+ python -m lidar_slam --result /working/result.json --no-model /working/e0218a3c-1965-4619-98e1-4ad0e735960c Lidar SLAM 0.0.16 ===================================================== The recording path: /working/e0218a3c-1965-4619-98e1-4ad0e735960c 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 0.002401008 Adjusted end_distance from 9.223372036854776e+18 to 114.512401008 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.002401008 meters Centerline goodness : 0.944244 with order 1 Centerline is valid? [0, False] SLAMing on 0.062401008 meters Centerline goodness : 0.943689 with order 1 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99827824e-01 1.78467109e-02 5.08106022e-03 3.40782827e-03] [-1.78489881e-02 9.99840613e-01 4.03180863e-04 6.30263316e-05] [-5.07305491e-03 -4.93803228e-04 9.99987010e-01 -3.17323549e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.12240100799999999 meters Centerline goodness : 0.928555 with order 1 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.00, Z:-0.01 [[ 0.99808948 0.0616337 0.00432233 0.0158416 ] [-0.06162445 0.99809689 -0.00224231 -0.00273422] [-0.0044523 0.00197167 0.99998814 -0.00706405] [ 0. 0. 0. 1. ]] SLAMing on 0.182401008 meters Centerline goodness : 0.932365 with order 1 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.01 [[ 0.99759384 0.06914526 0.00504526 0.01386559] [-0.06917148 0.99759111 0.00522243 -0.01121557] [-0.004672 -0.00555885 0.99997364 -0.00667016] [ 0. 0. 0. 1. ]] SLAMing on 0.242401008 meters Centerline goodness : 0.935218 with order 1 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.03, Z:-0.01 [[ 0.99781874 0.06578537 0.00548144 0.01287759] [-0.0658043 0.99782693 0.00334768 -0.02951742] [-0.0052493 -0.00370108 0.99997937 -0.00922979] [ 0. 0. 0. 1. ]] SLAMing on 0.30240100799999997 meters Centerline goodness : 0.936060 with order 1 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.04, Z:-0.01 [[ 9.98182560e-01 6.00128672e-02 5.48013481e-03 1.14579947e-02] [-6.00113902e-02 9.98197598e-01 -4.33712751e-04 -4.34644004e-02] [-5.49628575e-03 1.04053996e-04 9.99984890e-01 -8.95658962e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.36240100799999997 meters Centerline goodness : 0.927328 with order 1 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.06, Z:-0.01 [[ 0.99843568 0.05563734 0.0055396 0.00949779] [-0.05562377 0.99844848 -0.00257425 -0.06413623] [-0.00567423 0.00226209 0.99998134 -0.0084413 ] [ 0. 0. 0. 1. ]] SLAMing on 0.42240100799999997 meters Centerline goodness : 0.917564 with order 1 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.10, Z:-0.01 [[ 0.99868013 0.05126865 -0.00308763 0.03662433] [-0.05130452 0.99859913 -0.01294694 -0.09690806] [ 0.00241953 0.01308826 0.99991142 -0.00809197] [ 0. 0. 0. 1. ]] SLAMing on 0.48240100799999996 meters Centerline goodness : 0.912331 with order 1 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.12, Z:-0.01 [[ 0.99919311 0.03994758 -0.00416101 0.03874006] [-0.04001954 0.99901918 -0.0189505 -0.1170525 ] [ 0.0033999 0.01910173 0.99981176 -0.00828505] [ 0. 0. 0. 1. ]] SLAMing on 0.542401008 meters Centerline goodness : 0.911175 with order 1 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.13, Z:-0.01 [[ 0.9996043 0.02773849 -0.0046706 0.04078608] [-0.02785217 0.99926477 -0.02634711 -0.13245258] [ 0.00393634 0.02646677 0.99964194 -0.00909706] [ 0. 0. 0. 1. ]] SLAMing on 0.602401008 meters Centerline goodness : 0.915475 with order 1 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.14, Z:-0.01 [[ 0.99986643 0.01498135 -0.00653351 0.04572432] [-0.01519814 0.99928912 -0.03450033 -0.14343206] [ 0.00601201 0.03459502 0.99938333 -0.00879245] [ 0. 0. 0. 1. ]] SLAMing on 0.6624010079999999 meters Centerline goodness : 0.947261 with order 2 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.14, Z:-0.01 [[ 0.99972635 0.02221163 -0.00734006 0.04714114] [-0.02239856 0.99939915 -0.02645071 -0.14187641] [ 0.00674814 0.02660788 0.99962317 -0.00659566] [ 0. 0. 0. 1. ]] SLAMing on 0.722401008 meters Centerline goodness : 0.785855 with order 3 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.12, Z:-0.00 [[ 0.9992172 0.03825631 -0.0100716 0.0550429 ] [-0.03835485 0.99921632 -0.00977997 -0.12228001] [ 0.00968956 0.0101586 0.99990145 -0.00222257] [ 0. 0. 0. 1. ]] SLAMing on 0.782401008 meters Centerline goodness : 0.914543 with order 1 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.10, Z:-0.00 [[ 9.98747842e-01 4.80221398e-02 -1.40221733e-02 6.78458069e-02] [-4.80032751e-02 9.98845767e-01 1.67902811e-03 -1.03616094e-01] [ 1.40866190e-02 -1.00381547e-03 9.99900275e-01 -4.81579080e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.842401008 meters Centerline goodness : 0.911716 with order 1 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.08, Z:0.00 [[ 0.9979292 0.05923894 -0.02506108 0.10044458] [-0.0589108 0.99817011 0.01363595 -0.07995156] [ 0.025823 -0.01213135 0.99959292 0.00110765] [ 0. 0. 0. 1. ]] SLAMing on 0.9024010079999999 meters Centerline goodness : 0.184368 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.04, Z:-0.13 [[ 0.99805226 0.04153344 0.04654729 0.18794865] [-0.03973543 0.99845238 -0.03890931 -0.0376465 ] [-0.04809129 0.03698395 0.99815801 -0.12723099] [ 0. 0. 0. 1. ]] SLAMing on 0.962401008 meters Centerline goodness : 0.218272 with order 1 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.05, Z:-0.13 [[ 0.99818167 0.03470836 0.04928174 0.23772753] [-0.03318087 0.99895341 -0.03148209 -0.04948124] [-0.05032286 0.02978963 0.99828863 -0.13446622] [ 0. 0. 0. 1. ]] SLAMing on 1.0224010080000001 meters Centerline goodness : 0.391441 with order 2 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.05, Z:-0.13 [[ 0.99830601 0.03408679 0.04715088 0.24801229] [-0.03286529 0.99910991 -0.02644339 -0.05081777] [-0.04801028 0.02484896 0.9985377 -0.13396534] [ 0. 0. 0. 1. ]] SLAMing on 1.0824010080000002 meters Centerline goodness : 0.427841 with order 2 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.05, Z:-0.14 [[ 0.99770488 0.04645351 0.04926504 0.29771767] [-0.0457105 0.99882493 -0.01610326 -0.05456777] [-0.0499552 0.01381437 0.99865592 -0.13627101] [ 0. 0. 0. 1. ]] SLAMing on 1.142401008 meters Centerline goodness : 0.498076 with order 2 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.05, Z:-0.14 [[ 0.9968735 0.05736724 0.05433432 0.32742218] [-0.05710898 0.9983481 -0.00629521 -0.0527358 ] [-0.0546057 0.00317255 0.99850296 -0.13912899] [ 0. 0. 0. 1. ]] SLAMing on 1.202401008 meters Centerline goodness : 0.521134 with order 2 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.05, Z:-0.14 [[ 9.96850583e-01 5.89031746e-02 5.30973686e-02 3.33655278e-01] [-5.88615094e-02 9.98263393e-01 -2.34951193e-03 -5.05272737e-02] [-5.31435531e-02 -7.83278927e-04 9.98586576e-01 -1.38989516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.262401008 meters Centerline goodness : 0.474377 with order 1 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.05, Z:-0.14 [[ 0.99688146 0.05968735 0.05162144 0.34857942] [-0.06007342 0.99817618 0.00595844 -0.04697329] [-0.05117165 -0.00904093 0.99864895 -0.13904062] [ 0. 0. 0. 1. ]] SLAMing on 1.322401008 meters Centerline goodness : 0.153134 with order 1 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.05, Z:-0.14 [[ 0.99625979 0.06137109 0.06082778 0.38782773] [-0.06217315 0.9980005 0.01138019 -0.04951757] [-0.06000774 -0.01511948 0.9980834 -0.14497579] [ 0. 0. 0. 1. ]] SLAMing on 1.382401008 meters Centerline goodness : 0.815104 with order 1 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.05, Z:-0.15 [[ 0.9967332 0.0558025 0.05838675 0.40578157] [-0.05676939 0.99827413 0.01503324 -0.0492866 ] [-0.05744709 -0.01829871 0.99818084 -0.14676704] [ 0. 0. 0. 1. ]] SLAMing on 1.442401008 meters Centerline goodness : 0.237933 with order 1 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.05, Z:-0.15 [[ 0.99684482 0.0464605 0.06435695 0.43951944] [-0.0478428 0.9986525 0.02010588 -0.05440638] [-0.0633361 -0.02312146 0.99772438 -0.15463886] [ 0. 0. 0. 1. ]] SLAMing on 1.502401008 meters Centerline goodness : 0.241598 with order 1 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.06, Z:-0.16 [[ 0.99706575 0.04006956 0.06522512 0.48356437] [-0.04171368 0.99884028 0.02404284 -0.05716166] [-0.06418609 -0.02669307 0.99758089 -0.15969141] [ 0. 0. 0. 1. ]] SLAMing on 1.5624010080000001 meters Centerline goodness : 0.224656 with order 1 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.06, Z:-0.17 [[ 0.99716837 0.03741342 0.06523396 0.514002 ] [-0.03886512 0.99902107 0.02112819 -0.05797666] [-0.06437962 -0.02360369 0.99764629 -0.16577497] [ 0. 0. 0. 1. ]] SLAMing on 1.622401008 meters Centerline goodness : 0.265203 with order 1 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.06, Z:-0.17 [[ 0.997468 0.02743962 0.06560992 0.56192075] [-0.02899424 0.99931812 0.02286105 -0.06350145] [-0.06493789 -0.02470548 0.99758344 -0.17255462] [ 0. 0. 0. 1. ]] SLAMing on 1.682401008 meters Centerline goodness : 0.212991 with order 1 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.07, Z:-0.18 [[ 0.99787939 0.01517844 0.06329568 0.60364787] [-0.01653825 0.99964236 0.02101506 -0.07186738] [-0.06295407 -0.02201729 0.99777353 -0.17540147] [ 0. 0. 0. 1. ]] SLAMing on 1.742401008 meters Centerline goodness : 0.237429 with order 1 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.09, Z:-0.18 [[ 0.9977662 -0.00821524 0.06629573 0.66021039] [ 0.00717057 0.99984659 0.01598032 -0.08907943] [-0.06641684 -0.01546924 0.99767204 -0.18425598] [ 0. 0. 0. 1. ]] SLAMing on 1.802401008 meters Centerline goodness : 0.255591 with order 3 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.10, Z:-0.19 [[ 0.99759035 -0.02158492 0.06593624 0.70221412] [ 0.0206455 0.99967589 0.01489577 -0.10039406] [-0.06623639 -0.01349859 0.99771265 -0.18723576] [ 0. 0. 0. 1. ]] SLAMing on 1.862401008 meters Centerline goodness : 0.251181 with order 3 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.12, Z:-0.20 [[ 0.99665437 -0.03858681 0.07204941 0.75932474] [ 0.03774516 0.99920274 0.01300718 -0.11991967] [-0.07249387 -0.01024415 0.99731625 -0.19582799] [ 0. 0. 0. 1. ]] SLAMing on 1.922401008 meters Centerline goodness : 0.861126 with order 3 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.14, Z:-0.21 [[ 0.99596369 -0.05063752 0.07410915 0.82045998] [ 0.05013973 0.9987055 0.00856322 -0.14133444] [-0.07444683 -0.00481285 0.99721337 -0.2051658 ] [ 0. 0. 0. 1. ]] SLAMing on 1.982401008 meters Centerline goodness : 0.864061 with order 3 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.16, Z:-0.21 [[ 9.95910565e-01 -5.31068460e-02 7.30876798e-02 8.67440369e-01] [ 5.31928851e-02 9.98583959e-01 7.70146686e-04 -1.55851070e-01] [-7.30250847e-02 3.12074733e-03 9.97325222e-01 -2.12061818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.042401008 meters Centerline goodness : 0.884783 with order 3 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.18, Z:-0.24 [[ 0.99596318 -0.05041578 0.07426705 0.9287725 ] [ 0.05174001 0.99853217 -0.01601467 -0.17731749] [-0.07335065 0.0197926 0.99710979 -0.23776685] [ 0. 0. 0. 1. ]] SLAMing on 2.102401008 meters Centerline goodness : 0.188742 with order 3 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.19, Z:-0.25 [[ 0.99561604 -0.04802124 0.08026624 0.96365696] [ 0.05020772 0.99841457 -0.02544668 -0.19173952] [-0.078917 0.0293651 0.99644859 -0.25435142] [ 0. 0. 0. 1. ]] SLAMing on 2.1624010080000002 meters Centerline goodness : 0.792510 with order 3 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.21, Z:-0.27 [[ 0.99545502 -0.04759529 0.08248628 1.01634547] [ 0.05081068 0.99801042 -0.03732927 -0.21222021] [-0.08054547 0.04135079 0.99589284 -0.27291007] [ 0. 0. 0. 1. ]] SLAMing on 2.222401008 meters Centerline goodness : 0.835709 with order 2 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.23, Z:-0.26 [[ 0.99490539 -0.05299531 0.08575988 1.03851335] [ 0.05459139 0.99837454 -0.01637244 -0.23064694] [-0.08475281 0.02097078 0.9961813 -0.26164653] [ 0. 0. 0. 1. ]] SLAMing on 2.282401008 meters Centerline goodness : 0.896621 with order 1 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.25, Z:-0.25 [[ 0.99390202 -0.06091067 0.09191665 1.07806396] [ 0.05992063 0.99811192 0.01349509 -0.25182009] [-0.0925651 -0.0079051 0.99567525 -0.25032833] [ 0. 0. 0. 1. ]] SLAMing on 2.342401008 meters Centerline goodness : 0.889969 with order 1 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.26, Z:-0.24 [[ 0.99423381 -0.05809198 0.09013575 1.11505616] [ 0.05558559 0.99800089 0.03007434 -0.26459991] [-0.09170264 -0.02489067 0.9954753 -0.24335016] [ 0. 0. 0. 1. ]] SLAMing on 2.402401008 meters Centerline goodness : 0.915735 with order 2 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.27, Z:-0.25 [[ 0.99452778 -0.05223973 0.09047378 1.1560595 ] [ 0.05026934 0.99844912 0.0239236 -0.27211186] [-0.09158323 -0.01924463 0.99561145 -0.24791205] [ 0. 0. 0. 1. ]] SLAMing on 2.462401008 meters Centerline goodness : 0.900794 with order 2 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.28, Z:-0.25 [[ 0.99471533 -0.04641255 0.09158209 1.19496012] [ 0.04487043 0.99881538 0.0188276 -0.27735277] [-0.09234743 -0.01461877 0.99561953 -0.25124572] [ 0. 0. 0. 1. ]] SLAMing on 2.522401008 meters Centerline goodness : 0.914388 with order 2 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.29, Z:-0.25 [[ 0.99473974 -0.04341113 0.09278102 1.2384545 ] [ 0.04222445 0.99899977 0.01471608 -0.28601115] [-0.09332706 -0.01072104 0.99557778 -0.25221574] [ 0. 0. 0. 1. ]] SLAMing on 2.582401008 meters Centerline goodness : 0.917507 with order 3 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.29, Z:-0.26 [[ 0.99466827 -0.03905434 0.09544527 1.26330021] [ 0.03771206 0.99916329 0.01582769 -0.28645059] [-0.09598355 -0.01214387 0.99530884 -0.25607377] [ 0. 0. 0. 1. ]] SLAMing on 2.6424010079999998 meters Centerline goodness : 0.922040 with order 2 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.28, Z:-0.26 [[ 0.99472999 -0.03997557 0.09441501 1.26688054] [ 0.03874081 0.99913856 0.01487573 -0.28483799] [-0.09492834 -0.01113962 0.99542178 -0.25807742] [ 0. 0. 0. 1. ]] SLAMing on 2.702401008 meters Centerline goodness : 0.912748 with order 2 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.29, Z:-0.26 [[ 0.99576629 -0.03866436 0.08339405 1.29222464] [ 0.03807859 0.99923771 0.00860387 -0.28506795] [-0.08366314 -0.00539191 0.99647951 -0.26048527] [ 0. 0. 0. 1. ]] SLAMing on 2.762401008 meters Centerline goodness : 0.904085 with order 2 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.28, Z:-0.26 [[ 0.99594837 -0.04224769 0.07938496 1.30875011] [ 0.04146794 0.99907427 0.01144615 -0.28278078] [-0.07979504 -0.00810785 0.99677832 -0.26218573] [ 0. 0. 0. 1. ]] SLAMing on 2.822401008 meters Centerline goodness : 0.906185 with order 1 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.28, Z:-0.26 [[ 0.99613427 -0.04606075 0.0747992 1.32611655] [ 0.04518764 0.99888965 0.01332422 -0.27667965] [-0.07532987 -0.00989272 0.99710959 -0.26475804] [ 0. 0. 0. 1. ]] SLAMing on 2.882401008 meters Centerline goodness : 0.905767 with order 1 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.27, Z:-0.26 [[ 0.99617195 -0.04722388 0.07356194 1.32899028] [ 0.04645717 0.998847 0.0121 -0.27304451] [-0.07404854 -0.0086362 0.99721724 -0.26467915] [ 0. 0. 0. 1. ]] SLAMing on 2.942401008 meters Centerline goodness : 0.907419 with order 1 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.27, Z:-0.26 [[ 0.99641884 -0.04498961 0.07159209 1.33274166] [ 0.04399735 0.99891329 0.01537779 -0.26977027] [-0.07220613 -0.01217285 0.99731544 -0.26338663] [ 0. 0. 0. 1. ]] SLAMing on 3.002401008 meters Centerline goodness : 0.909389 with order 1 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.26, Z:-0.26 [[ 0.99663324 -0.04244795 0.07014518 1.33530778] [ 0.0412977 0.99898888 0.01776844 -0.26277123] [-0.07082849 -0.01481178 0.99737853 -0.26274305] [ 0. 0. 0. 1. ]] SLAMing on 3.062401008 meters Centerline goodness : 0.910879 with order 1 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.26, Z:-0.26 [[ 0.99684449 -0.03998354 0.06857387 1.33877268] [ 0.03869096 0.99904953 0.02007578 -0.25710716] [-0.0693114 -0.01735924 0.99744403 -0.26344976] [ 0. 0. 0. 1. ]] SLAMing on 3.122401008 meters Centerline goodness : 0.908627 with order 1 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.26, Z:-0.26 [[ 0.99704037 -0.03705979 0.06735775 1.34167311] [ 0.03553526 0.99908754 0.02369267 -0.25678411] [-0.06817433 -0.02122897 0.99744754 -0.2639591 ] [ 0. 0. 0. 1. ]] SLAMing on 3.182401008 meters Centerline goodness : 0.903692 with order 1 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.25, Z:-0.27 [[ 0.99724095 -0.03438873 0.06578673 1.34570692] [ 0.03272952 0.99912248 0.02613504 -0.25338646] [-0.06662775 -0.02390976 0.99749139 -0.2659134 ] [ 0. 0. 0. 1. ]] SLAMing on 3.242401008 meters Centerline goodness : 0.900465 with order 1 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.25, Z:-0.27 [[ 0.9974266 -0.03145408 0.06442689 1.34835517] [ 0.02962684 0.99913666 0.02912345 -0.25031285] [-0.06528731 -0.02713974 0.99749737 -0.26596053] [ 0. 0. 0. 1. ]] SLAMing on 3.302401008 meters Centerline goodness : 0.900491 with order 1 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.25, Z:-0.27 [[ 0.9974483 -0.0322905 0.06367273 1.35020951] [ 0.03054056 0.99913373 0.02826784 -0.24842963] [-0.06453035 -0.02625111 0.99757041 -0.26614027] [ 0. 0. 0. 1. ]] SLAMing on 3.362401008 meters Centerline goodness : 0.902873 with order 1 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.25, Z:-0.26 [[ 0.99744827 -0.03297312 0.06332242 1.35067246] [ 0.03123104 0.99911127 0.02830714 -0.24824749] [-0.06419952 -0.02625729 0.99759159 -0.26468762] [ 0. 0. 0. 1. ]] SLAMing on 3.422401008 meters Centerline goodness : 0.898409 with order 1 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.25, Z:-0.27 [[ 0.99747446 -0.03356003 0.06259727 1.35264526] [ 0.03185152 0.99909767 0.02809495 -0.24906981] [-0.06348365 -0.02603018 0.99764335 -0.26507547] [ 0. 0. 0. 1. ]] SLAMing on 3.482401008 meters Centerline goodness : 0.897149 with order 1 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.25, Z:-0.27 [[ 0.99750061 -0.03412359 0.06187177 1.35486588] [ 0.03244262 0.99908208 0.02797279 -0.25071499] [-0.06276951 -0.02589559 0.99769204 -0.26583804] [ 0. 0. 0. 1. ]] SLAMing on 3.542401008 meters Centerline goodness : 0.893471 with order 1 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.26, Z:-0.26 [[ 0.99776611 -0.03569265 0.05646968 1.3871832 ] [ 0.03416173 0.99902827 0.02784768 -0.25561981] [-0.05740877 -0.02585637 0.99801587 -0.26379533] [ 0. 0. 0. 1. ]] SLAMing on 3.6024010079999997 meters Centerline goodness : 0.893018 with order 1 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.26, Z:-0.26 [[ 0.99801973 -0.03509772 0.05219936 1.41411102] [ 0.03372052 0.99906559 0.02703455 -0.25914823] [-0.05309944 -0.02522083 0.99827068 -0.26349282] [ 0. 0. 0. 1. ]] SLAMing on 3.662401008 meters Centerline goodness : 0.900304 with order 1 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.26, Z:-0.26 [[ 0.99771384 -0.03614825 0.05709987 1.43051279] [ 0.03496311 0.99915471 0.02162033 -0.26155351] [-0.05783314 -0.01957452 0.99813434 -0.26141837] [ 0. 0. 0. 1. ]] SLAMing on 3.722401008 meters Centerline goodness : 0.900680 with order 1 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.26, Z:-0.26 [[ 0.99772295 -0.03640515 0.05677659 1.43074027] [ 0.03519135 0.99913323 0.02223421 -0.2635478 ] [-0.05753682 -0.02018554 0.9981393 -0.2596827 ] [ 0. 0. 0. 1. ]] SLAMing on 3.782401008 meters Centerline goodness : 0.900977 with order 1 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.28, Z:-0.23 [[ 0.99763746 -0.0364954 0.05820291 1.46587744] [ 0.03250827 0.99715295 0.06803834 -0.277004 ] [-0.06052029 -0.06598553 0.99598354 -0.22864951] [ 0. 0. 0. 1. ]] SLAMing on 3.842401008 meters Centerline goodness : 0.900566 with order 1 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.30, Z:-0.18 [[ 0.99707727 -0.0393824 0.06546712 1.46638489] [ 0.02958571 0.98907796 0.14439346 -0.29912223] [-0.07043865 -0.14203454 0.98735231 -0.17549805] [ 0. 0. 0. 1. ]] SLAMing on 3.902401008 meters Centerline goodness : 0.896232 with order 1 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.31, Z:-0.14 [[ 0.99699648 -0.03208392 0.07048864 1.48832381] [ 0.01761728 0.98024655 0.19699322 -0.31377414] [-0.07541656 -0.19515973 0.97786759 -0.1374125 ] [ 0. 0. 0. 1. ]] SLAMing on 3.962401008 meters Centerline goodness : 0.896853 with order 1 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.32, Z:-0.13 [[ 0.9967194 -0.02462414 0.07709798 1.50240236] [ 0.00835805 0.9788164 0.20456931 -0.31563708] [-0.08050211 -0.20325381 0.9758111 -0.13068531] [ 0. 0. 0. 1. ]] SLAMing on 4.022401007999999 meters Centerline goodness : 0.900904 with order 1 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.33, Z:-0.09 [[ 9.95513393e-01 -2.45613177e-02 9.13773784e-02 1.51685336e+00] [ 6.19023476e-04 9.67392457e-01 2.53281367e-01 -3.27742752e-01] [-9.46187108e-02 -2.52088429e-01 9.63067352e-01 -9.40673095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.082401008 meters Centerline goodness : 0.900991 with order 1 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.34, Z:-0.07 [[ 0.99438149 -0.02614457 0.1025764 1.53316683] [-0.00475577 0.95700761 0.29002382 -0.33606388] [-0.10574894 -0.28888215 0.95150631 -0.06588827] [ 0. 0. 0. 1. ]] SLAMing on 4.142401007999999 meters Centerline goodness : 0.905144 with order 1 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.34, Z:-0.05 [[ 0.99341011 -0.02210177 0.11246276 1.54721012] [-0.01294104 0.95332646 0.30166403 -0.34068321] [-0.11388103 -0.30113148 0.94675812 -0.05181197] [ 0. 0. 0. 1. ]] SLAMing on 4.202401008 meters Centerline goodness : 0.905688 with order 1 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.35, Z:-0.01 [[ 0.99140477 -0.02938052 0.12748867 1.55711281] [-0.0170781 0.93705763 0.34875685 -0.3532187 ] [-0.12971089 -0.34793647 0.92850164 -0.01288975] [ 0. 0. 0. 1. ]] SLAMing on 4.262401007999999 meters Centerline goodness : 0.907260 with order 1 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.36, Z:0.00 [[ 0.99006963 -0.03278349 0.13670177 1.56277271] [-0.01995739 0.9297996 0.36752471 -0.35900688] [-0.139154 -0.36660327 0.91991207 0.00421175] [ 0. 0. 0. 1. ]] SLAMing on 4.322401008 meters Centerline goodness : 0.911089 with order 1 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.36, Z:-0.01 [[ 0.99016067 -0.03367468 0.13582291 1.54122933] [-0.01502768 0.93941145 0.34246212 -0.35877889] [-0.1391259 -0.34113363 0.92966221 -0.00851203] [ 0. 0. 0. 1. ]] SLAMing on 4.3824010079999995 meters Centerline goodness : 0.908158 with order 1 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.35, Z:-0.02 [[ 0.99118891 -0.03407304 0.12799834 1.49362594] [-0.00753237 0.95028395 0.31129356 -0.35324035] [-0.13224149 -0.30951486 0.94165426 -0.01968524] [ 0. 0. 0. 1. ]] SLAMing on 4.442401007999999 meters Centerline goodness : 0.905389 with order 1 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.35, Z:-0.03 [[ 0.99176684 -0.03863261 0.12209038 1.43680709] [ 0.00267043 0.95944017 0.28189967 -0.34643047] [-0.12802894 -0.27925271 0.95164411 -0.02839769] [ 0. 0. 0. 1. ]] SLAMing on 4.502401008 meters Centerline goodness : 0.907634 with order 1 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.34, Z:-0.04 [[ 0.99239003 -0.03564917 0.11786081 1.39181864] [ 0.00511201 0.96827628 0.24982979 -0.33597001] [-0.12302805 -0.24732608 0.96108996 -0.04024925] [ 0. 0. 0. 1. ]] SLAMing on 4.562401007999999 meters Centerline goodness : 0.911397 with order 1 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.32, Z:-0.05 [[ 0.99304925 -0.02774925 0.11438164 1.34065897] [ 0.00213394 0.97589551 0.21822785 -0.32152373] [-0.11768018 -0.21646692 0.96917153 -0.04977661] [ 0. 0. 0. 1. ]] SLAMing on 4.622401008 meters Centerline goodness : 0.910501 with order 1 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.31, Z:-0.06 [[ 0.99364816 -0.02011368 0.11071931 1.29888696] [-0.00155025 0.9813566 0.19218952 -0.30775413] [-0.11252076 -0.19114041 0.97509201 -0.05958489] [ 0. 0. 0. 1. ]] SLAMing on 4.682401007999999 meters Centerline goodness : 0.912654 with order 1 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.29, Z:-0.07 [[ 0.99390864 -0.01075255 0.10968138 1.26272704] [-0.00809915 0.9854113 0.16999696 -0.28935663] [-0.10990917 -0.16984978 0.97932172 -0.07148631] [ 0. 0. 0. 1. ]] SLAMing on 4.742401008 meters Centerline goodness : 0.916281 with order 1 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.27, Z:-0.08 [[ 0.99405073 -0.00187426 0.10890198 1.2238937 ] [-0.01404258 0.98930175 0.14520625 -0.2727378 ] [-0.10800907 -0.14587164 0.9833898 -0.08073929] [ 0. 0. 0. 1. ]] SLAMing on 4.8024010079999995 meters Centerline goodness : 0.912168 with order 1 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.26, Z:-0.09 [[ 0.99454408 0.00721506 0.10406734 1.18974235] [-0.02028204 0.99194209 0.12505809 -0.25970894] [-0.10232647 -0.12648648 0.98667647 -0.08868636] [ 0. 0. 0. 1. ]] SLAMing on 4.862401007999999 meters Centerline goodness : 0.914948 with order 1 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.25, Z:-0.10 [[ 0.99493788 0.01641899 0.09914144 1.16018884] [-0.02718609 0.9937519 0.10825006 -0.24551506] [-0.09674463 -0.11039736 0.98916778 -0.09644032] [ 0. 0. 0. 1. ]] SLAMing on 4.922401008 meters Centerline goodness : 0.913269 with order 1 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.24, Z:-0.10 [[ 0.9950268 0.02200591 0.09714634 1.13059991] [-0.03060931 0.99565191 0.08797918 -0.23664334] [-0.09478788 -0.09051522 0.99137392 -0.10361536] [ 0. 0. 0. 1. ]] SLAMing on 4.982401007999999 meters Centerline goodness : 0.894991 with order 1 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.23, Z:-0.11 [[ 0.99508941 0.02586102 0.09554204 1.10652532] [-0.03259773 0.9970397 0.06963636 -0.22960521] [-0.09345834 -0.07240886 0.99298665 -0.11071473] [ 0. 0. 0. 1. ]] SLAMing on 5.042401008 meters Centerline goodness : 0.893123 with order 1 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.22, Z:-0.12 [[ 0.99518897 0.03019392 0.09320542 1.08417903] [-0.03520279 0.99799647 0.05257198 -0.22261683] [-0.09143133 -0.05560015 0.99425798 -0.11795722] [ 0. 0. 0. 1. ]] SLAMing on 5.102401007999999 meters Centerline goodness : 0.897231 with order 1 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.22, Z:-0.12 [[ 0.99500629 0.03613822 0.09304041 1.06233269] [-0.03993379 0.9984307 0.03926101 -0.2167463 ] [-0.09147558 -0.04278041 0.99488796 -0.12416286] [ 0. 0. 0. 1. ]] SLAMing on 5.162401008 meters Centerline goodness : 0.898864 with order 1 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.21, Z:-0.13 [[ 0.99469845 0.04247901 0.09365111 1.04016015] [-0.04520844 0.99860674 0.02721735 -0.21208422] [-0.09236446 -0.03130688 0.99523298 -0.12914044] [ 0. 0. 0. 1. ]] SLAMing on 5.222401007999999 meters Centerline goodness : 0.899145 with order 1 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.21, Z:-0.13 [[ 0.99403816 0.05321252 0.09516594 1.01648507] [-0.05546667 0.99823548 0.02119832 -0.20720758] [-0.09387 -0.02635048 0.99523569 -0.13107738] [ 0. 0. 0. 1. ]] SLAMing on 5.282401007999999 meters Centerline goodness : 0.898074 with order 1 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.21, Z:-0.12 [[ 0.9934238 0.05935098 0.09791126 0.97417077] [-0.06170417 0.99786971 0.02118091 -0.20552961] [-0.09644558 -0.02708315 0.99496972 -0.12498957] [ 0. 0. 0. 1. ]] SLAMing on 5.3424010079999995 meters Centerline goodness : 0.899275 with order 1 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.22, Z:-0.11 [[ 0.99314385 0.06317408 0.0983582 0.95411426] [-0.06768615 0.99676964 0.04323051 -0.21682693] [-0.09530942 -0.0495916 0.99421164 -0.10870512] [ 0. 0. 0. 1. ]] SLAMing on 5.402401007999999 meters Centerline goodness : 0.898923 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.25, Z:-0.05 [[ 0.99179568 0.05234103 0.11662654 0.93405731] [-0.06864309 0.98770252 0.14047015 -0.24806775] [-0.10783997 -0.1473233 0.98319194 -0.04759111] [ 0. 0. 0. 1. ]] SLAMing on 5.462401008 meters Centerline goodness : 0.895947 with order 1 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.27, Z:-0.03 [[ 0.99024424 0.05712814 0.12709338 0.92708135] [-0.07810582 0.98290116 0.16674767 -0.26771088] [-0.11539425 -0.17504765 0.97777425 -0.02537684] [ 0. 0. 0. 1. ]] SLAMing on 5.522401007999999 meters Centerline goodness : 0.898045 with order 1 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.29, Z:-0.00 [[ 0.98860847 0.05790226 0.13892668 0.92292311] [-0.08414061 0.97794651 0.19115695 -0.28716743] [-0.12479444 -0.20066875 0.97167814 -0.00145066] [ 0. 0. 0. 1. ]] SLAMing on 5.582401008 meters Centerline goodness : 0.896972 with order 1 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.30, Z:0.02 [[ 0.9873183 0.05352271 0.14945869 0.94253625] [-0.08590117 0.97183823 0.21943439 -0.3016831 ] [-0.13350495 -0.22949026 0.96411133 0.01870364] [ 0. 0. 0. 1. ]] SLAMing on 5.642401007999999 meters Centerline goodness : 0.900726 with order 1 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.32, Z:0.05 [[ 0.98549468 0.04723515 0.16300022 0.96075276] [-0.08871969 0.96217766 0.25757129 -0.32386479] [-0.14466875 -0.26829647 0.95241165 0.05248122] [ 0. 0. 0. 1. ]] SLAMing on 5.702401008 meters Centerline goodness : 0.902602 with order 1 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.34, Z:0.07 [[ 0.98417046 0.03451192 0.17383164 0.99099622] [-0.08303241 0.95633463 0.2802315 -0.34143723] [-0.15656989 -0.29022922 0.9440619 0.07387295] [ 0. 0. 0. 1. ]] SLAMing on 5.762401007999999 meters Centerline goodness : 0.908733 with order 1 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.35, Z:0.07 [[ 0.98334376 0.0308331 0.17912108 1.01124038] [-0.08046418 0.95752062 0.27691112 -0.34911202] [-0.1629741 -0.28671166 0.94405289 0.07493872] [ 0. 0. 0. 1. ]] SLAMing on 5.822401007999999 meters Centerline goodness : 0.915400 with order 1 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.36, Z:0.09 [[ 0.98130973 0.01548182 0.19181116 1.04243491] [-0.07319386 0.95187068 0.29763208 -0.36135732] [-0.17797153 -0.30610866 0.93521314 0.08980368] [ 0. 0. 0. 1. ]] SLAMing on 5.8824010079999995 meters Centerline goodness : 0.918183 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.37, Z:0.10 [[ 0.97837889 0.00374388 0.20678669 1.05240973] [-0.07073619 0.94559708 0.31755716 -0.36594119] [-0.194348 -0.32531853 0.92541705 0.10261662] [ 0. 0. 0. 1. ]] SLAMing on 5.942401007999999 meters Centerline goodness : 0.915815 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.37, Z:0.10 [[ 9.77896632e-01 -1.64198577e-04 2.09088859e-01 1.05213400e+00] [-6.73218682e-02 9.46499866e-01 3.15603818e-01 -3.67980926e-01] [-1.97954398e-01 -3.22704163e-01 9.25567977e-01 1.03650652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.002401008 meters Centerline goodness : 0.914197 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.37, Z:0.09 [[ 0.97740991 0.00589536 0.21127024 1.06629872] [-0.07187528 0.94930466 0.3060304 -0.36667873] [-0.19875567 -0.31430225 0.92828351 0.09072092] [ 0. 0. 0. 1. ]] SLAMing on 6.062401007999999 meters Centerline goodness : 0.911955 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.36, Z:0.08 [[ 0.97874525 0.02190798 0.20390629 1.0500615 ] [-0.08025496 0.95589868 0.28251877 -0.36219874] [-0.18872434 -0.29287839 0.93733952 0.07702472] [ 0. 0. 0. 1. ]] SLAMing on 6.122401008 meters Centerline goodness : 0.911293 with order 1 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.36, Z:0.06 [[ 0.97843783 0.0341019 0.20370683 1.04097305] [-0.08774652 0.96147728 0.26050335 -0.35735824] [-0.18697583 -0.2727609 0.94373806 0.06254077] [ 0. 0. 0. 1. ]] SLAMing on 6.182401007999999 meters Centerline goodness : 0.917256 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.36, Z:0.05 [[ 0.97725463 0.03810918 0.20861704 1.05253637] [-0.091147 0.96370507 0.25092781 -0.3574051 ] [-0.19148265 -0.26423519 0.94525878 0.0546457 ] [ 0. 0. 0. 1. ]] SLAMing on 6.242401008 meters Centerline goodness : 0.915844 with order 1 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.36, Z:0.05 [[ 0.97638067 0.03534915 0.213146 1.07262679] [-0.08772208 0.96641187 0.24156353 -0.35997488] [-0.19744775 -0.25455557 0.94668677 0.04817634] [ 0. 0. 0. 1. ]] SLAMing on 6.3024010079999995 meters Centerline goodness : 0.913777 with order 1 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.38, Z:0.13 [[ 0.97120478 -0.02087681 0.23732982 1.14272255] [-0.06913575 0.92859318 0.36460245 -0.38300552] [-0.22799459 -0.37051161 0.9004108 0.13274809] [ 0. 0. 0. 1. ]] SLAMing on 6.362401007999999 meters Centerline goodness : 0.911504 with order 1 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.38, Z:0.12 [[ 0.97202425 -0.01847171 0.23415306 1.11379476] [-0.06262635 0.94043172 0.3341648 -0.38054295] [-0.22637756 -0.33948044 0.91296562 0.1195604 ] [ 0. 0. 0. 1. ]] SLAMing on 6.422401008 meters Centerline goodness : 0.912023 with order 1 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.37, Z:0.11 [[ 0.97341258 -0.008223 0.2289112 1.05371255] [-0.06204102 0.95253575 0.29803786 -0.36720794] [-0.22049686 -0.30431568 0.92670011 0.11009738] [ 0. 0. 0. 1. ]] SLAMing on 6.482401007999999 meters Centerline goodness : 0.915302 with order 1 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.35, Z:0.10 [[ 0.97450423 0.00409124 0.22433182 0.98843623] [-0.06508984 0.96199171 0.26520797 -0.35260922] [-0.21472032 -0.27304801 0.93773129 0.10285471] [ 0. 0. 0. 1. ]] SLAMing on 6.542401008 meters Centerline goodness : 0.915941 with order 1 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.34, Z:0.10 [[ 0.97489928 0.01553462 0.22210373 0.94530192] [-0.06993557 0.96843887 0.23923872 -0.33609476] [-0.21137741 -0.24876661 0.94521678 0.09567454] [ 0. 0. 0. 1. ]] SLAMing on 6.602401007999999 meters Centerline goodness : 0.917530 with order 1 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.32, Z:0.11 [[ 0.97573369 0.02832504 0.21712085 0.90941751] [-0.07940456 0.96987123 0.23031438 -0.32369872] [-0.2040556 -0.24196588 0.94858517 0.10609656] [ 0. 0. 0. 1. ]] SLAMing on 6.662401008 meters Centerline goodness : 0.917513 with order 1 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.31, Z:0.09 [[ 0.97429948 0.0353294 0.22246878 0.91312013] [-0.08433865 0.97300052 0.21484176 -0.31364414] [-0.20887201 -0.22808294 0.95097353 0.09178361] [ 0. 0. 0. 1. ]] SLAMing on 6.722401007999999 meters Centerline goodness : 0.914836 with order 1 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.30, Z:0.08 [[ 0.97392932 0.03503113 0.22413056 0.90644765] [-0.08167943 0.97589129 0.20239729 -0.3001506 ] [-0.21163686 -0.21542752 0.95331046 0.08010546] [ 0. 0. 0. 1. ]] SLAMing on 6.782401007999999 meters Centerline goodness : 0.913431 with order 1 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.29, Z:0.07 [[ 0.97533708 0.04179186 0.216728 0.86940202] [-0.08161536 0.98060347 0.17820147 -0.2865743 ] [-0.20507686 -0.19149483 0.95982978 0.07375809] [ 0. 0. 0. 1. ]] SLAMing on 6.8424010079999995 meters Centerline goodness : 0.914130 with order 1 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.28, Z:0.09 [[ 0.97644821 0.04815403 0.21030951 0.83122991] [-0.08730242 0.97959273 0.18104245 -0.27560227] [-0.19729974 -0.19513911 0.96072553 0.0880206 ] [ 0. 0. 0. 1. ]] SLAMing on 6.902401007999999 meters Centerline goodness : 0.912424 with order 1 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.28, Z:0.12 [[ 0.97647957 0.05309115 0.20897122 0.80398801] [-0.09733522 0.97337357 0.20753253 -0.27837943] [-0.19238892 -0.22299154 0.95564705 0.12339545] [ 0. 0. 0. 1. ]] SLAMing on 6.962401008 meters Centerline goodness : 0.912473 with order 1 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.26, Z:0.12 [[ 0.97522884 0.06373944 0.21181597 0.78265522] [-0.10750128 0.97346438 0.20201628 -0.26437004] [-0.19331889 -0.21978259 0.9562026 0.12117906] [ 0. 0. 0. 1. ]] SLAMing on 7.022401007999999 meters Centerline goodness : 0.912287 with order 1 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.26, Z:0.11 [[ 0.9740929 0.07424899 0.21361207 0.78580264] [-0.11567275 0.97523742 0.18849876 -0.25560022] [-0.19432664 -0.2083244 0.95856043 0.11037879] [ 0. 0. 0. 1. ]] SLAMing on 7.082401008 meters Centerline goodness : 0.913927 with order 1 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.25, Z:0.11 [[ 0.97229019 0.07825008 0.22029233 0.80343623] [-0.12155952 0.97413238 0.19049772 -0.25221075] [-0.19968744 -0.2119977 0.9566514 0.11069412] [ 0. 0. 0. 1. ]] SLAMing on 7.142401007999999 meters Centerline goodness : 0.913484 with order 1 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.25, Z:0.13 [[ 0.97070292 0.07787083 0.2273147 0.80147843] [-0.12609017 0.97039051 0.20601828 -0.25349639] [-0.20454122 -0.2286447 0.95177964 0.1303491 ] [ 0. 0. 0. 1. ]] SLAMing on 7.202401007999999 meters Centerline goodness : 0.913666 with order 1 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.25, Z:0.12 [[ 0.9682452 0.07871907 0.23728578 0.80972922] [-0.12817195 0.97120935 0.20080926 -0.25130392] [-0.21464665 -0.22484598 0.95045836 0.12430038] [ 0. 0. 0. 1. ]] SLAMing on 7.262401007999999 meters Centerline goodness : 0.917176 with order 1 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.25, Z:0.12 [[ 0.96847057 0.07443388 0.23774849 0.81091986] [-0.12301624 0.97274355 0.19656292 -0.24719014] [-0.21663737 -0.21961233 0.95123008 0.12398646] [ 0. 0. 0. 1. ]] SLAMing on 7.322401007999999 meters Centerline goodness : 0.918462 with order 1 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.25, Z:0.14 [[ 0.96554708 0.05967099 0.25329471 0.81391725] [-0.11817109 0.96774887 0.22248084 -0.24764375] [-0.23185002 -0.24474783 0.94145848 0.14238149] [ 0. 0. 0. 1. ]] SLAMing on 7.3824010079999995 meters Centerline goodness : 0.922508 with order 1 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.24, Z:0.14 [[ 0.96661575 0.04955026 0.25139363 0.79292127] [-0.10482783 0.97173243 0.21153534 -0.23707976] [-0.23380571 -0.23082644 0.94448613 0.1410338 ] [ 0. 0. 0. 1. ]] SLAMing on 7.442401007999999 meters Centerline goodness : 0.921971 with order 1 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.22, Z:0.14 [[ 0.96845137 0.04918908 0.24429976 0.73823106] [-0.09591564 0.97837898 0.18323419 -0.22000964] [-0.23000462 -0.20088557 0.95223047 0.13905337] [ 0. 0. 0. 1. ]] SLAMing on 7.502401008 meters Centerline goodness : 0.922641 with order 1 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.20, Z:0.14 [[ 0.97076239 0.04913746 0.23495933 0.68442617] [-0.08801187 0.98351754 0.15794672 -0.19762842] [-0.22332552 -0.17400795 0.95908652 0.13641415] [ 0. 0. 0. 1. ]] SLAMing on 7.562401007999999 meters Centerline goodness : 0.918625 with order 1 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.17, Z:0.13 [[ 0.97240156 0.05744975 0.22612991 0.65010488] [-0.09003661 0.98653459 0.13653907 -0.17490015] [-0.21524084 -0.15313078 0.96448035 0.13077528] [ 0. 0. 0. 1. ]] SLAMing on 7.622401008 meters Centerline goodness : 0.918195 with order 1 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.16, Z:0.13 [[ 0.97297552 0.06674255 0.22105218 0.620223 ] [-0.094367 0.98865535 0.11685658 -0.15739579] [-0.21074512 -0.13455862 0.96823575 0.1256926 ] [ 0. 0. 0. 1. ]] SLAMing on 7.682401007999999 meters Centerline goodness : 0.918009 with order 1 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.13, Z:0.14 [[ 0.97713382 0.06368824 0.2028628 0.59596669] [-0.08924158 0.98882585 0.11941268 -0.12930206] [-0.1929908 -0.13478596 0.97189881 0.13787878] [ 0. 0. 0. 1. ]] SLAMing on 7.742401007999999 meters Centerline goodness : 0.920367 with order 1 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.11, Z:0.15 [[ 0.98149437 0.05777226 0.18256825 0.57399811] [-0.08016346 0.98980276 0.11774685 -0.10564629] [-0.17390406 -0.13020317 0.97611706 0.1503545 ] [ 0. 0. 0. 1. ]] SLAMing on 7.8024010079999995 meters Centerline goodness : 0.925128 with order 1 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.08, Z:0.17 [[ 0.9840306 0.0555161 0.16912049 0.55570863] [-0.07645192 0.98983676 0.11990949 -0.07835001] [-0.16074478 -0.13092419 0.97827398 0.1663297 ] [ 0. 0. 0. 1. ]] SLAMing on 7.862401007999999 meters Centerline goodness : 0.929031 with order 1 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.06, Z:0.18 [[ 0.98761257 0.04733462 0.14960226 0.53979008] [-0.06588058 0.99039632 0.121552 -0.05570083] [-0.14241191 -0.12990216 0.98124629 0.17966604] [ 0. 0. 0. 1. ]] SLAMing on 7.922401008 meters Centerline goodness : 0.933907 with order 1 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.03, Z:0.19 [[ 0.98958538 0.04143292 0.13785529 0.52233842] [-0.05885508 0.99043365 0.12480894 -0.03056162] [-0.13136532 -0.13162259 0.9825572 0.1903292 ] [ 0. 0. 0. 1. ]] SLAMing on 7.982401007999999 meters Centerline goodness : 0.937576 with order 1 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.01, Z:0.20 [[ 0.99167449 0.03500182 0.12392163 0.51486628] [-0.05009041 0.99140982 0.12082023 -0.01426899] [-0.1186282 -0.12602162 0.98490908 0.19653331] [ 0. 0. 0. 1. ]] SLAMing on 8.042401007999999 meters Centerline goodness : 0.944710 with order 1 Centerline is valid? [False, False] Translation: X:0.50, Y:0.00, Z:0.20 [[ 0.99308145 0.02675782 0.11433833 0.50144837] [-0.04065271 0.99182238 0.12097822 0.00269876] [-0.1101662 -0.12478939 0.98604818 0.20222801] [ 0. 0. 0. 1. ]] SLAMing on 8.102401008 meters Centerline goodness : 0.947802 with order 1 Centerline is valid? [False, False] Translation: X:0.51, Y:0.01, Z:0.19 [[ 0.99290747 0.02789409 0.11557107 0.50861812] [-0.0396087 0.99416443 0.10034059 0.01234839] [-0.11209774 -0.10420655 0.98821814 0.19156214] [ 0. 0. 0. 1. ]] SLAMing on 8.162401008 meters Centerline goodness : 0.952508 with order 1 Centerline is valid? [False, True] Translation: X:0.52, Y:0.02, Z:0.19 [[ 0.99344667 0.03098908 0.11001539 0.51852838] [-0.04042069 0.99559802 0.08456211 0.02199945] [-0.1069106 -0.08845484 0.99032614 0.18584921] [ 0. 0. 0. 1. ]] SLAMing on 8.222401007999999 meters Centerline goodness : 0.952958 with order 1 Centerline is valid? [True, True] Translation: X:0.58, Y:0.06, Z:0.13 [[ 0.99431593 0.03538342 0.10041839 0.57889294] [-0.03449032 0.99934864 -0.01061662 0.05960406] [-0.10072863 0.00709281 0.99488865 0.12686829] [ 0. 0. 0. 1. ]] SLAMing on 8.282401007999999 meters Centerline goodness : 0.954456 with order 1 Centerline is valid? [True, True] Translation: X:0.64, Y:0.06, Z:0.12 [[ 0.99451948 0.02910796 0.10041783 0.63980014] [-0.02818258 0.99954636 -0.01062193 0.05883159] [-0.10068145 0.00773369 0.99488865 0.11653844] [ 0. 0. 0. 1. ]] SLAMing on 8.342401008 meters Centerline goodness : 0.960498 with order 1 Centerline is valid? [True, True] Translation: X:0.70, Y:0.06, Z:0.11 [[ 0.99475932 0.0192518 0.10041543 0.70244431] [-0.0182744 0.99977635 -0.01064449 0.060135 ] [-0.1005979 0.00875368 0.99488865 0.1127281 ] [ 0. 0. 0. 1. ]] SLAMing on 8.402401008 meters Centerline goodness : 0.963480 with order 1 Centerline is valid? [True, True] Translation: X:0.76, Y:0.06, Z:0.11 [[ 0.99485101 0.01373785 0.10041286 0.76452226] [-0.01273022 0.99986205 -0.01066874 0.06076066] [-0.10054557 0.00933553 0.99488866 0.10961672] [ 0. 0. 0. 1. ]] SLAMing on 8.462401007999999 meters Centerline goodness : 0.966145 with order 1 Centerline is valid? [True, True] Translation: X:0.83, Y:0.07, Z:0.10 [[ 0.99488513 0.01101609 0.10041025 0.82655016] [-0.00999231 0.9998929 -0.01069321 0.07267515] [-0.1005173 0.00963518 0.99488866 0.1017444 ] [ 0. 0. 0. 1. ]] SLAMing on 8.522401008 meters Centerline goodness : 0.962858 with order 1 Centerline is valid? [True, True] Translation: X:0.89, Y:0.08, Z:0.10 [[ 0.99487181 0.0121797 0.10040787 0.89012413] [-0.01115954 0.99988031 -0.01071558 0.08020054] [-0.10052636 0.00954012 0.99488866 0.10119121] [ 0. 0. 0. 1. ]] SLAMing on 8.582401008 meters Centerline goodness : 0.964971 with order 1 Centerline is valid? [True, True] Translation: X:0.95, Y:0.09, Z:0.10 [[ 0.99485843 0.01324819 0.10040517 0.95289093] [-0.01223089 0.99986751 -0.01074078 0.09083133] [-0.10053416 0.00945751 0.99488866 0.09814158] [ 0. 0. 0. 1. ]] SLAMing on 8.642401008 meters Centerline goodness : 0.963164 with order 1 Centerline is valid? [True, True] Translation: X:1.02, Y:0.10, Z:0.09 [[ 0.99484995 0.01388837 0.10040269 1.01629443] [-0.01287197 0.99985921 -0.01076395 0.10279077] [-0.10053804 0.00941613 0.99488866 0.0894848 ] [ 0. 0. 0. 1. ]] SLAMing on 8.702401007999999 meters Centerline goodness : 0.964363 with order 1 Centerline is valid? [True, True] Translation: X:1.08, Y:0.11, Z:0.08 [[ 0.99484455 0.01428834 0.10040001 1.07731253] [-0.01327147 0.99985372 -0.01078881 0.10670859] [-0.10053948 0.00940073 0.99488866 0.08083957] [ 0. 0. 0. 1. ]] SLAMing on 8.762401008 meters Centerline goodness : 0.964688 with order 1 Centerline is valid? [True, True] Translation: X:1.14, Y:0.11, Z:0.07 [[ 0.99482093 0.01586358 0.10039757 1.14012556] [-0.01485237 0.99983124 -0.01081152 0.11094703] [-0.10055214 0.00926438 0.99488866 0.07386551] [ 0. 0. 0. 1. ]] SLAMing on 8.822401008 meters Centerline goodness : 0.962981 with order 1 Centerline is valid? [True, True] Translation: X:1.20, Y:0.11, Z:0.07 [[ 0.99477671 0.01844307 0.10039495 1.20140399] [-0.01744243 0.99978915 -0.01083577 0.10715293] [-0.10057363 0.00902804 0.99488866 0.06660207] [ 0. 0. 0. 1. ]] SLAMing on 8.882401007999999 meters Centerline goodness : 0.958878 with order 1 Centerline is valid? [True, True] Translation: X:1.26, Y:0.10, Z:0.06 [[ 0.99464944 0.02436944 0.10039234 1.26263454] [-0.02339627 0.99966728 -0.01085986 0.10438697] [-0.10062359 0.00845295 0.99488866 0.05964249] [ 0. 0. 0. 1. ]] SLAMing on 8.942401008 meters Centerline goodness : 0.960670 with order 1 Centerline is valid? [True, True] Translation: X:1.32, Y:0.11, Z:0.05 [[ 0.99437985 0.03361786 0.10039197 1.32471663] [-0.03269104 0.99940647 -0.01086337 0.10563751] [-0.10069758 0.0075204 0.99488866 0.05165267] [ 0. 0. 0. 1. ]] SLAMing on 9.002401008 meters Centerline goodness : 0.960127 with order 1 Centerline is valid? [True, True] Translation: X:1.39, Y:0.10, Z:0.04 [[ 0.9939738 0.04401931 0.10039118 1.38698293] [-0.0431444 0.9990097 -0.01087059 0.0987117 ] [-0.10077028 0.00647377 0.99488866 0.0440081 ] [ 0. 0. 0. 1. ]] SLAMing on 9.062401008 meters Centerline goodness : 0.963918 with order 1 Centerline is valid? [True, True] Translation: X:1.45, Y:0.09, Z:0.04 [[ 0.99369367 0.04995126 0.10038803 1.44854264] [-0.0491035 0.99873422 -0.0108996 0.08861212] [-0.10080541 0.00590146 0.99488866 0.04066988] [ 0. 0. 0. 1. ]] SLAMing on 9.122401007999999 meters Centerline goodness : 0.965056 with order 1 Centerline is valid? [True, True] Translation: X:1.51, Y:0.08, Z:0.03 [[ 0.99318131 0.05927292 0.10038725 1.5083949 ] [-0.05847178 0.99822948 -0.01090678 0.08076654] [-0.10085599 0.00496258 0.99488866 0.03046236] [ 0. 0. 0. 1. ]] SLAMing on 9.182401008 meters Centerline goodness : 0.965104 with order 1 Centerline is valid? [True, True] Translation: X:1.57, Y:0.07, Z:0.02 [[ 0.99296708 0.06276374 0.10038476 1.5689562 ] [-0.06197804 0.99801767 -0.01092969 0.07055601] [-0.10087175 0.00463117 0.99488866 0.02280644] [ 0. 0. 0. 1. ]] SLAMing on 9.242401008 meters Centerline goodness : 0.968082 with order 1 Centerline is valid? [True, True] Translation: X:1.63, Y:0.05, Z:0.02 [[ 0.99267224 0.06726999 0.10038215 1.62894362] [-0.06650481 0.99772598 -0.01095357 0.05312855] [-0.10089073 0.0041974 0.99488866 0.01964415] [ 0. 0. 0. 1. ]] SLAMing on 9.302401007999999 meters Centerline goodness : 0.968422 with order 1 Centerline is valid? [True, True] Translation: X:1.69, Y:0.04, Z:0.01 [[ 0.99230882 0.07243534 0.10038093 1.68972897] [-0.07169533 0.99736631 -0.01096476 0.03835184] [-0.10091079 0.00368359 0.99488866 0.01378382] [ 0. 0. 0. 1. ]] SLAMing on 9.362401007999999 meters Centerline goodness : 0.972258 with order 1 Centerline is valid? [True, True] Translation: X:1.75, Y:0.02, Z:0.00 [[ 0.99166331 0.0807965 0.10037832 1.74827975] [-0.08009673 0.99672652 -0.01098863 0.02048326] [-0.10093758 0.00285705 0.99488866 0.00404901] [ 0. 0. 0. 1. ]] SLAMing on 9.422401008 meters Centerline goodness : 0.969529 with order 1 Centerline is valid? [True, True] Translation: X:1.81, Y:-0.00, Z:-0.00 [[ 0.99091049 0.08956048 0.10037592 1.80747895] [-0.08890329 0.9959794 -0.01101051 -0.00499027] [-0.10095845 0.00198668 0.99488866 -0.00300951] [ 0. 0. 0. 1. ]] SLAMing on 9.482401008 meters Centerline goodness : 0.969541 with order 1 Centerline is valid? [True, True] Translation: X:1.87, Y:-0.03, Z:-0.02 [[ 9.90625913e-01 9.26580914e-02 1.00373195e-01 1.86606366e+00] [-9.20142447e-02 9.95696541e-01 -1.10352761e-02 -2.63111504e-02] [-1.00963751e-01 1.69606668e-03 9.94888659e-01 -1.64500433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.542401007999999 meters Centerline goodness : 0.963481 with order 1 Centerline is valid? [True, True] Translation: X:1.92, Y:-0.06, Z:-0.03 [[ 9.90766203e-01 9.11489580e-02 1.00370308e-01 1.92300618e+00] [-9.04947345e-02 9.95835502e-01 -1.10614772e-02 -5.89560402e-02] [-1.00960558e-01 1.87635343e-03 9.94888660e-01 -2.89759084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.602401008 meters Centerline goodness : 0.953855 with order 1 Centerline is valid? [True, True] Translation: X:1.98, Y:-0.08, Z:-0.03 [[ 0.99087733 0.08993555 0.10036791 1.98221798] [-0.08927292 0.99594553 -0.01108319 -0.08497676] [-0.10095774 0.00202194 0.99488866 -0.03494607] [ 0. 0. 0. 1. ]] SLAMing on 9.662401008 meters Centerline goodness : 0.949723 with order 1 Centerline is valid? [True, False] Translation: X:2.00, Y:-0.11, Z:-0.04 [[ 0.99232888 0.08571892 0.08908236 1.99942691] [-0.08387723 0.99618164 -0.0242228 -0.10747419] [-0.09081857 0.016565 0.99572968 -0.04024663] [ 0. 0. 0. 1. ]] SLAMing on 9.722401007999999 meters Centerline goodness : 0.943954 with order 1 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.12, Z:-0.04 [[ 0.99290541 0.0845668 0.08359013 2.00869557] [-0.08231451 0.99615358 -0.03003944 -0.12237303] [-0.08580895 0.02294565 0.99604735 -0.04320328] [ 0. 0. 0. 1. ]] SLAMing on 9.782401007999999 meters Centerline goodness : 0.936453 with order 1 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.14, Z:-0.05 [[ 0.99390217 0.08526381 0.06991827 2.03170072] [-0.08203194 0.99547961 -0.04786541 -0.14396175] [-0.0736834 0.041838 0.9964037 -0.05195805] [ 0. 0. 0. 1. ]] SLAMing on 9.842401008 meters Centerline goodness : 0.930243 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.15, Z:-0.05 [[ 0.99575594 0.07667968 0.05089532 2.04360038] [-0.07388924 0.99576983 -0.05461531 -0.15279508] [-0.05486791 0.05062291 0.99720952 -0.05041108] [ 0. 0. 0. 1. ]] SLAMing on 9.902401008 meters Centerline goodness : 0.926419 with order 1 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.17, Z:-0.06 [[ 0.99636431 0.07037618 0.04801413 2.05024961] [-0.06750339 0.9959708 -0.0590378 -0.170764 ] [-0.05197553 0.05558204 0.99710039 -0.05785398] [ 0. 0. 0. 1. ]] SLAMing on 9.962401007999999 meters Centerline goodness : 0.926165 with order 1 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.20, Z:-0.02 [[ 9.96630939e-01 5.97378665e-02 5.61974936e-02 2.01926634e+00] [-5.96081335e-02 9.98213906e-01 -3.98343497e-03 -2.01101635e-01] [-5.63350816e-02 6.20186839e-04 9.98411726e-01 -2.23827260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.022401008 meters Centerline goodness : 0.921546 with order 1 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.26, Z:0.06 [[ 0.99647427 0.04459475 0.07106578 2.00318396] [-0.05307559 0.99107212 0.1223071 -0.26086981] [-0.06497706 -0.12564774 0.98994476 0.06178231] [ 0. 0. 0. 1. ]] SLAMing on 10.082401008 meters Centerline goodness : 0.921186 with order 1 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.29, Z:0.12 [[ 0.99541736 0.02977587 0.09087179 1.95611741] [-0.04719551 0.97945839 0.1960455 -0.28945555] [-0.08316771 -0.19943584 0.97637517 0.1151107 ] [ 0. 0. 0. 1. ]] SLAMing on 10.142401007999998 meters Centerline goodness : 0.925585 with order 1 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.30, Z:0.13 [[ 0.99470289 0.03087739 0.09804467 1.93557404] [-0.04972686 0.97932664 0.19607799 -0.29749986] [-0.08996338 -0.19991479 0.97567447 0.12709462] [ 0. 0. 0. 1. ]] SLAMing on 10.202401007999999 meters Centerline goodness : 0.925841 with order 1 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.32, Z:0.20 [[ 0.99309646 0.02235941 0.11514981 1.9017751 ] [-0.05433971 0.95767114 0.28268921 -0.32195447] [-0.10395489 -0.28699486 0.95227482 0.19871511] [ 0. 0. 0. 1. ]] SLAMing on 10.262401008 meters Centerline goodness : 0.925839 with order 1 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.33, Z:0.22 [[ 0.99212888 0.02640916 0.12240443 1.8936016 ] [-0.06246912 0.95156652 0.3010295 -0.32726172] [-0.10852603 -0.30630656 0.94572638 0.22270569] [ 0. 0. 0. 1. ]] SLAMing on 10.322401008 meters Centerline goodness : 0.924398 with order 1 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.33, Z:0.24 [[ 0.99155292 0.02790602 0.12666519 1.8874596 ] [-0.06622361 0.94861854 0.30941444 -0.32801077] [-0.11152242 -0.31518902 0.94245352 0.23622706] [ 0. 0. 0. 1. ]] SLAMing on 10.382401007999999 meters Centerline goodness : 0.926905 with order 1 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.32, Z:0.23 [[ 0.99177988 0.03344139 0.12350846 1.89363954] [-0.0691027 0.95236289 0.29703491 -0.32194201] [-0.10769162 -0.30312801 0.94684525 0.23044214] [ 0. 0. 0. 1. ]] SLAMing on 10.442401008 meters Centerline goodness : 0.925930 with order 1 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.31, Z:0.22 [[ 0.99140721 0.03574401 0.12583365 1.87686913] [-0.07047482 0.9563519 0.28359184 -0.31368264] [-0.11020454 -0.2900231 0.95065323 0.22185164] [ 0. 0. 0. 1. ]] SLAMing on 10.502401008 meters Centerline goodness : 0.930514 with order 1 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.31, Z:0.22 [[ 0.99137553 0.03449258 0.12643111 1.87858284] [-0.06900029 0.95757424 0.27980446 -0.30518281] [-0.111416 -0.28611508 0.95169566 0.21547313] [ 0. 0. 0. 1. ]] SLAMing on 10.562401007999998 meters Centerline goodness : 0.921516 with order 1 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.29, Z:0.20 [[ 0.99273529 0.03661986 0.11461081 1.84920734] [-0.06599272 0.96221482 0.26417341 -0.28866643] [-0.10060622 -0.26981775 0.95764125 0.20097431] [ 0. 0. 0. 1. ]] SLAMing on 10.622401007999999 meters Centerline goodness : 0.914668 with order 1 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.27, Z:0.19 [[ 0.99407041 0.04090186 0.10075244 1.80204091] [-0.06405298 0.96900432 0.23859557 -0.27056545] [-0.08787054 -0.24363429 0.96587841 0.19085217] [ 0. 0. 0. 1. ]] SLAMing on 10.682401008 meters Centerline goodness : 0.916102 with order 1 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.25, Z:0.18 [[ 0.99484312 0.04728466 0.08972924 1.75400464] [-0.06559324 0.97471758 0.2135958 -0.25382755] [-0.07736086 -0.21837994 0.97279263 0.1811962 ] [ 0. 0. 0. 1. ]] SLAMing on 10.742401008 meters Centerline goodness : 0.912094 with order 1 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.24, Z:0.17 [[ 0.99535677 0.05335842 0.08011102 1.71737038] [-0.06787047 0.97923136 0.19104856 -0.23805165] [-0.06825317 -0.19559865 0.97830602 0.1723076 ] [ 0. 0. 0. 1. ]] SLAMing on 10.802401007999999 meters Centerline goodness : 0.914111 with order 1 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.23, Z:0.16 [[ 0.99543563 0.05836524 0.07550763 1.68485291] [-0.0704332 0.98316887 0.16857679 -0.22501728] [-0.06439773 -0.17312559 0.98279218 0.16356411] [ 0. 0. 0. 1. ]] SLAMing on 10.862401007999999 meters Centerline goodness : 0.922068 with order 1 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.21, Z:0.17 [[ 0.99620522 0.05592011 0.06669406 1.6771764 ] [-0.0661579 0.98444106 0.16278495 -0.20909966] [-0.05655342 -0.16657956 0.98440488 0.16695164] [ 0. 0. 0. 1. ]] SLAMing on 10.922401008 meters Centerline goodness : 0.922894 with order 1 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.20, Z:0.16 [[ 0.99603339 0.06172178 0.06409295 1.64839305] [-0.0703561 0.98727434 0.14261625 -0.19548887] [-0.05447479 -0.14655988 0.98770071 0.15772178] [ 0. 0. 0. 1. ]] SLAMing on 10.982401008 meters Centerline goodness : 0.928340 with order 1 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.18, Z:0.16 [[ 0.99737024 0.05697327 0.04479559 1.63946525] [-0.06244449 0.98926407 0.13212603 -0.17706756] [-0.03678702 -0.13457581 0.99022021 0.15847937] [ 0. 0. 0. 1. ]] SLAMing on 11.042401007999999 meters Centerline goodness : 0.932911 with order 1 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.16, Z:0.16 [[ 0.99816642 0.05102486 0.0325618 1.62684846] [-0.05479514 0.9902647 0.12795829 -0.16414373] [-0.02571575 -0.1295079 0.99124488 0.16431415] [ 0. 0. 0. 1. ]] SLAMing on 11.102401008 meters Centerline goodness : 0.932874 with order 1 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.15, Z:0.16 [[ 0.99873053 0.04480495 0.02301841 1.62268281] [-0.04737158 0.99079561 0.12680691 -0.15422223] [-0.01712496 -0.12773635 0.99166031 0.16265201] [ 0. 0. 0. 1. ]] SLAMing on 11.162401008 meters Centerline goodness : 0.927762 with order 1 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.14, Z:0.17 [[ 9.99415396e-01 3.41875698e-02 -2.75406850e-04 1.61925602e+00] [-3.38910973e-02 9.91744764e-01 1.23667766e-01 -1.40729014e-01] [ 4.50103370e-03 -1.23586136e-01 9.92323641e-01 1.67546160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.222401007999999 meters Centerline goodness : 0.926190 with order 1 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.13, Z:0.17 [[ 0.99938886 0.03250561 -0.01285632 1.61982289] [-0.03078932 0.99270988 0.11652945 -0.13284759] [ 0.01655045 -0.1160624 0.99310402 0.16801113] [ 0. 0. 0. 1. ]] SLAMing on 11.282401007999999 meters Centerline goodness : 0.929577 with order 1 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.13, Z:0.17 [[ 0.99898873 0.04257998 -0.01443812 1.62302487] [-0.04051863 0.99178024 0.12136804 -0.12957271] [ 0.01948729 -0.1206603 0.99250256 0.16882998] [ 0. 0. 0. 1. ]] SLAMing on 11.342401008 meters Centerline goodness : 0.929583 with order 1 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.13, Z:0.17 [[ 0.99876806 0.04632041 -0.01779849 1.62931959] [-0.04389009 0.99196338 0.11866889 -0.13106952] [ 0.02315224 -0.11774152 0.99277435 0.16962285] [ 0. 0. 0. 1. ]] SLAMing on 11.402401008 meters Centerline goodness : 0.932446 with order 1 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.13, Z:0.17 [[ 0.9984207 0.05057567 -0.02445814 1.64150263] [-0.04751901 0.99250884 0.11255287 -0.13480357] [ 0.02996736 -0.11121288 0.99334468 0.16783579] [ 0. 0. 0. 1. ]] SLAMing on 11.462401007999999 meters Centerline goodness : 0.929627 with order 1 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.14, Z:0.17 [[ 0.99805543 0.05461342 -0.03004554 1.65186589] [-0.05105463 0.99277221 0.10861288 -0.13999486] [ 0.0357601 -0.10686771 0.99362997 0.16717858] [ 0. 0. 0. 1. ]] SLAMing on 11.522401008 meters Centerline goodness : 0.931565 with order 1 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.15, Z:0.17 [[ 0.99791167 0.05443506 -0.03477256 1.65966589] [-0.05068024 0.99359485 0.10099895 -0.14506733] [ 0.04004772 -0.09902575 0.99427867 0.16888326] [ 0. 0. 0. 1. ]] SLAMing on 11.582401008 meters Centerline goodness : 0.931882 with order 1 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.17, Z:0.20 [[ 0.99790081 0.0578106 -0.02918746 1.65962749] [-0.05285053 0.98744355 0.14886928 -0.16863818] [ 0.03742719 -0.1470142 0.98842604 0.20117524] [ 0. 0. 0. 1. ]] SLAMing on 11.642401007999998 meters Centerline goodness : 0.931741 with order 1 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.20, Z:0.27 [[ 0.99850526 0.05443276 -0.00493062 1.6502937 ] [-0.05124161 0.96370158 0.26201824 -0.1996193 ] [ 0.01901402 -0.26137394 0.96505032 0.27395079] [ 0. 0. 0. 1. ]] SLAMing on 11.702401007999999 meters Centerline goodness : 0.933575 with order 1 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.21, Z:0.31 [[ 0.99851522 0.05286861 0.01312486 1.62227837] [-0.05433962 0.94984273 0.30797077 -0.21353777] [ 0.00381544 -0.30822671 0.95130528 0.31023451] [ 0. 0. 0. 1. ]] SLAMing on 11.762401008 meters Centerline goodness : 0.930915 with order 1 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.23, Z:0.33 [[ 0.99850158 0.0496642 0.0229798 1.62168282] [-0.05442672 0.94492734 0.32272288 -0.22777792] [-0.00568647 -0.32349002 0.9462145 0.32961198] [ 0. 0. 0. 1. ]] SLAMing on 11.822401008 meters Centerline goodness : 0.934347 with order 1 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.24, Z:0.36 [[ 0.99810559 0.04844284 0.03792794 1.62291699] [-0.05882705 0.93196329 0.35774825 -0.2406846 ] [-0.01801711 -0.35930172 0.93304751 0.35988759] [ 0. 0. 0. 1. ]] SLAMing on 11.882401007999999 meters Centerline goodness : 0.934973 with order 1 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.26, Z:0.38 [[ 0.99789032 0.04641784 0.04539043 1.62896757] [-0.05993828 0.92734 0.36938858 -0.26070066] [-0.02494614 -0.37132992 0.92816582 0.37854339] [ 0. 0. 0. 1. ]] SLAMing on 11.942401008 meters Centerline goodness : 0.932871 with order 1 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.27, Z:0.40 [[ 0.99767896 0.04128205 0.05415236 1.65397396] [-0.05929008 0.91775241 0.39270244 -0.27222236] [-0.0334869 -0.39500166 0.91806989 0.40009881] [ 0. 0. 0. 1. ]] SLAMing on 12.002401008 meters Centerline goodness : 0.929782 with order 1 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.29, Z:0.41 [[ 0.99770726 0.03738333 0.05641544 1.69639796] [-0.05691454 0.91451016 0.40053952 -0.28832375] [-0.03661899 -0.40283204 0.91454108 0.41127358] [ 0. 0. 0. 1. ]] SLAMing on 12.062401007999998 meters Centerline goodness : 0.934657 with order 1 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.30, Z:0.42 [[ 0.99758745 0.0364965 0.05905324 1.73461698] [-0.05701084 0.91607952 0.39692326 -0.29858526] [-0.03961116 -0.39933234 0.91595013 0.41838753] [ 0. 0. 0. 1. ]] SLAMing on 12.122401007999999 meters Centerline goodness : 0.936280 with order 1 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.31, Z:0.43 [[ 0.99748439 0.03336257 0.06254467 1.75275655] [-0.05561599 0.91539669 0.39869256 -0.30961028] [-0.04395178 -0.40116808 0.9149494 0.42890647] [ 0. 0. 0. 1. ]] SLAMing on 12.182401008 meters Centerline goodness : 0.940911 with order 1 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.32, Z:0.46 [[ 0.9966883 0.02125591 0.07848961 1.78862368] [-0.05306716 0.90138226 0.42976028 -0.31896034] [-0.06161419 -0.43250227 0.89952514 0.46176676] [ 0. 0. 0. 1. ]] SLAMing on 12.242401008 meters Centerline goodness : 0.943563 with order 1 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.32, Z:0.45 [[ 0.99643571 0.02099011 0.08170241 1.78959506] [-0.0525467 0.9121293 0.40652059 -0.32119573] [-0.06599025 -0.40936482 0.90998117 0.44697686] [ 0. 0. 0. 1. ]] SLAMing on 12.302401007999999 meters Centerline goodness : 0.941802 with order 1 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.32, Z:0.44 [[ 0.99605536 0.02308209 0.08567931 1.80404827] [-0.05536737 0.91621752 0.39683739 -0.32246036] [-0.06934105 -0.40001584 0.91388136 0.43889257] [ 0. 0. 0. 1. ]] SLAMing on 12.362401007999999 meters Centerline goodness : 0.940431 with order 1 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.32, Z:0.44 [[ 0.9954495 0.0248655 0.0919891 1.82393132] [-0.05945648 0.91646504 0.39567253 -0.32057439] [-0.0744662 -0.39934137 0.91377309 0.43748094] [ 0. 0. 0. 1. ]] SLAMing on 12.422401008 meters Centerline goodness : 0.935848 with order 1 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.32, Z:0.42 [[ 0.99607833 0.03452741 0.08146056 1.81223898] [-0.06267581 0.92521705 0.37422608 -0.31695137] [-0.06244764 -0.37786409 0.92375268 0.41987828] [ 0. 0. 0. 1. ]] SLAMing on 12.482401008 meters Centerline goodness : 0.931968 with order 1 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.31, Z:0.40 [[ 0.99606886 0.04081213 0.07862056 1.80739166] [-0.06586927 0.93468481 0.34932154 -0.31410939] [-0.05922888 -0.35312699 0.9336987 0.40201582] [ 0. 0. 0. 1. ]] SLAMing on 12.542401007999999 meters Centerline goodness : 0.932475 with order 1 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.31, Z:0.39 [[ 0.99572061 0.04219274 0.08222062 1.82116762] [-0.06760583 0.93914881 0.33679216 -0.31378911] [-0.06300722 -0.34090949 0.93798231 0.39252095] [ 0. 0. 0. 1. ]] SLAMing on 12.602401008 meters Centerline goodness : 0.933874 with order 1 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.31, Z:0.37 [[ 0.99605223 0.04762821 0.07490996 1.7974178 ] [-0.06834298 0.94998446 0.30472737 -0.30962196] [-0.05664968 -0.30864395 0.94948919 0.37487793] [ 0. 0. 0. 1. ]] SLAMing on 12.662401008 meters Centerline goodness : 0.936179 with order 1 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.32, Z:0.38 [[ 0.99615911 0.04622085 0.07436837 1.84653794] [-0.06658374 0.95143767 0.30055443 -0.31629911] [-0.05686498 -0.30435176 0.95086086 0.3772278 ] [ 0. 0. 0. 1. ]] SLAMing on 12.722401007999999 meters Centerline goodness : 0.933643 with order 1 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.32, Z:0.38 [[ 0.99607675 0.04129998 0.07826508 1.88125085] [-0.06296711 0.9522019 0.29890917 -0.31815871] [-0.06217922 -0.3026646 0.95106671 0.37601073] [ 0. 0. 0. 1. ]] SLAMing on 12.782401007999999 meters Centerline goodness : 0.931221 with order 1 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.32, Z:0.36 [[ 0.99593506 0.04292764 0.07918699 1.89269653] [-0.06354184 0.95793415 0.27986532 -0.3155753 ] [-0.06384197 -0.28375937 0.9567679 0.36036997] [ 0. 0. 0. 1. ]] SLAMing on 12.842401008 meters Centerline goodness : 0.930446 with order 1 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.31, Z:0.34 [[ 0.99608957 0.05161395 0.07170475 1.87879697] [-0.06822618 0.96502313 0.2531315 -0.30886525] [-0.05613163 -0.25703379 0.96477089 0.34305992] [ 0. 0. 0. 1. ]] SLAMing on 12.902401008 meters Centerline goodness : 0.934053 with order 1 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.31, Z:0.33 [[ 0.99572288 0.05358587 0.07526291 1.88843081] [-0.07008024 0.96890144 0.23731575 -0.30504173] [-0.06020557 -0.24157517 0.96851264 0.33153144] [ 0. 0. 0. 1. ]] SLAMing on 12.962401007999999 meters Centerline goodness : 0.929993 with order 1 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.30, Z:0.31 [[ 0.99547101 0.05551834 0.07716984 1.89304597] [-0.07097344 0.97408652 0.21475154 -0.29969272] [-0.06324746 -0.21925594 0.97361522 0.31434167] [ 0. 0. 0. 1. ]] SLAMing on 13.022401008 meters Centerline goodness : 0.928865 with order 1 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.30, Z:0.30 [[ 0.99533937 0.05428419 0.07970428 1.91001066] [-0.06922851 0.97761303 0.19869619 -0.29521365] [-0.06713388 -0.20328795 0.97681475 0.30118677] [ 0. 0. 0. 1. ]] SLAMing on 13.082401008 meters Centerline goodness : 0.928772 with order 1 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.30, Z:0.30 [[ 0.99545561 0.0514235 0.08014828 1.94473357] [-0.06646463 0.97793494 0.19805482 -0.29502073] [-0.06819513 -0.20248181 0.97690867 0.30012243] [ 0. 0. 0. 1. ]] SLAMing on 13.142401007999998 meters Centerline goodness : 0.924506 with order 1 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.29, Z:0.29 [[ 0.99525745 0.05133541 0.08262732 1.96315159] [-0.06594503 0.9804959 0.18514599 -0.29198036] [-0.0715112 -0.18971679 0.97923117 0.28887755] [ 0. 0. 0. 1. ]] SLAMing on 13.202401007999999 meters Centerline goodness : 0.922303 with order 1 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.29, Z:0.28 [[ 0.99492998 0.05239961 0.08584059 1.98367677] [-0.06700846 0.98187434 0.17729253 -0.28958613] [-0.07499461 -0.1821457 0.98040744 0.28175801] [ 0. 0. 0. 1. ]] SLAMing on 13.262401008 meters Centerline goodness : 0.920247 with order 1 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.29, Z:0.27 [[ 0.99454712 0.05543018 0.08833759 1.99700404] [-0.06933763 0.98417223 0.16308684 -0.28611614] [-0.07789947 -0.16832267 0.98264905 0.26816984] [ 0. 0. 0. 1. ]] SLAMing on 13.322401008 meters Centerline goodness : 0.916413 with order 1 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.28, Z:0.26 [[ 0.99421949 0.05755143 0.09063906 2.01265603] [-0.07075158 0.98616546 0.1499063 -0.28394934] [-0.08075779 -0.15545262 0.98453677 0.25550296] [ 0. 0. 0. 1. ]] SLAMing on 13.382401007999999 meters Centerline goodness : 0.920365 with order 1 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.28, Z:0.25 [[ 0.99376672 0.06162358 0.09289906 2.02771478] [-0.07430922 0.98736667 0.13994715 -0.28389417] [-0.08310139 -0.14597808 0.98579134 0.24744119] [ 0. 0. 0. 1. ]] SLAMing on 13.442401008 meters Centerline goodness : 0.924844 with order 1 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.28, Z:0.23 [[ 0.99352808 0.06009587 0.09638693 2.03659692] [-0.07146527 0.99029388 0.11920887 -0.28166954] [-0.08828742 -0.12532567 0.98817954 0.23450863] [ 0. 0. 0. 1. ]] SLAMing on 13.502401008 meters Centerline goodness : 0.931645 with order 1 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.28, Z:0.22 [[ 0.9929956 0.06119918 0.10106631 2.04766196] [-0.07173245 0.99197569 0.104109 -0.2782285 ] [-0.09388393 -0.11062951 0.98941746 0.22245216] [ 0. 0. 0. 1. ]] SLAMing on 13.562401007999998 meters Centerline goodness : 0.937617 with order 1 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.27, Z:0.21 [[ 0.99233511 0.06384557 0.10580531 2.05554855] [-0.07332576 0.99339363 0.08827473 -0.27231862] [-0.09947037 -0.09535637 0.99046091 0.21094133] [ 0. 0. 0. 1. ]] SLAMing on 13.622401007999999 meters Centerline goodness : 0.935363 with order 1 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.27, Z:0.20 [[ 0.99187414 0.06692836 0.10819562 2.06182558] [-0.07458868 0.99486761 0.06837367 -0.26624256] [-0.10306418 -0.07588825 0.99177555 0.19642056] [ 0. 0. 0. 1. ]] SLAMing on 13.682401008 meters Centerline goodness : 0.933485 with order 1 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.26, Z:0.19 [[ 0.99215952 0.06987943 0.10361639 2.08020241] [-0.07585972 0.99560377 0.05494034 -0.26359228] [-0.09932166 -0.06236989 0.99309879 0.18632072] [ 0. 0. 0. 1. ]] SLAMing on 13.742401008 meters Centerline goodness : 0.930374 with order 1 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.26, Z:0.18 [[ 0.99249217 0.06752186 0.10198084 2.08647786] [-0.07330855 0.99584089 0.05409976 -0.26325065] [-0.09790378 -0.06116965 0.99331421 0.18430558] [ 0. 0. 0. 1. ]] SLAMing on 13.802401007999999 meters Centerline goodness : 0.924979 with order 1 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.27, Z:0.19 [[ 0.99323558 0.05477126 0.10238746 2.1237169 ] [-0.06182394 0.99583396 0.06702634 -0.26672657] [-0.09828979 -0.07290294 0.99248389 0.18929825] [ 0. 0. 0. 1. ]] SLAMing on 13.862401007999999 meters Centerline goodness : 0.921851 with order 1 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.30, Z:0.29 [[ 0.99141452 0.02750795 0.12783022 2.16419045] [-0.05077759 0.98188963 0.18252231 -0.29680628] [-0.12049435 -0.18744617 0.97485642 0.28624479] [ 0. 0. 0. 1. ]] SLAMing on 13.922401008 meters Centerline goodness : 0.925582 with order 1 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.30, Z:0.29 [[ 0.99162349 0.02660281 0.12639279 2.19575064] [-0.05046498 0.98057574 0.18953762 -0.29936541] [-0.11889546 -0.19432837 0.97370445 0.29414444] [ 0. 0. 0. 1. ]] SLAMing on 13.982401007999998 meters Centerline goodness : 0.929616 with order 1 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.30, Z:0.31 [[ 0.99105213 0.02255119 0.13155651 2.23387535] [-0.04960154 0.97726425 0.20614141 -0.30063644] [-0.12391674 -0.21082229 0.96963839 0.30721189] [ 0. 0. 0. 1. ]] SLAMing on 14.042401007999999 meters Centerline goodness : 0.928390 with order 1 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.29, Z:0.30 [[ 0.99040609 0.02423142 0.13604634 2.25551543] [-0.05179769 0.97782412 0.20292113 -0.2939759 ] [-0.12811233 -0.20802121 0.9696981 0.30325755] [ 0. 0. 0. 1. ]] SLAMing on 14.102401008 meters Centerline goodness : 0.933209 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.29, Z:0.30 [[ 0.98970493 0.02704084 0.14054514 2.27215817] [-0.05461566 0.97903532 0.19623195 -0.28597222] [-0.13229238 -0.2018877 0.97043294 0.29757317] [ 0. 0. 0. 1. ]] SLAMing on 14.162401008 meters Centerline goodness : 0.927247 with order 1 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.28, Z:0.29 [[ 0.98903603 0.03221228 0.14411836 2.29086309] [-0.05997437 0.97942925 0.19266918 -0.28018561] [-0.13494743 -0.19920017 0.97062273 0.29068032] [ 0. 0. 0. 1. ]] SLAMing on 14.222401007999999 meters Centerline goodness : 0.927561 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.27, Z:0.28 [[ 0.98877844 0.044699 0.14254545 2.29759386] [-0.07050709 0.9808595 0.18150314 -0.26846103] [-0.13170405 -0.18951685 0.97300432 0.27955663] [ 0. 0. 0. 1. ]] SLAMing on 14.282401007999999 meters Centerline goodness : 0.929857 with order 1 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.26, Z:0.28 [[ 0.98794143 0.0474714 0.14737096 2.32309037] [-0.07468103 0.9798971 0.18499842 -0.26292318] [-0.13562624 -0.19377341 0.97162616 0.28108088] [ 0. 0. 0. 1. ]] SLAMing on 14.342401008 meters Centerline goodness : 0.925805 with order 1 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.25, Z:0.27 [[ 0.98723257 0.05390884 0.14988561 2.33123297] [-0.07933943 0.98237493 0.16924759 -0.2536921 ] [-0.13811992 -0.17897857 0.97410962 0.26505663] [ 0. 0. 0. 1. ]] SLAMing on 14.402401007999998 meters Centerline goodness : 0.929217 with order 1 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.25, Z:0.25 [[ 0.9868505 0.0609429 0.14970653 2.33384789] [-0.08342742 0.98533698 0.14883182 -0.24583746] [-0.13844114 -0.15936438 0.9774646 0.24938824] [ 0. 0. 0. 1. ]] SLAMing on 14.462401007999999 meters Centerline goodness : 0.931005 with order 1 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.24, Z:0.24 [[ 0.98630574 0.06473167 0.15169313 2.33935354] [-0.08468879 0.98801771 0.12903027 -0.24089638] [-0.14152316 -0.14011 0.97996958 0.23581021] [ 0. 0. 0. 1. ]] SLAMing on 14.522401008 meters Centerline goodness : 0.932046 with order 1 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.24, Z:0.23 [[ 0.98573341 0.06652688 0.15460859 2.35460941] [-0.08523855 0.98938062 0.11773009 -0.23936505] [-0.14513452 -0.12922909 0.98093619 0.22645255] [ 0. 0. 0. 1. ]] SLAMing on 14.582401008 meters Centerline goodness : 0.932069 with order 1 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.24, Z:0.22 [[ 0.98555096 0.06428271 0.15670688 2.37858379] [-0.0823348 0.99034018 0.11156752 -0.24236339] [-0.14802126 -0.1228579 0.98132341 0.22239513] [ 0. 0. 0. 1. ]] SLAMing on 14.642401007999998 meters Centerline goodness : 0.931179 with order 1 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.24, Z:0.21 [[ 0.98517798 0.06534148 0.15860276 2.38622588] [-0.0805859 0.99252368 0.09166602 -0.24117748] [-0.1514274 -0.10308849 0.98307808 0.21049974] [ 0. 0. 0. 1. ]] SLAMing on 14.702401007999999 meters Centerline goodness : 0.935276 with order 1 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.24, Z:0.20 [[ 0.98473455 0.06606861 0.16103664 2.40033549] [-0.07943468 0.99378208 0.07802125 -0.24281313] [-0.15488057 -0.08962211 0.98385969 0.20049804] [ 0. 0. 0. 1. ]] SLAMing on 14.762401008 meters Centerline goodness : 0.936464 with order 1 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.25, Z:0.20 [[ 0.98396131 0.06713721 0.16526566 2.42243143] [-0.08069517 0.99378087 0.0767325 -0.24610555] [-0.15908625 -0.08883795 0.98325957 0.1997517 ] [ 0. 0. 0. 1. ]] SLAMing on 14.822401008 meters Centerline goodness : 0.932823 with order 1 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.25, Z:0.20 [[ 0.98393366 0.06751677 0.16527562 2.42219441] [-0.08118114 0.99369253 0.07736136 -0.24868626] [-0.15900996 -0.08953571 0.98320862 0.20009051] [ 0. 0. 0. 1. ]] SLAMing on 14.882401007999999 meters Centerline goodness : 0.933719 with order 1 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.25, Z:0.20 [[ 0.98411056 0.06627802 0.16472291 2.42519338] [-0.07992401 0.99377286 0.07763802 -0.25098283] [-0.15855146 -0.08956971 0.98327956 0.19915406] [ 0. 0. 0. 1. ]] SLAMing on 14.942401008 meters Centerline goodness : 0.938076 with order 1 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.26, Z:0.21 [[ 0.98485482 0.05820002 0.16332101 2.46928176] [-0.07326535 0.99344132 0.08778683 -0.26208218] [-0.15714064 -0.09842305 0.98265951 0.20618141] [ 0. 0. 0. 1. ]] SLAMing on 15.002401008 meters Centerline goodness : 0.937539 with order 1 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.27, Z:0.22 [[ 0.98454063 0.04614586 0.16896834 2.50292629] [-0.06567963 0.99154591 0.11190572 -0.27121482] [-0.16237588 -0.12127351 0.97924808 0.22191927] [ 0. 0. 0. 1. ]] SLAMing on 15.062401007999998 meters Centerline goodness : 0.937611 with order 1 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.29, Z:0.28 [[ 0.98139346 0.01068753 0.19170979 2.53051678] [-0.04963633 0.97863187 0.1995392 -0.29388747] [-0.18548073 -0.20534224 0.96095341 0.28016699] [ 0. 0. 0. 