-02 6.18860597e+01] [ 2.87668815e-02 9.98421303e-01 -4.82428063e-02 9.72879356e-01] [-8.18950885e-02 5.04546238e-02 9.95363012e-01 5.23428406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.36119381700001 meters Centerline goodness : 0.916038 with order 1 Centerline is valid? [False, False] Translation: X:61.93, Y:0.98, Z:5.23 [[ 9.96363020e-01 -2.16369262e-02 8.24170899e-02 6.19287420e+01] [ 2.57617774e-02 9.98450815e-01 -4.93183599e-02 9.82916958e-01] [-8.12223129e-02 5.12622007e-02 9.95376875e-01 5.23276939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.421193817 meters Centerline goodness : 0.915986 with order 1 Centerline is valid? [False, False] Translation: X:61.95, Y:0.99, Z:5.23 [[ 9.96188122e-01 -1.79657353e-02 8.53607481e-02 6.19472088e+01] [ 2.24186838e-02 9.98421468e-01 -5.14973313e-02 9.88489139e-01] [-8.43008160e-02 5.32147054e-02 9.95018375e-01 5.22894013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.481193817 meters Centerline goodness : 0.907611 with order 1 Centerline is valid? [False, False] Translation: X:61.99, Y:0.99, Z:5.22 [[ 9.96282933e-01 -1.32414072e-02 8.51174678e-02 6.19860161e+01] [ 1.79396112e-02 9.98343252e-01 -5.46710227e-02 9.92552712e-01] [-8.42525284e-02 5.59947811e-02 9.94869889e-01 5.22463706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.541193817 meters Centerline goodness : 0.913632 with order 1 Centerline is valid? [False, False] Translation: X:62.01, Y:0.99, Z:5.22 [[ 9.96385298e-01 -9.04693412e-03 8.44659126e-02 6.20075086e+01] [ 1.37079038e-02 9.98405125e-01 -5.47658605e-02 9.94255524e-01] [-8.38357369e-02 5.57257489e-02 9.94920203e-01 5.22105123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.601193817 meters Centerline goodness : 0.905795 with order 1 Centerline is valid? [False, False] Translation: X:62.04, Y:0.99, Z:5.22 [[ 9.96802589e-01 -8.79399478e-03 7.94182844e-02 6.20379199e+01] [ 1.27922714e-02 9.98668444e-01 -4.99769573e-02 9.92578782e-01] [-7.88730374e-02 5.08331006e-02 9.95587786e-01 5.21916695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.661193817 meters Centerline goodness : 0.905978 with order 1 Centerline is valid? [False, False] Translation: X:62.07, Y:0.99, Z:5.22 [[ 9.96896737e-01 -1.01061146e-02 7.80689594e-02 6.20657624e+01] [ 1.37163362e-02 9.98854297e-01 -4.58470924e-02 9.90163105e-01] [-7.75161795e-02 4.67756369e-02 9.95893208e-01 5.21878212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.721193817 meters Centerline goodness : 0.906210 with order 1 Centerline is valid? [False, False] Translation: X:62.09, Y:0.99, Z:5.22 [[ 9.96785424e-01 -8.71618418e-03 7.96419949e-02 6.20858799e+01] [ 1.25236549e-02 9.98795880e-01 -4.74336157e-02 9.88317809e-01] [-7.91326563e-02 4.82785456e-02 9.95694333e-01 5.21572770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.781193817 meters Centerline goodness : 0.907434 with order 1 Centerline is valid? [False, False] Translation: X:62.11, Y:0.98, Z:5.21 [[ 9.96926410e-01 -5.36645562e-03 7.81596664e-02 6.21085541e+01] [ 8.93562719e-03 9.98929503e-01 -4.53872446e-02 9.84972762e-01] [-7.78324281e-02 4.59461485e-02 9.95907157e-01 5.21188164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.841193817 meters Centerline goodness : 0.905898 with order 1 Centerline is valid? [False, False] Translation: X:62.13, Y:0.98, Z:5.21 [[ 9.97168291e-01 -2.87457816e-03 7.51474249e-02 6.21325212e+01] [ 6.19305053e-03 9.99013927e-01 -4.39638485e-02 9.80930258e-01] [-7.49469466e-02 4.43047475e-02 9.96202813e-01 5.20818795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.901193817 meters Centerline goodness : 0.906625 with order 1 Centerline is valid? [False, False] Translation: X:62.15, Y:0.98, Z:5.21 [[ 9.97153140e-01 -1.32720592e-03 7.53913331e-02 6.21536819e+01] [ 4.66779957e-03 9.99013958e-01 -4.41511461e-02 9.76878644e-01] [-7.52583964e-02 4.43773656e-02 9.96176100e-01 5.20542630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.961193817 meters Centerline goodness : 0.907868 with order 1 Centerline is valid? [False, False] Translation: X:62.18, Y:0.97, Z:5.21 [[ 9.97340653e-01 -1.55982666e-03 7.28641819e-02 6.21806212e+01] [ 4.40523498e-03 9.99233146e-01 -3.89064881e-02 9.71458222e-01] [-7.27476183e-02 3.91240061e-02 9.96582709e-01 5.20658900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.021193817 meters Centerline goodness : 0.908421 with order 1 Centerline is valid? [False, False] Translation: X:62.18, Y:0.96, Z:5.21 [[ 9.97337180e-01 -4.54125371e-03 7.27868588e-02 6.21807996e+01] [ 7.51376383e-03 9.99146540e-01 -4.06169210e-02 9.64485436e-01] [-7.25402865e-02 4.10556687e-02 9.96520115e-01 5.20658705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.081193817 meters Centerline goodness : 0.909233 with order 1 Centerline is valid? [False, False] Translation: X:62.18, Y:0.96, Z:5.21 [[ 9.97344756e-01 -4.43502099e-03 7.26895304e-02 6.21808780e+01] [ 7.30899249e-03 9.99199960e-01 -3.93194525e-02 9.60370560e-01] [-7.24569932e-02 3.97463370e-02 9.96579256e-01 5.20684490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.14119381700002 meters Centerline goodness : 0.911852 with order 1 Centerline is valid? [False, False] Translation: X:62.20, Y:0.95, Z:5.20 [[ 9.97123802e-01 -1.03277435e-03 7.57829551e-02 6.21988176e+01] [ 3.76833750e-03 9.99346009e-01 -3.59632332e-02 9.51376852e-01] [-7.56962519e-02 3.61453716e-02 9.96475584e-01 5.20490830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.201193817 meters Centerline goodness : 0.903414 with order 1 Centerline is valid? [False, False] Translation: X:62.23, Y:0.95, Z:5.20 [[ 9.97174910e-01 4.93427471e-03 7.49523306e-02 6.22281594e+01] [-1.54358099e-03 9.98975465e-01 -4.52287355e-02 9.48265642e-01] [-7.50987103e-02 4.49852653e-02 9.96160885e-01 5.20088539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.261193817 meters Centerline goodness : 0.906253 with order 1 Centerline is valid? [False, False] Translation: X:62.28, Y:0.95, Z:5.19 [[ 9.97132720e-01 1.65894215e-02 7.38317609e-02 6.22750589e+01] [-1.24822837e-02 9.98366946e-01 -5.57461521e-02 9.45346596e-01] [-7.46359861e-02 5.46647233e-02 9.95711423e-01 5.19491790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.321193817 meters Centerline goodness : 0.913070 with order 1 Centerline is valid? [False, False] Translation: X:62.32, Y:0.94, Z:5.19 [[ 9.97043551e-01 2.24605663e-02 7.34825217e-02 6.23155636e+01] [-1.83988549e-02 9.98289599e-01 -5.54919731e-02 9.39674882e-01] [-7.46032183e-02 5.39759196e-02 9.95751455e-01 5.18935900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.381193817 meters Centerline goodness : 0.902997 with order 1 Centerline is valid? [False, False] Translation: X:62.32, Y:0.93, Z:5.19 [[ 9.97173772e-01 1.86948332e-02 7.27665549e-02 6.23183273e+01] [-1.44869168e-02 9.98215426e-01 -5.79317990e-02 9.32863355e-01] [-7.37197229e-02 5.67139075e-02 9.95665072e-01 5.18679587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.441193817 meters Centerline goodness : 0.904694 with order 1 Centerline is valid? [False, False] Translation: X:62.33, Y:0.92, Z:5.19 [[ 9.97650668e-01 9.66329244e-03 6.78215743e-02 6.23301562e+01] [-5.80170962e-03 9.98362736e-01 -5.69050725e-02 9.21482157e-01] [-6.82604228e-02 5.63779025e-02 9.96073314e-01 5.18719978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.501193817 meters Centerline goodness : 0.901342 with order 1 Centerline is valid? [False, False] Translation: X:62.33, Y:0.91, Z:5.19 [[ 9.97571129e-01 -4.02321778e-03 6.95388794e-02 6.23341790e+01] [ 7.30459763e-03 9.98868273e-01 -4.69980411e-02 9.10857050e-01] [-6.92710970e-02 4.73918425e-02 9.96471539e-01 5.18647715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.561193817 meters Centerline goodness : 0.909678 with order 1 Centerline is valid? [False, False] Translation: X:62.35, Y:0.90, Z:5.19 [[ 9.97609403e-01 -1.34389753e-02 6.77854962e-02 6.23461063e+01] [ 1.63822267e-02 9.98938477e-01 -4.30527765e-02 9.02229160e-01] [-6.71349552e-02 4.40603320e-02 9.96770578e-01 5.18971619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.621193817 meters Centerline goodness : 0.913659 with order 1 Centerline is valid? [False, False] Translation: X:62.35, Y:0.90, Z:5.19 [[ 9.97604407e-01 -1.71144142e-02 6.70264428e-02 6.23467962e+01] [ 2.01143877e-02 9.98813895e-01 -4.43420079e-02 8.96027843e-01] [-6.61880550e-02 4.55839783e-02 9.96765390e-01 5.19176464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.681193817 meters Centerline goodness : 0.911610 with order 1 Centerline is valid? [False, False] Translation: X:62.36, Y:0.89, Z:5.19 [[ 9.97214338e-01 -1.47498152e-02 7.31163951e-02 6.23596109e+01] [ 1.80444596e-02 9.98841660e-01 -4.46064643e-02 8.90226758e-01] [-7.23737643e-02 4.58015516e-02 9.96325377e-01 5.19277206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.741193817 meters Centerline goodness : 0.914490 with order 1 Centerline is valid? [False, False] Translation: X:62.37, Y:0.89, Z:5.19 [[ 9.96929164e-01 -8.32341249e-03 7.78650338e-02 6.23746853e+01] [ 1.16837631e-02 9.99015316e-01 -4.28005670e-02 8.88937455e-01] [-7.74321145e-02 4.35788901e-02 9.96044752e-01 5.19203489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.801193817 meters Centerline goodness : 0.912349 with order 1 Centerline is valid? [False, False] Translation: X:62.42, Y:0.89, Z:5.19 [[ 9.97214083e-01 5.85294747e-03 7.43627330e-02 6.24215289e+01] [-2.17280158e-03 9.98773051e-01 -4.94739464e-02 8.90944987e-01] [-7.45610621e-02 4.91745406e-02 9.96003269e-01 5.18971570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.86119381700001 meters Centerline goodness : 0.907979 with order 1 Centerline is valid? [False, False] Translation: X:62.45, Y:0.89, Z:5.19 [[ 9.97303857e-01 1.72760866e-02 7.13200739e-02 6.24454534e+01] [-1.42827001e-02 9.99004136e-01 -4.22698676e-02 8.90810710e-01] [-7.19793067e-02 4.11372587e-02 9.96557427e-01 5.18548415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.921193817 meters Centerline goodness : 0.905593 with order 1 Centerline is valid? [False, False] Translation: X:62.48, Y:0.89, Z:5.18 [[ 9.97209814e-01 2.52649412e-02 7.02443544e-02 6.24844715e+01] [-2.20854982e-02 9.98712108e-01 -4.56766535e-02 8.89627662e-01] [-7.13079052e-02 4.39978255e-02 9.96483504e-01 5.17988794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.981193817 meters Centerline goodness : 0.900884 with order 1 Centerline is valid? [False, False] Translation: X:62.55, Y:0.89, Z:5.17 [[ 9.96776823e-01 4.04842284e-02 6.92603180e-02 6.25511142e+01] [-3.52210731e-02 9.96516459e-01 -7.55937992e-02 8.93259849e-01] [-7.20794035e-02 7.29107243e-02 9.94730409e-01 5.16982571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.041193817 meters Centerline goodness : 0.904837 with order 1 Centerline is valid? [False, False] Translation: X:62.58, Y:0.89, Z:5.17 [[ 9.96835796e-01 4.27030805e-02 6.70435812e-02 6.25795876e+01] [-3.81383727e-02 9.96959571e-01 -6.79490800e-02 8.85191169e-01] [-6.97413750e-02 6.51771422e-02 9.95433614e-01 5.16965960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.101193817 meters Centerline goodness : 0.903870 with order 1 Centerline is valid? [False, False] Translation: X:62.58, Y:0.87, Z:5.17 [[ 9.97014018e-01 3.95993647e-02 6.62943269e-02 6.25815443e+01] [-3.53835922e-02 9.97347920e-01 -6.36013191e-02 8.71504383e-01] [-6.86370809e-02 6.10656753e-02 9.95771025e-01 5.17463435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.161193817 meters Centerline goodness : 0.908117 with order 1 Centerline is valid? [False, False] Translation: X:62.59, Y:0.86, Z:5.18 [[ 9.97193064e-01 3.27006041e-02 6.73547602e-02 6.25876034e+01] [-2.89320947e-02 9.98001070e-01 -5.61853939e-02 8.57249164e-01] [-6.90574191e-02 5.40789708e-02 9.96145842e-01 5.18170257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.221193817 meters Centerline goodness : 0.916567 with order 1 Centerline is valid? [False, False] Translation: X:62.59, Y:0.85, Z:5.19 [[ 9.97340919e-01 2.71270038e-02 6.76403486e-02 6.25943481e+01] [-2.37581027e-02 9.98460452e-01 -5.01226357e-02 8.47572866e-01] [-6.88958899e-02 4.83823492e-02 9.96449951e-01 5.18721288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.281193817 meters Centerline goodness : 0.926534 with order 1 Centerline is valid? [False, False] Translation: X:62.59, Y:0.84, Z:5.19 [[ 9.97294728e-01 2.29905152e-02 6.98187811e-02 6.25895122e+01] [-1.96257523e-02 9.98630245e-01 -4.85022004e-02 8.35203409e-01] [-7.08382371e-02 4.70007426e-02 9.96379885e-01 5.19406774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.341193817 meters Centerline goodness : 0.929667 with order 1 Centerline is valid? [False, False] Translation: X:62.60, Y:0.83, Z:5.20 [[ 9.97537045e-01 1.97699674e-02 6.72977950e-02 6.25962565e+01] [-1.67165049e-02 9.98818212e-01 -4.56370171e-02 8.28042633e-01] [-6.81205056e-02 4.43996312e-02 9.96688652e-01 5.19577925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.401193817 meters Centerline goodness : 0.931110 with order 1 Centerline is valid? [False, False] Translation: X:62.60, Y:0.82, Z:5.19 [[ 9.97640510e-01 1.53485164e-02 6.69166353e-02 6.25983896e+01] [-1.21250480e-02 9.98758590e-01 -4.83141977e-02 8.20765763e-01] [-6.75751156e-02 4.73888334e-02 9.96588131e-01 5.19358356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.461193817 meters Centerline goodness : 0.932416 with order 1 Centerline is valid? [False, False] Translation: X:62.60, Y:0.82, Z:5.19 [[ 9.97727007e-01 1.14913491e-02 6.63985612e-02 6.26002599e+01] [-8.07314473e-03 9.98639281e-01 -5.15209675e-02 8.16425459e-01] [-6.69002569e-02 5.08678155e-02 9.96462152e-01 5.19192862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.521193817 meters Centerline goodness : 0.926945 with order 1 Centerline is valid? [False, False] Translation: X:62.61, Y:0.81, Z:5.19 [[ 9.98104239e-01 -9.38233146e-04 6.15389945e-02 6.26061827e+01] [ 3.53320364e-03 9.99108306e-01 -4.20726569e-02 8.10510912e-01] [-6.14446466e-02 4.22103270e-02 9.97217551e-01 5.19115028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.581193817 meters Centerline goodness : 0.923717 with order 1 Centerline is valid? [False, False] Translation: X:62.63, Y:0.81, Z:5.19 [[ 9.98349760e-01 -1.23171556e-02 5.60896095e-02 6.26296516e+01] [ 1.45007377e-02 9.99145997e-01 -3.86911454e-02 8.08123647e-01] [-5.55651439e-02 3.94406364e-02 9.97675774e-01 5.19085477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.64119381700002 meters Centerline goodness : 0.917710 with order 1 Centerline is valid? [False, False] Translation: X:62.63, Y:0.81, Z:5.19 [[ 9.98355862e-01 -1.84419432e-02 5.42721701e-02 6.26349739e+01] [ 2.08246188e-02 9.98828974e-01 -4.36693986e-02 8.08541078e-01] [-5.34032674e-02 4.47277973e-02 9.97570807e-01 5.18915949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.701193817 meters Centerline goodness : 0.925887 with order 1 Centerline is valid? [False, False] Translation: X:62.64, Y:0.81, Z:5.19 [[ 9.98460293e-01 -2.12505239e-02 5.12392193e-02 6.26435337e+01] [ 2.34207115e-02 9.98837490e-01 -4.21323859e-02 8.13658867e-01] [-5.02843179e-02 4.32675734e-02 9.97797276e-01 5.19057149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.761193817 meters Centerline goodness : 0.920991 with order 1 Centerline is valid? [False, False] Translation: X:62.68, Y:0.82, Z:5.19 [[ 9.98721231e-01 -1.91243601e-02 4.67991613e-02 6.26771694e+01] [ 2.08822816e-02 9.99083396e-01 -3.73670672e-02 8.24551045e-01] [-4.60416437e-02 3.82965566e-02 9.98205160e-01 5.19079306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.821193817 meters Centerline goodness : 0.920146 with order 1 Centerline is valid? [False, False] Translation: X:62.68, Y:0.83, Z:5.19 [[ 9.98789124e-01 -1.76044083e-02 4.59387725e-02 6.26791525e+01] [ 1.92973022e-02 9.99141035e-01 -3.66716124e-02 8.33118106e-01] [-4.52537307e-02 3.75137020e-02 9.98270916e-01 5.19064113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.881193817 meters Centerline goodness : 0.919206 with order 1 Centerline is valid? [False, False] Translation: X:62.70, Y:0.85, Z:5.19 [[ 9.98731103e-01 -1.58886339e-02 4.77884332e-02 6.27027843e+01] [ 1.78025310e-02 9.99045310e-01 -3.98940942e-02 8.50226978e-01] [-4.71089474e-02 4.06942278e-02 9.98060483e-01 5.18828042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.941193817 meters Centerline goodness : 0.915977 with order 1 Centerline is valid? [False, False] Translation: X:62.72, Y:0.86, Z:5.19 [[ 9.98611269e-01 -1.13258031e-02 5.14515363e-02 6.27196729e+01] [ 1.35796519e-02 9.98953756e-01 -4.36690532e-02 8.62507452e-01] [-5.09031184e-02 4.43071026e-02 9.97720278e-01 5.18569741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.001193817 meters Centerline goodness : 0.914514 with order 1 Centerline is valid? [False, False] Translation: X:62.74, Y:0.87, Z:5.18 [[ 9.98566161e-01 -8.21857273e-03 5.28968490e-02 6.27435915e+01] [ 1.05355244e-02 9.98990343e-01 -4.36726076e-02 8.74603930e-01] [-5.24845148e-02 4.41672841e-02 9.97644539e-01 5.18484661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.061193817 meters Centerline goodness : 0.914945 with order 1 Centerline is valid? [False, False] Translation: X:62.79, Y:0.89, Z:5.18 [[ 9.98587512e-01 -4.47885929e-03 5.29426077e-02 6.27870909e+01] [ 6.96251548e-03 9.98879016e-01 -4.68213139e-02 8.92453269e-01] [-5.26735538e-02 4.71237931e-02 9.97499296e-01 5.18434598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.121193817 meters Centerline goodness : 0.916615 with order 1 Centerline is valid? [False, False] Translation: X:62.82, Y:0.90, Z:5.18 [[ 9.98667383e-01 -3.90088381e-03 5.14610746e-02 6.28151532e+01] [ 6.26838402e-03 9.98925233e-01 -4.59247968e-02 9.00785830e-01] [-5.12266186e-02 4.61861744e-02 9.97618500e-01 5.18423680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.181193817 meters Centerline goodness : 0.914809 with order 1 Centerline is valid? [False, False] Translation: X:62.84, Y:0.92, Z:5.18 [[ 9.98584709e-01 -4.45725308e-03 5.29972901e-02 6.28415484e+01] [ 6.98316560e-03 9.98843404e-01 -4.75719522e-02 9.16922598e-01] [-5.27239534e-02 4.78747129e-02 9.97460875e-01 5.18166610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.241193817 meters Centerline goodness : 0.915873 with order 1 Centerline is valid? [False, False] Translation: X:62.84, Y:0.93, Z:5.18 [[ 9.98610912e-01 -2.73995926e-03 5.26188148e-02 6.28424842e+01] [ 5.21759711e-03 9.98880930e-01 -4.70070709e-02 9.26356978e-01] [-5.24311332e-02 4.72163177e-02 9.97507692e-01 5.18192089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.301193817 meters Centerline goodness : 0.914923 with order 1 Centerline is valid? [False, False] Translation: X:62.88, Y:0.94, Z:5.18 [[ 9.98607915e-01 -4.27824197e-04 5.27451364e-02 6.28831227e+01] [ 3.04324957e-03 9.98768706e-01 -4.95157633e-02 9.40891575e-01] [-5.26590076e-02 4.96073497e-02 9.97379637e-01 5.18381608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.36119381700001 meters Centerline goodness : 0.909253 with order 1 Centerline is valid? [False, False] Translation: X:62.91, Y:0.95, Z:5.18 [[ 9.98685678e-01 2.07517533e-03 5.12114210e-02 6.29121026e+01] [ 3.60374005e-04 9.98870996e-01 -4.75037160e-02 9.52178982e-01] [-5.12521817e-02 4.74597361e-02 9.97557411e-01 5.18246814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.421193817 meters Centerline goodness : 0.904444 with order 1 Centerline is valid? [False, False] Translation: X:62.95, Y:0.96, Z:5.18 [[ 9.98693871e-01 9.37035273e-03 5.02269615e-02 6.29541741e+01] [-6.87175835e-03 9.98741054e-01 -4.96899061e-02 9.64528206e-01] [-5.06293404e-02 4.92798572e-02 9.97500960e-01 5.17637946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.481193817 meters Centerline goodness : 0.905303 with order 1 Centerline is valid? [False, False] Translation: X:63.00, Y:0.98, Z:5.17 [[ 9.98614643e-01 1.66637812e-02 4.99110609e-02 6.29953334e+01] [-1.38797036e-02 9.98355697e-01 -5.56170429e-02 9.78273699e-01] [-5.07557822e-02 5.48472427e-02 9.97203906e-01 5.17099079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.541193817 meters Centerline goodness : 0.900314 with order 1 Centerline is valid? [False, False] Translation: X:63.04, Y:0.99, Z:5.17 [[ 9.98514889e-01 2.25469143e-02 4.95948944e-02 6.30368494e+01] [-1.95493160e-02 9.97999840e-01 -6.01177549e-02 9.91696740e-01] [-5.08511666e-02 5.90589271e-02 9.96958476e-01 5.16668611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.601193817 meters Centerline goodness : 0.900600 with order 1 Centerline is valid? [False, False] Translation: X:63.07, Y:1.00, Z:5.17 [[ 9.98608125e-01 2.28154922e-02 4.75527699e-02 6.30673811e+01] [-2.01808680e-02 9.98273209e-01 -5.51664165e-02 9.96058530e-01] [-4.87293051e-02 5.41299756e-02 9.97344174e-01 5.16592255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.661193817 meters Centerline goodness : 0.899220 with order 1 Centerline is valid? [False, False] Translation: X:63.08, Y:1.00, Z:5.17 [[ 9.98950308e-01 1.43548731e-02 4.34996618e-02 6.30848222e+01] [-1.21483844e-02 9.98646590e-01 -5.05708017e-02 1.00107574e+00] [-4.41667264e-02 4.99892673e-02 9.97772706e-01 5.16894205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.721193817 meters Centerline goodness : 0.900050 with order 1 Centerline is valid? [False, False] Translation: X:63.10, Y:1.00, Z:5.17 [[ 9.99075530e-01 4.53656057e-03 4.27493280e-02 6.31029832e+01] [-2.65962694e-03 9.99034121e-01 -4.38605867e-02 1.00274930e+00] [-4.29070135e-02 4.37063416e-02 9.98122610e-01 5.17098080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.781193817 meters Centerline goodness : 0.896692 with order 1 Centerline is valid? [False, False] Translation: X:63.13, Y:1.01, Z:5.18 [[ 9.99192538e-01 -9.66938185e-03 3.89971121e-02 6.31265521e+01] [ 1.11374511e-02 9.99230586e-01 -3.76057572e-02 1.00658455e+00] [-3.86034828e-02 3.80097204e-02 9.98531438e-01 5.17535283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.841193817 meters Centerline goodness : 0.896149 with order 1 Centerline is valid? [False, False] Translation: X:63.16, Y:1.01, Z:5.18 [[ 9.99184152e-01 -1.72954009e-02 3.64951935e-02 6.31618492e+01] [ 1.84244657e-02 9.99354778e-01 -3.08312541e-02 1.00908277e+00] [-3.59384071e-02 3.14785049e-02 9.98858115e-01 5.17823946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.901193817 meters Centerline goodness : 0.899791 with order 1 Centerline is valid? [False, False] Translation: X:63.19, Y:1.03, Z:5.18 [[ 9.99055043e-01 -1.97786196e-02 3.87017658e-02 6.31863135e+01] [ 2.10449438e-02 9.99247187e-01 -3.25909495e-02 1.02702478e+00] [-3.80280266e-02 3.33746290e-02 9.98719181e-01 5.17828185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.961193817 meters Centerline goodness : 0.900591 with order 1 Centerline is valid? [False, False] Translation: X:63.22, Y:1.04, Z:5.18 [[ 9.99081623e-01 -1.65191052e-02 3.95351826e-02 6.32236230e+01] [ 1.80113255e-02 9.99127131e-01 -3.76904306e-02 1.03988526e+00] [-3.88780614e-02 3.83678976e-02 9.98507086e-01 5.17756284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.021193817 meters Centerline goodness : 0.903515 with order 1 Centerline is valid? [False, False] Translation: X:63.26, Y:1.06, Z:5.17 [[ 9.99025967e-01 -1.29042886e-02 4.21971196e-02 6.32602171e+01] [ 1.47789087e-02 9.98903647e-01 -4.44194457e-02 1.06253728e+00] [-4.15776554e-02 4.49998071e-02 9.98121393e-01 5.17450531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.081193817 meters Centerline goodness : 0.902167 with order 1 Centerline is valid? [False, False] Translation: X:63.30, Y:1.08, Z:5.17 [[ 9.99012557e-01 -1.10086486e-02 4.30432419e-02 6.32994044e+01] [ 1.30529817e-02 9.98785663e-01 -4.75059995e-02 1.07518751e+00] [-4.24679961e-02 4.80209326e-02 9.97943114e-01 5.17175264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.14119381700002 meters Centerline goodness : 0.897914 with order 1 Centerline is valid? [False, False] Translation: X:63.34, Y:1.10, Z:5.17 [[ 9.99125136e-01 -8.90721801e-03 4.08610335e-02 6.33438034e+01] [ 1.12263677e-02 9.98317711e-01 -5.68833535e-02 1.09569762e+00] [-4.02856210e-02 5.72923093e-02 9.97544315e-01 5.16712002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.201193817 meters Centerline goodness : 0.896376 with order 1 Centerline is valid? [False, False] Translation: X:63.39, Y:1.11, Z:5.16 [[ 9.99197117e-01 -5.24146977e-03 3.97196295e-02 6.33853191e+01] [ 7.54712070e-03 9.98280934e-01 -5.81224431e-02 1.10584092e+00] [-3.93467018e-02 5.83755464e-02 9.97518989e-01 5.16301870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.261193817 meters Centerline goodness : 0.896777 with order 1 Centerline is valid? [False, False] Translation: X:63.44, Y:1.14, Z:5.16 [[ 9.98819038e-01 5.62771543e-03 4.82582386e-02 6.34362831e+01] [-5.64889984e-04 9.94546873e-01 -1.04289010e-01 1.13705483e+00] [-4.85819892e-02 1.04138588e-01 9.93375531e-01 5.16128154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.321193817 meters Centerline goodness : 0.895996 with order 1 Centerline is valid? [False, False] Translation: X:63.48, Y:1.16, Z:5.16 [[ 9.98326840e-01 1.61760739e-02 5.55144536e-02 6.34805581e+01] [-7.78691853e-03 9.88937561e-01 -1.48127863e-01 1.15800746e+00] [-5.72964556e-02 1.47447734e-01 9.87408873e-01 5.16152852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.381193817 meters Centerline goodness : 0.900451 with order 1 Centerline is valid? [False, False] Translation: X:63.45, Y:1.17, Z:5.17 [[ 9.98088302e-01 2.28336307e-02 5.74314166e-02 6.34503002e+01] [-1.61487955e-02 9.93317598e-01 -1.14277581e-01 1.16748726e+00] [-5.96570089e-02 1.13131669e-01 9.91787410e-01 5.16753061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.441193817 meters Centerline goodness : 0.900961 with order 1 Centerline is valid? [False, False] Translation: X:63.41, Y:1.16, Z:5.18 [[ 9.98499156e-01 1.79678107e-02 5.17357967e-02 6.34090551e+01] [-1.48274256e-02 9.98060666e-01 -6.04570406e-02 1.16259487e+00] [-5.27217444e-02 5.95991954e-02 9.96829150e-01 5.18024054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.501193817 meters Centerline goodness : 0.906614 with order 1 Centerline is valid? [False, False] Translation: X:63.38, Y:1.15, Z:5.19 [[ 9.98717629e-01 1.19426144e-02 4.91982931e-02 6.33765871e+01] [-1.20077552e-02 9.99927375e-01 1.02868859e-03 1.15283539e+00] [-4.91824348e-02 -1.61813049e-03 9.98788501e-01 5.18948406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.561193817 meters Centerline goodness : 0.912826 with order 1 Centerline is valid? [False, False] Translation: X:63.36, Y:1.14, Z:5.20 [[ 9.98837338e-01 4.96774963e-03 4.79509599e-02 6.33558789e+01] [-7.83540443e-03 9.98179475e-01 5.98025313e-02 1.14295982e+00] [-4.75665800e-02 -6.01087163e-02 9.97057853e-01 5.20005665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.621193817 meters Centerline goodness : 0.916303 with order 1 Centerline is valid? [False, False] Translation: X:63.34, Y:1.13, Z:5.22 [[ 9.99261139e-01 -5.22050993e-03 3.80778384e-02 6.33391530e+01] [-7.56024480e-05 9.90463201e-01 1.37777505e-01 1.12538654e+00] [-3.84339666e-02 -1.37678585e-01 9.89730992e-01 5.21804995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.681193817 meters Centerline goodness : 0.919257 with order 1 Centerline is valid? [False, False] Translation: X:63.33, Y:1.11, Z:5.23 [[ 9.99477462e-01 -1.57869326e-02 2.82059341e-02 6.33277724e+01] [ 9.53817025e-03 9.77805955e-01 2.09295336e-01 1.11017044e+00] [-3.08840617e-02 -2.08916939e-01 9.77445593e-01 5.23491389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.741193817 meters Centerline goodness : 0.921893 with order 1 Centerline is valid? [False, False] Translation: X:63.31, Y:1.12, Z:5.23 [[ 9.99325020e-01 -1.84674030e-02 3.17562380e-02 6.33147388e+01] [ 1.29095652e-02 9.85860919e-01 1.67067627e-01 1.12287626e+00] [-3.43925392e-02 -1.66544901e-01 9.85433889e-01 5.23405258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.801193817 meters Centerline goodness : 0.924843 with order 1 Centerline is valid? [False, False] Translation: X:63.30, Y:1.13, Z:5.23 [[ 9.99178988e-01 -2.07548880e-02 3.47934538e-02 6.33033411e+01] [ 1.58877873e-02 9.90753004e-01 1.34744437e-01 1.13177989e+00] [-3.72683245e-02 -1.34081019e-01 9.90269333e-01 5.23331671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.86119381700001 meters Centerline goodness : 0.929426 with order 1 Centerline is valid? [False, False] Translation: X:63.29, Y:1.14, Z:5.23 [[ 9.99036211e-01 -2.29988098e-02 3.73858767e-02 6.32947126e+01] [ 1.89017295e-02 9.94136338e-01 1.06469090e-01 1.13919001e+00] [-3.96153209e-02 -1.05659818e-01 9.93612917e-01 5.23261578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.921193817 meters Centerline goodness : 0.931039 with order 1 Centerline is valid? [False, False] Translation: X:63.29, Y:1.15, Z:5.23 [[ 9.99070044e-01 -2.18774510e-02 3.71540748e-02 6.32884845e+01] [ 1.86924261e-02 9.96289747e-01 8.40079356e-02 1.14729264e+00] [-3.88541033e-02 -8.32353121e-02 9.95772184e-01 5.23228437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.981193817 meters Centerline goodness : 0.929767 with order 1 Centerline is valid? [False, False] Translation: X:63.32, Y:1.16, Z:5.23 [[ 9.99139938e-01 -2.15063021e-02 3.54522796e-02 6.33194528e+01] [ 1.95324197e-02 9.98289051e-01 5.51131083e-02 1.15525424e+00] [-3.65769017e-02 -5.43732388e-02 9.97850530e-01 5.23009894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.04119381699996 meters Centerline goodness : 0.932030 with order 1 Centerline is valid? [False, False] Translation: X:63.32, Y:1.16, Z:5.23 [[ 9.99231111e-01 -1.77038509e-02 3.49822780e-02 6.33211035e+01] [ 1.63247427e-02 9.99093193e-01 3.93229440e-02 1.16211098e+00] [-3.56467233e-02 -3.87216323e-02 9.98614013e-01 5.22899081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.10119381699997 meters Centerline goodness : 0.933694 with order 1 Centerline is valid? [False, False] Translation: X:63.32, Y:1.17, Z:5.23 [[ 9.99497827e-01 -1.09722371e-02 2.97271415e-02 6.33207513e+01] [ 1.01331374e-02 9.99550041e-01 2.82318178e-02 1.16913142e+00] [-3.00235317e-02 -2.79164114e-02 9.99159277e-01 5.22999297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.16119381699997 meters Centerline goodness : 0.934126 with order 1 Centerline is valid? [False, False] Translation: X:63.32, Y:1.17, Z:5.23 [[ 9.99722111e-01 -5.07953801e-03 2.30195359e-02 6.33200347e+01] [ 4.71265517e-03 9.99861458e-01 1.59642096e-02 1.17400796e+00] [-2.30974375e-02 -1.58512902e-02 9.99607545e-01 5.23289394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.22119381699997 meters Centerline goodness : 0.933865 with order 1 Centerline is valid? [False, False] Translation: X:63.31, Y:1.17, Z:5.24 [[ 9.99836485e-01 4.09422780e-03 1.76136500e-02 6.33120933e+01] [-4.75059942e-03 9.99289608e-01 3.73859670e-02 1.17282368e+00] [-1.74480708e-02 -3.74635292e-02 9.99145659e-01 5.23663980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.281193817 meters Centerline goodness : 0.934677 with order 1 Centerline is valid? [False, False] Translation: X:63.30, Y:1.14, Z:5.25 [[ 9.99949135e-01 1.89228908e-03 9.90694729e-03 6.33033108e+01] [-3.30204828e-03 9.89530992e-01 1.44282754e-01 1.14304228e+00] [-9.53020670e-03 -1.44308128e-01 9.89486907e-01 5.25132721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.341193817 meters Centerline goodness : 0.937339 with order 1 Centerline is valid? [False, False] Translation: X:63.32, Y:1.15, Z:5.25 [[ 9.99751466e-01 1.99032096e-02 1.00433573e-02 6.33191542e+01] [-2.10384059e-02 9.91331759e-01 1.29687044e-01 1.15077425e+00] [-7.37511066e-03 -1.29866109e-01 9.91504111e-01 5.25258278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.401193817 meters Centerline goodness : 0.937671 with order 1 Centerline is valid? [False, False] Translation: X:63.34, Y:1.16, Z:5.26 [[ 9.99599284e-01 2.77787410e-02 5.44169622e-03 6.33441886e+01] [-2.82192200e-02 9.93026145e-01 1.14467251e-01 1.15510471e+00] [-2.22399049e-03 -1.14574943e-01 9.93412118e-01 5.25512536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.461193817 meters Centerline goodness : 0.933176 with order 1 Centerline is valid? [False, False] Translation: X:63.38, Y:1.12, Z:5.26 [[ 9.99737933e-01 1.95650840e-02 1.18858383e-02 6.33785068e+01] [-2.15330152e-02 9.79943324e-01 1.98109594e-01 1.11776636e+00] [-7.77141708e-03 -1.98313614e-01 9.80107808e-01 5.26060509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.521193817 meters Centerline goodness : 0.930901 with order 1 Centerline is valid? [False, False] Translation: X:63.39, Y:1.05, Z:5.29 [[ 9.99844877e-01 9.33453396e-04 1.75883395e-02 6.33853867e+01] [-7.59683558e-03 9.23787561e-01 3.82830028e-01 1.05175134e+00] [-1.58905353e-02 -3.82904258e-01 9.23651352e-01 5.29236354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.581193817 meters Centerline goodness : 0.934137 with order 1 Centerline is valid? [False, False] Translation: X:63.39, Y:1.00, Z:5.34 [[ 9.99647532e-01 -2.24097922e-02 1.42342073e-02 6.33874990e+01] [ 1.07385511e-02 8.31660108e-01 5.55181185e-01 9.95127057e-01] [-2.42795174e-02 -5.54832646e-01 8.31607624e-01 5.34424724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.641193817 meters Centerline goodness : 0.940980 with order 1 Centerline is valid? [False, False] Translation: X:63.34, Y:1.01, Z:5.34 [[ 9.99559037e-01 -2.35163263e-02 1.81304779e-02 6.33416620e+01] [ 1.14126218e-02 8.67927299e-01 4.96560122e-01 1.00888350e+00] [-2.74132066e-02 -4.96134241e-01 8.67812958e-01 5.34475220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.701193817 meters Centerline goodness : 0.944460 with order 1 Centerline is valid? [False, False] Translation: X:63.30, Y:1.05, Z:5.33 [[ 9.99476075e-01 -2.01921224e-02 2.52953312e-02 6.33012685e+01] [ 9.46633915e-03 9.29728585e-01 3.68123819e-01 1.04602535e+00] [-3.09509938e-02 -3.67691496e-01 9.29432623e-01 5.33270228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.761193817 meters Centerline goodness : 0.944822 with order 1 Centerline is valid? [False, False] Translation: X:63.28, Y:1.07, Z:5.33 [[ 9.99347211e-01 -1.47648226e-02 3.29719774e-02 6.32827161e+01] [ 4.98288775e-03 9.60281915e-01 2.78987124e-01 1.06873023e+00] [-3.57815889e-02 -2.78640709e-01 9.59728625e-01 5.32869741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.821193817 meters Centerline goodness : 0.942338 with order 1 Centerline is valid? [False, False] Translation: X:63.28, Y:1.09, Z:5.32 [[ 9.99422094e-01 -1.07626751e-02 3.22434845e-02 6.32812377e+01] [ 3.71509014e-03 9.77454200e-01 2.11114864e-01 1.08590924e+00] [-3.37886900e-02 -2.10873072e-01 9.76929308e-01 5.32355069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.881193817 meters Centerline goodness : 0.939175 with order 1 Centerline is valid? [False, False] Translation: X:63.29, Y:1.10, Z:5.32 [[ 9.99403097e-01 -9.66615307e-03 3.31664730e-02 6.32904764e+01] [ 4.91461235e-03 9.90074293e-01 1.40459037e-01 1.10443739e+00] [-3.41949708e-02 -1.40212197e-01 9.89530820e-01 5.31841280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.941193817 meters Centerline goodness : 0.938491 with order 1 Centerline is valid? [False, False] Translation: X:63.31, Y:1.11, Z:5.32 [[ 9.99368705e-01 -1.15905877e-02 3.35834654e-02 6.33082818e+01] [ 8.16483524e-03 9.94913149e-01 1.00404983e-01 1.11299596e+00] [-3.45763841e-02 -1.00067395e-01 9.94379701e-01 5.31771701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.001193817 meters Centerline goodness : 0.934380 with order 1 Centerline is valid? [False, False] Translation: X:63.33, Y:1.12, Z:5.31 [[ 9.99399476e-01 -1.02388348e-02 3.31036783e-02 6.33336119e+01] [ 8.54566152e-03 9.98667675e-01 5.08905300e-02 1.12372931e+00] [-3.35806332e-02 -5.05770762e-02 9.98155449e-01 5.31360122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.06119381699995 meters Centerline goodness : 0.932824 with order 1 Centerline is valid? [False, False] Translation: X:63.36, Y:1.14, Z:5.31 [[ 9.99230842e-01 -3.22788983e-03 3.90807414e-02 6.33578049e+01] [ 3.82578451e-03 9.99876639e-01 -1.52338524e-02 1.14114598e+00] [-3.90267471e-02 1.53716496e-02 9.99119925e-01 5.31155674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.12119381699995 meters Centerline goodness : 0.933770 with order 1 Centerline is valid? [False, False] Translation: X:63.39, Y:1.18, Z:5.33 [[ 9.99246075e-01 9.61961518e-03 3.76131018e-02 6.33875165e+01] [-4.25586617e-03 9.90119500e-01 -1.40161560e-01 1.18154230e+00] [-3.85897658e-02 1.39895812e-01 9.89413964e-01 5.32688813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.18119381699995 meters Centerline goodness : 0.936027 with order 1 Centerline is valid? [False, False] Translation: X:63.38, Y:1.17, Z:5.33 [[ 9.99159931e-01 1.22577297e-02 3.91047464e-02 6.33772704e+01] [-7.83811094e-03 9.93763392e-01 -1.11233471e-01 1.16564700e+00] [-4.02243352e-02 1.10833520e-01 9.93024639e-01 5.32772398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.24119381699995 meters Centerline goodness : 0.940402 with order 1 Centerline is valid? [False, False] Translation: X:63.38, Y:1.15, Z:5.33 [[ 9.98954906e-01 1.16763247e-02 4.41900458e-02 6.33752558e+01] [-7.65067409e-03 9.95894757e-01 -9.01947949e-02 1.15290783e+00] [-4.50617786e-02 8.97624491e-02 9.94943284e-01 5.32840246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.30119381699996 meters Centerline goodness : 0.938899 with order 1 Centerline is valid? [False, False] Translation: X:63.37, Y:1.14, Z:5.33 [[ 9.98821365e-01 1.00437920e-02 4.74868824e-02 6.33705525e+01] [-6.59539777e-03 9.97366591e-01 -7.22245428e-02 1.14316966e+00] [-4.80872383e-02 7.18262215e-02 9.96257302e-01 5.33046744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.36119381699996 meters Centerline goodness : 0.943064 with order 1 Centerline is valid? [False, False] Translation: X:63.38, Y:1.13, Z:5.33 [[ 9.98801827e-01 9.42472252e-03 4.80217183e-02 6.33792072e+01] [-6.53546109e-03 9.98178704e-01 -5.99713410e-02 1.13357173e+00] [-4.84994698e-02 5.95856409e-02 9.97044308e-01 5.33054689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.42119381699996 meters Centerline goodness : 0.940019 with order 1 Centerline is valid? [False, False] Translation: X:63.42, Y:1.14, Z:5.33 [[ 9.98773970e-01 1.22330335e-02 4.79678081e-02 6.34184986e+01] [-7.63000261e-03 9.95448499e-01 -9.49951033e-02 1.13757375e+00] [-4.89115608e-02 9.45126419e-02 9.94321387e-01 5.32896869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.48119381699996 meters Centerline goodness : 0.935737 with order 1 Centerline is valid? [False, False] Translation: X:63.42, Y:1.12, Z:5.33 [[ 9.98949558e-01 1.04308961e-02 4.46203654e-02 6.34162225e+01] [-7.11526691e-03 9.97245378e-01 -7.38310900e-02 1.12445446e+00] [-4.52675776e-02 7.34360489e-02 9.96272048e-01 5.32668548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.54119381699996 meters Centerline goodness : 0.936554 with order 1 Centerline is valid? [False, False] Translation: X:63.46, Y:1.12, Z:5.32 [[ 9.98802781e-01 1.33550632e-02 4.70600283e-02 6.34556341e+01] [-9.01609392e-03 9.95788578e-01 -9.12349591e-02 1.12392842e+00] [-4.80802873e-02 9.07014333e-02 9.94716812e-01 5.32374425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.60119381699997 meters Centerline goodness : 0.933634 with order 1 Centerline is valid? [False, False] Translation: X:63.50, Y:1.12, Z:5.32 [[ 9.98838961e-01 1.60311746e-02 4.54283092e-02 6.34953103e+01] [-1.09393824e-02 9.93849958e-01 -1.10193422e-01 1.11986378e+00] [-4.69154531e-02 1.09568525e-01 9.92871431e-01 5.32243845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.66119381699997 meters Centerline goodness : 0.933752 with order 1 Centerline is valid? [False, False] Translation: X:63.50, Y:1.10, Z:5.32 [[ 9.98854382e-01 1.38153937e-02 4.58154776e-02 6.34952733e+01] [-9.88093539e-03 9.96330527e-01 -8.50167462e-02 1.10208266e+00] [-4.68218988e-02 8.44666498e-02 9.95325623e-01 5.32215433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.72119381699997 meters Centerline goodness : 0.935447 with order 1 Centerline is valid? [False, False] Translation: X:63.54, Y:1.10, Z:5.32 [[ 9.98811816e-01 1.24591552e-02 4.71139571e-02 6.35357455e+01] [-8.21462373e-03 9.95976814e-01 -8.92339924e-02 1.09832329e+00] [-4.80361891e-02 8.87409426e-02 9.94895758e-01 5.31763006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.781193817 meters Centerline goodness : 0.935437 with order 1 Centerline is valid? [False, False] Translation: X:63.58, Y:1.09, Z:5.31 [[ 9.98819454e-01 1.35210008e-02 4.66570620e-02 6.35769379e+01] [-9.59095130e-03 9.96465715e-01 -8.34511395e-02 1.08636616e+00] [-4.76205055e-02 8.29051360e-02 9.95419020e-01 5.31384688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.841193817 meters Centerline goodness : 0.937818 with order 1 Centerline is valid? [False, False] Translation: X:63.62, Y:1.08, Z:5.31 [[ 9.98719873e-01 1.33513980e-02 4.87888799e-02 6.36155372e+01] [-9.27747480e-03 9.96523570e-01 -8.27931353e-02 1.07758598e+00] [-4.97246729e-02 8.22345120e-02 9.95371761e-01 5.31119880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.901193817 meters Centerline goodness : 0.932990 with order 1 Centerline is valid? [False, False] Translation: X:63.66, Y:1.07, Z:5.31 [[ 9.98692423e-01 1.40902720e-02 4.91417100e-02 6.36563524e+01] [-1.00582080e-02 9.96634645e-01 -8.13524226e-02 1.06843430e+00] [-5.01226085e-02 8.07517705e-02 9.95473192e-01 5.30780848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.961193817 meters Centerline goodness : 0.937275 with order 1 Centerline is valid? [False, False] Translation: X:63.70, Y:1.07, Z:5.30 [[ 9.98502979e-01 1.72111330e-02 5.19189488e-02 6.37034375e+01] [-1.21774634e-02 9.95330385e-01 -9.57556007e-02 1.06829216e+00] [-5.33245696e-02 9.49800115e-02 9.94049942e-01 5.30459365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.021193817 meters Centerline goodness : 0.936857 with order 1 Centerline is valid? [False, False] Translation: X:63.73, Y:1.09, Z:5.30 [[ 9.97518074e-01 2.88319573e-02 6.42371393e-02 6.37339307e+01] [-1.68770217e-02 9.83629489e-01 -1.79410686e-01 1.08868563e+00] [-6.83583057e-02 1.77881271e-01 9.81674791e-01 5.30353521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.081193817 meters Centerline goodness : 0.936195 with order 1 Centerline is valid? [False, False] Translation: X:63.74, Y:1.07, Z:5.30 [[ 9.97574565e-01 3.01290549e-02 6.27473291e-02 6.37358791e+01] [-2.06682666e-02 9.89023680e-01 -1.46304421e-01 1.07182244e+00] [-6.64666083e-02 1.44652691e-01 9.87247582e-01 5.30318788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.141193817 meters Centerline goodness : 0.932651 with order 1 Centerline is valid? [False, False] Translation: X:63.73, Y:1.05, Z:5.30 [[ 9.97683689e-01 2.95297151e-02 6.12801189e-02 6.37275123e+01] [-2.17282118e-02 9.92009305e-01 -1.24279615e-01 1.05398083e+00] [-6.44603898e-02 1.22660238e-01 9.90353131e-01 5.30254306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.201193817 meters Centerline goodness : 0.933292 with order 1 Centerline is valid? [False, False] Translation: X:63.72, Y:1.04, Z:5.30 [[ 9.97709965e-01 2.66466504e-02 6.21673677e-02 6.37229885e+01] [-2.00963383e-02 9.94404764e-01 -1.03707771e-01 1.04370995e+00] [-6.45829914e-02 1.02220940e-01 9.92663043e-01 5.30248532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.261193817 meters Centerline goodness : 0.931943 with order 1 Centerline is valid? [False, False] Translation: X:63.75, Y:1.03, Z:5.30 [[ 9.97839470e-01 2.53528755e-02 6.06104345e-02 6.37534080e+01] [-1.96207985e-02 9.95438701e-01 -9.33638961e-02 1.03219393e+00] [-6.27010154e-02 9.19729554e-02 9.93785469e-01 5.30076492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.321193817 meters Centerline goodness : 0.930384 with order 1 Centerline is valid? [False, False] Translation: X:63.79, Y:1.02, Z:5.30 [[ 9.97634296e-01 3.01122577e-02 6.17985763e-02 6.37927171e+01] [-2.46520145e-02 9.95877819e-01 -8.72905942e-02 1.01807956e+00] [-6.41723482e-02 8.55606311e-02 9.94264194e-01 5.29691853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.381193817 meters Centerline goodness : 0.932913 with order 1 Centerline is valid? [False, False] Translation: X:63.79, Y:1.01, Z:5.30 [[ 9.97562168e-01 3.21337402e-02 6.19446792e-02 6.37910302e+01] [-2.68758843e-02 9.96110024e-01 -8.39196417e-02 1.01145640e+00] [-6.44003679e-02 8.20502416e-02 9.94545298e-01 5.29863110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.441193817 meters Centerline goodness : 0.931945 with order 1 Centerline is valid? [False, False] Translation: X:63.79, Y:0.99, Z:5.30 [[ 9.97380841e-01 3.25614974e-02 6.45848753e-02 6.37856192e+01] [-2.78195569e-02 9.96943214e-01 -7.30089020e-02 9.91909652e-01] [-6.67647323e-02 7.10209575e-02 9.95237908e-01 5.30243856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.501193817 meters Centerline goodness : 0.933077 with order 1 Centerline is valid? [False, False] Translation: X:63.78, Y:0.97, Z:5.30 [[ 9.97501973e-01 2.49605319e-02 6.60816652e-02 6.37753187e+01] [-2.12019689e-02 9.98150150e-01 -5.69802963e-02 9.74833208e-01] [-6.73816825e-02 5.54368965e-02 9.96185956e-01 5.30305612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.56119381699995 meters Centerline goodness : 0.933270 with order 1 Centerline is valid? [False, False] Translation: X:63.80, Y:0.96, Z:5.30 [[ 9.97693810e-01 2.37120482e-02 6.35987384e-02 6.38043135e+01] [-2.07295744e-02 9.98672608e-01 -4.71519564e-02 9.62875203e-01] [-6.46323874e-02 4.57248402e-02 9.96861020e-01 5.30314942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.62119381699995 meters Centerline goodness : 0.931695 with order 1 Centerline is valid? [False, False] Translation: X:63.83, Y:0.95, Z:5.30 [[ 9.97802808e-01 2.53386956e-02 6.12168761e-02 6.38271900e+01] [-2.26061789e-02 9.98734585e-01 -4.49242593e-02 9.49882114e-01] [-6.22777335e-02 4.34416724e-02 9.97112985e-01 5.30018541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.68119381699995 meters Centerline goodness : 0.927711 with order 1 Centerline is valid? [False, False] Translation: X:63.87, Y:0.94, Z:5.30 [[ 9.97805708e-01 2.85015420e-02 5.97614464e-02 6.38682793e+01] [-2.58345960e-02 9.98655849e-01 -4.49340586e-02 9.41909572e-01] [-6.09618079e-02 4.32915473e-02 9.97200832e-01 5.29596786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.74119381699995 meters Centerline goodness : 0.925285 with order 1 Centerline is valid? [False, False] Translation: X:63.90, Y:0.93, Z:5.30 [[ 9.98088243e-01 3.40491899e-02 5.15801457e-02 6.39011284e+01] [-3.18150773e-02 9.98545310e-01 -4.35323362e-02 9.26705218e-01] [-5.29873534e-02 4.18080866e-02 9.97719612e-01 5.29529434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.80119381699996 meters Centerline goodness : 0.927387 with order 1 Centerline is valid? [False, False] Translation: X:63.94, Y:0.92, Z:5.29 [[ 9.97988615e-01 3.62020900e-02 5.20397256e-02 6.39400287e+01] [-3.37769083e-02 9.98335393e-01 -4.67500111e-02 9.19372682e-01] [-5.36455480e-02 4.48982378e-02 9.97550151e-01 5.29140556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.86119381699996 meters Centerline goodness : 0.925469 with order 1 Centerline is valid? [False, False] Translation: X:63.98, Y:0.91, Z:5.29 [[ 9.97915685e-01 4.26310392e-02 4.84446129e-02 6.39784203e+01] [-4.04096901e-02 