+ python -m lidar_slam --result /working/result.json --no-model /working/d5aa3c33-48d8-4611-9c96-4486a3c9bf0a Lidar SLAM 0.0.16 ===================================================== The recording path: /working/d5aa3c33-48d8-4611-9c96-4486a3c9bf0a 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 0.00719347 Adjusted end_distance from 9.223372036854776e+18 to 204.37719347 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.00719347 meters SLAMing on 0.06719347 meters SLAMing on 0.12719347 meters SLAMing on 0.18719347000000003 meters Centerline goodness : 0.208258 with order 3 Centerline is valid? [0, False] SLAMing on 0.24719347000000003 meters Centerline goodness : 0.235690 with order 1 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.16, Z:-0.03 [[ 0.99441855 0.09276123 -0.05027035 0.04031333] [-0.09213741 0.99563937 0.01459285 -0.1599728 ] [ 0.05140479 -0.00987962 0.99862903 -0.02859803] [ 0. 0. 0. 1. ]] SLAMing on 0.30719347 meters Centerline goodness : 0.141847 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.19, Z:-0.04 [[ 0.99482878 0.05924649 -0.08249581 0.19311675] [-0.05850705 0.99822242 0.01135434 -0.18512652] [ 0.08302187 -0.00646904 0.99652673 -0.03635747] [ 0. 0. 0. 1. ]] SLAMing on 0.36719347 meters Centerline goodness : 0.136587 with order 1 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.21, Z:-0.03 [[ 0.98898892 0.10993253 -0.09907453 0.27907195] [-0.10967731 0.99393477 0.00803549 -0.20730292] [ 0.09935698 0.00291921 0.99504757 -0.03130747] [ 0. 0. 0. 1. ]] SLAMing on 0.42719347 meters Centerline goodness : 0.166470 with order 1 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.24, Z:-0.02 [[ 0.98959411 0.09601275 -0.10716834 0.34292939] [-0.09671795 0.99531086 -0.00139021 -0.23975541] [ 0.10653233 0.01174085 0.99423992 -0.01861625] [ 0. 0. 0. 1. ]] SLAMing on 0.48719347 meters Centerline goodness : 0.820762 with order 3 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.24, Z:-0.02 [[ 0.98849791 0.10527451 -0.1085779 0.36830694] [-0.10568594 0.9943976 0.00197451 -0.23670733] [ 0.10817747 0.00952335 0.99408598 -0.02067034] [ 0. 0. 0. 1. ]] SLAMing on 0.5471934700000001 meters Centerline goodness : 0.519782 with order 3 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.23, Z:-0.02 [[ 0.99016384 0.08765866 -0.10904826 0.37741146] [-0.08886027 0.99602481 -0.00619934 -0.23312382] [ 0.10807135 0.01582842 0.99401713 -0.01775341] [ 0. 0. 0. 1. ]] SLAMing on 0.6071934700000001 meters Centerline goodness : 0.844747 with order 1 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.22, Z:-0.01 [[ 0.99116671 0.0687587 -0.11340545 0.39752973] [-0.07008414 0.99751107 -0.00773776 -0.22448175] [ 0.11259116 0.01561733 0.99351866 -0.01175284] [ 0. 0. 0. 1. ]] SLAMing on 0.6671934700000001 meters Centerline goodness : 0.804951 with order 1 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.22, Z:-0.00 [[ 0.99200154 0.06800813 -0.10633834 0.40214616] [-0.06942086 0.99754092 -0.00963632 -0.21891403] [ 0.1054215 0.01694135 0.99428331 -0.00144391] [ 0. 0. 0. 1. ]] SLAMing on 0.7271934700000001 meters Centerline goodness : 0.842156 with order 1 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.23, Z:-0.01 [[ 0.99124727 0.07520921 -0.10850078 0.41148689] [-0.07605764 0.99709657 -0.00369658 -0.23138533] [ 0.10790774 0.01191654 0.99408949 -0.00556544] [ 0. 0. 0. 1. ]] SLAMing on 0.7871934700000001 meters Centerline goodness : 0.864662 with order 1 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.26, Z:-0.02 [[ 0.98858779 0.09440932 -0.11739274 0.43203681] [-0.09529014 0.99544773 -0.00190069 -0.25840934] [ 0.11667889 0.01306537 0.99308375 -0.01670692] [ 0. 0. 0. 1. ]] SLAMing on 0.8471934700000001 meters Centerline goodness : 0.872602 with order 2 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.31, Z:-0.02 [[ 0.98845212 0.08830533 -0.12314455 0.43910353] [-0.08748404 0.99609278 0.01207135 -0.31203243] [ 0.12372936 -0.00115876 0.99231532 -0.01751003] [ 0. 0. 0. 1. ]] SLAMing on 0.9071934700000001 meters Centerline goodness : 0.146228 with order 1 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.35, Z:-0.02 [[ 0.98869534 0.08849261 -0.12103961 0.42951723] [-0.08709406 0.99605831 0.01680697 -0.35319856] [ 0.1220498 -0.00607515 0.99250538 -0.01641145] [ 0. 0. 0. 1. ]] SLAMing on 0.9671934700000001 meters Centerline goodness : 0.862608 with order 1 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.37, Z:-0.01 [[ 0.9865945 0.10722375 -0.12302176 0.43851356] [-0.10713433 0.99421731 0.007361 -0.36561685] [ 0.12309964 0.00591754 0.99237667 -0.01475436] [ 0. 0. 0. 1. ]] SLAMing on 1.02719347 meters Centerline goodness : 0.878816 with order 3 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.39, Z:-0.02 [[ 0.98682365 0.10827585 -0.12023074 0.42967992] [-0.10815635 0.99410531 0.00753848 -0.3868777 ] [ 0.12033826 0.00556457 0.99271735 -0.01689343] [ 0. 0. 0. 1. ]] SLAMing on 1.08719347 meters Centerline goodness : 0.226994 with order 1 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.39, Z:-0.01 [[ 0.98568154 0.12054961 -0.11789697 0.43489097] [-0.12095425 0.99265103 0.0037433 -0.39267362] [ 0.1174818 0.01057043 0.99301878 -0.01172486] [ 0. 0. 0. 1. ]] SLAMing on 1.1471934700000002 meters Centerline goodness : 0.798313 with order 3 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.41, Z:-0.03 [[ 0.98990138 0.07978256 -0.11717511 0.41314683] [-0.07753363 0.99670956 0.02363466 -0.41038294] [ 0.11867519 -0.01431097 0.99282999 -0.02639391] [ 0. 0. 0. 1. ]] SLAMing on 1.2071934700000002 meters Centerline goodness : 0.145253 with order 1 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.39, Z:-0.02 [[ 9.83181156e-01 1.33487409e-01 -1.24643192e-01 4.43495607e-01] [-1.34538845e-01 9.90908320e-01 -1.82374414e-05 -3.86222335e-01] [ 1.23507541e-01 1.67872818e-02 9.92201630e-01 -2.20358992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.26719347 meters Centerline goodness : 0.864148 with order 1 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.38, Z:-0.02 [[ 0.98238502 0.14031752 -0.12341258 0.4456493 ] [-0.14094151 0.990011 0.00370355 -0.37640807] [ 0.12269949 0.01375565 0.99234854 -0.02394413] [ 0. 0. 0. 1. ]] SLAMing on 1.32719347 meters Centerline goodness : 0.894603 with order 1 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.37, Z:-0.01 [[ 0.98155891 0.16108327 -0.10292852 0.43192755] [-0.161319 0.98688356 0.00608514 -0.36628337] [ 0.10255868 0.01063141 0.99467014 -0.00754072] [ 0. 0. 0. 1. ]] SLAMing on 1.3871934700000002 meters Centerline goodness : 0.899178 with order 1 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.35, Z:-0.00 [[ 0.97966034 0.17604584 -0.09629885 0.42366702] [-0.17770742 0.9840432 -0.00889099 -0.34548504] [ 0.09319701 0.02582318 0.99531276 -0.00292356] [ 0. 0. 0. 1. ]] SLAMing on 1.4471934700000002 meters Centerline goodness : 0.893721 with order 1 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.33, Z:-0.02 [[ 0.98412041 0.14959886 -0.09553635 0.40220683] [-0.15174034 0.98829859 -0.0155168 -0.32612183] [ 0.09209714 0.02976712 0.995305 -0.01534701] [ 0. 0. 0. 1. ]] SLAMing on 1.5071934700000003 meters Centerline goodness : 0.891227 with order 1 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.29, Z:-0.02 [[ 0.98291293 0.15271719 -0.10276011 0.43322161] [-0.15478675 0.98786972 -0.01242906 -0.29192727] [ 0.09961547 0.02812258 0.99462851 -0.02209824] [ 0. 0. 0. 1. ]] SLAMing on 1.56719347 meters Centerline goodness : 0.899209 with order 1 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.22, Z:-0.01 [[ 0.98568901 0.15533605 -0.06548192 0.3915067 ] [-0.15752526 0.98706882 -0.02968065 -0.22197804] [ 0.06002469 0.03957095 0.99741224 -0.00820512] [ 0. 0. 0. 1. ]] SLAMing on 1.6271934700000001 meters Centerline goodness : 0.894707 with order 1 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.18, Z:-0.02 [[ 0.98576513 0.15259119 -0.07059056 0.39429886] [-0.15518349 0.98734122 -0.03279331 -0.18371876] [ 0.064693 0.04328099 0.99696618 -0.02381905] [ 0. 0. 0. 1. ]] SLAMing on 1.6871934700000002 meters Centerline goodness : 0.880536 with order 1 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.17, Z:-0.04 [[ 0.98266909 0.15484762 -0.10190028 0.411074 ] [-0.15699714 0.98750849 -0.01337478 -0.16532467] [ 0.09855634 0.02914104 0.9947047 -0.0398447 ] [ 0. 0. 0. 1. ]] SLAMing on 1.7471934700000002 meters Centerline goodness : 0.888979 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:0.12, Z:0.03 [[ 0.98773465 0.06711112 -0.14098351 0.25511262] [-0.09258176 0.97879971 -0.18270124 0.12394094] [ 0.12573333 0.19351285 0.97300766 0.02500072] [ 0. 0. 0. 1. ]] SLAMing on 1.80719347 meters Centerline goodness : 0.893671 with order 2 Centerline is valid? [False, False] Translation: X:0.27, Y:0.33, Z:0.06 [[ 0.99155036 0.03928458 -0.1236309 0.27439857] [-0.05742407 0.98750251 -0.14676946 0.33360031] [ 0.11632005 0.1526287 0.98141435 0.06013189] [ 0. 0. 0. 1. ]] SLAMing on 1.8671934700000001 meters Centerline goodness : 0.894999 with order 1 Centerline is valid? [False, False] Translation: X:0.22, Y:0.29, Z:0.05 [[ 0.98657275 0.05220324 -0.15475476 0.22244139] [-0.06469815 0.99494267 -0.07683253 0.29464125] [ 0.14996121 0.08581323 0.98496077 0.04631994] [ 0. 0. 0. 1. ]] SLAMing on 1.9271934700000002 meters Centerline goodness : 0.897122 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:0.07, Z:-0.00 [[ 0.98004802 0.14038683 -0.14070331 0.20986646] [-0.12997583 0.9882293 0.08067916 0.07375955] [ 0.15037343 -0.06078142 0.98675906 -0.00403296] [ 0. 0. 0. 1. ]] SLAMing on 1.9871934700000002 meters Centerline goodness : 0.898560 with order 1 Centerline is valid? [False, False] Translation: X:0.16, Y:0.22, Z:-0.03 [[ 0.9864167 0.05377051 -0.15521219 0.15902251] [-0.04492999 0.9971917 0.05991676 0.22403586] [ 0.15799807 -0.05212921 0.98606245 -0.02520154] [ 0. 0. 0. 1. ]] SLAMing on 2.04719347 meters Centerline goodness : 0.878613 with order 1 Centerline is valid? [False, False] Translation: X:0.21, Y:0.25, Z:-0.02 [[ 0.98510833 0.08108721 -0.15161282 0.21035181] [-0.0666659 0.9929606 0.09790248 0.24549313] [ 0.1584842 -0.08633714 0.98357951 -0.02308717] [ 0. 0. 0. 1. ]] SLAMing on 2.10719347 meters Centerline goodness : 0.894258 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:0.23, Z:-0.01 [[ 0.98367025 0.10361369 -0.14716334 0.18601348] [-0.09277658 0.99257145 0.0787046 0.23465075] [ 0.154225 -0.06376606 0.98597593 -0.01296755] [ 0. 0. 0. 1. ]] SLAMing on 2.16719347 meters Centerline goodness : 0.891775 with order 1 Centerline is valid? [False, False] Translation: X:0.22, Y:0.18, Z:-0.02 [[ 0.98435091 0.10437779 -0.14198088 0.21941512] [-0.0914189 0.99127688 0.09493537 0.18033761] [ 0.15065151 -0.08046998 0.9853064 -0.01501938] [ 0. 0. 0. 1. ]] SLAMing on 2.22719347 meters Centerline goodness : 0.890649 with order 1 Centerline is valid? [False, False] Translation: X:0.26, Y:0.12, Z:-0.01 [[ 0.98619252 0.09947046 -0.13240068 0.2634928 ] [-0.08351005 0.98912326 0.12108363 0.12192516] [ 0.14300484 -0.10835498 0.98377275 -0.01479985] [ 0. 0. 0. 1. ]] SLAMing on 2.28719347 meters Centerline goodness : 0.887805 with order 1 Centerline is valid? [False, False] Translation: X:0.29, Y:0.08, Z:-0.01 [[ 0.98788465 0.08944699 -0.1268194 0.29421813] [-0.07234067 0.98839026 0.13360962 0.08203011] [ 0.13729804 -0.12281669 0.98288621 -0.01044126] [ 0. 0. 0. 1. ]] SLAMing on 2.34719347 meters Centerline goodness : 0.886761 with order 1 Centerline is valid? [False, False] Translation: X:0.33, Y:0.05, Z:-0.01 [[ 0.99050594 0.07769348 -0.1134095 0.33336937] [-0.05530329 0.98047933 0.18868448 0.05040904] [ 0.12585523 -0.18062118 0.9754673 -0.01033429] [ 0. 0. 0. 1. ]] SLAMing on 2.40719347 meters Centerline goodness : 0.886479 with order 1 Centerline is valid? [False, False] Translation: X:0.34, Y:0.07, Z:-0.01 [[ 0.98992957 0.07687413 -0.11886892 0.34437797] [-0.05627773 0.98420905 0.16782542 0.06855421] [ 0.1298933 -0.15944567 0.97862394 -0.0105418 ] [ 0. 0. 0. 1. ]] SLAMing on 2.46719347 meters Centerline goodness : 0.889414 with order 1 Centerline is valid? [False, False] Translation: X:0.34, Y:0.10, Z:-0.01 [[ 0.98957757 0.08658011 -0.11506574 0.34163239] [-0.06980313 0.98731828 0.14258381 0.1043454 ] [ 0.12595143 -0.13306579 0.98307158 -0.00669196] [ 0. 0. 0. 1. ]] SLAMing on 2.52719347 meters Centerline goodness : 0.895491 with order 1 Centerline is valid? [False, False] Translation: X:0.33, Y:0.13, Z:-0.00 [[ 9.89260418e-01 9.86459996e-02 -1.07855419e-01 3.32850079e-01] [-8.52244171e-02 9.88781948e-01 1.22666447e-01 1.33272477e-01] [ 1.18746046e-01 -1.12157146e-01 9.86569892e-01 -5.35680017e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.58719347 meters Centerline goodness : 0.896618 with order 1 Centerline is valid? [False, False] Translation: X:0.34, Y:0.14, Z:0.00 [[ 0.988321 0.10532225 -0.11013091 0.33714572] [-0.09357109 0.98985458 0.1069222 0.14375533] [ 0.12027487 -0.09536839 0.98814919 0.00225545] [ 0. 0. 0. 1. ]] SLAMing on 2.64719347 meters Centerline goodness : 0.888431 with order 1 Centerline is valid? [False, False] Translation: X:0.34, Y:0.15, Z:0.00 [[ 9.87329291e-01 1.09189111e-01 -1.15146034e-01 3.35578847e-01] [-9.81767806e-02 9.90397448e-01 9.73355801e-02 1.47533130e-01] [ 1.24668324e-01 -8.47976024e-02 9.88568245e-01 5.00192868e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.70719347 meters Centerline goodness : 0.892828 with order 1 Centerline is valid? [False, False] Translation: X:0.35, Y:0.14, Z:0.01 [[ 0.98732031 0.10564482 -0.11848116 0.34658069] [-0.096116 0.99186519 0.08345754 0.14071088] [ 0.1263342 -0.07101139 0.9894428 0.00916953] [ 0. 0. 0. 1. ]] SLAMing on 2.76719347 meters Centerline goodness : 0.895474 with order 1 Centerline is valid? [False, False] Translation: X:0.36, Y:0.12, Z:0.01 [[ 0.98903317 0.09389837 -0.11400209 0.3585108 ] [-0.08494991 0.99308948 0.08097401 0.12144734] [ 0.12081761 -0.07040151 0.9901751 0.01040056] [ 0. 0. 0. 1. ]] SLAMing on 2.82719347 meters Centerline goodness : 0.890228 with order 1 Centerline is valid? [False, False] Translation: X:0.36, Y:0.11, Z:0.01 [[ 0.9894185 0.08835592 -0.11508375 0.36081237] [-0.07958898 0.99371828 0.07867384 0.10971375] [ 0.12131212 -0.06868195 0.99023541 0.00897624] [ 0. 0. 0. 1. ]] SLAMing on 2.88719347 meters Centerline goodness : 0.884358 with order 1 Centerline is valid? [False, False] Translation: X:0.38, Y:0.09, Z:0.01 [[ 0.98833336 0.09066696 -0.12237918 0.38180054] [-0.08191461 0.99383164 0.07475738 0.08600894] [ 0.12840233 -0.06386057 0.98966392 0.01111295] [ 0. 0. 0. 1. ]] SLAMing on 2.94719347 meters Centerline goodness : 0.882797 with order 1 Centerline is valid? [False, False] Translation: X:0.41, Y:0.05, Z:0.01 [[ 0.9886334 0.08896505 -0.12119913 0.40666285] [-0.08026681 0.99395828 0.07486111 0.05452751] [ 0.1271269 -0.06428193 0.98980129 0.01426954] [ 0. 0. 0. 1. ]] SLAMing on 3.0071934700000003 meters Centerline goodness : 0.879848 with order 1 Centerline is valid? [False, False] Translation: X:0.43, Y:0.03, Z:0.02 [[ 0.99085323 0.07769444 -0.1103334 0.42764799] [-0.06882757 0.99425106 0.08202195 0.03425477] [ 0.11607175 -0.07367774 0.99050439 0.01671707] [ 0. 0. 0. 1. ]] SLAMing on 3.06719347 meters Centerline goodness : 0.882499 with order 1 Centerline is valid? [False, False] Translation: X:0.44, Y:0.02, Z:0.02 [[ 0.99183364 0.07313566 -0.10448547 0.43920161] [-0.06434797 0.99428926 0.08513639 0.0190058 ] [ 0.11011528 -0.07771771 0.99087566 0.01855179] [ 0. 0. 0. 1. ]] SLAMing on 3.12719347 meters Centerline goodness : 0.882903 with order 1 Centerline is valid? [False, False] Translation: X:0.45, Y:0.03, Z:0.02 [[ 0.99004334 0.09013428 -0.10812032 0.44955452] [-0.08168575 0.99342744 0.08018326 0.02770234] [ 0.11463696 -0.07055302 0.9908989 0.0172577 ] [ 0. 0. 0. 1. ]] SLAMing on 3.18719347 meters Centerline goodness : 0.882699 with order 1 Centerline is valid? [False, False] Translation: X:0.44, Y:0.04, Z:0.01 [[ 0.990118 0.09643006 -0.10182139 0.44076584] [-0.0892508 0.99334044 0.07286338 0.03796648] [ 0.10816952 -0.06305571 0.9921307 0.01451253] [ 0. 0. 0. 1. ]] SLAMing on 3.24719347 meters Centerline goodness : 0.890482 with order 1 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.02 [[ 0.99109158 0.08681041 -0.10100219 0.43564893] [-0.08104212 0.9949101 0.05988376 0.04536692] [ 0.10568663 -0.05116486 0.99308232 0.02084419] [ 0. 0. 0. 1. ]] SLAMing on 3.30719347 meters Centerline goodness : 0.888049 with order 1 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.02 [[ 0.99075713 0.09049177 -0.10105224 0.43708896] [-0.08445008 0.99446231 0.0625532 0.04875283] [ 0.10615319 -0.05344115 0.99291266 0.0200121 ] [ 0. 0. 0. 1. ]] SLAMing on 3.36719347 meters Centerline goodness : 0.887857 with order 1 Centerline is valid? [False, False] Translation: X:0.44, Y:0.05, Z:0.02 [[ 0.99071517 0.09597728 -0.09629025 0.44079035] [-0.09126733 0.99445786 0.0521905 0.05323095] [ 0.1007657 -0.04291777 0.99398407 0.01716727] [ 0. 0. 0. 1. ]] SLAMing on 3.42719347 meters Centerline goodness : 0.873962 with order 1 Centerline is valid? [False, False] Translation: X:0.46, Y:0.05, Z:0.02 [[ 0.99120273 0.08577749 -0.10079371 0.46375294] [-0.08121592 0.99551446 0.04852769 0.05021127] [ 0.10450418 -0.03991473 0.99372315 0.0157197 ] [ 0. 0. 0. 1. ]] SLAMing on 3.4871934700000002 meters Centerline goodness : 0.873870 with order 1 Centerline is valid? [False, False] Translation: X:0.48, Y:0.04, Z:0.02 [[ 0.99330769 0.06660212 -0.09436093 0.48313996] [-0.06194679 0.99675314 0.05143713 0.04361841] [ 0.09748037 -0.04524755 0.99420835 0.01534897] [ 0. 0. 0. 1. ]] SLAMing on 3.5471934700000003 meters Centerline goodness : 0.871470 with order 1 Centerline is valid? [False, False] Translation: X:0.51, Y:0.03, Z:0.01 [[ 0.99470403 0.05502448 -0.08681123 0.51231256] [-0.04850625 0.99596625 0.07548751 0.03323705] [ 0.09061472 -0.07087685 0.99336068 0.01360519] [ 0. 0. 0. 1. ]] SLAMing on 3.60719347 meters Centerline goodness : 0.875710 with order 1 Centerline is valid? [False, False] Translation: X:0.53, Y:0.04, Z:0.02 [[ 0.99552069 0.04676873 -0.08216595 0.52628407] [-0.0410607 0.996713 0.06983711 0.04216508] [ 0.08516207 -0.0661505 0.99416877 0.01534556] [ 0. 0. 0. 1. ]] SLAMing on 3.66719347 meters Centerline goodness : 0.875918 with order 1 Centerline is valid? [False, False] Translation: X:0.53, Y:0.06, Z:0.02 [[ 0.995451 0.04748796 -0.08259656 0.52713197] [-0.04195121 0.99683525 0.06752461 0.05630151] [ 0.08554177 -0.06375242 0.99429283 0.01547961] [ 0. 0. 0. 1. ]] SLAMing on 3.72719347 meters Centerline goodness : 0.880433 with order 1 Centerline is valid? [False, False] Translation: X:0.53, Y:0.08, Z:0.02 [[ 0.99540397 0.04940924 -0.08203453 0.52731186] [-0.04465627 0.99727066 0.05879668 0.08043642] [ 0.08471573 -0.05486309 0.99489361 0.01661609] [ 0. 0. 0. 1. ]] SLAMing on 3.78719347 meters Centerline goodness : 0.885456 with order 1 Centerline is valid? [False, False] Translation: X:0.53, Y:0.12, Z:0.02 [[ 0.99541458 0.05185618 -0.08037878 0.52503663] [-0.04807599 0.99767649 0.0482733 0.11604674] [ 0.08269529 -0.04418766 0.99559477 0.01739287] [ 0. 0. 0. 1. ]] SLAMing on 3.84719347 meters Centerline goodness : 0.888687 with order 1 Centerline is valid? [False, False] Translation: X:0.54, Y:0.14, Z:0.02 [[ 0.99662281 0.03484631 -0.07435526 0.53709451] [-0.03199974 0.99872132 0.03913744 0.1389334 ] [ 0.07562398 -0.03662592 0.99646352 0.01986684] [ 0. 0. 0. 1. ]] SLAMing on 3.90719347 meters Centerline goodness : 0.893505 with order 1 Centerline is valid? [False, False] Translation: X:0.53, Y:0.17, Z:0.02 [[ 0.99705208 0.02885427 -0.07109556 0.53179599] [-0.02741283 0.99940005 0.02116782 0.17327525] [ 0.07166369 -0.01915649 0.99724488 0.02250243] [ 0. 0. 0. 1. ]] SLAMing on 3.96719347 meters Centerline goodness : 0.891688 with order 1 Centerline is valid? [False, False] Translation: X:0.54, Y:0.20, Z:0.02 [[ 0.99655446 0.03887306 -0.07326725 0.5366888 ] [-0.03774358 0.99914726 0.01673847 0.20323045] [ 0.07385545 -0.01391543 0.99717187 0.02220225] [ 0. 0. 0. 1. ]] SLAMing on 4.02719347 meters Centerline goodness : 0.891048 with order 1 Centerline is valid? [False, False] Translation: X:0.54, Y:0.23, Z:0.02 [[ 0.9969332 0.04197702 -0.06604638 0.54395776] [-0.04117041 0.99906056 0.01352736 0.22917679] [ 0.06655217 -0.01076671 0.99772486 0.02200705] [ 0. 0. 0. 1. ]] SLAMing on 4.08719347 meters Centerline goodness : 0.878878 with order 1 Centerline is valid? [False, False] Translation: X:0.60, Y:0.22, Z:0.00 [[ 0.99797572 0.04464647 -0.0452897 0.60200086] [-0.03855517 0.99109632 0.1274425 0.21838996] [ 0.05057631 -0.12543837 0.99081141 0.0024823 ] [ 0. 0. 0. 1. ]] SLAMing on 4.14719347 meters Centerline goodness : 0.864011 with order 1 Centerline is valid? [False, False] Translation: X:0.62, Y:0.21, Z:-0.01 [[ 0.99749623 0.04618768 -0.05355337 0.62074855] [-0.03480262 0.9798223 0.19681729 0.21385081] [ 0.06156332 -0.1944607 0.9789765 -0.01168548] [ 0. 0. 0. 1. ]] SLAMing on 4.20719347 meters Centerline goodness : 0.860482 with order 1 Centerline is valid? [False, False] Translation: X:0.64, Y:0.21, Z:-0.02 [[ 0.99612466 0.04890914 -0.07309962 0.64101925] [-0.03053478 0.97173984 0.23407118 0.2139683 ] [ 0.08248204 -0.230932 0.96946744 -0.01668901] [ 0. 0. 0. 1. ]] SLAMing on 4.2671934700000005 meters Centerline goodness : 0.857206 with order 1 Centerline is valid? [False, False] Translation: X:0.64, Y:0.23, Z:-0.01 [[ 0.99727527 0.03342841 -0.06576157 0.64463905] [-0.01795162 0.97461083 0.22318484 0.22834157] [ 0.07155265 -0.2213962 0.97255537 -0.01392655] [ 0. 0. 0. 1. ]] SLAMing on 4.32719347 meters Centerline goodness : 0.859127 with order 1 Centerline is valid? [False, False] Translation: X:0.65, Y:0.24, Z:-0.01 [[ 0.99824027 0.02013814 -0.05577471 0.6450266 ] [-0.00780377 0.97700167 0.2130888 0.23930414] [ 0.0587832 -0.21227857 0.97543956 -0.01151891] [ 0. 0. 0. 1. ]] SLAMing on 4.387193470000001 meters Centerline goodness : 0.865263 with order 1 Centerline is valid? [False, False] Translation: X:0.64, Y:0.26, Z:-0.01 [[ 0.99937933 0.00967607 -0.03387238 0.64493749] [-0.00260012 0.97917543 0.20299932 0.255886 ] [ 0.03513124 -0.20278525 0.97859284 -0.01068124] [ 0. 0. 0. 1. ]] SLAMing on 4.44719347 meters Centerline goodness : 0.865373 with order 1 Centerline is valid? [False, False] Translation: X:0.66, Y:0.27, Z:0.00 [[ 0.99933414 0.01513077 -0.03320156 0.6561243 ] [-0.00916291 0.9848728 0.17303644 0.27294443] [ 0.03531749 -0.172617 0.98435565 0.00332738] [ 0. 0. 0. 1. ]] SLAMing on 4.50719347 meters Centerline goodness : 0.864877 with order 1 Centerline is valid? [False, False] Translation: X:0.67, Y:0.29, Z:0.02 [[ 0.99887464 0.03463068 -0.0324063 0.66858367] [-0.02983999 0.9899628 0.13814207 0.28607777] [ 0.03686499 -0.13701961 0.98988211 0.01588697] [ 0. 0. 0. 1. ]] SLAMing on 4.56719347 meters Centerline goodness : 0.857759 with order 1 Centerline is valid? [False, False] Translation: X:0.68, Y:0.29, Z:0.02 [[ 0.99850117 0.04155424 -0.03561834 0.67993439] [-0.03721298 0.99267893 0.11490751 0.28977986] [ 0.04013247 -0.11340982 0.99273743 0.02362522] [ 0. 0. 0. 1. ]] SLAMing on 4.62719347 meters Centerline goodness : 0.855218 with order 1 Centerline is valid? [False, False] Translation: X:0.69, Y:0.28, Z:0.04 [[ 0.99883096 0.03018179 -0.0377594 0.68926779] [-0.02661529 0.99543735 0.09163032 0.28353557] [ 0.04035268 -0.09051822 0.99507694 0.03766946] [ 0. 0. 0. 1. ]] SLAMing on 4.68719347 meters Centerline goodness : 0.866946 with order 1 Centerline is valid? [False, False] Translation: X:0.63, Y:0.22, Z:0.04 [[ 0.99766828 0.01063441 -0.06741602 0.63225425] [ 0.00521933 0.97300523 0.23072404 0.22253937] [ 0.06804976 -0.23053792 0.97068095 0.03516079] [ 0. 0. 0. 1. ]] SLAMing on 4.74719347 meters Centerline goodness : 0.870976 with order 1 Centerline is valid? [False, False] Translation: X:0.57, Y:0.17, Z:0.03 [[ 0.9955162 0.01713487 -0.09302633 0.5749922 ] [ 0.01666672 0.93629539 0.35081785 0.17463121] [ 0.09311134 -0.35079529 0.93181164 0.03290369] [ 0. 0. 0. 1. ]] SLAMing on 4.8071934700000005 meters Centerline goodness : 0.871285 with order 1 Centerline is valid? [False, False] Translation: X:0.56, Y:0.18, Z:0.05 [[ 0.99522976 0.01989021 -0.09550975 0.5572312 ] [ 0.01064278 0.95101799 0.3089523 0.17907159] [ 0.09697662 -0.30849501 0.94626971 0.04588525] [ 0. 0. 0. 1. ]] SLAMing on 4.86719347 meters Centerline goodness : 0.884701 with order 1 Centerline is valid? [False, False] Translation: X:0.54, Y:0.18, Z:0.06 [[ 9.95384722e-01 2.68257029e-02 -9.21392268e-02 5.37092077e-01] [-6.96006791e-04 9.62127798e-01 2.72597902e-01 1.80886684e-01] [ 9.59623417e-02 -2.71275658e-01 9.57705981e-01 6.10148841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.927193470000001 meters Centerline goodness : 0.892050 with order 1 Centerline is valid? [False, False] Translation: X:0.54, Y:0.18, Z:0.08 [[ 0.99590304 0.02626278 -0.08652982 0.53840352] [-0.0042149 0.96933821 0.24569427 0.17774524] [ 0.09032928 -0.24432295 0.96547756 0.07710562] [ 0. 0. 0. 1. ]] SLAMing on 4.98719347 meters Centerline goodness : 0.890091 with order 1 Centerline is valid? [False, False] Translation: X:0.56, Y:0.17, Z:0.09 [[ 0.99573325 0.0156078 -0.09094889 0.55652098] [ 0.00533289 0.97421211 0.2255711 0.16882572] [ 0.09212417 -0.22509366 0.96997215 0.08607419] [ 0. 0. 0. 1. ]] SLAMing on 5.04719347 meters Centerline goodness : 0.888597 with order 1 Centerline is valid? [False, False] Translation: X:0.59, Y:0.16, Z:0.09 [[ 0.99635072 0.00808634 -0.08496968 0.59324991] [ 0.01128983 0.97426961 0.22510279 0.16352792] [ 0.08460364 -0.22524062 0.97062294 0.09147138] [ 0. 0. 0. 1. ]] SLAMing on 5.10719347 meters Centerline goodness : 0.888690 with order 1 Centerline is valid? [False, False] Translation: X:0.60, Y:0.17, Z:0.10 [[ 0.99606668 0.0068273 -0.08834342 0.60404389] [ 0.01097017 0.97985424 0.19941246 0.16840338] [ 0.08792512 -0.19959725 0.97592526 0.09754858] [ 0. 0. 0. 1. ]] SLAMing on 5.16719347 meters Centerline goodness : 0.889036 with order 1 Centerline is valid? [False, False] Translation: X:0.61, Y:0.18, Z:0.11 [[ 0.99597815 0.01124074 -0.08888853 0.60959848] [ 0.00459007 0.98439444 0.17591624 0.18176886] [ 0.0894788 -0.17561674 0.98038375 0.10538676] [ 0. 0. 0. 1. ]] SLAMing on 5.2271934700000005 meters Centerline goodness : 0.886234 with order 1 Centerline is valid? [False, False] Translation: X:0.60, Y:0.20, Z:0.11 [[ 0.99557425 0.03136288 -0.08859058 0.6032238 ] [-0.0181963 0.98916219 0.14569508 0.19799408] [ 0.09219987 -0.14343825 0.98535509 0.11118705] [ 0. 0. 0. 1. ]] SLAMing on 5.28719347 meters Centerline goodness : 0.878865 with order 1 Centerline is valid? [False, False] Translation: X:0.61, Y:0.22, Z:0.11 [[ 0.99445862 0.03985349 -0.0972818 0.61294206] [-0.02724897 0.99144923 0.12761631 0.21645567] [ 0.10153592 -0.12425831 0.9870412 0.11389004] [ 0. 0. 0. 1. ]] SLAMing on 5.347193470000001 meters Centerline goodness : 0.879672 with order 1 Centerline is valid? [False, False] Translation: X:0.62, Y:0.22, Z:0.12 [[ 0.99482512 0.02887572 -0.09741244 0.61675668] [-0.01812721 0.99382451 0.10947254 0.21971574] [ 0.09997197 -0.10714022 0.98920502 0.12163688] [ 0. 0. 0. 1. ]] SLAMing on 5.40719347 meters Centerline goodness : 0.888316 with order 1 Centerline is valid? [False, False] Translation: X:0.63, Y:0.21, Z:0.13 [[ 0.99538115 0.0162357 -0.09461911 0.63222042] [-0.00686299 0.99510816 0.09855282 0.21339601] [ 0.09575632 -0.09744825 0.99062332 0.13269625] [ 0. 0. 0. 1. ]] SLAMing on 5.467193470000001 meters Centerline goodness : 0.887792 with order 1 Centerline is valid? [False, False] Translation: X:0.64, Y:0.20, Z:0.13 [[ 0.99603183 0.00415303 -0.08890074 0.64323238] [ 0.00453516 0.99524433 0.09730449 0.204517 ] [ 0.08888206 -0.09732155 0.9912762 0.13359076] [ 0. 0. 0. 1. ]] SLAMing on 5.52719347 meters Centerline goodness : 0.886902 with order 1 Centerline is valid? [False, False] Translation: X:0.67, Y:0.20, Z:0.14 [[ 0.99644547 -0.00719295 -0.08393267 0.6729055 ] [ 0.01584097 0.99457286 0.10282941 0.19734267] [ 0.08273751 -0.10379348 0.99115156 0.13534763] [ 0. 0. 0. 1. ]] SLAMing on 5.58719347 meters Centerline goodness : 0.886406 with order 1 Centerline is valid? [False, False] Translation: X:0.68, Y:0.20, Z:0.14 [[ 0.99629957 -0.00167165 -0.08593233 0.68385283] [ 0.0088017 0.99653884 0.08266121 0.20109869] [ 0.08549673 -0.08311168 0.99286593 0.13973109] [ 0. 0. 0. 1. ]] SLAMing on 5.64719347 meters Centerline goodness : 0.880902 with order 1 Centerline is valid? [False, False] Translation: X:0.69, Y:0.21, Z:0.14 [[ 0.99590408 0.00753165 -0.09010179 0.69049027] [-0.00116273 0.99750895 0.07053043 0.20791888] [ 0.09040855 -0.07013678 0.99343199 0.14106907] [ 0. 0. 0. 1. ]] SLAMing on 5.70719347 meters Centerline goodness : 0.874156 with order 1 Centerline is valid? [False, False] Translation: X:0.69, Y:0.21, Z:0.14 [[ 0.99580331 0.00408893 -0.09142784 0.69471616] [ 0.00206552 0.99774283 0.06711914 0.20906605] [ 0.09149592 -0.06702631 0.99354717 0.13910785] [ 0. 0. 0. 1. ]] SLAMing on 5.7671934700000005 meters Centerline goodness : 0.874087 with order 1 Centerline is valid? [False, False] Translation: X:0.70, Y:0.21, Z:0.14 [[ 0.99574987 0.00105087 -0.09209282 0.69561876] [ 0.00480181 0.99798253 0.06330732 0.21149023] [ 0.09197355 -0.06348047 0.99373593 0.14003455] [ 0. 0. 0. 1. ]] SLAMing on 5.82719347 meters Centerline goodness : 0.878642 with order 1 Centerline is valid? [False, False] Translation: X:0.69, Y:0.22, Z:0.14 [[ 0.9957358 0.00123658 -0.09224256 0.69478253] [ 0.00452495 0.99805186 0.0622254 0.21528982] [ 0.09213981 -0.06237745 0.99379038 0.14182413] [ 0. 0. 0. 1. ]] SLAMing on 5.887193470000001 meters Centerline goodness : 0.877017 with order 1 Centerline is valid? [False, False] Translation: X:0.69, Y:0.22, Z:0.15 [[ 0.99571161 -0.00802746 -0.09216262 0.69285394] [ 0.01272417 0.99864365 0.0504872 0.2179437 ] [ 0.09163233 -0.05144338 0.99446322 0.14737492] [ 0. 0. 0. 1. ]] SLAMing on 5.94719347 meters Centerline goodness : 0.874280 with order 1 Centerline is valid? [False, False] Translation: X:0.70, Y:0.22, Z:0.15 [[ 0.99598794 -0.02140287 -0.08689042 0.70405873] [ 0.02570725 0.99848134 0.04872519 0.21566563] [ 0.0857156 -0.05076341 0.99502558 0.14513631] [ 0. 0. 0. 1. ]] SLAMing on 6.007193470000001 meters Centerline goodness : 0.867668 with order 1 Centerline is valid? [False, False] Translation: X:0.74, Y:0.21, Z:0.14 [[ 0.99582888 -0.03158337 -0.08559979 0.74213341] [ 0.03653235 0.99771245 0.05687923 0.20808912] [ 0.08360754 -0.05976914 0.99470469 0.13820448] [ 0. 0. 0. 1. ]] SLAMing on 6.06719347 meters Centerline goodness : 0.868210 with order 1 Centerline is valid? [False, False] Translation: X:0.74, Y:0.22, Z:0.14 [[ 0.99594757 -0.02617468 -0.0860426 0.74228542] [ 0.0314012 0.99770663 0.05996205 0.21662992] [ 0.08427578 -0.06242089 0.99448541 0.13873556] [ 0. 0. 0. 1. ]] SLAMing on 6.12719347 meters Centerline goodness : 0.865519 with order 1 Centerline is valid? [False, False] Translation: X:0.74, Y:0.23, Z:0.14 [[ 0.99637004 -0.01322648 -0.08409398 0.74259977] [ 0.01775 0.99842221 0.05327315 0.2330936 ] [ 0.08325668 -0.05457244 0.99503275 0.13869239] [ 0. 0. 0. 1. ]] SLAMing on 6.18719347 meters Centerline goodness : 0.858776 with order 1 Centerline is valid? [False, False] Translation: X:0.75, Y:0.25, Z:0.14 [[ 0.99634868 -0.01210025 -0.0845156 0.74512972] [ 0.01655614 0.99849823 0.05222245 0.2460307 ] [ 0.08375678 -0.05343102 0.99505273 0.1360676 ] [ 0. 0. 0. 1. ]] SLAMing on 6.24719347 meters Centerline goodness : 0.851050 with order 1 Centerline is valid? [False, False] Translation: X:0.80, Y:0.23, Z:0.12 [[ 0.99772243 -0.0245949 -0.06280957 0.79894372] [ 0.03389014 0.98787458 0.15150998 0.23205767] [ 0.05832161 -0.15329353 0.98645815 0.11998258] [ 0. 0. 0. 1. ]] SLAMing on 6.3071934700000005 meters Centerline goodness : 0.850448 with order 1 Centerline is valid? [False, False] Translation: X:0.82, Y:0.20, Z:0.10 [[ 0.99704331 -0.03490903 -0.0684544 0.81623338] [ 0.0527509 0.95872153 0.27941077 0.20336513] [ 0.05587475 -0.28219567 0.95772836 0.10332175] [ 0. 0. 0. 1. ]] SLAMing on 6.36719347 meters Centerline goodness : 0.846380 with order 1 Centerline is valid? [False, False] Translation: X:0.80, Y:0.23, Z:0.11 [[ 0.99667638 -0.04174762 -0.06995238 0.80185198] [ 0.05845923 0.96457063 0.25726644 0.22789037] [ 0.05673375 -0.26050074 0.96380529 0.10617433] [ 0. 0. 0. 1. ]] SLAMing on 6.427193470000001 meters Centerline goodness : 0.844633 with order 1 Centerline is valid? [False, False] Translation: X:0.82, Y:0.27, Z:0.12 [[ 0.99690796 -0.04045906 -0.06736161 0.81682046] [ 0.05395234 0.97568361 0.21243973 0.26624916] [ 0.05712851 -0.21541718 0.97484962 0.11681029] [ 0. 0. 0. 1. ]] SLAMing on 6.48719347 meters Centerline goodness : 0.841475 with order 1 Centerline is valid? [False, False] Translation: X:0.84, Y:0.30, Z:0.12 [[ 0.99710601 -0.03194572 -0.06898612 0.84024069] [ 0.04372054 0.98331554 0.17657592 0.30404574] [ 0.06219428 -0.17908102 0.98186652 0.12407411] [ 0. 0. 0. 1. ]] SLAMing on 6.547193470000001 meters Centerline goodness : 0.841154 with order 1 Centerline is valid? [False, False] Translation: X:0.87, Y:0.35, Z:0.13 [[ 0.99723878 -0.01703455 -0.07228168 0.87136296] [ 0.02761232 0.98860611 0.14797135 0.3518675 ] [ 0.06893748 -0.14955863 0.98634671 0.13426666] [ 0. 0. 0. 1. ]] SLAMing on 6.60719347 meters Centerline goodness : 0.841583 with order 1 Centerline is valid? [False, False] Translation: X:0.89, Y:0.38, Z:0.15 [[ 0.99707171 -0.01873403 -0.07414207 0.88983794] [ 0.0278846 0.99184286 0.12437919 0.37547017] [ 0.07120716 -0.12608239 0.98946085 0.14529234] [ 0. 0. 0. 1. ]] SLAMing on 6.66719347 meters Centerline goodness : 0.843404 with order 1 Centerline is valid? [False, False] Translation: X:0.89, Y:0.38, Z:0.15 [[ 0.99738856 -0.02575505 -0.06747392 0.88568605] [ 0.03276769 0.99393455 0.10497801 0.38488378] [ 0.06436095 -0.10691483 0.99218289 0.1511634 ] [ 0. 0. 0. 1. ]] SLAMing on 6.7271934700000005 meters Centerline goodness : 0.847753 with order 1 Centerline is valid? [False, False] Translation: X:0.88, Y:0.39, Z:0.16 [[ 0.99698851 -0.03906303 -0.06699253 0.88499919] [ 0.04475261 0.99532006 0.08564573 0.39373652] [ 0.06333343 -0.0883859 0.99407083 0.16157661] [ 0. 0. 0. 1. ]] SLAMing on 6.78719347 meters Centerline goodness : 0.853261 with order 1 Centerline is valid? [False, False] Translation: X:0.89, Y:0.40, Z:0.17 [[ 0.99677097 -0.04595826 -0.06584431 0.88544095] [ 0.05064963 0.99615756 0.07144744 0.40000141] [ 0.06230771 -0.07455172 0.9952687 0.17127319] [ 0. 0. 0. 1. ]] SLAMing on 6.847193470000001 meters Centerline goodness : 0.852990 with order 1 Centerline is valid? [False, False] Translation: X:0.88, Y:0.40, Z:0.17 [[ 0.99610001 -0.0590313 -0.06557496 0.88491199] [ 0.06296191 0.99623563 0.05958493 0.39500739] [ 0.06181074 -0.06348128 0.99606705 0.17381044] [ 0. 0. 0. 1. ]] SLAMing on 6.90719347 meters Centerline goodness : 0.850404 with order 1 Centerline is valid? [False, False] Translation: X:0.89, Y:0.39, Z:0.18 [[ 0.99524105 -0.0714917 -0.06621327 0.88537474] [ 0.07480636 0.99599298 0.04901011 0.38808718] [ 0.06244413 -0.05373005 0.99660113 0.17699337] [ 0. 0. 0. 1. ]] SLAMing on 6.967193470000001 meters Centerline goodness : 0.849132 with order 1 Centerline is valid? [False, False] Translation: X:0.89, Y:0.39, Z:0.18 [[ 0.9957889 -0.05803884 -0.0709645 0.88884935] [ 0.06105035 0.99729105 0.04102948 0.38545199] [ 0.06839096 -0.04518911 0.99663465 0.18257744] [ 0. 0. 0. 1. ]] SLAMing on 7.02719347 meters Centerline goodness : 0.849128 with order 1 Centerline is valid? [False, False] Translation: X:0.90, Y:0.39, Z:0.18 [[ 0.99667529 -0.03382597 -0.07412272 0.90009154] [ 0.0359935 0.99895677 0.02810419 0.39151288] [ 0.07309474 -0.03067869 0.99685304 0.17923929] [ 0. 0. 0. 1. ]] SLAMing on 7.087193470000001 meters Centerline goodness : 0.848867 with order 1 Centerline is valid? [False, False] Translation: X:0.91, Y:0.39, Z:0.18 [[ 0.99654592 -0.03152136 -0.07682863 0.91108573] [ 0.03367193 0.99907198 0.02685869 0.39397237] [ 0.07591071 -0.02935288 0.99668248 0.17704598] [ 0. 0. 0. 1. ]] SLAMing on 7.14719347 meters Centerline goodness : 0.850243 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:0.39, Z:0.18 [[ 0.99637638 -0.04784735 -0.07031887 0.91682442] [ 0.04937158 0.99857823 0.02009912 0.39137037] [ 0.06925721 -0.02349805 0.99732205 0.18313888] [ 0. 0. 0. 1. ]] SLAMing on 7.20719347 meters Centerline goodness : 0.854263 with order 1 Centerline is valid? [False, False] Translation: X:0.91, Y:0.39, Z:0.19 [[ 0.99614189 -0.05465094 -0.06866299 0.91033154] [ 0.05570861 0.99835467 0.01358318 0.39126598] [ 0.06780769 -0.01735589 0.99754744 0.1882974 ] [ 0. 0. 0. 1. ]] SLAMing on 7.2671934700000005 meters Centerline goodness : 0.856832 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:0.40, Z:0.20 [[ 0.99659214 -0.04936631 -0.06608381 0.91662768] [ 0.04990706 0.99873235 0.00655599 0.39663942] [ 0.06567639 -0.00983169 0.99779254 0.19724728] [ 0. 0. 0. 1. ]] SLAMing on 7.32719347 meters Centerline goodness : 0.860254 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:0.40, Z:0.20 [[ 0.9965414 -0.05800305 -0.05950529 0.92576089] [ 0.05850674 0.99826415 0.00675605 0.39714719] [ 0.05901012 -0.01021415 0.99820513 0.19810166] [ 0. 0. 0. 1. ]] SLAMing on 7.387193470000001 meters Centerline goodness : 0.854757 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:0.39, Z:0.19 [[ 0.99550158 -0.07727799 -0.05481533 0.93453922] [ 0.07759596 0.99697805 0.00369318 0.39190646] [ 0.05436428 -0.00793002 0.99848968 0.1938293 ] [ 0. 0. 0. 1. ]] SLAMing on 7.44719347 meters Centerline goodness : 0.852645 with order 1 Centerline is valid? [False, False] Translation: X:0.94, Y:0.38, Z:0.19 [[ 0.99422716 -0.09153221 -0.05598403 0.93723073] [ 0.09153948 0.99579846 -0.00244 0.38110655] [ 0.05597215 -0.00269884 0.99842868 0.18677899] [ 0. 0. 0. 1. ]] SLAMing on 7.507193470000001 meters Centerline goodness : 0.855214 with order 1 Centerline is valid? [False, False] Translation: X:0.94, Y:0.39, Z:0.19 [[ 0.99518869 -0.0774985 -0.05994547 0.93938388] [ 0.07717228 0.99698772 -0.00774166 0.38604177] [ 0.06036487 0.00307828 0.99817163 0.18778715] [ 0. 0. 0. 1. ]] SLAMing on 7.56719347 meters Centerline goodness : 0.856959 with order 1 Centerline is valid? [False, False] Translation: X:0.97, Y:0.41, Z:0.19 [[ 0.99722649 -0.04654288 -0.05807831 0.971806 ] [ 0.04583418 0.99885816 -0.01347629 0.40511307] [ 0.05863922 0.01077694 0.99822107 0.19113021] [ 0. 0. 0. 1. ]] SLAMing on 7.627193470000001 meters Centerline goodness : 0.860164 with order 1 Centerline is valid? [False, False] Translation: X:0.99, Y:0.43, Z:0.19 [[ 0.99823107 -0.02814323 -0.05237073 0.99463794] [ 0.02706393 0.99940876 -0.0212054 0.42772837] [ 0.05293655 0.01975053 0.99840254 0.19446448] [ 0. 0. 0. 1. ]] SLAMing on 7.68719347 meters Centerline goodness : 0.862441 with order 1 Centerline is valid? [False, False] Translation: X:1.00, Y:0.43, Z:0.19 [[ 0.99780747 -0.05005402 -0.0432995 1.00488611] [ 0.04953288 0.99868754 -0.0130267 0.42777394] [ 0.04389471 0.01085339 0.99897721 0.18992277] [ 0. 0. 0. 1. ]] SLAMing on 7.74719347 meters Centerline goodness : 0.865804 with order 1 Centerline is valid? [False, False] Translation: X:1.01, Y:0.42, Z:0.19 [[ 0.99668159 -0.07465757 -0.03243539 1.00655919] [ 0.07452257 0.99720496 -0.00535314 0.42479695] [ 0.03274438 0.00291821 0.9994595 0.19036259] [ 0. 0. 0. 1. ]] SLAMing on 7.8071934700000005 meters Centerline goodness : 0.865623 with order 1 Centerline is valid? [False, False] Translation: X:1.01, Y:0.43, Z:0.19 [[ 0.99668591 -0.0749242 -0.03167899 1.00634205] [ 0.07476981 0.99718258 -0.00603196 0.42737317] [ 0.03204167 0.00364334 0.99947989 0.18891763] [ 0. 0. 0. 1. ]] SLAMing on 7.86719347 meters Centerline goodness : 0.866053 with order 1 Centerline is valid? [False, False] Translation: X:1.03, Y:0.44, Z:0.18 [[ 0.99825292 -0.0471209 -0.03564716 1.02939114] [ 0.04697351 0.99888381 -0.00496161 0.44086236] [ 0.03584116 0.00327847 0.99935212 0.18485947] [ 0. 0. 0. 1. ]] SLAMing on 7.927193470000001 meters Centerline goodness : 0.865175 with order 1 Centerline is valid? [False, False] Translation: X:1.06, Y:0.46, Z:0.19 [[ 0.99898688 -0.02254897 -0.03894548 1.05847734] [ 0.02217573 0.99970418 -0.0099892 0.45593376] [ 0.03915921 0.00911543 0.99919141 0.18506429] [ 0. 0. 0. 1. ]] SLAMing on 7.98719347 meters Centerline goodness : 0.866697 with order 1 Centerline is valid? [False, False] Translation: X:1.06, Y:0.46, Z:0.18 [[ 0.9989758 -0.02226878 -0.03938859 1.0600042 ] [ 0.02187802 0.99970734 -0.01032413 0.45795309] [ 0.03960697 0.00945181 0.99917063 0.1846611 ] [ 0. 0. 0. 1. ]] SLAMing on 8.047193470000002 meters Centerline goodness : 0.868733 with order 1 Centerline is valid? [False, False] Translation: X:1.06, Y:0.45, Z:0.18 [[ 0.99886845 -0.02503244 -0.04043756 1.06337562] [ 0.02454917 0.99962167 -0.0124037 0.45279788] [ 0.04073275 0.01139695 0.99910508 0.18324505] [ 0. 0. 0. 1. ]] SLAMing on 8.107193470000002 meters Centerline goodness : 0.862915 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:0.44, Z:0.18 [[ 0.99893899 -0.03017016 -0.03479437 1.07374546] [ 0.02999599 0.99953479 -0.00551712 0.44125806] [ 0.03494464 0.00446758 0.99937926 0.18080379] [ 0. 0. 0. 1. ]] SLAMing on 8.16719347 meters Centerline goodness : 0.863072 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:0.43, Z:0.18 [[ 0.99866479 -0.04259033 -0.02923543 1.08543113] [ 0.04241986 0.9990792 -0.00642695 0.42614788] [ 0.02948224 0.0051782 0.99955189 0.17917393] [ 0. 0. 0. 1. ]] SLAMing on 8.227193470000001 meters Centerline goodness : 0.860833 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:0.41, Z:0.18 [[ 0.99791388 -0.05951469 -0.0250178 1.09085145] [ 0.05943717 0.99822469 -0.00383171 0.40735072] [ 0.02520143 0.00233673 0.99967966 0.17672444] [ 0. 0. 0. 1. ]] SLAMing on 8.287193470000002 meters Centerline goodness : 0.857756 with order 1 Centerline is valid? [False, False] Translation: X:1.09, Y:0.40, Z:0.18 [[ 0.99767863 -0.06321687 -0.02531764 1.0919074 ] [ 0.06307546 0.99798858 -0.00634658 0.40051628] [ 0.02566793 0.00473493 0.99965931 0.17672824] [ 0. 0. 0. 1. ]] SLAMing on 8.34719347 meters Centerline goodness : 0.858540 with order 1 Centerline is valid? [False, False] Translation: X:1.10, Y:0.40, Z:0.17 [[ 0.99753251 -0.06530955 -0.02575941 1.09538159] [ 0.06510373 0.99784014 -0.00875032 0.39675455] [ 0.02627526 0.00705169 0.99962987 0.17485838] [ 0. 0. 0. 1. ]] SLAMing on 8.407193470000001 meters Centerline goodness : 0.860032 with order 1 Centerline is valid? [False, False] Translation: X:1.10, Y:0.40, Z:0.17 [[ 0.99750474 -0.06536036 -0.02668942 1.09746876] [ 0.06514745 0.9978371 -0.00877137 0.39835217] [ 0.02720499 0.00701074 0.99960529 0.17424026] [ 0. 0. 0. 1. ]] SLAMing on 8.467193470000002 meters Centerline goodness : 0.859193 with order 1 Centerline is valid? [False, False] Translation: X:1.10, Y:0.40, Z:0.18 [[ 0.99711097 -0.07367533 -0.01848402 1.10146342] [ 0.0735245 0.99725536 -0.00871177 0.39967317] [ 0.01907513 0.00732757 0.9997912 0.17875378] [ 0. 0. 0. 1. ]] SLAMing on 8.527193470000002 meters Centerline goodness : 0.861331 with order 1 Centerline is valid? [False, False] Translation: X:1.10, Y:0.40, Z:0.18 [[ 0.99708907 -0.07390441 -0.01874889 1.10193254] [ 0.07374419 0.99723569 -0.0090984 0.40159718] [ 0.01936948 0.0076893 0.99978283 0.17876202] [ 0. 0. 0. 1. ]] SLAMing on 8.58719347 meters Centerline goodness : 0.862425 with order 1 Centerline is valid? [False, False] Translation: X:1.10, Y:0.40, Z:0.18 [[ 0.99711993 -0.07341388 -0.01903256 1.10331472] [ 0.07325512 0.99727343 -0.0089099 0.4028076 ] [ 0.01963478 0.00749 0.99977916 0.1777997 ] [ 0. 0. 0. 1. ]] SLAMing on 8.647193470000001 meters Centerline goodness : 0.867710 with order 1 Centerline is valid? [False, False] Translation: X:1.11, Y:0.42, Z:0.18 [[ 0.99810274 -0.06061025 -0.01083114 1.11257058] [ 0.0605064 0.99812095 -0.00967163 0.41679759] [ 0.01139698 0.00899793 0.99989457 0.17993306] [ 0. 0. 0. 1. ]] SLAMing on 8.707193470000002 meters Centerline goodness : 0.870764 with order 1 Centerline is valid? [False, False] Translation: X:1.11, Y:0.43, Z:0.18 [[ 0.99825541 -0.05811872 -0.01040895 1.11286203] [ 0.05801921 0.99826912 -0.00961986 0.42908985] [ 0.01095003 0.00899916 0.99989955 0.17918593] [ 0. 0. 0. 1. ]] SLAMing on 8.767193470000002 meters Centerline goodness : 0.875786 with order 1 Centerline is valid? [False, False] Translation: X:1.12, Y:0.44, Z:0.17 [[ 0.99775434 -0.06687425 -0.00375655 1.11914358] [ 0.0668556 0.99775068 -0.0048894 0.43524604] [ 0.00407508 0.00462728 0.99998099 0.17430177] [ 0. 0. 0. 1. ]] SLAMing on 8.827193470000001 meters Centerline goodness : 0.870191 with order 1 Centerline is valid? [False, False] Translation: X:1.13, Y:0.44, Z:0.17 [[ 0.99775192 -0.06676807 -0.00575522 1.12735117] [ 0.06673876 0.99775723 -0.00514316 0.44123337] [ 0.00608571 0.0047475 0.99997021 0.16801653] [ 0. 0. 0. 1. ]] SLAMing on 8.887193470000001 meters Centerline goodness : 0.870800 with order 1 Centerline is valid? [False, False] Translation: X:1.14, Y:0.45, Z:0.16 [[ 0.99851431 -0.05405088 -0.00690522 1.13662131] [ 0.05394926 0.99844355 -0.0141403 0.44809118] [ 0.00765877 0.01374676 0.99987618 0.16424208] [ 0. 0. 0. 1. ]] SLAMing on 8.947193470000002 meters Centerline goodness : 0.866627 with order 1 Centerline is valid? [False, False] Translation: X:1.16, Y:0.46, Z:0.16 [[ 0.99968975 -0.02370119 -0.00765923 1.16102259] [ 0.02358027 0.99960161 -0.01551092 0.46226418] [ 0.00802381 0.0153255 0.99985036 0.16401122] [ 0. 0. 0. 1. ]] SLAMing on 9.00719347 meters Centerline goodness : 0.869275 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:0.47, Z:0.16 [[ 0.99996542 -0.0062296 -0.00550879 1.18809624] [ 0.00614089 0.99985352 -0.01597586 0.46680682] [ 0.00560751 0.01594148 0.9998572 0.16382454] [ 0. 0. 0. 1. ]] SLAMing on 9.067193470000001 meters Centerline goodness : 0.869306 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:0.47, Z:0.17 [[ 9.99984633e-01 -1.08659889e-03 -5.43620417e-03 1.18740596e+00] [ 9.98334182e-04 9.99868064e-01 -1.62129102e-02 4.68027637e-01] [ 5.45310387e-03 1.62072339e-02 9.99853784e-01 1.73412872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.127193470000002 meters Centerline goodness : 0.861881 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:0.45, Z:0.18 [[ 0.99996506 -0.00603418 -0.0057848 1.18565441] [ 0.0059315 0.99982742 -0.01760558 0.44763082] [ 0.00589003 0.01757065 0.99982828 0.17562529] [ 0. 0. 0. 1. ]] SLAMing on 9.187193470000002 meters Centerline goodness : 0.857221 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:0.43, Z:0.17 [[ 0.9999169 -0.00955057 -0.00865944 1.19195336] [ 0.00939294 0.99979269 -0.0180652 0.42710038] [ 0.00883018 0.01798236 0.99979931 0.1731926 ] [ 0. 0. 0. 1. ]] SLAMing on 9.247193470000001 meters Centerline goodness : 0.849739 with order 1 Centerline is valid? [False, False] Translation: X:1.20, Y:0.41, Z:0.17 [[ 0.99987781 -0.00992721 -0.01207576 1.20318771] [ 0.00970332 0.99978251 -0.01846007 0.4060145 ] [ 0.01225639 0.01834064 0.99975667 0.16950628] [ 0. 0. 0. 1. ]] SLAMing on 9.307193470000001 meters Centerline goodness : 0.849046 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:0.38, Z:0.17 [[ 0.99957245 -0.021884 -0.01939114 1.19206043] [ 0.02138467 0.99944367 -0.02559376 0.37538833] [ 0.01994044 0.02516815 0.99948434 0.17380231] [ 0. 0. 0. 1. ]] SLAMing on 9.367193470000002 meters Centerline goodness : 0.858997 with order 1 Centerline is valid? [False, False] Translation: X:1.16, Y:0.35, Z:0.19 [[ 0.99913703 -0.0331506 -0.02502467 1.16009808] [ 0.03227897 0.99888445 -0.0344662 0.34788083] [ 0.02613933 0.03362868 0.99909251 0.18663721] [ 0. 0. 0. 1. ]] SLAMing on 9.42719347 meters Centerline goodness : 0.883882 with order 1 Centerline is valid? [False, False] Translation: X:1.13, Y:0.32, Z:0.21 [[ 0.99863267 -0.04269987 -0.03015808 1.1321121 ] [ 0.0410406 0.99771626 -0.05364644 0.31592946] [ 0.03237991 0.05233538 0.99810448 0.20895452] [ 0. 0. 0. 1. ]] SLAMing on 9.487193470000001 meters Centerline goodness : 0.885225 with order 1 Centerline is valid? [False, False] Translation: X:1.15, Y:0.30, Z:0.20 [[ 0.99886205 -0.0398394 -0.0262189 1.1453881 ] [ 0.03881364 0.99850323 -0.03853316 0.30087339] [ 0.02771479 0.03747166 0.99891329 0.20309843] [ 0. 0. 0. 1. ]] SLAMing on 9.547193470000002 meters Centerline goodness : 0.888830 with order 1 Centerline is valid? [False, False] Translation: X:1.15, Y:0.29, Z:0.20 [[ 0.99914047 -0.03089697 -0.027635 1.14973771] [ 0.0300773 0.9991092 -0.02960003 0.28911433] [ 0.02852493 0.0287434 0.99917974 0.2012449 ] [ 0. 0. 0. 1. ]] SLAMing on 9.607193470000002 meters Centerline goodness : 0.892722 with order 1 Centerline is valid? [False, False] Translation: X:1.16, Y:0.28, Z:0.19 [[ 0.99912298 -0.03430454 -0.02400979 1.16161145] [ 0.03386488 0.99925546 -0.01848491 0.27666698] [ 0.02462603 0.01765561 0.99954081 0.19471814] [ 0. 0. 0. 1. ]] SLAMing on 9.66719347 meters Centerline goodness : 0.897549 with order 1 Centerline is valid? [False, False] Translation: X:1.18, Y:0.27, Z:0.19 [[ 0.99904812 -0.04004539 -0.01729786 1.17701302] [ 0.04007754 0.99919542 0.0015157 0.26692863] [ 0.01722325 -0.00220751 0.99984923 0.19332823] [ 0. 0. 0. 1. ]] SLAMing on 9.727193470000001 meters Centerline goodness : 0.897148 with order 1 Centerline is valid? [False, False] Translation: X:1.18, Y:0.26, Z:0.19 [[ 0.99935856 -0.03022346 -0.01920951 1.18459913] [ 0.03041597 0.99948919 0.00980964 0.25970766] [ 0.01890322 -0.01038763 0.99976736 0.18992856] [ 0. 0. 0. 1. ]] SLAMing on 9.787193470000002 meters Centerline goodness : 0.897593 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:0.26, Z:0.19 [[ 0.99954162 -0.02231877 -0.02045549 1.19006941] [ 0.02266865 0.99959789 0.01703521 0.25640555] [ 0.02006706 -0.0174911 0.99964562 0.18632499] [ 0. 0. 0. 1. ]] SLAMing on 9.847193470000002 meters Centerline goodness : 0.896811 with order 1 Centerline is valid? [False, False] Translation: X:1.20, Y:0.25, Z:0.18 [[ 0.99950957 -0.02189321 -0.0223897 1.19766522] [ 0.02231745 0.9995727 0.01887697 0.25069697] [ 0.02196686 -0.01936739 0.99957109 0.18058003] [ 0. 0. 0. 1. ]] SLAMing on 9.907193470000001 meters Centerline goodness : 0.892956 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:0.23, Z:0.18 [[ 0.99917051 -0.03844261 -0.0134333 1.22332213] [ 0.03876577 0.99894332 0.02468707 0.230038 ] [ 0.01247007 -0.02518734 0.99960497 0.17556257] [ 0. 0. 0. 1. ]] SLAMing on 9.967193470000002 meters Centerline goodness : 0.896004 with order 1 Centerline is valid? [False, False] Translation: X:1.24, Y:0.22, Z:0.17 [[ 0.99903241 -0.04305761 -0.0089608 1.23771548] [ 0.04330657 0.99861898 0.02974331 0.22087188] [ 0.00766775 -0.03010259 0.9995174 0.17376819] [ 0. 0. 0. 1. ]] SLAMing on 10.027193470000002 meters Centerline goodness : 0.892173 with order 1 Centerline is valid? [False, False] Translation: X:1.26, Y:0.21, Z:0.17 [[ 0.99918756 -0.03756693 -0.0145928 1.26011597] [ 0.03795622 0.99890411 0.0273845 0.20942334] [ 0.01354805 -0.02791614 0.99951845 0.17006941] [ 0. 0. 0. 1. ]] SLAMing on 10.08719347 meters Centerline goodness : 0.892838 with order 1 Centerline is valid? [False, False] Translation: X:1.26, Y:0.20, Z:0.17 [[ 0.99927912 -0.03456944 -0.01569048 1.26432596] [ 0.03504238 0.99890677 0.03094023 0.20457232] [ 0.01460374 -0.03146776 0.99939807 0.16736498] [ 0. 0. 0. 1. ]] SLAMing on 10.147193470000001 meters Centerline goodness : 0.890139 with order 1 Centerline is valid? [False, False] Translation: X:1.28, Y:0.19, Z:0.16 [[ 0.99923371 -0.03693044 -0.01296683 1.28258433] [ 0.03738705 0.99861783 0.03694095 0.1923374 ] [ 0.01158466 -0.03739744 0.99923332 0.16490189] [ 0. 0. 0. 1. ]] SLAMing on 10.207193470000002 meters Centerline goodness : 0.884351 with order 1 Centerline is valid? [False, False] Translation: X:1.32, Y:0.17, Z:0.16 [[ 0.9992152 -0.0384235 -0.00962341 1.3194438 ] [ 0.03885773 0.99799512 0.0499581 0.17016264] [ 0.00768455 -0.05029283 0.99870495 0.16102263] [ 0. 0. 0. 1. ]] SLAMing on 10.267193470000002 meters Centerline goodness : 0.883459 with order 1 Centerline is valid? [False, False] Translation: X:1.34, Y:0.16, Z:0.17 [[ 0.99940917 -0.03193866 -0.01269788 1.3412713 ] [ 0.0324425 0.99860414 0.04168046 0.15820488] [ 0.01134893 -0.04206778 0.9990503 0.16603245] [ 0. 0. 0. 1. ]] SLAMing on 10.327193470000001 meters Centerline goodness : 0.884862 with order 1 Centerline is valid? [False, False] Translation: X:1.34, Y:0.15, Z:0.17 [[ 0.99948253 -0.02922686 -0.01343355 1.34293078] [ 0.02980386 0.99854354 0.04497252 0.15263527] [ 0.01209958 -0.04534962 0.9988979 0.16611834] [ 0. 0. 0. 1. ]] SLAMing on 10.387193470000001 meters Centerline goodness : 0.880448 with order 1 Centerline is valid? [False, False] Translation: X:1.39, Y:0.13, Z:0.16 [[ 9.99067964e-01 -4.31634307e-02 -3.48146273e-04 1.38871245e+00] [ 4.30624159e-02 9.96109736e-01 7.68831682e-02 1.30179821e-01] [-2.97174941e-03 -7.68265023e-02 9.97040048e-01 1.59430200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.447193470000002 meters Centerline goodness : 0.885854 with order 1 Centerline is valid? [False, False] Translation: X:1.43, Y:0.11, Z:0.15 [[ 0.9978876 -0.06330649 0.01458139 1.42881769] [ 0.06064456 0.98824753 0.14031772 0.11071259] [-0.02329305 -0.13913703 0.98999915 0.15325006] [ 0. 0. 0. 1. ]] SLAMing on 10.50719347 meters Centerline goodness : 0.885944 with order 1 Centerline is valid? [False, False] Translation: X:1.43, Y:0.11, Z:0.16 [[ 0.99747469 -0.06949713 0.01464208 1.42769227] [ 0.06686013 0.98838283 0.13648849 0.10959424] [-0.02395754 -0.13516484 0.99053344 0.1568815 ] [ 0. 0. 0. 1. ]] SLAMing on 10.567193470000001 meters Centerline goodness : 0.884393 with order 1 Centerline is valid? [False, False] Translation: X:1.43, Y:0.11, Z:0.15 [[ 0.99725886 -0.07216799 0.01632625 1.42520209] [ 0.06945609 0.98912063 0.12967742 0.11442616] [-0.02550719 -0.128188 0.99142182 0.15499954] [ 0. 0. 0. 1. ]] SLAMing on 10.627193470000002 meters Centerline goodness : 0.887470 with order 1 Centerline is valid? [False, False] Translation: X:1.40, Y:0.14, Z:0.16 [[ 0.9986736 -0.0465478 0.02200772 1.4024814 ] [ 0.04371554 0.99237882 0.11520946 0.13546365] [-0.02720274 -0.11409457 0.9930974 0.16158561] [ 0. 0. 0. 1. ]] SLAMing on 10.687193470000002 meters Centerline goodness : 0.882988 with order 1 Centerline is valid? [False, False] Translation: X:1.41, Y:0.16, Z:0.16 [[ 0.99912612 -0.03774349 0.01795619 1.41175527] [ 0.03558513 0.9934873 0.10824358 0.1560245 ] [-0.02192474 -0.10751002 0.99396222 0.16262147] [ 0. 0. 0. 1. ]] SLAMing on 10.747193470000001 meters Centerline goodness : 0.877850 with order 1 Centerline is valid? [False, False] Translation: X:1.43, Y:0.16, Z:0.16 [[ 0.99910564 -0.04020646 0.01309031 1.4313467 ] [ 0.03883198 0.99497992 0.09223361 0.16391747] [-0.01673299 -0.0916428 0.99565135 0.16244118] [ 0. 0. 0. 1. ]] SLAMing on 10.807193470000001 meters Centerline goodness : 0.872982 with order 1 Centerline is valid? [False, False] Translation: X:1.46, Y:0.17, Z:0.16 [[ 0.99856419 -0.0529087 0.0083798 1.45721082] [ 0.05199863 0.99496256 0.08570673 0.16549098] [-0.01287221 -0.08514793 0.99628517 0.15726382] [ 0. 0. 0. 1. ]] SLAMing on 10.867193470000002 meters Centerline goodness : 0.869474 with order 1 Centerline is valid? [False, False] Translation: X:1.48, Y:0.16, Z:0.15 [[ 0.99806197 -0.06209545 0.00405592 1.48362171] [ 0.06154186 0.99461263 0.08341657 0.16118251] [-0.00921386 -0.0830053 0.99650651 0.15286768] [ 0. 0. 0. 1. ]] SLAMing on 10.927193470000002 meters Centerline goodness : 0.870329 with order 1 Centerline is valid? [False, False] Translation: X:1.50, Y:0.16, Z:0.16 [[ 0.99856418 -0.05328539 0.00550032 1.49894201] [ 0.05274494 0.99595087 0.07280003 0.16357102] [-0.00935723 -0.07240539 0.99733139 0.16292522] [ 0. 0. 0. 1. ]] SLAMing on 10.987193470000001 meters Centerline goodness : 0.872498 with order 1 Centerline is valid? [False, False] Translation: X:1.51, Y:0.17, Z:0.17 [[ 0.99937547 -0.03365262 0.01077796 1.50549903] [ 0.03292651 0.99755498 0.06164346 0.17311788] [-0.01282607 -0.06125008 0.99804004 0.17048845] [ 0. 0. 0. 1. ]] SLAMing on 11.047193470000002 meters Centerline goodness : 0.873290 with order 1 Centerline is valid? [False, False] Translation: X:1.50, Y:0.18, Z:0.17 [[ 0.99931076 -0.03538258 0.01122811 1.50326702] [ 0.03466207 0.99766042 0.05892562 0.17771293] [-0.01328678 -0.05849581 0.99819923 0.17263031] [ 0. 0. 0. 1. ]] SLAMing on 11.107193470000002 meters Centerline goodness : 0.870973 with order 1 Centerline is valid? [False, False] Translation: X:1.55, Y:0.17, Z:0.17 [[ 0.99883257 -0.04743816 0.00911638 1.54914981] [ 0.04681304 0.99712401 0.05960072 0.16873794] [-0.01191751 -0.05910437 0.99818067 0.16661507] [ 0. 0. 0. 1. ]] SLAMing on 11.16719347 meters Centerline goodness : 0.870780 with order 1 Centerline is valid? [False, False] Translation: X:1.56, Y:0.16, Z:0.17 [[ 0.99907546 -0.04261974 0.00563708 1.56322277] [ 0.04224806 0.99760541 0.05475902 0.16448056] [-0.00795739 -0.05447024 0.99848369 0.17083056] [ 0. 0. 0. 1. ]] SLAMing on 11.227193470000001 meters Centerline goodness : 0.871446 with order 1 Centerline is valid? [False, False] Translation: X:1.58, Y:0.16, Z:0.17 [[ 0.99972137 -0.02201968 0.00850425 1.57897225] [ 0.02160438 0.99869968 0.04617573 0.16334147] [-0.00950997 -0.04597914 0.99889713 0.17406353] [ 0. 0. 0. 1. ]] SLAMing on 11.287193470000002 meters Centerline goodness : 0.873228 with order 1 Centerline is valid? [False, False] Translation: X:1.58, Y:0.16, Z:0.17 [[ 0.99986511 -0.00709135 0.01481491 1.57929645] [ 0.00645752 0.99907976 0.04240209 0.16229 ] [-0.01510196 -0.0423007 0.99899078 0.17246204] [ 0. 0. 0. 1. ]] SLAMing on 11.347193470000002 meters Centerline goodness : 0.868048 with order 1 Centerline is valid? [False, False] Translation: X:1.59, Y:0.16, Z:0.17 [[ 0.99985436 -0.01067021 0.01331924 1.58678857] [ 0.01014547 0.9991931 0.03886154 0.15728117] [-0.01372316 -0.03872075 0.99915583 0.16668135] [ 0. 0. 0. 1. ]] SLAMing on 11.407193470000001 meters Centerline goodness : 0.869485 with order 1 Centerline is valid? [False, False] Translation: X:1.63, Y:0.14, Z:0.16 [[ 0.99968436 -0.02216295 0.01183185 1.62749178] [ 0.021536 0.99848085 0.0507167 0.14180795] [-0.01293791 -0.05044588 0.99864299 0.16249236] [ 0. 0. 0. 1. ]] SLAMing on 11.467193470000002 meters Centerline goodness : 0.872058 with order 1 Centerline is valid? [False, False] Translation: X:1.68, Y:0.11, Z:0.16 [[ 0.99905868 -0.03892237 0.01915189 1.67806821] [ 0.03710861 0.9954859 0.08735428 0.11167208] [-0.02246547 -0.08656136 0.99599319 0.16178389] [ 0. 0. 0. 1. ]] SLAMing on 11.527193470000002 meters Centerline goodness : 0.870668 with order 1 Centerline is valid? [False, False] Translation: X:1.71, Y:0.10, Z:0.16 [[ 0.99908555 -0.03762639 0.02030567 1.71320458] [ 0.03581409 0.99588577 0.08323988 0.09538089] [-0.02335415 -0.08243653 0.99632264 0.16182425] [ 0. 0. 0. 1. ]] SLAMing on 11.58719347 meters Centerline goodness : 0.869581 with order 1 Centerline is valid? [False, False] Translation: X:1.73, Y:0.08, Z:0.17 [[ 0.999314 -0.03342006 0.01595728 1.73106612] [ 0.0320822 0.99645333 0.07779138 0.08163135] [-0.01850047 -0.07722607 0.99684195 0.16508476] [ 0. 0. 0. 1. ]] SLAMing on 11.647193470000001 meters Centerline goodness : 0.871728 with order 1 Centerline is valid? [False, False] Translation: X:1.75, Y:0.07, Z:0.16 [[ 0.99905577 -0.03773237 0.02153697 1.74588845] [ 0.03578506 0.99577376 0.08458155 0.07091092] [-0.02463741 -0.08373099 0.99618378 0.16107546] [ 0. 0. 0. 1. ]] SLAMing on 11.707193470000002 meters Centerline goodness : 0.868375 with order 1 Centerline is valid? [False, False] Translation: X:1.78, Y:0.06, Z:0.15 [[ 0.99864716 -0.04327664 0.02882686 1.77528812] [ 0.04019077 0.99415874 0.10016537 0.05839689] [-0.0329933 -0.09887129 0.99455312 0.15498978] [ 0. 0. 0. 1. ]] SLAMing on 11.767193470000002 meters Centerline goodness : 0.874806 with order 1 Centerline is valid? [False, False] Translation: X:1.79, Y:0.05, Z:0.15 [[ 0.9980806 -0.05229972 0.03316414 1.79160743] [ 0.0486911 0.99363408 0.10158987 0.05006265] [-0.03826614 -0.09978008 0.99427342 0.15105692] [ 0. 0. 0. 1. ]] SLAMing on 11.827193470000001 meters Centerline goodness : 0.876313 with order 1 Centerline is valid? [False, False] Translation: X:1.79, Y:0.05, Z:0.15 [[ 0.99785243 -0.05634878 0.03339661 1.79074207] [ 0.05283279 0.99376715 0.09816081 0.05012238] [-0.0387197 -0.09618556 0.99461004 0.15278034] [ 0. 0. 0. 1. ]] SLAMing on 11.887193470000001 meters Centerline goodness : 0.871907 with order 1 Centerline is valid? [False, False] Translation: X:1.78, Y:0.05, Z:0.15 [[ 0.99819443 -0.05203578 0.03000255 1.7847384 ] [ 0.04922209 0.99491091 0.0879174 0.05360951] [-0.03442472 -0.08628187 0.99567584 0.15045771] [ 0. 0. 0. 1. ]] SLAMing on 11.947193470000002 meters Centerline goodness : 0.876367 with order 1 Centerline is valid? [False, False] Translation: X:1.77, Y:0.06, Z:0.15 [[ 0.99838677 -0.04374658 0.0361951 1.77025688] [ 0.04078502 0.99605054 0.07886639 0.06048693] [-0.03950229 -0.07726294 0.99622789 0.14998258] [ 0. 0. 0. 1. ]] SLAMing on 12.007193470000002 meters Centerline goodness : 0.876793 with order 1 Centerline is valid? [False, False] Translation: X:1.76, Y:0.07, Z:0.15 [[ 0.99844398 -0.03570832 0.04283142 1.75897769] [ 0.03240341 0.99661778 0.07551839 0.07168993] [-0.04538319 -0.074013 0.99622409 0.15430823] [ 0. 0. 0. 1. ]] SLAMing on 12.067193470000001 meters Centerline goodness : 0.878945 with order 1 Centerline is valid? [False, False] Translation: X:1.78, Y:0.08, Z:0.16 [[ 0.99849028 -0.03285714 0.04401777 1.77595144] [ 0.0301111 0.99764302 0.06165817 0.07651577] [-0.04593994 -0.06023966 0.99712622 0.1550804 ] [ 0. 0. 0. 1. ]] SLAMing on 12.127193470000002 meters Centerline goodness : 0.872413 with order 1 Centerline is valid? [False, False] Translation: X:1.80, Y:0.08, Z:0.15 [[ 0.99850841 -0.0379202 0.03928126 1.8015043 ] [ 0.03555115 0.99760416 0.05934688 0.07945224] [-0.0414376 -0.05786186 0.99746425 0.14826688] [ 0. 0. 0. 1. ]] SLAMing on 12.187193470000002 meters Centerline goodness : 0.870941 with order 1 Centerline is valid? [False, False] Translation: X:1.82, Y:0.08, Z:0.14 [[ 0.99826944 -0.04177508 0.04138797 1.82187698] [ 0.03913564 0.99726785 0.06265176 0.0751927 ] [-0.04389217 -0.0609236 0.99717691 0.14306963] [ 0. 0. 0. 1. ]] SLAMing on 12.247193470000001 meters Centerline goodness : 0.871512 with order 1 Centerline is valid? [False, False] Translation: X:1.85, Y:0.07, Z:0.14 [[ 0.9973298 -0.05246435 0.05080122 1.8532673 ] [ 0.04687516 0.99330626 0.10557174 0.06504088] [-0.05599992 -0.10290853 0.99311321 0.14030411] [ 0. 0. 0. 1. ]] SLAMing on 12.307193470000001 meters Centerline goodness : 0.874816 with order 1 Centerline is valid? [False, False] Translation: X:1.85, Y:0.06, Z:0.14 [[ 0.99685273 -0.0609001 0.05075246 1.85303159] [ 0.05566251 0.99353953 0.09889833 0.06404442] [-0.0564475 -0.09576206 0.99380245 0.14328885] [ 0. 0. 0. 1. ]] SLAMing on 12.367193470000002 meters Centerline goodness : 0.877808 with order 1 Centerline is valid? [False, False] Translation: X:1.84, Y:0.08, Z:0.15 [[ 0.99662048 -0.06104697 0.05496262 1.84478107] [ 0.05591086 0.99431892 0.09057515 0.07701664] [-0.06017971 -0.08719604 0.99437179 0.14844152] [ 0. 0. 0. 1. ]] SLAMing on 12.427193470000002 meters Centerline goodness : 0.877715 with order 1 Centerline is valid? [False, False] Translation: X:1.84, Y:0.09, Z:0.15 [[ 0.99676512 -0.05719868 0.05645895 1.84174144] [ 0.05229614 0.99502548 0.08479036 0.0934325 ] [-0.06102799 -0.08156348 0.99479796 0.14890536] [ 0. 0. 0. 1. ]] SLAMing on 12.487193470000001 meters Centerline goodness : 0.873580 with order 1 Centerline is valid? [False, False] Translation: X:1.84, Y:0.11, Z:0.14 [[ 0.99749882 -0.05023952 0.04972022 1.8424653 ] [ 0.04686133 0.99665704 0.06692349 0.11448718] [-0.05291621 -0.06442615 0.99651851 0.14404554] [ 0. 0. 0. 1. ]] SLAMing on 12.547193470000002 meters Centerline goodness : 0.873506 with order 1 Centerline is valid? [False, False] Translation: X:1.84, Y:0.14, Z:0.14 [[ 0.9971335 -0.05871308 0.04772379 1.84317067] [ 0.05575626 0.99657372 0.0610906 0.14490539] [-0.05114709 -0.05825458 0.99699066 0.14465787] [ 0. 0. 0. 1. ]] SLAMing on 12.607193470000002 meters Centerline goodness : 0.874218 with order 1 Centerline is valid? [False, False] Translation: X:1.85, Y:0.16, Z:0.15 [[ 0.99692967 -0.06565889 0.0426631 1.84861402] [ 0.06330622 0.99651388 0.05433599 0.16054066] [-0.04608201 -0.05146833 0.99761088 0.15083201] [ 0. 0. 0. 1. ]] SLAMing on 12.66719347 meters Centerline goodness : 0.878613 with order 1 Centerline is valid? [False, False] Translation: X:1.85, Y:0.18, Z:0.16 [[ 0.99686163 -0.06853075 0.0396286 1.84764878] [ 0.06637103 0.99636165 0.05346344 0.17941923] [-0.04314831 -0.05066546 0.99778316 0.15922563] [ 0. 0. 0. 1. ]] SLAMing on 12.727193470000001 meters Centerline goodness : 0.875003 with order 1 Centerline is valid? [False, False] Translation: X:1.85, Y:0.21, Z:0.17 [[ 0.99801436 -0.05532707 0.03010392 1.84520149] [ 0.0541966 0.99783878 0.03715499 0.2120574 ] [-0.03209454 -0.03544969 0.99885598 0.16705061] [ 0. 0. 0. 1. ]] SLAMing on 12.787193470000002 meters Centerline goodness : 0.878656 with order 1 Centerline is valid? [False, False] Translation: X:1.85, Y:0.24, Z:0.17 [[ 0.99867663 -0.04201235 0.02966381 1.84645569] [ 0.04106065 0.99864427 0.03199449 0.24333663] [-0.03096775 -0.03073414 0.99904775 0.16905737] [ 0. 0. 0. 1. ]] SLAMing on 12.847193470000002 meters Centerline goodness : 0.874516 with order 1 Centerline is valid? [False, False] Translation: X:1.84, Y:0.28, Z:0.17 [[ 0.99932557 -0.02079842 0.03026263 1.84001198] [ 0.02006245 0.99950038 0.02442314 0.2822201 ] [-0.03075547 -0.02379953 0.99924356 0.17361952] [ 0. 0. 0. 1. ]] SLAMing on 12.907193470000001 meters Centerline goodness : 0.869365 with order 1 Centerline is valid? [False, False] Translation: X:1.87, Y:0.30, Z:0.17 [[ 0.99957197 -0.01054788 0.02728769 1.87465674] [ 0.00995934 0.99971676 0.02161488 0.30080258] [-0.02750795 -0.02133386 0.99939391 0.17443816] [ 0. 0. 0. 1. ]] SLAMing on 12.967193470000002 meters Centerline goodness : 0.858996 with order 1 Centerline is valid? [False, False] Translation: X:1.92, Y:0.32, Z:0.18 [[ 9.99841355e-01 7.13390485e-04 1.77976240e-02 1.92157107e+00] [-1.22436041e-03 9.99586871e-01 2.87156538e-02 3.17280867e-01] [-1.77697858e-02 -2.87328889e-02 9.99429165e-01 1.77697121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.027193470000002 meters Centerline goodness : 0.861558 with order 1 Centerline is valid? [False, False] Translation: X:1.95, Y:0.32, Z:0.18 [[ 0.99989167 0.00362619 0.01426557 1.95192616] [-0.00401401 0.99962054 0.02725169 0.32171708] [-0.01416134 -0.027306 0.99952681 0.18000128] [ 0. 0. 0. 1. ]] SLAMing on 13.087193470000003 meters Centerline goodness : 0.868316 with order 1 Centerline is valid? [False, False] Translation: X:1.95, Y:0.32, Z:0.18 [[ 9.99900133e-01 -3.01799734e-04 1.41291575e-02 1.94957987e+00] [-2.52546954e-05 9.99732197e-01 2.31415839e-02 3.19828513e-01] [-1.41323578e-02 -2.31396297e-02 9.99632349e-01 1.84109348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.147193470000001 meters Centerline goodness : 0.875428 with order 1 Centerline is valid? [False, False] Translation: X:1.95, Y:0.31, Z:0.19 [[ 0.99981585 -0.01388664 0.01324486 1.9506543 ] [ 0.01373505 0.9998399 0.0114679 0.30686092] [-0.01340199 -0.01128387 0.99984652 0.18538315] [ 0. 0. 0. 1. ]] SLAMing on 13.207193470000002 meters Centerline goodness : 0.876030 with order 1 Centerline is valid? [False, False] Translation: X:1.97, Y:0.29, Z:0.18 [[ 0.99950099 -0.02956487 0.01112195 1.97096576] [ 0.02935681 0.99939912 0.01842753 0.28727591] [-0.01166007 -0.01809182 0.99976834 0.18417609] [ 0. 0. 0. 1. ]] SLAMing on 13.267193470000002 meters Centerline goodness : 0.876384 with order 1 Centerline is valid? [False, False] Translation: X:2.00, Y:0.27, Z:0.18 [[ 0.9993945 -0.03281078 0.01157927 1.99852399] [ 0.03257019 0.99926147 0.0203885 0.27002398] [-0.01223968 -0.01999901 0.99972508 0.17974772] [ 0. 0. 0. 1. ]] SLAMing on 13.327193470000001 meters Centerline goodness : 0.872213 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:0.25, Z:0.17 [[ 0.99919838 -0.03892334 0.0093579 2.04123993] [ 0.03860446 0.99873778 0.03213329 0.25269731] [-0.01059683 -0.03174628 0.99943978 0.17155324] [ 0. 0. 0. 1. ]] SLAMing on 13.387193470000001 meters Centerline goodness : 0.868737 with order 1 Centerline is valid? [False, False] Translation: X:2.08, Y:0.23, Z:0.17 [[ 0.99909848 -0.04026623 0.01344813 2.07983761] [ 0.03959603 0.99811678 0.04685131 0.23087172] [-0.01530933 -0.04627658 0.99881134 0.16871616] [ 0. 0. 0. 1. ]] SLAMing on 13.447193470000002 meters Centerline goodness : 0.868179 with order 1 Centerline is valid? [False, False] Translation: X:2.10, Y:0.22, Z:0.17 [[ 0.99934045 -0.03385068 0.01314511 2.10153546] [ 0.03335824 0.99879382 0.03602961 0.2217249 ] [-0.01434888 -0.03556735 0.99926427 0.17394657] [ 0. 0. 0. 1. ]] SLAMing on 13.507193470000002 meters Centerline goodness : 0.869540 with order 1 Centerline is valid? [False, False] Translation: X:2.13, Y:0.21, Z:0.18 [[ 0.99943984 -0.0301356 0.01455526 2.12849641] [ 0.02956684 0.99884683 0.03782615 0.21189307] [-0.01567839 -0.03737461 0.99917833 0.17711755] [ 0. 0. 0. 1. ]] SLAMing on 13.567193470000001 meters Centerline goodness : 0.867714 with order 1 Centerline is valid? [False, False] Translation: X:2.16, Y:0.20, Z:0.17 [[ 0.99942259 -0.03155017 0.01261236 2.15772858] [ 0.03099699 0.99864164 0.04188148 0.1995153 ] [-0.0139166 -0.04146635 0.99904298 0.1726541 ] [ 0. 0. 0. 1. ]] SLAMing on 13.627193470000002 meters Centerline goodness : 0.867067 with order 1 Centerline is valid? [False, False] Translation: X:2.19, Y:0.19, Z:0.17 [[ 0.99943318 -0.03260658 0.00837462 2.1936901 ] [ 0.0322558 0.99871576 0.03906916 0.1887038 ] [-0.00963777 -0.03877688 0.99920141 0.17062777] [ 0. 0. 0. 1. ]] SLAMing on 13.687193470000002 meters Centerline goodness : 0.870081 with order 1 Centerline is valid? [False, False] Translation: X:2.21, Y:0.18, Z:0.17 [[ 0.99936657 -0.03308056 0.01311971 2.2075515 ] [ 0.0324368 0.99838823 0.04657025 0.17828904] [-0.01463913 -0.04611519 0.99882886 0.1707568 ] [ 0. 0. 0. 1. ]] SLAMing on 13.747193470000001 meters Centerline goodness : 0.867098 with order 1 Centerline is valid? [False, False] Translation: X:2.24, Y:0.17, Z:0.17 [[ 0.99931012 -0.03397737 0.01499429 2.23522088] [ 0.03321298 0.99826697 0.04857934 0.17155382] [-0.01661891 -0.04804782 0.99870677 0.16602133] [ 0. 0. 0. 1. ]] SLAMing on 13.807193470000001 meters Centerline goodness : 0.866706 with order 1 Centerline is valid? [False, False] Translation: X:2.25, Y:0.17, Z:0.17 [[ 0.99957385 -0.02502176 0.015034 2.25211959] [ 0.024552 0.99922834 0.03065804 0.1730178 ] [-0.01578952 -0.03027587 0.99941686 0.16595363] [ 0. 0. 0. 1. ]] SLAMing on 13.867193470000002 meters Centerline goodness : 0.868369 with order 1 Centerline is valid? [False, False] Translation: X:2.26, Y:0.18, Z:0.17 [[ 0.9998022 -0.01218376 0.01571987 2.261135 ] [ 0.01187306 0.99973526 0.01970908 0.17783222] [-0.01595584 -0.01951853 0.99968217 0.16677747] [ 0. 0. 0. 1. ]] SLAMing on 13.927193470000002 meters Centerline goodness : 0.868223 with order 1 Centerline is valid? [False, False] Translation: X:2.28, Y:0.18, Z:0.16 [[ 0.99965483 -0.01755898 0.01954257 2.27589365] [ 0.01707593 0.99955113 0.02461609 0.17618301] [-0.01996603 -0.02427389 0.99950595 0.16124908] [ 0. 0. 0. 1. ]] SLAMing on 13.987193470000001 meters Centerline goodness : 0.867345 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:0.17, Z:0.15 [[ 0.99933066 -0.02621444 0.02551558 2.30690682] [ 0.02530046 0.99904912 0.03550701 0.16600885] [-0.02642211 -0.03483769 0.99904365 0.15427827] [ 0. 0. 0. 1. ]] SLAMing on 14.047193470000002 meters Centerline goodness : 0.870656 with order 1 Centerline is valid? [False, False] Translation: X:2.32, Y:0.16, Z:0.16 [[ 0.99920671 -0.02628971 0.02991314 2.32045222] [ 0.02502746 0.99881179 0.04181667 0.16239662] [-0.03097694 -0.04103485 0.99867741 0.15599167] [ 0. 0. 0. 1. ]] SLAMing on 14.107193470000002 meters Centerline goodness : 0.870095 with order 1 Centerline is valid? [False, False] Translation: X:2.33, Y:0.16, Z:0.16 [[ 0.99940433 -0.02172368 0.02681531 2.32832659] [ 0.02057048 0.99888226 0.04255679 0.15978325] [-0.02770983 -0.04197984 0.99873413 0.15643744] [ 0. 0. 0. 1. ]] SLAMing on 14.167193470000003 meters Centerline goodness : 0.870737 with order 1 Centerline is valid? [False, False] Translation: X:2.33, Y:0.16, Z:0.16 [[ 0.99952323 -0.01854492 0.02468606 2.33369953] [ 0.01744567 0.99887816 0.04402351 0.15820406] [-0.02547477 -0.04357186 0.99872545 0.15553412] [ 0. 0. 0. 1. ]] SLAMing on 14.227193470000001 meters Centerline goodness : 0.869794 with order 1 Centerline is valid? [False, False] Translation: X:2.35, Y:0.16, Z:0.15 [[ 0.99937739 -0.02313322 0.02663994 2.3518326 ] [ 0.02186659 0.99866049 0.04689428 0.15514293] [-0.02768908 -0.04628256 0.99854456 0.15268676] [ 0. 0. 0. 1. ]] SLAMing on 14.287193470000002 meters Centerline goodness : 0.868131 with order 1 Centerline is valid? [False, False] Translation: X:2.35, Y:0.15, Z:0.15 [[ 0.99934283 -0.02540362 0.02585652 2.35478411] [ 0.02424476 0.99872907 0.0441865 0.15495782] [-0.02694616 -0.04353057 0.99868864 0.15104102] [ 0. 0. 0. 1. ]] SLAMing on 14.347193470000002 meters Centerline goodness : 0.870853 with order 1 Centerline is valid? [False, False] Translation: X:2.37, Y:0.16, Z:0.16 [[ 0.99950942 -0.01891086 0.02496575 2.37399876] [ 0.01810747 0.9993231 0.03202298 0.15684792] [-0.02555444 -0.0315552 0.99917528 0.15664244] [ 0. 0. 0. 1. ]] SLAMing on 14.407193470000001 meters Centerline goodness : 0.874750 with order 1 Centerline is valid? [False, False] Translation: X:2.38, Y:0.16, Z:0.16 [[ 0.99958203 -0.01447605 0.0250242 2.37732297] [ 0.01379397 0.99953436 0.02721756 0.16285402] [-0.02540655 -0.026861 0.99931626 0.16346189] [ 0. 0. 0. 1. ]] SLAMing on 14.467193470000002 meters Centerline goodness : 0.873782 with order 1 Centerline is valid? [False, False] Translation: X:2.42, Y:0.15, Z:0.15 [[ 0.99907249 -0.03062801 0.0302669 2.42102433] [ 0.02876394 0.997771 0.06021352 0.15319476] [-0.03204365 -0.05928708 0.99772654 0.15477824] [ 0. 0. 0. 1. ]] SLAMing on 14.527193470000002 meters Centerline goodness : 0.876160 with order 1 Centerline is valid? [False, False] Translation: X:2.47, Y:0.13, Z:0.14 [[ 0.99739876 -0.05627731 0.04503977 2.46614438] [ 0.04937924 0.98865794 0.14183499 0.12522398] [-0.05251101 -0.13924201 0.98886513 0.14069964] [ 0. 0. 0. 1. ]] SLAMing on 14.587193470000003 meters Centerline goodness : 0.874100 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:0.09, Z:0.13 [[ 0.99582322 -0.07800598 0.04744671 2.49478486] [ 0.06306382 0.96344512 0.26037754 0.09074193] [-0.0660233 -0.25629783 0.96434037 0.13027195] [ 0. 0. 0. 1. ]] SLAMing on 14.647193470000001 meters Centerline goodness : 0.873554 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:0.10, Z:0.14 [[ 0.9967108 -0.06906709 0.04239478 2.49386148] [ 0.05689885 0.9689092 0.24078515 0.09668751] [-0.05770702 -0.23758095 0.9696521 0.13738474] [ 0. 0. 0. 1. ]] SLAMing on 14.707193470000002 meters Centerline goodness : 0.868887 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:0.11, Z:0.15 [[ 0.99829198 -0.04865716 0.03233584 2.48806919] [ 0.04048798 0.97522242 0.21749011 0.11448386] [-0.04211709 -0.21580942 0.97552675 0.15129375] [ 0. 0. 0. 1. ]] SLAMing on 14.767193470000002 meters Centerline goodness : 0.869672 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:0.14, Z:0.16 [[ 0.99893779 -0.02815184 0.03647964 2.48604962] [ 0.02090981 0.98241088 0.18555766 0.13602864] [-0.04106179 -0.18459778 0.981956 0.15846521] [ 0. 0. 0. 1. ]] SLAMing on 14.827193470000001 meters Centerline goodness : 0.868182 with order 1 Centerline is valid? [False, False] Translation: X:2.48, Y:0.16, Z:0.17 [[ 0.99888875 -0.01682676 0.04402416 2.4829117 ] [ 0.00934488 0.98626038 0.16493375 0.15786487] [-0.04619459 -0.16433907 0.98532164 0.16557304] [ 0. 0. 0. 1. ]] SLAMing on 14.887193470000001 meters Centerline goodness : 0.866121 with order 1 Centerline is valid? [False, False] Translation: X:2.50, Y:0.17, Z:0.16 [[ 0.99926471 -0.01125956 0.03665044 2.49990846] [ 0.00595308 0.98987798 0.14179612 0.17274595] [-0.03787602 -0.14147368 0.98921717 0.16430369] [ 0. 0. 0. 1. ]] SLAMing on 14.947193470000002 meters Centerline goodness : 0.862503 with order 1 Centerline is valid? [False, False] Translation: X:2.52, Y:0.18, Z:0.17 [[ 0.99928382 -0.01215842 0.03583332 2.51580201] [ 0.00767917 0.9924281 0.12258668 0.17789092] [-0.03705245 -0.12222372 0.99181071 0.17209442] [ 0. 0. 0. 1. ]] SLAMing on 15.007193470000002 meters Centerline goodness : 0.865059 with order 1 Centerline is valid? [False, False] Translation: X:2.56, Y:0.17, Z:0.17 [[ 0.99836949 -0.03041329 0.04830511 2.5599391 ] [ 0.02312947 0.98919558 0.1447658 0.17206749] [-0.052186 -0.14341248 0.98828613 0.17218326] [ 0. 0. 0. 1. ]] SLAMing on 15.067193470000001 meters Centerline goodness : 0.859847 with order 1 Centerline is valid? [False, False] Translation: X:2.59, Y:0.17, Z:0.17 [[ 0.99852202 -0.03091561 0.04469902 2.58578422] [ 0.02501392 0.99158253 0.12703695 0.16766184] [-0.0482502 -0.1257311 0.99089031 0.17330447] [ 0. 0. 0. 1. ]] SLAMing on 15.127193470000002 meters Centerline goodness : 0.858372 with order 1 Centerline is valid? [False, False] Translation: X:2.61, Y:0.17, Z:0.17 [[ 0.99875899 -0.02926693 0.04029786 2.60613138] [ 0.02433565 0.99273397 0.11784328 0.16638954] [-0.04345397 -0.11671636 0.99221421 0.17126311] [ 0. 0. 0. 1. ]] SLAMing on 15.187193470000002 meters Centerline goodness : 0.860388 with order 1 Centerline is valid? [False, False] Translation: X:2.62, Y:0.17, Z:0.18 [[ 0.99884052 -0.02622355 0.04037243 2.61939368] [ 0.02175989 0.99399032 0.10728355 0.16966066] [-0.04294316 -0.10628066 0.99340843 0.17507704] [ 0. 0. 0. 1. ]] SLAMing on 15.247193470000003 meters Centerline goodness : 0.861254 with order 1 Centerline is valid? [False, False] Translation: X:2.63, Y:0.17, Z:0.18 [[ 0.9989002 -0.02402177 0.04026591 2.62772961] [ 0.02003579 0.99511902 0.09662666 0.17472622] [-0.04239052 -0.09571364 0.99450588 0.18303251] [ 0. 0. 0. 1. ]] SLAMing on 15.307193470000001 meters Centerline goodness : 0.859393 with order 1 Centerline is valid? [False, False] Translation: X:2.65, Y:0.17, Z:0.18 [[ 0.99917818 -0.01849098 0.03606995 2.65473104] [ 0.01540437 0.99634255 0.08404893 0.17267375] [-0.03749217 -0.08342422 0.99580858 0.18423081] [ 0. 0. 0. 1. ]] SLAMing on 15.367193470000002 meters Centerline goodness : 0.857585 with order 1 Centerline is valid? [False, False] Translation: X:2.67, Y:0.17, Z:0.19 [[ 0.99942098 -0.01235795 0.03170161 2.67184494] [ 0.00979746 0.99677162 0.07968911 0.16894899] [-0.03258406 -0.07933237 0.99631554 0.18614501] [ 0. 0. 0. 1. ]] SLAMing on 15.427193470000002 meters Centerline goodness : 0.858217 with order 1 Centerline is valid? [False, False] Translation: X:2.68, Y:0.17, Z:0.19 [[ 0.99954473 -0.00576706 0.02961544 2.68349864] [ 0.00350914 0.99712182 0.07573478 0.16610636] [-0.02996697 -0.07559637 0.9966881 0.19157991] [ 0. 0. 0. 1. ]] SLAMing on 15.487193470000001 meters Centerline goodness : 0.861068 with order 1 Centerline is valid? [False, False] Translation: X:2.71, Y:0.15, Z:0.20 [[ 9.99584945e-01 1.03747979e-03 2.87899662e-02 2.70890433e+00] [-2.81658152e-03 9.98083070e-01 6.18243680e-02 1.50922489e-01] [-2.86706364e-02 -6.18797968e-02 9.97671732e-01 1.96909723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.547193470000002 meters Centerline goodness : 0.862217 with order 1 Centerline is valid? [False, False] Translation: X:2.75, Y:0.14, Z:0.20 [[ 0.99935628 -0.00646522 0.03528788 2.75325674] [ 0.00380327 0.99717722 0.07498752 0.1366886 ] [-0.03567308 -0.07480504 0.9965599 0.1981762 ] [ 0. 0. 0. 1. ]] SLAMing on 15.607193470000002 meters Centerline goodness : 0.861143 with order 1 Centerline is valid? [False, False] Translation: X:2.80, Y:0.12, Z:0.20 [[ 9.99540747e-01 -2.40164736e-03 3.02080749e-02 2.79656400e+00] [ 3.28214328e-04 9.97654024e-01 6.84568468e-02 1.17045994e-01] [-3.03016167e-02 -6.84154931e-02 9.97196637e-01 1.96829221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.667193470000003 meters Centerline goodness : 0.858348 with order 1 Centerline is valid? [False, False] Translation: X:2.81, Y:0.11, Z:0.19 [[ 9.99639235e-01 8.99084714e-04 2.68438225e-02 2.80704175e+00] [-2.74756967e-03 9.97619544e-01 6.89035236e-02 1.10653692e-01] [-2.67179719e-02 -6.89524209e-02 9.97262109e-01 1.94499197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.727193470000001 meters Centerline goodness : 0.857054 with order 1 Centerline is valid? [False, False] Translation: X:2.85, Y:0.09, Z:0.20 [[ 0.99966126 -0.00523136 0.02549502 2.850858 ] [ 0.00348836 0.99768348 0.06793756 0.09121513] [-0.02579137 -0.06782561 0.99736377 0.19597527] [ 0. 0. 0. 1. ]] SLAMing on 15.787193470000002 meters Centerline goodness : 0.855304 with order 1 Centerline is valid? [False, False] Translation: X:2.89, Y:0.07, Z:0.19 [[ 0.9993557 -0.01245463 0.03366113 2.89386646] [ 0.00944874 0.9960733 0.08802669 0.06767717] [-0.03462529 -0.08765191 0.99554921 0.19096567] [ 0. 0. 0. 1. ]] SLAMing on 15.847193470000002 meters Centerline goodness : 0.853525 with order 1 Centerline is valid? [False, False] Translation: X:2.92, Y:0.05, Z:0.19 [[ 9.99488942e-01 -1.42458644e-03 3.19347021e-02 2.91848135e+00] [-1.14857999e-03 9.96760970e-01 8.04129989e-02 4.98169800e-02] [-3.19458199e-02 -8.04085827e-02 9.96249931e-01 1.94539655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.907193470000003 meters Centerline goodness : 0.853619 with order 1 Centerline is valid? [False, False] Translation: X:2.96, Y:0.02, Z:0.20 [[ 0.99955221 0.00326385 0.02974427 2.95608324] [-0.00540806 0.99736859 0.0722956 0.01906229] [-0.02943004 -0.07242409 0.99693963 0.19811083] [ 0. 0. 0. 1. ]] SLAMing on 15.967193470000002 meters Centerline goodness : 0.851284 with order 1 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.02, Z:0.20 [[ 9.98991898e-01 -8.51599748e-03 4.40756750e-02 2.99876867e+00] [ 2.81277540e-03 9.91786495e-01 1.27873515e-01 -1.99100137e-02] [-4.48026297e-02 -1.27620630e-01 9.90810627e-01 1.96134272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.02719347 meters Centerline goodness : 0.849609 with order 1 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.07, Z:0.19 [[ 0.99839881 -0.0221969 0.05202996 3.04705492] [ 0.01177001 0.98118025 0.192735 -0.06512719] [-0.05532889 -0.191814 0.97987045 0.19413121] [ 0. 0. 0. 1. ]] SLAMing on 16.087193470000003 meters Centerline goodness : 0.844948 with order 1 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.09, Z:0.19 [[ 0.99843796 -0.01838569 0.05275993 3.0769851 ] [ 0.00755678 0.98006646 0.19852616 -0.08802473] [-0.05535828 -0.19781736 0.97867449 0.19192292] [ 0. 0. 0. 1. ]] SLAMing on 16.14719347 meters Centerline goodness : 0.845486 with order 1 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.10, Z:0.20 [[ 9.98504431e-01 8.97040129e-04 5.46634796e-02 3.06279508e+00] [-9.76163538e-03 9.86723179e-01 1.62117486e-01 -9.81120143e-02] [-5.37922964e-02 -1.62408633e-01 9.85256223e-01 1.99235368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.207193470000004 meters Centerline goodness : 0.845090 with order 1 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.10, Z:0.20 [[ 9.98501913e-01 2.66376321e-03 5.46519419e-02 3.07695390e+00] [-1.07523915e-02 9.88891571e-01 1.48249270e-01 -1.00709965e-01] [-5.36499437e-02 -1.48614819e-01 9.87438767e-01 2.02507454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.267193470000002 meters Centerline goodness : 0.846024 with order 1 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.18, Z:0.24 [[ 0.99767715 -0.03164902 0.06032114 3.09780323] [ 0.00994291 0.94369023 0.33068094 -0.18100517] [-0.0673902 -0.32931305 0.94181287 0.23518658] [ 0. 0. 0. 1. ]] SLAMing on 16.32719347 meters Centerline goodness : 0.841397 with order 1 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.20, Z:0.24 [[ 0.99744907 -0.03911339 0.05971182 3.08231337] [ 0.0195763 0.95433048 0.2981109 -0.19692615] [-0.06864494 -0.2961815 0.95266174 0.2382807 ] [ 0. 0. 0. 1. ]] SLAMing on 16.387193470000003 meters Centerline goodness : 0.843404 with order 1 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.21, Z:0.24 [[ 0.99743354 -0.03715112 0.06120566 3.06923331] [ 0.02037629 0.96678749 0.25476806 -0.20952456] [-0.06863779 -0.25286706 0.96506326 0.23923705] [ 0. 0. 0. 1. ]] SLAMing on 16.447193470000002 meters Centerline goodness : 0.842862 with order 1 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.20, Z:0.24 [[ 0.99789015 -0.02898132 0.05809769 3.05764325] [ 0.01768142 0.98232897 0.18632544 -0.20185228] [-0.062471 -0.18490507 0.98076883 0.24182651] [ 0. 0. 0. 1. ]] SLAMing on 16.50719347 meters Centerline goodness : 0.841950 with order 1 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.20, Z:0.24 [[ 0.99768759 -0.03590549 0.0577085 3.0642086 ] [ 0.02715811 0.9889431 0.14578743 -0.19886281] [-0.06230499 -0.14388305 0.98763139 0.23699127] [ 0. 0. 0. 1. ]] SLAMing on 16.567193470000003 meters Centerline goodness : 0.843136 with order 1 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.19, Z:0.23 [[ 0.99682686 -0.04892582 0.06278921 3.07579229] [ 0.04095519 0.99162481 0.12248636 -0.18918229] [-0.06825608 -0.11952614 0.99048201 0.23201293] [ 0. 0. 0. 1. ]] SLAMing on 16.62719347 meters Centerline goodness : 0.845519 with order 1 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.17, Z:0.23 [[ 0.99683855 -0.04036409 0.06843719 3.0836841 ] [ 0.03510394 0.99645953 0.07639445 -0.16892914] [-0.07127848 -0.07375051 0.99472621 0.23153218] [ 0. 0. 0. 1. ]] SLAMing on 16.68719347 meters Centerline goodness : 0.845380 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.14, Z:0.22 [[ 0.99764687 -0.01830231 0.06607388 3.08515495] [ 0.01533473 0.99886278 0.04514416 -0.13986022] [-0.06682498 -0.04402471 0.99679298 0.22493704] [ 0. 0. 0. 1. ]] SLAMing on 16.747193470000003 meters Centerline goodness : 0.844035 with order 1 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.11, Z:0.22 [[ 9.97937046e-01 2.80795444e-03 6.41386622e-02 3.08925624e+00] [-5.93855403e-03 9.98797185e-01 4.86715182e-02 -1.09110788e-01] [-6.39248479e-02 -4.89520020e-02 9.96753387e-01 2.20601868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.80719347 meters Centerline goodness : 0.847116 with order 1 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.09, Z:0.22 [[ 0.99826442 0.01310796 0.05741361 3.10491306] [-0.01539683 0.99909669 0.03960722 -0.09420455] [-0.05684258 -0.04042246 0.99756451 0.22167146] [ 0. 0. 0. 1. ]] SLAMing on 16.867193470000004 meters Centerline goodness : 0.845498 with order 1 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.09, Z:0.22 [[ 0.99828214 0.01465027 0.05672858 3.10782539] [-0.01697593 0.99902581 0.0407338 -0.0902483 ] [-0.05607655 -0.04162685 0.99755833 0.21914599] [ 0. 0. 0. 1. ]] SLAMing on 16.927193470000002 meters Centerline goodness : 0.850823 with order 1 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.10, Z:0.22 [[ 0.99797189 0.00972175 0.06290935 3.13664248] [-0.01248137 0.99897007 0.04362351 -0.09887152] [-0.06242046 -0.04432023 0.9970654 0.22007994] [ 0. 0. 0. 1. ]] SLAMing on 16.98719347 meters Centerline goodness : 0.851623 with order 1 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.11, Z:0.23 [[ 0.99775538 0.01031039 0.0661657 3.15542148] [-0.01306434 0.99906034 0.04132516 -0.11047746] [-0.06567745 -0.04209681 0.99695252 0.22537156] [ 0. 0. 0. 1. ]] SLAMing on 17.047193470000003 meters Centerline goodness : 0.853633 with order 1 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.13, Z:0.22 [[ 0.99745908 0.01138548 0.07032602 3.17096921] [-0.01473484 0.9987724 0.0472925 -0.1250667 ] [-0.06970124 -0.04820857 0.99640236 0.22392189] [ 0. 0. 0. 1. ]] SLAMing on 17.107193470000002 meters Centerline goodness : 0.848732 with order 1 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.16, Z:0.23 [[ 0.99764754 0.006307 0.0682613 3.21008 ] [-0.01334543 0.99457614 0.10315133 -0.1576492 ] [-0.06724048 -0.10381965 0.99232061 0.22797881] [ 0. 0. 0. 1. ]] SLAMing on 17.16719347 meters Centerline goodness : 0.847011 with order 1 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.17, Z:0.23 [[ 0.99813861 0.00548646 0.06073896 3.21806717] [-0.01061537 0.99637165 0.08444434 -0.17222437] [-0.06005528 -0.08493192 0.99457525 0.22526015] [ 0. 0. 0. 1. ]] SLAMing on 17.227193470000003 meters Centerline goodness : 0.848940 with order 1 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.19, Z:0.23 [[ 9.98132374e-01 -5.43891817e-03 6.08455637e-02 3.21780793e+00] [ 8.95894553e-04 9.97224774e-01 7.44442539e-02 -1.87126311e-01] [-6.10815997e-02 -7.42507086e-02 9.95367204e-01 2.26657228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.287193470000002 meters Centerline goodness : 0.850543 with order 1 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.20, Z:0.23 [[ 0.99796068 -0.0162806 0.06172053 3.21629905] [ 0.0118022 0.99731733 0.07224167 -0.2037126 ] [-0.06273109 -0.07136591 0.99547562 0.2320465 ] [ 0. 0. 0. 1. ]] SLAMing on 17.34719347 meters Centerline goodness : 0.856392 with order 1 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.23, Z:0.23 [[ 0.99722156 -0.02303413 0.07084196 3.21095308] [ 0.0196346 0.99863914 0.04831509 -0.22724076] [-0.07185845 -0.0467899 0.99631675 0.2325542 ] [ 0. 0. 0. 1. ]] SLAMing on 17.407193470000003 meters Centerline goodness : 0.854684 with order 1 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.24, Z:0.23 [[ 0.997534 -0.02048364 0.06712933 3.22823574] [ 0.01772768 0.99898553 0.04139617 -0.23589701] [-0.06790917 -0.04010404 0.99688515 0.22854519] [ 0. 0. 0. 1. ]] SLAMing on 17.46719347 meters Centerline goodness : 0.853744 with order 1 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.25, Z:0.22 [[ 0.99795226 -0.02109265 0.06038534 3.24787116] [ 0.01916278 0.9992925 0.03236194 -0.24502273] [-0.06102522 -0.03113852 0.9976504 0.22377948] [ 0. 0. 0. 1. ]] SLAMing on 17.527193470000004 meters Centerline goodness : 0.856014 with order 1 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.25, Z:0.22 [[ 0.99782237 -0.03563202 0.05550573 3.27041781] [ 0.03471128 0.99924476 0.01746508 -0.24920816] [-0.05608612 -0.01550037 0.99830561 0.2213544 ] [ 0. 0. 0. 1. ]] SLAMing on 17.587193470000003 meters Centerline goodness : 0.860527 with order 1 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.25, Z:0.22 [[ 9.97396907e-01 -4.07308820e-02 5.95012966e-02 3.28365515e+00] [ 4.07330204e-02 9.99169372e-01 1.17747421e-03 -2.45184878e-01] [-5.94998328e-02 1.24925839e-03 9.98227534e-01 2.15654811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.64719347 meters Centerline goodness : 0.860992 with order 1 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.21, Z:0.21 [[ 0.99682938 -0.02563452 0.07532629 3.31161587] [ 0.03052538 0.99744996 -0.0645119 -0.21278863] [-0.07348048 0.06660672 0.99506993 0.21280889] [ 0. 0. 0. 1. ]] SLAMing on 17.707193470000004 meters Centerline goodness : 0.862108 with order 1 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.17, Z:0.21 [[ 9.96520348e-01 7.30659582e-04 8.33466433e-02 3.35496790e+00] [ 1.10513199e-02 9.89974684e-01 -1.40811905e-01 -1.73976379e-01] [-8.26139525e-02 1.41243019e-01 9.86521842e-01 2.07937946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.767193470000002 meters Centerline goodness : 0.864089 with order 1 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.15, Z:0.21 [[ 0.99554628 0.02659011 0.09044649 3.37337761] [-0.00896761 0.98175902 -0.18991789 -0.14657269] [-0.09384659 0.18826096 0.97762499 0.21363628] [ 0. 0. 0. 1. ]] SLAMing on 17.82719347 meters Centerline goodness : 0.863437 with order 1 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.16, Z:0.22 [[ 0.99448355 0.03474846 0.09896975 3.35847877] [-0.01944037 0.98824596 -0.1516311 -0.15507803] [-0.1030754 0.14887063 0.98346988 0.21661624] [ 0. 0. 0. 1. ]] SLAMing on 17.887193470000003 meters Centerline goodness : 0.861641 with order 1 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.17, Z:0.21 [[ 0.99466089 0.03715919 0.09627519 3.36369462] [-0.02497598 0.99186849 -0.12479221 -0.16814689] [-0.10012951 0.12172136 0.98750088 0.21189658] [ 0. 0. 0. 1. ]] SLAMing on 17.947193470000002 meters Centerline goodness : 0.862987 with order 1 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.19, Z:0.21 [[ 0.99482128 0.033921 0.09581225 3.35454702] [-0.02359126 0.99398368 -0.10695741 -0.18757814] [-0.09886391 0.10414317 0.98963636 0.21277328] [ 0. 0. 0. 1. ]] SLAMing on 18.00719347 meters Centerline goodness : 0.864727 with order 1 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.21, Z:0.21 [[ 0.99498846 0.02670597 0.09635744 3.34933691] [-0.01777477 0.99556484 -0.09238345 -0.20754352] [-0.09839727 0.09020774 0.99105022 0.20896484] [ 0. 0. 0. 1. ]] SLAMing on 18.067193470000003 meters Centerline goodness : 0.861519 with order 1 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.22, Z:0.21 [[ 0.99521026 0.02242333 0.09515108 3.35101986] [-0.01369593 0.99571986 -0.09140235 -0.22276992] [-0.09679336 0.08966137 0.99125773 0.20722968] [ 0. 0. 0. 1. ]] SLAMing on 18.12719347 meters Centerline goodness : 0.860935 with order 1 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.23, Z:0.21 [[ 0.99569089 0.02126806 0.09026249 3.35989073] [-0.01228373 0.99501681 -0.0989478 -0.22851813] [-0.09191713 0.09741266 0.99099042 0.20873417] [ 0. 0. 0. 1. ]] SLAMing on 18.18719347 meters Centerline goodness : 0.863741 with order 1 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.25, Z:0.20 [[ 9.96270594e-01 1.71504334e-03 8.62668070e-02 3.38304501e+00] [ 5.62999905e-03 9.96379707e-01 -8.48279557e-02 -2.46547973e-01] [-8.60999795e-02 8.49972798e-02 9.92654147e-01 2.04253859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.247193470000003 meters Centerline goodness : 0.862490 with order 1 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.26, Z:0.21 [[ 0.99591405 -0.01220468 0.08947766 3.38273492] [ 0.01934926 0.99665339 -0.07942059 -0.26032123] [-0.08820891 0.08082741 0.99281726 0.20565795] [ 0. 0. 0. 1. ]] SLAMing on 18.30719347 meters Centerline goodness : 0.861753 with order 1 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.27, Z:0.20 [[ 0.99606534 -0.01678439 0.08701794 3.38842206] [ 0.02387233 0.99642295 -0.08106428 -0.26701921] [-0.08534606 0.08282264 0.99290305 0.20391889] [ 0. 0. 0. 1. ]] SLAMing on 18.367193470000004 meters Centerline goodness : 0.860651 with order 1 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.27, Z:0.20 [[ 0.99639137 -0.02621051 0.08072948 3.41160609] [ 0.0322108 0.99674208 -0.07394385 -0.26788655] [-0.07852836 0.07627737 0.99398947 0.2013904 ] [ 0. 0. 0. 1. ]] SLAMing on 18.427193470000002 meters Centerline goodness : 0.862229 with order 1 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.26, Z:0.21 [[ 0.99601068 -0.0355461 0.08184861 3.42704011] [ 0.04101052 0.99697126 -0.06607901 -0.26344226] [-0.07925186 0.06917205 0.99445179 0.20505881] [ 0. 0. 0. 1. ]] SLAMing on 18.48719347 meters Centerline goodness : 0.858993 with order 1 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.25, Z:0.21 [[ 0.99553502 -0.03315281 0.08837943 3.4368136 ] [ 0.03938031 0.996792 -0.06967708 -0.25196661] [-0.08578592 0.07284638 0.99364691 0.20860379] [ 0. 0. 0. 1. ]] SLAMing on 18.547193470000003 meters Centerline goodness : 0.858081 with order 1 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.21, Z:0.20 [[ 0.99544922 -0.01005509 0.09476152 3.48503823] [ 0.0215573 0.99239988 -0.12115183 -0.20876855] [-0.09282313 0.1226433 0.98810044 0.20151027] [ 0. 0. 0. 1. ]] SLAMing on 18.607193470000002 meters Centerline goodness : 0.856497 with order 1 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.14, Z:0.21 [[ 9.94267595e-01 3.03024577e-02 1.02536388e-01 3.50708525e+00] [-2.11619390e-03 9.64387697e-01 -2.64484198e-01 -1.40347145e-01] [-1.06899353e-01 2.62751080e-01 9.58923562e-01 2.14263248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.66719347 meters Centerline goodness : 0.853035 with order 1 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.12, Z:0.23 [[ 0.99370049 0.04611253 0.10214188 3.50930286] [-0.01950003 0.9686658 -0.24760111 -0.12314178] [-0.11035886 0.24404957 0.96346288 0.22516707] [ 0. 0. 0. 1. ]] SLAMing on 18.727193470000003 meters Centerline goodness : 0.849975 with order 1 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.12, Z:0.23 [[ 0.99349091 0.05040704 0.10215155 3.50596954] [-0.02842146 0.97809167 -0.20622538 -0.11782486] [-0.11030879 0.20197975 0.97315783 0.22506952] [ 0. 0. 0. 1. ]] SLAMing on 18.787193470000002 meters Centerline goodness : 0.848530 with order 1 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.12, Z:0.22 [[ 0.99429844 0.04515389 0.09660092 3.50718346] [-0.02764927 0.98410735 -0.17540881 -0.11998806] [-0.10298606 0.17173776 0.97974487 0.22233014] [ 0. 0. 0. 1. ]] SLAMing on 18.84719347 meters Centerline goodness : 0.847457 with order 1 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.13, Z:0.22 [[ 0.9944057 0.03902033 0.09815664 3.49351655] [-0.02423423 0.98875768 -0.14754983 -0.12571468] [-0.10281057 0.14434564 0.9841719 0.22002436] [ 0. 0. 0. 1. ]] SLAMing on 18.907193470000003 meters Centerline goodness : 0.851998 with order 1 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.14, Z:0.23 [[ 0.99414425 0.03949128 0.10058651 3.49388668] [-0.02565436 0.99047051 -0.13531451 -0.13918058] [-0.10497171 0.13194166 0.98568369 0.22507122] [ 0. 0. 0. 1. ]] SLAMing on 18.96719347 meters Centerline goodness : 0.854916 with order 1 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.15, Z:0.23 [[ 0.99369223 0.04103926 0.10436251 3.48647084] [-0.02931235 0.99333025 -0.11151595 -0.15171709] [-0.10824297 0.10775343 0.9882675 0.2265996 ] [ 0. 0. 0. 1. ]] SLAMing on 19.027193470000004 meters Centerline goodness : 0.860121 with order 1 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.17, Z:0.22 [[ 0.99330803 0.04228395 0.10747662 3.48802643] [-0.03281927 0.99554826 -0.08835475 -0.16595268] [-0.11073415 0.08423617 0.99027381 0.22306234] [ 0. 0. 0. 1. ]] SLAMing on 19.087193470000003 meters Centerline goodness : 0.861277 with order 1 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.18, Z:0.22 [[ 0.99374111 0.03888023 0.10472309 3.49108308] [-0.03039828 0.99621731 -0.0814065 -0.18441678] [-0.10749206 0.07771358 0.99116399 0.21753661] [ 0. 0. 0. 1. ]] SLAMing on 19.14719347 meters Centerline goodness : 0.864368 with order 1 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.20, Z:0.21 [[ 0.99441724 0.03141179 0.10073558 3.49803838] [-0.02347129 0.99659322 -0.0790636 -0.20071363] [-0.10287592 0.07625782 0.99176675 0.21310166] [ 0. 0. 0. 1. ]] SLAMing on 19.207193470000004 meters Centerline goodness : 0.866372 with order 1 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.22, Z:0.21 [[ 0.99420374 0.03022916 0.10317517 3.49537203] [-0.02306237 0.99728304 -0.06996192 -0.21595444] [-0.10500974 0.06717693 0.99219968 0.21333157] [ 0. 0. 0. 1. ]] SLAMing on 19.267193470000002 meters Centerline goodness : 0.870827 with order 1 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.22, Z:0.21 [[ 0.99420854 0.03249776 0.10243665 3.49653817] [-0.0257704 0.99746515 -0.06632622 -0.22437697] [-0.10433244 0.06330226 0.99252585 0.21262902] [ 0. 0. 0. 1. ]] SLAMing on 19.32719347 meters Centerline goodness : 0.868893 with order 1 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.24, Z:0.22 [[ 0.99438007 0.04261882 0.09691186 3.48798743] [-0.03837805 0.99824001 -0.04521062 -0.2396844 ] [-0.09866812 0.04123725 0.9942656 0.21711623] [ 0. 0. 0. 1. ]] SLAMing on 19.387193470000003 meters Centerline goodness : 0.871355 with order 1 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.25, Z:0.22 [[ 0.99390809 0.0516646 0.09735237 3.48721105] [-0.04885168 0.99832295 -0.03106115 -0.25202914] [-0.09879387 0.0261161 0.99476516 0.21739353] [ 0. 0. 0. 1. ]] SLAMing on 19.447193470000002 meters Centerline goodness : 0.872713 with order 1 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.26, Z:0.22 [[ 0.99406095 0.04978014 0.09677167 3.4866915 ] [-0.04707347 0.99843915 -0.03005577 -0.26337313] [-0.0981168 0.02532189 0.9948527 0.2185912 ] [ 0. 0. 0. 1. ]] SLAMing on 19.50719347 meters Centerline goodness : 0.874293 with order 1 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.29, Z:0.22 [[ 0.99427666 0.03967697 0.09919509 3.48185648] [-0.03713052 0.99893506 -0.02738742 -0.28981975] [-0.10017611 0.02354751 0.99469104 0.22225659] [ 0. 0. 0. 1. ]] SLAMing on 19.567193470000003 meters Centerline goodness : 0.876351 with order 1 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.31, Z:0.23 [[ 0.99525815 0.02911574 0.0928089 3.47558864] [-0.02778326 0.99949197 -0.01561735 -0.31462773] [-0.09321646 0.01296476 0.99556145 0.22866985] [ 0. 0. 0. 1. ]] SLAMing on 19.62719347 meters Centerline goodness : 0.881778 with order 1 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.34, Z:0.23 [[ 0.99579706 0.03147372 0.08600946 3.48757277] [-0.03063608 0.99946961 -0.01104194 -0.33547066] [-0.08631138 0.00836054 0.99623313 0.22793314] [ 0. 0. 0. 1. ]] SLAMing on 19.687193470000004 meters Centerline goodness : 0.881039 with order 1 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.34, Z:0.23 [[ 0.99543512 0.039998 0.08665491 3.50520174] [-0.03808123 0.99899447 -0.02366151 -0.34292654] [-0.08751419 0.02025357 0.99595736 0.22525529] [ 0. 0. 0. 1. ]] SLAMing on 19.747193470000003 meters Centerline goodness : 0.885093 with order 1 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.35, Z:0.22 [[ 0.99445009 0.05657581 0.08870287 3.50413222] [-0.0489667 0.99511441 -0.08572967 -0.34940949] [-0.09311973 0.08091039 0.99236194 0.22263697] [ 0. 0. 0. 1. ]] SLAMing on 19.80719347 meters Centerline goodness : 0.888460 with order 1 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.37, Z:0.23 [[ 0.99441944 0.05587509 0.08948713 3.50169946] [-0.04928791 0.99602449 -0.07420183 -0.36898479] [-0.0932774 0.06937711 0.99322009 0.22612538] [ 0. 0. 0. 1. ]] SLAMing on 19.867193470000004 meters Centerline goodness : 0.891420 with order 1 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.40, Z:0.23 [[ 0.99437745 0.04872991 0.09401529 3.49582034] [-0.04357766 0.99747375 -0.05609899 -0.39971238] [-0.09651148 0.0516866 0.99398895 0.22813814] [ 0. 0. 0. 1. ]] SLAMing on 19.927193470000002 meters Centerline goodness : 0.895161 with order 1 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.43, Z:0.23 [[ 0.99477735 0.04215824 0.09295535 3.49754782] [-0.03800295 0.99821699 -0.04602849 -0.43349779] [-0.09473009 0.04225552 0.99460579 0.2286341 ] [ 0. 0. 0. 1. ]] SLAMing on 19.98719347 meters Centerline goodness : 0.898292 with order 1 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.44, Z:0.22 [[ 0.99480721 0.04353131 0.09199806 3.53125216] [-0.03838345 0.99763583 -0.05700404 -0.43958211] [-0.09426203 0.05317683 0.9941262 0.22342881] [ 0. 0. 0. 1. ]] SLAMing on 20.047193470000003 meters Centerline goodness : 0.897529 with order 1 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.46, Z:0.22 [[ 0.99518054 0.04470651 0.08727558 3.55533983] [-0.04009189 0.99773954 -0.05393009 -0.45575532] [-0.08948932 0.05017114 0.99472334 0.21835289] [ 0. 0. 0. 1. ]] SLAMing on 20.107193470000002 meters Centerline goodness : 0.901735 with order 1 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.48, Z:0.22 [[ 0.99523471 0.04363606 0.0871996 3.55519937] [-0.03957032 0.99807171 -0.04782312 -0.47888098] [-0.08911827 0.04414471 0.9950423 0.22161123] [ 0. 0. 0. 1. ]] SLAMing on 20.16719347 meters Centerline goodness : 0.904664 with order 1 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.50, Z:0.22 [[ 0.99558015 0.03940693 0.08524817 3.55853181] [-0.03574863 0.99839071 -0.04402306 -0.50149819] [-0.0868458 0.04078098 0.99538672 0.22366827] [ 0. 0. 0. 1. ]] SLAMing on 20.227193470000003 meters Centerline goodness : 0.906302 with order 1 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.52, Z:0.22 [[ 0.99587723 0.03497812 0.08369637 3.56271518] [-0.03132509 0.99851509 -0.04456863 -0.51532171] [-0.08513101 0.04176309 0.99549413 0.2213864 ] [ 0. 0. 0. 1. ]] SLAMing on 20.287193470000002 meters Centerline goodness : 0.907046 with order 1 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.54, Z:0.22 [[ 0.99628674 0.02187655 0.08327159 3.59769273] [-0.01850117 0.99898403 -0.04109272 -0.53827195] [-0.08408596 0.03939951 0.99567928 0.22153912] [ 0. 0. 0. 1. ]] SLAMing on 20.34719347 meters Centerline goodness : 0.902463 with order 1 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.55, Z:0.22 [[ 0.99690572 0.01338739 0.07745816 3.63105964] [-0.01028155 0.99913239 -0.04035777 -0.55248753] [-0.07793124 0.0394365 0.99617844 0.2211254 ] [ 0. 0. 0. 1. ]] SLAMing on 20.407193470000003 meters Centerline goodness : 0.896756 with order 1 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.56, Z:0.21 [[ 0.99683801 0.01436624 0.07815112 3.66554828] [-0.00870443 0.99734416 -0.07231088 -0.56043703] [-0.0789824 0.07140197 0.99431561 0.21283231] [ 0. 0. 0. 1. ]] SLAMing on 20.46719347 meters Centerline goodness : 0.895751 with order 1 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.56, Z:0.21 [[ 0.99681603 0.02202846 0.07663254 3.68865754] [-0.01524495 0.99600342 -0.08800444 -0.56054045] [-0.07826487 0.08655597 0.993168 0.20756525] [ 0. 0. 0. 1. ]] SLAMing on 20.527193470000004 meters Centerline goodness : 0.900238 with order 1 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.56, Z:0.22 [[ 0.99693488 0.02795439 0.07307119 3.69126501] [-0.02158407 0.99601282 -0.08655973 -0.55894987] [-0.07519956 0.08471724 0.99356329 0.21591178] [ 0. 0. 0. 1. ]] SLAMing on 20.587193470000003 meters Centerline goodness : 0.902979 with order 1 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.55, Z:0.23 [[ 0.99767149 0.02510311 0.0634148 3.68935105] [-0.0202909 0.99694534 -0.07542058 -0.55420823] [-0.06511439 0.07395822 0.99513331 0.22861597] [ 0. 0. 0. 1. ]] SLAMing on 20.64719347 meters Centerline goodness : 0.910356 with order 1 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.55, Z:0.24 [[ 0.99832539 0.01652214 0.05543852 3.68655324] [-0.01310498 0.99802438 -0.06144584 -0.54610027] [-0.05634421 0.06061642 0.99656961 0.23934424] [ 0. 0. 0. 1. ]] SLAMing on 20.707193470000004 meters Centerline goodness : 0.917697 with order 1 Centerline is valid? [False, False] Translation: X:3.70, Y:-0.55, Z:0.25 [[ 0.99850287 0.0102862 0.05372343 3.70119257] [-0.00741177 0.99854399 -0.05343186 -0.54563025] [-0.05419482 0.05295368 0.99712528 0.24670371] [ 0. 0. 0. 1. ]] SLAMing on 20.767193470000002 meters Centerline goodness : 0.917069 with order 1 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.54, Z:0.25 [[ 9.98950229e-01 -3.64746335e-04 4.58072794e-02 3.73387547e+00] [ 2.54492346e-03 9.98865842e-01 -4.75452646e-02 -5.35723417e-01] [-4.57379847e-02 4.76119290e-02 9.97818190e-01 2.45658289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.82719347 meters Centerline goodness : 0.915184 with order 1 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.53, Z:0.24 [[ 9.99007396e-01 1.13106307e-03 4.45302469e-02 3.73752577e+00] [ 9.38413237e-04 9.98921329e-01 -4.64251814e-02 -5.28967655e-01] [-4.45347232e-02 4.64208874e-02 9.97928735e-01 2.44658444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.887193470000003 meters Centerline goodness : 0.916905 with order 1 Centerline is valid? [False, False] Translation: X:3.78, Y:-0.51, Z:0.24 [[ 0.99901008 0.01240865 0.04271861 3.77723546] [-0.01013554 0.99854188 -0.05302257 -0.50623678] [-0.04331426 0.05253711 0.99767917 0.24149127] [ 0. 0. 0. 1. ]] SLAMing on 20.947193470000002 meters Centerline goodness : 0.913672 with order 1 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.49, Z:0.24 [[ 0.99865682 0.02822517 0.04344984 3.83435423] [-0.02491314 0.99687479 -0.07496653 -0.48508693] [-0.04542999 0.07378336 0.99623899 0.23681629] [ 0. 0. 0. 1. ]] SLAMing on 21.00719347 meters Centerline goodness : 0.918788 with order 1 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.46, Z:0.23 [[ 0.99770919 0.0432867 0.05198678 3.88995156] [-0.03774626 0.99394465 -0.10319524 -0.45551861] [-0.05613897 0.10099654 0.99330162 0.22964115] [ 0. 0. 0. 1. ]] SLAMing on 21.067193470000003 meters Centerline goodness : 0.914775 with order 1 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.43, Z:0.22 [[ 0.99723782 0.04789912 0.05676629 3.93324076] [-0.04115038 0.99255799 -0.11460924 -0.43088235] [-0.06183352 0.11195671 0.99178743 0.22103365] [ 0. 0. 0. 1. ]] SLAMing on 21.12719347 meters Centerline goodness : 0.911092 with order 1 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.42, Z:0.22 [[ 0.99751302 0.04547419 0.0538504 3.9535596 ] [-0.03956553 0.99356611 -0.10611769 -0.42287831] [-0.05832954 0.10372315 0.99289434 0.22030339] [ 0. 0. 0. 1. ]] SLAMing on 21.187193470000004 meters Centerline goodness : 0.911873 with order 1 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.41, Z:0.22 [[ 0.99760037 0.04376317 0.05364976 3.97267436] [-0.03865748 0.99493718 -0.09276643 -0.41367686] [-0.05743789 0.09046986 0.99424147 0.22488756] [ 0. 0. 0. 1. ]] SLAMing on 21.247193470000003 meters Centerline goodness : 0.912638 with order 1 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.39, Z:0.22 [[ 0.99648572 0.05653902 0.06180249 4.02081607] [-0.04747774 0.9891045 -0.139349 -0.39365539] [-0.06900778 0.13592504 0.98831286 0.21836266] [ 0. 0. 0. 1. ]] SLAMing on 21.30719347 meters Centerline goodness : 0.918317 with order 1 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.38, Z:0.21 [[ 0.99567446 0.05735547 0.07309395 4.06103068] [-0.04453857 0.98507363 -0.16627161 -0.37800156] [-0.08153951 0.1622969 0.98336719 0.21306721] [ 0. 0. 0. 1. ]] SLAMing on 21.367193470000004 meters Centerline goodness : 0.912716 with order 1 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.38, Z:0.22 [[ 0.99673417 0.04179809 0.06909358 4.05854201] [-0.03130699 0.98871621 -0.14649273 -0.37957838] [-0.07443706 0.1438512 0.9867958 0.22290412] [ 0. 0. 0. 1. ]] SLAMing on 21.427193470000002 meters Centerline goodness : 0.912047 with order 1 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.39, Z:0.22 [[ 0.99761921 0.01680013 0.06688554 4.06688816] [-0.00815606 0.99180894 -0.12746962 -0.38701673] [-0.06847919 0.12662062 0.98958467 0.22423895] [ 0. 0. 0. 1. ]] SLAMing on 21.48719347 meters Centerline goodness : 0.910359 with order 1 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.39, Z:0.22 [[ 9.97829726e-01 3.82853551e-03 6.57356850e-02 4.08355796e+00] [ 3.47764927e-03 9.93850909e-01 -1.10671933e-01 -3.88100405e-01] [-6.57551817e-02 1.10660350e-01 9.91680666e-01 2.24384038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.547193470000003 meters Centerline goodness : 0.909218 with order 1 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.38, Z:0.23 [[ 9.98064063e-01 7.15988039e-03 6.17807517e-02 4.09822340e+00] [-9.85343462e-04 9.95047108e-01 -9.93996059e-02 -3.81564980e-01] [-6.21864476e-02 9.91462993e-02 9.93127815e-01 2.25320580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.607193470000002 meters Centerline goodness : 0.906532 with order 1 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.37, Z:0.22 [[ 0.99764673 0.024632 0.06398653 4.15361499] [-0.01693612 0.99285196 -0.1181446 -0.36966854] [-0.06643929 0.11678289 0.99093268 0.22079951] [ 0. 0. 0. 1. ]] SLAMing on 21.66719347 meters Centerline goodness : 0.907876 with order 1 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.30, Z:0.21 [[ 0.9953674 0.05601222 0.07814323 4.19429895] [-0.03373565 0.96456625 -0.2616751 -0.30331002] [-0.09003132 0.25782666 0.96198741 0.20569731] [ 0. 0. 0. 1. ]] SLAMing on 21.727193470000003 meters Centerline goodness : 0.900808 with order 1 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.29, Z:0.21 [[ 0.99570731 0.05861525 0.07163238 4.19433514] [-0.03924541 0.96827243 -0.24679608 -0.2946005 ] [-0.08382567 0.24292542 0.96641632 0.2128974 ] [ 0. 0. 0. 1. ]] SLAMing on 21.787193470000002 meters Centerline goodness : 0.904690 with order 1 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.30, Z:0.22 [[ 0.99565443 0.05496973 0.07517034 4.19124273] [-0.03612642 0.97197954 -0.23227282 -0.29605791] [-0.08583201 0.22854783 0.96974159 0.22166469] [ 0. 0. 0. 1. ]] SLAMing on 21.847193470000004 meters Centerline goodness : 0.907921 with order 1 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.30, Z:0.23 [[ 0.99617371 0.03750638 0.07893796 4.18237161] [-0.02041275 0.9781006 -0.20712928 -0.29950317] [-0.08497793 0.20472541 0.97512371 0.23433648] [ 0. 0. 0. 1. ]] SLAMing on 21.907193470000003 meters Centerline goodness : 0.904794 with order 1 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.31, Z:0.24 [[ 0.99645915 0.02851744 0.07909438 4.19220959] [-0.01331922 0.98238407 -0.1863978 -0.30547832] [-0.08301664 0.18468432 0.97928542 0.23768898] [ 0. 0. 0. 1. ]] SLAMing on 21.96719347 meters Centerline goodness : 0.908431 with order 1 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.31, Z:0.24 [[ 0.99642353 0.01872493 0.08239862 4.20645894] [-0.00494132 0.98638148 -0.1643994 -0.31188091] [-0.08435484 0.16340427 0.98294624 0.24046758] [ 0. 0. 0. 1. ]] SLAMing on 22.027193470000004 meters Centerline goodness : 0.908646 with order 1 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.31, Z:0.24 [[ 0.99597096 0.02404345 0.08639302 4.22990548] [-0.01009378 0.98732184 -0.1584099 -0.30906421] [-0.08910644 0.15689962 0.98358658 0.2391385 ] [ 0. 0. 0. 1. ]] SLAMing on 22.087193470000003 meters Centerline goodness : 0.909663 with order 1 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.25, Z:0.23 [[ 0.99342421 0.05732293 0.09910814 4.26368652] [-0.02619872 0.9564825 -0.29061119 -0.25438341] [-0.11145389 0.28610368 0.95169465 0.2292506 ] [ 0. 0. 0. 1. ]] SLAMing on 22.14719347 meters Centerline goodness : 0.907143 with order 1 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.26, Z:0.24 [[ 0.99399477 0.05821301 0.09265877 4.26780232] [-0.03138918 0.96285497 -0.26818843 -0.25880186] [-0.10482902 0.26366942 0.95890006 0.23842893] [ 0. 0. 0. 1. ]] SLAMing on 22.207193470000004 meters Centerline goodness : 0.903266 with order 1 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.27, Z:0.24 [[ 0.99466002 0.05223593 0.08901041 4.26720505] [-0.02892093 0.9689744 -0.24546323 -0.26538357] [-0.0990708 0.2415782 0.9653108 0.24458958] [ 0. 0. 0. 1. ]] SLAMing on 22.267193470000002 meters Centerline goodness : 0.894848 with order 1 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.27, Z:0.25 [[ 0.99535635 0.05246936 0.08070131 4.27038285] [-0.03315578 0.97395663 -0.22429706 -0.27069089] [-0.0903683 0.22057978 0.97117358 0.24630503] [ 0. 0. 0. 1. ]] SLAMing on 22.32719347 meters Centerline goodness : 0.896004 with order 1 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.28, Z:0.25 [[ 0.99525966 0.05995098 0.07657728 4.2769079 ] [-0.04237186 0.97604003 -0.21342559 -0.27523795] [-0.08753757 0.20916916 0.97395351 0.24982576] [ 0. 0. 0. 1. ]] SLAMing on 22.387193470000003 meters Centerline goodness : 0.900380 with order 1 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.29, Z:0.26 [[ 0.99491853 0.06156377 0.07966814 4.2714516 ] [-0.0445139 0.97870369 -0.20039359 -0.28851274] [-0.09030849 0.19582896 0.97647089 0.25742838] [ 0. 0. 0. 1. ]] SLAMing on 22.447193470000002 meters Centerline goodness : 0.899897 with order 1 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.30, Z:0.26 [[ 0.99552092 0.04572973 0.0827459 4.25837819] [-0.03073681 0.98423997 -0.17414626 -0.30057774] [-0.08940548 0.1708229 0.98123707 0.26495356] [ 0. 0. 0. 1. ]] SLAMing on 22.50719347 meters Centerline goodness : 0.900450 with order 1 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.31, Z:0.27 [[ 0.99591162 0.03320236 0.08400986 4.2514797 ] [-0.01968907 0.9874273 -0.15684283 -0.3135349 ] [-0.08816118 0.15454752 0.98404404 0.27225369] [ 0. 0. 0. 1. ]] SLAMing on 22.567193470000003 meters Centerline goodness : 0.901899 with order 1 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.33, Z:0.27 [[ 9.96178595e-01 1.53024250e-02 8.59886202e-02 4.25264541e+00] [-3.60579836e-03 9.90898104e-01 -1.34565768e-01 -3.30617181e-01] [-8.72651433e-02 1.33741480e-01 9.87166658e-01 2.73826867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.62719347 meters Centerline goodness : 0.901255 with order 1 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.34, Z:0.27 [[ 9.96469113e-01 1.07338769e-03 8.39532927e-02 4.27410595e+00] [ 8.63818946e-03 9.93301349e-01 -1.15229387e-01 -3.38506813e-01] [-8.35146047e-02 1.15547729e-01 9.89784842e-01 2.72469489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.687193470000004 meters Centerline goodness : 0.900391 with order 1 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.34, Z:0.27 [[ 0.99664299 -0.01740934 0.07999794 4.29439907] [ 0.02548201 0.99455739 -0.10102609 -0.34273507] [-0.07780375 0.10272546 0.99166227 0.2716771 ] [ 0. 0. 0. 1. ]] SLAMing on 22.747193470000003 meters Centerline goodness : 0.898935 with order 1 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.34, Z:0.27 [[ 0.99676636 -0.01973807 0.07789239 4.32520601] [ 0.02749526 0.99462668 -0.09980867 -0.33681992] [-0.07550382 0.1016276 0.99195313 0.27029626] [ 0. 0. 0. 1. ]] SLAMing on 22.80719347 meters Centerline goodness : 0.899669 with order 1 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.33, Z:0.27 [[ 0.99662103 -0.01618384 0.08052703 4.34538954] [ 0.02412607 0.99482919 -0.09865499 -0.32826534] [-0.07851403 0.10026444 0.99185815 0.27105699] [ 0. 0. 0. 1. ]] SLAMing on 22.867193470000004 meters Centerline goodness : 0.895465 with order 1 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.30, Z:0.26 [[ 9.96102238e-01 3.31964602e-03 8.81436977e-02 4.40980187e+00] [ 8.43330164e-03 9.91129541e-01 -1.32631489e-01 -2.96932635e-01] [-8.78021123e-02 1.32857865e-01 9.87238359e-01 2.61705799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.927193470000002 meters Centerline goodness : 0.896325 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.27, Z:0.25 [[ 9.95009653e-01 1.57267004e-02 9.85315226e-02 4.46179210e+00] [ 7.95173267e-04 9.86219322e-01 -1.65441277e-01 -2.66157507e-01] [-9.97755369e-02 1.64694017e-01 9.81285240e-01 2.52442046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.98719347 meters Centerline goodness : 0.896662 with order 1 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.25, Z:0.25 [[ 0.9946603 0.00699394 0.10296591 4.49267872] [ 0.01031601 0.98596633 -0.16662524 -0.2528991 ] [-0.10268628 0.1667977 0.98062942 0.25248118] [ 0. 0. 0. 1. ]] SLAMing on 23.047193470000003 meters Centerline goodness : 0.898163 with order 1 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.24, Z:0.25 [[ 0.99443314 -0.01166882 0.10472139 4.52464322] [ 0.02797406 0.98742149 -0.15561571 -0.24219264] [-0.1015883 0.1576789 0.98225108 0.25482042] [ 0. 0. 0. 1. ]] SLAMing on 23.107193470000002 meters Centerline goodness : 0.896629 with order 1 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.23, Z:0.25 [[ 0.99477069 -0.02131819 0.09988399 4.55218585] [ 0.03607814 0.9882713 -0.14838534 -0.23094295] [-0.09554917 0.15121302 0.98387244 0.2517298 ] [ 0. 0. 0. 1. ]] SLAMing on 23.16719347 meters Centerline goodness : 0.896579 with order 1 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.22, Z:0.25 [[ 0.99497836 -0.02704878 0.09636612 4.5908438 ] [ 0.04071373 0.98891493 -0.14279234 -0.21687016] [-0.09143553 0.14599872 0.98505021 0.25018516] [ 0. 0. 0. 1. ]] SLAMing on 23.227193470000003 meters Centerline goodness : 0.893650 with order 1 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.20, Z:0.25 [[ 0.99470776 -0.02164038 0.10043989 4.62736974] [ 0.03659267 0.98808324 -0.1495075 -0.19702055] [-0.09600757 0.15239164 0.98364594 0.24631137] [ 0. 0. 0. 1. ]] SLAMing on 23.287193470000002 meters Centerline goodness : 0.891673 with order 1 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.13, Z:0.25 [[ 0.9935784 0.01024859 0.11268065 4.68496471] [ 0.01922675 0.96611229 -0.25740507 -0.13178222] [-0.11150019 0.2579186 0.95971126 0.2494235 ] [ 0. 0. 0. 1. ]] SLAMing on 23.347193470000004 meters Centerline goodness : 0.889600 with order 1 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.06, Z:0.27 [[ 9.91801433e-01 5.31741680e-02 1.16199937e-01 4.70913390e+00] [ 1.26032152e-03 9.05199549e-01 -4.24984927e-01 -5.81959221e-02] [-1.27782350e-01 4.21647109e-01 8.97711193e-01 2.74565611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.407193470000003 meters Centerline goodness : 0.885306 with order 1 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.04, Z:0.28 [[ 0.99114034 0.05903104 0.11897968 4.70078552] [-0.00968578 0.92554364 -0.37851706 -0.03979895] [-0.13246514 0.37401111 0.9179154 0.28271919] [ 0. 0. 0. 1. ]] SLAMing on 23.46719347 meters Centerline goodness : 0.883643 with order 1 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.04, Z:0.29 [[ 0.99136625 0.05726198 0.11795775 4.68605989] [-0.01430288 0.94146051 -0.33681974 -0.03772831] [-0.13033952 0.33222459 0.93415118 0.29022289] [ 0. 0. 0. 1. ]] SLAMing on 23.527193470000004 meters Centerline goodness : 0.883644 with order 1 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.05, Z:0.30 [[ 0.99109053 0.04250936 0.12622405 4.66240714] [-0.0094904 0.96783002 -0.25142589 -0.04982563] [-0.13285138 0.24798791 0.9596106 0.29575236] [ 0. 0. 0. 1. ]] SLAMing on 23.587193470000003 meters Centerline goodness : 0.885978 with order 1 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.05, Z:0.31 [[ 0.99119517 0.02042299 0.13082447 4.64904771] [ 0.00490487 0.9816917 -0.19041362 -0.05261516] [-0.13231811 0.18937874 0.9729479 0.30795949] [ 0. 0. 0. 1. ]] SLAMing on 23.64719347 meters Centerline goodness : 0.885461 with order 1 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.08, Z:0.32 [[ 0.99137753 -0.00908943 0.13072098 4.62342049] [ 0.01918756 0.99690801 -0.07619884 -0.08094598] [-0.12962419 0.07805004 0.9884866 0.31810366] [ 0. 0. 0. 1. ]] SLAMing on 23.707193470000004 meters Centerline goodness : 0.885104 with order 1 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.08, Z:0.32 [[ 0.99145441 -0.01961264 0.12897092 4.61848453] [ 0.0278555 0.99766101 -0.06242256 -0.08033677] [-0.12744499 0.06548167 0.98968173 0.31614302] [ 0. 0. 0. 1. ]] SLAMing on 23.767193470000002 meters Centerline goodness : 0.885573 with order 1 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.07, Z:0.31 [[ 0.99124416 -0.02185594 0.13022031 4.60431068] [ 0.0282296 0.99848166 -0.04730194 -0.07114973] [-0.12898876 0.05056383 0.9903561 0.31326943] [ 0. 0. 0. 1. ]] SLAMing on 23.82719347 meters Centerline goodness : 0.884746 with order 1 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.06, Z:0.31 [[ 0.99101339 -0.01729346 0.1326401 4.60029037] [ 0.02277238 0.99894409 -0.03990146 -0.06468973] [-0.13181001 0.04256341 0.99036078 0.31166421] [ 0. 0. 0. 1. ]] SLAMing on 23.887193470000003 meters Centerline goodness : 0.887671 with order 1 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.06, Z:0.31 [[ 0.99103471 -0.0125936 0.13300983 4.5990932 ] [ 0.01751411 0.99920232 -0.03588855 -0.05821115] [-0.13245176 0.03789634 0.99046474 0.31244539] [ 0. 0. 0. 1. ]] SLAMing on 23.947193470000002 meters Centerline goodness : 0.886280 with order 1 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.06, Z:0.31 [[ 9.90650929e-01 -3.02920343e-02 1.33015525e-01 4.58802803e+00] [ 3.06946676e-02 9.99528330e-01 -9.76987529e-04 -5.54377803e-02] [-1.32923191e-01 5.05072094e-03 9.91113473e-01 3.12178239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.007193470000004 meters Centerline goodness : 0.883818 with order 1 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.05, Z:0.31 [[ 9.90573180e-01 -4.71514208e-02 1.28613835e-01 4.59599257e+00] [ 4.62600523e-02 9.98880266e-01 9.91072716e-03 -5.21008752e-02] [-1.28937127e-01 -3.86761776e-03 9.91645228e-01 3.13383417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.067193470000003 meters Centerline goodness : 0.886142 with order 1 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.04, Z:0.31 [[ 9.90086826e-01 -6.15538331e-02 1.26250551e-01 4.60187610e+00] [ 6.25562317e-02 9.98033479e-01 -3.98663401e-03 -4.05540286e-02] [-1.25756884e-01 1.18448726e-02 9.91990375e-01 3.13339033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.12719347 meters Centerline goodness : 0.884587 with order 1 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.03, Z:0.32 [[ 9.90091515e-01 -6.03319139e-02 1.26802413e-01 4.59933808e+00] [ 6.13167837e-02 9.98110836e-01 -3.87445507e-03 -3.39429682e-02] [-1.26329109e-01 1.16111812e-02 9.91920429e-01 3.15693739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.187193470000004 meters Centerline goodness : 0.887380 with order 1 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.01, Z:0.32 [[ 9.91734733e-01 -4.58038163e-02 1.19850861e-01 4.58600156e+00] [ 4.56458285e-02 9.98949417e-01 4.06456849e-03 -1.34863841e-02] [-1.19911120e-01 1.43971809e-03 9.92783587e-01 3.23810628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.247193470000003 meters Centerline goodness : 0.887773 with order 1 Centerline is valid? [False, False] Translation: X:4.58, Y:0.01, Z:0.32 [[ 9.93798665e-01 -1.96355664e-02 1.09447054e-01 4.57956192e+00] [ 1.96159125e-02 9.99806800e-01 1.25636250e-03 5.78901293e-03] [-1.09450578e-01 8.98332463e-04 9.93991833e-01 3.22414061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.30719347 meters Centerline goodness : 0.895361 with order 1 Centerline is valid? [False, False] Translation: X:4.58, Y:0.03, Z:0.33 [[ 9.93729120e-01 -1.17154087e-03 1.11808157e-01 4.57594093e+00] [ 1.41664863e-04 9.99957498e-01 9.21859909e-03 2.79862164e-02] [-1.11814205e-01 -9.14495107e-03 9.93687050e-01 3.30270871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.367193470000004 meters Centerline goodness : 0.896035 with order 1 Centerline is valid? [False, False] Translation: X:4.58, Y:0.04, Z:0.33 [[ 0.99374098 0.00524556 0.11158559 4.57558674] [-0.00692707 0.99986815 0.01468685 0.03522569] [-0.11149384 -0.01536788 0.99364629 0.33188974] [ 0. 0. 0. 1. ]] SLAMing on 24.427193470000002 meters Centerline goodness : 0.891916 with order 1 Centerline is valid? [False, False] Translation: X:4.61, Y:0.04, Z:0.33 [[ 9.94050071e-01 -4.28706873e-03 1.08839684e-01 4.60677721e+00] [ 1.19665901e-03 9.99594683e-01 2.84435970e-02 3.53871858e-02] [-1.08917509e-01 -2.81441157e-02 9.93652296e-01 3.33490773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.48719347 meters Centerline goodness : 0.896197 with order 1 Centerline is valid? [False, False] Translation: X:4.64, Y:0.02, Z:0.33 [[ 0.9930899 -0.01981013 0.11567197 4.63807055] [ 0.00930998 0.99584209 0.09061927 0.01765888] [-0.11698619 -0.08891618 0.98914516 0.32584398] [ 0. 0. 0. 1. ]] SLAMing on 24.547193470000003 meters Centerline goodness : 0.894106 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:0.02, Z:0.32 [[ 0.99383127 -0.02097962 0.10890026 4.66997355] [ 0.00964559 0.99457453 0.10357832 0.0161385 ] [-0.11048246 -0.10188896 0.98864163 0.32098592] [ 0. 0. 0. 1. ]] SLAMing on 24.607193470000002 meters Centerline goodness : 0.894688 with order 1 Centerline is valid? [False, False] Translation: X:4.69, Y:0.02, Z:0.32 [[ 9.94317838e-01 -1.07451405e-02 1.05908353e-01 4.68804128e+00] [ 4.09350091e-04 9.95271226e-01 9.71340294e-02 1.95890368e-02] [-1.06451255e-01 -9.65387445e-02 9.89620332e-01 3.21657922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.667193470000004 meters Centerline goodness : 0.894377 with order 1 Centerline is valid? [False, False] Translation: X:4.71, Y:0.02, Z:0.32 [[ 9.94641631e-01 -3.27860889e-03 1.03330912e-01 4.70930602e+00] [-5.88653900e-03 9.96079421e-01 8.82674067e-02 2.06308696e-02] [-1.03215189e-01 -8.84026988e-02 9.90722760e-01 3.18603168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.727193470000003 meters Centerline goodness : 0.890021 with order 1 Centerline is valid? [False, False] Translation: X:4.76, Y:0.01, Z:0.31 [[ 9.94992776e-01 -1.39500545e-02 9.89685436e-02 4.75994994e+00] [ 4.10517155e-03 9.95080052e-01 9.89890785e-02 1.32384010e-02] [-9.98625265e-02 -9.80871351e-02 9.90154730e-01 3.11280445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.787193470000002 meters Centerline goodness : 0.892197 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.01, Z:0.32 [[ 0.99392018 -0.04061235 0.10233917 4.79008965] [ 0.02116351 0.98262261 0.18440423 -0.00867216] [-0.10804987 -0.18111723 0.97750794 0.32086442] [ 0. 0. 0. 1. ]] SLAMing on 24.847193470000004 meters Centerline goodness : 0.888175 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.01, Z:0.32 [[ 0.99376456 -0.05394662 0.09757946 4.78722665] [ 0.03810357 0.98678525 0.15748963 -0.01272167] [-0.10478601 -0.15278948 0.98268778 0.32389966] [ 0. 0. 0. 1. ]] SLAMing on 24.907193470000003 meters Centerline goodness : 0.891009 with order 1 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.01, Z:0.32 [[ 0.99345292 -0.05897478 0.09784305 4.79503379] [ 0.04502127 0.98924833 0.13914316 -0.00910979] [-0.10499701 -0.13382716 0.98542677 0.32331551] [ 0. 0. 0. 1. ]] SLAMing on 24.96719347 meters Centerline goodness : 0.885476 with order 1 Centerline is valid? [False, False] Translation: X:4.78, Y:0.00, Z:0.33 [[ 9.93601978e-01 -5.56397063e-02 9.82819062e-02 4.78115360e+00] [ 4.29889626e-02 9.91041566e-01 1.26445893e-01 1.92956797e-04] [-1.04436867e-01 -1.21411852e-01 9.87092753e-01 3.27793174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.027193470000004 meters Centerline goodness : 0.893625 with order 1 Centerline is valid? [False, False] Translation: X:4.78, Y:0.00, Z:0.33 [[ 9.93187194e-01 -5.59144354e-02 1.02238802e-01 4.78278270e+00] [ 4.43922322e-02 9.92750787e-01 1.11692459e-01 3.83505212e-03] [-1.07742872e-01 -1.06392911e-01 9.88469535e-01 3.31649408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.087193470000003 meters Centerline goodness : 0.888810 with order 1 Centerline is valid? [False, False] Translation: X:4.77, Y:0.01, Z:0.33 [[ 0.9939775 -0.04554349 0.09967203 4.77228227] [ 0.03483495 0.99368544 0.10665725 0.01452934] [-0.10390019 -0.10254284 0.98928748 0.33411375] [ 0. 0. 0. 1. ]] SLAMing on 25.14719347 meters Centerline goodness : 0.897044 with order 1 Centerline is valid? [False, False] Translation: X:4.75, Y:0.03, Z:0.34 [[ 0.99433894 -0.01996539 0.10436217 4.74773724] [ 0.01030802 0.99568068 0.09226989 0.03302656] [-0.1057536 -0.09067178 0.99024987 0.33857961] [ 0. 0. 0. 1. ]] SLAMing on 25.207193470000004 meters Centerline goodness : 0.889837 with order 1 Centerline is valid? [False, False] Translation: X:4.74, Y:0.04, Z:0.34 [[ 9.94205780e-01 -6.62635004e-03 1.07289138e-01 4.73897412e+00] [-1.87514947e-03 9.96877209e-01 7.89450075e-02 4.35588190e-02] [-1.07477213e-01 -7.86887659e-02 9.91088657e-01 3.40220503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.267193470000002 meters Centerline goodness : 0.889109 with order 1 Centerline is valid? [False, False] Translation: X:4.76, Y:0.05, Z:0.34 [[ 9.94637157e-01 1.26417739e-03 1.03418215e-01 4.75626511e+00] [-8.63278433e-03 9.97450755e-01 7.08340727e-02 4.91763934e-02] [-1.03065030e-01 -7.13469878e-02 9.92112497e-01 3.40810589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.32719347 meters Centerline goodness : 0.890455 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:0.05, Z:0.34 [[ 9.95069310e-01 1.08830446e-03 9.91760237e-02 4.78552371e+00] [-7.81784070e-03 9.97689243e-01 6.74911480e-02 5.00693208e-02] [-9.88734012e-02 -6.79337125e-02 9.92778455e-01 3.37785696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.387193470000003 meters Centerline goodness : 0.889287 with order 1 Centerline is valid? [False, False] Translation: X:4.83, Y:0.04, Z:0.34 [[ 9.95342945e-01 1.28157173e-04 9.63971209e-02 4.82707743e+00] [-6.66050643e-03 9.97700676e-01 6.74462632e-02 4.35377413e-02] [-9.61668290e-02 -6.77742159e-02 9.93055183e-01 3.38387476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.447193470000002 meters Centerline goodness : 0.888128 with order 1 Centerline is valid? [False, False] Translation: X:4.83, Y:0.04, Z:0.34 [[ 9.95385720e-01 -2.17441398e-03 9.59298685e-02 4.82856348e+00] [-4.16566960e-03 9.97821427e-01 6.58410669e-02 3.68503924e-02] [-9.58640441e-02 -6.59368699e-02 9.93208142e-01 3.38152452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.507193470000004 meters Centerline goodness : 0.882452 with order 1 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.00, Z:0.33 [[ 9.94244153e-01 -1.27608688e-02 1.06375399e-01 4.87042575e+00] [-2.98032120e-03 9.89203032e-01 1.46521257e-01 -5.46500219e-04] [-1.07096605e-01 -1.45994936e-01 9.83471299e-01 3.31991531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.567193470000003 meters Centerline goodness : 0.883527 with order 1 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.02, Z:0.33 [[ 9.93179279e-01 -1.87390209e-02 1.15081576e-01 4.90586495e+00] [-1.45764058e-03 9.84928110e-01 1.72958066e-01 -1.64871841e-02] [-1.16588144e-01 -1.71946114e-01 9.78182876e-01 3.25677862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.62719347 meters Centerline goodness : 0.879782 with order 1 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.07, Z:0.33 [[ 0.99210748 -0.04225309 0.1180569 4.94674491] [ 0.00596218 0.95634586 0.29217639 -0.07301685] [-0.12524858 -0.28916651 0.9490498 0.33044754] [ 0. 0. 0. 1. ]] SLAMing on 25.687193470000004 meters Centerline goodness : 0.872246 with order 1 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.08, Z:0.33 [[ 0.99249176 -0.04938788 0.11189701 4.95413805] [ 0.01843915 0.96481314 0.26228916 -0.07962714] [-0.12091361 -0.25825655 0.95847976 0.33365591] [ 0. 0. 0. 1. ]] SLAMing on 25.747193470000003 meters Centerline goodness : 0.878191 with order 1 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.07, Z:0.34 [[ 0.99216134 -0.0494434 0.114766 4.94549502] [ 0.02143863 0.97212709 0.2334723 -0.0736719 ] [-0.1231108 -0.22918176 0.96556691 0.33727804] [ 0. 0. 0. 1. ]] SLAMing on 25.80719347 meters Centerline goodness : 0.873738 with order 1 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.07, Z:0.34 [[ 0.99183911 -0.04862484 0.11785924 4.93128634] [ 0.02341751 0.97816824 0.20649097 -0.0739443 ] [-0.12532675 -0.20204585 0.97132419 0.34447535] [ 0. 0. 0. 1. ]] SLAMing on 25.867193470000004 meters Centerline goodness : 0.870424 with order 1 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.08, Z:0.35 [[ 0.99235112 -0.04441055 0.11518231 4.93338128] [ 0.02492877 0.98591744 0.16536434 -0.07870435] [-0.12090417 -0.16122814 0.97948337 0.3452333 ] [ 0. 0. 0. 1. ]] SLAMing on 25.927193470000002 meters Centerline goodness : 0.872945 with order 1 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.07, Z:0.35 [[ 0.99233624 -0.04029924 0.11681081 4.92914946] [ 0.02268573 0.98867214 0.14836698 -0.07392142] [-0.12146667 -0.14457999 0.98200941 0.34739996] [ 0. 0. 0. 1. ]] SLAMing on 25.98719347 meters Centerline goodness : 0.874630 with order 1 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.07, Z:0.35 [[ 0.99228955 -0.02475634 0.12144373 4.91154728] [ 0.01040805 0.9930316 0.11738788 -0.06771622] [-0.12350355 -0.11521878 0.98563254 0.35419443] [ 0. 0. 0. 1. ]] SLAMing on 26.047193470000003 meters Centerline goodness : 0.875538 with order 1 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.07, Z:0.36 [[ 0.99245449 -0.01656193 0.12148987 4.90265659] [ 0.00558437 0.99591277 0.09014751 -0.06624282] [-0.12248633 -0.08878886 0.98849059 0.35769671] [ 0. 0. 0. 1. ]] SLAMing on 26.107193470000002 meters Centerline goodness : 0.874098 with order 1 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.07, Z:0.35 [[ 0.99230788 -0.01698196 0.12262414 4.90233694] [ 0.00624025 0.99614877 0.08745676 -0.0680322 ] [-0.12363708 -0.08601883 0.98859225 0.35442859] [ 0. 0. 0. 1. ]] SLAMing on 26.167193470000004 meters Centerline goodness : 0.875807 with order 1 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.07, Z:0.36 [[ 9.92067733e-01 -5.98159453e-03 1.25562068e-01 4.88846526e+00] [-2.49024627e-03 9.97736002e-01 6.72061662e-02 -6.88044561e-02] [-1.25679795e-01 -6.69857494e-02 9.89806799e-01 3.58122862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.227193470000003 meters Centerline goodness : 0.875774 with order 1 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.07, Z:0.36 [[ 9.92431395e-01 2.94994574e-03 1.22764915e-01 4.92306156e+00] [-1.06699132e-02 9.98002033e-01 6.22743474e-02 -7.26973182e-02] [-1.22335929e-01 -6.31129084e-02 9.90480026e-01 3.55927769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.287193470000002 meters Centerline goodness : 0.876041 with order 1 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.08, Z:0.36 [[ 0.99251371 0.01388146 0.12134184 4.93883076] [-0.02084541 0.99819562 0.05631148 -0.07578922] [-0.1203412 -0.05841933 0.9910122 0.35798691] [ 0. 0. 0. 1. ]] SLAMing on 26.347193470000004 meters Centerline goodness : 0.874540 with order 1 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.08, Z:0.35 [[ 0.99218905 0.01305178 0.12405864 4.97449285] [-0.02092047 0.99783583 0.06233767 -0.08498879] [-0.12297654 -0.06444611 0.99031483 0.35424702] [ 0. 0. 0. 1. ]] SLAMing on 26.407193470000003 meters Centerline goodness : 0.879381 with order 1 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.11, Z:0.37 [[ 0.99165913 -0.00938031 0.12854643 5.00829595] [-0.00691299 0.99204156 0.12572095 -0.11031269] [-0.1287027 -0.12556097 0.98370222 0.36558305] [ 0. 0. 0. 1. ]] SLAMing on 26.46719347 meters Centerline goodness : 0.879146 with order 1 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.15, Z:0.38 [[ 0.99136762 -0.04021625 0.12479141 5.03619814] [ 0.00927948 0.97093052 0.23918157 -0.15046752] [-0.13078277 -0.23595886 0.96292226 0.37977397] [ 0. 0. 0. 1. ]] SLAMing on 26.527193470000004 meters Centerline goodness : 0.881719 with order 1 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.15, Z:0.38 [[ 0.99179822 -0.04457928 0.1197872 5.01114458] [ 0.01969929 0.97932036 0.20135434 -0.15238744] [-0.12628627 -0.19734315 0.97216637 0.38352751] [ 0. 0. 0. 1. ]] SLAMing on 26.587193470000003 meters Centerline goodness : 0.884741 with order 1 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.15, Z:0.39 [[ 0.99182696 -0.04028028 0.12106522 5.0003268 ] [ 0.01885398 0.98471187 0.17316772 -0.14733291] [-0.12618961 -0.16946985 0.97742322 0.38589562] [ 0. 0. 0. 1. ]] SLAMing on 26.64719347 meters Centerline goodness : 0.882757 with order 1 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.14, Z:0.39 [[ 9.92069808e-01 -2.27775199e-02 1.23606963e-01 4.99887567e+00] [ 4.41045884e-03 9.89145205e-01 1.46875153e-01 -1.40634043e-01] [-1.25610686e-01 -1.45165241e-01 9.81401553e-01 3.87239439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.707193470000004 meters Centerline goodness : 0.884200 with order 1 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.13, Z:0.39 [[ 0.992499 -0.008939 0.1219255 5.00658442] [-0.00699156 0.99154069 0.12960781 -0.13431602] [-0.12205266 -0.12948807 0.98404064 0.38852925] [ 0. 0. 0. 1. ]] SLAMing on 26.767193470000002 meters Centerline goodness : 0.883986 with order 1 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.13, Z:0.39 [[ 9.92928614e-01 -9.18879022e-03 1.18356803e-01 5.00556233e+00] [-3.75542500e-03 9.94069556e-01 1.08681252e-01 -1.31552484e-01] [-1.18653543e-01 -1.08357206e-01 9.87005599e-01 3.92062028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.827193470000005 meters Centerline goodness : 0.887317 with order 1 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.12, Z:0.40 [[ 9.92464113e-01 -8.91474556e-03 1.22210935e-01 4.99485268e+00] [ 2.10611266e-03 9.98443739e-01 5.57284882e-02 -1.24967457e-01] [-1.22517548e-01 -5.50511346e-02 9.90938355e-01 3.95099155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.887193470000003 meters Centerline goodness : 0.887666 with order 1 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.12, Z:0.39 [[ 0.99222004 -0.01272117 0.12384491 5.00411545] [ 0.00941585 0.99958463 0.02723802 -0.12459373] [-0.12413997 -0.02586001 0.99192768 0.39468275] [ 0. 0. 0. 1. ]] SLAMing on 26.947193470000002 meters Centerline goodness : 0.886143 with order 1 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.12, Z:0.39 [[ 9.92497200e-01 -9.62313716e-03 1.21888075e-01 5.01659402e+00] [ 1.02990041e-02 9.99934879e-01 -4.91616813e-03 -1.16001646e-01] [-1.21832829e-01 6.13460890e-03 9.92531676e-01 3.94330572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.007193470000004 meters Centerline goodness : 0.888382 with order 1 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.10, Z:0.39 [[ 9.91899649e-01 5.50270585e-03 1.26904712e-01 5.03587681e+00] [ 3.79778302e-03 9.97329905e-01 -7.29289920e-02 -1.00028490e-01] [-1.26967171e-01 7.28201982e-02 9.89230285e-01 3.91198254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.067193470000003 meters Centerline goodness : 0.888661 with order 1 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.10, Z:0.39 [[ 9.91657927e-01 6.06543887e-03 1.28754677e-01 5.02822676e+00] [ 1.89459663e-03 9.98098443e-01 -6.16109414e-02 -1.00515395e-01] [-1.28883540e-01 6.13409166e-02 9.89760741e-01 3.88515095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.12719347 meters Centerline goodness : 0.890893 with order 1 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.10, Z:0.39 [[ 9.91692300e-01 2.77613490e-04 1.28632440e-01 5.02893547e+00] [ 5.70277635e-03 9.98919562e-01 -4.61214366e-02 -1.00261406e-01] [-1.28506265e-01 4.64718356e-02 9.90619255e-01 3.87928557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.187193470000004 meters Centerline goodness : 0.888684 with order 1 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.09, Z:0.39 [[ 9.91580749e-01 -2.71001071e-03 1.29461474e-01 5.03820929e+00] [ 1.11635760e-02 9.97847694e-01 -6.46169776e-02 -9.36749534e-02] [-1.29007720e-01 6.55182041e-02 9.89476818e-01 3.86716612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.247193470000003 meters Centerline goodness : 0.887314 with order 1 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.09, Z:0.39 [[ 9.91468848e-01 -4.22007082e-03 1.30275536e-01 5.03215039e+00] [ 1.16760984e-02 9.98333069e-01 -5.65221361e-02 -8.75015904e-02] [-1.29819848e-01 5.75610472e-02 9.89865411e-01 3.85220393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.30719347 meters Centerline goodness : 0.887085 with order 1 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.09, Z:0.38 [[ 9.91327051e-01 -2.84494347e-03 1.31387155e-01 5.02541821e+00] [ 8.73313044e-03 9.98981825e-01 -4.42611124e-02 -8.55461266e-02] [-1.31127459e-01 4.50246592e-02 9.90342552e-01 3.82301594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.367193470000004 meters Centerline goodness : 0.889068 with order 1 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.08, Z:0.38 [[ 9.91307187e-01 4.94218442e-03 1.31474851e-01 5.02504087e+00] [-9.16696013e-05 9.99319933e-01 -3.68735970e-02 -8.21593025e-02] [-1.31567676e-01 3.65410094e-02 9.90633485e-01 3.83839031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.427193470000002 meters Centerline goodness : 0.889433 with order 1 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.09, Z:0.39 [[ 9.91001361e-01 2.06153692e-03 1.33835914e-01 5.01859067e+00] [-3.80068366e-03 9.99911614e-01 1.27404366e-02 -9.28134644e-02] [-1.33797820e-01 -1.31344580e-02 9.90921606e-01 3.88307244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.48719347 meters Centerline goodness : 0.892518 with order 1 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.10, Z:0.39 [[ 9.91678787e-01 9.19799644e-04 1.28733592e-01 5.04670079e+00] [-6.72784005e-03 9.98978286e-01 4.46891623e-02 -9.79005292e-02] [-1.28560958e-01 -4.51833932e-02 9.90671763e-01 3.87252551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.547193470000003 meters Centerline goodness : 0.888838 with order 1 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.10, Z:0.39 [[ 9.91644102e-01 4.19881435e-03 1.28935427e-01 5.04688549e+00] [-1.07521945e-02 9.98682666e-01 5.01729223e-02 -1.00837120e-01] [-1.28554909e-01 -5.11400213e-02 9.90382923e-01 3.88117247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.607193470000002 meters Centerline goodness : 0.889673 with order 1 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.11, Z:0.39 [[ 9.91393459e-01 2.56104452e-03 1.30890987e-01 5.06862813e+00] [-1.17461396e-02 9.97516287e-01 6.94498722e-02 -1.14574318e-01] [-1.30388027e-01 -7.03896128e-02 9.88961205e-01 3.94724515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.667193470000004 meters Centerline goodness : 0.891258 with order 1 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.12, Z:0.40 [[ 9.91755044e-01 -4.29329524e-03 1.28076149e-01 5.09232304e+00] [-8.24323985e-03 9.95231421e-01 9.71929368e-02 -1.21752136e-01] [-1.27882686e-01 -9.74473477e-02 9.86990392e-01 4.01322258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.727193470000003 meters Centerline goodness : 0.890012 with order 1 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.12, Z:0.40 [[ 9.91942649e-01 -5.58166706e-03 1.26564711e-01 5.08231328e+00] [-3.30336010e-03 9.97549718e-01 6.98830985e-02 -1.19003749e-01] [-1.26644656e-01 -6.97381147e-02 9.89493672e-01 4.02703668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.787193470000002 meters Centerline goodness : 0.890091 with order 1 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.12, Z:0.40 [[ 0.99214192 -0.01001678 0.12471595 5.0906998 ] [ 0.00552633 0.99932568 0.03629945 -0.12036831] [-0.12499546 -0.03532498 0.99152826 0.40037534] [ 0. 0. 0. 1. ]] SLAMing on 27.847193470000004 meters Centerline goodness : 0.891415 with order 1 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.12, Z:0.40 [[ 0.99299424 -0.0109219 0.11765695 5.10528198] [ 0.00996595 0.9999124 0.00871012 -0.11985405] [-0.11774178 -0.00747654 0.9930161 0.39557596] [ 0. 0. 0. 1. ]] SLAMing on 27.907193470000003 meters Centerline goodness : 0.890338 with order 1 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.12, Z:0.39 [[ 9.93212538e-01 -1.72777186e-02 1.15023189e-01 5.11278673e+00] [ 1.72084566e-02 9.99850651e-01 1.59518601e-03 -1.23050283e-01] [-1.15033571e-01 3.95012801e-04 9.93361526e-01 3.90909933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.96719347 meters Centerline goodness : 0.892443 with order 1 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.12, Z:0.39 [[ 0.9932871 -0.01992027 0.11394698 5.1393568 ] [ 0.02144367 0.99969612 -0.01215917 -0.12123743] [-0.11367014 0.01452099 0.99341242 0.38934983] [ 0. 0. 0. 1. ]] SLAMing on 28.027193470000004 meters Centerline goodness : 0.891825 with order 1 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.12, Z:0.39 [[ 0.99347896 -0.01480688 0.11305006 5.16820022] [ 0.01956292 0.99896443 -0.04107746 -0.11535653] [-0.11232476 0.04302119 0.99273981 0.3880991 ] [ 0. 0. 0. 1. ]] SLAMing on 28.087193470000003 meters Centerline goodness : 0.892969 with order 1 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.11, Z:0.39 [[ 0.99345061 -0.00747024 0.11401786 5.2044582 ] [ 0.01629186 0.99692602 -0.07663612 -0.10511732] [-0.11309488 0.07799177 0.99051847 0.38630972] [ 0. 0. 0. 