1. ]] SLAMing on 15.122401007999999 meters Centerline goodness : 0.936702 with order 1 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.31, Z:0.33 [[ 9.81523815e-01 2.03767096e-03 1.91329162e-01 2.54125956e+00] [-5.08580687e-02 9.66752006e-01 2.50607292e-01 -3.08271329e-01] [-1.84457196e-01 -2.55707657e-01 9.48993750e-01 3.30922859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.182401008 meters Centerline goodness : 0.933486 with order 1 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.30, Z:0.32 [[ 9.81759598e-01 2.39004337e-03 1.90111492e-01 2.52288699e+00] [-4.64114336e-02 9.72684050e-01 2.27446078e-01 -3.01091228e-01] [-1.84374810e-01 -2.32120717e-01 9.55052827e-01 3.18248865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.242401008 meters Centerline goodness : 0.932302 with order 1 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.29, Z:0.31 [[ 0.98266929 0.01406141 0.1848333 2.47713065] [-0.05183075 0.97818987 0.20114213 -0.28917795] [-0.17797372 -0.20723625 0.96196595 0.30925027] [ 0. 0. 0. 1. ]] SLAMing on 15.302401007999999 meters Centerline goodness : 0.931039 with order 1 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.28, Z:0.30 [[ 0.98336143 0.02832455 0.17943806 2.45286453] [-0.06153547 0.98131045 0.18232715 -0.27703857] [-0.17092011 -0.19033529 0.96672581 0.30188741] [ 0. 0. 0. 1. ]] SLAMing on 15.362401007999999 meters Centerline goodness : 0.933181 with order 1 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.26, Z:0.29 [[ 0.98310966 0.0338971 0.17985102 2.43573346] [-0.06481526 0.98349395 0.16893379 -0.26489785] [-0.17115603 -0.17773753 0.96907945 0.29382629] [ 0. 0. 0. 1. ]] SLAMing on 15.422401008 meters Centerline goodness : 0.934811 with order 1 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.25, Z:0.30 [[ 0.98259063 0.03501857 0.1824537 2.43196333] [-0.06662064 0.98317603 0.17007818 -0.25459936] [-0.17342821 -0.17927241 0.96839251 0.29677687] [ 0. 0. 0. 1. ]] SLAMing on 15.482401007999998 meters Centerline goodness : 0.939239 with order 1 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.25, Z:0.30 [[ 0.98236217 0.03438307 0.18379983 2.4316915 ] [-0.06615801 0.98328002 0.16965709 -0.24592065] [-0.17489337 -0.17882454 0.9682118 0.29759764] [ 0. 0. 0. 1. ]] SLAMing on 15.542401007999999 meters Centerline goodness : 0.940538 with order 1 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.23, Z:0.30 [[ 0.98211208 0.03590932 0.18484151 2.43202209] [-0.06807348 0.98296328 0.17073136 -0.23413281] [-0.17556156 -0.18026014 0.96782458 0.29524095] [ 0. 0. 0. 1. ]] SLAMing on 15.602401008 meters Centerline goodness : 0.939064 with order 1 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.22, Z:0.29 [[ 0.98135765 0.03717544 0.18856071 2.42659298] [-0.0698442 0.98301834 0.16969599 -0.22407086] [-0.17905011 -0.17970233 0.96728906 0.29440065] [ 0. 0. 0. 1. ]] SLAMing on 15.662401008 meters Centerline goodness : 0.943361 with order 1 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.21, Z:0.29 [[ 0.98103845 0.03581489 0.19047534 2.42103194] [-0.06722356 0.9846475 0.16109096 -0.21016706] [-0.18178161 -0.17084085 0.96838466 0.29027294] [ 0. 0. 0. 1. ]] SLAMing on 15.722401007999999 meters Centerline goodness : 0.938866 with order 1 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.20, Z:0.29 [[ 0.97982685 0.03458076 0.19683374 2.41420826] [-0.06727201 0.98450943 0.16191251 -0.19956122] [-0.18818561 -0.17188763 0.96697509 0.28648155] [ 0. 0. 0. 1. ]] SLAMing on 15.782401007999999 meters Centerline goodness : 0.936404 with order 1 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.18, Z:0.28 [[ 0.98039481 0.04438541 0.19197901 2.38870649] [-0.07300051 0.98678585 0.14465343 -0.18225333] [-0.18302167 -0.15583204 0.97067989 0.27859152] [ 0. 0. 0. 1. ]] SLAMing on 15.842401008 meters Centerline goodness : 0.932128 with order 1 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.17, Z:0.27 [[ 0.98193884 0.05296586 0.18163349 2.35470774] [-0.07650656 0.98918335 0.12515213 -0.1652402 ] [-0.17304003 -0.13678789 0.97536979 0.27456775] [ 0. 0. 0. 1. ]] SLAMing on 15.902401007999998 meters Centerline goodness : 0.930858 with order 1 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.15, Z:0.27 [[ 0.98168234 0.05567123 0.18221005 2.31307572] [-0.07693108 0.99075184 0.11176942 -0.15104532] [-0.1743026 -0.12373968 0.97688643 0.27408576] [ 0. 0. 0. 1. ]] SLAMing on 15.962401007999999 meters Centerline goodness : 0.929556 with order 1 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.14, Z:0.27 [[ 0.98171593 0.06575391 0.17863441 2.27639542] [-0.08341811 0.99214314 0.09323849 -0.13584646] [-0.17110011 -0.10643506 0.97948779 0.27375226] [ 0. 0. 0. 1. ]] SLAMing on 16.022401008 meters Centerline goodness : 0.931329 with order 1 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.12, Z:0.27 [[ 0.98176912 0.07594044 0.17424821 2.24142225] [-0.09029299 0.99301376 0.07596615 -0.12337338] [-0.16726197 -0.09031461 0.98176713 0.27340983] [ 0. 0. 0. 1. ]] SLAMing on 16.082401007999998 meters Centerline goodness : 0.929687 with order 1 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.11, Z:0.28 [[ 0.98204172 0.08124599 0.17027376 2.19606485] [-0.09376611 0.99334984 0.06681325 -0.11087327] [-0.16371311 -0.08157931 0.9831291 0.27790889] [ 0. 0. 0. 1. ]] SLAMing on 16.142401008 meters Centerline goodness : 0.930461 with order 1 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.10, Z:0.28 [[ 0.98225883 0.0890161 0.16505675 2.1660808 ] [-0.09858645 0.9938356 0.05071006 -0.09901765] [-0.15952526 -0.06608276 0.98497957 0.27857793] [ 0. 0. 0. 1. ]] SLAMing on 16.202401008 meters Centerline goodness : 0.930360 with order 1 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.09, Z:0.28 [[ 0.98396355 0.08504579 0.15678953 2.15946411] [-0.09365457 0.99443009 0.04834885 -0.09228683] [-0.15180436 -0.06225756 0.98644789 0.28209334] [ 0. 0. 0. 1. ]] SLAMing on 16.262401007999998 meters Centerline goodness : 0.926777 with order 1 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.08, Z:0.28 [[ 0.98666831 0.08042239 0.14148461 2.14727256] [-0.08805615 0.99493224 0.04853805 -0.08097403] [-0.13686406 -0.06034955 0.9887498 0.2807897 ] [ 0. 0. 0. 1. ]] SLAMing on 16.322401008 meters Centerline goodness : 0.926969 with order 1 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.07, Z:0.28 [[ 0.98956524 0.07681919 0.12189932 2.13892061] [-0.08250592 0.99569234 0.042303 -0.072051 ] [-0.11812454 -0.051919 0.99164057 0.28314795] [ 0. 0. 0. 1. ]] SLAMing on 16.382401008 meters Centerline goodness : 0.922580 with order 1 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.07, Z:0.29 [[ 0.99171916 0.07311818 0.10557863 2.14489139] [-0.07723986 0.99638078 0.03548726 -0.06680844] [-0.10260175 -0.04334828 0.99377754 0.28802303] [ 0. 0. 0. 1. ]] SLAMing on 16.442401007999997 meters Centerline goodness : 0.923971 with order 1 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.06, Z:0.29 [[ 0.99190473 0.07493017 0.1025206 2.10661234] [-0.07846934 0.99643661 0.03092976 -0.06316638] [-0.09983771 -0.0387241 0.99424991 0.29280943] [ 0. 0. 0. 1. ]] SLAMing on 16.502401008 meters Centerline goodness : 0.921764 with order 1 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.06, Z:0.30 [[ 0.99386084 0.06793629 0.0873229 2.11212709] [-0.07063566 0.99710349 0.0282 -0.0600853 ] [-0.08515416 -0.03419498 0.99578084 0.29708239] [ 0. 0. 0. 1. ]] SLAMing on 16.562401008 meters Centerline goodness : 0.923634 with order 1 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.06, Z:0.30 [[ 0.9933807 0.07098646 0.09030892 2.08129886] [-0.07439988 0.9966139 0.0350055 -0.0612309 ] [-0.08751821 -0.04149276 0.9952984 0.30311801] [ 0. 0. 0. 1. ]] SLAMing on 16.622401008 meters Centerline goodness : 0.924523 with order 1 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.08, Z:0.35 [[ 0.99184567 0.07056746 0.10612446 2.06589534] [-0.08158596 0.9912937 0.10334663 -0.08336311] [-0.0979076 -0.11116218 0.98896768 0.34998298] [ 0. 0. 0. 1. ]] SLAMing on 16.682401008 meters Centerline goodness : 0.921255 with order 1 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.09, Z:0.36 [[ 0.99140081 0.07506296 0.10719136 2.08763708] [-0.08708572 0.98985304 0.11228104 -0.09486469] [-0.09767554 -0.12065035 0.98787802 0.35786461] [ 0. 0. 0. 1. ]] SLAMing on 16.742401007999998 meters Centerline goodness : 0.923991 with order 1 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.11, Z:0.37 [[ 0.99117044 0.07620578 0.10850732 2.11475889] [-0.08959531 0.98817756 0.12440978 -0.10697854] [-0.09774376 -0.13303304 0.98628007 0.36962714] [ 0. 0. 0. 1. ]] SLAMing on 16.802401008 meters Centerline goodness : 0.925286 with order 1 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.12, Z:0.38 [[ 0.99077171 0.07403834 0.11353301 2.15266811] [-0.08936963 0.98659879 0.13651334 -0.12235401] [-0.10190431 -0.14539996 0.98411095 0.37517239] [ 0. 0. 0. 1. ]] SLAMing on 16.862401008 meters Centerline goodness : 0.922251 with order 1 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.14, Z:0.39 [[ 0.99036474 0.06780098 0.12075062 2.17933755] [-0.08732503 0.98249569 0.16454957 -0.13834568] [-0.10748034 -0.17350864 0.97894981 0.39379756] [ 0. 0. 0. 1. ]] SLAMing on 16.922401007999998 meters Centerline goodness : 0.918760 with order 1 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.16, Z:0.43 [[ 0.98990665 0.05335197 0.13129504 2.22549768] [-0.08059253 0.97397203 0.21185688 -0.16315774] [-0.11657471 -0.22029993 0.96844116 0.43051879] [ 0. 0. 0. 1. ]] SLAMing on 16.982401008 meters Centerline goodness : 0.921328 with order 1 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.18, Z:0.46 [[ 0.98766722 0.04112273 0.1510708 2.23583861] [-0.07856986 0.96477982 0.25105116 -0.18019505] [-0.13542615 -0.25982461 0.9561124 0.46002609] [ 0. 0. 0. 1. ]] SLAMing on 17.042401008 meters Centerline goodness : 0.922583 with order 1 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.19, Z:0.47 [[ 0.98688231 0.04047794 0.1562845 2.26127052] [-0.08015849 0.96315768 0.25671363 -0.18798366] [-0.14013538 -0.26587367 0.95376793 0.46682628] [ 0. 0. 0. 1. ]] SLAMing on 17.102401007999998 meters Centerline goodness : 0.922522 with order 1 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.19, Z:0.45 [[ 0.98694952 0.05273267 0.15215092 2.24918518] [-0.08757365 0.96868634 0.23233087 -0.19094657] [-0.13513509 -0.24262325 0.96066251 0.45239775] [ 0. 0. 0. 1. ]] SLAMing on 17.162401008 meters Centerline goodness : 0.918915 with order 1 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.19, Z:0.44 [[ 0.98626467 0.0598353 0.15395371 2.25413481] [-0.09271712 0.97193251 0.21621916 -0.19279895] [-0.13669508 -0.22752346 0.96413045 0.43872922] [ 0. 0. 0. 1. ]] SLAMing on 17.222401008 meters Centerline goodness : 0.917020 with order 1 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.19, Z:0.43 [[ 0.98581759 0.0675985 0.15360377 2.24723581] [-0.09666106 0.97692991 0.19043266 -0.19352082] [-0.13718715 -0.20257937 0.96960883 0.42515944] [ 0. 0. 0. 1. ]] SLAMing on 17.282401008 meters Centerline goodness : 0.919983 with order 1 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.20, Z:0.41 [[ 0.98591502 0.07662573 0.14866091 2.25582815] [-0.10136665 0.98077844 0.16672868 -0.20221827] [-0.13302771 -0.17944956 0.97473149 0.41451956] [ 0. 0. 0. 1. ]] SLAMing on 17.342401008 meters Centerline goodness : 0.914403 with order 1 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.20, Z:0.40 [[ 0.98607177 0.07976954 0.14594273 2.23934232] [-0.10175008 0.98344402 0.14994925 -0.20491827] [-0.13156512 -0.16271041 0.97786295 0.40116948] [ 0. 0. 0. 1. ]] SLAMing on 17.402401008 meters Centerline goodness : 0.909934 with order 1 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.22, Z:0.39 [[ 0.98705442 0.08613987 0.1352904 2.25339687] [-0.10384428 0.98608969 0.12978246 -0.2185178 ] [-0.12222903 -0.14215149 0.98226932 0.39164166] [ 0. 0. 0. 1. ]] SLAMing on 17.462401008 meters Centerline goodness : 0.915837 with order 1 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.23, Z:0.39 [[ 0.98747707 0.08697883 0.13161962 2.27235029] [-0.10126494 0.9891911 0.10604896 -0.2287047 ] [-0.12097295 -0.11804937 0.98561143 0.38638218] [ 0. 0. 0. 1. ]] SLAMing on 17.522401008 meters Centerline goodness : 0.923741 with order 1 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.23, Z:0.38 [[ 0.98732683 0.081494 0.13617801 2.2851968 ] [-0.09379875 0.99182453 0.0865211 -0.2307088 ] [-0.12801374 -0.09819793 0.98689901 0.37634579] [ 0. 0. 0. 1. ]] SLAMing on 17.582401007999998 meters Centerline goodness : 0.919982 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.22, Z:0.36 [[ 0.98664643 0.08504767 0.13890899 2.30107697] [-0.09598284 0.99262785 0.07400848 -0.22498987] [-0.13159068 -0.08635308 0.98753584 0.35993326] [ 0. 0. 0. 1. ]] SLAMing on 17.642401008 meters Centerline goodness : 0.918888 with order 1 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.22, Z:0.35 [[ 0.98687693 0.08244909 0.1388383 2.30025336] [-0.09224033 0.99357213 0.06562118 -0.21893751] [-0.13253546 -0.07756652 0.98813855 0.35166303] [ 0. 0. 0. 1. ]] SLAMing on 17.702401008 meters Centerline goodness : 0.920626 with order 1 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.22, Z:0.35 [[ 0.98773495 0.08345989 0.13196254 2.32216112] [-0.09152485 0.99421171 0.05626966 -0.22173143] [-0.12650244 -0.06765736 0.98965631 0.34584118] [ 0. 0. 0. 1. ]] SLAMing on 17.762401007999998 meters Centerline goodness : 0.916323 with order 1 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.22, Z:0.34 [[ 0.98830547 0.07888303 0.13049815 2.32630745] [-0.0861354 0.99498296 0.05088819 -0.22241234] [-0.12582922 -0.06153359 0.99014172 0.34181792] [ 0. 0. 0. 1. ]] SLAMing on 17.822401008 meters Centerline goodness : 0.915888 with order 1 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.23, Z:0.35 [[ 0.9888058 0.07711605 0.12773493 2.36891104] [-0.08579005 0.99426517 0.06385011 -0.23046462] [-0.12207852 -0.07409374 0.98975095 0.35102506] [ 0. 0. 0. 1. ]] SLAMing on 17.882401008 meters Centerline goodness : 0.913176 with order 1 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.23, Z:0.35 [[ 0.98944593 0.0693101 0.12725117 2.3910991 ] [-0.07887536 0.99430043 0.07173097 -0.23145399] [-0.12155421 -0.0810109 0.98927337 0.35470595] [ 0. 0. 0. 1. ]] SLAMing on 17.942401007999997 meters Centerline goodness : 0.915694 with order 1 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.24, Z:0.38 [[ 0.9886921 0.0608521 0.13705823 2.42167661] [-0.07576359 0.99143843 0.10634715 -0.24141233] [-0.12941335 -0.11552861 0.98483772 0.38365909] [ 0. 0. 0. 1. ]] SLAMing on 18.002401008 meters Centerline goodness : 0.917528 with order 1 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.24, Z:0.39 [[ 0.98902692 0.05236644 0.13814305 2.4348609 ] [-0.06764798 0.99180814 0.10835295 -0.23744309] [-0.13133735 -0.11650908 0.98446744 0.38662684] [ 0. 0. 0. 1. ]] SLAMing on 18.062401008 meters Centerline goodness : 0.919095 with order 1 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.23, Z:0.39 [[ 0.9891192 0.04900513 0.13871446 2.43925431] [-0.06447159 0.99191609 0.10929722 -0.23304824] [-0.13223698 -0.11705112 0.98428269 0.3892784 ] [ 0. 0. 0. 1. ]] SLAMing on 18.122401008 meters Centerline goodness : 0.921538 with order 1 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.23, Z:0.38 [[ 0.9892563 0.04754391 0.13824453 2.44213479] [-0.06253777 0.99237393 0.10622149 -0.22592803] [-0.13214009 -0.11372578 0.98468545 0.38497855] [ 0. 0. 0. 1. ]] SLAMing on 18.182401008 meters Centerline goodness : 0.925342 with order 1 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.22, Z:0.38 [[ 0.98929868 0.04712996 0.13808289 2.44327305] [-0.06179085 0.99266766 0.10388845 -0.22049773] [-0.13217416 -0.11130897 0.98495701 0.38214017] [ 0. 0. 0. 1. ]] SLAMing on 18.242401007999998 meters Centerline goodness : 0.928732 with order 1 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.21, Z:0.38 [[ 0.98925903 0.04550439 0.13890979 2.43879945] [-0.0595487 0.99333566 0.09868246 -0.21407788] [-0.13349356 -0.10589441 0.98537599 0.38416848] [ 0. 0. 0. 1. ]] SLAMing on 18.302401008 meters Centerline goodness : 0.933357 with order 1 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.21, Z:0.38 [[ 0.98917848 0.04590661 0.13935036 2.43744508] [-0.05985968 0.99341911 0.09764884 -0.2089383 ] [-0.13395059 -0.1049336 0.98541675 0.38439851] [ 0. 0. 0. 1. ]] SLAMing on 18.362401008 meters Centerline goodness : 0.933302 with order 1 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.21, Z:0.40 [[ 0.98904308 0.04172604 0.14160766 2.43210229] [-0.05901748 0.99099448 0.12019513 -0.20887831] [-0.13531714 -0.12723548 0.9825988 0.39920683] [ 0. 0. 0. 1. ]] SLAMing on 18.422401007999998 meters Centerline goodness : 0.933566 with order 1 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.20, Z:0.40 [[ 0.98884166 0.04193406 0.1429465 2.43080049] [-0.05910129 0.99124735 0.1180497 -0.19980704] [-0.13674504 -0.12518078 0.98266503 0.3961907 ] [ 0. 0. 0. 1. ]] SLAMing on 18.482401008 meters Centerline goodness : 0.931446 with order 1 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.20, Z:0.41 [[ 0.98868368 0.04155336 0.14414542 2.41936047] [-0.06223457 0.98789715 0.14207775 -0.20123416] [-0.13649704 -0.14944078 0.97930384 0.41363822] [ 0. 0. 0. 1. ]] SLAMing on 18.542401008 meters Centerline goodness : 0.926945 with order 1 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.21, Z:0.44 [[ 0.98768302 0.04718201 0.14918484 2.4187737 ] [-0.07212811 0.98339788 0.16651172 -0.20605306] [-0.1388517 -0.17522122 0.97468853 0.4383451 ] [ 0. 0. 0. 1. ]] SLAMing on 18.602401007999998 meters Centerline goodness : 0.926627 with order 1 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.20, Z:0.44 [[ 0.98725643 0.05120759 0.15067358 2.4165681 ] [-0.07711235 0.98216775 0.17146483 -0.20018559] [-0.13920643 -0.18089855 0.97360017 0.44134245] [ 0. 0. 0. 1. ]] SLAMing on 18.662401008 meters Centerline goodness : 0.931002 with order 1 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.19, Z:0.44 [[ 0.98596264 0.05725831 0.1568412 2.4242367 ] [-0.08297214 0.98318735 0.16265993 -0.19460766] [-0.14489065 -0.17339006 0.97413684 0.43509067] [ 0. 0. 0. 1. ]] SLAMing on 18.722401008 meters Centerline goodness : 0.932950 with order 1 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.19, Z:0.43 [[ 0.98464858 0.06249578 0.16297686 2.43504704] [-0.08816023 0.98392014 0.1553349 -0.18848992] [-0.15064843 -0.16731837 0.97432521 0.42907718] [ 0. 0. 0. 1. ]] SLAMing on 18.782401007999997 meters Centerline goodness : 0.937155 with order 1 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.18, Z:0.42 [[ 0.98332347 0.07787313 0.1643494 2.42935217] [-0.10149862 0.98484532 0.14063327 -0.17839127] [-0.15090718 -0.15496923 0.97632554 0.41687545] [ 0. 0. 0. 1. ]] SLAMing on 18.842401008 meters Centerline goodness : 0.940083 with order 1 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.17, Z:0.41 [[ 0.98201501 0.0883112 0.16687615 2.43157221] [-0.11027553 0.98571563 0.12729496 -0.17152291] [-0.15325086 -0.14340791 0.97772611 0.40658184] [ 0. 0. 0. 1. ]] SLAMing on 18.902401008 meters Centerline goodness : 0.943174 with order 1 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.16, Z:0.40 [[ 0.98106005 0.1023563 0.16445169 2.41152506] [-0.12011842 0.98751118 0.1019472 -0.1617124 ] [-0.15196294 -0.11977001 0.98110265 0.39561787] [ 0. 0. 0. 1. ]] SLAMing on 18.962401008 meters Centerline goodness : 0.946171 with order 1 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.16, Z:0.38 [[ 0.97992972 0.1094641 0.16659938 2.41441728] [-0.12484344 0.98854601 0.08479922 -0.15627073] [-0.15540868 -0.10389612 0.98237149 0.38366128] [ 0. 0. 0. 1. ]] SLAMing on 19.022401008 meters Centerline goodness : 0.944551 with order 1 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.15, Z:0.37 [[ 0.97919994 0.11272489 0.16870264 2.42367634] [-0.12553496 0.98980614 0.06726651 -0.15229675] [-0.1594003 -0.08704545 0.98336902 0.36910349] [ 0. 0. 0. 1. ]] SLAMing on 19.082401007999998 meters Centerline goodness : 0.941889 with order 1 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.15, Z:0.37 [[ 0.97972757 0.10893205 0.16813002 2.42521089] [-0.12079847 0.99073809 0.06201427 -0.15316479] [-0.15981748 -0.08106694 0.98381224 0.36511063] [ 0. 0. 0. 1. ]] SLAMing on 19.142401008 meters Centerline goodness : 0.939448 with order 1 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.15, Z:0.36 [[ 0.97954574 0.10841348 0.16951888 2.44074458] [-0.11802737 0.99186528 0.04767403 -0.15486354] [-0.16297139 -0.06670676 0.98437317 0.3553445 ] [ 0. 0. 0. 1. ]] SLAMing on 19.202401008 meters Centerline goodness : 0.941784 with order 1 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.16, Z:0.35 [[ 0.97985897 0.10526683 0.16969177 2.44049678] [-0.11418863 0.99249852 0.04367669 -0.15672976] [-0.16382112 -0.06217386 0.98452885 0.35336164] [ 0. 0. 0. 1. ]] SLAMing on 19.262401007999998 meters Centerline goodness : 0.940421 with order 1 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.17, Z:0.36 [[ 0.97985179 0.10724523 0.16849016 2.4692737 ] [-0.1171243 0.99186769 0.04980336 -0.16575837] [-0.16177877 -0.0685342 0.98444436 0.35569 ] [ 0. 0. 0. 1. ]] SLAMing on 19.322401008 meters Centerline goodness : 0.939086 with order 1 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.17, Z:0.35 [[ 0.97940944 0.11064315 0.16886458 2.46983988] [-0.12133211 0.99112456 0.0543197 -0.16878598] [-0.16135573 -0.07368993 0.98414131 0.35471788] [ 0. 0. 0. 1. ]] SLAMing on 19.382401008 meters Centerline goodness : 0.936537 with order 1 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.17, Z:0.35 [[ 0.97937239 0.11090641 0.16890673 2.46958448] [-0.12164833 0.99107017 0.05460399 -0.17074567] [-0.16134249 -0.07402487 0.98411835 0.35467448] [ 0. 0. 0. 1. ]] SLAMing on 19.442401007999997 meters Centerline goodness : 0.939665 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.17, Z:0.35 [[ 0.97857318 0.11343549 0.17183398 2.48611511] [-0.1230925 0.99130081 0.04659342 -0.17318327] [-0.16505382 -0.06674654 0.98402344 0.34676909] [ 0. 0. 0. 1. ]] SLAMing on 19.502401008 meters Centerline goodness : 0.941689 with order 1 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.18, Z:0.35 [[ 0.97877995 0.11250205 0.1712691 2.48858745] [-0.12226006 0.99136071 0.0475018 -0.17640044] [-0.16444541 -0.06743318 0.98407849 0.34736007] [ 0. 0. 0. 1. ]] SLAMing on 19.562401008 meters Centerline goodness : 0.948751 with order 1 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.18, Z:0.35 [[ 0.97923975 0.10405437 0.17396032 2.50996442] [-0.11574642 0.99155768 0.05844772 -0.18312646] [-0.16640995 -0.07736961 0.98301662 0.35260187] [ 0. 0. 0. 1. ]] SLAMing on 19.622401008 meters Centerline goodness : 0.946290 with order 1 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.19, Z:0.36 [[ 0.97966867 0.10099601 0.17334677 2.51598827] [-0.11310392 0.99168244 0.06142829 -0.1875626 ] [-0.16570094 -0.07978557 0.98294326 0.35591364] [ 0. 0. 0. 1. ]] SLAMing on 19.682401008 meters Centerline goodness : 0.943363 with order 1 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.19, Z:0.35 [[ 0.98035882 0.09648915 0.17200704 2.5241538 ] [-0.10837944 0.99222954 0.06111003 -0.19087395] [-0.16477401 -0.07855178 0.98319842 0.35385344] [ 0. 0. 0. 1. ]] SLAMing on 19.742401007999998 meters Centerline goodness : 0.947871 with order 1 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.20, Z:0.36 [[ 0.98065496 0.08986873 0.17389499 2.54372744] [-0.10398795 0.99183327 0.07384632 -0.1975584 ] [-0.16583836 -0.09050075 0.98199147 0.3621567 ] [ 0. 0. 0. 1. ]] SLAMing on 19.802401008 meters Centerline goodness : 0.948909 with order 1 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.20, Z:0.36 [[ 0.98124473 0.09205781 0.16936394 2.56973621] [-0.10571933 0.99167741 0.07348014 -0.20477783] [-0.16118998 -0.09000704 0.98281052 0.36053892] [ 0. 0. 0. 1. ]] SLAMing on 19.862401008 meters Centerline goodness : 0.950044 with order 1 Centerline is valid? [False, True] Translation: X:2.60, Y:-0.21, Z:0.35 [[ 0.98188331 0.0966409 0.1629899 2.5990532 ] [-0.10990504 0.99115291 0.07440961 -0.21006846] [-0.1543569 -0.09097497 0.98381782 0.35355774] [ 0. 0. 0. 1. ]] SLAMing on 19.922401007999998 meters Centerline goodness : 0.948087 with order 1 Centerline is valid? [True, False] Translation: X:2.62, Y:-0.22, Z:0.35 [[ 0.98245604 0.10102656 0.15676018 2.62372691] [-0.11328852 0.99099733 0.07134425 -0.21617215] [-0.14814126 -0.08785172 0.98505647 0.34799674] [ 0. 0. 0. 1. ]] SLAMing on 19.982401008 meters Centerline goodness : 0.952934 with order 1 Centerline is valid? [False, True] Translation: X:2.64, Y:-0.22, Z:0.34 [[ 0.982009 0.10209046 0.15885802 2.64224659] [-0.11308741 0.99166275 0.06177558 -0.2177469 ] [-0.15122688 -0.07862901 0.98536689 0.34050972] [ 0. 0. 0. 1. ]] SLAMing on 20.042401008 meters Centerline goodness : 0.955051 with order 1 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.20, Z:0.28 [[ 9.82855906e-01 1.07085727e-01 1.50089691e-01 2.69811599e+00] [-1.05652308e-01 9.94248864e-01 -1.75153097e-02 -1.97247995e-01] [-1.51102144e-01 1.35770330e-03 9.88517222e-01 2.78062511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.102401007999998 meters Centerline goodness : 0.958391 with order 1 Centerline is valid? [True, True] Translation: X:2.76, Y:-0.21, Z:0.27 [[ 9.83740880e-01 9.86318146e-02 1.50085465e-01 2.75849663e+00] [-9.70949881e-02 9.95120350e-01 -1.75514452e-02 -2.06527519e-01] [-1.51084231e-01 2.69352771e-03 9.88517223e-01 2.70396187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.162401008 meters Centerline goodness : 0.957613 with order 1 Centerline is valid? [True, True] Translation: X:2.82, Y:-0.22, Z:0.26 [[ 0.98486058 0.08674762 0.1500816 2.81854395] [-0.0850685 0.99621992 -0.01758445 -0.21940979] [-0.15103969 0.00455102 0.98851722 0.26480171] [ 0. 0. 0. 1. ]] SLAMing on 20.222401008 meters Centerline goodness : 0.957655 with order 1 Centerline is valid? [True, True] Translation: X:2.88, Y:-0.23, Z:0.26 [[ 0.9850655 0.08439559 0.1500778 2.88039133] [-0.08268441 0.99642006 -0.01761684 -0.22803246] [-0.15102731 0.00494464 0.98851722 0.25537441] [ 0. 0. 0. 1. ]] SLAMing on 20.282401007999997 meters Centerline goodness : 0.958600 with order 1 Centerline is valid? [True, True] Translation: X:2.94, Y:-0.23, Z:0.24 [[ 0.98536599 0.08082019 0.15007317 2.94092249] [-0.07906184 0.99671334 -0.01765619 -0.23463397] [-0.1510069 0.00553274 0.98851722 0.24177317] [ 0. 0. 0. 1. ]] SLAMing on 20.342401008 meters Centerline goodness : 0.960604 with order 1 Centerline is valid? [True, True] Translation: X:3.00, Y:-0.24, Z:0.23 [[ 0.98511373 0.08384652 0.15006898 3.00005827] [-0.08211761 0.9964656 -0.01769172 -0.24029672] [-0.15102196 0.00510505 0.98851723 0.22778943] [ 0. 0. 0. 1. ]] SLAMing on 20.402401008 meters Centerline goodness : 0.959860 with order 1 Centerline is valid? [True, True] Translation: X:3.06, Y:-0.24, Z:0.21 [[ 0.98447937 0.09099656 0.15006661 3.06070564] [-0.08934707 0.99584306 -0.01771177 -0.24313634] [-0.1510545 0.00402886 0.98851723 0.21380985] [ 0. 0. 0. 1. ]] SLAMing on 20.462401008 meters Centerline goodness : 0.956832 with order 1 Centerline is valid? [True, True] Translation: X:3.12, Y:-0.25, Z:0.20 [[ 9.83608685e-01 9.99760188e-02 1.50062487e-01 3.12227140e+00] [-9.84249703e-02 9.94986222e-01 -1.77466444e-02 -2.47223313e-01] [-1.51084346e-01 2.68585768e-03 9.88517226e-01 2.03669069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.522401008 meters Centerline goodness : 0.957368 with order 1 Centerline is valid? [True, True] Translation: X:3.18, Y:-0.25, Z:0.19 [[ 9.82567336e-01 1.09744918e-01 1.50058266e-01 3.18255886e+00] [-1.08301562e-01 9.93959035e-01 -1.77822644e-02 -2.50585068e-01] [-1.51103283e-01 1.22072755e-03 9.88517227e-01 1.91696170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.582401007999998 meters Centerline goodness : 0.959716 with order 1 Centerline is valid? [True, True] Translation: X:3.25, Y:-0.26, Z:0.19 [[ 9.81313187e-01 1.20449626e-01 1.50054382e-01 3.24527531e+00] [-1.19125536e-01 9.92719363e-01 -1.78149850e-02 -2.55324995e-01] [-1.51107698e-01 -3.93228991e-04 9.88517227e-01 1.85958325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.642401008 meters Centerline goodness : 0.963073 with order 1 Centerline is valid? [True, True] Translation: X:3.31, Y:-0.26, Z:0.18 [[ 9.81221493e-01 1.21200368e-01 1.50049502e-01 3.30631224e+00] [-1.19878735e-01 9.92627953e-01 -1.78559892e-02 -2.61180620e-01] [-1.51107483e-01 -4.67064180e-04 9.88517228e-01 1.77964873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.702401008 meters Centerline goodness : 0.964607 with order 1 Centerline is valid? [True, True] Translation: X:3.37, Y:-0.27, Z:0.17 [[ 9.82164845e-01 1.13307739e-01 1.50045238e-01 3.36729536e+00] [-1.11888980e-01 9.93559631e-01 -1.78917511e-02 -2.68373680e-01] [-1.51106165e-01 7.84240228e-04 9.88517229e-01 1.68071399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.762401007999998 meters Centerline goodness : 0.963734 with order 1 Centerline is valid? [True, True] Translation: X:3.43, Y:-0.28, Z:0.16 [[ 9.83071304e-01 1.05159467e-01 1.50040986e-01 3.42751661e+00] [-1.03640839e-01 9.94453210e-01 -1.79273365e-02 -2.77956081e-01] [-1.51093970e-01 2.07347643e-03 9.88517230e-01 1.59147243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.822401008 meters Centerline goodness : 0.962603 with order 1 Centerline is valid? [True, True] Translation: X:3.49, Y:-0.29, Z:0.15 [[ 0.984631 0.08939105 0.1500368 3.48695558] [-0.08768488 0.9959863 -0.01796235 -0.28782558] [-0.15104027 0.00453033 0.98851723 0.14780093] [ 0. 0. 0. 1. ]] SLAMing on 20.882401008 meters Centerline goodness : 0.964177 with order 1 Centerline is valid? [True, True] Translation: X:3.55, Y:-0.29, Z:0.14 [[ 0.98575954 0.07594891 0.15003295 3.54823479] [-0.07408309 0.99708971 -0.01799444 -0.29299562] [-0.15096297 0.00662329 0.98851723 0.13738017] [ 0. 0. 0. 1. ]] SLAMing on 20.942401007999997 meters Centerline goodness : 0.965172 with order 1 Centerline is valid? [True, True] Translation: X:3.61, Y:-0.30, Z:0.13 [[ 0.98597325 0.07313111 0.15002865 3.60985044] [-0.07122748 0.99729713 -0.01803023 -0.29881882] [-0.15094171 0.00709116 0.98851723 0.12779004] [ 0. 0. 0. 1. ]] SLAMing on 21.002401008 meters Centerline goodness : 0.966426 with order 1 Centerline is valid? [True, True] Translation: X:3.67, Y:-0.30, Z:0.12 [[ 0.98542738 0.08015439 0.15002715 3.67113956] [-0.07832961 0.99676423 -0.01804264 -0.30094589] [-0.1509879 0.00602815 0.98851723 0.11908682] [ 0. 0. 0. 1. ]] SLAMing on 21.062401008 meters Centerline goodness : 0.965074 with order 1 Centerline is valid? [True, True] Translation: X:3.73, Y:-0.30, Z:0.11 [[ 0.98475014 0.08809246 0.15002294 3.73283323] [-0.08635377 0.99610051 -0.01807764 -0.30051673] [-0.15103043 0.00484691 0.98851723 0.1079791 ] [ 0. 0. 0. 1. ]] SLAMing on 21.122401007999997 meters Centerline goodness : 0.962671 with order 1 Centerline is valid? [True, True] Translation: X:3.79, Y:-0.30, Z:0.10 [[ 9.83892293e-01 9.72129383e-02 1.50018668e-01 3.79428933e+00] [-9.55741010e-02 9.95257510e-01 -1.81129827e-02 -3.01560442e-01] [-1.51068022e-01 3.48332479e-03 9.88517233e-01 9.60106594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.182401008 meters Centerline goodness : 0.964215 with order 1 Centerline is valid? [True, True] Translation: X:3.86, Y:-0.30, Z:0.09 [[ 9.82821205e-01 1.07508895e-01 1.50014390e-01 3.85534940e+00] [-1.05983744e-01 9.94202235e-01 -1.81483432e-02 -3.02539935e-01] [-1.51095750e-01 1.93748976e-03 9.88517233e-01 8.76988943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.242401007999998 meters Centerline goodness : 0.968655 with order 1 Centerline is valid? [True, True] Translation: X:3.92, Y:-0.31, Z:0.08 [[ 9.82511566e-01 1.10308179e-01 1.50010426e-01 3.91722117e+00] [-1.08810461e-01 9.93896238e-01 -1.81810542e-02 -3.07859741e-01] [-1.51100317e-01 1.54039252e-03 9.88517234e-01 8.24856552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.302401008 meters Centerline goodness : 0.971194 with order 1 Centerline is valid? [True, True] Translation: X:3.98, Y:-0.31, Z:0.07 [[ 9.82527139e-01 1.10175075e-01 1.50006244e-01 3.97762928e+00] [-1.08670558e-01 9.93910914e-01 -1.82154932e-02 -3.11152317e-01] [-1.51099736e-01 1.59595424e-03 9.88517234e-01 7.36042782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.362401008 meters Centerline goodness : 0.969727 with order 1 Centerline is valid? [True, True] Translation: X:4.04, Y:-0.32, Z:0.06 [[ 9.82604916e-01 1.09484495e-01 1.50002412e-01 4.03971863e+00] [-1.07967168e-01 9.93986991e-01 -1.82469930e-02 -3.16998396e-01] [-1.51098209e-01 1.73424934e-03 9.88517235e-01 6.44936288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.422401007999998 meters Centerline goodness : 0.969392 with order 1 Centerline is valid? [True, True] Translation: X:4.10, Y:-0.32, Z:0.06 [[ 9.82643815e-01 1.09141593e-01 1.49997483e-01 4.10093651e+00] [-1.07614124e-01 9.94024532e-01 -1.82874232e-02 -3.24287124e-01] [-1.51097096e-01 1.82817555e-03 9.88517236e-01 5.51583493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.482401008 meters Centerline goodness : 0.966403 with order 1 Centerline is valid? [True, True] Translation: X:4.16, Y:-0.33, Z:0.04 [[ 9.82621258e-01 1.09350459e-01 1.49993137e-01 4.16137123e+00] [-1.07819978e-01 9.94001569e-01 -1.83230049e-02 -3.30314083e-01] [-1.51097042e-01 1.83231735e-03 9.88517236e-01 4.22368310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.542401008 meters Centerline goodness : 0.962008 with order 1 Centerline is valid? [True, True] Translation: X:4.22, Y:-0.34, Z:0.03 [[ 9.82238158e-01 1.12745481e-01 1.49988856e-01 4.22230565e+00] [-1.11248997e-01 9.93622990e-01 -1.83579814e-02 -3.35235429e-01] [-1.51102155e-01 1.34580013e-03 9.88517237e-01 2.91287969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.602401007999998 meters Centerline goodness : 0.961121 with order 1 Centerline is valid? [True, True] Translation: X:4.28, Y:-0.34, Z:0.02 [[ 9.81913438e-01 1.15544971e-01 1.49984531e-01 4.28316974e+00] [-1.14075560e-01 9.93301795e-01 -1.83932451e-02 -3.41641901e-01] [-1.51105151e-01 9.51005245e-04 9.88517238e-01 1.85859905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.662401008 meters Centerline goodness : 0.961372 with order 1 Centerline is valid? [True, True] Translation: X:4.35, Y:-0.35, Z:0.01 [[ 9.81540898e-01 1.18673866e-01 1.49979927e-01 4.34520937e+00] [-1.17235032e-01 9.92933158e-01 -1.84307159e-02 -3.50516417e-01] [-1.51107286e-01 5.07599964e-04 9.88517238e-01 1.08710104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.722401008 meters Centerline goodness : 0.963020 with order 1 Centerline is valid? [True, True] Translation: X:4.41, Y:-0.36, Z:0.00 [[ 9.81388158e-01 1.19936574e-01 1.49975002e-01 4.40614088e+00] [-1.18506288e-01 9.92781493e-01 -1.84707009e-02 -3.58461172e-01] [-1.51107719e-01 3.53946361e-04 9.88517239e-01 4.97266311e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.782401007999997 meters Centerline goodness : 0.961079 with order 1 Centerline is valid? [True, True] Translation: X:4.47, Y:-0.37, Z:-0.01 [[ 9.81557734e-01 1.18546369e-01 1.49970572e-01 4.46706708e+00] [-1.17094461e-01 9.92948333e-01 -1.85065988e-02 -3.67828953e-01] [-1.51106920e-01 6.04571777e-04 9.88517240e-01 -9.43162151e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.842401008 meters Centerline goodness : 0.958577 with order 1 Centerline is valid? [True, True] Translation: X:4.53, Y:-0.38, Z:-0.02 [[ 9.82060776e-01 1.14310120e-01 1.49966089e-01 4.52725087e+00] [-1.12803542e-01 9.93444273e-01 -1.85428624e-02 -3.79433309e-01] [-1.51102589e-01 1.29351195e-03 9.88517240e-01 -1.93302914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.902401008 meters Centerline goodness : 0.955157 with order 1 Centerline is valid? [True, True] Translation: X:4.59, Y:-0.39, Z:-0.03 [[ 9.83362825e-01 1.02513968e-01 1.49961465e-01 4.58763575e+00] [-1.00865171e-01 9.94726593e-01 -1.85801796e-02 -3.92811377e-01] [-1.51075385e-01 3.14516905e-03 9.88517241e-01 -2.59849541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.962401008 meters Centerline goodness : 0.954076 with order 1 Centerline is valid? [True, True] Translation: X:4.65, Y:-0.40, Z:-0.04 [[ 9.84296196e-01 9.31334553e-02 1.49957190e-01 4.64777799e+00] [-9.13711429e-02 9.95642913e-01 -1.86146216e-02 -4.03165385e-01] [-1.51037457e-01 4.62054141e-03 9.88517242e-01 -3.59402367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.022401008 meters Centerline goodness : 0.950387 with order 1 Centerline is valid? [True, True] Translation: X:4.71, Y:-0.42, Z:-0.05 [[ 0.98537394 0.08094642 0.14995289 4.70760348] [-0.07903858 0.9966971 -0.0186492 -0.41589022] [-0.1509672 0.00652437 0.98851724 -0.04635718] [ 0. 0. 0. 1. ]] SLAMing on 22.082401007999998 meters Centerline goodness : 0.949571 with order 1 Centerline is valid? [True, False] Translation: X:4.69, Y:-0.42, Z:-0.02 [[ 0.98466994 0.06350737 0.16245592 4.68671093] [-0.06809225 0.99741833 0.02280603 -0.42309611] [-0.16058816 -0.0335184 0.98645221 -0.01991345] [ 0. 0. 0. 1. ]] SLAMing on 22.142401008 meters Centerline goodness : 0.945366 with order 1 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.42, Z:-0.01 [[ 0.98450751 0.05860395 0.16525902 4.64745572] [-0.06540992 0.99720736 0.03604198 -0.41789668] [-0.16268531 -0.04629318 0.98559141 -0.00644253] [ 0. 0. 0. 1. ]] SLAMing on 22.202401008 meters Centerline goodness : 0.943140 with order 1 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.42, Z:0.01 [[ 0.98478555 0.05921011 0.16337561 4.63699062] [-0.06943909 0.99592064 0.05762205 -0.41731965] [-0.15929733 -0.06809002 0.98487974 0.0105232 ] [ 0. 0. 0. 1. ]] SLAMing on 22.262401007999998 meters Centerline goodness : 0.943663 with order 1 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.41, Z:0.01 [[ 0.98443089 0.06384964 0.16376523 4.63503453] [-0.07454516 0.99541022 0.06001263 -0.4073718 ] [-0.1591818 -0.0712862 0.98467225 0.01129834] [ 0. 0. 0. 1. ]] SLAMing on 22.322401008 meters Centerline goodness : 0.942491 with order 1 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.40, Z:0.01 [[ 0.9832251 0.07230766 0.16745148 4.65320586] [-0.08369379 0.99456338 0.06195998 -0.40456745] [-0.16206093 -0.07493526 0.98393138 0.00911324] [ 0. 0. 0. 1. ]] SLAMing on 22.382401008 meters Centerline goodness : 0.937544 with order 1 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.40, Z:0.00 [[ 9.83034634e-01 8.31401212e-02 1.63495044e-01 4.66241130e+00] [-9.28951434e-02 9.94267428e-01 5.29412304e-02 -3.98485375e-01] [-1.58156257e-01 -6.72309586e-02 9.85122630e-01 3.26272995e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.442401007999997 meters Centerline goodness : 0.929538 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.40, Z:0.00 [[ 9.82948404e-01 8.52930404e-02 1.62903446e-01 4.66575951e+00] [-9.57204505e-02 9.93760120e-01 5.72574874e-02 -3.96180538e-01] [-1.57003283e-01 -7.18743471e-02 9.84979212e-01 4.63520762e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.502401008 meters Centerline goodness : 0.928064 with order 1 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.39, Z:0.00 [[ 9.83180712e-01 8.43053330e-02 1.62013266e-01 4.66864522e+00] [-9.44806175e-02 9.93941992e-01 5.61491689e-02 -3.92563742e-01] [-1.56298114e-01 -7.05118932e-02 9.85189816e-01 3.44268204e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.562401008 meters Centerline goodness : 0.925817 with order 1 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.39, Z:0.00 [[ 9.83265990e-01 8.86177180e-02 1.59169384e-01 4.69567662e+00] [-9.88018367e-02 9.93459682e-01 5.72368612e-02 -3.94404283e-01] [-1.53056165e-01 -7.20052864e-02 9.85590711e-01 2.45472642e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.622401007999997 meters Centerline goodness : 0.920812 with order 1 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.39, Z:0.00 [[ 9.83036595e-01 9.19576391e-02 1.58691038e-01 4.69780158e+00] [-1.02719134e-01 9.92839266e-01 6.09833617e-02 -3.90692937e-01] [-1.51946807e-01 -7.62494823e-02 9.85443141e-01 6.86006027e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.682401008 meters Centerline goodness : 0.921705 with order 1 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.39, Z:0.00 [[ 9.83008073e-01 9.26895666e-02 1.58441702e-01 4.69723997e+00] [-1.03393226e-01 9.92787460e-01 6.06869032e-02 -3.87874629e-01] [-1.51673892e-01 -7.60375143e-02 9.85501561e-01 1.58839811e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.742401007999998 meters Centerline goodness : 0.924867 with order 1 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.38, Z:-0.01 [[ 0.98215145 0.09653422 0.16143009 4.70983121] [-0.10567346 0.99319284 0.04900104 -0.38485178] [-0.15560093 -0.06518532 0.98566689 -0.00813248] [ 0. 0. 0. 1. ]] SLAMing on 22.802401008 meters Centerline goodness : 0.926700 with order 1 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.39, Z:-0.01 [[ 0.98230221 0.09595269 0.16085848 4.71192019] [-0.10497734 0.99328847 0.04855681 -0.38542216] [-0.15511971 -0.06458396 0.98578232 -0.00982856] [ 0. 0. 0. 1. ]] SLAMing on 22.862401008 meters Centerline goodness : 0.931016 with order 1 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.39, Z:-0.01 [[ 0.98221327 0.09626283 0.16121588 4.71086702] [-0.10547698 0.99318467 0.0495865 -0.38778405] [-0.15534381 -0.06570908 0.98567267 -0.00804279] [ 0. 0. 0. 1. ]] SLAMing on 22.922401007999998 meters Centerline goodness : 0.932136 with order 1 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.39, Z:-0.01 [[ 0.98217121 0.09664784 0.1612418 4.71062012] [-0.10597033 0.99309953 0.0502356 -0.38896057] [-0.15527399 -0.06642681 0.98563556 -0.00703044] [ 0. 0. 0. 1. ]] SLAMing on 22.982401008 meters Centerline goodness : 0.923323 with order 1 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.39, Z:-0.01 [[ 0.98223674 0.09851694 0.1597041 4.71356477] [-0.10799937 0.99280033 0.05180392 -0.39195569] [-0.15345072 -0.06813166 0.98580472 -0.00908637] [ 0. 0. 0. 1. ]] SLAMing on 23.042401008 meters Centerline goodness : 0.919621 with order 1 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.39, Z:-0.01 [[ 0.98218302 0.10061761 0.15872183 4.71783023] [-0.11059792 0.99232386 0.05533039 -0.39445466] [-0.15193625 -0.07189887 0.98577174 -0.01175542] [ 0. 0. 0. 1. ]] SLAMing on 23.102401007999998 meters Centerline goodness : 0.912792 with order 1 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.40, Z:-0.02 [[ 0.98320228 0.1006891 0.15223333 4.74051169] [-0.10914787 0.99285393 0.04824742 -0.40272363] [-0.14628747 -0.06405292 0.98716625 -0.01602244] [ 0. 0. 0. 1. ]] SLAMing on 23.162401008 meters Centerline goodness : 0.911521 with order 1 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.41, Z:-0.02 [[ 0.98373779 0.09906946 0.14981725 4.76606138] [-0.10683765 0.993271 0.04470385 -0.4109031 ] [-0.14438035 -0.05998298 0.98770257 -0.01768851] [ 0. 0. 0. 1. ]] SLAMing on 23.222401008 meters Centerline goodness : 0.914397 with order 1 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.42, Z:-0.01 [[ 0.98465856 0.08745234 0.15099542 4.78424844] [-0.09594023 0.99413751 0.04986054 -0.41862896] [-0.14574979 -0.06358214 0.98727621 -0.01213174] [ 0. 0. 0. 1. ]] SLAMing on 23.282401007999997 meters Centerline goodness : 0.916817 with order 1 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.44, Z:0.01 [[ 0.98497974 0.07425021 0.1558904 4.82542363] [-0.08758663 0.99289953 0.08049283 -0.43500765] [-0.1488069 -0.09293772 0.98448925 0.00923996] [ 0. 0. 0. 1. ]] SLAMing on 23.342401008 meters Centerline goodness : 0.917882 with order 1 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.44, Z:0.03 [[ 0.98428776 0.05748772 0.16695142 4.8450087 ] [-0.07615927 0.99126438 0.10767869 -0.44106627] [-0.15930279 -0.11870172 0.98006761 0.02613081] [ 0. 0. 0. 1. ]] SLAMing on 23.402401008 meters Centerline goodness : 0.921527 with order 1 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.44, Z:0.05 [[ 0.98268539 0.04421611 0.17992878 4.83200719] [-0.07087023 0.98696045 0.14452157 -0.44346018] [-0.1711924 -0.15477083 0.97300522 0.05166783] [ 0. 0. 0. 1. ]] SLAMing on 23.462401008 meters Centerline goodness : 0.917351 with order 1 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.44, Z:0.06 [[ 0.98063572 0.0376161 0.19219421 4.81917923] [-0.0687006 0.98508937 0.15773128 -0.43651694] [-0.18339523 -0.16788078 0.96859807 0.05972868] [ 0. 0. 0. 1. ]] SLAMing on 23.522401008 meters Centerline goodness : 0.925262 with order 1 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.43, Z:0.07 [[ 0.98088001 0.03752227 0.19096199 4.78928726] [-0.06835798 0.98514209 0.15755078 -0.42775153] [-0.18221303 -0.16759219 0.96887113 0.06863286] [ 0. 0. 0. 1. ]] SLAMing on 23.582401007999998 meters Centerline goodness : 0.923277 with order 1 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.42, Z:0.07 [[ 0.98155349 0.03866664 0.18723684 4.75125526] [-0.06706134 0.98674377 0.14778197 -0.41631439] [-0.17904056 -0.15761226 0.97113483 0.07026138] [ 0. 0. 0. 1. ]] SLAMing on 23.642401008 meters Centerline goodness : 0.919481 with order 1 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.40, Z:0.07 [[ 0.98331883 0.03480011 0.17853022 4.70807184] [-0.05915829 0.98935087 0.13298555 -0.39912883] [-0.17200111 -0.14132874 0.97490605 0.06820531] [ 0. 0. 0. 1. ]] SLAMing on 23.702401008 meters Centerline goodness : 0.917104 with order 1 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.38, Z:0.07 [[ 0.98482457 0.03516848 0.16995216 4.6549589 ] [-0.05547725 0.99166734 0.11626761 -0.38362611] [-0.16444705 -0.12393168 0.97856942 0.06903581] [ 0. 0. 0. 1. ]] SLAMing on 23.762401007999998 meters Centerline goodness : 0.919288 with order 1 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.36, Z:0.06 [[ 0.98604296 0.0371721 0.16228836 4.61837708] [-0.05351587 0.99379296 0.09752749 -0.3648626 ] [-0.15765573 -0.1048513 0.98191185 0.06438746] [ 0. 0. 0. 1. ]] SLAMing on 23.822401008 meters Centerline goodness : 0.920311 with order 1 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.35, Z:0.06 [[ 0.98664736 0.04255947 0.1572122 4.58881703] [-0.05522211 0.99549489 0.07707426 -0.35034859] [-0.1532237 -0.08472671 0.98455263 0.06013634] [ 0. 0. 0. 1. ]] SLAMing on 23.882401008 meters Centerline goodness : 0.922914 with order 1 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.34, Z:0.06 [[ 0.98722335 0.04866081 0.15173065 4.55718775] [-0.05797144 0.99665789 0.05755311 -0.33658193] [-0.14842296 -0.06561382 0.98674488 0.05842749] [ 0. 0. 0. 1. ]] SLAMing on 23.942401007999997 meters Centerline goodness : 0.924009 with order 1 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.32, Z:0.06 [[ 0.9875012 0.05491753 0.14773437 4.53161158] [-0.06193095 0.9971409 0.0432964 -0.3171234 ] [-0.14493425 -0.05190457 0.98807893 0.05787376] [ 0. 0. 0. 1. ]] SLAMing on 24.002401008 meters Centerline goodness : 0.925392 with order 1 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.30, Z:0.06 [[ 0.98817049 0.05893006 0.14158508 4.5000415 ] [-0.06326725 0.99764935 0.02632547 -0.2952222 ] [-0.1397009 -0.03497175 0.98957599 0.05932341] [ 0. 0. 0. 1. ]] SLAMing on 24.062401008 meters Centerline goodness : 0.929232 with order 1 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.29, Z:0.06 [[ 0.98820955 0.06221469 0.13989717 4.48505514] [-0.06479797 0.99780044 0.01398257 -0.28586198] [-0.13871954 -0.02288276 0.99006731 0.05509537] [ 0. 0. 0. 1. ]] SLAMing on 24.122401007999997 meters Centerline goodness : 0.930160 with order 1 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.27, Z:0.07 [[ 0.98969488 0.05498427 0.13221489 4.47374284] [-0.05849288 0.99802746 0.02279845 -0.27165039] [-0.13070054 -0.03029714 0.99095886 0.06645126] [ 0. 0. 0. 1. ]] SLAMing on 24.182401008 meters Centerline goodness : 0.929047 with order 1 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.25, Z:0.07 [[ 0.99161601 0.045572 0.12091682 4.45961533] [-0.04931721 0.99838605 0.02816224 -0.25216738] [-0.11943825 -0.03388941 0.99226308 0.0746516 ] [ 0. 0. 0. 1. ]] SLAMing on 24.242401007999998 meters Centerline goodness : 0.928571 with order 1 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.24, Z:0.09 [[ 0.99272716 0.03810977 0.1141947 4.4502075 ] [-0.04209742 0.99857781 0.03271333 -0.23987852] [-0.11278559 -0.03728272 0.99291964 0.08565605] [ 0. 0. 0. 1. ]] SLAMing on 24.302401008 meters Centerline goodness : 0.933078 with order 1 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.22, Z:0.10 [[ 0.99413338 0.02672552 0.10480733 4.43275025] [-0.03074916 0.99884339 0.03696454 -0.21777443] [-0.10369821 -0.03997042 0.99380534 0.10216849] [ 0. 0. 0. 1. ]] SLAMing on 24.362401008 meters Centerline goodness : 0.943211 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.20, Z:0.12 [[ 0.99461468 0.02315132 0.10102303 4.41768192] [-0.02787326 0.99857163 0.04558266 -0.19634827] [-0.09982343 -0.04815303 0.99383931 0.11571917] [ 0. 0. 0. 1. ]] SLAMing on 24.422401007999998 meters Centerline goodness : 0.943410 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.18, Z:0.11 [[ 0.9946991 0.02952383 0.09849892 4.42386424] [-0.03277189 0.99896565 0.03152196 -0.18164347] [-0.09746639 -0.03458286 0.99463779 0.11177372] [ 0. 0. 0. 1. ]] SLAMing on 24.482401008 meters Centerline goodness : 0.948711 with order 1 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.17, Z:0.11 [[ 0.99465444 0.03191843 0.0982026 4.42474578] [-0.03519316 0.99887457 0.03179677 -0.1674156 ] [-0.09707717 -0.03508285 0.99465834 0.11082002] [ 0. 0. 0. 1. ]] SLAMing on 24.542401008 meters Centerline goodness : 0.951943 with order 1 Centerline is valid? [False, True] Translation: X:4.43, Y:-0.15, Z:0.11 [[ 0.99467457 0.03339734 0.09750444 4.42683175] [-0.03655695 0.99885683 0.03079967 -0.14839996] [-0.09636435 -0.03420012 0.9947584 0.10948212] [ 0. 0. 0. 1. ]] SLAMing on 24.602401007999998 meters Centerline goodness : 0.954757 with order 1 Centerline is valid? [True, True] Translation: X:4.49, Y:-0.12, Z:0.08 [[ 0.99510787 0.03344169 0.09296227 4.48991336] [-0.03261247 0.9994137 -0.01042524 -0.12282598] [-0.0932564 0.00734251 0.99561505 0.08464081] [ 0. 0. 0. 1. ]] SLAMing on 24.662401008 meters Centerline goodness : 0.954173 with order 1 Centerline is valid? [True, True] Translation: X:4.55, Y:-0.11, Z:0.08 [[ 0.99538816 0.02368322 0.09295977 4.55435025] [-0.02280976 0.99968523 -0.01044749 -0.10632464] [-0.09317794 0.00827891 0.99561505 0.0838722 ] [ 0. 0. 0. 1. ]] SLAMing on 24.722401008 meters Centerline goodness : 0.949591 with order 1 Centerline is valid? [True, False] Translation: X:4.55, Y:-0.09, Z:0.09 [[ 9.95748830e-01 1.95796729e-02 9.00050183e-02 4.54775970e+00] [-1.96827877e-02 9.99806242e-01 2.58137291e-04 -9.31805986e-02] [-8.99825248e-02 -2.02858957e-03 9.95941278e-01 9.04884008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.782401007999997 meters Centerline goodness : 0.946819 with order 1 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.07, Z:0.09 [[ 9.95872664e-01 2.05902734e-02 8.83950101e-02 4.55196659e+00] [-2.04553552e-02 9.99787809e-01 -2.43198367e-03 -6.81718797e-02] [-8.84263287e-02 6.13794729e-04 9.96082531e-01 8.95204078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.842401008 meters Centerline goodness : 0.943916 with order 1 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.05, Z:0.09 [[ 9.95950650e-01 2.38093908e-02 8.66914949e-02 4.55669867e+00] [-2.38913259e-02 9.99714557e-01 -9.24318830e-05 -5.04440684e-02] [-8.66689502e-02 -1.97911716e-03 9.96235201e-01 8.93778254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.902401008 meters Centerline goodness : 0.955074 with order 1 Centerline is valid? [False, True] Translation: X:4.56, Y:-0.02, Z:0.09 [[ 9.96155033e-01 2.65964342e-02 8.34732338e-02 4.56425108e+00] [-2.64019931e-02 9.99645513e-01 -3.43257197e-03 -1.88257866e-02] [-8.35349378e-02 1.21551411e-03 9.96504108e-01 8.88585758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.962401008 meters Centerline goodness : 0.955315 with order 1 Centerline is valid? [True, True] Translation: X:4.63, Y:0.01, Z:0.08 [[ 0.99622708 0.02629591 0.08270509 4.62829147] [-0.02556549 0.99962434 -0.00987849 0.0083206 ] [-0.08293378 0.00772682 0.9965251 0.08363414] [ 0. 0. 0. 1. ]] SLAMing on 25.022401008 meters Centerline goodness : 0.953245 with order 1 Centerline is valid? [True, True] Translation: X:4.69, Y:0.02, Z:0.08 [[ 0.99623786 0.02588567 0.08270467 4.69287049] [-0.02515357 0.99963476 -0.00988193 0.0228747 ] [-0.08293027 0.00776444 0.9965251 0.0848338 ] [ 0. 0. 0. 1. ]] SLAMing on 25.082401007999998 meters Centerline goodness : 0.950352 with order 1 Centerline is valid? [True, True] Translation: X:4.76, Y:0.05, Z:0.08 [[ 0.99618889 0.02771554 0.08270157 4.75726813] [-0.02698754 0.99958667 -0.00990782 0.04891741] [-0.08294199 0.00763815 0.99652511 0.07653718] [ 0. 0. 0. 1. ]] SLAMing on 25.142401008 meters Centerline goodness : 0.944386 with order 1 Centerline is valid? [True, False] Translation: X:4.79, Y:0.07, Z:0.07 [[ 0.99626164 0.02797212 0.08173319 4.7860082 ] [-0.02678117 0.9995191 -0.01563151 0.06968969] [-0.08213113 0.01338416 0.99653166 0.06978147] [ 0. 0. 0. 1. ]] SLAMing on 25.202401008 meters Centerline goodness : 0.941443 with order 1 Centerline is valid? [False, False] Translation: X:4.82, Y:0.10, Z:0.07 [[ 0.99658893 0.03023326 0.0767884 4.8180617 ] [-0.02831102 0.99926098 -0.02599968 0.09915331] [-0.07751771 0.02373704 0.99670836 0.06525708] [ 0. 0. 0. 1. ]] SLAMing on 25.262401007999998 meters Centerline goodness : 0.942338 with order 1 Centerline is valid? [False, False] Translation: X:4.86, Y:0.13, Z:0.06 [[ 0.99646186 0.03644262 0.07573445 4.86356234] [-0.03435976 0.99899948 -0.02862602 0.12518323] [-0.07670188 0.02592252 0.99671703 0.06090489] [ 0. 0. 0. 1. ]] SLAMing on 25.322401008 meters Centerline goodness : 0.944530 with order 1 Centerline is valid? [False, False] Translation: X:4.90, Y:0.14, Z:0.06 [[ 0.99600897 0.04347329 0.07795002 4.90054465] [-0.04083273 0.99854733 -0.03515556 0.1406579 ] [-0.07936511 0.03183234 0.99633723 0.05653453] [ 0. 0. 0. 1. ]] SLAMing on 25.382401008 meters Centerline goodness : 0.943476 with order 1 Centerline is valid? [False, False] Translation: X:4.94, Y:0.16, Z:0.05 [[ 0.99542253 0.05270042 0.07972859 4.93712074] [-0.04944009 0.99787969 -0.04232978 0.16109301] [-0.08179034 0.03819422 0.99591744 0.05400648] [ 0. 0. 0. 1. ]] SLAMing on 25.442401007999997 meters Centerline goodness : 0.942244 with order 1 Centerline is valid? [False, False] Translation: X:4.93, Y:0.18, Z:0.06 [[ 0.99603913 0.05390373 0.07071373 4.92980457] [-0.05061072 0.99758528 -0.04756231 0.17814165] [-0.07310676 0.04379505 0.99636208 0.05969733] [ 0. 0. 0. 1. ]] SLAMing on 25.502401008 meters Centerline goodness : 0.936166 with order 1 Centerline is valid? [False, False] Translation: X:4.93, Y:0.19, Z:0.06 [[ 0.99556921 0.06195637 0.07073447 4.93315103] [-0.05909701 0.99737558 -0.04182699 0.19160798] [-0.07314028 0.03746147 0.99661785 0.05844103] [ 0. 0. 0. 1. ]] SLAMing on 25.562401008 meters Centerline goodness : 0.934551 with order 1 Centerline is valid? [False, False] Translation: X:4.93, Y:0.20, Z:0.06 [[ 0.99535273 0.06526539 0.07080523 4.93401722] [-0.06253459 0.99723591 -0.04012446 0.19752805] [-0.07322826 0.03551021 0.99668282 0.05870043] [ 0. 0. 0. 1. ]] SLAMing on 25.622401007999997 meters Centerline goodness : 0.935633 with order 1 Centerline is valid? [False, False] Translation: X:4.93, Y:0.21, Z:0.06 [[ 0.9951102 0.06868629 0.07097806 4.93414498] [-0.06599575 0.99703446 -0.03958343 0.20580591] [-0.07348641 0.03470563 0.99669216 0.06070462] [ 0. 0. 0. 1. ]] SLAMing on 25.682401008 meters Centerline goodness : 0.933465 with order 1 Centerline is valid? [False, False] Translation: X:4.94, Y:0.21, Z:0.06 [[ 0.99484164 0.07247999 0.07097018 4.93523617] [-0.07004148 0.99688453 -0.03626877 0.20763605] [-0.07337784 0.03111083 0.99681884 0.0601384 ] [ 0. 0. 0. 1. ]] SLAMing on 25.742401007999998 meters Centerline goodness : 0.929337 with order 1 Centerline is valid? [False, False] Translation: X:4.94, Y:0.21, Z:0.06 [[ 0.99456399 0.07605573 0.07111961 4.93601581] [-0.07387751 0.99672858 -0.03277581 0.20967908] [-0.07337974 0.0273435 0.99692916 0.05957043] [ 0. 0. 0. 1. ]] SLAMing on 25.802401008 meters Centerline goodness : 0.938536 with order 1 Centerline is valid? [False, False] Translation: X:4.93, Y:0.21, Z:0.06 [[ 0.99457132 0.07553618 0.07156932 4.93441274] [-0.0733316 0.99676316 -0.03294959 0.20936526] [-0.07382655 0.02752242 0.99689125 0.06089675] [ 0. 0. 0. 1. ]] SLAMing on 25.862401008 meters Centerline goodness : 0.937507 with order 1 Centerline is valid? [False, False] Translation: X:4.93, Y:0.21, Z:0.06 [[ 0.99477486 0.07236507 0.07201579 4.93180874] [-0.0699372 0.99691291 -0.03568526 0.20755107] [-0.07437584 0.03046222 0.99676491 0.06271036] [ 0. 0. 0. 1. ]] SLAMing on 25.922401007999998 meters Centerline goodness : 0.933126 with order 1 Centerline is valid? [False, False] Translation: X:4.93, Y:0.20, Z:0.06 [[ 0.99481897 0.07145798 0.0723117 4.93080803] [-0.06913709 0.99702392 -0.03410818 0.20140997] [-0.07453379 0.02893204 0.9967987 0.06215602] [ 0. 0. 0. 1. ]] SLAMing on 25.982401008 meters Centerline goodness : 0.943920 with order 1 Centerline is valid? [False, False] Translation: X:4.93, Y:0.20, Z:0.06 [[ 0.99479667 0.07159465 0.07248299 4.93018634] [-0.06932987 0.99703795 -0.03329693 0.19952133] [-0.07465217 0.02809844 0.99681369 0.06237351] [ 0. 0. 0. 1. ]] SLAMing on 26.042401008 meters Centerline goodness : 0.936499 with order 1 Centerline is valid? [False, False] Translation: X:4.93, Y:0.20, Z:0.06 [[ 0.99448569 0.07517374 0.07312402 4.92936866] [-0.07327979 0.9969112 -0.0282513 0.19674157] [-0.07502191 0.022737 0.99692264 0.06221163] [ 0. 0. 0. 1. ]] SLAMing on 26.102401007999998 meters Centerline goodness : 0.932641 with order 1 Centerline is valid? [False, False] Translation: X:4.93, Y:0.19, Z:0.06 [[ 0.99444822 0.0762364 0.07253102 4.93062427] [-0.07450356 0.99687368 -0.02630764 0.19215711] [-0.07430987 0.02075777 0.99701914 0.06126172] [ 0. 0. 0. 1. ]] SLAMing on 26.162401008 meters Centerline goodness : 0.946766 with order 1 Centerline is valid? [False, False] Translation: X:4.92, Y:0.19, Z:0.07 [[ 0.99518136 0.07461045 0.06361874 4.92407705] [-0.07343596 0.99708701 -0.02060732 0.18895651] [-0.06497094 0.01583612 0.99776149 0.06553547] [ 0. 0. 0. 1. ]] SLAMing on 26.222401008 meters Centerline goodness : 0.940723 with order 1 Centerline is valid? [False, False] Translation: X:4.93, Y:0.18, Z:0.06 [[ 0.99500955 0.07739495 0.0629763 4.92698357] [-0.0765534 0.99694231 -0.01567167 0.1816222 ] [-0.06399665 0.01077241 0.99789197 0.06191514] [ 0. 0. 0. 1. ]] SLAMing on 26.282401007999997 meters Centerline goodness : 0.944914 with order 1 Centerline is valid? [False, False] Translation: X:4.92, Y:0.17, Z:0.07 [[ 0.99564744 0.07670433 0.0529398 4.91941748] [-0.07615987 0.99702062 -0.01222938 0.17080554] [-0.05372011 0.00814426 0.99852282 0.06774807] [ 0. 0. 0. 1. ]] SLAMing on 26.342401008 meters Centerline goodness : 0.950505 with order 1 Centerline is valid? [False, True] Translation: X:4.92, Y:0.17, Z:0.07 [[ 0.99575335 0.07651976 0.05118578 4.92226975] [-0.07593737 0.99702481 -0.01323045 0.16558392] [-0.05204588 0.00928735 0.99860151 0.06752761] [ 0. 0. 0. 1. ]] SLAMing on 26.402401008 meters Centerline goodness : 0.947996 with order 1 Centerline is valid? [True, False] Translation: X:4.92, Y:0.16, Z:0.07 [[ 0.9952826 0.0864127 0.04410651 4.92111959] [-0.08566018 0.9961493 -0.01867886 0.16002219] [-0.04555076 0.01481257 0.9988522 0.06894786] [ 0. 0. 0. 1. ]] SLAMing on 26.462401007999997 meters Centerline goodness : 0.949368 with order 1 Centerline is valid? [False, False] Translation: X:4.92, Y:0.16, Z:0.07 [[ 0.9949827 0.0930574 0.03673891 4.91718284] [-0.09210522 0.99538817 -0.02681463 0.1565492 ] [-0.03906477 0.02329625 0.99896508 0.07250684] [ 0. 0. 0. 1. ]] SLAMing on 26.522401008 meters Centerline goodness : 0.957616 with order 1 Centerline is valid? [False, True] Translation: X:4.92, Y:0.14, Z:0.07 [[ 0.99474391 0.09637618 0.03458602 4.9188892 ] [-0.0955767 0.99513095 -0.02407267 0.1438415 ] [-0.03673765 0.02064052 0.99911176 0.07478272] [ 0. 0. 0. 1. ]] SLAMing on 26.582401007999998 meters Centerline goodness : 0.954604 with order 1 Centerline is valid? [True, True] Translation: X:4.98, Y:0.12, Z:0.07 [[ 9.94526693e-01 9.78425732e-02 3.66536159e-02 4.97812680e+00] [-9.77723670e-02 9.95201899e-01 -3.70729856e-03 1.18490045e-01] [-3.68404798e-02 1.03296597e-04 9.99321154e-01 7.23470391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.642401008 meters Centerline goodness : 0.961730 with order 1 Centerline is valid? [True, True] Translation: X:5.04, Y:0.09, Z:0.08 [[ 9.94629537e-01 9.67918846e-02 3.66526309e-02 5.03794719e+00] [-9.67206071e-02 9.95304631e-01 -3.71701136e-03 8.97428571e-02] [-3.68403098e-02 1.51984579e-04 9.99321154e-01 7.68394550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.702401008 meters Centerline goodness : 0.961981 with order 1 Centerline is valid? [True, True] Translation: X:5.10, Y:0.07, Z:0.08 [[ 9.94594609e-01 9.71502511e-02 3.66523226e-02 5.09817646e+00] [-9.70791049e-02 9.95269717e-01 -3.72004883e-03 6.90411421e-02] [-3.68403504e-02 1.41765839e-04 9.99321154e-01 7.72287520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.762401007999998 meters Centerline goodness : 0.956224 with order 1 Centerline is valid? [True, True] Translation: X:5.16, Y:0.04, Z:0.08 [[ 9.94158271e-01 1.01518560e-01 3.66512564e-02 5.15851965e+00] [-1.01449994e-01 9.94833645e-01 -3.73052373e-03 4.20350166e-02] [-3.68406204e-02 -9.53871275e-06 9.99321154e-01 8.27267689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.822401008 meters Centerline goodness : 0.959692 with order 1 Centerline is valid? [True, True] Translation: X:5.22, Y:0.01, Z:0.08 [[ 9.93436303e-01 1.08356291e-01 3.66500536e-02 5.21783353e+00] [-1.08291939e-01 9.94112092e-01 -3.74230386e-03 8.46504184e-03] [-3.68397636e-02 -2.51164843e-04 9.99321154e-01 7.94416119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.882401008 meters Centerline goodness : 0.965359 with order 1 Centerline is valid? [True, True] Translation: X:5.28, Y:-0.02, Z:0.08 [[ 9.93065876e-01 1.11700321e-01 3.66497364e-02 5.27717301e+00] [-1.11638130e-01 9.93741868e-01 -3.74540770e-03 -1.56757012e-02] [-3.68387407e-02 -3.72071459e-04 9.99321154e-01 7.62192611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.942401007999997 meters Centerline goodness : 0.966276 with order 1 Centerline is valid? [True, True] Translation: X:5.34, Y:-0.04, Z:0.07 [[ 9.92908976e-01 1.13086831e-01 3.66487966e-02 5.33711035e+00] [-1.13025245e-01 9.93585023e-01 -3.75458038e-03 -3.78712583e-02] [-3.68382890e-02 -4.14282663e-04 9.99321154e-01 7.11098430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.002401008 meters Centerline goodness : 0.966342 with order 1 Centerline is valid? [True, True] Translation: X:5.40, Y:-0.07, Z:0.07 [[ 9.93037887e-01 1.11949475e-01 3.66479238e-02 5.39651556e+00] [-1.11886802e-01 9.93713833e-01 -3.76308038e-03 -7.10381132e-02] [-3.68388238e-02 -3.63537602e-04 9.99321154e-01 7.04471765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.062401008 meters Centerline goodness : 0.971026 with order 1 Centerline is valid? [True, True] Translation: X:5.46, Y:-0.10, Z:0.07 [[ 9.93268065e-01 1.09888796e-01 3.66470269e-02 5.45619858e+00] [-1.09824398e-01 9.93943849e-01 -3.77179515e-03 -9.63989714e-02] [-3.68395650e-02 -2.78334006e-04 9.99321154e-01 6.91924449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.122401007999997 meters Centerline goodness : 0.977975 with order 1 Centerline is valid? [True, True] Translation: X:5.51, Y:-0.13, Z:0.07 [[ 9.93407915e-01 1.08617563e-01 3.66461421e-02 5.51387896e+00] [-1.08551984e-01 9.94083586e-01 -3.78037248e-03 -1.30362004e-01] [-3.68399432e-02 -2.22559499e-04 9.99321154e-01 6.58127932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.182401008 meters Centerline goodness : 0.976486 with order 1 Centerline is valid? [True, True] Translation: X:5.57, Y:-0.16, Z:0.07 [[ 9.93017036e-01 1.12135123e-01 3.66453310e-02 5.57434572e+00] [-1.12071648e-01 9.93692908e-01 -3.78821881e-03 -1.57559673e-01] [-3.68389979e-02 -3.45136831e-04 9.99321154e-01 6.53015491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.242401007999998 meters Centerline goodness : 0.967882 with order 1 Centerline is valid? [True, True] Translation: X:5.63, Y:-0.18, Z:0.07 [[ 9.92549285e-01 1.16202885e-01 3.66443245e-02 5.63408384e+00] [-1.16141821e-01 9.93225379e-01 -3.79792960e-03 -1.77165780e-01] [-3.68374035e-02 -4.86306284e-04 9.99321154e-01 6.51509201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.302401008 meters Centerline goodness : 0.967895 with order 1 Centerline is valid? [True, True] Translation: X:5.69, Y:-0.21, Z:0.06 [[ 9.92097436e-01 1.19999507e-01 3.66441896e-02 5.69255477e+00] [-1.19940982e-01 9.92773754e-01 -3.79923120e-03 -2.07332125e-01] [-3.68352955e-02 -6.25932552e-04 9.99321154e-01 5.89757129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.362401008 meters Centerline goodness : 0.968459 with order 1 Centerline is valid? [True, True] Translation: X:5.75, Y:-0.23, Z:0.06 [[ 9.92060868e-01 1.20301703e-01 3.66433294e-02 5.75260492e+00] [-1.20243079e-01 9.92737178e-01 -3.80750948e-03 -2.28688649e-01] [-3.68352453e-02 -6.28825585e-04 9.99321154e-01 5.63395179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.422401007999998 meters Centerline goodness : 0.967831 with order 1 Centerline is valid? [True, True] Translation: X:5.81, Y:-0.25, Z:0.05 [[ 9.92086232e-01 1.20092644e-01 3.66424059e-02 5.81372374e+00] [-1.20033550e-01 9.92762500e-01 -3.81637645e-03 -2.49527602e-01] [-3.68355252e-02 -6.12143518e-04 9.99321154e-01 5.13198593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.482401008 meters Centerline goodness : 0.966956 with order 1 Centerline is valid? [True, True] Translation: X:5.87, Y:-0.28, Z:0.05 [[ 9.92369741e-01 1.17727267e-01 3.66413477e-02 5.87118163e+00] [-1.17666187e-01 9.93045833e-01 -3.82650928e-03 -2.82432383e-01] [-3.68370221e-02 -5.14135660e-04 9.99321154e-01 4.66287889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.542401008 meters Centerline goodness : 0.965182 with order 1 Centerline is valid? [True, True] Translation: X:5.93, Y:-0.31, Z:0.05 [[ 9.92650198e-01 1.15338887e-01 3.66405013e-02 5.92982588e+00] [-1.15275882e-01 9.93326113e-01 -3.83459709e-03 -3.06670860e-01] [-3.68382449e-02 -4.17352534e-04 9.99321154e-01 5.02090818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.602401007999998 meters Centerline goodness : 0.962929 with order 1 Centerline is valid? [True, True] Translation: X:5.99, Y:-0.33, Z:0.05 [[ 9.93036789e-01 1.11961662e-01 3.66404367e-02 5.98793412e+00] [-1.11896335e-01 9.93712484e-01 -3.83521352e-03 -3.33780683e-01] [-3.68394563e-02 -2.91422471e-04 9.99321154e-01 5.02679445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.662401008 meters Centerline goodness : 0.956853 with order 1 Centerline is valid? [True, True] Translation: X:6.05, Y:-0.35, Z:0.05 [[ 9.93024552e-01 1.12070166e-01 3.66403732e-02 6.04785027e+00] [-1.12004890e-01 9.93700252e-01 -3.83582006e-03 -3.53245609e-01] [-3.68394291e-02 -2.94837486e-04 9.99321154e-01 4.72004437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.722401008 meters Centerline goodness : 0.951159 with order 1 Centerline is valid? [True, True] Translation: X:6.11, Y:-0.38, Z:0.04 [[ 9.92979337e-01 1.12470368e-01 3.66394911e-02 6.10673458e+00] [-1.12405055e-01 9.93655034e-01 -3.84422775e-03 -3.79079752e-01] [-3.68393765e-02 -3.01225276e-04 9.99321154e-01 4.09502250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.782401007999997 meters Centerline goodness : 0.942333 with order 1 Centerline is valid? [True, False] Translation: X:6.12, Y:-0.40, Z:0.03 [[ 0.99423842 0.1038851 0.02641695 6.1218192 ] [-0.10355511 0.99453113 -0.01357065 -0.39525877] [-0.02768227 0.01075685 0.99955889 0.03246915] [ 0. 0. 0. 1. ]] SLAMing on 27.842401008 meters Centerline goodness : 0.941203 with order 1 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.40, Z:0.04 [[ 0.99552568 0.09395209 0.01008055 6.12779553] [-0.09376276 0.99543456 -0.01784871 -0.39699092] [-0.01171145 0.01682367 0.99978988 0.03650556] [ 0. 0. 0. 1. ]] SLAMing on 27.902401008 meters Centerline goodness : 0.938494 with order 1 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.40, Z:0.04 [[ 9.96814547e-01 7.97035911e-02 -2.84553317e-03 6.12689296e+00] [-7.97523760e-02 9.96407264e-01 -2.84977666e-02 -4.03326894e-01] [ 5.63935589e-04 2.86339263e-02 9.99589806e-01 3.64795965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.962401007999997 meters Centerline goodness : 0.935784 with order 1 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.43, Z:0.06 [[ 9.97760608e-01 6.67728404e-02 3.89331442e-03 6.10696629e+00] [-6.67818056e-02 9.97765134e-01 2.21994364e-03 -4.26130348e-01] [-3.73638144e-03 -2.47497488e-03 9.99989957e-01 5.58501193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.022401008 meters Centerline goodness : 0.936749 with order 1 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.43, Z:0.07 [[ 0.99822406 0.05867833 0.01027482 6.07831702] [-0.05889721 0.99801085 0.02248244 -0.43473207] [-0.00893515 -0.02304767 0.99969444 0.06671574] [ 0. 0. 0. 1. ]] SLAMing on 28.082401007999998 meters Centerline goodness : 0.930318 with order 1 Centerline is valid? [False, False] Translation: X:6.05, Y:-0.45, Z:0.10 [[ 0.99835648 0.04893659 0.02982538 6.04952113] [-0.05103256 0.99594275 0.07411955 -0.4536664 ] [-0.02607721 -0.0755198 0.99680326 0.09879874] [ 0. 0. 0. 1. ]] SLAMing on 28.142401008 meters Centerline goodness : 0.928626 with order 1 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.47, Z:0.14 [[ 0.99747467 0.04568296 0.05438152 6.01551861] [-0.05324578 0.98771462 0.14691735 -0.47351466] [-0.0470018 -0.14944192 0.98765274 0.14332126] [ 0. 0. 0. 1. ]] SLAMing on 28.202401008 meters Centerline goodness : 0.929535 with order 1 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.48, Z:0.16 [[ 0.99643565 0.04702467 0.07003333 5.99625097] [-0.05861553 0.98301232 0.17392813 -0.47901271] [-0.06066472 -0.17741323 0.9822649 0.1604629 ] [ 0. 0. 0. 1. ]] SLAMing on 28.262401007999998 meters Centerline goodness : 0.924051 with order 1 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.48, Z:0.17 [[ 0.99552545 0.04009936 0.08556354 5.98976981] [-0.05638149 0.97871673 0.19731873 -0.48136445] [-0.07583011 -0.20126002 0.97659828 0.16958208] [ 0. 0. 0. 1. ]] SLAMing on 28.322401008 meters Centerline goodness : 0.923036 with order 1 Centerline is valid? [False, False] Translation: X:5.97, Y:-0.48, Z:0.17 [[ 0.9959597 0.0349407 0.08272501 5.96719154] [-0.05046809 0.97974417 0.1937894 -0.4779853 ] [-0.07427821 -0.1971814 0.9775491 0.16933535] [ 0. 0. 0. 1. ]] SLAMing on 28.382401008 meters Centerline goodness : 0.921523 with order 1 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.47, Z:0.16 [[ 0.99626244 0.0339538 0.07942475 5.94021564] [-0.04676399 0.9851084 0.16545264 -0.46934495] [-0.07262425 -0.16854846 0.98301431 0.15702916] [ 0. 0. 0. 1. ]] SLAMing on 28.442401007999997 meters Centerline goodness : 0.922380 with order 1 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.46, Z:0.15 [[ 0.99646814 0.03599432 0.07586601 5.90910855] [-0.04632758 0.98918292 0.13917943 -0.45962392] [-0.07003569 -0.14220255 0.98735679 0.14546429] [ 0. 0. 0. 1. ]] SLAMing on 28.502401008 meters Centerline goodness : 0.922039 with order 1 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.45, Z:0.14 [[ 0.99667795 0.04189177 0.06984364 5.87532966] [-0.04990757 0.99184331 0.11728631 -0.44820056] [-0.06436062 -0.12038241 0.99063908 0.13673067] [ 0. 0. 0. 1. ]] SLAMing on 28.562401008 meters Centerline goodness : 0.924418 with order 1 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.43, Z:0.13 [[ 0.99648812 0.05251275 0.06522139 5.84709572] [-0.05906175 0.9929346 0.10292031 -0.43462186] [-0.05935595 -0.10641096 0.99254903 0.12753343] [ 0. 0. 0. 1. ]] SLAMing on 28.622401007999997 meters Centerline goodness : 0.923909 with order 1 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.42, Z:0.12 [[ 0.99617329 0.06194844 0.06165357 5.81601472] [-0.06716642 0.9939843 0.08650941 -0.42009253] [-0.05592356 -0.09031941 0.99434147 0.12047937] [ 0. 0. 0. 1. ]] SLAMing on 28.682401008 meters Centerline goodness : 0.927563 with order 1 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.41, Z:0.12 [[ 0.99624422 0.06402632 0.05829313 5.77345965] [-0.06846529 0.99462797 0.07763824 -0.41037795] [-0.05300909 -0.0813377 0.99527595 0.12130619] [ 0. 0. 0. 1. ]] SLAMing on 28.742401007999998 meters Centerline goodness : 0.931121 with order 1 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.40, Z:0.12 [[ 0.99708884 0.05743725 0.05014787 5.76562834] [-0.06105997 0.99538886 0.0739777 -0.40001654] [-0.04566756 -0.07682437 0.99599824 0.12351879] [ 0. 0. 0. 1. ]] SLAMing on 28.802401007999997 meters Centerline goodness : 0.930504 with order 1 Centerline is valid? [False, False] Translation: X:5.76, Y:-0.39, Z:0.13 [[ 0.99795392 0.05124013 0.03824173 5.76466907] [-0.05395715 0.99581455 0.07376991 -0.39194376] [-0.0343017 -0.07568238 0.99654181 0.12831802] [ 0. 0. 0. 1. ]] SLAMing on 28.862401008 meters Centerline goodness : 0.931311 with order 1 Centerline is valid? [False, False] Translation: X:5.76, Y:-0.38, Z:0.13 [[ 0.99845412 0.04904459 0.02615335 5.76413093] [-0.05075591 0.99629862 0.069375 -0.38350154] [-0.02265408 -0.07059519 0.99724777 0.13002356] [ 0. 0. 0. 1. ]] SLAMing on 28.922401007999998 meters Centerline goodness : 0.929551 with order 1 Centerline is valid? [False, False] Translation: X:5.76, Y:-0.38, Z:0.13 [[ 0.99878358 0.04731535 0.01387848 5.76486764] [-0.04812282 0.9967132 0.06516893 -0.37649075] [-0.01074937 -0.06575753 0.99777773 0.12963984] [ 0. 0. 0. 1. ]] SLAMing on 28.982401008 meters Centerline goodness : 0.929998 with order 1 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.37, Z:0.13 [[ 9.98781756e-01 4.93384754e-02 8.48312028e-04 5.76552231e+00] [-4.93000130e-02 9.96968059e-01 6.02013132e-02 -3.67470630e-01] [ 2.12450101e-03 -6.01697951e-02 9.98185896e-01 1.32723674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.042401008 meters Centerline goodness : 0.931166 with order 1 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.36, Z:0.13 [[ 0.99879764 0.04737337 -0.01261065 5.76756728] [-0.04664492 0.9975117 0.05286463 -0.36044232] [ 0.01508365 -0.05221284 0.99852206 0.13404272] [ 0. 0. 0. 1. ]] SLAMing on 29.102401007999998 meters Centerline goodness : 0.932266 with order 1 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.36, Z:0.13 [[ 0.99872856 0.04837256 -0.01419029 5.77186849] [-0.04756812 0.99749244 0.05240327 -0.35914436] [ 0.01668959 -0.05166164 0.99852518 0.13204339] [ 0. 0. 0. 1. ]] SLAMing on 29.162401008 meters Centerline goodness : 0.928658 with order 1 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.36, Z:0.13 [[ 0.9989733 0.04284528 -0.01471857 5.77410708] [-0.04207118 0.99789289 0.04939429 -0.36116574] [ 0.01680387 -0.04872435 0.9986709 0.12918571] [ 0. 0. 0. 1. ]] SLAMing on 29.222401008 meters Centerline goodness : 0.929106 with order 1 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.36, Z:0.13 [[ 0.99920213 0.03762206 -0.01340465 5.77275214] [-0.03690145 0.9980439 0.05046433 -0.36376091] [ 0.015277 -0.04992941 0.9986359 0.12684809] [ 0. 0. 0. 1. ]] SLAMing on 29.282401007999997 meters Centerline goodness : 0.925565 with order 1 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.37, Z:0.12 [[ 0.99946087 0.03058976 -0.01192641 5.77148697] [-0.02995763 0.99829999 0.04999662 -0.36647533] [ 0.01343552 -0.04961238 0.99867818 0.12359172] [ 0. 0. 0. 1. ]] SLAMing on 29.342401008 meters Centerline goodness : 0.924215 with order 1 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.37, Z:0.12 [[ 0.99957954 0.02644022 -0.01190234 5.7724745 ] [-0.02585216 0.99855509 0.04711045 -0.36722308] [ 0.01313075 -0.04678294 0.99881877 0.12169053] [ 0. 0. 0. 1. ]] SLAMing on 29.402401008 meters Centerline goodness : 0.922818 with order 1 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.37, Z:0.12 [[ 0.99958344 0.02627791 -0.01193353 5.77389986] [-0.02568964 0.99856317 0.04702809 -0.36623032] [ 0.01315218 -0.04670193 0.99882228 0.11949682] [ 0. 0. 0. 1. ]] SLAMing on 29.462401007999997 meters Centerline goodness : 0.927295 with order 1 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.36, Z:0.12 [[ 0.99944903 0.0300456 -0.01410335 5.7783198 ] [-0.02937636 0.99853341 0.04547596 -0.36423164] [ 0.01544902 -0.0450366 0.99886587 0.11947684] [ 0. 0. 0. 1. ]] SLAMing on 29.522401008 meters Centerline goodness : 0.930887 with order 1 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.36, Z:0.12 [[ 0.99899433 0.0407029 -0.01880425 5.78600945] [-0.03991628 0.99838323 0.04046748 -0.35729036] [ 0.020421 -0.03967618 0.9990039 0.1192777 ] [ 0. 0. 0. 1. ]] SLAMing on 29.582401007999998 meters Centerline goodness : 0.932637 with order 1 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.35, Z:0.12 [[ 0.99870111 0.04598473 -0.02194302 5.79126128] [-0.04514009 0.99827475 0.03754854 -0.35451968] [ 0.02363182 -0.03650926 0.99905386 0.1208894 ] [ 0. 