9.98126384e-01 -4.59432187e-02 9.05443090e-01] [-5.03124534e-02 4.38898268e-02 9.97768681e-01 5.28819734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.92119381699996 meters Centerline goodness : 0.922981 with order 1 Centerline is valid? [False, False] Translation: X:64.03, Y:0.90, Z:5.29 [[ 9.97861450e-01 4.85449386e-02 4.37711787e-02 6.40258581e+01] [-4.61986189e-02 9.97519418e-01 -5.31102464e-02 8.96965356e-01] [-4.62408343e-02 5.09744994e-02 9.97628882e-01 5.28543882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.98119381699996 meters Centerline goodness : 0.923518 with order 1 Centerline is valid? [False, False] Translation: X:64.04, Y:0.88, Z:5.29 [[ 9.97597160e-01 5.18357389e-02 4.59669677e-02 6.40430268e+01] [-4.97654320e-02 9.97742393e-01 -4.50945660e-02 8.76053002e-01] [-4.82007024e-02 4.26986450e-02 9.97924605e-01 5.28611155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.04119381699996 meters Centerline goodness : 0.928307 with order 1 Centerline is valid? [False, False] Translation: X:64.05, Y:0.86, Z:5.28 [[ 9.97565140e-01 4.69462883e-02 5.15736133e-02 6.40524491e+01] [-4.49127573e-02 9.98193558e-01 -3.99057064e-02 8.59885918e-01] [-5.33538734e-02 3.74922284e-02 9.97871583e-01 5.28407188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.10119381699997 meters Centerline goodness : 0.932090 with order 1 Centerline is valid? [False, False] Translation: X:64.05, Y:0.84, Z:5.29 [[ 9.98039167e-01 3.44666998e-02 5.22481344e-02 6.40511340e+01] [-3.24088320e-02 9.98684536e-01 -3.97349384e-02 8.38323587e-01] [-5.35489360e-02 3.79637238e-02 9.97843308e-01 5.28633059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.16119381699997 meters Centerline goodness : 0.932093 with order 1 Centerline is valid? [False, False] Translation: X:64.07, Y:0.82, Z:5.29 [[ 9.98541899e-01 2.33324138e-02 4.86793098e-02 6.40715054e+01] [-2.19061920e-02 9.99320891e-01 -2.96289721e-02 8.23769698e-01] [-4.93375667e-02 2.85193918e-02 9.98374904e-01 5.28933665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.22119381699997 meters Centerline goodness : 0.934020 with order 1 Centerline is valid? [False, False] Translation: X:64.07, Y:0.81, Z:5.29 [[ 9.98597036e-01 1.14686084e-02 5.16955613e-02 6.40674275e+01] [-1.00428479e-02 9.99564283e-01 -2.77558302e-02 8.07936826e-01] [-5.19913573e-02 2.71977191e-02 9.98277107e-01 5.28744446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.281193817 meters Centerline goodness : 0.936247 with order 1 Centerline is valid? [False, False] Translation: X:64.07, Y:0.80, Z:5.29 [[ 9.98635812e-01 7.92936898e-03 5.16104655e-02 6.40673616e+01] [-6.37638143e-03 9.99523961e-01 -3.01859599e-02 8.02453680e-01] [-5.18252526e-02 2.98156925e-02 9.98210984e-01 5.28773556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.341193817 meters Centerline goodness : 0.941130 with order 1 Centerline is valid? [False, False] Translation: X:64.07, Y:0.80, Z:5.29 [[ 9.98643944e-01 4.78822948e-03 5.18396084e-02 6.40667315e+01] [-3.11245955e-03 9.99471475e-01 -3.23586531e-02 7.97133963e-01] [-5.19671505e-02 3.21534243e-02 9.98131040e-01 5.28791703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.401193817 meters Centerline goodness : 0.943408 with order 1 Centerline is valid? [False, False] Translation: X:64.09, Y:0.79, Z:5.29 [[ 9.98758047e-01 5.91954547e-03 4.94704181e-02 6.40923244e+01] [-4.46683195e-03 9.99557027e-01 -2.94244312e-02 7.91682669e-01] [-4.96226833e-02 2.91669114e-02 9.98342066e-01 5.28877556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.461193817 meters Centerline goodness : 0.943325 with order 1 Centerline is valid? [False, False] Translation: X:64.12, Y:0.79, Z:5.29 [[ 9.98863221e-01 1.02865039e-02 4.65451734e-02 6.41153051e+01] [-8.98370802e-03 9.99564379e-01 -2.81130619e-02 7.87831443e-01] [-4.68140825e-02 2.76629553e-02 9.98520507e-01 5.28636444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.521193817 meters Centerline goodness : 0.943182 with order 1 Centerline is valid? [False, False] Translation: X:64.14, Y:0.79, Z:5.28 [[ 9.98818305e-01 1.58121645e-02 4.59561650e-02 6.41362960e+01] [-1.45508659e-02 9.99511705e-01 -2.76518362e-02 7.86913073e-01] [-4.63709602e-02 2.69504582e-02 9.98560668e-01 5.28420417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.581193817 meters Centerline goodness : 0.938750 with order 1 Centerline is valid? [False, False] Translation: X:64.16, Y:0.79, Z:5.28 [[ 9.98828400e-01 2.11329672e-02 4.35341910e-02 6.41596001e+01] [-1.98710124e-02 9.99375493e-01 -2.92192877e-02 7.89101288e-01] [-4.41244938e-02 2.83199859e-02 9.98624558e-01 5.27945621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.641193817 meters Centerline goodness : 0.935863 with order 1 Centerline is valid? [False, False] Translation: X:64.19, Y:0.79, Z:5.28 [[ 9.98963433e-01 2.11088280e-02 4.03296100e-02 6.41893256e+01] [-1.99294509e-02 9.99368292e-01 -2.94250481e-02 7.89406927e-01] [-4.09252617e-02 2.85908001e-02 9.98753067e-01 5.27746356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.701193817 meters Centerline goodness : 0.938214 with order 1 Centerline is valid? [False, False] Translation: X:64.21, Y:0.79, Z:5.28 [[ 9.98969557e-01 1.99886627e-02 4.07465140e-02 6.42149605e+01] [-1.87731812e-02 9.99373653e-01 -2.99978138e-02 7.89114388e-01] [-4.13206087e-02 2.92019611e-02 9.98719106e-01 5.27814360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.761193817 meters Centerline goodness : 0.940303 with order 1 Centerline is valid? [False, False] Translation: X:64.23, Y:0.79, Z:5.28 [[ 9.98753018e-01 2.31580188e-02 4.42280014e-02 6.42320505e+01] [-2.17137242e-02 9.99224015e-01 -3.28615567e-02 7.89871155e-01] [-4.49546897e-02 3.18602243e-02 9.98480847e-01 5.27674542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.821193817 meters Centerline goodness : 0.938638 with order 1 Centerline is valid? [False, False] Translation: X:64.25, Y:0.79, Z:5.27 [[ 9.98612013e-01 2.46752028e-02 4.65315052e-02 6.42513777e+01] [-2.29157541e-02 9.99015949e-01 -3.79737073e-02 7.90547996e-01] [-4.74227247e-02 3.68546958e-02 9.98194779e-01 5.27281908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.881193817 meters Centerline goodness : 0.944935 with order 1 Centerline is valid? [False, False] Translation: X:64.28, Y:0.79, Z:5.27 [[ 9.98703688e-01 2.36638253e-02 4.50662478e-02 6.42800856e+01] [-2.20732910e-02 9.99126952e-01 -3.54697505e-02 7.87284393e-01] [-4.58662528e-02 3.44290102e-02 9.98354111e-01 5.27289473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.941193817 meters Centerline goodness : 0.943257 with order 1 Centerline is valid? [False, False] Translation: X:64.31, Y:0.79, Z:5.27 [[ 9.98849352e-01 2.35359685e-02 4.17855186e-02 6.43095209e+01] [-2.20621733e-02 9.99130096e-01 -3.53880225e-02 7.85792110e-01] [-4.25820606e-02 3.44254240e-02 9.98499704e-01 5.27043067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.001193817 meters Centerline goodness : 0.942418 with order 1 Centerline is valid? [False, False] Translation: X:64.33, Y:0.78, Z:5.27 [[ 9.98822422e-01 2.90732057e-02 3.88396419e-02 6.43322051e+01] [-2.77841503e-02 9.99058246e-01 -3.33266103e-02 7.80493466e-01] [-3.97719759e-02 3.22082391e-02 9.98689551e-01 5.26829096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.06119381699995 meters Centerline goodness : 0.941789 with order 1 Centerline is valid? [False, False] Translation: X:64.36, Y:0.78, Z:5.26 [[ 9.98676841e-01 3.59573693e-02 3.67645802e-02 6.43554742e+01] [-3.48434830e-02 9.98927187e-01 -3.05025693e-02 7.76323110e-01] [-3.78219308e-02 2.91812036e-02 9.98858328e-01 5.26436791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.12119381699995 meters Centerline goodness : 0.938430 with order 1 Centerline is valid? [False, False] Translation: X:64.38, Y:0.77, Z:5.26 [[ 9.98670407e-01 3.80779668e-02 3.47488997e-02 6.43784847e+01] [-3.69635555e-02 9.98798724e-01 -3.21683732e-02 7.73295349e-01] [-3.59320629e-02 3.08411595e-02 9.98878226e-01 5.26159699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.18119381699995 meters Centerline goodness : 0.939507 with order 1 Centerline is valid? [False, False] Translation: X:64.39, Y:0.77, Z:5.26 [[ 9.98895300e-01 3.46078165e-02 3.17880322e-02 6.43866190e+01] [-3.36959976e-02 9.99017499e-01 -2.87856988e-02 7.67111848e-01] [-3.27530106e-02 2.76827698e-02 9.99080029e-01 5.26463167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.24119381699995 meters Centerline goodness : 0.941508 with order 1 Centerline is valid? [False, False] Translation: X:64.39, Y:0.76, Z:5.27 [[ 9.99144647e-01 2.70025343e-02 3.13183220e-02 6.43865272e+01] [-2.59099921e-02 9.99059020e-01 -3.47814149e-02 7.60081108e-01] [-3.22280385e-02 3.39402071e-02 9.98904107e-01 5.26545787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.30119381699996 meters Centerline goodness : 0.945017 with order 1 Centerline is valid? [False, False] Translation: X:64.40, Y:0.75, Z:5.27 [[ 9.99242385e-01 2.36668541e-02 3.08955736e-02 6.43950482e+01] [-2.27968034e-02 9.99341868e-01 -2.82158844e-02 7.54069425e-01] [-3.15430215e-02 2.74901873e-02 9.99124280e-01 5.26912685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.36119381699996 meters Centerline goodness : 0.949049 with order 1 Centerline is valid? [False, False] Translation: X:64.41, Y:0.75, Z:5.27 [[ 9.99122032e-01 2.55464360e-02 3.32045808e-02 6.44135428e+01] [-2.45088997e-02 9.99209908e-01 -3.12869564e-02 7.49542335e-01] [-3.39776163e-02 3.04456797e-02 9.98958749e-01 5.26728332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.42119381699996 meters Centerline goodness : 0.954388 with order 1 Centerline is valid? [False, True] Translation: X:64.43, Y:0.75, Z:5.27 [[ 9.98876895e-01 2.86013296e-02 3.77745008e-02 6.44288624e+01] [-2.73326243e-02 9.99058641e-01 -3.36861780e-02 7.45898004e-01] [-3.87024109e-02 3.26158686e-02 9.98718343e-01 5.26666394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.48119381699996 meters Centerline goodness : 0.952235 with order 1 Centerline is valid? [True, True] Translation: X:64.49, Y:0.73, Z:5.28 [[ 9.98787248e-01 3.05991173e-02 3.85710773e-02 6.44917731e+01] [-3.05866630e-02 9.99531702e-01 -9.13087931e-04 7.27681299e-01] [-3.85809542e-02 -2.67779962e-04 9.99255442e-01 5.27838906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.54119381699996 meters Centerline goodness : 0.955409 with order 1 Centerline is valid? [True, True] Translation: X:64.55, Y:0.72, Z:5.27 [[ 9.98656544e-01 3.46035192e-02 3.85707715e-02 6.45525398e+01] [-3.45935580e-02 9.99401035e-01 -9.25825499e-04 7.22871844e-01] [-3.85797058e-02 -4.09718529e-04 9.99255442e-01 5.27075408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.60119381699997 meters Centerline goodness : 0.950507 with order 1 Centerline is valid? [True, True] Translation: X:64.61, Y:0.71, Z:5.27 [[ 9.98607926e-01 3.59795066e-02 3.85705269e-02 6.46142818e+01] [-3.59701820e-02 9.99352425e-01 -9.35906013e-04 7.14478306e-01] [-3.85792231e-02 -4.52785710e-04 9.99255442e-01 5.26531383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.66119381699997 meters Centerline goodness : 0.951377 with order 1 Centerline is valid? [True, True] Translation: X:64.68, Y:0.71, Z:5.26 [[ 9.98692799e-01 3.35414223e-02 3.85702690e-02 6.46759147e+01] [-3.35298741e-02 9.99437268e-01 -9.46417958e-04 7.07649510e-01] [-3.85803085e-02 -3.48075465e-04 9.99255442e-01 5.26245362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.72119381699997 meters Centerline goodness : 0.952760 with order 1 Centerline is valid? [True, True] Translation: X:64.74, Y:0.70, Z:5.26 [[ 9.98924205e-01 2.57446330e-02 3.85700115e-02 6.47375740e+01] [-2.57268731e-02 9.99668551e-01 -9.56797548e-04 7.00243219e-01] [-3.85818599e-02 -3.65175614e-05 9.99255442e-01 5.26032263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.781193817 meters Centerline goodness : 0.951200 with order 1 Centerline is valid? [True, True] Translation: X:64.80, Y:0.69, Z:5.25 [[ 9.99070391e-01 1.92543503e-02 3.85697338e-02 6.47984255e+01] [-1.92313277e-02 9.99814592e-01 -9.67864645e-04 6.92270554e-01] [-3.85812183e-02 2.25217719e-04 9.99255442e-01 5.25106639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.841193817 meters Centerline goodness : 0.958176 with order 1 Centerline is valid? [True, True] Translation: X:64.86, Y:0.68, Z:5.25 [[ 9.99213717e-01 9.18340492e-03 3.85695764e-02 6.48596145e+01] [-9.15264201e-03 9.99957639e-01 -9.74095631e-04 6.83861850e-01] [-3.85768881e-02 6.20316191e-04 9.99255442e-01 5.25332232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.901193817 meters Centerline goodness : 0.959384 with order 1 Centerline is valid? [True, True] Translation: X:64.92, Y:0.68, Z:5.25 [[ 9.99251981e-01 2.80523890e-03 3.85695402e-02 6.49211566e+01] [-2.76967292e-03 9.99995689e-01 -9.75527531e-04 6.81248203e-01] [-3.85721105e-02 8.67972807e-04 9.99255442e-01 5.25147308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.961193817 meters Centerline goodness : 0.960149 with order 1 Centerline is valid? [True, True] Translation: X:64.98, Y:0.68, Z:5.25 [[ 9.99251412e-01 -3.00418509e-03 3.85693055e-02 6.49835703e+01] [ 3.04442882e-03 9.99994881e-01 -9.84722967e-04 6.80822889e-01] [-3.85661497e-02 1.10140732e-03 9.99255442e-01 5.25100916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.021193817 meters Centerline goodness : 0.956923 with order 1 Centerline is valid? [True, True] Translation: X:65.05, Y:0.68, Z:5.26 [[ 9.99240314e-01 -5.58781781e-03 3.85690378e-02 6.50463695e+01] [ 5.63038374e-03 9.99983654e-01 -9.95097247e-04 6.82058327e-01] [-3.85628469e-02 1.21149977e-03 9.99255442e-01 5.25609001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.081193817 meters Centerline goodness : 0.958813 with order 1 Centerline is valid? [True, True] Translation: X:65.11, Y:0.69, Z:5.25 [[ 9.99200994e-01 -1.04799765e-02 3.85686895e-02 6.51072937e+01] [ 1.05266948e-02 9.99944084e-01 -1.00841799e-03 6.89245953e-01] [-3.85559647e-02 1.41361308e-03 9.99255442e-01 5.25168822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.141193817 meters Centerline goodness : 0.958878 with order 1 Centerline is valid? [True, True] Translation: X:65.17, Y:0.69, Z:5.25 [[ 9.99155676e-01 -1.41567165e-02 3.85684102e-02 6.51687204e+01] [ 1.42065763e-02 9.99898562e-01 -1.01898974e-03 6.94217798e-01] [-3.85500724e-02 1.56605444e-03 9.99255443e-01 5.24936195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.201193817 meters Centerline goodness : 0.962539 with order 1 Centerline is valid? [True, True] Translation: X:65.23, Y:0.71, Z:5.25 [[ 9.99024709e-01 -2.14971806e-02 3.85681354e-02 6.52311981e+01] [ 2.15528937e-02 9.99767180e-01 -1.02928847e-03 7.05837298e-01] [-3.85370291e-02 1.85953954e-03 9.99255443e-01 5.24637277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.261193817 meters Centerline goodness : 0.961911 with order 1 Centerline is valid? [True, True] Translation: X:65.29, Y:0.71, Z:5.24 [[ 9.98945064e-01 -2.49251822e-02 3.85680511e-02 6.52922516e+01] [ 2.49835639e-02 9.99687329e-01 -1.03243664e-03 7.13416744e-01] [-3.85302583e-02 1.99491485e-03 9.99255443e-01 5.24437602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.321193817 meters Centerline goodness : 0.960931 with order 1 Centerline is valid? [True, True] Translation: X:65.35, Y:0.73, Z:5.25 [[ 9.99029180e-01 -2.12886698e-02 3.85679882e-02 6.53547141e+01] [ 2.13444395e-02 9.99771646e-01 -1.03477940e-03 7.29097410e-01] [-3.85371520e-02 1.85698691e-03 9.99255443e-01 5.24557165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.381193817 meters Centerline goodness : 0.958705 with order 1 Centerline is valid? [True, True] Translation: X:65.42, Y:0.74, Z:5.24 [[ 9.99176133e-01 -1.26322137e-02 3.85679028e-02 6.54164454e+01] [ 1.26816708e-02 9.99919046e-01 -1.03795573e-03 7.42268598e-01] [-3.85516688e-02 1.52620604e-03 9.99255443e-01 5.23883073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.441193817 meters Centerline goodness : 0.951891 with order 1 Centerline is valid? [True, True] Translation: X:65.48, Y:0.76, Z:5.23 [[ 9.99251177e-01 3.10014205e-03 3.85677968e-02 6.54785822e+01] [-3.06223602e-03 9.99994769e-01 -1.04187655e-03 7.62740630e-01] [-3.85708250e-02 9.22992669e-04 9.99255443e-01 5.23482889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.501193817 meters Centerline goodness : 0.947725 with order 1 Centerline is valid? [True, False] Translation: X:65.51, Y:0.78, Z:5.23 [[ 9.99360416e-01 1.27880305e-02 3.33949874e-02 6.55081923e+01] [-1.24252905e-02 9.99861777e-01 -1.10471471e-02 7.77350525e-01] [-3.35316427e-02 1.06251391e-02 9.99381176e-01 5.23011738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.56119381699995 meters Centerline goodness : 0.941591 with order 1 Centerline is valid? [False, False] Translation: X:65.55, Y:0.80, Z:5.22 [[ 9.99265286e-01 2.04253902e-02 3.24297984e-02 6.55455736e+01] [-1.96985214e-02 9.99551020e-01 -2.25771082e-02 7.96555718e-01] [-3.28763844e-02 2.19217014e-02 9.99218986e-01 5.22395217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.62119381699995 meters Centerline goodness : 0.942676 with order 1 Centerline is valid? [False, False] Translation: X:65.58, Y:0.81, Z:5.22 [[ 9.99082159e-01 2.39925774e-02 3.54851458e-02 6.55804725e+01] [-2.27679101e-02 9.99144540e-01 -3.45226117e-02 8.12492882e-01] [-3.62830761e-02 3.36830028e-02 9.98773745e-01 5.22016694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.68119381699995 meters Centerline goodness : 0.945731 with order 1 Centerline is valid? [False, False] Translation: X:65.62, Y:0.82, Z:5.22 [[ 9.99026469e-01 2.58002795e-02 3.57835161e-02 6.56199803e+01] [-2.41684148e-02 9.98680574e-01 -4.53100211e-02 8.20060912e-01] [-3.69053137e-02 4.44010795e-02 9.98331880e-01 5.21602929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.74119381699995 meters Centerline goodness : 0.945984 with order 1 Centerline is valid? [False, False] Translation: X:65.66, Y:0.83, Z:5.21 [[ 9.98852584e-01 3.14392931e-02 3.61259664e-02 6.56589419e+01] [-2.95768393e-02 9.98261566e-01 -5.09809365e-02 8.28498579e-01] [-3.76659684e-02 4.98539483e-02 9.98046020e-01 5.21271811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.80119381699996 meters Centerline goodness : 0.945125 with order 1 Centerline is valid? [False, False] Translation: X:65.70, Y:0.83, Z:5.21 [[ 9.98783244e-01 3.53191293e-02 3.44178710e-02 6.57044380e+01] [-3.35399482e-02 9.98136962e-01 -5.09674205e-02 8.30936882e-01] [-3.61538741e-02 4.97510320e-02 9.98107075e-01 5.21124719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.86119381699996 meters Centerline goodness : 0.945492 with order 1 Centerline is valid? [False, False] Translation: X:65.73, Y:0.83, Z:5.21 [[ 9.98657402e-01 3.86126941e-02 3.45319180e-02 6.57257196e+01] [-3.68217912e-02 9.98015773e-01 -5.10751636e-02 8.28774900e-01] [-3.64355485e-02 4.97350631e-02 9.98097628e-01 5.20990486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.92119381699996 meters Centerline goodness : 0.941986 with order 1 Centerline is valid? [False, False] Translation: X:65.76, Y:0.82, Z:5.21 [[ 9.98862702e-01 3.68895909e-02 3.02069541e-02 6.57581710e+01] [-3.54602224e-02 9.98285858e-01 -4.65609100e-02 8.24366211e-01] [-3.18727880e-02 4.54368111e-02 9.98458623e-01 5.20951739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.98119381699996 meters Centerline goodness : 0.940631 with order 1 Centerline is valid? [False, False] Translation: X:65.77, Y:0.82, Z:5.21 [[ 9.99126525e-01 3.16665256e-02 2.72657066e-02 6.57700566e+01] [-3.04968988e-02 9.98639636e-01 -4.22944134e-02 8.17356795e-01] [-2.85679324e-02 4.14259508e-02 9.98733079e-01 5.21027075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.04119381699996 meters Centerline goodness : 0.939778 with order 1 Centerline is valid? [False, False] Translation: X:65.79, Y:0.81, Z:5.21 [[ 9.99187133e-01 3.16133338e-02 2.50134093e-02 6.57930698e+01] [-3.04903409e-02 9.98563038e-01 -4.40703748e-02 8.14202474e-01] [-2.63706775e-02 4.32718841e-02 9.98715240e-01 5.20831183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.10119381699997 meters Centerline goodness : 0.937748 with order 1 Centerline is valid? [False, False] Translation: X:65.82, Y:0.81, Z:5.21 [[ 9.99402125e-01 2.32747611e-02 2.55671421e-02 6.58156488e+01] [-2.23329922e-02 9.99083241e-01 -3.65228115e-02 8.06141044e-01] [-2.63937629e-02 3.59299847e-02 9.99005708e-01 5.20536398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.16119381699997 meters Centerline goodness : 0.938687 with order 1 Centerline is valid? [False, False] Translation: X:65.82, Y:0.80, Z:5.21 [[ 9.99479447e-01 2.00250359e-02 2.52949194e-02 6.58155986e+01] [-1.90255077e-02 9.99051970e-01 -3.91559945e-02 8.02562467e-01] [-2.60550392e-02 3.86543631e-02 9.98912897e-01 5.20585394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.22119381699997 meters Centerline goodness : 0.941153 with order 1 Centerline is valid? [False, False] Translation: X:65.84, Y:0.80, Z:5.21 [[ 9.99524790e-01 1.88574114e-02 2.43842520e-02 6.58435799e+01] [-1.80163366e-02 9.99250415e-01 -3.42639648e-02 7.96080834e-01] [-2.50121036e-02 3.38083673e-02 9.99115303e-01 5.20761800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.281193817 meters Centerline goodness : 0.943549 with order 1 Centerline is valid? [False, False] Translation: X:65.84, Y:0.79, Z:5.21 [[ 9.99515003e-01 1.91834195e-02 2.45306849e-02 6.58429226e+01] [-1.83804633e-02 9.99301098e-01 -3.25495708e-02 7.90955338e-01] [-2.51379524e-02 3.20828990e-02 9.99169040e-01 5.20835542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.341193817 meters Centerline goodness : 0.944966 with order 1 Centerline is valid? [False, False] Translation: X:65.84, Y:0.79, Z:5.21 [[ 9.99523172e-01 1.90818399e-02 2.42757489e-02 6.58430912e+01] [-1.83067912e-02 9.99327914e-01 -3.17581690e-02 7.87956931e-01] [-2.48654378e-02 3.12986147e-02 9.99200734e-01 5.20888924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.401193817 meters Centerline goodness : 0.942922 with order 1 Centerline is valid? [False, False] Translation: X:65.84, Y:0.78, Z:5.21 [[ 9.99556259e-01 1.79720053e-02 2.37548504e-02 6.58438659e+01] [-1.72287650e-02 9.99366823e-01 -3.11307324e-02 7.84196546e-01] [-2.42992911e-02 3.07076516e-02 9.99232998e-01 5.20969849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.461193817 meters Centerline goodness : 0.941528 with order 1 Centerline is valid? [False, False] Translation: X:65.85, Y:0.78, Z:5.21 [[ 9.99601492e-01 1.60479468e-02 2.32232605e-02 6.58460156e+01] [-1.52989358e-02 9.99368254e-01 -3.20785940e-02 7.82864241e-01] [-2.37233849e-02 3.17105192e-02 9.99215514e-01 5.20851695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.521193817 meters Centerline goodness : 0.944731 with order 1 Centerline is valid? [False, False] Translation: X:65.86, Y:0.78, Z:5.21 [[ 9.99681371e-01 7.73780802e-03 2.40267036e-02 6.58615096e+01] [-7.11491410e-03 9.99639136e-01 -2.59032055e-02 7.82985344e-01] [-2.42184672e-02 2.57240040e-02 9.99375676e-01 5.21118133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.581193817 meters Centerline goodness : 0.947134 with order 1 Centerline is valid? [False, False] Translation: X:65.89, Y:0.79, Z:5.21 [[ 9.99770065e-01 1.72299594e-04 2.14426675e-02 6.58930778e+01] [ 4.68068321e-04 9.99554113e-01 -2.98555888e-02 7.85679577e-01] [-2.14382506e-02 2.98587606e-02 9.99324200e-01 5.21042625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.641193817 meters Centerline goodness : 0.944204 with order 1 Centerline is valid? [False, False] Translation: X:65.93, Y:0.79, Z:5.21 [[ 9.99850873e-01 -4.28447923e-03 1.67294513e-02 6.59277650e+01] [ 4.76828120e-03 