1. ]] SLAMing on 28.14719347 meters Centerline goodness : 0.891851 with order 1 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.11, Z:0.39 [[ 9.93440861e-01 -3.70126365e-03 1.14287163e-01 5.20374282e+00] [ 1.19868593e-02 9.97340085e-01 -7.18962398e-02 -1.06087686e-01] [-1.13717062e-01 7.27946066e-02 9.90842760e-01 3.86947570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.207193470000004 meters Centerline goodness : 0.892157 with order 1 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.10, Z:0.39 [[ 9.93181009e-01 4.20115355e-03 1.16506796e-01 5.23899894e+00] [ 8.67050499e-03 9.93921050e-01 -1.09753219e-01 -9.59695284e-02] [-1.16259647e-01 1.10014986e-01 9.87107085e-01 3.88100241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.267193470000002 meters Centerline goodness : 0.893659 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.09, Z:0.39 [[ 0.99251859 0.00913575 0.12175131 5.2640615 ] [ 0.00801862 0.99016618 -0.13966618 -0.08602876] [-0.12182999 0.13959755 0.98268509 0.38942176] [ 0. 0. 0. 1. ]] SLAMing on 28.327193470000005 meters Centerline goodness : 0.896039 with order 1 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.09, Z:0.39 [[ 9.92603072e-01 -2.25687856e-03 1.21383883e-01 5.26004956e+00] [ 1.65891884e-02 9.92970473e-01 -1.17194023e-01 -9.04600253e-02] [-1.20266119e-01 1.18340807e-01 9.85662982e-01 3.89168004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.387193470000003 meters Centerline goodness : 0.892378 with order 1 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.09, Z:0.39 [[ 0.9924279 -0.01970902 0.12123702 5.28046659] [ 0.03404679 0.99250634 -0.11735405 -0.08814318] [-0.11801558 0.12059316 0.98566202 0.38601779] [ 0. 0. 0. 1. ]] SLAMing on 28.447193470000002 meters Centerline goodness : 0.885407 with order 1 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.08, Z:0.38 [[ 0.99231447 -0.02744014 0.12066085 5.30926439] [ 0.04143337 0.99249652 -0.11503883 -0.08344773] [-0.11659879 0.11915408 0.98600559 0.3845028 ] [ 0. 0. 0. 1. ]] SLAMing on 28.507193470000004 meters Centerline goodness : 0.888332 with order 1 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.07, Z:0.38 [[ 0.99224607 -0.02997198 0.12062095 5.35313167] [ 0.04366843 0.9926849 -0.11256004 -0.07020318] [-0.11636494 0.11695458 0.98629652 0.38168204] [ 0. 0. 0. 1. ]] SLAMing on 28.567193470000003 meters Centerline goodness : 0.884913 with order 1 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.06, Z:0.39 [[ 0.99242215 -0.01986072 0.12125931 5.3509899 ] [ 0.03279914 0.99386166 -0.10565612 -0.05908871] [-0.11841657 0.10883267 0.98698174 0.38590651] [ 0. 0. 0. 1. ]] SLAMing on 28.62719347 meters Centerline goodness : 0.887503 with order 1 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.05, Z:0.39 [[ 0.99268762 -0.00777584 0.12046091 5.35363438] [ 0.01933429 0.99528159 -0.09508284 -0.04880688] [-0.11915317 0.09671659 0.98815405 0.38500201] [ 0. 0. 0. 1. ]] SLAMing on 28.687193470000004 meters Centerline goodness : 0.886587 with order 1 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.03, Z:0.38 [[ 9.92695745e-01 1.30297439e-02 1.19939083e-01 5.35701392e+00] [-4.06991169e-03 9.97201712e-01 -7.46470512e-02 -3.27792522e-02] [-1.20576091e-01 7.36136686e-02 9.89970926e-01 3.81693450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.747193470000003 meters Centerline goodness : 0.890116 with order 1 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.03, Z:0.38 [[ 0.99315354 0.01995091 0.11509995 5.37417159] [-0.01317609 0.99815184 -0.05932369 -0.02755612] [-0.11607079 0.05740096 0.99158091 0.37516471] [ 0. 0. 0. 1. ]] SLAMing on 28.80719347 meters Centerline goodness : 0.892903 with order 1 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.02, Z:0.37 [[ 0.99398087 0.02008066 0.10769776 5.39644569] [-0.01552301 0.99895484 -0.04299155 -0.02481944] [-0.10844849 0.04106098 0.9932537 0.37135829] [ 0. 0. 0. 1. ]] SLAMing on 28.867193470000004 meters Centerline goodness : 0.893126 with order 1 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.04, Z:0.37 [[ 0.99346273 0.01105477 0.11362039 5.41853014] [-0.01266445 0.99982927 0.01345519 -0.03784605] [-0.11345224 -0.01480617 0.99343312 0.36801699] [ 0. 0. 0. 1. ]] SLAMing on 28.927193470000002 meters Centerline goodness : 0.898268 with order 1 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.05, Z:0.37 [[ 9.92996079e-01 2.29763846e-03 1.18124965e-01 5.45004580e+00] [-1.10247977e-02 9.97250429e-01 7.32805296e-02 -5.32780638e-02] [-1.17631800e-01 -7.40695824e-02 9.90291097e-01 3.69797885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.987193470000005 meters Centerline goodness : 0.895475 with order 1 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.07, Z:0.38 [[ 0.99227505 -0.00624888 0.12389983 5.47853361] [-0.01012506 0.99131934 0.13108562 -0.07013944] [-0.12364344 -0.13132748 0.98359819 0.37505941] [ 0. 0. 0. 1. ]] SLAMing on 29.047193470000003 meters Centerline goodness : 0.899701 with order 1 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.09, Z:0.38 [[ 0.99133986 -0.01594092 0.13035015 5.51107571] [-0.00798406 0.98345256 0.18098982 -0.08532916] [-0.13107834 -0.18046315 0.97480845 0.37626641] [ 0. 0. 0. 1. ]] SLAMing on 29.107193470000002 meters Centerline goodness : 0.906153 with order 1 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.08, Z:0.38 [[ 9.91423881e-01 -1.83019533e-02 1.29397550e-01 5.50868594e+00] [-1.79287597e-03 9.88147025e-01 1.53499976e-01 -7.54069045e-02] [-1.30673153e-01 -1.52415536e-01 9.79639746e-01 3.76673267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.167193470000004 meters Centerline goodness : 0.905923 with order 1 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.06, Z:0.38 [[ 9.90882194e-01 -1.44264026e-02 1.33956550e-01 5.49398409e+00] [-1.85992364e-03 9.92691483e-01 1.20665486e-01 -6.41348877e-02] [-1.34718295e-01 -1.19814431e-01 9.83613483e-01 3.80874721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.227193470000003 meters Centerline goodness : 0.905021 with order 1 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.08, Z:0.38 [[ 9.90305652e-01 -1.91530354e-02 1.37578618e-01 5.51703565e+00] [-3.05266268e-03 9.87208106e-01 1.59407772e-01 -7.64513118e-02] [-1.38871870e-01 -1.58282398e-01 9.77579299e-01 3.83738608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.287193470000002 meters Centerline goodness : 0.903284 with order 1 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.07, Z:0.38 [[ 9.90251534e-01 -1.49056304e-02 1.38490871e-01 5.50948371e+00] [-4.01356247e-03 9.90791623e-01 1.35336070e-01 -6.59274029e-02] [-1.39232864e-01 -1.34572592e-01 9.81073100e-01 3.84166232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.347193470000004 meters Centerline goodness : 0.907414 with order 1 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.07, Z:0.38 [[ 0.98988424 -0.01293861 0.14128617 5.54570069] [-0.00739825 0.98977082 0.14247449 -0.06689359] [-0.14168435 -0.14207852 0.97966282 0.37986318] [ 0. 0. 0. 1. ]] SLAMing on 29.407193470000003 meters Centerline goodness : 0.910551 with order 1 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.09, Z:0.38 [[ 0.98918755 -0.02242628 0.14493123 5.57905759] [-0.00677301 0.98019868 0.19790068 -0.08542683] [-0.14649957 -0.19674251 0.96944843 0.37879589] [ 0. 0. 0. 1. ]] SLAMing on 29.46719347 meters Centerline goodness : 0.901183 with order 1 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.07, Z:0.38 [[ 9.89399850e-01 -1.74935552e-02 1.44159329e-01 5.56849816e+00] [-4.99605840e-03 9.88029323e-01 1.54185269e-01 -7.06487258e-02] [-1.45130892e-01 -1.53271111e-01 9.77468665e-01 3.80371235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.527193470000004 meters Centerline goodness : 0.902356 with order 1 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.07, Z:0.38 [[ 9.89969254e-01 -1.53493715e-02 1.40446693e-01 5.56652251e+00] [-4.52660465e-03 9.90124586e-01 1.40117145e-01 -6.66604139e-02] [-1.41210433e-01 -1.39347412e-01 9.80123417e-01 3.82267474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.587193470000003 meters Centerline goodness : 0.903763 with order 1 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.08, Z:0.38 [[ 9.88921026e-01 -3.33414171e-02 1.44649764e-01 5.58537121e+00] [ 2.77421054e-03 9.78430124e-01 2.06559423e-01 -8.24309297e-02] [-1.48416670e-01 -2.03869668e-01 9.67682619e-01 3.84710124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.64719347 meters Centerline goodness : 0.900390 with order 1 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.06, Z:0.39 [[ 9.89534895e-01 -2.46256551e-02 1.42176890e-01 5.57917272e+00] [ 1.40206354e-03 9.86923819e-01 1.61181292e-01 -5.87369159e-02] [-1.44286954e-01 -1.59295172e-01 9.76630085e-01 3.85082854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.707193470000004 meters Centerline goodness : 0.910486 with order 1 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.04, Z:0.39 [[ 9.88983313e-01 -2.22658262e-02 1.46342884e-01 5.56774345e+00] [ 2.41520068e-03 9.90918161e-01 1.34444653e-01 -4.29694509e-02] [-1.48007343e-01 -1.32610071e-01 9.80055302e-01 3.90100216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.767193470000002 meters Centerline goodness : 0.908514 with order 1 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.02, Z:0.39 [[ 0.98870245 -0.02542714 0.1477191 5.56677656] [ 0.00791012 0.99298439 0.11798061 -0.02234119] [-0.14968267 -0.11547924 0.98196723 0.39198194] [ 0. 0. 0. 1. ]] SLAMing on 29.827193470000005 meters Centerline goodness : 0.903497 with order 1 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.00, Z:0.39 [[ 9.89562951e-01 -2.39546219e-02 1.42096242e-01 5.56497741e+00] [ 9.76235168e-03 9.94965028e-01 9.97461253e-02 -4.91407430e-03] [-1.43770172e-01 -9.73178766e-02 9.84814383e-01 3.89377485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.887193470000003 meters Centerline goodness : 0.902800 with order 1 Centerline is valid? [False, False] Translation: X:5.56, Y:0.01, Z:0.39 [[ 0.98948308 -0.02016182 0.14323661 5.55991126] [ 0.00877067 0.99677892 0.07971735 0.00767887] [-0.14438248 -0.07762269 0.98647271 0.38920717] [ 0. 0. 0. 1. ]] SLAMing on 29.947193470000002 meters Centerline goodness : 0.903084 with order 1 Centerline is valid? [False, False] Translation: X:5.57, Y:0.02, Z:0.39 [[ 0.9903556 -0.02095785 0.13695458 5.57406088] [ 0.00851835 0.99583348 0.0907916 0.01910151] [-0.13828676 -0.08874934 0.98640779 0.39166765] [ 0. 0. 0. 1. ]] SLAMing on 30.007193470000004 meters Centerline goodness : 0.902228 with order 1 Centerline is valid? [False, False] Translation: X:5.59, Y:0.02, Z:0.40 [[ 0.9908898 -0.02376139 0.13256241 5.58917813] [ 0.00920098 0.99395662 0.10938725 0.02427019] [-0.13436048 -0.10717101 0.98512011 0.39670456] [ 0. 0. 0. 1. ]] SLAMing on 30.067193470000003 meters Centerline goodness : 0.900837 with order 1 Centerline is valid? [False, False] Translation: X:5.60, Y:0.04, Z:0.40 [[ 0.99115134 -0.02435756 0.13048271 5.59546626] [ 0.01190996 0.99537346 0.09534054 0.03563735] [-0.13220129 -0.09294286 0.98685584 0.39651668] [ 0. 0. 0. 1. ]] SLAMing on 30.12719347 meters Centerline goodness : 0.900220 with order 1 Centerline is valid? [False, False] Translation: X:5.61, Y:0.04, Z:0.40 [[ 0.99126489 -0.03073571 0.12825456 5.61066207] [ 0.01642191 0.99366189 0.11120414 0.04319889] [-0.13085961 -0.10812657 0.98548689 0.39972239] [ 0. 0. 0. 1. ]] SLAMing on 30.187193470000004 meters Centerline goodness : 0.893205 with order 1 Centerline is valid? [False, False] Translation: X:5.61, Y:0.06, Z:0.40 [[ 0.9911379 -0.03178474 0.12897826 5.60757974] [ 0.01887636 0.99479861 0.10009702 0.05667264] [-0.13148895 -0.09677531 0.98658258 0.40325648] [ 0. 0. 0. 1. ]] SLAMing on 30.247193470000003 meters Centerline goodness : 0.893868 with order 1 Centerline is valid? [False, False] Translation: X:5.60, Y:0.07, Z:0.41 [[ 0.99125638 -0.02721918 0.129112 5.59803766] [ 0.01653696 0.99640417 0.08309786 0.06667983] [-0.13090959 -0.08023616 0.98814211 0.406225 ] [ 0. 0. 0. 1. ]] SLAMing on 30.30719347 meters Centerline goodness : 0.896701 with order 1 Centerline is valid? [False, False] Translation: X:5.61, Y:0.08, Z:0.40 [[ 0.99097909 -0.02322697 0.13198848 5.60754731] [ 0.01356672 0.99719382 0.07362355 0.08159279] [-0.13332815 -0.07116875 0.98851333 0.40441062] [ 0. 0. 0. 1. ]] SLAMing on 30.367193470000004 meters Centerline goodness : 0.894384 with order 1 Centerline is valid? [False, False] Translation: X:5.63, Y:0.09, Z:0.40 [[ 0.99131205 -0.01553777 0.13061007 5.62753414] [ 0.00759633 0.99810382 0.0610824 0.08967142] [-0.13131149 -0.05955956 0.98955038 0.40404437] [ 0. 0. 0. 1. ]] SLAMing on 30.427193470000002 meters Centerline goodness : 0.895595 with order 1 Centerline is valid? [False, False] Translation: X:5.63, Y:0.10, Z:0.41 [[ 9.91574394e-01 -6.77879677e-03 1.29361002e-01 5.63280188e+00] [-9.35941154e-04 9.98228850e-01 5.94835048e-02 1.04774073e-01] [-1.29535111e-01 -5.91033945e-02 9.89811822e-01 4.08176002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.487193470000005 meters Centerline goodness : 0.894057 with order 1 Centerline is valid? [False, False] Translation: X:5.63, Y:0.12, Z:0.41 [[ 0.99151574 0.00765273 0.12976122 5.63173095] [-0.01500329 0.99833123 0.05576433 0.11998981] [-0.12911792 -0.05723806 0.98997594 0.40781614] [ 0. 0. 0. 1. ]] SLAMing on 30.547193470000003 meters Centerline goodness : 0.888531 with order 1 Centerline is valid? [False, False] Translation: X:5.66, Y:0.13, Z:0.41 [[ 0.99217118 0.01902005 0.1234285 5.65758786] [-0.02432463 0.99883765 0.04161318 0.12672952] [-0.12249355 -0.04428975 0.99148058 0.40977757] [ 0. 0. 0. 1. ]] SLAMing on 30.607193470000002 meters Centerline goodness : 0.887669 with order 1 Centerline is valid? [False, False] Translation: X:5.67, Y:0.13, Z:0.41 [[ 0.99240392 0.02883521 0.11959508 5.66730569] [-0.0346028 0.99832191 0.04643275 0.12852624] [-0.11805549 -0.05021837 0.99173636 0.40919303] [ 0. 0. 0. 1. ]] SLAMing on 30.667193470000004 meters Centerline goodness : 0.884085 with order 1 Centerline is valid? [False, False] Translation: X:5.67, Y:0.13, Z:0.41 [[ 0.99244386 0.0308146 0.11876716 5.67043212] [-0.03683365 0.99812811 0.04882169 0.12574457] [-0.11704042 -0.05282742 0.99172113 0.40659137] [ 0. 0. 0. 1. ]] SLAMing on 30.727193470000003 meters Centerline goodness : 0.889073 with order 1 Centerline is valid? [False, False] Translation: X:5.69, Y:0.11, Z:0.41 [[ 0.99228779 0.02844942 0.12064649 5.69381932] [-0.03424342 0.9983439 0.04622612 0.10942957] [-0.11913158 -0.05000097 0.99161866 0.40627339] [ 0. 0. 0. 1. ]] SLAMing on 30.787193470000002 meters Centerline goodness : 0.890761 with order 1 Centerline is valid? [False, False] Translation: X:5.71, Y:0.09, Z:0.40 [[ 0.99210749 0.02313448 0.12323765 5.71244681] [-0.02933871 0.9983791 0.04876892 0.09499602] [-0.12190965 -0.05199965 0.99117812 0.40090962] [ 0. 0. 0. 1. ]] SLAMing on 30.847193470000004 meters Centerline goodness : 0.888498 with order 1 Centerline is valid? [False, False] Translation: X:5.76, Y:0.07, Z:0.39 [[ 0.99270892 0.01455022 0.1196549 5.75689343] [-0.02214448 0.99780644 0.0623854 0.0740152 ] [-0.1184847 -0.06458023 0.99085356 0.39343892] [ 0. 0. 0. 1. ]] SLAMing on 30.907193470000003 meters Centerline goodness : 0.885208 with order 1 Centerline is valid? [False, False] Translation: X:5.81, Y:0.05, Z:0.39 [[ 9.92842903e-01 2.61582603e-03 1.19399030e-01 5.81237025e+00] [-1.31245173e-02 9.96094550e-01 8.73120475e-02 4.52804572e-02] [-1.18704330e-01 -8.82542013e-02 9.88999736e-01 3.87170289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.96719347 meters Centerline goodness : 0.883771 with order 1 Centerline is valid? [False, False] Translation: X:5.85, Y:0.01, Z:0.38 [[ 9.91507433e-01 -1.67146600e-02 1.28971429e-01 5.85119735e+00] [-6.31732358e-03 9.84345349e-01 1.76137236e-01 5.63956438e-03] [-1.29896501e-01 -1.75456133e-01 9.75880138e-01 3.83404805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.027193470000004 meters Centerline goodness : 0.881229 with order 1 Centerline is valid? [False, False] Translation: X:5.86, Y:0.00, Z:0.39 [[ 9.91725462e-01 -1.74500953e-02 1.27185306e-01 5.85704646e+00] [-2.03717627e-03 9.88454707e-01 1.51502945e-01 4.22724273e-03] [-1.28360655e-01 -1.50508427e-01 9.80240152e-01 3.87066029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.087193470000003 meters Centerline goodness : 0.882929 with order 1 Centerline is valid? [False, False] Translation: X:5.86, Y:-0.01, Z:0.40 [[ 9.91556953e-01 -2.52195727e-02 1.27195844e-01 5.85515154e+00] [ 6.14504952e-03 9.88941738e-01 1.48177180e-01 -5.82197854e-03] [-1.29526244e-01 -1.46144488e-01 9.80747032e-01 3.95576998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.147193470000005 meters Centerline goodness : 0.879155 with order 1 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.00, Z:0.40 [[ 9.91153345e-01 -2.74836361e-02 1.29844891e-01 5.85381117e+00] [ 1.03304360e-02 9.91331924e-01 1.30974422e-01 -3.77476758e-03] [-1.32319039e-01 -1.28474383e-01 9.82845870e-01 4.01551721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.207193470000004 meters Centerline goodness : 0.879966 with order 1 Centerline is valid? [False, False] Translation: X:5.86, Y:-0.01, Z:0.41 [[ 0.99149561 -0.0316259 0.12623889 5.85880223] [ 0.01587447 0.9921699 0.12388258 -0.00663011] [-0.12916833 -0.12082506 0.98423414 0.40778671] [ 0. 0. 0. 1. ]] SLAMing on 31.267193470000002 meters Centerline goodness : 0.882348 with order 1 Centerline is valid? [False, False] Translation: X:5.86, Y:-0.00, Z:0.41 [[ 9.91054088e-01 -3.33397216e-02 1.29229474e-01 5.85776092e+00] [ 1.94953001e-02 9.94073142e-01 1.06951027e-01 -4.07988045e-03] [-1.32029267e-01 -1.03474885e-01 9.85830219e-01 4.12860043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.327193470000005 meters Centerline goodness : 0.881661 with order 1 Centerline is valid? [False, False] Translation: X:5.86, Y:-0.00, Z:0.41 [[ 9.91308228e-01 -3.98029026e-02 1.25394286e-01 5.86477905e+00] [ 2.84188902e-02 9.95417740e-01 9.13010957e-02 -2.98323849e-03] [-1.28453745e-01 -8.69439609e-02 9.87896950e-01 4.12496014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.387193470000003 meters Centerline goodness : 0.876980 with order 1 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.00, Z:0.41 [[ 9.91747971e-01 -4.52129547e-02 1.19965623e-01 5.86606565e+00] [ 3.68731450e-02 9.96805176e-01 7.08506347e-02 -2.89900953e-03] [-1.22785720e-01 -6.58424635e-02 9.90246655e-01 4.10318830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.447193470000002 meters Centerline goodness : 0.873674 with order 1 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.00, Z:0.41 [[ 9.91565283e-01 -4.86296067e-02 1.20139294e-01 5.86579021e+00] [ 4.08017539e-02 9.96933143e-01 6.67796827e-02 -2.33449380e-03] [-1.23018314e-01 -6.13145210e-02 9.90508467e-01 4.11087699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.507193470000004 meters Centerline goodness : 0.876844 with order 1 Centerline is valid? [False, False] Translation: X:5.87, Y:0.00, Z:0.42 [[ 9.91300220e-01 -5.11999211e-02 1.21253624e-01 5.86891777e+00] [ 4.51557088e-02 9.97621325e-01 5.20831361e-02 3.92051322e-03] [-1.23631854e-01 -4.61547309e-02 9.91254208e-01 4.16709406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.567193470000003 meters Centerline goodness : 0.878628 with order 1 Centerline is valid? [False, False] Translation: X:5.87, Y:0.01, Z:0.42 [[ 0.99152259 -0.04577622 0.12160384 5.86599589] [ 0.03923561 0.99767925 0.05564787 0.01498083] [-0.12386898 -0.05040492 0.99101757 0.41888148] [ 0. 0. 0. 1. ]] SLAMing on 31.62719347 meters Centerline goodness : 0.876837 with order 1 Centerline is valid? [False, False] Translation: X:5.86, Y:0.03, Z:0.42 [[ 0.99124873 -0.0399753 0.12580913 5.85661467] [ 0.03499257 0.99852263 0.04157011 0.02501804] [-0.12728504 -0.03680393 0.99118313 0.41983151] [ 0. 0. 0. 1. ]] SLAMing on 31.687193470000004 meters Centerline goodness : 0.881387 with order 1 Centerline is valid? [False, False] Translation: X:5.85, Y:0.04, Z:0.42 [[ 0.99236709 -0.03504705 0.11823394 5.85011505] [ 0.0312094 0.99892911 0.0341555 0.04313527] [-0.11930437 -0.03020478 0.99239817 0.4225157 ] [ 0. 0. 0. 1. ]] SLAMing on 31.747193470000003 meters Centerline goodness : 0.879274 with order 1 Centerline is valid? [False, False] Translation: X:5.85, Y:0.06, Z:0.42 [[ 0.99248326 -0.03590958 0.11699347 5.85234528] [ 0.03259607 0.99901483 0.0301141 0.05706798] [-0.1179596 -0.02607421 0.99267601 0.42042966] [ 0. 0. 0. 1. ]] SLAMing on 31.807193470000005 meters Centerline goodness : 0.875343 with order 1 Centerline is valid? [False, False] Translation: X:5.85, Y:0.06, Z:0.42 [[ 0.99240179 -0.04041699 0.11621169 5.8542952 ] [ 0.03791042 0.99900006 0.02369994 0.06190803] [-0.11705336 -0.01911423 0.99294167 0.41918476] [ 0. 0. 0. 1. ]] SLAMing on 31.867193470000004 meters Centerline goodness : 0.877786 with order 1 Centerline is valid? [False, False] Translation: X:5.86, Y:0.08, Z:0.42 [[ 0.99247254 -0.0430501 0.1146514 5.85620836] [ 0.04107211 0.99896471 0.01956008 0.07588628] [-0.11537477 -0.01470387 0.9932132 0.4192461 ] [ 0. 0. 0. 1. ]] SLAMing on 31.927193470000002 meters Centerline goodness : 0.876052 with order 1 Centerline is valid? [False, False] Translation: X:5.86, Y:0.08, Z:0.42 [[ 0.99259449 -0.04036207 0.11457348 5.85508263] [ 0.03832184 0.99906618 0.0199552 0.08383468] [-0.11527192 -0.01541675 0.99321433 0.42022146] [ 0. 0. 0. 1. ]] SLAMing on 31.987193470000005 meters Centerline goodness : 0.877317 with order 1 Centerline is valid? [False, False] Translation: X:5.85, Y:0.10, Z:0.42 [[ 0.99219637 -0.03892962 0.11845189 5.8487924 ] [ 0.03788817 0.99922108 0.0110323 0.09745086] [-0.11878911 -0.00645829 0.9928985 0.42337246] [ 0. 0. 0. 1. ]] SLAMing on 32.047193469999996 meters Centerline goodness : 0.882037 with order 1 Centerline is valid? [False, False] Translation: X:5.85, Y:0.12, Z:0.43 [[ 0.99266132 -0.03740962 0.11499577 5.85088878] [ 0.0358321 0.99923362 0.01575545 0.11613763] [-0.11549704 -0.01151929 0.99324103 0.42956092] [ 0. 0. 0. 1. ]] SLAMing on 32.10719347 meters Centerline goodness : 0.876278 with order 1 Centerline is valid? [False, False] Translation: X:5.84, Y:0.12, Z:0.43 [[ 9.93552862e-01 -3.44440363e-02 1.08010739e-01 5.84389444e+00] [ 3.37219813e-02 9.99395064e-01 8.50497615e-03 1.23301341e-01] [-1.08238345e-01 -4.80780727e-03 9.94113347e-01 4.34310719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.16719347 meters Centerline goodness : 0.877531 with order 1 Centerline is valid? [False, False] Translation: X:5.84, Y:0.14, Z:0.44 [[ 9.94471446e-01 -2.94573700e-02 1.00790909e-01 5.84186312e+00] [ 2.97675035e-02 9.99555610e-01 -1.57407889e-03 1.35297486e-01] [-1.00699750e-01 4.56567025e-03 9.94906385e-01 4.37321930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.22719347 meters Centerline goodness : 0.878970 with order 1 Centerline is valid? [False, False] Translation: X:5.87, Y:0.15, Z:0.43 [[ 0.99512435 -0.0272708 0.09478308 5.87061249] [ 0.02628848 0.99958712 0.01159737 0.14709773] [-0.09506022 -0.00904912 0.99543039 0.43450433] [ 0. 0. 0. 1. ]] SLAMing on 32.28719347 meters Centerline goodness : 0.882733 with order 1 Centerline is valid? [False, False] Translation: X:5.87, Y:0.17, Z:0.44 [[ 0.99616316 -0.01636818 0.08597112 5.86541449] [ 0.01553359 0.99982559 0.01036787 0.16775672] [-0.08612583 -0.00899265 0.99624368 0.44073957] [ 0. 0. 0. 1. ]] SLAMing on 32.34719347 meters Centerline goodness : 0.885196 with order 1 Centerline is valid? [False, False] Translation: X:5.88, Y:0.18, Z:0.44 [[ 0.99594846 -0.01244833 0.08906008 5.8826012 ] [ 0.01116696 0.99982705 0.01487151 0.1767646 ] [-0.0892298 -0.01381672 0.99591523 0.43859657] [ 0. 0. 0. 1. ]] SLAMing on 32.40719347 meters Centerline goodness : 0.890155 with order 1 Centerline is valid? [False, False] Translation: X:5.88, Y:0.19, Z:0.44 [[ 0.99596096 -0.00801622 0.08942882 5.88286967] [ 0.00688443 0.99989235 0.01295709 0.18913055] [-0.08952306 -0.01228909 0.99590893 0.4423987 ] [ 0. 0. 0. 1. ]] SLAMing on 32.46719347 meters Centerline goodness : 0.897180 with order 1 Centerline is valid? [False, False] Translation: X:5.88, Y:0.20, Z:0.44 [[ 9.95985135e-01 -1.22639174e-03 8.95103672e-02 5.88252774e+00] [-4.91413170e-04 9.99816184e-01 1.91665678e-02 1.97758375e-01] [-8.95174194e-02 -1.91336032e-02 9.95801455e-01 4.42836108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.52719347 meters Centerline goodness : 0.897803 with order 1 Centerline is valid? [False, False] Translation: X:5.91, Y:0.20, Z:0.44 [[ 9.96646433e-01 3.09367396e-03 8.17699060e-02 5.91303025e+00] [-4.76166150e-03 9.99784389e-01 2.02114213e-02 1.99567785e-01] [-8.16897479e-02 -2.05330016e-02 9.96446276e-01 4.39407035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.58719347 meters Centerline goodness : 0.890883 with order 1 Centerline is valid? [False, False] Translation: X:5.92, Y:0.20, Z:0.44 [[ 0.99682064 0.01252055 0.0786883 5.92238817] [-0.01451024 0.99958799 0.02476497 0.19822081] [-0.07834581 -0.02582801 0.99659162 0.43869208] [ 0. 0. 0. 1. ]] SLAMing on 32.64719347 meters Centerline goodness : 0.898373 with order 1 Centerline is valid? [False, False] Translation: X:5.95, Y:0.20, Z:0.44 [[ 0.99661964 0.01715281 0.08034346 5.94513622] [-0.01946733 0.99941515 0.02811361 0.19637186] [-0.07981424 -0.02958265 0.99637069 0.44086843] [ 0. 0. 0. 1. ]] SLAMing on 32.70719347 meters Centerline goodness : 0.896659 with order 1 Centerline is valid? [False, False] Translation: X:5.98, Y:0.19, Z:0.44 [[ 0.99658203 0.01347337 0.08150289 5.97822028] [-0.01647385 0.99920679 0.03625468 0.18562644] [-0.08094977 -0.03747343 0.99601349 0.44031058] [ 0. 0. 0. 1. ]] SLAMing on 32.76719347 meters Centerline goodness : 0.892013 with order 1 Centerline is valid? [False, False] Translation: X:6.00, Y:0.18, Z:0.43 [[ 0.99648852 0.0075505 0.08338833 5.9978345 ] [-0.01076865 0.9992117 0.03821025 0.1762856 ] [-0.08303409 -0.03897406 0.9957843 0.43450322] [ 0. 0. 0. 1. ]] SLAMing on 32.82719347 meters Centerline goodness : 0.888682 with order 1 Centerline is valid? [False, False] Translation: X:6.03, Y:0.16, Z:0.43 [[ 0.99664286 0.00841009 0.08143884 6.02666847] [-0.01193311 0.99900939 0.04287008 0.16264157] [-0.08099762 -0.04369798 0.99575593 0.42807106] [ 0. 0. 0. 1. ]] SLAMing on 32.88719347 meters Centerline goodness : 0.889450 with order 1 Centerline is valid? [False, False] Translation: X:6.06, Y:0.16, Z:0.43 [[ 0.99709168 0.01103338 0.07540847 6.062706 ] [-0.01395328 0.99916869 0.03830457 0.15520915] [-0.07492315 -0.03924536 0.99641674 0.42789872] [ 0. 0. 0. 1. ]] SLAMing on 32.94719347 meters Centerline goodness : 0.883709 with order 1 Centerline is valid? [False, False] Translation: X:6.08, Y:0.14, Z:0.42 [[ 0.99702638 0.00875232 0.07656241 6.08386518] [-0.01217205 0.9989435 0.04431397 0.14191852] [-0.07609367 -0.04511412 0.99607955 0.42220624] [ 0. 0. 0. 1. ]] SLAMing on 33.00719347 meters Centerline goodness : 0.884560 with order 1 Centerline is valid? [False, False] Translation: X:6.11, Y:0.13, Z:0.42 [[ 0.99691644 0.00791676 0.07807004 6.10719818] [-0.01142399 0.99894048 0.04458028 0.13255219] [-0.07763439 -0.04533468 0.99595064 0.42211049] [ 0. 0. 0. 1. ]] SLAMing on 33.06719347 meters Centerline goodness : 0.887224 with order 1 Centerline is valid? [False, False] Translation: X:6.15, Y:0.11, Z:0.42 [[ 9.97216532e-01 5.49816865e-03 7.43569695e-02 6.15154587e+00] [-8.78787896e-03 9.98993426e-01 4.39875893e-02 1.13658396e-01] [-7.40402725e-02 -4.45185913e-02 9.96261077e-01 4.17732480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.12719347 meters Centerline goodness : 0.880290 with order 1 Centerline is valid? [False, False] Translation: X:6.18, Y:0.10, Z:0.41 [[ 9.97324357e-01 6.01239708e-03 7.28558688e-02 6.17514997e+00] [-9.77518357e-03 9.98630252e-01 5.14010349e-02 1.03495271e-01] [-7.24470311e-02 -5.19756836e-02 9.96017046e-01 4.11730807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.18719347 meters Centerline goodness : 0.876672 with order 1 Centerline is valid? [False, False] Translation: X:6.21, Y:0.10, Z:0.41 [[ 0.99739204 0.00936749 0.07156371 6.20604486] [-0.01271686 0.99883774 0.04649143 0.09613237] [-0.07104503 -0.04728025 0.99635194 0.41364761] [ 0. 0. 0. 1. ]] SLAMing on 33.24719347 meters Centerline goodness : 0.876801 with order 1 Centerline is valid? [False, False] Translation: X:6.25, Y:0.08, Z:0.41 [[ 9.97345128e-01 5.77754163e-03 7.25900534e-02 6.24660407e+00] [-9.40339884e-03 9.98719537e-01 4.97077788e-02 7.90148011e-02] [-7.22099158e-02 -5.02584043e-02 9.96122393e-01 4.10939315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.30719347 meters Centerline goodness : 0.871182 with order 1 Centerline is valid? [False, False] Translation: X:6.29, Y:0.05, Z:0.41 [[ 9.96344333e-01 -1.50265079e-02 8.40962233e-02 6.29275565e+00] [ 6.29273773e-03 9.94643732e-01 1.03170963e-01 5.32021241e-02] [-8.51960807e-02 -1.02264609e-01 9.91102203e-01 4.07606078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.36719347 meters Centerline goodness : 0.871590 with order 1 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.02, Z:0.42 [[ 0.99514523 -0.05628255 0.08073571 6.29591215] [ 0.03076817 0.95713792 0.28799361 -0.01612822] [-0.09348423 -0.28411138 0.95422294 0.42176346] [ 0. 0. 0. 1. ]] SLAMing on 33.42719347 meters Centerline goodness : 0.872364 with order 1 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.01, Z:0.43 [[ 0.9939551 -0.06857273 0.08573826 6.29583014] [ 0.04367337 0.96346039 0.26426637 -0.0140517 ] [-0.10072688 -0.25892443 0.96063117 0.42798736] [ 0. 0. 0. 1. ]] SLAMing on 33.48719347 meters Centerline goodness : 0.870059 with order 1 Centerline is valid? [False, False] Translation: X:6.29, Y:-0.01, Z:0.43 [[ 0.9927772 -0.07991325 0.08948356 6.29226111] [ 0.05813254 0.97288172 0.22387891 -0.00709175] [-0.10494781 -0.21705997 0.97050035 0.43182065] [ 0. 0. 0. 1. ]] SLAMing on 33.547193469999996 meters Centerline goodness : 0.864868 with order 1 Centerline is valid? [False, False] Translation: X:6.29, Y:0.00, Z:0.43 [[ 9.92949275e-01 -7.86071391e-02 8.87279828e-02 6.28998406e+00] [ 5.98030808e-02 9.78457597e-01 1.97596363e-01 2.93304488e-03] [-1.02349054e-01 -1.90896959e-01 9.76259710e-01 4.31576399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.60719347 meters Centerline goodness : 0.861541 with order 1 Centerline is valid? [False, False] Translation: X:6.27, Y:0.02, Z:0.43 [[ 0.99406812 -0.06663525 0.08595528 6.27278505] [ 0.05039657 0.98257726 0.17889136 0.01882887] [-0.09637817 -0.17349835 0.98010692 0.43215852] [ 0. 0. 0. 1. ]] SLAMing on 33.66719347 meters Centerline goodness : 0.858462 with order 1 Centerline is valid? [False, False] Translation: X:6.27, Y:0.04, Z:0.43 [[ 0.99516966 -0.05237113 0.08303375 6.26576398] [ 0.03827015 0.98586184 0.1631313 0.0401663 ] [-0.09040318 -0.15916561 0.98310405 0.43262201] [ 0. 0. 0. 1. ]] SLAMing on 33.72719347 meters Centerline goodness : 0.858441 with order 1 Centerline is valid? [False, False] Translation: X:6.25, Y:0.05, Z:0.43 [[ 0.9955892 -0.04351598 0.08311739 6.25336915] [ 0.03104158 0.98881611 0.14587365 0.0526702 ] [-0.08853565 -0.14265014 0.98580545 0.43431594] [ 0. 0. 0. 1. ]] SLAMing on 33.78719347 meters Centerline goodness : 0.855342 with order 1 Centerline is valid? [False, False] Translation: X:6.25, Y:0.07, Z:0.43 [[ 0.99632976 -0.03047211 0.07999037 6.25326329] [ 0.01991076 0.99135929 0.1296546 0.06930816] [-0.08325005 -0.12758607 0.98832749 0.43329265] [ 0. 0. 0. 1. ]] SLAMing on 33.84719347 meters Centerline goodness : 0.851343 with order 1 Centerline is valid? [False, False] Translation: X:6.26, Y:0.08, Z:0.43 [[ 0.99655391 -0.02422522 0.0793312 6.26324227] [ 0.01432277 0.99229183 0.12309254 0.08101865] [-0.08170165 -0.12153211 0.98921928 0.43460889] [ 0. 0. 0. 1. ]] SLAMing on 33.90719347 meters Centerline goodness : 0.850441 with order 1 Centerline is valid? [False, False] Translation: X:6.26, Y:0.09, Z:0.44 [[ 9.96647087e-01 -9.41479309e-03 8.12769653e-02 6.26375955e+00] [ 1.26663807e-03 9.95014089e-01 9.97264182e-02 8.72435465e-02] [-8.18106291e-02 -9.92890957e-02 9.91689819e-01 4.35586397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.96719347 meters Centerline goodness : 0.853773 with order 1 Centerline is valid? [False, False] Translation: X:6.27, Y:0.09, Z:0.43 [[ 9.96609429e-01 3.84033144e-03 8.21881829e-02 6.27288903e+00] [-1.09837627e-02 9.96179050e-01 8.66409682e-02 9.00623268e-02] [-8.15414159e-02 -8.72499414e-02 9.92843616e-01 4.34995715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.02719347 meters Centerline goodness : 0.856129 with order 1 Centerline is valid? [False, False] Translation: X:6.28, Y:0.09, Z:0.44 [[ 0.99663092 0.00778041 0.08164726 6.28067679] [-0.01442881 0.99659686 0.08115726 0.08998707] [-0.08073797 -0.08206191 0.99335151 0.43846804] [ 0. 0. 0. 1. ]] SLAMing on 34.08719347 meters Centerline goodness : 0.857071 with order 1 Centerline is valid? [False, False] Translation: X:6.29, Y:0.08, Z:0.44 [[ 0.99694196 0.00937465 0.07758127 6.29438421] [-0.01499423 0.99727945 0.07217246 0.08398172] [-0.07669362 -0.07311503 0.99437029 0.44277027] [ 0. 0. 0. 1. ]] SLAMing on 34.14719347 meters Centerline goodness : 0.857448 with order 1 Centerline is valid? [False, False] Translation: X:6.34, Y:0.06, Z:0.44 [[ 9.96880886e-01 5.23703673e-03 7.87468893e-02 6.33819374e+00] [-1.11043850e-02 9.97177324e-01 7.42568360e-02 6.41483425e-02] [-7.81357265e-02 -7.48996563e-02 9.94125168e-01 4.40717857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.20719347 meters Centerline goodness : 0.860149 with order 1 Centerline is valid? [False, False] Translation: X:6.39, Y:0.04, Z:0.44 [[ 9.96620096e-01 -3.02615681e-03 8.20927966e-02 6.39381759e+00] [-4.86401117e-03 9.95394227e-01 9.57427522e-02 3.76722368e-02] [-8.20044284e-02 -9.58184512e-02 9.92015170e-01 4.38144290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.26719347 meters Centerline goodness : 0.861667 with order 1 Centerline is valid? [False, False] Translation: X:6.43, Y:0.03, Z:0.44 [[ 9.96486765e-01 -6.16272594e-03 8.35233362e-02 6.43006584e+00] [-2.30133712e-03 9.94897519e-01 1.00864418e-01 2.54615686e-02] [-8.37187598e-02 -1.00702273e-01 9.91388028e-01 4.35545821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.32719347 meters Centerline goodness : 0.865064 with order 1 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.01, Z:0.43 [[ 9.95489847e-01 -1.88412406e-02 9.29783437e-02 6.47548453e+00] [ 3.50739877e-03 9.86719214e-01 1.62397325e-01 -1.29173306e-02] [-9.48032852e-02 -1.61338776e-01 9.82335043e-01 4.34422412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.38719347 meters Centerline goodness : 0.866534 with order 1 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.02, Z:0.44 [[ 0.99508108 -0.02166409 0.09666593 6.47392547] [ 0.00802089 0.99021046 0.13935176 -0.02046338] [-0.09873854 -0.13789095 0.98551346 0.43588407] [ 0. 0. 0. 1. ]] SLAMing on 34.44719347 meters Centerline goodness : 0.868855 with order 1 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.03, Z:0.44 [[ 0.99476681 -0.03546926 0.0958171 6.476216 ] [ 0.02287232 0.99131522 0.12950286 -0.03322744] [-0.09957832 -0.12663359 0.98693875 0.43863292] [ 0. 0. 0. 1. ]] SLAMing on 34.50719347 meters Centerline goodness : 0.871710 with order 1 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.04, Z:0.44 [[ 0.99444817 -0.04315247 0.09597235 6.47757528] [ 0.03102507 0.99174136 0.12444486 -0.04140842] [-0.10054985 -0.12077641 0.98757419 0.43975705] [ 0. 0. 0. 1. ]] SLAMing on 34.56719347 meters Centerline goodness : 0.872356 with order 1 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.05, Z:0.44 [[ 0.99410781 -0.04663869 0.09784938 6.46578137] [ 0.03729491 0.9947557 0.09523757 -0.04945617] [-0.10177799 -0.09102713 0.99063379 0.44384506] [ 0. 0. 0. 1. ]] SLAMing on 34.62719347 meters Centerline goodness : 0.877254 with order 1 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.05, Z:0.45 [[ 0.99333437 -0.05509535 0.10124887 6.4578788 ] [ 0.04645476 0.99522859 0.0858021 -0.05170058] [-0.10549306 -0.08052668 0.99115421 0.44953609] [ 0. 0. 0. 1. ]] SLAMing on 34.68719347 meters Centerline goodness : 0.878818 with order 1 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.05, Z:0.45 [[ 0.99305747 -0.05920808 0.10164284 6.45711585] [ 0.05109176 0.99542983 0.08067897 -0.04811333] [-0.10595516 -0.07492574 0.99154407 0.45031826] [ 0. 0. 0. 1. ]] SLAMing on 34.74719347 meters Centerline goodness : 0.879525 with order 1 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.04, Z:0.45 [[ 0.99325474 -0.05886322 0.09990067 6.46183569] [ 0.05289197 0.99671053 0.06140485 -0.04138414] [-0.10318654 -0.05570672 0.99310085 0.44685619] [ 0. 0. 0. 1. ]] SLAMing on 34.80719347 meters Centerline goodness : 0.878767 with order 1 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.03, Z:0.44 [[ 0.99308874 -0.05589574 0.10320084 6.45521162] [ 0.05050177 0.99725427 0.05416164 -0.03208486] [-0.10594488 -0.04857549 0.99318483 0.4428418 ] [ 0. 0. 0. 1. ]] SLAMing on 34.86719347 meters Centerline goodness : 0.876126 with order 1 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.01, Z:0.44 [[ 0.99412383 -0.04411078 0.09885366 6.46069731] [ 0.03884896 0.99775576 0.05453632 -0.01057399] [-0.10103745 -0.0503755 0.99360643 0.44009847] [ 0. 0. 0. 1. ]] SLAMing on 34.92719347 meters Centerline goodness : 0.877360 with order 1 Centerline is valid? [False, False] Translation: X:6.45, Y:0.00, Z:0.44 [[ 9.94828223e-01 -3.19713514e-02 9.64087079e-02 6.45140595e+00] [ 2.73384634e-02 9.98424623e-01 4.89987836e-02 3.31219123e-03] [-9.78233851e-02 -4.61097069e-02 9.94135041e-01 4.43534408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.98719347 meters Centerline goodness : 0.882225 with order 1 Centerline is valid? [False, False] Translation: X:6.45, Y:0.02, Z:0.45 [[ 0.99464857 -0.01858643 0.10163052 6.44543513] [ 0.01526786 0.99932763 0.03333425 0.02260595] [-0.10218175 -0.03160419 0.99426358 0.44603309] [ 0. 0. 0. 1. ]] SLAMing on 35.04719347 meters Centerline goodness : 0.879673 with order 1 Centerline is valid? [False, False] Translation: X:6.46, Y:0.04, Z:0.44 [[ 9.95449183e-01 -5.65339602e-03 9.51260426e-02 6.45610616e+00] [ 2.17991967e-03 9.99328393e-01 3.65788360e-02 3.70961822e-02] [-9.52689500e-02 -3.62050052e-02 9.94792956e-01 4.41961835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.10719347 meters Centerline goodness : 0.877169 with order 1 Centerline is valid? [False, False] Translation: X:6.46, Y:0.04, Z:0.44 [[ 9.95515830e-01 1.32131089e-03 9.45858669e-02 6.45755850e+00] [-5.39061529e-03 9.99069984e-01 4.27797612e-02 4.26851742e-02] [-9.44413752e-02 -4.30978055e-02 9.94597107e-01 4.41031372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.16719347 meters Centerline goodness : 0.879516 with order 1 Centerline is valid? [False, False] Translation: X:6.47, Y:0.04, Z:0.44 [[ 0.99567707 0.0085772 0.0924857 6.4746977 ] [-0.01159425 0.99941632 0.03213399 0.04432229] [-0.0921561 -0.03306738 0.99519536 0.44332328] [ 0. 0. 0. 1. ]] SLAMing on 35.22719347 meters Centerline goodness : 0.878729 with order 1 Centerline is valid? [False, False] Translation: X:6.50, Y:0.04, Z:0.44 [[ 0.99605183 0.01208452 0.08794723 6.50405691] [-0.01490504 0.99939309 0.03148492 0.04227705] [-0.08751337 -0.03267147 0.99562743 0.44250417] [ 0. 0. 0. 1. ]] SLAMing on 35.28719347 meters Centerline goodness : 0.881310 with order 1 Centerline is valid? [False, False] Translation: X:6.53, Y:0.04, Z:0.44 [[ 0.99641228 0.01243593 0.0837133 6.53359225] [-0.01492679 0.99946228 0.02919477 0.0353271 ] [-0.08330523 -0.0303396 0.99606212 0.44049121] [ 0. 0. 0. 1. ]] SLAMing on 35.34719347 meters Centerline goodness : 0.873107 with order 1 Centerline is valid? [False, False] Translation: X:6.58, Y:0.02, Z:0.43 [[ 9.96266218e-01 -1.55613774e-03 8.63203389e-02 6.58102775e+00] [-3.86330929e-03 9.98032449e-01 6.25803902e-02 1.51194233e-02] [-8.62478830e-02 -6.26802108e-02 9.94300002e-01 4.32882594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.40719347 meters Centerline goodness : 0.870974 with order 1 Centerline is valid? [False, False] Translation: X:6.62, Y:-0.01, Z:0.43 [[ 9.95258863e-01 -1.58390755e-02 9.59631137e-02 6.62052474e+00] [ 5.23637803e-03 9.93945799e-01 1.09746657e-01 -6.69922533e-03] [-9.71204194e-02 -1.08723834e-01 9.89316305e-01 4.32985699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.46719347 meters Centerline goodness : 0.873006 with order 1 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.04, Z:0.44 [[ 0.99397747 -0.03034519 0.10529939 6.65238916] [ 0.01111174 0.98385231 0.17863695 -0.03704816] [-0.10901982 -0.17639104 0.97826422 0.43896262] [ 0. 0. 0. 1. ]] SLAMing on 35.52719347 meters Centerline goodness : 0.877314 with order 1 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.04, Z:0.44 [[ 9.93899561e-01 -2.02498674e-02 1.08414047e-01 6.65288642e+00] [ 3.87699851e-03 9.88807106e-01 1.49149174e-01 -4.07478386e-02] [-1.10220831e-01 -1.47818978e-01 9.82853457e-01 4.43775711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.58719347 meters Centerline goodness : 0.875931 with order 1 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.04, Z:0.45 [[ 9.93847796e-01 -9.28678482e-03 1.10364456e-01 6.64793290e+00] [-4.34668089e-03 9.92440114e-01 1.22652868e-01 -3.89028949e-02] [-1.10669164e-01 -1.22378001e-01 9.86294054e-01 4.47681332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.64719347 meters Centerline goodness : 0.873879 with order 1 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.05, Z:0.45 [[ 9.93528744e-01 -5.53611829e-03 1.13445957e-01 6.66620390e+00] [-9.84747690e-03 9.90851803e-01 1.34594696e-01 -5.17114411e-02] [-1.13153264e-01 -1.34840856e-01 9.84385231e-01 4.45470586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.70719347 meters Centerline goodness : 0.875470 with order 1 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.08, Z:0.45 [[ 9.92883718e-01 -1.68643696e-02 1.17887726e-01 6.70559031e+00] [-4.91900946e-03 9.83269488e-01 1.82090410e-01 -7.70205810e-02] [-1.18986244e-01 -1.81374494e-01 9.76189309e-01 4.50491898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.76719347 meters Centerline goodness : 0.877356 with order 1 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.09, Z:0.46 [[ 9.92028815e-01 -2.13403997e-02 1.24191056e-01 6.70378968e+00] [ 9.15862917e-04 9.86750466e-01 1.62242657e-01 -8.55656767e-02] [-1.26007906e-01 -1.60835649e-01 9.78904440e-01 4.55825999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.82719347 meters Centerline goodness : 0.876503 with order 1 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.09, Z:0.46 [[ 9.92144545e-01 -2.21197354e-02 1.23125621e-01 6.69522732e+00] [ 4.82434659e-03 9.90276365e-01 1.39030381e-01 -9.04045140e-02] [-1.25003708e-01 -1.37344233e-01 9.82604007e-01 4.59271348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.88719347 meters Centerline goodness : 0.875254 with order 1 Centerline is valid? [False, False] Translation: X:6.69, Y:-0.09, Z:0.46 [[ 0.99240929 -0.0314349 0.11889344 6.69351304] [ 0.01747346 0.99301388 0.11669664 -0.09381398] [-0.12173119 -0.11373335 0.98602548 0.45817191] [ 0. 0. 0. 1. ]] SLAMing on 35.94719347 meters Centerline goodness : 0.874081 with order 1 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.09, Z:0.46 [[ 0.99204835 -0.03743043 0.1201625 6.70790061] [ 0.02629832 0.99532562 0.09292632 -0.09346587] [-0.12307908 -0.08902733 0.9883955 0.45872051] [ 0. 0. 0. 1. ]] SLAMing on 36.00719347 meters Centerline goodness : 0.873809 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.09, Z:0.46 [[ 0.99174843 -0.04333751 0.120652 6.72322442] [ 0.03515821 0.99698894 0.06911551 -0.09181696] [-0.12328401 -0.06430329 0.99028589 0.45827235] [ 0. 0. 0. 1. ]] SLAMing on 36.06719347 meters Centerline goodness : 0.876163 with order 1 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.09, Z:0.46 [[ 0.99150975 -0.04309353 0.12268397 6.73795438] [ 0.03707882 0.99801546 0.05089499 -0.08874938] [-0.12463374 -0.0459139 0.99113992 0.45806753] [ 0. 0. 0. 1. ]] SLAMing on 36.12719347 meters Centerline goodness : 0.879232 with order 1 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.08, Z:0.45 [[ 0.99086455 -0.04656264 0.1265676 6.75460881] [ 0.04129134 0.99817967 0.04395875 -0.07895463] [-0.12838404 -0.03833102 0.99098349 0.45434714] [ 0. 0. 0. 1. ]] SLAMing on 36.18719347 meters Centerline goodness : 0.875433 with order 1 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.07, Z:0.45 [[ 0.99135218 -0.04678267 0.12260602 6.7818461 ] [ 0.04386201 0.99868833 0.02641476 -0.07225827] [-0.12368095 -0.02080859 0.99210384 0.44651562] [ 0. 0. 0. 1. ]] SLAMing on 36.24719347 meters Centerline goodness : 0.874042 with order 1 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.07, Z:0.44 [[ 0.99198482 -0.04935627 0.11631886 6.7954934 ] [ 0.04793953 0.99873839 0.01494781 -0.06695957] [-0.11690988 -0.00925173 0.99309943 0.44292636] [ 0. 0. 0. 1. ]] SLAMing on 36.30719347 meters Centerline goodness : 0.873401 with order 1 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.06, Z:0.44 [[ 9.92233982e-01 -5.13434033e-02 1.13294215e-01 6.82011026e+00] [ 5.07105730e-02 9.98677538e-01 8.46247819e-03 -5.63871114e-02] [-1.13578880e-01 -2.65154386e-03 9.93525444e-01 4.35440667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.36719347 meters Centerline goodness : 0.872374 with order 1 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.05, Z:0.43 [[ 9.92476885e-01 -5.13124630e-02 1.11160535e-01 6.84469605e+00] [ 5.13838211e-02 9.98676501e-01 2.22467710e-03 -4.70224835e-02] [-1.11127568e-01 3.50391244e-03 9.93799973e-01 4.31297575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.42719347 meters Centerline goodness : 0.868908 with order 1 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.04, Z:0.43 [[ 9.92379024e-01 -5.24064277e-02 1.11523266e-01 6.84291203e+00] [ 5.29456933e-02 9.98595628e-01 -1.87732891e-03 -3.70507558e-02] [-1.11268261e-01 7.76769844e-03 9.93760050e-01 4.34198559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.48719347 meters Centerline goodness : 0.867631 with order 1 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.02, Z:0.43 [[ 0.99229636 -0.04727289 0.1145129 6.87308968] [ 0.04978054 0.99857682 -0.01913702 -0.02039958] [-0.11344527 0.02469011 0.99323742 0.43139185] [ 0. 0. 0. 1. ]] SLAMing on 36.54719347 meters Centerline goodness : 0.867988 with order 1 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.01, Z:0.43 [[ 9.92644131e-01 -4.14980672e-02 1.13734514e-01 6.87436939e+00] [ 4.33547043e-02 9.98963061e-01 -1.38986533e-02 -6.06908792e-03] [-1.13039811e-01 1.87273429e-02 9.93413956e-01 4.30652374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.60719347 meters Centerline goodness : 0.869389 with order 1 Centerline is valid? [False, False] Translation: X:6.88, Y:0.00, Z:0.43 [[ 9.92929720e-01 -3.59419063e-02 1.13131564e-01 6.87522098e+00] [ 3.72791981e-02 9.99257550e-01 -9.72675082e-03 3.36674132e-03] [-1.12697972e-01 1.38754340e-02 9.93532405e-01 4.30268869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.66719347 meters Centerline goodness : 0.862835 with order 1 Centerline is valid? [False, False] Translation: X:6.87, Y:0.01, Z:0.44 [[ 9.94622563e-01 -2.52881731e-02 1.00431401e-01 6.87450204e+00] [ 2.48748860e-02 9.99676173e-01 5.36546527e-03 9.96094558e-03] [-1.00534562e-01 -2.83839316e-03 9.94929518e-01 4.38630559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.72719347 meters Centerline goodness : 0.864501 with order 1 Centerline is valid? [False, False] Translation: X:6.86, Y:0.02, Z:0.44 [[ 9.95158873e-01 -1.36643415e-02 9.73247348e-02 6.86346757e+00] [ 1.29682922e-02 9.99885634e-01 7.78083579e-03 1.72353822e-02] [-9.74199242e-02 -6.48103218e-03 9.95222264e-01 4.43890952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.78719347 meters Centerline goodness : 0.863102 with order 1 Centerline is valid? [False, False] Translation: X:6.86, Y:0.02, Z:0.45 [[ 0.99514401 -0.01158133 0.09774593 6.86089624] [ 0.01076343 0.99990255 0.00889079 0.02394802] [-0.09783937 -0.00779554 0.99517169 0.4469782 ] [ 0. 0. 0. 1. ]] SLAMing on 36.84719347 meters Centerline goodness : 0.868870 with order 1 Centerline is valid? [False, False] Translation: X:6.86, Y:0.02, Z:0.45 [[ 9.95040626e-01 -1.52427838e-02 9.82945035e-02 6.85974521e+00] [ 1.47526887e-02 9.99874864e-01 5.71091637e-03 2.14985348e-02] [-9.83692536e-02 -4.23248559e-03 9.95140983e-01 4.48487680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.90719347 meters Centerline goodness : 0.869338 with order 1 Centerline is valid? [False, False] Translation: X:6.86, Y:0.02, Z:0.44 [[ 9.95106235e-01 -1.62331558e-02 9.74682777e-02 6.86354906e+00] [ 1.58832153e-02 9.99864325e-01 4.36518244e-03 2.44419143e-02] [-9.75259144e-02 -2.79571063e-03 9.95229059e-01 4.44361168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.96719347 meters Centerline goodness : 0.869236 with order 1 Centerline is valid? [False, False] Translation: X:6.86, Y:0.03, Z:0.44 [[ 9.95158763e-01 -1.34824367e-02 9.73512246e-02 6.86307435e+00] [ 1.30455294e-02 9.99901779e-01 5.12309535e-03 3.25575075e-02] [-9.74107345e-02 -3.82829497e-03 9.95236903e-01 4.44726796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.02719347 meters Centerline goodness : 0.870004 with order 1 Centerline is valid? [False, False] Translation: X:6.86, Y:0.01, Z:0.46 [[ 0.99612272 -0.02467935 0.084442 6.85861028] [ 0.01706282 0.9958173 0.08975944 0.01482548] [-0.08630401 -0.0879706 0.99237734 0.45926208] [ 0. 0. 0. 1. ]] SLAMing on 37.08719347 meters Centerline goodness : 0.873369 with order 1 Centerline is valid? [False, False] Translation: X:6.86, Y:0.02, Z:0.46 [[ 0.99622888 -0.02346432 0.08353114 6.86194199] [ 0.01598403 0.99589275 0.08911869 0.02108145] [-0.08527917 -0.08744744 0.99251217 0.45500876] [ 0. 0. 0. 1. ]] SLAMing on 37.14719347 meters Centerline goodness : 0.868618 with order 1 Centerline is valid? [False, False] Translation: X:6.86, Y:0.02, Z:0.45 [[ 0.9962437 -0.02382015 0.08325319 6.8630709 ] [ 0.01648388 0.99600863 0.08772171 0.02335839] [-0.08501044 -0.08601987 0.99265997 0.45339106] [ 0. 0. 0. 1. ]] SLAMing on 37.20719347 meters Centerline goodness : 0.868666 with order 1 Centerline is valid? [False, False] Translation: X:6.86, Y:0.03, Z:0.45 [[ 0.99685493 -0.01581824 0.07765331 6.8625042 ] [ 0.00987132 0.99703009 0.07637778 0.0302356 ] [-0.07863085 -0.07537102 0.9940505 0.45218961] [ 0. 0. 0. 1. ]] SLAMing on 37.26719347 meters Centerline goodness : 0.868797 with order 1 Centerline is valid? [False, False] Translation: X:6.89, Y:0.04, Z:0.45 [[ 9.97356641e-01 -9.36291161e-04 7.26557208e-02 6.88709166e+00] [-3.98770923e-03 9.97704736e-01 6.75970228e-02 3.53947614e-02] [-7.25522472e-02 -6.77080695e-02 9.95063711e-01 4.54927041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.32719347 meters Centerline goodness : 0.870462 with order 1 Centerline is valid? [False, False] Translation: X:6.90, Y:0.04, Z:0.46 [[ 0.99718695 0.00896258 0.07441685 6.89645829] [-0.01346685 0.99809258 0.0602482 0.03660424] [-0.07373492 -0.06108088 0.99540559 0.45623642] [ 0. 0. 0. 1. ]] SLAMing on 37.38719347 meters Centerline goodness : 0.865819 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:0.03, Z:0.46 [[ 0.9973752 0.01779749 0.07018519 6.90860862] [-0.02218174 0.99781776 0.06219069 0.03228465] [-0.06892519 -0.06358428 0.99559347 0.45689785] [ 0. 0. 0. 1. ]] SLAMing on 37.44719347 meters Centerline goodness : 0.863446 with order 1 Centerline is valid? [False, False] Translation: X:6.94, Y:0.02, Z:0.46 [[ 0.99738115 0.01875507 0.06985046 6.93574806] [-0.02316158 0.99775614 0.06281903 0.02172731] [-0.06851555 -0.06427237 0.99557756 0.45504591] [ 0. 0. 0. 1. ]] SLAMing on 37.50719347 meters Centerline goodness : 0.866283 with order 1 Centerline is valid? [False, False] Translation: X:6.98, Y:-0.01, Z:0.45 [[ 9.96760944e-01 4.90466926e-03 8.02718147e-02 6.97693044e+00] [-1.48091873e-02 9.92263611e-01 1.23262377e-01 -9.11310392e-03] [-7.90462395e-02 -1.24051883e-01 9.89122248e-01 4.52654383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.56719347 meters Centerline goodness : 0.864382 with order 1 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.03, Z:0.45 [[ 9.96078815e-01 -7.01779841e-03 8.81915283e-02 7.01844746e+00] [-7.78086955e-03 9.86037014e-01 1.66344416e-01 -3.35330691e-02] [-8.81274828e-02 -1.66378356e-01 9.82115976e-01 4.53588300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.62719347 meters Centerline goodness : 0.863252 with order 1 Centerline is valid? [False, False] Translation: X:7.05, Y:-0.05, Z:0.45 [[ 9.95459415e-01 -1.27473212e-02 9.43295185e-02 7.04688815e+00] [-6.04367018e-03 9.80528536e-01 1.96283633e-01 -4.76635089e-02] [-9.49948752e-02 -1.95962487e-01 9.75999322e-01 4.52996117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.68719347 meters Centerline goodness : 0.866845 with order 1 Centerline is valid? [False, False] Translation: X:7.05, Y:-0.05, Z:0.46 [[ 9.95198693e-01 -1.40650224e-02 9.68593639e-02 7.04564048e+00] [-3.86484196e-03 9.83201696e-01 1.82481474e-01 -4.97106115e-02] [-9.77988969e-02 -1.81979671e-01 9.78426684e-01 4.60563812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.74719347 meters Centerline goodness : 0.868071 with order 1 Centerline is valid? [False, False] Translation: X:7.08, Y:-0.07, Z:0.46 [[ 9.93906335e-01 -2.54143632e-02 1.07258136e-01 7.07787404e+00] [ 7.31880349e-04 9.74557742e-01 2.24135386e-01 -6.77059360e-02] [-1.10225505e-01 -2.22691080e-01 9.68637714e-01 4.64411084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.80719347 meters Centerline goodness : 0.868045 with order 1 Centerline is valid? [False, False] Translation: X:7.09, Y:-0.08, Z:0.47 [[ 9.93637712e-01 -2.91040354e-02 1.08798220e-01 7.08846527e+00] [ 6.07931231e-03 9.78485097e-01 2.06227922e-01 -7.65566774e-02] [-1.12459502e-01 -2.04254423e-01 9.72436626e-01 4.71832206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.86719347 meters Centerline goodness : 0.866134 with order 1 Centerline is valid? [False, False] Translation: X:7.08, Y:-0.08, Z:0.48 [[ 0.99356859 -0.0275457 0.10983028 7.07534675] [ 0.00741946 0.98371211 0.17959799 -0.07892573] [-0.11298853 -0.17762804 0.97758983 0.47688603] [ 0. 0. 0. 1. ]] SLAMing on 37.92719347 meters Centerline goodness : 0.868552 with order 1 Centerline is valid? [False, False] Translation: X:7.08, Y:-0.08, Z:0.48 [[ 0.9941872 -0.02684482 0.10426487 7.07723583] [ 0.00941602 0.98638569 0.16417861 -0.08293427] [-0.10725272 -0.16224252 0.9809048 0.47709417] [ 0. 0. 0. 1. ]] SLAMing on 37.98719347 meters Centerline goodness : 0.862145 with order 1 Centerline is valid? [False, False] Translation: X:7.08, Y:-0.09, Z:0.48 [[ 0.99544016 -0.02365242 0.09240913 7.0798525 ] [ 0.01093901 0.99068506 0.135733 -0.09040958] [-0.09475875 -0.13410322 0.98642643 0.476309 ] [ 0. 0. 0. 1. ]] SLAMing on 38.04719347 meters Centerline goodness : 0.863491 with order 1 Centerline is valid? [False, False] Translation: X:7.08, Y:-0.09, Z:0.47 [[ 0.99592806 -0.02200802 0.08742395 7.07786005] [ 0.01097666 0.99213216 0.12471287 -0.08991195] [-0.0894808 -0.12324542 0.98833383 0.47380385] [ 0. 0. 0. 1. ]] SLAMing on 38.10719347 meters Centerline goodness : 0.863988 with order 1 Centerline is valid? [False, False] Translation: X:7.08, Y:-0.09, Z:0.48 [[ 0.99596886 -0.02366365 0.08652206 7.08253136] [ 0.01383511 0.99355784 0.11247849 -0.08731754] [-0.08862632 -0.11082803 0.98988005 0.48061716] [ 0. 0. 0. 1. ]] SLAMing on 38.16719347 meters Centerline goodness : 0.866617 with order 1 Centerline is valid? [False, False] Translation: X:7.09, Y:-0.09, Z:0.48 [[ 0.99519227 -0.0373814 0.09052613 7.08759945] [ 0.02964792 0.99591283 0.0853149 -0.08638188] [-0.09334532 -0.08222082 0.99223303 0.48281102] [ 0. 0. 0. 1. ]] SLAMing on 38.22719347 meters Centerline goodness : 0.865220 with order 1 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.08, Z:0.48 [[ 0.99434206 -0.04452021 0.09644589 7.09945285] [ 0.03794823 0.99689904 0.0689364 -0.08127063] [-0.09921588 -0.06488641 0.99294812 0.47780806] [ 0. 0. 0. 1. ]] SLAMing on 38.28719347 meters Centerline goodness : 0.864320 with order 1 Centerline is valid? [False, False] Translation: X:7.12, Y:-0.07, Z:0.48 [[ 0.99430075 -0.0389706 0.09923363 7.11726299] [ 0.03517269 0.99859085 0.03973907 -0.06844242] [-0.10064245 -0.03602227 0.99427033 0.47539591] [ 0. 0. 0. 1. ]] SLAMing on 38.34719347 meters Centerline goodness : 0.863234 with order 1 Centerline is valid? [False, False] Translation: X:7.13, Y:-0.06, Z:0.47 [[ 0.99513309 -0.0328844 0.09289105 7.13158233] [ 0.02980912 0.99896685 0.03430233 -0.0625315 ] [-0.09392309 -0.03136638 0.99508522 0.47320006] [ 0. 0. 0. 1. ]] SLAMing on 38.40719347 meters Centerline goodness : 0.864549 with order 1 Centerline is valid? [False, False] Translation: X:7.14, Y:-0.03, Z:0.48 [[ 9.95487274e-01 -6.69140354e-03 9.46589293e-02 7.13843665e+00] [ 1.23813226e-02 9.98142521e-01 -5.96507343e-02 -2.76930143e-02] [-9.40839552e-02 6.05535496e-02 9.93721026e-01 4.81085554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.46719347 meters Centerline goodness : 0.860645 with order 1 Centerline is valid? [False, False] Translation: X:7.14, Y:-0.03, Z:0.48 [[ 9.95571737e-01 3.58748279e-04 9.40041955e-02 7.14048810e+00] [ 4.58201375e-03 9.98618924e-01 -5.23378364e-02 -2.59901377e-02] [-9.38931447e-02 5.25367992e-02 9.94195133e-01 4.79927035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.52719347 meters Centerline goodness : 0.863411 with order 1 Centerline is valid? [False, False] Translation: X:7.14, Y:-0.05, Z:0.49 [[ 0.99538863 -0.01119391 0.09526893 7.13942443] [ 0.00793958 0.99937419 0.03447024 -0.05021351] [-0.09559517 -0.03355489 0.99485458 0.49265825] [ 0. 0. 0. 1. ]] SLAMing on 38.58719347 meters Centerline goodness : 0.863498 with order 1 Centerline is valid? [False, False] Translation: X:7.14, Y:-0.05, Z:0.50 [[ 9.95197397e-01 -4.13615537e-03 9.78009866e-02 7.14324349e+00] [ 1.20381698e-03 9.99548491e-01 3.00227272e-02 -4.68232327e-02] [-9.78810072e-02 -2.97608055e-02 9.94753036e-01 4.96832196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.64719347 meters Centerline goodness : 0.861511 with order 1 Centerline is valid? [False, False] Translation: X:7.16, Y:-0.05, Z:0.50 [[ 0.99525828 0.01288588 0.09641012 7.15852089] [-0.01571081 0.99946747 0.02859964 -0.04698182] [-0.09599024 -0.02997871 0.99493073 0.50010646] [ 0. 0. 0. 1. ]] SLAMing on 38.70719347 meters Centerline goodness : 0.861639 with order 1 Centerline is valid? [False, False] Translation: X:7.17, Y:-0.05, Z:0.50 [[ 0.99557663 0.02179893 0.09138917 7.17478296] [-0.02390719 0.99947125 0.02203803 -0.05125465] [-0.09086045 -0.0241254 0.99557137 0.50240881] [ 0. 0. 0. 1. ]] SLAMing on 38.76719347 meters Centerline goodness : 0.860817 with order 1 Centerline is valid? [False, False] Translation: X:7.21, Y:-0.06, Z:0.50 [[ 0.99550604 0.02745114 0.09063195 7.21354011] [-0.03050268 0.99900755 0.03245782 -0.06021107] [-0.089651 -0.03507648 0.99535538 0.49716394] [ 0. 0. 0. 1. ]] SLAMing on 38.82719347 meters Centerline goodness : 0.858515 with order 1 Centerline is valid? [False, False] Translation: X:7.24, Y:-0.07, Z:0.49 [[ 0.99594475 0.030981 0.0844644 7.2428746 ] [-0.03405363 0.99880054 0.03518278 -0.07075842] [-0.0832731 -0.03791642 0.99580517 0.49247287] [ 0. 0. 0. 1. ]] SLAMing on 38.88719347 meters Centerline goodness : 0.857586 with order 1 Centerline is valid? [False, False] Translation: X:7.29, Y:-0.09, Z:0.49 [[ 0.99603388 0.03392472 0.08225345 7.28714834] [-0.03682578 0.99874271 0.0340126 -0.09482965] [-0.08099617 -0.03690675 0.99603088 0.49078748] [ 0. 0. 0. 1. ]] SLAMing on 38.94719347 meters Centerline goodness : 0.859941 with order 1 Centerline is valid? [False, False] Translation: X:7.29, Y:-0.11, Z:0.49 [[ 0.99591835 0.03645442 0.08256947 7.28565874] [-0.03962832 0.99852433 0.03713176 -0.1143964 ] [-0.08109401 -0.04025229 0.99589332 0.49266932] [ 0. 0. 0. 1. ]] SLAMing on 39.00719347 meters Centerline goodness : 0.860733 with order 1 Centerline is valid? [False, False] Translation: X:7.29, Y:-0.13, Z:0.49 [[ 0.99608501 0.0344844 0.08139699 7.28806641] [-0.03753895 0.99863567 0.03629906 -0.13009546] [-0.08003419 -0.03921251 0.99602054 0.49241036] [ 0. 0. 0. 1. ]] SLAMing on 39.06719347 meters Centerline goodness : 0.858403 with order 1 Centerline is valid? [False, False] Translation: X:7.27, Y:-0.15, Z:0.50 [[ 0.99655355 0.02674456 0.07852235 7.27226946] [-0.02777387 0.99954165 0.01204567 -0.14776347] [-0.0781642 -0.01418502 0.99683958 0.49779657] [ 0. 0. 0. 1. ]] SLAMing on 39.12719347 meters Centerline goodness : 0.858966 with order 1 Centerline is valid? [False, False] Translation: X:7.27, Y:-0.17, Z:0.50 [[ 9.96638544e-01 1.38587435e-02 8.07437173e-02 7.26761647e+00] [-1.43311975e-02 9.99883391e-01 5.27466974e-03 -1.66607235e-01] [-8.06612015e-02 -6.41409333e-03 9.96720939e-01 5.00679084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.18719347 meters Centerline goodness : 0.859646 with order 1 Centerline is valid? [False, False] Translation: X:7.27, Y:-0.20, Z:0.51 [[ 9.97385488e-01 2.53528058e-03 7.22202292e-02 7.26676734e+00] [-3.04952227e-03 9.99970772e-01 7.01109342e-03 -1.97811730e-01] [-7.22003433e-02 -7.21300003e-03 9.97364067e-01 5.06069521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.24719347 meters Centerline goodness : 0.858689 with order 1 Centerline is valid? [False, False] Translation: X:7.28, Y:-0.21, Z:0.50 [[ 9.97723940e-01 1.11243047e-03 6.74218235e-02 7.27819311e+00] [-1.32530684e-03 9.99994277e-01 3.11273475e-03 -2.12825769e-01] [-6.74179750e-02 -3.19500458e-03 9.97719704e-01 5.04038764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.30719347 meters Centerline goodness : 0.856627 with order 1 Centerline is valid? [False, False] Translation: X:7.29, Y:-0.23, Z:0.50 [[ 9.98333949e-01 5.38812537e-03 5.74481947e-02 7.29290143e+00] [-4.55017902e-03 9.99881493e-01 -1.47069661e-02 -2.28795550e-01] [-5.75206297e-02 1.44210640e-02 9.98240157e-01 4.98319136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.367193470000004 meters Centerline goodness : 0.855287 with order 1 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.24, Z:0.50 [[ 0.99852176 0.01052675 0.05332439 7.31941932] [-0.00859707 0.99930437 -0.03628863 -0.24192967] [-0.0536693 0.03577656 0.99791765 0.49664322] [ 0. 0. 0. 1. ]] SLAMing on 39.42719347 meters Centerline goodness : 0.856633 with order 1 Centerline is valid? [False, False] Translation: X:7.32, Y:-0.26, Z:0.50 [[ 0.9984593 0.00986893 0.05460431 7.31575432] [-0.00815162 0.99946786 -0.03158398 -0.25965219] [-0.05488696 0.0310902 0.99800843 0.50277438] [ 0. 0. 0. 1. ]] SLAMing on 39.48719347 meters Centerline goodness : 0.857131 with order 1 Centerline is valid? [False, False] Translation: X:7.34, Y:-0.27, Z:0.50 [[ 0.99846264 0.01288416 0.05391054 7.33996121] [-0.0106343 0.99906882 -0.04181401 -0.26889313] [-0.05439907 0.04117642 0.99766991 0.50442072] [ 0. 0. 0. 1. ]] SLAMing on 39.54719347 meters Centerline goodness : 0.856419 with order 1 Centerline is valid? [False, False] Translation: X:7.34, Y:-0.28, Z:0.51 [[ 0.99844896 0.01225051 0.05431021 7.33947848] [-0.01017037 0.99921017 -0.03841347 -0.28493692] [-0.0547379 0.03780153 0.99778495 0.50504983] [ 0. 0. 0. 1. ]] SLAMing on 39.60719347 meters Centerline goodness : 0.856903 with order 1 Centerline is valid? [False, False] Translation: X:7.37, Y:-0.30, Z:0.50 [[ 9.98687089e-01 8.41536825e-03 5.05299940e-02 7.36715299e+00] [-6.57931004e-03 9.99315896e-01 -3.63930240e-02 -2.97808151e-01] [-5.08016870e-02 3.60127907e-02 9.98059251e-01 5.03674512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.66719347 meters Centerline goodness : 0.855556 with order 1 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.31, Z:0.50 [[ 9.99070871e-01 6.14145816e-04 4.30931348e-02 7.38296917e+00] [ 6.94537967e-04 9.99539177e-01 -3.03471878e-02 -3.14010367e-01] [-4.30919141e-02 3.03489212e-02 9.98610049e-01 5.01633628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.72719347 meters Centerline goodness : 0.856479 with order 1 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.33, Z:0.50 [[ 9.99113451e-01 -6.16453147e-04 4.20943214e-02 7.40380708e+00] [ 1.95002901e-03 9.99497207e-01 -3.16469531e-02 -3.25967181e-01] [-4.20536479e-02 3.17009817e-02 9.98612306e-01 5.01095249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.78719347 meters Centerline goodness : 0.858040 with order 1 Centerline is valid? [False, False] Translation: X:7.41, Y:-0.34, Z:0.50 [[ 9.99145718e-01 -4.45992966e-03 4.10845834e-02 7.40753989e+00] [ 5.80861023e-03 9.99446163e-01 -3.27662677e-02 -3.36034576e-01] [-4.09156940e-02 3.29769204e-02 9.98618260e-01 4.98362310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.84719347 meters Centerline goodness : 0.857449 with order 1 Centerline is valid? [False, False] Translation: X:7.43, Y:-0.34, Z:0.50 [[ 0.99930979 -0.01654937 0.03325747 7.43200092] [ 0.01733678 0.99957282 -0.02352899 -0.34425119] [-0.03285387 0.02408933 0.99916982 0.50144162] [ 0. 0. 0. 1. ]] SLAMing on 39.90719347 meters Centerline goodness : 0.858679 with order 1 Centerline is valid? [False, False] Translation: X:7.43, Y:-0.35, Z:0.50 [[ 0.99910787 -0.02558119 0.03360159 7.43134559] [ 0.02662175 0.99916807 -0.03089421 -0.34846135] [-0.03278332 0.03176118 0.9989577 0.50333827] [ 0. 0. 0. 1. ]] SLAMing on 39.96719347 meters Centerline goodness : 0.861959 with order 1 Centerline is valid? [False, False] Translation: X:7.43, Y:-0.35, Z:0.50 [[ 0.99867273 -0.03889544 0.03376271 7.4320697 ] [ 0.04037871 0.99819646 -0.04442274 -0.34724359] [-0.03197397 0.04572707 0.99844214 0.50343922] [ 0. 0. 0. 1. ]] SLAMing on 40.02719347 meters Centerline goodness : 0.861619 with order 1 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.34, Z:0.50 [[ 0.99879986 -0.03865704 0.03007457 7.46349028] [ 0.03983881 0.99841548 -0.0397417 -0.33987951] [-0.02849062 0.04089214 0.99875729 0.50110443] [ 0. 0. 0. 1. ]] SLAMing on 40.08719347 meters Centerline goodness : 0.860504 with order 1 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.32, Z:0.50 [[ 0.99902626 -0.03814325 0.0221724 7.5028455 ] [ 0.03892723 0.99859071 -0.03607304 -0.32475361] [-0.02076521 0.03690102 0.99910316 0.49657934] [ 0. 0. 0. 1. ]] SLAMing on 40.14719347 meters Centerline goodness : 0.863484 with order 1 Centerline is valid? [False, False] Translation: X:7.54, Y:-0.31, Z:0.49 [[ 0.99920029 -0.03372384 0.02148207 7.54164635] [ 0.03465557 0.99840419 -0.04458763 -0.30566346] [-0.01994412 0.04529644 0.99877448 0.49331294] [ 0. 0. 0. 1. ]] SLAMing on 40.20719347 meters Centerline goodness : 0.861158 with order 1 Centerline is valid? [False, False] Translation: X:7.59, Y:-0.29, Z:0.49 [[ 0.99956795 -0.02019563 0.02135547 7.59375607] [ 0.02149571 0.99781272 -0.06251169 -0.28922855] [-0.0200463 0.06294373 0.99781573 0.49209613] [ 0. 0. 0. 1. ]] SLAMing on 40.26719347 meters Centerline goodness : 0.863672 with order 1 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.24, Z:0.48 [[ 9.99460604e-01 -2.61042318e-03 3.27366197e-02 7.65742991e+00] [ 6.81052874e-03 9.91640147e-01 -1.28854316e-01 -2.44719564e-01] [-3.21265821e-02 1.29007766e-01 9.91123039e-01 4.82302856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.32719347 meters Centerline goodness : 0.870741 with order 1 Centerline is valid? [False, False] Translation: X:7.71, Y:-0.22, Z:0.48 [[ 0.99928455 0.01328909 0.03540881 7.71354475] [-0.00787076 0.98880872 -0.1489811 -0.21660368] [-0.03699236 0.14859582 0.98820587 0.48057285] [ 0. 0. 0. 1. ]] SLAMing on 40.38719347 meters Centerline goodness : 0.869475 with order 1 Centerline is valid? [False, False] Translation: X:7.75, Y:-0.20, Z:0.48 [[ 0.99886028 0.0201012 0.04329078 7.75450069] [-0.01249185 0.98547546 -0.16935785 -0.2011182 ] [-0.0460663 0.16862404 0.98460339 0.47768322] [ 0. 0. 0. 1. ]] SLAMing on 40.44719347 meters Centerline goodness : 0.868303 with order 1 Centerline is valid? [False, False] Translation: X:7.80, Y:-0.17, Z:0.47 [[ 0.99797694 0.0279369 0.05711008 7.79644673] [-0.01450195 0.9746304 -0.2233501 -0.17109663] [-0.06190093 0.22207004 0.97306381 0.47479276] [ 0. 0. 0. 1. ]] SLAMing on 40.50719347 meters Centerline goodness : 0.868414 with order 1 Centerline is valid? [False, False] Translation: X:7.83, Y:-0.15, Z:0.47 [[ 0.9970718 0.03430577 0.06834426 7.82865214] [-0.0159083 0.9672259 -0.25341859 -0.1548145 ] [-0.07479805 0.25158929 0.96493942 0.47335368] [ 0. 0. 0. 1. ]] SLAMing on 40.56719347 meters Centerline goodness : 0.869313 with order 1 Centerline is valid? [False, False] Translation: X:7.83, Y:-0.15, Z:0.48 [[ 0.99662644 0.03559272 0.07395195 7.82720506] [-0.01676177 0.97034786 -0.24113081 -0.15285617] [-0.08034161 0.23907778 0.96767094 0.48027124] [ 0. 0. 0. 1. ]] SLAMing on 40.62719347 meters Centerline goodness : 0.872696 with order 1 Centerline is valid? [False, False] Translation: X:7.81, Y:-0.15, Z:0.49 [[ 0.99668221 0.03299459 0.07440382 7.81461271] [-0.01580193 0.97519617 -0.22077757 -0.14742145] [-0.07984278 0.21886935 0.97248205 0.48620188] [ 0. 0. 0. 1. ]] SLAMing on 40.68719347 meters Centerline goodness : 0.873487 with order 1 Centerline is valid? [False, False] Translation: X:7.81, Y:-0.15, Z:0.49 [[ 0.99683569 0.02807518 0.07436659 7.81006041] [-0.01173573 0.97727806 -0.21163617 -0.15024468] [-0.07861856 0.21009374 0.97451513 0.49119936] [ 0. 0. 0. 1. ]] SLAMing on 40.74719347 meters Centerline goodness : 0.879466 with order 1 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.15, Z:0.49 [[ 0.99727299 0.02306654 0.07010359 7.81851155] [-0.00929421 0.98159238 -0.19076167 -0.15033208] [-0.07321337 0.18958991 0.97912996 0.49171719] [ 0. 0. 0. 1. ]] SLAMing on 40.80719347 meters Centerline goodness : 0.875354 with order 1 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.15, Z:0.49 [[ 0.99758885 0.02133245 0.06604094 7.81695046] [-0.00967733 0.98504822 -0.17200685 -0.15245548] [-0.06872284 0.17095302 0.98287956 0.49343894] [ 0. 0. 0. 1. ]] SLAMing on 40.867193470000004 meters Centerline goodness : 0.876413 with order 1 Centerline is valid? [False, False] Translation: X:7.84, Y:-0.15, Z:0.49 [[ 0.99694123 0.02629381 0.07359902 7.83776263] [-0.01187254 0.98172973 -0.18990992 -0.15049253] [-0.0772478 0.18845522 0.97903902 0.48973067] [ 0. 0. 0. 1. ]] SLAMing on 40.92719347 meters Centerline goodness : 0.875788 with order 1 Centerline is valid? [False, False] Translation: X:7.85, Y:-0.15, Z:0.49 [[ 0.99698635 0.03658163 0.06841054 7.84751974] [-0.0239641 0.9839363 -0.17690413 -0.15272784] [-0.07378306 0.1747316 0.98184771 0.49162133] [ 0. 0. 0. 1. ]] SLAMing on 40.98719347 meters Centerline goodness : 0.877475 with order 1 Centerline is valid? [False, False] Translation: X:7.85, Y:-0.15, Z:0.49 [[ 0.99640768 0.04943415 0.06876045 7.84691128] [-0.03760316 0.98577665 -0.1637999 -0.15419228] [-0.07587975 0.16062587 0.9840943 0.4935042 ] [ 0. 0. 0. 1. ]] SLAMing on 41.04719347 meters Centerline goodness : 0.869077 with order 1 Centerline is valid? [False, False] Translation: X:7.84, Y:-0.17, Z:0.49 [[ 0.99664706 0.04873781 0.06572113 7.83801314] [-0.03861399 0.98832931 -0.14735718 -0.16770179] [-0.07213598 0.14432535 0.98689746 0.49461851] [ 0. 0. 0. 1. ]] SLAMing on 41.10719347 meters Centerline goodness : 0.870888 with order 1 Centerline is valid? [False, False] Translation: X:7.84, Y:-0.18, Z:0.50 [[ 0.99677014 0.04318202 0.06770969 7.83811503] [-0.03344737 0.98975126 -0.13882979 -0.17800548] [-0.0730107 0.13611668 0.98799883 0.49694552] [ 0. 0. 0. 1. ]] SLAMing on 41.16719347 meters Centerline goodness : 0.874686 with order 1 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.19, Z:0.50 [[ 0.99670577 0.03234485 0.0743735 7.82449558] [-0.02243787 0.99121055 -0.13037711 -0.19139904] [-0.07793683 0.12827883 0.98867102 0.49740232] [ 0. 0. 0. 1. ]] SLAMing on 41.22719347 meters Centerline goodness : 0.870692 with order 1 Centerline is valid? [False, False] Translation: X:7.82, Y:-0.20, Z:0.50 [[ 0.996904 0.02301916 0.07518333 7.82243706] [-0.01410147 0.99302499 -0.11705774 -0.19757173] [-0.07735349 0.11563513 0.99027519 0.49522439] [ 0. 0. 0. 1. ]] SLAMing on 41.28719347 meters Centerline goodness : 0.875195 with order 1 Centerline is valid? [False, False] Translation: X:7.85, Y:-0.20, Z:0.49 [[ 9.97386962e-01 1.34498178e-02 7.09813418e-02 7.84696044e+00] [-5.75048441e-03 9.94179940e-01 -1.07578705e-01 -1.99610770e-01] [-7.20151402e-02 1.06889421e-01 9.91659453e-01 4.94060832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.34719347 meters Centerline goodness : 0.874560 with order 1 Centerline is valid? [False, False] Translation: X:7.86, Y:-0.20, Z:0.50 [[ 9.97499020e-01 1.98781720e-03 7.06523471e-02 7.86007130e+00] [ 5.36341467e-03 9.94593537e-01 -1.03705982e-01 -1.97397559e-01] [-7.04765163e-02 1.03825553e-01 9.92095416e-01 4.99218374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.40719347 meters Centerline goodness : 0.876081 with order 1 Centerline is valid? [False, False] Translation: X:7.88, Y:-0.20, Z:0.50 [[ 0.99718461 -0.00834019 0.07452048 7.87559533] [ 0.01547549 0.9952907 -0.09569189 -0.19590134] [-0.07337145 0.09657572 0.99261763 0.50332573] [ 0. 0. 0. 1. ]] SLAMing on 41.46719347 meters Centerline goodness : 0.877898 with order 1 Centerline is valid? [False, False] Translation: X:7.89, Y:-0.19, Z:0.50 [[ 0.99698839 -0.02315068 0.07401484 7.89064484] [ 0.02907732 0.99636855 -0.0800264 -0.18838829] [-0.0718934 0.08193755 0.99404103 0.50416644] [ 0. 0. 0. 1. ]] SLAMing on 41.52719347 meters Centerline goodness : 0.870050 with order 1 Centerline is valid? [False, False] Translation: X:7.92, Y:-0.18, Z:0.50 [[ 0.99709258 -0.03453613 0.06792377 7.92077043] [ 0.03941836 0.9966324 -0.07190305 -0.17818454] [-0.06521177 0.07437144 0.99509613 0.501036 ] [ 0. 0. 0. 1. ]] SLAMing on 41.58719347 meters Centerline goodness : 0.872727 with order 1 Centerline is valid? [False, False] Translation: X:7.96, Y:-0.17, Z:0.50 [[ 0.99715215 -0.04088335 0.06337308 7.9584744 ] [ 0.04503144 0.99683783 -0.06547142 -0.16991396] [-0.06049599 0.06813875 0.99584002 0.49975564] [ 0. 0. 0. 1. ]] SLAMing on 41.64719347 meters Centerline goodness : 0.869456 with order 1 Centerline is valid? [False, False] Translation: X:7.99, Y:-0.15, Z:0.50 [[ 0.99757242 -0.04144498 0.05596051 7.99247543] [ 0.04509404 0.99682641 -0.06560206 -0.15369651] [-0.05306404 0.06796629 0.99627546 0.4957446 ] [ 0. 0. 0. 1. ]] SLAMing on 41.70719347 meters Centerline goodness : 0.870394 with order 1 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.13, Z:0.49 [[ 0.99786941 -0.03571477 0.05459943 8.03848632] [ 0.03916811 0.99721004 -0.06354524 -0.12835338] [-0.0521776 0.06554841 0.99648427 0.49300682] [ 0. 0. 0. 1. ]] SLAMing on 41.76719347 meters Centerline goodness : 0.864401 with order 1 Centerline is valid? [False, False] Translation: X:8.07, Y:-0.11, Z:0.49 [[ 0.99775785 -0.03064016 0.0595017 8.07094809] [ 0.03481055 0.99691365 -0.07036619 -0.1065699 ] [-0.05716202 0.0722797 0.99574502 0.49365094] [ 0. 0. 0. 1. ]] SLAMing on 41.82719347 meters Centerline goodness : 0.865451 with order 1 Centerline is valid? [False, False] Translation: X:8.12, Y:-0.06, Z:0.50 [[ 0.99709266 -0.01751262 0.07415888 8.11853496] [ 0.02653205 0.99212077 -0.12244354 -0.06354841] [-0.07143025 0.12405514 0.98970099 0.49578177] [ 0. 0. 0. 1. ]] SLAMing on 41.88719347 meters Centerline goodness : 0.867336 with order 1 Centerline is valid? [False, False] Translation: X:8.16, Y:-0.02, Z:0.50 [[ 9.96192183e-01 -3.45446294e-03 8.71160191e-02 8.15529458e+00] [ 1.91605627e-02 9.83460242e-01 -1.80107814e-01 -2.47978044e-02] [-8.50529655e-02 1.81091189e-01 9.79781595e-01 5.01985063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.94719347 meters Centerline goodness : 0.864727 with order 1 Centerline is valid? [False, False] Translation: X:8.18, Y:0.01, Z:0.51 [[ 9.96451146e-01 1.88235566e-02 8.20413793e-02 8.17521921e+00] [-2.22650427e-03 9.80227613e-01 -1.97860730e-01 9.78490592e-03] [-8.41436681e-02 1.96975886e-01 9.76790839e-01 5.13038600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.00719347 meters Centerline goodness : 0.863247 with order 1 Centerline is valid? [False, False] Translation: X:8.16, Y:0.02, Z:0.52 [[ 0.99650726 0.02728283 0.0789235 8.1639276 ] [-0.01314661 0.98459268 -0.17436865 0.02358699] [-0.08246477 0.17272205 0.98151243 0.51646954] [ 0. 0. 0. 1. ]] SLAMing on 42.06719347 meters Centerline goodness : 0.865027 with order 1 Centerline is valid? [False, False] Translation: X:8.17, Y:0.02, Z:0.52 [[ 0.99638073 0.02683185 0.08065659 8.16624738] [-0.0163149 0.99159751 -0.12832853 0.0227534 ] [-0.08342217 0.12654817 0.98844641 0.51772868] [ 0. 0. 0. 1. ]] SLAMing on 42.12719347 meters Centerline goodness : 0.863044 with order 1 Centerline is valid? [False, False] Translation: X:8.18, Y:0.03, Z:0.52 [[ 0.9961265 0.03742189 0.07957131 8.18069428] [-0.02938369 0.99456423 -0.09989286 0.02660457] [-0.08287696 0.09716783 0.99181138 0.52134439] [ 0. 0. 0. 1. ]] SLAMing on 42.187193470000004 meters Centerline goodness : 0.862597 with order 1 Centerline is valid? [False, False] Translation: X:8.18, Y:0.02, Z:0.52 [[ 0.99562709 0.04415408 0.08232318 8.17736209] [-0.03675195 0.99532125 -0.08935827 0.02391932] [-0.08588354 0.08594197 0.99259155 0.51869594] [ 0. 0. 0. 1. ]] SLAMing on 42.24719347 meters Centerline goodness : 0.863022 with order 1 Centerline is valid? [False, False] Translation: X:8.20, Y:0.02, Z:0.51 [[ 0.99513405 0.05029114 0.08472906 8.19628895] [-0.04424032 0.99643468 -0.0718382 0.01733582] [-0.0880398 0.06774019 0.99381098 0.51220582] [ 0. 0. 0. 1. ]] SLAMing on 42.30719347 meters Centerline goodness : 0.860450 with order 1 Centerline is valid? [False, False] Translation: X:8.22, Y:0.01, Z:0.51 [[ 0.99550811 0.04734246 0.08198958 8.21832744] [-0.04303668 0.99763942 -0.05351096 0.01038366] [-0.08432938 0.04974204 0.9951956 0.5064987 ] [ 0. 0. 0. 1. ]] SLAMing on 42.367193470000004 meters Centerline goodness : 0.856190 with order 1 Centerline is valid? [False, False] Translation: X:8.25, Y:-0.02, Z:0.50 [[ 0.99569151 0.02523353 0.0892283 8.25298774] [-0.02623572 0.999605 0.01007661 -0.01664975] [-0.08893878 -0.01237416 0.99596023 0.50298101] [ 0. 0. 0. 1. ]] SLAMing on 42.42719347 meters Centerline goodness : 0.855337 with order 1 Centerline is valid? [False, False] Translation: X:8.28, Y:-0.06, Z:0.54 [[ 9.95576225e-01 -1.17260300e-02 9.32227515e-02 8.27975864e+00] [-9.78686227e-04 9.90833667e-01 1.35083999e-01 -5.55815850e-02] [-9.39522397e-02 -1.34577654e-01 9.86438965e-01 5.35585240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.48719347 meters Centerline goodness : 0.857585 with order 1 Centerline is valid? [False, False] Translation: X:8.28, Y:-0.05, Z:0.54 [[ 9.95519929e-01 -1.65915965e-02 9.30848554e-02 8.27661218e+00] [ 6.31356810e-03 9.93951157e-01 1.09641398e-01 -5.13353647e-02] [-9.43409255e-02 -1.08562499e-01 9.89602937e-01 5.38145136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.54719347 meters Centerline goodness : 0.860098 with order 1 Centerline is valid? [False, False] Translation: X:8.28, Y:-0.05, Z:0.54 [[ 0.99504178 -0.01989767 0.09744714 8.27555847] [ 0.01097703 0.99576863 0.09123787 -0.04864369] [-0.09885023 -0.08971581 0.9910498 0.54023778] [ 0. 0. 0. 1. ]] SLAMing on 42.60719347 meters Centerline goodness : 0.865333 with order 1 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.05, Z:0.54 [[ 0.99477881 -0.02853353 0.0979845 8.27419834] [ 0.0205691 0.9964732 0.08135153 -0.04524001] [-0.09996017 -0.07891132 0.99185733 0.54173294] [ 0. 0. 0. 1. ]] SLAMing on 42.66719347 meters Centerline goodness : 0.867573 with order 1 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.04, Z:0.54 [[ 0.99449098 -0.03555649 0.09860742 8.27395476] [ 0.0284072 0.99692861 0.07298208 -0.04276921] [-0.10089954 -0.06977886 0.99244657 0.54117369] [ 0. 0. 0. 1. ]] SLAMing on 42.72719347 meters Centerline goodness : 0.866252 with order 1 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.04, Z:0.54 [[ 0.9941951 -0.04103767 0.09945864 8.27269791] [ 0.03449539 0.99718134 0.0666292 -0.03851636] [-0.1019126 -0.06281156 0.99280841 0.54121906] [ 0. 0. 0. 1. ]] SLAMing on 42.78719347 meters Centerline goodness : 0.867632 with order 1 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.03, Z:0.54 [[ 0.9940797 -0.0432704 0.09966559 8.2731833 ] [ 0.0370818 0.99731609 0.06313119 -0.03080785] [-0.10212981 -0.05906166 0.99301622 0.53959904] [ 0. 0. 0. 1. ]] SLAMing on 42.84719347 meters Centerline goodness : 0.865801 with order 1 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.02, Z:0.54 [[ 0.99412825 -0.0417771 0.09981833 8.27313058] [ 0.03560198 0.99738688 0.06286422 -0.02107652] [-0.10218378 -0.05894136 0.99301782 0.53849231] [ 0. 0. 0. 1. ]] SLAMing on 42.90719347 meters Centerline goodness : 0.866971 with order 1 Centerline is valid? [False, False] Translation: X:8.27, Y:-0.01, Z:0.54 [[ 0.99386278 -0.03828577 0.10378326 8.2663885 ] [ 0.03227986 0.99773922 0.0589446 -0.01413022] [-0.10580537 -0.05523273 0.99285174 0.53592652] [ 0. 0. 0. 1. ]] SLAMing on 42.96719347 meters Centerline goodness : 0.867367 with order 1 Centerline is valid? [False, False] Translation: X:8.26, Y:0.01, Z:0.54 [[ 9.95092578e-01 -2.29212133e-02 9.62568445e-02 8.25596612e+00] [ 1.64877739e-02 9.97609509e-01 6.71075281e-02 6.46134297e-03] [-9.75649294e-02 -6.51911420e-02 9.93091738e-01 5.40789300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.02719347 meters Centerline goodness : 0.870139 with order 1 Centerline is valid? [False, False] Translation: X:8.25, Y:0.03, Z:0.54 [[ 9.95059543e-01 -5.79298899e-03 9.91107873e-02 8.25339978e+00] [ 1.29999974e-04 9.98371357e-01 5.70492548e-02 2.93839930e-02] [-9.92798568e-02 -5.67545210e-02 9.93439698e-01 5.36492896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.08719347 meters Centerline goodness : 0.870168 with order 1 Centerline is valid? [False, False] Translation: X:8.27, Y:0.04, Z:0.54 [[ 9.95363865e-01 5.05766549e-03 9.60478841e-02 8.27116503e+00] [-9.62523304e-03 9.98841373e-01 4.71515189e-02 4.04668735e-02] [-9.56981238e-02 -4.78574013e-02 9.94259291e-01 5.37697675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.14719347 meters Centerline goodness : 0.871296 with order 1 Centerline is valid? [False, False] Translation: X:8.29, Y:0.05, Z:0.54 [[ 0.9958077 0.01661578 0.08994962 8.28673115] [-0.02088462 0.99868936 0.04672691 0.04985619] [-0.08905532 -0.04840958 0.99484957 0.53545808] [ 0. 0. 0. 1. ]] SLAMing on 43.20719347 meters Centerline goodness : 0.869700 with order 1 Centerline is valid? [False, False] Translation: X:8.30, Y:0.05, Z:0.53 [[ 0.99606245 0.02298113 0.085624 8.29888726] [-0.02699234 0.99857728 0.04598732 0.05016671] [-0.08444534 -0.04811744 0.99526564 0.53471414] [ 0. 0. 0. 1. ]] SLAMing on 43.26719347 meters Centerline goodness : 0.875102 with order 1 Centerline is valid? [False, False] Translation: X:8.33, Y:0.05, Z:0.54 [[ 0.99601892 0.03105039 0.08355944 8.33221309] [-0.03441484 0.99864133 0.03912936 0.04507206] [-0.08223093 -0.04184927 0.99573426 0.53799506] [ 0. 0. 0. 1. ]] SLAMing on 43.32719347 meters Centerline goodness : 0.874250 with order 1 Centerline is valid? [False, False] Translation: X:8.36, Y:0.03, Z:0.54 [[ 0.99585274 0.0383424 0.0825056 8.36062579] [-0.04203538 0.99816878 0.04349838 0.03474944] [-0.08068668 -0.04678613 0.99564086 0.53611601] [ 0. 0. 0. 1. ]] SLAMing on 43.38719347 meters Centerline goodness : 0.874410 with order 1 Centerline is valid? [False, False] Translation: X:8.41, Y:0.02, Z:0.53 [[ 0.99599437 0.0397433 0.080098 8.40568391] [-0.04331593 0.99811961 0.04337011 0.02478647] [-0.07822371 -0.0466659 0.99584303 0.53464774] [ 0. 0. 0. 1. ]] SLAMing on 43.44719347 meters Centerline goodness : 0.877142 with order 1 Centerline is valid? [False, False] Translation: X:8.44, Y:0.00, Z:0.53 [[ 9.95785233e-01 3.79693095e-02 8.34871305e-02 8.44150995e+00] [-4.24344349e-02 9.97725504e-01 5.23749609e-02 1.05135238e-03] [-8.13085983e-02 -5.56969419e-02 9.95131530e-01 5.30540249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.50719347 meters Centerline goodness : 0.876209 with order 1 Centerline is valid? [False, False] Translation: X:8.49, Y:-0.04, Z:0.53 [[ 0.99496783 0.02775326 0.09627448 8.48666991] [-0.03810314 0.99348656 0.10738993 -0.03728116] [-0.09266698 -0.11051789 0.98954466 0.52997654] [ 0. 0. 0. 1. ]] SLAMing on 43.56719347 meters Centerline goodness : 0.878314 with order 1 Centerline is valid? [False, False] Translation: X:8.53, Y:-0.05, Z:0.53 [[ 0.9950142 0.02673614 0.09608289 8.52669253] [-0.03742697 0.99308765 0.11124807 -0.05204664] [-0.09244438 -0.1142895 0.98913697 0.52502628] [ 0. 0. 0. 1. ]] SLAMing on 43.62719347 meters Centerline goodness : 0.873322 with order 1 Centerline is valid? [False, False] Translation: X:8.55, Y:-0.08, Z:0.52 [[ 0.9948536 0.03592389 0.09474061 8.55443769] [-0.04571648 0.99359844 0.1033061 -0.07513511] [-0.09042297 -0.10710565 0.9901273 0.52127775] [ 0. 0. 0. 1. ]] SLAMing on 43.687193470000004 meters Centerline goodness : 0.877146 with order 1 Centerline is valid? [False, False] Translation: X:8.58, Y:-0.09, Z:0.52 [[ 0.99508359 0.03570307 0.09237935 8.5842849 ] [-0.0448075 0.99413399 0.09843727 -0.09228859] [-0.08832294 -0.1020926 0.99084618 0.51810227] [ 0. 0. 0. 1. ]] SLAMing on 43.74719347 meters Centerline goodness : 0.880168 with order 1 Centerline is valid? [False, False] Translation: X:8.62, Y:-0.12, Z:0.52 [[ 0.99516428 0.03161627 0.09299709 8.62385854] [-0.04174716 0.99315439 0.10909418 -0.11703035] [-0.08891132 -0.11244899 0.98967166 0.51741303] [ 0. 0. 0. 1. ]] SLAMing on 43.80719347 meters Centerline goodness : 0.877798 with order 1 Centerline is valid? [False, False] Translation: X:8.66, Y:-0.14, Z:0.52 [[ 0.99497005 0.02814206 0.09613858 8.6577987 ] [-0.03906046 0.99275305 0.11364708 -0.13770185] [-0.0922436 -0.11683065 0.98885879 0.51778572] [ 0. 0. 0. 1. ]] SLAMing on 43.867193470000004 meters Centerline goodness : 0.883203 with order 1 Centerline is valid? [False, False] Translation: X:8.65, Y:-0.16, Z:0.52 [[ 0.99533679 0.02544389 0.09304451 8.65294045] [-0.0343682 0.99482569 0.09560684 -0.16321375] [-0.09013046 -0.09835878 0.99106107 0.52079029] [ 0. 0. 0. 1. ]] SLAMing on 43.92719347 meters Centerline goodness : 0.892342 with order 1 Centerline is valid? [False, False] Translation: X:8.65, Y:-0.18, Z:0.52 [[ 0.99559008 0.01461888 0.09266431 8.65316142] [-0.02279061 0.99588166 0.08775139 -0.17879864] [-0.09099986 -0.08947629 0.99182308 0.52204566] [ 0. 0. 0. 1. ]] SLAMing on 43.98719347 meters Centerline goodness : 0.892418 with order 1 Centerline is valid? [False, False] Translation: X:8.64, Y:-0.19, Z:0.52 [[ 0.99530881 0.00990491 0.09624066 8.63920468] [-0.01686486 0.99727817 0.07177627 -0.19006791] [-0.09526777 -0.07306264 0.99276679 0.5218772 ] [ 0. 0. 0. 1. ]] SLAMing on 44.04719347 meters Centerline goodness : 0.900059 with order 1 Centerline is valid? [False, False] Translation: X:8.62, Y:-0.20, Z:0.52 [[ 0.99519422 0.01251721 0.09711737 8.62392797] [-0.01612644 0.99920469 0.03646802 -0.1995787 ] [-0.09658366 -0.03785892 0.99460459 0.52253768] [ 0. 0. 0. 1. ]] SLAMing on 44.10719347 meters Centerline goodness : 0.902084 with order 1 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.20, Z:0.52 [[ 0.99577216 0.01364053 0.09083909 8.62667212] [-0.01586127 0.99959162 0.02377007 -0.20193558] [-0.09047776 -0.02511039 0.99558186 0.51905715] [ 0. 0. 0. 1. ]] SLAMing on 44.16719347 meters Centerline goodness : 0.900490 with order 1 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.20, Z:0.53 [[ 0.99699678 0.0132358 0.07630363 8.62991407] [-0.0146334 0.99973472 0.01778626 -0.20472626] [-0.07604797 -0.01884943 0.99692598 0.52577478] [ 0. 0. 0. 1. ]] SLAMing on 44.22719347 meters Centerline goodness : 0.906396 with order 1 Centerline is valid? [False, False] Translation: X:8.66, Y:-0.21, Z:0.53 [[ 9.97021764e-01 1.76170936e-02 7.50815517e-02 8.65553540e+00] [-1.71625042e-02 9.99830295e-01 -6.69556862e-03 -2.11217156e-01] [-7.51867664e-02 5.38704019e-03 9.97154918e-01 5.27834786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.28719347 meters Centerline goodness : 0.909719 with order 1 Centerline is valid? [False, False] Translation: X:8.68, Y:-0.21, Z:0.52 [[ 0.9969306 0.02372632 0.07460854 8.67633826] [-0.02235317 0.99956601 -0.0191864 -0.21212494] [-0.07503139 0.01745977 0.99702831 0.5248309 ] [ 0. 0. 0. 1. ]] SLAMing on 44.34719347 meters Centerline goodness : 0.909207 with order 1 Centerline is valid? [False, False] Translation: X:8.68, Y:-0.21, Z:0.52 [[ 0.99690011 0.02976244 0.07283107 8.67854973] [-0.02655394 0.9986505 -0.04463267 -0.20993363] [-0.07406116 0.04256036 0.9963451 0.52368422] [ 0. 0. 0. 1. ]] SLAMing on 44.40719347 meters Centerline goodness : 0.911354 with order 1 Centerline is valid? [False, False] Translation: X:8.68, Y:-0.22, Z:0.52 [[ 0.99693636 0.03254811 0.07112319 8.68068244] [-0.02973199 0.99874512 -0.04030139 -0.22065738] [-0.07234567 0.03806329 0.99665304 0.52414109] [ 0. 0. 0. 1. ]] SLAMing on 44.46719347 meters Centerline goodness : 0.907979 with order 1 Centerline is valid? [False, False] Translation: X:8.68, Y:-0.23, Z:0.53 [[ 0.99768406 0.02921691 0.0614239 8.68101343] [-0.02750278 0.99921338 -0.02856942 -0.22647977] [-0.06221029 0.02681393 0.99770281 0.52731808] [ 0. 0. 0. 1. ]] SLAMing on 44.52719347 meters Centerline goodness : 0.905484 with order 1 Centerline is valid? [False, False] Translation: X:8.68, Y:-0.23, Z:0.53 [[ 0.99772297 0.02819789 0.06126784 8.68144399] [-0.02665286 0.99930942 -0.02589034 -0.23425213] [-0.06195558 0.02419843 0.99778552 0.52595625] [ 0. 0. 0. 1. ]] SLAMing on 44.58719347 meters Centerline goodness : 0.900543 with order 1 Centerline is valid? [False, False] Translation: X:8.68, Y:-0.24, Z:0.53 [[ 0.99842885 0.01888063 0.05275755 8.67926875] [-0.0178484 0.99964128 -0.01996864 -0.24265237] [-0.05311564 0.01899562 0.99840768 0.53064291] [ 0. 0. 0. 1. ]] SLAMing on 44.64719347 meters Centerline goodness : 0.902850 with order 1 Centerline is valid? [False, False] Translation: X:8.71, Y:-0.24, Z:0.53 [[ 9.98921174e-01 4.93778863e-03 4.61747292e-02 8.71237620e+00] [-3.55703677e-03 9.99545451e-01 -2.99372588e-02 -2.44701727e-01] [-4.63015643e-02 2.97407165e-02 9.98484679e-01 5.26335591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.70719347 meters Centerline goodness : 0.902253 with order 1 Centerline is valid? [False, False] Translation: X:8.74, Y:-0.25, Z:0.53 [[ 9.98938241e-01 -5.73229140e-03 4.57113873e-02 8.73824143e+00] [ 7.37753817e-03 9.99327977e-01 -3.59049666e-02 -2.45427110e-01] [-4.54748505e-02 3.62040817e-02 9.98309222e-01 5.28462897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.76719347 meters Centerline goodness : 0.901413 with order 1 Centerline is valid? [False, False] Translation: X:8.76, Y:-0.24, Z:0.53 [[ 9.98920565e-01 -7.35031060e-03 4.58658581e-02 8.75901660e+00] [ 9.26624088e-03 9.99087178e-01 -4.17006809e-02 -2.44835415e-01] [-4.55174777e-02 4.20806718e-02 9.98076839e-01 5.25901081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.82719347 meters Centerline goodness : 0.902651 with order 1 Centerline is valid? [False, False] Translation: X:8.80, Y:-0.24, Z:0.53 [[ 9.99154241e-01 -7.70311764e-03 4.03913921e-02 8.79555752e+00] [ 9.61251845e-03 9.98834788e-01 -4.72934110e-02 -2.44008165e-01] [-3.99800208e-02 4.76416752e-02 9.98064060e-01 5.27282991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.88719347 meters Centerline goodness : 0.897975 with order 1 Centerline is valid? [False, False] Translation: X:8.85, Y:-0.23, Z:0.53 [[ 9.99207660e-01 -6.54142033e-03 3.92589201e-02 8.84917228e+00] [ 8.81393182e-03 9.98278007e-01 -5.79942629e-02 -2.34101165e-01] [-3.88119517e-02 5.82943372e-02 9.97544687e-01 5.25695174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.94719347 meters Centerline goodness : 0.895138 with order 1 Centerline is valid? [False, False] Translation: X:8.89, Y:-0.23, Z:0.52 [[ 9.99228320e-01 -5.48984225e-03 3.88924851e-02 8.88897941e+00] [ 7.89852981e-03 9.98041685e-01 -6.20516602e-02 -2.30645524e-01] [-3.84756675e-02 6.23109697e-02 9.97314878e-01 5.23656490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.00719347 meters Centerline goodness : 0.893756 with order 1 Centerline is valid? [False, False] Translation: X:8.93, Y:-0.23, Z:0.53 [[ 9.99249890e-01 -6.65029050e-03 3.81501168e-02 8.93148668e+00] [ 9.06253163e-03 9.97946410e-01 -6.34100337e-02 -2.28288843e-01] [-3.76500770e-02 6.37082058e-02 9.97258109e-01 5.25721347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.06719347 meters Centerline goodness : 0.888425 with order 1 Centerline is valid? [False, False] Translation: X:8.99, Y:-0.21, Z:0.52 [[ 9.99342593e-01 3.43666546e-03 3.60911438e-02 8.98756642e+00] [-3.55636510e-04 9.96378360e-01 -8.50296237e-02 -2.12121088e-01] [-3.62526531e-02 8.49608894e-02 9.95724557e-01 5.20178446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.12719347 meters Centerline goodness : 0.886460 with order 1 Centerline is valid? [False, False] Translation: X:9.02, Y:-0.18, Z:0.51 [[ 0.9986363 0.01935022 0.04848819 9.02183836] [-0.01083411 0.98536762 -0.17009786 -0.18079161] [-0.05107012 0.16934057 0.98423352 0.51449114] [ 0. 0. 0. 1. ]] SLAMing on 45.187193470000004 meters Centerline goodness : 0.882240 with order 1 Centerline is valid? [False, False] Translation: X:9.06, Y:-0.17, Z:0.51 [[ 0.9978221 0.04239875 0.05053121 9.05568107] [-0.03108147 0.97789776 -0.20676053 -0.16607806] [-0.05818075 0.20473964 0.97708581 0.51177472] [ 0. 0. 0. 1. ]] SLAMing on 45.24719347 meters Centerline goodness : 0.875305 with order 1 Centerline is valid? [False, False] Translation: X:9.07, Y:-0.17, Z:0.51 [[ 0.99748871 0.05438298 0.04537371 9.0684876 ] [-0.04513784 0.98180548 -0.18444667 -0.17402952] [-0.05457892 0.1819354 0.98179461 0.51344333] [ 0. 0. 0. 1. ]] SLAMing on 45.30719347 meters Centerline goodness : 0.871936 with order 1 Centerline is valid? [False, False] Translation: X:9.06, Y:-0.19, Z:0.52 [[ 0.99708438 0.05961602 0.04763049 9.0587262 ] [-0.05143359 0.98616015 -0.1576158 -0.18917143] [-0.05636772 0.15470645 0.98635115 0.51555055] [ 0. 0. 0. 1. ]] SLAMing on 45.367193470000004 meters Centerline goodness : 0.873036 with order 1 Centerline is valid? [False, False] Translation: X:9.06, Y:-0.21, Z:0.52 [[ 0.99724224 0.05838347 0.04581785 9.06427325] [-0.05130647 0.98842172 -0.14279409 -0.21346338] [-0.05362417 0.14004955 0.98869134 0.51694249] [ 0. 0. 0. 1. ]] SLAMing on 45.42719347 meters Centerline goodness : 0.873827 with order 1 Centerline is valid? [False, False] Translation: X:9.05, Y:-0.23, Z:0.52 [[ 0.99773394 0.05164367 0.04312676 9.0532205 ] [-0.0457712 0.99077807 -0.12752967 -0.23381593] [-0.04931515 0.12526672 0.9908967 0.52077179] [ 0. 0. 0. 1. ]] SLAMing on 45.48719347 meters Centerline goodness : 0.874756 with order 1 Centerline is valid? [False, False] Translation: X:9.05, Y:-0.25, Z:0.52 [[ 0.9978756 0.04812121 0.04391634 9.05341973] [-0.04273747 0.99230308 -0.11622438 -0.25008128] [-0.04917118 0.1141006 0.99225161 0.52493845] [ 0. 0. 0. 1. ]] SLAMing on 45.54719347 meters Centerline goodness : 0.878809 with order 1 Centerline is valid? [False, False] Translation: X:9.04, Y:-0.27, Z:0.53 [[ 0.9978792 0.039835 0.0514809 9.04099172] [-0.0342797 0.99392145 -0.10461858 -0.27478741] [-0.05533546 0.10263196 0.99317907 0.53050043] [ 0. 0. 0. 1. ]] SLAMing on 45.60719347 meters Centerline goodness : 0.877357 with order 1 Centerline is valid? [False, False] Translation: X:9.05, Y:-0.30, Z:0.53 [[ 0.99786551 0.03288431 0.05641853 9.05457111] [-0.02728394 0.99487983 -0.09731247 -0.2966513 ] [-0.05932971 0.09556544 0.99365348 0.53126551] [ 0. 0. 0. 1. ]] SLAMing on 45.66719347 meters Centerline goodness : 0.877420 with order 1 Centerline is valid? [False, False] Translation: X:9.08, Y:-0.31, Z:0.53 [[ 0.99794221 0.02952761 0.0569163 9.08091676] [-0.02405346 0.99522734 -0.09457258 -0.30879796] [-0.05943716 0.09300894 0.99388961 0.52994035] [ 0. 0. 0. 1. ]] SLAMing on 45.72719347 meters Centerline goodness : 0.878494 with order 1 Centerline is valid? [False, False] Translation: X:9.11, Y:-0.32, Z:0.53 [[ 0.99820175 0.02734465 0.0533436 9.11363484] [-0.02272971 0.99609779 -0.08527932 -0.32148588] [-0.05546737 0.08391348 0.99492809 0.52811793] [ 0. 0. 0. 1. ]] SLAMing on 45.78719347 meters Centerline goodness : 0.872271 with order 1 Centerline is valid? [False, False] Translation: X:9.15, Y:-0.33, Z:0.53 [[ 0.99864251 0.02249611 0.04697941 9.15416288] [-0.01895317 0.99703761 -0.07454381 -0.33383549] [-0.04851718 0.07355221 0.99611051 0.52547344] [ 0. 0. 0. 1. ]] SLAMing on 45.84719347 meters Centerline goodness : 0.871843 with order 1 Centerline is valid? [False, False] Translation: X:9.17, Y:-0.35, Z:0.53 [[ 0.99864376 0.0136686 0.05023761 9.16803541] [-0.01017777 0.99755805 -0.06909665 -0.34645376] [-0.05105939 0.06849163 0.99634424 0.52699522] [ 0. 0. 0. 1. ]] SLAMing on 45.90719347 meters Centerline goodness : 0.871693 with order 1 Centerline is valid? [False, False] Translation: X:9.19, Y:-0.35, Z:0.53 [[ 9.98698908e-01 1.03184134e-02 4.99401780e-02 9.19362417e+00] [-6.86153246e-03 9.97599749e-01 -6.89032714e-02 -3.52706239e-01] [-5.05312815e-02 6.84709558e-02 9.96372580e-01 5.27502863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.96719347 meters Centerline goodness : 0.871110 with order 1 Centerline is valid? [False, False] Translation: X:9.24, Y:-0.35, Z:0.52 [[ 0.99874203 0.01358732 0.04826743 9.2430737 ] [-0.01023335 0.99755954 -0.06906696 -0.35067545] [-0.04908807 0.06848614 0.99644368 0.52210891] [ 0. 0. 0. 1. ]] SLAMing on 46.02719347 meters Centerline goodness : 0.871684 with order 1 Centerline is valid? [False, False] Translation: X:9.28, Y:-0.36, Z:0.52 [[ 0.99895981 0.0163511 0.04256686 9.27603758] [-0.01367829 0.99796112 -0.0623419 -0.35527538] [-0.04349943 0.06169481 0.9971467 0.51841886] [ 0. 0. 0. 1. ]] SLAMing on 46.08719347 meters Centerline goodness : 0.873465 with order 1 Centerline is valid? [False, False] Translation: X:9.31, Y:-0.36, Z:0.52 [[ 0.99925923 0.01369242 0.0359653 9.3083444 ] [-0.0114653 0.99804636 -0.06141664 -0.35998964] [-0.03673598 0.06095879 0.99746403 0.51598624] [ 0. 0. 0. 1. ]] SLAMing on 46.14719347 meters Centerline goodness : 0.866671 with order 1 Centerline is valid? [False, False] Translation: X:9.33, Y:-0.36, Z:0.52 [[ 9.99264211e-01 5.01429966e-03 3.80249104e-02 9.33139441e+00] [-3.08225798e-03 9.98709206e-01 -5.06993212e-02 -3.64414368e-01] [-3.82300497e-02 5.05448146e-02 9.97989822e-01 5.17121577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.20719347 meters Centerline goodness : 0.864773 with order 1 Centerline is valid? [False, False] Translation: X:9.37, Y:-0.37, Z:0.52 [[ 9.99248832e-01 6.33659284e-03 3.82311221e-02 9.36958360e+00] [-4.37779713e-03 9.98683768e-01 -5.11034893e-02 -3.67317210e-01] [-3.85046230e-02 5.08977339e-02 9.97961329e-01 5.21362415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.26719347 meters Centerline goodness : 0.862178 with order 1 Centerline is valid? [False, False] Translation: X:9.41, Y:-0.37, Z:0.52 [[ 9.99335290e-01 1.01081738e-02 3.50257438e-02 9.41270260e+00] [-8.30756067e-03 9.98655005e-01 -5.11777800e-02 -3.68955230e-01] [-3.54959482e-02 5.08527831e-02 9.98075164e-01 5.22316127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.32719347 meters Centerline goodness : 0.861714 with order 1 Centerline is valid? [False, False] Translation: X:9.46, Y:-0.37, Z:0.52 [[ 0.99935965 0.01377268 0.03302439 9.4569382 ] [-0.01204579 0.99857797 -0.05193195 -0.37009411] [-0.03369267 0.05150089 0.99810443 0.52202071] [ 0. 0. 0. 1. ]] SLAMing on 46.38719347 meters Centerline goodness : 0.861466 with order 1 Centerline is valid? [False, False] Translation: X:9.49, Y:-0.37, Z:0.52 [[ 9.99418616e-01 9.77234239e-03 3.26639171e-02 9.49092579e+00] [-8.14308005e-03 9.98733697e-01 -4.96456640e-02 -3.70035113e-01] [-3.31077091e-02 4.93508159e-02 9.98232626e-01 5.20914829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.44719347 meters Centerline goodness : 0.858914 with order 1 Centerline is valid? [False, False] Translation: X:9.52, Y:-0.37, Z:0.52 [[ 9.99526681e-01 -3.01163991e-04 3.07623585e-02 9.51846660e+00] [ 1.52316543e-03 9.99210157e-01 -3.97082157e-02 -3.71421159e-01] [-3.07261023e-02 3.97362773e-02 9.98737671e-01 5.20876968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.507193470000004 meters Centerline goodness : 0.855600 with order 1 Centerline is valid? [False, False] Translation: X:9.53, Y:-0.37, Z:0.52 [[ 9.99586950e-01 -8.45115429e-03 2.74683142e-02 9.52809003e+00] [ 9.57680653e-03 9.99108719e-01 -4.11102361e-02 -3.71903839e-01] [-2.70964033e-02 4.13563143e-02 9.98776972e-01 5.23209750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.56719347 meters Centerline goodness : 0.859211 with order 1 Centerline is valid? [False, False] Translation: X:9.56, Y:-0.37, Z:0.52 [[ 0.9996003 -0.0124287 0.02539218 9.56049839] [ 0.01341625 0.99914527 -0.03909896 -0.37142337] [-0.02488452 0.039424 0.99891266 0.52432183] [ 0. 0. 0. 1. ]] SLAMing on 46.62719347 meters Centerline goodness : 0.854537 with order 1 Centerline is valid? [False, False] Translation: X:9.60, Y:-0.36, Z:0.52 [[ 9.99629800e-01 -8.20109589e-03 2.59423420e-02 9.59775432e+00] [ 9.46853488e-03 9.98748169e-01 -4.91166190e-02 -3.60464846e-01] [-2.55070564e-02 4.93440720e-02 9.98456084e-01 5.20406987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.687193470000004 meters Centerline goodness : 0.861156 with order 1 Centerline is valid? [False, False] Translation: X:9.63, Y:-0.36, Z:0.52 [[ 9.99710616e-01 -5.82722057e-03 2.33394168e-02 9.62624050e+00] [ 6.88213248e-03 9.98946250e-01 -4.53764879e-02 -3.57876152e-01] [-2.30504041e-02 4.55239816e-02 9.98697274e-01 5.19666166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.74719347 meters Centerline goodness : 0.858798 with order 1 Centerline is valid? [False, False] Translation: X:9.66, Y:-0.35, Z:0.52 [[ 9.99806097e-01 -3.07092329e-03 1.94508995e-02 9.65702393e+00] [ 3.95631794e-03 9.98949852e-01 -4.56458292e-02 -3.45523824e-01] [-1.92902983e-02 4.57139323e-02 9.98768302e-01 5.15841967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.80719347 meters Centerline goodness : 0.856278 with order 1 Centerline is valid? [False, False] Translation: X:9.68, Y:-0.34, Z:0.52 [[ 9.99777877e-01 -3.95889966e-03 2.07008379e-02 9.68171723e+00] [ 4.95581472e-03 9.98819086e-01 -4.83308639e-02 -3.39449320e-01] [-2.04850550e-02 4.84227180e-02 9.98616845e-01 5.15061558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.867193470000004 meters Centerline goodness : 0.863557 with order 1 Centerline is valid? [False, False] Translation: X:9.73, Y:-0.32, Z:0.51 [[ 9.99690162e-01 3.20093031e-03 2.46847023e-02 9.73084192e+00] [-1.63153483e-03 9.97990825e-01 -6.33375984e-02 -3.24497284e-01] [-2.48378456e-02 6.32777001e-02 9.97686832e-01 5.10861940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.92719347 meters Centerline goodness : 0.857920 with order 1 Centerline is valid? [False, False] Translation: X:9.78, Y:-0.32, Z:0.51 [[ 9.99686671e-01 7.75016878e-03 2.38011318e-02 9.77510032e+00] [-6.19937457e-03 9.97895055e-01 -6.45525172e-02 -3.16799061e-01] [-2.42513246e-02 6.43847389e-02 9.97630432e-01 5.08597985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.98719347 meters Centerline goodness : 0.856422 with order 1 Centerline is valid? [False, False] Translation: X:9.81, Y:-0.30, Z:0.50 [[ 9.99254340e-01 1.07655568e-02 3.70791952e-02 9.80909018e+00] [-7.22182892e-03 9.95506960e-01 -9.44125891e-02 -3.04927047e-01] [-3.79290010e-02 9.40744098e-02 9.94842398e-01 5.04078260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.04719347 meters Centerline goodness : 0.857499 with order 1 Centerline is valid? [False, False] Translation: X:9.85, Y:-0.30, Z:0.50 [[ 0.99905128 0.01494042 0.04090633 9.84553698] [-0.01061763 0.99452866 -0.10392313 -0.29612393] [-0.04223517 0.10339021 0.99374376 0.50018141] [ 0. 0. 0. 1. ]] SLAMing on 47.10719347 meters Centerline goodness : 0.859634 with order 1 Centerline is valid? [False, False] Translation: X:9.88, Y:-0.29, Z:0.49 [[ 0.99876035 0.01994563 0.0456062 9.88063278] [-0.01465213 0.99341964 -0.11359017 -0.28956729] [-0.04757172 0.11278114 0.9924804 0.49418925] [ 0. 0. 0. 1. ]] SLAMing on 47.16719347 meters Centerline goodness : 0.862492 with order 1 Centerline is valid? [False, False] Translation: X:9.91, Y:-0.29, Z:0.49 [[ 0.99849789 0.02240941 0.04999792 9.91415808] [-0.01626607 0.99263351 -0.1200589 -0.28919603] [-0.05232006 0.11906529 0.99150697 0.4926174 ] [ 0. 0. 0. 1. ]] SLAMing on 47.22719347 meters Centerline goodness : 0.864846 with order 1 Centerline is valid? [False, False] Translation: X:9.93, Y:-0.29, Z:0.49 [[ 9.98540323e-01 1.53644128e-02 5.17799071e-02 9.93373510e+00] [-9.47532483e-03 9.93649953e-01 -1.12115963e-01 -2.90036081e-01] [-5.31736982e-02 1.11461679e-01 9.92345127e-01 4.90319293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.28719347 meters Centerline goodness : 0.867256 with order 1 Centerline is valid? [False, False] Translation: X:9.96, Y:-0.29, Z:0.49 [[ 9.98420724e-01 1.31918619e-02 5.46079881e-02 9.96094036e+00] [-7.05082069e-03 9.93777777e-01 -1.11157614e-01 -2.89502456e-01] [-5.57345809e-02 1.10597034e-01 9.92301342e-01 4.88407080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.34719347 meters Centerline goodness : 0.866325 with order 1 Centerline is valid? [False, False] Translation: X:9.99, Y:-0.29, Z:0.49 [[ 9.98551565e-01 9.56141904e-03 5.29466753e-02 9.99092852e+00] [-3.62447439e-03 9.93801457e-01 -1.11110425e-01 -2.88118797e-01] [-5.36808564e-02 1.10757585e-01 9.92396656e-01 4.87633271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.40719347 meters Centerline goodness : 0.867193 with order 1 Centerline is valid? [False, False] Translation: X:10.02, Y:-0.29, Z:0.49 [[ 9.98724949e-01 2.52451318e-03 5.04192674e-02 1.00168549e+01] [ 2.50423263e-03 9.95041710e-01 -9.94269805e-02 -2.86895605e-01] [-5.04202787e-02 9.94264676e-02 9.93766659e-01 4.87217619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.46719347 meters Centerline goodness : 0.874747 with order 1 Centerline is valid? [False, False] Translation: X:10.03, Y:-0.29, Z:0.49 [[ 9.98701892e-01 -8.01428274e-03 5.03021158e-02 1.00343039e+01] [ 1.27288673e-02 9.95479761e-01 -9.41170658e-02 -2.87856514e-01] [-4.93204574e-02 9.46351806e-02 9.94289533e-01 4.89362868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.52719347 meters Centerline goodness : 0.876276 with order 1 Centerline is valid? [False, False] Translation: X:10.06, Y:-0.29, Z:0.49 [[ 0.99847676 -0.01912586 0.0517529 10.05894747] [ 0.02336372 0.99631205 -0.08256174 -0.28646254] [-0.04998298 0.08364512 0.99524128 0.49239938] [ 0. 0. 0. 1. ]] SLAMing on 47.58719347 meters Centerline goodness : 0.880619 with order 1 Centerline is valid? [False, False] Translation: X:10.08, Y:-0.29, Z:0.49 [[ 0.99846602 -0.01854938 0.05216835 10.08443718] [ 0.02262273 0.99664894 -0.07860729 -0.28520359] [-0.05053542 0.0796669 0.99553973 0.49352714] [ 0. 0. 0. 1. ]] SLAMing on 47.64719347 meters Centerline goodness : 0.882445 with order 1 Centerline is valid? [False, False] Translation: X:10.12, Y:-0.28, Z:0.49 [[ 9.98571189e-01 -7.80348547e-03 5.28647898e-02 1.01229928e+01] [ 1.18970151e-02 9.96916107e-01 -7.75676234e-02 -2.76331456e-01] [-5.20964627e-02 7.80857271e-02 9.95584541e-01 4.89253649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.70719347 meters Centerline goodness : 0.878677 with order 1 Centerline is valid? [False, False] Translation: X:10.16, Y:-0.26, Z:0.49 [[ 9.98042617e-01 7.60392336e-03 6.20734647e-02 1.01641484e+01] [-6.09368308e-05 9.92698199e-01 -1.20624546e-01 -2.55766934e-01] [-6.25374365e-02 1.20384655e-01 9.90755572e-01 4.86195785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.76719347 meters Centerline goodness : 0.884389 with order 1 Centerline is valid? [False, False] Translation: X:10.18, Y:-0.25, Z:0.49 [[ 9.98183508e-01 6.77028791e-03 5.98652527e-02 1.01820433e+01] [-2.08831126e-04 9.94048629e-01 -1.08937043e-01 -2.51273994e-01] [-6.02465075e-02 1.08726658e-01 9.92244361e-01 4.86197625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.82719347 meters Centerline goodness : 0.882275 with order 1 Centerline is valid? [False, False] Translation: X:10.22, Y:-0.24, Z:0.48 [[ 9.97827828e-01 1.27488180e-02 6.46304384e-02 1.02216322e+01] [-3.91876725e-03 9.90844731e-01 -1.34949481e-01 -2.35447913e-01] [-6.57591757e-02 1.34403076e-01 9.88742405e-01 4.79527553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.88719347 meters Centerline goodness : 0.884410 with order 1 Centerline is valid? [False, False] Translation: X:10.24, Y:-0.23, Z:0.48 [[ 9.97872746e-01 9.80532951e-03 6.44502821e-02 1.02404820e+01] [-1.77761952e-03 9.92349039e-01 -1.23451302e-01 -2.32885587e-01] [-6.51676562e-02 1.23074122e-01 9.90255491e-01 4.78481857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.94719347 meters Centerline goodness : 0.885978 with order 1 Centerline is valid? [False, False] Translation: X:10.26, Y:-0.23, Z:0.48 [[ 9.97858719e-01 4.73486890e-03 6.52346451e-02 1.02593930e+01] [ 2.71497489e-03 9.93518153e-01 -1.13641142e-01 -2.31831796e-01] [-6.53498800e-02 1.13574915e-01 9.91377896e-01 4.77004660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.007193470000004 meters Centerline goodness : 0.884954 with order 1 Centerline is valid? [False, False] Translation: X:10.28, Y:-0.23, Z:0.48 [[ 9.97752069e-01 -6.82594125e-04 6.70100192e-02 1.02791861e+01] [ 7.51917244e-03 9.94773989e-01 -1.01824221e-01 -2.31939599e-01] [-6.65903195e-02 1.02099187e-01 9.92542939e-01 4.75953124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.06719347 meters Centerline goodness : 0.886947 with order 1 Centerline is valid? [False, False] Translation: X:10.30, Y:-0.23, Z:0.48 [[ 9.97623786e-01 -9.12137003e-03 6.82904266e-02 1.02971456e+01] [ 1.54966081e-02 9.95506582e-01 -9.34157423e-02 -2.32752027e-01] [-6.71314896e-02 9.42520365e-02 9.93282395e-01 4.76255574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.12719347 meters Centerline goodness : 0.886240 with order 1 Centerline is valid? [False, False] Translation: X:10.33, Y:-0.23, Z:0.48 [[ 0.99773475 -0.01186732 0.06621584 10.32671001] [ 0.01777914 0.99583538 -0.0894192 -0.23247407] [-0.06487891 0.09039391 0.99379056 0.47603687] [ 0. 0. 0. 1. ]] SLAMing on 48.187193470000004 meters Centerline goodness : 0.886800 with order 1 Centerline is valid? [False, False] Translation: X:10.36, Y:-0.23, Z:0.47 [[ 0.99786448 -0.01108266 0.06437115 10.35692784] [ 0.01640027 0.99644143 -0.08267717 -0.22998649] [-0.0632258 0.08355632 0.99449527 0.47466556] [ 0. 0. 0. 1. ]] SLAMing on 48.24719347 meters Centerline goodness : 0.884493 with order 1 Centerline is valid? [False, False] Translation: X:10.39, Y:-0.22, Z:0.47 [[ 9.97397967e-01 -3.33225709e-03 7.20152114e-02 1.03918596e+01] [ 1.07829290e-02 9.94589672e-01 -1.03320435e-01 -2.21890801e-01] [-7.12812952e-02 1.03828127e-01 9.92037649e-01 4.72284815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.30719347 meters Centerline goodness : 0.886630 with order 1 Centerline is valid? [False, False] Translation: X:10.42, Y:-0.22, Z:0.47 [[ 9.97325129e-01 -6.39547457e-04 7.30902087e-02 1.04152657e+01] [ 7.81143186e-03 9.95167553e-01 -9.78801475e-02 -2.21769486e-01] [-7.26744051e-02 9.81892699e-02 9.92510604e-01 4.73868843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.367193470000004 meters Centerline goodness : 0.885412 with order 1 Centerline is valid? [False, False] Translation: X:10.44, Y:-0.20, Z:0.47 [[ 9.96214440e-01 1.59763064e-02 8.54490956e-02 1.04420414e+01] [-4.24689070e-04 9.83849387e-01 -1.78997774e-01 -1.96413691e-01] [-8.69287637e-02 1.78283877e-01 9.80131751e-01 4.72789673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.42719347 meters Centerline goodness : 0.886828 with order 1 Centerline is valid? [False, False] Translation: X:10.46, Y:-0.20, Z:0.47 [[ 9.96216578e-01 1.98397438e-02 8.46103627e-02 1.04649062e+01] [-4.06327825e-03 9.83161511e-01 -1.82693548e-01 -1.97781378e-01] [-8.68102452e-02 1.81658545e-01 9.79522411e-01 4.65567136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.48719347 meters Centerline goodness : 0.882235 with order 1 Centerline is valid? [False, False] Translation: X:10.45, Y:-0.21, Z:0.46 [[ 9.96264251e-01 2.06325573e-02 8.38560654e-02 1.04510289e+01] [-7.00715964e-03 9.87151036e-01 -1.59636248e-01 -2.06909853e-01] [-8.60723059e-02 1.58452294e-01 9.83607863e-01 4.64685896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.54719347 meters Centerline goodness : 0.879727 with order 1 Centerline is valid? [False, False] Translation: X:10.46, Y:-0.22, Z:0.47 [[ 0.99637232 0.02714849 0.08065459 10.45748405] [-0.01522937 0.98933286 -0.14487426 -0.2192941 ] [-0.08372735 0.14312038 0.98615733 0.46622057] [ 0. 0. 0. 1. ]] SLAMing on 48.60719347 meters Centerline goodness : 0.880878 with order 1 Centerline is valid? [False, False] Translation: X:10.45, Y:-0.23, Z:0.47 [[ 0.99616957 0.02547438 0.08364953 10.45177143] [-0.01443566 0.99140781 -0.13000832 -0.22666313] [-0.08624268 0.12830279 0.98797803 0.46733615] [ 0. 0. 0. 1. ]] SLAMing on 48.66719347 meters Centerline goodness : 0.884113 with order 1 Centerline is valid? [False, False] Translation: X:10.45, Y:-0.24, Z:0.47 [[ 9.96031147e-01 2.08373069e-02 8.65318480e-02 1.04525853e+01] [-1.02017619e-02 9.92529454e-01 -1.21577990e-01 -2.41989479e-01] [-8.84187658e-02 1.20212688e-01 9.88802827e-01 4.74264558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.72719347 meters Centerline goodness : 0.886365 with order 1 Centerline is valid? [False, False] Translation: X:10.46, Y:-0.26, Z:0.48 [[ 9.96035871e-01 1.16350753e-02 8.81882578e-02 1.04594282e+01] [-1.54341539e-03 9.93519927e-01 -1.13647580e-01 -2.55752233e-01] [-8.89390896e-02 1.13060955e-01 9.89599444e-01 4.75773864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.78719347 meters Centerline goodness : 0.888473 with order 1 Centerline is valid? [False, False] Translation: X:10.48, Y:-0.26, Z:0.47 [[ 9.96084595e-01 3.26681035e-03 8.83448176e-02 1.04804802e+01] [ 5.98837483e-03 9.94528447e-01 -1.04294332e-01 -2.61525121e-01] [-8.82021441e-02 1.04415020e-01 9.90614903e-01 4.73252129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.84719347 meters Centerline goodness : 0.885553 with order 1 Centerline is valid? [False, False] Translation: X:10.50, Y:-0.27, Z:0.47 [[ 9.96856928e-01 -4.18387262e-03 7.91123291e-02 1.05007715e+01] [ 1.18125974e-02 9.95291082e-01 -9.62087515e-02 -2.70989953e-01] [-7.83372705e-02 9.68408826e-02 9.92212233e-01 4.71385351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.90719347 meters Centerline goodness : 0.882208 with order 1 Centerline is valid? [False, False] Translation: X:10.52, Y:-0.27, Z:0.47 [[ 9.96884319e-01 -9.88083551e-03 7.82561423e-02 1.05187338e+01] [ 1.66048745e-02 9.96178749e-01 -8.57448437e-02 -2.73477899e-01] [-7.71098752e-02 8.67771235e-02 9.93239044e-01 4.71807073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.96719347 meters Centerline goodness : 0.883596 with order 1 Centerline is valid? [False, False] Translation: X:10.55, Y:-0.27, Z:0.47 [[ 0.99691867 -0.01634657 0.07671992 10.55119339] [ 0.02253887 0.99649535 -0.08055444 -0.27449576] [-0.07513426 0.08203541 0.99379326 0.47460743] [ 0. 0. 0. 1. ]] SLAMing on 49.02719347 meters Centerline goodness : 0.875648 with order 1 Centerline is valid? [False, False] Translation: X:10.58, Y:-0.28, Z:0.47 [[ 0.99708566 -0.02249947 0.07289697 10.58038242] [ 0.02851585 0.99617701 -0.08257247 -0.27503017] [-0.07076045 0.08441054 0.9939154 0.47457211] [ 0. 0. 0. 1. ]] SLAMing on 49.08719347 meters Centerline goodness : 0.876566 with order 1 Centerline is valid? [False, False] Translation: X:10.62, Y:-0.27, Z:0.47 [[ 0.99738524 -0.02511788 0.06776258 10.61721618] [ 0.03006118 0.99688276 -0.0729458 -0.27143882] [-0.0657191 0.07479208 0.99503123 0.4740022 ] [ 0. 0. 0. 1. ]] SLAMing on 49.14719347 meters Centerline goodness : 0.874105 with order 1 Centerline is valid? [False, False] Translation: X:10.66, Y:-0.26, Z:0.47 [[ 0.99763515 -0.0309373 0.06137582 10.65720759] [ 0.03506472 0.99711289 -0.06735245 -0.26497503] [-0.05911492 0.0693453 0.99583967 0.47229575] [ 0. 0. 0. 1. ]] SLAMing on 49.20719347 meters Centerline goodness : 0.872470 with order 1 Centerline is valid? [False, False] Translation: X:10.69, Y:-0.26, Z:0.47 [[ 0.99771724 -0.03290603 0.05897027 10.68583594] [ 0.03685602 0.99705876 -0.06719723 -0.26036065] [-0.05658563 0.06921725 0.9959955 0.47066613] [ 0. 0. 0. 1. ]] SLAMing on 49.26719347 meters Centerline goodness : 0.876161 with order 1 Centerline is valid? [False, False] Translation: X:10.72, Y:-0.25, Z:0.47 [[ 0.99778672 -0.02458731 0.06178282 10.72115349] [ 0.0288288 0.99721898 -0.06872562 -0.24533408] [-0.05992122 0.07035464 0.99572068 0.46870146] [ 0. 0. 0. 1. ]] SLAMing on 49.327193470000005 meters Centerline goodness : 0.873130 with order 1 Centerline is valid? [False, False] Translation: X:10.76, Y:-0.23, Z:0.47 [[ 0.99786188 -0.01399376 0.06384233 10.76312998] [ 0.01914243 0.9965496 -0.08076171 -0.23090769] [-0.06249189 0.08181113 0.99468674 0.46681569] [ 0. 0. 0. 1. ]] SLAMing on 49.38719347 meters Centerline goodness : 0.869479 with order 1 Centerline is valid? [False, False] Translation: X:10.81, Y:-0.21, Z:0.46 [[ 9.97644428e-01 -6.50629744e-03 6.82880923e-02 1.08131776e+01] [ 1.28449496e-02 9.95602084e-01 -9.27981570e-02 -2.12946245e-01] [-6.73839946e-02 9.34567214e-02 9.93340444e-01 4.61775413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.44719347 meters Centerline goodness : 0.871701 with order 1 Centerline is valid? [False, False] Translation: X:10.85, Y:-0.20, Z:0.46 [[ 9.97319394e-01 3.42856812e-04 7.31704131e-02 1.08511731e+01] [ 7.60628213e-03 9.94085635e-01 -1.08332335e-01 -2.00951366e-01] [-7.27747990e-02 1.08598494e-01 9.91418275e-01 4.61704575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.507193470000004 meters Centerline goodness : 0.865551 with order 1 Centerline is valid? [False, False] Translation: X:10.88, Y:-0.19, Z:0.46 [[ 9.96999035e-01 4.83507916e-03 7.72628330e-02 1.08849480e+01] [ 4.01535426e-03 9.93474316e-01 -1.13985353e-01 -1.87654235e-01] [-7.73097684e-02 1.13953525e-01 9.90473520e-01 4.60439304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.56719347 meters Centerline goodness : 0.863229 with order 1 Centerline is valid? [False, False] Translation: X:10.91, Y:-0.18, Z:0.46 [[ 9.96402489e-01 6.46868496e-03 8.44999151e-02 1.09119195e+01] [ 4.83992298e-03 9.91111821e-01 -1.32943346e-01 -1.75006843e-01] [-8.46088333e-02 1.32874054e-01 9.87514978e-01 4.56148579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.62719347 meters Centerline goodness : 0.862991 with order 1 Centerline is valid? [False, False] Translation: X:10.94, Y:-0.17, Z:0.45 [[ 9.96074443e-01 2.55282519e-03 8.84826957e-02 1.09384301e+01] [ 9.34479600e-03 9.90965988e-01 -1.33787463e-01 -1.70254871e-01] [-8.80248779e-02 1.34089126e-01 9.87052039e-01 4.52845624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.687193470000004 meters Centerline goodness : 0.864929 with order 1 Centerline is valid? [False, False] Translation: X:10.98, Y:-0.16, Z:0.45 [[ 9.96076780e-01 7.89622293e-03 8.81402129e-02 1.09760366e+01] [ 6.28400985e-03 9.87185210e-01 -1.59454922e-01 -1.59045913e-01] [-8.82698062e-02 1.59383219e-01 9.83262646e-01 4.48676464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.74719347 meters Centerline goodness : 0.861820 with order 1 Centerline is valid? [False, False] Translation: X:11.01, Y:-0.15, Z:0.44 [[ 9.95834641e-01 1.25355463e-02 9.03118410e-02 1.10125567e+01] [ 2.43177201e-03 9.86499984e-01 -1.63743302e-01 -1.52284589e-01] [-9.11452414e-02 1.63280870e-01 9.82360373e-01 4.44826880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.80719347 meters Centerline goodness : 0.863854 with order 1 Centerline is valid? [False, False] Translation: X:11.03, Y:-0.14, Z:0.44 [[ 9.95066053e-01 1.60299060e-02 9.79111470e-02 1.10326415e+01] [ 2.47307474e-03 9.82547514e-01 -1.85995339e-01 -1.43927338e-01] [-9.91838419e-02 1.85319789e-01 9.77660034e-01 4.43240630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.867193470000004 meters Centerline goodness : 0.855252 with order 1 Centerline is valid? [False, False] Translation: X:11.05, Y:-0.14, Z:0.44 [[ 9.94413439e-01 8.75906069e-03 1.05191212e-01 1.10489821e+01] [ 1.05309495e-02 9.83346651e-01 -1.81434460e-01 -1.44248496e-01] [-1.05028622e-01 1.81528628e-01 9.77760884e-01 4.43863330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.92719347 meters Centerline goodness : 0.853684 with order 1 Centerline is valid? [False, False] Translation: X:11.07, Y:-0.15, Z:0.44 [[ 9.94199843e-01 2.32888666e-03 1.07523244e-01 1.10686537e+01] [ 1.59357563e-02 9.85539625e-01 -1.68694097e-01 -1.47489395e-01] [-1.06361287e-01 1.69429109e-01 9.79786229e-01 4.41835809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.98719347 meters Centerline goodness : 0.853662 with order 1 Centerline is valid? [False, False] Translation: X:11.09, Y:-0.15, Z:0.44 [[ 9.94094212e-01 -5.32971116e-03 1.08389533e-01 1.10858748e+01] [ 2.25061294e-02 9.87203023e-01 -1.57872310e-01 -1.53168951e-01] [-1.06161061e-01 1.59379378e-01 9.81492763e-01 4.41720268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.04719347 meters Centerline goodness : 0.853682 with order 1 Centerline is valid? [False, False] Translation: X:11.11, Y:-0.16, Z:0.44 [[ 0.99429783 -0.01215355 0.10594392 11.10523212] [ 0.02774033 0.98875942 -0.14691933 -0.1555734 ] [-0.10296745 0.14902049 0.98345849 0.44097676] [ 0. 0. 0. 1. ]] SLAMing on 50.10719347 meters Centerline goodness : 0.852378 with order 1 Centerline is valid? [False, False] Translation: X:11.13, Y:-0.15, Z:0.44 [[ 0.99430374 -0.0177782 0.10509046 11.12539529] [ 0.03208875 0.9901758 -0.13609629 -0.15451981] [-0.10163849 0.13869327 0.98510598 0.4383987 ] [ 0. 0. 0. 1. ]] SLAMing on 50.16719347 meters Centerline goodness : 0.854189 with order 1 Centerline is valid? [False, False] Translation: X:11.14, Y:-0.15, Z:0.44 [[ 0.99430365 -0.02396746 0.10385472 11.13974512] [ 0.03703412 0.99136695 -0.12577775 -0.1526232 ] [-0.09994356 0.12890745 0.9866074 0.44217681] [ 0. 0. 0. 1. ]] SLAMing on 50.22719347 meters Centerline goodness : 0.854783 with order 1 Centerline is valid? [False, False] Translation: X:11.16, Y:-0.15, Z:0.44 [[ 0.99400302 -0.03275073 0.10433308 11.16108832] [ 0.04488314 0.99221723 -0.11614851 -0.14925013] [-0.09971713 0.12013476 0.98773687 0.44093617] [ 0. 0. 0. 1. ]] SLAMing on 50.28719347 meters Centerline goodness : 0.852186 with order 1 Centerline is valid? [False, False] Translation: X:11.18, Y:-0.14, Z:0.44 [[ 0.99389525 -0.04137777 0.10227467 11.18176336] [ 0.05256655 0.99262384 -0.10924587 -0.14095433] [-0.09699992 0.11395518 0.98873921 0.4391336 ] [ 0. 0. 0. 1. ]] SLAMing on 50.34719347 meters Centerline goodness : 0.861994 with order 1 Centerline is valid? [False, False] Translation: X:11.21, Y:-0.13, Z:0.44 [[ 0.99411861 -0.04238281 0.0996588 11.21375389] [ 0.05214619 0.99386864 -0.09749821 -0.12965581] [-0.09491551 0.10212162 0.99023342 0.44116105] [ 0. 0. 0. 1. ]] SLAMing on 50.40719347 meters Centerline goodness : 0.858279 with order 1 Centerline is valid? [False, False] Translation: X:11.22, Y:-0.12, Z:0.44 [[ 0.99465122 -0.03842857 0.09587596 11.22262435] [ 0.04719039 0.99474489 -0.09086071 -0.11956556] [-0.09188047 0.09489914 0.99123768 0.43998935] [ 0. 0. 0. 1. ]] SLAMing on 50.46719347 meters Centerline goodness : 0.860727 with order 1 Centerline is valid? [False, False] Translation: X:11.24, Y:-0.11, Z:0.44 [[ 0.99496963 -0.03563429 0.09362494 11.24370986] [ 0.04412734 0.99493936 -0.09026876 -0.11475929] [-0.08993448 0.09394609 0.99150689 0.43691574] [ 0. 0. 0. 1. ]] SLAMing on 50.52719347 meters Centerline goodness : 0.852965 with order 1 Centerline is valid? [False, False] Translation: X:11.26, Y:-0.10, Z:0.43 [[ 0.99470233 -0.03086259 0.09805499 11.25937938] [ 0.0399166 0.99498086 -0.0917592 -0.09841025] [-0.09473091 0.09518711 0.99094171 0.43422782] [ 0. 0. 0. 1. ]] SLAMing on 50.58719347 meters Centerline goodness : 0.852202 with order 1 Centerline is valid? [False, False] Translation: X:11.30, Y:-0.08, Z:0.43 [[ 0.99445326 -0.02417233 0.10236407 11.29882936] [ 0.03467766 0.9941669 -0.10212555 -0.08159543] [-0.09929836 0.10510883 0.98949076 0.43439521] [ 0. 0. 0. 1. ]] SLAMing on 50.64719347 meters Centerline goodness : 0.857507 with order 1 Centerline is valid? [False, False] Translation: X:11.33, Y:-0.07, Z:0.43 [[ 0.99420092 -0.02219133 0.10522392 11.33196876] [ 0.03367255 0.99351237 -0.10862477 -0.07082506] [-0.10213073 0.111538 0.98849815 0.4341482 ] [ 0. 0. 0. 1. ]] SLAMing on 50.70719347 meters Centerline goodness : 0.858048 with order 1 Centerline is valid? [False, False] Translation: X:11.38, Y:-0.05, Z:0.43 [[ 0.99426323 -0.01649235 0.10568173 11.37779872] [ 0.0302747 0.99102934 -0.13017025 -0.05358733] [-0.10258688 0.13262298 0.98584333 0.4290221 ] [ 0. 0. 0. 1. ]] SLAMing on 50.76719347 meters Centerline goodness : 0.851152 with order 1 Centerline is valid? [False, False] Translation: X:11.37, Y:-0.05, Z:0.43 [[ 0.99408525 -0.02090269 0.10657204 11.36925892] [ 0.03236222 0.99373641 -0.10696091 -0.05172209] [-0.10366875 0.10977717 0.98853516 0.4289905 ] [ 0. 0. 0. 1. ]] SLAMing on 50.827193470000005 meters Centerline goodness : 0.855273 with order 1 Centerline is valid? [False, False] Translation: X:11.38, Y:-0.05, Z:0.43 [[ 0.99400882 -0.02750178 0.10578339 11.38277667] [ 0.03758235 0.99481387 -0.09451422 -0.04649273] [-0.10263548 0.09792355 0.98988734 0.43288695] [ 0. 0. 0. 1. ]] SLAMing on 50.88719347 meters Centerline goodness : 0.853303 with order 1 Centerline is valid? [False, False] Translation: X:11.36, Y:-0.05, Z:0.43 [[ 0.99313963 -0.04347887 0.10855076 11.36292414] [ 0.05174309 0.99587668 -0.07451365 -0.04517149] [-0.1048634 0.07961921 0.99129433 0.43468767] [ 0. 0. 0. 1. ]] SLAMing on 50.94719347 meters Centerline goodness : 0.853642 with order 1 Centerline is valid? [False, False] Translation: X:11.36, Y:-0.04, Z:0.43 [[ 0.99280187 -0.05017424 0.108752 11.36175583] [ 0.05680098 0.99665739 -0.05871701 -0.04313262] [-0.1054424 0.06447158 0.99233327 0.43277477] [ 0. 0. 0. 1. ]] SLAMing on 51.007193470000004 meters Centerline goodness : 0.857538 with order 1 Centerline is valid? [False, False] Translation: X:11.37, Y:-0.03, Z:0.43 [[ 0.99345011 -0.04704967 0.10413068 11.37159346] [ 0.05268389 0.99725467 -0.05203387 -0.03379525] [-0.10139664 0.05717907 0.99320153 0.43090059] [ 0. 0. 0. 1. ]] SLAMing on 51.06719347 meters Centerline goodness : 0.854480 with order 1 Centerline is valid? [False, False] Translation: X:11.37, Y:-0.03, Z:0.43 [[ 0.99374203 -0.04049141 0.10410196 11.3706327 ] [ 0.04548301 0.99790406 -0.04603027 -0.02761956] [-0.10201994 0.05047709 0.99350088 0.43215124] [ 0. 0. 0. 1. ]] SLAMing on 51.12719347 meters Centerline goodness : 0.852202 with order 1 Centerline is valid? [False, False] Translation: X:11.37, Y:-0.01, Z:0.44 [[ 0.99423444 -0.0270901 0.1037497 11.36938185] [ 0.03082395 0.9989273 -0.03455614 -0.01456163] [-0.10270228 0.03755488 0.99400295 0.43530974] [ 0. 0. 0. 1. ]] SLAMing on 51.187193470000004 meters Centerline goodness : 0.855464 with order 1 Centerline is valid? [False, False] Translation: X:11.35, Y:-0.01, Z:0.44 [[ 9.94956253e-01 -6.56230637e-03 1.00094909e-01 1.13517576e+01] [ 8.23502936e-03 9.99833113e-01 -1.63073504e-02 -7.90442808e-03] [-9.99711904e-02 1.70493847e-02 9.94844249e-01 4.43936621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.24719347 meters Centerline goodness : 0.848609 with order 1 Centerline is valid? [False, False] Translation: X:11.35, Y:-0.00, Z:0.44 [[ 9.94964861e-01 4.72982498e-03 1.00112705e-01 1.13515593e+01] [-4.25153553e-03 9.99978510e-01 -4.99032443e-03 -4.30873694e-03] [-1.00134157e-01 4.53956473e-03 9.94963589e-01 4.44721548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.30719347 meters Centerline goodness : 0.849810 with order 1 Centerline is valid? [False, False] Translation: X:11.37, Y:-0.00, Z:0.45 [[ 9.94266923e-01 1.71590644e-02 1.05540764e-01 1.13652817e+01] [-1.82334320e-02 9.99791216e-01 9.22313234e-03 -1.22988517e-03] [-1.05360468e-01 -1.10946257e-02 9.94372204e-01 4.45879607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.367193470000004 meters Centerline goodness : 0.851497 with order 1 Centerline is valid? [False, False] Translation: X:11.38, Y:-0.01, Z:0.45 [[ 9.94582296e-01 2.40073566e-02 1.01141994e-01 1.13753333e+01] [-2.53525431e-02 9.99606121e-01 1.20354552e-02 -9.53479842e-03] [-1.00813216e-01 -1.45344574e-02 9.94799198e-01 4.45643675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.42719347 meters Centerline goodness : 0.851435 with order 1 Centerline is valid? [False, False] Translation: X:11.40, Y:-0.02, Z:0.44 [[ 0.99471892 0.02611192 0.09925948 11.39920679] [-0.02826351 0.99939371 0.02033215 -0.02149411] [-0.09866839 -0.02303019 0.99485384 0.43888885] [ 0. 0. 0. 1. ]] SLAMing on 51.48719347 meters Centerline goodness : 0.856161 with order 1 Centerline is valid? [False, False] Translation: X:11.44, Y:-0.04, Z:0.44 [[ 0.99518608 0.01807915 0.09632143 11.4392828 ] [-0.02268785 0.99863867 0.04696875 -0.04117275] [-0.09534115 -0.04892797 0.99424148 0.43598002] [ 0. 0. 0. 1. ]] SLAMing on 51.54719347 meters Centerline goodness : 0.853286 with order 1 Centerline is valid? [False, False] Translation: X:11.47, Y:-0.06, Z:0.44 [[ 9.94697688e-01 1.04874614e-02 1.02306022e-01 1.14661926e+01] [-1.78477562e-02 9.97295502e-01 7.12961339e-02 -5.61295586e-02] [-1.01281620e-01 -7.27440325e-02 9.92194708e-01 4.36410069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.60719347 meters Centerline goodness : 0.853607 with order 1 Centerline is valid? [False, False] Translation: X:11.51, Y:-0.09, Z:0.44 [[ 9.94436455e-01 4.26355866e-04 1.05337336e-01 1.15075096e+01] [-1.25668144e-02 9.93330336e-01 1.14616400e-01 -9.02732966e-02] [-1.04585903e-01 -1.15302481e-01 9.87809256e-01 4.43498562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.66719347 meters Centerline goodness : 0.860102 with order 1 Centerline is valid? [False, False] Translation: X:11.54, Y:-0.12, Z:0.45 [[ 9.94090096e-01 -1.25087615e-02 1.07835117e-01 1.15403113e+01] [-6.74569596e-03 9.84301911e-01 1.76363952e-01 -1.16586309e-01] [-1.08348406e-01 -1.76049081e-01 9.78400401e-01 4.51537789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.72719347 meters Centerline goodness : 0.855200 with order 1 Centerline is valid? [False, False] Translation: X:11.54, Y:-0.13, Z:0.46 [[ 9.94452599e-01 -1.95219483e-02 1.03358224e-01 1.15374677e+01] [ 3.17100038e-03 9.87743729e-01 1.56052143e-01 -1.26879884e-01] [-1.05137880e-01 -1.54858710e-01 9.82326222e-01 4.57539221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.78719347 meters Centerline goodness : 0.854463 with order 1 Centerline is valid? [False, False] Translation: X:11.53, Y:-0.13, Z:0.46 [[ 9.94208064e-01 -1.80329292e-02 1.05948753e-01 1.15263968e+01] [ 3.58826383e-03 9.90842659e-01 1.34973884e-01 -1.32004036e-01] [-1.07412518e-01 -1.33811952e-01 9.85168469e-01 4.62222694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.84719347 meters Centerline goodness : 0.854919 with order 1 Centerline is valid? [False, False] Translation: X:11.53, Y:-0.14, Z:0.47 [[ 9.94262900e-01 -1.99252031e-02 1.05091727e-01 1.15302223e+01] [ 6.69375578e-03 9.92161471e-01 1.24783046e-01 -1.37221379e-01] [-1.06754290e-01 -1.23363695e-01 9.86602717e-01 4.68129088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.90719347 meters Centerline goodness : 0.858140 with order 1 Centerline is valid? [False, False] Translation: X:11.54, Y:-0.14, Z:0.47 [[ 0.99417513 -0.02382116 0.10511115 11.53861875] [ 0.01405064 0.9955918 0.09273376 -0.13801521] [-0.10685683 -0.09071672 0.99012731 0.46767924] [ 0. 0. 0. 1. ]] SLAMing on 51.96719347 meters Centerline goodness : 0.859195 with order 1 Centerline is valid? [False, False] Translation: X:11.56, Y:-0.13, Z:0.47 [[ 0.99410546 -0.02526075 0.10543351 11.55573725] [ 0.01873472 0.99787318 0.06243496 -0.13236154] [-0.10678642 -0.06009166 0.99246443 0.46539255] [ 0. 0. 0. 1. ]] SLAMing on 52.02719347 meters Centerline goodness : 0.864525 with order 1 Centerline is valid? [False, False] Translation: X:11.58, Y:-0.12, Z:0.46 [[ 0.9944766 -0.01978125 0.10307766 11.57987131] [ 0.01736803 0.99955488 0.02425689 -0.12025466] [-0.10351161 -0.02233265 0.99437749 0.46189383] [ 0. 0. 0. 1. ]] SLAMing on 52.08719347 meters Centerline goodness : 0.872471 with order 1 Centerline is valid? [False, False] Translation: X:11.59, Y:-0.09, Z:0.46 [[ 9.94881630e-01 -3.70969598e-03 1.00979109e-01 1.15890907e+01] [ 9.06147149e-03 9.98574976e-01 -5.25918874e-02 -9.42853010e-02] [-1.00640112e-01 5.32377220e-02 9.93497515e-01 4.60575517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.14719347 meters Centerline goodness : 0.869549 with order 1 Centerline is valid? [False, False] Translation: X:11.61, Y:-0.08, Z:0.46 [[ 9.95250263e-01 2.06241900e-03 9.73275952e-02 1.16062227e+01] [ 5.34636941e-03 9.97108709e-01 -7.57999979e-02 -8.22042575e-02] [-9.72025241e-02 7.59603171e-02 9.92361678e-01 4.61778580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.20719347 meters Centerline goodness : 0.871080 with order 1 Centerline is valid? [False, False] Translation: X:11.61, Y:-0.08, Z:0.46 [[ 9.95238088e-01 4.97261533e-03 9.73469128e-02 1.16062999e+01] [ 2.15054016e-03 9.97334630e-01 -7.29315471e-02 -8.06007798e-02] [-9.74501078e-02 7.27936019e-02 9.92574717e-01 4.61903196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.26719347 meters Centerline goodness : 0.870605 with order 1 Centerline is valid? [False, False] Translation: X:11.60, Y:-0.08, Z:0.46 [[ 9.95649048e-01 6.56536186e-04 9.31801569e-02 1.16048330e+01] [ 4.80941351e-03 9.98280313e-01 -5.84233309e-02 -8.24497916e-02] [-9.30582733e-02 5.86172757e-02 9.93933686e-01 4.64141930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.327193470000005 meters Centerline goodness : 0.865746 with order 1 Centerline is valid? [False, False] Translation: X:11.63, Y:-0.07, Z:0.48 [[ 9.96478143e-01 6.96499220e-03 8.35631492e-02 1.16270272e+01] [ 2.48410954e-03 9.93654978e-01 -1.12443824e-01 -6.59407632e-02] [-8.38161095e-02 1.12255393e-01 9.90138165e-01 4.77936291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.38719347 meters Centerline goodness : 0.878923 with order 1 Centerline is valid? [False, False] Translation: X:11.63, Y:-0.07, Z:0.48 [[ 9.96797884e-01 4.60961402e-03 7.98293823e-02 1.16265307e+01] [ 3.11256378e-03 9.95343636e-01 -9.63398031e-02 -6.89829768e-02] [-7.99017570e-02 9.62797859e-02 9.92142083e-01 4.79305729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.44719347 meters Centerline goodness : 0.872448 with order 1 Centerline is valid? [False, False] Translation: X:11.63, Y:-0.07, Z:0.48 [[ 9.96419081e-01 -9.71233473e-04 8.45462698e-02 1.16283545e+01] [ 8.29860469e-03 9.96229535e-01 -8.63588259e-02 -7.18237589e-02] [-8.41436164e-02 8.67511980e-02 9.92670178e-01 4.79193876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.507193470000004 meters Centerline goodness : 0.875280 with order 1 Centerline is valid? [False, False] Translation: X:11.64, Y:-0.07, Z:0.49 [[ 9.96700763e-01 -3.10112324e-03 8.11047014e-02 1.16439209e+01] [ 1.20832930e-02 9.93803421e-01 -1.10493230e-01 -6.70481436e-02] [-8.02594766e-02 1.11108699e-01 9.90562100e-01 4.86433701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.56719347 meters Centerline goodness : 0.883991 with order 1 Centerline is valid? [False, False] Translation: X:11.64, Y:-0.07, Z:0.49 [[ 0.99645791 -0.01731282 0.08229153 11.63819413] [ 0.02437649 0.99602933 -0.08562336 -0.06793312] [-0.0804824 0.08732605 0.99292333 0.48842743] [ 0. 0. 0. 1. ]] SLAMing on 52.62719347 meters Centerline goodness : 0.887830 with order 1 Centerline is valid? [False, False] Translation: X:11.64, Y:-0.06, Z:0.49 [[ 0.99644183 -0.02671884 0.07993617 11.63510397] [ 0.03261405 0.99677089 -0.07337656 -0.06293384] [-0.07771751 0.07572252 0.99409561 0.4892176 ] [ 0. 0. 0. 1. ]] SLAMing on 52.687193470000004 meters Centerline goodness : 0.890800 with order 1 Centerline is valid? [False, False] Translation: X:11.63, Y:-0.06, Z:0.49 [[ 0.9962404 -0.02875653 0.08171985 11.62885816] [ 0.03432514 0.99712351 -0.06757582 -0.05816183] [-0.07954153 0.07012681 0.99436179 0.48645286] [ 0. 0. 0. 1. ]] SLAMing on 52.74719347 meters Centerline goodness : 0.894493 with order 1 Centerline is valid? [False, False] Translation: X:11.63, Y:-0.05, Z:0.49 [[ 0.99631297 -0.02498159 0.08207553 11.62596958] [ 0.03041894 0.99737697 -0.06567998 -0.04805926] [-0.08021945 0.06793447 0.99445953 0.49124859] [ 0. 0. 0. 1. ]] SLAMing on 52.80719347 meters Centerline goodness : 0.900571 with order 1 Centerline is valid? [False, False] Translation: X:11.63, Y:-0.04, Z:0.49 [[ 0.99578012 -0.02539008 0.08818898 11.62631314] [ 0.02993923 0.9982676 -0.05065021 -0.04161692] [-0.08675019 0.05307678 0.99481519 0.49235774] [ 0. 0. 0. 1. ]] SLAMing on 52.867193470000004 meters Centerline goodness : 0.900559 with order 1 Centerline is valid? [False, False] Translation: X:11.63, Y:-0.04, Z:0.49 [[ 0.99585676 -0.02261359 0.08807914 11.62590317] [ 0.02696671 0.99845663 -0.04855056 -0.03656905] [-0.0868453 0.05072461 0.9949296 0.49357301] [ 0. 0. 0. 1. ]] SLAMing on 52.92719347 meters Centerline goodness : 0.905351 with order 1 Centerline is valid? [False, False] Translation: X:11.63, Y:-0.04, Z:0.49 [[ 0.99600173 -0.01778148 0.08754636 11.6285259 ] [ 0.02165805 0.99881728 -0.04353128 -0.03674569] [-0.08666876 0.04525331 0.99520885 0.49062892] [ 0. 0. 0. 1. ]] SLAMing on 52.98719347 meters Centerline goodness : 0.899142 with order 1 Centerline is valid? [False, False] Translation: X:11.64, Y:-0.03, Z:0.49 [[ 9.96548855e-01 -5.27618233e-03 8.28404588e-02 1.16387104e+01] [ 7.49469239e-03 9.99620919e-01 -2.64924280e-02 -2.78020313e-02] [-8.26692766e-02 2.70218625e-02 9.96210625e-01 4.88498266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.04719347 meters Centerline goodness : 0.899302 with order 1 Centerline is valid? [False, False] Translation: X:11.64, Y:-0.03, Z:0.50 [[ 9.96923838e-01 2.44935867e-03 7.83381296e-02 1.16366362e+01] [-2.91988685e-03 9.99978377e-01 5.89239361e-03 -3.43594038e-02] [-7.83220030e-02 -6.10300613e-03 9.96909433e-01 4.95427027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.10719347 meters Centerline goodness : 0.906346 with order 1 Centerline is valid? [False, False] Translation: X:11.65, Y:-0.04, Z:0.50 [[ 9.97088517e-01 -1.69129469e-03 7.62340405e-02 1.16527682e+01] [-1.94196115e-03 9.98866499e-01 4.75599188e-02 -4.16067383e-02] [-7.62280670e-02 -4.75694924e-02 9.95955032e-01 5.02545949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.16719347 meters Centerline goodness : 0.907914 with order 1 Centerline is valid? [False, False] Translation: X:11.65, Y:-0.03, Z:0.50 [[ 9.97107825e-01 -2.45529799e-03 7.59602255e-02 1.16524137e+01] [-1.00474543e-03 9.98964789e-01 4.54790088e-02 -3.16196705e-02] [-7.59932552e-02 -4.54237963e-02 9.96073142e-01 5.03090792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.22719347 meters Centerline goodness : 0.908794 with order 1 Centerline is valid? [False, False] Translation: X:11.66, Y:-0.05, Z:0.51 [[ 9.97626690e-01 -1.40807282e-02 6.73997098e-02 1.16561934e+01] [ 6.37764788e-03 9.93555429e-01 1.13167730e-01 -4.53478381e-02] [-6.85588317e-02 -1.12469296e-01 9.91287216e-01 5.13596962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.28719347 meters Centerline goodness : 0.911686 with order 1 Centerline is valid? [False, False] Translation: X:11.66, Y:-0.04, Z:0.52 [[ 0.99769364 -0.02228564 0.06411519 11.66018689] [ 0.01566166 0.99465899 0.10202066 -0.04320606] [-0.06604634 -0.10078121 0.99271397 0.51795124] [ 0. 0. 0. 1. ]] SLAMing on 53.34719347 meters Centerline goodness : 0.913246 with order 1 Centerline is valid? [False, False] Translation: X:11.66, Y:-0.04, Z:0.52 [[ 0.99744401 -0.02862374 0.0654686 11.66042721] [ 0.02377571 0.9969994 0.0736676 -0.03595357] [-0.06738079 -0.07192275 0.99513162 0.51853453] [ 0. 0. 0. 1. ]] SLAMing on 53.40719347 meters Centerline goodness : 0.913430 with order 1 Centerline is valid? [False, False] Translation: X:11.66, Y:-0.03, Z:0.52 [[ 0.99718978 -0.03683573 0.06523548 11.66110757] [ 0.03260513 0.99736745 0.06476935 -0.03318953] [-0.06744958 -0.06246033 0.99576567 0.51880485] [ 0. 0. 0. 1. ]] SLAMing on 53.46719347 meters Centerline goodness : 0.918626 with order 1 Centerline is valid? [False, False] Translation: X:11.66, Y:-0.03, Z:0.52 [[ 0.99684682 -0.03571376 0.07085865 11.65860816] [ 0.03219455 0.99822012 0.0502007 -0.0322641 ] [-0.07252539 -0.04776115 0.99622233 0.52252105] [ 0. 0. 0. 1. ]] SLAMing on 53.52719347 meters Centerline goodness : 0.917994 with order 1 Centerline is valid? [False, False] Translation: X:11.65, Y:-0.03, Z:0.52 [[ 0.99717664 -0.03013884 0.06877788 11.65236302] [ 0.0271627 0.9986708 0.04380426 -0.02699506] [-0.07000667 -0.04181239 0.99666985 0.52170881] [ 0. 0. 0. 1. ]] SLAMing on 53.58719347 meters Centerline goodness : 0.912946 with order 1 Centerline is valid? [False, False] Translation: X:11.65, Y:-0.02, Z:0.52 [[ 0.99778475 -0.02571695 0.06135335 11.64745541] [ 0.02350425 0.99905655 0.03651799 -0.02198351] [-0.0622346 -0.03499503 0.99744784 0.52365992] [ 0. 0. 0. 1. ]] SLAMing on 53.647193470000005 meters Centerline goodness : 0.907950 with order 1 Centerline is valid? [False, False] Translation: X:11.65, Y:-0.02, Z:0.52 [[ 0.99831385 -0.0146901 0.05615736 11.65027676] [ 0.01315396 0.99953176 0.02762667 -0.01625207] [-0.05653691 -0.02684139 0.99803964 0.52414671] [ 0. 0. 0. 1. ]] SLAMing on 53.70719347 meters Centerline goodness : 0.904044 with order 1 Centerline is valid? [False, False] Translation: X:11.64, Y:-0.01, Z:0.53 [[ 9.98753700e-01 -4.65674642e-03 4.96926644e-02 1.16443203e+01] [ 3.58859844e-03 9.99761058e-01 2.15626949e-02 -8.40263854e-03] [-4.97812027e-02 -2.13574943e-02 9.98531767e-01 5.29526786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.76719347 meters Centerline goodness : 0.910149 with order 1 Centerline is valid? [False, False] Translation: X:11.66, Y:-0.01, Z:0.53 [[ 9.98415187e-01 6.79935635e-03 5.58648659e-02 1.16554823e+01] [-8.73806902e-03 9.99365359e-01 3.45329679e-02 -7.86002707e-03] [-5.55946098e-02 -3.49663907e-02 9.97840965e-01 5.33101152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.827193470000005 meters Centerline goodness : 0.918968 with order 1 Centerline is valid? [False, False] Translation: X:11.68, Y:-0.01, Z:0.54 [[ 9.98138356e-01 6.16952096e-03 6.06775049e-02 1.16776986e+01] [-9.69438417e-03 9.98271249e-01 5.79701042e-02 -1.39040638e-02] [-6.02149608e-02 -5.84504155e-02 9.96472633e-01 5.42521792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.88719347 meters Centerline goodness : 0.921010 with order 1 Centerline is valid? [False, False] Translation: X:11.71, Y:-0.03, Z:0.55 [[ 9.98233275e-01 1.79785711e-03 5.93893572e-02 1.17064580e+01] [-7.87140507e-03 9.94733563e-01 1.02191873e-01 -3.07934469e-02] [-5.88928605e-02 -1.02478806e-01 9.92990295e-01 5.48981661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.94719347 meters Centerline goodness : 0.913954 with order 1 Centerline is valid? [False, False] Translation: X:11.74, Y:-0.05, Z:0.55 [[ 9.98678958e-01 -3.22640926e-03 5.12828384e-02 1.17411433e+01] [-5.11280296e-03 9.86834557e-01 1.61652146e-01 -5.13086536e-02] [-5.11292331e-02 -1.61700796e-01 9.85514411e-01 5.54999108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.007193470000004 meters Centerline goodness : 0.911473 with order 1 Centerline is valid? [False, False] Translation: X:11.77, Y:-0.08, Z:0.57 [[ 9.98701676e-01 -1.44514197e-02 4.88479131e-02 1.17717555e+01] [ 1.41737266e-03 9.66427745e-01 2.56934630e-01 -8.35720393e-02] [-5.09210487e-02 -2.56531810e-01 9.65193492e-01 5.69825168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.06719347 meters Centerline goodness : 0.910152 with order 1 Centerline is valid? [False, False] Translation: X:11.76, Y:-0.08, Z:0.58 [[ 9.98845260e-01 -1.48622608e-02 4.56865323e-02 1.17553203e+01] [ 5.96291420e-03 9.81945710e-01 1.89068948e-01 -8.27472377e-02] [-4.76716864e-02 -1.88578198e-01 9.80900440e-01 5.77745827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.12719347 meters Centerline goodness : 0.905577 with order 1 Centerline is valid? [False, False] Translation: X:11.74, Y:-0.07, Z:0.59 [[ 9.99164210e-01 -8.32953415e-03 4.00187546e-02 1.17419755e+01] [ 3.59019852e-03 9.93117148e-01 1.17070243e-01 -7.39882663e-02] [-4.07184520e-02 -1.16828722e-01 9.92317015e-01 5.86158634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.187193470000004 meters Centerline goodness : 0.905558 with order 1 Centerline is valid? [False, False] Translation: X:11.73, Y:-0.06, Z:0.59 [[ 9.99286592e-01 2.49125668e-03 3.76842204e-02 1.17338851e+01] [-4.08757037e-03 9.99094783e-01 4.23427283e-02 -6.48650039e-02] [-3.75446214e-02 -4.24665576e-02 9.98392204e-01 5.92512052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.24719347 meters Centerline goodness : 0.905770 with order 1 Centerline is valid? [False, False] Translation: X:11.73, Y:-0.06, Z:0.60 [[ 9.99410100e-01 9.46441644e-03 3.30132916e-02 1.17252972e+01] [-8.81246436e-03 9.99764368e-01 -1.98380834e-02 -5.82642932e-02] [-3.31932684e-02 1.95354525e-02 9.99258011e-01 6.01507686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.30719347 meters Centerline goodness : 0.904492 with order 1 Centerline is valid? [False, False] Translation: X:11.73, Y:-0.06, Z:0.60 [[ 9.99440460e-01 9.09254283e-03 3.21883938e-02 1.17268515e+01] [-8.49540384e-03 9.99790171e-01 -1.86397816e-02 -6.10346550e-02] [-3.23511228e-02 1.83558985e-02 9.99307993e-01 6.02029773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.367193470000004 meters Centerline goodness : 0.904522 with order 1 Centerline is valid? [False, False] Translation: X:11.73, Y:-0.07, Z:0.60 [[ 9.99500187e-01 1.49669226e-03 3.15774555e-02 1.17269657e+01] [-7.64839326e-04 9.99731113e-01 -2.31757992e-02 -6.91674148e-02] [-3.16036518e-02 2.31400640e-02 9.99232579e-01 6.04185574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.42719347 meters Centerline goodness : 0.902281 with order 1 Centerline is valid? [False, False] Translation: X:11.75, Y:-0.07, Z:0.60 [[ 9.99627454e-01 -2.31896690e-03 2.71951549e-02 1.17504468e+01] [ 3.93057808e-03 9.98229013e-01 -5.93581367e-02 -7.08732041e-02] [-2.70093431e-02 5.94429157e-02 9.97866241e-01 6.03839259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.48719347 meters Centerline goodness : 0.903607 with order 1 Centerline is valid? [False, False] Translation: X:11.77, Y:-0.08, Z:0.60 [[ 9.99590260e-01 -5.96258766e-03 2.79957072e-02 1.17709876e+01] [ 7.59717274e-03 9.98249783e-01 -5.86485644e-02 -7.97919009e-02] [-2.75970114e-02 5.88372220e-02 9.97886059e-01 6.01044104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.54719347 meters Centerline goodness : 0.909390 with order 1 Centerline is valid? [False, False] Translation: X:11.80, Y:-0.08, Z:0.60 [[ 9.99474853e-01 -4.83306921e-04 3.24003929e-02 1.17954995e+01] [ 3.10731876e-03 9.96710416e-01 -8.09857436e-02 -7.88920327e-02] [-3.22546682e-02 8.10438925e-02 9.96188498e-01 6.03681018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.60719347 meters Centerline goodness : 0.912659 with order 1 Centerline is valid? [False, False] Translation: X:11.80, Y:-0.07, Z:0.61 [[ 9.99263121e-01 1.54156612e-02 3.51507168e-02 1.18045712e+01] [-1.03533229e-02 9.90111718e-01 -1.39898513e-01 -7.12584803e-02] [-3.69597647e-02 1.39431498e-01 9.89541729e-01 6.10979970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.66719347 meters Centerline goodness : 0.910281 with order 1 Centerline is valid? [False, False] Translation: X:11.80, Y:-0.08, Z:0.61 [[ 0.99935905 0.02022253 0.02953879 11.80283051] [-0.01659058 0.99282687 -0.11840424 -0.07878739] [-0.03172133 0.11783828 0.99252602 0.61260125] [ 0. 