0. 0. 1. ]] SLAMing on 29.642401008 meters Centerline goodness : 0.936287 with order 1 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.35, Z:0.12 [[ 0.99840957 0.05126497 -0.02345696 5.79376235] [-0.05036885 0.99803319 0.03731918 -0.35101238] [ 0.02532399 -0.03607832 0.99902805 0.12230197] [ 0. 0. 0. 1. ]] SLAMing on 29.702401008 meters Centerline goodness : 0.933487 with order 1 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.35, Z:0.12 [[ 0.99824377 0.05350852 -0.02542061 5.79772494] [-0.05259789 0.997994 0.03523416 -0.35039773] [ 0.02725495 -0.03383521 0.99905573 0.12236977] [ 0. 0. 0. 1. ]] SLAMing on 29.762401007999998 meters Centerline goodness : 0.937200 with order 1 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.35, Z:0.12 [[ 0.99792054 0.05735673 -0.02940749 5.80452758] [-0.05640153 0.99788416 0.03234306 -0.35189738] [ 0.03120037 -0.03061718 0.99904411 0.12357043] [ 0. 0. 0. 1. ]] SLAMing on 29.822401008 meters Centerline goodness : 0.929944 with order 1 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.36, Z:0.12 [[ 0.99746973 0.06337566 -0.03221277 5.81087611] [-0.06225797 0.99746048 0.03459099 -0.35565912] [ 0.03432319 -0.03249797 0.99888228 0.12261986] [ 0. 0. 0. 1. ]] SLAMing on 29.882401008 meters Centerline goodness : 0.926624 with order 1 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.36, Z:0.12 [[ 0.99718093 0.06696454 -0.03385179 5.81651828] [-0.06569174 0.99713848 0.03740915 -0.35931606] [ 0.03626001 -0.03507991 0.99872649 0.11909716] [ 0. 0. 0. 1. ]] SLAMing on 29.942401007999997 meters Centerline goodness : 0.929262 with order 1 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.37, Z:0.11 [[ 0.99685608 0.06981581 -0.0374661 5.83481802] [-0.06888876 0.99729864 0.02549054 -0.36825365] [ 0.03914453 -0.02282941 0.99897273 0.10844007] [ 0. 0. 0. 1. ]] SLAMing on 30.002401008 meters Centerline goodness : 0.924556 with order 1 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.38, Z:0.11 [[ 0.9966574 0.0700793 -0.04198715 5.84246547] [-0.06926793 0.99738787 0.0204788 -0.37645755] [ 0.04331262 -0.01750198 0.99890825 0.10838107] [ 0. 0. 0. 1. ]] SLAMing on 30.062401008 meters Centerline goodness : 0.922830 with order 1 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.39, Z:0.12 [[ 0.99667951 0.07134181 -0.03924677 5.85167771] [-0.0699387 0.99690027 0.03603362 -0.3889046 ] [ 0.04169582 -0.0331691 0.99857963 0.11736509] [ 0. 0. 0. 1. ]] SLAMing on 30.122401007999997 meters Centerline goodness : 0.923830 with order 1 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.41, Z:0.14 [[ 0.99696029 0.07205384 -0.02963829 5.87775214] [-0.06991573 0.99524888 0.06776025 -0.40912629] [ 0.03437986 -0.0654821 0.99726131 0.13804732] [ 0. 0. 0. 1. ]] SLAMing on 30.182401008 meters Centerline goodness : 0.923616 with order 1 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.43, Z:0.14 [[ 0.99718497 0.06823665 -0.03107889 5.90465999] [-0.06593507 0.99537451 0.0698724 -0.42704687] [ 0.035703 -0.06762652 0.99707169 0.14462683] [ 0. 0. 0. 1. ]] SLAMing on 30.242401007999998 meters Centerline goodness : 0.922514 with order 1 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.46, Z:0.18 [[ 0.99760367 0.06533863 -0.02275465 5.92819591] [-0.0624133 0.99179457 0.11157106 -0.45817144] [ 0.02985784 -0.10988351 0.99349591 0.17881113] [ 0. 0. 0. 1. ]] SLAMing on 30.302401007999997 meters Centerline goodness : 0.922009 with order 1 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.47, Z:0.18 [[ 0.99769261 0.06158456 -0.02857983 5.95103634] [-0.05837025 0.99304955 0.10220327 -0.46796215] [ 0.03467533 -0.10029924 0.9943529 0.17648162] [ 0. 0. 0. 1. ]] SLAMing on 30.362401008 meters Centerline goodness : 0.920423 with order 1 Centerline is valid? [False, False] Translation: X:5.98, Y:-0.49, Z:0.21 [[ 0.99811973 0.05663301 -0.02344587 5.98385203] [-0.05276166 0.98851558 0.14160919 -0.49471448] [ 0.03119636 -0.14010588 0.98964495 0.20913556] [ 0. 0. 0. 1. ]] SLAMing on 30.422401007999998 meters Centerline goodness : 0.918344 with order 1 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.51, Z:0.22 [[ 0.99826266 0.0533437 -0.02502203 6.01658847] [-0.04914809 0.98810329 0.14572699 -0.50536456] [ 0.03249796 -0.14424403 0.98900836 0.21675053] [ 0. 0. 0. 1. ]] SLAMing on 30.482401008 meters Centerline goodness : 0.921271 with order 1 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.53, Z:0.26 [[ 9.98958548e-01 4.53065745e-02 -5.39752458e-03 6.04114564e+00] [-4.33655133e-02 9.79560487e-01 1.96419666e-01 -5.26509980e-01] [ 1.41863040e-02 -1.95981038e-01 9.80505064e-01 2.55138391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.542401008 meters Centerline goodness : 0.921414 with order 1 Centerline is valid? [False, False] Translation: X:6.05, Y:-0.53, Z:0.25 [[ 9.99136225e-01 4.15490216e-02 6.95409401e-04 6.05290727e+00] [-4.09963300e-02 9.82834991e-01 1.79874073e-01 -5.26064720e-01] [ 6.79011904e-03 -1.79747211e-01 9.83689399e-01 2.45270169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.602401007999998 meters Centerline goodness : 0.922531 with order 1 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.54, Z:0.26 [[ 9.99201652e-01 3.95626159e-02 5.55508048e-03 6.08605934e+00] [-3.98900106e-02 9.80329248e-01 1.93296021e-01 -5.35741687e-01] [ 2.20148837e-03 -1.93363296e-01 9.81124757e-01 2.58587174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.662401008 meters Centerline goodness : 0.925114 with order 1 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.54, Z:0.25 [[ 9.99163741e-01 3.99607700e-02 8.65765661e-03 6.10154132e+00] [-4.08672870e-02 9.82735011e-01 1.80448782e-01 -5.35979127e-01] [-1.29730997e-03 -1.80651696e-01 9.83546278e-01 2.49014395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.722401008 meters Centerline goodness : 0.920245 with order 1 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.54, Z:0.25 [[ 9.98776104e-01 4.88974013e-02 7.43899112e-03 6.14826251e+00] [-4.94278430e-02 9.81346960e-01 1.85782216e-01 -5.44869006e-01] [ 1.78403623e-03 -1.85922531e-01 9.82562787e-01 2.53245526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.782401007999997 meters Centerline goodness : 0.923871 with order 1 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.55, Z:0.24 [[ 9.98143557e-01 6.08157794e-02 3.29872324e-03 6.15675651e+00] [-6.05296093e-02 9.84526954e-01 1.64447081e-01 -5.46164560e-01] [ 6.75329547e-03 -1.64341465e-01 9.86380391e-01 2.44903619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.842401008 meters Centerline goodness : 0.928472 with order 1 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.55, Z:0.23 [[ 9.98041947e-01 6.21646298e-02 6.91604826e-03 6.16012772e+00] [-6.25099372e-02 9.87450668e-01 1.45029947e-01 -5.45254876e-01] [ 2.18647649e-03 -1.45178292e-01 9.89403094e-01 2.34102560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.902401008 meters Centerline goodness : 0.930369 with order 1 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.55, Z:0.22 [[ 9.98140746e-01 5.99005859e-02 1.12681042e-02 6.17264893e+00] [-6.08530378e-02 9.89844221e-01 1.28473058e-01 -5.45913619e-01] [-3.45805636e-03 -1.28919893e-01 9.91648982e-01 2.23680849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.962401007999997 meters Centerline goodness : 0.933216 with order 1 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.55, Z:0.22 [[ 9.98151298e-01 6.03558449e-02 7.15251498e-03 6.19974805e+00] [-6.07763762e-02 9.92091373e-01 1.09822307e-01 -5.48973881e-01] [-4.67530285e-04 -1.10053982e-01 9.93925501e-01 2.16855214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.022401008 meters Centerline goodness : 0.938528 with order 1 Centerline is valid? [False, False] Translation: X:6.21, Y:-0.55, Z:0.20 [[ 9.98244754e-01 5.86373545e-02 8.31098741e-03 6.21359056e+00] [-5.91495961e-02 9.94138777e-01 9.04953973e-02 -5.46480511e-01] [-2.95586417e-03 -9.08281471e-02 9.95862195e-01 2.04170614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.082401007999998 meters Centerline goodness : 0.931004 with order 1 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.55, Z:0.20 [[ 9.98197998e-01 5.99855948e-02 1.57658266e-03 6.23654680e+00] [-5.99170896e-02 9.94937548e-01 8.06797193e-02 -5.46096104e-01] [ 3.27101967e-03 -8.06287985e-02 9.96738831e-01 1.96904047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.142401008 meters Centerline goodness : 0.928220 with order 1 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.55, Z:0.21 [[ 9.98703730e-01 5.06797965e-02 4.73482516e-03 6.28066179e+00] [-5.08986363e-02 9.93542355e-01 1.01404726e-01 -5.52881331e-01] [ 4.34921538e-04 -1.01514274e-01 9.94833988e-01 2.08044678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.202401008 meters Centerline goodness : 0.923784 with order 1 Centerline is valid? [False, False] Translation: X:6.31, Y:-0.56, Z:0.22 [[ 9.99022144e-01 4.32484355e-02 9.18304566e-03 6.31187573e+00] [-4.40387531e-02 9.91794479e-01 1.20017915e-01 -5.58284624e-01] [-3.91710694e-03 -1.20304965e-01 9.92729254e-01 2.21542711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.262401007999998 meters Centerline goodness : 0.929031 with order 1 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.57, Z:0.25 [[ 0.99918401 0.0328081 0.02355726 6.3396132 ] [-0.03615631 0.98650844 0.15966787 -0.56683403] [-0.01800103 -0.16038932 0.98688967 0.25223235] [ 0. 0. 0. 1. ]] SLAMing on 31.322401008 meters Centerline goodness : 0.932576 with order 1 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.56, Z:0.24 [[ 0.99904558 0.03377625 0.02769636 6.35144029] [-0.03740657 0.9889835 0.14322147 -0.56091654] [-0.02255376 -0.1441208 0.98930305 0.23857525] [ 0. 0. 0. 1. ]] SLAMing on 31.382401008 meters Centerline goodness : 0.932867 with order 1 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.56, Z:0.23 [[ 0.99877832 0.04342463 0.02358314 6.37594826] [-0.04611679 0.9905498 0.12916783 -0.5579632 ] [-0.01775121 -0.1300976 0.99134228 0.23294915] [ 0. 0. 0. 1. ]] SLAMing on 31.442401007999997 meters Centerline goodness : 0.936962 with order 1 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.55, Z:0.22 [[ 0.9985767 0.04612129 0.02678432 6.39025648] [-0.04896286 0.99186555 0.11749625 -0.55396011] [-0.02114736 -0.11864046 0.99271206 0.22447358] [ 0. 0. 0. 1. ]] SLAMing on 31.502401008 meters Centerline goodness : 0.943421 with order 1 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.55, Z:0.21 [[ 0.99826735 0.0502533 0.03060894 6.40020885] [-0.05317586 0.99319145 0.10364877 -0.54731503] [-0.02519185 -0.10509684 0.99414286 0.21315171] [ 0. 0. 0. 1. ]] SLAMing on 31.562401008 meters Centerline goodness : 0.943759 with order 1 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.54, Z:0.20 [[ 0.99803268 0.05308061 0.03336502 6.41040934] [-0.05580509 0.9946555 0.086869 -0.53990735] [-0.02857564 -0.08856004 0.99566086 0.19948999] [ 0. 0. 0. 1. ]] SLAMing on 31.622401007999997 meters Centerline goodness : 0.944498 with order 1 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.53, Z:0.18 [[ 0.99773224 0.05741991 0.03511886 6.41698596] [-0.05968646 0.99594487 0.06731528 -0.53047922] [-0.03111121 -0.06925875 0.99711349 0.1832579 ] [ 0. 0. 0. 1. ]] SLAMing on 31.682401008 meters Centerline goodness : 0.944269 with order 1 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.53, Z:0.17 [[ 0.99757141 0.05842359 0.03792043 6.43254066] [-0.06041861 0.99672272 0.05379052 -0.52638697] [-0.03465352 -0.05595099 0.99783196 0.17288874] [ 0. 0. 0. 1. ]] SLAMing on 31.742401007999998 meters Centerline goodness : 0.943206 with order 1 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.52, Z:0.16 [[ 0.99741219 0.0593911 0.04051682 6.44772227] [-0.06096141 0.99739001 0.03868943 -0.52073294] [-0.03811327 -0.04105927 0.99842952 0.16058032] [ 0. 0. 0. 1. ]] SLAMing on 31.802401007999997 meters Centerline goodness : 0.940716 with order 1 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.52, Z:0.16 [[ 0.9974694 0.05882905 0.03992415 6.45049444] [-0.06027245 0.99753375 0.03596722 -0.51704472] [-0.03770977 -0.03828253 0.99855517 0.15521455] [ 0. 0. 0. 1. ]] SLAMing on 31.862401008 meters Centerline goodness : 0.939791 with order 1 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.52, Z:0.16 [[ 0.99736574 0.06143337 0.03856838 6.45486556] [-0.06299285 0.99718733 0.04061194 -0.5199811 ] [-0.03596497 -0.04293449 0.99843034 0.15600376] [ 0. 0. 0. 1. ]] SLAMing on 31.922401007999998 meters Centerline goodness : 0.931398 with order 1 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.52, Z:0.15 [[ 0.99732933 0.0621702 0.03832851 6.45488013] [-0.06369869 0.99716571 0.04003768 -0.51954698] [-0.03573072 -0.04237223 0.99846277 0.1546239 ] [ 0. 0. 0. 1. ]] SLAMing on 31.982401008 meters Centerline goodness : 0.933998 with order 1 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.52, Z:0.16 [[ 0.99717648 0.06410322 0.03911322 6.4510907 ] [-0.06570496 0.99699064 0.04114031 -0.52005751] [-0.03635829 -0.04359408 0.99838752 0.15670402] [ 0. 0. 0. 1. ]] SLAMing on 32.042401008 meters Centerline goodness : 0.939110 with order 1 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.52, Z:0.16 [[ 0.99737474 0.0607301 0.0394395 6.44942089] [-0.06218915 0.99738256 0.0368856 -0.51954881] [-0.0370962 -0.03924148 0.99854092 0.15652293] [ 0. 0. 0. 1. ]] SLAMing on 32.102401008 meters Centerline goodness : 0.941352 with order 1 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.52, Z:0.16 [[ 0.9975255 0.05784885 0.03995491 6.44678333] [-0.05916808 0.99771348 0.03266407 -0.51823325] [-0.03797398 -0.0349473 0.99866744 0.15672585] [ 0. 0. 0. 1. ]] SLAMing on 32.162401007999996 meters Centerline goodness : 0.941800 with order 1 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.52, Z:0.15 [[ 0.99762501 0.05674618 0.0390411 6.45052146] [-0.05799066 0.99781947 0.03151795 -0.5178731 ] [-0.03716745 -0.03370712 0.99874041 0.15389209] [ 0. 0. 0. 1. ]] SLAMing on 32.222401008 meters Centerline goodness : 0.931886 with order 1 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.52, Z:0.15 [[ 0.99769553 0.05613516 0.03811122 6.45353287] [-0.05727956 0.99791838 0.02963033 -0.51584325] [-0.03636859 -0.03174504 0.99883411 0.15041614] [ 0. 0. 0. 1. ]] SLAMing on 32.282401008 meters Centerline goodness : 0.934205 with order 1 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.51, Z:0.15 [[ 0.99790942 0.05233227 0.03792265 6.4534823 ] [-0.05328043 0.99828051 0.02443803 -0.5133571 ] [-0.03657854 -0.02640747 0.99898181 0.14895524] [ 0. 0. 0. 1. ]] SLAMing on 32.342401007999996 meters Centerline goodness : 0.932482 with order 1 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.51, Z:0.15 [[ 0.99806667 0.05003412 0.03687155 6.4590477 ] [-0.0509013 0.99843956 0.02296742 -0.51286002] [-0.03566486 -0.02479983 0.99905605 0.1452783 ] [ 0. 0. 0. 1. ]] SLAMing on 32.402401008 meters Centerline goodness : 0.925965 with order 1 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.52, Z:0.15 [[ 0.9986506 0.03745425 0.03597452 6.49055676] [-0.03850733 0.99883625 0.02904018 -0.51655638] [-0.03484497 -0.03038627 0.99893068 0.14750685] [ 0. 0. 0. 1. ]] SLAMing on 32.462401008 meters Centerline goodness : 0.923274 with order 1 Centerline is valid? [False, False] Translation: X:6.51, Y:-0.52, Z:0.15 [[ 0.99891548 0.03001894 0.03559112 6.51191903] [-0.03136224 0.99879286 0.03780523 -0.52181535] [-0.03441328 -0.03888045 0.99865111 0.15491359] [ 0. 0. 0. 1. ]] SLAMing on 32.522401007999996 meters Centerline goodness : 0.927605 with order 1 Centerline is valid? [False, False] Translation: X:6.55, Y:-0.53, Z:0.16 [[ 0.99907504 0.02517641 0.03485982 6.54534054] [-0.02641322 0.99902107 0.03548579 -0.52520205] [-0.03393229 -0.03637373 0.99876201 0.15719137] [ 0. 0. 0. 1. ]] SLAMing on 32.582401008 meters Centerline goodness : 0.926265 with order 1 Centerline is valid? [False, False] Translation: X:6.58, Y:-0.53, Z:0.16 [[ 0.9990927 0.02738432 0.03261703 6.57704716] [-0.02863948 0.99884203 0.03865731 -0.52607778] [-0.03152066 -0.03955637 0.99872005 0.1598221 ] [ 0. 0. 0. 1. ]] SLAMing on 32.642401008 meters Centerline goodness : 0.923701 with order 1 Centerline is valid? [False, False] Translation: X:6.60, Y:-0.52, Z:0.15 [[ 0.99897243 0.02875684 0.03503049 6.6000554 ] [-0.02985334 0.99906752 0.031191 -0.51982825] [-0.03410087 -0.03220473 0.99889939 0.15237412] [ 0. 0. 0. 1. ]] SLAMing on 32.702401007999995 meters Centerline goodness : 0.923832 with order 1 Centerline is valid? [False, False] Translation: X:6.61, Y:-0.52, Z:0.16 [[ 0.99906201 0.02817055 0.03288635 6.60997177] [-0.02944714 0.99880514 0.03900207 -0.52035833] [-0.03174834 -0.0399339 0.99869782 0.16082593] [ 0. 0. 0. 1. ]] SLAMing on 32.762401008 meters Centerline goodness : 0.920796 with order 1 Centerline is valid? [False, False] Translation: X:6.62, Y:-0.52, Z:0.16 [[ 0.99913462 0.02843223 0.03035834 6.61923754] [-0.02977068 0.99856182 0.04458688 -0.52099418] [-0.02904697 -0.04545208 0.99854413 0.16460509] [ 0. 0. 0. 1. ]] SLAMing on 32.822401008 meters Centerline goodness : 0.917505 with order 1 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.52, Z:0.17 [[ 0.99919829 0.02480769 0.03142237 6.64891901] [-0.02675187 0.99765217 0.06304359 -0.52095514] [-0.02978463 -0.06383365 0.99751599 0.17390243] [ 0. 0. 0. 1. ]] SLAMing on 32.882401007999995 meters Centerline goodness : 0.914160 with order 1 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.53, Z:0.19 [[ 0.99905687 0.02292629 0.03687488 6.68450194] [-0.02632699 0.99517183 0.09455114 -0.52694252] [-0.03452914 -0.09543277 0.99483683 0.19335725] [ 0. 0. 0. 1. ]] SLAMing on 32.942401008 meters Centerline goodness : 0.916906 with order 1 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.52, Z:0.18 [[ 0.99885938 0.02562714 0.04028875 6.70006526] [-0.02889085 0.99616128 0.08263191 -0.51779984] [-0.03801648 -0.08370163 0.99576543 0.18269729] [ 0. 0. 0. 1. ]] SLAMing on 33.002401008 meters Centerline goodness : 0.917913 with order 1 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.51, Z:0.17 [[ 0.99864496 0.03052347 0.04214939 6.71741156] [-0.03352231 0.9968138 0.07237752 -0.51052092] [-0.03980588 -0.07369239 0.99648629 0.17154196] [ 0. 0. 0. 1. ]] SLAMing on 33.062401008 meters Centerline goodness : 0.914316 with order 1 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.50, Z:0.16 [[ 0.99820586 0.03952861 0.04497267 6.72711621] [-0.04232923 0.99710738 0.06312766 -0.50233256] [-0.04234723 -0.06491806 0.99699165 0.16238392] [ 0. 0. 0. 1. ]] SLAMing on 33.122401008 meters Centerline goodness : 0.916716 with order 1 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.50, Z:0.15 [[ 0.9978265 0.04363572 0.04937807 6.7382013 ] [-0.04619636 0.99757995 0.05196285 -0.49762421] [-0.04699113 -0.054131 0.99742753 0.15396805] [ 0. 0. 0. 1. ]] SLAMing on 33.182401008 meters Centerline goodness : 0.920129 with order 1 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.49, Z:0.15 [[ 0.9974891 0.04643552 0.05347183 6.75269088] [-0.04870418 0.99793251 0.0419357 -0.49297735] [-0.05141397 -0.0444347 0.99768841 0.14620319] [ 0. 0. 0. 1. ]] SLAMing on 33.242401008 meters Centerline goodness : 0.922989 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.49, Z:0.14 [[ 0.99728315 0.04655501 0.05708727 6.77028785] [-0.04837388 0.9983511 0.03090373 -0.4908381 ] [-0.05555441 -0.0335813 0.99789078 0.13840876] [ 0. 0. 0. 1. ]] SLAMing on 33.302401008 meters Centerline goodness : 0.926047 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.50, Z:0.14 [[ 0.99717504 0.0492822 0.05668521 6.77235817] [-0.0513903 0.99801679 0.03635267 -0.49527121] [-0.05478125 -0.03916305 0.99773006 0.140519 ] [ 0. 0. 0. 1. ]] SLAMing on 33.362401008 meters Centerline goodness : 0.925618 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.50, Z:0.14 [[ 0.99718968 0.04932772 0.05638721 6.77324412] [-0.05143135 0.99800987 0.03648447 -0.49677248] [-0.0544753 -0.03928201 0.99774213 0.13998047] [ 0. 0. 0. 1. ]] SLAMing on 33.422401008 meters Centerline goodness : 0.923185 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.50, Z:0.14 [[ 0.9971921 0.04957163 0.0561299 6.77447102] [-0.05165271 0.99800689 0.03625242 -0.49793757] [-0.05422094 -0.03904988 0.9977651 0.13794979] [ 0. 0. 0. 1. ]] SLAMing on 33.482401008 meters Centerline goodness : 0.919652 with order 1 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.50, Z:0.14 [[ 0.99695855 0.05410786 0.05608903 6.77442275] [-0.05646683 0.99754734 0.04136177 -0.50190573] [-0.05371347 -0.04440314 0.99756866 0.1387423 ] [ 0. 0. 0. 1. ]] SLAMing on 33.542401008 meters Centerline goodness : 0.913947 with order 1 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.50, Z:0.13 [[ 0.99653375 0.05853656 0.05910971 6.7883633 ] [-0.06040588 0.99771245 0.03034777 -0.49804947] [-0.05719804 -0.03381315 0.99779009 0.12869966] [ 0. 0. 0. 1. ]] SLAMing on 33.602401008 meters Centerline goodness : 0.913066 with order 1 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.50, Z:0.13 [[ 0.99652728 0.05875747 0.05899945 6.78874873] [-0.06057708 0.99772632 0.02953986 -0.49621535] [-0.05712961 -0.03301129 0.99782086 0.12724347] [ 0. 0. 0. 1. ]] SLAMing on 33.662401007999996 meters Centerline goodness : 0.907635 with order 1 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.49, Z:0.12 [[ 0.9963168 0.06253478 0.05867052 6.79089768] [-0.06449689 0.99739938 0.03216577 -0.49467664] [-0.05650646 -0.03583137 0.99775906 0.12355365] [ 0. 0. 0. 1. ]] SLAMing on 33.722401008 meters Centerline goodness : 0.915852 with order 1 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.50, Z:0.13 [[ 0.99686531 0.05309156 0.05865865 6.79124988] [-0.05488233 0.99806136 0.02935053 -0.50188448] [-0.05698666 -0.03247785 0.99784654 0.13435883] [ 0. 0. 0. 1. ]] SLAMing on 33.782401008 meters Centerline goodness : 0.905709 with order 1 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.50, Z:0.13 [[ 0.99763778 0.04170795 0.05458295 6.81442478] [-0.04313954 0.99874822 0.02531734 -0.50003918] [-0.05345869 -0.02761222 0.99818823 0.12545915] [ 0. 0. 0. 1. ]] SLAMing on 33.842401007999996 meters Centerline goodness : 0.904330 with order 1 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.50, Z:0.12 [[ 0.99762088 0.04373407 0.05329072 6.8198307 ] [-0.04529154 0.99857069 0.0283769 -0.49874794] [-0.05197351 -0.030723 0.99817576 0.12312206] [ 0. 0. 0. 1. ]] SLAMing on 33.902401008 meters Centerline goodness : 0.907956 with order 1 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.50, Z:0.12 [[ 0.99715137 0.04725099 0.05879197 6.83145541] [-0.04866254 0.99855472 0.02281301 -0.49880496] [-0.05762906 -0.025609 0.99800955 0.12324245] [ 0. 0. 0. 1. ]] SLAMing on 33.962401008 meters Centerline goodness : 0.909130 with order 1 Centerline is valid? [False, False] Translation: X:6.85, Y:-0.50, Z:0.12 [[ 0.99685329 0.0480553 0.06304137 6.84774165] [-0.04915638 0.99866242 0.01603211 -0.49990406] [-0.06218662 -0.01908054 0.99788214 0.12232586] [ 0. 0. 0. 1. ]] SLAMing on 34.022401007999996 meters Centerline goodness : 0.907399 with order 1 Centerline is valid? [False, False] Translation: X:6.85, Y:-0.50, Z:0.12 [[ 0.99678849 0.05005088 0.06251094 6.85118127] [-0.051448 0.99845606 0.02094296 -0.5033943 ] [-0.06136621 -0.02409176 0.99782452 0.12312587] [ 0. 0. 0. 1. ]] SLAMing on 34.082401008 meters Centerline goodness : 0.907346 with order 1 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.51, Z:0.12 [[ 0.99717275 0.04494038 0.06022342 6.86318816] [-0.04635889 0.99867441 0.02236707 -0.5062517 ] [-0.05913841 -0.02509572 0.99793429 0.12401083] [ 0. 0. 0. 1. ]] SLAMing on 34.142401008 meters Centerline goodness : 0.906629 with order 1 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.51, Z:0.12 [[ 0.99739066 0.04081133 0.05955089 6.86464035] [-0.04199481 0.99894172 0.0187586 -0.50926936] [-0.0587223 -0.02121048 0.998049 0.12399617] [ 0. 0. 0. 1. ]] SLAMing on 34.202401007999995 meters Centerline goodness : 0.908208 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:-0.52, Z:0.14 [[ 0.99762791 0.03068248 0.06162097 6.90896512] [-0.03371764 0.99823758 0.04883498 -0.52274278] [-0.06001399 -0.05079685 0.99690421 0.14447825] [ 0. 0. 0. 1. ]] SLAMing on 34.262401008 meters Centerline goodness : 0.901614 with order 1 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.53, Z:0.14 [[ 0.99792765 0.03088027 0.05645182 6.9360218 ] [-0.03342084 0.99844447 0.04462825 -0.52563072] [-0.05498587 -0.04642244 0.99740739 0.1416227 ] [ 0. 0. 0. 1. ]] SLAMing on 34.322401008 meters Centerline goodness : 0.900817 with order 1 Centerline is valid? [False, False] Translation: X:6.97, Y:-0.53, Z:0.15 [[ 0.99816772 0.02986155 0.05262599 6.9727758 ] [-0.03270071 0.99800852 0.05394123 -0.53218363] [-0.05091041 -0.0555633 0.99715638 0.15357465] [ 0. 0. 0. 1. ]] SLAMing on 34.382401007999995 meters Centerline goodness : 0.900648 with order 1 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.54, Z:0.17 [[ 0.99814446 0.03084973 0.05249701 7.0126872 ] [-0.03468025 0.9966778 0.07369294 -0.54042135] [-0.0500492 -0.07537681 0.9958983 0.17230161] [ 0. 0. 0. 1. ]] SLAMing on 34.442401008 meters Centerline goodness : 0.904455 with order 1 Centerline is valid? [False, False] Translation: X:7.04, Y:-0.54, Z:0.19 [[ 0.99794092 0.02614701 0.05856838 7.03769237] [-0.03191451 0.99449451 0.09981053 -0.54459964] [-0.05563619 -0.10147419 0.99328123 0.1941479 ] [ 0. 0. 0. 1. ]] SLAMing on 34.502401008 meters Centerline goodness : 0.903289 with order 1 Centerline is valid? [False, False] Translation: X:7.04, Y:-0.54, Z:0.20 [[ 0.99787486 0.02770436 0.05897648 7.04003145] [-0.03378687 0.99392215 0.10477218 -0.54198918] [-0.05571538 -0.10654215 0.99274597 0.19817229] [ 0. 0. 0. 1. ]] SLAMing on 34.562401008 meters Centerline goodness : 0.903923 with order 1 Centerline is valid? [False, False] Translation: X:7.04, Y:-0.54, Z:0.20 [[ 0.99776094 0.03054225 0.05950022 7.04023196] [-0.03687486 0.99342109 0.10841944 -0.5374019 ] [-0.05579739 -0.11037075 0.99232301 0.2002882 ] [ 0. 0. 0. 1. ]] SLAMing on 34.622401008 meters Centerline goodness : 0.904806 with order 1 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.53, Z:0.19 [[ 0.99749798 0.03362779 0.06218485 7.05575358] [-0.03955085 0.99453593 0.09661272 -0.53036299] [-0.05859619 -0.09883046 0.99337758 0.18987448] [ 0. 0. 0. 1. ]] SLAMing on 34.682401008 meters Centerline goodness : 0.903518 with order 1 Centerline is valid? [False, False] Translation: X:7.08, Y:-0.53, Z:0.18 [[ 0.99765915 0.03846858 0.05653653 7.08482754] [-0.04365565 0.99465448 0.09357694 -0.52547806] [-0.05263454 -0.09582603 0.99400552 0.18452689] [ 0. 0. 0. 1. ]] SLAMing on 34.742401008 meters Centerline goodness : 0.904446 with order 1 Centerline is valid? [False, False] Translation: X:7.12, Y:-0.53, Z:0.19 [[ 0.99767162 0.03972095 0.05543989 7.12448509] [-0.04534211 0.99353031 0.10412304 -0.52506968] [-0.05094535 -0.10639437 0.99301803 0.19073599] [ 0. 0. 0. 1. ]] SLAMing on 34.802401008 meters Centerline goodness : 0.904490 with order 1 Centerline is valid? [False, False] Translation: X:7.15, Y:-0.52, Z:0.19 [[ 0.99755832 0.03937037 0.05768333 7.14595712] [-0.04473208 0.99448904 0.09481872 -0.51803395] [-0.05363239 -0.0971675 0.99382194 0.18548973] [ 0. 0. 0. 1. ]] SLAMing on 34.862401008 meters Centerline goodness : 0.903988 with order 1 Centerline is valid? [False, False] Translation: X:7.17, Y:-0.52, Z:0.18 [[ 0.99761146 0.04002033 0.05630051 7.17458337] [-0.04512965 0.99467836 0.09261896 -0.5156624 ] [-0.05229426 -0.09493856 0.99410864 0.18377176] [ 0. 0. 0. 1. ]] SLAMing on 34.922401008 meters Centerline goodness : 0.903795 with order 1 Centerline is valid? [False, False] Translation: X:7.20, Y:-0.52, Z:0.20 [[ 0.99748081 0.03600816 0.06111834 7.19781598] [-0.04287039 0.99244438 0.1149621 -0.51742609] [-0.05651698 -0.11729266 0.9914879 0.19829725] [ 0. 0. 0. 1. ]] SLAMing on 34.982401008 meters Centerline goodness : 0.909584 with order 1 Centerline is valid? [False, False] Translation: X:7.20, Y:-0.51, Z:0.20 [[ 0.99735298 0.03869724 0.0615594 7.19861646] [-0.04582937 0.99183354 0.11902059 -0.51453248] [-0.05645091 -0.12152676 0.9909816 0.2003805 ] [ 0. 0. 0. 1. ]] SLAMing on 35.042401008 meters Centerline goodness : 0.911178 with order 1 Centerline is valid? [False, False] Translation: X:7.20, Y:-0.51, Z:0.19 [[ 0.99711669 0.0440233 0.06180815 7.20206049] [-0.05016084 0.99356579 0.10154267 -0.50528538] [-0.05694022 -0.10435024 0.99290928 0.19130598] [ 0. 0. 0. 1. ]] SLAMing on 35.102401008 meters Centerline goodness : 0.915270 with order 1 Centerline is valid? [False, False] Translation: X:7.20, Y:-0.51, Z:0.21 [[ 0.9961414 0.04427004 0.07577906 7.20435953] [-0.05400081 0.98983086 0.1316008 -0.5050913 ] [-0.06918248 -0.13518514 0.98840213 0.20836824] [ 0. 0. 0. 1. ]] SLAMing on 35.162401007999996 meters Centerline goodness : 0.914603 with order 1 Centerline is valid? [False, False] Translation: X:7.21, Y:-0.50, Z:0.21 [[ 0.99600849 0.04769909 0.07544458 7.20550833] [-0.05759906 0.9891668 0.13502366 -0.50264906] [-0.06818677 -0.13883025 0.98796595 0.20899597] [ 0. 0. 0. 1. ]] SLAMing on 35.222401008 meters Centerline goodness : 0.914854 with order 1 Centerline is valid? [False, False] Translation: X:7.22, Y:-0.50, Z:0.20 [[ 0.99547602 0.05429232 0.07797326 7.21798463] [-0.06371029 0.99025023 0.12387687 -0.49580432] [-0.07048747 -0.12828415 0.98922934 0.19712896] [ 0. 0. 0. 1. ]] SLAMing on 35.282401008 meters Centerline goodness : 0.917692 with order 1 Centerline is valid? [False, False] Translation: X:7.22, Y:-0.49, Z:0.19 [[ 0.99502526 0.05941909 0.07996314 7.22375049] [-0.06786011 0.99190194 0.1073571 -0.49055099] [-0.07293653 -0.11224933 0.99099967 0.18654671] [ 0. 0. 0. 1. ]] SLAMing on 35.342401007999996 meters Centerline goodness : 0.919036 with order 1 Centerline is valid? [False, False] Translation: X:7.24, Y:-0.49, Z:0.18 [[ 0.99443533 0.06469777 0.08314189 7.23628568] [-0.07266232 0.99266349 0.09664044 -0.48644194] [-0.0762795 -0.10214395 0.99184074 0.17677384] [ 0. 0. 0. 1. ]] SLAMing on 35.402401008 meters Centerline goodness : 0.916169 with order 1 Centerline is valid? [False, False] Translation: X:7.25, Y:-0.48, Z:0.16 [[ 0.99389761 0.0700386 0.0852182 7.24762803] [-0.0771747 0.99351103 0.08354582 -0.48209777] [-0.07881379 -0.08961267 0.99285344 0.16442575] [ 0. 0. 0. 1. ]] SLAMing on 35.462401008 meters Centerline goodness : 0.916451 with order 1 Centerline is valid? [False, False] Translation: X:7.27, Y:-0.48, Z:0.16 [[ 0.99377714 0.07018195 0.08649561 7.2706484 ] [-0.07676355 0.99420395 0.07527192 -0.48388956] [-0.08071155 -0.08144322 0.99340457 0.15721811] [ 0. 0. 0. 1. ]] SLAMing on 35.522401007999996 meters Centerline goodness : 0.915621 with order 1 Centerline is valid? [False, False] Translation: X:7.29, Y:-0.48, Z:0.15 [[ 0.99360609 0.06953274 0.08895015 7.29080818] [-0.07544695 0.99503236 0.06494893 -0.48374204] [-0.08399221 -0.07124467 0.99391625 0.14938031] [ 0. 0. 0. 1. ]] SLAMing on 35.582401008 meters Centerline goodness : 0.919006 with order 1 Centerline is valid? [False, False] Translation: X:7.33, Y:-0.50, Z:0.16 [[ 0.99386326 0.06406993 0.09017136 7.33150686] [-0.07121494 0.99437611 0.07838743 -0.49554641] [-0.08464197 -0.08432794 0.99283661 0.16154915] [ 0. 0. 0. 1. ]] SLAMing on 35.642401008 meters Centerline goodness : 0.926794 with order 1 Centerline is valid? [False, False] Translation: X:7.37, Y:-0.51, Z:0.18 [[ 0.99421902 0.04746982 0.09630763 7.36668106] [-0.05713918 0.9933188 0.10026406 -0.5097216 ] [-0.09090466 -0.10518737 0.99028883 0.18187996] [ 0. 0. 0. 1. ]] SLAMing on 35.702401007999995 meters Centerline goodness : 0.927161 with order 1 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.52, Z:0.21 [[ 0.99337638 0.03061793 0.1107516 7.38290874] [-0.04585256 0.98940605 0.13774327 -0.51966692] [-0.10536089 -0.14190916 0.98425651 0.20744353] [ 0. 0. 0. 1. ]] SLAMing on 35.762401008 meters Centerline goodness : 0.926301 with order 1 Centerline is valid? [False, False] Translation: X:7.39, Y:-0.52, Z:0.20 [[ 0.99354092 0.02823481 0.10990557 7.38861263] [-0.04319713 0.98973411 0.13623658 -0.51585222] [-0.10493068 -0.14010422 0.984561 0.20433493] [ 0. 0. 0. 1. ]] SLAMing on 35.822401008 meters Centerline goodness : 0.930015 with order 1 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.52, Z:0.22 [[ 0.9933291 0.02733044 0.11202829 7.39656512] [-0.04424545 0.98748055 0.15140838 -0.5164908 ] [-0.1064877 -0.15535509 0.98210242 0.2201716 ] [ 0. 0. 0. 1. ]] SLAMing on 35.882401007999995 meters Centerline goodness : 0.926317 with order 1 Centerline is valid? [False, False] Translation: X:7.40, Y:-0.51, Z:0.22 [[ 0.99333573 0.02678194 0.11210201 7.39824562] [-0.0434375 0.98790024 0.14888352 -0.51153385] [-0.10675822 -0.15276075 0.98247994 0.21571356] [ 0. 0. 0. 1. ]] SLAMing on 35.942401008 meters Centerline goodness : 0.918163 with order 1 Centerline is valid? [False, False] Translation: X:7.41, Y:-0.50, Z:0.21 [[ 0.99333816 0.02711885 0.1119994 7.40530157] [-0.0440157 0.98751184 0.15127124 -0.50442413] [-0.10649843 -0.15519323 0.98212685 0.21122459] [ 0. 0. 0. 1. ]] SLAMing on 36.002401008 meters Centerline goodness : 0.921538 with order 1 Centerline is valid? [False, False] Translation: X:7.41, Y:-0.50, Z:0.20 [[ 0.99306872 0.0324507 0.11296667 7.41385902] [-0.04744802 0.99001789 0.13271497 -0.4958896 ] [-0.10753233 -0.13715513 0.98469552 0.19586473] [ 0. 0. 0. 1. ]] SLAMing on 36.062401007999995 meters Centerline goodness : 0.919026 with order 1 Centerline is valid? [False, False] Translation: X:7.43, Y:-0.49, Z:0.19 [[ 0.99236656 0.03735019 0.1175312 7.42688644] [-0.05193947 0.99096844 0.12362784 -0.48784226] [-0.11185218 -0.12878864 0.98534389 0.18793471] [ 0. 0. 0. 1. ]] SLAMing on 36.122401008 meters Centerline goodness : 0.917087 with order 1 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.48, Z:0.18 [[ 0.9915965 0.04346561 0.12184876 7.44280276] [-0.05805931 0.99120713 0.11890138 -0.47887574] [-0.11560924 -0.12497665 0.98540111 0.18148497] [ 0. 0. 0. 1. ]] SLAMing on 36.182401008 meters Centerline goodness : 0.917371 with order 1 Centerline is valid? [False, False] Translation: X:7.47, Y:-0.48, Z:0.18 [[ 0.99095786 0.04387657 0.12679652 7.46539541] [-0.05886981 0.99138197 0.1170305 -0.47527256] [-0.12056889 -0.12343678 0.98500076 0.17992305] [ 0. 0. 0. 1. ]] SLAMing on 36.242401008 meters Centerline goodness : 0.915585 with order 1 Centerline is valid? [False, False] Translation: X:7.49, Y:-0.48, Z:0.20 [[ 0.98928656 0.03647827 0.14135571 7.49073428] [-0.05697852 0.98796308 0.14381378 -0.47966656] [-0.13440815 -0.15032728 0.97945707 0.19768518] [ 0. 0. 0. 1. ]] SLAMing on 36.302401008 meters Centerline goodness : 0.911586 with order 1 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.48, Z:0.21 [[ 0.98837557 0.03422784 0.14812898 7.50050231] [-0.05801869 0.98550693 0.15940489 -0.47697075] [-0.14052605 -0.16614615 0.97603683 0.20544439] [ 0. 0. 0. 1. ]] SLAMing on 36.362401008 meters Centerline goodness : 0.914136 with order 1 Centerline is valid? [False, False] Translation: X:7.52, Y:-0.48, Z:0.22 [[ 0.98674732 0.03000437 0.15946619 7.51550801] [-0.06007324 0.98047546 0.1872407 -0.47698455] [-0.15073464 -0.19433891 0.96928399 0.2205186 ] [ 0. 0. 0. 1. ]] SLAMing on 36.422401008 meters Centerline goodness : 0.915296 with order 1 Centerline is valid? [False, False] Translation: X:7.51, Y:-0.47, Z:0.23 [[ 0.98544375 0.03245307 0.16687545 7.50766046] [-0.06527403 0.97859937 0.19514756 -0.47257349] [-0.15697108 -0.20319958 0.96647298 0.22664624] [ 0. 0. 0. 1. ]] SLAMing on 36.482401008 meters Centerline goodness : 0.916442 with order 1 Centerline is valid? [False, False] Translation: X:7.51, Y:-0.46, Z:0.22 [[ 0.98515317 0.03177019 0.16871244 7.50698719] [-0.06434276 0.97942471 0.19127796 -0.4630902 ] [-0.15916419 -0.19929351 0.96692753 0.22042506] [ 0. 0. 0. 1. ]] SLAMing on 36.542401008 meters Centerline goodness : 0.914772 with order 1 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.46, Z:0.22 [[ 0.98436707 0.03382376 0.17285088 7.50359884] [-0.06811628 0.97813247 0.19651222 -0.45999966] [-0.16242428 -0.20521412 0.96514534 0.22283634] [ 0. 0. 0. 1. ]] SLAMing on 36.602401008 meters Centerline goodness : 0.914463 with order 1 Centerline is valid? [False, False] Translation: X:7.49, Y:-0.46, Z:0.22 [[ 0.98360309 0.03725784 0.17645626 7.49489825] [-0.07210666 0.97806449 0.19542385 -0.455997 ] [-0.16530453 -0.20494318 0.96471379 0.22128338] [ 0. 0. 0. 1. ]] SLAMing on 36.662401007999996 meters Centerline goodness : 0.911270 with order 1 Centerline is valid? [False, False] Translation: X:7.47, Y:-0.46, Z:0.25 [[ 0.97980118 0.02748948 0.19807568 7.46575434] [-0.07459618 0.9692542 0.23448176 -0.45859156] [-0.18553991 -0.2445212 0.95172702 0.24994671] [ 0. 0. 0. 1. ]] SLAMing on 36.722401008 meters Centerline goodness : 0.915818 with order 1 Centerline is valid? [False, False] Translation: X:7.44, Y:-0.46, Z:0.27 [[ 0.97550601 0.0161555 0.21937872 7.43780677] [-0.07426873 0.96292702 0.25933705 -0.45955502] [-0.20705598 -0.26927783 0.94054094 0.26972374] [ 0. 0. 0. 1. ]] SLAMing on 36.782401008 meters Centerline goodness : 0.915691 with order 1 Centerline is valid? [False, False] Translation: X:7.43, Y:-0.46, Z:0.28 [[ 0.97445885 0.01277239 0.22420261 7.42845384] [-0.07127117 0.96435562 0.25483064 -0.4559313 ] [-0.21295625 -0.26430115 0.94063518 0.27511705] [ 0. 0. 0. 1. ]] SLAMing on 36.842401007999996 meters Centerline goodness : 0.922334 with order 1 Centerline is valid? [False, False] Translation: X:7.39, Y:-0.44, Z:0.27 [[ 0.97493865 0.02043019 0.2215338 7.38782708] [-0.07205763 0.97109442 0.22755951 -0.44247225] [-0.21048116 -0.23781977 0.94822964 0.27286696] [ 0. 0. 0. 1. ]] SLAMing on 36.902401008 meters Centerline goodness : 0.920239 with order 1 Centerline is valid? [False, False] Translation: X:7.35, Y:-0.43, Z:0.27 [[ 0.97570614 0.0288534 0.21717505 7.34814995] [-0.07319626 0.97725938 0.1990136 -0.42889182] [-0.20649413 -0.2100752 0.95562994 0.2671524 ] [ 0. 0. 0. 1. ]] SLAMing on 36.962401008 meters Centerline goodness : 0.921344 with order 1 Centerline is valid? [False, False] Translation: X:7.31, Y:-0.41, Z:0.27 [[ 0.97620646 0.03975994 0.2131668 7.31265025] [-0.07972972 0.97999834 0.18233604 -0.41394699] [-0.20165344 -0.19499335 0.95985076 0.26510792] [ 0. 0. 0. 1. ]] SLAMing on 37.022401007999996 meters Centerline goodness : 0.919885 with order 1 Centerline is valid? [False, False] Translation: X:7.29, Y:-0.40, Z:0.26 [[ 0.97682242 0.04889842 0.20839125 7.28768108] [-0.08453754 0.98254379 0.16571391 -0.40209832] [-0.19665038 -0.17948994 0.96390455 0.26050419] [ 0. 0. 0. 1. ]] SLAMing on 37.082401008 meters Centerline goodness : 0.918015 with order 1 Centerline is valid? [False, False] Translation: X:7.25, Y:-0.39, Z:0.26 [[ 0.97788107 0.05753878 0.20109176 7.25050029] [-0.08703678 0.98616565 0.14107414 -0.38800389] [-0.19019255 -0.15545611 0.96936071 0.25785351] [ 0. 0. 0. 1. ]] SLAMing on 37.142401008 meters Centerline goodness : 0.920557 with order 1 Centerline is valid? [False, False] Translation: X:7.21, Y:-0.37, Z:0.26 [[ 0.97884442 0.06839596 0.19283567 7.20896472] [-0.09238134 0.98867552 0.11826413 -0.37012881] [-0.18256312 -0.1335766 0.97407803 0.25536682] [ 0. 0. 0. 1. ]] SLAMing on 37.202401007999995 meters Centerline goodness : 0.923708 with order 1 Centerline is valid? [False, False] Translation: X:7.20, Y:-0.36, Z:0.26 [[ 0.98322462 0.06344828 0.17100781 7.20406104] [-0.08396348 0.98974853 0.11553343 -0.3577083 ] [-0.16192434 -0.12795372 0.97847246 0.26228814] [ 0. 0. 0. 1. ]] SLAMing on 37.262401008 meters Centerline goodness : 0.919386 with order 1 Centerline is valid? [False, False] Translation: X:7.20, Y:-0.35, Z:0.26 [[ 0.98681216 0.06083501 0.15000288 7.19749621] [-0.07793558 0.9907719 0.11089223 -0.34641302] [-0.14187251 -0.12112037 0.98244697 0.2647419 ] [ 0. 0. 0. 1. ]] SLAMing on 37.322401008 meters Centerline goodness : 0.921525 with order 1 Centerline is valid? [False, False] Translation: X:7.20, Y:-0.34, Z:0.27 [[ 0.99081598 0.05305156 0.12437538 7.197875 ] [-0.06609008 0.99246612 0.10316539 -0.33614869] [-0.11796527 -0.1104379 0.98685747 0.27117326] [ 0. 0. 0. 1. ]] SLAMing on 37.382401007999995 meters Centerline goodness : 0.919422 with order 1 Centerline is valid? [False, False] Translation: X:7.19, Y:-0.33, Z:0.28 [[ 0.99340098 0.04737273 0.1044525 7.19078683] [-0.05762442 0.99357365 0.09742092 -0.32589017] [-0.09916616 -0.10279705 0.98974686 0.27611675] [ 0. 0. 0. 1. ]] SLAMing on 37.442401008 meters Centerline goodness : 0.918744 with order 1 Centerline is valid? [False, False] Translation: X:7.18, Y:-0.32, Z:0.28 [[ 0.99558821 0.04318294 0.08330275 7.18496824] [-0.05040586 0.99496297 0.08664835 -0.31593946] [-0.07914142 -0.09046502 0.99275008 0.27693724] [ 0. 0. 0. 1. ]] SLAMing on 37.502401008 meters Centerline goodness : 0.917345 with order 1 Centerline is valid? [False, False] Translation: X:7.17, Y:-0.32, Z:0.28 [[ 0.99510267 0.04838135 0.08619701 7.17458505] [-0.05613026 0.9943707 0.08986829 -0.31574655] [-0.08136383 -0.09426644 0.99221659 0.28293105] [ 0. 0. 0. 1. ]] SLAMing on 37.562401007999995 meters Centerline goodness : 0.918037 with order 1 Centerline is valid? [False, False] Translation: X:7.18, Y:-0.31, Z:0.29 [[ 0.99643337 0.04512082 0.07130674 7.17747268] [-0.05122672 0.9949549 0.08625879 -0.30911224] [-0.06705492 -0.08960394 0.99371765 0.28819171] [ 0. 0. 0. 1. ]] SLAMing on 37.622401008 meters Centerline goodness : 0.919984 with order 1 Centerline is valid? [False, False] Translation: X:7.16, Y:-0.31, Z:0.31 [[ 0.99555729 0.04813401 0.08092466 7.1626509 ] [-0.05715109 0.99194066 0.11308171 -0.31250452] [-0.07482939 -0.11720426 0.99028467 0.30673057] [ 0. 0. 0. 1. ]] SLAMing on 37.682401008 meters Centerline goodness : 0.921940 with order 1 Centerline is valid? [False, False] Translation: X:7.17, Y:-0.32, Z:0.33 [[ 0.99480361 0.04955767 0.08893716 7.17037656] [-0.06161465 0.9884581 0.13839876 -0.31855439] [-0.08105193 -0.14315942 0.98637516 0.32685054] [ 0. 0. 0. 1. ]] SLAMing on 37.742401008 meters Centerline goodness : 0.916483 with order 1 Centerline is valid? [False, False] Translation: X:7.14, Y:-0.33, Z:0.36 [[ 0.99324068 0.03923398 0.10924119 7.1350642 ] [-0.0595991 0.9799884 0.18992286 -0.33241277] [-0.09960366 -0.19514978 0.97570266 0.3562312 ] [ 0. 0. 0. 1. ]] SLAMing on 37.802401008 meters Centerline goodness : 0.913731 with order 1 Centerline is valid? [False, False] Translation: X:7.12, Y:-0.35, Z:0.38 [[ 0.99159146 0.02709923 0.12653858 7.11631107] [-0.05589444 0.97160113 0.22992837 -0.34599651] [-0.11671414 -0.23506781 0.96494608 0.38133949] [ 0. 0. 0. 1. ]] SLAMing on 37.862401008 meters Centerline goodness : 0.911908 with order 1 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.35, Z:0.39 [[ 0.99027778 0.02644141 0.13656785 7.10203431] [-0.0587601 0.96938956 0.2383928 -0.35261167] [-0.12608401 -0.24409984 0.96151864 0.39491745] [ 0. 0. 0. 1. ]] SLAMing on 37.922401008 meters Centerline goodness : 0.906643 with order 1 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.36, Z:0.44 [[ 0.98813646 0.00985812 0.15326169 7.06506149] [-0.05386936 0.95678176 0.28577397 -0.36326018] [-0.14382079 -0.29063979 0.94596199 0.4389086 ] [ 0. 0. 0. 1. ]] SLAMing on 37.982401008 meters Centerline goodness : 0.906863 with order 1 Centerline is valid? [False, False] Translation: X:7.05, Y:-0.36, Z:0.45 [[ 9.87128769e-01 6.22252614e-03 1.59806365e-01 7.05211621e+00] [-5.17753129e-02 9.57862979e-01 2.82520496e-01 -3.64527401e-01] [-1.51314609e-01 -2.87158134e-01 9.45856276e-01 4.46454221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.042401008 meters Centerline goodness : 0.908663 with order 1 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.36, Z:0.44 [[ 9.87014573e-01 6.17463470e-04 1.60629549e-01 7.02661183e+00] [-4.17901151e-02 9.66544755e-01 2.53070788e-01 -3.59852559e-01] [-1.55099386e-01 -2.56497283e-01 9.54019562e-01 4.38992877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.102401008 meters Centerline goodness : 0.905470 with order 1 Centerline is valid? [False, False] Translation: X:6.98, Y:-0.35, Z:0.43 [[ 9.87961273e-01 -2.45585311e-03 1.54681906e-01 6.97900124e+00] [-3.20062818e-02 9.74995967e-01 2.19905577e-01 -3.49079749e-01] [-1.51354291e-01 -2.22208986e-01 9.63179654e-01 4.31520046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.162401007999996 meters Centerline goodness : 0.903689 with order 1 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.33, Z:0.42 [[ 9.88898209e-01 -4.71911858e-03 1.48519567e-01 6.92754956e+00] [-2.43518538e-02 9.80835653e-01 1.93309103e-01 -3.32268558e-01] [-1.46585535e-01 -1.94779753e-01 9.69831701e-01 4.23130134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.222401008 meters Centerline goodness : 0.905238 with order 1 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.32, Z:0.42 [[ 9.89621841e-01 3.44935677e-03 1.43654844e-01 6.88717624e+00] [-2.77532143e-02 9.85476935e-01 1.67526028e-01 -3.15387667e-01] [-1.40990678e-01 -1.69774300e-01 9.75345229e-01 4.15855037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.282401008 meters Centerline goodness : 0.901092 with order 1 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.29, Z:0.42 [[ 9.91979182e-01 3.77829742e-03 1.26344874e-01 6.87558045e+00] [-2.47183867e-02 9.86053063e-01 1.64585413e-01 -2.92474942e-01] [-1.23960897e-01 -1.66388345e-01 9.78237504e-01 4.17995376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.342401007999996 meters Centerline goodness : 0.896543 with order 1 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.27, Z:0.42 [[ 9.94497884e-01 -2.91720251e-03 1.04716035e-01 6.86956139e+00] [-1.41784534e-02 9.86665759e-01 1.62140839e-01 -2.74227044e-01] [-1.03792724e-01 -1.62733433e-01 9.81195648e-01 4.21633441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.402401008 meters Centerline goodness : 0.894510 with order 1 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.25, Z:0.41 [[ 9.95104984e-01 -2.05612674e-03 9.88020363e-02 6.86276697e+00] [-1.20139439e-02 9.89851014e-01 1.41600266e-01 -2.53066916e-01] [-9.80904439e-02 -1.42094132e-01 9.84980976e-01 4.09960415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.462401008 meters Centerline goodness : 0.900710 with order 1 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.24, Z:0.40 [[ 9.95820988e-01 1.36443904e-03 9.13164743e-02 6.86120587e+00] [-1.26342208e-02 9.92332326e-01 1.22950928e-01 -2.36220174e-01] [-9.04485303e-02 -1.23590827e-01 9.88202596e-01 4.02025609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.522401007999996 meters Centerline goodness : 0.912743 with order 1 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.21, Z:0.40 [[ 0.99618959 0.01297354 0.08624381 6.85649336] [-0.02274961 0.99329377 0.1133576 -0.21305456] [-0.08419479 -0.11488767 0.98980405 0.39578214] [ 0. 0. 0. 1. ]] SLAMing on 38.582401008 meters Centerline goodness : 0.912291 with order 1 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.20, Z:0.39 [[ 0.99603009 0.02500794 0.08543226 6.86107293] [-0.03377497 0.99413179 0.10276789 -0.19789328] [-0.08236091 -0.10524538 0.99102981 0.38865571] [ 0. 0. 0. 1. ]] SLAMing on 38.642401008 meters Centerline goodness : 0.918216 with order 1 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.18, Z:0.39 [[ 0.99552242 0.04636661 0.08237267 6.872154 ] [-0.05393106 0.99428669 0.09211636 -0.18009278] [-0.07763093 -0.09614634 0.99233529 0.38691026] [ 0. 0. 0. 1. ]] SLAMing on 38.702401007999995 meters Centerline goodness : 0.922023 with order 1 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.17, Z:0.39 [[ 0.9960779 0.05367371 0.07034165 6.87196363] [-0.06011871 0.99385295 0.09296263 -0.16669024] [-0.06491961 -0.09682687 0.99318176 0.39103945] [ 0. 0. 0. 1. ]] SLAMing on 38.762401008 meters Centerline goodness : 0.923623 with order 1 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.16, Z:0.39 [[ 0.99552016 0.07041055 0.06310289 6.90235168] [-0.07527548 0.99407932 0.0783576 -0.15814817] [-0.05721208 -0.08275667 0.99492618 0.38874617] [ 0. 0. 0. 1. ]] SLAMing on 38.822401008 meters Centerline goodness : 0.923669 with order 1 Centerline is valid? [False, False] Translation: X:6.91, Y:-0.15, Z:0.39 [[ 0.99666841 0.0671288 0.04632281 6.9115066 ] [-0.07032543 0.99497787 0.07122765 -0.15332904] [-0.04130874 -0.07424802 0.99638387 0.39144377] [ 0. 0. 0. 1. ]] SLAMing on 38.882401007999995 meters Centerline goodness : 0.914284 with order 1 Centerline is valid? [False, False] Translation: X:6.92, Y:-0.15, Z:0.39 [[ 0.9977544 0.05897511 0.03175047 6.91801879] [-0.06098203 0.99592325 0.06646861 -0.15259769] [-0.02770104 -0.06825556 0.99728322 0.38908637] [ 0. 0. 0. 1. ]] SLAMing on 38.942401008 meters Centerline goodness : 0.912471 with order 1 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.15, Z:0.39 [[ 0.99869033 0.04878767 0.01540741 6.92713776] [-0.04961761 0.9970189 0.05908817 -0.15386736] [-0.0124787 -0.05977527 0.99813386 0.38915407] [ 0. 0. 0. 1. ]] SLAMing on 39.002401008 meters Centerline goodness : 0.908060 with order 1 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.16, Z:0.38 [[ 9.98843989e-01 4.73065381e-02 8.53099110e-03 6.95480020e+00] [-4.75951671e-02 9.98159081e-01 3.75918669e-02 -1.60276358e-01] [-6.73694516e-03 -3.79544443e-02 9.99256761e-01 3.82788856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.062401007999995 meters Centerline goodness : 0.902928 with order 1 Centerline is valid? [False, False] Translation: X:6.97, Y:-0.16, Z:0.37 [[ 0.99891259 0.04509286 0.01184386 6.97009557] [-0.04535856 0.998701 0.0232146 -0.16034261] [-0.01078167 -0.02372657 0.99966035 0.37427302] [ 0. 0. 0. 1. ]] SLAMing on 39.122401008 meters Centerline goodness : 0.898780 with order 1 Centerline is valid? [False, False] Translation: X:6.99, Y:-0.16, Z:0.37 [[ 0.99904228 0.04103883 0.01517699 6.98525618] [-0.0411702 0.99911644 0.00844665 -0.16366264] [-0.01481694 -0.0090634 0.99984915 0.36776182] [ 0. 0. 0. 1. ]] SLAMing on 39.182401008 meters Centerline goodness : 0.895537 with order 1 Centerline is valid? [False, False] Translation: X:6.99, Y:-0.17, Z:0.37 [[ 9.99231570e-01 3.62715852e-02 1.48540054e-02 6.98697323e+00] [-3.63415863e-02 9.99329429e-01 4.47002618e-03 -1.67215967e-01] [-1.46819098e-02 -5.00640940e-03 9.99879681e-01 3.65988747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.242401008 meters Centerline goodness : 0.895306 with order 1 Centerline is valid? [False, False] Translation: X:6.99, Y:-0.17, Z:0.36 [[ 9.99533352e-01 2.71631123e-02 1.39729235e-02 6.99157097e+00] [-2.71212486e-02 9.99627103e-01 -3.17691036e-03 -1.71982995e-01] [-1.40540078e-02 2.79646473e-03 9.99897327e-01 3.61904298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.302401008 meters Centerline goodness : 0.892203 with order 1 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.17, Z:0.36 [[ 9.99600696e-01 2.51180605e-02 1.29434031e-02 6.99574204e+00] [-2.50649931e-02 9.99676806e-01 -4.24601994e-03 -1.73803799e-01] [-1.30458717e-02 3.91989817e-03 9.99907216e-01 3.59510313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.362401008 meters Centerline goodness : 0.891835 with order 1 Centerline is valid? [False, False] Translation: X:6.99, Y:-0.18, Z:0.37 [[ 9.99871895e-01 1.31275686e-02 9.15748749e-03 6.99073015e+00] [-1.31451400e-02 9.99911867e-01 1.86124711e-03 -1.78434701e-01] [-9.13224676e-03 -1.98138513e-03 9.99956337e-01 3.65332631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.422401008 meters Centerline goodness : 0.896460 with order 1 Centerline is valid? [False, False] Translation: X:6.99, Y:-0.18, Z:0.37 [[ 9.99924804e-01 8.45114859e-03 8.88618859e-03 6.99072921e+00] [-8.43434217e-03 9.99962573e-01 -1.92707458e-03 -1.79490949e-01] [-8.90214200e-03 1.85198052e-03 9.99958660e-01 3.67072883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.482401008 meters Centerline goodness : 0.895018 with order 1 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.17, Z:0.36 [[ 9.99964276e-01 4.67234939e-03 7.04381020e-03 6.99746526e+00] [-4.64261538e-03 9.99980269e-01 -4.23175387e-03 -1.74185110e-01] [-7.06344346e-03 4.19890100e-03 9.99966238e-01 3.64982632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.542401008 meters Centerline goodness : 0.891252 with order 1 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.17, Z:0.36 [[ 9.99975891e-01 3.39166312e-03 6.05920758e-03 7.00035308e+00] [-3.35692572e-03 9.99977926e-01 -5.73399486e-03 -1.71623881e-01] [-6.07852161e-03 5.71351631e-03 9.99965203e-01 3.63730596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.602401008 meters Centerline goodness : 0.890776 with order 1 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.16, Z:0.36 [[ 9.99971271e-01 5.86802794e-03 4.79817736e-03 7.00397190e+00] [-5.84654608e-03 9.99972878e-01 -4.47892262e-03 -1.64256677e-01] [-4.82432967e-03 4.45074118e-03 9.99978458e-01 3.61892026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.662401007999996 meters Centerline goodness : 0.891729 with order 1 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.16, Z:0.36 [[ 9.99904693e-01 1.31785268e-02 4.11474688e-03 7.00525579e+00] [-1.31854523e-02 9.99911689e-01 1.66051544e-03 -1.57135432e-01] [-4.09250036e-03 -1.71461198e-03 9.99990156e-01 3.62103053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.722401008 meters Centerline goodness : 0.893883 with order 1 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.14, Z:0.36 [[ 9.99570511e-01 2.77533166e-02 9.40988901e-03 7.01501448e+00] [-2.77971608e-02 9.99603179e-01 4.56102125e-03 -1.44634396e-01] [-9.27957150e-03 -4.82063054e-03 9.99945324e-01 3.63270135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.782401008 meters Centerline goodness : 0.904455 with order 1 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.14, Z:0.37 [[ 0.99941312 0.03282436 0.00979634 7.01186296] [-0.0329049 0.99942504 0.00817635 -0.13921955] [-0.00952233 -0.0084939 0.99991859 0.36699036] [ 0. 0. 0. 1. ]] SLAMing on 39.842401007999996 meters Centerline goodness : 0.901790 with order 1 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.13, Z:0.37 [[ 0.99933654 0.03518459 0.0094088 7.0133387 ] [-0.03527696 0.99932914 0.00983856 -0.13182694] [-0.00905632 -0.01016394 0.99990733 0.36646024] [ 0. 0. 0. 1. ]] SLAMing on 39.902401008 meters Centerline goodness : 0.914923 with order 1 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.13, Z:0.36 [[ 9.99516241e-01 2.98394454e-02 8.76880825e-03 7.01547272e+00] [-2.98737381e-02 9.99546434e-01 3.80613221e-03 -1.26860576e-01] [-8.65125814e-03 -4.06624804e-03 9.99954310e-01 3.64667883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.962401008 meters Centerline goodness : 0.905985 with order 1 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.12, Z:0.36 [[ 9.99548464e-01 2.88796219e-02 8.29666063e-03 7.01643896e+00] [-2.88984145e-02 9.99580032e-01 2.15417547e-03 -1.22726606e-01] [-8.23096453e-03 -2.39296313e-03 9.99963262e-01 3.64517955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.022401007999996 meters Centerline goodness : 0.910115 with order 1 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.12, Z:0.36 [[ 9.99442246e-01 3.24947083e-02 7.70000432e-03 7.01839024e+00] [-3.25307899e-02 9.99460112e-01 4.60791245e-03 -1.18643072e-01] [-7.54611441e-03 -4.85582960e-03 9.99959738e-01 3.63223070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.082401008 meters Centerline goodness : 0.904957 with order 1 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.11, Z:0.36 [[ 9.99155701e-01 4.05857416e-02 6.37837383e-03 7.02191479e+00] [-4.06338781e-02 9.99145140e-01 7.60764940e-03 -1.08491175e-01] [-6.06415912e-03 -7.86040433e-03 9.99950719e-01 3.57298363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.142401008 meters Centerline goodness : 0.904563 with order 1 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.10, Z:0.36 [[ 9.98965675e-01 4.50665089e-02 6.04902687e-03 7.02279517e+00] [-4.51295353e-02 9.98923603e-01 1.07219390e-02 -1.04611532e-01] [-5.55931536e-03 -1.09838388e-02 9.99924222e-01 3.56748136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.202401007999995 meters Centerline goodness : 0.902064 with order 1 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.10, Z:0.35 [[ 9.98621269e-01 5.14730622e-02 1.02997546e-02 7.03453972e+00] [-5.15185176e-02 9.98663218e-01 4.19752287e-03 -1.00997470e-01] [-1.00699267e-02 -4.72236370e-03 9.99938146e-01 3.52247475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.262401008 meters Centerline goodness : 0.905171 with order 1 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.10, Z:0.35 [[ 9.98702038e-01 4.98031942e-02 1.06715079e-02 7.03154028e+00] [-4.98264377e-02 9.98756040e-01 1.92324101e-03 -1.02401360e-01] [-1.05624495e-02 -2.45246794e-03 9.99941208e-01 3.54464474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.322401008 meters Centerline goodness : 0.903671 with order 1 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.11, Z:0.35 [[ 9.98777419e-01 4.84073547e-02 1.00197394e-02 7.03349326e+00] [-4.84223783e-02 9.98826151e-01 1.26213168e-03 -1.07592419e-01] [-9.94688128e-03 -1.74576823e-03 9.99949005e-01 3.53123413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.382401007999995 meters Centerline goodness : 0.902795 with order 1 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.11, Z:0.35 [[ 9.98942795e-01 4.49480774e-02 9.64173587e-03 7.03407331e+00] [-4.49350692e-02 9.98988689e-01 -1.56167762e-03 -1.13466516e-01] [-9.70217948e-03 1.12677454e-03 9.99952298e-01 3.52539098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.442401008 meters Centerline goodness : 0.902877 with order 1 Centerline is valid? [False, False] Translation: X:7.04, Y:-0.12, Z:0.35 [[ 9.98941173e-01 4.50800323e-02 9.18283670e-03 7.03528683e+00] [-4.50798112e-02 9.98983362e-01 -2.31158387e-04 -1.22381601e-01] [-9.18392171e-03 -1.83046915e-04 9.99957810e-01 3.51571171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.502401008 meters Centerline goodness : 0.898603 with order 1 Centerline is valid? [False, False] Translation: X:7.04, Y:-0.13, Z:0.35 [[ 0.99889896 0.0455188 0.01135355 7.0433612 ] [-0.04562484 0.99891571 0.00926203 -0.13034324] [-0.01091965 -0.00976983 0.99989265 0.35285968] [ 0. 0. 0. 1. ]] SLAMing on 40.562401007999995 meters Centerline goodness : 0.888224 with order 1 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.14, Z:0.35 [[ 9.99129243e-01 4.06284263e-02 9.49138570e-03 7.06476406e+00] [-4.06196254e-02 9.99174057e-01 -1.11826751e-03 -1.42186456e-01] [-9.52897980e-03 7.31757235e-04 9.99954330e-01 3.48937150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.622401008 meters Centerline goodness : 0.886512 with order 1 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.15, Z:0.35 [[ 9.99393420e-01 3.37438196e-02 8.61084955e-03 7.06878019e+00] [-3.36846776e-02 9.99408530e-01 -6.92335604e-03 -1.47991272e-01] [-8.83937697e-03 6.62910278e-03 9.99938958e-01 3.45157550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.682401008 meters Centerline goodness : 0.879089 with order 1 Centerline is valid? [False, False] Translation: X:7.08, Y:-0.16, Z:0.34 [[ 9.99770342e-01 2.08031149e-02 5.14714665e-03 7.07982536e+00] [-2.07386129e-02 9.99709480e-01 -1.22827368e-02 -1.59825335e-01] [-5.40117048e-03 1.21731713e-02 9.99911317e-01 3.44602812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.742401008 meters Centerline goodness : 0.884921 with order 1 Centerline is valid? [False, False] Translation: X:7.08, Y:-0.17, Z:0.35 [[ 9.99910603e-01 1.24587185e-02 4.85456315e-03 7.08040833e+00] [-1.23688953e-02 9.99759432e-01 -1.81132122e-02 -1.68855165e-01] [-5.07906271e-03 1.80515473e-02 9.99824157e-01 3.45382908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.802401008 meters Centerline goodness : 0.884218 with order 1 Centerline is valid? [False, False] Translation: X:7.08, Y:-0.17, Z:0.34 [[ 9.99916767e-01 1.21049889e-02 4.46404108e-03 7.08201073e+00] [-1.20244718e-02 9.99772044e-01 -1.76428865e-02 -1.71968403e-01] [-4.67659042e-03 1.75877403e-02 9.99834387e-01 3.44458445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.862401008 meters Centerline goodness : 0.879479 with order 1 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.18, Z:0.34 [[ 9.99814668e-01 1.91844403e-02 1.60814944e-03 7.10461107e+00] [-1.91546287e-02 9.99674358e-01 -1.68605494e-02 -1.77755375e-01] [-1.93108597e-03 1.68266211e-02 9.99856558e-01 3.41591518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.922401008 meters Centerline goodness : 0.877663 with order 1 Centerline is valid? [False, False] Translation: X:7.12, Y:-0.18, Z:0.34 [[ 9.99648077e-01 2.63159563e-02 3.34564153e-03 7.12417080e+00] [-2.62530787e-02 9.99499988e-01 -1.76224359e-02 -1.79995668e-01] [-3.80771992e-03 1.75284007e-02 9.99839115e-01 3.37595816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.982401008 meters Centerline goodness : 0.877466 with order 1 Centerline is valid? [False, False] Translation: X:7.14, Y:-0.19, Z:0.34 [[ 9.99441708e-01 3.27233696e-02 6.74189013e-03 7.14002738e+00] [-3.25904554e-02 9.99288900e-01 -1.89619839e-02 -1.85388823e-01] [-7.35759598e-03 1.87316763e-02 9.99797475e-01 3.35512580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.042401008 meters Centerline goodness : 0.878879 with order 1 Centerline is valid? [False, False] Translation: X:7.15, Y:-0.18, Z:0.34 [[ 0.99962888 0.02549787 -0.00958977 7.14502721] [-0.02577718 0.9992106 -0.03022755 -0.18321508] [ 0.00881146 0.03046353 0.99949704 0.34180414] [ 0. 0. 0. 1. ]] SLAMing on 41.102401008 meters Centerline goodness : 0.876909 with order 1 Centerline is valid? [False, False] Translation: X:7.17, Y:-0.19, Z:0.34 [[ 9.99602382e-01 2.74521759e-02 -6.43862269e-03 7.17293616e+00] [-2.76072016e-02 9.99296840e-01 -2.53706175e-02 -1.89013159e-01] [ 5.73761665e-03 2.55382821e-02 9.99657379e-01 3.43661580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.162401007999996 meters Centerline goodness : 0.877509 with order 1 Centerline is valid? [False, False] Translation: X:7.18, Y:-0.19, Z:0.34 [[ 0.99950718 0.03013657 -0.00878584 7.17839836] [-0.03035103 0.99921667 -0.02539399 -0.19335257] [ 0.00801367 0.02564813 0.99963891 0.34222543] [ 0. 0. 0. 1. ]] SLAMing on 41.222401008 meters Centerline goodness : 0.875926 with order 1 Centerline is valid? [False, False] Translation: X:7.19, Y:-0.20, Z:0.34 [[ 0.99937819 0.03297131 -0.01249532 7.18525231] [-0.03331392 0.9990447 -0.02828209 -0.19859109] [ 0.01155088 0.02868078 0.99952188 0.34262234] [ 0. 0. 0. 1. ]] SLAMing on 41.282401008 meters Centerline goodness : 0.870240 with order 1 Centerline is valid? [False, False] Translation: X:7.19, Y:-0.20, Z:0.34 [[ 0.99927816 0.03461593 -0.01564904 7.19190564] [-0.03507789 0.9989258 -0.03027845 -0.20452585] [ 0.01458412 0.03080553 0.99941899 0.34151409] [ 0. 0. 0. 1. ]] SLAMing on 41.342401007999996 meters Centerline goodness : 0.867709 with order 1 Centerline is valid? [False, False] Translation: X:7.20, Y:-0.21, Z:0.34 [[ 0.9992137 0.03544635 -0.01776343 7.1974884 ] [-0.0359735 0.99889355 -0.03029151 -0.21187224] [ 0.01667006 0.0309067 0.99938325 0.33830978] [ 0. 0. 0. 1. ]] SLAMing on 41.402401008 meters Centerline goodness : 0.864077 with order 1 Centerline is valid? [False, False] Translation: X:7.20, Y:-0.25, Z:0.38 [[ 0.99907919 0.04187843 -0.00932553 7.20092841] [-0.04156925 0.99864867 0.03119026 -0.2498691 ] [ 0.01061913 -0.03077388 0.99946996 0.37807061] [ 0. 0. 0. 1. ]] SLAMing on 41.462401008 meters Centerline goodness : 0.863924 with order 1 Centerline is valid? [False, False] Translation: X:7.22, Y:-0.26, Z:0.39 [[ 9.99171338e-01 4.03401982e-02 -5.41343994e-03 7.21714311e+00] [-4.00313047e-02 9.98022856e-01 4.84548594e-02 -2.62053101e-01] [ 7.35741542e-03 -4.81979996e-02 9.98810703e-01 3.88458230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.522401007999996 meters Centerline goodness : 0.860196 with order 1 Centerline is valid? [False, False] Translation: X:7.24, Y:-0.28, Z:0.40 [[ 9.99263083e-01 3.83350062e-02 1.92814348e-03 7.24312843e+00] [-3.83714091e-02 9.96429052e-01 7.52115626e-02 -2.80811851e-01] [ 9.61977545e-04 -7.52301235e-02 9.97165735e-01 4.04276005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.582401008 meters Centerline goodness : 0.862406 with order 1 Centerline is valid? [False, False] Translation: X:7.25, Y:-0.28, Z:0.40 [[ 9.99377015e-01 3.47116055e-02 6.37851709e-03 7.25398907e+00] [-3.50199811e-02 9.97750095e-01 5.71694802e-02 -2.83871794e-01] [-4.37972158e-03 -5.73572400e-02 9.98344112e-01 3.95391002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.642401008 meters Centerline goodness : 0.862592 with order 1 Centerline is valid? [False, False] Translation: X:7.30, Y:-0.30, Z:0.41 [[ 9.99444163e-01 3.23310152e-02 8.12842485e-03 7.29737126e+00] [-3.28694835e-02 9.96380402e-01 7.83944613e-02 -3.03509280e-01] [-5.56443070e-03 -7.86180638e-02 9.96889280e-01 4.11812353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.702401007999995 meters Centerline goodness : 0.861874 with order 1 Centerline is valid? [False, False] Translation: X:7.33, Y:-0.31, Z:0.41 [[ 9.99508036e-01 3.10209175e-02 4.62483065e-03 7.33019143e+00] [-3.12924520e-02 9.96272532e-01 8.03854752e-02 -3.12408627e-01] [-2.11396055e-03 -8.04906507e-02 9.96753122e-01 4.13657470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.762401008 meters Centerline goodness : 0.864101 with order 1 Centerline is valid? [False, False] Translation: X:7.37, Y:-0.33, Z:0.43 [[ 9.99610884e-01 2.68730830e-02 7.47786064e-03 7.37086630e+00] [-2.74796289e-02 9.94754194e-01 9.85340758e-02 -3.32302236e-01] [-4.79071883e-03 -9.87012235e-02 9.95105581e-01 4.29723650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.822401008 meters Centerline goodness : 0.882736 with order 3 Centerline is valid? [False, False] Translation: X:7.42, Y:-0.35, Z:0.45 [[ 9.99616412e-01 2.63099926e-02 8.64940731e-03 7.42099161e+00] [-2.70883392e-02 9.93830027e-01 1.07555095e-01 -3.46676627e-01] [-5.76626694e-03 -1.07748137e-01 9.94161501e-01 4.46818509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.882401007999995 meters Centerline goodness : 0.880931 with order 3 Centerline is valid? [False, False] Translation: X:7.46, Y:-0.36, Z:0.44 [[ 9.99546291e-01 2.92242144e-02 7.29085494e-03 7.46395366e+00] [-2.98109891e-02 9.94454515e-01 1.00853965e-01 -3.55350943e-01] [-4.30304570e-03 -1.01025555e-01 9.94874525e-01 4.43337371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.942401008 meters Centerline goodness : 0.882711 with order 3 Centerline is valid? [False, False] Translation: X:7.48, Y:-0.36, Z:0.43 [[ 9.99228965e-01 3.91727045e-02 2.64103357e-03 7.48069902e+00] [-3.92569863e-02 9.95812784e-01 8.25577849e-02 -3.59988984e-01] [ 6.04036723e-04 -8.25978090e-02 9.96582780e-01 4.34989197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.002401008 meters Centerline goodness : 0.879833 with order 3 Centerline is valid? [False, False] Translation: X:7.50, Y:-0.36, Z:0.43 [[ 9.98866875e-01 4.75508829e-02 -1.96942550e-03 7.50176367e+00] [-4.73170975e-02 9.96692391e-01 6.60709392e-02 -3.61391092e-01] [ 5.10464290e-03 -6.59028851e-02 9.97812985e-01 4.28771283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.062401007999995 meters Centerline goodness : 0.876010 with order 3 Centerline is valid? [False, False] Translation: X:7.51, Y:-0.36, Z:0.42 [[ 9.98896001e-01 4.69308410e-02 2.06775046e-03 7.50747360e+00] [-4.69762039e-02 9.97806946e-01 4.66318981e-02 -3.61410416e-01] [ 1.25258422e-04 -4.66775516e-02 9.98910001e-01 4.18847653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.122401008 meters Centerline goodness : 0.878747 with order 3 Centerline is valid? [False, False] Translation: X:7.53, Y:-0.37, Z:0.42 [[ 9.99254384e-01 3.81340863e-02 6.03879370e-03 7.52727867e+00] [-3.84058813e-02 9.97790063e-01 5.42215625e-02 -3.72302481e-01] [-3.95775860e-03 -5.44130593e-02 9.98510669e-01 4.22966688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.182401008 meters Centerline goodness : 0.870055 with order 3 Centerline is valid? [False, False] Translation: X:7.55, Y:-0.38, Z:0.42 [[ 9.99643673e-01 2.59336094e-02 6.32255451e-03 7.55453810e+00] [-2.62570312e-02 9.97971577e-01 5.79939654e-02 -3.80498847e-01] [-4.80573685e-03 -5.81393121e-02 9.98296912e-01 4.21452154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.242401007999995 meters Centerline goodness : 0.870774 with order 3 Centerline is valid? [False, False] Translation: X:7.60, Y:-0.39, Z:0.43 [[ 9.99741887e-01 2.20077990e-02 5.64057007e-03 7.59779316e+00] [-2.23498549e-02 9.97280386e-01 7.02304456e-02 -3.92355600e-01] [-4.07961237e-03 -7.03383841e-02 9.97514846e-01 4.34491608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.302401008 meters Centerline goodness : 0.876702 with order 3 Centerline is valid? [False, False] Translation: X:7.62, Y:-0.40, Z:0.44 [[ 0.99979016 0.01784488 0.01005969 7.62192399] [-0.01845252 0.99778235 0.06395217 -0.39942281] [-0.00889616 -0.06412438 0.99790226 0.43530006] [ 0. 0. 0. 1. ]] SLAMing on 42.362401008 meters Centerline goodness : 0.878986 with order 2 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.40, Z:0.42 [[ 0.99970595 0.01988984 0.01387122 7.63578403] [-0.02056265 0.9985286 0.05017773 -0.39731034] [-0.01285278 -0.0504482 0.99864397 0.42197581] [ 0. 0. 0. 1. ]] SLAMing on 42.422401008 meters Centerline goodness : 0.872326 with order 3 Centerline is valid? [False, False] Translation: X:7.64, Y:-0.39, Z:0.41 [[ 0.9993292 0.03259101 0.01670282 7.64045582] [-0.03324365 0.99862992 0.04041209 -0.3900471 ] [-0.01536287 -0.04094025 0.99904348 0.40936196] [ 0. 0. 0. 1. ]] SLAMing on 42.482401008 meters Centerline goodness : 0.869628 with order 1 Centerline is valid? [False, False] Translation: X:7.65, Y:-0.39, Z:0.40 [[ 0.99907453 0.03763571 0.02082401 7.652877 ] [-0.03826455 0.9987968 0.03067201 -0.38505584] [-0.01964459 -0.03144044 0.99931256 0.40137332] [ 0. 0. 0. 1. ]] SLAMing on 42.542401008 meters Centerline goodness : 0.871672 with order 1 Centerline is valid? [False, False] Translation: X:7.65, Y:-0.38, Z:0.40 [[ 0.99917668 0.03463536 0.02112699 7.65077113] [-0.03519208 0.99902718 0.02657477 -0.38477549] [-0.02018601 -0.02729639 0.99942355 0.40166433] [ 0. 0. 0. 1. ]] SLAMing on 42.602401008 meters Centerline goodness : 0.872202 with order 1 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.39, Z:0.40 [[ 0.99930559 0.03162975 0.01969524 7.65782972] [-0.03214087 0.99913991 0.0261993 -0.38741164] [-0.01884962 -0.02681413 0.9994627 0.39978348] [ 0. 0. 0. 1. ]] SLAMing on 42.662401007999996 meters Centerline goodness : 0.870077 with order 1 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.39, Z:0.40 [[ 0.99934185 0.0307917 0.01917647 7.66034015] [-0.03126916 0.99919536 0.02511727 -0.38627396] [-0.01838764 -0.02570037 0.99950057 0.39753725] [ 0. 0. 0. 1. ]] SLAMing on 42.722401008 meters Centerline goodness : 0.873113 with order 1 Centerline is valid? [False, False] Translation: X:7.66, Y:-0.39, Z:0.40 [[ 0.99935619 0.03081813 0.01836958 7.66103224] [-0.03131048 0.999141 0.02714624 -0.39082753] [-0.01751721 -0.02770392 0.99946268 0.40133594] [ 0. 0. 0. 1. ]] SLAMing on 42.782401008 meters Centerline goodness : 0.875168 with order 1 Centerline is valid? [False, False] Translation: X:7.69, Y:-0.40, Z:0.41 [[ 0.99951626 0.02579015 0.01738125 7.69367341] [-0.02622796 0.99933198 0.02544978 -0.39533471] [-0.01671329 -0.02589335 0.99952499 0.40552345] [ 0. 0. 0. 1. ]] SLAMing on 42.842401007999996 meters Centerline goodness : 0.873843 with order 1 Centerline is valid? [False, False] Translation: X:7.70, Y:-0.40, Z:0.41 [[ 0.99963691 0.02150234 0.01623877 7.70129785] [-0.02195331 0.99936336 0.0281234 -0.39904563] [-0.01562372 -0.02846968 0.99947255 0.41043645] [ 0. 0. 0. 1. ]] SLAMing on 42.902401008 meters Centerline goodness : 0.873886 with order 1 Centerline is valid? [False, False] Translation: X:7.71, Y:-0.40, Z:0.41 [[ 0.99972001 0.01771258 0.01568979 7.71207119] [-0.01816098 0.99941694 0.02891309 -0.39854571] [-0.01516851 -0.02918993 0.99945879 0.406484 ] [ 0. 0. 0. 1. ]] SLAMing on 42.962401008 meters Centerline goodness : 0.870324 with order 1 Centerline is valid? [False, False] Translation: X:7.74, Y:-0.40, Z:0.41 [[ 0.99972553 0.01980482 0.01251502 7.73976268] [-0.02012771 0.99945345 0.02622354 -0.39977678] [-0.01198883 -0.02646824 0.99957776 0.40533508] [ 0. 0. 0. 1. ]] SLAMing on 43.022401007999996 meters Centerline goodness : 0.875503 with order 1 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.40, Z:0.41 [[ 0.99965984 0.02461511 0.0086195 7.76066264] [-0.02479674 0.99945824 0.02164126 -0.40276829] [-0.00808212 -0.02184763 0.99972864 0.40531895] [ 0. 0. 0. 1. ]] SLAMing on 43.082401008 meters Centerline goodness : 0.875998 with order 1 Centerline is valid? [False, False] Translation: X:7.76, Y:-0.40, Z:0.40 [[ 0.99966799 0.02436878 0.00837139 7.7618114 ] [-0.02453885 0.99948138 0.02085234 -0.40159737] [-0.0078589 -0.02105084 0.99974752 0.40384207] [ 0. 0. 0. 1. ]] SLAMing on 43.142401008 meters Centerline goodness : 0.876358 with order 1 Centerline is valid? [False, False] Translation: X:7.77, Y:-0.40, Z:0.40 [[ 9.99721827e-01 2.23840975e-02 7.43107228e-03 7.76699240e+00] [-2.25270106e-02 9.99551331e-01 1.97400483e-02 -4.01650490e-01] [-6.98587502e-03 -1.99019570e-02 9.99777530e-01 4.00698440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.202401007999995 meters Centerline goodness : 0.877681 with order 1 Centerline is valid? [False, False] Translation: X:7.78, Y:-0.40, Z:0.40 [[ 9.99819704e-01 1.77130106e-02 6.84163091e-03 7.78081321e+00] [-1.78810705e-02 9.99519001e-01 2.53383848e-02 -4.04170933e-01] [-6.38952101e-03 -2.54561521e-02 9.99655520e-01 4.04846120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.262401008 meters Centerline goodness : 0.879264 with order 1 Centerline is valid? [False, False] Translation: X:7.79, Y:-0.41, Z:0.42 [[ 9.99811308e-01 1.84726626e-02 6.00904048e-03 7.78727726e+00] [-1.86773872e-02 9.99176744e-01 3.60137466e-02 -4.10318924e-01] [-5.33882371e-03 -3.61191843e-02 9.99333228e-01 4.17236471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.322401008 meters Centerline goodness : 0.883056 with order 1 Centerline is valid? [False, False] Translation: X:7.81, Y:-0.41, Z:0.41 [[ 0.9997972 0.01741274 0.01011718 7.80603886] [-0.01766694 0.99951601 0.02560507 -0.40733325] [-0.00966643 -0.02577862 0.99962094 0.41172664] [ 0. 0. 0. 1. ]] SLAMing on 43.382401007999995 meters Centerline goodness : 0.882141 with order 1 Centerline is valid? [False, False] Translation: X:7.81, Y:-0.41, Z:0.41 [[ 0.99975088 0.02011883 0.00966452 7.80892208] [-0.02039846 0.99934879 0.02976401 -0.40838122] [-0.00905941 -0.02995373 0.99951023 0.41147526] [ 0. 0. 0. 1. ]] SLAMing on 43.442401008 meters Centerline goodness : 0.880395 with order 1 Centerline is valid? [False, False] Translation: X:7.84, Y:-0.41, Z:0.41 [[ 9.99763764e-01 2.03384716e-02 7.66572467e-03 7.84298491e+00] [-2.05729351e-02 9.99280565e-01 3.18607374e-02 -4.10644433e-01] [-7.01221097e-03 -3.20109172e-02 9.99462921e-01 4.13817784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.502401008 meters Centerline goodness : 0.887758 with order 1 Centerline is valid? [False, False] Translation: X:7.86, Y:-0.41, Z:0.42 [[ 9.99847814e-01 1.60779659e-02 6.77108986e-03 7.85859085e+00] [-1.63362177e-02 9.99066541e-01 3.99896908e-02 -4.13651103e-01] [-6.12181644e-03 -4.00942190e-02 9.99177150e-01 4.21359855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.562401007999995 meters Centerline goodness : 0.883461 with order 1 Centerline is valid? [False, False] Translation: X:7.90, Y:-0.42, Z:0.44 [[ 9.99928773e-01 7.63615818e-03 9.17272855e-03 7.89602480e+00] [-8.17389007e-03 9.98159394e-01 6.00916988e-02 -4.15290094e-01] [-8.69697545e-03 -6.01623955e-02 9.98150714e-01 4.35146540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.622401008 meters Centerline goodness : 0.880115 with order 1 Centerline is valid? [False, False] Translation: X:7.93, Y:-0.42, Z:0.46 [[ 9.99861009e-01 1.76587369e-03 1.65784083e-02 7.92892011e+00] [-3.28508651e-03 9.95747725e-01 9.20634345e-02 -4.22254001e-01] [-1.63453399e-02 -9.21051000e-02 9.95615127e-01 4.59571673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.682401008 meters Centerline goodness : 0.880801 with order 1 Centerline is valid? [False, False] Translation: X:7.95, Y:-0.43, Z:0.48 [[ 9.99753076e-01 -5.99458660e-03 2.13974922e-02 7.95014053e+00] [ 3.60677364e-03 9.93932252e-01 1.09934842e-01 -4.25215383e-01] [-2.19266715e-02 -1.09830520e-01 9.93708447e-01 4.75860855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.742401007999995 meters Centerline goodness : 0.880159 with order 1 Centerline is valid? [False, False] Translation: X:7.94, Y:-0.42, Z:0.48 [[ 9.99788488e-01 -8.55978308e-03 1.87005173e-02 7.93821339e+00] [ 6.23569027e-03 9.92635461e-01 1.20979160e-01 -4.23337091e-01] [-1.95983520e-02 -1.20836961e-01 9.92478883e-01 4.82059869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.802401008 meters Centerline goodness : 0.885862 with order 1 Centerline is valid? [False, False] Translation: X:7.94, Y:-0.41, Z:0.48 [[ 9.99808918e-01 -5.28756145e-03 1.88193663e-02 7.93886930e+00] [ 2.94347243e-03 9.92467743e-01 1.22470871e-01 -4.14730086e-01] [-1.93251863e-02 -1.22392075e-01 9.92293665e-01 4.80000561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.862401008 meters Centerline goodness : 0.885124 with order 1 Centerline is valid? [False, False] Translation: X:7.96, Y:-0.40, Z:0.47 [[ 9.99714449e-01 -3.84635440e-03 2.35844257e-02 7.95625020e+00] [ 1.19289609e-03 9.93763024e-01 1.11506184e-01 -4.03856917e-01] [-2.38662225e-02 -1.11446210e-01 9.93483843e-01 4.68849888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.922401008 meters Centerline goodness : 0.888066 with order 1 Centerline is valid? [False, False] Translation: X:7.98, Y:-0.40, Z:0.47 [[ 9.99598364e-01 -2.51999014e-03 2.82269371e-02 7.98158673e+00] [-6.39831144e-04 9.93777811e-01 1.11378873e-01 -3.97180124e-01] [-2.83319774e-02 -1.11352200e-01 9.93377062e-01 4.68884695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.982401008 meters Centerline goodness : 0.888686 with order 1 Centerline is valid? [False, False] Translation: X:8.00, Y:-0.39, Z:0.47 [[ 9.99464931e-01 -2.34144593e-03 3.26246642e-02 8.00142205e+00] [-1.09795737e-03 9.94470711e-01 1.05008569e-01 -3.91769695e-01] [-3.26901449e-02 -1.04988202e-01 9.93936030e-01 4.66234216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.042401008 meters Centerline goodness : 0.884117 with order 1 Centerline is valid? [False, False] Translation: X:8.03, Y:-0.38, Z:0.46 [[ 9.99384664e-01 1.89142279e-03 3.50245085e-02 8.02712582e+00] [-5.48460064e-03 9.94688905e-01 1.02780843e-01 -3.83527314e-01] [-3.46440880e-02 -1.02909693e-01 9.94087211e-01 4.59966203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.102401008 meters Centerline goodness : 0.885285 with order 1 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.37, Z:0.45 [[ 9.99250931e-01 6.26228993e-03 3.81884926e-02 8.04400163e+00] [-9.79799864e-03 9.95607256e-01 9.31138602e-02 -3.74710728e-01] [-3.74376344e-02 -9.34182823e-02 9.94922835e-01 4.48924917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.162401007999996 meters Centerline goodness : 0.879153 with order 1 Centerline is valid? [False, False] Translation: X:8.08, Y:-0.37, Z:0.44 [[ 0.9992691 0.01279755 0.03602077 8.08036321] [-0.01572298 0.99649671 0.08214071 -0.3713378 ] [-0.03484338 -0.08264703 0.99596958 0.44372842] [ 0. 