9.99568410e-01 -2.89872049e-02 7.87525490e-01] [-1.65980359e-02 2.90626528e-02 9.99439777e-01 5.20945535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.701193817 meters Centerline goodness : 0.938633 with order 1 Centerline is valid? [False, False] Translation: X:65.93, Y:0.80, Z:5.21 [[ 9.99851513e-01 -7.46783227e-03 1.55301016e-02 6.59321902e+01] [ 7.97444127e-03 9.99429492e-01 -3.28191906e-02 7.95096949e-01] [-1.52761533e-02 3.29381612e-02 9.99340641e-01 5.20698214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.761193817 meters Centerline goodness : 0.937703 with order 1 Centerline is valid? [False, False] Translation: X:65.96, Y:0.80, Z:5.21 [[ 9.99889148e-01 -6.55983586e-03 1.33663523e-02 6.59628196e+01] [ 6.96397777e-03 9.99513036e-01 -3.04170009e-02 8.01477361e-01] [-1.31603128e-02 3.05067121e-02 9.99447921e-01 5.20638379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.821193817 meters Centerline goodness : 0.938139 with order 1 Centerline is valid? [False, False] Translation: X:66.00, Y:0.82, Z:5.20 [[ 9.99895169e-01 1.94145850e-03 1.43485912e-02 6.60015353e+01] [-1.43069891e-03 9.99367891e-01 -3.55214215e-02 8.15973912e-01] [-1.44084847e-02 3.54971693e-02 9.99265904e-01 5.20233230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.881193817 meters Centerline goodness : 0.941583 with order 1 Centerline is valid? [False, False] Translation: X:66.04, Y:0.83, Z:5.20 [[ 9.99817449e-01 1.04405727e-02 1.60019797e-02 6.60391692e+01] [-9.79614246e-03 9.99158271e-01 -3.98344714e-02 8.27347116e-01] [-1.64044050e-02 3.96704419e-02 9.99078151e-01 5.19902801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.941193817 meters Centerline goodness : 0.944150 with order 1 Centerline is valid? [False, False] Translation: X:66.08, Y:0.85, Z:5.20 [[ 9.99580172e-01 2.34432847e-02 1.70261912e-02 6.60768769e+01] [-2.26941538e-02 9.98820137e-01 -4.29337738e-02 8.45417107e-01] [-1.80126113e-02 4.25293540e-02 9.98932831e-01 5.19660541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.001193817 meters Centerline goodness : 0.943477 with order 1 Centerline is valid? [False, False] Translation: X:66.12, Y:0.86, Z:5.19 [[ 9.99358260e-01 3.20176265e-02 1.60604785e-02 6.61179239e+01] [-3.12442317e-02 9.98439204e-01 -4.62920535e-02 8.55405834e-01] [-1.75175730e-02 4.57605488e-02 9.98798832e-01 5.19373274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.06119381699995 meters Centerline goodness : 0.942102 with order 1 Centerline is valid? [False, False] Translation: X:66.18, Y:0.87, Z:5.19 [[ 9.99041747e-01 4.11877551e-02 1.48039236e-02 6.61813832e+01] [-4.00698254e-02 9.96797749e-01 -6.92001159e-02 8.71578919e-01] [-1.76067152e-02 6.85406141e-02 9.97492951e-01 5.19124924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.12119381699995 meters Centerline goodness : 0.944334 with order 1 Centerline is valid? [False, False] Translation: X:66.21, Y:0.88, Z:5.19 [[ 9.99034815e-01 4.06046053e-02 1.67542601e-02 6.62078278e+01] [-3.94095785e-02 9.97016707e-01 -6.63669421e-02 8.75182278e-01] [-1.93990807e-02 6.56426074e-02 9.97654611e-01 5.19304426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.18119381699995 meters Centerline goodness : 0.948649 with order 1 Centerline is valid? [False, False] Translation: X:66.23, Y:0.88, Z:5.20 [[ 9.99139551e-01 3.67687936e-02 1.91888707e-02 6.62329224e+01] [-3.54197699e-02 9.97160860e-01 -6.64504332e-02 8.79872582e-01] [-2.15776931e-02 6.57135906e-02 9.97605196e-01 5.19532573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.24119381699995 meters Centerline goodness : 0.948598 with order 1 Centerline is valid? [False, False] Translation: X:66.25, Y:0.88, Z:5.19 [[ 9.99425683e-01 2.93008114e-02 1.70225540e-02 6.62525406e+01] [-2.82369175e-02 9.97817235e-01 -5.96945724e-02 8.77476547e-01] [-1.87344972e-02 5.91796243e-02 9.98071536e-01 5.19485974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.30119381699996 meters Centerline goodness : 0.948951 with order 1 Centerline is valid? [False, False] Translation: X:66.29, Y:0.88, Z:5.19 [[ 9.99609930e-01 2.39523413e-02 1.43621892e-02 6.62933002e+01] [-2.31870412e-02 9.98415469e-01 -5.12729252e-02 8.77162180e-01] [-1.55675385e-02 5.09199085e-02 9.98581401e-01 5.19397191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.36119381699996 meters Centerline goodness : 0.944819 with order 1 Centerline is valid? [False, False] Translation: X:66.32, Y:0.88, Z:5.19 [[ 9.99671899e-01 2.24038464e-02 1.24162050e-02 6.63236963e+01] [-2.17858295e-02 9.98616697e-01 -4.78546842e-02 8.76929284e-01] [-1.34711586e-02 4.75684857e-02 9.98777136e-01 5.19440768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.42119381699996 meters Centerline goodness : 0.946118 with order 1 Centerline is valid? [False, False] Translation: X:66.35, Y:0.87, Z:5.19 [[ 9.99724271e-01 2.17512826e-02 8.84668280e-03 6.63548827e+01] [-2.13598161e-02 9.98882205e-01 -4.21675144e-02 8.73538213e-01] [-9.75399155e-03 4.19669241e-02 9.99071387e-01 5.19462905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.48119381699996 meters Centerline goodness : 0.947851 with order 1 Centerline is valid? [False, False] Translation: X:66.38, Y:0.87, Z:5.20 [[ 9.99754781e-01 1.99103557e-02 9.69304619e-03 6.63832215e+01] [-1.95177933e-02 9.99047171e-01 -3.90359522e-02 8.72112027e-01] [-1.04610301e-02 3.88371930e-02 9.99190792e-01 5.19522493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.54119381699996 meters Centerline goodness : 0.948311 with order 1 Centerline is valid? [False, False] Translation: X:66.41, Y:0.87, Z:5.20 [[ 9.99823683e-01 1.75738561e-02 6.61530663e-03 6.64129486e+01] [-1.73160843e-02 9.99158136e-01 -3.71910356e-02 8.69462188e-01] [-7.26332735e-03 3.70699270e-02 9.99286278e-01 5.19520425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.60119381699997 meters Centerline goodness : 0.945916 with order 1 Centerline is valid? [False, False] Translation: X:66.44, Y:0.87, Z:5.19 [[ 9.99841234e-01 1.77479050e-02 1.58731866e-03 6.64446794e+01] [-1.76878696e-02 9.99328636e-01 -3.20845238e-02 8.65822095e-01] [-2.15568607e-03 3.20513536e-02 9.99483899e-01 5.19487580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.66119381699997 meters Centerline goodness : 0.944929 with order 1 Centerline is valid? [False, False] Translation: X:66.48, Y:0.86, Z:5.19 [[ 9.99720460e-01 2.35481807e-02 2.11796734e-03 6.64823973e+01] [-2.34619253e-02 9.99138196e-01 -3.42403782e-02 8.62771442e-01] [-2.92244068e-03 3.41811150e-02 9.99411382e-01 5.19411292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.72119381699997 meters Centerline goodness : 0.945642 with order 1 Centerline is valid? [False, False] Translation: X:66.52, Y:0.86, Z:5.19 [[ 9.99587986e-01 2.86225054e-02 2.14735706e-03 6.65209527e+01] [-2.85206965e-02 9.98874928e-01 -3.78872968e-02 8.61529194e-01] [-3.22937049e-03 3.78104426e-02 9.99279711e-01 5.19161009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.781193817 meters Centerline goodness : 0.944811 with order 1 Centerline is valid? [False, False] Translation: X:66.57, Y:0.86, Z:5.19 [[ 9.99187209e-01 4.02830757e-02 1.48193154e-03 6.65695590e+01] [-4.01714908e-02 9.98121302e-01 -4.62614178e-02 8.60615193e-01] [-3.34269964e-03 4.61642856e-02 9.98928268e-01 5.18920451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.841193817 meters Centerline goodness : 0.941536 with order 1 Centerline is valid? [False, False] Translation: X:66.62, Y:0.86, Z:5.18 [[ 9.98812137e-01 4.86134789e-02 3.32349377e-03 6.66198945e+01] [-4.82280983e-02 9.96019183e-01 -7.49655768e-02 8.62313252e-01] [-6.95460104e-03 7.47162421e-02 9.97180584e-01 5.18455587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.901193817 meters Centerline goodness : 0.942046 with order 1 Centerline is valid? [False, False] Translation: X:66.65, Y:0.86, Z:5.18 [[ 9.98585086e-01 5.31338769e-02 2.14854406e-03 6.66492461e+01] [-5.27656558e-02 9.95063510e-01 -8.40499613e-02 8.58445540e-01] [-6.60383809e-03 8.38176685e-02 9.96459225e-01 5.18404788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.961193817 meters Centerline goodness : 0.943926 with order 1 Centerline is valid? [False, False] Translation: X:66.65, Y:0.85, Z:5.18 [[ 9.98407941e-01 5.63794572e-02 1.71484635e-03 6.66486105e+01] [-5.60652049e-02 9.95259904e-01 -7.94632960e-02 8.48360819e-01] [-6.18681531e-03 7.92406425e-02 9.96836318e-01 5.18487045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.021193817 meters Centerline goodness : 0.940563 with order 1 Centerline is valid? [False, False] Translation: X:66.64, Y:0.83, Z:5.19 [[ 9.98618405e-01 5.25426024e-02 7.46312392e-04 6.66403714e+01] [-5.24007358e-02 9.96783408e-01 -6.06382793e-02 8.32175332e-01] [-3.93000481e-03 6.05153944e-02 9.98159527e-01 5.18659081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.081193817 meters Centerline goodness : 0.940489 with order 1 Centerline is valid? [False, False] Translation: X:66.65, Y:0.82, Z:5.19 [[ 9.98960447e-01 4.54584803e-02 3.39881211e-03 6.66506065e+01] [-4.52045494e-02 9.97475235e-01 -5.47695614e-02 8.17090847e-01] [-5.87997194e-03 5.45589838e-02 9.98493236e-01 5.18562220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.141193817 meters Centerline goodness : 0.944071 with order 1 Centerline is valid? [False, False] Translation: X:66.66, Y:0.79, Z:5.19 [[ 9.99453391e-01 3.28434589e-02 3.77181566e-03 6.66585181e+01] [-3.26321732e-02 9.98379023e-01 -4.66311952e-02 7.94533522e-01] [-5.29723138e-03 4.64826237e-02 9.98905053e-01 5.18837422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.201193817 meters Centerline goodness : 0.945082 with order 1 Centerline is valid? [False, False] Translation: X:66.67, Y:0.77, Z:5.19 [[ 9.99785125e-01 2.06194102e-02 2.13149502e-03 6.66677734e+01] [-2.05149968e-02 9.98951969e-01 -4.09157603e-02 7.72790992e-01] [-2.97291999e-03 4.08632410e-02 9.99160326e-01 5.19258247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.261193817 meters Centerline goodness : 0.950144 with order 1 Centerline is valid? [False, True] Translation: X:66.69, Y:0.76, Z:5.19 [[ 9.99932241e-01 1.01862848e-02 5.63490207e-03 6.66930317e+01] [-9.99549026e-03 9.99408334e-01 -3.29100608e-02 7.61043793e-01] [-5.96679934e-03 3.28515072e-02 9.99442432e-01 5.19200933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.321193817 meters Centerline goodness : 0.949542 with order 1 Centerline is valid? [True, False] Translation: X:66.71, Y:0.75, Z:5.19 [[ 9.99998853e-01 -1.47307420e-03 3.53150537e-04 6.67064673e+01] [ 1.48459103e-03 9.99379333e-01 -3.51958129e-02 7.52198915e-01] [-3.01085304e-04 3.51962968e-02 9.99380373e-01 5.19154874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.381193817 meters Centerline goodness : 0.949564 with order 1 Centerline is valid? [False, False] Translation: X:66.71, Y:0.75, Z:5.19 [[ 9.99975820e-01 -6.95037476e-03 -2.27953679e-04 6.67089314e+01] [ 6.93597939e-03 9.99198067e-01 -3.94349601e-02 7.48503802e-01] [ 5.01858627e-04 3.94324254e-02 9.99222113e-01 5.19004276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.441193817 meters Centerline goodness : 0.949710 with order 1 Centerline is valid? [False, False] Translation: X:66.72, Y:0.75, Z:5.19 [[ 9.99893847e-01 -1.45063448e-02 -1.36398545e-03 6.67213130e+01] [ 1.44492237e-02 9.99273242e-01 -3.52733198e-02 7.45608304e-01] [ 1.87468110e-03 3.52498669e-02 9.99376772e-01 5.19355595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.501193817 meters Centerline goodness : 0.954568 with order 1 Centerline is valid? [False, True] Translation: X:66.73, Y:0.75, Z:5.20 [[ 9.99804879e-01 -1.91893074e-02 -4.68762655e-03 6.67298103e+01] [ 1.90095663e-02 9.99179075e-01 -3.57744547e-02 7.49278779e-01] [ 5.37026537e-03 3.56783646e-02 9.99348895e-01 5.19520311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.56119381699995 meters Centerline goodness : 0.953613 with order 1 Centerline is valid? [True, True] Translation: X:66.79, Y:0.74, Z:5.20 [[ 9.99777094e-01 -2.07842641e-02 -3.71169871e-03 6.67871893e+01] [ 2.07847828e-02 9.99783968e-01 1.01217111e-04 7.38172705e-01] [ 3.70879314e-03 -1.78341401e-04 9.99993107e-01 5.20498403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.62119381699995 meters Centerline goodness : 0.955096 with order 1 Centerline is valid? [True, True] Translation: X:66.85, Y:0.75, Z:5.21 [[ 9.99773420e-01 -2.09602202e-02 -3.71173161e-03 6.68461575e+01] [ 2.09607356e-02 9.99780295e-01 9.99958302e-05 7.51543247e-01] [ 3.70882019e-03 -1.77773798e-04 9.99993107e-01 5.20713915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.68119381699995 meters Centerline goodness : 0.956270 with order 1 Centerline is valid? [True, True] Translation: X:66.90, Y:0.77, Z:5.21 [[ 9.99714769e-01 -2.35924447e-02 -3.71176026e-03 6.69039088e+01] [ 2.35929742e-02 9.99721642e-01 9.89208076e-05 7.67723457e-01] [ 3.70839328e-03 -1.86464056e-04 9.99993107e-01 5.20720305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.74119381699995 meters Centerline goodness : 0.954008 with order 1 Centerline is valid? [True, True] Translation: X:66.96, Y:0.78, Z:5.20 [[ 9.99599927e-01 -2.80394040e-02 -3.71177226e-03 6.69618793e+01] [ 2.80399623e-02 9.99606798e-01 9.84686215e-05 7.79254100e-01] [ 3.70755178e-03 -2.02507181e-04 9.99993107e-01 5.20151851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.80119381699996 meters Centerline goodness : 0.957449 with order 1 Centerline is valid? [True, True] Translation: X:67.02, Y:0.80, Z:5.20 [[ 9.99298519e-01 -3.72651725e-02 -3.71178200e-03 6.70214491e+01] [ 3.72657929e-02 9.99305384e-01 9.81000015e-05 7.96502191e-01] [ 3.70554803e-03 -2.36353686e-04 9.99993107e-01 5.20355742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.86119381699996 meters Centerline goodness : 0.959721 with order 1 Centerline is valid? [True, True] Translation: X:67.08, Y:0.81, Z:5.20 [[ 9.99125266e-01 -4.16524457e-02 -3.71180854e-03 6.70802526e+01] [ 4.16530925e-02 9.99132129e-01 9.70856223e-05 8.09345864e-01] [ 3.70454331e-03 -2.51609002e-04 9.99993107e-01 5.20369043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.92119381699996 meters Centerline goodness : 0.957447 with order 1 Centerline is valid? [True, True] Translation: X:67.14, Y:0.83, Z:5.20 [[ 9.98956135e-01 -4.55287060e-02 -3.71183467e-03 6.71402497e+01] [ 4.55293757e-02 9.98962996e-01 9.60757542e-05 8.34075571e-01] [ 3.70361128e-03 -2.64972979e-04 9.99993107e-01 5.19814494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.98119381699996 meters Centerline goodness : 0.951390 with order 1 Centerline is valid? [True, True] Translation: X:67.20, Y:0.85, Z:5.19 [[ 9.98970582e-01 -4.52106022e-02 -3.71185855e-03 6.72003722e+01] [ 4.52112663e-02 9.98977443e-01 9.51443275e-05 8.47565130e-01] [ 3.70376143e-03 -2.62864209e-04 9.99993107e-01 5.19393445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.04119381699996 meters Centerline goodness : 0.949867 with order 1 Centerline is valid? [True, False] Translation: X:67.22, Y:0.87, Z:5.19 [[ 9.99047064e-01 -4.36296608e-02 -1.19037889e-03 6.72184748e+01] [ 4.36186185e-02 9.99015371e-01 -8.10583878e-03 8.67757317e-01] [ 1.54286181e-03 8.04619175e-03 9.99966439e-01 5.18956747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.10119381699997 meters Centerline goodness : 0.952238 with order 1 Centerline is valid? [False, True] Translation: X:67.25, Y:0.90, Z:5.19 [[ 9.99239044e-01 -3.88714392e-02 3.21623295e-03 6.72502885e+01] [ 3.89239562e-02 9.99074498e-01 -1.83050071e-02 8.99385582e-01] [-2.50171435e-03 1.84162663e-02 9.99827276e-01 5.18707434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.16119381699997 meters Centerline goodness : 0.954816 with order 1 Centerline is valid? [True, True] Translation: X:67.31, Y:0.91, Z:5.19 [[ 9.99255584e-01 -3.84018269e-02 3.68469429e-03 6.73103191e+01] [ 3.84024360e-02 9.99262350e-01 -9.46650256e-05 9.06850400e-01] [-3.67834097e-03 2.36095792e-04 9.99993207e-01 5.19436375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.22119381699997 meters Centerline goodness : 0.957616 with order 1 Centerline is valid? [True, True] Translation: X:67.37, Y:0.93, Z:5.20 [[ 9.99113416e-01 -4.19381087e-02 3.68469819e-03 6.73692711e+01] [ 4.19387411e-02 9.99120179e-01 -9.45132337e-05 9.33320810e-01] [-3.67749261e-03 2.48961043e-04 9.99993207e-01 5.19644056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.281193817 meters Centerline goodness : 0.953007 with order 1 Centerline is valid? [True, True] Translation: X:67.43, Y:0.96, Z:5.19 [[ 9.98812923e-01 -4.85712615e-02 3.68470710e-03 6.74290077e+01] [ 4.85719376e-02 9.98819682e-01 -9.41644932e-05 9.58356656e-01] [-3.67578429e-03 2.73026076e-04 9.99993207e-01 5.19203408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.341193817 meters Centerline goodness : 0.950597 with order 1 Centerline is valid? [True, True] Translation: X:67.49, Y:0.97, Z:5.19 [[ 9.98619104e-01 -5.24052271e-02 3.68471249e-03 6.74881353e+01] [ 5.24059283e-02 9.98625861e-01 -9.39531802e-05 9.73211919e-01] [-3.67472554e-03 2.86924219e-04 9.99993207e-01 5.19121460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.401193817 meters Centerline goodness : 0.952344 with order 1 Centerline is valid? [True, True] Translation: X:67.55, Y:1.00, Z:5.19 [[ 9.98629419e-01 -5.22082991e-02 3.68473756e-03 6.75485102e+01] [ 5.22089954e-02 9.98636176e-01 -9.29592936e-05 9.97759808e-01] [-3.67485898e-03 2.85208332e-04 9.99993207e-01 5.19078185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.461193817 meters Centerline goodness : 0.952035 with order 1 Centerline is valid? [True, True] Translation: X:67.61, Y:1.01, Z:5.19 [[ 9.98859679e-01 -4.76000552e-02 3.68474106e-03 6.76083315e+01] [ 4.76007197e-02 9.98866439e-01 -9.28203811e-05 1.01335581e+00] [-3.67614593e-03 2.68110863e-04 9.99993207e-01 5.18965119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.521193817 meters Centerline goodness : 0.953997 with order 1 Centerline is valid? [True, True] Translation: X:67.67, Y:1.04, Z:5.19 [[ 9.99295625e-01 -3.73453771e-02 3.68474450e-03 6.76688857e+01] [ 3.73459717e-02 9.99302392e-01 -9.26835149e-05 1.03782865e+00] [-3.67871269e-03 2.30228595e-04 9.99993207e-01 5.18917654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.581193817 meters Centerline goodness : 0.948568 with order 1 Centerline is valid? [True, False] Translation: X:67.67, Y:1.05, Z:5.19 [[ 9.99481859e-01 -3.19509029e-02 3.89274948e-03 6.76677264e+01] [ 3.19421494e-02 9.99487095e-01 2.29046170e-03 1.05086374e+00] [-3.96393519e-03 -2.16493213e-03 9.99989800e-01 5.19012205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.641193817 meters Centerline goodness : 0.952617 with order 1 Centerline is valid? [False, True] Translation: X:67.67, Y:1.06, Z:5.19 [[ 9.99627104e-01 -2.69902342e-02 4.14478307e-03 6.76668505e+01] [ 2.69674592e-02 9.99621423e-01 5.45582310e-03 1.06244288e+00] [-4.29046790e-03 -5.34201438e-03 9.99976527e-01 5.19006074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.701193817 meters Centerline goodness : 0.954623 with order 1 Centerline is valid? [True, True] Translation: X:67.73, Y:1.08, Z:5.19 [[ 9.99674496e-01 -2.51987520e-02 3.99065528e-03 6.77292408e+01] [ 2.51993935e-02 9.99682439e-01 -1.10542152e-04 1.08156264e+00] [-3.98660248e-03 2.11068263e-04 9.99992031e-01 5.18787844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.761193817 meters Centerline goodness : 0.956469 with order 1 Centerline is valid? [True, True] Translation: X:67.79, Y:1.10, Z:5.19 [[ 9.99798237e-01 -1.96865519e-02 3.99064620e-03 6.77911520e+01] [ 1.96871509e-02 9.99806183e-01 -1.10869025e-04 1.09573494e+00] [-3.98769012e-03 1.89411110e-04 9.99992031e-01 5.18661366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.821193817 meters Centerline goodness : 0.955946 with order 1 Centerline is valid? [True, True] Translation: X:67.85, Y:1.10, Z:5.19 [[ 9.99849457e-01 -1.68860398e-02 3.99063950e-03 6.78531589e+01] [ 1.68866175e-02 9.99857405e-01 -1.11109651e-04 1.09896959e+00] [-3.98819425e-03 1.78481327e-04 9.99992031e-01 5.18675592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.881193817 meters Centerline goodness : 0.957090 with order 1 Centerline is valid? [True, True] Translation: X:67.92, Y:1.11, Z:5.19 [[ 9.99936808e-01 -1.05097527e-02 3.99063065e-03 6.79159720e+01] [ 1.05102810e-02 9.99944759e-01 -1.11426715e-04 1.10519676e+00] [-3.98923913e-03 1.53362323e-04 9.99992031e-01 5.18519032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.941193817 meters Centerline goodness : 0.961390 with order 1 Centerline is valid? [True, True] Translation: X:67.98, Y:1.11, Z:5.19 [[ 9.99968099e-01 -6.91917679e-03 3.99062194e-03 6.79784490e+01] [ 6.91967773e-03 9.99976053e-01 -1.11737645e-04 1.11498465e+00] [-3.98975324e-03 1.39347898e-04 9.99992031e-01 5.18716768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.001193817 meters Centerline goodness : 0.960393 with order 1 Centerline is valid? [True, True] Translation: X:68.04, Y:1.12, Z:5.19 [[ 9.99960763e-01 -7.90864826e-03 3.99061333e-03 6.80402435e+01] [ 7.90915830e-03 9.99968716e-01 -1.12044326e-04 1.11937328e+00] [-3.98960237e-03 1.43602322e-04 9.99992031e-01 5.19048774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.06119381699995 meters Centerline goodness : 0.959723 with order 1 Centerline is valid? [True, True] Translation: X:68.10, Y:1.12, Z:5.19 [[ 9.99947771e-01 -9.40905537e-03 3.99060648e-03 6.81012683e+01] [ 9.40957831e-03 9.99955723e-01 -1.12287827e-04 1.12369588e+00] [-3.98937326e-03 1.49831887e-04 9.99992031e-01 5.18622344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.12119381699995 meters Centerline goodness : 0.953433 with order 1 Centerline is valid? [True, True] Translation: X:68.16, Y:1.13, Z:5.18 [[ 9.99952724e-01 -8.86702251e-03 3.99059974e-03 6.81637620e+01] [ 8.86754209e-03 9.99960676e-01 -1.12526759e-04 1.12673084e+00] [-3.98944504e-03 1.47908251e-04 9.99992031e-01 5.18376766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.18119381699995 meters Centerline goodness : 0.954811 with order 1 Centerline is valid? [True, True] Translation: X:68.22, Y:1.13, Z:5.18 [[ 9.99975324e-01 -5.78151667e-03 3.99059047e-03 6.82247068e+01] [ 5.78201302e-03 9.99983278e-01 -1.12854654e-04 1.12750883e+00] [-3.98987127e-03 1.35925515e-04 9.99992031e-01 5.17957179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.24119381699995 meters Centerline goodness : 0.955370 with order 1 Centerline is valid? [True, True] Translation: X:68.29, Y:1.13, Z:5.18 [[ 9.99991350e-01 -1.17288646e-03 3.99058360e-03 6.82857245e+01] [ 1.17334712e-03 9.99999305e-01 -1.13097024e-04 1.12659665e+00] [-3.99044818e-03 1.17778385e-04 9.99992031e-01 5.17794390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.30119381699996 meters Centerline goodness : 0.952742 with order 1 Centerline is valid? [True, True] Translation: X:68.35, Y:1.12, Z:5.18 [[ 9.99978074e-01 5.28464121e-03 3.99057690e-03 6.83466558e+01] [-5.28423099e-03 9.99986032e-01 -1.13332937e-04 1.12437881e+00] [-3.99112008e-03 9.22433219e-05 9.99992031e-01 5.17528087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.36119381699996 meters Centerline goodness : 0.951944 with order 1 Centerline is valid? [True, True] Translation: X:68.41, Y:1.12, Z:5.18 [[ 9.99978515e-01 5.20042428e-03 3.99057248e-03 6.84073018e+01] [-5.20001278e-03 9.99986473e-01 -1.13488241e-04 1.11667478e+00] [-3.99110869e-03 9.27347751e-05 9.99992031e-01 5.17838758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.42119381699996 meters Centerline goodness : 0.952312 with order 1 Centerline is valid? [True, True] Translation: X:68.47, Y:1.11, Z:5.18 [[ 9.99990437e-01 -1.78919056e-03 3.99057013e-03 6.84683025e+01] [ 