0. 0. 1. ]] SLAMing on 54.72719347 meters Centerline goodness : 0.909943 with order 1 Centerline is valid? [False, False] Translation: X:11.80, Y:-0.08, Z:0.61 [[ 0.99941984 0.01847862 0.02860991 11.79946247] [-0.01555002 0.99492595 -0.09940093 -0.08487279] [-0.03030154 0.09889838 0.99463608 0.61486038] [ 0. 0. 0. 1. ]] SLAMing on 54.78719347 meters Centerline goodness : 0.913121 with order 1 Centerline is valid? [False, False] Translation: X:11.79, Y:-0.09, Z:0.62 [[ 9.99535086e-01 6.69559110e-03 2.97452706e-02 1.17916118e+01] [-4.22836599e-03 9.96603042e-01 -8.22465639e-02 -9.19031866e-02] [-3.01949165e-02 8.20825524e-02 9.96168019e-01 6.16637762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.84719347 meters Centerline goodness : 0.918488 with order 1 Centerline is valid? [False, False] Translation: X:11.81, Y:-0.09, Z:0.62 [[ 9.99516110e-01 1.39002154e-03 3.10743321e-02 1.18140994e+01] [ 1.66938704e-03 9.95164095e-01 -9.82122081e-02 -9.36562187e-02] [-3.10605766e-02 9.82165592e-02 9.94680224e-01 6.21357526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.90719347 meters Centerline goodness : 0.926002 with order 1 Centerline is valid? [False, False] Translation: X:11.85, Y:-0.09, Z:0.62 [[ 9.99394276e-01 -2.86486617e-03 3.46824683e-02 1.18515796e+01] [ 6.11429272e-03 9.95558058e-01 -9.39508838e-02 -9.39522658e-02] [-3.42592541e-02 9.41060342e-02 9.94972541e-01 6.24959129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.96719347 meters Centerline goodness : 0.923514 with order 1 Centerline is valid? [False, False] Translation: X:11.88, Y:-0.09, Z:0.62 [[ 9.99474482e-01 -6.08518789e-03 3.18391344e-02 1.18814222e+01] [ 8.91899659e-03 9.95934865e-01 -8.96336779e-02 -9.22583967e-02] [-3.11642662e-02 8.98705469e-02 9.95465757e-01 6.24117839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.02719347 meters Centerline goodness : 0.920425 with order 1 Centerline is valid? [False, False] Translation: X:11.91, Y:-0.09, Z:0.62 [[ 9.99454489e-01 -6.04103258e-03 3.24689269e-02 1.19114571e+01] [ 9.38430671e-03 9.94551360e-01 -1.03824506e-01 -8.91945346e-02] [-3.16648081e-02 1.04072567e-01 9.94065511e-01 6.20506236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.08719347 meters Centerline goodness : 0.919343 with order 1 Centerline is valid? [False, False] Translation: X:11.94, Y:-0.08, Z:0.62 [[ 9.99352363e-01 -2.10994443e-03 3.59221730e-02 1.19387526e+01] [ 6.78044112e-03 9.91438581e-01 -1.30397722e-01 -8.25359463e-02] [-3.53394962e-02 1.30556840e-01 9.90810795e-01 6.21781390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.147193470000005 meters Centerline goodness : 0.920140 with order 1 Centerline is valid? [False, False] Translation: X:11.97, Y:-0.07, Z:0.63 [[ 9.99230277e-01 1.12287297e-02 3.75868130e-02 1.19727609e+01] [-4.57853528e-03 9.84992014e-01 -1.72539184e-01 -6.58633861e-02] [-3.89601065e-02 1.72234284e-01 9.84285254e-01 6.27674908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.20719347 meters Centerline goodness : 0.917251 with order 1 Centerline is valid? [False, False] Translation: X:11.97, Y:-0.07, Z:0.63 [[ 0.99927213 0.01976419 0.03262797 11.97155337] [-0.01469933 0.98876512 -0.14875302 -0.06804597] [-0.03520138 0.14816514 0.98833595 0.62870321] [ 0. 0. 0. 1. ]] SLAMing on 55.26719347 meters Centerline goodness : 0.911929 with order 1 Centerline is valid? [False, False] Translation: X:11.97, Y:-0.07, Z:0.63 [[ 0.99891744 0.03399538 0.03175306 11.96606252] [-0.02979654 0.99177863 -0.12444801 -0.06782027] [-0.03572266 0.12336715 0.99171792 0.62535571] [ 0. 0. 0. 1. ]] SLAMing on 55.327193470000005 meters Centerline goodness : 0.910740 with order 1 Centerline is valid? [False, False] Translation: X:11.96, Y:-0.07, Z:0.63 [[ 0.99832528 0.04750372 0.03301571 11.96409118] [-0.04359207 0.99291945 -0.11050201 -0.07116672] [-0.0380312 0.10887773 0.99332737 0.62608274] [ 0. 0. 0. 1. ]] SLAMing on 55.38719347 meters Centerline goodness : 0.916425 with order 1 Centerline is valid? [False, False] Translation: X:11.99, Y:-0.08, Z:0.63 [[ 0.99809015 0.04964936 0.03675579 11.9872389 ] [-0.04659183 0.99571952 -0.07982378 -0.08305076] [-0.04056166 0.0779588 0.9961311 0.62785324] [ 0. 0. 0. 1. ]] SLAMing on 55.44719347 meters Centerline goodness : 0.921251 with order 1 Centerline is valid? [False, False] Translation: X:11.99, Y:-0.10, Z:0.63 [[ 0.99786951 0.05314839 0.03783758 11.98550135] [-0.0503781 0.99622151 -0.07074427 -0.09802175] [-0.04145456 0.06868737 0.99677659 0.62892208] [ 0. 0. 0. 1. ]] SLAMing on 55.507193470000004 meters Centerline goodness : 0.919238 with order 1 Centerline is valid? [False, False] Translation: X:11.99, Y:-0.11, Z:0.63 [[ 0.99789158 0.05366129 0.03650836 11.98802406] [-0.05122744 0.99659432 -0.06461826 -0.11019061] [-0.03985152 0.06261179 0.99724201 0.62976903] [ 0. 0. 0. 1. ]] SLAMing on 55.56719347 meters Centerline goodness : 0.923402 with order 1 Centerline is valid? [False, False] Translation: X:11.99, Y:-0.13, Z:0.63 [[ 0.99786022 0.05350115 0.03758474 11.98584127] [-0.05130169 0.99704206 -0.05722993 -0.13028626] [-0.04053544 0.05517931 0.99765331 0.6318252 ] [ 0. 0. 0. 1. ]] SLAMing on 55.62719347 meters Centerline goodness : 0.924557 with order 1 Centerline is valid? [False, False] Translation: X:11.99, Y:-0.15, Z:0.63 [[ 0.99774432 0.05513295 0.03829648 11.98520144] [-0.05333615 0.99749549 -0.04645422 -0.14984931] [-0.04076173 0.04430685 0.99818605 0.63180762] [ 0. 0. 0. 1. ]] SLAMing on 55.687193470000004 meters Centerline goodness : 0.921542 with order 1 Centerline is valid? [False, False] Translation: X:11.99, Y:-0.16, Z:0.63 [[ 0.99772383 0.05599596 0.0375715 11.98773847] [-0.05437861 0.99760394 -0.04277074 -0.16074603] [-0.03987647 0.0406303 0.99837821 0.62913273] [ 0. 0. 0. 1. ]] SLAMing on 55.74719347 meters Centerline goodness : 0.919880 with order 1 Centerline is valid? [False, False] Translation: X:11.99, Y:-0.18, Z:0.63 [[ 0.9980588 0.05260795 0.03333235 11.9939653 ] [-0.05145175 0.9980744 -0.03464408 -0.18278267] [-0.03509072 0.03286182 0.9988437 0.62575459] [ 0. 0. 0. 1. ]] SLAMing on 55.80719347 meters Centerline goodness : 0.916495 with order 1 Centerline is valid? [False, False] Translation: X:11.99, Y:-0.20, Z:0.63 [[ 0.99859559 0.04462487 0.02855654 11.98557778] [-0.04393933 0.99874105 -0.02420014 -0.19969401] [-0.02960052 0.02291139 0.99929919 0.63057094] [ 0. 0. 0. 1. ]] SLAMing on 55.867193470000004 meters Centerline goodness : 0.921547 with order 1 Centerline is valid? [False, False] Translation: X:11.97, Y:-0.22, Z:0.63 [[ 0.99919813 0.02805459 0.02856633 11.97428328] [-0.02751937 0.99944145 -0.01895976 -0.21796905] [-0.02908228 0.01815843 0.99941207 0.63480648] [ 0. 0. 0. 1. ]] SLAMing on 55.92719347 meters Centerline goodness : 0.923493 with order 1 Centerline is valid? [False, False] Translation: X:11.97, Y:-0.23, Z:0.64 [[ 0.9993071 0.02141065 0.03044522 11.97198128] [-0.02097944 0.99967601 -0.01441319 -0.23209633] [-0.03074396 0.01376448 0.99943251 0.63714683] [ 0. 0. 0. 1. ]] SLAMing on 55.98719347 meters Centerline goodness : 0.925668 with order 1 Centerline is valid? [False, False] Translation: X:11.96, Y:-0.25, Z:0.64 [[ 9.99306425e-01 1.18010212e-02 3.53186097e-02 1.19643035e+01] [-1.13514859e-02 9.99852336e-01 -1.29015792e-02 -2.47743154e-01] [-3.54656462e-02 1.24917122e-02 9.99292822e-01 6.39339914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.04719347 meters Centerline goodness : 0.927859 with order 1 Centerline is valid? [False, False] Translation: X:11.99, Y:-0.25, Z:0.64 [[ 9.99489862e-01 1.03999644e-02 3.01969746e-02 1.19939255e+01] [-9.61051998e-03 9.99611266e-01 -2.61716387e-02 -2.52460254e-01] [-3.04574201e-02 2.58680789e-02 9.99201275e-01 6.38786191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.10719347 meters Centerline goodness : 0.927598 with order 1 Centerline is valid? [False, False] Translation: X:12.02, Y:-0.25, Z:0.64 [[ 0.99949655 0.01457779 0.02818039 12.02084837] [-0.01354836 0.99924612 -0.03638174 -0.25329593] [-0.02868951 0.03598163 0.99894056 0.63915416] [ 0. 0. 0. 1. ]] SLAMing on 56.16719347 meters Centerline goodness : 0.931437 with order 1 Centerline is valid? [False, False] Translation: X:12.06, Y:-0.25, Z:0.64 [[ 0.999343 0.02500368 0.02623692 12.06262902] [-0.02332828 0.99778306 -0.06232787 -0.24884071] [-0.02773718 0.06167486 0.99771081 0.63545487] [ 0. 0. 0. 1. ]] SLAMing on 56.22719347 meters Centerline goodness : 0.930340 with order 1 Centerline is valid? [False, False] Translation: X:12.08, Y:-0.24, Z:0.63 [[ 0.99918676 0.02655037 0.03034631 12.076497 ] [-0.02430638 0.99710382 -0.07206373 -0.24495334] [-0.03217174 0.07126751 0.99693827 0.62955222] [ 0. 0. 0. 1. ]] SLAMing on 56.28719347 meters Centerline goodness : 0.920758 with order 1 Centerline is valid? [False, False] Translation: X:12.12, Y:-0.23, Z:0.62 [[ 0.9990379 0.03481209 0.02667178 12.11793773] [-0.03140811 0.9924145 -0.11885701 -0.22934318] [-0.03060712 0.11790495 0.99255309 0.62410177] [ 0. 0. 0. 1. ]] SLAMing on 56.34719347 meters Centerline goodness : 0.926504 with order 1 Centerline is valid? [False, False] Translation: X:12.12, Y:-0.23, Z:0.63 [[ 0.9989675 0.03919721 0.02296771 12.12407291] [-0.0364455 0.99326793 -0.10995706 -0.23249019] [-0.0271231 0.10900645 0.99367094 0.62716748] [ 0. 0. 0. 1. ]] SLAMing on 56.40719347 meters Centerline goodness : 0.922329 with order 1 Centerline is valid? [False, False] Translation: X:12.12, Y:-0.24, Z:0.63 [[ 0.99909664 0.0363511 0.02201129 12.11783447] [-0.03404513 0.9946674 -0.0973534 -0.23650652] [-0.02543282 0.09651608 0.99500644 0.62703734] [ 0. 0. 0. 1. ]] SLAMing on 56.467193470000005 meters Centerline goodness : 0.922309 with order 1 Centerline is valid? [False, False] Translation: X:12.12, Y:-0.24, Z:0.63 [[ 0.99911146 0.03625009 0.02149911 12.12032712] [-0.03423891 0.9955757 -0.08750265 -0.24165283] [-0.02457597 0.08668879 0.99593226 0.63070664] [ 0. 0. 0. 1. ]] SLAMing on 56.52719347 meters Centerline goodness : 0.929469 with order 1 Centerline is valid? [False, False] Translation: X:12.12, Y:-0.25, Z:0.64 [[ 0.99913581 0.03528542 0.02196743 12.12059859] [-0.03346156 0.99635358 -0.07848477 -0.24694049] [-0.02465669 0.07768188 0.99667325 0.63570803] [ 0. 0. 0. 1. ]] SLAMing on 56.58719347 meters Centerline goodness : 0.929019 with order 1 Centerline is valid? [False, False] Translation: X:12.11, Y:-0.25, Z:0.64 [[ 0.99940149 0.02569862 0.02315686 12.10862204] [-0.02401599 0.99724221 -0.07022255 -0.25495693] [-0.02489762 0.06962438 0.99726253 0.63659498] [ 0. 0. 0. 1. ]] SLAMing on 56.647193470000005 meters Centerline goodness : 0.934654 with order 1 Centerline is valid? [False, False] Translation: X:12.14, Y:-0.26, Z:0.63 [[ 0.9995361 0.01415069 0.02696912 12.1427659 ] [-0.01250413 0.99810358 -0.06027352 -0.25669638] [-0.02777089 0.05990834 0.9978175 0.63349993] [ 0. 0. 0. 1. ]] SLAMing on 56.70719347 meters Centerline goodness : 0.935185 with order 1 Centerline is valid? [False, False] Translation: X:12.18, Y:-0.26, Z:0.63 [[ 9.99718595e-01 8.72164064e-03 2.20604436e-02 1.21759295e+01] [-7.39372991e-03 9.98196422e-01 -5.95754656e-02 -2.56511351e-01] [-2.25402517e-02 5.93955918e-02 9.97980010e-01 6.31814762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.76719347 meters Centerline goodness : 0.931319 with order 1 Centerline is valid? [False, False] Translation: X:12.22, Y:-0.25, Z:0.63 [[ 9.99689414e-01 1.35534987e-02 2.09135887e-02 1.22176407e+01] [-1.22013680e-02 9.97908583e-01 -6.34790266e-02 -2.51536814e-01] [-2.17302125e-02 6.32041365e-02 9.97764018e-01 6.26625641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.827193470000005 meters Centerline goodness : 0.930572 with order 1 Centerline is valid? [False, False] Translation: X:12.26, Y:-0.24, Z:0.62 [[ 0.99944882 0.02327586 0.02367028 12.26069499] [-0.02097417 0.99542383 -0.09322807 -0.23969991] [-0.02573192 0.09268022 0.99536337 0.62498879] [ 0. 0. 0. 1. ]] SLAMing on 56.88719347 meters Centerline goodness : 0.932297 with order 1 Centerline is valid? [False, False] Translation: X:12.27, Y:-0.20, Z:0.63 [[ 0.99861552 0.04546802 0.02645178 12.2715843 ] [-0.03786851 0.97042016 -0.23843381 -0.19516779] [-0.03651046 0.23710201 0.97079845 0.62982344] [ 0. 0. 0. 1. ]] SLAMing on 56.94719347 meters Centerline goodness : 0.933694 with order 1 Centerline is valid? [False, False] Translation: X:12.28, Y:-0.20, Z:0.63 [[ 0.9983337 0.05146895 0.02609158 12.27892249] [-0.04457039 0.97496286 -0.21785522 -0.20401565] [-0.0366511 0.2163293 0.97563227 0.63320863] [ 0. 0. 0. 1. ]] SLAMing on 57.007193470000004 meters Centerline goodness : 0.929458 with order 1 Centerline is valid? [False, False] Translation: X:12.26, Y:-0.21, Z:0.63 [[ 0.99824638 0.05239789 0.02754324 12.26222819] [-0.04638439 0.98145405 -0.18600116 -0.21217763] [-0.03677849 0.18439741 0.9821634 0.6330725 ] [ 0. 0. 0. 1. ]] SLAMing on 57.06719347 meters Centerline goodness : 0.929434 with order 1 Centerline is valid? [False, False] Translation: X:12.26, Y:-0.22, Z:0.63 [[ 0.99815724 0.05394758 0.02778085 12.26124702] [-0.0487765 0.98566167 -0.16152995 -0.22337693] [-0.03609667 0.15987723 0.98647671 0.63429477] [ 0. 0. 0. 1. ]] SLAMing on 57.12719347 meters Centerline goodness : 0.929324 with order 1 Centerline is valid? [False, False] Translation: X:12.25, Y:-0.24, Z:0.64 [[ 0.99820435 0.05233321 0.02914282 12.252473 ] [-0.0478169 0.98920326 -0.13852962 -0.2396648 ] [-0.03607787 0.13688735 0.98992941 0.63557994] [ 0. 0. 0. 1. ]] SLAMing on 57.187193470000004 meters Centerline goodness : 0.932944 with order 1 Centerline is valid? [False, False] Translation: X:12.25, Y:-0.25, Z:0.64 [[ 0.99853676 0.0458857 0.02861532 12.25232349] [-0.04235119 0.9925988 -0.11381568 -0.25242363] [-0.03362604 0.11243724 0.9930897 0.63772186] [ 0. 0. 0. 1. ]] SLAMing on 57.24719347 meters Centerline goodness : 0.931960 with order 1 Centerline is valid? [False, False] Translation: X:12.24, Y:-0.27, Z:0.64 [[ 0.99897323 0.03368174 0.03029891 12.24024086] [-0.03048129 0.99446869 -0.1005133 -0.27024666] [-0.03351678 0.09948655 0.99447426 0.64167092] [ 0. 0. 0. 1. ]] SLAMing on 57.30719347 meters Centerline goodness : 0.929347 with order 1 Centerline is valid? [False, False] Translation: X:12.26, Y:-0.28, Z:0.64 [[ 0.99930678 0.02449499 0.02803472 12.26094668] [-0.02185999 0.99563663 -0.09071843 -0.28160752] [-0.03013454 0.0900427 0.9954819 0.64082111] [ 0. 0. 0. 1. ]] SLAMing on 57.367193470000004 meters Centerline goodness : 0.925557 with order 1 Centerline is valid? [False, False] Translation: X:12.29, Y:-0.29, Z:0.64 [[ 0.99952094 0.01684962 0.02596101 12.29296497] [-0.01490924 0.99720556 -0.07320372 -0.29164243] [-0.02712192 0.07278159 0.99697906 0.63744263] [ 0. 0. 0. 1. ]] SLAMing on 57.42719347 meters Centerline goodness : 0.924452 with order 1 Centerline is valid? [False, False] Translation: X:12.32, Y:-0.30, Z:0.64 [[ 0.99958088 0.01708783 0.02336794 12.32105515] [-0.0155761 0.99786593 -0.06341119 -0.30364033] [-0.02440164 0.06302064 0.99771387 0.6383798 ] [ 0. 0. 0. 1. ]] SLAMing on 57.48719347 meters Centerline goodness : 0.926194 with order 1 Centerline is valid? [False, False] Translation: X:12.34, Y:-0.31, Z:0.64 [[ 9.99556942e-01 1.20223063e-02 2.72283611e-02 1.23391112e+01] [-1.05418237e-02 9.98491854e-01 -5.38784493e-02 -3.10512160e-01] [-2.78350400e-02 5.35675415e-02 9.98176201e-01 6.37444445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.54719347 meters Centerline goodness : 0.925326 with order 1 Centerline is valid? [False, False] Translation: X:12.37, Y:-0.32, Z:0.64 [[ 9.99586227e-01 1.21886708e-02 2.60540105e-02 1.23662167e+01] [-1.09159265e-02 9.98766135e-01 -4.84463551e-02 -3.15924661e-01] [-2.66123600e-02 4.81419056e-02 9.98485923e-01 6.37852166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.60719347 meters Centerline goodness : 0.928492 with order 1 Centerline is valid? [False, False] Translation: X:12.41, Y:-0.32, Z:0.63 [[ 9.99567382e-01 1.38335918e-02 2.59553643e-02 1.24050065e+01] [-1.23825092e-02 9.98395327e-01 -5.52579846e-02 -3.15059522e-01] [-2.66781309e-02 5.49126865e-02 9.98134697e-01 6.33853082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.66719347 meters Centerline goodness : 0.926458 with order 1 Centerline is valid? [False, False] Translation: X:12.44, Y:-0.31, Z:0.63 [[ 9.99553719e-01 1.38744267e-02 2.64549176e-02 1.24427799e+01] [-1.21912610e-02 9.97954389e-01 -6.27567503e-02 -3.14870386e-01] [-2.72715151e-02 6.24062243e-02 9.97678168e-01 6.31557680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.72719347 meters Centerline goodness : 0.932560 with order 1 Centerline is valid? [False, False] Translation: X:12.47, Y:-0.32, Z:0.63 [[ 9.99513516e-01 1.09564029e-02 2.92008234e-02 1.24717451e+01] [-9.16350379e-03 9.98105424e-01 -6.08407242e-02 -3.15475735e-01] [-2.98120957e-02 6.05435444e-02 9.97720260e-01 6.29473508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.78719347 meters Centerline goodness : 0.929518 with order 1 Centerline is valid? [False, False] Translation: X:12.51, Y:-0.31, Z:0.63 [[ 9.99635500e-01 7.28918422e-03 2.59949143e-02 1.25097889e+01] [-5.86713360e-03 9.98503748e-01 -5.43676629e-02 -3.12891672e-01] [-2.63523152e-02 5.41953303e-02 9.98182559e-01 6.27528765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.84719347 meters Centerline goodness : 0.929536 with order 1 Centerline is valid? [False, False] Translation: X:12.55, Y:-0.31, Z:0.62 [[ 9.99652527e-01 7.94596097e-03 2.51333916e-02 1.25494282e+01] [-6.35733464e-03 9.98014189e-01 -6.26678715e-02 -3.10772102e-01] [-2.55814379e-02 6.24863147e-02 9.97717921e-01 6.24148728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.90719347 meters Centerline goodness : 0.922371 with order 1 Centerline is valid? [False, False] Translation: X:12.60, Y:-0.31, Z:0.62 [[ 9.99775723e-01 1.00722429e-02 1.86293935e-02 1.25986704e+01] [-8.90312917e-03 9.98048324e-01 -6.18083868e-02 -3.12684742e-01] [-1.92155840e-02 6.16286647e-02 9.97914159e-01 6.21766612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.967193470000005 meters Centerline goodness : 0.924830 with order 1 Centerline is valid? [False, False] Translation: X:12.63, Y:-0.31, Z:0.62 [[ 9.99742762e-01 7.09052239e-03 2.15437930e-02 1.26277089e+01] [-5.75276954e-03 9.98088401e-01 -6.15341248e-02 -3.09421353e-01] [-2.19389190e-02 6.13943594e-02 9.97872445e-01 6.18280803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.02719347 meters Centerline goodness : 0.930551 with order 1 Centerline is valid? [False, False] Translation: X:12.66, Y:-0.31, Z:0.62 [[ 9.99625986e-01 -1.32444205e-04 2.73472225e-02 1.26587171e+01] [ 1.70309951e-03 9.98348743e-01 -5.74185193e-02 -3.12479728e-01] [-2.72944604e-02 5.74436190e-02 9.97975572e-01 6.21525691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.08719347 meters Centerline goodness : 0.935244 with order 1 Centerline is valid? [False, False] Translation: X:12.69, Y:-0.32, Z:0.63 [[ 9.99638013e-01 -5.52204610e-03 2.63315528e-02 1.26891739e+01] [ 6.89325877e-03 9.98609103e-01 -5.22718123e-02 -3.15617324e-01] [-2.60062810e-02 5.24344008e-02 9.98285684e-01 6.25011857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.147193470000005 meters Centerline goodness : 0.932433 with order 1 Centerline is valid? [False, False] Translation: X:12.72, Y:-0.31, Z:0.62 [[ 9.99734647e-01 -8.84074975e-03 2.12715027e-02 1.27216388e+01] [ 9.94100331e-03 9.98587839e-01 -5.21872038e-02 -3.11388833e-01] [-2.07800899e-02 5.23848159e-02 9.98410747e-01 6.21993888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.20719347 meters Centerline goodness : 0.927811 with order 1 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.31, Z:0.62 [[ 9.99792558e-01 -1.08444591e-02 1.72406107e-02 1.27693172e+01] [ 1.17605017e-02 9.98474327e-01 -5.39509939e-02 -3.06980154e-01] [-1.66292378e-02 5.41425605e-02 9.98394737e-01 6.19875994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.26719347 meters Centerline goodness : 0.925695 with order 1 Centerline is valid? [False, False] Translation: X:12.80, Y:-0.30, Z:0.62 [[ 9.99730520e-01 -1.99397012e-02 1.18867953e-02 1.28036061e+01] [ 2.05691461e-02 9.98251209e-01 -5.54205139e-02 -3.00886998e-01] [-1.07609393e-02 5.56500804e-02 9.98392343e-01 6.23124951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.327193470000005 meters Centerline goodness : 0.923480 with order 1 Centerline is valid? [False, False] Translation: X:12.83, Y:-0.29, Z:0.63 [[ 9.99704161e-01 -2.24457762e-02 9.36893768e-03 1.28322476e+01] [ 2.29165715e-02 9.98299424e-01 -5.36012116e-02 -2.94088597e-01] [-8.14988429e-03 5.38000582e-02 9.98518469e-01 6.25021773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.38719347 meters Centerline goodness : 0.923637 with order 1 Centerline is valid? [False, False] Translation: X:12.87, Y:-0.28, Z:0.63 [[ 9.99592808e-01 -2.75695300e-02 7.35798379e-03 1.28650336e+01] [ 2.79006942e-02 9.98383303e-01 -4.95210187e-02 -2.80245170e-01] [-5.98081694e-03 4.97061470e-02 9.98745978e-01 6.28798024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.44719347 meters Centerline goodness : 0.926692 with order 1 Centerline is valid? [False, False] Translation: X:12.89, Y:-0.27, Z:0.63 [[ 9.99534098e-01 -2.94261198e-02 8.10501714e-03 1.28898443e+01] [ 2.97834577e-02 9.98393049e-01 -4.82106293e-02 -2.72061901e-01] [-6.67334102e-03 4.84295633e-02 9.98804307e-01 6.31116402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.507193470000004 meters Centerline goodness : 0.927849 with order 1 Centerline is valid? [False, False] Translation: X:12.93, Y:-0.25, Z:0.63 [[ 9.99411732e-01 -3.35805161e-02 6.96699300e-03 1.29349349e+01] [ 3.38948194e-02 9.98103087e-01 -5.13942471e-02 -2.54216820e-01] [-5.22793188e-03 5.16001584e-02 9.98654141e-01 6.31171971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.56719347 meters Centerline goodness : 0.922487 with order 1 Centerline is valid? [False, False] Translation: X:12.96, Y:-0.24, Z:0.63 [[ 9.99414741e-01 -3.37908653e-02 5.32481961e-03 1.29626518e+01] [ 3.40158970e-02 9.98159726e-01 -5.02003981e-02 -2.41138437e-01] [-3.61870559e-03 5.03521464e-02 9.98724970e-01 6.30822944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.62719347 meters Centerline goodness : 0.915878 with order 1 Centerline is valid? [False, False] Translation: X:13.01, Y:-0.22, Z:0.63 [[ 9.99518400e-01 -3.10188547e-02 8.93936785e-04 1.30113705e+01] [ 3.10226012e-02 9.98110747e-01 -5.30333437e-02 -2.15178212e-01] [ 7.52785669e-04 5.30355350e-02 9.98592342e-01 6.29082340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.687193470000004 meters Centerline goodness : 0.912483 with order 1 Centerline is valid? [False, False] Translation: X:13.05, Y:-0.19, Z:0.63 [[ 9.99646102e-01 -2.65891293e-02 8.29450754e-04 1.30541035e+01] [ 2.65789115e-02 9.96989917e-01 -7.28331473e-02 -1.86034617e-01] [ 1.10961593e-03 7.28294177e-02 9.97343795e-01 6.28517236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.74719347 meters Centerline goodness : 0.915574 with order 1 Centerline is valid? [False, False] Translation: X:13.09, Y:-0.17, Z:0.63 [[ 9.99690320e-01 -2.47618856e-02 2.47255878e-03 1.30907004e+01] [ 2.48794708e-02 9.96620761e-01 -7.82819958e-02 -1.69903374e-01] [-5.25793590e-04 7.83192694e-02 9.96928190e-01 6.27307453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.80719347 meters Centerline goodness : 0.912900 with order 1 Centerline is valid? [False, False] Translation: X:13.13, Y:-0.15, Z:0.63 [[ 9.99684948e-01 -2.47981185e-02 3.88038186e-03 1.31282806e+01] [ 2.50418282e-02 9.95890466e-01 -8.70349777e-02 -1.48125490e-01] [-1.70613161e-03 8.71047290e-02 9.96197699e-01 6.26297734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.867193470000004 meters Centerline goodness : 0.908768 with order 1 Centerline is valid? [False, False] Translation: X:13.17, Y:-0.14, Z:0.62 [[ 9.99717900e-01 -2.34828834e-02 3.56017879e-03 1.31672288e+01] [ 2.37088365e-02 9.95610387e-01 -9.05419668e-02 -1.36478401e-01] [-1.41836453e-03 9.06008326e-02 9.95886277e-01 6.24578131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.92719347 meters Centerline goodness : 0.907731 with order 1 Centerline is valid? [False, False] Translation: X:13.22, Y:-0.12, Z:0.63 [[ 9.99757737e-01 -2.18532479e-02 2.62741759e-03 1.32215891e+01] [ 2.20040398e-02 9.95232676e-01 -9.50144373e-02 -1.21871941e-01] [-5.38517788e-04 9.50492326e-02 9.95472427e-01 6.26465764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.98719347 meters Centerline goodness : 0.909685 with order 1 Centerline is valid? [False, False] Translation: X:13.26, Y:-0.12, Z:0.63 [[ 9.99799418e-01 -1.94236631e-02 4.88306418e-03 1.32570163e+01] [ 1.97960729e-02 9.95398289e-01 -9.37569317e-02 -1.15255031e-01] [-3.03949067e-03 9.38347912e-02 9.95583142e-01 6.28717505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.04719347 meters Centerline goodness : 0.910209 with order 1 Centerline is valid? [False, False] Translation: X:13.26, Y:-0.10, Z:0.64 [[ 9.99823761e-01 -1.68044321e-02 8.37005251e-03 1.32562605e+01] [ 1.73443136e-02 9.97447835e-01 -6.92603179e-02 -1.03506805e-01] [-7.18481044e-03 6.93932844e-02 9.97563507e-01 6.38122129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.10719347 meters Centerline goodness : 0.914017 with order 1 Centerline is valid? [False, False] Translation: X:13.26, Y:-0.10, Z:0.64 [[ 9.99886513e-01 -1.09408498e-02 1.03566350e-02 1.32648594e+01] [ 1.14852056e-02 9.98472222e-01 -5.40491672e-02 -9.71562912e-02] [-9.74946853e-03 5.41619814e-02 9.98484566e-01 6.39040471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.16719347 meters Centerline goodness : 0.909763 with order 1 Centerline is valid? [False, False] Translation: X:13.27, Y:-0.08, Z:0.64 [[ 9.99934660e-01 6.04185299e-03 9.70419426e-03 1.32672558e+01] [-5.64385294e-03 9.99162394e-01 -4.05297046e-02 -8.26613453e-02] [-9.94094049e-03 4.04722874e-02 9.99131208e-01 6.37874722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.22719347 meters Centerline goodness : 0.906608 with order 1 Centerline is valid? [False, False] Translation: X:13.24, Y:-0.07, Z:0.64 [[ 9.99820942e-01 1.75261090e-02 7.13573770e-03 1.32436171e+01] [-1.74789866e-02 9.99825359e-01 -6.61338798e-03 -6.95099845e-02] [-7.25039846e-03 6.48747834e-03 9.99952671e-01 6.38722679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.28719347 meters Centerline goodness : 0.902027 with order 1 Centerline is valid? [False, False] Translation: X:13.26, Y:-0.07, Z:0.64 [[ 9.99635069e-01 2.67139914e-02 4.01151031e-03 1.32576929e+01] [-2.67653573e-02 9.99552609e-01 1.33490847e-02 -6.52374416e-02] [-3.65310827e-03 -1.34515827e-02 9.99902850e-01 6.39433380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.34719347 meters Centerline goodness : 0.902514 with order 1 Centerline is valid? [False, False] Translation: X:13.26, Y:-0.06, Z:0.64 [[ 9.99342443e-01 3.61280952e-02 3.07290019e-03 1.32611185e+01] [-3.61853775e-02 9.99119020e-01 2.12556364e-02 -5.85684615e-02] [-2.30226737e-03 -2.13528537e-02 9.99769351e-01 6.37952313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.40719347 meters Centerline goodness : 0.903876 with order 1 Centerline is valid? [False, False] Translation: X:13.29, Y:-0.06, Z:0.64 [[ 9.99347317e-01 3.60906413e-02 1.55113559e-03 1.32916675e+01] [-3.61221381e-02 9.98806397e-01 3.28781479e-02 -6.20956595e-02] [-3.62690710e-04 -3.29127192e-02 9.99458164e-01 6.35044646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.467193470000005 meters Centerline goodness : 0.902516 with order 1 Centerline is valid? [False, False] Translation: X:13.31, Y:-0.08, Z:0.64 [[ 9.99402147e-01 3.19901290e-02 1.31141257e-02 1.33105703e+01] [-3.29963802e-02 9.95792529e-01 8.54896316e-02 -7.84997057e-02] [-1.03241240e-02 -8.58712400e-02 9.96252750e-01 6.38071908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.52719347 meters Centerline goodness : 0.902006 with order 1 Centerline is valid? [False, False] Translation: X:13.33, Y:-0.09, Z:0.64 [[ 0.99951455 0.02452045 0.01921985 13.33349805] [-0.02642504 0.99400717 0.10607293 -0.08647087] [-0.01650371 -0.10652932 0.99417259 0.64052724] [ 0. 0. 0. 1. ]] SLAMing on 59.58719347 meters Centerline goodness : 0.902786 with order 1 Centerline is valid? [False, False] Translation: X:13.34, Y:-0.13, Z:0.66 [[ 9.99756965e-01 7.11203390e-03 2.08669543e-02 1.33359386e+01] [-1.22340158e-02 9.66395104e-01 2.56769997e-01 -1.32356056e-01] [-1.83395656e-02 -2.56962880e-01 9.66247245e-01 6.60428869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.647193470000005 meters Centerline goodness : 0.899190 with order 1 Centerline is valid? [False, False] Translation: X:13.34, Y:-0.16, Z:0.69 [[ 9.99830519e-01 -7.58998867e-03 1.67727447e-02 1.33378638e+01] [ 6.94197280e-04 9.25955768e-01 3.77631347e-01 -1.62163727e-01] [-1.83970373e-02 -3.77555702e-01 9.25804105e-01 6.85467258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.70719347 meters Centerline goodness : 0.902922 with order 1 Centerline is valid? [False, False] Translation: X:13.35, Y:-0.19, Z:0.71 [[ 9.99662335e-01 -2.42768946e-02 9.26539608e-03 1.33481468e+01] [ 1.67392397e-02 8.74371167e-01 4.84968927e-01 -1.86972014e-01] [-1.98749347e-02 -4.84650074e-01 8.74482300e-01 7.13740483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.76719347 meters Centerline goodness : 0.899139 with order 1 Centerline is valid? [False, False] Translation: X:13.32, Y:-0.18, Z:0.71 [[ 9.99667216e-01 -2.47242433e-02 7.35999390e-03 1.33211060e+01] [ 1.90773855e-02 9.00607839e-01 4.34213741e-01 -1.77450888e-01] [-1.73640744e-02 -4.33928832e-01 9.00779805e-01 7.12820204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.827193470000005 meters Centerline goodness : 0.904293 with order 1 Centerline is valid? [False, False] Translation: X:13.31, Y:-0.16, Z:0.71 [[ 9.99760045e-01 -1.98487659e-02 9.26709067e-03 1.33087644e+01] [ 1.46780421e-02 9.21032434e-01 3.89209213e-01 -1.64076372e-01] [-1.62606136e-02 -3.88979797e-01 9.21102768e-01 7.11431954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.88719347 meters Centerline goodness : 0.899831 with order 1 Centerline is valid? [False, False] Translation: X:13.29, Y:-0.15, Z:0.71 [[ 9.99877584e-01 -1.43037797e-02 6.34180354e-03 1.32899077e+01] [ 1.12409345e-02 9.38626536e-01 3.44751891e-01 -1.53028407e-01] [-1.08838402e-02 -3.44638401e-01 9.38672422e-01 7.08099214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.94719347 meters Centerline goodness : 0.899628 with order 1 Centerline is valid? [False, False] Translation: X:13.28, Y:-0.14, Z:0.71 [[ 9.99897919e-01 -1.40417747e-02 2.64196179e-03 1.32790031e+01] [ 1.26113106e-02 9.54246867e-01 2.98753865e-01 -1.42999644e-01] [-6.71611822e-03 -2.98690050e-01 9.54326542e-01 7.06544255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.007193470000004 meters Centerline goodness : 0.896261 with order 1 Centerline is valid? [False, False] Translation: X:13.26, Y:-0.13, Z:0.71 [[ 9.99917581e-01 -1.27833114e-02 1.19101637e-03 1.32647245e+01] [ 1.20523420e-02 9.66594644e-01 2.56026433e-01 -1.33430056e-01] [-4.42409566e-03 -2.55990977e-01 9.66669047e-01 7.06421216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.06719347 meters Centerline goodness : 0.901006 with order 1 Centerline is valid? [False, False] Translation: X:13.25, Y:-0.12, Z:0.71 [[ 9.99939953e-01 -9.34445608e-03 5.72469072e-03 1.32460014e+01] [ 7.89020133e-03 9.76437916e-01 2.15654214e-01 -1.17391902e-01] [-7.60497642e-03 -2.15596096e-01 9.76453014e-01 7.05849762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.12719347 meters Centerline goodness : 0.903947 with order 1 Centerline is valid? [False, False] Translation: X:13.24, Y:-0.11, Z:0.72 [[ 9.99996062e-01 1.05869446e-03 -2.59906510e-03 1.32427185e+01] [-3.58966090e-04 9.66760365e-01 2.55683924e-01 -1.14892143e-01] [ 2.78336428e-03 -2.55681984e-01 9.66756937e-01 7.23734005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.187193470000004 meters Centerline goodness : 0.903290 with order 1 Centerline is valid? [False, False] Translation: X:13.25, Y:-0.10, Z:0.73 [[ 9.99938157e-01 1.05519819e-02 -3.51266271e-03 1.32529719e+01] [-9.33684144e-03 9.68117667e-01 2.50321805e-01 -1.04702787e-01] [ 6.04206198e-03 -2.50273527e-01 9.68156317e-01 7.25901163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.24719347 meters Centerline goodness : 0.904917 with order 1 Centerline is valid? [False, False] Translation: X:13.28, Y:-0.10, Z:0.73 [[ 9.99769525e-01 1.97831792e-02 -8.33803309e-03 1.32805579e+01] [-1.72664837e-02 9.71764889e-01 2.35318655e-01 -9.77057153e-02] [ 1.27579589e-02 -2.35120451e-01 9.71882507e-01 7.25670816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.30719347 meters Centerline goodness : 0.906966 with order 1 Centerline is valid? [False, False] Translation: X:13.31, Y:-0.09, Z:0.73 [[ 0.99957734 0.02544066 -0.01406789 13.30650881] [-0.02177807 0.97585348 0.21733778 -0.09081337] [ 0.01925742 -0.21693955 0.97599507 0.72741369] [ 0. 0. 0. 1. ]] SLAMing on 60.367193470000004 meters Centerline goodness : 0.903953 with order 1 Centerline is valid? [False, False] Translation: X:13.34, Y:-0.10, Z:0.73 [[ 9.99649747e-01 2.48400445e-02 -9.12992302e-03 1.33383818e+01] [-2.20610706e-02 9.72709218e-01 2.30976377e-01 -9.87390246e-02] [ 1.46182237e-02 -2.30694061e-01 9.72916522e-01 7.26794092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.42719347 meters Centerline goodness : 0.908768 with order 1 Centerline is valid? [False, False] Translation: X:13.37, Y:-0.12, Z:0.73 [[ 9.99777946e-01 2.10714678e-02 2.27321892e-04 1.33717704e+01] [-2.02995501e-02 9.60145438e-01 2.78762740e-01 -1.18546919e-01] [ 5.65567802e-03 -2.78705455e-01 9.60359976e-01 7.34296767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.48719347 meters Centerline goodness : 0.913518 with order 1 Centerline is valid? [False, False] Translation: X:13.39, Y:-0.12, Z:0.74 [[ 9.99575330e-01 2.91098992e-02 1.33164551e-03 1.33941251e+01] [-2.84349118e-02 9.64364524e-01 2.63044712e-01 -1.19122199e-01] [ 6.37301337e-03 -2.62970870e-01 9.64782725e-01 7.40449581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.54719347 meters Centerline goodness : 0.913310 with order 1 Centerline is valid? [False, False] Translation: X:13.41, Y:-0.12, Z:0.74 [[ 9.99151135e-01 4.11625831e-02 1.62800349e-03 1.34077596e+01] [-4.04228113e-02 9.72047207e-01 2.31279535e-01 -1.19619223e-01] [ 7.93756681e-03 -2.31149018e-01 9.72885978e-01 7.43585844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.60719347 meters Centerline goodness : 0.916457 with order 1 Centerline is valid? [False, False] Translation: X:13.42, Y:-0.12, Z:0.74 [[ 9.98530996e-01 5.41789990e-02 6.97487024e-04 1.34191078e+01] [-5.31738189e-02 9.77369434e-01 2.04747488e-01 -1.23263058e-01] [ 1.04113114e-02 -2.04483801e-01 9.78814579e-01 7.43404419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.66719347 meters Centerline goodness : 0.914801 with order 1 Centerline is valid? [False, False] Translation: X:13.44, Y:-0.13, Z:0.75 [[ 9.98221338e-01 5.95008903e-02 -3.71539864e-03 1.34415802e+01] [-5.78078519e-02 9.81286778e-01 1.83669574e-01 -1.25528610e-01] [ 1.45743747e-02 -1.83128108e-01 9.82981019e-01 7.45446652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.72719347 meters Centerline goodness : 0.913404 with order 1 Centerline is valid? [False, False] Translation: X:13.47, Y:-0.14, Z:0.75 [[ 9.98105303e-01 6.11341350e-02 -6.95855828e-03 1.34664692e+01] [-5.91170941e-02 9.84182880e-01 1.67000682e-01 -1.40986798e-01] [ 1.70579362e-02 -1.66272896e-01 9.85932224e-01 7.49098297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.787193470000005 meters Centerline goodness : 0.911934 with order 1 Centerline is valid? [False, False] Translation: X:13.51, Y:-0.16, Z:0.75 [[ 9.98331703e-01 5.74466096e-02 -5.80504554e-03 1.35056766e+01] [-5.56943604e-02 9.84616188e-01 1.65617333e-01 -1.60001361e-01] [ 1.52298961e-02 -1.65017725e-01 9.86173007e-01 7.54645679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.84719347 meters Centerline goodness : 0.910615 with order 1 Centerline is valid? [False, False] Translation: X:13.53, Y:-0.17, Z:0.76 [[ 9.98381582e-01 5.67235456e-02 -4.08123166e-03 1.35323727e+01] [-5.53349432e-02 9.85487272e-01 1.60477044e-01 -1.74353801e-01] [ 1.31248288e-02 -1.59991490e-01 9.87031135e-01 7.56668865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.90719347 meters Centerline goodness : 0.916133 with order 1 Centerline is valid? [False, False] Translation: X:13.54, Y:-0.20, Z:0.76 [[ 9.98647734e-01 5.12762025e-02 -8.57059598e-03 1.35427137e+01] [-4.93013984e-02 9.86397178e-01 1.56811925e-01 -1.95069839e-01] [ 1.64947317e-02 -1.56177331e-01 9.87591295e-01 7.60147929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.967193470000005 meters Centerline goodness : 0.913600 with order 1 Centerline is valid? [False, False] Translation: X:13.55, Y:-0.20, Z:0.76 [[ 0.99885055 0.04530902 -0.01564202 13.54578571] [-0.04275617 0.98971099 0.1365433 -0.20429651] [ 0.02166772 -0.13571755 0.9905106 0.75964166] [ 0. 0. 0. 1. ]] SLAMing on 61.02719347 meters Centerline goodness : 0.917384 with order 1 Centerline is valid? [False, False] Translation: X:13.53, Y:-0.22, Z:0.76 [[ 0.99927775 0.03311573 -0.01863646 13.53039441] [-0.03091204 0.99365231 0.1081644 -0.2226743 ] [ 0.0221001 -0.10751018 0.99395832 0.76267509] [ 0. 0. 0. 1. ]] SLAMing on 61.08719347 meters Centerline goodness : 0.918421 with order 1 Centerline is valid? [False, False] Translation: X:13.53, Y:-0.23, Z:0.76 [[ 0.99958377 0.02172113 -0.01898607 13.52944205] [-0.01973213 0.99486051 0.09931367 -0.23090188] [ 0.02104569 -0.0988977 0.99487503 0.76463643] [ 0. 0. 0. 1. ]] SLAMing on 61.147193470000005 meters Centerline goodness : 0.926408 with order 1 Centerline is valid? [False, False] Translation: X:13.54, Y:-0.24, Z:0.77 [[ 9.99784554e-01 1.25907379e-02 -1.65020869e-02 1.35389010e+01] [-1.13845260e-02 9.97393217e-01 7.12542194e-02 -2.37649742e-01] [ 1.73562127e-02 -7.10509995e-02 9.97321672e-01 7.70135164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.20719347 meters Centerline goodness : 0.927605 with order 1 Centerline is valid? [False, False] Translation: X:13.56, Y:-0.24, Z:0.77 [[ 9.99808569e-01 1.16230251e-02 -1.57394399e-02 1.35648700e+01] [-1.09273543e-02 9.98989908e-01 4.35861978e-02 -2.41021539e-01] [ 1.62301451e-02 -4.34058637e-02 9.98925680e-01 7.72329756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.26719347 meters Centerline goodness : 0.922343 with order 1 Centerline is valid? [False, False] Translation: X:13.59, Y:-0.24, Z:0.77 [[ 9.99783342e-01 1.24410695e-02 -1.66879560e-02 1.35915310e+01] [-1.20586948e-02 9.99666830e-01 2.28213935e-02 -2.36308440e-01] [ 1.69663186e-02 -2.26152141e-02 9.99600268e-01 7.67222148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.327193470000005 meters Centerline goodness : 0.924082 with order 1 Centerline is valid? [False, False] Translation: X:13.62, Y:-0.23, Z:0.76 [[ 9.99698011e-01 1.47855992e-02 -1.96283577e-02 1.36183060e+01] [-1.46882553e-02 9.99879144e-01 5.09429927e-03 -2.34644814e-01] [ 1.97013078e-02 -4.80445452e-03 9.99794367e-01 7.62802631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.38719347 meters Centerline goodness : 0.924702 with order 1 Centerline is valid? [False, False] Translation: X:13.65, Y:-0.23, Z:0.76 [[ 0.9995792 0.01824013 -0.02255473 13.65199517] [-0.01874128 0.99957762 -0.02221149 -0.23157918] [ 0.02214006 0.02262485 0.99949884 0.76056263] [ 0. 0. 0. 1. ]] SLAMing on 61.44719347 meters Centerline goodness : 0.924604 with order 1 Centerline is valid? [False, False] Translation: X:13.68, Y:-0.22, Z:0.76 [[ 0.99954825 0.02073919 -0.0217527 13.67759076] [-0.02202102 0.9979286 -0.06044486 -0.22064679] [ 0.02045407 0.06089657 0.99793449 0.75889212] [ 0. 0. 0. 1. ]] SLAMing on 61.507193470000004 meters Centerline goodness : 0.920972 with order 1 Centerline is valid? [False, False] Translation: X:13.70, Y:-0.20, Z:0.77 [[ 0.99923863 0.03154312 -0.02296056 13.69901736] [-0.03479068 0.98674673 -0.15849449 -0.19554911] [ 0.01765684 0.15917263 0.98709286 0.76531801] [ 0. 0. 0. 1. ]] SLAMing on 61.56719347 meters Centerline goodness : 0.923967 with order 1 Centerline is valid? [False, False] Translation: X:13.70, Y:-0.21, Z:0.77 [[ 0.99887157 0.04234385 -0.02150763 13.69741886] [-0.04494991 0.98908945 -0.14029099 -0.20817055] [ 0.01533251 0.14109944 0.98987669 0.76697907] [ 0. 0. 0. 1. ]] SLAMing on 61.62719347 meters Centerline goodness : 0.922174 with order 1 Centerline is valid? [False, False] Translation: X:13.70, Y:-0.22, Z:0.77 [[ 0.99858255 0.04902708 -0.02071789 13.69661603] [-0.05107225 0.99220545 -0.11366603 -0.21904809] [ 0.01498369 0.11456302 0.99330298 0.76501481] [ 0. 0. 0. 1. ]] SLAMing on 61.687193470000004 meters Centerline goodness : 0.924228 with order 1 Centerline is valid? [False, False] Translation: X:13.69, Y:-0.23, Z:0.77 [[ 9.98529055e-01 5.23355462e-02 -1.41674888e-02 1.36865946e+01] [-5.34662153e-02 9.93849579e-01 -9.69761731e-02 -2.28191803e-01] [ 9.00505175e-03 9.75910084e-02 9.95185864e-01 7.65138000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.74719347 meters Centerline goodness : 0.925288 with order 1 Centerline is valid? [False, False] Translation: X:13.68, Y:-0.24, Z:0.77 [[ 9.98518205e-01 5.36099448e-02 -9.34711885e-03 1.36789867e+01] [-5.42247115e-02 9.94662044e-01 -8.77900842e-02 -2.41912061e-01] [ 4.59080277e-03 8.81668421e-02 9.96095142e-01 7.67398445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.80719347 meters Centerline goodness : 0.924979 with order 1 Centerline is valid? [False, False] Translation: X:13.68, Y:-0.25, Z:0.77 [[ 9.98454578e-01 5.47482535e-02 -9.54377845e-03 1.36797402e+01] [-5.53658992e-02 9.94783464e-01 -8.56765806e-02 -2.46127326e-01] [ 4.80334984e-03 8.60725741e-02 9.96277291e-01 7.66243647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.867193470000004 meters Centerline goodness : 0.921455 with order 1 Centerline is valid? [False, False] Translation: X:13.67, Y:-0.25, Z:0.76 [[ 9.98322362e-01 5.72951850e-02 -8.35002568e-03 1.36743716e+01] [-5.77323025e-02 9.96000178e-01 -6.81954983e-02 -2.54361918e-01] [ 4.40935337e-03 6.85631572e-02 9.97637034e-01 7.62250249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.92719347 meters Centerline goodness : 0.923030 with order 1 Centerline is valid? [False, False] Translation: X:13.67, Y:-0.26, Z:0.76 [[ 9.98324490e-01 5.74338327e-02 -7.04040701e-03 1.36689574e+01] [-5.77418938e-02 9.96712568e-01 -5.68324861e-02 -2.59834503e-01] [ 3.75315465e-03 5.71437891e-02 9.98358904e-01 7.59367607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.98719347 meters Centerline goodness : 0.921707 with order 1 Centerline is valid? [False, False] Translation: X:13.67, Y:-0.27, Z:0.76 [[ 9.98583173e-01 5.25446309e-02 -8.40879926e-03 1.36655142e+01] [-5.28519242e-02 9.97724767e-01 -4.18564527e-02 -2.74717363e-01] [ 6.19033543e-03 4.22415706e-02 9.99088249e-01 7.57591909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.04719347 meters Centerline goodness : 0.923261 with order 1 Centerline is valid? [False, False] Translation: X:13.66, Y:-0.29, Z:0.76 [[ 9.98932447e-01 4.47933193e-02 -1.12927152e-02 1.36611768e+01] [-4.51166657e-02 9.98524508e-01 -3.02207303e-02 -2.86457850e-01] [ 9.92236608e-03 3.06979578e-02 9.99479456e-01 7.59359188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.10719347 meters Centerline goodness : 0.926963 with order 1 Centerline is valid? [False, False] Translation: X:13.66, Y:-0.30, Z:0.76 [[ 9.99060947e-01 4.26260394e-02 -7.76170114e-03 1.36558450e+01] [-4.27825875e-02 9.98858085e-01 -2.12644524e-02 -3.00893160e-01] [ 6.84641855e-03 2.15765496e-02 9.99743757e-01 7.61220934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.16719347 meters Centerline goodness : 0.927913 with order 1 Centerline is valid? [False, False] Translation: X:13.66, Y:-0.31, Z:0.76 [[ 9.99214489e-01 3.87474755e-02 -8.30888322e-03 1.36551658e+01] [-3.89343530e-02 9.98961812e-01 -2.36519584e-02 -3.06045557e-01] [ 7.38380335e-03 2.39568805e-02 9.99685724e-01 7.62977268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.22719347 meters Centerline goodness : 0.929547 with order 1 Centerline is valid? [False, False] Translation: X:13.67, Y:-0.31, Z:0.76 [[ 9.99526094e-01 3.03313094e-02 -5.25349103e-03 1.36720128e+01] [-3.04923600e-02 9.98959541e-01 -3.39124153e-02 -3.12778683e-01] [ 4.21941702e-03 3.40565354e-02 9.99411001e-01 7.62904049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.287193470000005 meters Centerline goodness : 0.931880 with order 1 Centerline is valid? [False, False] Translation: X:13.69, Y:-0.31, Z:0.76 [[ 9.99749108e-01 2.23811574e-02 -8.97022690e-04 1.36888996e+01] [-2.23975695e-02 9.99349814e-01 -2.82541691e-02 -3.12824822e-01] [ 2.64078454e-04 2.82671715e-02 9.99600369e-01 7.62467841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.34719347 meters Centerline goodness : 0.930332 with order 1 Centerline is valid? [False, False] Translation: X:13.71, Y:-0.32, Z:0.76 [[ 9.99833944e-01 1.80827495e-02 -2.25816077e-03 1.37106637e+01] [-1.81484731e-02 9.99270042e-01 -3.36157019e-02 -3.16896561e-01] [ 1.64864809e-03 3.36511020e-02 9.99432281e-01 7.61122571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.40719347 meters Centerline goodness : 0.924315 with order 1 Centerline is valid? [False, False] Translation: X:13.74, Y:-0.31, Z:0.76 [[ 9.99817733e-01 1.81891161e-02 -5.80144954e-03 1.37369079e+01] [-1.83926733e-02 9.99138130e-01 -3.72116348e-02 -3.11876691e-01] [ 5.11960270e-03 3.73115565e-02 9.99290567e-01 7.55025100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.467193470000005 meters Centerline goodness : 0.920907 with order 1 Centerline is valid? [False, False] Translation: X:13.77, Y:-0.31, Z:0.75 [[ 9.99867532e-01 1.61881724e-02 -1.69163413e-03 1.37697096e+01] [-1.62444173e-02 9.99007495e-01 -4.14746076e-02 -3.08883542e-01] [ 1.01855708e-03 4.14965932e-02 9.99138126e-01 7.50851827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.52719347 meters Centerline goodness : 0.925602 with order 1 Centerline is valid? [False, False] Translation: X:13.80, Y:-0.30, Z:0.75 [[ 9.99872587e-01 1.47933188e-02 5.99721165e-03 1.37968566e+01] [-1.44183418e-02 9.98190941e-01 -5.83691496e-02 -3.00446105e-01] [-6.84983578e-03 5.82752428e-02 9.98277054e-01 7.49689395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.58719347 meters Centerline goodness : 0.920600 with order 1 Centerline is valid? [False, False] Translation: X:13.84, Y:-0.30, Z:0.75 [[ 9.99857839e-01 1.57766944e-02 5.94964668e-03 1.38365919e+01] [-1.53532634e-02 9.97732861e-01 -6.55241588e-02 -2.96562034e-01] [-6.96991263e-03 6.54234973e-02 9.97833246e-01 7.46532501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.647193470000005 meters Centerline goodness : 0.916540 with order 1 Centerline is valid? [False, False] Translation: X:13.86, Y:-0.29, Z:0.74 [[ 0.9996915 0.02047272 0.01406335 13.86092414] [-0.01921123 0.99622726 -0.08462969 -0.28690069] [-0.0157429 0.08433341 0.99631322 0.74038797] [ 0. 0. 0. 1. ]] SLAMing on 62.70719347 meters Centerline goodness : 0.912883 with order 1 Centerline is valid? [False, False] Translation: X:13.89, Y:-0.26, Z:0.74 [[ 0.99919477 0.03664095 0.01634766 13.89367079] [-0.03366775 0.98732232 -0.15511649 -0.2626577 ] [-0.02182402 0.15444119 0.98776092 0.73864636] [ 0. 0. 0. 1. ]] SLAMing on 62.76719347 meters Centerline goodness : 0.911331 with order 1 Centerline is valid? [False, False] Translation: X:13.89, Y:-0.26, Z:0.74 [[ 0.9986681 0.04913146 0.01575202 13.89294682] [-0.04633402 0.98832991 -0.1451108 -0.26334711] [-0.0226977 0.14418767 0.98929001 0.74325227] [ 0. 0. 0. 1. ]] SLAMing on 62.827193470000005 meters Centerline goodness : 0.911183 with order 1 Centerline is valid? [False, False] Translation: X:13.90, Y:-0.27, Z:0.75 [[ 0.99836907 0.05483901 0.01587074 13.89676637] [-0.05234821 0.99029123 -0.12877475 -0.26898963] [-0.02277853 0.12773393 0.99154686 0.74701086] [ 0. 0. 0. 1. ]] SLAMing on 62.88719347 meters Centerline goodness : 0.910739 with order 1 Centerline is valid? [False, False] Translation: X:13.89, Y:-0.28, Z:0.75 [[ 0.99799628 0.05989064 0.02040903 13.88989592] [-0.05716558 0.99173356 -0.11487667 -0.27664584] [-0.02712036 0.11347979 0.99317009 0.74995394] [ 0. 0. 0. 1. ]] SLAMing on 62.94719347 meters Centerline goodness : 0.912022 with order 1 Centerline is valid? [False, False] Translation: X:13.89, Y:-0.29, Z:0.75 [[ 0.99790344 0.06166551 0.01964909 13.88980453] [-0.05912483 0.99208548 -0.11077296 -0.28607353] [-0.02632445 0.10937897 0.99365148 0.75077071] [ 0. 0. 0. 1. ]] SLAMing on 63.007193470000004 meters Centerline goodness : 0.913790 with order 1 Centerline is valid? [False, False] Translation: X:13.88, Y:-0.30, Z:0.75 [[ 0.9979078 0.06036288 0.02315925 13.88394198] [-0.05775757 0.99328767 -0.1002181 -0.30215229] [-0.02905325 0.0986708 0.99469592 0.75481778] [ 0. 0. 0. 1. ]] SLAMing on 63.06719347 meters Centerline goodness : 0.918295 with order 1 Centerline is valid? [False, False] Translation: X:13.89, Y:-0.31, Z:0.76 [[ 0.99818942 0.05585068 0.02232912 13.88957596] [-0.05364139 0.99453112 -0.08961277 -0.31322837] [-0.02721194 0.08825276 0.99572635 0.75764378] [ 0. 0. 0. 1. ]] SLAMing on 63.12719347 meters Centerline goodness : 0.918070 with order 1 Centerline is valid? [False, False] Translation: X:13.88, Y:-0.33, Z:0.76 [[ 0.99884976 0.04388914 0.01931038 13.88308741] [-0.04226373 0.99607511 -0.07776993 -0.33180378] [-0.02264785 0.07686434 0.9967843 0.75950461] [ 0. 0. 0. 1. ]] SLAMing on 63.187193470000004 meters Centerline goodness : 0.915037 with order 1 Centerline is valid? [False, False] Translation: X:13.88, Y:-0.35, Z:0.76 [[ 0.99935348 0.03156758 0.01720779 13.87992425] [-0.03035933 0.99732754 -0.06645364 -0.3473496 ] [-0.01925959 0.06588826 0.99764112 0.75676802] [ 0. 0. 0. 1. ]] SLAMing on 63.24719347 meters Centerline goodness : 0.916359 with order 1 Centerline is valid? [False, False] Translation: X:13.90, Y:-0.35, Z:0.75 [[ 0.99954007 0.02266192 0.02015164 13.90227014] [-0.02144962 0.99805898 -0.05846528 -0.35337266] [-0.02143746 0.05800615 0.99808603 0.75440237] [ 0. 0. 0. 1. ]] SLAMing on 63.30719347 meters Centerline goodness : 0.922248 with order 1 Centerline is valid? [False, False] Translation: X:13.91, Y:-0.36, Z:0.76 [[ 0.99958501 0.01536038 0.0243692 13.90769686] [-0.0140118 0.99841127 -0.05457664 -0.36042276] [-0.0251688 0.05421253 0.99821217 0.75787263] [ 0. 0. 0. 1. ]] SLAMing on 63.367193470000004 meters Centerline goodness : 0.924259 with order 1 Centerline is valid? [False, False] Translation: X:13.93, Y:-0.36, Z:0.76 [[ 9.99638900e-01 7.17831579e-03 2.58948157e-02 1.39272164e+01] [-5.95340931e-03 9.98873666e-01 -4.70739429e-02 -3.63112456e-01] [-2.62035611e-02 4.69027820e-02 9.98555708e-01 7.56964573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.42719347 meters Centerline goodness : 0.921658 with order 1 Centerline is valid? [False, False] Translation: X:13.96, Y:-0.36, Z:0.76 [[ 9.99720074e-01 4.82785488e-03 2.31617064e-02 1.39575539e+01] [-3.79119033e-03 9.98997970e-01 -4.45946482e-02 -3.63559100e-01] [-2.33537942e-02 4.44943546e-02 9.98736628e-01 7.55066908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.48719347 meters Centerline goodness : 0.923306 with order 1 Centerline is valid? [False, False] Translation: X:13.97, Y:-0.36, Z:0.75 [[ 9.99602477e-01 7.51804435e-03 2.71729173e-02 1.39735078e+01] [-6.21938841e-03 9.98848793e-01 -4.75647666e-02 -3.59236829e-01] [-2.74992297e-02 4.73768595e-02 9.98498485e-01 7.54086557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.54719347 meters Centerline goodness : 0.922568 with order 1 Centerline is valid? [False, False] Translation: X:14.01, Y:-0.35, Z:0.75 [[ 9.99546877e-01 1.35804126e-02 2.68628536e-02 1.40084144e+01] [-1.21972048e-02 9.98624085e-01 -5.10016255e-02 -3.53636947e-01] [-2.75185157e-02 5.06508638e-02 9.98337228e-01 7.54295846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.607193470000006 meters Centerline goodness : 0.921798 with order 1 Centerline is valid? [False, False] Translation: X:14.05, Y:-0.35, Z:0.75 [[ 0.99942724 0.01999397 0.02730249 14.04626917] [-0.01845926 0.99829631 -0.05535093 -0.34881474] [-0.02836266 0.05481524 0.99809361 0.750536 ] [ 0. 0. 0. 1. ]] SLAMing on 63.66719347 meters Centerline goodness : 0.921405 with order 1 Centerline is valid? [False, False] Translation: X:14.08, Y:-0.34, Z:0.75 [[ 0.99924581 0.02486706 0.02982358 14.08089613] [-0.02287266 0.99759396 -0.06544563 -0.33923096] [-0.03137927 0.06471413 0.99741036 0.74578348] [ 0. 0. 0. 1. ]] SLAMing on 63.72719347 meters Centerline goodness : 0.915819 with order 1 Centerline is valid? [False, False] Translation: X:14.11, Y:-0.32, Z:0.74 [[ 0.99871305 0.03878134 0.03268412 14.10639108] [-0.03431404 0.99122878 -0.12762462 -0.31802452] [-0.03734689 0.12633885 0.99128387 0.74015956] [ 0. 0. 0. 1. ]] SLAMing on 63.787193470000005 meters Centerline goodness : 0.914514 with order 1 Centerline is valid? [False, False] Translation: X:14.11, Y:-0.32, Z:0.74 [[ 0.9986577 0.04098746 0.0316673 14.10706429] [-0.03667043 0.99127721 -0.12658899 -0.32070655] [-0.03657964 0.12525781 0.99144965 0.74209694] [ 0. 0. 0. 1. ]] SLAMing on 63.84719347 meters Centerline goodness : 0.916185 with order 1 Centerline is valid? [False, False] Translation: X:14.11, Y:-0.32, Z:0.74 [[ 0.99869845 0.04188164 0.02910889 14.11018563] [-0.03795578 0.9915119 -0.12435237 -0.32205807] [-0.0340699 0.12308566 0.99181105 0.74452523] [ 0. 0. 0. 1. ]] SLAMing on 63.90719347 meters Centerline goodness : 0.916237 with order 1 Centerline is valid? [False, False] Translation: X:14.11, Y:-0.32, Z:0.75 [[ 0.99865373 0.04050202 0.03240866 14.11284622] [-0.03665889 0.99309115 -0.11147235 -0.3236448 ] [-0.03669961 0.11013422 0.99323894 0.74541392] [ 0. 0. 0. 1. ]] SLAMing on 63.967193470000005 meters Centerline goodness : 0.918982 with order 1 Centerline is valid? [False, False] Translation: X:14.11, Y:-0.33, Z:0.75 [[ 0.99854391 0.04107785 0.03496659 14.10662223] [-0.03708951 0.99346635 -0.10793042 -0.33010805] [-0.03917168 0.10647637 0.99354334 0.74944294] [ 0. 0. 0. 1. ]] SLAMing on 64.02719347000001 meters Centerline goodness : 0.918263 with order 1 Centerline is valid? [False, False] Translation: X:14.11, Y:-0.33, Z:0.75 [[ 0.99862022 0.04191086 0.03164074 14.11203834] [-0.03852 0.99413276 -0.10107551 -0.33406915] [-0.03569126 0.09971724 0.99437549 0.75315849] [ 0. 0. 0. 1. ]] SLAMing on 64.08719347 meters Centerline goodness : 0.913720 with order 1 Centerline is valid? [False, False] Translation: X:14.13, Y:-0.34, Z:0.75 [[ 0.99885145 0.03588658 0.03174803 14.12674673] [-0.03279737 0.99512739 -0.09298285 -0.34196621] [-0.03493017 0.0918348 0.99516142 0.75329662] [ 0. 0. 0. 1. ]] SLAMing on 64.14719347 meters Centerline goodness : 0.913202 with order 1 Centerline is valid? [False, False] Translation: X:14.14, Y:-0.35, Z:0.76 [[ 0.99908099 0.02912814 0.03144409 14.13946584] [-0.02635281 0.99600411 -0.08533076 -0.34815212] [-0.03380397 0.0844237 0.99585638 0.75575182] [ 0. 0. 0. 1. ]] SLAMing on 64.20719347 meters Centerline goodness : 0.911417 with order 1 Centerline is valid? [False, False] Translation: X:14.15, Y:-0.36, Z:0.76 [[ 9.99339533e-01 1.34004958e-02 3.37775632e-02 1.41500444e+01] [-1.08255814e-02 9.97102634e-01 -7.52937134e-02 -3.55417135e-01] [-3.46886703e-02 7.48783226e-02 9.96589150e-01 7.56672255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26719347000001 meters Centerline goodness : 0.909059 with order 1 Centerline is valid? [False, False] Translation: X:14.17, Y:-0.36, Z:0.76 [[ 9.99339618e-01 4.70761873e-03 3.60300722e-02 1.41661395e+01] [-2.20334440e-03 9.97598175e-01 -6.92316822e-02 -3.56196312e-01] [-3.62694506e-02 6.91065762e-02 9.96949752e-01 7.57561453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32719347000001 meters Centerline goodness : 0.906619 with order 1 Centerline is valid? [False, False] Translation: X:14.20, Y:-0.35, Z:0.76 [[ 9.99414972e-01 4.78202084e-03 3.38651176e-02 1.41954136e+01] [-2.56154775e-03 9.97861705e-01 -6.53104567e-02 -3.53052496e-01] [-3.41050199e-02 6.51855012e-02 9.97290177e-01 7.56258540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38719347000001 meters Centerline goodness : 0.899246 with order 1 Centerline is valid? [False, False] Translation: X:14.21, Y:-0.34, Z:0.75 [[ 9.99536130e-01 3.36251974e-03 3.02690888e-02 1.42086747e+01] [-1.44060026e-03 9.97993905e-01 -6.32936857e-02 -3.44631710e-01] [-3.04211924e-02 6.32207201e-02 9.97535810e-01 7.52204022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.44719347000002 meters Centerline goodness : 0.897876 with order 1 Centerline is valid? [False, False] Translation: X:14.23, Y:-0.34, Z:0.75 [[ 9.99614086e-01 -3.50221655e-03 2.75574601e-02 1.42287837e+01] [ 5.09503520e-03 9.98306849e-01 -5.79437357e-02 -3.35145416e-01] [-2.73078697e-02 5.80617806e-02 9.97939432e-01 7.51453381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.50719347 meters Centerline goodness : 0.897517 with order 1 Centerline is valid? [False, False] Translation: X:14.26, Y:-0.33, Z:0.75 [[ 9.99603041e-01 -7.96719917e-03 2.70237669e-02 1.42629496e+01] [ 9.32739870e-03 9.98676114e-01 -5.05867524e-02 -3.28633710e-01] [-2.65849557e-02 5.08187330e-02 9.98353994e-01 7.53896207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.56719347 meters Centerline goodness : 0.902719 with order 1 Centerline is valid? [False, False] Translation: X:14.28, Y:-0.31, Z:0.75 [[ 9.99483092e-01 -7.33320835e-03 3.13013129e-02 1.42788954e+01] [ 9.09229985e-03 9.98365070e-01 -5.64315275e-02 -3.13933178e-01] [-3.08363133e-02 5.66869586e-02 9.97915683e-01 7.52969063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62719347000001 meters Centerline goodness : 0.897562 with order 1 Centerline is valid? [False, False] Translation: X:14.31, Y:-0.30, Z:0.75 [[ 9.99446159e-01 -5.77822554e-03 3.27717543e-02 1.43059735e+01] [ 7.49549232e-03 9.98591612e-01 -5.25224691e-02 -3.00931861e-01] [-3.24221123e-02 5.27390204e-02 9.98081862e-01 7.51507000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68719347000001 meters Centerline goodness : 0.897314 with order 1 Centerline is valid? [False, False] Translation: X:14.34, Y:-0.28, Z:0.75 [[ 9.99475195e-01 1.38451388e-03 3.23638301e-02 1.43443591e+01] [ 7.92122317e-04 9.97742859e-01 -6.71458057e-02 -2.83731723e-01] [-3.23837447e-02 6.71362033e-02 9.97218142e-01 7.52391467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74719347000001 meters Centerline goodness : 0.897573 with order 1 Centerline is valid? [False, False] Translation: X:14.38, Y:-0.27, Z:0.75 [[ 9.99380316e-01 7.59013341e-03 3.43711140e-02 1.43834106e+01] [-4.72087686e-03 9.96554752e-01 -8.28030222e-02 -2.69018971e-01] [-3.48811829e-02 8.25894487e-02 9.95973035e-01 7.52088096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.80719347000002 meters Centerline goodness : 0.899521 with order 1 Centerline is valid? [False, False] Translation: X:14.42, Y:-0.24, Z:0.75 [[ 9.98975083e-01 2.04897784e-02 4.03602777e-02 1.44225165e+01] [-1.43713384e-02 9.89115898e-01 -1.46434985e-01 -2.37470553e-01] [-4.29214127e-02 1.45704870e-01 9.88396602e-01 7.53569362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.86719347 meters Centerline goodness : 0.899426 with order 1 Centerline is valid? [False, False] Translation: X:14.43, Y:-0.22, Z:0.76 [[ 0.99861278 0.0352101 0.03915058 14.42564115] [-0.02950962 0.9900359 -0.13768842 -0.22489796] [-0.0436085 0.1363421 0.98970154 0.75632048] [ 0. 0. 0. 1. ]] SLAMing on 64.92719347 meters Centerline goodness : 0.894245 with order 1 Centerline is valid? [False, False] Translation: X:14.43, Y:-0.22, Z:0.76 [[ 0.99819697 0.04779028 0.03631665 14.43146164] [-0.04298384 0.99144715 -0.1232272 -0.22071432] [-0.0418951 0.12144399 0.99171375 0.75947509] [ 0. 0. 0. 1. ]] SLAMing on 64.98719347000001 meters Centerline goodness : 0.894675 with order 1 Centerline is valid? [False, False] Translation: X:14.44, Y:-0.22, Z:0.76 [[ 0.99755184 0.05741341 0.03992528 14.43648465] [-0.05307764 0.99333925 -0.10227361 -0.22057178] [-0.04553123 0.09990409 0.99395477 0.76265995] [ 0. 0. 0. 1. ]] SLAMing on 65.04719347000001 meters Centerline goodness : 0.895386 with order 1 Centerline is valid? [False, False] Translation: X:14.45, Y:-0.23, Z:0.76 [[ 0.99757973 0.05533158 0.04210826 14.44863547] [-0.05149881 0.99485673 -0.08722359 -0.22823123] [-0.0467179 0.08484396 0.99529842 0.76407642] [ 0. 0. 0. 1. ]] SLAMing on 65.10719347000001 meters Centerline goodness : 0.887484 with order 1 Centerline is valid? [False, False] Translation: X:14.44, Y:-0.23, Z:0.76 [[ 0.99786033 0.05256109 0.03888567 14.44381344] [-0.04943959 0.99578188 -0.07729273 -0.23313081] [-0.04278424 0.07520485 0.99624984 0.7617112 ] [ 0. 0. 0. 1. ]] SLAMing on 65.16719347000002 meters Centerline goodness : 0.884904 with order 1 Centerline is valid? [False, False] Translation: X:14.45, Y:-0.24, Z:0.76 [[ 0.99796091 0.05184334 0.03723279 14.44883829] [-0.04894461 0.99598576 -0.07494527 -0.24340546] [-0.04096875 0.07297011 0.99649231 0.75596958] [ 0. 0. 0. 1. ]] SLAMing on 65.22719347 meters Centerline goodness : 0.883408 with order 1 Centerline is valid? [False, False] Translation: X:14.45, Y:-0.25, Z:0.76 [[ 0.99810727 0.04932806 0.03672352 14.44826216] [-0.04721368 0.99729283 -0.05637268 -0.25120738] [-0.03940486 0.05453213 0.99773418 0.755054 ] [ 0. 0. 0. 1. ]] SLAMing on 65.28719347 meters Centerline goodness : 0.885012 with order 1 Centerline is valid? [False, False] Translation: X:14.45, Y:-0.26, Z:0.76 [[ 0.99841681 0.04279023 0.03650848 14.44860766] [-0.04077417 0.99769262 -0.05428534 -0.26378764] [-0.03874712 0.05271079 0.99785782 0.75813486] [ 0. 0. 0. 1. ]] SLAMing on 65.34719347000001 meters Centerline goodness : 0.882120 with order 1 Centerline is valid? [False, False] Translation: X:14.45, Y:-0.27, Z:0.76 [[ 0.99866846 0.03600162 0.03694847 14.44686942] [-0.0338133 0.99773021 -0.05823306 -0.27200739] [-0.03896109 0.05690617 0.99761903 0.75807404] [ 0. 0. 0. 1. ]] SLAMing on 65.40719347000001 meters Centerline goodness : 0.879176 with order 1 Centerline is valid? [False, False] Translation: X:14.45, Y:-0.28, Z:0.76 [[ 0.9989992 0.02334345 0.03815336 14.44797037] [-0.02181826 0.99896487 -0.03991431 -0.2806408 ] [-0.0390456 0.03904192 0.99847442 0.75874003] [ 0. 0. 0. 1. ]] SLAMing on 65.46719347000001 meters Centerline goodness : 0.872476 with order 1 Centerline is valid? [False, False] Translation: X:14.45, Y:-0.28, Z:0.76 [[ 9.99170048e-01 1.10781648e-02 3.91980832e-02 1.44475661e+01] [-9.83215515e-03 9.99444657e-01 -3.18387435e-02 -2.84809090e-01] [-3.95290297e-02 3.14269172e-02 9.98724088e-01 7.59903127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.52719347000001 meters Centerline goodness : 0.872083 with order 1 Centerline is valid? [False, False] Translation: X:14.47, Y:-0.28, Z:0.76 [[ 9.99223290e-01 5.63534351e-03 3.90007647e-02 1.44734764e+01] [-4.52068320e-03 9.99580431e-01 -2.86098788e-02 -2.84933421e-01] [-3.91456276e-02 2.84113471e-02 9.98829523e-01 7.62197992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.58719347 meters Centerline goodness : 0.871464 with order 1 Centerline is valid? [False, False] Translation: X:14.48, Y:-0.28, Z:0.76 [[ 9.99249464e-01 3.10461926e-03 3.86117890e-02 1.44753765e+01] [-1.86922523e-03 9.99486432e-01 -3.19902948e-02 -2.77893701e-01] [-3.86912769e-02 3.18941108e-02 9.98742084e-01 7.61352907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.64719347 meters Centerline goodness : 0.871701 with order 1 Centerline is valid? [False, False] Translation: X:14.51, Y:-0.26, Z:0.76 [[ 9.99244150e-01 4.01885551e-03 3.86649452e-02 1.45089077e+01] [-2.36235893e-03 9.99081167e-01 -4.27930132e-02 -2.64279064e-01] [-3.88013975e-02 4.26693276e-02 9.98335505e-01 7.57265276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.70719347 meters Centerline goodness : 0.869310 with order 1 Centerline is valid? [False, False] Translation: X:14.53, Y:-0.26, Z:0.75 [[ 9.99162743e-01 4.56336870e-03 4.06569659e-02 1.45282824e+01] [-2.63192039e-03 9.98870934e-01 -4.74334351e-02 -2.56017403e-01] [-4.08275178e-02 4.72867153e-02 9.98046632e-01 7.54017843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76719347000001 meters Centerline goodness : 0.871701 with order 1 Centerline is valid? [False, False] Translation: X:14.56, Y:-0.24, Z:0.75 [[ 9.99176157e-01 2.70244186e-03 4.04932534e-02 1.45556049e+01] [-7.98346646e-04 9.98896211e-01 -4.69651075e-02 -2.43953346e-01] [-4.05754779e-02 4.68940880e-02 9.98075436e-01 7.52716727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82719347000001 meters Centerline goodness : 0.867783 with order 1 Centerline is valid? [False, False] Translation: X:14.59, Y:-0.23, Z:0.75 [[ 9.99190002e-01 7.33400706e-03 3.95670557e-02 1.45941194e+01] [-5.35990996e-03 9.98746334e-01 -4.97697942e-02 -2.31035423e-01] [-3.98824639e-02 4.95174049e-02 9.97976661e-01 7.50464747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88719347000001 meters Centerline goodness : 0.863602 with order 1 Centerline is valid? [False, False] Translation: X:14.64, Y:-0.21, Z:0.75 [[ 9.99043663e-01 1.67099577e-02 4.04046740e-02 1.46387023e+01] [-1.37230876e-02 9.97229970e-01 -7.31030999e-02 -2.10432609e-01] [-4.15143015e-02 7.24787117e-02 9.96505594e-01 7.50957900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.94719347000002 meters Centerline goodness : 0.869212 with order 1 Centerline is valid? [False, False] Translation: X:14.64, Y:-0.20, Z:0.75 [[ 0.99869496 0.01938943 0.04724851 14.63755317] [-0.01671756 0.99827378 -0.05630256 -0.1951996 ] [-0.04825863 0.05543921 0.99729514 0.75496861] [ 0. 0. 0. 1. ]] SLAMing on 66.00719347 meters Centerline goodness : 0.868870 with order 1 Centerline is valid? [False, False] Translation: X:14.62, Y:-0.18, Z:0.76 [[ 0.99862483 0.0218884 0.04763775 14.62240805] [-0.02004563 0.99904502 -0.03882301 -0.17943178] [-0.04844203 0.03781469 0.99810992 0.75775141] [ 0. 0. 0. 1. ]] SLAMing on 66.06719347 meters Centerline goodness : 0.870454 with order 1 Centerline is valid? [False, False] Translation: X:14.61, Y:-0.17, Z:0.76 [[ 0.99870036 0.02319342 0.04538346 14.61251875] [-0.02239807 0.99958787 -0.01795598 -0.17179065] [-0.04578122 0.01691614 0.99880825 0.7595867 ] [ 0. 0. 0. 1. ]] SLAMing on 66.12719347000001 meters Centerline goodness : 0.864666 with order 1 Centerline is valid? [False, False] Translation: X:14.61, Y:-0.16, Z:0.76 [[ 9.98778115e-01 3.16101803e-02 3.79878153e-02 1.46110416e+01] [-3.16915074e-02 9.99496511e-01 1.54047085e-03 -1.59388996e-01] [-3.79199943e-02 -2.74247971e-03 9.99277015e-01 7.62542719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18719347000001 meters Centerline goodness : 0.864550 with order 1 Centerline is valid? [False, False] Translation: X:14.62, Y:-0.15, Z:0.76 [[ 9.98539128e-01 4.00691290e-02 3.62501728e-02 1.46175913e+01] [-4.03855276e-02 9.99151839e-01 8.03818270e-03 -1.54149477e-01] [-3.58973438e-02 -9.49042229e-03 9.99310419e-01 7.57926882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24719347000001 meters Centerline goodness : 0.865369 with order 1 Centerline is valid? [False, False] Translation: X:14.62, Y:-0.14, Z:0.76 [[ 0.99785673 0.05458153 0.0360944 14.62089963] [-0.05535746 0.9982487 0.02085854 -0.14450757] [-0.03489269 -0.02281193 0.99913068 0.75586609] [ 0. 0. 0. 1. ]] SLAMing on 66.30719347000002 meters Centerline goodness : 0.866119 with order 1 Centerline is valid? [False, False] Translation: X:14.63, Y:-0.14, Z:0.75 [[ 0.99723843 0.06070197 0.04278755 14.63106369] [-0.06151212 0.99794621 0.01787784 -0.13986275] [-0.04161446 -0.02046042 0.99892423 0.75288246] [ 0. 0. 0. 1. ]] SLAMing on 66.36719347 meters Centerline goodness : 0.865688 with order 1 Centerline is valid? [False, False] Translation: X:14.63, Y:-0.14, Z:0.75 [[ 0.99723334 0.060619 0.04302324 14.6312015 ] [-0.06144991 0.99794313 0.01825948 -0.1427242 ] [-0.04182788 -0.02085273 0.9989072 0.75252294] [ 0. 0. 0. 1. ]] SLAMing on 66.42719347 meters Centerline goodness : 0.864685 with order 1 Centerline is valid? [False, False] Translation: X:14.66, Y:-0.15, Z:0.75 [[ 0.99817962 0.0437316 0.04153309 14.66483575] [-0.0453359 0.99822947 0.03850425 -0.15214496] [-0.0397757 -0.0403171 0.99839492 0.75297591] [ 0. 0. 0. 1. ]] SLAMing on 66.48719347000001 meters Centerline goodness : 0.863333 with order 1 Centerline is valid? [False, False] Translation: X:14.69, Y:-0.18, Z:0.76 [[ 0.99850848 0.02217991 0.04988847 14.68608118] [-0.02772735 0.99316151 0.11340816 -0.17942272] [-0.04703193 -0.11462229 0.99229518 0.76055329] [ 0. 0. 0. 1. ]] SLAMing on 66.54719347000001 meters Centerline goodness : 0.866226 with order 1 Centerline is valid? [False, False] Translation: X:14.69, Y:-0.21, Z:0.78 [[ 9.98732124e-01 -6.32724711e-03 4.99410726e-02 1.46868405e+01] [-4.13738093e-03 9.78396172e-01 2.06697395e-01 -2.08007026e-01] [-5.01699797e-02 -2.06641953e-01 9.77129508e-01 7.77340506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60719347000001 meters Centerline goodness : 0.861464 with order 1 Centerline is valid? [False, False] Translation: X:14.71, Y:-0.21, Z:0.79 [[ 9.98988231e-01 -1.35886128e-02 4.28703195e-02 1.47121652e+01] [ 2.81056357e-03 9.70259692e-01 2.42050058e-01 -2.14334406e-01] [-4.48844675e-02 -2.41684670e-01 9.69316205e-01 7.89664364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.66719347000002 meters Centerline goodness : 0.861182 with order 1 Centerline is valid? [False, False] Translation: X:14.70, Y:-0.21, Z:0.79 [[ 9.98832206e-01 -1.61321304e-02 4.55409645e-02 1.47020323e+01] [ 6.08606649e-03 9.77111201e-01 2.12642095e-01 -2.09020951e-01] [-4.79289565e-02 -2.12116607e-01 9.76068317e-01 7.89156794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.72719347 meters Centerline goodness : 0.863818 with order 1 Centerline is valid? [False, False] Translation: X:14.71, Y:-0.20, Z:0.78 [[ 9.98882978e-01 -2.06800188e-02 4.24868549e-02 1.47074251e+01] [ 1.22172897e-02 9.81601365e-01 1.90550512e-01 -2.01866730e-01] [-4.56457429e-02 -1.89818589e-01 9.80757549e-01 7.84579750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.78719347 meters Centerline goodness : 0.852625 with order 1 Centerline is valid? [False, False] Translation: X:14.71, Y:-0.19, Z:0.78 [[ 0.99881154 -0.02878754 0.03932916 14.71047626] [ 0.02141024 0.98405768 0.17655615 -0.18956746] [-0.04378478 -0.17550428 0.98350452 0.77891386] [ 0. 0. 0. 1. ]] SLAMing on 66.84719347000001 meters Centerline goodness : 0.852881 with order 1 Centerline is valid? [False, False] Translation: X:14.71, Y:-0.18, Z:0.78 [[ 0.99873196 -0.03355882 0.03752701 14.70858576] [ 0.02732833 0.98742543 0.15570544 -0.18066847] [-0.04228042 -0.15448245 0.98709044 0.77790841] [ 0. 0. 0. 1. ]] SLAMing on 66.90719347000001 meters Centerline goodness : 0.857609 with order 1 Centerline is valid? [False, False] Translation: X:14.71, Y:-0.16, Z:0.78 [[ 0.99854413 -0.03795704 0.03832608 14.70996648] [ 0.03212535 0.98924094 0.14272462 -0.16416615] [-0.04333114 -0.1412856 0.98902012 0.77988553] [ 0. 0. 0. 1. ]] SLAMing on 66.96719347000001 meters Centerline goodness : 0.854529 with order 1 Centerline is valid? [False, False] Translation: X:14.69, Y:-0.15, Z:0.78 [[ 0.99845063 -0.03345411 0.04446537 14.69471693] [ 0.02773858 0.99196204 0.12345801 -0.1458012 ] [-0.04823814 -0.12203332 0.99135309 0.7781376 ] [ 0. 0. 0. 1. ]] SLAMing on 67.02719347000001 meters Centerline goodness : 0.856091 with order 1 Centerline is valid? [False, False] Translation: X:14.71, Y:-0.13, Z:0.78 [[ 0.99858905 -0.02844536 0.04484158 14.70555947] [ 0.02334081 0.99360087 0.11051028 -0.13270957] [-0.04769814 -0.10930771 0.99286289 0.77893515] [ 0. 0. 0. 1. ]] SLAMing on 67.08719347 meters Centerline goodness : 0.854663 with order 1 Centerline is valid? [False, False] Translation: X:14.69, Y:-0.12, Z:0.78 [[ 9.99217102e-01 -1.48504249e-02 3.66694295e-02 1.46949009e+01] [ 1.02200576e-02 9.92307361e-01 1.23376058e-01 -1.15479422e-01] [-3.82195317e-02 -1.22904703e-01 9.91682258e-01 7.81024777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.14719347 meters Centerline goodness : 0.853676 with order 1 Centerline is valid? [False, False] Translation: X:14.69, Y:-0.11, Z:0.79 [[ 9.99640323e-01 -7.68808181e-03 2.56927800e-02 1.46945649e+01] [ 4.12185714e-03 9.90690037e-01 1.36074471e-01 -1.08282183e-01] [-2.64997328e-02 -1.35919626e-01 9.90365397e-01 7.86793693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.20719347 meters Centerline goodness : 0.859596 with order 1 Centerline is valid? [False, False] Translation: X:14.69, Y:-0.10, Z:0.79 [[ 9.99653455e-01 3.04062472e-03 2.61481320e-02 1.46902184e+01] [-6.89229208e-03 9.88887995e-01 1.48502627e-01 -9.97518091e-02] [-2.54060331e-02 -1.48631385e-01 9.88566257e-01 7.91866816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26719347000001 meters Centerline goodness : 0.862323 with order 1 Centerline is valid? [False, False] Translation: X:14.70, Y:-0.10, Z:0.79 [[ 9.99414869e-01 1.21118712e-02 3.19878546e-02 1.47018568e+01] [-1.71747808e-02 9.86462055e-01 1.63087834e-01 -9.64494992e-02] [-2.95795059e-02 -1.63541791e-01 9.86092864e-01 7.94751971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32719347000001 meters Centerline goodness : 0.863228 with order 1 Centerline is valid? [False, False] Translation: X:14.70, Y:-0.10, Z:0.80 [[ 0.99927387 0.0198896 0.03249836 14.70200371] [-0.0252233 0.98460187 0.1729825 -0.09798548] [-0.0285574 -0.17367661 0.9843886 0.79582464] [ 0. 0. 0. 1. ]] SLAMing on 67.38719347000001 meters Centerline goodness : 0.863043 with order 1 Centerline is valid? [False, False] Translation: X:14.73, Y:-0.10, Z:0.80 [[ 0.99923927 0.02639263 0.02871064 14.72889984] [-0.03112151 0.98331664 0.17922005 -0.10288727] [-0.02350156 -0.17997723 0.98338999 0.79528056] [ 0. 0. 0. 1. ]] SLAMing on 67.44719347000002 meters Centerline goodness : 0.863336 with order 1 Centerline is valid? [False, False] Translation: X:14.75, Y:-0.11, Z:0.79 [[ 0.99910088 0.02845956 0.03142427 14.7480153 ] [-0.03385557 0.98171865 0.18730267 -0.10921029] [-0.02551924 -0.18819815 0.98179948 0.79319391] [ 0. 0. 0. 1. ]] SLAMing on 67.50719347 meters Centerline goodness : 0.865999 with order 1 Centerline is valid? [False, False] Translation: X:14.77, Y:-0.12, Z:0.79 [[ 0.99887379 0.03299644 0.03409376 14.7731718 ] [-0.03897276 0.98043692 0.19293669 -0.12124114] [-0.02706056 -0.19404813 0.98061871 0.79378604] [ 0. 0. 0. 1. ]] SLAMing on 67.56719347 meters Centerline goodness : 0.866282 with order 1 Centerline is valid? [False, False] Translation: X:14.79, Y:-0.13, Z:0.79 [[ 0.99864212 0.03651748 0.03715368 14.79291694] [-0.04330447 0.9783515 0.20236864 -0.13044321] [-0.02895937 -0.20370277 0.97860438 0.79238563] [ 0. 0. 0. 1. ]] SLAMing on 67.62719347000001 meters Centerline goodness : 0.867486 with order 1 Centerline is valid? [False, False] Translation: X:14.81, Y:-0.14, Z:0.79 [[ 0.998337 0.04109959 0.04042358 14.81419196] [-0.04872915 0.97630895 0.2108229 -0.14122036] [-0.03080117 -0.21244211 0.9766881 0.7933918 ] [ 0. 0. 0. 1. ]] SLAMing on 67.68719347000001 meters Centerline goodness : 0.871113 with order 1 Centerline is valid? [False, False] Translation: X:14.83, Y:-0.15, Z:0.80 [[ 0.99809237 0.04299224 0.04430897 14.83277526] [-0.05158555 0.97504441 0.21593364 -0.15280562] [-0.03391974 -0.21780742 0.97540216 0.7965747 ] [ 0. 0. 0. 1. ]] SLAMing on 67.74719347000001 meters Centerline goodness : 0.874523 with order 1 Centerline is valid? [False, False] Translation: X:14.86, Y:-0.17, Z:0.81 [[ 0.99836323 0.03456017 0.04556808 14.86431421] [-0.04532963 0.96399892 0.26201395 -0.17474961] [-0.03487234 -0.26365068 0.96398768 0.80609916] [ 0. 0. 0. 1. ]] SLAMing on 67.80719347000002 meters Centerline goodness : 0.876530 with order 1 Centerline is valid? [False, False] Translation: X:14.90, Y:-0.20, Z:0.82 [[ 0.99868023 0.02197032 0.04642303 14.8957981 ] [-0.03601474 0.94398487 0.32801753 -0.19826568] [-0.03661598 -0.32925653 0.94353029 0.82174613] [ 0. 0. 0. 1. ]] SLAMing on 67.86719347 meters Centerline goodness : 0.879746 with order 1 Centerline is valid? [False, False] Translation: X:14.91, Y:-0.23, Z:0.85 [[ 9.99286495e-01 2.71619266e-03 3.76712527e-02 1.49145608e+01] [-1.88641249e-02 8.99987251e-01 4.35507855e-01 -2.30609702e-01] [-3.27207239e-02 -4.35907754e-01 8.99396345e-01 8.46237684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.92719347 meters Centerline goodness : 0.880160 with order 1 Centerline is valid? [False, False] Translation: X:14.93, Y:-0.24, Z:0.86 [[ 9.99523373e-01 -7.95913824e-03 2.98274834e-02 1.49345132e+01] [-7.27353526e-03 8.78277472e-01 4.78095993e-01 -2.41459650e-01] [-3.00020389e-02 -4.78085070e-01 8.77800970e-01 8.64291537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98719347000001 meters Centerline goodness : 0.886906 with order 1 Centerline is valid? [False, False] Translation: X:14.91, Y:-0.24, Z:0.87 [[ 9.99327228e-01 -1.28277130e-02 3.43590092e-02 1.49138869e+01] [-3.31876670e-03 9.01366150e-01 4.33045089e-01 -2.36248158e-01] [-3.65250260e-02 -4.32867778e-01 9.00717164e-01 8.70255402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04719347000001 meters Centerline goodness : 0.889019 with order 1 Centerline is valid? [False, False] Translation: X:14.89, Y:-0.22, Z:0.87 [[ 9.99202402e-01 -7.81460529e-03 3.91598152e-02 1.48946801e+01] [-6.37747260e-03 9.36846827e-01 3.49681786e-01 -2.16782812e-01] [-3.94193737e-02 -3.49652621e-01 9.36049762e-01 8.66859135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10719347000001 meters Centerline goodness : 0.891665 with order 1 Centerline is valid? [False, False] Translation: X:14.88, Y:-0.19, Z:0.86 [[ 9.98935352e-01 7.18159905e-03 4.55695822e-02 1.48779639e+01] [-1.84252472e-02 9.67709384e-01 2.51394230e-01 -1.92416107e-01] [-4.22926997e-02 -2.51966215e-01 9.66811437e-01 8.60064802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.16719347000002 meters Centerline goodness : 0.890151 with order 1 Centerline is valid? [False, False] Translation: X:14.89, Y:-0.20, Z:0.87 [[ 9.99090156e-01 1.28500297e-02 4.06661631e-02 1.48945064e+01] [-2.39220808e-02 9.58251650e-01 2.84923690e-01 -1.96916856e-01] [-3.53071400e-02 -2.85637273e-01 9.57687190e-01 8.70571873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.22719347 meters Centerline goodness : 0.890733 with order 1 Centerline is valid? [False, False] Translation: X:14.92, Y:-0.20, Z:0.88 [[ 0.99927468 0.01959924 0.03264943 14.91691995] [-0.02924779 0.94407044 0.32844417 -0.20483457] [-0.0243861 -0.32916086 0.94395892 0.88319036] [ 0. 0. 0. 1. ]] SLAMing on 68.28719347 meters Centerline goodness : 0.889681 with order 1 Centerline is valid? [False, False] Translation: X:14.94, Y:-0.21, Z:0.90 [[ 0.9994707 0.02031117 0.02541203 14.93975756] [-0.02822691 0.92977928 0.36703369 -0.21385477] [-0.0161727 -0.36755672 0.92986047 0.89657985] [ 0. 0. 0. 1. ]] SLAMing on 68.34719347000001 meters Centerline goodness : 0.886271 with order 1 Centerline is valid? [False, False] Translation: X:14.97, Y:-0.23, Z:0.91 [[ 9.99621658e-01 1.91051351e-02 1.97872192e-02 1.49703330e+01] [-2.55664380e-02 9.10703488e-01 4.12268739e-01 -2.26135283e-01] [-1.01438395e-02 -4.12618649e-01 9.10847382e-01 9.10386956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40719347000001 meters Centerline goodness : 0.888237 with order 1 Centerline is valid? [False, False] Translation: X:15.00, Y:-0.24, Z:0.93 [[ 9.99686927e-01 1.57144267e-02 1.94706240e-02 1.49977915e+01] [-2.30101372e-02 8.83043032e-01 4.68727572e-01 -2.38519757e-01] [-9.82761380e-03 -4.69028847e-01 8.83128166e-01 9.29181688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46719347000001 meters Centerline goodness : 0.886613 with order 1 Centerline is valid? [False, False] Translation: X:15.03, Y:-0.25, Z:0.95 [[ 9.99822929e-01 1.13253951e-02 1.50281469e-02 1.50273239e+01] [-1.75120129e-02 8.52287598e-01 5.22780240e-01 -2.49084970e-01] [-6.88761046e-03 -5.22950844e-01 8.52335014e-01 9.47874769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.52719347000001 meters Centerline goodness : 0.886972 with order 1 Centerline is valid? [False, False] Translation: X:15.06, Y:-0.26, Z:0.97 [[ 9.99890603e-01 4.69049540e-03 1.40278513e-02 1.50573384e+01] [-1.18735353e-02 8.20082550e-01 5.72122042e-01 -2.57359928e-01] [-8.82046026e-03 -5.72226014e-01 8.20048528e-01 9.66810383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.58719347 meters Centerline goodness : 0.887681 with order 1 Centerline is valid? [False, False] Translation: X:15.07, Y:-0.26, Z:0.99 [[ 9.99860003e-01 -7.63817228e-03 1.48873083e-02 1.50698059e+01] [-3.10619575e-03 7.89532806e-01 6.13700497e-01 -2.64218410e-01] [-1.64415684e-02 -6.13660824e-01 7.89398548e-01 9.87688326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.64719347 meters Centerline goodness : 0.884701 with order 1 Centerline is valid? [False, False] Translation: X:15.03, Y:-0.24, Z:0.98 [[ 9.99697765e-01 -1.49150078e-02 1.95428025e-02 1.50294112e+01] [ 2.45147966e-03 8.51454040e-01 5.24423500e-01 -2.44444821e-01] [-2.44615788e-02 -5.24217093e-01 8.51233265e-01 9.77013516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.70719347 meters Centerline goodness : 0.884782 with order 1 Centerline is valid? [False, False] Translation: X:15.00, Y:-0.23, Z:0.97 [[ 9.99592518e-01 -1.61960638e-02 2.35050212e-02 1.50020728e+01] [ 4.19447225e-03 8.97849264e-01 4.40282984e-01 -2.28848092e-01] [-2.82348173e-02 -4.40004985e-01 8.97551340e-01 9.68163133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76719347000001 meters Centerline goodness : 0.880408 with order 1 Centerline is valid? [False, False] Translation: X:14.98, Y:-0.22, Z:0.96 [[ 9.99704765e-01 -9.24050578e-03 2.24720950e-02 1.49839348e+01] [-5.35905322e-04 9.16251800e-01 4.00602487e-01 -2.19215938e-01] [-2.42918671e-02 -4.00496258e-01 9.15976338e-01 9.62358892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82719347000001 meters Centerline goodness : 0.878352 with order 1 Centerline is valid? [False, False] Translation: X:14.97, Y:-0.21, Z:0.96 [[ 9.99778934e-01 5.76468827e-04 2.10178568e-02 1.49714070e+01] [-8.15000927e-03 9.32097778e-01 3.62115051e-01 -2.07366678e-01] [-1.93819496e-02 -3.62206295e-01 9.31896421e-01 9.57632476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88719347000001 meters Centerline goodness : 0.878580 with order 1 Centerline is valid? [False, False] Translation: X:14.97, Y:-0.20, Z:0.96 [[ 9.99760527e-01 9.05570462e-03 1.99219383e-02 1.49714117e+01] [-1.58200200e-02 9.28080932e-01 3.72042349e-01 -2.03267034e-01] [-1.51200655e-02 -3.72268421e-01 9.28001943e-01 9.60688407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94719347000002 meters Centerline goodness : 0.873841 with order 1 Centerline is valid? [False, False] Translation: X:14.99, Y:-0.20, Z:0.97 [[ 9.99849344e-01 1.17044450e-02 1.28177411e-02 1.49892832e+01] [-1.58619928e-02 9.15991280e-01 4.00884487e-01 -2.02484154e-01] [-7.04880863e-03 -4.01027406e-01 9.16038937e-01 9.72778505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.00719347 meters Centerline goodness : 0.874283 with order 1 Centerline is valid? [False, False] Translation: X:15.01, Y:-0.20, Z:0.99 [[ 9.99922690e-01 1.06689312e-02 6.38659252e-03 1.50121468e+01] [-1.23874174e-02 8.99321203e-01 4.37113172e-01 -2.03555871e-01] [-1.08006771e-03 -4.37158492e-01 8.99383837e-01 9.89074301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.06719347 meters Centerline goodness : 0.871241 with order 1 Centerline is valid? [False, False] Translation: X:15.03, Y:-0.20, Z:1.00 [[ 9.99923163e-01 1.21765922e-02 2.32333820e-03 1.50260253e+01] [-1.18672859e-02 8.86125233e-01 4.63293902e-01 -2.03480561e-01] [ 3.58257230e-03 -4.63285875e-01 8.86201649e-01 1.00375734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12719347000001 meters Centerline goodness : 0.872356 with order 1 Centerline is valid? [False, False] Translation: X:15.04, Y:-0.20, Z:1.02 [[ 9.99886207e-01 1.48924703e-02 -2.40562480e-03 1.50439204e+01] [-1.17195804e-02 8.67256051e-01 4.97724414e-01 -2.03413057e-01] [ 9.49863874e-03 -4.97639584e-01 8.67331897e-01 1.02072863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18719347000001 meters Centerline goodness : 0.873830 with order 1 Centerline is valid? [False, False] Translation: X:15.07, Y:-0.20, Z:1.04 [[ 9.99849391e-01 1.65318148e-02 -5.28143112e-03 1.50718855e+01] [-1.13144235e-02 8.51682256e-01 5.23936369e-01 -2.02626137e-01] [ 1.31597202e-02 -5.23797703e-01 8.51741033e-01 1.03523835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24719347000001 meters Centerline goodness : 0.874478 with order 1 Centerline is valid? [False, False] Translation: X:15.10, Y:-0.21, Z:1.05 [[ 9.99844555e-01 1.50378541e-02 -9.20486595e-03 1.50952723e+01] [-7.21337289e-03 8.25265741e-01 5.64698525e-01 -2.05040981e-01] [ 1.60883146e-02 -5.64544348e-01 8.25245931e-01 1.05444798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.30719347000002 meters Centerline goodness : 0.875510 with order 1 Centerline is valid? [False, False] Translation: X:15.12, Y:-0.21, Z:1.07 [[ 9.99820745e-01 1.19589748e-02 -1.46785944e-02 1.51194909e+01] [-7.14739379e-04 7.98557310e-01 6.01918360e-01 -2.08592280e-01] [ 1.89200254e-02 -6.01799971e-01 7.98422712e-01 1.07390057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.36719347 meters Centerline goodness : 0.872230 with order 1 Centerline is valid? [False, False] Translation: X:15.15, Y:-0.21, Z:1.10 [[ 9.99693906e-01 6.91193467e-03 -2.37554133e-02 1.51546183e+01] [ 1.01635226e-02 7.60686019e-01 6.49040433e-01 -2.12017142e-01] [ 2.25565358e-02 -6.49083204e-01 7.60382928e-01 1.09551058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.42719347 meters Centerline goodness : 0.872202 with order 1 Centerline is valid? [False, False] Translation: X:15.19, Y:-0.21, Z:1.12 [[ 9.99478576e-01 8.37933437e-03 -3.11827374e-02 1.51850499e+01] [ 1.53730240e-02 7.25768491e-01 6.87767234e-01 -2.11409394e-01] [ 2.83944799e-02 -6.87887988e-01 7.25261242e-01 1.11711884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48719347000001 meters Centerline goodness : 0.866642 with order 1 Centerline is valid? [False, False] Translation: X:15.19, Y:-0.21, Z:1.13 [[ 9.99304832e-01 1.53515205e-02 -3.39732850e-02 1.51864495e+01] [ 1.25002951e-02 7.20554057e-01 6.93286084e-01 -2.09228967e-01] [ 3.51225839e-02 -6.93228809e-01 7.19861252e-01 1.12656346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54719347000001 meters Centerline goodness : 0.867977 with order 1 Centerline is valid? [False, False] Translation: X:15.20, Y:-0.21, Z:1.14 [[ 9.99166483e-01 1.93507506e-02 -3.59428521e-02 1.51952570e+01] [ 1.20405796e-02 7.01620961e-01 7.12448631e-01 -2.05719351e-01] [ 3.90046742e-02 -7.12287565e-01 7.00803153e-01 1.14288462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60719347000001 meters Centerline goodness : 0.867473 with order 1 Centerline is valid? [False, False] Translation: X:15.22, Y:-0.20, Z:1.16 [[ 9.98921265e-01 2.31835205e-02 -4.02346883e-02 1.52170771e+01] [ 1.34493529e-02 6.84871369e-01 7.28539856e-01 -2.03403449e-01] [ 4.44457048e-02 -7.28295086e-01 6.83820771e-01 1.15889357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66719347000002 meters Centerline goodness : 0.867901 with order 1 Centerline is valid? [False, False] Translation: X:15.24, Y:-0.20, Z:1.18 [[ 9.98686466e-01 2.76473477e-02 -4.31389295e-02 1.52423908e+01] [ 1.45019913e-02 6.54985578e-01 7.55502207e-01 -2.02340040e-01] [ 4.91430089e-02 -7.55135429e-01 6.53724290e-01 1.17762512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.72719347 meters Centerline goodness : 0.864569 with order 1 Centerline is valid? [False, False] Translation: X:15.27, Y:-0.20, Z:1.20 [[ 0.99819002 0.03403252 -0.049583 15.26699843] [ 0.01693832 0.6319982 0.77478472 -0.20372448] [ 0.05770424 -0.77422223 0.63027785 1.20435863] [ 0. 0. 0. 1. ]] SLAMing on 69.78719347 meters Centerline goodness : 0.866089 with order 1 Centerline is valid? [False, False] Translation: X:15.21, Y:-0.19, Z:1.19 [[ 9.97616316e-01 3.73149944e-02 -5.80454823e-02 1.52108620e+01] [ 1.43774494e-02 7.10316881e-01 7.03735190e-01 -1.94612659e-01] [ 6.74905606e-02 -7.02892253e-01 7.08087215e-01 1.19433482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84719347000001 meters Centerline goodness : 0.861669 with order 1 Centerline is valid? [False, False] Translation: X:15.17, Y:-0.19, Z:1.20 [[ 9.97316723e-01 4.07512075e-02 -6.08168751e-02 1.51672114e+01] [ 1.00602125e-02 7.46573777e-01 6.65226568e-01 -1.93318004e-01] [ 7.25130701e-02 -6.64053412e-01 7.44160547e-01 1.19792410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90719347000001 meters Centerline goodness : 0.857831 with order 1 Centerline is valid? [False, False] Translation: X:15.13, Y:-0.19, Z:1.20 [[ 9.96925898e-01 3.83534695e-02 -6.83210449e-02 1.51273259e+01] [ 1.23627341e-02 7.84070321e-01 6.20548865e-01 -1.93946582e-01] [ 7.73687056e-02 -6.19485870e-01 7.81185855e-01 1.20095937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96719347000001 meters Centerline goodness : 0.859039 with order 1 Centerline is valid? [False, False] Translation: X:15.10, Y:-0.20, Z:1.20 [[ 0.99662205 0.03034123 -0.07631453 15.09943261] [ 0.01993174 0.81210305 0.58317353 -0.19946977] [ 0.07966947 -0.58272468 0.80875505 1.20339409] [ 0. 0. 0. 1. ]] SLAMing on 70.02719347000001 meters Centerline goodness : 0.859650 with order 1 Centerline is valid? [False, False] Translation: X:15.07, Y:-0.21, Z:1.20 [[ 0.99637404 0.02218657 -0.08213723 15.07069142] [ 0.026795 0.83444676 0.55043676 -0.2054365 ] [ 0.08075145 -0.55064176 0.83082661 1.20290989] [ 0. 0. 0. 1. ]] SLAMing on 70.08719347000002 meters Centerline goodness : 0.859935 with order 1 Centerline is valid? [False, False] Translation: X:15.04, Y:-0.21, Z:1.20 [[ 9.96283617e-01 1.24643986e-02 -8.52267213e-02 1.50424352e+01] [ 3.32911571e-02 8.56854704e-01 5.14481987e-01 -2.11066089e-01] [ 7.94396256e-02 -5.15407271e-01 8.53255349e-01 1.20335463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.14719347 meters Centerline goodness : 0.860477 with order 1 Centerline is valid? [False, False] Translation: X:15.02, Y:-0.21, Z:1.20 [[ 9.96335207e-01 -2.51883258e-03 -8.54974326e-02 1.50175457e+01] [ 4.21880416e-02 8.83994115e-01 4.65590565e-01 -2.11280356e-01] [ 7.44064826e-02 -4.67491241e-01 8.80860724e-01 1.19876544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.20719347 meters Centerline goodness : 0.867590 with order 1 Centerline is valid? [False, False] Translation: X:15.00, Y:-0.21, Z:1.19 [[ 0.99649298 -0.02036126 -0.08116128 14.99522083] [ 0.05250699 0.9073693 0.41704192 -0.21058014] [ 0.06515176 -0.41984088 0.90525625 1.19205728] [ 0. 0. 0. 1. ]] SLAMing on 70.26719347000001 meters Centerline goodness : 0.872518 with order 1 Centerline is valid? [False, False] Translation: X:14.98, Y:-0.21, Z:1.18 [[ 0.996851 -0.0311011 -0.07294391 14.97793226] [ 0.05568919 0.92943236 0.36476595 -0.2056428 ] [ 0.05645181 -0.36767949 0.92823757 1.182947 ] [ 0. 0. 0. 1. ]] SLAMing on 70.32719347000001 meters Centerline goodness : 0.871518 with order 1 Centerline is valid? [False, False] Translation: X:14.97, Y:-0.19, Z:1.17 [[ 0.99666254 -0.03968111 -0.07133855 14.96746695] [ 0.06050573 0.94573079 0.31926843 -0.19286659] [ 0.05479814 -0.32251928 0.94497539 1.16753408] [ 0. 0. 0. 1. ]] SLAMing on 70.38719347000001 meters Centerline goodness : 0.872795 with order 1 Centerline is valid? [False, False] Translation: X:14.97, Y:-0.18, Z:1.16 [[ 0.99626616 -0.0462366 -0.07291028 14.96956633] [ 0.06486599 0.95818283 0.27870785 -0.17736754] [ 0.05697488 -0.2823966 0.95760432 1.1554258 ] [ 0. 0. 0. 1. ]] SLAMing on 70.44719347000002 meters Centerline goodness : 0.869107 with order 1 Centerline is valid? [False, False] Translation: X:14.98, Y:-0.16, Z:1.14 [[ 0.99567427 -0.0517305 -0.07717969 14.9800307 ] [ 0.06831944 0.9705952 0.23081899 -0.15656959] [ 0.06296985 -0.2350934 0.96993087 1.14260695] [ 0. 0. 0. 1. ]] SLAMing on 70.50719347 meters Centerline goodness : 0.870914 with order 1 Centerline is valid? [False, False] Translation: X:14.99, Y:-0.14, Z:1.13 [[ 0.99542999 -0.05534726 -0.07781913 14.99441701] [ 0.06941081 0.97902255 0.19156455 -0.13773267] [ 0.06558411 -0.19609059 0.97839011 1.13484431] [ 0. 0. 0. 1. ]] SLAMing on 70.56719347 meters Centerline goodness : 0.872134 with order 1 Centerline is valid? [False, False] Translation: X:15.01, Y:-0.12, Z:1.13 [[ 0.99535657 -0.05756092 -0.07714943 15.0079452 ] [ 0.06924652 0.98491959 0.15855069 -0.11835863] [ 0.06685967 -0.1631568 0.98433208 1.13165881] [ 0. 0. 0. 1. ]] SLAMing on 70.62719347000001 meters Centerline goodness : 0.875408 with order 1 Centerline is valid? [False, False] Translation: X:15.03, Y:-0.09, Z:1.13 [[ 0.99525457 -0.05875507 -0.07756403 15.02573442] [ 0.06828228 0.98961082 0.12652258 -0.09426999] [ 0.06932436 -0.13121843 0.98892662 1.130349 ] [ 0. 0. 0. 1. ]] SLAMing on 70.68719347000001 meters Centerline goodness : 0.877145 with order 1 Centerline is valid? [False, False] Translation: X:15.05, Y:-0.07, Z:1.13 [[ 0.99537743 -0.05911309 -0.07569284 15.04604413] [ 0.06547467 0.99426808 0.08452254 -0.07157345] [ 0.07026259 -0.08908779 0.99354242 1.12748666] [ 0. 0. 0. 1. ]] SLAMing on 70.74719347000001 meters Centerline goodness : 0.880553 with order 1 Centerline is valid? [False, False] Translation: X:15.06, Y:-0.04, Z:1.13 [[ 0.99621748 -0.05596149 -0.06647593 15.06258694] [ 0.05814641 0.99781415 0.03139934 -0.04345066] [ 0.06457347 -0.03514591 0.99729385 1.12709146] [ 0. 0. 0. 1. ]] SLAMing on 70.80719347000002 meters Centerline goodness : 0.879796 with order 1 Centerline is valid? [False, False] Translation: X:15.07, Y:-0.03, Z:1.13 [[ 0.99657253 -0.04883073 -0.06677392 15.06949003] [ 0.05062615 0.99839298 0.02546457 -0.03239104] [ 0.06542316 -0.02875779 0.99744313 1.1306443 ] [ 0. 0. 0. 1. ]] SLAMing on 70.86719347 meters Centerline goodness : 0.880388 with order 1 Centerline is valid? [False, False] Translation: X:15.07, Y:-0.02, Z:1.13 [[ 9.97052595e-01 -4.08662502e-02 -6.49312860e-02 1.50670688e+01] [ 4.19113149e-02 9.99011496e-01 1.48146070e-02 -1.71057288e-02] [ 6.42616837e-02 -1.74922979e-02 9.97779763e-01 1.13249914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.92719347 meters Centerline goodness : 0.881562 with order 1 Centerline is valid? [False, False] Translation: X:15.07, Y:-0.01, Z:1.13 [[ 9.97203511e-01 -3.70623429e-02 -6.48963828e-02 1.50662451e+01] [ 3.81868296e-02 9.99139727e-01 1.61731885e-02 -5.69507350e-03] [ 6.42411379e-02 -1.86061475e-02 9.97760937e-01 1.13298989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98719347000001 meters Centerline goodness : 0.884192 with order 1 Centerline is valid? [False, False] Translation: X:15.07, Y:-0.00, Z:1.13 [[ 9.97184937e-01 -3.77098560e-02 -6.48086995e-02 1.50663164e+01] [ 3.87303761e-02 9.99143577e-01 1.45626628e-02 -7.28508156e-04] [ 6.42040399e-02 -1.70317333e-02 9.97791442e-01 1.13259300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04719347000001 meters Centerline goodness : 0.880023 with order 1 Centerline is valid? [False, False] Translation: X:15.07, Y:0.00, Z:1.13 [[ 9.97175089e-01 -3.81109827e-02 -6.47255293e-02 1.50665624e+01] [ 3.90417159e-02 9.99150711e-01 1.31758064e-02 2.52559306e-03] [ 6.41684156e-02 -1.56655816e-02 9.97816117e-01 1.13203006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10719347000001 meters Centerline goodness : 0.884703 with order 1 Centerline is valid? [False, False] Translation: X:15.07, Y:0.01, Z:1.13 [[ 9.97269366e-01 -3.47272335e-02 -6.51753871e-02 1.50678174e+01] [ 3.58418033e-02 9.99229224e-01 1.60101212e-02 5.27370548e-03] [ 6.45691642e-02 -1.83024068e-02 9.97745381e-01 1.13122563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.16719347000002 meters Centerline goodness : 0.882465 with order 1 Centerline is valid? [False, False] Translation: X:15.07, Y:0.01, Z:1.13 [[ 9.97278143e-01 -3.42714227e-02 -6.52822650e-02 1.50684733e+01] [ 3.53961946e-02 9.99242840e-01 1.61510570e-02 5.47858584e-03] [ 6.46793162e-02 -1.84178399e-02 9.97736122e-01 1.13071501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.22719347 meters Centerline goodness : 0.883899 with order 1 Centerline is valid? [False, False] Translation: X:15.07, Y:0.00, Z:1.13 [[ 9.97173194e-01 -3.74894974e-02 -6.51164952e-02 1.50687273e+01] [ 3.84106252e-02 9.99178103e-01 1.29515716e-02 3.91293561e-03] [ 6.45774282e-02 -1.54161253e-02 9.97793615e-01 1.13057258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.28719347 meters Centerline goodness : 0.893376 with order 1 Centerline is valid? [False, False] Translation: X:15.07, Y:0.00, Z:1.13 [[ 9.97148503e-01 -3.80135047e-02 -6.51907683e-02 1.50686690e+01] [ 3.89145460e-02 9.99163004e-01 1.26075171e-02 3.04440614e-03] [ 6.46569480e-02 -1.51084359e-02 9.97793172e-01 1.13112757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34719347000001 meters Centerline goodness : 0.893517 with order 1 Centerline is valid? [False, False] Translation: X:15.07, Y:0.00, Z:1.13 [[ 9.97112221e-01 -3.83593683e-02 -6.55421817e-02 1.50698182e+01] [ 3.92727603e-02 9.99147761e-01 1.27043723e-02 9.77371104e-04] [ 6.49989924e-02 -1.52417073e-02 9.97768922e-01 1.13074963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40719347000001 meters Centerline goodness : 0.889219 with order 1 Centerline is valid? [False, False] Translation: X:15.07, Y:-0.00, Z:1.13 [[ 9.96964002e-01 -4.19139741e-02 -6.56201037e-02 1.50719810e+01] [ 4.26472159e-02 9.99042003e-01 9.81282234e-03 -1.64491965e-03] [ 6.51459454e-02 -1.25815454e-02 9.97796427e-01 1.12895634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46719347000001 meters Centerline goodness : 0.892305 with order 1 Centerline is valid? [False, False] Translation: X:15.07, Y:-0.00, Z:1.13 [[ 9.96762484e-01 -4.69060611e-02 -6.53021627e-02 1.50713446e+01] [ 4.73954613e-02 9.98858395e-01 5.96465489e-03 -3.44756163e-03] [ 6.49478350e-02 -9.04037035e-03 9.97847709e-01 1.12973174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.52719347000001 meters Centerline goodness : 0.893412 with order 1 Centerline is valid? [False, False] Translation: X:15.07, Y:-0.01, Z:1.13 [[ 9.96512300e-01 -5.20879914e-02 -6.51926151e-02 1.50712641e+01] [ 5.23264044e-02 9.98628124e-01 1.95378596e-03 -5.10290012e-03] [ 6.50014101e-02 -5.35826688e-03 9.97870786e-01 1.13015573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.58719347000002 meters Centerline goodness : 0.895980 with order 1 Centerline is valid? [False, False] Translation: X:15.08, Y:-0.00, Z:1.13 [[ 9.96057881e-01 -5.93199438e-02 -6.59533303e-02 1.50755396e+01] [ 5.91798234e-02 9.98239009e-01 -4.07792095e-03 -4.65816258e-03] [ 6.60790891e-02 1.58738865e-04 9.97814376e-01 1.12723141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.64719347 meters Centerline goodness : 0.892868 with order 1 Centerline is valid? [False, False] Translation: X:15.08, Y:-0.00, Z:1.13 [[ 9.96002459e-01 -6.02621592e-02 -6.59361270e-02 1.50753523e+01] [ 6.00828374e-02 9.98182324e-01 -4.70103854e-03 -4.34697112e-03] [ 6.60995713e-02 7.20616346e-04 9.97812772e-01 1.12755838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.70719347 meters Centerline goodness : 0.893449 with order 1 Centerline is valid? [False, False] Translation: X:15.08, Y:0.00, Z:1.12 [[ 9.96805037e-01 -5.90519731e-02 -5.37827427e-02 1.50789081e+01] [ 5.89213154e-02 9.98254563e-01 -4.01313964e-03 1.67242992e-03] [ 5.39258522e-02 8.31367856e-04 9.98544597e-01 1.12261916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76719347000001 meters Centerline goodness : 0.886460 with order 1 Centerline is valid? [False, False] Translation: X:15.08, Y:0.01, Z:1.12 [[ 9.96993494e-01 -5.62171147e-02 -5.33254939e-02 1.50774032e+01] [ 5.61516496e-02 9.98418529e-01 -2.72626984e-03 8.35099101e-03] [ 5.33944242e-02 -2.76241149e-04 9.98573462e-01 1.12303871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82719347000001 meters Centerline goodness : 0.892028 with order 1 Centerline is valid? [False, False] Translation: X:15.08, Y:0.02, Z:1.12 [[ 9.97590210e-01 -5.16687684e-02 -4.63045457e-02 1.50848107e+01] [ 5.14012927e-02 9.98653900e-01 -6.94944102e-03 1.53768857e-02] [ 4.66012843e-02 4.55258082e-03 9.98903196e-01 1.12208958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88719347000001 meters Centerline goodness : 0.887888 with order 1 Centerline is valid? [False, False] Translation: X:15.09, Y:0.03, Z:1.12 [[ 9.97914227e-01 -4.38515483e-02 -4.73733784e-02 1.50877705e+01] [ 4.38339687e-02 9.99037834e-01 -1.41038801e-03 2.71800062e-02] [ 4.73896450e-02 -6.69116924e-04 9.98876256e-01 1.11954554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.94719347000002 meters Centerline goodness : 0.890930 with order 1 Centerline is valid? [False, False] Translation: X:15.09, Y:0.03, Z:1.12 [[ 9.98143458e-01 -3.76332581e-02 -4.78892046e-02 1.50882500e+01] [ 3.78811830e-02 9.99273086e-01 4.27973386e-03 3.15955409e-02] [ 4.76933329e-02 -6.08588808e-03 9.98843485e-01 1.11948316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.00719347 meters Centerline goodness : 0.888058 with order 1 Centerline is valid? [False, False] Translation: X:15.09, Y:0.04, Z:1.12 [[ 9.98100079e-01 -3.93064032e-02 -4.74472262e-02 1.50869158e+01] [ 3.93697048e-02 9.99224633e-01 4.00005520e-04 4.17221474e-02] [ 4.73947144e-02 -2.26722883e-03 9.98873666e-01 1.11960596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.06719347 meters Centerline goodness : 0.889562 with order 1 Centerline is valid? [False, False] Translation: X:15.09, Y:0.05, Z:1.12 [[ 9.98098896e-01 -3.82160070e-02 -4.83542236e-02 1.50891933e+01] [ 3.83144721e-02 9.99265114e-01 1.11075476e-03 4.74990679e-02] [ 4.82762402e-02 -2.96130965e-03 9.98829633e-01 1.11864828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12719347000001 meters Centerline goodness : 0.891233 with order 1 Centerline is valid? [False, False] Translation: X:15.09, Y:0.06, Z:1.12 [[ 9.97934221e-01 -4.14233411e-02 -4.91059713e-02 1.50923505e+01] [ 4.12583513e-02 9.99138959e-01 -4.36918832e-03 5.81989712e-02] [ 4.92446754e-02 2.33413113e-03 9.98784018e-01 1.11577546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18719347000001 meters Centerline goodness : 0.892633 with order 1 Centerline is valid? [False, False] Translation: X:15.09, Y:0.07, Z:1.12 [[ 9.97773730e-01 -4.45538696e-02 -4.96239572e-02 1.50937611e+01] [ 4.42068322e-02 9.98989808e-01 -8.06960671e-03 6.52484241e-02] [ 4.99333598e-02 5.85792363e-03 9.98735373e-01 1.11506862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24719347000001 meters Centerline goodness : 0.897951 with order 1 Centerline is valid? [False, False] Translation: X:15.09, Y:0.07, Z:1.12 [[ 9.97653575e-01 -4.67329790e-02 -5.00337248e-02 1.50936136e+01] [ 4.62896985e-02 9.98878176e-01 -9.98265945e-03 6.86033548e-02] [ 5.04441152e-02 7.64318985e-03 9.98697638e-01 1.11637708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.30719347000002 meters Centerline goodness : 0.895322 with order 1 Centerline is valid? [False, False] Translation: X:15.12, Y:0.07, Z:1.12 [[ 9.97145012e-01 -5.56640924e-02 -5.10228702e-02 1.51151681e+01] [ 5.49448196e-02 9.98370718e-01 -1.53940213e-02 7.32641748e-02] [ 5.17966338e-02 1.25466291e-02 9.98578836e-01 1.11565973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.36719347 meters Centerline goodness : 0.898567 with order 1 Centerline is valid? [False, False] Translation: X:15.12, Y:0.08, Z:1.11 [[ 9.97000499e-01 -5.81059356e-02 -5.11244082e-02 1.51163357e+01] [ 5.72542397e-02 9.98197888e-01 -1.79702144e-02 7.86079632e-02] [ 5.20764524e-02 1.49892236e-02 9.98530604e-01 1.11453030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.42719347 meters Centerline goodness : 0.906225 with order 1 Centerline is valid? [False, False] Translation: X:15.12, Y:0.08, Z:1.11 [[ 9.97438860e-01 -5.50300636e-02 -4.56882078e-02 1.51227446e+01] [ 5.48608659e-02 9.98481739e-01 -4.94994360e-03 8.19536408e-02] [ 4.58912369e-02 2.43077146e-03 9.98943485e-01 1.11393598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48719347000001 meters Centerline goodness : 0.907146 with order 1 Centerline is valid? [False, False] Translation: X:15.12, Y:0.10, Z:1.12 [[ 9.98097871e-01 -4.28206342e-02 -4.43512491e-02 1.51168411e+01] [ 4.29933464e-02 9.99071012e-01 2.94722633e-03 9.55910429e-02] [ 4.41838452e-02 -4.84842894e-03 9.99011652e-01 1.11698653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54719347000001 meters Centerline goodness : 0.908528 with order 1 Centerline is valid? [False, False] Translation: X:15.12, Y:0.11, Z:1.12 [[ 9.98382883e-01 -3.57402580e-02 -4.42069246e-02 1.51157699e+01] [ 3.60620842e-02 9.99328388e-01 6.50380435e-03 1.06153019e-01] [ 4.39447871e-02 -8.08748077e-03 9.99001225e-01 1.11659421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60719347000001 meters Centerline goodness : 0.907525 with order 1 Centerline is valid? [False, False] Translation: X:15.08, Y:0.12, Z:1.12 [[ 0.99829266 -0.03470524 -0.04698208 15.08191782] [ 0.0362928 0.99878389 0.03337015 0.1182412 ] [ 0.04576683 -0.03501829 0.99833818 1.11501103] [ 0. 0. 0. 1. ]] SLAMing on 72.66719347000002 meters Centerline goodness : 0.907369 with order 1 Centerline is valid? [False, False] Translation: X:15.07, Y:0.13, Z:1.11 [[ 0.99804557 -0.03779976 -0.04976163 15.07194256] [ 0.04004824 0.99818431 0.04499136 0.13260988] [ 0.04797061 -0.04689629 0.99774724 1.1145308 ] [ 0. 0. 0. 1. ]] SLAMing on 72.72719347 meters Centerline goodness : 0.905128 with order 1 Centerline is valid? [False, False] Translation: X:15.04, Y:0.15, Z:1.11 [[ 0.99756876 -0.04457427 -0.05356959 15.042459 ] [ 0.04814437 0.99656962 0.06731347 0.14661763] [ 0.05038538 -0.06972889 0.99629273 1.11139044] [ 0. 0. 0. 1. ]] SLAMing on 72.78719347 meters Centerline goodness : 0.903660 with order 1 Centerline is valid? [False, False] Translation: X:15.02, Y:0.16, Z:1.11 [[ 0.99676804 -0.05080927 -0.06222458 15.02025592] [ 0.0560547 0.99474477 0.08567794 0.15544372] [ 0.05754435 -0.08888901 0.99437789 1.11198536] [ 0. 0. 0. 1. ]] SLAMing on 72.84719347000001 meters Centerline goodness : 0.904252 with order 1 Centerline is valid? [False, False] Translation: X:15.02, Y:0.17, Z:1.11 [[ 0.99665452 -0.05053134 -0.06423662 15.02264561] [ 0.0558364 0.99492811 0.08366806 0.17003265] [ 0.05968296 -0.08697489 0.99442109 1.11109077] [ 0. 0. 0. 1. ]] SLAMing on 72.90719347000001 meters Centerline goodness : 0.905872 with order 1 Centerline is valid? [False, False] Translation: X:15.01, Y:0.19, Z:1.12 [[ 0.99647891 -0.04729314 -0.06923256 15.00671385] [ 0.0526638 0.99556738 0.07792375 0.18824656] [ 0.06524042 -0.08129542 0.99455253 1.11601117] [ 0. 0. 0. 1. ]] SLAMing on 72.96719347000001 meters Centerline goodness : 0.910511 with order 1 Centerline is valid? [False, False] Translation: X:14.99, Y:0.20, Z:1.12 [[ 0.99605786 -0.043885 -0.07708991 14.98640983] [ 0.05174046 0.9933294 0.10305155 0.19698435] [ 0.07205325 -0.10663398 0.99168419 1.12066098] [ 0. 0. 0. 1. ]] SLAMing on 73.02719347000001 meters Centerline goodness : 0.908035 with order 1 Centerline is valid? [False, False] Translation: X:14.98, Y:0.21, Z:1.12 [[ 0.99646557 -0.0329444 -0.07727248 14.98228175] [ 0.0418384 0.99231346 0.11646267 0.20730025] [ 0.07284173 -0.11928399 0.99018453 1.12298825] [ 0. 0. 0. 1. ]] SLAMing on 73.08719347000002 meters Centerline goodness : 0.911973 with order 1 Centerline is valid? [False, False] Translation: X:14.99, Y:0.22, Z:1.12 [[ 0.99719705 -0.02567725 -0.07027601 14.99205384] [ 0.0344351 0.99138198 0.12639617 0.2174194 ] [ 0.06642487 -0.12846185 0.98948739 1.12353747] [ 0. 0. 0. 1. ]] SLAMing on 73.14719347 meters Centerline goodness : 0.912340 with order 1 Centerline is valid? [False, False] Translation: X:15.00, Y:0.23, Z:1.13 [[ 9.97452549e-01 -7.38998593e-03 -7.09492832e-02 1.49997036e+01] [ 1.47474411e-02 9.94494681e-01 1.03744121e-01 2.32416386e-01] [ 6.97920172e-02 -1.04526159e-01 9.92070238e-01 1.12748958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.20719347 meters Centerline goodness : 0.912777 with order 1 Centerline is valid? [False, False] Translation: X:15.02, Y:0.24, Z:1.13 [[ 9.97506666e-01 4.87434330e-03 -7.04037781e-02 1.50177935e+01] [ 1.46927592e-03 9.95961282e-01 8.97717410e-02 2.41905810e-01] [ 7.05570154e-02 -8.96513526e-02 9.93470856e-01 1.13204824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26719347000001 meters Centerline goodness : 0.909091 with order 1 Centerline is valid? [False, False] Translation: X:15.03, Y:0.25, Z:1.14 [[ 9.97281566e-01 1.17911647e-02 -7.27354508e-02 1.50278046e+01] [-5.53434301e-03 9.96311589e-01 8.56305375e-02 2.48111656e-01] [ 7.34768563e-02 -8.49952136e-02 9.93668438e-01 1.13759795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32719347000001 meters Centerline goodness : 0.907105 with order 1 Centerline is valid? [False, False] Translation: X:15.05, Y:0.24, Z:1.14 [[ 9.96838740e-01 1.20235013e-02 -7.85363769e-02 1.50542026e+01] [-6.24440013e-03 9.97281546e-01 7.34201941e-02 2.40819246e-01] [ 7.92056472e-02 -7.26976812e-02 9.94203959e-01 1.13862078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38719347000001 meters Centerline goodness : 0.902962 with order 1 Centerline is valid? [False, False] Translation: X:15.07, Y:0.24, Z:1.14 [[ 9.97202444e-01 1.21963196e-02 -7.37464242e-02 1.50708361e+01] [-6.09937536e-03 9.96585539e-01 8.23411270e-02 2.35826441e-01] [ 7.44988786e-02 -8.16609659e-02 9.93871925e-01 1.13595068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.44719347000002 meters Centerline goodness : 0.904019 with order 1 Centerline is valid? [False, False] Translation: X:15.10, Y:0.23, Z:1.14 [[ 9.97166233e-01 1.20906537e-02 -7.42517283e-02 1.51008774e+01] [-6.23345655e-03 9.96885661e-01 7.86137521e-02 2.26656752e-01] [ 7.49709749e-02 -7.79281342e-02 9.94136087e-01 1.14220194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.50719347 meters Centerline goodness : 0.898039 with order 1 Centerline is valid? [False, False] Translation: X:15.14, Y:0.21, Z:1.14 [[ 9.97503572e-01 8.93673934e-03 -7.00482644e-02 1.51378445e+01] [-2.81555085e-03 9.96204213e-01 8.70013754e-02 2.13632846e-01] [ 7.05598847e-02 -8.65869583e-02 9.93742422e-01 1.14321980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.56719347 meters Centerline goodness : 0.901043 with order 1 Centerline is valid? [False, False] Translation: X:15.18, Y:0.17, Z:1.14 [[ 9.98319874e-01 3.13026932e-03 -5.78587118e-02 1.51807539e+01] [ 7.38043306e-03 9.83536917e-01 1.80556533e-01 1.72292539e-01] [ 5.74713696e-02 -1.80680198e-01 9.81861349e-01 1.13691434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62719347000001 meters Centerline goodness : 0.894524 with order 1 Centerline is valid? [False, False] Translation: X:15.22, Y:0.13, Z:1.13 [[ 9.98814501e-01 -3.32461284e-03 -4.85648015e-02 1.52158570e+01] [ 1.80352533e-02 9.51938639e-01 3.05757352e-01 1.29282214e-01] [ 4.52141862e-02 -3.06270755e-01 9.50870076e-01 1.13271579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68719347000001 meters Centerline goodness : 0.894728 with order 1 Centerline is valid? [False, False] Translation: X:15.24, Y:0.07, Z:1.15 [[ 9.98616267e-01 -1.39470285e-02 -5.07053470e-02 1.52360825e+01] [ 3.66325341e-02 8.76265860e-01 4.80433346e-01 6.78127261e-02] [ 3.77307469e-02 -4.81626020e-01 8.75564257e-01 1.14509440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74719347000001 meters Centerline goodness : 0.899367 with order 1 Centerline is valid? [False, False] Translation: X:15.26, Y:0.04, Z:1.16 [[ 0.99815549 -0.01946515 -0.0575041 15.25919127] [ 0.04934476 0.81190943 0.58169423 0.03691759] [ 0.03536536 -0.58345882 0.81137236 1.16494216] [ 0. 0. 0. 1. ]] SLAMing on 73.80719347000002 meters Centerline goodness : 0.899907 with order 1 Centerline is valid? [False, False] Translation: X:15.27, Y:0.01, Z:1.19 [[ 9.97579904e-01 -2.14084365e-02 -6.61514497e-02 1.52678558e+01] [ 6.00566437e-02 7.44735745e-01 6.64651691e-01 1.40266533e-02] [ 3.50361957e-02 -6.67016004e-01 7.44219132e-01 1.18937613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.86719347 meters Centerline goodness : 0.902753 with order 1 Centerline is valid? [False, False] Translation: X:15.24, Y:-0.00, Z:1.21 [[ 9.96888714e-01 -2.23207094e-02 -7.55954840e-02 1.52369971e+01] [ 7.09210288e-02 6.72517851e-01 7.36674927e-01 -9.22370034e-04] [ 3.43962054e-02 -7.39744230e-01 6.72008463e-01 1.21089057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.92719347 meters Centerline goodness : 0.901721 with order 1 Centerline is valid? [False, False] Translation: X:15.23, Y:-0.01, Z:1.24 [[ 9.95349884e-01 -1.94917325e-02 -9.43328182e-02 1.52279792e+01] [ 8.74269950e-02 5.93913383e-01 7.99764599e-01 -7.94459585e-03] [ 4.04367255e-02 -8.04292836e-01 5.92855721e-01 1.23566665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98719347000001 meters Centerline goodness : 0.894408 with order 1 Centerline is valid? [False, False] Translation: X:15.22, Y:-0.02, Z:1.26 [[ 9.94366935e-01 -1.45132906e-02 -1.04994113e-01 1.52213733e+01] [ 9.75483295e-02 5.12761175e-01 8.52971453e-01 -1.82774888e-02] [ 4.14574824e-02 -8.58408610e-01 5.11288505e-01 1.26033253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04719347000001 meters Centerline goodness : 0.895787 with order 1 Centerline is valid? [False, False] Translation: X:15.19, Y:-0.00, Z:1.27 [[ 9.92738728e-01 -1.64285289e-02 -1.19163425e-01 1.51874274e+01] [ 1.11439776e-01 4.98566033e-01 8.59658704e-01 -2.33704419e-03] [ 4.52879080e-02 -8.66696033e-01 4.96776601e-01 1.26878082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10719347000001 meters Centerline goodness : 0.899145 with order 1 Centerline is valid? [False, False] Translation: X:15.11, Y:0.02, Z:1.25 [[ 9.92195568e-01 -1.28522720e-02 -1.24027315e-01 1.51124450e+01] [ 1.10238495e-01 5.55241408e-01 8.24350929e-01 2.26810714e-02] [ 5.82703187e-02 -8.31589922e-01 5.52324879e-01 1.25415249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16719347000002 meters Centerline goodness : 0.898868 with order 1 Centerline is valid? [False, False] Translation: X:15.09, Y:0.04, Z:1.25 [[ 9.92313032e-01 -8.60162187e-03 -1.23453870e-01 1.50882976e+01] [ 1.04749331e-01 5.89580606e-01 8.00888436e-01 4.24498890e-02] [ 6.58970678e-02 -8.07663743e-01 5.85949533e-01 1.25028986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.22719347 meters Centerline goodness : 0.904297 with order 1 Centerline is valid? [False, False] Translation: X:15.04, Y:0.07, Z:1.24 [[ 9.92214575e-01 -8.29931388e-03 -1.24263265e-01 1.50437980e+01] [ 1.00051821e-01 6.47275623e-01 7.55661234e-01 7.14709494e-02] [ 7.41611124e-02 -7.62210856e-01 6.43066669e-01 1.24119455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.28719347 meters Centerline goodness : 0.904400 with order 1 Centerline is valid? [False, False] Translation: X:15.03, Y:0.10, Z:1.24 [[ 9.92077707e-01 -8.45335910e-03 -1.25340991e-01 1.50294809e+01] [ 9.68829064e-02 6.86629877e-01 7.20522806e-01 9.59138893e-02] [ 7.99720315e-02 -7.26958013e-01 6.82009180e-01 1.23866156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34719347000001 meters Centerline goodness : 0.905511 with order 1 Centerline is valid? [False, False] Translation: X:15.01, Y:0.12, Z:1.24 [[ 9.91285376e-01 -1.08886971e-02 -1.31281151e-01 1.50087845e+01] [ 9.74119058e-02 7.31475605e-01 6.74873588e-01 1.16508909e-01] [ 8.86804651e-02 -6.81780666e-01 7.26161758e-01 1.23755899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40719347000001 meters Centerline goodness : 0.900960 with order 1 Centerline is valid? [False, False] Translation: X:15.04, Y:0.12, Z:1.24 [[ 9.91928114e-01 -1.30154312e-02 -1.26131741e-01 1.50440062e+01] [ 9.46824878e-02 7.37674871e-01 6.68484115e-01 1.22129166e-01] [ 8.43436065e-02 -6.75030654e-01 7.32952777e-01 1.24125066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46719347000001 meters Centerline goodness : 0.904218 with order 1 Centerline is valid? [False, False] Translation: X:15.03, Y:0.14, Z:1.25 [[ 0.99187202 -0.01958806 -0.12572275 15.02881514] [ 0.09484895 0.77245535 0.62794618 0.13813286] [ 0.08481497 -0.63476692 0.76803475 1.24518582] [ 0. 0. 0. 1. ]] SLAMing on 74.52719347000001 meters Centerline goodness : 0.905053 with order 1 Centerline is valid? [False, False] Translation: X:15.03, Y:0.15, Z:1.25 [[ 0.99146635 -0.02064616 -0.12871755 15.02978705] [ 0.0938857 0.79810932 0.59515291 0.14764118] [ 0.09044306 -0.60215882 0.79323692 1.25072182] [ 0. 0. 0. 1. ]] SLAMing on 74.58719347000002 meters Centerline goodness : 0.906008 with order 1 Centerline is valid? [False, False] Translation: X:15.02, Y:0.16, Z:1.26 [[ 0.99116864 -0.02293454 -0.13060909 15.01883083] [ 0.0921992 0.82709556 0.55444768 0.15848552] [ 0.0953102 -0.56159321 0.82190573 1.25565646] [ 0. 0. 0. 1. ]] SLAMing on 74.64719347 meters Centerline goodness : 0.904542 with order 1 Centerline is valid? [False, False] Translation: X:15.07, Y:0.15, Z:1.27 [[ 0.99287672 -0.0211427 -0.11725528 15.0713871 ] [ 0.08564899 0.81077981 0.57905125 0.15178579] [ 0.0828255 -0.5849693 0.80681525 1.26647004] [ 0. 0. 0. 1. ]] SLAMing on 74.70719347 meters Centerline goodness : 0.900612 with order 1 Centerline is valid? [False, False] Translation: X:15.12, Y:0.14, Z:1.27 [[ 0.99456878 -0.02608645 -0.1007593 15.11634467] [ 0.08182217 0.79428922 0.60200479 0.14351142] [ 0.06432786 -0.60697952 0.79210971 1.27458088] [ 0. 0. 0. 1. ]] SLAMing on 74.76719347000001 meters Centerline goodness : 0.900580 with order 1 Centerline is valid? [False, False] Translation: X:15.16, Y:0.12, Z:1.29 [[ 0.99609685 -0.03219172 -0.08218735 15.16445595] [ 0.07897115 0.74095602 0.6668941 0.11746273] [ 0.03942875 -0.67078154 0.74060617 1.29015795] [ 0. 0. 0. 1. ]] SLAMing on 74.82719347000001 meters Centerline goodness : 0.903114 with order 1 Centerline is valid? [False, False] Translation: X:15.21, Y:0.11, Z:1.30 [[ 0.99704394 -0.03469772 -0.06855247 15.21073222] [ 0.0730545 0.70448585 0.70594811 0.10504882] [ 0.02379945 -0.70886935 0.70493817 1.30174293] [ 0. 0. 0. 1. ]] SLAMing on 74.88719347000001 meters Centerline goodness : 0.905293 with order 1 Centerline is valid? [False, False] Translation: X:15.25, Y:0.10, Z:1.31 [[ 9.97749692e-01 -3.87147638e-02 -5.47422970e-02 1.52472505e+01] [ 6.64865272e-02 6.76801466e-01 7.33157089e-01 9.66331993e-02] [ 8.66566337e-03 -7.35146885e-01 6.77852465e-01 1.30831679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.94719347000002 meters Centerline goodness : 0.903645 with order 1 Centerline is valid? [False, False] Translation: X:15.26, Y:0.10, Z:1.31 [[ 9.97815159e-01 -3.95841558e-02 -5.28961560e-02 1.52575995e+01] [ 6.56071879e-02 6.88015666e-01 7.22724111e-01 1.04706925e-01] [ 7.78496017e-03 -7.24615441e-01 6.89109466e-01 1.31010766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.00719347 meters Centerline goodness : 0.901545 with order 1 Centerline is valid? [False, False] Translation: X:15.23, Y:0.12, Z:1.31 [[ 9.98204191e-01 -3.31641671e-02 -4.98851705e-02 1.52329226e+01] [ 5.83096440e-02 7.28737419e-01 6.82306207e-01 1.21728439e-01] [ 1.37250733e-02 -6.83989702e-01 7.29362536e-01 1.31071116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.06719347 meters Centerline goodness : 0.900385 with order 1 Centerline is valid? [False, False] Translation: X:15.20, Y:0.14, Z:1.31 [[ 0.99854268 -0.02282125 -0.04890501 15.20429721] [ 0.04894931 0.76459003 0.64265547 0.13838601] [ 0.02272608 -0.64411279 0.76459286 1.30831834] [ 0. 0. 0. 1. ]] SLAMing on 75.12719347000001 meters Centerline goodness : 0.890916 with order 1 Centerline is valid? [False, False] Translation: X:15.21, Y:0.15, Z:1.31 [[ 0.99856775 -0.01977423 -0.0497134 15.20517892] [ 0.04613095 0.78887225 0.61282339 0.15040976] [ 0.02709941 -0.614239 0.7886546 1.30956502] [ 0. 0. 0. 1. ]] SLAMing on 75.18719347000001 meters Centerline goodness : 0.888835 with order 1 Centerline is valid? [False, False] Translation: X:15.24, Y:0.15, Z:1.31 [[ 0.9987102 -0.02440369 -0.0445241 15.23906268] [ 0.04639335 0.79491355 0.60494636 0.150553 ] [ 0.02062989 -0.60623172 0.79502044 1.31113713] [ 0. 0. 0. 1. ]] SLAMing on 75.24719347000001 meters Centerline goodness : 0.883548 with order 1 Centerline is valid? [False, False] Translation: X:15.28, Y:0.15, Z:1.32 [[ 9.98830040e-01 -3.49761812e-02 -3.33948842e-02 1.52829018e+01] [ 4.80901696e-02 7.91068196e-01 6.09834768e-01 1.48327472e-01] [ 5.08793943e-03 -6.10727251e-01 7.91824689e-01 1.31562677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.30719347000002 meters Centerline goodness : 0.883159 with order 1 Centerline is valid? [False, False] Translation: X:15.32, Y:0.15, Z:1.32 [[ 9.98811893e-01 -4.06266679e-02 -2.69123671e-02 1.53207808e+01] [ 4.86195735e-02 7.93285282e-01 6.06905758e-01 1.49544814e-01] [-3.30737399e-03 -6.07493157e-01 7.94318025e-01 1.32040436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.36719347 meters Centerline goodness : 0.879811 with order 1 Centerline is valid? [False, False] Translation: X:15.36, Y:0.15, Z:1.32 [[ 0.99885026 -0.04513222 -0.01616281 15.35890317] [ 0.0453901 0.78189266 0.62175848 0.14727659] [-0.01542376 -0.62177725 0.78304225 1.32222639] [ 0. 0. 0. 1. ]] SLAMing on 75.42719347 meters Centerline goodness : 0.877058 with order 1 Centerline is valid? [False, False] Translation: X:15.36, Y:0.16, Z:1.32 [[ 0.99870549 -0.04841283 -0.01560571 15.35559397] [ 0.04815334 0.80100063 0.59672376 0.15783263] [-0.0163889 -0.59670277 0.80229497 1.32158063] [ 0. 0. 0. 1. ]] SLAMing on 75.48719347000001 meters Centerline goodness : 0.869662 with order 1 Centerline is valid? [False, False] Translation: X:15.34, Y:0.17, Z:1.32 [[ 9.98620132e-01 -5.04933288e-02 -1.44310832e-02 1.53444877e+01] [ 4.96112437e-02 8.16969518e-01 5.74542888e-01 1.68472729e-01] [-1.72208278e-02 -5.74466039e-01 8.18347245e-01 1.31880712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54719347000001 meters Centerline goodness : 0.866880 with order 1 Centerline is valid? [False, False] Translation: X:15.34, Y:0.18, Z:1.32 [[ 9.98466563e-01 -5.26956854e-02 -1.69613561e-02 1.53360836e+01] [ 5.33421636e-02 8.33900844e-01 5.49330498e-01 1.80259568e-01] [-1.48032579e-02 -5.49392889e-01 8.35433011e-01 1.31882983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60719347000001 meters Centerline goodness : 0.868036 with order 1 Centerline is valid? [False, False] Translation: X:15.33, Y:0.19, Z:1.32 [[ 9.98329757e-01 -5.42513885e-02 -1.98615761e-02 1.53257804e+01] [ 5.65898370e-02 8.49069319e-01 5.25241736e-01 1.94503257e-01] [-1.16312386e-02 -5.25488418e-01 8.50721245e-01 1.31901530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66719347000002 meters Centerline goodness : 0.866778 with order 1 Centerline is valid? [False, False] Translation: X:15.32, Y:0.21, Z:1.32 [[ 9.98264529e-01 -5.62653620e-02 -1.73821567e-02 1.53195967e+01] [ 5.73505582e-02 8.61837929e-01 5.03930847e-01 2.05445420e-01] [-1.33732496e-02 -5.04053166e-01 8.63569084e-01 1.32222757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.72719347 meters Centerline goodness : 0.865672 with order 1 Centerline is valid? [False, False] Translation: X:15.31, Y:0.21, Z:1.33 [[ 9.97947475e-01 -6.32993482e-02 -9.69687080e-03 1.53086443e+01] [ 6.00316425e-02 8.72011967e-01 4.85789391e-01 2.12745549e-01] [-2.22943644e-02 -4.85374415e-01 8.74022104e-01 1.32574983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.78719347 meters Centerline goodness : 0.864996 with order 1 Centerline is valid? [False, False] Translation: X:15.30, Y:0.22, Z:1.33 [[ 9.98261300e-01 -5.85372776e-02 -6.91114277e-03 1.52979570e+01] [ 5.49717771e-02 8.82256715e-01 4.67548064e-01 2.23149281e-01] [-2.12715887e-02 -4.67115056e-01 8.83940634e-01 1.32791205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84719347000001 meters Centerline goodness : 0.864482 with order 1 Centerline is valid? [False, False] Translation: X:15.28, Y:0.24, Z:1.33 [[ 9.98831255e-01 -4.78837964e-02 -6.57763407e-03 1.52827614e+01] [ 4.59318430e-02 8.98005666e-01 4.37579809e-01 2.37274282e-01] [-1.50462298e-02 -4.37370513e-01 8.99155518e-01 1.33309284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90719347000001 meters Centerline goodness : 0.860934 with order 1 Centerline is valid? [False, False] Translation: X:15.27, Y:0.25, Z:1.33 [[ 9.99560718e-01 -2.82467511e-02 -8.97170999e-03 1.52738946e+01] [ 2.94270976e-02 9.09913450e-01 4.13753018e-01 2.48625040e-01] [-3.52369890e-03 -4.13835275e-01 9.10344961e-01 1.33481782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96719347000001 meters Centerline goodness : 0.859366 with order 1 Centerline is valid? [False, False] Translation: X:15.27, Y:0.26, Z:1.34 [[ 9.99789469e-01 -1.90945388e-02 -7.51105699e-03 1.52681719e+01] [ 2.05166531e-02 9.25121701e-01 3.79115953e-01 2.61318787e-01] [-2.90402457e-04 -3.79190239e-01 9.25318690e-01 1.33825845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02719347000001 meters Centerline goodness : 0.860617 with order 1 Centerline is valid? [False, False] Translation: X:15.27, Y:0.27, Z:1.35 [[ 9.99886821e-01 -1.43752269e-02 -4.43827235e-03 1.52670263e+01] [ 1.50235354e-02 9.38366816e-01 3.45314368e-01 2.66005220e-01] [-7.99244887e-04 -3.45341964e-01 9.38476579e-01 1.34632978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.08719347000002 meters Centerline goodness : 0.856125 with order 1 Centerline is valid? [False, False] Translation: X:15.28, Y:0.26, Z:1.35 [[ 9.99916550e-01 -1.10362313e-02 -6.71521298e-03 1.52823060e+01] [ 1.26162715e-02 9.46029705e-01 3.23834258e-01 2.63350596e-01] [ 2.77888116e-03 -3.23891956e-01 9.46089995e-01 1.35101146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.14719347 meters Centerline goodness : 0.857588 with order 1 Centerline is valid? [False, False] Translation: X:15.31, Y:0.26, Z:1.35 [[ 9.99921988e-01 -9.26100346e-03 -8.38158664e-03 1.53094212e+01] [ 1.13917762e-02 9.51366362e-01 3.07851055e-01 2.58187422e-01] [ 5.12294991e-03 -3.07922520e-01 9.51397644e-01 1.35416238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.20719347 meters Centerline goodness : 0.855966 with order 1 Centerline is valid? [False, False] Translation: X:15.36, Y:0.23, Z:1.36 [[ 9.99799499e-01 -1.96055286e-02 4.07244475e-03 1.53619943e+01] [ 1.68136779e-02 9.32413748e-01 3.61001251e-01 2.28556461e-01] [-1.08748238e-02 -3.60860397e-01 9.32556439e-01 1.36016434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26719347000001 meters Centerline goodness : 0.854145 with order 1 Centerline is valid? [False, False] Translation: X:15.41, Y:0.20, Z:1.37 [[ 0.99936888 -0.03194419 0.01553727 15.40557603] [ 0.02285098 0.91300206 0.40731446 0.20477911] [-0.0271969 -0.40670235 0.91315581 1.36605772] [ 0. 0. 0. 1. ]] SLAMing on 76.32719347000001 meters Centerline goodness : 0.856120 with order 1 Centerline is valid? [False, False] Translation: X:15.45, Y:0.16, Z:1.38 [[ 0.9984245 -0.05100839 0.023381 15.45360588] [ 0.03133557 0.85251635 0.52176044 0.15678087] [-0.04654684 -0.52020575 0.85277158 1.38436929] [ 0. 0. 0. 1. ]] SLAMing on 76.38719347000001 meters Centerline goodness : 0.854206 with order 1 Centerline is valid? [False, False] Translation: X:15.44, Y:0.16, Z:1.39 [[ 0.99797027 -0.05803295 0.0262204 15.44202859] [ 0.03750593 0.86838563 0.49446911 0.16024201] [-0.05146492 -0.49248205 0.86879963 1.39028019] [ 0. 0. 0. 1. ]] SLAMing on 76.44719347000002 meters Centerline goodness : 0.857778 with order 1 Centerline is valid? [False, False] Translation: X:15.43, Y:0.16, Z:1.39 [[ 0.99756772 -0.06311728 0.0295779 15.42792401] [ 0.04240588 0.88631844 0.46113054 0.16355279] [-0.05532075 -0.45875466 0.88683921 1.39480902] [ 0. 0. 0. 1. ]] SLAMing on 76.50719347 meters Centerline goodness : 0.856366 with order 1 Centerline is valid? [False, False] Translation: X:15.41, Y:0.17, Z:1.40 [[ 0.9969205 -0.06996673 0.03541436 15.41482408] [ 0.04750708 0.89815222 0.4371106 0.17068711] [-0.06239068 -0.43408208 0.89871027 1.39865777] [ 0. 0. 0. 1. ]] SLAMing on 76.56719347 meters Centerline goodness : 0.855573 with order 1 Centerline is valid? [False, False] Translation: X:15.40, Y:0.18, Z:1.40 [[ 0.99668781 -0.07193763 0.03792598 15.39843556] [ 0.05054106 0.91330252 0.40413377 0.18289976] [-0.06371032 -0.40087839 0.9139133 1.39880635] [ 0. 0. 0. 1. ]] SLAMing on 76.62719347000001 meters Centerline goodness : 0.851987 with order 1 Centerline is valid? [False, False] Translation: X:15.39, Y:0.20, Z:1.39 [[ 0.99667461 -0.07345403 0.03527353 15.38748155] [ 0.05545829 0.92864203 0.36680834 0.19524808] [-0.05970004 -0.36363236 0.92962757 1.39459965] [ 0. 0. 0. 1. ]] SLAMing on 76.68719347000001 meters Centerline goodness : 0.849784 with order 1 Centerline is valid? [False, False] Translation: X:15.38, Y:0.21, Z:1.39 [[ 0.99663572 -0.07558295 0.03169329 15.37737381] [ 0.06053437 0.93953765 0.3370528 0.2111363 ] [-0.05525248 -0.33400032 0.94095215 1.39032258] [ 0. 0. 0. 1. ]] SLAMing on 76.74719347000001 meters Centerline goodness : 0.851840 with order 1 Centerline is valid? [False, False] Translation: X:15.38, Y:0.22, Z:1.39 [[ 0.99640935 -0.07876918 0.0310455 15.3759218 ] [ 0.06534296 0.94860799 0.30963395 0.22314395] [-0.05383962 -0.30649356 0.95034888 1.38971078] [ 0. 0. 0. 1. ]] SLAMing on 76.80719347000002 meters Centerline goodness : 0.854975 with order 1 Centerline is valid? [False, False] Translation: X:15.37, Y:0.24, Z:1.39 [[ 0.99604639 -0.08181758 0.03460443 15.36533608] [ 0.06867073 0.95625949 0.28434509 0.23858872] [-0.05635524 -0.28084458 0.95809728 1.38898412] [ 0. 0. 0. 1. ]] SLAMing on 76.86719347 meters Centerline goodness : 0.856323 with order 1 Centerline is valid? [False, False] Translation: X:15.36, Y:0.25, Z:1.39 [[ 0.99585485 -0.08282237 0.03759752 15.35594337] [ 0.07012712 0.96237652 0.26251404 0.25436874] [-0.057925 -0.25878928 0.96419542 1.3884277 ] [ 0. 0. 0. 1. ]] SLAMing on 76.92719347 meters Centerline goodness : 0.859546 with order 1 Centerline is valid? [False, False] Translation: X:15.34, Y:0.27, Z:1.39 [[ 0.99601969 -0.07904324 0.0411941 15.34026432] [ 0.06703158 0.96886853 0.23832864 0.27391501] [-0.05874993 -0.23461872 0.97031052 1.39007003] [ 0. 0. 0. 1. ]] SLAMing on 76.98719347000001 meters Centerline goodness : 0.862997 with order 1 Centerline is valid? [False, False] Translation: X:15.33, Y:0.29, Z:1.39 [[ 0.99659006 -0.07042932 0.04298786 15.3328155 ] [ 0.05911328 0.97290248 0.2235316 0.29057626] [-0.05756617 -0.22022822 0.97374826 1.38637807] [ 0. 0. 0. 1. ]] SLAMing on 77.04719347000001 meters Centerline goodness : 0.859435 with order 1 Centerline is valid? [False, False] Translation: X:15.32, Y:0.32, Z:1.39 [[ 0.99788507 -0.05114933 0.0401141 15.31927448] [ 0.04172594 0.97722315 0.20807176 0.31671094] [-0.04984316 -0.2059579 0.97729064 1.38578068] [ 0. 0. 0. 1. ]] SLAMing on 77.10719347000001 meters Centerline goodness : 0.857083 with order 1 Centerline is valid? [False, False] Translation: X:15.31, Y:0.33, Z:1.39 [[ 0.99835889 -0.03994159 0.04103896 15.31097781] [ 0.03124399 0.98046902 0.19417597 0.33149802] [-0.04799312 -0.19257508 0.9801079 1.38629748] [ 0. 0. 0. 1. ]] SLAMing on 77.16719347000002 meters Centerline goodness : 0.858596 with order 1 Centerline is valid? [False, False] Translation: X:15.33, Y:0.35, Z:1.39 [[ 0.99862101 -0.03465766 0.03943254 15.33238793] [ 0.02724022 0.98416646 0.17514094 0.34517997] [-0.04487816 -0.17382527 0.98375339 1.38952887] [ 0. 0. 0. 1. ]] SLAMing on 77.22719347000002 meters Centerline goodness : 0.855094 with order 1 Centerline is valid? [False, False] Translation: X:15.35, Y:0.35, Z:1.39 [[ 0.99849001 -0.03394547 0.04319034 15.3485353 ] [ 0.02643752 0.98612977 0.16385705 0.35251873] [-0.04815348 -0.16246778 0.98553816 1.38716933] [ 0. 0. 0. 1. ]] SLAMing on 77.28719347 meters Centerline goodness : 0.853953 with order 1 Centerline is valid? [False, False] Translation: X:15.37, Y:0.36, Z:1.38 [[ 0.99841724 -0.035015 0.04401103 15.36679498] [ 0.02808179 0.98839188 0.14930807 0.35713229] [-0.04872817 -0.14783584 0.98781078 1.38481006] [ 0. 0. 0. 1. ]] SLAMing on 77.34719347000001 meters Centerline goodness : 0.853191 with order 1 Centerline is valid? [False, False] Translation: X:15.40, Y:0.36, Z:1.38 [[ 0.99796162 -0.04098837 0.04891386 15.39769372] [ 0.03285263 0.98707351 0.15686488 0.35667583] [-0.05471121 -0.15493818 0.98640805 1.38140701] [ 0. 0. 0. 1. ]] SLAMing on 77.40719347000001 meters Centerline goodness : 0.854403 with order 1 Centerline is valid? [False, False] Translation: X:15.42, Y:0.36, Z:1.38 [[ 0.99778882 -0.04271198 0.05092307 15.42020083] [ 0.03451684 0.98775318 0.15215859 0.35984755] [-0.05679842 -0.15006444 0.98704337 1.38087444] [ 0. 0. 0. 1. ]] SLAMing on 77.46719347000001 meters Centerline goodness : 0.851123 with order 1 Centerline is valid? [False, False] Translation: X:15.45, Y:0.36, Z:1.38 [[ 0.99748546 -0.04666262 0.05334188 15.44673124] [ 0.03828213 0.9881624 0.14855826 0.3572573 ] [-0.05964256 -0.14614267 0.98746397 1.37846788] [ 0. 0. 0. 1. ]] SLAMing on 77.52719347000001 meters Centerline goodness : 0.853878 with order 1 Centerline is valid? [False, False] Translation: X:15.45, Y:0.36, Z:1.38 [[ 0.9970146 -0.05681934 0.05228232 15.44858179] [ 0.04894259 0.9887645 0.14124227 0.35821371] [-0.0597202 -0.13826177 0.98859354 1.38107429] [ 0. 0. 0. 1. ]] SLAMing on 77.58719347000002 meters Centerline goodness : 0.855150 with order 1 Centerline is valid? [False, False] Translation: X:15.45, Y:0.36, Z:1.39 [[ 0.99676051 -0.06121462 0.05216563 15.44668726] [ 0.05351281 0.9889808 0.13803392 0.36115938] [-0.0600405 -0.13479523 0.98905277 1.38516563] [ 0. 0. 0. 1. ]] SLAMing on 77.64719347 meters Centerline goodness : 0.860456 with order 1 Centerline is valid? [False, False] Translation: X:15.45, Y:0.37, Z:1.39 [[ 0.99710438 -0.05877015 0.04825891 15.45288856] [ 0.05182901 0.98958942 0.1342629 0.36865164] [-0.05564715 -0.13137291 0.98976995 1.38715745] [ 0. 0. 0. 1. ]] SLAMing on 77.70719347 meters Centerline goodness : 0.862505 with order 1 Centerline is valid? [False, False] Translation: X:15.44, Y:0.38, Z:1.39 [[ 0.99747408 -0.04968186 0.05076578 15.44197506] [ 0.04313149 0.99148794 0.12284679 0.37562959] [-0.05643692 -0.12034689 0.99112638 1.38943789] [ 0. 0. 0. 1. ]] SLAMing on 77.76719347000001 meters Centerline goodness : 0.863101 with order 1 Centerline is valid? [False, False] Translation: X:15.43, Y:0.39, Z:1.39 [[ 0.99797775 -0.03402534 0.05369063 15.43334909] [ 0.02759827 0.99284135 0.11620842 0.3850744 ] [-0.05726031 -0.11449165 0.99177261 1.39116762] [ 0. 0. 0. 1. ]] SLAMing on 77.82719347000001 meters Centerline goodness : 0.866960 with order 1 Centerline is valid? [False, False] Translation: X:15.45, Y:0.39, Z:1.39 [[ 0.99803182 -0.02836546 0.05592751 15.45001037] [ 0.02227335 0.9940427 0.10669115 0.38900256] [-0.05862068 -0.10523547 0.99271804 1.39107353] [ 0. 0. 0. 1. ]] SLAMing on 77.88719347000001 meters Centerline goodness : 0.863879 with order 1 Centerline is valid? [False, False] Translation: X:15.46, Y:0.39, Z:1.39 [[ 0.9981028 -0.02789006 0.0548903 15.45809224] [ 0.0223358 0.99480476 0.09932069 0.39189342] [-0.05737519 -0.09790624 0.99354036 1.39245936] [ 0. 0. 0. 1. ]] SLAMing on 77.94719347000002 meters Centerline goodness : 0.865339 with order 1 Centerline is valid? [False, False] Translation: X:15.47, Y:0.39, Z:1.39 [[ 0.9981416 -0.02968987 0.05321519 15.46981196] [ 0.02490853 0.99577687 0.08836284 0.39123076] [-0.05561393 -0.08687311 0.99466585 1.39355401] [ 0. 0. 0. 1. ]] SLAMing on 78.00719347 meters Centerline goodness : 0.863597 with order 1 Centerline is valid? [False, False] Translation: X:15.50, Y:0.38, Z:1.38 [[ 0.99706566 -0.03788952 0.06651657 15.50093041] [ 0.02982983 0.99253767 0.11823347 0.37781926] [-0.07050001 -0.11590236 0.99075547 1.38478072] [ 0. 0. 0. 1. ]] SLAMing on 78.06719347 meters Centerline goodness : 0.864363 with order 1 Centerline is valid? [False, False] Translation: X:15.53, Y:0.38, Z:1.38 [[ 0.99646798 -0.04206891 0.0726758 15.53105467] [ 0.03254952 0.99130043 0.12753034 0.37501097] [-0.07740861 -0.12471434 0.98916846 1.38132931] [ 0. 0. 0. 1. ]] SLAMing on 78.12719347000001 meters Centerline goodness : 0.868582 with order 1 Centerline is valid? [False, False] Translation: X:15.56, Y:0.37, Z:1.38 [[ 0.99569754 -0.0501112 0.077944 15.5632792 ] [ 0.0393959 0.99027905 0.13339928 0.3706631 ] [-0.08387111 -0.12975467 0.98799259 1.37647552] [ 0. 0. 0. 1. ]] SLAMing on 78.18719347000001 meters Centerline goodness : 0.866756 with order 1 Centerline is valid? [False, False] Translation: X:15.57, Y:0.37, Z:1.38 [[ 0.99530839 -0.05865052 0.07695021 15.56624527] [ 0.04867465 0.99087903 0.12565639 0.3726108 ] [-0.08361816 -0.12132133 0.989085 1.37582547] [ 0. 0. 0. 1. ]] SLAMing on 78.24719347000001 meters Centerline goodness : 0.865301 with order 1 Centerline is valid? [False, False] Translation: X:15.57, Y:0.38, Z:1.38 [[ 0.99486841 -0.0696366 0.07340023 15.5733771 ] [ 0.06063217 0.99110414 0.11847495 0.37950479] [-0.08099747 -0.11341657 0.99024042 1.37553331] [ 0. 0. 0. 1. ]] SLAMing on 78.30719347000002 meters Centerline goodness : 0.869106 with order 1 Centerline is valid? [False, False] Translation: X:15.58, Y:0.38, Z:1.37 [[ 0.99444812 -0.07510201 0.0737064 15.57533308] [ 0.06669431 0.99162869 0.11056402 0.38138959] [-0.08139297 -0.10503438 0.99113216 1.37190706] [ 0. 0. 0. 1. ]] SLAMing on 78.36719347 meters Centerline goodness : 0.867176 with order 1 Centerline is valid? [False, False] Translation: X:15.57, Y:0.39, Z:1.38 [[ 0.99534891 -0.06914139 0.06708214 15.56721038] [ 0.06175404 0.99238686 0.10655872 0.38721578] [-0.07393905 -0.10192051 0.99204094 1.37727994] [ 0. 0. 0. 1. ]] SLAMing on 78.42719347 meters Centerline goodness : 0.869874 with order 1 Centerline is valid? [False, False] Translation: X:15.57, Y:0.39, Z:1.38 [[ 0.99561294 -0.06520476 0.06710591 15.5650218 ] [ 0.05785362 0.99266073 0.10619621 0.39315035] [-0.0735379 -0.101848 0.9920782 1.37813199] [ 0. 0. 0. 1. ]] SLAMing on 78.48719347000001 meters Centerline goodness : 0.873471 with order 1 Centerline is valid? [False, False] Translation: X:15.56, Y:0.40, Z:1.38 [[ 0.99557417 -0.0585013 0.0735505 15.55647801] [ 0.05105465 0.99374285 0.09934072 0.39963448] [-0.07890185 -0.09514596 0.99233147 1.37829746] [ 0. 0. 0. 1. ]] SLAMing on 78.54719347000001 meters Centerline goodness : 0.878267 with order 1 Centerline is valid? [False, False] Translation: X:15.55, Y:0.40, Z:1.38 [[ 0.99564412 -0.05421887 0.0758492 15.55189218] [ 0.04675696 0.99419397 0.09691303 0.40488652] [-0.08066333 -0.09294441 0.99239849 1.38207445] [ 0. 0. 0. 1. ]] SLAMing on 78.60719347000001 meters Centerline goodness : 0.878487 with order 1 Centerline is valid? [False, False] Translation: X:15.58, Y:0.41, Z:1.38 [[ 0.99565591 -0.04829899 0.07960223 15.57504405] [ 0.04026747 0.99421418 0.09958258 0.41269367] [-0.08395141 -0.0959446 0.99184011 1.38162316] [ 0. 0. 0. 1. ]] SLAMing on 78.66719347000002 meters Centerline goodness : 0.875451 with order 1 Centerline is valid? [False, False] Translation: X:15.60, Y:0.42, Z:1.38 [[ 0.99574266 -0.04224424 0.08192665 15.59848334] [ 0.03511052 0.99562071 0.08664091 0.4189886 ] [-0.08522795 -0.08339557 0.99286524 1.379792 ] [ 0. 0. 0. 1. ]] SLAMing on 78.72719347000002 meters Centerline goodness : 0.874619 with order 1 Centerline is valid? [False, False] Translation: X:15.61, Y:0.43, Z:1.37 [[ 0.99532306 -0.04097804 0.0874803 15.6090716 ] [ 0.03406782 0.99628648 0.07907357 0.43140582] [-0.09039572 -0.07572348 0.99302294 1.37470025] [ 0. 0. 0. 1. ]] SLAMing on 78.78719347 meters Centerline goodness : 0.877390 with order 1 Centerline is valid? [False, False] Translation: X:15.62, Y:0.44, Z:1.37 [[ 0.99487949 -0.04066606 0.09252606 15.61903956] [ 0.03428302 0.99698851 0.06956001 0.44389447] [-0.09507615 -0.06603175 0.99327757 1.37090921] [ 0. 0. 0. 1. ]] SLAMing on 78.84719347000001 meters Centerline goodness : 0.876178 with order 1 Centerline is valid? [False, False] Translation: X:15.63, Y:0.45, Z:1.37 [[ 0.99508594 -0.0401515 0.09050874 15.63093795] [ 0.0346923 0.99752832 0.06110391 0.44934916] [-0.09273844 -0.05766369 0.99401936 1.3694064 ] [ 0. 0. 0. 1. ]] SLAMing on 78.90719347000001 meters Centerline goodness : 0.877561 with order 1 Centerline is valid? [False, False] Translation: X:15.63, Y:0.45, Z:1.37 [[ 0.99523329 -0.03839712 0.08964576 15.63382498] [ 0.03292113 0.99754644 0.06178433 0.45431215] [-0.09179815 -0.05853858 0.9940555 1.36684795] [ 0. 0. 0. 1. ]] SLAMing on 78.96719347000001 meters Centerline goodness : 0.874261 with order 1 Centerline is valid? [False, False] Translation: X:15.66, Y:0.46, Z:1.37 [[ 0.99620143 -0.02463557 0.08352123 15.65932627] [ 0.02017943 0.99834867 0.05378404 0.4608756 ] [-0.08470831 -0.05189432 0.99505351 1.36907792] [ 0. 0. 0. 1. ]] SLAMing on 79.02719347000001 meters Centerline goodness : 0.876749 with order 1 Centerline is valid? [False, False] Translation: X:15.68, Y:0.46, Z:1.37 [[ 9.96526879e-01 -9.79491238e-03 8.26936499e-02 1.56797980e+01] [ 5.71035514e-03 9.98758462e-01 4.94866203e-02 4.63257805e-01] [-8.30756997e-02 -4.88425371e-02 9.95345586e-01 1.37357900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.08719347000002 meters Centerline goodness : 0.875126 with order 1 Centerline is valid? [False, False] Translation: X:15.69, Y:0.46, Z:1.38 [[ 9.96840832e-01 5.85985327e-03 7.92086916e-02 1.56904803e+01] [-8.77249613e-03 9.99296099e-01 3.64739496e-02 4.62928412e-01] [-7.89392046e-02 -3.70535802e-02 9.96190561e-01 1.37856640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.14719347 meters Centerline goodness : 0.873228 with order 1 Centerline is valid? [False, False] Translation: X:15.69, Y:0.46, Z:1.38 [[ 9.96906763e-01 8.93380680e-03 7.80838829e-02 1.56941935e+01] [-1.20568837e-02 9.99142196e-01 3.96169541e-02 4.56746677e-01] [-7.76629720e-02 -4.04358578e-02 9.96159327e-01 1.37675437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.20719347 meters Centerline goodness : 0.874714 with order 1 Centerline is valid? [False, False] Translation: X:15.72, Y:0.45, Z:1.38 [[ 9.97005440e-01 7.99477235e-03 7.69170801e-02 1.57228184e+01] [-1.08595469e-02 9.99259989e-01 3.68991023e-02 4.45851773e-01] [-7.65651607e-02 -3.76238903e-02 9.96354465e-01 1.37753401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26719347000001 meters Centerline goodness : 0.869477 with order 1 Centerline is valid? [False, False] Translation: X:15.78, Y:0.42, Z:1.37 [[ 9.97125845e-01 -5.55464321e-03 7.55592170e-02 1.57786266e+01] [ 1.07846485e-03 9.98248350e-01 5.91529191e-02 4.20910731e-01] [-7.57554371e-02 -5.89014165e-02 9.95385220e-01 1.37135484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32719347000001 meters Centerline goodness : 0.867220 with order 1 Centerline is valid? [False, False] Translation: X:15.82, Y:0.41, Z:1.37 [[ 9.97087178e-01 -1.27829532e-02 7.51914619e-02 1.58195850e+01] [ 8.04903344e-03 9.97985638e-01 6.29275660e-02 4.06483640e-01] [-7.58443993e-02 -6.21390506e-02 9.95181574e-01 1.36783626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38719347000001 meters Centerline goodness : 0.869057 with order 1 Centerline is valid? [False, False] Translation: X:15.87, Y:0.37, Z:1.36 [[ 0.99593434 -0.02968684 0.0850499 15.87105393] [ 0.01960721 0.99293985 0.11698722 0.37475603] [-0.08792242 -0.114844 0.98948497 1.36137765] [ 0. 0. 0. 1. ]] SLAMing on 79.44719347000002 meters Centerline goodness : 0.872505 with order 1 Centerline is valid? [False, False] Translation: X:15.91, Y:0.36, Z:1.36 [[ 0.99505927 -0.04248196 0.08973476 15.90895734] [ 0.02812785 0.98742627 0.15555768 0.35624782] [-0.09521485 -0.15226507 0.98374259 1.35668429] [ 0. 0. 0. 1. ]] SLAMing on 79.50719347 meters Centerline goodness : 0.870206 with order 1 Centerline is valid? [False, False] Translation: X:15.91, Y:0.34, Z:1.36 [[ 0.99580269 -0.04976116 0.07681688 15.90881209] [ 0.03741181 0.98727418 0.15456404 0.34248994] [-0.08353061 -0.15104143 0.98499194 1.36486849] [ 0. 0. 0. 1. ]] SLAMing on 79.56719347 meters Centerline goodness : 0.867193 with order 1 Centerline is valid? [False, False] Translation: X:15.91, Y:0.33, Z:1.37 [[ 0.9965124 -0.05590259 0.0619511 15.91436071] [ 0.04623448 0.98793903 0.14777973 0.32980389] [-0.06946518 -0.14440006 0.98707812 1.37098669] [ 0. 0. 0. 1. ]] SLAMing on 79.62719347000001 meters Centerline goodness : 0.867388 with order 1 Centerline is valid? [False, False] Translation: X:15.92, Y:0.33, Z:1.37 [[ 0.99609693 -0.06380502 0.06099032 15.9160126 ] [ 0.05454997 0.98822935 0.14292322 0.3262515 ] [-0.06939165 -0.13903836 0.98785279 1.37434389] [ 0. 0. 0. 1. ]] SLAMing on 79.68719347000001 meters Centerline goodness : 0.868620 with order 1 Centerline is valid? [False, False] Translation: X:15.92, Y:0.32, Z:1.38 [[ 0.99548334 -0.07495643 0.05826189 15.92126223] [ 0.06658408 0.98869804 0.13432329 0.32112086] [-0.06767181 -0.12983728 0.98922334 1.37822484] [ 0. 0. 0. 1. ]] SLAMing on 79.74719347000001 meters Centerline goodness : 0.873617 with order 1 Centerline is valid? [False, False] Translation: X:15.92, Y:0.32, Z:1.38 [[ 0.99466674 -0.08461803 0.05897341 15.92031235] [ 0.0766808 0.98908047 0.1258566 0.31970766] [-0.06897918 -0.12066325 0.99029402 1.38116149] [ 0. 0. 0. 1. ]] SLAMing on 79.80719347000002 meters Centerline goodness : 0.874961 with order 1 Centerline is valid? [False, False] Translation: X:15.92, Y:0.32, Z:1.38 [[ 0.99449962 -0.08655504 0.05898079 15.91836591] [ 0.07868334 0.98906335 0.12475024 0.32253279] [-0.0691335 -0.11942326 0.99043356 1.38469943] [ 0. 0. 0. 1. ]] SLAMing on 79.86719347 meters Centerline goodness : 0.881403 with order 1 Centerline is valid? [False, False] Translation: X:15.91, Y:0.33, Z:1.39 [[ 0.99433516 -0.08764774 0.06012873 15.91447348] [ 0.0798831 0.98940639 0.12121753 0.32965774] [-0.07011619 -0.11572758 0.99080313 1.38705037] [ 0. 0. 0. 1. ]] SLAMing on 79.92719347 meters Centerline goodness : 0.887812 with order 1 Centerline is valid? [False, False] Translation: X:15.91, Y:0.34, Z:1.39 [[ 0.99457797 -0.08265107 0.06311468 15.9089285 ] [ 0.07491507 0.9903731 0.11639954 0.34432263] [-0.07212763 -0.11104018 0.99119508 1.38926495] [ 0. 0. 0. 1. ]] SLAMing on 79.98719347000001 meters Centerline goodness : 0.888993 with order 1 Centerline is valid? [False, False] Translation: X:15.90, Y:0.36, Z:1.39 [[ 0.99475005 -0.07857853 0.06555719 15.90424152] [ 0.07084327 0.99107046 0.11296267 0.35606234] [-0.07384823 -0.10772534 0.99143416 1.38969436] [ 0. 0. 0. 1. ]] SLAMing on 80.04719347000001 meters Centerline goodness : 0.893105 with order 1 Centerline is valid? [False, False] Translation: X:15.90, Y:0.37, Z:1.39 [[ 0.99527956 -0.06835054 0.06889702 15.89856463] [ 0.0606823 0.99231524 0.10783378 0.37179694] [-0.07573806 -0.10314393 0.99177874 1.3895796 ] [ 0. 0. 0. 1. ]] SLAMing on 80.10719347000001 meters Centerline goodness : 0.895696 with order 1 Centerline is valid? [False, False] Translation: X:15.89, Y:0.39, Z:1.39 [[ 0.99637744 -0.05357939 0.06603966 15.88607607] [ 0.04687921 0.99396907 0.09913535 0.38719919] [-0.07095299 -0.09568034 0.99288013 1.39412417] [ 0. 0. 0. 1. ]] SLAMing on 80.16719347000002 meters Centerline goodness : 0.892718 with order 1 Centerline is valid? [False, False] Translation: X:15.89, Y:0.39, Z:1.39 [[ 0.99730959 -0.04453575 0.05822492 15.88872761] [ 0.03926654 0.99528371 0.08870442 0.39228834] [-0.06190083 -0.08617948 0.99435476 1.39338344] [ 0. 