0. 0. 1. ]] SLAMing on 44.222401008 meters Centerline goodness : 0.887816 with order 1 Centerline is valid? [False, False] Translation: X:8.10, Y:-0.37, Z:0.44 [[ 0.99914741 0.0138984 0.03887518 8.09921375] [-0.01669406 0.99722582 0.07253941 -0.36587776] [-0.03775915 -0.07312655 0.99660762 0.43706903] [ 0. 0. 0. 1. ]] SLAMing on 44.282401008 meters Centerline goodness : 0.887060 with order 1 Centerline is valid? [False, False] Translation: X:8.12, Y:-0.36, Z:0.43 [[ 0.99903195 0.01375196 0.04178577 8.11818719] [-0.01628602 0.99800967 0.06092173 -0.36144825] [-0.04086481 -0.06154328 0.99726751 0.42837851] [ 0. 0. 0. 1. ]] SLAMing on 44.342401007999996 meters Centerline goodness : 0.883310 with order 1 Centerline is valid? [False, False] Translation: X:8.15, Y:-0.36, Z:0.43 [[ 0.99901919 0.01330525 0.042233 8.14797132] [-0.01587637 0.99800292 0.06114003 -0.36259382] [-0.04133517 -0.06175057 0.99723531 0.42998901] [ 0. 0. 0. 1. ]] SLAMing on 44.402401008 meters Centerline goodness : 0.882878 with order 1 Centerline is valid? [False, False] Translation: X:8.15, Y:-0.37, Z:0.43 [[ 0.99904384 0.01284283 0.04179066 8.14948674] [-0.01542238 0.99795695 0.06200057 -0.36542887] [-0.04090902 -0.0625858 0.99720082 0.43121539] [ 0. 0. 0. 1. ]] SLAMing on 44.462401008 meters Centerline goodness : 0.885158 with order 1 Centerline is valid? [False, False] Translation: X:8.17, Y:-0.36, Z:0.43 [[ 0.99895387 0.01280729 0.0438991 8.17059477] [-0.01514901 0.99845654 0.05343255 -0.3647168 ] [-0.04314702 -0.05404168 0.99760605 0.4256375 ] [ 0. 0. 0. 1. ]] SLAMing on 44.522401007999996 meters Centerline goodness : 0.882707 with order 1 Centerline is valid? [False, False] Translation: X:8.21, Y:-0.37, Z:0.44 [[ 0.99897308 0.0155551 0.04255372 8.20880131] [-0.01859413 0.99723279 0.07197926 -0.37285953] [-0.04131632 -0.07269659 0.99649795 0.4412769 ] [ 0. 0. 0. 1. ]] SLAMing on 44.582401008 meters Centerline goodness : 0.879706 with order 1 Centerline is valid? [False, False] Translation: X:8.24, Y:-0.38, Z:0.45 [[ 0.99913244 0.01840795 0.03735646 8.24324987] [-0.021285 0.99671511 0.07814052 -0.37858313] [-0.03579534 -0.07886786 0.99624222 0.44525214] [ 0. 0. 0. 1. ]] SLAMing on 44.642401008 meters Centerline goodness : 0.884456 with order 1 Centerline is valid? [False, False] Translation: X:8.29, Y:-0.38, Z:0.46 [[ 0.99923464 0.01608103 0.03565857 8.28732126] [-0.01929673 0.99559483 0.09175281 -0.38489536] [-0.03402601 -0.09237068 0.99514315 0.45747341] [ 0. 0. 0. 1. ]] SLAMing on 44.702401007999995 meters Centerline goodness : 0.881329 with order 1 Centerline is valid? [False, False] Translation: X:8.33, Y:-0.39, Z:0.47 [[ 0.99920359 0.01249597 0.03789518 8.3270442 ] [-0.01628357 0.99471766 0.10134905 -0.38848578] [-0.03642855 -0.10188541 0.99412893 0.46763366] [ 0. 0. 0. 1. ]] SLAMing on 44.762401008 meters Centerline goodness : 0.879186 with order 1 Centerline is valid? [False, False] Translation: X:8.36, Y:-0.40, Z:0.48 [[ 0.99907446 0.00874073 0.04211677 8.35973909] [-0.01347185 0.99345865 0.11339498 -0.39612341] [-0.04085011 -0.11385742 0.99265692 0.48379612] [ 0. 0. 0. 1. ]] SLAMing on 44.822401008 meters Centerline goodness : 0.874931 with order 1 Centerline is valid? [False, False] Translation: X:8.40, Y:-0.40, Z:0.50 [[ 9.99069354e-01 6.59423151e-03 4.26255957e-02 8.40273642e+00] [-1.21418132e-02 9.91277456e-01 1.31231021e-01 -4.01802511e-01] [-4.13884244e-02 -1.31626443e-01 9.90434994e-01 4.98804126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.882401007999995 meters Centerline goodness : 0.879946 with order 1 Centerline is valid? [False, False] Translation: X:8.44, Y:-0.40, Z:0.49 [[ 0.99908551 0.01014264 0.0415364 8.44286464] [-0.01511818 0.99250254 0.1212854 -0.40015185] [-0.03999483 -0.12180244 0.99174824 0.493686 ] [ 0. 0. 0. 1. ]] SLAMing on 44.942401008 meters Centerline goodness : 0.871008 with order 1 Centerline is valid? [False, False] Translation: X:8.46, Y:-0.40, Z:0.49 [[ 0.99896924 0.01090148 0.04406383 8.46438345] [-0.01580891 0.99351396 0.11260593 -0.39505155] [-0.04255046 -0.11318646 0.99266222 0.48629089] [ 0. 0. 0. 1. ]] SLAMing on 45.002401008 meters Centerline goodness : 0.873829 with order 1 Centerline is valid? [False, False] Translation: X:8.50, Y:-0.39, Z:0.49 [[ 0.99892416 0.01654887 0.04332036 8.50453125] [-0.02112684 0.99398602 0.10744976 -0.39477931] [-0.04128166 -0.10824938 0.99326628 0.48529891] [ 0. 0. 0. 1. ]] SLAMing on 45.062401007999995 meters Centerline goodness : 0.873363 with order 1 Centerline is valid? [False, False] Translation: X:8.54, Y:-0.39, Z:0.49 [[ 0.99881189 0.01904549 0.0448561 8.53789477] [-0.02417977 0.99285463 0.11685467 -0.39467044] [-0.04231003 -0.11780045 0.99213553 0.49213834] [ 0. 0. 0. 1. ]] SLAMing on 45.122401008 meters Centerline goodness : 0.876253 with order 1 Centerline is valid? [False, False] Translation: X:8.56, Y:-0.39, Z:0.48 [[ 0.99866381 0.02175395 0.04687607 8.556747 ] [-0.02664065 0.99397908 0.10628203 -0.3870415 ] [-0.04428178 -0.10738882 0.99323047 0.48253114] [ 0. 0. 0. 1. ]] SLAMing on 45.182401008 meters Centerline goodness : 0.871994 with order 1 Centerline is valid? [False, False] Translation: X:8.58, Y:-0.38, Z:0.48 [[ 0.99839459 0.02325122 0.05164912 8.58079861] [-0.02864331 0.99392767 0.1062419 -0.38384322] [-0.04886523 -0.10755074 0.992998 0.48353925] [ 0. 0. 0. 1. ]] SLAMing on 45.242401007999995 meters Centerline goodness : 0.873542 with order 1 Centerline is valid? [False, False] Translation: X:8.60, Y:-0.38, Z:0.48 [[ 0.99813105 0.02655833 0.05503697 8.59892618] [-0.03188468 0.99464814 0.09827738 -0.37874069] [-0.05213234 -0.09984854 0.99363599 0.47583511] [ 0. 0. 0. 1. ]] SLAMing on 45.302401008 meters Centerline goodness : 0.871479 with order 1 Centerline is valid? [False, False] Translation: X:8.60, Y:-0.37, Z:0.46 [[ 0.99772 0.03692486 0.05649217 8.60232607] [-0.04160519 0.99559253 0.08405075 -0.36860319] [-0.05313962 -0.08620949 0.99485884 0.46248192] [ 0. 0. 0. 1. ]] SLAMing on 45.362401008 meters Centerline goodness : 0.874324 with order 1 Centerline is valid? [False, False] Translation: X:8.61, Y:-0.36, Z:0.45 [[ 0.99724608 0.04818604 0.05637702 8.60636635] [-0.05222587 0.99599817 0.07252664 -0.36239117] [-0.05265664 -0.07527125 0.99577182 0.45468976] [ 0. 0. 0. 1. ]] SLAMing on 45.422401008 meters Centerline goodness : 0.878930 with order 1 Centerline is valid? [False, False] Translation: X:8.61, Y:-0.36, Z:0.45 [[ 0.99682776 0.05152675 0.06065808 8.61310808] [-0.0550634 0.99678794 0.05815349 -0.35885459] [-0.05746678 -0.06130905 0.99646313 0.44737645] [ 0. 0. 0. 1. ]] SLAMing on 45.482401008 meters Centerline goodness : 0.880422 with order 1 Centerline is valid? [False, False] Translation: X:8.63, Y:-0.36, Z:0.44 [[ 0.99657255 0.05201333 0.06432547 8.62861888] [-0.05496176 0.99747624 0.04494835 -0.35567408] [-0.06182522 -0.04832973 0.99691618 0.43637493] [ 0. 0. 0. 1. ]] SLAMing on 45.542401008 meters Centerline goodness : 0.884374 with order 1 Centerline is valid? [False, False] Translation: X:8.65, Y:-0.36, Z:0.43 [[ 0.99663411 0.05441323 0.06131594 8.65292706] [-0.05695753 0.99755319 0.04053966 -0.35849611] [-0.05896002 -0.04389562 0.99729479 0.43131013] [ 0. 0. 0. 1. ]] SLAMing on 45.602401008 meters Centerline goodness : 0.884569 with order 1 Centerline is valid? [False, False] Translation: X:8.67, Y:-0.36, Z:0.42 [[ 0.99653107 0.05668295 0.06093336 8.66888056] [-0.05852117 0.99787015 0.02881728 -0.36157531] [-0.05917013 -0.03228321 0.99772576 0.42397438] [ 0. 0. 0. 1. ]] SLAMing on 45.662401007999996 meters Centerline goodness : 0.886101 with order 1 Centerline is valid? [False, False] Translation: X:8.69, Y:-0.37, Z:0.42 [[ 0.99643885 0.06216153 0.05696983 8.69099654] [-0.06369779 0.99764193 0.02555741 -0.3673174 ] [-0.0552468 -0.02909525 0.99804873 0.42032866] [ 0. 0. 0. 1. ]] SLAMing on 45.722401008 meters Centerline goodness : 0.885466 with order 1 Centerline is valid? [False, False] Translation: X:8.69, Y:-0.37, Z:0.42 [[ 0.99640603 0.06248977 0.0571843 8.69137764] [-0.06400358 0.99763563 0.02503366 -0.36807559] [-0.05548475 -0.02860369 0.99804973 0.41761443] [ 0. 0. 0. 1. ]] SLAMing on 45.782401008 meters Centerline goodness : 0.883391 with order 1 Centerline is valid? [False, False] Translation: X:8.69, Y:-0.37, Z:0.42 [[ 0.99660631 0.05923831 0.0571549 8.69109694] [-0.06059903 0.9979114 0.0223741 -0.37423929] [-0.05571012 -0.02576171 0.99811458 0.41750304] [ 0. 0. 0. 1. ]] SLAMing on 45.842401007999996 meters Centerline goodness : 0.884035 with order 1 Centerline is valid? [False, False] Translation: X:8.69, Y:-0.38, Z:0.42 [[ 0.99697708 0.05376772 0.05608682 8.69438385] [-0.05500398 0.99827082 0.02073494 -0.3822364 ] [-0.05487497 -0.02375725 0.99821056 0.42034037] [ 0. 0. 0. 1. ]] SLAMing on 45.902401008 meters Centerline goodness : 0.889376 with order 1 Centerline is valid? [False, False] Translation: X:8.70, Y:-0.39, Z:0.42 [[ 0.99729517 0.04819339 0.05549541 8.69825764] [-0.04924016 0.99863098 0.01765133 -0.38911882] [-0.05456875 -0.02033619 0.99830291 0.41884781] [ 0. 0. 0. 1. ]] SLAMing on 45.962401008 meters Centerline goodness : 0.884166 with order 1 Centerline is valid? [False, False] Translation: X:8.70, Y:-0.39, Z:0.42 [[ 0.9975458 0.04335117 0.05498228 8.7019552 ] [-0.04417986 0.99892624 0.0139466 -0.39267591] [-0.05431864 -0.01634148 0.99838992 0.41588253] [ 0. 0. 0. 1. ]] SLAMing on 46.022401007999996 meters Centerline goodness : 0.887233 with order 1 Centerline is valid? [False, False] Translation: X:8.72, Y:-0.40, Z:0.42 [[ 0.99790297 0.03531809 0.05424294 8.72435154] [-0.03663388 0.99905341 0.02345729 -0.40135975] [-0.05336312 -0.02539523 0.9982522 0.42435478] [ 0. 0. 0. 1. ]] SLAMing on 46.082401008 meters Centerline goodness : 0.889958 with order 1 Centerline is valid? [False, False] Translation: X:8.73, Y:-0.40, Z:0.43 [[ 0.99802116 0.03390305 0.05295614 8.72810729] [-0.03522996 0.9990831 0.02432733 -0.40454934] [-0.05208282 -0.02614483 0.99830047 0.42581538] [ 0. 0. 0. 1. ]] SLAMing on 46.142401008 meters Centerline goodness : 0.891284 with order 1 Centerline is valid? [False, False] Translation: X:8.76, Y:-0.41, Z:0.45 [[ 0.99790023 0.02452018 0.05994909 8.75973332] [-0.02740707 0.99848002 0.04781742 -0.41004828] [-0.05868547 -0.04936004 0.99705547 0.44578958] [ 0. 0. 0. 1. ]] SLAMing on 46.202401007999995 meters Centerline goodness : 0.887333 with order 1 Centerline is valid? [False, False] Translation: X:8.79, Y:-0.41, Z:0.47 [[ 0.99748278 0.00961421 0.07025436 8.79287732] [-0.01577787 0.99602085 0.0877128 -0.41324702] [-0.06913152 -0.08860047 0.99366533 0.47067004] [ 0. 0. 0. 1. ]] SLAMing on 46.262401008 meters Centerline goodness : 0.876655 with order 1 Centerline is valid? [False, False] Translation: X:8.80, Y:-0.41, Z:0.48 [[ 9.97772099e-01 2.82086272e-03 6.66549373e-02 8.80450747e+00] [-1.01936806e-02 9.93820228e-01 1.10532541e-01 -4.09819489e-01] [-6.59312278e-02 -1.10965745e-01 9.91634850e-01 4.79770938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.322401008 meters Centerline goodness : 0.877156 with order 1 Centerline is valid? [False, False] Translation: X:8.81, Y:-0.40, Z:0.48 [[ 9.97829043e-01 6.10781605e-03 6.55735941e-02 8.80646016e+00] [-1.34594215e-02 9.93587258e-01 1.12263992e-01 -4.01909955e-01] [-6.44673998e-02 -1.12902854e-01 9.91512431e-01 4.79482163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.382401007999995 meters Centerline goodness : 0.883734 with order 1 Centerline is valid? [False, False] Translation: X:8.81, Y:-0.39, Z:0.47 [[ 0.9977357 0.01384776 0.06581568 8.80918198] [-0.02009549 0.99525193 0.09523534 -0.39145696] [-0.06418439 -0.0963423 0.99327666 0.46859978] [ 0. 0. 0. 1. ]] SLAMing on 46.442401008 meters Centerline goodness : 0.885107 with order 1 Centerline is valid? [False, False] Translation: X:8.80, Y:-0.38, Z:0.46 [[ 0.99727506 0.02958671 0.06758025 8.80279371] [-0.03524307 0.99583376 0.08410144 -0.37912789] [-0.06481041 -0.08625401 0.99416289 0.46068473] [ 0. 0. 0. 1. ]] SLAMing on 46.502401008 meters Centerline goodness : 0.887272 with order 1 Centerline is valid? [False, False] Translation: X:8.81, Y:-0.37, Z:0.45 [[ 0.99662455 0.03871502 0.07239231 8.8130616 ] [-0.04434421 0.995979 0.07784227 -0.37158723] [-0.06908756 -0.0807897 0.99433391 0.45255021] [ 0. 0. 0. 1. ]] SLAMing on 46.562401007999995 meters Centerline goodness : 0.885996 with order 1 Centerline is valid? [False, False] Translation: X:8.81, Y:-0.37, Z:0.45 [[ 0.99577454 0.05239285 0.07541925 8.8142764 ] [-0.0576655 0.99591248 0.06951991 -0.36578392] [-0.07146863 -0.07357524 0.99472555 0.44552763] [ 0. 0. 0. 1. ]] SLAMing on 46.622401008 meters Centerline goodness : 0.883993 with order 1 Centerline is valid? [False, False] Translation: X:8.83, Y:-0.36, Z:0.44 [[ 0.99534813 0.06490845 0.07119686 8.83400245] [-0.06882909 0.99616217 0.05406924 -0.36481552] [-0.06741407 -0.05871813 0.99599575 0.44050414] [ 0. 0. 0. 1. ]] SLAMing on 46.682401008 meters Centerline goodness : 0.892090 with order 1 Centerline is valid? [False, False] Translation: X:8.84, Y:-0.36, Z:0.43 [[ 0.99460562 0.07231972 0.07436079 8.83937235] [-0.07545801 0.9963345 0.04029448 -0.36121568] [-0.07117414 -0.04568824 0.99641699 0.42890388] [ 0. 0. 0. 1. ]] SLAMing on 46.742401007999995 meters Centerline goodness : 0.890172 with order 1 Centerline is valid? [False, False] Translation: X:8.84, Y:-0.36, Z:0.42 [[ 0.99465729 0.07178136 0.0741911 8.84175354] [-0.07478792 0.99645326 0.03857041 -0.36078595] [-0.07115932 -0.04391293 0.99649787 0.42377821] [ 0. 0. 0. 1. ]] SLAMing on 46.802401008 meters Centerline goodness : 0.890827 with order 1 Centerline is valid? [False, False] Translation: X:8.84, Y:-0.36, Z:0.42 [[ 0.99491588 0.06815529 0.07414343 8.84192828] [-0.07082153 0.9969113 0.03394358 -0.36220435] [-0.07160099 -0.03902196 0.99666975 0.42136586] [ 0. 0. 0. 1. ]] SLAMing on 46.862401008 meters Centerline goodness : 0.892122 with order 1 Centerline is valid? [False, False] Translation: X:8.84, Y:-0.37, Z:0.42 [[ 0.9954419 0.06039897 0.07380645 8.84258345] [-0.06248221 0.99770085 0.02624855 -0.36817133] [-0.07205137 -0.03074049 0.99692709 0.41963116] [ 0. 0. 0. 1. ]] SLAMing on 46.922401008 meters Centerline goodness : 0.894501 with order 1 Centerline is valid? [False, False] Translation: X:8.85, Y:-0.37, Z:0.42 [[ 0.99559557 0.05912037 0.07276153 8.84613118] [-0.06118953 0.99777318 0.02654295 -0.37171667] [-0.07103027 -0.03087829 0.9969961 0.41904976] [ 0. 0. 0. 1. ]] SLAMing on 46.982401008 meters Centerline goodness : 0.893311 with order 1 Centerline is valid? [False, False] Translation: X:8.87, Y:-0.38, Z:0.42 [[ 0.99627948 0.05572824 0.06573862 8.87399892] [-0.05712808 0.99817428 0.01960855 -0.37866782] [-0.06452585 -0.02329112 0.99764419 0.41517441] [ 0. 0. 0. 1. ]] SLAMing on 47.042401008 meters Centerline goodness : 0.894901 with order 1 Centerline is valid? [False, False] Translation: X:8.89, Y:-0.38, Z:0.41 [[ 0.99674822 0.04932584 0.06371767 8.88619593] [-0.05064769 0.99853011 0.01929844 -0.38208078] [-0.0626721 -0.02246284 0.99778135 0.41415768] [ 0. 0. 0. 1. ]] SLAMing on 47.102401008 meters Centerline goodness : 0.895085 with order 1 Centerline is valid? [False, False] Translation: X:8.91, Y:-0.39, Z:0.42 [[ 0.99705867 0.04322771 0.06328807 8.91091053] [-0.04522114 0.99851401 0.030411 -0.386309 ] [-0.06187942 -0.03318351 0.99753185 0.41872593] [ 0. 0. 0. 1. ]] SLAMing on 47.162401007999996 meters Centerline goodness : 0.892653 with order 1 Centerline is valid? [False, False] Translation: X:8.92, Y:-0.39, Z:0.42 [[ 0.99737904 0.03924385 0.06078622 8.92029905] [-0.04121833 0.9986511 0.03157592 -0.38723608] [-0.05946506 -0.03399867 0.99765124 0.42130621] [ 0. 0. 0. 1. ]] SLAMing on 47.222401008 meters Centerline goodness : 0.894333 with order 1 Centerline is valid? [False, False] Translation: X:8.92, Y:-0.38, Z:0.42 [[ 0.99752982 0.03524499 0.06076223 8.92065335] [-0.03683419 0.99900271 0.02523547 -0.38208412] [-0.05981221 -0.02741126 0.99783321 0.41788349] [ 0. 0. 0. 1. ]] SLAMing on 47.282401008 meters Centerline goodness : 0.890415 with order 1 Centerline is valid? [False, False] Translation: X:8.95, Y:-0.38, Z:0.42 [[ 0.99770594 0.03626987 0.0571607 8.9545746 ] [-0.03796012 0.99886511 0.02876679 -0.38325738] [-0.05605246 -0.03087062 0.99795046 0.4202436 ] [ 0. 0. 0. 1. ]] SLAMing on 47.342401007999996 meters Centerline goodness : 0.891650 with order 1 Centerline is valid? [False, False] Translation: X:8.96, Y:-0.39, Z:0.43 [[ 0.99779883 0.0355066 0.05600689 8.96310235] [-0.03764882 0.99858079 0.03766934 -0.38539624] [-0.05458989 -0.03969502 0.99771952 0.43027489] [ 0. 0. 0. 1. ]] SLAMing on 47.402401008 meters Centerline goodness : 0.892942 with order 1 Centerline is valid? [False, False] Translation: X:9.00, Y:-0.39, Z:0.45 [[ 0.99765178 0.03180805 0.06065622 8.99534188] [-0.03583086 0.99714752 0.06643016 -0.39379339] [-0.05837018 -0.06844753 0.99594571 0.44985853] [ 0. 0. 0. 1. ]] SLAMing on 47.462401008 meters Centerline goodness : 0.893281 with order 1 Centerline is valid? [False, False] Translation: X:9.02, Y:-0.39, Z:0.45 [[ 0.99748028 0.03193418 0.06335059 9.0213565 ] [-0.03596742 0.9973283 0.06358156 -0.39005493] [-0.06115091 -0.06569991 0.9959639 0.44835675] [ 0. 0. 0. 1. ]] SLAMing on 47.522401007999996 meters Centerline goodness : 0.895965 with order 1 Centerline is valid? [False, False] Translation: X:9.06, Y:-0.39, Z:0.46 [[ 0.99751372 0.0326665 0.06244425 9.06037505] [-0.03741547 0.99637035 0.0764605 -0.39259227] [-0.05971991 -0.07860678 0.99511532 0.45921978] [ 0. 0. 0. 1. ]] SLAMing on 47.582401008 meters Centerline goodness : 0.899012 with order 1 Centerline is valid? [False, False] Translation: X:9.10, Y:-0.40, Z:0.47 [[ 0.99770105 0.03238006 0.05953266 9.09650804] [-0.03741204 0.99563968 0.08545154 -0.39661652] [-0.05650615 -0.08748233 0.99456216 0.47031796] [ 0. 0. 0. 1. ]] SLAMing on 47.642401008 meters Centerline goodness : 0.899047 with order 1 Centerline is valid? [False, False] Translation: X:9.12, Y:-0.40, Z:0.48 [[ 0.99767997 0.03031112 0.06095836 9.11927688] [-0.03655462 0.9938985 0.10406504 -0.40083374] [-0.05743209 -0.10605191 0.99270063 0.48066932] [ 0. 0. 0. 1. ]] SLAMing on 47.702401007999995 meters Centerline goodness : 0.900452 with order 1 Centerline is valid? [False, False] Translation: X:9.15, Y:-0.40, Z:0.49 [[ 0.9977081 0.03418674 0.05839369 9.15272652] [-0.04067013 0.99268029 0.11371798 -0.40468894] [-0.05407861 -0.11583223 0.99179554 0.48655268] [ 0. 0. 0. 1. ]] SLAMing on 47.762401008 meters Centerline goodness : 0.898390 with order 1 Centerline is valid? [False, False] Translation: X:9.17, Y:-0.40, Z:0.48 [[ 0.99753286 0.03861585 0.05862602 9.17182344] [-0.0445786 0.99357073 0.10406708 -0.40112552] [-0.05423046 -0.1064238 0.99284089 0.47619513] [ 0. 0. 0. 1. ]] SLAMing on 47.822401008 meters Centerline goodness : 0.895959 with order 1 Centerline is valid? [False, False] Translation: X:9.20, Y:-0.40, Z:0.47 [[ 0.9972248 0.05223963 0.05304457 9.20096411] [-0.05707002 0.9939299 0.09405509 -0.40028905] [-0.04780919 -0.09682132 0.99415286 0.47188957] [ 0. 0. 0. 1. ]] SLAMing on 47.882401007999995 meters Centerline goodness : 0.897877 with order 1 Centerline is valid? [False, False] Translation: X:9.20, Y:-0.39, Z:0.46 [[ 0.99649173 0.06247924 0.05568285 9.1956295 ] [-0.06669675 0.99476572 0.07741263 -0.3943566 ] [-0.05055471 -0.08085491 0.99544297 0.4618027 ] [ 0. 0. 0. 1. ]] SLAMing on 47.942401008 meters Centerline goodness : 0.896760 with order 1 Centerline is valid? [False, False] Translation: X:9.21, Y:-0.39, Z:0.45 [[ 0.99592814 0.06698763 0.06033079 9.20690468] [-0.07101937 0.99519749 0.06736624 -0.39086544] [-0.05552835 -0.07137658 0.9959026 0.4535733 ] [ 0. 0. 0. 1. ]] SLAMing on 48.002401008 meters Centerline goodness : 0.899529 with order 1 Centerline is valid? [False, False] Translation: X:9.22, Y:-0.39, Z:0.44 [[ 0.99548443 0.06965485 0.06448997 9.21508467] [-0.07306334 0.99596582 0.0520945 -0.38684199] [-0.06060118 -0.05657111 0.99655768 0.44369845] [ 0. 0. 0. 1. ]] SLAMing on 48.062401007999995 meters Centerline goodness : 0.903052 with order 1 Centerline is valid? [False, False] Translation: X:9.22, Y:-0.39, Z:0.44 [[ 0.99511927 0.07034698 0.06920221 9.22386345] [-0.07304305 0.99663367 0.03722966 -0.38689099] [-0.06635026 -0.04210269 0.99690772 0.43621627] [ 0. 0. 0. 1. ]] SLAMing on 48.122401008 meters Centerline goodness : 0.901095 with order 1 Centerline is valid? [False, False] Translation: X:9.22, Y:-0.39, Z:0.43 [[ 0.99540503 0.06650988 0.06888591 9.22457502] [-0.06889421 0.99708353 0.03283311 -0.38903721] [-0.06650128 -0.03742808 0.99708411 0.43431331] [ 0. 0. 0. 1. ]] SLAMing on 48.182401008 meters Centerline goodness : 0.902604 with order 1 Centerline is valid? [False, False] Translation: X:9.23, Y:-0.39, Z:0.43 [[ 0.99551224 0.06557211 0.0682325 9.22736515] [-0.0679086 0.99716193 0.03250398 -0.39051913] [-0.06590749 -0.03699169 0.99713982 0.43254976] [ 0. 0. 0. 1. ]] SLAMing on 48.242401007999995 meters Centerline goodness : 0.900452 with order 1 Centerline is valid? [False, False] Translation: X:9.23, Y:-0.39, Z:0.43 [[ 0.99564985 0.06440655 0.06732888 9.23093052] [-0.06666237 0.99726838 0.03181043 -0.39202073] [-0.06509616 -0.03616035 0.99722361 0.43006021] [ 0. 0. 0. 1. ]] SLAMing on 48.302401008 meters Centerline goodness : 0.899547 with order 1 Centerline is valid? [False, False] Translation: X:9.23, Y:-0.39, Z:0.43 [[ 0.99586877 0.06131704 0.06697477 9.2308257 ] [-0.06319753 0.99765372 0.02632743 -0.3895489 ] [-0.06520331 -0.0304513 0.99740726 0.42743313] [ 0. 0. 0. 1. ]] SLAMing on 48.362401008 meters Centerline goodness : 0.895450 with order 1 Centerline is valid? [False, False] Translation: X:9.23, Y:-0.39, Z:0.43 [[ 0.99582475 0.06201045 0.06699081 9.23035702] [-0.06382963 0.99763845 0.02536347 -0.38710128] [-0.06525981 -0.02953357 0.99743116 0.42581864] [ 0. 0. 0. 1. ]] SLAMing on 48.422401008 meters Centerline goodness : 0.900408 with order 1 Centerline is valid? [False, False] Translation: X:9.23, Y:-0.38, Z:0.42 [[ 0.99574919 0.06296722 0.06722109 9.22929524] [-0.06472766 0.99760613 0.02433797 -0.38364235] [-0.06552768 -0.02858558 0.99744122 0.42429113] [ 0. 0. 0. 1. ]] SLAMing on 48.482401008 meters Centerline goodness : 0.898024 with order 1 Centerline is valid? [False, False] Translation: X:9.23, Y:-0.38, Z:0.43 [[ 0.99565774 0.06407537 0.06752779 9.22730023] [-0.06584763 0.99753249 0.02435209 -0.38196682] [-0.0658008 -0.02869289 0.99742016 0.42513301] [ 0. 0. 0. 1. ]] SLAMing on 48.542401008 meters Centerline goodness : 0.896249 with order 1 Centerline is valid? [False, False] Translation: X:9.23, Y:-0.38, Z:0.42 [[ 0.99576536 0.06226593 0.06763359 9.22513229] [-0.06371347 0.99777851 0.01945865 -0.37944551] [-0.06627173 -0.02368542 0.99752046 0.42311452] [ 0. 0. 0. 1. ]] SLAMing on 48.602401008 meters Centerline goodness : 0.897107 with order 1 Centerline is valid? [False, False] Translation: X:9.22, Y:-0.38, Z:0.42 [[ 0.99597234 0.05880683 0.06768204 9.22448151] [-0.05994235 0.99809109 0.01486878 -0.37884091] [-0.06667846 -0.01886592 0.99759614 0.42205657] [ 0. 0. 0. 1. ]] SLAMing on 48.662401007999996 meters Centerline goodness : 0.896299 with order 1 Centerline is valid? [False, False] Translation: X:9.23, Y:-0.38, Z:0.42 [[ 0.99616189 0.05656663 0.06679597 9.22834966] [-0.05780525 0.99818723 0.01675703 -0.38401164] [-0.06572699 -0.02055387 0.99762593 0.42493003] [ 0. 0. 0. 1. ]] SLAMing on 48.722401008 meters Centerline goodness : 0.895638 with order 1 Centerline is valid? [False, False] Translation: X:9.24, Y:-0.39, Z:0.43 [[ 0.9967084 0.04822364 0.06516777 9.24368715] [-0.04951306 0.9986055 0.01831722 -0.3867022 ] [-0.06419357 -0.02148358 0.99770619 0.42702744] [ 0. 0. 0. 1. ]] SLAMing on 48.782401008 meters Centerline goodness : 0.897755 with order 1 Centerline is valid? [False, False] Translation: X:9.25, Y:-0.39, Z:0.42 [[ 0.99702983 0.0437231 0.06340198 9.25288414] [-0.04491005 0.99883918 0.01741774 -0.38715659] [-0.06256683 -0.02021339 0.99783606 0.42494184] [ 0. 0. 0. 1. ]] SLAMing on 48.842401007999996 meters Centerline goodness : 0.898865 with order 1 Centerline is valid? [False, False] Translation: X:9.26, Y:-0.39, Z:0.43 [[ 0.99710328 0.04482482 0.06144741 9.25996188] [-0.04632715 0.99865581 0.02324569 -0.38912041] [-0.06032283 -0.02602503 0.99783959 0.42834786] [ 0. 0. 0. 1. ]] SLAMing on 48.902401008 meters Centerline goodness : 0.890168 with order 1 Centerline is valid? [False, False] Translation: X:9.27, Y:-0.39, Z:0.43 [[ 0.9974102 0.04053213 0.05941407 9.27458202] [-0.04214644 0.99876856 0.02617343 -0.38748276] [-0.05828004 -0.02860974 0.99789023 0.42772411] [ 0. 0. 0. 1. ]] SLAMing on 48.962401008 meters Centerline goodness : 0.890951 with order 1 Centerline is valid? [False, False] Translation: X:9.31, Y:-0.39, Z:0.45 [[ 0.99757991 0.03179286 0.06183482 9.31412011] [-0.0350966 0.9979724 0.05309732 -0.39439711] [-0.06002133 -0.05513901 0.99667303 0.44720374] [ 0. 0. 0. 1. ]] SLAMing on 49.022401007999996 meters Centerline goodness : 0.893404 with order 1 Centerline is valid? [False, False] Translation: X:9.35, Y:-0.40, Z:0.45 [[ 0.99796304 0.02996893 0.05631721 9.3511459 ] [-0.03317531 0.99782913 0.05688964 -0.39904439] [-0.05449004 -0.0586421 0.99679082 0.45117535] [ 0. 0. 0. 1. ]] SLAMing on 49.082401008 meters Centerline goodness : 0.890859 with order 1 Centerline is valid? [False, False] Translation: X:9.39, Y:-0.41, Z:0.47 [[ 0.99765915 0.02602844 0.06323557 9.3873349 ] [-0.03154841 0.99562746 0.08792411 -0.40652636] [-0.06067054 -0.08971328 0.99411801 0.4711913 ] [ 0. 0. 0. 1. ]] SLAMing on 49.142401008 meters Centerline goodness : 0.897254 with order 1 Centerline is valid? [False, False] Translation: X:9.40, Y:-0.40, Z:0.46 [[ 0.99728182 0.0288082 0.06781632 9.40127078] [-0.03410435 0.99634789 0.07828007 -0.40149199] [-0.06531354 -0.08038012 0.99462213 0.46452737] [ 0. 0. 0. 1. ]] SLAMing on 49.202401007999995 meters Centerline goodness : 0.895767 with order 1 Centerline is valid? [False, False] Translation: X:9.40, Y:-0.40, Z:0.46 [[ 0.99659692 0.0358238 0.07423765 9.40482569] [-0.04095369 0.99679146 0.06877192 -0.39680933] [-0.07153579 -0.07157819 0.99486642 0.45989106] [ 0. 0. 0. 1. ]] SLAMing on 49.262401008 meters Centerline goodness : 0.903285 with order 1 Centerline is valid? [False, False] Translation: X:9.43, Y:-0.40, Z:0.45 [[ 0.99665938 0.04140008 0.07039962 9.43113592] [-0.04513304 0.99761162 0.05228822 -0.39547515] [-0.06806675 -0.0552909 0.9961475 0.45382055] [ 0. 0. 0. 1. ]] SLAMing on 49.322401008 meters Centerline goodness : 0.896541 with order 1 Centerline is valid? [False, False] Translation: X:9.47, Y:-0.40, Z:0.46 [[ 0.99689737 0.04205594 0.06653516 9.46590905] [-0.04580054 0.99739132 0.05579311 -0.3986664 ] [-0.06401516 -0.05866735 0.99622297 0.45530725] [ 0. 0. 0. 1. ]] SLAMing on 49.382401007999995 meters Centerline goodness : 0.893523 with order 1 Centerline is valid? [False, False] Translation: X:9.50, Y:-0.40, Z:0.46 [[ 0.99721748 0.04455716 0.05976585 9.49866315] [-0.04803668 0.99715413 0.0581044 -0.40260951] [-0.0570068 -0.06081367 0.99651991 0.45605347] [ 0. 0. 0. 1. ]] SLAMing on 49.442401008 meters Centerline goodness : 0.894859 with order 1 Centerline is valid? [False, False] Translation: X:9.52, Y:-0.40, Z:0.45 [[ 0.9973398 0.0466445 0.05601437 9.51859867] [-0.04926577 0.99770899 0.04636443 -0.40068073] [-0.05372339 -0.04900068 0.99735286 0.44744042] [ 0. 0. 0. 1. ]] SLAMing on 49.502401008 meters Centerline goodness : 0.894119 with order 1 Centerline is valid? [False, False] Translation: X:9.52, Y:-0.40, Z:0.45 [[ 0.99734352 0.04665871 0.05593628 9.51906029] [-0.04924611 0.99773574 0.04580624 -0.39908783] [-0.05367237 -0.0484392 0.99738304 0.44685101] [ 0. 0. 0. 1. ]] SLAMing on 49.562401007999995 meters Centerline goodness : 0.895489 with order 1 Centerline is valid? [False, False] Translation: X:9.54, Y:-0.40, Z:0.44 [[ 0.99697912 0.0494812 0.05986851 9.53765074] [-0.05188695 0.99787863 0.03931912 -0.39615039] [-0.05779594 -0.04230674 0.99743159 0.44076736] [ 0. 0. 0. 1. ]] SLAMing on 49.622401008 meters Centerline goodness : 0.893114 with order 1 Centerline is valid? [False, False] Translation: X:9.54, Y:-0.39, Z:0.44 [[ 0.99698417 0.04984036 0.05948531 9.53819004] [-0.05218775 0.9978917 0.03858221 -0.39357007] [-0.05743694 -0.04157025 0.99748329 0.43979223] [ 0. 0. 0. 1. ]] SLAMing on 49.682401008 meters Centerline goodness : 0.893835 with order 1 Centerline is valid? [False, False] Translation: X:9.54, Y:-0.39, Z:0.44 [[ 0.99698398 0.0499922 0.05936103 9.53790076] [-0.05234305 0.99787782 0.03873052 -0.39365737] [-0.05729883 -0.04172085 0.99748494 0.44070823] [ 0. 0. 0. 1. ]] SLAMing on 49.742401007999995 meters Centerline goodness : 0.894869 with order 1 Centerline is valid? [False, False] Translation: X:9.56, Y:-0.40, Z:0.45 [[ 0.9972259 0.0432972 0.0605463 9.56375876] [-0.04639831 0.99763114 0.05078691 -0.39734108] [-0.05820395 -0.05345527 0.99687253 0.44538309] [ 0. 0. 0. 1. ]] SLAMing on 49.802401008 meters Centerline goodness : 0.891726 with order 1 Centerline is valid? [False, False] Translation: X:9.60, Y:-0.41, Z:0.47 [[ 0.99766175 0.03144159 0.06068324 9.60107659] [-0.03598871 0.99650711 0.0753551 -0.40847422] [-0.058102 -0.07736281 0.99530857 0.46627974] [ 0. 0. 0. 1. ]] SLAMing on 49.862401008 meters Centerline goodness : 0.892426 with order 1 Centerline is valid? [False, False] Translation: X:9.61, Y:-0.42, Z:0.51 [[ 0.99704268 0.01320219 0.07570725 9.6134434 ] [-0.02284739 0.9915124 0.12798887 -0.42251383] [-0.07337494 -0.12934008 0.98888182 0.50517008] [ 0. 0. 0. 1. ]] SLAMing on 49.922401008 meters Centerline goodness : 0.892988 with order 1 Centerline is valid? [False, False] Translation: X:9.61, Y:-0.42, Z:0.51 [[ 9.97064669e-01 -1.36351772e-03 7.65518593e-02 9.61167998e+00] [-9.12069740e-03 9.90606531e-01 1.36438681e-01 -4.22305941e-01] [-7.60188084e-02 -1.36736394e-01 9.87686336e-01 5.11970794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.982401008 meters Centerline goodness : 0.891217 with order 1 Centerline is valid? [False, False] Translation: X:9.59, Y:-0.42, Z:0.51 [[ 9.97169442e-01 -5.54983249e-03 7.49820158e-02 9.59378308e+00] [-5.01122151e-03 9.90148786e-01 1.39929512e-01 -4.17165536e-01] [-7.50199373e-02 -1.39909185e-01 9.87318302e-01 5.14575950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.042401008 meters Centerline goodness : 0.889870 with order 1 Centerline is valid? [False, False] Translation: X:9.58, Y:-0.41, Z:0.50 [[ 9.97265889e-01 -1.54782709e-03 7.38806509e-02 9.58265169e+00] [-7.91567459e-03 9.91790672e-01 1.27626823e-01 -4.06553344e-01] [-7.34716846e-02 -1.27862692e-01 9.89066754e-01 5.01030891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.102401008 meters Centerline goodness : 0.893923 with order 1 Centerline is valid? [False, False] Translation: X:9.58, Y:-0.40, Z:0.50 [[ 9.97294266e-01 1.85850586e-03 7.34894018e-02 9.58352158e+00] [-1.13447565e-02 9.91595549e-01 1.28878100e-01 -3.99661618e-01] [-7.26322430e-02 -1.29363109e-01 9.88933639e-01 4.99198821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.162401007999996 meters Centerline goodness : 0.892813 with order 1 Centerline is valid? [False, False] Translation: X:9.58, Y:-0.39, Z:0.50 [[ 9.97333576e-01 5.23873069e-03 7.27893854e-02 9.58485158e+00] [-1.48014187e-02 9.91210285e-01 1.31465159e-01 -3.93336258e-01] [-7.14608769e-02 -1.32192003e-01 9.88644839e-01 4.99157716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.222401008 meters Centerline goodness : 0.889400 with order 1 Centerline is valid? [False, False] Translation: X:9.59, Y:-0.38, Z:0.49 [[ 0.99693082 0.01111767 0.07749417 9.59460181] [-0.02037497 0.99259947 0.11971276 -0.38275359] [-0.07558974 -0.12092428 0.98977953 0.48756153] [ 0. 0. 0. 1. ]] SLAMing on 50.282401008 meters Centerline goodness : 0.887112 with order 1 Centerline is valid? [False, False] Translation: X:9.61, Y:-0.38, Z:0.48 [[ 0.99653549 0.01531095 0.08174717 9.60582193] [-0.0240772 0.99392941 0.1073528 -0.37523333] [-0.07960724 -0.10894912 0.99085457 0.47674961] [ 0. 0. 0. 1. ]] SLAMing on 50.342401007999996 meters Centerline goodness : 0.888652 with order 1 Centerline is valid? [False, False] Translation: X:9.62, Y:-0.37, Z:0.47 [[ 0.9967429 0.0242741 0.07690494 9.62085661] [-0.0310462 0.99562558 0.08812395 -0.36990142] [-0.07442939 -0.09022452 0.99313635 0.47290646] [ 0. 0. 0. 1. ]] SLAMing on 50.402401008 meters Centerline goodness : 0.888305 with order 1 Centerline is valid? [False, False] Translation: X:9.64, Y:-0.36, Z:0.46 [[ 0.99647007 0.02778904 0.07921594 9.63975067] [-0.03405244 0.99630502 0.07884628 -0.36285979] [-0.07673218 -0.08126546 0.99373442 0.46150456] [ 0. 0. 0. 1. ]] SLAMing on 50.462401008 meters Centerline goodness : 0.883893 with order 1 Centerline is valid? [False, False] Translation: X:9.64, Y:-0.36, Z:0.46 [[ 0.99658124 0.02659234 0.07822195 9.64353468] [-0.03263427 0.99649644 0.07700556 -0.35984542] [-0.07590014 -0.07929501 0.99395748 0.45793408] [ 0. 0. 0. 1. ]] SLAMing on 50.522401007999996 meters Centerline goodness : 0.882609 with order 1 Centerline is valid? [False, False] Translation: X:9.68, Y:-0.36, Z:0.47 [[ 0.99695872 0.02357584 0.07427977 9.68263704] [-0.02985543 0.99596785 0.08459721 -0.36446933] [-0.07198581 -0.08655758 0.99364271 0.46745883] [ 0. 0. 0. 1. ]] SLAMing on 50.582401008 meters Centerline goodness : 0.882794 with order 1 Centerline is valid? [False, False] Translation: X:9.71, Y:-0.36, Z:0.47 [[ 0.99699671 0.02168391 0.07434629 9.71268512] [-0.02781871 0.9962027 0.08250028 -0.3636123 ] [-0.07227505 -0.08432073 0.99381403 0.46751302] [ 0. 0. 0. 1. ]] SLAMing on 50.642401008 meters Centerline goodness : 0.881142 with order 1 Centerline is valid? [False, False] Translation: X:9.75, Y:-0.37, Z:0.48 [[ 0.99686106 0.01787239 0.07712716 9.75229298] [-0.02538212 0.99491037 0.09751459 -0.3665514 ] [-0.07499179 -0.09916615 0.99224105 0.48059245] [ 0. 0. 0. 1. ]] SLAMing on 50.702401007999995 meters Centerline goodness : 0.881370 with order 1 Centerline is valid? [False, False] Translation: X:9.78, Y:-0.37, Z:0.49 [[ 0.99698339 0.01925571 0.07518864 9.78370306] [-0.02719777 0.99398585 0.10607742 -0.36973469] [-0.07269384 -0.10780239 0.99151109 0.48852789] [ 0. 0. 0. 1. ]] SLAMing on 50.762401008 meters Centerline goodness : 0.879418 with order 1 Centerline is valid? [False, False] Translation: X:9.80, Y:-0.37, Z:0.49 [[ 0.99719483 0.01356879 0.07360957 9.79545955] [-0.02148206 0.99394031 0.10780162 -0.36551159] [-0.07170078 -0.10908051 0.99144361 0.49176952] [ 0. 0. 0. 1. ]] SLAMing on 50.822401008 meters Centerline goodness : 0.881897 with order 1 Centerline is valid? [False, False] Translation: X:9.79, Y:-0.36, Z:0.49 [[ 9.97004476e-01 9.77889837e-03 7.67231942e-02 9.79410106e+00] [-1.79341433e-02 9.94168351e-01 1.06337463e-01 -3.59234638e-01] [-7.52359083e-02 -1.07394892e-01 9.91365672e-01 4.93557095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.882401007999995 meters Centerline goodness : 0.876637 with order 1 Centerline is valid? [False, False] Translation: X:9.77, Y:-0.35, Z:0.50 [[ 9.97114369e-01 2.84459126e-03 7.58606798e-02 9.76613937e+00] [-1.18398723e-02 9.92896306e-01 1.18392331e-01 -3.50553150e-01] [-7.49850109e-02 -1.18948875e-01 9.90064853e-01 4.95897961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.942401008 meters Centerline goodness : 0.878847 with order 1 Centerline is valid? [False, False] Translation: X:9.73, Y:-0.34, Z:0.49 [[ 9.97665196e-01 1.34913805e-03 6.82813070e-02 9.72968610e+00] [-8.64154352e-03 9.94262577e-01 1.06617317e-01 -3.36765868e-01] [-6.77457068e-02 -1.06958442e-01 9.91952827e-01 4.92734376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.002401008 meters Centerline goodness : 0.879544 with order 1 Centerline is valid? [False, False] Translation: X:9.69, Y:-0.33, Z:0.49 [[ 9.97891573e-01 -8.34445666e-04 6.48977027e-02 9.68953470e+00] [-5.31483142e-03 9.95508494e-01 9.45229644e-02 -3.26123677e-01] [-6.46850885e-02 -9.46685900e-02 9.93405102e-01 4.92640090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.062401007999995 meters Centerline goodness : 0.871462 with order 1 Centerline is valid? [False, False] Translation: X:9.64, Y:-0.31, Z:0.49 [[ 9.97813373e-01 -9.31024847e-03 6.54353967e-02 9.63965164e+00] [ 3.63966854e-03 9.96266904e-01 8.62496868e-02 -3.08307615e-01] [-6.59941261e-02 -8.58229278e-02 9.94122327e-01 4.89876311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.122401008 meters Centerline goodness : 0.868591 with order 1 Centerline is valid? [False, False] Translation: X:9.61, Y:-0.29, Z:0.49 [[ 9.98059541e-01 -2.84041040e-03 6.22019748e-02 9.61485997e+00] [-1.74794977e-03 9.97287262e-01 7.35871018e-02 -2.87996613e-01] [-6.22422547e-02 -7.35530350e-02 9.95347102e-01 4.87502052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.182401008 meters Centerline goodness : 0.867926 with order 1 Centerline is valid? [False, False] Translation: X:9.59, Y:-0.27, Z:0.48 [[ 9.98047867e-01 7.35295100e-03 6.20192607e-02 9.58573628e+00] [-1.11024854e-02 9.98116655e-01 6.03314027e-02 -2.71878793e-01] [-6.14588432e-02 -6.09021957e-02 9.96249835e-01 4.84240556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.242401007999995 meters Centerline goodness : 0.867474 with order 1 Centerline is valid? [False, False] Translation: X:9.56, Y:-0.25, Z:0.48 [[ 0.99807771 0.01856738 0.05912808 9.55846714] [-0.02161751 0.99844567 0.0513704 -0.25474522] [-0.05808236 -0.05254985 0.99692776 0.48246347] [ 0. 0. 0. 1. ]] SLAMing on 51.302401008 meters Centerline goodness : 0.867601 with order 1 Centerline is valid? [False, False] Translation: X:9.55, Y:-0.23, Z:0.49 [[ 0.99842185 0.02296207 0.05124985 9.54908465] [-0.02576418 0.99817029 0.05470182 -0.23338223] [-0.04990001 -0.0559359 0.99718662 0.48722278] [ 0. 0. 0. 1. ]] SLAMing on 51.362401008 meters Centerline goodness : 0.874240 with order 1 Centerline is valid? [False, False] Translation: X:9.54, Y:-0.22, Z:0.49 [[ 0.99874057 0.0280825 0.04157712 9.54238642] [-0.03040934 0.9979432 0.05643255 -0.21503924] [-0.03990684 -0.05762581 0.99754033 0.49273567] [ 0. 0. 0. 1. ]] SLAMing on 51.422401007999994 meters Centerline goodness : 0.874579 with order 1 Centerline is valid? [False, False] Translation: X:9.54, Y:-0.20, Z:0.49 [[ 0.999203 0.0278546 0.02859171 9.54297528] [-0.02932163 0.99820388 0.0522423 -0.20329808] [-0.02708517 -0.05303902 0.99822505 0.49491041] [ 0. 0. 0. 1. ]] SLAMing on 51.482401008 meters Centerline goodness : 0.871958 with order 1 Centerline is valid? [False, False] Translation: X:9.54, Y:-0.19, Z:0.50 [[ 0.99946684 0.02724363 0.01799483 9.53940867] [-0.02816753 0.99818342 0.05325826 -0.19325413] [-0.01651119 -0.05373673 0.99841862 0.4958257 ] [ 0. 0. 0. 1. ]] SLAMing on 51.542401008 meters Centerline goodness : 0.880315 with order 1 Centerline is valid? [False, False] Translation: X:9.55, Y:-0.18, Z:0.50 [[ 9.99515740e-01 2.95203954e-02 9.84035539e-03 9.55117295e+00] [-2.99435276e-02 9.98489970e-01 4.60561019e-02 -1.84896919e-01] [-8.46590182e-03 -4.63284537e-02 9.98890386e-01 4.95010185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.602401008 meters Centerline goodness : 0.883002 with order 1 Centerline is valid? [False, False] Translation: X:9.57, Y:-0.18, Z:0.49 [[ 0.99952251 0.02767603 0.01373998 9.56514736] [-0.02810251 0.99909645 0.03188324 -0.17913271] [-0.01284516 -0.03225415 0.99939715 0.48840534] [ 0. 0. 0. 1. ]] SLAMing on 51.662401007999996 meters Centerline goodness : 0.883356 with order 1 Centerline is valid? [False, False] Translation: X:9.58, Y:-0.17, Z:0.48 [[ 0.99942414 0.02884712 0.01786684 9.57932256] [-0.02921871 0.99935456 0.02089821 -0.1707372 ] [-0.01725245 -0.02140822 0.99962195 0.48154228] [ 0. 0. 0. 1. ]] SLAMing on 51.722401008 meters Centerline goodness : 0.883275 with order 1 Centerline is valid? [False, False] Translation: X:9.60, Y:-0.16, Z:0.48 [[ 0.9993272 0.02998704 0.02111706 9.59519599] [-0.03021188 0.9994893 0.01041035 -0.16431493] [-0.0207941 -0.01104133 0.99972281 0.47526491] [ 0. 0. 0. 1. ]] SLAMing on 51.782401008 meters Centerline goodness : 0.887105 with order 1 Centerline is valid? [False, False] Translation: X:9.59, Y:-0.16, Z:0.48 [[ 9.99312501e-01 3.05428416e-02 2.10157090e-02 9.59412228e+00] [-3.07418899e-02 9.99484883e-01 9.21436260e-03 -1.57642918e-01] [-2.07234506e-02 -9.85409034e-03 9.99736683e-01 4.76403492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.842401007999996 meters Centerline goodness : 0.893006 with order 1 Centerline is valid? [False, False] Translation: X:9.60, Y:-0.15, Z:0.48 [[ 0.99921507 0.03384611 0.02058338 9.59572149] [-0.03408624 0.99935354 0.01142923 -0.15198726] [-0.02018324 -0.01212187 0.99972281 0.47524391] [ 0. 0. 0. 1. ]] SLAMing on 51.902401008 meters Centerline goodness : 0.891940 with order 1 Centerline is valid? [False, False] Translation: X:9.60, Y:-0.14, Z:0.48 [[ 9.98861192e-01 4.51466380e-02 1.54305033e-02 9.60349153e+00] [-4.52450376e-02 9.98957366e-01 6.08830224e-03 -1.44237194e-01] [-1.51395485e-02 -6.77952254e-03 9.99862407e-01 4.76048686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.962401008 meters Centerline goodness : 0.890709 with order 1 Centerline is valid? [False, False] Translation: X:9.62, Y:-0.14, Z:0.47 [[ 9.98545807e-01 5.05318732e-02 1.87830187e-02 9.61849160e+00] [-5.05347527e-02 9.98722251e-01 -3.21608259e-04 -1.40376677e-01] [-1.87752702e-02 -6.28054625e-04 9.99823532e-01 4.70921795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.022401007999996 meters Centerline goodness : 0.890186 with order 1 Centerline is valid? [False, False] Translation: X:9.64, Y:-0.14, Z:0.47 [[ 9.98106770e-01 5.76934371e-02 2.13153415e-02 9.63644266e+00] [-5.76352535e-02 9.98332139e-01 -3.33448435e-03 -1.37776110e-01] [-2.14721683e-02 2.09965629e-03 9.99767242e-01 4.65576185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.082401008 meters Centerline goodness : 0.887597 with order 1 Centerline is valid? [False, False] Translation: X:9.64, Y:-0.14, Z:0.47 [[ 9.97935059e-01 6.08429596e-02 2.05852410e-02 9.63897393e+00] [-6.08751069e-02 9.98144950e-01 9.38078726e-04 -1.41125871e-01] [-2.04899788e-02 -2.18927039e-03 9.99787661e-01 4.65072067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.142401008 meters Centerline goodness : 0.884958 with order 1 Centerline is valid? [False, False] Translation: X:9.68, Y:-0.15, Z:0.46 [[ 9.97821353e-01 6.35711716e-02 1.76423592e-02 9.67842421e+00] [-6.34102381e-02 9.97941978e-01 -9.53676889e-03 -1.47510919e-01] [-1.82123144e-02 8.39728544e-03 9.99798878e-01 4.61376741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.202401007999995 meters Centerline goodness : 0.882057 with order 1 Centerline is valid? [False, False] Translation: X:9.68, Y:-0.15, Z:0.47 [[ 9.98244835e-01 5.92100176e-02 1.19323583e-03 9.68454336e+00] [-5.91883578e-02 9.98154006e-01 -1.36131867e-02 -1.48184286e-01] [-1.99707015e-03 1.35186677e-02 9.99906624e-01 4.65001645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.262401008 meters Centerline goodness : 0.879144 with order 1 Centerline is valid? [False, False] Translation: X:9.72, Y:-0.16, Z:0.46 [[ 9.98323705e-01 5.78033398e-02 2.92468921e-03 9.71503903e+00] [-5.77585914e-02 9.98238160e-01 -1.35838617e-02 -1.56508168e-01] [-3.70472895e-03 1.33921652e-02 9.99903458e-01 4.63886969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.322401008 meters Centerline goodness : 0.875955 with order 1 Centerline is valid? [False, False] Translation: X:9.72, Y:-0.16, Z:0.46 [[ 9.98445662e-01 5.57069487e-02 -1.73079231e-03 9.72294713e+00] [-5.57318139e-02 9.98192126e-01 -2.25043368e-02 -1.60998058e-01] [ 4.74015317e-04 2.25658177e-02 9.99745247e-01 4.64478759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.382401007999995 meters Centerline goodness : 0.874956 with order 1 Centerline is valid? [False, False] Translation: X:9.73, Y:-0.16, Z:0.47 [[ 0.99864598 0.04875356 -0.01814662 9.72895489] [-0.04928345 0.99833423 -0.02999831 -0.16425662] [ 0.01665387 0.03085202 0.99938521 0.46824611] [ 0. 0. 0. 1. ]] SLAMing on 52.442401008 meters Centerline goodness : 0.872021 with order 1 Centerline is valid? [False, False] Translation: X:9.73, Y:-0.17, Z:0.47 [[ 0.99871623 0.04650075 -0.02008934 9.73393551] [-0.04714153 0.99835294 -0.03269681 -0.16967337] [ 0.01853583 0.03360187 0.9992634 0.46550345] [ 0. 0. 0. 1. ]] SLAMing on 52.502401008 meters Centerline goodness : 0.870850 with order 1 Centerline is valid? [False, False] Translation: X:9.74, Y:-0.18, Z:0.46 [[ 0.9989332 0.03894452 -0.02481499 9.7418854 ] [-0.03996722 0.99831182 -0.04214421 -0.18097838] [ 0.02313181 0.04309104 0.99880333 0.46472316] [ 0. 0. 0. 1. ]] SLAMing on 52.562401007999995 meters Centerline goodness : 0.866459 with order 1 Centerline is valid? [False, False] Translation: X:9.74, Y:-0.19, Z:0.46 [[ 0.99905516 0.03482742 -0.02599707 9.74480236] [-0.03594109 0.99839899 -0.04367713 -0.19014647] [ 0.02443428 0.04457023 0.99870739 0.46218067] [ 0. 0. 0. 1. ]] SLAMing on 52.622401008 meters Centerline goodness : 0.863259 with order 1 Centerline is valid? [False, False] Translation: X:9.75, Y:-0.19, Z:0.46 [[ 0.99908709 0.03382319 -0.02609569 9.746177 ] [-0.0349104 0.99849073 -0.04239727 -0.19456668] [ 0.02462229 0.04326958 0.99875997 0.4597572 ] [ 0. 0. 0. 1. ]] SLAMing on 52.682401008 meters Centerline goodness : 0.858580 with order 1 Centerline is valid? [False, False] Translation: X:9.75, Y:-0.21, Z:0.45 [[ 0.99909735 0.03158852 -0.02840166 9.7535607 ] [-0.03277239 0.99857019 -0.04223204 -0.20805203] [ 0.02702701 0.04312471 0.99870406 0.45340957] [ 0. 0. 0. 1. ]] SLAMing on 52.742401007999995 meters Centerline goodness : 0.860004 with order 1 Centerline is valid? [False, False] Translation: X:9.76, Y:-0.25, Z:0.49 [[ 0.99938853 0.03096282 -0.01624402 9.76225215] [-0.03075993 0.99944745 0.01259481 -0.24672946] [ 0.01662501 -0.01208744 0.99978873 0.48602904] [ 0. 0. 0. 1. ]] SLAMing on 52.802401008 meters Centerline goodness : 0.858606 with order 1 Centerline is valid? [False, False] Translation: X:9.79, Y:-0.26, Z:0.49 [[ 0.99952875 0.02754611 -0.01354583 9.78808536] [-0.02713586 0.99919369 0.02959092 -0.25899423] [ 0.01435002 -0.02920939 0.9994703 0.49229961] [ 0. 0. 0. 1. ]] SLAMing on 52.862401008 meters Centerline goodness : 0.859956 with order 1 Centerline is valid? [False, False] Translation: X:9.82, Y:-0.28, Z:0.50 [[ 0.99946969 0.02915069 -0.01451135 9.81857024] [-0.028536 0.99875558 0.04090212 -0.27782874] [ 0.01568562 -0.04046634 0.99905777 0.50221535] [ 0. 0. 0. 1. ]] SLAMing on 52.922401007999994 meters Centerline goodness : 0.862511 with order 1 Centerline is valid? [False, False] Translation: X:9.83, Y:-0.29, Z:0.51 [[ 9.99429102e-01 3.23845446e-02 -9.62867154e-03 9.83301754e+00] [-3.19691546e-02 9.98665961e-01 4.05496077e-02 -2.87720943e-01] [ 1.09290071e-02 -4.02186376e-02 9.99131132e-01 5.07852262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.982401008 meters Centerline goodness : 0.864594 with order 1 Centerline is valid? [False, False] Translation: X:9.84, Y:-0.29, Z:0.50 [[ 9.99272283e-01 3.79464059e-02 -3.86978675e-03 9.84482687e+00] [-3.77861592e-02 9.98659619e-01 3.53719064e-02 -2.94552007e-01] [ 5.20683648e-03 -3.51999413e-02 9.99366726e-01 5.02795399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.042401008 meters Centerline goodness : 0.865433 with order 1 Centerline is valid? [False, False] Translation: X:9.86, Y:-0.30, Z:0.50 [[ 9.99155477e-01 4.10789049e-02 -9.25629874e-04 9.86322049e+00] [-4.10342517e-02 9.98728924e-01 2.92698980e-02 -2.99666432e-01] [ 2.12682868e-03 -2.92071964e-02 9.99571116e-01 4.96352200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.102401008 meters Centerline goodness : 0.865639 with order 1 Centerline is valid? [False, False] Translation: X:9.89, Y:-0.32, Z:0.50 [[ 9.99206174e-01 3.96446148e-02 -3.91485667e-03 9.89194122e+00] [-3.95042272e-02 9.98736170e-01 3.10721523e-02 -3.15233804e-01] [ 5.14175247e-03 -3.08928331e-02 9.99509477e-01 4.99645418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.162401007999996 meters Centerline goodness : 0.863373 with order 1 Centerline is valid? [False, False] Translation: X:9.90, Y:-0.33, Z:0.50 [[ 9.99448903e-01 3.27787341e-02 -5.23872103e-03 9.90393422e+00] [-3.25836078e-02 9.98898019e-01 3.37795144e-02 -3.26134459e-01] [ 6.34019778e-03 -3.35902022e-02 9.99415579e-01 5.03518195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.222401008 meters Centerline goodness : 0.867231 with order 1 Centerline is valid? [False, False] Translation: X:9.93, Y:-0.34, Z:0.50 [[ 9.99786288e-01 2.04509947e-02 -3.02260199e-03 9.93191774e+00] [-2.03230470e-02 9.99086658e-01 3.75875409e-02 -3.40928265e-01] [ 3.78854392e-03 -3.75180795e-02 9.99288767e-01 5.03542975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.282401008 meters Centerline goodness : 0.871732 with order 1 Centerline is valid? [False, False] Translation: X:9.97, Y:-0.35, Z:0.51 [[ 9.99835866e-01 1.66120585e-02 -7.23056009e-03 9.96569408e+00] [-1.63247070e-02 9.99139268e-01 3.81343169e-02 -3.52607725e-01] [ 7.85782602e-03 -3.80100210e-02 9.99246463e-01 5.06949341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.342401007999996 meters Centerline goodness : 0.874079 with order 1 Centerline is valid? [False, False] Translation: X:10.01, Y:-0.37, Z:0.52 [[ 9.99859029e-01 1.44728902e-02 -8.51225698e-03 1.00063343e+01] [-1.40197411e-02 9.98596145e-01 5.10801854e-02 -3.69826693e-01] [ 9.23958492e-03 -5.09536449e-02 9.98658278e-01 5.18926735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.402401008 meters Centerline goodness : 0.875096 with order 1 Centerline is valid? [False, False] Translation: X:10.02, Y:-0.37, Z:0.51 [[ 9.99926323e-01 1.12518452e-02 -4.55471119e-03 1.00245554e+01] [-1.10723260e-02 9.99228265e-01 3.76865891e-02 -3.70819552e-01] [ 4.97523982e-03 -3.76333812e-02 9.99279228e-01 5.11097668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.462401008 meters Centerline goodness : 0.880350 with order 1 Centerline is valid? [False, False] Translation: X:10.05, Y:-0.37, Z:0.51 [[ 9.99991556e-01 4.06427133e-03 -6.08534580e-04 1.00476050e+01] [-4.04744431e-03 9.99667035e-01 2.54840686e-02 -3.74445931e-01] [ 7.11906129e-04 -2.54813904e-02 9.99675043e-01 5.07387467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.522401007999996 meters Centerline goodness : 0.875634 with order 1 Centerline is valid? [False, False] Translation: X:10.09, Y:-0.38, Z:0.52 [[ 9.99980328e-01 4.03391188e-03 -4.80333272e-03 1.00861247e+01] [-3.86854663e-03 9.99415959e-01 3.39525475e-02 -3.79054034e-01] [ 4.93748896e-03 -3.39332977e-02 9.99411903e-01 5.15448184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.582401008 meters Centerline goodness : 0.870662 with order 1 Centerline is valid? [False, False] Translation: X:10.12, Y:-0.38, Z:0.52 [[ 9.99942933e-01 3.71471541e-03 -1.00165700e-02 1.01220800e+01] [-3.36901194e-03 9.99405496e-01 3.43118766e-02 -3.80038103e-01] [ 1.01380740e-02 -3.42761726e-02 9.99360978e-01 5.15208553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.642401008 meters Centerline goodness : 0.868720 with order 1 Centerline is valid? [False, False] Translation: X:10.16, Y:-0.38, Z:0.52 [[ 9.99911312e-01 4.13317194e-03 -1.26603683e-02 1.01559830e+01] [-3.66741230e-03 9.99323499e-01 3.65936277e-02 -3.82433233e-01] [ 1.28030513e-02 -3.65439515e-02 9.99250030e-01 5.18685315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.702401007999995 meters Centerline goodness : 0.868209 with order 1 Centerline is valid? [False, False] Translation: X:10.19, Y:-0.39, Z:0.53 [[ 9.99885075e-01 3.76309383e-03 -1.46859160e-02 1.01939282e+01] [-3.11970452e-03 9.99044652e-01 4.35895714e-02 -3.85479345e-01] [ 1.48359175e-02 -4.35387462e-02 9.98941576e-01 5.27810520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.762401008 meters Centerline goodness : 0.876953 with order 1 Centerline is valid? [False, False] Translation: X:10.23, Y:-0.39, Z:0.53 [[ 9.99806597e-01 6.71225575e-03 -1.84855029e-02 1.02289675e+01] [-5.78734882e-03 9.98750359e-01 4.96409712e-02 -3.88144312e-01] [ 1.87956055e-02 -4.95243884e-02 9.98596045e-01 5.32513724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.822401008 meters Centerline goodness : 0.872858 with order 1 Centerline is valid? [False, False] Translation: X:10.26, Y:-0.39, Z:0.54 [[ 9.99832602e-01 6.53361026e-03 -1.70903183e-02 1.02648251e+01] [-5.57524365e-03 9.98441162e-01 5.55352469e-02 -3.89493763e-01] [ 1.74265229e-02 -5.54306678e-02 9.98310451e-01 5.38976452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.882401007999995 meters Centerline goodness : 0.875454 with order 1 Centerline is valid? [False, False] Translation: X:10.29, Y:-0.39, Z:0.54 [[ 9.99896998e-01 4.74075646e-03 -1.35468794e-02 1.02934447e+01] [-4.01111028e-03 9.98565713e-01 5.33893976e-02 -3.88188834e-01] [ 1.37805554e-02 -5.33295603e-02 9.98481875e-01 5.39781889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.942401008 meters Centerline goodness : 0.874117 with order 1 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.39, Z:0.55 [[ 9.99865155e-01 6.59781771e-03 -1.50379689e-02 1.03061753e+01] [-5.59199484e-03 9.97805740e-01 6.59729780e-02 -3.88829901e-01] [ 1.54402494e-02 -6.58799896e-02 9.97708086e-01 5.48882927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.002401008 meters Centerline goodness : 0.874818 with order 1 Centerline is valid? [False, False] Translation: X:10.34, Y:-0.39, Z:0.55 [[ 9.99906166e-01 8.49186774e-03 -1.07493107e-02 1.03360043e+01] [-7.73219247e-03 9.97597635e-01 6.88416462e-02 -3.86804568e-01] [ 1.13080811e-02 -6.87520708e-02 9.97569687e-01 5.50739037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.062401007999995 meters Centerline goodness : 0.873293 with order 1 Centerline is valid? [False, False] Translation: X:10.35, Y:-0.38, Z:0.55 [[ 9.99914332e-01 1.19443951e-02 -5.35353279e-03 1.03477559e+01] [-1.16018499e-02 9.98130927e-01 6.00004072e-02 -3.82211576e-01] [ 6.06019521e-03 -5.99331562e-02 9.98183996e-01 5.45620215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.122401008 meters Centerline goodness : 0.876516 with order 1 Centerline is valid? [False, False] Translation: X:10.38, Y:-0.38, Z:0.55 [[ 9.99895125e-01 1.43740686e-02 -1.76803258e-03 1.03772368e+01] [-1.42365019e-02 9.97966932e-01 6.21234647e-02 -3.81160770e-01] [ 2.65740499e-03 -6.20917789e-02 9.98066906e-01 5.46308707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.182401008 meters Centerline goodness : 0.880116 with order 1 Centerline is valid? [False, False] Translation: X:10.41, Y:-0.38, Z:0.55 [[ 9.99883583e-01 1.47448916e-02 -3.92540448e-03 1.04059334e+01] [-1.44834102e-02 9.98099177e-01 5.99021134e-02 -3.83674058e-01] [ 4.80119314e-03 -5.98382865e-02 9.98196538e-01 5.46941251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.242401007999995 meters Centerline goodness : 0.882059 with order 1 Centerline is valid? [False, False] Translation: X:10.43, Y:-0.39, Z:0.56 [[ 9.99940551e-01 1.06511186e-02 -2.33395555e-03 1.04289172e+01] [-1.04463487e-02 9.97134501e-01 7.49243620e-02 -3.87552667e-01] [ 3.12529587e-03 -7.48955265e-02 9.97186488e-01 5.56726770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.302401008 meters Centerline goodness : 0.878986 with order 1 Centerline is valid? [False, False] Translation: X:10.47, Y:-0.39, Z:0.56 [[ 9.99933360e-01 8.09472831e-03 -8.23104166e-03 1.04720785e+01] [-7.42150229e-03 9.96865315e-01 7.87684223e-02 -3.88836590e-01] [ 8.84284892e-03 -7.87020865e-02 9.96858960e-01 5.60750386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.362401008 meters Centerline goodness : 0.879656 with order 1 Centerline is valid? [False, False] Translation: X:10.51, Y:-0.39, Z:0.57 [[ 9.99982781e-01 3.82751325e-03 -4.44845027e-03 1.05054644e+01] [-3.35761855e-03 9.94858383e-01 1.01220173e-01 -3.89341464e-01] [ 4.81299960e-03 -1.01203494e-01 9.94854104e-01 5.73500043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.422401007999994 meters Centerline goodness : 0.882138 with order 1 Centerline is valid? [False, False] Translation: X:10.51, Y:-0.39, Z:0.58 [[ 9.99969804e-01 -6.61414466e-03 -4.07983668e-03 1.05129991e+01] [ 7.04324721e-03 9.93208527e-01 1.16134464e-01 -3.87631234e-01] [ 3.28399844e-03 -1.16159693e-01 9.93225121e-01 5.79342031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.482401008 meters Centerline goodness : 0.879936 with order 1 Centerline is valid? [False, False] Translation: X:10.50, Y:-0.39, Z:0.59 [[ 9.99901582e-01 -1.25816617e-02 -6.20716851e-03 1.04968341e+01] [ 1.32452763e-02 9.92438229e-01 1.22028371e-01 -3.86017587e-01] [ 4.62491165e-03 -1.22098577e-01 9.92507203e-01 5.86535432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.542401008 meters Centerline goodness : 0.882555 with order 1 Centerline is valid? [False, False] Translation: X:10.47, Y:-0.38, Z:0.58 [[ 9.99864137e-01 -1.61849270e-02 -3.12336950e-03 1.04715728e+01] [ 1.64437177e-02 9.92542514e-01 1.20784780e-01 -3.80961908e-01] [ 1.14518417e-03 -1.20819729e-01 9.92673804e-01 5.83209526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.602401008 meters Centerline goodness : 0.883307 with order 1 Centerline is valid? [False, False] Translation: X:10.45, Y:-0.37, Z:0.58 [[ 9.99835268e-01 -1.79584467e-02 2.63252471e-03 1.04454017e+01] [ 1.75054503e-02 9.92431742e-01 1.21543392e-01 -3.74103272e-01] [-4.79533161e-03 -1.21477287e-01 9.92582628e-01 5.79927232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.662401007999996 meters Centerline goodness : 0.884203 with order 1 Centerline is valid? [False, False] Translation: X:10.46, Y:-0.36, Z:0.57 [[ 9.99887558e-01 -1.23649714e-02 8.48399840e-03 1.04553550e+01] [ 1.13529467e-02 9.93819217e-01 1.10428595e-01 -3.61386045e-01] [-9.79700707e-03 -1.10319860e-01 9.93847849e-01 5.68535646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.722401008 meters Centerline goodness : 0.886831 with order 1 Centerline is valid? [False, False] Translation: X:10.47, Y:-0.35, Z:0.56 [[ 9.99890409e-01 -5.85086839e-03 1.35991327e-02 1.04709147e+01] [ 4.36158728e-03 9.94241841e-01 1.07070716e-01 -3.54408502e-01] [-1.41472834e-02 -1.06999668e-01 9.94158401e-01 5.64475130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.782401008 meters Centerline goodness : 0.883039 with order 1 Centerline is valid? [False, False] Translation: X:10.48, Y:-0.35, Z:0.55 [[ 9.99892409e-01 4.12548145e-03 1.40765858e-02 1.04776373e+01] [-5.43351545e-03 9.95539565e-01 9.41883824e-02 -3.45042150e-01] [-1.36252256e-02 -9.42547339e-02 9.95454870e-01 5.52489304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.842401007999996 meters Centerline goodness : 0.886328 with order 1 Centerline is valid? [False, False] Translation: X:10.51, Y:-0.34, Z:0.55 [[ 9.99838430e-01 1.47559072e-02 1.02653404e-02 1.05087367e+01] [-1.55657930e-02 9.96353254e-01 8.38921897e-02 -3.40299482e-01] [-8.99000000e-03 -8.40384234e-02 9.96421960e-01 5.48020541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.902401008 meters Centerline goodness : 0.885243 with order 1 Centerline is valid? [False, False] Translation: X:10.52, Y:-0.34, Z:0.54 [[ 0.99976108 0.01725218 0.01342187 10.52248506] [-0.01814548 0.99741286 0.06955806 -0.33500935] [-0.01218712 -0.06978499 0.99748761 0.53571291] [ 0. 0. 0. 1. ]] SLAMing on 54.962401008 meters Centerline goodness : 0.885221 with order 1 Centerline is valid? [False, False] Translation: X:10.54, Y:-0.33, Z:0.53 [[ 0.99970416 0.01749349 0.01689912 10.54056152] [-0.01844058 0.99816844 0.05761688 -0.33166754] [-0.01586025 -0.05791146 0.99819573 0.52588193] [ 0. 0. 0. 1. ]] SLAMing on 55.022401007999996 meters Centerline goodness : 0.888310 with order 1 Centerline is valid? [False, False] Translation: X:10.56, Y:-0.33, Z:0.52 [[ 0.99959024 0.01878074 0.0216019 10.55581195] [-0.0197886 0.99867857 0.04742921 -0.33106322] [-0.0206826 -0.04783725 0.99864099 0.51833168] [ 0. 0. 0. 1. ]] SLAMing on 55.082401008 meters Centerline goodness : 0.890596 with order 1 Centerline is valid? [False, False] Translation: X:10.57, Y:-0.33, Z:0.52 [[ 0.99944272 0.01985976 0.02682975 10.57199089] [-0.02095203 0.99893686 0.04106285 -0.33244226] [-0.02598573 -0.0416021 0.99879628 0.51583637] [ 0. 0. 0. 1. ]] SLAMing on 55.142401008 meters Centerline goodness : 0.895432 with order 1 Centerline is valid? [False, False] Translation: X:10.60, Y:-0.34, Z:0.51 [[ 0.99939358 0.01864602 0.02940738 10.59515941] [-0.01965881 0.9992101 0.03453564 -0.33526562] [-0.0287402 -0.03509281 0.99897072 0.51157575] [ 0. 0. 0. 1. ]] SLAMing on 55.202401007999995 meters Centerline goodness : 0.894184 with order 1 Centerline is valid? [False, False] Translation: X:10.64, Y:-0.35, Z:0.52 [[ 0.99956158 0.01574819 0.02507259 10.63639735] [-0.01687578 0.99882562 0.04541579 -0.34605329] [-0.02432793 -0.045819 0.99865348 0.522657 ] [ 0. 0. 0. 1. ]] SLAMing on 55.262401008 meters Centerline goodness : 0.894913 with order 1 Centerline is valid? [False, False] Translation: X:10.67, Y:-0.35, Z:0.52 [[ 0.99972583 0.01244143 0.01983621 10.67210796] [-0.01331672 0.99891518 0.04462214 -0.35165504] [-0.01925952 -0.04487406 0.99880698 0.52369385] [ 0. 0. 0. 1. ]] SLAMing on 55.322401008 meters Centerline goodness : 0.897039 with order 1 Centerline is valid? [False, False] Translation: X:10.71, Y:-0.36, Z:0.53 [[ 9.99804591e-01 1.02912897e-02 1.68780812e-02 1.07098378e+01] [-1.11713544e-02 9.98537053e-01 5.29051421e-02 -3.59195846e-01] [-1.63089273e-02 -5.30833549e-02 9.98456898e-01 5.34359816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.382401007999995 meters Centerline goodness : 0.896641 with order 1 Centerline is valid? [False, False] Translation: X:10.75, Y:-0.37, Z:0.55 [[ 9.99840849e-01 7.68282441e-03 1.61012859e-02 1.07527400e+01] [-8.83304999e-03 9.97319958e-01 7.26283660e-02 -3.70295920e-01] [-1.55001428e-02 -7.27590305e-02 9.97229096e-01 5.53518396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.442401008 meters Centerline goodness : 0.900329 with order 1 Centerline is valid? [False, False] Translation: X:10.79, Y:-0.38, Z:0.58 [[ 9.99742030e-01 3.68926989e-03 2.24112214e-02 1.07855367e+01] [-5.98154176e-03 9.94653677e-01 1.03093571e-01 -3.77662305e-01] [-2.19110638e-02 -1.03201029e-01 9.94419153e-01 5.76429730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.502401008 meters Centerline goodness : 0.898368 with order 1 Centerline is valid? [False, False] Translation: X:10.81, Y:-0.38, Z:0.58 [[ 9.99640466e-01 3.37833733e-03 2.65993665e-02 1.08108275e+01] [-6.08346297e-03 9.94736517e-01 1.02285152e-01 -3.75246827e-01] [-2.61138075e-02 -1.02410193e-01 9.94399427e-01 5.79954448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.562401007999995 meters Centerline goodness : 0.899040 with order 1 Centerline is valid? [False, False] Translation: X:10.85, Y:-0.37, Z:0.58 [[ 9.99624933e-01 9.33038704e-03 2.57475654e-02 1.08502686e+01] [-1.17747434e-02 9.95265306e-01 9.64796689e-02 -3.74075231e-01] [-2.47254659e-02 -9.67466536e-02 9.95001878e-01 5.75987717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.622401008 meters Centerline goodness : 0.900380 with order 1 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.37, Z:0.57 [[ 0.99950591 0.01154918 0.02923282 10.87370305] [-0.01416551 0.99575591 0.09093677 -0.3688982 ] [-0.02805851 -0.09130594 0.99542752 0.56870676] [ 0. 0. 0. 1. ]] SLAMing on 55.682401008 meters Centerline goodness : 0.902069 with order 1 Centerline is valid? [False, False] Translation: X:10.91, Y:-0.37, Z:0.56 [[ 0.99946776 0.01762437 0.02745145 10.91153244] [-0.01975902 0.99663601 0.07953773 -0.3668923 ] [-0.0259573 -0.08003781 0.9964538 0.5634175 ] [ 0. 0. 0. 1. ]] SLAMing on 55.742401007999995 meters Centerline goodness : 0.904632 with order 1 Centerline is valid? [False, False] Translation: X:10.95, Y:-0.36, Z:0.56 [[ 0.99934452 0.02576439 0.02543092 10.94519479] [-0.02748102 0.99719386 0.06963626 -0.36423414] [-0.02356542 -0.07028948 0.99724824 0.56236468] [ 0. 0. 0. 1. ]] SLAMing on 55.802401008 meters Centerline goodness : 0.910449 with order 1 Centerline is valid? [False, False] Translation: X:10.96, Y:-0.36, Z:0.56 [[ 0.99914237 0.02818846 0.03033043 10.96103802] [-0.0300217 0.99763762 0.06178891 -0.35981798] [-0.02851705 -0.06264649 0.99762829 0.55674971] [ 0. 0. 0. 1. ]] SLAMing on 55.862401008 meters Centerline goodness : 0.909699 with order 1 Centerline is valid? [False, False] Translation: X:10.98, Y:-0.36, Z:0.55 [[ 0.99896279 0.03009052 0.0341747 10.98320923] [-0.03205104 0.99778167 0.05834788 -0.35772792] [-0.03234317 -0.05938269 0.99771119 0.55467789] [ 0. 0. 0. 1. ]] SLAMing on 55.922401007999994 meters Centerline goodness : 0.914194 with order 1 Centerline is valid? [False, False] Translation: X:11.01, Y:-0.36, Z:0.55 [[ 0.99896638 0.02852633 0.03538956 11.01329971] [-0.03047041 0.99798425 0.05566856 -0.35830785] [-0.0337302 -0.05668935 0.99782192 0.55349564] [ 0. 0. 0. 1. ]] SLAMing on 55.982401008 meters Centerline goodness : 0.915792 with order 1 Centerline is valid? [False, False] Translation: X:11.04, Y:-0.36, Z:0.55 [[ 0.99902538 0.02529389 0.03617323 11.04479072] [-0.02721252 0.99819322 0.05357032 -0.35976566] [-0.03475287 -0.05450248 0.99790867 0.55385831] [ 0. 0. 0. 1. ]] SLAMing on 56.042401008 meters Centerline goodness : 0.916708 with order 1 Centerline is valid? [False, False] Translation: X:11.09, Y:-0.37, Z:0.56 [[ 0.99922243 0.02170676 0.03291438 11.08684836] [-0.02377058 0.99768815 0.06366563 -0.36516685] [-0.03145631 -0.06439852 0.99742836 0.5635387 ] [ 0. 0. 0. 1. ]] SLAMing on 56.102401008 meters Centerline goodness : 0.917068 with order 1 Centerline is valid? [False, False] Translation: X:11.12, Y:-0.37, Z:0.57 [[ 0.99931878 0.02258955 0.02918384 11.12088675] [-0.02452159 0.99740869 0.06763571 -0.3674471 ] [-0.02758036 -0.06830527 0.99728317 0.56715354] [ 0. 0. 0. 1. ]] SLAMing on 56.162401007999996 meters Centerline goodness : 0.914581 with order 1 Centerline is valid? [False, False] Translation: X:11.15, Y:-0.37, Z:0.57 [[ 0.99939184 0.02545733 0.02383 11.15196041] [-0.02698462 0.99744599 0.06613114 -0.36661998] [-0.02208562 -0.06673396 0.99752634 0.56528305] [ 0. 0. 0. 1. ]] SLAMing on 56.222401008 meters Centerline goodness : 0.915432 with order 1 Centerline is valid? [False, False] Translation: X:11.19, Y:-0.37, Z:0.57 [[ 0.99932035 0.0260469 0.02608424 11.18870635] [-0.02789571 0.99692548 0.07322167 -0.36568335] [-0.02409685 -0.07389954 0.99697452 0.57018581] [ 0. 0. 0. 1. ]] SLAMing on 56.282401008 meters Centerline goodness : 0.910883 with order 1 Centerline is valid? [False, False] Translation: X:11.21, Y:-0.36, Z:0.56 [[ 0.9992846 0.02497522 0.02839953 11.20891874] [-0.02668441 0.99775096 0.06148957 -0.36064154] [-0.02679995 -0.0622034 0.99770361 0.56261102] [ 0. 0. 0. 1. ]] SLAMing on 56.342401007999996 meters Centerline goodness : 0.910775 with order 1 Centerline is valid? [False, False] Translation: X:11.25, Y:-0.36, Z:0.57 [[ 0.99934194 0.02435328 0.02688124 11.2461128 ] [-0.02609262 0.99745369 0.06637254 -0.360143 ] [-0.0251964 -0.06703027 0.99743275 0.56717925] [ 0. 0. 0. 1. ]] SLAMing on 56.402401008 meters Centerline goodness : 0.909225 with order 1 Centerline is valid? [False, False] Translation: X:11.28, Y:-0.36, Z:0.58 [[ 0.99933965 0.02593746 0.02544643 11.28319767] [-0.02777172 0.996827 0.07459672 -0.3592695 ] [-0.02343084 -0.07525415 0.99688907 0.57584917] [ 0. 0. 0. 1. ]] SLAMing on 56.462401008 meters Centerline goodness : 0.912131 with order 1 Centerline is valid? [False, False] Translation: X:11.29, Y:-0.36, Z:0.58 [[ 0.99927703 0.02914537 0.02441259 11.28565746] [-0.03100711 0.99633505 0.07971845 -0.35984849] [-0.02199969 -0.08041778 0.99651844 0.57890719] [ 0. 0. 0. 1. ]] SLAMing on 56.522401007999996 meters Centerline goodness : 0.909801 with order 1 Centerline is valid? [False, False] Translation: X:11.31, Y:-0.35, Z:0.58 [[ 0.99915442 0.03025619 0.02783898 11.31078536] [-0.03230761 0.99654925 0.07645796 -0.35493084] [-0.02542959 -0.07729272 0.99668409 0.57630657] [ 0. 0. 0. 1. ]] SLAMing on 56.582401008 meters Centerline goodness : 0.907495 with order 1 Centerline is valid? [False, False] Translation: X:11.33, Y:-0.35, Z:0.57 [[ 0.99899342 0.03239551 0.0310269 11.32651002] [-0.034332 0.99735526 0.06406092 -0.34582467] [-0.02886956 -0.06506166 0.99746355 0.5661866 ] [ 0. 0. 0. 1. ]] SLAMing on 56.642401008 meters Centerline goodness : 0.906946 with order 1 Centerline is valid? [False, False] Translation: X:11.35, Y:-0.34, Z:0.56 [[ 0.99886385 0.03275155 0.03461712 11.34809778] [-0.03473654 0.99768948 0.05838727 -0.34133484] [-0.03262486 -0.05952341 0.99769363 0.56406062] [ 0. 0. 0. 1. ]] SLAMing on 56.702401007999995 meters Centerline goodness : 0.908424 with order 1 Centerline is valid? [False, False] Translation: X:11.38, Y:-0.34, Z:0.56 [[ 0.99877278 0.03176516 0.03799882 11.37627172] [-0.03385966 0.99786713 0.05580958 -0.33682608] [-0.03614498 -0.05702772 0.99771809 0.56310077] [ 0. 0. 0. 1. ]] SLAMing on 56.762401008 meters Centerline goodness : 0.902394 with order 1 Centerline is valid? [False, False] Translation: X:11.40, Y:-0.34, Z:0.57 [[ 0.9987013 0.03171712 0.03987141 11.40217685] [-0.03471928 0.99642575 0.07700845 -0.33738881] [-0.03728642 -0.07829275 0.99623289 0.57239959] [ 0. 0. 0. 1. ]] SLAMing on 56.822401008 meters Centerline goodness : 0.904871 with order 1 Centerline is valid? [False, False] Translation: X:11.43, Y:-0.34, Z:0.59 [[ 0.99855563 0.03045985 0.04425891 11.43278893] [-0.03496849 0.99386224 0.10495264 -0.34255983] [-0.04079042 -0.10634871 0.99349187 0.5881852 ] [ 0. 0. 0. 1. ]] SLAMing on 56.882401007999995 meters Centerline goodness : 0.901092 with order 1 Centerline is valid? [False, False] Translation: X:11.45, Y:-0.35, Z:0.61 [[ 0.99812541 0.02638919 0.05522025 11.44791749] [-0.03438222 0.98820654 0.14921695 -0.34842552] [-0.05063129 -0.15083582 0.98726138 0.61416789] [ 0. 0. 0. 1. ]] SLAMing on 56.942401008 meters Centerline goodness : 0.901523 with order 1 Centerline is valid? [False, False] Translation: X:11.47, Y:-0.35, Z:0.61 [[ 0.99799005 0.02684712 0.05740285 11.47006742] [-0.03487672 0.98899064 0.14380938 -0.34508812] [-0.05291002 -0.14552235 0.98793916 0.61097313] [ 0. 0. 0. 1. ]] SLAMing on 57.002401008 meters Centerline goodness : 0.902570 with order 1 Centerline is valid? [False, False] Translation: X:11.49, Y:-0.35, Z:0.63 [[ 0.99770555 0.02589229 0.06255577 11.49375519] [-0.03629039 0.98455313 0.17128382 -0.34585476] [-0.05715455 -0.173161 0.98323376 0.62857845] [ 0. 0. 0. 1. ]] SLAMing on 57.062401007999995 meters Centerline goodness : 0.904547 with order 1 Centerline is valid? [False, False] Translation: X:11.51, Y:-0.34, Z:0.63 [[ 0.99721998 0.02826324 0.06894566 11.51365126] [-0.03979633 0.98427163 0.17212091 -0.34047797] [-0.06299656 -0.17438619 0.98266011 0.63012508] [ 0. 0. 0. 1. ]] SLAMing on 57.122401008 meters Centerline goodness : 0.905520 with order 1 Centerline is valid? [False, False] Translation: X:11.52, Y:-0.33, Z:0.64 [[ 0.99626889 0.03580298 0.07852677 11.52315819] [-0.04935385 0.98277933 0.17807018 -0.33403527] [-0.07079904 -0.18128137 0.98087948 0.63592175] [ 0. 0. 0. 1. ]] SLAMing on 57.182401008 meters Centerline goodness : 0.909546 with order 1 Centerline is valid? [False, False] Translation: X:11.53, Y:-0.32, Z:0.63 [[ 0.99541246 0.04661362 0.08355363 11.52739385] [-0.06023863 0.98380877 0.16879458 -0.32484466] [-0.07433267 -0.17305339 0.98210345 0.62643262] [ 0. 0. 0. 1. ]] SLAMing on 57.242401007999995 meters Centerline goodness : 0.904998 with order 1 Centerline is valid? [False, False] Translation: X:11.54, Y:-0.32, Z:0.62 [[ 0.99477126 0.05276602 0.08744078 11.53897169] [-0.0662357 0.98503602 0.15911275 -0.3182069 ] [-0.07773657 -0.16407249 0.98338052 0.617081 ] [ 0. 0. 0. 1. ]] SLAMing on 57.302401008 meters Centerline goodness : 0.902773 with order 1 Centerline is valid? [False, False] Translation: X:11.55, Y:-0.31, Z:0.61 [[ 0.99412159 0.05949332 0.09045891 11.54922421] [-0.07244038 0.98642892 0.14734439 -0.31056837] [-0.08046528 -0.15303112 0.98494001 0.60598414] [ 0. 0. 0. 1. ]] SLAMing on 57.362401008 meters Centerline goodness : 0.897110 with order 1 Centerline is valid? [False, False] Translation: X:11.56, Y:-0.31, Z:0.60 [[ 0.9936968 0.06313859 0.09262931 11.56426286] [-0.07544506 0.98782934 0.13601925 -0.30707778] [-0.08291389 -0.14215032 0.98636635 0.59573918] [ 0. 0. 0. 1. ]] SLAMing on 57.422401007999994 meters Centerline goodness : 0.893266 with order 1 Centerline is valid? [False, False] Translation: X:11.59, Y:-0.31, Z:0.59 [[ 0.99397464 0.06553212 0.08786331 11.58630728] [-0.0765555 0.98873565 0.12861207 -0.30997265] [-0.07844537 -0.13456356 0.98779501 0.59003716] [ 0. 0. 0. 1. ]] SLAMing on 57.482401008 meters Centerline goodness : 0.893035 with order 1 Centerline is valid? [False, False] Translation: X:11.60, Y:-0.31, Z:0.58 [[ 0.99383224 0.06499742 0.08984881 11.60028456] [-0.07488117 0.9909492 0.11141136 -0.30810114] [-0.08179415 -0.11745219 0.98970435 0.57720773] [ 0. 0. 0. 1. ]] SLAMing on 57.542401008 meters Centerline goodness : 0.898648 with order 1 Centerline is valid? [False, False] Translation: X:11.62, Y:-0.31, Z:0.57 [[ 0.99399279 0.06912357 0.08485433 11.62479733] [-0.07683677 0.99285663 0.0912788 -0.31065311] [-0.07793866 -0.0972504 0.99220357 0.56822107] [ 0. 0. 0. 1. ]] SLAMing on 57.602401007999994 meters Centerline goodness : 0.899829 with order 1 Centerline is valid? [False, False] Translation: X:11.65, Y:-0.31, Z:0.56 [[ 0.99396589 0.07472475 0.08029954 11.64865043] [-0.0805552 0.99414608 0.07200301 -0.31317579] [-0.07444906 -0.07803708 0.99416676 0.56141115] [ 0. 0. 0. 1. ]] SLAMing on 57.662401007999996 meters Centerline goodness : 0.904698 with order 1 Centerline is valid? [False, False] Translation: X:11.66, Y:-0.31, Z:0.55 [[ 0.99366417 0.07452317 0.08412976 11.65631265] [-0.07917222 0.99543267 0.05334379 -0.3135243 ] [-0.07977017 -0.05966656 0.99502594 0.55075401] [ 0. 0. 0. 1. ]] SLAMing on 57.722401008 meters Centerline goodness : 0.901944 with order 1 Centerline is valid? [False, False] Translation: X:11.68, Y:-0.32, Z:0.54 [[ 0.99381534 0.07195352 0.08457995 11.67653526] [-0.07560644 0.99630243 0.0408061 -0.31832515] [-0.08133106 -0.04694852 0.99558078 0.54107633] [ 0. 0. 0. 1. ]] SLAMing on 57.782401008 meters Centerline goodness : 0.901359 with order 1 Centerline is valid? [False, False] Translation: X:11.68, Y:-0.32, Z:0.54 [[ 0.9940967 0.0684028 0.08421877 11.67761437] [-0.07172189 0.99673693 0.0370332 -0.32202759] [-0.08141079 -0.04285492 0.99575888 0.53896663] [ 0. 0. 0. 1. ]] SLAMing on 57.842401007999996 meters Centerline goodness : 0.900819 with order 1 Centerline is valid? [False, False] Translation: X:11.72, Y:-0.34, Z:0.55 [[ 0.99453471 0.06589554 0.08098456 11.71733787] [-0.06987875 0.99642996 0.04737398 -0.33801485] [-0.0775737 -0.05277416 0.99558887 0.54568863] [ 0. 0. 0. 