1.78965801e-03 9.99998392e-01 -1.13571040e-04 1.10546388e+00] [-3.99036051e-03 1.20711710e-04 9.99992031e-01 5.17645585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.48119381699996 meters Centerline goodness : 0.948216 with order 1 Centerline is valid? [True, False] Translation: X:68.43, Y:1.02, Z:5.19 [[ 9.99842590e-01 -1.59020829e-02 -7.86886792e-03 6.84256856e+01] [ 1.72851007e-02 9.73081741e-01 2.29811119e-01 1.01990291e+00] [ 4.00257625e-03 -2.29910958e-01 9.73203437e-01 5.18835902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.54119381699996 meters Centerline goodness : 0.946320 with order 1 Centerline is valid? [False, False] Translation: X:68.40, Y:0.95, Z:5.22 [[ 9.99331183e-01 -3.06297978e-02 -1.99750633e-02 6.83960942e+01] [ 3.61546446e-02 9.09468619e-01 4.14197625e-01 9.51945783e-01] [ 5.47990372e-03 -4.14642794e-01 9.09967760e-01 5.22039286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.60119381699997 meters Centerline goodness : 0.945625 with order 1 Centerline is valid? [False, False] Translation: X:68.38, Y:0.97, Z:5.22 [[ 9.99217244e-01 -3.31233212e-02 -2.16274051e-02 6.83770977e+01] [ 3.86712384e-02 9.33052208e-01 3.57656417e-01 9.72785357e-01] [ 8.33272974e-03 -3.58212818e-01 9.33602776e-01 5.21926160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.66119381699997 meters Centerline goodness : 0.944188 with order 1 Centerline is valid? [False, False] Translation: X:68.36, Y:0.99, Z:5.22 [[ 9.99220579e-01 -3.17116002e-02 -2.35076426e-02 6.83575461e+01] [ 3.74087367e-02 9.50832109e-01 3.07439243e-01 9.92982797e-01] [ 1.26024311e-02 -3.08079009e-01 9.51277301e-01 5.21991189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.72119381699997 meters Centerline goodness : 0.941641 with order 1 Centerline is valid? [False, False] Translation: X:68.34, Y:1.01, Z:5.22 [[ 9.99425087e-01 -2.15989216e-02 -2.61339279e-02 6.83360440e+01] [ 2.77648507e-02 9.63776293e-01 2.65262833e-01 1.00938800e+00] [ 1.94578690e-02 -2.65835934e-01 9.63821896e-01 5.22018748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.781193817 meters Centerline goodness : 0.943296 with order 1 Centerline is valid? [False, False] Translation: X:68.34, Y:1.00, Z:5.25 [[ 9.98920383e-01 -1.04084355e-02 -4.52739655e-02 6.83401271e+01] [ 2.48943751e-02 9.42765346e-01 3.32526348e-01 9.99507450e-01] [ 3.92216467e-02 -3.33294414e-01 9.42006633e-01 5.24801656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.841193817 meters Centerline goodness : 0.943047 with order 1 Centerline is valid? [False, False] Translation: X:68.35, Y:1.01, Z:5.25 [[ 9.98894211e-01 -3.38353079e-03 -4.68925082e-02 6.83508181e+01] [ 1.75562991e-02 9.52100233e-01 3.05281709e-01 1.01422324e+00] [ 4.36134379e-02 -3.05767391e-01 9.51106813e-01 5.25237257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.901193817 meters Centerline goodness : 0.950630 with order 1 Centerline is valid? [False, True] Translation: X:68.37, Y:0.95, Z:5.29 [[ 9.98932343e-01 2.01658580e-03 -4.61530821e-02 6.83741872e+01] [ 1.97286840e-02 8.84742234e-01 4.65662923e-01 9.52285293e-01] [ 4.17726302e-02 -4.66076295e-01 8.83757849e-01 5.28832145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.961193817 meters Centerline goodness : 0.949561 with order 1 Centerline is valid? [True, False] Translation: X:68.40, Y:0.90, Z:5.34 [[ 9.98998128e-01 5.02473553e-03 -4.44690076e-02 6.84005270e+01] [ 2.35159023e-02 7.86490494e-01 6.17154522e-01 9.00930344e-01] [ 3.80754900e-02 -6.17581941e-01 7.85584370e-01 5.33583063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.021193817 meters Centerline goodness : 0.946810 with order 1 Centerline is valid? [False, False] Translation: X:68.43, Y:0.85, Z:5.40 [[ 9.98727044e-01 8.84179843e-03 -4.96599940e-02 6.84258341e+01] [ 3.20061420e-02 6.49849532e-01 7.59388696e-01 8.51323181e-01] [ 3.89858857e-02 -7.60011453e-01 6.48739310e-01 5.39692239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.081193817 meters Centerline goodness : 0.941080 with order 1 Centerline is valid? [False, False] Translation: X:68.46, Y:0.83, Z:5.45 [[ 9.98347570e-01 1.03543203e-02 -5.65235946e-02 6.84583584e+01] [ 4.24310049e-02 5.30506107e-01 8.46618498e-01 8.28404139e-01] [ 3.87522712e-02 -8.47617873e-01 5.29190139e-01 5.45057316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.141193817 meters Centerline goodness : 0.939223 with order 1 Centerline is valid? [False, False] Translation: X:68.50, Y:0.84, Z:5.49 [[ 9.97533398e-01 7.12096768e-03 -6.98313119e-02 6.84993085e+01] [ 5.79554219e-02 4.77713787e-01 8.76601795e-01 8.42182006e-01] [ 3.96016335e-02 -8.78486670e-01 4.76122758e-01 5.48613954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.201193817 meters Centerline goodness : 0.934966 with order 1 Centerline is valid? [False, False] Translation: X:68.19, Y:2.42, Z:5.72 [[ 9.68337784e-01 -8.01346397e-02 2.36432603e-01 6.81881166e+01] [ 2.47762013e-01 1.92428975e-01 -9.49518338e-01 2.42354785e+00] [ 3.05928264e-02 9.78033501e-01 2.06190567e-01 5.72026622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.261193817 meters Centerline goodness : 0.935099 with order 1 Centerline is valid? [False, False] Translation: X:68.13, Y:2.39, Z:5.68 [[ 9.68273594e-01 -1.11654500e-01 2.23561000e-01 6.81347594e+01] [ 2.46481701e-01 2.79423422e-01 -9.27992092e-01 2.39400174e+00] [ 4.11463130e-02 9.53653933e-01 2.98079112e-01 5.68235772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.321193817 meters Centerline goodness : 0.936366 with order 1 Centerline is valid? [False, False] Translation: X:68.07, Y:2.36, Z:5.65 [[ 9.67955432e-01 -1.38214709e-01 2.09663961e-01 6.80681181e+01] [ 2.46253619e-01 3.58820534e-01 -9.00337148e-01 2.36117728e+00] [ 4.92081022e-02 9.23116742e-01 3.81358157e-01 5.65133592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.381193817 meters Centerline goodness : 0.935424 with order 1 Centerline is valid? [False, False] Translation: X:68.00, Y:2.32, Z:5.62 [[ 9.67011544e-01 -1.67494205e-01 1.91922808e-01 6.79963046e+01] [ 2.47368322e-01 4.37604219e-01 -8.64471782e-01 2.32198013e+00] [ 6.08077833e-02 8.83429816e-01 4.64601092e-01 5.62061101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.441193817 meters Centerline goodness : 0.936789 with order 1 Centerline is valid? [False, False] Translation: X:67.92, Y:2.28, Z:5.60 [[ 0.96598069 -0.19325188 0.17185757 67.92201299] [ 0.24894922 0.51488732 -0.82031417 2.28135788] [ 0.07003997 0.83519145 0.54548111 5.59660826] [ 0. 0. 0. 1. ]] SLAMing on 267.501193817 meters Centerline goodness : 0.937162 with order 1 Centerline is valid? [False, False] Translation: X:67.85, Y:2.24, Z:5.57 [[ 0.96388923 -0.22040658 0.14946065 67.8484813 ] [ 0.25345244 0.58702368 -0.76887259 2.23772957] [ 0.08172764 0.77898918 0.62168839 5.57314739] [ 0. 0. 0. 1. ]] SLAMing on 267.56119381699995 meters Centerline goodness : 0.934944 with order 1 Centerline is valid? [False, False] Translation: X:67.79, Y:2.20, Z:5.56 [[ 0.96167679 -0.24371769 0.12561625 67.79447386] [ 0.25846366 0.65289016 -0.71199086 2.20088704] [ 0.09151116 0.71717231 0.69086148 5.55589488] [ 0. 0. 0. 1. ]] SLAMing on 267.62119381699995 meters Centerline goodness : 0.938983 with order 1 Centerline is valid? [False, False] Translation: X:67.73, Y:2.16, Z:5.54 [[ 0.95822247 -0.2671962 0.10205824 67.7336268 ] [ 0.26778901 0.71271318 -0.64832782 2.16281231] [ 0.10049248 0.64857237 0.75448999 5.54204447] [ 0. 0. 0. 1. ]] SLAMing on 267.68119381699995 meters Centerline goodness : 0.940061 with order 1 Centerline is valid? [False, False] Translation: X:67.68, Y:2.13, Z:5.53 [[ 0.95542191 -0.28373689 0.08162318 67.68414356] [ 0.27612402 0.76085279 -0.58724659 2.13119458] [ 0.1045203 0.58360638 0.805282 5.53087022] [ 0. 0. 0. 1. ]] SLAMing on 267.74119381699995 meters Centerline goodness : 0.939670 with order 1 Centerline is valid? [False, False] Translation: X:67.64, Y:2.10, Z:5.52 [[ 9.53708538e-01 -2.95148429e-01 5.76838695e-02 6.76425704e+01] [ 2.80509150e-01 8.03905833e-01 -5.24452122e-01 2.10116541e+00] [ 1.08418820e-01 5.16355320e-01 8.49483692e-01 5.52019638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.80119381699996 meters Centerline goodness : 0.941841 with order 1 Centerline is valid? [False, False] Translation: X:67.61, Y:2.08, Z:5.52 [[ 9.51537983e-01 -3.05371314e-01 3.63844482e-02 6.76093780e+01] [ 2.86233113e-01 8.36155946e-01 -4.67882293e-01 2.08378027e+00] [ 1.12454758e-01 4.55622207e-01 8.83041523e-01 5.51505843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.86119381699996 meters Centerline goodness : 0.940951 with order 1 Centerline is valid? [False, False] Translation: X:67.58, Y:2.07, Z:5.51 [[ 9.50585567e-01 -3.10061791e-01 1.57723021e-02 6.75799751e+01] [ 2.88291305e-01 8.62706925e-01 -4.15481511e-01 2.06637815e+00] [ 1.15218067e-01 3.99497745e-01 9.09464869e-01 5.50982877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.92119381699996 meters Centerline goodness : 0.943407 with order 1 Centerline is valid? [False, False] Translation: X:67.56, Y:2.06, Z:5.51 [[ 9.50193384e-01 -3.11647845e-01 -2.85553438e-03 6.75553257e+01] [ 2.89143584e-01 8.84924775e-01 -3.65108381e-01 2.06175905e+00] [ 1.16312173e-01 3.46097909e-01 9.30960641e-01 5.50964166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.98119381699996 meters Centerline goodness : 0.942420 with order 1 Centerline is valid? [False, False] Translation: X:67.53, Y:2.05, Z:5.51 [[ 9.50080499e-01 -3.11372818e-01 -1.98497773e-02 6.75258926e+01] [ 2.89489516e-01 9.03463049e-01 -3.16149235e-01 2.05291675e+00] [ 1.16373819e-01 2.94620920e-01 9.48501791e-01 5.50797245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.04119381699996 meters Centerline goodness : 0.941068 with order 1 Centerline is valid? [False, False] Translation: X:67.51, Y:2.05, Z:5.51 [[ 9.50724770e-01 -3.07991407e-01 -3.55486261e-02 6.75093693e+01] [ 2.86354508e-01 9.16264932e-01 -2.80106534e-01 2.05270250e+00] [ 1.18842365e-01 2.56124711e-01 9.59310494e-01 5.50549638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.10119381699997 meters Centerline goodness : 0.938573 with order 1 Centerline is valid? [False, False] Translation: X:67.50, Y:2.05, Z:5.50 [[ 9.51767600e-01 -3.03255312e-01 -4.66331495e-02 6.74964955e+01] [ 2.83347851e-01 9.27047911e-01 -2.45552776e-01 2.05033211e+00] [ 1.17696348e-01 2.20495774e-01 9.68260907e-01 5.50091242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.16119381699997 meters Centerline goodness : 0.940153 with order 1 Centerline is valid? [False, False] Translation: X:67.47, Y:2.05, Z:5.50 [[ 9.54555907e-01 -2.92828109e-01 -5.54501458e-02 6.74669312e+01] [ 2.75321568e-01 9.37656839e-01 -2.12126581e-01 2.05140559e+00] [ 1.14109834e-01 1.87220060e-01 9.75667769e-01 5.49811561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.22119381699997 meters Centerline goodness : 0.940410 with order 1 Centerline is valid? [False, False] Translation: X:67.45, Y:2.05, Z:5.50 [[ 9.57206720e-01 -2.82172942e-01 -6.42940572e-02 6.74511596e+01] [ 2.66177680e-01 9.45585082e-01 -1.87131759e-01 2.05459169e+00] [ 1.13599020e-01 1.62010134e-01 9.80228534e-01 5.49786935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.281193817 meters Centerline goodness : 0.940501 with order 1 Centerline is valid? [False, False] Translation: X:67.45, Y:2.05, Z:5.49 [[ 0.95869657 -0.2756619 -0.07008145 67.44885805] [ 0.2607585 0.95022172 -0.17053939 2.0520225 ] [ 0.11360412 0.14522119 0.98285549 5.49427776] [ 0. 0. 0. 1. ]] SLAMing on 268.341193817 meters Centerline goodness : 0.939097 with order 1 Centerline is valid? [False, False] Translation: X:67.45, Y:2.05, Z:5.49 [[ 0.95920376 -0.27148959 -0.07887678 67.44689154] [ 0.25727852 0.95389764 -0.15455435 2.05200085] [ 0.11720027 0.12795581 0.98483065 5.49390407] [ 0. 0. 0. 1. ]] SLAMing on 268.401193817 meters Centerline goodness : 0.940512 with order 1 Centerline is valid? [False, False] Translation: X:67.45, Y:2.05, Z:5.49 [[ 0.95967071 -0.26667426 -0.08897732 67.44745632] [ 0.25373547 0.95790887 -0.1342718 2.04669587] [ 0.121039 0.10628001 0.9869418 5.49270406] [ 0. 0. 0. 1. ]] SLAMing on 268.461193817 meters Centerline goodness : 0.937438 with order 1 Centerline is valid? [False, False] Translation: X:67.44, Y:2.04, Z:5.49 [[ 0.95975525 -0.2658996 -0.09037295 67.44496723] [ 0.25400644 0.95915219 -0.12453033 2.04487837] [ 0.11979398 0.09656332 0.98809156 5.48708198] [ 0. 0. 0. 1. ]] SLAMing on 268.521193817 meters Centerline goodness : 0.938617 with order 1 Centerline is valid? [False, False] Translation: X:67.45, Y:2.04, Z:5.49 [[ 0.95893492 -0.26827044 -0.09205859 67.45091036] [ 0.25800595 0.95989358 -0.10971442 2.04414223] [ 0.11779958 0.08145732 0.98969084 5.48542235] [ 0. 0. 0. 1. ]] SLAMing on 268.581193817 meters Centerline goodness : 0.940321 with order 1 Centerline is valid? [False, False] Translation: X:67.45, Y:2.04, Z:5.48 [[ 0.95791826 -0.27022195 -0.09681272 67.44801292] [ 0.26078581 0.96022408 -0.09980223 2.04189792] [ 0.11993066 0.07035499 0.99028623 5.48358866] [ 0. 0. 0. 1. ]] SLAMing on 268.641193817 meters Centerline goodness : 0.940217 with order 1 Centerline is valid? [False, False] Translation: X:67.45, Y:2.04, Z:5.48 [[ 9.55882443e-01 -2.75790170e-01 -1.01136228e-01 6.74495493e+01] [ 2.66951505e-01 9.59241389e-01 -9.26976395e-02 2.04172885e+00] [ 1.22579153e-01 6.16095779e-02 9.90544603e-01 5.48051543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.701193817 meters Centerline goodness : 0.934622 with order 1 Centerline is valid? [False, False] Translation: X:67.45, Y:2.04, Z:5.48 [[ 9.54143593e-01 -2.80817004e-01 -1.03690953e-01 6.74486566e+01] [ 2.72626730e-01 9.58229757e-01 -8.64314652e-02 2.03868848e+00] [ 1.23631182e-01 5.41991033e-02 9.90847005e-01 5.47640354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.761193817 meters Centerline goodness : 0.935952 with order 1 Centerline is valid? [False, False] Translation: X:67.45, Y:2.04, Z:5.47 [[ 9.53047962e-01 -2.84590888e-01 -1.03477573e-01 6.74457641e+01] [ 2.77103644e-01 9.57420947e-01 -8.09858038e-02 2.03550148e+00] [ 1.22119417e-01 4.85093428e-02 9.91329255e-01 5.47164893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.821193817 meters Centerline goodness : 0.937641 with order 1 Centerline is valid? [False, False] Translation: X:67.44, Y:2.03, Z:5.47 [[ 9.52681633e-01 -2.86006296e-01 -1.02947101e-01 6.74402217e+01] [ 2.79481601e-01 9.57346053e-01 -7.33387377e-02 2.03185248e+00] [ 1.19531342e-01 4.10966476e-02 9.91979498e-01 5.46765268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.881193817 meters Centerline goodness : 0.938463 with order 1 Centerline is valid? [False, False] Translation: X:67.43, Y:2.03, Z:5.46 [[ 9.54611627e-01 -2.79890878e-01 -1.01871188e-01 6.74344697e+01] [ 2.74629387e-01 9.59501222e-01 -6.27383815e-02 2.02805315e+00] [ 1.15305430e-01 3.19139664e-02 9.92817283e-01 5.46411728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.941193817 meters Centerline goodness : 0.942111 with order 1 Centerline is valid? [False, False] Translation: X:67.41, Y:2.02, Z:5.46 [[ 9.59187330e-01 -2.63523182e-01 -1.02543641e-01 6.74113533e+01] [ 2.59361062e-01 9.64366440e-01 -5.22418309e-02 2.02493333e+00] [ 1.12656579e-01 2.35138748e-02 9.93355723e-01 5.46314239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.001193817 meters Centerline goodness : 0.951902 with order 1 Centerline is valid? [False, True] Translation: X:67.41, Y:2.02, Z:5.47 [[ 9.62471188e-01 -2.50454058e-01 -1.04508265e-01 6.74067525e+01] [ 2.47502860e-01 9.68039359e-01 -4.05232458e-02 2.02477423e+00] [ 1.11317325e-01 1.31363620e-02 9.93698087e-01 5.46577915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.06119381699995 meters Centerline goodness : 0.952934 with order 1 Centerline is valid? [True, True] Translation: X:67.46, Y:2.03, Z:5.47 [[ 9.62770253e-01 -2.47702288e-01 -1.08245170e-01 6.74646213e+01] [ 2.46664655e-01 9.68825870e-01 -2.30864056e-02 2.03337371e+00] [ 1.10589277e-01 -4.47335309e-03 9.93856127e-01 5.46632605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.12119381699995 meters Centerline goodness : 0.955447 with order 1 Centerline is valid? [True, True] Translation: X:67.52, Y:2.05, Z:5.47 [[ 9.62272842e-01 -2.49628672e-01 -1.08242796e-01 6.75202036e+01] [ 2.48601912e-01 9.68330312e-01 -2.30975307e-02 2.04648172e+00] [ 1.10580587e-01 -4.68323963e-03 9.93856127e-01 5.47330406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.18119381699995 meters Centerline goodness : 0.953405 with order 1 Centerline is valid? [True, True] Translation: X:67.58, Y:2.06, Z:5.48 [[ 9.62673334e-01 -2.48082933e-01 -1.08235435e-01 6.75763907e+01] [ 2.47042580e-01 9.68728484e-01 -2.31319764e-02 2.06324258e+00] [ 1.10589397e-01 -4.47022419e-03 9.93856128e-01 5.47658926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.24119381699995 meters Centerline goodness : 0.947719 with order 1 Centerline is valid? [True, False] Translation: X:67.57, Y:2.06, Z:5.48 [[ 9.63472352e-01 -2.38533859e-01 -1.21748203e-01 6.75738078e+01] [ 2.38037381e-01 9.71073608e-01 -1.88216315e-02 2.06112206e+00] [ 1.22716063e-01 -1.08465018e-02 9.92382548e-01 5.47823373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.30119381699996 meters Centerline goodness : 0.951831 with order 1 Centerline is valid? [False, True] Translation: X:67.57, Y:2.06, Z:5.48 [[ 9.64718777e-01 -2.33527497e-01 -1.21583676e-01 6.75708111e+01] [ 2.33361410e-01 9.72261611e-01 -1.58054616e-02 2.06302032e+00] [ 1.21902151e-01 -1.31251126e-02 9.92455338e-01 5.47840256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.36119381699996 meters Centerline goodness : 0.951861 with order 1 Centerline is valid? [True, True] Translation: X:67.63, Y:2.08, Z:5.49 [[ 9.64761072e-01 -2.34401248e-01 -1.19549693e-01 6.76269825e+01] [ 2.33044523e-01 9.72134162e-01 -2.54051440e-02 2.07798396e+00] [ 1.22173338e-01 -3.35050726e-03 9.92503123e-01 5.48931028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.42119381699996 meters Centerline goodness : 0.946529 with order 1 Centerline is valid? [True, False] Translation: X:67.63, Y:2.07, Z:5.49 [[ 9.64661732e-01 -2.28244398e-01 -1.31651955e-01 6.76251461e+01] [ 2.27273740e-01 9.73569656e-01 -2.25559867e-02 2.07235770e+00] [ 1.33320626e-01 -8.16213508e-03 9.91039348e-01 5.48827400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.48119381699996 meters Centerline goodness : 0.945044 with order 1 Centerline is valid? [False, False] Translation: X:67.62, Y:2.06, Z:5.49 [[ 9.64844891e-01 -2.21379545e-01 -1.41652511e-01 6.76181937e+01] [ 2.21371577e-01 9.75058010e-01 -1.60156974e-02 2.06292662e+00] [ 1.41664963e-01 -1.59051758e-02 9.89786878e-01 5.48755884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.54119381699996 meters Centerline goodness : 0.943888 with order 1 Centerline is valid? [False, False] Translation: X:67.62, Y:2.05, Z:5.49 [[ 9.65338779e-01 -2.18792796e-01 -1.42305143e-01 6.76200442e+01] [ 2.19334978e-01 9.75575070e-01 -1.20602595e-02 2.05466926e+00] [ 1.41468048e-01 -1.95702592e-02 9.89749360e-01 5.48780295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.60119381699997 meters Centerline goodness : 0.943297 with order 1 Centerline is valid? [False, False] Translation: X:67.61, Y:2.04, Z:5.49 [[ 9.65443788e-01 -2.12538672e-01 -1.50816459e-01 6.76107782e+01] [ 2.14454055e-01 9.76727295e-01 -3.64010008e-03 2.03890015e+00] [ 1.48080214e-01 -2.88288891e-02 9.88555080e-01 5.48926601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.66119381699997 meters Centerline goodness : 0.941359 with order 1 Centerline is valid? [False, False] Translation: X:67.61, Y:2.03, Z:5.49 [[ 9.65601634e-01 -2.11229310e-01 -1.51643206e-01 6.76125925e+01] [ 2.13510481e-01 9.76939950e-01 -1.26799374e-03 2.03453434e+00] [ 1.48414144e-01 -3.11530370e-02 9.88434485e-01 5.48976226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.72119381699997 meters Centerline goodness : 0.944835 with order 1 Centerline is valid? [False, False] Translation: X:67.61, Y:2.02, Z:5.49 [[ 9.66339473e-01 -2.07916222e-01 -1.51521836e-01 6.76126069e+01] [ 2.10888663e-01 9.77503318e-01 3.63804077e-03 2.02261762e+00] [ 1.47356690e-01 -3.54698199e-02 9.88447215e-01 5.49080989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.781193817 meters Centerline goodness : 0.946716 with order 1 Centerline is valid? [False, False] Translation: X:67.62, Y:2.01, Z:5.49 [[ 9.66877645e-01 -2.05017630e-01 -1.52037465e-01 6.76150341e+01] [ 2.08604758e-01 9.77968470e-01 7.85661463e-03 2.01339849e+00] [ 1.47077103e-01 -3.93121237e-02 9.88343504e-01 5.49041536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.841193817 meters Centerline goodness : 0.939542 with order 1 Centerline is valid? [False, False] Translation: X:67.61, Y:1.99, Z:5.49 [[ 9.66229949e-01 -2.00413401e-01 -1.61969611e-01 6.76107920e+01] [ 2.05250864e-01 9.78615840e-01 1.35321912e-02 1.99318923e+00] [ 1.55793995e-01 -4.63196111e-02 9.86702957e-01 5.49204157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.901193817 meters Centerline goodness : 0.940944 with order 1 Centerline is valid? [False, False] Translation: X:67.61, Y:1.98, Z:5.49 [[ 9.65814126e-01 -2.02311449e-01 -1.62089951e-01 6.76129357e+01] [ 2.07276635e-01 9.78180022e-01 1.41506896e-02 1.98250379e+00] [ 1.55690305e-01 -4.72643954e-02 9.86674519e-01 5.49345054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.961193817 meters Centerline goodness : 0.940034 with order 1 Centerline is valid? [False, False] Translation: X:67.62, Y:1.97, Z:5.50 [[ 9.66026060e-01 -2.00189977e-01 -1.63455266e-01 6.76154910e+01] [ 2.06012393e-01 9.78358915e-01 1.93061480e-02 1.97037662e+00] [ 1.56053020e-01 -5.23240526e-02 9.86361824e-01 5.49569734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.021193817 meters Centerline goodness : 0.934564 with order 1 Centerline is valid? [False, False] Translation: X:67.62, Y:1.96, Z:5.50 [[ 9.65070172e-01 -2.03531513e-01 -1.64968135e-01 6.76227346e+01] [ 2.09206543e-01 9.77713063e-01 1.76008270e-02 1.95646851e+00] [ 1.57709177e-01 -5.14984463e-02 9.86141838e-01 5.49775609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.081193817 meters Centerline goodness : 0.934817 with order 1 Centerline is valid? [False, False] Translation: X:67.63, Y:1.94, Z:5.50 [[ 9.64424955e-01 -2.06076877e-01 -1.65580272e-01 6.76255702e+01] [ 2.12105211e-01 9.77054378e-01 1.93938817e-02 1.94306871e+00] [ 1.57784299e-01 -5.38243820e-02 9.86005604e-01 5.49985096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.141193817 meters Centerline goodness : 0.933854 with order 1 Centerline is valid? [False, False] Translation: X:67.63, Y:1.92, Z:5.51 [[ 9.61696166e-01 -2.16671659e-01 -1.67910322e-01 6.76339110e+01] [ 2.24769645e-01 9.73931583e-01 3.05921259e-02 1.91713771e+00] [ 1.56904719e-01 -6.71614737e-02 9.85327481e-01 5.50556230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.201193817 meters Centerline goodness : 0.932050 with order 1 Centerline is valid? [False, False] Translation: X:67.64, Y:1.91, Z:5.51 [[ 9.57209899e-01 -2.37904657e-01 -1.64774342e-01 6.76370114e+01] [ 2.43574634e-01 9.69769156e-01 1.48048092e-02 1.90619749e+00] [ 1.56270941e-01 -5.43061599e-02 9.86220175e-01 5.50701120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.261193817 meters Centerline goodness : 0.932973 with order 1 Centerline is valid? [False, False] Translation: X:67.64, Y:1.90, Z:5.51 [[ 9.55522148e-01 -2.45452226e-01 -1.63495044e-01 6.76379430e+01] [ 2.50265638e-01 9.68133517e-01 9.19803855e-03 1.90058421e+00] [ 1.56027353e-01 -4.97061211e-02 9.86501276e-01 5.50793102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.321193817 meters Centerline