0. 0. 1. ]] SLAMing on 80.22719347000002 meters Centerline goodness : 0.893133 with order 1 Centerline is valid? [False, False] Translation: X:15.91, Y:0.40, Z:1.39 [[ 0.9973431 -0.03867232 0.06173493 15.91042929] [ 0.03364655 0.99618901 0.08046963 0.39681352] [-0.0646116 -0.07817866 0.99484342 1.38880722] [ 0. 0. 0. 1. ]] SLAMing on 80.28719347 meters Centerline goodness : 0.897085 with order 1 Centerline is valid? [False, False] Translation: X:15.93, Y:0.40, Z:1.39 [[ 0.99691528 -0.04270214 0.06585167 15.92603434] [ 0.03719843 0.99588409 0.08265082 0.39692426] [-0.06911 -0.07994628 0.99440052 1.38695067] [ 0. 0. 0. 1. ]] SLAMing on 80.34719347000001 meters Centerline goodness : 0.895536 with order 1 Centerline is valid? [False, False] Translation: X:15.97, Y:0.37, Z:1.37 [[ 0.99543778 -0.06027506 0.07396313 15.9668559 ] [ 0.04794996 0.98621599 0.15836298 0.37275154] [-0.08248896 -0.15409396 0.98460684 1.37343143] [ 0. 0. 0. 1. ]] SLAMing on 80.40719347000001 meters Centerline goodness : 0.898892 with order 1 Centerline is valid? [False, False] Translation: X:15.97, Y:0.37, Z:1.38 [[ 0.99509752 -0.06544089 0.07415125 15.96516841] [ 0.05336179 0.98654289 0.15454982 0.37396473] [-0.08326727 -0.1498353 0.98519843 1.37757543] [ 0. 0. 0. 1. ]] SLAMing on 80.46719347000001 meters Centerline goodness : 0.901533 with order 1 Centerline is valid? [False, False] Translation: X:15.97, Y:0.38, Z:1.39 [[ 0.99507953 -0.06723734 0.07277266 15.96650797] [ 0.05600737 0.98760195 0.14664777 0.38152477] [-0.08173062 -0.14185039 0.98650827 1.38654125] [ 0. 0. 0. 1. ]] SLAMing on 80.52719347000001 meters Centerline goodness : 0.898892 with order 1 Centerline is valid? [False, False] Translation: X:15.96, Y:0.39, Z:1.39 [[ 0.9953997 -0.06550711 0.06991608 15.95575717] [ 0.05559911 0.98924435 0.13529361 0.38564403] [-0.07802678 -0.13078394 0.98833566 1.39184333] [ 0. 0. 0. 1. ]] SLAMing on 80.58719347000002 meters Centerline goodness : 0.903483 with order 1 Centerline is valid? [False, False] Translation: X:15.96, Y:0.40, Z:1.40 [[ 0.9955924 -0.061463 0.07083829 15.9578555 ] [ 0.05231576 0.99084676 0.12444181 0.39614038] [-0.07783845 -0.12018736 0.98969499 1.3955364 ] [ 0. 0. 0. 1. ]] SLAMing on 80.64719347 meters Centerline goodness : 0.900491 with order 1 Centerline is valid? [False, False] Translation: X:15.95, Y:0.40, Z:1.40 [[ 0.99612504 -0.05512513 0.06852832 15.94819347] [ 0.04668069 0.99176718 0.11924254 0.40059196] [-0.0745374 -0.11558153 0.99049739 1.39961009] [ 0. 0. 0. 1. ]] SLAMing on 80.70719347 meters Centerline goodness : 0.899843 with order 1 Centerline is valid? [False, False] Translation: X:15.94, Y:0.41, Z:1.40 [[ 0.99687886 -0.04921899 0.06172537 15.94447429] [ 0.04224755 0.99308167 0.10956247 0.40690106] [-0.06669089 -0.10661277 0.99206151 1.40169196] [ 0. 0. 0. 1. ]] SLAMing on 80.76719347000001 meters Centerline goodness : 0.901558 with order 1 Centerline is valid? [False, False] Translation: X:15.96, Y:0.41, Z:1.40 [[ 0.99723942 -0.04445723 0.05947342 15.95937906] [ 0.03799828 0.99367814 0.10564038 0.41106758] [-0.06379391 -0.10308886 0.99262431 1.39759993] [ 0. 0. 0. 1. ]] SLAMing on 80.82719347000001 meters Centerline goodness : 0.895971 with order 1 Centerline is valid? [False, False] Translation: X:15.98, Y:0.42, Z:1.40 [[ 0.99749231 -0.03308763 0.06256442 15.97848085] [ 0.0269291 0.99493596 0.09683627 0.41862971] [-0.06545167 -0.09490863 0.99333198 1.40126711] [ 0. 0. 0. 1. ]] SLAMing on 80.88719347000001 meters Centerline goodness : 0.897766 with order 1 Centerline is valid? [False, False] Translation: X:16.00, Y:0.42, Z:1.40 [[ 9.97946526e-01 -1.55168024e-02 6.21446680e-02 1.60020509e+01] [ 1.06854460e-02 9.96947924e-01 7.73347149e-02 4.21615763e-01] [-6.31549852e-02 -7.65118666e-02 9.95066521e-01 1.40382406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.94719347000002 meters Centerline goodness : 0.895980 with order 1 Centerline is valid? [False, False] Translation: X:16.02, Y:0.42, Z:1.40 [[ 9.98185586e-01 -7.27733190e-03 5.97710274e-02 1.60179142e+01] [ 2.85503041e-03 9.97273262e-01 7.37420537e-02 4.23704450e-01] [-6.01446929e-02 -7.34376070e-02 9.95484572e-01 1.40401239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.00719347 meters Centerline goodness : 0.897800 with order 1 Centerline is valid? [False, False] Translation: X:16.03, Y:0.42, Z:1.40 [[ 9.98384739e-01 -5.97195142e-03 5.64999895e-02 1.60256264e+01] [ 1.96358408e-03 9.97493158e-01 7.07357354e-02 4.24790796e-01] [-5.67807833e-02 -7.05105362e-02 9.95893673e-01 1.40461899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.06719347 meters Centerline goodness : 0.890717 with order 1 Centerline is valid? [False, False] Translation: X:16.07, Y:0.42, Z:1.41 [[ 9.98683414e-01 -4.29770280e-03 5.11172026e-02 1.60652969e+01] [ 1.23022625e-03 9.98204261e-01 5.98894018e-02 4.19385594e-01] [-5.12827963e-02 -5.97476665e-02 9.96895326e-01 1.40665023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12719347000001 meters Centerline goodness : 0.895004 with order 1 Centerline is valid? [False, False] Translation: X:16.10, Y:0.41, Z:1.41 [[ 9.98748112e-01 -2.42799870e-03 4.99631174e-02 1.60973309e+01] [-3.34286634e-04 9.98475040e-01 5.52040063e-02 4.13539625e-01] [-5.00209609e-02 -5.51515991e-02 9.97224250e-01 1.40791257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18719347000001 meters Centerline goodness : 0.898989 with order 1 Centerline is valid? [False, False] Translation: X:16.13, Y:0.41, Z:1.41 [[ 9.98848270e-01 5.43013294e-03 4.76722953e-02 1.61324248e+01] [-7.87970191e-03 9.98649791e-01 5.13469192e-02 4.07088435e-01] [-4.73291071e-02 -5.16634249e-02 9.97542403e-01 1.41390537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24719347000001 meters Centerline goodness : 0.896365 with order 1 Centerline is valid? [False, False] Translation: X:16.15, Y:0.40, Z:1.42 [[ 9.98962997e-01 9.98979265e-03 4.44199864e-02 1.61537690e+01] [-1.17074162e-02 9.99187033e-01 3.85773272e-02 3.98268587e-01] [-4.39984949e-02 -3.90573656e-02 9.98267827e-01 1.41855658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.30719347000002 meters Centerline goodness : 0.900329 with order 1 Centerline is valid? [False, False] Translation: X:16.19, Y:0.37, Z:1.41 [[ 9.98940748e-01 2.01463991e-03 4.59708883e-02 1.61928439e+01] [-4.10540609e-03 9.98959032e-01 4.54312453e-02 3.73803506e-01] [-4.58315065e-02 -4.55718513e-02 9.97909154e-01 1.41172088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.36719347 meters Centerline goodness : 0.897842 with order 1 Centerline is valid? [False, False] Translation: X:16.24, Y:0.35, Z:1.40 [[ 9.98912995e-01 -1.52072767e-02 4.40632283e-02 1.62436705e+01] [ 1.16326282e-02 9.96704861e-01 8.02751705e-02 3.45397277e-01] [-4.51388005e-02 -7.96753398e-02 9.95798337e-01 1.40459296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.42719347 meters Centerline goodness : 0.893822 with order 1 Centerline is valid? [False, False] Translation: X:16.28, Y:0.32, Z:1.40 [[ 0.9980611 -0.02710649 0.05602923 16.27820304] [ 0.02100827 0.99406952 0.10669794 0.32152147] [-0.05858916 -0.10531398 0.99271158 1.3967078 ] [ 0. 0. 0. 1. ]] SLAMing on 81.48719347000001 meters Centerline goodness : 0.896825 with order 1 Centerline is valid? [False, False] Translation: X:16.30, Y:0.28, Z:1.40 [[ 0.99712477 -0.0475408 0.05900899 16.30460956] [ 0.03448544 0.97809618 0.20527694 0.28112159] [-0.06747549 -0.20265177 0.97692339 1.39631334] [ 0. 0. 0. 1. ]] SLAMing on 81.54719347000001 meters Centerline goodness : 0.891197 with order 1 Centerline is valid? [False, False] Translation: X:16.31, Y:0.27, Z:1.40 [[ 0.996498 -0.06005404 0.05818286 16.30736093] [ 0.04746846 0.97912783 0.19762451 0.27379776] [-0.06883661 -0.19417058 0.97854959 1.39902868] [ 0. 0. 0. 1. ]] SLAMing on 81.60719347000001 meters Centerline goodness : 0.887890 with order 1 Centerline is valid? [False, False] Translation: X:16.31, Y:0.27, Z:1.40 [[ 0.99565777 -0.06715266 0.06446804 16.3066174 ] [ 0.05490184 0.98287738 0.17589159 0.27363795] [-0.07517577 -0.17158842 0.9822963 1.40073652] [ 0. 0. 0. 1. ]] SLAMing on 81.66719347000002 meters Centerline goodness : 0.886748 with order 1 Centerline is valid? [False, False] Translation: X:16.31, Y:0.28, Z:1.40 [[ 0.99536233 -0.06875842 0.06727636 16.30793866] [ 0.05709608 0.98512407 0.16208208 0.27945558] [-0.07742006 -0.15748918 0.98448123 1.40285859] [ 0. 0. 0. 1. ]] SLAMing on 81.72719347000002 meters Centerline goodness : 0.885929 with order 1 Centerline is valid? [False, False] Translation: X:16.30, Y:0.29, Z:1.40 [[ 0.99489861 -0.07218404 0.07047142 16.30275691] [ 0.06072814 0.98636066 0.15298611 0.2905887 ] [-0.0805534 -0.14792607 0.98571245 1.40322327] [ 0. 0. 0. 1. ]] SLAMing on 81.78719347 meters Centerline goodness : 0.884025 with order 1 Centerline is valid? [False, False] Translation: X:16.31, Y:0.30, Z:1.40 [[ 0.99465919 -0.07562486 0.07024227 16.30513334] [ 0.06474475 0.98716405 0.14599744 0.29586606] [-0.08038168 -0.14066987 0.98678811 1.39895396] [ 0. 0. 0. 1. ]] SLAMing on 81.84719347000001 meters Centerline goodness : 0.882750 with order 1 Centerline is valid? [False, False] Translation: X:16.31, Y:0.30, Z:1.39 [[ 0.9943072 -0.07962464 0.07080327 16.30599132] [ 0.0693131 0.9880378 0.13775702 0.30495987] [-0.08092516 -0.1320652 0.98793213 1.39389837] [ 0. 0. 0. 1. ]] SLAMing on 81.90719347000001 meters Centerline goodness : 0.881908 with order 1 Centerline is valid? [False, False] Translation: X:16.31, Y:0.31, Z:1.39 [[ 0.99400111 -0.08338769 0.07076918 16.30633419] [ 0.07346619 0.9884194 0.13277727 0.3127325 ] [-0.08102162 -0.12678161 0.98861616 1.39235791] [ 0. 0. 0. 1. ]] SLAMing on 81.96719347000001 meters Centerline goodness : 0.876177 with order 1 Centerline is valid? [False, False] Translation: X:16.30, Y:0.32, Z:1.39 [[ 0.99429568 -0.08157087 0.06871896 16.29754023] [ 0.07285467 0.9899768 0.12098815 0.32160885] [-0.07789928 -0.1152915 0.99027247 1.39338544] [ 0. 0. 0. 1. ]] SLAMing on 82.02719347000001 meters Centerline goodness : 0.874769 with order 1 Centerline is valid? [False, False] Translation: X:16.30, Y:0.33, Z:1.39 [[ 0.99428408 -0.08062159 0.06999516 16.29642387] [ 0.07230194 0.99082383 0.11419533 0.33450126] [-0.07855948 -0.10848181 0.99098946 1.38923087] [ 0. 0. 0. 1. ]] SLAMing on 82.08719347000002 meters Centerline goodness : 0.876779 with order 1 Centerline is valid? [False, False] Translation: X:16.28, Y:0.35, Z:1.39 [[ 0.99502336 -0.06958256 0.07132172 16.28321162] [ 0.06194072 0.99261865 0.10426678 0.3470421 ] [-0.07805042 -0.09933016 0.99198874 1.39086751] [ 0. 0. 0. 1. ]] SLAMing on 82.14719347 meters Centerline goodness : 0.881499 with order 1 Centerline is valid? [False, False] Translation: X:16.28, Y:0.37, Z:1.39 [[ 0.99577747 -0.05261171 0.07522795 16.27782367] [ 0.04475428 0.99371875 0.10256751 0.37067496] [-0.08015168 -0.09876765 0.99187734 1.39489446] [ 0. 0. 0. 1. ]] SLAMing on 82.20719347 meters Centerline goodness : 0.889726 with order 1 Centerline is valid? [False, False] Translation: X:16.26, Y:0.38, Z:1.40 [[ 0.99593759 -0.04081707 0.0802639 16.26061425] [ 0.03339406 0.9952226 0.09174323 0.38202185] [-0.08362513 -0.08869019 0.99254264 1.39826925] [ 0. 0. 0. 1. ]] SLAMing on 82.26719347000001 meters Centerline goodness : 0.887870 with order 1 Centerline is valid? [False, False] Translation: X:16.26, Y:0.39, Z:1.40 [[ 0.99664819 -0.03156222 0.07547322 16.25803418] [ 0.02539587 0.99636524 0.08131027 0.39162143] [-0.07776522 -0.07912103 0.99382716 1.39977161] [ 0. 0. 0. 1. ]] SLAMing on 82.32719347000001 meters Centerline goodness : 0.885612 with order 1 Centerline is valid? [False, False] Translation: X:16.28, Y:0.40, Z:1.40 [[ 0.99685903 -0.03259393 0.07217838 16.28188059] [ 0.02661491 0.99625196 0.0823024 0.39750259] [-0.07459041 -0.08012287 0.99399024 1.39508404] [ 0. 0. 0. 1. ]] SLAMing on 82.38719347000001 meters Centerline goodness : 0.879895 with order 1 Centerline is valid? [False, False] Translation: X:16.31, Y:0.40, Z:1.39 [[ 0.99682418 -0.03666943 0.07068886 16.30525289] [ 0.03084743 0.99617436 0.0817623 0.40157106] [-0.07341661 -0.07932207 0.99414185 1.38934145] [ 0. 0. 0. 1. ]] SLAMing on 82.44719347000002 meters Centerline goodness : 0.875665 with order 1 Centerline is valid? [False, False] Translation: X:16.35, Y:0.40, Z:1.38 [[ 0.99674601 -0.04001882 0.06997066 16.35020798] [ 0.0342109 0.99601867 0.08231898 0.40249858] [-0.0729864 -0.07965735 0.99414672 1.38317223] [ 0. 0. 0. 1. ]] SLAMing on 82.50719347 meters Centerline goodness : 0.872450 with order 1 Centerline is valid? [False, False] Translation: X:16.39, Y:0.41, Z:1.38 [[ 0.9965577 -0.04265293 0.07108777 16.3867766 ] [ 0.03621399 0.99532586 0.08952643 0.40575341] [-0.07457406 -0.08664388 0.99344428 1.37768765] [ 0. 0. 0. 1. ]] SLAMing on 82.56719347 meters Centerline goodness : 0.871767 with order 1 Centerline is valid? [False, False] Translation: X:16.42, Y:0.41, Z:1.37 [[ 0.99622205 -0.04631005 0.07346436 16.42263702] [ 0.03917666 0.99463578 0.09573322 0.4073544 ] [-0.0775037 -0.09249346 0.99269237 1.3734003 ] [ 0. 0. 0. 1. ]] SLAMing on 82.62719347000001 meters Centerline goodness : 0.873261 with order 1 Centerline is valid? [False, False] Translation: X:16.46, Y:0.39, Z:1.36 [[ 0.99484102 -0.06093215 0.08110869 16.46261557] [ 0.04795913 0.98702329 0.15324798 0.39497624] [-0.08939389 -0.14856747 0.98485351 1.36389542] [ 0. 0. 0. 1. ]] SLAMing on 82.68719347000001 meters Centerline goodness : 0.875256 with order 1 Centerline is valid? [False, False] Translation: X:16.46, Y:0.39, Z:1.37 [[ 0.99448162 -0.06606088 0.08150008 16.46140976] [ 0.05335905 0.98736317 0.14922056 0.39473366] [-0.09032782 -0.14404834 0.98543948 1.36664903] [ 0. 0. 0. 1. ]] SLAMing on 82.74719347000001 meters Centerline goodness : 0.877841 with order 1 Centerline is valid? [False, False] Translation: X:16.46, Y:0.40, Z:1.37 [[ 0.99435263 -0.07051018 0.0793169 16.46058883] [ 0.0584336 0.98764127 0.14543123 0.39758783] [-0.08859102 -0.13997515 0.98618385 1.37469915] [ 0. 0. 0. 1. ]] SLAMing on 82.80719347000002 meters Centerline goodness : 0.876118 with order 1 Centerline is valid? [False, False] Translation: X:16.46, Y:0.40, Z:1.38 [[ 0.99518138 -0.06553895 0.07292914 16.45541133] [ 0.05501812 0.98891239 0.13793217 0.3991014 ] [-0.08116046 -0.13325511 0.98775303 1.38223145] [ 0. 0. 0. 1. ]] SLAMing on 82.86719347 meters Centerline goodness : 0.877016 with order 1 Centerline is valid? [False, False] Translation: X:16.46, Y:0.40, Z:1.38 [[ 0.99520889 -0.06701608 0.07119062 16.45758921] [ 0.05709324 0.98943273 0.13327877 0.40156938] [-0.07937015 -0.12857572 0.98851842 1.38356457] [ 0. 0. 0. 1. ]] SLAMing on 82.92719347 meters Centerline goodness : 0.876932 with order 1 Centerline is valid? [False, False] Translation: X:16.45, Y:0.41, Z:1.39 [[ 0.99608805 -0.06069368 0.06422519 16.45461318] [ 0.0522968 0.99075367 0.1251887 0.40606319] [-0.07122951 -0.1213402 0.99005198 1.39101508] [ 0. 0. 0. 1. ]] SLAMing on 82.98719347000001 meters Centerline goodness : 0.874346 with order 1 Centerline is valid? [False, False] Translation: X:16.45, Y:0.41, Z:1.40 [[ 0.99682291 -0.05726784 0.05535783 16.45097301] [ 0.05043374 0.99175381 0.11781691 0.41099182] [-0.06164845 -0.11465069 0.99149114 1.39880544] [ 0. 0. 0. 1. ]] SLAMing on 83.04719347000001 meters Centerline goodness : 0.872490 with order 1 Centerline is valid? [False, False] Translation: X:16.48, Y:0.41, Z:1.39 [[ 0.99626891 -0.0668635 0.0545668 16.47606025] [ 0.05767181 0.98616129 0.15543446 0.40669792] [-0.06420456 -0.15170755 0.98633797 1.39203677] [ 0. 0. 0. 1. ]] SLAMing on 83.10719347000001 meters Centerline goodness : 0.874713 with order 1 Centerline is valid? [False, False] Translation: X:16.47, Y:0.41, Z:1.40 [[ 0.99680429 -0.06507491 0.04632995 16.47167528] [ 0.05763591 0.98746551 0.14693522 0.41329663] [-0.05531102 -0.14379539 0.98806051 1.40247174] [ 0. 0. 0. 1. ]] SLAMing on 83.16719347000002 meters Centerline goodness : 0.875559 with order 1 Centerline is valid? [False, False] Translation: X:16.47, Y:0.42, Z:1.41 [[ 0.99689368 -0.06268252 0.04768545 16.468896 ] [ 0.05545639 0.98857804 0.14013581 0.42227282] [-0.05592485 -0.13705604 0.98898334 1.40697336] [ 0. 0. 0. 1. ]] SLAMing on 83.22719347000002 meters Centerline goodness : 0.881715 with order 1 Centerline is valid? [False, False] Translation: X:16.46, Y:0.43, Z:1.41 [[ 0.99785559 -0.04639435 0.0461713 16.46286085] [ 0.04047352 0.99172856 0.12180455 0.43345742] [-0.05144044 -0.11967464 0.99147963 1.41444403] [ 0. 0. 0. 1. ]] SLAMing on 83.28719347 meters Centerline goodness : 0.883230 with order 1 Centerline is valid? [False, False] Translation: X:16.49, Y:0.44, Z:1.42 [[ 0.99824348 -0.03459092 0.04809806 16.48731634] [ 0.02895736 0.99314407 0.11325336 0.44452269] [-0.05168584 -0.11166163 0.99240126 1.4153131 ] [ 0. 0. 0. 1. ]] SLAMing on 83.34719347000001 meters Centerline goodness : 0.886934 with order 1 Centerline is valid? [False, False] Translation: X:16.51, Y:0.45, Z:1.41 [[ 0.99867319 -0.02686013 0.04393618 16.51470929] [ 0.02236247 0.99475264 0.09983541 0.45228933] [-0.04638722 -0.09872043 0.99403345 1.41484461] [ 0. 0. 0. 1. ]] SLAMing on 83.40719347000001 meters Centerline goodness : 0.882793 with order 1 Centerline is valid? [False, False] Translation: X:16.56, Y:0.45, Z:1.41 [[ 0.99889954 -0.02372496 0.04045776 16.55709834] [ 0.01987723 0.99546877 0.09298827 0.45386064] [-0.04248058 -0.09208175 0.99484489 1.41312895] [ 0. 0. 0. 1. ]] SLAMing on 83.46719347000001 meters Centerline goodness : 0.886563 with order 1 Centerline is valid? [False, False] Translation: X:16.57, Y:0.46, Z:1.41 [[ 9.99123984e-01 -1.81562013e-02 3.77043282e-02 1.65746403e+01] [ 1.48345447e-02 9.96134388e-01 8.65806964e-02 4.58284021e-01] [-3.91305544e-02 -8.59455239e-02 9.95531098e-01 1.41297760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52719347000001 meters Centerline goodness : 0.887705 with order 1 Centerline is valid? [False, False] Translation: X:16.60, Y:0.46, Z:1.42 [[ 9.99255637e-01 -1.21910681e-02 3.65998646e-02 1.65958906e+01] [ 9.40764076e-03 9.97117939e-01 7.52815522e-02 4.60985482e-01] [-3.74121441e-02 -7.48811970e-02 9.96490410e-01 1.41569134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.58719347000002 meters Centerline goodness : 0.890037 with order 1 Centerline is valid? [False, False] Translation: X:16.62, Y:0.46, Z:1.42 [[ 9.99420166e-01 -4.51982228e-03 3.37476465e-02 1.66207512e+01] [ 2.35874031e-03 9.97959675e-01 6.38037897e-02 4.63256267e-01] [-3.39671721e-02 -6.36871921e-02 9.97391685e-01 1.41803444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.64719347 meters Centerline goodness : 0.892384 with order 1 Centerline is valid? [False, False] Translation: X:16.64, Y:0.47, Z:1.42 [[ 9.99514291e-01 2.52705660e-03 3.10611725e-02 1.66432703e+01] [-4.18363504e-03 9.98565290e-01 5.33840765e-02 4.66848369e-01] [-3.08817041e-02 -5.34880959e-02 9.98090850e-01 1.42053328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.70719347 meters Centerline goodness : 0.893703 with order 1 Centerline is valid? [False, False] Translation: X:16.67, Y:0.47, Z:1.43 [[ 9.99533982e-01 -1.61604617e-03 3.04829149e-02 1.66718026e+01] [ 2.85761299e-04 9.99049275e-01 4.35943095e-02 4.66915330e-01] [-3.05243844e-02 -4.35652829e-02 9.98584162e-01 1.42505390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76719347000001 meters Centerline goodness : 0.899039 with order 1 Centerline is valid? [False, False] Translation: X:16.72, Y:0.45, Z:1.42 [[ 9.99259887e-01 -1.50673346e-02 3.53928457e-02 1.67218138e+01] [ 1.19524138e-02 9.96168948e-01 8.66288976e-02 4.49879291e-01] [-3.65625204e-02 -8.61417525e-02 9.95611762e-01 1.41674462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82719347000001 meters Centerline goodness : 0.899910 with order 1 Centerline is valid? [False, False] Translation: X:16.77, Y:0.44, Z:1.41 [[ 0.99866525 -0.02697548 0.04404589 16.7652591 ] [ 0.02127944 0.99192593 0.12502056 0.43694724] [-0.04706275 -0.12391642 0.99117598 1.40780332] [ 0. 0. 0. 1. ]] SLAMing on 83.88719347000001 meters Centerline goodness : 0.895920 with order 1 Centerline is valid? [False, False] Translation: X:16.80, Y:0.41, Z:1.39 [[ 0.99750514 -0.04424779 0.05500575 16.80118004] [ 0.03200671 0.97797089 0.20627292 0.40822553] [-0.06292114 -0.20399774 0.97694721 1.39298301] [ 0. 0. 0. 1. ]] SLAMing on 83.94719347000002 meters Centerline goodness : 0.895468 with order 1 Centerline is valid? [False, False] Translation: X:16.83, Y:0.37, Z:1.39 [[ 0.99681827 -0.05918219 0.05339287 16.83256578] [ 0.03867889 0.944857 0.32519102 0.37158777] [-0.06969414 -0.32209117 0.94413982 1.38518786] [ 0. 0. 0. 1. ]] SLAMing on 84.00719347 meters Centerline goodness : 0.900626 with order 1 Centerline is valid? [False, False] Translation: X:16.83, Y:0.37, Z:1.40 [[ 0.99700198 -0.06032539 0.04845523 16.8282535 ] [ 0.04294593 0.95234184 0.3019945 0.37401241] [-0.06436387 -0.29900815 0.95207742 1.39695004] [ 0. 0. 0. 1. ]] SLAMing on 84.06719347 meters Centerline goodness : 0.905193 with order 1 Centerline is valid? [False, False] Translation: X:16.82, Y:0.38, Z:1.41 [[ 0.99768697 -0.05187018 0.04393391 16.82480325] [ 0.03739419 0.95853559 0.28250877 0.38117225] [-0.05676599 -0.28021244 0.95825811 1.41112311] [ 0. 0. 0. 1. ]] SLAMing on 84.12719347000001 meters Centerline goodness : 0.906786 with order 1 Centerline is valid? [False, False] Translation: X:16.84, Y:0.39, Z:1.42 [[ 0.99782338 -0.046248 0.04700657 16.84226252] [ 0.03246503 0.96498955 0.26027137 0.39428219] [-0.05739788 -0.25817879 0.96439058 1.41642413] [ 0. 0. 0. 1. ]] SLAMing on 84.18719347000001 meters Centerline goodness : 0.910213 with order 1 Centerline is valid? [False, False] Translation: X:16.89, Y:0.40, Z:1.41 [[ 0.99753839 -0.04757557 0.05151433 16.88751957] [ 0.03263137 0.96518941 0.25950836 0.39732346] [-0.06206734 -0.25718857 0.96436595 1.41426438] [ 0. 0. 0. 1. ]] SLAMing on 84.24719347000001 meters Centerline goodness : 0.913467 with order 1 Centerline is valid? [False, False] Translation: X:16.92, Y:0.39, Z:1.41 [[ 0.99658224 -0.05453194 0.06204924 16.92277786] [ 0.0346939 0.95798774 0.28470304 0.39458791] [-0.07496782 -0.28157726 0.95660549 1.40912194] [ 0. 0. 0. 1. ]] SLAMing on 84.30719347000002 meters Centerline goodness : 0.915653 with order 1 Centerline is valid? [False, False] Translation: X:16.96, Y:0.38, Z:1.40 [[ 0.99521355 -0.0630962 0.07462473 16.95529395] [ 0.03470246 0.94203841 0.33370553 0.3840245 ] [-0.09135492 -0.3295186 0.93971899 1.40165748] [ 0. 0. 0. 1. ]] SLAMing on 84.36719347000002 meters Centerline goodness : 0.916418 with order 1 Centerline is valid? [False, False] Translation: X:16.95, Y:0.39, Z:1.41 [[ 0.99579263 -0.05952 0.06967361 16.95271114] [ 0.03487202 0.94926755 0.31253008 0.3921686 ] [-0.08474069 -0.30878549 0.94734921 1.41305492] [ 0. 0. 0. 1. ]] SLAMing on 84.42719347 meters Centerline goodness : 0.912003 with order 1 Centerline is valid? [False, False] Translation: X:16.96, Y:0.40, Z:1.43 [[ 0.99686818 -0.05284245 0.05883465 16.95782371] [ 0.03356045 0.95634429 0.29030898 0.40396141] [-0.07160682 -0.28742526 0.9551226 1.4259946 ] [ 0. 0. 0. 1. ]] SLAMing on 84.48719347000001 meters Centerline goodness : 0.915747 with order 1 Centerline is valid? [False, False] Translation: X:16.99, Y:0.41, Z:1.43 [[ 0.9972745 -0.04631244 0.05743458 16.9892608 ] [ 0.02900537 0.9618698 0.27196541 0.41469038] [-0.06783997 -0.26955826 0.96059153 1.42586458] [ 0. 0. 0. 1. ]] SLAMing on 84.54719347000001 meters Centerline goodness : 0.913009 with order 1 Centerline is valid? [False, False] Translation: X:17.01, Y:0.43, Z:1.43 [[ 0.99773344 -0.03893473 0.05488228 17.00936784] [ 0.02450759 0.9698436 0.24249283 0.42749599] [-0.06266862 -0.24059817 0.96859959 1.42975133] [ 0. 0. 0. 1. ]] SLAMing on 84.60719347000001 meters Centerline goodness : 0.908308 with order 1 Centerline is valid? [False, False] Translation: X:17.02, Y:0.44, Z:1.44 [[ 0.99815413 -0.03223071 0.05147337 17.02407111] [ 0.02041552 0.9763048 0.21543479 0.44451994] [-0.05719731 -0.21398627 0.97516068 1.43661756] [ 0. 0. 0. 1. ]] SLAMing on 84.66719347000002 meters Centerline goodness : 0.910508 with order 1 Centerline is valid? [False, False] Translation: X:17.04, Y:0.46, Z:1.44 [[ 0.99839468 -0.02697525 0.04980357 17.0394828 ] [ 0.01706293 0.9817003 0.18966649 0.45652121] [-0.05400848 -0.18851222 0.98058464 1.44084897] [ 0. 0. 0. 1. ]] SLAMing on 84.72719347000002 meters Centerline goodness : 0.911436 with order 1 Centerline is valid? [False, False] Translation: X:17.05, Y:0.47, Z:1.45 [[ 9.98481071e-01 -2.07700090e-02 5.10309522e-02 1.70543747e+01] [ 1.21544791e-02 9.86439901e-01 1.63672202e-01 4.66886265e-01] [-5.37384406e-02 -1.62803341e-01 9.85194018e-01 1.44617341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.78719347 meters Centerline goodness : 0.912102 with order 1 Centerline is valid? [False, False] Translation: X:17.07, Y:0.47, Z:1.45 [[ 9.98606737e-01 -1.78959378e-02 4.96419110e-02 1.70743965e+01] [ 1.03819191e-02 9.88980232e-01 1.47683163e-01 4.72761586e-01] [-5.17377973e-02 -1.46962023e-01 9.87788117e-01 1.45091813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84719347000001 meters Centerline goodness : 0.910558 with order 1 Centerline is valid? [False, False] Translation: X:17.09, Y:0.48, Z:1.46 [[ 9.98801476e-01 -1.57695399e-02 4.63350001e-02 1.70914826e+01] [ 9.47428625e-03 9.91061767e-01 1.33066948e-01 4.80806931e-01] [-4.80192516e-02 -1.32468473e-01 9.90023361e-01 1.45808944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90719347000001 meters Centerline goodness : 0.902907 with order 1 Centerline is valid? [False, False] Translation: X:17.11, Y:0.48, Z:1.46 [[ 9.98928027e-01 -1.13291274e-02 4.48826069e-02 1.71061540e+01] [ 6.29539941e-03 9.93828821e-01 1.10745849e-01 4.83467208e-01] [-4.58602822e-02 -1.10344578e-01 9.92834784e-01 1.45953956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96719347000001 meters Centerline goodness : 0.903760 with order 1 Centerline is valid? [False, False] Translation: X:17.14, Y:0.49, Z:1.46 [[ 9.99038688e-01 -5.67367032e-03 4.34684762e-02 1.71357798e+01] [ 1.57093887e-03 9.95585802e-01 9.38426481e-02 4.87774134e-01] [-4.38090300e-02 -9.36841498e-02 9.94637647e-01 1.46342825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02719347000001 meters Centerline goodness : 0.901476 with order 1 Centerline is valid? [False, False] Translation: X:17.16, Y:0.49, Z:1.47 [[ 9.99158395e-01 7.57595321e-04 4.10113209e-02 1.71574792e+01] [-4.12497982e-03 9.96616671e-01 8.20865072e-02 4.91367425e-01] [-4.08103778e-02 -8.21865936e-02 9.95781039e-01 1.46747810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.08719347000002 meters Centerline goodness : 0.904108 with order 1 Centerline is valid? [False, False] Translation: X:17.20, Y:0.49, Z:1.47 [[ 9.99312755e-01 5.14948376e-04 3.70641779e-02 1.71958258e+01] [-3.15097061e-03 9.97464409e-01 7.10972856e-02 4.92840061e-01] [-3.69335868e-02 -7.11652125e-02 9.96780529e-01 1.47068689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.14719347 meters Centerline goodness : 0.904945 with order 1 Centerline is valid? [False, False] Translation: X:17.22, Y:0.49, Z:1.47 [[ 9.99282368e-01 -1.54196539e-03 3.78466885e-02 1.72246584e+01] [-8.96499037e-04 9.97928364e-01 6.43286581e-02 4.94678655e-01] [-3.78674765e-02 -6.43164233e-02 9.97210836e-01 1.47391596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.20719347 meters Centerline goodness : 0.901536 with order 1 Centerline is valid? [False, False] Translation: X:17.25, Y:0.50, Z:1.48 [[ 9.99279946e-01 1.32624369e-03 3.79187295e-02 1.72465697e+01] [-3.19136571e-03 9.98785363e-01 4.91692363e-02 4.96743965e-01] [-3.78074616e-02 -4.92548444e-02 9.98070416e-01 1.47679409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26719347000001 meters Centerline goodness : 0.903505 with order 1 Centerline is valid? [False, False] Translation: X:17.27, Y:0.50, Z:1.48 [[ 9.99376464e-01 1.86610453e-03 3.52590645e-02 1.72747712e+01] [-3.42393421e-03 9.99017993e-01 4.41738114e-02 5.01239885e-01] [-3.51420070e-02 -4.42669922e-02 9.98401459e-01 1.48069683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32719347000001 meters Centerline goodness : 0.900952 with order 1 Centerline is valid? [False, False] Translation: X:17.28, Y:0.51, Z:1.48 [[ 9.99372221e-01 7.91275316e-03 3.45333569e-02 1.72770180e+01] [-9.61486844e-03 9.98732565e-01 4.94046430e-02 5.06921852e-01] [-3.40986614e-02 -4.97056615e-02 9.98181661e-01 1.47962446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38719347000001 meters Centerline goodness : 0.901018 with order 1 Centerline is valid? [False, False] Translation: X:17.30, Y:0.51, Z:1.48 [[ 9.99427336e-01 1.29092987e-02 3.12785856e-02 1.72979638e+01] [-1.41023378e-02 9.99169569e-01 3.82269032e-02 5.08588882e-01] [-3.07591284e-02 -3.86461132e-02 9.98779432e-01 1.48242081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.44719347000002 meters Centerline goodness : 0.895377 with order 1 Centerline is valid? [False, False] Translation: X:17.30, Y:0.51, Z:1.48 [[ 0.99936688 0.01828634 0.03051955 17.30168061] [-0.01958824 0.99888653 0.04291849 0.51134944] [-0.02970075 -0.04348914 0.99861232 1.47944164] [ 0. 0. 0. 1. ]] SLAMing on 85.50719347 meters Centerline goodness : 0.895914 with order 1 Centerline is valid? [False, False] Translation: X:17.32, Y:0.51, Z:1.48 [[ 0.99924163 0.02792426 0.02713687 17.32223895] [-0.02888534 0.99894522 0.03569434 0.51157441] [-0.02611151 -0.03645113 0.99899425 1.48395761] [ 0. 0. 0. 1. ]] SLAMing on 85.56719347 meters Centerline goodness : 0.898472 with order 1 Centerline is valid? [False, False] Translation: X:17.34, Y:0.51, Z:1.49 [[ 0.99909603 0.0303498 0.02976596 17.34287449] [-0.03147231 0.99878211 0.03799736 0.51027971] [-0.0285765 -0.03889982 0.99883441 1.48673152] [ 0. 0. 0. 1. ]] SLAMing on 85.62719347000001 meters Centerline goodness : 0.905168 with order 1 Centerline is valid? [False, False] Translation: X:17.37, Y:0.50, Z:1.49 [[ 0.99899955 0.03484252 0.0280337 17.37301085] [-0.03584307 0.99870818 0.03601729 0.50479582] [-0.02674256 -0.03698607 0.99895789 1.49232147] [ 0. 0. 0. 1. ]] SLAMing on 85.68719347000001 meters Centerline goodness : 0.901569 with order 1 Centerline is valid? [False, False] Translation: X:17.40, Y:0.49, Z:1.49 [[ 0.99910351 0.03053244 0.02932483 17.39576638] [-0.03155403 0.99888801 0.03502993 0.49456605] [-0.02822267 -0.03592385 0.99895593 1.49109714] [ 0. 0. 0. 1. ]] SLAMing on 85.74719347000001 meters Centerline goodness : 0.900262 with order 1 Centerline is valid? [False, False] Translation: X:17.43, Y:0.48, Z:1.49 [[ 0.99921927 0.02592513 0.0298116 17.43480143] [-0.02717413 0.99873602 0.04228396 0.47651506] [-0.02867771 -0.04306105 0.99866077 1.48947946] [ 0. 0. 0. 1. ]] SLAMing on 85.80719347000002 meters Centerline goodness : 0.905727 with order 1 Centerline is valid? [False, False] Translation: X:17.47, Y:0.45, Z:1.49 [[ 0.99935654 0.02230946 0.02808531 17.46566685] [-0.02341728 0.99893503 0.0397546 0.45228527] [-0.02716849 -0.0403867 0.99881469 1.48941157] [ 0. 0. 0. 1. ]] SLAMing on 85.86719347000002 meters Centerline goodness : 0.894953 with order 1 Centerline is valid? [False, False] Translation: X:17.50, Y:0.44, Z:1.49 [[ 9.99529768e-01 1.62209643e-02 2.60215948e-02 1.75023085e+01] [-1.74951729e-02 9.98620326e-01 4.95112405e-02 4.36270446e-01] [-2.51825734e-02 -4.99432111e-02 9.98434531e-01 1.48515010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.92719347 meters Centerline goodness : 0.887850 with order 1 Centerline is valid? [False, False] Translation: X:17.55, Y:0.42, Z:1.48 [[ 9.99709049e-01 9.44090756e-03 2.21965563e-02 1.75506152e+01] [-1.06801960e-02 9.98351487e-01 5.63936349e-02 4.15277454e-01] [-2.16275579e-02 -5.66142907e-02 9.98161846e-01 1.48120534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98719347000001 meters Centerline goodness : 0.885884 with order 1 Centerline is valid? [False, False] Translation: X:17.61, Y:0.38, Z:1.47 [[ 9.99636281e-01 -6.13823529e-03 2.62607780e-02 1.76129685e+01] [ 3.35309889e-03 9.94486136e-01 1.04814510e-01 3.83267947e-01] [-2.67593558e-02 -1.04688332e-01 9.94145004e-01 1.47180825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04719347000001 meters Centerline goodness : 0.884233 with order 1 Centerline is valid? [False, False] Translation: X:17.67, Y:0.37, Z:1.47 [[ 9.99272685e-01 -1.79109428e-02 3.36644979e-02 1.76664333e+01] [ 1.33433453e-02 9.91251096e-01 1.31313445e-01 3.67225797e-01] [-3.57219180e-02 -1.30768741e-01 9.90769136e-01 1.46764758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10719347000001 meters Centerline goodness : 0.887687 with order 1 Centerline is valid? [False, False] Translation: X:17.71, Y:0.33, Z:1.46 [[ 0.99807427 -0.03547569 0.05088436 17.71081873] [ 0.02393162 0.9770288 0.21175932 0.33122407] [-0.05722779 -0.21013378 0.9759963 1.45963834] [ 0. 0. 0. 1. ]] SLAMing on 86.16719347000002 meters Centerline goodness : 0.890363 with order 1 Centerline is valid? [False, False] Translation: X:17.74, Y:0.30, Z:1.46 [[ 0.99639672 -0.05071267 0.06798383 17.73722836] [ 0.02789534 0.95290669 0.30197795 0.29969036] [-0.08009636 -0.29899341 0.95088775 1.4555345 ] [ 0. 0. 0. 1. ]] SLAMing on 86.22719347000002 meters Centerline goodness : 0.892044 with order 1 Centerline is valid? [False, False] Translation: X:17.74, Y:0.30, Z:1.46 [[ 0.99616687 -0.05569486 0.06745111 17.73888982] [ 0.03394822 0.95682258 0.28868332 0.30222524] [-0.08061693 -0.28528692 0.9550457 1.46481957] [ 0. 0. 0. 1. ]] SLAMing on 86.28719347 meters Centerline goodness : 0.894345 with order 1 Centerline is valid? [False, False] Translation: X:17.74, Y:0.30, Z:1.47 [[ 0.99625002 -0.05423698 0.06741098 17.73635092] [ 0.03405773 0.96205731 0.27071352 0.30423659] [-0.07953591 -0.26740248 0.9602968 1.4703357 ] [ 0. 0. 0. 1. ]] SLAMing on 86.34719347000001 meters Centerline goodness : 0.899504 with order 1 Centerline is valid? [False, False] Translation: X:17.73, Y:0.31, Z:1.48 [[ 0.99618793 -0.05149344 0.07041327 17.72819117] [ 0.03180762 0.96603222 0.25645668 0.30872768] [-0.08122733 -0.25323937 0.96398752 1.47719047] [ 0. 0. 0. 1. ]] SLAMing on 86.40719347000001 meters Centerline goodness : 0.903613 with order 1 Centerline is valid? [False, False] Translation: X:17.73, Y:0.32, Z:1.49 [[ 0.99633808 -0.0476029 0.07102386 17.72806404] [ 0.02892168 0.96934998 0.24397574 0.31785107] [-0.08046093 -0.24102819 0.96717705 1.48545564] [ 0. 0. 0. 1. ]] SLAMing on 86.46719347000001 meters Centerline goodness : 0.903437 with order 1 Centerline is valid? [False, False] Translation: X:17.72, Y:0.33, Z:1.49 [[ 0.99708548 -0.03982487 0.06507317 17.72313767] [ 0.02397328 0.9732901 0.22832359 0.32549148] [-0.07242803 -0.22609812 0.97140816 1.49067198] [ 0. 0. 0. 1. ]] SLAMing on 86.52719347000001 meters Centerline goodness : 0.908795 with order 1 Centerline is valid? [False, False] Translation: X:17.73, Y:0.34, Z:1.49 [[ 9.97332584e-01 -2.49694895e-02 6.85874701e-02 1.77294723e+01] [ 1.05213604e-02 9.79033217e-01 2.03428762e-01 3.41782772e-01] [-7.22289239e-02 -2.02164499e-01 9.76684441e-01 1.49222466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.58719347000002 meters Centerline goodness : 0.910096 with order 1 Centerline is valid? [False, False] Translation: X:17.75, Y:0.35, Z:1.49 [[ 9.97511171e-01 -1.53663193e-02 6.88138083e-02 1.77452131e+01] [ 2.68607157e-03 9.83536478e-01 1.80689740e-01 3.53944270e-01] [-7.04574269e-02 -1.80055196e-01 9.81129898e-01 1.49357621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.64719347 meters Centerline goodness : 0.908754 with order 1 Centerline is valid? [False, False] Translation: X:17.76, Y:0.37, Z:1.49 [[ 9.97824371e-01 -5.73237212e-03 6.56784972e-02 1.77600321e+01] [-4.88146450e-03 9.87054430e-01 1.60311335e-01 3.65362630e-01] [-6.57472158e-02 -1.60283164e-01 9.84878983e-01 1.49353165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.70719347 meters Centerline goodness : 0.906971 with order 1 Centerline is valid? [False, False] Translation: X:17.78, Y:0.37, Z:1.50 [[ 9.97949331e-01 -5.23854534e-03 6.37941301e-02 1.77761132e+01] [-4.16311188e-03 9.89223199e-01 1.46356182e-01 3.68620463e-01] [-6.38733269e-02 -1.46321636e-01 9.87172820e-01 1.49526693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76719347000001 meters Centerline goodness : 0.906478 with order 1 Centerline is valid? [False, False] Translation: X:17.81, Y:0.37, Z:1.49 [[ 9.97780202e-01 -1.37696805e-02 6.51541579e-02 1.78148181e+01] [ 3.82732832e-03 9.88629277e-01 1.50324664e-01 3.65007693e-01] [-6.64832306e-02 -1.49741607e-01 9.86487421e-01 1.48989437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82719347000001 meters Centerline goodness : 0.904535 with order 1 Centerline is valid? [False, False] Translation: X:17.85, Y:0.36, Z:1.49 [[ 9.97750376e-01 -1.85090582e-02 6.44329273e-02 1.78454565e+01] [ 9.12383015e-03 9.89678818e-01 1.43012560e-01 3.61365630e-01] [-6.64149311e-02 -1.42102960e-01 9.87621287e-01 1.48856883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88719347000001 meters Centerline goodness : 0.908389 with order 1 Centerline is valid? [False, False] Translation: X:17.89, Y:0.36, Z:1.49 [[ 9.97407576e-01 -2.00446013e-02 6.91110828e-02 1.78857206e+01] [ 9.77313254e-03 9.89255079e-01 1.45872801e-01 3.55729210e-01] [-7.12924519e-02 -1.44819205e-01 9.86886409e-01 1.48713864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.94719347000002 meters Centerline goodness : 0.918673 with order 1 Centerline is valid? [False, False] Translation: X:17.92, Y:0.35, Z:1.48 [[ 9.96517110e-01 -2.06197903e-02 8.07989707e-02 1.79242467e+01] [ 6.97953542e-03 9.86170203e-01 1.65588698e-01 3.52456106e-01] [-8.30959416e-02 -1.64448031e-01 9.82879397e-01 1.48336186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.00719347 meters Centerline goodness : 0.919006 with order 1 Centerline is valid? [False, False] Translation: X:17.95, Y:0.35, Z:1.48 [[ 9.96256049e-01 -2.04663854e-02 8.39941136e-02 1.79494243e+01] [ 6.56277030e-03 9.86674146e-01 1.62576318e-01 3.53408227e-01] [-8.62021699e-02 -1.61416406e-01 9.83114403e-01 1.48135618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.06719347 meters Centerline goodness : 0.919107 with order 1 Centerline is valid? [False, False] Translation: X:17.99, Y:0.34, Z:1.48 [[ 9.95707163e-01 -3.41058548e-02 8.60467117e-02 1.79892310e+01] [ 1.41386656e-02 9.74771624e-01 2.22756321e-01 3.37710660e-01] [-9.14731876e-02 -2.20583478e-01 9.71069300e-01 1.47542848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12719347000001 meters Centerline goodness : 0.918636 with order 1 Centerline is valid? [False, False] Translation: X:18.03, Y:0.33, Z:1.47 [[ 0.99534674 -0.04550552 0.08493598 18.02689201] [ 0.01934883 0.9578967 0.28646036 0.32529733] [-0.09439543 -0.28348397 0.95431983 1.47461306] [ 0. 0. 0. 1. ]] SLAMing on 87.18719347000001 meters Centerline goodness : 0.916731 with order 1 Centerline is valid? [False, False] Translation: X:18.02, Y:0.34, Z:1.48 [[ 9.95886107e-01 -3.97494433e-02 8.14299968e-02 1.80243345e+01] [ 1.67426160e-02 9.63894815e-01 2.65756410e-01 3.36691571e-01] [-8.90536211e-02 -2.63299766e-01 9.60594965e-01 1.48220979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24719347000001 meters Centerline goodness : 0.916959 with order 1 Centerline is valid? [False, False] Translation: X:18.03, Y:0.35, Z:1.49 [[ 9.96297724e-01 -2.15245810e-02 8.32318357e-02 1.80296391e+01] [ 1.76695168e-03 9.73071816e-01 2.30495376e-01 3.52514662e-01] [-8.59518700e-02 -2.29494951e-01 9.69507268e-01 1.48824129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.30719347000002 meters Centerline goodness : 0.918064 with order 1 Centerline is valid? [False, False] Translation: X:18.04, Y:0.36, Z:1.49 [[ 9.96529355e-01 -9.08773693e-03 8.27445362e-02 1.80435387e+01] [-8.19398855e-03 9.78486123e-01 2.06149861e-01 3.63544129e-01] [-8.28378162e-02 -2.06112395e-01 9.75015680e-01 1.49415030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.36719347000002 meters Centerline goodness : 0.915709 with order 1 Centerline is valid? [False, False] Translation: X:18.05, Y:0.37, Z:1.50 [[ 9.96681722e-01 4.94816809e-03 8.12469064e-02 1.80508459e+01] [-1.95749834e-02 9.83428047e-01 1.80238997e-01 3.72344986e-01] [-7.90086337e-02 -1.81231321e-01 9.80261620e-01 1.49739880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.42719347 meters Centerline goodness : 0.911739 with order 1 Centerline is valid? [False, False] Translation: X:18.08, Y:0.37, Z:1.50 [[ 9.96846148e-01 1.01036227e-02 7.87125982e-02 1.80779235e+01] [-2.31732721e-02 9.85692897e-01 1.66950630e-01 3.68304499e-01] [-7.58996427e-02 -1.68248121e-01 9.82818302e-01 1.49634413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48719347000001 meters Centerline goodness : 0.908417 with order 1 Centerline is valid? [False, False] Translation: X:18.10, Y:0.36, Z:1.50 [[ 9.96927047e-01 1.42195247e-02 7.70342029e-02 1.80993916e+01] [-2.59623058e-02 9.87783379e-01 1.53655314e-01 3.62280640e-01] [-7.39081996e-02 -1.55183124e-01 9.85117138e-01 1.50063452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54719347000001 meters Centerline goodness : 0.910530 with order 1 Centerline is valid? [False, False] Translation: X:18.13, Y:0.35, Z:1.50 [[ 9.96746269e-01 1.68117755e-02 7.88304439e-02 1.81342076e+01] [-2.84907126e-02 9.88357269e-01 1.49459656e-01 3.45987484e-01] [-7.53999600e-02 -1.51219290e-01 9.85620400e-01 1.50130824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60719347000001 meters Centerline goodness : 0.907765 with order 1 Centerline is valid? [False, False] Translation: X:18.17, Y:0.33, Z:1.50 [[ 9.96453632e-01 1.33298553e-02 8.30811325e-02 1.81700251e+01] [-2.64809361e-02 9.86880388e-01 1.59266632e-01 3.33571246e-01] [-7.98681391e-02 -1.60901880e-01 9.83733534e-01 1.49706231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66719347000002 meters Centerline goodness : 0.903761 with order 1 Centerline is valid? [False, False] Translation: X:18.22, Y:0.30, Z:1.49 [[ 9.95953378e-01 -3.08043280e-04 8.98708783e-02 1.82191492e+01] [-2.00843023e-02 9.73940302e-01 2.25913498e-01 2.97583718e-01] [-8.75984615e-02 -2.26804305e-01 9.69992947e-01 1.49023350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.72719347000002 meters Centerline goodness : 0.905384 with order 1 Centerline is valid? [False, False] Translation: X:18.25, Y:0.29, Z:1.49 [[ 9.94899708e-01 -1.59700580e-03 1.00856432e-01 1.82520510e+01] [-2.23829560e-02 9.71451646e-01 2.36179387e-01 2.85360359e-01] [-9.83543266e-02 -2.37232269e-01 9.66461213e-01 1.48712650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.78719347 meters Centerline goodness : 0.900936 with order 1 Centerline is valid? [False, False] Translation: X:18.29, Y:0.25, Z:1.48 [[ 9.94264898e-01 -8.01322431e-03 1.06644746e-01 1.82949356e+01] [-2.37687765e-02 9.55691192e-01 2.93409936e-01 2.54600651e-01] [-1.04270604e-01 -2.94262015e-01 9.50019741e-01 1.48495740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84719347000001 meters Centerline goodness : 0.895793 with order 1 Centerline is valid? [False, False] Translation: X:18.34, Y:0.23, Z:1.49 [[ 9.93953092e-01 -1.66065388e-02 1.08542498e-01 1.83378580e+01] [-2.28671689e-02 9.35520511e-01 3.52531512e-01 2.27098367e-01] [-1.07398061e-01 -3.52881846e-01 9.29483759e-01 1.48544522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90719347000001 meters Centerline goodness : 0.892424 with order 1 Centerline is valid? [False, False] Translation: X:18.38, Y:0.20, Z:1.49 [[ 0.99346629 -0.02820196 0.11058652 18.38162304] [-0.02044827 0.90931962 0.41559559 0.19824553] [-0.1122791 -0.41514151 0.90280171 1.48965636] [ 0. 0. 0. 1. ]] SLAMing on 87.96719347000001 meters Centerline goodness : 0.888532 with order 1 Centerline is valid? [False, False] Translation: X:18.42, Y:0.16, Z:1.50 [[ 9.92049051e-01 -4.85922529e-02 1.16092523e-01 1.84179313e+01] [-1.71463268e-02 8.61666899e-01 5.07184540e-01 1.64032651e-01] [-1.24678324e-01 -5.05142502e-01 8.53982651e-01 1.49607599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02719347000001 meters Centerline goodness : 0.888996 with order 1 Centerline is valid? [False, False] Translation: X:18.40, Y:0.17, Z:1.50 [[ 9.91097085e-01 -5.41383688e-02 1.21637189e-01 1.83967911e+01] [-1.15374069e-02 8.75236576e-01 4.83557468e-01 1.65902647e-01] [-1.32640329e-01 -4.80655774e-01 8.66819802e-01 1.50363059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.08719347000002 meters Centerline goodness : 0.887578 with order 1 Centerline is valid? [False, False] Translation: X:18.38, Y:0.17, Z:1.51 [[ 9.90788744e-01 -5.46606292e-02 1.23894636e-01 1.83837826e+01] [-8.17270464e-03 8.89110006e-01 4.57620589e-01 1.72922904e-01] [-1.35169790e-01 -4.54417883e-01 8.80473461e-01 1.50813373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.14719347 meters Centerline goodness : 0.889203 with order 1 Centerline is valid? [False, False] Translation: X:18.36, Y:0.19, Z:1.51 [[ 9.90307282e-01 -4.51123965e-02 1.31363459e-01 1.83575390e+01] [-1.57264877e-02 9.03281995e-01 4.28759042e-01 1.86927355e-01] [-1.38000595e-01 -4.26669087e-01 8.93817278e-01 1.51277080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.20719347 meters Centerline goodness : 0.887290 with order 1 Centerline is valid? [False, False] Translation: X:18.34, Y:0.20, Z:1.52 [[ 0.99067658 -0.03114983 0.13262582 18.33995365] [-0.0236913 0.9192847 0.39287958 0.20352134] [-0.13415902 -0.39235867 0.90997584 1.51560682] [ 0. 0. 0. 1. ]] SLAMing on 88.26719347000001 meters Centerline goodness : 0.884199 with order 1 Centerline is valid? [False, False] Translation: X:18.33, Y:0.22, Z:1.51 [[ 9.91429926e-01 -8.90803466e-03 1.30335524e-01 1.83299352e+01] [-3.72462264e-02 9.36990664e-01 3.47363230e-01 2.19067273e-01] [-1.25217493e-01 -3.49240808e-01 9.28628794e-01 1.51431498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32719347000001 meters Centerline goodness : 0.881535 with order 1 Centerline is valid? [False, False] Translation: X:18.33, Y:0.23, Z:1.51 [[ 9.91936436e-01 3.27615640e-03 1.26694020e-01 1.83294663e+01] [-4.35323505e-02 9.47651044e-01 3.16326466e-01 2.32245258e-01] [-1.19025385e-01 -3.19291036e-01 9.40152218e-01 1.51464300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38719347000001 meters Centerline goodness : 0.877364 with order 1 Centerline is valid? [False, False] Translation: X:18.34, Y:0.24, Z:1.52 [[ 9.92329425e-01 7.20615524e-03 1.23411439e-01 1.83398606e+01] [-4.31797142e-02 9.55626221e-01 2.91400135e-01 2.37942079e-01] [-1.15835333e-01 -2.94493799e-01 9.48607178e-01 1.51533086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.44719347000002 meters Centerline goodness : 0.876130 with order 1 Centerline is valid? [False, False] Translation: X:18.38, Y:0.23, Z:1.51 [[ 9.92029942e-01 6.65686570e-03 1.25826390e-01 1.83790864e+01] [-4.22258524e-02 9.58423510e-01 2.82207995e-01 2.25787459e-01] [-1.18716350e-01 -2.85271907e-01 9.51065911e-01 1.51182709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.50719347 meters Centerline goodness : 0.874762 with order 1 Centerline is valid? [False, False] Translation: X:18.41, Y:0.21, Z:1.51 [[ 9.91074743e-01 5.90769626e-03 1.33176400e-01 1.84086720e+01] [-4.38222505e-02 9.57933912e-01 2.83623397e-01 2.12775891e-01] [-1.25898629e-01 -2.86928074e-01 9.49642994e-01 1.50598157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.56719347 meters Centerline goodness : 0.875593 with order 1 Centerline is valid? [False, False] Translation: X:18.45, Y:0.16, Z:1.52 [[ 0.99050735 -0.02260069 0.13558905 18.44519035] [-0.03593985 0.90949951 0.4141485 0.16326152] [-0.13267822 -0.41509018 0.90005368 1.52345848] [ 0. 0. 0. 1. ]] SLAMing on 88.62719347000001 meters Centerline goodness : 0.877622 with order 1 Centerline is valid? [False, False] Translation: X:18.44, Y:0.17, Z:1.53 [[ 0.99001143 -0.0250938 0.138736 18.43707815] [-0.03124178 0.9205225 0.3894384 0.16883554] [-0.1374821 -0.38988283 0.91054382 1.52672405] [ 0. 0. 0. 1. ]] SLAMing on 88.68719347000001 meters Centerline goodness : 0.876592 with order 1 Centerline is valid? [False, False] Translation: X:18.44, Y:0.16, Z:1.53 [[ 9.89696006e-01 -4.30356272e-02 1.36564089e-01 1.84433875e+01] [-1.02859160e-02 9.29929773e-01 3.67593278e-01 1.63272169e-01] [-1.42814619e-01 -3.65210286e-01 9.19905121e-01 1.53279887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74719347000001 meters Centerline goodness : 0.880088 with order 1 Centerline is valid? [False, False] Translation: X:18.44, Y:0.17, Z:1.53 [[ 9.88991933e-01 -5.08642115e-02 1.38952465e-01 1.84371728e+01] [ 1.66262786e-03 9.42822556e-01 3.33290960e-01 1.69223250e-01] [-1.47960100e-01 -3.29391044e-01 9.32528471e-01 1.53335081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.80719347000002 meters Centerline goodness : 0.880659 with order 1 Centerline is valid? [False, False] Translation: X:18.42, Y:0.18, Z:1.53 [[ 9.88169881e-01 -4.99946475e-02 1.44985592e-01 1.84231486e+01] [ 5.14718027e-03 9.55652564e-01 2.94451497e-01 1.83102333e-01] [-1.53276851e-01 -2.90221833e-01 9.44604412e-01 1.53402805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.86719347000002 meters Centerline goodness : 0.879652 with order 1 Centerline is valid? [False, False] Translation: X:18.40, Y:0.19, Z:1.54 [[ 9.88927725e-01 -3.71192087e-02 1.43680614e-01 1.83998111e+01] [-2.32182915e-03 9.64222766e-01 2.65083132e-01 1.93321536e-01] [-1.48379796e-01 -2.62481661e-01 9.53460442e-01 1.53603849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.92719347 meters Centerline goodness : 0.883390 with order 1 Centerline is valid? [False, False] Translation: X:18.39, Y:0.21, Z:1.54 [[ 9.89052583e-01 -1.53371786e-02 1.46764296e-01 1.83861749e+01] [-1.94294593e-02 9.72389644e-01 2.32552953e-01 2.12783565e-01] [-1.46278788e-01 -2.32858650e-01 9.61446496e-01 1.53576224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98719347000001 meters Centerline goodness : 0.889829 with order 1 Centerline is valid? [False, False] Translation: X:18.38, Y:0.23, Z:1.54 [[ 9.88165191e-01 -2.83416258e-03 1.53367282e-01 1.83827665e+01] [-2.94100812e-02 9.77779680e-01 2.07561904e-01 2.25945204e-01] [-1.50547676e-01 -2.09615993e-01 9.66124491e-01 1.54014623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04719347000001 meters Centerline goodness : 0.892170 with order 1 Centerline is valid? [False, False] Translation: X:18.40, Y:0.23, Z:1.54 [[ 9.87295147e-01 -1.00214865e-03 1.58893954e-01 1.83966859e+01] [-3.31349431e-02 9.76697873e-01 2.12045607e-01 2.25981044e-01] [-1.55403888e-01 -2.14616541e-01 9.64255864e-01 1.53888651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10719347000001 meters Centerline goodness : 0.888286 with order 1 Centerline is valid? [False, False] Translation: X:18.42, Y:0.22, Z:1.53 [[ 9.87784333e-01 2.66685174e-03 1.55804365e-01 1.84177960e+01] [-3.47780852e-02 9.78406586e-01 2.03742574e-01 2.22804113e-01] [-1.51896666e-01 -2.06672300e-01 9.66547445e-01 1.53284061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16719347000002 meters Centerline goodness : 0.891114 with order 1 Centerline is valid? [False, False] Translation: X:18.45, Y:0.18, Z:1.54 [[ 0.9870497 -0.0201593 0.15914299 18.449019 ] [-0.02967233 0.95200815 0.304631 0.18444589] [-0.15764658 -0.30540808 0.93908118 1.53780047] [ 0. 0. 0. 1. ]] SLAMing on 89.22719347000002 meters Centerline goodness : 0.897032 with order 1 Centerline is valid? [False, False] Translation: X:18.44, Y:0.19, Z:1.54 [[ 0.98710587 -0.02046728 0.15875479 18.44205563] [-0.02519281 0.95956578 0.28035483 0.1941456 ] [-0.15807376 -0.28073938 0.94667739 1.53950547] [ 0. 0. 0. 1. ]] SLAMing on 89.28719347 meters Centerline goodness : 0.891356 with order 1 Centerline is valid? [False, False] Translation: X:18.43, Y:0.20, Z:1.54 [[ 0.98715871 -0.01916974 0.15858815 18.42631426] [-0.02138315 0.96798123 0.25011018 0.20194425] [-0.1583049 -0.25028956 0.95514119 1.54428217] [ 0. 0. 0. 1. ]] SLAMing on 89.34719347000001 meters Centerline goodness : 0.902452 with order 1 Centerline is valid? [False, False] Translation: X:18.43, Y:0.20, Z:1.55 [[ 9.87277587e-01 -1.98671964e-02 1.57760135e-01 1.84314932e+01] [-1.56969550e-02 9.75139505e-01 2.21035181e-01 2.03838948e-01] [-1.58229489e-01 -2.20699434e-01 9.62421523e-01 1.54501240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40719347000001 meters Centerline goodness : 0.898387 with order 1 Centerline is valid? [False, False] Translation: X:18.42, Y:0.21, Z:1.55 [[ 9.87270343e-01 -2.67197655e-02 1.56790701e-01 1.84234323e+01] [-3.56694967e-03 9.81820389e-01 1.89778819e-01 2.14573597e-01] [-1.59011153e-01 -1.87922265e-01 9.69226844e-01 1.54764293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46719347000001 meters Centerline goodness : 0.905034 with order 1 Centerline is valid? [False, False] Translation: X:18.42, Y:0.23, Z:1.55 [[ 9.88022412e-01 -2.06790998e-02 1.52918566e-01 1.84244995e+01] [-5.02094811e-03 9.86147117e-01 1.65797028e-01 2.26943990e-01] [-1.54228736e-01 -1.64578976e-01 9.74231624e-01 1.54817448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52719347000001 meters Centerline goodness : 0.905049 with order 1 Centerline is valid? [False, False] Translation: X:18.42, Y:0.24, Z:1.55 [[ 9.88705001e-01 -6.30896378e-03 1.49741835e-01 1.84165254e+01] [-1.50885056e-02 9.89847567e-01 1.41329866e-01 2.35031315e-01] [-1.49113236e-01 -1.41992925e-01 9.78572047e-01 1.55054612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.58719347000002 meters Centerline goodness : 0.906101 with order 1 Centerline is valid? [False, False] Translation: X:18.42, Y:0.24, Z:1.55 [[ 9.88800723e-01 1.43711202e-03 1.49234932e-01 1.84170569e+01] [-2.39106244e-02 9.88562038e-01 1.48907283e-01 2.39053119e-01] [-1.47313993e-01 -1.50807930e-01 9.77525220e-01 1.55150642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.64719347 meters Centerline goodness : 0.904247 with order 1 Centerline is valid? [False, False] Translation: X:18.45, Y:0.22, Z:1.55 [[ 9.88585592e-01 -8.42191227e-03 1.50424727e-01 1.84496958e+01] [-2.32829820e-02 9.77901594e-01 2.07765191e-01 2.23595302e-01] [-1.48850360e-01 -2.08896010e-01 9.66543340e-01 1.55292791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.70719347 meters Centerline goodness : 0.901941 with order 1 Centerline is valid? [False, False] Translation: X:18.48, Y:0.17, Z:1.57 [[ 9.88907656e-01 -3.99432105e-02 1.43060085e-01 1.84796664e+01] [-1.25036614e-02 9.37356427e-01 3.48147364e-01 1.74096703e-01] [-1.48004414e-01 -3.46074368e-01 9.26459511e-01 1.57168851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76719347000001 meters Centerline goodness : 0.904568 with order 1 Centerline is valid? [False, False] Translation: X:18.46, Y:0.18, Z:1.58 [[ 9.88900960e-01 -3.29597836e-02 1.44874234e-01 1.84608202e+01] [-1.38423610e-02 9.50404043e-01 3.10709742e-01 1.80802873e-01] [-1.47929983e-01 -3.09266563e-01 9.39399230e-01 1.57781200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82719347000001 meters Centerline goodness : 0.900086 with order 1 Centerline is valid? [False, False] Translation: X:18.44, Y:0.19, Z:1.58 [[ 9.88952749e-01 -2.56377131e-02 1.45997149e-01 1.84417239e+01] [-1.58989597e-02 9.60901274e-01 2.76434377e-01 1.93111637e-01] [-1.47375992e-01 -2.75701740e-01 9.49878344e-01 1.58236042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88719347000001 meters Centerline goodness : 0.895789 with order 1 Centerline is valid? [False, False] Translation: X:18.43, Y:0.20, Z:1.59 [[ 9.89652355e-01 -2.17866703e-02 1.41822271e-01 1.84299572e+01] [-1.30514619e-02 9.70639679e-01 2.40183833e-01 2.03740675e-01] [-1.42891129e-01 -2.39549484e-01 9.60311496e-01 1.58804266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.94719347000002 meters Centerline goodness : 0.894073 with order 1 Centerline is valid? [False, False] Translation: X:18.43, Y:0.21, Z:1.59 [[ 9.89770124e-01 -2.54007233e-02 1.40391967e-01 1.84270444e+01] [-4.59866397e-03 9.77832675e-01 2.09337316e-01 2.09196324e-01] [-1.42597172e-01 -2.07841436e-01 9.67712759e-01 1.59008331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.00719347 meters Centerline goodness : 0.889934 with order 1 Centerline is valid? [False, False] Translation: X:18.43, Y:0.22, Z:1.59 [[ 9.90318207e-01 -2.67963013e-02 1.36205022e-01 1.84275862e+01] [ 2.14699888e-03 9.84031212e-01 1.77983047e-01 2.24264775e-01] [-1.38799280e-01 -1.75967419e-01 9.74561556e-01 1.59074214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.06719347 meters Centerline goodness : 0.887363 with order 1 Centerline is valid? [False, False] Translation: X:18.42, Y:0.23, Z:1.59 [[ 9.90655055e-01 -2.69638751e-02 1.33699330e-01 1.84210183e+01] [ 6.49776440e-03 9.88480816e-01 1.51206666e-01 2.33089465e-01] [-1.36236341e-01 -1.48924902e-01 9.79418722e-01 1.59013610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12719347000001 meters Centerline goodness : 0.880678 with order 1 Centerline is valid? [False, False] Translation: X:18.41, Y:0.24, Z:1.59 [[ 9.91122520e-01 -2.86256001e-02 1.29833451e-01 1.84133877e+01] [ 1.18279099e-02 9.91658606e-01 1.28348393e-01 2.44116483e-01] [-1.32424509e-01 -1.25673324e-01 9.83193758e-01 1.59418825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18719347000001 meters Centerline goodness : 0.880820 with order 1 Centerline is valid? [False, False] Translation: X:18.41, Y:0.26, Z:1.60 [[ 9.90863941e-01 -3.06639855e-02 1.31333053e-01 1.84128549e+01] [ 1.55961923e-02 9.93328800e-01 1.14256960e-01 2.56932037e-01] [-1.33960478e-01 -1.11164806e-01 9.84731931e-01 1.59968723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24719347000001 meters Centerline goodness : 0.878517 with order 1 Centerline is valid? [False, False] Translation: X:18.41, Y:0.27, Z:1.60 [[ 0.990756 -0.03559273 0.13090344 18.41237571] [ 0.0217351 0.99414928 0.1058055 0.26554832] [-0.13390347 -0.10198223 0.98573297 1.60131512] [ 0. 0. 0. 1. ]] SLAMing on 90.30719347000002 meters Centerline goodness : 0.875412 with order 1 Centerline is valid? [False, False] Translation: X:18.41, Y:0.28, Z:1.60 [[ 0.99126464 -0.03773943 0.12637307 18.40633104] [ 0.02662454 0.99571896 0.0885149 0.2755578 ] [-0.12917257 -0.08437706 0.98802579 1.60211519] [ 0. 0. 0. 1. ]] SLAMing on 90.36719347000002 meters Centerline goodness : 0.867894 with order 1 Centerline is valid? [False, False] Translation: X:18.41, Y:0.29, Z:1.60 [[ 0.99110334 -0.04191626 0.12632184 18.40631866] [ 0.03181536 0.99621067 0.08094496 0.28527765] [-0.12923607 -0.07620584 0.9886813 1.6012675 ] [ 0. 0. 0. 1. ]] SLAMing on 90.42719347 meters Centerline goodness : 0.859480 with order 1 Centerline is valid? [False, False] Translation: X:18.40, Y:0.30, Z:1.61 [[ 0.99114688 -0.04388573 0.12530724 18.39715967] [ 0.03710976 0.99774608 0.05590734 0.30148933] [-0.12747834 -0.05076226 0.9905415 1.60779761] [ 0. 0. 0. 1. ]] SLAMing on 90.48719347000001 meters Centerline goodness : 0.858882 with order 1 Centerline is valid? [False, False] Translation: X:18.40, Y:0.31, Z:1.61 [[ 0.99097067 -0.04776297 0.12528297 18.39702572] [ 0.0418486 0.99790078 0.04942391 0.30888995] [-0.12738061 -0.04373472 0.99088922 1.60795056] [ 0. 0. 0. 1. ]] SLAMing on 90.54719347000001 meters Centerline goodness : 0.854543 with order 1 Centerline is valid? [False, False] Translation: X:18.39, Y:0.33, Z:1.61 [[ 0.99062771 -0.05409831 0.12541977 18.39448177] [ 0.0496612 0.99803376 0.03824094 0.32770678] [-0.12724194 -0.03165403 0.99136649 1.61245196] [ 0. 0. 0. 1. ]] SLAMing on 90.60719347000001 meters Centerline goodness : 0.857116 with order 1 Centerline is valid? [False, False] Translation: X:18.39, Y:0.34, Z:1.62 [[ 9.91374152e-01 -5.25894167e-02 1.20048504e-01 1.83898273e+01] [ 5.03628656e-02 9.98499358e-01 2.15084367e-02 3.42704367e-01] [-1.20999471e-01 -1.52769215e-02 9.92535009e-01 1.61690636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66719347000002 meters Centerline goodness : 0.855297 with order 1 Centerline is valid? [False, False] Translation: X:18.38, Y:0.37, Z:1.62 [[ 9.92508254e-01 -4.84581347e-02 1.12156925e-01 1.83797309e+01] [ 4.67733818e-02 9.98750363e-01 1.76057980e-02 3.66100410e-01] [-1.12869914e-01 -1.22279412e-02 9.93534529e-01 1.62250008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.72719347000002 meters Centerline goodness : 0.854948 with order 1 Centerline is valid? [False, False] Translation: X:18.38, Y:0.38, Z:1.62 [[ 9.92639132e-01 -4.45456758e-02 1.12619876e-01 1.83790624e+01] [ 4.34184361e-02 9.98979480e-01 1.24434283e-02 3.81231090e-01] [-1.13059246e-01 -7.46205494e-03 9.93560227e-01 1.62341714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.78719347 meters Centerline goodness : 0.848656 with order 1 Centerline is valid? [False, False] Translation: X:18.37, Y:0.40, Z:1.63 [[ 9.94119361e-01 -3.14388710e-02 1.03625741e-01 1.83718488e+01] [ 3.03991033e-02 9.99470546e-01 1.15983575e-02 4.01478519e-01] [-1.03935515e-01 -8.38002214e-03 9.94548734e-01 1.63001371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.84719347000001 meters Centerline goodness : 0.850788 with order 1 Centerline is valid? [False, False] Translation: X:18.37, Y:0.42, Z:1.63 [[ 9.94519657e-01 -1.87265527e-02 1.02858969e-01 1.83735450e+01] [ 1.64309123e-02 9.99597652e-01 2.31205199e-02 4.17554159e-01] [-1.03250552e-01 -2.13037448e-02 9.94427209e-01 1.62756951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90719347000001 meters Centerline goodness : 0.849674 with order 1 Centerline is valid? [False, False] Translation: X:18.38, Y:0.43, Z:1.63 [[ 9.94662601e-01 -1.43439356e-02 1.02179069e-01 1.83761615e+01] [ 1.17815234e-02 9.99601886e-01 2.56371922e-02 4.25938246e-01] [-1.02506128e-01 -2.42965312e-02 9.94435605e-01 1.62563304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96719347000001 meters Centerline goodness : 0.847325 with order 1 Centerline is valid? [False, False] Translation: X:18.38, Y:0.43, Z:1.62 [[ 9.94818643e-01 -8.96331214e-03 1.01269577e-01 1.83789572e+01] [ 6.01652604e-03 9.99550604e-01 2.93664879e-02 4.34207157e-01] [-1.01487288e-01 -2.86050386e-02 9.94425504e-01 1.62362781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02719347000001 meters Centerline goodness : 0.846401 with order 1 Centerline is valid? [False, False] Translation: X:18.38, Y:0.45, Z:1.63 [[ 9.94884344e-01 1.45270693e-03 1.01010061e-01 1.83797895e+01] [-5.03201918e-03 9.99367991e-01 3.51894482e-02 4.48073319e-01] [-1.00895101e-01 -3.55177157e-02 9.94262878e-01 1.62646661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.08719347000002 meters Centerline goodness : 0.848319 with order 1 Centerline is valid? [False, False] Translation: X:18.40, Y:0.45, Z:1.63 [[ 9.95428368e-01 1.39381466e-02 9.44885784e-02 1.84044023e+01] [-1.63937523e-02 9.99546432e-01 2.52621160e-02 4.54930028e-01] [-9.40936144e-02 -2.66956493e-02 9.95205373e-01 1.62952091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.14719347 meters Centerline goodness : 0.847808 with order 1 Centerline is valid? [False, False] Translation: X:18.41, Y:0.46, Z:1.63 [[ 9.95429916e-01 1.58552969e-02 9.41694898e-02 1.84062816e+01] [-1.84482328e-02 9.99472491e-01 2.67282923e-02 4.56305474e-01] [-9.36960296e-02 -2.83434024e-02 9.95197320e-01 1.62806246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.20719347 meters Centerline goodness : 0.845606 with order 1 Centerline is valid? [False, False] Translation: X:18.43, Y:0.45, Z:1.63 [[ 9.95038594e-01 1.82398974e-02 9.78033912e-02 1.84255655e+01] [-2.12089866e-02 9.99342563e-01 2.94044441e-02 4.50932999e-01] [-9.72027576e-02 -3.13328675e-02 9.94771268e-01 1.62955499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26719347000001 meters Centerline goodness : 0.844779 with order 1 Centerline is valid? [False, False] Translation: X:18.47, Y:0.43, Z:1.62 [[ 9.94661300e-01 8.86081339e-03 1.02812370e-01 1.84724082e+01] [-1.32216386e-02 9.99038021e-01 4.18117274e-02 4.34942022e-01] [-1.02342981e-01 -4.29478552e-02 9.93821612e-01 1.62307220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32719347000001 meters Centerline goodness : 0.848267 with order 1 Centerline is valid? [False, False] Translation: X:18.53, Y:0.41, Z:1.61 [[ 9.94334103e-01 -1.04003162e-02 1.05790009e-01 1.85319263e+01] [ 2.01944522e-03 9.96870804e-01 7.90222856e-02 4.11448092e-01] [-1.06280828e-01 -7.83609163e-02 9.91243639e-01 1.61413076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38719347000001 meters Centerline goodness : 0.842296 with order 1 Centerline is valid? [False, False] Translation: X:18.55, Y:0.34, Z:1.60 [[ 0.99181335 -0.0575438 0.11399558 18.54936536] [ 0.02704912 0.96712585 0.25285556 0.34247212] [-0.12479834 -0.24770204 0.96076484 1.60162487] [ 0. 0. 0. 1. ]] SLAMing on 91.44719347000002 meters Centerline goodness : 0.845591 with order 1 Centerline is valid? [False, False] Translation: X:18.55, Y:0.34, Z:1.60 [[ 0.99138893 -0.0674148 0.11226414 18.55497009] [ 0.03820068 0.96890111 0.24448181 0.33547057] [-0.12525454 -0.23808799 0.96313312 1.60243753] [ 0. 0. 0. 1. ]] SLAMing on 91.50719347000002 meters Centerline goodness : 0.851734 with order 1 Centerline is valid? [False, False] Translation: X:18.56, Y:0.33, Z:1.60 [[ 0.99109886 -0.07282667 0.11144203 18.5579275 ] [ 0.04487573 0.97087154 0.23536062 0.33109138] [-0.12533643 -0.2282646 0.96549783 1.60372743] [ 0. 0. 0. 1. ]] SLAMing on 91.56719347 meters Centerline goodness : 0.848414 with order 1 Centerline is valid? [False, False] Translation: X:18.56, Y:0.33, Z:1.61 [[ 0.99138108 -0.07357621 0.10839785 18.56384051] [ 0.04713286 0.97230848 0.22889893 0.33382496] [-0.12223767 -0.22181696 0.96739609 1.60673224] [ 0. 0. 0. 1. ]] SLAMing on 91.62719347000001 meters Centerline goodness : 0.855092 with order 1 Centerline is valid? [False, False] Translation: X:18.57, Y:0.34, Z:1.61 [[ 0.9914576 -0.07484074 0.10682084 18.56706847] [ 0.04966307 0.9739181 0.22139809 0.33593064] [-0.12060434 -0.21420176 0.96931532 1.61232592] [ 0. 0. 0. 1. ]] SLAMing on 91.68719347000001 meters Centerline goodness : 0.860718 with order 1 Centerline is valid? [False, False] Translation: X:18.57, Y:0.34, Z:1.61 [[ 0.99119304 -0.07692627 0.10779011 18.56570075] [ 0.05253471 0.97560213 0.21316797 0.34251777] [-0.12155848 -0.20562789 0.97105134 1.6127498 ] [ 0. 0. 0. 1. ]] SLAMing on 91.74719347000001 meters Centerline goodness : 0.863015 with order 1 Centerline is valid? [False, False] Translation: X:18.56, Y:0.35, Z:1.61 [[ 0.99181674 -0.06701674 0.10866607 18.55691778] [ 0.0440535 0.97852005 0.20138967 0.35105677] [-0.11982841 -0.19495452 0.97346489 1.61408367] [ 0. 0. 0. 1. ]] SLAMing on 91.80719347000002 meters Centerline goodness : 0.868660 with order 1 Centerline is valid? [False, False] Translation: X:18.55, Y:0.36, Z:1.62 [[ 0.99224057 -0.05218167 0.11285268 18.54789921] [ 0.03017482 0.98159606 0.18857005 0.3628503 ] [-0.12061565 -0.18370155 0.975554 1.62022772] [ 0. 0. 0. 1. ]] SLAMing on 91.86719347000002 meters Centerline goodness : 0.869870 with order 1 Centerline is valid? [False, False] Translation: X:18.54, Y:0.37, Z:1.63 [[ 0.99196542 -0.04540021 0.11808232 18.53568694] [ 0.02402326 0.98400406 0.17651883 0.37356454] [-0.12420747 -0.17226385 0.97718866 1.62673191] [ 0. 0. 0. 1. ]] SLAMing on 91.92719347 meters Centerline goodness : 0.870638 with order 1 Centerline is valid? [False, False] Translation: X:18.54, Y:0.38, Z:1.63 [[ 0.99222219 -0.04508206 0.11602903 18.53914353] [ 0.02502648 0.98532799 0.16882664 0.38026011] [-0.12193771 -0.16460974 0.97879254 1.62982798] [ 0. 0. 0. 1. ]] SLAMing on 91.98719347000001 meters Centerline goodness : 0.876416 with order 1 Centerline is valid? [False, False] Translation: X:18.53, Y:0.39, Z:1.64 [[ 9.92998065e-01 -3.45676636e-02 1.12959817e-01 1.85286170e+01] [ 1.67272674e-02 9.87738250e-01 1.55220323e-01 3.85469704e-01] [-1.16940336e-01 -1.52243972e-01 9.81400393e-01 1.63547141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04719347000001 meters Centerline goodness : 0.874881 with order 1 Centerline is valid? [False, False] Translation: X:18.55, Y:0.39, Z:1.63 [[ 9.93748746e-01 -1.98731503e-02 1.09856670e-01 1.85470434e+01] [ 4.17633260e-03 9.89957239e-01 1.41305428e-01 3.87955602e-01] [-1.11561589e-01 -1.39963294e-01 9.83851761e-01 1.63184650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10719347000001 meters Centerline goodness : 0.873803 with order 1 Centerline is valid? [False, False] Translation: X:18.56, Y:0.39, Z:1.63 [[ 9.94062833e-01 -4.28512576e-03 1.08723138e-01 1.85624796e+01] [-1.00117168e-02 9.91383094e-01 1.30611359e-01 3.87879735e-01] [-1.08345967e-01 -1.30924403e-01 9.85454186e-01 1.63029357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.16719347000002 meters Centerline goodness : 0.873334 with order 1 Centerline is valid? [False, False] Translation: X:18.59, Y:0.38, Z:1.63 [[ 9.94279364e-01 2.30687265e-03 1.06785881e-01 1.85858065e+01] [-1.49274647e-02 9.92956134e-01 1.17538448e-01 3.84361790e-01] [-1.05762549e-01 -1.18460096e-01 9.87310229e-01 1.63182591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.22719347000002 meters Centerline goodness : 0.869672 with order 1 Centerline is valid? [False, False] Translation: X:18.61, Y:0.37, Z:1.63 [[ 9.94595683e-01 7.25992278e-03 1.03569885e-01 1.86105852e+01] [-1.81828442e-02 9.94315062e-01 1.04913970e-01 3.73620285e-01] [-1.02219429e-01 -1.06230177e-01 9.89073474e-01 1.63226087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.28719347 meters Centerline goodness : 0.867425 with order 1 Centerline is valid? [False, False] Translation: X:18.65, Y:0.36, Z:1.63 [[ 9.94448279e-01 3.97268244e-04 1.05225768e-01 1.86490606e+01] [-1.19187125e-02 9.93982734e-01 1.08886498e-01 3.63478555e-01] [-1.04549340e-01 -1.09536146e-01 9.88469154e-01 1.62641564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34719347000001 meters Centerline goodness : 0.869869 with order 1 Centerline is valid? [False, False] Translation: X:18.69, Y:0.32, Z:1.62 [[ 9.93220307e-01 -2.69289896e-02 1.13085153e-01 1.86925321e+01] [ 3.71627302e-03 9.79656753e-01 2.00646045e-01 3.20622491e-01] [-1.16187829e-01 -1.98865471e-01 9.73115056e-01 1.62141776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40719347000001 meters Centerline goodness : 0.872051 with order 1 Centerline is valid? [False, False] Translation: X:18.70, Y:0.31, Z:1.62 [[ 9.93238115e-01 -3.68080532e-02 1.10105469e-01 1.86987880e+01] [ 1.49816808e-02 9.81116089e-01 1.92838712e-01 3.11986845e-01] [-1.15124265e-01 -1.89885194e-01 9.75033341e-01 1.62464490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46719347000001 meters Centerline goodness : 0.875047 with order 1 Centerline is valid? [False, False] Translation: X:18.70, Y:0.31, Z:1.63 [[ 0.99293296 -0.04444507 0.1100399 18.6992175 ] [ 0.02318423 0.98200419 0.1874307 0.30728908] [-0.11639001 -0.18355493 0.97609475 1.62765395] [ 0. 0. 0. 1. ]] SLAMing on 92.52719347000001 meters Centerline goodness : 0.876647 with order 1 Centerline is valid? [False, False] Translation: X:18.70, Y:0.30, Z:1.63 [[ 0.99259406 -0.05351585 0.1090554 18.70043791] [ 0.03347481 0.98347316 0.17793251 0.30493286] [-0.11677527 -0.17296415 0.97798105 1.63183097] [ 0. 0. 0. 1. ]] SLAMing on 92.58719347000002 meters Centerline goodness : 0.871642 with order 1 Centerline is valid? [False, False] Translation: X:18.70, Y:0.30, Z:1.64 [[ 0.99213147 -0.06348349 0.10791192 18.70222891] [ 0.04469318 0.98470699 0.16838842 0.30234341] [-0.11695151 -0.16224053 0.97979608 1.63618708] [ 0. 0. 0. 1. ]] SLAMing on 92.64719347 meters Centerline goodness : 0.875611 with order 1 Centerline is valid? [False, False] Translation: X:18.71, Y:0.31, Z:1.64 [[ 0.99213793 -0.0668717 0.10578514 18.70844112] [ 0.04974806 0.98635392 0.1569429 0.30585874] [-0.11483663 -0.1504464 0.98192588 1.63999056] [ 0. 0. 0. 1. ]] SLAMing on 92.70719347 meters Centerline goodness : 0.874328 with order 1 Centerline is valid? [False, False] Translation: X:18.71, Y:0.31, Z:1.64 [[ 0.99174089 -0.0700295 0.10745171 18.70848866] [ 0.05416225 0.98808471 0.14406616 0.31236636] [-0.11626028 -0.13705647 0.98371697 1.64208739] [ 0. 0. 0. 1. ]] SLAMing on 92.76719347000001 meters Centerline goodness : 0.878909 with order 1 Centerline is valid? [False, False] Translation: X:18.70, Y:0.32, Z:1.64 [[ 0.99237907 -0.06592964 0.10410122 18.70009846] [ 0.05180349 0.98976075 0.13300394 0.319031 ] [-0.1118042 -0.12659752 0.98563324 1.64163464] [ 0. 0. 0. 1. ]] SLAMing on 92.82719347000001 meters Centerline goodness : 0.878267 with order 1 Centerline is valid? [False, False] Translation: X:18.70, Y:0.33, Z:1.64 [[ 0.99312141 -0.06143051 0.09968025 18.69557392] [ 0.0490612 0.99130259 0.12211543 0.32722948] [-0.1063149 -0.11638502 0.98749768 1.64036285] [ 0. 0. 0. 1. ]] SLAMing on 92.88719347000001 meters Centerline goodness : 0.879290 with order 1 Centerline is valid? [False, False] Translation: X:18.70, Y:0.34, Z:1.64 [[ 0.99306101 -0.0640846 0.09860521 18.69711875] [ 0.05251277 0.9918861 0.11577723 0.33924516] [-0.10522467 -0.10979582 0.98836868 1.63822341] [ 0. 0. 0. 1. ]] SLAMing on 92.94719347000002 meters Centerline goodness : 0.881236 with order 1 Centerline is valid? [False, False] Translation: X:18.69, Y:0.35, Z:1.64 [[ 0.99278797 -0.06245121 0.10233223 18.69101693] [ 0.05144427 0.99294035 0.10687816 0.3538909 ] [-0.10828447 -0.10084294 0.988992 1.64332628] [ 0. 0. 0. 1. ]] SLAMing on 93.00719347000002 meters Centerline goodness : 0.885423 with order 1 Centerline is valid? [False, False] Translation: X:18.68, Y:0.38, Z:1.65 [[ 0.99269025 -0.05400813 0.10793139 18.68276762] [ 0.04352333 0.99430857 0.09724288 0.37541926] [-0.11256901 -0.09183453 0.98939104 1.64626015] [ 0. 0. 0. 1. ]] SLAMing on 93.06719347 meters Centerline goodness : 0.888625 with order 1 Centerline is valid? [False, False] Translation: X:18.66, Y:0.39, Z:1.65 [[ 0.9937762 -0.03495298 0.10576937 18.66379764] [ 0.02622425 0.99621944 0.08281984 0.39422909] [-0.1082643 -0.07953067 0.99093578 1.65073196] [ 0. 0. 0. 1. ]] SLAMing on 93.12719347000001 meters Centerline goodness : 0.883119 with order 1 Centerline is valid? [False, False] Translation: X:18.66, Y:0.40, Z:1.66 [[ 9.94784295e-01 -2.50610918e-02 9.88744044e-02 1.86624894e+01] [ 1.76458905e-02 9.97014568e-01 7.51703023e-02 4.02540785e-01] [-1.00463071e-01 -7.30335093e-02 9.92256659e-01 1.65522291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18719347000001 meters Centerline goodness : 0.879166 with order 1 Centerline is valid? [False, False] Translation: X:18.70, Y:0.41, Z:1.65 [[ 9.95399182e-01 -2.23218776e-02 9.31783410e-02 1.86986499e+01] [ 1.60939127e-02 9.97618906e-01 6.70634342e-02 4.07170180e-01] [-9.44534564e-02 -6.52552834e-02 9.93388289e-01 1.65345447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24719347000001 meters Centerline goodness : 0.890304 with order 1 Centerline is valid? [False, False] Translation: X:18.74, Y:0.41, Z:1.65 [[ 9.95855457e-01 -1.51643638e-02 8.96769295e-02 1.87351239e+01] [ 9.60891947e-03 9.98026174e-01 6.20598536e-02 4.09523508e-01] [-9.04410210e-02 -6.09409454e-02 9.94035524e-01 1.65253384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.30719347000002 meters Centerline goodness : 0.878605 with order 1 Centerline is valid? [False, False] Translation: X:18.76, Y:0.41, Z:1.66 [[ 9.96254983e-01 -2.91288048e-03 8.64148423e-02 1.87579864e+01] [-1.83715186e-03 9.98493608e-01 5.48373880e-02 4.08082314e-01] [-8.64444024e-02 -5.47907782e-02 9.94748881e-01 1.65547974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.36719347000002 meters Centerline goodness : 0.877609 with order 1 Centerline is valid? [False, False] Translation: X:18.79, Y:0.41, Z:1.65 [[ 9.96512267e-01 -8.46105638e-03 8.30163416e-02 1.87934018e+01] [ 3.68411906e-03 9.98337128e-01 5.75274313e-02 4.05217657e-01] [-8.33650389e-02 -5.70209489e-02 9.94886366e-01 1.65426898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.42719347 meters Centerline goodness : 0.874251 with order 1 Centerline is valid? [False, False] Translation: X:18.85, Y:0.38, Z:1.64 [[ 0.995406 -0.03307113 0.08985096 18.84849905] [ 0.02237276 0.99281296 0.11756649 0.37958924] [-0.09309325 -0.11501618 0.98899187 1.64158404] [ 0. 0. 0. 1. ]] SLAMing on 93.48719347000001 meters Centerline goodness : 0.871591 with order 1 Centerline is valid? [False, False] Translation: X:18.87, Y:0.32, Z:1.64 [[ 0.99344608 -0.07058989 0.08989964 18.8664333 ] [ 0.04120193 0.95479253 0.29440383 0.31549778] [-0.10661744 -0.2887703 0.95144334 1.63797999] [ 0. 0. 0. 1. ]] SLAMing on 93.54719347000001 meters Centerline goodness : 0.873993 with order 1 Centerline is valid? [False, False] Translation: X:18.87, Y:0.32, Z:1.64 [[ 0.99311474 -0.07528569 0.0897506 18.86703579] [ 0.04728979 0.95859338 0.28082452 0.32170725] [-0.1071764 -0.27464668 0.95555346 1.64297538] [ 0. 0. 0. 1. ]] SLAMing on 93.60719347000001 meters Centerline goodness : 0.875731 with order 1 Centerline is valid? [False, False] Translation: X:18.86, Y:0.33, Z:1.65 [[ 0.99314859 -0.07155794 0.09238689 18.85918728] [ 0.04465459 0.96298172 0.26584237 0.32782468] [-0.10799001 -0.25989548 0.95957933 1.64959547] [ 0. 0. 0. 1. ]] SLAMing on 93.66719347000002 meters Centerline goodness : 0.874452 with order 1 Centerline is valid? [False, False] Translation: X:18.85, Y:0.33, Z:1.65 [[ 0.99327085 -0.0659625 0.09519437 18.85081799] [ 0.04040824 0.96768411 0.24890689 0.33276389] [-0.1085366 -0.24338532 0.96383785 1.65480905] [ 0. 0. 0. 1. ]] SLAMing on 93.72719347000002 meters Centerline goodness : 0.874992 with order 1 Centerline is valid? [False, False] Translation: X:18.85, Y:0.34, Z:1.66 [[ 0.99381259 -0.05786755 0.0948044 18.85145145] [ 0.03470503 0.97260426 0.22986194 0.33651151] [-0.10550871 -0.2251495 0.96859466 1.65834558] [ 0. 0. 0. 1. ]] SLAMing on 93.78719347 meters Centerline goodness : 0.876143 with order 1 Centerline is valid? [False, False] Translation: X:18.85, Y:0.34, Z:1.66 [[ 0.99384573 -0.05564782 0.09578093 18.84959646] [ 0.03335041 0.97485511 0.22032989 0.34351505] [-0.10563341 -0.21577959 0.97071147 1.6610595 ] [ 0. 0. 0. 1. ]] SLAMing on 93.84719347000001 meters Centerline goodness : 0.877449 with order 1 Centerline is valid? [False, False] Translation: X:18.84, Y:0.35, Z:1.66 [[ 0.99411805 -0.04651858 0.09780245 18.84064036] [ 0.02570576 0.9785977 0.20417091 0.34737749] [-0.105207 -0.2004559 0.97403743 1.66372181] [ 0. 0. 0. 1. ]] SLAMing on 93.90719347000001 meters Centerline goodness : 0.880359 with order 1 Centerline is valid? [False, False] Translation: X:18.84, Y:0.35, Z:1.66 [[ 0.99401826 -0.04272371 0.1005106 18.8425571 ] [ 0.02264181 0.9809296 0.19304005 0.35080855] [-0.10684121 -0.18960959 0.97602928 1.66490977] [ 0. 0. 0. 1. ]] SLAMing on 93.96719347000001 meters Centerline goodness : 0.877634 with order 1 Centerline is valid? [False, False] Translation: X:18.84, Y:0.36, Z:1.67 [[ 0.99398696 -0.0453042 0.09968674 18.8443384 ] [ 0.02652629 0.98290369 0.18219958 0.35572 ] [-0.10623687 -0.17845968 0.97819521 1.66977406] [ 0. 0. 0. 1. ]] SLAMing on 94.02719347000001 meters Centerline goodness : 0.879584 with order 1 Centerline is valid? [False, False] Translation: X:18.84, Y:0.35, Z:1.67 [[ 0.99374221 -0.05153828 0.09909703 18.84462743] [ 0.03352863 0.98391063 0.17548706 0.35463337] [-0.10654692 -0.17106632 0.97948153 1.6733149 ] [ 0. 0. 0. 1. ]] SLAMing on 94.08719347000002 meters Centerline goodness : 0.882006 with order 1 Centerline is valid? [False, False] Translation: X:18.84, Y:0.35, Z:1.68 [[ 0.99342738 -0.05578065 0.0999528 18.84195189] [ 0.0379675 0.9843671 0.17198801 0.35388879] [-0.10798385 -0.16706264 0.98001508 1.6774749 ] [ 0. 0. 0. 1. ]] SLAMing on 94.14719347 meters Centerline goodness : 0.879145 with order 1 Centerline is valid? [False, False] Translation: X:18.84, Y:0.35, Z:1.68 [[ 0.99294338 -0.06305499 0.10043661 18.8416635 ] [ 0.04601222 0.98542503 0.16376933 0.3537594 ] [-0.10929922 -0.15799236 0.98137256 1.67831449] [ 0. 0. 0. 1. ]] SLAMing on 94.20719347 meters Centerline goodness : 0.882373 with order 1 Centerline is valid? [False, False] Translation: X:18.84, Y:0.35, Z:1.68 [[ 0.99281426 -0.06683631 0.09926105 18.84424715] [ 0.05067271 0.98625728 0.15725412 0.35155429] [-0.10840722 -0.1510943 0.98255707 1.67983936] [ 0. 0. 0. 1. ]] SLAMing on 94.26719347000001 meters Centerline goodness : 0.882514 with order 1 Centerline is valid? [False, False] Translation: X:18.84, Y:0.35, Z:1.68 [[ 0.99361969 -0.06395675 0.09289478 18.84010754] [ 0.04988098 0.98793137 0.1466407 0.35309489] [-0.10115233 -0.14107141 0.98481829 1.68352917] [ 0. 0. 0. 1. ]] SLAMing on 94.32719347000001 meters Centerline goodness : 0.882281 with order 1 Centerline is valid? [False, False] Translation: X:18.84, Y:0.35, Z:1.69 [[ 0.99430696 -0.06062676 0.08762458 18.83577752] [ 0.04835736 0.98953816 0.13592568 0.354129 ] [-0.0949486 -0.13091456 0.98683643 1.68690482] [ 0. 0. 0. 1. ]] SLAMing on 94.38719347000001 meters Centerline goodness : 0.888451 with order 1 Centerline is valid? [False, False] Translation: X:18.84, Y:0.35, Z:1.69 [[ 0.99495476 -0.06030987 0.08017317 18.83646163] [ 0.05022188 0.99121217 0.12237728 0.35026508] [-0.08684918 -0.11773341 0.98924015 1.68814536] [ 0. 0. 0. 1. ]] SLAMing on 94.44719347000002 meters Centerline goodness : 0.888301 with order 1 Centerline is valid? [False, False] Translation: X:18.83, Y:0.35, Z:1.69 [[ 0.99546935 -0.05850494 0.07495301 18.83134114] [ 0.04970234 0.99219592 0.11435441 0.34927192] [-0.08105837 -0.11011097 0.99060846 1.69154456] [ 0. 0. 0. 1. ]] SLAMing on 94.50719347000002 meters Centerline goodness : 0.890366 with order 1 Centerline is valid? [False, False] Translation: X:18.83, Y:0.35, Z:1.70 [[ 0.9953749 -0.05562236 0.07832597 18.83216093] [ 0.04739366 0.9935249 0.10325749 0.35282625] [-0.08356223 -0.09906776 0.9915659 1.69520257] [ 0. 0. 0. 1. ]] SLAMing on 94.56719347 meters Centerline goodness : 0.895420 with order 1 Centerline is valid? [False, False] Translation: X:18.82, Y:0.36, Z:1.70 [[ 0.99572124 -0.04112009 0.08275472 18.81847564] [ 0.03319565 0.994928 0.09495431 0.35971935] [-0.08623951 -0.09180093 0.99203595 1.70070993] [ 0. 0. 0. 1. ]] SLAMing on 94.62719347000001 meters Centerline goodness : 0.894080 with order 1 Centerline is valid? [False, False] Translation: X:18.82, Y:0.37, Z:1.70 [[ 0.99576505 -0.03293335 0.08583328 18.81722686] [ 0.02530451 0.99575476 0.08849941 0.3660052 ] [-0.08838348 -0.08595265 0.99237115 1.70374282] [ 0. 0. 0. 1. ]] SLAMing on 94.68719347000001 meters Centerline goodness : 0.893274 with order 1 Centerline is valid? [False, False] Translation: X:18.84, Y:0.37, Z:1.71 [[ 9.95952414e-01 -2.41896897e-02 8.65658585e-02 1.88379215e+01] [ 1.76583914e-02 9.96994379e-01 7.54346721e-02 3.71621323e-01] [-8.81304157e-02 -7.36007299e-02 9.93386109e-01 1.70652350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74719347000001 meters Centerline goodness : 0.892932 with order 1 Centerline is valid? [False, False] Translation: X:18.88, Y:0.37, Z:1.71 [[ 9.96412704e-01 -2.23170216e-02 8.16313278e-02 1.88772873e+01] [ 1.72125919e-02 9.97883473e-01 6.27080550e-02 3.71611473e-01] [-8.28580099e-02 -6.10780159e-02 9.94687904e-01 1.70774530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.80719347000002 meters Centerline goodness : 0.890718 with order 1 Centerline is valid? [False, False] Translation: X:18.91, Y:0.37, Z:1.71 [[ 9.96835318e-01 -2.08519897e-02 7.67107781e-02 1.89067192e+01] [ 1.62210419e-02 9.98036126e-01 6.05042952e-02 3.72919021e-01] [-7.78217627e-02 -5.90684896e-02 9.95215900e-01 1.70704080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.86719347000002 meters Centerline goodness : 0.892226 with order 1 Centerline is valid? [False, False] Translation: X:18.96, Y:0.36, Z:1.70 [[ 9.97095045e-01 -2.07272570e-02 7.32929197e-02 1.89559538e+01] [ 1.61541095e-02 9.97917550e-01 6.24468378e-02 3.63744044e-01] [-7.44346426e-02 -6.10814507e-02 9.95353475e-01 1.70247139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.92719347 meters Centerline goodness : 0.891058 with order 1 Centerline is valid? [False, False] Translation: X:19.00, Y:0.36, Z:1.70 [[ 0.99709347 -0.02437668 0.07218298 18.9990278 ] [ 0.01995128 0.9979134 0.06140677 0.35688887] [-0.07352925 -0.05978815 0.99549929 1.70075599] [ 0. 0. 0. 1. ]] SLAMing on 94.98719347000001 meters Centerline goodness : 0.886670 with order 1 Centerline is valid? [False, False] Translation: X:19.04, Y:0.33, Z:1.70 [[ 0.99628357 -0.0390988 0.07674844 19.03783899] [ 0.02920519 0.99159493 0.12604187 0.32991352] [-0.08103145 -0.12333199 0.98905163 1.69895461] [ 0. 0. 0. 1. ]] SLAMing on 95.04719347000001 meters Centerline goodness : 0.887688 with order 1 Centerline is valid? [False, False] Translation: X:19.04, Y:0.32, Z:1.70 [[ 0.99602055 -0.0458924 0.07639994 19.03872856] [ 0.03633386 0.99185134 0.12210966 0.32330508] [-0.08138129 -0.11884782 0.98957177 1.70207131] [ 0. 0. 0. 1. ]] SLAMing on 95.10719347000001 meters Centerline goodness : 0.890397 with order 1 Centerline is valid? [False, False] Translation: X:19.04, Y:0.32, Z:1.70 [[ 0.99540889 -0.05729298 0.07667235 19.0399392 ] [ 0.04849951 0.99252326 0.11200614 0.31852599] [-0.08251626 -0.10777334 0.99074516 1.7027869 ] [ 0. 0. 0. 1. ]] SLAMing on 95.16719347000002 meters Centerline goodness : 0.890859 with order 1 Centerline is valid? [False, False] Translation: X:19.04, Y:0.32, Z:1.70 [[ 0.99498343 -0.06457114 0.07641035 19.0433325 ] [ 0.05648517 0.99301118 0.10362541 0.31675653] [-0.08256754 -0.09878952 0.99167698 1.69966209] [ 0. 0. 0. 1. ]] SLAMing on 95.22719347000002 meters Centerline goodness : 0.887530 with order 1 Centerline is valid? [False, False] Translation: X:19.04, Y:0.32, Z:1.70 [[ 0.99526993 -0.06524479 0.07197839 19.03536427] [ 0.05861288 0.99415291 0.09068917 0.32325449] [-0.07747452 -0.08604134 0.99327468 1.70277826] [ 0. 0. 0. 1. ]] SLAMing on 95.28719347 meters Centerline goodness : 0.888365 with order 1 Centerline is valid? [False, False] Translation: X:19.03, Y:0.33, Z:1.70 [[ 0.99520781 -0.06645736 0.07172752 19.0346755 ] [ 0.05994918 0.99419357 0.0893602 0.32594979] [-0.07724968 -0.08463196 0.99341327 1.70472136] [ 0. 0. 0. 1. ]] SLAMing on 95.34719347000001 meters Centerline goodness : 0.888438 with order 1 Centerline is valid? [False, False] Translation: X:19.02, Y:0.33, Z:1.71 [[ 0.99551804 -0.06275022 0.07075478 19.02390769] [ 0.05763191 0.99572393 0.07219705 0.33305649] [-0.0749826 -0.06779573 0.99487755 1.71023323] [ 0. 0. 0. 1. ]] SLAMing on 95.40719347000001 meters Centerline goodness : 0.890387 with order 1 Centerline is valid? [False, False] Translation: X:19.02, Y:0.34, Z:1.71 [[ 0.99573855 -0.05702008 0.07248068 19.02058035] [ 0.05190998 0.99615788 0.07053244 0.34188546] [-0.07622396 -0.0664694 0.99487272 1.71378324] [ 0. 0. 0. 1. ]] SLAMing on 95.46719347000001 meters Centerline goodness : 0.890383 with order 1 Centerline is valid? [False, False] Translation: X:19.00, Y:0.35, Z:1.72 [[ 0.99574423 -0.03876624 0.08360986 18.99843963] [ 0.03350764 0.99742513 0.06340616 0.35454269] [-0.08585259 -0.06033475 0.99447929 1.71750939] [ 0. 0. 0. 1. ]] SLAMing on 95.52719347000001 meters Centerline goodness : 0.892504 with order 1 Centerline is valid? [False, False] Translation: X:19.00, Y:0.36, Z:1.72 [[ 0.99577814 -0.0301847 0.08668786 19.00007791] [ 0.02534212 0.9980849 0.05642963 0.35972201] [-0.08822516 -0.05399453 0.99463607 1.71798538] [ 0. 0. 0. 1. ]] SLAMing on 95.58719347000002 meters Centerline goodness : 0.888549 with order 1 Centerline is valid? [False, False] Translation: X:19.00, Y:0.36, Z:1.71 [[ 0.99572499 -0.03256649 0.0864359 19.00288716] [ 0.02814864 0.99825824 0.05184731 0.36282486] [-0.08797383 -0.04919261 0.99490738 1.71338081] [ 0. 0. 0. 1. ]] SLAMing on 95.64719347 meters Centerline goodness : 0.886482 with order 1 Centerline is valid? [False, False] Translation: X:19.00, Y:0.35, Z:1.71 [[ 0.99648924 -0.03664652 0.07527441 19.00076128] [ 0.03290944 0.99819177 0.05030065 0.35489054] [-0.07698164 -0.04764682 0.99589337 1.71479153] [ 0. 0. 0. 1. ]] SLAMing on 95.70719347 meters Centerline goodness : 0.890830 with order 1 Centerline is valid? [False, False] Translation: X:19.00, Y:0.35, Z:1.72 [[ 0.99628676 -0.041261 0.07556606 18.99908447] [ 0.0376713 0.99812082 0.04832908 0.35017574] [-0.07741817 -0.04530295 0.99596891 1.71927034] [ 0. 0. 0. 1. ]] SLAMing on 95.76719347000001 meters Centerline goodness : 0.886104 with order 1 Centerline is valid? [False, False] Translation: X:19.00, Y:0.34, Z:1.72 [[ 0.99694953 -0.045858 0.06315598 18.99811419] [ 0.04301576 0.99803086 0.04565138 0.34375814] [-0.06512509 -0.04279542 0.99695901 1.72105025] [ 0. 0. 0. 1. ]] SLAMing on 95.82719347000001 meters Centerline goodness : 0.885749 with order 1 Centerline is valid? [False, False] Translation: X:19.00, Y:0.34, Z:1.72 [[ 0.9968075 -0.04957492 0.06258697 19.00042352] [ 0.04697573 0.99799831 0.04233979 0.34232148] [-0.06456068 -0.03926455 0.99714102 1.71974453] [ 0. 0. 0. 1. ]] SLAMing on 95.88719347000001 meters Centerline goodness : 0.886399 with order 1 Centerline is valid? [False, False] Translation: X:19.00, Y:0.34, Z:1.72 [[ 0.99660523 -0.05242513 0.06347933 18.99909851] [ 0.04992678 0.9979385 0.04032445 0.33759895] [-0.06546249 -0.03701824 0.99716815 1.72120488] [ 0. 0. 0. 1. ]] SLAMing on 95.94719347000002 meters Centerline goodness : 0.889209 with order 1 Centerline is valid? [False, False] Translation: X:19.00, Y:0.34, Z:1.72 [[ 0.99620116 -0.05865173 0.06436785 18.99873954] [ 0.05663738 0.9978596 0.03268667 0.33760028] [-0.06614721 -0.02891687 0.99739078 1.72045064] [ 0. 0. 0. 1. ]] SLAMing on 96.00719347000002 meters Centerline goodness : 0.890240 with order 1 Centerline is valid? [False, False] Translation: X:19.00, Y:0.34, Z:1.72 [[ 0.99570813 -0.06645695 0.06441116 18.99947004] [ 0.06500023 0.99758552 0.0244559 0.34007127] [-0.06588091 -0.0201642 0.99762373 1.72049601] [ 0. 0. 0. 1. ]] SLAMing on 96.06719347 meters Centerline goodness : 0.885174 with order 1 Centerline is valid? [False, False] Translation: X:19.00, Y:0.34, Z:1.72 [[ 9.95467209e-01 -7.00043899e-02 6.43771739e-02 1.89999140e+01] [ 6.88095991e-02 9.97417196e-01 2.05955403e-02 3.40624140e-01] [-6.56526785e-02 -1.60724175e-02 9.97713087e-01 1.72079126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12719347000001 meters Centerline goodness : 0.889155 with order 1 Centerline is valid? [False, False] Translation: X:19.00, Y:0.34, Z:1.72 [[ 9.95472608e-01 -6.95912807e-02 6.47405659e-02 1.89981020e+01] [ 6.82915176e-02 9.97421045e-01 2.20800176e-02 3.36310932e-01] [-6.61101796e-02 -1.75588212e-02 9.97657823e-01 1.72379045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18719347000001 meters Centerline goodness : 0.890819 with order 1 Centerline is valid? [False, False] Translation: X:18.99, Y:0.34, Z:1.73 [[ 0.99663767 -0.05800806 0.05786548 18.9889634 ] [ 0.05669643 0.99810156 0.02405812 0.34423337] [-0.05915119 -0.02069647 0.99803446 1.72903635] [ 0. 0. 0. 1. ]] SLAMing on 96.24719347000001 meters Centerline goodness : 0.887708 with order 1 Centerline is valid? [False, False] Translation: X:18.99, Y:0.35, Z:1.73 [[ 0.99685285 -0.05445541 0.05761084 18.98850832] [ 0.05292508 0.99821243 0.02776476 0.34502024] [-0.0590198 -0.02462832 0.99795296 1.73002028] [ 0. 0. 0. 1. ]] SLAMing on 96.30719347000002 meters Centerline goodness : 0.892036 with order 1 Centerline is valid? [False, False] Translation: X:18.98, Y:0.35, Z:1.73 [[ 9.97363954e-01 -4.57908626e-02 5.62880193e-02 1.89809904e+01] [ 4.49539872e-02 9.98860187e-01 1.60457451e-02 3.47638674e-01] [-5.69586100e-02 -1.34730768e-02 9.98285627e-01 1.73361242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.36719347000002 meters Centerline goodness : 0.894261 with order 1 Centerline is valid? [False, False] Translation: X:18.98, Y:0.35, Z:1.73 [[ 0.99767825 -0.03781223 0.05664231 18.9793458 ] [ 0.03659639 0.99908014 0.02235114 0.35304045] [-0.05743535 -0.02022634 0.99814432 1.73390596] [ 0. 0. 0. 1. ]] SLAMing on 96.42719347 meters Centerline goodness : 0.892831 with order 1 Centerline is valid? [False, False] Translation: X:18.98, Y:0.36, Z:1.74 [[ 9.98414321e-01 -2.65406329e-02 4.96431022e-02 1.89762677e+01] [ 2.57678404e-02 9.99537607e-01 1.61428224e-02 3.60457230e-01] [-5.00485883e-02 -1.48380295e-02 9.98636556e-01 1.73550390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48719347000001 meters Centerline goodness : 0.893679 with order 1 Centerline is valid? [False, False] Translation: X:19.01, Y:0.36, Z:1.73 [[ 0.99852359 -0.02652553 0.04740282 19.00679956] [ 0.0250367 0.99918283 0.03173074 0.35547056] [-0.04820576 -0.03049709 0.99837174 1.73034369] [ 0. 0. 0. 1. ]] SLAMing on 96.54719347000001 meters Centerline goodness : 0.893391 with order 1 Centerline is valid? [False, False] Translation: X:19.04, Y:0.35, Z:1.73 [[ 0.99890882 -0.02209586 0.04114534 19.03948512] [ 0.02065344 0.99916833 0.03515788 0.35139351] [-0.04188796 -0.03426972 0.99853442 1.72682561] [ 0. 0. 0. 1. ]] SLAMing on 96.60719347000001 meters Centerline goodness : 0.892528 with order 1 Centerline is valid? [False, False] Translation: X:19.08, Y:0.34, Z:1.73 [[ 0.99890633 -0.02459878 0.03976223 19.08471394] [ 0.02199183 0.99766101 0.06472149 0.33658182] [-0.04126129 -0.06377626 0.99711087 1.72570876] [ 0. 0. 0. 1. ]] SLAMing on 96.66719347000002 meters Centerline goodness : 0.895224 with order 1 Centerline is valid? [False, False] Translation: X:19.13, Y:0.32, Z:1.72 [[ 0.99858014 -0.03141342 0.04302211 19.13171132] [ 0.02702299 0.99471234 0.09908133 0.31930841] [-0.04590711 -0.09777806 0.99414888 1.72312071] [ 0. 0. 0. 1. ]] SLAMing on 96.72719347000002 meters Centerline goodness : 0.898939 with order 1 Centerline is valid? [False, False] Translation: X:19.13, Y:0.31, Z:1.73 [[ 0.99808448 -0.04366586 0.04382545 19.1309388 ] [ 0.03955407 0.99509568 0.09066455 0.30960472] [-0.04756947 -0.0887574 0.99491671 1.72665356] [ 0. 0. 0. 1. ]] SLAMing on 96.78719347 meters Centerline goodness : 0.900075 with order 1 Centerline is valid? [False, False] Translation: X:19.13, Y:0.31, Z:1.73 [[ 0.99760466 -0.05326072 0.04413886 19.1295449 ] [ 0.04942841 0.99525733 0.08378355 0.30558795] [-0.0483919 -0.08140114 0.99550594 1.73113201] [ 0. 0. 0. 1. ]] SLAMing on 96.84719347000001 meters Centerline goodness : 0.898047 with order 1 Centerline is valid? [False, False] Translation: X:19.13, Y:0.31, Z:1.73 [[ 0.99661 -0.06913295 0.04459974 19.13082665] [ 0.06602347 0.99551311 0.06778316 0.3055717 ] [-0.04908568 -0.06460874 0.99670272 1.73109409] [ 0. 0. 0. 1. ]] SLAMing on 96.90719347000001 meters Centerline goodness : 0.896902 with order 1 Centerline is valid? [False, False] Translation: X:19.13, Y:0.31, Z:1.73 [[ 0.99617193 -0.07515256 0.04464947 19.13339125] [ 0.07239912 0.99554645 0.0603791 0.30788187] [-0.04898827 -0.05691538 0.99717641 1.72803987] [ 0. 0. 0. 1. ]] SLAMing on 96.96719347000001 meters Centerline goodness : 0.897789 with order 1 Centerline is valid? [False, False] Translation: X:19.13, Y:0.32, Z:1.73 [[ 0.99672126 -0.07018678 0.04025589 19.12736431] [ 0.06811397 0.99638652 0.05073848 0.31522352] [-0.04367159 -0.04783014 0.99790033 1.72631667] [ 0. 0. 0. 1. ]] SLAMing on 97.02719347000001 meters Centerline goodness : 0.898197 with order 1 Centerline is valid? [False, False] Translation: X:19.12, Y:0.32, Z:1.73 [[ 0.9971271 -0.06404405 0.04044639 19.12414087] [ 0.06177603 0.99657162 0.05503385 0.32271122] [-0.04383232 -0.05237713 0.99766496 1.72877887] [ 0. 0. 0. 1. ]] SLAMing on 97.08719347000002 meters Centerline goodness : 0.898605 with order 1 Centerline is valid? [False, False] Translation: X:19.12, Y:0.33, Z:1.73 [[ 0.99724432 -0.06150514 0.04148349 19.11987744] [ 0.05915607 0.99669594 0.05565754 0.32921408] [-0.04476965 -0.05305016 0.99758777 1.73146056] [ 0. 0. 0. 1. ]] SLAMing on 97.14719347 meters Centerline goodness : 0.898986 with order 1 Centerline is valid? [False, False] Translation: X:19.12, Y:0.34, Z:1.73 [[ 0.99738213 -0.05821505 0.0428939 19.11556618] [ 0.05576037 0.99685232 0.05635813 0.33570952] [-0.04603978 -0.05381881 0.99748878 1.73343732] [ 0. 0. 0. 1. ]] SLAMing on 97.20719347 meters Centerline goodness : 0.895905 with order 1 Centerline is valid? [False, False] Translation: X:19.12, Y:0.34, Z:1.73 [[ 0.99746405 -0.05552019 0.04453061 19.11793283] [ 0.05350785 0.99754499 0.0451764 0.34352487] [-0.04692949 -0.0426791 0.99798603 1.73497359] [ 0. 0. 0. 1. ]] SLAMing on 97.26719347000001 meters Centerline goodness : 0.899359 with order 1 Centerline is valid? [False, False] Translation: X:19.11, Y:0.35, Z:1.74 [[ 0.99783131 -0.05039802 0.04234039 19.10835943] [ 0.048824 0.99810612 0.03742182 0.34767977] [-0.04414619 -0.03527344 0.99840217 1.73653081] [ 0. 0. 0. 1. ]] SLAMing on 97.32719347000001 meters Centerline goodness : 0.892586 with order 1 Centerline is valid? [False, False] Translation: X:19.11, Y:0.35, Z:1.73 [[ 0.9979801 -0.04815931 0.04142947 19.11042559] [ 0.04656287 0.99816647 0.03867291 0.35325114] [-0.04321597 -0.03666572 0.99839271 1.73472204] [ 0. 0. 0. 1. ]] SLAMing on 97.38719347000001 meters Centerline goodness : 0.892803 with order 1 Centerline is valid? [False, False] Translation: X:19.11, Y:0.35, Z:1.74 [[ 0.99785453 -0.05036953 0.04182406 19.10936045] [ 0.04890594 0.99817906 0.03530967 0.3544911 ] [-0.04352644 -0.03318847 0.99850086 1.73557644] [ 0. 0. 0. 1. ]] SLAMing on 97.44719347000002 meters Centerline goodness : 0.893762 with order 1 Centerline is valid? [False, False] Translation: X:19.11, Y:0.36, Z:1.74 [[ 0.99756281 -0.05670381 0.04065852 19.11188738] [ 0.05547886 0.99798933 0.0306494 0.35553319] [-0.04231471 -0.02831901 0.99870291 1.73618336] [ 0. 0. 0. 1. ]] SLAMing on 97.50719347000002 meters Centerline goodness : 0.890169 with order 1 Centerline is valid? [False, False] Translation: X:19.11, Y:0.36, Z:1.74 [[ 0.99772467 -0.06147861 0.02767417 19.11188666] [ 0.060824 0.99786219 0.02390589 0.35697677] [-0.0290847 -0.02216824 0.9993311 1.73799165] [ 0. 0. 0. 1. ]] SLAMing on 97.56719347 meters Centerline goodness : 0.891401 with order 1 Centerline is valid? [False, False] Translation: X:19.11, Y:0.37, Z:1.74 [[ 9.97654564e-01 -6.59106022e-02 1.84705963e-02 1.91067220e+01] [ 6.56922908e-02 9.97765497e-01 1.21875366e-02 3.67432301e-01] [-1.92326116e-02 -1.09455758e-02 9.99755121e-01 1.74193149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62719347000001 meters Centerline goodness : 0.891495 with order 1 Centerline is valid? [False, False] Translation: X:19.11, Y:0.37, Z:1.74 [[ 9.97644102e-01 -6.61413061e-02 1.82091494e-02 1.91065418e+01] [ 6.59614744e-02 9.97768945e-01 1.03061033e-02 3.72604562e-01] [-1.88501829e-02 -9.08072079e-03 9.99781082e-01 1.74246930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68719347000001 meters Centerline goodness : 0.890243 with order 1 Centerline is valid? [False, False] Translation: X:19.10, Y:0.39, Z:1.75 [[ 9.98405594e-01 -5.49161213e-02 1.30571944e-02 1.90992772e+01] [ 5.48363371e-02 9.98474896e-01 6.39209234e-03 3.85589565e-01] [-1.33883097e-02 -5.66589203e-03 9.99894320e-01 1.74697479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74719347000001 meters Centerline goodness : 0.891828 with order 1 Centerline is valid? [False, False] Translation: X:19.09, Y:0.40, Z:1.75 [[ 9.98705523e-01 -4.77584966e-02 1.75044223e-02 1.90919362e+01] [ 4.77345222e-02 9.98858463e-01 1.78512849e-03 4.00994191e-01] [-1.75696954e-02 -9.47252451e-04 9.99845192e-01 1.74908892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.80719347000002 meters Centerline goodness : 0.894323 with order 1 Centerline is valid? [False, False] Translation: X:19.09, Y:0.41, Z:1.75 [[ 9.98893629e-01 -4.29859919e-02 1.90714858e-02 1.90886628e+01] [ 4.29490868e-02 9.99074520e-01 2.34067044e-03 4.07582816e-01] [-1.91544516e-02 -1.51897789e-03 9.99815383e-01 1.74867480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.86719347000002 meters Centerline goodness : 0.889934 with order 1 Centerline is valid? [False, False] Translation: X:19.12, Y:0.41, Z:1.75 [[ 9.99251765e-01 -3.54814395e-02 1.53940918e-02 1.91176635e+01] [ 3.51109512e-02 9.99102260e-01 2.37043186e-02 4.12640270e-01] [-1.62213352e-02 -2.31460810e-02 9.99600484e-01 1.74625131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.92719347 meters Centerline goodness : 0.889098 with order 1 Centerline is valid? [False, False] Translation: X:19.14, Y:0.41, Z:1.74 [[ 9.99375832e-01 -3.12193804e-02 1.65316794e-02 1.91387098e+01] [ 3.06827236e-02 9.99023905e-01 3.17774638e-02 4.12822741e-01] [-1.75076157e-02 -3.12503924e-02 9.99358242e-01 1.74293591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98719347000001 meters Centerline goodness : 0.892058 with order 1 Centerline is valid? [False, False] Translation: X:19.15, Y:0.41, Z:1.74 [[ 9.99660001e-01 -2.31404493e-02 1.20167438e-02 1.91508775e+01] [ 2.27214777e-02 9.99166779e-01 3.39040052e-02 4.14856722e-01] [-1.27912851e-02 -3.36194397e-02 9.99352849e-01 1.74109104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04719347000001 meters Centerline goodness : 0.891052 with order 1 Centerline is valid? [False, False] Translation: X:19.18, Y:0.42, Z:1.74 [[ 9.99696349e-01 -2.31914912e-02 8.32855481e-03 1.91757531e+01] [ 2.28787822e-02 9.99094887e-01 3.58603918e-02 4.18208886e-01] [-9.15267248e-03 -3.56589556e-02 9.99322104e-01 1.73802182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10719347000001 meters Centerline goodness : 0.890438 with order 1 Centerline is valid? [False, False] Translation: X:19.20, Y:0.42, Z:1.74 [[ 9.99589335e-01 -2.80729722e-02 5.75053866e-03 1.92044719e+01] [ 2.77853081e-02 9.98593998e-01 4.51442595e-02 4.18571524e-01] [-7.00978693e-03 -4.49659399e-02 9.98963927e-01 1.73707883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16719347000002 meters Centerline goodness : 0.885426 with order 1 Centerline is valid? [False, False] Translation: X:19.24, Y:0.42, Z:1.73 [[ 9.99405877e-01 -3.35593602e-02 7.85255580e-03 1.92401915e+01] [ 3.31095203e-02 9.98112417e-01 5.17239177e-02 4.15642858e-01] [-9.57355503e-03 -5.14331930e-02 9.98630549e-01 1.73314541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.22719347000002 meters Centerline goodness : 0.885426 with order 1 Centerline is valid? [False, False] Translation: X:19.26, Y:0.37, Z:1.73 [[ 9.98461566e-01 -5.33180574e-02 1.52212429e-02 1.92637899e+01] [ 4.93191482e-02 9.79431714e-01 1.95655665e-01 3.68950569e-01] [-2.53401481e-02 -1.94603963e-01 9.80554524e-01 1.72505695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.28719347 meters Centerline goodness : 0.887159 with order 1 Centerline is valid? [False, False] Translation: X:19.26, Y:0.37, Z:1.73 [[ 9.97785495e-01 -6.46874025e-02 1.54805186e-02 1.92613381e+01] [ 6.06372509e-02 9.80299154e-01 1.87980561e-01 3.69621964e-01] [-2.73355136e-02 -1.86625581e-01 9.82050743e-01 1.73127317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34719347000001 meters Centerline goodness : 0.885844 with order 1 Centerline is valid? [False, False] Translation: X:19.26, Y:0.37, Z:1.73 [[ 9.97198770e-01 -7.34491817e-02 1.41361802e-02 1.92646011e+01] [ 6.97513403e-02 9.81408195e-01 1.78809133e-01 3.73266554e-01] [-2.70067476e-02 -1.77322229e-01 9.83782223e-01 1.73072741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40719347000001 meters Centerline goodness : 0.885562 with order 1 Centerline is valid? [False, False] Translation: X:19.25, Y:0.38, Z:1.73 [[ 9.96754620e-01 -7.85397148e-02 1.76561748e-02 1.92540072e+01] [ 7.47865601e-02 9.84619334e-01 1.57897868e-01 3.80722180e-01] [-2.97858646e-02 -1.56064985e-01 9.87297586e-01 1.73034476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46719347000001 meters Centerline goodness : 0.884377 with order 1 Centerline is valid? [False, False] Translation: X:19.25, Y:0.39, Z:1.73 [[ 0.99639303 -0.08195006 0.02202522 19.24706717] [ 0.0778447 0.98603914 0.14719719 0.38911088] [-0.03378055 -0.14495171 0.98886191 1.73322665] [ 0. 0. 0. 1. ]] SLAMing on 98.52719347000001 meters Centerline goodness : 0.882728 with order 1 Centerline is valid? [False, False] Translation: X:19.24, Y:0.40, Z:1.74 [[ 0.99598951 -0.08673096 0.02196891 19.24439125] [ 0.08275569 0.98636721 0.14223648 0.40030204] [-0.03400572 -0.139848 0.98958888 1.7356021 ] [ 0. 0. 0. 1. ]] SLAMing on 98.58719347000002 meters Centerline goodness : 0.885655 with order 1 Centerline is valid? [False, False] Translation: X:19.25, Y:0.41, Z:1.73 [[ 0.99538385 -0.0938322 0.02016187 19.24947613] [ 0.0903436 0.98697616 0.13310183 0.41312353] [-0.03238852 -0.13066592 0.99089727 1.73048788] [ 0. 0. 0. 1. ]] SLAMing on 98.64719347000002 meters Centerline goodness : 0.884252 with order 1 Centerline is valid? [False, False] Translation: X:19.25, Y:0.43, Z:1.73 [[ 9.95649979e-01 -9.19642624e-02 1.49564208e-02 1.92474457e+01] [ 8.95920978e-02 9.89045993e-01 1.17308481e-01 4.26375049e-01] [-2.55807760e-02 -1.15458210e-01 9.92982893e-01 1.73068950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.70719347 meters Centerline goodness : 0.887313 with order 1 Centerline is valid? [False, False] Translation: X:19.23, Y:0.45, Z:1.73 [[ 9.96302332e-01 -8.52022577e-02 1.10561701e-02 1.92347530e+01] [ 8.36095599e-02 9.91108980e-01 1.03500873e-01 4.50465474e-01] [-1.97763775e-02 -1.02193759e-01 9.94567911e-01 1.73489038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76719347000001 meters Centerline goodness : 0.888599 with order 1 Centerline is valid? [False, False] Translation: X:19.22, Y:0.47, Z:1.74 [[ 9.97314061e-01 -7.26172900e-02 9.55998097e-03 1.92248244e+01] [ 7.14808635e-02 9.93447144e-01 8.91810449e-02 4.74936361e-01] [-1.59734216e-02 -8.82581544e-02 9.95969552e-01 1.74001645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82719347000001 meters Centerline goodness : 0.886152 with order 1 Centerline is valid? [False, False] Translation: X:19.22, Y:0.49, Z:1.74 [[ 9.97633588e-01 -6.81777523e-02 8.88922211e-03 1.92241422e+01] [ 6.71989984e-02 9.94223435e-01 8.36902406e-02 4.91551933e-01] [-1.45436854e-02 -8.28948482e-02 9.96452169e-01 1.74424333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88719347000001 meters Centerline goodness : 0.889369 with order 1 Centerline is valid? [False, False] Translation: X:19.21, Y:0.50, Z:1.75 [[ 9.98137644e-01 -6.08530295e-02 4.26062420e-03 1.92136339e+01] [ 6.03882628e-02 9.95564966e-01 7.21363693e-02 5.04559838e-01] [-8.63144480e-03 -7.17447340e-02 9.97385678e-01 1.75326665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94719347000002 meters Centerline goodness : 0.893198 with order 1 Centerline is valid? [False, False] Translation: X:19.21, Y:0.52, Z:1.76 [[ 9.98710818e-01 -5.07554216e-02 -7.67144072e-04 1.92072595e+01] [ 5.07136661e-02 9.97007281e-01 5.83490008e-02 5.21291266e-01] [-2.19667991e-03 -5.83126830e-02 9.98295951e-01 1.75957386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.00719347000002 meters Centerline goodness : 0.893930 with order 1 Centerline is valid? [False, False] Translation: X:19.23, Y:0.53, Z:1.77 [[ 9.99219602e-01 -3.94518886e-02 -1.93294704e-03 1.92270823e+01] [ 3.94991983e-02 9.97980436e-01 4.97479942e-02 5.34247957e-01] [-3.36089943e-05 -4.97855208e-02 9.98759932e-01 1.76510904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.06719347 meters Centerline goodness : 0.894234 with order 1 Centerline is valid? [False, False] Translation: X:19.24, Y:0.55, Z:1.77 [[ 9.99569260e-01 -2.88769273e-02 -5.23626627e-03 1.92378563e+01] [ 2.90895473e-02 9.98493758e-01 4.65189562e-02 5.48912302e-01] [ 3.88505467e-03 -4.66512392e-02 9.98903683e-01 1.76997697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12719347000001 meters Centerline goodness : 0.895601 with order 1 Centerline is valid? [False, False] Translation: X:19.26, Y:0.56, Z:1.77 [[ 9.99739365e-01 -2.26365638e-02 -2.96462118e-03 1.92579650e+01] [ 2.27348415e-02 9.98984122e-01 3.89082365e-02 5.57241505e-01] [ 2.08086071e-03 -3.89654958e-02 9.99238390e-01 1.76856441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18719347000001 meters Centerline goodness : 0.894275 with order 1 Centerline is valid? [False, False] Translation: X:19.28, Y:0.56, Z:1.76 [[ 9.99676466e-01 -2.54116589e-02 -1.10085380e-03 1.92776159e+01] [ 2.54354926e-02 9.98736312e-01 4.33452994e-02 5.57609964e-01] [-2.01330283e-06 -4.33592765e-02 9.99059544e-01 1.76430813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24719347000001 meters Centerline goodness : 0.898333 with order 1 Centerline is valid? [False, False] Translation: X:19.31, Y:0.56, Z:1.76 [[ 9.99541498e-01 -2.97885127e-02 -5.42575945e-03 1.93078930e+01] [ 2.99837129e-02 9.98733837e-01 4.03943061e-02 5.58290675e-01] [ 4.21560326e-03 -4.05384696e-02 9.99169085e-01 1.76231827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.30719347000002 meters Centerline goodness : 0.896601 with order 1 Centerline is valid? [False, False] Translation: X:19.33, Y:0.56, Z:1.76 [[ 9.99273607e-01 -3.76996043e-02 -5.56759511e-03 1.93298573e+01] [ 3.78883072e-02 9.98522397e-01 3.89550947e-02 5.59985386e-01] [ 4.09077676e-03 -3.91377448e-02 9.99225451e-01 1.75964239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.36719347000002 meters Centerline goodness : 0.901846 with order 1 Centerline is valid? [False, False] Translation: X:19.35, Y:0.56, Z:1.76 [[ 9.98989705e-01 -4.48800211e-02 -2.31378162e-03 1.93466011e+01] [ 4.49351761e-02 9.98290414e-01 3.73775183e-02 5.60822881e-01] [ 6.32322202e-04 -3.74437261e-02 9.99298538e-01 1.75984771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.42719347 meters Centerline goodness : 0.906067 with order 1 Centerline is valid? [False, False] Translation: X:19.36, Y:0.56, Z:1.76 [[ 9.98969565e-01 -4.53614667e-02 1.46474154e-03 1.93627431e+01] [ 4.52599168e-02 9.98090500e-01 4.20344403e-02 5.62450475e-01] [-3.36868848e-03 -4.19248325e-02 9.99115089e-01 1.75961962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48719347000001 meters Centerline goodness : 0.905801 with order 1 Centerline is valid? [False, False] Translation: X:19.39, Y:0.57, Z:1.76 [[ 9.99361618e-01 -3.56303413e-02 -2.61430901e-03 1.93855489e+01] [ 3.56993033e-02 9.98769025e-01 3.44382657e-02 5.65165394e-01] [ 1.38404370e-03 -3.45096099e-02 9.99403408e-01 1.76403391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54719347000001 meters Centerline goodness : 0.908593 with order 1 Centerline is valid? [False, False] Translation: X:19.40, Y:0.57, Z:1.76 [[ 9.99865062e-01 -1.62489860e-02 -2.41399006e-03 1.94039861e+01] [ 1.63098729e-02 9.99480163e-01 2.78099119e-02 5.65865574e-01] [ 1.96085231e-03 -2.78455311e-02 9.99610315e-01 1.76281498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60719347000001 meters Centerline goodness : 0.906001 with order 1 Centerline is valid? [False, False] Translation: X:19.41, Y:0.56, Z:1.76 [[ 9.99950501e-01 -8.48171794e-03 -5.20147446e-03 1.94099956e+01] [ 8.64755429e-03 9.99426649e-01 3.27352015e-02 5.64489561e-01] [ 4.92084144e-03 -3.27785612e-02 9.99450525e-01 1.76438666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.66719347000002 meters Centerline goodness : 0.906740 with order 1 Centerline is valid? [False, False] Translation: X:19.42, Y:0.56, Z:1.76 [[ 9.99967715e-01 -2.05575846e-03 -7.76804527e-03 1.94179969e+01] [ 2.34433147e-03 9.99300463e-01 3.73241140e-02 5.56648478e-01] [ 7.68588186e-03 -3.73411198e-02 9.99273020e-01 1.76304849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.72719347000002 meters Centerline goodness : 0.905743 with order 1 Centerline is valid? [False, False] Translation: X:19.42, Y:0.55, Z:1.76 [[ 9.99951863e-01 -2.61911503e-03 -9.45582467e-03 1.94234427e+01] [ 2.96522372e-03 9.99319128e-01 3.67761930e-02 5.50262278e-01] [ 9.35306538e-03 -3.68024613e-02 9.99278789e-01 1.76093434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.78719347 meters Centerline goodness : 0.905630 with order 1 Centerline is valid? [False, False] Translation: X:19.45, Y:0.54, Z:1.76 [[ 9.99955155e-01 -2.23629965e-03 -9.20253017e-03 1.94542949e+01] [ 2.56132262e-03 9.99367814e-01 3.54600164e-02 5.38602900e-01] [ 9.11741323e-03 -3.54819968e-02 9.99328725e-01 1.76272077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.84719347000001 meters Centerline goodness : 0.900969 with order 1 Centerline is valid? [False, False] Translation: X:19.50, Y:0.52, Z:1.76 [[ 9.99909865e-01 -6.65407347e-03 -1.16612831e-02 1.94996298e+01] [ 7.11410863e-03 9.99179837e-01 3.98627960e-02 5.24136878e-01] [ 1.13864690e-02 -3.99421626e-02 9.99137114e-01 1.76043364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90719347000001 meters Centerline goodness : 0.899505 with order 1 Centerline is valid? [False, False] Translation: X:19.52, Y:0.52, Z:1.76 [[ 9.99882035e-01 -1.30270583e-02 -8.13709091e-03 1.95160261e+01] [ 1.33512226e-02 9.99064074e-01 4.11426783e-02 5.16119627e-01] [ 7.59350713e-03 -4.12464650e-02 9.99120147e-01 1.75954335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96719347000001 meters Centerline goodness : 0.904617 with order 1 Centerline is valid? [False, False] Translation: X:19.57, Y:0.49, Z:1.75 [[ 9.99687001e-01 -2.50176874e-02 1.24339458e-04 1.95737521e+01] [ 2.49215311e-02 9.96256098e-01 8.27810607e-02 4.92778349e-01] [-2.19486464e-03 -8.27520516e-02 9.96567750e-01 1.75281985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02719347000001 meters Centerline goodness : 0.902460 with order 1 Centerline is valid? [False, False] Translation: X:19.58, Y:0.49, Z:1.76 [[ 9.99608191e-01 -2.77186037e-02 -3.89155403e-03 1.95848611e+01] [ 2.79311461e-02 9.96848101e-01 7.42543950e-02 4.89621954e-01] [ 1.82106009e-03 -7.43339970e-02 9.97231739e-01 1.75552177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.08719347000002 meters Centerline goodness : 0.897072 with order 1 Centerline is valid? [False, False] Translation: X:19.64, Y:0.46, Z:1.75 [[ 9.99267043e-01 -3.81989534e-02 2.49322615e-03 1.96375017e+01] [ 3.74247203e-02 9.88553113e-01 1.46157904e-01 4.55848574e-01] [-8.04776544e-03 -1.45957468e-01 9.89258132e-01 1.74506390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.14719347000002 meters Centerline goodness : 0.898258 with order 1 Centerline is valid? [False, False] Translation: X:19.69, Y:0.43, Z:1.74 [[ 9.98804620e-01 -4.86090970e-02 5.14650869e-03 1.96880639e+01] [ 4.66172191e-02 9.78926419e-01 1.98821277e-01 4.34488189e-01] [-1.47025761e-02 -1.98343694e-01 9.80022251e-01 1.74125784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.20719347 meters Centerline goodness : 0.900257 with order 1 Centerline is valid? [False, False] Translation: X:19.69, Y:0.42, Z:1.75 [[ 9.98315390e-01 -5.76658059e-02 6.40603419e-03 1.96857838e+01] [ 5.53347225e-02 9.79485187e-01 1.93770060e-01 4.21720377e-01] [-1.74485223e-02 -1.93089157e-01 9.81026058e-01 1.74759505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26719347000001 meters Centerline goodness : 0.897341 with order 1 Centerline is valid? [False, False] Translation: X:19.70, Y:0.42, Z:1.75 [[ 9.98013420e-01 -6.29958776e-02 8.55792138e-04 1.96975825e+01] [ 6.17736875e-02 9.81139146e-01 1.83166555e-01 4.16454314e-01] [-1.23783890e-02 -1.82749814e-01 9.83081523e-01 1.75425536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32719347000001 meters Centerline goodness : 0.897163 with order 1 Centerline is valid? [False, False] Translation: X:19.70, Y:0.41, Z:1.76 [[ 9.97132848e-01 -7.56670218e-02 7.65629597e-04 1.96986427e+01] [ 7.43872811e-02 9.82023895e-01 1.73480842e-01 4.13595298e-01] [-1.38786452e-02 -1.72926493e-01 9.84836947e-01 1.75693122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38719347000001 meters Centerline goodness : 0.898822 with order 1 Centerline is valid? [False, False] Translation: X:19.70, Y:0.42, Z:1.76 [[ 9.96272813e-01 -8.62506996e-02 1.13957404e-03 1.96965812e+01] [ 8.49118513e-02 9.82961814e-01 1.63021622e-01 4.15893879e-01] [-1.51808867e-02 -1.62317247e-01 9.86621838e-01 1.76109505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.44719347000002 meters Centerline goodness : 0.904498 with order 1 Centerline is valid? [False, False] Translation: X:19.69, Y:0.43, Z:1.77 [[ 9.95639476e-01 -9.32449963e-02 2.72130115e-03 1.96937653e+01] [ 9.18082637e-02 9.84633886e-01 1.48550846e-01 4.28155903e-01] [-1.65311084e-02 -1.47653248e-01 9.88901027e-01 1.76500720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.50719347000002 meters Centerline goodness : 0.906424 with order 1 Centerline is valid? [False, False] Translation: X:19.68, Y:0.44, Z:1.77 [[ 9.96225104e-01 -8.66644448e-02 4.98159958e-03 1.96811674e+01] [ 8.52742462e-02 9.87754452e-01 1.30650085e-01 4.41921658e-01] [-1.62433143e-02 -1.29732093e-01 9.91416027e-01 1.76783301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.56719347 meters Centerline goodness : 0.913403 with order 1 Centerline is valid? [False, False] Translation: X:19.67, Y:0.45, Z:1.77 [[ 9.96598396e-01 -8.18846293e-02 9.30292257e-03 1.96730646e+01] [ 8.00867354e-02 9.88918510e-01 1.25005184e-01 4.53483235e-01] [-1.94358355e-02 -1.23834925e-01 9.92112473e-01 1.77045350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62719347000001 meters Centerline goodness : 0.913967 with order 1 Centerline is valid? [False, False] Translation: X:19.67, Y:0.47, Z:1.77 [[ 9.96748901e-01 -7.96567302e-02 1.21010125e-02 1.96680868e+01] [ 7.77518337e-02 9.90346117e-01 1.14757229e-01 4.71264815e-01] [-2.11253764e-02 -1.13443266e-01 9.93319860e-01 1.77277989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68719347000001 meters Centerline goodness : 0.918709 with order 1 Centerline is valid? [False, False] Translation: X:19.67, Y:0.48, Z:1.77 [[ 9.96766572e-01 -7.94358836e-02 1.20971937e-02 1.96671161e+01] [ 7.76669614e-02 9.91072673e-01 1.08364199e-01 4.80480551e-01] [-2.05972040e-02 -1.07074259e-01 9.94037654e-01 1.77349195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74719347000001 meters Centerline goodness : 0.918841 with order 1 Centerline is valid? [False, False] Translation: X:19.66, Y:0.49, Z:1.78 [[ 9.97329774e-01 -7.28607354e-02 4.96347510e-03 1.96592978e+01] [ 7.20138535e-02 9.92480266e-01 9.89794213e-02 4.93550368e-01] [-1.21378645e-02 -9.83576848e-02 9.95077102e-01 1.78223623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.80719347000002 meters Centerline goodness : 0.911040 with order 1 Centerline is valid? [False, False] Translation: X:19.65, Y:0.50, Z:1.79 [[ 9.97696304e-01 -6.77354350e-02 -3.74098467e-03 1.96535039e+01] [ 6.77949317e-02 9.93556242e-01 9.08286364e-02 4.99992007e-01] [-2.43543853e-03 -9.08730147e-02 9.95859510e-01 1.78730513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.86719347000002 meters Centerline goodness : 0.911780 with order 1 Centerline is valid? [False, False] Translation: X:19.64, Y:0.51, Z:1.79 [[ 9.98284713e-01 -5.81714991e-02 -6.61126279e-03 1.96420103e+01] [ 5.85096631e-02 9.95260964e-01 7.76674502e-02 5.12336952e-01] [ 2.06189977e-03 -7.79210509e-02 9.96957400e-01 1.79294318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.92719347 meters Centerline goodness : 0.913452 with order 1 Centerline is valid? [False, False] Translation: X:19.66, Y:0.52, Z:1.80 [[ 9.98731887e-01 -4.96965171e-02 -8.05448076e-03 1.96586475e+01] [ 5.01357201e-02 9.96341662e-01 6.92076690e-02 5.23683025e-01] [ 4.58563464e-03 -6.95237230e-02 9.97569759e-01 1.79781548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98719347000001 meters Centerline goodness : 0.910812 with order 1 Centerline is valid? [False, False] Translation: X:19.67, Y:0.54, Z:1.80 [[ 9.98956260e-01 -4.40408036e-02 -1.21160222e-02 1.96734813e+01] [ 4.47047127e-02 9.97108101e-01 6.14566800e-02 5.35039341e-01] [ 9.37438230e-03 -6.19341785e-02 9.98036211e-01 1.80200476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04719347000001 meters Centerline goodness : 0.915125 with order 1 Centerline is valid? [False, False] Translation: X:19.72, Y:0.54, Z:1.80 [[ 9.98865079e-01 -4.61085659e-02 -1.19395878e-02 1.97156860e+01] [ 4.67921611e-02 9.96769018e-01 6.52841422e-02 5.35422138e-01] [ 8.89085303e-03 -6.57687289e-02 9.97795283e-01 1.80236263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10719347000001 meters Centerline goodness : 0.916175 with order 1 Centerline is valid? [False, False] Translation: X:19.73, Y:0.54, Z:1.80 [[ 9.98689813e-01 -5.04035766e-02 -8.83950624e-03 1.97335028e+01] [ 5.08719399e-02 9.96597834e-01 6.48444539e-02 5.36206427e-01] [ 5.54104038e-03 -6.52091783e-02 9.97856232e-01 1.80393279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16719347000002 meters Centerline goodness : 0.916303 with order 1 Centerline is valid? [False, False] Translation: X:19.77, Y:0.53, Z:1.80 [[ 9.98754357e-01 -4.83396269e-02 -1.23699123e-02 1.97661913e+01] [ 4.90627373e-02 9.96544641e-01 6.70195939e-02 5.34599616e-01] [ 9.08746767e-03 -6.75430132e-02 9.97674977e-01 1.80120758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.22719347000002 meters Centerline goodness : 0.914834 with order 1 Centerline is valid? [False, False] Translation: X:19.80, Y:0.53, Z:1.80 [[ 9.98896873e-01 -4.47946953e-02 -1.40880548e-02 1.98009675e+01] [ 4.56300447e-02 9.96777946e-01 6.59668443e-02 5.32000334e-01] [ 1.10876976e-02 -6.65369130e-02 9.97722357e-01 1.80158773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.28719347 meters Centerline goodness : 0.916354 with order 1 Centerline is valid? [False, False] Translation: X:19.84, Y:0.53, Z:1.80 [[ 9.98877576e-01 -4.58659835e-02 -1.18279570e-02 1.98394838e+01] [ 4.66231006e-02 9.96120898e-01 7.46286982e-02 5.25010125e-01] [ 8.35915651e-03 -7.50963892e-02 9.97141242e-01 1.80264462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34719347000001 meters Centerline goodness : 0.915171 with order 1 Centerline is valid? [False, False] Translation: X:19.88, Y:0.52, Z:1.80 [[ 9.98642759e-01 -5.08780424e-02 -1.11384572e-02 1.98804840e+01] [ 5.16252361e-02 9.95256379e-01 8.24595352e-02 5.19468097e-01] [ 6.89024082e-03 -8.29226432e-02 9.96532167e-01 1.79867294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40719347000001 meters Centerline goodness : 0.914098 with order 1 Centerline is valid? [False, False] Translation: X:19.91, Y:0.47, Z:1.78 [[ 9.97846892e-01 -6.55381822e-02 -2.51534053e-03 1.99125019e+01] [ 6.42713730e-02 9.69478427e-01 2.36602557e-01 4.65023160e-01] [-1.30679331e-02 -2.36254790e-01 9.71603264e-01 1.77528193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46719347000001 meters Centerline goodness : 0.913124 with order 1 Centerline is valid? [False, False] Translation: X:19.91, Y:0.47, Z:1.78 [[ 9.97409307e-01 -7.17736898e-02 -4.81793229e-03 1.99143582e+01] [ 7.09879578e-02 9.71231785e-01 2.27309327e-01 4.65916518e-01] [-1.16355001e-02 -2.27062453e-01 9.73810689e-01 1.78298895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52719347000001 meters Centerline goodness : 0.911145 with order 1 Centerline is valid? [False, False] Translation: X:19.91, Y:0.46, Z:1.79 [[ 9.97124044e-01 -7.45921612e-02 -1.34033692e-02 1.99130301e+01] [ 7.57329614e-02 9.74042897e-01 2.13318901e-01 4.64542980e-01] [-2.85646130e-03 -2.13720482e-01 9.76890678e-01 1.79169293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.58719347000002 meters Centerline goodness : 0.907947 with order 1 Centerline is valid? [False, False] Translation: X:19.91, Y:0.46, Z:1.80 [[ 9.96864851e-01 -7.66029115e-02 -1.98106973e-02 1.99084339e+01] [ 7.90065559e-02 9.77277228e-01 1.96690577e-01 4.63964476e-01] [ 4.29347246e-03 -1.97639098e-01 9.80265450e-01 1.79904852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.64719347000002 meters Centerline goodness : 0.907352 with order 1 Centerline is valid? [False, False] Translation: X:19.90, Y:0.47, Z:1.81 [[ 9.96927258e-01 -7.63672892e-02 -1.74378459e-02 1.99044168e+01] [ 7.82838689e-02 9.79177462e-01 1.87304923e-01 4.70339431e-01] [ 2.77077647e-03 -1.88094485e-01 9.82147029e-01 1.80515637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.70719347 meters Centerline goodness : 0.909797 with order 1 Centerline is valid? [False, False] Translation: X:19.89, Y:0.48, Z:1.81 [[ 9.97862217e-01 -6.42076552e-02 -1.21808307e-02 1.98938935e+01] [ 6.53447697e-02 9.83186788e-01 1.70510411e-01 4.82115933e-01] [ 1.02795813e-03 -1.70941850e-01 9.85280583e-01 1.81242686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76719347000001 meters Centerline goodness : 0.914898 with order 1 Centerline is valid? [False, False] Translation: X:19.92, Y:0.49, Z:1.82 [[ 9.98383787e-01 -5.59068441e-02 -1.02096994e-02 1.99176338e+01] [ 5.68114487e-02 9.86560569e-01 1.53201511e-01 4.93221646e-01] [ 1.50747384e-03 -1.53533932e-01 9.88142226e-01 1.81897191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82719347000001 meters Centerline goodness : 0.920162 with order 1 Centerline is valid? [False, False] Translation: X:19.95, Y:0.51, Z:1.83 [[ 9.98428532e-01 -5.58906286e-02 -4.08718210e-03 1.99463495e+01] [ 5.59089185e-02 9.88459481e-01 1.40790791e-01 5.06797100e-01] [-3.82887190e-03 -1.40798052e-01 9.90030933e-01 1.82524244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88719347000001 meters Centerline goodness : 0.920822 with order 1 Centerline is valid? [False, False] Translation: X:20.00, Y:0.50, Z:1.82 [[ 9.97740850e-01 -6.68668811e-02 6.48201970e-03 1.99959825e+01] [ 6.47998801e-02 9.83354106e-01 1.69751811e-01 5.03182829e-01] [-1.77248949e-02 -1.68948282e-01 9.85465528e-01 1.81957495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.94719347000002 meters Centerline goodness : 0.919916 with order 1 Centerline is valid? [False, False] Translation: X:20.03, Y:0.50, Z:1.81 [[ 9.96991103e-01 -7.59258799e-02 1.56205113e-02 2.00348743e+01] [ 7.14966820e-02 9.78564478e-01 1.93131528e-01 5.00979062e-01] [-2.99493587e-02 -1.91433601e-01 9.81048527e-01 1.81165311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.00719347000002 meters Centerline goodness : 0.920545 with order 1 Centerline is valid? [False, False] Translation: X:20.03, Y:0.51, Z:1.82 [[ 9.97242479e-01 -7.37966781e-02 7.84149217e-03 2.00333423e+01] [ 7.11867174e-02 9.81095082e-01 1.79958028e-01 5.05949369e-01] [-2.09735540e-02 -1.78903579e-01 9.83643034e-01 1.82011280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.06719347 meters Centerline goodness : 0.923127 with order 1 Centerline is valid? [False, False] Translation: X:20.04, Y:0.51, Z:1.82 [[ 9.97237158e-01 -7.41256872e-02 4.84071416e-03 2.00383732e+01] [ 7.22029204e-02 9.82559816e-01 1.71356198e-01 5.14134905e-01] [-1.74581871e-02 -1.70533254e-01 9.85197250e-01 1.82298463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12719347000001 meters Centerline goodness : 0.922000 with order 1 Centerline is valid? [False, False] Translation: X:20.06, Y:0.52, Z:1.83 [[ 9.97485063e-01 -7.08642256e-02 1.34526566e-03 2.00611557e+01] [ 6.97844167e-02 9.85251592e-01 1.56235192e-01 5.23793954e-01] [-1.23969110e-02 -1.55748392e-01 9.87718966e-01 1.82519666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18719347000001 meters Centerline goodness : 0.915328 with order 1 Centerline is valid? [False, False] Translation: X:20.08, Y:0.54, Z:1.82 [[ 9.97877623e-01 -6.49822949e-02 -4.18948103e-03 2.00820673e+01] [ 6.49386238e-02 9.88317658e-01 1.37881042e-01 5.38700134e-01] [-4.81928843e-03 -1.37860465e-01 9.90439936e-01 1.82388034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24719347000001 meters Centerline goodness : 0.912961 with order 1 Centerline is valid? [False, False] Translation: X:20.10, Y:0.55, Z:1.83 [[ 9.97956378e-01 -6.37096551e-02 -4.91396114e-03 2.00991649e+01] [ 6.38294522e-02 9.90335986e-01 1.23127725e-01 5.50296744e-01] [-2.97795236e-03 -1.23189754e-01 9.92378666e-01 1.82698979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.30719347000002 meters Centerline goodness : 0.912553 with order 1 Centerline is valid? [False, False] Translation: X:20.11, Y:0.56, Z:1.83 [[ 9.97850519e-01 -6.52320261e-02 -6.25501956e-03 2.01142237e+01] [ 6.55278344e-02 9.92270838e-01 1.05378780e-01 5.64858448e-01] [-6.67397843e-04 -1.05562148e-01 9.94412484e-01 1.83198123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.36719347000002 meters Centerline goodness : 0.917126 with order 1 Centerline is valid? [False, False] Translation: X:20.15, Y:0.58, Z:1.84 [[ 9.97704864e-01 -6.76088802e-02 -3.74750287e-03 2.01507299e+01] [ 6.76755896e-02 9.93799229e-01 8.82219184e-02 5.76227934e-01] [-2.24031965e-03 -8.82730516e-02 9.96093795e-01 1.83967483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.42719347 meters Centerline goodness : 0.919295 with order 1 Centerline is valid? [False, False] Translation: X:20.16, Y:0.58, Z:1.84 [[ 9.97830981e-01 -6.57945091e-02 -2.10162424e-03 2.01628056e+01] [ 6.57577478e-02 9.94781706e-01 7.80081757e-02 5.83024947e-01] [-3.04185228e-03 -7.79771725e-02 9.96950504e-01 1.84261469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48719347000001 meters Centerline goodness : 0.921118 with order 1 Centerline is valid? [False, False] Translation: X:20.19, Y:0.59, Z:1.85 [[ 9.98032706e-01 -6.26462968e-02 -2.48187732e-03 2.01935936e+01] [ 6.26562043e-02 9.95226031e-01 7.48287914e-02 5.87489376e-01] [-2.21771776e-03 -7.48370862e-02 9.97193307e-01 1.84644752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54719347000001 meters Centerline goodness : 0.921297 with order 1 Centerline is valid? [False, False] Translation: X:20.21, Y:0.59, Z:1.85 [[ 9.98470395e-01 -5.52604844e-02 -1.77456063e-03 2.02144154e+01] [ 5.52579425e-02 9.96320801e-01 6.55089440e-02 5.91773389e-01] [-1.85202431e-03 -6.55067998e-02 9.97850404e-01 1.84936282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60719347000001 meters Centerline goodness : 0.921305 with order 1 Centerline is valid? [False, False] Translation: X:20.23, Y:0.60, Z:1.85 [[ 9.99330348e-01 -3.65422127e-02 -1.87690710e-03 2.02261252e+01] [ 3.65895313e-02 9.97641665e-01 5.80716335e-02 5.97898949e-01] [-2.49585264e-04 -5.81014209e-02 9.98310654e-01 1.85012939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.66719347000002 meters Centerline goodness : 0.914827 with order 1 Centerline is valid? [False, False] Translation: X:20.25, Y:0.60, Z:1.85 [[ 9.99751196e-01 -2.10472607e-02 -7.38637479e-03 2.02503672e+01] [ 2.13379199e-02 9.98899461e-01 4.17679215e-02 6.01795414e-01] [ 6.49914547e-03 -4.19151394e-02 9.99100036e-01 1.85140376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.72719347000002 meters Centerline goodness : 0.915229 with order 1 Centerline is valid? [False, False] Translation: X:20.28, Y:0.60, Z:1.85 [[ 9.99898599e-01 -1.19084388e-02 -7.80907706e-03 2.02756247e+01] [ 1.21684306e-02 9.99343071e-01 3.41373034e-02 6.01268253e-01] [ 7.39742506e-03 -3.42288661e-02 9.99386643e-01 1.85217633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.78719347 meters Centerline goodness : 0.920007 with order 1 Centerline is valid? [False, False] Translation: X:20.29, Y:0.60, Z:1.85 [[ 9.99793733e-01 -2.01109839e-02 -2.83538559e-03 2.02874358e+01] [ 2.01952054e-02 9.99227458e-01 3.37140950e-02 5.96970994e-01] [ 2.15517152e-03 -3.37644021e-02 9.99427496e-01 1.85469096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84719347000001 meters Centerline goodness : 0.916172 with order 1 Centerline is valid? [False, False] Translation: X:20.31, Y:0.59, Z:1.85 [[ 9.99608669e-01 -2.79688664e-02 -5.01742118e-04 2.03074445e+01] [ 2.79698085e-02 9.99034671e-01 3.38735145e-02 5.88449803e-01] [-4.46146027e-04 -3.38742923e-02 9.99426002e-01 1.85080706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90719347000001 meters Centerline goodness : 0.914262 with order 1 Centerline is valid? [False, False] Translation: X:20.36, Y:0.58, Z:1.84 [[ 9.99291064e-01 -3.76051034e-02 1.79602900e-03 2.03589205e+01] [ 3.74614900e-02 9.97951563e-01 5.18585969e-02 5.76808965e-01] [-3.74249784e-03 -5.17545505e-02 9.98652823e-01 1.84348536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96719347000001 meters Centerline goodness : 0.913828 with order 1 Centerline is valid? [False, False] Translation: X:20.40, Y:0.57, Z:1.84 [[ 9.99000539e-01 -4.46962025e-02 4.15977655e-04 2.04028211e+01] [ 4.46040866e-02 9.97458721e-01 5.55569520e-02 5.68014255e-01] [-2.89810532e-03 -5.54828707e-02 9.98455433e-01 1.84210147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02719347000001 meters Centerline goodness : 0.914258 with order 1 Centerline is valid? [False, False] Translation: X:20.45, Y:0.56, Z:1.84 [[ 9.98804024e-01 -4.88749202e-02 -1.32843316e-03 2.04496185e+01] [ 4.88652787e-02 9.96955477e-01 6.07615062e-02 5.61540781e-01] [-1.64532505e-03 -6.07537512e-02 9.98151429e-01 1.83877467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.08719347000002 meters Centerline goodness : 0.911761 with order 1 Centerline is valid? [False, False] Translation: X:20.50, Y:0.56, Z:1.83 [[ 9.98693125e-01 -5.09343729e-02 -4.21094230e-03 2.04955305e+01] [ 5.11035276e-02 9.96314988e-01 6.88830483e-02 5.55748027e-01] [ 6.86910064e-04 -6.90082207e-02 9.97615855e-01 1.83432428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.14719347000002 meters Centerline goodness : 0.909865 with order 1 Centerline is valid? [False, False] Translation: X:20.53, Y:0.56, Z:1.83 [[ 9.98942272e-01 -4.53494623e-02 -7.60022804e-03 2.05312871e+01] [ 4.57734106e-02 9.96457662e-01 7.05473059e-02 5.55014214e-01] [ 4.37402307e-03 -7.08205744e-02 9.97479481e-01 1.83356434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.20719347 meters Centerline goodness : 0.910427 with order 1 Centerline is valid? [False, False] Translation: X:20.57, Y:0.55, Z:1.84 [[ 9.99108283e-01 -4.13987478e-02 -8.29357298e-03 2.05655461e+01] [ 4.18633617e-02 9.96861972e-01 6.71838403e-02 5.53322130e-01] [ 5.48622065e-03 -6.74711282e-02 9.97706143e-01 1.83593273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26719347000001 meters Centerline goodness : 0.912923 with order 1 Centerline is valid? [False, False] Translation: X:20.59, Y:0.55, Z:1.84 [[ 9.99379934e-01 -3.39969970e-02 -9.16247353e-03 2.05874577e+01] [ 3.44697337e-02 9.97742208e-01 5.76396071e-02 5.53636227e-01] [ 7.18221302e-03 -5.79196948e-02 9.98295410e-01 1.84002356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32719347000001 meters Centerline goodness : 0.914246 with order 1 Centerline is valid? [False, False] Translation: X:20.61, Y:0.55, Z:1.84 [[ 9.99335440e-01 -3.57244862e-02 -7.24150420e-03 2.06081536e+01] [ 3.60889861e-02 9.97619078e-01 5.87686939e-02 5.52410465e-01] [ 5.12478135e-03 -5.89909772e-02 9.98245361e-01 1.84138805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38719347000001 meters Centerline goodness : 0.917755 with order 1 Centerline is valid? [False, False] Translation: X:20.66, Y:0.53, Z:1.83 [[ 9.98769273e-01 -4.88347123e-02 8.66664312e-03 2.06569465e+01] [ 4.72994750e-02 9.90409104e-01 1.29817437e-01 5.27308866e-01] [-1.49231194e-02 -1.29247739e-01 9.91500037e-01 1.82570303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.44719347000002 meters Centerline goodness : 0.920230 with order 1 Centerline is valid? [False, False] Translation: X:20.69, Y:0.52, Z:1.82 [[ 0.99823649 -0.05469139 0.02308183 20.6905711 ] [ 0.05028889 0.98571615 0.16073177 0.51878458] [-0.03154278 -0.15928755 0.98672819 1.8167718 ] [ 0. 0. 0. 1. ]] SLAMing on 103.50719347000002 meters Centerline goodness : 0.919929 with order 1 Centerline is valid? [False, False] Translation: X:20.73, Y:0.53, Z:1.82 [[ 9.98258168e-01 -5.58762046e-02 1.89335791e-02 2.07282937e+01] [ 5.25306395e-02 9.87910435e-01 1.45854392e-01 5.29591463e-01] [-2.68544702e-02 -1.44605745e-01 9.89124874e-01 1.82073799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.56719347 meters Centerline goodness : 0.922292 with order 1 Centerline is valid? [False, False] Translation: X:20.76, Y:0.54, Z:1.82 [[ 9.98499520e-01 -5.21772440e-02 1.66205551e-02 2.07590114e+01] [ 4.96199138e-02 9.90474824e-01 1.28442545e-01 5.36583065e-01] [-2.31640194e-02 -1.27425109e-01 9.91577667e-01 1.82026958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62719347000001 meters Centerline goodness : 0.921159 with order 1 Centerline is valid? [False, False] Translation: X:20.78, Y:0.54, Z:1.81 [[ 9.98287112e-01 -5.58802160e-02 1.73275086e-02 2.07829526e+01] [ 5.31020018e-02 9.89753932e-01 1.32541814e-01 5.42903577e-01] [-2.45564350e-02 -1.31394659e-01 9.91025946e-01 1.81426864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68719347000001 meters Centerline goodness : 0.919014 with order 1 Centerline is valid? [False, False] Translation: X:20.82, Y:0.55, Z:1.81 [[ 9.97346217e-01 -7.09042336e-02 1.65261149e-02 2.08168351e+01] [ 6.74828408e-02 9.85502254e-01 1.55664295e-01 5.50158395e-01] [-2.73237810e-02 -1.54135966e-01 9.87671765e-01 1.80894655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74719347000001 meters Centerline goodness : 0.918536 with order 1 Centerline is valid? [False, False] Translation: X:20.82, Y:0.56, Z:1.81 [[ 9.96977938e-01 -7.59970685e-02 1.61070248e-02 2.08153336e+01] [ 7.27815161e-02 9.86245977e-01 1.48397185e-01 5.55986351e-01] [-2.71632394e-02 -1.46776426e-01 9.88796662e-01 1.81264974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.80719347000002 meters Centerline goodness : 0.921392 with order 1 Centerline is valid? [False, False] Translation: X:20.82, Y:0.56, Z:1.82 [[ 9.96681141e-01 -8.00910442e-02 1.45645755e-02 2.08155456e+01] [ 7.71669685e-02 9.86526495e-01 1.44259260e-01 5.63428858e-01] [-2.59222144e-02 -1.42656580e-01 9.89432736e-01 1.81606706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.86719347000002 meters Centerline goodness : 0.919125 with order 1 Centerline is valid? [False, False] Translation: X:20.81, Y:0.57, Z:1.83 [[ 9.97011343e-01 -7.71307249e-02 4.38550131e-03 2.08125294e+01] [ 7.58407121e-02 9.87990588e-01 1.34620889e-01 5.72093407e-01] [-1.47162408e-02 -1.33885954e-01 9.90887473e-01 1.82622366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.92719347 meters Centerline goodness : 0.919134 with order 1 Centerline is valid? [False, False] Translation: X:20.81, Y:0.58, Z:1.83 [[ 9.96975973e-01 -7.75599445e-02 4.83373775e-03 2.08103218e+01] [ 7.63714453e-02 9.89397490e-01 1.23531411e-01 5.82644726e-01] [-1.43635774e-02 -1.22788689e-01 9.92328890e-01 1.82961021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98719347000001 meters Centerline goodness : 0.917539 with order 1 Centerline is valid? [False, False] Translation: X:20.81, Y:0.60, Z:1.83 [[ 9.97633634e-01 -6.86377805e-02 3.99835685e-03 2.08128455e+01] [ 6.77995647e-02 9.91774604e-01 1.08564977e-01 6.01782195e-01] [-1.14171279e-02 -1.08036986e-01 9.94081314e-01 1.83187234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04719347000001 meters Centerline goodness : 0.915797 with order 1 Centerline is valid? [False, False] Translation: X:20.83, Y:0.62, Z:1.84 [[ 9.98127927e-01 -6.11283137e-02 1.99248089e-03 2.08302132e+01] [ 6.06473215e-02 9.93435584e-01 9.69930091e-02 6.16420486e-01] [-7.90842050e-03 -9.66905926e-02 9.95283068e-01 1.83866026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10719347000001 meters Centerline goodness : 0.922853 with order 1 Centerline is valid? [False, False] Translation: X:20.84, Y:0.63, Z:1.84 [[ 9.98748257e-01 -4.95643639e-02 6.72994931e-03 2.08406816e+01] [ 4.88556610e-02 9.95497202e-01 8.12308162e-02 6.32917184e-01] [-1.07257994e-02 -8.08003400e-02 9.96672595e-01 1.84426155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.16719347000002 meters Centerline goodness : 0.909097 with order 1 Centerline is valid? [False, False] Translation: X:20.87, Y:0.65, Z:1.85 [[ 9.99389227e-01 -3.47209192e-02 3.95368381e-03 2.08709377e+01] [ 3.43499113e-02 9.96850152e-01 7.14832740e-02 6.45954703e-01] [-6.42319529e-03 -7.13038052e-02 9.97433963e-01 1.84908732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.22719347000002 meters Centerline goodness : 0.909756 with order 1 Centerline is valid? [False, False] Translation: X:20.91, Y:0.66, Z:1.85 [[ 9.99666470e-01 -2.57980700e-02 1.18673598e-03 2.09137914e+01] [ 2.56602112e-02 9.97413216e-01 6.71448410e-02 6.55030758e-01] [-2.91587346e-03 -6.70919942e-02 9.97742533e-01 1.85150550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.28719347 meters Centerline goodness : 0.906775 with order 1 Centerline is valid? [False, False] Translation: X:20.96, Y:0.66, Z:1.85 [[ 9.99736981e-01 -2.29337900e-02 9.92910625e-05 2.09594301e+01] [ 2.28522058e-02 9.96527202e-01 8.00706657e-02 6.55477548e-01] [-1.93527007e-03 -8.00473366e-02 9.96789185e-01 1.84742725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34719347000001 meters Centerline goodness : 0.904349 with order 1 Centerline is valid? [False, False] Translation: X:20.98, Y:0.61, Z:1.82 [[ 9.99451019e-01 -3.28033311e-02 4.64770156e-03 2.09777805e+01] [ 3.10020874e-02 9.75457224e-01 2.17995583e-01 6.13083573e-01] [-1.16846154e-02 -2.17731820e-01 9.75938689e-01 1.81865472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40719347000001 meters Centerline goodness : 0.905174 with order 1 Centerline is valid? [False, False] Translation: X:21.00, Y:0.62, Z:1.83 [[ 9.99481378e-01 -3.21880744e-02 9.49820174e-04 2.09961613e+01] [ 3.13407936e-02 9.79101695e-01 2.00941847e-01 6.20658877e-01] [-7.39790167e-03 -2.00807866e-01 9.79602711e-01 1.82957101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46719347000001 meters Centerline goodness : 0.907551 with order 1 Centerline is valid? [False, False] Translation: X:20.99, Y:0.62, Z:1.84 [[ 9.99627814e-01 -2.72114821e-02 1.94108657e-03 2.09899835e+01] [ 2.65356949e-02 9.86381271e-01 1.62320192e-01 6.23714020e-01] [-6.33162443e-03 -1.62208271e-01 9.86736230e-01 1.83865714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52719347000001 meters Centerline goodness : 0.902100 with order 1 Centerline is valid? [False, False] Translation: X:21.00, Y:0.62, Z:1.84 [[ 9.99671667e-01 -2.49802813e-02 5.70469228e-03 2.09998503e+01] [ 2.39324483e-02 9.89804159e-01 1.40409987e-01 6.23296883e-01] [-9.15400912e-03 -1.40227359e-01 9.90077013e-01 1.84369109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.58719347000002 meters Centerline goodness : 0.909817 with order 1 Centerline is valid? [False, False] Translation: X:21.01, Y:0.62, Z:1.85 [[ 9.99596357e-01 -2.80134679e-02 4.72962294e-03 2.10088922e+01] [ 2.71951924e-02 9.91663307e-01 1.25953591e-01 6.24492431e-01] [-8.21859039e-03 -1.25774127e-01 9.92024860e-01 1.85440285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.64719347000002 meters Centerline goodness : 0.908080 with order 1 Centerline is valid? [False, False] Translation: X:21.02, Y:0.62, Z:1.86 [[ 9.99438191e-01 -3.35002592e-02 1.01694394e-03 2.10248760e+01] [ 3.31893020e-02 9.93473805e-01 1.09125015e-01 6.23216067e-01] [-4.66602346e-03 -1.09029956e-01 9.94027513e-01 1.86102971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.70719347 meters Centerline goodness : 0.907150 with order 1 Centerline is valid? [False, False] Translation: X:21.08, Y:0.62, Z:1.86 [[ 9.98880270e-01 -4.73036526e-02 -7.55737753e-04 2.10787613e+01] [ 4.71519582e-02 9.94119624e-01 9.74826475e-02 6.22045336e-01] [-3.85999156e-03 -9.74091277e-02 9.95236938e-01 1.86429300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76719347000001 meters Centerline goodness : 0.904304 with order 1 Centerline is valid? [False, False] Translation: X:21.12, Y:0.62, Z:1.87 [[ 9.98778573e-01 -4.93597424e-02 -2.23107559e-03 2.11169104e+01] [ 4.93692342e-02 9.95096853e-01 8.57025739e-02 6.22660162e-01] [-2.01012067e-03 -8.57080410e-02 9.96318268e-01 1.86884015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82719347000001 meters Centerline goodness : 0.905425 with order 1 Centerline is valid? [False, False] Translation: X:21.14, Y:0.63, Z:1.87 [[ 9.99081864e-01 -4.26308728e-02 -4.24706890e-03 2.11394599e+01] [ 4.28291865e-02 9.96280850e-01 7.47671640e-02 6.25867776e-01] [ 1.04388395e-03 -7.48804161e-02 9.97191974e-01 1.87330361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88719347000001 meters Centerline goodness : 0.901496 with order 1 Centerline is valid? [False, False] Translation: X:21.15, Y:0.63, Z:1.88 [[ 9.99689399e-01 -2.47676654e-02 -2.76906245e-03 2.11521886e+01] [ 2.48933678e-02 9.97681384e-01 6.33417374e-02 6.31776149e-01] [ 1.19381510e-03 -6.33909947e-02 9.97988054e-01 1.87898519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.94719347000002 meters Centerline goodness : 0.898680 with order 1 Centerline is valid? [False, False] Translation: X:21.16, Y:0.63, Z:1.89 [[ 9.99833449e-01 -1.79675288e-02 -3.20025729e-03 2.11624273e+01] [ 1.81229086e-02 9.98153444e-01 5.79764018e-02 6.34443163e-01] [ 2.15265517e-03 -5.80247437e-02 9.98312824e-01 1.88578828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.00719347000002 meters Centerline goodness : 0.893461 with order 1 Centerline is valid? [False, False] Translation: X:21.18, Y:0.63, Z:1.89 [[ 9.99982819e-01 -5.13006876e-03 -2.83637357e-03 2.11780154e+01] [ 5.23863992e-03 9.99198034e-01 3.96969194e-02 6.33754516e-01] [ 2.63045097e-03 -3.97110961e-02 9.99207741e-01 1.89228439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.06719347 meters Centerline goodness : 0.898469 with order 1 Centerline is valid? [False, False] Translation: X:21.20, Y:0.63, Z:1.89 [[ 9.99971086e-01 6.08744305e-03 -4.55749024e-03 2.12005323e+01] [-5.91720412e-03 9.99316909e-01 3.64787931e-02 6.30782058e-01] [ 4.77643964e-03 -3.64507708e-02 9.99324035e-01 1.89334935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12719347000001 meters Centerline goodness : 0.889346 with order 1 Centerline is valid? [False, False] Translation: X:21.23, Y:0.62, Z:1.89 [[ 9.99962205e-01 7.02920333e-03 -5.11654762e-03 2.12327076e+01] [-6.82901875e-03 9.99248935e-01 3.81435515e-02 6.17890073e-01] [ 5.38082354e-03 -3.81071688e-02 9.99259171e-01 1.89046425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18719347000001 meters Centerline goodness : 0.888204 with order 1 Centerline is valid? [False, False] Translation: X:21.26, Y:0.61, Z:1.89 [[ 9.99983508e-01 3.44249990e-03 -4.59714088e-03 2.12591602e+01] [-3.27142682e-03 9.99320395e-01 3.67157527e-02 6.09918827e-01] [ 4.72041062e-03 -3.67001080e-02 9.99315175e-01 1.88979390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24719347000001 meters Centerline goodness : 0.888256 with order 1 Centerline is valid? [False, False] Translation: X:21.31, Y:0.60, Z:1.89 [[ 9.99957248e-01 -8.21206739e-03 -4.25030632e-03 2.13114463e+01] [ 8.41462945e-03 9.98710512e-01 5.00650225e-02 5.96203180e-01] [ 3.83368826e-03 -5.00986468e-02 9.98736917e-01 1.88652525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.30719347000002 meters Centerline goodness : 0.888823 with order 1 Centerline is valid? [False, False] Translation: X:21.37, Y:0.58, Z:1.88 [[ 9.99786869e-01 -2.04747648e-02 -2.64595247e-03 2.13664770e+01] [ 2.06029281e-02 9.97700214e-01 6.45740141e-02 5.79856000e-01] [ 1.31772960e-03 -6.46147657e-02 9.97909413e-01 1.88051614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.36719347000002 meters Centerline goodness : 0.893703 with order 1 Centerline is valid? [False, False] Translation: X:21.41, Y:0.57, Z:1.88 [[ 9.99613896e-01 -2.77737163e-02 8.24798374e-04 2.14101979e+01] [ 2.76556941e-02 9.97360047e-01 6.71423804e-02 5.69372258e-01] [-2.68741437e-03 -6.70936461e-02 9.97743063e-01 1.87865608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.42719347 meters Centerline goodness : 0.895353 with order 1 Centerline is valid? [False, False] Translation: X:21.46, Y:0.56, Z:1.88 [[ 9.99519319e-01 -3.10018077e-02 -1.35952627e-04 2.14569696e+01] [ 3.09365677e-02 9.97111763e-01 6.93618102e-02 5.62249497e-01] [-2.01478154e-03 -6.93326752e-02 9.97591560e-01 1.88024453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48719347000001 meters Centerline goodness : 0.897327 with order 1 Centerline is valid? [False, False] Translation: X:21.48, Y:0.56, Z:1.88 [[ 9.99689100e-01 -2.49183547e-02 -8.82786254e-04 2.14842038e+01] [ 2.49270011e-02 9.97944385e-01 5.90393941e-02 5.58809168e-01] [-5.90192978e-04 -5.90430440e-02 9.98255263e-01 1.87988877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54719347000001 meters Centerline goodness : 0.902704 with order 1 Centerline is valid? [False, False] Translation: X:21.52, Y:0.55, Z:1.88 [[ 9.99797628e-01 -2.00979823e-02 8.79759319e-04 2.15214166e+01] [ 2.00085636e-02 9.97985069e-01 6.02117964e-02 5.47833795e-01] [-2.08812229e-03 -6.01820085e-02 9.98185236e-01 1.87638554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60719347000001 meters Centerline goodness : 0.901167 with order 1 Centerline is valid? [False, False] Translation: X:21.54, Y:0.55, Z:1.88 [[ 9.99803234e-01 -1.93853010e-02 4.20745542e-03 2.15381700e+01] [ 1.90605414e-02 9.97576725e-01 6.69131814e-02 5.45335596e-01] [-5.49439176e-03 -6.68198188e-02 9.97749930e-01 1.87614528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.66719347000002 meters Centerline goodness : 0.903114 with order 1 Centerline is valid? [False, False] Translation: X:21.57, Y:0.54, Z:1.88 [[ 9.99905290e-01 -1.37089673e-02 1.21456213e-03 2.15654622e+01] [ 1.36195998e-02 9.98341946e-01 5.59273286e-02 5.38727474e-01] [-1.97925425e-03 -5.59054899e-02 9.98434103e-01 1.87709017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.72719347000002 meters Centerline goodness : 0.902074 with order 1 Centerline is valid? [False, False] Translation: X:21.57, Y:0.54, Z:1.88 [[ 9.99892581e-01 -1.46439339e-02 -6.17493183e-04 2.15708766e+01] [ 1.46559776e-02 9.98454173e-01 5.36140547e-02 5.36803266e-01] [-1.68582031e-04 -5.36173455e-02 9.98561541e-01 1.87551263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.78719347000002 meters Centerline goodness : 0.896227 with order 1 Centerline is valid? [False, False] Translation: X:21.60, Y:0.53, Z:1.88 [[ 9.99976143e-01 -6.88197985e-03 5.92601539e-04 2.15960833e+01] [ 6.84842822e-03 9.98967759e-01 4.49056392e-02 5.31501210e-01] [-9.01029535e-04 -4.49005095e-02 9.98991057e-01 1.87539689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84719347000001 meters Centerline goodness : 0.902276 with order 1 Centerline is valid? [False, False] Translation: X:21.61, Y:0.53, Z:1.88 [[ 9.99986606e-01 4.04054530e-03 3.23436023e-03 2.16084103e+01] [-4.17361234e-03 9.99098317e-01 4.22508385e-02 5.30646449e-01] [-3.06072744e-03 -4.22637716e-02 9.99101799e-01 1.88009365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90719347000001 meters Centerline goodness : 0.900291 with order 1 Centerline is valid? [False, False] Translation: X:21.62, Y:0.53, Z:1.88 [[ 9.99980289e-01 6.27860040e-03 6.19093610e-08 2.16175385e+01] [-6.27392877e-03 9.99235867e-01 3.85787371e-02 5.29353322e-01] [ 2.42158612e-04 -3.85779771e-02 9.99255563e-01 1.88196801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96719347000001 meters Centerline goodness : 0.901575 with order 1 Centerline is valid? [False, False] Translation: X:21.66, Y:0.52, Z:1.88 [[ 9.99997278e-01 -2.32269224e-03 2.22492500e-04 2.16570210e+01] [ 2.31149698e-03 9.99140915e-01 4.13773999e-02 5.16950816e-01] [-3.18408325e-04 -4.13767730e-02 9.99143564e-01 1.87706570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.02719347000001 meters Centerline goodness : 0.900570 with order 1 Centerline is valid? [False, False] Translation: X:21.71, Y:0.51, Z:1.87 [[ 9.99781957e-01 -2.08563028e-02 1.02634187e-03 2.17084901e+01] [ 2.07523428e-02 9.97854301e-01 6.20977758e-02 5.05209564e-01] [-2.31926967e-03 -6.20629368e-02 9.98069543e-01 1.87251180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.08719347000002 meters Centerline goodness : 0.900034 with order 1 Centerline is valid? [False, False] Translation: X:21.73, Y:0.45, Z:1.86 [[ 9.99266660e-01 -3.79220280e-02 5.29729490e-03 2.17324526e+01] [ 3.56811810e-02 9.72417610e-01 2.30501289e-01 4.49088608e-01] [-1.38922592e-02 -2.30143239e-01 9.73057601e-01 1.85697504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.14719347000002 meters Centerline goodness : 0.896482 with order 1 Centerline is valid? [False, False] Translation: X:21.75, Y:0.38, Z:1.86 [[ 9.98355502e-01 -5.51424677e-02 -1.56716221e-02 2.17491835e+01] [ 5.65329322e-02 9.01715976e-01 4.28616760e-01 3.79083507e-01] [-9.50363386e-03 -4.28797863e-01 9.03350471e-01 1.86203602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.20719347 meters Centerline goodness : 0.890756 with order 1 Centerline is valid? [False, False] Translation: X:21.77, Y:0.33, Z:1.88 [[ 9.97369517e-01 -6.31349158e-02 -3.56093882e-02 2.17675449e+01] [ 7.19031189e-02 7.99634141e-01 5.96167076e-01 3.31135587e-01] [-9.16447555e-03 -5.97159294e-01 8.02070315e-01 1.88303587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26719347000001 meters Centerline goodness : 0.893637 with order 1 Centerline is valid? [False, False] Translation: X:21.76, Y:0.35, Z:1.89 [[ 9.97057757e-01 -6.74867991e-02 -3.63505294e-02 2.17577670e+01] [ 7.61650121e-02 8.18742807e-01 5.69086203e-01 3.45416759e-01] [-8.64407175e-03 -5.70180451e-01 8.21474000e-01 1.89400834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32719347000001 meters Centerline goodness : 0.892314 with order 1 Centerline is valid? [False, False] Translation: X:21.75, Y:0.36, Z:1.90 [[ 9.96744649e-01 -7.10099431e-02 -3.81797305e-02 2.17484823e+01] [ 8.03700281e-02 8.37637756e-01 5.40281082e-01 3.60627940e-01] [-6.38454515e-03 -5.41590784e-01 8.40618023e-01 1.90310779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38719347000001 meters Centerline goodness : 0.893332 with order 1 Centerline is valid? [False, False] Translation: X:21.74, Y:0.38, Z:1.91 [[ 9.96368367e-01 -7.51355610e-02 -4.00590089e-02 2.17449765e+01] [ 8.50325558e-02 8.53602542e-01 5.13937899e-01 3.76555523e-01] [-4.42054050e-03 -5.15477785e-01 8.56891540e-01 1.91083191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.44719347000002 meters Centerline goodness : 0.892198 with order 1 Centerline is valid? [False, False] Translation: X:21.73, Y:0.39, Z:1.92 [[ 9.96490542e-01 -7.29409581e-02 -4.10635627e-02 2.17328758e+01] [ 8.37054279e-02 8.68167415e-01 4.89161263e-01 3.92852259e-01] [-2.98440802e-05 -4.90881815e-01 8.71226172e-01 1.91986526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.50719347000002 meters Centerline goodness : 0.898302 with order 1 Centerline is valid? [False, False] Translation: X:21.72, Y:0.42, Z:1.93 [[ 9.97084340e-01 -6.31606662e-02 -4.28199720e-02 2.17240375e+01] [ 7.58525382e-02 8.81559861e-01 4.65938413e-01 4.16683297e-01] [ 8.31938801e-03 -4.67827898e-01 8.83780428e-01 1.93091763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.56719347 meters Centerline goodness : 0.900525 with order 1 Centerline is valid? [False, False] Translation: X:21.72, Y:0.44, Z:1.93 [[ 9.97367597e-01 -5.89820183e-02 -4.21781744e-02 2.17230442e+01] [ 7.13746456e-02 9.01146937e-01 4.27597775e-01 4.39070819e-01] [ 1.27881529e-02 -4.29482617e-01 9.02984576e-01 1.93277025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62719347000001 meters Centerline goodness : 0.898804 with order 1 Centerline is valid? [False, False] Translation: X:21.77, Y:0.43, Z:1.93 [[ 9.97733957e-01 -5.86482267e-02 -3.29747903e-02 2.17663073e+01] [ 6.72821119e-02 8.71597254e-01 4.85583509e-01 4.30089241e-01] [ 2.62125018e-04 -4.86701769e-01 8.73568154e-01 1.92766312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68719347000001 meters Centerline goodness : 0.902833 with order 1 Centerline is valid? [False, False] Translation: X:21.79, Y:0.39, Z:1.93 [[ 9.97650580e-01 -6.13957856e-02 -3.03953465e-02 2.17897935e+01] [ 6.71605670e-02 7.88942076e-01 6.10786263e-01 3.94605332e-01] [-1.35195347e-02 -6.11392638e-01 7.91211896e-01 1.92943122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74719347000001 meters Centerline goodness : 0.895471 with order 1 Centerline is valid? [False, False] Translation: X:21.82, Y:0.36, Z:1.93 [[ 0.99690718 -0.0724381 -0.03047629 21.81900136] [ 0.07247065 0.69736069 0.71304703 0.35895529] [-0.03039881 -0.71305034 0.70045351 1.93334121] [ 0. 