1. ]] SLAMing on 57.902401008 meters Centerline goodness : 0.906373 with order 1 Centerline is valid? [False, False] Translation: X:11.74, Y:-0.34, Z:0.54 [[ 0.9947887 0.06458503 0.07889369 11.73690547] [-0.06747885 0.9971213 0.03457924 -0.34217138] [-0.07643328 -0.03972269 0.99628312 0.53815638] [ 0. 0. 0. 1. ]] SLAMing on 57.962401008 meters Centerline goodness : 0.902058 with order 1 Centerline is valid? [False, False] Translation: X:11.77, Y:-0.35, Z:0.53 [[ 0.99538878 0.06166184 0.07347779 11.77148266] [-0.0642768 0.99736057 0.03376961 -0.35179354] [-0.07120155 -0.0383368 0.99672495 0.53467699] [ 0. 0. 0. 1. ]] SLAMing on 58.022401007999996 meters Centerline goodness : 0.903720 with order 1 Centerline is valid? [False, False] Translation: X:11.79, Y:-0.36, Z:0.54 [[ 0.99571547 0.05383418 0.07518368 11.79445597] [-0.05738056 0.99729976 0.04583303 -0.35859107] [-0.07251328 -0.04995073 0.99611583 0.54288038] [ 0. 0. 0. 1. ]] SLAMing on 58.082401008 meters Centerline goodness : 0.903745 with order 1 Centerline is valid? [False, False] Translation: X:11.82, Y:-0.37, Z:0.55 [[ 0.99587824 0.04646972 0.07789155 11.81542686] [-0.05096297 0.99708821 0.05672633 -0.36878524] [-0.07502869 -0.0604621 0.99534669 0.54872522] [ 0. 0. 0. 1. ]] SLAMing on 58.142401008 meters Centerline goodness : 0.910805 with order 1 Centerline is valid? [False, False] Translation: X:11.83, Y:-0.37, Z:0.54 [[ 0.99560623 0.04564981 0.08175779 11.82873937] [-0.04921301 0.99790021 0.04211009 -0.36800581] [-0.07966379 -0.04594861 0.99576222 0.54048363] [ 0. 0. 0. 1. ]] SLAMing on 58.202401007999995 meters Centerline goodness : 0.911669 with order 1 Centerline is valid? [False, False] Translation: X:11.87, Y:-0.38, Z:0.55 [[ 0.99559571 0.04488391 0.08230804 11.86833506] [-0.04953587 0.99723606 0.05537543 -0.37740994] [-0.07959508 -0.05920875 0.99506731 0.55065529] [ 0. 0. 0. 1. ]] SLAMing on 58.262401008 meters Centerline goodness : 0.912005 with order 1 Centerline is valid? [False, False] Translation: X:11.91, Y:-0.39, Z:0.56 [[ 0.99581326 0.04145108 0.08147247 11.90814399] [-0.04694774 0.99666455 0.06675091 -0.3885676 ] [-0.07843383 -0.07029639 0.99443781 0.5607476 ] [ 0. 0. 0. 1. ]] SLAMing on 58.322401008 meters Centerline goodness : 0.909196 with order 1 Centerline is valid? [False, False] Translation: X:11.94, Y:-0.39, Z:0.57 [[ 0.99596906 0.0421404 0.07918215 11.94423835] [-0.04812676 0.99600029 0.07528107 -0.39387558] [-0.07569307 -0.0787884 0.99401355 0.56733095] [ 0. 0. 0. 1. ]] SLAMing on 58.382401007999995 meters Centerline goodness : 0.915751 with order 1 Centerline is valid? [False, False] Translation: X:11.98, Y:-0.40, Z:0.58 [[ 0.996138 0.04339067 0.07633038 11.98178778] [-0.04996563 0.99500234 0.086451 -0.40019515] [-0.07219774 -0.08993102 0.99332769 0.5759484 ] [ 0. 0. 0. 1. ]] SLAMing on 58.442401008 meters Centerline goodness : 0.911006 with order 1 Centerline is valid? [False, False] Translation: X:12.02, Y:-0.40, Z:0.58 [[ 0.99644564 0.04580862 0.07069415 12.0178666 ] [-0.05216407 0.99449809 0.09084303 -0.40378519] [-0.0661438 -0.09420784 0.99335285 0.57724265] [ 0. 0. 0. 1. ]] SLAMing on 58.502401008 meters Centerline goodness : 0.907771 with order 1 Centerline is valid? [False, False] Translation: X:12.04, Y:-0.40, Z:0.57 [[ 0.99646777 0.04850353 0.06855205 12.04416395] [-0.05425788 0.99492504 0.08473639 -0.4013393 ] [-0.06409414 -0.08815657 0.99404243 0.56977072] [ 0. 0. 0. 1. ]] SLAMing on 58.562401007999995 meters Centerline goodness : 0.904311 with order 1 Centerline is valid? [False, False] Translation: X:12.06, Y:-0.40, Z:0.56 [[ 0.99619128 0.05303165 0.06921397 12.06336063] [-0.05813167 0.99557148 0.07387914 -0.39612363] [-0.06498952 -0.07762128 0.99486245 0.55625461] [ 0. 0. 0. 1. ]] SLAMing on 58.622401008 meters Centerline goodness : 0.904889 with order 1 Centerline is valid? [False, False] Translation: X:12.08, Y:-0.39, Z:0.55 [[ 0.99583572 0.05630736 0.07169867 12.07861237] [-0.06079277 0.99622335 0.06199415 -0.39122728] [-0.06793716 -0.06609475 0.99549788 0.54579804] [ 0. 0. 0. 1. ]] SLAMing on 58.682401008 meters Centerline goodness : 0.905397 with order 1 Centerline is valid? [False, False] Translation: X:12.09, Y:-0.39, Z:0.54 [[ 0.99527581 0.06082203 0.07567527 12.08954774] [-0.06480387 0.99657735 0.05132289 -0.38830526] [-0.07229469 -0.05598448 0.99581083 0.53832057] [ 0. 0. 0. 1. ]] SLAMing on 58.742401007999995 meters Centerline goodness : 0.909146 with order 1 Centerline is valid? [False, False] Translation: X:12.10, Y:-0.39, Z:0.53 [[ 0.99478634 0.06302363 0.08017575 12.10451681] [-0.06659557 0.99686665 0.04268387 -0.38634753] [-0.07723444 -0.04780068 0.99586643 0.53264185] [ 0. 0. 0. 1. ]] SLAMing on 58.802401008 meters Centerline goodness : 0.910333 with order 1 Centerline is valid? [False, False] Translation: X:12.12, Y:-0.39, Z:0.53 [[ 0.99444565 0.06288728 0.08439806 12.12246591] [-0.06595468 0.99724116 0.03405951 -0.3872306 ] [-0.08202331 -0.03943678 0.99584985 0.52681123] [ 0. 0. 0. 1. ]] SLAMing on 58.862401008 meters Centerline goodness : 0.913217 with order 1 Centerline is valid? [False, False] Translation: X:12.14, Y:-0.39, Z:0.53 [[ 0.99419263 0.06360482 0.08680693 12.14447997] [-0.06648585 0.9973147 0.03070862 -0.39139212] [-0.08462061 -0.03630172 0.99575174 0.52528157] [ 0. 0. 0. 1. ]] SLAMing on 58.922401007999994 meters Centerline goodness : 0.914445 with order 1 Centerline is valid? [False, False] Translation: X:12.17, Y:-0.40, Z:0.53 [[ 0.9946622 0.0618736 0.08257583 12.17237397] [-0.06432929 0.9975521 0.02741454 -0.39822966] [-0.08067745 -0.03258026 0.99620765 0.52581598] [ 0. 0. 0. 1. ]] SLAMing on 58.982401008 meters Centerline goodness : 0.915604 with order 1 Centerline is valid? [False, False] Translation: X:12.18, Y:-0.40, Z:0.52 [[ 0.99478191 0.06109005 0.08171261 12.17519694] [-0.0634912 0.99761399 0.02711462 -0.39975655] [-0.07986121 -0.03216117 0.99628703 0.52440472] [ 0. 0. 0. 1. ]] SLAMing on 59.042401008 meters Centerline goodness : 0.909905 with order 1 Centerline is valid? [False, False] Translation: X:12.19, Y:-0.40, Z:0.52 [[ 0.99504881 0.05978494 0.07939542 12.18676456] [-0.06236118 0.99759138 0.03037294 -0.40048861] [-0.07738834 -0.03517375 0.99638038 0.52213481] [ 0. 0. 0. 1. ]] SLAMing on 59.102401007999994 meters Centerline goodness : 0.906011 with order 1 Centerline is valid? [False, False] Translation: X:12.21, Y:-0.40, Z:0.52 [[ 0.99542571 0.05579066 0.07755678 12.20939412] [-0.05896264 0.99748915 0.03922745 -0.40334737] [-0.07517352 -0.04362097 0.99621592 0.52244168] [ 0. 0. 0. 1. ]] SLAMing on 59.162401007999996 meters Centerline goodness : 0.907041 with order 1 Centerline is valid? [False, False] Translation: X:12.21, Y:-0.40, Z:0.52 [[ 0.99558302 0.05511988 0.07600167 12.21313571] [-0.05806842 0.99762128 0.03714619 -0.39861156] [-0.07377339 -0.04139542 0.99641553 0.52006645] [ 0. 0. 0. 1. ]] SLAMing on 59.222401008 meters Centerline goodness : 0.908063 with order 1 Centerline is valid? [False, False] Translation: X:12.24, Y:-0.40, Z:0.53 [[ 0.99557444 0.05075731 0.07909007 12.24106303] [-0.05541336 0.99678728 0.0578314 -0.40217291] [-0.07590061 -0.06195811 0.99518857 0.5322966 ] [ 0. 0. 0. 1. ]] SLAMing on 59.282401008 meters Centerline goodness : 0.903435 with order 1 Centerline is valid? [False, False] Translation: X:12.27, Y:-0.41, Z:0.54 [[ 0.99563184 0.04503653 0.08178598 12.26817043] [-0.05132258 0.99575102 0.07645847 -0.40566203] [-0.07799505 -0.08032196 0.99371281 0.54306718] [ 0. 0. 0. 1. ]] SLAMing on 59.342401007999996 meters Centerline goodness : 0.908256 with order 1 Centerline is valid? [False, False] Translation: X:12.29, Y:-0.41, Z:0.56 [[ 0.99564554 0.04100009 0.08371954 12.28828073] [-0.04888862 0.99432743 0.09446093 -0.41166489] [-0.07937173 -0.09814253 0.9920021 0.55809204] [ 0. 0. 0. 1. ]] SLAMing on 59.402401008 meters Centerline goodness : 0.909070 with order 1 Centerline is valid? [False, False] Translation: X:12.32, Y:-0.41, Z:0.56 [[ 0.995741 0.04093103 0.08261061 12.32005404] [-0.04880496 0.99421659 0.09566318 -0.41172824] [-0.07821725 -0.09928756 0.99197986 0.561048 ] [ 0. 0. 0. 1. ]] SLAMing on 59.462401008 meters Centerline goodness : 0.905620 with order 1 Centerline is valid? [False, False] Translation: X:12.35, Y:-0.41, Z:0.56 [[ 0.99583165 0.04490184 0.07939236 12.35112557] [-0.05273509 0.99363981 0.09949342 -0.41187135] [-0.07441998 -0.10326546 0.99186587 0.56069457] [ 0. 0. 0. 1. ]] SLAMing on 59.522401007999996 meters Centerline goodness : 0.907340 with order 1 Centerline is valid? [False, False] Translation: X:12.36, Y:-0.41, Z:0.55 [[ 0.99537682 0.04870313 0.08278277 12.36393081] [-0.05593631 0.99459906 0.0874291 -0.40568831] [-0.07807759 -0.09165547 0.99272512 0.55055542] [ 0. 0. 0. 1. ]] SLAMing on 59.582401008 meters Centerline goodness : 0.907182 with order 1 Centerline is valid? [False, False] Translation: X:12.38, Y:-0.40, Z:0.54 [[ 0.9947287 0.05389764 0.08723449 12.37558656] [-0.06074599 0.99511238 0.07785415 -0.39873828] [-0.08261197 -0.08274291 0.99314091 0.54309475] [ 0. 0. 0. 1. ]] SLAMing on 59.642401008 meters Centerline goodness : 0.910038 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-0.39, Z:0.53 [[ 0.99402222 0.06059209 0.09082082 12.38501944] [-0.06668473 0.99561388 0.06562124 -0.3917867 ] [-0.08644634 -0.07128533 0.99370289 0.53115868] [ 0. 0. 0. 1. ]] SLAMing on 59.702401007999995 meters Centerline goodness : 0.907137 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-0.38, Z:0.52 [[ 0.99292251 0.07226885 0.09424495 12.39148205] [-0.07777207 0.99539234 0.05608556 -0.38303804] [-0.08975746 -0.06301824 0.99396796 0.51948873] [ 0. 0. 0. 1. ]] SLAMing on 59.762401008 meters Centerline goodness : 0.907466 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-0.38, Z:0.51 [[ 0.99222232 0.07891825 0.09626406 12.39499616] [-0.08293941 0.99581041 0.03850571 -0.37645 ] [-0.09282195 -0.04619031 0.99461075 0.50709837] [ 0. 0. 0. 1. ]] SLAMing on 59.822401008 meters Centerline goodness : 0.908019 with order 1 Centerline is valid? [False, False] Translation: X:12.39, Y:-0.38, Z:0.51 [[ 0.99215783 0.07974011 0.09625149 12.39484401] [-0.083733 0.99575664 0.03817713 -0.37632575] [-0.09279881 -0.04593716 0.99462463 0.50540451] [ 0. 0. 0. 1. ]] SLAMing on 59.882401007999995 meters Centerline goodness : 0.906453 with order 1 Centerline is valid? [False, False] Translation: X:12.42, Y:-0.38, Z:0.50 [[ 0.99240511 0.07989412 0.09353622 12.42332591] [-0.08367549 0.99579764 0.03722202 -0.38284378] [-0.09016933 -0.04476602 0.99491984 0.50412592] [ 0. 0. 0. 1. ]] SLAMing on 59.942401008 meters Centerline goodness : 0.911988 with order 1 Centerline is valid? [False, False] Translation: X:12.42, Y:-0.39, Z:0.50 [[ 0.99265814 0.07656834 0.0936328 12.42227998] [-0.08007287 0.99620017 0.03425715 -0.38738497] [-0.09065399 -0.04150308 0.99501726 0.50473981] [ 0. 0. 0. 1. ]] SLAMing on 60.002401008 meters Centerline goodness : 0.917474 with order 1 Centerline is valid? [False, False] Translation: X:12.42, Y:-0.39, Z:0.51 [[ 0.99282035 0.07370838 0.09420634 12.4202713 ] [-0.07698481 0.99653053 0.03162667 -0.39253219] [-0.09154834 -0.03865206 0.99505021 0.50515212] [ 0. 0. 0. 1. ]] SLAMing on 60.062401007999995 meters Centerline goodness : 0.920270 with order 1 Centerline is valid? [False, False] Translation: X:12.42, Y:-0.40, Z:0.51 [[ 0.99276726 0.07433622 0.09427245 12.41972044] [-0.0776883 0.99645124 0.03239528 -0.39593609] [-0.09152976 -0.03948484 0.99501922 0.50530327] [ 0. 0. 0. 1. ]] SLAMing on 60.122401008 meters Centerline goodness : 0.921364 with order 1 Centerline is valid? [False, False] Translation: X:12.42, Y:-0.40, Z:0.51 [[ 0.99231746 0.07940864 0.09487003 12.41789803] [-0.08322322 0.99584581 0.03694622 -0.39555995] [-0.09154207 -0.04455777 0.99480383 0.50608968] [ 0. 0. 0. 1. ]] SLAMing on 60.182401008 meters Centerline goodness : 0.920340 with order 1 Centerline is valid? [False, False] Translation: X:12.41, Y:-0.39, Z:0.51 [[ 0.99200212 0.08198596 0.09596927 12.4131341 ] [-0.08586083 0.9956213 0.03696135 -0.39325743] [-0.09251874 -0.04490574 0.99469782 0.50661906] [ 0. 0. 0. 1. ]] SLAMing on 60.242401007999995 meters Centerline goodness : 0.921148 with order 1 Centerline is valid? [False, False] Translation: X:12.41, Y:-0.39, Z:0.51 [[ 0.99221315 0.07892165 0.09635576 12.41128634] [-0.0823678 0.99607776 0.03232096 -0.39158822] [-0.093427 -0.04000589 0.99482206 0.50593365] [ 0. 0. 0. 1. ]] SLAMing on 60.302401008 meters Centerline goodness : 0.920485 with order 1 Centerline is valid? [False, False] Translation: X:12.41, Y:-0.39, Z:0.50 [[ 0.99252651 0.07489525 0.09634227 12.41203697] [-0.07776717 0.99662187 0.02640309 -0.38931742] [-0.09403935 -0.03369803 0.99499801 0.50172661] [ 0. 0. 0. 1. ]] SLAMing on 60.362401008 meters Centerline goodness : 0.917869 with order 1 Centerline is valid? [False, False] Translation: X:12.41, Y:-0.39, Z:0.50 [[ 0.99287436 0.07060867 0.09599437 12.41341584] [-0.07301141 0.99709396 0.02174794 -0.39105138] [-0.09417981 -0.02860166 0.99514427 0.49922714] [ 0. 0. 0. 1. ]] SLAMing on 60.422401007999994 meters Centerline goodness : 0.918358 with order 1 Centerline is valid? [False, False] Translation: X:12.41, Y:-0.39, Z:0.50 [[ 0.99306173 0.06750055 0.09629162 12.41188435] [-0.06946366 0.99743656 0.01717893 -0.39032315] [-0.0948852 -0.02374851 0.99520491 0.49831145] [ 0. 0. 0. 1. ]] SLAMing on 60.482401008 meters Centerline goodness : 0.911227 with order 1 Centerline is valid? [False, False] Translation: X:12.41, Y:-0.39, Z:0.50 [[ 0.99317631 0.06654428 0.09577412 12.41412393] [-0.06850127 0.99750121 0.01728894 -0.39266411] [-0.09438432 -0.02373161 0.99525294 0.49746221] [ 0. 0. 0. 1. ]] SLAMing on 60.542401008 meters Centerline goodness : 0.911589 with order 1 Centerline is valid? [False, False] Translation: X:12.42, Y:-0.39, Z:0.49 [[ 0.99324657 0.06585802 0.09551946 12.4160112 ] [-0.06769408 0.9975761 0.01610698 -0.39102812] [-0.09422716 -0.02246431 0.99529724 0.49465385] [ 0. 0. 0. 1. ]] SLAMing on 60.602401007999994 meters Centerline goodness : 0.906438 with order 1 Centerline is valid? [False, False] Translation: X:12.42, Y:-0.39, Z:0.49 [[ 0.99320495 0.06781331 0.09457947 12.4203634 ] [-0.06998486 0.99735091 0.01983143 -0.39166547] [-0.09298409 -0.02631581 0.99531977 0.49349627] [ 0. 0. 0. 1. ]] SLAMing on 60.662401007999996 meters Centerline goodness : 0.902121 with order 1 Centerline is valid? [False, False] Translation: X:12.42, Y:-0.39, Z:0.49 [[ 0.99356742 0.06343628 0.09380633 12.42289681] [-0.06500847 0.99778933 0.01379703 -0.38899321] [-0.09272373 -0.01980649 0.99549486 0.48915502] [ 0. 0. 0. 1. ]] SLAMing on 60.722401008 meters Centerline goodness : 0.899656 with order 1 Centerline is valid? [False, False] Translation: X:12.43, Y:-0.39, Z:0.49 [[ 9.93953816e-01 5.87680764e-02 9.27476411e-02 1.24260417e+01] [-5.98787739e-02 9.98162927e-01 9.23603724e-03 -3.90393482e-01] [-9.20344727e-02 -1.47338095e-02 9.95646810e-01 4.86863394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.782401008 meters Centerline goodness : 0.904670 with order 1 Centerline is valid? [False, False] Translation: X:12.45, Y:-0.40, Z:0.50 [[ 0.99446068 0.04858954 0.09320412 12.45322843] [-0.05088547 0.99845291 0.02241567 -0.39823625] [-0.09197076 -0.02703424 0.99539466 0.4975888 ] [ 0. 0. 0. 1. ]] SLAMing on 60.842401007999996 meters Centerline goodness : 0.904699 with order 1 Centerline is valid? [False, False] Translation: X:12.47, Y:-0.41, Z:0.50 [[ 0.99472099 0.0403179 0.09436426 12.47456147] [-0.0435191 0.9985363 0.03211468 -0.40582806] [-0.09293134 -0.0360518 0.99501961 0.50336484] [ 0. 0. 0. 1. ]] SLAMing on 60.902401008 meters Centerline goodness : 0.905485 with order 1 Centerline is valid? [False, False] Translation: X:12.48, Y:-0.41, Z:0.50 [[ 0.99485275 0.03917837 0.09345088 12.47802688] [-0.04237391 0.99857443 0.03245858 -0.40844512] [-0.09204598 -0.03625139 0.99509466 0.50297985] [ 0. 0. 0. 1. ]] SLAMing on 60.962401008 meters Centerline goodness : 0.903881 with order 1 Centerline is valid? [False, False] Translation: X:12.50, Y:-0.41, Z:0.50 [[ 0.99488898 0.04166019 0.09198015 12.50397906] [-0.04474348 0.9984949 0.0317167 -0.41179037] [-0.09052038 -0.03567011 0.9952556 0.50183083] [ 0. 0. 0. 1. ]] SLAMing on 61.022401007999996 meters Centerline goodness : 0.900901 with order 1 Centerline is valid? [False, False] Translation: X:12.53, Y:-0.42, Z:0.50 [[ 0.99566962 0.0429918 0.082424 12.530856 ] [-0.04565004 0.99848745 0.03064139 -0.41534858] [-0.08098201 -0.03427136 0.99612619 0.50367178] [ 0. 0. 0. 1. ]] SLAMing on 61.082401008 meters Centerline goodness : 0.893629 with order 1 Centerline is valid? [False, False] Translation: X:12.53, Y:-0.41, Z:0.50 [[ 0.99594371 0.03814281 0.08149385 12.53445924] [-0.0402673 0.99888641 0.0245862 -0.41375036] [-0.08046531 -0.02776801 0.99637055 0.49900545] [ 0. 0. 0. 1. ]] SLAMing on 61.142401008 meters Centerline goodness : 0.888114 with order 1 Centerline is valid? [False, False] Translation: X:12.58, Y:-0.42, Z:0.51 [[ 0.99666612 0.02819869 0.07656027 12.57966661] [-0.03195564 0.99832164 0.04829851 -0.41956739] [-0.07506982 -0.05058402 0.99589446 0.51290581] [ 0. 0. 0. 1. ]] SLAMing on 61.202401007999995 meters Centerline goodness : 0.882435 with order 1 Centerline is valid? [False, False] Translation: X:12.60, Y:-0.42, Z:0.52 [[ 0.99669413 0.02256473 0.07804899 12.6024929 ] [-0.02755686 0.9976021 0.06348759 -0.41942072] [-0.07642926 -0.06542849 0.99492597 0.52407045] [ 0. 0. 0. 1. ]] SLAMing on 61.262401008 meters Centerline goodness : 0.880168 with order 1 Centerline is valid? [False, False] Translation: X:12.62, Y:-0.41, Z:0.52 [[ 0.9968851 0.0150729 0.07741391 12.62472674] [-0.02034923 0.99748953 0.06782739 -0.4117065 ] [-0.07619721 -0.06919143 0.99468916 0.52386422] [ 0. 0. 0. 1. ]] SLAMing on 61.322401008 meters Centerline goodness : 0.881954 with order 1 Centerline is valid? [False, False] Translation: X:12.63, Y:-0.40, Z:0.53 [[ 0.99691644 0.01311657 0.0773664 12.63252898] [-0.01865379 0.99728127 0.07128883 -0.40456447] [-0.076221 -0.07251218 0.99445077 0.52618935] [ 0. 0. 0. 1. ]] SLAMing on 61.382401007999995 meters Centerline goodness : 0.878481 with order 1 Centerline is valid? [False, False] Translation: X:12.60, Y:-0.40, Z:0.54 [[ 0.99739401 0.02248704 0.0685531 12.60191678] [-0.02827177 0.99601242 0.08461655 -0.39524233] [-0.06637696 -0.08633415 0.99405257 0.54178218] [ 0. 0. 0. 1. ]] SLAMing on 61.442401008 meters Centerline goodness : 0.876007 with order 1 Centerline is valid? [False, False] Translation: X:12.59, Y:-0.38, Z:0.53 [[ 0.9972297 0.03038898 0.0678928 12.59469546] [-0.03584275 0.99610091 0.08061184 -0.38077701] [-0.06517837 -0.08282198 0.99443064 0.53231984] [ 0. 0. 0. 1. ]] SLAMing on 61.502401008 meters Centerline goodness : 0.871013 with order 1 Centerline is valid? [False, False] Translation: X:12.59, Y:-0.36, Z:0.53 [[ 0.99684613 0.04839515 0.06289439 12.59479921] [-0.05305376 0.99579802 0.07464322 -0.3622048 ] [-0.05901774 -0.07774459 0.99522494 0.52619006] [ 0. 0. 0. 1. ]] SLAMing on 61.562401007999995 meters Centerline goodness : 0.868984 with order 1 Centerline is valid? [False, False] Translation: X:12.60, Y:-0.35, Z:0.52 [[ 0.99631362 0.05920361 0.06208145 12.60236583] [-0.06311579 0.99601114 0.06307308 -0.34943083] [-0.05809967 -0.06675889 0.99607614 0.51594415] [ 0. 0. 0. 1. ]] SLAMing on 61.622401008 meters Centerline goodness : 0.871634 with order 1 Centerline is valid? [False, False] Translation: X:12.63, Y:-0.34, Z:0.51 [[ 0.99591123 0.06224282 0.06547255 12.62554946] [-0.06622756 0.99596498 0.06056126 -0.33742354] [-0.06143886 -0.06464973 0.9960149 0.51438633] [ 0. 0. 0. 1. ]] SLAMing on 61.682401008 meters Centerline goodness : 0.869356 with order 1 Centerline is valid? [False, False] Translation: X:12.65, Y:-0.34, Z:0.53 [[ 0.99589164 0.05735566 0.07007262 12.65306685] [-0.06340412 0.99415489 0.087384 -0.33991682] [-0.06465107 -0.09146789 0.99370713 0.5345411 ] [ 0. 0. 0. 1. ]] SLAMing on 61.742401007999995 meters Centerline goodness : 0.870207 with order 1 Centerline is valid? [False, False] Translation: X:12.66, Y:-0.34, Z:0.56 [[ 0.9956081 0.03999812 0.08464427 12.6600578 ] [-0.05092081 0.99006095 0.13109686 -0.34499442] [-0.07855936 -0.13483125 0.98774944 0.56343334] [ 0. 0. 0. 1. ]] SLAMing on 61.802401008 meters Centerline goodness : 0.872851 with order 1 Centerline is valid? [False, False] Translation: X:12.66, Y:-0.34, Z:0.57 [[ 0.99544827 0.03585012 0.08830355 12.65588005] [-0.04745856 0.98996738 0.13308746 -0.3412724 ] [-0.08264644 -0.13667244 0.98716271 0.57383022] [ 0. 0. 0. 1. ]] SLAMing on 61.862401008 meters Centerline goodness : 0.869413 with order 1 Centerline is valid? [False, False] Translation: X:12.61, Y:-0.33, Z:0.57 [[ 0.99579757 0.02196763 0.08890795 12.60808864] [-0.03284471 0.99188871 0.12279255 -0.32755631] [-0.08548933 -0.12519668 0.98844189 0.57365398] [ 0. 0. 0. 1. ]] SLAMing on 61.922401007999994 meters Centerline goodness : 0.871500 with order 1 Centerline is valid? [False, False] Translation: X:12.57, Y:-0.32, Z:0.57 [[ 0.99641664 0.01792527 0.08265935 12.56527137] [-0.02667863 0.99400385 0.10604055 -0.31704851] [-0.08026291 -0.1078658 0.9909202 0.57330045] [ 0. 0. 0. 1. ]] SLAMing on 61.982401008 meters Centerline goodness : 0.869845 with order 1 Centerline is valid? [False, False] Translation: X:12.57, Y:-0.31, Z:0.58 [[ 9.97568136e-01 6.55068645e-03 6.93895044e-02 1.25654052e+01] [-1.34264353e-02 9.94987711e-01 9.90918091e-02 -3.07034401e-01] [-6.83925848e-02 -9.97824849e-02 9.92655988e-01 5.79007284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.042401008 meters Centerline goodness : 0.869880 with order 1 Centerline is valid? [False, False] Translation: X:12.54, Y:-0.30, Z:0.58 [[ 9.97578028e-01 7.20176620e-03 6.91824536e-02 1.25411590e+01] [-1.28259984e-02 9.96615384e-01 8.11989583e-02 -2.96497747e-01] [-6.83635216e-02 -8.18896308e-02 9.94293979e-01 5.75198158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.102401007999994 meters Centerline goodness : 0.870733 with order 1 Centerline is valid? [False, False] Translation: X:12.53, Y:-0.29, Z:0.57 [[ 9.97459045e-01 6.20812775e-03 7.09712152e-02 1.25264446e+01] [-1.09994023e-02 9.97670800e-01 6.73200465e-02 -2.88249879e-01] [-7.03879776e-02 -6.79296302e-02 9.95204048e-01 5.69499123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.162401007999996 meters Centerline goodness : 0.869469 with order 1 Centerline is valid? [False, False] Translation: X:12.51, Y:-0.28, Z:0.56 [[ 9.97446533e-01 6.53844131e-03 7.11172439e-02 1.25088500e+01] [-1.02139909e-02 9.98623711e-01 5.14427591e-02 -2.82041941e-01] [-7.06830106e-02 -5.20377926e-02 9.96140542e-01 5.63499526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.222401008 meters Centerline goodness : 0.869007 with order 1 Centerline is valid? [False, False] Translation: X:12.48, Y:-0.27, Z:0.57 [[ 9.97968240e-01 7.59481118e-03 6.32590728e-02 1.24754849e+01] [-9.65078692e-03 9.99432949e-01 3.22589980e-02 -2.71540634e-01] [-6.29782007e-02 -3.28039553e-02 9.97475637e-01 5.65815910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.282401008 meters Centerline goodness : 0.869731 with order 1 Centerline is valid? [False, False] Translation: X:12.48, Y:-0.26, Z:0.57 [[ 9.98768872e-01 8.80269627e-04 4.95980340e-02 1.24789017e+01] [-2.42832901e-03 9.99511444e-01 3.11605066e-02 -2.61578778e-01] [-4.95463729e-02 -3.12425843e-02 9.98283055e-01 5.71408040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.342401007999996 meters Centerline goodness : 0.867713 with order 1 Centerline is valid? [False, False] Translation: X:12.48, Y:-0.25, Z:0.58 [[ 9.99320603e-01 -5.31141513e-03 3.64708357e-02 1.24788284e+01] [ 4.21247612e-03 9.99536720e-01 3.01429969e-02 -2.50972175e-01] [-3.66140414e-02 -2.99688853e-02 9.98880012e-01 5.78807685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.402401008 meters Centerline goodness : 0.864182 with order 1 Centerline is valid? [False, False] Translation: X:12.48, Y:-0.24, Z:0.58 [[ 9.99345763e-01 -6.86693384e-03 3.55090325e-02 1.24826706e+01] [ 5.90130703e-03 9.99611844e-01 2.72275010e-02 -2.39586131e-01] [-3.56822189e-02 -2.70001381e-02 9.98998384e-01 5.75589079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.462401008 meters Centerline goodness : 0.862372 with order 1 Centerline is valid? [False, False] Translation: X:12.50, Y:-0.23, Z:0.57 [[ 9.99246320e-01 -3.72940802e-03 3.86378526e-02 1.24977751e+01] [ 3.08783212e-03 9.99856590e-01 1.66512438e-02 -2.30330085e-01] [-3.86944108e-02 -1.65193869e-02 9.99114534e-01 5.66834910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.522401007999996 meters Centerline goodness : 0.863021 with order 1 Centerline is valid? [False, False] Translation: X:12.50, Y:-0.22, Z:0.57 [[ 9.99278996e-01 4.52036391e-06 3.79669316e-02 1.24980402e+01] [-6.85769463e-04 9.99839006e-01 1.79302187e-02 -2.19268049e-01] [-3.79607381e-02 -1.79433275e-02 9.99118121e-01 5.67122499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.582401008 meters Centerline goodness : 0.860904 with order 1 Centerline is valid? [False, False] Translation: X:12.51, Y:-0.21, Z:0.56 [[ 9.99081290e-01 9.41724656e-03 4.18078016e-02 1.25126655e+01] [-1.00554119e-02 9.99835723e-01 1.50803033e-02 -2.09373829e-01] [-4.16589186e-02 -1.54868435e-02 9.99011858e-01 5.61493099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.642401008 meters Centerline goodness : 0.860079 with order 1 Centerline is valid? [False, False] Translation: X:12.55, Y:-0.20, Z:0.56 [[ 9.98656689e-01 3.33923916e-02 3.96202656e-02 1.25526423e+01] [-3.35019947e-02 9.99436433e-01 2.10544636e-03 -1.98053403e-01] [-3.95276311e-02 -3.42997602e-03 9.99212591e-01 5.55863644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.702401007999995 meters Centerline goodness : 0.860309 with order 1 Centerline is valid? [False, False] Translation: X:12.55, Y:-0.19, Z:0.56 [[ 9.98876696e-01 3.90283735e-02 2.68725214e-02 1.25528690e+01] [-3.91050383e-02 9.99232382e-01 2.33311828e-03 -1.86734939e-01] [-2.67608357e-02 -3.38134845e-03 9.99636146e-01 5.59762956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.762401008 meters Centerline goodness : 0.860925 with order 1 Centerline is valid? [False, False] Translation: X:12.55, Y:-0.18, Z:0.56 [[ 9.98977994e-01 4.30180162e-02 1.38714992e-02 1.25531604e+01] [-4.30347816e-02 9.99073158e-01 9.12264028e-04 -1.77495558e-01] [-1.38193987e-02 -1.50828863e-03 9.99903370e-01 5.64130177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.822401008 meters Centerline goodness : 0.858694 with order 1 Centerline is valid? [False, False] Translation: X:12.56, Y:-0.17, Z:0.57 [[ 9.99265256e-01 3.82752942e-02 -1.98733274e-03 1.25575471e+01] [-3.82883601e-02 9.99242103e-01 -7.01571369e-03 -1.71343994e-01] [ 1.71729804e-03 7.08665065e-03 9.99973415e-01 5.70748545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.882401007999995 meters Centerline goodness : 0.855663 with order 1 Centerline is valid? [False, False] Translation: X:12.60, Y:-0.17, Z:0.57 [[ 9.99107642e-01 4.21559020e-02 -2.60744989e-03 1.26003834e+01] [-4.21899825e-02 9.98999995e-01 -1.47991441e-02 -1.69960650e-01] [ 1.98097116e-03 1.48959462e-02 9.99887087e-01 5.68622282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.942401008 meters Centerline goodness : 0.853487 with order 1 Centerline is valid? [False, False] Translation: X:12.60, Y:-0.17, Z:0.57 [[ 9.98841272e-01 4.79701616e-02 -3.87010235e-03 1.26034208e+01] [-4.80152476e-02 9.98767794e-01 -1.25470661e-02 -1.68243744e-01] [ 3.26344880e-03 1.27183514e-02 9.99913793e-01 5.68913563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.002401008 meters Centerline goodness : 0.853343 with order 1 Centerline is valid? [False, False] Translation: X:12.61, Y:-0.17, Z:0.57 [[ 9.98705558e-01 5.01812873e-02 -8.30950174e-03 1.26112555e+01] [-5.03316637e-02 9.98551771e-01 -1.90022162e-02 -1.69585997e-01] [ 7.34391201e-03 1.93958500e-02 9.99784911e-01 5.70086571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.062401007999995 meters Centerline goodness : 0.851765 with order 1 Centerline is valid? [False, False] Translation: X:12.62, Y:-0.17, Z:0.57 [[ 9.98677865e-01 5.03037266e-02 -1.05857089e-02 1.26159816e+01] [-5.05192621e-02 9.98498325e-01 -2.11872507e-02 -1.72617366e-01] [ 9.50401492e-03 2.16940205e-02 9.99719482e-01 5.69378647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.122401008 meters Centerline goodness : 0.851287 with order 1 Centerline is valid? [False, False] Translation: X:12.62, Y:-0.18, Z:0.56 [[ 9.98602110e-01 5.13178613e-02 -1.26610505e-02 1.26224634e+01] [-5.15539494e-02 9.98487855e-01 -1.90838377e-02 -1.79336862e-01] [ 1.16625635e-02 1.97098878e-02 9.99737718e-01 5.64635093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.182401008 meters Centerline goodness : 0.851648 with order 1 Centerline is valid? [False, False] Translation: X:12.63, Y:-0.18, Z:0.56 [[ 0.99852507 0.05182303 -0.01618802 12.62890961] [-0.05218956 0.99836986 -0.02310588 -0.18491475] [ 0.01496421 0.02391665 0.99960195 0.56498965] [ 0. 0. 0. 1. ]] SLAMing on 63.242401007999995 meters Centerline goodness : 0.848698 with order 1 Centerline is valid? [False, False] Translation: X:12.64, Y:-0.19, Z:0.57 [[ 0.99851332 0.05056987 -0.02034279 12.6359216 ] [-0.05113478 0.99829128 -0.02828005 -0.19380642] [ 0.01887791 0.02927823 0.99939302 0.56519671] [ 0. 0. 0. 1. ]] SLAMing on 63.302401008 meters Centerline goodness : 0.847347 with order 1 Centerline is valid? [False, False] Translation: X:12.64, Y:-0.23, Z:0.61 [[ 9.98796304e-01 4.87987275e-02 -4.96249255e-03 1.26385843e+01] [-4.85529652e-02 9.97966292e-01 4.13024176e-02 -2.27766369e-01] [ 6.96790571e-03 -4.10117584e-02 9.99134367e-01 6.07847361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.362401008 meters Centerline goodness : 0.841730 with order 1 Centerline is valid? [False, False] Translation: X:12.65, Y:-0.24, Z:0.61 [[ 9.98749454e-01 4.99937260e-02 3.95450648e-04 1.26514327e+01] [-4.99773816e-02 9.98148777e-01 3.46595014e-02 -2.35552342e-01] [ 1.33803904e-03 -3.46359217e-02 9.99399101e-01 6.06453384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.422401007999994 meters Centerline goodness : 0.843759 with order 1 Centerline is valid? [False, False] Translation: X:12.67, Y:-0.24, Z:0.61 [[ 9.98694120e-01 5.09064202e-02 4.31173270e-03 1.26716397e+01] [-5.10259986e-02 9.98089659e-01 3.48335980e-02 -2.43863664e-01] [-2.53024204e-03 -3.50081199e-02 9.99383825e-01 6.10371904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.482401008 meters Centerline goodness : 0.846115 with order 1 Centerline is valid? [False, False] Translation: X:12.70, Y:-0.26, Z:0.61 [[ 9.98725110e-01 5.03794044e-02 3.17332756e-03 1.27029578e+01] [-5.04674713e-02 9.97874998e-01 4.12131357e-02 -2.58729794e-01] [-1.09029101e-03 -4.13207433e-02 9.99145338e-01 6.13433864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.542401008 meters Centerline goodness : 0.839081 with order 1 Centerline is valid? [False, False] Translation: X:12.73, Y:-0.27, Z:0.61 [[ 9.98883794e-01 4.71573594e-02 2.71095068e-03 1.27282928e+01] [-4.72274219e-02 9.98115416e-01 3.91814529e-02 -2.71263261e-01] [-8.58147818e-04 -3.92657495e-02 9.99228435e-01 6.14754946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.602401007999994 meters Centerline goodness : 0.840690 with order 1 Centerline is valid? [False, False] Translation: X:12.76, Y:-0.28, Z:0.62 [[ 9.99005580e-01 4.45440679e-02 1.91774098e-03 1.27640674e+01] [-4.45847381e-02 9.97845976e-01 4.81207860e-02 -2.83596500e-01] [ 2.29885443e-04 -4.81584357e-02 9.98839683e-01 6.23826701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.662401007999996 meters Centerline goodness : 0.842190 with order 1 Centerline is valid? [False, False] Translation: X:12.77, Y:-0.29, Z:0.62 [[ 9.99241490e-01 3.89297808e-02 9.57216717e-04 1.27678574e+01] [-3.89348097e-02 9.98309499e-01 4.31535066e-02 -2.91453855e-01] [ 7.24358015e-04 -4.31580433e-02 9.99067995e-01 6.20637022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.722401008 meters Centerline goodness : 0.839000 with order 1 Centerline is valid? [False, False] Translation: X:12.80, Y:-0.30, Z:0.62 [[ 9.99174421e-01 4.05615877e-02 -2.28786311e-03 1.27964439e+01] [-4.04238475e-02 9.98235154e-01 4.35027669e-02 -2.98028043e-01] [ 4.04836669e-03 -4.33743677e-02 9.99050687e-01 6.20318747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.782401008 meters Centerline goodness : 0.841620 with order 1 Centerline is valid? [False, False] Translation: X:12.83, Y:-0.31, Z:0.62 [[ 9.99023005e-01 4.37859628e-02 -5.98541812e-03 1.28267242e+01] [-4.34549087e-02 9.97935155e-01 4.72979613e-02 -3.06486244e-01] [ 8.04404593e-03 -4.69916556e-02 9.98862892e-01 6.21527167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.842401007999996 meters Centerline goodness : 0.843906 with order 1 Centerline is valid? [False, False] Translation: X:12.84, Y:-0.31, Z:0.61 [[ 9.98979663e-01 4.51031186e-02 -2.31135215e-03 1.28418481e+01] [-4.49898815e-02 9.98329419e-01 3.62530277e-02 -3.07044488e-01] [ 3.94261546e-03 -3.61120499e-02 9.99339970e-01 6.13494335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.902401008 meters Centerline goodness : 0.841031 with order 1 Centerline is valid? [False, False] Translation: X:12.85, Y:-0.31, Z:0.61 [[ 9.98811614e-01 4.87118946e-02 1.58446986e-03 1.28549225e+01] [-4.87369991e-02 9.98439101e-01 2.72775989e-02 -3.10064219e-01] [-2.53253139e-04 -2.73224049e-02 9.99626641e-01 6.07102003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.962401008 meters Centerline goodness : 0.842729 with order 1 Centerline is valid? [False, False] Translation: X:12.87, Y:-0.32, Z:0.60 [[ 9.98618790e-01 5.21767960e-02 6.17205292e-03 1.28695807e+01] [-5.22938020e-02 9.98418798e-01 2.06218715e-02 -3.15025424e-01] [-5.08631047e-03 -2.09161485e-02 9.99768295e-01 6.01481587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.022401008 meters Centerline goodness : 0.842336 with order 1 Centerline is valid? [False, False] Translation: X:12.87, Y:-0.32, Z:0.61 [[ 9.98537971e-01 5.36361404e-02 6.71456850e-03 1.28670135e+01] [-5.37873450e-02 9.98243438e-01 2.48386939e-02 -3.23736629e-01] [-5.37052226e-03 -2.51635378e-02 9.99668922e-01 6.06528863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.082401008 meters Centerline goodness : 0.840817 with order 1 Centerline is valid? [False, False] Translation: X:12.87, Y:-0.32, Z:0.61 [[ 9.98712773e-01 5.02552956e-02 6.87042729e-03 1.28662158e+01] [-5.03883465e-02 9.98513045e-01 2.08017533e-02 -3.24601449e-01] [-5.81481301e-03 -2.11211662e-02 9.99760013e-01 6.05584134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.14240100800001 meters Centerline goodness : 0.841773 with order 1 Centerline is valid? [False, False] Translation: X:12.87, Y:-0.33, Z:0.60 [[ 9.98894708e-01 4.65178693e-02 6.74171162e-03 1.28685134e+01] [-4.66387598e-02 9.98730214e-01 1.90469124e-02 -3.34692410e-01] [-5.84712931e-03 -1.93402851e-02 9.99795861e-01 6.03586630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.20240100800001 meters Centerline goodness : 0.844215 with order 1 Centerline is valid? [False, False] Translation: X:12.87, Y:-0.35, Z:0.60 [[ 9.99237823e-01 3.85062783e-02 6.40626813e-03 1.28706333e+01] [-3.85901086e-02 9.99163635e-01 1.35216247e-02 -3.46159869e-01] [-5.88024271e-03 -1.37585374e-02 9.99888056e-01 6.02671918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.262401008 meters Centerline goodness : 0.844885 with order 1 Centerline is valid? [False, False] Translation: X:12.89, Y:-0.36, Z:0.61 [[ 9.99557899e-01 2.85431227e-02 8.32450387e-03 1.28928928e+01] [-2.87086863e-02 9.99377627e-01 2.04980273e-02 -3.56105397e-01] [-7.73424522e-03 -2.07279507e-02 9.99755237e-01 6.06586368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.322401008 meters Centerline goodness : 0.845363 with order 1 Centerline is valid? [False, False] Translation: X:12.93, Y:-0.37, Z:0.62 [[ 9.99817002e-01 1.48084070e-02 1.21108564e-02 1.29296085e+01] [-1.52808630e-02 9.99086967e-01 3.98964486e-02 -3.72761908e-01] [-1.15089960e-02 -4.00742120e-02 9.99130422e-01 6.23069835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.382401008 meters Centerline goodness : 0.846486 with order 1 Centerline is valid? [False, False] Translation: X:12.97, Y:-0.38, Z:0.64 [[ 9.99847554e-01 1.22272252e-02 1.24644906e-02 1.29692301e+01] [-1.28980075e-02 9.98389955e-01 5.52371107e-02 -3.83577789e-01] [-1.17690256e-02 -5.53894571e-02 9.98395462e-01 6.40684911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.442401008 meters Centerline goodness : 0.846468 with order 1 Centerline is valid? [False, False] Translation: X:12.98, Y:-0.39, Z:0.63 [[ 9.99795554e-01 9.56253482e-03 1.78159556e-02 1.29807306e+01] [-1.02613020e-02 9.99164826e-01 3.95519422e-02 -3.85537032e-01] [-1.74228593e-02 -3.97266709e-02 9.99058675e-01 6.33198039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.502401008 meters Centerline goodness : 0.850237 with order 1 Centerline is valid? [False, False] Translation: X:13.00, Y:-0.39, Z:0.63 [[ 9.99757168e-01 7.90129535e-03 2.05711966e-02 1.30036861e+01] [-8.60074644e-03 9.99380118e-01 3.41380442e-02 -3.87300715e-01] [-2.02887101e-02 -3.43066820e-02 9.99205394e-01 6.33400706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.56240100800001 meters Centerline goodness : 0.847812 with order 1 Centerline is valid? [False, False] Translation: X:13.04, Y:-0.39, Z:0.63 [[ 9.99836750e-01 1.03282355e-02 1.48256505e-02 1.30367542e+01] [-1.08584563e-02 9.99287730e-01 3.61403807e-02 -3.88008658e-01] [-1.44418243e-02 -3.62954645e-02 9.99236745e-01 6.34317494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62240100800001 meters Centerline goodness : 0.840026 with order 1 Centerline is valid? [False, False] Translation: X:13.04, Y:-0.38, Z:0.63 [[ 9.99822335e-01 1.29546464e-02 1.36921437e-02 1.30412374e+01] [-1.34640495e-02 9.99194955e-01 3.77910266e-02 -3.83833665e-01] [-1.31915515e-02 -3.79686641e-02 9.99191855e-01 6.30369216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.682401008 meters Centerline goodness : 0.841987 with order 1 Centerline is valid? [False, False] Translation: X:13.06, Y:-0.38, Z:0.62 [[ 0.99968211 0.02023483 0.01504082 13.0626065 ] [-0.02073933 0.99920051 0.03417919 -0.37665346] [-0.01433719 -0.03448026 0.99930254 0.6242709 ] [ 0. 0. 0. 1. ]] SLAMing on 64.742401008 meters Centerline goodness : 0.846557 with order 1 Centerline is valid? [False, False] Translation: X:13.06, Y:-0.37, Z:0.62 [[ 0.99956838 0.02522604 0.01505669 13.06144164] [-0.02577206 0.99897379 0.03724461 -0.37046916] [-0.0141017 -0.03761658 0.99919274 0.62385531] [ 0. 0. 0. 1. ]] SLAMing on 64.802401008 meters Centerline goodness : 0.846578 with order 1 Centerline is valid? [False, False] Translation: X:13.06, Y:-0.37, Z:0.62 [[ 0.99948474 0.0287245 0.01432323 13.06329055] [-0.02929584 0.99871235 0.04141729 -0.37030359] [-0.0131151 -0.04181556 0.99903927 0.62470744] [ 0. 0. 0. 1. ]] SLAMing on 64.862401008 meters Centerline goodness : 0.847651 with order 1 Centerline is valid? [False, False] Translation: X:13.07, Y:-0.37, Z:0.62 [[ 0.99938881 0.02901911 0.01949097 13.07345478] [-0.02956532 0.99916084 0.02834609 -0.36665021] [-0.01865204 -0.02890502 0.99940813 0.6196385 ] [ 0. 0. 0. 1. ]] SLAMing on 64.92240100800001 meters Centerline goodness : 0.849746 with order 1 Centerline is valid? [False, False] Translation: X:13.07, Y:-0.37, Z:0.62 [[ 0.99946862 0.02583119 0.01988008 13.07118772] [-0.02632358 0.99934285 0.02491848 -0.36759296] [-0.01922334 -0.02542855 0.9994918 0.62130795] [ 0. 0. 0. 1. ]] SLAMing on 64.98240100800001 meters Centerline goodness : 0.847152 with order 1 Centerline is valid? [False, False] Translation: X:13.07, Y:-0.37, Z:0.62 [[ 0.99951536 0.02441981 0.01930607 13.07397778] [-0.02491763 0.99935187 0.02597964 -0.37057973] [-0.01865914 -0.02644811 0.99947603 0.62255635] [ 0. 0. 0. 1. ]] SLAMing on 65.042401008 meters Centerline goodness : 0.846605 with order 1 Centerline is valid? [False, False] Translation: X:13.08, Y:-0.37, Z:0.62 [[ 0.99962343 0.01983204 0.01896546 13.07653979] [-0.02021509 0.9995911 0.02022346 -0.36997543] [-0.01855663 -0.02059923 0.99961559 0.6180289 ] [ 0. 0. 0. 1. ]] SLAMing on 65.102401008 meters Centerline goodness : 0.844944 with order 1 Centerline is valid? [False, False] Translation: X:13.11, Y:-0.37, Z:0.62 [[ 0.99969181 0.01995472 0.01476785 13.1096572 ] [-0.0202894 0.99953252 0.02287115 -0.37470437] [-0.01430456 -0.02316373 0.99962934 0.6213302 ] [ 0. 0. 0. 1. ]] SLAMing on 65.162401008 meters Centerline goodness : 0.845945 with order 1 Centerline is valid? [False, False] Translation: X:13.15, Y:-0.38, Z:0.63 [[ 9.99842791e-01 1.36558643e-02 1.13097614e-02 1.31525236e+01] [-1.40074545e-02 9.99401972e-01 3.16146916e-02 -3.84521878e-01] [-1.08712720e-02 -3.17681425e-02 9.99436141e-01 6.33794304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.222401008 meters Centerline goodness : 0.850558 with order 1 Centerline is valid? [False, False] Translation: X:13.19, Y:-0.39, Z:0.64 [[ 9.99913978e-01 1.09358033e-02 7.24189402e-03 1.31865232e+01] [-1.11652933e-02 9.99411128e-01 3.24458390e-02 -3.87620610e-01] [-6.88280816e-03 -3.25239058e-02 9.99447258e-01 6.37478453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.28240100800001 meters Centerline goodness : 0.851089 with order 1 Centerline is valid? [False, False] Translation: X:13.22, Y:-0.39, Z:0.65 [[ 9.99964580e-01 1.43687602e-03 8.29303601e-03 1.32187079e+01] [-1.84826289e-03 9.98756811e-01 4.98138092e-02 -3.90769511e-01] [-8.21114994e-03 -4.98273725e-02 9.98724091e-01 6.52426445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.34240100800001 meters Centerline goodness : 0.853121 with order 1 Centerline is valid? [False, False] Translation: X:13.26, Y:-0.40, Z:0.67 [[ 9.99975932e-01 2.76745270e-03 6.36208866e-03 1.32608198e+01] [-3.19841131e-03 9.97628231e-01 6.87581418e-02 -3.97749378e-01] [-6.15671435e-03 -6.87768356e-02 9.97613072e-01 6.70169963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.402401008 meters Centerline goodness : 0.840419 with order 1 Centerline is valid? [False, False] Translation: X:13.26, Y:-0.40, Z:0.69 [[ 9.99805514e-01 -9.76205236e-03 1.71358038e-02 1.32603013e+01] [ 7.86840035e-03 9.94196460e-01 1.07291602e-01 -3.99973638e-01] [-1.80837417e-02 -1.07135904e-01 9.94079914e-01 6.89795664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.462401008 meters Centerline goodness : 0.838815 with order 1 Centerline is valid? [False, False] Translation: X:13.25, Y:-0.39, Z:0.68 [[ 9.99727302e-01 -1.43617480e-02 1.84136290e-02 1.32520684e+01] [ 1.26156219e-02 9.95709663e-01 9.16684966e-02 -3.91551574e-01] [-1.96511482e-02 -9.14111994e-02 9.95619317e-01 6.78493409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.522401008 meters Centerline goodness : 0.842055 with order 1 Centerline is valid? [False, False] Translation: X:13.21, Y:-0.38, Z:0.67 [[ 0.99967052 -0.01780831 0.01848528 13.2113472 ] [ 0.01629345 0.99673401 0.07909386 -0.3804958 ] [-0.01983344 -0.07876661 0.99669577 0.67428746] [ 0. 0. 0. 1. ]] SLAMing on 65.582401008 meters Centerline goodness : 0.845837 with order 1 Centerline is valid? [False, False] Translation: X:13.21, Y:-0.37, Z:0.68 [[ 0.99966936 -0.01839126 0.01797041 13.21057339] [ 0.0169879 0.99701256 0.07534829 -0.37077687] [-0.01930247 -0.0750181 0.99699534 0.67680731] [ 0. 0. 0. 1. ]] SLAMing on 65.64240100800001 meters Centerline goodness : 0.849137 with order 1 Centerline is valid? [False, False] Translation: X:13.21, Y:-0.35, Z:0.67 [[ 9.99802352e-01 -1.11918455e-02 1.64316871e-02 1.32139357e+01] [ 1.00204025e-02 9.97516237e-01 6.97205067e-02 -3.54997881e-01] [-1.71711758e-02 -6.95420744e-02 9.97431226e-01 6.73530239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.70240100800001 meters Centerline goodness : 0.845457 with order 1 Centerline is valid? [False, False] Translation: X:13.21, Y:-0.34, Z:0.67 [[ 9.99836422e-01 -5.21265577e-03 1.73192608e-02 1.32076363e+01] [ 4.04309975e-03 9.97752108e-01 6.68908397e-02 -3.40507625e-01] [-1.76290079e-02 -6.68098743e-02 9.97609973e-01 6.67239361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.762401008 meters Centerline goodness : 0.842884 with order 1 Centerline is valid? [False, False] Translation: X:13.18, Y:-0.34, Z:0.68 [[ 9.99731387e-01 -3.96279294e-03 2.28352696e-02 1.31847904e+01] [ 1.68177168e-03 9.95080408e-01 9.90563160e-02 -3.38893681e-01] [-2.31154691e-02 -9.89913045e-02 9.94819781e-01 6.81944138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.822401008 meters Centerline goodness : 0.839925 with order 1 Centerline is valid? [False, False] Translation: X:13.18, Y:-0.33, Z:0.68 [[ 9.99714788e-01 5.15626636e-04 2.38762618e-02 1.31826253e+01] [-2.92890170e-03 9.94866864e-01 1.01150109e-01 -3.30435093e-01] [-2.37015460e-02 -1.01191191e-01 9.94584627e-01 6.80631160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.882401008 meters Centerline goodness : 0.839571 with order 1 Centerline is valid? [False, False] Translation: X:13.18, Y:-0.33, Z:0.69 [[ 9.99634125e-01 6.54314173e-03 2.62450550e-02 1.31770423e+01] [-9.37925105e-03 9.93949107e-01 1.09440409e-01 -3.27529001e-01] [-2.53701649e-02 -1.09646526e-01 9.93646816e-01 6.87935146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.942401008 meters Centerline goodness : 0.840250 with order 1 Centerline is valid? [False, False] Translation: X:13.17, Y:-0.32, Z:0.69 [[ 9.99531632e-01 7.49212140e-03 2.96712865e-02 1.31711141e+01] [-1.07100080e-02 9.93893336e-01 1.09824098e-01 -3.21091625e-01] [-2.86672785e-02 -1.10090440e-01 9.93508069e-01 6.89019303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.002401008 meters Centerline goodness : 0.841784 with order 1 Centerline is valid? [False, False] Translation: X:13.17, Y:-0.32, Z:0.69 [[ 9.99487027e-01 8.00786427e-03 3.10089801e-02 1.31684041e+01] [-1.14053209e-02 9.93756374e-01 1.10987336e-01 -3.19992088e-01] [-2.99266001e-02 -1.11284070e-01 9.93337936e-01 6.91312128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.06240100800001 meters Centerline goodness : 0.839532 with order 1 Centerline is valid? [False, False] Translation: X:13.14, Y:-0.31, Z:0.69 [[ 9.99370197e-01 -3.98206003e-03 3.52612149e-02 1.31393882e+01] [-1.44724074e-04 9.93218079e-01 1.16266185e-01 -3.10683491e-01] [-3.54850551e-02 -1.16198063e-01 9.92591971e-01 6.91072759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12240100800001 meters Centerline goodness : 0.841476 with order 1 Centerline is valid? [False, False] Translation: X:13.11, Y:-0.30, Z:0.69 [[ 9.99274879e-01 -8.13844262e-03 3.71951850e-02 1.31092078e+01] [ 3.96648770e-03 9.93824770e-01 1.10890008e-01 -3.03966716e-01] [-3.78679682e-02 -1.10662065e-01 9.93136408e-01 6.90610106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.182401008 meters Centerline goodness : 0.842875 with order 1 Centerline is valid? [False, False] Translation: X:13.08, Y:-0.29, Z:0.68 [[ 9.99348676e-01 -6.60250849e-03 3.54771942e-02 1.30841370e+01] [ 3.37429364e-03 9.95909370e-01 9.02947449e-02 -2.90546977e-01] [-3.59282419e-02 -9.01162233e-02 9.95282989e-01 6.83659477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.242401008 meters Centerline goodness : 0.844328 with order 1 Centerline is valid? [False, False] Translation: X:13.04, Y:-0.28, Z:0.68 [[ 9.99444210e-01 -3.02629242e-03 3.31980716e-02 1.30411378e+01] [ 3.48429166e-04 9.96764706e-01 8.03741252e-02 -2.78670905e-01] [-3.33339016e-02 -8.03178869e-02 9.96211769e-01 6.80039403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.302401008 meters Centerline goodness : 0.845185 with order 1 Centerline is valid? [False, False] Translation: X:13.01, Y:-0.27, Z:0.68 [[ 9.99520899e-01 4.53524828e-03 3.06170461e-02 1.30144624e+01] [-6.57539717e-03 9.97740281e-01 6.68662479e-02 -2.65550905e-01] [-3.02446052e-02 -6.70355315e-02 9.97292084e-01 6.75691020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.362401008 meters Centerline goodness : 0.846316 with order 1 Centerline is valid? [False, False] Translation: X:12.97, Y:-0.26, Z:0.68 [[ 9.99465422e-01 6.16087791e-03 3.21078454e-02 1.29681841e+01] [-8.56280883e-03 9.97130479e-01 7.52162647e-02 -2.57714618e-01] [-3.15523130e-02 -7.54509891e-02 9.96650189e-01 6.78312399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.42240100800001 meters Centerline goodness : 0.849203 with order 1 Centerline is valid? [False, False] Translation: X:12.97, Y:-0.25, Z:0.67 [[ 0.9993261 0.02219707 0.02923412 12.9656616 ] [-0.02409704 0.99750679 0.06632906 -0.24668926] [-0.02768892 -0.06698882 0.99736945 0.67333842] [ 0. 0. 0. 1. ]] SLAMing on 66.48240100800001 meters Centerline goodness : 0.849888 with order 1 Centerline is valid? [False, False] Translation: X:12.96, Y:-0.25, Z:0.68 [[ 0.99887224 0.03437571 0.03274979 12.95650415] [-0.03688436 0.99616363 0.0793572 -0.24631964] [-0.02989619 -0.08047566 0.99630813 0.68089635] [ 0. 0. 0. 1. ]] SLAMing on 66.542401008 meters Centerline goodness : 0.850913 with order 1 Centerline is valid? [False, False] Translation: X:12.97, Y:-0.24, Z:0.68 [[ 0.99834983 0.05000937 0.02822546 12.9698445 ] [-0.05175389 0.99654912 0.06489519 -0.24316443] [-0.02488269 -0.06624888 0.99749283 0.67737175] [ 0. 0. 0. 1. ]] SLAMing on 66.602401008 meters Centerline goodness : 0.852511 with order 1 Centerline is valid? [False, False] Translation: X:12.98, Y:-0.24, Z:0.67 [[ 0.9981091 0.0517161 0.03322141 12.98295203] [-0.05352682 0.99698654 0.05614902 -0.24419278] [-0.03021749 -0.05782108 0.99786954 0.67306464] [ 0. 0. 0. 1. ]] SLAMing on 66.662401008 meters Centerline goodness : 0.849656 with order 1 Centerline is valid? [False, False] Translation: X:13.02, Y:-0.25, Z:0.67 [[ 0.99832277 0.04826047 0.03197759 13.01640909] [-0.05006954 0.99703564 0.05842062 -0.25118095] [-0.0290634 -0.05992374 0.99777977 0.67486967] [ 0. 0. 0. 1. ]] SLAMing on 66.722401008 meters Centerline goodness : 0.846068 with order 1 Centerline is valid? [False, False] Translation: X:13.06, Y:-0.27, Z:0.70 [[ 0.99874518 0.03639905 0.03439731 13.05777882] [-0.03936378 0.99517627 0.0898593 -0.26956565] [-0.03096059 -0.09110055 0.9953603 0.69578632] [ 0. 0. 0. 1. ]] SLAMing on 66.78240100800001 meters Centerline goodness : 0.846230 with order 1 Centerline is valid? [False, False] Translation: X:13.09, Y:-0.28, Z:0.71 [[ 0.99876411 0.03492926 0.03535804 13.08928847] [-0.03849995 0.99362732 0.10593631 -0.28119331] [-0.03143244 -0.10716667 0.99374409 0.70911743] [ 0. 0. 0. 1. ]] SLAMing on 66.84240100800001 meters Centerline goodness : 0.847521 with order 1 Centerline is valid? [False, False] Translation: X:13.11, Y:-0.29, Z:0.74 [[ 0.99856817 0.02965908 0.044519 13.10719641] [-0.03544653 0.99015416 0.13541893 -0.29390594] [-0.04006427 -0.13680307 0.98978774 0.7351619 ] [ 0. 0. 0. 1. ]] SLAMing on 66.902401008 meters Centerline goodness : 0.847774 with order 1 Centerline is valid? [False, False] Translation: X:13.10, Y:-0.30, Z:0.75 [[ 0.99830314 0.02490169 0.05263784 13.0960307 ] [-0.03297335 0.98680458 0.1585228 -0.29935283] [-0.04799577 -0.15998945 0.98595121 0.75320897] [ 0. 0. 0. 1. ]] SLAMing on 66.962401008 meters Centerline goodness : 0.847196 with order 1 Centerline is valid? [False, False] Translation: X:13.09, Y:-0.30, Z:0.75 [[ 0.99784125 0.02945886 0.05869423 13.0946856 ] [-0.03791056 0.98818046 0.14853341 -0.30014263] [-0.05362486 -0.1504379 0.98716403 0.75324791] [ 0. 0. 0. 1. ]] SLAMing on 67.022401008 meters Centerline goodness : 0.846019 with order 1 Centerline is valid? [False, False] Translation: X:13.08, Y:-0.30, Z:0.77 [[ 0.99714597 0.03779136 0.06535849 13.08233996] [-0.04813835 0.98515256 0.16479419 -0.30484054] [-0.05816029 -0.16747011 0.98416012 0.77066992] [ 0. 0. 0. 1. ]] SLAMing on 67.082401008 meters Centerline goodness : 0.842007 with order 1 Centerline is valid? [False, False] Translation: X:13.09, Y:-0.30, Z:0.76 [[ 0.9967625 0.04927471 0.06353363 13.08516461] [-0.05845953 0.98666043 0.15193316 -0.29883249] [-0.05519966 -0.15515542 0.98634669 0.76161572] [ 0. 0. 0. 1. ]] SLAMing on 67.14240100800001 meters Centerline goodness : 0.841900 with order 1 Centerline is valid? [False, False] Translation: X:13.10, Y:-0.30, Z:0.76 [[ 0.99601243 0.05549497 0.06985381 13.09886536] [-0.06559822 0.98622724 0.15183117 -0.2983609 ] [-0.06046586 -0.15580802 0.98593496 0.76106744] [ 0. 0. 0. 1. ]] SLAMing on 67.20240100800001 meters Centerline goodness : 0.842008 with order 1 Centerline is valid? [False, False] Translation: X:13.12, Y:-0.31, Z:0.77 [[ 0.99589485 0.05797789 0.06951265 13.12197011] [-0.06864751 0.98431428 0.1625205 -0.30933592] [-0.0589997 -0.1666252 0.98425356 0.7748245 ] [ 0. 0. 0. 1. ]] SLAMing on 67.262401008 meters Centerline goodness : 0.846021 with order 1 Centerline is valid? [False, False] Translation: X:13.12, Y:-0.32, Z:0.81 [[ 0.99478688 0.04636316 0.0908269 13.12057629] [-0.06524523 0.97388214 0.21747791 -0.32372762] [-0.07837173 -0.22227019 0.97183015 0.81385095] [ 0. 0. 0. 1. ]] SLAMing on 67.322401008 meters Centerline goodness : 0.844629 with order 1 Centerline is valid? [False, False] Translation: X:13.09, Y:-0.33, Z:0.84 [[ 0.99282203 0.03522787 0.11429525 13.08922896] [-0.06283676 0.96675652 0.24785758 -0.3308613 ] [-0.10176418 -0.25326041 0.96203078 0.84141598] [ 0. 0. 0. 1. ]] SLAMing on 67.382401008 meters Centerline goodness : 0.850059 with order 1 Centerline is valid? [False, False] Translation: X:13.07, Y:-0.34, Z:0.88 [[ 0.99060614 0.02587528 0.13427566 13.0705061 ] [-0.06437908 0.95455276 0.29100579 -0.33818301] [-0.12064335 -0.29691666 0.94725164 0.88064139] [ 0. 0. 0. 1. ]] SLAMing on 67.442401008 meters Centerline goodness : 0.850643 with order 1 Centerline is valid? [False, False] Translation: X:13.04, Y:-0.33, Z:0.88 [[ 0.99034244 0.03276965 0.13471455 13.04040199] [-0.06978868 0.95741553 0.28015181 -0.33453637] [-0.11979732 -0.28684777 0.95045618 0.88323739] [ 0. 0. 0. 1. ]] SLAMing on 67.502401008 meters Centerline goodness : 0.857813 with order 1 Centerline is valid? [False, False] Translation: X:13.03, Y:-0.33, Z:0.90 [[ 0.98914948 0.03757516 0.14202612 13.0261999 ] [-0.07775094 0.95414617 0.28906726 -0.33360043] [-0.12465193 -0.29697339 0.94671469 0.89606015] [ 0. 0. 0. 1. ]] SLAMing on 67.56240100800001 meters Centerline goodness : 0.857642 with order 1 Centerline is valid? [False, False] Translation: X:13.03, Y:-0.34, Z:0.92 [[ 0.98786973 0.03999688 0.15004548 13.0296251 ] [-0.08666798 0.94377439 0.31902752 -0.33975277] [-0.12884897 -0.32816177 0.9357926 0.92382973] [ 0. 0. 0. 1. ]] SLAMing on 67.62240100800001 meters Centerline goodness : 0.856628 with order 1 Centerline is valid? [False, False] Translation: X:12.98, Y:-0.33, Z:0.93 [[ 0.98729427 0.04416863 0.15264064 12.97915976] [-0.09029362 0.9463802 0.31017992 -0.33250031] [-0.13075586 -0.32002133 0.93834389 0.92630281] [ 0. 0. 0. 1. ]] SLAMing on 67.682401008 meters Centerline goodness : 0.854418 with order 1 Centerline is valid? [False, False] Translation: X:12.97, Y:-0.34, Z:0.95 [[ 0.9857381 0.04874004 0.16107392 12.97095952] [-0.10010278 0.9392172 0.32840598 -0.3361476 ] [-0.13527688 -0.33984624 0.93070119 0.94518808] [ 0. 0. 0. 1. ]] SLAMing on 67.742401008 meters Centerline goodness : 0.855218 with order 1 Centerline is valid? [False, False] Translation: X:12.96, Y:-0.34, Z:0.96 [[ 0.98414433 0.05487298 0.168668 12.95899555] [-0.11045804 0.93363943 0.34075861 -0.33635812] [-0.13877666 -0.35398639 0.92489711 0.95975084] [ 0. 0. 0. 1. ]] SLAMing on 67.802401008 meters Centerline goodness : 0.854577 with order 1 Centerline is valid? [False, False] Translation: X:12.96, Y:-0.34, Z:0.97 [[ 0.98116164 0.05748118 0.18443902 12.95786228] [-0.1197471 0.93013739 0.3471384 -0.34032047] [-0.15159971 -0.36268492 0.91949833 0.96695925] [ 0. 0. 0. 1. ]] SLAMing on 67.862401008 meters Centerline goodness : 0.851507 with order 1 Centerline is valid? [False, False] Translation: X:12.93, Y:-0.34, Z:0.96 [[ 0.98029858 0.06486071 0.18656845 12.93095511] [-0.12551153 0.93388689 0.33481655 -0.33783652] [-0.15251739 -0.35163668 0.92362876 0.96291154] [ 0. 0. 0. 1. ]] SLAMing on 67.92240100800001 meters Centerline goodness : 0.852139 with order 1 Centerline is valid? [False, False] Translation: X:12.93, Y:-0.33, Z:0.95 [[ 0.97948023 0.07039801 0.18884542 12.93277918] [-0.12856228 0.93985694 0.31645012 -0.33446914] [-0.15521022 -0.33423504 0.92962182 0.95127793] [ 0. 0. 0. 1. ]] SLAMing on 67.98240100800001 meters Centerline goodness : 0.854389 with order 1 Centerline is valid? [False, False] Translation: X:12.90, Y:-0.33, Z:0.94 [[ 0.97931528 0.0822226 0.18488112 12.9043134 ] [-0.13311087 0.94995325 0.28261337 -0.32783028] [-0.15239121 -0.30137728 0.94124845 0.94060169] [ 0. 0. 0. 1. ]] SLAMing on 68.042401008 meters Centerline goodness : 0.856039 with order 1 Centerline is valid? [False, False] Translation: X:12.90, Y:-0.33, Z:0.93 [[ 0.97841526 0.08862958 0.18667719 12.90245357] [-0.13633134 0.95572088 0.26078988 -0.32552861] [-0.15529759 -0.28061075 0.94717489 0.92829044] [ 0. 0. 0. 1. ]] SLAMing on 68.102401008 meters Centerline goodness : 0.854028 with order 1 Centerline is valid? [False, False] Translation: X:12.89, Y:-0.32, Z:0.91 [[ 0.97900338 0.0923318 0.18173394 12.88687531] [-0.13550183 0.96081939 0.24179611 -0.32042618] [-0.15228803 -0.26134449 0.95315655 0.91438384] [ 0. 0. 0. 1. ]] SLAMing on 68.162401008 meters Centerline goodness : 0.856692 with order 1 Centerline is valid? [False, False] Translation: X:12.88, Y:-0.32, Z:0.90 [[ 0.97938254 0.09825253 0.17651143 12.87811228] [-0.1358507 0.96700704 0.21550399 -0.31958018] [-0.14951398 -0.23504005 0.96041748 0.90367698] [ 0. 0. 0. 1. ]] SLAMing on 68.222401008 meters Centerline goodness : 0.858235 with order 1 Centerline is valid? [False, False] Translation: X:12.89, Y:-0.32, Z:0.89 [[ 0.9792681 0.09574398 0.1785135 12.8865315 ] [-0.13027586 0.97249968 0.19306104 -0.32234412] [-0.15511989 -0.21231452 0.96481105 0.8929092 ] [ 0. 0. 0. 1. ]] SLAMing on 68.28240100800001 meters Centerline goodness : 0.859283 with order 1 Centerline is valid? [False, False] Translation: X:12.90, Y:-0.33, Z:0.88 [[ 0.97906094 0.09323897 0.18095903 12.89691887] [-0.12488585 0.97710845 0.17222832 -0.32523975] [-0.16075821 -0.19122125 0.96829295 0.88110881] [ 0. 0. 0. 1. ]] SLAMing on 68.34240100800001 meters Centerline goodness : 0.856474 with order 1 Centerline is valid? [False, False] Translation: X:12.94, Y:-0.35, Z:0.90 [[ 0.97934456 0.08312482 0.18432174 12.94328492] [-0.11892074 0.97404857 0.19258048 -0.34606086] [-0.16353011 -0.21052232 0.96381443 0.89562021] [ 0. 0. 0. 1. ]] SLAMing on 68.402401008 meters Centerline goodness : 0.864695 with order 1 Centerline is valid? [False, False] Translation: X:12.97, Y:-0.35, Z:0.89 [[ 0.98007426 0.08291966 0.18049591 12.97214214] [-0.11796414 0.97407295 0.19304492 -0.35386738] [-0.15980896 -0.2104904 0.96444538 0.89368356] [ 0. 0. 0. 1. ]] SLAMing on 68.462401008 meters Centerline goodness : 0.863000 with order 1 Centerline is valid? [False, False] Translation: X:13.01, Y:-0.37, Z:0.90 [[ 0.98041723 0.08647643 0.17692904 13.01079026] [-0.12052268 0.97400692 0.19179366 -0.36703332] [-0.15574448 -0.20936177 0.96535553 0.8990744 ] [ 0. 0. 0. 1. ]] SLAMing on 68.522401008 meters Centerline goodness : 0.866924 with order 1 Centerline is valid? [False, False] Translation: X:13.02, Y:-0.37, Z:0.89 [[ 0.97970911 0.09142417 0.17835831 13.02239766] [-0.1238845 0.97577552 0.18031849 -0.36857759] [-0.1575522 -0.1987555 0.96730221 0.88936699] [ 0. 0. 0. 1. ]] SLAMing on 68.582401008 meters Centerline goodness : 0.868601 with order 1 Centerline is valid? [False, False] Translation: X:13.04, Y:-0.37, Z:0.88 [[ 0.97854526 0.09595022 0.1823259 13.03702023] [-0.12800543 0.97655243 0.17308944 -0.37039945] [-0.16144284 -0.19271456 0.9678829 0.88069951] [ 0. 0. 0. 1. ]] SLAMing on 68.64240100800001 meters Centerline goodness : 0.865349 with order 1 Centerline is valid? [False, False] Translation: X:13.04, Y:-0.37, Z:0.87 [[ 0.97744365 0.09957437 0.18624945 13.04130994] [-0.12929887 0.97942686 0.15493494 -0.36844664] [-0.16699016 -0.17552201 0.97020942 0.86859465] [ 0. 0. 0. 1. ]] SLAMing on 68.70240100800001 meters Centerline goodness : 0.864877 with order 1 Centerline is valid? [False, False] Translation: X:13.05, Y:-0.37, Z:0.85 [[ 0.97659235 0.10377521 0.18840936 13.05037574] [-0.13103111 0.9816579 0.13848688 -0.36641067] [-0.17058203 -0.15993271 0.97227738 0.85453157] [ 0. 0. 0. 1. ]] SLAMing on 68.762401008 meters Centerline goodness : 0.864093 with order 1 Centerline is valid? [False, False] Translation: X:13.05, Y:-0.36, Z:0.84 [[ 0.97556007 0.11070785 0.18980599 13.05381422] [-0.13514645 0.98340555 0.1210329 -0.36235131] [-0.17325697 -0.14372647 0.97433296 0.84228691] [ 0. 0. 0. 1. ]] SLAMing on 68.822401008 meters Centerline goodness : 0.868685 with order 1 Centerline is valid? [False, False] Translation: X:13.05, Y:-0.36, Z:0.83 [[ 0.97627305 0.12139536 0.17931563 13.04998031] [-0.14195332 0.98411478 0.10661777 -0.3576428 ] [-0.16352426 -0.1295425 0.97799722 0.83489131] [ 0. 0. 0. 1. ]] SLAMing on 68.882401008 meters Centerline goodness : 0.865017 with order 1 Centerline is valid? [False, False] Translation: X:13.05, Y:-0.35, Z:0.82 [[ 0.976433 0.12261904 0.17760394 13.0468535 ] [-0.14154294 0.98506105 0.0980832 -0.35251455] [-0.16292385 -0.12091026 0.97920198 0.82443633] [ 0. 0. 0. 1. ]] SLAMing on 68.942401008 meters Centerline goodness : 0.866354 with order 1 Centerline is valid? [False, False] Translation: X:13.05, Y:-0.35, Z:0.81 [[ 0.97586274 0.12455296 0.17938359 13.05387297] [-0.14033002 0.98702121 0.07808088 -0.3517284 ] [-0.16733021 -0.10136913 0.98067574 0.8106214 ] [ 0. 0. 0. 1. ]] SLAMing on 69.002401008 meters Centerline goodness : 0.866634 with order 1 Centerline is valid? [False, False] Translation: X:13.06, Y:-0.35, Z:0.80 [[ 0.97538301 0.1247692 0.18182585 13.0570191 ] [-0.13673899 0.98908993 0.05480482 -0.35104658] [-0.17300416 -0.07831837 0.98180232 0.79916241] [ 0. 0. 0. 1. ]] SLAMing on 69.06240100800001 meters Centerline goodness : 0.874293 with order 1 Centerline is valid? [False, False] Translation: X:13.06, Y:-0.35, Z:0.79 [[ 0.97460581 0.12545028 0.18548786 13.06142073] [-0.13421978 0.99031725 0.03545141 -0.35485789] [-0.17924443 -0.05944729 0.98200685 0.78957118] [ 0. 0. 0. 1. ]] SLAMing on 69.12240100800001 meters Centerline goodness : 0.878434 with order 1 Centerline is valid? [False, False] Translation: X:13.06, Y:-0.36, Z:0.79 [[ 0.97457638 0.12439225 0.18635304 13.05709425] [-0.13239425 0.99070977 0.03107914 -0.35629195] [-0.18075577 -0.05496107 0.98199116 0.78746792] [ 0. 0. 0. 1. ]] SLAMing on 69.182401008 meters Centerline goodness : 0.879124 with order 1 Centerline is valid? [False, False] Translation: X:13.05, Y:-0.36, Z:0.79 [[ 0.97469191 0.12232925 0.18711287 13.05270047] [-0.13018946 0.99102711 0.03026518 -0.36353614] [-0.18173161 -0.05385934 0.98187209 0.79359922] [ 0. 0. 0. 1. ]] SLAMing on 69.242401008 meters Centerline goodness : 0.872306 with order 1 Centerline is valid? [False, False] Translation: X:13.06, Y:-0.36, Z:0.78 [[ 0.97623883 0.11379202 0.18441562 13.0649811 ] [-0.11993524 0.99252741 0.02246956 -0.36012686] [-0.1804807 -0.04405359 0.98259147 0.78293863] [ 0. 0. 0. 1. ]] SLAMing on 69.302401008 meters Centerline goodness : 0.874446 with order 1 Centerline is valid? [False, False] Translation: X:13.08, Y:-0.36, Z:0.77 [[ 0.97734186 0.10936731 0.18122274 13.08250753] [-0.11526878 0.99308339 0.02232691 -0.35923587] [-0.17752746 -0.04271035 0.9831886 0.77130254] [ 0. 0. 0. 1. ]] SLAMing on 69.362401008 meters Centerline goodness : 0.870559 with order 1 Centerline is valid? [False, False] Translation: X:13.08, Y:-0.36, Z:0.77 [[ 9.77353333e-01 1.19777009e-01 1.74453235e-01 1.30807915e+01] [-1.23597070e-01 9.92269730e-01 1.11600590e-02 -3.57815924e-01] [-1.71767946e-01 -3.24692295e-02 9.84602215e-01 7.73042066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.42240100800001 meters Centerline goodness : 0.873851 with order 1 Centerline is valid? [False, False] Translation: X:13.08, Y:-0.36, Z:0.77 [[ 9.77213290e-01 1.20482191e-01 1.74751902e-01 1.30792910e+01] [-1.24364811e-01 9.92171082e-01 1.13990170e-02 -3.56581683e-01] [-1.72010405e-01 -3.28722581e-02 9.84546512e-01 7.74770953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48240100800001 meters Centerline goodness : 0.866317 with order 1 Centerline is valid? [False, False] Translation: X:13.08, Y:-0.35, Z:0.77 [[ 9.77144179e-01 1.20904274e-01 1.74846817e-01 1.30793946e+01] [-1.24330313e-01 9.92202444e-01 8.73407251e-03 -3.50586350e-01] [-1.72427453e-01 -3.02732076e-02 9.84556909e-01 7.70077443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.542401008 meters Centerline goodness : 0.860508 with order 1 Centerline is valid? [False, False] Translation: X:13.08, Y:-0.35, Z:0.77 [[ 9.77066471e-01 1.21327789e-01 1.74987655e-01 1.30787764e+01] [-1.24623480e-01 9.92172431e-01 7.92819701e-03 -3.47193644e-01] [-1.72656017e-01 -2.95539460e-02 9.84538706e-01 7.69661774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.602401008 meters Centerline goodness : 0.861369 with order 1 Centerline is valid? [False, False] Translation: X:13.08, Y:-0.35, Z:0.77 [[ 9.77067408e-01 1.21433789e-01 1.74908878e-01 1.30783409e+01] [-1.24794512e-01 9.92147862e-01 8.30361270e-03 -3.47086004e-01] [-1.72527130e-01 -2.99408573e-02 9.84549610e-01 7.71748195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.662401008 meters Centerline goodness : 0.852942 with order 1 Centerline is valid? [False, False] Translation: X:13.08, Y:-0.35, Z:0.78 [[ 9.77070195e-01 1.21008240e-01 1.75188015e-01 1.30776866e+01] [-1.24697919e-01 9.92142659e-01 1.01672658e-02 -3.49897691e-01] [-1.72581180e-01 -3.17797132e-02 9.84482497e-01 7.76034941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.722401008 meters Centerline goodness : 0.849082 with order 1 Centerline is valid? [False, False] Translation: X:13.08, Y:-0.35, Z:0.77 [[ 9.77385351e-01 1.19393038e-01 1.74537038e-01 1.30811313e+01] [-1.23009075e-01 9.92355069e-01 1.00092325e-02 -3.50262732e-01] [-1.72007682e-01 -3.12525168e-02 9.84599735e-01 7.74641070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.78240100800001 meters Centerline goodness : 0.844732 with order 1 Centerline is valid? [False, False] Translation: X:13.13, Y:-0.36, Z:0.79 [[ 0.97759445 0.10695609 0.18129946 13.12811858] [-0.1156395 0.99256446 0.03799088 -0.36163178] [-0.17588805 -0.05810505 0.98269385 0.78584347] [ 0. 0. 0. 1. ]] SLAMing on 69.84240100800001 meters Centerline goodness : 0.842807 with order 1 Centerline is valid? [False, False] Translation: X:13.14, Y:-0.36, Z:0.79 [[ 0.97829447 0.10336918 0.17959603 13.13640216] [-0.11215436 0.99290764 0.03944377 -0.36417746] [-0.17424501 -0.0587301 0.98294936 0.78698642] [ 0. 0. 0. 1. ]] SLAMing on 69.902401008 meters Centerline goodness : 0.840330 with order 1 Centerline is valid? [False, False] Translation: X:13.16, Y:-0.37, Z:0.79 [[ 0.9793935 0.09500937 0.17821783 13.15550926] [-0.10462021 0.9934797 0.04530677 -0.36505177] [-0.17275123 -0.06301834 0.98294746 0.79225572] [ 0. 0. 0. 1. ]] SLAMing on 69.962401008 meters Centerline goodness : 0.837983 with order 1 Centerline is valid? [False, False] Translation: X:13.18, Y:-0.37, Z:0.81 [[ 0.97958694 0.08720915 0.18111875 13.18152165] [-0.10050172 0.99277567 0.0655429 -0.37092252] [-0.17409434 -0.08240772 0.98127475 0.8072838 ] [ 0. 0. 0. 1. ]] SLAMing on 70.022401008 meters Centerline goodness : 0.840896 with order 1 Centerline is valid? [False, False] Translation: X:13.19, Y:-0.37, Z:0.81 [[ 0.97970984 0.08317205 0.18234865 13.18871248] [-0.09724022 0.99282415 0.06960282 -0.36852027] [-0.17525114 -0.08592219 0.98076726 0.81209809] [ 0. 0. 0. 1. ]] SLAMing on 70.082401008 meters Centerline goodness : 0.837473 with order 1 Centerline is valid? [False, False] Translation: X:13.20, Y:-0.37, Z:0.83 [[ 0.97873329 0.07966011 0.18903815 13.20170657] [-0.09830696 0.99095043 0.09139463 -0.37425541] [-0.18004693 -0.10803473 0.97770732 0.83027481] [ 0. 0. 0. 1. ]] SLAMing on 70.14240100800001 meters Centerline goodness : 0.840288 with order 1 Centerline is valid? [False, False] Translation: X:13.20, Y:-0.37, Z:0.83 [[ 0.97852466 0.0808274 0.1896218 13.19970161] [-0.099602 0.99079722 0.09165323 -0.37098265] [-0.18046866 -0.10857165 0.97757008 0.83231444] [ 0. 0. 0. 1. ]] SLAMing on 70.20240100800001 meters Centerline goodness : 0.837568 with order 1 Centerline is valid? [False, False] Translation: X:13.22, Y:-0.37, Z:0.83 [[ 0.97734766 0.08636308 0.19321744 13.21919049] [-0.10520092 0.99042039 0.08944392 -0.36956686] [-0.18364184 -0.10774446 0.97707052 0.8252271 ] [ 0. 0. 0. 1. ]] SLAMing on 70.262401008 meters Centerline goodness : 0.833372 with order 1 Centerline is valid? [False, False] Translation: X:13.21, Y:-0.36, Z:0.82 [[ 0.97717599 0.10232554 0.18616275 13.2106549 ] [-0.11846769 0.98991075 0.07773106 -0.36346153] [-0.17633063 -0.09801119 0.97943929 0.81806846] [ 0. 0. 0. 1. ]] SLAMing on 70.322401008 meters Centerline goodness : 0.835195 with order 1 Centerline is valid? [False, False] Translation: X:13.21, Y:-0.36, Z:0.81 [[ 0.97582635 0.1116016 0.18790429 13.20891252] [-0.12516779 0.99020184 0.06191403 -0.36103814] [-0.17915347 -0.08393691 0.98023397 0.81064066] [ 0. 0. 0. 1. ]] SLAMing on 70.382401008 meters Centerline goodness : 0.835932 with order 1 Centerline is valid? [False, False] Translation: X:13.21, Y:-0.36, Z:0.81 [[ 0.97569821 0.11213116 0.1882541 13.20794613] [-0.12575393 0.9901213 0.06201425 -0.36196608] [-0.17944066 -0.08418089 0.98016051 0.81046828] [ 0. 0. 0. 1. ]] SLAMing on 70.442401008 meters Centerline goodness : 0.833951 with order 1 Centerline is valid? [False, False] Translation: X:13.21, Y:-0.36, Z:0.81 [[ 0.9756353 0.11222007 0.18852696 13.20836804] [-0.12572171 0.99017501 0.06121689 -0.3632955 ] [-0.17980492 -0.08342729 0.98015819 0.80677192] [ 0. 0. 0. 1. ]] SLAMing on 70.502401008 meters Centerline goodness : 0.834024 with order 1 Centerline is valid? [False, False] Translation: X:13.21, Y:-0.36, Z:0.80 [[ 0.97579936 0.11025664 0.18883614 13.20618114] [-0.12285259 0.99082584 0.05631522 -0.3633488 ] [-0.18089459 -0.07815136 0.98039253 0.80414721] [ 0. 0. 0. 1. ]] SLAMing on 70.56240100800001 meters Centerline goodness : 0.839405 with order 1 Centerline is valid? [False, False] Translation: X:13.20, Y:-0.37, Z:0.81 [[ 0.97605101 0.10779441 0.18895711 13.20389179] [-0.12003379 0.99127055 0.05453979 -0.37099221] [-0.18142853 -0.07591485 0.98046959 0.80754102] [ 0. 0. 0. 1. ]] SLAMing on 70.622401008 meters Centerline goodness : 0.838828 with order 1 Centerline is valid? [False, False] Translation: X:13.21, Y:-0.37, Z:0.81 [[ 0.97653678 0.10412311 0.18850543 13.20514157] [-0.11543418 0.99205468 0.05002456 -0.37175703] [-0.18179898 -0.07061079 0.98079725 0.80521615] [ 0. 0. 0. 1. ]] SLAMing on 70.682401008 meters Centerline goodness : 0.836659 with order 1 Centerline is valid? [False, False] Translation: X:13.21, Y:-0.37, Z:0.80 [[ 0.97707141 0.10168976 0.1870579 13.21176915] [-0.11260153 0.99244919 0.04863632 -0.37056887] [-0.18069965 -0.06858416 0.98114415 0.80051356] [ 0. 0. 0. 1. ]] SLAMing on 70.742401008 meters Centerline goodness : 0.838050 with order 1 Centerline is valid? [False, False] Translation: X:13.21, Y:-0.37, Z:0.80 [[ 0.97731743 0.09952483 0.18693703 13.21031597] [-0.10937096 0.99306653 0.04309134 -0.36781928] [-0.18135225 -0.0625594 0.98142635 0.79810143] [ 0. 0. 0. 1. ]] SLAMing on 70.802401008 meters Centerline goodness : 0.839994 with order 1 Centerline is valid? [False, False] Translation: X:13.21, Y:-0.37, Z:0.80 [[ 0.97719699 0.10020368 0.18720381 13.20870498] [-0.11016311 0.99295891 0.04355106 -0.36777907] [-0.18152172 -0.06318092 0.9813552 0.8001591 ] [ 0. 0. 0. 1. ]] SLAMing on 70.862401008 meters Centerline goodness : 0.838488 with order 1 Centerline is valid? [False, False] Translation: X:13.21, Y:-0.36, Z:0.80 [[ 0.97713726 0.10027854 0.18747528 13.20873982] [-0.11006453 0.99301484 0.04251269 -0.36460395] [-0.18190263 -0.06217512 0.98134891 0.79827283] [ 0. 0. 0. 1. ]] SLAMing on 70.92240100800001 meters Centerline goodness : 0.839661 with order 1 Centerline is valid? [False, False] Translation: X:13.21, Y:-0.36, Z:0.79 [[ 0.97698333 0.1013039 0.18772613 13.20770595] [-0.11056575 0.99308303 0.03951348 -0.3584796 ] [-0.18242476 -0.05936009 0.9814263 0.79323788] [ 0. 0. 0. 1. ]] SLAMing on 70.98240100800001 meters Centerline goodness : 0.839166 with order 1 Centerline is valid? [False, False] Translation: X:13.21, Y:-0.36, Z:0.79 [[ 0.97711663 0.10107369 0.18715557 13.20907717] [-0.11015646 0.99315833 0.03875669 -0.35768006] [-0.18195783 -0.0584862 0.98156544 0.79190238] [ 0. 0. 0. 1. ]] SLAMing on 71.042401008 meters Centerline goodness : 0.847356 with order 1 Centerline is valid? [False, False] Translation: X:13.22, Y:-0.36, Z:0.79 [[ 0.97830356 0.09450172 0.18436803 13.21822841] [-0.10228959 0.9942013 0.03317566 -0.35686809] [-0.18016378 -0.0513148 0.98229721 0.78748716] [ 0. 0. 0. 1. ]] SLAMing on 71.102401008 meters Centerline goodness : 0.848915 with order 1 Centerline is valid? [False, False] Translation: X:13.25, Y:-0.36, Z:0.79 [[ 0.97884286 0.08667813 0.18534712 13.2453018 ] [-0.09729065 0.99405234 0.04893336 -0.36253705] [-0.18000329 -0.06593061 0.98145401 0.79455869] [ 0. 0. 0. 1. ]] SLAMing on 71.162401008 meters Centerline goodness : 0.852210 with order 1 Centerline is valid? [False, False] Translation: X:13.25, Y:-0.36, Z:0.80 [[ 0.97919758 0.08325281 0.18504341 13.24567559] [-0.0931845 0.99460296 0.04562466 -0.36360439] [-0.18024635 -0.06191874 0.98167068 0.79560983] [ 0. 0. 0. 1. ]] SLAMing on 71.222401008 meters Centerline goodness : 0.849927 with order 1 Centerline is valid? [False, False] Translation: X:13.25, Y:-0.36, Z:0.79 [[ 0.97926937 0.0825321 0.18498638 13.24701329] [-0.09245098 0.99467086 0.04563657 -0.36423376] [-0.18023408 -0.06179267 0.98168088 0.79476606] [ 0. 0. 0. 1. ]] SLAMing on 71.28240100800001 meters Centerline goodness : 0.854905 with order 1 Centerline is valid? [False, False] Translation: X:13.26, Y:-0.36, Z:0.79 [[ 0.97809789 0.08733657 0.18893606 13.25754575] [-0.09567179 0.99478191 0.03543813 -0.36121116] [-0.18485513 -0.05273781 0.98134974 0.78869988] [ 0. 0. 0. 1. ]] SLAMing on 71.34240100800001 meters Centerline goodness : 0.861525 with order 1 Centerline is valid? [False, False] Translation: X:13.26, Y:-0.36, Z:0.79 [[ 0.97780841 0.09065967 0.18886909 13.25800246] [-0.0999122 0.99419036 0.04003843 -0.36170054] [-0.18414196 -0.05802024 0.98118571 0.79046511] [ 0. 0. 0. 1. ]] SLAMing on 71.402401008 meters Centerline goodness : 0.858648 with order 1 Centerline is valid? [False, False] Translation: X:13.27, Y:-0.36, Z:0.79 [[ 0.97874824 0.09916353 0.17949509 13.27018421] [-0.10778778 0.9934116 0.0389253 -0.36325484] [-0.17445253 -0.05744544 0.98298847 0.78816183] [ 0. 0. 0. 1. ]] SLAMing on 71.462401008 meters Centerline goodness : 0.858306 with order 1 Centerline is valid? [False, False] Translation: X:13.27, Y:-0.36, Z:0.79 [[ 0.97867431 0.09966363 0.17962116 13.27016481] [-0.10812779 0.99341279 0.03793963 -0.36164151] [-0.17465676 -0.05655258 0.98300398 0.78528218] [ 0. 0. 0. 1. ]] SLAMing on 71.522401008 meters Centerline goodness : 0.865213 with order 1 Centerline is valid? [False, False] Translation: X:13.27, Y:-0.36, Z:0.79 [[ 0.97882956 0.09761913 0.17989774 13.26684392] [-0.10558648 0.99378569 0.03523484 -0.36437957] [-0.17534021 -0.05348367 0.98305407 0.78870793] [ 0. 0. 0. 1. ]] SLAMing on 71.582401008 meters Centerline goodness : 0.861585 with order 1 Centerline is valid? [False, False] Translation: X:13.26, Y:-0.36, Z:0.79 [[ 0.97892975 0.09569943 0.18038336 13.26393155] [-0.10278152 0.99424204 0.03031038 -0.36149417] [-0.17644403 -0.04821181 0.98312925 0.78768734] [ 0. 0. 0. 1. ]] SLAMing on 71.64240100800001 meters Centerline goodness : 0.858500 with order 1 Centerline is valid? [False, False] Translation: X:13.26, Y:-0.36, Z:0.78 [[ 0.97890516 0.09631824 0.18018737 13.26409561] [-0.10286418 0.9943201 0.02732223 -0.3558959 ] [-0.17653229 -0.0452807 0.98325277 0.78225478] [ 0. 0. 0. 1. ]] SLAMing on 71.70240100800001 meters Centerline goodness : 0.856845 with order 1 Centerline is valid? [False, False] Translation: X:13.26, Y:-0.35, Z:0.78 [[ 0.97921507 0.09340312 0.18003809 13.26381894] [-0.09882282 0.99487593 0.02135259 -0.35243013] [-0.17712116 -0.03870064 0.98342786 0.77866063] [ 0. 0. 0. 1. ]] SLAMing on 71.762401008 meters Centerline goodness : 0.861196 with order 1 Centerline is valid? [False, False] Translation: X:13.27, Y:-0.35, Z:0.77 [[ 0.97993045 0.08905534 0.17834086 13.2679453 ] [-0.09327976 0.99552041 0.01542705 -0.35046568] [-0.1761681 -0.03175302 0.98384783 0.77433356] [ 0. 0. 0. 1. ]] SLAMing on 71.822401008 meters Centerline goodness : 0.861462 with order 1 Centerline is valid? [False, False] Translation: X:13.27, Y:-0.35, Z:0.77 [[ 0.98018109 0.08806282 0.17745416 13.27103974] [-0.09206663 0.99564815 0.01443973 -0.34915375] [-0.1754103 -0.03049116 0.98402313 0.77195234] [ 0. 0. 0. 1. ]] SLAMing on 71.882401008 meters Centerline goodness : 0.860896 with order 1 Centerline is valid? [False, False] Translation: X:13.28, Y:-0.35, Z:0.78 [[ 0.98090501 0.08205048 0.17633232 13.27658157] [-0.08572176 0.99623045 0.01329147 -0.35256054] [-0.17457705 -0.02815319 0.98424095 0.77599386] [ 0. 0. 0. 