goodness : 0.932977 with order 1 Centerline is valid? [False, False] Translation: X:67.64, Y:1.90, Z:5.51 [[ 9.54845815e-01 -2.48317655e-01 -1.63119012e-01 6.76391100e+01] [ 2.52830335e-01 9.67484015e-01 7.17651207e-03 1.89646976e+00] [ 1.56032982e-01 -4.80938970e-02 9.86580299e-01 5.50826109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.381193817 meters Centerline goodness : 0.934190 with order 1 Centerline is valid? [False, False] Translation: X:67.64, Y:1.90, Z:5.51 [[ 9.56157525e-01 -2.42296051e-01 -1.64485293e-01 6.76396726e+01] [ 2.47609417e-01 9.68781981e-01 1.22902112e-02 1.89506172e+00] [ 1.56372519e-01 -5.24794856e-02 9.86302965e-01 5.50839472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.441193817 meters Centerline goodness : 0.932783 with order 1 Centerline is valid? [False, False] Translation: X:67.63, Y:1.90, Z:5.50 [[ 9.58975408e-01 -2.33613936e-01 -1.60594816e-01 6.76315076e+01] [ 2.39010822e-01 9.70902943e-01 1.48762089e-02 1.89575221e+00] [ 1.52446690e-01 -5.26498175e-02 9.86908305e-01 5.50405350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.501193817 meters Centerline goodness : 0.928552 with order 1 Centerline is valid? [False, False] Translation: X:67.61, Y:1.90, Z:5.50 [[ 9.62793766e-01 -2.21285046e-01 -1.55116386e-01 6.76140135e+01] [ 2.25365404e-01 9.74232668e-01 9.00798003e-03 1.89622003e+00] [ 1.49126119e-01 -4.36306939e-02 9.87855133e-01 5.49768472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.56119381699995 meters Centerline goodness : 0.928960 with order 1 Centerline is valid? [False, False] Translation: X:67.61, Y:1.90, Z:5.50 [[ 9.63671581e-01 -2.17351150e-01 -1.55227450e-01 6.76125853e+01] [ 2.21841193e-01 9.75008966e-01 1.20000207e-02 1.89742158e+00] [ 1.48739937e-01 -4.59999215e-02 9.87805871e-01 5.49752631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.62119381699995 meters Centerline goodness : 0.930577 with order 1 Centerline is valid? [False, False] Translation: X:67.61, Y:1.90, Z:5.50 [[ 9.64516137e-01 -2.12882657e-01 -1.56171689e-01 6.76127937e+01] [ 2.17944295e-01 9.75832746e-01 1.58346336e-02 1.89804110e+00] [ 1.49026529e-01 -4.93094883e-02 9.87602991e-01 5.49730907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.68119381699995 meters Centerline goodness : 0.927589 with order 1 Centerline is valid? [False, False] Translation: X:67.61, Y:1.89, Z:5.50 [[ 9.64629546e-01 -2.12057357e-01 -1.56593477e-01 6.76145605e+01] [ 2.17346173e-01 9.75941965e-01 1.72604050e-02 1.89419977e+00] [ 1.49165950e-01 -5.06848896e-02 9.87512310e-01 5.49683982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.74119381699995 meters Centerline goodness : 0.927204 with order 1 Centerline is valid? [False, False] Translation: X:67.62, Y:1.89, Z:5.50 [[ 9.64376594e-01 -2.13413798e-01 -1.56308464e-01 6.76155651e+01] [ 2.18626286e-01 9.75664943e-01 1.67470926e-02 1.88815479e+00] [ 1.48930628e-01 -5.03236431e-02 9.87566301e-01 5.49709807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.80119381699996 meters Centerline goodness : 0.926184 with order 1 Centerline is valid? [False, False] Translation: X:67.61, Y:1.88, Z:5.50 [[ 9.64240933e-01 -2.14314090e-01 -1.55913098e-01 6.76141436e+01] [ 2.19490316e-01 9.75473926e-01 1.65716748e-02 1.88177293e+00] [ 1.48537618e-01 -5.02005023e-02 9.87631756e-01 5.49932352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.86119381699996 meters Centerline goodness : 0.930932 with order 1 Centerline is valid? [False, False] Translation: X:67.61, Y:1.88, Z:5.50 [[ 9.64980798e-01 -2.16488775e-01 -1.48137335e-01 6.76118790e+01] [ 2.16948752e-01 9.76093158e-01 -1.32433316e-02 1.88275428e+00] [ 1.47462872e-01 -1.93586493e-02 9.88878124e-01 5.50065824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.92119381699996 meters Centerline goodness : 0.929424 with order 1 Centerline is valid? [False, False] Translation: X:67.61, Y:1.88, Z:5.50 [[ 9.65924027e-01 -2.17295228e-01 -1.40618484e-01 6.76110289e+01] [ 2.13378302e-01 9.76042952e-01 -4.25423925e-02 1.87744703e+00] [ 1.46493939e-01 1.10877858e-02 9.89149426e-01 5.50286771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.98119381699996 meters Centerline goodness : 0.932569 with order 1 Centerline is valid? [False, False] Translation: X:67.61, Y:1.87, Z:5.50 [[ 9.66490750e-01 -2.18267267e-01 -1.35111180e-01 6.76095010e+01] [ 2.10646401e-01 9.75158245e-01 -6.85163604e-02 1.87359258e+00] [ 1.46709660e-01 3.77597447e-02 9.88458637e-01 5.50293138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.04119381699996 meters Centerline goodness : 0.929628 with order 1 Centerline is valid? [False, False] Translation: X:67.62, Y:1.87, Z:5.51 [[ 9.66377468e-01 -2.20698671e-01 -1.31934398e-01 6.76195690e+01] [ 2.09556096e-01 9.73338920e-01 -9.32608688e-02 1.87115734e+00] [ 1.48999434e-01 6.24775450e-02 9.86861553e-01 5.50505504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.10119381699997 meters Centerline goodness : 0.927467 with order 1 Centerline is valid? [False, False] Translation: X:67.63, Y:1.87, Z:5.51 [[ 0.96620803 -0.22341543 -0.12855963 67.62862348] [ 0.20879533 0.97082595 -0.11790458 1.86769106] [ 0.15115073 0.08707771 0.98466793 5.5073485 ] [ 0. 0. 0. 1. ]] SLAMing on 271.16119381699997 meters Centerline goodness : 0.929006 with order 1 Centerline is valid? [False, False] Translation: X:67.64, Y:1.86, Z:5.51 [[ 0.9667143 -0.22363238 -0.12430616 67.64417013] [ 0.20669524 0.96894487 -0.13573105 1.86336791] [ 0.15079967 0.10551966 0.98291661 5.51391006] [ 0. 0. 0. 1. ]] SLAMing on 271.22119381699997 meters Centerline goodness : 0.925525 with order 1 Centerline is valid? [False, False] Translation: X:67.66, Y:1.86, Z:5.51 [[ 0.96750277 -0.22140118 -0.12214709 67.65677808] [ 0.20365018 0.96860345 -0.14259719 1.85597604] [ 0.14988328 0.1130879 0.98221491 5.51424026] [ 0. 0. 0. 1. ]] SLAMing on 271.281193817 meters Centerline goodness : 0.928580 with order 1 Centerline is valid? [False, False] Translation: X:67.66, Y:1.84, Z:5.51 [[ 0.96806301 -0.21698064 -0.12559225 67.66245698] [ 0.20034441 0.97068795 -0.13276679 1.8379558 ] [ 0.15071871 0.10336491 0.98315796 5.51348828] [ 0. 0. 0. 1. ]] SLAMing on 271.341193817 meters Centerline goodness : 0.930872 with order 1 Centerline is valid? [False, False] Translation: X:67.68, Y:1.82, Z:5.51 [[ 0.96841448 -0.21665484 -0.1234264 67.67742701] [ 0.20220124 0.97200128 -0.11970029 1.82416135] [ 0.14590427 0.09096253 0.985108 5.51120873] [ 0. 0. 0. 1. ]] SLAMing on 271.401193817 meters Centerline goodness : 0.936299 with order 1 Centerline is valid? [False, False] Translation: X:67.69, Y:1.80, Z:5.52 [[ 0.96697598 -0.22128385 -0.12645514 67.69202636] [ 0.20909226 0.97247276 -0.10284535 1.80414101] [ 0.14573219 0.0730082 0.98662654 5.51516215] [ 0. 0. 0. 1. ]] SLAMing on 271.461193817 meters Centerline goodness : 0.936204 with order 1 Centerline is valid? [False, False] Translation: X:67.70, Y:1.79, Z:5.52 [[ 9.65144258e-01 -2.27782195e-01 -1.28886903e-01 6.77028241e+01] [ 2.16530480e-01 9.71580757e-01 -9.56314997e-02 1.79150306e+00] [ 1.47007188e-01 6.43902498e-02 9.87037376e-01 5.51914271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.521193817 meters Centerline goodness : 0.937711 with order 1 Centerline is valid? [False, False] Translation: X:67.72, Y:1.79, Z:5.52 [[ 9.63947622e-01 -2.31850453e-01 -1.30576988e-01 6.77245311e+01] [ 2.22268784e-01 9.71367999e-01 -8.39094690e-02 1.78919651e+00] [ 1.46292756e-01 5.18611448e-02 9.87880990e-01 5.52165157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.581193817 meters Centerline goodness : 0.943000 with order 1 Centerline is valid? [False, False] Translation: X:67.73, Y:1.78, Z:5.52 [[ 9.62658290e-01 -2.38466454e-01 -1.28151343e-01 6.77289830e+01] [ 2.30546869e-01 9.70269641e-01 -7.36543606e-02 1.77976403e+00] [ 1.41905451e-01 4.13590900e-02 9.89015808e-01 5.52285211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.641193817 meters Centerline goodness : 0.946629 with order 1 Centerline is valid? [False, False] Translation: X:67.74, Y:1.77, Z:5.53 [[ 9.62868336e-01 -2.38417021e-01 -1.26656585e-01 6.77367405e+01] [ 2.32115102e-01 9.70671974e-01 -6.25979149e-02 1.77477611e+00] [ 1.37866406e-01 3.08746439e-02 9.89969500e-01 5.52524970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.701193817 meters Centerline goodness : 0.943056 with order 1 Centerline is valid? [False, False] Translation: X:67.74, Y:1.78, Z:5.52 [[ 9.63131811e-01 -2.35856790e-01 -1.29416729e-01 6.77425358e+01] [ 2.29837351e-01 9.71387474e-01 -5.98428612e-02 1.77570834e+00] [ 1.39828134e-01 2.78917652e-02 9.89782876e-01 5.52382215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.761193817 meters Centerline goodness : 0.938921 with order 1 Centerline is valid? [False, False] Translation: X:67.77, Y:1.78, Z:5.53 [[ 9.63464182e-01 -2.32254628e-01 -1.33396242e-01 6.77675977e+01] [ 2.26486402e-01 9.72338465e-01 -5.71123471e-02 1.78024724e+00] [ 1.42970904e-01 2.48132659e-02 9.89415799e-01 5.52530395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.821193817 meters Centerline goodness : 0.935961 with order 1 Centerline is valid? [False, False] Translation: X:67.77, Y:1.78, Z:5.52 [[ 9.63234654e-01 -2.31903453e-01 -1.35645824e-01 6.77734506e+01] [ 2.26180560e-01 9.72451455e-01 -5.63961117e-02 1.78029125e+00] [ 1.44987432e-01 2.36422407e-02 9.89150994e-01 5.52388494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.881193817 meters Centerline goodness : 0.932512 with order 1 Centerline is valid? [False, False] Translation: X:67.79, Y:1.78, Z:5.53 [[ 9.61722730e-01 -2.34992736e-01 -1.40953197e-01 6.77860058e+01] [ 2.29380070e-01 9.71778380e-01 -5.50596443e-02 1.78085515e+00] [ 1.49913886e-01 2.06202572e-02 9.88484007e-01 5.52542626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.941193817 meters Centerline goodness : 0.935079 with order 1 Centerline is valid? [False, False] Translation: X:67.80, Y:1.78, Z:5.52 [[ 9.62081317e-01 -2.35303613e-01 -1.37955607e-01 6.77982381e+01] [ 2.31213332e-01 9.71852915e-01 -4.51918974e-02 1.77919354e+00] [ 1.44706376e-01 1.15811045e-02 9.89406864e-01 5.52421659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.001193817 meters Centerline goodness : 0.934378 with order 1 Centerline is valid? [False, False] Translation: X:67.80, Y:1.78, Z:5.52 [[ 9.61595515e-01 -2.36323302e-01 -1.39589977e-01 6.78018399e+01] [ 2.32238337e-01 9.71612791e-01 -4.50992246e-02 1.77765110e+00] [ 1.46285405e-01 1.09490681e-02 9.89181833e-01 5.52445028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.06119381699995 meters Centerline goodness : 0.932941 with order 1 Centerline is valid? [False, False] Translation: X:67.81, Y:1.78, Z:5.53 [[ 9.61052725e-01 -2.36406987e-01 -1.43141176e-01 6.78091461e+01] [ 2.32567815e-01 9.71619068e-01 -4.32272841e-02 1.77766031e+00] [ 1.49297928e-01 8.25366876e-03 9.88757809e-01 5.52502165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.12119381699995 meters Centerline goodness : 0.936933 with order 1 Centerline is valid? [False, False] Translation: X:67.82, Y:1.78, Z:5.52 [[ 9.62444897e-01 -2.34998703e-01 -1.35924353e-01 6.78204179e+01] [ 2.32012397e-01 9.71984377e-01 -3.76379916e-02 1.77935247e+00] [ 1.40961227e-01 4.68835781e-03 9.90004016e-01 5.52442962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.18119381699995 meters Centerline goodness : 0.934559 with order 1 Centerline is valid? [False, False] Translation: X:67.84, Y:1.79, Z:5.53 [[ 9.63157769e-01 -2.33950203e-01 -1.32643938e-01 6.78378503e+01] [ 2.30740162e-01 9.72221615e-01 -3.92951575e-02 1.78641914e+00] [ 1.38152414e-01 7.24115236e-03 9.90384509e-01 5.52582322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.24119381699995 meters Centerline goodness : 0.933229 with order 1 Centerline is valid? [False, False] Translation: X:67.88, Y:1.81, Z:5.53 [[ 9.65909139e-01 -2.26138968e-01 -1.26018655e-01 6.78807044e+01] [ 2.19582950e-01 9.73500644e-01 -6.38735043e-02 1.80878365e+00] [ 1.37123530e-01 3.40244536e-02 9.89969431e-01 5.53082507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.30119381699996 meters Centerline goodness : 0.936546 with order 1 Centerline is valid? [False, False] Translation: X:67.92, Y:1.83, Z:5.53 [[ 9.69178201e-01 -2.16525925e-01 -1.17516547e-01 6.79186677e+01] [ 2.08758853e-01 9.75090852e-01 -7.49504552e-02 1.82634364e+00] [ 1.30818027e-01 4.81077278e-02 9.90238502e-01 5.53430182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.36119381699996 meters Centerline goodness : 0.935496 with order 1 Centerline is valid? [False, False] Translation: X:67.94, Y:1.87, Z:5.54 [[ 0.97445048 -0.20725041 -0.0865652 67.94115633] [ 0.1912485 0.96773484 -0.16405269 1.86657567] [ 0.11777215 0.14330576 0.98264601 5.54187305] [ 0. 0. 0. 1. ]] SLAMing on 272.42119381699996 meters Centerline goodness : 0.932347 with order 1 Centerline is valid? [False, False] Translation: X:67.97, Y:1.88, Z:5.55 [[ 0.97708047 -0.20023208 -0.07225559 67.97142139] [ 0.18228356 0.96231578 -0.20179458 1.88129926] [ 0.10993845 0.18399853 0.97675897 5.54660416] [ 0. 0. 0. 1. ]] SLAMing on 272.48119381699996 meters Centerline goodness : 0.927063 with order 1 Centerline is valid? [False, False] Translation: X:67.99, Y:1.87, Z:5.55 [[ 0.97668386 -0.20019843 -0.07751924 67.9917457 ] [ 0.1832878 0.96560189 -0.18444122 1.86810798] [ 0.11177757 0.16593244 0.97978171 5.54648708] [ 0. 0. 0. 1. ]] SLAMing on 272.54119381699996 meters Centerline goodness : 0.928825 with order 1 Centerline is valid? [False, False] Translation: X:68.02, Y:1.86, Z:5.55 [[ 0.97532131 -0.20393939 -0.0845994 68.0195996 ] [ 0.18826272 0.96834398 -0.16391182 1.8579793 ] [ 0.1153494 0.14393978 0.98284071 5.55037546] [ 0. 0. 0. 1. ]] SLAMing on 272.60119381699997 meters Centerline goodness : 0.937983 with order 1 Centerline is valid? [False, False] Translation: X:68.04, Y:1.83, Z:5.55 [[ 0.9747529 -0.20558943 -0.0871193 68.03518204] [ 0.19234074 0.97128344 -0.1400483 1.83484232] [ 0.11340998 0.11975589 0.98630457 5.55424257] [ 0. 0. 0. 1. ]] SLAMing on 272.66119381699997 meters Centerline goodness : 0.939651 with order 1 Centerline is valid? [False, False] Translation: X:68.06, Y:1.83, Z:5.56 [[ 0.97474336 -0.20480929 -0.08904229 68.0561941 ] [ 0.193306 0.97341453 -0.12286964 1.82584066] [ 0.11183991 0.10255396 0.98842021 5.55571249] [ 0. 0. 0. 1. ]] SLAMing on 272.72119381699997 meters Centerline goodness : 0.940112 with order 1 Centerline is valid? [False, False] Translation: X:68.08, Y:1.81, Z:5.56 [[ 0.97616407 -0.19738749 -0.09023242 68.07792032] [ 0.18718209 0.97611366 -0.11029502 1.81246239] [ 0.10984796 0.09077615 0.98979448 5.55600478] [ 0. 0. 0. 1. ]] SLAMing on 272.781193817 meters Centerline goodness : 0.937250 with order 1 Centerline is valid? [False, False] Translation: X:68.11, Y:1.81, Z:5.56 [[ 0.97599062 -0.19600192 -0.09500289 68.10850524] [ 0.18654741 0.97735015 -0.09993368 1.80645299] [ 0.11243828 0.07981179 0.99044824 5.56044852] [ 0. 0. 0. 1. ]] SLAMing on 272.841193817 meters Centerline goodness : 0.935507 with order 1 Centerline is valid? [False, False] Translation: X:68.13, Y:1.79, Z:5.56 [[ 0.97359423 -0.20315457 -0.10412732 68.129526 ] [ 0.19409853 0.97676511 -0.09086078 1.79410646] [ 0.12016672 0.06825057 0.99040488 5.56376494] [ 0. 0. 0. 1. ]] SLAMing on 272.901193817 meters Centerline goodness : 0.934388 with order 1 Centerline is valid? [False, False] Translation: X:68.15, Y:1.79, Z:5.57 [[ 9.71062586e-01 -2.11805848e-01 -1.10343719e-01 6.81500256e+01] [ 2.03554761e-01 9.75669280e-01 -8.14549951e-02 1.78552105e+00] [ 1.24911621e-01 5.66369089e-02 9.90550023e-01 5.56919529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.961193817 meters Centerline goodness : 0.936321 with order 1 Centerline is valid? [False, False] Translation: X:68.15, Y:1.77, Z:5.57 [[ 9.67707559e-01 -2.25318766e-01 -1.13020057e-01 6.81528989e+01] [ 2.18144522e-01 9.73225149e-01 -7.24277327e-02 1.76971457e+00] [ 1.26313289e-01 4.54341581e-02 9.90949388e-01 5.57207960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.021193817 meters Centerline goodness : 0.936343 with order 1 Centerline is valid? [False, False] Translation: X:68.16, Y:1.76, Z:5.57 [[ 9.66492484e-01 -2.31396178e-01 -1.11121950e-01 6.81567813e+01] [ 2.25845641e-01 9.72291788e-01 -6.03525142e-02 1.76125706e+00] [ 1.22008301e-01 3.32338433e-02 9.91972523e-01 5.57126524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.081193817 meters Centerline goodness : 0.934817 with order 1 Centerline is valid? [False, False] Translation: X:68.16, Y:1.75, Z:5.57 [[ 9.65265604e-01 -2.36730933e-01 -1.10547636e-01 6.81629348e+01] [ 2.32691205e-01 9.71350375e-01 -4.83037390e-02 1.75298691e+00] [ 1.18815477e-01 2.09024752e-02 9.92696313e-01 5.57010006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.141193817 meters Centerline goodness : 0.938576 with order 1 Centerline is valid? [False, False] Translation: X:68.17, Y:1.75, Z:5.57 [[ 9.65289488e-01 -2.37229201e-01 -1.09263492e-01 6.81714668e+01] [ 2.34419629e-01 9.71389930e-01 -3.80662675e-02 1.74968255e+00] [ 1.15167886e-01 1.11314606e-02 9.93283670e-01 5.57206099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.201193817 meters Centerline goodness : 0.937228 with order 1 Centerline is valid? [False, False] Translation: X:68.17, Y:1.75, Z:5.57 [[ 9.65229817e-01 -2.37442742e-01 -1.09326777e-01 6.81710216e+01] [ 2.34627114e-01 9.71337573e-01 -3.81239635e-02 1.74978236e+00] [ 1.15245465e-01 1.11473601e-02 9.93274493e-01 5.57279833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.261193817 meters Centerline goodness : 0.941207 with order 1 Centerline is valid? [False, False] Translation: X:68.18, Y:1.76, Z:5.57 [[ 9.67586232e-01 -2.31049745e-01 -1.01945564e-01 6.81794918e+01] [ 2.28194079e-01 9.72834322e-01 -3.89979985e-02 1.75614913e+00] [ 1.08186621e-01 1.44705524e-02 9.94025280e-01 5.57157117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.321193817 meters Centerline goodness : 0.943763 with order 1 Centerline is valid? [False, False] Translation: X:68.20, Y:1.77, Z:5.58 [[ 9.70372851e-01 -2.18543152e-01 -1.03031161e-01 6.82030921e+01] [ 2.15278779e-01 9.75651555e-01 -4.19415238e-02 1.77249663e+00] [ 1.09688546e-01 1.85184934e-02 9.93793484e-01 5.57517591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.381193817 meters Centerline goodness : 0.941733 with order 1 Centerline is valid? [False, False] Translation: X:68.22, Y:1.78, Z:5.57 [[ 9.72381013e-01 -2.10935811e-01 -9.99062038e-02 6.82190719e+01] [ 2.07768801e-01 9.77308726e-01 -4.12283852e-02 1.78294564e+00] [ 1.06335748e-01 1.93323068e-02 9.94142329e-01 5.57353474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.441193817 meters Centerline goodness : 0.942026 with order 1 Centerline is valid? [False, False] Translation: X:68.24, Y:1.79, Z:5.57 [[ 9.73201570e-01 -2.08272309e-01 -9.74748614e-02 6.82378404e+01] [ 2.04933737e-01 9.77821822e-01 -4.32047139e-02 1.79051612e+00] [ 1.04311392e-01 2.20710077e-02 9.94299756e-01 5.57273101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.501193817 meters Centerline goodness : 0.937729 with order 1 Centerline is valid? [False, False] Translation: X:68.26, Y:1.80, Z:5.57 [[ 9.73744307e-01 -2.05105043e-01 -9.87620661e-02 6.82598244e+01] [ 2.01698694e-01 9.78484327e-01 -4.34287654e-02 1.79847932e+00] [ 1.05544593e-01 2.23683333e-02 9.94162963e-01 5.57328986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.56119381699995 meters Centerline goodness : 0.932878 with order 1 Centerline is valid? [False, False] Translation: X:68.28, Y:1.81, Z:5.57 [[ 9.73192141e-01 -2.06924734e-01 -1.00395272e-01 6.82820726e+01] [ 2.03032684e-01 9.78011336e-01 -4.76608371e-02 1.80708773e+00] [ 1.08049921e-01 2.59996305e-02 9.93805431e-01 5.57435418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.62119381699995 meters Centerline goodness : 0.929012 with order 1 Centerline is valid? [False, False] Translation: X:68.28, Y:1.81, Z:5.57 [[ 9.72868305e-01 -2.08137268e-01 -1.01025433e-01 6.82849393e+01] [ 2.04104286e-01 9.77729448e-01 -4.88525020e-02 1.80911024e+00] [ 1.08943567e-01 2.69073269e-02 9.93683700e-01 5.57300166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.68119381699995 meters Centerline goodness : 0.933271 with order 1 Centerline is valid? [False, False] Translation: X:68.30, Y:1.81, Z:5.58 [[ 9.74226965e-01 -2.03163676e-01 -9.80119472e-02 6.83012395e+01] [ 1.99453213e-01 9.78809143e-01 -4.63797104e-02 1.81473862e+00] [ 1.05357662e-01 2.56355667e-02 9.94103908e-01 5.57535730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.74119381699995 meters Centerline goodness : 0.938242 with order 1 Centerline is valid? [False, False] Translation: X:68.32, Y:1.82, Z:5.58 [[ 9.75683980e-01 -1.98097481e-01 -9.37985007e-02 6.83161176e+01] [ 1.94903941e-01 9.79915952e-01 -4.21566352e-02 1.81641403e+00] [ 1.00265770e-01 2.28498562e-02 9.94698276e-01 5.57871669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.80119381699996 meters Centerline goodness : 0.937453 with order 1 Centerline is valid? [False, False] Translation: X:68.33, Y:1.82, Z:5.58 [[ 9.76866323e-01 -1.93651444e-01 -9.07265459e-02 6.83332985e+01] [ 1.90807980e-01 9.80847791e-01 -3.91142525e-02 1.82006274e+00] [ 9.65634636e-02 2.08980470e-02 9.95107416e-01 5.58072223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.86119381699996 meters Centerline goodness : 0.938137 with order 1 Centerline is valid? [False, False] Translation: X:68.35, Y:1.82, Z:5.58 [[ 9.77653012e-01 -1.90885724e-01 -8.80751309e-02 6.83522935e+01] [ 1.88145431e-01 9.81385963e-01 -3.85082890e-02 1.82424631e+00] [ 9.37863798e-02 2.10768113e-02 9.95369219e-01 5.58152766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.92119381699996 meters Centerline goodness : 0.938495 with order 1 Centerline is valid? [False, False] Translation: X:68.38, Y:1.83, Z:5.59 [[ 9.78638693e-01 -1.85340685e-01 -8.89670685e-02 6.83807713e+01] [ 1.82062200e-01 9.82314525e-01 -4.37210495e-02 1.82894342e+00] [ 9.54969328e-02 2.65895705e-02 9.95074535e-01 5.58549168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.98119381699996 meters Centerline goodness : 0.936893 with order 1 Centerline is valid? [False, False] Translation: X:68.41, Y:1.83, Z:5.59 [[ 9.80214064e-01 -1.75891061e-01 -9.07894416e-02 6.84114267e+01] [ 1.72331014e-01 9.83977177e-01 -4.57267546e-02 1.83161148e+00] [ 9.73776659e-02 2.91761715e-02 9.94819753e-01 5.58804640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.04119381699996 meters Centerline goodness : 0.936637 with order 1 Centerline is valid? [False, False] Translation: X:68.45, Y:1.84, Z:5.59 [[ 9.83201215e-01 -1.61752526e-01 -8.45664842e-02 6.84465983e+01] [ 1.57259171e-01 9.85888860e-01 -5.73821352e-02 1.83532613e+00] [ 9.26548600e-02 4.31193298e-02 9.94764193e-01 5.58806545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.10119381699997 meters Centerline goodness : 0.936150 with order 1 Centerline is valid? [False, False] Translation: X:68.49, Y:1.84, Z:5.59 [[ 0.98523071 -0.15175216 -0.07932046 68.48727103] [ 0.14510953 0.98586685 -0.08372438 1.84254953] [ 0.09090476 0.07097767 0.99332698 5.58931181] [ 0. 0. 0. 1. ]] SLAMing on 274.16119381699997 meters Centerline goodness : 0.929029 with order 1 Centerline is valid? [False, False] Translation: X:68.53, Y:1.83, Z:5.59 [[ 0.98693606 -0.13798718 -0.08316698 68.52733859] [ 0.13070708 0.98755882 -0.08742564 1.83349664] [ 0.0941959 0.07541301 0.99269331 5.59223667] [ 0. 0. 0. 1. ]] SLAMing on 274.22119381699997 meters Centerline goodness : 0.927539 with order 1 Centerline is valid? [False, False] Translation: X:68.56, Y:1.83, Z:5.59 [[ 0.98746264 -0.13338291 -0.08441881 68.55660919] [ 0.12546511 0.98772638 -0.09303279 1.82576812] [ 0.09579167 0.08127479 0.9920778 5.59420176] [ 0. 