0. 0. 1. ]] SLAMing on 106.80719347000002 meters Centerline goodness : 0.896840 with order 1 Centerline is valid? [False, False] Translation: X:21.86, Y:0.36, Z:1.94 [[ 0.99596151 -0.08261104 -0.03515807 21.85764546] [ 0.08103183 0.65849519 0.74820982 0.35566842] [-0.03865897 -0.7480371 0.66252999 1.93749944] [ 0. 0. 0. 1. ]] SLAMing on 106.86719347000002 meters Centerline goodness : 0.894994 with order 1 Centerline is valid? [False, False] Translation: X:21.85, Y:0.39, Z:1.95 [[ 0.9953828 -0.08334634 -0.04760749 21.85013048] [ 0.09218443 0.69191328 0.71607126 0.38726506] [-0.02674166 -0.71715368 0.69640181 1.95426655] [ 0. 0. 0. 1. ]] SLAMing on 106.92719347 meters Centerline goodness : 0.895768 with order 1 Centerline is valid? [False, False] Translation: X:21.84, Y:0.42, Z:1.97 [[ 9.95360721e-01 -8.14236898e-02 -5.12563968e-02 2.18388031e+01] [ 9.43319402e-02 7.21040733e-01 6.86441364e-01 4.21236524e-01] [-1.89346387e-02 -6.88091886e-01 7.25376479e-01 1.96750912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98719347000001 meters Centerline goodness : 0.897242 with order 1 Centerline is valid? [False, False] Translation: X:21.83, Y:0.46, Z:1.98 [[ 9.95715833e-01 -7.12990019e-02 -5.88764207e-02 2.18258039e+01] [ 9.24350899e-02 7.51031129e-01 6.53764482e-01 4.57558069e-01] [-2.39473032e-03 -6.56405893e-01 7.54404115e-01 1.98210038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04719347000001 meters Centerline goodness : 0.898114 with order 1 Centerline is valid? [False, False] Translation: X:21.80, Y:0.49, Z:1.98 [[ 9.96418848e-01 -6.21108222e-02 -5.73735595e-02 2.18007177e+01] [ 8.41832082e-02 7.92246065e-01 6.04366908e-01 4.90017620e-01] [ 7.91625121e-03 -6.07032468e-01 7.94637600e-01 1.98360989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10719347000001 meters Centerline goodness : 0.902972 with order 1 Centerline is valid? [False, False] Translation: X:21.77, Y:0.53, Z:1.99 [[ 9.97583618e-01 -4.45371556e-02 -5.33232258e-02 2.17690971e+01] [ 6.66504813e-02 8.30142488e-01 5.53553216e-01 5.33642794e-01] [ 1.96121896e-02 -5.55769639e-01 8.31104969e-01 1.98773075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.16719347000002 meters Centerline goodness : 0.897600 with order 1 Centerline is valid? [False, False] Translation: X:21.75, Y:0.56, Z:2.00 [[ 0.99797802 -0.03459716 -0.05331891 21.74702848] [ 0.05671254 0.86345741 0.50122349 0.56393258] [ 0.0286977 -0.50323388 0.86367361 1.99694252] [ 0. 0. 0. 1. ]] SLAMing on 107.22719347000002 meters Centerline goodness : 0.900471 with order 1 Centerline is valid? [False, False] Translation: X:21.72, Y:0.59, Z:2.01 [[ 0.99839015 -0.03020597 -0.04800732 21.72310785] [ 0.04859137 0.89208983 0.44923782 0.58736408] [ 0.02925718 -0.45084736 0.89212145 2.00786843] [ 0. 0. 0. 1. ]] SLAMing on 107.28719347000002 meters Centerline goodness : 0.897359 with order 1 Centerline is valid? [False, False] Translation: X:21.74, Y:0.60, Z:2.02 [[ 0.99844254 -0.03655615 -0.04214426 21.73582456] [ 0.05086718 0.90675854 0.41857076 0.6034063 ] [ 0.02291333 -0.42006262 0.90720581 2.01925355] [ 0. 0. 0. 1. ]] SLAMing on 107.34719347000001 meters Centerline goodness : 0.893935 with order 1 Centerline is valid? [False, False] Translation: X:21.75, Y:0.61, Z:2.03 [[ 0.99810834 -0.04253409 -0.04439134 21.74969575] [ 0.05635247 0.92161687 0.38398795 0.61286196] [ 0.02457923 -0.38576313 0.92227039 2.02936177] [ 0. 0. 0. 1. ]] SLAMing on 107.40719347000001 meters Centerline goodness : 0.884197 with order 1 Centerline is valid? [False, False] Translation: X:21.77, Y:0.62, Z:2.04 [[ 0.99785471 -0.04575102 -0.04682766 21.76604063] [ 0.05935586 0.93400871 0.35228484 0.61955177] [ 0.02762005 -0.35430858 0.93472058 2.03785096] [ 0. 0. 0. 1. ]] SLAMing on 107.46719347000001 meters Centerline goodness : 0.881396 with order 1 Centerline is valid? [False, False] Translation: X:21.77, Y:0.63, Z:2.05 [[ 0.99760322 -0.04935704 -0.04849421 21.77209449] [ 0.06233813 0.94525598 0.32032028 0.63267472] [ 0.03002938 -0.32257559 0.94606724 2.04953732] [ 0. 0. 0. 1. ]] SLAMing on 107.52719347000001 meters Centerline goodness : 0.887422 with order 1 Centerline is valid? [False, False] Translation: X:21.78, Y:0.64, Z:2.06 [[ 0.99766579 -0.04873505 -0.04783171 21.78473536] [ 0.06055863 0.95511962 0.28996407 0.64022194] [ 0.0315536 -0.29218386 0.9558415 2.06029797] [ 0. 0. 0. 1. ]] SLAMing on 107.58719347000002 meters Centerline goodness : 0.879604 with order 1 Centerline is valid? [False, False] Translation: X:21.80, Y:0.65, Z:2.07 [[ 0.99754874 -0.0480196 -0.05089815 21.79906825] [ 0.05967182 0.96367406 0.26032975 0.64621184] [ 0.0365483 -0.2627288 0.96417727 2.06948134] [ 0. 0. 0. 1. ]] SLAMing on 107.64719347000002 meters Centerline goodness : 0.878483 with order 1 Centerline is valid? [False, False] Translation: X:21.82, Y:0.65, Z:2.08 [[ 0.99744876 -0.04951035 -0.0514267 21.81735982] [ 0.06052518 0.96851226 0.24149678 0.65239536] [ 0.0378508 -0.24399327 0.96903798 2.07784075] [ 0. 0. 0. 1. ]] SLAMing on 107.70719347 meters Centerline goodness : 0.877376 with order 1 Centerline is valid? [False, False] Translation: X:21.86, Y:0.65, Z:2.08 [[ 0.99725522 -0.05700352 -0.04725058 21.86161436] [ 0.06641249 0.97080521 0.23049212 0.6535374 ] [ 0.03273224 -0.2329975 0.97192632 2.0827544 ] [ 0. 0. 0. 1. ]] SLAMing on 107.76719347000001 meters Centerline goodness : 0.880024 with order 1 Centerline is valid? [False, False] Translation: X:21.90, Y:0.65, Z:2.09 [[ 0.99710121 -0.06182511 -0.04434892 21.90023159] [ 0.07004736 0.97347786 0.21779401 0.65352246] [ 0.02970756 -0.2202692 0.97498664 2.08815107] [ 0. 0. 0. 1. ]] SLAMing on 107.82719347000001 meters Centerline goodness : 0.881289 with order 1 Centerline is valid? [False, False] Translation: X:21.96, Y:0.65, Z:2.09 [[ 9.96883943e-01 -6.99803244e-02 -3.64027169e-02 2.19610056e+01] [ 7.67030834e-02 9.67675227e-01 2.40252561e-01 6.50541521e-01] [ 1.84130552e-02 -2.42296121e-01 9.70027602e-01 2.09165688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88719347000001 meters Centerline goodness : 0.880007 with order 1 Centerline is valid? [False, False] Translation: X:22.01, Y:0.62, Z:2.08 [[ 9.96748017e-01 -7.66095481e-02 -2.49873588e-02 2.20079978e+01] [ 8.05096467e-02 9.33671042e-01 3.48965014e-01 6.15347366e-01] [-3.40407869e-03 -3.49841909e-01 9.36802568e-01 2.07993731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.94719347000002 meters Centerline goodness : 0.880255 with order 1 Centerline is valid? [False, False] Translation: X:22.05, Y:0.56, Z:2.07 [[ 0.99616973 -0.08458703 -0.02215636 22.04807708] [ 0.084322 0.86222086 0.49946469 0.56180032] [-0.02314456 -0.49941988 0.86605087 2.07204824] [ 0. 0. 0. 1. ]] SLAMing on 108.00719347000002 meters Centerline goodness : 0.878949 with order 1 Centerline is valid? [False, False] Translation: X:22.05, Y:0.57, Z:2.10 [[ 9.95909929e-01 -8.48526288e-02 -3.10394200e-02 2.20511178e+01] [ 8.94129672e-02 8.76189482e-01 4.73600372e-01 5.74270936e-01] [-1.29898232e-02 -4.74438639e-01 8.80192730e-01 2.09594058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.06719347 meters Centerline goodness : 0.876573 with order 1 Centerline is valid? [False, False] Translation: X:22.05, Y:0.59, Z:2.12 [[ 9.95946573e-01 -8.17480337e-02 -3.75191036e-02 2.20537238e+01] [ 8.98719581e-02 8.87400987e-01 4.52153204e-01 5.86060310e-01] [-3.66814581e-03 -4.53692349e-01 8.91150827e-01 2.11581925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12719347000001 meters Centerline goodness : 0.879396 with order 1 Centerline is valid? [False, False] Translation: X:22.05, Y:0.60, Z:2.13 [[ 9.96049200e-01 -7.79071801e-02 -4.26199771e-02 2.20547397e+01] [ 8.86294023e-02 9.02130851e-01 4.22261480e-01 5.96820601e-01] [ 5.55159505e-03 -4.24370592e-01 9.05471579e-01 2.13496297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18719347000001 meters Centerline goodness : 0.878994 with order 1 Centerline is valid? [False, False] Translation: X:22.09, Y:0.61, Z:2.14 [[ 9.95993457e-01 -7.88519572e-02 -4.21829703e-02 2.20944933e+01] [ 8.92320861e-02 9.07375002e-01 4.10741086e-01 6.06249400e-01] [ 5.88803425e-03 -4.12859509e-01 9.10775690e-01 2.13803437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24719347000001 meters Centerline goodness : 0.882646 with order 1 Centerline is valid? [False, False] Translation: X:22.11, Y:0.62, Z:2.15 [[ 9.96317402e-01 -7.65721278e-02 -3.85790609e-02 2.21062773e+01] [ 8.55069524e-02 9.20601980e-01 3.81025662e-01 6.21440306e-01] [ 6.34001416e-03 -3.82921275e-01 9.23759222e-01 2.14640637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.30719347000002 meters Centerline goodness : 0.885005 with order 1 Centerline is valid? [False, False] Translation: X:22.15, Y:0.59, Z:2.14 [[ 9.96620661e-01 -7.94061545e-02 -2.10219267e-02 2.21549027e+01] [ 7.99896537e-02 8.79991845e-01 4.68205092e-01 5.93801359e-01] [-1.86792418e-02 -4.68304404e-01 8.83369725e-01 2.13849849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.36719347000002 meters Centerline goodness : 0.885133 with order 1 Centerline is valid? [False, False] Translation: X:22.15, Y:0.61, Z:2.16 [[ 9.96339733e-01 -8.35665137e-02 -1.79937161e-02 2.21536468e+01] [ 8.29258184e-02 8.93802715e-01 4.40726691e-01 6.06174412e-01] [-2.07471608e-02 -4.40605657e-01 8.97460980e-01 2.15658819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.42719347 meters Centerline goodness : 0.883233 with order 1 Centerline is valid? [False, False] Translation: X:22.16, Y:0.62, Z:2.18 [[ 9.95824182e-01 -8.90842981e-02 -1.99545942e-02 2.21565751e+01] [ 8.93035558e-02 9.05210040e-01 4.15475220e-01 6.20516948e-01] [-1.89492193e-02 -4.15522288e-01 9.09385592e-01 2.17555532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48719347000001 meters Centerline goodness : 0.883912 with order 1 Centerline is valid? [False, False] Translation: X:22.15, Y:0.64, Z:2.19 [[ 9.95722623e-01 -8.93755001e-02 -2.34196186e-02 2.21543310e+01] [ 9.13482169e-02 9.14300851e-01 3.94600378e-01 6.37325604e-01] [-1.38550289e-02 -3.95051863e-01 9.18554333e-01 2.19317892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54719347000001 meters Centerline goodness : 0.886898 with order 1 Centerline is valid? [False, False] Translation: X:22.16, Y:0.65, Z:2.21 [[ 9.95748340e-01 -8.85006088e-02 -2.55516221e-02 2.21550620e+01] [ 9.16859969e-02 9.25462353e-01 3.67577355e-01 6.51043055e-01] [-8.88375539e-03 -3.68357267e-01 9.29641868e-01 2.21223319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60719347000001 meters Centerline goodness : 0.884569 with order 1 Centerline is valid? [False, False] Translation: X:22.17, Y:0.67, Z:2.22 [[ 9.95943298e-01 -8.51626091e-02 -2.90564551e-02 2.21705300e+01] [ 8.99702278e-02 9.37006906e-01 3.37525429e-01 6.69984799e-01] [-1.51844704e-03 -3.38770405e-01 9.40867848e-01 2.21792485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66719347000002 meters Centerline goodness : 0.881224 with order 1 Centerline is valid? [False, False] Translation: X:22.17, Y:0.69, Z:2.23 [[ 9.96762589e-01 -7.55731179e-02 -2.74416508e-02 2.21690111e+01] [ 8.03374653e-02 9.49745218e-01 3.02539109e-01 6.93673321e-01] [ 3.19875282e-03 -3.03764259e-01 9.52741855e-01 2.22641357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.72719347000002 meters Centerline goodness : 0.879205 with order 1 Centerline is valid? [False, False] Translation: X:22.19, Y:0.71, Z:2.23 [[ 9.97448400e-01 -6.69824330e-02 -2.46990371e-02 2.21921609e+01] [ 7.12067805e-02 9.58280636e-01 2.76817299e-01 7.08071484e-01] [ 5.12671276e-03 -2.77869711e-01 9.60605091e-01 2.23326497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.78719347000002 meters Centerline goodness : 0.883821 with order 1 Centerline is valid? [False, False] Translation: X:22.20, Y:0.72, Z:2.24 [[ 9.98233710e-01 -5.60803428e-02 -1.96075575e-02 2.21982638e+01] [ 5.91729045e-02 9.67961279e-01 2.44027724e-01 7.20995582e-01] [ 5.29419806e-03 -2.44756936e-01 9.69570015e-01 2.24189815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84719347000001 meters Centerline goodness : 0.884986 with order 1 Centerline is valid? [False, False] Translation: X:22.20, Y:0.73, Z:2.25 [[ 9.99264754e-01 -3.65499031e-02 -1.15782564e-02 2.22034914e+01] [ 3.82012482e-02 9.74828104e-01 2.19660719e-01 7.34658044e-01] [ 3.25823176e-03 -2.19941518e-01 9.75507618e-01 2.25202233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90719347000001 meters Centerline goodness : 0.884499 with order 1 Centerline is valid? [False, False] Translation: X:22.22, Y:0.74, Z:2.26 [[ 9.99671631e-01 -2.39152527e-02 -9.20277091e-03 2.22157016e+01] [ 2.52687518e-02 9.79675551e-01 1.98990714e-01 7.42576293e-01] [ 4.25681645e-03 -1.99157915e-01 9.79958165e-01 2.26197549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96719347000001 meters Centerline goodness : 0.885005 with order 1 Centerline is valid? [False, False] Translation: X:22.20, Y:0.74, Z:2.27 [[ 9.99932347e-01 -9.69253997e-03 -6.43079608e-03 2.22040352e+01] [ 1.06217579e-02 9.86207735e-01 1.65171071e-01 7.43636076e-01] [ 4.74117363e-03 -1.65228203e-01 9.86243967e-01 2.27108343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02719347000001 meters Centerline goodness : 0.883340 with order 1 Centerline is valid? [False, False] Translation: X:22.21, Y:0.74, Z:2.28 [[ 9.99901033e-01 -6.83839171e-03 -1.22947636e-02 2.22116525e+01] [ 8.54369963e-03 9.89469317e-01 1.44490400e-01 7.42864491e-01] [ 1.11772094e-02 -1.44581143e-01 9.89429817e-01 2.27838634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.08719347000002 meters Centerline goodness : 0.880322 with order 1 Centerline is valid? [False, False] Translation: X:22.23, Y:0.73, Z:2.29 [[ 9.99795925e-01 -1.17218904e-02 -1.64531201e-02 2.22319565e+01] [ 1.37272511e-02 9.91730083e-01 1.27604878e-01 7.30138121e-01] [ 1.48212837e-02 -1.27804693e-01 9.91688605e-01 2.28598280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.14719347000002 meters Centerline goodness : 0.876561 with order 1 Centerline is valid? [False, False] Translation: X:22.28, Y:0.72, Z:2.29 [[ 9.99753752e-01 -1.66316971e-02 -1.46908580e-02 2.22831596e+01] [ 1.83924965e-02 9.91443326e-01 1.29235631e-01 7.17665375e-01] [ 1.24157453e-02 -1.29474008e-01 9.91505083e-01 2.28769723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.20719347 meters Centerline goodness : 0.877305 with order 1 Centerline is valid? [False, False] Translation: X:22.31, Y:0.71, Z:2.30 [[ 9.99773169e-01 -1.22544216e-02 -1.74195015e-02 2.23097985e+01] [ 1.41711844e-02 9.93316056e-01 1.14553006e-01 7.09380521e-01] [ 1.58992897e-02 -1.14773877e-01 9.93264401e-01 2.29532142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26719347000001 meters Centerline goodness : 0.880313 with order 1 Centerline is valid? [False, False] Translation: X:22.33, Y:0.70, Z:2.30 [[ 9.99666867e-01 -1.29770068e-02 -2.23103748e-02 2.23323889e+01] [ 1.51599159e-02 9.94807753e-01 1.00636530e-01 6.98232411e-01] [ 2.08885729e-02 -1.00941228e-01 9.94673080e-01 2.30194847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32719347000001 meters Centerline goodness : 0.876493 with order 1 Centerline is valid? [False, False] Translation: X:22.40, Y:0.67, Z:2.30 [[ 9.99404125e-01 -3.10447742e-02 -1.50869496e-02 2.23977415e+01] [ 3.28665204e-02 9.89437229e-01 1.41186973e-01 6.65634312e-01] [ 1.05444719e-02 -1.41598699e-01 9.89867982e-01 2.29810146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38719347000001 meters Centerline goodness : 0.879561 with order 1 Centerline is valid? [False, False] Translation: X:22.43, Y:0.65, Z:2.30 [[ 9.99263797e-01 -3.54332492e-02 -1.47087801e-02 2.24292666e+01] [ 3.70980666e-02 9.90139716e-01 1.35081737e-01 6.53802010e-01] [ 9.77736252e-03 -1.35527957e-01 9.90725278e-01 2.30330407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44719347000002 meters Centerline goodness : 0.873810 with order 1 Centerline is valid? [False, False] Translation: X:22.48, Y:0.63, Z:2.31 [[ 9.99101228e-01 -3.99793451e-02 -1.40850200e-02 2.24784065e+01] [ 4.15076924e-02 9.90127603e-01 1.33882192e-01 6.34616735e-01] [ 8.59344469e-03 -1.34346499e-01 9.90897155e-01 2.30669533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.50719347000002 meters Centerline goodness : 0.871395 with order 1 Centerline is valid? [False, False] Translation: X:22.52, Y:0.61, Z:2.30 [[ 9.99183917e-01 -3.87120463e-02 -1.15272511e-02 2.25248996e+01] [ 3.99824715e-02 9.88452799e-01 1.46159041e-01 6.12907128e-01] [ 5.73602808e-03 -1.46500651e-01 9.89193943e-01 2.30411576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.56719347 meters Centerline goodness : 0.869468 with order 1 Centerline is valid? [False, False] Translation: X:22.54, Y:0.61, Z:2.31 [[ 9.99192138e-01 -3.77398915e-02 -1.38120428e-02 2.25431128e+01] [ 3.92603561e-02 9.90083619e-01 1.34881620e-01 6.09379378e-01] [ 8.58465962e-03 -1.35314920e-01 9.90765450e-01 2.30743868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62719347000001 meters Centerline goodness : 0.867804 with order 1 Centerline is valid? [False, False] Translation: X:22.59, Y:0.58, Z:2.31 [[ 9.99194325e-01 -3.96415705e-02 -6.26470438e-03 2.25914262e+01] [ 4.01335180e-02 9.86802073e-01 1.56878834e-01 5.84790452e-01] [-3.69000921e-05 -1.57003865e-01 9.87597987e-01 2.30754934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68719347000001 meters Centerline goodness : 0.868366 with order 1 Centerline is valid? [False, False] Translation: X:22.63, Y:0.56, Z:2.31 [[ 9.99273882e-01 -3.79784396e-02 -3.05718276e-03 2.26333650e+01] [ 3.79390904e-02 9.84415845e-01 1.71715082e-01 5.64207362e-01] [-3.51193172e-03 -1.71706383e-01 9.85141911e-01 2.30686664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74719347000001 meters Centerline goodness : 0.869387 with order 1 Centerline is valid? [False, False] Translation: X:22.66, Y:0.56, Z:2.31 [[ 9.99203347e-01 -3.99063172e-02 -3.96821821e-04 2.26621077e+01] [ 3.94385287e-02 9.85871734e-01 1.62792898e-01 5.57018947e-01] [-6.10524959e-03 -1.62678858e-01 9.86660182e-01 2.31252961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.80719347000002 meters Centerline goodness : 0.870196 with order 1 Centerline is valid? [False, False] Translation: X:22.70, Y:0.51, Z:2.31 [[ 9.98427233e-01 -5.41492389e-02 1.45230907e-02 2.27042868e+01] [ 4.81071511e-02 9.60516973e-01 2.74030739e-01 5.10091769e-01] [-2.87882311e-02 -2.72901088e-01 9.61611270e-01 2.31257373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.86719347000002 meters Centerline goodness : 0.869386 with order 1 Centerline is valid? [False, False] Translation: X:22.71, Y:0.51, Z:2.32 [[ 9.98065901e-01 -6.05351006e-02 1.41406580e-02 2.27084964e+01] [ 5.48118736e-02 9.64259270e-01 2.59229086e-01 5.09885820e-01] [-2.93277193e-02 -2.57952635e-01 9.65712340e-01 2.31720079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.92719347 meters Centerline goodness : 0.865662 with order 1 Centerline is valid? [False, False] Translation: X:22.70, Y:0.51, Z:2.32 [[ 9.98220820e-01 -5.81281687e-02 1.32781890e-02 2.27011459e+01] [ 5.31451091e-02 9.68352972e-01 2.43860858e-01 5.10155015e-01] [-2.70331589e-02 -2.42721315e-01 9.69719326e-01 2.32080735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98719347000001 meters Centerline goodness : 0.861074 with order 1 Centerline is valid? [False, False] Translation: X:22.70, Y:0.51, Z:2.32 [[ 9.98338456e-01 -5.72475297e-02 6.56111635e-03 2.26990397e+01] [ 5.42014923e-02 9.71611884e-01 2.30287961e-01 5.09065027e-01] [-1.95582755e-02 -2.29549705e-01 9.73100409e-01 2.32336309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04719347000001 meters Centerline goodness : 0.859161 with order 1 Centerline is valid? [False, False] Translation: X:22.71, Y:0.51, Z:2.33 [[ 9.98004034e-01 -6.31083664e-02 2.29836140e-03 2.27072615e+01] [ 6.10380753e-02 9.73319615e-01 2.21186078e-01 5.09475382e-01] [-1.61957323e-02 -2.20604311e-01 9.75228915e-01 2.32680937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10719347000001 meters Centerline goodness : 0.858985 with order 1 Centerline is valid? [False, False] Translation: X:22.70, Y:0.51, Z:2.33 [[ 9.97607963e-01 -6.91222349e-02 -6.84113653e-04 2.27002803e+01] [ 6.78278304e-02 9.76921860e-01 2.02541513e-01 5.06914835e-01] [-1.33317965e-02 -2.02103428e-01 9.79273439e-01 2.33027760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16719347000002 meters Centerline goodness : 0.861068 with order 1 Centerline is valid? [False, False] Translation: X:22.70, Y:0.51, Z:2.33 [[ 9.97648196e-01 -6.85391755e-02 -6.77042511e-04 2.27001033e+01] [ 6.72410011e-02 9.76740850e-01 2.03607364e-01 5.06037362e-01] [-1.32937858e-02 -2.03174045e-01 9.79052390e-01 2.33111838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.22719347000002 meters Centerline goodness : 0.860788 with order 1 Centerline is valid? [False, False] Translation: X:22.69, Y:0.51, Z:2.33 [[ 9.98098755e-01 -6.15630757e-02 2.97719010e-03 2.26904407e+01] [ 5.99036624e-02 9.80297772e-01 1.88222820e-01 5.09284698e-01] [-1.45061085e-02 -1.87686617e-01 9.82121839e-01 2.33198680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.28719347000002 meters Centerline goodness : 0.861852 with order 1 Centerline is valid? [False, False] Translation: X:22.68, Y:0.51, Z:2.33 [[ 9.98420263e-01 -5.57395954e-02 7.07647328e-03 2.26843600e+01] [ 5.36298030e-02 9.82954660e-01 1.75852155e-01 5.14108195e-01] [-1.67577803e-02 -1.75194845e-01 9.84391154e-01 2.33269857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34719347000001 meters Centerline goodness : 0.862770 with order 1 Centerline is valid? [False, False] Translation: X:22.68, Y:0.52, Z:2.34 [[ 9.98632924e-01 -5.10475312e-02 1.12442261e-02 2.26778079e+01] [ 4.85498248e-02 9.85535319e-01 1.62367022e-01 5.18664408e-01] [-1.93700176e-02 -1.61599148e-01 9.86666366e-01 2.33534582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40719347000001 meters Centerline goodness : 0.860678 with order 1 Centerline is valid? [False, False] Translation: X:22.68, Y:0.52, Z:2.34 [[ 9.98364804e-01 -5.58277716e-02 1.22873246e-02 2.26756753e+01] [ 5.31920479e-02 9.86005247e-01 1.58000816e-01 5.17753752e-01] [-2.09362000e-02 -1.57088866e-01 9.87362529e-01 2.33705939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46719347000001 meters Centerline goodness : 0.858571 with order 1 Centerline is valid? [False, False] Translation: X:22.68, Y:0.52, Z:2.34 [[ 9.97888692e-01 -6.36499404e-02 1.29167649e-02 2.26751977e+01] [ 6.09693319e-02 9.86588992e-01 1.51409711e-01 5.15436536e-01] [-2.23807572e-02 -1.50302512e-01 9.88386694e-01 2.33859844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52719347000001 meters Centerline goodness : 0.861046 with order 1 Centerline is valid? [False, False] Translation: X:22.69, Y:0.51, Z:2.34 [[ 9.97645467e-01 -6.79698161e-02 9.14477380e-03 2.26853304e+01] [ 6.59477703e-02 9.87358305e-01 1.44133508e-01 5.09696355e-01] [-1.88258964e-02 -1.43191064e-01 9.89515995e-01 2.33873563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58719347000002 meters Centerline goodness : 0.865426 with order 1 Centerline is valid? [False, False] Translation: X:22.68, Y:0.51, Z:2.34 [[ 9.97576912e-01 -6.81291297e-02 1.40970375e-02 2.26756072e+01] [ 6.55854209e-02 9.88509940e-01 1.36186086e-01 5.10832830e-01] [-2.32133012e-02 -1.34931535e-01 9.90582971e-01 2.33838727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.64719347000002 meters Centerline goodness : 0.860534 with order 1 Centerline is valid? [False, False] Translation: X:22.68, Y:0.52, Z:2.34 [[ 9.97930956e-01 -6.31968760e-02 1.18305913e-02 2.26775873e+01] [ 6.11457938e-02 9.89730583e-01 1.29207450e-01 5.15566519e-01] [-1.98746052e-02 -1.28216723e-01 9.91547009e-01 2.34050031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.70719347 meters Centerline goodness : 0.857510 with order 1 Centerline is valid? [False, False] Translation: X:22.69, Y:0.51, Z:2.34 [[ 9.97888034e-01 -6.37848332e-02 1.22868828e-02 2.26853441e+01] [ 6.19274364e-02 9.91263110e-01 1.16457886e-01 5.14791309e-01] [-1.96077804e-02 -1.15451035e-01 9.93119627e-01 2.34069874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76719347000001 meters Centerline goodness : 0.858207 with order 1 Centerline is valid? [False, False] Translation: X:22.68, Y:0.51, Z:2.34 [[ 9.97430272e-01 -7.04043237e-02 1.32696578e-02 2.26841122e+01] [ 6.85112062e-02 9.91484068e-01 1.10749973e-01 5.11403463e-01] [-2.09539313e-02 -1.09556256e-01 9.93759709e-01 2.34238838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82719347000001 meters Centerline goodness : 0.856027 with order 1 Centerline is valid? [False, False] Translation: X:22.68, Y:0.51, Z:2.34 [[ 9.97102921e-01 -7.49677560e-02 1.28685564e-02 2.26840365e+01] [ 7.31584500e-02 9.91502589e-01 1.07566061e-01 5.12538646e-01] [-2.08231932e-02 -1.06312990e-01 9.94114653e-01 2.34493876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88719347000001 meters Centerline goodness : 0.854271 with order 1 Centerline is valid? [False, False] Translation: X:22.68, Y:0.51, Z:2.35 [[ 9.96099608e-01 -8.58484580e-02 2.03865955e-02 2.26791290e+01] [ 8.37972885e-02 9.92753505e-01 8.61306758e-02 5.14276940e-01] [-2.76330498e-02 -8.40863910e-02 9.96075245e-01 2.35277966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.94719347000002 meters Centerline goodness : 0.858962 with order 1 Centerline is valid? [False, False] Translation: X:22.68, Y:0.52, Z:2.35 [[ 9.95299819e-01 -9.44102441e-02 2.15633201e-02 2.26783515e+01] [ 9.25043189e-02 9.92746577e-01 7.67931302e-02 5.16432008e-01] [-2.86569704e-02 -7.44374884e-02 9.96813843e-01 2.35275980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.00719347000002 meters Centerline goodness : 0.852870 with order 1 Centerline is valid? [False, False] Translation: X:22.68, Y:0.53, Z:2.35 [[ 9.94678392e-01 -1.00689557e-01 2.18290957e-02 2.26791587e+01] [ 9.89969196e-02 9.92746684e-01 6.82175336e-02 5.26071362e-01] [-2.85395556e-02 -6.56934934e-02 9.97431631e-01 2.35035544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.06719347 meters Centerline goodness : 0.852568 with order 1 Centerline is valid? [False, False] Translation: X:22.68, Y:0.53, Z:2.35 [[ 9.94479273e-01 -1.02671923e-01 2.16668159e-02 2.26799985e+01] [ 1.01104997e-01 9.92813406e-01 6.40259345e-02 5.34404861e-01] [-2.80847711e-02 -6.14818415e-02 9.97712999e-01 2.34833633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12719347000001 meters Centerline goodness : 0.852196 with order 1 Centerline is valid? [False, False] Translation: X:22.68, Y:0.54, Z:2.35 [[ 9.94256859e-01 -1.04864274e-01 2.13724764e-02 2.26811083e+01] [ 1.03439672e-01 9.92859452e-01 5.94166892e-02 5.44578934e-01] [-2.74505532e-02 -5.68646888e-02 9.98004446e-01 2.34599796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18719347000001 meters Centerline goodness : 0.850326 with order 1 Centerline is valid? [False, False] Translation: X:22.68, Y:0.56, Z:2.34 [[ 9.93905630e-01 -1.08469335e-01 1.96469166e-02 2.26833344e+01] [ 1.07264603e-01 9.92736231e-01 5.44892634e-02 5.60764467e-01] [-2.54146201e-02 -5.20497669e-02 9.98321050e-01 2.34484540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24719347000001 meters Centerline goodness : 0.847487 with order 1 Centerline is valid? [False, False] Translation: X:22.69, Y:0.57, Z:2.34 [[ 9.93637473e-01 -1.11115047e-01 1.83852686e-02 2.26870043e+01] [ 1.10112711e-01 9.92726855e-01 4.86680782e-02 5.74493800e-01] [-2.36593057e-02 -4.63339745e-02 9.98645783e-01 2.34051274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.30719347000002 meters Centerline goodness : 0.846439 with order 1 Centerline is valid? [False, False] Translation: X:22.69, Y:0.58, Z:2.34 [[ 9.93436556e-01 -1.12951539e-01 1.80487769e-02 2.26862646e+01] [ 1.12031499e-01 9.92651863e-01 4.57298748e-02 5.82100019e-01] [-2.30814117e-02 -4.34076978e-02 9.98790779e-01 2.34177764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.36719347000002 meters Centerline goodness : 0.847129 with order 1 Centerline is valid? [False, False] Translation: X:22.68, Y:0.60, Z:2.35 [[ 9.94239728e-01 -1.06608045e-01 1.10493896e-02 2.26828124e+01] [ 1.06099307e-01 9.93575792e-01 3.93710859e-02 5.96032069e-01] [-1.51756805e-02 -3.79719651e-02 9.99163564e-01 2.34688716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.42719347 meters Centerline goodness : 0.852957 with order 1 Centerline is valid? [False, False] Translation: X:22.68, Y:0.60, Z:2.35 [[ 9.95018586e-01 -9.96783013e-02 1.49964032e-03 2.26798934e+01] [ 9.95697714e-02 9.94447585e-01 3.40567316e-02 6.03646463e-01] [-4.88603085e-03 -3.37377621e-02 9.99418776e-01 2.34883778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48719347000001 meters Centerline goodness : 0.843317 with order 1 Centerline is valid? [False, False] Translation: X:22.67, Y:0.61, Z:2.35 [[ 9.95703832e-01 -9.23465101e-02 -6.78236535e-03 2.26740284e+01] [ 9.24949252e-02 9.95361967e-01 2.64432200e-02 6.11325580e-01] [ 4.30896943e-03 -2.69569499e-02 9.99627308e-01 2.35359245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54719347000001 meters Centerline goodness : 0.846107 with order 1 Centerline is valid? [False, False] Translation: X:22.67, Y:0.62, Z:2.35 [[ 9.96288276e-01 -8.57018559e-02 -8.05378914e-03 2.26733767e+01] [ 8.59106644e-02 9.95829285e-01 3.07147109e-02 6.20553119e-01] [ 5.38789134e-03 -3.12926128e-02 9.99495744e-01 2.35499505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60719347000001 meters Centerline goodness : 0.847578 with order 1 Centerline is valid? [False, False] Translation: X:22.66, Y:0.63, Z:2.36 [[ 9.97148933e-01 -7.53808460e-02 -3.42533020e-03 2.26617395e+01] [ 7.54502229e-02 9.96687662e-01 3.03474626e-02 6.34992573e-01] [ 1.12636694e-03 -3.05193818e-02 9.99533541e-01 2.36361951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.66719347000002 meters Centerline goodness : 0.846105 with order 1 Centerline is valid? [False, False] Translation: X:22.66, Y:0.64, Z:2.36 [[ 9.97547577e-01 -6.99804884e-02 -1.25004982e-03 2.26564142e+01] [ 6.99863108e-02 9.97091705e-01 3.01669879e-02 6.42468598e-01] [-8.64686242e-04 -3.01804921e-02 9.99544091e-01 2.36458348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.72719347000002 meters Centerline goodness : 0.847296 with order 1 Centerline is valid? [False, False] Translation: X:22.65, Y:0.65, Z:2.37 [[ 9.98403542e-01 -5.58445145e-02 -8.47102136e-03 2.26517008e+01] [ 5.60490033e-02 9.98083993e-01 2.62078673e-02 6.47632978e-01] [ 6.99122520e-03 -2.66408198e-02 9.99620623e-01 2.36811786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.78719347000002 meters Centerline goodness : 0.845992 with order 1 Centerline is valid? [False, False] Translation: X:22.64, Y:0.65, Z:2.37 [[ 9.98876007e-01 -4.50540438e-02 -1.47260485e-02 2.26441458e+01] [ 4.54091611e-02 9.98662013e-01 2.47425119e-02 6.49588062e-01] [ 1.35915950e-02 -2.53833990e-02 9.99585390e-01 2.37089394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84719347000001 meters Centerline goodness : 0.845812 with order 1 Centerline is valid? [False, False] Translation: X:22.65, Y:0.65, Z:2.37 [[ 9.99102845e-01 -3.92305751e-02 -1.59519961e-02 2.26482255e+01] [ 3.96981351e-02 9.98757224e-01 3.01341223e-02 6.50037470e-01] [ 1.47499924e-02 -3.07403519e-02 9.99418565e-01 2.36810437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90719347000001 meters Centerline goodness : 0.842664 with order 1 Centerline is valid? [False, False] Translation: X:22.69, Y:0.63, Z:2.36 [[ 9.99032061e-01 -4.36956070e-02 -5.06312458e-03 2.26936058e+01] [ 4.39458241e-02 9.96478595e-01 7.14084991e-02 6.32699821e-01] [ 1.92505756e-03 -7.15618832e-02 9.97434304e-01 2.36088000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96719347000001 meters Centerline goodness : 0.843326 with order 1 Centerline is valid? [False, False] Translation: X:22.73, Y:0.63, Z:2.35 [[ 9.98945855e-01 -4.58974104e-02 -7.78304966e-04 2.27268249e+01] [ 4.58301310e-02 9.96233235e-01 7.36134476e-02 6.25593368e-01] [-2.60329334e-03 -7.35715182e-02 9.97286546e-01 2.35389609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02719347000001 meters Centerline goodness : 0.844303 with order 1 Centerline is valid? [False, False] Translation: X:22.78, Y:0.59, Z:2.34 [[ 9.97847006e-01 -6.47991501e-02 1.01204302e-02 2.27792839e+01] [ 6.19991336e-02 9.82318960e-01 1.76650978e-01 5.86411827e-01] [-2.13883237e-02 -1.75643192e-01 9.84221524e-01 2.34382993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.08719347000002 meters Centerline goodness : 0.843074 with order 1 Centerline is valid? [False, False] Translation: X:22.78, Y:0.58, Z:2.35 [[ 9.97393868e-01 -7.13633092e-02 1.06183427e-02 2.27784325e+01] [ 6.84852016e-02 9.82739143e-01 1.71853294e-01 5.82603587e-01] [-2.26990808e-02 -1.70678222e-01 9.85065326e-01 2.34680378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.14719347000002 meters Centerline goodness : 0.844050 with order 1 Centerline is valid? [False, False] Translation: X:22.78, Y:0.58, Z:2.35 [[ 9.97106008e-01 -7.49809681e-02 1.25484702e-02 2.27760016e+01] [ 7.18407939e-02 9.83315873e-01 1.67119100e-01 5.78489704e-01] [-2.48698618e-02 -1.65733966e-01 9.85856857e-01 2.34738214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.20719347 meters Centerline goodness : 0.840597 with order 1 Centerline is valid? [False, False] Translation: X:22.78, Y:0.58, Z:2.35 [[ 9.97209422e-01 -7.39418699e-02 1.02941299e-02 2.27788747e+01] [ 7.12358925e-02 9.83700747e-01 1.65100842e-01 5.80176994e-01] [-2.23342083e-02 -1.63906804e-01 9.86222968e-01 2.34942097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26719347000001 meters Centerline goodness : 0.843609 with order 1 Centerline is valid? [False, False] Translation: X:22.77, Y:0.58, Z:2.35 [[ 9.97620698e-01 -6.78112325e-02 1.24329834e-02 2.27664443e+01] [ 6.51092610e-02 9.86007021e-01 1.53463153e-01 5.82139259e-01] [-2.26655345e-02 -1.52288516e-01 9.88076152e-01 2.35473356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32719347000001 meters Centerline goodness : 0.842425 with order 1 Centerline is valid? [False, False] Translation: X:22.77, Y:0.58, Z:2.35 [[ 9.97473895e-01 -7.01621564e-02 1.10950645e-02 2.27697892e+01] [ 6.76996009e-02 9.86276736e-01 1.50582087e-01 5.81224789e-01] [-2.15079679e-02 -1.49450569e-01 9.88535247e-01 2.35405384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38719347000001 meters Centerline goodness : 0.845621 with order 1 Centerline is valid? [False, False] Translation: X:22.76, Y:0.58, Z:2.36 [[ 9.97913012e-01 -6.39353697e-02 9.04920923e-03 2.27583120e+01] [ 6.19202949e-02 9.87232786e-01 1.46755931e-01 5.81791000e-01] [-1.83165708e-02 -1.45889324e-01 9.89131340e-01 2.35900007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.44719347000002 meters Centerline goodness : 0.847858 with order 1 Centerline is valid? [False, False] Translation: X:22.76, Y:0.58, Z:2.36 [[ 9.98191577e-01 -5.92253130e-02 1.02925826e-02 2.27619767e+01] [ 5.72557837e-02 9.88866438e-01 1.37349713e-01 5.83858059e-01] [-1.83125692e-02 -1.36512016e-01 9.90469141e-01 2.36156460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.50719347000002 meters Centerline goodness : 0.843895 with order 1 Centerline is valid? [False, False] Translation: X:22.76, Y:0.58, Z:2.36 [[ 9.98200048e-01 -5.85585689e-02 1.29444370e-02 2.27572556e+01] [ 5.62715591e-02 9.89174100e-01 1.35529007e-01 5.80891422e-01] [-2.07406865e-02 -1.34556658e-01 9.90688816e-01 2.36227844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.56719347 meters Centerline goodness : 0.847311 with order 1 Centerline is valid? [False, False] Translation: X:22.76, Y:0.58, Z:2.36 [[ 9.98051674e-01 -6.09184372e-02 1.34833213e-02 2.27561570e+01] [ 5.86047849e-02 9.89457985e-01 1.32432534e-01 5.80755937e-01] [-2.14087629e-02 -1.31384325e-01 9.91100310e-01 2.36308978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62719347000001 meters Centerline goodness : 0.845534 with order 1 Centerline is valid? [False, False] Translation: X:22.75, Y:0.58, Z:2.36 [[ 9.97848877e-01 -6.38208162e-02 1.49840422e-02 2.27541672e+01] [ 6.13723796e-02 9.89783055e-01 1.28697068e-01 5.77383923e-01] [-2.30445030e-02 -1.27500618e-01 9.91570745e-01 2.36332233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68719347000001 meters Centerline goodness : 0.846997 with order 1 Centerline is valid? [False, False] Translation: X:22.75, Y:0.58, Z:2.36 [[ 9.97635025e-01 -6.68952437e-02 1.57918768e-02 2.27537824e+01] [ 6.44089132e-02 9.90063922e-01 1.24999686e-01 5.75683844e-01] [-2.39968519e-02 -1.23686927e-01 9.92031096e-01 2.36269529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74719347000001 meters Centerline goodness : 0.851524 with order 1 Centerline is valid? [False, False] Translation: X:22.75, Y:0.57, Z:2.37 [[ 9.97365717e-01 -7.08271256e-02 1.56571029e-02 2.27532170e+01] [ 6.83877561e-02 9.90104389e-01 1.22541479e-01 5.74867326e-01] [-2.41814270e-02 -1.21147916e-01 9.92339882e-01 2.36545792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.80719347000002 meters Centerline goodness : 0.848084 with order 1 Centerline is valid? [False, False] Translation: X:22.75, Y:0.57, Z:2.37 [[ 9.96763868e-01 -7.89568756e-02 1.50865207e-02 2.27547844e+01] [ 7.66436205e-02 9.90072966e-01 1.17818836e-01 5.69728794e-01] [-2.42393634e-02 -1.16281273e-01 9.92920500e-01 2.36846716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.86719347000002 meters Centerline goodness : 0.847968 with order 1 Centerline is valid? [False, False] Translation: X:22.76, Y:0.57, Z:2.37 [[ 9.96040791e-01 -8.74254213e-02 1.61102012e-02 2.27565144e+01] [ 8.51696123e-02 9.90401216e-01 1.08864909e-01 5.66269505e-01] [-2.54731234e-02 -1.07061791e-01 9.93926000e-01 2.36597505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.92719347000002 meters Centerline goodness : 0.850312 with order 1 Centerline is valid? [False, False] Translation: X:22.76, Y:0.57, Z:2.36 [[ 9.95922790e-01 -8.92257434e-02 1.32877221e-02 2.27629180e+01] [ 8.72402689e-02 9.90115682e-01 1.09818358e-01 5.66788924e-01] [-2.29550067e-02 -1.08211381e-01 9.93862850e-01 2.36387749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98719347000001 meters Centerline goodness : 0.849499 with order 1 Centerline is valid? [False, False] Translation: X:22.76, Y:0.57, Z:2.37 [[ 9.96194844e-01 -8.54647827e-02 1.70763909e-02 2.27587469e+01] [ 8.33832173e-02 9.91629250e-01 9.85833136e-02 5.66850379e-01] [-2.53588502e-02 -9.67843044e-02 9.94982275e-01 2.36828500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04719347000001 meters Centerline goodness : 0.853208 with order 1 Centerline is valid? [False, False] Translation: X:22.75, Y:0.57, Z:2.37 [[ 9.97246460e-01 -7.16890787e-02 1.89782266e-02 2.27476509e+01] [ 6.97049242e-02 9.93492250e-01 9.00798165e-02 5.67396481e-01] [-2.53124601e-02 -8.85089023e-02 9.95753711e-01 2.37324280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10719347000001 meters Centerline goodness : 0.851976 with order 1 Centerline is valid? [False, False] Translation: X:22.74, Y:0.57, Z:2.38 [[ 9.97560587e-01 -6.63133864e-02 2.18039204e-02 2.27446963e+01] [ 6.43314310e-02 9.94584637e-01 8.16263879e-02 5.68186802e-01] [-2.70987664e-02 -8.00245900e-02 9.96424469e-01 2.37614858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16719347000002 meters Centerline goodness : 0.854170 with order 1 Centerline is valid? [False, False] Translation: X:22.74, Y:0.56, Z:2.38 [[ 0.99741255 -0.06796353 0.02343422 22.74160292] [ 0.06586722 0.99454328 0.08090228 0.56156241] [-0.02880475 -0.0791494 0.99644652 2.37888867] [ 0. 0. 0. 1. ]] SLAMing on 113.22719347000002 meters Centerline goodness : 0.852070 with order 1 Centerline is valid? [False, False] Translation: X:22.74, Y:0.56, Z:2.38 [[ 0.99706064 -0.07295334 0.02340705 22.74099584] [ 0.07088804 0.9943172 0.07942416 0.55624897] [-0.02906829 -0.07753143 0.99656606 2.38295205] [ 0. 0. 0. 1. ]] SLAMing on 113.28719347000002 meters Centerline goodness : 0.854821 with order 1 Centerline is valid? [False, False] Translation: X:22.74, Y:0.55, Z:2.39 [[ 0.99637633 -0.08144141 0.02452564 22.73857763] [ 0.0794416 0.99410997 0.07371834 0.5492684 ] [-0.03038491 -0.07150285 0.99697748 2.3876103 ] [ 0. 0. 0. 1. ]] SLAMing on 113.34719347000001 meters Centerline goodness : 0.853144 with order 1 Centerline is valid? [False, False] Translation: X:22.74, Y:0.55, Z:2.39 [[ 0.99604468 -0.08536796 0.02464358 22.73918504] [ 0.0834716 0.99406367 0.06978481 0.5491594 ] [-0.03045467 -0.06745175 0.99725763 2.38735707] [ 0. 0. 0. 1. ]] SLAMing on 113.40719347000001 meters Centerline goodness : 0.856471 with order 1 Centerline is valid? [False, False] Translation: X:22.74, Y:0.55, Z:2.38 [[ 0.99568004 -0.08988832 0.02326679 22.74416325] [ 0.08820216 0.99394878 0.06546906 0.55083384] [-0.0290109 -0.06313406 0.99758331 2.38384749] [ 0. 0. 0. 1. ]] SLAMing on 113.46719347000001 meters Centerline goodness : 0.854487 with order 1 Centerline is valid? [False, False] Translation: X:22.74, Y:0.55, Z:2.38 [[ 0.99532142 -0.09372714 0.02346252 22.74459292] [ 0.09214179 0.99385207 0.06138367 0.5511287 ] [-0.02907159 -0.05893461 0.99783844 2.38384506] [ 0. 0. 0. 1. ]] SLAMing on 113.52719347000001 meters Centerline goodness : 0.852982 with order 1 Centerline is valid? [False, False] Translation: X:22.74, Y:0.55, Z:2.38 [[ 0.99483173 -0.09874237 0.02365958 22.74459664] [ 0.09729261 0.9936723 0.05612042 0.55390784] [-0.02905133 -0.05352847 0.99814364 2.38427352] [ 0. 0. 0. 1. ]] SLAMing on 113.58719347000002 meters Centerline goodness : 0.853914 with order 1 Centerline is valid? [False, False] Translation: X:22.74, Y:0.56, Z:2.38 [[ 0.99436383 -0.10330458 0.0238484 22.74478315] [ 0.10199836 0.99349235 0.05068821 0.55733818] [-0.02892953 -0.04797003 0.99842975 2.38428968] [ 0. 0. 0. 1. ]] SLAMing on 113.64719347000002 meters Centerline goodness : 0.853269 with order 1 Centerline is valid? [False, False] Translation: X:22.75, Y:0.56, Z:2.38 [[ 0.99384752 -0.10823211 0.02351418 22.74583559] [ 0.10709979 0.99322889 0.04501112 0.56409216] [-0.02822661 -0.04221582 0.99870971 2.3838149 ] [ 0. 0. 0. 1. ]] SLAMing on 113.70719347 meters Centerline goodness : 0.853784 with order 1 Centerline is valid? [False, False] Translation: X:22.74, Y:0.57, Z:2.39 [[ 9.94085821e-01 -1.07052612e-01 1.82515457e-02 2.27386920e+01] [ 1.06382723e-01 9.93730045e-01 3.43993254e-02 5.68913461e-01] [-2.18196469e-02 -3.22542325e-02 9.99241496e-01 2.38591253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76719347000001 meters Centerline goodness : 0.853708 with order 1 Centerline is valid? [False, False] Translation: X:22.74, Y:0.58, Z:2.38 [[ 9.94570166e-01 -1.02528375e-01 1.78358396e-02 2.27392819e+01] [ 1.01854002e-01 9.94172244e-01 3.53172959e-02 5.77180419e-01] [-2.13529217e-02 -3.33088772e-02 9.99216979e-01 2.38321374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82719347000001 meters Centerline goodness : 0.854976 with order 1 Centerline is valid? [False, False] Translation: X:22.74, Y:0.58, Z:2.38 [[ 9.95490332e-01 -9.30665192e-02 1.83744817e-02 2.27366176e+01] [ 9.22666893e-02 9.94913876e-01 4.04133393e-02 5.84739160e-01] [-2.20421556e-02 -3.85357360e-02 9.99014084e-01 2.38254612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88719347000001 meters Centerline goodness : 0.849549 with order 1 Centerline is valid? [False, False] Translation: X:22.72, Y:0.60, Z:2.38 [[ 9.97070068e-01 -7.35221727e-02 2.11132424e-02 2.27201755e+01] [ 7.27032166e-02 9.96658108e-01 3.72405331e-02 5.96472951e-01] [-2.37806892e-02 -3.55964203e-02 9.99083267e-01 2.38400789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.94719347000002 meters Centerline goodness : 0.850800 with order 1 Centerline is valid? [False, False] Translation: X:22.72, Y:0.60, Z:2.38 [[ 9.97350451e-01 -6.94248023e-02 2.17318617e-02 2.27173962e+01] [ 6.85437359e-02 9.96887268e-01 3.89554987e-02 6.01842104e-01] [-2.43686941e-02 -3.73627012e-02 9.99004602e-01 2.38489335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.00719347000002 meters Centerline goodness : 0.850552 with order 1 Centerline is valid? [False, False] Translation: X:22.71, Y:0.61, Z:2.38 [[ 0.99743652 -0.06767517 0.02324777 22.71463304] [ 0.06680319 0.99710073 0.03643457 0.60586668] [-0.02564608 -0.03478815 0.9990656 2.38384101] [ 0. 0. 0. 1. ]] SLAMing on 114.06719347 meters Centerline goodness : 0.853851 with order 1 Centerline is valid? [False, False] Translation: X:22.71, Y:0.61, Z:2.38 [[ 0.99744756 -0.06743009 0.02348503 22.71449462] [ 0.06657611 0.99715239 0.03542234 0.60754866] [-0.02580668 -0.03376838 0.99909645 2.38292744] [ 0. 0. 0. 1. ]] SLAMing on 114.12719347000001 meters Centerline goodness : 0.849938 with order 1 Centerline is valid? [False, False] Translation: X:22.71, Y:0.60, Z:2.39 [[ 9.97921679e-01 -6.36509267e-02 1.00439865e-02 2.27130423e+01] [ 6.31922661e-02 9.97167427e-01 4.07904376e-02 6.03866914e-01] [-1.26118853e-02 -4.00709597e-02 9.99117240e-01 2.38802373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18719347000001 meters Centerline goodness : 0.848540 with order 1 Centerline is valid? [False, False] Translation: X:22.71, Y:0.60, Z:2.39 [[ 9.98003027e-01 -6.31406041e-02 -1.79522323e-03 2.27113977e+01] [ 6.31620199e-02 9.97211316e-01 3.97511124e-02 5.96812988e-01] [-7.19692331e-04 -3.97851204e-02 9.99207999e-01 2.38981965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24719347000001 meters Centerline goodness : 0.849949 with order 1 Centerline is valid? [False, False] Translation: X:22.70, Y:0.58, Z:2.40 [[ 9.97797243e-01 -6.55942010e-02 -9.90268307e-03 2.27037633e+01] [ 6.59638580e-02 9.96881549e-01 4.33121908e-02 5.80163785e-01] [ 7.03077349e-03 -4.38700037e-02 9.99012508e-01 2.39507152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.30719347000002 meters Centerline goodness : 0.852144 with order 1 Centerline is valid? [False, False] Translation: X:22.70, Y:0.57, Z:2.40 [[ 9.97582485e-01 -6.87421815e-02 -1.01831807e-02 2.27037699e+01] [ 6.91226202e-02 9.96659263e-01 4.35014643e-02 5.73602486e-01] [ 7.15877578e-03 -4.41001871e-02 9.99001464e-01 2.39824969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.36719347000002 meters Centerline goodness : 0.851340 with order 1 Centerline is valid? [False, False] Translation: X:22.70, Y:0.56, Z:2.40 [[ 9.97217742e-01 -7.17194032e-02 -2.03249040e-02 2.27008409e+01] [ 7.25372345e-02 9.96444621e-01 4.28540126e-02 5.57293625e-01] [ 1.71791771e-02 -4.42090940e-02 9.98874583e-01 2.39951987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.42719347000002 meters Centerline goodness : 0.851882 with order 1 Centerline is valid? [False, False] Translation: X:22.70, Y:0.55, Z:2.40 [[ 9.96697020e-01 -7.87553989e-02 -1.98150605e-02 2.27016049e+01] [ 7.94429982e-02 9.96163328e-01 3.67073985e-02 5.53965324e-01] [ 1.68481308e-02 -3.81603225e-02 9.99129586e-01 2.39919078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48719347000001 meters Centerline goodness : 0.855485 with order 1 Centerline is valid? [False, False] Translation: X:22.70, Y:0.55, Z:2.40 [[ 9.96358030e-01 -8.28209873e-02 -2.02820061e-02 2.27016288e+01] [ 8.34888140e-02 9.95906016e-01 3.46529215e-02 5.51266864e-01] [ 1.73289828e-02 -3.62200372e-02 9.99193582e-01 2.40221911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54719347000001 meters Centerline goodness : 0.854667 with order 1 Centerline is valid? [False, False] Translation: X:22.70, Y:0.55, Z:2.40 [[ 9.96347736e-01 -8.28389388e-02 -2.07098730e-02 2.27014524e+01] [ 8.35484983e-02 9.95848365e-01 3.61342328e-02 5.49243129e-01] [ 1.76305717e-02 -3.77325398e-02 9.99132333e-01 2.40446291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60719347000001 meters Centerline goodness : 0.856404 with order 1 Centerline is valid? [False, False] Translation: X:22.70, Y:0.55, Z:2.41 [[ 9.96210233e-01 -8.46567546e-02 -1.99601189e-02 2.26974686e+01] [ 8.53160564e-02 9.95742950e-01 3.48876627e-02 5.51449425e-01] [ 1.69216714e-02 -3.64583652e-02 9.99191896e-01 2.40870489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.66719347000002 meters Centerline goodness : 0.858904 with order 1 Centerline is valid? [False, False] Translation: X:22.70, Y:0.56, Z:2.41 [[ 9.95853778e-01 -8.86918166e-02 -2.02241055e-02 2.27002124e+01] [ 8.92618873e-02 9.95577671e-01 2.92816637e-02 5.56107896e-01] [ 1.75376239e-02 -3.09654972e-02 9.99366584e-01 2.40555219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.72719347000002 meters Centerline goodness : 0.856652 with order 1 Centerline is valid? [False, False] Translation: X:22.70, Y:0.56, Z:2.40 [[ 9.95740275e-01 -8.98061332e-02 -2.08845215e-02 2.27017430e+01] [ 9.03709288e-02 9.95517697e-01 2.78856543e-02 5.58855853e-01] [ 1.82866080e-02 -2.96542227e-02 9.99392929e-01 2.40476023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.78719347000002 meters Centerline goodness : 0.858491 with order 1 Centerline is valid? [False, False] Translation: X:22.69, Y:0.56, Z:2.41 [[ 9.96162171e-01 -8.34257784e-02 -2.64777160e-02 2.26943949e+01] [ 8.40031814e-02 9.96233546e-01 2.14985461e-02 5.64254004e-01] [ 2.45844559e-02 -2.36402508e-02 9.99418202e-01 2.40550266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84719347000001 meters Centerline goodness : 0.858218 with order 1 Centerline is valid? [False, False] Translation: X:22.70, Y:0.57, Z:2.41 [[ 0.99663005 -0.07709969 -0.02800323 22.69515416] [ 0.07789581 0.99655272 0.02854666 0.56629514] [ 0.02570576 -0.03063179 0.99920013 2.40682672] [ 0. 0. 0. 1. ]] SLAMing on 114.90719347000001 meters Centerline goodness : 0.854763 with order 1 Centerline is valid? [False, False] Translation: X:22.69, Y:0.57, Z:2.41 [[ 0.99713415 -0.07019168 -0.02822438 22.6926551 ] [ 0.07112335 0.99690537 0.03348371 0.57365857] [ 0.02578676 -0.03539516 0.99904065 2.40862305] [ 0. 0. 0. 1. ]] SLAMing on 114.96719347000001 meters Centerline goodness : 0.855274 with order 1 Centerline is valid? [False, False] Translation: X:22.69, Y:0.58, Z:2.41 [[ 0.99726504 -0.06526006 -0.03469248 22.68532908] [ 0.06615512 0.99748831 0.0253094 0.57847323] [ 0.03295365 -0.02753527 0.99907751 2.4086394 ] [ 0. 0. 0. 1. ]] SLAMing on 115.02719347000001 meters Centerline goodness : 0.853053 with order 1 Centerline is valid? [False, False] Translation: X:22.68, Y:0.59, Z:2.41 [[ 9.97486944e-01 -5.66686417e-02 -4.25260189e-02 2.26783040e+01] [ 5.76468803e-02 9.98091511e-01 2.21398628e-02 5.85984240e-01] [ 4.11902225e-02 -2.45357164e-02 9.98850021e-01 2.41035261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.08719347000002 meters Centerline goodness : 0.849389 with order 1 Centerline is valid? [False, False] Translation: X:22.68, Y:0.59, Z:2.41 [[ 0.99758868 -0.05414529 -0.0434178 22.6792036 ] [ 0.05520081 0.99819889 0.02349133 0.5924926 ] [ 0.04206765 -0.02583138 0.99878078 2.41014376] [ 0. 0. 0. 1. ]] SLAMing on 115.14719347000002 meters Centerline goodness : 0.851899 with order 1 Centerline is valid? [False, False] Translation: X:22.68, Y:0.59, Z:2.41 [[ 9.97534193e-01 -5.48932995e-02 -4.37293886e-02 2.26827535e+01] [ 5.58673880e-02 9.98209415e-01 2.13728428e-02 5.92776931e-01] [ 4.24778615e-02 -2.37631882e-02 9.98814769e-01 2.40598860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20719347 meters Centerline goodness : 0.853478 with order 1 Centerline is valid? [False, False] Translation: X:22.68, Y:0.59, Z:2.41 [[ 9.97575414e-01 -5.43965700e-02 -4.34086023e-02 2.26810718e+01] [ 5.53620635e-02 9.98237889e-01 2.13578914e-02 5.93335053e-01] [ 4.21703154e-02 -2.37092972e-02 9.98829081e-01 2.40750125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26719347000001 meters Centerline goodness : 0.852444 with order 1 Centerline is valid? [False, False] Translation: X:22.68, Y:0.59, Z:2.41 [[ 9.97599108e-01 -5.40504521e-02 -4.32962916e-02 2.26801059e+01] [ 5.50307421e-02 9.98247130e-01 2.17780919e-02 5.93246250e-01] [ 4.20432831e-02 -2.41084321e-02 9.98824882e-01 2.40861471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32719347000001 meters Centerline goodness : 0.855202 with order 1 Centerline is valid? [False, False] Translation: X:22.68, Y:0.59, Z:2.41 [[ 9.97561712e-01 -5.43806275e-02 -4.37421812e-02 2.26806494e+01] [ 5.53768000e-02 9.98225479e-01 2.18929987e-02 5.93668589e-01] [ 4.24740048e-02 -2.42619192e-02 9.98802943e-01 2.40915435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.38719347000001 meters Centerline goodness : 0.849364 with order 1 Centerline is valid? [False, False] Translation: X:22.68, Y:0.59, Z:2.41 [[ 9.97534488e-01 -5.60574892e-02 -4.22196899e-02 2.26781708e+01] [ 5.68827606e-02 9.98207491e-01 1.86052982e-02 5.92560998e-01] [ 4.11010444e-02 -2.09609991e-02 9.98935103e-01 2.40892522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.44719347000002 meters Centerline goodness : 0.852398 with order 1 Centerline is valid? [False, False] Translation: X:22.67, Y:0.59, Z:2.41 [[ 9.97772430e-01 -5.28041596e-02 -4.07663985e-02 2.26741099e+01] [ 5.37220105e-02 9.98318878e-01 2.17569272e-02 5.88193153e-01] [ 3.95490089e-02 -2.38985150e-02 9.98931798e-01 2.41127793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.50719347000002 meters Centerline goodness : 0.857688 with order 1 Centerline is valid? [False, False] Translation: X:22.68, Y:0.59, Z:2.41 [[ 0.99790325 -0.05010274 -0.04097336 22.67523511] [ 0.05110311 0.99841111 0.02374301 0.58741325] [ 0.03971867 -0.0257871 0.9988781 2.41018414] [ 0. 0. 0. 1. ]] SLAMing on 115.56719347 meters Centerline goodness : 0.856711 with order 1 Centerline is valid? [False, False] Translation: X:22.67, Y:0.58, Z:2.41 [[ 0.99826142 -0.0433088 -0.03998112 22.67367116] [ 0.0445094 0.99856906 0.02964355 0.5825841 ] [ 0.03864008 -0.03137155 0.99876062 2.40944833] [ 0. 0. 0. 1. ]] SLAMing on 115.62719347000001 meters Centerline goodness : 0.862188 with order 1 Centerline is valid? [False, False] Translation: X:22.67, Y:0.58, Z:2.41 [[ 0.9984626 -0.04069216 -0.03763755 22.66843917] [ 0.04188256 0.99862903 0.03139929 0.57627779] [ 0.03630825 -0.03292738 0.99879803 2.41107439] [ 0. 0. 0. 1. ]] SLAMing on 115.68719347000001 meters Centerline goodness : 0.863767 with order 1 Centerline is valid? [False, False] Translation: X:22.69, Y:0.57, Z:2.41 [[ 0.99854165 -0.03606927 -0.04016931 22.69370952] [ 0.03776073 0.99839631 0.04217741 0.5658659 ] [ 0.03858358 -0.04363272 0.99830231 2.40735686] [ 0. 0. 0. 1. ]] SLAMing on 115.74719347000001 meters Centerline goodness : 0.864849 with order 1 Centerline is valid? [False, False] Translation: X:22.71, Y:0.56, Z:2.40 [[ 0.99868568 -0.03401009 -0.03834356 22.71406838] [ 0.03593954 0.99806159 0.05080769 0.55797743] [ 0.03654126 -0.05211897 0.99797212 2.40438674] [ 0. 0. 0. 1. ]] SLAMing on 115.80719347000002 meters Centerline goodness : 0.866355 with order 1 Centerline is valid? [False, False] Translation: X:22.75, Y:0.54, Z:2.40 [[ 0.99903227 -0.03351736 -0.02847985 22.75487353] [ 0.0355739 0.99654357 0.07506934 0.53788338] [ 0.02586528 -0.07600984 0.99677153 2.40029042] [ 0. 0. 0. 1. ]] SLAMing on 115.86719347000002 meters Centerline goodness : 0.872073 with order 1 Centerline is valid? [False, False] Translation: X:22.79, Y:0.51, Z:2.40 [[ 9.98974881e-01 -3.86061067e-02 -2.36380091e-02 2.27938014e+01] [ 4.13025958e-02 9.91056552e-01 1.26889737e-01 5.10075444e-01] [ 1.85278851e-02 -1.27735972e-01 9.91635134e-01 2.40130325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.92719347000002 meters Centerline goodness : 0.875905 with order 1 Centerline is valid? [False, False] Translation: X:22.79, Y:0.50, Z:2.40 [[ 9.98679228e-01 -4.54757602e-02 -2.39114039e-02 2.27947777e+01] [ 4.81002414e-02 9.91116013e-01 1.23997645e-01 4.99458582e-01] [ 1.80600882e-02 -1.24984017e-01 9.91994369e-01 2.40436798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98719347000001 meters Centerline goodness : 0.881914 with order 1 Centerline is valid? [False, False] Translation: X:22.79, Y:0.48, Z:2.41 [[ 9.97854881e-01 -6.07592975e-02 -2.43709612e-02 2.27947654e+01] [ 6.32063342e-02 9.91120732e-01 1.16981422e-01 4.81573767e-01] [ 1.70468559e-02 -1.18270882e-01 9.92835033e-01 2.41177221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04719347000001 meters Centerline goodness : 0.885630 with order 1 Centerline is valid? [False, False] Translation: X:22.79, Y:0.47, Z:2.42 [[ 9.96869827e-01 -7.53946170e-02 -2.37949506e-02 2.27944729e+01] [ 7.74964835e-02 9.91410552e-01 1.05353746e-01 4.72307590e-01] [ 1.56474598e-02 -1.06867996e-01 9.94150083e-01 2.41577869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10719347000001 meters Centerline goodness : 0.892883 with order 1 Centerline is valid? [False, False] Translation: X:22.79, Y:0.47, Z:2.42 [[ 9.95519588e-01 -9.17530715e-02 -2.28500323e-02 2.27938717e+01] [ 9.34698262e-02 9.91437625e-01 9.11856698e-02 4.67437511e-01] [ 1.42878165e-02 -9.29129090e-02 9.95571720e-01 2.41893769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.16719347000002 meters Centerline goodness : 0.889518 with order 1 Centerline is valid? [False, False] Translation: X:22.80, Y:0.47, Z:2.42 [[ 9.94969748e-01 -9.67673118e-02 -2.59092130e-02 2.28017918e+01] [ 9.85646034e-02 9.91857727e-01 8.06428479e-02 4.69908753e-01] [ 1.78946615e-02 -8.27909254e-02 9.96406264e-01 2.42219417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.22719347000002 meters Centerline goodness : 0.894686 with order 1 Centerline is valid? [False, False] Translation: X:22.80, Y:0.48, Z:2.42 [[ 9.94087741e-01 -1.05395340e-01 -2.61033615e-02 2.28037742e+01] [ 1.06998002e-01 9.91761994e-01 7.04242418e-02 4.78046009e-01] [ 1.84659349e-02 -7.28008830e-02 9.97175532e-01 2.42096671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.28719347000002 meters Centerline goodness : 0.895401 with order 1 Centerline is valid? [False, False] Translation: X:22.81, Y:0.49, Z:2.42 [[ 0.99341372 -0.11058179 -0.03001411 22.81158555] [ 0.11223657 0.99183209 0.06059745 0.49022013] [ 0.02306799 -0.06356702 0.99771093 2.41932152] [ 0. 0. 0. 1. ]] SLAMing on 116.34719347000001 meters Centerline goodness : 0.891495 with order 1 Centerline is valid? [False, False] Translation: X:22.81, Y:0.50, Z:2.42 [[ 0.99341805 -0.1105115 -0.03012964 22.81100703] [ 0.11213854 0.99193424 0.05908815 0.50201845] [ 0.0233567 -0.06207792 0.99779797 2.41854648] [ 0. 0. 0. 1. ]] SLAMing on 116.40719347000001 meters Centerline goodness : 0.890573 with order 1 Centerline is valid? [False, False] Translation: X:22.81, Y:0.51, Z:2.42 [[ 0.99316088 -0.11286379 -0.02988697 22.81059427] [ 0.11437058 0.99193 0.05471964 0.51409472] [ 0.02346992 -0.05776359 0.99805437 2.41719033] [ 0. 0. 0. 1. ]] SLAMing on 116.46719347000001 meters Centerline goodness : 0.891134 with order 1 Centerline is valid? [False, False] Translation: X:22.81, Y:0.53, Z:2.42 [[ 0.99252448 -0.11845278 -0.02939552 22.80834994] [ 0.11975832 0.99166377 0.04754911 0.53184775] [ 0.02351815 -0.05071401 0.99843627 2.41721812] [ 0. 0. 0. 1. ]] SLAMing on 116.52719347000001 meters Centerline goodness : 0.892541 with order 1 Centerline is valid? [False, False] Translation: X:22.80, Y:0.55, Z:2.42 [[ 0.99237734 -0.11880537 -0.03274888 22.80195138] [ 0.11974915 0.99239391 0.02853875 0.55429363] [ 0.02910923 -0.03224286 0.99905608 2.41985253] [ 0. 0. 0. 1. ]] SLAMing on 116.58719347000002 meters Centerline goodness : 0.892814 with order 1 Centerline is valid? [False, False] Translation: X:22.80, Y:0.57, Z:2.42 [[ 0.99306106 -0.11276183 -0.0333841 22.80252703] [ 0.1137633 0.99306117 0.02978982 0.56795752] [ 0.0297933 -0.033381 0.99899853 2.41731423] [ 0. 0. 0. 1. ]] SLAMing on 116.64719347000002 meters Centerline goodness : 0.895917 with order 1 Centerline is valid? [False, False] Translation: X:22.79, Y:0.59, Z:2.42 [[ 0.99527574 -0.08969318 -0.03716638 22.78775398] [ 0.09092042 0.9953192 0.03275923 0.59113435] [ 0.03405413 -0.03598365 0.99877199 2.42161276] [ 0. 0. 0. 1. ]] SLAMing on 116.70719347 meters Centerline goodness : 0.899896 with order 1 Centerline is valid? [False, False] Translation: X:22.78, Y:0.61, Z:2.42 [[ 0.99657905 -0.07576929 -0.03300312 22.77903666] [ 0.07688042 0.99646691 0.03380967 0.60899354] [ 0.03032478 -0.03623131 0.99888323 2.42455129] [ 0. 0. 0. 1. ]] SLAMing on 116.76719347000001 meters Centerline goodness : 0.898255 with order 1 Centerline is valid? [False, False] Translation: X:22.77, Y:0.63, Z:2.42 [[ 0.99792574 -0.05892199 -0.02593097 22.76791544] [ 0.05975355 0.99768215 0.03255531 0.62704367] [ 0.02395264 -0.03403724 0.99913349 2.4232074 ] [ 0. 0. 0. 1. ]] SLAMing on 116.82719347000001 meters Centerline goodness : 0.900017 with order 1 Centerline is valid? [False, False] Translation: X:22.77, Y:0.63, Z:2.42 [[ 0.99830716 -0.05160612 -0.02682564 22.77001844] [ 0.05261255 0.99788129 0.03827327 0.63167304] [ 0.02479367 -0.03961984 0.99890717 2.42182413] [ 0. 0. 0. 1. ]] SLAMing on 116.88719347000001 meters Centerline goodness : 0.899029 with order 1 Centerline is valid? [False, False] Translation: X:22.77, Y:0.63, Z:2.42 [[ 0.99838525 -0.04952522 -0.0278236 22.77406695] [ 0.05061424 0.99792078 0.0399038 0.6328006 ] [ 0.02578951 -0.04124764 0.99881607 2.41902484] [ 0. 0. 0. 1. ]] SLAMing on 116.94719347000002 meters Centerline goodness : 0.900263 with order 1 Centerline is valid? [False, False] Translation: X:22.80, Y:0.63, Z:2.42 [[ 9.98709559e-01 -4.44918945e-02 -2.44885440e-02 2.28016892e+01] [ 4.55440970e-02 9.97982576e-01 4.42325003e-02 6.27437638e-01] [ 2.24711525e-02 -4.52907295e-02 9.98721081e-01 2.41740368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.00719347000002 meters Centerline goodness : 0.895665 with order 1 Centerline is valid? [False, False] Translation: X:22.83, Y:0.62, Z:2.42 [[ 0.99871972 -0.04377205 -0.02535603 22.83101655] [ 0.0449047 0.99793299 0.04597078 0.62095906] [ 0.02329138 -0.04705053 0.99862093 2.41516109] [ 0. 0. 0. 1. ]] SLAMing on 117.06719347 meters Centerline goodness : 0.892971 with order 1 Centerline is valid? [False, False] Translation: X:22.87, Y:0.61, Z:2.41 [[ 9.98591165e-01 -4.73825823e-02 -2.38867546e-02 2.28708696e+01] [ 4.86854438e-02 9.97170052e-01 5.72853860e-02 6.07137428e-01] [ 2.11048268e-02 -5.83676175e-02 9.98072045e-01 2.40883509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12719347000001 meters Centerline goodness : 0.894773 with order 1 Centerline is valid? [False, False] Translation: X:22.91, Y:0.58, Z:2.40 [[ 9.98437996e-01 -5.42624085e-02 -1.33101479e-02 2.29084534e+01] [ 5.56035366e-02 9.88332277e-01 1.41801120e-01 5.78276507e-01] [ 5.46037842e-03 -1.42319717e-01 9.89805679e-01 2.40123691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18719347000001 meters Centerline goodness : 0.886310 with order 1 Centerline is valid? [False, False] Translation: X:22.91, Y:0.57, Z:2.40 [[ 9.98033644e-01 -6.13420419e-02 -1.28840765e-02 2.29076821e+01] [ 6.25313576e-02 9.88569377e-01 1.37187520e-01 5.73236141e-01] [ 4.32144085e-03 -1.37723419e-01 9.90461299e-01 2.40458281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24719347000001 meters Centerline goodness : 0.890122 with order 1 Centerline is valid? [False, False] Translation: X:22.91, Y:0.57, Z:2.41 [[ 9.97536440e-01 -6.89515031e-02 -1.29128158e-02 2.29088042e+01] [ 7.00557721e-02 9.88718797e-01 1.32390821e-01 5.66890229e-01] [ 3.63859752e-03 -1.32969286e-01 9.91113480e-01 2.40653291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.30719347000002 meters Centerline goodness : 0.888368 with order 1 Centerline is valid? [False, False] Translation: X:22.91, Y:0.56, Z:2.41 [[ 9.97010269e-01 -7.62533788e-02 -1.24878085e-02 2.29093509e+01] [ 7.72217069e-02 9.88962474e-01 1.26451698e-01 5.63056830e-01] [ 2.70760472e-03 -1.27037972e-01 9.91894159e-01 2.40732538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.36719347000002 meters Centerline goodness : 0.885663 with order 1 Centerline is valid? [False, False] Translation: X:22.91, Y:0.56, Z:2.41 [[ 9.96798612e-01 -7.90604292e-02 -1.19153229e-02 2.29089911e+01] [ 7.99316801e-02 9.88864599e-01 1.25529800e-01 5.57150636e-01] [ 1.85820117e-03 -1.26080342e-01 9.92018293e-01 2.40904167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.42719347000002 meters Centerline goodness : 0.888449 with order 1 Centerline is valid? [False, False] Translation: X:22.91, Y:0.56, Z:2.42 [[ 9.96687477e-01 -7.99297441e-02 -1.50103355e-02 2.29127688e+01] [ 8.11620337e-02 9.89326026e-01 1.21023709e-01 5.57611150e-01] [ 5.17672151e-03 -1.21841084e-01 9.92536121e-01 2.41503777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48719347000001 meters Centerline goodness : 0.887822 with order 1 Centerline is valid? [False, False] Translation: X:22.91, Y:0.55, Z:2.42 [[ 9.96727970e-01 -7.94036048e-02 -1.51136392e-02 2.29125319e+01] [ 8.06631958e-02 9.89114798e-01 1.23066506e-01 5.54044113e-01] [ 5.17719996e-03 -1.23882943e-01 9.92283333e-01 2.41702776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54719347000001 meters Centerline goodness : 0.884862 with order 1 Centerline is valid? [False, False] Translation: X:22.91, Y:0.55, Z:2.42 [[ 9.96912003e-01 -7.67714674e-02 -1.65106201e-02 2.29050329e+01] [ 7.81444793e-02 9.90604821e-01 1.12229805e-01 5.51791617e-01] [ 7.73945302e-03 -1.13173453e-01 9.93545102e-01 2.41874123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60719347000001 meters Centerline goodness : 0.885910 with order 1 Centerline is valid? [False, False] Translation: X:22.91, Y:0.55, Z:2.42 [[ 9.96805274e-01 -7.74116736e-02 -1.96641532e-02 2.29104289e+01] [ 7.90781173e-02 9.91128467e-01 1.06822347e-01 5.53919731e-01] [ 1.12204054e-02 -1.08036083e-01 9.94083652e-01 2.42163248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.66719347000002 meters Centerline goodness : 0.887547 with order 1 Centerline is valid? [False, False] Translation: X:22.91, Y:0.56, Z:2.42 [[ 9.96950185e-01 -7.58236435e-02 -1.84690123e-02 2.29075387e+01] [ 7.73733780e-02 9.91228089e-01 1.07145859e-01 5.55538075e-01] [ 1.01828144e-02 -1.08248093e-01 9.94071758e-01 2.42253107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.72719347000002 meters Centerline goodness : 0.886111 with order 1 Centerline is valid? [False, False] Translation: X:22.91, Y:0.56, Z:2.42 [[ 9.96877193e-01 -7.60355313e-02 -2.13180665e-02 2.29128902e+01] [ 7.78052904e-02 9.91883020e-01 1.00570429e-01 5.58520232e-01] [ 1.34981022e-02 -1.01915025e-01 9.94701528e-01 2.42406395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.78719347000002 meters Centerline goodness : 0.890459 with order 1 Centerline is valid? [False, False] Translation: X:22.92, Y:0.56, Z:2.43 [[ 9.96762265e-01 -7.65506253e-02 -2.45965127e-02 2.29190160e+01] [ 7.85504039e-02 9.92414166e-01 9.45724960e-02 5.59243983e-01] [ 1.71703440e-02 -9.61983613e-02 9.95214075e-01 2.42692564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84719347000001 meters Centerline goodness : 0.890141 with order 1 Centerline is valid? [False, False] Translation: X:22.92, Y:0.56, Z:2.43 [[ 9.96539150e-01 -7.95540168e-02 -2.41014739e-02 2.29190839e+01] [ 8.14330776e-02 9.92519117e-01 9.09640374e-02 5.59649468e-01] [ 1.66846190e-02 -9.26118817e-02 9.95562486e-01 2.42609802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90719347000001 meters Centerline goodness : 0.890648 with order 1 Centerline is valid? [False, False] Translation: X:22.94, Y:0.56, Z:2.43 [[ 0.99657079 -0.07708889 -0.03006596 22.93540009] [ 0.07942861 0.9930803 0.08650213 0.55544196] [ 0.02318956 -0.0885936 0.99579788 2.42591304] [ 0. 0. 0. 1. ]] SLAMing on 117.96719347000001 meters Centerline goodness : 0.890049 with order 1 Centerline is valid? [False, False] Translation: X:22.93, Y:0.55, Z:2.43 [[ 9.96780925e-01 -7.46534205e-02 -2.92344841e-02 2.29343272e+01] [ 7.69956526e-02 9.93006261e-01 8.94999148e-02 5.49053550e-01] [ 2.23485510e-02 -9.14627361e-02 9.95557688e-01 2.42648158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.02719347000001 meters Centerline goodness : 0.888989 with order 1 Centerline is valid? [False, False] Translation: X:22.93, Y:0.54, Z:2.43 [[ 9.97688032e-01 -6.40722236e-02 -2.26570260e-02 2.29342842e+01] [ 6.57818178e-02 9.94193017e-01 8.51645335e-02 5.42137222e-01] [ 1.70687760e-02 -8.64580562e-02 9.96109262e-01 2.42592525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.08719347000002 meters Centerline goodness : 0.892382 with order 1 Centerline is valid? [False, False] Translation: X:22.93, Y:0.53, Z:2.43 [[ 9.98364361e-01 -5.48828744e-02 -1.60147519e-02 2.29326863e+01] [ 5.59893129e-02 9.95249115e-01 7.96517127e-02 5.29511771e-01] [ 1.15671528e-02 -8.04180862e-02 9.96694102e-01 2.42916548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.14719347000002 meters Centerline goodness : 0.892114 with order 1 Centerline is valid? [False, False] Translation: X:22.94, Y:0.52, Z:2.43 [[ 9.98362948e-01 -5.54104565e-02 -1.41811462e-02 2.29432283e+01] [ 5.62287151e-02 9.96240842e-01 6.58977677e-02 5.17817009e-01] [ 1.04764117e-02 -6.65872773e-02 9.97725603e-01 2.43314093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20719347 meters Centerline goodness : 0.893740 with order 1 Centerline is valid? [False, False] Translation: X:22.95, Y:0.49, Z:2.44 [[ 9.97647819e-01 -6.70619477e-02 -1.41959361e-02 2.29451875e+01] [ 6.78440464e-02 9.95599869e-01 6.46381157e-02 4.93183339e-01] [ 9.79871417e-03 -6.54491849e-02 9.97807792e-01 2.43513725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26719347000001 meters Centerline goodness : 0.895452 with order 1 Centerline is valid? [False, False] Translation: X:22.95, Y:0.48, Z:2.44 [[ 9.97262184e-01 -7.19479212e-02 -1.70772557e-02 2.29522482e+01] [ 7.28527093e-02 9.95527509e-01 6.01453314e-02 4.80190939e-01] [ 1.26735462e-02 -6.12247889e-02 9.98043539e-01 2.43824106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32719347000001 meters Centerline goodness : 0.889887 with order 1 Centerline is valid? [False, False] Translation: X:22.95, Y:0.47, Z:2.44 [[ 9.96827288e-01 -7.76894091e-02 -1.73122647e-02 2.29544275e+01] [ 7.85682733e-02 9.95234512e-01 5.77519836e-02 4.68705283e-01] [ 1.27430459e-02 -5.89289479e-02 9.98180842e-01 2.43952372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.38719347000001 meters Centerline goodness : 0.892658 with order 1 Centerline is valid? [False, False] Translation: X:22.96, Y:0.45, Z:2.44 [[ 9.96098322e-01 -8.65779306e-02 -1.70995685e-02 2.29566184e+01] [ 8.73700303e-02 9.94772851e-01 5.28531274e-02 4.53741822e-01] [ 1.24342721e-02 -5.41409013e-02 9.98455884e-01 2.44105168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.44719347000002 meters Centerline goodness : 0.890299 with order 1 Centerline is valid? [False, False] Translation: X:22.96, Y:0.44, Z:2.44 [[ 9.94927485e-01 -9.91803662e-02 -1.68093334e-02 2.29605654e+01] [ 9.98166324e-02 9.94094600e-01 4.25742404e-02 4.42705197e-01] [ 1.24875388e-02 -4.40361330e-02 9.98951891e-01 2.43971969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.50719347000002 meters Centerline goodness : 0.889657 with order 1 Centerline is valid? [False, False] Translation: X:22.96, Y:0.44, Z:2.44 [[ 9.94082437e-01 -1.07310609e-01 -1.68683324e-02 2.29648255e+01] [ 1.07864141e-01 9.93502299e-01 3.63112726e-02 4.36263549e-01] [ 1.28621422e-02 -3.79158865e-02 9.99198154e-01 2.43694096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.56719347 meters Centerline goodness : 0.889810 with order 1 Centerline is valid? [False, False] Translation: X:22.97, Y:0.43, Z:2.44 [[ 9.92396144e-01 -1.22040854e-01 -1.59976258e-02 2.29680851e+01] [ 1.22400355e-01 9.92194441e-01 2.38399753e-02 4.28472673e-01] [ 1.29633044e-02 -2.56168146e-02 9.99587781e-01 2.43580702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62719347000001 meters Centerline goodness : 0.891044 with order 1 Centerline is valid? [False, False] Translation: X:22.99, Y:0.43, Z:2.43 [[ 9.91978628e-01 -1.25846176e-01 -1.18803014e-02 2.29910320e+01] [ 1.25930122e-01 9.92017151e-01 6.60118567e-03 4.27353432e-01] [ 1.09547288e-02 -8.04432290e-03 9.99907637e-01 2.43348967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68719347000001 meters Centerline goodness : 0.894944 with order 1 Centerline is valid? [False, False] Translation: X:22.99, Y:0.43, Z:2.44 [[ 9.92161554e-01 -1.24522180e-01 -1.04727447e-02 2.29856300e+01] [ 1.24598888e-01 9.92182363e-01 7.01970289e-03 4.29956750e-01] [ 9.51676391e-03 -8.26957166e-03 9.99920520e-01 2.43769764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74719347000001 meters Centerline goodness : 0.894847 with order 1 Centerline is valid? [False, False] Translation: X:22.98, Y:0.44, Z:2.44 [[ 9.93663068e-01 -1.12343918e-01 -3.54291276e-03 2.29810716e+01] [ 1.12350183e-01 9.93667353e-01 1.62123820e-03 4.37702048e-01] [ 3.33834050e-03 -2.00901142e-03 9.99992410e-01 2.43948105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.80719347000002 meters Centerline goodness : 0.897584 with order 1 Centerline is valid? [False, False] Translation: X:22.99, Y:0.44, Z:2.44 [[ 9.94419354e-01 -1.05486490e-01 -1.65774596e-03 2.29879641e+01] [ 1.05482440e-01 9.94418352e-01 -2.36577683e-03 4.43735113e-01] [ 1.89805050e-03 2.17771118e-03 9.99995827e-01 2.44073465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.86719347000002 meters Centerline goodness : 0.897183 with order 1 Centerline is valid? [False, False] Translation: X:22.99, Y:0.45, Z:2.44 [[ 9.94759627e-01 -1.02228489e-01 -1.61856779e-03 2.29878765e+01] [ 1.02226808e-01 9.94760521e-01 -1.08928496e-03 4.51033218e-01] [ 1.72144330e-03 9.18115686e-04 9.99998097e-01 2.43969525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.92719347000002 meters Centerline goodness : 0.895439 with order 1 Centerline is valid? [False, False] Translation: X:22.99, Y:0.45, Z:2.44 [[ 9.95078272e-01 -9.90728829e-02 -1.94857891e-03 2.29885965e+01] [ 9.90758209e-02 9.95078796e-01 1.47374668e-03 4.54758175e-01] [ 1.79298122e-03 -1.65955036e-03 9.99997016e-01 2.43845257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98719347000001 meters Centerline goodness : 0.893014 with order 1 Centerline is valid? [False, False] Translation: X:22.99, Y:0.46, Z:2.44 [[ 9.95316250e-01 -9.66476587e-02 -2.18935433e-03 2.29895424e+01] [ 9.66536234e-02 9.95314125e-01 2.80545872e-03 4.62247200e-01] [ 1.90795427e-03 -3.00392768e-03 9.99993668e-01 2.43646150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04719347000001 meters Centerline goodness : 0.888534 with order 1 Centerline is valid? [False, False] Translation: X:22.99, Y:0.47, Z:2.43 [[ 9.95125621e-01 -9.85750597e-02 -2.82076722e-03 2.29932149e+01] [ 9.85771179e-02 9.95129234e-01 5.99860594e-04 4.65089673e-01] [ 2.74789663e-03 -8.74999749e-04 9.99995842e-01 2.43337639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10719347000001 meters Centerline goodness : 0.885958 with order 1 Centerline is valid? [False, False] Translation: X:22.99, Y:0.46, Z:2.43 [[ 9.95017739e-01 -9.96477669e-02 -3.16584849e-03 2.29944607e+01] [ 9.96482191e-02 9.95022729e-01 -1.49604058e-05 4.64809683e-01] [ 3.15158198e-03 -3.00585295e-04 9.99994989e-01 2.43268790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.16719347000002 meters Centerline goodness : 0.886367 with order 1 Centerline is valid? [False, False] Translation: X:23.00, Y:0.47, Z:2.43 [[ 9.94753425e-01 -1.02238344e-01 -3.59770815e-03 2.29976842e+01] [ 1.02229656e-01 9.94757628e-01 -2.52169340e-03 4.66390671e-01] [ 3.83666138e-03 2.14067068e-03 9.99990349e-01 2.43003733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.22719347000002 meters Centerline goodness : 0.885123 with order 1 Centerline is valid? [False, False] Translation: X:23.00, Y:0.47, Z:2.43 [[ 9.94866337e-01 -1.01104007e-01 -4.35332005e-03 2.30004077e+01] [ 1.01099278e-01 9.94875501e-01 -1.29344476e-03 4.69800340e-01] [ 4.46178392e-03 8.46687136e-04 9.99989688e-01 2.42768474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.28719347000002 meters Centerline goodness : 0.881948 with order 1 Centerline is valid? [False, False] Translation: X:23.00, Y:0.47, Z:2.43 [[ 9.94836441e-01 -1.01379406e-01 -4.76140290e-03 2.30016292e+01] [ 1.01372629e-01 9.94847167e-01 -1.64432008e-03 4.70489762e-01] [ 4.90356838e-03 1.15315361e-03 9.99987313e-01 2.42703922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34719347000001 meters Centerline goodness : 0.882467 with order 1 Centerline is valid? [False, False] Translation: X:23.00, Y:0.47, Z:2.43 [[ 9.94701833e-01 -1.02695860e-01 -4.67155090e-03 2.30016862e+01] [ 1.02683938e-01 9.94710302e-01 -2.72456622e-03 4.71811134e-01] [ 4.92664148e-03 2.23043777e-03 9.99985377e-01 2.42688263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40719347000001 meters Centerline goodness : 0.885785 with order 1 Centerline is valid? [False, False] Translation: X:23.01, Y:0.47, Z:2.43 [[ 9.94224865e-01 -1.07254225e-01 3.66728932e-03 2.30077830e+01] [ 1.07250464e-01 9.94231300e-01 1.20798918e-03 4.74104193e-01] [-3.77569578e-03 -8.07694397e-04 9.99992546e-01 2.42651084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46719347000001 meters Centerline goodness : 0.882350 with order 1 Centerline is valid? [False, False] Translation: X:23.00, Y:0.48, Z:2.43 [[ 9.94340888e-01 -1.06142095e-01 4.47825808e-03 2.30036114e+01] [ 1.06133044e-01 9.94349475e-01 2.21327420e-03 4.78061741e-01] [-4.68787513e-03 -1.72545787e-03 9.99987523e-01 2.42963566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.52719347000001 meters Centerline goodness : 0.883611 with order 1 Centerline is valid? [False, False] Translation: X:23.00, Y:0.48, Z:2.43 [[ 9.95055892e-01 -9.92451119e-02 3.76548714e-03 2.30038924e+01] [ 9.92124766e-02 9.95033780e-01 8.04127677e-03 4.83902735e-01] [-4.54484432e-03 -7.62793653e-03 9.99960579e-01 2.42870564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.58719347000002 meters Centerline goodness : 0.885242 with order 1 Centerline is valid? [False, False] Translation: X:23.00, Y:0.49, Z:2.43 [[ 9.95674001e-01 -9.28805813e-02 -2.54582527e-03 2.29965533e+01] [ 9.28898631e-02 9.95669105e-01 3.80877670e-03 4.90962078e-01] [ 2.18103818e-03 -4.02878129e-03 9.99989506e-01 2.42999813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.64719347000002 meters Centerline goodness : 0.885350 with order 1 Centerline is valid? [False, False] Translation: X:22.99, Y:0.50, Z:2.43 [[ 9.95769679e-01 -9.08045145e-02 -1.40458997e-02 2.29942359e+01] [ 9.08038372e-02 9.95868561e-01 -6.87275590e-04 4.98533141e-01] [ 1.40502777e-02 -5.91053398e-04 9.99901115e-01 2.43174494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70719347 meters Centerline goodness : 0.877454 with order 1 Centerline is valid? [False, False] Translation: X:23.00, Y:0.50, Z:2.43 [[ 9.95447938e-01 -9.42014986e-02 -1.44734666e-02 2.29969656e+01] [ 9.41401962e-02 9.95547080e-01 -4.86150193e-03 5.03367887e-01] [ 1.48669782e-02 3.47683708e-03 9.99883435e-01 2.42946703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76719347000001 meters Centerline goodness : 0.875852 with order 1 Centerline is valid? [False, False] Translation: X:23.00, Y:0.51, Z:2.43 [[ 9.95249171e-01 -9.61733948e-02 -1.51580108e-02 2.29983839e+01] [ 9.60851264e-02 9.95352226e-01 -6.44940619e-03 5.06357919e-01] [ 1.57078211e-02 4.96230678e-03 9.99864311e-01 2.42939667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82719347000001 meters Centerline goodness : 0.875764 with order 1 Centerline is valid? [False, False] Translation: X:23.00, Y:0.51, Z:2.43 [[ 9.95083186e-01 -9.78356217e-02 -1.54156860e-02 2.29987242e+01] [ 9.77047044e-02 9.95174481e-01 -9.03012287e-03 5.12724000e-01] [ 1.62247650e-02 7.47953839e-03 9.99840394e-01 2.42934213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88719347000001 meters Centerline goodness : 0.880111 with order 1 Centerline is valid? [False, False] Translation: X:23.00, Y:0.51, Z:2.43 [[ 9.95479053e-01 -9.36441215e-02 -1.58818907e-02 2.29983155e+01] [ 9.35738945e-02 9.95599222e-01 -5.11038463e-03 5.13145141e-01] [ 1.62905555e-02 3.60115049e-03 9.99860815e-01 2.43039499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.94719347000002 meters Centerline goodness : 0.887531 with order 1 Centerline is valid? [False, False] Translation: X:22.99, Y:0.52, Z:2.43 [[ 9.96659742e-01 -7.89068682e-02 -2.10491198e-02 2.29856152e+01] [ 7.89125550e-02 9.96881384e-01 -5.61603278e-04 5.20249455e-01] [ 2.10277900e-02 -1.10131245e-03 9.99778285e-01 2.43420873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.00719347000002 meters Centerline goodness : 0.884261 with order 1 Centerline is valid? [False, False] Translation: X:22.97, Y:0.53, Z:2.44 [[ 9.97718631e-01 -6.30078048e-02 -2.42394277e-02 2.29727965e+01] [ 6.30768010e-02 9.98006484e-01 2.09170732e-03 5.30202232e-01] [ 2.40593121e-02 -3.61588092e-03 9.99703994e-01 2.43828889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.06719347000002 meters Centerline goodness : 0.888022 with order 1 Centerline is valid? [False, False] Translation: X:22.97, Y:0.53, Z:2.44 [[ 9.97973745e-01 -5.90075688e-02 -2.38014988e-02 2.29716168e+01] [ 5.91259738e-02 9.98241262e-01 4.30139388e-03 5.32957452e-01] [ 2.35058234e-02 -5.69996495e-03 9.99707451e-01 2.43798507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12719347000001 meters Centerline goodness : 0.888368 with order 1 Centerline is valid? [False, False] Translation: X:22.96, Y:0.54, Z:2.44 [[ 9.98306540e-01 -5.22383721e-02 -2.55969749e-02 2.29639510e+01] [ 5.21693445e-02 9.98632608e-01 -3.35758463e-03 5.40000636e-01] [ 2.57373686e-02 2.01652129e-03 9.99666705e-01 2.43649271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18719347000001 meters Centerline goodness : 0.892309 with order 1 Centerline is valid? [False, False] Translation: X:22.96, Y:0.55, Z:2.43 [[ 9.98844388e-01 -3.75731357e-02 -2.99691219e-02 2.29586684e+01] [ 3.74271223e-02 9.99284669e-01 -5.41849157e-03 5.49350894e-01] [ 3.01512737e-02 4.29057190e-03 9.99536138e-01 2.43493152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24719347000001 meters Centerline goodness : 0.886224 with order 1 Centerline is valid? [False, False] Translation: X:22.97, Y:0.55, Z:2.43 [[ 9.98942350e-01 -2.90963339e-02 -3.56031474e-02 2.29720580e+01] [ 2.89579455e-02 9.99570962e-01 -4.39658837e-03 5.51590363e-01] [ 3.57157968e-02 3.36094432e-03 9.99356336e-01 2.43294770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.30719347000002 meters Centerline goodness : 0.885146 with order 1 Centerline is valid? [False, False] Translation: X:22.99, Y:0.55, Z:2.43 [[ 9.99107324e-01 -2.42571193e-02 -3.45853747e-02 2.29891303e+01] [ 2.46271276e-02 9.99643512e-01 1.03127891e-02 5.45435329e-01] [ 3.43228868e-02 -1.11553215e-02 9.99348537e-01 2.42711873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.36719347000002 meters Centerline goodness : 0.888475 with order 1 Centerline is valid? [False, False] Translation: X:23.03, Y:0.53, Z:2.42 [[ 9.99257526e-01 -2.97985036e-02 -2.44222626e-02 2.30307500e+01] [ 3.09678998e-02 9.98318974e-01 4.89919978e-02 5.30216559e-01] [ 2.29213199e-02 -4.97119287e-02 9.98500544e-01 2.42306836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.42719347000002 meters Centerline goodness : 0.894960 with order 1 Centerline is valid? [False, False] Translation: X:23.07, Y:0.48, Z:2.42 [[ 9.98925049e-01 -4.55872271e-02 -8.39947708e-03 2.30651817e+01] [ 4.63523890e-02 9.84101887e-01 1.71449501e-01 4.83694807e-01] [ 4.50033892e-04 -1.71654537e-01 9.85157103e-01 2.42144971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48719347000001 meters Centerline goodness : 0.888926 with order 1 Centerline is valid? [False, False] Translation: X:23.07, Y:0.48, Z:2.43 [[ 9.98318608e-01 -5.72359189e-02 -9.16547308e-03 2.30658469e+01] [ 5.79648479e-02 9.85261376e-01 1.60935074e-01 4.81230977e-01] [-1.80880223e-04 -1.61195754e-01 9.86922437e-01 2.42558834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54719347000001 meters Centerline goodness : 0.896467 with order 1 Centerline is valid? [False, False] Translation: X:23.07, Y:0.48, Z:2.43 [[ 9.97557519e-01 -6.97810204e-02 -3.09942842e-03 2.30652213e+01] [ 6.95308169e-02 9.87787700e-01 1.39430717e-01 4.76836885e-01] [-6.66804047e-03 -1.39305666e-01 9.90226978e-01 2.43192560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60719347000001 meters Centerline goodness : 0.894036 with order 1 Centerline is valid? [False, False] Translation: X:23.07, Y:0.48, Z:2.43 [[ 9.97265843e-01 -7.38343700e-02 -3.05344761e-03 2.30655657e+01] [ 7.36509358e-02 9.89717325e-01 1.22617925e-01 4.78364417e-01] [-6.03136721e-03 -1.22507557e-01 9.92449254e-01 2.43291834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.66719347000002 meters Centerline goodness : 0.892310 with order 1 Centerline is valid? [False, False] Translation: X:23.06, Y:0.48, Z:2.43 [[ 9.97133024e-01 -7.54536677e-02 -5.69874033e-03 2.30593255e+01] [ 7.56268368e-02 9.91252128e-01 1.08165618e-01 4.82705656e-01] [-2.51260409e-03 -1.08286487e-01 9.94116554e-01 2.43121809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.72719347000002 meters Centerline goodness : 0.891350 with order 1 Centerline is valid? [False, False] Translation: X:23.05, Y:0.49, Z:2.43 [[ 9.97179092e-01 -7.46854147e-02 -7.47973015e-03 2.30519191e+01] [ 7.50585321e-02 9.92570849e-01 9.57566026e-02 4.85671900e-01] [ 2.72540530e-04 -9.60478997e-02 9.95376676e-01 2.42984352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.78719347000002 meters Centerline goodness : 0.895263 with order 1 Centerline is valid? [False, False] Translation: X:23.05, Y:0.49, Z:2.43 [[ 9.97479957e-01 -7.06338944e-02 -6.67739443e-03 2.30471983e+01] [ 7.09423194e-02 9.94235183e-01 8.03964393e-02 4.89298667e-01] [ 9.60186865e-04 -8.06675467e-02 9.96740601e-01 2.43094863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84719347000001 meters Centerline goodness : 0.894587 with order 1 Centerline is valid? [False, False] Translation: X:23.03, Y:0.50, Z:2.43 [[ 9.98294834e-01 -5.83590064e-02 -1.28517061e-03 2.30339949e+01] [ 5.82801908e-02 9.95221303e-01 7.83452498e-02 4.97160311e-01] [-3.29312176e-03 -7.82865581e-02 9.96925459e-01 2.43036338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90719347000001 meters Centerline goodness : 0.895616 with order 1 Centerline is valid? [False, False] Translation: X:23.03, Y:0.50, Z:2.43 [[ 9.98946241e-01 -4.58237438e-02 -2.56746338e-03 2.30274150e+01] [ 4.58911456e-02 9.96504265e-01 6.98086920e-02 5.03889613e-01] [-6.40407414e-04 -6.98529543e-02 9.97557093e-01 2.43098867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96719347000001 meters Centerline goodness : 0.890425 with order 1 Centerline is valid? [False, False] Translation: X:23.03, Y:0.51, Z:2.43 [[ 9.99150061e-01 -4.12167063e-02 -5.82140695e-04 2.30299394e+01] [ 4.11764928e-02 9.97321405e-01 6.04525564e-02 5.07961898e-01] [-1.91107389e-03 -6.04251460e-02 9.98170902e-01 2.43178501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.02719347000001 meters Centerline goodness : 0.891791 with order 1 Centerline is valid? [False, False] Translation: X:23.02, Y:0.51, Z:2.43 [[ 9.99692872e-01 -2.46763088e-02 2.28928708e-03 2.30177991e+01] [ 2.45385123e-02 9.98551889e-01 4.78746978e-02 5.08404496e-01] [-3.46734276e-03 -4.78038184e-02 9.98850726e-01 2.43161032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.08719347000002 meters Centerline goodness : 0.886100 with order 1 Centerline is valid? [False, False] Translation: X:23.02, Y:0.51, Z:2.43 [[ 9.99778436e-01 -2.08740639e-02 2.71168467e-03 2.30153737e+01] [ 2.07031878e-02 9.98408603e-01 5.24560711e-02 5.07068095e-01] [-3.80234068e-03 -5.23883082e-02 9.98619551e-01 2.43425812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.14719347000002 meters Centerline goodness : 0.884832 with order 1 Centerline is valid? [False, False] Translation: X:23.05, Y:0.49, Z:2.43 [[ 9.99644220e-01 -2.58169055e-02 6.70226712e-03 2.30528302e+01] [ 2.52721523e-02 9.97118797e-01 7.15221907e-02 4.90227863e-01] [-8.52943816e-03 -7.13273638e-02 9.97416491e-01 2.43341825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20719347 meters Centerline goodness : 0.883597 with order 1 Centerline is valid? [False, False] Translation: X:23.06, Y:0.47, Z:2.43 [[ 9.99304231e-01 -3.70748416e-02 4.06330027e-03 2.30583820e+01] [ 3.66972688e-02 9.96843318e-01 7.04039041e-02 4.70606449e-01] [-6.66068731e-03 -7.02058072e-02 9.97510291e-01 2.43233144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26719347000001 meters Centerline goodness : 0.876722 with order 1 Centerline is valid? [False, False] Translation: X:23.06, Y:0.46, Z:2.43 [[ 9.99088865e-01 -4.24933053e-02 3.96983326e-03 2.30603572e+01] [ 4.21389357e-02 9.96926740e-01 6.60407819e-02 4.64496923e-01] [-6.76392403e-03 -6.58133253e-02 9.97809028e-01 2.43154750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32719347000001 meters Centerline goodness : 0.877000 with order 1 Centerline is valid? [False, False] Translation: X:23.07, Y:0.45, Z:2.43 [[ 9.99348338e-01 -3.60441608e-02 -1.92822195e-03 2.30698665e+01] [ 3.60956018e-02 9.98043388e-01 5.10539271e-02 4.53645570e-01] [ 8.42532069e-05 -5.10902575e-02 9.98694036e-01 2.43312084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38719347000001 meters Centerline goodness : 0.875648 with order 1 Centerline is valid? [False, False] Translation: X:23.07, Y:0.45, Z:2.43 [[ 9.99398143e-01 -3.46068451e-02 -2.39132051e-03 2.30712770e+01] [ 3.46855948e-02 9.97928819e-01 5.41754756e-02 4.46327307e-01] [ 5.11525361e-04 -5.42258140e-02 9.98528567e-01 2.43338067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.44719347000002 meters Centerline goodness : 0.877451 with order 1 Centerline is valid? [False, False] Translation: X:23.07, Y:0.44, Z:2.44 [[ 9.99327139e-01 -3.65521350e-02 -3.03490332e-03 2.30725071e+01] [ 3.66634763e-02 9.97829530e-01 5.46993461e-02 4.36490352e-01] [ 1.02893828e-03 -5.47738111e-02 9.98498258e-01 2.43504508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.50719347000002 meters Centerline goodness : 0.876175 with order 1 Centerline is valid? [False, False] Translation: X:23.07, Y:0.43, Z:2.44 [[ 9.99028552e-01 -4.39595745e-02 -3.08346844e-03 2.30733512e+01] [ 4.40577410e-02 9.97836162e-01 4.88048001e-02 4.30340811e-01] [ 9.31358066e-04 -4.88932395e-02 9.98803576e-01 2.43562753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.56719347000002 meters Centerline goodness : 0.877492 with order 1 Centerline is valid? [False, False] Translation: X:23.07, Y:0.42, Z:2.44 [[ 9.98329643e-01 -5.77010277e-02 -2.91820669e-03 2.30739834e+01] [ 5.77694942e-02 9.97647064e-01 3.69191234e-02 4.19866042e-01] [ 7.81068969e-04 -3.70260386e-02 9.99313996e-01 2.43734914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62719347000001 meters Centerline goodness : 0.880056 with order 1 Centerline is valid? [False, False] Translation: X:23.07, Y:0.42, Z:2.44 [[ 9.97941171e-01 -6.40990713e-02 -2.17458734e-03 2.30715388e+01] [ 6.41357393e-02 9.97450549e-01 3.12891334e-02 4.15743251e-01] [ 1.63438941e-04 -3.13641832e-02 9.99508010e-01 2.44014300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68719347000001 meters Centerline goodness : 0.885135 with order 1 Centerline is valid? [False, False] Translation: X:23.09, Y:0.42, Z:2.45 [[ 9.97869020e-01 -6.52430350e-02 -8.74699411e-04 2.30906735e+01] [ 6.52476033e-02 9.97844008e-01 7.07718759e-03 4.18499574e-01] [ 4.11076369e-04 -7.11917828e-03 9.99974574e-01 2.44649524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74719347000001 meters Centerline goodness : 0.883303 with order 1 Centerline is valid? [False, False] Translation: X:23.10, Y:0.43, Z:2.45 [[ 9.98172430e-01 -6.03404267e-02 3.29125217e-03 2.30976027e+01] [ 6.04174509e-02 9.97597126e-01 -3.39073129e-02 4.25178831e-01] [-1.23736198e-03 3.40441940e-02 9.99419562e-01 2.45164579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.80719347000002 meters Centerline goodness : 0.880761 with order 1 Centerline is valid? [False, False] Translation: X:23.11, Y:0.43, Z:2.45 [[ 9.98453277e-01 -5.55965620e-02 2.76924642e-04 2.31148406e+01] [ 5.55035457e-02 9.96469010e-01 -6.29989545e-02 4.33087708e-01] [ 3.22657846e-03 6.29168829e-02 9.98013555e-01 2.45375519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.86719347000002 meters Centerline goodness : 0.884232 with order 1 Centerline is valid? [False, False] Translation: X:23.12, Y:0.45, Z:2.46 [[ 9.99171185e-01 -4.07055349e-02 5.17579020e-05 2.31180012e+01] [ 4.03665030e-02 9.90683823e-01 -1.30061944e-01 4.49110348e-01] [ 5.24296527e-03 1.29956236e-01 9.91505869e-01 2.46229540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.92719347000002 meters Centerline goodness : 0.882870 with order 1 Centerline is valid? [False, False] Translation: X:23.13, Y:0.44, Z:2.46 [[ 9.99455088e-01 -3.29453343e-02 2.03272828e-03 2.31259252e+01] [ 3.29696364e-02 9.93431506e-01 -1.09575754e-01 4.42409576e-01] [ 1.59063353e-03 1.09583063e-01 9.93976369e-01 2.46102121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98719347000001 meters Centerline goodness : 0.883041 with order 1 Centerline is valid? [False, False] Translation: X:23.13, Y:0.43, Z:2.46 [[ 9.99727523e-01 -2.32550700e-02 -2.02030081e-03 2.31329323e+01] [ 2.29593510e-02 9.95241445e-01 -9.46960063e-02 4.33238158e-01] [ 4.21284935e-03 9.46238190e-02 9.95504186e-01 2.46044872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04719347000001 meters Centerline goodness : 0.880629 with order 1 Centerline is valid? [False, False] Translation: X:23.14, Y:0.42, Z:2.46 [[ 9.99780153e-01 -2.02064935e-02 -5.59858667e-03 2.31420213e+01] [ 1.96838482e-02 9.96484137e-01 -8.14365419e-02 4.22910063e-01] [ 7.22444977e-03 8.13084365e-02 9.96662804e-01 2.46119459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10719347000001 meters Centerline goodness : 0.875764 with order 1 Centerline is valid? [False, False] Translation: X:23.14, Y:0.41, Z:2.46 [[ 9.99755285e-01 -2.09953551e-02 -6.96894092e-03 2.31444616e+01] [ 2.04136558e-02 9.96970127e-01 -7.50589703e-02 4.06411732e-01] [ 8.52371565e-03 7.48983407e-02 9.97154745e-01 2.46066912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.16719347000002 meters Centerline goodness : 0.880178 with order 1 Centerline is valid? [False, False] Translation: X:23.15, Y:0.40, Z:2.46 [[ 9.99617210e-01 -2.66142270e-02 -7.55759391e-03 2.31468159e+01] [ 2.59413773e-02 9.96589615e-01 -7.83338036e-02 3.96646093e-01] [ 9.61661323e-03 7.81077638e-02 9.96898539e-01 2.45908175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.22719347000002 meters Centerline goodness : 0.880217 with order 1 Centerline is valid? [False, False] Translation: X:23.15, Y:0.38, Z:2.46 [[ 9.99122154e-01 -4.11587221e-02 -7.80262036e-03 2.31479223e+01] [ 4.02971028e-02 9.95171947e-01 -8.94926827e-02 3.84446377e-01] [ 1.14483534e-02 8.90996989e-02 9.95956916e-01 2.45945064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.28719347000002 meters Centerline goodness : 0.879992 with order 1 Centerline is valid? [False, False] Translation: X:23.16, Y:0.37, Z:2.46 [[ 9.98337195e-01 -5.64733801e-02 -1.15586256e-02 2.31608416e+01] [ 5.53140416e-02 9.94960136e-01 -8.36342307e-02 3.69114796e-01] [ 1.62234794e-02 8.28558090e-02 9.96429483e-01 2.46296999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34719347000001 meters Centerline goodness : 0.886348 with order 1 Centerline is valid? [False, False] Translation: X:23.18, Y:0.36, Z:2.46 [[ 9.97586205e-01 -6.68376177e-02 -1.88280779e-02 2.31802091e+01] [ 6.51658601e-02 9.94774467e-01 -7.85949791e-02 3.64460249e-01] [ 2.39827923e-02 7.71783190e-02 9.96728816e-01 2.46408564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40719347000001 meters Centerline goodness : 0.883681 with order 1 Centerline is valid? [False, False] Translation: X:23.20, Y:0.36, Z:2.46 [[ 9.96794876e-01 -7.81166230e-02 -1.72559637e-02 2.32021519e+01] [ 7.66971570e-02 9.94484728e-01 -7.15379051e-02 3.60981156e-01] [ 2.27490919e-02 6.99851339e-02 9.97288604e-01 2.46310180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46719347000001 meters Centerline goodness : 0.878088 with order 1 Centerline is valid? [False, False] Translation: X:23.22, Y:0.36, Z:2.47 [[ 9.96955611e-01 -7.71171239e-02 -1.15090724e-02 2.32150447e+01] [ 7.61157295e-02 9.94580221e-01 -7.08278156e-02 3.61186617e-01] [ 1.69087332e-02 6.97361668e-02 9.97422158e-01 2.46608334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.52719347000001 meters Centerline goodness : 0.879459 with order 1 Centerline is valid? [False, False] Translation: X:23.24, Y:0.37, Z:2.47 [[ 9.97594657e-01 -6.83590159e-02 -1.14867543e-02 2.32435053e+01] [ 6.73172802e-02 9.94935343e-01 -7.46461453e-02 3.68787781e-01] [ 1.65313149e-02 7.36933386e-02 9.97143925e-01 2.46612663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.58719347000002 meters Centerline goodness : 0.876013 with order 1 Centerline is valid? [False, False] Translation: X:23.28, Y:0.38, Z:2.46 [[ 9.98101100e-01 -6.11844056e-02 -7.11776559e-03 2.32838211e+01] [ 6.02932837e-02 9.94079620e-01 -9.03904264e-02 3.83881373e-01] [ 1.26061102e-02 8.97896305e-02 9.95880971e-01 2.46362811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.64719347000002 meters Centerline goodness : 0.872950 with order 1 Centerline is valid? [False, False] Translation: X:23.31, Y:0.39, Z:2.46 [[ 9.97979100e-01 -6.35420746e-02 3.48374037e-04 2.33100641e+01] [ 6.33243472e-02 9.94075166e-01 -8.83435965e-02 3.89220218e-01] [ 5.26722542e-03 8.81871234e-02 9.96090000e-01 2.46139440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70719347 meters Centerline goodness : 0.874464 with order 1 Centerline is valid? [False, False] Translation: X:23.34, Y:0.39, Z:2.47 [[ 9.97481479e-01 -7.09261190e-02 4.30440569e-04 2.33354421e+01] [ 7.06926572e-02 9.93668171e-01 -8.73276260e-02 3.92851643e-01] [ 5.76609450e-03 8.71381185e-02 9.96179552e-01 2.46500128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76719347000001 meters Centerline goodness : 0.871288 with order 1 Centerline is valid? [False, False] Translation: X:23.35, Y:0.40, Z:2.47 [[ 9.97003104e-01 -7.73300258e-02 2.20845451e-03 2.33528255e+01] [ 7.72722072e-02 9.94074154e-01 -7.64564126e-02 3.95920371e-01] [ 3.71700881e-03 7.63979329e-02 9.97070479e-01 2.46570979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82719347000001 meters Centerline goodness : 0.866191 with order 1 Centerline is valid? [False, False] Translation: X:23.38, Y:0.40, Z:2.47 [[ 9.96836893e-01 -7.94230466e-02 2.86144626e-03 2.33803726e+01] [ 7.94310695e-02 9.94454057e-01 -6.89335421e-02 4.04743150e-01] [ 2.62933509e-03 6.89427857e-02 9.97617150e-01 2.46519468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88719347000001 meters Centerline goodness : 0.865437 with order 1 Centerline is valid? [False, False] Translation: X:23.38, Y:0.41, Z:2.46 [[ 9.96991547e-01 -7.74851147e-02 1.97808338e-03 2.33833949e+01] [ 7.74423571e-02 9.94723650e-01 -6.72870052e-02 4.07741212e-01] [ 3.24609499e-03 6.72377628e-02 9.97731700e-01 2.46316421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.94719347000002 meters Centerline goodness : 0.861480 with order 1 Centerline is valid? [False, False] Translation: X:23.41, Y:0.42, Z:2.46 [[ 9.97512655e-01 -7.04645895e-02 1.80152734e-03 2.34095531e+01] [ 7.04005664e-02 9.94685535e-01 -7.51295319e-02 4.21822001e-01] [ 3.50201844e-03 7.50694873e-02 9.97172156e-01 2.46319064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.00719347000002 meters Centerline goodness : 0.861887 with order 1 Centerline is valid? [False, False] Translation: X:23.44, Y:0.44, Z:2.46 [[ 9.97859749e-01 -6.50684812e-02 6.48181263e-03 2.34388786e+01] [ 6.53817802e-02 9.94433816e-01 -8.26232871e-02 4.35968083e-01] [-1.06956187e-03 8.28702450e-02 9.96559772e-01 2.46099465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.06719347000002 meters Centerline goodness : 0.860119 with order 1 Centerline is valid? [False, False] Translation: X:23.48, Y:0.45, Z:2.46 [[ 9.98106348e-01 -6.11234692e-02 6.90218743e-03 2.34775385e+01] [ 6.14910559e-02 9.94389885e-01 -8.60674516e-02 4.54405627e-01] [-1.60272414e-03 8.63288926e-02 9.96265403e-01 2.45966648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12719347000001 meters Centerline goodness : 0.858346 with order 1 Centerline is valid? [False, False] Translation: X:23.48, Y:0.46, Z:2.46 [[ 9.98171285e-01 -5.97966065e-02 8.85726758e-03 2.34845606e+01] [ 6.02906179e-02 9.95411345e-01 -7.43054280e-02 4.61316539e-01] [-4.37341219e-03 7.47035547e-02 9.97196195e-01 2.46042314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18719347000001 meters Centerline goodness : 0.862628 with order 1 Centerline is valid? [False, False] Translation: X:23.49, Y:0.47, Z:2.46 [[ 9.98167633e-01 -5.95425543e-02 1.07731791e-02 2.34907550e+01] [ 6.01126377e-02 9.96133908e-01 -6.40601935e-02 4.70750868e-01] [-6.91722146e-03 6.45904159e-02 9.97887885e-01 2.46132950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24719347000001 meters Centerline goodness : 0.863805 with order 1 Centerline is valid? [False, False] Translation: X:23.50, Y:0.48, Z:2.46 [[ 9.98280250e-01 -5.82565738e-02 6.53557784e-03 2.34995722e+01] [ 5.85341029e-02 9.96672758e-01 -5.67201296e-02 4.75459715e-01] [-3.20951197e-03 5.70051394e-02 9.98368726e-01 2.46353352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.30719347000002 meters Centerline goodness : 0.870416 with order 1 Centerline is valid? [False, False] Translation: X:23.51, Y:0.48, Z:2.46 [[ 9.98641889e-01 -5.19953938e-02 3.29502399e-03 2.35081706e+01] [ 5.20905727e-02 9.97651595e-01 -4.44732252e-02 4.84201311e-01] [-9.74883078e-04 4.45844653e-02 9.99005143e-01 2.46450869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.36719347000002 meters Centerline goodness : 0.867503 with order 1 Centerline is valid? [False, False] Translation: X:23.51, Y:0.49, Z:2.46 [[ 9.99117334e-01 -4.19010757e-02 2.97545037e-03 2.35078415e+01] [ 4.19800529e-02 9.98495492e-01 -3.52764553e-02 4.90499766e-01] [-1.49285235e-03 3.53702276e-02 9.99373163e-01 2.46448709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.42719347000002 meters Centerline goodness : 0.862150 with order 1 Centerline is valid? [False, False] Translation: X:23.51, Y:0.49, Z:2.46 [[ 9.99303383e-01 -3.72659545e-02 1.99956391e-03 2.35110024e+01] [ 3.73105142e-02 9.98805752e-01 -3.15435598e-02 4.93308388e-01] [-8.21675070e-04 3.15961908e-02 9.99500378e-01 2.46189144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48719347000001 meters Centerline goodness : 0.860440 with order 1 Centerline is valid? [False, False] Translation: X:23.51, Y:0.50, Z:2.46 [[ 9.99646706e-01 -2.65399581e-02 1.44689487e-03 2.35109412e+01] [ 2.65661653e-02 9.99384259e-01 -2.29203174e-02 5.01894094e-01] [-8.37699696e-04 2.29506583e-02 9.99736248e-01 2.46197939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54719347000001 meters Centerline goodness : 0.861616 with order 1 Centerline is valid? [False, False] Translation: X:23.51, Y:0.50, Z:2.46 [[ 9.99814103e-01 -1.92676100e-02 7.20115603e-04 2.35118646e+01] [ 1.92763560e-02 9.99697819e-01 -1.52542993e-02 5.01270380e-01] [-4.25984106e-04 1.52653448e-02 9.99883387e-01 2.46217721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60719347000001 meters Centerline goodness : 0.861717 with order 1 Centerline is valid? [False, False] Translation: X:23.53, Y:0.50, Z:2.46 [[ 9.99916249e-01 -1.28019484e-02 1.89851262e-03 2.35265257e+01] [ 1.28005345e-02 9.99917785e-01 7.55030639e-04 5.02573993e-01] [-1.90802240e-03 -7.30665428e-04 9.99997913e-01 2.45683754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.66719347000002 meters Centerline goodness : 0.858237 with order 1 Centerline is valid? [False, False] Translation: X:23.55, Y:0.50, Z:2.45 [[ 9.99973484e-01 -7.27999739e-03 1.79251894e-04 2.35497868e+01] [ 7.27791471e-03 9.99926406e-01 9.70641792e-03 4.98584927e-01] [-2.49901400e-04 -9.70485597e-03 9.99952876e-01 2.45329647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.72719347000002 meters Centerline goodness : 0.864441 with order 1 Centerline is valid? [False, False] Translation: X:23.57, Y:0.49, Z:2.45 [[ 9.99996667e-01 -9.48771524e-04 2.40116549e-03 2.35690194e+01] [ 8.95020906e-04 9.99751188e-01 2.22881492e-02 4.87655424e-01] [-2.42171441e-03 -2.22859258e-02 9.99748705e-01 2.45062041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.78719347000002 meters Centerline goodness : 0.861760 with order 1 Centerline is valid? [False, False] Translation: X:23.60, Y:0.47, Z:2.45 [[ 9.99987979e-01 -2.25929908e-03 4.35164770e-03 2.36040061e+01] [ 2.05328734e-03 9.98903231e-01 4.67773383e-02 4.72857348e-01] [-4.45255894e-03 -4.67678408e-02 9.98895862e-01 2.45054351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84719347000001 meters Centerline goodness : 0.864383 with order 1 Centerline is valid? [False, False] Translation: X:23.65, Y:0.44, Z:2.45 [[ 9.99880485e-01 -7.64281523e-03 1.34388399e-02 2.36499539e+01] [ 6.18649756e-03 9.94426385e-01 1.05251565e-01 4.36132221e-01] [-1.41683553e-02 -1.05155846e-01 9.94354819e-01 2.45281983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90719347000001 meters Centerline goodness : 0.865130 with order 1 Centerline is valid? [False, False] Translation: X:23.68, Y:0.40, Z:2.46 [[ 9.99692922e-01 -1.24239719e-02 2.14407648e-02 2.36829644e+01] [ 8.38981942e-03 9.83830731e-01 1.78904172e-01 4.03075001e-01] [-2.33167837e-02 -1.78669351e-01 9.83632854e-01 2.46265150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96719347000001 meters Centerline goodness : 0.864914 with order 1 Centerline is valid? [False, False] Translation: X:23.67, Y:0.39, Z:2.47 [[ 9.99470018e-01 -1.80198794e-02 2.71102785e-02 2.36745716e+01] [ 1.36346362e-02 9.87972449e-01 1.54027717e-01 3.90228246e-01] [-2.95597691e-02 -1.53576446e-01 9.87694535e-01 2.46660072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.02719347000001 meters Centerline goodness : 0.866105 with order 1 Centerline is valid? [False, False] Translation: X:23.67, Y:0.38, Z:2.47 [[ 9.99369502e-01 -2.41057497e-02 2.60674225e-02 2.36672488e+01] [ 2.05760219e-02 9.91549041e-01 1.28090309e-01 3.84585858e-01] [-2.89348407e-02 -1.27473185e-01 9.91419872e-01 2.46760952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.08719347000002 meters Centerline goodness : 0.864240 with order 1 Centerline is valid? [False, False] Translation: X:23.67, Y:0.38, Z:2.46 [[ 0.99922222 -0.03047586 0.02502361 23.6682802 ] [ 0.0281243 0.99559155 0.08947902 0.3810857 ] [-0.02764025 -0.08870566 0.99567431 2.46443235] [ 0. 0. 0. 1. ]] SLAMing on 124.14719347000002 meters Centerline goodness : 0.864996 with order 1 Centerline is valid? [False, False] Translation: X:23.69, Y:0.39, Z:2.46 [[ 9.99306569e-01 -3.09197264e-02 2.07449005e-02 2.36851792e+01] [ 2.97659984e-02 9.98108482e-01 5.37907339e-02 3.89646324e-01] [-2.23688559e-02 -5.31359411e-02 9.98336720e-01 2.46468201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20719347 meters Centerline goodness : 0.863018 with order 1 Centerline is valid? [False, False] Translation: X:23.69, Y:0.40, Z:2.47 [[ 9.99538883e-01 -2.19733093e-02 2.09569912e-02 2.36891239e+01] [ 2.19977853e-02 9.99757579e-01 -9.38075977e-04 3.97582207e-01] [-2.09312981e-02 1.39865081e-03 9.99779938e-01 2.46918198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26719347000001 meters Centerline goodness : 0.865730 with order 1 Centerline is valid? [False, False] Translation: X:23.71, Y:0.42, Z:2.48 [[ 9.99786170e-01 -9.63817994e-03 1.82953753e-02 2.37071523e+01] [ 1.10432158e-02 9.96867212e-01 -7.83186387e-02 4.15049692e-01] [-1.74832106e-02 7.85039315e-02 9.96760488e-01 2.48183101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32719347000001 meters Centerline goodness : 0.858830 with order 1 Centerline is valid? [False, False] Translation: X:23.72, Y:0.42, Z:2.50 [[ 9.99902336e-01 -3.01913222e-03 1.36456377e-02 2.37239676e+01] [ 4.67215135e-03 9.92422657e-01 -1.22782083e-01 4.21241412e-01] [-1.31715447e-02 1.22833846e-01 9.92339839e-01 2.49624818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38719347000001 meters Centerline goodness : 0.858575 with order 1 Centerline is valid? [False, False] Translation: X:23.72, Y:0.42, Z:2.50 [[ 9.99874374e-01 -6.54750686e-03 1.44349272e-02 2.37201192e+01] [ 8.33491346e-03 9.91807590e-01 -1.27468559e-01 4.15994055e-01] [-1.34820691e-02 1.27572860e-01 9.91737566e-01 2.50086670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.44719347000002 meters Centerline goodness : 0.857784 with order 1 Centerline is valid? [False, False] Translation: X:23.73, Y:0.41, Z:2.51 [[ 9.99875691e-01 -1.21483052e-02 1.00509478e-02 2.37287286e+01] [ 1.34586270e-02 9.89677673e-01 -1.42677849e-01 4.07756101e-01] [-8.21390461e-03 1.42795385e-01 9.89718147e-01 2.50791369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.50719347000002 meters Centerline goodness : 0.855384 with order 1 Centerline is valid? [False, False] Translation: X:23.75, Y:0.39, Z:2.51 [[ 9.99929110e-01 -1.14605934e-02 3.22940506e-03 2.37457082e+01] [ 1.17731386e-02 9.92176471e-01 -1.24286937e-01 3.93586061e-01] [-1.77973766e-03 1.24316147e-01 9.92241064e-01 2.50774385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.56719347000002 meters Centerline goodness : 0.856060 with order 1 Centerline is valid? [False, False] Translation: X:23.77, Y:0.40, Z:2.52 [[ 9.99989790e-01 -4.06647019e-03 -1.97080393e-03 2.37674738e+01] [ 3.63327207e-03 9.82840660e-01 -1.84420814e-01 4.01247820e-01] [ 2.68692797e-03 1.84411771e-01 9.82845399e-01 2.51646037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62719347000001 meters Centerline goodness : 0.853847 with order 1 Centerline is valid? [False, False] Translation: X:23.79, Y:0.40, Z:2.53 [[ 9.99988351e-01 6.24913445e-06 -4.82670722e-03 2.37898050e+01] [-1.02316858e-03 9.77547528e-01 -2.10712561e-01 3.95741816e-01] [ 4.71701894e-03 2.10715045e-01 9.77536147e-01 2.52500030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68719347000001 meters Centerline goodness : 0.854573 with order 1 Centerline is valid? [False, False] Translation: X:23.79, Y:0.39, Z:2.53 [[ 9.99964329e-01 -7.03170445e-03 -4.67940548e-03 2.37877832e+01] [ 5.84732701e-03 9.76101448e-01 -2.17236671e-01 3.86882510e-01] [ 6.09511853e-03 2.17201559e-01 9.76107746e-01 2.52737439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74719347000001 meters Centerline goodness : 0.851346 with order 1 Centerline is valid? [False, False] Translation: X:23.81, Y:0.37, Z:2.53 [[ 9.99867978e-01 -1.36956694e-02 -8.74390626e-03 2.38061172e+01] [ 1.16411024e-02 9.79199279e-01 -2.02566673e-01 3.72504697e-01] [ 1.13363129e-02 2.02438141e-01 9.79229435e-01 2.52822205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.80719347000002 meters Centerline goodness : 0.851096 with order 1 Centerline is valid? [False, False] Translation: X:23.82, Y:0.37, Z:2.52 [[ 9.99819089e-01 -1.86263255e-02 -3.85341668e-03 2.38179137e+01] [ 1.74943904e-02 9.80033905e-01 -1.98059312e-01 3.68560677e-01] [ 7.46559621e-03 1.97956067e-01 9.80182463e-01 2.52430885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.86719347000002 meters Centerline goodness : 0.851477 with order 1 Centerline is valid? [False, False] Translation: X:23.83, Y:0.35, Z:2.53 [[ 9.99507421e-01 -3.01146249e-02 -8.83314182e-03 2.38333809e+01] [ 2.80958196e-02 9.84041305e-01 -1.75708097e-01 3.50719195e-01] [ 1.39835598e-02 1.75373373e-01 9.84402682e-01 2.52582247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.92719347000002 meters Centerline goodness : 0.849808 with order 1 Centerline is valid? [False, False] Translation: X:23.86, Y:0.34, Z:2.53 [[ 9.98998666e-01 -4.16702575e-02 -1.62866490e-02 2.38566458e+01] [ 3.85620968e-02 9.86555323e-01 -1.58812971e-01 3.37995506e-01] [ 2.26854577e-02 1.58025898e-01 9.87174344e-01 2.52941267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98719347000001 meters Centerline goodness : 0.852198 with order 1 Centerline is valid? [False, False] Translation: X:23.88, Y:0.33, Z:2.53 [[ 9.98736220e-01 -4.77899208e-02 -1.55591400e-02 2.38778063e+01] [ 4.50166756e-02 9.88276547e-01 -1.45886821e-01 3.33038866e-01] [ 2.23486528e-02 1.45002032e-01 9.89178926e-01 2.53120257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04719347000001 meters Centerline goodness : 0.850937 with order 1 Centerline is valid? [False, False] Translation: X:23.90, Y:0.34, Z:2.53 [[ 9.98692751e-01 -4.90310992e-02 -1.44478289e-02 2.38955037e+01] [ 4.66772458e-02 9.89992011e-01 -1.33180526e-01 3.35952785e-01] [ 2.08332228e-02 1.32332041e-01 9.90986482e-01 2.53183760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10719347000001 meters Centerline goodness : 0.853426 with order 1 Centerline is valid? [False, False] Translation: X:23.94, Y:0.36, Z:2.54 [[ 9.99330241e-01 -3.62475776e-02 -5.01815449e-03 2.39354164e+01] [ 3.48096754e-02 9.83931627e-01 -1.75119504e-01 3.56716114e-01] [ 1.12851787e-02 1.74827536e-01 9.84534396e-01 2.53533890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.16719347000002 meters Centerline goodness : 0.854271 with order 1 Centerline is valid? [False, False] Translation: X:23.97, Y:0.38, Z:2.54 [[ 9.99581980e-01 -2.86226197e-02 4.07561817e-03 2.39693341e+01] [ 2.88021818e-02 9.73626212e-01 -2.26323735e-01 3.79399672e-01] [ 2.50984950e-03 2.26346514e-01 9.74043611e-01 2.54056030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.22719347000002 meters Centerline goodness : 0.853623 with order 1 Centerline is valid? [False, False] Translation: X:24.00, Y:0.41, Z:2.55 [[ 9.99633428e-01 -2.38339766e-02 1.28433264e-02 2.40039718e+01] [ 2.64948225e-02 9.58777717e-01 -2.82919272e-01 4.05748666e-01] [-5.57080381e-03 2.83155844e-01 9.59057733e-01 2.54648215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.28719347000002 meters Centerline goodness : 0.852056 with order 1 Centerline is valid? [False, False] Translation: X:24.04, Y:0.42, Z:2.55 [[ 9.99565067e-01 -2.06498050e-02 2.10538102e-02 2.40389192e+01] [ 2.64687569e-02 9.42996936e-01 -3.31747169e-01 4.22545620e-01] [-1.30031642e-02 3.32160149e-01 9.43133370e-01 2.55223086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34719347000001 meters Centerline goodness : 0.851546 with order 1 Centerline is valid? [False, False] Translation: X:24.06, Y:0.45, Z:2.57 [[ 9.99628071e-01 -1.22567009e-02 2.43617213e-02 2.40648108e+01] [ 2.14210803e-02 9.05749905e-01 -4.23270892e-01 4.49224978e-01] [-1.68777220e-02 4.23635319e-01 9.05675581e-01 2.56686332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40719347000001 meters Centerline goodness : 0.853191 with order 1 Centerline is valid? [False, False] Translation: X:24.09, Y:0.47, Z:2.58 [[ 9.99540665e-01 -7.03371264e-03 2.94785622e-02 2.40946969e+01] [ 2.02701505e-02 8.78261647e-01 -4.77750564e-01 4.66177199e-01] [-2.25295304e-02 4.78128651e-01 8.78000805e-01 2.58097551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46719347000001 meters Centerline goodness : 0.856449 with order 1 Centerline is valid? [False, False] Translation: X:24.12, Y:0.47, Z:2.58 [[ 9.99284066e-01 -1.19996138e-02 3.58798537e-02 2.41212857e+01] [ 2.82688754e-02 8.67107990e-01 -4.97317407e-01 4.72283583e-01] [-2.51440910e-02 4.97975644e-01 8.66826414e-01 2.58448500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.52719347000001 meters Centerline goodness : 0.858169 with order 1 Centerline is valid? [False, False] Translation: X:24.12, Y:0.46, Z:2.58 [[ 9.99073549e-01 -2.87283078e-02 3.20426066e-02 2.41199190e+01] [ 4.03104456e-02 8.85436671e-01 -4.63008606e-01 4.55570089e-01] [-1.50702451e-02 4.63871303e-01 8.85774408e-01 2.58170915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.58719347000002 meters Centerline goodness : 0.858143 with order 1 Centerline is valid? [False, False] Translation: X:24.13, Y:0.44, Z:2.58 [[ 9.98818463e-01 -3.88386423e-02 2.92102349e-02 2.41284003e+01] [ 4.76531959e-02 9.00638518e-01 -4.31948416e-01 4.44118868e-01] [-9.53157270e-03 4.32830014e-01 9.01425165e-01 2.57939732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.64719347000002 meters Centerline goodness : 0.859576 with order 1 Centerline is valid? [False, False] Translation: X:24.14, Y:0.44, Z:2.58 [[ 9.98548880e-01 -4.81048600e-02 2.42086121e-02 2.41420914e+01] [ 5.37734247e-02 9.15064372e-01 -3.99706910e-01 4.38165470e-01] [-2.92459344e-03 4.00428668e-01 9.16323267e-01 2.57794386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70719347 meters Centerline goodness : 0.861297 with order 1 Centerline is valid? [False, False] Translation: X:24.15, Y:0.43, Z:2.58 [[ 9.98456433e-01 -5.12999329e-02 2.12853916e-02 2.41500318e+01] [ 5.55350622e-02 9.27511768e-01 -3.69645476e-01 4.31071943e-01] [-7.79663099e-04 3.70256989e-01 9.28929036e-01 2.58005465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76719347000001 meters Centerline goodness : 0.860151 with order 1 Centerline is valid? [False, False] Translation: X:24.16, Y:0.43, Z:2.58 [[ 9.98443876e-01 -5.16005540e-02 2.11473378e-02 2.41620257e+01] [ 5.57263342e-02 9.37482326e-01 -3.43542522e-01 4.29179450e-01] [-2.09827094e-03 3.44186391e-01 9.38898996e-01 2.58481508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82719347000001 meters Centerline goodness : 0.861933 with order 1 Centerline is valid? [False, False] Translation: X:24.18, Y:0.43, Z:2.59 [[ 9.98454294e-01 -5.04653352e-02 2.32867386e-02 2.41809579e+01] [ 5.52891110e-02 9.44596940e-01 -3.23542477e-01 4.30013218e-01] [-5.66890244e-03 3.24329878e-01 9.45927055e-01 2.58770660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88719347000001 meters Centerline goodness : 0.859300 with order 1 Centerline is valid? [False, False] Translation: X:24.22, Y:0.44, Z:2.59 [[ 9.98625902e-01 -4.39913410e-02 2.84793010e-02 2.42150089e+01] [ 5.08368218e-02 9.45162047e-01 -3.22621019e-01 4.39711463e-01] [-1.27250231e-02 3.23625503e-01 9.46099682e-01 2.59035240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.94719347000002 meters Centerline goodness : 0.862034 with order 1 Centerline is valid? [False, False] Translation: X:24.25, Y:0.45, Z:2.59 [[ 0.99847557 -0.03735348 0.04063569 24.25268203] [ 0.04888587 0.94028611 -0.33685635 0.45439155] [-0.02562642 0.33832934 0.94067877 2.59288916] [ 0. 0. 0. 1. ]] SLAMing on 126.00719347000002 meters Centerline goodness : 0.858785 with order 1 Centerline is valid? [False, False] Translation: X:24.29, Y:0.47, Z:2.60 [[ 0.99852175 -0.0307785 0.04479959 24.29441944] [ 0.04531262 0.92657252 -0.37337667 0.47210568] [-0.03001809 0.37485471 0.92659746 2.59970841] [ 0. 0. 0. 1. ]] SLAMing on 126.06719347000002 meters Centerline goodness : 0.864516 with order 1 Centerline is valid? [False, False] Translation: X:24.33, Y:0.49, Z:2.60 [[ 0.99833919 -0.0289221 0.04982338 24.33255087] [ 0.04636561 0.91667723 -0.39692958 0.48664101] [-0.03419192 0.39858045 0.91649579 2.6043769 ] [ 0. 0. 0. 1. ]] SLAMing on 126.12719347000001 meters Centerline goodness : 0.864178 with order 1 Centerline is valid? [False, False] Translation: X:24.35, Y:0.49, Z:2.60 [[ 0.9978952 -0.03635689 0.05369676 24.35376514] [ 0.05439045 0.92014807 -0.38777469 0.48840985] [-0.03531069 0.3898791 0.92018881 2.60333545] [ 0. 0. 0. 1. ]] SLAMing on 126.18719347000001 meters Centerline goodness : 0.859946 with order 1 Centerline is valid? [False, False] Translation: X:24.33, Y:0.48, Z:2.60 [[ 0.99717443 -0.05298198 0.05325473 24.33332011] [ 0.06751344 0.94293656 -0.3260561 0.47871824] [-0.03294073 0.32873021 0.94384922 2.60470757] [ 0. 0. 0. 1. ]] SLAMing on 126.24719347000001 meters Centerline goodness : 0.859948 with order 1 Centerline is valid? [False, False] Translation: X:24.33, Y:0.47, Z:2.61 [[ 0.99675291 -0.06323473 0.04984993 24.32623753] [ 0.07462996 0.95794531 -0.27707607 0.46990722] [-0.03023267 0.27989668 0.95955398 2.60519154] [ 0. 0. 0. 1. ]] SLAMing on 126.30719347000002 meters Centerline goodness : 0.863785 with order 1 Centerline is valid? [False, False] Translation: X:24.36, Y:0.48, Z:2.61 [[ 0.99675312 -0.06390367 0.04898501 24.35773814] [ 0.0748622 0.9594978 -0.27158722 0.48227419] [-0.02964559 0.27437254 0.9611664 2.60520936] [ 0. 0. 0. 1. ]] SLAMing on 126.36719347000002 meters Centerline goodness : 0.865529 with order 1 Centerline is valid? [False, False] Translation: X:24.36, Y:0.49, Z:2.61 [[ 0.9972253 -0.06057171 0.04327552 24.35627628] [ 0.06922757 0.96832162 -0.23991828 0.49145791] [-0.02737236 0.24224844 0.96982805 2.60890279] [ 0. 0. 0. 1. ]] SLAMing on 126.42719347000002 meters Centerline goodness : 0.869988 with order 1 Centerline is valid? [False, False] Translation: X:24.36, Y:0.50, Z:2.61 [[ 0.997813 -0.05353326 0.03877392 24.35761023] [ 0.06066122 0.97463181 -0.21543691 0.49580062] [-0.02625726 0.21731782 0.97574767 2.61088959] [ 0. 0. 0. 1. ]] SLAMing on 126.48719347000001 meters Centerline goodness : 0.875606 with order 1 Centerline is valid? [False, False] Translation: X:24.33, Y:0.51, Z:2.62 [[ 0.99812068 -0.04637042 0.04006105 24.33296013] [ 0.05287865 0.98212084 -0.18067235 0.50535312] [-0.03096694 0.18245118 0.98272713 2.61931377] [ 0. 0. 0. 1. ]] SLAMing on 126.54719347000001 meters Centerline goodness : 0.879594 with order 1 Centerline is valid? [False, False] Translation: X:24.33, Y:0.51, Z:2.62 [[ 0.99853388 -0.04056855 0.03583695 24.32882228] [ 0.04588141 0.98561516 -0.16265811 0.50825951] [-0.02872263 0.16406388 0.98603147 2.62072201] [ 0. 0. 0. 1. ]] SLAMing on 126.60719347000001 meters Centerline goodness : 0.877097 with order 1 Centerline is valid? [False, False] Translation: X:24.32, Y:0.51, Z:2.62 [[ 0.99891363 -0.03452731 0.03129565 24.32325618] [ 0.03867809 0.98888714 -0.14354872 0.51060479] [-0.02599151 0.14460323 0.98914829 2.62014697] [ 0. 0. 0. 1. ]] SLAMing on 126.66719347000002 meters Centerline goodness : 0.883403 with order 1 Centerline is valid? [False, False] Translation: X:24.32, Y:0.51, Z:2.62 [[ 0.99901295 -0.03353869 0.02912541 24.32055139] [ 0.03708272 0.99066558 -0.13117385 0.50924292] [-0.02445415 0.13212442 0.99093145 2.61612072] [ 0. 0. 0. 1. ]] SLAMing on 126.72719347000002 meters Centerline goodness : 0.879654 with order 1 Centerline is valid? [False, False] Translation: X:24.33, Y:0.51, Z:2.62 [[ 9.99158382e-01 -3.24441277e-02 2.50979309e-02 2.43294735e+01] [ 3.53078724e-02 9.91697340e-01 -1.23651687e-01 5.08653093e-01] [-2.08777802e-02 1.24433774e-01 9.92008243e-01 2.61684953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.78719347000002 meters Centerline goodness : 0.879250 with order 1 Centerline is valid? [False, False] Translation: X:24.32, Y:0.50, Z:2.61 [[ 9.99182624e-01 -2.98443454e-02 2.72653435e-02 2.43245305e+01] [ 3.27534294e-02 9.93013927e-01 -1.13360278e-01 5.04620314e-01] [-2.36917026e-02 1.14160654e-01 9.93179766e-01 2.61361811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84719347000001 meters Centerline goodness : 0.884841 with order 1 Centerline is valid? [False, False] Translation: X:24.33, Y:0.50, Z:2.61 [[ 0.9990325 -0.03381488 0.02811782 24.33341898] [ 0.03658057 0.99385242 -0.10449508 0.49966338] [-0.02441148 0.10542254 0.99412784 2.61451448] [ 0. 0. 0. 1. ]] SLAMing on 126.90719347000001 meters Centerline goodness : 0.886778 with order 1 Centerline is valid? [False, False] Translation: X:24.34, Y:0.49, Z:2.61 [[ 0.99873626 -0.04114851 0.02885621 24.33936917] [ 0.04363797 0.99482662 -0.09173729 0.49156642] [-0.02493208 0.09288058 0.99536505 2.61322828] [ 0. 0. 0. 1. ]] SLAMing on 126.96719347000001 meters Centerline goodness : 0.886873 with order 1 Centerline is valid? [False, False] Translation: X:24.36, Y:0.48, Z:2.61 [[ 9.98370837e-01 -5.19888536e-02 2.35123655e-02 2.43551106e+01] [ 5.38398510e-02 9.94795899e-01 -8.65008127e-02 4.82294817e-01] [-1.88929267e-02 8.76257910e-02 9.95974286e-01 2.61106644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.02719347000001 meters Centerline goodness : 0.888739 with order 1 Centerline is valid? [False, False] Translation: X:24.36, Y:0.48, Z:2.61 [[ 9.98195477e-01 -5.54401611e-02 2.30690046e-02 2.43578802e+01] [ 5.72838092e-02 9.94390202e-01 -8.89195817e-02 4.78609077e-01] [-1.80098762e-02 9.00806047e-02 9.95771625e-01 2.60863027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.08719347000002 meters Centerline goodness : 0.891832 with order 1 Centerline is valid? [False, False] Translation: X:24.36, Y:0.47, Z:2.61 [[ 9.98061139e-01 -5.79951467e-02 2.25948193e-02 2.43647264e+01] [ 5.96143816e-02 9.95075544e-01 -7.91883032e-02 4.73186621e-01] [-1.78910148e-02 8.03817443e-02 9.96603576e-01 2.61150061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.14719347000002 meters Centerline goodness : 0.891939 with order 1 Centerline is valid? [False, False] Translation: X:24.36, Y:0.47, Z:2.61 [[ 9.98025682e-01 -5.76396220e-02 2.49481696e-02 2.43645208e+01] [ 5.91142234e-02 9.96256347e-01 -6.30777304e-02 4.71529753e-01] [-2.12189958e-02 6.44279866e-02 9.97696742e-01 2.61353305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20719347000002 meters Centerline goodness : 0.891335 with order 1 Centerline is valid? [False, False] Translation: X:24.37, Y:0.47, Z:2.61 [[ 9.98309737e-01 -5.28440965e-02 2.41903168e-02 2.43659572e+01] [ 5.41728502e-02 9.96843371e-01 -5.80396088e-02 4.68777674e-01] [-2.10469063e-02 5.92519650e-02 9.98021158e-01 2.61280244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26719347000001 meters Centerline goodness : 0.896271 with order 1 Centerline is valid? [False, False] Translation: X:24.36, Y:0.47, Z:2.61 [[ 9.98521918e-01 -4.94187940e-02 2.26221789e-02 2.43584502e+01] [ 5.03767938e-02 9.97763099e-01 -4.39428825e-02 4.66371317e-01] [-2.03999711e-02 4.50175641e-02 9.98777883e-01 2.61229680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32719347000001 meters Centerline goodness : 0.887192 with order 1 Centerline is valid? [False, False] Translation: X:24.35, Y:0.47, Z:2.62 [[ 9.99060261e-01 -3.66355608e-02 2.31609529e-02 2.43538859e+01] [ 3.73596103e-02 9.98800780e-01 -3.16427125e-02 4.68216416e-01] [-2.19739293e-02 3.24782608e-02 9.99230859e-01 2.61624055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38719347000001 meters Centerline goodness : 0.891033 with order 1 Centerline is valid? [False, False] Translation: X:24.35, Y:0.47, Z:2.62 [[ 9.99280656e-01 -2.96496917e-02 2.36445644e-02 2.43516857e+01] [ 3.02454796e-02 9.99223492e-01 -2.52512258e-02 4.67773018e-01] [-2.28775132e-02 2.59482027e-02 9.99401476e-01 2.61753597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.44719347000002 meters Centerline goodness : 0.888464 with order 1 Centerline is valid? [False, False] Translation: X:24.35, Y:0.47, Z:2.62 [[ 9.99493578e-01 -2.12845954e-02 2.36548834e-02 2.43529657e+01] [ 2.16971861e-02 9.99614473e-01 -1.73244817e-02 4.66927222e-01] [-2.32770192e-02 1.78289526e-02 9.99570062e-01 2.61514326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.50719347000002 meters Centerline goodness : 0.886837 with order 1 Centerline is valid? [False, False] Translation: X:24.36, Y:0.46, Z:2.61 [[ 9.99570916e-01 -1.88209920e-02 2.24444480e-02 2.43579228e+01] [ 1.91404668e-02 9.99717304e-01 -1.41051599e-02 4.62340591e-01] [-2.21726299e-02 1.45287048e-02 9.99648584e-01 2.61109460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.56719347000002 meters Centerline goodness : 0.881902 with order 1 Centerline is valid? [False, False] Translation: X:24.36, Y:0.45, Z:2.61 [[ 9.99459799e-01 -2.41200439e-02 2.23233946e-02 2.43592041e+01] [ 2.45030234e-02 9.99554445e-01 -1.70444423e-02 4.51538698e-01] [-2.19023356e-02 1.75822256e-02 9.99605499e-01 2.61057013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62719347000001 meters Centerline goodness : 0.880621 with order 1 Centerline is valid? [False, False] Translation: X:24.38, Y:0.43, Z:2.61 [[ 9.98959213e-01 -3.60985678e-02 2.78816010e-02 2.43760300e+01] [ 3.61684084e-02 9.99343699e-01 -2.00449609e-03 4.32571760e-01] [-2.77909429e-02 3.01084297e-03 9.99609223e-01 2.61124276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68719347000001 meters Centerline goodness : 0.877115 with order 1 Centerline is valid? [False, False] Translation: X:24.38, Y:0.42, Z:2.61 [[ 9.98695550e-01 -4.28669978e-02 2.77419947e-02 2.43770772e+01] [ 4.30661988e-02 9.99050268e-01 -6.62301041e-03 4.23669550e-01] [-2.74317387e-02 7.80911328e-03 9.99593176e-01 2.61107508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74719347000001 meters Centerline goodness : 0.872408 with order 1 Centerline is valid? [False, False] Translation: X:24.37, Y:0.41, Z:2.62 [[ 9.98552690e-01 -5.02457356e-02 1.91804860e-02 2.43728057e+01] [ 5.02643129e-02 9.98735832e-01 -4.87388979e-04 4.09348365e-01] [-1.91317494e-02 1.45077752e-03 9.99815919e-01 2.61555814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.80719347000002 meters Centerline goodness : 0.867615 with order 1 Centerline is valid? [False, False] Translation: X:24.37, Y:0.40, Z:2.61 [[ 9.98556487e-01 -5.03597927e-02 1.86771092e-02 2.43740058e+01] [ 5.03349576e-02 9.98730775e-01 1.79772644e-03 4.02151243e-01] [-1.87439369e-02 -8.55019900e-04 9.99823951e-01 2.61486808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.86719347000002 meters Centerline goodness : 0.866165 with order 1 Centerline is valid? [False, False] Translation: X:24.41, Y:0.40, Z:2.62 [[ 9.98372807e-01 -5.54725928e-02 1.32109350e-02 2.44064091e+01] [ 5.56118793e-02 9.98398089e-01 -1.04199616e-02 3.99634809e-01] [-1.26117499e-02 1.11376912e-02 9.99858438e-01 2.61516549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.92719347000002 meters Centerline goodness : 0.863879 with order 1 Centerline is valid? [False, False] Translation: X:24.41, Y:0.40, Z:2.61 [[ 9.98127292e-01 -5.98338284e-02 1.27209616e-02 2.44080036e+01] [ 6.00065251e-02 9.98104551e-01 -1.36572956e-02 3.96678372e-01] [-1.18796814e-02 1.43950602e-02 9.99825813e-01 2.61461296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98719347000001 meters Centerline goodness : 0.858230 with order 1 Centerline is valid? [False, False] Translation: X:24.41, Y:0.40, Z:2.61 [[ 9.98075020e-01 -6.06873961e-02 1.27786455e-02 2.44078231e+01] [ 6.08629730e-02 9.98050303e-01 -1.38308091e-02 3.95908592e-01] [-1.19143753e-02 1.45819314e-02 9.99822692e-01 2.61483247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.04719347000002 meters Centerline goodness : 0.855758 with order 1 Centerline is valid? [False, False] Translation: X:24.41, Y:0.40, Z:2.62 [[ 9.98035712e-01 -6.13930982e-02 1.24741369e-02 2.44077826e+01] [ 6.15805509e-02 9.97985700e-01 -1.52439310e-02 3.99253502e-01] [-1.15131381e-02 1.59821518e-02 9.99805990e-01 2.61616735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.10719347000003 meters Centerline goodness : 0.858643 with order 1 Centerline is valid? [False, False] Translation: X:24.41, Y:0.40, Z:2.62 [[ 9.98033710e-01 -6.14176533e-02 1.25134106e-02 2.44070368e+01] [ 6.16156768e-02 9.97969983e-01 -1.61065675e-02 4.00949652e-01] [-1.14987806e-02 1.68459196e-02 9.99791975e-01 2.61785591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.16719347 meters Centerline goodness : 0.858873 with order 1 Centerline is valid? [False, False] Translation: X:24.41, Y:0.40, Z:2.62 [[ 9.98127430e-01 -5.61853106e-02 2.41835681e-02 2.44097190e+01] [ 5.65162131e-02 9.98314106e-01 -1.32236232e-02 4.04399650e-01] [-2.33998238e-02 1.45656248e-02 9.99620073e-01 2.61751851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.22719347 meters Centerline goodness : 0.856389 with order 1 Centerline is valid? [False, False] Translation: X:24.41, Y:0.41, Z:2.62 [[ 9.98353449e-01 -5.18888142e-02 2.44528606e-02 2.44058755e+01] [ 5.21530532e-02 9.98586039e-01 -1.02947068e-02 4.08875071e-01] [-2.38841050e-02 1.15530474e-02 9.99647976e-01 2.62233944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.28719347 meters Centerline goodness : 0.859142 with order 1 Centerline is valid? [False, False] Translation: X:24.40, Y:0.41, Z:2.63 [[ 9.98644767e-01 -4.61240492e-02 2.41081223e-02 2.44044756e+01] [ 4.62657665e-02 9.98914819e-01 -5.35376979e-03 4.13312432e-01] [-2.38350231e-02 6.46189495e-03 9.99695021e-01 2.62501101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.34719347 meters Centerline goodness : 0.860114 with order 1 Centerline is valid? [False, False] Translation: X:24.40, Y:0.42, Z:2.62 [[ 9.98630574e-01 -4.64635759e-02 2.40439837e-02 2.44049985e+01] [ 4.66394115e-02 9.98888615e-01 -6.80441795e-03 4.17907526e-01] [-2.37011040e-02 7.91649705e-03 9.99687745e-01 2.62494272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.40719347 meters Centerline goodness : 0.861160 with order 1 Centerline is valid? [False, False] Translation: X:24.43, Y:0.44, Z:2.63 [[ 0.99851866 -0.0476185 0.02632413 24.43038734] [ 0.04856881 0.9981445 -0.03672371 0.43670932] [-0.02452656 0.03794784 0.99897868 2.62621483] [ 0. 0. 0. 1. ]] SLAMing on 128.46719347 meters Centerline goodness : 0.859303 with order 1 Centerline is valid? [False, False] Translation: X:24.47, Y:0.45, Z:2.63 [[ 9.98525693e-01 -4.77734489e-02 2.57708835e-02 2.44721888e+01] [ 4.93682629e-02 9.96645061e-01 -6.52793702e-02 4.51416845e-01] [-2.25658031e-02 6.64553921e-02 9.97534193e-01 2.62647240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52719347000001 meters Centerline goodness : 0.860383 with order 1 Centerline is valid? [False, False] Translation: X:24.47, Y:0.46, Z:2.62 [[ 9.98491210e-01 -5.02700545e-02 2.20958331e-02 2.44729282e+01] [ 5.14296930e-02 9.97133737e-01 -5.54914192e-02 4.58100020e-01] [-1.92429439e-02 5.65440762e-02 9.98214645e-01 2.62380382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58719347000002 meters Centerline goodness : 0.861634 with order 1 Centerline is valid? [False, False] Translation: X:24.47, Y:0.46, Z:2.62 [[ 9.98577589e-01 -4.79008927e-02 2.34158679e-02 2.44710724e+01] [ 4.90695994e-02 9.97431144e-01 -5.21851278e-02 4.61108125e-01] [-2.08560017e-02 5.32599064e-02 9.98362865e-01 2.62271542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64719347000002 meters Centerline goodness : 0.862953 with order 1 Centerline is valid? [False, False] Translation: X:24.47, Y:0.47, Z:2.62 [[ 9.98813868e-01 -4.28856595e-02 2.30581165e-02 2.44708315e+01] [ 4.39701221e-02 9.97840976e-01 -4.87854000e-02 4.72836811e-01] [-2.09161394e-02 4.97414023e-02 9.98543093e-01 2.62401942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.70719347000002 meters Centerline goodness : 0.867196 with order 1 Centerline is valid? [False, False] Translation: X:24.47, Y:0.48, Z:2.63 [[ 9.99013969e-01 -3.84352772e-02 2.22220508e-02 2.44710001e+01] [ 3.94068525e-02 9.98206040e-01 -4.50755131e-02 4.81731597e-01] [-2.04496955e-02 4.59067684e-02 9.98736391e-01 2.62617238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.76719347000002 meters Centerline goodness : 0.869040 with order 1 Centerline is valid? [False, False] Translation: X:24.47, Y:0.49, Z:2.63 [[ 9.99112908e-01 -3.58134911e-02 2.21538056e-02 2.44705649e+01] [ 3.67498425e-02 9.98381139e-01 -4.34114129e-02 4.88249805e-01] [-2.05632274e-02 4.41870519e-02 9.98811623e-01 2.62694020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.82719347000003 meters Centerline goodness : 0.870910 with order 1 Centerline is valid? [False, False] Translation: X:24.47, Y:0.50, Z:2.63 [[ 9.99303580e-01 -3.06494047e-02 2.12830814e-02 2.44717002e+01] [ 3.14585046e-02 9.98752323e-01 -3.87834867e-02 4.95477869e-01] [-2.00678362e-02 3.94260110e-02 9.99020957e-01 2.62728798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.88719347000003 meters Centerline goodness : 0.872306 with order 1 Centerline is valid? [False, False] Translation: X:24.47, Y:0.50, Z:2.62 [[ 9.99329491e-01 -2.78646084e-02 2.37514594e-02 2.44696536e+01] [ 2.86588677e-02 9.99018200e-01 -3.37832183e-02 4.98853843e-01] [-2.27867840e-02 3.44412563e-02 9.99146917e-01 2.62226697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.94719347 meters Centerline goodness : 0.874537 with order 1 Centerline is valid? [False, False] Translation: X:24.48, Y:0.51, Z:2.62 [[ 9.99447053e-01 -2.48650412e-02 2.20752885e-02 2.44760160e+01] [ 2.55802914e-02 9.99136757e-01 -3.27320879e-02 5.07081670e-01] [-2.12423474e-02 3.32786811e-02 9.99220342e-01 2.61655208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.00719347 meters Centerline goodness : 0.873002 with order 1 Centerline is valid? [False, False] Translation: X:24.47, Y:0.51, Z:2.62 [[ 9.99499306e-01 -2.25282164e-02 2.22174681e-02 2.44740287e+01] [ 2.32128290e-02 9.99248143e-01 -3.10534070e-02 5.12161076e-01] [-2.15011859e-02 3.15535890e-02 9.99270769e-01 2.61920873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.06719347 meters Centerline goodness : 0.877741 with order 1 Centerline is valid? [False, False] Translation: X:24.47, Y:0.50, Z:2.63 [[ 9.99516325e-01 -2.55950644e-02 1.76637646e-02 2.44736514e+01] [ 2.46945038e-02 9.98471523e-01 4.94449140e-02 5.01578584e-01] [-1.89023117e-02 -4.89848008e-02 9.98620645e-01 2.62976658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.12719347 meters Centerline goodness : 0.878979 with order 1 Centerline is valid? [False, False] Translation: X:24.49, Y:0.50, Z:2.63 [[ 9.99489241e-01 -2.74659848e-02 1.63363509e-02 2.44917298e+01] [ 2.55863073e-02 9.94051771e-01 1.05860365e-01 4.96186239e-01] [-1.91467377e-02 -1.05388309e-01 9.94246804e-01 2.63410962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.18719347 meters Centerline goodness : 0.871315 with order 1 Centerline is valid? [False, False] Translation: X:24.51, Y:0.49, Z:2.64 [[ 9.99375841e-01 -3.09774710e-02 1.69801430e-02 2.45075982e+01] [ 2.76154851e-02 9.84826742e-01 1.71329135e-01 4.86530397e-01] [-2.20298423e-02 -1.70753284e-01 9.85067511e-01 2.64149320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.24719347 meters Centerline goodness : 0.868947 with order 1 Centerline is valid? [False, False] Translation: X:24.50, Y:0.50, Z:2.64 [[ 9.99224955e-01 -3.20099993e-02 2.29095737e-02 2.45037341e+01] [ 2.80561798e-02 9.87375368e-01 1.55893338e-01 4.95178856e-01] [-2.76104944e-02 -1.55129759e-01 9.87508187e-01 2.64182615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.30719347000002 meters Centerline goodness : 0.868746 with order 1 Centerline is valid? [False, False] Translation: X:24.50, Y:0.50, Z:2.64 [[ 0.99910803 -0.03254802 0.02690304 24.50272441] [ 0.02840293 0.9894268 0.14222478 0.50474722] [-0.03124772 -0.1413338 0.98946872 2.64338437] [ 0. 0. 0. 1. ]] SLAMing on 129.36719347000002 meters Centerline goodness : 0.863928 with order 1 Centerline is valid? [False, False] Translation: X:24.54, Y:0.49, Z:2.65 [[ 0.99907947 -0.03471147 0.02520564 24.53663793] [ 0.02910571 0.98014708 0.19612383 0.4909789 ] [-0.03151298 -0.19520966 0.98025513 2.65065779] [ 0. 0. 0. 1. ]] SLAMing on 129.42719347000002 meters Centerline goodness : 0.862260 with order 1 Centerline is valid? [False, False] Translation: X:24.52, Y:0.49, Z:2.65 [[ 0.99878441 -0.0387134 0.03051192 24.52430645] [ 0.03262762 0.9832225 0.17946851 0.4927277 ] [-0.03694785 -0.17825482 0.98329043 2.64858558] [ 0. 0. 0. 1. ]] SLAMing on 129.48719347000002 meters Centerline goodness : 0.859651 with order 1 Centerline is valid? [False, False] Translation: X:24.54, Y:0.50, Z:2.65 [[ 0.99859894 -0.04604673 0.02607397 24.5353929 ] [ 0.04105283 0.9850465 0.1673262 0.49511226] [-0.0333889 -0.16602136 0.98555674 2.64734842] [ 0. 0. 0. 1. ]] SLAMing on 129.54719347000002 meters Centerline goodness : 0.859332 with order 1 Centerline is valid? [False, False] Translation: X:24.54, Y:0.50, Z:2.65 [[ 0.99831331 -0.05043701 0.02875125 24.53707233] [ 0.04567216 0.98802267 0.14739491 0.49942239] [-0.03584105 -0.14583317 0.98865975 2.64651858] [ 0. 0. 0. 1. ]] SLAMing on 129.60719347000003 meters Centerline goodness : 0.854738 with order 1 Centerline is valid? [False, False] Translation: X:24.53, Y:0.50, Z:2.64 [[ 0.99832781 -0.04950848 0.02984125 24.53003068] [ 0.0450562 0.98983896 0.13486577 0.50321217] [-0.03621503 -0.13329572 0.99041442 2.64179079] [ 0. 0. 0. 1. ]] SLAMing on 129.66719347 meters Centerline goodness : 0.853798 with order 1 Centerline is valid? [False, False] Translation: X:24.52, Y:0.51, Z:2.64 [[ 0.99855715 -0.04498194 0.02933004 24.52412047] [ 0.04097969 0.99129482 0.12512095 0.51057616] [-0.0347029 -0.12373848 0.99170787 2.63804788] [ 0. 