1. ]] SLAMing on 71.942401008 meters Centerline goodness : 0.858637 with order 1 Centerline is valid? [False, False] Translation: X:13.28, Y:-0.36, Z:0.78 [[ 0.98160798 0.07537744 0.17539672 13.28259016] [-0.07897296 0.99678398 0.01360042 -0.35854332] [-0.17380747 -0.02720187 0.98440389 0.7823812 ] [ 0. 0. 0. 1. ]] SLAMing on 72.002401008 meters Centerline goodness : 0.857717 with order 1 Centerline is valid? [False, False] Translation: X:13.33, Y:-0.37, Z:0.80 [[ 0.98154766 0.0597918 0.1816291 13.32666432] [-0.06796684 0.99692039 0.03911834 -0.3697358 ] [-0.17873079 -0.05074127 0.98258874 0.79701721] [ 0. 0. 0. 1. ]] SLAMing on 72.06240100800001 meters Centerline goodness : 0.858896 with order 1 Centerline is valid? [False, False] Translation: X:13.37, Y:-0.38, Z:0.80 [[ 0.98258653 0.05753476 0.1766733 13.37209894] [-0.06761222 0.99637876 0.05155531 -0.37663511] [-0.1730673 -0.06260283 0.98291841 0.80110685] [ 0. 0. 0. 1. ]] SLAMing on 72.122401008 meters Centerline goodness : 0.859504 with order 1 Centerline is valid? [False, False] Translation: X:13.41, Y:-0.38, Z:0.80 [[ 0.98329782 0.06117034 0.17141642 13.40557083] [-0.07231747 0.99560217 0.05955257 -0.38240188] [-0.16701971 -0.07095431 0.98339712 0.80302311] [ 0. 0. 0. 1. ]] SLAMing on 72.182401008 meters Centerline goodness : 0.857272 with order 1 Centerline is valid? [False, False] Translation: X:13.43, Y:-0.38, Z:0.80 [[ 0.98386117 0.06606694 0.16628998 13.43417973] [-0.07718186 0.99513176 0.06128408 -0.38458122] [-0.16143159 -0.0731296 0.98417067 0.79999456] [ 0. 0. 0. 1. ]] SLAMing on 72.242401008 meters Centerline goodness : 0.860493 with order 1 Centerline is valid? [False, False] Translation: X:13.44, Y:-0.38, Z:0.79 [[ 0.98276768 0.07293618 0.169847 13.44310121] [-0.08246892 0.99535086 0.04975476 -0.37809768] [-0.16542843 -0.06290447 0.98421363 0.78937097] [ 0. 0. 0. 1. ]] SLAMing on 72.302401008 meters Centerline goodness : 0.863780 with order 1 Centerline is valid? [False, False] Translation: X:13.44, Y:-0.37, Z:0.78 [[ 0.98157604 0.07988611 0.17357038 13.44498552] [-0.08708995 0.99561048 0.03427981 -0.37306409] [-0.17007001 -0.04876448 0.98422468 0.78059038] [ 0. 0. 0. 1. ]] SLAMing on 72.362401008 meters Centerline goodness : 0.861709 with order 1 Centerline is valid? [False, False] Translation: X:13.45, Y:-0.37, Z:0.77 [[ 0.97985487 0.08777187 0.17938933 13.45072063] [-0.09381456 0.99526392 0.02546682 -0.36857143] [-0.17630446 -0.04178311 0.98344848 0.77386591] [ 0. 0. 0. 1. ]] SLAMing on 72.42240100800001 meters Centerline goodness : 0.866480 with order 1 Centerline is valid? [False, False] Translation: X:13.45, Y:-0.37, Z:0.77 [[ 0.97982174 0.08814092 0.17938937 13.45017083] [-0.09412419 0.99524393 0.02510301 -0.36636771] [-0.17632358 -0.04148136 0.98345782 0.77421175] [ 0. 0. 0. 1. ]] SLAMing on 72.48240100800001 meters Centerline goodness : 0.868290 with order 1 Centerline is valid? [False, False] Translation: X:13.45, Y:-0.37, Z:0.77 [[ 0.98006089 0.08726629 0.17850837 13.45302847] [-0.09302468 0.99537135 0.02413046 -0.36633352] [-0.17557634 -0.040255 0.98364246 0.77156189] [ 0. 0. 0. 1. ]] SLAMing on 72.542401008 meters Centerline goodness : 0.862905 with order 1 Centerline is valid? [False, False] Translation: X:13.46, Y:-0.37, Z:0.77 [[ 0.9803277 0.08590301 0.17770279 13.4602784 ] [-0.0918047 0.995457 0.02524406 -0.36682179] [-0.17472695 -0.0410614 0.98376036 0.76622238] [ 0. 0. 0. 1. ]] SLAMing on 72.602401008 meters Centerline goodness : 0.863985 with order 1 Centerline is valid? [False, False] Translation: X:13.46, Y:-0.37, Z:0.77 [[ 0.98068869 0.08392485 0.17665309 13.46476798] [-0.08986221 0.9956182 0.02586843 -0.37063889] [-0.17370803 -0.04124332 0.98393318 0.76580146] [ 0. 0. 0. 1. ]] SLAMing on 72.662401008 meters Centerline goodness : 0.865477 with order 1 Centerline is valid? [False, False] Translation: X:13.46, Y:-0.37, Z:0.77 [[ 0.98083551 0.08167008 0.17689459 13.46211441] [-0.08701808 0.99594863 0.02267575 -0.37143534] [-0.174326 -0.0376342 0.98396855 0.76839905] [ 0. 0. 0. 1. ]] SLAMing on 72.722401008 meters Centerline goodness : 0.868140 with order 1 Centerline is valid? [False, False] Translation: X:13.46, Y:-0.37, Z:0.77 [[ 0.98088689 0.08118632 0.17683236 13.46283861] [-0.08655262 0.99598555 0.02283478 -0.37230784] [-0.1742686 -0.03770364 0.98397606 0.76837171] [ 0. 0. 0. 1. ]] SLAMing on 72.78240100800001 meters Centerline goodness : 0.864839 with order 1 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.38, Z:0.77 [[ 0.98150229 0.08251027 0.17275793 13.49001756] [-0.08757483 0.99591743 0.02188886 -0.37818074] [-0.17024658 -0.03661321 0.98472106 0.76607377] [ 0. 0. 0. 1. ]] SLAMing on 72.84240100800001 meters Centerline goodness : 0.865685 with order 1 Centerline is valid? [False, False] Translation: X:13.52, Y:-0.38, Z:0.77 [[ 0.98218853 0.07270899 0.17326018 13.52114996] [-0.08027587 0.99608333 0.03706464 -0.38499441] [-0.16988665 -0.05031308 0.9841784 0.77164631] [ 0. 0. 0. 1. ]] SLAMing on 72.902401008 meters Centerline goodness : 0.868652 with order 1 Centerline is valid? [False, False] Translation: X:13.57, Y:-0.40, Z:0.78 [[ 0.98308112 0.06625558 0.17076798 13.5712456 ] [-0.07646442 0.99561394 0.05390795 -0.39596586] [-0.16644728 -0.06605356 0.98383547 0.78275266] [ 0. 0. 0. 1. ]] SLAMing on 72.962401008 meters Centerline goodness : 0.866307 with order 1 Centerline is valid? [False, False] Translation: X:13.60, Y:-0.41, Z:0.81 [[ 0.98246312 0.04615967 0.180653 13.59887205] [-0.06440829 0.99324807 0.09648754 -0.41054383] [-0.17497941 -0.106431 0.97880266 0.8126985 ] [ 0. 0. 0. 1. ]] SLAMing on 73.022401008 meters Centerline goodness : 0.865823 with order 1 Centerline is valid? [False, False] Translation: X:13.58, Y:-0.41, Z:0.82 [[ 0.98304183 0.03887233 0.17921411 13.5811931 ] [-0.05762235 0.99325344 0.10063437 -0.40933922] [-0.17409314 -0.10925453 0.97864959 0.82143326] [ 0. 0. 0. 1. ]] SLAMing on 73.082401008 meters Centerline goodness : 0.864370 with order 1 Centerline is valid? [False, False] Translation: X:13.54, Y:-0.40, Z:0.83 [[ 0.98375781 0.03522227 0.17601125 13.54230608] [-0.05149199 0.99472297 0.08874005 -0.40132428] [-0.17195681 -0.09636188 0.98038015 0.82604931] [ 0. 0. 0. 1. ]] SLAMing on 73.14240100800001 meters Centerline goodness : 0.864768 with order 1 Centerline is valid? [False, False] Translation: X:13.51, Y:-0.39, Z:0.82 [[ 0.98409594 0.03936558 0.17322104 13.51498121] [-0.05175552 0.99636921 0.06760001 -0.39114596] [-0.169931 -0.07549004 0.98256028 0.81968997] [ 0. 0. 0. 1. ]] SLAMing on 73.20240100800001 meters Centerline goodness : 0.853231 with order 1 Centerline is valid? [False, False] Translation: X:13.50, Y:-0.38, Z:0.81 [[ 0.98415264 0.04149348 0.17240032 13.50420269] [-0.05166015 0.99715415 0.05490753 -0.37739942] [-0.16963139 -0.06294362 0.98349545 0.80985193] [ 0. 0. 0. 1. ]] SLAMing on 73.262401008 meters Centerline goodness : 0.856917 with order 1 Centerline is valid? [False, False] Translation: X:13.49, Y:-0.37, Z:0.80 [[ 0.98416922 0.04419485 0.17163264 13.49168361] [-0.0520653 0.99777573 0.04162681 -0.3657788 ] [-0.16941119 -0.04990393 0.98428118 0.80086701] [ 0. 0. 0. 1. ]] SLAMing on 73.322401008 meters Centerline goodness : 0.853215 with order 1 Centerline is valid? [False, False] Translation: X:13.48, Y:-0.35, Z:0.80 [[ 0.98469319 0.04937523 0.16715682 13.47664034] [-0.05493769 0.99807392 0.02881508 -0.35137596] [-0.16541211 -0.03755722 0.98550915 0.79553747] [ 0. 0. 0. 1. ]] SLAMing on 73.382401008 meters Centerline goodness : 0.854823 with order 1 Centerline is valid? [False, False] Translation: X:13.44, Y:-0.34, Z:0.79 [[ 0.98450107 0.05310582 0.1671449 13.44103484] [-0.05782608 0.99805009 0.02349796 -0.3361895 ] [-0.1655711 -0.0327991 0.98565229 0.7945855 ] [ 0. 0. 0. 1. ]] SLAMing on 73.442401008 meters Centerline goodness : 0.848862 with order 1 Centerline is valid? [False, False] Translation: X:13.43, Y:-0.32, Z:0.79 [[ 0.98412232 0.05809274 0.16771554 13.43425519] [-0.06239817 0.99784054 0.02051172 -0.32270783] [-0.16616178 -0.03065118 0.98562202 0.79176327] [ 0. 0. 0. 1. ]] SLAMing on 73.502401008 meters Centerline goodness : 0.855248 with order 1 Centerline is valid? [False, False] Translation: X:13.41, Y:-0.31, Z:0.80 [[ 0.98335002 0.05689115 0.17258659 13.41029035] [-0.06229974 0.99771666 0.02608081 -0.31397993] [-0.17070875 -0.03639867 0.984649 0.80112459] [ 0. 0. 0. 1. ]] SLAMing on 73.56240100800001 meters Centerline goodness : 0.856737 with order 1 Centerline is valid? [False, False] Translation: X:13.38, Y:-0.31, Z:0.82 [[ 0.98259874 0.05449595 0.17756664 13.37655894] [-0.06435714 0.99666082 0.05025301 -0.30564318] [-0.17423513 -0.06080623 0.98282487 0.8228084 ] [ 0. 0. 0. 1. ]] SLAMing on 73.622401008 meters Centerline goodness : 0.860869 with order 1 Centerline is valid? [False, False] Translation: X:13.34, Y:-0.30, Z:0.84 [[ 0.98202584 0.04988086 0.18203611 13.34419371] [-0.06429492 0.9951718 0.07415694 -0.30347514] [-0.17745819 -0.08452803 0.98049151 0.84240546] [ 0. 0. 0. 1. ]] SLAMing on 73.682401008 meters Centerline goodness : 0.856788 with order 1 Centerline is valid? [False, False] Translation: X:13.33, Y:-0.30, Z:0.86 [[ 0.98214581 0.05387539 0.18024167 13.32738453] [-0.07154131 0.99309349 0.09299015 -0.29971454] [-0.17398695 -0.10422461 0.97921692 0.85652384] [ 0. 0. 0. 1. ]] SLAMing on 73.742401008 meters Centerline goodness : 0.860122 with order 1 Centerline is valid? [False, False] Translation: X:13.32, Y:-0.29, Z:0.86 [[ 0.98274784 0.05941369 0.17514764 13.31517448] [-0.07886048 0.99120781 0.1062455 -0.28687429] [-0.16729527 -0.11822476 0.97879272 0.8595037 ] [ 0. 0. 0. 1. ]] SLAMing on 73.802401008 meters Centerline goodness : 0.858328 with order 1 Centerline is valid? [False, False] Translation: X:13.31, Y:-0.28, Z:0.87 [[ 0.98193532 0.06360655 0.17820561 13.30797926] [-0.08427383 0.99025078 0.11091129 -0.28141998] [-0.16941356 -0.12392578 0.97772258 0.86674786] [ 0. 0. 0. 1. ]] SLAMing on 73.862401008 meters Centerline goodness : 0.862795 with order 1 Centerline is valid? [False, False] Translation: X:13.30, Y:-0.28, Z:0.88 [[ 0.98105409 0.06411412 0.18281752 13.29748046] [-0.08587761 0.98979381 0.11372446 -0.2762951 ] [-0.17366031 -0.12726978 0.97654723 0.88016359] [ 0. 0. 0. 1. ]] SLAMing on 73.92240100800001 meters Centerline goodness : 0.859689 with order 1 Centerline is valid? [False, False] Translation: X:13.27, Y:-0.27, Z:0.90 [[ 0.97925412 0.05824712 0.1940841 13.27321964] [-0.08855602 0.98450579 0.15134787 -0.2743328 ] [-0.18226134 -0.16539534 0.96923949 0.90238077] [ 0. 0. 0. 1. ]] SLAMing on 73.98240100800001 meters Centerline goodness : 0.862821 with order 1 Centerline is valid? [False, False] Translation: X:13.27, Y:-0.27, Z:0.91 [[ 0.97888957 0.06341492 0.19430327 13.27172212] [-0.0946713 0.98320001 0.15606118 -0.26980667] [-0.18114237 -0.17116161 0.9684478 0.90558788] [ 0. 0. 0. 1. ]] SLAMing on 74.042401008 meters Centerline goodness : 0.863174 with order 1 Centerline is valid? [False, False] Translation: X:13.25, Y:-0.26, Z:0.90 [[ 0.97797562 0.08101242 0.19235562 13.25349866] [-0.10873828 0.98440932 0.13825437 -0.25808735] [-0.17815634 -0.15612583 0.97153746 0.90103467] [ 0. 0. 0. 1. ]] SLAMing on 74.102401008 meters Centerline goodness : 0.866135 with order 1 Centerline is valid? [False, False] Translation: X:13.26, Y:-0.26, Z:0.89 [[ 0.97670089 0.08511573 0.19700428 13.26438334] [-0.11171921 0.98544677 0.12811513 -0.25559544] [-0.18323262 -0.14713933 0.9719958 0.89340108] [ 0. 0. 0. 1. ]] SLAMing on 74.162401008 meters Centerline goodness : 0.871882 with order 1 Centerline is valid? [False, False] Translation: X:13.30, Y:-0.27, Z:0.91 [[ 0.97627567 0.07824967 0.20189798 13.29837865] [-0.10837444 0.98380779 0.14274881 -0.27023482] [-0.18745876 -0.16124277 0.96894787 0.90660708] [ 0. 0. 0. 1. ]] SLAMing on 74.222401008 meters Centerline goodness : 0.872605 with order 1 Centerline is valid? [False, False] Translation: X:13.33, Y:-0.29, Z:0.93 [[ 0.97559707 0.06642949 0.20927849 13.33033045] [-0.10403292 0.97920827 0.17415027 -0.28826373] [-0.19335852 -0.19167234 0.96222357 0.92806174] [ 0. 0. 0. 1. ]] SLAMing on 74.28240100800001 meters Centerline goodness : 0.871194 with order 1 Centerline is valid? [False, False] Translation: X:13.36, Y:-0.30, Z:0.93 [[ 0.97610849 0.06661282 0.20682105 13.35941144] [-0.10573784 0.97716317 0.184314 -0.30080843] [-0.18982024 -0.20177927 0.96086076 0.93310536] [ 0. 0. 0. 1. ]] SLAMing on 74.34240100800001 meters Centerline goodness : 0.870262 with order 1 Centerline is valid? [False, False] Translation: X:13.38, Y:-0.31, Z:0.93 [[ 0.97695455 0.07950717 0.19808688 13.37799559] [-0.1147604 0.9781442 0.17338966 -0.30977354] [-0.17997181 -0.19212635 0.9647267 0.92815485] [ 0. 0. 0. 1. ]] SLAMing on 74.402401008 meters Centerline goodness : 0.867706 with order 1 Centerline is valid? [False, False] Translation: X:13.36, Y:-0.31, Z:0.92 [[ 0.97712228 0.09826591 0.18861567 13.35775205] [-0.12858312 0.97937 0.15588706 -0.30950881] [-0.16940614 -0.17657351 0.96959958 0.9194801 ] [ 0. 0. 0. 1. ]] SLAMing on 74.462401008 meters Centerline goodness : 0.869457 with order 1 Centerline is valid? [False, False] Translation: X:13.34, Y:-0.31, Z:0.91 [[ 0.97691626 0.11192275 0.18195584 13.34091749] [-0.13776233 0.98105831 0.13618421 -0.30913426] [-0.16326718 -0.15810723 0.97383055 0.9135078 ] [ 0. 0. 0. 1. ]] SLAMing on 74.522401008 meters Centerline goodness : 0.871581 with order 1 Centerline is valid? [False, False] Translation: X:13.32, Y:-0.31, Z:0.91 [[ 0.97573483 0.12150824 0.18214634 13.32385076] [-0.14319268 0.98344881 0.11101486 -0.31378801] [-0.16564238 -0.13440309 0.97698435 0.90581579] [ 0. 0. 0. 1. ]] SLAMing on 74.582401008 meters Centerline goodness : 0.876509 with order 1 Centerline is valid? [False, False] Translation: X:13.32, Y:-0.32, Z:0.90 [[ 0.97455603 0.12442551 0.18643721 13.32358632] [-0.14333332 0.98542815 0.09158017 -0.31745651] [-0.17232557 -0.11597267 0.97818926 0.89755851] [ 0. 0. 0. 1. ]] SLAMing on 74.64240100800001 meters Centerline goodness : 0.881453 with order 1 Centerline is valid? [False, False] Translation: X:13.32, Y:-0.32, Z:0.89 [[ 0.97376053 0.12801019 0.18815904 13.31680816] [-0.14263214 0.98755355 0.06628769 -0.31925377] [-0.17733163 -0.09138587 0.97989903 0.88917526] [ 0. 0. 0. 1. ]] SLAMing on 74.70240100800001 meters Centerline goodness : 0.880375 with order 1 Centerline is valid? [False, False] Translation: X:13.32, Y:-0.33, Z:0.89 [[ 0.97475409 0.12145986 0.18735518 13.31678832] [-0.13459491 0.98914205 0.0590103 -0.32700744] [-0.1781535 -0.08273759 0.98051814 0.88771957] [ 0. 0. 0. 1. ]] SLAMing on 74.762401008 meters Centerline goodness : 0.877525 with order 1 Centerline is valid? [False, False] Translation: X:13.32, Y:-0.33, Z:0.88 [[ 0.97572187 0.11616238 0.1856694 13.32253279] [-0.12835073 0.99020301 0.05499169 -0.3311792 ] [-0.17746243 -0.0774874 0.98107226 0.88407193] [ 0. 0. 0. 1. ]] SLAMing on 74.822401008 meters Centerline goodness : 0.883302 with order 1 Centerline is valid? [False, False] Translation: X:13.37, Y:-0.35, Z:0.90 [[ 0.97709183 0.09751265 0.18916351 13.37221086] [-0.11501032 0.98982169 0.0838191 -0.35101418] [-0.17906472 -0.10365472 0.97836165 0.89992143] [ 0. 0. 0. 1. ]] SLAMing on 74.882401008 meters Centerline goodness : 0.881070 with order 1 Centerline is valid? [False, False] Translation: X:13.42, Y:-0.36, Z:0.90 [[ 0.97848052 0.08951932 0.18590902 13.42015546] [-0.10846607 0.98961159 0.09436107 -0.36394889] [-0.17553059 -0.11249529 0.97802547 0.90202391] [ 0. 0. 0. 1. ]] SLAMing on 74.942401008 meters Centerline goodness : 0.881843 with order 1 Centerline is valid? [False, False] Translation: X:13.46, Y:-0.37, Z:0.91 [[ 0.9787626 0.09058199 0.18389857 13.45799556] [-0.11123507 0.9882027 0.10527193 -0.37032525] [-0.17219332 -0.1234922 0.97729174 0.90509334] [ 0. 0. 0. 1. ]] SLAMing on 75.002401008 meters Centerline goodness : 0.882718 with order 1 Centerline is valid? [False, False] Translation: X:13.46, Y:-0.36, Z:0.90 [[ 0.97750155 0.10112089 0.18510887 13.46052547] [-0.11959295 0.98859923 0.09148269 -0.36291461] [-0.17374767 -0.11156218 0.97845063 0.895067 ] [ 0. 0. 0. 1. ]] SLAMing on 75.06240100800001 meters Centerline goodness : 0.885619 with order 1 Centerline is valid? [False, False] Translation: X:13.47, Y:-0.36, Z:0.89 [[ 0.97627854 0.10607481 0.18875473 13.4728992 ] [-0.12318961 0.98904341 0.08134779 -0.35954206] [-0.17805767 -0.10267072 0.97864916 0.88538247] [ 0. 0. 0. 1. ]] SLAMing on 75.122401008 meters Centerline goodness : 0.887049 with order 1 Centerline is valid? [False, False] Translation: X:13.47, Y:-0.36, Z:0.89 [[ 0.97638958 0.10572875 0.18837416 13.47398695] [-0.12275372 0.9891179 0.08110055 -0.35864013] [-0.1777496 -0.10230936 0.97874301 0.88526773] [ 0. 0. 0. 1. ]] SLAMing on 75.182401008 meters Centerline goodness : 0.888059 with order 1 Centerline is valid? [False, False] Translation: X:13.51, Y:-0.37, Z:0.89 [[ 0.97714392 0.10086107 0.18712777 13.50970243] [-0.11812107 0.98948422 0.08347689 -0.36667186] [-0.17674041 -0.10367266 0.97878231 0.88542001] [ 0. 0. 0. 1. ]] SLAMing on 75.242401008 meters Centerline goodness : 0.892679 with order 1 Centerline is valid? [False, False] Translation: X:13.54, Y:-0.37, Z:0.89 [[ 0.97784805 0.09799776 0.18495844 13.53861664] [-0.11459736 0.99008149 0.08127787 -0.37419467] [-0.17515888 -0.10067316 0.97937954 0.88501895] [ 0. 0. 0. 1. ]] SLAMing on 75.302401008 meters Centerline goodness : 0.892023 with order 1 Centerline is valid? [False, False] Translation: X:13.58, Y:-0.39, Z:0.89 [[ 0.97903005 0.09145965 0.18203101 13.58245724] [-0.10937095 0.98983552 0.09090453 -0.38591612] [-0.17186667 -0.10890717 0.97908175 0.89136352] [ 0. 0. 0. 1. ]] SLAMing on 75.362401008 meters Centerline goodness : 0.890151 with order 1 Centerline is valid? [False, False] Translation: X:13.61, Y:-0.39, Z:0.90 [[ 0.97919771 0.08421118 0.18460858 13.6068875 ] [-0.10513469 0.9887241 0.10663654 -0.39026492] [-0.17354696 -0.12382702 0.97700989 0.89868 ] [ 0. 0. 0. 1. ]] SLAMing on 75.42240100800001 meters Centerline goodness : 0.892803 with order 1 Centerline is valid? [False, False] Translation: X:13.61, Y:-0.38, Z:0.90 [[ 0.97943027 0.08082931 0.18488639 13.60748414] [-0.10074157 0.98977672 0.10096132 -0.38343983] [-0.17483561 -0.11751032 0.97756014 0.89594001] [ 0. 0. 0. 1. ]] SLAMing on 75.48240100800001 meters Centerline goodness : 0.893674 with order 1 Centerline is valid? [False, False] Translation: X:13.61, Y:-0.38, Z:0.89 [[ 0.97815814 0.08825813 0.18819446 13.60789062] [-0.10575662 0.99074861 0.0850454 -0.3780132 ] [-0.17894745 -0.10309066 0.9784427 0.88826935] [ 0. 0. 0. 1. ]] SLAMing on 75.542401008 meters Centerline goodness : 0.897485 with order 1 Centerline is valid? [False, False] Translation: X:13.62, Y:-0.37, Z:0.88 [[ 0.97714494 0.09223621 0.19152088 13.62070335] [-0.10793102 0.99146129 0.07318063 -0.37487334] [-0.18313564 -0.09217912 0.97875653 0.87652923] [ 0. 0. 0. 1. ]] SLAMing on 75.602401008 meters Centerline goodness : 0.896801 with order 1 Centerline is valid? [False, False] Translation: X:13.62, Y:-0.37, Z:0.87 [[ 0.97605661 0.10497378 0.19050986 13.62010407] [-0.11833147 0.99115257 0.06011859 -0.36769845] [-0.18251346 -0.08122246 0.97984272 0.86965565] [ 0. 0. 0. 1. ]] SLAMing on 75.662401008 meters Centerline goodness : 0.893671 with order 1 Centerline is valid? [False, False] Translation: X:13.62, Y:-0.36, Z:0.87 [[ 0.97561023 0.10847939 0.19083214 13.62018613] [-0.12241205 0.99049244 0.06276948 -0.36254145] [-0.1822086 -0.0845987 0.97961374 0.86820419] [ 0. 0. 0. 1. ]] SLAMing on 75.722401008 meters Centerline goodness : 0.892757 with order 1 Centerline is valid? [False, False] Translation: X:13.62, Y:-0.36, Z:0.87 [[ 0.97586948 0.10758509 0.19001106 13.62331359] [-0.12125741 0.99069382 0.06182546 -0.36221681] [-0.18159129 -0.08337383 0.97983336 0.86525762] [ 0. 0. 0. 1. ]] SLAMing on 75.78240100800001 meters Centerline goodness : 0.894976 with order 1 Centerline is valid? [False, False] Translation: X:13.66, Y:-0.37, Z:0.87 [[ 0.97676354 0.10467929 0.18701665 13.66199834] [-0.11947826 0.9903896 0.06966617 -0.37198364] [-0.17792674 -0.0903918 0.97988336 0.86864655] [ 0. 0. 0. 1. ]] SLAMing on 75.84240100800001 meters Centerline goodness : 0.895930 with order 1 Centerline is valid? [False, False] Translation: X:13.71, Y:-0.39, Z:0.89 [[ 0.97692795 0.08749162 0.19482553 13.71242434] [-0.10953449 0.98838025 0.10538822 -0.39100616] [-0.18334112 -0.12429681 0.97515965 0.89182594] [ 0. 0. 0. 1. ]] SLAMing on 75.902401008 meters Centerline goodness : 0.893134 with order 1 Centerline is valid? [False, False] Translation: X:13.72, Y:-0.39, Z:0.89 [[ 0.97765554 0.08218602 0.19348153 13.72418076] [-0.10439883 0.98870338 0.10754773 -0.39190652] [-0.18245692 -0.12534388 0.97519146 0.89252497] [ 0. 0. 0. 1. ]] SLAMing on 75.962401008 meters Centerline goodness : 0.892601 with order 1 Centerline is valid? [False, False] Translation: X:13.76, Y:-0.40, Z:0.90 [[ 0.97825266 0.06779257 0.19602527 13.75561281] [-0.09232244 0.98861294 0.11883193 -0.39527315] [-0.18573719 -0.13434518 0.97337201 0.89659566] [ 0. 0. 0. 1. ]] SLAMing on 76.022401008 meters Centerline goodness : 0.893718 with order 1 Centerline is valid? [False, False] Translation: X:13.76, Y:-0.40, Z:0.90 [[ 0.97844196 0.06288565 0.19671484 13.75558368] [-0.08665859 0.98961638 0.11467222 -0.39550207] [-0.18746099 -0.12924714 0.97373177 0.89806036] [ 0. 0. 0. 1. ]] SLAMing on 76.082401008 meters Centerline goodness : 0.898641 with order 1 Centerline is valid? [False, False] Translation: X:13.75, Y:-0.39, Z:0.90 [[ 0.9785114 0.05985171 0.19731502 13.75384533] [-0.08278167 0.99046875 0.11008566 -0.3922256 ] [-0.18884555 -0.12405414 0.97413958 0.89948034] [ 0. 0. 0. 1. ]] SLAMing on 76.14240100800001 meters Centerline goodness : 0.901533 with order 1 Centerline is valid? [False, False] Translation: X:13.75, Y:-0.39, Z:0.90 [[ 0.97854144 0.05773523 0.1977961 13.75189887] [-0.07947329 0.99141963 0.10378399 -0.38551201] [-0.19010695 -0.11727644 0.9747336 0.89716707] [ 0. 0. 0. 1. ]] SLAMing on 76.20240100800001 meters Centerline goodness : 0.903081 with order 1 Centerline is valid? [False, False] Translation: X:13.76, Y:-0.38, Z:0.88 [[ 0.97768419 0.06369208 0.20019227 13.757338 ] [-0.08220763 0.99293463 0.08557292 -0.378693 ] [-0.19332752 -0.10012062 0.97601247 0.88251648] [ 0. 0. 0. 1. ]] SLAMing on 76.262401008 meters Centerline goodness : 0.903744 with order 1 Centerline is valid? [False, False] Translation: X:13.76, Y:-0.38, Z:0.88 [[ 0.97613759 0.07392293 0.20418324 13.75899715] [-0.09083403 0.99305892 0.07472053 -0.37544334] [-0.19724243 -0.09148431 0.97607686 0.87598731] [ 0. 0. 0. 1. ]] SLAMing on 76.322401008 meters Centerline goodness : 0.904901 with order 1 Centerline is valid? [False, False] Translation: X:13.77, Y:-0.37, Z:0.86 [[ 0.97493768 0.08178312 0.20690107 13.76741097] [-0.0966441 0.99333881 0.06275283 -0.37211492] [-0.20039074 -0.08117587 0.97634729 0.86329035] [ 0. 0. 0. 1. ]] SLAMing on 76.382401008 meters Centerline goodness : 0.901925 with order 1 Centerline is valid? [False, False] Translation: X:13.77, Y:-0.37, Z:0.85 [[ 0.97360549 0.09221404 0.20877958 13.7711226 ] [-0.10465226 0.99328562 0.049311 -0.36746367] [-0.20283059 -0.06985872 0.97671875 0.85005757] [ 0. 0. 0. 1. ]] SLAMing on 76.442401008 meters Centerline goodness : 0.900968 with order 1 Centerline is valid? [False, False] Translation: X:13.77, Y:-0.37, Z:0.84 [[ 0.97222069 0.10550901 0.20893728 13.76924514] [-0.11570915 0.99258711 0.03717837 -0.365016 ] [-0.20346579 -0.06032153 0.97722207 0.84357024] [ 0. 0. 0. 1. ]] SLAMing on 76.502401008 meters Centerline goodness : 0.902811 with order 1 Centerline is valid? [False, False] Translation: X:13.77, Y:-0.36, Z:0.84 [[ 0.97087955 0.11586918 0.20968363 13.76867766] [-0.12338029 0.99209158 0.02305645 -0.36423184] [-0.20535383 -0.04825586 0.9774974 0.83619763] [ 0. 0. 0. 1. ]] SLAMing on 76.56240100800001 meters Centerline goodness : 0.901626 with order 1 Centerline is valid? [False, False] Translation: X:13.77, Y:-0.36, Z:0.83 [[ 0.97101003 0.11396621 0.21012194 13.76614204] [-0.12037581 0.9925665 0.01792803 -0.36299632] [-0.20651681 -0.04270189 0.9775108 0.83363853] [ 0. 0. 0. 1. ]] SLAMing on 76.622401008 meters Centerline goodness : 0.903705 with order 1 Centerline is valid? [False, False] Translation: X:13.77, Y:-0.37, Z:0.84 [[ 0.97206149 0.10693847 0.20895124 13.77386876] [-0.1129534 0.99345427 0.0170335 -0.36908396] [-0.20576196 -0.04015936 0.9777777 0.83554233] [ 0. 0. 0. 1. ]] SLAMing on 76.682401008 meters Centerline goodness : 0.905914 with order 1 Centerline is valid? [False, False] Translation: X:13.79, Y:-0.38, Z:0.85 [[ 0.97261989 0.0982552 0.21060973 13.79007425] [-0.10648061 0.99391907 0.02804924 -0.37953086] [-0.20657305 -0.0497071 0.97716773 0.84781123] [ 0. 0. 0. 1. ]] SLAMing on 76.742401008 meters Centerline goodness : 0.911189 with order 1 Centerline is valid? [False, False] Translation: X:13.83, Y:-0.40, Z:0.86 [[ 0.9733151 0.092933 0.20981224 13.82787655] [-0.10348075 0.99383313 0.03984267 -0.39755795] [-0.20481566 -0.060491 0.97692957 0.8565702 ] [ 0. 0. 0. 1. ]] SLAMing on 76.802401008 meters Centerline goodness : 0.904035 with order 1 Centerline is valid? [False, False] Translation: X:13.84, Y:-0.40, Z:0.85 [[ 0.97392414 0.0896022 0.20843036 13.84078209] [-0.10091131 0.99391081 0.04425156 -0.40091079] [-0.20319615 -0.06413065 0.97703561 0.85377198] [ 0. 0. 0. 1. ]] SLAMing on 76.862401008 meters Centerline goodness : 0.895528 with order 1 Centerline is valid? [False, False] Translation: X:13.87, Y:-0.40, Z:0.85 [[ 0.97496377 0.09490135 0.20109547 13.87468811] [-0.10708537 0.99296257 0.0505773 -0.40399413] [-0.19488042 -0.07084541 0.97826507 0.84836201] [ 0. 0. 0. 1. ]] SLAMing on 76.92240100800001 meters Centerline goodness : 0.893255 with order 1 Centerline is valid? [False, False] Translation: X:13.90, Y:-0.41, Z:0.85 [[ 0.97572739 0.09805514 0.19580923 13.90399595] [-0.11080572 0.99230601 0.05523473 -0.41083057] [-0.18888663 -0.07559082 0.97908522 0.85163703] [ 0. 0. 0. 1. ]] SLAMing on 76.98240100800001 meters Centerline goodness : 0.891279 with order 1 Centerline is valid? [False, False] Translation: X:13.91, Y:-0.41, Z:0.85 [[ 0.97599564 0.09737754 0.19480794 13.90657811] [-0.10986457 0.99246058 0.05433029 -0.40988158] [-0.18804865 -0.07442862 0.97933553 0.85001426] [ 0. 0. 0. 1. ]] SLAMing on 77.042401008 meters Centerline goodness : 0.888859 with order 1 Centerline is valid? [False, False] Translation: X:13.92, Y:-0.41, Z:0.85 [[ 0.97641416 0.09536461 0.19370335 13.91759426] [-0.10885637 0.99223166 0.06022153 -0.40991056] [-0.18645559 -0.07988699 0.97921008 0.85124642] [ 0. 0. 0. 1. ]] SLAMing on 77.102401008 meters Centerline goodness : 0.887577 with order 1 Centerline is valid? [False, False] Translation: X:13.94, Y:-0.42, Z:0.87 [[ 0.97620835 0.08487218 0.19953438 13.94316841] [-0.10286423 0.99134379 0.08158699 -0.41984051] [-0.19088271 -0.10017085 0.9764884 0.87213718] [ 0. 0. 0. 1. ]] SLAMing on 77.162401008 meters Centerline goodness : 0.895892 with order 1 Centerline is valid? [False, False] Translation: X:13.98, Y:-0.43, Z:0.90 [[ 0.97460736 0.07219274 0.21196394 13.97658667] [-0.09915963 0.98787298 0.11947528 -0.4334372 ] [-0.2007682 -0.13745975 0.96994688 0.90472087] [ 0. 0. 0. 1. ]] SLAMing on 77.222401008 meters Centerline goodness : 0.893348 with order 1 Centerline is valid? [False, False] Translation: X:13.97, Y:-0.43, Z:0.92 [[ 0.97483843 0.05963462 0.21478768 13.97393008] [-0.09089093 0.98615203 0.13871917 -0.43482975] [-0.20354084 -0.15475103 0.96675914 0.9241928 ] [ 0. 0. 0. 1. ]] SLAMing on 77.28240100800001 meters Centerline goodness : 0.888405 with order 1 Centerline is valid? [False, False] Translation: X:13.96, Y:-0.43, Z:0.93 [[ 0.97592822 0.05364037 0.21139257 13.96096497] [-0.0848039 0.98633785 0.14123011 -0.42828517] [-0.20092886 -0.15575736 0.96714386 0.92503998] [ 0. 0. 0. 1. ]] SLAMing on 77.34240100800001 meters Centerline goodness : 0.891724 with order 1 Centerline is valid? [False, False] Translation: X:13.93, Y:-0.42, Z:0.92 [[ 0.97629189 0.0564646 0.20896387 13.9257855 ] [-0.08597422 0.98711601 0.13494594 -0.41553917] [-0.19865191 -0.14971214 0.96856786 0.92384774] [ 0. 0. 0. 1. ]] SLAMing on 77.402401008 meters Centerline goodness : 0.890397 with order 1 Centerline is valid? [False, False] Translation: X:13.91, Y:-0.41, Z:0.92 [[ 0.97603828 0.05907207 0.20942723 13.91285814] [-0.08632451 0.98858636 0.12347096 -0.40724984] [-0.19974321 -0.13859109 0.9699975 0.91738729] [ 0. 0. 0. 1. ]] SLAMing on 77.462401008 meters Centerline goodness : 0.892394 with order 1 Centerline is valid? [False, False] Translation: X:13.92, Y:-0.40, Z:0.92 [[ 0.97667732 0.06781392 0.20372205 13.91842734] [-0.09273613 0.98898244 0.11538516 -0.39974447] [-0.19365282 -0.13158646 0.97220553 0.91934492] [ 0. 0. 0. 1. ]] SLAMing on 77.522401008 meters Centerline goodness : 0.895474 with order 1 Centerline is valid? [False, False] Translation: X:13.92, Y:-0.39, Z:0.91 [[ 0.97554993 0.08023556 0.2046084 13.92055706] [-0.10280156 0.98944351 0.1021439 -0.39004006] [-0.19425288 -0.12068053 0.97349989 0.90815931] [ 0. 0. 0. 1. ]] SLAMing on 77.582401008 meters Centerline goodness : 0.896928 with order 1 Centerline is valid? [False, False] Translation: X:13.91, Y:-0.38, Z:0.90 [[ 0.97380647 0.09625377 0.20600042 13.91489051] [-0.11654144 0.98921675 0.08870356 -0.37806783] [-0.19524101 -0.11038768 0.97452322 0.89704265] [ 0. 0. 0. 1. ]] SLAMing on 77.64240100800001 meters Centerline goodness : 0.899219 with order 1 Centerline is valid? [False, False] Translation: X:13.92, Y:-0.37, Z:0.89 [[ 0.9724527 0.10370928 0.20875857 13.91821028] [-0.12111119 0.98999907 0.07234582 -0.37155182] [-0.19916786 -0.09563589 0.97528762 0.88579192] [ 0. 0. 0. 1. ]] SLAMing on 77.70240100800001 meters Centerline goodness : 0.892643 with order 1 Centerline is valid? [False, False] Translation: X:13.92, Y:-0.37, Z:0.89 [[ 0.97261025 0.1030656 0.20834296 13.91982029] [-0.12058565 0.99000149 0.07318576 -0.37342859] [-0.19871691 -0.09630439 0.97531382 0.88706759] [ 0. 0. 0. 1. ]] SLAMing on 77.762401008 meters Centerline goodness : 0.893229 with order 1 Centerline is valid? [False, False] Translation: X:13.95, Y:-0.38, Z:0.89 [[ 0.97359623 0.09280268 0.20856184 13.94992041] [-0.11286946 0.98984223 0.08644566 -0.38018374] [-0.19842093 -0.10770343 0.97418125 0.88914008] [ 0. 0. 0. 1. ]] SLAMing on 77.822401008 meters Centerline goodness : 0.890907 with order 1 Centerline is valid? [False, False] Translation: X:13.99, Y:-0.39, Z:0.89 [[ 0.97496475 0.08956801 0.20352223 13.99005816] [-0.11039328 0.98949257 0.09336903 -0.38906974] [-0.19302086 -0.113499 0.97460809 0.88853645] [ 0. 0. 0. 1. ]] SLAMing on 77.882401008 meters Centerline goodness : 0.889416 with order 1 Centerline is valid? [False, False] Translation: X:13.99, Y:-0.39, Z:0.89 [[ 0.97550869 0.08559439 0.2026238 13.99251621] [-0.10572748 0.99024996 0.09070125 -0.39054524] [-0.19288469 -0.10990276 0.97504712 0.89107946] [ 0. 0. 0. 1. ]] SLAMing on 77.942401008 meters Centerline goodness : 0.892057 with order 1 Centerline is valid? [False, False] Translation: X:14.02, Y:-0.40, Z:0.89 [[ 0.9758569 0.08610929 0.20071997 14.02052518] [-0.10608133 0.99018919 0.09095115 -0.3963115 ] [-0.19091901 -0.11004795 0.97541754 0.89022861] [ 0. 0. 0. 1. ]] SLAMing on 78.002401008 meters Centerline goodness : 0.893666 with order 1 Centerline is valid? [False, False] Translation: X:14.03, Y:-0.39, Z:0.88 [[ 0.97459606 0.09015338 0.20502413 14.03290368] [-0.1083963 0.99092054 0.07954074 -0.39231993] [-0.19599175 -0.09974395 0.97551954 0.87771437] [ 0. 0. 0. 1. ]] SLAMing on 78.06240100800001 meters Centerline goodness : 0.896878 with order 1 Centerline is valid? [False, False] Translation: X:14.05, Y:-0.39, Z:0.88 [[ 0.9733782 0.09359818 0.20922299 14.05049744] [-0.11184876 0.99072607 0.07714728 -0.39443343] [-0.20006183 -0.09849481 0.97482 0.87759949] [ 0. 0. 0. 1. ]] SLAMing on 78.122401008 meters Centerline goodness : 0.900582 with order 1 Centerline is valid? [False, False] Translation: X:14.05, Y:-0.39, Z:0.87 [[ 0.97182643 0.10326909 0.21186999 14.04880998] [-0.11848822 0.99111634 0.06040639 -0.38935964] [-0.2037497 -0.08380863 0.97542923 0.86727797] [ 0. 0. 0. 1. ]] SLAMing on 78.182401008 meters Centerline goodness : 0.901384 with order 1 Centerline is valid? [False, False] Translation: X:14.05, Y:-0.39, Z:0.86 [[ 0.97155351 0.1061585 0.21169353 14.05079127] [-0.122118 0.99046539 0.06376127 -0.38870461] [-0.20290632 -0.08779908 0.97525399 0.86490662] [ 0. 0. 0. 1. ]] SLAMing on 78.242401008 meters Centerline goodness : 0.896055 with order 1 Centerline is valid? [False, False] Translation: X:14.05, Y:-0.39, Z:0.86 [[ 0.97171885 0.10614254 0.21094134 14.05308863] [-0.12210889 0.9904428 0.06412868 -0.38983953] [-0.20211855 -0.08807286 0.97539288 0.8638642 ] [ 0. 0. 0. 1. ]] SLAMing on 78.302401008 meters Centerline goodness : 0.893440 with order 1 Centerline is valid? [False, False] Translation: X:14.05, Y:-0.39, Z:0.86 [[ 0.97214673 0.10342851 0.2103171 14.05321079] [-0.1185629 0.99109326 0.06063813 -0.39288051] [-0.20217215 -0.08388496 0.97575086 0.86368501] [ 0. 0. 0. 1. ]] SLAMing on 78.362401008 meters Centerline goodness : 0.893620 with order 1 Centerline is valid? [False, False] Translation: X:14.06, Y:-0.39, Z:0.86 [[ 0.97260147 0.10158476 0.20910981 14.05889936] [-0.11627829 0.99145174 0.05918447 -0.39412039] [-0.20131004 -0.08187784 0.97609953 0.85725328] [ 0. 0. 0. 1. ]] SLAMing on 78.42240100800001 meters Centerline goodness : 0.893798 with order 1 Centerline is valid? [False, False] Translation: X:14.10, Y:-0.41, Z:0.86 [[ 0.97355946 0.09833733 0.20618375 14.09762877] [-0.11438688 0.99114764 0.06739433 -0.40501293] [-0.19773116 -0.0891971 0.97618967 0.86095262] [ 0. 0. 0. 1. ]] SLAMing on 78.48240100800001 meters Centerline goodness : 0.895557 with order 1 Centerline is valid? [False, False] Translation: X:14.10, Y:-0.41, Z:0.87 [[ 0.97392421 0.09518123 0.20594214 14.09684507] [-0.11084204 0.99165289 0.06586802 -0.41105747] [-0.19795372 -0.0869775 0.97634484 0.86586659] [ 0. 0. 0. 1. ]] SLAMing on 78.542401008 meters Centerline goodness : 0.898786 with order 1 Centerline is valid? [False, False] Translation: X:14.11, Y:-0.41, Z:0.86 [[ 0.97280752 0.0972835 0.21019386 14.11145098] [-0.11145732 0.99215354 0.05664463 -0.41251735] [-0.20303399 -0.07853196 0.97601738 0.85790179] [ 0. 0. 0. 1. ]] SLAMing on 78.602401008 meters Centerline goodness : 0.907462 with order 1 Centerline is valid? [False, False] Translation: X:14.12, Y:-0.41, Z:0.85 [[ 0.97125194 0.10184863 0.21516628 14.11728044] [-0.11337696 0.9926681 0.04190107 -0.40730544] [-0.20932114 -0.0650914 0.97567811 0.84790309] [ 0. 0. 0. 1. ]] SLAMing on 78.662401008 meters Centerline goodness : 0.903643 with order 1 Centerline is valid? [False, False] Translation: X:14.12, Y:-0.41, Z:0.84 [[ 0.97170908 0.10017015 0.21388644 14.12217755] [-0.11103351 0.99303673 0.03936498 -0.40533899] [-0.20845389 -0.06199987 0.97606505 0.84145898] [ 0. 0. 0. 1. ]] SLAMing on 78.722401008 meters Centerline goodness : 0.900997 with order 1 Centerline is valid? [False, False] Translation: X:14.16, Y:-0.42, Z:0.85 [[ 0.97274532 0.09687806 0.21066844 14.16471914] [-0.10999795 0.99259929 0.05145002 -0.41598803] [-0.20412496 -0.07322086 0.9762027 0.84694375] [ 0. 0. 0. 1. ]] SLAMing on 78.78240100800001 meters Centerline goodness : 0.896371 with order 1 Centerline is valid? [False, False] Translation: X:14.21, Y:-0.43, Z:0.87 [[ 0.97384837 0.08375819 0.21119641 14.20658246] [-0.10247259 0.99157272 0.07926475 -0.42907234] [-0.20277753 -0.09883369 0.9742244 0.8651938 ] [ 0. 0. 0. 1. ]] SLAMing on 78.84240100800001 meters Centerline goodness : 0.892494 with order 1 Centerline is valid? [False, False] Translation: X:14.24, Y:-0.43, Z:0.87 [[ 0.97428515 0.07685956 0.21180428 14.23891287] [-0.09929527 0.99027974 0.09739858 -0.43023036] [-0.20225947 -0.11592515 0.97244664 0.86554864] [ 0. 0. 0. 1. ]] SLAMing on 78.902401008 meters Centerline goodness : 0.888651 with order 1 Centerline is valid? [False, False] Translation: X:14.26, Y:-0.43, Z:0.86 [[ 0.97500168 0.07217858 0.21014753 14.2551321 ] [-0.09508761 0.99032946 0.10102427 -0.42570997] [-0.20082351 -0.11848126 0.97243617 0.86366753] [ 0. 0. 0. 1. ]] SLAMing on 78.962401008 meters Centerline goodness : 0.892823 with order 1 Centerline is valid? [False, False] Translation: X:14.25, Y:-0.42, Z:0.87 [[ 0.97524998 0.06938438 0.2099364 14.2540219 ] [-0.09181135 0.99083981 0.09903103 -0.42395839] [-0.20114213 -0.11585455 0.97268678 0.8721768 ] [ 0. 0. 0. 1. ]] SLAMing on 79.022401008 meters Centerline goodness : 0.900403 with order 1 Centerline is valid? [False, False] Translation: X:14.26, Y:-0.42, Z:0.88 [[ 0.97495134 0.06907505 0.21142025 14.25770962] [-0.09267934 0.99026588 0.10384614 -0.41879777] [-0.20218909 -0.12083922 0.97186288 0.87552676] [ 0. 0. 0. 1. ]] SLAMing on 79.082401008 meters Centerline goodness : 0.897195 with order 1 Centerline is valid? [False, False] Translation: X:14.26, Y:-0.41, Z:0.88 [[ 0.97267167 0.062114 0.22372233 14.26319816] [-0.09262853 0.98736263 0.12858844 -0.41481983] [-0.21290793 -0.1457974 0.96613318 0.88322756] [ 0. 0. 0. 1. ]] SLAMing on 79.14240100800001 meters Centerline goodness : 0.894311 with order 1 Centerline is valid? [False, False] Translation: X:14.26, Y:-0.41, Z:0.87 [[ 0.97255886 0.07130464 0.22146088 14.26185918] [-0.09696928 0.98949134 0.107256 -0.40702221] [-0.21148577 -0.12578767 0.96925292 0.87451271] [ 0. 0. 0. 1. ]] SLAMing on 79.20240100800001 meters Centerline goodness : 0.897256 with order 1 Centerline is valid? [False, False] Translation: X:14.27, Y:-0.40, Z:0.87 [[ 0.97144192 0.0741678 0.22538795 14.27344965] [-0.0978514 0.99058127 0.09578023 -0.40443166] [-0.21616127 -0.11509946 0.9695496 0.86932799] [ 0. 0. 0. 1. ]] SLAMing on 79.262401008 meters Centerline goodness : 0.896147 with order 1 Centerline is valid? [False, False] Translation: X:14.28, Y:-0.40, Z:0.87 [[ 0.97142913 0.07347516 0.22566978 14.281662 ] [-0.09862754 0.98985496 0.10227296 -0.40147715] [-0.21586583 -0.12160819 0.96882062 0.87001816] [ 0. 0. 0. 1. ]] SLAMing on 79.322401008 meters Centerline goodness : 0.895189 with order 1 Centerline is valid? [False, False] Translation: X:14.28, Y:-0.40, Z:0.87 [[ 0.97145689 0.07276914 0.225779 14.2834026 ] [-0.09793118 0.98991989 0.10231375 -0.39895654] [-0.21605783 -0.1215042 0.96879087 0.86974416] [ 0. 0. 0. 1. ]] SLAMing on 79.382401008 meters Centerline goodness : 0.895304 with order 1 Centerline is valid? [False, False] Translation: X:14.33, Y:-0.41, Z:0.88 [[ 0.97132323 0.06918395 0.22747477 14.32596765] [-0.09822991 0.98802974 0.1189459 -0.40616996] [-0.21652269 -0.13787974 0.96649216 0.87868362] [ 0. 0. 0. 1. ]] SLAMing on 79.442401008 meters Centerline goodness : 0.894699 with order 1 Centerline is valid? [False, False] Translation: X:14.33, Y:-0.40, Z:0.88 [[ 0.97146544 0.06891038 0.22694992 14.32727639] [-0.09797945 0.98799851 0.11941094 -0.40381752] [-0.21599753 -0.13824003 0.9665582 0.88197462] [ 0. 0. 0. 1. ]] SLAMing on 79.502401008 meters Centerline goodness : 0.887825 with order 1 Centerline is valid? [False, False] Translation: X:14.33, Y:-0.40, Z:0.87 [[ 0.97163531 0.07115578 0.22552535 14.33182695] [-0.10018329 0.98770744 0.11998885 -0.39937765] [-0.21421516 -0.13917928 0.96682004 0.87468916] [ 0. 0. 0. 1. ]] SLAMing on 79.56240100800001 meters Centerline goodness : 0.888561 with order 1 Centerline is valid? [False, False] Translation: X:14.35, Y:-0.40, Z:0.88 [[ 0.97153343 0.06715073 0.22718619 14.35460315] [-0.10069789 0.98509552 0.13945162 -0.4007537 ] [-0.21443582 -0.15835908 0.96381517 0.88301794] [ 0. 0. 0. 1. ]] SLAMing on 79.622401008 meters Centerline goodness : 0.888138 with order 1 Centerline is valid? [False, False] Translation: X:14.35, Y:-0.40, Z:0.89 [[ 0.97173418 0.0641199 0.22720328 14.35441443] [-0.09676407 0.98602943 0.13558277 -0.39677508] [-0.21533557 -0.15373552 0.96436299 0.88507251] [ 0. 0. 0. 1. ]] SLAMing on 79.682401008 meters Centerline goodness : 0.890060 with order 1 Centerline is valid? [False, False] Translation: X:14.40, Y:-0.41, Z:0.93 [[ 0.966949 0.0343512 0.25264524 14.39705925] [-0.08751326 0.97540193 0.20231782 -0.41308734] [-0.2394808 -0.21774083 0.94617011 0.92968845] [ 0. 0. 0. 1. ]] SLAMing on 79.742401008 meters Centerline goodness : 0.895362 with order 1 Centerline is valid? [False, False] Translation: X:14.40, Y:-0.41, Z:0.93 [[ 0.96668848 0.03119536 0.25404768 14.39526608] [-0.08299392 0.97712157 0.19581995 -0.4071397 ] [-0.24212679 -0.21038131 0.94716119 0.92681916] [ 0. 0. 0. 1. ]] SLAMing on 79.802401008 meters Centerline goodness : 0.890906 with order 1 Centerline is valid? [False, False] Translation: X:14.35, Y:-0.39, Z:0.93 [[ 0.96543438 0.02991115 0.25892429 14.35320667] [-0.07952554 0.97982927 0.18333108 -0.39476222] [-0.24821795 -0.19758522 0.94833956 0.93057879] [ 0. 0. 0. 1. ]] SLAMing on 79.862401008 meters Centerline goodness : 0.892141 with order 1 Centerline is valid? [False, False] Translation: X:14.32, Y:-0.38, Z:0.93 [[ 0.96593558 0.04108493 0.25550047 14.31621507] [-0.08430392 0.98341573 0.16058127 -0.38086493] [-0.24466572 -0.17665085 0.95337986 0.9274254 ] [ 0. 0. 0. 1. ]] SLAMing on 79.92240100800001 meters Centerline goodness : 0.886577 with order 1 Centerline is valid? [False, False] Translation: X:14.31, Y:-0.37, Z:0.92 [[ 0.96538901 0.04949456 0.25607489 14.30584245] [-0.09253315 0.98295563 0.15885793 -0.37135358] [-0.24384765 -0.17705512 0.95351445 0.92211836] [ 0. 0. 0. 1. ]] SLAMing on 79.98240100800001 meters Centerline goodness : 0.883234 with order 1 Centerline is valid? [False, False] Translation: X:14.30, Y:-0.36, Z:0.91 [[ 0.96491234 0.06614845 0.25410344 14.30152394] [-0.10546264 0.98389088 0.14434808 -0.35986635] [-0.24046166 -0.16608167 0.95634464 0.91235473] [ 0. 0. 0. 1. ]] SLAMing on 80.042401008 meters Centerline goodness : 0.881732 with order 1 Centerline is valid? [False, False] Translation: X:14.32, Y:-0.36, Z:0.91 [[ 0.96332951 0.0716295 0.25858358 14.31812781] [-0.11140138 0.98349399 0.14258083 -0.35756499] [-0.24410241 -0.16615889 0.95540841 0.90785889] [ 0. 0. 0. 1. ]] SLAMing on 80.102401008 meters Centerline goodness : 0.886266 with order 1 Centerline is valid? [False, False] Translation: X:14.33, Y:-0.36, Z:0.91 [[ 0.96122511 0.07515471 0.26532631 14.32578791] [-0.11443276 0.98410318 0.13581636 -0.35710344] [-0.25090123 -0.16091211 0.95454485 0.9091992 ] [ 0. 0. 0. 1. ]] SLAMing on 80.162401008 meters Centerline goodness : 0.892923 with order 1 Centerline is valid? [False, False] Translation: X:14.34, Y:-0.36, Z:0.90 [[ 0.95986833 0.07702441 0.26966652 14.34124032] [-0.11493912 0.98512485 0.12774206 -0.3572461 ] [-0.25581593 -0.15361079 0.95444326 0.90261536] [ 0. 0. 0. 1. ]] SLAMing on 80.222401008 meters Centerline goodness : 0.892245 with order 1 Centerline is valid? [False, False] Translation: X:14.37, Y:-0.36, Z:0.90 [[ 0.96099225 0.08134237 0.26434316 14.36717439] [-0.11923202 0.98424082 0.13058996 -0.36203399] [-0.24955483 -0.15701411 0.95554642 0.8996783 ] [ 0. 0. 0. 1. ]] SLAMing on 80.28240100800001 meters Centerline goodness : 0.894132 with order 1 Centerline is valid? [False, False] Translation: X:14.38, Y:-0.37, Z:0.89 [[ 0.96291805 0.08891572 0.25472107 14.37621513] [-0.12245256 0.98531929 0.11895914 -0.36535918] [-0.24040424 -0.14573915 0.95966968 0.89403516] [ 0. 0. 0. 1. ]] SLAMing on 80.34240100800001 meters Centerline goodness : 0.890230 with order 1 Centerline is valid? [False, False] Translation: X:14.39, Y:-0.37, Z:0.89 [[ 0.96357801 0.08708131 0.25285225 14.38834682] [-0.12196247 0.98454206 0.12570639 -0.36850135] [-0.23799699 -0.1519664 0.95930373 0.89403146] [ 0. 0. 0. 1. ]] SLAMing on 80.402401008 meters Centerline goodness : 0.886118 with order 1 Centerline is valid? [False, False] Translation: X:14.40, Y:-0.37, Z:0.90 [[ 0.96427945 0.08313246 0.25150375 14.39724428] [-0.11856422 0.9845101 0.12916031 -0.37452297] [-0.23687057 -0.15436598 0.95919939 0.89570138] [ 0. 0. 0. 1. ]] SLAMing on 80.462401008 meters Centerline goodness : 0.888683 with order 1 Centerline is valid? [False, False] Translation: X:14.43, Y:-0.38, Z:0.89 [[ 0.96427237 0.07770411 0.25326047 14.42755483] [-0.11258007 0.98558984 0.12624735 -0.38110873] [-0.23980101 -0.15024891 0.95912499 0.89296908] [ 0. 0. 0. 1. ]] SLAMing on 80.522401008 meters Centerline goodness : 0.890244 with order 1 Centerline is valid? [False, False] Translation: X:14.46, Y:-0.39, Z:0.89 [[ 0.96450432 0.07266944 0.25387117 14.46353781] [-0.10824571 0.98570694 0.12909181 -0.38759721] [-0.24086155 -0.15199007 0.95858476 0.8910448 ] [ 0. 0. 0. 1. ]] SLAMing on 80.582401008 meters Centerline goodness : 0.890906 with order 1 Centerline is valid? [False, False] Translation: X:14.48, Y:-0.39, Z:0.89 [[ 0.9633949 0.07229066 0.25815561 14.48310254] [-0.10686372 0.98669908 0.12249522 -0.39044234] [-0.24586664 -0.14559874 0.95830611 0.88583365] [ 0. 0. 0. 1. ]] SLAMing on 80.64240100800001 meters Centerline goodness : 0.892735 with order 1 Centerline is valid? [False, False] Translation: X:14.49, Y:-0.39, Z:0.88 [[ 0.96405209 0.06883372 0.25664273 14.49168964] [-0.10338321 0.98692626 0.12364655 -0.3911796 ] [-0.2447764 -0.14573427 0.95856457 0.88455476] [ 0. 0. 0. 1. ]] SLAMing on 80.70240100800001 meters Centerline goodness : 0.893899 with order 1 Centerline is valid? [False, False] Translation: X:14.54, Y:-0.40, Z:0.89 [[ 0.96481107 0.06106246 0.25575568 14.53674537] [-0.09792051 0.98613826 0.13395113 -0.40088976] [-0.24403107 -0.15428126 0.95741638 0.88712602] [ 0. 0. 0. 1. ]] SLAMing on 80.762401008 meters Centerline goodness : 0.901330 with order 1 Centerline is valid? [False, False] Translation: X:14.54, Y:-0.41, Z:0.91 [[ 0.96273179 0.04323162 0.26698038 14.53511382] [-0.08670324 0.98437583 0.15325396 -0.40821986] [-0.25618361 -0.17069052 0.95143823 0.90673948] [ 0. 0. 0. 1. ]] SLAMing on 80.822401008 meters Centerline goodness : 0.899487 with order 1 Centerline is valid? [False, False] Translation: X:14.51, Y:-0.40, Z:0.91 [[ 0.96202948 0.03639885 0.27050769 14.51177427] [-0.07929497 0.98559457 0.14938425 -0.40214499] [-0.2611735 -0.16516195 0.95105727 0.90965166] [ 0. 0. 0. 1. ]] SLAMing on 80.882401008 meters Centerline goodness : 0.900901 with order 1 Centerline is valid? [False, False] Translation: X:14.51, Y:-0.40, Z:0.91 [[ 0.9616523 0.03565013 0.27194469 14.50764295] [-0.07706884 0.98669099 0.14318269 -0.39715406] [-0.26322089 -0.15865043 0.95160118 0.90638973] [ 0. 0. 0. 1. ]] SLAMing on 80.942401008 meters Centerline goodness : 0.899658 with order 1 Centerline is valid? [False, False] Translation: X:14.51, Y:-0.39, Z:0.90 [[ 0.96158594 0.03770695 0.27190193 14.50682467] [-0.07879654 0.98675072 0.14182424 -0.39129654] [-0.26295167 -0.15780113 0.9518168 0.90226076] [ 0. 0. 0. 1. ]] SLAMing on 81.002401008 meters Centerline goodness : 0.897705 with order 1 Centerline is valid? [False, False] Translation: X:14.50, Y:-0.39, Z:0.89 [[ 0.96113064 0.05317292 0.27092534 14.4975025 ] [-0.08957134 0.98825597 0.12380275 -0.38677621] [-0.26116063 -0.14325776 0.95460586 0.89364874] [ 0. 0. 0. 1. ]] SLAMing on 81.06240100800001 meters Centerline goodness : 0.897262 with order 1 Centerline is valid? [False, False] Translation: X:14.48, Y:-0.38, Z:0.89 [[ 0.96139085 0.07294169 0.26534345 14.47535128] [-0.10410549 0.98897299 0.10533028 -0.37939027] [-0.25473454 -0.12888728 0.95838321 0.88864386] [ 0. 0. 0. 1. ]] SLAMing on 81.122401008 meters Centerline goodness : 0.898725 with order 1 Centerline is valid? [False, False] Translation: X:14.46, Y:-0.37, Z:0.88 [[ 0.96183565 0.08989354 0.25844018 14.45605832] [-0.1158237 0.98946153 0.08689502 -0.3731063 ] [-0.24790532 -0.11351222 0.96211118 0.8846824 ] [ 0. 0. 0. 1. ]] SLAMing on 81.182401008 meters Centerline goodness : 0.897936 with order 1 Centerline is valid? [False, False] Translation: X:14.46, Y:-0.37, Z:0.87 [[ 0.9603456 0.10117743 0.25980657 14.45712375] [-0.12379301 0.98967999 0.07217213 -0.36911036] [-0.24982317 -0.10147243 0.96295988 0.87157127] [ 0. 0. 0. 1. ]] SLAMing on 81.242401008 meters Centerline goodness : 0.900667 with order 1 Centerline is valid? [False, False] Translation: X:14.46, Y:-0.37, Z:0.86 [[ 0.95905631 0.10686781 0.26227898 14.45833593] [-0.12452679 0.99087318 0.05160824 -0.36664384] [-0.25436994 -0.08215597 0.96361109 0.85849989] [ 0. 0. 0. 1. ]] SLAMing on 81.302401008 meters Centerline goodness : 0.903817 with order 1 Centerline is valid? [False, False] Translation: X:14.45, Y:-0.37, Z:0.86 [[ 0.95941172 0.10189183 0.26295857 14.45435056] [-0.11794571 0.99195576 0.04596282 -0.37339043] [-0.25616003 -0.0751121 0.96371168 0.86288262] [ 0. 0. 0. 1. ]] SLAMing on 81.362401008 meters Centerline goodness : 0.905170 with order 1 Centerline is valid? [False, False] Translation: X:14.45, Y:-0.37, Z:0.85 [[ 0.9598179 0.09689856 0.26336336 14.44684203] [-0.10846128 0.99365723 0.02968946 -0.37122685] [-0.25881604 -0.0570612 0.96423974 0.85478737] [ 0. 0. 0. 1. ]] SLAMing on 81.42240100800001 meters Centerline goodness : 0.906549 with order 1 Centerline is valid? [False, False] Translation: X:14.45, Y:-0.37, Z:0.85 [[ 0.96036803 0.09348301 0.26259125 14.44866001] [-0.10363716 0.9942995 0.02505686 -0.37405784] [-0.25875196 -0.05127802 0.96458177 0.85125848] [ 0. 0. 0. 1. ]] SLAMing on 81.48240100800001 meters Centerline goodness : 0.902686 with order 1 Centerline is valid? [False, False] Translation: X:14.45, Y:-0.37, Z:0.85 [[ 0.96049299 0.09364028 0.26207768 14.44980489] [-0.1032542 0.99438616 0.02312423 -0.37149633] [-0.25844106 -0.04927128 0.96476969 0.84709072] [ 0. 0. 0. 1. ]] SLAMing on 81.542401008 meters Centerline goodness : 0.900446 with order 1 Centerline is valid? [False, False] Translation: X:14.46, Y:-0.37, Z:0.84 [[ 0.961056 0.0926797 0.26034946 14.45885121] [-0.10312259 0.99430993 0.0267112 -0.37201597] [-0.25639247 -0.05251887 0.9651449 0.84413244] [ 0. 0. 0. 1. ]] SLAMing on 81.602401008 meters Centerline goodness : 0.893403 with order 1 Centerline is valid? [False, False] Translation: X:14.47, Y:-0.37, Z:0.84 [[ 0.96176238 0.09059703 0.2584672 14.46965066] [-0.10121152 0.99446992 0.02803224 -0.36974541] [-0.25449822 -0.05312021 0.96561322 0.83680751] [ 0. 0. 0. 1. ]] SLAMing on 81.662401008 meters Centerline goodness : 0.889798 with order 1 Centerline is valid? [False, False] Translation: X:14.48, Y:-0.37, Z:0.84 [[ 0.96197625 0.09152277 0.25734271 14.47507696] [-0.10351265 0.99406696 0.0334066 -0.36969407] [-0.25275842 -0.05877458 0.96574258 0.83904507] [ 0. 0. 0. 1. ]] SLAMing on 81.722401008 meters Centerline goodness : 0.889936 with order 1 Centerline is valid? [False, False] Translation: X:14.47, Y:-0.37, Z:0.84 [[ 0.96177757 0.09109633 0.25823511 14.46955862] [-0.10238142 0.99427549 0.03056635 -0.36810672] [-0.25397236 -0.05583651 0.96559843 0.84409778] [ 0. 0. 0. 1. ]] SLAMing on 81.78240100800001 meters Centerline goodness : 0.896292 with order 1 Centerline is valid? [False, False] Translation: X:14.47, Y:-0.36, Z:0.84 [[ 0.96147175 0.09185005 0.25910546 14.46766618] [-0.10298693 0.9942389 0.02971041 -0.36266875] [-0.25488383 -0.0552502 0.96539197 0.84352289] [ 0. 0. 0. 1. ]] SLAMing on 81.84240100800001 meters Centerline goodness : 0.891146 with order 1 Centerline is valid? [False, False] Translation: X:14.47, Y:-0.36, Z:0.84 [[ 0.96150898 0.09367727 0.25831194 14.47135436] [-0.10556845 0.99388006 0.03252287 -0.36081219] [-0.25368444 -0.05854062 0.96551396 0.84065111] [ 0. 0. 0. 1. ]] SLAMing on 81.902401008 meters Centerline goodness : 0.892004 with order 1 Centerline is valid? [False, False] Translation: X:14.47, Y:-0.36, Z:0.84 [[ 0.96162163 0.09331052 0.25802518 14.47237648] [-0.10527533 0.99389811 0.03291882 -0.36107808] [-0.25337907 -0.05881914 0.96557721 0.84168435] [ 0. 0. 0. 1. ]] SLAMing on 81.962401008 meters Centerline goodness : 0.895198 with order 1 Centerline is valid? [False, False] Translation: X:14.52, Y:-0.37, Z:0.85 [[ 0.96270384 0.08476393 0.25693654 14.51887337] [-0.09939549 0.99405335 0.04448006 -0.37313325] [-0.25163833 -0.06835946 0.96540413 0.84505752] [ 0. 0. 0. 1. ]] SLAMing on 82.022401008 meters Centerline goodness : 0.898020 with order 1 Centerline is valid? [False, False] Translation: X:14.56, Y:-0.38, Z:0.85 [[ 0.96254992 0.06966583 0.26200061 14.55938041] [-0.09037487 0.99359544 0.06782684 -0.38291227] [-0.2555974 -0.08896499 0.96268125 0.85382496] [ 0. 0. 0. 1. ]] SLAMing on 82.082401008 meters Centerline goodness : 0.897200 with order 1 Centerline is valid? [False, False] Translation: X:14.60, Y:-0.39, Z:0.87 [[ 0.96123447 0.05385149 0.27042247 14.5953324 ] [-0.08175418 0.99230451 0.09299472 -0.39399523] [-0.26333353 -0.1114979 0.95823988 0.86821161] [ 0. 0. 0. 1. ]] SLAMing on 82.14240100800001 meters Centerline goodness : 0.897843 with order 1 Centerline is valid? [False, False] Translation: X:14.61, Y:-0.40, Z:0.88 [[ 0.9608203 0.04857193 0.27288297 14.61104251] [-0.08076154 0.99086598 0.10799156 -0.39829558] [-0.26514509 -0.12579893 0.9559669 0.876695 ] [ 0. 0. 0. 1. ]] SLAMing on 82.20240100800001 meters Centerline goodness : 0.894618 with order 1 Centerline is valid? [False, False] Translation: X:14.61, Y:-0.39, Z:0.87 [[ 0.96091847 0.04750132 0.27272573 14.61429183] [-0.07912549 0.99119686 0.10615054 -0.39305592] [-0.26528259 -0.12358157 0.95621794 0.87183917] [ 0. 0. 0. 1. ]] SLAMing on 82.262401008 meters Centerline goodness : 0.902459 with order 1 Centerline is valid? [False, False] Translation: X:14.61, Y:-0.39, Z:0.86 [[ 0.96008659 0.0592308 0.27335957 14.6087177 ] [-0.08607697 0.99245855 0.08727416 -0.38842538] [-0.26612873 -0.10732071 0.95794455 0.86248874] [ 0. 0. 0. 1. ]] SLAMing on 82.322401008 meters Centerline goodness : 0.903748 with order 1 Centerline is valid? [False, False] Translation: X:14.63, Y:-0.39, Z:0.86 [[ 0.95857251 0.06168627 0.2780891 14.62724734] [-0.08866232 0.99238661 0.08548567 -0.39140485] [-0.2706986 -0.10660024 0.95674378 0.85993655] [ 0. 0. 0. 1. ]] SLAMing on 82.382401008 meters Centerline goodness : 0.911518 with order 1 Centerline is valid? [False, False] Translation: X:14.65, Y:-0.39, Z:0.86 [[ 0.9576206 0.06063993 0.28157695 14.65414753] [-0.08772958 0.99254467 0.08460851 -0.39448914] [-0.27434705 -0.10572547 0.95580114 0.85539572] [ 0. 0. 0. 1. ]] SLAMing on 82.442401008 meters Centerline goodness : 0.912361 with order 1 Centerline is valid? [False, False] Translation: X:14.65, Y:-0.40, Z:0.86 [[ 0.95782193 0.05794075 0.28146053 14.65451755] [-0.08398592 0.99313973 0.08136237 -0.39699109] [-0.27481544 -0.10156938 0.95611722 0.85534911] [ 0. 0. 0. 1. ]] SLAMing on 82.502401008 meters Centerline goodness : 0.914384 with order 1 Centerline is valid? [False, False] Translation: X:14.66, Y:-0.40, Z:0.85 [[ 0.95799083 0.05785121 0.28090356 14.65598154] [-0.08361346 0.99323322 0.08060126 -0.3972857 ] [-0.27433986 -0.10070259 0.95634545 0.85283991] [ 0. 0. 0. 1. ]] SLAMing on 82.56240100800001 meters Centerline goodness : 0.901867 with order 1 Centerline is valid? [False, False] Translation: X:14.66, Y:-0.40, Z:0.85 [[ 0.95810497 0.06147094 0.27974307 14.66275544] [-0.08932878 0.99211247 0.08793875 -0.39559505] [-0.27213091 -0.10924366 0.95603901 0.84840517] [ 0. 0. 0. 1. ]] SLAMing on 82.622401008 meters Centerline goodness : 0.900233 with order 1 Centerline is valid? [False, False] Translation: X:14.67, Y:-0.39, Z:0.84 [[ 0.9568924 0.07034122 0.2817961 14.66949869] [-0.09521221 0.99258636 0.07554435 -0.39182312] [-0.27439309 -0.09911824 0.95649569 0.83645104] [ 0. 0. 0. 1. ]] SLAMing on 82.682401008 meters Centerline goodness : 0.909301 with order 1 Centerline is valid? [False, False] Translation: X:14.65, Y:-0.39, Z:0.83 [[ 0.95537127 0.08133423 0.2839903 14.65464379] [-0.09988974 0.99366718 0.05145467 -0.38594291] [-0.27800681 -0.07752603 0.95744552 0.83212804] [ 0. 0. 0. 1. ]] SLAMing on 82.742401008 meters Centerline goodness : 0.915800 with order 1 Centerline is valid? [False, False] Translation: X:14.68, Y:-0.39, Z:0.83 [[ 0.95470131 0.07974496 0.28668126 14.68237621] [-0.09856239 0.99378206 0.05179458 -0.39052864] [-0.28076833 -0.07770434 0.95662489 0.8287571 ] [ 0. 0. 0. 1. ]] SLAMing on 82.802401008 meters Centerline goodness : 0.919715 with order 1 Centerline is valid? [False, False] Translation: X:14.69, Y:-0.39, Z:0.83 [[ 0.95504592 0.07848602 0.28587976 14.68559468] [-0.09740404 0.99385689 0.05254469 -0.39398285] [-0.27999954 -0.07802844 0.95682382 0.82868638] [ 0. 0. 0. 1. ]] SLAMing on 82.862401008 meters Centerline goodness : 0.914578 with order 1 Centerline is valid? [False, False] Translation: X:14.69, Y:-0.40, Z:0.83 [[ 0.95528066 0.07827108 0.28515346 14.68738944] [-0.09743757 0.99379524 0.05363711 -0.39672686] [-0.27918592 -0.07902315 0.95697992 0.83013782] [ 0. 0. 0. 1. ]] SLAMing on 82.92240100800001 meters Centerline goodness : 0.915102 with order 1 Centerline is valid? [False, False] Translation: X:14.69, Y:-0.40, Z:0.83 [[ 0.95580793 0.07702173 0.28372319 14.69183512] [-0.09629465 0.9938543 0.05459834 -0.39928897] [-0.27777425 -0.07950656 0.9573506 0.8305137 ] [ 0. 0. 0. 1. ]] SLAMing on 82.98240100800001 meters Centerline goodness : 0.906635 with order 1 Centerline is valid? [False, False] Translation: X:14.70, Y:-0.39, Z:0.82 [[ 0.95636492 0.07558448 0.28222886 14.69745722] [-0.09332678 0.99438226 0.04994029 -0.39199071] [-0.27686866 -0.07410065 0.95804636 0.81908275] [ 0. 0. 0. 1. ]] SLAMing on 83.042401008 meters Centerline goodness : 0.905960 with order 1 Centerline is valid? [False, False] Translation: X:14.71, Y:-0.39, Z:0.82 [[ 0.95677596 0.07380684 0.28130467 14.71229923] [-0.09478187 0.99358525 0.06168269 -0.39224891] [-0.27494757 -0.0856791 0.95763403 0.82178511] [ 0. 0. 0. 1. ]] SLAMing on 83.102401008 meters Centerline goodness : 0.905094 with order 1 Centerline is valid? [False, False] Translation: X:14.71, Y:-0.39, Z:0.82 [[ 0.95672346 0.0740896 0.28140888 14.71188043] [-0.09506415 0.99356283 0.0616094 -0.38988035] [-0.27503279 -0.08569505 0.95760813 0.82310261] [ 0. 0. 0. 1. ]] SLAMing on 83.162401008 meters Centerline goodness : 0.913664 with order 1 Centerline is valid? [False, False] Translation: X:14.71, Y:-0.39, Z:0.83 [[ 0.95667796 0.07413604 0.28155129 14.71133375] [-0.0960913 0.9932498 0.06497155 -0.39172919] [-0.27483403 -0.08921147 0.95734402 0.83219933] [ 0. 0. 0. 1. ]] SLAMing on 83.222401008 meters Centerline goodness : 0.920989 with order 1 Centerline is valid? [False, False] Translation: X:14.71, Y:-0.39, Z:0.82 [[ 0.9552791 0.08244514 0.28398001 14.71209851] [-0.09977321 0.99389583 0.04707861 -0.38575157] [-0.27836514 -0.07330681 0.95767372 0.82175959] [ 0. 0. 0. 1. ]] SLAMing on 83.28240100800001 meters Centerline goodness : 0.910247 with order 1 Centerline is valid? [False, False] Translation: X:14.72, Y:-0.39, Z:0.82 [[ 0.95545808 0.08255909 0.28334405 14.72155568] [-0.10167118 0.99338399 0.05339686 -0.38578283] [-0.27706105 -0.07982638 0.95753064 0.81660514] [ 0. 0. 0. 1. ]] SLAMing on 83.34240100800001 meters Centerline goodness : 0.905144 with order 1 Centerline is valid? [False, False] Translation: X:14.77, Y:-0.40, Z:0.82 [[ 0.95672689 0.07842099 0.28022099 14.76516098] [-0.10087738 0.99266637 0.06661254 -0.39801596] [-0.27294213 -0.09199797 0.95762152 0.81847254] [ 0. 0. 0. 1. ]] SLAMing on 83.402401008 meters Centerline goodness : 0.904556 with order 1 Centerline is valid? [False, False] Translation: X:14.80, Y:-0.41, Z:0.82 [[ 0.95773894 0.07663679 0.27724164 14.80039705] [-0.10102876 0.99206966 0.07477282 -0.4083535 ] [-0.26931267 -0.09962222 0.95788627 0.81946137] [ 0. 0. 0. 1. ]] SLAMing on 83.462401008 meters Centerline goodness : 0.904342 with order 1 Centerline is valid? [False, False] Translation: X:14.84, Y:-0.42, Z:0.82 [[ 0.95862929 0.07530051 0.27451725 14.84012386] [-0.10272381 0.99090587 0.08691015 -0.41808436] [-0.26547638 -0.11151407 0.95764654 0.82118123] [ 0. 0. 0. 1. ]] SLAMing on 83.522401008 meters Centerline goodness : 0.909249 with order 1 Centerline is valid? [False, False] Translation: X:14.84, Y:-0.42, Z:0.83 [[ 0.95856457 0.07555133 0.27467427 14.839258 ] [-0.10356109 0.99063978 0.08892654 -0.42025628] [-0.26538474 -0.1136874 0.95741638 0.82646857] [ 0. 0. 0. 1. ]] SLAMing on 83.582401008 meters Centerline goodness : 0.918416 with order 1 Centerline is valid? [False, False] Translation: X:14.86, Y:-0.42, Z:0.82 [[ 0.95759106 0.07712011 0.27761817 14.85980107] [-0.10402805 0.99106168 0.08351595 -0.42095702] [-0.26869597 -0.10885421 0.95705446 0.82113972] [ 0. 0. 0. 1. ]] SLAMing on 83.64240100800001 meters Centerline goodness : 0.912314 with order 1 Centerline is valid? [False, False] Translation: X:14.86, Y:-0.42, Z:0.81 [[ 0.95792213 0.0764225 0.27666729 14.86310144] [-0.10228588 0.99151111 0.08027024 -0.41597979] [-0.26818424 -0.1051918 0.95760738 0.81377147] [ 0. 0. 0. 1. ]] SLAMing on 83.70240100800001 meters Centerline goodness : 0.905449 with order 1 Centerline is valid? [False, False] Translation: X:14.86, Y:-0.41, Z:0.81 [[ 0.95805474 0.07694507 0.27606263 14.86393351] [-0.10178566 0.99183809 0.07679119 -0.41082659] [-0.26790073 -0.10166938 0.95806708 0.80711639] [ 0. 0. 0. 1. ]] SLAMing on 83.762401008 meters Centerline goodness : 0.908102 with order 1 Centerline is valid? [False, False] Translation: X:14.87, Y:-0.41, Z:0.79 [[ 0.95693046 0.08493656 0.27761461 14.86789961] [-0.10550932 0.99260664 0.0599986 -0.40540315] [-0.27046603 -0.08670542 0.95881714 0.79492685] [ 0. 0. 0. 1. ]] SLAMing on 83.822401008 meters Centerline goodness : 0.903195 with order 1 Centerline is valid? [False, False] Translation: X:14.87, Y:-0.40, Z:0.79 [[ 0.95634367 0.08927903 0.27827331 14.86597018] [-0.11067797 0.9919124 0.06213028 -0.39830137] [-0.27047581 -0.09021662 0.95849037 0.7927505 ] [ 0. 0. 0. 1. ]] SLAMing on 83.882401008 meters Centerline goodness : 0.900408 with order 1 Centerline is valid? [False, False] Translation: X:14.86, Y:-0.39, Z:0.79 [[ 0.95635286 0.08929318 0.27823719 14.86312492] [-0.10925844 0.99237406 0.05706422 -0.39286193] [-0.27101993 -0.08497329 0.9588158 0.7904175 ] [ 0. 0. 0. 1. ]] SLAMing on 83.942401008 meters Centerline goodness : 0.905309 with order 1 Centerline is valid? [False, False] Translation: X:14.86, Y:-0.39, Z:0.79 [[ 0.95640283 0.08741281 0.27866221 14.860589 ] [-0.10642884 0.99286222 0.05382848 -0.39240524] [-0.27196788 -0.08113941 0.95887949 0.79341977] [ 0. 0. 0. 1. ]] SLAMing on 84.002401008 meters Centerline goodness : 0.909920 with order 1 Centerline is valid? [False, False] Translation: X:14.86, Y:-0.39, Z:0.80 [[ 0.95660099 0.08501869 0.27872273 14.8594096 ] [-0.10296622 0.99340869 0.05037005 -0.39303073] [-0.27260318 -0.07688306 0.95904979 0.79515638] [ 0. 0. 0. 1. ]] SLAMing on 84.06240100800001 meters Centerline goodness : 0.908727 with order 1 Centerline is valid? [False, False] Translation: X:14.91, Y:-0.41, Z:0.79 [[ 0.9576839 0.07802435 0.27704466 14.90665252] [-0.09934571 0.99300843 0.0637549 -0.40587114] [-0.27013324 -0.08858024 0.95873957 0.79466453] [ 0. 0. 0. 1. ]] SLAMing on 84.122401008 meters Centerline goodness : 0.901847 with order 1 Centerline is valid? [False, False] Translation: X:14.91, Y:-0.41, Z:0.79 [[ 0.95806027 0.07513581 0.27654137 14.91002984] [-0.09531363 0.99362274 0.06024253 -0.40782276] [-0.27025142 -0.08407414 0.95911194 0.78904685] [ 0. 0. 0. 1. ]] SLAMing on 84.182401008 meters Centerline goodness : 0.896389 with order 1 Centerline is valid? [False, False] Translation: X:14.91, Y:-0.41, Z:0.78 [[ 0.95865039 0.07450391 0.27466087 14.9142593 ] [-0.09335768 0.99404498 0.05620437 -0.40653227] [-0.26883781 -0.07952204 0.95989712 0.77951262] [ 0. 0. 0. 1. ]] SLAMing on 84.242401008 meters Centerline goodness : 0.893805 with order 1 Centerline is valid? [False, False] Translation: X:14.95, Y:-0.41, Z:0.77 [[ 0.96055774 0.07225232 0.26853015 14.95440893] [-0.09183886 0.99389807 0.06109214 -0.41320394] [-0.26247754 -0.08334403 0.96133205 0.77391798] [ 0. 0. 0. 1. ]] SLAMing on 84.302401008 meters Centerline goodness : 0.894339 with order 1 Centerline is valid? [False, False] Translation: X:14.95, Y:-0.41, Z:0.77 [[ 0.96049658 0.07250165 0.26868166 14.9538376 ] [-0.09180142 0.9939704 0.05996112 -0.41055632] [-0.26271434 -0.08225781 0.96136093 0.77258148] [ 0. 0. 0. 1. ]] SLAMing on 84.362401008 meters Centerline goodness : 0.908370 with order 1 Centerline is valid? [False, False] Translation: X:14.96, Y:-0.41, Z:0.77 [[ 0.95861634 0.07462895 0.27474577 14.9583925 ] [-0.09038456 0.99488425 0.04512152 -0.40771135] [-0.26997287 -0.068087 0.9604576 0.77068099] [ 0. 0. 0. 1. ]] SLAMing on 84.42240100800001 meters Centerline goodness : 0.910947 with order 1 Centerline is valid? [False, False] Translation: X:14.96, Y:-0.41, Z:0.77 [[ 0.9587979 0.07337561 0.27444966 14.96073181] [-0.08914292 0.99498319 0.04540924 -0.40645347] [-0.26974087 -0.06800353 0.9605287 0.77138111] [ 0. 0. 0. 1. ]] SLAMing on 84.482401008 meters Centerline goodness : 0.913201 with order 1 Centerline is valid? [False, False] Translation: X:14.96, Y:-0.40, Z:0.77 [[ 0.9594058 0.06902084 0.27345316 14.9642956 ] [-0.08312887 0.99572234 0.04033133 -0.40464769] [-0.26949972 -0.06142597 0.96103941 0.76876094] [ 0. 0. 0. 1. ]] SLAMing on 84.542401008 meters Centerline goodness : 0.910000 with order 1 Centerline is valid? [False, False] Translation: X:15.00, Y:-0.41, Z:0.77 [[ 0.96075982 0.06411183 0.2698708 15.0040374 ] [-0.07975115 0.99568818 0.04737938 -0.41420303] [-0.26566959 -0.06704271 0.96173018 0.7708359 ] [ 0. 0. 0. 1. ]] SLAMing on 84.602401008 meters Centerline goodness : 0.901600 with order 1 Centerline is valid? [False, False] Translation: X:15.03, Y:-0.41, Z:0.77 [[ 0.96192533 0.05625831 0.26745964 15.02660264] [-0.07280891 0.99597035 0.05236348 -0.41469213] [-0.26343599 -0.0698432 0.96214521 0.76620028] [ 0. 0. 0. 1. ]] SLAMing on 84.662401008 meters Centerline goodness : 0.894183 with order 1 Centerline is valid? [False, False] Translation: X:15.04, Y:-0.41, Z:0.76 [[ 0.96241741 0.05612029 0.2657127 15.03522129] [-0.07357041 0.99570673 0.05617383 -0.41206753] [-0.26141944 -0.07361126 0.96241429 0.76339882] [ 0. 0. 0. 1. ]] SLAMing on 84.722401008 meters Centerline goodness : 0.895187 with order 1 Centerline is valid? [False, False] Translation: X:15.04, Y:-0.41, Z:0.76 [[ 0.96316603 0.06424428 0.26112042 15.04113588] [-0.078437 0.9959348 0.04428889 -0.40978869] [-0.25721361 -0.06313905 0.9642897 0.76154772] [ 0. 0. 0. 1. ]] SLAMing on 84.78240100800001 meters Centerline goodness : 0.897675 with order 1 Centerline is valid? [False, False] Translation: X:15.04, Y:-0.40, Z:0.75 [[ 0.96129217 0.07413487 0.26537029 15.03932697] [-0.0849677 0.99594511 0.02956068 -0.40465361] [-0.26210277 -0.05096435 0.9636933 0.75433927] [ 0. 0. 0. 1. ]] SLAMing on 84.84240100800001 meters Centerline goodness : 0.902936 with order 1 Centerline is valid? [False, False] Translation: X:15.04, Y:-0.40, Z:0.76 [[ 0.96065466 0.07835763 0.26646334 15.03632412] [-0.09045241 0.9953404 0.03340426 -0.4026211 ] [-0.26260425 -0.0561922 0.96326603 0.75526288] [ 0. 0. 0. 1. ]] SLAMing on 84.902401008 meters Centerline goodness : 0.899808 with order 1 Centerline is valid? [False, False] Translation: X:15.04, Y:-0.40, Z:0.76 [[ 0.96181004 0.08856586 0.25899333 15.04476438] [-0.1013078 0.99419467 0.03624476 -0.40380416] [-0.25427974 -0.06109862 0.96519883 0.75762308] [ 0. 0. 0. 1. ]] SLAMing on 84.962401008 meters Centerline goodness : 0.894330 with order 1 Centerline is valid? [False, False] Translation: X:15.05, Y:-0.40, Z:0.75 [[ 0.96183147 0.08916929 0.2587065 15.04502137] [-0.10157282 0.99421388 0.03495309 -0.40129643] [-0.25409285 -0.05989654 0.96532338 0.75484046] [ 0. 0. 0. 1. ]] SLAMing on 85.022401008 meters Centerline goodness : 0.891524 with order 1 Centerline is valid? [False, False] Translation: X:15.05, Y:-0.40, Z:0.75 [[ 0.96219876 0.08645731 0.25826088 15.04530939] [-0.0972365 0.99483182 0.02923541 -0.40001867] [-0.25439853 -0.05324266 0.96563275 0.75099882] [ 0. 0. 0. 1. ]] SLAMing on 85.082401008 meters Centerline goodness : 0.891965 with order 1 Centerline is valid? [False, False] Translation: X:15.06, Y:-0.41, Z:0.75 [[ 0.96339798 0.07684831 0.25682421 15.05572666] [-0.08609032 0.99597561 0.02492054 -0.40604396] [-0.25387555 -0.04611847 0.96613679 0.74806471] [ 0. 0. 0. 1. ]] SLAMing on 85.14240100800001 meters Centerline goodness : 0.893729 with order 1 Centerline is valid? [False, False] Translation: X:15.06, Y:-0.41, Z:0.75 [[ 0.96386619 0.0727538 0.25625936 15.05750711] [-0.08086679 0.99649835 0.02125082 -0.40742381] [-0.25381595 -0.04120582 0.96637443 0.74843832] [ 0. 0. 0. 1. ]] SLAMing on 85.20240100800001 meters Centerline goodness : 0.898919 with order 1 Centerline is valid? [False, False] Translation: X:15.06, Y:-0.41, Z:0.75 [[ 0.96415554 0.07167128 0.25547472 15.06028455] [-0.07976215 0.99658338 0.0214374 -0.40704163] [-0.25306541 -0.0410462 0.96657804 0.74883377] [ 0. 0. 0. 1. ]] SLAMing on 85.262401008 meters Centerline goodness : 0.892064 with order 1 Centerline is valid? [False, False] Translation: X:15.08, Y:-0.41, Z:0.76 [[ 0.96468695 0.0675603 0.25458731 15.08024658] [-0.07928163 0.99620012 0.03605196 -0.41153446] [-0.25118423 -0.05496295 0.96637754 0.75619686] [ 0. 0. 0. 1. ]] SLAMing on 85.322401008 meters Centerline goodness : 0.896266 with order 1 Centerline is valid? [False, False] Translation: X:15.08, Y:-0.41, Z:0.75 [[ 0.96488539 0.06721689 0.25392533 15.08191642] [-0.07863934 0.9962853 0.03509202 -0.40966977] [-0.2506233 -0.0538283 0.96658703 0.75461815] [ 0. 0. 0. 1. ]] SLAMing on 85.382401008 meters Centerline goodness : 0.894035 with order 1 Centerline is valid? [False, False] Translation: X:15.12, Y:-0.42, Z:0.76 [[ 0.96566468 0.06783585 0.25077883 15.11761374] [-0.08145744 0.99569048 0.04433014 -0.416926 ] [-0.24669092 -0.06323586 0.96702886 0.75636559] [ 0. 0. 0. 1. ]] SLAMing on 85.442401008 meters Centerline goodness : 0.889607 with order 1 Centerline is valid? [False, False] Translation: X:15.15, Y:-0.42, Z:0.76 [[ 0.9657585 0.06950315 0.24995966 15.14905414] [-0.08494648 0.99505254 0.05152228 -0.42361079] [-0.24514204 -0.07099127 0.96688449 0.75588271] [ 0. 0. 0. 1. ]] SLAMing on 85.502401008 meters Centerline goodness : 0.894328 with order 1 Centerline is valid? [False, False] Translation: X:15.18, Y:-0.43, Z:0.76 [[ 0.96593826 0.06963419 0.24922753 15.18402265] [-0.08849265 0.99393621 0.06526761 -0.43407068] [-0.24317141 -0.08509929 0.96624312 0.76264219] [ 0. 0. 0. 1. ]] SLAMing on 85.56240100800001 meters Centerline goodness : 0.896273 with order 1 Centerline is valid? [False, False] Translation: X:15.19, Y:-0.44, Z:0.77 [[ 0.96615836 0.06912751 0.2485144 15.18576624] [-0.08818493 0.99389014 0.06637625 -0.43649872] [-0.24240758 -0.08604519 0.96635128 0.76504635] [ 0. 0. 0. 1. ]] SLAMing on 85.622401008 meters Centerline goodness : 0.891498 with order 1 Centerline is valid? [False, False] Translation: X:15.23, Y:-0.44, Z:0.77 [[ 0.96728469 0.06761817 0.24451609 15.22523856] [-0.08890496 0.99305294 0.07708279 -0.44494401] [-0.23760522 -0.0962997 0.9665765 0.7671129 ] [ 0. 0. 0. 1. ]] SLAMing on 85.682401008 meters Centerline goodness : 0.886218 with order 1 Centerline is valid? [False, False] Translation: X:15.27, Y:-0.48, Z:0.85 [[ 0.9628783 0.02154996 0.26907432 15.26575297] [-0.0784021 0.97616354 0.20238049 -0.47952531] [-0.25829924 -0.21596377 0.94161624 0.85406307] [ 0. 0. 0. 1. ]] SLAMing on 85.742401008 meters Centerline goodness : 0.885600 with order 1 Centerline is valid? [False, False] Translation: X:15.27, Y:-0.47, Z:0.84 [[ 0.9626562 0.01849011 0.27009473 15.26606845] [-0.07277567 0.97861648 0.19238889 -0.47079523] [-0.26076187 -0.20486068 0.94341685 0.84137213] [ 0. 0. 0. 1. ]] SLAMing on 85.802401008 meters Centerline goodness : 0.886868 with order 1 Centerline is valid? [False, False] Translation: X:15.25, Y:-0.46, Z:0.84 [[ 0.96159929 0.01769672 0.27388615 15.25364025] [-0.06966883 0.98097184 0.1812195 -0.46146567] [-0.26546761 -0.19334187 0.94453474 0.84031233] [ 0. 0. 0. 1. ]] SLAMing on 85.862401008 meters Centerline goodness : 0.894253 with order 1 Centerline is valid? [False, False] Translation: X:15.23, Y:-0.45, Z:0.84 [[ 0.96083576 0.02273211 0.27618452 15.22901635] [-0.07104704 0.98352621 0.16621825 -0.45256219] [-0.26785623 -0.17933053 0.94662221 0.84157851] [ 0. 0. 0. 1. ]] SLAMing on 85.92240100800001 meters Centerline goodness : 0.896696 with order 1 Centerline is valid? [False, False] Translation: X:15.21, Y:-0.44, Z:0.83 [[ 0.96106255 0.03804859 0.27369889 15.2091335 ] [-0.07953355 0.9866501 0.14211263 -0.44012477] [-0.26463785 -0.15834737 0.9512586 0.83325521] [ 0. 0. 0. 1. ]] SLAMing on 85.982401008 meters Centerline goodness : 0.894519 with order 1 Centerline is valid? [False, False] Translation: X:15.22, Y:-0.43, Z:0.82 [[ 0.95970315 0.04900081 0.27671066 15.21730163] [-0.0890704 0.98695044 0.13414654 -0.4334645 ] [-0.26652642 -0.15338758 0.95154396 0.82025248] [ 0. 0. 0. 1. ]] SLAMing on 86.042401008 meters Centerline goodness : 0.889823 with order 1 Centerline is valid? [False, False] Translation: X:15.21, Y:-0.43, Z:0.81 [[ 0.95919171 0.06695004 0.27471613 15.21289177] [-0.10366806 0.98717729 0.12138342 -0.42520274] [-0.2630669 -0.14490926 0.95383285 0.81028403] [ 0. 0. 0. 1. ]] SLAMing on 86.102401008 meters Centerline goodness : 0.886152 with order 1 Centerline is valid? [False, False] Translation: X:15.20, Y:-0.42, Z:0.80 [[ 0.95974299 0.08323325 0.26826408 15.20284946] [-0.11491758 0.98784905 0.10463369 -0.41803695] [-0.25629541 -0.13124971 0.95764616 0.80315566] [ 0. 0. 0. 1. ]] SLAMing on 86.162401008 meters Centerline goodness : 0.886160 with order 1 Centerline is valid? [False, False] Translation: X:15.19, Y:-0.41, Z:0.80 [[ 0.96108545 0.09558473 0.2591878 15.1884957 ] [-0.12219798 0.98854714 0.08855619 -0.41330956] [-0.24775474 -0.1167823 0.96175854 0.7985712 ] [ 0. 0. 0. 1. ]] SLAMing on 86.222401008 meters Centerline goodness : 0.884624 with order 1 Centerline is valid? [False, False] Translation: X:15.19, Y:-0.41, Z:0.79 [[ 0.96164727 0.09067349 0.25886839 15.18727154] [-0.11413084 0.99047393 0.07704254 -0.40994524] [-0.24941667 -0.10363261 0.96283519 0.79126021] [ 0. 0. 0. 1. ]] SLAMing on 86.28240100800001 meters Centerline goodness : 0.883701 with order 1 Centerline is valid? [False, False] Translation: X:15.18, Y:-0.41, Z:0.78 [[ 0.96240019 0.08346073 0.258496 15.1845642 ] [-0.1022316 0.99294815 0.0600223 -0.40603324] [-0.25166362 -0.08419194 0.96414581 0.78101886] [ 0. 0. 0. 1. ]] SLAMing on 86.34240100800001 meters Centerline goodness : 0.886226 with order 1 Centerline is valid? [False, False] Translation: X:15.18, Y:-0.41, Z:0.78 [[ 0.96292381 0.07791508 0.25827695 15.18335721] [-0.09451221 0.99414046 0.05246125 -0.40847559] [-0.25267605 -0.07492651 0.96464544 0.78199259] [ 0. 0. 0. 1. ]] SLAMing on 86.402401008 meters Centerline goodness : 0.894492 with order 1 Centerline is valid? [False, False] Translation: X:15.23, Y:-0.43, Z:0.80 [[ 0.96275981 0.06297403 0.26292172 15.23462433] [-0.08606135 0.99329218 0.07722755 -0.42986545] [-0.25629476 -0.09697898 0.96172141 0.79998044] [ 0. 0. 0. 1. ]] SLAMing on 86.462401008 meters Centerline goodness : 0.897399 with order 1 Centerline is valid? [False, False] Translation: X:15.29, Y:-0.47, Z:0.88 [[ 0.95684932 0.02313705 0.28966195 15.2914895 ] [-0.08077309 0.97871809 0.18864412 -0.46759228] [-0.27913272 -0.20390089 0.9383546 0.87759176] [ 0. 0. 0. 1. ]] SLAMing on 86.522401008 meters Centerline goodness : 0.893673 with order 1 Centerline is valid? [False, False] Translation: X:15.31, Y:-0.46, Z:0.86 [[ 0.95544557 0.02690392 0.29393867 15.30840943] [-0.08304412 0.98011349 0.18022549 -0.46295181] [-0.28324448 -0.19660553 0.9386793 0.86349262] [ 0. 0. 0. 1. ]] SLAMing on 86.582401008 meters Centerline goodness : 0.895632 with order 1 Centerline is valid? [False, False] Translation: X:15.34, Y:-0.47, Z:0.87 [[ 0.95597073 0.02843191 0.29208146 15.34019132] [-0.0874786 0.97765561 0.19114655 -0.46723125] [-0.28012042 -0.20828139 0.93709734 0.86847852] [ 0. 0. 0. 1. ]] SLAMing on 86.64240100800001 meters Centerline goodness : 0.892019 with order 1 Centerline is valid? [False, False] Translation: X:15.35, Y:-0.46, Z:0.86 [[ 0.95665658 0.02939968 0.28973063 15.34773527] [-0.08837927 0.97727922 0.19265108 -0.46414069] [-0.27748384 -0.20990711 0.93751892 0.86190867] [ 0. 0. 0. 1. ]] SLAMing on 86.70240100800001 meters Centerline goodness : 0.881790 with order 1 Centerline is valid? [False, False] Translation: X:15.35, Y:-0.46, Z:0.85 [[ 0.95685106 0.03012171 0.28901339 15.34880812] [-0.08755365 0.97827617 0.18790981 -0.45672246] [-0.27707475 -0.20510588 0.93870185 0.85209167] [ 0. 0. 0. 1. ]] SLAMing on 86.762401008 meters Centerline goodness : 0.877486 with order 1 Centerline is valid? [False, False] Translation: X:15.37, Y:-0.45, Z:0.84 [[ 0.95597231 0.03381391 0.29150226 15.37118531] [-0.09132356 0.97829426 0.18601171 -0.45192536] [-0.2788852 -0.20444307 0.93831022 0.8447831 ] [ 0. 0. 0. 1. ]] SLAMing on 86.822401008 meters Centerline goodness : 0.884228 with order 1 Centerline is valid? [False, False] Translation: X:15.35, Y:-0.44, Z:0.84 [[ 0.95509961 0.0453111 0.29279967 15.35186236] [-0.0949098 0.98295095 0.15747875 -0.44023985] [-0.28067217 -0.17819745 0.94311654 0.83834776] [ 0. 