0. 0. 1. ]] SLAMing on 274.281193817 meters Centerline goodness : 0.923810 with order 1 Centerline is valid? [False, False] Translation: X:68.56, Y:1.81, Z:5.59 [[ 0.98737459 -0.13361745 -0.08507521 68.5596711 ] [ 0.1259006 0.98791459 -0.09040911 1.80942739] [ 0.09612728 0.07855664 0.99226428 5.59347916] [ 0. 0. 0. 1. ]] SLAMing on 274.341193817 meters Centerline goodness : 0.921358 with order 1 Centerline is valid? [False, False] Translation: X:68.57, Y:1.78, Z:5.59 [[ 9.86756333e-01 -1.34830225e-01 -9.01817560e-02 6.85695368e+01] [ 1.28200673e-01 9.88856504e-01 -7.56795992e-02 1.77515430e+00] [ 9.93807133e-02 6.31159621e-02 9.93045744e-01 5.59456425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.401193817 meters Centerline goodness : 0.920131 with order 1 Centerline is valid? [False, False] Translation: X:68.58, Y:1.75, Z:5.60 [[ 9.86396979e-01 -1.35586715e-01 -9.29367687e-02 6.85754419e+01] [ 1.29774081e-01 9.89344972e-01 -6.59940546e-02 1.74940086e+00] [ 1.00894442e-01 5.30355524e-02 9.93482532e-01 5.59647862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.461193817 meters Centerline goodness : 0.925289 with order 1 Centerline is valid? [False, False] Translation: X:68.59, Y:1.71, Z:5.60 [[ 9.87065170e-01 -1.32432387e-01 -9.03549280e-02 6.85899456e+01] [ 1.28267696e-01 9.90454809e-01 -5.04645264e-02 1.71362277e+00] [ 9.61756106e-02 3.82221579e-02 9.94630242e-01 5.59704271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.521193817 meters Centerline goodness : 0.931603 with order 1 Centerline is valid? [False, False] Translation: X:68.59, Y:1.67, Z:5.60 [[ 9.87439632e-01 -1.30963069e-01 -8.83835214e-02 6.85867546e+01] [ 1.27961644e-01 9.91018475e-01 -3.88355457e-02 1.67367863e+00] [ 9.26757248e-02 2.70380563e-02 9.95329168e-01 5.59921391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.581193817 meters Centerline goodness : 0.937165 with order 1 Centerline is valid? [False, False] Translation: X:68.60, Y:1.65, Z:5.60 [[ 9.87748730e-01 -1.31678845e-01 -8.37444264e-02 6.86010583e+01] [ 1.29494779e-01 9.91094722e-01 -3.10218189e-02 1.65001716e+00] [ 8.70835763e-02 1.97972962e-02 9.96004276e-01 5.59974368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.641193817 meters Centerline goodness : 0.943787 with order 1 Centerline is valid? [False, False] Translation: X:68.60, Y:1.61, Z:5.61 [[ 9.86876647e-01 -1.39510825e-01 -8.13093683e-02 6.85992890e+01] [ 1.38345315e-01 9.90185636e-01 -1.98237197e-02 1.60617337e+00] [ 8.32769920e-02 8.31479584e-03 9.96491749e-01 5.60647036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.701193817 meters Centerline goodness : 0.947470 with order 1 Centerline is valid? [False, False] Translation: X:68.62, Y:1.58, Z:5.61 [[ 9.86350439e-01 -1.45469085e-01 -7.71463325e-02 6.86157270e+01] [ 1.44547008e-01 9.89344328e-01 -1.74345175e-02 1.58274247e+00] [ 7.88604698e-02 6.04527239e-03 9.96867334e-01 5.60572125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.761193817 meters Centerline goodness : 0.946067 with order 1 Centerline is valid? [False, False] Translation: X:68.64, Y:1.55, Z:5.60 [[ 9.85198090e-01 -1.53001774e-01 -7.72992964e-02 6.86357768e+01] [ 1.52704873e-01 9.88223518e-01 -9.77243501e-03 1.55102896e+00] [ 7.78841825e-02 -2.17619495e-03 9.96960038e-01 5.60360955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.821193817 meters Centerline goodness : 0.944072 with order 1 Centerline is valid? [False, False] Translation: X:68.65, Y:1.53, Z:5.60 [[ 9.84540773e-01 -1.55007966e-01 -8.15597790e-02 6.86486702e+01] [ 1.54422506e-01 9.87912991e-01 -1.34763784e-02 1.53351291e+00] [ 8.26629112e-02 6.73378538e-04 9.96577338e-01 5.60422285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.881193817 meters Centerline goodness : 0.936140 with order 1 Centerline is valid? [False, False] Translation: X:68.67, Y:1.52, Z:5.60 [[ 9.83655534e-01 -1.59241201e-01 -8.40477816e-02 6.86744502e+01] [ 1.58171336e-01 9.87223414e-01 -1.92810743e-02 1.52039616e+00] [ 8.60442793e-02 5.67198552e-03 9.96275168e-01 5.60289225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.941193817 meters Centerline goodness : 0.924199 with order 1 Centerline is valid? [False, False] Translation: X:68.70, Y:1.50, Z:5.60 [[ 9.82601667e-01 -1.63572248e-01 -8.79663807e-02 6.87039939e+01] [ 1.62381957e-01 9.86513548e-01 -2.05698616e-02 1.49885978e+00] [ 9.01446848e-02 5.92782725e-03 9.95911039e-01 5.60451445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.001193817 meters Centerline goodness : 0.916043 with order 1 Centerline is valid? [False, False] Translation: X:68.74, Y:1.49, Z:5.61 [[ 9.82557830e-01 -1.63483680e-01 -8.86182604e-02 6.87437381e+01] [ 1.61697162e-01 9.86470290e-01 -2.70258178e-02 1.48785615e+00] [ 9.18375612e-02 1.22251077e-02 9.95698955e-01 5.60807145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.06119381699995 meters Centerline goodness : 0.910900 with order 1 Centerline is valid? [False, False] Translation: X:68.78, Y:1.47, Z:5.61 [[ 9.81584083e-01 -1.68633730e-01 -8.97516250e-02 6.87781930e+01] [ 1.67253404e-01 9.85651687e-01 -2.27387654e-02 1.47032873e+00] [ 9.22983633e-02 7.30874536e-03 9.95704572e-01 5.61277710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.12119381699995 meters Centerline goodness : 0.906105 with order 1 Centerline is valid? [False, False] Translation: X:68.82, Y:1.46, Z:5.62 [[ 9.81244846e-01 -1.69823305e-01 -9.12063424e-02 6.88162206e+01] [ 1.67470903e-01 9.85327566e-01 -3.29102498e-02 1.46015535e+00] [ 9.54570507e-02 1.70186045e-02 9.95288058e-01 5.61539067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.18119381699995 meters Centerline goodness : 0.902232 with order 1 Centerline is valid? [False, False] Translation: X:68.82, Y:1.44, Z:5.60 [[ 9.82625882e-01 -1.68096383e-01 -7.86764422e-02 6.88199566e+01] [ 1.65135011e-01 9.85342310e-01 -4.27897126e-02 1.43878558e+00] [ 8.47160233e-02 2.90540439e-02 9.95981455e-01 5.59695583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.24119381699995 meters Centerline goodness : 0.898367 with order 1 Centerline is valid? [False, False] Translation: X:68.82, Y:1.43, Z:5.59 [[ 9.84012320e-01 -1.63391509e-01 -7.08728996e-02 6.88246632e+01] [ 1.60330347e-01 9.85945751e-01 -4.69590978e-02 1.42555187e+00] [ 7.75495520e-02 3.48452542e-02 9.96379383e-01 5.58587801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.30119381699996 meters Centerline goodness : 0.897988 with order 1 Centerline is valid? [False, False] Translation: X:68.83, Y:1.41, Z:5.58 [[ 9.84925966e-01 -1.56772198e-01 -7.30980073e-02 6.88344864e+01] [ 1.53429842e-01 9.86927577e-01 -4.93278966e-02 1.41002322e+00] [ 7.98756820e-02 3.73689105e-02 9.96104131e-01 5.58394240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.36119381699996 meters Centerline goodness : 0.891289 with order 1 Centerline is valid? [False, False] Translation: X:68.84, Y:1.40, Z:5.58 [[ 9.87045612e-01 -1.46528128e-01 -6.53488175e-02 6.88411981e+01] [ 1.44220602e-01 9.88786301e-01 -3.87565356e-02 1.39790467e+00] [ 7.02949382e-02 2.88298226e-02 9.97109554e-01 5.58378505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.42119381699996 meters Centerline goodness : 0.893537 with order 1 Centerline is valid? [False, False] Translation: X:68.85, Y:1.39, Z:5.58 [[ 9.87486801e-01 -1.42046412e-01 -6.85028122e-02 6.88485106e+01] [ 1.39718447e-01 9.89474122e-01 -3.76791345e-02 1.38596794e+00] [ 7.31339458e-02 2.76365414e-02 9.96939139e-01 5.58364529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.48119381699996 meters Centerline goodness : 0.885131 with order 1 Centerline is valid? [False, False] Translation: X:68.86, Y:1.36, Z:5.59 [[ 9.89273208e-01 -1.31134620e-01 -6.43601681e-02 6.88612930e+01] [ 1.29484977e-01 9.91151817e-01 -2.91841775e-02 1.36109345e+00] [ 6.76177536e-02 2.05374500e-02 9.97499901e-01 5.58598213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.54119381699996 meters Centerline goodness : 0.884955 with order 1 Centerline is valid? [False, False] Translation: X:68.87, Y:1.34, Z:5.59 [[ 9.90733582e-01 -1.22832464e-01 -5.79582235e-02 6.88713633e+01] [ 1.21516875e-01 9.92256198e-01 -2.57154964e-02 1.34302904e+00] [ 6.06681043e-02 1.84343037e-02 9.97987754e-01 5.58803077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.60119381699997 meters Centerline goodness : 0.882099 with order 1 Centerline is valid? [False, False] Translation: X:68.88, Y:1.33, Z:5.59 [[ 9.90760169e-01 -1.21181384e-01 -6.09045098e-02 6.88784844e+01] [ 1.19478479e-01 9.92356506e-01 -3.08781160e-02 1.32629190e+00] [ 6.41808393e-02 2.33160292e-02 9.97665867e-01 5.58883246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.66119381699997 meters Centerline goodness : 0.883500 with order 1 Centerline is valid? [False, False] Translation: X:68.89, Y:1.30, Z:5.59 [[ 9.92417173e-01 -1.09913097e-01 -5.50205960e-02 6.88877277e+01] [ 1.08757647e-01 9.93788572e-01 -2.35806807e-02 1.30443085e+00] [ 5.72706651e-02 1.74179619e-02 9.98206735e-01 5.59143160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.72119381699997 meters Centerline goodness : 0.884737 with order 1 Centerline is valid? [False, False] Translation: X:68.89, Y:1.29, Z:5.58 [[ 9.92515470e-01 -1.08856136e-01 -5.53478466e-02 6.88948012e+01] [ 1.06819637e-01 9.93532029e-01 -3.85184744e-02 1.29098246e+00] [ 5.91828306e-02 3.23179448e-02 9.97723881e-01 5.57834748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.781193817 meters Centerline goodness : 0.888095 with order 1 Centerline is valid? [False, False] Translation: X:68.91, Y:1.26, Z:5.58 [[ 9.92747171e-01 -1.04188124e-01 -5.99824015e-02 6.89059772e+01] [ 1.02230785e-01 9.94150656e-01 -3.48330396e-02 1.26273309e+00] [ 6.32607328e-02 2.84483536e-02 9.97591485e-01 5.57593383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.841193817 meters Centerline goodness : 0.892810 with order 1 Centerline is valid? [False, False] Translation: X:68.92, Y:1.26, Z:5.57 [[ 9.91173651e-01 -1.17003306e-01 -6.23299256e-02 6.89150382e+01] [ 1.13603780e-01 9.91971559e-01 -5.55572471e-02 1.25930666e+00] [ 6.83298951e-02 4.79859643e-02 9.96508090e-01 5.57342510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.901193817 meters Centerline goodness : 0.886113 with order 1 Centerline is valid? [False, False] Translation: X:68.92, Y:1.26, Z:5.56 [[ 9.91156229e-01 -1.18029070e-01 -6.06503776e-02 6.89170626e+01] [ 1.15123454e-01 9.92123738e-01 -4.93667734e-02 1.25720642e+00] [ 6.59993937e-02 4.19479040e-02 9.96937537e-01 5.56482430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.961193817 meters Centerline goodness : 0.877517 with order 1 Centerline is valid? [False, False] Translation: X:68.92, Y:1.26, Z:5.55 [[ 9.91274717e-01 -1.18436241e-01 -5.78557816e-02 6.89169149e+01] [ 1.16296414e-01 9.92446165e-01 -3.90608977e-02 1.25627640e+00] [ 6.20449745e-02 3.19916604e-02 9.97560502e-01 5.55478559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.021193817 meters Centerline goodness : 0.885606 with order 1 Centerline is valid? [False, False] Translation: X:68.92, Y:1.25, Z:5.56 [[ 9.91725354e-01 -1.19037704e-01 -4.80712781e-02 6.89194543e+01] [ 1.17250038e-01 9.92357945e-01 -3.84465617e-02 1.25046966e+00] [ 5.22805051e-02 3.24920708e-02 9.98103709e-01 5.55775686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.081193817 meters Centerline goodness : 0.889013 with order 1 Centerline is valid? [False, False] Translation: X:68.93, Y:1.24, Z:5.57 [[ 9.90538933e-01 -1.28070939e-01 -4.92996625e-02 6.89277343e+01] [ 1.26340237e-01 9.91305447e-01 -3.67648779e-02 1.24413349e+00] [ 5.35795364e-02 3.01885119e-02 9.98107152e-01 5.56929145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.141193817 meters Centerline goodness : 0.889864 with order 1 Centerline is valid? [False, False] Translation: X:68.94, Y:1.24, Z:5.57 [[ 9.89963859e-01 -1.31731008e-01 -5.11712762e-02 6.89403868e+01] [ 1.30242257e-01 9.90983985e-01 -3.14276362e-02 1.24330128e+00] [ 5.48499094e-02 2.44475615e-02 9.98195274e-01 5.57416636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.201193817 meters Centerline goodness : 0.885346 with order 1 Centerline is valid? [False, False] Translation: X:68.86, Y:1.23, Z:5.58 [[ 9.87824587e-01 -1.47333932e-01 -4.99529599e-02 6.88567478e+01] [ 1.46645464e-01 9.89039601e-01 -1.71981346e-02 1.23493336e+00] [ 5.19393243e-02 9.66336521e-03 9.98603488e-01 5.57943458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.261193817 meters Centerline goodness : 0.889223 with order 1 Centerline is valid? [False, False] Translation: X:69.07, Y:1.20, Z:5.64 [[ 9.92865287e-01 -8.04824145e-02 -8.79835354e-02 6.90673519e+01] [ 8.14604734e-02 9.96647771e-01 7.57706876e-03 1.20239032e+00] [ 8.70787736e-02 -1.46901890e-02 9.96093111e-01 5.63764373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.321193817 meters Centerline goodness : 0.888869 with order 1 Centerline is valid? [False, False] Translation: X:69.11, Y:1.21, Z:5.63 [[ 9.92816796e-01 -8.10956526e-02 -8.79676350e-02 6.91051160e+01] [ 8.05634038e-02 9.96703351e-01 -9.58998551e-03 1.20711059e+00] [ 8.84553427e-02 2.43412660e-03 9.96077169e-01 5.63290548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.381193817 meters Centerline goodness : 0.891548 with order 1 Centerline is valid? [False, False] Translation: X:69.13, Y:1.21, Z:5.64 [[ 9.92613243e-01 -7.92417872e-02 -9.18677771e-02 6.91321679e+01] [ 7.87334375e-02 9.96853709e-01 -9.15028926e-03 1.20651772e+00] [ 9.23038196e-02 1.84963241e-03 9.95729172e-01 5.63934484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.441193817 meters Centerline goodness : 0.888184 with order 1 Centerline is valid? [False, False] Translation: X:69.17, Y:1.21, Z:5.64 [[ 9.92706625e-01 -8.03189191e-02 -8.99023272e-02 6.91657186e+01] [ 7.97020790e-02 9.96764097e-01 -1.04361370e-02 1.21268564e+00] [ 9.04496312e-02 3.19461991e-03 9.95895908e-01 5.63856124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.501193817 meters Centerline goodness : 0.886207 with order 1 Centerline is valid? [False, False] Translation: X:69.20, Y:1.22, Z:5.64 [[ 9.93147518e-01 -7.44414433e-02 -9.00915070e-02 6.92037858e+01] [ 7.30403257e-02 9.97152627e-01 -1.87549600e-02 1.21573095e+00] [ 9.12311292e-02 1.20461290e-02 9.95756884e-01 5.63858643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.56119381699995 meters Centerline goodness : 0.886302 with order 1 Centerline is valid? [False, False] Translation: X:69.23, Y:1.22, Z:5.64 [[ 9.93146524e-01 -6.98187977e-02 -9.37300224e-02 6.92328705e+01] [ 6.85203486e-02 9.97504790e-01 -1.70045740e-02 1.21713419e+00] [ 9.46833853e-02 1.04656198e-02 9.95452423e-01 5.64238479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.62119381699995 meters Centerline goodness : 0.888203 with order 1 Centerline is valid? [False, False] Translation: X:69.27, Y:1.22, Z:5.64 [[ 9.93628899e-01 -6.71280976e-02 -9.05286134e-02 6.92687128e+01] [ 6.44361355e-02 9.97397631e-01 -3.23411468e-02 1.22039355e+00] [ 9.24640242e-02 2.63017841e-02 9.95368585e-01 5.63681678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.68119381699995 meters Centerline goodness : 0.885761 with order 1 Centerline is valid? [False, False] Translation: X:69.29, Y:1.21, Z:5.64 [[ 9.94190887e-01 -5.76764533e-02 -9.08730266e-02 6.92907189e+01] [ 5.55813723e-02 9.98130481e-01 -2.54215392e-02 1.21439629e+00] [ 9.21693620e-02 2.02230150e-02 9.95537964e-01 5.64366405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.74119381699995 meters Centerline goodness : 0.889630 with order 1 Centerline is valid? [False, False] Translation: X:69.32, Y:1.24, Z:5.61 [[ 9.96270409e-01 -5.07866602e-02 -6.97566231e-02 6.93179608e+01] [ 4.47474898e-02 9.95327205e-01 -8.55652743e-02 1.23734507e+00] [ 7.37762392e-02 8.21247171e-02 9.93887618e-01 5.60755189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.80119381699996 meters Centerline goodness : 0.884847 with order 1 Centerline is valid? [False, False] Translation: X:69.31, Y:1.30, Z:5.54 [[ 9.98018844e-01 -5.06043648e-02 -3.73842826e-02 6.93123783e+01] [ 4.16797874e-02 9.76887945e-01 -2.09649084e-01 1.29849478e+00] [ 4.71294137e-02 2.07675568e-01 9.77061757e-01 5.54103343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.86119381699996 meters Centerline goodness : 0.883655 with order 1 Centerline is valid? [False, False] Translation: X:69.32, Y:1.29, Z:5.55 [[ 9.99361905e-01 -2.65592912e-02 -2.38827731e-02 6.93220617e+01] [ 2.15236442e-02 9.81403927e-01 -1.90743455e-01 1.29333398e+00] [ 2.85046582e-02 1.90107698e-01 9.81349350e-01 5.54889420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.92119381699996 meters Centerline goodness : 0.886006 with order 1 Centerline is valid? [False, False] Translation: X:69.32, Y:1.29, Z:5.55 [[ 9.99443250e-01 -3.02631418e-02 -1.40475072e-02 6.93243748e+01] [ 2.70030957e-02 9.80987420e-01 -1.92183543e-01 1.28687547e+00] [ 1.95965057e-02 1.91697219e-01 9.81258454e-01 5.54984039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.98119381699996 meters Centerline goodness : 0.890750 with order 1 Centerline is valid? [False, False] Translation: X:69.36, Y:1.26, Z:5.59 [[ 9.99205047e-01 -3.93012975e-02 -6.68448089e-03 6.93554289e+01] [ 3.81173154e-02 9.90968990e-01 -1.28559443e-01 1.26376692e+00] [ 1.16766662e-02 1.28202450e-01 9.91679276e-01 5.58961369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.04119381699996 meters Centerline goodness : 0.885989 with order 1 Centerline is valid? [False, False] Translation: X:69.37, Y:1.26, Z:5.59 [[ 9.99024604e-01 -4.31630968e-02 -9.31599436e-03 6.93652171e+01] [ 4.16141961e-02 9.90863481e-01 -1.28288035e-01 1.26302977e+00] [ 1.47681875e-02 1.27775226e-01 9.91693195e-01 5.59091464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.10119381699997 meters Centerline goodness : 0.886225 with order 1 Centerline is valid? [False, False] Translation: X:69.37, Y:1.28, Z:5.57 [[ 9.98673783e-01 -5.14766438e-02 -9.11581420e-04 6.93694519e+01] [ 5.06107319e-02 9.84815402e-01 -1.66063774e-01 1.28211980e+00] [ 9.44614515e-03 1.65797401e-01 9.86114594e-01 5.56635176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.16119381699997 meters Centerline goodness : 0.886059 with order 1 Centerline is valid? [False, False] Translation: X:69.39, Y:1.27, Z:5.58 [[ 9.98291713e-01 -5.84166822e-02 -1.07129760e-03 6.93941692e+01] [ 5.75752677e-02 9.86700371e-01 -1.52011404e-01 1.27135946e+00] [ 9.93705164e-03 1.51690045e-01 9.88378159e-01 5.57587650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.22119381699997 meters Centerline goodness : 0.889177 with order 1 Centerline is valid? [False, False] Translation: X:69.41, Y:1.30, Z:5.54 [[ 9.97965196e-01 -6.15564733e-02 1.66213151e-02 6.94052965e+01] [ 6.37053902e-02 9.73506686e-01 -2.19605000e-01 1.30117578e+00] [-2.66285200e-03 2.20217014e-01 9.75447270e-01 5.54201110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.281193817 meters Centerline goodness : 0.889933 with order 1 Centerline is valid? [False, False] Translation: X:69.41, Y:1.30, Z:5.54 [[ 9.97987158e-01 -6.12904301e-02 1.62823927e-02 6.94051831e+01] [ 6.33703129e-02 9.73612556e-01 -2.19232283e-01 1.30158213e+00] [-2.41590105e-03 2.19822823e-01 9.75536821e-01 5.54339898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.341193817 meters Centerline goodness : 0.887956 with order 1 Centerline is valid? [False, False] Translation: X:69.42, Y:1.31, Z:5.53 [[ 9.97694211e-01 -6.31095146e-02 2.49689812e-02 6.94204781e+01] [ 6.71995913e-02 9.70126722e-01 -2.33105895e-01 1.31361693e+00] [-9.51187602e-03 2.34246307e-01 9.72130748e-01 5.53438845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.401193817 meters Centerline goodness : 0.889294 with order 1 Centerline is valid? [False, False] Translation: X:69.44, Y:1.31, Z:5.54 [[ 9.97463297e-01 -6.60208386e-02 2.66123914e-02 6.94430330e+01] [ 7.02397800e-02 9.73526734e-01 -2.17513381e-01 1.31061039e+00] [-1.15474586e-02 2.18830863e-01 9.75694476e-01 5.54186630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.461193817 meters Centerline goodness : 0.889812 with order 1 Centerline is valid? [False, False] Translation: X:69.46, Y:1.31, Z:5.55 [[ 9.97171727e-01 -6.92279890e-02 2.92580469e-02 6.94614111e+01] [ 7.37767851e-02 9.75902123e-01 -2.05358301e-01 1.30868108e+00] [-1.43364479e-02 2.06936056e-01 9.78249424e-01 5.54798509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.521193817 meters Centerline goodness : 0.884886 with order 1 Centerline is valid? [False, False] Translation: X:69.49, Y:1.32, Z:5.53 [[ 9.96149447e-01 -7.68918739e-02 4.21179114e-02 6.94903540e+01] [ 8.42992706e-02 9.72021255e-01 -2.19244870e-01 1.32032859e+00] [-2.40813562e-02 2.21951165e-01 9.74760365e-01 5.53382513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.581193817 meters Centerline goodness : 0.885159 with order 1 Centerline is valid? [False, False] Translation: X:69.51, Y:1.30, Z:5.55 [[ 9.95418777e-01 -8.76866660e-02 3.81117747e-02 6.95114764e+01] [ 9.33230592e-02 9.77752105e-01 -1.87860661e-01 1.30278416e+00] [-2.07909929e-02 1.90556737e-01 9.81455992e-01 5.55469022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.641193817 meters Centerline goodness : 0.888106 with order 1 Centerline is valid? [False, False] Translation: X:69.53, Y:1.29, Z:5.57 [[ 9.94816080e-01 -9.24485802e-02 4.23583273e-02 6.95253086e+01] [ 9.80501799e-02 9.82482200e-01 -1.58476774e-01 1.29115813e+00] [-2.69653498e-02 1.61808485e-01 9.86453691e-01 5.57129012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.701193817 meters Centerline goodness : 0.893031 with order 1 Centerline is valid? [False, False] Translation: X:69.53, Y:1.30, Z:5.57 [[ 9.94978603e-01 -9.06506573e-02 4.24268485e-02 6.95288148e+01] [ 9.65463781e-02 9.81039902e-01 -1.68046146e-01 1.29852439e+00] [-2.63889377e-02 1.71298479e-01 9.84865704e-01 5.56521299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.761193817 meters Centerline goodness : 0.894381 with order 1 Centerline is valid? [False, False] Translation: X:69.54, Y:1.30, Z:5.56 [[ 9.95391007e-01 -8.33999415e-02 4.73412390e-02 6.95366984e+01] [ 9.03347187e-02 9.81134012e-01 -1.70925973e-01 1.30079673e+00] [-3.21928836e-02 1.74414734e-01 9.84145883e-01 5.55948059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.821193817 meters Centerline goodness : 0.889767 with order 1 Centerline is valid? [False, False] Translation: X:69.54, Y:1.30, Z:5.58 [[ 9.96012526e-01 -7.36317879e-02 5.03726955e-02 6.95364074e+01] [ 8.03959709e-02 9.85559466e-01 -1.49026936e-01 1.29662825e+00] [-3.86721671e-02 1.52482457e-01 9.87549272e-01 5.58396165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.881193817 meters Centerline goodness : 0.887733 with order 1 Centerline is valid? [False, False] Translation: X:69.54, Y:1.30, Z:5.59 [[ 9.96681935e-01 -6.56464779e-02 4.81213023e-02 6.95381689e+01] [ 7.19898224e-02 9.86836648e-01 -1.44813314e-01 1.29819426e+00] [-3.79813806e-02 1.47797058e-01 9.88288138e-01 5.58705761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.941193817 meters Centerline goodness : 0.882416 with order 1 Centerline is valid? [False, False] Translation: X:69.54, Y:1.30, Z:5.59 [[ 9.97385013e-01 -5.62084394e-02 4.54284802e-02 6.95392125e+01] [ 6.19225481e-02 9.88753397e-01 -1.36133457e-01 1.29862049e+00] [-3.72657149e-02 1.38590517e-01 9.89648390e-01 5.59214583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.00119381699994 meters Centerline goodness : 0.880912 with order 1 Centerline is valid? [False, False] Translation: X:69.54, Y:1.29, Z:5.61 [[ 9.98036943e-01 -5.00711788e-02 3.76183215e-02 6.95435375e+01] [ 