0. 0. 1. ]] SLAMing on 129.72719347 meters Centerline goodness : 0.851237 with order 1 Centerline is valid? [False, False] Translation: X:24.52, Y:0.52, Z:2.64 [[ 0.99843723 -0.04627142 0.03133782 24.52243945] [ 0.04239245 0.99248417 0.11479567 0.51748777] [-0.03641405 -0.11328778 0.9928947 2.64432333] [ 0. 0. 0. 1. ]] SLAMing on 129.78719347 meters Centerline goodness : 0.847150 with order 1 Centerline is valid? [False, False] Translation: X:24.52, Y:0.52, Z:2.65 [[ 0.99782676 -0.05342843 0.03856373 24.51915347] [ 0.04955362 0.99421825 0.0952602 0.52434598] [-0.04343037 -0.0931422 0.99470515 2.64827169] [ 0. 0. 0. 1. ]] SLAMing on 129.84719347 meters Centerline goodness : 0.845022 with order 1 Centerline is valid? [False, False] Translation: X:24.52, Y:0.53, Z:2.65 [[ 0.99733784 -0.06151645 0.03915294 24.51858632] [ 0.0579709 0.99460525 0.0860219 0.52827668] [-0.04423348 -0.08352316 0.99552362 2.64870708] [ 0. 0. 0. 1. ]] SLAMing on 129.90719347 meters Centerline goodness : 0.842008 with order 1 Centerline is valid? [False, False] Translation: X:24.52, Y:0.54, Z:2.65 [[ 0.99712127 -0.06516075 0.03877185 24.52071876] [ 0.06186359 0.99480089 0.08089546 0.53506181] [-0.04384148 -0.07826402 0.99596821 2.64594769] [ 0. 0. 0. 1. ]] SLAMing on 129.96719347 meters Centerline goodness : 0.840044 with order 1 Centerline is valid? [False, False] Translation: X:24.52, Y:0.54, Z:2.64 [[ 0.99685849 -0.06871118 0.03939445 24.52051039] [ 0.06562956 0.99503646 0.07480106 0.54012058] [-0.04433858 -0.07198063 0.99642003 2.64441678] [ 0. 0. 0. 1. ]] SLAMing on 130.02719347000001 meters Centerline goodness : 0.840008 with order 1 Centerline is valid? [False, False] Translation: X:24.52, Y:0.55, Z:2.64 [[ 0.996813 -0.06975206 0.03871027 24.52324785] [ 0.06686273 0.99519767 0.0714911 0.54909232] [-0.04351103 -0.06867498 0.99668979 2.64039252] [ 0. 0. 0. 1. ]] SLAMing on 130.08719347000002 meters Centerline goodness : 0.840286 with order 1 Centerline is valid? [False, False] Translation: X:24.52, Y:0.56, Z:2.64 [[ 0.99692888 -0.06861444 0.03774732 24.52462308] [ 0.06583148 0.99533043 0.07059421 0.56023017] [-0.04241484 -0.06789244 0.99679065 2.638476 ] [ 0. 0. 0. 1. ]] SLAMing on 130.14719347000002 meters Centerline goodness : 0.838195 with order 1 Centerline is valid? [False, False] Translation: X:24.53, Y:0.57, Z:2.63 [[ 0.99702791 -0.0672246 0.03763232 24.52602871] [ 0.06457646 0.99561772 0.06764047 0.56988974] [-0.04201451 -0.06500928 0.99699979 2.63418286] [ 0. 0. 0. 1. ]] SLAMing on 130.20719347000002 meters Centerline goodness : 0.836308 with order 1 Centerline is valid? [False, False] Translation: X:24.52, Y:0.59, Z:2.63 [[ 0.99796121 -0.05175932 0.03734174 24.52057078] [ 0.04947324 0.9969869 0.0597454 0.58644263] [-0.04032161 -0.05777617 0.99751495 2.62890129] [ 0. 0. 0. 1. ]] SLAMing on 130.26719347000002 meters Centerline goodness : 0.836380 with order 1 Centerline is valid? [False, False] Translation: X:24.51, Y:0.60, Z:2.63 [[ 0.9980973 -0.04490604 0.04225185 24.51311255] [ 0.04254555 0.99756852 0.05519895 0.60000395] [-0.04462788 -0.0532963 0.997581 2.62927706] [ 0. 0. 0. 1. ]] SLAMing on 130.32719347000003 meters Centerline goodness : 0.839171 with order 1 Centerline is valid? [False, False] Translation: X:24.51, Y:0.61, Z:2.63 [[ 0.9980532 -0.04173417 0.04634736 24.50696795] [ 0.03950124 0.99806153 0.04809195 0.61104201] [-0.04826459 -0.04616754 0.99776705 2.63108034] [ 0. 0. 0. 1. ]] SLAMing on 130.38719347000003 meters Centerline goodness : 0.838027 with order 1 Centerline is valid? [False, False] Translation: X:24.54, Y:0.60, Z:2.63 [[ 0.99788146 -0.04646667 0.04553494 24.53751353] [ 0.04210411 0.99482361 0.09248365 0.60181702] [-0.04959664 -0.09037051 0.99467248 2.63374333] [ 0. 0. 0. 1. ]] SLAMing on 130.44719347 meters Centerline goodness : 0.839466 with order 1 Centerline is valid? [False, False] Translation: X:24.54, Y:0.60, Z:2.63 [[ 0.99789432 -0.04680319 0.04490426 24.53867146] [ 0.04253669 0.99488035 0.09167179 0.60499192] [-0.0489649 -0.08956868 0.9947763 2.63312016] [ 0. 0. 0. 1. ]] SLAMing on 130.50719347 meters Centerline goodness : 0.837457 with order 1 Centerline is valid? [False, False] Translation: X:24.54, Y:0.61, Z:2.63 [[ 0.9979098 -0.04655662 0.04481651 24.53920385] [ 0.04233827 0.99496267 0.09086673 0.606757 ] [-0.04882121 -0.08877935 0.99485412 2.63191166] [ 0. 0. 0. 1. ]] SLAMing on 130.56719347 meters Centerline goodness : 0.836499 with order 1 Centerline is valid? [False, False] Translation: X:24.53, Y:0.61, Z:2.63 [[ 0.99833651 -0.03608965 0.04496396 24.53196164] [ 0.03259788 0.99656662 0.07610745 0.60719878] [-0.04755627 -0.07451512 0.99608529 2.63246979] [ 0. 0. 0. 1. ]] SLAMing on 130.62719347 meters Centerline goodness : 0.838660 with order 1 Centerline is valid? [False, False] Translation: X:24.56, Y:0.61, Z:2.63 [[ 0.9984946 -0.03080465 0.04538282 24.564362 ] [ 0.02744639 0.99696525 0.07284909 0.6051078 ] [-0.04748918 -0.07149383 0.9963099 2.63327405] [ 0. 0. 0. 1. ]] SLAMing on 130.68719347 meters Centerline goodness : 0.835009 with order 1 Centerline is valid? [False, False] Translation: X:24.59, Y:0.60, Z:2.63 [[ 0.99814236 -0.03230821 0.05165283 24.59336054] [ 0.02638772 0.99341924 0.11145363 0.59515316] [-0.05491378 -0.10988358 0.99242636 2.63046674] [ 0. 0. 0. 1. ]] SLAMing on 130.74719347 meters Centerline goodness : 0.833372 with order 1 Centerline is valid? [False, False] Translation: X:24.63, Y:0.59, Z:2.62 [[ 9.97965218e-01 -3.12058583e-02 5.56023182e-02 2.46257756e+01] [ 2.36870105e-02 9.91087421e-01 1.31090236e-01 5.86812461e-01] [-5.91975414e-02 -1.29506443e-01 9.89809948e-01 2.62317875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80719347000002 meters Centerline goodness : 0.831042 with order 1 Centerline is valid? [False, False] Translation: X:24.66, Y:0.58, Z:2.62 [[ 9.98326917e-01 -2.29673833e-02 5.30647370e-02 2.46584862e+01] [ 1.66321417e-02 9.93006247e-01 1.16884409e-01 5.83907084e-01] [-5.53781444e-02 -1.15806272e-01 9.91726862e-01 2.62051428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86719347000002 meters Centerline goodness : 0.830517 with order 1 Centerline is valid? [False, False] Translation: X:24.68, Y:0.58, Z:2.62 [[ 9.98513879e-01 -1.59530066e-02 5.21107948e-02 2.46782146e+01] [ 1.02458670e-02 9.94097596e-01 1.08004592e-01 5.79553309e-01] [-5.35262138e-02 -1.07310164e-01 9.92783699e-01 2.62308033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92719347000002 meters Centerline goodness : 0.830060 with order 1 Centerline is valid? [False, False] Translation: X:24.70, Y:0.57, Z:2.63 [[ 9.98608839e-01 -1.18571637e-02 5.13789296e-02 2.46952955e+01] [ 6.84118930e-03 9.95287653e-01 9.67247970e-02 5.74574670e-01] [-5.22836960e-02 -9.62387442e-02 9.93984164e-01 2.62675606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.98719347000002 meters Centerline goodness : 0.829517 with order 1 Centerline is valid? [False, False] Translation: X:24.73, Y:0.56, Z:2.63 [[ 9.98201302e-01 -1.19426459e-02 5.87497589e-02 2.47285042e+01] [ 5.46641579e-03 9.94006615e-01 1.09183182e-01 5.56119693e-01] [-5.97015851e-02 -1.08665644e-01 9.92283981e-01 2.62536785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.04719347000002 meters Centerline goodness : 0.828969 with order 1 Centerline is valid? [False, False] Translation: X:24.76, Y:0.54, Z:2.62 [[ 9.98084635e-01 -1.03211445e-02 6.09961979e-02 2.47552173e+01] [ 3.55302025e-03 9.93920517e-01 1.10042635e-01 5.44009669e-01] [-6.17611385e-02 -1.09615142e-01 9.92053468e-01 2.62403004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.10719347000003 meters Centerline goodness : 0.824735 with order 1 Centerline is valid? [False, False] Translation: X:24.79, Y:0.53, Z:2.62 [[ 9.98182577e-01 -6.15551731e-03 5.99470884e-02 2.47914718e+01] [-2.35268153e-04 9.94363838e-01 1.06021236e-01 5.26446697e-01] [-6.02618325e-02 -1.05842654e-01 9.92555210e-01 2.62421489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.16719347 meters Centerline goodness : 0.820623 with order 1 Centerline is valid? [False, False] Translation: X:24.82, Y:0.51, Z:2.63 [[ 9.98325090e-01 3.25082927e-03 5.77619754e-02 2.48189854e+01] [-8.77881485e-03 9.95370661e-01 9.57088293e-02 5.12274773e-01] [-5.71834426e-02 -9.60556074e-02 9.93732043e-01 2.62517972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.22719347 meters Centerline goodness : 0.819682 with order 1 Centerline is valid? [False, False] Translation: X:24.86, Y:0.50, Z:2.62 [[ 9.98288861e-01 6.44682918e-03 5.81187422e-02 2.48626842e+01] [-1.23592544e-02 9.94712465e-01 1.01952733e-01 4.98379089e-01] [-5.71541655e-02 -1.02496582e-01 9.93090052e-01 2.62330924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.28719347 meters Centerline goodness : 0.818815 with order 1 Centerline is valid? [False, False] Translation: X:24.91, Y:0.47, Z:2.62 [[ 9.97786203e-01 1.38992775e-03 6.64888034e-02 2.49078016e+01] [-9.67628274e-03 9.92176289e-01 1.24469198e-01 4.68744016e-01] [-6.57956110e-02 -1.24837013e-01 9.89993261e-01 2.61959407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.34719347 meters Centerline goodness : 0.819168 with order 1 Centerline is valid? [False, False] Translation: X:24.95, Y:0.42, Z:2.63 [[ 9.96701016e-01 -2.18170474e-02 7.81735334e-02 2.49489793e+01] [ 4.04794244e-03 9.75356732e-01 2.20596601e-01 4.21027369e-01] [-8.10598485e-02 -2.19552414e-01 9.72227359e-01 2.62681779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.40719347 meters Centerline goodness : 0.817798 with order 1 Centerline is valid? [False, False] Translation: X:24.95, Y:0.41, Z:2.63 [[ 9.96435818e-01 -2.63220146e-02 8.01424490e-02 2.49519769e+01] [ 1.06604597e-02 9.81745546e-01 1.89900070e-01 4.12379067e-01] [-8.36780448e-02 -1.88368876e-01 9.78527031e-01 2.62795876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.46719347 meters Centerline goodness : 0.818209 with order 1 Centerline is valid? [False, False] Translation: X:24.95, Y:0.40, Z:2.63 [[ 9.96062853e-01 -3.44758417e-02 8.16713548e-02 2.49503886e+01] [ 1.85045646e-02 9.81844378e-01 1.88783471e-01 3.96580669e-01] [-8.66970296e-02 -1.86528910e-01 9.78616672e-01 2.63450983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52719347000001 meters Centerline goodness : 0.820416 with order 1 Centerline is valid? [False, False] Translation: X:24.95, Y:0.39, Z:2.64 [[ 9.95527341e-01 -3.94417631e-02 8.58467310e-02 2.49526506e+01] [ 2.42356661e-02 9.84894131e-01 1.71453154e-01 3.92048096e-01] [-9.13123562e-02 -1.68605750e-01 9.81444932e-01 2.63759549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.58719347000002 meters Centerline goodness : 0.819675 with order 1 Centerline is valid? [False, False] Translation: X:24.96, Y:0.39, Z:2.64 [[ 0.99533302 -0.04691305 0.08432875 24.96036812] [ 0.03475331 0.98950207 0.1402778 0.38641432] [-0.09002433 -0.13669242 0.98651447 2.63625737] [ 0. 0. 0. 1. ]] SLAMing on 131.64719347000002 meters Centerline goodness : 0.823283 with order 1 Centerline is valid? [False, False] Translation: X:24.96, Y:0.38, Z:2.64 [[ 0.99528852 -0.04646408 0.08509911 24.96188123] [ 0.03585846 0.99186142 0.12216832 0.38437729] [-0.09008296 -0.1185412 0.98885441 2.63570584] [ 0. 0. 0. 1. ]] SLAMing on 131.70719347000002 meters Centerline goodness : 0.825113 with order 1 Centerline is valid? [False, False] Translation: X:24.98, Y:0.39, Z:2.63 [[ 0.99523822 -0.04241156 0.08776183 24.97890246] [ 0.03383957 0.99471337 0.09695458 0.39022657] [-0.09140986 -0.09352308 0.99141196 2.63485865] [ 0. 0. 0. 1. ]] SLAMing on 131.76719347000002 meters Centerline goodness : 0.828748 with order 1 Centerline is valid? [False, False] Translation: X:25.01, Y:0.40, Z:2.63 [[ 0.99586724 -0.03958871 0.0817385 25.00676471] [ 0.03369281 0.99681427 0.07229188 0.398183 ] [-0.08434005 -0.06923911 0.99402852 2.63187108] [ 0. 0. 0. 1. ]] SLAMing on 131.82719347000003 meters Centerline goodness : 0.830277 with order 1 Centerline is valid? [False, False] Translation: X:25.03, Y:0.40, Z:2.63 [[ 0.99584068 -0.04101278 0.08135904 25.028697 ] [ 0.03725548 0.99819165 0.04717482 0.40465529] [-0.08314668 -0.04394754 0.9955678 2.6295959 ] [ 0. 0. 0. 1. ]] SLAMing on 131.88719347000003 meters Centerline goodness : 0.832547 with order 1 Centerline is valid? [False, False] Translation: X:25.06, Y:0.41, Z:2.63 [[ 0.99574456 -0.04547879 0.08015262 25.05763647] [ 0.04291708 0.99852021 0.03339925 0.41481997] [-0.08155297 -0.0298172 0.99622289 2.62590656] [ 0. 0. 0. 1. ]] SLAMing on 131.94719347 meters Centerline goodness : 0.837356 with order 1 Centerline is valid? [False, False] Translation: X:25.06, Y:0.42, Z:2.63 [[ 9.95517316e-01 -4.99884461e-02 8.02896550e-02 2.50575033e+01] [ 4.79382687e-02 9.98478148e-01 2.72637178e-02 4.19690011e-01] [-8.15303369e-02 -2.32925561e-02 9.96398646e-01 2.62656250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.00719347 meters Centerline goodness : 0.837431 with order 1 Centerline is valid? [False, False] Translation: X:25.06, Y:0.43, Z:2.63 [[ 9.95139527e-01 -5.58647409e-02 8.10953320e-02 2.50563618e+01] [ 5.44370156e-02 9.98322604e-01 1.97126970e-02 4.25602333e-01] [-8.20605477e-02 -1.52022961e-02 9.96511393e-01 2.62705907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.06719347 meters Centerline goodness : 0.841981 with order 1 Centerline is valid? [False, False] Translation: X:25.05, Y:0.44, Z:2.63 [[ 9.94948434e-01 -5.81742827e-02 8.18129911e-02 2.50545507e+01] [ 5.71346290e-02 9.98253884e-01 1.49938783e-02 4.36895625e-01] [-8.25423943e-02 -1.02437808e-02 9.96534906e-01 2.62853818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.12719347 meters Centerline goodness : 0.843750 with order 1 Centerline is valid? [False, False] Translation: X:25.05, Y:0.45, Z:2.63 [[ 9.95100947e-01 -5.57410700e-02 8.16519402e-02 2.50548850e+01] [ 5.46277330e-02 9.98381650e-01 1.58079845e-02 4.45186135e-01] [-8.24009527e-02 -1.12700799e-02 9.96535533e-01 2.62808047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.18719347 meters Centerline goodness : 0.847409 with order 1 Centerline is valid? [False, False] Translation: X:25.05, Y:0.46, Z:2.63 [[ 9.95194605e-01 -4.77419153e-02 8.54892235e-02 2.50482491e+01] [ 4.74035240e-02 9.98857890e-01 5.98505209e-03 4.59972785e-01] [-8.56773233e-02 -1.90380109e-03 9.96321119e-01 2.62942031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.24719347 meters Centerline goodness : 0.851000 with order 1 Centerline is valid? [False, False] Translation: X:25.05, Y:0.47, Z:2.63 [[ 9.95321940e-01 -4.53344757e-02 8.53171814e-02 2.50481536e+01] [ 4.49379038e-02 9.98968217e-01 6.56396291e-03 4.70037849e-01] [-8.55267265e-02 -2.69928101e-03 9.96332220e-01 2.62951745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.30719347000002 meters Centerline goodness : 0.853677 with order 1 Centerline is valid? [False, False] Translation: X:25.06, Y:0.49, Z:2.63 [[ 9.95407873e-01 -5.07899195e-02 8.11390869e-02 2.50578142e+01] [ 5.05848503e-02 9.98709255e-01 4.58231037e-03 4.86219281e-01] [-8.12670922e-02 -4.56859253e-04 9.96692255e-01 2.62799192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.36719347000002 meters Centerline goodness : 0.851298 with order 1 Centerline is valid? [False, False] Translation: X:25.06, Y:0.49, Z:2.62 [[ 9.95174498e-01 -5.64882563e-02 8.02296386e-02 2.50626482e+01] [ 5.68851575e-02 9.98377163e-01 -2.66825337e-03 4.93957408e-01] [-7.99487139e-02 7.21925333e-03 9.96772835e-01 2.62356843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.42719347000002 meters Centerline goodness : 0.853955 with order 1 Centerline is valid? [False, False] Translation: X:25.07, Y:0.50, Z:2.62 [[ 9.95042326e-01 -5.98488049e-02 7.94285207e-02 2.50655039e+01] [ 6.06220079e-02 9.98133682e-01 -7.35700154e-03 5.02854757e-01] [-7.88399741e-02 1.21356443e-02 9.96813415e-01 2.62149800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48719347000002 meters Centerline goodness : 0.853153 with order 1 Centerline is valid? [False, False] Translation: X:25.07, Y:0.51, Z:2.63 [[ 9.96064706e-01 -6.12261409e-02 6.40816723e-02 2.50703223e+01] [ 6.16189113e-02 9.98091042e-01 -4.16905552e-03 5.13760493e-01] [-6.37040879e-02 8.10129195e-03 9.97935949e-01 2.62526607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.54719347000002 meters Centerline goodness : 0.855844 with order 1 Centerline is valid? [False, False] Translation: X:25.06, Y:0.53, Z:2.63 [[ 9.96814738e-01 -5.84121433e-02 5.42991733e-02 2.50641744e+01] [ 5.88071251e-02 9.98253069e-01 -5.70372696e-03 5.32968844e-01] [-5.38711494e-02 8.87873737e-03 9.98508421e-01 2.62795435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.60719347000003 meters Centerline goodness : 0.851204 with order 1 Centerline is valid? [False, False] Translation: X:25.06, Y:0.54, Z:2.63 [[ 9.96987539e-01 -5.59616378e-02 5.37042100e-02 2.50646590e+01] [ 5.63052500e-02 9.98401550e-01 -4.90551302e-03 5.39908780e-01] [-5.33438459e-02 7.91456432e-03 9.98544838e-01 2.62779870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.66719347 meters Centerline goodness : 0.856974 with order 1 Centerline is valid? [False, False] Translation: X:25.05, Y:0.55, Z:2.63 [[ 9.97691275e-01 -4.93783192e-02 4.66251143e-02 2.50544088e+01] [ 4.97948751e-02 9.98728893e-01 -7.81463615e-03 5.54969580e-01] [-4.61799752e-02 1.01182860e-02 9.98881890e-01 2.63308058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.72719347 meters Centerline goodness : 0.856842 with order 1 Centerline is valid? [False, False] Translation: X:25.04, Y:0.56, Z:2.64 [[ 9.98329720e-01 -4.19237041e-02 3.97513910e-02 2.50437578e+01] [ 4.22326450e-02 9.99083534e-01 -6.96383690e-03 5.63533101e-01] [-3.94230103e-02 8.63101173e-03 9.99185334e-01 2.63926538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.78719347 meters Centerline goodness : 0.855051 with order 1 Centerline is valid? [False, False] Translation: X:25.03, Y:0.58, Z:2.64 [[ 9.99059896e-01 -2.83757684e-02 3.27740782e-02 2.50340951e+01] [ 2.85121192e-02 9.99586598e-01 -3.70039751e-03 5.75219690e-01] [-3.26555277e-02 4.63137718e-03 9.99455935e-01 2.64387206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.84719347 meters Centerline goodness : 0.854221 with order 1 Centerline is valid? [False, False] Translation: X:25.03, Y:0.58, Z:2.65 [[ 9.99379350e-01 -1.14263733e-02 3.33219547e-02 2.50308043e+01] [ 1.10554056e-02 9.99875082e-01 1.12959147e-02 5.84809677e-01] [-3.34468636e-02 -1.09205162e-02 9.99380833e-01 2.64658611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.90719347 meters Centerline goodness : 0.854760 with order 1 Centerline is valid? [False, False] Translation: X:25.04, Y:0.59, Z:2.65 [[ 9.99242148e-01 -6.49284262e-04 3.89192544e-02 2.50440918e+01] [-2.88545799e-04 9.99709840e-01 2.40863553e-02 5.89200111e-01] [-3.89236005e-02 -2.40793314e-02 9.98952020e-01 2.64763380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.96719347 meters Centerline goodness : 0.855707 with order 1 Centerline is valid? [False, False] Translation: X:25.05, Y:0.59, Z:2.65 [[ 9.99188584e-01 1.27613066e-02 3.82010764e-02 2.50461948e+01] [-1.41364980e-02 9.99253679e-01 3.59478035e-02 5.94955428e-01] [-3.77138252e-02 -3.64586643e-02 9.98623269e-01 2.64692469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02719347000001 meters Centerline goodness : 0.851746 with order 1 Centerline is valid? [False, False] Translation: X:25.08, Y:0.60, Z:2.64 [[ 9.99367883e-01 1.79335384e-02 3.06956504e-02 2.50774145e+01] [-1.90943641e-02 9.99097135e-01 3.79515455e-02 5.95252319e-01] [-2.99873308e-02 -3.85136696e-02 9.98808018e-01 2.64406635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.08719347000002 meters Centerline goodness : 0.853507 with order 1 Centerline is valid? [False, False] Translation: X:25.12, Y:0.59, Z:2.64 [[ 9.99480307e-01 2.18949573e-02 2.36585303e-02 2.51160551e+01] [-2.26966401e-02 9.99158425e-01 3.41658492e-02 5.87102073e-01] [-2.28905600e-02 -3.46850626e-02 9.99136111e-01 2.64213917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14719347000002 meters Centerline goodness : 0.851329 with order 1 Centerline is valid? [False, False] Translation: X:25.14, Y:0.58, Z:2.64 [[ 9.99431970e-01 2.34104145e-02 2.42422974e-02 2.51378151e+01] [-2.43940570e-02 9.98856887e-01 4.11077666e-02 5.75847999e-01] [-2.32522359e-02 -4.16757842e-02 9.98860582e-01 2.63909151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.20719347000002 meters Centerline goodness : 0.855398 with order 1 Centerline is valid? [False, False] Translation: X:25.16, Y:0.56, Z:2.64 [[ 9.99457750e-01 2.29006338e-02 2.36593879e-02 2.51647898e+01] [-2.38637424e-02 9.98863402e-01 4.12604637e-02 5.64323954e-01] [-2.26876059e-02 -4.18026918e-02 9.98868263e-01 2.63803443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.26719347000002 meters Centerline goodness : 0.854276 with order 1 Centerline is valid? [False, False] Translation: X:25.21, Y:0.53, Z:2.64 [[ 9.99314049e-01 5.16733927e-03 3.66705689e-02 2.52135451e+01] [-8.57694688e-03 9.95587904e-01 9.34406838e-02 5.31717227e-01] [-3.60259351e-02 -9.36911096e-02 9.94949299e-01 2.63607515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.32719347000003 meters Centerline goodness : 0.856132 with order 1 Centerline is valid? [False, False] Translation: X:25.25, Y:0.49, Z:2.64 [[ 9.98531602e-01 -1.76776225e-02 5.12068576e-02 2.52530471e+01] [ 7.02082876e-03 9.79516277e-01 2.01242569e-01 4.86780993e-01] [-5.37154407e-02 -2.00587550e-01 9.78202068e-01 2.63713085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.38719347000003 meters Centerline goodness : 0.852925 with order 1 Centerline is valid? [False, False] Translation: X:25.28, Y:0.43, Z:2.65 [[ 9.97775110e-01 -4.30108061e-02 5.09401682e-02 2.52779393e+01] [ 2.28939269e-02 9.38649696e-01 3.44111343e-01 4.32707768e-01] [-6.26154796e-02 -3.42179512e-01 9.37545990e-01 2.65121879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.44719347 meters Centerline goodness : 0.856022 with order 1 Centerline is valid? [False, False] Translation: X:25.27, Y:0.43, Z:2.65 [[ 0.99745095 -0.04968755 0.05121285 25.27164465] [ 0.0308463 0.94744036 0.31844195 0.43242809] [-0.06434372 -0.3160505 0.94655796 2.65493834] [ 0. 0. 0. 1. ]] SLAMing on 133.50719347 meters Centerline goodness : 0.854394 with order 1 Centerline is valid? [False, False] Translation: X:25.25, Y:0.43, Z:2.66 [[ 0.99762302 -0.04426138 0.05281322 25.25262597] [ 0.02689356 0.95574241 0.29297301 0.43133018] [-0.06344322 -0.29085629 0.95466098 2.66007189] [ 0. 0. 0. 1. ]] SLAMing on 133.56719347 meters Centerline goodness : 0.859469 with order 1 Centerline is valid? [False, False] Translation: X:25.24, Y:0.44, Z:2.66 [[ 9.97685046e-01 -3.90381647e-02 5.56827674e-02 2.52412562e+01] [ 2.27316163e-02 9.63160483e-01 2.67964842e-01 4.35252851e-01] [-6.40922969e-02 -2.66078757e-01 9.61818212e-01 2.66136435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.62719347 meters Centerline goodness : 0.862189 with order 1 Centerline is valid? [False, False] Translation: X:25.23, Y:0.44, Z:2.66 [[ 9.97917055e-01 -3.14646392e-02 5.63163199e-02 2.52338340e+01] [ 1.67941390e-02 9.69595665e-01 2.44135626e-01 4.38199837e-01] [-6.22856991e-02 -2.42681320e-01 9.68104472e-01 2.66340630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.68719347 meters Centerline goodness : 0.863218 with order 1 Centerline is valid? [False, False] Translation: X:25.23, Y:0.44, Z:2.67 [[ 9.98051781e-01 -2.45306542e-02 5.73662817e-02 2.52257640e+01] [ 1.15003358e-02 9.76039932e-01 2.17287352e-01 4.43808405e-01] [-6.13219826e-02 -2.16204297e-01 9.74420503e-01 2.66536165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.74719347 meters Centerline goodness : 0.866041 with order 1 Centerline is valid? [False, False] Translation: X:25.24, Y:0.44, Z:2.67 [[ 9.98302531e-01 -1.65754279e-02 5.58328965e-02 2.52442911e+01] [ 4.57450601e-03 9.78000671e-01 2.08551578e-01 4.39563117e-01] [-5.80614419e-02 -2.07942160e-01 9.76416370e-01 2.66755280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80719347000002 meters Centerline goodness : 0.861144 with order 1 Centerline is valid? [False, False] Translation: X:25.26, Y:0.44, Z:2.67 [[ 9.98394102e-01 -9.84178950e-03 5.57884953e-02 2.52621939e+01] [-1.32412612e-03 9.80470081e-01 1.96663843e-01 4.36966551e-01] [-5.66344746e-02 -1.96421892e-01 9.78882514e-01 2.67075424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.86719347000002 meters Centerline goodness : 0.859860 with order 1 Centerline is valid? [False, False] Translation: X:25.28, Y:0.43, Z:2.67 [[ 9.98215797e-01 -7.01841687e-03 5.92955699e-02 2.52821583e+01] [-4.84398367e-03 9.80275796e-01 1.97575050e-01 4.32809109e-01] [-5.95126760e-02 -1.97509763e-01 9.78492787e-01 2.67384185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.92719347000002 meters Centerline goodness : 0.856512 with order 1 Centerline is valid? [False, False] Translation: X:25.32, Y:0.41, Z:2.68 [[ 9.97726406e-01 -1.74207434e-02 6.51040436e-02 2.53188115e+01] [ 3.27438372e-04 9.67255797e-01 2.53803301e-01 4.06500426e-01] [-6.73937058e-02 -2.53204938e-01 9.65062354e-01 2.68096586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.98719347000002 meters Centerline goodness : 0.856406 with order 1 Centerline is valid? [False, False] Translation: X:25.32, Y:0.41, Z:2.68 [[ 9.97228763e-01 -2.56342175e-02 6.98403937e-02 2.53182314e+01] [ 9.17565242e-03 9.73974594e-01 2.26471405e-01 4.05545850e-01] [-7.38281863e-02 -2.25202968e-01 9.71510691e-01 2.68224524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.04719347000002 meters Centerline goodness : 0.855500 with order 1 Centerline is valid? [False, False] Translation: X:25.32, Y:0.40, Z:2.68 [[ 0.99694321 -0.04214981 0.06578471 25.31945682] [ 0.02853705 0.98026626 0.19561107 0.39777006] [-0.0727315 -0.19313583 0.97847263 2.68295938] [ 0. 0. 0. 1. ]] SLAMing on 134.10719347000003 meters Centerline goodness : 0.850749 with order 1 Centerline is valid? [False, False] Translation: X:25.31, Y:0.39, Z:2.68 [[ 0.99662375 -0.04775573 0.06678691 25.30574476] [ 0.03551551 0.98415167 0.17373586 0.39323468] [-0.07402533 -0.17077731 0.98252499 2.68179567] [ 0. 0. 0. 1. ]] SLAMing on 134.16719347 meters Centerline goodness : 0.847979 with order 1 Centerline is valid? [False, False] Translation: X:25.30, Y:0.39, Z:2.68 [[ 0.99649731 -0.0509405 0.06631879 25.30032334] [ 0.03977744 0.98632769 0.15992322 0.39103745] [-0.07355863 -0.15672507 0.98489917 2.67856795] [ 0. 0. 0. 1. ]] SLAMing on 134.22719347 meters Centerline goodness : 0.847177 with order 1 Centerline is valid? [False, False] Translation: X:25.30, Y:0.39, Z:2.68 [[ 0.99647785 -0.05028442 0.06710715 25.29542885] [ 0.04065209 0.98961331 0.13788732 0.39335376] [-0.07334372 -0.13467361 0.98817191 2.67942903] [ 0. 0. 0. 1. ]] SLAMing on 134.28719347 meters Centerline goodness : 0.850534 with order 1 Centerline is valid? [False, False] Translation: X:25.30, Y:0.40, Z:2.68 [[ 0.99673645 -0.04990289 0.06345196 25.29677081] [ 0.04208463 0.99199212 0.11908199 0.39756626] [-0.06888638 -0.116023 0.99085485 2.67892541] [ 0. 0. 0. 1. ]] SLAMing on 134.34719347 meters Centerline goodness : 0.848251 with order 1 Centerline is valid? [False, False] Translation: X:25.29, Y:0.40, Z:2.68 [[ 0.99690677 -0.04898198 0.0614626 25.29168664] [ 0.04232528 0.9935407 0.10528742 0.40305347] [-0.06622278 -0.10236032 0.99254063 2.67866059] [ 0. 0. 0. 1. ]] SLAMing on 134.40719347 meters Centerline goodness : 0.852468 with order 1 Centerline is valid? [False, False] Translation: X:25.29, Y:0.42, Z:2.68 [[ 0.99675741 -0.04841765 0.06426818 25.28831879] [ 0.0420408 0.994385 0.09711351 0.41721859] [-0.06860932 -0.09409673 0.99319614 2.68441168] [ 0. 0. 0. 1. ]] SLAMing on 134.46719347 meters Centerline goodness : 0.849176 with order 1 Centerline is valid? [False, False] Translation: X:25.28, Y:0.43, Z:2.69 [[ 0.99629629 -0.05158728 0.06879286 25.28087641] [ 0.04543129 0.99506354 0.08823006 0.42632242] [-0.07300481 -0.08477794 0.99372179 2.68786391] [ 0. 0. 0. 1. ]] SLAMing on 134.52719347000001 meters Centerline goodness : 0.849980 with order 1 Centerline is valid? [False, False] Translation: X:25.29, Y:0.44, Z:2.69 [[ 0.99590505 -0.05195053 0.07398829 25.28535488] [ 0.04635635 0.99607391 0.07541788 0.43631087] [-0.0776158 -0.07167923 0.99440328 2.68836371] [ 0. 0. 0. 1. ]] SLAMing on 134.58719347000002 meters Centerline goodness : 0.848505 with order 1 Centerline is valid? [False, False] Translation: X:25.28, Y:0.45, Z:2.69 [[ 0.99584643 -0.04757956 0.07762783 25.27989281] [ 0.04217571 0.9966672 0.06982618 0.4506031 ] [-0.08069141 -0.06626214 0.99453418 2.68813549] [ 0. 0. 0. 1. ]] SLAMing on 134.64719347000002 meters Centerline goodness : 0.846933 with order 1 Centerline is valid? [False, False] Translation: X:25.28, Y:0.46, Z:2.68 [[ 0.99616375 -0.04271502 0.07637543 25.28424234] [ 0.03714317 0.99664428 0.0729422 0.45761298] [-0.07923487 -0.06982554 0.99440748 2.68338357] [ 0. 0. 0. 1. ]] SLAMing on 134.70719347000002 meters Centerline goodness : 0.843737 with order 1 Centerline is valid? [False, False] Translation: X:25.27, Y:0.47, Z:2.68 [[ 0.99649402 -0.03168759 0.07743102 25.26993116] [ 0.02697476 0.99776275 0.06117066 0.46764115] [-0.07919614 -0.05886752 0.99511938 2.68078928] [ 0. 0. 0. 1. ]] SLAMing on 134.76719347000002 meters Centerline goodness : 0.843651 with order 1 Centerline is valid? [False, False] Translation: X:25.26, Y:0.48, Z:2.68 [[ 9.96555825e-01 -2.65709757e-02 7.85523471e-02 2.52645926e+01] [ 2.23233327e-02 9.98266042e-01 5.44662981e-02 4.75601024e-01] [-7.98633633e-02 -5.25251565e-02 9.95420992e-01 2.67601434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.82719347000003 meters Centerline goodness : 0.840958 with order 1 Centerline is valid? [False, False] Translation: X:25.27, Y:0.48, Z:2.67 [[ 9.97131786e-01 -2.02469971e-02 7.29264068e-02 2.52683580e+01] [ 1.72954545e-02 9.99014382e-01 4.08794826e-02 4.83252768e-01] [-7.36822160e-02 -3.95009362e-02 9.96499176e-01 2.67238454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.88719347000003 meters Centerline goodness : 0.842859 with order 1 Centerline is valid? [False, False] Translation: X:25.27, Y:0.49, Z:2.67 [[ 9.97168972e-01 -2.10700533e-02 7.21809778e-02 2.52698597e+01] [ 1.82327094e-02 9.99043508e-01 3.97446524e-02 4.86214814e-01] [-7.29493592e-02 -3.83160794e-02 9.96599352e-01 2.67173767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.94719347 meters Centerline goodness : 0.844131 with order 1 Centerline is valid? [False, False] Translation: X:25.27, Y:0.49, Z:2.67 [[ 9.97116353e-01 -2.58309174e-02 7.13564507e-02 2.52719238e+01] [ 2.33500540e-02 9.99100922e-01 3.53853464e-02 4.86153562e-01] [-7.22063316e-02 -3.36171306e-02 9.96823021e-01 2.67130148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.00719347 meters Centerline goodness : 0.844526 with order 1 Centerline is valid? [False, False] Translation: X:25.27, Y:0.48, Z:2.67 [[ 9.96800842e-01 -3.66922391e-02 7.10053568e-02 2.52723386e+01] [ 3.50128495e-02 9.99080251e-01 2.47538168e-02 4.82883283e-01] [-7.18483227e-02 -2.21885256e-02 9.97168736e-01 2.67350504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.06719347 meters Centerline goodness : 0.848694 with order 1 Centerline is valid? [False, False] Translation: X:25.27, Y:0.48, Z:2.68 [[ 9.96628611e-01 -4.05524143e-02 7.13226014e-02 2.52689048e+01] [ 3.91598659e-02 9.99016109e-01 2.08162960e-02 4.83638299e-01] [-7.20965788e-02 -1.79531326e-02 9.97236065e-01 2.67885894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.12719347 meters Centerline goodness : 0.851403 with order 1 Centerline is valid? [False, False] Translation: X:25.27, Y:0.49, Z:2.68 [[ 9.96593057e-01 -4.04534285e-02 7.18734900e-02 2.52661455e+01] [ 3.90820554e-02 9.99028032e-01 2.03858756e-02 4.85204153e-01] [-7.26283098e-02 -1.75074583e-02 9.97205404e-01 2.68193567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.18719347 meters Centerline goodness : 0.854352 with order 1 Centerline is valid? [False, False] Translation: X:25.26, Y:0.49, Z:2.68 [[ 9.96816423e-01 -3.32933880e-02 7.24470037e-02 2.52637680e+01] [ 3.14019778e-02 9.99139599e-01 2.70920116e-02 4.87452264e-01] [-7.32866550e-02 -2.47307829e-02 9.97004240e-01 2.68344792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.24719347 meters Centerline goodness : 0.854487 with order 1 Centerline is valid? [False, False] Translation: X:25.24, Y:0.49, Z:2.68 [[ 9.96758549e-01 -1.94838717e-02 7.80562280e-02 2.52424191e+01] [ 1.83223550e-02 9.99710903e-01 1.55692250e-02 4.92817401e-01] [-7.83370110e-02 -1.40885842e-02 9.96827379e-01 2.68244788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30719347000002 meters Centerline goodness : 0.851261 with order 1 Centerline is valid? [False, False] Translation: X:25.24, Y:0.50, Z:2.68 [[ 9.97340171e-01 -1.15713108e-02 7.19631090e-02 2.52378172e+01] [ 1.07253161e-02 9.99868891e-01 1.21312870e-02 4.95091872e-01] [-7.20940489e-02 -1.13271928e-02 9.97333516e-01 2.68196939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.36719347000002 meters Centerline goodness : 0.851867 with order 1 Centerline is valid? [False, False] Translation: X:25.26, Y:0.48, Z:2.68 [[ 9.97249954e-01 -2.06275145e-02 7.11831090e-02 2.52616785e+01] [ 1.49490787e-02 9.96730552e-01 7.94023462e-02 4.76100066e-01] [-7.25882525e-02 -7.81198642e-02 9.94297859e-01 2.68265767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.42719347000002 meters Centerline goodness : 0.850135 with order 1 Centerline is valid? [False, False] Translation: X:25.26, Y:0.47, Z:2.68 [[ 9.97098737e-01 -2.71522411e-02 7.11116299e-02 2.52630788e+01] [ 2.19201242e-02 9.97065345e-01 7.33498934e-02 4.71549867e-01] [-7.28945557e-02 -7.15783103e-02 9.94767777e-01 2.68192878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.48719347000002 meters Centerline goodness : 0.855756 with order 1 Centerline is valid? [False, False] Translation: X:25.28, Y:0.47, Z:2.68 [[ 9.97263826e-01 -2.56011711e-02 6.93501342e-02 2.52789695e+01] [ 2.14337635e-02 9.97957165e-01 6.01838073e-02 4.68403415e-01] [-7.07492393e-02 -5.85326995e-02 9.95775310e-01 2.68260316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.54719347000002 meters Centerline goodness : 0.850557 with order 1 Centerline is valid? [False, False] Translation: X:25.28, Y:0.47, Z:2.68 [[ 9.97270776e-01 -2.53955020e-02 6.93258139e-02 2.52791916e+01] [ 2.11545208e-02 9.97899002e-01 6.12378058e-02 4.66654030e-01] [-7.07353253e-02 -5.96041198e-02 9.95712741e-01 2.68304828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.60719347000003 meters Centerline goodness : 0.851943 with order 1 Centerline is valid? [False, False] Translation: X:25.29, Y:0.46, Z:2.68 [[ 9.97316016e-01 -1.99848221e-02 7.04370041e-02 2.52856753e+01] [ 1.68440025e-02 9.98849212e-01 4.49058051e-02 4.62460319e-01] [-7.12533805e-02 -4.35988375e-02 9.96504941e-01 2.68234819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.66719347 meters Centerline goodness : 0.853728 with order 1 Centerline is valid? [False, False] Translation: X:25.29, Y:0.46, Z:2.68 [[ 9.97253992e-01 -2.25410163e-02 7.05434535e-02 2.52853677e+01] [ 1.95532311e-02 9.98893949e-01 4.27615449e-02 4.59327211e-01] [-7.14293175e-02 -4.12647689e-02 9.96591728e-01 2.68357086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.72719347 meters Centerline goodness : 0.852454 with order 1 Centerline is valid? [False, False] Translation: X:25.28, Y:0.45, Z:2.69 [[ 9.97138798e-01 -2.53049117e-02 7.12311688e-02 2.52834057e+01] [ 2.23419127e-02 9.98863957e-01 4.20907913e-02 4.52247394e-01] [-7.22153509e-02 -4.03789205e-02 9.96571365e-01 2.68690061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.78719347 meters Centerline goodness : 0.852773 with order 1 Centerline is valid? [False, False] Translation: X:25.28, Y:0.45, Z:2.69 [[ 0.9969609 -0.03154809 0.07122984 25.28392966] [ 0.02901834 0.99892044 0.03627532 0.44673228] [-0.07229736 -0.0340981 0.99680009 2.68743782] [ 0. 0. 0. 1. ]] SLAMing on 135.84719347 meters Centerline goodness : 0.853504 with order 1 Centerline is valid? [False, False] Translation: X:25.28, Y:0.45, Z:2.69 [[ 0.99697011 -0.03131061 0.07120561 25.28414639] [ 0.02873708 0.99890627 0.0368841 0.44530006] [-0.07228259 -0.0347261 0.99677948 2.68742924] [ 0. 0. 0. 1. ]] SLAMing on 135.90719347 meters Centerline goodness : 0.854492 with order 1 Centerline is valid? [False, False] Translation: X:25.29, Y:0.45, Z:2.69 [[ 9.97219710e-01 -2.21884207e-02 7.11373632e-02 2.52863266e+01] [ 2.03380520e-02 9.99438421e-01 2.66309251e-02 4.45396743e-01] [-7.16883121e-02 -2.51100880e-02 9.97110961e-01 2.68610771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.96719347 meters Centerline goodness : 0.855408 with order 1 Centerline is valid? [False, False] Translation: X:25.29, Y:0.44, Z:2.69 [[ 9.97679078e-01 -1.55392058e-02 6.62947197e-02 2.52859846e+01] [ 1.44467940e-02 9.99752372e-01 1.69258398e-02 4.44393940e-01] [-6.65413174e-02 -1.59288101e-02 9.97656517e-01 2.68619986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02719347000001 meters Centerline goodness : 0.855782 with order 1 Centerline is valid? [False, False] Translation: X:25.29, Y:0.44, Z:2.68 [[ 9.97694190e-01 -1.65548072e-02 6.58197588e-02 2.52880250e+01] [ 1.55123429e-02 9.99746515e-01 1.63178427e-02 4.38078586e-01] [-6.60732133e-02 -1.52591982e-02 9.97698094e-01 2.68479419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.08719347000002 meters Centerline goodness : 0.855112 with order 1 Centerline is valid? [False, False] Translation: X:25.29, Y:0.43, Z:2.68 [[ 9.97699324e-01 -1.80212746e-02 6.53551304e-02 2.52904666e+01] [ 1.70456087e-02 9.99735249e-01 1.54557290e-02 4.33184807e-01] [-6.56163595e-02 -1.43061524e-02 9.97742365e-01 2.68266029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14719347000002 meters Centerline goodness : 0.854965 with order 1 Centerline is valid? [False, False] Translation: X:25.29, Y:0.42, Z:2.68 [[ 9.97687157e-01 -1.92128985e-02 6.52012428e-02 2.52920422e+01] [ 1.82215597e-02 9.99709676e-01 1.57651047e-02 4.23441796e-01] [-6.54852067e-02 -1.45405741e-02 9.97747593e-01 2.68107643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.20719347000002 meters Centerline goodness : 0.855830 with order 1 Centerline is valid? [False, False] Translation: X:25.29, Y:0.42, Z:2.68 [[ 9.97652679e-01 -2.15438753e-02 6.49999544e-02 2.52929355e+01] [ 2.07116345e-02 9.99695009e-01 1.34505774e-02 4.20269575e-01] [-6.52699076e-02 -1.20727493e-02 9.97794612e-01 2.68050898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.26719347000002 meters Centerline goodness : 0.856591 with order 1 Centerline is valid? [False, False] Translation: X:25.29, Y:0.42, Z:2.69 [[ 9.97874978e-01 -1.35884297e-02 6.37250607e-02 2.52926615e+01] [ 1.62552759e-02 9.99005464e-01 -4.15192636e-02 4.23032514e-01] [-6.30975023e-02 4.24669027e-02 9.97103439e-01 2.68676910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.32719347000003 meters Centerline goodness : 0.859651 with order 1 Centerline is valid? [False, False] Translation: X:25.27, Y:0.42, Z:2.70 [[ 9.97848182e-01 -1.25036135e-02 6.43635453e-02 2.52736826e+01] [ 1.70840871e-02 9.97321826e-01 -7.11147682e-02 4.17725150e-01] [-6.33019770e-02 7.20613346e-02 9.95389383e-01 2.69825685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.38719347000003 meters Centerline goodness : 0.860784 with order 1 Centerline is valid? [False, False] Translation: X:25.27, Y:0.41, Z:2.70 [[ 9.97846067e-01 -1.51429217e-02 6.38272575e-02 2.52745986e+01] [ 1.98502088e-02 9.97077418e-01 -7.37739283e-02 4.12280480e-01] [-6.25235643e-02 7.48820086e-02 9.95230370e-01 2.69903216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.44719347 meters Centerline goodness : 0.861342 with order 1 Centerline is valid? [False, False] Translation: X:25.28, Y:0.41, Z:2.70 [[ 9.98120424e-01 -9.46877238e-03 6.05471824e-02 2.52800699e+01] [ 1.53926681e-02 9.95054065e-01 -9.81349710e-02 4.07888223e-01] [-5.93185023e-02 9.88825016e-02 9.93329536e-01 2.70432436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.50719347 meters Centerline goodness : 0.864981 with order 1 Centerline is valid? [False, False] Translation: X:25.29, Y:0.41, Z:2.71 [[ 9.98298003e-01 -6.90315775e-03 5.79089195e-02 2.52929581e+01] [ 1.35055671e-02 9.93341758e-01 -1.14410455e-01 4.05295819e-01] [-5.67335545e-02 1.14997821e-01 9.91744324e-01 2.71153352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.56719347 meters Centerline goodness : 0.867892 with order 1 Centerline is valid? [False, False] Translation: X:25.29, Y:0.40, Z:2.71 [[ 9.98263155e-01 -6.41717855e-03 5.85618719e-02 2.52927661e+01] [ 1.28041825e-02 9.93920770e-01 -1.09350613e-01 3.95669485e-01] [-5.75041384e-02 1.09910525e-01 9.92276650e-01 2.70872988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.62719347 meters Centerline goodness : 0.871238 with order 1 Centerline is valid? [False, False] Translation: X:25.29, Y:0.38, Z:2.71 [[ 9.98205969e-01 -1.25740160e-02 5.85383432e-02 2.52927319e+01] [ 1.91924375e-02 9.93305550e-01 -1.13911078e-01 3.84761241e-01] [-5.67141414e-02 1.14830212e-01 9.91764855e-01 2.70872193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.68719347 meters Centerline goodness : 0.873336 with order 1 Centerline is valid? [False, False] Translation: X:25.29, Y:0.38, Z:2.71 [[ 9.98078672e-01 -2.00340605e-02 5.86310518e-02 2.52925412e+01] [ 2.70360598e-02 9.92261944e-01 -1.21182865e-01 3.79657876e-01] [-5.57495766e-02 1.22535186e-01 9.90897125e-01 2.71003975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.74719347 meters Centerline goodness : 0.878859 with order 1 Centerline is valid? [False, False] Translation: X:25.32, Y:0.37, Z:2.71 [[ 0.99810004 -0.03310616 0.0519643 25.31583671] [ 0.03848322 0.99360597 -0.10614245 0.3664868 ] [-0.04811807 0.10794053 0.99299219 2.71194319] [ 0. 0. 0. 1. ]] SLAMing on 136.80719347000002 meters Centerline goodness : 0.885117 with order 1 Centerline is valid? [False, False] Translation: X:25.33, Y:0.36, Z:2.71 [[ 0.99779098 -0.04295032 0.05067965 25.33298926] [ 0.0477286 0.99412117 -0.09718584 0.35886217] [-0.04620755 0.09939002 0.99397509 2.71389038] [ 0. 0. 0. 1. ]] SLAMing on 136.86719347000002 meters Centerline goodness : 0.886024 with order 1 Centerline is valid? [False, False] Translation: X:25.36, Y:0.36, Z:2.72 [[ 0.99770423 -0.04546202 0.05019445 25.35998587] [ 0.04988421 0.9946296 -0.0906837 0.35990721] [-0.04580222 0.09297942 0.99461399 2.71568338] [ 0. 0. 0. 1. ]] SLAMing on 136.92719347000002 meters Centerline goodness : 0.887839 with order 1 Centerline is valid? [False, False] Translation: X:25.39, Y:0.36, Z:2.72 [[ 0.99749425 -0.05206056 0.04790527 25.39004253] [ 0.05613703 0.99452816 -0.08810435 0.36237868] [-0.04305638 0.09057285 0.99495865 2.71656437] [ 0. 0. 0. 1. ]] SLAMing on 136.98719347000002 meters Centerline goodness : 0.886223 with order 1 Centerline is valid? [False, False] Translation: X:25.42, Y:0.37, Z:2.71 [[ 0.99678936 -0.0650922 0.04662588 25.41984217] [ 0.06863514 0.99451563 -0.07891695 0.36756687] [-0.04123328 0.08186375 0.99579021 2.71386379] [ 0. 0. 0. 1. ]] SLAMing on 137.04719347000002 meters Centerline goodness : 0.887266 with order 1 Centerline is valid? [False, False] Translation: X:25.46, Y:0.38, Z:2.71 [[ 0.99643073 -0.07546049 0.03783543 25.46274478] [ 0.07806999 0.99426907 -0.07303483 0.38201268] [-0.03210735 0.07572796 0.99661146 2.71278048] [ 0. 0. 0. 1. ]] SLAMing on 137.10719347000003 meters Centerline goodness : 0.885641 with order 1 Centerline is valid? [False, False] Translation: X:25.49, Y:0.39, Z:2.71 [[ 0.99612086 -0.0803165 0.03595127 25.49344873] [ 0.08275709 0.99392741 -0.0725229 0.39313916] [-0.02990817 0.0752168 0.99671858 2.7110888 ] [ 0. 0. 0. 1. ]] SLAMing on 137.16719347 meters Centerline goodness : 0.883265 with order 1 Centerline is valid? [False, False] Translation: X:25.53, Y:0.41, Z:2.71 [[ 0.99630743 -0.07923734 0.03305975 25.53352973] [ 0.08156054 0.99375683 -0.07612655 0.41403293] [-0.02682129 0.07854182 0.99654995 2.70630079] [ 0. 0. 0. 1. ]] SLAMing on 137.22719347 meters Centerline goodness : 0.883269 with order 1 Centerline is valid? [False, False] Translation: X:25.57, Y:0.43, Z:2.70 [[ 0.99667595 -0.07491679 0.03200818 25.57330102] [ 0.07717676 0.99408276 -0.07644091 0.42909591] [-0.02609207 0.07865711 0.99656022 2.70238958] [ 0. 0. 0. 1. ]] SLAMing on 137.28719347 meters Centerline goodness : 0.886135 with order 1 Centerline is valid? [False, False] Translation: X:25.61, Y:0.45, Z:2.70 [[ 9.96954599e-01 -7.16114378e-02 3.08760498e-02 2.56135008e+01] [ 7.38575333e-02 9.94128597e-01 -7.90784219e-02 4.48715651e-01] [-2.50318446e-02 8.11180252e-02 9.96390121e-01 2.69986510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.34719347 meters Centerline goodness : 0.884978 with order 1 Centerline is valid? [False, False] Translation: X:25.62, Y:0.46, Z:2.70 [[ 9.97160504e-01 -6.94140088e-02 2.91997357e-02 2.56170683e+01] [ 7.15181289e-02 9.94340907e-01 -7.85577300e-02 4.59364579e-01] [-2.35814847e-02 8.04229761e-02 9.96481841e-01 2.69992754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.40719347 meters Centerline goodness : 0.882190 with order 1 Centerline is valid? [False, False] Translation: X:25.62, Y:0.47, Z:2.70 [[ 0.99722853 -0.06669573 0.03296891 25.61905097] [ 0.06869015 0.99560847 -0.06360375 0.47498749] [-0.02858202 0.06569211 0.99743051 2.70170487] [ 0. 0. 0. 1. ]] SLAMing on 137.46719347 meters Centerline goodness : 0.884648 with order 1 Centerline is valid? [False, False] Translation: X:25.62, Y:0.49, Z:2.71 [[ 0.9973467 -0.0621191 0.03795747 25.61907127] [ 0.06392587 0.99678026 -0.04840044 0.48704923] [-0.03482867 0.05069848 0.99810652 2.70679959] [ 0. 0. 0. 1. ]] SLAMing on 137.52719347000001 meters Centerline goodness : 0.882622 with order 1 Centerline is valid? [False, False] Translation: X:25.62, Y:0.49, Z:2.71 [[ 0.99768206 -0.05658484 0.03779764 25.61788247] [ 0.05821699 0.99735251 -0.04357473 0.49303805] [-0.03523191 0.04567419 0.9983349 2.70823554] [ 0. 0. 0. 1. ]] SLAMing on 137.58719347000002 meters Centerline goodness : 0.885140 with order 1 Centerline is valid? [False, False] Translation: X:25.59, Y:0.50, Z:2.72 [[ 9.98311267e-01 -4.86447421e-02 3.17537867e-02 2.55884877e+01] [ 4.89439971e-02 9.98763498e-01 -8.71552869e-03 5.04092213e-01] [-3.12905584e-02 1.02549677e-02 9.99457721e-01 2.71526116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64719347000002 meters Centerline goodness : 0.882617 with order 1 Centerline is valid? [False, False] Translation: X:25.59, Y:0.51, Z:2.72 [[ 9.98776533e-01 -3.77361393e-02 3.19596780e-02 2.55860869e+01] [ 3.77523639e-02 9.99287121e-01 9.58349383e-05 5.11457501e-01] [-3.19405111e-02 1.11083571e-03 9.99489154e-01 2.71678917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.70719347000002 meters Centerline goodness : 0.887429 with order 1 Centerline is valid? [False, False] Translation: X:25.58, Y:0.52, Z:2.72 [[ 9.99053522e-01 -2.27758585e-02 3.70583517e-02 2.55845139e+01] [ 2.27974950e-02 9.99740090e-01 -1.61336349e-04 5.22531399e-01] [-3.70450453e-02 1.00602124e-03 9.99313090e-01 2.72151528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.76719347000002 meters Centerline goodness : 0.884655 with order 1 Centerline is valid? [False, False] Translation: X:25.58, Y:0.53, Z:2.72 [[ 9.99125396e-01 -1.83140999e-02 3.75903847e-02 2.55832963e+01] [ 1.82348228e-02 9.99830728e-01 2.45076741e-03 5.26812878e-01] [-3.76289053e-02 -1.76316996e-03 9.99290226e-01 2.72124541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.82719347000003 meters Centerline goodness : 0.883990 with order 1 Centerline is valid? [False, False] Translation: X:25.61, Y:0.51, Z:2.72 [[ 9.99117454e-01 -1.71886018e-02 3.83257736e-02 2.56068642e+01] [ 1.48107370e-02 9.97998011e-01 6.14866795e-02 5.06065162e-01] [-3.93059158e-02 -6.08647817e-02 9.97371808e-01 2.71817329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.88719347000003 meters Centerline goodness : 0.883145 with order 1 Centerline is valid? [False, False] Translation: X:25.61, Y:0.51, Z:2.72 [[ 9.99160771e-01 -1.39752478e-02 3.85025458e-02 2.56132270e+01] [ 1.18925589e-02 9.98480906e-01 5.38000721e-02 5.05932387e-01] [-3.91959261e-02 -5.32970277e-02 9.97809153e-01 2.72001252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.94719347 meters Centerline goodness : 0.877711 with order 1 Centerline is valid? [False, False] Translation: X:25.65, Y:0.49, Z:2.71 [[ 9.99576737e-01 -4.59386417e-03 2.87270508e-02 2.56498894e+01] [ 2.89081150e-03 9.98251027e-01 5.90468444e-02 4.93311062e-01] [-2.89480611e-02 -5.89388076e-02 9.97841784e-01 2.71488749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.00719347 meters Centerline goodness : 0.874504 with order 1 Centerline is valid? [False, False] Translation: X:25.69, Y:0.48, Z:2.71 [[ 9.99557018e-01 -1.95772985e-03 2.96974030e-02 2.56877380e+01] [-2.47491872e-04 9.97252896e-01 7.40715948e-02 4.77017882e-01] [-2.97608333e-02 -7.40461323e-02 9.96810646e-01 2.70991652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.06719347 meters Centerline goodness : 0.875734 with order 1 Centerline is valid? [False, False] Translation: X:25.73, Y:0.45, Z:2.71 [[ 9.99361771e-01 -6.68880484e-03 3.50900265e-02 2.57274519e+01] [ 2.28022656e-03 9.92254429e-01 1.24201245e-01 4.45812304e-01] [-3.56489921e-02 -1.24041963e-01 9.91636395e-01 2.71434053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.12719347 meters Centerline goodness : 0.875870 with order 1 Centerline is valid? [False, False] Translation: X:25.74, Y:0.44, Z:2.71 [[ 9.99230398e-01 -6.90236993e-03 3.86130602e-02 2.57447723e+01] [ 1.87624343e-03 9.91679649e-01 1.28716561e-01 4.38687935e-01] [-3.91802353e-02 -1.28545053e-01 9.90929401e-01 2.71403635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.18719347 meters Centerline goodness : 0.874839 with order 1 Centerline is valid? [False, False] Translation: X:25.77, Y:0.38, Z:2.74 [[ 9.98936748e-01 -1.90674916e-02 4.19738409e-02 2.57710847e+01] [ 6.90976496e-03 9.62100269e-01 2.72608378e-01 3.77494302e-01] [-4.55810016e-02 -2.72028497e-01 9.61209066e-01 2.73741148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.24719347 meters Centerline goodness : 0.873083 with order 1 Centerline is valid? [False, False] Translation: X:25.76, Y:0.37, Z:2.74 [[ 9.99002246e-01 -1.84065351e-02 4.06904350e-02 2.57581501e+01] [ 8.37573569e-03 9.72169024e-01 2.34130809e-01 3.70876360e-01] [-4.38675174e-02 -2.33556392e-01 9.71353207e-01 2.73972336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30719347000002 meters Centerline goodness : 0.874324 with order 1 Centerline is valid? [False, False] Translation: X:25.75, Y:0.37, Z:2.74 [[ 9.99092223e-01 -1.68680021e-02 3.91177754e-02 2.57452238e+01] [ 8.78599339e-03 9.80114883e-01 1.98236280e-01 3.65624733e-01] [-4.16837639e-02 -1.97712637e-01 9.79373359e-01 2.73952395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36719347000002 meters Centerline goodness : 0.872348 with order 1 Centerline is valid? [False, False] Translation: X:25.73, Y:0.35, Z:2.74 [[ 9.99237074e-01 -1.31538739e-02 3.67728941e-02 2.57282717e+01] [ 7.24248799e-03 9.87653355e-01 1.56487688e-01 3.54045402e-01] [-3.83772915e-02 -1.56101973e-01 9.86995115e-01 2.74236749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42719347000002 meters Centerline goodness : 0.873039 with order 1 Centerline is valid? [False, False] Translation: X:25.71, Y:0.34, Z:2.75 [[ 9.99181904e-01 -9.66187433e-03 3.92704879e-02 2.57142563e+01] [ 5.18862757e-03 9.93643521e-01 1.12452793e-01 3.42641573e-01] [-4.01073706e-02 -1.12157036e-01 9.92880757e-01 2.74775763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.48719347000002 meters Centerline goodness : 0.877004 with order 1 Centerline is valid? [False, False] Translation: X:25.70, Y:0.34, Z:2.75 [[ 9.99053501e-01 -4.89999473e-03 4.32214328e-02 2.57039527e+01] [ 1.75840152e-03 9.97372195e-01 7.24265971e-02 3.40112724e-01] [-4.34627453e-02 -7.22820448e-02 9.96436800e-01 2.74937256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.54719347000002 meters Centerline goodness : 0.880368 with order 1 Centerline is valid? [False, False] Translation: X:25.71, Y:0.33, Z:2.75 [[ 9.98967935e-01 -6.31699238e-03 4.49795497e-02 2.57099109e+01] [ 4.02690136e-03 9.98699517e-01 5.08238057e-02 3.29809451e-01] [-4.52421082e-02 -5.05902241e-02 9.97694232e-01 2.75129466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.60719347000003 meters Centerline goodness : 0.877283 with order 1 Centerline is valid? [False, False] Translation: X:25.71, Y:0.33, Z:2.75 [[ 9.99035147e-01 -5.71271210e-03 4.35446899e-02 2.57078182e+01] [ 6.01670708e-03 9.99958415e-01 -6.85335686e-03 3.32081953e-01] [-4.35037279e-02 7.10874002e-03 9.99027973e-01 2.75208210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.66719347000003 meters Centerline goodness : 0.880647 with order 1 Centerline is valid? [False, False] Translation: X:25.73, Y:0.32, Z:2.75 [[ 9.99013118e-01 -8.11564957e-03 4.36683770e-02 2.57256890e+01] [ 9.21910511e-03 9.99641751e-01 -2.51272171e-02 3.21552450e-01] [-4.34488092e-02 2.55050029e-02 9.98730042e-01 2.75045418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.72719347 meters Centerline goodness : 0.878406 with order 1 Centerline is valid? [False, False] Translation: X:25.75, Y:0.32, Z:2.75 [[ 9.99115667e-01 -7.04452158e-03 4.14518727e-02 2.57484336e+01] [ 9.66866827e-03 9.97938182e-01 -6.34499895e-02 3.19090983e-01] [-4.09194316e-02 6.37946630e-02 9.97123784e-01 2.75169917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.78719347 meters Centerline goodness : 0.875601 with order 1 Centerline is valid? [False, False] Translation: X:25.78, Y:0.32, Z:2.75 [[ 9.99370811e-01 -2.08128753e-03 3.54069342e-02 2.57798510e+01] [ 5.68045233e-03 9.94782818e-01 -1.01857144e-01 3.22597898e-01] [-3.50102157e-02 1.01994184e-01 9.94168734e-01 2.75459055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.84719347 meters Centerline goodness : 0.876044 with order 1 Centerline is valid? [False, False] Translation: X:25.81, Y:0.33, Z:2.76 [[ 9.99252453e-01 5.67755809e-03 3.82400269e-02 2.58052578e+01] [ 4.17513530e-05 9.88997964e-01 -1.47929120e-01 3.31910981e-01] [-3.86591849e-02 1.47820133e-01 9.88258405e-01 2.75745731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.90719347 meters Centerline goodness : 0.875316 with order 1 Centerline is valid? [False, False] Translation: X:25.83, Y:0.33, Z:2.76 [[ 9.99164927e-01 1.03330544e-02 3.95307123e-02 2.58281195e+01] [-2.50362052e-03 9.81158679e-01 -1.93187416e-01 3.31954818e-01] [-4.07821176e-02 1.92927120e-01 9.80365210e-01 2.76025271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.96719347 meters Centerline goodness : 0.875243 with order 1 Centerline is valid? [False, False] Translation: X:25.85, Y:0.34, Z:2.76 [[ 9.99428002e-01 5.20921048e-03 3.34145664e-02 2.58524565e+01] [ 2.64916804e-03 9.72969394e-01 -2.30918905e-01 3.35921699e-01] [-3.37142556e-02 2.30875340e-01 9.72399057e-01 2.76297680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02719347000001 meters Centerline goodness : 0.873867 with order 1 Centerline is valid? [False, False] Translation: X:25.86, Y:0.32, Z:2.76 [[ 9.99387740e-01 -1.10233546e-02 3.32058765e-02 2.58585592e+01] [ 1.74790640e-02 9.79453066e-01 -2.00913349e-01 3.16601678e-01] [-3.03088585e-02 2.01370746e-01 9.79046064e-01 2.76416219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.08719347000002 meters Centerline goodness : 0.874431 with order 1 Centerline is valid? [False, False] Translation: X:25.87, Y:0.30, Z:2.77 [[ 9.99298480e-01 -2.29655241e-02 2.95826407e-02 2.58741056e+01] [ 2.79164662e-02 9.83337491e-01 -1.79633096e-01 3.04694720e-01] [-2.49643515e-02 1.80332923e-01 9.83288777e-01 2.76652414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14719347000002 meters Centerline goodness : 0.874474 with order 1 Centerline is valid? [False, False] Translation: X:25.90, Y:0.30, Z:2.77 [[ 9.99084069e-01 -3.49242690e-02 2.47248488e-02 2.58978455e+01] [ 3.84055417e-02 9.86655567e-01 -1.58227076e-01 2.95009465e-01] [-1.88689448e-02 1.59031722e-01 9.87093144e-01 2.76768610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.20719347000002 meters Centerline goodness : 0.872094 with order 1 Centerline is valid? [False, False] Translation: X:25.91, Y:0.29, Z:2.77 [[ 9.99072567e-01 -3.58960763e-02 2.37797559e-02 2.59140688e+01] [ 3.89170052e-02 9.89106509e-01 -1.41964015e-01 2.91987895e-01] [-1.84247602e-02 1.42757790e-01 9.89586147e-01 2.77104468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.26719347000002 meters Centerline goodness : 0.870223 with order 1 Centerline is valid? [False, False] Translation: X:25.94, Y:0.29, Z:2.77 [[ 9.99131236e-01 -3.20100099e-02 2.66858136e-02 2.59369238e+01] [ 3.53103133e-02 9.90336553e-01 -1.34114481e-01 2.92594123e-01] [-2.21349308e-02 1.34940252e-01 9.90606467e-01 2.77391678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.32719347000003 meters Centerline goodness : 0.869062 with order 1 Centerline is valid? [False, False] Translation: X:25.96, Y:0.30, Z:2.77 [[ 0.99917448 -0.02734102 0.0300472 25.96414645] [ 0.03091514 0.99157836 -0.12576411 0.29903048] [-0.02635564 0.1265892 0.99160504 2.77294383] [ 0. 0. 0. 1. ]] SLAMing on 139.38719347000003 meters Centerline goodness : 0.865941 with order 1 Centerline is valid? [False, False] Translation: X:26.00, Y:0.32, Z:2.77 [[ 9.99157298e-01 -1.46274267e-02 3.83501350e-02 2.60025468e+01] [ 2.12934210e-02 9.83501137e-01 -1.79644379e-01 3.21885978e-01] [-3.50896664e-02 1.80309598e-01 9.82983807e-01 2.77154485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.44719347 meters Centerline goodness : 0.865490 with order 1 Centerline is valid? [False, False] Translation: X:26.03, Y:0.33, Z:2.77 [[ 9.98878666e-01 -1.20732611e-02 4.57782444e-02 2.60297962e+01] [ 1.99751305e-02 9.84132457e-01 -1.76307407e-01 3.27855842e-01] [-4.29232508e-02 1.77024134e-01 9.83270080e-01 2.76918640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.50719347 meters Centerline goodness : 0.865571 with order 1 Centerline is valid? [False, False] Translation: X:26.06, Y:0.35, Z:2.77 [[ 9.98517552e-01 -4.43198636e-03 5.42499304e-02 2.60630730e+01] [ 1.56385100e-02 9.78016401e-01 -2.07940753e-01 3.46060622e-01] [-5.21357311e-02 2.08480880e-01 9.76635852e-01 2.76952841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.56719347 meters Centerline goodness : 0.864756 with order 1 Centerline is valid? [False, False] Translation: X:26.07, Y:0.34, Z:2.77 [[ 9.98303278e-01 -2.68032187e-03 5.81668300e-02 2.60738459e+01] [ 1.40048995e-02 9.80668716e-01 -1.95173595e-01 3.44493881e-01] [-5.65192624e-02 1.95657060e-01 9.79042332e-01 2.76774194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.62719347 meters Centerline goodness : 0.864773 with order 1 Centerline is valid? [False, False] Translation: X:26.10, Y:0.36, Z:2.77 [[ 9.97885682e-01 7.22845305e-03 6.45903664e-02 2.60973343e+01] [ 9.34638810e-03 9.67506742e-01 -2.52672416e-01 3.60014790e-01] [-6.43180456e-02 2.52741873e-01 9.65393565e-01 2.76926850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.68719347 meters Centerline goodness : 0.861603 with order 1 Centerline is valid? [False, False] Translation: X:26.13, Y:0.38, Z:2.77 [[ 9.97843370e-01 1.93330501e-02 6.27283136e-02 2.61264869e+01] [ 7.19567985e-04 9.52362530e-01 -3.04967366e-01 3.75754406e-01] [-6.56360448e-02 3.04354802e-01 9.50294725e-01 2.77261886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74719347 meters Centerline goodness : 0.859280 with order 1 Centerline is valid? [False, False] Translation: X:26.13, Y:0.36, Z:2.77 [[ 9.98177192e-01 2.01508506e-02 5.68879271e-02 2.61335438e+01] [-3.35897589e-03 9.59699797e-01 -2.81007147e-01 3.59554516e-01] [-6.02578651e-02 2.80303840e-01 9.58018135e-01 2.77044093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80719347000002 meters Centerline goodness : 0.866923 with order 1 Centerline is valid? [False, False] Translation: X:26.14, Y:0.34, Z:2.77 [[ 9.98199044e-01 2.11775381e-02 5.61264719e-02 2.61368328e+01] [-5.63892478e-03 9.64595834e-01 -2.63672295e-01 3.41306958e-01] [-5.97232911e-02 2.62880940e-01 9.62978058e-01 2.77109633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86719347000002 meters Centerline goodness : 0.864429 with order 1 Centerline is valid? [False, False] Translation: X:26.16, Y:0.35, Z:2.78 [[ 9.97904712e-01 3.19822019e-02 5.62434436e-02 2.61572426e+01] [-1.24373199e-02 9.47895155e-01 -3.18339579e-01 3.49522976e-01] [-6.34940884e-02 3.16973048e-01 9.46306815e-01 2.77670858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92719347000002 meters Centerline goodness : 0.864152 with order 1 Centerline is valid? [False, False] Translation: X:26.15, Y:0.33, Z:2.78 [[ 9.97735328e-01 2.88931404e-02 6.07404376e-02 2.61499727e+01] [-1.01613644e-02 9.57421312e-01 -2.88515473e-01 3.33173475e-01] [-6.64903075e-02 2.87244875e-01 9.55546661e-01 2.77733995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.98719347000002 meters Centerline goodness : 0.863674 with order 1 Centerline is valid? [False, False] Translation: X:26.14, Y:0.31, Z:2.78 [[ 9.97755617e-01 1.88685382e-02 6.42472410e-02 2.61414086e+01] [-1.17401859e-03 9.64259405e-01 -2.64957397e-01 3.13716420e-01] [-6.69503651e-02 2.64287303e-01 9.62117389e-01 2.77921534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.04719347000002 meters Centerline goodness : 0.865599 with order 1 Centerline is valid? [False, False] Translation: X:26.16, Y:0.30, Z:2.78 [[ 9.97913107e-01 6.03467547e-03 6.42885220e-02 2.61639233e+01] [ 1.01549262e-02 9.68566605e-01 -2.48546998e-01 2.97915281e-01] [-6.37676159e-02 2.48681152e-01 9.66484028e-01 2.77959780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.10719347000003 meters Centerline goodness : 0.869924 with order 1 Centerline is valid? [False, False] Translation: X:26.19, Y:0.29, Z:2.78 [[ 9.97947615e-01 -6.10617335e-03 6.37438102e-02 2.61863309e+01] [ 2.05790273e-02 9.73220664e-01 -2.28949870e-01 2.87134480e-01] [-6.06387857e-02 2.29791762e-01 9.71348899e-01 2.77752816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.16719347000003 meters Centerline goodness : 0.868923 with order 1 Centerline is valid? [False, False] Translation: X:26.21, Y:0.28, Z:2.78 [[ 9.98014642e-01 -1.33128800e-02 6.15592492e-02 2.62098873e+01] [ 2.55862429e-02 9.78817296e-01 -2.03130609e-01 2.79802926e-01] [-5.75510045e-02 2.04302392e-01 9.77214620e-01 2.77539514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.22719347 meters Centerline goodness : 0.869974 with order 1 Centerline is valid? [False, False] Translation: X:26.23, Y:0.28, Z:2.77 [[ 9.97910120e-01 -1.49641440e-02 6.28606884e-02 2.62297335e+01] [ 2.66045713e-02 9.81683173e-01 -1.88654035e-01 2.76739975e-01] [-5.88862339e-02 1.89932153e-01 9.80029688e-01 2.77329660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.28719347 meters Centerline goodness : 0.873622 with order 1 Centerline is valid? [False, False] Translation: X:26.26, Y:0.28, Z:2.77 [[ 9.97723475e-01 -2.24523444e-02 6.35905563e-02 2.62564772e+01] [ 3.32151902e-02 9.84251815e-01 -1.73623489e-01 2.77914761e-01] [-5.86908660e-02 1.75340403e-01 9.82756900e-01 2.77459187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.34719347 meters Centerline goodness : 0.876441 with order 1 Centerline is valid? [False, False] Translation: X:26.28, Y:0.28, Z:2.77 [[ 0.99723339 -0.03807702 0.06384119 26.27731298] [ 0.04780863 0.98618428 -0.15860295 0.27789125] [-0.05692005 0.16121632 0.98527631 2.77469521] [ 0. 0. 0. 1. ]] SLAMing on 140.40719347 meters Centerline goodness : 0.879089 with order 1 Centerline is valid? [False, False] Translation: X:26.31, Y:0.28, Z:2.77 [[ 0.99688017 -0.04885071 0.06199629 26.31226699] [ 0.05729171 0.98811592 -0.14263448 0.28225911] [-0.05429172 0.14574136 0.9878319 2.77411816] [ 0. 0. 0. 1. ]] SLAMing on 140.46719347 meters Centerline goodness : 0.877750 with order 1 Centerline is valid? [False, False] Translation: X:26.34, Y:0.29, Z:2.77 [[ 0.99642053 -0.05853064 0.06099426 26.34041255] [ 0.0661118 0.98920577 -0.13077149 0.28741271] [-0.05268174 0.13433583 0.9895345 2.77328712] [ 0. 0. 0. 1. ]] SLAMing on 140.52719347000001 meters Centerline goodness : 0.880660 with order 1 Centerline is valid? [False, False] Translation: X:26.39, Y:0.30, Z:2.77 [[ 0.99623177 -0.06665955 0.05548669 26.3859377 ] [ 0.0731423 0.98952639 -0.12444966 0.299214 ] [-0.04660979 0.12803913 0.99067326 2.77160668] [ 0. 0. 0. 1. ]] SLAMing on 140.58719347000002 meters Centerline goodness : 0.877778 with order 1 Centerline is valid? [False, False] Translation: X:26.42, Y:0.31, Z:2.77 [[ 0.99645203 -0.06608491 0.0521165 26.41631625] [ 0.07201684 0.98995662 -0.12165307 0.30960418] [-0.04355364 0.12497472 0.99120351 2.77063726] [ 0. 0. 0. 1. ]] SLAMing on 140.64719347000002 meters Centerline goodness : 0.879207 with order 1 Centerline is valid? [False, False] Translation: X:26.46, Y:0.33, Z:2.77 [[ 0.99693847 -0.05905198 0.05124996 26.4607955 ] [ 0.06471576 0.99102211 -0.11699162 0.33160091] [-0.04388126 0.11995012 0.99180966 2.77031954] [ 0. 0. 0. 1. ]] SLAMing on 140.70719347000002 meters Centerline goodness : 0.876842 with order 1 Centerline is valid? [False, False] Translation: X:26.50, Y:0.35, Z:2.77 [[ 0.99722754 -0.05319728 0.05203152 26.49916038] [ 0.05912719 0.99101065 -0.12000777 0.34913386] [-0.0451797 0.12275153 0.99140852 2.76861714] [ 0. 0. 0. 1. ]] SLAMing on 140.76719347000002 meters Centerline goodness : 0.877836 with order 1 Centerline is valid? [False, False] Translation: X:26.54, Y:0.36, Z:2.77 [[ 0.99741558 -0.04893397 0.0526083 26.53836122] [ 0.05505558 0.99099821 -0.12203047 0.36085571] [-0.04616329 0.12461148 0.99113114 2.76540063] [ 0. 0. 0. 1. ]] SLAMing on 140.82719347000003 meters Centerline goodness : 0.876310 with order 1 Centerline is valid? [False, False] Translation: X:26.58, Y:0.37, Z:2.76 [[ 0.99758118 -0.04320118 0.05445584 26.57619362] [ 0.04967137 0.99107724 -0.12368772 0.37397526] [-0.04862649 0.12609344 0.99082587 2.76391379] [ 0. 0. 0. 1. ]] SLAMing on 140.88719347000003 meters Centerline goodness : 0.876581 with order 1 Centerline is valid? [False, False] Translation: X:26.61, Y:0.41, Z:2.77 [[ 0.99692342 -0.03103023 0.07197785 26.60689131] [ 0.04387279 0.98187899 -0.18436061 0.40608061] [-0.06495278 0.18695128 0.98021955 2.76980224] [ 0. 0. 0. 1. ]] SLAMing on 140.94719347 meters Centerline goodness : 0.876402 with order 1 Centerline is valid? [False, False] Translation: X:26.65, Y:0.43, Z:2.77 [[ 9.96522814e-01 -2.32951716e-02 7.99976005e-02 2.66450262e+01] [ 4.06659480e-02 9.73981247e-01 -2.22950245e-01 4.28316170e-01] [-7.27224985e-02 2.25428184e-01 9.71541853e-01 2.77320782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.00719347 meters Centerline goodness : 0.875988 with order 1 Centerline is valid? [False, False] Translation: X:26.68, Y:0.46, Z:2.78 [[ 9.96394958e-01 -7.05483340e-03 8.45418066e-02 2.66819417e+01] [ 3.19074423e-02 9.54530119e-01 -2.96402037e-01 4.60363227e-01] [-7.86066337e-02 2.98031008e-01 9.51314099e-01 2.78046139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.06719347 meters Centerline goodness : 0.876712 with order 1 Centerline is valid? [False, False] Translation: X:26.71, Y:0.49, Z:2.80 [[ 9.96057854e-01 1.21967823e-02 8.78634729e-02 2.67061959e+01] [ 2.24667910e-02 9.23519993e-01 -3.82891716e-01 4.89595775e-01] [-8.58137207e-02 3.83356312e-01 9.19605319e-01 2.79690799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.12719347 meters Centerline goodness : 0.876479 with order 1 Centerline is valid? [False, False] Translation: X:26.71, Y:0.48, Z:2.80 [[ 9.96261332e-01 1.52726919e-02 8.50300135e-02 2.67089661e+01] [ 1.46641627e-02 9.40070405e-01 -3.40664933e-01 4.82045123e-01] [-8.51370697e-02 3.40638194e-01 9.36331832e-01 2.79787070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.18719347 meters Centerline goodness : 0.878019 with order 1 Centerline is valid? [False, False] Translation: X:26.70, Y:0.47, Z:2.79 [[ 9.96807882e-01 1.78416846e-02 7.78185162e-02 2.67023870e+01] [ 5.18054585e-03 9.58200915e-01 -2.86049240e-01 4.65225669e-01] [-7.96693738e-02 2.85539279e-01 9.55049795e-01 2.79494591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24719347 meters Centerline goodness : 0.877079 with order 1 Centerline is valid? [False, False] Translation: X:26.69, Y:0.45, Z:2.79 [[ 9.96874004e-01 1.83786495e-02 7.68403898e-02 2.66898752e+01] [ 1.13733264e-03 9.69129190e-01 -2.46550845e-01 4.46892429e-01] [-7.89995363e-02 2.45867521e-01 9.66078794e-01 2.79348640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30719347000002 meters Centerline goodness : 0.878258 with order 1 Centerline is valid? [False, False] Translation: X:26.67, Y:0.42, Z:2.79 [[ 9.96914115e-01 1.39644823e-02 7.72479109e-02 2.66736354e+01] [ 1.91819689e-03 9.79422788e-01 -2.01810115e-01 4.23047843e-01] [-7.84765380e-02 2.01335529e-01 9.76373616e-01 2.79262248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36719347000002 meters Centerline goodness : 0.880561 with order 1 Centerline is valid? [False, False] Translation: X:26.67, Y:0.40, Z:2.79 [[ 9.96997641e-01 1.01231373e-02 7.67673518e-02 2.66740287e+01] [ 2.46435183e-03 9.86766679e-01 -1.62127874e-01 3.97255652e-01] [-7.73927076e-02 1.61830290e-01 9.83779104e-01 2.79112021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42719347000002 meters Centerline goodness : 0.883983 with order 1 Centerline is valid? [False, False] Translation: X:26.67, Y:0.36, Z:2.79 [[ 9.97273000e-01 1.11082684e-03 7.37924767e-02 2.66683628e+01] [ 8.02715033e-03 9.92321906e-01 -1.23421228e-01 3.63724205e-01] [-7.33629908e-02 1.23677002e-01 9.89606927e-01 2.78903356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.48719347000002 meters Centerline goodness : 0.883564 with order 1 Centerline is valid? [False, False] Translation: X:26.69, Y:0.35, Z:2.79 [[ 9.97419815e-01 -5.67970103e-03 7.15643357e-02 2.66882202e+01] [ 1.34499296e-02 9.93998005e-01 -1.08568252e-01 3.48616636e-01] [-7.05181717e-02 1.09250661e-01 9.91509698e-01 2.78527999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.54719347000002 meters Centerline goodness : 0.892828 with order 1 Centerline is valid? [False, False] Translation: X:26.70, Y:0.33, Z:2.78 [[ 9.97309857e-01 -1.51722151e-02 7.17136896e-02 2.67043664e+01] [ 2.20191167e-02 9.95169391e-01 -9.56715253e-02 3.27952043e-01] [-6.99157199e-02 9.69932273e-02 9.92826322e-01 2.78393882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.60719347000003 meters Centerline goodness : 0.895435 with order 1 Centerline is valid? [False, False] Translation: X:26.72, Y:0.32, Z:2.78 [[ 9.96962967e-01 -2.46807709e-02 7.38627251e-02 2.67241137e+01] [ 3.10175654e-02 9.95819699e-01 -8.59129710e-02 3.16172515e-01] [-7.14335583e-02 8.79430924e-02 9.93560899e-01 2.78235979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.66719347000003 meters Centerline goodness : 0.899479 with order 1 Centerline is valid? [False, False] Translation: X:26.75, Y:0.30, Z:2.78 [[ 0.99690393 -0.0384097 0.06860933 26.74864964] [ 0.04332313 0.99649036 -0.07162444 0.30276592] [-0.06561747 0.07437506 0.99506919 2.78445527] [ 0. 0. 0. 1. ]] SLAMing on 141.72719347 meters Centerline goodness : 0.901571 with order 1 Centerline is valid? [False, False] Translation: X:26.78, Y:0.30, Z:2.78 [[ 0.99649532 -0.04906889 0.06774459 26.77988579] [ 0.05379832 0.99610576 -0.06985023 0.29709996] [-0.0640533 0.07324997 0.99525455 2.78495825] [ 0. 0. 0. 1. ]] SLAMing on 141.78719347 meters Centerline goodness : 0.902406 with order 1 Centerline is valid? [False, False] Translation: X:26.80, Y:0.30, Z:2.78 [[ 0.99604652 -0.06108358 0.0644991 26.80065992] [ 0.06534537 0.99566609 -0.06617418 0.29762608] [-0.06017741 0.07012728 0.99572127 2.783648 ] [ 0. 0. 0. 1. ]] SLAMing on 141.84719347 meters Centerline goodness : 0.903797 with order 1 Centerline is valid? [False, False] Translation: X:26.84, Y:0.30, Z:2.78 [[ 0.99582806 -0.06666473 0.06230797 26.83895685] [ 0.07023964 0.99589675 -0.05706194 0.30251912] [-0.05824828 0.06120037 0.99642443 2.78294106] [ 0. 0. 0. 1. ]] SLAMing on 141.90719347 meters Centerline goodness : 0.903344 with order 1 Centerline is valid? [False, False] Translation: X:26.88, Y:0.32, Z:2.78 [[ 0.99597867 -0.06439532 0.06228747 26.87560673] [ 0.06828605 0.99570652 -0.06249436 0.31704555] [-0.0579957 0.06649641 0.99609976 2.7810782 ] [ 0. 0. 0. 1. ]] SLAMing on 141.96719347 meters Centerline goodness : 0.898791 with order 1 Centerline is valid? [False, False] Translation: X:26.90, Y:0.32, Z:2.78 [[ 0.99612014 -0.06138511 0.06305981 26.89575287] [ 0.06535601 0.99587341 -0.06296615 0.32238778] [-0.05893441 0.06684318 0.99602145 2.77861984] [ 0. 0. 0. 1. ]] SLAMing on 142.02719347000001 meters Centerline goodness : 0.895263 with order 1 Centerline is valid? [False, False] Translation: X:26.94, Y:0.34, Z:2.77 [[ 0.99655966 -0.05334144 0.06343127 26.94118953] [ 0.05821283 0.99528307 -0.07760719 0.3435768 ] [-0.05899239 0.08103271 0.99496412 2.77457945] [ 0. 0. 0. 1. ]] SLAMing on 142.08719347000002 meters Centerline goodness : 0.891652 with order 1 Centerline is valid? [False, False] Translation: X:26.98, Y:0.36, Z:2.77 [[ 0.9968871 -0.04572616 0.06422799 26.98454249] [ 0.05132264 0.99476425 -0.08837466 0.35968336] [-0.05985067 0.09139591 0.99401443 2.77240896] [ 0. 0. 0. 1. ]] SLAMing on 142.14719347000002 meters Centerline goodness : 0.885648 with order 1 Centerline is valid? [False, False] Translation: X:27.03, Y:0.40, Z:2.77 [[ 0.9970922 -0.02916154 0.07040419 27.03382946] [ 0.03917145 0.98861552 -0.14527542 0.39569818] [-0.06536622 0.14761082 0.98688312 2.77072942] [ 0. 0. 0. 1. ]] SLAMing on 142.20719347000002 meters Centerline goodness : 0.886918 with order 1 Centerline is valid? [False, False] Translation: X:27.07, Y:0.42, Z:2.77 [[ 9.97044826e-01 -1.67797793e-02 7.49670250e-02 2.70713335e+01] [ 3.05789574e-02 9.81899882e-01 -1.86915886e-01 4.18011825e-01] [-7.04737057e-02 1.88655931e-01 9.79511305e-01 2.77455108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.26719347000002 meters Centerline goodness : 0.886732 with order 1 Centerline is valid? [False, False] Translation: X:27.11, Y:0.44, Z:2.78 [[ 9.97033923e-01 -2.96440212e-03 7.69062296e-02 2.71058311e+01] [ 2.04620958e-02 9.73504155e-01 -2.27751978e-01 4.39179078e-01] [-7.41933856e-02 2.28650110e-01 9.70677325e-01 2.78183131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.32719347000003 meters Centerline goodness : 0.885347 with order 1 Centerline is valid? [False, False] Translation: X:27.14, Y:0.45, Z:2.78 [[ 9.97099147e-01 5.62505557e-03 7.59055274e-02 2.71359321e+01] [ 1.36644530e-02 9.67833740e-01 -2.51219294e-01 4.50078290e-01] [-7.48770530e-02 2.51527751e-01 9.64949334e-01 2.78464020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.38719347000003 meters Centerline goodness : 0.883459 with order 1 Centerline is valid? [False, False] Translation: X:27.16, Y:0.46, Z:2.79 [[ 9.96971165e-01 1.49316106e-02 7.63252415e-02 2.71625221e+01] [ 7.23205219e-03 9.59344802e-01 -2.82144021e-01 4.59319066e-01] [-7.74350884e-02 2.81841442e-01 9.56331119e-01 2.79092077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.44719347 meters Centerline goodness : 0.882758 with order 1 Centerline is valid? [False, False] Translation: X:27.16, Y:0.44, Z:2.79 [[ 9.97023996e-01 1.01342737e-02 7.64228256e-02 2.71581040e+01] [ 8.11626448e-03 9.72013969e-01 -2.34782814e-01 4.42860356e-01] [-7.66634074e-02 2.34704367e-01 9.69038999e-01 2.79027573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.50719347 meters Centerline goodness : 0.883262 with order 1 Centerline is valid? [False, False] Translation: X:27.16, Y:0.43, Z:2.79 [[ 9.97220042e-01 7.07551873e-03 7.41763143e-02 2.71576134e+01] [ 9.02508909e-03 9.76683120e-01 -2.14496226e-01 4.31941485e-01] [-7.39644261e-02 2.14569383e-01 9.73904124e-01 2.79154203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.56719347 meters Centerline goodness : 0.888041 with order 1 Centerline is valid? [False, False] Translation: X:27.19, Y:0.43, Z:2.80 [[ 9.97335546e-01 7.90966792e-03 7.25206616e-02 2.71871748e+01] [ 9.92779186e-03 9.70140011e-01 -2.42342315e-01 4.32526108e-01] [-7.22720427e-02 2.42416575e-01 9.67476592e-01 2.79611665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.62719347 meters Centerline goodness : 0.882036 with order 1 Centerline is valid? [False, False] Translation: X:27.20, Y:0.42, Z:2.80 [[ 9.96894968e-01 3.58483747e-03 7.86611186e-02 2.71989119e+01] [ 1.62841517e-02 9.67982796e-01 -2.50487791e-01 4.24981018e-01] [-7.70405675e-02 2.50990948e-01 9.64918802e-01 2.79750651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.68719347 meters Centerline goodness : 0.888550 with order 1 Centerline is valid? [False, False] Translation: X:27.21, Y:0.42, Z:2.79 [[ 9.96313985e-01 2.40628073e-03 8.57476158e-02 2.72093752e+01] [ 1.87543620e-02 9.69313638e-01 -2.45110883e-01 4.17379801e-01] [-8.37061390e-02 2.45815543e-01 9.65695605e-01 2.79386387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74719347 meters Centerline goodness : 0.886711 with order 1 Centerline is valid? [False, False] Translation: X:27.23, Y:0.40, Z:2.79 [[ 9.96143575e-01 -8.69390034e-04 8.77338142e-02 2.72278028e+01] [ 2.07989975e-02 9.73787804e-01 -2.26505441e-01 4.03110545e-01] [-8.52371967e-02 2.27456716e-01 9.70050547e-01 2.79237689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.80719347000002 meters Centerline goodness : 0.882894 with order 1 Centerline is valid? [False, False] Translation: X:27.25, Y:0.40, Z:2.79 [[ 9.96219309e-01 -2.00263889e-03 8.68508898e-02 2.72504601e+01] [ 2.17254826e-02 9.73710884e-01 -2.26749018e-01 3.96884776e-01] [-8.41135603e-02 2.27778628e-01 9.70073093e-01 2.78854347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.86719347000002 meters Centerline goodness : 0.888234 with order 1 Centerline is valid? [False, False] Translation: X:27.27, Y:0.38, Z:2.79 [[ 9.96728348e-01 -9.87656832e-03 8.02187909e-02 2.72706830e+01] [ 2.63415298e-02 9.78010874e-01 -2.06883675e-01 3.76381693e-01] [-7.64115490e-02 2.08319909e-01 9.75071326e-01 2.78568253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92719347000002 meters Centerline goodness : 0.886550 with order 1 Centerline is valid? [False, False] Translation: X:27.28, Y:0.36, Z:2.78 [[ 9.96585536e-01 -2.69792197e-02 7.80345551e-02 2.72821275e+01] [ 4.05394610e-02 9.83232041e-01 -1.77795686e-01 3.62182596e-01] [-7.19292860e-02 1.80352088e-01 9.80968553e-01 2.78489719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98719347000002 meters Centerline goodness : 0.889296 with order 1 Centerline is valid? [False, False] Translation: X:27.31, Y:0.36, Z:2.79 [[ 0.99667942 -0.03457205 0.07372186 27.30910072] [ 0.04600106 0.986132 -0.15946028 0.35624819] [-0.06718662 0.16232206 0.98444782 2.78668148] [ 0. 0. 0. 1. ]] SLAMing on 143.04719347000002 meters Centerline goodness : 0.887557 with order 1 Centerline is valid? [False, False] Translation: X:27.33, Y:0.36, Z:2.78 [[ 0.99659893 -0.03874663 0.07272736 27.32988776] [ 0.0491362 0.9879158 -0.14699659 0.35513259] [-0.06615289 0.15007019 0.9864597 2.78442084] [ 0. 0. 0. 1. ]] SLAMing on 143.10719347000003 meters Centerline goodness : 0.893154 with order 1 Centerline is valid? [False, False] Translation: X:27.35, Y:0.36, Z:2.78 [[ 0.99643972 -0.04207376 0.07305947 27.34861667] [ 0.051556 0.98975024 -0.13317825 0.35803001] [-0.06670731 0.13647076 0.9883956 2.7839822 ] [ 0. 0. 0. 1. ]] SLAMing on 143.16719347000003 meters Centerline goodness : 0.894061 with order 1 Centerline is valid? [False, False] Translation: X:27.37, Y:0.36, Z:2.78 [[ 0.99614682 -0.0477978 0.07353145 27.36889679] [ 0.05644837 0.99111146 -0.12046436 0.36248967] [-0.06711993 0.12415092 0.98999064 2.78380556] [ 0. 0. 0. 1. ]] SLAMing on 143.22719347 meters Centerline goodness : 0.889034 with order 1 Centerline is valid? [False, False] Translation: X:27.41, Y:0.37, Z:2.78 [[ 0.99631838 -0.05122751 0.06874168 27.40607635] [ 0.05854064 0.99231933 -0.10897407 0.36600268] [-0.06263123 0.11259706 0.99166488 2.78388299] [ 0. 0. 0. 1. ]] SLAMing on 143.28719347 meters Centerline goodness : 0.888980 with order 1 Centerline is valid? [False, False] Translation: X:27.43, Y:0.37, Z:2.78 [[ 0.99658068 -0.05028595 0.06556115 27.43484328] [ 0.05698443 0.99287356 -0.10466555 0.37252372] [-0.05983072 0.10804363 0.99234412 2.78245332] [ 0. 0. 0. 1. ]] SLAMing on 143.34719347 meters Centerline goodness : 0.886769 with order 1 Centerline is valid? [False, False] Translation: X:27.47, Y:0.38, Z:2.78 [[ 0.99667935 -0.04514427 0.06776628 27.4716459 ] [ 0.05208699 0.99316502 -0.10445185 0.38199416] [-0.0625877 0.10763474 0.99221849 2.78127407] [ 0. 0. 0. 1. ]] SLAMing on 143.40719347 meters Centerline goodness : 0.883690 with order 1 Centerline is valid? [False, False] Translation: X:27.52, Y:0.39, Z:2.78 [[ 0.99710202 -0.03885501 0.06540529 27.51684107] [ 0.0459961 0.99270166 -0.11147991 0.39321579] [-0.06059638 0.11416523 0.99161201 2.7804487 ] [ 0. 0. 0. 1. ]] SLAMing on 143.46719347 meters Centerline goodness : 0.891899 with order 1 Centerline is valid? [False, False] Translation: X:27.56, Y:0.40, Z:2.78 [[ 0.99713092 -0.03710238 0.06597983 27.55566853] [ 0.04434063 0.99273403 -0.1118618 0.39691586] [-0.06135008 0.11446645 0.99153094 2.7782007 ] [ 0. 0. 0. 1. ]] SLAMing on 143.52719347000001 meters Centerline goodness : 0.888696 with order 1 Centerline is valid? [False, False] Translation: X:27.58, Y:0.40, Z:2.78 [[ 0.9969141 -0.03972257 0.06770819 27.5817143 ] [ 0.04688613 0.99307433 -0.10772676 0.4026672 ] [-0.06296009 0.11056891 0.99187224 2.77873224] [ 0. 0. 0. 1. ]] SLAMing on 143.58719347000002 meters Centerline goodness : 0.882473 with order 1 Centerline is valid? [False, False] Translation: X:27.62, Y:0.41, Z:2.78 [[ 0.9967601 -0.04065656 0.06939984 27.61919512] [ 0.04833446 0.99244088 -0.11280462 0.41205099] [-0.06428899 0.11579355 0.99119059 2.77742702] [ 0. 0. 0. 1. ]] SLAMing on 143.64719347000002 meters Centerline goodness : 0.884099 with order 1 Centerline is valid? [False, False] Translation: X:27.65, Y:0.42, Z:2.78 [[ 0.9967171 -0.04938614 0.06415637 27.65490202] [ 0.05607152 0.9926799 -0.10697006 0.4161689 ] [-0.0584039 0.11021624 0.99219019 2.77830978] [ 0. 0. 0. 1. ]] SLAMing on 143.70719347000002 meters Centerline goodness : 0.885953 with order 1 Centerline is valid? [False, False] Translation: X:27.68, Y:0.42, Z:2.78 [[ 0.99627421 -0.0611583 0.06080598 27.68333406] [ 0.06684557 0.99309765 -0.096378 0.42132701] [-0.05449196 0.10008352 0.99348574 2.7765054 ] [ 0. 0. 0. 1. ]] SLAMing on 143.76719347000002 meters Centerline goodness : 0.886225 with order 1 Centerline is valid? [False, False] Translation: X:27.71, Y:0.43, Z:2.78 [[ 0.99523277 -0.07604519 0.06106442 27.70763394] [ 0.08120549 0.99289144 -0.08701874 0.43054015] [-0.05401298 0.09156267 0.99433338 2.77958696] [ 0. 0. 0. 1. ]] SLAMing on 143.82719347000003 meters Centerline goodness : 0.888289 with order 1 Centerline is valid? [False, False] Translation: X:27.73, Y:0.43, Z:2.78 [[ 0.99500825 -0.07881573 0.06120992 27.73152354] [ 0.08371711 0.99309894 -0.0821337 0.43336217] [-0.05431407 0.08684803 0.99473987 2.78259722] [ 0. 0. 0. 1. ]] SLAMing on 143.88719347000003 meters Centerline goodness : 0.892704 with order 1 Centerline is valid? [False, False] Translation: X:27.73, Y:0.44, Z:2.78 [[ 0.99453321 -0.07914308 0.06811804 27.72963618] [ 0.08373508 0.99420428 -0.06742612 0.44398501] [-0.06238694 0.07276139 0.99539623 2.78329608] [ 0. 0. 0. 1. ]] SLAMing on 143.94719347 meters Centerline goodness : 0.888369 with order 1 Centerline is valid? [False, False] Translation: X:27.73, Y:0.45, Z:2.78 [[ 0.99503974 -0.07332812 0.06722278 27.73140373] [ 0.07763095 0.99493861 -0.0638013 0.454301 ] [-0.06220411 0.06870339 0.99569598 2.78248999] [ 0. 0. 0. 1. ]] SLAMing on 144.00719347 meters Centerline goodness : 0.890994 with order 1 Centerline is valid? [False, False] Translation: X:27.73, Y:0.47, Z:2.78 [[ 0.99561175 -0.0659668 0.06637483 27.73212981] [ 0.06988201 0.99583833 -0.05850231 0.47101658] [-0.06223939 0.062884 0.99607824 2.78303671] [ 0. 0. 0. 1. ]] SLAMing on 144.06719347 meters Centerline goodness : 0.892141 with order 1 Centerline is valid? [False, False] Translation: X:27.72, Y:0.48, Z:2.78 [[ 0.99580705 -0.05989737 0.06914203 27.72468153] [ 0.06336497 0.996782 -0.04909701 0.48240834] [-0.06597875 0.05327234 0.99639794 2.78255926] [ 0. 0. 0. 1. ]] SLAMing on 144.12719347 meters Centerline goodness : 0.893558 with order 1 Centerline is valid? [False, False] Translation: X:27.72, Y:0.50, Z:2.78 [[ 0.99663372 -0.04548245 0.06820974 27.72480424] [ 0.04817002 0.99810505 -0.03828783 0.49708943] [-0.06633906 0.04144461 0.99693604 2.78323729] [ 0. 0. 0. 1. ]] SLAMing on 144.18719347 meters Centerline goodness : 0.894028 with order 1 Centerline is valid? [False, False] Translation: X:27.71, Y:0.51, Z:2.79 [[ 0.99752103 -0.03380172 0.06171897 27.71154926] [ 0.03593849 0.99878072 -0.03384514 0.50567068] [-0.06049969 0.03597933 0.99751956 2.78799777] [ 0. 0. 0. 1. ]] SLAMing on 144.24719347 meters Centerline goodness : 0.894876 with order 1 Centerline is valid? [False, False] Translation: X:27.71, Y:0.52, Z:2.79 [[ 9.97947601e-01 -1.96267373e-02 6.09538899e-02 2.77119185e+01] [ 2.10482179e-02 9.99519210e-01 -2.27666785e-02 5.17782059e-01] [-6.04777483e-02 2.40029230e-02 9.97880906e-01 2.78771820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30719347000002 meters Centerline goodness : 0.897988 with order 1 Centerline is valid? [False, False] Translation: X:27.70, Y:0.52, Z:2.79 [[ 9.98379593e-01 -1.09345765e-02 5.58446352e-02 2.77024257e+01] [ 1.23742274e-02 9.99598254e-01 -2.54991821e-02 5.20539791e-01] [-5.55433771e-02 2.61488972e-02 9.98113805e-01 2.79117796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36719347000002 meters Centerline goodness : 0.894588 with order 1 Centerline is valid? [False, False] Translation: X:27.73, Y:0.51, Z:2.79 [[ 9.98453306e-01 -6.87241452e-03 5.51703275e-02 2.77256987e+01] [ 6.54861482e-03 9.99960270e-01 6.04773200e-03 5.10915481e-01] [-5.52096981e-02 -5.67708878e-03 9.98458642e-01 2.78696272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42719347000002 meters Centerline goodness : 0.894090 with order 1 Centerline is valid? [False, False] Translation: X:27.75, Y:0.50, Z:2.79 [[ 9.98395947e-01 -9.60123323e-03 5.57973945e-02 2.77504761e+01] [ 6.88462430e-03 9.98790851e-01 4.86768770e-02 4.97598979e-01] [-5.61972852e-02 -4.82146526e-02 9.97254838e-01 2.79236836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.48719347000002 meters Centerline goodness : 0.899470 with order 1 Centerline is valid? [False, False] Translation: X:27.76, Y:0.44, Z:2.80 [[ 9.98247972e-01 -2.62057630e-02 5.30494467e-02 2.77635047e+01] [ 1.52432511e-02 9.80209683e-01 1.97374314e-01 4.42275989e-01] [-5.71719258e-02 -1.96219862e-01 9.78891790e-01 2.80406302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.54719347000002 meters Centerline goodness : 0.894911 with order 1 Centerline is valid? [False, False] Translation: X:27.76, Y:0.44, Z:2.81 [[ 9.98083000e-01 -2.86527020e-02 5.48575308e-02 2.77610049e+01] [ 1.91592209e-02 9.85880337e-01 1.66351689e-01 4.40240173e-01] [-5.88493864e-02 -1.64981765e-01 9.84539368e-01 2.80809071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.60719347000003 meters Centerline goodness : 0.896738 with order 1 Centerline is valid? [False, False] Translation: X:27.75, Y:0.44, Z:2.81 [[ 9.97804956e-01 -3.11072203e-02 5.84603411e-02 2.77491179e+01] [ 2.29811770e-02 9.90597995e-01 1.34860961e-01 4.40871437e-01] [-6.21058462e-02 -1.33221448e-01 9.89138468e-01 2.81053023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.66719347000003 meters Centerline goodness : 0.888861 with order 1 Centerline is valid? [False, False] Translation: X:27.75, Y:0.44, Z:2.81 [[ 0.99734023 -0.035115 0.06387013 27.74784384] [ 0.0277539 0.99324234 0.11269146 0.4393528 ] [-0.06739567 -0.11061908 0.99157513 2.8120332 ] [ 0. 0. 0. 1. ]] SLAMing on 144.72719347 meters Centerline goodness : 0.887268 with order 1 Centerline is valid? [False, False] Translation: X:27.74, Y:0.44, Z:2.81 [[ 9.97179986e-01 -3.31772874e-02 6.73152517e-02 2.77431828e+01] [ 2.69165556e-02 9.95407145e-01 9.18700930e-02 4.38435290e-01] [-7.00540831e-02 -8.97991233e-02 9.93493102e-01 2.81320693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.78719347 meters Centerline goodness : 0.886948 with order 1 Centerline is valid? [False, False] Translation: X:27.74, Y:0.44, Z:2.82 [[ 9.97524197e-01 -3.01277783e-02 6.35436292e-02 2.77422798e+01] [ 2.52297507e-02 9.96748578e-01 7.65227517e-02 4.36451739e-01] [-6.56424826e-02 -7.47301066e-02 9.95040942e-01 2.81529932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.84719347 meters Centerline goodness : 0.891515 with order 1 Centerline is valid? [False, False] Translation: X:27.74, Y:0.43, Z:2.81 [[ 9.97787574e-01 -2.14303446e-02 6.29340692e-02 2.77377683e+01] [ 1.76004444e-02 9.97995279e-01 6.07918434e-02 4.33754149e-01] [-6.41106941e-02 -5.95496784e-02 9.96164472e-01 2.81434486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.90719347 meters Centerline goodness : 0.892564 with order 1 Centerline is valid? [False, False] Translation: X:27.74, Y:0.43, Z:2.81 [[ 9.98085681e-01 -1.10372721e-02 6.08535318e-02 2.77356458e+01] [ 8.05588977e-03 9.98765200e-01 4.90222171e-02 4.33182147e-01] [-6.13194614e-02 -4.84381436e-02 9.96942160e-01 2.81413168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.96719347 meters Centerline goodness : 0.887965 with order 1 Centerline is valid? [False, False] Translation: X:27.73, Y:0.43, Z:2.81 [[ 9.97922965e-01 3.97171304e-03 6.42960457e-02 2.77268901e+01] [-6.42780672e-03 9.99255616e-01 3.80380994e-02 4.25962215e-01] [-6.40971083e-02 -3.83723755e-02 9.97205657e-01 2.81384516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02719347000001 meters Centerline goodness : 0.887393 with order 1 Centerline is valid? [False, False] Translation: X:27.75, Y:0.41, Z:2.81 [[ 9.97725214e-01 9.11924151e-03 6.67924940e-02 2.77456355e+01] [-1.24788086e-02 9.98668483e-01 5.00553685e-02 4.13968993e-01] [-6.62470917e-02 -5.07749939e-02 9.96510523e-01 2.81062047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.08719347000002 meters Centerline goodness : 0.885888 with order 1 Centerline is valid? [False, False] Translation: X:27.74, Y:0.40, Z:2.81 [[ 9.97635239e-01 8.41864057e-03 6.82133218e-02 2.77419073e+01] [-1.19599597e-02 9.98592364e-01 5.16744677e-02 3.98304464e-01] [-6.76822734e-02 -5.23680985e-02 9.96331618e-01 2.81416177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14719347000002 meters Centerline goodness : 0.889162 with order 1 Centerline is valid? [False, False] Translation: X:27.74, Y:0.39, Z:2.81 [[ 9.97495061e-01 1.36246284e-02 6.94116160e-02 2.77392339e+01] [-1.55152375e-02 9.99521162e-01 2.67717214e-02 3.91103214e-01] [-6.90136242e-02 -2.77815976e-02 9.97228812e-01 2.81369678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.20719347000002 meters Centerline goodness : 0.883086 with order 1 Centerline is valid? [False, False] Translation: X:27.74, Y:0.37, Z:2.81 [[ 9.97424682e-01 1.20488873e-02 7.07023956e-02 2.77366697e+01] [-1.38647260e-02 9.99585054e-01 2.52485395e-02 3.74310579e-01] [-7.03688412e-02 -2.61637858e-02 9.97177859e-01 2.81376491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.26719347000002 meters Centerline goodness : 0.891927 with order 1 Centerline is valid? [False, False] Translation: X:27.73, Y:0.36, Z:2.82 [[ 9.97379820e-01 6.37764620e-03 7.20612231e-02 2.77320396e+01] [-7.87405649e-03 9.99758828e-01 2.05008589e-02 3.61190634e-01] [-7.19130967e-02 -2.10145571e-02 9.97189498e-01 2.81715489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.32719347000003 meters Centerline goodness : 0.884419 with order 1 Centerline is valid? [False, False] Translation: X:27.72, Y:0.34, Z:2.82 [[ 9.97940628e-01 -1.77830112e-03 6.41197438e-02 2.77227974e+01] [ 5.76409523e-04 9.99823885e-01 1.87581138e-02 3.36006611e-01] [-6.41418090e-02 -1.86825246e-02 9.97765900e-01 2.82172662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.38719347000003 meters Centerline goodness : 0.891161 with order 1 Centerline is valid? [False, False] Translation: X:27.74, Y:0.32, Z:2.82 [[ 9.97986285e-01 -4.18999315e-03 6.32915348e-02 2.77397391e+01] [ 4.25249760e-03 9.99990594e-01 -8.52887297e-04 3.22442346e-01] [-6.32873660e-02 1.12031693e-03 9.97994717e-01 2.82160719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.44719347 meters Centerline goodness : 0.892300 with order 1 Centerline is valid? [False, False] Translation: X:27.75, Y:0.30, Z:2.82 [[ 9.98193223e-01 -8.31227786e-03 5.95079422e-02 2.77461162e+01] [ 8.58803058e-03 9.99953531e-01 -4.37962271e-03 2.98398088e-01] [-5.94687723e-02 4.88276574e-03 9.98218224e-01 2.82492435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.50719347 meters Centerline goodness : 0.898584 with order 1 Centerline is valid? [False, False] Translation: X:27.76, Y:0.28, Z:2.82 [[ 9.98519221e-01 -9.09039915e-03 5.36351638e-02 2.77589279e+01] [ 9.43982457e-03 9.99935817e-01 -6.26511681e-03 2.78778496e-01] [-5.35747689e-02 6.76214609e-03 9.98540944e-01 2.82449123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.56719347 meters Centerline goodness : 0.901285 with order 1 Centerline is valid? [False, False] Translation: X:27.78, Y:0.27, Z:2.82 [[ 9.98626570e-01 -9.27946916e-03 5.15641837e-02 2.77846485e+01] [ 1.04610549e-02 9.99687762e-01 -2.26924096e-02 2.67594117e-01] [-5.13375098e-02 2.32006589e-02 9.98411834e-01 2.81910716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.62719347 meters Centerline goodness : 0.896877 with order 1 Centerline is valid? [False, False] Translation: X:27.79, Y:0.25, Z:2.81 [[ 9.98598230e-01 -1.86197197e-02 4.95467555e-02 2.77908111e+01] [ 2.00234062e-02 9.99407731e-01 -2.79866174e-02 2.51032973e-01] [-4.89963075e-02 2.89394814e-02 9.98379621e-01 2.81498987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.68719347 meters Centerline goodness : 0.897891 with order 1 Centerline is valid? [False, False] Translation: X:27.82, Y:0.24, Z:2.81 [[ 9.98718959e-01 -1.82631119e-02 4.71900383e-02 2.78214544e+01] [ 2.00012229e-02 9.99128852e-01 -3.66263431e-02 2.42273873e-01] [-4.64800178e-02 3.75232817e-02 9.98214211e-01 2.81372620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74719347 meters Centerline goodness : 0.900660 with order 1 Centerline is valid? [False, False] Translation: X:27.86, Y:0.24, Z:2.81 [[ 9.98671718e-01 -1.79095784e-02 4.83119751e-02 2.78587933e+01] [ 1.99414075e-02 9.98922466e-01 -4.19076102e-02 2.40208755e-01] [-4.75093696e-02 4.28153538e-02 9.97952757e-01 2.81170823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80719347000002 meters Centerline goodness : 0.903050 with order 1 Centerline is valid? [False, False] Translation: X:27.89, Y:0.24, Z:2.81 [[ 9.98726260e-01 -1.18332091e-02 4.90492815e-02 2.78933649e+01] [ 1.49371878e-02 9.97875936e-01 -6.34073927e-02 2.41513153e-01] [-4.81947848e-02 6.40592866e-02 9.96781656e-01 2.81093274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.86719347000002 meters Centerline goodness : 0.902912 with order 1 Centerline is valid? [False, False] Translation: X:27.93, Y:0.25, Z:2.80 [[ 9.98717903e-01 -4.61274507e-03 5.04110455e-02 2.79285110e+01] [ 9.09893920e-03 9.95978543e-01 -8.91288469e-02 2.45921903e-01] [-4.97971910e-02 8.94732621e-02 9.94743573e-01 2.80483185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92719347000002 meters Centerline goodness : 0.901998 with order 1 Centerline is valid? [False, False] Translation: X:27.96, Y:0.26, Z:2.80 [[ 9.98595924e-01 6.99728542e-03 5.25092212e-02 2.79628806e+01] [ 7.99374111e-04 9.89134325e-01 -1.47012406e-01 2.61529964e-01] [-5.29673609e-02 1.46847963e-01 9.87739912e-01 2.79885397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.98719347000002 meters Centerline goodness : 0.900943 with order 1 Centerline is valid? [False, False] Translation: X:27.97, Y:0.25, Z:2.80 [[ 9.98206653e-01 9.53440953e-03 5.90980014e-02 2.79745317e+01] [-7.28775708e-04 9.89097006e-01 -1.47263646e-01 2.51053395e-01] [-5.98577282e-02 1.46956482e-01 9.87330160e-01 2.79976483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04719347000002 meters Centerline goodness : 0.905153 with order 1 Centerline is valid? [False, False] Translation: X:27.99, Y:0.25, Z:2.80 [[ 9.97983428e-01 8.99512120e-03 6.28344345e-02 2.79926244e+01] [ 6.54582245e-04 9.88396966e-01 -1.51891440e-01 2.45805490e-01] [-6.34716463e-02 1.51626270e-01 9.86397904e-01 2.79622694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.10719347000003 meters Centerline goodness : 0.899428 with order 1 Centerline is valid? [False, False] Translation: X:28.02, Y:0.24, Z:2.79 [[ 9.98123507e-01 9.91567152e-03 6.04247046e-02 2.80227056e+01] [-1.12940762e-03 9.89614936e-01 -1.43739360e-01 2.37069454e-01] [-6.12224624e-02 1.43401390e-01 9.87769129e-01 2.79321653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.16719347000003 meters Centerline goodness : 0.899380 with order 1 Centerline is valid? [False, False] Translation: X:28.04, Y:0.22, Z:2.79 [[ 9.98565763e-01 4.32372941e-03 5.33640626e-02 2.80425128e+01] [ 2.53984375e-03 9.91785868e-01 -1.27884093e-01 2.15527419e-01] [-5.34786594e-02 1.27836213e-01 9.90352430e-01 2.79317008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.22719347 meters Centerline goodness : 0.903058 with order 1 Centerline is valid? [False, False] Translation: X:28.06, Y:0.19, Z:2.80 [[ 9.98571717e-01 -8.40906157e-03 5.27618503e-02 2.80579593e+01] [ 1.43041101e-02 9.93563704e-01 -1.12367958e-01 1.92921315e-01] [-5.14773504e-02 1.12962176e-01 9.92264899e-01 2.79676549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.28719347 meters Centerline goodness : 0.903875 with order 1 Centerline is valid? [False, False] Translation: X:28.08, Y:0.18, Z:2.80 [[ 9.98613558e-01 -1.93006542e-02 4.89739384e-02 2.80847419e+01] [ 2.38137196e-02 9.95352284e-01 -9.33098956e-02 1.80515619e-01] [-4.69453794e-02 9.43467785e-02 9.94431907e-01 2.80145594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.34719347 meters Centerline goodness : 0.903273 with order 1 Centerline is valid? [False, False] Translation: X:28.10, Y:0.16, Z:2.81 [[ 9.98674444e-01 -2.51948422e-02 4.48840261e-02 2.80956813e+01] [ 2.89735125e-02 9.95905634e-01 -8.56300446e-02 1.64654775e-01] [-4.25428190e-02 8.68169850e-02 9.95315487e-01 2.80565272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.40719347 meters Centerline goodness : 0.903239 with order 1 Centerline is valid? [False, False] Translation: X:28.12, Y:0.16, Z:2.81 [[ 9.98776931e-01 -1.89620017e-02 4.56627200e-02 2.81156189e+01] [ 2.25729885e-02 9.96546542e-01 -7.99090147e-02 1.56561677e-01] [-4.39897909e-02 8.08420245e-02 9.95755726e-01 2.80570356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.46719347 meters Centerline goodness : 0.900811 with order 1 Centerline is valid? [False, False] Translation: X:28.13, Y:0.15, Z:2.81 [[ 9.98694048e-01 -7.38919424e-03 5.05529354e-02 2.81299600e+01] [ 1.09586341e-02 9.97437466e-01 -7.06994257e-02 1.51428735e-01] [-4.99009800e-02 7.11610867e-02 9.96215836e-01 2.80704440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52719347000001 meters Centerline goodness : 0.898223 with order 1 Centerline is valid? [False, False] Translation: X:28.18, Y:0.15, Z:2.80 [[ 9.98396059e-01 4.22562426e-03 5.64575390e-02 2.81804568e+01] [ 1.30877295e-03 9.95221647e-01 -9.76327800e-02 1.54720041e-01] [-5.66003244e-02 9.75500729e-02 9.93619840e-01 2.80154029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.58719347000002 meters Centerline goodness : 0.900919 with order 1 Centerline is valid? [False, False] Translation: X:28.19, Y:0.14, Z:2.80 [[ 9.98201985e-01 3.66237315e-03 5.98279578e-02 2.81935455e+01] [ 1.33176106e-03 9.96530102e-01 -8.32224901e-02 1.41793232e-01] [-5.99251526e-02 8.31525314e-02 9.94733448e-01 2.80344508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64719347000002 meters Centerline goodness : 0.902841 with order 1 Centerline is valid? [False, False] Translation: X:28.22, Y:0.13, Z:2.80 [[ 9.98450000e-01 1.58372043e-03 5.56335189e-02 2.82228956e+01] [ 2.76221572e-03 9.96953167e-01 -7.79535335e-02 1.28527491e-01] [-5.55874695e-02 7.79863773e-02 9.95403515e-01 2.80246011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.70719347000002 meters Centerline goodness : 0.904613 with order 1 Centerline is valid? [False, False] Translation: X:28.26, Y:0.12, Z:2.80 [[ 9.98674220e-01 7.40229980e-04 5.14709040e-02 2.82554998e+01] [ 2.83934124e-03 9.97582255e-01 -6.94376223e-02 1.18902563e-01] [-5.13978602e-02 6.94917068e-02 9.96257578e-01 2.80336314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.76719347000002 meters Centerline goodness : 0.902442 with order 1 Centerline is valid? [False, False] Translation: X:28.27, Y:0.11, Z:2.81 [[ 9.98853643e-01 -6.59935708e-03 4.74114708e-02 2.82705925e+01] [ 9.49915040e-03 9.98080333e-01 -6.11997989e-02 1.06623888e-01] [-4.69165772e-02 6.15800108e-02 9.96998865e-01 2.80690818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.82719347000003 meters Centerline goodness : 0.905262 with order 1 Centerline is valid? [False, False] Translation: X:28.29, Y:0.10, Z:2.81 [[ 9.98931269e-01 -1.26896064e-02 4.44442794e-02 2.82856848e+01] [ 1.51584516e-02 9.98334696e-01 -5.56601861e-02 1.01557951e-01] [-4.36639603e-02 5.62744068e-02 9.97460099e-01 2.80819927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.88719347000003 meters Centerline goodness : 0.903231 with order 1 Centerline is valid? [False, False] Translation: X:28.31, Y:0.10, Z:2.81 [[ 9.98902616e-01 -1.23911489e-02 4.51666087e-02 2.83068338e+01] [ 1.49798395e-02 9.98236916e-01 -5.74339919e-02 9.72480757e-02] [-4.43753030e-02 5.80475533e-02 9.97327085e-01 2.80831856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.94719347 meters Centerline goodness : 0.908095 with order 1 Centerline is valid? [False, False] Translation: X:28.35, Y:0.10, Z:2.81 [[ 9.99094604e-01 -8.08304964e-03 4.17688425e-02 2.83541733e+01] [ 1.04807077e-02 9.98290103e-01 -5.75067426e-02 9.97059160e-02] [-4.12325923e-02 5.78924432e-02 9.97470971e-01 2.80595137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.00719347 meters Centerline goodness : 0.910822 with order 1 Centerline is valid? [False, False] Translation: X:28.40, Y:0.10, Z:2.81 [[ 9.99251835e-01 -2.45238521e-03 3.85973708e-02 2.83990937e+01] [ 4.63850139e-03 9.98383222e-01 -5.66518065e-02 1.01304890e-01] [-3.83960353e-02 5.67884555e-02 9.97647641e-01 2.80541637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.06719347 meters Centerline goodness : 0.912625 with order 1 Centerline is valid? [False, False] Translation: X:28.41, Y:0.10, Z:2.81 [[ 9.99076826e-01 -6.41544217e-06 4.29592414e-02 2.84137002e+01] [ 2.52434332e-03 9.98280815e-01 -5.85580289e-02 9.95003753e-02] [-4.28850108e-02 5.86124135e-02 9.97359244e-01 2.80715131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.12719347 meters Centerline goodness : 0.915529 with order 1 Centerline is valid? [False, False] Translation: X:28.47, Y:0.10, Z:2.81 [[ 9.99343656e-01 5.09612500e-03 3.58648350e-02 2.84727881e+01] [-2.77346105e-03 9.97912833e-01 -6.45157807e-02 1.01364895e-01] [-3.61187596e-02 6.43739664e-02 9.97271993e-01 2.80734523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.18719347 meters Centerline goodness : 0.916241 with order 1 Centerline is valid? [False, False] Translation: X:28.51, Y:0.10, Z:2.81 [[ 9.99471679e-01 5.42299895e-03 3.20461264e-02 2.85079231e+01] [-3.61974944e-03 9.98420680e-01 -5.60628523e-02 9.89844196e-02] [-3.22995441e-02 5.59172341e-02 9.97912823e-01 2.80859662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24719347 meters Centerline goodness : 0.915792 with order 1 Centerline is valid? [False, False] Translation: X:28.54, Y:0.09, Z:2.81 [[ 9.99593845e-01 5.96198461e-03 2.78675475e-02 2.85371051e+01] [-4.51002149e-03 9.98643258e-01 -5.18777627e-02 9.31225897e-02] [-2.81390329e-02 5.17310090e-02 9.98264543e-01 2.81002848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30719347000002 meters Centerline goodness : 0.916667 with order 1 Centerline is valid? [False, False] Translation: X:28.57, Y:0.09, Z:2.81 [[ 9.99736076e-01 2.90350472e-03 2.27892008e-02 2.85720592e+01] [-1.80589101e-03 9.98843906e-01 -4.80373843e-02 8.97338263e-02] [-2.29023311e-02 4.79835513e-02 9.98585531e-01 2.81002730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.36719347000002 meters Centerline goodness : 0.914827 with order 1 Centerline is valid? [False, False] Translation: X:28.59, Y:0.09, Z:2.81 [[ 9.99742021e-01 -3.70999730e-03 2.24081954e-02 2.85920245e+01] [ 4.59914185e-03 9.99198708e-01 -3.97591528e-02 8.70951527e-02] [-2.22427336e-02 3.98519542e-02 9.98957998e-01 2.80958782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42719347000002 meters Centerline goodness : 0.916226 with order 1 Centerline is valid? [False, False] Translation: X:28.62, Y:0.08, Z:2.81 [[ 9.99738842e-01 -8.92261190e-03 2.10388768e-02 2.86186620e+01] [ 9.74528960e-03 9.99178751e-01 -3.93300621e-02 8.13878041e-02] [-2.06706718e-02 3.95248207e-02 9.99004761e-01 2.81445790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48719347000002 meters Centerline goodness : 0.917589 with order 1 Centerline is valid? [False, False] Translation: X:28.65, Y:0.08, Z:2.82 [[ 9.99767978e-01 -1.18459796e-02 1.79906579e-02 2.86496397e+01] [ 1.24750296e-02 9.99300121e-01 -3.52653175e-02 7.76729587e-02] [-1.75603143e-02 3.54815691e-02 9.99216040e-01 2.81716065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54719347000002 meters Centerline goodness : 0.917797 with order 1 Centerline is valid? [False, False] Translation: X:28.68, Y:0.08, Z:2.82 [[ 9.99816395e-01 -1.23825332e-02 1.46235925e-02 2.86833666e+01] [ 1.28126084e-02 9.99476984e-01 -2.96916761e-02 7.90636363e-02] [-1.42482859e-02 2.98735909e-02 9.99452127e-01 2.81792642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.60719347000003 meters Centerline goodness : 0.913154 with order 1 Centerline is valid? [False, False] Translation: X:28.72, Y:0.08, Z:2.82 [[ 9.99936892e-01 -7.94766396e-03 7.94013441e-03 2.87190968e+01] [ 8.21943401e-03 9.99360418e-01 -3.48022491e-02 8.23620707e-02] [-7.65845946e-03 3.48653162e-02 9.99362676e-01 2.81923799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.66719347000003 meters Centerline goodness : 0.917669 with order 1 Centerline is valid? [False, False] Translation: X:28.74, Y:0.09, Z:2.82 [[ 9.99930244e-01 -7.24287289e-03 9.32992672e-03 2.87435326e+01] [ 7.56653732e-03 9.99353896e-01 -3.51359964e-02 8.76007935e-02] [-9.06941306e-03 3.52041407e-02 9.99338989e-01 2.82065291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.72719347 meters Centerline goodness : 0.907676 with order 1 Centerline is valid? [False, False] Translation: X:28.77, Y:0.09, Z:2.82 [[ 9.99945330e-01 -6.71146779e-03 8.01827498e-03 2.87728955e+01] [ 6.98326078e-03 9.99384991e-01 -3.43638544e-02 9.22365923e-02] [-7.78271177e-03 3.44179694e-02 9.99377222e-01 2.82032994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.78719347 meters Centerline goodness : 0.907497 with order 1 Centerline is valid? [False, False] Translation: X:28.80, Y:0.10, Z:2.82 [[ 9.99948045e-01 -7.13455323e-03 7.28050397e-03 2.88020756e+01] [ 7.38518914e-03 9.99360022e-01 -3.50000722e-02 9.69106280e-02] [-7.02613473e-03 3.50520216e-02 9.99360790e-01 2.81870242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.84719347 meters Centerline goodness : 0.905309 with order 1 Centerline is valid? [False, False] Translation: X:28.83, Y:0.10, Z:2.82 [[ 9.99950166e-01 -6.12691978e-03 7.88197344e-03 2.88278318e+01] [ 6.40016521e-03 9.99362531e-01 -3.51221947e-02 1.04205897e-01] [-7.66175806e-03 3.51708904e-02 9.99351943e-01 2.81950673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.90719347 meters Centerline goodness : 0.904967 with order 1 Centerline is valid? [False, False] Translation: X:28.87, Y:0.11, Z:2.82 [[ 9.99965118e-01 -7.94045233e-04 8.31463100e-03 2.88666369e+01] [ 1.14782077e-03 9.99090242e-01 -4.26306215e-02 1.10704966e-01] [-8.27321606e-03 4.26386782e-02 9.99056303e-01 2.81680723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.96719347 meters Centerline goodness : 0.902671 with order 1 Centerline is valid? [False, False] Translation: X:28.89, Y:0.12, Z:2.81 [[ 9.99965054e-01 2.32203676e-03 8.03115617e-03 2.88947271e+01] [-1.99116857e-03 9.99158660e-01 -4.09634858e-02 1.15439827e-01] [-8.11951795e-03 4.09460629e-02 9.99128367e-01 2.81478807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02719347000001 meters Centerline goodness : 0.903311 with order 1 Centerline is valid? [False, False] Translation: X:28.94, Y:0.13, Z:2.81 [[ 9.99827732e-01 1.05426232e-02 1.52760994e-02 2.89421285e+01] [-9.60968171e-03 9.98157596e-01 -5.99088267e-02 1.29703614e-01] [-1.58795508e-02 5.97517079e-02 9.98086957e-01 2.80619334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08719347000002 meters Centerline goodness : 0.905147 with order 1 Centerline is valid? [False, False] Translation: X:28.98, Y:0.13, Z:2.81 [[ 9.99780425e-01 1.48769003e-02 1.47573443e-02 2.89839645e+01] [-1.39274209e-02 9.97949088e-01 -6.24791492e-02 1.31726354e-01] [-1.56565744e-02 6.22598986e-02 9.97937161e-01 2.80626067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14719347000002 meters Centerline goodness : 0.910821 with order 1 Centerline is valid? [False, False] Translation: X:29.02, Y:0.13, Z:2.81 [[ 9.99561376e-01 2.20809260e-02 1.97354451e-02 2.90172317e+01] [-2.06935396e-02 9.97475171e-01 -6.79342416e-02 1.33685639e-01] [-2.11856674e-02 6.74960478e-02 9.97494587e-01 2.80560850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.20719347000002 meters Centerline goodness : 0.909278 with order 1 Centerline is valid? [False, False] Translation: X:29.06, Y:0.13, Z:2.80 [[ 9.99417357e-01 2.72073288e-02 2.06084290e-02 2.90567236e+01] [-2.56448585e-02 9.97029863e-01 -7.26208939e-02 1.34212258e-01] [-2.25230397e-02 7.20500816e-02 9.97146678e-01 2.80212509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.26719347000002 meters Centerline goodness : 0.899575 with order 1 Centerline is valid? [False, False] Translation: X:29.08, Y:0.13, Z:2.79 [[ 9.99499224e-01 2.63097590e-02 1.75811925e-02 2.90844999e+01] [-2.51505255e-02 9.97684708e-01 -6.31876117e-02 1.32528586e-01] [-1.92029378e-02 6.27137926e-02 9.97846796e-01 2.79243829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.32719347000003 meters Centerline goodness : 0.897547 with order 1 Centerline is valid? [False, False] Translation: X:29.11, Y:0.13, Z:2.79 [[ 9.99561776e-01 2.58659822e-02 1.43946567e-02 2.91140686e+01] [-2.49697536e-02 9.97927976e-01 -5.92981136e-02 1.25010872e-01] [-1.58986346e-02 5.89126967e-02 9.98136528e-01 2.79258477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.38719347000003 meters Centerline goodness : 0.899057 with order 1 Centerline is valid? [False, False] Translation: X:29.13, Y:0.11, Z:2.79 [[ 9.99500841e-01 2.68197049e-02 1.66964992e-02 2.91301620e+01] [-2.58018467e-02 9.97956747e-01 -5.84516541e-02 1.08498936e-01] [-1.82300401e-02 5.79916769e-02 9.98150605e-01 2.79355963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.44719347 meters Centerline goodness : 0.904585 with order 1 Centerline is valid? [False, False] Translation: X:29.17, Y:0.10, Z:2.79 [[ 9.99380272e-01 3.14134800e-02 1.58828670e-02 2.91696519e+01] [-3.03636219e-02 9.97582737e-01 -6.25038649e-02 1.00143815e-01] [-1.78079379e-02 6.19828681e-02 9.97918334e-01 2.78770716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.50719347 meters Centerline goodness : 0.905589 with order 1 Centerline is valid? [False, False] Translation: X:29.19, Y:0.09, Z:2.79 [[ 9.99312806e-01 3.42926088e-02 1.40688412e-02 2.91933250e+01] [-3.34187079e-02 9.97742730e-01 -5.82463265e-02 8.74966918e-02] [-1.60345025e-02 5.77361374e-02 9.98203102e-01 2.78780654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.56719347 meters Centerline goodness : 0.914957 with order 1 Centerline is valid? [False, False] Translation: X:29.20, Y:0.07, Z:2.79 [[ 9.99201313e-01 3.40868826e-02 2.08523320e-02 2.92003862e+01] [-3.27580611e-02 9.97596910e-01 -6.10517367e-02 6.80865846e-02] [-2.28832853e-02 6.03198936e-02 9.97916763e-01 2.79160452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.62719347 meters Centerline goodness : 0.916719 with order 1 Centerline is valid? [False, False] Translation: X:29.21, Y:0.05, Z:2.79 [[ 9.99175221e-01 2.93500839e-02 2.80615544e-02 2.92088125e+01] [-2.77672145e-02 9.98087860e-01 -5.52232317e-02 5.08303293e-02] [-2.96287033e-02 5.43984935e-02 9.98079628e-01 2.78966323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.68719347 meters Centerline goodness : 0.919093 with order 1 Centerline is valid? [False, False] Translation: X:29.23, Y:0.04, Z:2.79 [[ 9.99472954e-01 2.07269147e-02 2.49841963e-02 2.92337076e+01] [-1.96298991e-02 9.98865714e-01 -4.33814721e-02 3.96480603e-02] [-2.58550211e-02 4.28681708e-02 9.98746133e-01 2.79169113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74719347 meters Centerline goodness : 0.924626 with order 1 Centerline is valid? [False, False] Translation: X:29.23, Y:0.02, Z:2.80 [[ 9.99624593e-01 1.08854205e-02 2.51432009e-02 2.92325749e+01] [-9.67400622e-03 9.98809616e-01 -4.78096692e-02 2.15569164e-02] [-2.56336991e-02 4.75484856e-02 9.98539962e-01 2.79599719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80719347000002 meters Centerline goodness : 0.927397 with order 1 Centerline is valid? [False, False] Translation: X:29.26, Y:0.01, Z:2.80 [[ 9.99856486e-01 4.71517226e-04 1.69347315e-02 2.92637366e+01] [ 1.14210048e-04 9.99402282e-01 -3.45697271e-02 9.92824117e-03] [-1.69409096e-02 3.45667000e-02 9.99258800e-01 2.79825573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.86719347000002 meters Centerline goodness : 0.925099 with order 1 Centerline is valid? [False, False] Translation: X:29.29, Y:0.00, Z:2.80 [[ 9.99947181e-01 -8.41620821e-05 1.02775487e-02 2.92942317e+01] [ 4.26819117e-04 9.99443886e-01 -3.33427069e-02 3.21155651e-03] [-1.02690270e-02 3.33453324e-02 9.99391133e-01 2.79629596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92719347000002 meters Centerline goodness : 0.924041 with order 1 Centerline is valid? [False, False] Translation: X:29.32, Y:-0.00, Z:2.80 [[ 9.99980095e-01 2.42485138e-04 6.30485656e-03 2.93232548e+01] [-4.00991821e-05 9.99485293e-01 -3.20803406e-02 -2.41063948e-03] [-6.30939041e-03 3.20794492e-02 9.99465407e-01 2.79526543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.98719347000002 meters Centerline goodness : 0.922361 with order 1 Centerline is valid? [False, False] Translation: X:29.34, Y:-0.01, Z:2.79 [[ 9.99951170e-01 4.26390589e-03 8.91502319e-03 2.93408674e+01] [-3.95365082e-03 9.99395703e-01 -3.45340066e-02 -5.50236446e-03] [-9.05688562e-03 3.44970734e-02 9.99363760e-01 2.79384661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04719347000002 meters Centerline goodness : 0.920461 with order 1 Centerline is valid? [False, False] Translation: X:29.37, Y:-0.01, Z:2.79 [[ 9.99940056e-01 6.59850109e-03 8.73756119e-03 2.93674296e+01] [-6.31069299e-03 9.99449636e-01 -3.25668476e-02 -7.27229703e-03] [-8.94764473e-03 3.25097554e-02 9.99431366e-01 2.79382897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.10719347000003 meters Centerline goodness : 0.916466 with order 1 Centerline is valid? [False, False] Translation: X:29.38, Y:-0.01, Z:2.80 [[ 9.99889892e-01 6.91860772e-03 1.31277463e-02 2.93815317e+01] [-6.43224798e-03 9.99304321e-01 -3.67355403e-02 -1.28936371e-02] [-1.33727724e-02 3.66470545e-02 9.99238791e-01 2.79545499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.16719347000003 meters Centerline goodness : 0.916400 with order 1 Centerline is valid? [False, False] Translation: X:29.41, Y:-0.02, Z:2.80 [[ 9.99907000e-01 3.07692907e-03 1.32862391e-02 2.94137591e+01] [-2.62990743e-03 9.99434156e-01 -3.35328271e-02 -1.58666242e-02] [-1.33818993e-02 3.34947670e-02 9.99349301e-01 2.79861034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.22719347 meters Centerline goodness : 0.916085 with order 1 Centerline is valid? [False, False] Translation: X:29.44, Y:-0.02, Z:2.80 [[ 9.99944861e-01 -1.50521245e-03 1.03927793e-02 2.94444319e+01] [ 1.85294660e-03 9.99435958e-01 -3.35310675e-02 -1.83902173e-02] [-1.03364459e-02 3.35484759e-02 9.99383639e-01 2.80131597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.28719347 meters Centerline goodness : 0.914044 with order 1 Centerline is valid? [False, False] Translation: X:29.48, Y:-0.02, Z:2.80 [[ 9.99945980e-01 -8.48706727e-03 6.00053492e-03 2.94796323e+01] [ 8.70323947e-03 9.99278568e-01 -3.69675211e-02 -1.54021686e-02] [-5.68246010e-03 3.70177483e-02 9.99298452e-01 2.80089133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.34719347 meters Centerline goodness : 0.914409 with order 1 Centerline is valid? [False, False] Translation: X:29.51, Y:-0.01, Z:2.80 [[ 9.99863062e-01 -1.58986920e-02 4.59235029e-03 2.95145440e+01] [ 1.60751615e-02 9.99015100e-01 -4.13572069e-02 -1.08931527e-02] [-3.93030179e-03 4.14253663e-02 9.99133871e-01 2.79977921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.40719347 meters Centerline goodness : 0.909883 with order 1 Centerline is valid? [False, False] Translation: X:29.56, Y:-0.00, Z:2.80 [[ 9.99754829e-01 -2.21347421e-02 -5.79020340e-04 2.95581844e+01] [ 2.20923249e-02 9.98912812e-01 -4.10502635e-02 -1.89147389e-03] [ 1.48702783e-03 4.10274073e-02 9.99156915e-01 2.79618755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.46719347 meters Centerline goodness : 0.909691 with order 1 Centerline is valid? [False, False] Translation: X:29.59, Y:0.01, Z:2.79 [[ 9.99675430e-01 -2.54666160e-02 -6.97519961e-04 2.95922988e+01] [ 2.54143343e-02 9.98781703e-01 -4.22991791e-02 7.01214708e-03] [ 1.77388713e-03 4.22677230e-02 9.99104746e-01 2.79395887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52719347000001 meters Centerline goodness : 0.906242 with order 1 Centerline is valid? [False, False] Translation: X:29.63, Y:0.02, Z:2.79 [[ 9.99755778e-01 -2.19388224e-02 -2.65933773e-03 2.96333391e+01] [ 2.17679046e-02 9.98367648e-01 -5.28033890e-02 1.66496812e-02] [ 3.81344093e-03 5.27326050e-02 9.98601387e-01 2.78934509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.58719347000002 meters Centerline goodness : 0.905877 with order 1 Centerline is valid? [False, False] Translation: X:29.65, Y:0.02, Z:2.79 [[ 9.99822167e-01 -1.88538076e-02 -4.10365854e-04 2.96517532e+01] [ 1.87989314e-02 9.98164937e-01 -5.75617842e-02 2.05538761e-02] [ 1.49487161e-03 5.75438334e-02 9.98341862e-01 2.78591675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64719347000002 meters Centerline goodness : 0.906226 with order 1 Centerline is valid? [False, False] Translation: X:29.70, Y:0.03, Z:2.78 [[ 9.99968778e-01 -7.90208037e-03 -2.46688672e-05 2.96953974e+01] [ 7.88825864e-03 9.98394797e-01 -5.60856903e-02 3.42656481e-02] [ 4.67822901e-04 5.60837445e-02 9.98425959e-01 2.78443728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.70719347000002 meters Centerline goodness : 0.905898 with order 1 Centerline is valid? [False, False] Translation: X:29.74, Y:0.04, Z:2.78 [[ 9.99999792e-01 1.67215060e-04 6.23175371e-04 2.97393680e+01] [-1.31364568e-04 9.98368963e-01 -5.70911288e-02 4.22298588e-02] [-6.31705445e-04 5.70910351e-02 9.98368777e-01 2.78466077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.76719347000002 meters Centerline goodness : 0.901509 with order 2 Centerline is valid? [False, False] Translation: X:29.79, Y:0.05, Z:2.79 [[ 9.99979431e-01 6.22609653e-03 -1.54058997e-03 2.97856350e+01] [-6.30274147e-03 9.98404450e-01 -5.61144414e-02 4.98288556e-02] [ 1.18875795e-03 5.61229971e-02 9.98423155e-01 2.78550652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.82719347000003 meters Centerline goodness : 0.900425 with order 1 Centerline is valid? [False, False] Translation: X:29.80, Y:0.05, Z:2.79 [[ 9.99963558e-01 6.22409094e-03 -5.84321951e-03 2.97997026e+01] [-6.51082352e-03 9.98707531e-01 -5.04071014e-02 5.34868674e-02] [ 5.52192895e-03 5.04433086e-02 9.98711661e-01 2.78538452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.88719347000003 meters Centerline goodness : 0.895418 with order 1 Centerline is valid? [False, False] Translation: X:29.83, Y:0.06, Z:2.78 [[ 9.99936262e-01 9.01011527e-03 -6.80372835e-03 2.98306842e+01] [-9.33587732e-03 9.98731886e-01 -4.94718231e-02 6.40194174e-02] [ 6.34935362e-03 4.95321886e-02 9.98752346e-01 2.78307190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.94719347 meters Centerline goodness : 0.894003 with order 1 Centerline is valid? [False, False] Translation: X:29.86, Y:0.07, Z:2.78 [[ 9.99945735e-01 8.74821468e-03 -5.65650757e-03 2.98577893e+01] [-9.02333955e-03 9.98678440e-01 -5.05959734e-02 7.16198777e-02] [ 5.20640772e-03 5.06442684e-02 9.98703185e-01 2.78313963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.00719347 meters Centerline goodness : 0.895998 with order 1 Centerline is valid? [False, False] Translation: X:29.90, Y:0.08, Z:2.78 [[ 9.99955040e-01 7.53719773e-03 -5.75402673e-03 2.99027878e+01] [-7.85719463e-03 9.98298408e-01 -5.77802104e-02 8.16328727e-02] [ 5.30873486e-03 5.78228231e-02 9.98312746e-01 2.78396213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.06719347 meters Centerline goodness : 0.896036 with order 1 Centerline is valid? [False, False] Translation: X:29.93, Y:0.09, Z:2.79 [[ 9.99971135e-01 5.37213383e-03 -5.37304267e-03 2.99286912e+01] [-5.69097804e-03 9.98109216e-01 -6.12013551e-02 8.89061803e-02] [ 5.03410154e-03 6.12301664e-02 9.98110978e-01 2.78505620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.12719347 meters Centerline goodness : 0.899842 with order 1 Centerline is valid? [False, False] Translation: X:29.96, Y:0.09, Z:2.79 [[ 9.99980263e-01 5.22606007e-03 -3.48735171e-03 2.99562983e+01] [-5.42362899e-03 9.98226675e-01 -5.92797624e-02 9.35124411e-02] [ 3.17136791e-03 5.92975065e-02 9.98235317e-01 2.78567443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.18719347 meters Centerline goodness : 0.901174 with order 1 Centerline is valid? [False, False] Translation: X:30.00, Y:0.10, Z:2.79 [[ 9.99941482e-01 1.07420776e-02 -1.28091883e-03 2.99981447e+01] [-1.07971294e-02 9.98358066e-01 -5.62547175e-02 9.90484802e-02] [ 6.74523100e-04 5.62652559e-02 9.98415628e-01 2.78867970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24719347 meters Centerline goodness : 0.902884 with order 1 Centerline is valid? [False, False] Translation: X:30.04, Y:0.10, Z:2.79 [[ 9.99881246e-01 1.54066664e-02 -3.58335630e-04 3.00361418e+01] [-1.53990667e-02 9.97939241e-01 -6.22907701e-02 1.01898678e-01] [-6.02095931e-04 6.22888909e-02 9.98057980e-01 2.78721447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30719347000002 meters Centerline goodness : 0.900066 with order 1 Centerline is valid? [False, False] Translation: X:30.07, Y:0.10, Z:2.79 [[ 9.99795613e-01 1.92597493e-02 -6.14776845e-03 3.00722090e+01] [-1.95702549e-02 9.98281245e-01 -5.52409321e-02 1.03555420e-01] [ 5.07327545e-03 5.53499549e-02 9.98454127e-01 2.78566111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.36719347000002 meters Centerline goodness : 0.900652 with order 1 Centerline is valid? [False, False] Translation: X:30.11, Y:0.10, Z:2.79 [[ 9.99698717e-01 2.09365847e-02 -1.28115236e-02 3.01059180e+01] [-2.15628320e-02 9.98472435e-01 -5.08708213e-02 1.02254411e-01] [ 1.17268919e-02 5.11317476e-02 9.98623064e-01 2.78528813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42719347000002 meters Centerline goodness : 0.900894 with order 1 Centerline is valid? [False, False] Translation: X:30.14, Y:0.10, Z:2.78 [[ 9.99836298e-01 1.45703834e-02 -1.07276047e-02 3.01438490e+01] [-1.50893759e-02 9.98635087e-01 -5.00027467e-02 1.02455378e-01] [ 9.98440330e-03 5.01564340e-02 9.98691466e-01 2.78281276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.48719347000002 meters Centerline goodness : 0.901621 with order 1 Centerline is valid? [False, False] Translation: X:30.18, Y:0.10, Z:2.78 [[ 9.99966074e-01 3.07242019e-03 -7.64273626e-03 3.01757379e+01] [-3.40776656e-03 9.99014281e-01 -4.42589257e-02 1.03307531e-01] [ 7.49922065e-03 4.42834689e-02 9.98990859e-01 2.77873045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54719347000002 meters Centerline goodness : 0.902939 with order 1 Centerline is valid? [False, False] Translation: X:30.20, Y:0.11, Z:2.77 [[ 9.99985712e-01 -2.38678254e-03 -4.78329191e-03 3.02009854e+01] [ 2.21191092e-03 9.99340794e-01 -3.62365164e-02 1.05849377e-01] [ 4.86662742e-03 3.62254184e-02 9.99331794e-01 2.77391580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.60719347000003 meters Centerline goodness : 0.898954 with order 1 Centerline is valid? [False, False] Translation: X:30.22, Y:0.11, Z:2.77 [[ 9.99992081e-01 -3.87425145e-03 -9.09916599e-04 3.02175624e+01] [ 3.83090024e-03 9.99041861e-01 -4.35968257e-02 1.07734854e-01] [ 1.07794984e-03 4.35929946e-02 9.99048792e-01 2.77278089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.66719347000003 meters Centerline goodness : 0.902511 with order 1 Centerline is valid? [False, False] Translation: X:30.24, Y:0.11, Z:2.78 [[ 9.99969157e-01 -7.49238235e-03 2.35558382e-03 3.02407930e+01] [ 7.59138776e-03 9.98945238e-01 -4.52855713e-02 1.10542043e-01] [-2.01380243e-03 4.53020568e-02 9.98971305e-01 2.77556620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.72719347 meters Centerline goodness : 0.904076 with order 1 Centerline is valid? [False, False] Translation: X:30.27, Y:0.11, Z:2.78 [[ 9.99975359e-01 -6.91764657e-03 1.19460969e-03 3.02728116e+01] [ 6.96056283e-03 9.99146107e-01 -4.07260028e-02 1.13949347e-01] [-9.11861532e-04 4.07333144e-02 9.99169638e-01 2.77513013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.78719347 meters Centerline goodness : 0.901720 with order 2 Centerline is valid? [False, False] Translation: X:30.31, Y:0.12, Z:2.78 [[ 9.99986274e-01 -3.47920134e-03 3.91751237e-03 3.03084229e+01] [ 3.66338416e-03 9.98839007e-01 -4.80335096e-02 1.18914121e-01] [-3.74584591e-03 4.80472017e-02 9.98838042e-01 2.77548708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.84719347 meters Centerline goodness : 0.896300 with order 1 Centerline is valid? [False, False] Translation: X:30.35, Y:0.12, Z:2.77 [[ 9.99962519e-01 -6.62947664e-03 5.56865991e-03 3.03465340e+01] [ 6.86579455e-03 9.99027726e-01 -4.35484024e-02 1.21646022e-01] [-5.27454253e-03 4.35850034e-02 9.99035798e-01 2.77393704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.90719347 meters Centerline goodness : 0.894587 with order 1 Centerline is valid? [False, False] Translation: X:30.38, Y:0.13, Z:2.77 [[ 9.99925982e-01 -1.15162462e-02 3.92505432e-03 3.03789235e+01] [ 1.16897145e-02 9.98803540e-01 -4.74851520e-02 1.30148233e-01] [-3.37350745e-03 4.75275200e-02 9.98864232e-01 2.77067855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.96719347 meters Centerline goodness : 0.894100 with order 1 Centerline is valid? [False, False] Translation: X:30.41, Y:0.13, Z:2.77 [[ 9.99846387e-01 -1.75060086e-02 8.61264746e-04 3.04144403e+01] [ 1.75271132e-02 9.98772467e-01 -4.63288170e-02 1.34595915e-01] [-4.91748454e-05 4.63367958e-02 9.98925873e-01 2.77094761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02719347000001 meters Centerline goodness : 0.894493 with order 1 Centerline is valid? [False, False] Translation: X:30.45, Y:0.15, Z:2.77 [[ 9.99695613e-01 -2.46101669e-02 1.73792069e-03 3.04518070e+01] [ 2.46639754e-02 9.98644310e-01 -4.58391705e-02 1.45711897e-01] [-6.07454968e-04 4.58680817e-02 9.98947321e-01 2.76969387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.08719347000002 meters Centerline goodness : 0.897868 with order 1 Centerline is valid? [False, False] Translation: X:30.49, Y:0.15, Z:2.77 [[ 9.99786679e-01 -2.06161546e-02 1.25287262e-03 3.04904007e+01] [ 2.06530994e-02 9.98516003e-01 -5.03908762e-02 1.54827675e-01] [-2.12147265e-04 5.04060025e-02 9.98728787e-01 2.76675263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14719347000002 meters Centerline goodness : 0.893922 with order 1 Centerline is valid? [False, False] Translation: X:30.53, Y:0.17, Z:2.76 [[ 9.99915028e-01 -1.29673068e-02 -1.33597314e-03 3.05341907e+01] [ 1.28695593e-02 9.98276566e-01 -5.72561913e-02 1.73886941e-01] [ 2.07612927e-03 5.72341327e-02 9.98358625e-01 2.76025420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.20719347000002 meters Centerline goodness : 0.891847 with order 1 Centerline is valid? [False, False] Translation: X:30.58, Y:0.19, Z:2.76 [[ 9.99981572e-01 -3.58153941e-03 -4.90177267e-03 3.05798655e+01] [ 3.24134232e-03 9.97698203e-01 -6.77332203e-02 1.87816497e-01] [ 5.13307898e-03 6.77160838e-02 9.97691427e-01 2.75997865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.26719347000002 meters Centerline goodness : 0.892749 with order 1 Centerline is valid? [False, False] Translation: X:30.63, Y:0.22, Z:2.75 [[ 9.99930551e-01 1.02656236e-02 5.78872873e-03 3.06332220e+01] [-9.47518447e-03 9.92349691e-01 -1.23094728e-01 2.18449240e-01] [-7.00808731e-03 1.23031330e-01 9.92378042e-01 2.75461520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.32719347000003 meters Centerline goodness : 0.890663 with order 1 Centerline is valid? [False, False] Translation: X:30.67, Y:0.23, Z:2.75 [[ 9.99852192e-01 1.53426347e-02 7.75873309e-03 3.06718169e+01] [-1.42323104e-02 9.91783893e-01 -1.27130446e-01 2.26731481e-01] [-9.64550250e-03 1.27001230e-01 9.91855661e-01 2.75320711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.38719347000003 meters Centerline goodness : 0.890977 with order 1 Centerline is valid? [False, False] Translation: X:30.71, Y:0.23, Z:2.76 [[ 9.99922475e-01 1.16923869e-02 4.28169148e-03 3.07134457e+01] [-1.11141100e-02 9.93128976e-01 -1.16495982e-01 2.29557131e-01] [-5.61438797e-03 1.16439363e-01 9.93181934e-01 2.75516950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.44719347 meters Centerline goodness : 0.892548 with order 1 Centerline is valid? [False, False] Translation: X:30.73, Y:0.23, Z:2.76 [[ 9.99964403e-01 8.43253077e-03 2.91588860e-04 3.07253696e+01] [-8.34598644e-03 9.93597585e-01 -1.12668464e-01 2.28707252e-01] [-1.23980228e-03 1.12662020e-01 9.93632594e-01 2.75586265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.50719347 meters Centerline goodness : 0.891388 with order 1 Centerline is valid? [False, False] Translation: X:30.75, Y:0.22, Z:2.75 [[ 9.99996233e-01 2.64381963e-03 7.38009187e-04 3.07483466e+01] [-2.55381122e-03 9.94684946e-01 -1.02933654e-01 2.24761916e-01] [-1.00622464e-03 1.02931382e-01 9.94687950e-01 2.75300829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.56719347 meters Centerline goodness : 0.890139 with order 1 Centerline is valid? [False, False] Translation: X:30.77, Y:0.22, Z:2.75 [[ 9.99984249e-01 -4.01752481e-03 3.91932964e-03 3.07699765e+01] [ 4.36847946e-03 9.95554710e-01 -9.40836663e-02 2.24870125e-01] [-3.52392361e-03 9.40993059e-02 9.95556579e-01 2.75086476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.62719347 meters Centerline goodness : 0.886268 with order 1 Centerline is valid? [False, False] Translation: X:30.79, Y:0.23, Z:2.75 [[ 9.99880155e-01 -1.30888666e-02 8.26780220e-03 3.07935060e+01] [ 1.37121108e-02 9.96663021e-01 -8.04661492e-02 2.25265653e-01] [-7.18700202e-03 8.05698748e-02 9.96723052e-01 2.75459900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.68719347 meters Centerline goodness : 0.885592 with order 1 Centerline is valid? [False, False] Translation: X:30.81, Y:0.23, Z:2.76 [[ 9.99660843e-01 -2.44200434e-02 9.04767946e-03 3.08137824e+01] [ 2.50315812e-02 9.96859659e-01 -7.51281532e-02 2.27129174e-01] [-7.18463390e-03 7.53291507e-02 9.97132840e-01 2.75562514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74719347 meters Centerline goodness : 0.888788 with order 1 Centerline is valid? [False, False] Translation: X:30.83, Y:0.23, Z:2.76 [[ 9.99479742e-01 -3.03604239e-02 1.08853072e-02 3.08324340e+01] [ 3.10082969e-02 9.97381127e-01 -6.53404440e-02 2.30650043e-01] [-8.87303639e-03 6.56439850e-02 9.97803656e-01 2.75622219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.80719347000002 meters Centerline goodness : 0.886147 with order 1 Centerline is valid? [False, False] Translation: X:30.86, Y:0.24, Z:2.76 [[ 9.99512660e-01 -2.88633889e-02 1.18889600e-02 3.08611407e+01] [ 2.95398966e-02 9.97680835e-01 -6.13216535e-02 2.40898213e-01] [-1.00914368e-02 6.16429677e-02 9.98047247e-01 2.75526067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.86719347000002 meters Centerline goodness : 0.886751 with order 1 Centerline is valid? [False, False] Translation: X:30.90, Y:0.25, Z:2.75 [[ 9.99726204e-01 -2.11828886e-02 9.93995626e-03 3.09017296e+01] [ 2.17433915e-02 9.97952275e-01 -6.01538213e-02 2.46498227e-01] [-8.64537026e-03 6.03534798e-02 9.98139627e-01 2.75281789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.92719347000002 meters Centerline goodness : 0.887467 with order 1 Centerline is valid? [False, False] Translation: X:30.94, Y:0.26, Z:2.75 [[ 9.99887535e-01 -9.68387014e-03 1.14516501e-02 3.09445352e+01] [ 1.04420303e-02 9.97622977e-01 -6.81128528e-02 2.57776930e-01] [-1.07648332e-02 6.82247709e-02 9.97611898e-01 2.75491826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.98719347000002 meters Centerline goodness : 0.885910 with order 1 Centerline is valid? [False, False] Translation: X:30.98, Y:0.26, Z:2.75 [[ 9.99923797e-01 -4.74308613e-03 1.13974895e-02 3.09846705e+01] [ 5.52765540e-03 9.97544146e-01 -6.98220759e-02 2.64213401e-01] [-1.10383268e-02 6.98797566e-02 9.97494348e-01 2.75325160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04719347000002 meters Centerline goodness : 0.888269 with order 1 Centerline is valid? [False, False] Translation: X:31.02, Y:0.27, Z:2.75 [[ 9.99901870e-01 -9.93840843e-03 9.87310809e-03 3.10166761e+01] [ 1.05961910e-02 9.97562310e-01 -6.89721564e-02 2.68497131e-01] [-9.16356705e-03 6.90700055e-02 9.97569729e-01 2.75234008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.10719347000003 meters Centerline goodness : 0.885626 with order 1 Centerline is valid? [False, False] Translation: X:31.05, Y:0.27, Z:2.75 [[ 9.99524207e-01 -2.81709835e-02 1.25601062e-02 3.10522947e+01] [ 2.88433975e-02 9.97955850e-01 -5.70278789e-02 2.71812720e-01] [-1.09279000e-02 5.73630215e-02 9.98293576e-01 2.75462178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.16719347000003 meters Centerline goodness : 0.880774 with order 1 Centerline is valid? [False, False] Translation: X:31.09, Y:0.28, Z:2.76 [[ 9.99208893e-01 -3.83111033e-02 1.06699546e-02 3.10869455e+01] [ 3.88196514e-02 9.97869660e-01 -5.24325806e-02 2.76444696e-01] [-8.63847396e-03 5.28053047e-02 9.98567462e-01 2.75805846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.22719347 meters Centerline goodness : 0.880478 with order 1 Centerline is valid? [False, False] Translation: X:31.12, Y:0.29, Z:2.76 [[ 9.98662159e-01 -5.06298776e-02 1.05122572e-02 3.11219214e+01] [ 5.11294997e-02 9.97204774e-01 -5.44831444e-02 2.90262793e-01] [-7.72439813e-03 5.49477411e-02 9.98459353e-01 2.75907221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.28719347 meters Centerline goodness : 0.876263 with order 1 Centerline is valid? [False, False] Translation: X:31.16, Y:0.30, Z:2.75 [[ 9.98667671e-01 -5.06742055e-02 9.74718648e-03 3.11638520e+01] [ 5.11643102e-02 9.96931739e-01 -5.92395234e-02 3.03920550e-01] [-6.71536379e-03 5.96593049e-02 9.98196209e-01 2.75474555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.34719347 meters Centerline goodness : 0.871224 with order 1 Centerline is valid? [False, False] Translation: X:31.21, Y:0.33, Z:2.75 [[ 9.98777901e-01 -4.89466981e-02 6.85023943e-03 3.12133485e+01] [ 4.92694724e-02 9.96992721e-01 -5.98166612e-02 3.30992912e-01] [-3.90181079e-03 6.00810670e-02 9.98185875e-01 2.75056032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.40719347 meters Centerline goodness : 0.870822 with order 1 Centerline is valid? [False, False] Translation: X:31.25, Y:0.34, Z:2.75 [[ 9.98913126e-01 -4.61772821e-02 6.34237833e-03 3.12541680e+01] [ 4.64823287e-02 9.96990566e-01 -6.20419615e-02 3.44520239e-01] [-3.45836220e-03 6.22693382e-02 9.98053390e-01 2.74820415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.46719347 meters Centerline goodness : 0.871508 with order 1 Centerline is valid? [False, False] Translation: X:31.30, Y:0.37, Z:2.75 [[ 9.99065529e-01 -4.28904911e-02 5.33611799e-03 3.13000267e+01] [ 4.31677220e-02 9.96333668e-01 -7.38631876e-02 3.66243238e-01] [-2.14852562e-03 7.40245126e-02 9.97254108e-01 2.74814430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52719347000001 meters Centerline goodness : 0.867412 with order 1 Centerline is valid? [False, False] Translation: X:31.35, Y:0.39, Z:2.75 [[ 9.99261032e-01 -3.70042079e-02 1.03960757e-02 3.13530532e+01] [ 3.77681801e-02 9.95511432e-01 -8.67787662e-02 3.93039834e-01] [-7.13823270e-03 8.71072803e-02 9.96173362e-01 2.74974631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.58719347000002 meters Centerline goodness : 0.869101 with order 1 Centerline is valid? [False, False] Translation: X:31.36, Y:0.41, Z:2.75 [[ 9.99534045e-01 -2.96788780e-02 7.13139568e-03 3.13579992e+01] [ 3.01584725e-02 9.96275524e-01 -8.07808544e-02 4.09018704e-01] [-4.70734984e-03 8.09582861e-02 9.96706374e-01 2.75372178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64719347000002 meters Centerline goodness : 0.866657 with order 1 Centerline is valid? [False, False] Translation: X:31.37, Y:0.42, Z:2.75 [[ 9.99668384e-01 -2.56113946e-02 2.67921455e-03 3.13707505e+01] [ 2.57364296e-02 9.97192107e-01 -7.03245148e-02 4.19557362e-01] [-8.70582703e-04 7.03701475e-02 9.97520568e-01 2.75407772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.70719347000002 meters Centerline goodness : 0.869488 with order 1 Centerline is valid? [False, False] Translation: X:31.38, Y:0.43, Z:2.75 [[ 9.99669119e-01 -2.55662429e-02 -2.83187047e-03 3.13809197e+01] [ 2.53736893e-02 9.98186528e-01 -5.45878263e-02 4.31155228e-01] [ 4.22234058e-03 5.44979093e-02 9.98504957e-01 2.75054623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76719347000002 meters Centerline goodness : 0.868224 with order 1 Centerline is valid? [False, False] Translation: X:31.38, Y:0.44, Z:2.75 [[ 9.99680902e-01 -2.51516900e-02 -2.34223075e-03 3.13810976e+01] [ 2.49835141e-02 9.98153126e-01 -5.53729232e-02 4.44452238e-01] [ 3.73062755e-03 5.52967367e-02 9.98462995e-01 2.74911759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.82719347000003 meters Centerline goodness : 0.878507 with order 1 Centerline is valid? [False, False] Translation: X:31.39, Y:0.46, Z:2.75 [[ 9.99411995e-01 -3.39486464e-02 -4.81183190e-03 3.13893616e+01] [ 3.37370863e-02 9.98678608e-01 -3.87665713e-02 4.56375154e-01] [ 6.12154621e-03 3.85814392e-02 9.99236708e-01 2.75170055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.88719347000003 meters Centerline goodness : 0.872034 with order 1 Centerline is valid? [False, False] Translation: X:31.39, Y:0.47, Z:2.75 [[ 9.99401004e-01 -3.41355028e-02 -5.69218629e-03 3.13906678e+01] [ 3.38884472e-02 9.98665685e-01 -3.89669528e-02 4.65661805e-01] [ 7.01474764e-03 3.87507124e-02 9.99224287e-01 2.75227256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.94719347000003 meters Centerline goodness : 0.871060 with order 1 Centerline is valid? [False, False] Translation: X:31.39, Y:0.47, Z:2.75 [[ 9.99445341e-01 -3.27389547e-02 -6.09687514e-03 3.13910985e+01] [ 3.24822826e-02 9.98738895e-01 -3.82821356e-02 4.72940713e-01] [ 7.34250343e-03 3.80628616e-02 9.99248371e-01 2.75272930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.00719347 meters Centerline goodness : 0.874156 with order 1 Centerline is valid? [False, False] Translation: X:31.39, Y:0.48, Z:2.75 [[ 9.99637114e-01 -2.69359021e-02 -3.12515167e-04 3.13929508e+01] [ 2.69223451e-02 9.99391365e-01 -2.21830422e-02 4.84225721e-01] [ 9.09845210e-04 2.21665786e-02 9.99753877e-01 2.75354411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.06719347 meters Centerline goodness : 0.876239 with order 1 Centerline is valid? [False, False] Translation: X:31.39, Y:0.50, Z:2.75 [[ 9.99902902e-01 -1.39280978e-02 -4.41525210e-04 3.13919089e+01] [ 1.39217913e-02 9.99830936e-01 -1.20118055e-02 4.99750215e-01] [ 6.08752166e-04 1.20044923e-02 9.99927758e-01 2.75427549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.12719347 meters Centerline goodness : 0.874138 with order 1 Centerline is valid? [False, False] Translation: X:31.36, Y:0.51, Z:2.75 [[ 9.99836856e-01 -1.73855306e-02 -4.89946154e-03 3.13592600e+01] [ 1.74481238e-02 9.99762781e-01 1.30362986e-02 5.07663865e-01] [ 4.67165633e-03 -1.31196583e-02 9.99903020e-01 2.75173804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.18719347 meters Centerline goodness : 0.876411 with order 1 Centerline is valid? [False, False] Translation: X:31.34, Y:0.52, Z:2.75 [[ 9.99692073e-01 -2.30732514e-02 -9.13151822e-03 3.13393905e+01] [ 2.31739394e-02 9.99670062e-01 1.10786513e-02 5.21027982e-01] [ 8.87288487e-03 -1.12868532e-02 9.99896934e-01 2.74744567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24719347 meters Centerline goodness : 0.876660 with order 1 Centerline is valid? [False, False] Translation: X:31.31, Y:0.53, Z:2.75 [[ 9.99510101e-01 -2.87765777e-02 -1.23071819e-02 3.13121911e+01] [ 2.91071113e-02 9.99195770e-01 2.75787764e-02 5.29043332e-01] [ 1.15036613e-02 -2.79234921e-02 9.99543868e-01 2.74688805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.30719347000002 meters Centerline goodness : 0.876738 with order 1 Centerline is valid? [False, False] Translation: X:31.27, Y:0.54, Z:2.75 [[ 9.99375077e-01 -3.17309525e-02 -1.55757091e-02 3.12729899e+01] [ 3.22648968e-02 9.98855139e-01 3.53183751e-02 5.42411491e-01] [ 1.44371914e-02 -3.57988525e-02 9.99254727e-01 2.74815303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.36719347000002 meters Centerline goodness : 0.879434 with order 1 Centerline is valid? [False, False] Translation: X:31.25, Y:0.55, Z:2.75 [[ 9.99386072e-01 -3.21912258e-02 -1.38276642e-02 3.12462708e+01] [ 3.26458148e-02 9.98888009e-01 3.40146477e-02 5.48608286e-01] [ 1.27173147e-02 -3.44451806e-02 9.99325672e-01 2.74721640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42719347000002 meters Centerline goodness : 0.881073 with order 1 Centerline is valid? [False, False] Translation: X:31.22, Y:0.57, Z:2.75 [[ 9.99388212e-01 -3.19085892e-02 -1.43193363e-02 3.12224523e+01] [ 3.22973339e-02 9.99091829e-01 2.77920749e-02 5.66166246e-01] [ 1.34195260e-02 -2.82375484e-02 9.99511159e-01 2.75081743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.48719347000002 meters Centerline goodness : 0.879977 with order 1 Centerline is valid? [False, False] Translation: X:31.20, Y:0.58, Z:2.75 [[ 9.99405730e-01 -3.01676888e-02 -1.66762773e-02 3.12041278e+01] [ 3.05297229e-02 9.99293939e-01 2.18988577e-02 5.76769976e-01] [ 1.60038649e-02 -2.23949660e-02 9.99621099e-01 2.75234866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54719347000002 meters Centerline goodness : 0.881600 with order 1 Centerline is valid? [False, False] Translation: X:31.18, Y:0.59, Z:2.75 [[ 9.99477906e-01 -2.65038424e-02 -1.84786911e-02 3.11803021e+01] [ 2.69598769e-02 9.99326779e-01 2.48828168e-02 5.88528479e-01] [ 1.78067606e-02 -2.53680088e-02 9.99519576e-01 2.75017158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.60719347000003 meters Centerline goodness : 0.885371 with order 1 Centerline is valid? [False, False] Translation: X:31.15, Y:0.60, Z:2.75 [[ 9.99594989e-01 -2.07800003e-02 -1.94435013e-02 3.11519018e+01] [ 2.14511964e-02 9.99158000e-01 3.49733736e-02 5.96997750e-01] [ 1.87003832e-02 -3.53762953e-02 9.99199086e-01 2.74976261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.66719347000003 meters Centerline goodness : 0.887184 with order 1 Centerline is valid? [False, False] Translation: X:31.12, Y:0.61, Z:2.75 [[ 9.99617930e-01 -1.64075891e-02 -2.22437420e-02 3.11193673e+01] [ 1.74519585e-02 9.98714009e-01 4.75999740e-02 6.06376454e-01] [ 2.14341360e-02 -4.79699843e-02 9.98618775e-01 2.74566231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.72719347 meters Centerline goodness : 0.888575 with order 1 Centerline is valid? [False, False] Translation: X:31.13, Y:0.60, Z:2.75 [[ 9.99290729e-01 -1.19873493e-02 -3.56979365e-02 3.11272080e+01] [ 1.53796209e-02 9.95231317e-01 9.63228543e-02 6.01237925e-01] [ 3.43730487e-02 -9.68035560e-02 9.94709789e-01 2.74829507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.78719347 meters Centerline goodness : 0.894082 with order 1 Centerline is valid? [False, False] Translation: X:31.12, Y:0.61, Z:2.75 [[ 9.99203054e-01 1.27868211e-03 -3.98951402e-02 3.11231742e+01] [ 2.29089071e-03 9.96002142e-01 8.92999771e-02 6.14469876e-01] [ 3.98498314e-02 -8.93202053e-02 9.95205452e-01 2.75115036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.84719347 meters Centerline goodness : 0.892781 with order 1 Centerline is valid? [False, False] Translation: X:31.14, Y:0.62, Z:2.75 [[ 9.99100169e-01 1.20444553e-02 -4.06667416e-02 3.11442498e+01] [-8.68227479e-03 9.96605754e-01 8.18632407e-02 6.20675113e-01] [ 4.15147068e-02 -8.14364978e-02 9.95813550e-01 2.75486629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.90719347 meters Centerline goodness : 0.892183 with order 1 Centerline is valid? [False, False] Translation: X:31.19, Y:0.62, Z:2.76 [[ 9.98840119e-01 1.54520453e-02 -4.56031933e-02 3.11853159e+01] [-1.20685153e-02 9.97217822e-01 7.35592713e-02 6.23689260e-01] [ 4.66129583e-02 -7.29235885e-02 9.96247651e-01 2.75700368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.96719347 meters Centerline goodness : 0.891694 with order 1 Centerline is valid? [False, False] Translation: X:31.23, Y:0.62, Z:2.75 [[ 9.99198460e-01 9.19629823e-03 -3.89598015e-02 3.12280836e+01] [-5.51035531e-03 9.95587055e-01 9.36805835e-02 6.16820902e-01] [ 3.96493886e-02 -9.33908124e-02 9.94839727e-01 2.75218126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02719347000001 meters Centerline goodness : 0.899256 with order 1 Centerline is valid? [False, False] Translation: X:31.27, Y:0.60, Z:2.74 [[ 9.99743647e-01 1.03957897e-03 -2.26176649e-02 3.12674873e+01] [ 2.45666194e-03 9.88067203e-01 1.54003787e-01 5.96721471e-01] [ 2.25078720e-02 -1.54019872e-01 9.87811356e-01 2.74467184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.08719347000002 meters Centerline goodness : 0.897642 with order 1 Centerline is valid? [False, False] Translation: X:31.29, Y:0.54, Z:2.74 [[ 9.99799933e-01 -6.27630363e-03 -1.89921400e-02 3.12864896e+01] [ 1.19343764e-02 9.49151030e-01 3.14594809e-01 5.42608107e-01] [ 1.60519167e-02 -3.14758528e-01 9.49036040e-01 2.74081492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14719347000002 meters Centerline goodness : 0.897372 with order 1 Centerline is valid? [False, False] Translation: X:31.32, Y:0.52, Z:2.74 [[ 9.99873371e-01 -1.27801455e-02 -9.48205572e-03 3.13243136e+01] [ 1.54430305e-02 9.23075521e-01 3.84308595e-01 5.19259521e-01] [ 3.84113375e-03 -3.84406362e-01 9.23155997e-01 2.74341601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.20719347000002 meters Centerline goodness : 0.899047 with order 1 Centerline is valid? [False, False] Translation: X:31.34, Y:0.46, Z:2.76 [[ 9.99675743e-01 -1.97844241e-02 -1.60307848e-02 3.13389182e+01] [ 2.53060464e-02 8.41880632e-01 5.39070131e-01 4.64725197e-01] [ 2.83081517e-03 -5.39301009e-01 8.42108311e-01 2.75707011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.26719347000002 meters Centerline goodness : 0.902002 with order 1 Centerline is valid? [False, False] Translation: X:31.35, Y:0.48, Z:2.76 [[ 9.99598841e-01 -1.93465048e-02 -2.06849928e-02 3.13526779e+01] [ 2.73728998e-02 8.47436844e-01 5.30190078e-01 4.77839460e-01] [ 7.27190008e-03 -5.30543596e-01 8.47626458e-01 2.76142328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.32719347000003 meters Centerline goodness : 0.897480 with order 1 Centerline is valid? [False, False] Translation: X:31.36, Y:0.42, Z:2.79 [[ 9.99319041e-01 -1.78981141e-02 -3.22662717e-02 3.13641503e+01] [ 3.50601565e-02 7.33136181e-01 6.79177536e-01 4.20116039e-01] [ 1.14995742e-02 -6.79846304e-01 7.33264456e-01 2.78910251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.38719347000003 meters Centerline goodness : 0.896874 with order 1 Centerline is valid? [False, False] Translation: X:31.40, Y:0.40, Z:2.82 [[ 9.98699719e-01 -1.90827909e-02 -4.72728042e-02 3.13966255e+01] [ 4.84727546e-02 6.42640140e-01 7.64633273e-01 3.99205803e-01] [ 1.57880647e-02 -7.65930478e-01 6.42729523e-01 2.82198630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.44719347000003 meters Centerline goodness : 0.897759 with order 1 Centerline is valid? [False, False] Translation: X:31.44, Y:0.40, Z:2.84 [[ 9.98808687e-01 -2.52339973e-02 -4.17666433e-02 3.14409340e+01] [ 4.85325548e-02 6.02783516e-01 7.96427413e-01 3.96596793e-01] [ 5.07919688e-03 -7.97505661e-01 6.03290082e-01 2.83537195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.50719347 meters Centerline goodness : 0.896791 with order 1 Centerline is valid? [False, False] Translation: X:31.43, Y:0.36, Z:2.88 [[ 9.98232309e-01 -2.81094872e-02 -5.23651976e-02 3.14341992e+01] [ 5.94153438e-02 4.50637486e-01 8.90727609e-01 3.63297474e-01] [-1.44017532e-03 -8.92264374e-01 4.51511033e-01 2.87783960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.56719347 meters Centerline goodness : 0.897815 with order 1 Centerline is valid? [False, False] Translation: X:31.32, Y:0.40, Z:2.86 [[ 9.98230167e-01 -3.11695383e-02 -5.06457672e-02 3.13166821e+01] [ 5.94679642e-02 5.18782306e-01 8.52835553e-01 4.01949911e-01] [-3.08362551e-04 -8.54337977e-01 5.19717737e-01 2.86428758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.62719347 meters Centerline goodness : 0.901015 with order 1 Centerline is valid? [False, False] Translation: X:31.30, Y:0.42, Z:2.89 [[ 9.96423443e-01 -4.13336650e-02 -7.37010947e-02 3.13045230e+01] [ 8.44429976e-02 4.54919796e-01 8.86519802e-01 4.17145523e-01] [-3.11502553e-03 -8.89572654e-01 4.56783088e-01 2.88804325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.68719347 meters Centerline goodness : 0.897985 with order 1 Centerline is valid? [False, False] Translation: X:31.22, Y:0.45, Z:2.88 [[ 9.94190708e-01 -5.65394548e-02 -9.15867149e-02 3.12232081e+01] [ 1.07550981e-01 4.88662269e-01 8.65818673e-01 4.50850564e-01] [-4.19794382e-03 -8.70639120e-01 4.91904361e-01 2.88302373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74719347 meters Centerline goodness : 0.900175 with order 1 Centerline is valid? [False, False] Translation: X:31.19, Y:0.48, Z:2.88 [[ 9.92897951e-01 -7.04135330e-02 -9.58936608e-02 3.11899550e+01] [ 1.18789947e-01 5.42550061e-01 8.31581854e-01 4.80422572e-01] [-6.52750475e-03 -8.37067121e-01 5.47061264e-01 2.88066958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.80719347000002 meters Centerline goodness : 0.900868 with order 1 Centerline is valid? [False, False] Translation: X:31.16, Y:0.50, Z:2.88 [[ 9.91610540e-01 -7.77492517e-02 -1.03264661e-01 3.11610937e+01] [ 1.29242000e-01 5.82474340e-01 8.02508659e-01 5.04544202e-01] [-2.24543225e-03 -8.09122177e-01 5.87636164e-01 2.87809161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.86719347000002 meters Centerline goodness : 0.903621 with order 1 Centerline is valid? [False, False] Translation: X:31.14, Y:0.53, Z:2.88 [[ 9.90459090e-01 -8.00066254e-02 -1.12203969e-01 3.11355483e+01] [ 1.37535123e-01 6.25022820e-01 7.68394797e-01 5.33118479e-01] [ 8.65336666e-03 -7.76495598e-01 6.30063255e-01 2.87590735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.92719347000002 meters Centerline goodness : 0.901756 with order 1 Centerline is valid? [False, False] Translation: X:31.11, Y:0.57, Z:2.87 [[ 9.89044785e-01 -8.08675871e-02 -1.23494316e-01 3.11051950e+01] [ 1.45698842e-01 6.69172114e-01 7.28684108e-01 5.66097114e-01] [ 2.37120273e-02 -7.38694196e-01 6.73623504e-01 2.87218267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.98719347000002 meters Centerline goodness : 0.901469 with order 1 Centerline is valid? [False, False] Translation: X:31.09, Y:0.59, Z:2.87 [[ 0.98834623 -0.08226764 -0.12807718 31.08775188] [ 0.14854274 0.70511628 0.69335855 0.59496601] [ 0.03326833 -0.70430325 0.70911928 2.87330998] [ 0. 