0. 0. 1. ]] SLAMing on 86.882401008 meters Centerline goodness : 0.886369 with order 1 Centerline is valid? [False, False] Translation: X:15.36, Y:-0.43, Z:0.83 [[ 0.95332526 0.04859127 0.29800978 15.35761574] [-0.09408145 0.98563564 0.14025356 -0.43422281] [-0.28691396 -0.16174445 0.9442029 0.82783745] [ 0. 0. 0. 1. ]] SLAMing on 86.942401008 meters Centerline goodness : 0.890232 with order 1 Centerline is valid? [False, False] Translation: X:15.38, Y:-0.43, Z:0.82 [[ 0.95203928 0.04892796 0.30203851 15.3782581 ] [-0.09327381 0.98655633 0.13418866 -0.4332781 ] [-0.29141243 -0.15592516 0.94380408 0.82040154] [ 0. 0. 0. 1. ]] SLAMing on 87.002401008 meters Centerline goodness : 0.888732 with order 1 Centerline is valid? [False, False] Translation: X:15.41, Y:-0.43, Z:0.81 [[ 0.95116906 0.04491785 0.3053847 15.4070911 ] [-0.08831853 0.98759633 0.12982034 -0.43203732] [-0.29576556 -0.15045222 0.94333815 0.81285651] [ 0. 0. 0. 1. ]] SLAMing on 87.06240100800001 meters Centerline goodness : 0.890909 with order 1 Centerline is valid? [False, False] Translation: X:15.44, Y:-0.44, Z:0.81 [[ 0.95199121 0.04070574 0.30340695 15.44487595] [-0.08522522 0.98717812 0.13496673 -0.43747401] [-0.29402278 -0.15434507 0.94325405 0.81016405] [ 0. 0. 0. 1. ]] SLAMing on 87.122401008 meters Centerline goodness : 0.887026 with order 1 Centerline is valid? [False, False] Translation: X:15.50, Y:-0.45, Z:0.81 [[ 0.95305516 0.03205119 0.30109565 15.49631203] [-0.08109148 0.98507635 0.15181816 -0.4457034 ] [-0.29173625 -0.16910738 0.94143117 0.81159437] [ 0. 0. 0. 1. ]] SLAMing on 87.182401008 meters Centerline goodness : 0.885723 with order 1 Centerline is valid? [False, False] Translation: X:15.51, Y:-0.45, Z:0.81 [[ 0.9537195 0.02857478 0.29933692 15.51029605] [-0.07918134 0.98420663 0.15832761 -0.4450132 ] [-0.29008521 -0.17470203 0.94091964 0.81141342] [ 0. 0. 0. 1. ]] SLAMing on 87.242401008 meters Centerline goodness : 0.882846 with order 1 Centerline is valid? [False, False] Translation: X:15.53, Y:-0.45, Z:0.83 [[ 0.95294967 0.01666396 0.3026702 15.52693409] [-0.07986227 0.97701337 0.19765346 -0.44984203] [-0.29241914 -0.21252572 0.93237539 0.83076499] [ 0. 0. 0. 1. ]] SLAMing on 87.302401008 meters Centerline goodness : 0.887702 with order 1 Centerline is valid? [False, False] Translation: X:15.51, Y:-0.44, Z:0.82 [[ 0.95394326 0.03235356 0.29823734 15.50791451] [-0.08704724 0.98124673 0.17198147 -0.44145319] [-0.28708021 -0.1900213 0.93886999 0.82379996] [ 0. 0. 0. 1. ]] SLAMing on 87.362401008 meters Centerline goodness : 0.886998 with order 1 Centerline is valid? [False, False] Translation: X:15.49, Y:-0.43, Z:0.82 [[ 0.95314256 0.04857858 0.29859568 15.49078205] [-0.09729078 0.98381046 0.1505041 -0.43316945] [-0.28645028 -0.17250247 0.94243787 0.81932009] [ 0. 0. 0. 1. ]] SLAMing on 87.42240100800001 meters Centerline goodness : 0.893168 with order 1 Centerline is valid? [False, False] Translation: X:15.49, Y:-0.43, Z:0.81 [[ 0.95173179 0.05935148 0.30113784 15.48760491] [-0.10331752 0.98581925 0.13223426 -0.42706925] [-0.28901918 -0.15696436 0.94436757 0.80679609] [ 0. 0. 0. 1. ]] SLAMing on 87.482401008 meters Centerline goodness : 0.888503 with order 1 Centerline is valid? [False, False] Translation: X:15.51, Y:-0.43, Z:0.80 [[ 0.95050378 0.06026407 0.30481275 15.50685023] [-0.1026925 0.98681177 0.12512704 -0.42796608] [-0.29325215 -0.15023571 0.94415698 0.79785523] [ 0. 0. 0. 1. ]] SLAMing on 87.542401008 meters Centerline goodness : 0.889329 with order 1 Centerline is valid? [False, False] Translation: X:15.54, Y:-0.44, Z:0.80 [[ 0.9505273 0.05374236 0.30595687 15.54268684] [-0.09675397 0.98714768 0.12719324 -0.43619826] [-0.29518895 -0.15050319 0.94351061 0.7970754 ] [ 0. 0. 0. 1. ]] SLAMing on 87.602401008 meters Centerline goodness : 0.888837 with order 1 Centerline is valid? [False, False] Translation: X:15.59, Y:-0.45, Z:0.80 [[ 0.95051286 0.04333207 0.30764855 15.5899765 ] [-0.09213467 0.98499616 0.14592385 -0.4491313 ] [-0.29670945 -0.16704759 0.94024391 0.80102083] [ 0. 0. 0. 1. ]] SLAMing on 87.662401008 meters Centerline goodness : 0.883141 with order 1 Centerline is valid? [False, False] Translation: X:15.64, Y:-0.46, Z:0.81 [[ 0.94876222 0.02414757 0.31506689 15.63908358] [-0.08431649 0.98027104 0.178772 -0.45880197] [-0.30453404 -0.19617745 0.93208016 0.8123171 ] [ 0. 0. 0. 1. ]] SLAMing on 87.722401008 meters Centerline goodness : 0.882696 with order 1 Centerline is valid? [False, False] Translation: X:15.66, Y:-0.46, Z:0.82 [[ 9.47450878e-01 1.40674890e-02 3.19591832e-01 1.56561812e+01] [-7.89678383e-02 9.78400828e-01 1.91039003e-01 -4.58934814e-01] [-3.10001473e-01 -2.06237547e-01 9.28097603e-01 8.21033935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.78240100800001 meters Centerline goodness : 0.888148 with order 1 Centerline is valid? [False, False] Translation: X:15.65, Y:-0.45, Z:0.82 [[ 9.47224849e-01 1.28495026e-02 3.20312310e-01 1.56541765e+01] [-7.62055510e-02 9.79579048e-01 1.86058063e-01 -4.52363973e-01] [-3.11380475e-01 -2.00648397e-01 9.28860819e-01 8.19741656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84240100800001 meters Centerline goodness : 0.882289 with order 1 Centerline is valid? [False, False] Translation: X:15.66, Y:-0.44, Z:0.81 [[ 9.47233903e-01 1.32652680e-02 3.20268585e-01 1.56593875e+01] [-7.73783812e-02 9.79057743e-01 1.88304334e-01 -4.44719039e-01] [-3.11063530e-01 -2.03150114e-01 9.28423132e-01 8.13779112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.902401008 meters Centerline goodness : 0.877689 with order 1 Centerline is valid? [False, False] Translation: X:15.66, Y:-0.44, Z:0.81 [[ 9.46845034e-01 1.47710921e-02 3.21350738e-01 1.56607779e+01] [-7.96589955e-02 9.78599577e-01 1.89729578e-01 -4.37321021e-01] [-3.11671183e-01 -2.05242985e-01 9.27758800e-01 8.08509658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.962401008 meters Centerline goodness : 0.880977 with order 1 Centerline is valid? [False, False] Translation: X:15.67, Y:-0.43, Z:0.80 [[ 0.94572765 0.01930729 0.32438626 15.66593828] [-0.07870007 0.98212467 0.17098957 -0.43043351] [-0.31528641 -0.18723878 0.93034194 0.79825517] [ 0. 0. 0. 1. ]] SLAMing on 88.022401008 meters Centerline goodness : 0.886359 with order 1 Centerline is valid? [False, False] Translation: X:15.68, Y:-0.43, Z:0.80 [[ 9.43576448e-01 1.45287690e-02 3.30835915e-01 1.56843322e+01] [-7.23135467e-02 9.83966786e-01 1.63034093e-01 -4.30736612e-01] [-3.23162867e-01 -1.77759049e-01 9.29498511e-01 7.99680884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.082401008 meters Centerline goodness : 0.887439 with order 1 Centerline is valid? [False, False] Translation: X:15.68, Y:-0.43, Z:0.81 [[ 9.43676544e-01 -1.54755018e-03 3.30865811e-01 1.56824759e+01] [-5.82937541e-02 9.83568926e-01 1.70862534e-01 -4.29990730e-01] [-3.25693749e-01 -1.80526375e-01 9.28080713e-01 8.09257227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.14240100800001 meters Centerline goodness : 0.883105 with order 1 Centerline is valid? [False, False] Translation: X:15.63, Y:-0.42, Z:0.81 [[ 9.45997090e-01 -2.35110194e-04 3.24175031e-01 1.56286786e+01] [-5.17287515e-02 9.87076813e-01 1.51669054e-01 -4.16876185e-01] [-3.20021316e-01 -1.60247653e-01 9.33759630e-01 8.12306980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.20240100800001 meters Centerline goodness : 0.883154 with order 1 Centerline is valid? [False, False] Translation: X:15.58, Y:-0.40, Z:0.82 [[ 9.49392985e-01 3.29685137e-03 3.14073384e-01 1.55827037e+01] [-4.34555614e-02 9.91707078e-01 1.20949104e-01 -4.03001075e-01] [-3.11070046e-01 -1.28476466e-01 9.41663010e-01 8.15628672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.262401008 meters Centerline goodness : 0.880037 with order 1 Centerline is valid? [False, False] Translation: X:15.56, Y:-0.39, Z:0.81 [[ 9.51182909e-01 9.37978507e-03 3.08485160e-01 1.55566446e+01] [-4.14899807e-02 9.94351083e-01 9.76959835e-02 -3.89753219e-01] [-3.05826186e-01 -1.05725793e-01 9.46198922e-01 8.10770557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.322401008 meters Centerline goodness : 0.874989 with order 1 Centerline is valid? [False, False] Translation: X:15.52, Y:-0.37, Z:0.81 [[ 0.95292082 0.01918015 0.30261201 15.52158188] [-0.04540673 0.99577046 0.07987121 -0.36578318] [-0.29980016 -0.08985156 0.94976132 0.8127165 ] [ 0. 0. 0. 1. ]] SLAMing on 88.382401008 meters Centerline goodness : 0.874310 with order 1 Centerline is valid? [False, False] Translation: X:15.49, Y:-0.35, Z:0.82 [[ 0.95353563 0.03008579 0.29977433 15.49461723] [-0.05311167 0.99620467 0.06895943 -0.34682966] [-0.29656189 -0.08167679 0.95151455 0.81556782] [ 0. 0. 0. 1. ]] SLAMing on 88.442401008 meters Centerline goodness : 0.877434 with order 1 Centerline is valid? [False, False] Translation: X:15.46, Y:-0.32, Z:0.82 [[ 0.95264916 0.03753308 0.30174634 15.45742784] [-0.05820298 0.99651202 0.05980141 -0.3160735 ] [-0.29844932 -0.07453229 0.95151087 0.82080652] [ 0. 0. 0. 1. ]] SLAMing on 88.502401008 meters Centerline goodness : 0.880403 with order 1 Centerline is valid? [False, False] Translation: X:15.42, Y:-0.29, Z:0.83 [[ 0.95360267 0.04557151 0.29759904 15.42346691] [-0.06078156 0.99726488 0.04205183 -0.29463226] [-0.29486871 -0.05818927 0.95376436 0.82648209] [ 0. 0. 0. 1. ]] SLAMing on 88.56240100800001 meters Centerline goodness : 0.890047 with order 1 Centerline is valid? [False, False] Translation: X:15.38, Y:-0.26, Z:0.86 [[ 0.9597149 0.02632526 0.2797397 15.38086326] [-0.04234224 0.99778178 0.05136779 -0.25682182] [-0.27776691 -0.06114324 0.95870071 0.86269762] [ 0. 0. 0. 1. ]] SLAMing on 88.622401008 meters Centerline goodness : 0.893586 with order 1 Centerline is valid? [False, False] Translation: X:15.35, Y:-0.23, Z:0.89 [[ 9.66281118e-01 1.28040269e-02 2.57170874e-01 1.53479455e+01] [-2.78245602e-02 9.98106686e-01 5.48528767e-02 -2.29342884e-01] [-2.55981631e-01 -6.01589655e-02 9.64807910e-01 8.87059783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.682401008 meters Centerline goodness : 0.899204 with order 1 Centerline is valid? [False, False] Translation: X:15.32, Y:-0.19, Z:0.92 [[ 9.72772169e-01 1.35301798e-03 2.31759521e-01 1.53165159e+01] [-1.75768896e-02 9.97533717e-01 6.79524528e-02 -1.92903172e-01] [-2.31095996e-01 -7.01758664e-02 9.70396820e-01 9.16300260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.742401008 meters Centerline goodness : 0.899679 with order 1 Centerline is valid? [False, False] Translation: X:15.32, Y:-0.18, Z:0.91 [[ 9.73053934e-01 3.55411297e-03 2.30550234e-01 1.53191226e+01] [-1.90648459e-02 9.97697634e-01 6.50842679e-02 -1.75353677e-01] [-2.29788106e-01 -6.77259076e-02 9.70881366e-01 9.08532345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.802401008 meters Centerline goodness : 0.912770 with order 1 Centerline is valid? [False, False] Translation: X:15.31, Y:-0.15, Z:0.91 [[ 9.74251087e-01 1.69262003e-03 2.25459429e-01 1.53092657e+01] [-1.38876191e-02 9.98523587e-01 5.25145790e-02 -1.50715623e-01] [-2.25037670e-01 -5.42934803e-02 9.72836196e-01 9.12450118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.862401008 meters Centerline goodness : 0.910019 with order 1 Centerline is valid? [False, False] Translation: X:15.31, Y:-0.14, Z:0.91 [[ 9.74251169e-01 9.20576498e-04 2.25463551e-01 1.53087422e+01] [-1.25531410e-02 9.98662009e-01 5.01658359e-02 -1.43613658e-01] [-2.25115701e-01 -5.17044000e-02 9.72959185e-01 9.13185815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.92240100800001 meters Centerline goodness : 0.922559 with order 1 Centerline is valid? [False, False] Translation: X:15.30, Y:-0.11, Z:0.92 [[ 9.73063133e-01 -4.39104613e-03 2.30496982e-01 1.52956699e+01] [-7.43291102e-03 9.98701237e-01 5.04042819e-02 -1.14248061e-01] [-2.30418949e-01 -5.07598120e-02 9.71766716e-01 9.15684091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.982401008 meters Centerline goodness : 0.919566 with order 1 Centerline is valid? [False, False] Translation: X:15.28, Y:-0.09, Z:0.92 [[ 9.74320714e-01 -6.57916152e-04 2.25163750e-01 1.52836619e+01] [-1.05195618e-02 9.98770783e-01 4.84382341e-02 -8.85453070e-02] [-2.24918843e-01 -4.95629988e-02 9.73116141e-01 9.22202986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.042401008 meters Centerline goodness : 0.915214 with order 1 Centerline is valid? [False, False] Translation: X:15.28, Y:-0.07, Z:0.92 [[ 9.74052089e-01 5.78873815e-03 2.26249901e-01 1.52803841e+01] [-1.75262506e-02 9.98600215e-01 4.99043129e-02 -7.14054868e-02] [-2.25644317e-01 -5.25747127e-02 9.72790081e-01 9.23234120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.102401008 meters Centerline goodness : 0.911489 with order 1 Centerline is valid? [False, False] Translation: X:15.29, Y:-0.04, Z:0.91 [[ 0.9736984 0.02623256 0.22632562 15.29311364] [-0.03757026 0.99823777 0.04593282 -0.04484867] [-0.22472185 -0.05322782 0.97296808 0.91424618] [ 0. 0. 0. 1. ]] SLAMing on 89.162401008 meters Centerline goodness : 0.908307 with order 1 Centerline is valid? [False, False] Translation: X:15.30, Y:-0.03, Z:0.91 [[ 0.97404017 0.04024967 0.2227683 15.30204065] [-0.05026915 0.99795474 0.03948866 -0.03076204] [-0.22072328 -0.04966192 0.97407132 0.90880621] [ 0. 0. 0. 1. ]] SLAMing on 89.222401008 meters Centerline goodness : 0.906080 with order 1 Centerline is valid? [False, False] Translation: X:15.32, Y:-0.02, Z:0.91 [[ 0.975153 0.05424888 0.21478755 15.31720637] [-0.06208405 0.99762304 0.02989706 -0.02057845] [-0.21265513 -0.04248909 0.97620309 0.90521297] [ 0. 0. 0. 1. ]] SLAMing on 89.28240100800001 meters Centerline goodness : 0.902918 with order 1 Centerline is valid? [False, False] Translation: X:15.33, Y:-0.01, Z:0.90 [[ 9.75868224e-01 6.50068341e-02 2.08459397e-01 1.53284038e+01] [-7.17648894e-02 9.97107887e-01 2.50132554e-02 -9.33251686e-03] [-2.06230476e-01 -3.93697067e-02 9.77711111e-01 9.01352350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34240100800001 meters Centerline goodness : 0.908227 with order 1 Centerline is valid? [False, False] Translation: X:15.33, Y:-0.00, Z:0.91 [[ 9.78979923e-01 6.01429090e-02 1.94887506e-01 1.53315464e+01] [-6.69364476e-02 9.97351361e-01 2.84565505e-02 -8.90040121e-04] [-1.92659860e-01 -4.09034690e-02 9.80412711e-01 9.05221597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.402401008 meters Centerline goodness : 0.906366 with order 1 Centerline is valid? [False, False] Translation: X:15.33, Y:0.00, Z:0.92 [[ 9.82096348e-01 5.18155177e-02 1.81112989e-01 1.53324542e+01] [-5.76101170e-02 9.97977275e-01 2.68781185e-02 1.29345618e-03] [-1.79353944e-01 -3.68308425e-02 9.83094935e-01 9.16497031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.462401008 meters Centerline goodness : 0.909113 with order 1 Centerline is valid? [False, False] Translation: X:15.33, Y:0.00, Z:0.91 [[ 9.82402298e-01 4.74834886e-02 1.80640645e-01 1.53340301e+01] [-5.22147924e-02 9.98403878e-01 2.15246848e-02 2.28871024e-03] [-1.79330254e-01 -3.05780136e-02 9.83313605e-01 9.14186011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.522401008 meters Centerline goodness : 0.908823 with order 1 Centerline is valid? [False, False] Translation: X:15.33, Y:0.01, Z:0.91 [[ 9.82594543e-01 4.38669862e-02 1.80509425e-01 1.53341161e+01] [-4.75957118e-02 9.98732445e-01 1.63753456e-02 6.42083657e-03] [-1.79562282e-01 -2.46817998e-02 9.83436930e-01 9.13779164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.582401008 meters Centerline goodness : 0.910348 with order 1 Centerline is valid? [False, False] Translation: X:15.34, Y:0.01, Z:0.91 [[ 9.82855071e-01 3.95943808e-02 1.80078301e-01 1.53354275e+01] [-4.21672360e-02 9.99055597e-01 1.04804077e-02 9.49589384e-03] [-1.79493269e-01 -1.78941260e-02 9.83596445e-01 9.11981607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.64240100800001 meters Centerline goodness : 0.905936 with order 1 Centerline is valid? [False, False] Translation: X:15.34, Y:0.01, Z:0.91 [[ 9.82922514e-01 3.90245919e-02 1.79834404e-01 1.53368610e+01] [-4.12213774e-02 9.99113938e-01 8.49340371e-03 1.40602423e-02] [-1.79343608e-01 -1.57613795e-02 9.83660231e-01 9.09661173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.70240100800001 meters Centerline goodness : 0.905820 with order 1 Centerline is valid? [False, False] Translation: X:15.34, Y:0.02, Z:0.91 [[ 9.83598149e-01 4.26769674e-02 1.75252270e-01 1.53425605e+01] [-4.35753616e-02 9.99049323e-01 1.27958172e-03 1.63568689e-02] [-1.75031053e-01 -8.89527524e-03 9.84522729e-01 9.14976222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.762401008 meters Centerline goodness : 0.907645 with order 1 Centerline is valid? [False, False] Translation: X:15.34, Y:0.02, Z:0.92 [[ 9.83607852e-01 4.25161222e-02 1.75236906e-01 1.53425577e+01] [-4.32943118e-02 9.99062170e-01 6.18452449e-04 1.84298762e-02] [-1.75046270e-01 -8.19507594e-03 9.84526101e-01 9.15148409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.822401008 meters Centerline goodness : 0.902981 with order 1 Centerline is valid? [False, False] Translation: X:15.34, Y:0.02, Z:0.92 [[ 9.85021613e-01 3.64357844e-02 1.68537403e-01 1.53359130e+01] [-3.81978759e-02 9.99244083e-01 7.22386418e-03 1.75866051e-02] [-1.68146795e-01 -1.35534331e-02 9.85668788e-01 9.18260751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.882401008 meters Centerline goodness : 0.902833 with order 1 Centerline is valid? [False, False] Translation: X:15.34, Y:0.02, Z:0.92 [[ 9.85111648e-01 3.62587786e-02 1.68048627e-01 1.53376275e+01] [-3.79735479e-02 9.99254222e-01 7.00063336e-03 1.61928623e-02] [-1.67669466e-01 -1.32778081e-02 9.85753849e-01 9.16324519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.942401008 meters Centerline goodness : 0.899977 with order 1 Centerline is valid? [False, False] Translation: X:15.35, Y:0.01, Z:0.92 [[ 9.85722222e-01 4.58738773e-02 1.62010151e-01 1.53473453e+01] [-4.77849681e-02 9.98826268e-01 7.91722755e-03 1.18581181e-02] [-1.61456801e-01 -1.55458370e-02 9.86757330e-01 9.17901733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.002401008 meters Centerline goodness : 0.899983 with order 1 Centerline is valid? [False, False] Translation: X:15.35, Y:0.01, Z:0.92 [[ 9.85432941e-01 5.23456946e-02 1.61808054e-01 1.53495741e+01] [-5.56721590e-02 9.98319453e-01 1.60897689e-02 8.82686536e-03] [-1.60693898e-01 -2.48635920e-02 9.86691073e-01 9.15548490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.06240100800001 meters Centerline goodness : 0.897810 with order 1 Centerline is valid? [False, False] Translation: X:15.36, Y:0.01, Z:0.91 [[ 9.84478531e-01 6.71579657e-02 1.62147554e-01 1.53588321e+01] [-7.10305459e-02 9.97308113e-01 1.81986305e-02 7.17843133e-03] [-1.60488888e-01 -2.94335903e-02 9.86598693e-01 9.12906266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.122401008 meters Centerline goodness : 0.900385 with order 1 Centerline is valid? [False, False] Translation: X:15.37, Y:0.00, Z:0.92 [[ 9.84120307e-01 7.93212067e-02 1.58793472e-01 1.53707760e+01] [-8.15066953e-02 9.96646151e-01 7.28757118e-03 1.93121109e-03] [-1.57682844e-01 -2.01145779e-02 9.87284926e-01 9.17956670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.182401008 meters Centerline goodness : 0.903635 with order 1 Centerline is valid? [False, False] Translation: X:15.38, Y:-0.00, Z:0.92 [[ 9.86375724e-01 8.23682953e-02 1.42402231e-01 1.53763610e+01] [-8.46571574e-02 9.96359156e-01 1.00796155e-02 -3.39705556e-03] [-1.41053526e-01 -2.19976561e-02 9.89757549e-01 9.24918212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.242401008 meters Centerline goodness : 0.902107 with order 1 Centerline is valid? [False, False] Translation: X:15.38, Y:-0.01, Z:0.93 [[ 9.88366991e-01 8.29114666e-02 1.27500510e-01 1.53817529e+01] [-8.53198950e-02 9.96261658e-01 1.35360453e-02 -5.07153210e-03] [-1.25901576e-01 -2.42569105e-02 9.91746135e-01 9.25221331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.302401008 meters Centerline goodness : 0.901458 with order 1 Centerline is valid? [False, False] Translation: X:15.39, Y:-0.02, Z:0.93 [[ 9.87812799e-01 9.33560140e-02 1.24541272e-01 1.53905588e+01] [-9.42285778e-02 9.95549958e-01 1.12106936e-03 -2.21727791e-02] [-1.23882399e-01 -1.28427536e-02 9.92213795e-01 9.30454233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.362401008 meters Centerline goodness : 0.904605 with order 1 Centerline is valid? [False, False] Translation: X:15.39, Y:-0.03, Z:0.93 [[ 9.87923482e-01 9.17682448e-02 1.24843036e-01 1.53897148e+01] [-9.25823864e-02 9.95704765e-01 7.22786528e-04 -3.18272492e-02] [-1.24240477e-01 -1.22723240e-02 9.92176241e-01 9.29747577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.42240100800001 meters Centerline goodness : 0.902854 with order 1 Centerline is valid? [False, False] Translation: X:15.39, Y:-0.05, Z:0.93 [[ 9.88294446e-01 8.83620621e-02 1.24363313e-01 1.53919474e+01] [-8.93381360e-02 9.95998738e-01 2.28267726e-03 -4.63565718e-02] [-1.23664001e-01 -1.33663438e-02 9.92234123e-01 9.27647003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.482401008 meters Centerline goodness : 0.905786 with order 1 Centerline is valid? [False, False] Translation: X:15.40, Y:-0.07, Z:0.93 [[ 9.89628092e-01 8.32689843e-02 1.17057749e-01 1.54003843e+01] [-8.29385675e-02 9.96524918e-01 -7.69945997e-03 -6.50548427e-02] [-1.17292090e-01 -2.08900014e-03 9.93095263e-01 9.31246035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.542401008 meters Centerline goodness : 0.897470 with order 1 Centerline is valid? [False, False] Translation: X:15.46, Y:-0.09, Z:0.93 [[ 0.99104801 0.08058305 0.10644347 15.45562558] [-0.07815954 0.99658182 -0.02675359 -0.08758604] [-0.10823552 0.01819452 0.99395877 0.92590155] [ 0. 0. 0. 1. ]] SLAMing on 90.602401008 meters Centerline goodness : 0.884257 with order 1 Centerline is valid? [False, False] Translation: X:15.46, Y:-0.11, Z:0.91 [[ 0.99363763 0.06008209 0.09525962 15.46227884] [-0.05829518 0.99806926 -0.02143405 -0.10551816] [-0.0963635 0.0157445 0.99522168 0.91352115] [ 0. 0. 0. 1. ]] SLAMing on 90.662401008 meters Centerline goodness : 0.876716 with order 1 Centerline is valid? [False, False] Translation: X:15.47, Y:-0.12, Z:0.92 [[ 0.99586861 0.04729856 0.07751494 15.47093953] [-0.04520767 0.99857066 -0.02851136 -0.11659634] [-0.07875269 0.0248893 0.99658343 0.91527012] [ 0. 0. 0. 1. ]] SLAMing on 90.722401008 meters Centerline goodness : 0.876866 with order 1 Centerline is valid? [False, False] Translation: X:15.48, Y:-0.13, Z:0.92 [[ 0.99691402 0.03773065 0.06883918 15.48260126] [-0.03436 0.9981825 -0.04950838 -0.13354941] [-0.07058205 0.04699028 0.99639856 0.91977541] [ 0. 0. 0. 1. ]] SLAMing on 90.78240100800001 meters Centerline goodness : 0.877576 with order 1 Centerline is valid? [False, False] Translation: X:15.48, Y:-0.13, Z:0.93 [[ 0.99790677 0.03069953 0.05691763 15.48213235] [-0.02795268 0.9984347 -0.0484438 -0.13310638] [-0.05831574 0.04675139 0.99720288 0.92631028] [ 0. 0. 0. 1. ]] SLAMing on 90.84240100800001 meters Centerline goodness : 0.874009 with order 1 Centerline is valid? [False, False] Translation: X:15.49, Y:-0.13, Z:0.92 [[ 0.9987163 0.02695951 0.04288276 15.48829477] [-0.02503163 0.99867893 -0.04487562 -0.13444673] [-0.04403593 0.04374459 0.99807176 0.92381836] [ 0. 0. 0. 1. ]] SLAMing on 90.902401008 meters Centerline goodness : 0.871512 with order 1 Centerline is valid? [False, False] Translation: X:15.50, Y:-0.14, Z:0.93 [[ 0.99942371 0.02270075 0.02523725 15.49517429] [-0.02136028 0.99840965 -0.05217185 -0.13657679] [-0.02638145 0.05160271 0.99831918 0.93122752] [ 0. 0. 0. 1. ]] SLAMing on 90.962401008 meters Centerline goodness : 0.876385 with order 1 Centerline is valid? [False, False] Translation: X:15.50, Y:-0.14, Z:0.93 [[ 0.99955445 0.02176573 0.02042412 15.50184424] [-0.0204869 0.99793598 -0.06086111 -0.14406521] [-0.02170665 0.06041556 0.99793726 0.93484635] [ 0. 0. 0. 1. ]] SLAMing on 91.022401008 meters Centerline goodness : 0.878281 with order 1 Centerline is valid? [False, False] Translation: X:15.50, Y:-0.15, Z:0.93 [[ 0.99957825 0.01791018 0.02285931 15.49833304] [-0.01657469 0.99821759 -0.05733165 -0.14641343] [-0.02384539 0.05692859 0.99809345 0.93169146] [ 0. 0. 0. 1. ]] SLAMing on 91.082401008 meters Centerline goodness : 0.874222 with order 1 Centerline is valid? [False, False] Translation: X:15.54, Y:-0.14, Z:0.92 [[ 0.99923214 0.01921953 0.034143 15.54170201] [-0.01613653 0.99595584 -0.0883831 -0.14387871] [-0.0357036 0.08776428 0.99550122 0.91693651] [ 0. 0. 0. 1. ]] SLAMing on 91.14240100800001 meters Centerline goodness : 0.876973 with order 1 Centerline is valid? [False, False] Translation: X:15.55, Y:-0.15, Z:0.93 [[ 9.99741937e-01 1.53774544e-02 1.67210719e-02 1.55477139e+01] [-1.37534606e-02 9.95548561e-01 -9.32411098e-02 -1.46843314e-01] [-1.80804500e-02 9.29870751e-02 9.95503140e-01 9.25159018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.20240100800001 meters Centerline goodness : 0.879018 with order 1 Centerline is valid? [False, False] Translation: X:15.56, Y:-0.16, Z:0.92 [[ 9.99698214e-01 2.14134853e-02 1.20392699e-02 1.55571818e+01] [-2.02252223e-02 9.95609193e-01 -9.13962581e-02 -1.57588769e-01] [-1.39435202e-02 9.11251791e-02 9.95741824e-01 9.22487572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.262401008 meters Centerline goodness : 0.875776 with order 1 Centerline is valid? [False, False] Translation: X:15.56, Y:-0.16, Z:0.92 [[ 9.99570529e-01 2.57397347e-02 1.40080112e-02 1.55554713e+01] [-2.45560902e-02 9.96575457e-01 -7.89579453e-02 -1.61777558e-01] [-1.59923967e-02 7.85800531e-02 9.96779524e-01 9.18000794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.322401008 meters Centerline goodness : 0.875612 with order 1 Centerline is valid? [False, False] Translation: X:15.56, Y:-0.17, Z:0.92 [[ 9.99592559e-01 2.65598260e-02 1.04543070e-02 1.55605926e+01] [-2.56018172e-02 9.96218308e-01 -8.30278817e-02 -1.69894438e-01] [-1.26199782e-02 8.27264034e-02 9.96492387e-01 9.19657114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.382401008 meters Centerline goodness : 0.886762 with order 1 Centerline is valid? [False, False] Translation: X:15.55, Y:-0.23, Z:0.98 [[ 9.99419020e-01 2.36309308e-02 2.45601485e-02 1.55526450e+01] [-2.39071080e-02 9.99653525e-01 1.10127661e-02 -2.27481329e-01] [-2.42913971e-02 -1.15935301e-02 9.99637693e-01 9.82329809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.442401008 meters Centerline goodness : 0.886818 with order 1 Centerline is valid? [False, False] Translation: X:15.54, Y:-0.26, Z:1.04 [[ 9.99146681e-01 1.49741019e-02 3.84926825e-02 1.55446465e+01] [-1.91810951e-02 9.93595038e-01 1.11359715e-01 -2.63569275e-01] [-3.65786266e-02 -1.12003022e-01 9.93034404e-01 1.03601444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.502401008 meters Centerline goodness : 0.884243 with order 1 Centerline is valid? [False, False] Translation: X:15.55, Y:-0.31, Z:1.12 [[ 9.98888681e-01 1.13810500e-02 4.57370264e-02 1.55465982e+01] [-2.12203219e-02 9.75085734e-01 2.20811028e-01 -3.05721609e-01] [-4.20844606e-02 -2.21536191e-01 9.74243611e-01 1.11614544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.56240100800001 meters Centerline goodness : 0.891535 with order 1 Centerline is valid? [False, False] Translation: X:15.56, Y:-0.31, Z:1.11 [[ 0.99897322 0.01696934 0.04200641 15.56033582] [-0.02501897 0.97963008 0.19924595 -0.31130497] [-0.03776967 -0.20009233 0.97904878 1.11151994] [ 0. 0. 0. 1. ]] SLAMing on 91.622401008 meters Centerline goodness : 0.891029 with order 1 Centerline is valid? [False, False] Translation: X:15.59, Y:-0.32, Z:1.12 [[ 0.99890421 0.02246961 0.04105469 15.58824504] [-0.03074443 0.97642948 0.21363577 -0.31916243] [-0.0352867 -0.21466388 0.97605034 1.12332735] [ 0. 0. 0. 1. ]] SLAMing on 91.682401008 meters Centerline goodness : 0.887996 with order 1 Centerline is valid? [False, False] Translation: X:15.60, Y:-0.33, Z:1.12 [[ 0.99871176 0.01973338 0.04674841 15.60408025] [-0.02896264 0.97815553 0.20584683 -0.32547191] [-0.04166516 -0.20693561 0.97746697 1.12299208] [ 0. 0. 0. 1. ]] SLAMing on 91.742401008 meters Centerline goodness : 0.890938 with order 1 Centerline is valid? [False, False] Translation: X:15.63, Y:-0.36, Z:1.22 [[ 9.97079661e-01 -6.89339457e-03 7.60567550e-02 1.56278701e+01] [-1.82543067e-02 9.45535556e-01 3.25006603e-01 -3.64576202e-01] [-7.41547649e-02 -3.25445837e-01 9.42648438e-01 1.21819822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.802401008 meters Centerline goodness : 0.886425 with order 1 Centerline is valid? [False, False] Translation: X:15.63, Y:-0.38, Z:1.25 [[ 9.95841267e-01 -1.99794735e-02 8.88875241e-02 1.56265752e+01] [-1.44597428e-02 9.28628788e-01 3.70728324e-01 -3.78526246e-01] [-8.99504705e-02 -3.70471855e-01 9.24477970e-01 1.25318199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.862401008 meters Centerline goodness : 0.892320 with order 1 Centerline is valid? [False, False] Translation: X:15.61, Y:-0.38, Z:1.27 [[ 9.95427077e-01 -9.62328049e-03 9.50385522e-02 1.56094478e+01] [-2.59342273e-02 9.30318644e-01 3.65834165e-01 -3.83327408e-01] [-9.19366618e-02 -3.66625985e-01 9.25814797e-01 1.26616575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.92240100800001 meters Centerline goodness : 0.893315 with order 1 Centerline is valid? [False, False] Translation: X:15.59, Y:-0.38, Z:1.25 [[ 9.95452833e-01 2.15267573e-03 9.52314183e-02 1.55876133e+01] [-3.44121575e-02 9.40353688e-01 3.38453462e-01 -3.80934534e-01] [-8.88226348e-02 -3.40191576e-01 9.36151821e-01 1.25336804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.982401008 meters Centerline goodness : 0.899488 with order 1 Centerline is valid? [False, False] Translation: X:15.58, Y:-0.38, Z:1.24 [[ 9.95094622e-01 1.31200265e-02 9.80538540e-02 1.55775764e+01] [-4.38185217e-02 9.47089169e-01 3.17965475e-01 -3.80545439e-01] [-8.86940277e-02 -3.20702309e-01 9.43018239e-01 1.23820849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.042401008 meters Centerline goodness : 0.895924 with order 1 Centerline is valid? [False, False] Translation: X:15.56, Y:-0.38, Z:1.22 [[ 0.99501748 0.02058972 0.09755139 15.56272816] [-0.04823358 0.95573231 0.29025725 -0.37844066] [-0.0872567 -0.29351629 0.95196348 1.22155199] [ 0. 0. 0. 1. ]] SLAMing on 92.102401008 meters Centerline goodness : 0.899937 with order 1 Centerline is valid? [False, False] Translation: X:15.56, Y:-0.38, Z:1.21 [[ 0.99469014 0.02275714 0.10036748 15.55701727] [-0.04857786 0.96358621 0.26294828 -0.37968554] [-0.09072877 -0.2664277 0.9595752 1.20784215] [ 0. 0. 0. 1. ]] SLAMing on 92.162401008 meters Centerline goodness : 0.902028 with order 1 Centerline is valid? [False, False] Translation: X:15.56, Y:-0.38, Z:1.19 [[ 0.99442324 0.02572095 0.10227829 15.55696525] [-0.04967605 0.96971807 0.23912162 -0.37879498] [-0.09303068 -0.24286888 0.9655879 1.19404669] [ 0. 0. 0. 1. ]] SLAMing on 92.222401008 meters Centerline goodness : 0.902038 with order 1 Centerline is valid? [False, False] Translation: X:15.56, Y:-0.38, Z:1.18 [[ 0.99414227 0.02905456 0.10410079 15.55708975] [-0.05096351 0.9754031 0.21445633 -0.3767715 ] [-0.0953093 -0.21850544 0.97117017 1.17626812] [ 0. 0. 0. 1. ]] SLAMing on 92.28240100800001 meters Centerline goodness : 0.900754 with order 1 Centerline is valid? [False, False] Translation: X:15.59, Y:-0.39, Z:1.18 [[ 0.99466003 0.03071967 0.09852783 15.58730698] [-0.05152166 0.97500451 0.21612897 -0.3852334 ] [-0.08942566 -0.22005116 0.97138074 1.17536878] [ 0. 0. 0. 1. ]] SLAMing on 92.34240100800001 meters Centerline goodness : 0.902216 with order 1 Centerline is valid? [False, False] Translation: X:15.61, Y:-0.39, Z:1.17 [[ 0.99492072 0.03480883 0.09445156 15.61150419] [-0.05357236 0.97748873 0.20407299 -0.38806975] [-0.08522179 -0.20809644 0.97438859 1.17021987] [ 0. 0. 0. 1. ]] SLAMing on 92.402401008 meters Centerline goodness : 0.901064 with order 1 Centerline is valid? [False, False] Translation: X:15.63, Y:-0.39, Z:1.16 [[ 0.99470126 0.03065997 0.09812933 15.62700871] [-0.04860694 0.98132768 0.1861004 -0.39038139] [-0.09059119 -0.18988407 0.97761817 1.15837264] [ 0. 0. 0. 1. ]] SLAMing on 92.462401008 meters Centerline goodness : 0.903111 with order 1 Centerline is valid? [False, False] Translation: X:15.64, Y:-0.39, Z:1.15 [[ 0.99451391 0.02912099 0.10046914 15.64378905] [-0.04604837 0.98427654 0.17052639 -0.39132649] [-0.09392352 -0.1742173 0.98021768 1.14604545] [ 0. 0. 0. 1. ]] SLAMing on 92.522401008 meters Centerline goodness : 0.904997 with order 1 Centerline is valid? [False, False] Translation: X:15.66, Y:-0.39, Z:1.14 [[ 0.99411997 0.02750911 0.10473176 15.65704455] [-0.04357026 0.98706175 0.1543073 -0.39043284] [-0.09913185 -0.15796316 0.98245637 1.13612778] [ 0. 0. 0. 1. ]] SLAMing on 92.582401008 meters Centerline goodness : 0.906453 with order 1 Centerline is valid? [False, False] Translation: X:15.68, Y:-0.39, Z:1.13 [[ 0.99363742 0.02780623 0.10913974 15.67763611] [-0.04400106 0.98787114 0.14891114 -0.38885954] [-0.10367534 -0.15276594 0.98280923 1.13291011] [ 0. 0. 0. 1. ]] SLAMing on 92.64240100800001 meters Centerline goodness : 0.904326 with order 1 Centerline is valid? [False, False] Translation: X:15.69, Y:-0.38, Z:1.12 [[ 0.99320402 0.02995047 0.1124666 15.69231239] [-0.04521126 0.98971815 0.13569795 -0.38450187] [-0.10724602 -0.13986051 0.98434614 1.12058407] [ 0. 0. 0. 1. ]] SLAMing on 92.70240100800001 meters Centerline goodness : 0.899183 with order 1 Centerline is valid? [False, False] Translation: X:15.70, Y:-0.38, Z:1.11 [[ 0.99334741 0.031098 0.11087756 15.69969037] [-0.04610904 0.98970311 0.13550538 -0.37851879] [-0.10552192 -0.13971637 0.98455292 1.11133214] [ 0. 0. 0. 1. ]] SLAMing on 92.762401008 meters Centerline goodness : 0.896761 with order 1 Centerline is valid? [False, False] Translation: X:15.71, Y:-0.37, Z:1.10 [[ 0.99307014 0.03221097 0.11302283 15.70649179] [-0.04516301 0.99245626 0.11397748 -0.37334133] [-0.10849889 -0.11829208 0.98703342 1.09781063] [ 0. 0. 0. 1. ]] SLAMing on 92.822401008 meters Centerline goodness : 0.905715 with order 1 Centerline is valid? [False, False] Translation: X:15.75, Y:-0.38, Z:1.10 [[ 0.9932163 0.03194728 0.11180673 15.74978179] [-0.04375448 0.99353059 0.10479747 -0.37806504] [-0.10773541 -0.1089786 0.98818862 1.09929546] [ 0. 0. 0. 1. ]] SLAMing on 92.882401008 meters Centerline goodness : 0.902784 with order 1 Centerline is valid? [False, False] Translation: X:15.80, Y:-0.38, Z:1.10 [[ 0.99345525 0.02851562 0.11060525 15.79503715] [-0.04149852 0.99227433 0.11691678 -0.38203483] [-0.1064168 -0.12074154 0.9869635 1.10425739] [ 0. 0. 0. 1. ]] SLAMing on 92.942401008 meters Centerline goodness : 0.896341 with order 1 Centerline is valid? [False, False] Translation: X:15.84, Y:-0.39, Z:1.11 [[ 0.99396125 0.02333752 0.10722123 15.8412732 ] [-0.03700217 0.99117639 0.12727999 -0.3862652 ] [-0.10330475 -0.13047879 0.98605447 1.11206912] [ 0. 0. 0. 1. ]] SLAMing on 93.002401008 meters Centerline goodness : 0.899754 with order 1 Centerline is valid? [False, False] Translation: X:15.89, Y:-0.40, Z:1.14 [[ 0.99381871 0.0192313 0.10933679 15.89484283] [-0.03675583 0.98633397 0.16060604 -0.39805116] [-0.10475393 -0.16363205 0.98094402 1.1445921 ] [ 0. 0. 0. 1. ]] SLAMing on 93.06240100800001 meters Centerline goodness : 0.896137 with order 1 Centerline is valid? [False, False] Translation: X:15.93, Y:-0.40, Z:1.16 [[ 9.93451958e-01 1.13402108e-02 1.13686437e-01 1.59336549e+01] [-3.30542537e-02 9.81035823e-01 1.90987251e-01 -4.02898130e-01] [-1.09364631e-01 -1.93494479e-01 9.74986802e-01 1.16491282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.122401008 meters Centerline goodness : 0.887222 with order 1 Centerline is valid? [False, False] Translation: X:15.97, Y:-0.40, Z:1.17 [[ 9.92865414e-01 2.30341194e-03 1.19218133e-01 1.59747451e+01] [-2.81662347e-02 9.76050246e-01 2.15714119e-01 -4.01878248e-01] [-1.15866009e-01 -2.17533014e-01 9.69151410e-01 1.17308314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.182401008 meters Centerline goodness : 0.890540 with order 1 Centerline is valid? [False, False] Translation: X:16.01, Y:-0.40, Z:1.19 [[ 9.92053465e-01 -6.94601446e-03 1.25625137e-01 1.60056480e+01] [-2.35046541e-02 9.70664999e-01 2.39284329e-01 -4.00985233e-01] [-1.23601996e-01 -2.40335623e-01 9.62788313e-01 1.18619005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.242401008 meters Centerline goodness : 0.888497 with order 1 Centerline is valid? [False, False] Translation: X:16.02, Y:-0.39, Z:1.18 [[ 9.91131313e-01 -7.38849774e-03 1.32680561e-01 1.60175094e+01] [-2.34325122e-02 9.73090182e-01 2.29230047e-01 -3.94272203e-01] [-1.30803817e-01 -2.30306116e-01 9.64287019e-01 1.18328921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.302401008 meters Centerline goodness : 0.888955 with order 1 Centerline is valid? [False, False] Translation: X:16.02, Y:-0.39, Z:1.18 [[ 9.90577414e-01 -7.21398544e-04 1.36952056e-01 1.60160947e+01] [-2.87714169e-02 9.76574267e-01 2.13248460e-01 -3.87922711e-01] [-1.33897691e-01 -2.15179413e-01 9.67351657e-01 1.17657091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.362401008 meters Centerline goodness : 0.886366 with order 1 Centerline is valid? [False, False] Translation: X:16.03, Y:-0.38, Z:1.17 [[ 9.89722808e-01 5.14138390e-03 1.42906717e-01 1.60301705e+01] [-3.52815709e-02 9.77238388e-01 2.09189731e-01 -3.79887760e-01] [-1.38578406e-01 -2.12081821e-01 9.67376518e-01 1.16945647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.42240100800001 meters Centerline goodness : 0.885853 with order 1 Centerline is valid? [False, False] Translation: X:16.05, Y:-0.37, Z:1.16 [[ 9.88729148e-01 7.14439895e-03 1.49544738e-01 1.60463461e+01] [-3.78773013e-02 9.78302116e-01 2.03691628e-01 -3.74178561e-01] [-1.44844680e-01 -2.07060201e-01 9.67546429e-01 1.16100358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.482401008 meters Centerline goodness : 0.884480 with order 1 Centerline is valid? [False, False] Translation: X:16.07, Y:-0.37, Z:1.15 [[ 9.88086705e-01 6.56848106e-03 1.53757986e-01 1.60684545e+01] [-3.69984712e-02 9.79925813e-01 1.95899246e-01 -3.67665320e-01] [-1.49384658e-01 -1.99254251e-01 9.68494691e-01 1.15049958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.542401008 meters Centerline goodness : 0.883119 with order 1 Centerline is valid? [False, False] Translation: X:16.10, Y:-0.36, Z:1.15 [[ 9.87073656e-01 3.25442288e-03 1.60234226e-01 1.60969878e+01] [-3.47879562e-02 9.80307249e-01 1.94390060e-01 -3.61110721e-01] [-1.56446146e-01 -1.97451528e-01 9.67748675e-01 1.14744403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.602401008 meters Centerline goodness : 0.886511 with order 1 Centerline is valid? [False, False] Translation: X:16.10, Y:-0.35, Z:1.15 [[ 9.86746609e-01 1.11791711e-03 1.62264844e-01 1.60987828e+01] [-3.30617222e-02 9.80385458e-01 1.94296878e-01 -3.49211145e-01] [-1.58864885e-01 -1.97086541e-01 9.67428986e-01 1.14763335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.662401008 meters Centerline goodness : 0.879578 with order 1 Centerline is valid? [False, False] Translation: X:16.10, Y:-0.34, Z:1.13 [[ 9.86246539e-01 8.72311072e-03 1.65050514e-01 1.60992595e+01] [-3.79172605e-02 9.83914312e-01 1.74570638e-01 -3.39557373e-01] [-1.60872764e-01 -1.78427951e-01 9.70712841e-01 1.13127982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.722401008 meters Centerline goodness : 0.879441 with order 1 Centerline is valid? [False, False] Translation: X:16.10, Y:-0.33, Z:1.12 [[ 0.98588561 0.01817482 0.16643089 16.09817987] [-0.04444243 0.98683606 0.15549746 -0.33132144] [-0.16141386 -0.1606993 0.9737152 1.11705599] [ 0. 0. 0. 1. ]] SLAMing on 93.78240100800001 meters Centerline goodness : 0.880422 with order 1 Centerline is valid? [False, False] Translation: X:16.11, Y:-0.33, Z:1.11 [[ 0.98658739 0.03272805 0.15991936 16.11106737] [-0.05481293 0.98923164 0.13570671 -0.32757435] [-0.15375587 -0.14265217 0.97775738 1.10873543] [ 0. 0. 0. 1. ]] SLAMing on 93.84240100800001 meters Centerline goodness : 0.882250 with order 1 Centerline is valid? [False, False] Translation: X:16.13, Y:-0.33, Z:1.10 [[ 0.98705677 0.04567473 0.15372949 16.12755493] [-0.06403686 0.99110096 0.11669687 -0.32661276] [-0.14703135 -0.12503079 0.98119778 1.09987546] [ 0. 0. 0. 1. ]] SLAMing on 93.902401008 meters Centerline goodness : 0.882514 with order 1 Centerline is valid? [False, False] Translation: X:16.14, Y:-0.32, Z:1.09 [[ 0.9861284 0.05295407 0.15731066 16.13718883] [-0.07006471 0.99196975 0.10529463 -0.3237153 ] [-0.15047164 -0.11485595 0.98191975 1.08599912] [ 0. 0. 0. 1. ]] SLAMing on 93.962401008 meters Centerline goodness : 0.881137 with order 1 Centerline is valid? [False, False] Translation: X:16.14, Y:-0.32, Z:1.07 [[ 0.98506458 0.06208852 0.16060133 16.14402054] [-0.07778652 0.99258753 0.09337693 -0.3224515 ] [-0.15361324 -0.10447492 0.98259247 1.07080616] [ 0. 0. 0. 1. ]] SLAMing on 94.022401008 meters Centerline goodness : 0.883493 with order 1 Centerline is valid? [False, False] Translation: X:16.15, Y:-0.32, Z:1.06 [[ 0.98439571 0.06628506 0.16300726 16.14851353] [-0.07949367 0.99394283 0.0758842 -0.32362102] [-0.15698991 -0.08765812 0.9837023 1.06230917] [ 0. 0. 0. 1. ]] SLAMing on 94.082401008 meters Centerline goodness : 0.887562 with order 1 Centerline is valid? [False, False] Translation: X:16.17, Y:-0.33, Z:1.06 [[ 0.9845608 0.07043321 0.16024726 16.17125565] [-0.08011198 0.99528086 0.05475472 -0.33280518] [-0.15563448 -0.06674708 0.98555707 1.05634441] [ 0. 0. 0. 1. ]] SLAMing on 94.14240100800001 meters Centerline goodness : 0.890490 with order 1 Centerline is valid? [False, False] Translation: X:16.17, Y:-0.34, Z:1.05 [[ 0.98468468 0.0673807 0.16079778 16.17033906] [-0.07651075 0.99574953 0.05127347 -0.33664321] [-0.15665948 -0.06279096 0.98565466 1.05475405] [ 0. 0. 0. 1. ]] SLAMing on 94.20240100800001 meters Centerline goodness : 0.890207 with order 1 Centerline is valid? [False, False] Translation: X:16.20, Y:-0.35, Z:1.05 [[ 0.98582055 0.06152991 0.15611509 16.20107868] [-0.0694071 0.99654964 0.04551346 -0.34660445] [-0.152776 -0.0557036 0.98668972 1.04819707] [ 0. 0. 0. 1. ]] SLAMing on 94.262401008 meters Centerline goodness : 0.890009 with order 1 Centerline is valid? [False, False] Translation: X:16.20, Y:-0.35, Z:1.05 [[ 0.985958 0.06100136 0.1554531 16.20316858] [-0.06873165 0.99662686 0.04484263 -0.34663258] [-0.15219327 -0.0548975 0.98682495 1.04643419] [ 0. 0. 0. 1. ]] SLAMing on 94.322401008 meters Centerline goodness : 0.893434 with order 1 Centerline is valid? [False, False] Translation: X:16.23, Y:-0.36, Z:1.05 [[ 0.98679585 0.05987101 0.15049724 16.23441877] [-0.0674206 0.99668349 0.04556842 -0.35516603] [-0.14726989 -0.05511334 0.98755967 1.0501269 ] [ 0. 0. 0. 1. ]] SLAMing on 94.382401008 meters Centerline goodness : 0.892194 with order 1 Centerline is valid? [False, False] Translation: X:16.24, Y:-0.36, Z:1.05 [[ 0.98713686 0.05775515 0.14908108 16.24015635] [-0.06514847 0.99685177 0.04519108 -0.3562751 ] [-0.14600172 -0.05432218 0.98779178 1.048061 ] [ 0. 0. 0. 1. ]] SLAMing on 94.442401008 meters Centerline goodness : 0.889876 with order 1 Centerline is valid? [False, False] Translation: X:16.26, Y:-0.35, Z:1.04 [[ 0.98784169 0.05243229 0.14635453 16.25903041] [-0.05997959 0.99706221 0.04763828 -0.35271458] [-0.14342679 -0.05583736 0.98808448 1.04255431] [ 0. 0. 0. 1. ]] SLAMing on 94.502401008 meters Centerline goodness : 0.891907 with order 1 Centerline is valid? [False, False] Translation: X:16.30, Y:-0.36, Z:1.05 [[ 0.98786601 0.03969616 0.1501498 16.30175482] [-0.05081977 0.99618188 0.07098597 -0.35720763] [-0.14675864 -0.07775521 0.98611157 1.05499354] [ 0. 0. 0. 1. ]] SLAMing on 94.56240100800001 meters Centerline goodness : 0.889888 with order 1 Centerline is valid? [False, False] Translation: X:16.32, Y:-0.36, Z:1.07 [[ 0.98670017 0.02636916 0.16039776 16.31871015] [-0.0416983 0.99479559 0.09296762 -0.36049924] [-0.15711151 -0.09841948 0.98266453 1.06742596] [ 0. 0. 0. 1. ]] SLAMing on 94.622401008 meters Centerline goodness : 0.898459 with order 1 Centerline is valid? [False, False] Translation: X:16.29, Y:-0.36, Z:1.07 [[ 9.86519224e-01 1.10819337e-02 1.63269750e-01 1.62892043e+01] [-2.39739627e-02 9.96727023e-01 7.72042111e-02 -3.56203408e-01] [-1.61879800e-01 -8.00776613e-02 9.83556048e-01 1.07005315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.682401008 meters Centerline goodness : 0.898022 with order 1 Centerline is valid? [False, False] Translation: X:16.25, Y:-0.35, Z:1.07 [[ 9.86944191e-01 9.02134577e-03 1.60809758e-01 1.62498155e+01] [-1.97602899e-02 9.97669557e-01 6.53068657e-02 -3.48200390e-01] [-1.59845844e-01 -6.76318792e-02 9.84822438e-01 1.06984827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.742401008 meters Centerline goodness : 0.894500 with order 1 Centerline is valid? [False, False] Translation: X:16.25, Y:-0.33, Z:1.05 [[ 9.86998372e-01 1.20821392e-02 1.60275499e-01 1.62455798e+01] [-2.12795484e-02 9.98215552e-01 5.57933091e-02 -3.33697625e-01] [-1.59315393e-01 -5.84784955e-02 9.85494227e-01 1.05416679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.802401008 meters Centerline goodness : 0.895913 with order 1 Centerline is valid? [False, False] Translation: X:16.24, Y:-0.32, Z:1.05 [[ 0.98765757 0.02485613 0.15464378 16.23550239] [-0.03134647 0.99872089 0.03967339 -0.32268849] [-0.15345985 -0.04403126 0.9871734 1.04792684] [ 0. 0. 0. 1. ]] SLAMing on 94.862401008 meters Centerline goodness : 0.901062 with order 1 Centerline is valid? [False, False] Translation: X:16.23, Y:-0.32, Z:1.06 [[ 0.98721568 0.03743045 0.15493275 16.22844382] [-0.04579753 0.99765867 0.05079128 -0.31622977] [-0.15266886 -0.05723749 0.98661851 1.05808194] [ 0. 0. 0. 1. ]] SLAMing on 94.92240100800001 meters Centerline goodness : 0.902526 with order 1 Centerline is valid? [False, False] Translation: X:16.23, Y:-0.31, Z:1.06 [[ 0.98685887 0.04484675 0.15523637 16.22762991] [-0.05440241 0.99684115 0.05786284 -0.30976552] [-0.15215104 -0.06554769 0.9861813 1.05839198] [ 0. 0. 0. 1. ]] SLAMing on 94.982401008 meters Centerline goodness : 0.906665 with order 1 Centerline is valid? [False, False] Translation: X:16.23, Y:-0.30, Z:1.05 [[ 0.98575104 0.0538901 0.15934475 16.23137926] [-0.06188645 0.99703868 0.04565015 -0.3024675 ] [-0.15641279 -0.05486096 0.98616698 1.04843638] [ 0. 0. 0. 1. ]] SLAMing on 95.042401008 meters Centerline goodness : 0.908835 with order 1 Centerline is valid? [False, False] Translation: X:16.23, Y:-0.30, Z:1.05 [[ 0.98574095 0.05413888 0.15932282 16.23076701] [-0.0622215 0.99699323 0.04618414 -0.30337598] [-0.15634342 -0.0554389 0.98614566 1.05024378] [ 0. 0. 0. 1. ]] SLAMing on 95.102401008 meters Centerline goodness : 0.913157 with order 1 Centerline is valid? [False, False] Translation: X:16.27, Y:-0.32, Z:1.06 [[ 0.98614982 0.0534325 0.15701432 16.2663916 ] [-0.06301042 0.99640284 0.05666627 -0.31511847] [-0.15342169 -0.06577497 0.98596929 1.05871899] [ 0. 0. 0. 1. ]] SLAMing on 95.162401008 meters Centerline goodness : 0.910364 with order 1 Centerline is valid? [False, False] Translation: X:16.30, Y:-0.32, Z:1.06 [[ 0.98646708 0.05518377 0.15439379 16.29714547] [-0.06555806 0.99586266 0.0629262 -0.32251708] [-0.15028251 -0.07219638 0.98600347 1.06136825] [ 0. 0. 0. 1. ]] SLAMing on 95.222401008 meters Centerline goodness : 0.910457 with order 1 Centerline is valid? [False, False] Translation: X:16.34, Y:-0.34, Z:1.06 [[ 0.98711484 0.05492158 0.15029272 16.33575251] [-0.06670133 0.99498841 0.07449154 -0.33556397] [-0.14544833 -0.08355643 0.98583118 1.06465394] [ 0. 0. 0. 1. ]] SLAMing on 95.28240100800001 meters Centerline goodness : 0.908066 with order 1 Centerline is valid? [False, False] Translation: X:16.37, Y:-0.35, Z:1.09 [[ 0.98632207 0.04876978 0.1574493 16.37374388] [-0.0666507 0.99165421 0.11036125 -0.34830521] [-0.15075297 -0.11934584 0.98134098 1.08588554] [ 0. 0. 0. 1. ]] SLAMing on 95.34240100800001 meters Centerline goodness : 0.911626 with order 1 Centerline is valid? [False, False] Translation: X:16.39, Y:-0.35, Z:1.08 [[ 0.98652954 0.05774827 0.15305098 16.39195064] [-0.07189655 0.99347117 0.08857718 -0.35348717] [-0.14693655 -0.09838784 0.98424056 1.07697609] [ 0. 0. 0. 1. ]] SLAMing on 95.402401008 meters Centerline goodness : 0.914915 with order 1 Centerline is valid? [False, False] Translation: X:16.40, Y:-0.35, Z:1.06 [[ 0.98568014 0.06145868 0.15702704 16.39889377] [-0.07341586 0.99473412 0.07151319 -0.35222949] [-0.15180504 -0.08201741 0.98500171 1.06252561] [ 0. 0. 0. 1. ]] SLAMing on 95.462401008 meters Centerline goodness : 0.920711 with order 1 Centerline is valid? [False, False] Translation: X:16.40, Y:-0.35, Z:1.05 [[ 0.98479017 0.06543924 0.1609535 16.40362934] [-0.07477942 0.99580827 0.05266803 -0.34982418] [-0.15683227 -0.06390297 0.98555571 1.04746891] [ 0. 0. 0. 1. ]] SLAMing on 95.522401008 meters Centerline goodness : 0.923625 with order 1 Centerline is valid? [False, False] Translation: X:16.44, Y:-0.36, Z:1.05 [[ 0.98543015 0.05844029 0.15972526 16.43522256] [-0.06732057 0.99643939 0.0507591 -0.3630484 ] [-0.15619017 -0.06077234 0.98585565 1.05135448] [ 0. 0. 0. 1. ]] SLAMing on 95.582401008 meters Centerline goodness : 0.925533 with order 1 Centerline is valid? [False, False] Translation: X:16.44, Y:-0.36, Z:1.05 [[ 0.98553639 0.05830515 0.15911798 16.4369003 ] [-0.06716053 0.99644552 0.05085058 -0.36316966] [-0.15558754 -0.06080155 0.98594913 1.05128769] [ 0. 0. 0. 1. ]] SLAMing on 95.64240100800001 meters Centerline goodness : 0.922981 with order 1 Centerline is valid? [False, False] Translation: X:16.44, Y:-0.36, Z:1.04 [[ 0.98572044 0.05742614 0.15829544 16.44051581] [-0.06545668 0.99679507 0.04598932 -0.35791615] [-0.15514713 -0.05569411 0.9863202 1.04070984] [ 0. 0. 0. 1. ]] SLAMing on 95.70240100800001 meters Centerline goodness : 0.914786 with order 1 Centerline is valid? [False, False] Translation: X:16.48, Y:-0.36, Z:1.04 [[ 0.98679557 0.05655766 0.15177529 16.47959622] [-0.06502996 0.99655622 0.05144702 -0.36328696] [-0.14834289 -0.06063763 0.98707521 1.04150462] [ 0. 0. 0. 1. ]] SLAMing on 95.762401008 meters Centerline goodness : 0.917608 with order 1 Centerline is valid? [False, False] Translation: X:16.52, Y:-0.37, Z:1.06 [[ 0.98733726 0.05100552 0.15021178 16.52322497] [-0.0614661 0.99593541 0.0658375 -0.37358052] [-0.14624316 -0.07423674 0.98645925 1.05758074] [ 0. 0. 0. 1. ]] SLAMing on 95.822401008 meters Centerline goodness : 0.919612 with order 1 Centerline is valid? [False, False] Translation: X:16.56, Y:-0.38, Z:1.09 [[ 0.98619588 0.03547714 0.1617376 16.56135361] [-0.05474415 0.9917076 0.11627171 -0.38200622] [-0.15627142 -0.12352086 0.97996012 1.0888562 ] [ 0. 0. 0. 1. ]] SLAMing on 95.882401008 meters Centerline goodness : 0.913981 with order 1 Centerline is valid? [False, False] Translation: X:16.58, Y:-0.38, Z:1.09 [[ 0.98654987 0.03294284 0.16010662 16.57562362] [-0.05262982 0.99133879 0.12032251 -0.37515304] [-0.15475614 -0.12713054 0.97973893 1.08523525] [ 0. 0. 0. 1. ]] SLAMing on 95.942401008 meters Centerline goodness : 0.916180 with order 1 Centerline is valid? [False, False] Translation: X:16.58, Y:-0.38, Z:1.12 [[ 0.98544891 0.02366221 0.16831682 16.58448786] [-0.05189727 0.98486165 0.16539109 -0.38132564] [-0.16185527 -0.17171965 0.97175884 1.12339462] [ 0. 0. 0. 1. ]] SLAMing on 96.002401008 meters Centerline goodness : 0.918098 with order 1 Centerline is valid? [False, False] Translation: X:16.58, Y:-0.37, Z:1.14 [[ 0.98517315 0.0185252 0.1705599 16.58486082] [-0.04724315 0.98501101 0.16589574 -0.37405265] [-0.16493012 -0.17149382 0.97128159 1.13540564] [ 0. 0. 0. 1. ]] SLAMing on 96.06240100800001 meters Centerline goodness : 0.912554 with order 1 Centerline is valid? [False, False] Translation: X:16.57, Y:-0.37, Z:1.14 [[ 9.85629970e-01 1.35071903e-02 1.68377901e-01 1.65742123e+01] [-4.33795665e-02 9.83607795e-01 1.75025482e-01 -3.66952466e-01] [-1.63253713e-01 -1.79814521e-01 9.70059258e-01 1.13839399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.122401008 meters Centerline goodness : 0.913315 with order 1 Centerline is valid? [False, False] Translation: X:16.55, Y:-0.36, Z:1.14 [[ 9.85190307e-01 5.69080961e-03 1.71369992e-01 1.65510469e+01] [-3.52436030e-02 9.84829461e-01 1.69908271e-01 -3.58463329e-01] [-1.67803301e-01 -1.73431678e-01 9.70445004e-01 1.13790323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.182401008 meters Centerline goodness : 0.914399 with order 1 Centerline is valid? [False, False] Translation: X:16.54, Y:-0.35, Z:1.13 [[ 9.85094299e-01 2.86301288e-03 1.71991354e-01 1.65409384e+01] [-2.95435447e-02 9.87820153e-01 1.52769514e-01 -3.52141908e-01] [-1.69459145e-01 -1.55573612e-01 9.73180584e-01 1.13002884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.242401008 meters Centerline goodness : 0.913793 with order 1 Centerline is valid? [False, False] Translation: X:16.51, Y:-0.34, Z:1.12 [[ 9.85967830e-01 1.23584007e-02 1.66477352e-01 1.65085993e+01] [-3.46148003e-02 9.90716721e-01 1.31461757e-01 -3.39859763e-01] [-1.63307239e-01 -1.35379644e-01 9.77242599e-01 1.11895269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.302401008 meters Centerline goodness : 0.911403 with order 1 Centerline is valid? [False, False] Translation: X:16.49, Y:-0.33, Z:1.11 [[ 0.9861493 0.02397522 0.16411809 16.48602509] [-0.04430596 0.99161877 0.12136394 -0.3291691 ] [-0.15983285 -0.12695437 0.9789464 1.11077143] [ 0. 0. 0. 1. ]] SLAMing on 96.362401008 meters Centerline goodness : 0.909263 with order 1 Centerline is valid? [False, False] Translation: X:16.50, Y:-0.33, Z:1.12 [[ 0.98556056 0.02423621 0.16757981 16.49590846] [-0.0479331 0.9891534 0.13884514 -0.3274803 ] [-0.16239705 -0.14487292 0.97603229 1.12146891] [ 0. 0. 0. 1. ]] SLAMing on 96.42240100800001 meters Centerline goodness : 0.907993 with order 1 Centerline is valid? [False, False] Translation: X:16.49, Y:-0.32, Z:1.12 [[ 0.9849027 0.02426233 0.17140018 16.4916879 ] [-0.04857546 0.98908391 0.13911665 -0.32273768] [-0.16615386 -0.1453422 0.97532996 1.12179911] [ 0. 0. 0. 1. ]] SLAMing on 96.482401008 meters Centerline goodness : 0.909628 with order 1 Centerline is valid? [False, False] Translation: X:16.48, Y:-0.32, Z:1.14 [[ 9.82696221e-01 1.51944332e-02 1.84600289e-01 1.64846425e+01] [-4.56061317e-02 9.85795789e-01 1.61637694e-01 -3.22732438e-01] [-1.79522194e-01 -1.67259656e-01 9.69430755e-01 1.14155207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.542401008 meters Centerline goodness : 0.912958 with order 1 Centerline is valid? [False, False] Translation: X:16.50, Y:-0.32, Z:1.15 [[ 9.80836681e-01 2.06132761e-03 1.94820831e-01 1.64950572e+01] [-3.72962338e-02 9.83438243e-01 1.77364636e-01 -3.21065752e-01] [-1.91228649e-01 -1.81231824e-01 9.64669182e-01 1.15392135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.602401008 meters Centerline goodness : 0.918965 with order 1 Centerline is valid? [False, False] Translation: X:16.47, Y:-0.31, Z:1.15 [[ 9.79801104e-01 -1.29783881e-03 1.99970279e-01 1.64652399e+01] [-3.35200227e-02 9.84764771e-01 1.70630463e-01 -3.08311509e-01] [-1.97145137e-01 -1.73886924e-01 9.64830106e-01 1.14879583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.662401008 meters Centerline goodness : 0.920737 with order 1 Centerline is valid? [False, False] Translation: X:16.46, Y:-0.30, Z:1.15 [[ 9.79291387e-01 5.87550584e-04 2.02455015e-01 1.64598548e+01] [-3.55232145e-02 9.84980809e-01 1.68970138e-01 -3.02152889e-01] [-1.99315026e-01 -1.72662854e-01 9.64604094e-01 1.14772435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.722401008 meters Centerline goodness : 0.920816 with order 1 Centerline is valid? [False, False] Translation: X:16.46, Y:-0.30, Z:1.15 [[ 9.79027340e-01 3.41491017e-03 2.03700282e-01 1.64557284e+01] [-3.84134398e-02 9.85019510e-01 1.68110001e-01 -2.95306832e-01] [-2.00074672e-01 -1.72409116e-01 9.64492210e-01 1.14868403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.78240100800001 meters Centerline goodness : 0.923965 with order 1 Centerline is valid? [False, False] Translation: X:16.46, Y:-0.29, Z:1.15 [[ 9.78968309e-01 7.47628876e-03 2.03875342e-01 1.64550223e+01] [-4.30959636e-02 9.84355683e-01 1.70840941e-01 -2.90515003e-01] [-1.99408595e-01 -1.76034072e-01 9.63975216e-01 1.14774094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84240100800001 meters Centerline goodness : 0.925628 with order 1 Centerline is valid? [False, False] Translation: X:16.45, Y:-0.28, Z:1.13 [[ 0.97835477 0.02510424 0.20540625 16.44709538] [-0.05824195 0.98589339 0.15691431 -0.28425206] [-0.19856945 -0.16548112 0.96601562 1.13496965] [ 0. 0. 0. 1. ]] SLAMing on 96.902401008 meters Centerline goodness : 0.926229 with order 1 Centerline is valid? [False, False] Translation: X:16.45, Y:-0.28, Z:1.12 [[ 0.97739064 0.0375559 0.20807953 16.44745211] [-0.06861731 0.9871761 0.14413542 -0.28068559] [-0.199998 -0.15515447 0.96743366 1.12347306] [ 0. 0. 0. 1. ]] SLAMing on 96.962401008 meters Centerline goodness : 0.926713 with order 1 Centerline is valid? [False, False] Translation: X:16.44, Y:-0.28, Z:1.11 [[ 0.97631668 0.05404639 0.20948681 16.43539243] [-0.08178487 0.988641 0.12609602 -0.27652622] [-0.20029222 -0.1402425 0.96964688 1.11255002] [ 0. 0. 0. 1. ]] SLAMing on 97.022401008 meters Centerline goodness : 0.926925 with order 1 Centerline is valid? [False, False] Translation: X:16.43, Y:-0.27, Z:1.10 [[ 0.9753407 0.06499766 0.21091664 16.43171167] [-0.08911544 0.99026498 0.10692855 -0.27199977] [-0.20191325 -0.12308769 0.97163803 1.09829215] [ 0. 0. 0. 1. ]] SLAMing on 97.082401008 meters Centerline goodness : 0.927127 with order 1 Centerline is valid? [False, False] Translation: X:16.43, Y:-0.27, Z:1.09 [[ 0.97451115 0.06988694 0.21317559 16.43407378] [-0.09020604 0.99210544 0.08711866 -0.27197913] [-0.20540421 -0.10412783 0.97312204 1.08716573] [ 0. 0. 0. 1. ]] SLAMing on 97.14240100800001 meters Centerline goodness : 0.928903 with order 1 Centerline is valid? [False, False] Translation: X:16.44, Y:-0.27, Z:1.07 [[ 0.97397034 0.06920396 0.21585316 16.44221858] [-0.08505456 0.99425266 0.06501828 -0.27361925] [-0.21011305 -0.08168517 0.97425871 1.07344645] [ 0. 0. 0. 1. ]] SLAMing on 97.20240100800001 meters Centerline goodness : 0.929584 with order 1 Centerline is valid? [False, False] Translation: X:16.48, Y:-0.29, Z:1.07 [[ 0.97522273 0.05932706 0.21312187 16.48024007] [-0.0743984 0.99521115 0.06340061 -0.28651757] [-0.20833989 -0.07768564 0.97496638 1.06749399] [ 0. 0. 0. 1. ]] SLAMing on 97.262401008 meters Centerline goodness : 0.932716 with order 1 Centerline is valid? [False, False] Translation: X:16.52, Y:-0.30, Z:1.07 [[ 0.97599778 0.0484511 0.21232244 16.52475068] [-0.06479828 0.99538936 0.07071917 -0.30038463] [-0.20791708 -0.08277988 0.97463736 1.06775468] [ 0. 0. 0. 1. ]] SLAMing on 97.322401008 meters Centerline goodness : 0.930366 with order 1 Centerline is valid? [False, False] Translation: X:16.57, Y:-0.31, Z:1.07 [[ 0.97729741 0.03749669 0.20852762 16.57157783] [-0.0547839 0.99546639 0.07775214 -0.31495155] [-0.20466679 -0.08741092 0.97492094 1.07320644] [ 0. 0. 0. 1. ]] SLAMing on 97.382401008 meters Centerline goodness : 0.928355 with order 1 Centerline is valid? [False, False] Translation: X:16.58, Y:-0.32, Z:1.08 [[ 0.97910559 0.0406665 0.19924479 16.58368836] [-0.05614208 0.99577642 0.0726457 -0.31767291] [-0.19544902 -0.08231383 0.97725335 1.07871431] [ 0. 0. 0. 1. ]] SLAMing on 97.442401008 meters Centerline goodness : 0.924880 with order 1 Centerline is valid? [False, False] Translation: X:16.61, Y:-0.32, Z:1.07 [[ 0.98025074 0.04888635 0.19162103 16.60858105] [-0.06371197 0.99536878 0.07198459 -0.31760389] [-0.18721453 -0.08277151 0.97882562 1.06975315] [ 0. 0. 0. 1. ]] SLAMing on 97.502401008 meters Centerline goodness : 0.920978 with order 1 Centerline is valid? [False, False] Translation: X:16.61, Y:-0.31, Z:1.06 [[ 0.9801317 0.05248808 0.19127691 16.60998372] [-0.06750338 0.99505621 0.07284526 -0.31030248] [-0.18650777 -0.08430978 0.97882926 1.06317629] [ 0. 0. 0. 1. ]] SLAMing on 97.56240100800001 meters Centerline goodness : 0.921283 with order 1 Centerline is valid? [False, False] Translation: X:16.62, Y:-0.31, Z:1.05 [[ 0.97937054 0.05543647 0.19431971 16.62038484] [-0.06781795 0.99603074 0.05764973 -0.30624501] [-0.19035251 -0.06963881 0.97924275 1.05334839] [ 0. 0. 0. 1. ]] SLAMing on 97.622401008 meters Centerline goodness : 0.923642 with order 1 Centerline is valid? [False, False] Translation: X:16.62, Y:-0.30, Z:1.05 [[ 0.97850167 0.06012435 0.19728037 16.62220386] [-0.06921646 0.9968188 0.03951403 -0.30215293] [-0.19427703 -0.0523196 0.97955046 1.04745572] [ 0. 0. 0. 1. ]] SLAMing on 97.682401008 meters Centerline goodness : 0.932495 with order 1 Centerline is valid? [False, False] Translation: X:16.62, Y:-0.30, Z:1.05 [[ 0.97830546 0.06049008 0.19813977 16.61963428] [-0.06988539 0.99672169 0.04076656 -0.30014411] [-0.19502424 -0.05372922 0.97932564 1.05233421] [ 0. 0. 0. 1. ]] SLAMing on 97.742401008 meters Centerline goodness : 0.933244 with order 1 Centerline is valid? [False, False] Translation: X:16.65, Y:-0.30, Z:1.06 [[ 0.97818882 0.05406098 0.20055933 16.64885664] [-0.06764783 0.99581093 0.06151713 -0.30243889] [-0.19639349 -0.07374277 0.97774823 1.05989226] [ 0. 0. 0. 1. ]] SLAMing on 97.802401008 meters Centerline goodness : 0.935769 with order 1 Centerline is valid? [False, False] Translation: X:16.68, Y:-0.31, Z:1.06 [[ 0.97911558 0.05561069 0.19555085 16.67662869] [-0.06889721 0.99570734 0.06180673 -0.30898913] [-0.1912743 -0.07398884 0.97874399 1.06005432] [ 0. 0. 0. 1. ]] SLAMing on 97.862401008 meters Centerline goodness : 0.934508 with order 1 Centerline is valid? [False, False] Translation: X:16.71, Y:-0.32, Z:1.07 [[ 0.98007433 0.05322914 0.19136607 16.71336745] [-0.0678098 0.99520676 0.07046519 -0.32065323] [-0.186698 -0.08203762 0.97898605 1.06681867] [ 0. 0. 0. 1. ]] SLAMing on 97.92240100800001 meters Centerline goodness : 0.930195 with order 1 Centerline is valid? [False, False] Translation: X:16.72, Y:-0.32, Z:1.07 [[ 0.98063159 0.04926542 0.18956423 16.72436155] [-0.06389798 0.9953654 0.07186631 -0.31949541] [-0.18514516 -0.08258715 0.97923472 1.06588807] [ 0. 0. 0. 1. ]] SLAMing on 97.982401008 meters Centerline goodness : 0.923512 with order 1 Centerline is valid? [False, False] Translation: X:16.77, Y:-0.33, Z:1.07 [[ 0.98147371 0.04806247 0.18547063 16.76828939] [-0.06543759 0.99390437 0.08872439 -0.32800058] [-0.18007576 -0.0992174 0.97863611 1.07112455] [ 0. 0. 0. 1. ]] SLAMing on 98.042401008 meters Centerline goodness : 0.924390 with order 1 Centerline is valid? [False, False] Translation: X:16.79, Y:-0.33, Z:1.07 [[ 0.98254858 0.05272092 0.17837821 16.7901665 ] [-0.06949178 0.99359435 0.08911314 -0.3339391 ] [-0.17253746 -0.09995381 0.9799184 1.07315861] [ 0. 0. 0. 1. ]] SLAMing on 98.102401008 meters Centerline goodness : 0.926220 with order 1 Centerline is valid? [False, False] Translation: X:16.80, Y:-0.33, Z:1.06 [[ 0.98149357 0.05784377 0.18254993 16.80223286] [-0.07349688 0.99406742 0.08017589 -0.3322662 ] [-0.17682926 -0.09210897 0.97992211 1.06468553] [ 0. 0. 0. 1. ]] SLAMing on 98.162401008 meters Centerline goodness : 0.929655 with order 1 Centerline is valid? [False, False] Translation: X:16.82, Y:-0.33, Z:1.06 [[ 0.98061779 0.06112259 0.18615257 16.81533038] [-0.07520083 0.9947418 0.06952406 -0.33049155] [-0.18092425 -0.08217536 0.98005797 1.05690498] [ 0. 0. 0. 1. ]] SLAMing on 98.222401008 meters Centerline goodness : 0.929807 with order 1 Centerline is valid? [False, False] Translation: X:16.83, Y:-0.33, Z:1.04 [[ 0.97990834 0.063524 0.18906175 16.82546478] [-0.0747016 0.99581835 0.05258783 -0.32520647] [-0.18493057 -0.06565447 0.98055605 1.04423446] [ 0. 0. 0. 1. ]] SLAMing on 98.28240100800001 meters Centerline goodness : 0.926421 with order 1 Centerline is valid? [False, False] Translation: X:16.83, Y:-0.32, Z:1.04 [[ 0.98016516 0.06244476 0.1880875 16.82891055] [-0.07320188 0.99602287 0.050793 -0.32213581] [-0.1841677 -0.06355388 0.98083799 1.04054417] [ 0. 0. 0. 1. ]] SLAMing on 98.34240100800001 meters Centerline goodness : 0.925795 with order 1 Centerline is valid? [False, False] Translation: X:16.83, Y:-0.32, Z:1.04 [[ 0.98111143 0.06510064 0.18215999 16.83463764] [-0.07517613 0.99596775 0.04895708 -0.32063792] [-0.17823834 -0.06172644 0.98204936 1.04423234] [ 0. 0. 0. 1. ]] SLAMing on 98.402401008 meters Centerline goodness : 0.926474 with order 1 Centerline is valid? [False, False] Translation: X:16.83, Y:-0.32, Z:1.05 [[ 0.98111273 0.0653284 0.18207144 16.83409041] [-0.07550738 0.99591387 0.04953981 -0.32121296] [-0.17809112 -0.06235188 0.98203656 1.04626883] [ 0. 0. 0. 1. ]] SLAMing on 98.462401008 meters Centerline goodness : 0.933400 with order 1 Centerline is valid? [False, False] Translation: X:16.83, Y:-0.32, Z:1.04 [[ 0.98009747 0.06981922 0.18583387 16.83468492] [-0.07687371 0.99655813 0.03102137 -0.31698777] [-0.18302837 -0.04468971 0.98209136 1.03924397] [ 0. 0. 0. 1. ]] SLAMing on 98.522401008 meters Centerline goodness : 0.934171 with order 1 Centerline is valid? [False, False] Translation: X:16.84, Y:-0.31, Z:1.04 [[ 0.98015037 0.06954442 0.18565783 16.83585116] [-0.07638016 0.9966299 0.02991523 -0.31466041] [-0.18295171 -0.043502 0.98215897 1.03693419] [ 0. 0. 0. 1. ]] SLAMing on 98.582401008 meters Centerline goodness : 0.930290 with order 1 Centerline is valid? [False, False] Translation: X:16.84, Y:-0.31, Z:1.03 [[ 0.98038045 0.068572 0.18480272 16.83946689] [-0.07491767 0.99680858 0.0275681 -0.31173113] [-0.18232254 -0.04087222 0.9823889 1.03131363] [ 0. 0. 0. 1. ]] SLAMing on 98.64240100800001 meters Centerline goodness : 0.920241 with order 1 Centerline is valid? [False, False] Translation: X:16.85, Y:-0.32, Z:1.03 [[ 0.98181934 0.07334688 0.1750743 16.85295266] [-0.07849845 0.99665635 0.02267414 -0.31505593] [-0.17282584 -0.03600497 0.9842941 1.03038347] [ 0. 0. 0. 1. ]] SLAMing on 98.70240100800001 meters Centerline goodness : 0.916133 with order 1 Centerline is valid? [False, False] Translation: X:16.86, Y:-0.31, Z:1.03 [[ 0.98199044 0.07286494 0.17431428 16.85533218] [-0.07769012 0.99675615 0.02101017 -0.31281443] [-0.17221793 -0.03417428 0.9844659 1.02694588] [ 0. 0. 0. 1. ]] SLAMing on 98.762401008 meters Centerline goodness : 0.910538 with order 1 Centerline is valid? [False, False] Translation: X:16.89, Y:-0.32, Z:1.02 [[ 0.98298559 0.07438145 0.16794861 16.88990862] [-0.07942714 0.9965632 0.02351859 -0.31559206] [-0.16562206 -0.03645811 0.98551517 1.02184325] [ 0. 0. 0. 1. ]] SLAMing on 98.822401008 meters Centerline goodness : 0.907549 with order 1 Centerline is valid? [False, False] Translation: X:16.89, Y:-0.32, Z:1.02 [[ 0.98321743 0.07320911 0.16710451 16.89268689] [-0.07818709 0.99666408 0.02339862 -0.31600957] [-0.16483407 -0.03607134 0.9856615 1.0214654 ] [ 0. 0. 0. 1. ]] SLAMing on 98.882401008 meters Centerline goodness : 0.910286 with order 1 Centerline is valid? [False, False] Translation: X:16.93, Y:-0.33, Z:1.03 [[ 0.98414052 0.06472412 0.1651612 16.93239064] [-0.07076726 0.99701212 0.03096486 -0.32894679] [-0.16266354 -0.04216178 0.98578038 1.03467017] [ 0. 0. 0. 1. ]] SLAMing on 98.942401008 meters Centerline goodness : 0.909857 with order 1 Centerline is valid? [False, False] Translation: X:16.99, Y:-0.34, Z:1.06 [[ 0.98412226 0.04875145 0.17066538 16.98629162] [-0.06103935 0.99584991 0.0675067 -0.34256359] [-0.16666605 -0.07685215 0.98301382 1.0562211 ] [ 0. 0. 0. 1. ]] SLAMing on 99.002401008 meters Centerline goodness : 0.906573 with order 1 Centerline is valid? [False, False] Translation: X:17.03, Y:-0.35, Z:1.06 [[ 0.98469215 0.04652787 0.16797775 17.0311327 ] [-0.06090746 0.9948113 0.08149081 -0.34857997] [-0.16331457 -0.09047446 0.98241678 1.06177185] [ 0. 0. 0. 1. ]] SLAMing on 99.06240100800001 meters Centerline goodness : 0.904528 with order 1 Centerline is valid? [False, False] Translation: X:17.07, Y:-0.35, Z:1.07 [[ 0.98512317 0.04610467 0.1655497 17.07237567] [-0.06239667 0.99355815 0.09459841 -0.35270734] [-0.16012182 -0.10352084 0.98165393 1.06866133] [ 0. 0. 0. 1. ]] SLAMing on 99.122401008 meters Centerline goodness : 0.906419 with order 1 Centerline is valid? [False, False] Translation: X:17.08, Y:-0.35, Z:1.08 [[ 0.98532219 0.04317157 0.16515566 17.07878757] [-0.06024449 0.99318175 0.09980291 -0.35165616] [-0.15972094 -0.10828774 0.98120487 1.07957168] [ 0. 0. 0. 1. ]] SLAMing on 99.182401008 meters Centerline goodness : 0.906044 with order 1 Centerline is valid? [False, False] Translation: X:17.10, Y:-0.35, Z:1.09 [[ 0.98473077 0.03691185 0.17012591 17.09771977] [-0.05746421 0.9914073 0.11751357 -0.3530712 ] [-0.16432643 -0.12549538 0.97839038 1.09202231] [ 0. 0. 0. 1. ]] SLAMing on 99.242401008 meters Centerline goodness : 0.899396 with order 1 Centerline is valid? [False, False] Translation: X:17.13, Y:-0.36, Z:1.11 [[ 0.98300151 0.02302921 0.18214744 17.12523869] [-0.05133581 0.98700683 0.15225685 -0.35582736] [-0.17627441 -0.1590194 0.97141143 1.10615968] [ 0. 0. 0. 1. ]] SLAMing on 99.302401008 meters Centerline goodness : 0.897345 with order 1 Centerline is valid? [False, False] Translation: X:17.13, Y:-0.35, Z:1.11 [[ 0.98277457 0.0219279 0.18350291 17.12651177] [-0.05042613 0.98707604 0.1521121 -0.3502973 ] [-0.17779582 -0.15874525 0.97117897 1.10610503] [ 0. 0. 0. 1. ]] SLAMing on 99.362401008 meters Centerline goodness : 0.894928 with order 1 Centerline is valid? [False, False] Translation: X:17.12, Y:-0.34, Z:1.10 [[ 0.98251061 0.02113747 0.18500298 17.12285908] [-0.04846613 0.98832114 0.14447269 -0.34076277] [-0.17978857 -0.15091233 0.97206046 1.1013797 ] [ 0. 0. 0. 1. ]] SLAMing on 99.42240100800001 meters Centerline goodness : 0.891003 with order 1 Centerline is valid? [False, False] Translation: X:17.12, Y:-0.34, Z:1.10 [[ 0.98244083 0.02459972 0.18494557 17.12305446] [-0.05257095 0.98760443 0.1478979 -0.33652131] [-0.17901481 -0.1550237 0.97155615 1.10233921] [ 0. 0. 0. 1. ]] SLAMing on 99.482401008 meters Centerline goodness : 0.889806 with order 1 Centerline is valid? [False, False] Translation: X:17.15, Y:-0.34, Z:1.10 [[ 0.9814548 0.02747649 0.18971432 17.1489548 ] [-0.05686338 0.98685936 0.15124536 -0.33540975] [-0.18306566 -0.15922829 0.97012026 1.09868093] [ 0. 0. 0. 1. ]] SLAMing on 99.542401008 meters Centerline goodness : 0.895243 with order 1 Centerline is valid? [False, False] Translation: X:17.16, Y:-0.33, Z:1.10 [[ 0.98012764 0.03163498 0.19582911 17.16186525] [-0.06123896 0.98723599 0.14702006 -0.334274 ] [-0.18867857 -0.1560908 0.96955457 1.09622273] [ 0. 0. 0. 1. ]] SLAMing on 99.602401008 meters Centerline goodness : 0.895841 with order 1 Centerline is valid? [False, False] Translation: X:17.17, Y:-0.33, Z:1.09 [[ 0.97953972 0.03508095 0.19816979 17.17327058] [-0.06235755 0.98913526 0.13312769 -0.33316297] [-0.19134648 -0.14276125 0.97108483 1.08898846] [ 0. 0. 0. 1. ]] SLAMing on 99.662401008 meters Centerline goodness : 0.900752 with order 1 Centerline is valid? [False, False] Translation: X:17.18, Y:-0.33, Z:1.07 [[ 0.97882489 0.04139426 0.20047031 17.1785075 ] [-0.06532641 0.99129882 0.11427648 -0.32797068] [-0.1939956 -0.12495267 0.9730121 1.07166744] [ 0. 0. 0. 1. ]] SLAMing on 99.722401008 meters Centerline goodness : 0.893532 with order 1 Centerline is valid? [False, False] Translation: X:17.19, Y:-0.33, Z:1.06 [[ 0.9791622 0.04036118 0.19902854 17.18798956] [-0.0641349 0.99135225 0.11448771 -0.3260433 ] [-0.19268653 -0.12486672 0.97328321 1.06140187] [ 0. 0. 0. 1. ]] SLAMing on 99.78240100800001 meters Centerline goodness : 0.893675 with order 1 Centerline is valid? [False, False] Translation: X:17.24, Y:-0.34, Z:1.07 [[ 0.98018681 0.03379203 0.1951715 17.23583091] [-0.05940087 0.99013665 0.12688952 -0.33530559] [-0.1889586 -0.13596879 0.97252616 1.06841373] [ 0. 0. 0. 1. ]] SLAMing on 99.84240100800001 meters Centerline goodness : 0.896969 with order 1 Centerline is valid? [False, False] Translation: X:17.27, Y:-0.34, Z:1.07 [[ 0.98087897 0.02941664 0.1923827 17.27297799] [-0.05572239 0.9895763 0.13279216 -0.34287709] [-0.18647106 -0.14097306 0.97229375 1.07414883] [ 0. 0. 0. 1. ]] SLAMing on 99.902401008 meters Centerline goodness : 0.899128 with order 1 Centerline is valid? [False, False] Translation: X:17.29, Y:-0.34, Z:1.08 [[ 0.98124545 0.02421959 0.19123486 17.28966997] [-0.05171278 0.9887838 0.14011562 -0.34196121] [-0.18569639 -0.1473771 0.97149207 1.07649428] [ 0. 0. 0. 1. ]] SLAMing on 99.962401008 meters Centerline goodness : 0.901686 with order 1 Centerline is valid? [False, False] Translation: X:17.29, Y:-0.34, Z:1.08 [[ 0.9812418 0.02416724 0.19126021 17.29018705] [-0.05165801 0.98879103 0.1400848 -0.34039283] [-0.18573092 -0.14733719 0.97149152 1.07699111] [ 0. 0. 0. 1. ]] SLAMing on 100.022401008 meters Centerline goodness : 0.910836 with order 1 Centerline is valid? [False, False] Translation: X:17.30, Y:-0.34, Z:1.07 [[ 0.98027515 0.02712544 0.19576733 17.30025947] [-0.05289246 0.99041181 0.12761992 -0.33890176] [-0.19042853 -0.13545725 0.97231081 1.070405 ] [ 0. 0. 0. 1. ]] SLAMing on 100.082401008 meters Centerline goodness : 0.910592 with order 1 Centerline is valid? [False, False] Translation: X:17.30, Y:-0.34, Z:1.06 [[ 0.9791288 0.033934 0.20038782 17.30436483] [-0.05743585 0.99197231 0.11265907 -0.33507962] [-0.1949562 -0.12181719 0.97321768 1.05776095] [ 0. 0. 0. 1. ]] SLAMing on 100.14240100800001 meters Centerline goodness : 0.911533 with order 1 Centerline is valid? [False, False] Translation: X:17.31, Y:-0.33, Z:1.04 [[ 0.97813343 0.04146969 0.203802 17.31251048] [-0.06301753 0.9929492 0.10040261 -0.3311382 ] [-0.19820136 -0.11105025 0.97385012 1.04417733] [ 0. 0. 0. 1. ]] SLAMing on 100.20240100800001 meters Centerline goodness : 0.914597 with order 1 Centerline is valid? [False, False] Translation: X:17.31, Y:-0.33, Z:1.03 [[ 0.977319 0.0517696 0.20534723 17.30772431] [-0.06966069 0.99428723 0.08087211 -0.3264971 ] [-0.19998741 -0.09334248 0.9753421 1.03269498] [ 0. 0. 0. 1. ]] SLAMing on 100.262401008 meters Centerline goodness : 0.918584 with order 1 Centerline is valid? [False, False] Translation: X:17.31, Y:-0.32, Z:1.02 [[ 0.97634253 0.05666588 0.20867259 17.31004233] [-0.07067023 0.99567707 0.06027351 -0.32182809] [-0.20435506 -0.07359453 0.97612645 1.01855184] [ 0. 0. 0. 1. ]] SLAMing on 100.322401008 meters Centerline goodness : 0.917947 with order 1 Centerline is valid? [False, False] Translation: X:17.32, Y:-0.32, Z:1.01 [[ 0.97523865 0.06107436 0.21255468 17.31688228] [-0.0722333 0.99636628 0.04512848 -0.32056425] [-0.20902612 -0.05936456 0.97610652 1.00751083] [ 0. 0. 0. 1. ]] SLAMing on 100.382401008 meters Centerline goodness : 0.920447 with order 1 Centerline is valid? [False, False] Translation: X:17.32, Y:-0.32, Z:1.00 [[ 0.97544826 0.06017519 0.21184817 17.31983917] [-0.07109357 0.99648553 0.04429775 -0.32203519] [-0.20843801 -0.05827121 0.97629814 1.00376313] [ 0. 0. 0. 1. ]] SLAMing on 100.442401008 meters Centerline goodness : 0.911321 with order 1 Centerline is valid? [False, False] Translation: X:17.32, Y:-0.32, Z:0.99 [[ 0.97555632 0.06072828 0.21119172 17.32060992] [-0.0703013 0.99679745 0.03811269 -0.31524093] [-0.20820085 -0.05202812 0.97670133 0.99149663] [ 0. 0. 0. 1. ]] SLAMing on 100.502401008 meters Centerline goodness : 0.910965 with order 1 Centerline is valid? [False, False] Translation: X:17.32, Y:-0.32, Z:0.99 [[ 0.97586684 0.05990893 0.20998768 17.32350779] [-0.06936691 0.99686866 0.0379619 -0.31632082] [-0.20705588 -0.05161195 0.97696677 0.99153081] [ 0. 0. 0. 1. ]] SLAMing on 100.56240100800001 meters Centerline goodness : 0.913648 with order 1 Centerline is valid? [False, False] Translation: X:17.32, Y:-0.32, Z:0.99 [[ 0.97615102 0.05683459 0.20952094 17.32355054] [-0.06539354 0.99727517 0.03414573 -0.31676367] [-0.20700937 -0.0470327 0.97720778 0.9928233 ] [ 0. 0. 0. 1. ]] SLAMing on 100.622401008 meters Centerline goodness : 0.909313 with order 1 Centerline is valid? [False, False] Translation: X:17.33, Y:-0.32, Z:0.99 [[ 0.97649683 0.05465408 0.20848712 17.328655 ] [-0.06277165 0.99749812 0.03251505 -0.31542112] [-0.20618843 -0.04483792 0.97748447 0.98801909] [ 0. 0. 0. 1. ]] SLAMing on 100.682401008 meters Centerline goodness : 0.904310 with order 1 Centerline is valid? [False, False] Translation: X:17.34, Y:-0.32, Z:0.99 [[ 0.97719158 0.04878133 0.20668089 17.34072996] [-0.0568993 0.99781727 0.03351378 -0.31520969] [-0.20459492 -0.04450938 0.97783426 0.9870339 ] [ 0. 0. 0. 1. ]] SLAMing on 100.742401008 meters Centerline goodness : 0.911673 with order 1 Centerline is valid? [False, False] Translation: X:17.38, Y:-0.32, Z:1.00 [[ 0.97778803 0.04251708 0.20523855 17.38127395] [-0.05267636 0.99762898 0.04429011 -0.32495701] [-0.20286884 -0.05411755 0.97770933 1.00051604] [ 0. 0. 0. 