5.37002274e-02 9.93269378e-01 -1.02626646e-01 1.28899484e+00] [-3.22264896e-02 1.04445296e-01 9.94008367e-01 5.60891012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.06119381699995 meters Centerline goodness : 0.878786 with order 1 Centerline is valid? [False, False] Translation: X:69.54, Y:1.28, Z:5.63 [[ 9.98374730e-01 -4.75723011e-02 3.13811239e-02 6.95420188e+01] [ 4.97756109e-02 9.96042469e-01 -7.36327941e-02 1.27757844e+00] [-2.77540507e-02 7.50751356e-02 9.96791571e-01 5.62825710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.12119381699995 meters Centerline goodness : 0.881429 with order 1 Centerline is valid? [False, False] Translation: X:69.55, Y:1.27, Z:5.64 [[ 9.98628675e-01 -4.31385974e-02 2.96619347e-02 6.95492958e+01] [ 4.47908282e-02 9.97340259e-01 -5.74994721e-02 1.26912764e+00] [-2.71025951e-02 5.87492043e-02 9.97904795e-01 5.64181320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.18119381699995 meters Centerline goodness : 0.882238 with order 1 Centerline is valid? [False, False] Translation: X:69.55, Y:1.26, Z:5.65 [[ 9.98896419e-01 -3.76451509e-02 2.80853428e-02 6.95546823e+01] [ 3.88252368e-02 9.98332072e-01 -4.27279277e-02 1.26239714e+00] [-2.64299991e-02 4.37711940e-02 9.98691913e-01 5.65297813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.24119381699995 meters Centerline goodness : 0.884731 with order 1 Centerline is valid? [False, False] Translation: X:69.56, Y:1.26, Z:5.66 [[ 9.99047052e-01 -3.43464637e-02 2.69315666e-02 6.95628225e+01] [ 3.50997982e-02 9.98991017e-01 -2.80169811e-02 1.25571002e+00] [-2.59421089e-02 2.89355749e-02 9.99244584e-01 5.66412554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.30119381699996 meters Centerline goodness : 0.885187 with order 1 Centerline is valid? [False, False] Translation: X:69.57, Y:1.25, Z:5.67 [[ 9.99166862e-01 -3.20610022e-02 2.52522086e-02 6.95675260e+01] [ 3.25674632e-02 9.99271274e-01 -1.99068360e-02 1.25079247e+00] [-2.45955736e-02 2.07126512e-02 9.99482888e-01 5.67076692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.36119381699996 meters Centerline goodness : 0.887867 with order 1 Centerline is valid? [False, False] Translation: X:69.58, Y:1.25, Z:5.68 [[ 9.99226872e-01 -3.16763433e-02 2.32866302e-02 6.95754142e+01] [ 3.19863681e-02 9.99402928e-01 -1.30636473e-02 1.24677165e+00] [-2.28589178e-02 1.37984022e-02 9.99643473e-01 5.67524539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.42119381699996 meters Centerline goodness : 0.885898 with order 1 Centerline is valid? [False, False] Translation: X:69.61, Y:1.24, Z:5.68 [[ 9.99346431e-01 -3.13405136e-02 1.80134360e-02 6.96112482e+01] [ 3.14694883e-02 9.99480747e-01 -6.92154528e-03 1.24027158e+00] [-1.77871577e-02 7.48389518e-03 9.99813787e-01 5.68219348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.48119381699996 meters Centerline goodness : 0.884014 with order 1 Centerline is valid? [False, False] Translation: X:69.66, Y:1.23, Z:5.69 [[ 9.99121158e-01 -3.91713167e-02 1.49170578e-02 6.96592181e+01] [ 3.91280918e-02 9.99229147e-01 3.17870516e-03 1.23124908e+00] [-1.50300730e-02 -2.59223558e-03 9.99883682e-01 5.69077160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.54119381699996 meters Centerline goodness : 0.886985 with order 1 Centerline is valid? [False, False] Translation: X:69.71, Y:1.21, Z:5.71 [[ 9.97860991e-01 -6.37104923e-02 1.46429521e-02 6.97124497e+01] [ 6.31126547e-02 9.97275359e-01 3.81922938e-02 1.21145317e+00] [-1.70363052e-02 -3.71864446e-02 9.99163116e-01 5.71468857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.60119381699997 meters Centerline goodness : 0.889336 with order 1 Centerline is valid? [False, False] Translation: X:69.71, Y:1.21, Z:5.72 [[ 9.97449983e-01 -6.96841812e-02 1.54157833e-02 6.97112834e+01] [ 6.91236340e-02 9.97017744e-01 3.43153223e-02 1.20992216e+00] [-1.77610446e-02 -3.31622227e-02 9.99292156e-01 5.71600531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.66119381699997 meters Centerline goodness : 0.888937 with order 1 Centerline is valid? [False, False] Translation: X:69.72, Y:1.22, Z:5.71 [[ 9.96983570e-01 -7.62840520e-02 1.43005023e-02 6.97224341e+01] [ 7.58294882e-02 9.96669015e-01 3.00127226e-02 1.21523103e+00] [-1.65423596e-02 -2.88377915e-02 9.99447213e-01 5.70956456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.72119381699997 meters Centerline goodness : 0.888445 with order 1 Centerline is valid? [False, False] Translation: X:69.74, Y:1.22, Z:5.70 [[ 9.96862143e-01 -7.68205939e-02 1.90909304e-02 6.97397235e+01] [ 7.64881174e-02 9.96915573e-01 1.75757642e-02 1.22359899e+00] [-2.03822265e-02 -1.60603846e-02 9.99663258e-01 5.69940095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.781193817 meters Centerline goodness : 0.889116 with order 1 Centerline is valid? [False, False] Translation: X:69.76, Y:1.23, Z:5.69 [[ 9.96374776e-01 -8.16591394e-02 2.38556344e-02 6.97626155e+01] [ 8.15043589e-02 9.96645575e-01 7.39165816e-03 1.23032860e+00] [-2.43792089e-02 -5.42052355e-03 9.99688087e-01 5.69468773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.841193817 meters Centerline goodness : 0.889499 with order 1 Centerline is valid? [False, False] Translation: X:69.77, Y:1.23, Z:5.69 [[ 9.96183974e-01 -8.40855650e-02 2.33903186e-02 6.97662875e+01] [ 8.39429485e-02 9.96445866e-01 7.01545058e-03 1.22974903e+00] [-2.38970844e-02 -5.02522714e-03 9.99701794e-01 5.69439300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.901193817 meters Centerline goodness : 0.881876 with order 1 Centerline is valid? [False, False] Translation: X:69.77, Y:1.23, Z:5.69 [[ 9.95680756e-01 -8.97031068e-02 2.39412920e-02 6.97696232e+01] [ 8.96622887e-02 9.95968359e-01 2.77515248e-03 1.22625867e+00] [-2.40937091e-02 -6.16534885e-04 9.99709514e-01 5.69138912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.961193817 meters Centerline goodness : 0.884182 with order 1 Centerline is valid? [False, False] Translation: X:69.79, Y:1.22, Z:5.69 [[ 9.96412094e-01 -8.19550591e-02 2.11259932e-02 6.97914024e+01] [ 8.21340150e-02 9.96591194e-01 -7.74570352e-03 1.22135736e+00] [-2.04191792e-02 9.45307530e-03 9.99746816e-01 5.69272783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.021193817 meters Centerline goodness : 0.882461 with order 1 Centerline is valid? [False, False] Translation: X:69.82, Y:1.22, Z:5.68 [[ 9.97082015e-01 -7.21127938e-02 2.50439687e-02 6.98177344e+01] [ 7.27521437e-02 9.97020642e-01 -2.56313220e-02 1.22436897e+00] [-2.31210075e-02 2.73785326e-02 9.99357711e-01 5.67852578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.081193817 meters Centerline goodness : 0.877374 with order 1 Centerline is valid? [False, False] Translation: X:69.85, Y:1.22, Z:5.68 [[ 9.97746381e-01 -6.36432328e-02 2.12531901e-02 6.98451159e+01] [ 6.40820586e-02 9.97731022e-01 -2.06469877e-02 1.22089400e+00] [-1.98909261e-02 2.19624054e-02 9.99560906e-01 5.67773630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.141193817 meters Centerline goodness : 0.880706 with order 1 Centerline is valid? [False, False] Translation: X:69.86, Y:1.25, Z:5.63 [[ 9.97824674e-01 -5.42499502e-02 3.74548193e-02 6.98633204e+01] [ 5.76321249e-02 9.93704613e-01 -9.60712274e-02 1.24991717e+00] [-3.20071674e-02 9.80208419e-02 9.94669521e-01 5.63308163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.201193817 meters Centerline goodness : 0.883573 with order 1 Centerline is valid? [False, False] Translation: X:69.88, Y:1.25, Z:5.63 [[ 9.97704710e-01 -5.19243799e-02 4.34645978e-02 6.98807279e+01] [ 5.61264930e-02 9.93218635e-01 -1.01816304e-01 1.25225683e+00] [-3.78831000e-02 1.04022122e-01 9.93853243e-01 5.62853102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.261193817 meters Centerline goodness : 0.883840 with order 1 Centerline is valid? [False, False] Translation: X:69.91, Y:1.26, Z:5.61 [[ 9.97517241e-01 -5.15852649e-02 4.79407332e-02 6.99137019e+01] [ 5.73140141e-02 9.90241848e-01 -1.27028286e-01 1.26335787e+00] [-4.09201325e-02 1.29460581e-01 9.90739875e-01 5.61100909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.321193817 meters Centerline goodness : 0.885023 with order 1 Centerline is valid? [False, False] Translation: X:69.94, Y:1.28, Z:5.59 [[ 9.96842702e-01 -5.38930877e-02 5.83109077e-02 6.99383847e+01] [ 6.25989606e-02 9.85196008e-01 -1.59593848e-01 1.27906249e+00] [-4.88466682e-02 1.62740165e-01 9.85459102e-01 5.59217272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.381193817 meters Centerline goodness : 0.874849 with order 1 Centerline is valid? [False, False] Translation: X:69.95, Y:1.27, Z:5.61 [[ 9.95690038e-01 -6.98185604e-02 6.10468462e-02 6.99454266e+01] [ 7.71930416e-02 9.88735206e-01 -1.28233878e-01 1.26971575e+00] [-5.14060612e-02 1.32393587e-01 9.89863301e-01 5.60786577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.441193817 meters Centerline goodness : 0.879839 with order 1 Centerline is valid? [False, False] Translation: X:69.97, Y:1.26, Z:5.62 [[ 9.94834664e-01 -8.40836481e-02 5.68676572e-02 6.99657223e+01] [ 8.98042354e-02 9.90203358e-01 -1.06922915e-01 1.26237905e+00] [-4.73200763e-02 1.11477579e-01 9.92639693e-01 5.61895651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.50119381699994 meters Centerline goodness : 0.888844 with order 1 Centerline is valid? [False, False] Translation: X:69.98, Y:1.26, Z:5.64 [[ 9.93594560e-01 -1.00193084e-01 5.22608482e-02 6.99776646e+01] [ 1.04612340e-01 9.90423292e-01 -9.00997279e-02 1.25556850e+00] [-4.27329918e-02 9.49897291e-02 9.94560628e-01 5.63557993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.56119381699995 meters Centerline goodness : 0.888059 with order 1 Centerline is valid? [False, False] Translation: X:69.98, Y:1.25, Z:5.65 [[ 9.92979092e-01 -1.08799549e-01 4.64239335e-02 6.99831038e+01] [ 1.11918526e-01 9.91183321e-01 -7.09215557e-02 1.25252074e+00] [-3.82983953e-02 7.56193202e-02 9.96400999e-01 5.65056994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.62119381699995 meters Centerline goodness : 0.884210 with order 1 Centerline is valid? [False, False] Translation: X:70.00, Y:1.25, Z:5.66 [[ 9.90692920e-01 -1.28268926e-01 4.55480114e-02 7.00047772e+01] [ 1.30636966e-01 9.89985874e-01 -5.34972216e-02 1.25359204e+00] [-3.82298567e-02 5.89495726e-02 9.97528659e-01 5.66001842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.68119381699995 meters Centerline goodness : 0.878601 with order 1 Centerline is valid? [False, False] Translation: X:70.03, Y:1.25, Z:5.66 [[ 9.89250749e-01 -1.39564671e-01 4.36423890e-02 7.00259571e+01] [ 1.41735369e-01 9.88570286e-01 -5.13797050e-02 1.25309956e+00] [-3.59727774e-02 5.70130818e-02 9.97725146e-01 5.66339520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.74119381699995 meters Centerline goodness : 0.885677 with order 1 Centerline is valid? [False, False] Translation: X:70.03, Y:1.25, Z:5.67 [[ 9.88357411e-01 -1.46290274e-01 4.18184616e-02 7.00329862e+01] [ 1.48382534e-01 9.87546927e-01 -5.22847063e-02 1.24877106e+00] [-3.36489492e-02 5.78811062e-02 9.97756246e-01 5.66998416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.80119381699996 meters Centerline goodness : 0.890918 with order 1 Centerline is valid? [False, False] Translation: X:70.04, Y:1.24, Z:5.68 [[ 9.89265964e-01 -1.40781518e-01 3.91588774e-02 7.00380661e+01] [ 1.42251278e-01 9.89113142e-01 -3.76797859e-02 1.24053459e+00] [-3.34279428e-02 4.28457300e-02 9.98522316e-01 5.68116256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.86119381699996 meters Centerline goodness : 0.885743 with order 1 Centerline is valid? [False, False] Translation: X:70.04, Y:1.24, Z:5.69 [[ 9.90637664e-01 -1.31134255e-01 3.79582111e-02 7.00353277e+01] [ 1.32188591e-01 9.90863994e-01 -2.67342760e-02 1.23749090e+00] [-3.41056453e-02 3.15016231e-02 9.98921645e-01 5.68600641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.92119381699996 meters Centerline goodness : 0.888338 with order 1 Centerline is valid? [False, False] Translation: X:70.04, Y:1.23, Z:5.70 [[ 9.93076405e-01 -1.13682630e-01 2.95890880e-02 7.00376395e+01] [ 1.14319122e-01 9.93226623e-01 -2.07849627e-02 1.23339554e+00] [-2.70257808e-02 2.40236546e-02 9.99346022e-01 5.69844228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.98119381699996 meters Centerline goodness : 0.895488 with order 1 Centerline is valid? [False, False] Translation: X:70.04, Y:1.23, Z:5.71 [[ 9.95057209e-01 -9.68630668e-02 2.18791550e-02 7.00408439e+01] [ 9.72180919e-02 9.95137848e-01 -1.57894284e-02 1.23090647e+00] [-2.02433628e-02 1.78384343e-02 9.99635932e-01 5.70907488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.04119381699996 meters Centerline goodness : 0.895302 with order 1 Centerline is valid? [False, False] Translation: X:70.04, Y:1.23, Z:5.71 [[ 9.95509662e-01 -9.21608476e-02 2.16076686e-02 7.00394636e+01] [ 9.24161606e-02 9.95658275e-01 -1.11289312e-02 1.23145347e+00] [-2.04882023e-02 1.30758563e-02 9.99704584e-01 5.71079614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.10119381699997 meters Centerline goodness : 0.894809 with order 1 Centerline is valid? [False, False] Translation: X:70.04, Y:1.23, Z:5.71 [[ 9.95452704e-01 -9.28947871e-02 2.10825342e-02 7.00422126e+01] [ 9.31470877e-02 9.95588046e-01 -1.13165130e-02 1.22992519e+00] [-1.99382740e-02 1.32288302e-02 9.99713691e-01 5.70910401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.16119381699997 meters Centerline goodness : 0.891168 with order 1 Centerline is valid? [False, False] Translation: X:70.04, Y:1.23, Z:5.71 [[ 9.95810942e-01 -8.93206619e-02 1.95547049e-02 7.00443159e+01] [ 8.94640027e-02 9.95968316e-01 -6.58070043e-03 1.22755635e+00] [-1.88880740e-02 8.30257566e-03 9.99787131e-01 5.71097259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.22119381699997 meters Centerline goodness : 0.892353 with order 1 Centerline is valid? [False, False] Translation: X:70.05, Y:1.23, Z:5.71 [[ 9.95967871e-01 -8.79325284e-02 1.77727532e-02 7.00515912e+01] [ 8.80123077e-02 9.96112305e-01 -3.75615325e-03 1.22698389e+00] [-1.73733702e-02 5.30522899e-03 9.99834997e-01 5.70740441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.281193817 meters Centerline goodness : 0.891925 with order 1 Centerline is valid? [False, False] Translation: X:70.06, Y:1.23, Z:5.70 [[ 9.95877317e-01 -8.90593019e-02 1.72281818e-02 7.00555539e+01] [ 8.91474083e-02 9.96008663e-01 -4.41402372e-03 1.22548668e+00] [-1.67663084e-02 5.93167386e-03 9.99841841e-01 5.70416549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.341193817 meters Centerline goodness : 0.895413 with order 1 Centerline is valid? [False, False] Translation: X:70.07, Y:1.22, Z:5.70 [[ 9.95971150e-01 -8.77329403e-02 1.85579908e-02 7.00726230e+01] [ 8.79921668e-02 9.96027710e-01 -1.36447959e-02 1.22282351e+00] [-1.72871750e-02 1.52227809e-02 9.99734675e-01 5.70072064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.401193817 meters Centerline goodness : 0.901373 with order 1 Centerline is valid? [False, False] Translation: X:70.07, Y:1.22, Z:5.70 [[ 9.96051596e-01 -8.67935564e-02 1.86573346e-02 7.00703553e+01] [ 8.70226969e-02 9.96135960e-01 -1.18405688e-02 1.22054950e+00] [-1.75575568e-02 1.34174291e-02 9.99755823e-01 5.70448295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.461193817 meters Centerline goodness : 0.901542 with order 1 Centerline is valid? [False, False] Translation: X:70.07, Y:1.22, Z:5.71 [[ 9.96213549e-01 -8.51682455e-02 1.74624060e-02 7.00745883e+01] [ 8.53096200e-02 9.96326140e-01 -7.51614801e-03 1.21888304e+00] [-1.67581144e-02 8.97739970e-03 9.99819270e-01 5.70526796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.521193817 meters Centerline goodness : 0.897441 with order 1 Centerline is valid? [False, False] Translation: X:70.08, Y:1.22, Z:5.70 [[ 9.96043978e-01 -8.73215288e-02 1.64725241e-02 7.00793987e+01] [ 8.74585662e-02 9.96137704e-01 -7.78939667e-03 1.21758214e+00] [-1.57287203e-02 9.19924499e-03 9.99833977e-01 5.70441329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.581193817 meters Centerline goodness : 0.901127 with order 1 Centerline is valid? [False, False] Translation: X:70.08, Y:1.22, Z:5.70 [[ 9.95497769e-01 -9.34422952e-02 1.58974725e-02 7.00839421e+01] [ 9.36446744e-02 9.95527211e-01 -1.24999067e-02 1.21666191e+00] [-1.46583465e-02 1.39323429e-02 9.99795490e-01 5.70330622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.641193817 meters Centerline goodness : 0.903188 with order 1 Centerline is valid? [False, False] Translation: X:70.09, Y:1.22, Z:5.70 [[ 9.95298719e-01 -9.57676493e-02 1.44574209e-02 7.00897428e+01] [ 9.59595355e-02 9.95297463e-01 -1.32184250e-02 1.21699317e+00] [-1.31235369e-02 1.45436089e-02 9.99808110e-01 5.70206709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.701193817 meters Centerline goodness : 0.899409 with order 1 Centerline is valid? [False, False] Translation: X:70.10, Y:1.22, Z:5.70 [[ 9.95357415e-01 -9.55193184e-02 1.18184341e-02 7.00983603e+01] [ 9.56413544e-02 9.95363284e-01 -1.02305269e-02 1.21967494e+00] [-1.07864224e-02 1.13133619e-02 9.99877823e-01 5.70152120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.761193817 meters Centerline goodness : 0.901943 with order 1 Centerline is valid? [False, False] Translation: X:70.10, Y:1.23, Z:5.70 [[ 9.95600960e-01 -9.30440863e-02 1.10238822e-02 7.01011807e+01] [ 9.31645545e-02 9.95590291e-01 -1.09699023e-02 1.22676083e+00] [-9.95458555e-03 1.19486803e-02 9.99879060e-01 5.69766989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.821193817 meters Centerline goodness : 0.901638 with order 1 Centerline is valid? [False, False] Translation: X:70.10, Y:1.23, Z:5.70 [[ 9.95846386e-01 -9.05276947e-02 9.73205591e-03 7.01036155e+01] [ 9.05908531e-02 9.95868541e-01 -6.25667954e-03 1.22630234e+00] [-9.12544555e-03 7.11232695e-03 9.99933068e-01 5.70020020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.881193817 meters Centerline goodness : 0.904559 with order 1 Centerline is valid? [False, False] Translation: X:70.11, Y:1.23, Z:5.70 [[ 9.95725193e-01 -9.19132739e-02 9.12635796e-03 7.01068761e+01] [ 9.19859132e-02 9.95729080e-01 -7.88611964e-03 1.22854247e+00] [-8.36254094e-03 8.69190437e-03 9.99927257e-01 5.69605223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.941193817 meters Centerline goodness : 0.904590 with order 1 Centerline is valid? [False, False] Translation: X:70.11, Y:1.23, Z:5.70 [[ 9.95782100e-01 -9.14697479e-02 7.16206784e-03 7.01110352e+01] [ 9.15517308e-02 9.95726737e-01 -1.21055886e-02 1.22978479e+00] [-6.02416730e-03 1.27102281e-02 9.99901075e-01 5.69519086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.00119381699994 meters Centerline goodness : 0.909937 with order 1 Centerline is valid? [False, False] Translation: X:70.12, Y:1.23, Z:5.69 [[ 9.95648398e-01 -9.29795333e-02 6.25086037e-03 7.01152041e+01] [ 9.30760018e-02 9.95505305e-01 -1.74941445e-02 1.23128900e+00] [-4.59616727e-03 1.79998221e-02 9.99827426e-01 5.69177113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.06119381699995 meters Centerline goodness : 0.913607 with order 1 Centerline is valid? [False, False] Translation: X:70.10, Y:1.22, Z:5.70 [[ 9.96017968e-01 -8.50032346e-02 2.68823040e-02 7.00991591e+01] [ 8.50490545e-02 9.96376606e-01 -5.63643302e-04 1.22389809e+00] [-2.67369874e-02 2.84771340e-03 9.99638447e-01 5.70304343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.12119381699995 meters Centerline goodness : 0.916949 with order 1 Centerline is valid? [False, False] Translation: X:70.09, Y:1.22, Z:5.70 [[ 9.96065735e-01 -7.78104157e-02 4.24097943e-02 7.00940720e+01] [ 7.78164418e-02 9.96966558e-01 1.51123205e-03 1.21950430e+00] [-4.23987363e-02 1.79489283e-03 9.99099157e-01 5.69535864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.18119381699995 meters Centerline goodness : 0.923024 with order 1 Centerline is valid? [False, False] Translation: X:70.09, Y:1.24, Z:5.70 [[ 9.95956147e-01 -7.88232470e-02 4.31074214e-02 7.00891909e+01] [ 7.94319393e-02 9.96760758e-01 -1.25920031e-02 1.23891658e+00] [-4.19752435e-02 1.59651890e-02 9.98991087e-01 5.70393128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.24119381699995 meters Centerline goodness : 0.922637 with order 1 Centerline is valid? [False, False] Translation: X:70.09, Y:1.26, Z:5.71 [[ 9.96886027e-01 -6.74229127e-02 4.08949758e-02 7.00901696e+01] [ 6.81695297e-02 9.97526436e-01 -1.71442559e-02 1.26219655e+00] [-3.96379038e-02 1.98786604e-02 9.99016354e-01 5.70720503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.30119381699996 meters Centerline goodness : 0.924042 with order 1 Centerline is valid? [False, False] Translation: X:70.07, Y:1.30, Z:5.71 [[ 9.98847958e-01 -2.98477618e-02 3.75748208e-02 7.00712209e+01] [ 3.00486831e-02 9.99536941e-01 -4.79377375e-03 1.30107216e+00] [-3.74143380e-02 5.91732501e-03 9.99282319e-01 5.70719397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.36119381699996 meters Centerline goodness : 0.928981 with order 1 Centerline is valid? [False, False] Translation: X:70.06, Y:1.33, Z:5.71 [[ 9.99330312e-01 1.38016220e-03 3.65653184e-02 7.00597019e+01] [-1.54485859e-03 9.99988788e-01 4.47629876e-03 1.33456637e+00] [-3.65587304e-02 -4.52978929e-03 9.99321240e-01 5.70834311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.42119381699996 meters Centerline goodness : 0.947410 with order 1 Centerline is valid? [False, False] Translation: X:70.02, Y:1.41, Z:5.77 [[ 9.98390961e-01 5.37780702e-02 1.79835571e-02 7.00150067e+01] [-5.45007117e-02 9.97610920e-01 4.24514356e-02 1.41066863e+00] [-1.56576366e-02 -4.33632462e-02 9.98936668e-01 5.76587967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.48119381699996 meters Centerline goodness : 0.963733 with order 1 Centerline is valid? [False, True] Translation: X:69.98, Y:1.47, Z:5.81 [[ 9.95435278e-01 9.53734375e-02 3.53754460e-03 6.99828323e+01] [-9.53471787e-02 9.92168246e-01 8.06913074e-02 1.47085263e+00] [ 4.18596795e-03 -8.06602689e-02 9.96732862e-01 5.80563975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.54119381699996 meters Centerline goodness : 0.961305 with order 1 Centerline is valid? [True, True] Translation: X:70.05, Y:1.58, Z:5.77 [[ 9.91445309e-01 1.30483008e-01 3.22246042e-03 7.00456360e+01] [-1.30483644e-01 9.91450462e-01 -1.30007914e-05 1.58374621e+00] [-3.19660626e-03 -4.07588805e-04 9.99994808e-01 5.76577699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.60119381699997 meters Centerline goodness : 0.956335 with order 1 Centerline is valid? [True, True] Translation: X:70.11, Y:1.62, Z:5.76 [[ 9.94834642e-01 1.01457630e-01 3.22245615e-03 7.01090312e+01] [-1.01458112e-01 9.94839812e-01 -1.39865241e-05 1.61853568e+00] [-3.20724671e-03 -3.13030036e-04 9.99994808e-01 5.75981669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.66119381699997 meters Centerline goodness : 0.956295 with order 1 Centerline is valid? [True, True] Translation: X:70.17, Y:1.63, Z:5.74 [[ 9.99576689e-01 -2.89146736e-02 3.22245154e-03 7.01708318e+01] [ 2.89148719e-02 9.99581878e-01 -1.49783152e-05 1.63401104e+00] [-3.22067106e-03 1.08148748e-04 9.99994808e-01 5.73931761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.72119381699997 meters Centerline goodness : 0.945517 with order 1 Centerline is valid? [True, False] Translation: X:70.16, Y:1.62, Z:5.75 [[ 9.94308842e-01 -1.06332961e-01 6.57487655e-03 7.01648229e+01] [ 1.06278980e-01 9.94303540e-01 8.07769627e-03 1.62158815e+00] [-7.39634838e-03 -7.33295365e-03 9.99945759e-01 5.74520381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 15641.81 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%| | 0/9392 [00:00