0. 0. 1. ]] SLAMing on 155.04719347000002 meters Centerline goodness : 0.901315 with order 1 Centerline is valid? [False, False] Translation: X:31.06, Y:0.63, Z:2.87 [[ 0.98737209 -0.08380448 -0.13443646 31.06152095] [ 0.15200035 0.74026564 0.65490661 0.63107484] [ 0.04463459 -0.6670709 0.74365595 2.87460331] [ 0. 0. 0. 1. ]] SLAMing on 155.10719347000003 meters Centerline goodness : 0.901118 with order 1 Centerline is valid? [False, False] Translation: X:31.05, Y:0.66, Z:2.88 [[ 0.98645011 -0.08706412 -0.139054 31.04671932] [ 0.1549576 0.77285508 0.61537238 0.66132976] [ 0.05389173 -0.62858163 0.77587423 2.88183853] [ 0. 0. 0. 1. ]] SLAMing on 155.16719347000003 meters Centerline goodness : 0.906370 with order 1 Centerline is valid? [False, False] Translation: X:31.03, Y:0.70, Z:2.89 [[ 0.98564262 -0.09015303 -0.14276226 31.03281058] [ 0.15729086 0.79766128 0.58223368 0.69576254] [ 0.0613858 -0.59632953 0.8003892 2.89078219] [ 0. 0. 0. 1. ]] SLAMing on 155.22719347 meters Centerline goodness : 0.907111 with order 1 Centerline is valid? [False, False] Translation: X:31.02, Y:0.72, Z:2.91 [[ 0.9849546 -0.09453212 -0.1446655 31.02207384] [ 0.15898531 0.82379241 0.54414129 0.72252536] [ 0.06773551 -0.55895416 0.82642734 2.90565444] [ 0. 0. 0. 1. ]] SLAMing on 155.28719347 meters Centerline goodness : 0.907335 with order 1 Centerline is valid? [False, False] Translation: X:31.01, Y:0.75, Z:2.92 [[ 0.98471512 -0.0965947 -0.14493307 31.0052766 ] [ 0.15750113 0.84910533 0.50419593 0.75219163] [ 0.07436079 -0.51931648 0.85134063 2.91874568] [ 0. 0. 0. 1. ]] SLAMing on 155.34719347 meters Centerline goodness : 0.912256 with order 1 Centerline is valid? [False, False] Translation: X:30.99, Y:0.78, Z:2.94 [[ 0.98468793 -0.09822026 -0.14402245 30.99430115] [ 0.15521317 0.87009003 0.46781643 0.77838326] [ 0.07936345 -0.48300738 0.87201222 2.93664394] [ 0. 0. 0. 1. ]] SLAMing on 155.40719347 meters Centerline goodness : 0.907724 with order 1 Centerline is valid? [False, False] Translation: X:30.98, Y:0.80, Z:2.96 [[ 0.98464018 -0.09616986 -0.1457226 30.98444893] [ 0.1504331 0.89093244 0.42849653 0.8043136 ] [ 0.08862054 -0.4438364 0.891715 2.95611377] [ 0. 0. 0. 1. ]] SLAMing on 155.46719347 meters Centerline goodness : 0.907196 with order 1 Centerline is valid? [False, False] Translation: X:30.97, Y:0.83, Z:2.97 [[ 0.98591928 -0.085621 -0.14363921 30.96554694] [ 0.135694 0.91162414 0.38798011 0.83219106] [ 0.09772572 -0.40200805 0.91040607 2.97377504] [ 0. 0. 0. 1. ]] SLAMing on 155.52719347000001 meters Centerline goodness : 0.907084 with order 1 Centerline is valid? [False, False] Translation: X:30.94, Y:0.86, Z:2.99 [[ 0.98709403 -0.08164696 -0.13776481 30.94436964] [ 0.12353019 0.93565888 0.33057943 0.85590032] [ 0.10191006 -0.3433311 0.93366916 2.9852716 ] [ 0. 0. 0. 1. ]] SLAMing on 155.58719347000002 meters Centerline goodness : 0.909548 with order 1 Centerline is valid? [False, False] Translation: X:30.93, Y:0.88, Z:3.00 [[ 0.98863812 -0.07458845 -0.13050375 30.92834053] [ 0.10917282 0.95309008 0.28231292 0.87941463] [ 0.10332454 -0.29335278 0.95040422 2.99918192] [ 0. 0. 0. 1. ]] SLAMing on 155.64719347000002 meters Centerline goodness : 0.902014 with order 1 Centerline is valid? [False, False] Translation: X:30.93, Y:0.89, Z:3.01 [[ 0.98959724 -0.07129453 -0.12495755 30.93348474] [ 0.10073331 0.96350123 0.24802859 0.88726951] [ 0.10271367 -0.2580358 0.96065989 3.01147062] [ 0. 0. 0. 1. ]] SLAMing on 155.70719347000002 meters Centerline goodness : 0.903888 with order 1 Centerline is valid? [False, False] Translation: X:30.96, Y:0.89, Z:3.02 [[ 0.98957614 -0.07646456 -0.12203372 30.95501818] [ 0.10214406 0.97002728 0.22048506 0.89080751] [ 0.10151675 -0.23065178 0.96772626 3.02308916] [ 0. 0. 0. 1. ]] SLAMing on 155.76719347000002 meters Centerline goodness : 0.903171 with order 1 Centerline is valid? [False, False] Translation: X:30.98, Y:0.89, Z:3.04 [[ 0.98897911 -0.08204555 -0.12324304 30.97501305] [ 0.10567533 0.97419005 0.19946548 0.8912248 ] [ 0.10369689 -0.21029094 0.9721238 3.03609588] [ 0. 0. 0. 1. ]] SLAMing on 155.82719347000003 meters Centerline goodness : 0.899077 with order 1 Centerline is valid? [False, False] Translation: X:31.00, Y:0.89, Z:3.05 [[ 0.98839679 -0.0848838 -0.12596243 31.00308846] [ 0.10689112 0.97788385 0.17977057 0.88511229] [ 0.10791702 -0.19114892 0.97561058 3.04764111] [ 0. 0. 0. 1. ]] SLAMing on 155.88719347000003 meters Centerline goodness : 0.896534 with order 1 Centerline is valid? [False, False] Translation: X:31.04, Y:0.88, Z:3.06 [[ 0.98812107 -0.08505913 -0.12799099 31.03535835] [ 0.10538261 0.98123334 0.16147954 0.88377434] [ 0.11185372 -0.17304936 0.97854109 3.05585202] [ 0. 0. 0. 1. ]] SLAMing on 155.94719347000003 meters Centerline goodness : 0.893311 with order 1 Centerline is valid? [False, False] Translation: X:31.03, Y:0.88, Z:3.06 [[ 0.98840164 -0.08685937 -0.12456988 31.02981981] [ 0.10607031 0.9818909 0.15696926 0.87755428] [ 0.10867978 -0.16836183 0.97971577 3.05592168] [ 0. 0. 0. 1. ]] SLAMing on 156.00719347 meters Centerline goodness : 0.891396 with order 1 Centerline is valid? [False, False] Translation: X:31.03, Y:0.87, Z:3.06 [[ 0.98920905 -0.08629695 -0.11839891 31.02588247] [ 0.10328754 0.98390446 0.14582074 0.87081856] [ 0.10390933 -0.15647633 0.9822006 3.06088888] [ 0. 0. 0. 1. ]] SLAMing on 156.06719347 meters Centerline goodness : 0.888380 with order 1 Centerline is valid? [False, False] Translation: X:31.03, Y:0.87, Z:3.07 [[ 0.9895816 -0.08759954 -0.11425665 31.02562745] [ 0.10256606 0.98586541 0.13247487 0.86592511] [ 0.10103694 -0.14281355 0.98457901 3.06579604] [ 0. 0. 0. 1. ]] SLAMing on 156.12719347 meters Centerline goodness : 0.891332 with order 1 Centerline is valid? [False, False] Translation: X:31.02, Y:0.85, Z:3.07 [[ 0.99099872 -0.08294955 -0.10507577 31.01500634] [ 0.09551208 0.98807237 0.12079086 0.85185545] [ 0.09380292 -0.12973959 0.98710114 3.07030782] [ 0. 0. 0. 1. ]] SLAMing on 156.18719347 meters Centerline goodness : 0.889130 with order 1 Centerline is valid? [False, False] Translation: X:31.01, Y:0.84, Z:3.08 [[ 0.99216592 -0.07904875 -0.09673719 31.00641889] [ 0.08964401 0.98981513 0.11058912 0.83944941] [ 0.08701 -0.11839466 0.98914709 3.07577306] [ 0. 0. 0. 1. ]] SLAMing on 156.24719347 meters Centerline goodness : 0.887839 with order 1 Centerline is valid? [False, False] Translation: X:31.00, Y:0.83, Z:3.08 [[ 0.99257952 -0.08233536 -0.08948068 31.0021299 ] [ 0.09099154 0.9910768 0.09740288 0.82926119] [ 0.08066252 -0.10482209 0.99121435 3.08185792] [ 0. 0. 0. 1. ]] SLAMing on 156.30719347000002 meters Centerline goodness : 0.889004 with order 1 Centerline is valid? [False, False] Translation: X:31.01, Y:0.81, Z:3.08 [[ 0.99221916 -0.09613991 -0.07910916 31.01019901] [ 0.10341478 0.9902171 0.09367747 0.80501074] [ 0.0693291 -0.10112964 0.99245467 3.08206101] [ 0. 0. 0. 1. ]] SLAMing on 156.36719347000002 meters Centerline goodness : 0.885472 with order 1 Centerline is valid? [False, False] Translation: X:31.01, Y:0.79, Z:3.09 [[ 0.99144159 -0.10503176 -0.07753646 31.00979975] [ 0.11184467 0.98968793 0.08949058 0.78876629] [ 0.06733754 -0.09739673 0.99296502 3.08510384] [ 0. 0. 0. 1. ]] SLAMing on 156.42719347000002 meters Centerline goodness : 0.886263 with order 1 Centerline is valid? [False, False] Translation: X:31.01, Y:0.78, Z:3.09 [[ 0.99022963 -0.11597734 -0.07742439 31.0132636 ] [ 0.12239076 0.98892226 0.0839837 0.77568997] [ 0.06682649 -0.09263918 0.99345468 3.08624883] [ 0. 0. 0. 1. ]] SLAMing on 156.48719347000002 meters Centerline goodness : 0.887133 with order 1 Centerline is valid? [False, False] Translation: X:31.02, Y:0.75, Z:3.09 [[ 0.98846685 -0.12804226 -0.08086078 31.02143266] [ 0.13476072 0.98731537 0.0839518 0.75471826] [ 0.06908572 -0.09388043 0.99318358 3.0879614 ] [ 0. 0. 0. 1. ]] SLAMing on 156.54719347000002 meters Centerline goodness : 0.892037 with order 1 Centerline is valid? [False, False] Translation: X:31.02, Y:0.74, Z:3.09 [[ 0.98725513 -0.13769575 -0.07979461 31.02217302] [ 0.14389705 0.98651347 0.07800516 0.74095277] [ 0.06797748 -0.08849321 0.9937545 3.09123717] [ 0. 0. 0. 1. ]] SLAMing on 156.60719347000003 meters Centerline goodness : 0.884450 with order 1 Centerline is valid? [False, False] Translation: X:31.01, Y:0.74, Z:3.09 [[ 0.98763686 -0.1344562 -0.08059139 31.01276113] [ 0.14013637 0.98768833 0.06952384 0.7382319 ] [ 0.07025126 -0.0799581 0.9943196 3.09110579] [ 0. 0. 0. 1. ]] SLAMing on 156.66719347000003 meters Centerline goodness : 0.878117 with order 1 Centerline is valid? [False, False] Translation: X:31.00, Y:0.74, Z:3.09 [[ 0.98888139 -0.12649834 -0.07817785 31.00411943] [ 0.13189881 0.98890977 0.06826537 0.73607321] [ 0.06867538 -0.07781792 0.99459945 3.0889419 ] [ 0. 0. 0. 1. ]] SLAMing on 156.72719347 meters Centerline goodness : 0.878897 with order 1 Centerline is valid? [False, False] Translation: X:30.99, Y:0.73, Z:3.09 [[ 0.99045577 -0.11588474 -0.07461965 30.9923768 ] [ 0.1199068 0.99142894 0.05187501 0.73296639] [ 0.06796856 -0.0603273 0.99586188 3.08888873] [ 0. 0. 0. 1. ]] SLAMing on 156.78719347 meters Centerline goodness : 0.873189 with order 1 Centerline is valid? [False, False] Translation: X:30.99, Y:0.73, Z:3.09 [[ 0.99066264 -0.1143955 -0.07417016 30.99223438] [ 0.11847776 0.99153131 0.0531854 0.73001526] [ 0.06745786 -0.0614763 0.99582634 3.08824282] [ 0. 0. 0. 1. ]] SLAMing on 156.84719347 meters Centerline goodness : 0.876457 with order 1 Centerline is valid? [False, False] Translation: X:30.99, Y:0.72, Z:3.09 [[ 0.99060614 -0.1151201 -0.07380264 30.99327386] [ 0.11917132 0.99145532 0.05305229 0.72384311] [ 0.06706463 -0.06134908 0.99586075 3.0878804 ] [ 0. 0. 0. 1. ]] SLAMing on 156.90719347 meters Centerline goodness : 0.865296 with order 1 Centerline is valid? [False, False] Translation: X:31.00, Y:0.72, Z:3.09 [[ 0.99048114 -0.11900913 -0.0691661 30.99542749] [ 0.12185666 0.99180044 0.03850758 0.72168101] [ 0.06401621 -0.04656938 0.99686168 3.09159625] [ 0. 0. 0. 1. ]] SLAMing on 156.96719347 meters Centerline goodness : 0.863711 with order 1 Centerline is valid? [False, False] Translation: X:31.00, Y:0.70, Z:3.10 [[ 0.98953194 -0.12243214 -0.07639961 31.00329607] [ 0.12743619 0.98974968 0.06446378 0.70024002] [ 0.06772406 -0.07352505 0.99499122 3.09983323] [ 0. 0. 0. 1. ]] SLAMing on 157.02719347000001 meters Centerline goodness : 0.867278 with order 1 Centerline is valid? [False, False] Translation: X:31.00, Y:0.69, Z:3.10 [[ 0.98855527 -0.1304397 -0.07578897 31.00430432] [ 0.13500745 0.9891086 0.05862727 0.69482175] [ 0.0673162 -0.06818838 0.99539885 3.1007651 ] [ 0. 0. 0. 1. ]] SLAMing on 157.08719347000002 meters Centerline goodness : 0.864571 with order 1 Centerline is valid? [False, False] Translation: X:31.00, Y:0.69, Z:3.10 [[ 0.98715547 -0.14159856 -0.07398593 31.00282488] [ 0.14548788 0.98809054 0.05010359 0.68781404] [ 0.0660102 -0.06022409 0.99599986 3.10358993] [ 0. 0. 0. 1. ]] SLAMing on 157.14719347000002 meters Centerline goodness : 0.861495 with order 1 Centerline is valid? [False, False] Translation: X:31.00, Y:0.69, Z:3.10 [[ 0.98662672 -0.14562738 -0.07321457 31.00220742] [ 0.14922515 0.9877181 0.0463121 0.68761533] [ 0.06557104 -0.05661821 0.99624034 3.10405185] [ 0. 0. 0. 1. ]] SLAMing on 157.20719347000002 meters Centerline goodness : 0.864020 with order 1 Centerline is valid? [False, False] Translation: X:31.00, Y:0.69, Z:3.10 [[ 0.98614265 -0.14920141 -0.07253692 31.00219703] [ 0.15248908 0.98740837 0.04209263 0.68977269] [ 0.06534329 -0.05257043 0.9964771 3.10340598] [ 0. 0. 0. 1. ]] SLAMing on 157.26719347000002 meters Centerline goodness : 0.863075 with order 1 Centerline is valid? [False, False] Translation: X:31.00, Y:0.69, Z:3.10 [[ 9.85442145e-01 -1.52228924e-01 -7.56976425e-02 3.10031676e+01] [ 1.54373504e-01 9.87737738e-01 2.33019674e-02 6.91843480e-01] [ 7.12221848e-02 -3.46484510e-02 9.96858508e-01 3.10249845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.32719347000003 meters Centerline goodness : 0.861487 with order 1 Centerline is valid? [False, False] Translation: X:31.00, Y:0.70, Z:3.10 [[ 9.84745307e-01 -1.57200038e-01 -7.45977800e-02 3.10024291e+01] [ 1.58947807e-01 9.87121718e-01 1.80640017e-02 6.95379318e-01] [ 7.07974270e-02 -2.96455943e-02 9.97050081e-01 3.10204464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.38719347000003 meters Centerline goodness : 0.861089 with order 1 Centerline is valid? [False, False] Translation: X:31.00, Y:0.70, Z:3.10 [[ 9.84674176e-01 -1.57458623e-01 -7.49903252e-02 3.10034165e+01] [ 1.59140927e-01 9.87109923e-01 1.69754207e-02 7.00038236e-01] [ 7.13507678e-02 -2.86492883e-02 9.97039762e-01 3.10122379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.44719347000003 meters Centerline goodness : 0.863798 with order 1 Centerline is valid? [False, False] Translation: X:30.99, Y:0.70, Z:3.11 [[ 9.85099096e-01 -1.52332928e-01 -7.98401575e-02 3.09888384e+01] [ 1.53769418e-01 9.88032333e-01 1.21274289e-02 7.02776412e-01] [ 7.70372503e-02 -2.42236937e-02 9.96733904e-01 3.10596576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.50719347 meters Centerline goodness : 0.869734 with order 1 Centerline is valid? [False, False] Translation: X:30.99, Y:0.71, Z:3.11 [[ 9.85858775e-01 -1.47265395e-01 -7.99711128e-02 3.09877972e+01] [ 1.48921394e-01 9.88733418e-01 1.51210296e-02 7.06598168e-01] [ 7.68433073e-02 -2.68166093e-02 9.96682485e-01 3.10545345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.56719347 meters Centerline goodness : 0.869094 with order 1 Centerline is valid? [False, False] Translation: X:30.97, Y:0.71, Z:3.10 [[ 9.88111681e-01 -1.29042745e-01 -8.35659920e-02 3.09672475e+01] [ 1.30446159e-01 9.91388295e-01 1.15346745e-02 7.13675751e-01] [ 8.13578802e-02 -2.22984093e-02 9.96435485e-01 3.10459810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.62719347 meters Centerline goodness : 0.872031 with order 1 Centerline is valid? [False, False] Translation: X:30.97, Y:0.72, Z:3.11 [[ 9.88697778e-01 -1.23948655e-01 -8.43411800e-02 3.09714327e+01] [ 1.24937179e-01 9.92143201e-01 6.52464036e-03 7.18451224e-01] [ 8.28698078e-02 -1.69882465e-02 9.96415573e-01 3.10877299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.68719347 meters Centerline goodness : 0.872385 with order 1 Centerline is valid? [False, False] Translation: X:30.97, Y:0.72, Z:3.11 [[ 9.89127207e-01 -1.20721550e-01 -8.39861615e-02 3.09670652e+01] [ 1.21980414e-01 9.92482093e-01 1.00036578e-02 7.18294079e-01] [ 8.21471043e-02 -2.01395568e-02 9.96416706e-01 3.11272669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74719347 meters Centerline goodness : 0.865408 with order 1 Centerline is valid? [False, False] Translation: X:30.97, Y:0.72, Z:3.11 [[ 9.89208453e-01 -1.20202671e-01 -8.37732382e-02 3.09663981e+01] [ 1.21471701e-01 9.92542475e-01 1.02010721e-02 7.17958838e-01] [ 8.19223010e-02 -2.02670645e-02 9.96432628e-01 3.11307767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80719347000002 meters Centerline goodness : 0.864701 with order 1 Centerline is valid? [False, False] Translation: X:30.97, Y:0.71, Z:3.11 [[ 9.89641419e-01 -1.16060889e-01 -8.44969358e-02 3.09678373e+01] [ 1.17747182e-01 9.92926692e-01 1.52376365e-02 7.12788250e-01] [ 8.21307692e-02 -2.50290723e-02 9.96307223e-01 3.11278488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86719347000002 meters Centerline goodness : 0.866285 with order 1 Centerline is valid? [False, False] Translation: X:30.97, Y:0.71, Z:3.11 [[ 9.89453001e-01 -1.18245352e-01 -8.36707551e-02 3.09670981e+01] [ 1.19753265e-01 9.92715649e-01 1.32210555e-02 7.09359126e-01] [ 8.14979395e-02 -2.31014591e-02 9.96405745e-01 3.11305806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92719347000002 meters Centerline goodness : 0.866284 with order 1 Centerline is valid? [False, False] Translation: X:30.97, Y:0.71, Z:3.11 [[ 9.89486459e-01 -1.17708205e-01 -8.40316936e-02 3.09685320e+01] [ 1.19350873e-01 9.92742087e-01 1.47823242e-02 7.05844021e-01] [ 8.16817981e-02 -2.46561657e-02 9.96353430e-01 3.11267555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98719347000002 meters Centerline goodness : 0.872134 with order 1 Centerline is valid? [False, False] Translation: X:30.97, Y:0.70, Z:3.11 [[ 9.89331419e-01 -1.18302694e-01 -8.50165594e-02 3.09748160e+01] [ 1.19926872e-01 9.92680597e-01 1.42399777e-02 7.00749428e-01] [ 8.27096613e-02 -2.42838274e-02 9.96277776e-01 3.10844192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04719347000002 meters Centerline goodness : 0.861312 with order 1 Centerline is valid? [False, False] Translation: X:30.98, Y:0.69, Z:3.11 [[ 9.88978869e-01 -1.21306865e-01 -8.48848641e-02 3.09767611e+01] [ 1.22819976e-01 9.92346201e-01 1.28168236e-02 6.94191116e-01] [ 8.26804037e-02 -2.31011247e-02 9.96308330e-01 3.10769528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.10719347000003 meters Centerline goodness : 0.861989 with order 1 Centerline is valid? [False, False] Translation: X:30.98, Y:0.68, Z:3.11 [[ 9.88619591e-01 -1.20751443e-01 -8.97239877e-02 3.09843394e+01] [ 1.23138253e-01 9.92155734e-01 2.15399784e-02 6.78413423e-01] [ 8.64191853e-02 -3.23432998e-02 9.95733717e-01 3.10748563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.16719347000003 meters Centerline goodness : 0.870617 with order 1 Centerline is valid? [False, False] Translation: X:30.98, Y:0.67, Z:3.11 [[ 9.88186867e-01 -1.23714366e-01 -9.04514895e-02 3.09798330e+01] [ 1.25024645e-01 9.92113317e-01 8.94449282e-03 6.71606138e-01] [ 8.86315650e-02 -2.01474957e-02 9.95860695e-01 3.10515267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.22719347 meters Centerline goodness : 0.863717 with order 1 Centerline is valid? [False, False] Translation: X:31.00, Y:0.66, Z:3.11 [[ 9.88608770e-01 -1.23002334e-01 -8.67359495e-02 3.09954387e+01] [ 1.25007094e-01 9.91991594e-01 1.80528129e-02 6.57167159e-01] [ 8.38207947e-02 -2.86897782e-02 9.96067754e-01 3.10578100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.28719347 meters Centerline goodness : 0.864251 with order 1 Centerline is valid? [False, False] Translation: X:30.99, Y:0.65, Z:3.11 [[ 9.88334725e-01 -1.25417167e-01 -8.64002637e-02 3.09940922e+01] [ 1.27319353e-01 9.91718690e-01 1.68470478e-02 6.50440950e-01] [ 8.35718473e-02 -2.76509481e-02 9.96118051e-01 3.10808791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.34719347 meters Centerline goodness : 0.867424 with order 1 Centerline is valid? [False, False] Translation: X:30.99, Y:0.65, Z:3.11 [[ 9.87940316e-01 -1.28529396e-01 -8.63372855e-02 3.09941993e+01] [ 1.30251659e-01 9.91373515e-01 1.45965387e-02 6.46462770e-01] [ 8.37164139e-02 -2.56660838e-02 9.96159031e-01 3.10933635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.40719347 meters Centerline goodness : 0.864807 with order 1 Centerline is valid? [False, False] Translation: X:30.99, Y:0.64, Z:3.11 [[ 9.87364777e-01 -1.33664499e-01 -8.51152153e-02 3.09907206e+01] [ 1.35077899e-01 9.90773442e-01 1.10429591e-02 6.38515504e-01] [ 8.28538433e-02 -2.24006132e-02 9.96309918e-01 3.11312145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.46719347 meters Centerline goodness : 0.862558 with order 1 Centerline is valid? [False, False] Translation: X:30.99, Y:0.63, Z:3.11 [[ 9.86942336e-01 -1.36784215e-01 -8.50582425e-02 3.09920500e+01] [ 1.38062481e-01 9.90379820e-01 9.30399710e-03 6.32228930e-01] [ 8.29673269e-02 -2.09258606e-02 9.96332540e-01 3.11292779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52719347000001 meters Centerline goodness : 0.868454 with order 1 Centerline is valid? [False, False] Translation: X:30.99, Y:0.63, Z:3.11 [[ 9.86862951e-01 -1.37324351e-01 -8.51089813e-02 3.09922452e+01] [ 1.38650941e-01 9.90292339e-01 9.84882732e-03 6.29487034e-01] [ 8.29302883e-02 -2.15198831e-02 9.96322971e-01 3.11303378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.58719347000002 meters Centerline goodness : 0.867082 with order 1 Centerline is valid? [False, False] Translation: X:30.99, Y:0.63, Z:3.11 [[ 9.86673902e-01 -1.39022713e-01 -8.45416822e-02 3.09900617e+01] [ 1.40285492e-01 9.90068768e-01 9.15510171e-03 6.27564106e-01] [ 8.24293121e-02 -2.08930714e-02 9.96377884e-01 3.11484952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64719347000002 meters Centerline goodness : 0.869075 with order 1 Centerline is valid? [False, False] Translation: X:30.99, Y:0.62, Z:3.11 [[ 9.86196636e-01 -1.42338372e-01 -8.45930477e-02 3.09928041e+01] [ 1.43479853e-01 9.89624517e-01 7.53968459e-03 6.21717013e-01] [ 8.26421676e-02 -1.95730096e-02 9.96387058e-01 3.11289541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.70719347000002 meters Centerline goodness : 0.869948 with order 1 Centerline is valid? [False, False] Translation: X:31.00, Y:0.63, Z:3.12 [[ 9.87057620e-01 -1.40436024e-01 -7.74272398e-02 3.10019877e+01] [ 1.37621457e-01 9.89652944e-01 -4.05879917e-02 6.34697534e-01] [ 8.23261120e-02 2.94070370e-02 9.96171490e-01 3.11575005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76719347000002 meters Centerline goodness : 0.867250 with order 1 Centerline is valid? [False, False] Translation: X:31.00, Y:0.66, Z:3.13 [[ 0.98977439 -0.12810159 -0.06274265 31.00256203] [ 0.11889569 0.98392158 -0.13327471 0.66067831] [ 0.07880655 0.12445206 0.9890911 3.12996005] [ 0. 0. 0. 1. ]] SLAMing on 158.82719347000003 meters Centerline goodness : 0.873862 with order 1 Centerline is valid? [False, False] Translation: X:31.00, Y:0.68, Z:3.15 [[ 0.99085924 -0.12158732 -0.05843366 30.99975998] [ 0.10637874 0.97062706 -0.21579311 0.67937974] [ 0.082955 0.2076045 0.9746891 3.14853946] [ 0. 0. 0. 1. ]] SLAMing on 158.88719347000003 meters Centerline goodness : 0.873110 with order 1 Centerline is valid? [False, False] Translation: X:31.02, Y:0.68, Z:3.16 [[ 0.99072163 -0.12112787 -0.06163346 31.02407815] [ 0.10253358 0.96382369 -0.24603 0.6774107 ] [ 0.08920488 0.23742774 0.96730066 3.16240543] [ 0. 0. 0. 1. ]] SLAMing on 158.94719347000003 meters Centerline goodness : 0.879840 with order 1 Centerline is valid? [False, False] Translation: X:31.03, Y:0.66, Z:3.16 [[ 0.99108559 -0.11698217 -0.06375359 31.02814782] [ 0.0989985 0.96689656 -0.23518149 0.66259576] [ 0.08915517 0.22677348 0.96985831 3.16221854] [ 0. 0. 0. 1. ]] SLAMing on 159.00719347 meters Centerline goodness : 0.883721 with order 1 Centerline is valid? [False, False] Translation: X:31.02, Y:0.64, Z:3.16 [[ 0.99243205 -0.1062149 -0.06161991 31.02133808] [ 0.0910657 0.97325091 -0.21092581 0.64125638] [ 0.0823751 0.20371808 0.97555794 3.15952338] [ 0. 0. 0. 1. ]] SLAMing on 159.06719347 meters Centerline goodness : 0.885203 with order 1 Centerline is valid? [False, False] Translation: X:31.01, Y:0.63, Z:3.17 [[ 0.99201847 -0.1054314 -0.06916336 31.00882946] [ 0.08916137 0.97438072 -0.20647632 0.63224705] [ 0.08916053 0.19866162 0.97600408 3.16555908] [ 0. 0. 0. 1. ]] SLAMing on 159.12719347 meters Centerline goodness : 0.892824 with order 1 Centerline is valid? [False, False] Translation: X:31.01, Y:0.61, Z:3.16 [[ 0.99200388 -0.10251551 -0.07361305 31.01077614] [ 0.08745363 0.97889341 -0.1847148 0.60758596] [ 0.09099546 0.17680007 0.98003141 3.16220078] [ 0. 0. 0. 1. ]] SLAMing on 159.18719347 meters Centerline goodness : 0.891915 with order 1 Centerline is valid? [False, False] Translation: X:31.03, Y:0.60, Z:3.17 [[ 0.99140028 -0.10781194 -0.07417592 31.03057924] [ 0.08971493 0.97258774 -0.21453282 0.60446952] [ 0.09527179 0.20603321 0.97389609 3.17208671] [ 0. 0. 0. 1. ]] SLAMing on 159.24719347 meters Centerline goodness : 0.897772 with order 1 Centerline is valid? [False, False] Translation: X:31.04, Y:0.59, Z:3.17 [[ 0.99160728 -0.10874081 -0.06993168 31.03830807] [ 0.09252407 0.97467009 -0.20361119 0.58715749] [ 0.09030116 0.19543198 0.9765511 3.17044092] [ 0. 0. 0. 1. ]] SLAMing on 159.30719347000002 meters Centerline goodness : 0.897786 with order 1 Centerline is valid? [False, False] Translation: X:31.04, Y:0.57, Z:3.17 [[ 0.99174584 -0.10574666 -0.07251086 31.04039348] [ 0.09088807 0.97868258 -0.18417318 0.56904382] [ 0.09044081 0.17606262 0.98021549 3.16867261] [ 0. 0. 0. 1. ]] SLAMing on 159.36719347000002 meters Centerline goodness : 0.903332 with order 1 Centerline is valid? [False, False] Translation: X:31.07, Y:0.55, Z:3.17 [[ 0.99071698 -0.10977367 -0.08018487 31.06597795] [ 0.09576432 0.98222171 -0.16146118 0.54719769] [ 0.09648351 0.15228348 0.98361612 3.16853149] [ 0. 0. 0. 1. ]] SLAMing on 159.42719347000002 meters Centerline goodness : 0.900665 with order 1 Centerline is valid? [False, False] Translation: X:31.09, Y:0.53, Z:3.17 [[ 0.98925397 -0.11801322 -0.08631022 31.08733925] [ 0.10496208 0.98419011 -0.14266317 0.53016707] [ 0.1017818 0.13207081 0.9860009 3.17031246] [ 0. 0. 0. 1. ]] SLAMing on 159.48719347000002 meters Centerline goodness : 0.901660 with order 1 Centerline is valid? [False, False] Translation: X:31.10, Y:0.51, Z:3.17 [[ 0.98776953 -0.12785402 -0.08924517 31.09723784] [ 0.11589998 0.98494481 -0.12826115 0.51180018] [ 0.10430027 0.11634894 0.98771675 3.17215992] [ 0. 0. 0. 1. ]] SLAMing on 159.54719347000002 meters Centerline goodness : 0.900703 with order 1 Centerline is valid? [False, False] Translation: X:31.11, Y:0.49, Z:3.18 [[ 0.98592192 -0.1389443 -0.09301857 31.11281056] [ 0.12765879 0.98478364 -0.11791695 0.4915987 ] [ 0.10798706 0.10438227 0.98865724 3.17507176] [ 0. 0. 0. 1. ]] SLAMing on 159.60719347000003 meters Centerline goodness : 0.901066 with order 1 Centerline is valid? [False, False] Translation: X:31.13, Y:0.49, Z:3.18 [[ 0.98437098 -0.14704883 -0.09690414 31.12975898] [ 0.13762852 0.98565883 -0.09764761 0.48705075] [ 0.10987339 0.0827847 0.99049207 3.17742344] [ 0. 0. 0. 1. ]] SLAMing on 159.66719347000003 meters Centerline goodness : 0.900544 with order 1 Centerline is valid? [False, False] Translation: X:31.15, Y:0.49, Z:3.18 [[ 0.98418752 -0.14796139 -0.09737742 31.14613137] [ 0.13999184 0.98656897 -0.08416624 0.48902704] [ 0.10852289 0.06920332 0.99168225 3.18145995] [ 0. 0. 0. 1. ]] SLAMing on 159.72719347 meters Centerline goodness : 0.900401 with order 1 Centerline is valid? [False, False] Translation: X:31.16, Y:0.50, Z:3.18 [[ 0.9853639 -0.14323029 -0.0924287 31.15878599] [ 0.13554447 0.98714449 -0.08469623 0.49614217] [ 0.10337155 0.07092841 0.99211062 3.18485277] [ 0. 0. 0. 1. ]] SLAMing on 159.78719347 meters Centerline goodness : 0.901767 with order 1 Centerline is valid? [False, False] Translation: X:31.20, Y:0.51, Z:3.19 [[ 0.9875114 -0.13407378 -0.08273723 31.19789785] [ 0.12560298 0.98699995 -0.10027452 0.51328397] [ 0.09510582 0.08863019 0.99151378 3.18584559] [ 0. 0. 0. 1. ]] SLAMing on 159.84719347 meters Centerline goodness : 0.896726 with order 1 Centerline is valid? [False, False] Translation: X:31.24, Y:0.56, Z:3.19 [[ 0.99097597 -0.12046812 -0.05877118 31.24046171] [ 0.10668795 0.97433057 -0.19823627 0.56434834] [ 0.08114371 0.1901772 0.97839068 3.18862442] [ 0. 0. 0. 1. ]] SLAMing on 159.90719347 meters Centerline goodness : 0.892559 with order 1 Centerline is valid? [False, False] Translation: X:31.26, Y:0.61, Z:3.20 [[ 0.99248416 -0.11404961 -0.04436077 31.25954473] [ 0.09354339 0.94077997 -0.32585684 0.61084069] [ 0.07889757 0.3192581 0.94437781 3.20186712] [ 0. 0. 0. 1. ]] SLAMing on 159.96719347 meters Centerline goodness : 0.893447 with order 1 Centerline is valid? [False, False] Translation: X:31.29, Y:0.64, Z:3.22 [[ 0.9928107 -0.11298109 -0.03952444 31.28853382] [ 0.08722509 0.90903507 -0.40748868 0.63618363] [ 0.08196762 0.4011116 0.91235453 3.21969821] [ 0. 0. 0. 1. ]] SLAMing on 160.02719347000001 meters Centerline goodness : 0.890050 with order 1 Centerline is valid? [False, False] Translation: X:31.31, Y:0.64, Z:3.22 [[ 0.99217539 -0.11880056 -0.03839832 31.31341553] [ 0.09287977 0.90785095 -0.40887651 0.63566701] [ 0.08343471 0.40211078 0.91178154 3.22425201] [ 0. 0. 0. 1. ]] SLAMing on 160.08719347000002 meters Centerline goodness : 0.888533 with order 1 Centerline is valid? [False, False] Translation: X:31.32, Y:0.62, Z:3.22 [[ 0.99068227 -0.12818919 -0.04600179 31.32293956] [ 0.10232056 0.92346428 -0.36978943 0.61825527] [ 0.08988402 0.36163691 0.92797608 3.22070214] [ 0. 0. 0. 1. ]] SLAMing on 160.14719347000002 meters Centerline goodness : 0.885571 with order 1 Centerline is valid? [False, False] Translation: X:31.34, Y:0.60, Z:3.22 [[ 0.98963129 -0.13348949 -0.05301374 31.34113702] [ 0.10771977 0.93393776 -0.3408177 0.60328196] [ 0.09500711 0.33157323 0.9386335 3.2237816 ] [ 0. 0. 0. 1. ]] SLAMing on 160.20719347000002 meters Centerline goodness : 0.892078 with order 1 Centerline is valid? [False, False] Translation: X:31.35, Y:0.59, Z:3.23 [[ 0.98918828 -0.13615344 -0.05448656 31.35480168] [ 0.11256194 0.94305425 -0.31301516 0.59095395] [ 0.09400187 0.30349782 0.94818391 3.22807879] [ 0. 0. 0. 1. ]] SLAMing on 160.26719347000002 meters Centerline goodness : 0.891818 with order 1 Centerline is valid? [False, False] Translation: X:31.39, Y:0.59, Z:3.23 [[ 0.98975779 -0.1347069 -0.04726069 31.38526474] [ 0.11428929 0.94608003 -0.30310154 0.59086786] [ 0.08554227 0.29459571 0.95178563 3.23212017] [ 0. 0. 0. 1. ]] SLAMing on 160.32719347000003 meters Centerline goodness : 0.891447 with order 1 Centerline is valid? [False, False] Translation: X:31.41, Y:0.59, Z:3.23 [[ 0.98975837 -0.13457305 -0.04762833 31.40756893] [ 0.11552333 0.9510716 -0.28656093 0.58973788] [ 0.08386133 0.27812389 0.95687741 3.23362837] [ 0. 0. 0. 1. ]] SLAMing on 160.38719347000003 meters Centerline goodness : 0.892158 with order 1 Centerline is valid? [False, False] Translation: X:31.43, Y:0.59, Z:3.24 [[ 0.98904134 -0.13833024 -0.0515943 31.42767732] [ 0.12022997 0.95746391 -0.26231207 0.58520143] [ 0.08568537 0.2532343 0.96360283 3.23537212] [ 0. 0. 0. 1. ]] SLAMing on 160.44719347000003 meters Centerline goodness : 0.888301 with order 1 Centerline is valid? [False, False] Translation: X:31.46, Y:0.58, Z:3.24 [[ 0.98830339 -0.14006547 -0.06031641 31.45527119] [ 0.12160905 0.96250051 -0.24249538 0.58238052] [ 0.0920198 0.23232398 0.96827575 3.24089469] [ 0. 0. 0. 1. ]] SLAMing on 160.50719347 meters Centerline goodness : 0.889641 with order 1 Centerline is valid? [False, False] Translation: X:31.48, Y:0.58, Z:3.25 [[ 0.98774454 -0.14271346 -0.06319487 31.4764612 ] [ 0.12512565 0.96606931 -0.22595056 0.57973549] [ 0.09329681 0.21527413 0.9720868 3.24790626] [ 0. 0. 0. 1. ]] SLAMing on 160.56719347 meters Centerline goodness : 0.891648 with order 1 Centerline is valid? [False, False] Translation: X:31.50, Y:0.58, Z:3.25 [[ 0.98793692 -0.14124114 -0.06349467 31.49556067] [ 0.12534553 0.97012678 -0.20770779 0.57919634] [ 0.09093476 0.19724342 0.97612802 3.25208732] [ 0. 0. 0. 1. ]] SLAMing on 160.62719347 meters Centerline goodness : 0.892211 with order 1 Centerline is valid? [False, False] Translation: X:31.52, Y:0.59, Z:3.26 [[ 0.98820516 -0.13937343 -0.06344768 31.51878042] [ 0.12525605 0.9740131 -0.18870455 0.58636583] [ 0.08809927 0.1785316 0.97998214 3.25577455] [ 0. 0. 0. 1. ]] SLAMing on 160.68719347 meters Centerline goodness : 0.891236 with order 1 Centerline is valid? [False, False] Translation: X:31.54, Y:0.59, Z:3.26 [[ 0.98779096 -0.1413143 -0.06556889 31.54234604] [ 0.12821056 0.97652062 -0.1731171 0.58945101] [ 0.08849329 0.16259688 0.98271623 3.25800807] [ 0. 0. 0. 1. ]] SLAMing on 160.74719347 meters Centerline goodness : 0.890704 with order 1 Centerline is valid? [False, False] Translation: X:31.56, Y:0.59, Z:3.26 [[ 0.98691595 -0.14666673 -0.06697593 31.56353973] [ 0.13440659 0.97780715 -0.16071106 0.59109216] [ 0.08906051 0.1496063 0.98472645 3.26145215] [ 0. 0. 0. 1. ]] SLAMing on 160.80719347000002 meters Centerline goodness : 0.889130 with order 1 Centerline is valid? [False, False] Translation: X:31.59, Y:0.60, Z:3.27 [[ 0.98551809 -0.15535596 -0.06796046 31.5872349 ] [ 0.1440904 0.97852728 -0.14738491 0.59524747] [ 0.08939829 0.13545804 0.98674164 3.26836971] [ 0. 0. 0. 1. ]] SLAMing on 160.86719347000002 meters Centerline goodness : 0.888840 with order 1 Centerline is valid? [False, False] Translation: X:31.62, Y:0.61, Z:3.27 [[ 0.98553789 -0.15458509 -0.06941552 31.61676273] [ 0.14367396 0.97947096 -0.1414017 0.60769984] [ 0.08984908 0.12938354 0.98751559 3.27189793] [ 0. 0. 0. 1. ]] SLAMing on 160.92719347000002 meters Centerline goodness : 0.887310 with order 1 Centerline is valid? [False, False] Translation: X:31.64, Y:0.62, Z:3.28 [[ 0.98596117 -0.15087475 -0.07153587 31.6444043 ] [ 0.14041978 0.98102495 -0.13368744 0.6177665 ] [ 0.09034853 0.12176558 0.98843831 3.27592094] [ 0. 0. 0. 1. ]] SLAMing on 160.98719347000002 meters Centerline goodness : 0.888603 with order 1 Centerline is valid? [False, False] Translation: X:31.66, Y:0.62, Z:3.28 [[ 0.9859446 -0.149488 -0.07460953 31.65744383] [ 0.13958255 0.98243314 -0.12386217 0.61984752] [ 0.09181478 0.11170705 0.98949057 3.27654433] [ 0. 0. 0. 1. ]] SLAMing on 161.04719347000002 meters Centerline goodness : 0.887894 with order 1 Centerline is valid? [False, False] Translation: X:31.69, Y:0.64, Z:3.27 [[ 0.98716558 -0.14514715 -0.06660653 31.6853627 ] [ 0.13473101 0.98085339 -0.14062071 0.63858599] [ 0.08574194 0.12984196 0.98782052 3.27264307] [ 0. 0. 0. 1. ]] SLAMing on 161.10719347000003 meters Centerline goodness : 0.891440 with order 1 Centerline is valid? [False, False] Translation: X:31.72, Y:0.66, Z:3.28 [[ 0.98828987 -0.14210118 -0.0555912 31.72336089] [ 0.13007063 0.97503158 -0.17998624 0.66344481] [ 0.07977943 0.1706478 0.98209703 3.27659318] [ 0. 0. 0. 1. ]] SLAMing on 161.16719347000003 meters Centerline goodness : 0.886093 with order 1 Centerline is valid? [False, False] Translation: X:31.76, Y:0.69, Z:3.28 [[ 0.98908666 -0.1400338 -0.04580522 31.76362245] [ 0.12711498 0.96824911 -0.21525667 0.68525736] [ 0.07449408 0.20708497 0.97548267 3.28123863] [ 0. 0. 0. 1. ]] SLAMing on 161.22719347 meters Centerline goodness : 0.886526 with order 1 Centerline is valid? [False, False] Translation: X:31.80, Y:0.70, Z:3.29 [[ 0.98955496 -0.13988283 -0.03483917 31.79946042] [ 0.12700867 0.96032165 -0.24829643 0.70158152] [ 0.06818922 0.24127809 0.96805739 3.28804453] [ 0. 0. 0. 1. ]] SLAMing on 161.28719347 meters Centerline goodness : 0.889929 with order 1 Centerline is valid? [False, False] Translation: X:31.84, Y:0.72, Z:3.30 [[ 9.90487677e-01 -1.35902375e-01 -2.15570540e-02 3.18361460e+01] [ 1.24323790e-01 9.51003410e-01 -2.83083221e-01 7.20111178e-01] [ 5.89725139e-02 2.77710387e-01 9.58853056e-01 3.29524864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.34719347 meters Centerline goodness : 0.890312 with order 1 Centerline is valid? [False, False] Translation: X:31.87, Y:0.74, Z:3.30 [[ 9.91174877e-01 -1.32258267e-01 -8.95062618e-03 3.18724407e+01] [ 1.22173576e-01 9.37624450e-01 -3.25475051e-01 7.42905968e-01] [ 5.14390922e-02 3.21509164e-01 9.45508264e-01 3.30380536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.40719347 meters Centerline goodness : 0.886314 with order 1 Centerline is valid? [False, False] Translation: X:31.91, Y:0.76, Z:3.31 [[ 9.91167634e-01 -1.32419426e-01 7.19839552e-03 3.19054147e+01] [ 1.25634165e-01 9.20229946e-01 -3.70665487e-01 7.60065111e-01] [ 4.24591319e-02 3.68295998e-01 9.28738542e-01 3.31479398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.46719347 meters Centerline goodness : 0.884656 with order 1 Centerline is valid? [False, False] Translation: X:31.93, Y:0.76, Z:3.31 [[ 9.90310226e-01 -1.37855911e-01 1.67751198e-02 3.19316069e+01] [ 1.34133240e-01 9.18219372e-01 -3.72668028e-01 7.64222227e-01] [ 3.59712507e-02 3.71307060e-01 9.27813093e-01 3.31450117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52719347000001 meters Centerline goodness : 0.885140 with order 1 Centerline is valid? [False, False] Translation: X:31.96, Y:0.76, Z:3.32 [[ 9.89517972e-01 -1.44012424e-01 1.07053886e-02 3.19612982e+01] [ 1.38592593e-01 9.26216062e-01 -3.50593638e-01 7.62558207e-01] [ 4.05743369e-02 3.48402393e-01 9.36466495e-01 3.31678094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.58719347000002 meters Centerline goodness : 0.883335 with order 1 Centerline is valid? [False, False] Translation: X:31.98, Y:0.76, Z:3.32 [[ 9.88978756e-01 -1.47659015e-01 1.08551635e-02 3.19844109e+01] [ 1.42771855e-01 9.31690450e-01 -3.34019613e-01 7.59565814e-01] [ 3.92073549e-02 3.31888113e-01 9.42503615e-01 3.31699136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64719347000002 meters Centerline goodness : 0.879735 with order 1 Centerline is valid? [False, False] Translation: X:32.01, Y:0.76, Z:3.32 [[ 9.88132332e-01 -1.53125599e-01 1.21262242e-02 3.20089700e+01] [ 1.48972560e-01 9.36099766e-01 -3.18628946e-01 7.58512055e-01] [ 3.74388925e-02 3.16654038e-01 9.47801957e-01 3.31778408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.70719347000002 meters Centerline goodness : 0.878792 with order 1 Centerline is valid? [False, False] Translation: X:32.03, Y:0.76, Z:3.32 [[ 9.87395755e-01 -1.57973765e-01 9.69082584e-03 3.20344837e+01] [ 1.53668875e-01 9.42230111e-01 -2.97637860e-01 7.57093197e-01] [ 3.78879854e-02 2.95375537e-01 9.54629662e-01 3.32132412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76719347000002 meters Centerline goodness : 0.878416 with order 1 Centerline is valid? [False, False] Translation: X:32.06, Y:0.76, Z:3.33 [[ 9.86793410e-01 -1.61937430e-01 3.87736346e-03 3.20602492e+01] [ 1.56640792e-01 9.47873382e-01 -2.77488224e-01 7.56926335e-01] [ 4.12604801e-02 2.74430904e-01 9.60721214e-01 3.32578237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.82719347000003 meters Centerline goodness : 0.875281 with order 1 Centerline is valid? [False, False] Translation: X:32.09, Y:0.76, Z:3.33 [[ 9.85774345e-01 -1.68074209e-01 -5.47238973e-06 3.20870782e+01] [ 1.62191660e-01 9.51281066e-01 -2.62217848e-01 7.62982199e-01] [ 4.40772631e-02 2.58486740e-01 9.65008705e-01 3.32794509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.88719347000003 meters Centerline goodness : 0.876080 with order 1 Centerline is valid? [False, False] Translation: X:32.11, Y:0.77, Z:3.33 [[ 9.85431366e-01 -1.70046880e-01 -3.01368936e-03 3.21101446e+01] [ 1.64052894e-01 9.55070446e-01 -2.46834136e-01 7.69870234e-01] [ 4.48516603e-02 2.42743696e-01 9.69053057e-01 3.32755257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.94719347000003 meters Centerline goodness : 0.876800 with order 1 Centerline is valid? [False, False] Translation: X:32.11, Y:0.77, Z:3.33 [[ 9.84878100e-01 -1.72799776e-01 -1.24645635e-02 3.21102997e+01] [ 1.66353561e-01 9.63325228e-01 -2.10549278e-01 7.66168316e-01] [ 4.83902966e-02 2.05291849e-01 9.77503778e-01 3.32818659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.00719347 meters Centerline goodness : 0.875536 with order 1 Centerline is valid? [False, False] Translation: X:32.11, Y:0.76, Z:3.33 [[ 9.83646617e-01 -1.79333827e-01 -1.66946613e-02 3.21050157e+01] [ 1.74009895e-01 9.70162265e-01 -1.68836417e-01 7.64745578e-01] [ 4.64746113e-02 1.63170335e-01 9.85502690e-01 3.33145601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.06719347 meters Centerline goodness : 0.875496 with order 1 Centerline is valid? [False, False] Translation: X:32.11, Y:0.76, Z:3.34 [[ 9.83219218e-01 -1.81190253e-01 -2.12146531e-02 3.21052202e+01] [ 1.76539199e-01 9.74333754e-01 -1.39669779e-01 7.64236670e-01] [ 4.59769551e-02 1.33580793e-01 9.89970854e-01 3.33556822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.12719347 meters Centerline goodness : 0.874758 with order 1 Centerline is valid? [False, False] Translation: X:32.10, Y:0.77, Z:3.34 [[ 9.84626317e-01 -1.72853732e-01 -2.51516204e-02 3.20962314e+01] [ 1.68487912e-01 9.77839192e-01 -1.24267204e-01 7.72483016e-01] [ 4.60742902e-02 1.18119016e-01 9.91929966e-01 3.33754018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.18719347 meters Centerline goodness : 0.874778 with order 1 Centerline is valid? [False, False] Translation: X:32.10, Y:0.78, Z:3.34 [[ 9.86820754e-01 -1.60043018e-01 -2.38962878e-02 3.20965037e+01] [ 1.56921014e-01 9.82521742e-01 -1.00134015e-01 7.77973337e-01] [ 3.95043723e-02 9.50644943e-02 9.94686959e-01 3.34073092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24719347 meters Centerline goodness : 0.878723 with order 1 Centerline is valid? [False, False] Translation: X:32.09, Y:0.79, Z:3.35 [[ 9.90414937e-01 -1.35719236e-01 -2.56620682e-02 3.20900595e+01] [ 1.33312052e-01 9.87880407e-01 -7.94996684e-02 7.88306390e-01] [ 3.61406887e-02 7.53165961e-02 9.96504521e-01 3.34585823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30719347000002 meters Centerline goodness : 0.881053 with order 1 Centerline is valid? [False, False] Translation: X:32.09, Y:0.79, Z:3.35 [[ 9.92032441e-01 -1.23171886e-01 -2.64635950e-02 3.20878418e+01] [ 1.21138120e-01 9.90293706e-01 -6.81464065e-02 7.89823787e-01] [ 3.46004530e-02 6.43976959e-02 9.97324293e-01 3.34705679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36719347000002 meters Centerline goodness : 0.880504 with order 1 Centerline is valid? [False, False] Translation: X:32.09, Y:0.79, Z:3.35 [[ 9.92443702e-01 -1.19582278e-01 -2.74877477e-02 3.20894208e+01] [ 1.17615021e-01 9.90958155e-01 -6.45650190e-02 7.90819249e-01] [ 3.49600398e-02 6.08441745e-02 9.97534853e-01 3.34625779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42719347000002 meters Centerline goodness : 0.882893 with order 1 Centerline is valid? [False, False] Translation: X:32.09, Y:0.78, Z:3.35 [[ 0.99254411 -0.11651248 -0.03579147 32.08872574] [ 0.11469431 0.99218 -0.04923486 0.78316055] [ 0.04124806 0.04476269 0.99814573 3.34510863] [ 0. 0. 0. 1. ]] SLAMing on 162.48719347000002 meters Centerline goodness : 0.883458 with order 1 Centerline is valid? [False, False] Translation: X:32.09, Y:0.78, Z:3.34 [[ 0.99276737 -0.11408625 -0.03738024 32.09310542] [ 0.1123415 0.99261081 -0.04586041 0.77691551] [ 0.04233607 0.04132936 0.99824824 3.34329678] [ 0. 0. 0. 1. ]] SLAMing on 162.54719347000002 meters Centerline goodness : 0.882853 with order 1 Centerline is valid? [False, False] Translation: X:32.10, Y:0.77, Z:3.35 [[ 9.92999971e-01 -1.09829877e-01 -4.34563571e-02 3.21041644e+01] [ 1.08521598e-01 9.93597870e-01 -3.14059678e-02 7.68802613e-01] [ 4.66274574e-02 2.64701718e-02 9.98561571e-01 3.34648860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.60719347000003 meters Centerline goodness : 0.879263 with order 1 Centerline is valid? [False, False] Translation: X:32.10, Y:0.76, Z:3.35 [[ 9.92838748e-01 -1.11262401e-01 -4.34959635e-02 3.21047417e+01] [ 1.10011323e-01 9.93472114e-01 -3.01772505e-02 7.57193027e-01] [ 4.65696202e-02 2.51760951e-02 9.98597734e-01 3.34748228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.66719347000003 meters Centerline goodness : 0.883199 with order 1 Centerline is valid? [False, False] Translation: X:32.09, Y:0.74, Z:3.35 [[ 0.99273732 -0.11239528 -0.04289433 32.08778768] [ 0.11042829 0.99282983 -0.04576598 0.7440831 ] [ 0.04773065 0.04069685 0.99803084 3.34746569] [ 0. 0. 0. 1. ]] SLAMing on 162.72719347 meters Centerline goodness : 0.880145 with order 1 Centerline is valid? [False, False] Translation: X:32.10, Y:0.73, Z:3.35 [[ 0.99141061 -0.12257177 -0.04561977 32.09696845] [ 0.11994527 0.9911746 -0.05644503 0.72981038] [ 0.05213573 0.05048832 0.99736292 3.3492197 ] [ 0. 0. 0. 1. ]] SLAMing on 162.78719347 meters Centerline goodness : 0.880256 with order 1 Centerline is valid? [False, False] Translation: X:32.11, Y:0.72, Z:3.34 [[ 0.99074965 -0.12900672 -0.04209986 32.11206751] [ 0.12684153 0.99063189 -0.05059333 0.72092495] [ 0.04823235 0.04478531 0.99783161 3.34489759] [ 0. 0. 0. 1. ]] SLAMing on 162.84719347 meters Centerline goodness : 0.874011 with order 1 Centerline is valid? [False, False] Translation: X:32.13, Y:0.71, Z:3.34 [[ 0.98963603 -0.13824403 -0.03884731 32.1297992 ] [ 0.13624678 0.98940876 -0.05007122 0.70592468] [ 0.04535792 0.04425946 0.99798986 3.34341657] [ 0. 0. 0. 1. ]] SLAMing on 162.90719347 meters Centerline goodness : 0.876610 with order 1 Centerline is valid? [False, False] Translation: X:32.16, Y:0.71, Z:3.35 [[ 0.98935871 -0.14041813 -0.03810645 32.15717344] [ 0.1380103 0.98862352 -0.05980549 0.70511893] [ 0.04607071 0.05391 0.99748243 3.34653684] [ 0. 0. 0. 1. ]] SLAMing on 162.96719347 meters Centerline goodness : 0.875713 with order 1 Centerline is valid? [False, False] Translation: X:32.17, Y:0.70, Z:3.35 [[ 0.98927924 -0.14206307 -0.03383291 32.17187232] [ 0.14003496 0.98854844 -0.05623343 0.69724147] [ 0.04143416 0.05089278 0.99784424 3.34861097] [ 0. 0. 0. 1. ]] SLAMing on 163.02719347000001 meters Centerline goodness : 0.875343 with order 1 Centerline is valid? [False, False] Translation: X:32.19, Y:0.70, Z:3.35 [[ 9.89440102e-01 -1.41841570e-01 -2.98203591e-02 3.21885331e+01] [ 1.40072983e-01 9.88623646e-01 -5.47982385e-02 6.96968307e-01] [ 3.72537803e-02 5.00425480e-02 9.98052052e-01 3.35079977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08719347000002 meters Centerline goodness : 0.876249 with order 1 Centerline is valid? [False, False] Translation: X:32.20, Y:0.69, Z:3.35 [[ 9.88646350e-01 -1.48292554e-01 -2.42427835e-02 3.21997591e+01] [ 1.46935140e-01 9.87855264e-01 -5.05177390e-02 6.90183435e-01] [ 3.14397658e-02 4.63820615e-02 9.98428889e-01 3.34848911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14719347000002 meters Centerline goodness : 0.877545 with order 1 Centerline is valid? [False, False] Translation: X:32.22, Y:0.69, Z:3.35 [[ 9.86789311e-01 -1.59243599e-01 -2.98049006e-02 3.22159357e+01] [ 1.57532675e-01 9.86094161e-01 -5.29316736e-02 6.91581269e-01] [ 3.78194687e-02 4.75371640e-02 9.98153248e-01 3.34694593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.20719347000002 meters Centerline goodness : 0.869374 with order 2 Centerline is valid? [False, False] Translation: X:32.24, Y:0.70, Z:3.35 [[ 0.98692006 -0.1575103 -0.03434084 32.24156178] [ 0.15572187 0.98654987 -0.04969957 0.69775124] [ 0.04170714 0.04370189 0.99817366 3.34560405] [ 0. 0. 0. 1. ]] SLAMing on 163.26719347000002 meters Centerline goodness : 0.872875 with order 1 Centerline is valid? [False, False] Translation: X:32.27, Y:0.70, Z:3.35 [[ 0.98755606 -0.15306523 -0.03611169 32.27154897] [ 0.15096945 0.98700777 -0.05498982 0.70455865] [ 0.04405955 0.04885376 0.99783369 3.34669472] [ 0. 0. 0. 1. ]] SLAMing on 163.32719347000003 meters Centerline goodness : 0.870136 with order 1 Centerline is valid? [False, False] Translation: X:32.30, Y:0.72, Z:3.35 [[ 9.88428727e-01 -1.48756574e-01 -2.96670291e-02 3.22992785e+01] [ 1.46731809e-01 9.87257280e-01 -6.15860372e-02 7.18156554e-01] [ 3.84503184e-02 5.65203115e-02 9.97660778e-01 3.34647635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.38719347000003 meters Centerline goodness : 0.870181 with order 1 Centerline is valid? [False, False] Translation: X:32.34, Y:0.73, Z:3.35 [[ 9.89662274e-01 -1.41728418e-01 -2.19462688e-02 3.23351005e+01] [ 1.39807860e-01 9.87507027e-01 -7.26886090e-02 7.33696590e-01] [ 3.19741362e-02 6.88689132e-02 9.97113197e-01 3.34777395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.44719347000003 meters Centerline goodness : 0.867591 with order 1 Centerline is valid? [False, False] Translation: X:32.35, Y:0.75, Z:3.35 [[ 9.91535003e-01 -1.28476644e-01 -1.87640493e-02 3.23481179e+01] [ 1.26921221e-01 9.89541682e-01 -6.85438818e-02 7.51914691e-01] [ 2.73740968e-02 6.55821020e-02 9.97471627e-01 3.34749225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.50719347 meters Centerline goodness : 0.866646 with order 1 Centerline is valid? [False, False] Translation: X:32.35, Y:0.76, Z:3.35 [[ 9.92869106e-01 -1.17517227e-01 -2.00159769e-02 3.23480707e+01] [ 1.16144797e-01 9.91437967e-01 -5.96753141e-02 7.59642469e-01] [ 2.68574769e-02 5.69250242e-02 9.98017143e-01 3.34795791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.56719347 meters Centerline goodness : 0.864183 with order 1 Centerline is valid? [False, False] Translation: X:32.35, Y:0.77, Z:3.35 [[ 9.94082547e-01 -1.06587636e-01 -2.09515290e-02 3.23476037e+01] [ 1.05426483e-01 9.93151335e-01 -5.03555620e-02 7.65928803e-01] [ 2.61753193e-02 4.78487393e-02 9.98511568e-01 3.34838544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.62719347 meters Centerline goodness : 0.863197 with order 1 Centerline is valid? [False, False] Translation: X:32.35, Y:0.77, Z:3.35 [[ 9.94431790e-01 -1.03166934e-01 -2.14941549e-02 3.23483462e+01] [ 1.02063006e-01 9.93651448e-01 -4.73280362e-02 7.69062369e-01] [ 2.62403866e-02 4.48707457e-02 9.98648115e-01 3.34782996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.68719347 meters Centerline goodness : 0.860315 with order 1 Centerline is valid? [False, False] Translation: X:32.34, Y:0.77, Z:3.35 [[ 9.94258814e-01 -1.05574823e-01 -1.74174370e-02 3.23397355e+01] [ 1.04694821e-01 9.93466216e-01 -4.54298646e-02 7.70553636e-01] [ 2.20998851e-02 4.33455279e-02 9.98815679e-01 3.34727479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74719347 meters Centerline goodness : 0.859608 with order 1 Centerline is valid? [False, False] Translation: X:32.34, Y:0.77, Z:3.35 [[ 9.94260001e-01 -1.05552647e-01 -1.74839592e-02 3.23405485e+01] [ 1.04686976e-01 9.93502243e-01 -4.46534389e-02 7.67475175e-01] [ 2.20836414e-02 4.25667854e-02 9.98849529e-01 3.34665098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.80719347000002 meters Centerline goodness : 0.858245 with order 1 Centerline is valid? [False, False] Translation: X:32.34, Y:0.76, Z:3.34 [[ 9.94867834e-01 -9.95043304e-02 -1.83543016e-02 3.23436091e+01] [ 9.87481979e-02 9.94374687e-01 -3.83115441e-02 7.64021203e-01] [ 2.20632175e-02 3.63024687e-02 9.99097265e-01 3.34380518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.86719347000002 meters Centerline goodness : 0.859338 with order 1 Centerline is valid? [False, False] Translation: X:32.34, Y:0.76, Z:3.35 [[ 9.95435970e-01 -9.36849540e-02 -1.81757882e-02 3.23412011e+01] [ 9.30785199e-02 9.95152383e-01 -3.17509490e-02 7.59415685e-01] [ 2.10622652e-02 2.99142612e-02 9.99330535e-01 3.34572639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.92719347000002 meters Centerline goodness : 0.859561 with order 1 Centerline is valid? [False, False] Translation: X:32.34, Y:0.76, Z:3.35 [[ 9.95863722e-01 -8.89078428e-02 -1.87308018e-02 3.23421094e+01] [ 8.84021815e-02 9.95737929e-01 -2.62874877e-02 7.55183233e-01] [ 2.09881336e-02 2.45229116e-02 9.99478927e-01 3.34535183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98719347000002 meters Centerline goodness : 0.858080 with order 1 Centerline is valid? [False, False] Translation: X:32.34, Y:0.75, Z:3.34 [[ 9.96075600e-01 -8.64246426e-02 -1.90834887e-02 3.23439804e+01] [ 8.59722394e-02 9.96023251e-01 -2.33764179e-02 7.49726031e-01] [ 2.10278970e-02 2.16440292e-02 9.99544578e-01 3.34385431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04719347000002 meters Centerline goodness : 0.864058 with order 1 Centerline is valid? [False, False] Translation: X:32.34, Y:0.74, Z:3.34 [[ 9.96272763e-01 -8.42604175e-02 -1.84597952e-02 3.23430536e+01] [ 8.39014461e-02 9.96284650e-01 -1.94279040e-02 7.41020242e-01] [ 2.00282139e-02 1.78066880e-02 9.99640832e-01 3.34384281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.10719347000003 meters Centerline goodness : 0.865445 with order 1 Centerline is valid? [False, False] Translation: X:32.34, Y:0.73, Z:3.34 [[ 9.96444714e-01 -8.21924259e-02 -1.85023325e-02 3.23434264e+01] [ 8.19085206e-02 9.96517546e-01 -1.56132821e-02 7.32056505e-01] [ 1.97211925e-02 1.40422737e-02 9.99706902e-01 3.34367331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.16719347000003 meters Centerline goodness : 0.864384 with order 1 Centerline is valid? [False, False] Translation: X:32.34, Y:0.71, Z:3.34 [[ 9.96438800e-01 -8.23722016e-02 -1.80149408e-02 3.23449943e+01] [ 8.21379195e-02 9.96531142e-01 -1.33807899e-02 7.14867062e-01] [ 1.90546546e-02 1.18534285e-02 9.99748176e-01 3.34097276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.22719347 meters Centerline goodness : 0.864634 with order 1 Centerline is valid? [False, False] Translation: X:32.35, Y:0.70, Z:3.34 [[ 9.96222678e-01 -8.49083194e-02 -1.81921026e-02 3.23470078e+01] [ 8.46871561e-02 9.96327892e-01 -1.26022462e-02 7.04583275e-01] [ 1.91953348e-02 1.10140061e-02 9.99755085e-01 3.33896802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.28719347 meters Centerline goodness : 0.864836 with order 1 Centerline is valid? [False, False] Translation: X:32.37, Y:0.69, Z:3.34 [[ 9.95218592e-01 -9.66586190e-02 -1.40380089e-02 3.23653017e+01] [ 9.64093533e-02 9.95188536e-01 -1.74646398e-02 6.89013647e-01] [ 1.56585735e-02 1.60277389e-02 9.99748929e-01 3.33806579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.34719347 meters Centerline goodness : 0.867197 with order 1 Centerline is valid? [False, False] Translation: X:32.38, Y:0.67, Z:3.33 [[ 9.94026273e-01 -1.08753795e-01 -9.18588070e-03 3.23826706e+01] [ 1.08552746e-01 9.93887260e-01 -2.01100929e-02 6.74845373e-01] [ 1.13167787e-02 1.89928082e-02 9.99755572e-01 3.33379786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.40719347 meters Centerline goodness : 0.867415 with order 1 Centerline is valid? [False, False] Translation: X:32.41, Y:0.67, Z:3.33 [[ 9.93183886e-01 -1.15975376e-01 -1.16396261e-02 3.24097042e+01] [ 1.15653617e-01 9.92967400e-01 -2.52978945e-02 6.73601211e-01] [ 1.44917020e-02 2.37792963e-02 9.99612193e-01 3.32951667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.46719347 meters Centerline goodness : 0.866195 with order 1 Centerline is valid? [False, False] Translation: X:32.45, Y:0.68, Z:3.33 [[ 9.92259555e-01 -1.23797727e-01 -9.75181775e-03 3.24486121e+01] [ 1.23430956e-01 9.91838086e-01 -3.19688816e-02 6.75528809e-01] [ 1.36298991e-02 3.05177520e-02 9.99441290e-01 3.32959839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52719347000001 meters Centerline goodness : 0.866163 with order 1 Centerline is valid? [False, False] Translation: X:32.47, Y:0.68, Z:3.33 [[ 9.91662382e-01 -1.28579012e-01 -8.55323180e-03 3.24704328e+01] [ 1.28160242e-01 9.91001400e-01 -3.86157659e-02 6.80663438e-01] [ 1.34414417e-02 3.71976182e-02 9.99217526e-01 3.32816290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.58719347000002 meters Centerline goodness : 0.866187 with order 1 Centerline is valid? [False, False] Translation: X:32.50, Y:0.69, Z:3.33 [[ 9.91783197e-01 -1.27836552e-01 -4.88948111e-03 3.25021056e+01] [ 1.27461530e-01 9.90697113e-01 -4.76737697e-02 6.88457665e-01] [ 1.09384452e-02 4.66588230e-02 9.98850992e-01 3.32540062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64719347000002 meters Centerline goodness : 0.867240 with order 1 Centerline is valid? [False, False] Translation: X:32.54, Y:0.70, Z:3.32 [[ 9.92214439e-01 -1.24540071e-01 -5.27594150e-04 3.25354197e+01] [ 1.24341738e-01 9.90856187e-01 -5.23750769e-02 7.00361973e-01] [ 7.04556575e-03 5.19017056e-02 9.98627344e-01 3.32394371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.70719347000002 meters Centerline goodness : 0.866264 with order 1 Centerline is valid? [False, False] Translation: X:32.54, Y:0.71, Z:3.32 [[ 9.93211685e-01 -1.16072417e-01 7.59888066e-03 3.25430961e+01] [ 1.16301354e-01 9.92120830e-01 -4.65859744e-02 7.09511577e-01] [-2.13166114e-03 4.71534942e-02 9.98885381e-01 3.32264508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76719347000002 meters Centerline goodness : 0.861926 with order 1 Centerline is valid? [False, False] Translation: X:32.54, Y:0.72, Z:3.32 [[ 9.94519803e-01 -1.04360694e-01 6.26161745e-03 3.25430467e+01] [ 1.04522888e-01 9.93814843e-01 -3.75103051e-02 7.16380993e-01] [-2.30828687e-03 3.79592236e-02 9.99276623e-01 3.32387985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.82719347000003 meters Centerline goodness : 0.863422 with order 1 Centerline is valid? [False, False] Translation: X:32.55, Y:0.72, Z:3.32 [[ 9.94753683e-01 -1.02297141e-01 6.37083101e-04 3.25529634e+01] [ 1.02264047e-01 9.94230232e-01 -3.23776119e-02 7.18928632e-01] [ 2.67872986e-03 3.22728994e-02 9.99475505e-01 3.32424712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.88719347000003 meters Centerline goodness : 0.864287 with order 1 Centerline is valid? [False, False] Translation: X:32.56, Y:0.73, Z:3.32 [[ 9.95719583e-01 -9.24193558e-02 -1.08370218e-03 3.25559813e+01] [ 9.23647305e-02 9.95420092e-01 -2.46494877e-02 7.26826777e-01] [ 3.35682870e-03 2.44438818e-02 9.99695568e-01 3.32249193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.94719347000003 meters Centerline goodness : 0.865073 with order 1 Centerline is valid? [False, False] Translation: X:32.58, Y:0.76, Z:3.33 [[ 9.96126788e-01 -8.78232670e-02 4.30061671e-03 3.25762621e+01] [ 8.78278163e-02 9.91455327e-01 -9.64500312e-02 7.55936802e-01] [ 4.20668750e-03 9.64541736e-02 9.95328537e-01 3.32801978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.00719347 meters Centerline goodness : 0.863682 with order 1 Centerline is valid? [False, False] Translation: X:32.60, Y:0.79, Z:3.34 [[ 9.96944556e-01 -7.75065778e-02 9.70994926e-03 3.25957447e+01] [ 7.80022400e-02 9.81215915e-01 -1.76439730e-01 7.86723887e-01] [ 4.14768294e-03 1.76658026e-01 9.84263551e-01 3.34042168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.06719347 meters Centerline goodness : 0.867634 with order 1 Centerline is valid? [False, False] Translation: X:32.61, Y:0.81, Z:3.36 [[ 9.97516429e-01 -6.90321838e-02 1.39832509e-02 3.26102409e+01] [ 7.02637648e-02 9.61493453e-01 -2.65694077e-01 8.11272150e-01] [ 4.89663814e-03 2.66016723e-01 9.63955977e-01 3.35802458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.12719347 meters Centerline goodness : 0.868228 with order 1 Centerline is valid? [False, False] Translation: X:32.62, Y:0.84, Z:3.39 [[ 9.98272367e-01 -5.60777379e-02 1.75376411e-02 3.26206082e+01] [ 5.85660476e-02 9.25695189e-01 -3.73709026e-01 8.42020478e-01] [ 4.72224682e-03 3.74090504e-01 9.27380178e-01 3.38747979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.18719347 meters Centerline goodness : 0.866422 with order 1 Centerline is valid? [False, False] Translation: X:32.61, Y:0.83, Z:3.38 [[ 9.98278460e-01 -5.70681542e-02 1.35403843e-02 3.26125872e+01] [ 5.84093432e-02 9.46285956e-01 -3.18011380e-01 8.25282428e-01] [ 5.33524694e-03 3.18254795e-01 9.47990201e-01 3.38152630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24719347 meters Centerline goodness : 0.869946 with order 1 Centerline is valid? [False, False] Translation: X:32.60, Y:0.80, Z:3.37 [[ 9.98058661e-01 -6.13484406e-02 1.07367803e-02 3.25987264e+01] [ 6.19702751e-02 9.61016826e-01 -2.69455646e-01 8.04194035e-01] [ 6.21245712e-03 2.69597902e-01 9.62952946e-01 3.37347230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.30719347000002 meters Centerline goodness : 0.870084 with order 1 Centerline is valid? [False, False] Translation: X:32.60, Y:0.78, Z:3.37 [[ 9.98202095e-01 -5.97969386e-02 4.11138439e-03 3.26016893e+01] [ 5.92045970e-02 9.72965453e-01 -2.23233157e-01 7.83533431e-01] [ 9.34842444e-03 2.23075218e-01 9.74756408e-01 3.36881632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.36719347000002 meters Centerline goodness : 0.870480 with order 1 Centerline is valid? [False, False] Translation: X:32.59, Y:0.76, Z:3.36 [[ 9.98414850e-01 -5.62690875e-02 1.25543605e-03 3.25936506e+01] [ 5.56230351e-02 9.83054427e-01 -1.74671324e-01 7.57143023e-01] [ 8.59443404e-03 1.74464275e-01 9.84625996e-01 3.36493162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42719347000002 meters Centerline goodness : 0.875139 with order 1 Centerline is valid? [False, False] Translation: X:32.60, Y:0.74, Z:3.37 [[ 9.98549035e-01 -5.38253257e-02 1.63070305e-03 3.25954416e+01] [ 5.34818938e-02 9.87733141e-01 -1.46706953e-01 7.36413657e-01] [ 6.28585009e-03 1.46581300e-01 9.89178655e-01 3.36576936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48719347000002 meters Centerline goodness : 0.873909 with order 1 Centerline is valid? [False, False] Translation: X:32.60, Y:0.73, Z:3.37 [[ 9.98419364e-01 -5.61910623e-02 1.15711401e-03 3.25954414e+01] [ 5.57521249e-02 9.87597771e-01 -1.46773101e-01 7.27803950e-01] [ 7.10457322e-03 1.46605617e-01 9.89169509e-01 3.36744426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54719347000002 meters Centerline goodness : 0.874737 with order 1 Centerline is valid? [False, False] Translation: X:32.60, Y:0.71, Z:3.36 [[ 9.98226889e-01 -5.94343094e-02 -3.26205232e-03 3.26028329e+01] [ 5.83857635e-02 9.88335834e-01 -1.40653408e-01 7.08747055e-01] [ 1.15836414e-02 1.40213556e-01 9.90053523e-01 3.36283971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.60719347000003 meters Centerline goodness : 0.880803 with order 1 Centerline is valid? [False, False] Translation: X:32.61, Y:0.69, Z:3.36 [[ 9.98237322e-01 -5.88225008e-02 -7.88432012e-03 3.26104595e+01] [ 5.72643774e-02 9.89541304e-01 -1.32396372e-01 6.93613783e-01] [ 1.55897461e-02 1.31711509e-01 9.91165495e-01 3.36125285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.66719347000003 meters Centerline goodness : 0.879863 with order 1 Centerline is valid? [False, False] Translation: X:32.63, Y:0.68, Z:3.36 [[ 9.98485941e-01 -5.46055777e-02 -6.63756686e-03 3.26309951e+01] [ 5.33565772e-02 9.90782452e-01 -1.24511883e-01 6.84763022e-01] [ 1.33754281e-02 1.23969207e-01 9.92195915e-01 3.35963982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.72719347 meters Centerline goodness : 0.880130 with order 1 Centerline is valid? [False, False] Translation: X:32.64, Y:0.67, Z:3.36 [[ 9.98549695e-01 -5.35600269e-02 -5.46167928e-03 3.26445454e+01] [ 5.26232541e-02 9.92414551e-01 -1.11104239e-01 6.71870368e-01] [ 1.13709960e-02 1.10655693e-01 9.93793750e-01 3.35607868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.78719347 meters Centerline goodness : 0.885590 with order 1 Centerline is valid? [False, False] Translation: X:32.67, Y:0.68, Z:3.36 [[ 9.98485839e-01 -5.48881057e-02 3.65023069e-03 3.26665144e+01] [ 5.48243233e-02 9.87496260e-01 -1.47801998e-01 6.75101250e-01] [ 4.50798251e-03 1.47778323e-01 9.89010235e-01 3.36031170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.84719347 meters Centerline goodness : 0.889229 with order 1 Centerline is valid? [False, False] Translation: X:32.69, Y:0.66, Z:3.36 [[ 9.98177354e-01 -6.01924829e-02 4.34000288e-03 3.26851798e+01] [ 6.02412008e-02 9.89527305e-01 -1.31174353e-01 6.55746960e-01] [ 3.60115863e-03 1.31196715e-01 9.91349814e-01 3.35953548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.90719347 meters Centerline goodness : 0.890422 with order 1 Centerline is valid? [False, False] Translation: X:32.71, Y:0.64, Z:3.36 [[ 9.97714326e-01 -6.75441578e-02 1.97742689e-03 3.27077386e+01] [ 6.73097099e-02 9.90818558e-01 -1.17251818e-01 6.43676474e-01] [ 5.96040401e-03 1.17116918e-01 9.93100247e-01 3.35820788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.96719347 meters Centerline goodness : 0.892599 with order 1 Centerline is valid? [False, False] Translation: X:32.74, Y:0.63, Z:3.36 [[ 9.96678689e-01 -8.13565729e-02 -3.56363189e-03 3.27390590e+01] [ 8.06181381e-02 9.91922115e-01 -9.79348466e-02 6.28140931e-01] [ 1.15024888e-02 9.73222811e-02 9.95186448e-01 3.36151436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02719347000001 meters Centerline goodness : 0.894958 with order 1 Centerline is valid? [False, False] Translation: X:32.76, Y:0.62, Z:3.36 [[ 9.95764080e-01 -9.13765138e-02 -1.02092696e-02 3.27636666e+01] [ 9.01447961e-02 9.92095216e-01 -8.72983281e-02 6.21118310e-01] [ 1.81055844e-02 8.60082269e-02 9.96129898e-01 3.36318687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.08719347000002 meters Centerline goodness : 0.888636 with order 1 Centerline is valid? [False, False] Translation: X:32.79, Y:0.62, Z:3.36 [[ 9.94776843e-01 -9.98984982e-02 -2.09600098e-02 3.27887175e+01] [ 9.78847193e-02 9.91846169e-01 -8.16073429e-02 6.20039131e-01] [ 2.89415564e-02 7.91294302e-02 9.96444138e-01 3.36243634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14719347000002 meters Centerline goodness : 0.890842 with order 1 Centerline is valid? [False, False] Translation: X:32.81, Y:0.62, Z:3.36 [[ 9.94320759e-01 -1.04539017e-01 -1.99454877e-02 3.28094276e+01] [ 1.02906907e-01 9.92205327e-01 -7.02762928e-02 6.21495500e-01] [ 2.71366337e-02 6.78246483e-02 9.97328141e-01 3.36208160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.20719347000002 meters Centerline goodness : 0.884509 with order 1 Centerline is valid? [False, False] Translation: X:32.85, Y:0.63, Z:3.37 [[ 9.94884417e-01 -9.93922276e-02 -1.80604856e-02 3.28451866e+01] [ 9.79268735e-02 9.92786521e-01 -6.91755099e-02 6.29878002e-01] [ 2.48057147e-02 6.70530299e-02 9.97441010e-01 3.36501272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26719347000002 meters Centerline goodness : 0.885173 with order 1 Centerline is valid? [False, False] Translation: X:32.89, Y:0.65, Z:3.37 [[ 9.96273237e-01 -8.52061916e-02 -1.33993563e-02 3.28938156e+01] [ 8.38040886e-02 9.92988987e-01 -8.33651423e-02 6.45905470e-01] [ 2.04086395e-02 8.19315393e-02 9.96428979e-01 3.36793169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.32719347000003 meters Centerline goodness : 0.880848 with order 1 Centerline is valid? [False, False] Translation: X:32.93, Y:0.65, Z:3.37 [[ 9.96893499e-01 -7.77758706e-02 -1.24203395e-02 3.29327140e+01] [ 7.64885875e-02 9.93623044e-01 -8.28416679e-02 6.53874971e-01] [ 1.87842184e-02 8.16343060e-02 9.96485320e-01 3.36711212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.38719347000003 meters Centerline goodness : 0.881651 with order 1 Centerline is valid? [False, False] Translation: X:32.97, Y:0.69, Z:3.37 [[ 9.97505406e-01 -7.03224352e-02 6.14174680e-03 3.29690767e+01] [ 7.04011418e-02 9.84699982e-01 -1.59403970e-01 6.85457107e-01] [ 5.16189737e-03 1.59438707e-01 9.87194334e-01 3.36885255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.44719347000003 meters Centerline goodness : 0.878712 with order 1 Centerline is valid? [False, False] Translation: X:33.01, Y:0.69, Z:3.37 [[ 9.97523399e-01 -6.95698426e-02 1.03491853e-02 3.30050978e+01] [ 7.03229673e-02 9.83724967e-01 -1.65347725e-01 6.92290338e-01] [ 1.32246322e-03 1.65666010e-01 9.86181030e-01 3.36870049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.50719347 meters Centerline goodness : 0.879197 with order 1 Centerline is valid? [False, False] Translation: X:33.04, Y:0.70, Z:3.37 [[ 9.97550570e-01 -6.86419522e-02 1.34589230e-02 3.30426173e+01] [ 6.99299854e-02 9.83129059e-01 -1.69017899e-01 6.95644010e-01] [-1.63013978e-03 1.69545084e-01 9.85521084e-01 3.36852090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.56719347 meters Centerline goodness : 0.878515 with order 1 Centerline is valid? [False, False] Translation: X:33.06, Y:0.70, Z:3.37 [[ 9.97062176e-01 -7.44064029e-02 1.81852643e-02 3.30630096e+01] [ 7.63795592e-02 9.83665603e-01 -1.62997374e-01 6.96492806e-01] [-5.76017069e-03 1.63907499e-01 9.86458895e-01 3.36704737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.62719347 meters Centerline goodness : 0.878868 with order 1 Centerline is valid? [False, False] Translation: X:33.09, Y:0.69, Z:3.37 [[ 9.96445774e-01 -8.31703020e-02 1.33611449e-02 3.30919451e+01] [ 8.42317419e-02 9.85492190e-01 -1.47343669e-01 6.93880406e-01] [-9.12686512e-04 1.47945409e-01 9.88995108e-01 3.36784888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.68719347 meters Centerline goodness : 0.880172 with order 1 Centerline is valid? [False, False] Translation: X:33.12, Y:0.69, Z:3.37 [[ 9.95515924e-01 -9.40085396e-02 1.05090371e-02 3.31213663e+01] [ 9.45694117e-02 9.86556562e-01 -1.33277064e-01 6.92632863e-01] [ 2.16142262e-03 1.33673273e-01 9.91023100e-01 3.36937968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74719347 meters Centerline goodness : 0.883477 with order 1 Centerline is valid? [False, False] Translation: X:33.15, Y:0.69, Z:3.37 [[ 9.94333123e-01 -1.05900100e-01 9.31714574e-03 3.31486567e+01] [ 1.06243639e-01 9.86819485e-01 -1.22063887e-01 6.93467337e-01] [ 3.73223683e-03 1.22362053e-01 9.92478513e-01 3.37136346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.80719347000002 meters Centerline goodness : 0.879467 with order 1 Centerline is valid? [False, False] Translation: X:33.18, Y:0.70, Z:3.37 [[ 9.92907118e-01 -1.18777489e-01 5.23101602e-03 3.31762085e+01] [ 1.18609667e-01 9.86551196e-01 -1.12465482e-01 6.99469558e-01] [ 8.19770240e-03 1.12288227e-01 9.93641863e-01 3.37400726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.86719347000002 meters Centerline goodness : 0.880946 with order 1 Centerline is valid? [False, False] Translation: X:33.21, Y:0.71, Z:3.38 [[ 9.92423886e-01 -1.22860587e-01 3.28140280e-04 3.32136593e+01] [ 1.22242133e-01 9.87153457e-01 -1.02883010e-01 7.07013201e-01] [ 1.23163422e-02 1.02143669e-01 9.94693409e-01 3.37624272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92719347000002 meters Centerline goodness : 0.878523 with order 1 Centerline is valid? [False, False] Translation: X:33.24, Y:0.72, Z:3.38 [[ 9.92374176e-01 -1.23244509e-01 -2.07010767e-03 3.32417034e+01] [ 1.22437151e-01 9.87534731e-01 -9.89156194e-02 7.20300683e-01] [ 1.42351102e-02 9.79078482e-02 9.95093671e-01 3.37811291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98719347000002 meters Centerline goodness : 0.874588 with order 1 Centerline is valid? [False, False] Translation: X:33.27, Y:0.74, Z:3.38 [[ 9.92323836e-01 -1.23652551e-01 -1.85779070e-03 3.32680809e+01] [ 1.22915510e-01 9.87839466e-01 -9.52101181e-02 7.37135995e-01] [ 1.36081730e-02 9.42509183e-02 9.95455465e-01 3.37932680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04719347000002 meters Centerline goodness : 0.874654 with order 1 Centerline is valid? [False, False] Translation: X:33.30, Y:0.75, Z:3.38 [[ 9.92227240e-01 -1.24391934e-01 -3.42793151e-03 3.32952177e+01] [ 1.23575827e-01 9.88208723e-01 -9.04020750e-02 7.47557616e-01] [ 1.46328008e-02 8.92757919e-02 9.95899450e-01 3.38182481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.10719347000003 meters Centerline goodness : 0.875991 with order 1 Centerline is valid? [False, False] Translation: X:33.32, Y:0.76, Z:3.38 [[ 9.91868083e-01 -1.27205527e-01 -4.05720378e-03 3.33240577e+01] [ 1.26383577e-01 9.88213923e-01 -8.63738016e-02 7.58324708e-01] [ 1.49966102e-02 8.51586531e-02 9.96254539e-01 3.38252489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.16719347000003 meters Centerline goodness : 0.874250 with order 1 Centerline is valid? [False, False] Translation: X:33.36, Y:0.78, Z:3.39 [[ 9.90988542e-01 -1.33625446e-01 -9.27095945e-03 3.33618348e+01] [ 1.32543368e-01 9.88247299e-01 -7.61546614e-02 7.75312661e-01] [ 1.93382012e-02 7.42395927e-02 9.97052916e-01 3.38598372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.22719347000003 meters Centerline goodness : 0.876573 with order 1 Centerline is valid? [False, False] Translation: X:33.39, Y:0.79, Z:3.39 [[ 9.91069178e-01 -1.33223266e-01 -5.78320777e-03 3.33940986e+01] [ 1.32357378e-01 9.88054185e-01 -7.89332062e-02 7.93098900e-01] [ 1.62298621e-02 7.74628176e-02 9.96863132e-01 3.38950264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.28719347 meters Centerline goodness : 0.877387 with order 1 Centerline is valid? [False, False] Translation: X:33.40, Y:0.80, Z:3.39 [[ 9.91787230e-01 -1.27445584e-01 -1.07570657e-02 3.34001206e+01] [ 1.26383851e-01 9.89474086e-01 -7.04851489e-02 8.04323128e-01] [ 1.96268587e-02 6.85467512e-02 9.97454826e-01 3.39362835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.34719347 meters Centerline goodness : 0.883889 with order 1 Centerline is valid? [False, False] Translation: X:33.41, Y:0.83, Z:3.39 [[ 9.93594093e-01 -1.12930956e-01 -4.16867608e-03 3.34084239e+01] [ 1.12444184e-01 9.91644968e-01 -6.32183789e-02 8.25930836e-01] [ 1.12731586e-02 6.23446645e-02 9.97991011e-01 3.39257481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.40719347 meters Centerline goodness : 0.882625 with order 1 Centerline is valid? [False, False] Translation: X:33.41, Y:0.83, Z:3.39 [[ 9.95047283e-01 -9.92485365e-02 -5.53460111e-03 3.34072056e+01] [ 9.88383656e-02 9.93787715e-01 -5.11561890e-02 8.34542149e-01] [ 1.05773955e-02 5.03557960e-02 9.98675329e-01 3.39372013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.46719347 meters Centerline goodness : 0.886007 with order 1 Centerline is valid? [False, False] Translation: X:33.40, Y:0.85, Z:3.40 [[ 9.96610895e-01 -8.19993827e-02 -6.54402313e-03 3.34042974e+01] [ 8.17048597e-02 9.95974160e-01 -3.68753184e-02 8.48605930e-01] [ 9.54143129e-03 3.62156656e-02 9.99298447e-01 3.39564280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52719347000001 meters Centerline goodness : 0.889799 with order 1 Centerline is valid? [False, False] Translation: X:33.40, Y:0.86, Z:3.40 [[ 9.97678091e-01 -6.76818709e-02 -7.58883129e-03 3.34024761e+01] [ 6.74736975e-02 9.97408668e-01 -2.49649725e-02 8.58268411e-01] [ 9.25884215e-03 2.43949596e-02 9.99659522e-01 3.39748939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.58719347000002 meters Centerline goodness : 0.889615 with order 1 Centerline is valid? [False, False] Translation: X:33.39, Y:0.86, Z:3.40 [[ 9.97886091e-01 -6.33335464e-02 -1.45674919e-02 3.33898279e+01] [ 6.30230792e-02 9.97793907e-01 -2.08665012e-02 8.58374837e-01] [ 1.58569041e-02 1.99043031e-02 9.99676136e-01 3.39800523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64719347000002 meters Centerline goodness : 0.891424 with order 1 Centerline is valid? [False, False] Translation: X:33.39, Y:0.86, Z:3.40 [[ 9.98069725e-01 -6.03119091e-02 -1.48087167e-02 3.33920100e+01] [ 6.00356301e-02 9.98025862e-01 -1.84418613e-02 8.57772948e-01] [ 1.58917461e-02 1.75172128e-02 9.99720261e-01 3.39513525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70719347000002 meters Centerline goodness : 0.893997 with order 1 Centerline is valid? [False, False] Translation: X:33.40, Y:0.86, Z:3.39 [[ 9.98335946e-01 -5.53992783e-02 -1.60080894e-02 3.33951875e+01] [ 5.51859110e-02 9.98385142e-01 -1.34767911e-02 8.57830865e-01] [ 1.67288431e-02 1.25709440e-02 9.99781035e-01 3.39309907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.76719347000002 meters Centerline goodness : 0.890148 with order 1 Centerline is valid? [False, False] Translation: X:33.40, Y:0.85, Z:3.39 [[ 9.98419830e-01 -5.35239359e-02 -1.71181741e-02 3.33985527e+01] [ 5.33460352e-02 9.98518909e-01 -1.06858757e-02 8.52674885e-01] [ 1.76647706e-02 9.75580351e-03 9.99796369e-01 3.39144344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.82719347000003 meters Centerline goodness : 0.894677 with order 1 Centerline is valid? [False, False] Translation: X:33.40, Y:0.85, Z:3.39 [[ 9.98254806e-01 -5.60649865e-02 -1.85488579e-02 3.34038821e+01] [ 5.58676175e-02 9.98377663e-01 -1.09932692e-02 8.45246437e-01] [ 1.91351029e-02 9.93780327e-03 9.99767517e-01 3.38876963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.88719347000003 meters Centerline goodness : 0.888997 with order 1 Centerline is valid? [False, False] Translation: X:33.41, Y:0.84, Z:3.39 [[ 9.98011745e-01 -5.99756244e-02 -1.93773442e-02 3.34063796e+01] [ 5.97626180e-02 9.98147619e-01 -1.13912405e-02 8.37367019e-01] [ 2.00246467e-02 1.02105510e-02 9.99747347e-01 3.38882699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.94719347000003 meters Centerline goodness : 0.890225 with order 1 Centerline is valid? [False, False] Translation: X:33.41, Y:0.83, Z:3.39 [[ 9.97509759e-01 -6.78440906e-02 -1.92732897e-02 3.34060203e+01] [ 6.75056245e-02 9.97561859e-01 -1.77010727e-02 8.33318980e-01] [ 2.04272119e-02 1.63559373e-02 9.99657548e-01 3.39100802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.00719347 meters Centerline goodness : 0.889810 with order 1 Centerline is valid? [False, False] Translation: X:33.42, Y:0.81, Z:3.40 [[ 9.96162004e-01 -8.48955931e-02 -2.13072755e-02 3.34162845e+01] [ 8.54949382e-02 9.95916503e-01 2.89988622e-02 8.11007791e-01] [ 1.87583917e-02 -3.07092289e-02 9.99352323e-01 3.39836730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.06719347 meters Centerline goodness : 0.893449 with order 1 Centerline is valid? [False, False] Translation: X:33.42, Y:0.81, Z:3.40 [[ 9.95037650e-01 -9.73428155e-02 -2.06022059e-02 3.34164688e+01] [ 9.76963676e-02 9.95072585e-01 1.69106654e-02 8.10705772e-01] [ 1.88545585e-02 -1.88395095e-02 9.99644726e-01 3.39935081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.12719347 meters Centerline goodness : 0.891207 with order 1 Centerline is valid? [False, False] Translation: X:33.42, Y:0.81, Z:3.40 [[ 9.94374763e-01 -1.05209604e-01 -1.22380734e-02 3.34225239e+01] [ 1.05423293e-01 9.94257777e-01 1.83685137e-02 8.13893045e-01] [ 1.02352556e-02 -1.95553645e-02 9.99756384e-01 3.39835721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.18719347 meters Centerline goodness : 0.892300 with order 1 Centerline is valid? [False, False] Translation: X:33.42, Y:0.82, Z:3.40 [[ 9.94215594e-01 -1.06740829e-01 -1.19057688e-02 3.34221523e+01] [ 1.06927549e-01 9.94132595e-01 1.63365356e-02 8.18040365e-01] [ 1.00921374e-02 -1.75150931e-02 9.99795664e-01 3.39791905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24719347 meters Centerline goodness : 0.893015 with order 1 Centerline is valid? [False, False] Translation: X:33.42, Y:0.82, Z:3.40 [[ 9.94109481e-01 -1.07694417e-01 -1.21759276e-02 3.34229633e+01] [ 1.07863121e-01 9.94064775e-01 1.41693651e-02 8.24688738e-01] [ 1.05776992e-02 -1.53992337e-02 9.99825473e-01 3.39726079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.30719347000002 meters Centerline goodness : 0.894387 with order 1 Centerline is valid? [False, False] Translation: X:33.41, Y:0.84, Z:3.40 [[ 9.94276654e-01 -1.05004097e-01 -1.96996279e-02 3.34118713e+01] [ 1.05206510e-01 9.94404696e-01 9.53366252e-03 8.35886914e-01] [ 1.85883289e-02 -1.15516272e-02 9.99760488e-01 3.39964428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.36719347000002 meters Centerline goodness : 0.894468 with order 1 Centerline is valid? [False, False] Translation: X:33.42, Y:0.84, Z:3.40 [[ 9.94304741e-01 -1.04499999e-01 -2.09244532e-02 3.34156617e+01] [ 1.04713643e-01 9.94458121e-01 9.38610996e-03 8.42365841e-01] [ 1.98276439e-02 -1.15237294e-02 9.99737000e-01 3.39692480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42719347000002 meters Centerline goodness : 0.886507 with order 1 Centerline is valid? [False, False] Translation: X:33.42, Y:0.85, Z:3.39 [[ 9.94415417e-01 -1.03439642e-01 -2.09336981e-02 3.34159311e+01] [ 1.03634011e-01 9.94579854e-01 8.42058215e-03 8.54768322e-01] [ 1.99492124e-02 -1.05429998e-02 9.99745405e-01 3.39490871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48719347000002 meters Centerline goodness : 0.890823 with order 1 Centerline is valid? [False, False] Translation: X:33.42, Y:0.86, Z:3.40 [[ 9.94736393e-01 -1.00275103e-01 -2.10810703e-02 3.34150250e+01] [ 1.00502016e-01 9.94886676e-01 9.99235094e-03 8.61396716e-01] [ 1.99712919e-02 -1.20584452e-02 9.99727834e-01 3.39502205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54719347000002 meters Centerline goodness : 0.887937 with order 1 Centerline is valid? [False, False] Translation: X:33.41, Y:0.87, Z:3.40 [[ 9.95654086e-01 -9.07031787e-02 -2.11157476e-02 3.34108836e+01] [ 9.10604404e-02 9.95706673e-01 1.66197865e-02 8.72363651e-01] [ 1.95176233e-02 -1.84703676e-02 9.99638889e-01 3.39772011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.60719347000003 meters Centerline goodness : 0.885810 with order 1 Centerline is valid? [False, False] Translation: X:33.40, Y:0.88, Z:3.40 [[ 9.96144150e-01 -8.40667928e-02 -2.50919765e-02 3.34020616e+01] [ 8.43625788e-02 9.96374735e-01 1.09700756e-02 8.76661406e-01] [ 2.40787923e-02 -1.30446005e-02 9.99624955e-01 3.39908306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.66719347000003 meters Centerline goodness : 0.891703 with order 1 Centerline is valid? [False, False] Translation: X:33.39, Y:0.88, Z:3.40 [[ 9.96909508e-01 -7.28060386e-02 -2.95078631e-02 3.33911474e+01] [ 7.31427995e-02 9.97266234e-01 1.04971463e-02 8.82535112e-01] [ 2.86629398e-02 -1.26229927e-02 9.99509428e-01 3.40190836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.72719347000003 meters Centerline goodness : 0.891349 with order 1 Centerline is valid? [False, False] Translation: X:33.38, Y:0.89, Z:3.40 [[ 9.97632027e-01 -6.35950293e-02 -2.61918141e-02 3.33840604e+01] [ 6.39150024e-02 9.97888329e-01 1.15652865e-02 8.92947319e-01] [ 2.54010109e-02 -1.32119501e-02 9.99590032e-01 3.40437820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.78719347 meters Centerline goodness : 0.894663 with order 1 Centerline is valid? [False, False] Translation: X:33.37, Y:0.90, Z:3.41 [[ 9.98487003e-01 -4.70358077e-02 -2.84839798e-02 3.33744908e+01] [ 4.72743177e-02 9.98851814e-01 7.75839384e-03 9.01769774e-01] [ 2.80863526e-02 -9.09321612e-03 9.99564140e-01 3.40956493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.84719347 meters Centerline goodness : 0.896794 with order 1 Centerline is valid? [False, False] Translation: X:33.37, Y:0.90, Z:3.41 [[ 9.98727632e-01 -4.16947369e-02 -2.83666443e-02 3.33747302e+01] [ 4.20346716e-02 9.99050030e-01 1.14944796e-02 9.02674345e-01] [ 2.78604375e-02 -1.26722370e-02 9.99531495e-01 3.40796125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.90719347 meters Centerline goodness : 0.891899 with order 1 Centerline is valid? [False, False] Translation: X:33.38, Y:0.90, Z:3.40 [[ 9.98880192e-01 -3.53035684e-02 -3.14963390e-02 3.33753881e+01] [ 3.53926499e-02 9.99370894e-01 2.27512753e-03 8.96173144e-01] [ 3.13962043e-02 -3.38731872e-03 9.99501278e-01 3.40418113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96719347 meters Centerline goodness : 0.907989 with order 2 Centerline is valid? [False, False] Translation: X:33.41, Y:0.89, Z:3.40 [[ 9.98949400e-01 -3.45537961e-02 -3.01020082e-02 3.34059168e+01] [ 3.51012504e-02 9.99224304e-01 1.78519708e-02 8.88005904e-01] [ 2.94618049e-02 -1.88898337e-02 9.99387400e-01 3.40157902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02719347000001 meters Centerline goodness : 0.900025 with order 3 Centerline is valid? [False, False] Translation: X:33.41, Y:0.88, Z:3.40 [[ 9.98933512e-01 -3.53183915e-02 -2.97396990e-02 3.34062207e+01] [ 3.59052069e-02 9.99166214e-01 1.94343245e-02 8.76996589e-01] [ 2.90285133e-02 -2.04814081e-02 9.99368729e-01 3.40191454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.08719347000002 meters Centerline goodness : 0.897410 with order 3 Centerline is valid? [False, False] Translation: X:33.41, Y:0.87, Z:3.40 [[ 9.98776096e-01 -3.94222848e-02 -2.98696227e-02 3.34077321e+01] [ 3.99489140e-02 9.99052916e-01 1.72440005e-02 8.68081142e-01] [ 2.91615357e-02 -1.84161545e-02 9.99405048e-01 3.40197762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14719347000002 meters Centerline goodness : 0.898569 with order 2 Centerline is valid? [False, False] Translation: X:33.41, Y:0.85, Z:3.40 [[ 9.98426250e-01 -4.79200427e-02 -2.91323350e-02 3.34071174e+01] [ 4.83242828e-02 9.98742699e-01 1.33336280e-02 8.50976881e-01] [ 2.84567589e-02 -1.47204434e-02 9.99486629e-01 3.40439403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20719347000002 meters Centerline goodness : 0.900469 with order 2 Centerline is valid? [False, False] Translation: X:33.41, Y:0.83, Z:3.40 [[ 9.97995189e-01 -5.51985158e-02 -3.09633061e-02 3.34106110e+01] [ 5.57079066e-02 9.98321505e-01 1.58367264e-02 8.31982197e-01] [ 3.00371706e-02 -1.75298777e-02 9.99395053e-01 3.40417172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26719347000002 meters Centerline goodness : 0.898504 with order 2 Centerline is valid? [False, False] Translation: X:33.41, Y:0.82, Z:3.41 [[ 9.97751038e-01 -5.87994578e-02 -3.21790409e-02 3.34134786e+01] [ 5.93695379e-02 9.98090352e-01 1.70560246e-02 8.20954148e-01] [ 3.11147053e-02 -1.89281210e-02 9.99336581e-01 3.40528288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.32719347000003 meters Centerline goodness : 0.900080 with order 2 Centerline is valid? [False, False] Translation: X:33.42, Y:0.81, Z:3.41 [[ 9.97034521e-01 -6.93511704e-02 -3.33553573e-02 3.34172186e+01] [ 6.97673349e-02 9.97497260e-01 1.14775828e-02 8.05805282e-01] [ 3.24758937e-02 -1.37706606e-02 9.99377649e-01 3.40611738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.38719347000003 meters Centerline goodness : 0.904150 with order 2 Centerline is valid? [False, False] Translation: X:33.42, Y:0.80, Z:3.41 [[ 9.96458244e-01 -7.72516185e-02 -3.32137807e-02 3.34174694e+01] [ 7.74630828e-02 9.96982044e-01 5.12591508e-03 7.99539033e-01] [ 3.27175577e-02 -7.68060219e-03 9.99435125e-01 3.40741846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.44719347000003 meters Centerline goodness : 0.902009 with order 2 Centerline is valid? [False, False] Translation: X:33.42, Y:0.79, Z:3.41 [[ 9.95860948e-01 -8.49166183e-02 -3.24058772e-02 3.34160697e+01] [ 8.49361557e-02 9.96386094e-01 -7.75696660e-04 7.94088212e-01] [ 3.23546349e-02 -1.97994462e-03 9.99474491e-01 3.40910827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.50719347 meters Centerline goodness : 0.897832 with order 1 Centerline is valid? [False, False] Translation: X:33.42, Y:0.79, Z:3.41 [[ 9.95797563e-01 -8.55555317e-02 -3.26720621e-02 3.34163442e+01] [ 8.55713461e-02 9.96331624e-01 -9.16496788e-04 7.93984713e-01] [ 3.26306201e-02 -1.88314707e-03 9.99465705e-01 3.40950333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.56719347 meters Centerline goodness : 0.897276 with order 1 Centerline is valid? [False, False] Translation: X:33.42, Y:0.80, Z:3.41 [[ 9.96022182e-01 -8.29158792e-02 -3.26308138e-02 3.34164868e+01] [ 8.30002657e-02 9.96548756e-01 1.23777014e-03 7.97938734e-01] [ 3.24155661e-02 -3.94121273e-03 9.99466707e-01 3.40837736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.62719347 meters Centerline goodness : 0.898842 with order 1 Centerline is valid? [False, False] Translation: X:33.42, Y:0.81, Z:3.41 [[ 9.96554020e-01 -7.61280103e-02 -3.29334392e-02 3.34165566e+01] [ 7.63050551e-02 9.97075879e-01 4.15099856e-03 8.11296168e-01] [ 3.25211305e-02 -6.64968219e-03 9.99448927e-01 3.40690029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.68719347 meters Centerline goodness : 0.898340 with order 1 Centerline is valid? [False, False] Translation: X:33.42, Y:0.82, Z:3.41 [[ 9.97329386e-01 -6.46789967e-02 -3.39223037e-02 3.34156703e+01] [ 6.51963325e-02 9.97768957e-01 1.43717599e-02 8.16500820e-01] [ 3.29170705e-02 -1.65449883e-02 9.99321134e-01 3.40851055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74719347 meters Centerline goodness : 0.899137 with order 1 Centerline is valid? [False, False] Translation: X:33.40, Y:0.83, Z:3.41 [[ 9.97695165e-01 -5.51372646e-02 -3.95504620e-02 3.34044101e+01] [ 5.56349387e-02 9.98383859e-01 1.15941583e-02 8.27460592e-01] [ 3.88472727e-02 -1.37678232e-02 9.99150307e-01 3.41098822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.80719347000002 meters Centerline goodness : 0.902346 with order 1 Centerline is valid? [False, False] Translation: X:33.40, Y:0.84, Z:3.41 [[ 9.98282534e-01 -4.24763210e-02 -4.03453051e-02 3.33966594e+01] [ 4.26007518e-02 9.99089689e-01 2.22905882e-03 8.40688329e-01] [ 4.02138961e-02 -3.94397082e-03 9.99183310e-01 3.41169008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.86719347000002 meters Centerline goodness : 0.901261 with order 1 Centerline is valid? [False, False] Translation: X:33.40, Y:0.84, Z:3.41 [[ 9.98385702e-01 -4.03699084e-02 -3.99532291e-02 3.33966115e+01] [ 4.05559404e-02 9.99169827e-01 3.85642287e-03 8.37569683e-01] [ 3.97643776e-02 -5.47053823e-03 9.99194109e-01 3.41066784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.92719347000002 meters Centerline goodness : 0.899223 with order 1 Centerline is valid? [False, False] Translation: X:33.40, Y:0.83, Z:3.41 [[ 9.98391246e-01 -4.00178220e-02 -4.01683280e-02 3.33970994e+01] [ 4.02562991e-02 9.99176138e-01 5.14544310e-03 8.34514429e-01] [ 3.99293254e-02 -6.75419358e-03 9.99179678e-01 3.41102383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98719347000002 meters Centerline goodness : 0.900235 with order 1 Centerline is valid? [False, False] Translation: X:33.40, Y:0.83, Z:3.41 [[ 9.98482558e-01 -3.75703373e-02 -4.02622757e-02 3.33968836e+01] [ 3.79768718e-02 9.99234593e-01 9.38008191e-03 8.25719136e-01] [ 3.98790458e-02 -1.08948835e-02 9.99145116e-01 3.41230334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04719347000002 meters Centerline goodness : 0.898346 with order 1 Centerline is valid? [False, False] Translation: X:33.41, Y:0.82, Z:3.41 [[ 9.98359214e-01 -3.55861080e-02 -4.48609866e-02 3.34068164e+01] [ 3.60235528e-02 9.99310590e-01 8.98043749e-03 8.17130226e-01] [ 4.45104802e-02 -1.05817546e-02 9.98952874e-01 3.41357695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.10719347000003 meters Centerline goodness : 0.896363 with order 1 Centerline is valid? [False, False] Translation: X:33.41, Y:0.80, Z:3.41 [[ 9.98289596e-01 -3.67790194e-02 -4.54443256e-02 3.34085967e+01] [ 3.74128817e-02 9.99213013e-01 1.31769112e-02 7.99458956e-01] [ 4.49239276e-02 -1.48545765e-02 9.98879964e-01 3.41377230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.16719347000003 meters Centerline goodness : 0.897887 with order 1 Centerline is valid? [False, False] Translation: X:33.39, Y:0.80, Z:3.43 [[ 9.97892440e-01 -4.42429093e-02 -4.74683288e-02 3.33947686e+01] [ 4.30239396e-02 9.98725134e-01 -2.64016355e-02 7.98989534e-01] [ 4.85758983e-02 2.43037180e-02 9.98523766e-01 3.42717876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.22719347000003 meters Centerline goodness : 0.894419 with order 1 Centerline is valid? [False, False] Translation: X:33.39, Y:0.79, Z:3.43 [[ 0.99714316 -0.05882044 -0.04738863 33.39408169] [ 0.05708649 0.99767784 -0.03714918 0.78516874] [ 0.04946371 0.0343378 0.99818548 3.43045569] [ 0. 0. 0. 1. ]] SLAMing on 170.28719347 meters Centerline goodness : 0.894261 with order 1 Centerline is valid? [False, False] Translation: X:33.41, Y:0.77, Z:3.43 [[ 0.99689592 -0.06710342 -0.04117838 33.40621741] [ 0.06555789 0.99713249 -0.03780154 0.76698686] [ 0.04359692 0.03498463 0.99843647 3.43004101] [ 0. 0. 0. 1. ]] SLAMing on 170.34719347 meters Centerline goodness : 0.895186 with order 1 Centerline is valid? [False, False] Translation: X:33.44, Y:0.76, Z:3.43 [[ 0.99672406 -0.06929035 -0.04171319 33.43621018] [ 0.06730404 0.99661184 -0.04727596 0.76442189] [ 0.04484763 0.04431362 0.99801052 3.43160022] [ 0. 0. 0. 1. ]] SLAMing on 170.40719347 meters Centerline goodness : 0.895916 with order 1 Centerline is valid? [False, False] Translation: X:33.47, Y:0.75, Z:3.43 [[ 0.99655017 -0.06652948 -0.04961428 33.4735832 ] [ 0.0641275 0.99676106 -0.04852886 0.75487109] [ 0.05268219 0.0451798 0.99758878 3.42986813] [ 0. 0. 0. 1. ]] SLAMing on 170.46719347 meters Centerline goodness : 0.898144 with order 1 Centerline is valid? [False, False] Translation: X:33.51, Y:0.76, Z:3.43 [[ 0.99697509 -0.06378846 -0.04440376 33.50509633] [ 0.06057573 0.9956862 -0.07028204 0.75531271] [ 0.0486954 0.06737965 0.99653838 3.43011301] [ 0. 0. 0. 1. ]] SLAMing on 170.52719347000001 meters Centerline goodness : 0.896742 with order 1 Centerline is valid? [False, False] Translation: X:33.54, Y:0.75, Z:3.43 [[ 0.99730673 -0.06089358 -0.04088113 33.53611056] [ 0.05698706 0.99424303 -0.09073733 0.75464599] [ 0.0461711 0.08816325 0.99503541 3.43160057] [ 0. 0. 0. 1. ]] SLAMing on 170.58719347000002 meters Centerline goodness : 0.899768 with order 1 Centerline is valid? [False, False] Translation: X:33.57, Y:0.75, Z:3.43 [[ 0.99747159 -0.05955184 -0.03878157 33.56577774] [ 0.05548203 0.9935707 -0.09868639 0.7532951 ] [ 0.04440919 0.09628519 0.9943626 3.43238895] [ 0. 0. 0. 1. ]] SLAMing on 170.64719347000002 meters Centerline goodness : 0.899671 with order 1 Centerline is valid? [False, False] Translation: X:33.60, Y:0.75, Z:3.43 [[ 0.99694207 -0.06397785 -0.04487036 33.59971111] [ 0.05958405 0.99386024 -0.09322861 0.74723984] [ 0.05055943 0.09026997 0.99463314 3.43317186] [ 0. 0. 0. 1. ]] SLAMing on 170.70719347000002 meters Centerline goodness : 0.899226 with order 1 Centerline is valid? [False, False] Translation: X:33.63, Y:0.75, Z:3.43 [[ 0.99673728 -0.0687417 -0.04230093 33.63426305] [ 0.06474553 0.99387867 -0.08951647 0.74591262] [ 0.0481955 0.08648561 0.99508665 3.4297552 ] [ 0. 0. 0. 1. ]] SLAMing on 170.76719347000002 meters Centerline goodness : 0.902163 with order 1 Centerline is valid? [False, False] Translation: X:33.66, Y:0.75, Z:3.43 [[ 0.99606227 -0.07897112 -0.04029291 33.66462651] [ 0.07508666 0.99308919 -0.09019894 0.74524952] [ 0.04713756 0.0868183 0.99510835 3.43036544] [ 0. 0. 0. 1. ]] SLAMing on 170.82719347000003 meters Centerline goodness : 0.904185 with order 1 Centerline is valid? [False, False] Translation: X:33.69, Y:0.74, Z:3.43 [[ 0.9954914 -0.08711375 -0.03752421 33.68693253] [ 0.08382986 0.9931303 -0.08163795 0.74263398] [ 0.04437822 0.07812423 0.99595541 3.42993877] [ 0. 0. 0. 1. ]] SLAMing on 170.88719347000003 meters Centerline goodness : 0.902664 with order 1 Centerline is valid? [False, False] Translation: X:33.71, Y:0.74, Z:3.43 [[ 0.99467182 -0.09652278 -0.03621231 33.70739689] [ 0.09372071 0.99296192 -0.072409 0.7398072 ] [ 0.04294656 0.06862935 0.99671741 3.43125927] [ 0. 0. 0. 1. ]] SLAMing on 170.94719347000003 meters Centerline goodness : 0.905209 with order 1 Centerline is valid? [False, False] Translation: X:33.74, Y:0.74, Z:3.43 [[ 0.99396348 -0.10303942 -0.03767595 33.7380339 ] [ 0.10036184 0.9926832 -0.06713845 0.73706493] [ 0.04431819 0.06295194 0.99703207 3.43314097] [ 0. 0. 0. 1. ]] SLAMing on 171.00719347 meters Centerline goodness : 0.904657 with order 1 Centerline is valid? [False, False] Translation: X:33.75, Y:0.74, Z:3.44 [[ 0.99339834 -0.10650218 -0.0426265 33.75015419] [ 0.10373281 0.99263173 -0.06262391 0.73658496] [ 0.048982 0.05778872 0.99712649 3.43537079] [ 0. 0. 0. 1. ]] SLAMing on 171.06719347 meters Centerline goodness : 0.898125 with order 1 Centerline is valid? [False, False] Translation: X:33.79, Y:0.74, Z:3.44 [[ 0.99368942 -0.10309985 -0.04417868 33.79154043] [ 0.10028104 0.99303354 -0.06187166 0.74104694] [ 0.05024987 0.05705094 0.99710588 3.43520823] [ 0. 0. 0. 1. ]] SLAMing on 171.12719347 meters Centerline goodness : 0.902598 with order 1 Centerline is valid? [False, False] Translation: X:33.84, Y:0.75, Z:3.44 [[ 0.99447319 -0.09615567 -0.0421564 33.836544 ] [ 0.09313537 0.99329072 -0.06855186 0.74635419] [ 0.04846521 0.06424673 0.99675648 3.43854073] [ 0. 0. 0. 1. ]] SLAMing on 171.18719347 meters Centerline goodness : 0.900145 with order 1 Centerline is valid? [False, False] Translation: X:33.87, Y:0.75, Z:3.44 [[ 0.99498501 -0.09294018 -0.03697237 33.87105498] [ 0.09014437 0.99338001 -0.07120491 0.75257289] [ 0.04334541 0.06751497 0.99677626 3.43941397] [ 0. 0. 0. 1. ]] SLAMing on 171.24719347 meters Centerline goodness : 0.896204 with order 1 Centerline is valid? [False, False] Translation: X:33.92, Y:0.77, Z:3.44 [[ 9.96206670e-01 -8.10697842e-02 -3.16221528e-02 3.39176278e+01] [ 7.77555020e-02 9.92455573e-01 -9.47946022e-02 7.67101914e-01] [ 3.90685598e-02 9.19762186e-02 9.94994484e-01 3.43957310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30719347000002 meters Centerline goodness : 0.897696 with order 1 Centerline is valid? [False, False] Translation: X:33.95, Y:0.78, Z:3.44 [[ 9.97033109e-01 -7.34408276e-02 -2.30526344e-02 3.39537381e+01] [ 6.99651603e-02 9.89513179e-01 -1.26366708e-01 7.78469814e-01] [ 3.20913612e-02 1.24378910e-01 9.91715701e-01 3.44189989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36719347000002 meters Centerline goodness : 0.899642 with order 1 Centerline is valid? [False, False] Translation: X:33.97, Y:0.81, Z:3.45 [[ 9.98086941e-01 -6.14758633e-02 -6.57086343e-03 3.39652651e+01] [ 5.84195909e-02 9.72544544e-01 -2.25264868e-01 8.13009512e-01] [ 2.02388096e-02 2.24450055e-01 9.74275404e-01 3.45480209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42719347000002 meters Centerline goodness : 0.895668 with order 1 Centerline is valid? [False, False] Translation: X:33.99, Y:0.83, Z:3.47 [[ 9.98452926e-01 -5.54367431e-02 4.30369111e-03 3.39887591e+01] [ 5.44194577e-02 9.58371249e-01 -2.80291048e-01 8.29967705e-01] [ 1.14138890e-02 2.80091621e-01 9.59905416e-01 3.46689889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48719347000002 meters Centerline goodness : 0.894843 with order 1 Centerline is valid? [False, False] Translation: X:33.98, Y:0.81, Z:3.47 [[ 9.98761222e-01 -4.90327631e-02 8.47399853e-03 3.39764047e+01] [ 4.95810251e-02 9.66223442e-01 -2.52891247e-01 8.10697098e-01] [ 4.21218061e-03 2.52998121e-01 9.67457600e-01 3.46793540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54719347000002 meters Centerline goodness : 0.898660 with order 1 Centerline is valid? [False, False] Translation: X:33.99, Y:0.81, Z:3.47 [[ 9.99099726e-01 -4.16776886e-02 7.91877027e-03 3.39908107e+01] [ 4.22703541e-02 9.62165130e-01 -2.69168126e-01 8.05164219e-01] [ 3.59914073e-03 2.69260531e-01 9.63060649e-01 3.47213232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.60719347000003 meters Centerline goodness : 0.901169 with order 1 Centerline is valid? [False, False] Translation: X:34.00, Y:0.80, Z:3.47 [[ 9.99398753e-01 -3.45180528e-02 3.26121903e-03 3.40016925e+01] [ 3.41541167e-02 9.63920210e-01 -2.63991145e-01 7.95507826e-01] [ 5.96890534e-03 2.63943805e-01 9.64519590e-01 3.46806474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.66719347000003 meters Centerline goodness : 0.897079 with order 1 Centerline is valid? [False, False] Translation: X:34.00, Y:0.76, Z:3.46 [[ 9.99446765e-01 -3.26731574e-02 -6.21513790e-03 3.39959359e+01] [ 3.03309174e-02 9.72069082e-01 -2.32726740e-01 7.63023299e-01] [ 1.36454608e-02 2.32409477e-01 9.72522306e-01 3.46099533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.72719347000003 meters Centerline goodness : 0.897643 with order 1 Centerline is valid? [False, False] Translation: X:33.99, Y:0.74, Z:3.46 [[ 9.99233583e-01 -3.81232932e-02 -8.88037212e-03 3.39886206e+01] [ 3.56106368e-02 9.79528098e-01 -1.98132754e-01 7.36819305e-01] [ 1.62520471e-02 1.97664666e-01 9.80134966e-01 3.45880898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.78719347 meters Centerline goodness : 0.896959 with order 1 Centerline is valid? [False, False] Translation: X:34.01, Y:0.71, Z:3.46 [[ 9.98829333e-01 -4.61985282e-02 -1.43408454e-02 3.40069324e+01] [ 4.31401880e-02 9.84847725e-01 -1.67969888e-01 7.06208909e-01] [ 2.18835106e-02 1.67154584e-01 9.85687809e-01 3.45947225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.84719347 meters Centerline goodness : 0.899150 with order 1 Centerline is valid? [False, False] Translation: X:34.04, Y:0.69, Z:3.46 [[ 9.98223372e-01 -5.73331635e-02 -1.62175114e-02 3.40350378e+01] [ 5.41989217e-02 9.86806999e-01 -1.52559571e-01 6.88605353e-01] [ 2.47502766e-02 1.51409558e-01 9.88161206e-01 3.46052008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.90719347 meters Centerline goodness : 0.903790 with order 1 Centerline is valid? [False, False] Translation: X:34.05, Y:0.67, Z:3.47 [[ 9.97242764e-01 -7.26544133e-02 -1.51064887e-02 3.40501320e+01] [ 7.01962762e-02 9.89603297e-01 -1.25530064e-01 6.67457148e-01] [ 2.40697441e-02 1.24123529e-01 9.91974797e-01 3.46614361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96719347 meters Centerline goodness : 0.906794 with order 1 Centerline is valid? [False, False] Translation: X:34.08, Y:0.66, Z:3.47 [[ 9.96394184e-01 -8.30481803e-02 -1.73674708e-02 3.40816741e+01] [ 8.07108794e-02 9.90892504e-01 -1.07785899e-01 6.58741822e-01] [ 2.61607193e-02 1.05995499e-01 9.94022420e-01 3.46953620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02719347000001 meters Centerline goodness : 0.906720 with order 1 Centerline is valid? [False, False] Translation: X:34.09, Y:0.65, Z:3.47 [[ 9.95648706e-01 -9.17736245e-02 -1.61633920e-02 3.40863245e+01] [ 8.98660248e-02 9.91508251e-01 -9.39972614e-02 6.45874305e-01] [ 2.46526059e-02 9.21357120e-02 9.95441239e-01 3.47144879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08719347000002 meters Centerline goodness : 0.907990 with order 1 Centerline is valid? [False, False] Translation: X:34.11, Y:0.65, Z:3.47 [[ 9.95328764e-01 -9.50397574e-02 -1.69733925e-02 3.41079101e+01] [ 9.33890947e-02 9.92385129e-01 -8.03133354e-02 6.45955825e-01] [ 2.44771023e-02 7.83530431e-02 9.96625141e-01 3.47235304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14719347000002 meters Centerline goodness : 0.909541 with order 1 Centerline is valid? [False, False] Translation: X:34.15, Y:0.65, Z:3.48 [[ 9.96180455e-01 -8.55219500e-02 -1.76209187e-02 3.41468696e+01] [ 8.40038467e-02 9.93721943e-01 -7.38921754e-02 6.50963237e-01] [ 2.38296965e-02 7.21297159e-02 9.97110550e-01 3.47516920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20719347000002 meters Centerline goodness : 0.907169 with order 1 Centerline is valid? [False, False] Translation: X:34.19, Y:0.66, Z:3.48 [[ 9.97101142e-01 -7.50719984e-02 -1.23898462e-02 3.41892180e+01] [ 7.37798109e-02 9.93754671e-01 -8.37149531e-02 6.59409788e-01] [ 1.85971163e-02 8.25581548e-02 9.96412715e-01 3.47788305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26719347000002 meters Centerline goodness : 0.908499 with order 1 Centerline is valid? [False, False] Translation: X:34.24, Y:0.67, Z:3.47 [[ 9.98047931e-01 -6.18163278e-02 -8.89207785e-03 3.42418030e+01] [ 6.05097837e-02 9.92385524e-01 -1.07282514e-01 6.72261542e-01] [ 1.54561804e-02 1.06535034e-01 9.94188812e-01 3.47480962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.32719347000003 meters Centerline goodness : 0.903043 with order 1 Centerline is valid? [False, False] Translation: X:34.28, Y:0.70, Z:3.47 [[ 9.98659003e-01 -5.14930994e-02 5.35314380e-03 3.42832514e+01] [ 5.16766936e-02 9.85278814e-01 -1.62957596e-01 6.96816991e-01] [ 3.11685250e-03 1.63015703e-01 9.86618551e-01 3.46955981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.38719347000003 meters Centerline goodness : 0.902442 with order 1 Centerline is valid? [False, False] Translation: X:34.31, Y:0.71, Z:3.47 [[ 9.98737026e-01 -4.80166555e-02 1.47903038e-02 3.43089427e+01] [ 4.99051723e-02 9.82142512e-01 -1.81398895e-01 7.06133344e-01] [-5.81601791e-03 1.81907906e-01 9.83298372e-01 3.46506491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.44719347000003 meters Centerline goodness : 0.902168 with order 1 Centerline is valid? [False, False] Translation: X:34.33, Y:0.71, Z:3.46 [[ 9.98641164e-01 -4.57513430e-02 2.49527515e-02 3.43282605e+01] [ 4.98702480e-02 9.77955293e-01 -2.02771803e-01 7.12491356e-01] [-1.51255931e-02 2.03740669e-01 9.78908043e-01 3.46151730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.50719347 meters Centerline goodness : 0.897047 with order 1 Centerline is valid? [False, False] Translation: X:34.35, Y:0.70, Z:3.46 [[ 9.98497184e-01 -4.99324474e-02 2.25859083e-02 3.43547505e+01] [ 5.32734779e-02 9.81053913e-01 -1.86266356e-01 7.03168023e-01] [-1.28572587e-02 1.87189662e-01 9.82239646e-01 3.45951053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.56719347 meters Centerline goodness : 0.898086 with order 1 Centerline is valid? [False, False] Translation: X:34.38, Y:0.70, Z:3.46 [[ 9.98385811e-01 -5.11945199e-02 2.45945724e-02 3.43827269e+01] [ 5.47979428e-02 9.82111036e-01 -1.80152984e-01 6.99318073e-01] [-1.49317555e-02 1.81209916e-01 9.83331078e-01 3.45992171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.62719347 meters Centerline goodness : 0.898761 with order 1 Centerline is valid? [False, False] Translation: X:34.41, Y:0.69, Z:3.46 [[ 9.98247775e-01 -5.25946989e-02 2.71141452e-02 3.44097123e+01] [ 5.62424904e-02 9.85748763e-01 -1.58543869e-01 6.87468366e-01] [-1.83891681e-02 1.59791031e-01 9.86979567e-01 3.46245635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.68719347 meters Centerline goodness : 0.898314 with order 1 Centerline is valid? [False, False] Translation: X:34.44, Y:0.68, Z:3.46 [[ 9.97667426e-01 -6.13689248e-02 2.98925096e-02 3.44371277e+01] [ 6.50253673e-02 9.87638787e-01 -1.42623031e-01 6.76911735e-01] [-2.07703799e-02 1.44234123e-01 9.89325583e-01 3.46330895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74719347 meters Centerline goodness : 0.909422 with order 1 Centerline is valid? [False, False] Translation: X:34.45, Y:0.66, Z:3.47 [[ 9.96359942e-01 -7.94888182e-02 3.07959930e-02 3.44492448e+01] [ 8.26855632e-02 9.89040611e-01 -1.22318307e-01 6.56917740e-01] [-2.07355501e-02 1.24419446e-01 9.92013023e-01 3.46748640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.80719347000002 meters Centerline goodness : 0.901139 with order 1 Centerline is valid? [False, False] Translation: X:34.47, Y:0.64, Z:3.47 [[ 9.94751988e-01 -9.89290193e-02 2.61061767e-02 3.44722536e+01] [ 1.01136094e-01 9.89369661e-01 -1.04494805e-01 6.41541128e-01] [-1.54910906e-02 1.06586692e-01 9.94182731e-01 3.46877474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.86719347000002 meters Centerline goodness : 0.901075 with order 1 Centerline is valid? [False, False] Translation: X:34.48, Y:0.63, Z:3.47 [[ 9.93974736e-01 -1.07296111e-01 2.24001952e-02 3.44846513e+01] [ 1.08854309e-01 9.90240807e-01 -8.70280672e-02 6.34611375e-01] [-1.28438143e-02 8.89420579e-02 9.95953988e-01 3.46855343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92719347000002 meters Centerline goodness : 0.898275 with order 1 Centerline is valid? [False, False] Translation: X:34.53, Y:0.64, Z:3.47 [[ 9.94741179e-01 -1.00765306e-01 1.83395784e-02 3.45299479e+01] [ 1.01972731e-01 9.91112086e-01 -8.54306417e-02 6.40803527e-01] [-9.56813312e-03 8.68515142e-02 9.96175319e-01 3.46522730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98719347000002 meters Centerline goodness : 0.899148 with order 1 Centerline is valid? [False, False] Translation: X:34.58, Y:0.65, Z:3.47 [[ 9.95916072e-01 -8.91263824e-02 1.44106052e-02 3.45764763e+01] [ 9.00517721e-02 9.92058154e-01 -8.78139888e-02 6.47745846e-01] [-6.46961524e-03 8.87530633e-02 9.96032649e-01 3.46620517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04719347000002 meters Centerline goodness : 0.900057 with order 1 Centerline is valid? [False, False] Translation: X:34.63, Y:0.66, Z:3.47 [[ 9.96980780e-01 -7.54946133e-02 1.81627998e-02 3.46294874e+01] [ 7.68769395e-02 9.92585757e-01 -9.41459087e-02 6.60969083e-01] [-1.09206274e-02 9.52579620e-02 9.95392717e-01 3.46973602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.10719347000003 meters Centerline goodness : 0.903303 with order 1 Centerline is valid? [False, False] Translation: X:34.67, Y:0.67, Z:3.47 [[ 9.97569913e-01 -6.68872548e-02 1.95029251e-02 3.46716005e+01] [ 6.85406159e-02 9.92383773e-01 -1.02355411e-01 6.67000650e-01] [-1.25081139e-02 1.03443421e-01 9.94556688e-01 3.47327348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.16719347000003 meters Centerline goodness : 0.901673 with order 1 Centerline is valid? [False, False] Translation: X:34.72, Y:0.68, Z:3.47 [[ 9.98060763e-01 -5.79273219e-02 2.27846206e-02 3.47230868e+01] [ 6.03230081e-02 9.90392015e-01 -1.24437903e-01 6.76148416e-01] [-1.53573518e-02 1.25571025e-01 9.91965760e-01 3.47291794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.22719347000003 meters Centerline goodness : 0.905388 with order 1 Centerline is valid? [False, False] Translation: X:34.75, Y:0.70, Z:3.47 [[ 9.98032262e-01 -4.91231458e-02 3.89681910e-02 3.47518609e+01] [ 5.56259934e-02 9.80457741e-01 -1.88701794e-01 6.98002709e-01] [-2.89370388e-02 1.90498123e-01 9.81260981e-01 3.46877358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.28719347 meters Centerline goodness : 0.903909 with order 1 Centerline is valid? [False, False] Translation: X:34.78, Y:0.69, Z:3.47 [[ 9.98464174e-01 -4.21959108e-02 3.58998304e-02 3.47828894e+01] [ 4.77898039e-02 9.83792492e-01 -1.72824963e-01 6.91987339e-01] [-2.80254769e-02 1.74275180e-01 9.84298092e-01 3.46979808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.34719347 meters Centerline goodness : 0.904803 with order 1 Centerline is valid? [False, False] Translation: X:34.81, Y:0.69, Z:3.47 [[ 9.98213421e-01 -4.60806393e-02 3.80334258e-02 3.48110015e+01] [ 5.18939603e-02 9.84141665e-01 -1.69623703e-01 6.88250871e-01] [-2.96139103e-02 1.71294362e-01 9.84774724e-01 3.46959090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.40719347 meters Centerline goodness : 0.905046 with order 1 Centerline is valid? [False, False] Translation: X:34.84, Y:0.67, Z:3.47 [[ 9.97834432e-01 -5.64468492e-02 3.37668401e-02 3.48371486e+01] [ 6.09123388e-02 9.86727909e-01 -1.50524820e-01 6.73952410e-01] [-2.48220318e-02 1.52255665e-01 9.88029392e-01 3.47341049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46719347 meters Centerline goodness : 0.904916 with order 1 Centerline is valid? [False, False] Translation: X:34.85, Y:0.65, Z:3.47 [[ 9.96903183e-01 -7.32350962e-02 2.86472302e-02 3.48488248e+01] [ 7.62336622e-02 9.89412281e-01 -1.23498044e-01 6.53930291e-01] [-1.92995302e-02 1.25299477e-01 9.91931232e-01 3.47497417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52719347000001 meters Centerline goodness : 0.906891 with order 1 Centerline is valid? [False, False] Translation: X:34.89, Y:0.65, Z:3.48 [[ 9.95934433e-01 -8.73075393e-02 2.21810342e-02 3.48854734e+01] [ 8.92122707e-02 9.90076460e-01 -1.08580725e-01 6.46020577e-01] [-1.24810038e-02 1.10118104e-01 9.93840142e-01 3.47585780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.58719347000002 meters Centerline goodness : 0.902490 with order 1 Centerline is valid? [False, False] Translation: X:34.90, Y:0.64, Z:3.48 [[ 9.94472250e-01 -1.03567091e-01 1.72858655e-02 3.49046642e+01] [ 1.04728668e-01 9.90192839e-01 -9.24664699e-02 6.37824289e-01] [-7.53985697e-03 9.37656640e-02 9.95565744e-01 3.47762072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64719347000002 meters Centerline goodness : 0.903048 with order 1 Centerline is valid? [False, False] Translation: X:34.93, Y:0.64, Z:3.48 [[ 9.93744499e-01 -1.10773743e-01 1.41791752e-02 3.49289295e+01] [ 1.11556189e-01 9.90548331e-01 -7.98073976e-02 6.37485715e-01] [-5.20459413e-03 8.08899370e-02 9.96709451e-01 3.48062199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70719347000002 meters Centerline goodness : 0.904749 with order 1 Centerline is valid? [False, False] Translation: X:34.96, Y:0.64, Z:3.49 [[ 9.93673284e-01 -1.11592916e-01 1.26659467e-02 3.49551410e+01] [ 1.12234424e-01 9.90795329e-01 -7.56838766e-02 6.38188592e-01] [-4.10357627e-03 7.66266014e-02 9.97051415e-01 3.48508474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76719347000002 meters Centerline goodness : 0.905431 with order 1 Centerline is valid? [False, False] Translation: X:34.98, Y:0.64, Z:3.49 [[ 9.93731542e-01 -1.10898945e-01 1.41083907e-02 3.49811039e+01] [ 1.11635051e-01 9.91096839e-01 -7.25580594e-02 6.44475371e-01] [-5.93616915e-03 7.36782231e-02 9.97264399e-01 3.48622725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.82719347000003 meters Centerline goodness : 0.905561 with order 1 Centerline is valid? [False, False] Translation: X:35.03, Y:0.66, Z:3.49 [[ 9.95320419e-01 -9.58417619e-02 1.23134444e-02 3.50256008e+01] [ 9.64968976e-02 9.92525338e-01 -7.47114579e-02 6.57686843e-01] [-5.06092781e-03 7.55500488e-02 9.97129168e-01 3.48778467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.88719347000003 meters Centerline goodness : 0.907364 with order 1 Centerline is valid? [False, False] Translation: X:35.08, Y:0.67, Z:3.49 [[ 9.96578978e-01 -8.11417713e-02 1.56956524e-02 3.50754400e+01] [ 8.22532116e-02 9.92283957e-01 -9.27736964e-02 6.72680931e-01] [-8.04672197e-03 9.37473334e-02 9.95563503e-01 3.48974191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.94719347000003 meters Centerline goodness : 0.907386 with order 1 Centerline is valid? [False, False] Translation: X:35.11, Y:0.68, Z:3.49 [[ 9.96991109e-01 -7.57389769e-02 1.65026316e-02 3.51144631e+01] [ 7.69802910e-02 9.92389143e-01 -9.61136003e-02 6.80552216e-01] [-9.09748671e-03 9.70947823e-02 9.95233560e-01 3.48883226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.00719347 meters Centerline goodness : 0.908108 with order 1 Centerline is valid? [False, False] Translation: X:35.16, Y:0.69, Z:3.49 [[ 9.97144144e-01 -7.25171587e-02 2.10906861e-02 3.51589704e+01] [ 7.44684211e-02 9.90597888e-01 -1.14761830e-01 6.88586577e-01] [-1.25701873e-02 1.16004677e-01 9.93169122e-01 3.48726236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.06719347 meters Centerline goodness : 0.907193 with order 1 Centerline is valid? [False, False] Translation: X:35.20, Y:0.69, Z:3.49 [[ 9.96962476e-01 -7.60943192e-02 1.65974711e-02 3.51977116e+01] [ 7.74117599e-02 9.91579627e-01 -1.03813598e-01 6.90031032e-01] [-8.55808913e-03 1.04783101e-01 9.94458275e-01 3.48927314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.12719347 meters Centerline goodness : 0.906391 with order 1 Centerline is valid? [False, False] Translation: X:35.22, Y:0.69, Z:3.49 [[ 9.96274879e-01 -8.57465552e-02 9.15939047e-03 3.52236884e+01] [ 8.62282523e-02 9.91833798e-01 -9.39702429e-02 6.87739757e-01] [-1.02696841e-03 9.44099906e-02 9.95532872e-01 3.49108221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.18719347 meters Centerline goodness : 0.904739 with order 1 Centerline is valid? [False, False] Translation: X:35.24, Y:0.69, Z:3.49 [[ 9.95724694e-01 -9.21471649e-02 6.42141913e-03 3.52435014e+01] [ 9.23585230e-02 9.92059617e-01 -8.53675564e-02 6.87363887e-01] [ 1.49594769e-03 8.55956567e-02 9.96328834e-01 3.49181636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24719347 meters Centerline goodness : 0.907441 with order 1 Centerline is valid? [False, False] Translation: X:35.28, Y:0.69, Z:3.50 [[ 9.95448870e-01 -9.52748051e-02 2.06364402e-03 3.52790858e+01] [ 9.51558135e-02 9.92560450e-01 -7.59547500e-02 6.91824890e-01] [ 5.18828257e-03 7.58054378e-02 9.97109130e-01 3.49705062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30719347000002 meters Centerline goodness : 0.905857 with order 1 Centerline is valid? [False, False] Translation: X:35.30, Y:0.69, Z:3.50 [[ 9.95670766e-01 -9.28702639e-02 3.85222620e-03 3.52983508e+01] [ 9.28925764e-02 9.92741262e-01 -7.63921191e-02 6.94536328e-01] [ 3.27029236e-03 7.64192429e-02 9.97070411e-01 3.49635652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36719347000002 meters Centerline goodness : 0.905371 with order 1 Centerline is valid? [False, False] Translation: X:35.33, Y:0.70, Z:3.50 [[ 9.95762093e-01 -9.19569383e-02 -1.33230718e-03 3.53289321e+01] [ 9.16194804e-02 9.93157162e-01 -7.24204512e-02 6.97175747e-01] [ 7.98275338e-03 7.19914747e-02 9.97373302e-01 3.49768399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42719347000002 meters Centerline goodness : 0.905456 with order 1 Centerline is valid? [False, False] Translation: X:35.37, Y:0.70, Z:3.50 [[ 9.96299329e-01 -8.59138020e-02 -2.54290528e-03 3.53687858e+01] [ 8.55054711e-02 9.93706076e-01 -7.23674569e-02 7.04241152e-01] [ 8.74426379e-03 7.18822164e-02 9.97374797e-01 3.49713894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48719347000002 meters Centerline goodness : 0.906142 with order 1 Centerline is valid? [False, False] Translation: X:35.41, Y:0.71, Z:3.50 [[ 9.96770108e-01 -8.02442637e-02 -3.19521218e-03 3.54096469e+01] [ 7.98222076e-02 9.94326833e-01 -7.03033700e-02 7.10608719e-01] [ 8.81852738e-03 6.98212489e-02 9.97520540e-01 3.49684385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54719347000002 meters Centerline goodness : 0.909524 with order 1 Centerline is valid? [False, False] Translation: X:35.45, Y:0.72, Z:3.50 [[ 9.97515864e-01 -7.04125442e-02 2.04342898e-03 3.54482254e+01] [ 7.03337625e-02 9.93952427e-01 -8.43310990e-02 7.16976467e-01] [ 3.90689604e-03 8.42653311e-02 9.96435693e-01 3.49690292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.60719347000003 meters Centerline goodness : 0.909848 with order 1 Centerline is valid? [False, False] Translation: X:35.49, Y:0.72, Z:3.50 [[ 9.98072721e-01 -6.19473709e-02 3.65596501e-03 3.54932709e+01] [ 6.20149803e-02 9.93574247e-01 -9.46802902e-02 7.24871164e-01] [ 2.23272237e-03 9.47245395e-02 9.95501018e-01 3.49718578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.66719347000003 meters Centerline goodness : 0.906612 with order 1 Centerline is valid? [False, False] Translation: X:35.54, Y:0.73, Z:3.50 [[ 9.98160876e-01 -6.06157896e-02 -7.68830708e-04 3.55428429e+01] [ 6.02898232e-02 9.93956711e-01 -9.17343610e-02 7.28394248e-01] [ 6.32473517e-03 9.15192975e-02 9.95783217e-01 3.49806011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.72719347000003 meters Centerline goodness : 0.905583 with order 1 Centerline is valid? [False, False] Translation: X:35.57, Y:0.73, Z:3.50 [[ 9.97342297e-01 -7.26583064e-02 -5.39564700e-03 3.55688600e+01] [ 7.19930659e-02 9.94170867e-01 -8.02576224e-02 7.26168501e-01] [ 1.11955780e-02 7.96558723e-02 9.96759550e-01 3.50250381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.78719347 meters Centerline goodness : 0.907615 with order 1 Centerline is valid? [False, False] Translation: X:35.59, Y:0.73, Z:3.50 [[ 9.96585764e-01 -8.24077415e-02 -5.07740624e-03 3.55893608e+01] [ 8.18236936e-02 9.93997282e-01 -7.26242781e-02 7.27489501e-01] [ 1.10317307e-02 7.19608695e-02 9.97346446e-01 3.50387011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.84719347 meters Centerline goodness : 0.909708 with order 1 Centerline is valid? [False, False] Translation: X:35.62, Y:0.73, Z:3.51 [[ 9.96227508e-01 -8.66143995e-02 -5.35700204e-03 3.56165760e+01] [ 8.60177305e-02 9.93758075e-01 -7.10340610e-02 7.30823419e-01] [ 1.14761366e-02 7.03052884e-02 9.97459505e-01 3.50788710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.90719347 meters Centerline goodness : 0.913734 with order 1 Centerline is valid? [False, False] Translation: X:35.65, Y:0.74, Z:3.51 [[ 9.96460809e-01 -8.40241821e-02 -2.40669429e-03 3.56518455e+01] [ 8.36184103e-02 9.93762179e-01 -7.37881661e-02 7.36002872e-01] [ 8.59167207e-03 7.33257717e-02 9.97271034e-01 3.50903132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96719347 meters Centerline goodness : 0.911014 with order 1 Centerline is valid? [False, False] Translation: X:35.70, Y:0.75, Z:3.51 [[ 9.96995700e-01 -7.73221332e-02 -4.56740696e-03 3.56953807e+01] [ 7.67786368e-02 9.94332078e-01 -7.35442640e-02 7.46568834e-01] [ 1.02281186e-02 7.29726357e-02 9.97281495e-01 3.50586816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02719347000001 meters Centerline goodness : 0.906789 with order 1 Centerline is valid? [False, False] Translation: X:35.74, Y:0.75, Z:3.50 [[ 9.97258821e-01 -7.35773159e-02 -7.82442827e-03 3.57392394e+01] [ 7.27936552e-02 9.94560250e-01 -7.45049890e-02 7.50085322e-01] [ 1.32637425e-02 7.37311888e-02 9.97189944e-01 3.50327887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.08719347000002 meters Centerline goodness : 0.900375 with order 1 Centerline is valid? [False, False] Translation: X:35.78, Y:0.76, Z:3.50 [[ 9.97656733e-01 -6.78969484e-02 -8.42891863e-03 3.57816995e+01] [ 6.70721160e-02 9.94895895e-01 -7.53889221e-02 7.59714611e-01] [ 1.35045743e-02 7.46469203e-02 9.97118581e-01 3.50196187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14719347000002 meters Centerline goodness : 0.901613 with order 1 Centerline is valid? [False, False] Translation: X:35.82, Y:0.76, Z:3.51 [[ 9.97802008e-01 -6.59820851e-02 -6.12513392e-03 3.58179997e+01] [ 6.53202334e-02 9.94912751e-01 -7.66934539e-02 7.59948727e-01] [ 1.11543678e-02 7.61247872e-02 9.97035906e-01 3.50548158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20719347000002 meters Centerline goodness : 0.901563 with order 1 Centerline is valid? [False, False] Translation: X:35.86, Y:0.76, Z:3.51 [[ 9.97810993e-01 -6.59480834e-02 -4.90630281e-03 3.58555762e+01] [ 6.53670044e-02 9.94815254e-01 -7.79086984e-02 7.62228406e-01] [ 1.00187942e-02 7.74174454e-02 9.96948425e-01 3.50720800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26719347000002 meters Centerline goodness : 0.902050 with order 1 Centerline is valid? [False, False] Translation: X:35.88, Y:0.76, Z:3.51 [[ 9.97672589e-01 -6.79585847e-02 -5.57096198e-03 3.58835054e+01] [ 6.73789345e-02 9.95097558e-01 -7.23942601e-02 7.63928106e-01] [ 1.04634621e-02 7.18504034e-02 9.97360534e-01 3.51020603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.32719347000003 meters Centerline goodness : 0.899831 with order 1 Centerline is valid? [False, False] Translation: X:35.92, Y:0.77, Z:3.51 [[ 9.97857986e-01 -6.52764127e-02 -4.29308221e-03 3.59208792e+01] [ 6.47969947e-02 9.95280292e-01 -7.22391192e-02 7.67419715e-01] [ 8.98833067e-03 7.18062031e-02 9.97378102e-01 3.51208193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.38719347000003 meters Centerline goodness : 0.902444 with order 1 Centerline is valid? [False, False] Translation: X:35.97, Y:0.78, Z:3.51 [[ 9.98173539e-01 -6.04104190e-02 -4.10094434e-04 3.59656704e+01] [ 6.01376524e-02 9.94266759e-01 -8.84142256e-02 7.75765133e-01] [ 5.74888367e-03 8.82280783e-02 9.96083710e-01 3.51029940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.44719347000003 meters Centerline goodness : 0.896779 with order 1 Centerline is valid? [False, False] Translation: X:36.02, Y:0.79, Z:3.51 [[ 9.98740156e-01 -5.01601498e-02 1.43552705e-03 3.60189253e+01] [ 5.00203788e-02 9.92857287e-01 -1.08316063e-01 7.85910404e-01] [ 4.00787648e-03 1.08251408e-01 9.94115471e-01 3.50912041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.50719347 meters Centerline goodness : 0.899180 with order 1 Centerline is valid? [False, False] Translation: X:36.06, Y:0.80, Z:3.51 [[ 9.98862967e-01 -4.63733009e-02 1.10584514e-02 3.60552995e+01] [ 4.74245151e-02 9.90223342e-01 -1.31181741e-01 7.95282069e-01] [-4.86700635e-03 1.31557024e-01 9.91296657e-01 3.50737938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.56719347 meters Centerline goodness : 0.893546 with order 1 Centerline is valid? [False, False] Translation: X:36.10, Y:0.79, Z:3.51 [[ 9.98954948e-01 -4.52734269e-02 6.27133712e-03 3.61044811e+01] [ 4.57028913e-02 9.90971958e-01 -1.26038975e-01 7.94076209e-01] [-5.08502894e-04 1.26193876e-01 9.92005467e-01 3.50684781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.62719347 meters Centerline goodness : 0.894728 with order 1 Centerline is valid? [False, False] Translation: X:36.13, Y:0.79, Z:3.51 [[ 9.98800649e-01 -4.84780074e-02 6.86634250e-03 3.61348121e+01] [ 4.89535041e-02 9.91352433e-01 -1.21753474e-01 7.91204375e-01] [-9.04599549e-04 1.21943580e-01 9.92536621e-01 3.50594416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.68719347 meters Centerline goodness : 0.894311 with order 1 Centerline is valid? [False, False] Translation: X:36.16, Y:0.78, Z:3.51 [[ 9.98536475e-01 -5.36568461e-02 6.77136277e-03 3.61563995e+01] [ 5.40745672e-02 9.92669017e-01 -1.08093313e-01 7.83945783e-01] [-9.21775773e-04 1.08301274e-01 9.94117691e-01 3.50508801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74719347 meters Centerline goodness : 0.895721 with order 1 Centerline is valid? [False, False] Translation: X:36.19, Y:0.78, Z:3.51 [[ 9.98451279e-01 -5.55757389e-02 2.52590933e-03 3.61893720e+01] [ 5.55560105e-02 9.93649827e-01 -9.78445200e-02 7.80507339e-01] [ 2.92791213e-03 9.78333156e-02 9.95198508e-01 3.50907454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80719347000002 meters Centerline goodness : 0.892292 with order 1 Centerline is valid? [False, False] Translation: X:36.23, Y:0.78, Z:3.51 [[ 9.98478591e-01 -5.49455577e-02 4.63563974e-03 3.62268310e+01] [ 5.51332815e-02 9.93424348e-01 -1.00341345e-01 7.80096348e-01] [ 9.08153749e-04 1.00444262e-01 9.94942272e-01 3.51002610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.86719347000002 meters Centerline goodness : 0.898121 with order 1 Centerline is valid? [False, False] Translation: X:36.25, Y:0.78, Z:3.51 [[ 9.98342888e-01 -5.74310644e-02 3.62642514e-03 3.62549282e+01] [ 5.75179190e-02 9.93933074e-01 -9.37482492e-02 7.79722581e-01] [ 1.77963785e-03 9.38014822e-02 9.95589330e-01 3.51426576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92719347000002 meters Centerline goodness : 0.889647 with order 1 Centerline is valid? [False, False] Translation: X:36.28, Y:0.78, Z:3.51 [[ 9.98258688e-01 -5.77816046e-02 1.18691789e-02 3.62811875e+01] [ 5.86102284e-02 9.94315941e-01 -8.88856030e-02 7.82616531e-01] [-6.66576106e-03 8.94264807e-02 9.95971120e-01 3.51371561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98719347000002 meters Centerline goodness : 0.894070 with order 1 Centerline is valid? [False, False] Translation: X:36.32, Y:0.78, Z:3.52 [[ 9.98308947e-01 -5.65616082e-02 1.34175742e-02 3.63178541e+01] [ 5.75441725e-02 9.94263544e-01 -9.01591580e-02 7.81817298e-01] [-8.24105792e-03 9.07787973e-02 9.95836982e-01 3.51532306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04719347000002 meters Centerline goodness : 0.894462 with order 1 Centerline is valid? [False, False] Translation: X:36.36, Y:0.78, Z:3.51 [[ 9.98471638e-01 -5.41195895e-02 1.12008370e-02 3.63602119e+01] [ 5.49130799e-02 9.94381865e-01 -9.04945315e-02 7.83733991e-01] [-6.24038227e-03 9.09712955e-02 9.95833963e-01 3.51285908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.10719347000003 meters Centerline goodness : 0.893464 with order 1 Centerline is valid? [False, False] Translation: X:36.41, Y:0.79, Z:3.51 [[ 9.98767129e-01 -4.88935066e-02 8.58175336e-03 3.64089101e+01] [ 4.95064563e-02 9.93780357e-01 -9.97482510e-02 7.86554310e-01] [-3.65133615e-03 1.00050126e-01 9.94975698e-01 3.51227807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.16719347000003 meters Centerline goodness : 0.895677 with order 1 Centerline is valid? [False, False] Translation: X:36.45, Y:0.78, Z:3.51 [[ 9.98879442e-01 -4.67203103e-02 7.55461866e-03 3.64501160e+01] [ 4.72405311e-02 9.93920090e-01 -9.94544421e-02 7.84983737e-01] [-2.86214487e-03 9.96998819e-02 9.95013438e-01 3.51041666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.22719347000003 meters Centerline goodness : 0.891370 with order 1 Centerline is valid? [False, False] Translation: X:36.48, Y:0.78, Z:3.51 [[ 9.98862938e-01 -4.76103476e-02 2.46696705e-03 3.64826696e+01] [ 4.76356935e-02 9.94638755e-01 -9.17855509e-02 7.82039837e-01] [ 1.91620094e-03 9.17987007e-02 9.95775741e-01 3.51017485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.28719347 meters Centerline goodness : 0.891208 with order 1 Centerline is valid? [False, False] Translation: X:36.51, Y:0.78, Z:3.51 [[ 9.98758277e-01 -4.97849916e-02 -1.83273604e-03 3.65142734e+01] [ 4.94501693e-02 9.95165162e-01 -8.48585943e-02 7.76967321e-01] [ 6.04855946e-03 8.46625943e-02 9.96391319e-01 3.51088217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.34719347 meters Centerline goodness : 0.893346 with order 1 Centerline is valid? [False, False] Translation: X:36.55, Y:0.77, Z:3.51 [[ 9.98467364e-01 -5.51055320e-02 -5.12871083e-03 3.65486014e+01] [ 5.45560751e-02 9.95601045e-01 -7.61721272e-02 7.72327722e-01] [ 9.30365546e-03 7.57755807e-02 9.97081493e-01 3.51470194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.40719347 meters Centerline goodness : 0.892748 with order 1 Centerline is valid? [False, False] Translation: X:36.58, Y:0.77, Z:3.52 [[ 9.98396277e-01 -5.61718222e-02 -7.04274936e-03 3.65784426e+01] [ 5.55618503e-02 9.96117008e-01 -6.82919302e-02 7.70252436e-01] [ 1.08514846e-02 6.77911007e-02 9.97640522e-01 3.51601629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46719347 meters Centerline goodness : 0.892055 with order 1 Centerline is valid? [False, False] Translation: X:36.62, Y:0.77, Z:3.52 [[ 9.98486421e-01 -5.46030759e-02 -6.58562632e-03 3.66182830e+01] [ 5.40098685e-02 9.96082956e-01 -7.00119971e-02 7.70735508e-01] [ 1.03827005e-02 6.95503396e-02 9.97524411e-01 3.51532996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52719347000001 meters Centerline goodness : 0.892304 with order 1 Centerline is valid? [False, False] Translation: X:36.66, Y:0.78, Z:3.52 [[ 9.98860989e-01 -4.77131623e-02 -4.23600909e-04 3.66618340e+01] [ 4.75175627e-02 9.95494632e-01 -8.20519331e-02 7.77970866e-01] [ 4.33664963e-03 8.19383465e-02 9.96627965e-01 3.51555945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58719347000002 meters Centerline goodness : 0.894991 with order 1 Centerline is valid? [False, False] Translation: X:36.70, Y:0.78, Z:3.52 [[ 9.99121921e-01 -4.18817478e-02 1.14302572e-03 3.67046167e+01] [ 4.18047786e-02 9.94731022e-01 -9.36085137e-02 7.83530393e-01] [ 2.78348502e-03 9.35741020e-02 9.95608427e-01 3.51840891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64719347000002 meters Centerline goodness : 0.887874 with order 1 Centerline is valid? [False, False] Translation: X:36.74, Y:0.78, Z:3.52 [[ 9.99233284e-01 -3.91402397e-02 9.41235937e-04 3.67439337e+01] [ 3.90566395e-02 9.94849719e-01 -9.35340299e-02 7.81627162e-01] [ 2.72455605e-03 9.34990774e-02 9.95615638e-01 3.52017486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70719347000002 meters Centerline goodness : 0.887560 with order 1 Centerline is valid? [False, False] Translation: X:36.77, Y:0.78, Z:3.52 [[ 9.99229627e-01 -3.92363850e-02 -8.11222622e-04 3.67744052e+01] [ 3.90272569e-02 9.95652417e-01 -8.45762286e-02 7.78884943e-01] [ 4.12616123e-03 8.44794136e-02 9.96416682e-01 3.52151185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76719347000002 meters Centerline goodness : 0.887410 with order 1 Centerline is valid? [False, False] Translation: X:36.80, Y:0.77, Z:3.52 [[ 9.99161942e-01 -4.08904856e-02 -1.83915837e-03 3.68033683e+01] [ 4.06294690e-02 9.96230923e-01 -7.66367652e-02 7.71343753e-01] [ 4.96594099e-03 7.64978151e-02 9.97057382e-01 3.52336480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.82719347000003 meters Centerline goodness : 0.887712 with order 1 Centerline is valid? [False, False] Translation: X:36.84, Y:0.76, Z:3.52 [[ 9.99094231e-01 -4.21456875e-02 -5.87021236e-03 3.68371864e+01] [ 4.16593230e-02 9.96887359e-01 -6.69335025e-02 7.64668829e-01] [ 8.67289898e-03 6.66283271e-02 9.97740170e-01 3.52161871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.88719347000003 meters Centerline goodness : 0.887795 with order 1 Centerline is valid? [False, False] Translation: X:36.88, Y:0.76, Z:3.52 [[ 9.99187744e-01 -3.97507559e-02 -6.61281616e-03 3.68783672e+01] [ 3.92130164e-02 9.96934390e-01 -6.77064374e-02 7.64230599e-01] [ 9.28392591e-03 6.73921340e-02 9.97683371e-01 3.51994802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.94719347000003 meters Centerline goodness : 0.888681 with order 1 Centerline is valid? [False, False] Translation: X:36.92, Y:0.76, Z:3.52 [[ 9.99411905e-01 -3.36786614e-02 -6.44910290e-03 3.69233615e+01] [ 3.30511728e-02 9.96206378e-01 -8.05013848e-02 7.64061701e-01] [ 9.13581632e-03 8.02408920e-02 9.96733633e-01 3.51870038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.00719347 meters Centerline goodness : 0.887907 with order 1 Centerline is valid? [False, False] Translation: X:36.97, Y:0.77, Z:3.52 [[ 9.99614853e-01 -2.76433635e-02 -2.44727419e-03 3.69677379e+01] [ 2.72946947e-02 9.95265194e-01 -9.32855517e-02 7.70053682e-01] [ 5.01441323e-03 9.31828255e-02 9.95636388e-01 3.51738715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.06719347 meters Centerline goodness : 0.890588 with order 1 Centerline is valid? [False, False] Translation: X:36.99, Y:0.80, Z:3.52 [[ 9.99732235e-01 -2.12156223e-02 9.23877524e-03 3.69933473e+01] [ 2.24826022e-02 9.85043947e-01 -1.70830192e-01 7.95107390e-01] [-5.47633079e-03 1.70992162e-01 9.85257170e-01 3.51804269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.12719347 meters Centerline goodness : 0.893343 with order 1 Centerline is valid? [False, False] Translation: X:37.02, Y:0.79, Z:3.52 [[ 9.99548133e-01 -2.51749402e-02 1.64241523e-02 3.70214161e+01] [ 2.76190162e-02 9.84831722e-01 -1.71299940e-01 7.94077675e-01] [-1.18625605e-02 1.71676154e-01 9.85082016e-01 3.51519332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.18719347 meters Centerline goodness : 0.890017 with order 1 Centerline is valid? [False, False] Translation: X:37.04, Y:0.78, Z:3.52 [[ 9.99202970e-01 -3.74224204e-02 1.38919491e-02 3.70448067e+01] [ 3.91060100e-02 9.87518513e-01 -1.52570986e-01 7.83716728e-01] [-8.00898128e-03 1.52992642e-01 9.88194873e-01 3.51569259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24719347 meters Centerline goodness : 0.893544 with order 1 Centerline is valid? [False, False] Translation: X:37.07, Y:0.78, Z:3.52 [[ 9.98855161e-01 -4.69014637e-02 9.41386602e-03 3.70728457e+01] [ 4.77544454e-02 9.89183956e-01 -1.38688912e-01 7.77611260e-01] [-2.80733224e-03 1.38979690e-01 9.90291252e-01 3.51632822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30719347000002 meters Centerline goodness : 0.891103 with order 1 Centerline is valid? [False, False] Translation: X:37.10, Y:0.77, Z:3.52 [[ 9.98432646e-01 -5.56896454e-02 5.56017877e-03 3.71018133e+01] [ 5.59499535e-02 9.90781272e-01 -1.23377769e-01 7.71518277e-01] [ 1.36194323e-03 1.23495484e-01 9.92344200e-01 3.51727442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36719347000002 meters Centerline goodness : 0.892712 with order 1 Centerline is valid? [False, False] Translation: X:37.12, Y:0.77, Z:3.52 [[ 9.98215681e-01 -5.94257173e-02 5.83416209e-03 3.71200681e+01] [ 5.97064702e-02 9.92099588e-01 -1.10333789e-01 7.70042447e-01] [ 7.68594735e-04 1.10485255e-01 9.93877466e-01 3.51927793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42719347000002 meters Centerline goodness : 0.894274 with order 1 Centerline is valid? [False, False] Translation: X:37.15, Y:0.77, Z:3.52 [[ 9.98094526e-01 -6.14221162e-02 5.88556242e-03 3.71473378e+01] [ 6.17004778e-02 9.92558991e-01 -1.04974758e-01 7.71371999e-01] [ 6.06003908e-04 1.05137874e-01 9.94457470e-01 3.52297855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48719347000002 meters Centerline goodness : 0.893272 with order 1 Centerline is valid? [False, False] Translation: X:37.18, Y:0.77, Z:3.52 [[ 9.97962766e-01 -6.36125614e-02 4.87448371e-03 3.71766651e+01] [ 6.37809440e-02 9.92943278e-01 -9.99781826e-02 7.74453283e-01] [ 1.51978244e-03 1.00085403e-01 9.94977689e-01 3.52442174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54719347000002 meters Centerline goodness : 0.891129 with order 1 Centerline is valid? [False, False] Translation: X:37.21, Y:0.78, Z:3.52 [[ 9.97884621e-01 -6.49248300e-02 3.32422575e-03 3.72069226e+01] [ 6.49459816e-02 9.93333160e-01 -9.52431254e-02 7.79460278e-01] [ 2.88158005e-03 9.52575451e-02 9.95448490e-01 3.52461838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.60719347000003 meters Centerline goodness : 0.892629 with order 1 Centerline is valid? [False, False] Translation: X:37.23, Y:0.78, Z:3.53 [[ 9.97943667e-01 -6.39465134e-02 4.39098399e-03 3.72333694e+01] [ 6.40826638e-02 9.93921643e-01 -8.95163705e-02 7.84827743e-01] [ 1.35996576e-03 8.96136810e-02 9.95975672e-01 3.52623425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.66719347000003 meters Centerline goodness : 0.893559 with order 1 Centerline is valid? [False, False] Translation: X:37.27, Y:0.79, Z:3.53 [[ 9.98227534e-01 -5.92824551e-02 5.23267049e-03 3.72714487e+01] [ 5.95122590e-02 9.93928687e-01 -9.25421898e-02 7.94298486e-01] [ 2.85226899e-04 9.26895700e-02 9.95695015e-01 3.52505835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.72719347000003 meters Centerline goodness : 0.893264 with order 1 Centerline is valid? [False, False] Translation: X:37.31, Y:0.81, Z:3.52 [[ 9.98412389e-01 -5.61090455e-02 4.94740326e-03 3.73113598e+01] [ 5.63247405e-02 9.93777999e-01 -9.60875210e-02 8.05054991e-01] [ 4.74758567e-04 9.62136326e-02 9.95360594e-01 3.52293683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.78719347 meters Centerline goodness : 0.893642 with order 1 Centerline is valid? [False, False] Translation: X:37.35, Y:0.81, Z:3.52 [[ 9.98555378e-01 -5.36334596e-02 3.25701946e-03 3.73523244e+01] [ 5.36936736e-02 9.93706471e-01 -9.83078806e-02 8.11643238e-01] [ 2.03607043e-03 9.83407442e-02 9.95150718e-01 3.52209312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.84719347 meters Centerline goodness : 0.896470 with order 1 Centerline is valid? [False, False] Translation: X:37.39, Y:0.82, Z:3.53 [[ 9.98773049e-01 -4.94083288e-02 3.34856446e-03 3.73945984e+01] [ 4.95040219e-02 9.94326929e-01 -9.41451503e-02 8.20678623e-01] [ 1.32198672e-03 9.41954062e-02 9.95552850e-01 3.52546148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.90719347 meters Centerline goodness : 0.891862 with order 1 Centerline is valid? [False, False] Translation: X:37.44, Y:0.83, Z:3.53 [[ 9.99047883e-01 -4.31463018e-02 6.45942741e-03 3.74373710e+01] [ 4.35914114e-02 9.93218688e-01 -1.07779529e-01 8.31220099e-01] [-1.76533595e-03 1.07958485e-01 9.94153836e-01 3.52564809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96719347 meters Centerline goodness : 0.890827 with order 1 Centerline is valid? [False, False] Translation: X:37.49, Y:0.85, Z:3.52 [[ 9.99398236e-01 -3.39044869e-02 7.32472214e-03 3.74860054e+01] [ 3.45785394e-02 9.90477701e-01 -1.33260078e-01 8.46641450e-01] [-2.73685938e-03 1.33433165e-01 9.91054035e-01 3.52385048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02719347000001 meters Centerline goodness : 0.885961 with order 1 Centerline is valid? [False, False] Translation: X:37.52, Y:0.87, Z:3.53 [[ 9.99508796e-01 -2.60870147e-02 1.73676007e-02 3.75210343e+01] [ 2.88172344e-02 9.82848522e-01 -1.82149251e-01 8.66112945e-01] [-1.23179905e-02 1.82560265e-01 9.83117499e-01 3.52502488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08719347000002 meters Centerline goodness : 0.885639 with order 1 Centerline is valid? [False, False] Translation: X:37.54, Y:0.91, Z:3.54 [[ 9.99701635e-01 -1.03947013e-02 2.21041173e-02 3.75437845e+01] [ 1.66606944e-02 9.51932036e-01 -3.05855882e-01 9.07480890e-01] [-1.78623368e-02 3.06132895e-01 9.51821195e-01 3.53678784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14719347000002 meters Centerline goodness : 0.883747 with order 1 Centerline is valid? [False, False] Translation: X:37.56, Y:0.93, Z:3.55 [[ 9.99632757e-01 -4.51548273e-03 2.67200593e-02 3.75642379e+01] [ 1.43633200e-02 9.24408679e-01 -3.81132901e-01 9.28097563e-01] [-2.29792557e-02 3.81376722e-01 9.24134054e-01 3.54860745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20719347000002 meters Centerline goodness : 0.884365 with order 1 Centerline is valid? [False, False] Translation: X:37.59, Y:0.95, Z:3.56 [[ 9.99507211e-01 3.12877436e-03 3.12337200e-02 3.75902842e+01] [ 1.13643416e-02 8.91453951e-01 -4.52968768e-01 9.45464797e-01] [-2.92606602e-02 4.53100501e-01 8.90979096e-01 3.56354290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26719347000002 meters Centerline goodness : 0.885167 with order 1 Centerline is valid? [False, False] Translation: X:37.62, Y:0.96, Z:3.58 [[ 9.99261509e-01 1.26703892e-02 3.62753203e-02 3.76167973e+01] [ 7.99189798e-03 8.54889383e-01 -5.18748756e-01 9.56637161e-01] [-3.75841348e-02 5.18655573e-01 8.54156794e-01 3.57995880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.32719347000003 meters Centerline goodness : 0.886270 with order 1 Centerline is valid? [False, False] Translation: X:37.64, Y:0.97, Z:3.59 [[ 9.99237463e-01 1.67009093e-02 3.52926698e-02 3.76423576e+01] [ 6.96031892e-03 8.13232125e-01 -5.81897813e-01 9.65877687e-01] [-3.84193555e-02 5.81699742e-01 8.12495762e-01 3.59248672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.38719347000003 meters Centerline goodness : 0.889592 with order 1 Centerline is valid? [False, False] Translation: X:37.62, Y:0.93, Z:3.58 [[ 9.99481009e-01 1.19615932e-03 3.21913338e-02 3.76191156e+01] [ 1.58713655e-02 8.51318269e-01 -5.24409481e-01 9.31446239e-01] [-2.80323478e-02 5.24648238e-01 8.50857458e-01 3.57868721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.44719347000003 meters Centerline goodness : 0.896920 with order 1 Centerline is valid? [False, False] Translation: X:37.61, Y:0.91, Z:3.57 [[ 9.99398911e-01 -1.15150332e-02 3.26989536e-02 3.76110110e+01] [ 2.58803332e-02 8.75388766e-01 -4.82726337e-01 9.07857393e-01] [-2.30656868e-02 4.83282436e-01 8.75160592e-01 3.57247405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.50719347 meters Centerline goodness : 0.899147 with order 1 Centerline is valid? [False, False] Translation: X:37.61, Y:0.88, Z:3.57 [[ 9.99292819e-01 -2.54183615e-02 2.77086314e-02 3.76144383e+01] [ 3.50288383e-02 8.97185273e-01 -4.40263065e-01 8.81622439e-01] [-1.36690103e-02 4.40922321e-01 8.97441177e-01 3.56625809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.56719347 meters Centerline goodness : 0.898368 with order 1 Centerline is valid? [False, False] Translation: X:37.61, Y:0.86, Z:3.57 [[ 9.99035301e-01 -3.35704212e-02 2.83106709e-02 3.76072036e+01] [ 4.21035495e-02 9.15440263e-01 -4.00245444e-01 8.59230181e-01] [-1.24803199e-02 4.01051308e-01 9.15970573e-01 3.56644194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.62719347 meters Centerline goodness : 0.899108 with order 1 Centerline is valid? [False, False] Translation: X:37.61, Y:0.84, Z:3.57 [[ 9.98756588e-01 -3.82254808e-02 3.20013999e-02 3.76080325e+01] [ 4.72237373e-02 9.31132780e-01 -3.61609823e-01 8.42321988e-01] [-1.59748431e-02 3.62671419e-01 9.31780149e-01 3.56849288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.68719347 meters Centerline goodness : 0.898845 with order 1 Centerline is valid? [False, False] Translation: X:37.61, Y:0.83, Z:3.57 [[ 9.98454274e-01 -4.42203926e-02 3.36692685e-02 3.76135559e+01] [ 5.27748354e-02 9.44313624e-01 -3.24787001e-01 8.29609301e-01] [-1.74321403e-02 3.26061860e-01 9.45187698e-01 3.57005592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74719347 meters Centerline goodness : 0.902536 with order 1 Centerline is valid? [False, False] Translation: X:37.62, Y:0.82, Z:3.57 [[ 9.98262456e-01 -4.77388632e-02 3.45408535e-02 3.76226705e+01] [ 5.57941697e-02 9.54315857e-01 -2.93544300e-01 8.18909839e-01] [-1.89494131e-02 2.94961432e-01 9.55321241e-01 3.57472035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80719347000002 meters Centerline goodness : 0.908310 with order 1 Centerline is valid? [False, False] Translation: X:37.64, Y:0.81, Z:3.58 [[ 9.98009629e-01 -5.28370767e-02 3.44241626e-02 3.76352799e+01] [ 6.01050016e-02 9.62179214e-01 -2.65703876e-01 8.09683718e-01] [-1.90831976e-02 2.67244091e-01 9.63439893e-01 3.57823379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86719347000002 meters Centerline goodness : 0.903371 with order 1 Centerline is valid? [False, False] Translation: X:37.65, Y:0.81, Z:3.58 [[ 9.97904216e-01 -5.70900808e-02 3.04614351e-02 3.76520269e+01] [ 6.26891083e-02 9.69626933e-01 -2.36418456e-01 8.05131002e-01] [-1.60390791e-02 2.37832574e-01 9.71173731e-01 3.58174709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92719347000002 meters Centerline goodness : 0.904875 with order 1 Centerline is valid? [False, False] Translation: X:37.68, Y:0.81, Z:3.58 [[ 9.97987606e-01 -5.76375618e-02 2.64319811e-02 3.76783091e+01] [ 6.20112711e-02 9.74196236e-01 -2.17016811e-01 8.10263401e-01] [-1.32416166e-02 2.18219168e-01 9.75809948e-01 3.58338770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98719347000002 meters Centerline goodness : 0.900890 with order 1 Centerline is valid? [False, False] Translation: X:37.70, Y:0.81, Z:3.59 [[ 9.97843060e-01 -6.04641509e-02 2.55600183e-02 3.77000421e+01] [ 6.43569464e-02 9.77810811e-01 -1.99359479e-01 8.13638589e-01] [-1.29387606e-02 2.00574437e-01 9.79593019e-01 3.58825691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04719347000002 meters Centerline goodness : 0.898312 with order 1 Centerline is valid? [False, False] Translation: X:37.72, Y:0.82, Z:3.59 [[ 9.97672327e-01 -6.32749430e-02 2.54206519e-02 3.77209384e+01] [ 6.68759060e-02 9.80754080e-01 -1.83436770e-01 8.18130216e-01] [-1.33244569e-02 1.84709818e-01 9.82702774e-01 3.59129008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.10719347000003 meters Centerline goodness : 0.897113 with order 1 Centerline is valid? [False, False] Translation: X:37.75, Y:0.83, Z:3.60 [[ 9.97503817e-01 -6.69194116e-02 2.25372308e-02 3.77456986e+01] [ 6.97596242e-02 9.83371897e-01 -1.67670231e-01 8.32373422e-01] [-1.09420862e-02 1.68823884e-01 9.85585494e-01 3.59571173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.16719347000003 meters Centerline goodness : 0.889754 with order 1 Centerline is valid? [False, False] Translation: X:37.77, Y:0.84, Z:3.60 [[ 9.97275486e-01 -7.05829474e-02 2.14395194e-02 3.77659097e+01] [ 7.30552061e-02 9.85299902e-01 -1.54424870e-01 8.39685655e-01] [-1.02245939e-02 1.55570406e-01 9.87771890e-01 3.59758382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.22719347000003 meters Centerline goodness : 0.883136 with order 1 Centerline is valid? [False, False] Translation: X:37.80, Y:0.85, Z:3.60 [[ 9.97130746e-01 -7.38216659e-02 1.67522451e-02 3.78017523e+01] [ 7.54923790e-02 9.86081816e-01 -1.48133567e-01 8.54474287e-01] [-5.58361760e-03 1.48973201e-01 9.88825469e-01 3.60040961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.28719347 meters Centerline goodness : 0.886018 with order 1 Centerline is valid? [False, False] Translation: X:37.85, Y:0.88, Z:3.60 [[ 9.97477778e-01 -6.71984399e-02 2.28571988e-02 3.78496169e+01] [ 7.00268674e-02 9.84250399e-01 -1.62318788e-01 8.80577587e-01] [-1.15896377e-02 1.63510002e-01 9.86473598e-01 3.59916700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.34719347 meters Centerline goodness : 0.882381 with order 1 Centerline is valid? [False, False] Translation: X:37.88, Y:0.90, Z:3.60 [[ 9.97757494e-01 -6.09382655e-02 2.76859464e-02 3.78833298e+01] [ 6.47442263e-02 9.83605600e-01 -1.68309860e-01 8.95653406e-01] [-1.69755409e-02 1.69724929e-01 9.85345259e-01 3.59702668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.40719347 meters Centerline goodness : 0.884016 with order 1 Centerline is valid? [False, False] Translation: X:37.92, Y:0.93, Z:3.61 [[ 9.97997160e-01 -4.90309685e-02 3.99703981e-02 3.79195636e+01] [ 5.72265418e-02 9.69050226e-01 -2.40139090e-01 9.33421579e-01] [-2.69590712e-02 2.41945497e-01 9.69915246e-01 3.60713017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46719347 meters Centerline goodness : 0.882840 with order 1 Centerline is valid? [False, False] Translation: X:37.96, Y:0.95, Z:3.61 [[ 9.97922452e-01 -4.56212970e-02 4.54914975e-02 3.79594814e+01] [ 5.62914596e-02 9.60868387e-01 -2.71225394e-01 9.49539692e-01] [-3.13376876e-02 2.73222693e-01 9.61440226e-01 3.61268873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52719347000001 meters Centerline goodness : 0.878384 with order 1 Centerline is valid? [False, False] Translation: X:37.98, Y:0.95, Z:3.61 [[ 9.97630955e-01 -5.04541847e-02 4.67637970e-02 3.79807879e+01] [ 6.08439864e-02 9.64343729e-01 -2.57563936e-01 9.51258439e-01] [-3.21011960e-02 2.59799052e-01 9.65128989e-01 3.61092019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58719347000002 meters Centerline goodness : 0.879906 with order 1 Centerline is valid? [False, False] Translation: X:38.02, Y:0.97, Z:3.61 [[ 9.97389528e-01 -4.91816437e-02 5.28705590e-02 3.80234225e+01] [ 6.21502098e-02 9.57460610e-01 -2.81791646e-01 9.68307154e-01] [-3.67625014e-02 2.84341953e-01 9.58017835e-01 3.61486639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64719347000002 meters Centerline goodness : 0.880956 with order 1 Centerline is valid? [False, False] Translation: X:38.07, Y:0.98, Z:3.62 [[ 0.99736955 -0.04555555 0.05637972 38.0651238 ] [ 0.06106138 0.94717106 -0.31486265 0.98207987] [-0.0390575 0.31747704 0.94746126 3.62022649] [ 0. 