1. ]] SLAMing on 100.802401008 meters Centerline goodness : 0.913317 with order 1 Centerline is valid? [False, False] Translation: X:17.42, Y:-0.34, Z:1.05 [[ 9.74531060e-01 1.20603037e-02 2.23928031e-01 1.74171225e+01] [-3.73693459e-02 9.93324550e-01 1.09132351e-01 -3.43344119e-01] [-2.21117041e-01 -1.14720910e-01 9.68476312e-01 1.04719404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.862401008 meters Centerline goodness : 0.904994 with order 1 Centerline is valid? [False, False] Translation: X:17.41, Y:-0.34, Z:1.06 [[ 9.74505232e-01 4.75779372e-03 2.24314323e-01 1.74114735e+01] [-3.46330414e-02 9.90982292e-01 1.29439754e-01 -3.42620157e-01] [-2.21675674e-01 -1.33908404e-01 9.65882205e-01 1.06069123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.92240100800001 meters Centerline goodness : 0.895218 with order 1 Centerline is valid? [False, False] Translation: X:17.40, Y:-0.33, Z:1.04 [[ 9.74865951e-01 7.38203906e-03 2.22669895e-01 1.74041164e+01] [-3.33860463e-02 9.93005880e-01 1.13246164e-01 -3.29171989e-01] [-2.20276528e-01 -1.17833897e-01 9.68294079e-01 1.04171791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.982401008 meters Centerline goodness : 0.891932 with order 1 Centerline is valid? [False, False] Translation: X:17.38, Y:-0.32, Z:1.05 [[ 0.97632285 0.02369586 0.21501674 17.38048966] [-0.0461269 0.99392649 0.09991219 -0.3200549 ] [-0.21134332 -0.10746461 0.97148616 1.04849927] [ 0. 0. 0. 1. ]] SLAMing on 101.042401008 meters Centerline goodness : 0.893809 with order 1 Centerline is valid? [False, False] Translation: X:17.38, Y:-0.30, Z:1.04 [[ 0.97586633 0.04034632 0.21460914 17.37687021] [-0.0610026 0.9940251 0.09051397 -0.30209204] [-0.20967497 -0.10142125 0.97249686 1.04256945] [ 0. 0. 0. 1. ]] SLAMing on 101.102401008 meters Centerline goodness : 0.893811 with order 1 Centerline is valid? [False, False] Translation: X:17.39, Y:-0.29, Z:1.03 [[ 0.97429423 0.04899138 0.21988769 17.38705709] [-0.06894997 0.99407515 0.08402673 -0.29210346] [-0.2144683 -0.09702801 0.97189964 1.03266102] [ 0. 0. 0. 1. ]] SLAMing on 101.162401008 meters Centerline goodness : 0.895623 with order 1 Centerline is valid? [False, False] Translation: X:17.40, Y:-0.29, Z:1.03 [[ 0.97298369 0.0518002 0.22498773 17.40015308] [-0.07082485 0.99448728 0.07732325 -0.28613275] [-0.21974207 -0.09116898 0.97128865 1.03166223] [ 0. 0. 0. 1. ]] SLAMing on 101.222401008 meters Centerline goodness : 0.894717 with order 1 Centerline is valid? [False, False] Translation: X:17.44, Y:-0.29, Z:1.04 [[ 0.97339239 0.04714774 0.22424173 17.44468442] [-0.06954195 0.99323101 0.09303803 -0.28869561] [-0.21833731 -0.10615672 0.97008225 1.03769038] [ 0. 0. 0. 1. ]] SLAMing on 101.28240100800001 meters Centerline goodness : 0.896442 with order 1 Centerline is valid? [False, False] Translation: X:17.46, Y:-0.29, Z:1.05 [[ 0.97291714 0.04276207 0.22716435 17.46231891] [-0.06979676 0.99121528 0.11234177 -0.29188443] [-0.22036481 -0.12515457 0.96735499 1.05019748] [ 0. 0. 0. 1. ]] SLAMing on 101.342401008 meters Centerline goodness : 0.896878 with order 1 Centerline is valid? [False, False] Translation: X:17.47, Y:-0.29, Z:1.05 [[ 0.97318357 0.04612186 0.22535862 17.47125786] [-0.07451987 0.99007256 0.11917683 -0.2860894 ] [-0.21762473 -0.13277462 0.96695935 1.04599934] [ 0. 0. 0. 1. ]] SLAMing on 101.402401008 meters Centerline goodness : 0.893342 with order 1 Centerline is valid? [False, False] Translation: X:17.47, Y:-0.28, Z:1.05 [[ 0.97289345 0.05208583 0.22531178 17.47325803] [-0.08257938 0.98831658 0.12810538 -0.28305376] [-0.21600689 -0.14323899 0.96582794 1.04762201] [ 0. 0. 0. 1. ]] SLAMing on 101.462401008 meters Centerline goodness : 0.898529 with order 1 Centerline is valid? [False, False] Translation: X:17.48, Y:-0.28, Z:1.04 [[ 0.97286745 0.07123888 0.22012257 17.48414793] [-0.09797157 0.98875205 0.11300866 -0.27760996] [-0.20959603 -0.1315082 0.96890407 1.04316197] [ 0. 0. 0. 1. ]] SLAMing on 101.522401008 meters Centerline goodness : 0.900634 with order 1 Centerline is valid? [False, False] Translation: X:17.49, Y:-0.27, Z:1.03 [[ 0.97126383 0.07843079 0.22471133 17.48925341] [-0.10304709 0.98963845 0.09998513 -0.2728647 ] [-0.21454106 -0.12026778 0.9692821 1.03288081] [ 0. 0. 0. 1. ]] SLAMing on 101.582401008 meters Centerline goodness : 0.905241 with order 1 Centerline is valid? [False, False] Translation: X:17.50, Y:-0.27, Z:1.03 [[ 0.96964339 0.0829242 0.23003318 17.49985397] [-0.10643846 0.99007698 0.09175202 -0.27174816] [-0.22014209 -0.11345112 0.96884793 1.02642645] [ 0. 0. 0. 1. ]] SLAMing on 101.64240100800001 meters Centerline goodness : 0.910168 with order 1 Centerline is valid? [False, False] Translation: X:17.51, Y:-0.27, Z:1.01 [[ 0.96849407 0.08483598 0.23414117 17.50570527] [-0.10446881 0.99186442 0.07274089 -0.26970191] [-0.22606525 -0.09490957 0.96947753 1.0146705 ] [ 0. 0. 0. 1. ]] SLAMing on 101.70240100800001 meters Centerline goodness : 0.908267 with order 1 Centerline is valid? [False, False] Translation: X:17.53, Y:-0.28, Z:1.01 [[ 0.97017391 0.08546412 0.22684461 17.52555319] [-0.10268396 0.99257448 0.06520671 -0.27616849] [-0.21958733 -0.08655515 0.97174565 1.01208119] [ 0. 0. 0. 1. ]] SLAMing on 101.762401008 meters Centerline goodness : 0.911078 with order 1 Centerline is valid? [False, False] Translation: X:17.56, Y:-0.29, Z:1.02 [[ 0.97043463 0.0675894 0.23170738 17.56159341] [-0.08894885 0.99257197 0.08299995 -0.29010603] [-0.22437634 -0.10115613 0.9692382 1.02273732] [ 0. 0. 0. 1. ]] SLAMing on 101.822401008 meters Centerline goodness : 0.906392 with order 1 Centerline is valid? [False, False] Translation: X:17.60, Y:-0.31, Z:1.04 [[ 0.97076102 0.05244812 0.23424825 17.59590509] [-0.07959476 0.99096199 0.10797689 -0.30519787] [-0.22646793 -0.12346469 0.96616186 1.03816437] [ 0. 0. 0. 1. ]] SLAMing on 101.882401008 meters Centerline goodness : 0.904452 with order 1 Centerline is valid? [False, False] Translation: X:17.61, Y:-0.31, Z:1.05 [[ 0.97018456 0.04767877 0.23763134 17.60831115] [-0.07860672 0.98936019 0.12242302 -0.3104063 ] [-0.22926601 -0.13745234 0.96360985 1.04922581] [ 0. 0. 0. 1. ]] SLAMing on 101.942401008 meters Centerline goodness : 0.902482 with order 1 Centerline is valid? [False, False] Translation: X:17.61, Y:-0.31, Z:1.04 [[ 0.96895386 0.05699005 0.24058378 17.6133579 ] [-0.08626748 0.98984676 0.11296599 -0.31036064] [-0.23170314 -0.13021339 0.96403222 1.04274373] [ 0. 0. 0. 1. ]] SLAMing on 102.002401008 meters Centerline goodness : 0.910069 with order 1 Centerline is valid? [False, False] Translation: X:17.62, Y:-0.31, Z:1.04 [[ 0.96731886 0.06696818 0.24455978 17.61595458] [-0.09438981 0.99027815 0.1021751 -0.30859841] [-0.23533972 -0.12191985 0.96423585 1.03535886] [ 0. 0. 0. 1. ]] SLAMing on 102.06240100800001 meters Centerline goodness : 0.914277 with order 1 Centerline is valid? [False, False] Translation: X:17.62, Y:-0.31, Z:1.03 [[ 0.96517306 0.07852371 0.24954959 17.61591604] [-0.10435952 0.99027282 0.09202621 -0.30628615] [-0.23989594 -0.11486409 0.96397934 1.02738143] [ 0. 0. 0. 1. ]] SLAMing on 102.122401008 meters Centerline goodness : 0.919540 with order 1 Centerline is valid? [False, False] Translation: X:17.62, Y:-0.30, Z:1.02 [[ 0.96360505 0.0850269 0.2534477 17.61995874] [-0.10761472 0.99123669 0.07660873 -0.30434154] [-0.24471286 -0.10109526 0.96431082 1.0159245 ] [ 0. 0. 0. 1. ]] SLAMing on 102.182401008 meters Centerline goodness : 0.919843 with order 1 Centerline is valid? [False, False] Translation: X:17.62, Y:-0.30, Z:1.02 [[ 0.9634779 0.08522559 0.25386399 17.6194808 ] [-0.10791458 0.9911887 0.07680753 -0.30402424] [-0.24508115 -0.10139798 0.9641855 1.01606836] [ 0. 0. 0. 1. ]] SLAMing on 102.242401008 meters Centerline goodness : 0.922675 with order 1 Centerline is valid? [False, False] Translation: X:17.62, Y:-0.31, Z:1.01 [[ 0.96235339 0.09107156 0.25608969 17.62029207] [-0.10919171 0.99236077 0.05742192 -0.30538415] [-0.24890386 -0.08322305 0.964946 1.0063085 ] [ 0. 0. 0. 1. ]] SLAMing on 102.302401008 meters Centerline goodness : 0.923677 with order 1 Centerline is valid? [False, False] Translation: X:17.62, Y:-0.31, Z:1.01 [[ 0.96230347 0.09113556 0.25625444 17.62030563] [-0.10953099 0.99226487 0.05842414 -0.30994441] [-0.24894777 -0.08428955 0.9648421 1.00626869] [ 0. 0. 0. 1. ]] SLAMing on 102.362401008 meters Centerline goodness : 0.921673 with order 1 Centerline is valid? [False, False] Translation: X:17.64, Y:-0.32, Z:1.00 [[ 0.96371125 0.09414193 0.24979577 17.638176 ] [-0.11111661 0.9923001 0.05471385 -0.32035253] [-0.2427215 -0.08048481 0.9667515 1.00051049] [ 0. 0. 0. 1. ]] SLAMing on 102.42240100800001 meters Centerline goodness : 0.919995 with order 1 Centerline is valid? [False, False] Translation: X:17.64, Y:-0.33, Z:1.00 [[ 0.96394101 0.09257607 0.24949428 17.64158811] [-0.11048607 0.99214075 0.05873304 -0.3285443 ] [-0.24209616 -0.08418083 0.96659352 1.0043902 ] [ 0. 0. 0. 1. ]] SLAMing on 102.482401008 meters Centerline goodness : 0.918652 with order 1 Centerline is valid? [False, False] Translation: X:17.69, Y:-0.35, Z:1.01 [[ 0.96521233 0.08686707 0.24661562 17.6860144 ] [-0.10792499 0.99146267 0.07317083 -0.34707725] [-0.23815405 -0.09724138 0.96634712 1.01002489] [ 0. 0. 0. 1. ]] SLAMing on 102.542401008 meters Centerline goodness : 0.916003 with order 1 Centerline is valid? [False, False] Translation: X:17.69, Y:-0.35, Z:1.01 [[ 0.96558287 0.08382434 0.2462178 17.68661629] [-0.10389393 0.99214573 0.06966283 -0.35200994] [-0.23844449 -0.09284577 0.96670776 1.00895333] [ 0. 0. 0. 1. ]] SLAMing on 102.602401008 meters Centerline goodness : 0.920618 with order 1 Centerline is valid? [False, False] Translation: X:17.73, Y:-0.37, Z:1.01 [[ 0.96658392 0.07589587 0.24485782 17.72632394] [-0.09781739 0.99209336 0.078629 -0.36827624] [-0.2369542 -0.09995288 0.96636542 1.01482164] [ 0. 0. 0. 1. ]] SLAMing on 102.662401008 meters Centerline goodness : 0.927033 with order 1 Centerline is valid? [False, False] Translation: X:17.76, Y:-0.37, Z:1.02 [[ 0.96585771 0.06381453 0.2510908 17.76186001] [-0.09097999 0.99100872 0.09810384 -0.3717186 ] [-0.24257272 -0.11759859 0.96297925 1.01848255] [ 0. 0. 0. 1. ]] SLAMing on 102.722401008 meters Centerline goodness : 0.929168 with order 1 Centerline is valid? [False, False] Translation: X:17.80, Y:-0.38, Z:1.02 [[ 0.96643951 0.05961137 0.24988228 17.80362549] [-0.08886491 0.99022941 0.10746511 -0.37598301] [-0.24103464 -0.1260643 0.96229418 1.01991443] [ 0. 0. 0. 1. ]] SLAMing on 102.78240100800001 meters Centerline goodness : 0.932300 with order 1 Centerline is valid? [False, False] Translation: X:17.84, Y:-0.38, Z:1.03 [[ 0.96560212 0.04680725 0.25577653 17.83659759] [-0.08285441 0.9877774 0.13202637 -0.38159948] [-0.24647049 -0.14867716 0.95767813 1.03430723] [ 0. 0. 0. 1. ]] SLAMing on 102.842401008 meters Centerline goodness : 0.930544 with order 1 Centerline is valid? [False, False] Translation: X:17.84, Y:-0.38, Z:1.06 [[ 0.96508663 0.03428344 0.25967759 17.84432637] [-0.07888663 0.98340957 0.16334782 -0.3837825 ] [-0.24976931 -0.17812989 0.95177993 1.05508684] [ 0. 0. 0. 1. ]] SLAMing on 102.902401008 meters Centerline goodness : 0.925545 with order 1 Centerline is valid? [False, False] Translation: X:17.84, Y:-0.38, Z:1.07 [[ 0.9646421 0.02315022 0.26254465 17.83842093] [-0.07227614 0.98118339 0.17903999 -0.37908455] [-0.25345964 -0.19168522 0.94816401 1.06967016] [ 0. 0. 0. 1. ]] SLAMing on 102.962401008 meters Centerline goodness : 0.929946 with order 1 Centerline is valid? [False, False] Translation: X:17.84, Y:-0.37, Z:1.07 [[ 0.96433594 0.02076735 0.26386532 17.83599921] [-0.06830736 0.98267348 0.17229895 -0.37048656] [-0.25571526 -0.18417801 0.94904592 1.06787823] [ 0. 0. 0. 1. ]] SLAMing on 103.022401008 meters Centerline goodness : 0.933911 with order 1 Centerline is valid? [False, False] Translation: X:17.83, Y:-0.36, Z:1.06 [[ 0.96385139 0.02146302 0.26557452 17.83381799] [-0.06840292 0.98327573 0.16878947 -0.35889994] [-0.25751025 -0.18085404 0.94919981 1.06292719] [ 0. 0. 0. 1. ]] SLAMing on 103.082401008 meters Centerline goodness : 0.939121 with order 1 Centerline is valid? [False, False] Translation: X:17.81, Y:-0.34, Z:1.05 [[ 0.96411202 0.03957588 0.26252954 17.81212328] [-0.0806109 0.98578205 0.14743007 -0.34430866] [-0.25296224 -0.16330185 0.95359457 1.05469694] [ 0. 0. 0. 1. ]] SLAMing on 103.14240100800001 meters Centerline goodness : 0.940964 with order 1 Centerline is valid? [False, False] Translation: X:17.80, Y:-0.33, Z:1.05 [[ 0.96295469 0.05229647 0.26454365 17.80288203] [-0.08867901 0.98786496 0.12751019 -0.33473718] [-0.25466507 -0.14624601 0.9559068 1.0461107 ] [ 0. 0. 0. 1. ]] SLAMing on 103.20240100800001 meters Centerline goodness : 0.949224 with order 1 Centerline is valid? [False, False] Translation: X:17.81, Y:-0.33, Z:1.03 [[ 0.96118437 0.06184662 0.26888586 17.80622433] [-0.0956893 0.98878917 0.1146278 -0.32685839] [-0.25878209 -0.13590795 0.95632675 1.03367915] [ 0. 0. 0. 1. ]] SLAMing on 103.262401008 meters Centerline goodness : 0.948611 with order 1 Centerline is valid? [False, False] Translation: X:17.85, Y:-0.33, Z:1.03 [[ 0.96168857 0.05956092 0.26759593 17.84695832] [-0.09661891 0.98711887 0.12751911 -0.33331162] [-0.25655384 -0.1484885 0.95505565 1.03314236] [ 0. 0. 0. 1. ]] SLAMing on 103.322401008 meters Centerline goodness : 0.947974 with order 1 Centerline is valid? [False, False] Translation: X:17.89, Y:-0.34, Z:1.04 [[ 0.96269882 0.05325954 0.26528175 17.89033903] [-0.09309747 0.98577394 0.13993783 -0.34411932] [-0.25405481 -0.15941505 0.95396174 1.04069081] [ 0. 0. 0. 1. ]] SLAMing on 103.382401008 meters Centerline goodness : 0.946738 with order 1 Centerline is valid? [False, False] Translation: X:17.92, Y:-0.35, Z:1.04 [[ 0.96369706 0.05157489 0.26196946 17.92391817] [-0.09194211 0.98526036 0.14425211 -0.35117817] [-0.25066834 -0.16310136 0.95423442 1.04146214] [ 0. 0. 0. 1. ]] SLAMing on 103.442401008 meters Centerline goodness : 0.944419 with order 1 Centerline is valid? [False, False] Translation: X:17.96, Y:-0.36, Z:1.04 [[ 0.96462198 0.05459377 0.25792239 17.95865801] [-0.09734256 0.98294884 0.15599998 -0.35947005] [-0.24500789 -0.17558784 0.95348836 1.03890902] [ 0. 0. 0. 1. ]] SLAMing on 103.502401008 meters Centerline goodness : 0.944390 with order 1 Centerline is valid? [False, False] Translation: X:17.97, Y:-0.36, Z:1.02 [[ 0.96367086 0.06139259 0.25994121 17.97196973] [-0.10211564 0.98397408 0.14617594 -0.35890051] [-0.24680129 -0.16740956 0.95449629 1.02387214] [ 0. 0. 0. 1. ]] SLAMing on 103.56240100800001 meters Centerline goodness : 0.947826 with order 1 Centerline is valid? [False, False] Translation: X:17.95, Y:-0.35, Z:1.02 [[ 0.96218406 0.07625902 0.26150794 17.95122835] [-0.11124285 0.98631571 0.12168132 -0.35414506] [-0.2486501 -0.14617072 0.95750052 1.01806692] [ 0. 0. 0. 1. ]] SLAMing on 103.622401008 meters Centerline goodness : 0.951478 with order 1 Centerline is valid? [False, True] Translation: X:17.95, Y:-0.35, Z:1.01 [[ 0.96043594 0.08669053 0.26466501 17.9462835 ] [-0.11755961 0.9877005 0.10308956 -0.34887693] [-0.25247287 -0.13012483 0.95881436 1.00775035] [ 0. 0. 0. 1. ]] SLAMing on 103.682401008 meters Centerline goodness : 0.950888 with order 1 Centerline is valid? [True, True] Translation: X:17.99, Y:-0.30, Z:0.89 [[ 9.59875778e-01 1.23386090e-01 2.51822086e-01 1.79850876e+01] [-1.20001872e-01 9.92355436e-01 -2.88138625e-02 -3.00957608e-01] [-2.53452246e-01 -2.56139313e-03 9.67344508e-01 8.91499922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.742401008 meters Centerline goodness : 0.946337 with order 1 Centerline is valid? [True, False] Translation: X:17.99, Y:-0.30, Z:0.89 [[ 9.59909075e-01 1.23463129e-01 2.51657352e-01 1.79851809e+01] [-1.20334410e-01 9.92342798e-01 -2.78460183e-02 -3.03942698e-01] [-2.53168318e-01 -3.55339325e-03 9.67415721e-01 8.92385577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.802401008 meters Centerline goodness : 0.946425 with order 1 Centerline is valid? [False, False] Translation: X:17.99, Y:-0.31, Z:0.90 [[ 9.60039520e-01 1.22943217e-01 2.51414170e-01 1.79858857e+01] [-1.20458850e-01 9.92395645e-01 -2.53090630e-02 -3.10244744e-01] [-2.52613905e-01 -5.98736105e-03 9.67548638e-01 8.95679623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.862401008 meters Centerline goodness : 0.940984 with order 1 Centerline is valid? [False, False] Translation: X:18.00, Y:-0.32, Z:0.89 [[ 9.60671113e-01 1.19157538e-01 2.50823631e-01 1.80023655e+01] [-1.18818536e-01 9.92778027e-01 -1.65512703e-02 -3.17720982e-01] [-2.50984398e-01 -1.39021694e-02 9.67891296e-01 8.91435640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.92240100800001 meters Centerline goodness : 0.936645 with order 1 Centerline is valid? [False, False] Translation: X:18.01, Y:-0.32, Z:0.89 [[ 9.60594522e-01 1.20463640e-01 2.50492865e-01 1.80057792e+01] [-1.21552991e-01 9.92522016e-01 -1.11766732e-02 -3.23125077e-01] [-2.49966067e-01 -1.97119060e-02 9.68053927e-01 8.91138655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.982401008 meters Centerline goodness : 0.942101 with order 1 Centerline is valid? [False, False] Translation: X:18.02, Y:-0.34, Z:0.90 [[ 9.60577306e-01 1.17272161e-01 2.52068401e-01 1.80223749e+01] [-1.16638391e-01 9.93020104e-01 -1.75088247e-02 -3.39560687e-01] [-2.52362287e-01 -1.25822730e-02 9.67551013e-01 8.97029871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.042401008 meters Centerline goodness : 0.945402 with order 1 Centerline is valid? [False, False] Translation: X:18.03, Y:-0.35, Z:0.90 [[ 9.60830551e-01 1.14474716e-01 2.52388967e-01 1.80319886e+01] [-1.16260583e-01 9.93187508e-01 -7.87727706e-03 -3.47216796e-01] [-2.51571318e-01 -2.17741600e-02 9.67593798e-01 9.03871828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.102401008 meters Centerline goodness : 0.937699 with order 1 Centerline is valid? [False, False] Translation: X:18.05, Y:-0.35, Z:0.89 [[ 9.61056764e-01 1.14502748e-01 2.51513454e-01 1.80480329e+01] [-1.18618890e-01 9.92939115e-01 1.21357173e-03 -3.46005666e-01] [-2.49598589e-01 -3.10005581e-02 9.67853041e-01 8.94713088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.162401008 meters Centerline goodness : 0.930925 with order 1 Centerline is valid? [False, False] Translation: X:18.06, Y:-0.35, Z:0.89 [[ 9.61219303e-01 1.15760129e-01 2.50313891e-01 1.80577428e+01] [-1.21671974e-01 9.92536337e-01 8.21894407e-03 -3.46592449e-01] [-2.47494207e-01 -3.83563930e-02 9.68129849e-01 8.90477748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.222401008 meters Centerline goodness : 0.935816 with order 1 Centerline is valid? [False, False] Translation: X:18.08, Y:-0.36, Z:0.89 [[ 9.61991684e-01 1.14818875e-01 2.47767282e-01 1.80809017e+01] [-1.19821536e-01 9.92782064e-01 5.15484478e-03 -3.57376657e-01] [-2.45387040e-01 -3.46467741e-02 9.68805864e-01 8.94972170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.28240100800001 meters Centerline goodness : 0.937938 with order 1 Centerline is valid? [False, False] Translation: X:18.09, Y:-0.36, Z:0.90 [[ 9.62383866e-01 1.09747289e-01 2.48541397e-01 1.80938313e+01] [-1.16959093e-01 9.93032452e-01 1.43916657e-02 -3.63719284e-01] [-2.45230227e-01 -4.29194832e-02 9.68514354e-01 9.01582357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.342401008 meters Centerline goodness : 0.935854 with order 1 Centerline is valid? [False, False] Translation: X:18.12, Y:-0.37, Z:0.91 [[ 0.96233155 0.10451794 0.25098602 18.11886568] [-0.11639408 0.99265783 0.03290679 -0.36627135] [-0.24570388 -0.06088053 0.96743122 0.90562087] [ 0. 0. 0. 1. ]] SLAMing on 104.402401008 meters Centerline goodness : 0.937143 with order 1 Centerline is valid? [False, False] Translation: X:18.16, Y:-0.37, Z:0.91 [[ 0.96311547 0.10166744 0.24914318 18.16452169] [-0.11735471 0.99188529 0.04890237 -0.37483027] [-0.24214968 -0.07633675 0.96723122 0.91060819] [ 0. 0. 0. 1. ]] SLAMing on 104.462401008 meters Centerline goodness : 0.932758 with order 1 Centerline is valid? [False, False] Translation: X:18.18, Y:-0.38, Z:0.91 [[ 0.96471857 0.10960286 0.23938525 18.17517531] [-0.12398429 0.99122569 0.04582061 -0.37506965] [-0.23226274 -0.073884 0.96984286 0.91058326] [ 0. 0. 0. 1. ]] SLAMing on 104.522401008 meters Centerline goodness : 0.926522 with order 1 Centerline is valid? [False, False] Translation: X:18.18, Y:-0.37, Z:0.91 [[ 0.96435561 0.1130954 0.23922309 18.17589592] [-0.12841438 0.99048953 0.04939872 -0.37337227] [-0.23136119 -0.07835762 0.96970721 0.90992707] [ 0. 0. 0. 1. ]] SLAMing on 104.582401008 meters Centerline goodness : 0.923106 with order 1 Centerline is valid? [False, False] Translation: X:18.18, Y:-0.37, Z:0.91 [[ 0.96430042 0.114816 0.2386252 18.18025382] [-0.1308853 0.99000273 0.05257031 -0.37254873] [-0.23020369 -0.0819261 0.96968777 0.90608314] [ 0. 0. 0. 1. ]] SLAMing on 104.64240100800001 meters Centerline goodness : 0.924189 with order 1 Centerline is valid? [False, False] Translation: X:18.18, Y:-0.37, Z:0.90 [[ 0.96467572 0.11213114 0.2383849 18.17988635] [-0.12684061 0.99079768 0.04723781 -0.37054408] [-0.23089437 -0.07580606 0.97002125 0.90346446] [ 0. 0. 0. 1. ]] SLAMing on 104.70240100800001 meters Centerline goodness : 0.929079 with order 1 Centerline is valid? [False, False] Translation: X:18.18, Y:-0.37, Z:0.91 [[ 0.9647865 0.11129419 0.23832878 18.18116193] [-0.12656716 0.99071116 0.04972077 -0.37440905] [-0.23058135 -0.07813453 0.96991094 0.90817742] [ 0. 0. 0. 1. ]] SLAMing on 104.762401008 meters Centerline goodness : 0.933325 with order 1 Centerline is valid? [False, False] Translation: X:18.18, Y:-0.38, Z:0.91 [[ 0.9650606 0.10846864 0.23852167 18.17996524] [-0.12306388 0.99127902 0.04712954 -0.37701228] [-0.23132945 -0.07483626 0.9699929 0.91082993] [ 0. 0. 0. 1. ]] SLAMing on 104.822401008 meters Centerline goodness : 0.942704 with order 1 Centerline is valid? [False, False] Translation: X:18.21, Y:-0.39, Z:0.91 [[ 0.96532356 0.10432395 0.23930512 18.21319999] [-0.12008396 0.9913899 0.05221019 -0.38745184] [-0.2317979 -0.07913643 0.96953966 0.91418497] [ 0. 0. 0. 1. ]] SLAMing on 104.882401008 meters Centerline goodness : 0.946793 with order 1 Centerline is valid? [False, False] Translation: X:18.26, Y:-0.39, Z:0.92 [[ 0.96586703 0.10019231 0.23887736 18.26048298] [-0.11929976 0.99060294 0.06688333 -0.3942055 ] [-0.22993142 -0.09309841 0.96874363 0.91533757] [ 0. 0. 0. 1. ]] SLAMing on 104.942401008 meters Centerline goodness : 0.936698 with order 1 Centerline is valid? [False, False] Translation: X:18.29, Y:-0.39, Z:0.91 [[ 0.96697938 0.0935779 0.23705287 18.2868263 ] [-0.11472808 0.9904061 0.0770274 -0.39471063] [-0.22757055 -0.10168052 0.96843829 0.91286174] [ 0. 0. 0. 1. ]] SLAMing on 105.002401008 meters Centerline goodness : 0.928062 with order 1 Centerline is valid? [False, False] Translation: X:18.31, Y:-0.40, Z:0.92 [[ 0.96806473 0.0839063 0.23624228 18.31409118] [-0.10788602 0.99003933 0.09045847 -0.39672646] [-0.22629911 -0.11305689 0.96747447 0.92298797] [ 0. 0. 0. 1. ]] SLAMing on 105.06240100800001 meters Centerline goodness : 0.926978 with order 1 Centerline is valid? [False, False] Translation: X:18.35, Y:-0.41, Z:0.95 [[ 0.96768039 0.07359053 0.24120342 18.34729717] [-0.10531883 0.98700104 0.1213956 -0.40652443] [-0.22913445 -0.1428754 0.96285202 0.94515993] [ 0. 0. 0. 1. ]] SLAMing on 105.122401008 meters Centerline goodness : 0.925469 with order 1 Centerline is valid? [False, False] Translation: X:18.35, Y:-0.41, Z:0.98 [[ 0.96409378 0.04256078 0.2621293 18.3458411 ] [-0.09163398 0.97976494 0.17794347 -0.40715314] [-0.24925168 -0.19557414 0.94848529 0.97711758] [ 0. 0. 0. 1. ]] SLAMing on 105.182401008 meters Centerline goodness : 0.923941 with order 1 Centerline is valid? [False, False] Translation: X:18.33, Y:-0.40, Z:0.98 [[ 0.96408096 0.03443285 0.26336721 18.33043227] [-0.08343012 0.9806331 0.17719518 -0.39684121] [-0.25216527 -0.19280326 0.94828244 0.97704897] [ 0. 0. 0. 1. ]] SLAMing on 105.242401008 meters Centerline goodness : 0.933634 with order 1 Centerline is valid? [False, False] Translation: X:18.31, Y:-0.39, Z:0.98 [[ 0.96324191 0.03423718 0.26644483 18.31364421] [-0.07984024 0.98351306 0.16225779 -0.38758756] [-0.25649672 -0.17756652 0.9500945 0.97782569] [ 0. 0. 0. 1. ]] SLAMing on 105.302401008 meters Centerline goodness : 0.939686 with order 1 Centerline is valid? [False, False] Translation: X:18.28, Y:-0.38, Z:0.98 [[ 0.96282978 0.04165839 0.26687711 18.28049128] [-0.08146671 0.98681204 0.13987554 -0.37726954] [-0.25753056 -0.15641793 0.9535258 0.976429 ] [ 0. 0. 0. 1. ]] SLAMing on 105.362401008 meters Centerline goodness : 0.943915 with order 1 Centerline is valid? [False, False] Translation: X:18.24, Y:-0.36, Z:0.97 [[ 0.96347245 0.05398149 0.26231057 18.2425488 ] [-0.08754121 0.98914959 0.11798143 -0.36087261] [-0.25309558 -0.13663484 0.95774399 0.96904307] [ 0. 0. 0. 1. ]] SLAMing on 105.42240100800001 meters Centerline goodness : 0.942058 with order 1 Centerline is valid? [False, False] Translation: X:18.20, Y:-0.35, Z:0.97 [[ 0.96334494 0.0613639 0.26115322 18.19528416] [-0.09216979 0.98993551 0.10738907 -0.34652975] [-0.25193504 -0.12752315 0.95930526 0.97016097] [ 0. 0. 0. 1. ]] SLAMing on 105.482401008 meters Centerline goodness : 0.940991 with order 1 Centerline is valid? [False, False] Translation: X:18.16, Y:-0.33, Z:0.97 [[ 0.96343567 0.07219235 0.25803097 18.16122857] [-0.0975817 0.99142028 0.08696914 -0.33387346] [-0.24953863 -0.10896828 0.96221431 0.9687211 ] [ 0. 0. 0. 1. ]] SLAMing on 105.542401008 meters Centerline goodness : 0.943220 with order 1 Centerline is valid? [False, False] Translation: X:18.16, Y:-0.33, Z:0.97 [[ 0.96279174 0.07498043 0.25963435 18.15990812] [-0.10218024 0.99041988 0.0928852 -0.33252365] [-0.25018244 -0.1159586 0.9612296 0.97403146] [ 0. 0. 0. 1. ]] SLAMing on 105.602401008 meters Centerline goodness : 0.943988 with order 1 Centerline is valid? [False, False] Translation: X:18.17, Y:-0.33, Z:0.99 [[ 0.95918359 0.0631406 0.27564489 18.1744902 ] [-0.10067343 0.98713651 0.12420296 -0.33386788] [-0.26425688 -0.14688356 0.95320172 0.9857404 ] [ 0. 0. 0. 1. ]] SLAMing on 105.662401008 meters Centerline goodness : 0.944855 with order 1 Centerline is valid? [False, False] Translation: X:18.17, Y:-0.34, Z:1.00 [[ 0.95919908 0.05611526 0.27710685 18.17206512] [-0.1001151 0.98401516 0.14727909 -0.33517215] [-0.26441274 -0.16901254 0.94948442 1.0013003 ] [ 0. 0. 0. 1. ]] SLAMing on 105.722401008 meters Centerline goodness : 0.941403 with order 1 Centerline is valid? [False, False] Translation: X:18.17, Y:-0.33, Z:1.00 [[ 0.95902858 0.05808962 0.27729007 18.17477609] [-0.10355089 0.98290563 0.15222924 -0.33254643] [-0.26370703 -0.17470582 0.94864982 1.00216937] [ 0. 0. 0. 1. ]] SLAMing on 105.78240100800001 meters Centerline goodness : 0.941636 with order 1 Centerline is valid? [False, False] Translation: X:18.19, Y:-0.33, Z:1.00 [[ 0.96004643 0.06549206 0.27206918 18.18913861] [-0.10797015 0.98363873 0.1442127 -0.33049622] [-0.25817299 -0.16782624 0.95141004 0.99599862] [ 0. 0. 0. 1. ]] SLAMing on 105.842401008 meters Centerline goodness : 0.941430 with order 1 Centerline is valid? [False, False] Translation: X:18.20, Y:-0.33, Z:1.01 [[ 0.95977971 0.06078316 0.27409544 18.20055188] [-0.10750963 0.98143731 0.15881586 -0.3348223 ] [-0.25935416 -0.18189614 0.9484984 1.01211696] [ 0. 0. 0. 1. ]] SLAMing on 105.902401008 meters Centerline goodness : 0.940074 with order 1 Centerline is valid? [False, False] Translation: X:18.20, Y:-0.34, Z:1.04 [[ 0.95649208 0.04175233 0.28875535 18.19547335] [-0.10160187 0.97542406 0.19551205 -0.33876526] [-0.27349583 -0.21634381 0.9372275 1.03792699] [ 0. 0. 0. 1. ]] SLAMing on 105.962401008 meters Centerline goodness : 0.941958 with order 1 Centerline is valid? [False, False] Translation: X:18.18, Y:-0.34, Z:1.05 [[ 0.95277744 0.02964531 0.30221896 18.18048911] [-0.09661398 0.97310304 0.20913206 -0.33675135] [-0.2878904 -0.22845489 0.93001477 1.0503942 ] [ 0. 0. 0. 1. ]] SLAMing on 106.022401008 meters Centerline goodness : 0.942370 with order 1 Centerline is valid? [False, False] Translation: X:18.16, Y:-0.33, Z:1.04 [[ 0.95234716 0.03058497 0.30347891 18.16403683] [-0.09183305 0.97754519 0.18966311 -0.3308441 ] [-0.29086351 -0.20849452 0.93377109 1.04166015] [ 0. 0. 0. 1. ]] SLAMing on 106.082401008 meters Centerline goodness : 0.938884 with order 1 Centerline is valid? [False, False] Translation: X:18.16, Y:-0.34, Z:1.09 [[ 0.95187175 0.02473363 0.305497 18.15846069] [-0.1002345 0.96705159 0.23401767 -0.34209231] [-0.28964325 -0.25337614 0.92298825 1.09160658] [ 0. 0. 0. 1. ]] SLAMing on 106.14240100800001 meters Centerline goodness : 0.943421 with order 1 Centerline is valid? [False, False] Translation: X:18.16, Y:-0.35, Z:1.13 [[ 0.95074049 0.02555086 0.30893313 18.16361311] [-0.11101002 0.95856541 0.26235305 -0.34757265] [-0.28942927 -0.28372434 0.91418335 1.12644632] [ 0. 0. 0. 1. ]] SLAMing on 106.20240100800001 meters Centerline goodness : 0.948249 with order 1 Centerline is valid? [False, False] Translation: X:18.16, Y:-0.35, Z:1.15 [[ 0.94982615 0.02929107 0.3114038 18.16115319] [-0.12061127 0.95290602 0.27824997 -0.34716457] [-0.28858831 -0.3018479 0.90862788 1.14945212] [ 0. 0. 0. 1. ]] SLAMing on 106.262401008 meters Centerline goodness : 0.945631 with order 1 Centerline is valid? [False, False] Translation: X:18.16, Y:-0.34, Z:1.14 [[ 0.94926767 0.03282331 0.31275154 18.15972354] [-0.12411432 0.95290581 0.27670589 -0.3388464 ] [-0.28894035 -0.3014849 0.90863652 1.13859626] [ 0. 0. 0. 1. ]] SLAMing on 106.322401008 meters Centerline goodness : 0.940360 with order 1 Centerline is valid? [False, False] Translation: X:18.13, Y:-0.33, Z:1.13 [[ 0.95105111 0.05590622 0.30393466 18.13259012] [-0.13748941 0.95734875 0.25412601 -0.3266511 ] [-0.27676425 -0.28347462 0.91817411 1.12632688] [ 0. 0. 0. 1. ]] SLAMing on 106.382401008 meters Centerline goodness : 0.938867 with order 1 Centerline is valid? [False, False] Translation: X:18.12, Y:-0.32, Z:1.11 [[ 0.95116791 0.073143 0.29988283 18.11589293] [-0.14514372 0.96339662 0.22538913 -0.31837548] [-0.27242047 -0.25790901 0.92696819 1.11484309] [ 0. 0. 0. 1. ]] SLAMing on 106.442401008 meters Centerline goodness : 0.946501 with order 1 Centerline is valid? [False, False] Translation: X:18.09, Y:-0.31, Z:1.10 [[ 0.94998158 0.0895347 0.29919648 18.08835132] [-0.15251719 0.96901693 0.19427994 -0.3095198 ] [-0.27253166 -0.23019497 0.93420382 1.10493399] [ 0. 0. 0. 1. ]] SLAMing on 106.502401008 meters Centerline goodness : 0.950759 with order 1 Centerline is valid? [False, True] Translation: X:18.11, Y:-0.32, Z:1.10 [[ 0.94962809 0.08698158 0.30106595 18.11451848] [-0.1489646 0.97052043 0.18947201 -0.31566944] [-0.27571008 -0.22477611 0.93459063 1.09674131] [ 0. 0. 0. 1. ]] SLAMing on 106.56240100800001 meters Centerline goodness : 0.950060 with order 1 Centerline is valid? [True, True] Translation: X:18.14, Y:-0.24, Z:0.91 [[ 9.50582940e-01 1.48191737e-01 2.72820975e-01 1.81367643e+01] [-1.42026748e-01 9.88957533e-01 -4.23249361e-02 -2.39381868e-01] [-2.76080564e-01 1.48548627e-03 9.61133350e-01 9.07807271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.622401008 meters Centerline goodness : 0.949040 with order 1 Centerline is valid? [True, False] Translation: X:18.15, Y:-0.25, Z:0.92 [[ 9.50556216e-01 1.41939060e-01 2.76217638e-01 1.81544273e+01] [-1.40415750e-01 9.89766992e-01 -2.53913268e-02 -2.53283441e-01] [-2.76995122e-01 -1.46494234e-02 9.60759646e-01 9.18336636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.682401008 meters Centerline goodness : 0.949042 with order 1 Centerline is valid? [False, False] Translation: X:18.15, Y:-0.26, Z:0.93 [[ 0.95043974 0.14243173 0.2763648 18.15313436] [-0.14242755 0.98959916 -0.0201962 -0.26498504] [-0.27636695 -0.02016669 0.96084058 0.92590069] [ 0. 0. 0. 1. ]] SLAMing on 106.742401008 meters Centerline goodness : 0.946131 with order 1 Centerline is valid? [False, False] Translation: X:18.15, Y:-0.27, Z:0.92 [[ 0.95037564 0.14247625 0.27656222 18.15348438] [-0.14248975 0.98959103 -0.02015616 -0.26685607] [-0.27655527 -0.02025136 0.96078461 0.92301032] [ 0. 0. 0. 1. ]] SLAMing on 106.802401008 meters Centerline goodness : 0.946503 with order 1 Centerline is valid? [False, False] Translation: X:18.16, Y:-0.27, Z:0.92 [[ 9.50039453e-01 1.43764758e-01 2.77050054e-01 1.81553423e+01] [-1.45477719e-01 9.89255621e-01 -1.44758036e-02 -2.73362120e-01] [-2.76154434e-01 -2.65520254e-02 9.60746438e-01 9.22584070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.862401008 meters Centerline goodness : 0.946978 with order 1 Centerline is valid? [False, False] Translation: X:18.16, Y:-0.28, Z:0.92 [[ 9.49971074e-01 1.43394251e-01 2.77476212e-01 1.81551093e+01] [-1.45816195e-01 9.89238905e-01 -1.20010464e-02 -2.80628177e-01] [-2.76211145e-01 -2.90598785e-02 9.60657549e-01 9.24063164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.92240100800001 meters Centerline goodness : 0.949183 with order 1 Centerline is valid? [False, False] Translation: X:18.15, Y:-0.29, Z:0.93 [[ 9.49915242e-01 1.43775139e-01 2.77470257e-01 1.81537424e+01] [-1.47042104e-01 9.89088247e-01 -9.11364223e-03 -2.87844716e-01] [-2.75752885e-01 -3.21426227e-02 9.60691000e-01 9.29760559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.982401008 meters Centerline goodness : 0.948573 with order 1 Centerline is valid? [False, False] Translation: X:18.15, Y:-0.29, Z:0.93 [[ 9.49725751e-01 1.44370389e-01 2.77809628e-01 1.81518333e+01] [-1.48326225e-01 9.88914818e-01 -6.84203151e-03 -2.92689423e-01] [-2.75717844e-01 -3.47083998e-02 9.60611783e-01 9.34596631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.042401008 meters Centerline goodness : 0.943416 with order 1 Centerline is valid? [False, False] Translation: X:18.15, Y:-0.29, Z:0.93 [[ 9.51108838e-01 1.42479885e-01 2.74028210e-01 1.81461069e+01] [-1.49983849e-01 9.88666969e-01 6.51687959e-03 -2.87757921e-01] [-2.69994116e-01 -4.72980676e-02 9.61699574e-01 9.33993334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.102401008 meters Centerline goodness : 0.936655 with order 1 Centerline is valid? [False, False] Translation: X:18.15, Y:-0.28, Z:0.92 [[ 9.51573034e-01 1.41870278e-01 2.72729876e-01 1.81497280e+01] [-1.47970409e-01 9.88990114e-01 1.81993013e-03 -2.81191617e-01] [-2.69468957e-01 -4.20877478e-02 9.62088927e-01 9.23640702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.162401008 meters Centerline goodness : 0.933424 with order 1 Centerline is valid? [False, False] Translation: X:18.15, Y:-0.28, Z:0.93 [[ 9.52483331e-01 1.39198870e-01 2.70922827e-01 1.81513412e+01] [-1.44096025e-01 9.89562010e-01 -1.83392512e-03 -2.82335450e-01] [-2.68350217e-01 -3.72921191e-02 9.62599324e-01 9.25274877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.222401008 meters Centerline goodness : 0.930730 with order 1 Centerline is valid? [False, False] Translation: X:18.16, Y:-0.29, Z:0.93 [[ 9.52864183e-01 1.39293924e-01 2.69531169e-01 1.81580450e+01] [-1.45911174e-01 9.89287138e-01 4.57032058e-03 -2.87024742e-01] [-2.66007100e-01 -4.36825040e-02 9.62980821e-01 9.28369147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.28240100800001 meters Centerline goodness : 0.931064 with order 1 Centerline is valid? [False, False] Translation: X:18.17, Y:-0.29, Z:0.93 [[ 9.52945855e-01 1.38112874e-01 2.69850015e-01 1.81711180e+01] [-1.48145805e-01 9.88818197e-01 1.70702541e-02 -2.90079172e-01] [-2.64474984e-01 -5.62441757e-02 9.62751045e-01 9.31507483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.342401008 meters Centerline goodness : 0.944157 with order 1 Centerline is valid? [False, False] Translation: X:18.17, Y:-0.30, Z:0.94 [[ 0.95304494 0.13420972 0.27146471 18.16939055] [-0.14478918 0.98927565 0.01922974 -0.29771792] [-0.26597261 -0.05763195 0.96225627 0.94351967] [ 0. 0. 0. 1. ]] SLAMing on 107.402401008 meters Centerline goodness : 0.954263 with order 1 Centerline is valid? [False, True] Translation: X:18.17, Y:-0.30, Z:0.95 [[ 0.95312739 0.13224671 0.2721378 18.16565007] [-0.14257139 0.98961291 0.01843054 -0.30075639] [-0.26687371 -0.05636572 0.96208177 0.95240925] [ 0. 0. 0. 1. ]] SLAMing on 107.462401008 meters Centerline goodness : 0.955468 with order 1 Centerline is valid? [True, True] Translation: X:18.22, Y:-0.28, Z:0.89 [[ 9.53733930e-01 1.46654009e-01 2.62457982e-01 1.82167638e+01] [-1.40172275e-01 9.89177325e-01 -4.33584259e-02 -2.83302942e-01] [-2.65976172e-01 4.56306938e-03 9.63968804e-01 8.94175070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.522401008 meters Centerline goodness : 0.951023 with order 1 Centerline is valid? [True, True] Translation: X:18.28, Y:-0.29, Z:0.87 [[ 9.53761918e-01 1.46489276e-01 2.62448274e-01 1.82759203e+01] [-1.39985276e-01 9.89201232e-01 -4.34171124e-02 -2.89792042e-01] [-2.65974298e-01 4.67069416e-03 9.63968805e-01 8.73148367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.582401008 meters Centerline goodness : 0.943604 with order 1 Centerline is valid? [True, False] Translation: X:18.32, Y:-0.30, Z:0.89 [[ 9.54522042e-01 1.28399750e-01 2.69074665e-01 1.83166502e+01] [-1.33281076e-01 9.91078270e-01 -1.28132311e-04 -3.04985656e-01] [-2.66690506e-01 -3.57402559e-02 9.63119312e-01 8.89359362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.64240100800001 meters Centerline goodness : 0.938349 with order 1 Centerline is valid? [False, False] Translation: X:18.35, Y:-0.31, Z:0.89 [[ 0.95499537 0.11844629 0.27194545 18.35446516] [-0.12915679 0.99138535 0.02176252 -0.31276831] [-0.26702505 -0.05590671 0.96206656 0.8928637 ] [ 0. 0. 0. 1. ]] SLAMing on 107.70240100800001 meters Centerline goodness : 0.935311 with order 1 Centerline is valid? [False, False] Translation: X:18.38, Y:-0.32, Z:0.90 [[ 0.95572008 0.11007234 0.27291612 18.38220125] [-0.12453246 0.99155552 0.03618451 -0.31668745] [-0.26662857 -0.06856918 0.9613571 0.89605027] [ 0. 0. 0. 1. ]] SLAMing on 107.762401008 meters Centerline goodness : 0.940141 with order 1 Centerline is valid? [False, False] Translation: X:18.42, Y:-0.32, Z:0.91 [[ 0.9552534 0.09944218 0.27857171 18.41566181] [-0.12160786 0.99055081 0.06340841 -0.32435908] [-0.26963396 -0.0944476 0.95831998 0.91255206] [ 0. 0. 0. 1. ]] SLAMing on 107.822401008 meters Centerline goodness : 0.938700 with order 1 Centerline is valid? [False, False] Translation: X:18.43, Y:-0.33, Z:0.92 [[ 0.95581876 0.09795597 0.27715543 18.42595748] [-0.12220729 0.98991986 0.07158243 -0.3271341 ] [-0.26734974 -0.10229024 0.9581549 0.91836057] [ 0. 0. 0. 1. ]] SLAMing on 107.882401008 meters Centerline goodness : 0.937925 with order 1 Centerline is valid? [False, False] Translation: X:18.45, Y:-0.34, Z:0.94 [[ 0.95386133 0.09367449 0.28526067 18.44744516] [-0.12866324 0.98595782 0.10645628 -0.3390395 ] [-0.27128276 -0.13824709 0.9525195 0.94382911] [ 0. 0. 0. 1. ]] SLAMing on 107.942401008 meters Centerline goodness : 0.936973 with order 1 Centerline is valid? [False, False] Translation: X:18.45, Y:-0.33, Z:0.93 [[ 0.95266149 0.10569631 0.28506906 18.44875557] [-0.13666137 0.986433 0.09095936 -0.33218635] [-0.27158746 -0.1256114 0.95418134 0.92925853] [ 0. 0. 0. 1. ]] SLAMing on 108.002401008 meters Centerline goodness : 0.937732 with order 1 Centerline is valid? [False, False] Translation: X:18.44, Y:-0.32, Z:0.92 [[ 0.950898 0.12319747 0.28392848 18.44153345] [-0.1507292 0.98555875 0.07716644 -0.32325027] [-0.27032148 -0.11617372 0.9557353 0.92043857] [ 0. 0. 0. 1. ]] SLAMing on 108.06240100800001 meters Centerline goodness : 0.942434 with order 1 Centerline is valid? [False, False] Translation: X:18.44, Y:-0.32, Z:0.91 [[ 0.94858886 0.1353302 0.28612045 18.44046016] [-0.15991916 0.98503483 0.0642826 -0.31820574] [-0.27313923 -0.1067339 0.95603496 0.91369228] [ 0. 0. 0. 1. ]] SLAMing on 108.122401008 meters Centerline goodness : 0.950708 with order 1 Centerline is valid? [False, True] Translation: X:18.43, Y:-0.31, Z:0.91 [[ 0.94646203 0.14494476 0.28844523 18.43385482] [-0.16434537 0.98541731 0.04408318 -0.31178487] [-0.2778493 -0.08912769 0.95648106 0.90679052] [ 0. 0. 0. 1. ]] SLAMing on 108.182401008 meters Centerline goodness : 0.953585 with order 1 Centerline is valid? [True, True] Translation: X:18.48, Y:-0.28, Z:0.83 [[ 9.46984869e-01 1.65582015e-01 2.75322091e-01 1.84810229e+01] [-1.59538056e-01 9.86194179e-01 -4.43694680e-02 -2.80567436e-01] [-2.78867829e-01 -1.90713614e-03 9.60327599e-01 8.26708109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.242401008 meters Centerline goodness : 0.951085 with order 1 Centerline is valid? [True, True] Translation: X:18.54, Y:-0.29, Z:0.80 [[ 9.47764487e-01 1.61079036e-01 2.75310772e-01 1.85371402e+01] [-1.54828408e-01 9.86941379e-01 -4.44395970e-02 -2.90892398e-01] [-2.78873880e-01 -5.07656480e-04 9.60327601e-01 8.03376664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.302401008 meters Centerline goodness : 0.948267 with order 1 Centerline is valid? [True, False] Translation: X:18.54, Y:-0.30, Z:0.81 [[ 9.48007221e-01 1.60699387e-01 2.74696226e-01 1.85383242e+01] [-1.54994655e-01 9.87000748e-01 -4.24991749e-02 -2.97017647e-01] [-2.77954972e-01 -2.28692204e-03 9.60591382e-01 8.05187937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.362401008 meters Centerline goodness : 0.941793 with order 1 Centerline is valid? [False, False] Translation: X:18.54, Y:-0.30, Z:0.80 [[ 9.48172208e-01 1.60596387e-01 2.74186552e-01 1.85392919e+01] [-1.55348957e-01 9.87012777e-01 -4.08959599e-02 -3.03900228e-01] [-2.77193373e-01 -3.81818223e-03 9.60806565e-01 8.04762642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.42240100800001 meters Centerline goodness : 0.935449 with order 1 Centerline is valid? [False, False] Translation: X:18.55, Y:-0.31, Z:0.81 [[ 0.94966474 0.15097902 0.27448537 18.54574799] [-0.1516479 0.98825365 -0.01891144 -0.31333375] [-0.2741164 -0.0236656 0.96140529 0.81183841] [ 0. 0. 0. 1. ]] SLAMing on 108.482401008 meters Centerline goodness : 0.930755 with order 1 Centerline is valid? [False, False] Translation: X:18.57, Y:-0.32, Z:0.82 [[ 9.50435754e-01 1.42763082e-01 2.76207495e-01 1.85742344e+01] [-1.48202272e-01 9.88956350e-01 -1.19373262e-03 -3.24005802e-01] [-2.73327577e-01 -3.98000122e-02 9.61097287e-01 8.15477987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.542401008 meters Centerline goodness : 0.934144 with order 1 Centerline is valid? [False, False] Translation: X:18.57, Y:-0.33, Z:0.82 [[ 9.50365447e-01 1.43301442e-01 2.76170626e-01 1.85729547e+01] [-1.49324884e-01 9.88787871e-01 7.91116589e-04 -3.27011555e-01] [-2.72960797e-01 -4.19909967e-02 9.61108297e-01 8.20861308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.602401008 meters Centerline goodness : 0.941302 with order 1 Centerline is valid? [False, False] Translation: X:18.58, Y:-0.33, Z:0.83 [[ 9.50415016e-01 1.42962029e-01 2.76175949e-01 1.85787149e+01] [-1.51066950e-01 9.88489668e-01 8.18249924e-03 -3.29818694e-01] [-2.71827286e-01 -4.94978284e-02 9.61072262e-01 8.25610674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.662401008 meters Centerline goodness : 0.944775 with order 1 Centerline is valid? [False, False] Translation: X:18.58, Y:-0.33, Z:0.83 [[ 9.50343333e-01 1.43056185e-01 2.76373802e-01 1.85784686e+01] [-1.50968861e-01 9.88510425e-01 7.45266301e-03 -3.27143165e-01] [-2.72132235e-01 -4.88064267e-02 9.61021321e-01 8.25016137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.722401008 meters Centerline goodness : 0.947208 with order 1 Centerline is valid? [False, False] Translation: X:18.58, Y:-0.32, Z:0.83 [[ 9.50490306e-01 1.42249062e-01 2.76284967e-01 1.85756127e+01] [-1.48898401e-01 9.88847557e-01 3.12665775e-03 -3.23676818e-01] [-2.72758950e-01 -4.41102475e-02 9.61070674e-01 8.25976139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.78240100800001 meters Centerline goodness : 0.945181 with order 1 Centerline is valid? [False, False] Translation: X:18.57, Y:-0.32, Z:0.82 [[ 9.50419264e-01 1.42289989e-01 2.76508196e-01 1.85708445e+01] [-1.47260007e-01 9.89093800e-01 -2.81871742e-03 -3.19716241e-01] [-2.73893617e-01 -3.80396354e-02 9.61007426e-01 8.24085255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.842401008 meters Centerline goodness : 0.947379 with order 1 Centerline is valid? [False, False] Translation: X:18.57, Y:-0.32, Z:0.82 [[ 9.50408980e-01 1.42501184e-01 2.76434773e-01 1.85706883e+01] [-1.47545028e-01 9.89051977e-01 -2.57911906e-03 -3.19845738e-01] [-2.73775886e-01 -3.83353583e-02 9.61029222e-01 8.24874981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.902401008 meters Centerline goodness : 0.943148 with order 1 Centerline is valid? [False, False] Translation: X:18.57, Y:-0.32, Z:0.82 [[ 9.50201982e-01 1.44191651e-01 2.76269725e-01 1.85736881e+01] [-1.50279267e-01 9.88643200e-01 8.74370975e-04 -3.18919963e-01] [-2.73006108e-01 -4.23484408e-02 9.61079744e-01 8.22530814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.962401008 meters Centerline goodness : 0.946040 with order 1 Centerline is valid? [False, False] Translation: X:18.57, Y:-0.32, Z:0.82 [[ 9.50318453e-01 1.44013544e-01 2.75961840e-01 1.85744683e+01] [-1.50177600e-01 9.88658284e-01 1.21886963e-03 -3.19214881e-01] [-2.72656425e-01 -4.26016011e-02 9.61167820e-01 8.23182570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.022401008 meters Centerline goodness : 0.942828 with order 1 Centerline is valid? [False, False] Translation: X:18.59, Y:-0.33, Z:0.83 [[ 9.51510013e-01 1.37978668e-01 2.74937415e-01 1.85854628e+01] [-1.45449041e-01 9.89341909e-01 6.86752775e-03 -3.28806023e-01] [-2.71059535e-01 -4.65239049e-02 9.61437598e-01 8.30103587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.082401008 meters Centerline goodness : 0.939326 with order 1 Centerline is valid? [False, False] Translation: X:18.64, Y:-0.35, Z:0.85 [[ 0.95129378 0.11256854 0.28699906 18.63787258] [-0.13488111 0.98909587 0.05913079 -0.34911674] [-0.27721332 -0.0949615 0.95610412 0.8540112 ] [ 0. 0. 0. 1. ]] SLAMing on 109.14240100800001 meters Centerline goodness : 0.933768 with order 1 Centerline is valid? [False, False] Translation: X:18.69, Y:-0.37, Z:0.89 [[ 0.94902379 0.07271384 0.30670269 18.68521393] [-0.118047 0.98420459 0.13193271 -0.36537847] [-0.29226486 -0.16141262 0.94261722 0.88907762] [ 0. 0. 0. 1. ]] SLAMing on 109.20240100800001 meters Centerline goodness : 0.938006 with order 1 Centerline is valid? [False, False] Translation: X:18.68, Y:-0.37, Z:0.92 [[ 0.94557462 0.04585632 0.32215808 18.68160353] [-0.10433951 0.98047355 0.16668799 -0.36733741] [-0.30822378 -0.19122975 0.93189553 0.92360091] [ 0. 0. 0. 1. ]] SLAMing on 109.262401008 meters Centerline goodness : 0.950425 with order 1 Centerline is valid? [False, True] Translation: X:18.65, Y:-0.35, Z:0.93 [[ 0.94416887 0.03647262 0.32743686 18.65147553] [-0.09050289 0.98433251 0.15132328 -0.3543499 ] [-0.31678759 -0.17250871 0.93267699 0.92563895] [ 0. 0. 0. 1. ]] SLAMing on 109.322401008 meters Centerline goodness : 0.951472 with order 1 Centerline is valid? [True, True] Translation: X:18.67, Y:-0.28, Z:0.76 [[ 9.48059194e-01 9.44343717e-02 3.03753048e-01 1.86744999e+01] [-8.44114678e-02 9.95369032e-01 -4.59912455e-02 -2.77057413e-01] [-3.06689532e-01 1.79621825e-02 9.51640106e-01 7.57407360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.382401008 meters Centerline goodness : 0.950711 with order 1 Centerline is valid? [True, True] Translation: X:18.74, Y:-0.28, Z:0.74 [[ 9.47672902e-01 9.82683601e-02 3.03742325e-01 1.87351241e+01] [-8.84143033e-02 9.95018194e-01 -4.60619600e-02 -2.76907961e-01] [-3.06755573e-01 1.67965053e-02 9.51640108e-01 7.40745391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.442401008 meters Centerline goodness : 0.946554 with order 1 Centerline is valid? [True, False] Translation: X:18.73, Y:-0.27, Z:0.74 [[ 9.46628190e-01 1.04929228e-01 3.04770285e-01 1.87283901e+01] [-9.56820188e-02 9.94386784e-01 -4.51649732e-02 -2.66255475e-01] [-3.07798669e-01 1.35934008e-02 9.51354402e-01 7.42937510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.502401008 meters Centerline goodness : 0.937450 with order 1 Centerline is valid? [False, False] Translation: X:18.68, Y:-0.26, Z:0.78 [[ 9.45383147e-01 9.23573207e-02 3.12603311e-01 1.86760619e+01] [-9.68080458e-02 9.95302237e-01 -1.28838312e-03 -2.56507181e-01] [-3.11253766e-01 -2.90445000e-02 9.49882893e-01 7.77730640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.56240100800001 meters Centerline goodness : 0.933891 with order 1 Centerline is valid? [False, False] Translation: X:18.66, Y:-0.25, Z:0.79 [[ 9.45824746e-01 9.69874503e-02 3.09853167e-01 1.86593390e+01] [-1.07667857e-01 9.94032672e-01 1.75122598e-02 -2.48351272e-01] [-3.06305702e-01 -4.99247551e-02 9.50623130e-01 7.92681735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.622401008 meters Centerline goodness : 0.938459 with order 1 Centerline is valid? [False, False] Translation: X:18.68, Y:-0.25, Z:0.81 [[ 0.94464076 0.09140148 0.3151184 18.68000738] [-0.11010763 0.99303016 0.04204048 -0.2537816 ] [-0.30907952 -0.07441009 0.94812077 0.80896682] [ 0. 0. 0. 1. ]] SLAMing on 109.682401008 meters Centerline goodness : 0.940743 with order 1 Centerline is valid? [False, False] Translation: X:18.68, Y:-0.25, Z:0.82 [[ 0.94424391 0.09029317 0.31662372 18.68343696] [-0.11228725 0.99232047 0.05188111 -0.25338007] [-0.30950769 -0.08454123 0.94713134 0.82450484] [ 0. 0. 0. 1. ]] SLAMing on 109.742401008 meters Centerline goodness : 0.947024 with order 1 Centerline is valid? [False, False] Translation: X:18.69, Y:-0.25, Z:0.84 [[ 0.94337683 0.08922463 0.31949824 18.69405563] [-0.11745573 0.99059588 0.07017086 -0.25486451] [-0.31023267 -0.10372447 0.94498515 0.83700181] [ 0. 0. 0. 1. ]] SLAMing on 109.802401008 meters Centerline goodness : 0.946525 with order 1 Centerline is valid? [False, False] Translation: X:18.72, Y:-0.26, Z:0.85 [[ 0.94221406 0.08482955 0.32409352 18.71503755] [-0.12230804 0.98773647 0.09704334 -0.26013778] [-0.31188684 -0.13107485 0.94103453 0.85025251] [ 0. 0. 0. 1. ]] SLAMing on 109.862401008 meters Centerline goodness : 0.944702 with order 1 Centerline is valid? [False, False] Translation: X:18.74, Y:-0.27, Z:0.87 [[ 0.94101406 0.07958811 0.32887425 18.73573341] [-0.1272924 0.98381163 0.1261401 -0.26800655] [-0.31351106 -0.1605628 0.93591154 0.8698387 ] [ 0. 0. 0. 1. ]] SLAMing on 109.92240100800001 meters Centerline goodness : 0.946851 with order 1 Centerline is valid? [False, False] Translation: X:18.74, Y:-0.26, Z:0.86 [[ 0.94030586 0.08847192 0.32862988 18.74065712] [-0.13180715 0.98492998 0.11198125 -0.26484232] [-0.31377023 -0.1486124 0.93779667 0.86495016] [ 0. 0. 0. 1. ]] SLAMing on 109.982401008 meters Centerline goodness : 0.946282 with order 1 Centerline is valid? [False, False] Translation: X:18.77, Y:-0.27, Z:0.88 [[ 0.93900507 0.07635879 0.33531897 18.77074273] [-0.12992979 0.98154252 0.14033006 -0.2723109 ] [-0.31841439 -0.17533856 0.93159469 0.88292138] [ 0. 0. 0. 1. ]] SLAMing on 110.042401008 meters Centerline goodness : 0.950905 with order 1 Centerline is valid? [False, True] Translation: X:18.78, Y:-0.28, Z:0.90 [[ 0.93537727 0.05325741 0.34961838 18.78249231] [-0.12040752 0.97749171 0.17323968 -0.27838883] [-0.33252277 -0.20414114 0.92073612 0.89659587] [ 0. 0. 0. 1. ]] SLAMing on 110.102401008 meters Centerline goodness : 0.947871 with order 1 Centerline is valid? [True, False] Translation: X:18.75, Y:-0.28, Z:0.93 [[ 0.93224388 0.03915046 0.35970626 18.75417451] [-0.12056428 0.97092889 0.20678816 -0.28038375] [-0.34115335 -0.23614473 0.90986266 0.93466044] [ 0. 0. 0. 1. ]] SLAMing on 110.162401008 meters Centerline goodness : 0.950101 with order 1 Centerline is valid? [False, True] Translation: X:18.73, Y:-0.28, Z:0.94 [[ 0.93195167 0.05503485 0.35838144 18.73176544] [-0.1288896 0.97414001 0.18557667 -0.27501522] [-0.33890052 -0.21914013 0.91494483 0.93989012] [ 0. 0. 0. 1. ]] SLAMing on 110.222401008 meters Centerline goodness : 0.949405 with order 1 Centerline is valid? [True, False] Translation: X:18.75, Y:-0.28, Z:0.93 [[ 0.93044987 0.06168527 0.36118966 18.74671668] [-0.13492516 0.97414507 0.18120866 -0.27594136] [-0.34067322 -0.21733915 0.91471605 0.93011543] [ 0. 0. 0. 1. ]] SLAMing on 110.28240100800001 meters Centerline goodness : 0.939450 with order 1 Centerline is valid? [False, False] Translation: X:18.76, Y:-0.27, Z:0.92 [[ 0.93111397 0.0623938 0.35935191 18.75794656] [-0.13779212 0.97241809 0.18819242 -0.27478526] [-0.33769826 -0.22474446 0.91402944 0.92223913] [ 0. 0. 0. 1. ]] SLAMing on 110.342401008 meters Centerline goodness : 0.936240 with order 1 Centerline is valid? [False, False] Translation: X:18.77, Y:-0.28, Z:0.91 [[ 0.93303375 0.06886781 0.35313629 18.774519 ] [-0.14079412 0.97312523 0.18222049 -0.27882338] [-0.33109671 -0.21973738 0.91765487 0.91395974] [ 0. 0. 0. 1. ]] SLAMing on 110.402401008 meters Centerline goodness : 0.940475 with order 1 Centerline is valid? [False, False] Translation: X:18.80, Y:-0.29, Z:0.91 [[ 0.9332701 0.07707798 0.3508075 18.79549384] [-0.14312633 0.9756143 0.16640792 -0.28747806] [-0.32942643 -0.20551333 0.92154354 0.90830014] [ 0. 0. 0. 1. ]] SLAMing on 110.462401008 meters Centerline goodness : 0.945553 with order 1 Centerline is valid? [False, False] Translation: X:18.79, Y:-0.28, Z:0.89 [[ 0.93174381 0.08627323 0.35271858 18.79063561] [-0.14461403 0.97917152 0.14251288 -0.28351246] [-0.33307694 -0.18379355 0.92481332 0.89466861] [ 0. 0. 0. 1. ]] SLAMing on 110.522401008 meters Centerline goodness : 0.956337 with order 1 Centerline is valid? [False, True] Translation: X:18.80, Y:-0.29, Z:0.88 [[ 0.92972625 0.09025987 0.35701857 18.79504799] [-0.14322594 0.98179397 0.12476751 -0.28578828] [-0.33925718 -0.16713395 0.92572718 0.88415032] [ 0. 0. 0. 1. ]] SLAMing on 110.582401008 meters Centerline goodness : 0.958429 with order 1 Centerline is valid? [True, True] Translation: X:18.82, Y:-0.23, Z:0.74 [[ 9.30909533e-01 1.49031943e-01 3.33462023e-01 1.88173625e+01] [-1.38840382e-01 9.88823110e-01 -5.43342039e-02 -2.26049464e-01] [-3.37832486e-01 4.28223378e-03 9.41196512e-01 7.37806009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.64240100800001 meters Centerline goodness : 0.955476 with order 1 Centerline is valid? [True, True] Translation: X:18.87, Y:-0.24, Z:0.72 [[ 9.31716038e-01 1.43932969e-01 3.33449435e-01 1.88734224e+01] [-1.33396882e-01 9.89567924e-01 -5.44113531e-02 -2.41066528e-01] [-3.37802453e-01 6.21481544e-03 9.41196515e-01 7.16089449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.70240100800001 meters Centerline goodness : 0.951397 with order 1 Centerline is valid? [True, True] Translation: X:18.93, Y:-0.25, Z:0.69 [[ 9.31369179e-01 1.46191237e-01 3.33436013e-01 1.89291628e+01] [-1.35766032e-01 9.89241146e-01 -5.44934826e-02 -2.51945293e-01] [-3.37815094e-01 5.48426567e-03 9.41196518e-01 6.90354853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.762401008 meters Centerline goodness : 0.950094 with order 1 Centerline is valid? [True, True] Translation: X:18.99, Y:-0.27, Z:0.67 [[ 9.31387779e-01 1.46102455e-01 3.33422972e-01 1.89875745e+01] [-1.35643215e-01 9.89253601e-01 -5.45731654e-02 -2.65413201e-01] [-3.37813150e-01 5.60221540e-03 9.41196521e-01 6.73396898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.822401008 meters Centerline goodness : 0.952997 with order 1 Centerline is valid? [True, True] Translation: X:19.04, Y:-0.28, Z:0.65 [[ 9.31965982e-01 1.42399491e-01 3.33409347e-01 1.90444455e+01] [-1.31680621e-01 9.89784272e-01 -5.46562875e-02 -2.77791410e-01] [-3.37786356e-01 7.03425096e-03 9.41196524e-01 6.51854021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.882401008 meters Centerline goodness : 0.951740 with order 1 Centerline is valid? [True, True] Translation: X:19.10, Y:-0.29, Z:0.63 [[ 9.32279927e-01 1.40361712e-01 3.33395751e-01 1.91003319e+01] [-1.29486865e-01 9.90069079e-01 -5.47391058e-02 -2.86220898e-01] [-3.37768099e-01 7.86179893e-03 9.41196528e-01 6.26083617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.942401008 meters Centerline goodness : 0.948601 with order 1 Centerline is valid? [True, False] Translation: X:19.13, Y:-0.30, Z:0.64 [[ 9.29736263e-01 1.23774354e-01 3.46800218e-01 1.91288601e+01] [-1.26986310e-01 9.91811995e-01 -1.35441418e-02 -3.02819642e-01] [-3.45637033e-01 -3.14464002e-02 9.37841226e-01 6.42846224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.002401008 meters Centerline goodness : 0.945187 with order 1 Centerline is valid? [False, False] Translation: X:19.13, Y:-0.31, Z:0.66 [[ 9.30668859e-01 1.18368003e-01 3.46185631e-01 1.91264211e+01] [-1.29963583e-01 9.91464373e-01 1.03857625e-02 -3.09655044e-01] [-3.42001378e-01 -5.46572308e-02 9.38108546e-01 6.61065696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.06240100800001 meters Centerline goodness : 0.949383 with order 1 Centerline is valid? [False, False] Translation: X:19.13, Y:-0.32, Z:0.67 [[ 0.92945833 0.12025393 0.34877815 19.13440517] [-0.13925444 0.98980733 0.02982692 -0.31655792] [-0.34163637 -0.07629178 0.93673057 0.67122048] [ 0. 0. 0. 1. ]] SLAMing on 111.122401008 meters Centerline goodness : 0.959750 with order 1 Centerline is valid? [False, True] Translation: X:19.15, Y:-0.33, Z:0.69 [[ 0.9283155 0.11119348 0.35477648 19.15491106] [-0.13819445 0.98905934 0.05161307 -0.32581746] [-0.34515595 -0.09694135 0.93352544 0.68806276] [ 0. 0. 0. 1. ]] SLAMing on 111.182401008 meters Centerline goodness : 0.963531 with order 1 Centerline is valid? [True, True] Translation: X:19.19, Y:-0.29, Z:0.59 [[ 9.28629677e-01 1.50168077e-01 3.39258709e-01 1.91924821e+01] [-1.39564592e-01 9.88651236e-01 -5.55918902e-02 -2.89318098e-01] [-3.43756669e-01 4.27577555e-03 9.39049024e-01 5.93582122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.242401008 meters Centerline goodness : 0.970415 with order 1 Centerline is valid? [True, True] Translation: X:19.25, Y:-0.30, Z:0.58 [[ 9.27681885e-01 1.55945742e-01 3.39245112e-01 1.92521653e+01] [-1.45685786e-01 9.87763116e-01 -5.56747508e-02 -3.03206533e-01] [-3.43776049e-01 2.22526690e-03 9.39049028e-01 5.80960727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.302401008 meters Centerline goodness : 0.972884 with order 1 Centerline is valid? [True, True] Translation: X:19.31, Y:-0.31, Z:0.56 [[ 9.27455389e-01 1.57318088e-01 3.39230778e-01 1.93086091e+01] [-1.47115138e-01 9.87546323e-01 -5.57619559e-02 -3.13499545e-01] [-3.43778472e-01 1.81074374e-03 9.39049031e-01 5.60480965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.362401008 meters Centerline goodness : 0.975664 with order 1 Centerline is valid? [True, True] Translation: X:19.37, Y:-0.32, Z:0.54 [[ 9.27479794e-01 1.57202477e-01 3.39217648e-01 1.93661460e+01] [-1.46962861e-01 9.87564489e-01 -5.58417263e-02 -3.22079940e-01] [-3.43777761e-01 1.93967674e-03 9.39049034e-01 5.37934685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.42240100800001 meters Centerline goodness : 0.970651 with order 1 Centerline is valid? [True, True] Translation: X:19.42, Y:-0.33, Z:0.51 [[ 9.27200988e-01 1.58873436e-01 3.39201355e-01 1.94213179e+01] [-1.48705957e-01 9.87297926e-01 -5.59405311e-02 -3.29328698e-01] [-3.43780259e-01 1.42685367e-03 9.39049039e-01 5.09021843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.482401008 meters Centerline goodness : 0.967266 with order 1 Centerline is valid? [True, True] Translation: X:19.48, Y:-0.34, Z:0.48 [[ 9.26594062e-01 1.62405451e-01 3.39187138e-01 1.94755104e+01] [-1.52435539e-01 9.86724088e-01 -5.60266099e-02 -3.37404433e-01] [-3.43783146e-01 2.09749942e-04 9.39049043e-01 4.81812065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.542401008 meters Centerline goodness : 0.966793 with order 1 Centerline is valid? [True, True] Translation: X:19.53, Y:-0.35, Z:0.46 [[ 9.26279771e-01 1.64215511e-01 3.39174073e-01 1.95328370e+01] [-1.54334176e-01 9.86424414e-01 -5.61055974e-02 -3.49169260e-01] [-3.43782995e-01 -3.76671348e-04 9.39049046e-01 4.61820203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.602401008 meters Centerline goodness : 0.970082 with order 1 Centerline is valid? [True, True] Translation: X:19.59, Y:-0.35, Z:0.44 [[ 9.26281772e-01 1.64233422e-01 3.39159937e-01 1.95907245e+01] [-1.54322005e-01 9.86421461e-01 -5.61909292e-02 -3.52636290e-01] [-3.43783069e-01 -2.91207882e-04 9.39049049e-01 4.37849023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.662401008 meters Centerline goodness : 0.972821 with order 1 Centerline is valid? [True, True] Translation: X:19.65, Y:-0.36, Z:0.42 [[ 9.26330279e-01 1.63988809e-01 3.39145816e-01 1.96493730e+01] [-1.54030351e-01 9.86462193e-01 -5.62760380e-02 -3.63436721e-01] [-3.43783165e-01 -1.08550847e-04 9.39049053e-01 4.21579927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.722401008 meters Centerline goodness : 0.972321 with order 1 Centerline is valid? [True, True] Translation: X:19.71, Y:-0.38, Z:0.40 [[ 9.27506293e-01 1.57230428e-01 3.39132229e-01 1.97062979e+01] [-1.46803907e-01 9.87558814e-01 -5.63578045e-02 -3.78029570e-01] [-3.43774183e-01 2.48628231e-03 9.39049056e-01 4.04907179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.78240100800001 meters Centerline goodness : 0.973786 with order 1 Centerline is valid? [True, True] Translation: X:19.76, Y:-0.39, Z:0.38 [[ 9.28228644e-01 1.52937904e-01 3.39118831e-01 1.97643713e+01] [-1.42204269e-01 9.88227030e-01 -5.64383154e-02 -3.89089030e-01] [-3.43757952e-01 4.16351574e-03 9.39049059e-01 3.84619044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.842401008 meters Centerline goodness : 0.972751 with order 1 Centerline is valid? [True, True] Translation: X:19.82, Y:-0.40, Z:0.36 [[ 9.30037211e-01 1.41558515e-01 3.39104663e-01 1.98199499e+01] [-1.30059914e-01 9.89893698e-01 -5.65233227e-02 -3.96086770e-01] [-3.43678926e-01 8.46487019e-03 9.39049063e-01 3.57289914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.902401008 meters Centerline goodness : 0.973832 with order 1 Centerline is valid? [True, True] Translation: X:19.88, Y:-0.41, Z:0.34 [[ 9.30624224e-01 1.37681597e-01 3.39090449e-01 1.98783907e+01] [-1.25902659e-01 9.90426172e-01 -5.66084726e-02 -4.08877845e-01] [-3.43638000e-01 9.98882667e-03 9.39049066e-01 3.37087278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.962401008 meters Centerline goodness : 0.970810 with order 1 Centerline is valid? [True, True] Translation: X:19.93, Y:-0.42, Z:0.32 [[ 9.31106234e-01 1.34423645e-01 3.39074422e-01 1.99345161e+01] [-1.22400613e-01 9.90859582e-01 -5.67043154e-02 -4.18795622e-01] [-3.43597541e-01 1.12948245e-02 9.39049070e-01 3.15185029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.022401008 meters Centerline goodness : 0.967840 with order 1 Centerline is valid? [True, True] Translation: X:19.99, Y:-0.42, Z:0.29 [[ 9.31013080e-01 1.35099654e-01 3.39061541e-01 1.99902847e+01] [-1.23092025e-01 9.90769521e-01 -5.67812384e-02 -4.24286212e-01] [-3.43602967e-01 1.11283039e-02 9.39049073e-01 2.86632496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.082401008 meters Centerline goodness : 0.967570 with order 1 Centerline is valid? [True, True] Translation: X:20.05, Y:-0.43, Z:0.26 [[ 9.29728086e-01 1.43708543e-01 3.39047993e-01 2.00479217e+01] [-1.32224908e-01 9.89587431e-01 -5.68620285e-02 -4.31555345e-01] [-3.43689192e-01 8.03563508e-03 9.39049076e-01 2.64689708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.14240100800001 meters Centerline goodness : 0.972519 with order 1 Centerline is valid? [True, True] Translation: X:20.11, Y:-0.44, Z:0.25 [[ 9.26890387e-01 1.61028643e-01 3.39033903e-01 2.01086052e+01] [-1.50633063e-01 9.86948247e-01 -5.69459225e-02 -4.38100952e-01] [-3.43778841e-01 1.71291277e-03 9.39049080e-01 2.50183139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.20240100800001 meters Centerline goodness : 0.973606 with order 1 Centerline is valid? [True, True] Translation: X:20.17, Y:-0.44, Z:0.23 [[ 9.25771040e-01 1.67373043e-01 3.39019537e-01 2.01667011e+01] [-1.57357761e-01 9.85893484e-01 -5.70313291e-02 -4.41232827e-01] [-3.43782660e-01 -5.49402489e-04 9.39049083e-01 2.27841647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.262401008 meters Centerline goodness : 0.966368 with order 1 Centerline is valid? [True, True] Translation: X:20.22, Y:-0.45, Z:0.20 [[ 9.25589152e-01 1.68404985e-01 3.39005137e-01 2.02238224e+01] [-1.58425426e-01 9.85717533e-01 -5.71168058e-02 -4.45778182e-01] [-3.43782062e-01 -8.40337438e-04 9.39049087e-01 1.99717339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.322401008 meters Centerline goodness : 0.966540 with order 1 Centerline is valid? [True, True] Translation: X:20.28, Y:-0.46, Z:0.18 [[ 9.27498928e-01 1.57582886e-01 3.38988751e-01 2.02816610e+01] [-1.46866241e-01 9.87500317e-01 -5.72139001e-02 -4.60896769e-01] [-3.43767431e-01 3.27982741e-03 9.39049091e-01 1.80337627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.382401008 meters Centerline goodness : 0.966581 with order 1 Centerline is valid? [True, True] Translation: X:20.34, Y:-0.48, Z:0.16 [[ 9.29380183e-01 1.46091255e-01 3.38983511e-01 2.03393807e+01] [-1.34621487e-01 9.89242171e-01 -5.72449326e-02 -4.75756525e-01] [-3.43699768e-01 7.56784160e-03 9.39049092e-01 1.63310295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.442401008 meters Centerline goodness : 0.963986 with order 1 Centerline is valid? [True, True] Translation: X:20.40, Y:-0.48, Z:0.14 [[ 9.31815848e-01 1.29688584e-01 3.38969168e-01 2.03963132e+01] [-1.17134750e-01 9.91459909e-01 -5.73297428e-02 -4.84685624e-01] [-3.43509354e-01 1.37156940e-02 9.39049095e-01 1.43168566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.502401008 meters Centerline goodness : 0.960724 with order 1 Centerline is valid? [True, True] Translation: X:20.45, Y:-0.49, Z:0.12 [[ 9.32418501e-01 1.25302486e-01 3.38961688e-01 2.04547252e+01] [-1.12452102e-01 9.91999373e-01 -5.73739373e-02 -4.93433491e-01] [-3.43438879e-01 1.53795662e-02 9.39049096e-01 1.20834514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.56240100800001 meters Centerline goodness : 0.960948 with order 1 Centerline is valid? [True, True] Translation: X:20.51, Y:-0.50, Z:0.10 [[ 9.32200239e-01 1.26958457e-01 3.38945813e-01 2.05143751e+01] [-1.14179939e-01 9.91796561e-01 -5.74675758e-02 -5.03699603e-01] [-3.43461287e-01 1.48704756e-02 9.39049101e-01 1.02709804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.622401008 meters Centerline goodness : 0.961864 with order 1 Centerline is valid? [True, True] Translation: X:20.57, Y:-0.51, Z:0.08 [[ 9.31706043e-01 1.30578332e-01 3.38929415e-01 2.05699106e+01] [-1.17996324e-01 9.91344157e-01 -5.75641343e-02 -5.08283419e-01] [-3.43512324e-01 1.36404266e-02 9.39049105e-01 7.58766592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.682401008 meters Centerline goodness : 0.951416 with order 1 Centerline is valid? [True, True] Translation: X:20.62, Y:-0.50, Z:0.04 [[ 9.30408856e-01 1.39540974e-01 3.38921343e-01 2.06230853e+01] [-1.27516348e-01 9.90161846e-01 -5.76116233e-02 -5.02522768e-01] [-3.43626165e-01 1.03843527e-02 9.39049106e-01 3.91646327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.742401008 meters Centerline goodness : 0.943569 with order 1 Centerline is valid? [True, False] Translation: X:20.63, Y:-0.50, Z:0.06 [[ 9.30918904e-01 1.33507166e-01 3.39949747e-01 2.06284154e+01] [-1.31816343e-01 9.90873639e-01 -2.81759449e-02 -5.04423523e-01] [-3.40608933e-01 -1.85814127e-02 9.40021428e-01 5.64196301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.802401008 meters Centerline goodness : 0.948770 with order 1 Centerline is valid? [False, False] Translation: X:20.63, Y:-0.50, Z:0.07 [[ 9.30282884e-01 1.32339455e-01 3.42140357e-01 2.06333764e+01] [-1.34730590e-01 9.90738434e-01 -1.68826121e-02 -5.03088578e-01] [-3.41205837e-01 -3.03911671e-02 9.39497181e-01 7.25184375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.862401008 meters Centerline goodness : 0.946299 with order 1 Centerline is valid? [False, False] Translation: X:20.65, Y:-0.51, Z:0.10 [[ 0.92674405 0.10698696 0.36013782 20.65448323] [-0.12600976 0.99158464 0.0296891 -0.51465847] [-0.35393078 -0.07289507 0.93242657 0.10014178] [ 0. 0. 0. 1. ]] SLAMing on 112.92240100800001 meters Centerline goodness : 0.946238 with order 1 Centerline is valid? [False, False] Translation: X:20.65, Y:-0.51, Z:0.12 [[ 0.92600662 0.0880948 0.36708453 20.65444673] [-0.11625376 0.99168037 0.05527301 -0.50603317] [-0.35916126 -0.09385813 0.92854393 0.11546324] [ 0. 0. 0. 1. ]] SLAMing on 112.982401008 meters Centerline goodness : 0.943653 with order 1 Centerline is valid? [False, False] Translation: X:20.62, Y:-0.49, Z:0.14 [[ 0.92314346 0.07346182 0.37737184 20.6169108 ] [-0.1114558 0.99055869 0.07981904 -0.49156627] [-0.36794531 -0.1157447 0.92261553 0.14054977] [ 0. 0. 0. 1. ]] SLAMing on 113.042401008 meters Centerline goodness : 0.939532 with order 1 Centerline is valid? [False, False] Translation: X:20.56, Y:-0.47, Z:0.18 [[ 0.91971521 0.06207066 0.38764825 20.56247708] [-0.10813105 0.98928048 0.09814176 -0.47307359] [-0.37740113 -0.13217928 0.91656807 0.17524496] [ 0. 0. 0. 1. ]] SLAMing on 113.102401008 meters Centerline goodness : 0.936115 with order 1 Centerline is valid? [False, False] Translation: X:20.50, Y:-0.45, Z:0.21 [[ 0.91918918 0.06278219 0.38877969 20.49821161] [-0.10697869 0.9898952 0.09307552 -0.45159573] [-0.37900767 -0.12714515 0.91661731 0.20525698] [ 0. 0. 0. 1. ]] SLAMing on 113.162401008 meters Centerline goodness : 0.933356 with order 1 Centerline is valid? [False, False] Translation: X:20.43, Y:-0.43, Z:0.22 [[ 0.91948133 0.06406341 0.38787879 20.434763 ] [-0.10273257 0.99150522 0.07977098 -0.42577359] [-0.37947345 -0.11319571 0.91825194 0.22402983] [ 0. 0. 0. 1. ]] SLAMing on 113.222401008 meters Centerline goodness : 0.930239 with order 1 Centerline is valid? [False, False] Translation: X:20.38, Y:-0.40, Z:0.24 [[ 0.92220189 0.07187099 0.37997136 20.38119907] [-0.10333762 0.99264623 0.06304602 -0.40279714] [-0.37264596 -0.09740649 0.92284721 0.23665991] [ 0. 0. 0. 1. ]] SLAMing on 113.28240100800001 meters Centerline goodness : 0.928139 with order 1 Centerline is valid? [False, False] Translation: X:20.35, Y:-0.37, Z:0.26 [[ 0.92945438 0.07101352 0.36203816 20.34770887] [-0.10274042 0.99230351 0.06912411 -0.37010363] [-0.354343 -0.10144366 0.92959681 0.25981175] [ 0. 0. 0. 1. ]] SLAMing on 113.342401008 meters Centerline goodness : 0.929212 with order 1 Centerline is valid? [False, False] Translation: X:20.32, Y:-0.34, Z:0.28 [[ 0.93732393 0.06592391 0.34216645 20.31718103] [-0.09516696 0.9930411 0.06937301 -0.34458495] [-0.33521201 -0.09758792 0.93707497 0.28372332] [ 0. 0. 0. 1. ]] SLAMing on 113.402401008 meters Centerline goodness : 0.926433 with order 1 Centerline is valid? [False, False] Translation: X:20.30, Y:-0.32, Z:0.30 [[ 0.94425542 0.0538938 0.32477249 20.29652216] [-0.08126237 0.99413959 0.07129447 -0.32173887] [-0.31902686 -0.09371197 0.94310123 0.30445786] [ 0. 0. 0. 1. ]] SLAMing on 113.462401008 meters Centerline goodness : 0.924224 with order 1 Centerline is valid? [False, False] Translation: X:20.26, Y:-0.29, Z:0.32 [[ 0.9505098 0.03569271 0.30863758 20.26382948] [-0.06478062 0.99431408 0.08451611 -0.29270419] [-0.30386609 -0.10032712 0.94741747 0.32474214] [ 0. 0. 0. 1. ]] SLAMing on 113.522401008 meters Centerline goodness : 0.919879 with order 1 Centerline is valid? [False, False] Translation: X:20.24, Y:-0.26, Z:0.35 [[ 0.95667121 0.03024956 0.28959483 20.23790538] [-0.05841771 0.99430613 0.08912183 -0.2620452 ] [-0.28525002 -0.10217776 0.95299115 0.35331972] [ 0. 0. 0. 1. ]] SLAMing on 113.582401008 meters Centerline goodness : 0.918900 with order 1 Centerline is valid? [False, False] Translation: X:20.22, Y:-0.24, Z:0.38 [[ 0.962419 0.02794403 0.27012739 20.22049381] [-0.05488572 0.9941799 0.09270317 -0.23566418] [-0.26596472 -0.10404543 0.95835135 0.37892431] [ 0. 0. 0. 1. ]] SLAMing on 113.64240100800001 meters Centerline goodness : 0.916597 with order 1 Centerline is valid? [False, False] Translation: X:20.20, Y:-0.21, Z:0.40 [[ 0.96709142 0.02203962 0.25347278 20.20028682] [-0.05109989 0.99276658 0.10864308 -0.21111908] [-0.24924485 -0.11802022 0.96122226 0.40206171] [ 0. 0. 0. 1. ]] SLAMing on 113.70240100800001 meters Centerline goodness : 0.904700 with order 1 Centerline is valid? [False, False] Translation: X:20.19, Y:-0.19, Z:0.42 [[ 9.71760145e-01 1.56867610e-02 2.35448820e-01 2.01863170e+01] [-4.51529790e-02 9.91711938e-01 1.20285663e-01 -1.92498312e-01] [-2.31610513e-01 -1.27520028e-01 9.64414440e-01 4.21098498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.762401008 meters Centerline goodness : 0.893311 with order 1 Centerline is valid? [False, False] Translation: X:20.16, Y:-0.17, Z:0.45 [[ 9.75066063e-01 7.16703000e-03 2.21799023e-01 2.01632095e+01] [-3.71768210e-02 9.90628734e-01 1.31425243e-01 -1.73911114e-01] [-2.18778557e-01 -1.36394077e-01 9.66194907e-01 4.45649216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.822401008 meters Centerline goodness : 0.887497 with order 1 Centerline is valid? [False, False] Translation: X:20.17, Y:-0.16, Z:0.44 [[ 9.75643201e-01 6.35357504e-03 2.19271469e-01 2.01656180e+01] [-3.39449151e-02 9.91913068e-01 1.22295580e-01 -1.58426046e-01] [-2.16721221e-01 -1.26760003e-01 9.67968912e-01 4.36410545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.882401008 meters Centerline goodness : 0.878562 with order 1 Centerline is valid? [False, False] Translation: X:20.17, Y:-0.14, Z:0.43 [[ 9.77941179e-01 9.40083178e-03 2.08668817e-01 2.01723994e+01] [-3.30898452e-02 9.93344437e-01 1.10326299e-01 -1.35947653e-01] [-2.06242849e-01 -1.14797450e-01 9.71743501e-01 4.33576753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.942401008 meters Centerline goodness : 0.869240 with order 1 Centerline is valid? [False, False] Translation: X:20.18, Y:-0.12, Z:0.43 [[ 9.78987553e-01 1.44619838e-02 2.03406545e-01 2.01832632e+01] [-3.33972453e-02 9.95384463e-01 8.99688521e-02 -1.19704027e-01] [-2.01166587e-01 -9.48716047e-02 9.74951990e-01 4.30151075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.002401008 meters Centerline goodness : 0.859730 with order 1 Centerline is valid? [False, False] Translation: X:20.19, Y:-0.09, Z:0.43 [[ 9.80704309e-01 1.53438205e-02 1.94893884e-01 2.01910852e+01] [-3.04581463e-02 9.96733808e-01 7.47931664e-02 -9.25420651e-02] [-1.93109710e-01 -7.92860870e-02 9.77968484e-01 4.25044963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.06240100800001 meters Centerline goodness : 0.851510 with order 1 Centerline is valid? [False, False] Translation: X:20.20, Y:-0.07, Z:0.42 [[ 9.81718101e-01 1.38880622e-02 1.89833325e-01 2.02019845e+01] [-2.73173489e-02 9.97290083e-01 6.83099721e-02 -6.96091622e-02] [-1.88370199e-01 -7.22468793e-02 9.79437112e-01 4.16928925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.122401008 meters Centerline goodness : 0.840726 with order 1 Centerline is valid? [False, False] Translation: X:20.22, Y:-0.03, Z:0.41 [[ 9.82956393e-01 1.75993703e-02 1.82994514e-01 2.02217658e+01] [-2.57761115e-02 9.98768126e-01 4.24007434e-02 -3.40050607e-02] [-1.82022862e-01 -4.63949688e-02 9.82199157e-01 4.13250495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.182401008 meters Centerline goodness : 0.845210 with order 1 Centerline is valid? [False, False] Translation: X:20.24, Y:-0.01, Z:0.41 [[ 9.82491765e-01 1.55528041e-02 1.85655706e-01 2.02383705e+01] [-2.07493869e-02 9.99444489e-01 2.60801974e-02 -8.53690336e-03] [-1.85146952e-01 -2.94758213e-02 9.82268691e-01 4.07532590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.242401008 meters Centerline goodness : 0.849236 with order 1 Centerline is valid? [False, False] Translation: X:20.26, Y:0.02, Z:0.40 [[ 9.81660174e-01 1.31648457e-02 1.90184091e-01 2.02556999e+01] [-1.69222003e-02 9.99692136e-01 1.81458785e-02 2.05518810e-02] [-1.89886653e-01 -2.10314196e-02 9.81580735e-01 4.04339114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.302401008 meters Centerline goodness : 0.857128 with order 1 Centerline is valid? [False, False] Translation: X:20.30, Y:0.07, Z:0.40 [[ 9.80786321e-01 1.18728463e-02 1.94723468e-01 2.02956224e+01] [-1.31275978e-02 9.99900544e-01 5.15450387e-03 6.63995657e-02] [-1.94642902e-01 -7.61171824e-03 9.80844637e-01 3.99152953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.362401008 meters Centerline goodness : 0.866508 with order 1 Centerline is valid? [False, False] Translation: X:20.32, Y:0.09, Z:0.40 [[ 9.81619878e-01 1.48689055e-02 1.90266474e-01 2.03245733e+01] [-1.30676907e-02 9.99857170e-01 -1.07180041e-02 9.38654189e-02] [-1.90398663e-01 8.03466242e-03 9.81673975e-01 3.96235507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.42240100800001 meters Centerline goodness : 0.877931 with order 1 Centerline is valid? [False, False] Translation: X:20.38, Y:0.13, Z:0.39 [[ 9.82193599e-01 1.74872519e-02 1.87055953e-01 2.03755581e+01] [-1.39052538e-02 9.99694288e-01 -2.04444421e-02 1.34866345e-01] [-1.87356285e-01 1.74793396e-02 9.82136495e-01 3.85929017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.482401008 meters Centerline goodness : 0.858247 with order 1 Centerline is valid? [False, False] Translation: X:20.43, Y:0.18, Z:0.38 [[ 9.82704006e-01 1.67303811e-02 1.84425951e-01 2.04309680e+01] [-1.32586503e-02 9.99711226e-01 -2.00417624e-02 1.75693719e-01] [-1.84708000e-01 1.72498810e-02 9.82642049e-01 3.76340142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 4156.73 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%| | 0/3818 [00:00