0. 0. 1. ]] SLAMing on 179.70719347000002 meters Centerline goodness : 0.883881 with order 1 Centerline is valid? [False, False] Translation: X:38.10, Y:1.01, Z:3.63 [[ 0.99716042 -0.03869147 0.06460699 38.10476977] [ 0.05968163 0.92923049 -0.36464887 1.00792035] [-0.04592599 0.36746928 0.92890104 3.63240228] [ 0. 0. 0. 1. ]] SLAMing on 179.76719347000002 meters Centerline goodness : 0.878068 with order 1 Centerline is valid? [False, False] Translation: X:38.09, Y:1.00, Z:3.63 [[ 0.99705643 -0.04530374 0.06185499 38.09370198] [ 0.06263425 0.94658127 -0.31632396 1.00024099] [-0.04422011 0.31926708 0.94663251 3.6335158 ] [ 0. 0. 0. 1. ]] SLAMing on 179.82719347000003 meters Centerline goodness : 0.875635 with order 1 Centerline is valid? [False, False] Translation: X:38.08, Y:1.00, Z:3.63 [[ 0.99684125 -0.05010236 0.06162211 38.08143786] [ 0.06527492 0.95884128 -0.27633779 0.99525332] [-0.04524065 0.27948729 0.95908297 3.63359335] [ 0. 0. 0. 1. ]] SLAMing on 179.88719347000003 meters Centerline goodness : 0.875553 with order 1 Centerline is valid? [False, False] Translation: X:38.08, Y:0.99, Z:3.63 [[ 0.99702397 -0.04961044 0.05900846 38.07881448] [ 0.0626165 0.96763483 -0.2444627 0.98960592] [-0.04497074 0.24743008 0.96786155 3.6341693 ] [ 0. 0. 0. 1. ]] SLAMing on 179.94719347000003 meters Centerline goodness : 0.880465 with order 1 Centerline is valid? [False, False] Translation: X:38.08, Y:0.98, Z:3.63 [[ 0.99741458 -0.04399601 0.05681999 38.07663094] [ 0.05524587 0.97510437 -0.2147542 0.98186102] [-0.04595709 0.21733804 0.97501391 3.63416775] [ 0. 0. 0. 1. ]] SLAMing on 180.00719347 meters Centerline goodness : 0.879215 with order 1 Centerline is valid? [False, False] Translation: X:38.08, Y:0.97, Z:3.63 [[ 0.99790318 -0.03906297 0.05160737 38.07942391] [ 0.04795833 0.98170592 -0.18426474 0.97120794] [-0.04346533 0.18635337 0.98152085 3.63166456] [ 0. 0. 0. 1. ]] SLAMing on 180.06719347 meters Centerline goodness : 0.878473 with order 1 Centerline is valid? [False, False] Translation: X:38.08, Y:0.96, Z:3.63 [[ 0.99789937 -0.0407522 0.05035973 38.0797759 ] [ 0.04795955 0.9873107 -0.15138517 0.96021407] [-0.04355142 0.15348239 0.98719118 3.62970198] [ 0. 0. 0. 1. ]] SLAMing on 180.12719347 meters Centerline goodness : 0.878897 with order 1 Centerline is valid? [False, False] Translation: X:38.08, Y:0.95, Z:3.63 [[ 0.99787788 -0.03977053 0.05155621 38.07529782] [ 0.04625 0.99026543 -0.13128337 0.94897535] [-0.04583312 0.13338925 0.99000335 3.63007418] [ 0. 0. 0. 1. ]] SLAMing on 180.18719347 meters Centerline goodness : 0.881591 with order 1 Centerline is valid? [False, False] Translation: X:38.08, Y:0.94, Z:3.63 [[ 9.98343020e-01 -3.11110847e-02 4.84078018e-02 3.80840124e+01] [ 3.62242817e-02 9.93423771e-01 -1.08614058e-01 9.36714910e-01] [-4.47103598e-02 1.10187624e-01 9.92904664e-01 3.63028216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24719347 meters Centerline goodness : 0.880309 with order 1 Centerline is valid? [False, False] Translation: X:38.08, Y:0.93, Z:3.63 [[ 9.98510024e-01 -2.82052134e-02 4.67139945e-02 3.80844679e+01] [ 3.21429441e-02 9.95792940e-01 -8.58093935e-02 9.26311696e-01] [-4.40971937e-02 8.71830649e-02 9.95215831e-01 3.62862578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30719347000002 meters Centerline goodness : 0.875528 with order 1 Centerline is valid? [False, False] Translation: X:38.08, Y:0.91, Z:3.63 [[ 9.98403130e-01 -3.01789708e-02 4.77537308e-02 3.80817530e+01] [ 3.41838405e-02 9.95760036e-01 -8.54015019e-02 9.14939763e-01] [-4.49739272e-02 8.68975328e-02 9.95201570e-01 3.62972573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36719347000002 meters Centerline goodness : 0.879669 with order 1 Centerline is valid? [False, False] Translation: X:38.09, Y:0.91, Z:3.64 [[ 0.99832162 -0.03863012 0.04314703 38.0900992 ] [ 0.0427936 0.99405097 -0.10015677 0.90896137] [-0.03902128 0.10183509 0.99403569 3.63557713] [ 0. 0. 0. 1. ]] SLAMing on 180.42719347000002 meters Centerline goodness : 0.877157 with order 1 Centerline is valid? [False, False] Translation: X:38.10, Y:0.90, Z:3.64 [[ 0.99766301 -0.05128506 0.04514826 38.10119116] [ 0.05546342 0.99376082 -0.09676388 0.89822506] [-0.03990403 0.09904182 0.99428285 3.63513599] [ 0. 0. 0. 1. ]] SLAMing on 180.48719347000002 meters Centerline goodness : 0.881125 with order 1 Centerline is valid? [False, False] Translation: X:38.12, Y:0.88, Z:3.64 [[ 9.96917291e-01 -6.72181423e-02 4.04677254e-02 3.81238163e+01] [ 7.04697095e-02 9.93872115e-01 -8.51600782e-02 8.84217030e-01] [-3.44954416e-02 8.77493033e-02 9.95545139e-01 3.63642713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54719347000002 meters Centerline goodness : 0.884611 with order 1 Centerline is valid? [False, False] Translation: X:38.14, Y:0.87, Z:3.63 [[ 9.96457331e-01 -7.63762320e-02 3.52059414e-02 3.81407578e+01] [ 7.89801779e-02 9.93683588e-01 -7.97186191e-02 8.71721667e-01] [-2.88949584e-02 8.22167739e-02 9.96195505e-01 3.63178327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.60719347000003 meters Centerline goodness : 0.889181 with order 1 Centerline is valid? [False, False] Translation: X:38.17, Y:0.87, Z:3.63 [[ 9.96510467e-01 -7.69770491e-02 3.22710963e-02 3.81707356e+01] [ 7.90278353e-02 9.94550271e-01 -6.80026484e-02 8.68068007e-01] [-2.68605844e-02 7.03156658e-02 9.97163084e-01 3.63113081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.66719347000003 meters Centerline goodness : 0.888943 with order 1 Centerline is valid? [False, False] Translation: X:38.20, Y:0.87, Z:3.63 [[ 9.97049269e-01 -7.06930931e-02 2.99205801e-02 3.82011609e+01] [ 7.26880058e-02 9.94760874e-01 -7.18836323e-02 8.69429058e-01] [-2.46821461e-02 7.38463903e-02 9.96964143e-01 3.63081440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.72719347000003 meters Centerline goodness : 0.890365 with order 1 Centerline is valid? [False, False] Translation: X:38.24, Y:0.87, Z:3.63 [[ 9.97349436e-01 -6.67437128e-02 2.89720575e-02 3.82416202e+01] [ 6.86299989e-02 9.95189690e-01 -6.99099757e-02 8.71157394e-01] [-2.41666416e-02 7.17130271e-02 9.97132496e-01 3.62782134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.78719347 meters Centerline goodness : 0.891637 with order 1 Centerline is valid? [False, False] Translation: X:38.28, Y:0.89, Z:3.63 [[ 9.98007591e-01 -5.36139487e-02 3.32624908e-02 3.82828700e+01] [ 5.68985910e-02 9.92600757e-01 -1.07267363e-01 8.89825820e-01] [-2.72653466e-02 1.08946232e-01 9.93673648e-01 3.62925890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.84719347 meters Centerline goodness : 0.892535 with order 1 Centerline is valid? [False, False] Translation: X:38.31, Y:0.92, Z:3.63 [[ 9.98548215e-01 -3.30874983e-02 4.25050533e-02 3.83066699e+01] [ 4.01651007e-02 9.83166194e-01 -1.78244216e-01 9.16428470e-01] [-3.58918763e-02 1.79692663e-01 9.83067811e-01 3.63351031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.90719347 meters Centerline goodness : 0.891147 with order 1 Centerline is valid? [False, False] Translation: X:38.32, Y:0.94, Z:3.65 [[ 9.98773894e-01 -1.74337990e-02 4.63332591e-02 3.83210090e+01] [ 2.86467476e-02 9.66853282e-01 -2.53720506e-01 9.38078428e-01] [-4.03741513e-02 2.54736715e-01 9.66167239e-01 3.64645869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96719347 meters Centerline goodness : 0.890555 with order 1 Centerline is valid? [False, False] Translation: X:38.32, Y:0.93, Z:3.65 [[ 9.98739284e-01 -1.55795031e-02 4.77191936e-02 3.83163669e+01] [ 2.71422245e-02 9.67274934e-01 -2.52274655e-01 9.33096068e-01] [-4.22272661e-02 2.53251813e-01 9.66478338e-01 3.65072811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02719347000001 meters Centerline goodness : 0.887991 with order 1 Centerline is valid? [False, False] Translation: X:38.33, Y:0.92, Z:3.65 [[ 9.98708634e-01 -2.08719025e-02 4.63187627e-02 3.83324186e+01] [ 3.13305627e-02 9.70732105e-01 -2.38112528e-01 9.24376970e-01] [-3.99932485e-02 2.39256231e-01 9.70132463e-01 3.65217576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08719347000002 meters Centerline goodness : 0.889428 with order 1 Centerline is valid? [False, False] Translation: X:38.34, Y:0.90, Z:3.65 [[ 9.98381884e-01 -3.34084073e-02 4.60162142e-02 3.83382651e+01] [ 4.25976738e-02 9.75460523e-01 -2.16014367e-01 9.00127189e-01] [-3.76703044e-02 2.17625014e-01 9.75305235e-01 3.65023332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14719347000002 meters Centerline goodness : 0.894922 with order 1 Centerline is valid? [False, False] Translation: X:38.36, Y:0.88, Z:3.65 [[ 9.98322210e-01 -4.12533537e-02 4.06315897e-02 3.83609331e+01] [ 4.84149931e-02 9.79616744e-01 -1.94953900e-01 8.84920257e-01] [-3.17608834e-02 1.96593986e-01 9.79970434e-01 3.65018343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20719347000002 meters Centerline goodness : 0.886447 with order 1 Centerline is valid? [False, False] Translation: X:38.38, Y:0.87, Z:3.65 [[ 9.98240301e-01 -4.54707802e-02 3.80619251e-02 3.83837117e+01] [ 5.15029144e-02 9.82959808e-01 -1.76458111e-01 8.72447565e-01] [-2.93896546e-02 1.78107898e-01 9.83571972e-01 3.64837025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26719347000002 meters Centerline goodness : 0.893402 with order 1 Centerline is valid? [False, False] Translation: X:38.41, Y:0.86, Z:3.65 [[ 9.98442273e-01 -4.30478756e-02 3.54951821e-02 3.84108821e+01] [ 4.83643547e-02 9.84955236e-01 -1.65903803e-01 8.64039636e-01] [-2.78193592e-02 1.67362072e-01 9.85502928e-01 3.64741771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.32719347000003 meters Centerline goodness : 0.890551 with order 1 Centerline is valid? [False, False] Translation: X:38.44, Y:0.87, Z:3.64 [[ 9.98354186e-01 -4.04873242e-02 4.06164520e-02 3.84394419e+01] [ 4.70996087e-02 9.82917532e-01 -1.77917823e-01 8.65822231e-01] [-3.27192062e-02 1.79538022e-01 9.83206770e-01 3.64437831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.38719347000003 meters Centerline goodness : 0.896372 with order 1 Centerline is valid? [False, False] Translation: X:38.46, Y:0.86, Z:3.64 [[ 9.98212497e-01 -4.56177231e-02 3.86113284e-02 3.84620958e+01] [ 5.13373519e-02 9.85261432e-01 -1.63169808e-01 8.56061280e-01] [-3.05988176e-02 1.64860345e-01 9.85842167e-01 3.64140139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.44719347000003 meters Centerline goodness : 0.892766 with order 1 Centerline is valid? [False, False] Translation: X:38.48, Y:0.85, Z:3.64 [[ 9.97951182e-01 -5.09063805e-02 3.87553733e-02 3.84825932e+01] [ 5.62112622e-02 9.86920542e-01 -1.51089835e-01 8.51222143e-01] [-3.05570373e-02 1.52958768e-01 9.87760033e-01 3.63904290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.50719347000003 meters Centerline goodness : 0.890393 with order 1 Centerline is valid? [False, False] Translation: X:38.51, Y:0.84, Z:3.64 [[ 9.98304752e-01 -4.73583997e-02 3.38349569e-02 3.85122228e+01] [ 5.16791897e-02 9.88662442e-01 -1.40981694e-01 8.44740573e-01] [-2.67746837e-02 1.42491258e-01 9.89433857e-01 3.63876459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.56719347 meters Centerline goodness : 0.894206 with order 1 Centerline is valid? [False, False] Translation: X:38.54, Y:0.85, Z:3.64 [[ 9.98111569e-01 -4.29607099e-02 4.39052808e-02 3.85404113e+01] [ 4.97941800e-02 9.84397524e-01 -1.68766273e-01 8.50853227e-01] [-3.59699308e-02 1.70633797e-01 9.84677750e-01 3.63920103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.62719347 meters Centerline goodness : 0.893966 with order 1 Centerline is valid? [False, False] Translation: X:38.57, Y:0.85, Z:3.64 [[ 0.99781534 -0.04269074 0.05041866 38.57225515] [ 0.05086051 0.98345964 -0.17384001 0.84890334] [-0.04216336 0.17602455 0.98348239 3.64067637] [ 0. 0. 0. 1. ]] SLAMing on 181.68719347 meters Centerline goodness : 0.895559 with order 1 Centerline is valid? [False, False] Translation: X:38.60, Y:0.84, Z:3.64 [[ 0.99772721 -0.04465745 0.05045907 38.60227558] [ 0.05228586 0.98545411 -0.16169842 0.83804689] [-0.04250406 0.16396921 0.98554934 3.64188809] [ 0. 0. 0. 1. ]] SLAMing on 181.74719347 meters Centerline goodness : 0.894315 with order 1 Centerline is valid? [False, False] Translation: X:38.62, Y:0.83, Z:3.64 [[ 0.99757287 -0.04837762 0.05007969 38.62241752] [ 0.05530471 0.98747935 -0.147736 0.83079695] [-0.04230554 0.15014707 0.98775812 3.63990861] [ 0. 0. 0. 1. ]] SLAMing on 181.80719347000002 meters Centerline goodness : 0.895969 with order 1 Centerline is valid? [False, False] Translation: X:38.64, Y:0.82, Z:3.64 [[ 9.97557671e-01 -5.32178952e-02 4.52388053e-02 3.86417603e+01] [ 5.88563557e-02 9.89211442e-01 -1.34151601e-01 8.18055981e-01] [-3.76114780e-02 1.36486550e-01 9.89927673e-01 3.63899308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86719347000002 meters Centerline goodness : 0.895731 with order 1 Centerline is valid? [False, False] Translation: X:38.67, Y:0.81, Z:3.64 [[ 9.97649143e-01 -5.38313730e-02 4.24072093e-02 3.86714498e+01] [ 5.88001038e-02 9.90249887e-01 -1.26284238e-01 8.10805464e-01] [-3.51956803e-02 1.28480910e-01 9.91087241e-01 3.63814439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92719347000002 meters Centerline goodness : 0.893838 with order 1 Centerline is valid? [False, False] Translation: X:38.70, Y:0.81, Z:3.64 [[ 9.97883640e-01 -5.27211889e-02 3.80620146e-02 3.87018617e+01] [ 5.69060913e-02 9.91278213e-01 -1.18866320e-01 8.05646082e-01] [-3.14632720e-02 1.20780717e-01 9.92180468e-01 3.63685924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98719347000002 meters Centerline goodness : 0.892056 with order 1 Centerline is valid? [False, False] Translation: X:38.73, Y:0.80, Z:3.64 [[ 9.98092177e-01 -5.23231556e-02 3.27764091e-02 3.87329372e+01] [ 5.56653716e-02 9.92248574e-01 -1.11104159e-01 7.99683582e-01] [-2.67090250e-02 1.12716703e-01 9.93268127e-01 3.63596204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04719347000002 meters Centerline goodness : 0.895163 with order 1 Centerline is valid? [False, False] Translation: X:38.77, Y:0.80, Z:3.64 [[ 9.97858182e-01 -5.38853236e-02 3.70866575e-02 3.87673344e+01] [ 5.79241652e-02 9.91298936e-01 -1.18199872e-01 7.97427874e-01] [-3.03947258e-02 1.20094923e-01 9.92297017e-01 3.63555001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.10719347000003 meters Centerline goodness : 0.896963 with order 1 Centerline is valid? [False, False] Translation: X:38.79, Y:0.79, Z:3.63 [[ 9.97398990e-01 -6.07219943e-02 3.88341987e-02 3.87879154e+01] [ 6.45859765e-02 9.92102633e-01 -1.07522168e-01 7.90582674e-01] [-3.19985503e-02 1.09750647e-01 9.93443953e-01 3.63390218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.16719347000003 meters Centerline goodness : 0.894708 with order 1 Centerline is valid? [False, False] Translation: X:38.81, Y:0.79, Z:3.63 [[ 9.96818752e-01 -6.94761025e-02 3.90569754e-02 3.88118224e+01] [ 7.29629849e-02 9.92666933e-01 -9.63782266e-02 7.86319744e-01] [-3.20745844e-02 9.89213371e-02 9.94578197e-01 3.63329245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.22719347000003 meters Centerline goodness : 0.896434 with order 1 Centerline is valid? [False, False] Translation: X:38.84, Y:0.79, Z:3.64 [[ 9.96426842e-01 -7.68807353e-02 3.49699963e-02 3.88360633e+01] [ 7.95374220e-02 9.93429632e-01 -8.22883046e-02 7.85012795e-01] [-2.84138452e-02 8.47756989e-02 9.95994847e-01 3.63653011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.28719347 meters Centerline goodness : 0.897455 with order 1 Centerline is valid? [False, False] Translation: X:38.85, Y:0.79, Z:3.64 [[ 9.96397277e-01 -7.50679738e-02 3.94622136e-02 3.88510849e+01] [ 7.81354626e-02 9.93481827e-01 -8.29982412e-02 7.85068179e-01] [-3.29744823e-02 8.57826198e-02 9.95768058e-01 3.63818917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.34719347 meters Centerline goodness : 0.898255 with order 1 Centerline is valid? [False, False] Translation: X:38.87, Y:0.79, Z:3.64 [[ 9.96147497e-01 -7.74628448e-02 4.11056224e-02 3.88743123e+01] [ 8.06240741e-02 9.93380452e-01 -8.18232063e-02 7.86538680e-01] [-3.44952634e-02 8.48220848e-02 9.95798820e-01 3.64111477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.40719347 meters Centerline goodness : 0.898979 with order 1 Centerline is valid? [False, False] Translation: X:38.91, Y:0.79, Z:3.64 [[ 9.96121628e-01 -8.00430008e-02 3.65352020e-02 3.89095931e+01] [ 8.24735557e-02 9.94079249e-01 -7.07429055e-02 7.89011089e-01] [-3.06564117e-02 7.34817261e-02 9.96825271e-01 3.64427541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46719347 meters Centerline goodness : 0.900924 with order 1 Centerline is valid? [False, False] Translation: X:38.94, Y:0.79, Z:3.64 [[ 9.96274605e-01 -8.06646601e-02 3.04979222e-02 3.89424193e+01] [ 8.25052161e-02 9.94476382e-01 -6.48815442e-02 7.91497123e-01] [-2.50958157e-02 6.71560725e-02 9.97426820e-01 3.64387878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52719347000001 meters Centerline goodness : 0.897432 with order 1 Centerline is valid? [False, False] Translation: X:38.98, Y:0.80, Z:3.64 [[ 9.96588185e-01 -7.70316397e-02 2.96330338e-02 3.89816044e+01] [ 7.89219460e-02 9.94487681e-01 -6.90331650e-02 7.96703541e-01] [-2.41519491e-02 7.11363333e-02 9.97174160e-01 3.64099863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58719347000002 meters Centerline goodness : 0.900275 with order 1 Centerline is valid? [False, False] Translation: X:39.03, Y:0.81, Z:3.64 [[ 9.97323281e-01 -6.68774702e-02 2.95580325e-02 3.90283061e+01] [ 6.89935102e-02 9.94597120e-01 -7.75658754e-02 8.05410494e-01] [-2.42109244e-02 7.93975658e-02 9.96548974e-01 3.63891266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64719347000002 meters Centerline goodness : 0.898559 with order 1 Centerline is valid? [False, False] Translation: X:39.07, Y:0.82, Z:3.63 [[ 9.97408884e-01 -6.48411094e-02 3.11632715e-02 3.90676302e+01] [ 6.73151261e-02 9.93993325e-01 -8.62898784e-02 8.17458807e-01] [-2.53809525e-02 8.81640508e-02 9.95782560e-01 3.63478516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70719347000002 meters Centerline goodness : 0.896966 with order 1 Centerline is valid? [False, False] Translation: X:39.10, Y:0.82, Z:3.63 [[ 9.97344616e-01 -6.68985769e-02 2.87801597e-02 3.90966470e+01] [ 6.91299465e-02 9.93964214e-01 -8.51832826e-02 8.22020476e-01] [-2.29078084e-02 8.69466591e-02 9.95949552e-01 3.63476515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76719347000002 meters Centerline goodness : 0.899689 with order 1 Centerline is valid? [False, False] Translation: X:39.14, Y:0.83, Z:3.64 [[ 9.96965564e-01 -7.32705994e-02 2.62884506e-02 3.91430716e+01] [ 7.53446933e-02 9.93152051e-01 -8.92870644e-02 8.26111017e-01] [-1.95663119e-02 9.09968238e-02 9.95658946e-01 3.63536358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.82719347000003 meters Centerline goodness : 0.900356 with order 1 Centerline is valid? [False, False] Translation: X:39.17, Y:0.83, Z:3.64 [[ 9.96171429e-01 -8.30967252e-02 2.71554503e-02 3.91707697e+01] [ 8.49441792e-02 9.93483134e-01 -7.59983493e-02 8.28199245e-01] [-2.06632679e-02 7.80140817e-02 9.96738096e-01 3.63638971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.88719347000003 meters Centerline goodness : 0.906001 with order 1 Centerline is valid? [False, False] Translation: X:39.20, Y:0.83, Z:3.64 [[ 9.95157765e-01 -9.39931500e-02 2.87456245e-02 3.91963639e+01] [ 9.56438983e-02 9.93433524e-01 -6.27859682e-02 8.32441631e-01] [-2.26554161e-02 6.52312874e-02 9.97612957e-01 3.63970012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.94719347000003 meters Centerline goodness : 0.906062 with order 1 Centerline is valid? [False, False] Translation: X:39.21, Y:0.84, Z:3.64 [[ 9.94807741e-01 -9.63248252e-02 3.28494437e-02 3.92132480e+01] [ 9.83717980e-02 9.92840171e-01 -6.77597571e-02 8.37101703e-01] [-2.60873005e-02 7.06393897e-02 9.97160734e-01 3.63989471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.00719347000003 meters Centerline goodness : 0.906965 with order 1 Centerline is valid? [False, False] Translation: X:39.25, Y:0.84, Z:3.64 [[ 9.94819352e-01 -9.78371109e-02 2.76108023e-02 3.92451773e+01] [ 9.94123078e-02 9.93047960e-01 -6.30312808e-02 8.41801008e-01] [-2.12520525e-02 6.54495915e-02 9.97629541e-01 3.63982564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.06719347 meters Centerline goodness : 0.907360 with order 1 Centerline is valid? [False, False] Translation: X:39.28, Y:0.86, Z:3.64 [[ 9.95142795e-01 -9.42702046e-02 2.83539480e-02 3.92831794e+01] [ 9.60275235e-02 9.92997457e-01 -6.88096317e-02 8.56860238e-01] [-2.16687002e-02 7.11981686e-02 9.97226799e-01 3.63698029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.12719347 meters Centerline goodness : 0.897825 with order 1 Centerline is valid? [False, False] Translation: X:39.32, Y:0.87, Z:3.64 [[ 9.95485135e-01 -9.03194342e-02 2.91846897e-02 3.93216883e+01] [ 9.22621571e-02 9.92979764e-01 -7.40194795e-02 8.71816643e-01] [-2.22944087e-02 7.63779340e-02 9.96829660e-01 3.63592128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.18719347 meters Centerline goodness : 0.903675 with order 1 Centerline is valid? [False, False] Translation: X:39.36, Y:0.88, Z:3.63 [[ 9.95609312e-01 -8.79147721e-02 3.21417230e-02 3.93582277e+01] [ 9.02915434e-02 9.92530215e-01 -8.20439446e-02 8.84361039e-01] [-2.46887565e-02 8.45858411e-02 9.96110285e-01 3.63292596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24719347 meters Centerline goodness : 0.898509 with order 1 Centerline is valid? [False, False] Translation: X:39.40, Y:0.91, Z:3.63 [[ 9.96193629e-01 -7.83117228e-02 3.82822118e-02 3.94001369e+01] [ 8.22382845e-02 9.89964712e-01 -1.14920554e-01 9.08379777e-01] [-2.88984122e-02 1.17631387e-01 9.92636761e-01 3.63023416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30719347000002 meters Centerline goodness : 0.896933 with order 1 Centerline is valid? [False, False] Translation: X:39.44, Y:0.92, Z:3.63 [[ 9.96344727e-01 -7.16541464e-02 4.65066535e-02 3.94369295e+01] [ 7.78283305e-02 9.85854676e-01 -1.48436210e-01 9.24317060e-01] [-3.52127319e-02 1.51513170e-01 9.87827831e-01 3.63079287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36719347000002 meters Centerline goodness : 0.895677 with order 1 Centerline is valid? [False, False] Translation: X:39.48, Y:0.95, Z:3.63 [[ 9.96284652e-01 -6.85153721e-02 5.21779273e-02 3.94804398e+01] [ 7.70205790e-02 9.79926928e-01 -1.83877804e-01 9.47534015e-01] [-3.85320998e-02 1.87213408e-01 9.81563252e-01 3.63344520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42719347000002 meters Centerline goodness : 0.895633 with order 1 Centerline is valid? [False, False] Translation: X:39.51, Y:0.96, Z:3.63 [[ 0.99574142 -0.07260551 0.05681075 39.5144786 ] [ 0.08248423 0.97687522 -0.1972591 0.95776491] [-0.04117491 0.20110505 0.97870393 3.6331881 ] [ 0. 0. 0. 1. ]] SLAMing on 183.48719347000002 meters Centerline goodness : 0.899506 with order 1 Centerline is valid? [False, False] Translation: X:39.54, Y:0.97, Z:3.63 [[ 0.99490552 -0.0767939 0.06531229 39.54075706] [ 0.08841692 0.97592767 -0.19936807 0.96539599] [-0.04842982 0.2041271 0.97774571 3.63089351] [ 0. 0. 0. 1. ]] SLAMing on 183.54719347000002 meters Centerline goodness : 0.901660 with order 1 Centerline is valid? [False, False] Translation: X:39.57, Y:0.98, Z:3.63 [[ 0.99425005 -0.07583517 0.07560331 39.56575985] [ 0.09054415 0.97230947 -0.21544386 0.98390987] [-0.05717159 0.22105051 0.97358517 3.63194022] [ 0. 0. 0. 1. ]] SLAMing on 183.60719347000003 meters Centerline goodness : 0.906699 with order 1 Centerline is valid? [False, False] Translation: X:39.59, Y:1.00, Z:3.63 [[ 0.99362937 -0.07398925 0.08500744 39.59276079] [ 0.09161346 0.96959376 -0.22692491 0.99676024] [-0.06563267 0.23326709 0.97019525 3.6316341 ] [ 0. 0. 0. 1. ]] SLAMing on 183.66719347000003 meters Centerline goodness : 0.901660 with order 1 Centerline is valid? [False, False] Translation: X:39.63, Y:1.01, Z:3.63 [[ 0.9928131 -0.07852771 0.09030805 39.62638379] [ 0.09825509 0.96566852 -0.2404792 1.00961821] [-0.06832336 0.24762413 0.96644411 3.63082041] [ 0. 0. 0. 1. ]] SLAMing on 183.72719347000003 meters Centerline goodness : 0.903833 with order 1 Centerline is valid? [False, False] Translation: X:39.65, Y:1.01, Z:3.63 [[ 0.99195354 -0.09271167 0.08621324 39.64979892] [ 0.10998813 0.96831706 -0.22419788 1.00939852] [-0.06269599 0.23187632 0.97072271 3.62839753] [ 0. 0. 0. 1. ]] SLAMing on 183.78719347 meters Centerline goodness : 0.909687 with order 1 Centerline is valid? [False, False] Translation: X:39.68, Y:1.01, Z:3.63 [[ 0.99176048 -0.09801977 0.082482 39.67661294] [ 0.11324627 0.97180851 -0.20679339 1.0103735 ] [-0.05988687 0.21443029 0.97490164 3.62622951] [ 0. 0. 0. 1. ]] SLAMing on 183.84719347 meters Centerline goodness : 0.908966 with order 1 Centerline is valid? [False, False] Translation: X:39.70, Y:1.02, Z:3.62 [[ 0.99139333 -0.09976439 0.08477228 39.69681597] [ 0.11468276 0.97411523 -0.19480086 1.01773913] [-0.06314378 0.20284619 0.9771726 3.62364359] [ 0. 0. 0. 1. ]] SLAMing on 183.90719347 meters Centerline goodness : 0.904253 with order 1 Centerline is valid? [False, False] Translation: X:39.70, Y:1.01, Z:3.62 [[ 0.99193347 -0.09899295 0.07917309 39.69865745] [ 0.11063999 0.98095395 -0.15965003 1.0144302 ] [-0.06186093 0.16712192 0.98399364 3.62443449] [ 0. 0. 0. 1. ]] SLAMing on 183.96719347 meters Centerline goodness : 0.904706 with order 1 Centerline is valid? [False, False] Translation: X:39.70, Y:1.01, Z:3.62 [[ 0.99244651 -0.09498771 0.07763545 39.70290388] [ 0.1046664 0.985713 -0.13196523 1.01368724] [-0.0639912 0.13909425 0.98820945 3.62482087] [ 0. 0. 0. 1. ]] SLAMing on 184.02719347000001 meters Centerline goodness : 0.902762 with order 1 Centerline is valid? [False, False] Translation: X:39.70, Y:1.02, Z:3.63 [[ 0.99384224 -0.08035171 0.07629688 39.70245553] [ 0.08906763 0.98892602 -0.11871096 1.01947118] [-0.06591334 0.12477555 0.98999318 3.62710748] [ 0. 0. 0. 1. ]] SLAMing on 184.08719347000002 meters Centerline goodness : 0.906032 with order 1 Centerline is valid? [False, False] Translation: X:39.71, Y:1.02, Z:3.63 [[ 0.99458604 -0.06868956 0.07797664 39.70647051] [ 0.07590788 0.99269961 -0.09373088 1.02098656] [-0.07096905 0.09914246 0.99253925 3.62936037] [ 0. 0. 0. 1. ]] SLAMing on 184.14719347000002 meters Centerline goodness : 0.905676 with order 1 Centerline is valid? [False, False] Translation: X:39.71, Y:1.02, Z:3.63 [[ 0.99462392 -0.06554534 0.08016898 39.70850603] [ 0.07167318 0.99452005 -0.07611059 1.01761294] [-0.07474096 0.08144738 0.99387128 3.6313935 ] [ 0. 0. 0. 1. ]] SLAMing on 184.20719347000002 meters Centerline goodness : 0.911171 with order 1 Centerline is valid? [False, False] Translation: X:39.70, Y:1.01, Z:3.63 [[ 0.99440789 -0.06221758 0.0853342 39.69903022] [ 0.06764608 0.99576426 -0.06226992 1.00956236] [-0.08109846 0.06769422 0.99440461 3.63248183] [ 0. 0. 0. 1. ]] SLAMing on 184.26719347000002 meters Centerline goodness : 0.907923 with order 1 Centerline is valid? [False, False] Translation: X:39.70, Y:1.00, Z:3.64 [[ 0.99465839 -0.06255119 0.08210991 39.70434681] [ 0.0672117 0.99620633 -0.05527696 1.00236836] [-0.07834077 0.06050043 0.99508915 3.63577166] [ 0. 0. 0. 1. ]] SLAMing on 184.32719347000003 meters Centerline goodness : 0.910721 with order 1 Centerline is valid? [False, False] Translation: X:39.69, Y:0.99, Z:3.64 [[ 0.99516751 -0.06288818 0.07541017 39.69470345] [ 0.06650041 0.99670763 -0.04638521 0.98971312] [-0.07224481 0.05117586 0.99607315 3.63951097] [ 0. 0. 0. 1. ]] SLAMing on 184.38719347000003 meters Centerline goodness : 0.910388 with order 1 Centerline is valid? [False, False] Translation: X:39.70, Y:0.98, Z:3.64 [[ 0.99535403 -0.06108579 0.07442368 39.69840148] [ 0.06433116 0.99704366 -0.04201727 0.98094624] [-0.071637 0.04660983 0.99634114 3.63557794] [ 0. 0. 0. 1. ]] SLAMing on 184.44719347000003 meters Centerline goodness : 0.909735 with order 1 Centerline is valid? [False, False] Translation: X:39.70, Y:0.96, Z:3.63 [[ 9.95614787e-01 -6.52526470e-02 6.70319870e-02 3.96984420e+01] [ 6.73795543e-02 9.97277119e-01 -2.99723896e-02 9.64761593e-01] [-6.48936891e-02 3.43575397e-02 9.97300541e-01 3.63294796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.50719347000003 meters Centerline goodness : 0.907945 with order 1 Centerline is valid? [False, False] Translation: X:39.70, Y:0.95, Z:3.63 [[ 9.95224068e-01 -7.22343379e-02 6.56601545e-02 3.97041896e+01] [ 7.46108253e-02 9.96616126e-01 -3.44894577e-02 9.54919096e-01] [-6.29466457e-02 3.92236967e-02 9.97245818e-01 3.62923188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.56719347 meters Centerline goodness : 0.906986 with order 1 Centerline is valid? [False, False] Translation: X:39.71, Y:0.95, Z:3.63 [[ 0.99439343 -0.08290811 0.06563504 39.70627204] [ 0.08588514 0.99533689 -0.04391138 0.94808249] [-0.06168837 0.04930226 0.99687704 3.62891362] [ 0. 0. 0. 1. ]] SLAMing on 184.62719347 meters Centerline goodness : 0.911342 with order 1 Centerline is valid? [False, False] Translation: X:39.73, Y:0.94, Z:3.63 [[ 0.99352176 -0.09385149 0.06408135 39.73382043] [ 0.09658191 0.99448336 -0.0409242 0.94079573] [-0.05988704 0.04684818 0.99710521 3.6308275 ] [ 0. 0. 0. 1. ]] SLAMing on 184.68719347 meters Centerline goodness : 0.913097 with order 1 Centerline is valid? [False, False] Translation: X:39.74, Y:0.93, Z:3.64 [[ 0.99217721 -0.1074768 0.06350694 39.73646965] [ 0.11043715 0.99285954 -0.04509521 0.93380175] [-0.05820678 0.05175596 0.99696203 3.63925579] [ 0. 0. 0. 1. ]] SLAMing on 184.74719347 meters Centerline goodness : 0.913418 with order 1 Centerline is valid? [False, False] Translation: X:39.76, Y:0.94, Z:3.64 [[ 0.99200539 -0.11040792 0.06111792 39.7629345 ] [ 0.11295008 0.99280233 -0.03982222 0.93500221] [-0.05628133 0.04640713 0.99733585 3.64007033] [ 0. 0. 0. 1. ]] SLAMing on 184.80719347000002 meters Centerline goodness : 0.916588 with order 1 Centerline is valid? [False, False] Translation: X:39.79, Y:0.94, Z:3.64 [[ 0.99223638 -0.108173 0.06136421 39.78787191] [ 0.11131477 0.99251051 -0.050318 0.94378723] [-0.05546158 0.05675809 0.99684629 3.64172315] [ 0. 0. 0. 1. ]] SLAMing on 184.86719347000002 meters Centerline goodness : 0.899878 with order 1 Centerline is valid? [False, False] Translation: X:39.80, Y:0.95, Z:3.64 [[ 0.99213147 -0.10700411 0.06500209 39.8044949 ] [ 0.1105399 0.9924322 -0.05347199 0.9545835 ] [-0.05878845 0.06023657 0.99645144 3.64014895] [ 0. 0. 0. 1. ]] SLAMing on 184.92719347000002 meters Centerline goodness : 0.900094 with order 1 Centerline is valid? [False, False] Translation: X:39.84, Y:0.97, Z:3.64 [[ 0.99211357 -0.10624879 0.06649713 39.8424209 ] [ 0.11024917 0.99210998 -0.05969011 0.97384172] [-0.05963046 0.06655062 0.99599961 3.63553281] [ 0. 0. 0. 1. ]] SLAMing on 184.98719347000002 meters Centerline goodness : 0.893073 with order 1 Centerline is valid? [False, False] Translation: X:39.87, Y:0.99, Z:3.63 [[ 0.99184358 -0.10994392 0.06448752 39.8682795 ] [ 0.11390596 0.99159475 -0.06136192 0.98541991] [-0.05719912 0.06820694 0.99603016 3.63412195] [ 0. 0. 0. 1. ]] SLAMing on 185.04719347000002 meters Centerline goodness : 0.899091 with order 1 Centerline is valid? [False, False] Translation: X:39.90, Y:0.99, Z:3.63 [[ 0.9916034 -0.1136749 0.06164989 39.89756154] [ 0.1171266 0.99155939 -0.0555997 0.99356129] [-0.05480924 0.06235369 0.99654802 3.63364768] [ 0. 0. 0. 1. ]] SLAMing on 185.10719347000003 meters Centerline goodness : 0.896873 with order 1 Centerline is valid? [False, False] Translation: X:39.93, Y:1.01, Z:3.63 [[ 0.99168229 -0.11621825 0.05531332 39.92884469] [ 0.11914622 0.99146362 -0.05295345 1.00899043] [-0.04868699 0.05910337 0.99706387 3.63177308] [ 0. 0. 0. 1. ]] SLAMing on 185.16719347000003 meters Centerline goodness : 0.893243 with order 1 Centerline is valid? [False, False] Translation: X:39.95, Y:1.02, Z:3.63 [[ 0.99192112 -0.11434869 0.05492607 39.95409074] [ 0.11765207 0.99116545 -0.06122946 1.02043458] [-0.04743932 0.06719696 0.9966113 3.63222466] [ 0. 0. 0. 1. ]] SLAMing on 185.22719347000003 meters Centerline goodness : 0.899479 with order 1 Centerline is valid? [False, False] Translation: X:39.95, Y:1.04, Z:3.63 [[ 0.99291554 -0.10586404 0.05395872 39.9529493 ] [ 0.10880765 0.99254614 -0.05489126 1.03754293] [-0.04774551 0.0603735 0.9970333 3.63358597] [ 0. 0. 0. 1. ]] SLAMing on 185.28719347 meters Centerline goodness : 0.894710 with order 1 Centerline is valid? [False, False] Translation: X:39.95, Y:1.05, Z:3.63 [[ 0.99421992 -0.09352321 0.05272728 39.95177444] [ 0.09586514 0.99443086 -0.04378511 1.04941585] [-0.04833871 0.04858674 0.99764858 3.63494138] [ 0. 0. 0. 1. ]] SLAMing on 185.34719347 meters Centerline goodness : 0.896520 with order 1 Centerline is valid? [False, False] Translation: X:39.92, Y:1.06, Z:3.65 [[ 9.95900085e-01 -7.96077871e-02 4.29606946e-02 3.99227951e+01] [ 7.99371162e-02 9.96781848e-01 -6.00045393e-03 1.06153904e+00] [-4.23447576e-02 9.41000661e-03 9.99058744e-01 3.64640980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.40719347 meters Centerline goodness : 0.899651 with order 1 Centerline is valid? [False, False] Translation: X:39.92, Y:1.08, Z:3.65 [[ 9.96440664e-01 -7.23778041e-02 4.32140879e-02 3.99211150e+01] [ 7.26817506e-02 9.97340007e-01 -5.50219141e-03 1.07720397e+00] [-4.27009022e-02 8.62348282e-03 9.99050684e-01 3.64758394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46719347 meters Centerline goodness : 0.887554 with order 1 Centerline is valid? [False, False] Translation: X:39.91, Y:1.08, Z:3.65 [[ 9.97007770e-01 -6.78213802e-02 3.70913322e-02 3.99089168e+01] [ 6.81849549e-02 9.97635414e-01 -8.62517339e-03 1.08327535e+00] [-3.64186554e-02 1.11284357e-02 9.99274657e-01 3.65405653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52719347000001 meters Centerline goodness : 0.890516 with order 1 Centerline is valid? [False, False] Translation: X:39.91, Y:1.09, Z:3.65 [[ 9.97057693e-01 -6.70201819e-02 3.72055457e-02 3.99087634e+01] [ 6.74182003e-02 9.97679128e-01 -9.54692513e-03 1.08655172e+00] [-3.64793598e-02 1.20271661e-02 9.99262029e-01 3.65349307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58719347000002 meters Centerline goodness : 0.885601 with order 1 Centerline is valid? [False, False] Translation: X:39.91, Y:1.09, Z:3.65 [[ 9.97338529e-01 -6.28680195e-02 3.69251990e-02 3.99090976e+01] [ 6.31545343e-02 9.97981646e-01 -6.64372310e-03 1.08932740e+00] [-3.64329931e-02 8.95803477e-03 9.99295947e-01 3.65238692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64719347000002 meters Centerline goodness : 0.881595 with order 1 Centerline is valid? [False, False] Translation: X:39.91, Y:1.09, Z:3.65 [[ 9.97229859e-01 -6.34489807e-02 3.88179836e-02 3.99061735e+01] [ 6.37030831e-02 9.97954591e-01 -5.34326923e-03 1.08701026e+00] [-3.83995600e-02 7.80129285e-03 9.99232012e-01 3.65226819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70719347000002 meters Centerline goodness : 0.885474 with order 1 Centerline is valid? [False, False] Translation: X:39.91, Y:1.08, Z:3.65 [[ 9.96677086e-01 -7.18180842e-02 3.84310964e-02 3.99086666e+01] [ 7.23233260e-02 9.97310004e-01 -1.19202440e-02 1.08242472e+00] [-3.74716278e-02 1.46600988e-02 9.99190151e-01 3.65164833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76719347000002 meters Centerline goodness : 0.881363 with order 1 Centerline is valid? [False, False] Translation: X:39.91, Y:1.08, Z:3.65 [[ 9.95889339e-01 -8.16657030e-02 3.91808364e-02 3.99050856e+01] [ 8.21453009e-02 9.96561971e-01 -1.07883206e-02 1.07664855e+00] [-3.81650958e-02 1.39624951e-02 9.99173896e-01 3.64711285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.82719347000003 meters Centerline goodness : 0.885541 with order 1 Centerline is valid? [False, False] Translation: X:39.91, Y:1.08, Z:3.65 [[ 9.95728077e-01 -8.42103310e-02 3.78710481e-02 3.99084543e+01] [ 8.47416807e-02 9.96322671e-01 -1.26484189e-02 1.07918897e+00] [-3.66666562e-02 1.58036421e-02 9.99202583e-01 3.64581062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.88719347000003 meters Centerline goodness : 0.878434 with order 1 Centerline is valid? [False, False] Translation: X:39.90, Y:1.08, Z:3.65 [[ 9.96388096e-01 -8.00978346e-02 2.81974986e-02 3.98993717e+01] [ 8.03887483e-02 9.96719852e-01 -9.33735453e-03 1.08266667e+00] [-2.73571047e-02 1.15703905e-02 9.99558760e-01 3.64824036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.94719347000003 meters Centerline goodness : 0.883687 with order 1 Centerline is valid? [False, False] Translation: X:39.90, Y:1.08, Z:3.65 [[ 9.96734373e-01 -7.57483490e-02 2.79781475e-02 3.98983445e+01] [ 7.59399575e-02 9.97095236e-01 -5.84913355e-03 1.08433908e+00] [-2.74538154e-02 7.95469180e-03 9.99591422e-01 3.64961705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.00719347000003 meters Centerline goodness : 0.881521 with order 1 Centerline is valid? [False, False] Translation: X:39.89, Y:1.09, Z:3.66 [[ 9.97591635e-01 -6.57046560e-02 2.22222438e-02 3.98869945e+01] [ 6.58672041e-02 9.97806153e-01 -6.66277627e-03 1.09289386e+00] [-2.17357162e-02 8.11044694e-03 9.99730853e-01 3.65537509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.06719347 meters Centerline goodness : 0.878995 with order 1 Centerline is valid? [False, False] Translation: X:39.89, Y:1.09, Z:3.66 [[ 9.97844985e-01 -6.18142481e-02 2.20087603e-02 3.98861933e+01] [ 6.19013231e-02 9.98076830e-01 -3.29668738e-03 1.09492029e+00] [-2.17626514e-02 4.65195435e-03 9.99752342e-01 3.65641758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.12719347 meters Centerline goodness : 0.872768 with order 1 Centerline is valid? [False, False] Translation: X:39.88, Y:1.09, Z:3.66 [[ 9.98018010e-01 -5.86280260e-02 2.28649563e-02 3.98841985e+01] [ 5.86582490e-02 9.98277909e-01 -6.52780754e-04 1.09268951e+00] [-2.27873095e-02 1.99270525e-03 9.99738350e-01 3.65671017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.18719347 meters Centerline goodness : 0.872617 with order 1 Centerline is valid? [False, False] Translation: X:39.88, Y:1.09, Z:3.66 [[ 9.98286948e-01 -5.37879593e-02 2.30222515e-02 3.98832044e+01] [ 5.37033365e-02 9.98547767e-01 4.27876284e-03 1.09110845e+00] [-2.32189637e-02 -3.03506139e-03 9.99725796e-01 3.65722072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24719347 meters Centerline goodness : 0.873351 with order 1 Centerline is valid? [False, False] Translation: X:39.88, Y:1.09, Z:3.66 [[ 9.98339812e-01 -5.27955865e-02 2.30270617e-02 3.98829666e+01] [ 5.26789648e-02 9.98595558e-01 5.64250677e-03 1.08870066e+00] [-2.32926210e-02 -4.42009737e-03 9.99718919e-01 3.65785302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30719347000002 meters Centerline goodness : 0.871677 with order 1 Centerline is valid? [False, False] Translation: X:39.88, Y:1.08, Z:3.66 [[ 9.98214654e-01 -5.51045656e-02 2.30432576e-02 3.98832745e+01] [ 5.50113103e-02 9.98474848e-01 4.66195524e-03 1.08270262e+00] [-2.32650082e-02 -3.38599224e-03 9.99723599e-01 3.65858577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36719347000002 meters Centerline goodness : 0.880282 with order 1 Centerline is valid? [False, False] Translation: X:39.88, Y:1.08, Z:3.66 [[ 9.98041795e-01 -5.83705286e-02 2.24823751e-02 3.98847989e+01] [ 5.82986650e-02 9.98291804e-01 3.83927887e-03 1.07504542e+00] [-2.26680715e-02 -2.52106832e-03 9.99739868e-01 3.65955161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42719347000002 meters Centerline goodness : 0.875480 with order 1 Centerline is valid? [False, False] Translation: X:39.88, Y:1.06, Z:3.66 [[ 9.97958092e-01 -6.28082062e-02 1.16093263e-02 3.98835777e+01] [ 6.26994885e-02 9.97987207e-01 9.50307809e-03 1.06207123e+00] [-1.21828304e-02 -8.75577486e-03 9.99887451e-01 3.66343579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48719347000002 meters Centerline goodness : 0.879451 with order 1 Centerline is valid? [False, False] Translation: X:39.89, Y:1.06, Z:3.66 [[ 9.97808646e-01 -6.52123637e-02 1.11916839e-02 3.98858136e+01] [ 6.51212245e-02 9.97842644e-01 8.32373434e-03 1.05685461e+00] [-1.17103499e-02 -7.57667793e-03 9.99902726e-01 3.66260633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54719347000002 meters Centerline goodness : 0.879509 with order 1 Centerline is valid? [False, False] Translation: X:39.89, Y:1.05, Z:3.66 [[ 9.97678792e-01 -6.72433673e-02 1.07404499e-02 3.98882206e+01] [ 6.71671964e-02 9.97715012e-01 7.30226231e-03 1.05074559e+00] [-1.12069368e-02 -6.56390633e-03 9.99915656e-01 3.66154370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.60719347000003 meters Centerline goodness : 0.878434 with order 1 Centerline is valid? [False, False] Translation: X:39.89, Y:1.04, Z:3.67 [[ 9.97744790e-01 -6.71193760e-02 -5.67836272e-04 3.98869812e+01] [ 6.71188326e-02 9.97586055e-01 1.78080167e-02 1.03806166e+00] [-6.28797424e-04 -1.78059684e-02 9.99841263e-01 3.66571259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.66719347000003 meters Centerline goodness : 0.875919 with order 1 Centerline is valid? [False, False] Translation: X:39.89, Y:1.03, Z:3.67 [[ 9.97019484e-01 -7.71477007e-02 -6.16693255e-04 3.98875134e+01] [ 7.71500375e-02 9.96971419e-01 9.79090686e-03 1.02962663e+00] [-1.40520402e-04 -9.80930281e-03 9.99951878e-01 3.66803248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.72719347000003 meters Centerline goodness : 0.879678 with order 1 Centerline is valid? [False, False] Translation: X:39.89, Y:1.02, Z:3.67 [[ 9.96419974e-01 -8.45413199e-02 3.60648767e-05 3.98852520e+01] [ 8.45404664e-02 9.96411659e-01 4.08854670e-03 1.02451502e+00] [-3.81586598e-04 -4.07086065e-03 9.99991641e-01 3.67142597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.78719347 meters Centerline goodness : 0.880356 with order 1 Centerline is valid? [False, False] Translation: X:39.88, Y:1.02, Z:3.67 [[ 9.95710783e-01 -9.25164220e-02 8.65460997e-04 3.98837570e+01] [ 9.25181731e-02 9.95708413e-01 -2.26794303e-03 1.01921906e+00] [-6.51924821e-04 2.33828620e-03 9.99997054e-01 3.67357555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.84719347 meters Centerline goodness : 0.876069 with order 1 Centerline is valid? [False, False] Translation: X:39.88, Y:1.02, Z:3.67 [[ 9.95264420e-01 -9.71984734e-02 1.09100324e-03 3.98849767e+01] [ 9.72033165e-02 9.95246220e-01 -6.03968290e-03 1.01758170e+00] [-4.98768889e-04 6.11713064e-03 9.99981166e-01 3.67224636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.90719347 meters Centerline goodness : 0.875973 with order 1 Centerline is valid? [False, False] Translation: X:39.89, Y:1.02, Z:3.67 [[ 9.95585800e-01 -9.38527948e-02 7.53066428e-04 3.98850220e+01] [ 9.38550320e-02 9.95578232e-01 -3.90089365e-03 1.02301784e+00] [-3.83626772e-04 3.95435340e-03 9.99992108e-01 3.67206255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96719347 meters Centerline goodness : 0.887906 with order 1 Centerline is valid? [False, False] Translation: X:39.89, Y:1.03, Z:3.67 [[ 9.95896528e-01 -9.04983124e-02 4.01483898e-04 3.98852029e+01] [ 9.04988063e-02 9.95895497e-01 -1.45758323e-03 1.02819826e+00] [-2.67927184e-04 1.48793589e-03 9.99998857e-01 3.67165808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02719347000001 meters Centerline goodness : 0.880870 with order 1 Centerline is valid? [False, False] Translation: X:39.89, Y:1.04, Z:3.67 [[ 9.96348409e-01 -8.53801819e-02 -2.67788642e-04 3.98859283e+01] [ 8.53805997e-02 9.96344182e-01 2.90254699e-03 1.03688194e+00] [ 1.89896659e-05 -2.91481203e-03 9.99995752e-01 3.67048753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.08719347000002 meters Centerline goodness : 0.882603 with order 1 Centerline is valid? [False, False] Translation: X:39.89, Y:1.04, Z:3.67 [[ 9.96266577e-01 -8.63225730e-02 -1.14930993e-03 3.98895870e+01] [ 8.63239111e-02 9.96266436e-01 1.17049863e-03 1.04169700e+00] [ 1.04397846e-03 -1.26534160e-03 9.99998655e-01 3.66786432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14719347000002 meters Centerline goodness : 0.886228 with order 1 Centerline is valid? [False, False] Translation: X:39.89, Y:1.05, Z:3.67 [[ 9.96369530e-01 -8.51185739e-02 -1.60885353e-03 3.98895802e+01] [ 8.51209115e-02 9.96369581e-01 1.44496191e-03 1.05025859e+00] [ 1.48001962e-03 -1.57666310e-03 9.99997662e-01 3.66817585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20719347000002 meters Centerline goodness : 0.888351 with order 1 Centerline is valid? [False, False] Translation: X:39.87, Y:1.05, Z:3.67 [[ 9.96909941e-01 -7.84572489e-02 -3.87675128e-03 3.98693138e+01] [ 7.84802649e-02 9.96896438e-01 6.19185367e-03 1.05246319e+00] [ 3.37892374e-03 -6.47696894e-03 9.99973316e-01 3.66966102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26719347000002 meters Centerline goodness : 0.889216 with order 1 Centerline is valid? [False, False] Translation: X:39.87, Y:1.06, Z:3.67 [[ 9.97688420e-01 -6.77329677e-02 -5.48289529e-03 3.98706082e+01] [ 6.78041111e-02 9.97599868e-01 1.40394466e-02 1.06345667e+00] [ 4.51880224e-03 -1.43787561e-02 9.99886409e-01 3.66880279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.32719347000003 meters Centerline goodness : 0.889799 with order 1 Centerline is valid? [False, False] Translation: X:39.86, Y:1.07, Z:3.67 [[ 9.98185198e-01 -5.88876288e-02 -1.25919692e-02 3.98590507e+01] [ 5.90588829e-02 9.98160617e-01 1.36905372e-02 1.07110170e+00] [ 1.17626045e-02 -1.44093592e-02 9.99826991e-01 3.67211330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.38719347000003 meters Centerline goodness : 0.894793 with order 1 Centerline is valid? [False, False] Translation: X:39.85, Y:1.08, Z:3.68 [[ 9.98522413e-01 -5.30490458e-02 -1.17808961e-02 3.98540246e+01] [ 5.32465519e-02 9.98434343e-01 1.71367538e-02 1.07928127e+00] [ 1.08533628e-02 -1.77387248e-02 9.99783748e-01 3.67601886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.44719347000003 meters Centerline goodness : 0.888246 with order 1 Centerline is valid? [False, False] Translation: X:39.85, Y:1.08, Z:3.68 [[ 9.98486916e-01 -5.37559157e-02 -1.15835909e-02 3.98529351e+01] [ 5.39394158e-02 9.98413466e-01 1.61582740e-02 1.08091895e+00] [ 1.06966104e-02 -1.67586373e-02 9.99802346e-01 3.67722422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.50719347000003 meters Centerline goodness : 0.891074 with order 1 Centerline is valid? [False, False] Translation: X:39.85, Y:1.08, Z:3.68 [[ 9.98435510e-01 -5.45877847e-02 -1.21122309e-02 3.98529903e+01] [ 5.47664608e-02 9.98387329e-01 1.49457717e-02 1.08485688e+00] [ 1.12768413e-02 -1.55857332e-02 9.99814942e-01 3.67852324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.56719347 meters Centerline goodness : 0.896155 with order 1 Centerline is valid? [False, False] Translation: X:39.85, Y:1.09, Z:3.68 [[ 9.98469950e-01 -5.40302358e-02 -1.17682842e-02 3.98513496e+01] [ 5.42036261e-02 9.98417985e-01 1.49497348e-02 1.08584818e+00] [ 1.09419289e-02 -1.55647447e-02 9.99818990e-01 3.68024259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.62719347 meters Centerline goodness : 0.899958 with order 1 Centerline is valid? [False, False] Translation: X:39.85, Y:1.09, Z:3.68 [[ 9.98653507e-01 -5.03959954e-02 -1.23051083e-02 3.98520163e+01] [ 5.06111220e-02 9.98558973e-01 1.78463361e-02 1.08808614e+00] [ 1.13879924e-02 -1.84450815e-02 9.99765019e-01 3.67983980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.68719347 meters Centerline goodness : 0.898015 with order 1 Centerline is valid? [False, False] Translation: X:39.85, Y:1.09, Z:3.68 [[ 9.98682574e-01 -4.96391355e-02 -1.30028309e-02 3.98542995e+01] [ 4.98646935e-02 9.98600220e-01 1.76383785e-02 1.08999336e+00] [ 1.21090759e-02 -1.82635234e-02 9.99759878e-01 3.67821793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74719347 meters Centerline goodness : 0.897188 with order 1 Centerline is valid? [False, False] Translation: X:39.85, Y:1.09, Z:3.68 [[ 9.98910220e-01 -4.30767041e-02 -1.79657916e-02 3.98457961e+01] [ 4.32791675e-02 9.99002052e-01 1.10369143e-02 1.09210206e+00] [ 1.74724287e-02 -1.18024310e-02 9.99777684e-01 3.67822351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80719347000002 meters Centerline goodness : 0.897639 with order 1 Centerline is valid? [False, False] Translation: X:39.85, Y:1.09, Z:3.67 [[ 9.98922780e-01 -4.24799476e-02 -1.86744021e-02 3.98492646e+01] [ 4.26890718e-02 9.99028442e-01 1.09460225e-02 1.09275084e+00] [ 1.81912724e-02 -1.17314241e-02 9.99765698e-01 3.67469680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86719347000002 meters Centerline goodness : 0.893399 with order 1 Centerline is valid? [False, False] Translation: X:39.85, Y:1.09, Z:3.68 [[ 9.98716648e-01 -4.68648779e-02 -1.92026169e-02 3.98504702e+01] [ 4.70270673e-02 9.98860909e-01 8.08329963e-03 1.09057244e+00] [ 1.88019205e-02 -8.97596867e-03 9.99782936e-01 3.67542715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92719347000002 meters Centerline goodness : 0.893455 with order 1 Centerline is valid? [False, False] Translation: X:39.86, Y:1.08, Z:3.68 [[ 9.98040887e-01 -5.86222207e-02 -2.18591656e-02 3.98597171e+01] [ 5.89553130e-02 9.98149151e-01 1.49179118e-02 1.08138868e+00] [ 2.09441864e-02 -1.61773998e-02 9.99649755e-01 3.68175747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98719347000002 meters Centerline goodness : 0.902238 with order 1 Centerline is valid? [False, False] Translation: X:39.86, Y:1.08, Z:3.69 [[ 9.97626875e-01 -6.52709079e-02 -2.19163384e-02 3.98584686e+01] [ 6.55218406e-02 9.97791241e-01 1.09328896e-02 1.07872731e+00] [ 2.11543309e-02 -1.23429433e-02 9.99700028e-01 3.68549852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04719347000002 meters Centerline goodness : 0.902638 with order 1 Centerline is valid? [False, False] Translation: X:39.86, Y:1.08, Z:3.69 [[ 9.97266906e-01 -7.04302446e-02 -2.23225864e-02 3.98587791e+01] [ 7.06044722e-02 9.97479019e-01 7.11442196e-03 1.07847367e+00] [ 2.17652411e-02 -8.67105200e-03 9.99725506e-01 3.68738454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.10719347000003 meters Centerline goodness : 0.896980 with order 1 Centerline is valid? [False, False] Translation: X:39.86, Y:1.08, Z:3.69 [[ 9.96877453e-01 -7.58866996e-02 -2.18300750e-02 3.98568583e+01] [ 7.59216356e-02 9.97113486e-01 7.74852110e-04 1.08405825e+00] [ 2.17082612e-02 -2.42980759e-03 9.99761395e-01 3.68957268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.16719347000003 meters Centerline goodness : 0.901376 with order 1 Centerline is valid? [False, False] Translation: X:39.86, Y:1.09, Z:3.69 [[ 9.97035246e-01 -7.34913944e-02 -2.27976599e-02 3.98580916e+01] [ 7.35857132e-02 9.97283353e-01 3.32514286e-03 1.08768013e+00] [ 2.24913573e-02 -4.99286669e-03 9.99734570e-01 3.68961893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.22719347000003 meters Centerline goodness : 0.896803 with order 1 Centerline is valid? [False, False] Translation: X:39.86, Y:1.10, Z:3.69 [[ 9.97154317e-01 -7.18801413e-02 -2.27269335e-02 3.98563297e+01] [ 7.19795379e-02 9.97399666e-01 3.58508584e-03 1.09524017e+00] [ 2.24101394e-02 -5.21075799e-03 9.99735282e-01 3.69087775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.28719347 meters Centerline goodness : 0.896651 with order 1 Centerline is valid? [False, False] Translation: X:39.85, Y:1.11, Z:3.69 [[ 9.97405747e-01 -6.49250603e-02 -3.10887926e-02 3.98471868e+01] [ 6.50603524e-02 9.97875677e-01 3.35911491e-03 1.10575376e+00] [ 3.08046593e-02 -5.37304832e-03 9.99510982e-01 3.69246961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.34719347 meters Centerline goodness : 0.899118 with order 1 Centerline is valid? [False, False] Translation: X:39.85, Y:1.11, Z:3.69 [[ 9.97584460e-01 -6.14817950e-02 -3.23300779e-02 3.98497044e+01] [ 6.16667200e-02 9.98085478e-01 4.75330610e-03 1.11273831e+00] [ 3.19759395e-02 -6.73551416e-03 9.99465943e-01 3.69078940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.40719347 meters Centerline goodness : 0.892081 with order 1 Centerline is valid? [False, False] Translation: X:39.84, Y:1.12, Z:3.69 [[ 9.97724058e-01 -5.13134366e-02 -4.37451195e-02 3.98448470e+01] [ 5.17096028e-02 9.98630340e-01 7.97254922e-03 1.12334998e+00] [ 4.32761047e-02 -1.02164469e-02 9.99010912e-01 3.69459114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46719347 meters Centerline goodness : 0.890267 with order 1 Centerline is valid? [False, False] Translation: X:39.84, Y:1.13, Z:3.69 [[ 9.97986252e-01 -4.63027383e-02 -4.33531667e-02 3.98446578e+01] [ 4.67385605e-02 9.98865767e-01 9.09323570e-03 1.12943867e+00] [ 4.28829524e-02 -1.11011888e-02 9.99018426e-01 3.69227269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52719347000001 meters Centerline goodness : 0.889062 with order 1 Centerline is valid? [False, False] Translation: X:39.84, Y:1.14, Z:3.69 [[ 9.98506250e-01 -3.64512964e-02 -4.07009960e-02 3.98383728e+01] [ 3.70103558e-02 9.99229439e-01 1.30675714e-02 1.13724380e+00] [ 4.01933035e-02 -1.45544101e-02 9.99085916e-01 3.69379222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.58719347000002 meters Centerline goodness : 0.887241 with order 1 Centerline is valid? [False, False] Translation: X:39.86, Y:1.13, Z:3.70 [[ 9.98616445e-01 -3.26413628e-02 -4.12278638e-02 3.98630403e+01] [ 3.45664447e-02 9.98302377e-01 4.68777638e-02 1.13398949e+00] [ 3.96277204e-02 -4.82380065e-02 9.98049467e-01 3.69688769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64719347000002 meters Centerline goodness : 0.888455 with order 1 Centerline is valid? [False, False] Translation: X:39.89, Y:1.13, Z:3.70 [[ 9.98580409e-01 -2.98202462e-02 -4.41352439e-02 3.98853106e+01] [ 3.30471417e-02 9.96689118e-01 7.42878733e-02 1.12627058e+00] [ 4.17738347e-02 -7.56409585e-02 9.96259701e-01 3.69541238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70719347000002 meters Centerline goodness : 0.886880 with order 1 Centerline is valid? [False, False] Translation: X:39.92, Y:1.11, Z:3.70 [[ 9.98667276e-01 -2.77081715e-02 -4.35422585e-02 3.99172215e+01] [ 3.32636305e-02 9.90619483e-01 1.32538938e-01 1.10758126e+00] [ 3.94613979e-02 -1.33810674e-01 9.90220936e-01 3.69638741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76719347000002 meters Centerline goodness : 0.888455 with order 1 Centerline is valid? [False, False] Translation: X:39.94, Y:1.07, Z:3.70 [[ 9.98474670e-01 -2.64438968e-02 -4.84670463e-02 3.99378223e+01] [ 3.75100879e-02 9.69040692e-01 2.44035101e-01 1.07176335e+00] [ 4.05133010e-02 -2.45480870e-01 9.68554498e-01 3.70418736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.82719347000003 meters Centerline goodness : 0.886624 with order 1 Centerline is valid? [False, False] Translation: X:39.96, Y:1.07, Z:3.71 [[ 9.98557953e-01 -2.25176241e-02 -4.87336853e-02 3.99624217e+01] [ 3.31423916e-02 9.72709825e-01 2.29645767e-01 1.07374854e+00] [ 4.22326574e-02 -2.30929758e-01 9.72053419e-01 3.70708155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.88719347000003 meters Centerline goodness : 0.889017 with order 1 Centerline is valid? [False, False] Translation: X:39.99, Y:1.07, Z:3.71 [[ 9.98733367e-01 -1.55355250e-02 -4.78571805e-02 3.99898072e+01] [ 2.55880543e-02 9.75783523e-01 2.17236665e-01 1.06920358e+00] [ 4.33233625e-02 -2.18186078e-01 9.74945087e-01 3.71191161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.94719347000003 meters Centerline goodness : 0.885536 with order 1 Centerline is valid? [False, False] Translation: X:40.02, Y:1.05, Z:3.71 [[ 9.99108386e-01 -1.44754455e-02 -3.96597304e-02 4.00184807e+01] [ 2.35820640e-02 9.70524243e-01 2.39846993e-01 1.05243934e+00] [ 3.50188377e-02 -2.40568400e-01 9.70000271e-01 3.71183731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.00719347000003 meters Centerline goodness : 0.886333 with order 1 Centerline is valid? [False, False] Translation: X:40.05, Y:1.01, Z:3.73 [[ 9.98788017e-01 -1.59101344e-02 -4.65764455e-02 4.00532427e+01] [ 3.19250904e-02 9.29657068e-01 3.67040222e-01 1.00809256e+00] [ 3.74604625e-02 -3.68082333e-01 9.29038272e-01 3.73193713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.06719347 meters Centerline goodness : 0.888411 with order 1 Centerline is valid? [False, False] Translation: X:40.06, Y:0.95, Z:3.77 [[ 9.98548629e-01 -1.97281936e-02 -5.01142145e-02 4.00614773e+01] [ 4.34590302e-02 8.44750647e-01 5.33392591e-01 9.45606733e-01] [ 3.18111429e-02 -5.34796356e-01 8.44381969e-01 3.76823649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.12719347 meters Centerline goodness : 0.887272 with order 1 Centerline is valid? [False, False] Translation: X:40.08, Y:0.90, Z:3.81 [[ 9.98396885e-01 -1.81572772e-02 -5.36094446e-02 4.00758554e+01] [ 4.93430538e-02 7.43231207e-01 6.67212587e-01 8.99491453e-01] [ 2.77294483e-02 -6.68788223e-01 7.42935657e-01 3.81033545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.18719347 meters Centerline goodness : 0.885724 with order 1 Centerline is valid? [False, False] Translation: X:40.05, Y:0.90, Z:3.82 [[ 9.98398523e-01 -1.53025888e-02 -5.44630186e-02 4.00522859e+01] [ 4.65935669e-02 7.68434858e-01 6.38229511e-01 9.02046788e-01] [ 3.20847182e-02 -6.39745028e-01 7.67917229e-01 3.81917328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24719347 meters Centerline goodness : 0.886916 with order 1 Centerline is valid? [False, False] Translation: X:40.08, Y:0.88, Z:3.85 [[ 9.98539692e-01 -8.07441875e-03 -5.34161738e-02 4.00787402e+01] [ 4.40558150e-02 6.93963432e-01 7.18661144e-01 8.77755959e-01] [ 3.12661003e-02 -7.19964970e-01 6.93305757e-01 3.85437626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.30719347000002 meters Centerline goodness : 0.880671 with order 1 Centerline is valid? [False, False] Translation: X:40.10, Y:0.87, Z:3.86 [[ 9.99103043e-01 -2.33564334e-03 -4.22806606e-02 4.01035080e+01] [ 3.22496275e-02 6.89042056e-01 7.24003458e-01 8.70511106e-01] [ 2.74421394e-02 -7.24717594e-01 6.88499338e-01 3.86470873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.36719347000002 meters Centerline goodness : 0.883703 with order 1 Centerline is valid? [False, False] Translation: X:40.11, Y:0.87, Z:3.87 [[ 9.99356498e-01 3.46513063e-03 -3.57012905e-02 4.01126211e+01] [ 2.26854846e-02 7.09917180e-01 7.03919716e-01 8.71992105e-01] [ 2.77841332e-02 -7.04276643e-01 7.09381739e-01 3.86760005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42719347000002 meters Centerline goodness : 0.879924 with order 1 Centerline is valid? [False, False] Translation: X:40.09, Y:0.88, Z:3.87 [[ 9.99186157e-01 9.67560912e-03 -3.91587282e-02 4.00949013e+01] [ 1.89934110e-02 7.43584825e-01 6.68371797e-01 8.76232802e-01] [ 3.55847403e-02 -6.68571605e-01 7.42795891e-01 3.87012920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48719347000002 meters Centerline goodness : 0.878696 with order 1 Centerline is valid? [False, False] Translation: X:40.14, Y:0.86, Z:3.89 [[ 9.99557932e-01 4.94553133e-03 -2.93169125e-02 4.01434543e+01] [ 1.70332431e-02 7.12943077e-01 7.01015005e-01 8.55686271e-01] [ 2.43681815e-02 -7.01204471e-01 7.12543670e-01 3.89376643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54719347000002 meters Centerline goodness : 0.881112 with order 1 Centerline is valid? [False, False] Translation: X:40.17, Y:0.85, Z:3.90 [[ 9.99762857e-01 2.21625174e-03 -2.16637428e-02 4.01744188e+01] [ 1.37212551e-02 7.08384499e-01 7.05693367e-01 8.51856217e-01] [ 1.69102537e-02 -7.05823271e-01 7.08186101e-01 3.90082331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.60719347000003 meters Centerline goodness : 0.877447 with order 1 Centerline is valid? [False, False] Translation: X:40.15, Y:0.86, Z:3.90 [[ 9.99811880e-01 3.36538200e-04 -1.93930756e-02 4.01519054e+01] [ 1.24086652e-02 7.57365833e-01 6.52872898e-01 8.58870292e-01] [ 1.49073695e-02 -6.52990721e-01 7.57219181e-01 3.89905869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.66719347000003 meters Centerline goodness : 0.880595 with order 1 Centerline is valid? [False, False] Translation: X:40.09, Y:0.86, Z:3.90 [[ 9.99792155e-01 1.94141012e-03 -2.02947694e-02 4.00903214e+01] [ 1.02706169e-02 8.11948695e-01 5.83638442e-01 8.64243020e-01] [ 1.76113931e-02 -5.83725575e-01 8.11759996e-01 3.90242340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.72719347000003 meters Centerline goodness : 0.881364 with order 1 Centerline is valid? [False, False] Translation: X:40.02, Y:0.88, Z:3.89 [[ 9.99680932e-01 7.11251473e-03 -2.42373112e-02 4.00247884e+01] [ 5.16793907e-03 8.81649173e-01 4.71877132e-01 8.80201595e-01] [ 2.47250384e-02 -4.71851828e-01 8.81331110e-01 3.89170167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.78719347 meters Centerline goodness : 0.886994 with order 1 Centerline is valid? [False, False] Translation: X:40.00, Y:0.87, Z:3.90 [[ 9.99482779e-01 1.32894807e-02 -2.92841978e-02 3.99993684e+01] [ 4.70161020e-04 9.04482454e-01 4.26510573e-01 8.70742686e-01] [ 3.21551471e-02 -4.26303741e-01 9.04008389e-01 3.89707364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.84719347 meters Centerline goodness : 0.887481 with order 1 Centerline is valid? [False, False] Translation: X:39.98, Y:0.87, Z:3.90 [[ 9.99370326e-01 1.64557681e-02 -3.14350015e-02 3.99807037e+01] [-2.98666420e-03 9.21819399e-01 3.87608147e-01 8.70535950e-01] [ 3.53557839e-02 -3.87270195e-01 9.21288101e-01 3.89591246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.90719347 meters Centerline goodness : 0.885054 with order 1 Centerline is valid? [False, False] Translation: X:39.96, Y:0.87, Z:3.90 [[ 9.99283481e-01 1.83341914e-02 -3.31116585e-02 3.99564086e+01] [-5.72184271e-03 9.37966422e-01 3.46678889e-01 8.68859445e-01] [ 3.74137009e-02 -3.46241027e-01 9.37399257e-01 3.89537852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96719347 meters Centerline goodness : 0.884392 with order 1 Centerline is valid? [False, False] Translation: X:39.93, Y:0.86, Z:3.90 [[ 9.99412400e-01 1.67969270e-02 -2.98783943e-02 3.99316683e+01] [-6.73003772e-03 9.50890891e-01 3.09453098e-01 8.57076384e-01] [ 3.36089540e-02 -3.09070181e-01 9.50445191e-01 3.89744305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02719347000001 meters Centerline goodness : 0.888740 with order 1 Centerline is valid? [False, False] Translation: X:39.92, Y:0.85, Z:3.90 [[ 9.99385634e-01 1.51391691e-02 -3.16095000e-02 3.99155025e+01] [-6.35546401e-03 9.65223371e-01 2.61349291e-01 8.46459850e-01] [ 3.44668392e-02 -2.60987834e-01 9.64726587e-01 3.90046872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.08719347000002 meters Centerline goodness : 0.890269 with order 1 Centerline is valid? [False, False] Translation: X:39.89, Y:0.85, Z:3.89 [[ 9.99188029e-01 2.21159058e-02 -3.36774379e-02 3.98943614e+01] [-1.56835096e-02 9.83448314e-01 1.80508840e-01 8.52583305e-01] [ 3.71121361e-02 -1.79834091e-01 9.82996637e-01 3.88993154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14719347000002 meters Centerline goodness : 0.892014 with order 1 Centerline is valid? [False, False] Translation: X:39.87, Y:0.84, Z:3.89 [[ 9.98654419e-01 3.46896643e-02 -3.85483938e-02 3.98737215e+01] [-2.96958207e-02 9.91923097e-01 1.23315559e-01 8.44598815e-01] [ 4.25148175e-02 -1.22004902e-01 9.91618523e-01 3.88708743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.20719347000002 meters Centerline goodness : 0.890192 with order 1 Centerline is valid? [False, False] Translation: X:39.86, Y:0.83, Z:3.89 [[ 9.98578622e-01 3.69492345e-02 -3.84121073e-02 3.98604036e+01] [-3.24603291e-02 9.93228608e-01 1.11549360e-01 8.33210977e-01] [ 4.22736674e-02 -1.10143937e-01 9.93016239e-01 3.88663869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.26719347000002 meters Centerline goodness : 0.892340 with order 1 Centerline is valid? [False, False] Translation: X:39.86, Y:0.82, Z:3.89 [[ 9.98767331e-01 2.85041310e-02 -4.06365924e-02 3.98627363e+01] [-2.40936487e-02 9.94162262e-01 1.05170780e-01 8.20949611e-01] [ 4.33971683e-02 -1.04062056e-01 9.93623558e-01 3.88891198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.32719347000003 meters Centerline goodness : 0.893208 with order 1 Centerline is valid? [False, False] Translation: X:39.87, Y:0.80, Z:3.89 [[ 9.99016340e-01 1.84456923e-02 -4.03250392e-02 3.98732545e+01] [-1.51242356e-02 9.96585188e-01 8.11740141e-02 7.99709367e-01] [ 4.16846477e-02 -8.04842810e-02 9.95883864e-01 3.89153970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.38719347000003 meters Centerline goodness : 0.896000 with order 1 Centerline is valid? [False, False] Translation: X:39.89, Y:0.79, Z:3.89 [[ 9.99089128e-01 1.21588663e-02 -4.09032434e-02 3.98922864e+01] [-9.79740521e-03 9.98300548e-01 5.74458568e-02 7.86529777e-01] [ 4.15322068e-02 -5.69927853e-02 9.97510350e-01 3.89271430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.44719347000003 meters Centerline goodness : 0.902958 with order 1 Centerline is valid? [False, False] Translation: X:39.91, Y:0.77, Z:3.89 [[ 9.98926512e-01 7.34163361e-03 -4.57375539e-02 3.99103972e+01] [-5.20713801e-03 9.98899410e-01 4.66138894e-02 7.67854131e-01] [ 4.60294377e-02 -4.63256881e-02 9.97865332e-01 3.89063470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.50719347000003 meters Centerline goodness : 0.903241 with order 1 Centerline is valid? [False, False] Translation: X:39.93, Y:0.76, Z:3.89 [[ 9.98675737e-01 6.07423398e-03 -5.10869450e-02 3.99331592e+01] [-4.53212675e-03 9.99532156e-01 3.02477897e-02 7.57431399e-01] [ 5.12467764e-02 -2.99762012e-02 9.98236042e-01 3.89027118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.56719347 meters Centerline goodness : 0.904102 with order 1 Centerline is valid? [False, False] Translation: X:39.95, Y:0.75, Z:3.89 [[ 9.98636250e-01 2.10091532e-03 -5.21653752e-02 3.99542167e+01] [-1.61897600e-03 9.99955637e-01 9.27922010e-03 7.45153071e-01] [ 5.21825558e-02 -9.18211107e-03 9.98595348e-01 3.88952159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.62719347 meters Centerline goodness : 0.906666 with order 1 Centerline is valid? [False, False] Translation: X:39.98, Y:0.74, Z:3.89 [[ 9.98385117e-01 -4.17279328e-03 -5.66546224e-02 3.99778705e+01] [ 4.23567653e-03 9.99990540e-01 9.89903353e-04 7.36056400e-01] [ 5.66499557e-02 -1.22827543e-03 9.98393346e-01 3.88789700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.68719347 meters Centerline goodness : 0.905581 with order 1 Centerline is valid? [False, False] Translation: X:40.00, Y:0.74, Z:3.88 [[ 9.98548557e-01 -8.79588941e-03 -5.31357811e-02 3.99960875e+01] [ 8.21637991e-03 9.99904471e-01 -1.11148237e-02 7.35845105e-01] [ 5.32284698e-02 1.06621074e-02 9.98525438e-01 3.88224221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74719347 meters Centerline goodness : 0.906106 with order 1 Centerline is valid? [False, False] Translation: X:40.01, Y:0.74, Z:3.88 [[ 9.98728780e-01 -1.12612722e-02 -4.91325514e-02 4.00126237e+01] [ 1.02316165e-02 9.99723786e-01 -2.11581087e-02 7.36161524e-01] [ 4.93572475e-02 2.06285067e-02 9.98568138e-01 3.87823113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.80719347000002 meters Centerline goodness : 0.905575 with order 1 Centerline is valid? [False, False] Translation: X:40.03, Y:0.74, Z:3.87 [[ 9.98765589e-01 -1.12787423e-02 -4.83744656e-02 4.00328182e+01] [ 9.92542195e-03 9.99555123e-01 -2.81254734e-02 7.35119456e-01] [ 4.86701649e-02 2.76106180e-02 9.98433207e-01 3.87481088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86719347000002 meters Centerline goodness : 0.902591 with order 1 Centerline is valid? [False, False] Translation: X:40.06, Y:0.74, Z:3.87 [[ 9.98544816e-01 -1.24609550e-02 -5.24688016e-02 4.00649110e+01] [ 1.10173585e-02 9.99555195e-01 -2.77133453e-02 7.36262641e-01] [ 5.27907979e-02 2.70949497e-02 9.98237945e-01 3.87489167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92719347000002 meters Centerline goodness : 0.905882 with order 1 Centerline is valid? [False, False] Translation: X:40.08, Y:0.74, Z:3.88 [[ 9.98489771e-01 -2.10561514e-02 -5.07426365e-02 4.00806955e+01] [ 1.99410585e-02 9.99550589e-01 -2.23824696e-02 7.37927495e-01] [ 5.11911209e-02 2.13368050e-02 9.98460921e-01 3.87759592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98719347000002 meters Centerline goodness : 0.903254 with order 1 Centerline is valid? [False, False] Translation: X:40.09, Y:0.74, Z:3.88 [[ 9.98605221e-01 -3.16419558e-02 -4.22658119e-02 4.00882283e+01] [ 3.05888187e-02 9.99210902e-01 -2.53356805e-02 7.38996529e-01] [ 4.30341306e-02 2.40074816e-02 9.98785114e-01 3.87572483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04719347000002 meters Centerline goodness : 0.905661 with order 1 Centerline is valid? [False, False] Translation: X:40.12, Y:0.75, Z:3.88 [[ 9.98036104e-01 -4.49724083e-02 -4.36052480e-02 4.01224644e+01] [ 4.36607200e-02 9.98578260e-01 -3.05810511e-02 7.45650288e-01] [ 4.49185562e-02 2.86171566e-02 9.98580684e-01 3.87941281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.10719347000003 meters Centerline goodness : 0.899998 with order 1 Centerline is valid? [False, False] Translation: X:40.14, Y:0.76, Z:3.88 [[ 9.98015050e-01 -4.60471169e-02 -4.29607252e-02 4.01448879e+01] [ 4.44321344e-02 9.98296306e-01 -3.78189115e-02 7.60092717e-01] [ 4.46289851e-02 3.58350061e-02 9.98360709e-01 3.87585853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.16719347000003 meters Centerline goodness : 0.897555 with order 1 Centerline is valid? [False, False] Translation: X:40.17, Y:0.77, Z:3.87 [[ 9.98082186e-01 -4.48795830e-02 -4.26353459e-02 4.01743335e+01] [ 4.32927186e-02 9.98360606e-01 -3.74411529e-02 7.72383615e-01] [ 4.42457931e-02 3.55235477e-02 9.98388896e-01 3.87410815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.22719347000003 meters Centerline goodness : 0.897466 with order 1 Centerline is valid? [False, False] Translation: X:40.22, Y:0.79, Z:3.87 [[ 9.98315670e-01 -3.61210848e-02 -4.53992301e-02 4.02161471e+01] [ 3.39550159e-02 9.98288719e-01 -4.76097739e-02 7.94200209e-01] [ 4.70412559e-02 4.59880517e-02 9.97833763e-01 3.86845915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.28719347 meters Centerline goodness : 0.892001 with order 1 Centerline is valid? [False, False] Translation: X:40.26, Y:0.81, Z:3.87 [[ 9.98561773e-01 -2.76427340e-02 -4.59376285e-02 4.02563697e+01] [ 2.52390074e-02 9.98322537e-01 -5.21066602e-02 8.08102325e-01] [ 4.73009403e-02 5.08722988e-02 9.97584398e-01 3.86589011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.34719347 meters Centerline goodness : 0.889039 with order 1 Centerline is valid? [False, False] Translation: X:40.29, Y:0.82, Z:3.86 [[ 9.98822267e-01 -2.08115769e-02 -4.38287313e-02 4.02932295e+01] [ 1.82682471e-02 9.98169665e-01 -5.76506008e-02 8.20737076e-01] [ 4.49483100e-02 5.67820297e-02 9.97374278e-01 3.86491360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.40719347 meters Centerline goodness : 0.888137 with order 1 Centerline is valid? [False, False] Translation: X:40.34, Y:0.84, Z:3.86 [[ 9.99211479e-01 -1.42542005e-02 -3.70572272e-02 4.03404469e+01] [ 1.15431599e-02 9.97311088e-01 -7.23695359e-02 8.38154877e-01] [ 3.79891534e-02 7.18847135e-02 9.96689225e-01 3.86337866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46719347 meters Centerline goodness : 0.887235 with order 1 Centerline is valid? [False, False] Translation: X:40.38, Y:0.85, Z:3.86 [[ 9.99625578e-01 -1.10976198e-02 -2.50109115e-02 4.03765166e+01] [ 8.97661702e-03 9.96477840e-01 -8.33746611e-02 8.45855578e-01] [ 2.58480794e-02 8.31189305e-02 9.96204357e-01 3.85987960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52719347000001 meters Centerline goodness : 0.891202 with order 1 Centerline is valid? [False, False] Translation: X:40.41, Y:0.86, Z:3.86 [[ 9.99883545e-01 -8.55706539e-03 -1.26362082e-02 4.04060261e+01] [ 7.00131768e-03 9.92940999e-01 -1.18402506e-01 8.62766841e-01] [ 1.35601872e-02 1.18300248e-01 9.92885277e-01 3.85501978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58719347000002 meters Centerline goodness : 0.889373 with order 1 Centerline is valid? [False, False] Translation: X:40.44, Y:0.89, Z:3.85 [[ 9.99972671e-01 -5.40584846e-03 -5.04315937e-03 4.04394541e+01] [ 4.38667747e-03 9.82947405e-01 -1.83834589e-01 8.87095850e-01] [ 5.95094235e-03 1.83807442e-01 9.82944256e-01 3.85210935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64719347000002 meters Centerline goodness : 0.891233 with order 1 Centerline is valid? [False, False] Translation: X:40.47, Y:0.91, Z:3.85 [[ 9.99991644e-01 -3.94809407e-03 1.06083041e-03 4.04696832e+01] [ 4.08810523e-03 9.66637331e-01 -2.56116299e-01 9.12190870e-01] [-1.42670392e-05 2.56118495e-01 9.66645393e-01 3.85020123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70719347000002 meters Centerline goodness : 0.891399 with order 1 Centerline is valid? [False, False] Translation: X:40.49, Y:0.91, Z:3.85 [[ 9.99960839e-01 -7.49664365e-03 4.70319907e-03 4.04937241e+01] [ 8.41928511e-03 9.69596416e-01 -2.44564726e-01 9.08663923e-01] [-2.72679037e-03 2.44594746e-01 9.69621563e-01 3.84979425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76719347000002 meters Centerline goodness : 0.889847 with order 1 Centerline is valid? [False, False] Translation: X:40.51, Y:0.90, Z:3.85 [[ 9.99890346e-01 -1.43398410e-02 3.69665910e-03 4.05099730e+01] [ 1.48017067e-02 9.75428411e-01 -2.19818844e-01 9.02133178e-01] [-4.53659052e-04 2.19849457e-01 9.75533705e-01 3.85352359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.82719347000003 meters Centerline goodness : 0.890579 with order 1 Centerline is valid? [False, False] Translation: X:40.53, Y:0.89, Z:3.86 [[ 9.99754092e-01 -2.20798241e-02 2.05840229e-03 4.05273285e+01] [ 2.20561711e-02 9.80459167e-01 -1.95482343e-01 8.92333401e-01] [ 2.29803636e-03 1.95479673e-01 9.80705061e-01 3.85637895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.88719347000003 meters Centerline goodness : 0.895929 with order 1 Centerline is valid? [False, False] Translation: X:40.54, Y:0.88, Z:3.86 [[ 9.99435580e-01 -3.34575422e-02 3.01900221e-03 4.05436344e+01] [ 3.34810850e-02 9.84716295e-01 -1.70917629e-01 8.79241840e-01] [ 2.74562311e-03 1.70922239e-01 9.85280696e-01 3.86019937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.94719347000003 meters Centerline goodness : 0.898564 with order 1 Centerline is valid? [False, False] Translation: X:40.57, Y:0.87, Z:3.86 [[ 9.99321026e-01 -3.68285504e-02 1.07025068e-03 4.05676172e+01] [ 3.65714049e-02 9.87978590e-01 -1.50202655e-01 8.71910734e-01] [ 4.47436131e-03 1.50139812e-01 9.88654650e-01 3.86490183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.00719347000003 meters Centerline goodness : 0.898038 with order 1 Centerline is valid? [False, False] Translation: X:40.59, Y:0.87, Z:3.87 [[ 9.99329770e-01 -3.66035249e-02 4.39519748e-04 4.05889426e+01] [ 3.63450874e-02 9.90699571e-01 -1.31123582e-01 8.68679441e-01] [ 4.36415327e-03 1.31051673e-01 9.91365933e-01 3.86813484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.06719347 meters Centerline goodness : 0.898154 with order 1 Centerline is valid? [False, False] Translation: X:40.61, Y:0.87, Z:3.87 [[ 9.99384501e-01 -3.50492096e-02 -1.47387230e-03 4.06051112e+01] [ 3.46405779e-02 9.92619876e-01 -1.16214510e-01 8.68168871e-01] [ 5.53622167e-03 1.16091925e-01 9.93223044e-01 3.87114447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.12719347 meters Centerline goodness : 0.898671 with order 1 Centerline is valid? [False, False] Translation: X:40.64, Y:0.89, Z:3.87 [[ 9.99637979e-01 -2.52896855e-02 9.18379461e-03 4.06444891e+01] [ 2.64231207e-02 9.87103174e-01 -1.57889652e-01 8.86626657e-01] [-5.07237316e-03 1.58075158e-01 9.87414055e-01 3.86620187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.18719347 meters Centerline goodness : 0.896485 with order 1 Centerline is valid? [False, False] Translation: X:40.67, Y:0.89, Z:3.87 [[ 9.99569274e-01 -2.57015437e-02 1.41667429e-02 4.06709008e+01] [ 2.75813758e-02 9.87643291e-01 -1.54272478e-01 8.90326208e-01] [-1.00266478e-02 1.54596767e-01 9.87926772e-01 3.86613111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24719347 meters Centerline goodness : 0.900685 with order 1 Centerline is valid? [False, False] Translation: X:40.69, Y:0.89, Z:3.87 [[ 9.99134372e-01 -3.80974760e-02 1.67059302e-02 4.06866660e+01] [ 4.00489280e-02 9.89539503e-01 -1.38591689e-01 8.88185279e-01] [-1.12511843e-02 1.39140774e-01 9.90208693e-01 3.86834828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30719347000002 meters Centerline goodness : 0.899811 with order 1 Centerline is valid? [False, False] Translation: X:40.71, Y:0.88, Z:3.87 [[ 9.98228758e-01 -5.68973493e-02 1.73792525e-02 4.07104161e+01] [ 5.85846286e-02 9.90955819e-01 -1.20724505e-01 8.84651161e-01] [-1.03531671e-02 1.21528830e-01 9.92533906e-01 3.87107904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36719347000002 meters Centerline goodness : 0.902889 with order 1 Centerline is valid? [False, False] Translation: X:40.74, Y:0.88, Z:3.87 [[ 9.97672827e-01 -6.63658420e-02 1.56366722e-02 4.07381013e+01] [ 6.76737784e-02 9.91807103e-01 -1.08346346e-01 8.84199007e-01] [-8.31806602e-03 1.09152398e-01 9.93990223e-01 3.87248688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42719347000002 meters Centerline goodness : 0.900442 with order 1 Centerline is valid? [False, False] Translation: X:40.75, Y:0.89, Z:3.87 [[ 9.97462874e-01 -6.97998226e-02 1.39928713e-02 4.07546796e+01] [ 7.08373581e-02 9.92680232e-01 -9.78162905e-02 8.89186870e-01] [-7.06288699e-03 9.85593362e-02 9.95106111e-01 3.87462414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48719347000002 meters Centerline goodness : 0.901377 with order 1 Centerline is valid? [False, False] Translation: X:40.79, Y:0.89, Z:3.88 [[ 9.97522314e-01 -6.94888532e-02 1.09787022e-02 4.07875798e+01] [ 7.01928895e-02 9.93539030e-01 -8.91804629e-02 8.94405094e-01] [-4.71072106e-03 8.97301286e-02 9.95954975e-01 3.87771730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54719347000002 meters Centerline goodness : 0.899673 with order 1 Centerline is valid? [False, False] Translation: X:40.82, Y:0.90, Z:3.88 [[ 9.97594882e-01 -6.91718144e-02 4.43967468e-03 4.08243120e+01] [ 6.93051293e-02 9.94383926e-01 -7.99837928e-02 9.04768489e-01] [ 1.11788294e-03 8.00991146e-02 9.96786277e-01 3.88071633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.60719347000003 meters Centerline goodness : 0.901362 with order 1 Centerline is valid? [False, False] Translation: X:40.85, Y:0.91, Z:3.88 [[ 9.97669523e-01 -6.82306850e-02 3.11537636e-04 4.08546035e+01] [ 6.80571858e-02 9.94785802e-01 -7.59567425e-02 9.12266750e-01] [ 4.87266735e-03 7.58009294e-02 9.97111065e-01 3.88133516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.66719347000003 meters Centerline goodness : 0.897906 with order 1 Centerline is valid? [False, False] Translation: X:40.89, Y:0.92, Z:3.88 [[ 9.97990876e-01 -6.33456007e-02 1.24387320e-03 4.08915435e+01] [ 6.32481618e-02 9.94917149e-01 -7.83551962e-02 9.23654707e-01] [ 3.72590620e-03 7.82764436e-02 9.96924729e-01 3.88219342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.72719347000003 meters Centerline goodness : 0.898488 with order 1 Centerline is valid? [False, False] Translation: X:40.93, Y:0.94, Z:3.88 [[ 9.98393447e-01 -5.65442678e-02 3.64282761e-03 4.09288907e+01] [ 5.66539031e-02 9.95142528e-01 -8.05089126e-02 9.37412476e-01] [ 9.27184831e-04 8.05859511e-02 9.96747232e-01 3.88094288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.78719347 meters Centerline goodness : 0.896779 with order 1 Centerline is valid? [False, False] Translation: X:40.97, Y:0.96, Z:3.88 [[ 9.98793597e-01 -4.76916674e-02 1.16985055e-02 4.09724047e+01] [ 4.87013605e-02 9.92554614e-01 -1.11640114e-01 9.60717214e-01] [-6.28710238e-03 1.12075164e-01 9.93679843e-01 3.88137691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.84719347 meters Centerline goodness : 0.892368 with order 1 Centerline is valid? [False, False] Translation: X:41.00, Y:0.97, Z:3.88 [[ 9.98774940e-01 -4.62760464e-02 1.75256004e-02 4.10036746e+01] [ 4.80921214e-02 9.91168258e-01 -1.23582490e-01 9.73093111e-01] [-1.16519098e-02 1.24273937e-01 9.92179531e-01 3.88059104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.90719347 meters Centerline goodness : 0.890742 with order 1 Centerline is valid? [False, False] Translation: X:41.03, Y:0.98, Z:3.88 [[ 9.98695296e-01 -4.77911004e-02 1.79921223e-02 4.10316479e+01] [ 4.96125867e-02 9.91510355e-01 -1.20190715e-01 9.83407149e-01] [-1.20953291e-02 1.20926537e-01 9.92587767e-01 3.88203214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96719347 meters Centerline goodness : 0.889010 with order 1 Centerline is valid? [False, False] Translation: X:41.08, Y:0.99, Z:3.88 [[ 9.98654361e-01 -4.88022941e-02 1.75443457e-02 4.10752945e+01] [ 5.05602737e-02 9.91484069e-01 -1.20012497e-01 9.92143374e-01] [-1.15380540e-02 1.20738051e-01 9.92617346e-01 3.88422674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02719347000001 meters Centerline goodness : 0.886711 with order 1 Centerline is valid? [False, False] Translation: X:41.11, Y:1.01, Z:3.88 [[ 9.98708019e-01 -4.53595675e-02 2.29085749e-02 4.11072669e+01] [ 4.79663684e-02 9.90319788e-01 -1.30253386e-01 1.00678653e+00] [-1.67785778e-02 1.31183942e-01 9.91216047e-01 3.88237910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.08719347000002 meters Centerline goodness : 0.884113 with order 1 Centerline is valid? [False, False] Translation: X:41.14, Y:1.02, Z:3.88 [[ 9.98864959e-01 -3.79579668e-02 2.87747596e-02 4.11393309e+01] [ 4.21466774e-02 9.85781088e-01 -1.62663164e-01 1.02353344e+00] [-2.21912508e-02 1.63691295e-01 9.86261988e-01 3.88305754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14719347000002 meters Centerline goodness : 0.883864 with order 1 Centerline is valid? [False, False] Translation: X:41.18, Y:1.05, Z:3.89 [[ 9.99075150e-01 -2.98343364e-02 3.09638135e-02 4.11806461e+01] [ 3.57007336e-02 9.76911682e-01 -2.10639559e-01 1.04606405e+00] [-2.39646197e-02 2.11550180e-01 9.77073292e-01 3.88629506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.20719347000002 meters Centerline goodness : 0.881762 with order 1 Centerline is valid? [False, False] Translation: X:41.20, Y:1.05, Z:3.88 [[ 9.98778575e-01 -3.76075632e-02 3.20473130e-02 4.12028657e+01] [ 4.32922416e-02 9.78686380e-01 -2.00745490e-01 1.04548164e+00] [-2.38147200e-02 2.01887695e-01 9.79119103e-01 3.88387957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26719347000002 meters Centerline goodness : 0.882705 with order 1 Centerline is valid? [False, False] Translation: X:41.23, Y:1.04, Z:3.89 [[ 9.98542472e-01 -4.43031038e-02 3.08247884e-02 4.12271781e+01] [ 4.92153184e-02 9.81861211e-01 -1.83102196e-01 1.04095726e+00] [-2.21536685e-02 1.84352371e-01 9.82610512e-01 3.88588138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.32719347000003 meters Centerline goodness : 0.877972 with order 1 Centerline is valid? [False, False] Translation: X:41.25, Y:1.04, Z:3.88 [[ 9.98345318e-01 -4.80645654e-02 3.15661866e-02 4.12466210e+01] [ 5.27411182e-02 9.84101823e-01 -1.69593560e-01 1.03830889e+00] [-2.29129010e-02 1.70977773e-01 9.85008426e-01 3.88490154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.38719347000003 meters Centerline goodness : 0.882248 with order 1 Centerline is valid? [False, False] Translation: X:41.26, Y:1.04, Z:3.88 [[ 9.98139092e-01 -4.99537060e-02 3.49711381e-02 4.12609883e+01] [ 5.49015569e-02 9.85768449e-01 -1.58891107e-01 1.03787875e+00] [-2.65362449e-02 1.60515395e-01 9.86676561e-01 3.88309668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.44719347000003 meters Centerline goodness : 0.881335 with order 1 Centerline is valid? [False, False] Translation: X:41.30, Y:1.04, Z:3.88 [[ 9.98141683e-01 -4.70950033e-02 3.86683607e-02 4.12954568e+01] [ 5.27410641e-02 9.85527106e-01 -1.61104636e-01 1.04114940e+00] [-3.05214943e-02 1.62844663e-01 9.86179524e-01 3.88402169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.50719347000003 meters Centerline goodness : 0.874259 with order 1 Centerline is valid? [False, False] Translation: X:41.33, Y:1.06, Z:3.89 [[ 9.98187258e-01 -4.05808621e-02 4.44453794e-02 4.13321467e+01] [ 4.87667299e-02 9.78139973e-01 -2.02148461e-01 1.05863675e+00] [-3.52704434e-02 2.03949474e-01 9.78345853e-01 3.88513885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.56719347 meters Centerline goodness : 0.879502 with order 1 Centerline is valid? [False, False] Translation: X:41.35, Y:1.07, Z:3.88 [[ 9.97942978e-01 -4.22946475e-02 4.81765014e-02 4.13486641e+01] [ 5.15515820e-02 9.76151169e-01 -2.10882264e-01 1.06624988e+00] [-3.81083572e-02 2.12932049e-01 9.76323561e-01 3.88492459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.62719347 meters Centerline goodness : 0.871282 with order 1 Centerline is valid? [False, False] Translation: X:41.37, Y:1.06, Z:3.89 [[ 0.99741408 -0.0489705 0.05260268 41.36568566] [ 0.0586224 0.97777479 -0.20129549 1.06402154] [-0.04157604 0.20385865 0.97811711 3.88517698] [ 0. 0. 0. 1. ]] SLAMing on 193.68719347 meters Centerline goodness : 0.872797 with order 1 Centerline is valid? [False, False] Translation: X:41.39, Y:1.06, Z:3.88 [[ 9.97343417e-01 -5.41631747e-02 4.87078996e-02 4.13884011e+01] [ 6.23118361e-02 9.80691340e-01 -1.85369173e-01 1.05995009e+00] [-3.77272324e-02 1.87911803e-01 9.81461059e-01 3.88473123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74719347 meters Centerline goodness : 0.869167 with order 1 Centerline is valid? [False, False] Translation: X:41.41, Y:1.06, Z:3.88 [[ 9.97163047e-01 -5.87014025e-02 4.71169098e-02 4.14111057e+01] [ 6.59574514e-02 9.83031167e-01 -1.71170499e-01 1.05801040e+00] [-3.62694424e-02 1.73792608e-01 9.84114148e-01 3.88250941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.80719347000002 meters Centerline goodness : 0.869787 with order 1 Centerline is valid? [False, False] Translation: X:41.43, Y:1.05, Z:3.88 [[ 9.97022062e-01 -6.04250673e-02 4.79147137e-02 4.14268572e+01] [ 6.72289714e-02 9.85436813e-01 -1.56187554e-01 1.05215765e+00] [-3.77792793e-02 1.58943694e-01 9.86564558e-01 3.88305449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86719347000002 meters Centerline goodness : 0.868555 with order 1 Centerline is valid? [False, False] Translation: X:41.46, Y:1.05, Z:3.88 [[ 0.99697411 -0.05573715 0.05418479 41.45718747] [ 0.06364875 0.98548331 -0.15738962 1.05015086] [-0.04462575 0.16036217 0.98604894 3.88398486] [ 0. 0. 0. 1. ]] SLAMing on 193.92719347000002 meters Centerline goodness : 0.871089 with order 1 Centerline is valid? [False, False] Translation: X:41.49, Y:1.06, Z:3.88 [[ 0.9968106 -0.05198613 0.06054804 41.48554998] [ 0.06148024 0.98398467 -0.16731512 1.05540208] [-0.05088028 0.17050399 0.98404247 3.88149996] [ 0. 0. 0. 1. ]] SLAMing on 193.98719347000002 meters Centerline goodness : 0.864695 with order 1 Centerline is valid? [False, False] Translation: X:41.52, Y:1.06, Z:3.88 [[ 0.99677807 -0.04989751 0.06279909 41.52211479] [ 0.05997047 0.98354941 -0.17039393 1.05933313] [-0.05326378 0.17361103 0.98337286 3.87997826] [ 0. 0. 0. 1. ]] SLAMing on 194.04719347000002 meters Centerline goodness : 0.866435 with order 1 Centerline is valid? [False, False] Translation: X:41.55, Y:1.06, Z:3.87 [[ 0.99661725 -0.05099217 0.06445047 41.55209547] [ 0.06229987 0.98022496 -0.18782375 1.06049642] [-0.05359842 0.19120364 0.9800859 3.87499629] [ 0. 0. 0. 1. ]] SLAMing on 194.10719347000003 meters Centerline goodness : 0.867748 with order 1 Centerline is valid? [False, False] Translation: X:41.57, Y:1.06, Z:3.87 [[ 0.99615272 -0.05609791 0.06732599 41.57359103] [ 0.06738251 0.98150807 -0.17916892 1.0611773 ] [-0.05603 0.1830162 0.98151195 3.87077168] [ 0. 0. 0. 1. ]] SLAMing on 194.16719347000003 meters Centerline goodness : 0.869258 with order 1 Centerline is valid? [False, False] Translation: X:41.60, Y:1.07, Z:3.87 [[ 0.99598928 -0.04888646 0.07493644 41.59889793] [ 0.06358065 0.97598502 -0.20835246 1.07361991] [-0.06295123 0.21228132 0.97517885 3.87341962] [ 0. 0. 0. 1. ]] SLAMing on 194.22719347000003 meters Centerline goodness : 0.864467 with order 1 Centerline is valid? [False, False] Translation: X:41.62, Y:1.09, Z:3.88 [[ 9.95875667e-01 -3.14248311e-02 8.51124899e-02 4.16177219e+01] [ 5.39489143e-02 9.59343937e-01 -2.77035601e-01 1.09467137e+00] [-7.29463542e-02 2.80484741e-01 9.57082619e-01 3.88235678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.28719347 meters Centerline goodness : 0.865389 with order 1 Centerline is valid? [False, False] Translation: X:41.65, Y:1.11, Z:3.89 [[ 9.95759640e-01 -1.91649873e-02 8.99746812e-02 4.16457780e+01] [ 4.88756859e-02 9.38813151e-01 -3.40941394e-01 1.11399488e+00] [-7.79352765e-02 3.43893254e-01 9.35768947e-01 3.88988421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.34719347 meters Centerline goodness : 0.870590 with order 1 Centerline is valid? [False, False] Translation: X:41.67, Y:1.13, Z:3.90 [[ 9.96105287e-01 -9.94968227e-03 8.76085727e-02 4.16704872e+01] [ 4.41559418e-02 9.16329221e-01 -3.97983683e-01 1.12541367e+00] [-7.63184840e-02 4.00302089e-01 9.13199719e-01 3.89804575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.40719347 meters Centerline goodness : 0.871820 with order 1 Centerline is valid? [False, False] Translation: X:41.70, Y:1.13, Z:3.90 [[ 9.96162700e-01 -9.86964821e-03 8.69624299e-02 4.16959787e+01] [ 4.65018785e-02 9.01451738e-01 -4.30374650e-01 1.12750826e+00] [-7.41447872e-02 4.32767090e-01 8.98451555e-01 3.90350858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46719347 meters Centerline goodness : 0.870042 with order 1 Centerline is valid? [False, False] Translation: X:41.69, Y:1.11, Z:3.90 [[ 9.95647514e-01 -2.53498405e-02 8.96850844e-02 4.16902504e+01] [ 5.84237048e-02 9.19513463e-01 -3.88692245e-01 1.10586238e+00] [-7.26133562e-02 3.92240202e-01 9.16992325e-01 3.90257442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52719347000001 meters Centerline goodness : 0.874123 with order 1 Centerline is valid? [False, False] Translation: X:41.71, Y:1.10, Z:3.90 [[ 9.95357869e-01 -3.03930315e-02 9.13179963e-02 4.17100723e+01] [ 6.25947790e-02 9.25169739e-01 -3.74356579e-01 1.09839838e+00] [-7.31068155e-02 3.78334797e-01 9.22777424e-01 3.89974966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58719347000002 meters Centerline goodness : 0.873872 with order 1 Centerline is valid? [False, False] Translation: X:41.73, Y:1.09, Z:3.90 [[ 9.94651078e-01 -3.53367479e-02 9.70595072e-02 4.17314589e+01] [ 6.81776434e-02 9.30494083e-01 -3.59906336e-01 1.09236407e+00] [-7.75953776e-02 3.64598514e-01 9.27926118e-01 3.89839286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64719347000002 meters Centerline goodness : 0.875408 with order 1 Centerline is valid? [False, False] Translation: X:41.75, Y:1.09, Z:3.89 [[ 9.94126904e-01 -3.99079469e-02 1.00593512e-01 4.17531759e+01] [ 7.28117687e-02 9.34327230e-01 -3.48899806e-01 1.09029198e+00] [-8.00633824e-02 3.54175075e-01 9.31745604e-01 3.89301041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70719347000002 meters Centerline goodness : 0.873254 with order 1 Centerline is valid? [False, False] Translation: X:41.78, Y:1.09, Z:3.89 [[ 0.99391506 -0.04557681 0.10027762 41.78041341] [ 0.07677818 0.93943431 -0.33401841 1.09214853] [-0.07898075 0.33968506 0.93721721 3.88971816] [ 0. 0. 0. 1. ]] SLAMing on 194.76719347000002 meters Centerline goodness : 0.873217 with order 1 Centerline is valid? [False, False] Translation: X:41.80, Y:1.10, Z:3.89 [[ 0.99307775 -0.04813812 0.10714151 41.80076537] [ 0.08178714 0.93809195 -0.33659226 1.09602363] [-0.08430567 0.34302508 0.93553533 3.88760611] [ 0. 0. 0. 1. ]] SLAMing on 194.82719347000003 meters Centerline goodness : 0.868941 with order 1 Centerline is valid? [False, False] Translation: X:41.83, Y:1.10, Z:3.88 [[ 0.99260633 -0.04419908 0.11304472 41.83155904] [ 0.08130138 0.93365181 -0.34883289 1.10347574] [-0.09012632 0.35544443 0.93034214 3.88296044] [ 0. 0. 0. 1. ]] SLAMing on 194.88719347000003 meters Centerline goodness : 0.869198 with order 1 Centerline is valid? [False, False] Translation: X:41.85, Y:1.10, Z:3.88 [[ 0.9927592 -0.04300436 0.11215968 41.85089383] [ 0.07798481 0.94093133 -0.32949445 1.10213624] [-0.09136486 0.3358554 0.93747193 3.88090659] [ 0. 0. 0. 1. ]] SLAMing on 194.94719347000003 meters Centerline goodness : 0.872443 with order 1 Centerline is valid? [False, False] Translation: X:41.88, Y:1.10, Z:3.88 [[ 9.91923834e-01 -3.83692595e-02 1.20892133e-01 4.18753068e+01] [ 7.73815387e-02 9.38274597e-01 -3.37124426e-01 1.10231395e+00] [-1.00494803e-01 3.43756572e-01 9.33666008e-01 3.88132035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.00719347000003 meters Centerline goodness : 0.873078 with order 1 Centerline is valid? [False, False] Translation: X:41.90, Y:1.10, Z:3.88 [[ 0.99156028 -0.04218468 0.12259143 41.89892103] [ 0.08122769 0.93912481 -0.33383626 1.10062399] [-0.10104588 0.34097659 0.93462543 3.88079587] [ 0. 0. 0. 1. ]] SLAMing on 195.06719347 meters Centerline goodness : 0.879249 with order 1 Centerline is valid? [False, False] Translation: X:41.91, Y:1.09, Z:3.88 [[ 0.99111677 -0.05907349 0.11915483 41.90590681] [ 0.0925553 0.94975224 -0.29900536 1.08713998] [-0.09550428 0.30737764 0.94678293 3.88382624] [ 0. 0. 0. 1. ]] SLAMing on 195.12719347 meters Centerline goodness : 0.880207 with order 1 Centerline is valid? [False, False] Translation: X:41.92, Y:1.08, Z:3.89 [[ 0.99085042 -0.06916797 0.11589323 41.92114929] [ 0.09847141 0.95772582 -0.27030471 1.07755996] [-0.09229751 0.2792437 0.9557741 3.88786828] [ 0. 0. 0. 1. ]] SLAMing on 195.18719347 meters Centerline goodness : 0.883543 with order 1 Centerline is valid? [False, False] Translation: X:41.93, Y:1.07, Z:3.89 [[ 0.99013561 -0.07669871 0.1172552 41.93456756] [ 0.10381108 0.963621 -0.24628811 1.07340405] [-0.09409959 0.25603101 0.96207764 3.89080801] [ 0. 0. 0. 1. ]] SLAMing on 195.24719347 meters Centerline goodness : 0.882985 with order 1 Centerline is valid? [False, False] Translation: X:41.95, Y:1.08, Z:3.89 [[ 0.98978162 -0.07996053 0.11806211 41.95357224] [ 0.10568733 0.96720264 -0.23097454 1.07531432] [-0.09572114 0.24109202 0.96577021 3.88963794] [ 0. 0. 0. 1. ]] SLAMing on 195.30719347000002 meters Centerline goodness : 0.881372 with order 1 Centerline is valid? [False, False] Translation: X:41.97, Y:1.08, Z:3.89 [[ 0.98940232 -0.08269391 0.11935145 41.96953765] [ 0.10729468 0.97020388 -0.21723784 1.07675153] [-0.09783099 0.22774139 0.96879459 3.88834469] [ 0. 0. 0. 1. ]] SLAMing on 195.36719347000002 meters Centerline goodness : 0.883986 with order 1 Centerline is valid? [False, False] Translation: X:41.99, Y:1.09, Z:3.88 [[ 0.98899821 -0.08141917 0.12350489 41.99488156] [ 0.10667549 0.97096111 -0.21413748 1.08742161] [-0.10248355 0.22495653 0.96896423 3.88410205] [ 0. 0. 0. 1. ]] SLAMing on 195.42719347000002 meters Centerline goodness : 0.882994 with order 1 Centerline is valid? [False, False] Translation: X:42.03, Y:1.10, Z:3.88 [[ 0.98889532 -0.07099218 0.13056095 42.02752304] [ 0.1004815 0.9666814 -0.23543692 1.10389213] [-0.10949667 0.24594142 0.96308011 3.87910611] [ 0. 0. 0. 1. ]] SLAMing on 195.48719347000002 meters Centerline goodness : 0.884485 with order 1 Centerline is valid? [False, False] Translation: X:42.06, Y:1.13, Z:3.88 [[ 0.98810673 -0.049877 0.14545577 42.05873308] [ 0.09184537 0.95009543 -0.29813271 1.13462959] [-0.1233269 0.30794637 0.94337665 3.8809666 ] [ 0. 0. 0. 1. ]] SLAMing on 195.54719347000002 meters Centerline goodness : 0.893888 with order 1 Centerline is valid? [False, False] Translation: X:42.09, Y:1.17, Z:3.89 [[ 9.87342003e-01 -2.51682416e-02 1.56596067e-01 4.20916399e+01] [ 8.55090230e-02 9.16019854e-01 -3.91913044e-01 1.17107280e+00] [-1.33581344e-01 4.00342586e-01 9.06576990e-01 3.89303142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.60719347000003 meters Centerline goodness : 0.901490 with order 1 Centerline is valid? [False, False] Translation: X:42.10, Y:1.17, Z:3.90 [[ 9.86196498e-01 -2.52563607e-02 1.63641631e-01 4.21033339e+01] [ 8.92314912e-02 9.13575687e-01 -3.96758371e-01 1.17450739e+00] [-1.39478343e-01 4.05883703e-01 9.03218806e-01 3.89520537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.66719347000003 meters Centerline goodness : 0.913292 with order 1 Centerline is valid? [False, False] Translation: X:42.12, Y:1.17, Z:3.89 [[ 9.84861119e-01 -3.69804173e-02 1.69354730e-01 4.21220310e+01] [ 1.01957606e-01 9.13693419e-01 -3.93406892e-01 1.17083819e+00] [-1.40189951e-01 4.04718155e-01 9.03631558e-01 3.89330213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.72719347000003 meters Centerline goodness : 0.913904 with order 1 Centerline is valid? [False, False] Translation: X:42.14, Y:1.16, Z:3.89 [[ 0.98519461 -0.04856607 0.16441691 42.14438506] [ 0.10921134 0.91705363 -0.38351729 1.16319694] [-0.1321532 0.39579536 0.90878026 3.88582576] [ 0. 0. 0. 1. ]] SLAMing on 195.78719347000003 meters Centerline goodness : 0.890338 with order 2 Centerline is valid? [False, False] Translation: X:42.17, Y:1.15, Z:3.88 [[ 0.98448499 -0.06761145 0.16191974 42.16936967] [ 0.12424151 0.92022457 -0.37114793 1.1547004 ] [-0.12390867 0.38550671 0.91434743 3.87742083] [ 0. 0. 0. 1. ]] SLAMing on 195.84719347 meters Centerline goodness : 0.872437 with order 2 Centerline is valid? [False, False] Translation: X:42.19, Y:1.15, Z:3.87 [[ 0.98342755 -0.07645719 0.16439148 42.18828316] [ 0.13228655 0.92264423 -0.3622539 1.15192169] [-0.12397793 0.37799725 0.91746801 3.87426293] [ 0. 0. 0. 1. ]] SLAMing on 195.90719347 meters Centerline goodness : 0.874329 with order 2 Centerline is valid? [False, False] Translation: X:42.21, Y:1.15, Z:3.87 [[ 0.98226504 -0.08276521 0.1682418 42.20830859] [ 0.13850083 0.92511628 -0.3535214 1.15232737] [-0.12638396 0.37055334 0.92017244 3.87056868] [ 0. 0. 0. 1. ]] SLAMing on 195.96719347 meters Centerline goodness : 0.895305 with order 2 Centerline is valid? [False, False] Translation: X:42.24, Y:1.16, Z:3.87 [[ 0.98175605 -0.08768108 0.16872194 42.24136259] [ 0.14212662 0.92784549 -0.34482281 1.15963766] [-0.12631346 0.36251175 0.92337974 3.86917018] [ 0. 0. 0. 1. ]] SLAMing on 196.02719347000001 meters Centerline goodness : 0.584933 with order 2 Centerline is valid? [False, False] Translation: X:42.28, Y:1.17, Z:3.87 [[ 0.98154953 -0.09152451 0.16788026 42.277701 ] [ 0.14460615 0.92975563 -0.3385905 1.17147083] [-0.12509829 0.35661987 0.92583621 3.86514932] [ 0. 0. 0. 1. ]] SLAMing on 196.08719347000002 meters Centerline goodness : 0.214190 with order 1 Centerline is valid? [False, False] Translation: X:42.30, Y:1.18, Z:3.86 [[ 0.98081246 -0.09508224 0.17019485 42.29817164] [ 0.14768134 0.93227236 -0.33024001 1.18078943] [-0.127268 0.34903812 0.92842622 3.85847 ] [ 0. 0. 0. 1. ]] SLAMing on 196.14719347000002 meters Centerline goodness : 0.875103 with order 2 Centerline is valid? [False, False] Translation: X:42.32, Y:1.19, Z:3.85 [[ 0.98024162 -0.09900739 0.17124222 42.31914826] [ 0.15030351 0.93561098 -0.31943848 1.19003037] [-0.12858933 0.3388652 0.93200599 3.85266619] [ 0. 0. 0. 1. ]] SLAMing on 196.20719347000002 meters Centerline goodness : 0.876384 with order 2 Centerline is valid? [False, False] Translation: X:42.35, Y:1.20, Z:3.85 [[ 0.9796251 -0.10576366 0.17072993 42.35024219] [ 0.15514312 0.93835645 -0.30889771 1.20219834] [-0.12753538 0.32909152 0.93564603 3.84894964] [ 0. 0. 0. 1. ]] SLAMing on 196.26719347000002 meters Centerline goodness : 0.873773 with order 2 Centerline is valid? [False, False] Translation: X:42.37, Y:1.21, Z:3.84 [[ 0.9784913 -0.11244829 0.17294552 42.37062799] [ 0.16100204 0.94042774 -0.29945617 1.21050942] [-0.12896943 0.32085984 0.93830477 3.84454516] [ 0. 0. 0. 1. ]] SLAMing on 196.32719347000003 meters Centerline goodness : 0.142361 with order 1 Centerline is valid? [False, False] Translation: X:42.40, Y:1.22, Z:3.84 [[ 0.97756938 -0.11674349 0.17529707 42.39827137] [ 0.16515481 0.94141227 -0.29405242 1.22458784] [-0.1306981 0.3164078 0.93957656 3.84098314] [ 0. 0. 0. 1. ]] SLAMing on 196.38719347000003 meters Centerline goodness : 0.134141 with order 1 Centerline is valid? [False, False] Translation: X:42.43, Y:1.24, Z:3.84 [[ 0.97608678 -0.12269773 0.1794432 42.42905749] [ 0.17125337 0.94246513 -0.28710932 1.24150833] [-0.1338913 0.31097386 0.94094016 3.84162368] [ 0. 0. 0. 1. ]] SLAMing on 196.44719347000003 meters SLAMing on 196.50719347000003 meters Centerline goodness : 0.685404 with order 2 Centerline is valid? [False, False] Translation: X:42.46, Y:1.27, Z:3.84 [[ 0.97659534 -0.11846927 0.17951761 42.45844786] [ 0.16599386 0.94589486 -0.27879914 1.27253315] [-0.13677566 0.30207276 0.94342168 3.84107955] [ 0. 0. 0. 1. ]] SLAMing on 196.56719347 meters Centerline goodness : 0.876802 with order 2 Centerline is valid? [False, False] Translation: X:42.47, Y:1.28, Z:3.84 [[ 0.97713767 -0.11678674 0.17765934 42.4739497 ] [ 0.16162898 0.95092 -0.26386972 1.28411441] [-0.13812333 0.28655194 0.94805587 3.84021063] [ 0. 0. 0. 1. ]] SLAMing on 196.62719347 meters Centerline goodness : 0.868138 with order 2 Centerline is valid? [False, False] Translation: X:42.48, Y:1.30, Z:3.84 [[ 0.9775625 -0.11135537 0.17880588 42.4793876 ] [ 0.1539981 0.95696808 -0.24596073 1.29659111] [-0.14372247 0.26797776 0.95264462 3.84465309] [ 0. 0. 0. 1. ]] SLAMing on 196.68719347 meters SLAMing on 196.74719347 meters Centerline goodness : 0.860160 with order 2 Centerline is valid? [False, False] Translation: X:42.50, Y:1.31, Z:3.85 [[ 0.97807375 -0.10994512 0.17687228 42.49528553] [ 0.14939799 0.96210947 -0.22809122 1.31167185] [-0.14509298 0.2495144 0.9574396 3.84551602] [ 0. 0. 0. 1. ]] SLAMing on 196.80719347000002 meters Centerline goodness : 0.836698 with order 3 Centerline is valid? [False, False] Translation: X:42.50, Y:1.31, Z:3.84 [[ 0.97793026 -0.1112462 0.17685219 42.50496317] [ 0.1489018 0.96487539 -0.21643414 1.31268915] [-0.14656285 0.2379911 0.9601456 3.84361351] [ 0. 0. 0. 1. ]] SLAMing on 196.86719347000002 meters Centerline goodness : 0.880622 with order 1 Centerline is valid? [False, False] Translation: X:42.51, Y:1.31, Z:3.84 [[ 0.97920238 -0.10165373 0.17558252 42.50571731] [ 0.13695074 0.96968914 -0.2023548 1.30905059] [-0.14969034 0.22219246 0.96344347 3.84346641] [ 0. 0. 0. 1. ]] SLAMing on 196.92719347000002 meters Centerline goodness : 0.859811 with order 3 Centerline is valid? [False, False] Translation: X:42.51, Y:1.31, Z:3.84 [[ 0.98039599 -0.0913342 0.17459029 42.50615053] [ 0.12458691 0.97381368 -0.19017103 1.30960888] [-0.1526493 0.20819458 0.96610207 3.84313544] [ 0. 0. 0. 1. ]] SLAMing on 196.98719347000002 meters Centerline goodness : 0.866047 with order 1 Centerline is valid? [False, False] Translation: X:42.51, Y:1.31, Z:3.84 [[ 0.9814311 -0.08085564 0.1739407 42.506435 ] [ 0.11183045 0.97794716 -0.17638966 1.30623556] [-0.15584272 0.19256616 0.96882987 3.84283542] [ 0. 0. 0. 1. ]] SLAMing on 197.04719347000002 meters Centerline goodness : 0.896831 with order 1 Centerline is valid? [False, False] Translation: X:42.51, Y:1.30, Z:3.84 [[ 0.98181654 -0.07880804 0.1727008 42.5110289 ] [ 0.10863148 0.97931848 -0.17068834 1.29719835] [-0.15567747 0.18634538 0.97007212 3.83864715] [ 0. 0. 0. 1. ]] SLAMing on 197.10719347000003 meters Centerline goodness : 0.855601 with order 2 Centerline is valid? [False, False] Translation: X:42.52, Y:1.28, Z:3.83 [[ 0.98273749 -0.07872087 0.16742176 42.52083064] [ 0.10583488 0.98146743 -0.15975187 1.28267849] [-0.1517432 0.17471322 0.97285626 3.832138 ] [ 0. 0. 0. 1. ]] SLAMing on 197.16719347000003 meters Centerline goodness : 0.881956 with order 2 Centerline is valid? [False, False] Translation: X:42.53, Y:1.28, Z:3.83 [[ 0.98341367 -0.08030999 0.16262798 42.53151822] [ 0.10505758 0.98311985 -0.14979409 1.27581514] [-0.14785284 0.16439485 0.97525067 3.83161097] [ 0. 0. 0. 1. ]] SLAMing on 197.22719347000003 meters Centerline goodness : 0.157095 with order 1 Centerline is valid? [False, False] Translation: X:42.54, Y:1.26, Z:3.83 [[ 0.98404639 -0.07982077 0.15900108 42.53800266] [ 0.10276425 0.98455537 -0.14174001 1.26049637] [-0.14523157 0.15581837 0.97705088 3.82576044] [ 0. 0. 0. 1. ]] SLAMing on 197.28719347000003 meters Centerline goodness : 0.857079 with order 2 Centerline is valid? [False, False] Translation: X:42.55, Y:1.24, Z:3.82 [[ 0.98446049 -0.08220675 0.15517598 42.54565689] [ 0.1028548 0.98615175 -0.13009849 1.23716306] [-0.14233209 0.14403742 0.9792828 3.82090837] [ 0. 0. 0. 1. ]] SLAMing on 197.34719347 meters Centerline goodness : 0.133939 with order 1 Centerline is valid? [False, False] Translation: X:42.55, Y:1.21, Z:3.82 [[ 0.98380588 -0.08849368 0.15586811 42.5471367 ] [ 0.10798183 0.9867187 -0.12135127 1.20962687] [-0.14305916 0.13621701 0.98029536 3.82024378] [ 0. 0. 0. 1. ]] SLAMing on 197.40719347 meters Centerline goodness : 0.854047 with order 2 Centerline is valid? [False, False] Translation: X:42.55, Y:1.20, Z:3.82 [[ 0.98328156 -0.0941886 0.15583931 42.5496417 ] [ 0.11427858 0.98550017 -0.12541855 1.19725244] [-0.14176667 0.14113084 0.97978788 3.81947505] [ 0. 0. 0. 1. ]] SLAMing on 197.46719347 meters Centerline goodness : 0.864405 with order 2 Centerline is valid? [False, False] Translation: X:42.56, Y:1.17, Z:3.81 [[ 0.98179229 -0.10928983 0.15536936 42.56326855] [ 0.12792041 0.98504293 -0.11544169 1.17371575] [-0.14042888 0.13321467 0.98108796 3.81480921] [ 0. 0. 0. 1. ]] SLAMing on 197.52719347000001 meters Centerline goodness : 0.889544 with order 1 Centerline is valid? [False, False] Translation: X:42.58, Y:1.16, Z:3.81 [[ 0.98107604 -0.12023933 0.15176396 42.579488 ] [ 0.1372087 0.98477091 -0.10677091 1.16054091] [-0.13661467 0.12557372 0.98263303 3.81127201] [ 0. 0. 0. 1. ]] SLAMing on 197.58719347000002 meters Centerline goodness : 0.897310 with order 1 Centerline is valid? [False, False] Translation: X:42.59, Y:1.15, Z:3.81 [[ 0.981068 -0.12757234 0.14570817 42.59380143] [ 0.14244739 0.98507242 -0.0966492 1.14718433] [-0.13120334 0.11557518 0.98459538 3.80863804] [ 0. 0. 0. 1. ]] SLAMing on 197.64719347000002 meters Centerline goodness : 0.890337 with order 1 Centerline is valid? [False, False] Translation: X:42.60, Y:1.14, Z:3.81 [[ 0.98029243 -0.13207581 0.14691065 42.60401192] [ 0.14595667 0.98536358 -0.08806393 1.14108505] [-0.13312929 0.107771 0.9852218 3.80609937] [ 0. 0. 0. 1. ]] SLAMing on 197.70719347000002 meters Centerline goodness : 0.874287 with order 1 Centerline is valid? [False, False] Translation: X:42.61, Y:1.14, Z:3.80 [[ 0.97937 -0.13600197 0.1494586 42.61409416] [ 0.1490349 0.98561309 -0.07972099 1.13661279] [-0.13646614 0.10035089 0.98554893 3.80249279] [ 0. 0. 0. 1. ]] SLAMing on 197.76719347000002 meters Centerline goodness : 0.869302 with order 1 Centerline is valid? [False, False] Translation: X:42.64, Y:1.14, Z:3.80 [[ 0.98028581 -0.12709483 0.15128331 42.64175637] [ 0.14096995 0.98637614 -0.08479145 1.1430314 ] [-0.13844569 0.10444626 0.98484708 3.7976117 ] [ 0. 0. 0. 1. ]] SLAMing on 197.82719347000003 meters Centerline goodness : 0.863938 with order 1 Centerline is valid? [False, False] Translation: X:42.67, Y:1.16, Z:3.79 [[ 0.98069013 -0.1161177 0.15736436 42.67179384] [ 0.1339613 0.98508887 -0.10795505 1.1566912 ] [-0.14248238 0.12695119 0.98162221 3.79175989] [ 0. 0. 0. 1. ]] SLAMing on 197.88719347000003 meters Centerline goodness : 0.860386 with order 1 Centerline is valid? [False, False] Translation: X:42.71, Y:1.16, Z:3.79 [[ 0.98034636 -0.11441411 0.16071845 42.70556528] [ 0.1331559 0.98484643 -0.11111712 1.16444897] [-0.14556963 0.13033388 0.98072553 3.789037 ] [ 0. 0. 0. 1. ]] SLAMing on 197.94719347000003 meters Centerline goodness : 0.856632 with order 1 Centerline is valid? [False, False] Translation: X:42.74, Y:1.17, Z:3.79 [[ 0.97956531 -0.11399237 0.16570319 42.7378601 ] [ 0.13457043 0.98376135 -0.11876193 1.17213011] [-0.14947444 0.13863382 0.9789985 3.78595182] [ 0. 0. 0. 1. ]] SLAMing on 198.00719347000003 meters Centerline goodness : 0.851739 with order 1 Centerline is valid? [False, False] Translation: X:42.76, Y:1.18, Z:3.78 [[ 0.97989265 -0.10837145 0.16752915 42.76264007] [ 0.13125905 0.98249552 -0.13218783 1.1806645 ] [-0.15027125 0.1515196 0.97696487 3.78393396] [ 0. 0. 0. 1. ]] SLAMing on 198.06719347 meters Centerline goodness : 0.853351 with order 1 Centerline is valid? [False, False] Translation: X:42.80, Y:1.20, Z:3.79 [[ 0.9805125 -0.09394952 0.17253616 42.79500129] [ 0.12344932 0.97783667 -0.16910265 1.19523146] [-0.15282507 0.18710673 0.97037908 3.78547647] [ 0. 0. 0. 1. ]] SLAMing on 198.12719347 meters Centerline goodness : 0.851389 with order 1 Centerline is valid? [False, False] Translation: X:42.81, Y:1.20, Z:3.79 [[ 0.98014809 -0.08626414 0.17851674 42.81133304] [ 0.12022572 0.9745569 -0.18916825 1.20312417] [-0.15765629 0.2068752 0.96558125 3.7867582 ] [ 0. 0. 0. 1. ]] SLAMing on 198.18719347 meters Centerline goodness : 0.848691 with order 1 Centerline is valid? [False, False] Translation: X:42.84, Y:1.21, Z:3.79 [[ 0.98107224 -0.0779841 0.17724488 42.84018719] [ 0.11713787 0.96786249 -0.22253296 1.21365487] [-0.15419464 0.239083 0.95867791 3.78886396] [ 0. 0. 0. 1. ]] SLAMing on 198.24719347 meters Centerline goodness : 0.847346 with order 1 Centerline is valid? [False, False] Translation: X:42.85, Y:1.22, Z:3.79 [[ 0.98002071 -0.0817661 0.18131109 42.84674922] [ 0.12563492 0.96119277 -0.24561011 1.22027235] [-0.15419233 0.263482 0.9522615 3.79225217] [ 0. 0. 0. 1. ]] SLAMing on 198.30719347000002 meters Centerline goodness : 0.847606 with order 1 Centerline is valid? [False, False] Translation: X:42.87, Y:1.22, Z:3.79 [[ 0.97935518 -0.09243943 0.17977314 42.86529853] [ 0.1343384 0.96215217 -0.23709999 1.2182582 ] [-0.15105173 0.25635554 0.95470687 3.78980353] [ 0. 0. 0. 1. ]] SLAMing on 198.36719347000002 meters Centerline goodness : 0.846890 with order 1 Centerline is valid? [False, False] Translation: X:42.88, Y:1.21, Z:3.79 [[ 0.97908611 -0.10519287 0.1741403 42.87933971] [ 0.14234318 0.96575408 -0.21692735 1.21204871] [-0.14535749 0.23717824 0.9605299 3.78869828] [ 0. 0. 0. 1. ]] SLAMing on 198.42719347000002 meters Centerline goodness : 0.845409 with order 1 Centerline is valid? [False, False] Translation: X:42.90, Y:1.21, Z:3.79 [[ 0.97916511 -0.11144178 0.16975397 42.90061055] [ 0.14518719 0.9686589 -0.20154558 1.21174911] [-0.1419731 0.2219925 0.96465692 3.78510731] [ 0. 0. 0. 1. ]] SLAMing on 198.48719347000002 meters Centerline goodness : 0.848441 with order 1 Centerline is valid? [False, False] Translation: X:42.92, Y:1.22, Z:3.78 [[ 0.97908781 -0.10738139 0.17278974 42.91826169] [ 0.1418997 0.96909197 -0.20180493 1.21631172] [-0.14577905 0.22210356 0.96406352 3.78157985] [ 0. 0. 0. 1. ]] SLAMing on 198.54719347000002 meters Centerline goodness : 0.851888 with order 1 Centerline is valid? [False, False] Translation: X:42.95, Y:1.24, Z:3.79 [[ 0.97922595 -0.08633257 0.18347542 42.951365 ] [ 0.13055629 0.96076576 -0.24471249 1.23716093] [-0.15515025 0.26358269 0.95207803 3.78586172] [ 0. 0. 0. 1. ]] SLAMing on 198.60719347000003 meters Centerline goodness : 0.856090 with order 1 Centerline is valid? [False, False] Translation: X:42.98, Y:1.25, Z:3.79 [[ 0.97924924 -0.07117205 0.18975108 42.97754532] [ 0.12355998 0.95182531 -0.28064482 1.25179346] [-0.16063582 0.29826687 0.94086822 3.79360447] [ 0. 0. 0. 1. ]] SLAMing on 198.66719347000003 meters Centerline goodness : 0.861750 with order 1 Centerline is valid? [False, False] Translation: X:43.00, Y:1.26, Z:3.80 [[ 0.97948443 -0.06079841 0.19212964 42.99970374] [ 0.11979328 0.94232871 -0.31251587 1.26257066] [-0.16204881 0.32912027 0.93027955 3.8038853 ] [ 0. 0. 0. 1. ]] SLAMing on 198.72719347000003 meters Centerline goodness : 0.859342 with order 1 Centerline is valid? [False, False] Translation: X:43.01, Y:1.26, Z:3.80 [[ 0.97788734 -0.06702887 0.19809968 43.00825526] [ 0.12721762 0.94248534 -0.3090907 1.26391416] [-0.16598804 0.32745765 0.93017174 3.80119085] [ 0. 0. 0. 1. ]] SLAMing on 198.78719347000003 meters Centerline goodness : 0.844405 with order 1 Centerline is valid? [False, False] Translation: X:43.02, Y:1.27, Z:3.80 [[ 0.97772217 -0.07351509 0.19660845 43.02468116] [ 0.13149745 0.94460124 -0.30072733 1.26751172] [-0.16360859 0.31988129 0.93322462 3.7985577 ] [ 0. 0. 0. 1. ]] SLAMing on 198.84719347 meters Centerline goodness : 0.842634 with order 1 Centerline is valid? [False, False] Translation: X:43.03, Y:1.27, Z:3.80 [[ 0.97744608 -0.07664224 0.19678702 43.02706586] [ 0.13571814 0.94189192 -0.30727869 1.2699594 ] [-0.16180158 0.32705592 0.93105031 3.79731386] [ 0. 0. 0. 1. ]] SLAMing on 198.90719347 meters Centerline goodness : 0.845431 with order 1 Centerline is valid? [False, False] Translation: X:43.04, Y:1.28, Z:3.79 [[ 0.97683295 -0.07463886 0.20056529 43.04258186] [ 0.13631487 0.93949157 -0.31428306 1.27858785] [-0.16497167 0.33434208 0.92790071 3.79492433] [ 0. 0. 0. 1. ]] SLAMing on 198.96719347 meters Centerline goodness : 0.845979 with order 1 Centerline is valid? [False, False] Translation: X:43.04, Y:1.28, Z:3.80 [[ 0.97667895 -0.07435205 0.20141998 43.04258367] [ 0.13682761 0.93849059 -0.31703883 1.28099865] [-0.16545827 0.33720496 0.92677741 3.79692023] [ 0. 0. 0. 1. ]] SLAMing on 199.02719347000001 meters Centerline goodness : 0.846104 with order 1 Centerline is valid? [False, False] Translation: X:43.06, Y:1.28, Z:3.80 [[ 0.97624639 -0.08127908 0.20083999 43.05871702] [ 0.14089442 0.94235904 -0.30349333 1.27638094] [-0.16459572 0.3245815 0.93142638 3.79595804] [ 0. 0. 0. 1. ]] SLAMing on 199.08719347000002 meters Centerline goodness : 0.849561 with order 1 Centerline is valid? [False, False] Translation: X:43.07, Y:1.27, Z:3.79 [[ 0.97606741 -0.09061466 0.19769017 43.0692003 ] [ 0.14536041 0.94799031 -0.28316906 1.27049664] [-0.1617491 0.30512841 0.93847423 3.79457932] [ 0. 0. 0. 1. ]] SLAMing on 199.14719347000002 meters Centerline goodness : 0.854150 with order 1 Centerline is valid? [False, False] Translation: X:43.08, Y:1.26, Z:3.79 [[ 0.97622234 -0.09900518 0.19284168 43.08067737] [ 0.14877228 0.95302237 -0.26384685 1.26395438] [-0.15766023 0.28626269 0.94509096 3.7918679 ] [ 0. 0. 0. 1. ]] SLAMing on 199.20719347000002 meters Centerline goodness : 0.846931 with order 1 Centerline is valid? [False, False] Translation: X:43.09, Y:1.26, Z:3.79 [[ 0.97592551 -0.10565056 0.19080714 43.08820946] [ 0.15132283 0.95801962 -0.24351552 1.25829969] [-0.15706943 0.26652648 0.95094313 3.79181924] [ 0. 0. 0. 1. ]] SLAMing on 199.26719347000002 meters Centerline goodness : 0.857196 with order 1 Centerline is valid? [False, False] Translation: X:43.10, Y:1.26, Z:3.79 [[ 0.97563737 -0.10797745 0.19097798 43.10166263] [ 0.15101218 0.96198085 -0.22757013 1.25842208] [-0.15914472 0.25086593 0.95485038 3.79318166] [ 0. 0. 0. 1. ]] SLAMing on 199.32719347000003 meters Centerline goodness : 0.862877 with order 1 Centerline is valid? [False, False] Translation: X:43.11, Y:1.27, Z:3.79 [[ 0.97484314 -0.10022834 0.19908572 43.10687194] [ 0.14658461 0.96115173 -0.23388096 1.26645771] [-0.16791009 0.25718015 0.95166411 3.79477032] [ 0. 0. 0. 1. ]] SLAMing on 199.38719347000003 meters Centerline goodness : 0.863746 with order 1 Centerline is valid? [False, False] Translation: X:43.13, Y:1.28, Z:3.80 [[ 0.97533029 -0.08656001 0.20307187 43.13296239] [ 0.13936219 0.95486266 -0.26232704 1.27927541] [-0.17119872 0.28415605 0.94336967 3.79742856] [ 0. 0. 0. 1. ]] SLAMing on 199.44719347000003 meters Centerline goodness : 0.865487 with order 1 Centerline is valid? [False, False] Translation: X:43.15, Y:1.29, Z:3.80 [[ 0.9763191 -0.07006076 0.20467659 43.15483188] [ 0.12787703 0.95002271 -0.2847882 1.2902735 ] [-0.17449493 0.30421759 0.93648448 3.80251614] [ 0. 0. 0. 1. ]] SLAMing on 199.50719347000003 meters Centerline goodness : 0.855814 with order 1 Centerline is valid? [False, False] Translation: X:43.16, Y:1.30, Z:3.81 [[ 0.97830989 -0.05777301 0.19892721 43.16426594] [ 0.11915921 0.94248116 -0.31229848 1.29607541] [-0.16944272 0.3292287 0.92892283 3.81210809] [ 0. 0. 0. 1. ]] SLAMing on 199.56719347 meters Centerline goodness : 0.856757 with order 1 Centerline is valid? [False, False] Translation: X:43.18, Y:1.30, Z:3.82 [[ 0.98048702 -0.04684792 0.19092007 43.17577263] [ 0.11099115 0.93350979 -0.34094053 1.29629594] [-0.1622534 0.3554782 0.92049393 3.82014789] [ 0. 0. 0. 1. ]] SLAMing on 199.62719347 meters Centerline goodness : 0.856502 with order 1 Centerline is valid? [False, False] Translation: X:43.16, Y:1.29, Z:3.83 [[ 0.98181358 -0.04771036 0.18375475 43.16493841] [ 0.10792232 0.936565 -0.33346481 1.28577628] [-0.15618854 0.34723152 0.92468125 3.82631362] [ 0. 0. 0. 1. ]] SLAMing on 199.68719347 meters Centerline goodness : 0.860416 with order 1 Centerline is valid? [False, False] Translation: X:43.16, Y:1.26, Z:3.82 [[ 0.9820466 -0.05000625 0.18188965 43.16420182] [ 0.1063752 0.94309393 -0.31505262 1.26423395] [-0.15578443 0.32874491 0.93148161 3.82239915] [ 0. 0. 0. 1. ]] SLAMing on 199.74719347 meters Centerline goodness : 0.860333 with order 1 Centerline is valid? [False, False] Translation: X:43.14, Y:1.25, Z:3.82 [[ 0.98141561 -0.0586133 0.18272353 43.14095456] [ 0.1107547 0.95061674 -0.28993313 1.24595499] [-0.15670611 0.30478239 0.9394418 3.82294601] [ 0. 0. 0. 1. ]] SLAMing on 199.80719347000002 meters Centerline goodness : 0.857149 with order 1 Centerline is valid? [False, False] Translation: X:43.12, Y:1.22, Z:3.82 [[ 0.98055192 -0.07076716 0.18305722 43.12186066] [ 0.1171804 0.95932951 -0.25681831 1.22072664] [-0.15743789 0.27327441 0.94896491 3.82377278] [ 0. 0. 0. 1. ]] SLAMing on 199.86719347000002 meters Centerline goodness : 0.858050 with order 1 Centerline is valid? [False, False] Translation: X:43.13, Y:1.20, Z:3.82 [[ 0.9805916 -0.0779607 0.17989508 43.12853216] [ 0.12105823 0.96250335 -0.24275955 1.19717162] [-0.15422391 0.25982575 0.95326049 3.81940067] [ 0. 0. 0. 1. ]] SLAMing on 199.92719347000002 meters Centerline goodness : 0.859508 with order 1 Centerline is valid? [False, False] Translation: X:43.14, Y:1.18, Z:3.82 [[ 0.9809762 -0.08362229 0.17519419 43.14374691] [ 0.12273553 0.96636859 -0.22598172 1.18274723] [-0.15040505 0.24318524 0.95824802 3.81661852] [ 0. 0. 0. 1. ]] SLAMing on 199.98719347000002 meters Centerline goodness : 0.866243 with order 1 Centerline is valid? [False, False] Translation: X:43.15, Y:1.17, Z:3.82 [[ 0.98048814 -0.0866906 0.17643059 43.15488677] [ 0.12267542 0.97113275 -0.20457741 1.16847057] [-0.15360258 0.22222942 0.96281895 3.81806894] [ 0. 0. 0. 1. ]] SLAMing on 200.04719347000002 meters Centerline goodness : 0.860753 with order 1 Centerline is valid? [False, False] Translation: X:43.16, Y:1.17, Z:3.82 [[ 0.97942239 -0.08284583 0.18403357 43.15863539] [ 0.12269996 0.9684167 -0.21705716 1.16679645] [-0.1602389 0.23517155 0.95865418 3.81910971] [ 0. 0. 0. 1. ]] SLAMing on 200.10719347000003 meters Centerline goodness : 0.863910 with order 1 Centerline is valid? [False, False] Translation: X:43.17, Y:1.17, Z:3.82 [[ 0.9788003 -0.07699938 0.18979219 43.17497374] [ 0.12190227 0.96365427 -0.23771891 1.1652919 ] [-0.16458984 0.25581544 0.95261149 3.817929 ] [ 0. 0. 0. 1. ]] SLAMing on 200.16719347000003 meters Centerline goodness : 0.868620 with order 1 Centerline is valid? [False, False] Translation: X:43.19, Y:1.15, Z:3.81 [[ 0.97872711 -0.08291559 0.18766525 43.18500915] [ 0.1235387 0.96845751 -0.21639835 1.15287087] [-0.16380303 0.23497885 0.9580989 3.81465762] [ 0. 0. 0. 1. ]] SLAMing on 200.22719347000003 meters Centerline goodness : 0.865950 with order 1 Centerline is valid? [False, False] Translation: X:43.19, Y:1.14, Z:3.81 [[ 0.97850541 -0.09227817 0.18442317 43.19442775] [ 0.12965116 0.9707277 -0.20218385 1.13790769] [-0.16036752 0.22174867 0.96182628 3.8119173 ] [ 0. 0. 0. 1. ]] SLAMing on 200.28719347000003 meters Centerline goodness : 0.869055 with order 1 Centerline is valid? [False, False] Translation: X:43.20, Y:1.13, Z:3.81 [[ 0.97787877 -0.10447382 0.1812135 43.20463887] [ 0.13833319 0.97283515 -0.18562244 1.12721258] [-0.15689818 0.20658408 0.96576704 3.81079244] [ 0. 0. 0. 1. ]] SLAMing on 200.34719347 meters Centerline goodness : 0.864000 with order 1 Centerline is valid? [False, False] Translation: X:43.20, Y:1.12, Z:3.81 [[ 0.97606741 -0.12261768 0.17960322 43.20171877] [ 0.15233415 0.97491454 -0.16228351 1.11549961] [-0.15519896 0.18575935 0.97026117 3.81394887] [ 0. 0. 0. 1. ]] SLAMing on 200.40719347 meters Centerline goodness : 0.856488 with order 1 Centerline is valid? [False, False] Translation: X:43.21, Y:1.11, Z:3.81 [[ 0.9747338 -0.13257811 0.17976948 43.20817748] [ 0.15984403 0.9761686 -0.14678127 1.11223818] [-0.15602534 0.17180774 0.97269635 3.81462518] [ 0. 0. 0. 1. ]] SLAMing on 200.46719347 meters Centerline goodness : 0.856629 with order 1 Centerline is valid? [False, False] Translation: X:43.23, Y:1.12, Z:3.82 [[ 0.97423238 -0.14021986 0.17666254 43.22567847] [ 0.16560993 0.97645213 -0.13825552 1.11586696] [-0.15311635 0.16395007 0.97451309 3.81537324] [ 0. 0. 0. 1. ]] SLAMing on 200.52719347000001 meters Centerline goodness : 0.855405 with order 1 Centerline is valid? [False, False] Translation: X:43.24, Y:1.12, Z:3.82 [[ 0.97469404 -0.14380711 0.17114626 43.24024402] [ 0.16707024 0.97729723 -0.13029838 1.1232205 ] [-0.14852293 0.1555945 0.97659167 3.81739323] [ 0. 0. 0. 1. ]] SLAMing on 200.58719347000002 meters Centerline goodness : 0.852701 with order 1 Centerline is valid? [False, False] Translation: X:43.26, Y:1.14, Z:3.82 [[ 0.97547587 -0.14586836 0.164831 43.25512287] [ 0.16692359 0.97838942 -0.12202727 1.13582667] [-0.14346898 0.14654884 0.97874414 3.82044544] [ 0. 0. 0. 1. ]] SLAMing on 200.64719347000002 meters Centerline goodness : 0.847533 with order 1 Centerline is valid? [False, False] Translation: X:43.26, Y:1.14, Z:3.82 [[ 0.97613514 -0.14555 0.16116879 43.26120017] [ 0.16560247 0.97900373 -0.11885921 1.1442215 ] [-0.14048489 0.1427126 0.97974339 3.82339729] [ 0. 0. 0. 1. ]] SLAMing on 200.70719347000002 meters Centerline goodness : 0.859435 with order 1 Centerline is valid? [False, False] Translation: X:43.27, Y:1.16, Z:3.83 [[ 0.97644593 -0.14754894 0.15742505 43.2734791 ] [ 0.16519064 0.98059937 -0.10553169 1.1564704 ] [-0.13879982 0.12905113 0.98187597 3.83010705] [ 0. 0. 0. 1. ]] SLAMing on 200.76719347000002 meters Centerline goodness : 0.855379 with order 1 Centerline is valid? [False, False] Translation: X:43.28, Y:1.16, Z:3.83 [[ 0.97742666 -0.14578068 0.15292193 43.28005612] [ 0.16210732 0.98166056 -0.10031831 1.16478531] [-0.13549296 0.12284355 0.98313332 3.83280383] [ 0. 0. 0. 1. ]] SLAMing on 200.82719347000003 meters Centerline goodness : 0.858937 with order 1 Centerline is valid? [False, False] Translation: X:43.30, Y:1.19, Z:3.83 [[ 0.97795476 -0.12992536 0.16347446 43.29981327] [ 0.15060347 0.98114023 -0.1211711 1.18755466] [-0.14464817 0.14311968 0.97907797 3.83396711] [ 0. 0. 0. 1. ]] SLAMing on 200.88719347000003 meters Centerline goodness : 0.862263 with order 1 Centerline is valid? [False, False] Translation: X:43.32, Y:1.21, Z:3.84 [[ 0.97833366 -0.11612304 0.17140214 43.32156707] [ 0.14240773 0.97837628 -0.14999961 1.20707098] [-0.15027737 0.17115866 0.97371527 3.83565986] [ 0. 0. 0. 1. ]] SLAMing on 200.94719347000003 meters Centerline goodness : 0.863433 with order 1 Centerline is valid? [False, False] Translation: X:43.35, Y:1.24, Z:3.84 [[ 0.9790175 -0.0913397 0.18215868 43.34714815] [ 0.13086448 0.96703716 -0.21843445 1.24004716] [-0.15620248 0.23768926 0.95869943 3.84089608] [ 0. 0. 0. 1. ]] SLAMing on 201.00719347000003 meters Centerline goodness : 0.862694 with order 1 Centerline is valid? [False, False] Translation: X:43.37, Y:1.25, Z:3.85 [[ 0.97965891 -0.07989546 0.18407915 43.37208165] [ 0.12557123 0.95960089 -0.2517896 1.2529956 ] [-0.15652567 0.26978297 0.95011413 3.84568007] [ 0. 0. 0. 1. ]] SLAMing on 201.06719347 meters Centerline goodness : 0.862558 with order 1 Centerline is valid? [False, False] Translation: X:43.39, Y:1.28, Z:3.85 [[ 0.98066524 -0.05493672 0.18782344 43.39078672] [ 0.11447161 0.93948913 -0.32288764 1.27592403] [-0.15871969 0.33814514 0.92761303 3.85394689] [ 0. 0. 0. 1. ]] SLAMing on 201.12719347 meters Centerline goodness : 0.862625 with order 1 Centerline is valid? [False, False] Translation: X:43.40, Y:1.29, Z:3.87 [[ 9.81996541e-01 -3.00574770e-02 1.86492204e-01 4.34033161e+01] [ 1.02042217e-01 9.15226170e-01 -3.89805649e-01 1.28968052e+00] [-1.58965971e-01 4.01817877e-01 9.01816064e-01 3.86858236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18719347 meters Centerline goodness : 0.867881 with order 1 Centerline is valid? [False, False] Translation: X:43.40, Y:1.29, Z:3.88 [[ 9.81639430e-01 -3.52707498e-02 1.87456672e-01 4.34006894e+01] [ 1.09039785e-01 9.10111714e-01 -3.99758668e-01 1.28678564e+00] [-1.56506725e-01 4.12859107e-01 8.97247459e-01 3.87507227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24719347 meters Centerline goodness : 0.867494 with order 1 Centerline is valid? [False, False] Translation: X:43.40, Y:1.28, Z:3.88 [[ 9.81234908e-01 -4.13770179e-02 1.88324181e-01 4.34006137e+01] [ 1.16547836e-01 9.05360531e-01 -4.08336761e-01 1.28463120e+00] [-1.53605523e-01 4.22623060e-01 8.93193760e-01 3.87580954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30719347000002 meters Centerline goodness : 0.873435 with order 1 Centerline is valid? [False, False] Translation: X:43.40, Y:1.27, Z:3.87 [[ 0.97996167 -0.05981044 0.1899943 43.39861257] [ 0.13037337 0.91374716 -0.38479724 1.26872709] [-0.15059185 0.40185674 0.90323488 3.87285469] [ 0. 0. 0. 1. ]] SLAMing on 201.36719347000002 meters Centerline goodness : 0.877619 with order 1 Centerline is valid? [False, False] Translation: X:43.40, Y:1.26, Z:3.87 [[ 0.9786015 -0.07434854 0.19186295 43.40426203] [ 0.14075787 0.92201952 -0.36064834 1.25768865] [-0.15008771 0.37993723 0.91275483 3.87241113] [ 0. 0. 0. 1. ]] SLAMing on 201.42719347000002 meters Centerline goodness : 0.881256 with order 1 Centerline is valid? [False, False] Translation: X:43.40, Y:1.24, Z:3.87 [[ 0.97756242 -0.09326315 0.18887481 43.4027699 ] [ 0.15269013 0.93142246 -0.3303603 1.24457097] [-0.1451118 0.35178714 0.92476396 3.87371648] [ 0. 0. 0. 1. ]] SLAMing on 201.48719347000002 meters Centerline goodness : 0.883420 with order 1 Centerline is valid? [False, False] Translation: X:43.40, Y:1.24, Z:3.88 [[ 0.9756091 -0.1103059 0.18978804 43.39524171] [ 0.16465069 0.939514 -0.30033912 1.23611574] [-0.14517935 0.32426231 0.93476035 3.87522871] [ 0. 0. 0. 1. ]] SLAMing on 201.54719347000002 meters Centerline goodness : 0.885768 with order 1 Centerline is valid? [False, False] Translation: X:43.40, Y:1.23, Z:3.88 [[ 0.9747534 -0.11864518 0.18915371 43.3972319 ] [ 0.16851874 0.94666892 -0.27462592 1.23240955] [-0.14648289 0.29956849 0.94276268 3.87833525] [ 0. 0. 0. 1. ]] SLAMing on 201.60719347000003 meters Centerline goodness : 0.885064 with order 1 Centerline is valid? [False, False] Translation: X:43.40, Y:1.24, Z:3.88 [[ 0.97463516 -0.12352872 0.18661982 43.4015989 ] [ 0.16984278 0.9512781 -0.2573391 1.23503835] [-0.14573858 0.28250776 0.94812954 3.87842351] [ 0. 0. 0. 1. ]] SLAMing on 201.66719347000003 meters Centerline goodness : 0.884792 with order 1 Centerline is valid? [False, False] Translation: X:43.41, Y:1.24, Z:3.88 [[ 0.97463679 -0.12491335 0.18568731 43.41392814] [ 0.16844461 0.95574656 -0.24119479 1.24133354] [-0.14734156 0.26635534 0.95254674 3.8808479 ] [ 0. 0. 0. 1. ]] SLAMing on 201.72719347000003 meters Centerline goodness : 0.886769 with order 1 Centerline is valid? [False, False] Translation: X:43.44, Y:1.26, Z:3.88 [[ 0.9745767 -0.12976498 0.18265077 43.43522395] [ 0.16973627 0.95973665 -0.2238195 1.25650655] [-0.14625271 0.24913173 0.9573628 3.88261747] [ 0. 0. 0. 1. ]] SLAMing on 201.78719347000003 meters Centerline goodness : 0.881791 with order 1 Centerline is valid? [False, False] Translation: X:43.44, Y:1.26, Z:3.88 [[ 0.97381198 -0.13381626 0.18380272 43.44244933] [ 0.17204827 0.9622274 -0.21099245 1.26374267] [-0.14862579 0.23708992 0.96005143 3.88430184] [ 0. 0. 0. 1. ]] SLAMing on 201.84719347 meters Centerline goodness : 0.884008 with order 1 Centerline is valid? [False, False] Translation: X:43.45, Y:1.28, Z:3.88 [[ 0.97214316 -0.14185735 0.18658553 43.44917683] [ 0.17910927 0.96308246 -0.2009777 1.27559531] [-0.15118709 0.2287983 0.961662 3.88434295] [ 0. 0. 0. 1. ]] SLAMing on 201.90719347 meters Centerline goodness : 0.877496 with order 1 Centerline is valid? [False, False] Translation: X:43.47, Y:1.29, Z:3.88 [[ 0.97161345 -0.15059463 0.18245152 43.47172029] [ 0.18426402 0.96542187 -0.18441093 1.28823198] [-0.14837139 0.21279539 0.96576604 3.88444315] [ 0. 0. 0. 1. ]] SLAMing on 201.96719347 meters Centerline goodness : 0.879711 with order 1 Centerline is valid? [False, False] Translation: X:43.49, Y:1.30, Z:3.89 [[ 0.97080441 -0.1581535 0.18035041 43.48720406] [ 0.18954685 0.96656337 -0.17270567 1.30424155] [-0.1470061 0.20184827 0.96832148 3.88702876] [ 0. 0. 0. 1. ]] SLAMing on 202.02719347000001 meters Centerline goodness : 0.871799 with order 1 Centerline is valid? [False, False] Translation: X:43.50, Y:1.32, Z:3.89 [[ 0.97061908 -0.16110626 0.17872711 43.49954207] [ 0.19029463 0.96853625 -0.16039165 1.3169968 ] [-0.14726359 0.18969001 0.97073742 3.88849721] [ 0. 0. 0. 1. ]] SLAMing on 202.08719347000002 meters Centerline goodness : 0.875553 with order 1 Centerline is valid? [False, False] Translation: X:43.51, Y:1.34, Z:3.89 [[ 0.97164253 -0.15896468 0.17504576 43.51061183] [ 0.18595031 0.97098131 -0.1503921 1.33965524] [-0.14605913 0.17867718 0.97300627 3.89052732] [ 0. 0. 0. 1. ]] SLAMing on 202.14719347000002 meters Centerline goodness : 0.871891 with order 1 Centerline is valid? [False, False] Translation: X:43.52, Y:1.36, Z:3.89 [[ 0.97120409 -0.1562843 0.17982724 43.52018481] [ 0.18246126 0.97325286 -0.13959498 1.35643645] [-0.15320087 0.16838672 0.97374299 3.89061823] [ 0. 0. 0. 1. ]] SLAMing on 202.20719347000002 meters Centerline goodness : 0.871202 with order 1 Centerline is valid? [False, False] Translation: X:43.51, Y:1.37, Z:3.89 [[ 0.97137201 -0.15382975 0.18103269 43.50835571] [ 0.17868012 0.97527841 -0.13002089 1.37476078] [-0.15655619 0.1586456 0.97484447 3.89487734] [ 0. 0. 0. 1. ]] SLAMing on 202.26719347000002 meters Centerline goodness : 0.872851 with order 1 Centerline is valid? [False, False] Translation: X:43.50, Y:1.39, Z:3.90 [[ 0.97153297 -0.15514399 0.17903638 43.49997713] [ 0.17819621 0.97655976 -0.12073584 1.38538918] [-0.15610828 0.14920245 0.97640608 3.89528258] [ 0. 0. 0. 1. ]] SLAMing on 202.32719347000003 meters Centerline goodness : 0.874044 with order 1 Centerline is valid? [False, False] Translation: X:43.50, Y:1.41, Z:3.90 [[ 0.97221882 -0.15902476 0.17176057 43.49735659] [ 0.17899532 0.97793177 -0.10775032 1.40529078] [-0.15083515 0.13550122 0.97922836 3.89653871] [ 0. 0. 0. 1. ]] SLAMing on 202.38719347000003 meters Centerline goodness : 0.877557 with order 1 Centerline is valid? [False, False] Translation: X:43.49, Y:1.41, Z:3.89 [[ 0.97174326 -0.15977833 0.17374098 43.48950316] [ 0.1791983 0.97846568 -0.1024348 1.41462679] [-0.15363273 0.13067442 0.97944943 3.8942767 ] [ 0. 0. 0. 1. ]] SLAMing on 202.44719347000003 meters Centerline goodness : 0.882439 with order 1 Centerline is valid? [False, False] Translation: X:43.48, Y:1.43, Z:3.90 [[ 0.97130573 -0.16086747 0.17517661 43.4827228 ] [ 0.18038579 0.97831508 -0.1017869 1.43120228] [-0.15500371 0.13046557 0.97926124 3.89702403] [ 0. 0. 0. 1. ]] SLAMing on 202.50719347000003 meters Centerline goodness : 0.877615 with order 1 Centerline is valid? [False, False] Translation: X:43.46, Y:1.45, Z:3.90 [[ 0.96983885 -0.16313246 0.18110884 43.4612861 ] [ 0.18265242 0.97839876 -0.09681921 1.45034899] [-0.16140231 0.126979 0.97868566 3.9026348 ] [ 0. 0. 0. 1. ]] SLAMing on 202.56719347 meters Centerline goodness : 0.879776 with order 1 Centerline is valid? [False, False] Translation: X:43.46, Y:1.46, Z:3.90 [[ 0.97094712 -0.1574962 0.18015729 43.46050606] [ 0.17633975 0.97985271 -0.0937708 1.46171825] [-0.16175906 0.12281538 0.979158 3.90267029] [ 0. 0. 0. 1. ]] SLAMing on 202.62719347 meters Centerline goodness : 0.880945 with order 1 Centerline is valid? [False, False] Translation: X:43.43, Y:1.48, Z:3.91 [[ 0.97569383 -0.13553689 0.1721955 43.43126839] [ 0.15214949 0.98450363 -0.08719599 1.4780606 ] [-0.15770882 0.11127605 0.98119599 3.91075816] [ 0. 0. 0. 1. ]] SLAMing on 202.68719347 meters Centerline goodness : 0.882484 with order 1 Centerline is valid? [False, False] Translation: X:43.42, Y:1.49, Z:3.92 [[ 0.9794823 -0.11652573 0.16442679 43.42048485] [ 0.13075666 0.98829988 -0.07852412 1.48702067] [-0.15335289 0.09841288 0.98325876 3.91705148] [ 0. 0. 0. 1. ]] SLAMing on 202.74719347 meters Centerline goodness : 0.882323 with order 1 Centerline is valid? [False, False] Translation: X:43.40, Y:1.50, Z:3.93 [[ 0.98355743 -0.09088617 0.15605921 43.40282661] [ 0.10405978 0.99147498 -0.07841514 1.49561963] [-0.14760195 0.09336528 0.98463018 3.92631402] [ 0. 0. 0. 1. ]] SLAMing on 202.80719347000002 meters Centerline goodness : 0.881471 with order 1 Centerline is valid? [False, False] Translation: X:43.40, Y:1.49, Z:3.93 [[ 0.98568926 -0.08146685 0.14757995 43.39753061] [ 0.09363543 0.99258826 -0.07746585 1.4947788 ] [-0.14017522 0.09017597 0.98601176 3.92963255] [ 0. 0. 0. 1. ]] SLAMing on 202.86719347000002 meters Centerline goodness : 0.875875 with order 1 Centerline is valid? [False, False] Translation: X:43.40, Y:1.49, Z:3.93 [[ 0.98751533 -0.07939218 0.13605275 43.39562881] [ 0.08969589 0.99341036 -0.07134776 1.48728378] [-0.12949176 0.08266038 0.98812911 3.93258688] [ 0. 0. 0. 1. ]] SLAMing on 202.92719347000002 meters Centerline goodness : 0.880223 with order 1 Centerline is valid? [False, False] Translation: X:43.39, Y:1.48, Z:3.94 [[ 0.98930624 -0.07625307 0.12433278 43.39364316] [ 0.0847689 0.99429792 -0.06469839 1.48032469] [-0.11869037 0.07454608 0.99012902 3.93644151] [ 0. 0. 0. 1. ]] SLAMing on 202.98719347000002 meters Centerline goodness : 0.875713 with order 1 Centerline is valid? [False, False] Translation: X:43.40, Y:1.47, Z:3.94 [[ 0.9891767 -0.08314379 0.12089897 43.40005861] [ 0.09133127 0.99377292 -0.06382775 1.47265868] [-0.11483924 0.07417878 0.99061065 3.93635468] [ 0. 0. 0. 1. ]] SLAMing on 203.04719347000002 meters Centerline goodness : 0.872008 with order 1 Centerline is valid? [False, False] Translation: X:43.39, Y:1.46, Z:3.94 [[ 0.99002834 -0.08498101 0.11234822 43.39344536] [ 0.09220457 0.99388597 -0.06073712 1.46327715] [-0.10649981 0.07049049 0.99181091 3.93909083] [ 0. 0. 0. 1. ]] SLAMing on 203.10719347000003 meters Centerline goodness : 0.875468 with order 1 Centerline is valid? [False, False] Translation: X:43.38, Y:1.46, Z:3.94 [[ 0.99077218 -0.08555774 0.10512066 43.3840504 ] [ 0.09185344 0.99416397 -0.05657696 1.45545075] [-0.09966658 0.06571057 0.99284878 3.9428208 ] [ 0. 0. 0. 1. ]] SLAMing on 203.16719347000003 meters Centerline goodness : 0.868624 with order 1 Centerline is valid? [False, False] Translation: X:43.37, Y:1.45, Z:3.95 [[ 0.99177485 -0.08224894 0.09807013 43.37396781] [ 0.08752745 0.99486658 -0.05078813 1.44893649] [-0.09338942 0.05895422 0.9938827 3.94592597] [ 0. 0. 0. 1. ]] SLAMing on 203.22719347000003 meters Centerline goodness : 0.866214 with order 1 Centerline is valid? [False, False] Translation: X:43.37, Y:1.45, Z:3.95 [[ 0.99358277 -0.07322334 0.0862069 43.37140301] [ 0.07729049 0.99600057 -0.04482246 1.44605953] [-0.08258007 0.0511978 0.99526846 3.94924892] [ 0. 0. 0. 1. ]] SLAMing on 203.28719347000003 meters Centerline goodness : 0.864329 with order 1 Centerline is valid? [False, False] Translation: X:43.36, Y:1.45, Z:3.95 [[ 9.94944038e-01 -5.66387156e-02 8.29362248e-02 4.33629283e+01] [ 6.03293442e-02 9.97265253e-01 -4.26894072e-02 1.44744139e+00] [-8.02915420e-02 4.74770592e-02 9.95640094e-01 3.94921556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.34719347 meters Centerline goodness : 0.862878 with order 1 Centerline is valid? [False, False] Translation: X:43.36, Y:1.45, Z:3.95 [[ 9.95160461e-01 -5.02186450e-02 8.44614980e-02 4.33607432e+01] [ 5.37137504e-02 9.97769684e-01 -3.96294063e-02 1.44779110e+00] [-8.22829871e-02 4.39743621e-02 9.95638371e-01 3.94652304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.40719347 meters Centerline goodness : 0.869755 with order 1 Centerline is valid? [False, False] Translation: X:43.36, Y:1.45, Z:3.95 [[ 9.95548766e-01 -4.01448168e-02 8.52704423e-02 4.33581600e+01] [ 4.28338849e-02 9.98633399e-01 -2.99431587e-02 1.44623973e+00] [-8.39518490e-02 3.34623390e-02 9.95907806e-01 3.94715064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46719347 meters Centerline goodness : 0.862333 with order 1 Centerline is valid? [False, False] Translation: X:43.35, Y:1.43, Z:3.95 [[ 9.96661573e-01 -2.98869976e-02 7.59768203e-02 4.33518129e+01] [ 3.14873043e-02 9.99304973e-01 -1.99529393e-02 1.43488044e+00] [-7.53276809e-02 2.22786331e-02 9.96909927e-01 3.94912548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52719347000001 meters Centerline goodness : 0.857499 with order 1 Centerline is valid? [False, False] Translation: X:43.36, Y:1.43, Z:3.94 [[ 9.96292884e-01 -3.16629591e-02 7.99871689e-02 4.33648079e+01] [ 3.25492974e-02 9.99422072e-01 -9.80123672e-03 1.42552850e+00] [-7.96306060e-02 1.23684285e-02 9.96747706e-01 3.94312205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58719347000002 meters Centerline goodness : 0.867935 with order 3 Centerline is valid? [False, False] Translation: X:43.39, Y:1.41, Z:3.94 [[ 9.95522174e-01 -3.93976716e-02 8.59268568e-02 4.33881432e+01] [ 3.89278249e-02 9.99216534e-01 7.13737208e-03 1.40947178e+00] [-8.61407319e-02 -3.76046653e-03 9.96275882e-01 3.93666041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64719347000002 meters Centerline goodness : 0.867521 with order 2 Centerline is valid? [False, False] Translation: X:43.39, Y:1.40, Z:3.94 [[ 9.95404405e-01 -4.25912647e-02 8.57674421e-02 4.33891753e+01] [ 4.20820024e-02 9.99084197e-01 7.73777126e-03 1.39929322e+00] [-8.60184575e-02 -4.09294589e-03 9.96285136e-01 3.93781273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70719347000002 meters Centerline goodness : 0.856346 with order 1 Centerline is valid? [False, False] Translation: X:43.39, Y:1.39, Z:3.94 [[ 9.95322393e-01 -4.63587561e-02 8.47596552e-02 4.33922755e+01] [ 4.55672562e-02 9.98897923e-01 1.12501015e-02 1.38588134e+00] [-8.51877842e-02 -7.33521302e-03 9.96337913e-01 3.93660568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76719347000002 meters Centerline goodness : 0.854447 with order 1 Centerline is valid? [False, False] Translation: X:43.39, Y:1.38, Z:3.93 [[ 9.95058190e-01 -5.05433704e-02 8.54667550e-02 4.33941523e+01] [ 5.00836715e-02 9.98716747e-01 7.51570523e-03 1.37558981e+00] [-8.57369485e-02 -3.19807516e-03 9.96312676e-01 3.93397504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.82719347000003 meters Centerline goodness : 0.854026 with order 1 Centerline is valid? [False, False] Translation: X:43.39, Y:1.37, Z:3.93 [[ 9.95064049e-01 -4.96445534e-02 8.59241302e-02 4.33940674e+01] [ 4.88637330e-02 9.98743015e-01 1.11680718e-02 1.36598839e+00] [-8.63705587e-02 -6.91437300e-03 9.96239087e-01 3.93445375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.88719347000003 meters Centerline goodness : 0.851724 with order 1 Centerline is valid? [False, False] Translation: X:43.39, Y:1.36, Z:3.93 [[ 9.95137826e-01 -4.73595716e-02 8.63584265e-02 4.33940107e+01] [ 4.61571004e-02 9.98808133e-01 1.58693108e-02 1.35730993e+00] [-8.70070626e-02 -1.18060969e-02 9.96137735e-01 3.93488338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.94719347000003 meters Centerline goodness : 0.842760 with order 1 Centerline is valid? [False, False] Translation: X:43.40, Y:1.35, Z:3.93 [[ 9.95123427e-01 -4.74947544e-02 8.64500610e-02 4.33970903e+01] [ 4.62070717e-02 9.98789982e-01 1.68368337e-02 1.34738061e+00] [-8.71451161e-02 -1.27601235e-02 9.96113903e-01 3.93139603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.00719347000003 meters Centerline goodness : 0.841379 with order 1 Centerline is valid? [False, False] Translation: X:43.40, Y:1.34, Z:3.93 [[ 9.94981355e-01 -4.93928968e-02 8.70197954e-02 4.33971234e+01] [ 4.81871787e-02 9.98711707e-01 1.59035076e-02 1.34101062e+00] [-8.76932087e-02 -1.16304551e-02 9.96079632e-01 3.93121404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.06719347 meters Centerline goodness : 0.835824 with order 1 Centerline is valid? [False, False] Translation: X:43.40, Y:1.33, Z:3.93 [[ 9.95018877e-01 -4.86215724e-02 8.70251512e-02 4.34000971e+01] [ 4.71642397e-02 9.98711609e-01 1.87258502e-02 1.32917050e+00] [-8.78235090e-02 -1.45280993e-02 9.96030103e-01 3.92825570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.12719347 meters Centerline goodness : 0.538524 with order 2 Centerline is valid? [False, False] Translation: X:43.40, Y:1.32, Z:3.93 [[ 9.95146100e-01 -4.63608545e-02 8.68038592e-02 4.34023326e+01] [ 4.46248493e-02 9.98765166e-01 2.18349942e-02 1.32390653e+00] [-8.77089598e-02 -1.78554002e-02 9.95986106e-01 3.92570392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18719347 meters Centerline goodness : 0.193076 with order 1 Centerline is valid? [False, False] Translation: X:43.44, Y:1.32, Z:3.93 [[ 9.95307767e-01 -4.34869926e-02 8.64368625e-02 4.34354160e+01] [ 4.28957887e-02 9.99041791e-01 8.68624020e-03 1.31830526e+00] [-8.67317764e-02 -4.93770494e-03 9.96219463e-01 3.92843160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24719347 meters Centerline goodness : 0.187490 with order 1 Centerline is valid? [False, False] Translation: X:43.46, Y:1.31, Z:3.93 [[ 9.95264930e-01 -4.45241560e-02 8.64020717e-02 4.34621025e+01] [ 4.47350292e-02 9.98998760e-01 -5.04953609e-04 1.31386137e+00] [-8.62930798e-02 4.36776182e-03 9.96260221e-01 3.92989204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30719347000002 meters Centerline goodness : 0.149075 with order 1 Centerline is valid? [False, False] Translation: X:43.50, Y:1.30, Z:3.92 [[ 9.94786793e-01 -5.12107420e-02 8.81855787e-02 4.35009548e+01] [ 5.14594950e-02 9.98674932e-01 -5.48181914e-04 1.30400201e+00] [-8.80406540e-02 5.08330947e-03 9.96103912e-01 3.92352455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36719347000002 meters Centerline goodness : 0.191895 with order 1 Centerline is valid? [False, False] Translation: X:43.54, Y:1.30, Z:3.93 [[ 9.94844425e-01 -5.90974757e-02 8.24139480e-02 4.35366383e+01] [ 6.00664549e-02 9.98150815e-01 -9.32590126e-03 1.29913072e+00] [-8.17104121e-02 1.42281346e-02 9.96554549e-01 3.92597097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 11615.21 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%| | 0/6814 [00:00